Benewake 9031900090, Product Manual

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TF03 UART/CAN Product Manual V1.2.2 Benewake(Beijing)Co., Ltd
Page12
Byte8 Checksum
Low 8 bits of Checksum bit.
Checksum = Byte0 + Byte2+…+Byte7
4.2
CAN BUS
The CAN communication protocol of TF03 can be customized according to the customer's
demand. The CAN baud rate and ID and frame format can be modified. The contents of the
interface are shown in Table 6.
Table 6 Communication interface of CAN
Item Content
Communication protocol CAN
Baud rate 1M
Receive ID 0x3003
Transmit ID 0x3
Frame format
The default transmit frame is standard frame.
Receive frame supports standard and extended
frame.
The output data (hexadecimal numbers) of TF03 CAN is shown in Table 7. Each data frame
consists of 6 bytes and the data contains the distance and signal strength
2
information.
Table 7 TF03 CAN data format
Data bit Definition Description
Byte0 DIST_L DIST low 8-bits
Byte1 DIST_H DIST high 8-bits
Byte2 Strength_L Signal strength low 8-bits
Byte3 Strength_H Signal strength high 8-bits
Byte4 Reserved bit /
Byte5 Reserved bit /
2
Under CAN interface, when the frame rate is under 1000Hz, TF03 can output DIST and Strength at the same time, but
when the frame rate is over 1000Hz, TF03 can only output DIST.