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Benewake TF350 Manual

Uart/can
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TF350 - UART / CAN
Benewake (Beijing) Co., Ltd

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Summary of Contents for Benewake TF350

  • Page 1 TF350 - UART / CAN Benewake (Beijing) Co., Ltd...
  • Page 2 Benewake. Disclaimer As our products are constantly improving and updating, the specifications of Long- range single-point LiDAR: TF350-UART / CAN. are subject to change. Please refer to the official website for latest version...

  • Page 3: Table Of Contents

    CONTENTS 1 OVERVIEW ......................... 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 ....................4 2.4 Technical specification ....................4 2.5 FoV ..........................6 3 ELECTRICAL INSTALLATION ....................

  • Page 4: Overview

    1.1 Failure scenarios As a precision optical distance sensor, TF350 ’ s performance is greatly affected by environment. Certain scenarios will even damage TF350. Each of these failure scenarios have been tested in real field tests.

  • 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

    Laser window (Receiving) Laser window (Emitting) 3mm diameter hole (6mm deep) for mounting (6x) 2.2 Dimensional drawing ① ② ③ Figure 2 Dimensional drawing of TF350 (① Front;② ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · REV: 01/04/2024...

  • Page 7: Measuring Principle

    PRODUCT DESCRIPTION 2.3 Measuring principle TF350 is a Pulse Time of Flight (PToF) sensor. TF350 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 8 Frame rate = a × 10 , a ∈ {1,2,3,4,5,6,7,8,9}, b ∈ {0,1,2,3} If a value which does not satisfy this formula is set, TF350 will set its frame ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · REV: 01/04/2024...

  • Page 9: Fov

    2.5 FoV The field-of-view, FoV, is the angle covered by the LiDAR sensor. The horizontal FoV of TF350 is about 0.35° and the vertical FoV of TF350 is approx. 0.1°. Figure 4 FoV of TF350. Horizontal divergence 0.35°, vertical divergence 0.1°...
  • Page 10 PRODUCT DESCRIPTION Figure 5 Spot size of TF350 at different ranges ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · REV: 01/04/2024...

  • Page 11: Electrical Installation

    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 TF350. Wire all connections with copper cables! Use the following wire cross-sections: supply voltage at least 0.13 mm ² (approx. 26 AWG), if local power supply in the ...

  • Page 12: Wiring Uart Interface

    To wire the CAN interface a screened “twisted-pair” cable is required. Pay attention to max. cable length as per section Wire cross-sections. Figure 8 Wiring of the CAN interface ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · REV: 01/04/2024...

  • Page 13: Can Bus

    120-Ω characteristic impedance (Zo). For CAN bus connection, there are two resistances need to be removed from TF350. See Figure 10 Resistances needed to be removed from board for CAN Bus for the location of Resistance #2 and #3.
  • Page 14 ELECTRICAL INSTALLATION Figure 10 Resistances needed to be removed from board for CAN Bus WARNING Removing resistance R2 and R3 needs to disassemble TF350. To avoid irreversible damage to TF350, please contact our technical support engineers for detailed instructions. ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · REV: 01/04/2024...

  • Page 15: Protocols

    PROTOCOLS 4 PROTOCOLS The standard version of TF350 supports two communication interfaces, UART and CAN. The default interface is UART. These two interfaces cannot work simultaneously. The communication interface can be switched by certain command. 4.1 Communication protocol of UART...

  • Page 16: Communication Protocol Of Can

    2m (6.562ft). Table 5 Characteristics of CAN Character Value Configurability Baud rate 1MBit/s Configurable Receiving ID 0x3003 Configurable Transmitting ID 0x03 Configurable Standard Frame Message frames Configurable Extended Frame ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · REV: 01/04/2024...

  • Page 17: User Protocol: Can

    Baud rate of CAN can be set to 20000, 33330, 40000, 50000, 66660, 80000, 83330, 100000, 125000, 200000, 250000, 400000, 500000, 666000, 800000 and 1000000. If other value were set, TF350 will automatically set it to 1000000. 4.4 User Protocol: CAN Figure 12 Data communication: User protocol frame format of CAN ©2024 Benewake (Beijing) Co., Ltd.

  • Page 18: Custom Configuration

    5 CUSTOM CONFIGURATION 5.1 Protocol description To meet the need of different customers, TF350 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 19 Extension of CAN frame frame: 5A 05 5D 01 BD MD：filter switch Enable 5A 05 77 MD SU 5A 05 77 00 D6 0x00：filter off UAVCAN 0x01：filter on ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · REV: 01/04/2024...

  • Page 20: Command Editing

    5cm. 5.3 Command editing This section describes the Command Channel of TF350 which is used to read and set TF350’s working parameters. The command channel is available via all the interfaces. A standard TF350 command consists of frame header, command length, command ID, parameters, and checksum.
  • Page 21 Length of the command (Number of bytes) ID of the command Hexadecimal parameters Little-endian mode Lower 8 bits of the sum of previous bytes Figure 13 Command syntax of TF350 ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · REV: 01/04/2024...

  • Page 22: Optional Accessories

    Figure 14 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 15 Benewake testing GUI for TF series of the GUI.  Connect TF350 to the PC or laptop with a paired USB converter cable as shown in  Figure 16 TF350 connecting to PC. The UART version TF350 needs a UART-USB converter, and the CAN version TF350 needs a CAN-USB converter.

  • Page 24: Troubleshooting Guide For Initial Test

    CONNECT to start the test. 7.2 Troubleshooting guide for initial test In the default working mode, TF350 will automatically output data when connected to the PC following 7.1 Connection and basic test. If you cannot read data from GUI properly, follow these steps to locate and solve problems.

  • Page 25: Influences Of Object Surfaces On The Measurement

    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 TF350 will be ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · REV: 01/04/2024...
  • Page 26 As a result, a large portion of the energy emitted can be received by the laser distance measurement device. Plastic reflectors (“cats’ eyes”), reflective tape and triple prisms have these properties. ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · REV: 01/04/2024...
  • Page 27 The energy in the portion of the laser light that is not reflected is lost. This means that the detecting range is less than would be possible theoretically based on the surface of the object. ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · REV: 01/04/2024...
  • Page 28 Staircase objects have two or more planes (Figure 21 Staircase object). The energy in the portion of the laser light that is reflected by different plane is different. TF350 will calculate a weighted averaging energy. The measured value will possible theoretically be the weighted average of distances from TF350 to different platform.

  • Page 29: Troubleshooting

    NOTICE Claims under the warranty rendered void! The housing screws of the TF350 are sealed. Claims under the warranty against Benewake will be rendered void if the seals are damaged or the device opened. The housing is only allowed to be opened by authorized service personnel.
  • Page 30 TROUBLESHOOTING above.  The target is a low  Sticking a high reflection reflectivity object. sticker on the surface of the measured object. ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · REV: 01/04/2024...

  • Page 31: Attachment 1: Reflectivity Of Different Materials

    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 TF350 and other parameters meet the requirements. Materials Reflectivity black foam rubber 2.4%...

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