Benewake TF02, Руководство по эксплуатации продукта

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TF02 Operating Manual V
1.1
Benewake (Beijing)
Co., Ltd.
Page9
baud rate, ID and frame format can be modified. The contents of the protocol are shown in Table 4.
Table 4 CAN communication protocol of TF02
Item Content
Communication protocol CAN
Baud rate 1M
ID 0x00090002
Frame format Extended frame
See Table 5 for the TF02 data format of the CAN version; all data is hexadecimal numbers, each frame of
data has a total of 8 bytes and the data contains the measured distance information, that is, DIST; the signal
strength information, that is, STRENGTH; the reliability information, that is, SIG.
Table 5 Data frame format of CAN versions
Data bit Definition Description
Byte0 DIST_H DIST hight eight-digit
Byte1 DIST_L DIST low eight-digit
Byte2 STRENGTH_H STRENGTH high eight-digit
Byte3 STRENGTH_L STRENGTH low eight-digit
Byte4 TIME A larger numerical value indicates longer exposure time.
Byte5 SIG
This bite means the credibility of the data , and the credibility is
represented by 0x01-0x08 respectively; when the credibility is 7
or 8, it indicates that the data is credible; when the credibility is
any other numerical value, it is not recommended to use the data
of this frame.
Byte6 Reserved bit Reserved bit
Byte7 Reserved bit Reserved bit