Quelltext der Seite WSAL24659 – D200 LiDAR Kit/en

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'''Documentation notice:''' This technical documentation was independently rewritten from an archived supplier source. Check technical details and commands against the product version and manufacturer documentation before use.

== Summary ==
The D200 LiDAR kit contains the triangulation-based LD14P lidar that communicates over UART. It covers core parameters, connection, coordinate system, speed control, and data packet structure.

== Related products at JW Tech ==
* [https://shop.jw-tech.eu/p/WSAL24659 WSAL24659 – 360° Omni-directional Triangulation Lidar, 8m Radius Ranging, Software Start-stop Control, D200 Developer Kit with LD14P Lidar]

== Technical overview ==
* The LD14P consists of a laser ranging core, wireless power transmission unit, communication unit, angle measurement unit, motor drive unit, and mechanical case.
* Measurement accuracy depends on surface reflectivity; white surfaces (80% reflectivity) yield ±5 mm up to 0.5 m, while black surfaces (4% reflectivity) cannot be measured in the 6–8 m range.
* Default scan speed is 6 Hz and can be externally set between 2 and 8 Hz.
* Communication uses UART at 230400 baud, 8 data bits, 1 stop bit, no parity, no flow control.
* Power is supplied through a 1.25 mm 4-pin connector; VCC is typically 5 V, and RX/TX are 3.3 V signals.
* The system uses a left-handed coordinate system with the rotation center as origin; zero degrees points toward the drive wheel and angles increase clockwise.
* LdsPointCloudViewer is used for visualization; the CP210x driver must be installed and the USB adapter connected to the PC beforehand.
* Motor start and stop are controlled via defined UART commands (Mode 0xA0/0xA1).
* Each measurement packet starts with 0x54, contains VerLen 0x2C (12 measurement points), speed, start/end angles, distance data, and a checksum.

'''Commands and examples – verify before use:''' 
<syntaxhighlight lang="text">
0x54 A0 04 00 00 00 00 5E
0x54 A1 04 00 00 00 00 4A
</syntaxhighlight>

== Notes and version constraints ==
* Exact PWM frequency and its effect on actual motor speed may vary by motor; closed-loop control is required for precise regulation.
* Coordinate system and angle values are uncorrected; correction is described in the SDK source file transform.cpp.
* Accurate interpretation of packet fields requires knowledge of the SDK documentation.
* Version-specific driver installation (32-/64-bit) must match the Windows version.
* Not all functions, e.g., full UART speed control, are not yet publicly available according to the source.

== Source and revision record ==
* [https://www.waveshare.com/wiki/D200_LiDAR_Kit D200 LiDAR Kit - Waveshare Wiki]
* Source revision: 78006
* Captured: 2026-09-05T02:38:08+00:00
* SHA-256: <code>f300623c635d3224b481df418a7781636d1dca3a34962e5f2b1ee51044b6bb49</code>