Product Manual of TFmini Plus TFmini Plus LiDAR Module
SJ-PM-TFmini Plus-T-01 A04 Benewake (Beijing) Co. Ltd. Specified Product Product model: TFmini Plus Product name: TFmini Plus 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 Plus-T-01 A04 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 Plus-T-01 A04 Benewake (Beijing) Co. Ltd. Table of Contents 1 2 3 ATTENTIONS .................................................................................................................................................... 6 1.1 ABOUT THIS MANUAL .................................................................................................................................................. 6 1.2 USAGE OF PRODUCT .......................................................................
SJ-PM-TFmini Plus-T-01 A04 7 Benewake (Beijing) Co. Ltd. DESCRIPTIONS ON USER-DEFINED PARAMETER CONFIGURATION .................................................. 16 7.1 FUNCTION OVERVIEW ................................................................................................................................................16 7.2 COMMAND CONVENTION............................................................................................................................................17 7.
SJ-PM-TFmini Plus-T-01 A04 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 Plus-T-01 A04 IP65 enclosures and optimizes various compensation algorithms. These new characters greatly expand the application fields and scenarios of TFmini Plus. The product is compatible with both the UART and I2C interface. Different interfaces can be switched by commands. 2.2 Principle of Distance Measurement TFmini Plus is based on TOF, namely, Time of Flight principle.
SJ-PM-TFmini Plus-T-01 A04 Benewake (Beijing) Co. Ltd. ③ 3.6°is the theoretical value, from which the actual value will be different. The theoretical divergence angle is 6°. ④ Only frame rates meeting 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 strength value measured and the output frame rate (frequence).
Benewake (Beijing) Co. Ltd. SJ-PM-TFmini Plus-T-01 A04 2.5 Distance Measurement Characteristics With optimization of light path and algorithm, TFmini Plus has minimized influence from external environment on distance measurement performance. Despite that, the range of distance measurement may still be affected by the environment illumination intensity and the reflectivity of detection object.
SJ-PM-TFmini Plus-T-01 A04 Benewake (Beijing) Co. Ltd. If the light spot reaches two objects with different distances, as shown in Figure 3, 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. Dist1 Dist2 Dist Dist2 > Dist > Dist1 Figure 3 Distance Measurement in the case of Two Objects of Different Distances 3 Appearance and Structure 3.
Benewake (Beijing) Co. Ltd. SJ-PM-TFmini Plus-T-01 A04 4 Electrical Characteristics Table 4: Major Electrical Parameters of TFmini Plus Description Parameter value Supply voltage 5V±0.5V Average current ≤110mA Peak current 140mA Average power 550mW 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 ±0.5V is allowable.
Benewake (Beijing) Co. Ltd. SJ-PM-TFmini Plus-T-01 A04 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 UART Default baud rate 115200 Data bit 8 Stop bit 1 Parity check None 5.
Benewake (Beijing) Co. Ltd. SJ-PM-TFmini Plus-T-01 A04 distance is 1.21m, the string 1.21 will be output, followed by the escape character \r\n. This data format is for Ardupilot firmware version lower than v3.6.2. If your Ardupilot firmware version is greater than or equal to v3.6.2, you can use the standard data format directly. 5.4 Descriptions of default Output Data Dist(Distance): Represents the output of the distance value detected by TFmini Plus, with the unit in cm by default.
Benewake (Beijing) Co. Ltd. SJ-PM-TFmini Plus-T-01 A04 5.7 I/O mode description I/O output mode is supported and could be enabled by related command.See detail in chapter 7.4.Command open mode(Mode),critical distance(Dist) and hysteresis zone(Zone) could be configurable: Mode:0(data output mode),1(I/O mode,low level near and high level far);default value is 0. Dist:critical value,near end value in hysteresis zone,unit is cm,default number is 0.
SJ-PM-TFmini Plus-T-01 A04 Benewake (Beijing) Co. Ltd. loose connection. Then connect “USB cable” with “PC”. Figure 5 Schematic Diagram of Correct Connection ③ Connection to the Test software and data output Open the PC software and select “① TFmini Plus” and select automatically recognized occupied serial port (here it is “② COM57”), as shown in Figure 6. Then click “CONNECT”.
SJ-PM-TFmini Plus-T-01 A04 Benewake (Beijing) Co. Ltd. Figure 6 PC 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 Plus is successfully powered on, there will be a red indicator light inside transmitting lens viewing from the front.
SJ-PM-TFmini Plus-T-01 A04 Benewake (Beijing) Co. Ltd. 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. 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.
SJ-PM-TFmini Plus-T-01 A04 Benewake (Beijing) Co. Ltd. Table 11 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 Plus-T-01 A04 Restore factory settings ④ Save settings 5A 04 10 6E 5A 04 11 6F Benewake (Beijing) Co. Ltd. 5A 05 10 00 6E Succeeded 5A 05 10 01 6F Failed 5A 05 11 00 6F Succeeded 5A 05 11 01 70 Failed Note:Bytes with yellow undertone represents checksum. Bytes with blue undertone represents data segment. ① The default update rate is 100Hz. The customized update rate should be calculated by the formula: 1000/n (n is positive integer).
SJ-PM-TFmini Plus-T-01 A04 9 Benewake (Beijing) Co. Ltd. Malfunction: Causes and Troubleshooting (1) Distance value occasionally will abruptly change into 0 beyond the range during normal operation. 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.
SJ-PM-TFmini Plus-T-01 A04 Benewake (Beijing) Co. Ltd. specified herein. If the problem persists, please contact our technical support. (4) There is no data output when LiDAR is connected to PC software. Cause ①: The PC software only supports the Windows operation system for the time being 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 Plus and PC.
SJ-PM-TFmini Plus-T-01 A04 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 1: Interface of TF Series PC software 1 Product Type/Serial Port Control Zone [SETTINGS] Product Type: connect the LiDAR via TTL-USB board to the PC.
SJ-PM-TFmini Plus-T-01 A04 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).
