Manual

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That is, the number of response content bytes is 1. This response is a single response and the type

code is 04. The command response is fixed at 0x01, indicating that the system is enabled for a low-

power state. G4 defaults to low power consumption.

Low-power mode shutdown [A5 02]

When an external device sends a low-power mode shutdown command (A5 02) to G4, G4 does not

automatically enter a low-power state in idle mode (in standby: the motor runs and the ranging unit

does not lose power). The reply message is:

FIG 13 YDLIDAR G4 LOW-POWER SHUTDOWN MESSAGE

According to the protocol resolution: response length = 0x00000001, answer mode = 0x0, type code

= 0x04.

That is, the number of response content bytes is 1. This response is a single response and the type

code is 04. The command response is fixed at 0x00, indicating that the low-power state of the system

is turned off.

Low-power query [A5 05]

When the external device sends a low power consumption query command (A5 05) to G4, the

system will feedback the current standby power consumption status of the system, and its response

message is:

FIG 14 YDLIDAR G4 LOW POWER CONSUMPTION QUERY MESSAGE

According to the protocol resolution: response length = 0x00000001, answer mode = 0x0, type code

= 0x04.

That is, the number of response content bytes is 1. This response is a single response and the type

code is 04. The command response content is 0x00 or 0x01.

0x00：The current standby state is a non-low power state.

0x01：The current standby state is a low power state.

Scan frequency setting [A5 09/0A/0B/0C]

G4 provides multiple command interfaces for scanning frequency settings to increase or decrease the

system scan frequency, as follows:

CHART4 SCAN FREQUENCY SETTING COMMAND DESCRIPTION

Commands

Description

00/01

Start sign

Length

Mode

Type code

Content