Robosense E1R

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Product Link

RoboSense E1R Solid-State LiDAROpenELAB Technology Ltd.

Description

Product Structure:

Optical Envelope FOV Definition:

The optical envelope of the E1R is shown in Figure 2. After all limits are accumulated, the optical envelope ofthe LiDAR cannot be blocked by exterior parts of the vehicle, such as LiDAR cover, roof panel, engine hood, and front bumper, which may block the field of view (FOV) of some parts.

Specifications

The E1R uses a flash scanning method to measure distances up to 30 meters. Each frame produces a high number of points, at a rate of 26,000 points. The horizontal range of the scan is 120° (-60.0° to +60.0°), while the vertical range is 90° (-45° to +45°).

Ranging principle	Time ofFlight	FOV(horizontal)	120°（-60.0°~+60.0°)
safety class	Class1 eye safe	FOV(vertical)	90°（-45°~+45°)
Ranging distance 1	30m @10% NIS, 100klux direct sunlight	Angular resolution(horizontal)	average 0.625°2
Blind area	0.1 m	Angular resolution(vertical)
Count of the points	~260,000 points/second	Ranging Precision3	±5cm@1 sigma
Time Synchronizatio n	gPTP（IEEE-802.1AS） PTP E2E L2（IEEE- 1588）	Ethernet transmission rate	1000Base-T1 Gigabit Ethernet
Frame rate	10 Hz	Operating Voltage	9V - 16V
Power Consumption4	<10 W	Weight	330 g±20 g (only LiDAR)
Operating Temperature 5	- 40℃ ~ + 85℃	Storage Temperature:	- 40℃ ~ + 105℃
Protection Rating	IP67 / IP6K9K

Size	Name	length（mm）	width（mm）	height（mm）
Size	Outer Contour	95	42.6	69.5
	Outer contour of main body with connector and installation position contour	95	51.1	87

Product Installation Recommendations

Interface Description

E1R Platform Connector:

Connector Scheme	Connection Type	Model	Picture	Function
TE Bow-mount Type (Two-in-one plug, 6+2pin)	LiDAR End Connector	TE 2397179-1		Power + Gigabit Ethernet
	Wire harness Connector	TE 2397144-1		Power + Gigabit Ethernet

Connection Installation Requirements:

• The wire harness end connectors and wires, after being assembled with the LiDAR end connectors, must meet the waterproof grades of IP67 and IP6K-9K. The specific selection is the responsibility of the customer;

• It is recommended that at least 70mm of hand space be reserved for plugging and unplugging at the end of the wire harness connector and the surrounding environment.

Entire machine Wire Harness End Installation Requirements:

• The material of the Ethernet wire harness should use STP wires that meet 1000BASE-T1;

• It is recommended to use Dacra 686-3 (with a bending radius of 25 mm) or GGX9305 (with a bending radius of 12 mm), subject to the recommendation of the wiring harness supplier;

• The total length of the Ethernet wire harness is recommended to be less than 15m, and the number of connectors should not exceed 3 pairs (including wire pairs);

• Ethernet signal lines should be routed in the entire machine, and it is recommended to avoid moving sections and high-temperature areas;

• The power supply needs to take into account the wire length, wire diameter and impedance. The working voltage of the lidar on the power line should be maintained at 9V - 16V;

• It is recommended that the LiDAR wiring harnesses exposed to the outside be designed with waterproof rubber sleeves.

The Connection of Interface Box

Vehicle Ethernet Harness Interface and Definition:

Wiring Description	TE Interface Box Structure Diagram
Connecting to the LiDAR side
Connecting to the power supply and host computer side

Power Interface:

The E1R interface box uses standard DC 5.5-2.1 interfaces.

When the power supply is normal, the green indicator of the power supply box is steady on. When the green indicator is off, check whether the power input is normal. If the power input is normal, the interface box may be damaged. Contact RoboSense.

RJ45 network port

The E1R body supports only 1000BASE-T1 on-board Ethernet. When the interface box is used, the network interface uses the standard RJ45 interface. The interface box supports only Gigabit Ethernet.

LiDAR State Machine

When the wake- up pin inputs a high level of 9-16V, the LiDAR wakes up.

LiDAR Usage

Coordinate System

RSView

In the detection of data from E1R, free tools such as Wireshark and tcp-dump can be used to obtain raw data. Meanwhile, RSView can assist users in visualizing raw data more conveniently.

Software Features:

RSView provides real-time visualization of any RoboSense LiDAR data. RSView can also review pre-recorded data stored in “pcap” (Packet Capture) files, but RSView still does not support playing “ .pcapng” files.

RSView displays distance measurements from a RoboSense LiDAR as point data.

It supports custom-colored display of variables such as intensity-of-return, time, distance, azimuth, and laser ID. The data can be exported in ‘ .csv format ’. The RSView 4.3.11 or later version supports generating LAS format point cloud files.

Functionality and features ofRSView include:

• Visualize live streaming sensor data over Ethernet

• Record live sensor data to pcap files

• Visualize sensor data from a recorded pcap file

• Different types of visualization modes, such as distance, time, azimuth, etc

• Display point data in a spreadsheet

• Export point cloud data in CSV format

• Distance measurement tool

• Display multiple frames of data simultaneously (Trailing Frames)

• Crop views

Install RSView:

RSView supports running on Windows 64-bit, Ubuntu 18.04 or higher operating systems. You can download the latest installer from RoboSense website (http://www.robosense.ai/resource). Launch the downloaded installer and follow the instructions to finish the installation. After installation is completed, a shortcut will be generated on the desktop. Make sure the installation path only contains English characters.

Use RSView:

For details on using RSView for operation, please refer to the RS-LiDAR User Guide by pressing the F1 button, or clicking the Help option in menu bar.

Communication Protocol

The communication between E1R and the computer is through Ethernet, and uses UDP protocol. There are two types of output packets: MSOP packet and DIFOP packet.

All MSOP packets involved in this document are with fixed length of 1200 bytes, DIFOP packets are with fixed length of 256 bytes. E1R network parameters are configurable, and the factory default IP and fixed client port number are set as listed in the Table:

	IP Address	MSOP Port Number	DIFOP Port Number
E1R	192.168.1.200	6699	7788
Computer	192.168.1.102	6699	7788

The default MAC address of the LiDAR is initially set at the factory, and the MAC address of each LiDAR is unique.

When using the LiDAR in unicast mode, you need to set the computer's IP to the same network segment as the LiDAR, for example, 192.168.1.x (the range of x is 1~254), and the subnet mask as 255.255.0.0. If you don't know the network configuration information ofthe LiDAR, please set the host computer subnet mask to 255.255.0.0 to connect to the LiDAR and use Wireshark to capture the LiDAR output packet for analysis.

The communication protocol between E1R and the computer is mainly divided into two categories. See the Table for the protocol list.

The main data stream output protocol (MSOP), encapsulates the distance, angle, reflectivity and other information measured by the LiDAR into a package and outputs it to the computer.

LiDAR information output protocol (DIFOP), outputs various configuration information ofthe LiDAR currently in use to the computer.

Protocol	Abbreviation	Function	Type	Packet size
Main Data Stream Output Protocol	MSOP	Output measured data	UDP	1200 Bytes
Device Information Output Protocol	DIFOP	Output device information	UDP	256 Bytes

Main Data Stream Output Protocol (MSOP):

Main data Stream Output Protocol is abbreviated as MSOP.

I/O type: LiDAR output, computer analysis.

Default port number: 6699.

The MSOP packets output three-dimensional measurement related data, including laser ranging value, return reflectivity value, vertical angle, horizontal angle and time stamp.The payload length of the MSOP packet is 1200 bytes, which consists of a synchronization header of 32 bytes, a data packet of 1152 bytes (a total of 96 data blocks of 12 bytes), and a tail of 16 bytes.

Header:

The header is 32-bytes long, and is used for identification of the starting position of data, packet counting, UDP communication reservation, and time stamp storage.

Header(32Bytes)
Sync	PktCnt	Ver	ReturnMode	TimeMode
4 Bytes	2 Bytes	2 Bytes	1 Byte	1 Byte
Timestamp	FrameSync	Res0	LidarType	LidarTmp
10 Bytes	1 Byte	9 Bytes	1 Byte	1 Byte

Sync: can be used as a packet inspection sequence, and the identification header is 0x55, 0xaa, 0x5a, 0xa5.

PktCnt: Packets Sequence Number, packet counting in a circular counting manner, the count value of the first data packet of each frame is 0, the count value of the last data packet of each frame is the maximum value.

Ver: version number of the UDP communication protocol.

ReturnMode: return mode flag, 4 means strongest return, which is fixed.

TimeMode: Time synchronization mode:

• 0x00: currently using the LiDAR internal timing.

• 0x02: currently using PTP E2E time synchronization mode.

• 0x03: currently using gPTP time synchronization mode.

Timestamp: store timestamps. The defined timestamp is used to record the system.

time. The high 6 bytes are the second bits, and the low 4 bytes are the microsecond bits.

FrameSync: frame synchronization state（0x00:no 0x01:yes）

Res0: reserved bit

LidarType: the type of LiDAR, default is 0x62.

LidarTmp: LiDAR’s temperature, Temp = LidarTmp – 80

Data Packet:

The data packet in the MSOP packet stores the data measured by the LiDAR, it has a total of 1152 bytes consisting of 96 data blocks, each data block has 12 bytes

Data block (12Bytes)
content	offset	byte	instruction
TimeOffset	0	2	The time offset of all points in the block relative to the timestamp of the packet, the time of this group of points equals to

			Timestamp + time_offset
Radius	2	2	In the polar coordinate system, the radial distance value of the points, the distance resolution is 5mm
DirVectorX	4	2	Unit direction vector X axis component of channel 1, the value ranges from -32768 to 32767, and divides by 2^15 to float.
DirVectorY	6	2	Unit direction vector Y axis component of channel 1, the value ranges from -32768 to 32767, and divides by 2^15 to float.
DirVectorZ	8	2	Unit direction vector Z axis component of channel 1, the value ranges from -32768 to 32767, and divides by 2^15 to float.
Intensity	10	1	Reflection intensity value of the channel 1 points, the value range is 0~255
PointAttribute	11	1	Attribute of the channel 1 point, 1 indicates normal, 2 indicates noisy point,

Related calculation specification:

Calculation of the radial distance: (Radius is 2-byte long, the unit is millimeter, and the resolution is 5mm.)

Get the hexadecimal number of the radius value of a charnel in the data packet: R1 is 0x03, R2 is 0xfc

0x03 is the high digit of the distance, converted to decimal is 3, 0xfc is the low digit of the distance, converted into decimal is 252.

Therefore: the radial distance of this channel=R1*256+R2=3*256+252=1020.

According to the resolution of the coordinates, it is converted to meters: 1020*0.005=5.10m.

Therefore, the radial distance of this channel in the corresponding elevation and azimuth direction is 5.1 m.

Calculation of XYZ coordinates:

XYZ coordinates can be calculated from the following equations:

Tail:

The frame tail contains parameters used by LiDAR E2E Profile4

content	offset	byte	instruction
Res1	1184	4	Reserved
DataLength	1188	2	04 B0
Counter	1190	2	00 00~FF FF
DataId	1192	4	00 00 0E 5C
Crc32	1196	4

LiDAR Information Output Protocol is abbreviated as DIFOP:

I/O type: LiDAR output, computer read.

Default port number: 7788.

DIFOP is an "output-only" protocol to periodically send the LiDAR serial number (S/N), firmware version information, host computer driver compatibility information, network configuration information, calibration information, operating status, and fault diagnosis information to users. By reading DIFOP, users can learn specific information of various parameters ofthe LiDAR currently in use.

DIFOP Packet(256Bytes)
content	offset	byte	instruction
DifopHeader	0	8	DIFOP recognition head
Res0	8	8	Reserved
SW Version	16	3	LIDAR SW version information
Res1	19	1	Reserved
SN	20	6	Serial number
Res2	26	18	Reserved
LocalIP	44	4	LIDAR IP source address
NetMask	48	4	Subnet mask
MacAddress	52	6	LIDAR IP local Mac address
MsopRemoteIp	58	4	Msop remote IP address
MsopLocalPort	62	2	Msop local port number
MsopRemotePort	64	2	Msop Remote port number
DifopRemoteIp	66	4	Difop Remote IP address
DifopLocalPort	70	2	Difop Local port number
DifopRemotePort	72	2	Difop Remote port number
Res3	74	25	Reserved
FrequecySetting	99	1	LIDAR frame rate setting
ReturnMode	100	1	LIDAR echo information： 0x00: FarthestWave 0x04: StrongestWave (Default) 0x07: NearestWave 0x08: 2ndStrongestWave 0x09: StrongestFarthestWave 0x0A: NearestFarthestWave

			0x0B: Strongest2ndStrongestWave
TimesyncMode	101	1	Time Synchronization Mode: 0x0: Internal 0x2: E2E L2 0x3: GPTP
TimesyncStatus	102	1	Time Syne Status: 0x00: failed 0x01: success 0x02: timeout
TimeStatus	103	10	Timestamp: 0-5bytes: Second 6-9bytes: MicroSecond
PHYMode	113	1	PHY Mode: 0x00: auto-negotiation 0x01: master 0x02: slave other: same as 0x00
Res4	114	142	Reserved

Storage

Storage Inadequate can lead to equipment damage!

• Please store the equipment in an indoor environment with normal temperature and dryness;

• Handle the equipment carefully to avoid collisions, drops, and other dangerous behaviors;

• The products should be stored in a safe environment to prevent corrosion, mechanical impact, and exposure to environments above the protective level;

• Regularly check the status of all components and packaging. It is recommended to conduct inspections every 3 months.

Documents

2MB

Robosense E1R User Guide 2025.pdf

pdf

3D model

7MB

Robosense E1R 3D model.zip

archive