Benewake TFmini-S User Manual

SJ-PM-TFmini-S A01 Product Manual
Benewake (Beijing) Co. Ltd.
Page12
5.4 Descriptions of default Output Data
Dist(Distance): Represents the output of the distance value detected by TFmini-S, with the unit in cm
by default. This value is interpreted into the decimal value in the range of 0-2000. When the signal
strength is lower than 100, the detection is unreliable, TFmini-S will set distance value to -1. Abnormal
data values are detailed in Table 8.
Strength: Represents the signal strength with the default value in the range of 0-65535. After the
distance mode is set, the longer the measurement distance is, the lower the signal strength will be; the
lower the reflectivity is, the lower the signal strength will be.
Temp(Temperature): Represents the chip temperature of TFmini-S. Degree centigrade = Temp / 8 -
256
Table 8 Description of abnormal data values
Dist
Strength
Comment
65535（-1）
＜100
Strength＜100
65534（-2）
65535（-1）
Signal strength saturation
65532（-4）
Other value
Ambient light saturation
5.5 I
2
C data communication
Table 9 Data Communication Protocol of TFmini-S —— I ² C
Interface
I²C
Max transmission rate
400kbps
Master/slave mode
Slave mode
Default address
0x10
Address range
0x01~0x7F
5.6 Timing sequence description of I
2
C mode
Different from the serial mode, the I
2
C communication is initiated by the master. TFmini-S as the slave,
can only send and receive data passively. After the sending the config-frame from the master to the slave,
one needs to wait for a period for the command to be processed. Then read feedback operation, the
suggested waiting period is 100ms. The two commands "Restore Factory Settings" and "Save Current
Settings" involve data storage operations, and the recommended waiting time is 2s. To ensure the real-time

Benewake TFmini-S Specifications

General

Product color	Black
Detection angle	2 °
Scrambling function	Laser

Weight and Dimensions

Depth	42 mm
Width	15 mm
Height	16 mm
Weight	5 g