Benewake TF-UP01 High-Precision Long-Distance Single-Point Lidar User Manual

User Manual for Benewake models including: TF-UP01, High-Precision Long-Distance Single-Point Lidar

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TF-UP01

TF-UP01 - Benewake

The User Manual is an operating Instructions for TF-UP01, which describes how to set up and configure the interfaces. The User Manual contains detailed ...

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USER MANUAL | TF-UP01. Described Product. High-precision long-range single-point LiDAR: TF-UP01. Manufacturer. Benewake (Beijing) Co., Ltd. NO.28 Xinxi Road Haidian District Beijing, PRC.

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16246490106004470Benewake TF-UP01 User Manual V1.0.1

TF-UP01
HIGH-PRECISION LONG-DISTANCE SINGLE-POINT LIDAR
USER MANUAL

USER MANUAL | TF-UP01
Described Product
High-precision long-range single-point LiDAR: TF-UP01
Manufacturer
Benewake (Beijing) Co., Ltd. NO.28 Xinxi Road Haidian District Beijing, PRC
Legal information
This work is protected by copyright. Any rights derived from the copyright shall be reserved for Benewake. Reproduction of this document or parts of this document is only permissible within the limits of the legal determination of Copyright Law. Any modification, abridgment or translation of this document is prohibited without the express written permission of Benewake. The trademarks stated in this document are the property of their respective owner. © Benewake. All rights reserved.
Original document
This document is an original document of Benewake.
Warning
The TF-UP01 range finder is equipped with a laser diode emitting in the visible spectrum. It is a class 2 laser product according to IEC 60825-1:2014.
WARNING: OPTICAL RADIATION DO NOT STARE INTO BEAM

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USER MANUAL | TF-UP01
TABLE OF CONTENTS
1 ABOUT THIS DOCUMENT ..................................................................................................................... 4 INTENDED READERS .......................................................................................................................... 4 SYMBOLS AND DOCUMENT CONVENTIONS.............................................................................................. 4
2 GENERAL INFORMATION ..................................................................................................................... 5
3 PRODUCT DESCRIPTION....................................................................................................................... 7
4 ELECTRICAL INSTALLATION..................................................................................................................13
5 INTERFACES AND PROTOCOLS.............................................................................................................16 6 CUSTOM CONFIGURATION..................................................................................................................17
7 QUICK START GUIDE ...........................................................................................................................19 8 TROUBLESHOOTING ...........................................................................................................................21 9 ANNEX ...............................................................................................................................................22
REFLECTIVITY OF DIFFERENT MATERIALS ...............................................................................................22

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USER MANUAL | TF-UP01

ABOUT THIS DOCUMENT

1 ABOUT THIS DOCUMENT

The User Manual is an operating Instructions for TF-UP01, which describes how to set up and configure the interfaces.
The User Manual contains detailed information about the interfaces including syntax and available functionality. It focuses on TF-UP01 specific topics and does not describe the basic technology behind each interface.
The details of the result output formatting and the contents and syntax of the command channels are shared by several interfaces. They are described in an appendix valid for all relevant interfaces.

Intended Readers
The intended readers of the User Manual are users working with integration between the TF-UP01 and other equipment, for example PLC programmers and Custom HMI developers.
The readers are assumed to have knowledge about TF-UP01 product and features as described in the datasheet for TF-UP01. The readers are also assumed to have knowledge about the basic functionality of the technology of the interfaces used for the integration.

Symbols and document conventions
The following symbols and conventions are used in this document:
WARNING Indicates a situation presenting possible danger, which may lead to death or serious injuries if not prevented.

CAUTION
Indicates a situation presenting possible danger, which may lead to moderate or minor injuries if not prevented.

NOTICE
Indicates a situation presenting possible danger, which may lead to property damage if not prevented.

NOTE Indicates useful tips and recommendations.

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USER MANUAL | TF-UP01
2 GENERAL INFORMATION

GENERAL INFORMATION

Intended use
The TF-UP01 laser rangefinder modules have been developed for range measuring of static and moving objects in the field of industrial applications. The TF-UP01 measures distances up to 150m with high precision and support fast ranging rates of up to 50 Hz. Based on phase comparison technology the range finder is capable of accuracies of +/-3mm and below. It is powered and controlled via for interfaces, UART, CAN, RS-485 and RS-232.
Safety Advice
Read the safety advice carefully before starting to operate the TF-UP01 laser range finder. That way you will achieve a long product lifetime and will make optimum use of the device while avoiding damage to the device and human injuries.
WARNING The TF-UP01 laser range finder is equipped with a laser diode emitting in the visible spectrum. DO NOT STARE INTO BEAM!

CAUTION
Ensure there is no voltage applied when establishing a connection to the device and while integrating the device into the upper system. There is a potential risk of damage to the device or of an electric shock to the operator.
Follow the integration advices when integrating the device in the upper system. Also, observe the safety distances when using the device. There is a potential risk of damage to the device or of an electric shock to the operator.
Do not touch the electronic parts of the device when the device is in operation or connected to the power supply. There is a potential risk of damage to the device or of an electric shock to the operator.
Do not disassemble the device or parts thereof. There is a risk of human injury by laser radiation and/or electric shock.
The disassembly of the device or parts thereof will void the warranty.

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USER MANUAL | TF-UP01

GENERAL INFORMATION

NOTICE
Do not operate the device when there is any damage visible.
Contact customer service for further assistance.
Keep the device away from water and other liquids. Avoid any soiling by dust or other contaminants. Always handle the device with the due care. When cleaning the device, follow the cleaning instructions.
Avoid touching the optics and do not use the device if the optics are soiled or clouded.
Do not perform any modification to the device as this may cause potential harm to the operator and the device. Any modification on the device will void the warranty.

NOTE To clean TF-UP01, ensure it is disconnected from the battery or power supply. If the housing or the lenses are slightly soiled, they can be easily cleaned with a soft, slightly moistened optical cleaning cloth.
To avoid contamination of the device, always store it in the transportation package it was delivered in. Keep the device away from water, dust and other contaminants.
Maintenance, Service and Repair
The TF-UP01 is designed maintenance/service free so no maintenance of the device is required. In case the TF-UP01 is damaged, contact the customer service with bw@benewake.com for assistance. For the TF-UP01 to be repaired the device has to be returned to the manufacturer.

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USER MANUAL | TF-UP01
3 PRODUCT DESCRIPTION
Appearance Overview

PRODUCT DESCRIPTION

Figure 1 Module view of TF-UP01
3mm diameter side hole (5mm deep) for mounting (16x) Aluminum alloy housing TX aperture RX aperture 3mm diameter bottom hole (5mm deep) for mounting (8x) Power connector, female, 4pin Data connector, female, 8pin

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USER MANUAL | TF-UP01
Dimensional drawing

PRODUCT DESCRIPTION

Figure 2 Dimensional drawing of TF-UP01

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Others

Connections

Environment Optical parameters

Performance

USER MANUAL | TF-UP01
Technical specification
Table 1 Technical specification of TF-UP01 Parameters Detection range (@80% reflectivity) Detection range (@10% reflectivity) Detection range (with reflector)
Accuracy
Distance resolution Frame rate Light source Central wavelength Photobiological safety FoV Enclosure rating Operation temperature Storage temperature Supply voltage Average current Power consumption Communication interface Dimension Housing Weight Cable length

PRODUCT DESCRIPTION

Minimum

Typical

Maximum

0.1m

50m

0.1m

30m

0.1m

150m

±3mm@(-10~+50) ±2mm@(+15~+30White background)
1mm

10Hz & 50Hz

605nm

Class2 (EN60825:2014)

0.034° (0.6mrad)

IP65

-10

-20

8V DC

30V DC

150mA @ 5V, 80mA @ 12V, 50mA @ 24V

1.5W

UART / CAN / RS-485 / RS-232

138mm*75mm*50mm(L*W*H)

Aluminum alloy

690g ± 5g

1.5m or 5m

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USER MANUAL | TF-UP01

PRODUCT DESCRIPTION

NOTICE
Only two output frame rates of 10Hz and 50Hz are supported currently. TF-UP01 has three different measuring modes, each mode supports different frame rate. Please see 7.2Measuring modes for detailed information.

Influences of object surfaces on the measurement
The signal received from a perfectly diffuse reflecting white surface corresponds to the definition of a remission of 100%. As a result of this definition, the remissions for surfaces that reflect the light bundled (mirrored surfaces, reflectors), are more than 100%.

Figure 3 Reflection of the laser beam at the surface of an object
The reflection of the laser beam will vary as a function of the surface structure and color. Light surfaces reflect the laser beam better than dark surfaces and can be detected by the TF-UP01 over larger distances. Brilliant white plaster reflects approx. 100% of the incident light, black foam rubber approx. 2.4%. On very rough surfaces, part of the energy is lost due to shading. The detecting range of the TF-UP01 will be reduced as a result.

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USER MANUAL | TF-UP01

PRODUCT DESCRIPTION

Figure 4 Reflection angle
The reflection angle is the same as the angle of incidence. If the laser beam is incident perpendicularly on a surface, the energy is optimally reflected (Figure 4 on page 14). If the beam is incident at an angle, a corresponding energy and detecting range loss is incurred.

Figure 5 Degree of reflection
If the reflected energy returned is over 100% (basis: Kodak standard) the incident beam is not reflected diffusely in all directions, but is reflected in a specific direction. As a result, a large portion of the energy emitted can be received by the laser distance measurement device. Plastic reflectors ("cats' eyes"), reflective tape and triple prisms have these properties.

Figure 6 Mirror surfaces
At mirror surfaces the laser beam is almost entirely deflected (Figure 6 on page 15). Instead of the surface of the mirror, it is possible that the object on which the deflected laser beam is incident may be detected.

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USER MANUAL | TF-UP01

PRODUCT DESCRIPTION

Figure 7 Object smaller than diameter of the laser beam
Objects that are smaller than the diameter of the laser beam cannot reflect all the energy of the laser light (Figure 7 on page 15). The energy in the portion of the laser light that is not reflected is lost. This means that the detecting range is less than would be possible theoretically based on the surface of the object.
1
2
= (1, 2)
Figure 8 Staircase object
Staircase objects have two or more planes (Figure 8 on page 16). The energy in the portion of the laser light that is reflected by different plane is different. TF-UP01 will calculate a weighted averaging energy. The measured value will possible theoretically be the weighted average of distances from TF-UP01 to different platform.

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USER MANUAL | TF-UP01
4 ELECTRICAL INSTALLATION

ELECTRICAL INSTALLATION

Pin and wire color assignment
"Power/Gnd" connection (SP-M8X-XXP-FF-SF7001-00A, 4pin).

Figure 9 Female connector, SP-M8X-XXP-FF-SF7001-00A, 4pin Table 2 Pin assignment on 4-pin female connector

Signal

Color of wire

Function

Black

DC 8~30V

Blue

Supply voltage

3 GND
4

Brown White

Ground

"Data/Gnd" connection (SP-M8X-XXP-FF-SF7001-00A, 8pin).

Figure 10 Female connector, (SP-M8X-XXP-FF-SF7001-00A, 8pin)

NOTICE The interfaces, CAN and RS-485, are still under development.
Table 3 Pin assignment on 8-pin female connector

Signal

Color of wire

Function

GND

Brown

Ground

CAN_H

White

CAN-BUS High

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USER MANUAL | TF-UP01

ELECTRICAL INSTALLATION

CAN_L

Blue

RS-485-B

Pink

RS-485-A

Gray

UART_RXD

Black

RS-232_RXD

UART_TXD

Green

RS-232_TXD

GND

Red

CAN-BUS Low RS-485-B RS-485-A UART and RS-232 receiver
UART and RS-232 transmitter Ground

Wiring UART interface
By definition, UART 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. A screened cable is required for the wiring of the UART interface.

Transmitter
UART Tx UART Rx
GND

Receiver
UART Rx UART Tx GND

Figure 11 Wiring of the UART interface

GND

NOTICE
To connect two devices for UART serial communication, the transmitter's TX should connect to the receiver's RX and the receiver's TX should connect to the transmitter's RX.

Wiring CAN interface
To wire the CAN interface a screened "twisted-pair" cable is required.

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USER MANUAL | TF-UP01

ELECTRICAL INSTALLATION

Transmitter
CAN-L CAN-H
GND

Receiver
CAN-L CAN-H GND

Figure 12 Wiring of the CAN interface

GND

CAN Bus
Unlike a traditional network such as USB or Ethernet, CAN does not send large blocks of data point-to-point from one node to another under the supervision of a central bus master.

Figure 13 CAN networking of TF-UP01
The High-Speed ISO 11898 Standard specifications are given for a maximum signaling rate of 1 Mbps with a bus length of 40 m with a maximum of 30 nodes. It also recommends a maximum unterminated stub length of 0.3 m. The cable is specified to be a shielded or unshielded twisted-pair with a 120- characteristic impedance (Zo). The ISO 11898 Standard defines a single line of twisted-pair cable as the network topology as shown in Figure 6, terminated at both ends with 120-resistors, which match the characteristic impedance of the line to prevent signal reflections. According to ISO 11898, placing RL on a node must be avoided because the bus lines lose termination if the node is disconnected from the bus.

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USER MANUAL | TF-UP01

INTERFACES AND PROTOCOLS

5 INTERFACES AND PROTOCOLS

The standard version of TF-UP01 supports four communication interfaces: UART, CAN, RS232 and RS-485.
NOTICE The interfaces, CAN and RS-485, are still under development. The related information will be updated with the release of CAN and RS-485.

Communication protocol

TF-UP01 supports UART (Universal Asynchronous Transmitter Receiver), the most common protocol used for full-duplex serial communication.
Table 4 Communication protocol detail of UART and RS232

Character

Value

Baud rate

115200

Data bit

Stop bit

Parity

None

Date frame

Each data frame which contains the distance and signal strength consists of 9 bytes of hexadecimal number.
Table 5 Data frame of TF-UP01

Bytes

Description Frame Frame header header

Distance

Reserved bytes

Checksum

Typical value

0x59

Low Middle High byte byte byte

0x00

0x00 0x00

Sum

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USER MANUAL | TF-UP01
6 CUSTOM CONFIGURATION

CUSTOM CONFIGURATION

Protocol description

To meet the need of different customers, parameters can be set by yourselves. Parameters, such as data format, frame rate could be changed by sending command. Parameter 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 need and do not try irrelevant commands. Please configure the product according to the demands of the manual and never send unstated command.
Table 6 Description of TF-UP01 instruction protocol

Byte

Definition

Description

Byte 0

Header

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 Payload

Different meanings and lengths in different ID instruction frames

Byte N-1

Check sum the lower 8 bits of the Len-1-byte data

Command protocols
Table 7 List of TF-UP01 command protocols

Description

Command

Obtain firmware version

5A 04 01 5F

System reset

5A 04 02 60

Singe measurement trigger

5A 06 03 61

Change frame rate to 5A 05 04 01 64 10Hz

Change frame rate to 5A 05 05 01 65 50Hz

Response

Remark

Default setting

5A 07 01 VA VB VC The version is /

VC.B.A

5A 05 02 00 61

Data frame

Data frame at 10Hz /

Data frame at 50Hz /

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USER MANUAL | TF-UP01

CUSTOM CONFIGURATION

Output control Laser switch Modify baud rate Save settings

On: 5A 05 07 01 67 Off: 5A 05 07 00 66

Same as command /

Enabled

On: 5A 05 0A 01 6A Same as command /

Off: 5A 05 0A 00 69

5A 08 06 H1 H2 H3 H4 SU

Same as command

See chapter 6.3Command editing

115200

5A 04 0B 69

5A 05 0B 00 69

same as

above

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

NOTE
Baud rate of UART 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-UP01 will set it to 115200.

Command editing

The Command Channel is used to read and update a selected set of device parameters. This section describes the Command Channel from a generic point of view. The Command Channel is available via all of the device interfaces: UART, CAN. There are differences depending on the possibilities each interface provides. The differences are described in the chapters about each interface.
To send command with certain parameter to TF-UP01, follow these steps to generate command:
Confirm the ID and the length of the command
Convert decimal parameter to hexadecimal
Fill the hexadecimal parameter into the command in little endian mode
Calculate the sum of all the bytes of the command except the last byte, take the low 8bit of the sum and fill it into the last byte of the command
For example, changing the baud rate to 460800. Firstly, find the command ID and length from Table 7 List of TF-UP01 command protocols. Secondly, convert 460800 to hexadecimal which is 0x00 07 08 00. Thirdly, fill hexadecimal parameter into the command, 5A 08 06 00 08 07 00 SUM.Finally, calculate the sum of the first 7-bytes of the command, and fill the low

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USER MANUAL | TF-UP01

QUICK START GUIDE

8-bit of the sum into the last byte of the command, which is 5A 08 06 00 08 07 00 77.

7 QUICK START GUIDE

Connection
Download the latest version BW_TFDS from http://en.benewake.com/support onto your PC or laptop.

Interface converter

DC 8V...30V
Figure 14 TF-UP01 connection to PC
Connect TF-UP01 to the PC or laptop with a paired USB converter as shown in Figure 14 TF-UP01 connection to PC. The UART version TF-UP01 needs a UART-USB converter, and the CAN version TF-UP01 needs a CAN-USB converter.

Figure 15 GUI of TF-UP01

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USER MANUAL | TF-UP01

QUICK START GUIDE

Run BW_TFDS.exe, choose the right baud rate and communication port, and click CONNECT to start the test. See Figure 15 GUI of TF-UP01. The GUI supports several commonly used functions, like changing baud rate, switching on/off pointing beam.

NOTICE
The product package contains only TF-UP01. If you need USB converter, please contact sales or technical support.

Measuring modes
TF-UP01 has three different measuring modes, invisible continuous measuring mode, visible continuous measuring mode and visible trigger measuring mode.
Invisible continuous measuring mode. Only measuring beam which is invisible is enabled. This mode only supports 10Hz output. Follow the following steps to enable this mode: Follow the instructions in 7.1 Connection. Connect TF-UP01 to PC or other control systems. Send the command Change frame rate to 10Hz listed in Table 7 List of TF-UP01 command protocols to enable the mode.
Visible continuous measuring mode. The pointing beam which is a visible red beam needs to be enabled. This mode can support 10Hz and 50Hz output. Follow the following steps to enable this mode: Follow the instructions in 7.1 Connection. Connect TF-UP01 to PC or other control systems. Switch on the pointing beam the command Laser switch listed in Table 7 List of TF-UP01 command protocols.
Send the command Change frame rate to 10Hz or Change frame rate to 50Hz listed in Table 7 List of TF-UP01 command protocols to enable the mode.
Visible trigger measuring mode. The pointing beam which is a visible red beam needs to be enabled. TF-UP01 measures only when it receives the triggering command. Follow the instructions in 7.1 Connection. Connect TF-UP01 to PC or other control systems. Switch on the pointing beam the command Laser switch listed in Table 7 List of TF-UP01 command protocols.
Send the command Singe measurement trigger to trigger measurement.
NOTICE Currently, the TF-UP01 only supports the listed three measuring modes. More

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USER MANUAL | TF-UP01

TROUBLESHOOTING

measuring modes are under development. For more information, updates and useful links, please visit our website http://www.benewake.com/.

8 TROUBLESHOOTING

NOTICE
Claims under the warranty rendered void!
The housing screws of the TF-UP01 are sealed. Claims under the warranty against Benewake will be rendered void if the seals are damaged or the device opened. The housing is only allowed to be opened by authorized service personnel.

This chapter describes how to identify and rectify errors and malfunctions during the operation of TF-UP01.

Table 8 Troubleshooting and rectification

Fault

Possible cause

Solution

Measurement exceeds the allowed error.

Optical signal was blocked.

Remove the obstacle or adjust the detecting direction.

The target is a low reflectivity object.

Paste a reflector on target object.

Measurements in the near range with no measurement target.

Contaminated or scratched window.

Carefully clean optics using soft, flufffree cloth.
If the optics are scratched, contact Benewake service.

TF-UP01 is not transmitting a measured result.

Wiring fault in the data connection.
Wrong USB converter.

Check wiring. Check USB converter.

Data transmitted is garbage.

Baud rate mismatch.

Check baud rate of the receiving device. Check TF-UP01's baud rate setting.

A certain target cannot be detected

The target is too small.

Replace it with a larger target.

The target is of low reflectivity. Paste a reflector on target object.

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USER MANUAL | TF-UP01
9 ANNEX

ANNEX

Reflectivity of Different Materials
The reflectivity of different materials is listed below, ranging from low to high. According to the test target and the corresponding reflectivity, we can measure whether the range of TFUP01 and other parameters meet the requirements.

No.

Materials

Reflectivity

black foam rubber

2.4%

black cloth

black rubber

Coal (varies from coal to coal)

4~8%

Black car paint

Black paper

10%

opaque black plastic

14%

Clean rough board

20%

translucent plastic bottles

62%

packing case cardboard

68%

Clean pine

70%

opaque white plastic

87%

white card

90%

Kodak standard whiteboard

100%

Unpolished white metal surface

130%

Shiny light metal surface

150%

stainless steel

200%

Reflective board, reflective adhesive tape

>300%

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References

北醒-车载激光雷达-智能驾驶-自动驾驶

Microsoft Word 2016