Benewake TF02-i, Руководство пользователя

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COMMUNICATION PROTOCOL
REV: 13/05/2022 · ©2022 Benewake (Beijing) Co., Ltd. | en.benewake.com | All rights reserved
BP-UM-22 A03
8
effect (default 100Hz)
00 87 Working mode
Set working mode, save and reboot to
take effect. Register value:
0x00: continuous detection mode
(default)
0x01: triggering mode
00 88
Low power
consumption mode
Set low power consumption mode, save
and reboot to take effect. Register value:
0x00: Disable (default)
0x0N: Enable, N is a positive integer with
≤ 10,which is sampling frequent of TF02-i
00 89 Restore default
Write any value, save and reboot to take
effect
3.1.3 Parameter configuration
Table 3-7 General command of RS-485 serial communication mode
Function Command Respnse Description
Enable Modbus 5A 05 15 01 75
5A 05 15 01
75
Save and reboot to take effect
Strength
threshold and
distance under
threshold
5A 07 22 XX LL
HH SU 5A 07 22 XX
LL HH SU
For example:
When strength is below 60, make
distance output 4500cm:
XX=60/10=6(DEC)=06(HEX)
4500(DEC)=1194(HEX)
LL=94
， HH=11
Save setting 5A 04 11 6F
5A 05 11 00
70
Table 3-8 General command of Modbus protocol
Function Command Response Description
Read distance
01 03 00 00 00
01 84 0A 01 03 02 DH DL
CL CH
DH: High 8 bits of distance
DL: Low 8 bits of distance
CH: High 8 bits of CRC
CL: Low 8 bits of CRC
Read distance
and
signal
strength
01 03 00 00 00
02 C4 0B 01 03 04 DH DL
SH SL CL CH SH: High 8 bits of signal strength
SL: Low 8 bits of signal strength
Read firmware
version 01 03 00 06 00
02 24 0A 01 03 04 00 VM
VS VC CL CH
VM: Main version number
VS: Sub-version number
VC: Revised version number