Benewake TF03 Rangefinder (100 m) - Manual
Usage of Product
This product can only be maintained by qualified professionals 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℃~60℃; please do not use it beyond this temperature range, so as to avoid risks.
The storage temperature of the product is -40℃~85℃; please do not store it beyond this temperature range, so as to avoid risks.
Do not open its enclosure for assembly or maintenance beyond this Manual; otherwise, it will affect the product performance.
Conditions with Potential Product Failure
When detecting objects with high reflectivity, such as mirrors and smooth tiles, the product may have a high risk of failures.
When there is any transparent object between the product and the target, such as glass and water, there will be a risk of failures.
When the product transmitter and receiver lens are covered by dirt, there will be a risk of failures. Please keep the lens clean.
Description about line sequence and connection
Wiring terminal model: GH1.25-7P.Figure1 Line sequence
Table 1 Pin functions and connection instructions
|2||White||CAN_L||CAN bus low|
|3||Green||CAN_H||CAN bus high|
|4||Blue||GPIO||IO output 1|
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 TF03 main electrical parameters
|Power supply voltage||5V|
Figure 2 Exterior
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.
Figure 3 TF03 dimensions (Left 1: top view; Left 2: vertical view; Left 3: front view)
Communication Protocol and Data Format
TF03 supports serial port and CAN bus communication.
Serial Port Version
Here follow the TF03 serial communication protocol and data format, and the output level (LVTTL) of the serial port is 0-3.3V.
Table 3 TF03 serial communication protocol
Serial standard data format
The output data (hexadecimal numbers) of TF03 is shown in the table below. Each data frame contains 9 bytes and the data contains the distance information, namely, DIST; other bits are reserved; the frame tail acts as a data checksum bit.
Table 4 TF03 serial data frame format
|Byte2||DIST_L||DIST low 8 bits|
|Byte3||DIST_H||DIST high 8 bits|
|Byte8||Checksum||Low 8 bits of Checksum, Checksum = Byte0 + Byte2 +… + Byte7|
Serial Pixhawk data format
Output in the form of strings (unit: m), for example, range of 1.21m and it will output the string 1.21; each distance value ends by line feed. The products of the serial port version can support the output in the form of Pixhawk changed by instructions.
The CAN communication protocol can be customized according to users’ needs; the CAN baud rate, ID and frame format can be modified.
Table 5 TF03 CAN communication protocol
|Frame format||Standard frame|
The output data (hexadecimal numbers) of TF03 is shown in the table below. Each data frame contains 8 bytes and the data contains the distance information, namely, Dist; other bits are reserved.
Table 6 TF03 CAN data frame format
|Byte0||DIST_L||DIST low 8 bits|
|Byte1||DIST_H||DIST high 8 bits|