Benewake TF02-i Скачать руководство пользователя страница 6

ONEVIEW 

REV: 13/05/2022 

·

 

©2022 Benewake

 (Beijing) Co., Ltd. | 

en.benewake.com

 | All rights reserved 

BP-UM-22 A03 

 

 

Figure 1-2 Dimension of TF02-i (Unit: mm) 

TF02-i is recommended to use M2.5 round Phillips screws for installation. Please remove 
the protective film of the optical lens before use. The lens of front panel of LiDAR cannot 
be covered. Please keep it clean. The surface of optical lens is the ranging zero of LiDAR. 
The detection angle of TF02-i 

is 3°. At different distances, the size of light spot, namely 

the edge length of the detection range, is different. Side length of the detection range 
at different distances (the detection range is a square), as shown in Table 1-2. 

Table 1-2 Spot Size at Different Distances 

Distance

m

 

10 

20 

30 

40 

Spot size

cm

 

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 spot; if the side length of the detected object is smaller than 
size of light spot, the output (Distance) from TF02-i will be a value between 
the actual distance values of the two objects. 

1.4

 

Storage 

 

Device  should  be  stored  at  -

30°C  to  80°C  with  a  relative  humidity  ≤  60%  and 

ventilation free from corrosive gases.   

 

Before  storage,  please  make  sure  that  all  connections  are  disconnected  or  dust 
covers are inserted or covered to ensure cleanliness. 

 

If storage time is over three months, please carry out a working test before using, 
to ensure that the device can be used in normal condition. 

 

For ensuring the product performance, do not open the product shell or remove 
the IR-pass filter. 

Содержание TF02-i

Страница 1: ...TF02 i User Manual...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

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