Entry
Format
Bytes Index Comment
FOV
8 Bit unsigned integer
0: Header only, means NFOV spot
1: WFOV image data
2: NFOV image data
1
71
Refer to Chapter 9.4.
NFOV spot data distance
16 Bit unsigned integer
0 … 15'000d or status,
0xFFFF: not available with selected mode.
2
73
Refer to Chapter 9.4.
NFOV spot data amplitude
16 Bit unsigned integer
0 … 2'896d or status,
0xFFFF: not available with selected mode.
2
74
NFOV spot x coordinate
8 Bit unsigned integer
0xFF: not available with selected mode.
1
76
NFOV spot y coordinate
8 Bit unsigned integer
0xFF: not available with selected mode.
1
77
Reserved
-
2
78
Header bytes
in total
80
Table 16 cont.: Header parameters
10.4. Warm-up
The distance accuracy of TOF cameras is sensitive to temperature change due to the temperature dependent electron mobility velocity in
semiconductors. This phenomenon effects the speed of the electrons of the illumination, the illumination driver, the pixel of the imager
chip, etc. Thus, an effective temperature compensation is implemented into the TOF>cam 635. However, if there are fast and large
temperature changes of the camera, the measured distance may deviate significantly from the real object distance. Such a large and fast
temperature step takes place when the camera is powered on, until the operating temperature reaches its equilibrium. Figure 15 shows a
typical error curve of a pixel during power up.
Figure 15: Typical warm-up phase of camera at room temperature
10.5. GET_DIST [0x20]
Performs distance acquisition. Refer to Figure 16. It returns, in streaming mode continuously, the result or status. For parameter settings
and response details, refer to Table 12, 13, and 14.
Parameter
byte 0:
Acquisition mode. Refer to Table 13.
others:
0
Response type
0x03:
Distance
Response data
80 bytes header (refer to Chapter 10.3, includes NFOV spot data)
+ max. 160x60 pixel x 2 bytes/pixel WFOV or NFOV distance data (refer to Table 14).
Modes, only responding with NFOV spot data, transmit the header only.
Response time
up to ~100ms depending on settings
Example
Command e.g
| 0xF5 |
0x20
|
0x00
0x00 0x00 0x00 0x00 0x00 0x00 0x00
| 0x62 0xAC 0xA8 0xCC | (Acquisition mode 0)
© 2019 ESPROS Photonics Corporation
Characteristics subject to change without notice
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Installation_and_Operation_Manual_TOF>cam_635-V0.21