Slamtec RPLIDAR A2 Series Bedienungsanleitung
www .slam tec.com
ShanghaiSlam tec.C o.,Ltd
RPLIDAR A2
Low Cost 360 Degree Laser Range Scanner
Development Kit User Manual
Model：A2M6、A2M7、A2M8
2019-10-23 rev.1.0
CONTENTS...................................................................................................................................................1
OVERVIEW ...................................................................................................................................................3
ITEMS IN THE DEVELOPMENT KIT ..................................................................................................................3
RPLIDAR A2 ..............................................................................................................................................4
USB ADAPTER .............................................................................................................................................4
CONNECTION AND USAGE .....................................................................................................................5
CONNECTION ...............................................................................................................................................5
INSTALL DRIVER FOR THE USB ADAPTER ......................................................................................................5
RUN DEMO APPLICATION.............................................................................................................................7
TROUBLESHOOTING......................................................................................................................................9
MOTOR SPEED ADJUSTMENT........................................................................................................................9
SDK INTRODUCTION AND USAGE......................................................................................................11
RPLIDAR A2 PIN DEFINITION AND SPECIFICATION ...................................................................................11
PIN DEFINITION FOR THE USB ADAPTER ....................................................................................................12
CONFIGURE RPLIDAR A2 SCAN FREQUENCY ............................................................................................12
SDK USAGE ...............................................................................................................................................13
OPERATION RECOMMENDATION.......................................................................................................14
PRE-HEATING FOR BEST PERFORMANCE.....................................................................................................14
AMBIENT TEMPERATURE.............................................................................................................................14
AMBIENT LIGHT..........................................................................................................................................14
REVISION HISTORY .................................................................................................................................15
APPENDIX ..................................................................................................................................................16
IMAGE AND TABLE INDEX ...........................................................................................................................16
Contents
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Copyright (c) 2009-2017 RoboPeak Team
Copyright (c) 2013-2017 Shanghai Slamtec Co., Ltd.
RPLIDAR A2 development kit includes the matched tools used for evaluating
RPLIDAR’s performance and initial development. After connecting the RPLIDAR
A2 with PC via USB cable and connecting the power adapter to the USB cable,
users can observe the cloud map of the environment scanning point collected by
the RPLIDAR in RoboStudio and start development based on the SDK.
Items in the Development Kit
RPLIDAR Development Kit contains:
oRPLIDAR（PWM motor driver embedded）
oUSB Adapter
oMicro-USB cable
oPower cable
Figure 1-1 Items in the RPLIDAR Development Kit
Overview
RPLIDAR
USB adapter
USB-DC Power
cable
Micro-USB
cable
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Copyright (c) 2009-2017 RoboPeak Team
Copyright (c) 2013-2017 Shanghai Slamtec Co., Ltd.
RPLIDAR A2
Figure 1-2 The RPLIDAR
The RPLIDAR A2 development kit contains standard RPLIDAR A2 unit. The
RPLIDAR is embedded with logic IO drivable 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 usage and interface definition will be introduced in the coming sections.
USB Adapter
The USB adapter comes with a dial switch. It can be used to switch the Baud rate
from 115200 to 256000 or vice versa. Please note that the Baud rate should be set
as 256000 if the USB adapter is connected with RPLIDAR A2M7.And the Baud rate
should be set as 115200 if the USB adapter is connected with RPLIDAR A2M6 and
A2M8.
Figure 1-3 RPLIDAR Adapter
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Copyright (c) 2009-2017 RoboPeak Team
Copyright (c) 2013-2017 Shanghai Slamtec Co., Ltd.
Connection
RPLIDAR A2 can be easily connected to PC according to the following steps.
1) Connect RPLIDAR A2 with the USB adapter.
Figure 2-1 Connect RPLIDAR A2 and USB Adapter
2) Connect the USB adapter to your PC via the Micro-USB cable. If the PC is
on, after connecting the USB cable to your PC and connecting the power
adapter to the USB cable, the indicator light of the USB will light up but the
RPLIDAR will not start scanning.
Figure 2-2 Connect the USB Adapter to PC via Micro-USB Cable
Install Driver for the USB Adapter
The USB adapter converts UART to USB by using CP2102 chip. You need to install
the device driver for the chip. The driver can be found in the provided SDK
package or downloaded from Silicon Labs’official website:
http://www.silabs.com/products/mcu/Pages/USBtoUARTBridgeVCPDrivers.aspx
Here’s the installation steps in Windows: after connecting the RPLIDAR 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.
Connection and Usage
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Copyright (c) 2009-2017 RoboPeak Team
Copyright (c) 2013-2017 Shanghai Slamtec Co., Ltd.
Figure 2-3 Choose USB Adapter Driver for Installation
Figure 2-4 Start Page of USB Adapter Driver Installation
After Installing the driver according to the above installation steps, you will see
corresponding serial port name in the [Control Panel] -> [Device and Printers].
Please refer to the below figure.
Figure 2-5 Recognized Serial Port Name Matched with the USB Adapter
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Copyright (c) 2009-2017 RoboPeak Team
Copyright (c) 2013-2017 Shanghai Slamtec Co., Ltd.
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 USB adapter and
installed the device driver correctly before running the demo application in
RoboStudio. Launch RoboStudio and log in.
Figure 2-6 RoboStudio Login Page
If the connection is ok, you shall see the user interface is shown as below.
1. Click File->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 A2
previously connected to your PC;
3. Click the RPLIDAR A2 icon to extend the tool buttons below the icon: the left
one is to adjust the motor speed while the right one is to open the tool bar in the
major work area as shown in Figure 2-7.
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Copyright (c) 2009-2017 RoboPeak Team
Copyright (c) 2013-2017 Shanghai Slamtec Co., Ltd.
Figure 2-7 The Lidar Plugin in RoboStudio
The serial number, version and model of the RPLIDAR A2 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 10Hz.):
Button
Function
Description
Restart RPLIDAR
Restart scan core to clear internal errors
Save Scan Data
Save current scan data to the local file
Stop Scan
Scan core enter power save mode
Start Scan
Scan data will be displayed after scan core starting work
Work Mode Switch
Switch among different work modes to fit in specific
environments
Adjust Motor Speed
Adjust the motor speed as required
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Copyright (c) 2009-2017 RoboPeak Team
Copyright (c) 2013-2017 Shanghai Slamtec Co., Ltd.
Figure 2-9 The Scan Outline by RPLIDAR in RoboStudio
Right click in the 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.
Motor Speed Adjustment
During the running process, different motor rotating speed can be achieved by
pressing the button, which can fit in different working environments or meet
specific requirements. There will be a speed adjustment dialog box and dash
board popped up for users to enter required speed. After entering a value, the
motor will work as the settled rotating speed automatically. User can also drag the
sliding handle to the required rotating speed.
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Copyright (c) 2009-2017 RoboPeak Team
Copyright (c) 2013-2017 Shanghai Slamtec Co., Ltd.
The current actual rotating speed will show in the upper left corner of the major
work area. For instance, the actual rotating speed in the following screenshot is
11.92Hz.
Figure 2-10 The Motor Speed Adjustment Dialogue of RPLIDAR in RoboStudio
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