Manual

www.ydlidar.com Copyright 2015-2018 YDLIDAR Team
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0x07
Set the direction of motor rotation counterclockwise
Single response
0x08
Get motor rotation direction information
Single response
0x09
Increase 0.1Hz scan frequency
Single response
0x0A
Reduce 0.1Hz scan frequency
Single response
0x0B
Increase 1Hz scanning frequency
Single response
0x0C
Reduce 1Hz scan frequency
Single response
0x0D
Get the currently set scan frequency
Single response
0x0E
Turn on constant frequency function, stable speed (default on)
Single response
0x0F
Turn off the constant frequency function
Single response
0xD0
Ranging frequency setting
Single response
0xD1
Get the current ranging frequency
Single response
0xD9
Power-down protection mode switch (off by default)
Single response
0x80
Soft restart
-
No response
System messages
The system responds to the received system command feedback message when the system message
is sent. Different system commands, system message response mode and response content are not
the same, there are three types of response modes: no response, single response, continuous
response.。
No response means that the system does not return any messages. A single reply indicates that the
system's message length is limited, and the response ends once. Sustained response means that the
system's message length is infinite, and it needs to send data continuously, for example when
entering the scan mode.
The single response and continuous response messages use the same data protocol. The contents of
the protocol are: start flag, response length, response mode, type code, and response content. Content
is output through the serial port.
CHART 2 YDLIDAR F4PRO SYSTEM MESSAGE DATA PROTOCOL
Start
Length
Response mode
Type code
Content
16bits
30bits
2bits
8bits
-
FIF 3 YDLIDAR F4PRO SYSTEM
 Start sign：F4PRO Start unified as 0xA55A;
HH
LL
HH
LL
HH
LL
LL
‥‥
Start
Length
Mode
Type code
Content
Byte offset：
0
2
4
6
7