TF02 Operating Manual V1.1
Benewake (Beijing)Co., Ltd.
Page8
bytes and the data contains the measured distance information, namely, DIST; the signal strength
information, namely, STRENGTH; the signal credibility information, namely is, SIG; the frame tail acts as
a data checksum bit.
Table 3 TF02 serial data format
The byte means the data credibility, which is divided into 8
levels, represented by 0x01-0x08 respectively; when the
credibility is 7 or 8, it indicates that the data is credible; when the
credibility is any other numerical value, the data is incredible.
Low 8 bits of Checksum bit, Checksum = Byte0 + Byte2 + ... +
Byte7, Checksum are the low 8 bits of the checksum of former 8
bytes
2) Pixhawk serial data format
The Pixhawk data format refers that the unit of the output string is M(meter). For example, if the ranging
distance is 1.21meters, then it will output the string 1.21 and each distance value ends with a symbol of line
break. The serial port products can support to be modified with Pixhawk format output via host computers
or commands.
Note: If the TF02 output distance is 22(m), it indicates outrange or insufficient signal strength; this distance
is not reliable and should be cancelled.
4.2 CAN bus version
The CAN communication protocol of TF02 can be customized according to customers’ needs and the CAN
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