EPC635 datasheet(45/97 Pages) EPC

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5.9.6. Frame rates and data-out performance

Default Frame and 3D TOF 4x DCS distance measurement

Frame rate:

The epc635 can perform a maximum of 512fps (frames per second) in any mode (1µs integration time, 80MHz mod_clk, 20MHz DCLK,

DLL off, 4x DCS, continuous measurement control).

For 3D TOF, each frame is referred as a DCS frame. Either 4x (with π-delay matching) or 2x (without π-delay matching) DCS frames must

be acquired for one distance calculation. Therefore, the resultant distance measurement rate turns out to be 128 fps or 256 fps respect -

ively.

For the grayscale mode the maximum frame rate applies: 512 fps.

During the burst, each new sample is put on the DATA[7:0] TCMI bus together with XSYNC_SAT_CFG pin at every rising edge, in two

consecutive DCLK cycles (e.g. 2 x 160 = 320 DCKL cycles at default fDCLK = 20MHz). This gives a total burst duration time HSYNC of 32,

16 or 8µs at fDCLK = 10, 20, 40MHz, respectively.

The data-out delay t1st_FRAME_START is defined as the time from the SHUTTER = 1 (or shutter_en = 1 via I2C) to the first sample data coming

out of the TCMI interface, refer to Figure 42 and Table 25. It is < 90µs for 1 µs integration time.

The time of one DCS frame is defined as the time from the SHUTTER = 1 (or shutter_en = 1 via I 2C) to the last sample data coming out of

the TCMI interface.

Symbol

Parameter

Min.

Typ.

12 bit

Typ.

8bit

Units

tDCLK

TCMI readout clock e.g. fDCLK = 20MHz

tSHUTTER

Hold time for the signal on pin SHUTTER

250

tSHUTTER_lag

Delay from the rising edge of SHUTTER signal to the 1st LED pulse

µs

tINT

Image acquisition (integration time)

tPROC

Delay from the last LED pulse until the 1st row conversion

39.25

µs

tCONV

Conversion time for a pair of half rows (even or odd)

15.75

12.25

µs

tHSYNC

Readout time for a row e.g. fDCLK = 20MHz

µs

tHSYNC_lag

Delay from the begin of last readout until the 1st LED pulse of next DCS frame

µs

tVSYNC_lag

Delay end of HSYNC to end of VSYNC at the end of each DCS frame

tVSYNC

Data readout time for one DCS frame e.g. fDCLK = 20MHz

tVSYNC = (2x tCONV x 59 rows) + tHSYNC + tVSYNC_lag

1874.55

1'453.55

µs

Single measurement control mode:

t1st_FRAME_START

Delay from rising edge of SHUTTER signal until start of data readout of 1st frame

89.75

82.75

µs

t1st_FRAME_TOTAL

Total time for reading one DCS or grayscale frame from rising edge of

SHUTTER signal until end of readout of 1st frame

1964.30

1'536.10

µs

Continuous measurement control mode:

tFRAME_continuously

Total time for reading one DCS or grayscale frame

tFRAME_continuously = (2x tCONV x 60 rows) + tHSYNC_lag + tINT + tPROC

1'947.25

1'527.05

µs

t4DCS_continuously

Total time for one 3D TOF distance measurement (4 DCS)

tFRAME_continuously = ((2x tCONV x 60 rows) + tHSYNC_lag + tINT + tPROC ) x 4 DCS

7.789

6.108

Table 25: Timings for one DCS or grayscale frames and for 3D TOF distance measurements (4x DCS)

(Reference: see Figure 42 and Figure 43, fDCLK = 20MHz, tINT = 1µs)

Note:

tInit: In frame cycles having a DLL synchronization tInit = 37µs + tSYNC. = 37µs + DLL pre-synchronization + DLL lock time e.g. tInit = 77µs.

Action

Comments

Value Units

DCS & grayscale frame rate

1 DCS

or a grayscale frame

513

fps

Distance measurement frame rate

4 DCS measurement

128

mps

Table 26: Frame rates based on the Table 25 timing

(Continuous measurement control mode)

Characteristics subject to change without notice

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