Instruction Manual

3 POWER-ON INFORMATION

After power-on, the system will output power-on information once, and will feedback the

device model, firmware version and hardware version, as well as the factory serial number of the

device. The response message is:

FIG 3 YDLIDAR X2 DEVICE INFORMATION MESSAGE

According to the protocol analysis: response length = 0x00000014, response mode = 0x0, type

code = 0x04.

That is, the number of response content bytes is 20; this response is a single response, and the

type code is 04. The response content of this type meets the following data structure:

FIG 4 YDLIDAR X2 DEVICE INFORMATION RESPONSE CONTENT DATA STRUCTURE

➢ Model number: One-byte device model, such as the model code of X2 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 for hardware version;

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

4 DATA PROTOCOL

After the system starts to scan, it will output the scan data in the subsequent message. The data

protocol is sent to the external device in hexadecimal to the serial port according to the following

data structure.

FIG 5 SCHEMATIC DIAGRAM OF THE DATA STRUCTURE OF THE SCAN COMMAND RESPONSE CONTENT

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Start sign

Length

Mode

Type code

Content

LSB

MSB

LSB

MSB

LSB

MSB

LSB

MSB

LSB

MSB

LSB

MSB

LSB

MSB

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FSA

LSA

‥‥

LSN

Byte offset：