Benewake TF03 Product Manual
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Benewake TF03 Product Manual

Long-distance lidar rs485-rs232
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TF03 RS232-RS485 Product Manual V1.1
Benewake(Beijing)Co., Ltd
TF03 Long-Distance LiDAR
RS485-RS232
Product Manual
Page1

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Summary of Contents for Benewake TF03

  • Page 1 TF03 RS232-RS485 Product Manual V1.1 Benewake(Beijing)Co., Ltd TF03 Long-Distance LiDAR RS485-RS232 Product Manual Page1...
  • Page 2 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. The actives of modification, omission or translation of this document are not allowed unless a written permission from Benewake (Beijing) Co., Ltd.
  • Page 3 (support@benewake.com). We will do our best to solve any problem related to the product. If you have any other good advice or suggestions, welcome to visit our official website and offer us your feedback there (http://en.benewake.com/contact_us), and we are looking forwards to your...

  • Page 4: Table Of Contents

    TF03 RS232-RS485 Product Manual V1.1 Benewake(Beijing)Co., Ltd 目录 1 ATTENTIONS ............................6 1.1 A ..........................6 BOUT THIS OCUMENT 1.2 U ..........................6 SAGE OF RODUCT 1.3 C ................... 6 ONDITIONS WITH OTENTIAL RODUCT AILURE 2 PHYSICAL INTERFACE ..........................7 2.1 D...
  • Page 5 Benewake(Beijing)Co., Ltd 5.3.3 R ..................... 16 EFLECTIVITY OF OMMON ATERIALS 6 TF03 SOFTWARE SETUP ......................... 18 7 FAILURE REASONS AND TROUBLESHOOTING ..................19 8 FREQUENTLY ASKED QUESTIONS ......................20 ATTACHMENT 1: INSTRUCTION OF TF SERIES PC DISPLAY SOFTWARE ............21 Page5...

  • Page 6: Attentions

    TF03 RS232-RS485 Product Manual V1.1 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

    Benewake(Beijing)Co., Ltd Physical Interface Description about the line sequence and connection Wiring terminal model: MH1.25-7P, core wire: AWG30, diameter:0.254mm, cross-sectional area:0.05mm Figure 1 TF03 Line Sequence Table 1 TF03 Pin functions and connection instructions color Function Voltage Input White 485-B...

  • 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) Page8...

  • Page 9: Detection Angle Descriptions

    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...

  • Page 10: Communication Protocol And Data Format

    None 1）Standard data output format of Serial port（RS485、RS232） The output data (hexadecimal numbers) of TF03 is shown in table 5. Each data frame consists of 9 bytes and the data contains the measured distance information; namely, DIST; the frame tail acts as a data checksum bit; other bytes are reserved.

  • Page 11: Customer Parameter Configurations

    TF03 RS232-RS485 Product Manual V1.1 Benewake(Beijing)Co., Ltd Table 5 TF03 serial data format Data bit Definition Description Byte0 Frame header 0x59 Byte1 Frame header 0x59 Byte2 DIST_L DIST low 8-bits Byte3 DIST_H DIST high 8-bits Byte4 Reserved bit Byte5 Reserved bit...

  • Page 12: Commands

    TF03 RS232-RS485 Product Manual V1.1 Benewake(Beijing)Co., Ltd Check sum：the lower 8 bits of the Len-1 byte data. 4.2.2 Commands Default Function Command Response Remark setting the version number Obtaining V3.V2.V1 5A 04 01 5F 5A 07 01 V1 V2 V3 SU version number SU is check sum，the...

  • Page 13: Quick Test Procedures

    Note: the product package contains only TF03 products and factory certificate, and other accessories are collected by yourself. The version of TF03-RS485 connected to the computer needs to use 485-USB board, the version of TF03-RS232 connected to the computer need to use 232-USB board, please pay attention to different versions of the line sequence when connecting.

  • Page 14: Test Procedures

    『USB cable』with the『computer』. 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』). Page14...

  • Page 15: Test Example

    Note: the Dist(Echo) and Strength are unmeaning in here. 4）Another note If TF03 is required to output in Pixhawk mode, check Ⅲ『Pix Mode』 first and then the data images will be normally output in the Ⅳ 『TIME LINE CHART』 area. After the Pix Mode is checked, the distance unit will change to m.

  • Page 16: Reflectivity Of Common Materials

    5.3.3 Reflectivity of Common Materials The reflectivity of common materials is listed below, ranging from low to high. According to the test target and the corresponding reflectivity, we can measure whether the range of TF03 and other parameters meet the requirements.
  • Page 17 TF03 RS232-RS485 Product Manual V1.1 Benewake(Beijing)Co., Ltd newspapers translucent plastic bottles packing case cardboard Clean pine opaque white plastic white card Kodak standard whiteboard 100% Unpolished white metal surface 130% Shiny light metal surface 150% stainless steel 200% Reflective board, reflective >300%...

  • Page 18: 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 19: Failure Reasons And Troubleshooting

    Failure reasons and troubleshooting 1）Under normal operation, TF03 sometimes will output 18000(cm). Reasons： The actual distance measured is beyond the range of TF03, TF03 will output 18000. Troubleshooting： Use the value 18000 as a value representing abnormal data. In other words, after value 18000 is received, the TF03 output data is not used.

  • Page 20: Frequently Asked Questions

    Q3: Can TF03 work normally in rain, snow and fog? A3: TF03 has a firmware version of the algorithm that penetrates the rain and fog. Contact the sales or technical support personnel for firmware upgrade. The algorithm is turned on by default in V1.11.15.

  • Page 21: Attachment 1: Instruction Of Tf Series Pc Display Software

    Figure 8 Interface for TF series PC display software 『Product Type』 ： Use the 232/485-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.
  • Page 22 TF03 RS232-RS485 Product Manual V1.1 Benewake(Beijing)Co., Ltd 『Dist Echo』 ：Unmeaning. 『FREEZE/CLEAR』 ： Click 『FREEZE』 to pause the PC for analysis of the images in 『Ⅳ』 ; click『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.

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