Slamtec RPLIDAR A1 - GET_HEALTH Request and Response

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Copyright (c) 2009-2013 RoboPeak Team
Copyright (c) 2013-2017 Shanghai Slamtec Co., Ltd.
Get Device Health Status (GET_HEALTH) Request and
Response
A host system can send the GET_HEALTH request to query RPLIDAR’s health state.
If the RPLIDAR has entered the Protection Stop state caused by hardware failure,
the related error code of the failure will be sent out.
Format of the Data Response Packets
Figure 4-19 Format of a Device Health Data Response Packet
Figure 4-20 Field Definition of Device Health Status Data Response Packet
When a host system detects RPLIDAR has entered the Protection Stop state, it can
set a RESET request to let RPLIDAR core system reboot to escape the Protection
Field Name
Description
Examples / Notes
status
RPLIDAR Health
State
Value definition：
0: Good
1: Warning
2: Error
When the core system detects some potential risk that may
cause hardware failure in the future, the status value will be
set to Warning(1). But RPLIDAR can still work as normal.
When RPLIDAR is in the Protection Stop state, the status
value is set to Error(2).
error_code
The related error code that caused a warning/error.
A5
52
Request Packet:
A5
5A
Response Descriptor:
3
00
00
00
06
Response Mode:
Single
Data Response Length:
3 bytes
status
8
0
error_code[7:0]
8
0
error_code[15:8]
8
0
+0
+1
+2
Byte Offset: