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Table of Contents
Related Manuals for Benewake TFmini-S
Summary of Contents for Benewake TFmini-S
- Page 1 Product Manual of TFmini-S TFmini-S 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.
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Page 4: Table Of Contents
Benewake (Beijing) Co. Ltd. SJ-PM-TFmini-S A01 Product Manual Table of Contents 1 ATTENTIONS ................................ 6 ..............................6 BOUT THIS ANUAL ..............................6 SAGE OF RODUCT ........................6 ONDITIONS WITH OTENTIAL ALFUNCTION DESCRIPTION ..............................6 ..............................6 RODUCT DESCRIPTION .......................... 7... - Page 5 Benewake (Beijing) Co. Ltd. SJ-PM-TFmini-S A01 Product Manual DESCRIPTIONS ON PARAMETER CONFIGURATION ................. 15 ..............................15 UNCTION VERVIEW ............................16 OMMAND ONVENTION ............................ 16 OMMAND RAME EFINITION ....................16 ENERAL ARAMETER ONFIGURATION AND ESCRIPTION REMOTE UPGRADING ............................19 MALFUNCTION: CAUSES AND TROUBLESHOOTING ................20 10 Q&A ..................................
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Page 6: Attentions
2 Description 2.1 Product description TFmini-S is an upgrade project based on TFmini. It is a miniaturized, single-point ranging product. Based on the ToF (time of flight) principle, it is designed with unique optics, electricity, and algorithms to achieve stability, precision, sensitivity and high-speed distance measurement function. In addition... -
Page 7: Principle Of Distance Measurement
2.2 Principle of Distance Measurement TFmini-S is based on ToF (Time of Flight). 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 Figure 1. -
Page 8: Repeatability
The operating range of TFmini-S detecting white target with 90% reflectivity, 0.1-12m. The diameter of light spot depends on the FOV of TFmini-S (the term of FOV generally refers to the smaller value between the receiving angle and the transmitting angle), which is calculated as follows: d = 2 ∗... -
Page 9: Appearance And Structure
Figure 2 Distance Measurement in the case of Two Objects of Different Distances 3 Appearance and Structure 3.1 Product Appearance and Structure Figure 3: Dimension of TFmini-S(Unit:mm) Page9... -
Page 10: Electrical Characteristics
Benewake (Beijing) Co. Ltd. SJ-PM-TFmini-S A01 Product Manual 4 Electrical Characteristics Table 4: Major Electrical Parameters of TFmini-S Description Parameter value Supply voltage 5V±0.1V ≤140mA Average current Peak current 200mA Average power 700mW Communication level LVTTL（3.3V） This product has no overvoltage nor polarity protection, so please make sure that connection and power supply are normal. -
Page 11: Serial Port Communication Protocol
None 5.3 Data Output Format of Serial port TFmini-S is available with two formats of data output, namely, the standard data output format and the character string 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 12: Descriptions Of Default Output Data
This value is interpreted into the decimal value in the range of 0-2000. When the signal strength is lower than 100, the detection is unreliable, TFmini-S will set distance value to -1. Abnormal data values are detailed in Table 8. -
Page 13: I/Omode Description
6 Quick Test 6.1 Required Tools of Product Test TTL - USB TFmini-S Data wire USB cable PC software converter 6.2 Test Procedures ① Download the Test software Please download the Test software of TFmini-S at our official website (en.benewake.com). Page13... - Page 14 Please refer to Attachment 1 - Product manual of TF Test software. ② Connection of the hardware Connect “TFmini-S”, “TTL - USB board” and “USB cable” as shown in Figure 4. Make sure there is no loose connection. Then connect “USB cable” with “PC”.
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Page 15: Descriptions On Parameter Configuration
When TFmini-S is successfully powered on, there will be a red indicator light inside transmitting lens viewing from the front. If the user want the TFmini-S output in the Pixhawk format, please select “③Pix Mode” at first, otherwise area “④TIME LINE CHART” will not output the right data image normally. After Pix Mode is checked, the unit of distance will be changed into m automatically. -
Page 16: Command Convention
Before setting the relevant parameters of TFmini-S, user needs to establish the connection between TFmini-S and PC at first. About the connection details, refer to the test connection given in Chapter 6.2. User can send the relevant configuration-related instructions to the product via TFmini-S PC software or other serial port debugging software. - Page 17 Benewake (Beijing) Co. Ltd. SJ-PM-TFmini-S A01 Product Manual Table 12 General Parameter Configuration and Description Parameters Command Response Remark Default setting Obtain firmware 5A 04 01 5F 5A 07 01 V1 V2 V3 SU Version V3.2.1 version 5A 05 02 00 60 Succeeded ④...
- Page 18 Benewake (Beijing) Co. Ltd. SJ-PM-TFmini-S A01 Product Manual Open or close I/O output mode MODE: 0--standard data mode I/O mode 5A 09 3B MODE DL DH 0(standard data 1--I/O,near high enable ZoneL ZoneH SU mode) and far low 2--I/O,near low...
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Page 19: Remote Upgrading
② Only standard baud rates are supported. When setting a high update 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-S and wait for 1s after sending save settings command, otherwise the settings will not take effect. -
Page 20: Malfunction: Causes And Troubleshooting
TFmini-S. For a reliable and stable measurement data, the algorithm elimination is internally used for TFmini-S. In case of the insufficient signal strength, TFmini-S will output -1. This value is not measurement data of TFmini-S, which is only used to remind the user that such data is unreliable. - Page 21 Troubleshooting: Use the PC supporting Windows operation system. Cause ②: TTL - USB board is poorly connected. Troubleshooting: Check the TTL -USB board with the correct and reliable connection with TFmini-S and Cause ③: Driver of serial port is not correctly installed.
- Page 22 Q1: Is TFmini-S 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-S is 5V±0.1V. If you have any further requirement, please contact our sales person to consult a customization design matter.
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Page 23: 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-S to default output format. In Pix mode, the frame rate (Effective Points) calculated by test software is unreliable. - Page 24 Dist(Echo): parameter of TF03. With TFmini-S, 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-S will not output strength value, so the Strength is 0 by default.
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