Benewake TF-Luna Product Manual
Lidar module
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Also See for TF-Luna:
- Instruction manual (29 pages) ,
- Product manual (36 pages) ,
- User manual (30 pages)
Table of Contents
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Table of Contents
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Summary of Contents for Benewake TF-Luna
- Page 1 Product Manual of TF-Luna LiDAR Module TF-Luna...
- Page 2 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 Foreword Dear users, Thanks for choosing Benewake products, and it’s our pleasure to help you to solve any technical question. In 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
SJ-PM-TF-Luna A01 Benewake (Beijing) Co. Ltd. Table of Contents Attentions..........................6 1.1 About this document ......................6 1.2 Usage of Product ....................... 6 1.3 Conditions with Potential Malfunction ................6 Description..........................6 2.1 Principle of Distance Measurement ................... 6 2.2 Key Characteristic Parameters ................... 7 2.3 Repeatability ........................ - Page 5 SJ-PM-TF-Luna A01 Benewake (Beijing) Co. Ltd. Remote Upgrading ........................ 16 Malfunction: Causes and Troubleshooting ................16 10 Q&A ............................18 Attachment 1: Introduction of TF Series PC software ..............19 Page5...
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Page 6: Attentions
2 Description 2.1 Principle of Distance Measurement TF-Luna is based on TOF, namely, Time of Flight principle. To be specific, the product emits modulation wave of near infrared ray on a periodic basis, which will be reflected after contacting object. -
Page 7: Key Characteristic Parameters
100Hz. 2.3 Repeatability The TF-Luna's range repeat accuracy is directly related to the strength value measured and the output frame rate (frequency). The ranging repeat accuracy is characterized by the standard deviation of ranging. When the frame rate is 100 Hz, the standard deviation of ranging is as follows under the background of 90%... -
Page 8: Distance Measurement Characteristics
The operating range of TF-Luna detecting white target with 90% reflectivity, 0.2-8m。 The diameter of light spot depends on the FOV of TF-Luna (the term of FOV generally refers to the smaller value between the receiving angle and the transmitting angle), which is calculated as follows: d = 2 ∗... -
Page 9: Appearance And Structure
Figure 2: Distance Measurement in the case of Two Objects of Different Distances 3 Appearance and Structure 3.1 Product Structure Figure 3: Constructional Drawing of TF-Luna 4 Electrical Characteristics Table 4: Major Electrical Parameters of TF-Luna Parameter value Description Supply voltage 5V±0.1V Average current ≤70mA... -
Page 10: Line Sequence And Data Communication Protocol
None 5.3 Data Output Format of Serial port TF-Luna is available with two formats of data output, namely, the standard data output format and the character string data format, both of which are switchable with command. ⚫ Standard data output format (default): Data structure: each data frame contains 9 bytes, including the distance value, signal strength, temperature of chip and data check byte (Checksum), etc. -
Page 11: Descriptions Of Default Output Data
5.4 Descriptions of default Output Data Dist(Distance): Represents the output of the distance value detected by TF-Luna, with the unit in cm by default. This value is interpreted into the decimal value in the range of 0-1200. When the signal strength is lower than 100, the detection is unreliable, TF-Luna will set distance value to -1. -
Page 12: Quick Test
② Connection of the hardware Figure 4 Schematic Diagram of Correct Connection Connect “TF-Luna”, “TTL - USB board” and “USB cable” as shown in Figure 4. Make sure there is no loose connection. Then connect “USB cable” with “PC”. ③ Connection to the Test software and data output Open the PC software and select “①TF-Luna”... - Page 13 When TF-Luna is successfully powered on, there will be a red indicator light inside transmitting lens viewing from the front. If the user want the TF-Luna output in the Pixhawk format, please select “③Pix Mode” at first, otherwise area “④TIME LINE CHART” will not output the right data image normally. After Pix Mode is checked, the unit of distance will be changed into m automatically.
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Page 14: Descriptions On User-Defined Parameter Configuration
7.4 General Parameter Configuration and Description Before setting the relevant parameters of TF-Luna, user needs to establish the connection between TF-Luna and PC at first. About the connection details, refer to the test connection given in Chapter 6.2. User can... - Page 15 SJ-PM-TF-Luna A01 Benewake (Beijing) Co. Ltd. port debugging software. All commands are compatible with both the UART mode and the I C mode. Important: After setting parameters, the ‘Save setting’ command needs to be sent. Table 9: General Parameter Configuration and Description...
- Page 16 Upon successful connection, open the Updater.exe. Select right port, here is “①COM8”. Input the right baud rate in “② 115200” and click “③ CONNECT” to connect the TF-Luna with the Updater. Click “④ Open Bin” to choose the updating firmware, whose directory will be showed in the textbox above.
- Page 17 TF-Luna. For a reliable and stable measurement data, the algorithm elimination is internally used for TF-Luna. In case of the insufficient signal strength, TF-Luna will output -1. This value is not measurement data of TF-Luna, which is only used to remind the user that such data is unreliable.
- Page 18 Q1: Is TF-Luna available with 3.3V or other power supply voltage? A1: Sorry, it is not available for the time being. The Standard power supply of TF-Luna is 5V±0.1V. If you have any further requirement, please contact our sales person to consult a customization design matter.
- Page 19 Product Type/Serial Port Control Zone [SETTINGS] Product Type: connect the LiDAR via TTL-USB board to the PC. As shown in the figure, select ‘TF-Luna’. Serial port (COM): select the right serial port number corresponding to the LiDAR. Baud rate is set to 115200 as default.
- Page 20 Dist(Echo): parameter of TF03. With TF-Luna, the default value is 0. Effective Points (per sec): indicates effective points refreshed by TF per second (equals to frame rate). Strength (Signal strength): in pix mode, TF-Luna will not output strength value, so the Strength is 0 by default.
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