Related Manuals for Benewake TF350-RS-485
Summary of Contents for Benewake TF350-RS-485
- Page 1 Introduction TF350 RS-485/RS-232 User Manual TF350 RS-485 / RS-232 Long-distance Single-point LiDAR User Manual ©Benewake · All rights reserved · Subject to change without notice 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
ROUBLESHOOTING GUIDE FOR INITIAL TEST ........................... 26 ORKING MODE ................26 NFLUENCES OF OBJECT SURFACES ON THE MEASUREMENT 8 TROUBLESHOOTING ..........................29 ATTACHMENT 1: REFLECTIVITY OF DIFFERENT MATERIALS................. 31 ©Benewake · All rights reserved · Subject to change without notice Page3... -
Page 4: Introduction
Avoid the presence of Avoid condensation. heavy smoke, fog and rain in the detection field. Avoid direct exposure to Avoid exposure to strong high pressure cleaning. light source with same wavelength. ©Benewake · All rights reserved · Subject to change without notice Page4... -
Page 5: Symbols And Document Conventions
Indicates a situation presenting possible danger, which may lead to moderate or minor injuries if not prevented. 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 Page5... -
Page 6: Product Description
④ 3mm diameter hole (6mm deep) for mounting (6x) Dimensional drawing ① ② ③ Figure 2 Dimensional drawing of TF350 ( ① Front; ② Top; ③ Bottom; Unit: mm) ©Benewake · All rights reserved · Subject to change without notice Page6... -
Page 7: Measuring Principle
0.2m 110m Range (@90% reflectivity, 100klux) 0.2m 300m Range (@10% reflectivity, 100klux) 0.2m 100m Accuracy ±10cm (<10m), 1% (≥10m) Distance resolution Frame rate 100Hz 1000Hz Repeatability 1σ: <3cm ©Benewake · All rights reserved · Subject to change without notice Page7... - Page 8 LVTTL (3.3V) Communication interface RS-485 / RS-232 Dimension 78mm*67mm*40mm(L*W*H) Housing Aluminum alloy Optical window Infrared optical glass (HWB760) Storage temperature -40℃ 85℃ Weight 222g ± 3g Cable length 70cm ©Benewake · All rights reserved · Subject to change without notice Page8...
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Page 9: Fov
NOTICE 0.35° and 0.15° are theoretic values. Because the manufacturing error and the installing error exist, there is divergence between each TF350’s actual FoV and its theoretic values. ©Benewake · All rights reserved · Subject to change without notice Page9... -
Page 10: Electrical Installation
NSTALLATION Pin and wire color assignment TF350’s cable has six 26 AWG wires. The connector is Molex SD-51021-007 1.25 W/B-7Pin. Figure 6 Male connector, Molex SD-51021-007 1.25 W/B-7Pin ©Benewake · All rights reserved · Subject to change without notice Page10... -
Page 11: Connector
If you use flexible connecting cables with stranded wire, then you must not use ferrules when connecting the wires to the terminals on TF350. Wire all connections with copper cables! ©Benewake · All rights reserved · Subject to change without notice Page11... -
Page 12: General Conditions For Data Interface
10 m (32.81ft) RS485 115 200 Bd 10 m (32.81ft) NOTICE With appropriate cable termination, termination in accordance with related specification. ⚫ Use screened cable(twisted-pair) with at least 26 AWG. ©Benewake · All rights reserved · Subject to change without notice Page12... -
Page 13: Wiring The Rs-232 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 RS-485 interface in industrial TF350 is a debug interface. Please do not use ©Benewake · All rights reserved · Subject to change without notice Page13... -
Page 14: Communication Protocol
115200 for communication. 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 Page14... -
Page 15: 4.3.2 Function Code
Lower 2 bytes of time stamp. Unit: ms 00 06 Upper 16 bits of firmware 0x00 and main version number version 00 07 Lower 16 bits of firmware Sub-version and revised version number version ©Benewake · All rights reserved · Subject to change without notice Page15... -
Page 16: 4.3.4 Common Commands For Modbus
Enable Modbus 5A 05 6F 00 CE Same as Save and reboot to take effect command Set Modbus 5A 05 70 ADDR SU 5A 05 70 00 CF Address ©Benewake · All rights reserved · Subject to change without notice Page16... - Page 17 FH=00 FL=64 CL=69 CH=C8 Save setting 01 06 00 80 00 00 01 06 00 80 00 Save and restart to take effect 88 22 00 88 22 ©Benewake · All rights reserved · Subject to change without notice Page17...
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Page 18: Custom Configuration
On: 5A 05 07 01 67 Output control Same as Enabled command Off: 5A 05 07 00 66 Enable 5A 05 07 00 66 Same as Disabled command command triggering mode ©Benewake · All rights reserved · Subject to change without notice Page18... -
Page 19: Command Editing
The command channel is available via all the interfaces. A standard TF03 command consists of frame header, command length, command ID, parameters and checksum. Follow these steps to generate a command: ©Benewake · All rights reserved · Subject to change without notice Page19... -
Page 20: Optional Accessories
TF350. We’ve designed the following self-cleaning module that can automatically clean the TF350’s window regularly. The module drives the rocker arm and wiper with the steering gear to clean the TF350 window regularly. ©Benewake · All rights reserved · Subject to change without notice Page20... - Page 21 The self-cleaning module is fixed with TF350 through the metal base, its power supply and communication are completely independent from TF350. ① ② ③ Figure 13 Wiring of self-cleaning module ©Benewake · All rights reserved · Subject to change without notice Page21...
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Page 22: Aiming Beam Module
The wavelength of TF350’s detecting light is 905nm, which is invisible light. We’ve designed an aiming beam module to assist the installation. Figure 14 Sketch map of Aiming beam module ©Benewake · All rights reserved · Subject to change without notice Page22... -
Page 23: Extension Cord
Figure 16 Extension cord for test NOTE This extension cord is free, but it’s not a standard accessory. Please contact us if needed. ©Benewake · All rights reserved · Subject to change without notice Page23... -
Page 24: Quick Start Guide
⚫ Connect TF350 to the PC or laptop with a paired USB converter cable as shown in Figure 18 TF350 connecting to PC. The RS-485 version TF350 needs a RS-485-USB converter, and the RS-232 version TF350 needs a RS-232-USB converter. ©Benewake · All rights reserved · Subject to change without notice Page24... -
Page 25: 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 TF350 through its window. ◼ No. Check power supply. If the power supply is normal, please contact Benewake service. ◼ Yes. Proceed to S2. -
Page 26: Working Mode
2.4%. On very rough surfaces, part of the energy is lost due to shading. The detecting range of the TF350 will be reduced as a result. ©Benewake · All rights reserved · Subject to change without notice Page26... - Page 27 As a result, a large portion of the energy emitted can be received by the laser distance measurement device. Plastic reflectors (“cats’ eyes”), reflective tape and triple prisms have these properties. ©Benewake · All rights reserved · Subject to change without notice Page27...
- Page 28 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 Page28...
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Page 29: Troubleshooting
Claims under the warranty rendered void! The housing screws of the TF350 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 30 Replace it with a larger target. Please be detected refer to 2.5 above. ⚫ The target is a low ➢ Sticking a high reflection sticker on reflectivity object. the surface of the measured object. ©Benewake · All rights reserved · Subject to change without notice Page30...
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Page 31: Attachment 1: Reflectivity Of Different Materials
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 Page31...
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