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：+86-10- 57456983

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

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 Technical Specification ....................................................................................................... 1 
2 Maintenance and Cleaning ................................................................................................ 2 
3 Appearance and Structure ................................................................................................. 2 
4 Storage ................................................................................................................................. 3 
5 Application........................................................................................................................... 4 
2INTERFACE ................................................................................................................................... 5 
1 Description About Wiring Sequence ................................................................................ 5 
2 Electrical Characteristics..................................................................................................... 5 
3COMMUNICATION PROTOCOL ................................................................................................. 6 
1 RS-485 Communication Protocol...................................................................................... 6 
1.1 Communication protocol ................................................................................. 6 
1.2 Parameter configuration description of Modbus protocol......................... 6 
1.3 Parameter configuration.................................................................................. 8 
2 CAN Communication Protocol ........................................................................................10 
2.1 Communication Protocol ...............................................................................10 
2.2 CAN Communication Data Frame .................................................................10 
2.3 CAN Bus Network ...........................................................................................11 
2.4 Parameter Configuration of CAN Communication.....................................11 
2.5 Other Parameter Configuration ....................................................................12 
 

ONEVIEW

BP-UM-22 A03

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

ONEVIEW

BP-UM-22 A03

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

ONEVIEW

BP-UM-22 A03

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）

Spot size（cm）

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.

ONEVIEW

BP-UM-22 A03

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

BP-UM-22 A03

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

Wiring color

Function

Comment

Red

VCC

Power supply

White/Yellow

RS485-B/CAN_L

RS485-B/CAN bus

Green

RS485-A/CAN_H

RS485-A/CAN bus

N/A

Blue/Orange

UART_RXD

UART receive (Debug)

Brown

UART_TXD

UART transmit (Debug)

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

COMMUNICATION PROTOCOL

BP-UM-22 A03

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

Stop bit

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

CRC_Low

CRC_High

01(Default)

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)

COMMUNICATION PROTOCOL

BP-UM-22 A03

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

Read register

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.

Table 3-5 Register address of function code (0x03)

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

Table 3-6 Register address of function code (0x06)

Definition

Description

00 80

Save setting

Write any value to save settings

00 81

Power off/Reboot

0x00: power off (Not currently supported)

0x01: reboot

00 82

Disable Modbus

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

COMMUNICATION PROTOCOL

BP-UM-22 A03

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

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

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

COMMUNICATION PROTOCOL

BP-UM-22 A03

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

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:

COMMUNICATION PROTOCOL

BP-UM-22 A03

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

COMMUNICATION PROTOCOL

BP-UM-22 A03

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

5-8

9-12

Description

Header

Length

Type

Baudrate

Recv_id

Trans_id

Check_sum

Default

0x5A

0x0E

0x51

0x08

0x00000003

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

Baud rate (unit: kbps)

1000

900

800

666

500

400

Byte4 value

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

COMMUNICATION PROTOCOL

BP-UM-22 A03

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

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

Disable data output

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

5A 05 60 01 C0

Enable 120Ωterminal resistor

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

COMMUNICATION PROTOCOL

BP-UM-22 A03

the configuration, otherwise the settings will not take effect.

⑤120Ωterminal resistor is disable in default.

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