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FRAMOS Industrial Depth Camera D400e Series - User Manual
Version 1.0.0 from 2020-06-30

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1.3

Minimum System Requirements

Host PC Operating System:



Microsoft® Windows® 10

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Linux Ubuntu 16.04

Host PC Architecture:

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x86_64



ARM64 (NVIDIA® Jetson™ TX2)

Hardware:



Gigabit Network Interface Card (NIC)

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Summary of Contents for D400e Series

Page 1: ...FRAMOS Industrial Depth Camera D400e Series USER MANUAL Version 1 0 0 from 2020 06 30 www framos com ...

Page 2: ... Right Imagers 11 3 3 Infrared Projector 12 3 4 Color Sensor 13 3 5 Labels on the Camera 13 3 6 Thermal Control 13 3 7 Mechanical Dimensions 14 3 8 Storage and Operating Conditions 15 3 9 Connectors and PINs of M12 and M8 15 3 9 1 Ethernet M12 connector X Coded Female 15 3 9 2 Power M8 connector A Coded Male 16 3 10 Power Consumption 16 Optimum Thermal Conditions 17 4 1 Fundamentals of the Camera ...

Page 3: ... Accuracy 27 6 5 Depth Camera Functions 27 6 6 Color Camera Functions 27 6 7 D400e Camera Specific Features 28 6 7 1 Packet Size 28 6 7 2 Inter Packet Delay 29 6 7 3 Heartbeat Time 29 6 7 4 Intercam Sync Mode 29 6 7 5 RGB Stereo Synchronization 29 Firmware Updates 31 7 1 Parallel Firmware Update 32 Software 33 8 1 FRAMOS Camera Suite SDK 33 8 1 1 Set IP Configuration 33 8 1 2 Manage Camera Calibra...

Page 4: ...e 2 Terminology 8 Table 3 D430 Depth Module Properties 10 Table 4 D410 Depth Module Properties 10 Table 5 D430 Imager Properties 11 Table 6 D410 Imager Properties 11 Table 7 D430 infrared projector properties 12 Table 8 D410 infrared projector properties 12 Table 9 Color Sensor Properties 13 Table 10 Camera Labels 13 Table 11 D400e Series Camera Dimensions 14 Table 12 Storage and Operating Conditi...

Page 5: ... 41 List of Abbreviations Abbreviation Explanation SDK Software Development Kit NIC Network Interface Card I O Input output DC Direct Current GND Ground IN Input OUT Output RMA Return material authorization TBD To Be Determined DHCP Dynamic Host Communication Protocol LLA Link local address ...

Page 6: ...iew for depth and RGB sensors and global shutter feature of the depth sensors allows for applications with fast motion 1 2 Features Resolution depth D435e 1280 x 720 px global shutter D415e 1280 x 720 px rolling shutter Resolution RGB 1920 x 1080 px rolling shutter FOV depth HxVxD D435e 86 x 57 x 94 3 D415e 65 x 40 x 72 3 FOV RGB HxVxD 69 x 43 x 77 3 Projector Unstructured light in IR spectrum to ...

Page 7: ...s User Manual Version 1 0 0 from 2020 06 30 7 of 41 1 3 Minimum System Requirements Host PC Operating System Microsoft Windows 10 Linux Ubuntu 16 04 Host PC Architecture x86_64 ARM64 NVIDIA Jetson TX2 Hardware Gigabit Network Interface Card NIC ...

Page 8: ...red horizontally vertically or diagonally IR Projector This refers to the source of infrared IR light used for illuminating a scene object or person to collect depth data Imagers Depth camera system uses a pair of cameras referred as imagers to calculate depth They are identical cameras configured with identical settings Image Signal Processor ISP Image processing functions to enhance color image ...

Page 9: ... depth accuracy in scenes with low texture The left and right imagers capture the scene and send image data to the vision processor The vision processor calculates depth values for each pixel in the image by correlating points on the left image to the right image The depth pixel values are processed to generate a depth frame Subsequent depth frames create a depth video stream ...

Page 10: ...5 3 V 62 1 D 89 3 IR Projector Wide IR Projector FOV H 90 V 63 D 99 Module Dimensions mm X 70 7mm Y 14mm Z 10 53mm Table 3 D430 Depth Module Properties D410 Baseline 55mm Left Right Imagers Type Standard Depth FOV HD degrees H 65 2 V 40 1 D 72 2 Depth FOV VGA degrees H 50 2 V 40 1 D 61 2 IR Projector Standard IR Projector FOV H 67 V 41 D 75 Module Dimensions mm X 74 7mm Y 10mm Z 4 7mm Table 4 D410...

Page 11: ... Global Shutter Horizontal Field of View 91 2 deg Vertical Field of View 65 5 deg Diagonal Field of View 100 6 deg Distortion 1 5 Table 5 D430 Imager Properties D410 Image Sensor OmniVision OV2740 Active Pixels 1920 X 1080 Sensor Aspect Ratio 16 9 Format 10 bit RAW F Number f 2 0 Focal Length 1 88mm Filter Type None Focus Fixed Shutter Type Rolling Shutter Horizontal Field of View 69 4 deg Vertica...

Page 12: ...ng Component Vertical cavity surface emitting laser VCSEL Optics Laser Controller PWM Optical Power 360mW average 4 25W peak Laser Wavelength 850nm 10 nm nominal 20 C Laser Compliance Class 1 IEC 60825 1 2007 Edition 2 IEC 60825 1 2014 Edition 3 H Field of Projection 86 3 V Field of Projection 57 3 D Field of Projection 94 3 Table 7 D430 infrared projector properties D410 Projector Infrared Patter...

Page 13: ...l Field of View 42 5 deg Diagonal Field of View 77 deg Distortion 1 5 Table 9 Color Sensor Properties 3 5 Labels on the Camera The label on the sticker of the camera indicates two numbers PC Product Code With this number you can purchase the exact same product at FRAMOS SN Serial Number This is the unique identifier of a single camera For support and RMA cases this number is necessary Table 10 Cam...

Page 14: ...Depth Camera D400e Series User Manual Version 1 0 0 from 2020 06 30 14 of 41 3 7 Mechanical Dimensions Front View D435e Front View D415e Side View D435e D415e Back View D435e D415e Table 11 D400e Series Camera Dimensions ...

Page 15: ...perating Temperature Sustained Controlled 20 70 C Relative Humidity 5 95 non condensing Case Temperature operating Temperature 0 60 C Table 12 Storage and Operating Conditions 3 9 Connectors and PINs of M12 and M8 3 9 1 Ethernet M12 connector X Coded Female Figure 1 M12 PIN Layout M12 Pin RJ45 1 1 MX0 2 2 MX0 3 3 MX1 4 6 MX1 5 7 MX3 6 8 MX3 7 5 MX2 8 4 MX2 Table 13 M12 PIN Layout ...

Page 16: ...in Description 1 DC Power supply 12 24V DC 10 2 Opto isolated IN 3 Opto isolated OUT 4 GND for opto isolated I O 5 Direct coupled I O 1 optional 6 Direct coupled I O 2 optional 7 Not used 8 Power GND Table 14 M8 PIN Layout 3 10 Power Consumption Condition Typical Max Power via M8 5 5W 7W Power via M12 PoE 6 9W 8W Table 15 D400e Series Camera Power Consumption ...

Page 17: ...ra via the M8 connector Power Supply Option Max Power via M8 7W Power via M12 PoE 8W Table 16 D400e Maximum Power Consumption Most of the power consumed by the camera is converted to heat and consequently the camera will generate heat that is released to the ambient via the camera s housing Due to the internal structure of the camera most heat dissipation will happen via the back side Therefore th...

Page 18: ...tion framerate laser usage the power supply options and environmental conditions to assure that the camera remains in a safe temperature range at all time Examples of using appropriate heatsinks are discussed in the following chapter 4 2 Operating Conditions for Different Temperatures Depending on the ambient conditions the camera can either operate without any additional heat dissipation element ...

Page 19: ...s that can be used to keep the camera in a safe operation mode Heatsink Description H0 No heatsink attached H1 passive SK 424 75 ME Heatsink length 75 mm Thermal resistance approx 3 8 K W H2 passive SK 408 50 ME Heatsink length 50 mm Thermal resistance approx 2 3 K W H3 passive SK 530 100 AL Heatsink length 100 mm Thermal resistance approx 0 38 K W ...

Page 20: ...FRAMOS Industrial Depth Camera D400e Series User Manual Version 1 0 0 from 2020 06 30 20 of 41 H4 active SK 424 75 ME Heatsink length 75 mm Cooling fan Xilence XPF40 Table 19 Heat Dissipation Elements ...

Page 21: ...3 shows that camera operation in normal indoor environments up to 31 C 37 C can be possible with very small heatsinks such as H1 For moderately increased ambient temperatures larger heat sinks must be used H2 is showing the tradeoff between heatsink size and maximal allowed ambient temperatures at 42 C 45 C For very high ambient temperatures either large heatsink elements H3 or active cooling H4 m...

Page 22: ...0 22 of 41 Recommendation In case there is a problem with overheating rather use external power supply than PoE Recommendation Minimize the resource utilization i e fps exposure projector intensity of the camera which will positively affect heat generation and longevity of the product ...

Page 23: ...he camera body four M3 thread holes are available for mounting Since the housing is made of aluminum and M3 thread holes depth is 3 2mm care is required when tightening the screws to avoid thread damage Applied tightening torque should not exceed 100 cNm for these screws Figure 4 D400e Series Camera Body Back Side The camera is constructed for operation in industrial environments and can be used w...

Page 24: ...E supply and protect the unused connector against impurities and moisture keeping it ready for future use Recommendation When attaching M8 and M12 cables to camera connectors should be fixed with a tool wrench key so that the connectors do not rotate under force 5 3 Cleaning Procedures Depending on the operating environment the camera needs to be cleaned from time to time For cleaning the camera h...

Page 25: ...𝐻𝐻 𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼2𝐹𝐹𝐹𝐹𝐹𝐹 𝑅𝑅𝑅𝑅𝑅𝑅𝐵𝐵𝐵𝐵𝐵𝐵 𝑅𝑅𝑅𝑅𝑅𝑅𝑊𝑊𝑊𝑊𝑊𝑊𝑊𝑊𝑊𝑊 𝑅𝑅𝑅𝑅𝑅𝑅𝐻𝐻𝐻𝐻𝐻𝐻𝐻𝐻𝐻𝐻𝐻𝐻 𝑅𝑅𝑅𝑅𝑅𝑅𝐹𝐹𝐹𝐹𝐹𝐹 Example of a bandwidth calculation is given below Depth profile 640x480 30fps with both left and right infrared streams enabled RGB profile 848x480 30fps 𝐷𝐷𝐷𝐷𝐷𝐷𝐷𝐷ℎ𝑊𝑊𝑊𝑊𝑊𝑊𝑊𝑊𝑊𝑊 𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼1𝑊𝑊𝑊𝑊𝑊𝑊𝑊𝑊𝑊𝑊 𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼2𝑊𝑊𝑊𝑊𝑊𝑊𝑊𝑊𝑊𝑊 640 𝐷𝐷𝐷𝐷𝐷𝐷𝐷𝐷ℎ𝐻𝐻𝐻𝐻𝐻𝐻𝐻𝐻𝐻𝐻𝐻𝐻 𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼1𝐻𝐻𝐻𝐻𝐻𝐻𝐻𝐻𝐻𝐻𝐻𝐻 𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼𝐼2𝐻𝐻𝐻𝐻𝐻𝐻𝐻𝐻...

Page 26: ...s of 5 Max and Min FOV values can vary from lens to lens and module to module by 3 degrees Depth Field of View Depth FOV at any distance Z can be calculated using the equation Depth FOV Depth Field of View HFOV Horizontal Field of View of Left Imager on Depth Module B Baseline Z Distance of Scene from Depth Module 6 3 Minimum Z Depth The Minimum Z Depth is the minimum distance from depth camera to...

Page 27: ...f On 1 Power to IR Projector 0 1 Manual Laser Power mW Laser Power setting 30mW steps 0 360 Auto Exposure Mode Enable 1 Auto Exposure Mode When Auto Exposure is enabled Exposure and Gain are set based on the environment condition 0 1 Auto Exposure ROI Auto Exposure on a selected ROI T 0 L 0 B 1 R 1 T 719 L 1279 B 720 R 1280 Table 24 Depth Camera Functions NOTES 1 Not supported in Auto Exposure Mod...

Page 28: ...lgorithm 0 1 Power Line Frequency Specified based on the local power line frequency for flicker avoidance 0 4 Backlight Compensation Sets a weighting amount based on brightness to the frame 0 1 Low Light Comp Low Light 0 1 Table 25 Color Camera Functions 6 7 D400e Camera Specific Features 6 7 1 Packet Size The Packet Size feature specifies the stream packet size in bytes It can be configured separ...

Page 29: ...d If the camera does not receive a heartbeat command in the same interval it considers the host disconnected For more information please refer to document d400e_api_extensions md part of the D400e software package 6 7 4 Intercam Sync Mode Enables synchronous streaming of multiple cameras and stream synchronization to an external event For more information please refer to FRAMOS Industrial Depth Ca...

Page 30: ...5 D400e Series Camera Synchronized Streams With streams out of synchronization RGB and Stereo streams drift apart over time as shown in Figure 6 Figure 6 D400e Series Camera Streams out of Synchronization Recommendation Use synchronization with Auto Exposure option enabled for both RGB and Stereo sensor ...

Page 31: ...irmware tool is used to update the firmware on FRAMOS Industrial Depth Cameras The firmware update file is verified by the tool for compatibility with selected camera before firmware update process is initiated Usage example on Linux UpdateFirmware FRAMOS_D435e_r1111_v1_7_0_0 fw_update Figure 7 Tool UpdateFirmware Part1 Select camera from list and confirm to initiate firmware update procedure Figu...

Page 32: ...cted firmware update file If there are cameras in the list that are not compatible with firmware update file the UpdateFirmware tool will simply ignore these cameras and will inform user about incompatibility at the end of the firmware update procedure Figure 10 Tool UpdateFirmware Parallel Part2 On firmware update procedure completion the UpdateFirmware tool will list cameras with corresponding f...

Page 33: ...pth Cameras FRAMOS CameraSuite API assisted by FRAMOS GigE Vision filter driver acts as a middleware between FRAMOS Industrial Depth Camera D400e Series and Intel RealSense SDK 2 0 allowing D400e Series camera to be used by tools based on the Intel RealSense SDK 2 0 8 1 1 Set IP Configuration ConfigureIP tool is used to configure the IP address of a FRAMOS Industrial Depth Camera Supported IP conf...

Page 34: ...be active until camera is restarted 8 1 2 Manage Camera Calibration Tables CalibrationTables tool is used to manage calibration tables on FRAMOS Industrial Depth Camera D400e Series Following actions are supported Read calibration tables from device Write calibration tables to device active Write calibration tables to device active gold Reset calibration tables on device to default gold factory se...

Page 35: ...2 0 can be downloaded here https www framos com en industrial depth cameras The SDK at a minimum includes Intel RealSense Viewer This application can be used view record and playback depth streams set camera configurations and other controls Depth Quality Tool This application can be used to test depth quality including distance to plane accuracy Z accuracy standard deviation of the Z accuracy and...

Page 36: ... 36 of 41 Wrappers Software wrappers supporting common programming languages and environments such as ROS Python Matlab node js LabVIEW OpenCV PCL NET and more Additional documentation and instructions on the Intel SDK can be found here https dev intelrealsense com docs docs get started ...

Page 37: ...to Laser Notice No 50 dated June 24 2007 Cautionary Statement Do not power on the product if any external damage was observed Do not attempt to open any portion of this laser product Invisible laser radiation when opened Avoid direct exposure to beam There are no user serviceable parts with this laser product Modification or service of the stereo module specifically the infrared projector may caus...

Page 38: ...product must not be disposed of with household waste It is your responsibility to bring it to a designated collection point for the recycling of waste electrical and electronic equipment For more information contact the local waste collection center or your point of purchase of this product Other Certifications Shock DIN EN 60068 2 27 Vibration DIN EN 60068 2 6 DIN EN 60068 2 64 ...

Page 39: ...ing 225 https www metz connect com en products 142m2xc5020 M8 Connector M8 female cable connector Contacts 8 2m Order Number 77 3406 0000 50008 0200 https www binder connector com en products automation technology m8 female cable connector overmoulded screw type m8x1 with hexagonal die cast threaded ring pur 7734060000500080200 Sensor actuator cable SAC 8P 1 5 PUR M 8FS SH 1404147 https www phoeni...

Page 40: ... External Event Camera Synchronization v1 0 FRAMOS GmbH 3 FRAMOS Industrial Depth Camera D400e Series Multi Camera Synchronization v1 0 FRAMOS GmbH 4 FRAMOS Industrial Depth Camera D400e Series Tuning System For Best Performance v1 0 FRAMOS GmbH 5 Best Known Methods for Tuning Intel RealSense D400 Depth Cameras for Best Performance v2 0 Intel RealSense 6 FRAMOS Industrial Depth Camera D400e Series...

Page 41: ...er Manual Version 1 0 0 from 2020 06 30 41 of 41 Revision History Date Version Changes 2020 06 30 1 0 0 Initial version Table 26 Revision History NOTE This document replaces and supersedes the user manual FRAMOS Industrial Depth Camera D435e v1 1 0 ...

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