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TF03 UART/CAN User Manual

Page9

Light source

Central wavelength

905nm

Photobiological safety

Class1(EN60825)

FoV

0.5°

Ambient light immunity

100kLux

Operation temperature

-25

℃

Enclosure rating

IP67

Supply voltage

5V DC

24V DC

Average current

≤150mA @ 5V, ≤80mA @ 12V, ≤50mA @ 24V

Power consumption

≤1W

Overvoltage protection

300V

Polarity protection

200V

Communication interface level

LVTTL (3.3V)

Communication interface

UART/CAN

Dimension

44mm*43mm*32mm(L*W*H)

Housing

Aluminum alloy

Optical window

Infrared transmitting glass (HWB760)

Storage temperature

-40

℃

Weight

86g

89g

92g

Cable length

70cm

NOTICE

The basic technical specifications, like accuracy and repeatability, are measured

with white background board (90% reflectivity) at 0klux condition.

NOTICE

Only the frame rate satisfying the following formula is supported.

Frame rate = a × 10

, a ∈ {1,2,3,4,5,6,7,8,9}, b ∈ {0,1,2,3}

If a value does not satisfy this formula is set, TF03 will set its frame rate to

100Hz. The normal frame rate is under 1kHz, but the maximum frame rate can

reach as much as 7kHz. Please contact us if you need higher frame rate.

Содержание TF03

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

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