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Benewake TF03 User Manual

Analog signal
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TF03 Analog Signal
(Current)
User Manual
Benewake (Beijing) Co., Ltd

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Summary of Contents for Benewake TF03

  • Page 1 TF03 Analog Signal (Current) User Manual Benewake (Beijing) Co., Ltd...
  • Page 2 3rd Floor, Haiguo Jiaye Sci-Tech Park, Haidian District, Beijing, China Copyright Statement This User Manual is copyright © of Benewake. Please do not modify, delete or translate the description of this manual contents without the official written permission from Benewake.

  • Page 3: Table Of Contents

    CONTENTS 1 INTRODAUCTION ........................... 1 1.1 Failure scenarios ........................1 1.2 Symbols and document conventions ..................2 2 PRODUCT DESCRIPTION ........................3 2.1 Appearance overview ......................3 2.2 Dimensional drawing ....................... 3 2.3 Measuring principle ........................3 2.4 Technical specification ......................4 2.5 FoV ..............................

  • Page 4: Introdauction

    INTRODAUCTION 1 INTRODAUCTION The User Manual provide important information on how to use TF03. It contains the basic information about TF03 and describes how to set up and configure the interfaces. The User Manual contains detailed information about the interfaces including syntax and available functionality.

  • 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. ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · REV: 01/04/2024...

  • Page 6: Product Description

    3mm diameter hole (4mm deep) for mounting (4x) 2.2 Dimensional drawing Figure 2 Dimensional drawing of TF03 (Left 1: top; Left 2: bottom; Left 3: front; Unit: mm) 2.3 Measuring principle TF03 is a typical Pulse Time of Flight (PToF) sensor. TF03 emits a narrow pulse laser, which is collimated by the transmitting lens, which enters the receiving system after ©2024 Benewake (Beijing) Co., Ltd.

  • Page 7: Technical Specification

    The time between the transmitted signal and the received signal is calculated through the circuit amplification and filtering, and the distance between TF03 and the measured target can be calculated through the speed of light. Figure 3 Pulsed time of flight (PToF) 2.4 Technical specification...
  • Page 8 Environme Enclosure IP67 rating Storage -40℃ 85℃ temperature Supply 5V DC 24V DC voltage Connection Average ≤150mA @ 5V, ≤80mA @ 12V, ≤50mA @ current ≤1W Power ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · REV: 01/04/2024...

  • Page 9: Fov

    Only the frame rate satisfying the following formula is supported. � If a value does not satisfy this formula is set, TF03 will set its frame rate to 100Hz. The normal frame rate is under 1kHz, but the maximum frame rate can reach as much as 10kHz.
  • Page 10 Figure 1 FoV of TF03. Horizontal divergence 0.5°, vertical divergence 0.15°. NOTICE 0.5° and 0.15° are theoretical values. As the manufacturing error and the installing error exist, there is divergence between each TF03 ’s actual FoV and its theoretical values. Figure 4 Spot size of TF03 at different range...

  • Page 11: Electrical Installation

    ELECTRICAL INSTALLATION 3 ELECTRICAL INSTALLATION 3.1 Pin and wire color assignment TF03 ’ s cable has six 26 AWG wires. The connector is Molex SD-51021-007 1.25 W/B-7Pin. Figure 5 Male connector, Molex SD-51021-007 1.25 W/B-7Pin Table 3 Pin assignment on 7-pin male connector...

  • Page 12: Wire Cross-Sections

    3.2 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. Wire all connections with copper cables! Use the following wire cross-sections: ...
  • Page 13 NOTICE To connect two devices for UART serial communication, the transmitter’s TX should connect to the receiver’s RX and the receiver’s TX should connect to the transmitter’s RX. ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · REV: 01/04/2024...

  • Page 14: Communication Protocols

    COMMUNICATION PROTOCOLS 4 COMMUNICATION PROTOCOLS The two interfaces, Analog Signal and UART, cannot work simultaneously. Normally, the UART interface can only be used to configure TF03. DO NOT use UART interface to transmit detection data. 4.1 Communication protocol of Analog Signal In analog signal version, TF03 outputs 4 to 20mA current signal based on its detection.

  • Page 15: User Protocol Of Uart

    Baud rate of UART can be set to 9600, 14400, 19200, 38400, 56000, 57600, 115200, 128000, 230400, 256000, 460800, 512000, 750000, 921600, 1000000, 1500000 and 2000000. If other value were set, TF03 will automatically set it to 115200. 4.3 User protocol of UART A standard data frame consists of 9 bytes of hexadecimal numbers, which contains distance and signal strength.

  • Page 16: Custom Configuration

    5 CUSTOM CONFIGURATION 5.1 Command protocol 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. All the parameters will be stored in flash after configured successfully and customers don’t need to configure again when restart.
  • Page 17 Over range threshold, the maximum detection value TF03 can output. For example, if set over range threshold to 50m, when TF03 detects a target 50m away, TF03 can only output 50m. ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · REV: 01/04/2024...
  • Page 18 NOTE Baud rate of UART can be set to 9600, 14400, 19200, 38400, 56000, 57600, 115200, 128000, 230400, 256000, 460800, 512000, 750000, 921600, 1000000, 1500000 and 2000000. If other value were set, TF03 will automatically set it to 115200. WARNING Do not send the command not listed in the table above.

  • Page 19: Command Editing

    CUSTOM CONFIGURATION 5.2 Command editing This section describes the Command Channel of TF03 which is used to read and set TF03’s working parameters. The command channel is available via all the interfaces. A standard TF03 command consists of frame header, command length, command ID, parameters and checksum.

  • Page 20: Optional Accessories

    6 OPTIONAL ACCESSORIES 6.1 Self-cleaning module In some outdoor scenes, dust adhering to the TF03 ’ s window will affect the performance of the TF03. We’ve designed the following self-cleaning module that can automatically clean the TF03’s window regularly. The module drives the rocker arm and wiper with the steering gear to clean the TF03 window regularly.

  • Page 21: Aiming Beam Module

    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 11 Sketch map of Aiming beam module NOTE The aiming beam powered by button battery is a low-power laser.
  • Page 22 OPTIONAL ACCESSORIES Figure 12 Extension cord for test NOTE This extension cord is free, but it’s not a standard accessory. Please contact us if needed. ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · REV: 01/04/2024...

  • Page 23: Quick Start Guide

    See Figure 14 Benewake testing GUI for TF series for of the GUI.  Connect TF03 to the PC or laptop with a paired USB converter cable as shown in  Figure 13 TF03 connecting to PC . The UART version TF03 needs a UART-USB converter, and the CAN version TF03 needs a CAN-USB converter.

  • Page 24: Troubleshooting Guide For Initial Test

    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 TF03 still doesn’ t work, please contact Benewake service. 7.3 Working mode TF03 has three different working modes.

  • Page 25: Influences Of Object Surfaces On The Measurement

    TF03 over larger distances. Brilliant white plaster reflects approx. 100% of the incident light, black foam rubber approx. 2.4%. On very rough surfaces, part of the energy is lost due to shading. The detecting range of the TF03 will be reduced as a result.
  • Page 26 At mirror surfaces the laser beam is almost entirely deflected ( Figure 18 Mirror surfaces ). Instead of the surface of the mirror, it is possible that the object on which the deflected laser beam is incident may be detected. ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · REV: 01/04/2024...
  • Page 27 Staircase objects have two or more planes ( Figure 20 Staircase object ). The energy in the portion of the laser light that is reflected by different plane is different. TF03 will calculate a weighted averaging energy. The measured value will possible theoretically be the weighted average of distances from TF03 to different platform.

  • Page 28: Troubleshooting

    8 Troubleshooting NOTICE 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. s This chapter describes how to identify and rectify errors and malfunctions during the operation of TF03.
  • Page 29 Replace it with a larger  The target is too small.  certain target. target cannot target sticker high   be detected low-reflectivity object. reflectivity on target object. ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · REV: 01/04/2024...

  • Page 30: Attachment 1: Reflectivity Of Different Materials

    DIFFERENT MATERIALS The reflectivity of different materials is listed below, ranging from low to high. According to the test target and the corresponding reflectivity, we can measure whether the range of TF03 and other parameters meet the requirements. Materials Reflectivity black foam rubber 2.4%...
  • Page 31 ATTACHMENT 1: REFLECTIVITY OF DIFFERENT MATERIALS Shiny light metal surface 150% stainless steel 200% Reflective board, reflective adhesive tape >300% ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · REV: 01/04/2024...

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