Benewake TF02-i User Manual
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Benewake TF02-i User Manual

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Summary of Contents for Benewake TF02-i

  • Page 1 TF02-i User Manual...
  • Page 2 Remember the precautions to avoid hazards, and please follow the described steps in the manual when using it. If you have any problems in the process of usage, you are welcome to contact Benewake at any time for help. Contact details Official website: en.benewake.com...

  • Page 3: Table Of Contents

    CONTENTS ONEVIEW ............................. 1 1.1 Technical Specification ....................... 1 1.2 Maintenance and Cleaning ....................2 1.3 Appearance and Structure ....................2 1.4 Storage ..........................3 1.5 Application ........................... 4 INTERFACE ........................... 5 2.1 Description About Wiring Sequence ................5 2.2 Electrical Characteristics ..................... 5 COMMUNICATION PROTOCOL ....................

  • Page 4: Oneview

    ONEVIEW ONEVIEW TF02-i is a single-point ranging LiDAR upgraded based on TF02-Pro. It has been optimized and upgraded in terms of communication interface, input voltage, etc., to meet the needs of various industrial scenarios. The product is based on the principle of ToF (time of flight) and has stable, accurate and highly sensitive measurement performance.

  • Page 5: Maintenance And Cleaning

     to offer professional advice. Appearance and Structure The appearance and dimensions of TF02-i are shown in Figure 1-1 and Figure 1-2: Figure 1-1 Appearance of TF02-i REV: 13/05/2022 · ©2022 Benewake (Beijing) Co., Ltd. | en.benewake.com | All rights reserved...

  • Page 6: Storage

    Please keep it clean. The surface of optical lens is the ranging zero of LiDAR. The detection angle of TF02-i is 3°. At different distances, the size of light spot, namely the edge length of the detection range, is different. Side length of the detection range at different distances (the detection range is a square), as shown in Table 1-2.

  • Page 7: Application

    If you use the product beyond the above application scope, please carefully evaluate whether the reliability requirements of the product to be applied match this product, or contact Benewake at any time to assist in solving it. REV: 13/05/2022 · ©2022 Benewake (Beijing) Co., Ltd. | en.benewake.com...

  • Page 8: Interface

    The hardware of RS-485 and CAN is different; Do not mix UART cable with RS485 or CAN bus, otherwise it will cause damage of MCU. ② TF02-i with RS-485 interface does not support UART debugging pins. Electrical Characteristics Table 2-2 Main Electrical Parameters of TF02-i...

  • Page 9: Communication Protocol

    3.1.2 Parameter configuration description of Modbus protocol 3.1.2.1 Description of data frame When Modbus protocol of TF02-i is enabled, the Modbus command format of reading distance is shown in Table 3-2. Table 3-2 The command format of reading distance Addr.
  • Page 10 COMMUNICATION PROTOCOL 3.1.2.2 Function code The function code of TF02-I is shown in Table 3-4. Table 3-4 The function code Function Code Description Read register Write register 3.1.2.3 Register address list All register addresses are hexadecimal and register values are 16 bits;...

  • Page 11: Parameter Configuration

    01 03 00 06 00 01 03 04 00 VM VS: Sub-version number version 02 24 0A VS VC CL CH VC: Revised version number REV: 13/05/2022 · ©2022 Benewake (Beijing) Co., Ltd. | en.benewake.com | All rights reserved BP-UM-22 A03...
  • Page 12 ② It is sampling frequent of TF02-i. In Modbus protocol, the trigger frame rate of master host is recommended to be 40% of the frame rate with TF02-i. For example: Enable Modbus protocol in RS-485 serial communication mode:...

  • Page 13: Can Communication Protocol

    CAN Communication Protocol 3.2.1 Communication Protocol The CAN communication protocol of TF02-i supports customer-defined protocol parameters or customized services, and the CAN protocol baud rate and ID can be modified. The CAN protocol is shown in Table 3-9. Table 3-9 CAN communication protocol of TF02-i...

  • Page 14: Can Bus Network

    Figure 3-1. Figure 3-1 CAN bus network of TF02-i Note It is recommended to contact Benewake to communicate the details of use to complete networking requirements. 3.2.4 Parameter Configuration of CAN Communication The configuration command format of CAN communication is shown as below.

  • Page 15: Other Parameter Configuration

    Please keep power on and wait 1s after sending system reset command, otherwise the settings will not take effect. ④ After parameters configuration, send saving settings command to save REV: 13/05/2022 · ©2022 Benewake (Beijing) Co., Ltd. | en.benewake.com | All rights reserved BP-UM-22 A03...
  • Page 16 COMMUNICATION PROTOCOL the configuration, otherwise the settings will not take effect. ⑤ 120Ω terminal resistor is disable in default. REV: 13/05/2022 · ©2022 Benewake (Beijing) Co., Ltd. | en.benewake.com | All rights reserved BP-UM-22 A03...

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