Benewake TF02-Pro-W-485 User manual

TF02-Pro-W-485
User Manual

PREFACE
Dear users:
Thank you for choosing Benewake products. In the purpose of offering 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 may meet.
This user manual contains relevant information on product introduction, usage and
maintenance of TF02-Pro-W-485, covers the product operation introduction and
common problem solutions. Please read this manual carefully before using the product.
Remember the precautions to avoid hazards, and please follow the described steps in
the manual when using it.
If you have any problems in the process of using, you are welcome to contact Benewake
at any time for help.
Contact details
Official website: en.benewake.com
TEL：[phone]
Technical questions，please contact：[email protected]
Consult sale information or request brochure，please contact：[email protected]
Headquarters Address
Benewake (Beijing) Co., Ltd.
No.3030, 3rd Floor, Independent Innovation Building, No.6 Chuangye Road, Haidian
District, Beijing, China
Copyright Statement
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.
Disclaimer
As our products are constantly improving and updating, the specifications of TF02-Pro-
W-485 are subject to change. Please refer to the official website for latest version.

CONTENTS
1OVERVIEW ................................................................................................................................... 1
1.1 Technical Specification ....................................................................................................... 1
1.2Maintenance and Cleaning ................................................................................................ 2
1.3 Appearance and Structure ................................................................................................. 2
1.4 Storage ................................................................................................................................. 4
2INTERFACE ................................................................................................................................... 5
2.1 Description About Wiring Sequence ................................................................................ 5
2.2 Electrical Characteristics..................................................................................................... 5
3WIPER WORKING........................................................................................................................ 6
4COMMUNICATION PROTOCOL ................................................................................................. 7
4.1 RS-485 Communication Interface..................................................................................... 7
4.2 Modbus Protocol ................................................................................................................ 7
4.2.1 Description about frame format ..................................................................... 7
4.2.2 Function Code.................................................................................................... 7
4.2.3 Register Address ............................................................................................... 8
4.3 Parameter Configuration ................................................................................................... 9
4.4 Configuration Example.....................................................................................................11

OVERVIEW
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1OVERVIEW
TF02-Pro-W-485 is a single-point ranging LiDAR based on upgraded TF02-Pro-W using
ToF (Time of Flight) principle. It has been optimized in communication interface, input
voltage and reverse voltage protection, adapted to the needs of industrial scenarios.
1.1 Technical Specification
Table 1-1 Technical specification of TF02-Pro-W-485
Type
Parameters
Value
Product
performance
Operating
range
90% reflectivity, 0Klux
0.1m~25m
10% reflectivity, 0Klux
0.1m~12m
90% reflectivity, 100Klux
0.1m~25m
10% reflectivity, 100Klux
0.1m~12m
Accuracy①
±6cm（0.1m~6m），
±1%（6m~25m）
Distance resolution①
1cm
Frame rate②
1Hz~1000Hz
（adjustable, default 100Hz）
Repeatability①
1σ: ＜2cm
（0.1m~25m@90% reflectivity ）
Ambient light immunity
100Klux
Enclosure rating
IP5X
Optical
parameters
Photobiological safety
Class1 (IEC60825)
Central wavelength
850nm
Light source
VCSEL
FoV③
3°
Electrical
parameters
Supply voltage
DC 7V~30V
Average current
≤200mA@12V
Power consumption
≤4.8W
Peak current
400mA@12V
Others
Dimension
85mm×59mm×43mm (L×H×W)
Housing
PC/ABS
Operating temperature
-20℃~60℃
Storage temperature
-30℃~80℃
Weight
92g (with cables)

OVERVIEW
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Note
①The detection range is measured with the standard white board (90%
reflectivity).
②The frame rate can be adjusted. The default value is 100Hz and the
maximum value is 1000Hz, customized frame rate should be calculated
by the formula: 2000/n (n is an integer with ≥ 2).
③The angle is a theoretical value, the actual angle value has some
deviation.
1.2 Maintenance and Cleaning
Before switching on, please check if the exposed window mirror is clean, and clean
it promptly if it is dirty.
After using the device, check the optics. If they are contaminated, please clean it
promptly.
The optics should be cleaned regularly if the device be operated in a severe
environment for a long time.
Before regular cleaning, please disconnect the power. Using a soft cloth to gently
wipe the window in the same direction when the device is not operating, to avoid
repeated wiping and damage to the window mirror.
Do not remove the dust-removal wiper, which may cause equipment failure. If the
dust-removal wiper is abnormal, please contact [e-mail].
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.
If you require deep cleaning of internal optics, please contact [email protected]
to offer professional advice.
1.3 Appearance and Structure
The appearance and dimensions of TF02-Pro-W-485 are shown in Figure 1-1 and Figure
1-2.
Cable length
120cm

OVERVIEW
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Figure 1-1 Appearance of TF02-Pro-W-485
Figure 1-2 Dimension of TF02-Pro-W-485 (unit: mm)
TF02-Pro-W-485 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.
The detection angle of TF02-Pro-W-485 is 3°. At different distances, the size of light
spot, namely the edge length of the detection range, is different, as shown in Figure 1-3.
Side length of the detection range at different distances (the detection range is a square),
as shown in Table 1-2.

OVERVIEW
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Figure 1-3 Light spot size at different distances
Table 1-2 Spot Size at Different Distances
Distance(m)
1
2
3
4
5
6
7
8
9
10
15
20
22
Spot size(cm)
5
10
16
21
26
31
37
42
47
52
79
105
115
Note
The side length of target object generally should be larger than size of the
TF02-Pro-W-485 light spot; if the side length of the detected object is
smaller than size of light spot, the output (Distance) from TF02-Pro-W-485
will be a value between the actual distance values of the two objects.
1.4 Storage
Device should be stored at -30°C to 80°C with a relative humidity ≤ 60% and
ventilation free from corrosive gases.
Before storage, please make sure that all connections are disconnected or dust
covers are inserted or covered to ensure cleanliness.
If storage time is over three months, please carry out a working test before using,
to ensure that the device can be used in normal condition.
For ensuring the product performance, do not open the product shell or remove
the IR-pass filter.

INTERFACE
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2INTERFACE
2.1 Description About Wiring Sequence
The external tail cable of TF02-Pro-W-485 has no connector by default, the wiring
sequence is shown in Table 2-1.
Table 2-1 The function description of each wire
Wiring color
Function
Comment
Red
VCC
Power supply
Black
GND
Ground
White
RS-485-B
DATA-
Green
RS-485-A
DATA+
2.2 Electrical Characteristics
TF02-Pro-W-485 has overvoltage and reverse polarity protection, but do not connect
to power rails higher than 36V, reverse polarity protection voltage is -30V. The electrical
characteristics are shown in Table 2-2.
Table 2-2 Main electrical parameters of TF02-Pro-W-485
Parameter
Value
Supply voltage
DC 7V~30V
Average current
≤200mA@12V
Peak current
400mA@12V
Average power consumption
≤4.8W
Communication level
RS-485

WIPER WORKING
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3WIPER WORKING
The dust-removal wiper works in a fixed cycle, having a dust-removal operation every 4
hours in the default working mode. Each dust-removal operation is driven by the LiDAR
servo, the wiper moves backwards and forwards for one time. And TF02-Pro-W-485 will
also perform dust-removal operation once after each power-on. 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 during operation, then returns to position A, the initial and termination
positions are shown in Figure 3-1.
Figure 3-1 The initial and termination positions of the wiper movement
Note
It is recommended that the dust-removal interval should be kept greater
than 30 minutes，when servo is in high temperature environments (ambient
temperature > 40 ℃).

COMMUNICATION PROTOCOL
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4COMMUNICATION PROTOCOL
4.1 RS-485 Communication Interface
TF02-Pro-W-485 uses RS-485 communication standard with 2-wire interface, the
communication protocol parameters are shown in Table 4-1. The default baud rate is
115200, the default slave ID is 0x01.
Table 4-1 TF02-Pro-W-485 RS-485 communication protocol
Communication interface
RS-485
Default baud rate
115200
Data bit
8
Stop bit
1
Parity check
None
Warning
TF02-Pro-W-485 supports 9600, 14400, 19200, 38400, 43000, 57600, 76800,
115200 (default), 128000, 230400, 256000, 460800, 921600, 1382400 baud
rates. It is not recommended to use the baud rate above 115200.
4.2 Modbus Protocol
4.2.1 Description about frame format
When TF02-Pro-W-485 Modbus protocol is enabled, the Modbus reading distance
command format is shown in Table 4-2.
Table 4-2 The Modbus reading distance command format
Address
field
Function
code
Register
address
Register
number
CRC_Low
CRC_High
01
03
00
00
00
01
xx
xx
The data frame returned by TF02-Pro-W-485 is as follows：
Table 4-3 The data frame format
Address
field
Function
code
Data
length
Dist_High
Dist_Low
CRC_Low
CRC_High
01
03
02
XX
XX
xx
xx
4.2.2 Function Code
The function code of TF02-Pro-W-485 is shown in Table 4-4.

COMMUNICATION PROTOCOL
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Table 4-4 The function code of TF02-Pro-W-485
Function code
Description
03
Read register
06
Write register
4.2.3 Register Address
All register addresses are hexadecimal and register values are 16 bits;
After setting parameter, save settings and restart LiDAR to take effect.
4.2.3.1 Register Address for Reading Function Code
Table 4-5 Register address list using function code: 0x03(read only)
Register address
Definition
Description
00 00
Dist
Distance, unit: cm
00 01
Strength
Signal strength
00 03
High 16bit of
timestamp
2 high-order bits of timestamp represent
relative time of LiDAR start up, unit: ms
00 04
Low 16bit of
timestamp
2 low-order bits of timestamp represent
relative time of LiDAR start up, unit: ms
00 06
High 16bit of
software
version
00 + major version number
00 07
Low 16bit of
software
version
Minor version number + revised version
number
4.2.3.2 Register Address for Writing Function Code
Table 4-6 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

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00 85
Slave ID
Set slave ID. Restart to take effect (default
0x01)
00 86
FPS
Set frame rate. Restart to take effect (default
100Hz)
00 87
Working mode
Set working mode. Restart to take effect after
saving settings. Register value:
0- Continuously detection mode(default)
1-Trigger mode
Others-Error reply
00 88
Low-power
consumption
mode
Set low-power consumption mode，Restart to
take effect after saving settings. Register
value:
0-Disable(default)
>0 and≤10-Enable (the value is inside
sampling frequency.)
00 89
Restore defaults
Write any value. Restart to take effect after
saving settings.
00 8A
Start the wiper
Write any value. Start the wiper at any time.
00 8C
Modify dust-
removal cycle
Unit: minutes (default 240 minutes). Take
effect immediately.
00 8D
Modify number
of wiper swings
The number should between 1 and 10 (default
once). Take effect immediately.
4.3 Parameter Configuration
Table 4-7 TF02-Pro-W-485 general parameter configuration under serial link mode
Function
Command
Response
Description
Enable
Modbus
5A 05 15 01 75
5A 05 15 01 75
Save settings and restart to take
effect.
Save setting
5A 04 11 6F
5A 05 11 00 70
Table 4-8 TF02-Pro-W-485 general parameter configuration with Modbus instructions
Function
Command
Response
Description
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
CL: 8 low-order bits of CRC
CH: 8 high-order bits of CRC
Read distance
and 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

COMMUNICATION PROTOCOL
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SL: 8 low-order bits of signal strength
CL: 8 low-order bits of CRC
CH: 8 high-order bits of CRC
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 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. E.g., set baud
rate 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 85 IH
IL CL CH
IH, IL are high and low bytes of ID.
For example, set ID to 2，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
FH, FL are high and low bytes of
frame rate. E.g., Set frame rate to 100
(0x0064),
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
LH, LL are high and low bytes of low
power sampling rate.
For example, 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 LiDAR to
take effect
Disable
Modbus
01 06 00 82 00
01 E8 22
01 06 00 82 00
01 E8 22
Save settings and restart LiDAR to
take effect
Start the
wiper
01 06 00 8A 00
00 A8 20
01 06 00 8A 00
00 A8 20
Start the wiper at any time
Modify dust
removal cycle
01 06 00 8C
PH PL CL CH
01 06 00 8C
PH PL CL CH
PH, PL are high and low bytes of
cycle.
E.g., making wiper works every 240
minutes (0x00F0), PH=00 PL=F0
CL=48 CH=65
Modify the
number of
wiper round
trips
01 06 00 8D
WH WL CL CH
01 06 00 8D
WH WL CL CH
WH, WL are high and low bytes of
number of round trips. The number
should between 1 and 10. E.g., twice
each time
WH=00 WL=02 CL=98 CH=20
Warning
TF02-Pro-W-485 Only supports RTU mode to communicate in serial link.

COMMUNICATION PROTOCOL
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4.4 Configuration Example
1) Under RS-485 serial link mode, enable Modbus protocol:
5A 05 15 01 75 // Enable Modbus protocol
5A 04 11 6F // Save setting
Restart and enter Modbus mode.
2) Under Modbus mode, 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.