Benewake TF02-Pro-W Self Cleaning Lidar Level Sensor User Manual
- June 25, 2024
- Benewake
Table of Contents
TF02-Pro-W Self Cleaning Lidar Level Sensor
Product Information
Specifications
Type | Parameters |
---|---|
Operating range | 10% reflectivity, 0Klux to 90% reflectivity, 100Klux |
Product performance | 10% reflectivity, 100Klux Accuracy |
Distance resolution | 1cm |
Frame rate | 1Hz to 1000Hz (adjustable, default 100Hz) |
Enclosure rating | IP5X |
Operating temperature | -20°C to 60°C |
Storage temperature | -30°C to 80°C |
Weight | 90g (with cables) |
Cable length | 120cm |
Product Usage Instructions
Maintenance and Cleaning
Before switching on, please check if the exposed window mirror
is clean, and clean it promptly if it is dirty.
Quick Test Guide
Tools Required for Test
– List of tools required for testing.
Test Procedures
– Step-by-step guide on how to perform the test.
Firmware Update
– Instructions on how to update the firmware of the product.
FAQ
Q: How do I adjust the frame rate of the product?
A: The frame rate can be adjusted. The default value is 100Hz
and the maximum value is 1000Hz. The customized frame rate should
be calculated by the formula: 2000/n (n is an integer with 2).
Q: What is the operating temperature range of the product?
A: The operating temperature range is -20°C to 60°C.
TF02-Pro-W User Manual
Benewake (Beijing) Co., Ltd
PREFACE
Dear users: Thank you for choosing Benewake products. For 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 the relevant
information on product introduction, usage and maintenance of TF02-Pro-W,
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 usage, 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. 3rd Floor, Haiguo Jiaye Sci-
Tech Park, 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 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 COMMUNICATION PROTOCOL ………………………………………………………………………………………………..6 3.1 Serial
Communication Protocol ………………………………………………………………………………….. 6 3.2 Serial
Communication Data Format …………………………………………………………………………….6 3.2.1 Standard data
output format …………………………………………………………………………… 6 3.2.2 Character string data
format ……………………………………………………………………………. 7 3.3 I²C Communication Protocol
………………………………………………………………………………………. 7 3.4 Timing Sequence Description of I²C
……………………………………………………………………………. 7
4 PARAMETER CONFIGURATION ………………………………………………………………………………………………. 8 4.1 Command
Convention ……………………………………………………………………………………………….. 8 4.2 Configuration Commands
………………………………………………………………………………………….. 8 4.2.1 General parameters configuration
…………………………………………………………………… 8 4.2.2 Wiper working and configuration
……………………………………………………………………10
5 QUICK TEST GUIDE ……………………………………………………………………………………………………………….13 5.1 Tools
Required for Test …………………………………………………………………………………………….. 13 5.2 Test Procedures
……………………………………………………………………………………………………….. 13
6 Firmware Update ………………………………………………………………………………………………………………..15 7 Q&A
…………………………………………………………………………………………………………………………………….17 Attachment-1 BW_TFDS
software …………………………………………………………………………………………..18
OVERVIEW
1 OVERVIEW
TF02-Pro-W is a single-point ranging LiDAR specially developed for level detection, based on the ToF (Time of Flight) principle and provides stable, accurate and reliable ranging performance by optimizing the optical system and utilizing built-in algorithms, operating range up to 25m. TF02-Pro-W is equipped with a unique dust-removal wiper, which automatically cleans the lens of front panel of LiDAR regularly to solve the soiling problems, and can maintain the accuracy of ranging detection in heavy dust environment, open configuration interface for user-defined dust removal configuration.
1.1 Technical Specification
Table 1- 1 Technical Specification of TF02-Pro-W
Type
Parameters
90% reflectivity, 0Klux
Operating 10% reflectivity, 0Klux
range 90% reflectivity, 100Klux
Product performance
10% reflectivity, 100Klux 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
Value 0.1~25m 0.1~12m 0.1~25m 0.1~12m ±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 5V 400mA 2W 1A
85mm×59mm×43mm (L×H×W)
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OVERVIEW
Housing Operating temperature
Storage temperature Weight
Cable length
PC/ABS -20~60 -30~80 90g (with cables)
120cm
Note 1 The detection is measured with the standard white board (90%
reflectivity). 2 The frame rate can be adjusted. The default value is 100Hz
and the
maximum value is 1000Hz, the customized frame rate should be calculated by the
formula: 2000/n (n is an integer with 2). 3 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 it is 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 are shown in Figure 1- 1 and Figure 1- 2.
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OVERVIEW
Figure 1- 1 Appearance of TF02-Pro-W-
Figure 1- 2 Dimension of TF02-Pro-W (Unit: mm) TF02-Pro-W 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 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.
Note The side length of target object generally should be larger than size of
the TF02-Pro-W light spot; if the side length of the detected object is
smaller than size of light spot, the output (Distance) from TF02-Pro-W will be
a value between the actual distance values of the two objects.
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OVERVIEW
Figure 1- 3 The 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
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.
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INTERFACE
2 INTERFACE
2.1 Description About Wiring Sequence
The external tail cable of TF02-Pro-W has no connector by default, the wiring sequence
is shown in Table 2- 1.
Table 2- 1 The Function Description of Each Wire
Cable Color
Function
Comment
Red
VCC
Power supply
Black
GND
Ground
White
RXD/SDA
Receiving/Data
Green
TXD/SCL
Transmitting/Clock
2.2 Electrical Characteristics
TF02-Pro-W has no over-voltage and reverse polarity protection, so please make sure
that connection and power supply are normal. The electrical characteristics are shown
in Table 2- 2.
Table 2- 2 Main Electrical Parameters of TF02-Pro-W
Parameter
Value
Supply Voltage
DC 4.8V~5.5V
Average Current
400mA
Peak Current
1A
Average Power Consumption
2W
Communication Level
LVTTL0~3.3V
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COMMUNICATION PROTOCOL
3 COMMUNICATION PROTOCOL
3.1 Serial Communication Protocol
TF02-Pro-W adopts the serial port data communication protocol, as given in Table
3- 1.
Table 3- 1 Data Communication Protocol
Communication interface
UART
Default baud rate
115200
Data bit
8
Stop bit
1
Parity check
None
3.2 Serial Communication Data Format
TF02-Pro-W is available with two formats of data output, namely, the standard data output format and the character string data format, both of which are switchable with command.
3.2.1 Standard data output format
The serial data format of TF02-Pro-W is shown in Table 3- 2the data is hexadecimal,
each data frame contains 9 bytes, including the distance value, signal strength,
temperature of chip and data check byte (Checksum).
Table 3- 2 Data Format and Code Explanation
Byte0-1 Byte2 Byte3 Byte4
Byte5
Byte6 Byte7
Byte8
0x59 59 Dist_L Dist_H Strength_L Strength_H Temp_L Temp_H Checksum
Data bytes description
Byte0 0x59, frame header, same for each frame
Byte1 0x59, frame header, same for each frame
Byte2 Dist_L distance value low 8 bits
Byte3 Dist_H distance value high 8 bits
Byte4 Strength_L low 8 bits
Byte5 Strength_H high 8 bits
Byte6 Temp low 8 bits
Byte7 Temp high 8 bits
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COMMUNICATION PROTOCOL
Byte8 Checksum is the lower 8 bits of the cumulative sum of number of first 8
bytes Dist(Distance)The detection distance value with TF02-Pro-W, default unit
is cm. StrengthThe signal strength, the default output is between 0 and 65535.
When the
distance measuring gear is certain, the farther the distance is measured, the
lower the signal intensity; the lower the reflectivity of the target, the
lower the signal intensity Temp(Temperature): The chip temperature,
temperature() = Temp / 8 -256.
3.2.2 Character string data format
The data output is in the format of character string and its unit is m(meter).
For example, if the measurement distance is 1.21m, the string 1.21 will be
output, followed by the escape character rn.
3.3 I²C Communication Protocol
TF02-Pro-W supports I2C data communication interface, as shown in the table below:
Table 3- 3 TF02-Pro-W I²C Data Communication Protocol
Communication Interface
I²C
Max transmission rate
400kbps
Master/Slave mode
Slave mode
Default Address
0x10
Address range
0x01~0x7F
3.4 Timing Sequence Description of I²C
Different from the serial mode, the I2C communication is initiated by the master.
TF02-Pro-W can only send and receive data passively, as slave. After sending the
command from master to slave, one needs to wait for a period for the command to be
processed. Then read response of LiDAR, the suggested waiting period is 100ms. Data
is detailed in Table 3- 4. Table 3- 4 Timing Sequence of I2C
Write operation Start Addr W
A Byte0 A — ByteN A Stop
Wait 100ms
Read operation Start Addr R
A Byte0 A — ByteN A Stop
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PARAMETER CONFIGURATION
4 PARAMETER CONFIGURATION
In order to allow TF02-Pro-W to solve your problems more flexibly, the
function of user-defined configuration of product parameters is opened. Users
can modify the original parameters of the product by sending relevant
instructions, such as output data format, frame rate, dust wiper parameters,
etc. Please modify product configuration depending upon your actual demands.
Do not frequently try irrelevant commands to prevent incorrect sending of
command which many cause unnecessary loss. Please make sure to make the
configuration as the commands listed herein. Do not send unstated command.
4.1 Command Convention
For the configuration instructions in this document, see the following command
convention: Multi-bytes data or command frame is transmitted in little endian
format. For
example: set the frame rate to 1000Hz, as shown in Table 4- 1. Decimal number
1000 can be converted to 0x03E8 in hexadecimal. Then it will be saved in the
data or command frame as: 0x5A 0x06 0x03 0xE8 0x03 0x4E Command: data
instruction frame sent from PC to LiDAR. Response: data frame sent by LiDAR to
host computer or other terminals. Before setting the relevant parameters of
TF02-Pro-W, user needs to establish the connection between TF02-Pro-W and PC
at first. User can send the relevant configuration-related instructions to the
product via TF02-Pro-W PC software or other serial port debugging software.
All commands are compatible with both UART mode and I2C mode.
4.2 Configuration Commands
4.2.1 General parameters configuration
The general parameters configuration command is shown in Table 4- 1. After
parameters configuration, send saving settings command to save the
configuration,
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PARAMETER CONFIGURATION
otherwise the settings will not take effect.
Table 4- 1 General Parameter Configuration and Description of TF02-Pro-W
Parameters
Command
Firmware version 5A 04 01 5F
Response 5A 07 01 V1 V2 V3 SU
Remark Version V3.V2.V1
System reset
5A 04 02 60
5A 05 02 00 61 5A 05 02 01 62
Succeeded Failed
Frame rate
5A 06 03 LL HH 5A 06 03 LL HH SU
SU
1-1000Hzdefault 100Hz
After setting the frame rate
Trigger detection 5A 04 04 62
Date frame
to 0 detection can be
triggered with this command
5A 05 05 01 65 5A 05 05 01 65
Standard 9 bytes(cm)
Output format
5A 05 05 02 66 5A 05 05 02 66
Character string(m)
5A 05 05 06 6A 5A 05 05 06 6A
Standard 9 bytes (mm)
Baud rate
5A 08 06 H1 H2 H3 H4 SU
5A 08 06 H1 H2 H3 H4 SU
Default 115200; E.g. 256000(DEC)=3E800(HEX) H1=00,H2=E8,H3=03,H4=00
Enable/Disable 5A 05 07 00 66 5A 05 07 00 66
Disable data output
output
5A 05 07 01 67 5A 05 07 01 67
Enable data output
Communication interface setup Modify I2C_slave_addr
5A 05 0A MODE /
SU 5A 05 0B ADDR
5A 05 0B ADDR SU SU
00UARTdefault 01I2C
Modify
I2C_slave_addr,
default 0x10
Obtain frame
5A 05 00 01 60 data
5A 05 00 06 65
Data (9bytes-cm) Data (9bytes-mm)
Frame Only works in I2C mode
Frame
Strength threshold and distance under threshold
5A 07 22 XX LL HH SU
5A 07 22 XX LL HH SU
Low
power
consumption
mode
5A 06 35 0X 00 SU
5A 06 35 0X 00 SU
Strength Threshold=60,
Distance
under
threshold=4500.
E.g. When strength is below
60, make distance output
4500cm.
XX=60/10=6(DEC)=06(HEX)
4500(DEC)=1194(HEX)
LL=94HH=11
Range of X(HEXis 0~A
X 0, enable low power
consumption mode;
X=0, disable low power
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PARAMETER CONFIGURATION
Restore
to
5A 04 10 6E
factory settings
Save settings
5A 04 11 6F
5A 05 10 00 6F 5A 05 10 01 70 5A 05 11 00 70 5A 05 11 01 71
consumption mode, default Succeeded Failed Succeeded Failed
Warning 1 SU is checksum, checksum is disable by default. 2 Please keep power
on and wait 1s after sending system reset
command, otherwise the settings will not take effect. 3 The customized frame
rate should be calculated by the formula:
2000/n (n is an integer with 2). 4 The following baud rates are supported:
9600144001920038400
5600057600115200128000230400256000460800512000 750000 921600. When setting a
high update rate, high baud rate is recommended to ensure data security. After
sending baud rate command, keep power on and switch to the target baud rate
before sending save setting command, it will be effective in this way. 5 After
parameters configuration, send saving settings command to save the
configuration, otherwise the settings will not take effect.
4.2.2 Wiper working and configuration
4.2.2.1 Wiper working
The dust-removal wiper works in a fixed period, which is customer default
working mode. For every 24 hours, there will be a total of six dust-removal
operations, each dust-removal operation is driven by the LiDAR servo, the
wiper swings back and forth for one time. And TF02-Pro-W 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 4- 1.
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PARAMETER CONFIGURATION
Figure 4- 1 The initial and termination positions of the wiper movement
4.2.2.2 Parameters configuration of wiper
Configure the wiper parameters in the following three steps:
- Enter into configuration mode:
Command: AA 55 F0 00 01 00 00 02.
Response: AA 55 F0 00 01 00 00 02, which means successful transmission.
- Configuration of product parameters
Configuration command is shown in Table 4- 2.
- Exit configuration mode:
Command: AA 55 F0 00 00 00 00 02.
Response: AA 55 F0 00 00 00 00 02, which means successful transmission.
For wiper dust-removal working, customer can customize the dust-removal cycle,
wiper round trip times, or immediately start the wiper, the commands are shown in
Table 4- 2. Do not send instructions not declared in the user manual.
Table 4- 2 Wiper Parameter Configuration and Description of TF02-Pro-W
Number Parameters
Command
Remark
Use this command to start the wiper
1
Start the wiper AA 55 F0 00 00 00 00 B0
at any time during the default mode
Modify
dust
EE dust removal cycle (Unit: min)
removal cycle
high 8 bitsFFdust removal cycle
2
AA 55 F0 00 EE FF 00 B2
low 8 bits
Note: Cycle can’t be less than 1min
Modify
the
EEThe number of round trips of the
number of wiper
wiper during a dust removal cycle
3
round trips
AA 55 F0 00 EE 00 00 B3 Note No more than 10 round trips
per cycle
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PARAMETER CONFIGURATION
Warning 1 The wiper configuration has to be performed in a strict sequence. 2
If the parameter of dust removal cycle is wrongfeedback will be “AA
55 F0 03 EE FF 00 B2”. It is suggested that the dust removal interval should
be more than 30 minutes under the condition of high temperature (ambient
temperature > 40). 3 If the number of wiper round trips is wrongfeedback will
be “AA 55 F0 03 EE 00 00 B3”. No more than 10 round trips per cycle.
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5 QUICK TEST GUIDE
5.1 Tools Required for Test
Table 5- 1 The required tools for product test
QUICK TEST GUIDE
TF02-Pro-W
TTL-USB
USB Cable
PC
Converter
BW_TFDS Software
5.2 Test Procedures
- Download the test software Download the latest version BW_TFDS from http://en.benewake.com/support. The introduction of BW_TFDS software is shown in Attachment-1 BW_TFDS software. 2) Connection of the hardware Connect “TF02-Pro-W”, “TTL – USB board” and “USB cable”. Make sure there is no loose connection. Then connect “USB cable” with “PC”. As shown in Figure 5- 1.
Figure 5- 1 Connection of TF02-Pro-W and PC 3) Connection to the software Run
the BW_TFDS software, select ” TF02-Pro” and select automatically recognized
communication port (here it is ” COM9″), choose the right baud rate (here it
is ” 115200″), as shown in Figure 5- 2. 4) Data output Then click “CONNECT”.
Upon successful connection, the continuous images of the output data will be
displayed in area ” TIME LINE CHART”. Besides, the real-time
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QUICK TEST GUIDE
data of the current measure distance (Dist), effective data points per second
(Effective Points) and signal strength (Strength) will be displayed in area ”
REAL TIME DATA”.
Figure 5- 2 BW_TFDS software interface and display Note 1 Please shut down any
anti-virus software before uncompressing the
PC software. Otherwise, maybe the software is deleted as virus. The software
is only runnable under Windows. 2 If no data is available in area “TIME LINE
CHART”, please check the line connection and line sequence. When TF02-Pro-W is
successfully powered on, there will be a red indicator light inside
transmitting lens viewing from the front. 3 The value of distance output Dist
may vary with the output unit, which is cm by default. If the unit of distance
is changed to the unit-mm with specific command, and the PC software will be
unable to identify it, and so the unit of “TIME LINE CHART” will still be cm.
For example, the actual TF02-Pro-W measurement is 1m, the distance value of
TF02-Pro-W is 1000 in mm, the value read by the PC software also is 1000, but
the unit will not change and still display cm.
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Firmware Update
6 Firmware Update
TF02-Pro-W supports the firmware upgrade. When the user’s product cannot
satisfy the current application requirements and Benewake official website has
relevant firmware upgrades, the user may upgrade the product firmware via the
Updater_BENEWAKE software. Please contact us to get the Updater. The tools for
the firmware upgrade of TF02-Pro-W are mostly the same as QUICK TEST GUIDE,
which requires one TTL-USB board to connect the TF02-Pro with PC. The upgrade
process is as follows: 1) Run Updater_BENEWAKE.exe, Select right port, here is
“COM9″. Input the right
baud rate in ” 115200″ and click ” CONNECT” to connect the TF02-Pro-W with the
software. As shown in Figure 6- 1.
Figure 6- 1 Connect the TF02-Pro-W with the software 2) Click ” Open Bin” to
choose the updating firmware, the message “Read bin
done” will be displayed after the file is uploaded. Then click ” Download Bin”
to start upgrading. As shown in Figure 6- 2.
Figure 6- 2 Upload firmware file 3) Check the status of the progress bar, 100%
indicates that the upgrade is complete,
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and appear “Jump done”.
Firmware Update
Figure 6- 3 Upgrade is complete
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Q&A
7 Q&A
Q1: Is TF02-Pro-W available with other power supply voltage? A1: Sorry, it is
not available for the time being. The standard power supply of TF02-Pro-W is
4.8V~5.5V. If you have any further requirement, please contact our sales to
consult a customization design matter, or you can obtain information about
TF02-Pro-W-485, which supports 7V~30V about power supply. Q2Is it possible to
change the FoV? A2Hello, this demand needs to be customized, please contact
our sales to consult a customization design matter. Q3How far can TF02-Pro-W
serial port version be transmitted? Can I extend the cable directly to
increase the transmission distance? A3 Hello, the effective transmission
distance of TF02-Pro-W serial port data transmission is about 2m. If you need
longer distance data transmission, it is recommended to convert the serial
communication to other communication such as RS-485, and then extend the data
line for transmission. Q4How long is the life of product A4 The warranty
period is one year and can be used for more than 3 years under normal
circumstances, the life of servo is larger than the product itself, the life
of wiper is about 3 years under default mode (work every 4 hours), the wiper
is made of rubber and it’s a replaceable accessory. Q5 Can TF02-Pro-W support
RS-485 interface, analog signals output and Modbus protocol? A5 TF02-Pro-W
currently does not support interfaces other than UART and IIC. For RS-485
communication interface and Modbus protocol, refer to TF02-Pro-W-485. If there
are related requirements, please contact our sales to consult a customization
design matter.
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Attachment-1 BW_TFDS software
Attachment-1 BW_TFDS software
BW_TFDS software only supports the Windows operating system. It is suitable
for any products of TF series, but the output of those products is limited to
the serial port communication protocol. Detailed operations are as below.
Figure 0- 1 BW_TFDS software GUI 1) Product Type/Serial Port Control Zone
[SETTINGS] Product: choose product model, such as TF02-Pro in this paper COM:
select the right serial port number corresponding to the LiDAR. Baud rate:
choose the baud rate of LiDAR, which is set to 115200 as default for BENEWAKE.
CONNECT/DISCONNECT: Click [CONNECT] button to establish the connection with
LiDAR. Click [DISCONNECT] button to terminate the connection. 2) Function Zone
[FUNCTION] Frame rate: choose frame rate from the drop box, setting will be
made immediately, and the change is viewed in [Effective Points]. Output
Control: enable/disable the data output of LiDAR, default “on”. SAVE SETTING:
save the frame rate and output setting. click “SAVE SETTING” to save the
configuration after setting, otherwise the settings will not take effect.
RESTORE DEFAULT SETTING: restore the factory default Settings.
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Attachment-1 BW_TFDS software
Drawing/Pt: upon receipt of every N frames, the software will draw one point
on the chart [4] the average of the N data. N can be modified depending upon
the actual requirement (the value is preferable to be 10 to prevent the PC
software from lagging). After entering the value, press “Enter” key on the
keyboard to enable the setting. Draw AMP: the software will draw the curve of
signal strength on the chart [4], take effect immediately after button is
selected. FREEZE/CLEAR: After clicking [FREEZE], time-line chart in zone [4]
will stop updating. On clicking [CLEAR], the plotted curve in [4] will be
cleared. 3) Data Recording Zone [DATA RECORDING] Input the name of data file
in the textbox. Press [RECORD] button to start recording data and click the
[FINISHED] button to stop recording. Click [FOLDER] button to open the folder
where the data file is saved. 4) Time Line Chart Zone [TIME LINE CHART] The PC
software will draw the continuous distance measurement curves based on the
received data, where y-coordinates represent the current distance data while
x-coordinates represent effective data. 5) CUSTOM COMMAND ZONE [CUSTOM
COMMAND] Command: Input the commands in hexadecimal format in the text box and
click the [SEND] button above to send the command. 6) Real-time Data Display
Zone [REAL-TIME DATA] Dist: Distance, unit: cm by default. Strength: the
signal strength, values are between 0 and 65535. Effective Points (per sec):
indicates effective points refreshed by TF per second (equals to frame rate).
19 ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · REV: 01/04/2024
References
- Benewake (Beijing) Co., Ltd. All Rights Reserved. Privacy Policy
- Benewake (Beijing) Co., Ltd. All Rights Reserved. Privacy Policy
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