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
6
3 COMMUNICATION PROTOCOL
There are two communication interfaces available. The hardware of RS485 and CAN is
different. The interface can not be switched by command.
3.1 RS-485 Communication Protocol
3.1.1 Communication protocol
Modbus protocol is the default setting for RS-485 interface. The parameter is shown in
Table 3-1. The default value of baud rate and slave ID is 115200 and 0x01.
Table 3-1 RS-485 Communication protocol of TF02-i
Characteristics Values
Communication interface RS-485
Baud rate 115200
Data bit 8
Stop bit 1
Parity None
Note
The following baud rates are supported: 9600 ， 14400 ， 19200 ， 38400 ， 43000 ，
57600 ， 768000 ， 115200(default) ， 128000 ， 230400 ， 256000. It is not
recommended to use a baud rate above 115200 for communication
because of communication stability.
3.1.2 Parameter configuration description of Modbus protocol
3.1.2.1 Description of data frame
When Modbus protocol of TF02-i is enabled, the Modbus command format of reading
distance is shown in Table 3-2.
Table 3-2 The command format of reading distance
Addr. Function code Register Addr. Register Value CRC_Low CRC_High
01(Default) 03 00 00 00 01 xx xx
The response data frame format is shown in Table 3-3.
Table 3-3 The response date frame format
Addr. Function code Length Dist_High Dist_Low CRC_Low CRC_High
01(Default) 03 02 XX XX xx xx