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北醒-车载激光雷达-智能驾驶-自动驾驶
Owner's Manual for MOUSER ELECTRONICS models including: TFmini-i, LiDAR Distance Sensor, TFmini-i LiDAR Distance Sensor
2021-03-25 — SJ-PM-TFmini-i A01 Manual. Benewake(Beijing)Co., Ltd. Page3. Foreword. Dear users: Thanks for choosing Benewake products, and it's our pleasure to help you ...
TFmini-i LiDAR Distance Sensors - Benewake | Mouser
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DocumentDocumentSJ-PM-TFmini-i A01 Manual Benewake(Beijing)Co., Ltd Product Manual of TFmini-i Page1 Specified Product SJ-PM-TFmini-i A01 Manual Benewake(Beijing)Co., Ltd Product model: TFmini-i Product name: TFmini-i LiDAR Manufacturer Company name: Benewake (Beijing) Co., Ltd. Address: NO.28 Xinxi Road, Haidian District, Beijing, PRC Copyright The Copyright of this document is protected. All the rights involved herein belong to Benewake (Beijing) Co., Ltd. Any copy activity of this document, no matter in whole or in part, should be in conformity of the Copyright Law. The actives of modification, omission or translation of this document are not allowed unless a written permission from Benewake (Beijing) Co., Ltd. All rights reserved © Benewake (Beijing) Co., Ltd. Page2 SJ-PM-TFmini-i A01 Manual Foreword Benewake(Beijing)Co., Ltd Dear users: Thanks for choosing Benewake products, and it's our pleasure to help you to solve any technical question. For the purpose of offering a better operation experience to you, we hereby write this manual for an easier and simpler operation of our product, hoping to better solve the common problems you maybe meet. This operation manual covers the product operation introduction and common problem solutions, but it is really hard to cover all the problems you maybe meet. So, if you have any further questions or problems, please feel free to consult our technical support service (support@benewake.com). We will do our best to solve any problem related to the product. If you have any other good advice or suggestions, welcome to visit our official website and offer us your feedback there (http://en.benewake.com/support), and we are looking forwards to your participation. We are Benewake who dedicated to making the best "Robotic Eyes" worldwide! Page3 SJ-PM-TFmini-i A01 Manual Catalog Benewake(Beijing)Co., Ltd 1 ATTENTIONS ............................................................................................................................................ 5 1.1 ABOUT THIS DOCUMENT............................................................................................................................. 5 1.2 INSTALLATION AND MAINTENANCE ................................................................................................................ 5 1.3 CONDITIONS WITH POTENTIAL PRODUCT FAILURE............................................................................................ 5 2 PHYSICAL INTERFACE ............................................................................................................................... 6 2.1 WIRING................................................................................................................................................... 6 2.2 ELECTRICAL CHARACTERISTICS...................................................................................................................... 6 3 HARDWARE AND COMMUNICATION PROTOCOL ..................................................................................... 7 3.1 PROTOCOL OF RS485 ................................................................................................................................ 7 3.1.1 PARAMETER CONFIGURATION AND DESCRIPTION OF MODBUS........................................................................... 7 3.2 PROTOCOL OF CAN ................................................................................................................................. 10 3.2.1 PARAMETER CONFIGURATION AND DESCRIPTION OF CAN .............................................................................. 10 4 FAQ ........................................................................................................................................................ 12 Page4 1 Attentions SJ-PM-TFmini-i A01 Manual Benewake(Beijing)Co., Ltd 1.1 About this Document This Manual provides information necessary for the use of this product. Please read this Manual carefully before using this product and make sure that you have fully understood its contents. 1.2 Installation and maintenance This product can only be maintained by qualified professionals and only the original spare parts can be used to ensure its performance and safety. The working temperature of the product is -20°C~60°C; please do not use it beyond this temperature range, so as to avoid risks. The storage temperature of the product is -30°C~75°C; please do not store it beyond this temperature range, so as to avoid risks. Do not open its enclosure for assembly or maintenance beyond this Manual; otherwise, it will affect the product performance. Do not twist the cable forcefully, so as to avoid damage to product. The product can't be aimed directly to the sun or another TFmini-i, so as to avoid damage the detector by strong light. If there is such an application, please contact our technician. 1.3 Conditions with Potential Product Failure When the product transmitter and receiver lens are covered by dirt, there will be a risk of failures. Please keep the lens clean. The product will have a risk of failure when immersed completely in water. Do not use it underwater. When detecting objects with high reflectivity, such as mirrors and smooth tiles, the product may have a high risk of failures. Page5 SJ-PM-TFmini-i A01 Manual Benewake(Beijing)Co., Ltd 2 Physical Interface 2.1 Wiring Terminal model: MH1.25-7P-W/B, size of single wire is AWG26, diameter of single wire is 0.404mm, cross-sectional area is 0.129mm2. Figure 1 New Line Sequence of TFmini-i Table 1 Pin functions and connection instructions of TFmini-i No. Color Pin Function 1 Red VCC Power supply 2 White 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 UART_RX UART receive(debug) 6 Brown UART_TX UART transport(debug) 7 Black GND Ground Note: The hardware of RS485 and CAN is different; Do not mix UART cable with RS485 or CAN bus, otherwise it will cause damage of MCU. 2.2 Electrical Characteristics TFmini-i has overvoltage and polarity protection. Table 2 Main electrical parameters Parameter Typical value Supply voltage 7V~30V Peak current 100mA Average current 65mA@12V Average power consumption 0.8W@12V Overvoltage protection 30V Polarity protection 40V Page6 SJ-PM-TFmini-i A01 Manual Benewake(Beijing)Co., Ltd 3 Hardware and communication protocol There are two communication interfaces available. The hardware of RS485 and CAN is different. The interface can not be switched by command. 3.1 Protocol of RS485 Modbus is the default setting. The parameters is shown as below. The default value of baudrate and slave ID is 115200 and 0x01. Table 3 Communication protocol of TFmini-i-485 Item Parameter Communication interface RS485 Baud rate 115200 Data bit 8 Stop bit 1 Parity None 3.1.1 Parameter configuration and description of Modbus Baudrate of TFmini-i supports 9600144001920038400430005760076800115200 128000230400256000. Based on reliability considerations, it is not recommended to use a baud rate above 115200 for communication When Modbus protocol is enabled, the Modbus reading distance command format: Address field 01default Function code 03 Register address 00 00 Number of registers 00 01 CRC_low xx The data frame returned by TFmini-i is as follows: Address field 01default Function code 03 Parameter configuration: Data length 02 Dist_high xx Dist_low xx CRC_low xx CRC_high xx CRC_high xx Category UART instructions Modbus instructions Page7 Function Enable Modbus Save settings Read distance Instruction 5A 05 15 01 75 5A 04 11 6F Response 5A 05 15 01 75 5A 05 11 00 70 01 03 00 00 00 01 84 0A 01 03 02 DH DL CL CH Description Save settings and restart to take effect. DH and DL are 8 high-order and low-order bits of Distance; SJ-PM-TFmini-i A01 Manual Benewake(Beijing)Co., Ltd Read distance and signal strength Read software version Set Baud rate Set Slave ID Set output rate Set low-power consumption mode Save settings Restore factory setting Disable Modbus 01 03 00 00 00 02 C4 0B 01 03 00 06 00 02 24 0A 01 06 00 83 BH1 BH2 CL CH 01 06 00 84 BL1 BL2 CL CH 01 06 00 85 IH IL CL CH 01 06 00 86 FH FL CL CH 01 06 00 88 LH LL CL CH 01 06 00 80 00 00 88 22 01 03 04 DH DL SH SL CL CH 01 03 04 00 VM VS VC CL CH 01 06 00 83 BH1 BH2 CL CH 01 06 00 84 BL1 BL2 CL CH 01 06 00 84 IH IL CL CH 01 06 00 86 FH FL CL CH 01 06 00 88 LH LL CL CH 01 06 00 80 00 00 88 22 CH and CL are 8 high-order and low-order bits of CRC. DH and DL are 8 high-order and low-order bits of Distance; SH and SL are 8 high-order and low-order bits of signal Strength. VM,VS,VC are the major, minor and revised version number. BH1,BH2,BL1,BL2 are high, secondary high, secondary low and low bytes of baud rate. For example, set baud rate to 9600BH1=00 BH2=00 CL=78 CH=22, BL1=25 BL2=80 CL=D2 CH=D3 IH,IL are high and low bytes of ID. Set ID to 2IH=00 IL=02 CL=19 CH=E2 FH,FL are high and low bytes of frame rate. Set frame rate to 100FH=00 FL=64 CL=69 CH=C8 H,LL are high and low bytes of low power sampling rate. Set it to 5HZ low-power consumption mode, LH=00 LL=05 CL=C9 CH=E3 Save settings and restart to take effect 01 06 00 89 00 00 58 20 01 06 00 89 00 00 58 20 01 06 00 82 00 01 E8 22 01 06 00 82 00 01 E8 22 Save settings and restart to take effect Note: Only RTU mode is supported for communication in UART link. Function code of TFmini-i Modbus Function code 03 06 Description Read register Write register Register address description All register addresses are hexadecimal and register values are 16bit; After setting parameter, save and restart to take effect; Register address list using function code: 0x03(read only) Page8 Register address 00 00 00 01 00 03 00 04 00 06 00 07 SJ-PM-TFmini-i A01 Manual Benewake(Beijing)Co., Ltd Definition Dist Strength High16bit of timestamp Low16bit of timestamp High16bit of software version Low16bit of software version Description Distance, unit: cm Signal strength 2 high-order bits of timestamp represent relative time of radar start up, unit: ms 2 low-order bits of timestamp represent relative time of radar start up, unit: ms 00 + major version number Minor version number + revised version number Register address list using function code: 0x06(write only) Register address 00 80 00 81 00 82 00 83 00 84 00 85 00 86 00 87 00 88 00 89 Definition Save settings Power off/Restart Disable Modbus Baud rate High Baud rate Low Slave ID fps Working mode Low-power consumption mode Restore default Description Write any value to save settings Register value 0-Power offunavailable currently 1-Restart Register value 1-Disable Modbus Others-Error reply Set baud rate. Restart to take effect Set baud rate. Restart to take effect Set TFmini-i's ID. Restart to take effect(default 0x01) Set fps. Restart to take effect(default 100hz) Set working mode. Restart to take effect after saving Register value: 0- Continuously detection mode(default) 1-Triggering mode Others-Error reply Set low-power consumption modeRestart to take effect after saving Register value: 0-Disable(default) >0 and10-Enable(the value is inside sampling frequent) Write any value. Restart to take effect after saving Examples: 1 Enable Modbus protocol 5A 05 15 01 75 5A 04 11 6F // Enable Modbus // Save settings Page9 SJ-PM-TFmini-i A01 Manual Benewake(Beijing)Co., Ltd Entry Modbus model and entry Modbus instructions after restarting 2 Disable Modbus protocol 01 06 00 82 00 01 E8 22 01 06 00 80 00 00 88 22 Restart and exit Modbus. // Default address 01, disable Modbus // Default address 01, save setting 3.2 Protocol of CAN The data protocol of CAN is shown in Table 4. Each data frame consists of 8 bytes and the data contains the distance(unit: cm), signal strength and timestamp(unit: ms) information. Table 4 Data protocol of TFmini-i-CAN Data byte Definition Description Byte0 DIST_L DIST low 8-bits Byte1 DIST_H DIST high 8-bits Byte2 Strength_L Signal strength low 8-bits Byte3 Strength_H Signal strength high 8-bits Byte4 Timestamp Low8bit of timestamp Byte5 Timestamp Secondary-low8bit of timestamp Byte6 Timestamp Secondary-high8bit of timestamp Byte7 Timestamp High8bit of timestamp 3.2.1 Parameter configuration and description of CAN The default baudrate is 250kbps, the default type is standard frame, default receive and send id is 0x00000003. The format of instruction is shown as below: Byte 0 1 2 3 4 Description Default 0x5A 0x0E 0x51 Type 0 Baudrate 8 Type: 0(Standard Frame), 1(Extended Frame); 5-8 Recv_id 0x00000003 9-12 Send_id 0x00000003 13 Check_sum Recv_id: LiDAR receive ID, Little Endian; Send_id: LiDAR send ID, Little Endian Page10 SJ-PM-TFmini-i A01 Manual Benewake(Beijing)Co., Ltd The relation between Baudrate(unit: kbps) and Byte4 is shown as below: Byte4 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 Baudrate 1000 900 800 666 600 500 400 300 250 225 200 160 150 144 125 120 100 1) Examples of configuration Example1: Standard frame, Baud rate 500kbps, receive ID=0x0010, send ID=0x0020 Command: 5A 0E 51 00 05 10 00 00 00 20 00 00 00 EE Example2: Extended Frame, Baud rate 250kbps, receive ID=0x0000AABB, send ID=0x0000CCDD Command: 5A 0E 51 01 08 BB AA 00 00 DD CC 00 00 D0 2) CAN Terminating Resistor Configuration Instructions Enable 120 Terminating Resistor: 5A 05 60 01 C0 Disable(Default) 120 Terminating Resistor: 5A 05 60 00 BF 3) Others 1 Other configuration instructions are the same as UART instructions of standard products, such as saving settings(5A 04 11 6F), resetting(5A 04 02 60) and so on. "Save setting" instruction must be sent after setting parameters, otherwise the parameter doesn't take effect after restarting. 2 When the command is longer than 8 bytes, it needs to be distributed into multiple CAN data frames. And interval between every data frame can't be longer than 20ms. Page11 4 FAQ SJ-PM-TFmini-i A01 Manual Benewake(Beijing)Co., Ltd Q1: Can the FOV (spot) of TFmini-i be increased or decreased? A1: Generally, this is a customized demand. You need to contact our sale colleague for further details. FOV is determined at the beginning of product design. Determination of FOV is also related to the optical system and the product structure. Therefore, it cannot be easily changed, and needs to be customized. Q2: Can I change the frequency of data output? A2: Yes, customization of parameter configuration is supported in TFmini-i. You may consult our sales colleague or technical support for further details. Other common questions please refer to SJ-PM-TFmini-S A01 Product Manual on our website. Contact Page12 Headquarters: 400-880-9610 bw@benewake.com Technical support: support@benewake.com