Manual

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That is, the number of response content bytes is 20. The response is a single response, the type code

is 04, the type of response content meets the following data structure:

FIG 9 YDLIDAR F4PRO DEVICE INFORMATION RESPONSE CONTENT DATA STRUCTURE

 Model：1 byte, F4PRO's model code is 04；

 Firmware Ver.：2 bytes. The low byte is the major version number, and the high byte is the

minor version number;

 Hardware Ver.：1 byte, representing hardware version;

 Serial number：16 bytes, unique factory serial number.

Health status [A5 91]

When an external device sends a Get Device Health Status command to the F4PRO (A5 91), F4PRO

will feedback the device's status code. The reply message is:

FIG 10 YDLIDAR F4PRO HEALTH STATUS

According to the protocol resolution: response length = 0x00000003, answer mode = 0x0, type code

= 0x06.

That is, the number of response content bytes is 3; this response is a single response, and the type

code is 06. This type of answer content satisfies the following data structure:

FIG 11 YDLIDAR F4PRO HEALTH STATUS

 Status code: 1 byte, 0x0 means the device is operating normally. 0x1 indicates a device

operation warning. 0x2 indicates a device operation error.

 Error code: 2 bytes. When a warning or error status occurs, the specific error code will be

recorded in this field. 0x00 indicates that the device is running without error.

Low power consumption [A5 01]

When an external device sends a low-power enable command (A5 01) to the F4PRO, the F4PRO

automatically enters a low-power state in idle mode (in standby: the motor is stopped and the ranging

unit is powered down), reducing standby power consumption. The reply message is:

Model #

Firmware ver.

Hardware ver.

Serial number

Byte offset

‥

‥‥

Start

Length

Mode

Type code

Content

Byte offset

Status code

Error code