RPLIDAR C1
360 Degree Laser Range Scanner with
Fusion Technology
2024-03-12 rev.1.1
Introduction and Datasheet
Model: C1M1
5K
w w w .sla m te c.co m
Shanghai Slamtec Co., Ltd.
上海思岚科技有限公司
Contents
CONTENTS .......................................................................................................................................................... 1
INTRODUCTION ................................................................................................................................................ 3
SYSTEM COMPOSITION AND CONNECTION .......................................................................................................... 4
MECHANISM ....................................................................................................................................................... 4
SAFETY AND SCOPE ............................................................................................................................................ 6
DATA OUTPUT .................................................................................................................................................... 6
PROTOCOL COMPATIBILITY ................................................................................................................................ 7
APPLICATION SCENARIOS ................................................................................................................................... 8
SPECIFICATION ................................................................................................................................................ 9
MEASUREMENT PERFORMANCE .......................................................................................................................... 9
LASER POWER SPECIFICATION .......................................................................................................................... 10
OPTICAL WINDOW ............................................................................................................................................ 10
COORDINATE SYSTEM DEFINITION OF SCANNING DATA ................................................................................... 11
COMMUNICATION INTERFACE ........................................................................................................................... 11
MISCELLANEOUS .............................................................................................................................................. 15
SELF-PROTECTION AND STATUS DETECTION ..................................................................................... 16
SDK AND SUPPORT ......................................................................................................................................... 17
MECHANICAL DIMENSIONS ....................................................................................................................... 18
REVISION HISTORY ....................................................................................................................................... 19
APPENDIX ......................................................................................................................................................... 20
IMAGE AND TABLE INDEX ................................................................................................................................. 20
Introduction
The RPLIDAR C1 is a next-generation 360 degree 2D laser scanner (LIDAR) solution
developed by SLAMTEC. It can take up to 5000 samples of laser ranging per second
with high rotation speed. Equipped with contactless power and signal transmission
technology, it breaks the life limitation of traditional LIDAR systems to work stably
for a long time.
RPLIDAR C1 has a measuring distance of up to a radius of 12 meters and a low blind
range of only 0.05 meters. It easily accomplishes scanning and measuring objects at
various distances and achieves obstacle avoidance. RPLIDAR C1 not only delivers
powerful performance but also features a compact and agile design. It is small and has
low levels of noise and vibration, making it easy to integrate into various applications.
Its compact size and versatility open up a wide range of possibilities and uses.
RPLIDAR C1 can be used in home robot, educational ROS car, commercial robot,
autonomous vehicles in low-speed parks, and parking lot space monitoring. Therefore,
it can be widely applied in many consumer-oriented business scenarios.
The typical scanning frequency of RPLIDAR C1 is 10Hz (600rpm). With the 10Hz
scanning frequency, the sample rate is 5KHz, and the angular resolution is 0.72°.
With SLAMTEC’s self-developed fusion ranging technology, RPLIDAR C1 can
provide 2.5D multidimensional information, including position information data and
reflectivity data. Meanwhile, before leaving the factory, every RPLIDAR C1 has
passed strict testing to ensure the laser output power meets the eye-safety standard of
IEC-60825 Class 1.
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Copyright (c) 2009-2013 RoboPeak Team
Copyright (c) 2013-2023 Shanghai Slamtec Co., Ltd.
System Composition and Connection
The RPLIDAR C1 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
core will rotate and scan clockwise. Users can get the range scan data via the
communication interface of the RPLIDAR.
Figure 1-1 RPLIDAR C1 System Composition
The RPLIDAR C1 comes with a rotation speed detection and adaptive system. The
system automatically adjusts the angular resolution according to the rotating speed.
And there is no need to provide a complicated power system for the RPLIDAR. In this
way, the simple power supply schema saves the BOM cost.
The detailed specification of the power and communication interface can be found in
the following sections.
Mechanism
The RPLIDAR C1 is based on the laser flight-of-time (TOF) ranging principle and
combined with the high-speed laser acquisition and high-precision fusion algorithm
developed by SLAMTEC. It can perform high-precision and high-resolution ranging
movements up to 5000 times per second. During every ranging process, the
RPLIDAR emits modulated infrared laser signal, which is then reflected by the object
to be detected. The returning signal is then sampled by the laser acquisition system in
RPLIDAR, and the processor embedded in RPLIDAR starts processing the sample
data and outputs the distance value and angle value between the object and RPLIDAR
via the communication interface.
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Figure 1-2 The RPLIDAR C1 Working Schematic
When driven 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
shown here. Illustrative purposes only.
Figure 1-3 The Environment Map Obtained from RPLIDAR Scanning
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Safety and Scope
The RPLIDAR 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 which can
Class I ensure the safety of humans and pets, and it reaches the Class I laser safety standard.
Complies with 21 CFR 1040.10 and 1040.11, except for deviations pursuant to IEC
60825-1 Ed. 3., as described in Laser Notice No. 56, dated May 8, 2019.
Caution: Use of controls or adjustments or performance of procedures other than those
specified herein may result in hazardous radiation exposure.
Data Output
During the working process, the RPLIDAR will output the sampling data via the
communication interface. The sample point data per frame contains the information in
the following table. For the specific data format, refer to the the corresponding
communication protocol documents provided on the download and support page of
the official website .
Data Type Unit Description
Distance Current measured distance value between the rotating
mm
Value core of the RPLIDAR and the sample point
Angle of the current sample point relative to the
Angle Degree
orientation of the RPLIDAR
(Boolean
Start Signal Flag of a new scan
value)
Checksum - Checksum of the data returned by the RPLIDAR
Figure 1-4 The RPLIDAR Sample Point Data Information
... ...
(dሾn − 1ሿ, θሾn − 1ሿ) (dሾnሿ, θሾnሿ) (dሾ0ሿ, θሾ0ሿ) (dሾ1ሿ, θሾ1ሿ)
Start Flag
A new scan
Figure 1-5 The RPLIDAR Sample Point Data Frames
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Copyright (c) 2013-2023 Shanghai Slamtec Co., Ltd.
The RPLIDAR outputs sample data continuously, and it contains the sample point
data frames in the above figure. The host system can configure the output format and
stop the RPLIDAR from outputting data by sending a control command. For the
specific operation, refer to the documents provided on the download and support page
of the official website or contact SLAMTEC.
Protocol Compatibility
The RPLIDAR C1 adopts traditional sampling protocols and the high-speed sampling
protocol for outputting the 5000 times per second laser range scan data. The
RPLIDAR C1 is compatible with all communication protocols used by previous
RPLIDAR S Series products and the traditional sampling protocol (standard) of the A
Series products, users can directly in place of previous RPLIDAR models and use it in
the original system.
In order to properly display the LIDAR model, the user must update the corresponding
SDK or rewrite the original driver, please refer to
https://github.com/Slamtec/rplidar_sdk for details.
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Copyright (c) 2013-2023 Shanghai Slamtec Co., Ltd.
Application Scenarios
The system can be used in the following application scenarios:
o General simultaneous localization and mapping (SLAM)
o Environment scanning and 3D re-modeling
o Service robots or industrial robots working for long hours
o Navigation and localization of home service/cleaning robots
o General robot navigation and localization
o Localization and obstacle avoidance of smart toys
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Specification
Measurement Performance
For Model C1M1 Only
Item Detail
White object: 0.05-12 meters (under 70% reflection)
Distance Range1
Black object: 0.05-6 meters (under 10% reflection)
Sample Rate2 5KHz
Scanning
8~12Hz, 10Hz@typical
Frequency3
Angular
0.72°@typical
Resolution
Scan Field
0°~1.5°(can be customized)
Flatness
Communication
TTL UART
Interface
Communication
460800
Speed
Accuracy4 ±30mm
Resolution 15mm
Degree of
IP54
Protection
Ambient Light
40,000lux
Limit
Figure 2-1 RPLIDAR Performance
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Copyright (c) 2013-2023 Shanghai Slamtec Co., Ltd.
Note:
[1] If the target distance is <0.05m or >12m, the lidar can detect and output point cloud data. Because the detection accuracy
cannot be guaranteed, this data is only for reference.
[2] Sample Rate fluctuation is less than 1%.
[3] When the lidar is stationary, the scanning frequency fluctuation is less than 5%.
[4] Tested in an environment at a temperature of 25°' C (77"F) with a target object that has a reflection of 10~90%, if the
reflection of a target object exceeds the standard value (<10% or >90%), the accuracy of point cloud data might decrease
slightly.
Laser Power Specification
For Model C1M1 Only
Item Unit Min Typical Max Remarks
Working Nanometer Infrared Light
895 905 915
Wavelength (nm) Band
Laser Power Watt (W) - 20 - Peak power
Nanosecond
Pulse Length - 1.4 - -
(ns)
Laser Safety IEC-60825
- - - -
Class Class 1
Figure 2-2 RPLIDAR Optical Specification
*Note: The laser power is the peak power, and the actual average power will be much
lower than this value.
Optical Window
To make the RPLIDAR C1 work normally, ensure proper space is left for emitting
and receiving laser lights when designing the host system. The ranging window is
partly obscured by the host system, which will impair the performance and resolution
of the RPLIDAR C1. If you need to cover the RPLIDAR with translucent materials or
have other special needs, please contact SLAMTEC to learn about the feasibility.
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Figure 2-3 RPLIDAR Optical Window
You can check the Mechanical Dimensions chapter for detailed window dimensions.
Coordinate System Definition of Scanning Data
The RPLIDAR C1 adopts a 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 the device rotates clockwise. The
detailed definition is shown in the following figure:
Figure 2-4 RPLIDAR C1 Scanning Data Coordinate System Definition
Communication Interface
The RPLIDAR C1 uses separate 5V DC power to power the ranging system and the
motor system. And the standard RPLIDAR C1 uses an XH2.54-5P male socket. The
detailed interface definition is shown in the following figure:
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Red
XH2.54-5P
VCC
TX
RX
GND
Figure 2-5 RPLIDAR Power Interface Definition
Color Signal Name Type Description Min Typical Max
Red VCC Power Total Power 4.8V 5V 5.2V
Yello TX Output Serial port output of 0V / 3.5V
w the scanner core
Green RX Input Serial port input of 0V / 3.5V
the scanner core
Black GND Power GND 0V 0V 0V
Figure 2-6 RPLIDAR C1 External Interface Signal Definition
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Copyright (c) 2013-2023 Shanghai Slamtec Co., Ltd.
Power Supply Interface
The RPLIDAR C1 takes the only external power to power the range scanner core and
the motor system, which makes the core rotate. To make the RPLIDAR C1 work
normally, the host system needs to ensure the output of the power and meet its
requirements of the power supply ripple.
For Model C1M1 Only
Item Unit Min Typical Max Remarks
If the voltage is not
enough, the
Power Voltage V 4.8 5 5.2
measurement will
not be accurate.
Excessive power
Power Voltage supply noise may
mV - - 150
Ripple cause increased lidar
radiation.
The system startup
System Start
mA - 800 - requires a relatively
Current
higher current.
5V Power, 10Hz
Power Current mA - 230 260
scanning frequency
Figure 2-7 RPLIDAR Power Supply Specification
*Note: An insufficient power supply may lead to inaccurate range measurement and
insufficient motor speed during cold start. It is recommended to provide a sufficient
power supply to the lidar. The voltage measured at the external interface of the lidar is
more than 5V when the lidar is working normally.
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Data Communication Interface
The RPLIDAR C1 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 Remarks
Baud Rate bps - 460800 - -
8 data bits, 1
Working
- - stop bit, no - 8n1
Mode
parity check
Output High Output signal with high
V 2.9 3.3 3.5
Voltage voltage
Output Low Output signal with low
V - - 0.4
Voltage voltage
Input High Input signal with high
V 2.4 3.3 3.5
Voltage voltage
Input Low Input signal with high
V 0 - 0.4
Voltage voltage
Figure 2-8 RPLIDAR Serial Port Interface Specifications
Scanner Motor Control
The RPLIDAR C1 is embedded with a closed motor control system that can control
the rotation speed accurately. Users can change the rotation speed of the motor by
sending a motor speed setting command to the RPLIDAR.
*Note: However, the motor can't start or stop alone, and its working state depends on
the laser scan command. If you want to control the rotation speed of the lidar, provide
a sufficient power supply to the lidar.
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Miscellaneous
For Model C1M1 Only
Item Unit Min Typical Max Remarks
Weight Gram (g) - 110 -
Switch-on Degree
0 - -
Temperature Celsius (ºC)
Working
Degree
Temperature -10 25 40
Celsius (ºC)
Range
Storage
Degree
Temperature -20 25 60
Celsius (ºC)
Range
Figure 2-9 RPLIDAR Miscellaneous Specification
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Self-protection and Status Detection
The RPLIDAR C1 comes with laser power detection and sensor health check logic to
avoid damage to the device due to malfunction and to ensure that the laser always
works within the safety range during its operation. To avoid damage to the device and
others, the RPLIDAR C1 will shut down the laser and stop scanning automatically
when any of the following errors has been detected.
o The scan speed of the laser scanner system is unstable
o The scan speed of the laser scanner system is too slow
o The external power supply is low
The host system can check the system status via the communication interface and
restart the RPLIDAR C1 to try to recover work from errors. If you have any questions,
please contact after-sales support or email [email protected].
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SDK and Support
To facilitate the usage of RPLIDAR C1 in product development and speed up the
development for users, SLAMTEC has provided the Framegrabber plugin in
RoboStudio for testing and debugging as well as the SDK available under x86
Windows, x86 Linux, MacOS, and Arm Linux. Please contact SLAMTEC for details.
Figure 3-1 The Framegrabber Plugin in RoboStudio
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Mechanical Dimensions
The mechanical dimensions of the RPLIDAR C1 are shown below:
*Note:
1. The depth of 4*M2.5 screws in the bottom should be no longer than 4mm.
Otherwise, the internal components will be damaged.
2. Dimension unit: mm; tolerance: ±0.2
Figure 4-1 RPLIDAR C1 Mechanical Dimensions
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Revision History
Date Version Description
2023-10-13 1.0 Initial version for C1M1
Update RPLIDAR Miscellaneous Specification in
2024-03-12 1.1
Figure 2-9 to add the switch-on temperature
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Appendix
Image and Table Index
FIGURE 1-1 RPLIDAR C1 SYSTEM COMPOSITION .................................................................................................. 4
FIGURE 1-2 THE RPLIDAR C1 WORKING SCHEMATIC ........................................................................................... 5
FIGURE 1-3 THE ENVIRONMENT MAP OBTAINED FROM RPLIDAR SCANNING ....................................................... 5
FIGURE 1-4 THE RPLIDAR SAMPLE POINT DATA INFORMATION ........................................................................... 6
FIGURE 1-5 THE RPLIDAR SAMPLE POINT DATA FRAMES .................................................................................... 6
FIGURE 2-1 RPLIDAR PERFORMANCE.................................................................................................................... 9
FIGURE 2-2 RPLIDAR OPTICAL SPECIFICATION ................................................................................................... 10
FIGURE 2-3 RPLIDAR OPTICAL WINDOW ............................................................................................................ 11
FIGURE 2-4 RPLIDAR C1 SCANNING DATA COORDINATE SYSTEM DEFINITION .................................................. 11
FIGURE 2-5 RPLIDAR POWER INTERFACE DEFINITION ........................................................................................ 12
FIGURE 2-6 RPLIDAR C1 EXTERNAL INTERFACE SIGNAL DEFINITION ................................................................ 12
FIGURE 2-7 RPLIDAR POWER SUPPLY SPECIFICATION ........................................................................................ 13
FIGURE 2-8 RPLIDAR SERIAL PORT INTERFACE SPECIFICATIONS........................................................................ 14
FIGURE 2-9 RPLIDAR MISCELLANEOUS SPECIFICATION...................................................................................... 15
FIGURE 3-1 THE FRAMEGRABBER PLUGIN IN ROBOSTUDIO .................................................................................. 17
FIGURE 4-1 RPLIDAR C1 MECHANICAL DIMENSIONS ......................................................................................... 18
SHANGHAI SLAMTEC CO., LTD.
Address: E-10F Shengyin Tower, 666 Shengxia Rd., Shanghai, China
5F, Building K, 188 Liaoyang Road, Yangpu District, Shanghai, China
Made in China
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