Benewake TF03 User manual

TF03 UART/CAN User Manual
Page1 ©Benewake · All rights reserved · Subject to change without notice · 2021-08-09
TF03 UART/CAN
Long-distance Single-point LiDAR
User Manual

TF03 UART/CAN User Manual
Page2 ©Benewake · All rights reserved · Subject to change without notice · 2021-08-09
Described product
Long-range single-point LiDAR: TF03 UART/CAN
Manufacturer
Benewake (Beijing) Co., Ltd.
NO.28 Xinxi Road
Haidian District
Beijing, PRC
Legal information
This work is protected by copyright. Any rights derived from the copyright shall be reserved for
Benewake (Beijing). Reproduction of this document or parts of this document is only
permissible within the limits of the legal determination of Copyright Law. Any modification,
abridgment or translation of this document is prohibited without the express written permission
of Benewake (Beijing).
The trademarks stated in this document are the property of their respective owner.
© Benewake (Beijing). All rights reserved.
Original document
This document is an original document of Benewake (Beijing).

TF03 UART/CAN User Manual
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TABLE OF CONTENTS
1 INTRODUCTION............................................................................................................................5
1.1 FAILURE SCENARIOS.............................................................................................................................. 5
1.2 SYMBOLS AND DOCUMENT CONVENTIONS............................................................................................6
2 PRODUCT DESCRIPTION.......................................................................................................... 7
2.1 APPEARANCE OVERVIEW....................................................................................................................... 7
2.2 DIMENSIONAL DRAWING.........................................................................................................................7
2.3 MEASURING PRINCIPLE.......................................................................................................................... 8
2.4 TECHNICAL SPECIFICATION....................................................................................................................8
2.5 FOV....................................................................................................................................................... 10
3 ELECTRICAL INSTALLATION..................................................................................................11
3.1 PIN AND WIRE COLOR ASSIGNMENT....................................................................................................11
3.2 WIRE CROSS-SECTIONS.......................................................................................................................11
3.3 GENERAL CONDITIONS FOR DATA INTERFACE.................................................................................... 12
3.4 WIRING THE UART INTERFACE.......................................................................................................... 12
3.5 WIRING THE CAN INTERFACE.............................................................................................................13
3.6 CAN BUS............................................................................................................................................. 13
4 COMMUNICATION PROTOCOLS...........................................................................................15
4.1 COMMUNICATION PROTOCOL OF UART............................................................................................ 15
4.2 USER PROTOCOL OF UART................................................................................................................ 15
4.3 COMMUNICATION PROTOCOL OF CAN...............................................................................................16
4.4 USER PROTOCOL OF CAN.................................................................................................................. 16
5 CUSTOM CONFIGURATION.................................................................................................... 16
5.1 COMMAND PROTOCOL......................................................................................................................... 16
5.2 COMMON COMMANDS..........................................................................................................................17
5.3 COMMAND EDITING.............................................................................................................................. 18

TF03 UART/CAN User Manual
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6 OPTIONAL ACCESSORIES...................................................................................................... 19
6.1 SELF-CLEANING MODULE.................................................................................................................... 19
6.2 AIMING BEAM MODULE........................................................................................................................ 21
6.3 EXTENSION CORD.................................................................................................................................21
7 QUICK START GUIDE................................................................................................................22
7.1 CONNECTION AND BASIC TEST............................................................................................................22
7.2 TROUBLESHOOTING GUIDE FOR INITIAL TEST.....................................................................................23
7.3 WORKING MODE...................................................................................................................................24
7.4 INFLUENCES OF OBJECT SURFACES ON THE MEASUREMENT............................................................24
8 TROUBLESHOOTING................................................................................................................ 27
ATTACHMENT 1: REFLECTIVITY OF DIFFERENT MATERIALS........................................ 29

TF03 UART/CAN User Manual
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1 INTRODUCTION
The User Manual provide important information on how to use TF03. It contains the basic
information about TF03 and describes how to set up and configure the interfaces.
The User Manual contains detailed information about the interfaces including syntax and
available functionality. It focuses on TF03 specific topics and does not describe the basic
technology behind each interface.
The details of the result output formatting and the contents and syntax of the command
channels are shared by several interfaces. They are described in an appendix valid for all
relevant interfaces.
1.1 Failure scenarios
As a precision optical distance sensor, TF03’s performance is greatly affected by
environment. Certain scenarios will even damage TF03. Each of these failure scenarios
have been tested in real field tests.
Table 1 Failure scenarios of TF03
Scenario
Description
Scenario
Description
Do not cover the laser
window.
Avoid moving objects in the
detection field.
Avoid the presence of
heavy smoke, fog and rain
in the detection field.
Avoid condensation.
Avoid direct exposure to
high pressure cleaning.
Avoid exposure to strong
light source with same
wavelength.
Do not exposure to
corrosive liquids.
Avoid extreme vibrations.

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Do not use in extremely low
temperature environments.
Do not use in extremely
high temperature
environments.
Avoid exposure to sudden
and extreme temperature
changes.
Avoid direct exposure to
another LiDAR with same
wavelength.
1.2 Symbols and document conventions
Warnings and important information in this document are labeled with symbols. The
warnings are introduced by signal words that indicate the extent of the danger. These
warnings must be observed at all times and care must be taken to avoid accidents,
personal injury, and material damage.
The following symbols and conventions are used in this document:
WARNING
Indicates a situation presenting possible danger, which may lead to death or
serious injuries if not prevented.
CAUTION
Indicates a situation presenting possible danger, which may lead to moderate or
minor injuries if not prevented.
NOTICE
Indicates a situation presenting possible danger, which may lead to property
damage if not prevented.
NOTE
Indicates useful tips and recommendations.

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2 PRODUCT DESCRIPTION
2.1 Appearance Overview
②
④
③
①
Figure 1 Module view of TF03
1Cable with male connector, Molex SD-51021-007, 7pin
2Laser window (Receiving)
3Laser window (Emitting)
43mm diameter hole (4mm deep) for mounting (4x)
2.2 Dimensional drawing
Figure 2 Dimensional drawing of TF03 (Left 1: top; Left 2: bottom; Left 3: front; Unit: mm)

TF03 UART/CAN User Manual
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2.3 Measuring principle
TF03 is a typical Pulse Time of Flight (PToF) sensor. TF03 emits a narrow pulse laser,
which is collimated by the transmitting lens, which enters the receiving system after being
reflected by the measured target and is focused on the APD detector by the receiving lens.
The time between the transmitted signal and the received signal is calculated through the
circuit amplification and filtering, and the distance between TF03 and the measured target
can be calculated through the speed of light.
Figure 3 Pulsed time of flight (PToF)
2.4 Technical specification
NOTICE
TF03 has two versions, TF03-100 and TF03-180. The only difference between
the two versions is the maximum detecting range, which is 100m and 180m
respectively.
Table 2 Technical specifications of TF03
Parameters
Minimum
Typical
Maximum
Performance
Range (@90% reflectivity, 0klux)
0.1m
100m / 180m
Range (@10% reflectivity, 0klux)
0.1m
40m / 70m
Range (@90% reflectivity, 100klux)
0.1m
80m / 130m
Range (@10% reflectivity, 100klux)
0.1m
30m / 50m
Accuracy
±10cm (within 10m), 1% (10m and further)
Distance resolution
1cm
Frame rate
1Hz
100Hz
1000Hz
Repeatability
1σ: <3cm

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Optical
parameters
Light source
LD
Central wavelength
905nm
Photobiological safety
Class1(EN60825)
FoV
0.5°
Environmen
t
Ambient light immunity
100kLux
Operation temperature
-25℃
60℃
Enclosure rating
IP67
Connections
Supply voltage
5V DC
24V DC
Average current
≤150mA @ 5V, ≤80mA @ 12V, ≤50mA @ 24V
Power consumption
≤1W
Overvoltage protection
300V
Polarity protection
200V
Communication interface level
LVTTL (3.3V)
Communication interface
UART/CAN
Others
Dimension
44mm*43mm*32mm(L*W*H)
Housing
Aluminum alloy
Optical window
Infrared transmitting glass (HWB760)
Storage temperature
-40℃
85℃
Weight
86g
89g
92g
Cable length
70cm
NOTICE
The basic technical specifications, like accuracy and repeatability, are measured
with white background board (90% reflectivity) at 0klux condition.
NOTICE
Only the frame rate satisfying the following formula is supported.
Frame rate = a × 10
b, a
∈ {1,2,3,4,5,6,7,8,9}, b ∈ {0,1,2,3}
If a value does not satisfy this formula is set, TF03 will set its frame rate to
100Hz. The normal frame rate is under 1kHz, but the maximum frame rate can
reach as much as 7kHz. Please contact us if you need higher frame rate.

TF03 UART/CAN User Manual
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2.5 FoV
The field-of-view, FoV, is the angle covered by the LiDAR sensor. The horizontal FoV of
TF03 is 0.5° and the vertical FoV of TF03 is 0.15°.
Figure 4 FoV of TF03. Horizontal divergence 0.5°, vertical divergence 0.15°.
NOTICE
0.5° and 0.15° are theoretic values. Because the manufacturing error and the
installing error exist, there is divergence between each TF03’s actual FoV and
its theoretic values.
Figure 5 Spot size of TF03 at different range

TF03 UART/CAN User Manual
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3 ELECTRICAL INSTALLATION
3.1 Pin and wire color assignment
TF03’s cable has six 26 AWG wires. The connector is Molex SD-51021-007 1.25 W/B-7Pin.
Figure 6 Male connector, Molex SD-51021-007 1.25 W/B-7Pin
Table 3 Pin assignment on 7-pin male connector
Pin
Color
Signal
Function
1
Red
DC 5~24V
Supply voltage
2
White
CAN_L
CAN-BUS Low
3
Green
CAN_H
CAN-BUS High
4
N/A
N/A
N/A
5
Blue
UART RxD
UART receive
6
Brown
UART TxD
UART Transmit
7
Black
GND
Ground
3.2 Wire cross-sections
CAUTION
If you use flexible connecting cables with stranded wire, then you must not use
ferrules when connecting the wires to the terminals on TF03.
Wire all connections with copper cables!
Use the following wire cross-sections:
supply voltage at least 0.13 mm² (approx. 26 AWG), if local power supply in the
immediate vicinity.
supply voltage at least 0.21 mm² (approx. 24 AWG) at maximum length of 2m (6.562 ft),
if the connection is made to an existing 24 V DC supply.
switching outputs minimum 0.13 mm² (approx. 26 AWG), maximum cable length 2m

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(6.562 ft) with 0.21 mm² (approx. 24AWG).
data interface minimum 0.13mm² (approx. 26AWG).
Lay all cables such that there is no risk of tripping and all cables are protected against
damage.
On the usage of a typical power supply with a nominal voltage of 24V DC ±5%, the
following maximum cable lengths are allowed for the supply of the operating voltage:
Table 4 Maximum cable lengths for the supply voltage
Wire cross-section
Cable length
0.13 mm2(approx. 26AWG)
4 m (13.1 ft)
0.32 mm2(approx. 22AWG)
10 m (32.81 ft)
3.3 General conditions for data interface
The table below shows the recommended maximum length of cable as a function of the
data transmission rate selected.
Table 5 Maximum cable lengths for the data interfaces
Interface type
Transmission rate
Maximum cable length
CAN bus
1MBit/s
10 m (32.81ft)
UART
115 200 Bd
1.5 m (4.92ft)
NOTICE
With appropriate cable termination, termination in accordance with related
specification.
Use screened cable (twisted-pair) with at least 26 AWG.
3.4 Wiring the UART Interface
A screened cable is required for the wiring of the UART interface.
Pay attention to max. cable length as per section 3.3 “General conditions for the data
interface”.

TF03 UART/CAN User Manual
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Figure 7 Wiring of the UART interface
NOTICE
To connect two devices for UART serial communication, the transmitter’s TX
should connect to the receiver’s RX and the receiver’s TX should connect to the
transmitter’s RX.
3.5 Wiring the CAN Interface
To wire the CAN interface a screened “twisted-pair” cable is required.
Pay attention to max. cable length as per section 3.3 “General conditions for the data
interface”.
Figure 8 Wiring of the CAN interface
3.6 CAN Bus
Unlike a traditional network such as USB or Ethernet, CAN does not send large blocks of
data point-to-point from one node to another under the supervision of a central bus master.
Once CAN basics such as message format, message identifiers, and bit-wise arbitration —
a major benefit of the CAN signaling scheme are explained, a CAN bus implementation is
examined, typical waveforms presented, and transceiver features examined.

TF03 UART/CAN User Manual
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Figure 9 CAN networking of TF03
The High-Speed ISO 11898 Standard specifications are given for a maximum signaling
rate of 1 Mbps with a bus length of 40 m with a maximum of 30 nodes. It also recommends
a maximum unterminated stub length of 0.3 m. The cable is specified to be a shielded or
unshielded twisted-pair with a 120-Ω characteristic impedance (Zo).
For CAN bus connection, there are two resistances need to be removed from TF03. See
Figure 10 Resistances needed to be removed from PCBA for CAN Bus for the location of
Resistance #2 and #3.
R2
R3
Figure 10 Resistances needed to be removed from PCBA for CAN Bus
WARNING
Removing resistance #2 and #3 needs to disassemble TF03. To avoid
irreversible damage to TF03, please contact our technical support engineers for
detailed instructions.

TF03 UART/CAN User Manual
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4 COMMUNICATION PROTOCOLS
The standard version of TF03 supports two communication interfaces, UART and CAN.
The default interface is UART. These two interfaces cannot work simultaneously. The
communication interface can be switched by certain command.
4.1 Communication protocol of UART
Table 6 Characteristics of UART
Character
Value
Configurability
Baud rate
115200
Configurable
Data bit
8
Non-configurable
Stop bit
1
Non-configurable
Parity
None
Non-configurable
4.2 User protocol of UART
A standard data frame consists of 9 bytes of hexadecimal numbers, which contains
distance and signal strength.
NOTE
Strength value is between 0 and 3500. Threshold of strength is 40, when
strength is lower than 40, distance will output maximum value. When strength is
between 40 and 1200, distance is more reliable. When there is a high reflectivity
object, strength will be over 1500.
Figure 11 Data communication: User protocol frame format of UART
Each data frame consists of 9 bytes hexadecimal data which contains the distance and
signal strength.

TF03 UART/CAN User Manual
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NOTE
Strength value is between 0 and 3500. Threshold of strength is 40, when
strength is lower than 40, distance will output maximum value. When strength is
between 40 and 1200, distance is more reliable. When there is a high reflectivity
object, strength will be over 1500.
4.3 Communication protocol of CAN
Table 7 Characteristics of CAN
Character
Value
Configurability
Baud rate
1M Bit/s
Configurable
Receiving ID
0x3003
Configurable
Transmitting ID
0x03
Configurable
Message frames
Standard Frame
Extended Frame
Configurable
4.4 User protocol of CAN
Figure 12 Data communication: User protocol frame format of CAN
5 CUSTOM CONFIGURATION
5.1 Command protocol
To meet the need of different customers, TF03 released several configuration parameters.
These parameters, such as data format, frame rate, could be modified by certain command.
All the parameters will be stored in flash after configured successfully and customers don’t
need to configure again when restart.

TF03 UART/CAN User Manual
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Table 8 Description of TF03 command protocol
Byte
Definition
Description
Byte 0
Header
Fixed to 0x5A
Byte 1
Len
The length of the command frame (unit: Byte)
Byte 2
ID
Identifies the function of each command
Byte 3~Byte N-2
Payload
Different meanings and lengths in different ID command frames
Byte N-1
Check sum
the lower 8 bits of the sum of the first N-2 bytes
5.2 Common commands
Table 9 List of TF03’s common commands
Description
Command
Response
Remark
Default
setting
Obtain firmware
version
5A 04 01 5F
5A 07 01 VA VB
VC SU
The version number
VC.B.A
/
System reset
5A 04 02 60
5A 05 02 00 61
/
/
Modify frame
rate
5A 06 03 LL HH SU
Same as
command
LL: lower 8 bits
HH: higher 8 bits
100Hz
Output control
On: 5A 05 07 01 67
Off: 5A 05 07 00 66
Same as
command
/
Enabled
Enable
command
triggering mode
5A 06 03 00 00 63
Same as
command
/
Disabled
Trigger
measurement
5A 04 04 62
Data frame
Only works in
command triggering
mode
/
Change baud
rate
5A 08 06 H1 H2 H3 H4
SU
Same as
command
See 5.3 Command
editing
115200
Restore default
settings
5A 04 10 6E
5A 05 10 00 6F
/
/
Save settings
5A 04 11 6F
5A 05 11 00 70
/
/
Over range
threshold
setting
5A 06 4F LL HH SU
5A 05 4F 00 AE
Unit: cm
LL: lower 8 bits
HH: higher 8 bits
35000
Switch
communication
interface
UART: 5A 05 45 01 A5
CAN: 5A 05 45 02 A6
5A 05 45 00 A4
/
UART

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Modify CAN
arbitration ID
5A 08 50 H1 H2 H3 H4
SU
5A 05 50 00 AF
ID = (H4<<24)
+(H3<<16) +(H2<< 8)
+H1
0x03
Modify CAN
5A 08 51 H1 H2 H3 H4
SU
5A 05 51 00 B0
ID=(H4<<24)
+(H3<<16) +(H2<< 8)
+H1
0x3003
Modify baud
rate of CAN
5A 08 52 H1 H2 H3 H4
SU
5A 05 52 00 B1
Baud rate=(H4<<24)
+(H3<<16) +(H2<<8)
+H1
1Mbits/s
Set frame type
of CAN
Standard frame: 5A 05
5D 00 BC
Extension frame: 5A
05 5D 01 BD
5A 05 5D 00 BC
/
Standard
frame
Enable
UAVCAN
5A 05 77 MD SU
5A 05 77 00 D6
MD：filter switch
0x00：filter off
0x01：filter on
/
Offset setting
5A 06 69 LL HH SU
5A 05 69 00 C8
Unit: cm
LL: lower 8 bits
HH: higher 8 bits
0
Low-power
consumption
mode
On: 5A 05 83 01 E3
Off: 5A 05 83 00 E2
Same as
command
/
Off
WARNING
Do not send the command that is not in the list above.
NOTE
Baud rate of UART can be set to 9600, 14400, 19200, 38400, 56000, 57600,
115200, 128000, 230400, 256000, 460800, 512000, 750000, and 921600. If
other value were set, TF03 will set it to 115200.
5.3 Command editing
This section describes the Command Channel of TF03 which is used to read and set
TF03’s working parameters. The command channel is available via all the interfaces.
A standard TF03 command consists of frame header, command length, command ID,
parameters and checksum. Follow these steps to generate a command:
Choose the right command ID and confirm its length

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Convert parameter from the decimal value to hexadecimal value
Fill the hexadecimal parameter into the command
Calculate the checksum and fill its low 8-bits into the command
For example, changing the baud rate to 460800. Firstly, choose the ID of changing frame
rate, which is 0x06. Secondly, change 460800 (decimal number) to hexadecimal number,
which is 0x00 07 08 00. Thirdly, fill the parameter into the command, like 5A 08 06 00 08
07 00 SUM. Finally calculate the sum of the first 7 bytes and take its low 8 bits, we will
have the complete command, 5A 08 06 00 08 07 00 77.
Header
Length
ID
Hexadecimal parameters
Checksum
Fixed: 0x5A
Length of the command
(Number of bytes)
ID of the command
Hexadecimal parameters
Little-endian mode
Lower 8 bits of the sum of
previous bytes
Figure 13 Command syntax of TF03
6 OPTIONAL ACCESSORIES
6.1 Self-cleaning module
In some outdoor scenes, dust adhering to the TF03’s window will affect the performance of
the TF03. We’ve designed the following self-cleaning module that can automatically clean
the TF03’s window regularly. The module drives the rocker arm and wiper with the steering
gear to clean the TF03 window regularly.

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Figure 14 Dimension drawing of self-cleaning module
The self-cleaning module is fixed with TF03 through the metal base, its power supply and
communication are completely independent from TF03.
①
②
③
Figure 15 Sketch map of steering gear
Table 10 Pin assignment of steering gear
Pin
Color
Signal
Function
1
Black/Brown
GND
Ground
2
Red
DC +5V
Supply voltage
3
Yellow
PWM
Signal channel
NOTE
The working pattern of steering gear is configurable, please contact us for
detailed information.