Manual

SJ-PM-TFmini Plus-T-01 A04 Benewake (Beijing) Co. Ltd.
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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 I
2
C
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. 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 Figure1.
Figure 1 Schematics of TOF Principle
2.3 Key Characteristic Parameters
Table 1 Key Characteristic Parameters of TFmini Plus
Description Parameter value
Operating range
0.1m~12m
①
Accuracy
±5cm@（0.1-6m）
②
±1%@（6m-12m）
Measurement unit
cm
Range resolution
5mm
FOV 3.6°
③
Frame rate
1~1000Hz（adjustable）
④
① Operating range based on a standard whiteboard with reflectivity 90% in indoor condition
② The distance measurement here is absolute accuracy, and the specific repeat accuracy will be described in the next section
2.4.