Product Manual of TFmini-S TFmini-S LiDAR Module
SJ-PM-TFmini-S A00 Benewake (Beijing) Co. Ltd. Specified Product Product model: TFmini-S Product name: TFmini-S LiDAR Module Manufacturer Company name: Benewake (Beijing) Co. Ltd. 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 in conformity of the Copyright Law.
SJ-PM-TFmini-S A00 Benewake (Beijing) Co. Ltd. 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.
SJ-PM-TFmini-S A00 Benewake (Beijing) Co. Ltd. Table of Contents 1 ATTENTIONS ........................................................................................................................................................ 6 2 3 1.1 ABOUT THIS MANUAL ............................................................................................................................................ 6 1.2 USAGE OF PRODUCT..................................................................................
SJ-PM-TFmini-S A00 7 Benewake (Beijing) Co. Ltd. DESCRIPTIONS ON PARAMETER CONFIGURATION ................................................................................. 15 7.1 FUNCTION OVERVIEW .......................................................................................................................................... 15 7.2 COMMAND CONVENTION ..................................................................................................................................... 16 7.
SJ-PM-TFmini-S A00 Benewake (Beijing) Co. Ltd. 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. 1.2 Usage of Product The maintenance of this product should be done by the professional technician, and the product can only work with the factory spare part for ensuring the performance and safety.
Benewake (Beijing) Co. Ltd. SJ-PM-TFmini-S A00 In addition to the low-cost, small-size, and long-ranging of the TFmini, the product itself has higher distance measurement accuracy. It is more adaptable to different outdoor environments such as strong light, different temperatures, and different reflectances. It has lower power consumption and more flexible detection frequency. The product is compatible with both the UART and I2C interface. Different interfaces can be switched by commands. 2.
Benewake (Beijing) Co. Ltd. SJ-PM-TFmini-S A00 2.4 Repeatability The repeat accuracy of TFmini-S is directly related to the Strength value measured and the output frame rate (Frequence). The ranging repeat accuracy is characterized by the standard deviation of ranging.
SJ-PM-TFmini-S A00 Benewake (Beijing) Co. Ltd. If the light spot reaches two objects with different distances, as shown in Figure 2, the output distance value will be a value between the actual distance values of the two objects. For a high accuracy requirement in practice, the above situation should be noticed to avoid the measurement error. Figure 2 Distance Measurement in the case of Two Objects of Different Distances 3 Appearance and Structure 3.
Benewake (Beijing) Co. Ltd. SJ-PM-TFmini-S A00 4 Electrical Characteristics Table 4: Major Electrical Parameters of TFmini-S Description Parameter value Supply voltage 5V±0.1V Average current ≤140mA 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. The fluctuation of the power supply voltage in a range of ±0.1V is allowable.
Benewake (Beijing) Co. Ltd. SJ-PM-TFmini-S A00 5.2 Serial port Communication Protocol TFmini-S adopts the serial port data communication protocol, as given in Table 6. Table 6 Data Communication Protocol of TFmini-S——UART Communication interface UART Default baud rate 115200 Data bit 8 Stop bit 1 Parity check None 5.
Benewake (Beijing) Co. Ltd. SJ-PM-TFmini-S A00 5.4 Descriptions of default Output Data Dist(Distance): Represents the output of the distance value detected by TFmini-S, with the unit in cm by default. This value is interpreted into the decimal value in the range of 0-1200. 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.
Benewake (Beijing) Co. Ltd. SJ-PM-TFmini-S A00 performance in the ranging state, the “acquired ranging result” data frame requires a short waiting time. It is recommended to wait for 1ms and then read the result after sending commands. In order to ensure that the ranging result is read correctly, it is necessary to set the frame rate of the radar to be greater than or equal to 2.5 times the frame rate of the I2C reading ranging result by the command "ID_SAMPLE_FREQ=0x03". Data are detailed in Table 10.
SJ-PM-TFmini-S A00 Benewake (Beijing) Co. Ltd. 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. 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”.
SJ-PM-TFmini-S A00 Benewake (Beijing) Co. Ltd. Figure 5 Software Interface and Display Notes: a) If no data is available in area “④TIME LINE CHART”, please check the line connection and line sequence. When TFmini-S is successfully powered on, there will be a red indicator light inside transmitting lens viewing from the front.
SJ-PM-TFmini-S A00 Benewake (Beijing) Co. Ltd. Please modify product configuration depending upon your actual demands. Do not frequently try irrelevant commands to prevent incorrect sending of command which many cause unnecessary loss. Please make sure to make the configuration as the commands listed herein. Do not send unstated command. 7.2 Command Convention 1) Multi-bytes data or command frame is transmitted in little endian format.
SJ-PM-TFmini-S A00 Benewake (Beijing) Co. Ltd. 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.
SJ-PM-TFmini-S A00 Benewake (Beijing) Co. Ltd. Open or close I/O output mode MODE: 0--standard data I/O mode 5A 09 3B MODE DL DH enable ZoneL ZoneH SU mode / 1--I/O,near high and far low 0(standard data mode) 2--I/O,near low and far high Zone:hysteresis zone Restore factory Succeeded 5A 05 10 01 6F Failed 5A 05 11 00 6F Succeeded 5A 05 11 01 70 Failed 5A 04 10 6E settings Save settings 5A 05 10 00 6E 5A 04 11 6F③ Note: Bytes with yellow undertone represents checksum.
SJ-PM-TFmini-S A00 Benewake (Beijing) Co. Ltd. The tools for the firmware upgrade of TFmini-S are mostly the same as the Quick Test, which requires one TTL-USB board to connect the TFmini-S with PC. Figure 6 Upgrade tool of TFmini-S Upon successful connection, open the Updater.exe. Select right port, here is “①COM8”. Input the right baud rate in “② 115200” and click “③ CONNECT” to connect the TFmini-S with the Updater.
SJ-PM-TFmini-S A00 Benewake (Beijing) Co. Ltd. data format to adjust interpretation means. Cause ②：Due to the physical principles of TFmini-S, 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.) Troubleshooting: Please avoid use of this product under such circumstance in practice. Cause ③: The IR-pass filters are blocked.
Benewake (Beijing) Co. Ltd. SJ-PM-TFmini-S A00 Cause: There are metal objects around the front lens barrel. Troubleshooting: Remove or replace metal objects near the lens barrel with non-metallic materials. If the metal material around the lens barrel in your installation position cannot be changed, and there are high requirements for data stability and error at the extreme distance, please contact our technical support. 10 Q&A Q1: Is TFmini-S available with 3.
SJ-PM-TFmini-S A00 Benewake (Beijing) Co. Ltd. Attachment 1: Introduction of TF Series PC software This PC software only supports the Windows operating system. It is suitable for any products of TF series, but the output of those products is limited to the serial port communication protocol. Detailed operations are as below. Figure 7: Interface of TF Series software 1 Product Type/Serial Port Control Zone [SETTINGS] Product Type: connect the LiDAR via TTL-USB board to the PC.
SJ-PM-TFmini-S A00 Benewake (Beijing) Co. Ltd. [CLEAR], the plotted curve in [4] will be cleared. Frame Rate: choose frame rate from the drop box, setting will be made immediately. Drawing/Pt: upon receipt of every N frames, the PC software will draw one point on the chart [4] the average of the N data. N can be modified depending upon the actual requirement (the value is preferable to be ≥10 to prevent the PC software from lagging).
