# TFA1200-L Datasheet

![TFA1200-L Datasheet — source page 1, figure 1](https://ai.benewake.com/uploads/images/06340062-7937-4510-a394-fcc21856282a.png)

Benewake TFA1200-L Datasheet

The TFA1200-L is a long-range distance measurement dToF LiDAR that can achieve high- precision measurements for targets with varying reflectivity, even in strong sunlight conditions.

It features a compact size and lightweight design, making it particularly suitable for integration into UAV gimbals. Additionally, it is widely used in industries such as perimeter security, overhead crane hook collision prevention, and engineering surveying.

## 1 Technical Specifications

| Performance Parameter | Performance Parameter |
| --- | --- |
| Detection range① | 3 m~1200 m |
| Accuracy① | 1% @≤200 m |
| Repeatability① | 6 cm @ 200 m |
| Distance resolution | 10 cm |
| Frame rate | 3 Hz |
| Optical Parameter | Optical Parameter |
| Light source | EEL |
| Central wavelength | 905 nm |
| FoV | 0.5° |
| Eye safety | Class 1 [EN60825] |
| Ambient light resistance | 100 KLux |
| Mechanical/Electrical Parameters | Mechanical/Electrical Parameters |
| Average power consumption② | 1.1 W |
| Power supply | DC 2.7 V ~ 5.0 V |
| Data output | 3.3V TTL |
| Operating temperature | -40℃ ~ +65℃ |
| Storage temperature | -40℃ ~ +70℃ |
| Operating humidity | ≤70% |
| Dimensions | TYP. 25 * 25* 13 mm³ |
| Weight | 11 g ± 0.5 g |

the content of this specification without written permission from Benewake. Our product is constantly improving and updating, so the specifications of TFA1200-L product may change. Please refer to the latest version released by Benewake.

| Communication Protocol | Communication Protocol |
| --- | --- |
| Communication interface | UART |
| Baud rate | Default 115200 |
| Data bit | 8 |
| Stop bit | 1 |
| Parity | None |
| Dimensions (Unit: mm） | Dimensions (Unit: mm） |
|  ![TFA1200-L Datasheet — source page 2, figure 1](https://ai.benewake.com/uploads/images/0382dcd6-f1d2-430d-bf4c-5f751492f158.png) |  |

Notes to the specifications: 1. Measured during the day outdoors, with a target reflectivity of 90%, and when the laser spot is entirely on the target object; 2. Measurements were taken at a temperature of 25°C.

the content of this specification without written permission from Benewake. Our product is constantly improving and updating, so the specifications of TFA1200-L product may change. Please refer to the latest version released by Benewake.

## 2 Communication Protocol

### 2.1 Pin Diagram

Communication interface: UART(TTL_3.3V), 115200bps.

The terminal pin numbers for the interface are numbered from top to bottom as 1 to 6.

## Table 1 The interface definition table

| Line serial order | Definition | Line color | Description |
| --- | --- | --- | --- |
| 1 | GND | Green | Power supply input- / serial port ground |
| 2 | VIN+ | Yellow | Power input + DC2.7V~5.0V |
| 3 | NC | Orange | Pin Suspension |
| 4 | UART_TX | Red | TTL serial port transmitter, 3.3V level |
| 5 | UART_RX | Brown | TTL serial port receiver, 3.3V level |
| 6 | POWER_EN | Black | Module power enabled, TTL 3.3 V level; Module on (> 2.5V or suspended), module off (less than 0.3V) |

### 2.2 Custom configuration

The master controller and the range finder use a master-slave communication method, where the master controller sends control commands to the range finder, which receives and executes the instructions. In the ranging state, the range finder periodically sends data and status back to the host computer.The communication format and command content are shown in Table 2.

The format of command message to LiDAR is as follows: STX0 CMD LEN DATAH DATAL CHK

The data message format of the LiDAR is as follows: STX0 CMD_JG LEN DATAn DATA0 CHK

## Table 2 Description of sending message format

| Index | Send message | Receive message | Code | Description |
| --- | --- | --- | --- | --- |
| 1 | STX0 | STX0 | 55 H | Message Start Flag |
| 2 | CMD | CMD_JG | See table 3/4 | Command |
| 3 | LEN | LEN | Length of the parameter | Data length |
| 4 | DATAH | DATA n | See table 3 | / |
| 5 | DATAL | DATA 0 | See table 3 | / |
| 6 | CHK | CHK | All bytes except for the checksum byte are XOR | XOR Check |

the content of this specification without written permission from Benewake. Our product is constantly improving and updating, so the specifications of TFA1200-L product may change. Please refer to the latest version released by Benewake.

## Table 3 Command word description

| Index | Command | Function | Downlink Data Byets | Demonstration |
| --- | --- | --- | --- | --- |
| 1 | 0x00 | Standby (Continuous ranging stopped) | 00 00 6 bytes | 55 00 02 00 00 57 |
| 2 | 0x01 | Single ranging | 20 00 6 bytes | 55 01 02 20 00 76 |
| 3 | 0x02 | Continuous ranging | 20 00 6 bytes | 55 02 02 20 00 75 |
| 4 | 0x03 | Self-check | 00 00 6 bytes | 55 03 02 00 00 54 |
| 5 | 0x07 | High voltage reference setting | DATAH=XX(H) DATAL=YY(L) 6 bytes | 55 07 02 05 AA FF (Voltage value1450) |
| 6 | 0xE8 | Check version number | 00 00 6 bytes | 55 CB 02 00 00 9C |

the content of this specification without written permission from Benewake. Our product is constantly improving and updating, so the specifications of TFA1200-L product may change. Please refer to the latest version released by Benewake.

## Table 4 Command word description

| Index | Command | Function | Uplink Data Bytes | Description |
| --- | --- | --- | --- | --- |
| 1 | 0x00 | Standby (Continuous ranging stopped) | 00 00 6 bytes | / |
| 2 | 0x01 | Single ranging | D6-D0 11 bytes | D6 Flag Byte; D5-D3 Target Distance (the parsed distance value is divided by 10, unit: 0.1m); D1 APD High Voltage Value (V); D0 APD Temperature (°C). |
| 3 | 0x02 | Continuous ranging | D3-D0 11 bytes | D6 Flag Byte; D5-D3 Target Distance (the parsed distance value is divided by 10, unit: 0.1m); D1 APD High Voltage Value (V); D0 APD Temperature (°C). |
| 4 | 0x03 | Self-check | D7-D0 (12 bytes) | D6 APD High Voltage Reference Value (V); D5-D4 Blind Zone Value (V); D3 Temperature Compensated APD High Voltage Value (V); D2 APD Temperature (°C). |
| 5 | 0x07 | High voltage reference setting | D1 D0 6 bytes | D1 High Byte of Temperature Compensated APD High Voltage Value; D0 Low Byte of Temperature Compensated APD High Voltage Value. |

the content of this specification without written permission from Benewake. Our product is constantly improving and updating, so the specifications of TFA1200-L product may change. Please refer to the latest version released by Benewake.