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Table of Contents
Summary of Contents for DFRobot TF-Luna
- Page 1 Product Manual of TF - Luna LiDAR Module TF-Luna http://www.dfrobot.com.cn...
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Page 2: Table Of Contents
Command Convention ......................... 11 Command Frame Definition ........................ 11 General Parameter Configuration and Description ................12 Remote Upgrading ............................14 Malfunction: Causes and Troubleshooting ....................... 15 Q&A ................................. 16 Attachment 1: Introduction of TF Series PC software ....................17 http://www.dfrobot.com.cn... -
Page 3: Attentions
Please do not directly touch circuit board of the product by hand as it is exposed. Please wear antistatic wrist strap or glove if necessary; Otherwise, the product will be subject to risk of failure, which is shown by failure of normal operation, and even it will be broken. http://www.dfrobot.com.cn... -
Page 4: Description
2 Description 2.1 Principle of Distance Measurement TF-Luna is based on TOF, namely, Time of Flight principle. To be specific, the product emits modulation wave of near infrared ray on a periodic basis, which will be reflected after contacting object. -
Page 5: Repeatability
The operating range of TF-Luna detecting white target with 90% reflectivity, 0.2-8m。 The diameter of light spot depends on the FOV of TF-Luna (the term of FOV generally refers to the smaller value between the receiving angle and the transmitting angle), which is calculated as follows: d = 2 ∗... -
Page 6: Appearance And Structure
Figure 2: Distance Measurement in the case of Two Objects of Different Distances 3 Appearance and Structure 3.1 Product Structure Figure 3: Constructional Drawing of TF-Luna http://www.dfrobot.com.cn... -
Page 7: Electrical Characteristics
4 Electrical Characteristics Table 4: Major Electrical Parameters of TF-Luna Description Parameter value 5V±0.1V Supply voltage Average current ≤70mA Peak current 150mA Average power 350mW LVTTL（3.3V） Communication level This product has no overvoltage nor polarity protection, so please make sure that connection and power supply are normal. -
Page 8: Serial Port Communication Protocol
None 5.3 Data Output Format of Serial port TF-Luna is available with two formats of data output, namely, the standard data output format and the character string data format, both of which are switchable with command. Standard data output format (default): Data structure: each data frame contains 9 bytes, including the distance value, signal strength, temperature of chip and data check byte (Checksum), etc. -
Page 9: Descriptions Of Default Output Data
② Connection of the hardware Figure 4 Schematic Diagram of Correct Connection Connect “TF-Luna”, “TTL - USB board” and “USB cable” as shown in Figure 4. Make sure there is no loose connection. Then connect “USB cable” with “PC”. ③ Connection to the Test software and data output Open the PC software and select “①TF-Luna”... - Page 10 When TF-Luna is successfully powered on, there will be a red indicator light inside transmitting lens viewing from the front. If the user want the TF-Luna output in the Pixhawk format, please select “③Pix Mode” at first, otherwise area “④TIME LINE CHART” will not output the right data image normally. After Pix Mode is checked, the unit of distance will be changed into m automatically.
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Page 11: Descriptions On User-Defined Parameter Configuration
7.1 Function Overview The function of user-defined configuration of product parameters is hereby enabled for more flexible settlement of your problems by TF-Luna. User may modify original parameters by sending relevant commands, such as output data format and frame rate, etc. -
Page 12: General Parameter Configuration And Description
7.4 General Parameter Configuration and Description Before setting the relevant parameters of TF-Luna, user needs to establish the connection between TF-Luna and PC at first. About the connection details, refer to the test connection given in Chapter 6.2. User can send the relevant configuration-related instructions to the product via TF-Luna PC software or other serial port debugging software. - Page 13 Date Frame(9bytes-mm Succeeded 5A 05 10 00 6E Failed Restore factory settings 5A 04 10 6E 5A 05 10 01 6F 5A 05 11 00 6F Succeeded ③ 5A 04 11 6F Failed 5A 05 11 01 70 Save settings http://www.dfrobot.com.cn...
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Page 14: Remote Upgrading
Upon successful connection, open the Updater.exe. Select right port, here is “①COM8”. Input the right baud rate in “② 115200” and click “③ CONNECT” to connect the TF-Luna with the Updater. Click “④ Open Bin” to choose the updating firmware, whose directory will be showed in the textbox above. -
Page 15: Malfunction: Causes And Troubleshooting
TF-Luna. For a reliable and stable measurement data, the algorithm elimination is internally used for TF-Luna. In case of the insufficient signal strength, TF-Luna will output -1. This value is not measurement data of TF-Luna, which is only used to remind the user that such data is unreliable. - Page 16 Q1: Is TF-Luna available with 3.3V or other power supply voltage? A1: Sorry, it is not available for the time being. The Standard power supply of TF-Luna is 5V±0.1V. If you have any further requirement, please contact our sales person to consult a customization design matter.
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Page 17: Attachment 1: Introduction Of Tf Series Pc Software
Product Type/Serial Port Control Zone [SETTINGS] Product Type: connect the LiDAR via TTL-USB board to the PC. As shown in the figure, select ‘TF-Luna’. Serial port (COM): select the right serial port number corresponding to the LiDAR. Baud rate is set to 115200 as default. - Page 18 Dist(Echo): parameter of TF03. With TF-Luna, the default value is 0. Effective Points (per sec): indicates effective points refreshed by TF per second (equals to frame rate). Strength (Signal strength): in pix mode, TF-Luna will not output strength value, so the Strength is 0 by default.
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