RPLIDAR A2 2022-04-08 rev.1.0 Low Cost 360 Degree Laser Range Scanner Introduction and Datasheet Model: A2M12 OPTMA G 16K w w w .sla m te c.com S h angh aiS lam te c.C o .
Contents CONTENTS ................................................................................................................................................... 1 INTRODUCTION ......................................................................................................................................... 3 SYSTEM CONNECTION ........................................................................................................................................ 3 MECHANISM ........................
Introduction The RPLIDAR A2M12 is the next generation low cost 360 degree 2D laser scanner (LIDAR) solution developed by SLAMTEC. It can take up to 16000 samples of laser ranging per second with high rotation speed. And equipped with SLAMTEC patented OPTMAG technology, it breakouts the life limitation of traditional LIDAR system so as to work stably for a long time. The system can perform 2D 360-degree scan within a 12-meter range.
normally, the scanner will rotate and scan clockwise. And users can get the range scan data via the communication interface of the RPLIDAR and control the start, stop and rotating speed of the rotate motor via PWM. Range Scanner Core Communication and Power Interface Mechanical Powering Part Figure 1-1 RPLIDAR System Composition The RPLIDAR A2M12 comes with a rotation speed detection and adaptive system.
embedded in RPLIDAR starts processing the sample data and outputs distance value and angle value between object and RPLIDAR via communication interface. 𝒅 Figure 1-2 The RPLIDAR Working Schematic When drove by the motor system, the range scanner core will rotate clockwise and perform the 360-degree scan for the current environment. 5 / 19 Copyright (c) 2009-2013 RoboPeak Team Copyright (c) 2013-2017 Shanghai Slamtec Co., Ltd.
*Note ： The LIDAR scan image is not directly relative to the environment showed here. Illustrative purpose only. Figure 1-3 The Obtained Environment Map from RPLIDAR Scanning Safety and Scope The RPLIDAR A2M12 system uses a low power infrared laser as its light source, and drives it by using modulated pulse. The laser emits light in a very short time Class I frame which can ensure its safety to human and pet, and it reaches Class I laser safety standard. Complies with 21 CFR 1040.10 and 1040.
Data Output During the working process, the RPLIDAR will output the sampling data via the communication interface. And each sample point data contains the information in the following table. If you need detailed data format and communication protocol, please contact SLAMTEC.
required to update the matched SDK or modify the original driver and use the new protocol for the 16000 times per second mode of RPLIDAR A2M12. Please check the related protocol documents for details. RPLIDAR A2M12 is compatible with all communication protocols used by previous RPLIDAR products. Users can directly replace the previous model of RPLIDAR and use it directly on the original system.
Specification Measurement Performance For Model A2M12 Only Item Enhanced Mode Application Scenarios Extreme performance Ideal for indoor environments with maximum ranging distance and sampling frequency. Operating Range White object: 12 meters Black object: 10 meters Minimum Operating ranging 0.2m Sample Rate 16 kHz Scan Rate Typical value: 10 Hz (adjustable between 5 Hz-15 Hz) Angular Resolution 0.225° Scan Field Flatness ±1.
Optical Window To make the RPLIDAR A2M12 working normally, please ensure proper space to be left for its emitting and receiving laser lights when designing the host system. The obscuring of the host system for the ranging window will impact the performance and resolution of RPLIDAR A2M12. If you need cover the RPLIDAR A2M12 with translucent materials or have other special needs, please contact SLAMTEC about the feasibility.
θ ሾ0,360) Interface Lead Figure 2-4 RPLIDAR Scanning Data Coordinate System Definition Communication interface The RPLIDAR A2M12 uses separate 5V DC power for powering the range scanner core and the motor system. And the standard RPLIDAR A2M12 uses XH2.54-5P male socket. Detailed interface definition is shown in the following figure: Red XH2.
Color Signal Name Type Description Min Typical Max Red VCC Power Total Power 4.9V 5V 5.2V Yellow TX Output Serial port output of 0V the scanner core 3.3V 3.5V Green RX Input Serial port input of 0V the scanner core 3.3V 3.5V Black GND Power GND 0V 0V Input Scan motor /PWM Control Signal (active 0V high, internal pull down) 3.
reach 2500mA. After stable operation, the working current does not exceed 600mA. Data communication interface The RPLIDAR A2M12 takes the 3.3V-TTL serial port (UART) as the communication interface. The table below shows the transmission speed and the protocol standard. Item Unit Min Typical Max Comments Band rate bps - 256000 - - Working mode - - 8N1 - 8n1 Output high voltage Volt (V) 2.9 - 3.5 Logic High Output low voltage Volt (V) - - 0.
High level V voltage PWM Hz frequency Duty range cycle - 3.0V 3.3V 5V 24,500 25,000 25,500 0% 60%* 100% Square Signal Typical value is the duty cycle of high pulse width when the scanner frequency is at10Hz Figure 2-9 RPLIDA Specification for PWM Signal of MOTOCTL Note: the typical value is tested when the scanner rotating frequency is 10Hz. With the same rotating speed, the PWM duty cycle of every RILIDAR A2M12 may vary slightly.
Self-protection and Status Detection To ensure the laser of RPLIDAR always working in the safety range (<3mW) and avoid any other damage caused by device, the RPLIDAR comes with laser power detection and sensor healthy check feature. It will shut down the laser and stop working automatically when any of the following errors has been detected.
SDK and Support To facilitate the usage of RPLIDAR A3 in the product development and speed up the development cycle for users, SLAMTEC has provided the Framegrabber plugin in RoboStudio for testing and debugging as well as the SDK available under Windows, x86 Linux and Arm Linux. Please contact SLAMTEC for detail information. Figure 4-1 the Framegrabber Plugin in RoboStudio 16 / 19 Copyright (c) 2009-2013 RoboPeak Team Copyright (c) 2013-2017 Shanghai Slamtec Co., Ltd.
Mechanical Dimensions The mechanical dimensions of the RPLIDAR A2M12 are shown as below: Figure 5-1 RPLIDAR Mechanical Dimensions Note: the 4 M3 screws in the bottom should be no longer than 4mm, or the internal module would be damaged. 17 / 19 Copyright (c) 2009-2013 RoboPeak Team Copyright (c) 2013-2017 Shanghai Slamtec Co., Ltd.
Revision history Date Version Description 2022-04-08 1.0 Initial version for A2M12 18 / 19 Copyright (c) 2009-2013 RoboPeak Team Copyright (c) 2013-2017 Shanghai Slamtec Co., Ltd.
Appendix Image and Table Index FIGURE 1-1 RPLIDAR SYSTEM COMPOSITION ..................................................................................................... 4 FIGURE 1-2 THE RPLIDAR WORKING SCHEMATIC ............................................................................................... 5 FIGURE 1-3 THE OBTAINED ENVIRONMENT MAP FROM RPLIDAR SCANNING ................................................... 6 FIGURE 1-4 THE RPLIDAR SAMPLE POINT DATA INFORMATION ...............................
