Manual

www.ydlidar.com Copyright 2015-2018 YDLIDAR Team
1 / 12
CONTENTS
Working Mechanism ......................................................................................................................... 2
System workflow ......................................................................................................................... 2
System Communication .................................................................................................................... 3
Communication mechanism....................................................................................................... 3
System command ....................................................................................................................... 3
System messages ......................................................................................................................... 4
Data protocol .................................................................................................................................... 5
Scan command [A5 60] ................................................................................................................. 5
Stop command [A5 65] .................................................................................................................. 6
Device Information [A5 90] ............................................................................................................ 6
Health status [A5 91] ..................................................................................................................... 7
Low power consumption [A5 01] ................................................................................................... 7
Low power consumption off [A5 02] ............................................................................................... 8
Motor rotation direction setting [A5 06/07/08] ................................................................................ 8
Scan frequency setting [A5 09/0A/0B/0C] ...................................................................................... 9
Get scan frequency [A5 0D] .......................................................................................................... 9
Constant frequency enable [A5 0E] ............................................................................................. 10
Constant frequency mode off [A5 0F] .......................................................................................... 10
Ranging frequency setting [A5 D0] .............................................................................................. 10
Get Ranging Frequency [A5 D1] ................................................................................................. 11
Power-down protection [A5 D9] ................................................................................................... 11
Restart [A5 80] ............................................................................................................................ 12
Standby control ........................................................................................................................... 12
Motor speed control..................................................................................................................... 12
Use caution ..................................................................................................................................... 12