SJ-PM-TFmini-S A01 Product Manual
Benewake (Beijing) Co. Ltd.
Page16
Please modify product configuration depending upon your actual demands. Do not frequently try
irrelevant commands to prevent incorrect sending of command which many cause unnecessary loss.
Please make sure to make the configuration as the commands listed herein. Do not send unstated
command.
7.2 Command Convention
1)
Multi-bytes data or command frame is transmitted in little endian format.
For example, decimal number 1000 can be transferred to 0x03E8 in hexadecimal. Then it will be saved in the data or
command frame as:
0x5A 0x06 0x03 0xE8 0x03 0x4E
2)
Command: data instruction frame sent from PC to LiDAR.
3)
Response: data instruction frame uploaded from LiDAR to host computer or other terminal
7.3 Command Frame Definition
Caution: All configuration commands are sent as hexadecimal digits (HEX).
Table 11 Command frame definition
Byte0
Byte1
Byte2
Byte3 ~ ByteN-2
ByteN-1
Head
Len
ID
Payload
Checksum
Remarks
Byte0
Head: frame header
（
0x5A
）
Byte1
Len: the total length of the frame
（
include Head and Checksum
，
unit: byte
）
Byte2
ID: identifier code of command
Byte3-N-2
Data: data segment. Little endian format
ByteN-1
Checksum: sum of all bytes from Head to payload. Lower 8 bits
7.4 General Parameter Configuration and Description
Before setting the relevant parameters of TFmini-S, user needs to establish the connection between
TFmini-S and PC at first. About the connection details, refer to the test connection given in Chapter
. User can send the relevant configuration-related instructions to the product via TFmini-S PC
software or other serial port debugging software. All commands are compatible with both the UART
mode and the I
2
C mode.
Important: After setting parameters, the ‘Save setting’ command needs to be sent.
