Communication Protocol

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Copyright (c) 2009-2013 RoboPeak Team
Copyright (c) 2013-2019 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 4-28 Format of a Device Health Data Response Packet
：
Figure 4-29 Field Definition of Device Health Status Data Response Packet
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: