Benewake (Beijing) Co. Limited
Fig.15 Output data after successful start-up of the device
After the device has been successfully started, the measured distance information and signal strength can be read in the
output data field on the right. Byte0-1 are the lower and higher bytes of the distance value (HEX); byte2-3 are the lower and
higher bytes of the signal strength (HEX); and byte6-7 are reserved.
For example, if the output data frame is: F8 01 6E 00 00 00, then the measured distance value is 000001F8, which is
504 (DEC); and the signal strength is 0000006E, which is 110 (DEC). In summary, the measured distance value is 504 cm
and the signal strength is 110.
The following is an example of setting a baud rate of 500K to explain the modification of the baud rate under the CAN
protocol.
The command format for configuring the baud rate is shown below. In the command, H1 H2 H3 H4 indicates the baud
rate (HEX), arranged from low to high, i.e. in Little-Endian order. SU is the checksum (Checksum = 5A + 08 + 52 + H1 +
H2 + H3 + H4, and take the lower 8 bits).
Table 3 Modify baud rate
Function Command Return Value Factory Configuration
Modify
5A 08 52 H1 H2 H3 H4 SU
Success: 5A 05 52 00 B1 1000000
Fail: Timeout 1s no response
Baud rate 500000 (DEC) = 0x0007A120 (HEX), then the command is: 5A 08 52 20 A1 07 00 7C. Enter the command
in the "Data" field and click on Send.
Then enter "save configuration" command: 5A 04 11 6F. Send the command, the device will stop outputting data.
Fig.16 Send "Modify baud rate" command
