Benewake TF02-Pro-W-485, Руководство по эксплуатации продукта

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Benewake (Beijing) CO., Ltd
Page 9
SJ-PM-TF02-Pro-W-485 A00 Product Manual
6
Parameter Configuration
To meet the need of different customers, parameters can be set by yourselves. Parameters,
such as data format, frame rate could be changed by sending command. Parameter will be stored
in flash after configured successfully and customers don’t need to configure again when restart.
Please change the parameter according to certain demands and do not frequently try
irrelevant instructions. Please configure the product according to the demands of the manual and
never send unstated command
.
TF02-Pro-W-485 supports 9600, 14400, 19200, 38400, 43000, 57600, 76800, 115200
(default) , 128000, 230400, 256000, 460800, 921600, 1382,400 baudrate. Considering the
reliability of communication, it is not recommended to use the baudrate above 115200. The default
slave ID is 0x01.
Note: Repower is required after configuration.
Table 4 General Parameter Configuration and Description (Slave ID is 0x01)
Function Command Response Remark
Read distance 01 03 00 00 00 01 84 0A 01 03 02 DH DL CL CH
DH: 8 high-order bits of distance
DL: 8 low-order bits of distance
CH: 8 high-order bits of CRC
CL: 8 low-order 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
DH: 8 high-order bits of distance
DL: 8 low-order bits of distance
SH: 8 high-order bits of signal strength
SL: 8 low-order bits of signal strength
Read firmware version 01 03 00 06 00 02 24 0A
01 03 04 00 VM VS VC
CL CH
The software version is VM.VS.VC
Set Baudrate
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
For example, set baudrate to 9600
(0x00002580)
BH1=00 BH2=00 CL=78 CH=22
BL1=25 BL2=80 CL=D2 CH=D3
Set Slave ID 01 06 00 85 IH IL CL CH 01 06 00 84 IH IL CL CH
For example, set slave ID to 0x02, IH=00 IL=02
CL=19 CH=E2
Set frame rate 01 06 00 86 FH FL CL CH
01 06 00 86 FH FL CL
CH
Set frame rate to 100 (0x0064),
FH=00 FL=64 CL=69 CH=C8
Save settings 01 06 00 80 00 00 88 22 01 06 00 80 00 00 88 22 Repower to take effect
Start the wiper 01 06 00 8A 00 00 A8 20 01 06 00 8A 00 00 A8 20 Use this command to start the wiper at any time
Modified dust removal
cycle
01 06 00 8C PH PL CL CH
01 06 00 8C PH PL CL
CH
For example, making wiper works every 240
minutes, PH=00 PL=F0 CL=48 CH=65
Modify the number of
wiper round trip
01 06 00 8D WH WL CL
CH
01 06 00 8D WH WL CL
CH
The number should between 1 and 10.
For example, wipe twice each time
WH=00 WL=02 CL=98 CH=20