Communication Protocol

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Copyright (c) 2009-2013 RoboPeak Team
Copyright (c) 2013-2019 Shanghai Slamtec Co., Ltd.
The following table describes the filed definition of the Cabin data.
𝑑𝜃

𝑑𝜃

Figure 4-13 Field Definition of RPLIDAR Express Scan Cabin Data Response
Packet
The following figure describes the communication status after the host system
sending out the express scan request.
3
Figure 4-14 The Communication Status Sending Out the Express Scan Request
3
Only the first cabin of the first scan after start scan command will be marked as S=1, all other cabins are
marked as S=0. A new scan starts at a measurement point whose raw angle is smaller than previous one.
A5
A5
…
…
…
S
=
0
°
A5
5A
54
00
00
40
8
2
82
05 …
S
=1