Benewake 101090022, Руководство по эксплуатации продукта

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SJ-PM-TFmini-i A01 Manual Benewake(Beijing)Co., Ltd
Page7
3 Hardware and communication protocol
There are two communication interfaces available. The hardware of RS485 and CAN is different.
The interface can not be switched by command.
3.1
Protocol of RS485
Modbus is the default setting. The parameters is shown as below. The default value of baudrate
and slave ID is 115200 and 0x01.
Table 3 Communication protocol of TF02-i-485
Item Parameter
Communication interface RS485
Baud rate 115200
Data bit 8
Stop bit 1
Parity None
3.1.1
Parameter configuration and description of Modbus
Baudrate of TF02-i supports 9600
、
14400
、
19200
、
38400
、
43000
、
57600
、
76800
、
115200
、
128000
、
230400
、
256000. Based on reliability considerations, it is not recommended to use a
baud rate above 115200 for communication
When Modbus protocol is enabled, the Modbus reading distance command format:
Address
field
Function
code
Register address Number of registers CRC_low CRC_high
01
（
default
）
03 00 00 00 01 xx xx
The data frame returned by TF02-i is as follows:
Address
field
Function
code
Data length Dist_high Dist_low CRC_low CRC_high
01
（
default
）
03 02 xx xx xx xx
Parameter configuration:
Category Function Instruction Response Description
UART
instructions
Enable Modbus 5A 05 15 01 75 5A 05 15 01 75
Save settings and restart to
take effect.
Save settings 5A 04 11 6F 5A 05 11 00 70
Modbus
instructions
Read distance 01 03 00 00 00 01 84 0A 01 03 02 DH DL CL CH
DH and DL are 8 high-order
and low-order bits of
Distance;