Technical documents
TFA1200-L Datasheet
Benewake TFA1200-L
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
| Parameter | Value |
|---|---|
| Detection range ① | 3 m~1200 m |
| Accuracy ① | 1% @≤200 m |
| Repeatability ① | 6 cm @ 200 m |
| Distance resolution | 10 cm |
| Frame rate | 3 Hz |
Optical Parameter
| Parameter | Value |
|---|---|
| Light source | EEL |
| Central wavelength | 905 nm |
| FoV | 0.5° |
| Eye safety | Class 1 [EN60825] |
| Ambient light resistance | 100 KLux |
Mechanical/Electrical Parameters
| Parameter | Value |
|---|---|
| Average power consumption | ② 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 mm ³ |
| Weight | 11 g ± 0.5 g |
Declaration: The copyright of this specification belongs to © Benewake (Beijing) Co., Ltd. is not allowed to copy, modify, delete or translate 1 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
| Parameter | Value |
|---|---|
| Communication interface | UART |
| Baud rate | Default 115200 |
| Data bit | 8 |
| Stop bit | 1 |
| Parity | None |
Dimensions (Unit: mm)
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.
Declaration: The copyright of this specification belongs to © Benewake (Beijing) Co., Ltd. is not allowed to copy, modify, delete or translate 2 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
| Parameter | Value |
|---|---|
| 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
| Parameter | Value |
|---|---|
| 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 |
| 6 CHK | CHK All bytes except for the checksum byte are XOR XOR Check |
Declaration: The copyright of this specification belongs to © Benewake (Beijing) Co., Ltd. is not allowed to copy, modify, delete or translate 3 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
| Parameter | Value |
|---|---|
| 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 DATAH=XX(H) DATAL=YY(L) 55 07 02 05 AA FF |
reference setting 6 bytes (Voltage value1450)
6 0xE8 Check number version 00 00 6 bytes 55 CB 02 00 00 9C
Declaration: The copyright of this specification belongs to © Benewake (Beijing) Co., Ltd. is not allowed to copy, modify, delete or translate 4 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 Bytes Data Description 1 0x00 Standby (Continuous ranging stopped) 00 00 6 bytes /
D6 Flag Byte; D5-D3 Target Distance (the parsed distance value is divided by 10,
2 0x01 Single ranging D6-D0 11 bytes unit: 0.1m);
D1 APD High Voltage Value (V); D0 APD Temperature (°C). D6 Flag Byte; D5-D3 Target Distance (the parsed distance value is divided by 10,
3 0x02 Continuous ranging D3-D0 11 bytes unit: 0.1m);
D1 APD High Voltage Value (V); D0 APD Temperature (°C). D6 APD High Voltage Reference Value (V); D5-D4 Blind Zone Value (V);
4 0x03 Self-check D7-D0 (12 bytes) D3 Temperature
Compensated APD High Voltage Value (V); D2 APD Temperature (°C). D1 Temperature High Byte of
High voltage D1 D0 Compensated APD High Voltage Value;
5 0x07 reference setting 6 bytes D0 Low Byte of
Temperature Compensated APD High Voltage Value.
Declaration: The copyright of this specification belongs to © Benewake (Beijing) Co., Ltd. is not allowed to copy, modify, delete or translate 5 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.