User Manual for Benewake models including: TF-NOVA Compact Laser Line Lidar, TF-NOVA, Compact Laser Line Lidar, Laser Line Lidar, Line Lidar, Lidar
Benewake TF-NOVA hochpräziser LiDAR Sensor mit 7m Reichweite
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DocumentDocumentTF-NOVA User Manual 1 This user manual is only applicable to TF-NOVA prototypes between October 1st and November 15th, 2024 ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · Subject to change without notice Preface This user manual contains the introduction, use and maintenance of TF-NOVA LiDAR. Please read this manual carefully before formal use, and strictly follow the steps described in the manual during use to avoid product damage, property loss, personal injury or/and violation of product warranty terms. If you encounter problems that cannot be solved during use, please contact Benewake staff for assistance. Contact Details Official website: en.benewake.com Contact number: 400-880-9610 For technical questions, please contact: support@benewake.com For sales inquiries or to request brochure, please contact: bw@benewake.com Headquarter Address Benewake (Beijing) Co., Ltd. 3rd Floor, Haiguo Jiaye Sci-Tech Park, Haidian District, Beijing, China Copyright Notice This User Manual is copyright © of Benewake. Please do not modify, delete or translate the description of this manual contents without the official written permission from Benewake. Disclaimer The TF-NOVA product is constantly being improved, and its specifications and parameters will undergo iterative changes. Please refer to the official website for latest version. 2 This user manual is only applicable to TF-NOVA prototypes between October 1st and November 15th, 2024 ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · Subject to change without notice Contents 1 Laser Safety Information ........................................................................................................... 1 2 Installation and Maintenance .................................................................................................1 3 Product Overview ....................................................................................................................... 1 3.1 Measuring principle ............................................................................................................. 1 3.2 Technical Specifications ...................................................................................................2 3.3 Structural Appearance .....................................................................................................4 3.4 FoV .......................................................................................................................................... 4 4 Device Installation ..................................................................................................................... 5 4.1 Mechanical installation ..................................................................................................... 5 4.2 Connector .............................................................................................................................5 5 Communication Protocol and data format ....................................................................... 6 5.1 Serial Communication ........................................................................................................6 5.2 I²C Communication ............................................................................................................ 7 5.3 On/off Mode ........................................................................................................................ 8 5.4 Serial communication commands .................................................................................9 5.4.1 Version information ID_GET_VERSION=0x01 ....................................................... 9 5.4.2 System software restore ID_SOFT_RESET=0x02 ............................................. 10 5.4.3 Output frequency ID_SAMPLE_FREQ=0x03 ...................................................... 10 5.4.4 Output format setting ID_OUTPUT_FORMAT=0x05 .......................................10 5.4.5 Baud rate setting ID_BAUD_RATE=0x06 ............................................................ 11 5.4.6 Enable/disable output ID_OUTPUT_EN=0x07 ...................................................11 5.4.7 Enable/disable checksum compariso ID_FRAME_CHECKSUM_EN=0x08 12 5.4.8 Communication interface settings ID_IF_PROTOCOL=0x0A ...................... 12 5.4.9 I²C slave machine address configuration ID_I²C_SLAVE_ADDR=0x0B .....13 5.4.10 Restore default setting ID_RESTORE_DEFAULT=0x10 ..................................13 5.4.11 Save current setting ID_SAVE_SETTINGS=0x11 ................................................14 5.4.12 Distance limit setting rangeID_DIST_RANGE=0x3A ...................................... 14 3 This user manual is only applicable to TF-NOVA prototypes between October 1st and November 15th, 2024 ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · Subject to change without notice 5.4.13 Enable/disable on-off mode ID_ON_OFF_MODE=0x3B ............................. 14 Appendix I²C REGISTER TABLE................................................................................................. 16 4 This user manual is only applicable to TF-NOVA prototypes between October 1st and November 15th, 2024 ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · Subject to change without notice 1 Laser Safety Information The LiDAR contains IR and visible laser spots. IR laser: Wavelength 905nm; Class 1 according to IEC 60825-1:2014, EN 60825-1:2014+A11:2021. CAUTION! Use of controls, adjustments or performance of procedures other than those specified herein may result in hazardous radiation exposure. 2 Installation and Maintenance CAUTION! This laser product is classified as Class 1 during operational procedures. When the ranging feature is activated, the laser emitter of the LiDAR module may emit laser radiation, therefore, the LiDAR should NOT be aimed at humans and animals to ensure safety. This product is designed and calibrated for installation with exposed lenses. If a protective window needs to be added in front of the lens, it is necessary to ensure the use of materials with high transmission at 905nm wavelength and antireflective coating. Avoid the presence of smoke and fog in the detection field. Avoid condensation. Avoid direct exposure to moisture and water. Do not use rough fabric or dirty towels or aggressive products to clean the laser lenses. Do not use a supply voltage higher than the maximum required in the specifications to power the product. Clean the laser lenses with compressed air. When needed, wipe the laser lenses only with a soft, clean microfiber cloth. Make sure the sensor is securely mounted to prevent false readings or damage. Only trained and qualified personnel may install, setup and repair the LiDAR. 1 This user manual is only applicable to TF-NOVA prototypes between October 1st and November 15th, 2024 ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · Subject to change without notice 3 Product Overview This chapter mainly introduces the measuring principle, technical specifications, structural description, equipment coordinates and field of view distribution of the TF-NOVA LiDAR. 3.1 Measuring principle TF-NOVA is a typical Pulse Time of Flight (PToF) sensor. TF-NOVA emits a narrow pulse laser, which is collimated by the transmitting lens, which enters the receiving system after being reflected by the measured target and is focused on the detector by the receiving lens. The time between the transmitted signal and the received signal is calculated through the circuit amplification and filtering, and the distance between TF-NOVA and the measured target can be calculated through the speed of light. Figure. 1: Pulsed time of flight 1 This user manual is only applicable to TF-NOVA prototypes between October 1st and November 15th, 2024 ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · Subject to change without notice 3.2 Technical Specifications Table. 1: Specification Performance Parameter Detection range 3m @3%reflectivity, 0Klux 7m @10% reflectivity, 0Klux 2m @10% reflectivity, 100Klux Blind zone 0.1m Accuracy ±5cm Repeatability 1cm (1 sigma) Distance resolution 1cm Default frame rate Default 100Hz, 1-500Hz customizable Laser Parameters Light source VCSEL Central wavelength 905nm FoV Typ. 14°×1° Eye safety Mechanical/Electrical Class 1 Eye-safe[EN60825] (Design assurance, the current prototype has not yet obtained third-party Average power TBD Peak current TBD Power supply DC 5±10%V Operating temperature -25 ~ +70 Storage temperature -30 ~ +80 Dimensions TYP. 26.5x 21.05 x 12.0mm³ Weight <5g Connector 1.25mm-5P Protection Level N.A. Cable length 10cm Communication Protocol Communication Interface UART, IIC, I/O Baud rate Default 115200 Data bit 8 Stop bit 1 2 This user manual is only applicable to TF-NOVA prototypes between October 1st and November 15th, 2024 ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · Subject to change without notice Parity None NOTICE The measurement range is measured when all light spots are placed on the target board, at 25 . Changes in conditions may cause variations in the measurement results. The accuracy is measured under the condition of 25 , 0Klux and 10% reflectance background board, and changes in conditions may cause changes in the measurement results. 3 This user manual is only applicable to TF-NOVA prototypes between October 1st and November 15th, 2024 ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · Subject to change without notice 3.3 Structural Appearance The overall appearance of the LiDAR is as shown in the figure below: 3.4 FoV Figure. 2: TF-NOVA Appearance The FoV (field of view) is the angle covered by the LiDAR sensor. The horizontal FoV is 14° and the vertical FoV is 1°. Figure. 3: FoV of TF-NOVA NOTICE 14° and 1° are theoretic values. Because the manufacturing error and the installing error exist, there is divergence between actual and theoretic values. 4 This user manual is only applicable to TF-NOVA prototypes between October 1st and November 15th, 2024 ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · Subject to change without notice 4 Device Installation This section introduces the mechanical installation and connection information of TF-NOVA LiDAR. 4.1 Mechanical installation As shown in the following figure. TF-NOVA has 2 installation positioning holes available for use. Figure. 4: Diagram of TF-NOVA installation hole 4.2 Connector The connector is 1.25mm-5P, appearance and definition are shown as below: Figure. 5: LiDAR connector appearance Table. 2: Interface connector pin definitions Pin number Definition PIN 1 VCC PIN 2 GND PIN 3 TXD(3.3V)/SDA PIN 4 RXD(3.3V)/SCL PIN 5 IO 5 This user manual is only applicable to TF-NOVA prototypes between October 1st and November 15th, 2024 ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · Subject to change without notice 5 Communication Protocol and data format 5.1 Serial Communication To connect two devices for TTL communication, the TXD of the transmitter should be connected to the RXD of the receiver, and the TXD of the receiver should be connected to the RXD of the transmitter. The LiDAR does not include a power switch. When power is supplied to the LiDAR, data will begin to be automatically transmitted. Character Baud rate Data bit Stop bit Parity Table. 3: Characteristics of UART Interface Value Configurability 115200 Configurable 8 Non-configurable 1 Non-configurable None Non-configurable NOTE Baud rate can be set to 9600, 14400, 19200, 38400, 56000, 57600, 115200, 128000, 230400, 256000, 460800, 500000, 512000, 600000, 750000, and 921600. If other value were set, TF-NOVA will set it to 115200. Serial port output format: 9-byte/cm (Default) Byte 0 1 2 Description 0x59 0x59 Dist_L 3 4 Dist_H Peak_L 5 Peak_H 6 7 Temp Confidence 8 Check_sum Dist: cm Peak: Signal strength Temp: Chip Temperature Confidence: Confidence level 0-100 9-byte/cm Byte 0 1 2 Description 0x59 0x59 Dist_L Dist :mm Peak: Signal strength 3 Dist_H 4 Peak_L 5 6 7 8 Peak_H Temp Confidence Check_sum 6 This user manual is only applicable to TF-NOVA prototypes between October 1st and November 15th, 2024 ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · Subject to change without notice Temp: Chip Temperature Confidence: Confidence level 0-100 5.2 I²C Communication TF-NOVA supports up to 400kps clock speed as slave machine and its default address is 0x10. For more information about I²C register table refer to Appendix I² C register table. Note: In this document, the address of I²C slave device is a 7-bit value with value range [0x08, 0x77] ([08, 119] in decimal). For the first byte after I²C releases a start signal, the 7-bit address should be shifted leftward for one bit (i.e. multiplied with 2), and then filled with the read-write sign on the lowest bit. For TF-NOVA, the default address of slave device is 0x10, the address for write operations is 0x20, and the address for read operations is 0x21. Write register timing: Start Slave Addr W Ack Registe r Addr Ack Data1 Ack ... DataN Ack Stop Read register timing: Start Slave Addr W Ack Register Addr Ack Stop Start Slave Addr R Ack Data1 Ack ... DataN Nack Stop Note that in the read register sequence, the host can directly generate the second Start signal without generating the first Stop signal. The last Nack can also be an Ack signal. After a write operation on the I²C register, it takes TF-NOVA some time to process. If users need to read the value from the register for validation purposes, we recommend waiting for 100ms after the write operation, prior to the next read operation. 7 This user manual is only applicable to TF-NOVA prototypes between October 1st and November 15th, 2024 ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · Subject to change without notice 5.3 On/off Mode On/off mode is designed from those users who only need to detect the existence of an object. TF-NOVA can start this mode using "Enable/disable on-off mode ID_ON_OFF_MODE=0x3B" and then shows result through pin 5. Figure 5 below shows how the mode works when a high level is set to represent an object is detected. Figure 6 On/off mode that high level means closer Zone value: If an object is detected closer than Dist, then Pin 5 outputs high-level, but only if an object is detected farther than Dist + Zone, then Pin 5 outputs lowlevel. When zone is set to 0, pin 5 may output up and down cause by fluctuation of the measuring when the real distance happens to be the same as Dist. That is why a proper zone value is needed to help avoid this situation by having a hysteretic interval. Delay is also supported to avoid inaccurate jumping output. Pin 5 changes its output depends on the Dist value condition and the time it lasts. Delay1 (ms) and Delay2 (ms) determine how long that approaching changes and leaving changes should wait after Dist value is already over the line. Note: Since the Dist value is set to 0 under factory setting when no object is detected and Amp is too low, then pin 6 may have false output in the on/off mode. 8 This user manual is only applicable to TF-NOVA prototypes between October 1st and November 15th, 2024 ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · Subject to change without notice 5.4 Serial communication commands Some parameters in TF-NOVA can be customized by customers, such as data frame format, frame rate, etc., which can be changed by sending specific instructions. After successful configuration, all parameters will be saved in Flash and do not need to be reconfigured when powered on again. When configuring parameters, please follow specific formats and rules to avoid sending commends not introduced below. Byte Byte 0 Byte 1 Byte 2 Byte 3~Byte N-2 Byte N-1 Definitio n Head Length ID Payload Check sum Description Fixed 0x5A The length of bytes from the head byte to check- sum Indicates how to parse the payload data Data segment, parsed based on ID, Little Endian Opt: Non 1 read/ 1. Write in The lower 8 bytes of the sum from Head to Payload 5.4.1 Version information ID_GET_VERSION=0x01 Downward: Byte 0 1 2 Len-1 Description Head(0x5A) Len ID Check_sum Upward: Byte 0 1 2 3-5 Len-1 Description Head(0x5A) Len ID Version Check_sum Version: For instance, if the third, fourth, and fifth bytes are 112, 50, 9, then the version is 9.50.112. Sample: Command [5A 04 01 5F] 9 This user manual is only applicable to TF-NOVA prototypes between October 1st and November 15th, 2024 ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · Subject to change without notice 5.4.2 System software restore ID_SOFT_RESET=0x02 Downward: Byte 0 1 2 Len-1 Description Head(0x5A) Len ID Check_sum Upward: Byte 0 1 2 3 Len-1 Description Head(0x5A) Len ID Status Check_sum Status: 0 (success), otherwise (fail) Note: Any change without "save current setting" instruction will not be saved and will restore to original setting. Sample: Command [5A 04 02 60] 5.4.3 Output frequency ID_SAMPLE_FREQ=0x03 Downward: Byte 0 1 2 3~4 Description Head(0x5A) Len ID FPS Default 100 Freq: The actual operating frequency achieved by the LiDAR. Upward: Byte 0 1 2 3~4 Description Head(0x5A) Len ID FPS Freq: The actual operating frequency achieved by the LiDAR. Sample: 10Hz [5A 06 03 0A 00 6D] Len-1 Check_sum Len-1 Check_sum 5.4.4 Output format setting ID_OUTPUT_FORMAT=0x05 Downward: Byte 0 1 2 3 Len-1 Description Head(0x5A) Len ID Format Check_sum Default 0x01 Format: 0x01(9byte cm),0x06(9byte mm) Upward: Byte 0 1 2 3 Len-1 Description Head(0x5A) Len ID Format Check_sum 10 This user manual is only applicable to TF-NOVA prototypes between October 1st and November 15th, 2024 ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · Subject to change without notice Format: current output format setting Sample: 9byt mm [5A 05 05 06 6A] 5.4.5 Baud rate setting ID_BAUD_RATE=0x06 Downward: Byte 0 1 2 3~6 Len-1 Description Head(0x5A) Len ID Baudrate Check_sum Default 115200 Baudrate: current baud rate. Note: Configurable baud rate range [9600921600], effective after saving. Upward: Byte 0 12 3~6 7 Len-1 Description Head(0x5A) Len ID Baudrate Status Check_sum 0: success !0: fail Sample: 9600 [5A 08 06 80 25 00 00 0D] 19200 [5A 08 06 00 4B 00 00 B3] 38400 [5A 08 06 00 96 00 00 FE] 57600 [5A 08 06 00 E1 00 00 49] 115200 [5A 08 06 00 C2 01 00 2B] 230400 [5A 08 06 00 84 03 00 EF] 460800 [5A 08 06 00 08 07 00 77] 921600 [5A 08 06 00 10 0E 00 86] 5.4.6 Enable/disable output ID_OUTPUT_EN=0x07 Downward: Byte 0 1 2 3 Len-1 Description Head(0x5A) Len ID Enable Check_sum Default 1 Enable: 0 (disable),1 (enable). Upward: Byte 0 1 2 3 Len-1 Description Head(0x5A) Len ID Enable Check_sum Sample: 11 This user manual is only applicable to TF-NOVA prototypes between October 1st and November 15th, 2024 ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · Subject to change without notice Enable output [5A 05 07 01 67] Disable output [5A 05 07 00 66] 5.4.7 Enable/disable checksum compariso ID_FRAME_CHECKSUM_EN=0x08 Downward: Byte 0 1 2 3 Len-1 Description Head(0x5A) Len ID Enable Check_sum Default 0 Enable: 0 (disable), 1 (enable) Note: Even if the Downward data checksum comparison is disabled, the valid checksum is still included in the upward data frame. Upward: Byte 0 1 2 3 Len-1 Description Head(0x5A) Len ID Enable Check_sum Sample: Enable checksum comparison [5A 05 08 01 68] Disable checksum comparison [5A 05 08 00 67] 5.4.8 Communication interface settings ID_IF_PROTOCOL=0x0A Downward: Byte 0 1 Description Head(0x5A) Len Default Opt: !1:read, 1:write If_protocol: !1:UART, 1:I²C Upward: Byte 0 1 Description Head(0x5A) Len Sample: 2 3 ID Opt 2 3 ID Status 0: success !0:fail 4 If_protocol !1 4 If_protocol Len-1 Check_sum Len-1 Check_sum 12 This user manual is only applicable to TF-NOVA prototypes between October 1st and November 15th, 2024 ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · Subject to change without notice Set to I²C [5A 06 0A 01 01 6C] Note: Effective after saving 5.4.9 I²C slave machine address configuration ID_I² C_SLAVE_ADDR=0x0B Downward: Byte Description 0 1 2 3 Head(0x5A) Len ID Opt Default Opt: !1: read, 1:write I²C_slave_addr: range[0x08, 0x77] Upward: Byte 0 12 Description Head(0x5A) Len ID Sample: Set to 0x20 [5A 05 0B 01 20 8B] 3 Status 0:success !0:fail 4 I²C_slave_addr 0x10 4 I²C_slave_addr Len-1 Check_sum Len-1 Check_sum 5.4.10 Restore default setting ID_RESTORE_DEFAULT=0x10 Downward: Byte 0 Description Head(0x5A) Upward: Byte 0 1 Description Head(0x5A) Len Status: 0(success), Non 0(fail). Sample: Command [5A 04 10 6E] 12 Len ID Len-1 Check_sum 2 3 ID Status Len-1 Check_sum 13 This user manual is only applicable to TF-NOVA prototypes between October 1st and November 15th, 2024 ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · Subject to change without notice 5.4.11 Save current setting ID_SAVE_SETTINGS=0x11 Downward: Byte 0 Description Head(0x5A) Upward: Byte 0 1 Description Head(0x5A) Len Status: 0 (success), Non 0 (fail). Sample: Command [5A 04 11 6F] 12 Len ID Len-1 Check_sum 2 3 Len-1 ID Status Check_sum 5.4.12 Distance limit setting rangeID_DIST_RANGE=0x3A Downward: Byte 0 12 3 4-5 6-7 Len-1 Description Head(0x5A) Len ID Opt Min_dist Max_dist Check_sum Default 0 65535 Opt: !1:read, 1:write Min_dist: minimum distance output in mm Max_dist: maximum distance output in mm Upward: Byte 0 12 3 4-5 6-7 Len-1 Description Head(0x5A) Len ID Status Dist_min Dist_max Check_sum Status: 0 (success), Non 0 (fail). Sample: Output limit when out of range with the minimum set to be 200mm and the maximum set to be 5000mm [5A 09 3A 01 C8 00 88 13 01] 5.4.13 Enable/disable on-off mode ID_ON_OFF_MODE=0x3B Downward: Byte 0 123 44 5-6 7-8 9-10 Description Head(0x5A) Len ID Opt Mode Dist Zone Delay1 Default 0 0 0 0 Opt:!1:read, 1:write 11-12 Delay2 0 Len-1 Check_sum 14 This user manual is only applicable to TF-NOVA prototypes between October 1st and November 15th, 2024 ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · Subject to change without notice Mode: 0 (Normal output), 1 (On-off mode with high level output when closer) , 2 (On-off mode with low level output when closer) Dist: critical dist value (the closer one) in centimeters. Zone: Zone size in centimeters Delay1: Delay time 1 in millisecond. Pin 6 switch level only if the distance detected is less than Dist and the situation last for Delay1 long. Delay2: Delay time 2 in millisecond. Pin 6 switch level only if the distance detected is more than Dist + Zone and the situation last for Delay2 long. Upward: Byte 0 1 2 3 44 5-6 7-8 9-10 11-12 Len-1 Description Head(0x5A) Len ID Status Mode Dist Zone Delay1 Delay2 Check_sum Sample: Enable on-off mode with high level output when closer, and set Dist = 200cm, Zone=10cm, Delay1 = Delay2 = 1000ms: [5A 0E 3B 01 01 C8 00 0A 00 E8 03 E8 03 4D] CAUTION Do not send the command that is not in the list above. 15 This user manual is only applicable to TF-NOVA prototypes between October 1st and November 15th, 2024 ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · Subject to change without notice Appendix I²C REGISTER TABLE Addres R/ s W Name 0x00 0x01 0x02 0x03 0x04 0x05 0x06 0x07 0x08 0x09 0x0A 0x0B 0x0C 0x0D 0x0E 0x0F 0x100x1D R DIST_LOW R DIST_HIGH R PEAK_LOW R PEAK _HIGH R TEMP_LOW R TEMP_HIGH R TICK_LOW R TICK_HIGH R ERROR_LOW R ERROR_HIGH R VERSION_REVISION R VERSION_MINOR R VERSION_MAJOR W/ IIC_SLAVE_IO_SPEED R W/ FITLER_DIST_LOW R W/ FILTER_DIST_HIGH R R SN 0x1E W/ IF_PROTOCOL R 0x20 W SAVE 0x21 0x22 W SHUTDOWN/REBOOT W/ SLAVE_ADDR R Initial Valu e -------------0x00 -- Description cm Unit: 0.01 Celsius Timestamp Error code 0(2MHz),1(10MHz),2(50MH z) distance filter threshold -- -- 0x00 --0x10 Production code in 14 bytes ASCI code (0x10 is the first byte) 0x00: UART 0x01: IIC Save and restart to take effect Write 0x01 to save current setting Write 0x02 to reboot range: [0x08, 0x77] 16 This user manual is only applicable to TF-NOVA prototypes between October 1st and November 15th, 2024 ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · Subject to change without notice 0x25 0x26 0x27 0x29 0x2A 0x2B 0x2C 0x2D 0x2E 0x2F 0x30 0x31 0x32 W/ ENABLE 0x01 0x00: Turn off LiDAR R 0x01: Turn on LiDAR W/ FPS_LOW 0x64 Frame rate R W/ FPS_HIGH 0x00 R W RESTORE_FACTORY_DEFAULT -- Write 0x01 to restore S factory default settings W/ PEAK_THR_LOW -- PEAK threshold R W/ PEAK_THR_HIGH -- R W/ PEAK_THR_FILTER_LOW -- PEAK threshold filtering R W/ PEAK_THR_FILTER_HIGH -- R W/ MIN_DIST_LOW 0x00 Minimum dist in mm, but R not working on DUMMY_DIST W/ MIN_DIST_HIGH 0x00 R W/ MAX_DIST_LOW 0xFF Maximum dist in mm, but R not working on DUMMY_DIST W/ MAX_DIST_HIGH 0xFF R W/ ON_OFF_MODE_DIST_LOW 0x00 ON_OFF mode related R registers, please refer to: ON_OFF mode. Note that the distance unit in the IIC register is mm. 0x33 W/ ON_OFF_MODE_DIST_HIGH R 0x00 Note: Minimum firmware version V1.3.19 17 This user manual is only applicable to TF-NOVA prototypes between October 1st and November 15th, 2024 ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · Subject to change without notice 0x34 W/ ON_OFF_MODE_ZONE_LOW 0x00 R 0x35 W/ ON_OFF_MODE_ZONE_HIGH 0x00 R 0x36 W/ ON_OFF_MODE_DELAY1_LOW 0x00 R 0x37 W/ ON_OFF_MODE_DELAY1_HIG 0x00 RH 0x38 W/ ON_OFF_MODE_DELAY2_LO 0x00 RW 0x39 W/ ON_OFF_MODE_DELAY2_HIG 0x00 RH 0x3A W/ ON_OFF_MODE_EN 0x00 R 0x3C- R SIGNATURE -- `S' 'P' `A' `D' 0x3F 18 This user manual is only applicable to TF-NOVA prototypes between October 1st and November 15th, 2024 ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · Subject to change without notice