Benewake TFmini-S is a short-range, single-point ToF (Time-of-Flight) LiDAR module designed for compact applications that demand high performance at a low cost. As an upgraded version of the classic TFmini, it retains a lightweight, ultra-compact form while offering enhanced range, faster response, and better ambient light resistance.

🔧 Key Features:

Mini Size, Powerful Core
- Dimensions: 42 × 15 × 16 mm
- Weight: ≤ 5 g
- Minimal blind zone: only 10 cm
High-Performance Output
- Measuring range up to 12 meters
- Output rate up to 1000 Hz
- Stable readings even under strong ambient light
Flexible Connectivity
- Supports UART, I²C, I/O interfaces
- Easy integration into various systems
Energy Efficient
- Ultra-low power mode: <100 mW
- Ideal for battery-powered devices and long-duration applications

📌 Typical Applications:

Robot obstacle avoidance
Smart parking systems
Level monitoring
Smart agriculture
Drone altitude holding

TFmini VS TFmini-S

1.Product Upgrade Overview

TFmini-S is a single-point ranging Lidar based on TFmini upgrade. The blind zone of it is reduced from 30cm to 10cm, the outdoor ranging performance is further improved, the distance range is not disturbed by ambient light, which can be consistent with the indoor range, and the accuracy is further optimized. The error performance at 10% reflectivity approaches the background of 90% reflectivity, and the interface supports UART and I2C switching at any time.

2.Technical Specifications and Parameters

Item		TFmini	TFmini-S
Product performance	Operating range	0.3~12m@90% reflectivity	0.1m~12m@90% reflectivity
	Accuracy	±6cm@（0.3-6m）① ±1%@（6m-12m）	±6cm@（0.1-6m）① ±1%@（6m-12m）
	Distance resolution	1cm	1cm
	Frame rate	100Hz	100Hz
	Ambient light immunity	70Klux	70Klux
	Operation temperature	0℃~60℃	0℃~60℃
	Enclosure rating	/	/
Optical parameters	Light source	LED	VCSEL
	Central wavelength	850nm	850nm
	Photobiological safety	Exemption Level（EN62471）	Class1（IEC60825）
	FOV	2.3°②	2°②
Electrical parameters	Supply voltage	5V±0.1V	5V±0.1V
	Average current	≤140mA	≤140mA
	Power consumption	≤0.7W	≤0.7W
	Peak current	800mA	800mA
	Communication level	LVTTL（3.3V）	LVTTL（3.3V）
	Communication interface	UART	UART / I2C
Others	Dimension	42mm15mm16mm（LWH）	42mm15mm16mm（LWH）
	Housing	ABS+PC	ABS+PC
	Storage temperature	-20℃~75℃	-20℃~75℃
	Weight	5g±0.3g	5g±0.3g
	Cable length	10cm	10cm

1.Range based on the indoor test with the standard white board (90% reflectivity) at 25℃as the detection object；
2.The angle is the theoretical value, but the actual angle has some deviation

3.Product Appearance and Structure

Fig.1 TFmini Dimensions

Fig.2 TFmini-S Dimensions（Increase the center distance of the lens by 1 mm）

4.Communication Interface

Table 2 Serial port communication protocol

Communication Interface	UART（TFmini）	UART（TFmini-S）
Default baud rate	115200（adjustable）	115200（adjustable）
Data bit	8	8
Stop bit	1	1
Parity check	None	None

5.Configurable parameters

Table3 the Configurable parameters of TFmini and TFmini-S

Configurable items	Description	TFmini Default	TFmini-S Default
communication interface	support communication interface configuration	UART	UART、I2C
Frame rate	Support serial port baud rate configuration	Adjustable from 1Hz to 100Hz	Adjustable from 1Hz to 1000Hz
Protocol format	Support 3 kinds of output format：9Bytes（cm）、Pixhawk、9Bytes（mm）	9Bytes(cm)	9Bytes(cm)
Exclude threshold of Strength	When the strength is lower than the minimum threshold, the output is specified value	Minimum strength setting：20 Value below minimum strength：-1	Minimum strength setting：100 Value below minimum strength：0
Range limit	Threshold of ranging limit (mm),	Maximum: 1200cm Minimum: -1cm	Maximum: 1200cm Minimum: -1cm
Low-power Consumption Mode	enable/disable low-power mode	Not support	Off
Baud rate	Support baud rate setting of 9600-921600	115200	115200
Trigger sources	Setting internal trigger mode or external trigger mode	internal trigger	internal trigger
Restore factory settings	Restore all configurations to factory configuration	/	/

TFmini-S LiDAR Module

1. Product Description

TFmini-S is a single-point ranging LiDAR based on TFmini upgrade. The blind zone is shortened to 10cm, the outdoor performance and accuracy of different reflectivity are improved, it can achieve stable, accuracy, sensitive and high frequency range detection.

the module is characterized by the following points:

Small size

Light weight

Low power consumption

High frame rate(up to 1000Hz)

Main application scenario:

Pedestrian detection

Vehicle detection

Intelligent barrier gate

Altimeter

Benewake TFmini-S ToF LiDAR Sensor – 12m Mini Laser Rangefinder Module