Manual

11 / 12

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 response content of this command corresponds to the system ranging frequency, as

follows:

CHART 7 RANGING FREQUENCY SETTING RESPONSE CONTENT DESCRIPTION

Content

0x00

0x01

Range frequency

(KHz)

Get Ranging Frequency [A5 D1]

This command is used to obtain the current ranging frequency of the system. The message structure

and response content of this command are consistent with the ranging frequency setting. The user

can refer to the section on setting the ranging frequency. This section does not elaborate.

Power-down protection [A5 D9]

When the lidar and external equipment are not powered by a common power supply system, the

power-down protection mode may need to be turned on. To prevent the lidar system from operating

after the system shuts down, protection is provided from inside the lidar.

After this mode is turned on, it is necessary to continuously send scan commands with an interval

less than 3 seconds so that the lidar will continue to work. If the command sends an interrupt or if the

sending interval is too long, the system will determine that the control end has lost power and will

trigger power-down protection. The lidar will stop. This command is a switch command. The

command message is as follows:

FIG 19 YDLIDAR F4PRO POWER DOWN PROTECTION

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 response content of this command corresponds to the power-off protection mode on

and off, 00 is the power-off protection, and 01 is the power-off protection.

Note: In power-down protection mode, the structure of the scan command's message changes slightly. Only

when the scan command is sent for the first time in the shutdown state will there be a complete message

structure. There is no start flag, response length, answer mode, and type code in subsequent scan commands.

00/01

Start

Length

Mode

Type code

Content