# TFmini Plus Datasheet

TFmini Plus LiDAR PD-TFmini-Plus-Datasheet-A07

## TFmini Plus LiDAR

| TFmini Plus is a single-point ranging LiDAR, based on ToF principle. Mainly used for stable, accuracy and high- frequency range detection. | TFmini Plus is a single-point ranging LiDAR, based on ToF principle. Mainly used for stable, accuracy and high- frequency range detection. |  ![TFmini Plus Datasheet — source page 1, figure 1](https://ai.benewake.com/uploads/images/d752817a-f31e-4d9f-a783-912b2fa57cab.png) ![TFmini Plus Datasheet — source page 1, figure 2](https://ai.benewake.com/uploads/images/5ca0a485-d902-4873-bb11-f506a329e647.png) |
| --- | --- | --- |
| Main Features | Typical Applications |  |
| • High frequency(Up to 1000Hz) • Small size • Low power consumption • (550mW, <=100mW in special mode) • IP65 Enclosure | • Pedestrian detection • Vehicle detection • Altimeter • Robot fall-arrest |  |

## SPECIFICATIONS

| Parameters | Parameters | Typical Value | Typical Value |
| --- | --- | --- | --- |
| Parameter Name | Parameter Name | UART | I2C |
| Product performance | Operating Range | 0.1m~12m@90%Reflectivity 0.1~4m@10% Reflectivity 0.1m~12m@90% Reflectivity (70Klux) 0.1~4m@10% Reflectivity (70Klux) ![TFmini Plus Datasheet — source page 1, figure 3](https://ai.benewake.com/uploads/images/6b31600d-7e21-49d7-a029-8bf47967903f.png) | 0.1m~12m@90%Reflectivity 0.1~4m@10% Reflectivity 0.1m~12m@90% Reflectivity (70Klux) 0.1~4m@10% Reflectivity (70Klux) |
| Product performance | Accuracy | ±5cm@（0.1-5m）1 ±1%@（5m-12m） | ±5cm@（0.1-5m）1 ±1%@（5m-12m） |
| Product performance | Distance Resolution | 1cm | 1cm |
| Product performance | frame rate | 1-1000Hz（adjustable）2 | 1-100Hz （adjustable） |
| Product performance | Repeatability | 1σ: <3cm(@100Hz)3 | 1σ: <4cm(@100Hz) |

1 The accuracy is the standard test condition at 25℃ indoors, which is measured by whiteboard based on 90% reflectivity, and the change of conditions may cause the error to increase.

2 Only frame rates meet the formula – 1000/n (n is positive integer) can be set.

3 More detailed information please refer to the user manual.

TFmini Plus LiDAR PD-TFmini-Plus-Datasheet-A07

| Parameters | Parameters | Typical Value | Typical Value | Typical Value |
| --- | --- | --- | --- | --- |
| Parameter Name | Parameter Name | UART | UART | I2C |
|  | Ambient light resistance | 70Klux | 70Klux | 70Klux |
|  | Operation temperature | -20℃~60℃ | -20℃~60℃ | -20℃~60℃ |
|  | Protection Level | IP65 | IP65 | IP65 |
| Optical Parameters | Light source | LED | LED | LED |
| Optical Parameters | Central wavelength | 850nm | 850nm | 850nm |
| Optical Parameters | Photobiological safety | Exemption level (EN62471) | Exemption level (EN62471) | Exemption level (EN62471) |
| Optical Parameters | FOV | 3.6°4 | 3.6°4 | 3.6°4 |
| Electrical Parameters | Supply voltage | 5V±0.5V | 5V±0.5V | 5V±0.5V |
| Electrical Parameters | Average Current | ≤110mA | ≤110mA | ≤110mA |
| Electrical Parameters | Power consumption | 550mW（Low Power Consumption Mode: <100mW） | 550mW（Low Power Consumption Mode: <100mW） | 550mW（Low Power Consumption Mode: <100mW） |
| Electrical Parameters | Peak Current | 140mA | 140mA | 140mA |
| Electrical Parameters | Communication level | LVTTL（3.3V） | LVTTL（3.3V） | LVTTL（3.3V） |
| Electrical Parameters | Communication interface | UART, I/O | I2C | I2C |
| Other Parameters | Dimensions | 35mm*18.5mm*21mm | 35mm*18.5mm*21mm | 35mm*18.5mm*21mm |
| Other Parameters | Enclosure material | PC/ABS | PC/ABS | PC/ABS |
| Other Parameters | Storage temperature | -20℃~75℃ | -20℃~75℃ | -20℃~75℃ |
| Other Parameters | Weight | 12g±1g | 12g±1g | 12g±1g |
| Other Parameters | Cable length | 30cm | 30cm | 30cm |
| Other Parameters | Accuracy | ±5cm@（0.1-5m）5 ±1%@（5m-12m） | ±5cm@（0.1-5m）5 ±1%@（5m-12m） | ±5cm@（0.1-5m）5 ±1%@（5m-12m） |

4 This is a theoretical reference value 5 The accuracy is the standard test condition at 25℃ indoors, which is measured by whiteboard based on 90% reflectivity, and the change of conditions may cause the error to increase.

TFmini Plus LiDAR PD-TFmini-Plus-Datasheet-A07

| Parameters | Parameters | Typical Value | Typical Value |
| --- | --- | --- | --- |
| Parameter Name | Parameter Name | UART | I2C |
| Dimensions | Dimension of TF02-Pro （Unit: mm） ![TFmini Plus Datasheet — source page 3, figure 1](https://ai.benewake.com/uploads/images/5892b153-adee-4996-842c-0e775e68d69f.png) | Dimension of TF02-Pro （Unit: mm） | Dimension of TF02-Pro （Unit: mm） |

## Communication Interface

TFmini Plus supports two interfaces: UART and I2C：

| Communication Interface--UART | Communication Interface--UART | Communication Interface--I2C | Communication Interface--I2C |
| --- | --- | --- | --- |
| Interface | Value | Interface parameters | Value |
| Default Baud | 115200 | Max transmission rate | 400kbps |
| Data bits | 8 | Master/Slave mode | Slave |
| Stop bit | 1 | Default address | 0x10 |
| Parity | None | Address range | 0x01~0x7F |

## Configurable Parameters

| Parameters | UART | UART | I2C | I2C |
| --- | --- | --- | --- | --- |
| Parameters | Description | Default setting | Description | Default setting |
| Communicatio n interface | UART, I2C, I/O | UART | UART, I2C, I/O | I2C |
| Frame rate | Adjustable,1~1000Hz | 100Hz | Adjustable,1~100 Hz | / |
| Low power consumption mode | Adjustable, normal/low power consumption mode | Off | Support | / |
| Baud rate | Adjustable, 9600~921600bps | 115200bps | Adjustable, <=400kbps | / |
| Reset to default | Reset all the settings to default | / | Reset all the settings to default | / |

PS:Refer to user manual for more information