Interface Protocol

15 / 50

Figure 4-2 The Timing Sequence of a STOP Request

RPLIDAR Core Reset(RESET) Request

Host systems can make RPLIDAR core to reset (reboot) itself by sending this request.

A reset operation will make RPLIDAR revert to a similar state as it has just been

powered up. This request is useful when RPLIDAR has entered the Protection Stop

state. After a core reset, RPLIDAR will return to the idle state which will accept the

start scan request again.

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

wait for at least 2 milliseconds (ms) before sending another request.

Figure 4-3 The Timing Sequence of a RESET Request

Start Scan（SCAN） Request and Response

Note: RPLIDAR device models support 4khz or higher sampling rate will lower the sampling

rate when processing this request. Please use EXPRESS_SCAN for the best performance.

This command supports Legacy scan mode only.

…

Request Packet:

…