Benewake TF-NOVA LiDAR Compact Laser Line Lidar for Accurate Detection User Manual

CAUTION! This laser product is classified as
Class 1 during operational procedures. When the ranging feature is
activated, the laser emitter of the LiDAR module may emit laser
radiation, therefore, the LiDAR should NOT be aimed at humans and
animals to ensure safety.

Product Overview:

This chapter mainly introduces the measuring principle,
technical specifications, structural description, equipment
coordinates and field of view distribution of the TF-NOVA
LiDAR.

Measuring principle:

Figure. 1: Pulsed time of flight

Technical Specifications:

Table. 1: Specification

FAQ:

Q: What should I do if I encounter problems that cannot be
solved during use?

A: Please contact Benewake staff for assistance. You can reach
them at the provided contact details in the manual.

“`

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TF-NOVA User Manual
1 ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · Subject to change without notice

Preface
This user manual contains the introduction, use and maintenance of TF-NOVA LiDAR. Please read this manual carefully before formal use, and strictly follow the steps described in the manual during use to avoid product damage, property loss, personal injury or/and violation of product warranty terms. If you encounter problems that cannot be solved during use, please contact Benewake staff for assistance.
Contact Details
Official website: en.benewake.com Contact number: 400-880-9610 For technical questions, please contact: support@benewake.com For sales inquiries or to request brochure, please contact: bw@benewake.com
Headquarter Address
Benewake (Beijing) Co., Ltd. 3rd Floor, Haiguo Jiaye Sci-Tech Park, Haidian District, Beijing, China
Copyright Notice
This User Manual is copyright © of Benewake. Please do not modify, delete or translate the description of this manual contents without the official written permission from Benewake.
Disclaimer
The TF-NOVA product is constantly being improved, and its specifications and parameters will undergo iterative changes. Please refer to the official website for latest version.
2 ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · Subject to change without notice

Contents
1 Laser Safety Information …………………………………………………………………………………………..1 2 Installation and Maintenance ……………………………………………………………………………………1 3 Product Overview …………………………………………………………………………………………………….1 This chapter mainly introduces the measuring principle, technical specifications, structural description, equipment coordinates and field of view distribution of the TF-NOVA LiDAR……1
3.1 Measuring principle…………………………………………………………………………………………….1 3.2 Technical Specifications……………………………………………………………………………………….2 3.3 Structural Appearance…………………………………………………………………………………………3 3.4 FoV……………………………………………………………………………………………………………………4 4 Device Installation ……………………………………………………………………………………………………4 4.1 Mechanical installation ……………………………………………………………………………………….4 4.2 Connector ………………………………………………………………………………………………………….5 5 Communication Protocol and data format ………………………………………………………………….6 5.1 Serial Communication …………………………………………………………………………………………6 5.2 IIC Communication ……………………………………………………………………………………………..7 5.3 On/off Mode………………………………………………………………………………………………………7 5.4 Serial communication commands …………………………………………………………………………8
5.4.1 Version information ID_GET_VERSION=0x01……………………………………………………9 5.4.2 System software restore ID_SOFT_RESET=0x02 ……………………………………………….9 5.4.3 Output frequency ID_SAMPLE_FREQ=0x03 ……………………………………………………10 5.4.4 Output format setting ID_OUTPUT_FORMAT=0x05 ………………………………………..10 5.4.5 Baud rate setting ID_BAUD_RATE=0x06 ………………………………………………………..10 5.4.6 Enable/disable output ID_OUTPUT_EN=0x07…………………………………………………11 5.4.7 Enable/disable checksum compariso ID_FRAME_CHECKSUM_EN=0x08 ……………11 5.4.8 Communication interface settings ID_IF_PROTOCOL=0x0A ……………………………..12 5.4.9 IIC slave machine address configuration ID_IIC_SLAVE_ADDR=0x0B …………………12
3 ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · Subject to change without notice

5.4.10 Restore default setting ID_RESTORE_DEFAULT=0x10 …………………………………………..13 5.4.11 Save current setting ID_SAVE_SETTINGS=0x11 …………………………………………….13 5.4.12 Distance limit setting rangeID_DIST_RANGE=0x3A ……………………………………….14 5.4.13 Enable/disable on-off mode ID_ON_OFF_MODE=0x3B………………………………….14
Appendix IIC REGISTER TABLE ……………………………………………………………………………………..16
4 ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · Subject to change without notice

1 Laser Safety Information
The LiDAR contains IR and visible laser spots. IR laser: Wavelength 905nm; Class 1 according to IEC 60825-1:2014, EN 60825-1:2014+A11:2021.
CAUTION! Use of controls, adjustments or performance of procedures other than those specified herein may result in hazardous radiation exposure.
2 Installation and Maintenance
CAUTION!
This laser product is classified as Class 1 during operational procedures. When the ranging feature is activated, the laser emitter of the LiDAR module may emit laser radiation, therefore, the LiDAR should NOT be aimed at humans and animals to ensure safety.
This product is designed and calibrated for installation with exposed lenses. If a protective window needs to be added in front of the lens, it is necessary to ensure the use of materials with high transmission at 905nm wavelength and anti-reflective coating. Avoid the presence of smoke and fog in the detection field. Avoid condensation. Avoid direct exposure to moisture and water. Do not use rough fabric or dirty towels or aggressive products to clean the laser lenses. Do not use a supply voltage higher than the maximum required in the specifications to power the product. Clean the laser lenses with compressed air. When needed, wipe the laser lenses only with a soft, clean microfiber cloth. Make sure the sensor is securely mounted to prevent false readings or damage. Only trained and qualified personnel may install, setup and repair the LiDAR.
1 ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · Subject to change without notice

3 Product Overview
This chapter mainly introduces the measuring principle, technical specifications, structural description, equipment coordinates and field of view distribution of the TF-NOVA LiDAR.
3.1 Measuring principle
TF-NOVA is a typical Pulse Time of Flight (PToF) sensor. TF-NOVA emits a narrow pulse laser, which is collimated by the transmitting lens, which enters the receiving system after being reflected by the measured target and is focused on the detector by the receiving lens. The time between the transmitted signal and the received signal is calculated through the circuit amplification and filtering, and the distance between TF-NOVA and the measured target can be calculated through the speed of light.
Figure. 1: Pulsed time of flight
1 ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · Subject to change without notice

3.2 Technical Specifications
Table. 1: Specification

Detection range
Blind zone Accuracy Repeatability Distance resolution Default frame rate
Light source Central wavelength FoV of laser emission Eye safety
Average power consumption Peak current when starting Start-up time Power supply Operating temperature Storage temperature Dimensions Weight Connector Protection Level Front window protection level Cable length
Communication Interface Baud rate

Measurement Performance
14m @90%reflectivity, 0Klux 13m @10% reflectivity, 0Klux 7m @90% reflectivity, 100Klux 4m @10% reflectivity, 100Klux 0.1m ± 5cm @ 0.1-4m < 1cm (1 sigma) @ 0.1-4m 1cm Default 100Hz, 1-900Hz customizable
Optical Parameters
VCSEL 905nm Typ. 14°×1° Class 1 Eye-safe[EN60825] Mechanical/Electrical
< 500mW < 850mA < 1s DC 5±5%V -25 ~ +70 -30 ~ +80 TYP. 26.5x 21.05 x 12.0mm³ <5g 1.25mm-5P N.A. IP65 10cm
Communication Protocol
UART, IIC, I/O Default 115200

Data bit Stop bit Parity

8 1 None
Dimensions (Unit: mm

NOTICE
The measurement range is measured when all light spots are placed on the target board, at 25 . The parameter is measured at 25 , 0Klux, when all the light spots are placed on the target board with a reflectivity of 10%. This angle is the design divergence angle of the laser spot. The actual field of view angle that can trigger distance measurement depends on specific conditions such as the measured object and background. Please confirm according to the specific application. Measured at 25 , changes in conditions may cause variations in the measurement results.
3.3 Structural Appearance
The overall appearance of the LiDAR is as shown in the figure below:
3 ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · Subject to change without notice

3.4 FoV

Figure. 2: TF-NOVA Appearance

The FoV (field of view) is the angle covered by the LiDAR sensor. The horizontal FoV is 14° and the vertical FoV is 1°.

Figure. 3: FoV of TF-NOVA NOTICE 14° and 1° are theoretic values. Because the manufacturing error and the installing error exist, there is divergence between actual and theoretic values.
4 Device Installation
This section introduces the mechanical installation and connection information of TF-NOVA LiDAR.
4.1 Mechanical installation
As shown in the following figure. TF-NOVA has 2 installation positioning holes available for use.
Figure. 4: Diagram of TF-NOVA installation hole
4 ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · Subject to change without notice

4.2 Connector
The connector is 1.25mm-5P, appearance and definition are shown as below:

Figure. 5: LiDAR connector appearance

Table. 2: Interface connector pin definitions

Pin number

Definition

PIN 1

VCC

PIN 2

GND

PIN 3

TXD(3.3V)/SDA

PIN 4

RXD(3.3V)/SCL

PIN 5

5 Communication Protocol and data format
5.1 Serial Communication
To connect two devices for TTL communication, the TXD of the transmitter should be connected to the RXD of the receiver, and the TXD of the receiver should be connected to the RXD of the transmitter. The LiDAR does not include a power switch. When power is supplied to the LiDAR, data will begin to be automatically transmitted.

Character Baud rate Data bit Stop bit
Parity

Table. 3: Characteristics of UART Interface

Value

Configurability

115200

Configurable

Non-configurable

None

Non-configurable

NOTE Baud rate can be set to 9600, 14400, 19200, 38400, 56000, 57600, 115200, 128000, 230400, 256000, 460800, 500000, 512000, 600000, 750000, and 921600. If other value were set, TFNOVA will set it to 115200.

Serial port output format:

9-byte/cm (Default)

Byte Description

0x59 0x59 Dist_L

3 Dist_H

4 Peak_L

5 Peak_H

Temp Confidence

Dist: cm Peak: Signal strength Temp: Chip Temperature Confidence: Confidence level 0-100

8 Check_sum

9-byte/cm

Byte

Description 0x59 0x59 Dist_L Dist_H

Dist :mm

4 Peak_L

5 Peak_H

6 Temp

7 Confidence

8 Check_sum

Peak: Signal strength Temp: Chip Temperature Confidence: Confidence level 0-100
5.2 IIC Communication
TF-NOVA supports up to 400kps clock speed as slave machine and its default address is 0x10. For more information about IIC register table refer to Error! Reference source not found.. Note: In this document, the address of IIC slave device is a 7-bit value with value range [0x08, 0x77] ([08, 119] in decimal). For the first byte after IIC releases a start signal, the 7-bit address should be shifted leftward for one bit (i.e. multiplied with 2), and then filled with the read-write sign on the lowest bit. For TF-NOVA, the default address of slave device is 0x10, the address for write operations is 0x20, and the address for read operations is 0x21.

Write register timing:

Start Slave Addr

W Ack

Ack Data1 Ack … DataN

Addr

Read register timing:

Ack Stop

Start Slave Addr W Ack

Ack Stop

Start Slave Addr R Ack Data1 Ack …

DataN Nack Stop

Note that in the read register sequence, the host can directly generate the second Start signal without generating the first Stop signal. The last Nack can also be an Ack signal. After a write operation on the IIC register, it takes TF-NOVA some time to process. If users need to read the value from the register for validation purposes, we recommend waiting for 100ms after the write operation, prior to the next read operation.

5.3 On/off Mode
On/off mode is designed from those users who only need to detect the existence of an object. TF-NOVA can start this mode using “Enable/disable on-off mode ID_ON_OFF_MODE=0x3B” and then shows result through pin 5. Figure 5 below shows how the mode works when a high level is set to represent an object is detected.

Figure 1 On/off mode that high level means closer
Zone value: If an object is detected closer than Dist, then Pin 5 outputs high-level, but only if an object is detected farther than Dist + Zone, then Pin 5 outputs low-level. When zone is set to 0, pin 5 may output up and down cause by fluctuation of the measuring when the real distance happens to be the same as Dist. That is why a proper zone value is needed to help avoid this situation by having a hysteretic interval. Delay is also supported to avoid inaccurate jumping output. Pin 5 changes its output depends on the Dist value condition and the time it lasts. Delay1 (ms) and Delay2 (ms) determine how long that approaching changes and leaving changes should wait after Dist value is already over the line.
Note: Since the Dist value is set to 0 under factory setting when no object is detected and Amp is too low, then pin 6 may have false output in the on/off mode.
5.4 Serial communication commands
Some parameters in TF-NOVA can be customized by customers, such as data frame format, frame rate, etc., which can be changed by sending specific instructions. After successful configuration, all parameters will be saved in Flash and do not need to be reconfigured when powered on again. When configuring parameters, please follow specific formats and rules to avoid sending commends not introduced below.

Byte Byte 0

Definition Head

Description Fixed 0x5A

Byte 1 Byte 2 Byte 3~Byte
N-2
Byte N-1

Length ID
Payload
Check sum

The length of bytes from the head byte to check-sum Indicates how to parse the payload data
Data segment, parsed based on ID, Little Endian Opt: Non 1 read/ 1. Write in
The lower 8 bytes of the sum from Head to Payload

5.4.1 Version information ID_GET_VERSION=0x01

Downward:

Byte

Len-1

Description

Head(0x5A)

Len

Check_sum

Upward:

Byte

3-5

Len-1

Description Head(0x5A)

Len

Version Check_sum

Version: For instance, if the third, fourth, and fifth bytes are 112, 50, 9, then the version is

9.50.112.

Sample:

Command [5A 04 01 5F]

5.4.2 System software restore ID_SOFT_RESET=0x02

Downward:

Byte

Len-1

Description

Head(0x5A)

Len

Check_sum

Upward:

Byte

Len-1

Description Head(0x5A)

Len

Status

Check_sum

Status: 0 (success), otherwise (fail)

Note: Any change without “save current setting” instruction will not be saved and will

restore to original setting.

Sample:

Command [5A 04 02 60]

5.4.3 Output frequency ID_SAMPLE_FREQ=0x03

Downward:

Byte

3~4

Description Head(0x5A)

Len

FPS

Default

100

Freq: The actual operating frequency achieved by the LiDAR.

Upward:

Byte

3~4

Description Head(0x5A)

Len

FPS

Freq: The actual operating frequency achieved by the LiDAR.

Sample:

10Hz [5A 06 03 0A 00 6D]

Len-1 Check_sum
Len-1 Check_sum

5.4.4 Output format setting ID_OUTPUT_FORMAT=0x05

Downward:

Byte

Len-1

Description Head(0x5A)

Len

Format Check_sum

Default

0x01

Format: 0x01(9byte cm),0x06(9byte mm)

Upward:

Byte

Len-1

Description Head(0x5A) Len

Format Check_sum

Format: current output format setting

Sample:

9byt mm [5A 05 05 06 6A]

5.4.5 Baud rate setting ID_BAUD_RATE=0x06

Downward:

Byte

3~6

Len-1

Description Head(0x5A) Len

Baudrate Check_sum

Default

115200

Baudrate: current baud rate.

Note: Configurable baud rate range [9600921600], effective after saving.

Upward: Byte
Description

1 2

3~6

Head(0x5A) Len ID Baudrate

Sample: 9600 [5A 08 06 80 25 00 00 0D] 19200 [5A 08 06 00 4B 00 00 B3] 38400 [5A 08 06 00 96 00 00 FE] 57600 [5A 08 06 00 E1 00 00 49] 115200 [5A 08 06 00 C2 01 00 2B] 230400 [5A 08 06 00 84 03 00 EF] 460800 [5A 08 06 00 08 07 00 77] 921600 [5A 08 06 00 10 0E 00 86]

7 Status 0: success !0: fail

Len-1 Check_sum

5.4.6 Enable/disable output ID_OUTPUT_EN=0x07

Downward:

Byte

Len-1

Description Head(0x5A) Len

Enable Check_sum

Default

Enable: 0 (disable),1 (enable).

Upward:

Byte

Len-1

Description Head(0x5A) Len

Enable Check_sum

Sample:

Enable output [5A 05 07 01 67]

Disable output [5A 05 07 00 66]

5.4.7 Enable/disable checksum compariso

ID_FRAME_CHECKSUM_EN=0x08

Downward: Byte
Description

Head(0x5A) Len ID

3 Enable

Len-1 Check_sum

Default

Enable: 0 (disable), 1 (enable)

Note: Even if the Downward data checksum comparison is disabled, the valid checksum is

still included in the upward data frame.

Upward:

Byte Description

Head(0x5A) Len ID

3 Enable

Len-1 Check_sum

Sample: Enable checksum comparison [5A 05 08 01 68] Disable checksum comparison [5A 05 08 00 67]

5.4.8 Communication interface settings ID_IF_PROTOCOL=0x0A

Downward:

Byte

Description Head(0x5A) Len

Default

Opt: !1:read, 1:write

If_protocol: !1:UART, 1:IIC

Upward:

Byte

Description Head(0x5A) Len

Sample: Set to IIC [5A 06 0A 01 01 6C] Note: Effective after saving

Opt

ID Status

0: success

!0:fail

4 If_protocol
!1
4 If_protocol

Len-1 Check_sum
Len-1 Check_sum

5.4.9 IIC slave machine address configuration ID_IIC_SLAVE_ADDR=0x0B
Downward:
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Byte

Description

Head(0x5A) Len ID Opt

Default

Opt: !1: read, 1:write

IIC_slave_addr: range[0x08, 0x77]

Upward:

Byte

1 2

Description Head(0x5A) Len ID

Status

0:success

!0:fail

Sample:

Set to 0x20 [5A 05 0B 01 20 8B]

4 IIC_slave_addr
0x10
4 IIC_slave_addr

Len-1 Check_sum
Len-1 Check_sum

5.4.10 Restore default setting ID_RESTORE_DEFAULT=0x10

Downward:

Byte

Description

Head(0x5A)

Upward:

Byte

Description Head(0x5A) Len

Status: 0(success), Non 0(fail).

Sample:

Command [5A 04 10 6E]

1 2 Len ID

ID Status

Len-1 Check_sum
Len-1 Check_sum

5.4.11 Save current setting ID_SAVE_SETTINGS=0x11

Downward:

Byte

Description

Head(0x5A)

Upward:

Byte

Description Head(0x5A) Len

Status: 0 (success), Non 0 (fail).

Sample:

Command [5A 04 11 6F]

1 2 Len ID

ID Status

Len-1 Check_sum
Len-1 Check_sum

5.4.12 Distance limit setting rangeID_DIST_RANGE=0x3A

Downward:

Byte

12 3

4-5

6-7

Len-1

Description

Head(0x5A) Len ID Opt Min_dist Max_dist Check_sum

Default

65535

Opt: !1:read, 1:write

Min_dist: minimum distance output in mm

Max_dist: maximum distance output in mm

Upward:

Byte

1 2

4-5

6-7

Len-1

Description

Head(0x5A) Len ID Status Dist_min Dist_max Check_sum

Status: 0 (success), Non 0 (fail).

Sample:

Output limit when out of range with the minimum set to be 200mm and the maximum set to

be 5000mm [5A 09 3A 01 C8 00 88 13 01]

5.4.13 Enable/disable on-off mode ID_ON_OFF_MODE=0x3B

Downward:

Byte

12 3

44 5-6 7-8 9-10 11-12

Len-1

Description Head(0x5A) Len ID Opt Mode Dist Zone Delay1 Delay2 Check_sum

Default

0 0

Opt:!1:read, 1:write

Mode: 0 (Normal output), 1 (On-off mode with high level output when closer) , 2 (On-off

mode with low level output when closer)

Dist: critical dist value (the closer one) in centimeters.

Zone: Zone size in centimeters

Delay1: Delay time 1 in millisecond. Pin 6 switch level only if the distance detected is less

than Dist and the situation last for Delay1 long.

Delay2: Delay time 2 in millisecond. Pin 6 switch level only if the distance detected is more

than Dist + Zone and the situation last for Delay2 long.

Upward:

Byte

1 2

44 5-6 7-8 9-10 11-12

Len-1

Description Head(0x5A) Len ID Status Mode Dist Zone Delay1 Delay2 Check_sum

Sample:

Enable on-off mode with high level output when closer, and set Dist = 200cm, Zone=10cm, Delay1 = Delay2 = 1000ms: [5A 0E 3B 01 01 C8 00 0A 00 E8 03 E8 03 4D] CAUTION Do not send the command that is not in the list above.
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Appendix IIC REGISTER TABLE

Address R/W Name

0x00 0x01 0x02 0x03 0x04 0x05 0x06 0x07 0x08 0x09 0x0A 0x0B 0x0C 0x0D

R DIST_LOW R DIST_HIGH R PEAK_LOW R PEAK _HIGH R TEMP_LOW R TEMP_HIGH R TICK_LOW R TICK_HIGH R ERROR_LOW R ERROR_HIGH R VERSION_REVISION R VERSION_MINOR R VERSION_MAJOR W/R IIC_SLAVE_IO_SPEED

Initial Description

Value

—

Unit: 0.01 Celsius

—

Timestamp

—

Error code

—

0x00 0(2MHz),1(10MHz),2(50MHz)

0x0E 0x0F 0x100x1D

W/R FITLER_DIST_LOW W/R FILTER_DIST_HIGH R SN

0x1E

W/R IF_PROTOCOL

0x20

W SAVE

0x21

W SHUTDOWN/REBOOT

0x22

W/R SLAVE_ADDR

0x25

W/R ENABLE

—

distance filter threshold

—

Production code in 14 bytes

ASCI code (0x10 is the first

byte)

0x00 0x00: UART

0x01: IIC

Save and restart to take

effect

—

Write 0x01 to save current

setting

—

Write 0x02 to reboot

0x10 range: [0x08, 0x77]

0x01 0x00: Turn off LiDAR

0x01: Turn on LiDAR

0x26 0x27 0x29
0x2A 0x2B 0x2C 0x2D 0x2E
0x2F 0x30
0x31 0x32

W/R FPS_LOW W/R FPS_HIGH W RESTORE_FACTORY_DEFAULTS
W/R PEAK_THR_LOW W/R PEAK_THR_HIGH W/R PEAK_THR_FILTER_LOW W/R PEAK_THR_FILTER_HIGH W/R MIN_DIST_LOW
W/R MIN_DIST_HIGH W/R MAX_DIST_LOW
W/R MAX_DIST_HIGH W/R ON_OFF_MODE_DIST_LOW

0x64 Frame rate

0x00

—

Write 0x01 to restore factory

default settings

—

PEAK threshold

—

PEAK threshold filtering

—

0x00 Minimum dist in mm, but not

working on DUMMY_DIST

0x00

0xFF Maximum dist in mm, but

not working on

DUMMY_DIST

0xFF

0x00 ON_OFF mode related

registers, please refer to:

ON_OFF mode. Note that the

distance unit in the IIC

0x33

W/R ON_OFF_MODE_DIST_HIGH

Note: Minimum firmware version V1.3.19 0x00

0x34

W/R ON_OFF_MODE_ZONE_LOW

0x00

0x35

W/R ON_OFF_MODE_ZONE_HIGH

0x00

0x36

W/R ON_OFF_MODE_DELAY1_LOW 0x00

0x37

W/R ON_OFF_MODE_DELAY1_HIGH 0x00

0x38

W/R ON_OFF_MODE_DELAY2_LOW 0x00

0x39

W/R ON_OFF_MODE_DELAY2_HIGH 0x00

0x3A
0x3C0x3F

W/R ON_OFF_MODE_EN R SIGNATURE

0x00

—

`S’ ‘P’ `A’ `D’

Documents / Resources

Benewake TF-NOVA LiDAR Compact Laser Line Lidar for Accurate Detection [pdf] User Manual
TF-NOVA, TF-NOVA LiDAR Compact Laser Line Lidar for Accurate Detection, LiDAR Compact Laser Line Lidar for Accurate Detection, Laser Line Lidar for Accurate Detection, Lidar for Accurate Detection

References

User Manual

Benewake TF-NOVA LiDAR Compact Laser Line Lidar for Accurate Detection User Manual

TF-NOVA LiDAR Compact Laser Line Lidar for Accurate Detection

Specifications:

Product Usage Instructions:

Laser Safety Information:

Installation and Maintenance:

Product Overview:

Measuring principle:

Technical Specifications:

FAQ:

Q: What should I do if I encounter problems that cannot be
solved during use?

Documents / Resources

References

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