Benewake TF350 User manual

T350 Product Manual V1.0
Benewake(Beijing)Co., Ltd
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TF350 Long-Distance LiDAR
UART-CAN
Product Manual

T350 Product Manual V1.0
Benewake(Beijing)Co., Ltd
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Specified Product
Product model: TF350 UART-CAN
Product Name: Long-Distance LiDAR
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.

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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. Please contact us if you have any questions.( [email protected])
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
([e-mail]). 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/contact_us), and we are looking forwards to your
participation.
We are Benewake who dedicated to making the best “Robotic Eyes” worldwide!

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目录
1ATTENTIONS ............................................................................................................................................ 6
1.1 ABOUT THIS DOCUMENT ............................................................................................................................ 6
1.2 USAGE OF PRODUCT.................................................................................................................................. 6
1.3 CONDITIONS WITH POTENTIAL PRODUCT FAILURE ........................................................................................... 6
2PHYSICAL INTERFACE ............................................................................................................................... 7
2.1 DESCRIPTION ABOUT THE LINE SEQUENCE AND CONNECTION.............................................................................. 7
2.2 ELECTRICAL CHARACTERISTICS...................................................................................................................... 7
3INSTALLATION INSTRUCTIONS ................................................................................................................. 8
3.1 PRODUCT OVERVIEW................................................................................................................................. 8
3.2 PRODUCT STRUCTURE................................................................................................................................ 8
3.3 DETECTION ANGLE DESCRIPTIONS................................................................................................................. 9
4COMMUNICATION PROTOCOL AND DATA FORMAT ............................................................................... 10
4.1 TTL SERIAL PORT..................................................................................................................................... 10
4.2 CAN BUS ............................................................................................................................................. 13
4.3 CUSTOMER PARAMETER CONFIGURATIONS ................................................................................................... 13
4.3.1 THE GENERAL FORMAT DESCRIPTION OF COMMANDS................................................................................... 13
4.3.2 COMMANDS ........................................................................................................................................ 14
5QUICK TEST PROCEDURES...................................................................................................................... 16
5.1 REQUIRED TOOLS OF PRODUCT TEST........................................................................................................... 16
5.2 TEST PROCEDURES................................................................................................................................... 17
6TF350 SOFTWARE SETUP ....................................................................................................................... 19

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7FAILURE REASONS AND TROUBLESHOOTING......................................................................................... 20
8FREQUENTLY ASKED QUESTIONS ........................................................................................................... 21
ATTACHMENT 1: INSTRUCTION OF TF SERIES PC DISPLAY SOFTWARE ......................................................... 22

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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 Usage of Product
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 product itself has no polarity and overvoltage protection. Please complete wiring and
supply power correctly according to the contents of the Manual.
The working temperature of the product is -25°C~60°C; please do not use it beyond this
temperature range, so as to avoid risks.
The storage temperature of the product is -40°C~85°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.
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.

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2 Physical Interface
2.1 Description about the line sequence and connection
Wiring terminal model: MH1.25-7P, core wire: AWG30, diameter:0.254mm, cross-sectional
area:0.05mm2.
Figure 1 TF350 Line Sequence
Table 1 TF350 Pin functions and connection instructions
No.
color
Pin
Function
1
Red
VCC
Voltage Input
2
White
CAN_L
CAN
3
Green
CAN_H
CAN
4
Blue
GPIO
IO output1
5
brown
TTL_RXD
receiver
6
Yellow
TTL_TXD
transmitter
7
Black
GND
GND
Note: If the serial port version is used, the TTL_RXD and TTL_TXD of the serial port must be
connected and not allowed to be left floating, So as not to be affected by electromagnetic
interference.
2.2 Electrical Characteristics
This product has no overvoltage or polarity protection. Please ensure that the wiring and
power supply are normal. Voltage of power supply is allowed to fluctuate in the range of ±0.5V.
1
The IO output function needs to be customized according to actual needs, IO high and low level 0-3.3V.。

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Table 2 main electrical parameters
Parameter
Typical value
Power supply voltage
5V
Average current
≤180mA
Peak current
≤180mA
Average power
≤0.9W
3 Installation Instructions
3.1 Product Overview
Figure 2 Exterior
3.2 Product Structure
The LiDAR mounting holes are applicable to M3 screws. Note that the length of the screw
entering the enclosure shall be no more than 4mm.

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Figure 2 TF350 dimensions, unit:mm
3.3 Detection angle descriptions
TF350 has a 0.35-degree detection angle and rectangular light spots; see Table 3 for
simulated diagrams of the light spots. Therefore, at different distances, the spot size, namely
detecting range, is different as shown in Figure 4.
Note: The side length of common objects detected should be greater than that of the detection
range of TF350; When the side length of the detected object is less than that of the detection
range, the LiDAR effective range will be reduced
Figure 3 Detection angle schematic of TF350
Table 3 Spot simulated diagrams and sizes at different distances

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Spot 20m away
Size：14cm*4cm
Spot 50m away
Size：35cm*10cm
Spot 100m away
Size：70cm*20cm
Spot 150m away
Size：105cm*30cm
Note: In it, the red is the strongest, the green is weak, and the dark blue is the background,
and the spot size is the length and width of the green in the figure.
4 Communication protocol and Data format
The standard version of TF350 supports TTL serial port and CAN communication modes.
The default is TTL serial port communication. If necessary, the command can be modified to CAN
communication mode. The two communication modes are selected one by one and cannot be
output at the same time.
4.1 TTL serial port
he serial port version of TF350 adopts UART-LVTTL interface, and the output level is LVTTL
level (0-3.3V). The specific communication protocol is shown in Table 4.

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Table 4 communication protocol of TF350 Serial port
Item
Content
Communication
protocol
UART
Baud rate
115200
Data bit
8
Stop bit
1
Checksum bit
None
1）Standard data output format of Serial port（UART）
The output data (hexadecimal numbers) of TF350 is shown in table 5. Each data frame
consists of 9 bytes and the data contains the measured distance information; namely, DIST; the
frame tail acts as a data checksum bit; other bytes are reserved.
Table 5 TF350 serial data format
Data bit
Definition
Description
Byte0
Frame header
0x59
Byte1
Frame header
0x59
Byte2
DIST_L
DIST low 8-bits
Byte3
DIST_H
DIST high 8-bits
Byte4
Reserved bit
/
Byte5
Reserved bit
/
Byte6
Reserved bit
/
Byte7
Reserved bit
/
Byte8
Checksum
Low 8 bits of Checksum bit. Checksum = Byte0 +
Byte2+…+Byte7
2）Character string data format(Pix Mode)
The Pixhawk data format is output as a string and its unit is m(meter). For example, if the
measurement distance is 1.21m, the string 1.21 will be output, followed by the escape character
\r\n. The serial version supports editing to Pixhawk mode output by command.
3）IO high and low level output
Set a threshold (the threshold is adjustable), when the distance is less than the threshold,
output high level/low level, and when the distance is greater than the threshold, output low

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level/high level. Setup command is refer to 4.3.2.
a) High and low level can be adjusted, default: high level in close distance and low level in
long distance;
b) Adjustable buffer interval (used to prevent back-and-forth jumps caused by data jitter);
c) High and low level delay is adjustable;
The delay before triggering is adjusted, assuming that the threshold is set to 10m and the
distance is set less than 10m, the output is high level; when the distance is less than 10m, an
adjustable delay (default is 0ms) is added, After the delay, the distance is still less than 10m, the
output is high level.
The trigger delay is adjustable, assuming that the threshold is set to 10m and the distance is
set less than 10m, the output is high level; when the distance is greater than 10m, an adjustable
delay (default 0ms) is added. After the delay, the distance is still higher 10m, the output is low
level.
Example:
a) Change TF350 to IO output with the following command:
5A 05 05 05 69
B) Set the distance less than the threshold to be a high level and the distance above the
threshold to be a low level mode. The command is:
5A 05 61 01 C1
C) The delay of setting distance from less than threshold to greater than threshold and from
greater than threshold to less than threshold is 100 ms. The command is:
5A 08 62 64 00 64 00 8C
D) Set a distance threshold of 500 cm and a buffer interval of 5 cm. The command is:
5A 08 63 F4 01 05 00 BF
E) Save the configuration with the following command:
5A 04 11 6F
F) Restore the factory settings (if necessary), with the following command:
5A 04 10 6E

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4.2 CAN BUS
The CAN communication protocol of TF350 can be customized according to the customer's
needs. The CAN baud rate can be modified, the ID can be modified, and the frame format can be
modified. The contents of the protocol are shown in Table 6.
Table 6 Communication Protocol of TF350 CAN
Item
Content
Communication protocol
CAN
Baud rate
1M
Receive ID
0x3003
Transmit ID
0x3
Frame format
The transmit frame defaults to a standard frame.
receive frames support standard and extended
frames
The output data (hexadecimal numbers) of TF350 CAN is shown in table 5. Each data frame
consists of 8 bytes and the data contains the measured distance information; namely, DIST; other
bytes are reserved.
Table 7 TF350 CAN data format
Data bit
Definition
Description
Byte0
DIST_L
DIST low 8-bits
Byte1
DIST_H
DIST high 8-bits
Byte2
Reserved bit
/
Byte3
Reserved bit
/
Byte4
Reserved bit
/
Byte5
Reserved bit
/
4.3 Customer parameter configurations
4.3.1 The General Format Description of Commands
Custom parameters configurations are open in order that problems could be solved
conveniently. Parameters, such as output data format, output frame rate could be changed by
sending command. Parameter will be stored in flash and needn’t to be configured again if restart
after configured successfully.
Please change the configuration according to the real demands and never try uncorrelated

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command frequently thus unnecessary loss from wrong command; please configure the product
according to the demands of the manual and never send unstated command.
The Format of Command is:
Byte
byte0
byte1
byte2
byte3~ byteN-2
byteN-1
Descriptions
Head
Len
ID
Payload
Check sum
Head：fixed to 0x5A
Len：the length of the entire instruction frame (unit: Byte)
ID：identifies the function of each instruction
Payload：have different meanings and lengths in different ID instruction frames
Check sum：the lower 8 bits of the Len-1 byte data.
4.3.2 Commands
Function
Command
Response
Remark
Default
setting
Obtaining
version number
5A 04 01 5F
5A 07 01 V1 V2 V3 SU
the version number
V3.V2.V1
SU is check sum，the
same below
/
System reset
5A 04 02 60
success：5A 05 02 00 61
fail：there isn’t any
reaction over 1s
/
/
Frame rate
5A 06 03 LL HH SU
success：is same as
command
fail：there isn’t any
reaction over 1s
/
100fps
Output enabling
switch
enable：5A 05 07 01
67
disable：5A 05 07 00
66
success：is same as
command
fail：there isn’t any
reaction over 1s
/
enabled
Single trigger
instruction
5A 04 04 62
Data frame
/
/
Setting output
format
5A 05 05 LL SU
success：is same as
command
fail：there isn’t any
reaction over 1s
LL：format，
00: ASCII Code output
(Reserved)
01: Binary output
02: PIX output
05: I/O output
Binary
output

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Serial port baud
rate
5A 08 06 H1 H2 H3 H4
SU
success：is same as
command
fail：there isn’t any
reaction over 1s
baud rate = (H4 <<
24)+(H3 << 16)+(H2 <<
8)+H1
115200
Enabling
checksum
switch
enable：5A 05 08 01
68
disable：5A 05 08 00
67
success：is same as
command
fail：there isn’t any
reaction over 1s
/
enable
Restoring
factory settings
5A 04 10 6E
success：5A 05 10 00 6F
fail：5A 05 10 ER SU
Fail(when ER is not 0)
/
Save settings
5A 04 11 6F
success：5A 05 11 00 70
fail：5A 05 11 ER SU
same as above
/
Configuring
over range
threshold value
5A 06 4F LL HH SU
success：5A 05 4F 00 AE
fail：there isn’t any
reaction over 1s
over range threshold value
=(HH << 8) + LL，unit cm
35000
Transmit CAN
ID
5A 08 50 H1 H2 H3 H4
SU
success：5A 05 50 00 AF
fail：there isn’t any
reaction over 1s
ID=(H4 << 24)+(H3 <<
16)+(H2 << 8)+H1
0x3
Receive CAN
ID
5A 08 51 H1 H2 H3 H4
SU
success：5A 05 51 00 B0
fail：there isn’t any
reaction over 1s
ID=(H4 << 24)+(H3 <<
16)+(H2 << 8)+H1
0x3003
CAN baud rate
5A 08 52 H1 H2 H3 H4
SU
success：5A 05 52 00 B1
fail：there isn’t any
reaction over 1s
Baud rate = (H4 <<
24)+(H3 << 16)+(H2 <<
8)+H1
1000000
CAN transmit
frame defaults
standard frame：5A 05
5D 00 BC
extended frame：5A
05 5D 01 BD
success：5A 05 5D 00 BC
fail：there isn’t any
reaction over 1s
/
standard
frame
Output format
Serial：5A 05 45 01 A5
CAN：5A 05 45 02 A6
success：5A 05 45 00 A4
fail：there isn’t any
reaction over 1s
/
Serial
Enabling rain-
fog algorithm
enable：5A 05 64 00
C3
disable：5A 05 64 01
C4
success：5A 05 64 00 C3
fail：there isn’t any
reaction over 1s
/
enable
Configuring
offset
5A 06 69 LL HH SU
success：5A 05 69 00 C8
fail：there isn’t any
reaction over 1s
Offset = (HH << 8) + LL，
unit cm
0
Distance trigger
level
5A 05 61 LV SU
success：5A 05 61 00 C0
fail：there isn’t any
reaction over 1s
LV = 0 low level trigger
LV = 1 high level trigger
low level
trigger
Setting IO
output delay
5A 08 62 L1 H1 L2 H2
SU
success：5A 05 62 00 C1
fail：there isn’t any
Delay1 = (H1 << 8) + L1，
Delay2 = (H2 << 8) + L2，
Unit ms, representing the
IO level change delay at
0, 0

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reaction over 1s
short and long distances,
respectively. The range of
values is 0-65000.
Distance
threshold and
buffer distance
of IO change
5A 08 63 L1 H1 L2 H2
SU
success：5A 05 63 00 C2
fail：there isn’t any
reaction over 1s
Dist= (H1 << 8) + L1，
Buff= (H2 << 8) + L2，unit
cm，The range thresholds
and buffer distances of IO
changes are expressed
respectively. Value range
0-35000.
35000，0
Interpretation:
1) The supported output frame rate is as follows:
1、2、…9、
10、20、…90、
100、200…900、
1000、2000…9000、10000；
2) When using the trigger mode, you need to disable data output, and then use the trigger
command;
3) The Pixhawk data format is output as “x.yz\r\n”. For example, if the measurement
distance is 1.21m, the string 1.21 will be output, followed by the escape character \r\n.
4) CAN baud rate supports 1M, 500K, 250K and 125K.
5) “Configuring offset”can be used for customer secondary calibration radar distance,
supported from firmware version v1.11.3.
6) Please configure the legal CAN ID. Unexpected results may occur for illegal IDs.
7) If you want to use IO trigger function, you need to configure the output format to IO output,
and configure IO trigger level, output delay, distance threshold and buffer distance by
command.
5 Quick Test Procedures
5.1 Required Tools of Product Test
Note: the product package contains only TF350 products and factory certificate, and other
accessories are collected by yourself. For TTL-USB boards, please contact sales or technical

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support.
The serial port version TF350 needs to use a TTL-USB board when connecting to a computer.
the following example represents the serial port version TF350 connected to the computer tools
and methods.
TF350
（UART）
TTL - USB
Board
USB Cable
PC
TF display
program
Figure 4 Tools example
5.2 Test procedures
1）Download the TF display program
Please download the TF display program from http://benewake.com/en/down.html
Note: Please close the anti-virus software before unpacking the TF display program;
otherwise, the files in the TF display program will be deleted as viruses; The TF display program
currently only supports running on the Windows system. See Attachment 1: Instruction of TF
Series PC Display Software.
2）Connecting
图 5 TF350 与电脑连接示意图
As figure 6 shown, connect 『TF350』->『TTL- USB board』->『USB cable』, ensure no
looseness, and then connect the 『USB cable』with the『computer』.
3）TF display software connection and reading

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Figure 6 The interface of TF display software
As shown in Figure 7, open the TF display program, selectⅠ『 Benewake TF350』 and select
the serial port for automatic identification (here is Ⅱ『COM9』).
Then, click『CONNECT』to connect to the TF display program.
After connected successfully, continuous output data images will occur in the right Ⅳ『TIME
LINE CHART』area and the Ⅴ『REAL TIME DATA』area below will display the current test
distance (Dist: 125cm), the output frame rate (Effective Points: 100Hz).
Note: the Dist(Echo) and Strength are unmeaning in here.
4）Another note
If TF350 is required to output in Pixhawk mode, check Ⅲ『Pix Mode』 first and then the
data images will be normally output in the Ⅳ『TIME LINE CHART』 area. After the Pix Mode is
checked, the distance unit will change to m.

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6 TF350 Software Setup
Figure 10 TF350 Setup software display
Interface of custom TF display software is shown in the figure above.
1) After TF350 is connected to the computer, select the correct port number and baud rate
in Zone C manually and click the 『Connect』 button to realize communication between
the TF display software and TF350.
2) After connection is successfully established, zone B will display the ranging distance and
the frequency of data obtained by the TF display software. When no data is received after
two seconds, the data and frequency display will disappear.
3) Zone D is dedicated to function configuration and its third column lists the buttons for
sending instructions. After clicking such buttons, the setup software will send instructions
and wait for reply from TF350. When no reply is received for a long time, 『No Response』
will be displayed on the right side of the instruction-sending buttons. Please note that in
order to ensure that TF350 reply instructions can be obtained normally, lower the『frame

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rate』or set the『output mode』as『instruction trigger』before configuration. If the changed
parameters need to be saved, click the settings button corresponding to 『Save
Configuration』before power down TF350.
4) Region E is dedicated to firmware upgrade, which enables the BootLoader function to be
used for upgrading the product firmware.
7 Failure reasons and troubleshooting
1）Under normal operation, TF350 sometimes will output 35000(cm).
Reasons：The actual distance measured is beyond the range of TF350, TF350 will output
35000.
Troubleshooting：Use the value 35000 as a value representing abnormal data. In other words,
after value 35000 is received, the TF350 output data is not used.
2）No data output after TF350 is connected to the TF display software.
Reason Ⅰ：The computer uses and operating system other than Windows.
Troubleshooting：Currently, the TF display software can only support the Windows operating
system. Use a computer with the Window operating system installed.
Reason Ⅱ： Poor connection between TF350 and computer.
Troubleshooting： Please confirm that TF350 is correctly and reliably connected to the
computer, and ensure that the cables and adapter board work properly.
3）TF350 does not cover the nominal range in some cases.
Reason： TF350 bases on the time-of-flight (TOF) principle, to achieve ranging by calculating
the round-trip time of flight of laser pulses. The intensity of ambient light or the reflectivity of
objects under testing is different, and thus will increase the intensity of ambient noise or return
light intensity. Therefore, the ranging performance of TF350 varies with different ambient light
intensities and reflectivities.
Troubleshooting： Under different ambient light intensity and reflectivity of objects under
testing, having different ranges is a normal phenomenon and does not affect the accuracy or
repeatability. Therefore, it can be used normally.