Benewake TF03-CAN User manual

Benewake (Beijing) Co. Limited
Quick Implementation of TF03-CAN and Computer
Communication Operation Instructions
1. Overview
This document enables first-time users to quickly understand the tools and methods for conducting CAN
communication tests, connect the LiDAR to the PC by consulting the corresponding instruction manual, and complete
product testing under the CAN communication protocol by sending commands to obtain distance values and modify the
baud rate.
This document applies to the product model: TF03-CAN (verify the product hardware version before testing).
2. Test Preparation
2.1. Necessary Tools
Table 1 Necessary Tools
Tools
Name
CANalyst1 TF03-CAN DC power supply
Tools
Name
Adapter for TF series
(Benewake)2 Connecting tools Softwares
2.2. Communication Protocol Switching
TF03 supports both TTL serial communication and CAN communication, and factory default setting is TTL. To use
CAN communication, please switch via TTL communication adapter (see chapter 3, section 1 for details).
Fig.1 Connect LiDAR & PC
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Fig.2 Set baud rate to 1M
After USB-TTL adapter, LiDAR and PC are connected, faint red light can be seen from the LiDAR lens.
Fig.3 LiDAR output red light
Open the software "WINCC_TF" to switch communication protocol:
1) Find "product" in the "Setting" and select TF03;
2) Choose the right "COM" port (The port number can be found in PC Settings->Devices->Bluetooth and other
devices. If the adapter is not recognized, the drivers may not be installed, please install the driver
3
);
3) Set baud rate to 115200 (TF03 default baud rate is 115200). Then click on "Connect" below and the software
displays a graph of the measured distance data.
Fig.4 Parameter settings
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Fig.5 Distance values graph
4) Find "Command" in the "CUSTOM COMMAND" and enter protocol switching command: 5A 05 45 02 A6. Send
the command, then enter the save configuration command: 5A 04 11 6F and send it.
Fig. 6 Switching to CAN communication
Fig.7 Save configuration
As can be seen, now the LiDAR has stopped outputting data, indicating that the communication protocol has been
switched to CAN successfully.
3.
CAN Communication Test
3.1. Pin Description & Connection Method
TF03-CAN allows a wide voltage supply, with power supply options between 5 and 24V.
Fig.8 Pinout
Table 2 Line Sequence Description
Number Colour Function Explanation
1 Red VCC 5-24V
2 White CAN_L CAN bus
3 Green CAN_H CAN bus
4 N/A N/A N/A

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5 Blue TTL_RXD Serial port receive
6 Brown TTL_TXD Serial port send
7 Black GND GND
Fig.9 CANalyst connecting TF03-CAN to PC
Fig.10 CANalyst connecting TF03-CAN to PC
Fig.11 CANalyst and TF03-CAN connection method
3.2. Test Steps
3.2.1. TF03-CAN Establishes Connection with PC
Install USB_CAN TOOL according to the "
USB_CAN TOOL Debugging Software Installation and User Manual
". If you are
using another CAN Analyzer, please install the drivers for that particular board. Open PC Settings->Devices->Bluetooth and
Other Devices, find and check if the USB is working properly. If "No driver" is displayed,
VCC
CAN 1
CAN 2
H
S
L
H
S
L
CANalyst
DC
Power
Supply
TF03-CAN
CAN_L
CAN_H
5-24V
GND
GND

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you need to install the driver before you can run USB_CAN TOOL.
Driver Installation: Find "This PC" on the desktop, right-click and select "Manage". Under the "Computer
Management" column, find "Device Manager" and select the appropriate device. Right-click and select "Update Drivers",
click on "Find and install drivers manually" and select Browse for drivers on your computer. Under the folder where the
USB_CAN TOOL is installed, find the following path: driver\usb_drivers\Windows\win7 win8 win10 driver\inf, select the
path and click "Next", then the computer will automatically install the driver.
3.2.2. Modify the Baud Rate
Open the USB_CAN TOOL to modify the baud rate. TF03-CAN baud rate defaults to 250kbps, the frame format
defaults to standard frame. The sending and receiving IDs default to 0x00003003 & 0x00000003 respectively.
On the main page, find the "CAN Send" field, select "Frame Format" as "Standard Frame" (you can select "Standard
Frame" or "Extended Frame" as the frame format, in practice "Standard Frame" is usually used), and select "Frame Type" as
" Data frame" and set the "Frame ID" to "00 00 30 03".
Fig.12 Parameter setting
Find "Device Operation" in the upper menu bar and click on "Start Device". Select the baud rate as "250kbps". Click
on "OK" and the device will start.
Fig.13 Starting-up device
Fig.14 Selecting the baud rate
Baud rate
Frame Format
Frame Type
Frame ID

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Fig.15 Output data after successful start-up of the device
After the device has been successfully started, the measured distance information and signal strength can be read in the
output data field on the right. Byte0-1 are the lower and higher bytes of the distance value (HEX); byte2-3 are the lower and
higher bytes of the signal strength (HEX); and byte6-7 are reserved.
For example, if the output data frame is: F8 01 6E 00 00 00, then the measured distance value is 000001F8, which is
504 (DEC); and the signal strength is 0000006E, which is 110 (DEC). In summary, the measured distance value is 504 cm
and the signal strength is 110.
The following is an example of setting a baud rate of 500K to explain the modification of the baud rate under the CAN
protocol.
The command format for configuring the baud rate is shown below. In the command, H1 H2 H3 H4 indicates the baud
rate (HEX), arranged from low to high, i.e. in Little-Endian order. SU is the checksum (Checksum = 5A + 08 + 52 + H1 +
H2 + H3 + H4, and take the lower 8 bits).
Table 3 Modify baud rate
Function Command Return Value Factory Configuration
Modify
Baud Rate
5A 08 52 H1 H2 H3 H4 SU
Success: 5A 05 52 00 B1 1000000
Fail: Timeout 1s no response
Baud rate 500000 (DEC) = 0x0007A120 (HEX), then the command is: 5A 08 52 20 A1 07 00 7C. Enter the command
in the "Data" field and click on Send.
Then enter "save configuration" command: 5A 04 11 6F. Send the command, the device will stop outputting data.
Fig.16 Send "Modify baud rate" command

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Fig.17 Send "save configuration" command
Click on "Shutdown Device" in "Device Operation" and then reboot. Select "500Kbps" for the baud rate, the device
will start up successfully.
For more details, please refer to the manual of the particular device and USB-CAN Tool debugging software
installation and operation manual.