User Manual

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Express Scan(EXPRESS_SCAN) Request and Response

RPLIDAR will enter the measurement sampling mode once it receives the express

scan(EXPRESS_SCAN) request. Different from the scan(SCAN) request, this request

will make RPLIDAR work at the sampling rate as high as it can be. For RPLIDAR A2

and the device models support 4khz sampling rate, the host system is required to

send this request to let the RPLIDAR work at 4khz sampling rate and output

measurement sample data accordingly; for the device models with the 2khz sample

rate (such as RPLIDAR A1 series), this request will implement the same sampling rate

as the scan(SCAN) request.

The host system can send the get sample rate(GET_SAMPLERATE) request to get

the information about the single measurement sampling time in SCAN mode and

EXPRESS_SCAN mode.

RPLIDAR uses the same state machine and processing logic for this request as the

one of the scan(SCAN) request, but uses the different response format.

Format of the request packets:

The express scan(EXPRESS_SCAN) request is required to carry the 5 bytes payload

data and the data structure is shown as following. This payload data cannot be

omitted.

84 bytes

Request Packet:

Response Descriptor:

Response Mode:

Multiple

Data Response Length: