Version: A00 Document No.

： SJ-GU-TF02-01 Page 1 of 12

TF02 Specification

Benewake (Beijing) Co. Ltd.

Benewake (Beijing) Co. Ltd.

 Version: A00 Document No.：SJ-GU-TF02-01 Page 2 of 12

Preface
Dear users,

We would like to express our gratitude to you for choosing our products.

This specification is aimed at helping you use our product in a proper manner. Before you
install and use the product, please make sure you have carefully read the documents attached,
which will contribute to your better using of our product. If you have read this specification,
please keep it properly for future reference.

If you have any questions or problems about our product, please feel free to contact our
technical support or aftersales customer service. We will try our best to solve any problem
related to the product. If you have any advice or suggestion for us, please go to our official
website (www.benewake.com) and give us feedback in the community module. We listen to
every customer wholeheartedly.

Benewake aims to make the best “Robotic Eyes” worldwide. We always adhere to the
“customer experience centered” principle.

Benewake (Beijing) Co. Ltd.

 Version: A00 Document No.：SJ-GU-TF02-01 Page 3 of 12

Table of Contents
1. Product Overview 4
2. Optical Principle 4
3. Electrical Properties 4
4. Optical Properties 4
5. Detection Angle 5
6. Dimension and Product Specification 6
7. Noise Model 7
8. Data Format 8

8.1 Communication Protocols 8

8.2 Standard Data Format of Serial Ports 8

8.3 Data Format of Serial Port Pix 9

8.4 CAN Standard Data Format 9

9. Interface Description of Serial Port Upper Computer 10

Benewake (Beijing) Co. Ltd.

 Version: A00 Document No.：SJ-GU-TF02-01 Page 4 of 12

1. Product Overview
The product is based upon ToF (Time of Flight), supplemented by particular optics, electricity, and design,
so as to measure distance with stability, precision, high sensitivity, and high speed.

Key Features：
 High sensitivity, and able to measure as far as 22 meters
 High speed measurement with a maximum sampling frequency of 100Hz
 Excellent anti-ambient light usability (operable under 100kLux ambient light)
 Protection grade reaches IP65
 Anti-corrosive against pesticide
 Small in size and light
Major Applications
 Drone altitude holding and terrain following
 Machine control and safety sensors
 Distance measuring instrument
2. Optical Principle
TOF is short for Time of Flight. It refers to that a sensor emits modulated near infrared light, which
reflects when objects are in the way. TOF then converts the distance away from the filmed scenery by
calculating the time difference or phase difference between emission and reflection, thereby generating
in-depth information.
3. Electrical Properties
Minimum Maximum
Item Symbol Typical Value Unit
Value Value
Input Voltage DC 4.5 5 6 V

Power P 0.6 1 W

LED Peak
Iled 3 A
Current
Serial Port
TTL Electrical LVTTL 0-3.3 V
Level
4. Optical Properties

Item Symbol Condition or Description Typical Value Unit

0.4 - 10 (reflectivity
Operating 10%)○ 1
L Indoor m
Distance
0.4 - 22 (reflectivity 90%)

Benewake (Beijing) Co. Ltd.

 Version: A00 Document No.：SJ-GU-TF02-01 Page 5 of 12

Outdoor illumination intensity 0.4 - 10 (reflectivity 30%)

of 100Klux

Emission
Semi-angle of α Divergence angle of light spot 2 Degree
Signal Light

Signal acceptance Semi-angle of LiDAR’s

β 1.5 Degree
semi-angle effective detection

Distance
Re Sensitivity to distance change 1 cm
Resolution

<1（within 10m）
1σ standard deviation of indoor
Repeatability σ cm
repetitive ranging <2（10m-22m）

2
<6（within 5m）○
Distance Deviation between measuring
Δ cm
Accuracy distance and actual distance <2%（5m-22m）

Wavelength λ Central wave length 850 nm

Operating
T -10-60 ︒C
temperature

Enclosure rating IP IP65

Weight W Connection line included 52 g

Size LWH Length*Width*Height 69*46*26 mm

○
1 The reflectivity of black standard board is 10%. And the reflectivity of white standard board is 90%.
○
2 The testing environment is indoor white standard board.
5. Detection Angle
TF02’s signal acceptance angle is 3˚, so LiDAR’s detection angle is 3˚. The side lengths of different
distance detection ranges (the detection range takes on a square shape) are shown as below in the table.

Benewake (Beijing) Co. Ltd.

 Version: A00 Document No.：SJ-GU-TF02-01 Page 6 of 12

Detection Range (Acceptance Angle) Diagram

Distance/m 1 2 3 4 5 6 7 8 9 10 15 20 22

Detection
Range
5 10 16 21 26 31 37 42 47 52 79 105 115
Side Length
（cm）

Note: the distance in the table stands for the vertical distance between LiDAR and the detected object, with
meter as unit. The side length unit of detection range is cm. Generally, the side length of detected object
should be greater than that of detection range. Only in this way the LiDAR output data can be reliable.
When the side length of detected object is less than that of detection range, the LiDAR output data is not
stable and the error increases.
Note: the side length of detecting range is not equal to the object resolution at the corresponding distance.
6. Dimension and Product Specification
The following module object figures and outline dimensional drawings are all referece designs, and can be
customized according to customers’ requirements and actual application scenarios.

DELiDAR TF02 Outline Drawing

Benewake (Beijing) Co. Ltd.

 Version: A00 Document No.：SJ-GU-TF02-01 Page 7 of 12

DELiDAR TF02 Outline Dimensional Drawing (unit: mm)

Installation Requirements:
1. M2.5 round Philip’s head screw is suggested when installing LiDAR and peripheral structures.
2. Optical windows of LiDAR front panel cannot be blocked and shall be kept clean.
Line Sequence Description:

Line Sequence Line Sequence

of Serial Ports of CAN Port

Red
+5V +5V
Line

Black
GND GND
Line

White
TTL-RXD CAN-L
Line

Green
TTL-TXD CAN-H
Line

7. Noise Model
The repeat accuracy of LiDAR testing distance is relevant to Strength (signal strength). The higher the
Strength is, the more stable the dist is, and the less the standard deviation of dist is.

Benewake (Beijing) Co. Ltd.

 Version: A00 Document No.：SJ-GU-TF02-01 Page 8 of 12

Dist标准差随Strength变化曲线
4

3
Std of dist(cm)

0
0 200 400 600 800 1000 1200
Strength(a.u.)

Curve for Variation of Dist Standard Deviation along with Strength

8. Data Format
8.1 Communication Protocols
The following is an introduction to the method of DE-LiDAR TF02 connecting and communicating
with peripheral equipment using serial ports or CAN, including coded format of sent data and
communication protocols of modules with peripheral equipment. The serial port output level is
LVTTL (0-3.3V).

Communication UART CAN

Protocol
Baud Rate 115200 1M
Data Bit 8 --
Stop Bit 1 --
Parity Bit None --
ID -- 0x00090002

Frame Format -- Extended Frame

8.2 Standard Data Format of Serial Ports
The data output by TF02 is shown as below. All the data are hexadecimal. Each frame of data totals 9
bytes. The data contains distance information, i.e. Dist; signal strength information, i.e. STRENGTH; and
reliability information, i.e. SIG. The frame end is data parity bit.

Data Bit Definition Description

Benewake (Beijing) Co. Ltd.

 Version: A00 Document No.：SJ-GU-TF02-01 Page 9 of 12

Byte0 Frame header 0x59

Byte1 Frame header 0x59

Byte2 DIST_L DIST low 8 Bits

Byte3 DIST_H DIST High 8 Bits

Byte4 STRENGTH_L STRENGTH low 8 Bits

Byte5 STRENGTH_H STRENGTH high 8 Bits

Reliability is divided into 8 levels, respectively indicated by

0x01-0x08.
Byte6 SIG When the reliability level is 7 or 8, it means data is reliable.
When the reliability level is another value, the data of this frame
is not recommended.

Exposure time is divided into two levels and expressed by 0x03

Byte7 TIME and 0x06 respectively. The greater the value is, the longer the
exposure time is.

Low 8 bits of Checksum parity bit, Checksum = Byte0 + Byte2

Byte8 Check + ... + Byte7, Checksum are the low 8 bits of the checksum of
former 8 bytes

8.3 Data Format of Serial Port Pix

It is output in the form of strings with m as its unit. For example, if the measuring distance is 1.21m, then
the output string is 1.21. Each distance value ends with line feed.
Note: if the output distance of TF02 is 22 (m), it indicates outrange or insufficient signal intensity and so
the distance is not reliable. It is suggested to eliminate this data.
8.4 CAN Standard Data Format
The data output by TF02 is shown as below. All the data are hexadecimal. Each frame of data totals 8
bytes. The data contains distance information, i.e. Dist; signal strength information, i.e. STRENGTH; and
reliability information, i.e. SIG.
Remarks: CAN communication protocols can be customized according to customer requirements.

Data Bit Definition Description

Benewake (Beijing) Co. Ltd.

 Version: A00 Document No.：SJ-GU-TF02-01 Page 10 of 12

Byte0 DIST_H DIST High 8 Bits

Byte1 DIST_L DIST low 8 Bits

Byte2 STRENGTH_H STRENGTH high 8 Bits

Byte3 STRENGTH_L STRENGTH low 8 Bits

Byte4 TIME Exposure time is divided into two levels and expressed by 0x03
and 0x06 respectively. The greater the value is, the longer the
exposure time is

Reliability is divided into 8 levels, respectively indicated by

0x01-0x08.
Byte5 SIG When the reliability level is 7 or 8, it means data is reliable.
When the reliability level is another value, the data of this frame
is not recommended.

Byte6 Reserved Bit Reserved Bit

Byte7 Reserved Bit Reserved Bit

9. Interface Description of Serial Port Upper Computer

Currently, the upper computer only supports Windows® operating systems, applicable to TF series
products by Benewake (Beijing) Co. Ltd. In addition, it is limted to the product with serial communication
protocols output. For detailed operations, please see the follwing description.

Benewake (Beijing) Co. Ltd.

 Version: A00 Document No.：SJ-GU-TF02-01 Page 11 of 12

Client Interface of Distance Measurement Demonstration in Windows

TF series LiDAR connects with computer through TTL-USB adapter plate. Windows installs the driver by
default. If the installation fails, please contact the technical support of our company.
 Serial Port: select the corresponding port number for LiDAR. Baud rate is 115200 by default.
Click the 【CONNECT】button to connect with LiDAR. If the LiDAR is standard serial port
version, the TIME LINE CHART in the working area will display the data graph updated by
LiDAR in real-time. The x axis is the quantity identification for received data and the y axis
is the distance value output by LiDAR (unit: m);
 FUNCTION: if the product is Pixhawk, it is needed to click the box in front of pix mode.
FREEZE can freeze the TIME LINE CHART in the working area for better observation.
Display Rang can select the range of 5m or 20 m. Meanwhile, the scaleplate in the Dynamic
cursor area can automatically change. Data amout is the data mean filtering and it is
displayed by default after 5 groups of data averaging. After modifying the value, press the
Enter key to modify the length of mean data value. Device Command can send hexadecimal
port command to modify or set functions. For now, TF02 is not available for this operation.
 DATA RECORDING: the name of the data file can be modified and saved in the text box.
Click【RECORD】 to start saving data, and click again to stop saving. Click the【FOLDER】
button to open the folder of data files.
 REAL-TIME DATA: the real-time data area can display LiDAR data in real time. Among
them, Dist stands for distance measurement value with cm as unit. Effective Points indicate

Benewake (Beijing) Co. Ltd.

 Version: A00 Document No.：SJ-GU-TF02-01 Page 12 of 12

the total quantity of effective data output by LiDAR. Strength represents the intensity of
signal. On pix mode, for the reason of no strength information, the Strength is 0 by default.
Application Notice:
The product is a custom-made precision optical instrument and must be maintained by engineers of our
company.

• Operating temperature: -10°C-60°C。

• Storage temperature： -20°C -80°C。

• This product adopts a special optical system. Please do not use the product against sunlight for a long
time and keep it in dark place.

Benewake (Beijing) Co. Ltd.