Benewake TF03 UART/CAN User Manual
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Benewake TF03 UART/CAN User Manual

Long-distance single-point lidar
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TF03 UART/CAN User Manual
TF03 UART/CAN
Long-distance Single-point LiDAR
User Manual
©Benewake · All rights reserved · Subject to change without notice · 2021-08-09
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Summary of Contents for Benewake TF03 UART/CAN

  • Page 1 TF03 UART/CAN User Manual TF03 UART/CAN Long-distance Single-point LiDAR User Manual ©Benewake · All rights reserved · Subject to change without notice · 2021-08-09 Page1...
  • Page 2 This work is protected by copyright. Any rights derived from the copyright shall be reserved for Benewake (Beijing). Reproduction of this document or parts of this document is only permissible within the limits of the legal determination of Copyright Law. Any modification, abridgment or translation of this document is prohibited without the express written permission of Benewake (Beijing).

  • Page 3: Table Of Contents

    SER PROTOCOL OF 5 CUSTOM CONFIGURATION ....................16 5.1 C ......................... 16 OMMAND PROTOCOL 5.2 C .......................... 17 OMMON COMMANDS 5.3 C ..........................18 OMMAND EDITING ©Benewake · All rights reserved · Subject to change without notice · 2021-08-09 Page3...
  • Page 4 ........................... 24 ORKING MODE 7.4 I ............24 NFLUENCES OF OBJECT SURFACES ON THE MEASUREMENT 8 TROUBLESHOOTING ........................ 27 ATTACHMENT 1: REFLECTIVITY OF DIFFERENT MATERIALS ........29 ©Benewake · All rights reserved · Subject to change without notice · 2021-08-09 Page4...

  • Page 5: Introduction

    Avoid direct exposure to Avoid exposure to strong high pressure cleaning. light source with same wavelength. Do not exposure to Avoid extreme vibrations. corrosive liquids. ©Benewake · All rights reserved · Subject to change without notice · 2021-08-09 Page5...

  • Page 6: Symbols And Document Conventions

    NOTICE Indicates a situation presenting possible danger, which may lead to property damage if not prevented. NOTE Indicates useful tips and recommendations. ©Benewake · All rights reserved · Subject to change without notice · 2021-08-09 Page6...

  • Page 7: Product Description

    3mm diameter hole (4mm deep) for mounting (4x) Dimensional drawing Figure 2 Dimensional drawing of TF03 (Left 1: top; Left 2: bottom; Left 3: front; Unit: mm) ©Benewake · All rights reserved · Subject to change without notice · 2021-08-09 Page7...

  • Page 8: Measuring Principle

    80m / 130m Range (@10% reflectivity, 100klux) 0.1m 30m / 50m Accuracy ±10cm (within 10m), 1% (10m and further) Distance resolution Frame rate 100Hz 1000Hz Repeatability 1σ: <3cm ©Benewake · All rights reserved · Subject to change without notice · 2021-08-09 Page8...
  • Page 9 100Hz. The normal frame rate is under 1kHz, but the maximum frame rate can reach as much as 7kHz. Please contact us if you need higher frame rate. ©Benewake · All rights reserved · Subject to change without notice · 2021-08-09 Page9...

  • Page 10: Fov

    0.5° and 0.15° are theoretic values. Because the manufacturing error and the installing error exist, there is divergence between each TF03’s actual FoV and its theoretic values. Figure 5 Spot size of TF03 at different range ©Benewake · All rights reserved · Subject to change without notice · 2021-08-09 Page10...

  • Page 11: Electrical Installation

     supply voltage at least 0.21 mm² (approx. 24 AWG) at maximum length of 2m (6.562 ft), if the connection is made to an existing 24 V DC supply.  switching outputs minimum 0.13 mm² (approx. 26 AWG), maximum cable length 2m ©Benewake · All rights reserved · Subject to change without notice · 2021-08-09 Page11...

  • Page 12: General Conditions For Data Interface

    A screened cable is required for the wiring of the UART interface.  Pay attention to max. cable length as per section 3.3 “General conditions for the data interface”. ©Benewake · All rights reserved · Subject to change without notice · 2021-08-09 Page12...

  • Page 13: Wiring The Can Interface

    Once CAN basics such as message format, message identifiers, and bit-wise arbitration — a major benefit of the CAN signaling scheme are explained, a CAN bus implementation is examined, typical waveforms presented, and transceiver features examined. ©Benewake · All rights reserved · Subject to change without notice · 2021-08-09 Page13...
  • Page 14 Figure 10 Resistances needed to be removed from PCBA for CAN Bus WARNING Removing resistance #2 and #3 needs to disassemble TF03. To avoid irreversible damage to TF03, please contact our technical support engineers for detailed instructions. ©Benewake · All rights reserved · Subject to change without notice · 2021-08-09 Page14...

  • Page 15: Communication Protocols

    Figure 11 Data communication: User protocol frame format of UART Each data frame consists of 9 bytes hexadecimal data which contains the distance and signal strength. ©Benewake · All rights reserved · Subject to change without notice · 2021-08-09 Page15...

  • Page 16: Communication Protocol Of Can

    These parameters, such as data format, frame rate, could be modified by certain command. All the parameters will be stored in flash after configured successfully and customers don’t need to configure again when restart. ©Benewake · All rights reserved · Subject to change without notice · 2021-08-09 Page16...

  • Page 17: Common Commands

    HH: higher 8 bits Switch UART: 5A 05 45 01 A5 5A 05 45 00 A4 UART communication CAN: 5A 05 45 02 A6 interface ©Benewake · All rights reserved · Subject to change without notice · 2021-08-09 Page17...

  • Page 18: Command Editing

    A standard TF03 command consists of frame header, command length, command ID, parameters and checksum. Follow these steps to generate a command:  Choose the right command ID and confirm its length ©Benewake · All rights reserved · Subject to change without notice · 2021-08-09 Page18...

  • Page 19: Optional Accessories

    TF03. We’ve designed the following self-cleaning module that can automatically clean the TF03’s window regularly. The module drives the rocker arm and wiper with the steering gear to clean the TF03 window regularly. ©Benewake · All rights reserved · Subject to change without notice · 2021-08-09 Page19...
  • Page 20 Signal Function Black/Brown Ground DC +5V Supply voltage Yellow Signal channel NOTE The working pattern of steering gear is configurable, please contact us for detailed information. ©Benewake · All rights reserved · Subject to change without notice · 2021-08-09 Page20...

  • Page 21: Aiming Beam Module

    6.3 Extension cord For testing purposes, we prepared an extension Dupont cord. See Figure 17 Extension cord for test for detailed information. Figure 17 Extension cord for test ©Benewake · All rights reserved · Subject to change without notice · 2021-08-09 Page21...

  • Page 22: Quick Start Guide

     Connect TF03 to the PC or laptop with a paired USB converter cable as shown in Figure 19 TF03 connecting to PC. The UART version TF03 needs a UART-USB converter, and the CAN version TF03 needs a CAN-USB converter. ©Benewake · All rights reserved · Subject to change without notice · 2021-08-09 Page22...

  • Page 23: Troubleshooting Guide For Initial Test

    7.1Connection and basic test. If you cannot read data from GUI properly, follow these steps to locate and solve problems. S1. Check if there is red light inside TF03 through its window.  No. Check power supply. If the power supply is normal, please contact Benewake service.  Yes. Proceed to S2.

  • Page 24: Working Mode

    2.4%. On very rough surfaces, part of the energy is lost due to shading. The detecting range of the TF03 will be reduced as a result. ©Benewake · All rights reserved · Subject to change without notice · 2021-08-09 Page24...
  • Page 25 Plastic reflectors (“cats’ eyes”), reflective tape and triple prisms have these properties. ©Benewake · All rights reserved · Subject to change without notice · 2021-08-09 Page25...
  • Page 26 The energy in the portion of the laser light that is not reflected is lost. This means that the detecting range is less than would be possible theoretically based on the surface of the object. ©Benewake · All rights reserved · Subject to change without notice · 2021-08-09 Page26...

  • Page 27: Troubleshooting

    The housing screws of the TF03 are sealed. Claims under the warranty against Benewake will be rendered void if the seals are damaged or the device opened. This chapter describes how to identify and rectify errors and malfunctions during the operation of TF03.
  • Page 28 Replace it with a larger target.  be detected.  The target is a low- Put a sticker of high reflectivity on  reflectivity object. target object. ©Benewake · All rights reserved · Subject to change without notice · 2021-08-09 Page28...

  • Page 29: Attachment 1: Reflectivity Of Different Materials

    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 adhesive tape >300% ©Benewake · All rights reserved · Subject to change without notice · 2021-08-09 Page29...

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