TF03 UART/CAN User Manual
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©Benewake · All rights reserved · Subject to change without notice · 2021-08-09
TF03 UART/CAN
Long-distance Single-point LiDAR
User Manual
Page 1: ...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...
Page 2: ...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...
Page 3: ...ECHNICAL 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 INTERF...
Page 4: ...9 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...
Page 5: ...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...
Page 6: ...ngs 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...
Page 7: ...ESCRIPTION 2 1 Appearance Overview Figure 1 Module view of TF03 1 Cable with male connector Molex SD 51021 007 7pin 2 Laser window Receiving 3 Laser window Emitting 4 3mm diameter hole 4mm deep for mo...
Page 8: ...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 version...
Page 9: ...V 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 len...
Page 10: ...sor 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...
Page 11: ...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...
Page 12: ...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 t...
Page 13: ...sted 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...
Page 14: ...of 0 3 m The cable is specified to be a shielded or unshielded twisted pair with a 120 characteristic impedance Zo For CAN bus connection there are two resistances need to be removed from TF03 See Fig...
Page 15: ...0 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 con...
Page 16: ...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...
Page 17: ...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 con...
Page 18: ...et 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 comma...
Page 19: ...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 0x5...
Page 20: ...with TF03 through the metal base its power supply and communication are completely independent from TF03 Figure 15 Sketch map of steering gear Table 10 Pin assignment of steering gear Pin Color Signa...
Page 21: ...beam module to assist the installation Figure 16 Sketch map of Aiming beam module NOTE The aiming beam powered by button battery is a low power laser Its indoor effective range is approximate 150 met...
Page 22: ...ckage contains only TF03 and factory certificate If you need USB converter please contact our sales or technical support Download the latest version BW_TFDS from http en benewake com support onto your...
Page 23: ...o S2 S2 Check whether the USB converter is paired with TF03 For example TF03 100 CAN needs a USB CAN converter No Change a paired USB converter then try again Yes Proceed to S3 S3 Check signal wiring...
Page 24: ...uences of object surfaces on the measurement The signal received from a perfectly diffuse reflecting white surface corresponds to the definition of a remission of 100 As a result of this definition th...
Page 25: ...angle on page 25 If the beam is incident at an angle a corresponding energy and detecting range loss is incurred Figure 22 Degree of reflection If the reflected energy returned is over 100 basis Kodak...
Page 26: ...bject on which the deflected laser beam is incident may be detected Figure 24 Object smaller than diameter of the laser beam Objects that are smaller than the diameter of the laser beam cannot reflect...
Page 27: ...sing screws of the TF03 are sealed Claims under the warranty against Benewake will be rendered void if the seals are damaged or the device opened This chapter describes how to identify and rectify err...
Page 28: ...ing fault in the data connection Check wiring Wrong USB converter Check USB converter Data transmitted is garbage Baud rate mismatch Check baud rate of the receiving device Check TF03 s baud rate sett...
Page 29: ...quirements Table 12 Reflectivity of common materials No Materials Reflectivity 1 Black foam rubber 2 4 2 Black cloth 3 3 Black rubber 4 4 Coal varies from coal to coal 4 8 5 Black car paint 5 6 Black...
