Data Sheet

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Data communication
The F4PRO uses a 3.3V serial port (UART) for data communication. The user can connect the
external system and the product through the physical interface on the product. The communication is
performed according to the communication protocol of the system to acquire the scanned point cloud
data, device information, and device status in real time. And can set the working mode of the
equipment. The communication parameters are as follows:
CHART 4 YDLIDAR F4PRO SERIAL SPECIFICATIONS
Item
Min.
Typical value
Max.
Unit
Note
Baud rate
-
230400
-
bps
8 data bits, 1 stop bit,
no parity
Signal high
1.8
3.3
3.4
V
When the signal
voltage is >1.8V, it is
high level
Signal low
0
0
0.5
V
When the signal
voltage is <0.5V, it is
low level
Motor control
F4PRO comes with a motor drive with motor speed control. And F4PRO provides a command
interface to replace the hardware interface for motor control. For details, see the development
documentation of this product.
Optical characteristics
The infrared point pulse laser used by F4PRO meets FDA Class I laser safety standards. When the
system is working, lasers and optical lenses complete the transmission and reception of laser signals
to achieve high-frequency ranging. To ensure the performance of the system ranging, please make
sure that the F4PRO's laser and optical lens are kept clean. The laser optical parameters are as
follows:
CHART 6 YDLIDAR F4PROLASER OPTICAL PARAMETERS
Item
Min.
Typical
Value
Max.
Unit
Note
Laser wavelength
775
785
795
nm
Infrared band
Laser power
-
3
5
mW
Peak power
FDA
Class I
Polar coordinate definition
In order to facilitate the secondary development, F4PRO internally defines the polar coordinate
system. The polar coordinate of the system is based on the center of the rotary core of F4PRO. The
specified angle is clockwise positive. The zero angle is located at the exit of the F4PRO PH2.0-5P
interface cable, as shown in the figure:：