Benewake TFA170-L LiDAR Sensors User Manual

: September 16, 2024
: Benewake

Table of Contents

Benewake TFA170-L LiDAR Sensors
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Benewake TFA170-L LiDAR Sensors

Preface

This user manual contains the introduction, use and maintenanceof
TFA170-L LiDAR. Please read this manual carefully before formal use, andstrictly follow the steps described in the manual during use toavoidproduct damage, property loss, personal injury or/and violationof
product warranty terms. If you encounter problems that cannot be solved during use, pleasecontact Benewake staff for assistance.

Contact Details
Official website: en.benewake.com
Contact number: 400-880-9610
For technical questions, please contact: support@benewake.comFor sales inquiries or to request brochure, please contact:
bw@benewake.com

Headquarter Address
Benewake (Beijing) Co., Ltd. 3rd Floor, Haiguo Jiaye Sci-Tech Park, Haidian District, Beijing, China

Copyright Notice
This User Manual is copyright © of Benewake. Please do not modify, deleteor translate the description of this manual contents without theofficial
written permission from Benewake.

Disclaimer
The TFA170-L product is constantly being improved, and its specificationsand parameters will undergo iterative changes. Please refer to theofficial
website for latest version.

Product Overview

This chapter mainly introduces the measuring principle, technical
specifications, structural description, equipment coordinates andfieldof
view distribution of the TFA170-L LiDAR.

1.1 Measuring principle
TFA170-L is a typical Pulse Time of Flight (PToF) sensor. TFA170-L emitsanarrow pulse laser, which is collimated by the transmitting lens, whichenters the receiving system after being reflected by the measuredtarget
and is focused on the APD detector by the receiving lens. Thetimebetween the transmitted signal and the received signal is calculatedthrough the circuit amplification and filtering, and the distance betweenTFA170-L and the measured target can be calculated through thespeedof light.

2 Technical Specifications

Table. 1: Technical specifications

NOTICE
① The range is based on 25℃, 85KLux condition, and any changes inenvironmental conditions may cause changes in the measurement
results. ② The accuracy is based on 25℃ indoors and 90% reflectivity
condition, and any changes in environmental conditions may causechanges in the measurement results. ③ The frame rate will be between 1Hz and 1000Hz. 50Hz is the default
frame rate. The default frame rate can be customized within the
range. ④ The peak current is measured at room temperature.

1.3 Structural Appearance
The overall appearance of the LiDAR is as shown in the figure below:

1.4 FoV
The FoV (field of view) is the angle covered by the LiDAR sensor. Thehorizontal FoV is 0.4° and the vertical FoV is 0.04°.

NOTICE
0.4° and 0.04° are theoretic values. Because the manufacturingerror
and the installing error exist, there is divergence between actual andtheoretic values.

Device Installation
This section introduces the mechanical installation and connectioninformation of TFA170-L LiDAR. 2.1 Mechanical installation
As shown in the following figure. The model of the installation screwis M2.

2.2 Connector
The connector is 1.25mm-4P, appearance and definition are shownasbelow:

Table. 2: Interface connector pin definitions

Communication Protocols
By definition, RS-232 is a hardware communication protocol that usesasynchronous serial communication with configurable speed. Asynchronous means there is no clock signal to synchronize theoutput
bits from the transmitting device going to the receiving end.

3.1 Communication protocol
The device does not contain any power switch. Data can be transmittedafter the power adapter is connected and connected to the computer viaa network cable. Table. 3: Characteristics of RS-232 Interface

NOTE
Baud rate 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, TFA170-L will set it to 115200.

Data protocol
A standard data frame consists of 30 bytes of hexadecimal numbers. Thedetails are shown as follows:

Table. 4: Data transfer Protocol.

3.3 Custom configuration
TFA170-L realsed several configuration parameters. These parameters, such as data format, frame rate, could be modified by certain command. All the parameters will be stored in flash after configured successfullyandcustomers don’t need to configure again when restart. Please change the parameter according to certain requirements anddonot frequently try irrelevant instructions. Please configure the product
according to the requirements of the datasheet and don’t sendunstatedcommand.

Table. 5: Description of TFA170-L Command

Table. 6: General Parameter Configuration and Description

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

NOTE
To send certain command to TFA170-L, these steps should be followed:
 Change value of a parameter to HEX
 Put the HEX value in certain command
 Calculate the checksum, put low 8-bits into command
For example, changing the baud rate to 460800, first, changing 460800toHEX, wecan get 0x00 07 08 00, then we can get this command-5A 08 06 0008070077.