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Quick Implementation of TF03-CAN and Computer
Communication Operation Instructions
1. Overview
This document enables first-time users to quickly understand the tools and methods for conducting CAN
communication tests, connect the LiDAR to the PC by consulting the corresponding instruction manual, and complete
product testing under the CAN communication protocol by sending commands to obtain distance values and modify the
baud rate.
This document applies to the product model: TF03-CAN (verify the product hardware version before testing).
2. Test Preparation
2.1. Necessary Tools
Tools
Name
Tools
Name
2.2. Communication Protocol Switching
TF03 supports both TTL serial communication and CAN communication, and factory default setting is TTL. To use
CAN communication, please switch via TTL communication adapter (see chapter 3, section 1 for details).
1
https://item.taobao.com/item.htm?spm=a230r.1.14.1.49345de5rwJHiq&id=18286496283&ns=1&abbucket=12#detail.
2
https://item.taobao.com/item.htm?spm=a1z10.5-c-s.w4002-23157226331.19.89f91ab6Pc2K1o&id=591144256044.
Table 1 Necessary Tools
1
CANalyst
TF03-CAN
Adapter for TF series
Connecting tools
2
(Benewake)
Fig.1 Connect LiDAR & PC
Benewake (Beijing) Co. Limited
DC power supply
Softwares
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Summary of Contents for Benewake TF03-CAN
- Page 1 CAN communication protocol by sending commands to obtain distance values and modify the baud rate. This document applies to the product model: TF03-CAN (verify the product hardware version before testing). 2. Test Preparation 2.1. Necessary Tools...
- Page 2 Benewake (Beijing) Co. Limited Fig.2 Set baud rate to 1M After USB-TTL adapter, LiDAR and PC are connected, faint red light can be seen from the LiDAR lens. Fig.3 LiDAR output red light Open the software "WINCC_TF" to switch communication protocol: 1) Find "product"...
- Page 3 As can be seen, now the LiDAR has stopped outputting data, indicating that the communication protocol has been switched to CAN successfully. CAN Communication Test 3.1. Pin Description & Connection Method TF03-CAN allows a wide voltage supply, with power supply options between 5 and 24V. Fig.8 Pinout Table 2 Line Sequence Description Number...
- Page 4 Power CAN_L Supply TF03-CAN CAN_H 5-24V Fig.9 CANalyst connecting TF03-CAN to PC Fig.10 CANalyst connecting TF03-CAN to PC Fig.11 CANalyst and TF03-CAN connection method 3.2. Test Steps 3.2.1. TF03-CAN Establishes Connection with PC Install USB_CAN TOOL according to the "...
- Page 5 3.2.2. Modify the Baud Rate Open the USB_CAN TOOL to modify the baud rate. TF03-CAN baud rate defaults to 250kbps, the frame format defaults to standard frame. The sending and receiving IDs default to 0x00003003 & 0x00000003 respectively. On the main page, find the "CAN Send" field, select "Frame Format" as "Standard Frame" (you can select "Standard Frame"...
- Page 6 Benewake (Beijing) Co. Limited Fig.15 Output data after successful start-up of the device After the device has been successfully started, the measured distance information and signal strength can be read in the output data field on the right. Byte0-1 are the lower and higher bytes of the distance value (HEX); byte2-3 are the lower and higher bytes of the signal strength (HEX);...
- Page 7 Benewake (Beijing) Co. Limited Fig.17 Send "save configuration" command Click on "Shutdown Device" in "Device Operation" and then reboot. Select "500Kbps" for the baud rate, the device will start up successfully. For more details, please refer to the manual of the particular device and USB-CAN Tool debugging software...
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