Benewake TF02-Pro User manual

TF02-Pro User Manual

PREFACE
Dear users:
Thank you for choosing Benewake products. In 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-Pro, 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]
Headquarter 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-Pro
are subject to change. Please refer to the official website for latest version.

CONTENTS
1OVERVIEW ................................................................................................................................... 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 Serial Communication Protocol ........................................................................................6
3.2 Serial Communication Data Format .................................................................................6
3.2.1 Standard data output format ..........................................................................6
3.2.2 Character string data format........................................................................... 7
3.3 I²C Communication Protocol.............................................................................................7
3.4 Timing Sequence Description of I²C.................................................................................7
3.5 I/O Communication Mode.................................................................................................7
4PARAMETER CONFIGURATION .................................................................................................9
4.1 Command Convention........................................................................................................9
4.2 Configuration Commands..................................................................................................9
5QUICK TEST GUIDE ...................................................................................................................12
5.1 Tools Required for Test.....................................................................................................12
5.2 Test Procedures .................................................................................................................12
6Firmware Update ......................................................................................................................14
7Q&A............................................................................................................................................16
Attachment-1 BW_TFDS software .................................................................................................18

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1OVERVIEW
TF02-Pro is a medium-range LiDAR, ranging performance up to 40m, based on the
principle of ToF (time of flight), it can be widely used in drone altitude hold and
measurement, intelligent transportation, managing parking lots, smart agriculture and
other fields. TF02-pro is the upgraded version, and it has optimized optical system and
algorithm to achieve better realization in outdoor in the presence of ambient light,
different reflectivity backgrounds and temperature.
1.1 Technical Specification
Table 1-1 Technical Specification of TF02-Pro
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, default 100Hz）
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 5V~12V
Average current
≤200mA
Power consumption
≤1W
Peak current
300mA
Communication level
LVTTL (3.3V)
Communication interface
UART, I2C, I/O
Others
Dimension
69mm×41.5mm×26mm (L×H×W)
Housing
PC/ABS

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1.2 Maintenance and Cleaning
Before switching on, please check if the exposed window is clean, if it is dirty clean
it promptly.
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 LiDAR window.
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-Pro are shown in Figure 1-1 and Figure 1-2:
Operating temperature
-20℃~60℃
Storage temperature
-30℃~80℃
Weight
50g (with cables)
Cable length
80cm
Note
①The detection range is determined 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.

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Figure 1-1 Appearance of TF02-Pro
Figure 1-2 Dimensions of TF02-Pro (Unit: mm)
TF02-Pro 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-Pro 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), is 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-Pro light spot; if the side length of the detected object is smaller than
size of light spot, the output (Distance) from TF02-Pro 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.

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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.
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:
•Intelligent transportation
•Smart parking lot
•Material level detection
•Drone
•Other consumer 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 provide suggestions and useful hints to avoid any
unpleasant situations.

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2INTERFACE
2.1 Description About Wiring Sequence
TF02-Pro has an 80cm long connecting wire with a 1.25-4P connector, which shown in
Figure 2-1.
Figure 2-1TF02-Pro external wiring connector and wiring sequence
The wiring sequence is shown in Table 2-1.
Table 2-1 The Function Description of Each Wire
Wiring Color
Function
Comment
Red
VCC
Power supply
White
RXD/SDA
Receiving/Data
Green
TXD/SCL
Transmitting/Clock
Black
GND
Ground
2.2 Electrical Characteristics
TF02-Pro has no overvoltage nor polarity protection, so please make sure that
connection and power supply is normal.
Table 2-2 Main Electrical Parameters of TF02-Pro
Parameters
Value
Supply voltage
DC 5V~12V
Average current
≤200mA
Peak current
300mA
Average power consumption
≤1W
Communication level
LVTTL (3.3V)

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3COMMUNICATION PROTOCOL
3.1 Serial Communication Protocol
TF02-Pro adopts the serial data communication protocol, as given in Table 3-1.
Table 3-1 Data Communication Protocol of TF02-Pro: UART
Communication interface
UART
Default baud rate
115200
Data bit
8
Stop bit
1
Parity check
None
3.2 Serial Communication Data Format
TF02-Pro is available with two formats of data output, namely the standard data output
format and the character string data format, both of which are switchable with
command.
3.2.1 Standard data output format
The serial data format of TF02-Pro is shown in Table 3-2，the data is hexadecimal, each
data frame contains 9 bytes, including the distance value, signal strength, temperature
of chip and data check byte (Checksum).
Table 3-2 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 number of first 8
bytes
Dist (Distance)：The detection distance value with TF02-Pro, default unit is cm.

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Strength：The signal strength, the default output is between 0 and 65535. When
the distance measuring gear is certain, the farther the distance is measured, the
lower the signal intensity; the lower the reflectivity of the target, the lower the signal
intensity
Temp(Temperature): The chip temperature, temperature(℃) = Temp / 8 -256.
3.2.2 Character string data format
The data output is in the format of character 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.
3.3 I²C Communication Protocol
TF02-Pro supports I2C data communication interface, as shown in the table below:
Table 3-3 Data Communication Protocol of TF02-Pro: I²C
Communication interface
I²C
Max transmission rate
400kbps
Master/Slave mode
Slave mode
Default Address
0x10
Address range
0x01~0x7F
3.4 Timing Sequence Description of I²C
Different from the serial mode, the I2C communication is initiated by the master. TF02-
Pro can only send and receive data passively, as slave. After sending the command from
master to slave, one needs to wait for a period for the command to be processed, then
read response of LiDAR. The suggested waiting period is 100ms. Data is detailed in Table
3-4.
Table 3-4 Timing Sequence of I2C
Write
operation
Start
Addr
W
A
Byte0
A
---
ByteN
A
Stop
Wait 100ms
Read
operation
Start
Addr
R
A
Byte0
A
---
ByteN
A
Stop
3.5 I/O Communication Mode
I/O output mode is supported and could be enabled by related command. Through the
communication level change of pin 3 (green wire), whether there is an object in the

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detection range, the working mode of I/O mode is shown in Figure 3-1. TF02-Pro
supports three I/O modes, the default is mode0, which means turning off the I/O mode.
Mode parameters are as follows:
Mode0：data output mode.
Mode1：I/O mode, near high and far low.
Mode2：I/O mode, near low and far high.
Dist: critical value, near end value in hysteresis zone, unit is cm, default number is 0.
Zone: hysteresis zone range, unit is cm; default value is 0 (there is no hysteresis zone).
The hysteresis zone could be set by the command, when output is near zone level,
output will be switched to far zone level if measured result is higher than far end point;
when output is far zone level, output is switched to near zone level if measured result is
lower than near end point. (High level: 3.3V, low level: 0V)
Figure 3-1The description of I/O mode

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4PARAMETER CONFIGURATION
In order to allow TF02-Pro to solve your problems more flexibly, the function of user-
defined configuration of product parameters is opened. Users can modify the original
parameters of the product by sending relevant instructions, such as output data format,
frame rate, etc.
Please modify product configuration depending upon your actual demands. Do not
frequently try irrelevant commands to prevent incorrect sending of command which
many cause unnecessary loss. Please make sure to use the commands listed herein. Do
not send unstated commands.
4.1 Command Convention
For the configuration instructions in this document, see the following command
convention:
Multi-bytes data or command frame is transmitted in little endian format. For
example:
set the frame rate to 1000Hz, as shown in Table 4-1. Decimal number 1000 can be
converted to 0x03E8 in hexadecimal. Then it will be saved in the data or command
frame as:
0x5A 0x06 0x03 0xE8 0x03 0x4E
Command: data instruction frame sent from PC to LiDAR.
Response: data frame sent by LiDAR to host computer or other terminals.
Before setting the relevant parameters of TF02-Pro, user needs to establish the
connection between TF02-Pro and PC at first. User can send the relevant configuration-
related instructions to the product via TF02-Pro PC software or other serial port
debugging software. All commands are compatible with both UART mode and I2C mode.
4.2 Configuration Commands
The general parameters configuration command is shown in Table 4-1. After parameters
configuration, send saving settings command to save the configuration, otherwise the
settings will not take effect.
Table 4-1 General Parameter Configuration and Description for TF02-Pro
Parameters
Command
Response
Remark
Firmware version
5A 04 01 5F
5A 07 01 V1 V2 V3 SU①
Version V3.V2.V1
System reset②
5A 04 02 60
5A 05 02 00 61
Succeeded
5A 05 02 01 62
Failed

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Frame rate③
5A 06 03 LL HH
SU
5A 06 03 LL HH SU
1-1000Hz，default 100Hz
Trigger detection
5A 04 04 62
Date frame
After setting the frame rate
to 0 ，detection can be
triggered with this command
Output format
5A 05 05 01 65
5A 05 05 01 65
Standard 9 bytes(cm)
5A 05 05 02 66
5A 05 05 02 66
Character string(m)
5A 05 05 06 6A
5A 05 05 06 6A
Standard 9 bytes (mm)
Baud rate④
5A 08 06 H1 H2
H3 H4 SU
5A 08 06 H1 H2 H3 H4
SU
Default 115200; E.g.
256000(DEC)=3E800(HEX) ，
H1=00,H2=E8,H3=03,H4=00
Enable/Disable
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
Communication
interface setup
5A 05 0A MODE
SU
/
00（UART）， default；
01（I2C）
Modify
I2C_slave_addr
5A 05 0B ADDR
SU
5A 05 0B ADDR SU
Modify I2C_slave_addr,
default 0x10
Obtain data
frame
5A 05 00 01 60
Data Frame (9bytes-cm)
Only works in I2C mode
5A 05 00 06 65
Data Frame (9bytes-
mm)
I/O mode enable
5A 09 3B MODE
DL DH ZoneL
ZoneH 00
/
Enable/disable I/O output
mode;
MODE (default 0): 0--
standard data mode; 1--I/O,
near high and far low; 2--I/O,
near low and far high;
Zone: hysteresis zone
Strength
threshold and
distance under
threshold
5A 07 22 XX LL
HH SU
5A 07 22 XX LL HH SU
Strength Threshold=60,
Distance under
threshold=4500.
E.g. When strength is below
60, make distance output
4500cm.
XX=60/10=6(DEC)=06(HEX)
4500(DEC)=1194(HEX)
LL=94，HH=11
Low power
consumption
mode
5A 06 35 0X 00
SU
5A 06 35 0X 00 SU
Range of X(HEX）is 0~A：
X＞0, enable low power
consumption mode;
X=0, disable low power
consumption mode, default
Restore to
factory settings
5A 04 10 6E
5A 05 10 00 6F
Succeeded
5A 05 10 01 70
Failed
Save settings⑤
5A 04 11 6F
5A 05 11 00 70
Succeeded

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Warning
①SU is checksum, checksum is disabled by default.
②Please keep power on and wait 1s after sending system reset command,
otherwise the settings will not take effect.
③The customized frame rate should be calculated by the formula: 2000/n
(n is an integer with ≥2).
④The following baud rates are supported: 9600，14400，19200，38400，
56000，57600，115200，128000，230400，256000，460800，512000，
750000，921600. When setting a high frame rate, high baud rate is
recommended to ensure data security. After sending baud rate
command, keep power on and switch to the target baud rate before
sending save setting command, it will be effective in this way.
⑤After parameters configuration, send saving settings command to save
the configuration, otherwise the settings will not take effect.
5A 05 11 01 71
Failed

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5QUICK TEST GUIDE
5.1 Tools Required for Test
TF02-Pro
TTL-USB
converter
USB cable
PC
BW_TFDS
Software
5.2 Test Procedures
1) Download the test software
Download the latest version BW_TFDS from http://en.benewake.com/support.
The introduction of BW_TFDS software is shown in Attachment-1 BW_TFDS software.
2) Connection of the hardware
Connect “TF02-Pro”, “TTL-USB board” and “USB cable”. Make sure there is no
loose connection. Then connect “USB cable” with “PC”. As shown in Figure 5-1.
Figure 5-1 Connection of TF02-Pro and PC
3) Connection to the software
Run BW_TFDS software, select “① TF02-Pro” and select automatically recognized
communication port (here it is “② COM9”), choose the right baud rate (here it is “③
115200”), as shown in Figure 5-2.
4) Data output
Then click “CONNECT”. Upon successful connection, the continuous graph of the
output data will be displayed in area “④ TIME LINE CHART”. Besides, the real-time
data of the current measured distance (Dist), effective data points per second (Effective
Points) and signal strength (Strength) will be displayed in area “⑤ REAL TIME DATA”.

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Figure 5-2 BW_TFDS software interface and display
Note
①Please turn off any anti-virus software before uncompressing the PC
software. Otherwise, the software maybe detected as virus and deleted
by anti-virus. The software is only runnable under Windows.
②If no data is available in area “④TIME LINE CHART”, please check the
wire connection and sequence. When TF02-Pro is successfully powered
on, there will be a red indicator light inside transmitting lens viewing
from the front.
③The value of distance output Dist may vary with the output unit, which
is cm by default. If the unit of distance is changed to the unit-mm with
specific command, and the PC software will be unable to identify it, and
so the unit of “④TIME LINE CHART” will still be cm. For example, the
actual TF02-Pro measurement is 1m, the distance value of TF02-Pro is
1000 in mm, the value read by the PC software also is 1000, but the unit
will not change and still display cm.

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6Firmware Update
TF02-Pro supports the firmware upgrade. When the user’s product cannot satisfy the
current application requirements and Benewake official website has relevant firmware
upgrades, the user may upgrade the product firmware via Updater_BENEWAKE software.
Please contact us to get the updater if you cannot find it on our official website.
The tools for the firmware upgrade of TF02-Pro are mostly the same as QUICK TEST
GUIDE, which requires one TTL-USB board to connect the TF02-Pro with PC. The
upgrade process is as follows:
1) Run Updater_BENEWAKE.exe, Select right port, here is “①COM9”. Input the right
baud rate in “② 115200”and click “③ CONNECT”to connect the TF02-Pro
with the software. As shown in Figure 6-1.
Figure 6-1 Connect the TF02-Pro with the software
2) Click “④ Open Bin”to choose the firmware being flashed, the message “⑥Read
bin done”will be displayed after the file is uploaded. Then click “⑤ Download
Bin”to start upgrading. As shown in Figure 6-2.
Figure 6-2 Upload firmware file
3) Check the status of the progress bar, 100% indicates that the upgrade is complete,
and appear "⑦Jump done".

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Figure 6-3 Upgrade is complete

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7Q&A
1) Distance value occasionally will abruptly change into 4500 beyond the range
during normal operation.
Cause:
Different test environments (reflectivity of detected object, disturbance of ambient light,
etc.) will affect the signal strength of TF02-Pro. For a reliable and stable measurement
data, the algorithm elimination is internally used for TF02-Pro. In case of the insufficient
signal strength, TF02-Pro will output 4500. This value is not measurement data of TF02-
Pro, which is only used to remind the user that such data is unreliable.
Troubleshooting:
Please use such value as the trigger signal of some unreliable data, and it will ensure
that your system can use other reliable data for further assessment and decision-making
if there are some unreliable data.
2) Significant error between the output distance value of LiDAR and actual
distance.
Cause①:
Incorrect interpretation of the data communication protocol of TF02-Pro.
Troubleshooting:
Check data communication interpretation means. In case of such error, please check the
data format to adjust interpretation means.
Cause ②：
Due to the detection principle of TF02-Pro, the above phenomenon is likely to occur if
the detection object is the material with high reflectivity (such as mirror, smooth floor
tile, etc.) or transparent substance (such as glass and water, etc.)
Troubleshooting:
Please avoid use of this product under such circumstance in practice.
Cause ③:
The IR-pass filters are blocked.
Troubleshooting:
Please use dry dust-free cloth to gently remove the external matter
3) The TF02-Pro outputs an abnormal distance value of 65535.
Cause:
When encountering a measured object with high reflectivity (such as mirror, water, etc.),
the received signal will be saturated, at this time, Strength = 65535, and the distance
value will become 65534; when the signal strength is insufficient and lower than 60, the
distance value will become the maximum value of 4500.
Troubleshooting:
Please avoid use of this product under such circumstance in practice.

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4) No data output.
Cause:
The product will be strictly inspected before leaving our factory, ensuring that all the
shipped products can work normally. However, some abnormal working matters maybe
still occur because of incidents during the transportation or use.
Troubleshooting:
Check whether the power supply is normal; check whether the voltage is within rated
voltage range. If power supply is normal, there will be a red light inside the transmitting
lens of TF02-Pro.
Make sure TF02-Pro connection is correct and reliable.
Check whether the data interpretation is correct. Please carry out the interpretation as
per the data format specified herein.
If the fault persists, please contact technical support.
5) There is no data output when Benewake LiDAR is connected to the PC
software (BW_TFGS software).
Cause①:
The software only supports Microsoft windows operating systems for the time being
Troubleshooting:
Use the PC supporting Microsoft operation system.
Cause②:
TTL-USB board is poorly connected.
Troubleshooting:
Check the TTL -USB board with the correct and reliable connection with TF02-Pro and
PC.
Cause③:
Driver of serial port is not correctly installed.
Troubleshooting:
Plug and unplug USB cable again. Try to reinstall the driver or directly download and
install a driver from the internet.
If the PC software still work abnormally, please contact our technical support.
6) The accuracy of TF02-Pro gets worse at 40m against white board and the data
fluctuation becomes larger.
Cause:
There are metal objects around the front lens barrel.
Troubleshooting:
Remove or replace metal objects near the lens barrel with non-metallic materials. If the
metal material around the lens barrel in your installation position cannot be changed,
and there are high requirements for data stability and error at the extreme distance,
please contact our technical support.