Benewake TF02-Pro-W-485 Obstacle Detection LIDAR Sensor User Manual

User Manual for Benewake models including: TF02-Pro-W-485 Obstacle Detection LIDAR Sensor, TF02-Pro-W-485, Obstacle Detection LIDAR Sensor, Detection LIDAR Sensor, LIDAR Sensor, Sensor

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TF02-Pro-W-485 User Manual

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TF02-Pro-W-485 User Manual

PREFACE
Dear users: Thank you for choosing Benewake products. In the purpose of offering 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 may meet. This user manual contains relevant information on product introduction, usage and maintenance of TF02-Pro-W-485, covers the product operation introduction and common problem solutions. Please read this manual carefully before using the product. Remember the precautions to avoid hazards, and please follow the described steps in the manual when using it.
If you have any problems in the process of using, you are welcome to contact Benewake at any time for help.
Contact details Official website: en.benewake.com TEL+86-10- 57456983 Technical questionsplease contactsupport@benewake.com Consult sale information or request brochureplease contactbw@benewake.com
Headquarters Address Benewake (Beijing) Co., Ltd. No.3030, 3rd Floor, Independent Innovation Building, No.6 Chuangye Road, Haidian District, Beijing, China
Copyright Statement 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 As our products are constantly improving and updating, the specifications of TF02-ProW-485 are subject to change. Please refer to the official website for latest version.

CONTENTS
1 OVERVIEW ................................................................................................................................... 1 1.1 Technical Specification ....................................................................................................... 1 1.2 Maintenance and Cleaning ................................................................................................ 2 1.3 Appearance and Structure ................................................................................................. 2 1.4 Storage ................................................................................................................................. 4
2 INTERFACE ................................................................................................................................... 5 2.1 Description About Wiring Sequence ................................................................................ 5 2.2 Electrical Characteristics..................................................................................................... 5
3 WIPER WORKING........................................................................................................................ 6 4 COMMUNICATION PROTOCOL ................................................................................................. 7
4.1 RS-485 Communication Interface..................................................................................... 7 4.2 Modbus Protocol ................................................................................................................ 7
4.2.1 Description about frame format ..................................................................... 7 4.2.2 Function Code.................................................................................................... 7 4.2.3 Register Address ............................................................................................... 8 4.3 Parameter Configuration ................................................................................................... 9 4.4 Configuration Example..................................................................................................... 11

OVERVIEW

1 OVERVIEW

TF02-Pro-W-485 is a single-point ranging LiDAR based on upgraded TF02-Pro-W using ToF (Time of Flight) principle. It has been optimized in communication interface, input voltage and reverse voltage protection, adapted to the needs of industrial scenarios.

1.1 Technical Specification

Table 1-1 Technical specification of TF02-Pro-W-485

Type

Parameters 90% reflectivity, 0Klux Operating 10% reflectivity, 0Klux range 90% reflectivity, 100Klux 10% reflectivity, 100Klux

Product performance

Accuracy Distance resolution
Frame rate

Optical parameters
Electrical parameters
Others

Repeatability
Ambient light immunity Enclosure rating
Photobiological safety Central wavelength Light source FoV Supply voltage Average current Power consumption Peak current Dimension Housing
Operating temperature Storage temperature Weight

Value 0.1m~25m 0.1m~12m 0.1m~25m 0.1m~12m ±6cm0.1m~6m ±1%6m~25m
1cm 1Hz~1000Hz adjustable, default 100Hz
1: 2cm 0.1m~25m@90% reflectivity
100Klux IP5X
Class1 (IEC60825) 850nm VCSEL 3°
DC 7V~30V 200mA@12V
4.8W 400mA@12V 85mm×59mm×43mm (L×H×W)
PC/ABS -20~60 -30~80 92g (with cables)

OVERVIEW

Cable length

120cm

Note The detection range is measured with the standard white board (90%
reflectivity). The frame rate can be adjusted. The default value is 100Hz and the
maximum value is 1000Hz, customized frame rate should be calculated by the formula: 2000/n (n is an integer with 2). The angle is a theoretical value, the actual angle value has some deviation.

1.2 Maintenance and Cleaning

Before switching on, please check if the exposed window mirror is clean, and clean it promptly if it is dirty.
After using the device, check the optics. If they are contaminated, please clean it promptly.
The optics should be cleaned regularly if the device be operated in a severe environment for a long time.
Before regular cleaning, please disconnect the power. Using a soft cloth to gently wipe the window in the same direction when the device is not operating, to avoid repeated wiping and damage to the window mirror.
Do not remove the dust-removal wiper, which may cause equipment failure. If the dust-removal wiper is abnormal, please contact bw@benewake.com.
When the steering shaft is blocked by dust for a long time, the steering shaft may be damaged due to the increased resistance. Please clean the steering shaft regularly.
If you require deep cleaning of internal optics, please contact bw@benewake.com to offer professional advice.

1.3 Appearance and Structure

The appearance and dimensions of TF02-Pro-W-485 are shown in Figure 1-1 and Figure 1-2.

OVERVIEW
Figure 1-1 Appearance of TF02-Pro-W-485
Figure 1-2 Dimension of TF02-Pro-W-485 (unit: mm) TF02-Pro-W-485 is recommended to use M2.5 round Phillips screws for installation. Please remove the protective film of the optical lens before use. The lens of front panel of LiDAR cannot be covered. Please keep it clean. The surface of optical lens is the ranging zero of LiDAR. The detection angle of TF02-Pro-W-485 is 3°. At different distances, the size of light spot, namely the edge length of the detection range, is different, as shown in Figure 1-3. Side length of the detection range at different distances (the detection range is a square), as shown in Table 1-2.
REV: 12/05/2022 · ©2022 Benewake (Beijing) Co., Ltd. | en.benewake.com | All rights reserved BP-UM-34 A01 3

OVERVIEW
Figure 1-3 Light spot size at different distances Table 1-2 Spot Size at Different Distances
Distance(m) 1 2 3 4 5 6 7 8 9 10 15 20 22 Spot size(cm) 5 10 16 21 26 31 37 42 47 52 79 105 115
Note The side length of target object generally should be larger than size of the TF02-Pro-W-485 light spot; if the side length of the detected object is smaller than size of light spot, the output (Distance) from TF02-Pro-W-485 will be a value between the actual distance values of the two objects.
1.4 Storage
Device should be stored at -30°C to 80°C with a relative humidity 60% and ventilation free from corrosive gases.
Before storage, please make sure that all connections are disconnected or dust covers are inserted or covered to ensure cleanliness.
If storage time is over three months, please carry out a working test before using, to ensure that the device can be used in normal condition.
For ensuring the product performance, do not open the product shell or remove the IR-pass filter.
REV: 12/05/2022 · ©2022 Benewake (Beijing) Co., Ltd. | en.benewake.com | All rights reserved BP-UM-34 A01 4

2 INTERFACE

INTERFACE

2.1 Description About Wiring Sequence

The external tail cable of TF02-Pro-W-485 has no connector by default, the wiring

sequence is shown in Table 2-1.

Table 2-1 The function description of each wire

Wiring color

Function

Comment

Red

VCC

Power supply

Black

GND

Ground

White

RS-485-B

DATA-

Green

RS-485-A

DATA+

2.2 Electrical Characteristics

TF02-Pro-W-485 has overvoltage and reverse polarity protection, but do not connect

to power rails higher than 36V, reverse polarity protection voltage is -30V. The electrical

characteristics are shown in Table 2-2.

Table 2-2 Main electrical parameters of TF02-Pro-W-485

Parameter

Value

Supply voltage

DC 7V~30V

Average current

200mA@12V

Peak current

400mA@12V

Average power consumption

4.8W

Communication level

RS-485

WIPER WORKING
3 WIPER WORKING
The dust-removal wiper works in a fixed cycle, having a dust-removal operation every 4 hours in the default working mode. Each dust-removal operation is driven by the LiDAR servo, the wiper moves backwards and forwards for one time. And TF02-Pro-W-485 will also perform dust-removal operation once after each power-on. In addition, customer can control the LiDAR immediately by sending command for dust-removal, and modify the wiper swing times and save the settings. During the dust removal operation, the LiDAR does not measure and output data. The wiper stops at position A when it does not work, and moves from position A to position B during operation, then returns to position A, the initial and termination positions are shown in Figure 3-1.
Figure 3-1 The initial and termination positions of the wiper movement Note It is recommended that the dust-removal interval should be kept greater than 30 minuteswhen servo is in high temperature environments (ambient temperature > 40 ).
REV: 12/05/2022 · ©2022 Benewake (Beijing) Co., Ltd. | en.benewake.com | All rights reserved BP-UM-34 A01 6

COMMUNICATION PROTOCOL
4 COMMUNICATION PROTOCOL

4.1 RS-485 Communication Interface

TF02-Pro-W-485 uses RS-485 communication standard with 2-wire interface, the

communication protocol parameters are shown in Table 4-1. The default baud rate is

115200, the default slave ID is 0x01.

Table 4-1 TF02-Pro-W-485 RS-485 communication protocol

Communication interface

RS-485

Default baud rate

115200

Data bit

Stop bit

Parity check

None

Warning TF02-Pro-W-485 supports 9600, 14400, 19200, 38400, 43000, 57600, 76800, 115200 (default), 128000, 230400, 256000, 460800, 921600, 1382400 baud rates. It is not recommended to use the baud rate above 115200.

4.2 Modbus Protocol

4.2.1 Description about frame format

When TF02-Pro-W-485 Modbus protocol is enabled, the Modbus reading distance

command format is shown in Table 4-2.

Table 4-2 The Modbus reading distance command format

Address Function

field

code

CRC_Low CRC_High

The data frame returned by TF02-Pro-W-485 is as follows

Table 4-3 The data frame format

Address Function Data Dist_High Dist_Low CRC_Low CRC_High

field

code

length

4.2.2 Function Code

The function code of TF02-Pro-W-485 is shown in Table 4-4.

COMMUNICATION PROTOCOL

Table 4-4 The function code of TF02-Pro-W-485 Function code 03 06

Description Read register Write register

4.2.3 Register Address

All register addresses are hexadecimal and register values are 16 bits; After setting parameter, save settings and restart LiDAR to take effect.

4.2.3.1 Register Address for Reading Function Code

Table 4-5 Register address list using function code: 0x03(read only)

Definition

Description

00 00

Dist

Distance, unit: cm

00 01

Strength

Signal strength

00 03

High 16bit of timestamp

2 high-order bits of timestamp represent relative time of LiDAR start up, unit: ms

00 04

Low 16bit of timestamp

2 low-order bits of timestamp represent relative time of LiDAR start up, unit: ms

High 16bit of

00 06

software

00 + major version number

version

00 07

Low 16bit of software version

Minor version number + revised version number

4.2.3.2 Register Address for Writing Function Code

Table 4-6 Register address list using function code: 0x06(write only)

Definition

Description

00 80

Save settings Write any value to save settings

00 81

Power off/restart 0-Power off (unavailable currently);

1-Restart

00 82

Disable Modbus 1-Disable Modbus;

Others-Error reply

00 83

Baud rate High Set baud rate. Restart to take effect

00 84

Baud rate Low Set baud rate. Restart to take effect

COMMUNICATION PROTOCOL

00 85 00 86
00 87
00 88
00 89 00 8A 00 8C 00 8D

Slave ID FPS
Working mode
Low-power consumption
mode
Restore defaults Start the wiper Modify dustremoval cycle Modify number of wiper swings

Set slave ID. Restart to take effect (default 0x01) Set frame rate. Restart to take effect (default 100Hz) Set working mode. Restart to take effect after saving settings. Register value: 0- Continuously detection mode(default) 1-Trigger mode Others-Error reply Set low-power consumption modeRestart to take effect after saving settings. Register value: 0-Disable(default) >0 and10-Enable (the value is inside sampling frequency.) Write any value. Restart to take effect after saving settings. Write any value. Start the wiper at any time. Unit: minutes (default 240 minutes). Take effect immediately. The number should between 1 and 10 (default once). Take effect immediately.

4.3 Parameter Configuration

Table 4-7 TF02-Pro-W-485 general parameter configuration under serial link mode

Function

Command

Response

Description

Enable Modbus

Save settings and restart to take 5A 05 15 01 75 5A 05 15 01 75
effect.

Save setting

5A 04 11 6F 5A 05 11 00 70

Table 4-8 TF02-Pro-W-485 general parameter configuration with Modbus instructions

Function

Command

Response

Description

DH: 8 high-order bits of distance

01 03 00 00 00 01 03 02 DH DL: 8 low-order bits of distance

Read distance

01 84 0A

DL CL CH

CL: 8 low-order bits of CRC

CH: 8 high-order bits of CRC

Read distance and strength

01 03 00 00 00 02 C4 0B

01 03 04 DH DL SH SL CL CH

DH: 8 high-order bits of distance DL: 8 low-order bits of distance SH: 8 high-order bits of signal strength

COMMUNICATION PROTOCOL

SL: 8 low-order bits of signal strength

CL: 8 low-order bits of CRC

CH: 8 high-order bits of CRC

Read firmware version
Set baud rate
Set slave ID

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 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 85 IH IL CL CH

The software version is VM.VS.VC
BH1, BH2, BL1, BL2 are high, secondary high, secondary low and low bytes of baud rate. E.g., set baud rate to 9600 (0x00002580) BH1=00 BH2=00 CL=78 CH=22 BL1=25 BL2=80 CL=D2 CH=D3 IH, IL are high and low bytes of ID. For example, set ID to 2IH=00 IL=02
CL=19 CH=E2

FH, FL are high and low bytes of

01 06 00 86 FH 01 06 00 86 FH frame rate. E.g., Set frame rate to 100

Set frame rate

FL CL CH

(0x0064),

Set

low-

power

consumption

mode

01 06 00 88 LH LL CL CH

FH=00 FL=64 CL=69 CH=C8 LH, LL are high and low bytes of low power sampling rate. For example, set it to 5HZ low-power
consumption mode, LH=00 LL=05
CL=C9 CH=E3

01 06 00 80 00 01 06 00 80 00 Save settings and restart LiDAR to

Save settings

00 88 22

take effect

Disable

01 06 00 82 00 01 06 00 82 00 Save settings and restart LiDAR to

Modbus

01 E8 22

take effect

Start

the

wiper

Modify dust removal cycle

01 06 00 8A 00 00 A8 20
01 06 00 8C PH PL CL CH

Start the wiper at any time
PH, PL are high and low bytes of cycle. E.g., making wiper works every 240 minutes (0x00F0), PH=00 PL=F0

Modify the number of wiper round

01 06 00 8D WH WL CL CH

CL=48 CH=65
WH, WL are high and low bytes of number of round trips. The number should between 1 and 10. E.g., twice each time

trips

WH=00 WL=02 CL=98 CH=20

Warning TF02-Pro-W-485 Only supports RTU mode to communicate in serial link.

COMMUNICATION PROTOCOL

4.4 Configuration Example

1) Under RS-485 serial link mode, enable Modbus protocol:

5A 05 15 01 75 // Enable Modbus protocol

5A 04 11 6F

// Save setting

Restart and enter Modbus mode.

2) Under Modbus mode, disable Modbus Protocol:

01 06 00 82 00 01 E8 22

// Default address 01, disable Modbus

01 06 00 80 00 00 88 22

// Default address 01, save setting

Restart and exit Modbus.

References

北醒-车载激光雷达-智能驾驶-自动驾驶

Microsoft Word 2019