SJ-PM-TFmini-S A01 Product Manual
Benewake (Beijing) Co. Ltd.
Page17
Table 12 General Parameter Configuration and Description
Parameters
Command
Response
Remark
Default setting
Obtain
firmware
version
5A 04 01 5F
5A 07 01 V1 V2 V3 SU
Version V3.2.1
System reset
5A 04 02 60
④
5A 05 02 00 60
Succeeded
/
5A 05 02 01 61
Failed
/
Frame rate
5A 06 03 LL HH SU
5A 06 03 LL HH SU
1-1000Hz
①
100Hz
Trigger
detection
5A 04 04 62
Data frame
After setting the
frame rate to 0
，
detection can be
triggered with this
command
Output format
5A 05 05 01 65
5A 05 05 01 65
Standard 9
bytes(cm)
√
5A 05 05 02 66
5A 05 05 02 66
Pixhawk
/
5A 05 05 06 6A
5A 05 05 06 6A
Standard 9 bytes
(mm)
/
Baud rate
5A 08 06 H1 H2 H3 H4 SU 5A 08 06 H1 H2 H3 H4 SU
Set baud rate
②
E.g.
256000(DEC)=3E
800(HEX),
H1=00,H2=E8,H3
=03,H4=00
115200
Enable/Disabl
e 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
√
Communicatio
n interface
setup
5A 05 0A MODE SU
/
0
（
UART
）
1
（
I
2
C
）
UART
Modify slave
address of I
2
C
5A 05 0B ADDR SU
5A 05 0B ADDR SU
Modify
I2c_slave_addr
0x10
Obtain Data
Frame
5A 05 00 01 60
Data Frame(9bytes-cm)
Only works in I2C
mode
/
5A 05 00 06 65
Date Frame(9bytes-mm)
