Benewake TF02-Pro-W-485 User manual

Benewake (Beijing) CO., Ltd
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SJ-PM-TF02-Pro-W-485 A00 Product Manual
TF02-Pro-W-485
Product Manual

Benewake (Beijing) CO., Ltd
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SJ-PM-TF02-Pro-W-485 A00 Product Manual
Specified Product
Product model: TF02-Pro-W-485
Product name: TF02-Pro-W-485 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.

Benewake (Beijing) CO., Ltd
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SJ-PM-TF02-Pro-W-485 A00 Product Manual
Foreword
Dear users,
Thanks for choosing Benewake products, and it’s our pleasure to help you to solve any technical
question.
In 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 covers 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 suggestion, welcome to visit our official website and offer us your
feedback there (http://en.benewake.com/contact_us), and we are looking forwards to your
participation.
We are Benewake who dedicated to making the best “Robotic Eyes” worldwide!

Benewake (Beijing) CO., Ltd
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SJ-PM-TF02-Pro-W-485 A00 Product Manual
Catalog
1Attentions .......................................................................5
1.1 About this Manual ................................................................................................5
1.2 Usage of Product .................................................................................................5
1.3 Conditions with Potential Malfunction ...............................................................5
2Physical Interface ................................................................6
2.1 Description about Line Sequence ......................................................................6
2.2 Electrical Characteristics ....................................................................................6
3Appearance and Structure .........................................................6
4Communication Protocol ..........................................................8
5Wiper working description .........................................................8
6Parameter Configuration ..........................................................9
7Q&A ..........................................................................10

Benewake (Beijing) CO., Ltd
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SJ-PM-TF02-Pro-W-485 A00 Product Manual
1Attentions
1.1 About this Manual
This manual provides all the essential information during the usage of this product.
Please carefully read this manual and make sure that you fully understand everything
herein.
1.2 Usage of Product
The maintenance of this product should be done by the professional technician, and the
product can only work with the factory spare part for ensuring the performance and safety.
Please properly connect and supply power as described in this manual.
Operating temperature of this 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.
For ensuring the product performance, do not open the product shell or remove the IR-
pass filter.
1.3 Conditions with Potential Malfunction
When the steering shaft is blocked by dust for a long time, the steering shaft may be
damaged due to the increased resistance. Please clean the steering shaft regularly.
When the environment humidity is large, the product will have the risk of failure, do not
use the product in the high humidity environment.
Detecting object with high reflectivity, such as the mirror or the smooth floor tile, may
cause a system malfunction.

Benewake (Beijing) CO., Ltd
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SJ-PM-TF02-Pro-W-485 A00 Product Manual
2Physical Interface
2.1 Description about Line Sequence
Table 1 The Function and Connection Description of each pin
Color
Function
Comment
Red
+7~30V
Power supply
White
B
DATA-
Green
A
DATA+
Black
GND
Ground
2.2 Electrical Characteristics
This product has no overvoltage nor polarity protection, so please make sure that connection
and power supply are normal.
Table 2 Major Electrical Parameters
Description
Parameter value
Supply voltage
7~30V
Average current
≤200mA@12V
Peak current
400mA@12V
Average power
≤4.8W
Communication level
RS-485
3Appearance and Structure
It is recommended to use M2.5 round Phillips screws for installation.
Please remove the protective film of the optical lens before use. The lens of front panel of
LiDAR cannot be covered. Please keep it clean.
The surface of optical lens is the ranging zero of LiDAR.

Benewake (Beijing) CO., Ltd
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SJ-PM-TF02-Pro-W-485 A00 Product Manual
Figure 1: Constructional Drawing of TF02-Pro-W-485 (unit: mm)
About protection grade：
INGRESS PROTECTION (IP) Protection Grade System is drafted by INTERNATIONAL
ELECTROTECHNICAL COMMISSION (IEC) to classify electrical appliances according to
their dust and moisture resistance characteristics. IP protection grade is composed of two
figures, the first representing the grade of electrical appliance dust proof and preventing the
intrusion of foreign objects, and the second representing degree of electrical appliance
moisture proof and water proof. The greater the number is, the higher the degree of protection
is.
Protection grade of TF02-Pro-W-485: IP5X, IP dust proof: Grade 5, IP water proof: 0.
Grade 5 of IP dust proof represents Protected from limited dust ingress, but the ingress dust
will not affect the equipment working.
Except for the shaft of the servo, the design of other parts of the LiDAR has higher dust proof
level, which will not affect the normal operation of LiDAR.
Dust proof grade
Water proof grade

Benewake (Beijing) CO., Ltd
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SJ-PM-TF02-Pro-W-485 A00 Product Manual
4Communication Protocol
Table 3 Data Communication Protocol
Communication interfce
RS485
Default baud rate
115200
Data bit
8
Stop bit
1
Parity check
None
5Wiper working description
The dust-removal wiper works in a fixed period, which is customer default working mode.
For every 24 hours, there will be a total of six dust-removal operation, each dust-removal
operation is driven by the LiDAR servo, the wiper swing back and forth for 1 times. In addition,
customer can control the LiDAR immediately by sending command for dust-removal, and
modify the wiper swing times and save the settings. During the dust removal operation, the
LiDAR does not measure and output data.
The wiper stops at position A when it does not work, and moves from position A to position
B at work, then returns to position A.
Remarks: It is suggested that the dust removal interval should be more than 30 minutes
under the condition of high temperature (ambient temperature > 40℃).
Positon A Position B

Benewake (Beijing) CO., Ltd
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SJ-PM-TF02-Pro-W-485 A00 Product Manual
6 Parameter Configuration
To meet the need of different customers, parameters can be set by yourselves. Parameters,
such as data format, frame rate could be changed by sending command. Parameter will be stored
in flash after configured successfully and customers don’t need to configure again when restart.
Please change the parameter according to certain demands and do not frequently try
irrelevant instructions. Please configure the product according to the demands of the manual and
never send unstated command.
TF02-Pro-W-485 supports 9600, 14400, 19200, 38400, 43000, 57600, 76800, 115200
(default), 128000, 230400, 256000, 460800, 921600, 1382,400 baudrate. Considering the
reliability of communication, it is not recommended to use the baudrate above 115200. The default
slave ID is 0x01.
Note: Repower is required after configuration.
Table 4 General Parameter Configuration and Description (Slave ID is 0x01)
Function
Command
Response
Remark
Read distance
01 03 00 00 00 01 84 0A
01 03 02 DH DL CL CH
DH: 8 high-order bits of distance
DL: 8 low-order bits of distance
CH: 8 high-order bits of CRC
CL: 8 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: 8 high-order bits of distance
DL: 8 low-order bits of distance
SH: 8 high-order bits of signal strength
SL: 8 low-order bits of signal strength
Read firmware version
01 03 00 06 00 02 24 0A
01 03 04 00 VM VS VC
CL CH
The software version is VM.VS.VC
Set Baudrate
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
For example, set baudrate to 9600
(0x00002580)
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
For example, set slave ID to 0x02, IH=00 IL=02
CL=19 CH=E2
Set frame rate
01 06 00 86 FH FL CL CH
01 06 00 86 FH FL CL
CH
Set frame rate to 100 (0x0064),
FH=00 FL=64 CL=69 CH=C8
Save settings
01 06 00 80 00 00 88 22
01 06 00 80 00 00 88 22
Repower to take effect
Start the wiper
01 06 00 8A 00 00 A8 20
01 06 00 8A 00 00 A8 20
Use this command to start the wiper at any time
Modified dust removal
cycle
01 06 00 8C PH PL CL CH
01 06 00 8C PH PL CL
CH
For example, making wiper works every 240
minutes, PH=00 PL=F0 CL=48 CH=65
Modify the number of
wiper round trip
01 06 00 8D WH WL CL
CH
01 06 00 8D WH WL CL
CH
The number should between 1 and 10.
For example, wipe twice each time
WH=00 WL=02 CL=98 CH=20

Benewake (Beijing) CO., Ltd
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SJ-PM-TF02-Pro-W-485 A00 Product Manual
7Q&A
Q1: Is it possible to change the FOV?
A1: Hello, this demand needs to be customized, please contact our sales to consult a customization
design matter.
Q2：How long is the life of product？
A2：The warranty period is 1 year and can be used for more than 3 years under normal circumstances,
the life of servo is larger than the product itself, the life of wiper is about 3 years under default
mode(work every 4 hours), the wiper is made of rubber and it’s a replaceable accessory.
Contact
Headquarters:
400-880-9610
[email protected]
[e-mail]
Technical support: