Data Sheet

SJ-GU-TFmini-Plus-01 A00www.benewake.com
Description Head Len ID Payload Checksum
Byte 0 1 2 3-Len-2 Len-1
Obtain firmware
version
Commands Downlink frame Uplink frame Description
Command Protocols
Frame Definition
Commands
TFmini Plus has released the commands of setting frame rate, baud rate and measurement unit.
Head：frame head of command frame(0x5A)
Len：length of the frame, head and checksum included
ID：identifier code of command
Payload：data segment. Little endian format
Checksum：sum of all bytes from Head to payload. Lower 8 bits.
Bytes with yellow undertone represents checksum. Bytes with blue undertone represents data segment.
① The default update rate is 100Hz. The customized update rate should be calculated by the formula: 1000/n (n is Positive integer).
Increasing frame rate will decrease the data stability.
② Only standard baud rates are supported. When setting a high update rate, a high baud rate is recommended to ensure data security.
③ Please always send the command of save settings when try to modify parameters of TFmini Plus,otherwise the settings will not take
effect.
Save settings
③
Restore factory
settings
Enable/Disable
output
Set baud rate
Set update rate
Set measure-
ment unit
System reset
Represent V3.2.1
00-Succeeded
01-Failed
00-Succeeded
01-Failed
0-Disable
1-Enable
Set baud rate
②
Set update rate
(1~1000Hz)
①
01-cm
06-mm
00-Succeeded
01-Failed
5A 04 01 5F
5A 04 02 60
5A 06 03 00 00 SU
5A 05 05 01 SU
5A 08 06 00 00 00 00 SU
5A 05 07 00 SU
5A 04 10 6E
5A 04 11 6F
5A 07 01 01 02 03 SU
5A 05 02 00 SU
5A 06 03 00 00 SU
5A 05 05 01 SU
5A 08 06 00 00 00 00 SU
5A 05 07 00 SU
5A 05 10 00 SU
5A 05 11 00 SU
Single-point ranging LiDAR
TFmini Plus