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TFmini Plus LiDAR module
Short-range distance sensor
TFmini Plus is a milestone of Benewake in the process of promoting
the cost-effective -LiDAR. Apart from low-cost, small-size and
low-power-consumption, TFmini Plus also improves the frame rate,
introduces IP65 enclosures and optimizes various compensation
algorithms. These new characters greatly expand the application fields
and scenarios of TFmini Plus.
Technical Specifications and Parameters
Product
parameters
Optical
parameters
Electrical
parameters
Parameter
Operating Range
Accuracy
Distance resolution
Frame rate
Ambient light immunity
Operating temperature
Enclosure rating
Light source
Central wavelength
FOV
Supply voltage
Average current
Power consumption
Peak current
Communication level
Value
0.1m~12m
①
±5cm@(0.1-6m)
±1%@(6m-12m)
5mm
1-1000Hz(adjustable)
②
70klux
-20℃~60℃
IP65
LED
850nm
③
3.6°
5V±0.5V
≤110mA
550mW(low power mode 85mW)
500mA
UART,I²C,I/O
Material of enclosure
Storage temperature
Miscellaneous
Weight
Wire length
① Range based on a standard whiteboard with reflectivity 90% in indoor condition;
② Only frame rates meet the formula – 1000/n (n is Positive integer) can be set;
③ This is the theoretical number,the is some offset for the real number.
Product Appearance and Structure
Dimensions of TFmini Plus module (Unit:mm)
www.benewake.com
01
ABS+PC
-20℃~75℃
12g
30cm
SJ-GU-TFmini-Plus-01 A03
Page 2
TFmini Plus LiDAR module
Short-range distance sensor
Wiring Guide
Corresponding
PIN
PIN-1
PIN-2
PIN-3
PIN-4
PIN Function
+5V
RXD/SCL
TXD/SDA
GND
Power supply
Receive/Clcok
Transmit/Data
Ground
Wiring diagram of TFmini Plus
No. Color
①
②
③
④
Red
White
Blue
Black
Communication Protocol
Communication port
Default Baud rate
Data bits
Stop bit
Parity
UART
115200(adjustable)
8
1
None
Communication port
Max transmission rate
Master/Slave mode
Default address
Address range
I²C
400kbps
Slave
0x10
0x01~0x7F
Data Format
The data frame contains 9 bytes, 2 bytes of frame head, 2 bytes of distance value (Dist_L and Dist_H), 2
bytes of signal strength (Strength_L and Strength_H), 2 bytes of temperature (Temp_L and Temp_H) and
1byte of checksum. All the data and commands are transmitted in hexadecimal format.
Byte0-1 Byte2 Byte3 Byte4
0×59 59 Dist_L Dist_H Strength_L Strength_H Temp_L Temp_H Checksum
Data code explanation
Byte0
Byte1
Byte2
Byte3
Byte4
Byte5
Byte6
Byte7
Byte8
0x59，frame header, same for each frame
0x59，frame header, same for each frame
Dist_L distance value lower by 8 bits
Dist_L distance value higher by 8 bits
Strength_L low 8 bits
Strength_L high 8 bits
Temp_L low 8 bits (suit for version later than V1.3.0)
Temp_H high 8 bits (suit for version later than V1.3.0)
Checksum is the low 8 bits of the cumulative sum of the numbers of the first 8 bytes.
Byte5 Byte6 Byte7 Byte8
Configurable parameters
Configurable item
Comunication interface
Description
UART,I²C and I/O
Factory setting
UART
Frame rate
Baud rate setting
Trigger source
Reset to factory
www.benewake.com
1~1000Hz
9600~921600bps
Measure automatically or by trigger
All of setting reset to factory
0
2
100Hz
115200
auto
/
SJ-GU-TFmini-Plus-01 A03
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TFmini Plus LiDAR module
Short-range distance sensor
Command Protocols
Convention
(1) Little endian transmission has been applied in multi byte data,i.e. low byte of data will be saved in lower address
(2) Downlink frame:data from master computer to LiDAR
(3) Uplink frame: data from LiDAR to master computer or other terminal
Frame Definition
Byte 0 1 2 3-Len-2 Len-1
Description Head Len ID Payload Checksum
Head：frame head of command frame(0x5A)
Len：length of the frame, head and checksum included
ID：identifier code of command
Payload：data segment. Little endian format
Checksum：sum of all bytes from Head to payload. Lower 8 bits.
Commands
Commands Downlink frame Uplink frame Description
Obtain firmware
version
System reset
Set update rate
Set measurement unit
Set baud rate
Enable/Disable
output
Modify IIC slave
address
Restore factory
settings
Save settings
③
5A 04 01 5F
5A 04 02 60
5A 06 03 00 00 SU
5A 05 05 01 SU
5A 08 06 00 00 00 00 SU
5A 05 07 00 SU
5A 05 0B ADDR SU
5A 04 10 6E
5A 04 11 6F
5A 07 01 01 02 03 SU
5A 05 02 00 SU
5A 06 03 00 00 SU
5A 05 05 01 SU
5A 08 06 00 00 00 00 SU
5A 05 07 00 SU
5A 05 0B ADDR SU
5A 05 10 00 SU
5A 05 11 00 SU
Represent V3.2.1
00-Succeeded
01-Failed
Set Frame rate
(1~1000Hz)
01-cm
06-mm
Set baud rate
0-Disable
1-Enable
Change the I²C slave
address(default 0x10)
00-Succeeded
01-Failed
00-Succeeded
01-Failed
①
②
Bytes with yellow undertone represents checksum. Bytes with blue undertone represents data segment.
① The default frame rate is 100Hz. The customized frame rate should be calculated by the formula: 1000/n (n is positive integer). Data
stability will decrease with frame rate increasing.
② Only standard baud rates are supported. When setting a high frame rate, a high baud rate is recommended to ensure data security.
③ Please always send the command of save settings when try to modify parameters of TFmini Plus,otherwise the settings will not take
effect after power off.
3
0
SJ-GU-TFmini-Plus-01 A03www.benewake.com
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