Benewake TF02-Pro-W User manual
北醒（北京）光子科技有限公司
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SJ-PM-TF02-Pro-W A00 Product Manual
Specified Product
Product model: TF02-Pro-W
Product name: TF02-Pro-W 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.
北醒（北京）光子科技有限公司
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SJ-PM-TF02-Pro-W 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!
北醒（北京）光子科技有限公司
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SJ-PM-TF02-Pro-W 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 and Data Formats ..........................................8
4.1 Serial port Communication Protocol..................................................................8
4.2 Data Output Format of Serial port ......................................................................8
5Wiper working description .........................................................9
6Parameter Configuration ..........................................................9
7Q&A ..........................................................................11
北醒（北京）光子科技有限公司
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SJ-PM-TF02-Pro-W 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.
This product itself has no polarity and over-voltage protection. Please properly connect
and supply power as described in this manual.
Operating temperature of this product is between -20℃~60℃. Do not use it beyond this
temperature range to prevent malfunction.
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.
北醒（北京）光子科技有限公司
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SJ-PM-TF02-Pro-W 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
+4.8~5.5V
Power supply
White
RXD
Receiving
Green
TXD
Transmitting
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
4.8~5.5V
Average current
≤400mA
Peak current
1A
Average power
≤2W
Communication level
LVTTL（0~3.3V）
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.
北醒（北京）光子科技有限公司
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SJ-PM-TF02-Pro-W A00 Product Manual
Figure 1: Constructional Drawing of TF02-Pro-W (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: 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
北醒（北京）光子科技有限公司
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SJ-PM-TF02-Pro-W A00 Product Manual
4Communication Protocol and Data Formats
4.1 Serial port Communication Protocol
TF02-Pro-W adopts the serial port data communication protocol, as given in Table 3.
Table 3 Data Communication Protocol
Communication interfce
UART
Default baud rate
115200
Data bit
8
Stop bit
1
Parity check
None
4.2 Data Output Format of Serial port
Data structure: each data frame contains 9 bytes, including the distance value, signal
strength, temperature of chip and data check byte (Checksum), etc. Temp represents the chip
temperature, degree centigrade = Temp / 8 -256. Data format is hexadecimal (HEX). Data codes
are detailed in Table 4.
Table 4 Data Format and Code Explanation
Byte0 -1
Byte2
Byte3
Byte4
Byte5
Byte6
Byte7
Byte8
0x59 59
Dist_L
Dist_H
Strength_L
Strength_H
Temp_L
Temp_H
Checksum
Data code explanation
Byte0
0x59, frame header, same for each frame
Byte1
0x59, frame header, same for each frame
Byte2
Dist_L distance value low 8 bits
Byte3
Dist_H distance value high 8 bits
Byte4
Strength_L low 8 bits
Byte5
Strength_H high 8 bits
Byte6
Temp low 8 bits
Byte7
Temp high 8 bits
Byte8
Checksum is the lower 8 bits of the cumulative sum of the number of the first 8 bytes
北醒（北京）光子科技有限公司
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SJ-PM-TF02-Pro-W A00 Product Manual
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
6 Parameter Configuration
Before setting the relevant parameters of TF02-Pro-W, user needs to establish the
connection between TF02-Pro-W and PC at first. User can send the relevant configuration-related
instructions to the product via TF02-Pro-W PC software or other serial port debugging software.
Important: Configure the parameters in the following three steps.
a) Enter configuration mode and send: AA 55 F0 00 01 00 00 02.
Response: AA 55 F0 00 01 00 00 02, which means successful transmission.
b) Configuration of product parameters：see Table 5;
c) Exit configuration mode and send: AA 55 F0 00 00 00 00 02.
Response: AA 55 F0 00 00 00 00 02, which means successful transmission
北醒（北京）光子科技有限公司
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SJ-PM-TF02-Pro-W A00 Product Manual
Table 5 General Parameter Configuration and Description
Parameter
Command
Remark
Start the wiper
AA 55 F0 00 00 00 00 B0
Use this command to start the wiper at any time during the
default mode
Modified dust
removal cycle
AA 55 F0 00 EE FF 00 B2
EE：dust removal cycle (Unit: min) high 8 bits，FF：dust
removal cycle low 8 bits
Note: Cycle can’t be less than 1min
Modify the
number of wiper
round trip
AA 55 F0 00 EE 00 00 B3
EE：The number of round trips of the wiper during a dust
removal cycle
Note：No more than 10 round trips per cycle
Read version
number
AA 55 F0 00 00 00 00 A0
Feedback version number
“AA 55 F0 00 00 major minor patch”.
Version number is divided into three levels, such as
version number v1.1.0，Major is 1, Minor is 1, Patch is 0；
Note：
①If the parameter of dust removal cycle is wrong，feedback will be “AA 55 F0 03 EE FF 00 B2”. It is suggested that the dust removal
interval should be more than 30 minutes under the condition of high temperature (ambient temperature > 40℃)
②If the number of wiper round trip is wrong，feedback will be “AA 55 F0 03 EE 00 00 B3”. No more than 10 round trips per cycle.
北醒（北京）光子科技有限公司
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SJ-PM-TF02-Pro-W A00 Product Manual
7Q&A
Q1: Is TF02-Pro-W available with other power supply voltage?
A1: Sorry, it is not available for the time being. The Standard power supply of TF02-Pro-W is
4.8V~5.5V. If you have any further requirement, please contact our sales to consult a
customization design matter.
Q2：Is it possible to change the FOV?
A2：Hello, this demand needs to be customized, please contact our sales to consult a customization
design matter.
Q3：How far can the TF02-Pro-W serial port version be transmitted? Can I extend the cable directly
to increase the transmission distance?
A3：Hello, the effective transmission distance of TF02-Pro-W serial port data transmission is about
2m. If you need longer distance data transmission, it is recommended to convert the serial
communication to other communication such as RS485, and then extend the data line for
transmission.
Q4：How long is the life of product？
A4：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.
Q5：Can TF02-Pro-W support RS485 interface, analog output and MODBUS protocol?
A5 ：TF02-Pro-W currently does not support interfaces other than UART. If there are related
requirements, please contact our sales to consult a customization design matter.
Headquaters:
TEL：010-57456983
Email：bw@benewake.com
Sales cooperation：
Email：sales@benewake.com
Email：suppor[email protected]
Technical support：
Contact us
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