In the default setup with MR-B3RB, the STL-27L lidar will connect to UART3 on the NavQPlus the cable provided is configured with the pins correctly arranged for this port.
Color code for Lidar to NavQPlus UART3 is as follows:
Note that the LIDAR does not come with a cable from the factory. In Pre-production the adapter cable has been hand made. Some images may show a variety of colors for the LIDAR cable. The drawing should be the final cable colors, but will be validated upon receiving them. (Yellow may have changed to White)
| STL-27L Lidar Signal | Lidar wire color | UART3 pin | UART name |
|---|---|---|---|
(3)GND
Black
Pin 6
GND
(2)PWM/RPM
*Splice to black/GND)
(1)DATA TX
White?(TBD)
Pin 3
UART3_RXD_3V3
(4)PWR
Red
Pin 1
5VP
This is for the MR-B3RB pre-production version
These instructions were written for the pre-production vesion of MR-B3RB where the lidar is in the middle. For production version It is likely that the position of the lidar will change slightly and move closer toward the front.
There are only three screws that hold the LIDAR in place. The side without screws has the wiring conneection. On the metalwork there will be an oval cutout on that side.
Use 3x M2.5 screws and nuts to attach the Lidar to the top lidar brace as shown below.
Remember to remove the plastic protective film from the lidar
Note the small arrow on top of the LIDAR unit. It needs to face the forward direction which is the short flat side of the Top Lidar Brace. (You may need to flip the metal over to match the orientation shown.)
An extra 35mm purple standoff and screws is provided in the kit. Screw this into one of the extra middle holes in order to provide upward pressure to the lidar brace / arch.
Use the extra screw in the top of the post to unwind until it touches the brace to provide support.
During assembly there will also be a post added with adjustable screw that will push on the underside of this brace. This is to remove any flex in the brace at the middle where the lidar is mounts. the post simply pushes up on the underside, it is not connected. Adjusting the screw in and out will adjust how much the screw pushes up.
