Manual

SJ-PM-TFmini Plus-T-01 A04 Benewake (Beijing) Co. Ltd.
Page18
Table 11 General Parameter Configuration and Description
Parameters Command Response Remark Default setting
Obtain
firmware
version
5A 04 01 5F 5A 07 01 V1 V2 V3 SU Version V3.2.1
System reset 5A 04 02 60
5A 05 02 00 60 Succeeded /
5A 05 02 01 61 Failed /
Frame rate 5A 06 03 LL HH SU 5A 06 03 LL HH SU 1-1000Hz
①
100Hz
Trigger
detection
5A 04 04 62 Data 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 Pixhawk
②
/
5A 05 05 06 6A 5A 05 05 06 6A
Standard 9 bytes
(mm)
/
Baud rate 5A 08 06 H1 H2 H3 H4 SU 5A 08 06 H1 H2 H3 H4 SU Set baud rate
③
115200
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 /
0（UART）
1（I
2
C）
UART
Modify slave
address of I
2
C
5A 05 0B ADDR SU 5A 05 0B ADDR SU
Modify
I2c_slave_addr
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 Date Frame(9bytes-mm)
I/O mode
enable
5A 09 3B MODE DL DH
ZoneL ZoneH SU
Open or close I/O
output mode
MODE:
0--standard data
mode
1--I/O,near high and
far low
2--I/O,near low and
far high
Zone:hysteresis
zone
0(standard data
mode)