VL53L1

Time-of-Flight long-distance ranging sensor with advanced

multizone and multiobject detection
Datasheet - production data

– Full set of software drivers (Linux® and

Android compatible) for turnkey ranging

Applications
 Laser assisted auto-focus (AF): enhances the
camera AF system speed and robustness,
especially in difficult scenes (low light and low
contrast). Ideal companion for PDAF sensors
Features  Video focus tracking assistance at 60 Hz
 Fully integrated miniature module  Scene understanding with multiobject
– Emitter: 940 nm invisible laser (VCSEL) detection: “choose the focus point”
and its analog driver  Dual camera stereoscopy and 3D depth
– Receiving array with integrated lens assistance thanks to multizone measurements
– Low-power microcontroller running  Presence detection (autonomous timed mode),
advanced digital firmware typically to lock/unlock and power on/off
– Size: 4.9 x 2.5 x 1.56 mm devices like notebooks, tablets or white goods
 Fast, accurate distance ranging, with
– Up to 800 cm ranging Description
– A comprehensive application note The VL53L1 is a laser ranging ToF (Time-of-
(AN5573) providing detailed technical Flight) sensor. It covers applications requiring
guidance long distance ranging up to 800 cm (ranging
– 60 Hz ranging capability up to 300 cm mode), multizone ranging (scanning mode), and
– Immunity to cover window crosstalk and low-power (autonomous mode). A comprehensive
fingerprint smudge, at long distances with application note (AN5573) provides technical
patented algorithms (direct Time-of-Flight) details on the programming interface including its
– Multiobject detection capability bare driver. The API (application programming
– Multizone scanning and selectable array interface) enables the device to be controlled and
(2x2, 3x3, 4x4, or defined by the user managed in these three modes, to meet the
through software) requirements of all applications.

 Easy integration With patented algorithms and ingenious module

– Keystone correction example code for construction, the VL53L1 is also able to detect
projectors available with STSW-IMG047 different objects within the FoV (field of view). Its
depth information (histogram) is at 60 Hz.
– Single reflowable component
– Single power supply 2v8 Scene browsing and multizone detection are now
– Works with many types of cover window possible with the VL53L1, thanks to a software
material customizable detection array. This provides a
quicker “touch-to-focus”, or mini depth map use
– I²C interface (up to 1 MHz)
cases.
– Xshutdown (reset) and interrupt GPIO
(general-purpose input/output)

April 2024 DocID029631 Rev 14 1/39

This is information on a product in full production. www.st.com
Contents VL53L1

Contents

1 Product overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.1 Technical specification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.2 System block diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
1.3 Device pinout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.4 Application schematic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

2 Functional description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.1 System functional description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
2.2 Firmware state machine description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
2.3 Customer manufacturing calibration flow . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.4 Device programming and control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.5 Description of operating “preset” modes . . . . . . . . . . . . . . . . . . . . . . . . . 10
2.6 Digital processing and reading the results . . . . . . . . . . . . . . . . . . . . . . . . .11
2.7 Reading of the results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11
2.8 Power sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2.8.1 Power-up and boot sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2.9 Ranging sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.10 Handshake management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

3 Control interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
3.1 I2C interface - timing characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
3.2 I2C interface - reference registers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

4 Electrical characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
4.1 Absolute maximum ratings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
4.2 Recommended operating conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
4.3 ESD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
4.4 Current consumption . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
4.5 Electrical characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

5 Ranging performances . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
5.1 Measurement conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

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5.2 Minimum ranging distance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22

5.3 Ranging and Scanning modes: multi object detection . . . . . . . . . . . . . . . 22
5.4 Ranging and Scanning modes: full FoV performance . . . . . . . . . . . . . . . 22
5.5 Ranging and Scanning modes: partial FoV performances . . . . . . . . . . . . 24
5.5.1 Optical center definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
5.5.2 Partial FoV performances . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
5.6 Lite mode performances . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
5.7 Autonomous mode performances . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

6 Outline drawing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

7 Laser safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

8 Packaging and labeling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

8.1 Product marking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
8.2 Inner box labeling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
8.3 Packing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
8.4 Tape outline drawing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
8.5 Pb-free solder reflow process . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
8.6 Handling and storage precautions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
8.6.1 Shock precaution . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
8.6.2 Part handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
8.6.3 Compression force . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
8.6.4 Moisture sensitivity level . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
8.7 Storage temperature conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

9 Ordering information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

10 Acronyms and abbreviations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

11 ECOPACK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

12 Revision history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

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Product overview VL53L1

1 Product overview

1.1 Technical specification

Table 1. Technical specification
Feature Detail

Package Optical LGA12

Size 4.9 x 2.5 x 1.56 mm
Operating voltage 2.6 to 3.5 V
Operating temperature: -20 to 85°C
Infrared emitter 940 nm
Up to 1MHz (Fast mode plus) serial bus
I2C
Address: 0x52

1.2 System block diagram

Figure 1. VL53L1 block diagram

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1.3 Device pinout

Figure 2 shows the pinout of the VL53L1 (see also Figure 17).

Figure 2. VL53L1 pinout (bottom view)

Table 2. VL53L1 pin description

Pin number Signal name Signal type Signal description

1 AVDDVCSEL Supply VCSEL supply, to be connected to main supply

2 AVSSVCSEL Ground VCSEL ground, to be connected to main ground
3 GND Ground To be connected to main ground
4 GND2 Ground To be connected to main ground
5 XSHUT Digital input Xshutdown pin, active low
6 GND3 Ground To be connected to main ground
7 GPIO1 Digital output Interrupt output. Open drain output.
8 DNC Digital input Do not connect, must be left floating.
Digital
9 SDA I2C serial data
input/output
10 SCL Digital input I2C serial clock input
11 AVDD Supply Supply, to be connected to main supply
12 GND4 Ground To be connected to main ground

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Product overview VL53L1

1.4 Application schematic

Figure 3 shows the application schematic of the VL53L1.

Figure 3. VL53L1 schematic

Rserial

Rserial

For hardware interrupt

Note: Capacitors on external supply AVDD should be placed as close as possible to the
AVDDVCSEL and AVSSVCSEL module pins.

Note: External pull-up resistor values can be found in I2C-bus specification. Pull-ups are typically
fitted only once per bus, near the host. For suggested values see Table 3 and Table 4.

Note: XSHUT pin must always be driven to avoid leakage current. A pull-up is needed if the host
state is not known.
XSHUT is needed to use HW standby mode (no I2C communication).

Note: XSHUT and GPIO1 pull up recommended values are 10 kOhms

Note: GPIO1 to be left unconnected if not used

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Table 3 and Table 4 show recommended values for pull-up and series resistors for an AVDD
of 1.8 V to 2.8 V in I2C Fast mode (up to 400 kHz) and Fast mode plus (up to 1 MHz).

Table 3. Suggested pull-up and series resistors for I2C Fast mode
I2C load capacitance (CL) (1) Pull-up resistor (Ohms) Series resistor (Ohms)

CL ≤ 90 pF 3.6 k 0
90 pF < CL ≤ 140 pF 2.4 k 0
140 pF < CL ≤ 270 pF 1.2 k 0
270 pF < CL ≤ 400 pF 0.8 k 0
1. For each bus line, CL is measured in application PCB by customer.

Table 4. Suggested pull-up and series resistors for I2C Fast mode plus
I2C load capacitance (CL)(1) Pull-up resistor (Ohms) Series resistor (Ohms)

CL ≤ 90 pF 1.5 k 100
90 pF < CL ≤ 140 pF 1k 50
140 pF < CL ≤ 270 pF 0.5 k 50
270 pF < CL ≤ 400 pF 0.3 k 50
1. For each bus line, CL is measured in application PCB by customer.

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Functional description VL53L1

2 Functional description

2.1 System functional description

Figure 4 shows the system level functional description. The host customer application
controls the VL53L1 device using an API (application programming interface). The API
implementation is delivered to the customer as a driver (Bare C code, or Linux/Android
driver).
The driver shares with the customer application a set of high level functions that allow
control of the VL53L1 firmware like initialization, ranging start/stop, setting the system
accuracy, and choice of ranging mode.
The driver is a turnkey solution consisting of a set of “C” functions that enables fast
development of end user applications without the complication of direct multiple register
access. The driver is structured in a way that it can be compiled on any kind of platform
through a well abstracted platform layer. The driver package allows the user to take full
advantage of VL53L1 capabilities.
A detailed description of the driver is available in the VL53L1 driver user manual
(UM2133).
The VL53L1 firmware fully manages the hardware register accesses.
Section 2.2: Firmware state machine description details the firmware state machine.

Figure 4. VL53L1 system functional description

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2.2 Firmware state machine description

Figure 5 shows the firmware state machine.

Figure 5. Firmware state machine

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Functional description VL53L1

2.3 Customer manufacturing calibration flow

The detailed procedure is provided in the VL53L1 driver user manual (UM2133).

2.4 Device programming and control

The VL53L1 physical control interface is I2C, described in Section 3: Control interface.
A software layer (driver) is provided to control the device. This avoids complex I2C register
operations with turnkey functions to start, stop and read the ranging values.
The driver structure and functions are described in the VL53L1 driver user manual
(UM2133).

2.5 Description of operating “preset” modes

The VL53L1 software driver proposes four turnkey operating modes (called “preset”) to
allow fast and easy ranging in all customer applications:
 Ranging mode
 Multizone scanning mode
 Lite ranging mode
 Autonomous mode
Ranging mode is the default (recommended) configuration to the get best of the VL53L1
functionalities.
 Ranging mode is natively immune to cover glass crosstalk and smudge beyond 
80 cm. With patented algorithms (direct Time-of-Flight), a temporal filtering is possible
to distinguish crosstalk from object signal over long distance > 80 cm. Best-in-class
ranging performance of 300 cm+ with cover glass in place is now possible, and can be
reached with any computation unlike other sensors in the market.
 Ranging mode can detect several objects concurrently within the FoV. Up to four
ranges can be output simultaneously by the software driver, to indicate objects range.
Check the latest software driver manual for further details.
 Ranging mode is compatible with ROI (region of interest) selection: the user may chose
a custom FoV by software, from 4x4 SPADs (minimum size) up to 16x16 SPADs (full
FoV). This gives full flexibility to support “touch-to-focus” or custom ranging.
 Ranging operation is performed by default at 60 Hz once the driver function is called
(typical ranging operation lasts 16 ms). It includes internal housekeeping, ranging and
post-processing.
Multizone scanning mode provides ranging results of all selected ROIs sequentially:
quadrant (4 zones), 9 zones, 16 zones or custom number of zones and location. In each
ROI the VL53L1 system can also detect multiple objects, and the software driver returns a
ranging quality level and signal, in addition to the distance in millimeters.
Lite ranging mode is recommended to minimize the post processing with a low-
performance host (microcontroller or low frequency CPU).
Autonomous mode triggers ranging interrupts under certain conditions: the user can set
distance thresholds, signal thresholds, and a timing interval between two consecutive
ranging operations.

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Note: Ranging, multizone scanning and lite ranging modes require a handshake between the host
and the VL53L1, at each ranging operation. This handshake is mandatory to ensure the
right result is read by the host to continue the ranging operation.
Please refer to section Section 2.10: Handshake management for further details.

2.6 Digital processing and reading the results

The digital processing is the final operation of the ranging sequence that computes,
validates or rejects a ranging measurement. Part of this processing is performed by the
VL53L1 internal firmware and completed on the host processor running the software driver.
At the end of the digital processing, the ranging distance is computed by the VL53L1 itself. If
the distance cannot be measured (no target or weak signal), a corresponding status error
code is generated and can be read by the host.

2.7 Reading of the results

The VL53L1 software driver provides turnkey functions to read output results after the
measurement:
 Signal rate
 Ranging distance per object detected
 Min. and max. distances where object is located
 Dmax and range quality level
Full description is provided inside the VL53L1 driver user manual (UM2133)

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Functional description VL53L1

2.8 Power sequence

2.8.1 Power-up and boot sequence

There are two options available for device power-up/boot.
Option 1: the XSHUT pin is connected and controlled from the host.
This option optimizes power consumption as the VL53L1 can be completely powered off
when not used, and then woken up through the host GPIO (using the XSHUT pin).
HW standby mode is defined as the period when AVDD is present and XSHUT is low.

Figure 6. Power-up and boot sequence

1. tBOOT is 1.2ms max.

Option 2: the XSHUT pin is not controlled by the host, it is tied to AVDD through the pull-up
resistor.
When the XSHUT pin is not controlled, the power-up sequence is presented in Figure 7. In
this case, the device goes automatically to SW STANDBY after FW BOOT, without entering
HW STANDBY.

Figure 7. Power-up and boot sequence with XSHUT not controlled

1. tBOOT is 1.2 ms max.

Note: In all cases, XSHUT has to be raised only when AVDD is tied on.

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2.9 Ranging sequence

Figure 8. Ranging sequence

1. ttiming_budget is a parameter set by the user, using a dedicated driver function.

2.10 Handshake management

For all ranging modes described above, every time a ranging measurement is available, an
interrupt is generated. The GPIO1 pin of the VL53L1 is then driven high. Once the host
reads the result the interrupt is cleared and the ranging sequence can repeat. If the interrupt
is not cleared, the ranging operation inside the VL53L1 is on hold. It allows a good
synchronization between the VL53L1 and the host, avoids loosing results in case of delay
on the I2C bus, and is mandatory for multizone scanning operations.
It is strongly recommended to use the hardware interrupt pin to manage this handshake. But
if not possible a software polling mode remains available.
For more details please refer to VL53L1 user manual (UM2133)

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Control interface VL53L1

3 Control interface

This section specifies the control interface. The I2C interface uses two signals: serial data
line (SDA) and serial clock line (SCL). Each device connected to the bus uses a unique
address and a simple master / slave relationships exists.
Both SDA and SCL lines are connected to a positive supply voltage using pull-up resistors
located on the host. Lines are only actively driven low. A high condition occurs when lines
are floating and the pull-up resistors pull lines up. When no data is transmitted both lines are
high.
Clock signal (SCL) generation is performed by the master device. The master device
initiates data transfer. The I2C bus on the VL53L1 has a maximum speed of 1 Mbits/s and
uses a device address of 0x52.

Figure 9. Data transfer protocol

Acknowledge
Start condition

SDA
MSB LSB

SCL
S 1 2 3 4 5 6 7 8 P
Ac/Am
Address or data byte
Stop condition

Information is packed in 8-bit packets (bytes) always followed by an acknowledge bit, Ac for
VL53L1 acknowledge and Am for master acknowledge (host bus master). The internal data
is produced by sampling SDA at a rising edge of SCL. The external data must be stable
during the high period of SCL. The exceptions to this are start (S) or stop (P) conditions
when SDA falls or rises respectively, while SCL is high.
A message contains a series of bytes preceded by a start condition and followed by either a
stop or repeated start (another start condition but without a preceding stop condition)
followed by another message. The first byte contains the device address (0x52) and also
specifies the data direction. If the least significant bit is low (that is, 0x52) the message is a
master-write-to-the-slave. If the lsb is set (that is, 0x53) then the message is a master-read-
from-the-slave.

Figure 10. VL53L1 I2C device address: 0x52

MSBit LSBit

0 1 0 1 0 0 1 R/W

All serial interface communications with the Time-of-Flight sensor must begin with a start
condition. The VL53L1 module acknowledges the receipt of a valid address by driving the
SDA wire low. The state of the read/write bit (lsb of the address byte) is stored and the next
byte of data, sampled from SDA, can be interpreted. During a write sequence, the second
byte received provides a 16-bit index which points to one of the internal 8-bit registers.

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Figure 11. VL53L1 data format (write)

VL53L1 acknowledges Acknowledge from VL53L1

Start valid address

S ADDRESS[7:0] As INDEX[15:8] As INDEX[7:0] As DATA[7:0] As P

0x52 (write)
Stop

As data are received by the slave, they are written bit by bit to a serial/parallel register. After
each data byte has been received by the slave, an acknowledge is generated, the data are
then stored in the internal register addressed by the current index.
During a read message, the contents of the register addressed by the current index is read
out in the byte following the device address byte. The contents of this register are parallel
loaded into the serial/parallel register and clocked out of the device by the falling edge of
SCL.

Figure 12. VL53L1 data format (read)

0x52 (write)
S ADDRESS[7:0] As INDEX[15:8] As INDEX[7:0] As P

0x53 (read)
S ADDRESS[7:0] As DATA[7:0] Am P

At the end of each byte, in both read and write message sequences, an acknowledge is
issued by the receiving device (that is, the VL53L1 for a write and the host for a read).
A message can only be terminated by the bus master, either by issuing a stop condition or
by a negative acknowledge (that is, not pulling the SDA line low) after reading a complete
byte during a read operation.
The interface also supports auto-increment indexing. After the first data byte has been
transferred, the index is automatically incremented by 1. The master can therefore send
data bytes continuously to the slave until the slave fails to provide an acknowledge or the
master terminates the write communication with a stop condition. If the auto-increment
feature is used the master does not have to send address indexes to accompany the data
bytes.

Figure 13. VL53L1 data format (sequential write)

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Control interface VL53L1

Figure 14. VL53L1 data format (sequential read)

0x52 (write)
S ADDRESS[7:0] As INDEX[15:8] As INDEX[7:0] As P

0x53 (read)
S ADDRESS[7:0] As DATA[7:0] Am DATA[7:0] Am

DATA[7:0] Am DATA[7:0] Am DATA[7:0] Am P

3.1 I2C interface - timing characteristics

Timing characteristics are shown in Table 6. Please refer to Figure 15 for an explanation of
the parameters used.
Timings are given for all PVT conditions.

Table 5. I2C interface - timing characteristics for Fast mode plus (1 MHz)
Symbol Parameter Minimum Typical Maximum Unit

FI2C Operating frequency 0 - 1000 kHz

tLOW Clock pulse width low 0.5 - -
s
tHIGH Clock pulse width high 0.26 - -
Pulse width of spikes which are
tSP - - 50 ns
suppressed by the input filter
tBUF Bus free time between transmissions 0.5 - - µs
tHD.STA Start hold time 0.26 - -
tSU.STA Start set-up time 0.26 - - s
tHD.DAT Data in hold time 0 - 0.9
tSU.DAT Data in set-up time 50 - -
tR SCL/SDA rise time - - 120 ns
tF SCL/SDA fall time - - 120
tSU.STO Stop set-up time 0.26 - - s
Ci/o Input/output capacitance (SDA) - - 10
Cin Input capacitance (SCL) - - 4 pF
CL Load capacitance - 140 550

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Table 6. I2C interface - timing characteristics for Fast mode (400 kHz)
Symbol Parameter Minimum Typical Maximum Unit

FI2C Operating frequency 0 - 400 kHz

tLOW Clock pulse width low 1.3 - -
s
tHIGH Clock pulse width high 0.6 - -
Pulse width of spikes which are suppressed
tSP - - 50 ns
by the input filter
tBUF Bus free time between transmissions 1.3 - - µs
tHD.STA Start hold time 0.26 - -
tSU.STA Start set-up time 0.26 - - s
tHD.DAT Data in hold time 0 - 0.9
tSU.DAT Data in set-up time 50 - -
tR SCL/SDA rise time - - 300 ns
tF SCL/SDA fall time - - 300
tSU.STO Stop set-up time 0.6 - - s
Ci/o Input/output capacitance (SDA) - - 10
Cin Input capacitance (SCL) - - 4 pF
CL Load capacitance - 125 400

Figure 15. I2C timing characteristics

stop start start stop

VIH
SDA ... VIL

tBUF tLOW tR tF tHD.STA

VIH
SCL
VIL
...

tHD.STA tHD.DAT tHIGH tSU.DAT tSU.STA tSU.STO

All timings are measured from either VIL or VIH.

DocID029631 Rev 14 17/39

39
Control interface VL53L1

3.2 I2C interface - reference registers

The registers shown in the table below can be used to validate the user I2C interface.

Table 7. Reference registers

After fresh reset, without
Register name Index
driver loaded

Model_ID 0x010F 0xEA

Module_Type 0x0110 0xCC

Note: The I2C read/writes can be 8,16 or 32-bit. Multi-byte reads/writes are always addressed in
ascending order with MSB first as shown in Table 8.
The customer must use the VL53L1 software driver for easy and efficient ranging operations
to match performance and accuracy criteria. Hence full register details are not exposed. The
customer should refer to the VL53L1 user manual (UM2133).
Table 8. 32-bit register example
Register address Byte

Address MSB
Address + 1 ..
Address + 2 ..
Address + 3 LSB

18/39 DocID029631 Rev 14

VL53L1 Electrical characteristics

4 Electrical characteristics

4.1 Absolute maximum ratings

Table 9. Absolute maximum ratings
Parameter Min. Typ. Max. Unit

AVDD -0.5 - 3.6

V
SCL, SDA, XSHUT and GPIO1 -0.5 - 3.6

Note: Stresses above those listed in Table 9. may cause permanent damage to the device. This is
a stress rating only and functional operation of the device at these or any other conditions
above those indicated in the operational sections of the specification is not implied.
Exposure to absolute maximum rating conditions for extended periods may affect device
reliability.

4.2 Recommended operating conditions

Table 10. Recommended operating conditions (1)
Parameter Min. Typ. Max. Unit

Voltage (AVDD) 2.6 2.8 3.5

Standard mode 1.6 1.8 1.9 V
IO (IOVDD) (2)
(3) (4)
2V8 mode 2.6 2.8 3.5
Ambient temperature (normal operating) -20 +85 °C
1. There are no power supply sequencing requirements. The I/Os may be high, low or floating when AVDD is
applied. The I/Os are internally failsafe with no diode connecting them to AVDD
2. XSHUT should be high level only when AVDD is on.
3. SDA, SCL, XSHUT and GPIO1 high levels have to be equal to AVDD in 2V8 mode.
4. The default Driver mode is 1V8. 
2V8 mode is programmable using device settings loaded by the driver. For more details please refer to the
VL53L1 driver user manual (UM2133).

4.3 ESD
The VL53L1 is compliant with ESD values presented in Table 11

Table 11. ESD performances

Parameter Specification Conditions

Human body model JS-001-2012 ± 2 kV, 1500 Ohms, 100 pF

Charged device model JZSD22-C101 ± 500 V

DocID029631 Rev 14 19/39

39
Electrical characteristics VL53L1

4.4 Current consumption

Table 12. Power consumption at ambient temperature (1)
Parameter Min. Typ. Max. Unit

HW STANDBY 3 5 7
(2)
SW STANDBY (2V8 mode) 4 6 9 uA
Timed ranging Inter measurement 20
Active Ranging average consumption (including
16 18 mA
VCSEL) (3) (4)
Average power consumption at 10 Hz
20 mW
with 33 ms ranging sequence
1. All current consumption values include silicon process variations. Temperature and voltage are nominal
conditions (23°C and 2v8).
All values include AVDD and AVDDVCSEL.
2. In standard mode (1v8), pull-ups have to be modified, then SW STANDBY consumption is increased by
+0.6 µA.
3. Active ranging is an average value, measured using default driver settings. Ranging mode with default
settings @ 16 ms timing budget.
4. Peak current (including VCSEL) can reach 40mA.

20/39 DocID029631 Rev 14

VL53L1 Electrical characteristics

4.5 Electrical characteristics

Table 13. Digital I/O electrical characteristics
Symbol Parameter Min. Typ. Max. Unit

Interrupt pin (GPIO1)

VIL Low level input voltage - 0.3 IOVDD

VIH High level input voltage 0.7 IOVDD -
Low level output voltage  V
VOL - 0.4
(IOUT = 4 mA)
-
High level output voltage
VOH IOVDD-0.4 -
(IOUT = 4 mA)
Operating frequency 
FGPIO 0 108 MHz
(CLOAD = 20 pF)

I2C interface (SDA/SCL)

VIL Low level input voltage -0.5 0.6

VIH High level input voltage 1.12 3.5
V
Low level output voltage 
VOL - - 0.4
(IOUT = 4 mA)
Leakage current (1) - 10
IIL/IH µA
(2)
Leakage current - 0.15
1. AVDD = 0 V
2. AVDD = 2.85 V; I/O voltage = 1.8 V

DocID029631 Rev 14 21/39

39
Ranging performances VL53L1

5 Ranging performances

5.1 Measurement conditions

In all measurement tables of the document, it is considered that:
1. The full field of view (FoV) is covered (typically 27°) or a partial FoV is covered after a
specific ROI definition by the user (array size from 4x4 SPADs to 16x16 SPADs).
2. Charts used as targets are: grey (17% reflectance, N4.74 Munsell) and white (88%
reflectance N9.5 Munsell).
3. Nominal voltage (2.8 V) and temperature (23°C).
4. Unless mentioned, the device is controlled through the driver using the default settings
(refer to the user manual for driver settings description).
5. Detection rate is considered as 94%.
6. Indoor (no IR) means there is no contribution of light in the band 940 nm ± 30 nm.
Outdoor overcast conditions means an illumination level of 0.7 W/m² back on the
sensor, in the band 940 nm ± 30 nm.
7. No cover glass is present
8. A gain correction is available in the driver. The performance assumes average gain
correction has been applied

5.2 Minimum ranging distance

The minimum ranging distance guaranteed is 4 cm. This is valid for all modes (ranging,
scanning, lite, and autonomous)

5.3 Ranging and Scanning modes: multi object detection

Thanks to direct time of flight principle and ST patents, the VL53L1 is able to detect up to 
4 objects in the FoV.
The typical depth separation between objects has to be at least 80 cm.

5.4 Ranging and Scanning modes: full FoV performance

With default software driver settings, performances with full FoV (grey and white targets)
with 16 ms timing budget are provided in Table 14.

22/39 DocID029631 Rev 14

VL53L1 Ranging performances

Table 14. Performances with Full FoV at 60Hz

Applicable to: Dark or indoor Outdoor
Ranging and Scanning modes (no infrared) overcast

Target Performances
Min. Typ. Max Min. Typ. Max
color full FoV

Max. distance detection 320 cm 320 cm - 70 cm 90 cm

White
Accuracy - - 1% - - 8.5%
target
Ranging offset - - ±25mm - ±25 mm
Max distance 180 cm 230 cm - 70 cm 90 cm -
Grey
Accuracy - - 2.5% - - 8.5%
target
Ranging offset - ±25mm - - ±25 mm

Note: It is assumed that offset calibration is performed.

DocID029631 Rev 14 23/39

39
Ranging performances VL53L1

5.5 Ranging and Scanning modes: partial FoV performances

5.5.1 Optical center definition

Sensing array optical center specification takes into account the part-to-part variation in
production.
Optical center is defined by (Xo, Yo) coordinates.
Optical center is measured for each part during a factory test at STMicroelectronics. The
coordinates are stored in the VL53L1 non-volatile memory and are readable by customer
through software driver in the application. This helps optimizing its design, alignment with
camera and ranging performances in the application.
The green array in Figure 16: Optical center specification gives the possible location of the
optical center.
The user can define its own priority:
 Priority FoV: full matrix 16x16 active, max. ranging distance on corners maybe smaller
than in the center.
 Priority distance: cropped matrix around the optical center. Refer to Table 16:
Ranging and Scanning modes: performance with partial FoV to get the target
performances in this case.

Table 15. Optical center specification

Parameter Min. Typ. Max. Unit

Xo offset -2 0 2
SPAD
Yo offset -2 0 2

Figure 16. Optical center specification

 

 

24/39 DocID029631 Rev 14

VL53L1 Ranging performances

5.5.2 Partial FoV performances

With default software driver settings, performances with partial FoV (grey and white targets)
with 16 ms timing budget per zone are provided in Table 16.

Table 16. Ranging and Scanning modes: performance with partial FoV
Applicable to:
8x8 SPADs ROI array 4x4 SPADs ROI array
Ranging and Scanning modes

ROI In corner Centered In corner Centered

ROI 4 SPADs max. ROI center 6 SPADs max ROI center

Target
center from optical = from optical =
color
location center optical center center optical center

Max distance Typ. = 250 cm Typ. = 250 cm Typ. = 110cm Typ. = 170 cm
detection Min. = 190 cm Min. = 250 cm Min. = 50cm Min. =150 cm
White
Target Accuracy 2% 2% 3% 3%
Ranging offset ±25 mm ±25 mm ±25 mm ±25 mm

Max distance Typ. =125 cm Typ. = 155 cm Typ. = 50 cm Typ. = 90 cm

detection Min. = 70 cm Min. = 100 cm Min. = 20 cm Min. = 50 cm
Grey
Target Accuracy 5% 5% 10% 10%
Ranging offset ±25 mm ±25 mm ±25 mm ±25 mm

Note: It is assumed that per ROI offset calibration is performed.

Note: The performance table is specified after optical centering of the VL53L1 defined in the user
manual. The optical center of the VL53L1 is stored in the VL53L1 NVM and can be read by
the user through the software driver.

DocID029631 Rev 14 25/39

39
Ranging performances VL53L1

5.6 Lite mode performances

Performances for Lite mode, as defined in the software driver, are provided in Table 17.
Table 17. Lite mode: performances with full FoV
Applicable to: Dark or indoor
Lite mode with default settings (no infrared)

15 Hz (default, recommended)
Target color Performance
Min. Typ. Max.

Max. distance detection 330 410 cm -

White target Accuracy - - 2.5%
Ranging offset - - ±25 mm
Max distance detection 130 cm 170 cm -
Grey target Accuracy - - 2.5%
Ranging offset - - ± 25 mm

5.7 Autonomous mode performances

Performances for Autonomous mode, as defined in the software driver, are provided in Table 18.
Table 18. Autonomous mode: performances with full FoV
Applicable to: Dark or indoor
Autonomous mode with default settings (no infrared)

76 ms timing budget
Target color Performance
Min Typ. Max

Max distance detection 280 cm -

White target Accuracy - 1.5%
Ranging offset - ±25 mm
-
Max distance detection 160 cm -
Grey target Accuracy - 2.5%
Ranging offset - ±25 mm

The accuracy of the ranging thresholds programmed by user in autonomous mode are compliant with the
values described in Table 18.

26/39 DocID029631 Rev 14

 39
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VL53L1 Outline drawing

Figure 19. Outline drawing (page 3/3)

The VL53L1 module is delivered with a protective liner covering the top of the cap to protect
the sensor from foreign material during the assembly process. It must be removed by the
customer just before mounting the cover glass.

DocID029631 Rev 14 29/39

39
Laser safety VL53L1

7 Laser safety

This product contains a laser emitter and corresponding drive circuitry. The laser output is
designed to meet Class 1 laser safety limits under all reasonably foreseeable conditions
including single faults in compliance with IEC 60825-1:2014.
Do not increase the laser output power by any means. Do not use any optics to focus the
laser beam.
Caution: Use of controls or adjustments, or performance of procedures other than those specified
herein may result in hazardous radiation exposure.

Figure 20. Class 1 laser label

This product complies with:

 IEC 60825-1:2014
 21 CFR 1040.10 and 1040.11, except for conformance with IEC 60825-1:2014 as
described in the laser notice number 56, dated May 8, 2019.
 EN 60825-1:2014 including EN 60825-1:2014/A11:2021
EN 50689:2021, however STMicroelectronics does not guarantee compliance with the
requirement of clause 5 from EN50689 regarding child appealing products. If designing a
child appealing product, contact STMicroelectronics' technical application support.

30/39 DocID029631 Rev 14

VL53L1 Packaging and labeling

8 Packaging and labeling

8.1 Product marking

A 2-line product marking is applied on the backside of the module (i.e. on the substrate).
The first line is the silicon product code, and the second line, the internal tracking code.

Figure 21. Example of prototype marking

8.2 Inner box labeling

The labeling follows the ST standard packing acceptance specification.
The following information is on the inner box label:
 Assembly site
 Sales type
 Quantity
 Trace code
 Marking
 Bulk ID number

8.3 Packing
At customer/subcontractor level, it is recommended to mount the VL53L1 in a clean
environment to avoid foreign material deposition.
To help avoid any foreign material contamination at phone assembly level the modules will
be shipped in a tape and reel format with a protective liner, starting from production version
(cut1.1).
The packaging will be vacuum-sealed and include a desiccant.
The liner is compliant with reflow at 260°C. It must be removed during assembly of the
customer device, just before mounting the cover glass.

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8.4 Tape outline drawing

Figure 22. Tape outline drawing

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8.5 Pb-free solder reflow process

Figure 23 and Table shows the recommended and maximum values for the solder profile.
Customers have to tune the reflow profile depending on the PCB, solder paste and material
used. We expect customers to follow the “recommended” reflow profile, which is specifically
tuned for VL53L1 package.
For any reason, if a customer must perform a reflow profile which is different from the
“recommended” one (especially peak >240°C), this new profile must be qualified by the
customer at their own risk. In any case, the profile have to be within the “maximum” profile
limit described in Table 19.

Table 19. Recommended solder profile

Parameters Recommended Maximum Units

Minimum temperature (TS min) 130 150 °C

Maximum temperature (TS max) 200 200 °C
Time ts (TS min to TS max) 90-110 60 - 120 s
Temperature (TL) 217 217 °C
Time (tL) 55-65 55 - 65 s
Ramp up 2 3 °C/s
Temperature (Tp-10) - 235 °C
Time (tp-10) - 10 s
Ramp up - 3 °C/s
Peak temperature (Tp) 240 245 °C
Time to peak 300 300 s
Ramp down (peak to TL) -4 -6 °C/s

Figure 23. Solder profile

Note: Temperature mentioned in Table 19 is measured at the top of the VL53L1 package.
Note: The component should be limited to a maximum of three passes through this solder profile.
Note: As the VL53L1 package is not sealed, only a dry reflow process should be used (such as
convection reflow). Vapor phase reflow is not suitable for the VL53L1 because it is an optical
component. Consequently, the VL53L1 should be treated carefully. This would typically
include using a ‘no-wash’ assembly process.

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8.6 Handling and storage precautions

8.6.1 Shock precaution

Sensor modules house numerous internal components that are susceptible to shock
damage. If a unit is subject to excessive shock, is dropped on the floor, or a tray/reel of units
is dropped on the floor, it must be rejected, even if no apparent damage is visible.

8.6.2 Part handling

Handling must be done with non-marring ESD safe carbon, plastic, or teflon tweezers.
Ranging modules are susceptible to damage or contamination. The customer is advised to
use a clean assembly process after removing the tape from the parts, and until a protective
cover glass is mounted.

8.6.3 Compression force

A maximum compressive load of 25 N should be applied on the module.

8.6.4 Moisture sensitivity level

Moisture sensitivity is level 3 (MSL) as described in IPC/JEDEC JSTD-020-C

8.7 Storage temperature conditions

Table 20. Recommended storage conditions
Parameter Min. Typ. Max. Unit

Temperature (storage) -40 23 125 °C

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9 Ordering information

Table 21. Order codes

Minimum order
Sales type Package Packing
quantity

VL53L1CBV0FY/1 Optical LGA12 with liner Tape and reel 3600pcs

10 Acronyms and abbreviations

Table 22. Acronyms and abbreviations

Acronym/abbreviation Definition

ESD Electrostatic discharge

FoV field of view
I2C Inter-integrated circuit (serial bus)
NVM Non volatile memory
SPAD Single photon avalanche diode
ToF Time-of-Flight
VCSEL Vertical cavity surface emitting laser

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ECOPACK VL53L1

11 ECOPACK

In order to meet environmental requirements, ST offers these devices in different grades of

ECOPACK packages, depending on their level of environmental compliance. ECOPACK
specifications, grade definitions and product status are available at: www.st.com.
ECOPACK is an ST trademark.
Note: The ECOPACK grade for VL53L1 is ECOPACK2.

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12 Revision history

Table 23. Document revision history

Date Revision Changes

14 Apr 2017 1 Initial release

Document status updated to “production data”.
Added:
Section 5.2: Minimum ranging distance
Section 5.3: Ranging and Scanning modes: multi object
28-Apr-2017 2 detection
Section 8.4: Tape outline drawing
Modified
Section 2.8.1: Power-up and boot sequence: added a note on
XSHUT pin.
Removed “preliminary” from Section 5: Ranging
performances.
Updated: Table 16: Ranging and Scanning modes:
09-Jun-2017 3
performance with partial FoV, Table 17: Lite mode:
performances with full FoV, and Table 18: Autonomous mode:
performances with full FoV.
Updated Table 7: Reference registers
08-Dec-2017 4 Section 8.5: Pb-free solder reflow process: added note about
reflow process needed for the VL53L1.
Replaced Figure 5: Firmware state machine
Section 2.5: Description of operating “preset” modes:
removed some information about “timing budgets”.
Table 5: updated units of tBUF parameter
Table 6: updated units of tBUF parameter and updated
maximum values of tR and tR.
Section 5.1: Measurement conditions: updated detection rate
29-Nov-2018 5 from 100 % to 94 %.
Section 5.4: Ranging and Scanning modes: full FoV
performance: small text change (of to and).
Section 5.5.2: Partial FoV performances: small text change
(of to and), added “offset” to first note.
Replaced Figure 19: Outline drawing (page 3/3)
Section 7: Laser safety: updated text concerning laser output
limits in Class 1.
20-Mar-2020 6 Document status no longer confidential
15-Dec-2020 7 Updated metadata
Fixed issues with Figure 2: VL53L1 pinout (bottom view),
13-Apr-2021 8 Figure 3: VL53L1 schematic, and Figure 4: VL53L1 system
functional description
14-Apr-2021 9 Updated metadata
Section 3: Control interface: replaced “camera module” with
12-Oct-2021 10
“Time-of-Flight” sensor.

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Revision history VL53L1

Table 23. Document revision history

Date Revision Changes

14-Apr-2022 11 Updated Figure 22: Tape outline drawing

27-Jun-2022 12 Updated Figure 13: VL53L1 data format (sequential write)
Updated Figure 17: Outline drawing (page 1/3), Figure 18:
Outline drawing (page 2/3), and Figure 19: Outline drawing
(page 3/3)
29-Nov-2022 13
Updated Figure 22: Tape outline drawing
Added a note at the end of Chapter 8.5: Pb-free solder reflow
process
Updated Features and Description
Figure 13: Digital I/O electrical characteristics: updated
25-Apr-2024 14
maximum value of VIH.
Updated Section 7: Laser safety.

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