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Benewake TFmini Plus User Manual

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TFmini Plus User Manual
Benewake (Beijing) Co., Ltd

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Summary of Contents for Benewake TFmini Plus

  • Page 1 TFmini Plus User Manual Benewake (Beijing) Co., Ltd...
  • Page 2 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...

  • Page 3: Table Of Contents

    CONTENTS 1 OVERVIEW ........................... 1 1.1 About this Manual ....................... 1 1.2 Usage of Product ......................1 1.3 Conditions with Potential Malfunction ................. 1 2 DESCRIPTION ........................2 2.1 Product Description ....................2 2.2 Principle of Distance Measurement ................2 2.3 Key Characteristic Parameters ..................

  • Page 4: Overview

     Please do not spread ethyl alcohol on the IR-pass filters, which are made of acrylic, IR- pass filters will be damaged.  Please do not pull the fine wire, the wire may be damaged. ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · REV: 01/04/2024...

  • Page 5: Description

    Different interfaces can be switched by commands. 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.

  • Page 6: Repeatability

    100Hz. 2.4 Repeatability The TFmini Plus's range repeat accuracy is directly related to the strength value measured and the output frame rate (frequency). The ranging repeat accuracy is characterized by the standard deviation of ranging. The average ranging accuracy of the TFmini Plus can be estimated by the following formula: Distance_STD[cm] = p00 + p10 ∗...

  • Page 7: 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: ©2024 Benewake (Beijing) Co., Ltd.
  • Page 8 In the formula above, d is the diameter of light spot; D is detecting range; β is the the value of the receiving angle of TFmini Plus, 3.6°. Correspondence between the diameter of light spot and detecting range is given in Table 3.

  • Page 9: Appearance And Structure

    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. ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · REV: 01/04/2024...

  • Page 10: Electrical Characteristics

    Average current varies along with the operating modes of the product in two patterns, more specifically, its current is around 50mA under short distance mode and it is around 140mA under long distance mode. ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · REV: 01/04/2024...

  • Page 11: Wire Sequence And Data Communication Protocol

    1m. 5.2 Serial port Communication Protocol TFmini Plus adopts the serial port data communication protocol, as given in Table 6. Table 6 Data Communication Protocol of TFmini Plus Communication interface...

  • Page 12: Data Output Format Of Serial Port

    Parity check None 5.3 Data Output Format of Serial port TFmini Plus 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 13: I²C Data Communication

    When the signal strength is lower than 100 or equal to 65535, the detection is unreliable, TFmini Plus will set distance value to 0. Temp (Temperature): Represents the chip temperature of TFmini Plus. Degree centigrade = Temp / 8 -256 5.5 I²C data communication...
  • Page 14 Note：Before using I/O mode, please modify the “Distance under threshold” to 1200(By sending command: 5A 07 22 0A B0 04 00 5A 04 11 6F), the problem of wrong alarm at long distance can be avoided. ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · REV: 01/04/2024...

  • Page 15: Quick Test

    6.2 Test Procedures Download the Test software ① Please download the Test software of TFmini Plus at our official website (en.benewake.com). Caution: please shut down any anti-virus software before uncompressing the PC software. Otherwise, maybe the software is deleted as virus. The software is only runnable under Windows environment for the time being.
  • Page 16 If the user wants the TFmini Plus output in the Pixhawk format, please select “③Pix Mode” at first, otherwise area “④TIME LINE CHART” will not output the right data image normally.
  • Page 17 QUICK TEST 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. ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · REV: 01/04/2024...

  • Page 18: Descriptions On User-Defined Parameter Configuration

    7.1 Function Overview The function of user-defined configuration of product parameters is hereby enabled for more flexible settlement of your problems by TFmini Plus. User may modify original parameters by sending relevant commands, such as output data format and frame rate, etc.

  • Page 19: 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 Chapter 6.2. User can send the relevant configuration-related instructions to the product via TFmini Plus PC software or other serial port debugging software.
  • Page 20 Threshold distance output 5A 07 22 XX LL 5A 07 22 XX LL HH 1200cm. Distance Distance HH 00 XX=100/10=10(DEC)= under under 0A(HEX) threshold= threshold 1200(DEC)=4B0(HEX) ③ LL=B0，HH=04 ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · REV: 01/04/2024...
  • Page 21 ④ Please always send the command of save settings and wait about 1s when try to modify parameters of TFmini Plus, otherwise the settings will not take effect. ⑤ Please keep power on and wait 1s after sending system reset command, otherwise the settings will not take effect.

  • Page 22: Remote Upgrading

    PC software. Please contact us to get the Updater Figure 7 Firmware Upgrade PC software of TFmini Plus The tools for the firmware upgrade of TFmini Plus are mostly the same as the Quick Test, which requires one TTL-USB board to connect the TFmini Plus with PC.

  • Page 23: Malfunction: Causes And Troubleshooting

    Cause: The different test environments (reflectivity of detected object, disturbance of ambient light, etc.) will affect the signal strength of TFmini Plus. For a reliable and stable measurement data, the algorithm elimination is internally used for TFmini Plus. In case of the insufficient signal strength, TFmini Plus will output 0.
  • Page 24 Troubleshooting: Plug and unplug USB cable again. Try to reinstall the driver or directly download and install a driver from the internet. If the PC software still work abnormally, please contact our technical support. ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · REV: 01/04/2024...
  • Page 25 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 26: Attachment 1: Introduction Of Tf Series Pc Software

    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 ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · REV: 01/04/2024...
  • Page 27 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. Operating Environment and Precautions Operating Environment: this software can only run-on Windows system, Win7 and above.
  • Page 28 ATTACHMENT 1 Precautions: Please do not directly connect the product with frame rate more than 500Hz to test software, which will make the UI unresponsive. ©2024 Benewake (Beijing) Co., Ltd. · All rights reserved · REV: 01/04/2024...

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