Manual

SJ-PM-TFmini Plus-T-01 A04 Benewake (Beijing) Co. Ltd.
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settlement of your problems by TFmini Plus. User may modify original parameters by sending relevant
commands, such as output data format and 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 make the configuration as the commands listed herein. Do not send unstated command.
7.2 Command Convention
Multi-bytes data or command frame is transmitted in little endian format.
For example, decimal number 1000 can be transferred to 0x03E8 in hexadecimal. Then it will be saved in the data or
command frame as:
0x5A 0x06 0x03 0xE8 0x03 0x4E
7.3 Command Frame Definition
Caution: All configuration commands are sent as hexadecimal digits (HEX).
Table 10 Command frame definition
Byte0 Byte1 Byte2 Byte3 ~ ByteN-2 ByteN-1
Head Len ID Payload Checksum
Remarks
Byte0 Head: frame header（0x5A）
Byte1 Len: the total length of the frame（include Head and Checksum，unit: byte）
Byte2 ID: identifier code of command
Byte3-N-2 Data: data segment. Little endian format
ByteN-1 Checksum: sum of all bytes from Head to payload. Lower 8 bits
7.4 General Parameter Configuration and Description
Before setting the relevant parameters of TFmini Plus, user needs to establish the connection between
TFmini Plus and PC at first. About the connection details, refer to the test connection given in Chapter 6.2.
User can send the relevant configuration-related instructions to the product via TFmini Plus PC software
or other serial port debugging software. All commands are compatible with both the UART mode and the
I
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C mode. Important: After setting parameters, the ‘Save setting’ command needs to be sent.