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Hokuyo URG-04LX scanning laser range-finder has both serial RS-232 and USB interfaces
The field-of-view for this detector is 240°.
Obstacle detection distance range can be detected from 20 mm to 4 m (0.79 in to 13.12 ft).
Hokuyo URG-04LX is pwered by a 5vDC with current of 1.5A.  USB cannot be used for power supply
The sensor also includes necessary wiring hardware to interface to the sensor via a serial connection. Additional cables can be purchased if necessary.

The cable details for interfacing with serial cable are as follows:
Output (Synchronous output) Black
RxD Yellow
TxD Green
5 V DC (Power) Brown
0 V DC (Power) Blue


Some addition cool features

  • High accuracy, high resolution and wide angle which provide the best solution for autonomous robots moving in the unknown environment.
  • Compact size allows more designing freedom. Light weight and low power consumption contribute to the long time operations.
  • No influence by how bright the environment will be. Excellent performance in darkness.
  • Recognizing human body's size and position without hurting their privacy.


Hokuyo URG-04LX Specifications


Model No URG-04LX
Power Source 5VDC±5%*1

Current consumption

60 to 4095mm(white paper with 70mm)



60 to 1,000mm : ±10mm, 1,000 to 4,095mm : 1% of measurement


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



25dB or less


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, Each 10 time in X, Y and Z directions


Approx. 160g

Accessory Cable for power・communication/input・output(1.5m) 1 pce,
D-sub connector with 9 pins 1 pce*3