Benewake TFmini Plus Product Manual
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Benewake TFmini Plus Product Manual

Lidar module
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Product Manual of TFmini Plus
TFmini Plus LiDAR Module

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Summary of Contents for Benewake TFmini Plus

  • Page 1 Product Manual of TFmini Plus TFmini Plus LiDAR Module...
  • Page 2 Address: No.28, Xinxi Road, Haidian District, Beijing, PRC Copyright The Copyright of this document is protected. All the rights involved herein belong to Benewake (Beijing) Co. Ltd. Any copy activity of this document, no matter in whole or in part, should be of the Copyright Law.
  • Page 3 Foreword Dear users, Thanks for choosing Benewake products, and it’s our pleasure to help you to solve any technical question. In the purpose of offering a 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 maybe meet.

  • Page 4: Table Of Contents

    Benewake (Beijing) Co. Ltd. SJ-PM-TFmini Plus-T-01 A01 Table of Contents 1 ATTENTIONS ..........................6 1.1 A ......................... 6 BOUT THIS ANUAL 1.2 U ........................6 SAGE OF RODUCT 1.3 C ................6 ONDITIONS WITH OTENTIAL ALFUNCTION 2 DESCRIPTION ..........................7 2.1 P...
  • Page 5 Benewake (Beijing) Co. Ltd. SJ-PM-TFmini Plus-T-01 A01 7.3 C ....................16 OMMAND RAME EFINITION 7.4 G ............16 ENERAL ARAMETER ONFIGURATION AND ESCRIPTION 8 REMOTE UPGRADING ......................18 9 MALFUNCTION: CAUSES AND TROUBLESHOOTING ............. 18 10 Q&A ............................... 20 ATTACHMENT 1: INTRODUCTION OF TF SERIES PC SOFTWARE ........21...

  • Page 6: Attentions

    Benewake (Beijing) Co. Ltd. SJ-PM-TFmini Plus-T-01 A01 1 Attentions 1.1 About this Manual  This manual provides all the essential information during the usage of this product.  Please carefully read this manual and make sure that you fully understand everything herein.

  • Page 7: Description

    2.2 Principle of Distance Measurement TFmini Plus is based on TOF, namely, Time of Flight principle. To be specific, the product emits modulation wave of near infrared ray on a periodic basis, which will be reflected after contacting object. The product obtains the time of flight by measuring round-trip phase difference and then calculates relative range between the product and the detection object, as shown in Figure1.

  • Page 8: Repeatability

    ④ Only frame rates meet the formula–1000/n (n is positive integer) can be set. The default frame rate is 100Hz. 2.4 Repeatability The TFmini Plus's range repeat accuracy is directly related to the intensity value measured and the output frame rate (frequency). The ranging repeat accuracy is characterized by the standard deviation of ranging.

  • Page 9: Distance Measurement Characteristics

    Vertical Coordinates: Represents the radius of light spot for TFmini Plus at the different distances. The diameter of light spot depends on the FOV of TFmini Plus (the term of FOV generally refers to the smaller value between the receiving angle and the transmitting angle), which is calculated as follows: D ∙...

  • Page 10: Appearance And Structure

    Figure 3 Distance Measurement in the case of Two Objects of Different Distances 3 Appearance and Structure 3.1 Product Structure Figure 4: Constructional Drawing of TFmini Plus M2 positioning screw was recommended, and please choose an appropriate length according to installation requirements.

  • Page 11: Electrical Characteristics

    Ground PIN-4 ④ TFmini Plus has a 30cm long connecting wire with a GH1.25-4P (Molex51021-0400) connector. The connecting wire can be extended as needs. To ensure effective data transmission, the length of connecting wire should be short than 1m. Page11...

  • Page 12: Data Communication Protocol

    Parity check None 5.3 Data Output Format TFmini Plus is available with two formats of data output, namely, the standard data output format and the Pixhawk data format, both of which are switchable with command.  Standard data output format (default): Data structure: each data frame contains 9 bytes, including the distance value, signal strength, temperature of chip and data check byte (Checksum), etc.

  • Page 13: Descriptions Of Default Output Data

    This value is interpreted into the decimal value in the range of 0-1200. When the signal strength is lower than 100 or equal to 65535, the detection is unreliable, TFmini Plus will set distance value to 0. Strength：Represents the signal strength with the default value in the range of 0-65535. After the distance mode is set, the longer the measurement distance is, the lower the signal strength will be;...
  • Page 14 SJ-PM-TFmini Plus-T-01 A01 ② Connection of the hardware Connect “TFmini Plus”, “TTL - USB board” and “USB cable” as shown in Figure 6. Make sure there is no loose connection. Then connect “USB cable” with “PC”. Figure 5 Schematic Diagram of Correct Connection ③...
  • Page 15 “④TIME LINE CHART” will still be cm. For example, the actual TFmini Plus measurement is 1m, the distance value of TFmini Plus is 1000 in mm, the value read by the PC software also is 1000, but the unit will not change and still display cm.

  • Page 16: Descriptions On User-Defined Parameter Configuration

    7.4 General Parameter Configuration and Description Before setting the relevant parameters of TFmini Plus, user needs to establish the connection between TFmini Plus and PC at first. About the connection details, refer to the test connection given in 6.2. User Page16...
  • Page 17 Only standard baud rates are supported. When setting a high update rate, a high baud rate is recommended to ensure data security. ④ Please always send the command of save settings when try to modify parameters of TFmini Plus, otherwise the settings will not take effect. Page17...

  • Page 18: Remote Upgrading

    TFmini Plus. In case of the insufficient signal strength, TFmini Plus will output 0. This value is not measurement data of TFmini Plus, which is only used to remind the user that such data is unreliable.
  • Page 19 Cause ②：Due to the physical principles of TFmini Plus, the above phenomenon is likely to occur if the detection object is the material with high reflectivity (such as mirror, smooth floor tile, etc.) or transparent substance (such as glass and water, etc.)
  • Page 20 Q1: Is TFmini Plus available with 3.3V or other power supply voltage? A1: Sorry, it is not available for the time being. The Standard power supply of TFmini Plus is 5V±0.5V. If you have any further requirement, please contact our sales person to consult a customization design matter.

  • Page 21: Attachment 1: Introduction Of Tf Series Pc Software

    [DISCONNECT] button to terminate the connection. Function Zone [FUNCTION] Pix Mode: check the checkbox to enable Pix mode. Uncheck the checkbox will set TFmini Plus to default output format. In Pix mode, the frame rate (Effective Points) calculated by test software is unreliable.
  • Page 22 Dist(Echo): parameter of TF03. With TFmini Plus, the default value is 0. Effective Points (per sec): indicates effective points refreshed by TF per second (equals to frame rate). Strength (Signal strength): in pix mode, TFmini Plus will not output strength value, so the Strength is 0 by default.

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