Contents hide
1 Benewake TF-NOVA LiDAR Distance Sensor Module
2 Product Information
3 Product Usage Instructions
4 Preface
5 Laser Safety Information
6 Installation and Maintenance
7 Product Overview
8 Technical Specifications
9 Device Installation
10 Communication Protocol and data format
11 Appendix I²C REGISTER TABLE
12 Contact Details
13 Disclaimer
14 FAQ
15 Documents / Resources
15.1 References

Benewake-LOGO

Benewake TF-NOVA LiDAR Distance Sensor Module

Benewake-TF-NOVA-LiDAR-Distance-Sensor-Module-PRODUCT

Product Information

Specifications

TF-NOVA LiDAR

  • IR Laser: Wavelength 905nm
  • Class 1 according to IEC 60825-1:2014, EN 60825-1:2014+A11:2021

Product Usage Instructions

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.

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.
  • Only trained and qualified personnel may install, set up, and repair the LiDAR.

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

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.

Laser Safety Information

Benewake-TF-NOVA-LiDAR-Distance-Sensor-Module-FIG-2

  • Benewake-TF-NOVA-LiDAR-Distance-Sensor-Module-FIG-1CAUTION! Use of controls, adjustments or performance of procedures other than those specified herein may result in hazardous radiation exposure.

Installation and Maintenance

  • Benewake-TF-NOVA-LiDAR-Distance-Sensor-Module-FIG-1CAUTION! 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.

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

  • 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.Benewake-TF-NOVA-LiDAR-Distance-Sensor-Module-FIG-3

Technical Specifications

Table. 1: Specification

Performance Parameter
Detection range① ≥3m @3%reflectivity, 0Klux

≥7m @10% reflectivity, 0Klux

≥2m @10% reflectivity, 100Klux
Blind zone ≤ 0.1m
Accuracy② ±3cm @ 0.1-4m
Repeatability 1cm (1 sigma)
Distance resolution 1cm
Default frame rate Default 100Hz, 1-500Hz customizable
Laser Parameters
Light source VCSEL
Central wavelength 905nm
FoV Typ. 14°×1°
Eye safety Class 1 Eye-safe[EN60825] (Design assurance, the current prototype has not yet obtained the third-party
Mechanical/Electrical
Average power TBD
Peak current TBD
Power supply DC 5±10%V
Operating temperature -25℃ ~ +70℃
Storage temperature -30℃ ~ +80℃
Dimensions TYP. 26.5x 21.05 x 12.0mm³
Weight <5g
Connector 1.25mm-5P
Protection Level N.A.
Cable length 10cm
Communication Protocol
Communication Interface UART, IIC, I/O
Baud rate Default 115200
Data bit 8
Stop bit

Parity

 1

None

NOTICE

  1. The measurement range is measured when all light spots are placed on the target board, at 25 ℃. Changes in conditions may cause variations in the measurement results.
  2. The accuracy is measured under the condition of 25 ℃, 0Klux and 10% reflectance background board, and changes in conditions may cause changes in the measurement results.

Structural Appearance

The overall appearance of the LiDAR is as shown in the figure below.Benewake-TF-NOVA-LiDAR-Distance-Sensor-Module-FIG-4

FoV

The FoV (field of view) is the angle covered by the LiDAR sensor. The horizontal FoV is 14° and the vertical FoV is 1°.Benewake-TF-NOVA-LiDAR-Distance-Sensor-Module-FIG-5

NOTICE 14° and 1° are theoretical values. Because the manufacturing error and the installation error exist, there is divergence between actual and theoretical values.

Device Installation

This section introduces the mechanical installation and connection information of TF-NOVA LiDAR.

Mechanical installation

As shown in the following figure. TF-NOVA has 2 installation positioning holes available for use.Benewake-TF-NOVA-LiDAR-Distance-Sensor-Module-FIG-6

Connector

The connector is 1.25mm-5P, appearance and definition are shown as below.Benewake-TF-NOVA-LiDAR-Distance-Sensor-Module-FIG-7

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 IO

Communication Protocol and data format

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.

Table. 3: Characteristics of UART Interface

Character Value Configurability
Baud rate 115200 Configurable
Data bit 8 Non-configurable
Stop bit 1 Non-configurable
Parity 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, TF-NOVA will set it to 115200.
  • Serial port output format: 9-byte/cm (Default)
Byte 0 1 2 3 4 5 6 7 8
Description 0x59 0x59 Dist_L Dist_H Peak_L Peak_H Temp Confidence Check_sum
  • Dist: cm
  • Peak: Signal strength
  • Temp: Chip Temperature ℃
  • Confidence: Confidence level 0-100
  • 9-byte/cm
Byte 0 1 2 3 4 5 6 7 8
Description 0x59 0x59 Dist_L Dist_H Peak_L Peak_H Temp Confidence Check_sum
  • Dist: mm
  • Peak: Signal strength
  • Temp: Chip Temperature ℃
  • Confidence: Confidence level 0-100

I²C Communication

  • TF-NOVA supports up to 400kps clock speed as slave machine and its default address is 0x10. For more information about the I²C register table, refer to Appendix I²C register table.
  • Note: In this document, the address of I²C slave device is a 7-bit value with value range [0x08, 0x77] ([08, 119] in decimal).
  • For the first byte after I²C 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 Registe

r Addr

 Ack Data1 Ack … DataN Ack Stop

Read register timing:

Start Slave Addr W Ack Register Addr 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 I²C 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, before the next read operation.

On/off Mode

  • On/off mode is designed for 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.Benewake-TF-NOVA-LiDAR-Distance-Sensor-Module-FIG-8
  • 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 due by the 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 the approaching changes and the 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.

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.Benewake-TF-NOVA-LiDAR-Distance-Sensor-Module-FIG-9

Version information ID_GET_VERSION=0x01

Downward:

Byte 0 1 2 Len-1
Description Head(0x5A) Len ID Check_sum

Upward:

Byte 0 1 2 3-5 Len-1
Description Head(0x5A) Len ID 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]

System software restore ID_SOFT_RESET=0x02

Downward:

Byte 0 1 2 Len-1
Description Head(0x5A) Len ID Check_sum

Upward:

Byte 0 1 2 3 Len-1
Description Head(0x5A) Len ID 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]

Output frequency ID_SAMPLE_FREQ=0x03

Downward:

Byte 0 1 2 3~4 Len-1
Description Head(0x5A) Len ID FPS Check_sum
Default       100  
  • Freq: The actual operating frequency achieved by the LiDAR.

Upward:

Byte 0 1 2 3~4 Len-1
Description Head(0x5A) Len ID FPS Check_sum
  • Freq: The actual operating frequency achieved by the LiDAR.
    Sample: 10Hz [5A 06 03 0A 00 6D]

Output format setting ID_OUTPUT_FORMAT=0x05

Downward:

Byte 0 1 2 3 Len-1
Description Head(0x5A) Len ID Format Check_sum
Default       0x01  
  • Format: 0x01(9byte cm),0x06(9byte mm)
  • Upward:
Byte 0 1 2 3 Len-1
Description Head(0x5A) Len ID Format Check_sum
  • Format: current output format setting
  • Sample: 9byt mm [5A 05 05 06 6A]

Baud rate setting ID_BAUD_RATE=0x06

Downward:

Byte 0 1 2 3~6 Len-1
Description Head(0x5A) Len ID Baudrate Check_sum
Default       115200  
  • Baudrate: current baud rate.
  • Note: Configurable baud rate range [9600921600], effective after saving.

Upward:

Byte 0 1 2 3~6 7 Len-1
Description Head(0x5A) Len ID Baudrate Status 0: success !0: fail Check_sum

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]

Enable/disable output ID_OUTPUT_EN=0x07

Downward:

Byte 0 1 2 3 Len-1
Description Head(0x5A) Len ID Enable Check_sum
Default       1  
  • Enable: 0 (disable),1 (enable).

Upward:

Byte 0 1 2 3 Len-1
Description Head(0x5A) Len ID Enable Check_sum

Sample:

  • Enable output [5A 05 07 01 67] Disable output [5A 05 07 00 66]

Enable/disable checksum comparison ID_FRAME_CHECKSUM_EN=0x08

Downward:

Byte 0 1 2 3 Len-1
Description Head(0x5A) Len ID Enable Check_sum
Default       0  
  • 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 0 1 2 3 Len-1
Description Head(0x5A) Len ID Enable Check_sum

Sample:

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

Communication interface settings ID_IF_PROTOCOL=0x0A

Downward:

Byte 0 1 2 3 4 Len-1
Description Head(0x5A) Len ID Opt If_protocol Check_sum
Default         !1  
  • Opt: !1:read, 1:write
  • If_protocol: !1:UART, 1:I²C

Upward:

Byte 0 1 2 3 4 Len-1
Description Head(0x5A) Len ID Status 0: success !0:fail If_protocol Check_sum

Sample:

  • Set to I²C [5A 06 0A 01 01 6C]
  • Note: Effective after saving

I²C slave machine address configuration ID_I²C_SLAVE_ADDR=0x0B

Downward:

Byte 0 1 2 3 4 Len-1
Description Head(0x5A) Len ID Opt I²C_slave_addr Check_sum
Default         0x10  
  • Opt: !1: read, 1:write
  • I²C_slave_addr: range[0x08, 0x77]

Upward:

Byte 0 1 2 3 4 Len-1
Description Head(0x5A) Len ID Status 0:success !0:fail I²C_slave_addr Check_sum
  • Sample:
    • Set to 0x2`0 [5A 05 0B 01 20 8B]

Restore default setting ID_RESTORE_DEFAULT=0x10

Downward:

Byte 0 1 2 Len-1
Description Head(0x5A) Len ID Check_sum

Upward:

Byte 0 1 2 3 Len-1
Description Head(0x5A) Len ID Status Check_sum
  • Status: 0(success), Non 0(fail).
  • Sample:
  • Command [5A 04 10 6E]

Save current setting ID_SAVE_SETTINGS=0x11

Downward:

Byte 0 1 2 Len-1
Description Head(0x5A) Len ID Check_sum

Upward

Byte 0 1 2 3 Len-1
Description Head(0x5A) Len ID Status Check_sum
  • Status: 0 (success), Non 0 (fail).
  • Sample: Command [5A 04 11 6F]

Distance limit setting rangeID_DIST_RANGE=0x3A

Downward:

Byte 0 1 2 3 4-5 6-7 Len-1
Description Head(0x5A) Len ID Opt Min_dist Max_dist Check_sum
Default         0 65535  
  • Opt: !1:read, 1:write
  • Min_dist: minimum distance output in mm,
  • Max_dist: maximum distance output in mm

Upward:

Byte 0 1 2 3 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]

Enable/disable on-off mode ID_ON_OFF_MODE=0x3B

Downward:

Byte 0 1 2 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 0 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 milliseconds. Pin 6 switch level only if the distance detected is less than Dist and the situation lasts for Delay1 long.
  • Delay2: Delay time 2 in milliseconds. Pin 6 switch level only if the distance detected is more than Dist + Zone and the situation lasts for Delay2 long.

Upward:

Byte 0 1 2 3 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.

Appendix I²C REGISTER TABLE

Addres s R/ W Name Initial Valu

e

 Description
0x00 R DIST_LOW — cm
0x01 R DIST_HIGH —  
0x02 R PEAK_LOW —  
0x03 R PEAK _HIGH —  
0x04 R TEMP_LOW — Unit: 0.01 Celsius
0x05 R TEMP_HIGH —  
0x06 R TICK_LOW — Timestamp
0x07 R TICK_HIGH —  
0x08 R ERROR_LOW — Error code
0x09 R ERROR_HIGH —  
0x0A R VERSION_REVISION —  
0x0B R VERSION_MINOR —  
0x0C R VERSION_MAJOR —  
0x0D W/

R

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

z)
0x0E W/

R

 FITLER_DIST_LOW — distance filter threshold
0x0F W/

R

 FILTER_DIST_HIGH —  
0x10-

0x1D

 R SN — Production code in 14 bytes ASCII code (0x10 is the first byte)
0x1E W/ R IF_PROTOCOL 0x00 0x00: UART

0x01: IIC

Save and restart to take effect
0x20 W SAVE — Write 0x01 to save

current setting
0x21 W SHUTDOWN/REBOOT — Write 0x02 to reboot
0x22 W/

R

 SLAVE_ADDR 0x10 range: [0x08, 0x77]
0x25 W/

R

 ENABLE 0x01 0x00: Turn off LiDAR

0x01: Turn on LiDAR
0x26 W/

R

 FPS_LOW 0x64 Frame rate
0x27 W/

R

 FPS_HIGH 0x00  
0x29 W RESTORE_FACTORY_DEFAULT

S

 — Write 0x01 to restore

factory default settings
0x2A W/

R

 PEAK_THR_LOW — PEAK threshold
0x2B W/

R

 PEAK_THR_HIGH —  
0x2C W/

R

 PEAK_THR_FILTER_LOW — PEAK threshold filtering
0x2D W/

R

 PEAK_THR_FILTER_HIGH —  
0x2E W/ R MIN_DIST_LOW 0x00 Minimum dist in mm, but not working on

DUMMY_DIST
0x2F W/

R

 MIN_DIST_HIGH 0x00  
0x30 W/ R MAX_DIST_LOW 0xFF Maximum dist in mm, but not working on

DUMMY_DIST
0x31 W/

R

 MAX_DIST_HIGH 0xFF  
0x32 W/ R ON_OFF_MODE_DIST_LOW 0x00 ON_OFF mode related registers, please refer to: ON_OFF mode. Note that the distance unit in the IIC register is mm.

 

Note: Minimum firmware version V1.3.19
0x33 W/

R

 ON_OFF_MODE_DIST_HIGH 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_HIG

H

 0x00  
0x38 W/

R

 ON_OFF_MODE_DELAY2_LO

W

 0x00  
0x39 W/

R

 ON_OFF_MODE_DELAY2_HIG

H

 0x00  
0x3A W/

R

 ON_OFF_MODE_EN 0x00  
0x3C-

0x3F

 R SIGNATURE — ‘S’ ’P’ ‘A’ ‘D’

Contact Details

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 the 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 the latest version.
  • This user manual is only applicable to TF-NOVA prototypes between October 1st and November 15th, 2024. ©2024 Benewake (Beijing) Co., Ltd. ·
  • All rights reserved · Subject to change without notice.

FAQ

  • Q: Can the LiDAR be used outdoors?
    • A: The TF-NOVA LiDAR can be used outdoors but should be protected from extreme weather conditions like heavy rain or direct sunlight.
  • Q: How far can the LiDAR measure?
    • A: The maximum range of the TF-NOVA LiDAR is X meters under optimal conditions.

Documents / Resources

Benewake TF-NOVA LiDAR Distance Sensor Module [pdf] User Manual
TF-NOVA LiDAR Distance Sensor Module, LiDAR Distance Sensor Module, Distance Sensor Module, Sensor Module, Module

References

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