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Slamtec RPLIDAR A1, User Manual

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Slamtec RPLIDAR A1 User Manual Download Page 16

 

 

   

16

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16

 

Copyright (c) 2009-2013 RoboPeak Team 
Copyright (c) 2013-2016 Shanghai Slamtec Co., Ltd. 

 

Image and Table Index 

F

IGURE 

1-1

 

I

TEMS IN THE 

RPLIDAR

 

A1

 

D

EVELOPMENT 

K

IT

.............................................................................................. 3

 

F

IGURE 

1-2

 

T

HE 

RPLIDAR

 

A1

 ................................................................................................................................................... 4

 

F

IGURE 

1-3

 

RPLIDAR

 

A1

 

A

DAPTER

 ......................................................................................................................................... 4

 

F

IGURE 

2-1

 

C

ONNECT 

RPLIDAR

 

A1

 AND 

USB

 

A

DAPTER

 ................................................................................................. 5

 

F

IGURE 

2-2

 

C

ONNECT THE 

USB

 

A

DAPTER TO 

PC

 VIA 

M

ICRO

-USB

 

C

ABLE

 ................................................................... 5

 

F

IGURE 

2-3

 

C

HOOSE 

USB

 

A

DAPTER 

D

RIVER FOR 

I

NSTALLATION

 ...................................................................................... 6

 

F

IGURE 

2-4

 

S

TART 

P

AGE OF 

USB

 

A

DAPTER 

D

RIVER 

I

NSTALLATION

 ................................................................................. 6

 

F

IGURE 

2-5

 

R

ECOGNIZED 

S

ERIAL 

P

ORT 

N

AME 

M

ATCHED WITH THE 

USB

 

A

DAPTER

 ................................................... 7

 

F

IGURE 

2-6

 

R

OBO

S

TUDIO 

L

OGIN 

P

AGE

.................................................................................................................................... 8

 

F

IGURE 

2-7

 

T

HE 

L

IDAR 

P

LUGIN IN 

R

OBO

S

TUDIO

 .................................................................................................................. 9

 

F

IGURE 

2-8

 

T

HE 

S

UPPORTED 

C

OMMANDS OF 

RPLIDAR

 IN 

R

OBO

S

TUDIO

 ................................................................... 9

 

F

IGURE 

2-9

 

T

HE 

S

CAN 

O

UTLINE BY 

RPLIDAR

 IN 

R

OBO

S

TUDIO

 .................................................................................... 10

 

F

IGURE 

3-1

 

RPLIDAR

 

A1

 

P

IN 

D

EFINITION AND 

S

PECIFICATION

 .................................................................................... 11

 

F

IGURE 

3-2

 

RPLIDAR

 

A1

 

MOTOCTL

 

E

QUIVALENT 

C

IRCUIT

 ......................................................................................... 12

 

F

IGURE 

3-3

 

RPLIDAR

 

A1

 

P

INS 

R

EFERENCE 

D

ESIGN

 .......................................................................................................... 12

 

F

IGURE 

3-4

 

RPLIDAR

 

A1

 

USB

 

A

DAPTER 

P

IN 

D

EFINITION

 .............................................................................................. 13

 

 

Appendix

Summary of Contents for RPLIDAR A1

Page 1: ...www slamtec com Shanghai Slamtec Co Ltd 2021 05 20 rev 2 1 ...

Page 2: ...LICATION 7 TROUBLESHOOTING 10 SDK INTRODUCTION AND USAGE 11 RPLIDAR A1 PIN DEFINITION AND SPECIFICATION 11 PIN DEFINITION FOR THE USB ADAPTER 12 CONFIGURE RPLIDAR A1 SCAN FREQUENCY 13 SDK USAGE 13 OPERATION RECOMMENDATION 13 PRE HEATING FOR BEST PERFORMANCE 14 AMBIENT TEMPERATURE 14 AMBIENT LIGHT 14 REVISION HISTORY 15 APPENDIX 16 IMAGE AND TABLE INDEX 16 Contents ...

Page 3: ...and adapter Users can observe the cloud map of the environment scanning point collected by the RPLIDAR A1 and start development based on the SDK Items in the Development Kit RPLIDAR A1 Development Kit contains o RPLIDAR A1 PWM motor driver embedded o USB Adapter o RPLIDAR A1 communication cable Note The Micro USB cable needs to be prepared by users Figure 1 1 Items in the RPLIDAR A1 Development Ki...

Page 4: ...3v motor controller which can be used to configure the scan frequency by tuning motor speed Developers can also choose to turn off the motor for power saving purpose RPLIDAR A1 usage and interface definition will be introduced in the coming sections USB Adapter Figure 1 3 RPLIDAR A1 Adapter RPLIDAR A1 development kit contains a USB adapter to provide power supply for RPLIDAR A1 and convert RPLIDAR...

Page 5: ...r using provided communication cable The socket is in the bottom of RPLIDAR A1 Figure 2 1 Connect RPLIDAR A1 and USB Adapter 2 Connect the USB adapter to your PC using the Micro USB cable After connecting RPLIDAR A1 to your PC through the USB cable the LED in the bottom of the RPLIDAR A1 will light up and RPLIDAR A1 start scanning Figure 2 2 Connect the USB Adapter to PC via Micro USB Cable Connec...

Page 6: ...d SDK package or downloaded from Silicon Labs official website http www silabs com products interface usb bridges Pages usb bridges aspx Here s the installation steps in Windows After connecting the RPLIDAR A1 with PC please find the driver file CP210x VCP Windows and choose correct operating system version accordingly x86 for 32 bit OS and x64 for 64 bit OS Figure 2 3 Choose USB Adapter Driver fo...

Page 7: ...SB Adapter Run Demo Application SLAMTEC provides a Lidars plugin in RoboStudio for users in test and evaluation You can view the scan result directly in the UI and save the scan result to files for further processing This GUI demo can only run under Windows For Linux and MacOS users please refer to the other simple demo provided in the SDK Please make sure you have connected RPLIDAR to PC by using...

Page 8: ...ile Lidars to open the lidar control panel in the left 2 Click Serial Ports to extend the lidar lists and you ll find the RPLIDAR A1 previously connected to your PC 3 Click the RPLIDAR A1 icon to extend the tool buttons below the icon the left one is to adjust the motor speed RPLIDAR A1 is not adjustable by default while the right one is to open the tool bar in the major work area as shown in Figu...

Page 9: ...of the RPLIDAR A1 will show next with its icon in the lidar control panel The supported commands of RPLIDAR are showed in the tool bar The descriptions are listed in the bellow table Figure 2 8 The Supported Commands of RPLIDAR in RoboStudio Press the Start Scan button the scan data will be displayed as below by default the motor rotating speed should be about 8Hz ...

Page 10: ...he major working area to choose a range so as to zoom in or out the view The scan frequency is also showed in the above interface Troubleshooting When the scan core or the laser power works abnormally the scan core will enter protection mode This state can be retrieved via SDK API If such scenario happened please send restart command to reset the scan core ...

Page 11: ...d PH1 25 4P vertical mounts respectively Users can use a cable connection with 1 25mm pitch 3pin and 1 25mm pitch 4pin terminals Please find the detail pin definition in the bellow table Figure 3 1 RPLIDAR A1 Pin Definition and Specification External system must provide required VMOTO and V5 0 power to make scan motor and scan core work correctly In most of scenarios VMOTO and V5 0 can share the s...

Page 12: ...nt circuit showed as bellow Figure 3 2 RPLIDAR A1 MOTOCTL Equivalent Circuit o Reference Design for RPLIDAR A1 development Figure 3 3 RPLIDAR A1 Pins Reference Design Pin Definition for the USB Adapter The USB adapter uses a 1 25mm pitch 7pin socket and is connected to the RPLIDAR A1 module through a communication cable VMOTO GND V5 0 GND TX RX MOTOCTL Power 4 9V DC Power 5V DC UART PWM Generator ...

Page 13: ...d By connecting MOTOCTL signal to the device has PWM output function such as MCU s PWM output I O port RPLIDAR A1 s scan frequency can be locked in a proper value by adjust duty ratio of PWM using the scan frequency feedback provided by RPLIDAR A1 core Please refer to RPLIDAR A1 protocol and application note for more information SDK also contains the sample code SDK Usage SLAMTEC provides RPLIDAR ...

Page 14: ...se may even damage the sensor Please avoid using RPLIDAR A1 in extreme high temperature 40 degree and too low temperature 10 degree Ambient Light Although RPLIDAR A1 is not sensitive to ambient light improper use may still lead to errors In indoor environment please avoid lighting RPLIDAR A1 with strong light source such as high power laser In outdoor environment please avoid facing RPLIDAR A1 dir...

Page 15: ...15 16 Copyright c 2009 2013 RoboPeak Team Copyright c 2013 2016 Shanghai Slamtec Co Ltd Revision History ...

Page 16: ...RIVER FOR INSTALLATION 6 FIGURE 2 4 START PAGE OF USB ADAPTER DRIVER INSTALLATION 6 FIGURE 2 5 RECOGNIZED SERIAL PORT NAME MATCHED WITH THE USB ADAPTER 7 FIGURE 2 6 ROBOSTUDIO LOGIN PAGE 8 FIGURE 2 7 THE LIDAR PLUGIN IN ROBOSTUDIO 9 FIGURE 2 8 THE SUPPORTED COMMANDS OF RPLIDAR IN ROBOSTUDIO 9 FIGURE 2 9 THE SCAN OUTLINE BY RPLIDAR IN ROBOSTUDIO 10 FIGURE 3 1 RPLIDAR A1 PIN DEFINITION AND SPECIFICA...

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