EPC TOF cam 635, Инструкция по установке и эксплуатации, Страница: 28 / 39

Response e.g | 0xFA | 0x03 | 0x50 0x4B | 0x28 0x0F 0x00 0x00 … (19'280 bytes total) | CRC (4 bytes) |
Acquisition (n+1) & processing (n+1)
n+1 n
Acquisition (n) & processing (n)
Application:
Command on Rx
Request
processing
t
COM
t
PROC
Camera:
Data out on Tx
t
COM_TX
t
COM
t
PROC
t
COM_TX
t
frame
t
frame
t
ACQ
t
ACQ
Figure 16: Timing of a single distance measurement
10.6. GET_DIST_GS [0x0A]
Performs distance and grayscale acquisition. It returns, in streaming mode continuously, the result or status. For parameter settings and
response details, refer to Table 12, 13, 14 and 15.
Parameter byte 0: Acquisition mode. Refer to Table 13.
others: 0
Response type 0x03: Distance and grayscale
Response data 80 bytes header (refer to Chapter 10.3, includes NFOV spot data) + max. 160x60 pixel x 3 bytes/pixel
WFOV or NFOV data with 16 bit distance data (refer to Table 14) and 8 bit grayscale data (refer to Table 15).
Only applicable to modes 0, 1, 4 and 5, refer to Table 12.
Modes, only responding with NFOV spot data, transmit the header only. Thereof, no grayscale data are available.
Response time up to ~150ms depending on settings
Example
Command e.g | 0xF5 | 0x29 | 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 | 0xE7 0xC8 0x28 0x2A | (Acquisition mode 0)
Response e.g | 0xFA | 0x0A | 0xD0 0x70 | 0x28 0x0F 0x00 0x00 … (28'880 bytes total) | CRC (4 bytes) |
10.7. GET_DIST_AMPLITUDE [0x22]
Performs distance and TOF amplitude acquisition. It returns, in streaming mode continuously, the result or status. For parameter settings
and response details, refer to Table 12, 13, 14 and 15.
Parameter byte 0: Acquisition mode. Refer to Table 13.
others: 0
Response type 0x05: Distance and amplitude
Response data 80 bytes header (refer to Chapter 10.3, includes NFOV spot data) + max. 160x60 pixel x 4 bytes/pixel
WFOV or NFOV data with 16 bit distance data (refer to Table 14) and 16 bit TOF amplitude (refer to Table 15).
Only applicable to modes 0 and 1, refer to Table 12.
Response time up to ~150ms depending on settings
Example
Command e.g. | 0xF5 | 0x22 | 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 | 0xE9 0xDF 0xE8 0x9E | (Acquisition mode 0)
Response | 0xFA | 0x05 | 0x50 0x96 | 0x28 0x0F 0x00 0x00 … (38'480 bytes total) | CRC (4 bytes) |
© 2019 ESPROS Photonics Corporation
Characteristics subject to change without notice
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