Benewake TF03 Product Manual
Single-point long-distance lidar
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- User manual (31 pages) ,
- Product manual (25 pages) ,
- User manual (29 pages)
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Summary of Contents for Benewake TF03
- Page 1 TF03 Product Manual V1.0 Benewake(Beijing)Co., Ltd. TF03 Single-Point Long-Distance LiDAR Page1...
- Page 2 Address: NO.28 Xinxi Road, Haidian District, Beijing, PRC Copyright The Copyright of this document is protected. All the rights involved herein belong to Benewake (Beijing) Co., Ltd. Any copy activity of this document, no matter in whole or in part, should be in conformity of the Copyright Law.
- Page 3 Benewake(Beijing)Co., Ltd. Forward Dear users: Thanks for choosing Benewake products, and it’s our pleasure to help you to solve any technical question. For the purpose of offering a better operation experience to you, we hereby write this manual for an easier and simpler operation of our product, hoping to better solve the common problems you maybe meet.
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Page 4: Table Of Contents
TF03 Product Manual V1.0 Benewake(Beijing)Co., Ltd. Content 1 ATTENTIONS ............................6 ........................6 1.1 A BOUT THIS OCUMENT ..........................6 1.2 U SAGE OF RODUCT ................. 6 1.3 C ONDITIONS WITH OTENTIAL RODUCT AILURE 2 PHYSICAL INTERFACE ........................7 ..............7 2.1 D... - Page 5 OOLS OF RODUCT ..........................18 5.2 T EST PROCEDURES 6 TF03 SOFTWARE SETUP ........................20 7 FAILURE REASONS AND TROUBLESHOOTING ................. 21 8 FREQUENTLY ASKED QUESTIONS ....................22 ATTACHMENT 1: INSTRUCTION OF TF SERIES PC DISPLAY SOFTWARE ......... 23 Page5...
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Page 6: Attentions
TF03 Product Manual V1.0 Benewake(Beijing)Co., Ltd. Attentions About this Document This Manual provides information necessary for the use of this product. Please read this Manual carefully before using this product and make sure that you have fully understood its contents. -
Page 7: Physical Interface
TF03 Product Manual V1.0 Benewake(Beijing)Co., Ltd. Physical Interface Description about the line sequence and connection Wiring terminal model: MH1.25-7P。 Figure 1 TF03 Line Sequence Table 1 TF03 Pin functions and connection instructions Color Function Voltage Input White CAN_L CAN bus low... -
Page 8: Installation Instructions
The LiDAR mounting holes are applicable to M3 screws. Note that the length of the screw entering the enclosure shall be no more than 3.5mm. Figure 2 TF03 dimensions (Left 1: top view; Left 2: vertical view; Left 3: front view) Detection angle descriptions TF03 has a 0.5-degree detection angle and rectangular light spots;... - Page 9 Note: The side length of common objects detected should be greater than that of the detection range of TF03; When the side length of the detected object is less than that of the detection range, the LiDAR effective range will be reduced...
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Page 10: Communication Protocol And Data Format
There are two type of communication version: serial port version and CAN bus communication version. Serial port version The serial port version of TF03 adopts an UART-LVTTL interface; refer to the specific communication in Table 4. The output level of the serial port is a LVTTL level (0-3.3V). -
Page 11: Can Bus Version
See Table 7 for TF03 data format of the CAN version; all data is hexadecimal numbers, each frame of data has a total of 8 bytes and the data contains the measured distance information, namely, DIST; other bytes are reserved. -
Page 12: Obtaining Version Number
TF03 Product Manual V1.0 Benewake(Beijing)Co., Ltd. Please change the configuration according to the real demands and never try uncorrelated command frequently thus unnecessary loss from wrong command; please configure the product according to the demands of the manual and never send unstated command. -
Page 13: Setting Operating Frequency
Freq_low Freq_high Check_sum Freq: Operating frequency actually achieved in the TF03 This command takes effect immediately and the configurations are not saved by default. The serial port baud rate supports 1Hz and Hz x 10/100/1000, such as 10 Hz, 20Hz…100Hz, 200Hz…1000Hz, 2000Hz…10000Hz.Up to 1000Hz is supported when the baud rate is 115200;... -
Page 14: Setting Serial Port Baud Rate
Head(0x5A) 0x05 Format Check_sum Format: Output format configured in the TF03. 0x01 (Standard data format output), 0x02 (Pixhawk data format output). This instruction takes effect immediately and configurations are not saved by default. 4.3.6 Setting serial port baud rate Send to TF03：... -
Page 15: Enabling Checksum Switch
TF03 Product Manual V1.0 Benewake(Beijing)Co., Ltd. Enable: 0（Output disabled） ，1（Output enabled） 。 This instruction takes effect immediately and configurations are not saved by default. 4.3.8 Enabling checksum switch Send to TF03： Byte Len-1 Description Head(0x5A) 0x08 Enable Check_sum Enable: 0（Checksum disabled, Check_sum may be any value） ，1（Checksum enabled） 。... -
Page 16: Configuring Over Range Threshold Value
TF03 Product Manual V1.0 Benewake(Beijing)Co., Ltd. Byte Len-1 Description Head(0x5A) 0x11 Status Check_sum Status: 0（Successful）; non-0（Failed）. Interpretation: 1) After this instruction has been executed, all configuration information is still effective upon reboot. The power cannot be cut off during the execution of this instruction, otherwise the configuration may be lost. -
Page 17: Configuring Can Receive Id
TF03 Product Manual V1.0 Benewake(Beijing)Co., Ltd. Description Head(0x5A) 0x50 Status Check_sum Status: 0（Successful）; non-0（Failed）. This instruction cannot take effect until it is executed and restarted with saved configurations 4.3.13 Configuring Can Receive ID Send to TF03： Byte Len-1 Descriptio Head... -
Page 18: Can Frame Type Configuration
This instruction cannot take effect until it is executed and restarted with saved configurations. Quick Test Procudures Required Tools of Product Test Note: the product package contains only TF03 products and factory certificate, and other accessories are collected by yourself. For TTL-USB boards, please contact sales or technical support. TF03... - Page 19 3）TF display software connection and reading Figure 6 The interface of TF display software As shown in Figure 7, open the TF display program, selectⅠ『Benewake TF03』 and select the serial port for automatic identification (here is Ⅱ『COM9』). Then, click『CONNECT』to connect to the TF display program.
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Page 20: Tf03 Software Setup
Interface of custom TF display software is shown in the figure above. 1) After TF03 is connected to the computer, select the correct port number and baud rate in Zone C manually and click the 『Connect』 button to realize communication between the TF display software and TF03. -
Page 21: Failure Reasons And Troubleshooting
TF03. When no reply is received for a long time, 『No Response』will be displayed on the right side of the instruction-sending buttons. Please note that in order to ensure that TF03 reply instructions can be obtained normally, lower the『frame rate』or set the『output mode』as 『instruction trigger』before configuration. -
Page 22: Frequently Asked Questions
Q1： Can TF03 support other voltage input? A1： At present, other voltage input are not supported. The standard voltage input for TF03 is 5V. If you have other needs, you can contact our sales staff for further inquiries about customization. -
Page 23: Attachment 1: Instruction Of Tf Series Pc Display Software
『Product Type』 ： Use the TTL-USB pin board to connect the corresponding LiDAR model at the computer terminal; if you use the product TF03 of our company, just select Benewake TF03. 『Serial Port』 ： Select to identify the corresponding LiDAR port number at the computer terminal. - Page 24 TF03 Product Manual V1.0 Benewake(Beijing)Co., Ltd. 『CLEAR』to clear the drawing curve in『Ⅳ』and restart drawing. 『Date Amount』 ： 5 by default, namely, once receiving 5 points, the PC will average the numerical values of the 5 frames and then output a frame. Modification is allowable as needed (You’d better set the numerical value larger or equal to 5 for preventing stagnation of the PC).
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