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Z-0231

TFmini PLus Lidar Module（Distance measurement）

Description

TFmini Plus is a milestone of Benewake in the process of promoting the cost-effective -LiDAR. Apart from low-cost, small-size and low-power-consumption, TFmini Plus also improves the frame rate, introduces IP65 enclosures and optimizes various compensation algorithms. These new characters greatly expand the application fields and scenarios of TFmini Plus. ==Technical Specifications and Parameters==

Parameters Values
Operating Range 0.1m~12m1
Accuracy ±5cm@(0.1-6m) ±1%@(6m-12m)
Distance resolution 5mm
Frame rate 1-1000Hz(adjustable)2
Ambient light immunity 70klux
Operating temperature -20°C~60°C
Enclosure rating IP65
Light source LED
Central wavelength 850nm
FOV 3.6°3
Supply voltage 5V±0.5V
Average current ≤110mA
Power consumption 550mW(low power mode 85mW)
Peak current 140mA
Communication level UART,I2C,I/O
Material of enclosure ABS+PC
Storage temperature -20°C~75°C
Weight 12g
Wire length 30cm
  • 1 Range based on a standard whiteboard with reflectivity 90% in indoor condition;
  • 2 Only frame rates meet the formula – 1000/n (n is Positive integer) can be set;
  • 3 This is the theoretical number,the is some offset for the real number.

Technical Drawings

Tfminiplus01.png

How to wiring the wire

800px|left ==Communication Protocol== 800px|left ==Data Format==

The data frame contains 9 bytes, 2 bytes of frame head,
2 bytes of distance value (Dist_L and Dist_H),
2 bytes of signal strength (Strength_L and Strength_H),
2 bytes of temperature (Temp_L and Temp_H) and 1byte of checksum.
All the data and commands are transmitted in hexadecimal format.

Tfminiplus04.png Tfminiplus05.png ==Configurable parameters== Tfminiplus06.png ==Common configuration commands Convention==

  • (1) Little endian transmission has been applied in multi byte data,i.e. low byte of data will be saved in lower address
  • (2) Downlink frame:data from master computer to LiDAR
  • (3) Uplink frame: data from LiDAR to master computer or other terminal

Frame Definition

Tfminiplus07.png 
Head:frame head of command frame(0x5A)
Len:length of the frame, head and checksum included ID:identifier code of command
Payload:data segment. Little endian format
Checksum:sum of all bytes from Head to payload. Lower 8 bits.

Commands

Tfminiplus08.png 
Bytes with yellow undertone represents checksum. Bytes with blue undertone represents data segment.
1 The default frame rate is 100Hz. The customized frame rate should be calculated by the formula: 1000/n (n is positive integer). Data stability will decrease with frame rate increasing.
2 Only standard baud rates are supported. When setting a high frame rate, a high baud rate is recommended to ensure data security. 3 Please always send the command of save settings when try to modify parameters of TFmini Plus,otherwise the settings will not take effect after power off.

User Manual Document

  • PDF file:

FAQ

  • Q: I already purchased the Lidar module. Still I think you didn't undersand the part which I need. I created a sketch diagram and attached it here with. In the diagram there is a unit called 'Adapter' in green colour. I need the name of that unit and the place where to purchase it. And the exact type of the `Pin` in red colour.
TIM图片20190603132716.jpg \* A: To solve this problem, you need to connect the radar with the adapter board and pay attention to the wiring: white - green; green - white, red - red; black - black. and the same with TFmini Plus.
Radar Adapter board
White Green
Green White
Red Red
Black Black