Benewake TF02-i User manual

SJ-PM-TF02-i A02 Manual
Benewake(Beijing)Co., Ltd
Page1
Product Manual of TF02-i

SJ-PM-TF02-i A02 Manual
Benewake(Beijing)Co., Ltd
Page2
Specified Product
Product model: TF02-i
Product name: TF02-i LiDAR (Medium range sensor)
Manufacturer
Company name: Benewake (Beijing) Co., Ltd.
Address: NO.28 Xinxi Road, Haidian District, Beijing, PRC
Copyright
The Copyright of this document is protected. All the rights involved herein belong to Benewake
(Beijing) Co., Ltd. Any copy activity of this document, no matter in whole or in part, should be in
conformity of the Copyright Law. The actives of modification, omission or translation of this
document are not allowed unless a written permission from Benewake (Beijing) Co., Ltd.
All rights reserved © Benewake (Beijing) Co., Ltd.

SJ-PM-TF02-i A02 Manual
Benewake(Beijing)Co., Ltd
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Foreword
Dear users:
Thanks for choosing Benewake products, and it’s our pleasure to help you to solve any technical
question.
For the purpose of offering a better operation experience to you, we hereby write this manual for
an easier and simpler operation of our product, hoping to better solve the common problems you
maybe meet.
This operation manual covers the product operation introduction and common problem solutions,
but it is really hard to cover all the problems you maybe meet. So, if you have any further questions
or problems, please feel free to consult our technical support service ([email protected]).
We will do our best to solve any problem related to the product. If you have any other good advice
or suggestions, welcome to visit our official website and offer us your feedback there
(http://en.benewake.com/support), and we are looking forwards to your participation.
We are Benewake who dedicated to making the best “Robotic Eyes” worldwide!

SJ-PM-TF02-i A02 Manual
Benewake(Beijing)Co., Ltd
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Catalog
1ATTENTIONS .......................................................................................................................................5
1.1 ABOUT THIS DOCUMENT ........................................................................................................................5
1.2 INSTALLATION AND MAINTENANCE ............................................................................................................5
1.3 CONDITIONS WITH POTENTIAL PRODUCT FAILURE ........................................................................................5
2PHYSICAL INTERFACE...........................................................................................................................6
2.1 WIRING .............................................................................................................................................6
2.2 ELECTRICAL CHARACTERISTICS..................................................................................................................6
3HARDWARE AND COMMUNICATION PROTOCOL ..................................................................................7
3.1 PROTOCOL OF RS485............................................................................................................................7
3.1.1 PARAMETER CONFIGURATION AND DESCRIPTION OF MODBUS...............................................................................7
3.2 PROTOCOL OF CAN.............................................................................................................................10
3.2.1 PARAMETER CONFIGURATION AND DESCRIPTION OF CAN...................................................................................10
4FAQ ..................................................................................................................................................12

SJ-PM-TF02-i A02 Manual
Benewake(Beijing)Co., Ltd
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1Attentions
1.1 About this Document
This Manual provides information necessary for the use of this product.
Please read this Manual carefully before using this product and make sure that you have fully
understood its contents.
1.2 Installation and maintenance
This product can only be maintained by qualified professionals and only the original spare
parts can be used to ensure its performance and safety.
The working temperature of the product is -20°C~60°C; please do not use it beyond this
temperature range, so as to avoid risks.
The storage temperature of the product is -30°C~80°C; please do not store it beyond this
temperature range, so as to avoid risks.
Do not open its enclosure for assembly or maintenance beyond this Manual; otherwise, it will
affect the product performance.
Do not twist the cable forcefully, so as to avoid damage to product.
The product can’t be aimed directly to the sun or another TF02-i, so as to avoid damage the
detector by strong light. If there is such an application, please contact our technician.
1.3 Conditions with Potential Product Failure
When the product transmitter and receiver lens are covered by dirt, there will be a risk of
failures. Please keep the lens clean.
The product will have a risk of failure when immersed completely in water. Do not use it
underwater.
When detecting objects with high reflectivity, such as mirrors and smooth tiles, the product
may have a high risk of failures.

SJ-PM-TF02-i A02 Manual
Benewake(Beijing)Co., Ltd
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2 Physical Interface
2.1 Wiring
Terminal model: MH1.25-7P-W/B, size of single wire is AWG26, diameter of single wire is
0.404mm, cross-sectional area is 0.129mm2.
Figure 1 New Line Sequence of TF02-i
Table 1 Pin functions and connection instructions of TF02-i
No.
Color
Pin
Function
1
Red
VCC
Power supply
2
White/Yellow
RS485-B/ CAN_L
RS485-B/CAN bus
3
Green
RS485-A/ CAN_H
RS485-A/CAN bus
4
N/A
N/A
N/A
5
Blue/Orange
UART_RX
UART receive(debug)
6
Brown
UART_TX
UART transport(debug)
7
Black
GND
Ground
Note: The hardware of RS485 and CAN is different; Do not mix UART cable with RS485 or CAN bus,
otherwise it will cause damage of MCU.
2.2 Electrical Characteristics
TF02-i has overvoltage and polarity protection.
Table 2 Main electrical parameters
Parameter
Typical value
Supply voltage
7V~30V
Peak current
100mA
Average current
≤70mA@12V
Average power consumption
≤0.85W@12V
Overvoltage protection
30V
Polarity protection
40V

SJ-PM-TF02-i A02 Manual
Benewake(Beijing)Co., Ltd
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3 Hardware and communication protocol
There are two communication interfaces available. The hardware of RS485 and CAN is different.
The interface can not be switched by command.
3.1 Protocol of RS485
Modbus is the default setting. The parameters is shown as below. The default value of baudrate
and slave ID is 115200 and 0x01.
Table 3 Communication protocol of TF02-i-485
Item
Parameter
Communication interface
RS485
Baud rate
115200
Data bit
8
Stop bit
1
Parity
None
3.1.1 Parameter configuration and description of Modbus
Baudrate of TF02-i supports 9600、14400、19200、38400、43000、57600、76800、115200、
128000、230400、256000. Based on reliability considerations, it is not recommended to use a
baud rate above 115200 for communication
When Modbus protocol is enabled, the Modbus reading distance command format:
Address
field
Function
code
Register address
Number of registers
CRC_low
CRC_high
01（default）
03
00
00
00
01
xx
xx
The data frame returned by TF02-i is as follows:
Address
field
Function
code
Data length
Dist_high
Dist_low
CRC_low
CRC_high
01（default）
03
02
xx
xx
xx
xx
Parameter configuration:
Category
Function
Instruction
Response
Description
UART
instructions
Enable Modbus
5A 05 15 01 75
5A 05 15 01 75
Save settings and restart to
take effect.
Save settings
5A 04 11 6F
5A 05 11 00 70
Modbus
instructions
Read distance
01 03 00 00 00 01 84 0A
01 03 02 DH DL CL CH
DH and DL are 8 high-order
and low-order bits of
Distance;

SJ-PM-TF02-i A02 Manual
Benewake(Beijing)Co., Ltd
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CH and CL are 8 high-order
and low-order bits of CRC.
Read distance and
signal strength
01 03 00 00 00 02 C4
0B
01 03 04 DH DL SH SL
CL CH
DH and DL are 8 high-order
and low-order bits of
Distance;
SH and SL are 8 high-order and
low-order bits of signal
Strength.
Read software
version
01 03 00 06 00 02 24 0A
01 03 04 00 VM VS VC
CL CH
VM,VS,VC are the major, minor
and revised version number.
Set Baud rate
01 06 00 83 BH1 BH2
CL CH
01 06 00 84 BL1 BL2 CL
CH
01 06 00 83 BH1 BH2 CL
CH
01 06 00 84 BL1 BL2 CL
CH
BH1,BH2,BL1,BL2 are high,
secondary high, secondary low
and low bytes of baud rate.
For example, set baud rate to
9600，BH1=00 BH2=00 CL=78
CH=22,
BL1=25 BL2=80 CL=D2
CH=D3
Set Slave ID
01 06 00 85 IH IL CL CH
01 06 00 84 IH IL CL CH
IH,IL are high and low bytes of
ID.
Set ID to 2，IH=00 IL=02
CL=19 CH=E2
Set output rate
01 06 00 86 FH FL CL
CH
01 06 00 86 FH FL CL CH
FH,FL are high and low bytes of
frame rate.
Set frame rate to 100，FH=00
FL=64 CL=69 CH=C8
Set low-power
consumption mode
01 06 00 88 LH LL CL
CH
01 06 00 88 LH LL CL CH
H,LL are high and low bytes of
low power sampling rate.
Set it to 5HZ low-power
consumption mode, LH=00
LL=05 CL=C9 CH=E3
Save settings
01 06 00 80 00 00 88 22
01 06 00 80 00 00 88 22
Save settings and restart to
take effect
Restore factory
setting
01 06 00 89 00 00 58 20
01 06 00 89 00 00 58 20
Disable Modbus
01 06 00 82 00 01 E8 22
01 06 00 82 00 01 E8 22
Save settings and restart to
take effect
Note: Only RTU mode is supported for communication in UART link.
Function code of TF02-i Modbus
Function code
Description
03
Read register
06
Write register
Register address description
①All register addresses are hexadecimal and register values are 16bit;
②After setting parameter, save and restart to take effect;
Register address list using function code: 0x03(read only)

SJ-PM-TF02-i A02 Manual
Benewake(Beijing)Co., Ltd
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Register address
Definition
Description
00 00
Dist
Distance, unit: cm
00 01
Strength
Signal strength
00 03
High16bit of timestamp
2 high-order bits of timestamp represent relative
time of radar start up, unit: ms
00 04
Low16bit of timestamp
2 low-order bits of timestamp represent relative
time of radar start up, unit: ms
00 06
High16bit of software version
00 + major version number
00 07
Low16bit of software version
Minor version number + revised version number
Register address list using function code: 0x06(write only)
Register address
Definition
Description
00 80
Save settings
Write any value to save settings
00 81
Power off/Restart
Register value：
0-Power off（unavailable currently）
1-Restart；
00 82
Disable Modbus
Register value：
1-Disable Modbus
Others-Error reply
00 83
Baud rate High
Set baud rate. Restart to take effect
00 84
Baud rate Low
Set baud rate. Restart to take effect
00 85
Slave ID
Set TF02-i’s ID. Restart to take effect(default
0x01)
00 86
fps
Set fps. Restart to take effect(default 100hz)
00 87
Working mode
Set working mode. Restart to take effect after
saving
Register value:
0- Continuously detection mode(default)
1-Triggering mode
Others-Error reply
00 88
Low-power consumption mode
Set low-power consumption mode，Restart to take
effect after saving
Register value:
0-Disable(default)
>0 and≤10-Enable(the value is inside sampling
frequent)
00 89
Restore default
Write any value. Restart to take effect after saving
Examples:
1）Enable Modbus protocol：
5A 05 15 01 75 // Enable Modbus
5A 04 11 6F // Save settings

SJ-PM-TF02-i A02 Manual
Benewake(Beijing)Co., Ltd
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Entry Modbus model and entry Modbus instructions after restarting
2）Disable Modbus protocol：
01 06 00 82 00 01 E8 22 // Default address 01, disable Modbus
01 06 00 80 00 00 88 22 // Default address 01, save setting
Restart and exit Modbus.
3.2 Protocol of CAN
The data protocol of CAN is shown in
Table 4. Each data frame consists of 8 bytes and the data contains the distance(unit: cm), signal
strength and timestamp(unit: ms) information.
Table 4 Data protocol of TF02-i-CAN
Data byte
Definition
Description
Byte0
DIST_L
DIST low 8-bits
Byte1
DIST_H
DIST high 8-bits
Byte2
Strength_L
Signal strength low 8-bits
Byte3
Strength_H
Signal strength high 8-bits
Byte4
Timestamp
Low8bit of timestamp
Byte5
Timestamp
Secondary-low8bit of timestamp
Byte6
Timestamp
Secondary-high8bit of timestamp
Byte7
Timestamp
High8bit of timestamp
3.2.1 Parameter configuration and description of CAN
The default baudrate is 250kbps, the default type is standard frame, default receive and send id
is 0x00000003.
The format of instruction is shown as below:
Byte
0
1
2
3
4
5-8
9-12
13
Description
0x5A
0x0E
0x51
Type
Baudrate
Recv_id
Send_id
Check_sum
Default
0
8
0x00000003
0x00000003
Type: 0(Standard Frame), 1(Extended Frame);
Recv_id: LiDAR receive ID, Little Endian; Send_id: LiDAR send ID, Little Endian

SJ-PM-TF02-i A02 Manual
Benewake(Beijing)Co., Ltd
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The relation between Baudrate(unit: kbps) and Byte4 is shown as below:
Byte4
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
Baudrate
1000
900
800
666
600
500
400
300
250
225
200
160
150
144
125
120
100
1) Examples of configuration
Example1: Standard frame, Baud rate 500kbps, receive ID=0x0010, send ID=0x0020
Command: 5A 0E 51 00 05 10 00 00 00 20 00 00 00 EE
Example2: Extended Frame, Baud rate 250kbps, receive ID=0x0000AABB,
send ID=0x0000CCDD
Command: 5A 0E 51 01 08 BB AA 00 00 DD CC 00 00 D0
2) CAN Terminating Resistor Configuration Instructions
Enable 120Ω Terminating Resistor: 5A 05 60 01 C0
Disable(Default) 120Ω Terminating Resistor: 5A 05 60 00 BF
3) Others
1）Other configuration instructions are the same as UART instructions of standard products,
such as saving settings(5A 04 11 6F), resetting(5A 04 02 60) and so on. “Save setting”
instruction must be sent after setting parameters, otherwise the parameter doesn’t take effect
after restarting.
2）When the command is longer than 8 bytes, it needs to be distributed into multiple CAN data
frames. And interval between every data frame can’t be longer than 20ms.

SJ-PM-TF02-i A02 Manual
Benewake(Beijing)Co., Ltd
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4 FAQ
Q1: Can the FOV (spot) of TF02-i be increased or decreased?
A1: Generally, this is a customized demand. You need to contact our sale colleague for further
details. FOV is determined at the beginning of product design. Determination of FOV is also
related to the optical system and the product structure. Therefore, it cannot be easily changed,
and needs to be customized.
Q2: Can I change the frequency of data output?
A2: Yes, customization of parameter configuration is supported in TF02-i. You may consult our
sales colleague or technical support for further details.
Other common questions please refer to SJ-PM-TF02-Pro A01 Product Manual on our website.
Contact
Headquarters:
400-880-9610
[email protected]
suppor[email protected]
Technical support: