User Manual

24 / 34
Copyright (c) 2009-2013 RoboPeak Team
Copyright (c) 2013-2016 Shanghai Slamtec Co., Ltd.
Get Device Info (GET_INFO) Request and Response
RPLIDAR will send out its device information (e.g. serial number, firmware/hardware
version) to the host system once it receives this request.
Format of the Device Info Response Packets:
Figure 4-16 Format of a Device Info Data Response Packet
A5
50
Request Packet:
A5
5A
Response Descriptor:
14
00
00
00
04
Response Mode:
Single
Data Response
Length:
20 bytes
model
8
0
firmware_minor
8
0
firmware_major
8
0
hardware
8
0
serialnumber[0]
8
0
+0
+1
+2
+3
+4
Byte Offset
serialnumber[15]
8
0
+19
…