WSAL24659 – D200 LiDAR Kit/en

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

• 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: 

0x54 A0 04 00 00 00 00 5E
0x54 A1 04 00 00 00 00 4A

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

• D200 LiDAR Kit - Waveshare Wiki
• Source revision: 78006
• Captured: 2026-09-05T02:38:08+00:00
• SHA-256: f300623c635d3224b481df418a7781636d1dca3a34962e5f2b1ee51044b6bb49