Benewake TF03 Rangefinder (180 m) User Manual

Benewake TF03 Rangefinder User 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.

Physical Interface

Description about line sequence and connection

Wiring terminal model: GH1.25-7P.Figure1 Line sequence

Table 1 Pin functions and connection instructions

No.	Color	Pin	Function
1	Red	VCC	Voltage input
2	White	CAN_L	CAN bus low
3	Green	CAN_H	CAN bus high
4	Blue	GPIO	IO output 1
5	Brown	TTL_RXD	UART receiver
6	Yellow	TTL_TXD	UART transmitter
7	Black	GND	GND

Electrical Characteristics

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

Parameter	Typical value
Power supply voltage	5V
Average current	≤180mA
Peak current	≤180mA
Average power	≤0.9W

Installation Instructions

Product Overview

Production Structure

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

Parameter	Description
Communication protocol	UART
Baud rate	115200
Data bit	8
Stop bit	1
Checksum bit	None

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

Data bit	Definition	Description
Byte0	Frame header	0x59
Byte1	Frame header	0x59
Byte2	DIST_L	DIST low 8 bits
Byte3	DIST_H	DIST high 8 bits
Byte4	Reserved	/
Byte5	Reserved	/
Byte6	Reserved	/
Byte7	Reserved	/
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.

CAN version

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

Parameter	Description
Communication protocol	CAN
Baud rate	1M
ID	0x0003
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