SJ-PM-TF02-Pro Product Manual Alpha
Benewake (Beijing) Co. Ltd.
Page12
6 Descriptions on User-defined Parameter Configuration
The function of user-defined configuration of product parameters is hereby enabled for more flexible
settlement of your problems by TF02-Pro. User may modify original parameters by sending relevant
commands, such as output data format and frame rate, etc.
Please modify product configuration depending upon your actual demands. Do not frequently try irrelevant
commands to prevent incorrect sending of command which many cause unnecessary loss. Please make sure
to make the configuration as the commands listed herein. Do not send unstated command.
6.1 Command Convention
1) Multi-bytes data or command frame is transmitted in little endian format.
For example, decimal number 1000 can be transferred to 0x03E8 in hexadecimal. Then it will be saved in the data
or command frame as:
0x5A 0x06 0x03 0xE8 0x03 0x4E
1) Command: data instruction frame sent from PC to LiDAR.
2) Response: data instruction frame uploaded from LiDAR to host computer or other terminal
6.2 General Parameter Configuration and Description
Before setting the relevant parameters of TF02-Pro, user needs to establish the connection between TF02-
Pro and PC at first. User can send the relevant configuration-related instructions to the product via TF02-
Pro PC software or other serial port debugging software. All commands are compatible with both the UART
mode and the I
2
C mode. Important: Configure the parameters in the following three steps.
a) Enter configuration mode and send: AA 55 F0 00 01 00 00 02.
Response: AA 55 F0 00 01 00 00 02, which means successful transmission.
b) Configuration of product parameters：see Table 8;
c) Exit configuration mode and send: AA 55 F0 00 00 00 00 02.
Response: AA 55 F0 00 00 00 00 02, which means successful transmission.
Table 8: General Parameter Configuration and Description
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