Data Sheet

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FIG3 YDLIDAR X2 INTERFACES
Chart3 YDLIDAR X2 Interface Definition
Data communication
The X2 uses a 3.3V level serial port (UART) for communication. Users can connect the external
system and the product through the physical interface and obtain the real-time scanned point
cloud data,device information as well as device status according to the communication protocol of
the system.Besides,X2 also supports setting the device working mode. The communication
parameters are as follows:
Chart4 YDLIDAR X2 Serial Specification
Item
Min.
Typical
Max.
Unit.
Remarks
Baud rate
-
115200
-
bps
8-bit data bit, 1 stop
bit, no parity
Signal high
1.8
3.3
3.5
V
signal voltage >1.8V
Signal low
0
0
0.5
V
signal voltage <0.5V
Motor control
The X2 has its own motor driver with motor speed control function. The peripheral can control the
X2 motor by inputting the control signal through the M_SCTP pin in the interface. M_SCTP is the
motor speed control signal, which can be adjusted by voltage or PWM wave. The lower the voltage
/ the smaller the PWM duty cycle, the higher the motor speed.
The maximum speed is 0V/duty cycle 0%. That means when the M_SCTP input 0V voltage,the
motor rotates at the highest speed.
Following are the PWM signal requirements of M_SCTP :
Chart5 YDLIDAR X2 Motor PWM signal Specification
Item
Min.
Typical
Max.
Unit.
Remarks
PWM
-
10
-
KHz
PWM is a square
Pin
Type
Description
Defaults
Range
Remarks
VCC
Power
supply
Positive
5V
4.8V~5.2V
-
Tx
Output
System serial
output
-
-
Data stream:
Lidar --> peripherals
GND
Power
supply
Negative
0V
0V
-
M_CTR
Input
Motor speed
control terminal
1.8V
0V~3.3V
Voltage regulation or
PWM speed
regulation