Manual

www.ydlidar.com Copyright 2015-2018 YDLIDAR Team
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SYSTEM COMMUNICATION
Communication mechanism
The F4PRO communicates commands and data with external devices through the serial port. When
an external device sends a system command to F4PRO, F4PRO resolves the system command and
returns a corresponding response message. According to the command content, F4PRO switches the
corresponding working status. According to the content of the message, the external system can
parse the message and obtain the response data.
FIG 2 YDLIDAR F4PRO COMMUNICATION MECHANISM
System command
The external system can set the corresponding working status of F4PRO and send corresponding
data by sending related system commands. The system commands of the F4PRO are unified to 2
bytes, where the start byte is unified to 0xA5, and the second byte is the command content. The
system commands issued by F4PRO are as follows:
CHART 1 YDLIDAR F4PRO SYSTEM COMMAND
System command
Description
Mode
Response
Mode
0xA5
(Start)
0x60
Start scanning, output point cloud data
Scan mode
Sustained
response
0x65
Stop and stop scanning
Stop mode
No response
0x90
Get device information (model, firmware, hardware version)
Single response
0x91
Get device health
Single response
0x01
After the low power enable is enabled, the F4PRO does not work
in the idle mode
Single response
0x02
When the low-power shutdown is switched off, the F4PRO still
operates in idle mode.
Single response
0x06
Set the motor rotation direction clockwise
Single response
Retrieve data
System command
Switching state
F4PRO
Parse messages
Reply message
Parsing command