Data Sheet

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WORKING MECHANISM

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

work-flow of the X2 system:

System power on

Start ranging

Output data

FIG 1 YDLIDAR X2 SYSTEM WORKFLOW

SCAN COMMAND

After power-on, the system will automatically start the ranging and output the message data

for starting the scan to the serial port: A5 5A 05 00 00 40 81. The specific meaning of the

message is as follows:

‥‥

Start

Length

Mode

Type code

Content

FIG 2 YDLIDAR X2 SCAN COMMAND

 Start sign

：

The message start sign of X2 is unified to 0xA55A;

 Length

：

The response length indicates the length of the response content, but when

the response mode is continuous response, the length should be infinite, so the value is

invalid, and the message response length for starting the scan is infinite;

 Response mode：This bit is only 2 bits, which means that the message is a single

response or a continuous response. The response mode for starting the scan is 1, and

its value and corresponding mode are as follows:

CHART 1 X2 MODE VALUE AND CORRESPONDING MODE

Mode value

0x0

0x1

0x2

0x3

Response mode

Single

Continuous

Undefined