TF03 UART/CAN Product Manual V1.2.2
Benewake(Beijing)Co., Ltd
Output switch
Enable: 5A 05 07 01 67
Disable: 5A 05 07 00
66
Success: same as downward
command
Fail: no response over 1s
/
Enable
Trigger
command
5A 04 04 62
Data frame
/
/
Output format
5A 05 05 LL SU
Success: 5A 05 05 LL SU
Fail: no response over 1s
LL: format shown as
below,
00: ASCII (Reserved)
01: Binary output
Binary
output
UART baud rate
4
5A 08 06 H1 H2 H3 H4
SU
Success: 5A 08 06 H1 H2 H3
H4 SU
Fail: no response over 1s
See chapter 4.3.3
115200
Enable
checksum
Enable: 5A 05 08 01 68
Disable: 5A 05 08 00
67
Success: same as command
Fail: no response over 1s
/
Enable
Restore factory
settings
5A 04 10 6E
Success: 5A 05 10 00 6F
Fail: 5A 05 10 ER SU
Fail(when ER is not 0)
/
Save settings
5A 04 11 6F
Success: 5A 05 11 00 70
Fail: 5A 05 11 ER SU
same as above
/
Over range
threshold value
5A 06 4F LL HH SU
Success: 5A 05 4F 00 AE
Fail: no response over 1s
Unit: cm
See chapter 4.3.3
18000
Transmit CAN ID 5A 08 50 H1 H2 H3 H4
SU
Success: 5A 05 50 00 AF
Fail: no response over 1s
See chapter 4.3.3
Please configure the
legal CAN ID.
Unexpected results
may occur for illegal ID
0x3
Receive CAN ID
5A 08 51 H1 H2 H3 H4
SU
Success: 5A 05 51 00 B0
Fail: no response over 1s
See chapter 4.3.3
Please configure the
legal CAN ID.
Unexpected results
may occur for illegal ID
0x3003
CAN baud rate
5
5A 08 52 H1 H2 H3 H4
SU
Success: 5A 05 52 00 B1
Fail: no response over 1s
See chapter 4.3.3
1000000
CAN transmit
frame type
Standard frame: 5A 05
5D 00 BC
Extended frame: 5A 05
5D 01 BD
Success: 5A 05 5D 00 BC
Fail: no response over 1s
/
Standard
frame
4
Baud rate of UART can be set to 9600, 14400, 19200, 38400, 56000, 57600, 115200, 128000, 230400, 256000, 460800,
500000, 512000, 600000, 750000, 921600 and 1000000, if other value is set, TF03 will set it to 115200.
50000, 40000, 33330, 20000, if other value is set, TF03 will set it to 1M.