Benewake TF-Luna User manual

TF-Luna Product Manual
TF-Luna LiDAR Module

SJ-PM-TF-Luna A05 Product Manual
Benewake (Beijing) Co. Ltd.
Page2
Product information
Model: TF-Luna
Full name: TF-Luna LiDAR Module
Manufacturer
Company: Benewake (Beijing) Co. Ltd.
Address: No.28, Xinxi Road, Haidian District, Beijing, PRC
Copyright
This document is protected by copyright. All rights related to it belong to Benewake (Beijing) Co. Ltd.
Reproduction of all or part of this document is permitted only within the scope of copyright law. No
modification, deletion, or translation of this document is permitted without the official written permission
of Benewake (Beijing) Co. Ltd.
All rights reserved © Benewake (Beijing) Co. Ltd.
Certification

SJ-PM-TF-Luna A05 Product Manual
Benewake (Beijing) Co. Ltd.
Page3
Foreword
Dear users,
Thanks you for choosing Benewake products and it’s our pleasure to help you with any technical
question.
To have a better experience, please read this manual carefully. We try to contain all common problems
and hope you find the deployment and installation easy and fun.
This manual will guide you through the installation and operation process and show you some solution
of common problems. It is still possible that you encounter some difficulties that are not included,
please check our support service ([e-mail]) and don’t hesitate to contact our support
consultants or leave a message on our feedback page of our official website:
http://benewake.com/en/mfeedback.html
We hope you enjoy our product and join our community!
We are Benewake! Our goal is to make the best “Robotic Eyes” in the world!

SJ-PM-TF-Luna A05 Product Manual
Benewake (Beijing) Co. Ltd.
Page4
Catalog
1Revisions ..................................................................................................................................7
2Cautions....................................................................................................................................7
2.1 About document................................................................................................................7
2.2 About product ...................................................................................................................8
2.3 Common errors and other notes.........................................................................................8
3Principle description and key parameters...................................................................................8
3.1 Ranging Principle..............................................................................................................8
3.2 Basic Characteristic Parameters ........................................................................................9
3.3 Repeatability.....................................................................................................................9
3.4 Ranging Characteristics...................................................................................................10
4Appearance and Structure........................................................................................................11
4.1 Appearance .....................................................................................................................11
5Electrical Characteristics .........................................................................................................11
6Functional Descriptions and Configuration..............................................................................12
6.1 Description about Line Sequence and Connection ...........................................................12
6.2 Serial Port Communication Protocol ...............................................................................12
6.3 I2C Communication........................................................................................................13
6.4 Basic Data Output ...........................................................................................................14
6.5 Continuous Ranging Mode..............................................................................................15
6.6 Trigger Mode ..................................................................................................................15
6.7 On/off Mode ...................................................................................................................15
6.8 Amp Threshold ...............................................................................................................16
6.9 Distance Limit ................................................................................................................16
6.10 Power Saving Mode.....................................................................................................16

SJ-PM-TF-Luna A05 Product Manual
Benewake (Beijing) Co. Ltd.
Page5
6.11 Ultra-low Power Mode ................................................................................................17
6.11.1 Ultra-low Power Mode with Serial Port Communication .......................................18
6.11.2 Ultra-low Power Mode with I2C communication...................................................19
6.11.3 Caveats..................................................................................................................20
6.12 Single Frequency Mode ...............................................................................................20
6.13 Additional notes ..........................................................................................................20
7Quick Test Guide.....................................................................................................................21
7.1 Required tools for testing ................................................................................................21
7.2 Steps ...............................................................................................................................21
8Firmware upgrade ...................................................................................................................23
Appendix I Serial port output format...............................................................................................24
1. 9-byte/cm (Default).........................................................................................................24
2. PIX .................................................................................................................................24
3. 9-byte/mm.......................................................................................................................24
4. 32-byte with timestamp...................................................................................................24
5. ID-0 output .....................................................................................................................24
6. 8-byte/cm........................................................................................................................24
7. Output with Device ID ....................................................................................................25
Appendix II Serial communication protocol....................................................................................26
1. Version information ID_GET_VERSION=0x01..............................................................26
2. System software restore ID_SOFT_RESET=0x02...........................................................26
3. Output frequency ID_SAMPLE_FREQ=0x03.................................................................26
4. Trigger mode ID_SAMPLE_TRIG=0x04........................................................................27
5. Output format setting ID_OUTPUT_FORMAT=0x05.....................................................27
6. Baud rate setting ID_BAUD_RATE=0x06 ......................................................................27
7. Enable/disable output ID_OUTPUT_EN=0x07...............................................................28
8. Enable/disable checksum comparison ID_FRAME_CHECKSUM_EN=0x08 .................28

SJ-PM-TF-Luna A05 Product Manual
Benewake (Beijing) Co. Ltd.
Page6
9. I2C slave machine address configuration ID_I2C_SLAVE_ADDR=0x0B.......................28
10. Restore default setting ID_RESTORE_DEFAULT=0x10 ................................................29
11. Save current setting ID_SAVE_SETTINGS=0x11...........................................................29
12. Output product bar code ID_READ_MANU_BIN=0x12 ................................................29
13. Get full-length version number ID_GET_FULL_VERSION=0x14 .................................30
14. Amp threshold setting ID_AMP_THRESHOLD=0x22 ...................................................30
15. Switch between Single Frequency and Dual Frequency ID_ DEALIAS_EN =0x29.........30
16. Timestamp synchronization ID_TIMESTAMP_SYNC =0x31.........................................31
17. Enable/disable Power saving mode (ECO) ID_LOW_CONSUMPTION=0x35 ...............31
18. Filter Setup ID_FILTER_BIT_MAP=0x39 .....................................................................31
19. Distance limit setting ID_DIST_LIMIT=0x3A................................................................32
20. Enable/disable on-off mode ID_ON_OFF_MODE=0x3B ...............................................32
21. Read config by id ID_GET_CONFIG_PARA=0x3F .......................................................32
22. Ultra-low Power Mode ID_ ULTRA_LOW_POWER_MODE=0x58 ..............................33
23. Frequency Calibration ID_FREQ_CNT_CALIB=0x59 ...................................................33
Appendix III I2C register table........................................................................................................34

SJ-PM-TF-Luna A05 Product Manual
Benewake (Beijing) Co. Ltd.
Page7
1 Revisions
Version No.
History
Date
A00
Original
2020.1.15
A03
1. Old serial port formats are removed.
2. Module size and related pictures are updated.
3. More description of function.
4. I2C interface is now available.
5. Power supply voltage up to 3.7V-5.2V is now supported.
2020.3.15
A05
1. Removed “Enable/disable low sample rate mode
ID_LOW_SAMPLE_RATE=0x3E”.
2. Changed the definition of I2C register 0x25: 0x00 – LiDAR off, 0x01 –
LiDAR on.
3. Changed the description of I2C register. Users should make sure that
firmware version is above V1.0.7 when using I2C communication.
4. Added the description on Amp with respect to ambient light
overexposure.
5. Added Ultra-low Power Mode.
6. For I2C register 0x2E-0X31, changed the units of distance limit from
centimeter to millimeter.
7. Added description on the Single Frequency Mode.
8. Added filter setup commands.
9. Added device ID into the output format.
2020.7.23
2 Cautions
2.1 About document
This manual provides all essential information you may need during the usage of this product.
Please read this manual carefully before using this product and make sure that you fully
understand the contents of the manual.

SJ-PM-TF-Luna A05 Product Manual
Benewake (Beijing) Co. Ltd.
Page8
2.2 About product
The product can only be maintained and repaired by qualified professionals, and only original
spare parts are permitted to use for performance and safety reasons.
This product DOES NOT have polarity and over-voltage protection at all. Please wire and
supply power according to the instructions.
The working temperature of the product is from -10℃ to 60℃, please do not use it outside
this temperature range to avoid risk and damage.
The storage temperature of the product is from -20℃ to 75℃, please do not store it outside
this temperature range to avoid risk and damage.
For safety and performance, please DO NOT open the product casing or remove the IR-pass
filter.
2.3 Common errors and other notes
Detecting object with high reflectivity, such as mirrors, smooth floor tiles, and calm milk
liquid.
Blocking the product with any transparent objects, such as water or glasses.
The product’s lens may be covered by dusts or dirt which may affect results, so please keep
the lens clean.
The exposed circuit board is electrostatic sensitive. Please do not touch the circuit board of
the product barehanded. Please use ESD wrist strap or antistatic gloves to ground yourself if
any operation is necessary; Otherwise, the product may be damaged by static electricity.
3 Principle description and key parameters
3.1 Ranging Principle
TF-Luna is using Time of Flight (ToF) principle to measure the distance and it periodically emits
near infrared modulated waves. TF-Luna calculates the time by measuring the phase difference
between the original wave and the reflection wave and uses that time to get relative distance, as
shown in Figure 1.

SJ-PM-TF-Luna A05 Product Manual
Benewake (Beijing) Co. Ltd.
Page9
Figure 1 Schematics of ToF Principle
3.2 Basic Characteristic Parameters
Table 1 Parameters specification of TF-Luna
Description
Parameter value
Operating range
0.2m~8m①
Accuracy
±6cm@ (0.2-3m)
±2%@ (3m-8m)
Measurement unit
cm (Default)
Range resolution
1cm
FoV
2°②
Frame rate
1~250 Hz ( adjustable ) ③
①Operating range is measured indoor based on a standard whiteboard with reflectivity 90%.
②This is theoretical value, real value may be different.
③100 Hz is default and only any factor (500/n, n can be any integer in [2, 500]) of 500Hz is available.
3.3 Repeatability
TF-Luna's ranging accuracy is positively correlated with the strength value (amp) and negatively
correlated with the output frame rate (frequency). The tables below show the standard deviation (STD)
using 100Hz output rate. These values are for reference only; various testing environments may give
different results.
Table 2 STD Amp correlation
Amp
100
200
400
1000
≥2000
STD
3cm
3cm
2cm
1cm
0.5cm

SJ-PM-TF-Luna A05 Product Manual
Benewake (Beijing) Co. Ltd.
Page10
Table 3 STD Dist correlation with 90% diffuse reflectance object
Dist
200cm
400cm
600cm
800cm
Std
0.5cm
1cm
1.5cm
2cm
3.4 Ranging Characteristics
TF-Luna minimizes the impact of external environment on ranging performance by optimizing light
path and algorithm.
TF-Luna’s ranging blind zone is 20 cm. Any distance output less than 20 cm is unreliable. The
operating range of black and white targets is different:
The operating range of TF-Luna detecting black target with 10% reflectivity is 0.2-2.5m; the
operating range of TF-Luna detecting white target with 90% reflectivity is 0.2-8m.
The ranging data is reliable only if the reflection surface fully covers the light spot, so the diameter
of the object must at least the same as the diameter of the light spot, and that diameter depends on
FoV of TF-Luna. The minimum diameter of the object surface can be determined by the following
formula:
d = 2 ∗ D ∙ tanβ
In the formula, d represents the minimum diameter, D is the distance of the object, and β is the
half FoV of TF-Luna. Common values are shown in Table 4 for your convenience:
Table 4 Distance and minimum diameter
Distance (D)
1m
2m
3m
4m
5m
6m
7m
8m
Minimum diameter (d)
3.5cm
7cm
10.5cm
14cm
17.5cm
21cm
24.5cm
28cm
If the light spot reaches two objects with different distances as Figure 2, the output distance value
(Dist) will be abnormal, which may cause error for high-accuracy applications. Please try to avoid this
situation for better accuracy and performance.