Benewake TF02-Pro-W-485 LiDAR Proximity Sensor User Manual
- June 8, 2024
- Benewake
Table of Contents
Benewake TF02-Pro-W-485 LiDAR Proximity Sensor
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 questions, please contact : support@benewake.com
- Consult sale information or request brochure, please contact: bw@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-Pro-W- 485 are subject to change. Please refer to the official website
for latest version.
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.
Technical Specification
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.
Appearance and Structure
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 Li DAR 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, . Side length of
the detection range at different distances (the detection range is a
square),
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
Description About Wiring Sequence
The external tail cable ofTF02-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
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 ofTF02-Pro-W-485
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 
COMMUNICATION PROTOCOL
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 0xOl. Table 4-1 TF02-Pro-W-485 RS-485
communication protocol
Modbus Protocol
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 Mod bus reading distance
command format
The data frame returned by TF02-Pro-W-485 is as follows: Table 4-3 The data frame format
Function Code
The function code ofTF02-Pro-W-485 is shown in Table 4-4. Table 4-4 The
function code of TF02-Pro-W-485
Register Address
All register addresses are hexadecimal and register values are 16 bits; After
setting parameter, save settings and restart Li DAR to take effect
Register Address for Reading Function Code
Table 4-5 Register address list using function code: 0x03(read
only)
Register Address for Writing Function Code
Table 4-6 Register address list using function code: 0x06(write only
Table 4-7 TF02-Pro-W-485 general parameter configuration under serial link
mode
Table 4-8 TF02-Pro-W-485 general parameter configuration with Mod bus instructions
Configuration Example
- Under RS-485 serial link mode, enable Mod bus protocol:
- SA 0515 01 75 // Enable Modbus protocol
- SA 04 116F // Save setting
- Restart and enter Mod bus mode.
- Under Mod bus mode, disable Mod bus Protocol:
- 0106 00 82 00 01E822 // Default address 01, disable Modbus
- 0106 00 80 00 00 88 22 // Default address 01, save setting
- Restart and exit Modbus.