REV: 13/05/2022 · ©2022 Benewake (Beijing) Co., Ltd. | en.benewake.com | All rights reserved
BP-UM-30 A01
9
4 PARAMETER CONFIGURATION
In order to allow TF02-Pro to solve your problems more flexibly, the function of user-
defined configuration of product parameters is opened. Users can modify the original
parameters of the product by sending relevant instructions, such as output data format,
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 use the commands listed herein. Do
not send unstated commands.
4.1 Command Convention
For the configuration instructions in this document, see the following command
convention:
Multi-bytes data or command frame is transmitted in little endian format. For
example:
set the frame rate to 1000Hz, as shown in Table 4-1. Decimal number 1000 can be
converted to 0x03E8 in hexadecimal. Then it will be saved in the data or command
frame as:
0x5A 0x06 0x03 0xE8 0x03 0x4E
Command: data instruction frame sent from PC to LiDAR.
Response: data frame sent by LiDAR to host computer or other terminals.
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 UART mode and I
2
C mode.
4.2 Configuration Commands
The general parameters configuration command is shown in Table 4-1. After parameters
configuration, send saving settings command to save the configuration, otherwise the
settings will not take effect.
Table 4-1 General Parameter Configuration and Description for TF02-Pro
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