# Slamtec RPLIDAR S2 360° dToF Lidar

> Slamtec RPLIDAR S2 (S2M1-R2) is a 360° 2D dToF laser scanner. It ranges 0.05–30 m on white targets (90 %) and 0.05–10 m on black (10 %), at 32 kHz and 10 Hz (0.12°), with ±30 mm accuracy and 13 mm resolution. It uses 3.3 V TTL UART at 1 Mbps on an XH2.54-5P and runs on 5 V (500 mA typ, 1.5 A start-up). 905 nm Class 1, 185 g, 77 × 77 × 39.8 mm, 4 × M3 on 41.7 mm.

- Manufacturer: Slamtec
- Part number: S2M1-R2
- Category: Lidar & ToF range sensors
- Canonical page: https://www.xirkit.io/products/slamtec-rplidar-s2-360-dtof-lidar-653b
- Pinout: https://www.xirkit.io/products/slamtec-rplidar-s2-360-dtof-lidar-653b/pinout
- Structured JSON: https://www.xirkit.io/products/slamtec-rplidar-s2-360-dtof-lidar-653b/data.json
- Source: Xirkit structured parts catalog — every value traced to a cited document; unknowns are explicit.

## Key specifications

| Property | Value |
| --- | --- |
| Lidar type | 2D scanning |
| Ranging method | dToF |
| Min range | 0.05 m |
| Max range | 30 m |
| Max range rated at reflectivity | 90 % |
| Accuracy (±) | 30 mm |
| Scan frequency | 10 Hz |
| Sample rate | 32,000 Hz |
| Angular resolution | 0.12 ° |
| Horizontal field of view | 360 ° |
| Wavelength | 905 nm |
| Laser safety class | Class 1 (IEC 60825) |
| Interface | UART |
| Ambient light rating | 80 klux |
| IP rating | IP65 |
| Weight | 185 g |
| Supply voltage | 4.9–5.2 V |
| Dimensions | 77 × 77 × 39.8 mm |
| Operating temperature | 0 to 50 °C |

## Pinout (4 pins, 0 with electrical limits)

| Pin | Position | Kind | Chip pad | Functions | VIH | VIL | VOH | VOL | IOH | IOL | 5 V tolerant |
| --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- |
| VCC | XH2.54-5P | power in | — | power_in | — | — | — | — | — | — | — |
| TX | XH2.54-5P | uart tx | — | tx | — | — | — | — | — | — | — |
| RX | XH2.54-5P | uart rx | — | rx | — | — | — | — | — | — | — |
| GND | XH2.54-5P | ground | — | ground | — | — | — | — | — | — | — |

## Where to buy

| Supplier | Price | Stock | Checked | URL |
| --- | --- | --- | --- | --- |
| www.dfrobot.com | 399 USD | in_stock | 2026-10-18 | https://www.dfrobot.com/product-2616.html |

## FAQ

**What voltage powers the Slamtec RPLIDAR S2 360° dToF Lidar?**

Supply range 4.9–5.2 V.

**How much does the Slamtec RPLIDAR S2 360° dToF Lidar cost?**

From $399 at www.dfrobot.com. Prices are observed unit prices before tax and shipping.

**What are the Slamtec RPLIDAR S2 360° dToF Lidar dimensions?**

77 × 77 × 39.8 mm. A STEP model is available for enclosure fit checks.

**Where does this Slamtec RPLIDAR S2 360° dToF Lidar data come from?**

Every value in this record is traced to a source — 2 documents including the board and chip datasheets — with the page and table cited per value. Unknowns are left explicit, never guessed.

## Sources

- [Slamtec RPLIDAR S2 360° dToF Lidar datasheet](https://bucket-download.slamtec.com/4a5f962943b5140f97ae3b7fab7ed9bdf2adee11/SLAMTEC_rplidar_datasheet_S2_v2.0_en.pdf)
- [www.dfrobot.com listing](https://www.dfrobot.com/product-2616.html)

## Part graph

### Alternatives (by use case)

- [Hesai JT16 Mini 3D Lidar](https://www.xirkit.io/products/hesai-jt16-mini-3d-lidar-59bc) — Both serve outdoor and field robots — check the trade-offs; $745 vs $399
- [Benewake TF03 100 m IP67 Lidar](https://www.xirkit.io/products/benewake-tf03-100-m-ip67-lidar-626e) — Both serve outdoor and field robots — check the trade-offs; $340 vs $399
- [Unitree 4D LiDAR L2](https://www.xirkit.io/products/unitree-4d-lidar-l2-069b) — Both serve slam mapping and navigation — check the trade-offs; $399 vs $395
- [Slamtec RPLIDAR A3M1 25 m 360° Lidar](https://www.xirkit.io/products/slamtec-rplidar-a3m1-25-m-360-lidar-103d) — Both serve slam mapping and navigation — check the trade-offs; $399 vs $599
- [YDLIDAR TG30 360° ToF Lidar (IP65)](https://www.xirkit.io/products/ydlidar-tg30-360-tof-lidar-ip65-d5e4) — Both serve outdoor and field robots — check the trade-offs; $399 vs $440
- [Livox Mid-360L 3D Lidar](https://www.xirkit.io/products/livox-mid-360l-3d-lidar-d1c0) — Both serve outdoor and field robots — check the trade-offs; $600 vs $399

### Pin-compatible

- [Slamtec RPLIDAR A1M8 360° Lidar (dev kit)](https://www.xirkit.io/products/slamtec-rplidar-a1m8-360-lidar-dev-kit-0e28) — Datasheet: S2 runs all earlier RPLIDAR protocols and can be used directly in place of previous models (range-limited compatibility mode); same XH2.54-5P VCC/TX/RX/GND interface