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Summary of Contents for Benewake TFA170-L
- Page 1 TFA170-L User Manual...
- Page 2 3rd Floor, Haiguo Jiaye Sci-Tech Park, Haidian District, Beijing, China Copyright Notice 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.
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Page 3: Table Of Contents
Contents 1 Product Overview ......................1 1.1 Measuring principle ....................... 1 1.2 Technical Specifications ....................1 1.3 Structural Appearance ....................2 1.4 FoV ........................... 3 2 Device Installation ....................... 4 2.1 Mechanical installation ....................4 2.2 Connector ........................4 3 Communication Protocols ..................6 3.1 Communication protocol .....................6 3.2 Data protocol ........................7 3.3 Custom configuration ....................8... -
Page 4: Product Overview
TFA170-L LiDAR. 1.1 Measuring principle TFA170-L is a typical Pulse Time of Flight (PToF) sensor. TFA170-L 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 5: Structural Appearance
<0.5° Eye safety Class 1 Eye-safe [EN60825] Mechanical/Electrical Average power consumption ≤1W Peak current ④ 120mA@12V Power supply DC 12±10%V Operating temperature -20℃ ~ +60℃ Storage temperature -20℃ ~ +80℃ Dimensions TYP. 31.0 x 30.2 x 19.2mm³ Weight ~10g Connector 1.25mm-4P Protection Level Communication Protocol... -
Page 6: Fov
The FoV (field of view) is the angle covered by the LiDAR sensor. The horizontal FoV is 0.4° and the vertical FoV is 0.04°. Figure. 3: FoV of TFA170-L NOTICE 0.4° and 0.04° are theoretic values. Because the manufacturing error and the installing error exist, there is divergence between actual and theoretic values. -
Page 7: Device Installation
TFA170-L LiDAR. 2.1 Mechanical installation As shown in the following figure. The model of the installation screw is M2. Figure. 4: Diagram of TFA170-L installation hole 2.2 Connector The connector is 1.25mm-4P, appearance and definition are shown as below: Figure. - Page 8 Table. 2: Interface connector pin definitions Pin number Definition RS232_TX RS232_RX © 20 2 4 Be n e w a k e (B e i j i n g ) Co . , L t d . · A l l ri g h t s re s e r v e d · R E V : 1 2 / 0 7 /2 0 2 4...
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Page 9: Communication Protocols
230400, 256000, 460800, 500000, 512000, 600000, 750000, and 921600. If other value were set, TFA170-L will set it to 115200. © 20 2 4 Be n e w a k e (B e i j i n g ) Co . , L t d . · A l l ri g h t s re s e r v e d · R E V : 1 2 / 0 7 /2 0 2 4... -
Page 10: Data Protocol
3.2 Data protocol A standard data frame consists of 30 bytes of hexadecimal numbers. The details are shown as follows: Table. 4: Data transfer Protocol No. byte Definition Remark Default Frame Header Fixed value: 0x59 0x59 Frame Header Fixed value: 0x59 0x59 Length of this data transfer frame. -
Page 11: Custom Configuration
CRC_H Higher byte of Checksum 3.3 Custom configuration TFA170-L realsed 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 12 Table. 6: General Parameter Configuration and Description Defaul Descri Remar Command Response ption settin Obtain version firmwar 5A 07 01 VA VB 5A 04 01 5F numbe VC SU version VC.B.A System 5A 04 02 60 5A 05 02 00 61 reset Chang 5A 06 03 LL HH...
- Page 13 CAUTION Do not send the command that is not in the list above. NOTE To send certain command to TFA170-L, these steps should be followed: Change value of a parameter to HEX Put the HEX value in certain command ...
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