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 to 0x01, indicating that the system is enabled to have a

constant frequency.

Constant frequency off [A5 0F]

This command is used to shut down the system constant frequency. After the radar is turned off, the

lidar does not perform automatic speed adjustment in the scanning mode. The command's message is

as follows:：

FIG 17 YDLIDAR G4 CONSTANT FREQUENCY TURN OFF 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 system constant frequency is

turned off.

Ranging frequency setting [A5 D0]

This command is used to set the system's ranging frequency and switch the ranging frequency

between 4 KHz, 8 KHz and 9 KHz. The default ranging frequency is 9 KHz. The command's

message is as follows:

FIG 18 YDLIDAR G4 RANGING FREQUENCY SETTING 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 response content of this command corresponds to the system ranging

frequency. The details are as follows:

CHART 5 RANGING FREQUENCY SETTING RESPONSE CONTENT DESCRIPTION

Content

0x00

0x01

0x02

Ranging frequency (KHz)

00/01/02

Start sign

Length

Mode

Type code

Content