Data Sheet

ManualsBrandsBenewake ManualsSingle BeamBenewake TF02 LIDAR LED Rangefinder IP65 (22 m)

Page 9

Document No: SJ-GU-TF02-02 Version: A00

The data output by TF02 is shown as below. All the data are hexadecimal. Each frame of data

totals 9 bytes. The data contains distance information, i.e. Dist; signal strength information, i.e.

STRENGTH; and reliability information, i.e. SIG. The frame end is data parity bit.

Data Bit

Definition

Description

Byte0

Frame header

0x59

Byte1

Frame header

0x59

Byte2

DIST_L

DIST low 8 Bits

Byte3

DIST_H

DIST High 8 Bits

Byte4

STRENGTH_L

STRENGTH low 8 Bits

Byte5

STRENGTH_H

STRENGTH high 8 Bits

Byte6

SIG

Reliability is divided into 8 levels, respectively indicated by

0x01-0x08.

When the reliability level is 7 or 8, it means data is reliable.

When the reliability level is another value, the data of this

frame is not recommended.

Byte7

TIME

Exposure time is divided into two levels and expressed by

0x03 and 0x06 respectively. The greater the value is, the

longer the exposure time is.

Byte8

Check

Low 8 bits of Checksum parity bit, Checksum = Byte0 +

Byte2 + ... + Byte7, Checksum are the low 8 bits of the

checksum of former 8 bytes

9.3 Data Format of Serial Port Pix

It is output in the form of strings with m as its unit. For example, if the measuring distance is

1.21m, then the output string is 1.21. Each distance value ends with line feed.

Note: if the output distance of TF02 is 22 (m), it indicates outrange or insufficient signal

intensity and so the distance is not reliable. It is suggested to eliminate this data.

9.4 CAN Standard Data Format