Manual

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Constant frequency enable [A5 0E]

This command is used to enable the system constant frequency. After it is turned on, when the lidar

is in scanning mode, it will automatically adjust the speed so that the scanning frequency is stable at

the currently set scanning frequency. F4PRO enables constant frequency by default。

FIG 16 YDLIDAR F4PRO CONSTANT FREQUENCY SETTING

According to the protocol resolution: 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 command response is fixed to 0x01, indicating that the system is enabled to have a

constant frequency.

Constant frequency mode off [A5 0F]

This command is used to shut down the system constant frequency. After the lidar is turned off,

automatic speed adjustment will not be performed when the lidar is in scanning mode. The

command's message:

FIG 17 YDLIDAR F4PRO SWITCH OFF CONSTANT FREQUENCY

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 with a type

code of 04. The command response is fixed to 0x00, indicating that the system constant frequency is

turned off.

Ranging frequency setting [A5 D0]

This command is used to set the system's ranging frequency so that the ranging frequency can be

switched between 4KHz and 6KHz. The default ranging frequency is 4KHz. The command's

message is as follows:

FIG 18 YDLIDAR F4PRO RANGING FREQUENCY SETTING

Start

Length

Mode

Type code

Content

Start

Length

Mode

Type code

Content

00/01

Start

Length

Mode

Type code

Content