Benewake TF03 UART/CAN Product Manual
Long-distance lidar rs485/rs232
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- User manual (31 pages) ,
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- User manual (15 pages)
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Summary of Contents for Benewake TF03 UART/CAN
- Page 1 TF03 RS485/RS232 Product Manual V1.3.2 Benewake(Beijing)Co., Ltd TF03 Long-Distance LiDAR Rs485/RS232 Product Manual V1.3.2 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 Foreword 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 RS485/RS232 Product Manual V1.3.2 Benewake(Beijing)Co., Ltd Catalog 1 ATTENTIONS ............................6 1.1 A ..........................6 BOUT THIS OCUMENT 1.2 I ........................ 6 NSTALLATION AND MAINTENANCE 1.3 C .................... 6 ONDITIONS WITH OTENTIAL RODUCT AILURE 2 INTRODUCTION ............................7 2.1 A .......................... - Page 5 TF03 RS485/RS232 Product Manual V1.3.2 Benewake(Beijing)Co., Ltd 6.3 R ........................ 16 EGISTER ADDRESS DESCRIPTION 6.4 I ......................... 17 NSTRUCTION PROTOCOLS 7 QUICK TEST PROCEDURE ........................18 7.1 R ......................18 EQUIRED OOLS OF RODUCT 7.2 T ............................. 18 EST PROCEDURE 7.3 T...
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Page 6: Attentions
TF03 RS485/RS232 Product Manual V1.3.2 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: Introduction
TF03 RS485/RS232 Product Manual V1.3.2 Benewake(Beijing)Co., Ltd Introduction 2.1 Appearance Overview Figure 1 Appearance 2.2 Dimensions The LiDAR mounting holes are applicable to M3 screws. Figure 2 Dimension (Left 1: top; Left 2: bottom; Left 3: front; Unit: mm) Note: The length of the screw entering the enclosure shall be no more than 3.5mm. -
Page 8: Detection Angle Descriptions
TF03 RS485/RS232 Product Manual V1.3.2 Benewake(Beijing)Co., Ltd light, which enters the receiving system after being reflected by the measured target and is focused on the APD detector by the receiving lens. The time between the transmitted signal and the received signal is calculated through the circuit amplification and filtering, and the distance between TF03 and the measured target can be calculated through the speed of light. -
Page 9: Physical Interface
TF03 RS485/RS232 Product Manual V1.3.2 Benewake(Beijing)Co., Ltd Table 1 Spot simulated diagrams and sizes at different distances Spot 20m away Size：20cm*6cm Spot 50m away Size：50cm*14cm Spot 100m away Size：100cm*28cm Spot 150m away Size：150cm*42cm Note: In these pictures, color represents the light intensity distribution, the red is the strongest, the green is weak, the blue is the background. -
Page 10: Electrical Characteristics
TF03 RS485/RS232 Product Manual V1.3.2 Benewake(Beijing)Co., Ltd 0.404mm, cross-sectional area is 0.129mm Figure 5 New Line Sequence of TF03 Table 2 Pin functions and connection instructions of TF03 Color Function Power supply White RS485-B/RS232-RX RS485-B/RS232 receive Green RS485-A/RS232-TX RS485-A/RS232 transport... -
Page 11: Hardware And Communication Protocol
TF03 RS485/RS232 Product Manual V1.3.2 Benewake(Beijing)Co., Ltd ≤1W Average power consumption Overvoltage protection 300V Polarity protection 200V Hardware and communication protocol The industrial version of TF03 supports two communication interfaces, RS485 and RS232. The default interface is RS485. These two interfaces cannot work simultaneously. The communication interface can be switched by command. - Page 12 TF03 RS485/RS232 Product Manual V1.3.2 Benewake(Beijing)Co., Ltd Table 5. Each data frame consists of 9 bytes and the data contains the distance and signal strength information. New version of TF03 adds strength information. Strength value is between 0 and 3500, threshold of strength is 40, when strength is lower than 40, dist will output maximum value.
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Page 13: Custom Configuration
TF03 RS485/RS232 Product Manual V1.3.2 Benewake(Beijing)Co., Ltd Table 5 TF03 UART 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 Strength_L Signal strength low 8-bits... -
Page 14: Instruction Protocols
TF03 RS485/RS232 Product Manual V1.3.2 Benewake(Beijing)Co., Ltd 5.2 Instruction protocols Table 7 List of TF03 instruction protocols Default Function Command Response Remark setting The version number Obtain firmware V3.V2.V1 5A 04 01 5F 5A 07 01 V1 V2 V3 SU... - Page 15 TF03 RS485/RS232 Product Manual V1.3.2 Benewake(Beijing)Co., Ltd Fail: no response over 1s Enable: 5A 05 08 01 68 Succeed: same as Enable command Enable Disable: 5A 05 08 00 checksum Fail: no response over 1s Succeed: 5A 05 10 00 6F...
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Page 16: Instructions Of Command Editing
TF03 RS485/RS232 Product Manual V1.3.2 Benewake(Beijing)Co., Ltd Succeed: 5A 05 6F 00 CE Enable Modbus 5A 05 6F 00 CE Restart to take effect Disable Fail: no response over 1s AD: Modbus Succeed: 5A 05 70 00 CF Set Modbus... -
Page 17: Function Code
TF03 RS485/RS232 Product Manual V1.3.2 Benewake(Beijing)Co., Ltd Address field Function code Data length Dist_high Dist_low CRC_low CRC_high 6.2 Function code The functions supported by the Modbus protocol are relatively simple, only two function codes are open Table 9 Function code of TF03's Modbus... -
Page 18: Instruction Protocols
TF03 RS485/RS232 Product Manual V1.3.2 Benewake(Beijing)Co., Ltd 00 85 Slave ID Set TF03’s ID. Restart to take effect 00 86 Restart to take effect 0x00: Continuously detection mode 00 87 Working mode 0x01: triggering mode 00 89 Restore default Write any value to take effect 6.4 Instruction protocols... -
Page 19: Quick Test Procedure
TF03 RS485/RS232 Product Manual V1.3.2 Benewake(Beijing)Co., Ltd For example, set baud rate to 9600 (0x00002580) 01 06 00 83 BH1 01 06 00 83 BH1 BH2 CL CH BH2 CL CH BH1=00 BH2=00 CL=78 Set Baud rate CH=22 01 06 00 84 BL1... - Page 20 TF03 RS485/RS232 Product Manual V1.3.2 Benewake(Beijing)Co., Ltd Please download the TF display application from http://en.benewake.com/supportNote: Please close the antivirus software before unpacking the TF display application, otherwise the files will be deleted as viruses. The TF display application currently only supports running on the Windows system.
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Page 21: Test Example
TF03 RS485/RS232 Product Manual V1.3.2 Benewake(Beijing)Co., Ltd ➢ Select product model『TF03』 in area A ➢ Select serial port number in area B. ➢ Click『CONNECT』to establish the communication. ➢ After connected Successfully, continuous data curve will be shown in the area C 『TIME LINE CHART』... -
Page 22: Configuration Software Of Tf03
TF03 RS485/RS232 Product Manual V1.3.2 Benewake(Beijing)Co., Ltd Figure 9 Error curves of TF03 at different distance and reflectivity (Test environment: 25℃, indoor without ambient light) Configuration Software of TF03 V1.3.2 Figure 10 The interface of configuration software Page22... -
Page 23: Failure Reasons And Troubleshooting
TF03 RS485/RS232 Product Manual V1.3.2 Benewake(Beijing)Co., Ltd Interface of configuration software is shown above. 1) After TF03 is connected to the computer, select the correct serial port number and baud rate in Zone C manually and click the 『Connect』 button to establish communication between the software and TF03. -
Page 24: Faq
TF03 RS485/RS232 Product Manual V1.3.2 Benewake(Beijing)Co., Ltd Reason：TF03 bases on the time-of-flight (TOF) principle, to achieve ranging by calculating the round-trip time of flight of laser pulses. The intensity of ambient light or the reflectivity of objects under testing is different, and thus will increase the intensity of ambient noise or return light intensity. -
Page 25: Attachment 1: Reflectivity Of Different Materials
TF03 RS485/RS232 Product Manual V1.3.2 Benewake(Beijing)Co., Ltd Attachment 1: Reflectivity of Different Materials The reflectivity of different 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.
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