Benewake TFA170-L LiDAR Sensors User Manual

User Manual for Benewake models including: TFA170-L LiDAR Sensors, TFA170-L, LiDAR Sensors, Sensors

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TFA170-L User Manual

7 ago 2024 — This user manual contains the introduction, use and maintenance of. TFA170-L LiDAR. Please read this manual carefully before formal use, and.13 pagine

TFA170-LUserManual | Benewake

TFA170-LUserManualT. er ManualPrefaceThis user manual contains the introduction, use and maintenance. of TFA170-L 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 prod.

File Info : application/pdf, 13 Pages, 439.27KB

20240807163926950

TFA170-L User Manual

Preface
This user manual contains the introduction, use and maintenance of TFA170-L 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 TFA170-L product is constantly being improved, and its specifications and parameters will undergo iterative changes. Please refer to the official website for latest version.

Contents
1 Product Overview .......................................................................................................... 1 1.1 Measuring principle ....................................................................................................... 1 1.2 Technical Specifications ..............................................................................................1 1.3 Structural Appearance ................................................................................................ 2 1.4 FoV ................................................................................................................................... 3
2 Device Installation ....................................................................................................... 4 2.1 Mechanical installation ................................................................................................4 2.2 Connector ...................................................................................................................... 4
3 Communication Protocols ........................................................................................ 6 3.1 Communication protocol .............................................................................................6 3.2 Data protocol ................................................................................................................7 3.3 Custom configuration ..................................................................................................8

1 Product Overview
This chapter mainly introduces the measuring principle, technical specifications, structural description, equipment coordinates and field of view distribution of the TFA170-L LiDAR. 1.1 Measuring principle TFA170-L is a typical Pulse Time of Flight (PToF) sensor. TFA170-L 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 APD 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 TFA170-L and the measured target can be calculated through the speed of light.

Figure. 1: Pulsed time of flight
1.2 Technical Specifications Table. 1: Technical specifications

Detection Range Accuracy Distance resolution Default frame rate Ambient light resistance
Light source Central wavelength

Performance Parameter
0.1-170m@90% reflectivity 0.1-70m@10% reflectivity ±10cm(<10m), 1%(10m) 1cm 50Hz 100KLux
Laser Parameters
EEL 905nm

FoV Eye safety

<0.5° Class 1 Eye-safe [EN60825]

Mechanical/Electrical

Average power consumption Peak current Power supply Operating temperature Storage temperature Dimensions Weight Connector Protection Level Communication Protocol Communication Interface

1W 120mA@12V DC 12±10%V -20 ~ +60 -20 ~ +80 TYP. 31.0 x 30.2 x 19.2mm³ ~10g 1.25mm-4P N/A
RS-232

NOTICE
The range is based on 25 , 85KLux condition, and any changes in environmental conditions may cause changes in the measurement results.
The accuracy is based on 25 indoors and 90% reflectivity condition, and any changes in environmental conditions may cause changes in the measurement results.
The frame rate will be between 1Hz and 1000Hz. 50Hz is the default frame rate. The default frame rate can be customized within the range.
The peak current is measured at room temperature.

1.3 Structural Appearance The overall appearance of the LiDAR is as shown in the figure below:

Figure. 2: TFA170-L Appearance 1.4 FoV The FoV (field of view) is the angle covered by the LiDAR sensor. The horizontal FoV is 0.4° and the vertical FoV is 0.04°.
Figure. 3: FoV of TFA170-L NOTICE 0.4° and 0.04° are theoretic values. Because the manufacturing error and the installing error exist, there is divergence between actual and theoretic values.
3 ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · REV: 12/07/2024

2 Device Installation
This section introduces the mechanical installation and connection information of TFA170-L LiDAR. 2.1 Mechanical installation As shown in the following figure. The model of the installation screw is M2.
Figure. 4: Diagram of TFA170-L installation hole 2.2 Connector The connector is 1.25mm-4P, appearance and definition are shown as below:
Figure. 5: LiDAR connector appearance
4 ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · REV: 12/07/2024

Table. 2: Interface connector pin definitions

Pin number
1 2 3
4

Definition
VCC GND RS232_TX
RS232_RX

3 Communication Protocols
By definition, RS-232 is a hardware communication protocol that uses asynchronous serial communication with configurable speed. Asynchronous means there is no clock signal to synchronize the output bits from the transmitting device going to the receiving end.

Figure. 6: RS-232 Connection Diagram

3.1 Communication protocol The device does not contain any power switch. Data can be transmitted after the power adapter is connected and connected to the computer via a network cable.

Table. 3: Characteristics of RS-232 Interface

Character

Value

Configurability

Baud rate

115200

Configurable

Data bit

Non-configurable

Stop bit

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, TFA170-L will set it to 115200.

3.2 Data protocol A standard data frame consists of 30 bytes of hexadecimal numbers. The details are shown as follows:

Table. 4: Data transfer Protocol

No. byte

Definition

Remark

Default

Frame Header

Fixed value: 0x59

0x59

Frame Header

Fixed value: 0x59

0x59

Length of this data transfer frame.

Frame Length

Number of bytes. Frame header and

0x1E

CRC checksum are included.

Frame ID

0x00: Data transfer frame 0x20: Self-test frame

0x00

RefDist_L

Distance, uint16_t

RefDist_H

ConLvl

Confidence level of reference distance.

Status

Status of LiDAR, e.g., Overtemperature warning etc.

Temp_L

Temp_H

Temperature

Raw data

OrgDist1_L

OrgDist1_H

Original Distance #1

Raw data

12-13

PulseWidth1_L PulseWidth1_H

The pulse width of echo pulse of original distance #1

14-15

OrgDist2_L OrgDist2_H

Original Distance #2

Raw data

16-17

PulseWidth2_L PulseWidth2_H

The pulse width of echo pulse of original distance #2

18-19

OrgDist3_L OrgDist3_H

Original Distance #3

Raw data

PulseWidth3_L The pulse width of echo pulse of original

21
22-23
24 25 26 27 28 29

PulseWidth3_H APDV_L APDV_H
Reserved1 Reserved2 Reserved3 Reserved4
CRC_L CRC_H

distance #3
APD voltage, a basic value used to evaluate the status of LiDAR
Reserved byte #1 Reserved byte #2 Reserved byte #3 Reserved byte #4 Lower byte of Checksum Higher byte of Checksum

/
0x00 0x00 0x00 0x00
/ /

3.3 Custom configuration TFA170-L realsed several configuration parameters. These parameters, such as data format, frame rate, could be modified by certain command. All the parameters will be stored in flash after configured successfully and customers don't need to configure again when restart.
Please change the parameter according to certain requirements and do not frequently try irrelevant instructions. Please configure the product according to the requirements of the datasheet and don't send unstated command.

Table. 5: Description of TFA170-L Command

Byte

Definit ion

Description

Byte 0

Head er

Fixed to 0x5A

Byte 1

Len

The length of the entire instruction frame (unit: Byte)

Byte 2

Identifies the function of each instruction

Byte 3~Byte N-2

Paylo ad

Different meanings and lengths in different ID instruction frames

Byte N-1

Check

The lower 8 bits of (Len-1) byte data

sum

Table. 6: General Parameter Configuration and Description

Descri ption

Command

Response

Remar ks

Obtain firmwar
e version System reset Chang
e frame rate
Output control
Modify baud rate Enable checks
um Restor
e default setting
s Save setting

5A 04 01 5F
5A 04 02 60 5A 06 03 LL HH
SU On: 5A 05 07 01
67 Off: 5A 05 07 00
66 5A 08 06 H1 H2
H3 H4 SU On: 5A 05 08 01
68 Off: 5A 05 08 00
67
5A 04 10 6E
5A 04 11 6F

5A 07 01 VA VB VC SU
5A 05 02 00 61 Same as command
Same as command Same as command Same as command
5A 05 10 00 6F 5A 05 10 01 70 5A 05 11 00 70

The version numbe
r VC.B.A
/ /
/
/
/ Succe eded Failed Same
as

Defaul t
settin gs / /
50 FPS Enabl
ed 115200 Enabl
ed / /

s Over range thresh old setting

5A 06 4F LL HH SU

5A 05 4F 00 AE

above

Unit: cm

10000

CAUTION Do not send the command that is not in the list above.

NOTE To send certain command to TFA170-L, these steps should be followed: Change value of a parameter to HEX Put the HEX value in certain command Calculate the checksum, put low 8-bits into command For example, changing the baud rate to 460800, first, changing 460800 to HEX, we can get 0x00 07 08 00, then we can get this command-5A 08 06 00 08 07 00 77.

References

WPS 文字