Benewake TF02-Pro - Page 13

REV: 13/05/2022 · ©2022 Benewake (Beijing) Co., Ltd. | en.benewake.com | All rights reserved
BP-UM-30 A01
10
Frame rate
③
5A 06 03 LL HH
SU
5A 06 03 LL HH SU
1-1000Hz，default 100Hz
Trigger detection
5A 04 04 62
Date frame
After setting the frame rate
to 0 ， detection can be
triggered with this command
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
Character string(m)
5A 05 05 06 6A
5A 05 05 06 6A
Standard 9 bytes (mm)
Baud rate
④
5A 08 06 H1 H2
H3 H4 SU
5A 08 06 H1 H2 H3 H4
SU
Default 115200; E.g.
256000(DEC)=3E800(HEX) ，
H1=00,H2=E8,H3=03,H4=00
Enable/Disable
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
Communication
interface setup
5A 05 0A MODE
SU
/
00（UART）， default；
01（I
2
C）
Modify
I
2
C_slave_addr
5A 05 0B ADDR
SU
5A 05 0B ADDR SU
Modify I
2
C_slave_addr,
default 0x10
Obtain data
frame
5A 05 00 01 60
Data Frame (9bytes-cm)
Only works in I
2
C mode
5A 05 00 06 65
Data Frame (9bytes-
mm)
I/O mode enable
5A 09 3B MODE
DL DH ZoneL
ZoneH 00
/
Enable/disable I/O output
mode;
MODE (default 0): 0--
standard data mode; 1--I/O,
near high and far low; 2--I/O,
near low and far high;
Zone: hysteresis zone
Strength
threshold and
distance under
threshold
5A 07 22 XX LL
HH SU
5A 07 22 XX LL HH SU
Strength Threshold=60,
Distance under
threshold=4500.
E.g. When strength is below
60, make distance output
4500cm.
XX=60/10=6(DEC)=06(HEX)
4500(DEC)=1194(HEX)
LL=94，HH=11
Low power
consumption
mode
5A 06 35 0X 00
SU
5A 06 35 0X 00 SU
Range of X(HEX）is 0~A：
X ＞ 0, enable low power
consumption mode;
X=0, disable low power
consumption mode, default
Restore to
factory settings
5A 04 10 6E
5A 05 10 00 6F
Succeeded
5A 05 10 01 70
Failed
Save settings
⑤
5A 04 11 6F
5A 05 11 00 70
Succeeded