TF02 Operating Manual V
1.1
Benewake (Beijing)
Co., Ltd.
Page14
⑥
Read version
number
AA 55 F0 00 00 00 00 A0
Feedback version number
AA 55 F0 00 mode major minor patch
Version number is divided into three levels, such
as version number v1.3.5
，
Major is 1
；
Minor is 3
；
Patch is 5
；
⑦
Kalman Filter
ON /OFF
AA 55 F0 00 EE 00 00 35
EE: 01 Kalman Filter OFF
09 Kalman Filter ON
⑧
Set CAN baud
rate
AA 55 F0 00 EE 00 00 63
EE
：
0-125,1-250,3-500,4-666,5-10000
（
Unit
：
K
）
Supports 5 kinds of baud rate, you need to
enter the command at the correct baud rate.
⑨
Set threshold
of measuring
range
AA 55 F0 00 EE FF DD 91
EE
：
low byte
FF
：
high byte
DD
：
Switching level variation
In the case of configuration mode, the threshold
of measurement range (Unit: cm) can be set by
using this command. When DD is 0:the IO level
signal is HIGH if the dist is greater than the
threshold value,the IO level signal is LOW if dist
is lower than threshold. When DD is 1:the IO
level signal is LOW if the dist is greater than the
threshold value, the IO level signal is HIGH if
dist is lower than the threshold.
①
Trigger mode:timing trigger mode and command trigger mode are included.Default value is timing
trigger mode,output frequency is 100Hz,[1,100] could be set by “fix output frame rate”command;product
will not work except by “working trigger command” (it’s unnecessary to enter into configuration mode to
this command and could be sent directly,it will be called “working command” for short below)in command
trigger mode.Number of distance measurement times(range[1,64]) could be set in ”working command”.For
