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TF-Luna A05 Product Manual(SJ-PM-TF-Luna_A05_Product_Manual).pdf
1 Revisions
2 Cautions
2.1 About document
2.2 About product
2.3 Common errors and other notes
3 Principle description and key parameters
3.1 Ranging Principle
3.2 Basic Characteristic Parameters
3.3 Repeatability
3.4 Ranging Characteristics
4 Appearance and Structure
4.1 Appearance
5 Electrical Characteristics
6 Functional Descriptions and Configuration
6.1 Description about Line Sequence and Connection
6.2 Serial Port Communication Protocol
6.3 I2C Communication
6.4 Basic Data Output
6.5 Continuous Ranging Mode
6.6 Trigger Mode
6.7 On/off Mode
6.8 Amp Threshold
6.9 Distance Limit
6.10 Power Saving Mode
6.11 Ultra-low Power Mode
6.11.1 Ultra-low Power Mode with Serial Port Communication
6.11.2 Ultra-low Power Mode with I2C communication
6.11.3 Caveats
6.12 Single Frequency Mode
6.13 Additional notes
7 Quick Test Guide
7.1 Required tools for testing
7.2 Steps
8 Firmware upgrade
Appendix I Serial port output format
1. 9-byte/cm (Default)
2. PIX
3. 9-byte/mm
4. 32-byte with timestamp
5. ID-0 output
6. 8-byte/cm
7. Output with Device ID
Appendix II Serial communication protocol
1. Version information ID_GET_VERSION=0x01
2. System software restore ID_SOFT_RESET=0x02
3. Output frequency ID_SAMPLE_FREQ=0x03
4. Trigger mode ID_SAMPLE_TRIG=0x04
5. Output format setting ID_OUTPUT_FORMAT=0x05
6. Baud rate setting ID_BAUD_RATE=0x06
7. Enable/disable output ID_OUTPUT_EN=0x07
8. Enable/disable checksum comparison ID_FRAME_CHECKSUM_EN=0x08
9. I2C slave machine address configuration ID_I2C_SLAVE_ADDR=0x0B
10. Restore default setting ID_RESTORE_DEFAULT=0x10
11. Save current setting ID_SAVE_SETTINGS=0x11
12. Output product bar code ID_READ_MANU_BIN=0x12
13. Get full-length version number ID_GET_FULL_VERSION=0x14
14. Amp threshold setting ID_AMP_THRESHOLD=0x22
15. Switch between Single Frequency and Dual Frequency ID_ DEALIAS_EN =0x29
16. Timestamp synchronization ID_TIMESTAMP_SYNC =0x31
17. Enable/disable Power saving mode (ECO) ID_LOW_CONSUMPTION=0x35
18. Filter Setup ID_FILTER_BIT_MAP=0x39
19. Distance limit setting ID_DIST_LIMIT=0x3A
20. Enable/disable on-off mode ID_ON_OFF_MODE=0x3B
21. Read config by id ID_GET_CONFIG_PARA=0x3F
22. Ultra-low Power Mode ID_ ULTRA_LOW_POWER_MODE=0x58
23. Frequency Calibration ID_FREQ_CNT_CALIB=0x59
Appendix III I2C register table
TF-Luna Product Manual
TF-Luna LiDAR Module
SJ-PM-TF-Luna A05 Product Manual
Benewake (Beijing) Co. Ltd.
Product information
Model: TF-Luna
Full name: TF-Luna LiDAR Module
Manufacturer
Company: Benewake (Beijing) Co. Ltd.
Address: No.28, Xinxi Road, Haidian District, Beijing, PRC
Copyright
This document is protected by copyright. All rights related to it belong to Benewake (Beijing) Co. Ltd.
Reproduction of all or part of this document is permitted only within the scope of copyright law. No
modification, deletion, or translation of this document is permitted without the official written permission
of Benewake (Beijing) Co. Ltd.
All rights reserved © Benewake (Beijing) Co. Ltd.
Certification
Page2
Dear users,
SJ-PM-TF-Luna A05 Product Manual
Benewake (Beijing) Co. Ltd.
Foreword
Thanks you for choosing Benewake products and it’s our pleasure to help you with any technical
question.
To have a better experience, please read this manual carefully. We try to contain all common problems
and hope you find the deployment and installation easy and fun.
This manual will guide you through the installation and operation process and show you some solution
of common problems. It is still possible that you encounter some difficulties that are not included,
please check our support service (support@benewake.com) and don’t hesitate to contact our support
consultants or leave a message on our feedback page of our official website:
http://benewake.com/en/mfeedback.html
We hope you enjoy our product and join our community!
We are Benewake! Our goal is to make the best “Robotic Eyes” in the world!
Page3
SJ-PM-TF-Luna A05 Product Manual
Benewake (Beijing) Co. Ltd.
Catalog
1 Revisions .................................................................................................................................. 7
2 Cautions .................................................................................................................................... 7
2.1 About document ................................................................................................................ 7
2.2 About product ................................................................................................................... 8
2.3 Common errors and other notes ......................................................................................... 8
3
Principle description and key parameters ................................................................................... 8
3.1 Ranging Principle.............................................................................................................. 8
3.2 Basic Characteristic Parameters ........................................................................................ 9
3.3 Repeatability ..................................................................................................................... 9
3.4 Ranging Characteristics................................................................................................... 10
4 Appearance and Structure ........................................................................................................ 11
4.1 Appearance ..................................................................................................................... 11
5
6
Electrical Characteristics ......................................................................................................... 11
Functional Descriptions and Configuration .............................................................................. 12
6.1 Description about Line Sequence and Connection ........................................................... 12
6.2 Serial Port Communication Protocol ............................................................................... 12
6.3
I2C Communication ........................................................................................................ 13
6.4 Basic Data Output ........................................................................................................... 14
6.5 Continuous Ranging Mode .............................................................................................. 15
6.6 Trigger Mode .................................................................................................................. 15
6.7 On/off Mode ................................................................................................................... 15
6.8 Amp Threshold ............................................................................................................... 16
6.9 Distance Limit ................................................................................................................ 16
6.10 Power Saving Mode ..................................................................................................... 16
Page4
SJ-PM-TF-Luna A05 Product Manual
Benewake (Beijing) Co. Ltd.
6.11 Ultra-low Power Mode ................................................................................................ 17
6.11.1 Ultra-low Power Mode with Serial Port Communication ....................................... 18
6.11.2 Ultra-low Power Mode with I2C communication ................................................... 19
6.11.3 Caveats .................................................................................................................. 20
6.12 Single Frequency Mode ............................................................................................... 20
6.13 Additional notes .......................................................................................................... 20
7 Quick Test Guide..................................................................................................................... 21
7.1 Required tools for testing ................................................................................................ 21
7.2 Steps ............................................................................................................................... 21
8
Firmware upgrade ................................................................................................................... 23
Appendix I Serial port output format ............................................................................................... 24
1.
9-byte/cm (Default) ......................................................................................................... 24
2.
PIX ................................................................................................................................. 24
3.
9-byte/mm....................................................................................................................... 24
4.
32-byte with timestamp ................................................................................................... 24
5.
ID-0 output ..................................................................................................................... 24
6.
8-byte/cm ........................................................................................................................ 24
7. Output with Device ID .................................................................................................... 25
Appendix II Serial communication protocol .................................................................................... 26
1. Version information ID_GET_VERSION=0x01 .............................................................. 26
2.
System software restore ID_SOFT_RESET=0x02........................................................... 26
3. Output frequency ID_SAMPLE_FREQ=0x03 ................................................................. 26
4. Trigger mode ID_SAMPLE_TRIG=0x04 ........................................................................ 27
5. Output format setting ID_OUTPUT_FORMAT=0x05 ..................................................... 27
6. Baud rate setting ID_BAUD_RATE=0x06 ...................................................................... 27
7. Enable/disable output ID_OUTPUT_EN=0x07 ............................................................... 28
8. Enable/disable checksum comparison ID_FRAME_CHECKSUM_EN=0x08 ................. 28
Page5
SJ-PM-TF-Luna A05 Product Manual
Benewake (Beijing) Co. Ltd.
9.
I2C slave machine address configuration ID_I2C_SLAVE_ADDR=0x0B ....................... 28
10. Restore default setting ID_RESTORE_DEFAULT=0x10 ................................................ 29
11. Save current setting ID_SAVE_SETTINGS=0x11........................................................... 29
12. Output product bar code ID_READ_MANU_BIN=0x12 ................................................ 29
13. Get full-length version number ID_GET_FULL_VERSION=0x14 ................................. 30
14. Amp threshold setting ID_AMP_THRESHOLD=0x22 ................................................... 30
15. Switch between Single Frequency and Dual Frequency ID_ DEALIAS_EN =0x29 ......... 30
16. Timestamp synchronization ID_TIMESTAMP_SYNC =0x31 ......................................... 31
17. Enable/disable Power saving mode (ECO) ID_LOW_CONSUMPTION=0x35 ............... 31
18. Filter Setup ID_FILTER_BIT_MAP=0x39 ..................................................................... 31
19. Distance limit setting ID_DIST_LIMIT=0x3A ................................................................ 32
20. Enable/disable on-off mode ID_ON_OFF_MODE=0x3B ............................................... 32
21. Read config by id ID_GET_CONFIG_PARA=0x3F ....................................................... 32
22. Ultra-low Power Mode ID_ ULTRA_LOW_POWER_MODE=0x58 .............................. 33
23. Frequency Calibration ID_FREQ_CNT_CALIB=0x59 ................................................... 33
Appendix III I2C register table ........................................................................................................ 34
Page6
1 Revisions
Version No. History
SJ-PM-TF-Luna A05 Product Manual
Benewake (Beijing) Co. Ltd.
A00
A03
Original
1. Old serial port formats are removed.
2. Module size and related pictures are updated.
3. More description of function.
4. I2C interface is now available.
5. Power supply voltage up to 3.7V-5.2V is now supported.
Date
2020.1.15
2020.3.15
A05
1. Removed “Enable/disable low sample rate mode
2020.7.23
ID_LOW_SAMPLE_RATE=0x3E”.
2. Changed the definition of I2C register 0x25: 0x00 – LiDAR off, 0x01 –
LiDAR on.
3. Changed the description of I2C register. Users should make sure that
firmware version is above V1.0.7 when using I2C communication.
4. Added the description on Amp with respect to ambient light
overexposure.
5. Added Ultra-low Power Mode.
6. For I2C register 0x2E-0X31, changed the units of distance limit from
centimeter to millimeter.
7. Added description on the Single Frequency Mode.
8. Added filter setup commands.
9. Added device ID into the output format.
2 Cautions
2.1 About document
This manual provides all essential information you may need during the usage of this product.
Please read this manual carefully before using this product and make sure that you fully
understand the contents of the manual.
Page7
2.2 About product
SJ-PM-TF-Luna A05 Product Manual
Benewake (Beijing) Co. Ltd.
The product can only be maintained and repaired by qualified professionals, and only original
spare parts are permitted to use for performance and safety reasons.
This product DOES NOT have polarity and over-voltage protection at all. Please wire and
supply power according to the instructions.
The working temperature of the product is from -10℃ to 60℃, please do not use it outside
this temperature range to avoid risk and damage.
The storage temperature of the product is from -20℃ to 75℃, please do not store it outside
this temperature range to avoid risk and damage.
For safety and performance, please DO NOT open the product casing or remove the IR-pass
filter.
2.3 Common errors and other notes
Detecting object with high reflectivity, such as mirrors, smooth floor tiles, and calm milk
liquid.
Blocking the product with any transparent objects, such as water or glasses.
The product’s lens may be covered by dusts or dirt which may affect results, so please keep
the lens clean.
The exposed circuit board is electrostatic sensitive. Please do not touch the circuit board of
the product barehanded. Please use ESD wrist strap or antistatic gloves to ground yourself if
any operation is necessary; Otherwise, the product may be damaged by static electricity.
3 Principle description and key parameters
3.1 Ranging Principle
TF-Luna is using Time of Flight (ToF) principle to measure the distance and it periodically emits
near infrared modulated waves. TF-Luna calculates the time by measuring the phase difference
between the original wave and the reflection wave and uses that time to get relative distance, as
shown in Figure 1.
Page8
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