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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.

Request Name

Value

Paylo

Response

Mode

RPLIDAR Operation

Supported

Firmware

Version

STOP

0x25

N/A

No response

Exit the current state

and enter the idle state

1.0

RESET

0x40

N/A

Reset(reboot) the

RPLIDAR core

1.0

SCAN

0x20

N/A

Multiple

response

Enter the scanning

state

1.0

EXPRESS_SCAN

0x82

YES

Enter the scanning

state and working at the

highest speed

1.17

FORCE_SCAN

0x21

N/A

Enter the scanning

state and force data

output without checking

rotation speed

1.0

GET_INFO

0x50

N/A

Single

response

Send out the device info

(e.g. serial number)

1.0

GET_HEALTH

0x52

N/A

Send out the device

health info

1.0

GET_SAMPLERATE

0x59

N/A

Send out single

sampling time

1.17

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.

Request and Response Data

Request Packet: