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Chapter 3 Communications from Host
3-2 Basic Process on Host
3D TOF Sensor Module B5L User's Manual (No. E596)
3-2 Basic Process on Host
This section describes basic result acquisition process on the host that operates this
product.
①
Check connections
↓
②
Set parameters
↓
③
Set operation mode
↓
④
Set result acquisition format
↓
⑤
Start distance measurement
↓
⑥
Get result
↓
⑦
Stop distance measurement
①
Check if connection to this product is available
.
Use the Get version command to check the response.
If the response cannot be checked, refer to "Chapter 2 - Installation and Wiring".
②
Configure parameters
.
Set the following parameters as needed
.
- Exposure time/frame rate
Time to accumulate receiving light
.
The larger this value is, the more distant object can be detected, while saturation
and overflow are more likely to occur for near objects. In addition, the product
generates more heat, reducing the maximum frame rate.
Refer to "4-9 Exposure Time Setting (88Hex)" and "4-10 Get Exposure Time
(89Hex)" for details.
- T3D rotation angle
It is an angle for converting the coordinate system as seen from the camera
(Cartesian coordinate system) into a coordinate system rotated to a desired angle
(rotated Cartesian coordinate system).
Refer to "4-11 T3D Rotation Angle Setting (8AHex)" and "4-12 Get T3D Rotation
Angle (8BHex)" for details.
- LED emission frequency ID
Mutual interference can be avoided when multiple units of this product are operated
simultaneously.
Refer to "4-13 LED Emission Frequency ID Setting (8EHex)" and "4-13 Get LED
Emission Frequency ID (8FHex)" for details.
- MIN_AMP (for all range)
Low amplitude (weakly reflected light) pixels make the distance output results
unstable.
For pixels with amplitude values smaller than the value set by this threshold, the
distance and amplitude values are output as low amplitude values.
Refer to "4-15 MIN_AMP (for all range) Setting (90Hex)" and "4-16 Get MIN_AMP
(for all range) (91Hex)" for details.
- MIN_AMP (for close distance)
Low amplitude (weakly reflected light) pixels at far distance make the distance
measurement incorrect due to impact of close obstacles, leading to erroneous
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