Communication Protocol

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Copyright (c) 2009-2013 RoboPeak Team
Copyright (c) 2013-2019 Shanghai Slamtec Co., Ltd.
Scan Mode and Measurement Frequency
A new concept called ‘scan mode’ is introduced since firmware version 1.24.
RPLIDAR’s following performance may differ in different scan modes:
 Measurement frequency
 Max measurement distance
 Sensitivity of detection
 Environment light elimination
Different model of RPLIDAR support different set of scan modes. Each of them is
optimized for specified work environment. Some typical scan modes are defined as
below:
Figure 3-3 Typical scan modes of RPLIDAR
Request and Response Data