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Summary of Contents for Benewake TF03 RS-485
- Page 1 TF03 RS-485/RS-232 User Manual TF03 RS-485/RS-232 Long-distance Single-point LiDAR User Manual ©Benewake · All rights reserved · Subject to change without notice · 2021-08-24 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).
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Page 3: Table Of Contents
5 CUSTOM CONFIGURATION ....................17 5.1 C ......................... 17 OMMAND PROTOCOL 5.2 C .......................... 18 OMMON COMMANDS 5.3 C ..........................19 OMMAND EDITING 6 OPTIONAL ACCESSORIES ...................... 20 ©Benewake · All rights reserved · Subject to change without notice · 2021-08-24 Page3... - Page 4 ........................... 24 ORKING MODE 7.4 I ............24 NFLUENCES OF OBJECT SURFACES ON THE MEASUREMENT 8 TROUBLESHOOTING ........................ 28 ATTACHMENT 1: REFLECTIVITY OF DIFFERENT MATERIALS ........29 ©Benewake · All rights reserved · Subject to change without notice · 2021-08-24 Page4...
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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 · 2021-08-24 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 · 2021-08-24 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 · 2021-08-24 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 · 2021-08-24 Page8... - Page 9 7kHz. Please contact us if you need upper frame rate. The basic technical specifications, like accuracy and repeatability, are measured with white background board (90% reflectivity) at 0klux condition. ©Benewake · All rights reserved · Subject to change without notice · 2021-08-24 Page9...
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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 · 2021-08-24 Page10... -
Page 11: Electrical Installation
UART Transmit (Debug) Black Ground NOTICE The UART interface of TF03 RS-485/RS-232, PIN 5 and PIN 6, is a debug interface. Please do not use it. Wire cross-sections CAUTION If you use flexible connecting cables with stranded wire, then you must not use ferrules when connecting the wires to the terminals on TF03. -
Page 12: General Conditions For Data Interface
Use screened cable(twisted-pair) with at least 26 AWG. Wiring the RS-232 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 · 2021-08-24 Page12... -
Page 13: Wiring The Rs-485 Interface
485. The default interface is RS-485. These two interfaces cannot work simultaneously. The communication interface can be switched by certain command. NOTICE The UART interface in industrial TF03 is a debug interface. Please do not use it. ©Benewake · All rights reserved · Subject to change without notice · 2021-08-24 Page13... -
Page 14: Communication Protocol
4.3.1 Protocol description The communication protocol format of Modbus is different from it of the RS-232 and RS- 485 interface. Check the following tables for detailed protocols. ©Benewake · All rights reserved · Subject to change without notice · 2021-08-24 Page14... - Page 15 Upper 16 bits of firmware 00 06 0x00 and main version number version Lower 16 bits of firmware 00 07 Sub-version and revised version number version ©Benewake · All rights reserved · Subject to change without notice · 2021-08-24 Page15...
- Page 16 The commands listed in the following table will only take effect under Modbus protocol. Do not send the command that is not in the list below. ©Benewake · All rights reserved · Subject to change without notice · 2021-08-24 Page16...
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Page 17: Custom Configuration
To meet the need of different customers, TF03 released several configuration parameters. These parameters, such as data format, frame rate, could be modified by certain command. ©Benewake · All rights reserved · Subject to change without notice · 2021-08-24 Page17... -
Page 18: Common Commands
Over range 10000 or threshold 5A 06 4F LL HH SU 5A 05 4F 00 AE LL: lower 8 bits 18000 setting HH: upper 8 bits ©Benewake · All rights reserved · Subject to change without notice · 2021-08-24 Page18... -
Page 19: Command Editing
07 00 SUM. Finally calculate the sum of the first 7bytes and take its low 8bits, we will have the complete command, 5A 08 06 00 08 07 00 77. ©Benewake · All rights reserved · Subject to change without notice · 2021-08-24 Page19... -
Page 20: Optional Accessories
Figure 11 Dimension drawing of self-cleaning module The self-cleaning module is fixed with TF03 through the metal base, its power supply and communication are completely independent from TF03. ©Benewake · All rights reserved · Subject to change without notice · 2021-08-24 Page20... -
Page 21: 6.2 Aiming Beam Module
The wavelength of TF03’s detecting light is 905nm, which is invisible light. We’ve designed an aiming beam module to assist the installation. Figure 13 Sketch map of Aiming beam module ©Benewake · All rights reserved · Subject to change without notice · 2021-08-24 Page21... -
Page 22: 6.3 Extension Cord
If you cannot find COM port on your PC or laptop, please check whether the driver of the USB converter has been properly installed. Download the latest version BW_TFDS from http://en.benewake.com/support onto your PC or laptop. ©Benewake · All rights reserved · Subject to change without notice · 2021-08-24 Page22... -
Page 23: Troubleshooting Guide For Initial Test
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 ©Benewake · All rights reserved · Subject to change without notice · 2021-08-24... -
Page 24: Working Mode
S5. Send the command of reading firmware version, 5A 04 01 5F, through every COM ports. Try to read response. If all the COM ports have no response, please contact Benewake service. If one of the COM ports has correct response, send the command of restore default, 5A 04 10 6E, through this COM port. - Page 25 (Figure 18 Reflection angle on page 25). If the beam is incident at an angle, a corresponding energy and detecting range loss is incurred. ©Benewake · All rights reserved · Subject to change without notice · 2021-08-24 Page25...
- Page 26 26). Instead of the surface of the mirror, it is possible that the object on which the deflected laser beam is incident may be detected. ©Benewake · All rights reserved · Subject to change without notice · 2021-08-24 Page26...
- Page 27 TF03 will calculate a weighted averaging energy. The measured value will possible theoretically be the weighted average of distances from TF03 to different platform. ©Benewake · All rights reserved · Subject to change without notice · 2021-08-24 Page27...
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Page 28: Troubleshooting
Claims under the warranty rendered void! 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. The housing is only allowed to be opened by authorized service personnel. -
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 · 2021-08-24 Page29...
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