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Scanning RangefinderDistance Data Output
This product is no longer in production or sales.

Scanning Laser Range Finder, the best optimized sensor for environment recognition. Suitable for next generation intelligent robots with an autonomous system and privacy security.



-> High accuracy, high resolution and wide angle which provide the best solution for autonomous robots moving in unknown environment.
-> Compact size allows more designing freedom.
-> Light weight and low power consumption contribute to the long time operations.
-> Excellent performance in darkness.
-> Recognizing human body`s size and position without hurting their privacy.


Model No. URG-04LX
Power source 5VDC±5%*1
Current consumption 500mA or less(800mA when start-up)
Measuring area 60 to 4095mm(white paper with 70mm)
Accuracy 60 to 1,000mm : ±10mm, 1,000 to 4,095mm : 1% of measurement
Repeatability 60 to 1,000mm : ±10mm
Angular resolution Step angle : approx. 0.36°(360°/1,024 steps)
Light source Semiconductor laser diode(λ=785nm),
Laser safety class 1(IEC60825-1, 21 CFR 1040.10 & 1040.11)
Scanning time 100ms/scan
Noise 25dB or less
Interface USB, RS-232C(19.2k, 57.6k, 115.2k, 250k, 500k, 750kbps),
NPN open-collector(synchronous output of optical scanner : 1 pce)
Communication specifications Exclusive command(SCIP Ver.1.1 or Ver.2.0)*2
Ambient temperature/humidity -10 to +50 degrees C, 85% or less(Not condensing, not icing)
Vibration resistance 10 to 55Hz, double amplitude 1.5mm Each 2 hour in X, Y and Z directions
Impact resistance 196m/s2, 10 times in each X, Y and Z directions
Weight Approx. 160g
Accessory Cable for power・communication/input・output(1.5m) 1 pce,
D-sub connector with 9 pins 1 pce*3
*1 Sensor will not operate with USB bus power. Prepare power source separately.
*2 The default setting is ver.1.1. Please contact Hokuyo for more information.
*3 USB cable and fitting metal are not provided.

Note) This sensor is designed for indoor use only.
Note) This sensor is not safety device
Note) Hokuyo products are not developed and manufactured for use in weapons, equipment, or related technologies intended for destroying human lives or creating mass destruction. If such possibilities or usages are revealed, the sales of Hokuyo products to those customers might be halted by the laws of Japan such as Foreign Exchange Law, Foreign Trade Law or Export Trade Control Order.In addition, we will export Hokuyo products for the purpose of maintaining the global peace and security in accordance with the above laws of Japan .

External dimension

External dimension

External dimension
*Power source・RS-232C・synchronous output

I/O Circuit

Input/output circuit

Input/output circuit


• CN1
Pin No. Signals Colors
1 N.C. Red
2 N.C. White
3 OUTPUT(Synchronous output) Black
4 GND(5th pin of 9-pin, D-sub connector) Purple
5 RxD(3rd pin of 9-pin, D-sub connector) Yellow
6 TxD(2nd pin of 9-pin, D-sub connector) Green
7 0V Blue
8 DC5V Brown
Note) It is short-circuited between GND for communication and 0V inside.

• CN2


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Download List

Category File name File size Date modified Download
Communication Protcol
Communication Protocol Specifications_URG-04LX (SCIP1.1)
Communication Protcol
Communication Protocol Specifications_URG-04LX (SCIP2.0)
USB Driver
Data Viewing Tool_UrgBenriPlus_2.3.1(rev.340)


Please visit this website for programming guide.