Instruction Manual

1 WORKING MECHANISM

After the X2 is powered on, the system automatically starts ranging. The following is the

working process of the X2 system workflow:

FIG 1 YDLIDAR X2 WORKFLOW

2 SAMPLING AND RANGING

After power on, the system will automatically start ranging, and at the same time it will output

to the serial port a message data to start scanning: A5 5A 05 00 00 40 81. The specific meaning of

this message is as follows:

FIG 2 YDLIDAR X2 START SCAN MESSAGE DESCRIPTION

➢ Start sign: X2's message sign is unified as 0xA55A.

➢ Response length: The response length indicates the length of the response content,

when the answer mode is continuous, the length should be infinite, so this value is

invalid.

➢ Response mode: This bit is only 2 bits, which means this time it is a single response or

continuous response. Its value and corresponding mode are as follows:

CHART 1 YDLIDAR X2 RESPONSE VALUE AND MODE

Mode

0x0

0x1

0x2 0x3

Response mode

Single response

continuous response

Undefined

➢ Type code: The type code of the start scan message is 0x81.

➢ Content: Scan data, see data protocol for details.

System power-up

Start ranging

Output data

‥‥

Start sign

Length

Mode

Type code

Content