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-con- sumption, 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 Parameter Value Operating Range 0.1m~12m 5cm (0.1-6m) Accuracy 1% (6m-12m) Distance resolution 5mm Product parameters Frame rate 1-1000Hz(adjustable) Ambient light immunity 70klux Operating temperature -20~60 Enclosure rating IP65 Light source LED Optical Central wavelength 850nm parameters FOV 3.6 Supply voltage 5V0.5V Average current 110mA Electrical Power consumption 550mW parameters Peak current 500mA Communication level LVTTL3.3V Material of enclosure ABS+PC Storage temperature -20~75 Miscellaneous Weight 11g Wire length 30cm Range based on a standard whiteboard with reflectivity 90% in indoor condition Only frame rates meet the formula 1000/n (n is Positive integer) can be set Product Appearance and Structure Dimensions of TFmini Plus module (Unit:mm) SJ-GU-TFmini-Plus-01 A02 www.benewake.com 01TFmini Plus LiDAR module Short-range distance sensor Wiring Guide Corresponding Number Color PIN Function PIN Red PIN-1 +5V Power White PIN-2 RXD Receive Blue PIN-3 TXD Transmit Black PIN-4 GND Ground Wiring diagram of TFmini Plus Communication Protocol Communication port UART Default Baud rate 115200(adjustable) Data bits 8 Stop bit 1 Parity None 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. Byte5 Byte6 Byte7 Byte8 Byte0-1 Byte2 Byte3 Byte4 059 59 Dist L Dist H Strength L Strength H Temp L Temp H Checksum Data code explanation Byte0 0x59frame header, same for each frame Byte1 0x59frame header, same for each frame Byte2 Dist L distance value lower by 8 bits Byte3 Dist L distance value higher by 8 bits Byte4 Strength L low 8 bits Byte5 Strength L high 8 bits Byte6 Temp L low 8 bits (suit for version later than V1.3.0) Byte7 Temp H high 8 bits (suit for version later than V1.3.0) Byte8 Checksum is the low 8 bits of the cumulative sum of the numbers of the first 8 bytes. Temperature( ) = Temp / 8 - 256 SJ-GU-TFmini-Plus-01 A02 www.benewake.com 02