# Benewake TFmini-S 12 m ToF Lidar

> Benewake TFmini-S: single-point ToF lidar, 0.1–12 m at 90 % reflectivity and 0.1–7 m at 10 % (both also at 70 klux), ±6 cm to 6 m then ±1 %, 2° FoV, 1–1000 Hz (100 Hz default), UART 115200 or I2C 0x10, 5 V ±0.1 V ≤ 140 mA (0.7 W), 850 nm VCSEL Class 1, 42 × 15 × 16 mm, 5 g, 10 cm GH1.25 lead; no IP rating.

- Manufacturer: Benewake
- Part number: TFmini-S
- Category: Lidar & ToF range sensors
- Canonical page: https://www.xirkit.io/products/benewake-tfmini-s-12-m-tof-lidar-9c47
- Pinout: https://www.xirkit.io/products/benewake-tfmini-s-12-m-tof-lidar-9c47/pinout
- Structured JSON: https://www.xirkit.io/products/benewake-tfmini-s-12-m-tof-lidar-9c47/data.json
- Source: Xirkit structured parts catalog — every value traced to a cited document; unknowns are explicit.

## Key specifications

| Property | Value |
| --- | --- |
| Lidar type | single-point |
| Ranging method | iToF |
| Min range | 0.1 m |
| Max range | 12 m |
| Max range rated at reflectivity | 90 % |
| Accuracy (±) | 60 mm |
| Accuracy detail | ±6 cm (0.1–6 m), ±1 % (6–12 m) |
| Scan frequency | 100 Hz |
| Sample rate | 1,000 Hz |
| Horizontal field of view | 2 ° |
| Vertical field of view | 2 ° |
| Wavelength | 850 nm |
| Laser safety class | Class 1 (EN 60825) |
| Interface | UART/I2C |
| Ambient light rating | 70 klux |
| Power | 0.7 W |
| Weight | 5 g |
| Supply voltage | 4.9–5.1 V |
| Dimensions | 42 × 15 × 16 mm |
| Operating temperature | 0 to 60 °C |

## Pinout (4 pins, 0 with electrical limits)

| Pin | Position | Kind | Chip pad | Functions | VIH | VIL | VOH | VOL | IOH | IOL | 5 V tolerant |
| --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- | --- |
| GND | GH1.25-4P (other end Molex 51021-0400) | ground | — | ground | — | — | — | — | — | — | — |
| +5V | GH1.25-4P (other end Molex 51021-0400) | power in | — | power_in | — | — | — | — | — | — | — |
| RXD/SDA | GH1.25-4P (other end Molex 51021-0400) | uart rx | — | rxd/sda | — | — | — | — | — | — | — |
| TXD/SCL | GH1.25-4P (other end Molex 51021-0400) | uart tx | — | txd/scl | — | — | — | — | — | — | — |

## Where to buy

| Supplier | Price | Stock | Checked | URL |
| --- | --- | --- | --- | --- |
| www.dfrobot.com | 39.9 USD | in_stock | 2026-10-17 | https://www.dfrobot.com/product-1702.html |
| www.sparkfun.com | 72.95 USD | unknown | 2026-10-17 | https://www.sparkfun.com/products/16977 |

## FAQ

**What voltage powers the Benewake TFmini-S 12 m ToF Lidar?**

Supply range 4.9–5.1 V.

**How much does the Benewake TFmini-S 12 m ToF Lidar cost?**

From $39.9 at www.dfrobot.com (2 supplier offers tracked). Prices are observed unit prices before tax and shipping.

**What are the Benewake TFmini-S 12 m ToF Lidar dimensions?**

42 × 15 × 16 mm. A STEP model is available for enclosure fit checks.

**Where does this Benewake TFmini-S 12 m ToF Lidar data come from?**

Every value in this record is traced to a source — 3 documents including the board and chip datasheets — with the page and table cited per value. Unknowns are left explicit, never guessed.

## Sources

- [Benewake TFmini-S 12 m ToF Lidar datasheet](https://cdn.sparkfun.com/assets/4/f/1/a/b/DS-16977-TFMini-S_-_Micro_LiDAR_Module.pdf)
- [www.dfrobot.com listing](https://www.dfrobot.com/product-1702.html)
- [www.sparkfun.com listing](https://www.sparkfun.com/products/16977)

## Part graph

### Alternatives (by use case)

- [YDLIDAR SDM15 Single-Point ToF Lidar](https://www.xirkit.io/products/ydlidar-sdm15-single-point-tof-lidar-db18) — Both serve distance, altitude and proximity sensing — check the trade-offs; $45 vs $39.9
- [Benewake TF-NOVA 14 m Line-Laser Lidar](https://www.xirkit.io/products/benewake-tf-nova-14-m-line-laser-lidar-c85a) — Both serve distance, altitude and proximity sensing — check the trade-offs; $34.9 vs $39.9
- [YDLIDAR GS2 Solid-State Line Lidar](https://www.xirkit.io/products/ydlidar-gs2-solid-state-line-lidar-1631) — Both serve distance, altitude and proximity sensing — check the trade-offs; $38 vs $39.9
- [Benewake TFS20-L Mini Lidar](https://www.xirkit.io/products/benewake-tfs20-l-mini-lidar-79ba) — Both serve distance, altitude and proximity sensing — check the trade-offs; $60 vs $39.9
- [Pololu VL53L0X 2 m ToF Sensor Carrier](https://www.xirkit.io/products/pololu-vl53l0x-2-m-tof-sensor-carrier-6fa8) — Both serve distance, altitude and proximity sensing — check the trade-offs; $19.95 vs $39.9
- [Pololu VL53L1X 4 m ToF Sensor Carrier](https://www.xirkit.io/products/pololu-vl53l1x-4-m-tof-sensor-carrier-6d45) — Both serve distance, altitude and proximity sensing — check the trade-offs; $22.95 vs $39.9
- [Benewake TF-Luna Single-Point ToF Lidar](https://www.xirkit.io/products/benewake-tf-luna-single-point-tof-lidar-3fe9) — Both serve distance, altitude and proximity sensing — check the trade-offs; $39.9 vs $30.99
- [Pololu VL53L5CX 8×8-Zone ToF Carrier](https://www.xirkit.io/products/pololu-vl53l5cx-8-8-zone-tof-carrier-821b) — Both serve distance, altitude and proximity sensing — check the trade-offs; $39.9 vs $19.95
- [Garmin LIDAR-Lite v4 LED Rangefinder](https://www.xirkit.io/products/garmin-lidar-lite-v4-led-rangefinder-947b) — Both serve distance, altitude and proximity sensing — check the trade-offs; $39.9 vs $69.99

### Variants

- [Benewake TFmini Plus IP65 ToF Lidar](https://www.xirkit.io/products/benewake-tfmini-plus-ip65-tof-lidar-55a8) — Same Benewake TFmini line: 12 m single-point ToF, same 4-wire UART/I2C pinout and command set; TFmini Plus adds an IP65 housing, TFmini-S is the lighter open-housing version