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Benewake TF-Luna Instruction Manual

Lidar module
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LiDAR Module
TF-Luna

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Summary of Contents for Benewake TF-Luna

  • Page 1 TF-Luna Instruction Manual LiDAR Module TF-Luna...
  • Page 2 Address: No.28, Xinxi Road, Haidian District, Beijing, PRC Copyright This document is protected by copyright. All rights related to it belong to Benewake (Beijing) Co. Ltd. Reproduction of all or part of this document is permitted only within the scope of copyright law. No modification, deletion, or translation of this document is permitted without the official written permission of Benewake (Beijing) Co.
  • Page 3 Benewake (Beijing) Co. Ltd. Foreword Dear users, Thanks you for choosing Benewake products, and it’s our pleasure to help you with any technical question. To have a better experience, please read this manual carefully. We try to contain all common problems and hope you find the deployment and installation easy and fun.
  • Page 4 SJ-PM-TF-Luna A03 Benewake (Beijing) Co. Ltd. Catalog Revisions ..........................7 Cautions ............................ 7 1.1 About document ........................ 7 1.2 About product ........................7 1.3 Common errors and other notes ..................7 Principle description and key parameters ................... 8 2.1 Ranging Principle......................8 2.2 Basic Characteristic Parameters ..................
  • Page 5 SJ-PM-TF-Luna A03 Benewake (Beijing) Co. Ltd. Quick Test Guide........................17 6.1 Required tools for testing ....................17 6.2 Steps: ..........................17 Firmware upgrade ........................19 Appendix I Serial port output format ..................19 9-byte/cm (Default) ......................19 PIX ..........................19 9-byte/mm........................
  • Page 6 SJ-PM-TF-Luna A03 Benewake (Beijing) Co. Ltd. 15. Timestamp synchronization ID_TIMESTAMP_SYNC =0x31 ......... 25 16. Enable/disable Power saving mode (ECO) ID_LOW_CONSUMPTION=0x35 ....26 17. Distance limit setting ID_DIST_LIMIT=0x3A ..............26 18. Enable/disable on-off mode ID_ON_OFF_MODE=0x3B ..........26 19. Enable/disable low sample rate mode ID_LOW_SAMPLE_RATE=0x3E ....... 27 20.

  • Page 7: About Document

    SJ-PM-TF-Luna A03 Benewake (Beijing) Co. Ltd. 0 Revisions Version No. History Date Original 2020.1.15 1. Old serial port formats are removed. 2020.3.15 2. Module size and related pictures are updated. 3. More description of function. 4. I2C interface is now available.
  • Page 8 2 Principle description and key parameters 2.1 Ranging Principle TF-Luna is using Time of Flight (TOF) principle to measure distance, and it periodically emits near infrared modulated waves. TF-Luna calculates the time by measuring the phase difference between the original wave and the reflection wave and uses that time to get relative distance, as shown in Figure 1.
  • Page 9 TF-Luna minimize the impact of external environment on ranging performance by optimizing light path and algorithm. TF-Luna’s ranging dead zone is 20 cm or closer. Any distance output less than 20 cm is unreliable. The operating range of black and white targets are different: The operating range of TF-Luna detecting black target with 10% reflectivity is 0.2-2.5m;...

  • Page 10: Appearance And Structure

    Please try to avoid this situation for better accuracy and performance. Figure 2 Detecting two objects at different location 3 Appearance and Structure 3.1 Appearance Figure 3 TF-Luna appearance and size drawing 4 Electrical Characteristics Page10...
  • Page 11 SJ-PM-TF-Luna A03 Benewake (Beijing) Co. Ltd. Table 5: Major Electrical Parameters of TF-Luna Description Value range Power supply voltage 3.7V-5.2V Average current ≤70mA Peak current 150mA Power consumption ≤350mW Communication signal level LVTTL (3.3V) This product has no overvoltage nor polarity protection, so please make sure that the product is well connected, and the power supply voltage is inside the given range.
  • Page 12 5.3 I2C communication When pin 5 is connected to ground, TF-Luna enters I2C mode, then its pin 2 is use as SDA data and pin 3 is the SCL clock sending data. TF-Luna support up to 400kps clock speed as slave machine and its default address is 0x10.
  • Page 13 SJ-PM-TF-Luna A03 Benewake (Beijing) Co. Ltd. Start Slave Addr W Ack Register Addr Stop Start Slave Addr Data1 Ack … DataN Nack Stop Note that only in the read register timing: the first Stop signal is fine to be omitted, and an Ack signal is also working while replacing the last Nack signal.

  • Page 14: Trigger Mode

    The highest output frequency that TF-Luna supports is 250Hz (output_frequency ≤ 250Hz), and it must be 500/n Hz (n is an integer that in the range [2, 500]). Thus, all supported values of output frequency are: 250Hz, 166Hz, 125Hz, 100Hz, …, 2Hz, 1Hz.
  • Page 15 Dist + Zone to avoid false output. 5.8 Amp threshold The distance calculation may get false result if the Amp value is too low, so TF-Luna set the Dist value to dummy_dist(Default 0) when Amp is lower than amp_threshold (Default 100). If user need to change...
  • Page 16 TF-Luna’s power consumption on Continuous ranging mode is about 350mW as the light source switch to highest current level and duty cycle. When TF-Luna is on power saving mode, it dynamically adjusts the current of the light source by switching several preset current levels according to the strength (amp) of the receiving signal. Therefore, TF-Luna can get a stable amp value and save power consumption at the same time.

  • Page 17: Additional Notes

    ‘.exe’ file as virus. Also, released versions are only running on Windows systems currently. ② Connecting Hardware and cables Figure 7 Schematic Diagram of Correct Connection Please connect TF-Luna, TTL - USB converter, and USB cable properly as shown in 5. Please check Page17...
  • Page 18 TF-Luna output in millimeter. For instance, suppose the actual measurement is one meter and the distance value from TF-Luna is 1000 mm, then the value read by the PC software is 1000. Thus, the Page18...

  • Page 19: Firmware Upgrade

    TF-Luna with PC. Open the Updater.exe after connecting TF-Luna to your PC, and then select the correct port and baud rate, “①COM8” and “② 115200” in this case. Click “④ Open Bin” to choose the updating firmware, then the file directory will be displayed in the textbox above.

  • Page 20: Appendix Ii Serial Communication Protocol

    SJ-PM-TF-Luna A03 Benewake (Beijing) Co. Ltd. “X.YZ\r\n” is a sample ASCII string and only keep two significant digits in meter where “X.YZ” is the result. 3. 9-byte/mm This format is supported for any firmware after Ver. 0.0.5 byte Description 0x59...
  • Page 21 SJ-PM-TF-Luna A03 Benewake (Beijing) Co. Ltd. byte Len-1 Description Head(0x5A) Check_sum Upward: byte Len-1 Descri Head(0x5A) *Version Check_sum ption *Version: For instance, if the third, fourth, and fifth bytes are 112, 50, 9, then the version is 9.50.112 Sample instruction: [5A 04 01 00] 2.
  • Page 22 Upward byte Len-1 Description Head(0x5A) Format Check_sum Format: TF-Luna’s current output format setting Example: [5A 05 05 02 00] means PIX 6. Baud rate setting ID_BAUD_RATE=0x06 This format is supported for any firmware after Ver. 0.0.5 Downward byte Len-1 Description...
  • Page 23 SJ-PM-TF-Luna A03 Benewake (Beijing) Co. Ltd. 57600 [5A 08 06 00 E1 00 00 00] 115200 [5A 08 06 00 C2 01 00 00] 230400 [5A 08 06 00 84 03 00 00] 460800 [5A 08 06 00 08 07 00 00] 921600 [5A 08 06 00 10 0E 00 00] 7.
  • Page 24 SJ-PM-TF-Luna A03 Benewake (Beijing) Co. Ltd. Description Head(0x5A) I2c_slave_addr Check_sum Default 0x10 [0x08, 0x77] I2c_slave_addr: range Upward byte Len-1 Description Head(0x5A) I2c_slave_addr Check_sum Example: Change to 0x20 [5A 05 0B 20 00] 10. Restore default setting ID_RESTORE_DEFAULT=0x10 This format is supported for any firmware after Ver. 0.0.5...
  • Page 25 SJ-PM-TF-Luna A03 Benewake (Beijing) Co. Ltd. Bin: 14 byte product bar code Example: Send [5A 04 12 00] Receive: U0900018010001, then the code is from the third byte to the sixteenth: 0x55 0x30 0x39 0x30 0x30 0x30 0x31 0x38 0x30 0x31 0x30 0x30 0x30 0x31 13.
  • Page 26 SJ-PM-TF-Luna A03 Benewake (Beijing) Co. Ltd. Std: The current std timestamp specified Example: To set timestamp to 1000ms [5A 08 31 E8 03 00 00 00] 16. Enable/disable Power saving mode (ECO) ID_LOW_CONSUMPTION=0x35 This format is supported for any firmware after Ver. 0.0.5...
  • Page 27 SJ-PM-TF-Luna A03 Benewake (Beijing) Co. Ltd. Descript Head(0x5A) Mode Dist Zone Delay1 Delay2 Check_sum Default 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.

  • Page 28: Appendix Iii I2C Register Table

    SJ-PM-TF-Luna A03 Benewake (Beijing) Co. Ltd. 10 Appendix III I2C register table Address R/W Name Initial Description Value 0x00 DIST_LOW 0x01 DIST_HIGH 0x02 AMP_LOW 0x03 AMP_HIGH 0x04 TEMP_LOW Unit: 0.01 Celsius 0x05 TEMP_HIGH 0x06 TICK_LOW Timestamp 0x07 TICK_HIGH 0x08 ERROR_LOW...
  • Page 29 SJ-PM-TF-Luna A03 Benewake (Beijing) Co. Ltd. 0x23 MODE 0x00 0x00: Continuous ranging mode 0x01: Trigger mode 0x24 TRIG_ONE_SHOT 0x01: Trigger once (only on trigger mode) 0x25 ENABLE 0x00 0x00: Turn on LiDAR 0x01: Turn off LiDAR 0x26 FPS_LOW 0x64 0x27...

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