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
9
Set baud rate
01 06 00 83
BH1 BH2 CL CH
01 06 00 84
BL1 BL2 CL CH
01 06 00 83
BH1 BH2 CL CH
01 06 00 84 BL1
BL2 CL CH
BH1: High 8 bits of baud rate
BH2: Secondary high 8 bits of baud
rate
BL1: Secondary low 8 bits of baud
rate
BL2: Low 8 bits of baud rate
For example:
Set baud rate to 9600 (0x00002580):
BH1=00 BH2=00 CL=78 CH=22,
BL1=25 BL2=80 CL=D2 CH=D3
Modify slave
ID 01 06 00 85 IH
IL CL CH 01 06 00 85 IH
IL CL CH
IH: High 8 bits of slave ID
IL: Low 8 bits of slave ID
For example:
Modify slave ID to 0x0002:
IH=00 IL=02 CL=19 CH=E2
Modify frame
rate
②
01 06 00 86 FH
FL CL CH 01 06 00 86 FH
FL CL CH
FH: High 8 bits of frame rate
FL: Low 8 bits of frame rate
For example:
Modify frame rate to 100 (0x0064):
FH=00 FL=64 CL=69 CH=C8
Low power
consumption
mode
01 06 00 88 LH
LL CL CH 01 06 00 88 LH
LL CL CH
LH: High 8 bits of sampling frequent
in low power consumption mode
LL: Low 8 bits of sampling frequent
in low power consumption mode
For example:
Set it to 5Hz low power
consumption mode,
LH=00 LL=05 CL=C9 CH=E3
Save setting
01 06 00 80 00
00 88 22 01 06 00 80 00
00 88 22
Save and reboot to take effect
Disable
Modbus 01 06 00 82 00
01 E8 22 01 06 00 82 00
01 E8 22
Save and reboot to take effect
Restore
default 01 06 00 89 00
00 58 20 01 06 00 89 00
00 58 20
Warning
① RTU mode is only supported for communication in serial
communication.
② It is sampling frequent of TF02-i. In Modbus protocol, the trigger frame
rate of master host is recommended to be 40% of the frame rate with
TF02-i.
For example:
1)
Enable Modbus protocol in RS-485 serial communication mode:
5A 05 15 01 75 //Enable Modbus protocol
5A 04 11 6F //Save settings
Enter Modbus protocol mode after rebooting.
2)
Disable Modbus protocol: