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Summary of Contents for Benewake TF350
- Page 1 T350 Product Manual V1.0 Benewake(Beijing)Co., Ltd TF350 Long-Distance LiDAR UART-CAN 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...
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Page 4: Table Of Contents
4.3.1 T ................... 13 ENERAL ORMAT ESCRIPTION OF OMMANDS 4.3.2 C ............................14 OMMANDS 5 QUICK TEST PROCEDURES ........................16 5.1 R ......................16 EQUIRED OOLS OF RODUCT 5.2 T ........................... 17 EST PROCEDURES 6 TF350 SOFTWARE SETUP ........................19 Page4... - Page 5 T350 Product Manual V1.0 Benewake(Beijing)Co., Ltd 7 FAILURE REASONS AND TROUBLESHOOTING ..................20 8 FREQUENTLY ASKED QUESTIONS ......................21 ATTACHMENT 1: INSTRUCTION OF TF SERIES PC DISPLAY SOFTWARE ............22 Page5...
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Page 6: Attentions
T350 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
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 TF350 Line Sequence Table 1 TF350 Pin functions and connection instructions color Function Voltage Input White CAN_L... -
Page 8: Installation Instructions
T350 Product Manual V1.0 Benewake(Beijing)Co., Ltd Table 2 main electrical parameters Parameter Typical value Power supply voltage ≤180mA Average current ≤180mA Peak current ≤0.9W Average power Installation Instructions 3.1 Product Overview Figure 2 Exterior Product Structure The LiDAR mounting holes are applicable to M3 screws. Note that the length of the screw entering the enclosure shall be no more than 4mm. -
Page 9: Detection Angle Descriptions
Note: The side length of common objects detected should be greater than that of the detection range of TF350; 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
The two communication modes are selected one by one and cannot be output at the same time. 4.1 TTL serial port he serial port version of TF350 adopts UART-LVTTL interface, and the output level is LVTTL level (0-3.3V). The specific communication protocol is shown in Table 4. Page10... - Page 11 None 1）Standard data output format of Serial port（UART） The output data (hexadecimal numbers) of TF350 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 12 (default 0ms) is added. After the delay, the distance is still higher 10m, the output is low level. Example: a) Change TF350 to IO output with the following command: 5A 05 05 05 69 B) Set the distance less than the threshold to be a high level and the distance above the threshold to be a low level mode.
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Page 13: Can Bus
The output data (hexadecimal numbers) of TF350 CAN is shown in table 5. Each data frame consists of 8 bytes and the data contains the measured distance information; namely, DIST; other bytes are reserved. -
Page 14: Commands
T350 Product Manual V1.0 Benewake(Beijing)Co., Ltd command frequently thus unnecessary loss from wrong command; please configure the product according to the demands of the manual and never send unstated command. The Format of Command is: Byte byte0 byte1 byte2 byte3~ byteN-2... - Page 15 T350 Product Manual V1.0 Benewake(Beijing)Co., Ltd success：is same as baud rate = (H4 << Serial port baud 5A 08 06 H1 H2 H3 H4 command 24)+(H3 << 16)+(H2 << 115200 rate fail：there isn’t any 8)+H1 reaction over 1s enable：5A 05 08 01 success：is same as...
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Page 16: Quick Test Procedures
IO trigger level, output delay, distance threshold and buffer distance by command. Quick Test Procedures Required Tools of Product Test Note: the product package contains only TF350 products and factory certificate, and other accessories are collected by yourself. For TTL-USB boards, please contact sales or technical Page16... -
Page 17: Test Procedures
T350 Product Manual V1.0 Benewake(Beijing)Co., Ltd support. The serial port version TF350 needs to use a TTL-USB board when connecting to a computer. the following example represents the serial port version TF350 connected to the computer tools and methods. TF350... - Page 18 Note: the Dist(Echo) and Strength are unmeaning in here. 4）Another note If TF350 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.
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Page 19: Tf350 Software Setup
After clicking such buttons, the setup software will send instructions and wait for reply from TF350. 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 TF350 reply instructions can be obtained normally, lower the『frame... - Page 20 Failure reasons and troubleshooting 1）Under normal operation, TF350 sometimes will output 35000(cm). Reasons：The actual distance measured is beyond the range of TF350, TF350 will output 35000. Troubleshooting： Use the value 35000 as a value representing abnormal data. In other words, after value 35000 is received, the TF350 output data is not used.
- Page 21 Q4: Can TF350 work normally in rain, snow and fog? A4: TF350 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 22 Figure 11 Interface for 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 TF350 of our company, just select Benewake TF03. TF03 and TF350 have the same communication protocol.
- Page 23 T350 Product Manual V1.0 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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