Communication Protocol

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Copyright (c) 2009-2013 RoboPeak Team
Copyright (c) 2013-2019 Shanghai Slamtec Co., Ltd.
Device motor speed control command
(MOTOR_SPEED_CTRL)
4
A host system can send this command to control the real-time motor speed of
RPLIDAR. And RPLIDAR will be enter the idle state only if have received the
command with Rpm = 0.
Format of the Data Request Packets：
Figure 4-38 Format of a MOTOR_SPEED_CTRL Request Packet
4
Only RPLIDAR S1 serials support this command at present.
Request Packet:
A5
A8
02
Rpm
C
Rpm
16
0
+0
Byte Offset: