Benewake (Beijing) Co. Ltd.
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Descript
ion
Head(0x5A) Len ID Mode Dist Zone Delay1 Delay2 Check_sum
Default 0 0 0 0 0
Mode: 0 (Normal output) , 1 (On-off mode with high level output when closer) , 2 (On-off mode with low level output
when closer)
Dist: critical dist value (the closer one) in centimeters.
Zone: Zone size in centimeters
Delay1: Delay time 1 in millisecond. Pin 6 switch level only if the distance detected is less than Dist and the situation last
for Delay1 long.
Delay2: Delay time 2 in millisecond. Pin 6 switch level only if the distance detected is more than Dist + Zone and the
situation last for Delay2 long.
Example:
Enable on-off mode with high level output when closer, and set Dist = 200cm, Zone=10cm, Delay1 = Delay2 = 1000ms:
[5A 0D 3B 01 CB 00 0A 00 E8 03 E8 03 00]
19. Enable/disable low sample rate mode ID_LOW_SAMPLE_RATE=0x3E
This format is supported for any firmware after Ver. 0.0.5
Downward
byte 0 1 2 3-6 7-10 Len-1
Description Head(0x5A) Len ID Output_period_s One_shot_frames Check_sum
Default 0 0
Output_period_s: Only work when a positive number is given which means the time period of outputs are longer than
one second and the output frequency is less than 1Hz.
One_shot_frames: This only work when sample_freq and output_period_s are valid. Only if output_period_s > 0, then
the laser turns on every output_period_s second and then output the average output of one_shot_frames results.
Upward
byte 0 1 2 3-6 7-10 Len-1
Description Head(0x5A) Len ID Output_period_s One_shot_frames Check_sum
Example:
To measure once every 300 seconds and keep working for 1 second, user can let sample_freq = 1, output_period_s = 300,
one_shot_frames = 1 [5A 06 03 01 00 00] [5A 0C 3E 2C 01 00 00 01 00 00 00 00]
20. Read config by id ID_GET_CONFIG_PARA=0x3F
This format is supported for any firmware after Ver. 0.0.5
Downward
byte 0 1 2 3 Len-1
Description Head(0x5A) Len ID Id Check_sum
Id: The same as we mentioned above.
Upward: The same format of relevant Id.
Example:
Read output frequency [5A 05 3F 03 00]
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