Slamtec RPLIDAR A1 - Request and Response Data; Requests Overview; STOP Request

12 / 32
Copyright (c) 2009-2013 RoboPeak Team
Copyright (c) 2013-2017 Shanghai Slamtec Co., Ltd.
Requests Overview
All the available requests are listed in the below table. Their detailed descriptions
are given in the following sections.
Request Name
Value
Paylo
ad
Response
Mode
RPLIDAR Operation
Supported
Firmware
Version
STOP
0x25
N/A
No response
Exit the current state
and enter the idle state
1.0
RESET
0x40
N/A
Reset(reboot) the
RPLIDAR core
1.0
SCAN
0x20
N/A
Multiple
response
Enter the scanning
state
1.0
EXPRESS_SCAN
0x82
YES
Enter the scanning
state and working at the
highest speed
1.17
FORCE_SCAN
0x21
N/A
Enter the scanning
state and force data
output without checking
rotation speed
1.0
GET_INFO
0x50
N/A
Single
response
Send out the device info
(e.g. serial number)
1.0
GET_HEALTH
0x52
N/A
Send out the device
health info
1.0
GET_SAMPLERATE
0x59
N/A
Send out single
sampling time
1.17
Figure 4-1 The Available Requests of RPLIDAR
STOP Request
RPLIDAR will exit the current scanning state once it receives the Stop (0x25) Request
sent by a host system. The laser diode and the measurement system will be disabled
and the Idle state will be entered. This request will be ignored when RPLIDAR is in
the Idle or Protection Stop state.
Since RPLIDAR won’t send response packet for this request, host systems should
wait for at least 1 millisecond (ms) before sending another request.
Request and Response Data
A5
25
Request Packet: