Data Sheet

www.ydlidar.com Copyright 2015-2018 YDLIDAR Team
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Reserved pin
Reserved
-
-
-
Data communication
The G4 communicates using a 3.3V level serial port (UART). The user can connect the external
system and the product through the physical interface on the product, and communicate according to
the communication protocol of the system to obtain the scanned point cloud data, device information,
and device status in real time. And can set the working mode of the equipment. The communication
parameters are as follows:
CHART 4 YDLIDAR G4 SERIAL SPECIFICATIONS
Item
Min.
Typical Value
Max.
Unit
Remark
Baud rate
-
230400
-
bps
8 data bits, 1 stop bit, no
parity
Signal high
1.8
3.3
3.4
V
When the signal voltage
is >1.8V, it is high level
Signal low
0
0
0.5
V
When the signal voltage
is <0.5V, it is low level
Motor control
G4 has a motor drive with motor speed control and provides a command interface instead of a
hardware interface for motor control. For details, please refer to the development manual of this
product.
Optical characteristics
The infrared point pulse laser used by G4 meets FDA Class I laser safety standards. When the system
is working, lasers and optical lenses complete the transmission and reception of laser signals to
achieve high-frequency ranging. To ensure the performance of the system ranging, please make sure
that the G4's laser and optical lens are kept clean. The laser optical parameters are as follows:
CHART 5 YDLIDAR G4OPTICAL CHARACTERISTICS
Item
Min.
Typical Value
Max.
Unit
Remark
Laser
wavelength
775
785
795
nm
Infrared band
Laser power
-
3
5
mW
Peak power
FDA
Class I
Polar coordinate definition
In order to facilitate the secondary development, G4 internally defines the polar coordinate system.
The polar coordinate of the system is based on the center of the rotating core of G4. The specified
angle is clockwise positive. The zero angle is located at the exit of the G4 PH2.0-5P interface cable,
as shown in the figure: