소개

This guide will show you how to replace the Laser Distance Sensor (LDS or LiDAR) of Roborock's robotic vacuum S7.

You may want to do so if your robot reports "Error 1: Laser Distance Sensor blocked."

Within the guide I will also outline how to replace just the motor that spins the LDS, as well as how to clean it properly.

I recommend reading the entire guide before starting the disassembly, then following steps as needed during.

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Remove the rubber caps covering the 2 screws.
There are multiple techniques to do this, but I usually just stab them with sharp tipped tweezers. You could slip them in between the housing and the rubber cap as well.

Remove the four marked screws.
Then, much like the cage, simply lift the LDS out of the slot.
One iteration of the LDS is smaller in size and is connected to the motherboard via cable connector. You will also see 8 screws, simply unscrew the inner 4, then lift it slowly, until you can flip it over and detach the connector.
If you have an LDS replacement, simply insert your new LDS and close the device up.

If you're planning on replacing or cleaning the LDS' motor, follow the following steps.
Simply remove the rubber band connecting the LDS and the motor.
Do not stretch it out. It is flexible, but if you leave it stretched out, it will permanently deform.

Again, multiple iterations of LDS are different. Some have connectors for the motor, some are soldered.
Depending on what you have, you might have to solder a new motor on.
If it has a connector, disconnect it now.

These screws are very easy to strip. Maintain good downward pressure and turn slowly.
Remove the screws. Use a PH #00 precision screwdriver.
If your motor is soldered onto LDS PCBA and you haven't de-soldered it, slowly and carefully, slide it out.

Once you have the motor out, check if the driving rod is clean. If not, clean it, then test if that resolves your Error 1.
In many cases, the driving rod is chockful of hair, dust and grime, which causes the motor to seize and be unable to spin the LDS (especially on newer iterations, which use the smaller LDS).
You can test the motor by connecting it to a 5V battery. You can test it with even a 12V battery, but you risk damaging it by running it for an extended period of time.

Fit the rubber band into the groove on the motor, and above the groove around the LDS.
Push the rubber band down, then rotate the LDS to drive the rubber band into the groove.
Do a full rotation and seat the entire rubber band.
Give the LDS a test spin. If it spins freely and comes to a slow stop, it's good. If it stops abruptly, you applied it wrong or something else is seizing the motor.