SJ-PM-TFmini-i A01 Manual
Benewake(Beijing)Co., Ltd
The relation between Baudrate(unit: kbps) and Byte4 is shown as below:
Byte4
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
Baudrate
1000 900 800 666 600 500 400 300
250
225 200 160 150 144 125 120 100
1) Examples of configuration
Example1: Standard frame, Baud rate 500kbps, receive ID=0x0010, send ID=0x0020
Command: 5A 0E 51 00 05 10 00 00 00 20 00 00 00 EE
Example2: Extended Frame, Baud rate 250kbps, receive ID=0x0000AABB,
send ID=0x0000CCDD
Command: 5A 0E 51 01 08 BB AA 00 00 DD CC 00 00 D0
2) CAN Terminating Resistor Configuration Instructions
Enable 120Ω Terminating Resistor: 5A 05 60 01 C0
Disable(
Default
) 120Ω Terminating Resistor: 5A 05 60 00 BF
3) Others
1
）
Other configuration instructions are the same as UART instructions of standard products,
such as saving settings(5A 04 11 6F), resetting(5A 04 02 60) and so on.
“
Save setting
”
instruction must be sent after setting parameters, otherwise the parameter doesn’t take effect
after restarting
.
2
）
When the command is longer than 8 bytes, it needs to be distributed into multiple CAN data
frames. And interval between every data frame can’t be longer than 20ms.
