Communication Protocol

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Figure 2-5 Response Packets Sent during a Single Request-Single Response
Mode
Figure 2-6 Response Packets Sent during a Single Request-Multiple Response
Mode
The format of response descriptors is depicted in the following figure.
Figure 2-7 RPLIDAR Response Descriptors’ Format
2
…
2
…
…
Start Flag1 Start Flag2 Data Response Length
Send Mode
Data Type
1byte (0xA5) 1byte (0x5A) 30bits 2bits 1byte
Transmission Order