Benewake RB-Ben-22, Руководство по эксплуатации продукта

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SJ-PM-TFmini-i A01 Manual Benewake(Beijing)Co., Ltd
Page10
Entry Modbus model and entry Modbus instructions after restarting
2
）
Disable Modbus protocol
：
01 06 00 82 00 01 E8 22 // Default address 01, disable Modbus
01 06 00 80 00 00 88 22 // Default address 01, save setting
Restart and exit Modbus.
3.2
Protocol of CAN
The data protocol of CAN is shown in
Table 4. Each data frame consists of 8 bytes and the data contains the distance(unit: cm), signal
strength and timestamp(unit: ms) information.
Table 4 Data protocol of TFmini-i-CAN
Data byte 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 Timestamp Low8bit of timestamp
Byte5 Timestamp Secondary-low8bit of timestamp
Byte6 Timestamp Secondary-high8bit of timestamp
Byte7 Timestamp High8bit of timestamp
3.2.1
Parameter configuration and description of CAN
The default baudrate is 250kbps, the default type is standard frame, default receive and send id
is 0x00000003.
The format of instruction is shown as below:
Byte 0 1 2 3 4 5-8 9-12 13
Description 0x5A 0x0E 0x51 Type Baudrate Recv_id Send_id Check_sum
Default 0 8 0x00000003 0x00000003
Type: 0(Standard Frame), 1(Extended Frame);
Recv_id: LiDAR receive ID, Little Endian; Send_id: LiDAR send ID, Little Endian