Development Kit User Manual
Contents
1. 1 13 Copyright 2009 2014 RoboPeak http www RoboPeak com Low Cost 360 degree 2D Laser Scanner LIDAR A robo System r PEAK 1 Overview Thank you for purchasing RPLIDAR development kit By using this kit customers can easily evaluating RPLIDAR S performance RoboPeak also provides SDK code to help customers integrate RPLIDAR to their system Items in Development Kit RPLIDAR Development Kit contains RPLIDAR PWM motor driver embedded USB Adapter RPLIDAR communication cable Micro USB cable USB Adapter RPLIDAR Micro USB cable SEA D ad a GERDT 5 mf P pr s san p i m m ask i i vi i i x x z s RPLIDAR communication cable RPLIDAR 2 13 Copyright 2009 2014 RoboPeak http www RoboPeak com System A H Low Cost 360 degree 2D Laser Scanner LIDAR ia Tilli FS i S zy A z pa ai RoboPeak RPLIDAR development kit contains standard RPLIDAR unit A1M1 R1 The RPLIDAR embedded logic IO drivable 3 3V motor controller which can be used to configure scan frequency by tuning motor speed Developer also can choose to turn off motor for power saving purpose RPLIDAR usage and interface definition will be introduced in the coming sections USB Adapter HERI Moi g A 3 alui ai RoboPeak RPLIDAR development kit contains2. GUI demo can only run under Windows For Linux and MacOS users please refer to the other simple demo provided in the SDK Steps to run the GUI demo application Please make sure you have connect RPLIDAR to PC using USB adapter and installed the device driver correctly before running the demo application Starting demo application frame grabber exe and choose serial port name identified in the previous step Select Serial Port If the connection is ok you shall see the UI like this 6 13 Copyright 2009 2014 RoboPeak http www RoboPeak com Low Cost 360 degree 2D Laser Scanner LIDAR System 1r000 neat IDLE Model 0 FW 1 03 HW 0 Serial A2CCB5F9C9A4233D2 EEE ee TSOR JINE 0 00 0 0 Hz 0 RPM The firmware hardware version and serial number of the RPLIDAR will show in the title line of the GUI The supported commands of RPLIDAR are showed in the tool bar The descriptions are listed in the bellow table Button Function Description Start Scan Scan data will be displayed after scan core starting work Gl Stop Scan Scan core enter power save mode T Save Scan Data Save current scan data to the local file wai Restart RPLIDAR Restart scan core to clear internal errors Press the Start Scan button the scan data will be displayed in the UI 7 13 Copyright 2009 2014 RoboPeak http www RoboPeak com Low Cost 360 degree 2D Laser Scanner LIDAR ra robo System A Edk Puj SCAN Mo
3. Light Although RPLIDAR is not sensitive to ambient light improper use may still lead to errors In indoor environment please avoid lighting RPLIDAR with strong light source such as high power laser In outdoor environment please avoid facing RPLIDAR directly into sun light This may leads to permanent damage to the image sensor of RPLIDAR The standard version of RPLIDAR may have less measurement range in strong sun light environment Please contact RoboPeak for any customization options 12 13 Copyright 2009 2014 RoboPeak http www RoboPeak com Low Cost 360 degree 2D Laser Scanner LIDAR ye robo System i Deak 5 Revision History BE Content 2013 3 5 Initial draft 2014 2 11 Refine for final product 13 13 Copyright 2009 2014 RoboPeak http www RoboPeak com
4. a USB adapter to provide power supply for RPLIDAR and convert RPLIDAR internal UART serial interface to USB interface 3 13 Copyright 2009 2014 RoboPeak http www RoboPeak com Low Cost 360 degree 2D Laser Scanner LIDAR G Tilli System T DEdh 2 Connection and Usage Connection RPLIDAR can be easily connect to PC by following bellow steps 1 Connect RPLIDAR with the USB adapter using provided communication cable The socket is in the bottom of RPLIDAR dl RoboPeak RoboPeak 2 Connect the USB adapter to your PC using the Micro USB cable After connecting RPLIDAR to your PC through the USB cable the LED in the bottom of the RPLIDAR will light up and RPLIDAR start scanning HEAdOGOY sak nrs SIH gt k 4 13 Copyright 2009 2014 RoboPeak http www RoboPeak com System Low Cost 360 degree 2D Laser Scanner LIDAR 1r000 E peak Install Driver for the USB Adapter The USB adapter converts UART to USB using CP2102 chip You need to install the device driver for the chip The driver can be found in the provided SDK package or download from Silicon Labs s official website http www silabs com products interface usbtouart Pages usb to uart bridge aspx Here s the installation steps in Windows After connecting the RPLIDAR with PC find the driver file CP210x VCP Windows and choose correct operating system version accordingly x86 for 32 bit OS and x64 for 6
5. 4 bit OS di x64 2014 2 8 21 01 w x86 2014 2 8 21 01 wE 7 CP210xVCPInstaller x64 exe 2013 10 25 11 39 WARF 1 026 KB 3 CP210xVCPinstaller_x86 exe 2013 10 25 11 39 MEF 901 KB dpinst xml 2013 10 25 11 39 12 KB C ReleaseNotes txt 2013 10 25 11 39 10 KB SLAB License Agreement VCP Win 2013 10 25 11 39 cio 9 KB EN slabvcp cat 2013 10 25 11 39 2283 12 KB slabvcp inf 2013 10 25 1139 EEE 5 KB CP210x USB to UART Bridge Driver Installer Welcome to the CP210x USB to USET Bridge Driver Installer This wizard will help you install the drivers for your CP210x USE to UART Bridge device Sas APh ha lt E 8 After Installing the driver according to installation steps you should see corresponding serial port name in the Control Panel gt Device and Printers Please refer to the bellow figure 5 13 Copyright 2009 2014 RoboPeak http www RoboPeak com Low Cost 360 degree 2D Laser Scanner LIDAR a robo q PEAK System rm Go lah gt EIR gt WIES gt REN ESE EI gt JEDNE 5 gt JAG 9 a ARISE 2 Generic USB Silicon Labs Hub CP210x USB to UART Bridge COM65 Run Demo Application Frame grabber is a GUI demo application provided by RoboPeak You can view the scan result directly in the UI and save the scan result to files for further processing The source code of this demo application is also provided for reference frame gr bber exe This
6. core OV SV END Power GND signal for RPLIDAR scan core OV V5 0 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 same power supply MOTOCTL Pin used to control scan motor speed to adjust RPLIDAR s scan frequency PWM signal also can be applied The equivalent circuit showed as bellow MOTOCTL 100 4 7k You can also refer to the bellow Reference Design for RPLIDAR development 9 13 Copyright 2009 2014 RoboPeak http www RoboPeak com ra robo System A Edk Low Cost 360 degree 2D Laser Scanner LIDAR RPLIDAR TX RX MOTOCTL PWM Generator MCU DSP IPP eee eee eee eee BO Pin Definition for the USB Adapter The USB adapter is also using 5267 7A specification socket 2 5mm spacing 7 pin Please find the detail pin definition in the bellow table PI m Ri 5267 7A Pin Signal Name Description P1 V5 0 Power supply for RPLIDAR scan core USB SV input P2 HIGH constant 5V high level output P3 GND GND for RPLIDAR scan motor USB GND P4 V5 0 Power supply for RPLIDAR scan core USB SV input P5 RX Input pin for USB serial adapter P6 TX Output pin for USB serial adapter p GND GND for RPLIDAR scan core USB GND Configure RPLIDAR Scan Frequency Since USB adapter s control signal MOTOCTL is fixed to high level RPLIDAR s scan motor is always rotating at its highest speed wh
7. del 0 FW 1 03 HW 0 Serial A2CCB5F9C9A4233D2 File Command Option m Help LORE 2569 25 6 3 Hz 377 RPM Use the mouse wheel to zoom in and out Move the cursor to any sample point the distance and degree value to the RPLIDAR will be showed in the screen with red font The scan frequency also showed in the UI Trouble shooting When scan core or laser power works abnormally scan core will enter protection mode This state can be retrieved using SDK API If such scenario happened sending restart command a can let scan core reset 8 13 Copyright 2009 2014 RoboPeak http www RoboPeak com Low Cost 360 degree 2D Laser Scanner LIDAR ra robo System T DEdh 3 Development Guide and SDK Introduction Pin Definition for RPLIDAR The socket in the bottom of RPLIDAR is using 5267 7A specification 2 5mm spacing 7 pin Any communication cable has 5264 7 terminal block can be used to connect with RPLIDAR Please find the detail pin definition in the bellow table Pl or Pi 5267 7A Pin Signalname Type Description Minimum Typical Maximum Pl VMOTO Power Power supply for the RPLIDAR scan 5V IN motor P2 MOTOCTL Input Enable pin for RPLIDAR scan OV VMOTO motor PWM control signal active high 2s GNE Power GND signal for RPLIDAR scan motor OV P4 V50 Power Power supply for RPLIDAR scan core 3 6V N 6V Pare DA Output Serial output for RPLIDAR scan core OV 5V P6 RX Input Seriahinput for RPLIDAR scan
8. ich makes RPLIDAR working on a relative high scan frequency You can configure RPLIDAR s scan frequency by controlling motor speed By connecting MOTOCTL signal to the device has PWM output function such as MCU s PWM output I O port RPLIDAR s scan frequency can be locked in a proper value by adjust duty ratio of PWM using the scan frequency feedback provided by RPLIDAR core 10 13 Copyright 2009 2014 RoboPeak http www RoboPeak com Low Cost 360 degree 2D Laser Scanner LIDAR ie robo System T DEdh Please refer to RPLIDAR protocol and application note for more information SDK also contains the sample code SDK Usage RoboPeak provides RPLIDAR SDK support both Windows and Linux platform The SDK contains sample code Please refer to SDK document for more information 11 13 Copyright 2009 2014 RoboPeak http www RoboPeak com Low Cost 360 degree 2D Laser Scanner LIDAR A robo System T Edk 4 Operation Recommendation Pre Heating for best performance The scan core will heating when start working We recommended pre heating RPLIDAR Start scan mode the scan motor Is rotating for more than 2 minutes to get the best measurement accuracy Ambient Temperature RPLIDAR S measurement resolution is sensitive to the ambient temperature Improper use may even damage the sensor Please avoid using RPLIDAR in extreme high temperature gt 40 degree and too low temperature lt 10 degree Ambient
9. robo Ped RPLIDAR Low Cost 360 degree 2D Laser Scanner LIDAR System Development Kit User Manual Low Cost 360 degree 2D Laser Scanner LIDAR System PEAH ey robo Contents LEV 2 SEE HALE 2 NN NN 2 JE Ne 3 2 CONNECTION AND USAGE inicdicacecscasccscssesacsnsasentscicncavacatecdincncenddsecsnousesssseaisendesseabaieetsaeuaneaioanses 4 Ce EE E AE A EAA E A AAE E AAA E EEA CREEA A dies 4 INSTALL DRIVER FOR THE USB ADAPTER ssnsensesssensenseoseesssenenseroeosserseeseroeosesesenseeneossenseeneroee MERMpadneieneaoannneus 5 RUN DEMO APPLICATION eseervenvennsennevnsuvennsennuvnensennsvnnarnsuvennsennarnensennsesnersensevnrerrerrerrn ar O 6 TROUBLE SHOOTING ccscccsecssscccsscssccsscccseresssccsccecsscesssesccecersessccescecerses Ge arr Hd MD 8 3 DEVELOPMENT GUIDE AND SDK INTRODUCTION evnernevnnvnnennennnnnnevnnnnnennunnnnnnennunnsnnnennunnunnnenne 9 EGNE ee EE VE EE 9 PIN DEFINITION FOR USB ADAPTER sccscscccssccseccessccsscccersessces sees AO css MAD ssssccssccssscessceseceesss 10 CONFIGURE RPLIDAR SCAN FREQUENCY euoenanenennnnanevenervenanerernrr MOMA MODDrcscccecesescscesesereseusenesereecaces 10 DA EN 11 4 OPERATION RECOMMENDATION nese h ror Qe cccccoscccccccccccccccccccscccccsccscesccsccscesee 12 PRE HEATING FOR BEST PERFORMANCE M SEES os scccecccscccscccssccssccesscesscsesseesceesecsesss 12 edel V R VE GRE 12 ABC VS I 12 5 REVSON AISIOR Y agere i eee 13
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