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Requests Overview

All the available requests are listed in the below table. Their detailed descriptions

are given in the following sections.

Figure 4-1 The Available Requests of RPLIDAR

STOP Request

RPLIDAR will exit the current scanning state once it receives the Stop (0x25) Request

sent by a host system. The laser diode and the measurement system will be disabled

and the Idle state will be entered. This request will be ignored when RPLIDAR is in

the Idle or Protection Stop state.

Since RPLIDAR won’t send response packet for this request, host systems should

wait for at least 1 millisecond (ms) before sending another request.

4. Request and Response Data

Request Name

Value

Payload

Response

Mode

RPLIDAR Operation

STOP

0x25

N/A

response

Exit the current state and enter the

idle state

RESET

0x40

N/A

Reset(reboot) the RPLIDAR core

SCAN

0x20

N/A

Multiple

response

Enter the scanning state

EXPRESS_SCAN

0x82

YES

Enter the scanning state and

working at the highest speed

FORCE_SCAN

0x21

N/A

Enter the scanning state and force

data output without checking

rotation speed

GET_INFO

0x50

N/A

Single

response

Send out the device info (e.g. serial

number)

GET_HEALTH

0x52

N/A

Send out the device health info

GET_SAMPLERATE

0x59

N/A

Send out single sampling time

Request Packet: