Benewake TF02-i, User Manual

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COMMUNICATION PROTOCOL
REV: 13/05/2022 · ©2022 Benewake (Beijing) Co., Ltd. | en.benewake.com | All rights reserved
BP-UM-22 A03
12
Example2: Extended Frame, Baud rate 250kbps, receiving ID=0x0000AABB, transmitting
ID=0x0000CCDD
Command: 5A 0E 51 01 08 BB AA 00 00 DD CC 00 00 D0
3.2.5 Other Parameter Configuration
Table 3-13 General parameter configuration of TF02-i
Function Command Response Description
Read firmware
version
5A 04 01 5F
5A 07 01 V1 V2
V3 SU
Version V3.V2.V1
Frame rate
①
5A 06 03 LL
HH SU
①
5A 06 03 LL HH
SU
1-1000Hz, default 100Hz
LL: Low 8 bits of frame rate
HH: High 8 bits of frame rate
Trigger
detection
5A 04 04 62 Data frame
Set frame rate to 0, detection can
be triggered with this command
System reset
③
5A 04 02 60
5A 05 02 00 61 Succeeded
5A 05 02 01 62 Failed
Disable/Enable
output 5A 05 07 00 66 5A 05 07 00 66 Disable data output
5A 05 07 01 67 5A 05 07 01 67 Enable data output
Strength
threshold and
distance under
threshold
5A 07 22 XX LL
HH SU 5A 07 22 XX LL
HH SU
For example:
When strength is below 60, make
distance output 4500cm:
XX=60/10=6(DEC)=06(HEX)
4500(DEC)=1194(HEX)
LL=94
， HH=11
Restore to
factory settings
5A 04 10 6E
5A 05 10 00 6F Succeeded
5A 05 10 01 70 Failed
Save setting
④
5A 04 11 6F
5A 05 11 00 70 Succeeded
5A 05 11 01 71 Failed
Enable/Disable
120
Ω terminal
resistor
⑤
5A 05 60 01
C0
5A 05 60 01 C0 Enable 120 Ω terminal resistor
5A 05 60 00 BF 5A 05 60 00 BF Disable 120 Ω terminal resistor
Warning
① The customized frame rate should be calculated by the formula: 2000/n
(n is an integer with ≥ 2).
② SU is checksum, checksum is disable by default.
③ Please keep power on and wait 1s after sending system reset command,
otherwise the settings will not take effect.
④ After parameters configuration, send saving settings command to save