1. Product Overview
The YDLIDAR X4 Pro (X4PRO) is a 360-degree two-dimensional rangefinder developed by the EAI team. It utilizes the principle of triangulation, combined with advanced optics, electrical components, and algorithms, to achieve high-frequency and high-accuracy distance measurements. The mechanical structure allows for continuous 360-degree rotation, providing both angle information and point cloud data of the scanning environment.
2. Product Features
- 360-degree omnidirectional scanning ranging distance measurement.
- Small distance error, stable performance, and high accuracy.
- Wide ranging distance.
- Strong resistance to ambient light interference.
- Low power consumption, small size, and long service life.
- Laser power meets Class I laser safety standards.
- Adjustable motor speed, with a scanning frequency range of 6~12Hz.
- High-speed ranging, with a ranging frequency up to 5kHz.
3. Applications
- Robot navigation and obstacle avoidance.
- Robot Operating System (ROS) teaching and research.
- Regional security monitoring.
- Environmental scanning and 3D reconstruction.
- Navigation and obstacle avoidance for robot vacuum cleaners and ROS learning robots.
4. Development Kit Contents
The X4PRO development kit includes the following components:
| Item | Qty. | Description |
|---|---|---|
| X4PRO Lidar | 1 | Standard version of the X4PRO Lidar. The X4PRO has an integrated motor drive for despin control and motor control. |
| USB Type-C Cable | 1 | Used with USB adapter board to connect X4PRO and PC. USB cable is both a power supply cable and a data cable. |
| USB Adapter Board | 1 | Realizes the function of USB to UART, which is convenient for fast interconnection between X4PRO and PC. Serial port DTR signal controls X4PRO motor despin. A Micro USB power interface (PWR) for auxiliary power supply is also provided. |
Note on USB Adapter Board:
- The USB Adapter board has two USB Type-C interfaces: USB_DATA and USB_PWR.
- USB_DATA: This is the data and primary power interface. In most cases, this interface is sufficient for both power and communication.
- USB_PWR: This is an auxiliary power supply interface. If the USB interface of your development platform or PC has insufficient current drive capability, this auxiliary power supply should be used.
5. Setup and Device Connection
When evaluating and developing with the X4PRO under a Windows environment, the X4PRO and your PC need to be connected. Follow these steps:
- Connect the X4PRO Lidar unit to the USB Adapter Board.
- Connect the USB Type-C cable to the USB_DATA port on the USB Adapter Board.
- Connect the other end of the USB cable to a USB port on your PC.
Important Power Note: The USB interface on some development platforms or PCs may not provide sufficient current. In such cases, the X4PRO requires an auxiliary +5V power supply connected to the USB_PWR port on the USB Adapter Board. Failure to provide adequate power may result in abnormal Lidar operation.
6. Operating Instructions
Once connected and powered, the YDLIDAR X4 Pro will begin its 360-degree omnidirectional scanning. The integrated motor drive controls the despin and motor speed, which can be adjusted within a frequency range of 6 to 12 Hz. The device continuously outputs angle information and point cloud data, enabling real-time environmental mapping and ranging.
For detailed software integration and data interpretation, refer to the official YDLIDAR SDK and documentation, especially for ROS environments. The high ranging frequency of up to 5kHz ensures rapid data acquisition for dynamic applications.
7. Maintenance
The YDLIDAR X4 Pro is a precision device. To ensure optimal performance and longevity, please observe the following maintenance guidelines:
- Environmental Conditions: Avoid using the Lidar under extreme high or low temperatures, or in situations with strong vibrations. Such conditions can lead to exceeded relative errors and potential damage.
- Cleaning: Keep the optical window and sensor surfaces clean. Use a soft, lint-free cloth and avoid abrasive materials or harsh chemicals that could scratch the optics.
- Handling: Handle the device with care to prevent physical shock or impact.
- Storage: When not in use, store the Lidar in a dry, dust-free environment at moderate temperatures.
8. Troubleshooting
If you encounter issues with your YDLIDAR X4 Pro, consider the following common troubleshooting steps:
- No Power/Device Not Detected:
- Ensure the USB cable is securely connected to both the Lidar adapter board and the PC.
- Verify that the USB Type-C cable is connected to the USB_DATA port on the adapter board.
- If using a development platform or if the Lidar is not receiving sufficient power, connect an auxiliary +5V power supply to the USB_PWR port on the adapter board.
- Check device manager on your PC for proper driver installation.
- Abnormal Ranging Data:
- Ensure the Lidar is operating within its specified temperature and vibration limits.
- Check for any obstructions or dirt on the optical window.
- Verify that the power supply is stable and within the specified voltage range (4.8V-5.2V).
- Motor Not Spinning:
- Confirm adequate power supply.
- Check the motor speed control signal (M_CTR) if you are manually controlling it.
If problems persist, consult the official YDLIDAR documentation or contact technical support.
9. Specifications
9.1. Installation and Dimensions
9.2. Performance Parameters
| Item | Min | Typical | Max | Unit | Remarks |
|---|---|---|---|---|---|
| Ranging frequency | / | 5000 | / | Hz | 5000 times per second |
| Scanning frequency | 6 | / | 12 | Hz | PWM or voltage speed regulation |
| Ranging distance | 0.12 | / | 10 | m | Indoor environment with 80% Reflectivity |
| Field of view | / | 0-360 | / | Deg | |
| Absolute error | / | 2 | / | cm | Distance≤1m |
| Relative error | / | 3.5% | / | / | 1m<Distance≤6m |
| Tilt angle | 0.25 | 1 | 1.75 | Deg | / |
| Angle resolution | 0.43 (frequency@6 Hz) | 0.50 (frequency@7 Hz) | 0.86 (frequency@12Hz) | Deg | Different motor frequency |
| Service life | / | 1500 | / | h | / |
Note 1: The measurement range and relative accuracy values provided are based on factory FQC standards for an 80% reflectivity object.
Note 2: Relative error (mean value) is calculated as (average measured distance - actual distance) / actual distance * 100%, with a sample size of 100 pieces.
Note 3: As a precision device, avoid using the Lidar in high/low temperatures or strong vibration environments, which can lead to increased relative error.
9.3. Electrical Parameters
| Item | Min | Typical | Max | Unit | Remarks |
|---|---|---|---|---|---|
| Supply voltage | 4.8 | 5 | 5.2 | V | Excessive voltage might damage the Lidar while low voltage could affect normal performance |
| Starting current | / | 800 | 1000 | mA | Instantaneous current, device needs higher current at startup |
| Working current | / | 330 | 380 | mA | Normal working current, at low temperature, the rotational resistance of the lidar increases, and the current will rise |
9.4. Interface Definition
The X4PRO provides a PH2.0-8P receptacle interface for system power, data communication, and motor control.
| Pin | Type | Description | Defaults | Range | Remarks |
|---|---|---|---|---|---|
| VCC | Power supply | Power supply voltage positive | 5V | 4.8V-5.2V | / |
| Tx | Output | System serial port output | / | / | Data stream: LiDAR→Peripherals |
| GND | Power supply | Power supply voltage negative | 0V | 0V | / |
| M_CTR | Input | Motor speed control end | 2.15V | 0V-3.3V | PWM speed control |
| NC | / | Reserved pin | / | / | / |
10. User Tips
No specific user tips were available from reviews or Q&A for this product. However, based on the product's nature, here are some general recommendations:
- Software Integration: For best results, ensure you are using the latest official SDK and drivers provided by YDLIDAR for your operating system and development environment (e.g., ROS).
- Power Stability: Always ensure a stable and sufficient power supply. If experiencing erratic behavior, try using the auxiliary power input (USB_PWR) on the adapter board.
- Environmental Awareness: Be mindful of the operating environment. High dust, extreme temperatures, or strong vibrations can degrade performance.
- Cable Management: Secure all connections to prevent accidental disconnections during operation or movement.
11. Warranty and Support
For warranty information, technical support, or service inquiries, please contact the manufacturer or your point of purchase. Keep your purchase receipt or order details handy when seeking support.
