Manual

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FIG 14 YDLIDAR F4PRO MOTOR DIRECTION

According to the protocol: response length = 0x00000001, answer mode = 0x0, type code = 0x04.

That is, the number of response content bytes is 1; this response is a single response and the type

code is 04. The response content indicates the currently set rotation direction, 00 indicates clockwise

rotation, and 01 indicates counterclockwise rotation.

Scan frequency setting [A5 09/0A/0B/0C]

F4PRO provides multiple command interfaces for scanning frequency settings to increase or

decrease the system scan frequency, as follows:

CHART 6 SCAN FREQUENCY SETTING COMMAND

Command

Description

0xA509

Increase 0.1Hz scan frequency

0xA50A

Reduce 0.1Hz scan frequency

0xA50B

Increase 1Hz scanning frequency

0xA50C

Reduce 1Hz scan frequency

FIG 15 YDLIDAR F4PRO SCAN FREQUENCY SETTING

According to the protocol: response length = 0x00000004, answer mode = 0x0, type code = 0x04.

That is, the number of response content bytes is 4. This response is a single response with a type

code of 04. The response content represents the currently set sweep frequency (unit: Hz), and its

solution formula is:

F =

AnswerData

100

AnswerData is converted to decimal data in reply (small-endian mode) in Hertz (Hz).

Get scan frequency [A5 0D]

This command is used to obtain the set scan frequency (note that it is not a real-time frequency). Its

message structure and response content are the same as the sweep frequency setting command. You

can refer to the command [A5 09/0A/0B/0C]. This section does not elaborate.

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Start

Length

Mode

Type code

Content