Benewake TF02-i User manual

TF02-i User Manual

PREFACE
Dear users:
Thank you for choosing Benewake products. For 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 the relevant information on product introduction, usage and
maintenance of TF02-i, 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 usage, 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-i are
subject to change. Please refer to the official website for latest version.

CONTENTS
1ONEVIEW ..................................................................................................................................... 1
1.1 Technical Specification ....................................................................................................... 1
1.2 Maintenance and Cleaning ................................................................................................ 2
1.3 Appearance and Structure ................................................................................................. 2
1.4 Storage ................................................................................................................................. 3
1.5 Application........................................................................................................................... 4
2INTERFACE ................................................................................................................................... 5
2.1 Description About Wiring Sequence ................................................................................ 5
2.2 Electrical Characteristics..................................................................................................... 5
3COMMUNICATION PROTOCOL ................................................................................................. 6
3.1 RS-485 Communication Protocol...................................................................................... 6
3.1.1 Communication protocol ................................................................................. 6
3.1.2 Parameter configuration description of Modbus protocol......................... 6
3.1.3 Parameter configuration.................................................................................. 8
3.2 CAN Communication Protocol ........................................................................................10
3.2.1 Communication Protocol ...............................................................................10
3.2.2 CAN Communication Data Frame .................................................................10
3.2.3 CAN Bus Network ...........................................................................................11
3.2.4 Parameter Configuration of CAN Communication.....................................11
3.2.5 Other Parameter Configuration ....................................................................12

ONEVIEW
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1ONEVIEW
TF02-i is a single-point ranging LiDAR upgraded based on TF02-Pro. It has been
optimized and upgraded in terms of communication interface, input voltage, etc., to
meet the needs of various industrial scenarios. The product is based on the principle of
ToF (time of flight) and has stable, accurate and highly sensitive measurement
performance.
1.1 Technical Specification
Table 1-1 Technical Specification of TF02-i
Type
Parameters
Values
Product
performance
Operating
range
90% reflectivity, 0Klux
0.1m~40m
10% reflectivity, 0Klux
0.1m~13.5m
90% reflectivity, 100Klux
0.1m~40m
10% reflectivity, 100Klux
0.1m~13.5m
Accuracy①
±5cm（0.1m~5m）， ±1%（5m~40m）
Distance resolution①
1cm
Frame rate②
1Hz~1000Hz（adjustable, default100Hz）
Repeatability①
1σ: ＜2cm（0.1m~35m@90% reflectivity）
Ambient light immunity
100Klux
Enclosure rating
IP65
Optical
parameters
Photobiological safety
Class1 (IEC60825)
Central wavelength
850nm
Light source
VCSEL
FoV③
3°
Electrical
parameters
Supply voltage
DC 7V~30V
Average current
≤70mA @12V
Power consumption
≤0.85W @12V
Peak current
100mA
Others
Dimension
69mm×41.5mm×31.5mm (L×H×W)
Housing
ABS/PC/PMMA
Operating temperature
-20℃~60℃
Storage temperature
-30℃~80℃
Weight
60g (with cables)
Cable length
70cm

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Note
①The detection 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, the 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 it is 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.
When cleaning the window, do not use alcohol to clean, so as not to damage the
window.
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-i are shown in Figure 1-1 and Figure 1-2:
Figure 1-1 Appearance of TF02-i

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Figure 1-2 Dimension of TF02-i (Unit: mm)
TF02-i 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-i is 3°. At different distances, the size of light spot, namely
the edge length of the detection range, is different. Side length of the detection range
at different distances (the detection range is a square), as shown in Table 1-2.
Table 1-2 Spot Size at Different Distances
Distance（m）
1
2
3
5
7
10
20
30
40
Spot size（cm）
5
10
16
26
37
52
105
156
208
Note
The side length of target object generally should be larger than size of the
TF02-i light spot; if the side length of the detected object is smaller than
size of light spot, the output (Distance) from TF02-i 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.

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1.5 Application
When using the product, please read the specifications, user manual and the
precautions mentioned in the user manual in detail to ensure that the product is used
within the rated specifications. The product is designed for use in the following
scenarios:
Robot
Intelligent Transportation
Intelligent Device
UAV
Other Industrial Products
If you use the product beyond the above application scope, please carefully evaluate
whether the reliability requirements of the product to be applied match this product, or
contact Benewake at any time to assist in solving it.

INTERFACE
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2INTERFACE
2.1 Description About Wiring Sequence
Terminal model: MH1.25-7P-W/B, size of single wire is AWG26, diameter of single wire
is 0.404mm, cross-sectional area is 0.129mm2, which show in Table 2-1.
Figure 2-1 TF02-i external wiring connector and wiring sequence
Table 2-1 The Function Description of Each Wire
Pin
Wiring color
Function
Comment
1
Red
VCC
Power supply
2
White/Yellow
RS485-B/CAN_L
RS485-B/CAN bus
3
Green
RS485-A/CAN_H
RS485-A/CAN bus
4
N/A
N/A
N/A
5
Blue/Orange
UART_RXD
UART receive (Debug)
6
Brown
UART_TXD
UART transmit (Debug)
7
Black
GND
Ground
Warning
①The hardware of RS-485 and CAN is different; Do not mix UART cable
with RS485 or CAN bus, otherwise it will cause damage of MCU.
②TF02-i with RS-485 interface does not support UART debugging pins.
2.2 Electrical Characteristics
Table 2-2 Main Electrical Parameters of TF02-i
Parameter
Values
Supply voltage
DC 7V~30V
Average current
≤70mA@12V
Peak current
100mA
Average power consumption
≤0.85W@12V

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3COMMUNICATION PROTOCOL
There are two communication interfaces available. The hardware of RS485 and CAN is
different. The interface can not be switched by command.
3.1 RS-485 Communication Protocol
3.1.1 Communication protocol
Modbus protocol is the default setting for RS-485 interface. The parameter is shown in
Table 3-1. The default value of baud rate and slave ID is 115200 and 0x01.
Table 3-1 RS-485 Communication protocol of TF02-i
Characteristics
Values
Communication interface
RS-485
Baud rate
115200
Data bit
8
Stop bit
1
Parity
None
Note
The following baud rates are supported: 9600，14400，19200，38400，43000，
57600，768000，115200(default)，128000，230400，256000. It is not
recommended to use a baud rate above 115200 for communication
because of communication stability.
3.1.2 Parameter configuration description of Modbus protocol
3.1.2.1 Description of data frame
When Modbus protocol of TF02-i is enabled, the Modbus command format of reading
distance is shown in Table 3-2.
Table 3-2 The command format of reading distance
Addr.
Function code
Register Addr.
Register Value
CRC_Low
CRC_High
01(Default)
03
00
00
00
01
xx
xx
The response data frame format is shown in Table 3-3.
Table 3-3 The response date frame format
Addr.
Function code
Length
Dist_High
Dist_Low
CRC_Low
CRC_High
01(Default)
03
02
XX
XX
xx
xx

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3.1.2.2 Function code
The function code of TF02-I is shown in Table 3-4.
Table 3-4 The function code
Function Code
Description
03
Read register
06
Write register
3.1.2.3 Register address list
All register addresses are hexadecimal and register values are 16 bits;
After setting parameter, save and restart to take effect.
Register address list using function code: 0x03(read only)
Table 3-5 Register address of function code (0x03)
Register Addr.
Definition
Description
00 00
Dist
Distance value, unit: cm
00 01
Strength
Signal strength
00 03
High 16 bits of timestamp
High 2 bytes of time stamp, unit: ms
00 04
Low 16 bits of timestamp
Low 2 bytes of time stamp, unit: ms
00 06
High 16 bits of firmware
version
0x00 and main version number
00 07
Low 16 bits of firmware version
Sub-version and revised version
number
Register address list using function code: 0x06(write only)：
Table 3-6 Register address of function code (0x06)
Register Addr.
Definition
Description
00 80
Save setting
Write any value to save settings
00 81
Power off/Reboot
Register value:
0x00: power off (Not currently supported)
0x01: reboot
00 82
Disable Modbus
Register Value:
0x01: Disable Modbus
00 83
High 16 bits of baud rate
Set baud rate, save and reboot to take
effect
00 84
Low 16 bits of baud rate
Set baud rate, save and reboot to take
effect
00 85
Slave ID
Set slave ID, save and reboot to take effect
(default 0x01)
00 86
Frame rate
Set frame rate, save and reboot to take

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effect (default 100Hz)
00 87
Working mode
Set working mode, save and reboot to
take effect. Register value:
0x00: continuous detection mode
(default)
0x01: triggering mode
00 88
Low power
consumption mode
Set low power consumption mode, save
and reboot to take effect. Register value:
0x00: Disable (default)
0x0N: Enable, N is a positive integer with
≤10,which is sampling frequent of TF02-i
00 89
Restore default
Write any value, save and reboot to take
effect
3.1.3 Parameter configuration
Table 3-7 General command of RS-485 serial communication mode
Function
Command
Respnse
Description
Enable Modbus
5A 05 15 01 75
5A 05 15 01
75
Save and reboot to take effect
Strength
threshold and
distance under
threshold
5A 07 22 XX LL
HH SU
5A 07 22 XX
LL HH SU
For example:
When strength is below 60, make
distance output 4500cm:
XX=60/10=6(DEC)=06(HEX)
4500(DEC)=1194(HEX)
LL=94，HH=11
Save setting
5A 04 11 6F
5A 05 11 00
70
Table 3-8 General command of Modbus protocol
Function
Command
Response
Description
Read distance
01 03 00 00 00
01 84 0A
01 03 02 DH DL
CL CH
DH: High 8 bits of distance
DL: Low 8 bits of distance
CH: High 8 bits of CRC
CL: Low 8 bits of CRC
Read distance
and signal
strength
01 03 00 00 00
02 C4 0B
01 03 04 DH DL
SH SL CL CH
SH: High 8 bits of signal strength
SL: Low 8 bits of signal strength
Read firmware
version
01 03 00 06 00
02 24 0A
01 03 04 00 VM
VS VC CL CH
VM: Main version number
VS: Sub-version number
VC: Revised version number

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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: High 8 bits of baud rate
BH2: Secondary high 8 bits of baud
rate
BL1: Secondary low 8 bits of baud
rate
BL2: Low 8 bits of baud rate
For example:
Set baud rate to 9600 (0x00002580):
BH1=00 BH2=00 CL=78 CH=22,
BL1=25 BL2=80 CL=D2 CH=D3
Modify slave
ID
01 06 00 85 IH
IL CL CH
01 06 00 85 IH
IL CL CH
IH: High 8 bits of slave ID
IL: Low 8 bits of slave ID
For example:
Modify slave ID to 0x0002:
IH=00 IL=02 CL=19 CH=E2
Modify frame
rate②
01 06 00 86 FH
FL CL CH
01 06 00 86 FH
FL CL CH
FH: High 8 bits of frame rate
FL: Low 8 bits of frame rate
For example:
Modify frame rate to 100 (0x0064):
FH=00 FL=64 CL=69 CH=C8
Low power
consumption
mode
01 06 00 88 LH
LL CL CH
01 06 00 88 LH
LL CL CH
LH: High 8 bits of sampling frequent
in low power consumption mode
LL: Low 8 bits of sampling frequent
in low power consumption mode
For example:
Set it to 5Hz low power
consumption mode,
LH=00 LL=05 CL=C9 CH=E3
Save setting
01 06 00 80 00
00 88 22
01 06 00 80 00
00 88 22
Save and reboot to take effect
Disable
Modbus
01 06 00 82 00
01 E8 22
01 06 00 82 00
01 E8 22
Save and reboot to take effect
Restore
default
01 06 00 89 00
00 58 20
01 06 00 89 00
00 58 20
Warning
①RTU mode is only supported for communication in serial
communication.
②It is sampling frequent of TF02-i. In Modbus protocol, the trigger frame
rate of master host is recommended to be 40% of the frame rate with
TF02-i.
For example:
1) Enable Modbus protocol in RS-485 serial communication mode:
5A 05 15 01 75 //Enable Modbus protocol
5A 04 11 6F //Save settings
Enter Modbus protocol mode after rebooting.
2) Disable Modbus protocol:

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01 06 00 82 00 01 E8 22 //Default address is 0x01, disable Modbus protocol
01 06 00 80 00 00 88 22 //Default address is 0x01, save setting
Exit Modbus protocol after rebooting.
3.2 CAN Communication Protocol
3.2.1 Communication Protocol
The CAN communication protocol of TF02-i supports customer-defined protocol
parameters or customized services, and the CAN protocol baud rate and ID can be
modified. The CAN protocol is shown in Table 3-9.
Table 3-9 CAN communication protocol of TF02-i
Characteristics
Default values
Communication interface
CAN
Baud rate
250kbps
Transmitting ID
0x00000003
Receiving ID
0x00000003
Frame format
Standard frame
Warning
①0 is the broadcast ID, the transmitting and receiving ID cannot be set
to 0.
②The following baud rates are supported: 1000kbps，900 kbps，800
kbps，666 kbps，500 kbps，400 kbps，250 kbps，200 kbps，160 kbps，
125 kbps，100 kbps.
3.2.2 CAN Communication Data Frame
The data protocol of CAN is shown in Table 3-10. Each data frame consists of 8 bytes
and the data contains the distance (unit: cm), signal strength and timestamp (unit: ms).
Table 3-10 The date frame format of CAN communication
Data byte
Definition
Description
Byte0
Dist_L
Low 8 bits of distance
Byte1
Dist_H
High 8 bits of distance
Byte2
Strength_L
Low 8 bits of signal strength
Byte3
Strength_H
High 8 bits of signal strength
Byte4
Timestamp
Low 8 bits of timestamp
Byte5
Timestamp
Secondary low 8 bits of timestamp
Byte6
Timestamp
Secondary high 8 bits of timestamp
Byte7
Timestamp
High 8 bits of timestamp

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3.2.3 CAN Bus Network
The CAN bus network is mainly hung in CAN_H and CAN_L, and each node performs
serial differential transmission of signals through two lines. In order to avoid signal
reflection and interference, it is recommended to connect 120Ω end point resistors at
both ends of the bus, as shown in Figure 3-1.
Figure 3-1 CAN bus network of TF02-i
Note
It is recommended to contact Benewake to communicate the details of use
to complete networking requirements.
3.2.4 Parameter Configuration of CAN Communication
The configuration command format of CAN communication is shown as below.
Table 3-11 The configuration command format
Byte
0
1
2
3
4
5-8
9-12
13
Description
Header
Length
ID
Type
Baudrate
Recv_id
Trans_id
Check_sum
Default
0x5A
0x0E
0x51
0
0x08
0x00000003
0x00000003
SU
Type: 0(Standard Frame), 1(Extended Frame);
Recv_id: TF02-i receiving ID, Little Endian;
Send_id: TF02-i transmitting ID, Little Endian.
Baudrate: The code of baud rate, default 250kbps, corresponding to 0x08. The relation
between baud rate(unit: kbps) and Byte4 is shown as below:
Table 3-12 The byte4 value corresponds to the baud rate
Byte4 value
0
1
2
3
5
6
Baud rate (unit: kbps)
1000
900
800
666
500
400
Byte4 value
8
10
11
14
16
Baud rate (unit: kbps)
250
200
160
125
100
Example of configuration:
Example1: Standard frame, Baud rate 500kbps, receiving ID=0x00000010, transmitting
ID=0x00000020
Command: 5A 0E 51 00 05 10 00 00 00 20 00 00 00 EE

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Example2: Extended Frame, Baud rate 250kbps, receiving ID=0x0000AABB, transmitting
ID=0x0000CCDD
Command: 5A 0E 51 01 08 BB AA 00 00 DD CC 00 00 D0
3.2.5 Other Parameter Configuration
Table 3-13 General parameter configuration of TF02-i
Function
Command
Response
Description
Read firmware
version
5A 04 01 5F
5A 07 01 V1 V2
V3 SU
Version V3.V2.V1
Frame rate①
5A 06 03 LL
HH SU①
5A 06 03 LL HH
SU
1-1000Hz, default 100Hz
LL: Low 8 bits of frame rate
HH: High 8 bits of frame rate
Trigger
detection
5A 04 04 62
Data frame
Set frame rate to 0, detection can
be triggered with this command
System reset③
5A 04 02 60
5A 05 02 00 61
Succeeded
5A 05 02 01 62
Failed
Disable/Enable
output
5A 05 07 00 66
5A 05 07 00 66
Disable data output
5A 05 07 01 67
5A 05 07 01 67
Enable data output
Strength
threshold and
distance under
threshold
5A 07 22 XX LL
HH SU
5A 07 22 XX LL
HH SU
For example:
When strength is below 60, make
distance output 4500cm:
XX=60/10=6(DEC)=06(HEX)
4500(DEC)=1194(HEX)
LL=94，HH=11
Restore to
factory settings
5A 04 10 6E
5A 05 10 00 6F
Succeeded
5A 05 10 01 70
Failed
Save setting④
5A 04 11 6F
5A 05 11 00 70
Succeeded
5A 05 11 01 71
Failed
Enable/Disable
120Ωterminal
resistor⑤
5A 05 60 01
C0
5A 05 60 01 C0
Enable 120Ωterminal resistor
5A 05 60 00 BF
5A 05 60 00 BF
Disable 120Ωterminal resistor
Warning
①The customized frame rate should be calculated by the formula: 2000/n
(n is an integer with ≥ 2).
②SU is checksum, checksum is disable by default.
③Please keep power on and wait 1s after sending system reset command,
otherwise the settings will not take effect.
④After parameters configuration, send saving settings command to save

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the configuration, otherwise the settings will not take effect.
⑤120Ωterminal resistor is disable in default.