TF03 Product Manual V0.4 Benewake(Beijing)Co., Ltd.
TF03 Product Manual V0.4 Benewake(Beijing)Co., Ltd. Specified Product Product model: TF03 Product name: Single-Point Long-Distance LiDAR Manufacturer Company name: Benewake (Beijing) Co., Ltd. Address: No. 28, Xinxi Road, Haidian District, Beijing, PRC Copyright The Copyright of this document is protected. All the rights involved herein belong to Benewake (Beijing) Co., Ltd. Any copy activity of this document, no matter in whole or in part, should be in conformity of the Copyright Law.
TF03 Product Manual V0.4 Benewake(Beijing)Co., Ltd. Foreword Dear users: Thanks for choosing Benewake products, and it’s our pleasure to help you to solve any technical question. For the purpose of offering a 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 maybe meet. Please contact us if you have any questions.( bw@benewake.
TF03 Product Manual V0.4 Benewake(Beijing)Co., Ltd. Content 1 Attentions .......................................................................................................... 6 1.1 ABOUT THIS DOCUMENT ............................................................................................................................................... 6 1.2 USAGE OF PRODUCT .....................................................................................................................................
TF03 Product Manual V0.4 Benewake(Beijing)Co., Ltd. 6 TF03 setup software ....................................................................................... 19 7 Failure reasons and troubleshooting .............................................................. 20 8 Frequently asked questions ............................................................................ 21 Attachment 1: Specifications of TF Series PC Display Software...........................
TF03 Product Manual V0.4 Benewake(Beijing)Co., Ltd. 1 Attentions 1.1 About this Document This Manual provides information necessary for the use of this product. Please read this Manual carefully before using this product and make sure that you have fully understood its contents. 1.2 Usage of Product This product can only be maintained by qualified professionals and only the original spare parts can be used to ensure its performance and safety.
TF03 Product Manual V0.4 Benewake(Beijing)Co., Ltd. 2 Physical Interface 2.1 Description about line sequence and connection Wiring terminal model: GH1.25-7P. Figure1 Line sequence Table 1 Pin functions and connection instructions No. Color Pin Function 1 Red VCC Voltage input 2 White CAN_L CAN bus low 3 Green CAN_H CAN bus high 4 Blue GPIO 5 Brown TTL_RXD UART receiver 6 Yellow TTL_TXD UART transmitter 7 Black GND GND IO output 1 2.
TF03 Product Manual V0.4 Average power Benewake(Beijing)Co., Ltd. ≤0.9W 3 Installation Instructions Figure 2 Exterior 3.1 Product Overview 3.2 Production Structure The LiDAR mounting holes are applicable to M3 screws. Note that the length of the screw entering the enclosure shall be no more than 3.5mm.
TF03 Product Manual V0.4 Benewake(Beijing)Co., Ltd. 4 Communication Protocol and Data Format TF03 supports serial port and CAN bus communication. 4.1 Serial Port Version Here follow the TF03 serial communication protocol and data format, and the output level (LVTTL) of the serial port is 0-3.3V.
TF03 Product Manual V0.4 Benewake(Beijing)Co., Ltd. 2) Serial Pixhawk data format Output in the form of strings (unit: m), for example, range of 1.21m and it will output the string 1.21; each distance value ends by line feed. The products of the serial port version can support the output in the form of Pixhawk changed by instructions. 4.2 CAN version The CAN communication protocol can be customized according to users’ needs; the CAN baud rate, ID and frame format can be modified.
TF03 Product Manual V0.4 Benewake(Beijing)Co., Ltd. parameters will be saved in Flash and no reconfiguration is needed in case of power-off reboot. Please modify the product configurations as needed. Never attempt unrelated instructions frequently so as to avoid unnecessary loss caused by wrong instructions; ensure that the product is configured according to the instructions listed in this Manual. Do not send any undeclared instruction.
TF03 Product Manual V0.4 Benewake(Beijing)Co., Ltd. 4.3.3 Setting operating frequency Send to TF03： Byte 0 1 Descriptions Head(0x5A) 2 Len 3 4 Len-1 0x03 Freq_low Freq_high Check_sum Freq: Operating frequency, >0 (operating frequency set) TF03 returns: Byte 0 Descriptions Head(0x5A) 1 Len 2 3 4 Len-1 0x03 Freq_low Freq_high Check_sum Freq: Operating frequency actually achieved in the TF03 This instruction takes effect immediately and the configurations are not saved by default.
TF03 Product Manual V0.4 Byte 0 Descriptions 1 Head(0x5A) Benewake(Beijing)Co., Ltd. 2 Len 0x05 3 Len-1 Format Check_sum Format: Output format configured in the TF03. 0x01 (standard data format output), 0x02 （ Pixhawk data format output ） . This instruction takes effect immediately and configurations are not saved by default. 4.3.
TF03 Product Manual V0.4 Benewake(Beijing)Co., Ltd. default. 4.3.8 Enabling checksum switch Send to TF03： Byte 0 Descriptions Head(0x5A) 1 2 Len 0x08 3 Enable Len-1 Check_sum Enable: 0 (Checksum disabled, Check_sum may be any value.), 1 (Checksum enabled) TF03 returns: Byte 0 Descriptions Head(0x5A) 1 2 Len 0x08 3 Enable Len-1 Check_sum Enable: 0 (Checksum disabled), 1 (Checksum enabled) This instruction takes effect immediately and configurations are not saved by default. 4.3.
TF03 Product Manual V0.4 Byte 0 Descriptions Head(0x5A) Benewake(Beijing)Co., Ltd. 1 2 3 Len-1 Len 0x11 Status Check_sum Status: 0 (Successful); non-0（Failed） After this instruction has been executed, all configuration information is still effective upon reboot. 4.3.
TF03 Product Manual V0.4 Benewake(Beijing)Co., Ltd. configurations. 4.3.13 Configuring CAN Receive ID Send to TF03： Byte 0 1 2 3 4 5 6 Len-1 Descriptio Head(0 Len 0x51 ID_low_0 ID_low_8 ID_high_16 ID_high_24 Check_su ns x5A) m ID: CAN Receive ID TF03 returns: Byte 0 1 2 3 Len-1 Descriptions Head(0x5A) Len 0x51 Status Check_sum Status: 0 (Successful), non-0 (Failed). This instruction can not take effect until it is executed and restarted with saved configurations. 4.3.
TF03 Product Manual V0.4 Benewake(Beijing)Co., Ltd. 5 Quick Test Procedures 5.1 Required Tools of Product Test Note: the product package contains only TF03 products and factory certificate, and other accessories are collected by yourself. For TTL-USB boards, please contact sales or technical support. Figure 4 Tools example TF03 TTL - USB board USB cable Computer TF display program 5.2 Test Procedures 1) Download the TF display program Please download the TF display program from http://benewake.
TF03 Product Manual V0.4 Benewake(Beijing)Co., Ltd. 3) TF display software connection and reading Figure 6 The interface of TF display software As shown in Figure 6, open the TF display program, selectⅠ『Benewake TF03』 and select the serial port for automatic identification (here is Ⅱ『COM9』). Then, click『CONNECT』to connect to the TF display program.
TF03 Product Manual V0.4 Benewake(Beijing)Co., Ltd. 6 TF03 Setup software Figure 7 TF03 Setup software display Interface of the custom TF display software is shown in the figure above. 1) After TF03 is connected to the computer, select the correct port number and baud rate in Zone C manually and click the 『 Connect 』 button to realize communication between the TF display software and TF03.
TF03 Product Manual V0.4 Benewake(Beijing)Co., Ltd. 4) Region E is dedicated to firmware upgrade, which enables the BootLoader function to be used for upgrading the product firmware. 7 Failure reasons and troubleshooting 1) Under normal operation, TF03 sometimes will output 0 values. Reasons: In order to better identify the data validity of TF03, the 0 values are specifically used as abnormal state values.
TF03 Product Manual V0.4 Benewake(Beijing)Co., Ltd. 4) TF03 does not cover the nominal range in some cases. Reason: TF03 bases on the time-of-flight (TOF) principle, to achieve ranging by calculating the round-trip time of flight of laser pulses. The intensity of ambient light or the reflectivity of objects under testing is different, and thus will increase the intensity of ambient noise or return light intensity.
TF03 Product Manual V0.4 Benewake(Beijing)Co., Ltd. Attachment 1: Instruction of TF Series PC Display Software Figure 8 Interface for TF series PC display software Ⅰ Product model/serial port control area『SETTINGS』 『Product Type』：Use the TTL-USB pin board to connect the corresponding LiDAR model at the computer terminal; if you use the product TF03 of our company, just select Benewake TF03. 『Serial Port』 ：Select to identify the corresponding LiDAR port number at the computer terminal.
TF03 Product Manual V0.4 Benewake(Beijing)Co., Ltd. 『Dist Echo』：Unmeaning. 『FREEZE/CLEAR』：Click『FREEZE』to pause the PC for analysis of the images in『Ⅳ』; click『CLEAR』to clear the drawing curve in『Ⅳ』and restart drawing. 『Date Amount』：5 by default, namely, once receiving 5 points, the PC will average the numerical values of the 5 frames and then output a frame. Modification is allowable as needed (You’d better set the numerical value larger or equal to 5 for preventing stagnation of the PC).
TF03 Product Manual V0.4 Benewake(Beijing)Co., Ltd. Ⅵ Range scale『DYNAMIC CURSOR』 Display the real-time distance detected according to the current product model. Contact information Page24 Headquarters: 010-57456983 bw@benewake.com Technical support: support@benewake.
