Benewake TF02-Pro - Page 13

SJ-PM-TF02-Pro Product Manual Alpha
Benewake (Beijing) Co. Ltd.
Page13
System reset
AA 55 F0 00 FF FF FF FF
AA 55 F0 00 FF FF FF FF
No need to enter
configuration
mode
/
Frame rate
5A 06 03 LL HH 00
5A 06 03 LL HH SU
1-1000Hz
①
100Hz
Trigger
format
5A 05 07 01 00
5A 05 07 01 67
Timer trigger
√
5A 05 07 00 00 5A 06 03
64 00 00
5A 05 07 00 66 5A 06 03
64 00 C7
Instruction trigger
/
Trigger
detection
AA 55 F0 00 XX 00 00 42
AA 55 F0 00 XX 00 00 42
& Data frame
Effective in
instruction trigger
mode, no need to
enter configuration
mode；
XX
coverage[01,64]
Output format
5A 05 05 01 65
5A 05 05 01 65
Standard 9 bytes
(cm)
√
5A 05 05 02 66
5A 05 05 02 66
String format(m)
/
5A 05 05 06 6A
5A 05 05 06 6A
Standard 9 bytes
(mm)
/
Baud rate
5A 08 06 H1 H2 H3 H4 00
5A 08 06 H1 H2 H3 H4 SU
Set baud rate
②
Example:
9600(DEC)=2580
（HEX）,H1=80,
H2=25,H3=00,H4
=00
115200
Enable/Disabl
e output
5A 05 07 00 66
5A 05 07 00 66
Disable data
output
/
5A 05 07 01 67
5A 05 07 01 67
Enable data output
√
Communicatio
n interface
setup
5A 05 0A MODE 00
/
0（UART）
1（I2C）
UART
Modify slave
address of I
2
C
5A 05 0B ADDR 00
Original instruction
Modify
I2C_slave_addr
0x10
Obtain Data
Frame
5A 05 00 01 60
Data Frame(9bytes-cm)
Only works in I2C
mode
/
5A 05 00 06 65
Data Frame(9bytes-mm)