# TFmini-i Datasheet

TFmini-i LiDAR PD-TFmini-i-Datasheet-A02

## TFmini-i LiDAR

TFmini-i is an updated single-point ranging LiDAR based on TFmini-S. It has been optimized in communication interface and input voltage, making it satisfy different industrial applications. The product is based on the ToF (Time of Flight)

![TFmini-i Datasheet — source page 1, figure 1](https://ai.benewake.com/uploads/images/801c7bf8-dc30-4299-82e3-35d04a596e91.png)

principle and provides stable, accurate and reliable ranging performance.

## Main application

## Main product features

## scenarios

• Pedestrian detection • Wide range input • Vehicle detection voltage • Altitude gauge • CAN/RS-485 interface • Robot

## SPECIFICATIONS

| Parameters | Typical Value | Typical Value | Typical Value |
| --- | --- | --- | --- |
| Product Performance | Operating Range | Indoor 0Klux | 0.1m~12m @90% reflectivity1 |
| Product Performance | Operating Range | Indoor 0Klux | 0.1m~7m@10% reflectivity2 |
| Product Performance | Operating Range | Outdoor 70Klux | 0.1m~12m @90% reflectivity |
| Product Performance | Operating Range | Outdoor 70Klux | 0.1m~7m@10% reflectivity |
| Product Performance | Accuracy3 | ±6cm @（0.1m~6m）； ±1% @（6m~12m） | ±6cm @（0.1m~6m）； ±1% @（6m~12m） |
| Product Performance | Distance resolution | 1cm | 1cm |
| Product Performance | Frame rate4 | 1Hz~100Hz（adjustable, default 100Hz） | 1Hz~100Hz（adjustable, default 100Hz） |
| Product Performance | Ambient light immunity | 70Klux | 70Klux |
| Product Performance | Enclosure rating | IP65 | IP65 |
| Optical parameters | Photobiological safety | Class 1 （IEC60825） | Class 1 （IEC60825） |
| Optical parameters | Central wavelength | 850nm | 850nm |

TFmini-i LiDAR PD-TFmini-i-Datasheet-A02

|  | Light source | Light source | VCSEL | VCSEL | VCSEL |
| --- | --- | --- | --- | --- | --- |
|  | FoV5 | FoV5 | 2° | 2° | 2° |
| Electrical parameters | Supply voltage | Supply voltage | DC 7V~30V | DC 7V~30V | DC 7V~30V |
| Electrical parameters | Average current | Average current | ≤65mA @12V | ≤65mA @12V | ≤65mA @12V |
| Electrical parameters | Power consumption | Power consumption | ≤0.8W @12V | ≤0.8W @12V | ≤0.8W @12V |
| Electrical parameters | Peak current | Peak current | 100mA@12V | 100mA@12V | 100mA@12V |
| Others | Dimension (L×H×W) | Dimension (L×H×W) | 50mm×34mm×41mm | 50mm×34mm×41mm | 50mm×34mm×41mm |
| Others | Housing | Housing | ABS/PC/PMMA | ABS/PC/PMMA | ABS/PC/PMMA |
| Others | Operating temperature | Operating temperature | -20℃~60℃ | -20℃~60℃ | -20℃~60℃ |
| Others | Storage temperature | Storage temperature | -30℃~75℃ | -30℃~75℃ | -30℃~75℃ |
| Others | Weight | Weight | 52g (with cables) | 52g (with cables) | 52g (with cables) |
| Others | Cable length | Cable length | 70cm(including 7P terminal）/ 200cm(no terminal) | 70cm(including 7P terminal）/ 200cm(no terminal) | 70cm(including 7P terminal）/ 200cm(no terminal) |
| Communication interface | RS-485 | RS-485 | RS-485 | CAN | CAN |
| Communication interface | Interface parameters | Default value | Default value | Interface parameters | Default value |
| Communication interface | Baud rate | 115200 | 115200 | Baud rate | 250kbps |
| Communication interface | Data bit | 8 | 8 | Receiving ID | 0x00000003 |
| Communication interface | Stop bit | 1 | 1 | Transmitting ID | 0x00000003 |
| Communication interface | Parity | None | None | Frame Format | Standard frame |
| Dimensions |  ![TFmini-i Datasheet — source page 2, figure 1](https://ai.benewake.com/uploads/images/10fc97e9-e6f3-4c84-a859-57c751e85a41.png) |  |  |  |  |
| 1.The detection range is determined with the standard white board (90% reflectivity) at 25℃, changes in conditions may cause changes in measurement results. 2.The detection range is determined with the standard black board (10% reflectivity) at 25℃, changes in conditions may cause changes in measurement results. 3.The accuracy is measured with the standard white board (90% reflectivity) at 25 ℃ , changes in | 1.The detection range is determined with the standard white board (90% reflectivity) at 25℃, changes in conditions may cause changes in measurement results. 2.The detection range is determined with the standard black board (10% reflectivity) at 25℃, changes in conditions may cause changes in measurement results. 3.The accuracy is measured with the standard white board (90% reflectivity) at 25 ℃ , changes in | 1.The detection range is determined with the standard white board (90% reflectivity) at 25℃, changes in conditions may cause changes in measurement results. 2.The detection range is determined with the standard black board (10% reflectivity) at 25℃, changes in conditions may cause changes in measurement results. 3.The accuracy is measured with the standard white board (90% reflectivity) at 25 ℃ , changes in | 1.The detection range is determined with the standard white board (90% reflectivity) at 25℃, changes in conditions may cause changes in measurement results. 2.The detection range is determined with the standard black board (10% reflectivity) at 25℃, changes in conditions may cause changes in measurement results. 3.The accuracy is measured with the standard white board (90% reflectivity) at 25 ℃ , changes in | 1.The detection range is determined with the standard white board (90% reflectivity) at 25℃, changes in conditions may cause changes in measurement results. 2.The detection range is determined with the standard black board (10% reflectivity) at 25℃, changes in conditions may cause changes in measurement results. 3.The accuracy is measured with the standard white board (90% reflectivity) at 25 ℃ , changes in | 1.The detection range is determined with the standard white board (90% reflectivity) at 25℃, changes in conditions may cause changes in measurement results. 2.The detection range is determined with the standard black board (10% reflectivity) at 25℃, changes in conditions may cause changes in measurement results. 3.The accuracy is measured with the standard white board (90% reflectivity) at 25 ℃ , changes in |

TFmini-i LiDAR PD-TFmini-i-Datasheet-A02

conditions may cause changes in measurement results.

4.The highest frame rate is 100Hz, the customized frame rate should be calculated by the formula: 200/n (n is an integer with ≥ 2).

5.The angle is a theoretical value, the actual angle value has some deviation.

6.TFmini-i mounting holes are 5mm deep (non-through hole) with 4×φ1.6 holes on the back. Use M2 cross round head and flat tail self-tapping screws to install the holes 7.Disclaimer：As our products are constantly improving and updating, the specifications of TFmini-i are subjected to change. Please refer to the official website for the latest version.