Benewake TF02-Pro-W-485 Manuale utente
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
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-Pro-
W-485 are subject to change. Please refer to the official website for latest version.
CONTENTS
1OVERVIEW ................................................................................................................................... 1
1.1 Technical Specification ....................................................................................................... 1
1.2Maintenance and Cleaning ................................................................................................ 2
1.3 Appearance and Structure ................................................................................................. 2
1.4 Storage ................................................................................................................................. 4
2INTERFACE ................................................................................................................................... 5
2.1 Description About Wiring Sequence ................................................................................ 5
2.2 Electrical Characteristics..................................................................................................... 5
3WIPER WORKING........................................................................................................................ 6
4COMMUNICATION 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
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1OVERVIEW
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
Value
Product
performance
Operating
range
90% reflectivity, 0Klux
0.1m~25m
10% reflectivity, 0Klux
0.1m~12m
90% reflectivity, 100Klux
0.1m~25m
10% reflectivity, 100Klux
0.1m~12m
Accuracy①
±6cm（0.1m~6m），
±1%（6m~25m）
Distance resolution①
1cm
Frame rate②
1Hz~1000Hz
（adjustable, default 100Hz）
Repeatability①
1σ: ＜2cm
（0.1m~25m@90% reflectivity ）
Ambient light immunity
100Klux
Enclosure rating
IP5X
Optical
parameters
Photobiological safety
Class1 (IEC60825)
Central wavelength
850nm
Light source
VCSEL
FoV③
3°
Electrical
parameters
Supply voltage
DC 7V~30V
Average current
≤200mA@12V
Power consumption
≤4.8W
Peak current
400mA@12V
Others
Dimension
85mm×59mm×43mm (L×H×W)
Housing
PC/ABS
Operating temperature
-20℃~60℃
Storage temperature
-30℃~80℃
Weight
92g (with cables)
OVERVIEW
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Note
①The detection range is measured with the standard white board (90%
reflectivity).
②The 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).
③The 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 [email protected]
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.
Cable length
120cm
OVERVIEW
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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.
OVERVIEW
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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.
INTERFACE
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2INTERFACE
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
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3WIPER 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 minutes，when servo is in high temperature environments (ambient
temperature > 40 ℃).
COMMUNICATION PROTOCOL
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4COMMUNICATION 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
8
Stop bit
1
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
field
Function
code
Register
address
Register
number
CRC_Low
CRC_High
01
03
00
00
00
01
xx
xx
The data frame returned by TF02-Pro-W-485 is as follows：
Table 4-3 The data frame format
Address
field
Function
code
Data
length
Dist_High
Dist_Low
CRC_Low
CRC_High
01
03
02
XX
XX
xx
xx
4.2.2 Function Code
The function code of TF02-Pro-W-485 is shown in Table 4-4.
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