TFmini & TFmini-S A0
Benewake（Beijing）Co.,Ltd 
TFmini VS TFmini-S
Product Upgrade Overview
TFmini-S is a single-point ranging Lidar based on TFmini upgrade. The blind zone of it is reduced from 30cm to 10cm, the outdoor ranging performance is further improved, the distance range is not disturbed by ambient light, which can be consistent with the indoor range, and the accuracy is further optimized. The error performance at 10% reflectivity approaches the background of 90% reflectivity, and the interface supports UART and I2C switching at any time.
Technical Specifications and Parameters
Table1 the Key Parameters of TFmini and TFmini-S
| TFmini | TFmini-S | ||
| Product performance | Operating range | 0.3~12m@90% reflectivity | 0.1m~12m@90% reflectivity |
| Accuracy | ±6cm@（0.3-6m）① ±1%@（6m-12m） |
±6cm@（0.1-6m）① ±1%@（6m-12m） |
|
| Distance resolution | 1cm | 1cm | |
| Frame rate | 100Hz | 100Hz | |
| Ambient light immunity | 70Klux | 70Klux | |
| Operation temperature | 0℃~60℃ | 0℃~60℃ | |
| Enclosure rating | / | / | |
| Optical parameters | Light source | LED | VCSEL |
| Central wavelength | 850nm | 850nm | |
| Photobiological safety | Exemption Level（EN62471） | Class1（IEC60825） | |
| FOV | 2.3°② | 2°② | |
| Electrical parameters | Supply voltage | 5V±0.1V | 5V±0.1V |
| Average current | ≤140mA | ≤140mA | |
| Power consumption | ≤0.7W | ≤0.7W | |
| Peak current | 800mA | 200mA | |
| Communication level | LVTTL（3.3V） | LVTTL（3.3V） | |
| Communication interface | UART | UART / I2C | |
| Others | Dimension | 42mm*15mm*16mm（L*W*H） | 42mm*15mm*16mm（L*W*H） |
| Housing | ABS+PC | ABS+PC | |
| Storage temperature | -20℃~75℃ | -20℃~75℃ | |
| Weight | 5g±0.3g | 5g±0.3g | |
| Cable length | 10cm | 10cm |
- Range based on the indoor test with the standard white board (90% reflectivity) at 25℃as the detection object；
- The angle is the theoretical value, but the actual angle has some deviation.
Product Appearance and Structure
Communication Interface
Table 1 Serial port communication protocol
| Communication | UART（TFmini） | UART（TFmini-S） |
| Default baud rate | 115200（adjustable） | 115200（adjustable） |
| Data bit | 8 | 8 |
| Stop bit | 1 | 1 |
| Parity check | None | None |
Configurable parameters
Table3 the Configurable parameters of TFmini and TFmini-S
| Configurable items | Description | TFmini Default | TFmini-S Default |
| communication interface | support communication interface configuration | UART only | UART or I2C |
| Frame rate | Support serial port baud rate configuration | Adjustable from 1Hz to 100Hz | Adjustable from 1Hz to |
| 1000Hz | |||
| Protocol format | Support 3 kinds of output format：9Bytes （cm）、Pixhawk、9Bytes（mm） |
9Bytes(cm) | 9Bytes(cm) |
| Low-power Consumption Mode | enable/disable low-power mode | Not support | Off |
| Baud rate | Support baud rate setting of 9600-921600 | 115200 | 115200 |
| Trigger sources | Setting internal trigger mode or external trigger mode | internal trigger | internal trigger |
| Restore factory settings | Restore all configurations to factory configuration | / | / |
Documents / Resources
 |
Benewake TFmini Micro LIDAR Module Plus [pdf] Owner's Manual TFmini Micro LIDAR Module Plus, TFmini, Micro LIDAR Module Plus, LIDAR Module Plus, Plus |