Manual

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WORKING MECHANISM

The YDLIDAR F4PRO (F4PRO) sets 3 operating modes: Idle mode, Scan mode, and Stop mode.

For some users' needs, a new power-off protection mode was added in the scan mode;

 Idle Mode: When F4PRO is powered on, the default is idle mode. In idle mode, the F4PRO's

ranging unit does not work and the laser is not lit.

 Scan mode: When the F4PRO is in scan mode, the ranging unit turns on the laser and starts to

work. It continuously performs laser sampling on the external environment and outputs it in real

time after background processing.

 Stop mode: When the F4PRO is running in error, for example when the scanner is turned on,

the laser is off and the motor does not turn on, the F4PRO will automatically turn off the

distance measuring unit and feedback the error code.

 Power-down protection mode: In this mode, the lidar needs to continuously send scanning

commands and the lidar will continue to scan. The command sending interval must be less than

3 seconds. If Lidar cannot receive a continuous scan command, the system will automatically

shut down. This mode is off by default.

System workflow

FIG 1 YDLIDAR F4PRO WORKFLOW

Power on

Idle mode

Received serial command

No operation

Command error

Parsing command

Idle mode

Health status

Power-down

protection mode

Scan

Stop

Other

Restart

Standby

Retrieve

information

Switch mode

Start

Stop

Setup/Query

Soft

restart

Sustained response

Received scan

command within 3s?

Return

status code

Healthy?

Power down

protection?

Fault

shutdown

Single reply

Stop