SLAMTEC RPLIDAR A1 Development Kit User Manual

Overview

The RPLIDAR A1 development kit provides essential tools for evaluating the performance and initiating development with the RPLIDAR A1. Upon connecting the RPLIDAR A1 to a PC via the provided USB cable and adapter, users can visualize the point cloud map of the scanned environment and commence development using the Software Development Kit (SDK).

Items in the Development Kit

The RPLIDAR A1 Development Kit includes:

RPLIDAR A1 (with embedded PWM motor driver)
USB Adapter
RPLIDAR A1 communication cable

Note: Users must provide their own Micro-USB cable.

Figure 1-1 Items in the RPLIDAR A1 Development Kit: This figure visually represents the components of the development kit, showing the RPLIDAR A1 module, the USB Adapter, and the communication cable.

RPLIDAR A1

The RPLIDAR A1 development kit features the standard RPLIDAR A1 unit (Model: A1M8-R1). This unit incorporates a logic IO-drivable (3.3V) motor controller, allowing developers to adjust the scan frequency by modifying the motor speed. It also offers the option to turn off the motor for power saving.

Further details on RPLIDAR A1 usage and interface definitions are provided in subsequent sections.

Figure 1-2 The RPLIDAR A1: This image displays the RPLIDAR A1 unit, highlighting its design and components.

USB Adapter

The RPLIDAR A1 development kit includes a USB adapter. This adapter serves to supply power to the RPLIDAR A1 and converts its internal UART serial interface to a USB interface.

Figure 1-3 RPLIDAR A1 Adapter: This image shows the RPLIDAR A1 USB Adapter.

Connection and Usage

Connection

The RPLIDAR A1 can be connected to a PC following these steps:

Connect the RPLIDAR A1 to the USB adapter using the provided communication cable. The connection socket is located on the bottom of the RPLIDAR A1.
Figure 2-1 Connect RPLIDAR A1 and USB Adapter: This diagram illustrates the physical connection between the RPLIDAR A1 and the USB adapter.
Connect the USB adapter to your PC using a Micro-USB cable. Once connected, the LED on the bottom of the RPLIDAR A1 will illuminate, and the RPLIDAR A1 will begin scanning.
Figure 2-2 Connect the USB Adapter to PC via Micro-USB Cable: This diagram shows the USB adapter being connected to a PC via a Micro-USB cable.

Install Driver for the USB Adapter

The USB adapter utilizes a CP2102 chip to convert UART to USB. Installation of the device driver for this chip is necessary. The driver is included in the provided SDK package or can be downloaded from the Silicon Labs official website: www.silabs.com.

Installation Steps in Windows:

After connecting the RPLIDAR A1 to your PC, locate the driver file named “CP210x VCP Windows”. Select the appropriate operating system version: “x86” for 32-bit OS and “x64” for 64-bit OS.

Figure 2-3 Choose USB Adapter Driver for Installation: This screenshot displays the file explorer window showing the driver files, indicating the selection of the appropriate driver.

Figure 2-4 Start Page of USB Adapter Driver Installation: This image shows the initial screen of the CP210x USB to UART Bridge Driver Installer wizard.

Following the driver installation, the corresponding serial port name will appear in the Windows Control Panel under [Device and Printers].

Figure 2-5 Recognized Serial Port Name Matched with the USB Adapter: This screenshot illustrates how a recognized serial port (e.g., COM65) associated with the USB adapter appears in the Windows device list.

Run Demo Application

SLAMTEC offers a Lidar plugin within RoboStudio for testing and evaluation purposes. This plugin allows users to view scan results directly in the UI and save them to files for subsequent processing.

This GUI demo is compatible only with Windows. For Linux and MacOS users, alternative simple demos are available within the SDK.

Ensure that the RPLIDAR is connected to the PC via the USB adapter and that the device driver is correctly installed before launching the RoboStudio demo application. Launch RoboStudio and log in.

Figure 2-6 RoboStudio Login Page: This image displays the login screen for RoboStudio.

Upon successful connection, the user interface will appear as shown below:

Click File > Lidars to access the lidar control panel on the left.
Click Serial Ports to expand the list of lidars and locate the RPLIDAR A1 connected to your PC.
Click the RPLIDAR A1 icon to reveal the tool buttons. The left button adjusts motor speed (RPLIDAR A1's motor speed is not adjustable by default), while the right button opens the toolbar in the main work area, as depicted in Figure 2-7.

Figure 2-7 The Lidar Plugin in RoboStudio: This screenshot shows the main interface of the RPLIDAR A1 plugin within RoboStudio, displaying scan data.

The serial number, version, and model of the RPLIDAR A1 are displayed next to its icon in the lidar control panel. The toolbar lists the supported commands for the RPLIDAR, with descriptions provided in the table below.

Figure 2-8 The Supported Commands of RPLIDAR in RoboStudio: This table lists the available commands in RoboStudio for controlling the RPLIDAR, such as Restart RPLIDAR, Save Scan Data, Stop Scan, Start Scan, Work Mode Switch, and Adjust Motor Speed, along with their descriptions.

Pressing the Start Scan button will display the scan data. By default, the motor rotation speed is approximately 8Hz.

Figure 2-9 The Scan Outline by RPLIDAR in RoboStudio: This screenshot shows the scan data visualization in RoboStudio, including scan frequency and distance readings.

Users can right-click within the main working area to adjust the view, such as zooming in or out.

The scan frequency is also indicated in the interface.

Troubleshooting

If the scan core or laser power malfunctions, the scan core will enter a protection mode. This status can be retrieved via SDK API. In such cases, issue a restart command to reset the scan core.

SDK Introduction and Usage

RPLIDAR A1 Pin Definition and Specification

The development kit's bottom motor interface and core interface utilize PH1.25-3P and PH1.25-4P vertical mounts, respectively. Connection is made using cables with 1.25mm-pitch 3-pin and 1.25mm-pitch 4-pin terminals. Detailed pin definitions are provided in the table below:

Figure 3-1 RPLIDAR A1 Pin Definition and Specification: This table details the pin assignments for the RPLIDAR A1 module, including Signal Name, Type, Description, and Min/Typical/Max values for power and data pins.

The external system must supply the required VMOTO and V5.0 power for the scan motor and scan core to function correctly. In most scenarios, VMOTO and V5.0 can share the same power supply.

MOTOCTL Pin Functionality

The MOTOCTL pin is used to control the RPLIDAR A1's scan motor speed, thereby adjusting its scan frequency. PWM signals can also be utilized for this purpose. The equivalent circuit is illustrated below:

Figure 3-2 RPLIDAR A1 MOTOCTL Equivalent Circuit: This diagram shows the equivalent circuit for controlling the RPLIDAR A1 motor speed via the MOTOCTL pin.

Reference Design for RPLIDAR A1 Development

Figure 3-3 RPLIDAR A1 Pins Reference Design: This diagram provides a reference design for connecting the RPLIDAR A1, showing power connections (VMOTO, V5.0, GND) and data connections (TX, RX, MOTOCTL) to a microcontroller (MCU/DSP) via UART and PWM Generator.

Pin Definition for the USB Adapter

The USB adapter features a 1.25mm pitch 7-pin socket and connects to the RPLIDAR A1 module via a communication cable.

Figure 3-4 RPLIDAR A1 USB Adapter Pin Definition: This table lists the pin definitions for the 7-pin socket on the RPLIDAR A1 USB adapter, including pin number, signal name, and description for power, ground, and serial communication.

Configure RPLIDAR A1 Scan Frequency

With the USB adapter's control signal MOTOCTL fixed at a high level, the RPLIDAR A1's scan motor operates at its maximum speed, resulting in a high scan frequency. The scan frequency can be adjusted by controlling the motor speed.

By connecting the MOTOCTL signal to a device with PWM output capabilities, such as an MCU's PWM output I/O port, the RPLIDAR A1's scan frequency can be set to a desired value by adjusting the PWM duty cycle, utilizing the scan frequency feedback from the RPLIDAR A1 core.

For more detailed information, consult the RPLIDAR A1 protocol and application note. The SDK also includes sample code.

SDK Usage

SLAMTEC provides SDK support for the RPLIDAR A1 on both Windows and Linux platforms. Users can readily integrate the SDK source code into other operating systems or embedded systems. Refer to the SDK documentation for comprehensive details.

Operation Recommendation

Pre-Heating for Best Performance

The scan core generates heat during operation. It is recommended to pre-heat the RPLIDAR A1 (by starting the scan mode and ensuring the motor is rotating) for at least 2 minutes to achieve optimal measurement accuracy.

Ambient Temperature

The measurement resolution of the RPLIDAR A1 is sensitive to ambient temperature. Improper usage can potentially damage the sensor. Avoid operating the RPLIDAR A1 in extreme temperatures, specifically above 40 degrees Celsius or below -10 degrees Celsius.

Ambient Light

While the RPLIDAR A1 is not significantly affected by ambient light, improper use can still lead to errors. In indoor environments, avoid directing strong light sources, such as high-power lasers, towards the RPLIDAR A1.

In outdoor environments, do not face the RPLIDAR A1 directly towards sunlight, as this can cause permanent damage to its image sensor and invalidate measurements.

The standard version of the RPLIDAR A1 may exhibit reduced measurement range in environments with strong sunlight.

Revision History

Date	Content
2013-3-5	Initial draft
2014-2-11	Refine for final product
2016-05-19	Replaced obsolete images
2016-08-17	Updated USB adapter image
2017-11-22	Corrected the pin P4 maximum value from 6V to 5.5V in Figure 3-1.
2020-12-22	A1M8 iteration, change the lidar module picture and pin definition; change the evaluation software to Robostudio
2021-05-20	Amend the first paragraph on page 11 about the lidar pin model. Corrected the connector model of the USB adapter on page 12.

Appendix

Image and Table Index

Figure 1-1 Items in the RPLIDAR A1 Development Kit: 3

Figure 1-2 The RPLIDAR A1: 4

Figure 1-3 RPLIDAR A1 Adapter: 4

Figure 2-1 Connect RPLIDAR A1 and USB Adapter: 5

Figure 2-2 Connect the USB Adapter to PC via Micro-USB Cable: 5

Figure 2-3 Choose USB Adapter Driver 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 Specification: 11

Figure 3-2 RPLIDAR A1 MOTOCTL Equivalent Circuit: 12

Figure 3-3 RPLIDAR A1 Pins Reference Design: 12

Figure 3-4 RPLIDAR A1 USB Adapter Pin Definition: 13

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