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RoboSense E1R Fully Solid-State LiDAR with 120° × 90° Ultra-Wide FOV for Robotics

SKU: RS-E1R
Type: Only LiDAR
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RoboSense E1R Fully Solid-State LiDAR with 120° × 90° Ultra-Wide FOV for Robotics

RoboSense E1R is a fully solid-state digital LiDAR built on RoboSense's automotive-grade E platform for robotics and real-time 3D perception. Its 144-line architecture, 120° × 90° ultra-wide field of view, and fully chip-based electronic scanning help developers build perception systems for localization, mapping, navigation, and obstacle-awareness workflows.

Powered by RoboSense SPAD-SoC and 2D VCSEL technology, E1R combines a compact, flat optical window with structured point-cloud output. The current official product page specifies a 75 m maximum range, while the user guide specifies 30 m at 10% NIST reflectance in 100 klux direct sunlight.

The E1R user guide specifies 1000Base-T1 Gigabit Ethernet, UDP data output, and gPTP / PTP E2E L2 time-synchronization support, giving integrators an established wired path for robotics perception development.


Features

  • Fully solid-state digital architecture - RoboSense combines an in-house digital SPAD-SoC with a 2D VCSEL array and electronic scanning, with no internal moving parts.
  • Ultra-wide 3D coverage - The 120° horizontal and 90° vertical field of view supports wide-area perception for robotics integration.
  • 144-line structured point cloud - E1R delivers approximately 260,000 pts/s at 10 Hz for high-density 3D sensing workflows.
  • Long-range and close-range coverage - Official specifications list a 75 m maximum range, 30 m at 10% NIST reflectance, and a 0.1 m blind area.
  • Ranging precision - The current E1R user guide specifies ±5 cm @ 1 sigma in the 10-30 m range with a 50% NIST diffuse reflector; environmental and target conditions affect results.
  • Automotive-grade resilience - RoboSense states that E1R has passed more than 60 reliability tests, including temperature, vibration, and protection testing for demanding deployments.
  • Industrial environmental protection - The user guide lists IP67 / IP6K9K protection and an operating range of -40°C to +85°C.
  • Gigabit wired integration - The LiDAR body uses 1000Base-T1; the interface box provides a standard RJ45 Gigabit Ethernet connection for host-side development.
  • Time-synchronized perception - The platform supports gPTP (IEEE 802.1AS) and PTP E2E L2 (IEEE 1588) workflows documented in the official user guide.

RoboSense E1R compact flat optical window animation

Compact Design and Flexible Deployment

E1R uses a low-profile, flat optical window with no protruding scanner assembly, helping designers integrate 3D perception into constrained robot enclosures. The official page lists a 7 × 35 × 75 mm flat optical window and a 1/4-inch threaded mount for development, test, and fixture workflows.

RoboSense E1R ultra-wide field of view application visual

Ultra-Wide Field of View and Detection Range

The 120° × 90° coverage is designed to capture broad environmental context while retaining detail for object contour, distance, and obstacle-awareness tasks. The official product page lists 75 m maximum range; the user guide documents 30 m @ 10% NIST reflectance under 100 klux direct sunlight.

RoboSense E1R point cloud perception animation

High-Definition Point Cloud and Digital Sensing

With 144 lines and approximately 260,000 points per second, E1R supplies structured 3D data for real-time mapping, localization, scene reconstruction, and obstacle detection. Its fully digital signal path is intended to preserve echo information for high-quality point-cloud output.


Specifications

Parameter Value
Product model RoboSense E1R
Ranging principle Time of Flight, fully solid-state electronic scanning
Optical architecture Digital SPAD-SoC and 2D VCSEL
Number of lines 144
Field of view Horizontal: 120° (-60° to +60°); Vertical: 90° (-45° to +45°)
Detection range 75 m maximum; 30 m @ 10% NIST reflectance in 100 klux direct sunlight
Ranging precision ±5 cm @ 1 sigma, tested at 10-30 m with a 50% NIST diffuse reflector
Blind area 0.1 m
Angular resolution Non-uniform: 0.625° in the central FOV and 0.7° at the edges; average horizontal and vertical resolution listed as 0.625°
Frame rate 10 Hz
Point rate Approximately 260,000 pts/s
Wavelength and laser safety 940 nm; Class 1 eye-safe
Data interface 1000Base-T1 Gigabit Ethernet; standard RJ45 Gigabit Ethernet when using the interface box
Data protocol UDP MSOP measurement-data packets and DIFOP device-information packets
Time synchronization gPTP (IEEE 802.1AS) and PTP E2E L2 (IEEE 1588)
Operating voltage 9 V to 16 V
Power consumption <10 W
Outer contour 95 × 42.6 × 69.5 mm (L × W × H)
Connector and installation envelope 95 × 51.1 × 87 mm (L × W × H)
Weight 330 g ±20 g (LiDAR only)
Operating temperature -40°C to +85°C
Storage temperature -40°C to +105°C
Protection rating IP67 / IP6K9K
RoboSense E1R compact optical window dimensions

Product Comparison

E1R and E2 are closely related fully solid-state sensors for wide-angle robotic perception. E2 offers a wider published maximum field of view and higher dual-return output; the figures below retain their operating modes and test conditions rather than implying a like-for-like performance multiplier.

Parameter RoboSense E1R RoboSense E2
SKU RS-E1R RS-E2
Scanning architecture Fully solid-state electronic scanning Fully solid-state electronic scanning
Receiver / emitter SPAD-SoC / 2D VCSEL Peacock SPAD-SoC / 2D VCSEL
Field of view (horizontal x vertical) 120° x 90° Up to 180° x 135° (platform maximum)
Range at 10% reflectivity 30 m with a 10% NIST target under 100 klux direct sunlight Up to 35 m at 10% reflectivity (published maximum)
Point-cloud output Approximately 260,000 pts/s at 10 Hz Up to 1,500,000 pts/s in dual-return mode
Angular resolution 0.625° in the central FOV; 0.7° at the edges Best published: 0.375° x 0.375°
Power consumption Less than 10 W No greater than 5 W under typical operating conditions
Operating temperature -40°C to +85°C -40°C to +85°C

E2 maximum field of view, finest angular sampling and highest point rate are mode- and revision-dependent, not a single guaranteed operating profile.


Integration and Development

Connect 1000Base-T1 through the E1R interface box to a Gigabit RJ45 host port, and supply 9-16 V. The host must be on the configured LiDAR subnet. RSView supports live inspection and PCAP recording/replay; use the linked rs_driver and ROS/ROS 2 packages for application development.

Keep the optical field clear, including of transparent covers. Allow space for connectors and heat dissipation, and do not completely enclose the sensor. For synchronized sensor fusion, select network hardware and a master clock compatible with the documented gPTP or PTP mode.


Applications

RoboSense E1R is intended for robots and autonomous systems that need wide, real-time 3D perception. Final detection, navigation, and safety performance depend on the mechanical integration, calibration, operating environment, and host software of the complete system.

RoboSense E1R official autonomous delivery robot application animation

RoboSense E1R autonomous delivery robots demonstration.

Autonomous delivery robots

The ultra-wide field of view can provide 3D perception input for route awareness, obstacle detection, and localization development in outdoor and mixed environments. Developers can combine this local point cloud with route maps and other sensors to assess curbs, path edges and obstacles along the planned route.

RoboSense E1R official cleaning robot application animation

RoboSense E1R cleaning robots demonstration.

Cleaning robots

Structured point-cloud data can support mapping, coverage planning, and obstacle-awareness workflows for autonomous floor-care platforms. The broad vertical view helps teams evaluate low and elevated obstacles in the same scene while tuning their robot's coverage and local-planning software.

RoboSense E1R official Robotaxi application animation

RoboSense E1R robotaxi and autonomous vehicles demonstration.

Robotaxi and autonomous vehicles

The automotive-grade platform and broad perception coverage can be evaluated for near-field, wide-angle perception and sensor-fusion research. Its sector coverage can complement a surrounding sensor suite, providing additional geometric context in the region facing the sensor rather than replacing a complete 360-degree perception system.

RoboSense E1R official service robot application animation

RoboSense E1R service robots demonstration.

Service robots

A compact solid-state sensor can be integrated into indoor robots that need 3D environmental context around people, furnishings, and changing obstacles. Use the depth geometry as an input to local planning and scene understanding, with robot speed, stopping distance and person detection validated at system level.

RoboSense E1R official humanoid robot application animation

RoboSense E1R humanoid robots demonstration.

Humanoid robots

The 90-degree vertical field of view supports evaluation of 3D perception for object awareness, nearby obstacles, and environment reconstruction. Position the sensor to keep its optical field unobstructed, then align the point cloud with the robot body frame for navigation and interaction research.

RoboSense E1R official drone application animation

RoboSense E1R drones and aerial robotics demonstration.

Drones and aerial robotics

The low-profile optical window and wired point-cloud output can be assessed for inspection, mapping, and obstacle-awareness development where system integration permits. Evaluate sensor orientation, cable routing, payload and the required sensing direction together when planning an aerial platform.

Warehouse and logistics automation

E1R can provide perception input for AMR, AGV, dock, aisle, and object-awareness development in controlled operational spaces.

Smart infrastructure and spatial digitalization

The structured data stream can be evaluated for 3D environmental modeling, traffic context, and site-monitoring applications.


Reference Documents

Wiki

OpenELAB RoboSense E1R Wiki

Manuals and CAD

E1R Online User Manual

E1R User Guide PDF

RoboSense E1R 3D Model

Certification

E1 Certification Package

Software and Development

E1R Official Resource Portal

RoboSense rs_driver

RoboSense rslidar_sdk

RoboSense rslidar_msg


Packing List

SKU Item Quantity
RS-E1R

Only LiDAR

Only LiDAR - RoboSense E1R
RoboSense E1R LiDAR 1
RS-E1R-3.5

3.5m Accessory-Kit

3.5m Accessory-Kit - RoboSense E1R
3.5m Ethernet Power Cable 1
Power Adapter 1
Power Cable 1
E1R Power Interface Box 1
RJ45 Ethernet Cable 1
M4 Screws 6
RS-E1R-8

8m Accessory-Kit

8m Accessory-Kit - RoboSense E1R
8m Ethernet Power Cable 1
Power Adapter 1
Power Cable 1
E1R Power Interface Box 1
RJ45 Ethernet Cable 1
M4 Screws 6
RS-E1R-35kit

LiDAR with 3.5m Ethernet Kit

LiDAR with 3.5m Ethernet Kit - RoboSense E1R
RoboSense E1R LiDAR 1
3.5m Ethernet Power Cable 1
Power Adapter 1
Power Cable 1
E1R Power Interface Box 1
RJ45 Ethernet Cable 1
M4 Screws 6
RS-E1R-80kit

LiDAR with 8m Ethernet Kit

LiDAR with 8m Ethernet Kit - RoboSense E1R
RoboSense E1R LiDAR 1
8m Ethernet Power Cable 1
Power Adapter 1
Power Cable 1
E1R Power Interface Box 1
RJ45 Ethernet Cable 1
M4 Screws 6

FAQ

Which RoboSense E1R SKU should I select?

RS-E1R is the LiDAR-only option. RS-E1R-3.5 and RS-E1R-8 are accessory kits with different Ethernet power-cable lengths. RS-E1R-35kit and RS-E1R-80kit combine the LiDAR with the corresponding 3.5 m or 8 m Ethernet kit listed above.

What field of view does E1R provide?

The official user guide specifies a 120° horizontal field of view (-60° to +60°) and a 90° vertical field of view (-45° to +45°).

What range and ranging precision does E1R offer?

The current product page lists a 75 m maximum range. The user guide specifies 30 m at 10% NIST reflectance in 100 klux direct sunlight and ±5 cm @ 1 sigma at 10-30 m with a 50% NIST diffuse reflector. Results vary with targets and environment.

How many points does E1R output?

The user guide specifies approximately 260,000 points per second at a 10 Hz frame rate. This corresponds to approximately 26,000 points per frame.

How does the LiDAR connect to a host computer?

The E1R body uses 1000Base-T1 Gigabit Ethernet. With the official interface box, the host-side connection uses a standard RJ45 Gigabit Ethernet interface; its documented data transport uses UDP.

Which data packets does E1R provide?

The manual documents UDP MSOP measurement-data packets and DIFOP device-information packets. MSOP includes ranging, reflectivity, angles, and timestamp information.

Does E1R support ROS or ROS 2 development?

The official guide states that rs_driver v1.5.10 and later supports E1R point-cloud parsing and transformation. It also references rslidar_sdk and rslidar_msg for ROS and ROS 2 workflows. Confirm the current repository instructions and your target environment before integration.

Which time-synchronization methods are documented?

The user guide documents gPTP (IEEE 802.1AS) as the default firmware method and PTP E2E L2 (IEEE 1588). Appropriate compatible master clocks and network hardware are required for the selected synchronization workflow.

What mechanical and electrical allowance is needed?

Plan for a 95 × 42.6 × 69.5 mm LiDAR outer contour, or 95 × 51.1 × 87 mm when including the connector and installation-position contour. The specified operating input is 9 V to 16 V with power consumption below 10 W.

What environmental and safety ratings are specified?

The official documentation lists IP67 / IP6K9K, an operating range of -40°C to +85°C, and a Class 1 eye-safe 940 nm laser. The completed system still requires application-specific validation and installation according to the supplied manual.

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