TF02-i User Manual
Page 1: ...TF02 i User Manual...
Page 2: ...ave 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 86 10 57456983 Technical questions please contact...
Page 3: ...eristics 5 3 COMMUNICATION PROTOCOL 6 3 1 RS 485 Communication Protocol 6 3 1 1 Communication protocol 6 3 1 2 Parameter configuration description of Modbus protocol 6 3 1 3 Parameter configuration 8...
Page 4: ...uct 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 Accuracy 5cm 0 1m 5m 1 5m 40m Distan...
Page 5: ...mptly if it is dirty 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...
Page 6: ...ot 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 i light...
Page 7: ...etail to ensure that the product is used within the rated specifications The product is designed for use in the following scenarios Robot Intelligent Transportation Intelligent Device UAV Other Indust...
Page 8: ...Function Comment 1 Red VCC Power supply 2 White Yellow RS485 B CAN_L RS485 B CAN bus 3 Green RS485 A CAN_H RS485 A CAN bus 4 N A N A N A 5 Blue Orange UART_RXD UART receive Debug 6 Brown UART_TXD UART...
Page 9: ...rate 115200 Data bit 8 Stop bit 1 Parity None Note The following baud rates are supported 9600 14400 19200 38400 43000 57600 768000 115200 default 128000 230400 256000 It is not recommended to use a b...
Page 10: ...tamp High 2 bytes of time stamp unit ms 00 04 Low 16 bits of timestamp Low 2 bytes of time stamp unit ms 00 06 High 16 bits of firmware version 0x00 and main version number 00 07 Low 16 bits of firmwa...
Page 11: ...pnse Description Enable Modbus 5A 05 15 01 75 5A 05 15 01 75 Save and reboot to take effect Strength threshold and distance under threshold 5A 07 22 XX LL HH SU 5A 07 22 XX LL HH SU For example When s...
Page 12: ...to 100 0x0064 FH 00 FL 64 CL 69 CH C8 Low power consumption mode 01 06 00 88 LH LL CL CH 01 06 00 88 LH LL CL CH LH High 8 bits of sampling frequent in low power consumption mode LL Low 8 bits of samp...
Page 13: ...eiving ID 0x00000003 Frame format Standard frame Warning 0 is the broadcast ID the transmitting and receiving ID cannot be set to 0 The following baud rates are supported 1000kbps 900 kbps 800 kbps 66...
Page 14: ...rmat of CAN communication is shown as below Table 3 11 The configuration command format Byte 0 1 2 3 4 5 8 9 12 13 Description Header Length ID Type Baudrate Recv_id Trans_id Check_sum Default 0x5A 0x...
Page 15: ...sable Enable 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 Strength threshold and distance under threshold 5A 07 22 XX LL HH SU 5A 07 22 XX...
Page 16: ...N PROTOCOL REV 13 05 2022 2022 Benewake Beijing Co Ltd en benewake com All rights reserved BP UM 22 A03 13 the configuration otherwise the settings will not take effect 120 terminal resistor is disabl...
