Benewake TF350 User manual

TF350 UART/CAN User Manual
INTRODUCTION
Page1 ©Benewake · All rights reserved · Subject to change without notice · 2021-12-06
TF350 - UART / CAN
Long-distance Single-point LiDAR
User Manual

TF350 UART/CAN User Manual
INTRODUCTION
Page2 ©Benewake · All rights reserved · Subject to change without notice · 2021-12-06
Described product
Long-range single-point LiDAR: TF350-UART / CAN.
Manufacturer
Benewake (Beijing) Co., Ltd.
Room 3030, Building ZiZhuChuangXin,
No.6 Chuangye Road,
Haidian District,
Beijing, PRC
Legal information
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Benewake (Beijing). Reproduction of this document or parts of this document is only permissible
within the limits of the legal determination of Copyright Law. Any modification, abridgment or
translation of this document is prohibited without the express written permission of Benewake
(Beijing).
The trademarks stated in this document are the property of their respective owner.
© Benewake (Beijing). All rights reserved.
Original document
This document is an original document of Benewake (Beijing).

TF350 UART/CAN User Manual
INTRODUCTION
Page3 ©Benewake · All rights reserved · Subject to change without notice · 2021-12-06
TABLE OF CONTENTS
1INTRODUCTION...................................................................................................................................... 4
1.1 FAILURE SCENARIOS ................................................................................................................................. 4
1.2 SYMBOLS AND DOCUMENT CONVENTIONS .................................................................................................... 5
2PRODUCT DESCRIPTION ......................................................................................................................... 6
2.1 APPEARANCE OVERVIEW ........................................................................................................................... 6
2.2 DIMENSIONAL DRAWING........................................................................................................................... 6
2.3 MEASURING PRINCIPLE ............................................................................................................................. 6
2.4 TECHNICAL SPECIFICATION ......................................................................................................................... 7
2.5 FOV...................................................................................................................................................... 8
3ELECTRICAL INSTALLATION ................................................................................................................... 10
3.1 PIN AND WIRE COLOR ASSIGNMENT........................................................................................................... 10
3.2 WIRE CROSS-SECTIONS ........................................................................................................................... 10
3.3 WIRING UART INTERFACE....................................................................................................................... 11
3.4 WIRING CAN INTERFACE......................................................................................................................... 11
3.5 CAN BUS ............................................................................................................................................. 11
4PROTOCOLS.......................................................................................................................................... 13
4.1 COMMUNICATION PROTOCOL OF UART..................................................................................................... 13
4.2 USER PROTOCOL: UART ......................................................................................................................... 13
4.3 COMMUNICATION PROTOCOL OF CAN....................................................................................................... 14
4.4 USER PROTOCOL: CAN........................................................................................................................... 14
5CUSTOM CONFIGURATION ................................................................................................................... 14
5.1 PROTOCOL DESCRIPTION ......................................................................................................................... 14
5.2 COMMON COMMANDS........................................................................................................................... 15
5.3 COMMAND EDITING............................................................................................................................... 17
6OPTIONAL ACCESSORIES ...................................................................................................................... 17
6.1 SELF-CLEANING MODULE......................................................................................................................... 17
6.2 AIMING BEAM MODULE .......................................................................................................................... 19
6.3 EXTENSION CORD................................................................................................................................... 20
7QUICK START GUIDE ............................................................................................................................. 21
7.1 CONNECTION AND BASIC TEST .................................................................................................................. 21
7.2 TROUBLESHOOTING GUIDE FOR INITIAL TEST................................................................................................ 22
7.3 WORKING MODE ................................................................................................................................... 23
7.4 INFLUENCES OF OBJECT SURFACES ON THE MEASUREMENT.............................................................................. 23
8TROUBLESHOOTING ............................................................................................................................. 26
ATTACHMENT 1: REFLECTIVITY OF DIFFERENT MATERIALS......................................................................... 28

TF350 UART/CAN User Manual
INTRODUCTION
Page4 ©Benewake · All rights reserved · Subject to change without notice · 2021-12-06
1 INTRODUCTION
The Reference Manual is a complement to the Operating Instructions for TF350. The
Operating Instructions for TF350 describes how to set up and configure the interfaces.
The Reference Manual contains detailed information about the interfaces including syntax
and available functionality. It focuses on TF350 specific topics and does not describe the
basic technology behind each interface.
The details of the result output formatting and the contents and syntax of the command
channels are shared by several interfaces. They are described in an appendix valid for all
relevant interfaces.
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.
Table 1 Failure scenarios of TF350
Scenario
Description
Scenario
Description
Do not cover the laser
window.
Avoid moving objects in the
detection field.
Avoid the presence of
heavy smoke, fog and rain
in the detection field.
Avoid condensation.
Avoid direct exposure to
high pressure cleaning.
Avoid exposure to strong
light source with same
wavelength.
Do not exposure to
corrosive liquids.
Avoid extreme vibrations.

TF350 UART/CAN User Manual
INTRODUCTION
Page5 ©Benewake · All rights reserved · Subject to change without notice · 2021-12-06
Do not use in extremely low
temperature environments.
Do not use in extremely
high temperature
environments.
Avoid exposure to sudden
and extreme temperature
changes.
Avoid direct exposure to
another LiDAR with same
wavelength.
1.2 Symbols and document conventions
The following symbols and conventions are used in this document:
WARNING
Indicates a situation presenting possible danger, which may lead to death or
serious injuries if not prevented.
CAUTION
Indicates a situation presenting possible danger, which may lead to moderate or
minor injuries if not prevented.
NOTICE
Indicates a situation presenting possible danger, which may lead to property
damage if not prevented.
NOTE
Indicates useful tips and recommendations.