Distance Data Output/YVT-35LX

Scanning Rangefinder CE

3D Scanning Range Finder. The distance is measured by steering the laser beam vertically and horizontally.
In 1 frame, a point cloud with 2590 points is generated. It is possible to increase the point cloud density using the interlacing mode.
This scanner is equipped with an acceleration sensor and a PPS input signal.

  • Overview
  • Applications
  • Specifications
  • External dimension
  • I/O circuit
  • Option
  • Downloads


-> This scanner uses pulsed laser beam with TOF principle to measure distance.
-> A laser beam is emitted in a wide 3D field providing access to hight, width and depth information of objects. This information is not available with traditional 2D scanners.

Wide field of view

The leaser beam is steered 210° horizontally and 40° vertically. The detectable range is 35m to the front and roughly 14m to the sides. NB: Please refer to the specification document to know more about the detectable range in every direction.

Interlacing mode

The laser emission position is shifted gradually in every cycle to generate a denser point cloud. It is possible to increase the density to 20 times horizontally and 10 times vertically independently. NB: At maximum density, it called HD (Hight Density) mode.

Accelerometer (Gyroscope) is included

Angular velocity and acceleration are detected. Because the accelerometer is included, you don't need to apply time synchronization. The used accelerometer is MPU-6500 from InvenSense. Please refer to the maker manual for details. NB: This scanner use mechanical steering mechanism which would add noise to the received data.

Multi-echo support

In the same direction, reflections from rain, dust and fog may generate multiple returns. Distance measurement of each return is reported. For outdoor usage, multiple echo function allows separating rain, fog and mist from target objects and housing cover. Up to 4 echos are supported (First , second, third and last echo) NB: Internally, this scanner processes unto 8 returns and reports only 4.

PPS input signal

When used with GPS, PPS signal reset the scanner's timestamp to eliminate clock drifting error.

Environmental resistance

It is suitable for use in various environments with its IP67 protective structure, 100,000lx ambient illuminance and 10G impart resistance.



It is used for environment mapping.

On robot

It is used for surrounding's recognition.

On forklift

It is used for obstacle detection, palette shape and height measurement.

In contract site

It is used for detection of digging amount and hole depth.

In contract site

It is used for detecting earth's profile.

In port application

It is used to avoid pollution with harbor crane.

In port application

It is sued for container profiling and position detection.

In vertical parking lot

It is used to detect correct alignment and check car's side mirrors are within allow field.

In public spaces

It is used to count people at malls and entrances.

In entertainment

It is used as input interface.



Product name 3D Scanning Range Finder (3D LIDAR)
Model YVT-35LX
Light source Laser diode Wave length=905nm
Laser Safety Class 1(IEC60825-1:2007 and IEC60825-1:2014)
Supply voltage DC12V/24V(Operating Voltage Range 10~30V)
(When using 12V : Startup 1.5A / Normal 0.8A)
Horizontal scan angle FOV: 210° or more Pitch: 6°
Accuracy: ±0.125°
Vertical scan angle FOV: 40° (-5° to 35°)
Accuracy: ±2°
Data spots
2590 spots or more (No interlace, 20fps)
518000 spots or more (Interlace HD mode, 0.1fps)
Interlaced mode Horizontal: Max 20 times
HD Mode: Horizontal 20 times × vertical 10 times
Detection range
at center of vertical scan
(upward 15°)
Horizontal scan -45°<θ<45°0.3-35m (white paper) 0.3-11m (black paper reflectance 10%)
-75°<θ≦-45°,45°≦θ<75°0.3-20m(white paper) 0.3- 6m (black paper reflectance 10%)
θ≦-75°,75°≦θ 0.3-10m(white paper)  0.3-3m (black paper reflectance 10%)
* Detection range at vertical scan upward 35° / downward -5° is 70% at center of vertical scan (upward 15°)
Detection accuracy
(at temperature 25°C)
Center White paper below 15m:±50mm
White paper 15m~:±100mm
Repeated accuracy
(at temperature 25°C)
Center White paper below 15m:σ < 20mm
White paper 15m~ :σ < 35mm
No. of detection echo Up to 4 echoes
Horizontal scan speed 20Hz
Input / Output PPS Input : photo-coupler input (Active high at 2mA or more) 
Synchronous Output : photo coupler open collector output (30VDC 50mA MAX)
Interface Ethernet (TCP/IP) 100BASE-TX (Auto-negotiation)
Protective structure IP67 (Power supply is off) Not waterproof
Weight Approx. 650g
Size 70mm×106mm×95mm (W×D×H)
Ambient temperature, humidity -10 to 50°C below 85% (Without dew/frost)
Vibration 10 to 57.5Hz double amplitude 1.5mmp-p
57.5Hz to 150Hz 98m / s2 (10 G) for 2hrs in each X,Y and Z direction
Sweep rate: 1 octave/min (3.9sec / sweep)
(Both in operating and non-operating state)
Noise level In front direction 59db (at distance 250mm) Frequency 1200Hz
Background illuminance 100,000lx (Avoid direct sunlight)
Communication protocol VSSP 2.1

※Power cable and Ethernet cable are sold separately. Please refer to option item.
Caution: Sensor’s warm up duration is about 60 sec after power ON. During the warm up state, measurement data cannot be obtained. Also, it requires about 2 to 3 min for stable vertical scan.
Caution: Refer to the inspection sheet for detail on accuracy data of the device. During product shipment, test is performed only at front direction. Detection distance and accuracy may differ depending on the direction of measurement. Also, above mentioned accuracy during temperature 25° C.
Caution: Near range data may contain noise in the first echo of upper direction spots.
Caution: Objects with very low reflectivity may not be detected at the near range even when it is detected at the different range.
• This sensor is not certified for the functional safety.
• This sensor cannot be used for human body detection as per the machinery directives.
• Sensor emits laser for measurement. Sensor’s operation may become unstable under the influence of strong interference light or when emitted lights are not reflected back from the object.
• Sensor’s operation may become unstable due to rain, snow and fog or due to dust pollution on the optical window.
• Rules and regulations related to safety should be strictly followed when operating the sensor.
• When there is a risk that this sensor is intended for use in mass-destruction weapons, weapons and equipment aimed at killing human beings, and relevant technologies, or when uses for such purposes are clear, sales may be prohibited in accordance with the Foreign Exchange and Foreign Trade Act, and the Export Trade Control Order (Japanese law). Moreover, regarding export of products, the formalities according to laws/Export Trade Control Order are implemented in order to maintain international peace and safety.
• Caution – Use of controls or adjustments or performance of procedures other than those specified in the specification document may result in hazardous radiation exposure.
• Before using the sensor, make sure to read the specification document thoroughly.

External dimension

YVT-35LX main body

I/O Circuit

Connector pin assign

■Power supply and IO connector ■Ethernet connector
Pin number Function
1 +VIN (10~30V)
3 -VIN (0V)
4 -COM
Pin number Function
1 TX+
2 RD+
3 RD-
4 TX-

I / O circuit

Characteristics Data


■Power cable
Model Code Length
YVT-C003 UZ00092 3m
YVT-C005 UZ00093 5m
※1 cable is needed per scanner

■Ethernet cable
Model Code Length
YVT-ENET003 UZ00095 3m
YVT-ENET005 UZ00096 5m
※1 cable is needed per scanner<

Power cable

Pin No. Function Color
1 +VIN (10~30V) Brown
2 PPS COM White
3 -VIN (0V) Blue
4 -COM Black
6 PPS IN Pink

Ethernet cable

M8 waterproof connector
Pin No. Function Color
1 TX+ Yellow
2 RD+ White
3 RD- Blue
4 TX- Orange
Pin No. Function Color
1 TX+ Yellow
2 TX- Orange
3 RD+ White
4 NC
5 NC
6 RD- Blue
7 NC
8 NC


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