Related Manuals for Benewake TF350
Summary of Contents for Benewake TF350
- Page 1 INTRODUCTION TF350 UART/CAN User Manual TF350 - UART / CAN Long-distance Single-point LiDAR User Manual ©Benewake · All rights reserved · Subject to change without notice · 2021-12-06 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
........................... 23 ORKING MODE 7.4 I ................23 NFLUENCES OF OBJECT SURFACES ON THE MEASUREMENT 8 TROUBLESHOOTING ..........................26 ATTACHMENT 1: REFLECTIVITY OF DIFFERENT MATERIALS................. 28 ©Benewake · All rights reserved · Subject to change without notice · 2021-12-06 Page3... -
Page 4: Introduction
Operating Instructions for TF350 describes how to set up and configure the interfaces. The Reference Manual contains detailed information about the interfaces including syntax and available functionality. It focuses on TF350 specific topics and does not describe the basic technology behind each interface. -
Page 5: 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 · 2021-12-06 Page5... -
Page 6: Product Description
Bottom; Unit: mm) Measuring principle TF350 is a typical Pulse Time of Flight (PToF) sensor. TF350 emits a narrow pulse laser, which is collimated by the transmitting lens, which enters the receiving system after being reflected by the measured target and is focused on the APD detector by the receiving lens. -
Page 7: Technical Specification
Frame rate 100Hz 1000Hz Repeatability 1σ: <3cm Light source Central wavelength 905nm Photobiological safety Class1(EN60825) 0.35° Ambient light immunity 100Klux Operation temperature -25℃ 60℃ Enclosure rating IP67 ©Benewake · All rights reserved · Subject to change without notice · 2021-12-06 Page7... -
Page 8: Fov
���������� �������� = �� × 10 , �� ∈ {1,2,3,4,5,6,7,8,9}, �� ∈ {0,1,2,3} If a value which does not satisfy this formula is set, TF350 will set its frame rate to 100Hz. The normal frame rate is under 1kHz, but the maximum frame rate can reach as much as 7kHz. - Page 9 Figure 4 FoV of TF350. Horizontal divergence 0.35°, vertical divergence 0.1° NOTICE 0.35° and 0.1° 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. 250.00 200.00...
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Page 10: Electrical Installation
⚫ switching outputs minimum 0.13 mm² (approx. 26 AWG), maximum cable length 2m (6.562 ft) with 0.21 mm² (approx. 24AWG). ⚫ data interface minimum 0.21mm² (approx. 24 AWG). ©Benewake · All rights reserved · Subject to change without notice · 2021-12-06 Page10... -
Page 11: Wiring Uart Interface
Once CAN basics such as message format, message identifiers, and bit-wise arbitration - a ©Benewake · All rights reserved · Subject to change without notice · 2021-12-06 Page11... - Page 12 0.3 m. The cable is specified to be a shielded or unshielded twisted-pair with a 120-Ω characteristic impedance (Zo). For CAN bus connection, there are two resistances need to be removed from TF350. See Figure 10 Resistances needed to be removed from board for CAN Bus for the location of Resistance #2 and #3.
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Page 13: Protocols
PROTOCOLS TF350 UART/CAN User Manual ROTOCOLS The standard version of TF350 supports two communication interfaces, UART and CAN. The default interface is UART. These two interfaces cannot work simultaneously. The communication interface can be switched by certain command. Communication protocol of UART... -
Page 14: Communication Protocol Of Can
USTOM CONFIGURATION Protocol description To meet the need of different customers, TF350 released several configuration parameters. 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. -
Page 15: Common Commands
LL: lower 8 bits setting HH: higher 8 bits Switch UART: 5A 05 45 01 5A 05 45 00 A4 UART communication interface CAN: 5A 05 45 02 A6 ©Benewake · All rights reserved · Subject to change without notice · 2021-12-06 Page15... - Page 16 Baud rate of UART can be set to 9600, 14400, 19200, 38400, 56000, 57600, 115200, 128000, 230400, 256000, 460800, 500000, 512000, 600000, 750000, and 921600. If other value were set, TF350 will set it to 115200. NOTE Offset configuration can be used for secondary calibration of distance, for example, when distance is 195cm and you want LiDAR outputs 200cm, you can set offset value to 5cm.
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Page 17: Command Editing
TF350 UART/CAN User Manual Command editing This section describes the Command Channel of TF350 which is used to read and set TF350’s working parameters. The command channel is available via all the interfaces. A standard TF350 command consists of frame header, command length, command ID, parameters, and checksum. - Page 18 OPTIONAL ACCESSORIES TF350 UART/CAN User Manual the TF350’s window regularly. The module drives the rocker arm and wiper with the steering gear to clean the TF350 window regularly. Figure 14 Dimension drawing of self-cleaning module The self-cleaning module is fixed with TF350 through the metal base, its power supply and communication are completely independent from TF350.
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Page 19: Aiming Beam Module
The working pattern of steering gear is configurable, please contact us for detailed information. 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 16 Sketch map of Aiming beam module ©Benewake ·... -
Page 20: Extension Cord
Figure 18 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 · 2021-12-06 Page20... -
Page 21: Quick Start Guide
GUI. Figure 19 Benewake testing GUI for TF series ⚫ Connect TF350 to the PC or laptop with a paired USB converter cable as shown in Figure 20 TF350 connecting to PC. The UART version TF350 needs a UART-USB converter, and the CAN version TF350 needs a CAN-USB converter. -
Page 22: Troubleshooting Guide For Initial Test
◼ 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. After sending this command, if the TF350 still doesn’t work, please contact Benewake service. -
Page 23: Working Mode
⚫ Automatic output mode. This is the default working mode. The default frame rate of this mode is 10Hz. ⚫ Command triggering mode. In this mode, TF350 will not output data automatically. TF350 output measuring data only when it receives the triggering command. - Page 24 Plastic reflectors (“cats’ eyes”), reflective tape and triple prisms have these properties. ©Benewake · All rights reserved · Subject to change without notice · 2021-12-06 Page24...
- Page 25 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 · 2021-12-06 Page25...
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Page 26: Troubleshooting
Staircase objects have two or more planes (Figure 26 Staircase object on page 27). The energy in the portion of the laser light that is reflected by different plane is different. TF350 will calculate a weighted averaging energy. The measured value will possible theoretically be the weighted average of distances from TF350 to different platform. - Page 27 Please 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 · 2021-12-06 Page27...
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Page 28: 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 · 2021-12-06 Page28...
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