The minimum clock period Tmin is the shortest a clock cycle can be while every register-to-register path still meets the setup constraint. On one path it's:
Tmin = tcq + tpd + tsu
Read it as a timeline after a clock edge: the launching flip-flop's Q is ready after the clock to q delay tcq, the logic needs its critical path delay tpd, and the result must then sit still for the setup time tsu before the next edge.
For a whole circuit, Tmin is the largest value over all paths, and the maximum clock frequency is 1 / Tmin.
Any clock period equal to or longer than Tmin works for setup. A shorter one causes a setup violation on at least one path. With clock skew, subtract the skew: Tmin = tcq + tpd + tsu − tskew.