Benewake TF03 Operation & User’s Manual

Benewake(Beijing)Co., Ltd. Page2 Product Product Number：TF03 version 4-20mA Product name：TF03 LiDAR Manufacturer Company: 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.

Benewake(Beijing)Co., Ltd. Page3 Forward Dear users: Thanks for choosing Benewake products, and it is our pleasure to help you to solve any technical question. For offering a better operation experience to you, we hereby write this manual for an easier and simpler operation of our product, hoping to solve the common problems in better way you may meet. Please contact us if you have any questions. ([email protected]) This operation manual covers the product operation introduction and common problem solutions, but it is 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 ([email protected]). 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://www.benewake.com/feedback.html), and we are looking forwards to your participation. We are Benewake who dedicated to making the best “Robotic Eyes” worldwide!

Benewake(Beijing)Co., Ltd. Page4 Table of Contents 1 ATTENTIONS ............................................................................................................................................ 5 1.1 ABOUT THIS DOCUMENT ............................................................................................................................ 5 1.2 USAGE OF THE PRODUCT ............................................................................................................................ 5 1.3 CONDITIONS WITH POTENTIAL PRODUCT FAILURE ............................................................................................ 5 2 PHYSICAL INTERFACE ............................................................................................................................... 6 2.1 DESCRIPTION ABOUT THE LINE SEQUENCE AND CONNECTION .............................................................................. 6 2.2 ELECTRICAL CHARACTERISTICS...................................................................................................................... 7 3 INSTALLATION INSTRUCTIONS ................................................................................................................. 7 3.1 PRODUCT OVERVIEW ................................................................................................................................. 7 3.2 PRODUCTS STRUCTURE .............................................................................................................................. 7 3.3 DETECTION ANGLE DESCRIPTIONS ................................................................................................................ 8 4 COMMUNICATION PROTOCOL AND DATA FORMAT ................................................................................. 9 4.1 COMMUNICATION PROTOCOL ...................................................................................................................... 9 4.2 CUSTOM PARAMETER CONFIGURATION ........................................................................................................ 10 4.2.1 INSTRUCTION GENERAL FORMAT DESCRIPTION .................................................................................................. 10 4.2.2 COMMANDS ............................................................................................................................................... 11 5 QUICK TEST PROCEDURES ...................................................................................................................... 12 5.1 TEST EXAMPLE ........................................................................................................................................ 12 5.1.1 TEST RANGE WITH DIFFERENT REFLECTIVITY .................................................................................................... 12 5.1.2 TESTING ACCURACY OF DIFFERENT MATERIALS ................................................................................................. 12 5.1.3 REFLECTIVITY OF COMMON MATERIALS .......................................................................................................... 13 6 FREQUENTLY ASKED QUESTIONS ........................................................................................................... 14

Benewake(Beijing)Co., Ltd. Page5 1 Attentions 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 Usage of the Product  Qualified professionals can only maintain this product and only the original spare parts can be used to ensure its performance and safety.  The product itself has no polarity and overvoltage protection. Please complete wiring and supply power correctly according to the contents of the Manual.  The working temperature of the product is -25°C~60° C; please do not use it beyond this temperature range, to avoid risks.  The storage temperature of the product is -40°C~85°C; please do not store it beyond this temperature range, to avoid risks.  Do not open its enclosure for assembly or maintenance beyond this Manual; otherwise, it will affect the product performance. 1.3 Conditions with Potential Product Failure  When the product transmitter and receiver lens is 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.

Benewake(Beijing)Co., Ltd. Page6 2 Physical Interface 2.1 Description about the line sequence and connection Wiring terminal model: MH1.25-7P. Figure 1：TF03 Line Sequence Table 1 TF03 Pin functions and connection instructions No Color Pin Function 1 Red VCC Voltage Input 2 White / / 3 Green / / 4 Blue I_out 4-20mA output current 5 Brown TTL_RXD UART Receiver 6 Yellow TTL_TXD UART Transmitter 7 Black GND Ground

Benewake(Beijing)Co., Ltd. Page7 2.2 Electrical Characteristics This product has no overvoltage or polarity protection. Please ensure that the wiring and power supply are normal, and the supply voltage is allowed to fluctuate by ±0.5V. Table 2 main electrical parameters Parameter Typical Value Power supply voltage 12-24V Average ≤140mA @ 12V ≤80mA @ 24V Peak current ≤140mA @ 12V ≤80mA @ 24V Average power ≤2W 3 Installation Instructions 3.1 Product Overview Figure 2: Exterior of TF03 3.2 Products Structure The LiDAR mounting holes are applicable to M3 screws. Note that the length of the screw entering the enclosure shall be no more than 3.5mm.

Benewake(Beijing)Co., Ltd. Page8 Figure 3: TF03 structure dimensions（Left 1：top view，Left 2：vertical view，Left 3：front view） 3.3 Detection Angle Descriptions TF03 has a 0.5-degree detection angle and rectangular light spots; see Table 3 for simulated，diagrams of the light spots. Therefore, at different distances, the spot size, namely detecting range, is different as shown in Figure 4. Note: The side length of common objects detected should be greater than that of the detection range of TF03; when the side length of the detected object is less than that of the detection range, the LiDAR effective range will be reduced Figure 4: Detection angle schematic of TF03 Table 3: Spot simulated diagrams and sizes at different distances

Benewake(Beijing)Co., Ltd. Page9 Spot 20m away Size：20cm*6cm Spot 50m away Size：50cm*14cm Spot 100m away Size：100cm*28cm Spot 150m away Size：150cm*42cm Note：In the light intensity distribution of the spot, red is the strongest, green is weak, dark blue is the background, and the spot size is the length and width of the green in the figure. 4 Communication protocol and Data format TF03 4-20mA version supports current analog output, TTL serial port is used fir debugging purpose. 4.1 Communication Protocol TF03 outputs 4-20mA analog quantity, the current size represents the distance size, divided into two modes, forward mode and reverse mode, the default is forward mode, see Table 4 for details. The sampling resistance of the user is limited to less than 300 ohms. The distance value represented by 20mA current can be modified by the command to configure the over range value. For details, see 4.2.2.

Benewake(Beijing)Co., Ltd. Page10 Table 4 1.1 4-20mA analog version data description Mode Current Value Distance Value Description Forward mode 4mA 0m Default 20mA 180m Reverse mode 4mA 180m Can be modified by serial commands 20mA 0m 4.2 Custom parameter configuration 4.2.1 Instruction general format description Custom parameters configurations are open in order that problems could be solved conveniently. Parameters, such as output data format, output frame rate could be changed by sending command. Parameter will be stored in flash and need not to be configured again if restart after configured successfully. Please change the configuration according to the real demands and never try uncorrelated command frequently thus unnecessary loss from wrong command; please configure the product according to the demands of the manual and never send unstated command. The Format of Command is: Byte byte0 byte1 byte2 byte3~ byteN-2 byteN-1 Descriptions Head Len ID Payload Check sum Head：fixed to 0x5A Len：the length of the entire instruction frame (unit: Byte) ID：identifies the function of each instruction Payload：have different meanings and lengths in different ID instruction frames Check sum：the lower 8 bits of the Len-1 byte data.

Benewake(Beijing)Co., Ltd. Page11 4.2.2 Commands Function Command Response Remark Default Setting Obtaining version number 5A 04 01 5F 5A 07 01 V1 V2 V3 SU Version number V3.V2.V1 SU is check sum，the same below / System reset 5A 04 02 60 success：5A 05 02 00 61 Failed：there isn’t any reaction over 1s / / Frame rate 5A 06 03 LL HH SU Success：same as command Failed：there isn’t any reaction over 1s / 100fps Reset to factory settings 5A 04 10 6E Success：5A 05 10 00 6F Failed：5A 05 10 ER SU Fail(when ER is not 0) / Save settings 5A 04 11 6F Success：5A 05 11 00 70 Failed：5A 05 11 ER SU Same as above / Configuring over range threshold value 5A 06 4F LL HH SU Success：5A 05 4F 00 AE Failed：there isn’t any reaction over 1s over range threshold value =(HH << 8) + LL，unit cm 18000 Enabling rain-fog algorithm Enable：5A 05 64 00 C3 Disable：5A 05 64 01 C4 Success：5A 05 64 00 C3 Failed：there isn’t any reaction over 1s / Enable Configuring offset 5A 06 69 LL HH SU Success：5A 05 69 00 C8 Failed：there isn’t any reaction over 1s Offset = (HH << 8) + LL， unit cm 0 4-20mA version configuration forward and reverse Forward：5a 05 71 00 d0 Reverse：5a 05 71 01 d1 Success：5a 05 71 00 D0 Failed：there isn’t any reaction over 1s Forward Interpretation： 1) The supported output frame rate is as follows: 1、2、…9、 10、20、…90、 100、200…900、 1000、2000…9000、10000； 2) When using the trigger mode, you need to disable data output, and then use the trigger command;

Benewake(Beijing)Co., Ltd. Page12 3) The Pixhawk data format is output as “x.yz\r\n”. For example, if the measurement distance is 1.21m, the string 1.21 will be output, followed by the escape character \r\n. 5 Quick Test Procedures 5.1 Test example 5.1.1 Test Range with Different Reflectivity As shown in Figure 5, the 180m version of TF03, red and blue curves represent the relationship between the reflectance and range of the target under different ambient light intensities indoors and outdoors, respectively. Figure 5 TF03 the relationship between TF03 range and reflectance (version 180m) 5.1.2 Testing Accuracy of Different Materials The test accuracy of TF03 at different distances and reflectivity is shown in Figure 9. Two typical background boards(blackboard and whiteboard), are selected. The reflectivity of whiteboard is 90% and that of blackboard is 10%.

Benewake(Beijing)Co., Ltd. Page13 Figure 6: TF03 Error curves of TF03 at different distances and reflectivity 5.1.3 Reflectivity of Common Materials The reflectivity of common 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 TF03 and other parameters meet the requirements. S. No. Material Reflectivity 1 Black foam rubber 2.4% 2 Black cloth 3% 3 Black rubber 4% 4 Coal (varies from coal to coal) 4~8% 5 Black car paint 5% 6 Black paper 10% 7 opaque black plastic 14%

Benewake(Beijing)Co., Ltd. Page14 8 Clean rough board 20% 9 News papers 55% 10 translucent plastic bottles 62% 11 packing case cardboard 68% 12 Clean pine 70% 13 opaque white plastic 87% 14 white card 90% 15 Kodak standard whiteboard 100% 16 Unpolished white metal surface 130% 17 Shiny light metal surface 150% 18 stainless steel 200% 19 Reflective board, reflective adhesive tape >300% 6 Frequently asked questions Q1：Can TF03 support other voltage input. A1：At present, other voltage input are not supported. If you have other needs, you can contact our sales staff for further inquiries about customization. Q2：Can TF03 changes the data output frequency. Can the output be switched? A2 ： TF03 has currently opened custom parameter configuration and output mode adjustment. The switch function needs to be customized according to the needs. You can consult our sales or technical support for details. Q3：: Can TF03 work normally in rain, snow and fog? A3：TF03 has a firmware version of the algorithm that penetrates the rain and fog. Contact the sales or technical support personnel for firmware upgrade. The algorithm is turned on by default in V1.11.15.

Benewake(Beijing)Co., Ltd. Page15 Contact details Headquarters： 010-57456983 [email protected] [email protected] Technical Support：