TF350 RS-485 / RS-232 User Manual

TF 35 0 RS - 48 5 / RS - 23 2

Benewake (Beijing) Co., Ltd

PREFACE

Dear users: Thank you for choosing Benewake products. For the purpose of offering better operation experience to you, we hereby write this manual for an easier and simpler operation of our product, hoping to better solve the common problems you may meet.

This user manual contains the relevant information on product introduction, usage and maintenance of TF350 RS-485 / RS-232, covers the product operation introduction and common problem solutions. Please read this manual carefully before using the product.

Remember the precautions to avoid hazards, and please follow the described steps in the manual when using it.

If you have any problems in the process of usage, you are welcome to contact Benewake at any time for help.

Contact Details Official website: en.benewake.com TEL：+86-10-57456983 Technical questions，please contact：support@benewake.com Consult sale information or request brochure，please contact：bw@benewake.com

Headquarters Address Benewake (Beijing) Co., Ltd.

3rd Floor, Haiguo Jiaye Sci-Tech Park, Haidian District, Beijing, China

Copyright Statement This User Manual is copyright © of Benewake. Please do not modify, delete or translate the description of this manual contents without the official written permission from Benewake.

Disclaimer As our products are constantly improving and updating, the specifications of TF350 RS-485 / RS-232 are subject to change. Please refer to the official website for latest version.

1 OVERVIEW

The Reference Manual is a complement to the Operating Instructions for TF350. The Operating Instructions for TF350 describes how to set up and configure the interfaces.

The Reference Manual contains detailed information about the interfaces including syntax and available functionality. It focuses on TF350 specific topics and does not describe the basic technology behind each interface.

The details of the result output formatting and the contents and syntax of the command channels are shared by several interfaces. They are described in an appendix valid for all relevant interfaces.

1.1 Failure scenarios

As a precision optical distance sensor, TF350 ’ s performance is greatly affected by environment. Certain scenarios will even damage TF350. Each of these failure scenarios have been tested in real field tests.

Table 1 Failure scenarios of TF350

Scenario	Description	Scenario	Description
	Do not cover the laser window.		Avoid moving objects in the detection field.
	Avoid the presence of heavy smoke, fog and rain in the detection field.		Avoid condensation.
	Avoid direct exposure to high pressure cleaning.		Avoid exposure to strong light source with same wavelength.

	Do not exposure to corrosive liquids.		Avoid extreme vibrations.
	Do not use in extremely low temperature environments.		Do not use in extremely high temperature environments.
	Avoid exposure to sudden and extreme temperature changes.		Avoid direct exposure to another LiDAR with same wavelength.

1.2 Symbols and document conventions

The following symbols and conventions are used in this document:

WARNING

Indicates a situation presenting possible danger, which may lead to death or serious injuries if not prevented.

CAUTION

Indicates a situation presenting possible danger, which may lead to moderate or minor injuries if not prevented.

NOTICE

Indicates a situation presenting possible danger, which may lead to property damage if not prevented.

NOTE

Indicates useful tips and recommendations.

2 PRODUCT DESCRIPTION

2.1 Appearance Overview

Figure 1 Module view of TF350 1 Cable with male connector, Molex SD-51021-007, 7pin also called MH1.25-7P-W/B 2 Laser window (Receiving) 3 Laser window (Emitting) 4 3mm diameter hole (6mm deep) for mounting (6x)

2.2 Dimensional drawing

2.3 Measuring principle

TF350 is a typical Pulse Time of Flight (PToF) sensor. It adopts an incoherent energy receiving mode, and the measurement is mainly based on Pulse counting.

TF350 emits a narrow pulse laser, which is collimated by the transmitting lens, which enters the receiving system after being reflected by the measured target and is focused on the APD detector by the receiving lens. The time between the transmitted signal and the received signal is calculated through the circuit amplification and filtering, and the distance between TF350 and the measured target can be calculated through the speed of light.

Figure 3 Pulsed time of flight(PToF)

2.4 Technical specification

Table 2 Data sheet of TF350

Parameters		Minimum	Typical	Maximum
Performance	Range (@90% reflectivity, 0klux)	0.2m		350m
	Range (@10% reflectivity, 0klux)	0.2m		110m
	Range (@90% reflectivity, 100klux)	0.2m		300m
	Range (@10% reflectivity, 100klux)	0.2m		100m
	Accuracy	±10cm (<10m), 1% (≥10m)
	Distance resolution		1cm
	Frame rate	1Hz	100Hz	1000Hz
	Repeatability		1σ: <3cm
Parameters		Minimum	Typical	Maximum
Optical parameters	Light source		LD
	Central wavelength		905nm

	Photobiological safety	Class1(EN60825)
	FoV		0.35°
Environment	Ambient light immunity		100Klux
	Operation temperature	-25℃		60℃
	Enclosure rating		IP67
Connections	Supply voltage	5V DC		24V DC
	Average current	≤150mA @ 5V, ≤80mA @ 12V, ≤ 50mA @ 24V
	Power consumption		≤1W
	Overvoltage protection			300V
	Polarity protection			200V
	Communication interface level		LVTTL (3.3V)
	Communication interface	RS-485 / RS-232
Others	Dimension	78mm*67mm*40mm(L*W*H)
	Housing	Aluminum alloy
	Optical window	Infrared optical glass (HWB760)
	Storage temperature	-40℃		85℃
	Weight	222g ± 3g
	Cable length		70cm

NOTICE

Only the frame rate satisfying the following formula is supported.

Frame rate = a × 10b, a ∈ {1,2,3,4,5,6,7,8,9}, b ∈ {0,1,2,3} If a value which does not satisfy this formula is set, TF350 will set its frame rate to 100Hz. The normal frame rate is under 1kHz, but its maximum frame rate can reach as much as 7kHz. Please contact us if you need upper frame rate.

The basic technical specifications, like accuracy and repeatability, are measured with white background board (90% reflectivity) at 0klux condition.

2.5 FoV

The field-of-view, FoV, is the angle covered by the LiDAR sensor. The horizontal FoV of TF350 is about 0.35° and the vertical FoV of TF350 is approx. 0.1°.

Figure 4 FoV of TF350.Horizontal divergence 0.35°,vertical divergence 0.1°

NOTICE

0.35° and 0.15° are theoretic values. Because the manufacturing error and the installing error exist, there is divergence between each TF350 ’ s actual FoV and its theoretic values.

Figure 5 Spot size of TF350 at different ranges

3 ELECTRICAL INSTALLATION

3.1 Pin and wire color assignment

TF350 ’ s cable has six 26 AWG wires. The connector is Molex SD-51021-007 1.25 W/B-7Pin (MH1.25-7P-W/B).

Figure 6 Male connector,MolexSD-51021-0071.25W/B-7Pin Table 3 Pin assignment on 7-pin male connector

Pin	Signal	Color	Function
1	VCC	Red	DC 5-24V
2	RS-485-B/RS-232-RXD	White	RS-485-B/RS-232 Receive
3	RS-485-A/RS-232-TXD	Green	RS-485-A/RS-232 Transmit
4	N/A	N/A	N/A
5	UART_RXD	Blue	UART receive (Debug)
6	UART_TXD	Brown	UART Transmit (Debug)
7	GND	Black	Ground

Notice

The UART interface of TF350 RS-485/RS-232, PIN 5 and PIN 6, is a debug interface. Please do not use it.

3.2 Connector

Figure 7 Dimension drawing of connector:MolexSD-51021-0071.25W/B-7Pin

3.3 Wire cross-sections

CAUTION

If you use flexible connecting cables with stranded wire, then you must not use ferrules when connecting the wires to the terminals on TF350.

Wire all connections with copper cables!

• Use the following wire cross-sections:

• supply voltage at least 0.13 mm ² (approx. 26 AWG), if local power supply in the immediate vicinity.

• supply voltage at least 0.21 mm ² (approx. 24 AWG) at maximum length of 2m (6.562 ft), if the connection is made to an existing 24 V DC supply.

• switching outputs minimum 0.13 mm² (approx. 26 AWG), maximum cable length 2m (6.562 ft) with 0.21 mm² (approx. 24AWG).

• data interface minimum 0.13mm² (approx. 26AWG).

• Lay all cables such that there is no risk of tripping and all cables are protected

against damage.

On the usage of a typical power supply with a nominal voltage of 24V DC ±5%, the following maximum cable lengths are allowed for the supply of the operating voltage:

Table 4 Maximum cable lengths for the supply voltage

Wire cross-section	Cable length
0.13 mm2 (approx. 26AWG)	4 m (13.1 ft)
0.32 mm2 (approx. 22AWG)	10 m (32.81 ft)
0.81 mm2 (approx. 18AWG)	20 m (65.62 ft)

3.4 General conditions for data interface

The table below shows the recommended maximum length of cable as a function of the data transmission rate selected.

Table 5 Maximum cable lengths for the data interfaces

Interface type	Transmission rate	Maximum cable length
RS232	115200 bps	10 m (32.81ft)
RS485	115200 bps	10 m (32.81ft)

NOTICE

With appropriate cable termination, termination in accordance with related specification.

• Use screened cable(twisted-pair) with at least 26 AWG.

3.5 Wiring the RS-232 Interface

• Pay attention to max. cable length as per section 3.4 “General conditions for the data interface”.

Figure 8 Wiring of the RS-232interface

3.6 Wiring the RS-485 Interface

• Pay attention to max. cable length as per section 3.4 “General conditions for the data interface”.

Figure 9 Wiring of the RS-485interface

4 Communication Protocols

The industrial version of TF350 supports two communication interfaces, RS-232 and RS-485. The default interface is RS-485. These two interfaces cannot work simultaneously. The communication interface can be switched by certain command.

NOTICE

The RS-485 interface in industrial TF350 is a debug interface. Please do not use it.

4.1 Communication protocol

Table 6 Communication protocol of the RS-232protocol

Character	Value	Configurability
Baud rate	115200	Configurable
Data bit	8	Non-configurable
Stop bit	1	Non-configurable
Parity	None	Non-configurable

4.2 Data frame

A standard data frame consists of 9 bytes of hexadecimal numbers, which contains distance and signal strength.

Figure 10 Data communication:User protocol frame format of RS-485

4.3 Modbus

The RS-485 interface of TF350 supports Modbus protocol.

NOTICE

The TF350 RS485 interface is in half-duplex mode. Based on reliability considerations, it is not recommended to use a baud rate above 115200 for communication.

4.3.1 Protocol description

The communication protocol format of Modbus is different from it of the RS-232 and RS-485 interface. Check the following tables for detailed protocols.

Table 7 Command format of Modbus

Header	Function code	Register Addr.		Register value		CRC_low	CRC_high
01 (Default)	03	00	00	00	01	xx	xx

Table 8 Data frame format of Modbus

Header	Function code	Frame Length	Dist_high	Dist_low	CRC_low	CRC_high
01 (Default)	03	02	xx	xx	xx	xx

NOTICE

All the data mentioned in the protocol are in hexadecimal.

4.3.2 Function code

The Modbus of TF350 only supports the basic function of reading and writing register.

The function codes are listed in the following table.

Table 9 List of function codes of Modbus

Function code	Description
03	Read register
06	Write register

4.3.3 Accessible register address

Table 10 List of accessible register address of function code(0x03)

Register Addr.	Definition	Description
00 00	Dist	Distance value
00 01	Strength	Signal strength. Not currently supported.
00 03	Upper 16 bits of time stamp	Upper 2 bytes of time stamp. Unit: ms
00 04	Lower 16 bits of time stamp	Lower 2 bytes of time stamp. Unit: ms
00 06	Upper 16 bits of firmware version	0x00 and main version number
00 07	Lower 16 bits of firmware version	Sub-version and revised version number

Table 11 List of accessible register address of function code(0x06)

Register Addr.	Definition	Description
00 80	Save settings	Perform ‘Save’ operation with any data being written to the register.
00 81	Shut down / Reboot	0x00: Shut down 0x01: Reboot
00 82	Disable Modbus	0x01: Disable Modbus
00 83	Upper 16 bits of baud rate	Save and reboot to take effect.
00 84	Lower 16 bits of baud rate	Save and reboot to take effect.
00 85	Slave ID	Save and reboot to take effect.
00 86	fps	Save and reboot to take effect.
00 87	Working mode	Save and reboot to take effect. 0x00: Continuous working mode 0x01: Command-trigger mode
00 89	Restore default	Perform ‘Restore default’ operation with any data being written to the register. Save and reboot to take effect.

4.3.4 Common commands for Modbus

The default interface of industrial TF350 is general RS-485 protocol. Send commands listed in Table 12 Command used to enable Modbus protocol in RS-485 interface to enable Modbus protocol.

Table 12 Command used to enable Modbus prot ocol in RS-485interface

Function	Command	Response	Description
Enable Modbus	5A 05 6F 00 CE	Same as command	Save and reboot to take effect
Set Modbus Address	5A 05 70 ADDR SU	5A 05 70 00 CF	/

WARNING

TF350 only supports RTU mode to communicate in serial link.

The default address of Modbus is 0x01. The commands listed in the following table are based on default address. If the address is changed, the commands need to make corresponding changes. See 4.3.1 for detailed information.

The commands listed in the following table will only take effect under Modbus protocol. Do not send the command that is not in the list below.

Table 13 List of common commands of Modbus

Function	Command	Response	Description
Obtain distance	01 03 00 00 00 01 84 0A	Data frame: 01 03 02 DH DL CL CH	DH: Upper 8 bits of distance DL: Lower 8 bits of distance CH: Upper 8 bits of CRC CL: Lower 8 bits of CRC
Obtain distance and signal strength	01 03 00 00 00 02 C4 0B	01 03 04 DH DL SH SL CL CH	DH: Upper 8 bits of distance DL: Lower 8 bits of distance SH: Upper 8 bits of signal strength SL: Lower 8 bits of signal strength CH: Upper 8 bits of CRC CL: Lower 8 bits of CRC

Obtain firmware version	01 03 00 06 00 02 24 0A	01 03 04 00 VM VS VC CL CH	VM: Main version number VS: Sub-version number VC: Revised version number
Set baud rate	01 06 00 83 BH1 BH2 CL CH 01 06 00 84 BL1 BL2 CL CH	01 06 00 83 BH1 BH2 CL CH 01 06 00 84 BL1 BL2 CL CH	Set baud rate to 9600 (0x00002580): BH1=00 BH2=00 CL=78 CH=22, BL1=25 BL2=80 CL=D2 CH=D3
Change Slave ID	01 06 00 85 IH IL CL CH	01 06 00 85 IH IL CL CH	IH: Upper byte of ID IL: Lower byte of ID Change slave ID to 0x0002: IH=00 IL=02 CL=19 CH=E2
Set frame rate	01 06 00 86 FH FL CL CH	01 06 00 86 FH FL CL CH	Set frame rate to 100Hz (0x0064): FH=00 FL=64 CL=69 CH=C8
Save setting	01 06 00 80 00 00 88 22	01 06 00 80 00 00 88 22	Save and restart to take effect
Disable Modbus	01 06 00 82 00 01 E8 22	01 06 00 82 00 01 E8 22	Save and restart to take effect

5 CUSTOM CONFIGURATION

5.1 Command protocol

To meet the need of different customers, TF03 released 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 successfully and customers don’t need to configure again when restart.

Table 14 Description of TF03 command protocol

Byte	Definition	Description
Byte 0	Header	Fixed to 0x5A
Byte 1	Len	The length of the command frame (unit: Byte)
Byte 2	ID	Identifies the function of each command
Byte 3~Byte N-2	Payload	Different meanings and lengths in different ID command frames
Byte N-1	Check sum	the lower 8 bits of the sum of the first N-2 bytes

5.2 Common commands

Table 15 List of TF03’s common commands

Description	Command	Response	Remark	Default setting
Obtain firmware version	5A 04 01 5F	5A 07 01 VA VB VC SU	The version number VC.B.A	/
System reset	5A 04 02 60	5A 05 02 00 61	/	/
Modify frame rate	5A 06 03 LL HH SU	Same as command	LL: lower 8 bits HH: higher 8 bits	100Hz
Output control	On: 5A 05 07 01 67 Off: 5A 05 07 00	Same as command	/	Enabled

	66
Enable command triggering mode	5A 05 07 00 66	Same as command	/	Disabled
Trigger measurement	5A 04 04 62	Data frame	Only works in command triggering mode	/
Change baud rate	5A 08 06 H1 H2 H3 H4 SU	Same as command	See 5.3 Command editing	115200
Restore default settings	5A 04 10 6E	5A 05 10 00 6F	/	/
Save settings	5A 04 11 6F	5A 05 11 00 70	/	/
Over range threshold setting	5A 06 4F LL HH SU	5A 05 4F 00 AE	Unit: cm LL: lower 8 bits HH: higher 8 bits	35000
Switch communication interface	RS-485: 5A 05 45 01 A5 RS-232: 5A 05 45 02 A6	5A 05 45 00 A4	/	RS-485
Modify RS-232 arbitration ID	5A 08 50 H1 H2 H3 H4 SU	5A 05 50 00 AF	ID = (H4<<24) +(H3<<16) +(H2<< 8) +H1	0x03
Modify RS-232	5A 08 51 H1 H2 H3 H4 SU	5A 05 51 00 B0	ID=(H4<<24) +(H3<<16) +(H2<< 8) +H1	0x3003
Modify baud rate of RS-232	5A 08 52 H1 H2 H3 H4 SU	5A 05 52 00 B1	Baud rate=(H4<<24) +(H3<<16) +(H2<<8) +H1	1Mbits/s

WARNING

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

NOTE

Baud rate of RS-485 can be set to 9600, 14400, 19200, 38400, 56000, 57600, 115200, 128000, 230400, 256000, 460800, 512000, 750000, and 921600. If other value were set, TF03 will set it to 115200.

5.3 Command editing

This section describes the Command Channel of TF03 which is used to read and set TF03’s working parameters. The command channel is available via all the interfaces.

A standard TF03 command consists of frame header, command length, command ID, parameters and checksum. Follow these steps to generate a command: • Choose the right command ID and confirm its length • Convert parameter from the decimal value to hexadecimal value • Fill the hexadecimal parameter into the command • Calculate the checksum and fill its low 8-bits into the command For example, changing the baud rate to 460800. Firstly, choose the ID of changing frame rate, which is 0x06. Secondly, change 460800 (decimal number) to hexadecimal number, which is 0x00 07 08 00. Thirdly, fill the parameter into the command, like 5A

08 06 00 08 07 00 SUM. Finally calculate the sum of the first 7bytes and take its low

8bits, we will have the complete command, 5A 08 06 00 08 07 00 77.

Fixed:0x5 Lengthoft (Numbero IDofthec Hexadecim Little-endi Lower8bit previousb

Figure 11 Command syntax of TF03

6 OPTIONAL ACCESSORIES

NOTE

The following accessories are not standard accessories, please contact relevant sales or technical personnel if necessary.

6.1 Extension cord

For testing purposes, we prepared an extension Dupont cord. See Figure 12 Extension cord for test for detailed information.

Figure 12 Extension cord for test

NOTE

This extension cord is free, but it ’ s not a standard accessory. Please contact us if needed.

NOTE

The following accessories are not standard accessories, please contact relevant sales or technical personnel if necessary.

7 QUICK START GUIDE

7.1 Connection and basic test

NOTE

The product package contains only TF350 and factory certificate. If you need USB converter, please contact our sales or technical support.

• Download the latest version BW_TFDS from http://en.benewake.com/support onto your PC or laptop.

Figure 13 Benewake testing GUI for TF series • See Figure 13 Benewake testing GUI for TF series of the GUI.

• Connect TF350 to the PC or laptop with a paired USB converter cable as shown in

Figure 14 TF350 connecting to PC. The RS-485 version TF350 needs a RS-485-USB converter, and the RS-232 version TF350 needs a RS-232-USB converter.

Figure 14 TF350 connecting to PC • Run BW_TFDS.exe, choose the right baud rate and communication port, and click CONNECT to start the test.

7.2 Troubleshooting guide for initial test

In the default working mode, TF350 will automatically output data when connected to the PC following 7.1Connection and basic test. If you cannot read data from GUI properly, follow these steps to locate and solve problems.

S1. Check if there is red light inside TF350 through its window.

▪ No. Check power supply. If the power supply is normal, please contact Benewake service.

▪ Yes. Proceed to S2.

S2. Check whether the USB converter is paired with TF350. For example,

TF350-100 RS-232 needs a USB-RS-232 converter.

▪ No. Change a paired USB converter then try again.

▪ Yes. Proceed to S3.

S3. Check signal wiring. See section 3.1 Pin and wire color assignment for

detailed wiring information.

▪ Incorrect. Fix wiring.

▪ Correct. Proceed to S4.

S4. Some USB converters can generate more than one COM port. Try to connect

through different COM port.

▪ If all the COM ports don’t have data output, proceed to S5.

S5. Send the command of reading firmware version, 5A 04 01 5F, through

every COM ports. Try to read response.

▪ If all the COM ports have no response, please contact Benewake service.

▪ If one of the COM ports has correct response, send the command of restore default, 5A 04 10 6E, through this COM port. After sending this command, if the TF350 still doesn ’ t work, please contact Benewake service.

7.3 Working mode

TF350 has three different working modes.

• Automatic output mode. This is the default working mode. The default frame rate of this mode is 10Hz.

• Command triggering mode. In this mode, TF350 will not output data automatically.

TF350 output measuring data only when it receives the triggering command.

• Low power consumption mode. In this mode, TF350 still output measuring data automatically. But the maximum frame rate has been restricted to 5Hz. Meanwhile its power consumption is reduced to 350mW.

NOTE

Only the RS-485 interface supports low power consumption mode.

7.4 Influences of object surfaces on the

measurement

The signal received from a perfectly diffuse reflecting white surface corresponds to the definition of a remission of 100%. As a result of this definition, the remissions for surfaces that reflect the light bundled (mirrored surfaces, reflectors), are more than 100%.

Figure 15 Reflection of the laser beam at the surface of an object The majority of surfaces reflect the laser beam diffusely in all directions.

The reflection of the laser beam will vary as a function of the surface structure and color. Light surfaces reflect the laser beam better than dark surfaces and can be detected by the TF350 over larger distances. Brilliant white plaster reflects approx.

100% of the incident light, black foam rubber approx. 2.4%. On very rough surfaces, part of the energy is lost due to shading. The detecting range of the TF350 will be reduced as a result.

Figure 16 Reflection angle The reflection angle is the same as the angle of incidence. If the laser beam is incident perpendicularly on a surface, the energy is optimally reflected (Figure 16 Reflection angle). If the beam is incident at an angle, a corresponding energy and detecting range loss is incurred.

Figure 17 Degree of reflection If the reflected energy returned is over 100% (basis: Kodak standard) the incident beam is not reflected diffusely in all directions, but is reflected in a specific direction. As a result, a large portion of the energy emitted can be received by the laser distance measurement device. Plastic reflectors (“cats’ eyes”), reflective tape and triple prisms have these properties.

Figure 18 Mirror surfaces At mirror surfaces the laser beam is almost entirely deflected (Figure 18 Mirror surfaces). Instead of the surface of the mirror, it is possible that the object on which the deflected laser beam is incident may be detected.

Figure 19 Object smaller than diameter of the laser beam Objects that are smaller than the diameter of the laser beam cannot reflect all the energy of the laser light (Figure 19 Object smaller than diameter of the laser beam).

The energy in the portion of the laser light that is not reflected is lost. This means that the detecting range is less than would be possible theoretically based on the surface of the object.

Figure 20 Staircase object Staircase objects have two or more planes (Figure 20 Staircase object). The energy in the portion of the laser light that is reflected by different plane is different. TF350 will calculate a weighted averaging energy. The measured value will possible theoretically be the weighted average of distances from TF350 to different platform.

8 TROUBLESHOOTING

NOTICE

Claims under the warranty rendered void!

The housing screws of the TF350 are sealed. Claims under the warranty against Benewake will be rendered void if the seals are damaged or the device opened. The housing is only allowed to be opened by authorized service personnel.

This chapter describes how to identify and rectify errors and malfunctions during the operation of TF350.

Table 17 Troubleshooting and rectification

Fault	Possible cause	Solution
Measurement exceeds the allowed error.	• Optical signal was blocked.	• Remove the obstacle or adjust the detecting direction.
	• The target is a low reflectivity object.	• Paste a reflector on target object.
Measurements in the near range with no measurement target.	• Protective film has not been removed.	• Remove the protective film.
	• Contaminated or scratched window.	• Carefully clean optics using soft, fluff-free cloth. If the optics are scratched, contact Benewake service.
	• Rain or fog	• Enable rain-fog filter
TF350 is not transmitting a measured result.	• Wiring fault in the data connection.	• Check wiring.
	• Wrong USB converter.	• Check USB converter.
Data transmitted is garbage.	• Baud rate mismatch.	• Check baud rate of the receiving device. • Check TF350’s baud rate setting.
A certain target cannot be detected	• The target is too small.	Replace it with a larger target. Please refer to 2.5 above.
	• The target is a low	• Sticking a high reflection

reflectivity object. sticker on the surface of the measured object.

Attachment 1 ： Reflectivity of Different

Materials

The reflectivity of different materials is listed below, ranging from low to high.

According to the test target and the corresponding reflectivity, we can measure whether the range of TF350 and other parameters meet the requirements.

No.	Materials	Reflectivity
1	black foam rubber	2.4%
2	black cloth	3%
3	black rubber	4%
4	Coal (varies from coal to coal)	4~8%
5	Black car paint	5%
6	Black paper	10%
7	opaque black plastic	14%
8	Clean rough board	20%
9	newspapers	55%
10	translucent plastic bottles	62%
11	packing case cardboard	68%
12	Clean pine	70%
13	opaque white plastic	87%
14	white card	90%
15	Kodak standard whiteboard	100%
16	Unpolished white metal surface	130%
17	Shiny light metal surface	150%
18	stainless steel	200%
19	Reflective board, reflective adhesive tape	>300%