RPLIDAR S2 2021-3-15 rev.1.7 Low Cost 360 Degree Laser Range Scanner Introduction and Datasheet Model: S2 32K w w w .sla m te c.com S h anghaiS lam tec.C o.
Contents CONTENTS ................................................................................................................................................... 1 INTRODUCTION ......................................................................................................................................... 3 SYSTEM CONNECTION ........................................................................................................................................ 4 MECHANISM ........................
Introduction The RPLIDAR S2 is the next generation low cost 360 degree 2D laser scanner (LIDAR) solution developed by SLAMTEC. It can take up to 32000 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 30-meter range.
System connection The RPLIDAR S2 consists of a range scanner core and the mechanical powering part which makes the core rotate at a high speed. When it functions normally, the scanner will rotate and scan clockwise. And users can get the range scan data via the communication interface of the RPLIDAR. Communication and Power Interface Range Scanner Core Figure 1-1 RPLIDAR S2 System Composition The RPLIDAR S2 comes with a rotation speed detection and adaptive system.
value and angle value between object and RPLIDAR S2 via communication interface. 𝐝 Figure 1-2 The RPLIDAR S2 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. *Note ： The LIDAR scan image is not directly relative to the environment showed here. Illustrative purpose only.
Safety and Scope The RPLIDAR S2 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 frame Class I which can ensure its safety to human and pet, and it reaches Class I laser safety standard. Complies with 21 CFR 1040.10 and 1040.11 except for deviations pursuant to Laser Notice No. 50, dated June 24, 2007.
… (dሾn − 1ሿ, θሾn − 1ሿ) (dሾnሿ, θሾnሿ) (dሾ0ሿ, θሾ0ሿ) (dሾ1ሿ, θሾ1ሿ) … Start Flag A new scan Figure 1-5 The RPLIDAR S2 Sample Point Data Frames The RPLIDAR S2 outputs sampling data continuously and it contains the sample point data frames in the above figure. Host systems can configure output format and stop RPLIDAR by sending stop command. For detailed operations please contact SLAMTEC.
Specification Measurement Performance For Model S2 Only Item Detail Application Scenarios Ideal for both outdoor and indoor environments with reliable resistance to daylight. White object: 0.05~30 meters Distance Range Black object: 0.05~10 meters Blind Range 0.05m Sample Rate 32kHz Scan Rate 10 Hz Angular Resolution 0.
materials or have other special needs, please contact SLAMTEC about the feasibility. Optical Window Figure 2-3 RPLIDAR S2 Optical Window You can check the Mechanical Dimensions chapter for detailed window dimensions. Coordinate System Definition of Scanning Data The RPLIDAR S2 adopts coordinate system of the left hand. The dead ahead of the sensors is the x axis of the coordinate system; the origin is the rotating center of the range scanner core. The rotation angle increases as rotating clockwise.
Communication interface The RPLIDAR S2 uses separate 5V DC power for powering the range scanner core and the motor system. And the standard RPLIDAR S2 uses XH2.54-5P male socket. Detailed interface definition is shown in the following figure: Red XH2.54-5P MOTOCT L GND RX TX VCC Figure 2-5 RPLIDAR Power Interface Definition 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 the scanner core 0V 3.3V 3.
For Model S2 Only Item Unit Min Typical Max Remark Power Voltage V 4.9 5 5.2 If the voltage exceeds the max value, it may damage the core Power Voltage Ripple mV - 20 50 High ripple may cause the core working failure. Inrush Current mA System Start Current mA Power Current 2500* - - 1500 The system startup requires relatively higher current.
Input low voltage Volt (V) -0.3 - 0.4 Logic Low Figure 2-9 RPLIDAR S2 Serial Port Interface Specifications Note: the RX input signal of S2 is current control type. In order to ensure the reliable signal identification inside the system, the actual control node voltage of this pin will not be lower than 1.6v. Scanner Motor Control The RPLIDAR S2 is embedded with a closed motor control system which realize accurate rotating speed control.
Self-protection and Status Detection To ensure the laser of RPLIDAR always working in the safety range 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 S2 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 14 / 17 Copyright (c) 2009-2013 RoboPeak Team Copyright (c) 2013-2019 Shanghai Slamtec Co., Ltd.
Mechanical Dimensions The mechanical dimensions of the RPLIDAR S2 are shown as below: Figure 5-1 RPLIDAR S2 Mechanical Dimensions Note: the 4-M3 screws in the bottom should be no longer than 4mm, or the internal module would be damaged. 15 / 17 Copyright (c) 2009-2013 RoboPeak Team Copyright (c) 2013-2019 Shanghai Slamtec Co., Ltd.
Revision history Date 2021-07-28 Version Description 1.0 Initial version for S2 16 / 17 Copyright (c) 2009-2013 RoboPeak Team Copyright (c) 2013-2019 Shanghai Slamtec Co., Ltd.
Appendix Image and Table Index FIGURE 1-1 RPLIDAR S2 SYSTEM COMPOSITION ................................................................................................ 4 FIGURE 1-2 THE RPLIDAR S2 WORKING SCHEMATIC ......................................................................................... 5 FIGURE 1-3 THE OBTAINED ENVIRONMENT MAP FROM RPLIDAR S2 SCANNING ............................................. 5 FIGURE 1-4 THE RPLIDAR S2 SAMPLE POINT DATA INFORMATION ....................................
