Manual

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FIG 9 YDLIDAR G4 DEVICE INFORMATION RESPONSE CONTENT DATA STRUCTURE DIAGRAM

 Model number：One byte device model, such as the G4 model code is 04.

 Firmware Version：2 bytes, the low byte is the major version number, and the high byte is the

minor version number.

 Hardware version：1 byte, representing the hardware version.

 Serial number：16 bytes, the only factory serial number.

Health status [A5 91]

When an external device sends a Get Device Health Status command (A5 91) to G4, G4 will

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

FIG 10 YDLIDAR G4 SCHEMATIC DIAGRAM OF DEVICE HEALTH MESSAGES

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. The type of response content satisfies the following data structure:

FIG 11 YDLIDAR G4 DEVICE HEALTH STATUS RESPONSE CONTENT DATA STRUCTURE DIAGRAM

 Status code: 1 byte, 0x0 indicates that the device is running normally, 0x1 indicates a device

error warning, and 0x2 indicates a device running 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 operating without error.

Low power consumption [A5 01]

When an external device sends a low-power enable command (A5 01) to G4, G4 automatically

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

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

FIG 12 YDLIDAR G4 LOW POWER CONSUMPTION PACKETS

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

= 0x04.

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Start sign

Length

Mode

Type code

Content

Byte offset

Status code

Error code

Start sign

Length

Mode

Type code

Content