# YDLIDAR X4 Pro 360° Triangulation Lidar

> YDLIDAR X4 Pro is a 360° 2D triangulation lidar: 0.12–10 m at 80 % reflectivity, 2 cm error within 1 m and 3.5 % to 6 m. It samples at 5000 Hz with a 6–12 Hz PWM-controlled scan and 0.43–0.86° resolution. One-way 3.3 V UART at 128000 baud on a PH2.0-8P socket, 5 V / 330 mA, 793 nm Class I laser, 178 g, 110.6 × 71.5 × 41.4 mm.

- Manufacturer: YDLIDAR (Shenzhen EAI Technology)
- Part number: X4PRO
- Category: Lidar & ToF range sensors
- Canonical page: https://www.xirkit.io/products/ydlidar-x4-pro-360-triangulation-lidar-b1db
- Pinout: https://www.xirkit.io/products/ydlidar-x4-pro-360-triangulation-lidar-b1db/pinout
- Structured JSON: https://www.xirkit.io/products/ydlidar-x4-pro-360-triangulation-lidar-b1db/data.json
- Source: Xirkit structured parts catalog — every value traced to a cited document; unknowns are explicit.

## Key specifications

| Property | Value |
| --- | --- |
| Lidar type | 2D scanning |
| Ranging method | triangulation |
| Min range | 0.12 m |
| Max range | 10 m |
| Max range rated at reflectivity | 80 % |
| Accuracy (±) | 20 mm |
| Accuracy detail | 2 cm absolute error ≤ 1 m; 3.5 % relative error 1–6 m (80 % reflectivity, factory FQC) |
| Scan frequency | 12 Hz |
| Sample rate | 5,000 Hz |
| Angular resolution | 0.43 ° |
| Horizontal field of view | 360 ° |
| Wavelength | 793 nm |
| Laser safety class | Class I (IEC 60825-1, 21 CFR 1040.10/1040.11) |
| Interface | UART |
| ROS 2 driver | Yes |
| ROS drivers | ydlidar_ros2_driver (ROS 2) |
| Ambient light rating | 40 klux |
| Weight | 178 g |
| Supply voltage | 4.8–5.2 V |
| Dimensions | 110.6 × 71.5 × 41.4 mm |
| Operating temperature | 0 to 40 °C |

## Pinout (4 pins, 0 with electrical limits)

| Pin | Position | Kind | Chip pad | Functions | VIH | VIL | VOH | VOL | IOH | IOL | 5 V tolerant |
| --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- |
| VCC | PH2.0-8P | power in | — | power_in | — | — | — | — | — | — | — |
| Tx | PH2.0-8P | uart tx | — | tx | — | — | — | — | — | — | — |
| GND | PH2.0-8P | ground | — | ground | — | — | — | — | — | — | — |
| M_CTR | PH2.0-8P | pwm | — | m_ctr | — | — | — | — | — | — | — |

## Where to buy

| Supplier | Price | Stock | Checked | URL |
| --- | --- | --- | --- | --- |
| aifitlab.com | 90 USD | preorder | 2026-10-18 | https://aifitlab.com/products/ydlidar-x4-pro-lidar |

## FAQ

**What voltage powers the YDLIDAR X4 Pro 360° Triangulation Lidar?**

Supply range 4.8–5.2 V.

**How much does the YDLIDAR X4 Pro 360° Triangulation Lidar cost?**

From $90 at aifitlab.com. Prices are observed unit prices before tax and shipping.

**What are the YDLIDAR X4 Pro 360° Triangulation Lidar dimensions?**

110.6 × 71.5 × 41.4 mm. A STEP model is available for enclosure fit checks.

**Where does this YDLIDAR X4 Pro 360° Triangulation Lidar data come from?**

Every value in this record is traced to a source — 2 documents including the board and chip datasheets — with the page and table cited per value. Unknowns are left explicit, never guessed.

## Sources

- [YDLIDAR X4 Pro 360° Triangulation Lidar datasheet](https://cdn.shopify.com/s/files/1/0673/6848/5000/files/YDLIDAR_X4_Pro_Datasheet.pdf?v=1771762490)
- [aifitlab.com listing](https://aifitlab.com/products/ydlidar-x4-pro-lidar)

## Part graph

### Alternatives (by use case)

- [Slamtec RPLIDAR A1M8 360° Lidar (dev kit)](https://www.xirkit.io/products/slamtec-rplidar-a1m8-360-lidar-dev-kit-0e28) — Both serve slam mapping and navigation — check the trade-offs; $90 vs $99
- [LDROBOT LD14P Lidar (Waveshare D200 kit)](https://www.xirkit.io/products/ldrobot-ld14p-lidar-waveshare-d200-kit-152c) — Both serve slam mapping and navigation — check the trade-offs; $90 vs $54.99
- [Slamtec RPLIDAR C1 360° dToF Lidar](https://www.xirkit.io/products/slamtec-rplidar-c1-360-dtof-lidar-5db8) — Both serve slam mapping and navigation — check the trade-offs; $90 vs $79.99
- [LDROBOT STL-27L 25 m dToF Lidar](https://www.xirkit.io/products/ldrobot-stl-27l-25-m-dtof-lidar-6764) — Both serve slam mapping and navigation — check the trade-offs; $90 vs $160
- [YDLIDAR T-mini Plus 360° ToF Lidar](https://www.xirkit.io/products/ydlidar-t-mini-plus-360-tof-lidar-c0fd) — Both serve slam mapping and navigation — check the trade-offs; $90 vs $85
- [LDROBOT STL-19P 360° dToF Lidar (Waveshare D500 kit)](https://www.xirkit.io/products/ldrobot-stl-19p-360-dtof-lidar-waveshare-d500-kit-d990) — Both serve slam mapping and navigation — check the trade-offs; $90 vs $95.99
- [Orbbec MS200K 360° dToF Lidar](https://www.xirkit.io/products/orbbec-ms200k-360-dtof-lidar-86b6) — Both serve slam mapping and navigation — check the trade-offs; $100 vs $90

### Variants

- [YDLIDAR X2L 360° Triangulation Lidar](https://www.xirkit.io/products/ydlidar-x2l-360-triangulation-lidar-c1e8) — Same YDLIDAR X-series triangulation design (one-way UART, M_CTR speed control, brushed belt motor); X4 Pro is the 10 m / 5 kHz model, X2L the 8 m / 3 kHz model