Data Sheet

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CHART 4 YDLIDAR X4 SERIAL SPECIFICATIONS
Item
Min.
Typical Value
Max.
Unit
Remark
Baud rate
-
128000
-
bps
8 data bits, 1 stop bit,
no parity
Signal high
1.8
3.3
3.5
V
When the signal
voltage is >1.8V, it is
high level
Signal low
0
0
0.5
V
When the signal
voltage is <0.5V, it is
low level
Motor control
X4 comes with motor speed control motor driver. The peripheral can
control the motor of X4 by inputting the control signal via two pins M_EN
and M_SCTR in the interface. M_EN is the enable signal of the motor, and
the high level is enabled; M_SCTR 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/0% duty cycle.
For example: M_EN is high level, M_SCTR input voltage is 0V, the motor
rotates at the highest speed.
There are the following requirements for the PWM signal of M_SCTR:
CHART 5 YDLIDAR X4 MOTOR PWM SIGNAL
SPECIFICATIONS
Item
Min.
Typical
Value
Max.
Unit
Remark
PWM
frequency
-
10
-
KHz
PWM is a square
wave signal
Duty cycle
range
50%
85%
100%
The shorter the
duty cycle, the
faster the speed