Vzense DCAM560C User Manual Download

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3 Specifications and Requirement

3.1

General Specifications

Specification

Vzense DCAM560C

Technology

ToF (Time-of-flight) Depth Camera

Depth Sensor Resolution and Frame rate

640 x 480(VGA)@30FPS

Output Formats

Depth & IR Map (RAW12)

Depth Sensor Field of View

H-Horizontal, V-Vertical(degree)

Typical: H-69°V-51°

(customizable, up to H 120° V90°)

RGB Sensor Resolution and Frame Rate

1600*1200@30fps

RGB Sensor FOV

H-77.6 °V-66.4°

Use Range

0.3m

～

6m(customizable)

Accuracy

<1%

Power Consumption

Average Max. 6W(Ref)

Illumination

940nm ,2 x 2W Vcsel

Dimension(L*W*H)

DCAM560C Pro:105mm*65mm*64.6mm

DCAM560C Lite: 105mm*65mm*60mm

Weight

DCAM560C Pro: 550g

DCAM560C Lite: 520g

Power Supply

DCAM560C Pro: PoE+ or DC power

DCAM560C Lite: DC power

Interface

Gigabit Ethernet and RS485

Digital I/O

(Exposure Control, Synchronization etc.)

1in/1out

Passive Sync Signal

Enclosure Rating

DCAM560C Pro: IP67

DCAM560C Lite: IP42

Working/Storage Temperature

-20

℃

-50

℃

/-30

℃

-70

℃

Software

C/C++ SDK

Operation System

Windows 7/8/10, Linux

Cooling

Passive, no fan

Certification

FCC/CE/FDA

Eye safety

Class 1

Summary of Contents for DCAM560C

Page 1: ...1 Vzense DCAM560C ToF Camera User Manual DCAM560C Pro DCAM560C Lite ...

Page 2: ... Requirements 13 3 6 1 Hardware Requirements 13 3 6 2 Software Requirements 13 3 6 3 Environmental Requirements 13 3 6 4 Coordinate of the Camera System 14 4 Interface with Host 15 4 1 DCAM560C Pro Interface 15 4 2 DCAM560C Lite Interface 18 4 3 LED Indication 21 5 Principle of Time of Flight 22 5 1 Vzense ToF Principle 22 5 2 Noise Factors 22 5 2 1 Ambient Light 22 5 2 Multipath Propagation 22 5 ...

Page 3: ... on Frameviewer 34 8 1 Main screen 34 8 1 1 Image area 35 8 1 2 Command and information area 35 8 2 Connect devices 36 8 3 2D view 36 8 3 1 Depth Image 36 8 3 2 IR Image 37 8 4 3D image store 37 8 5 Camera Control 38 8 5 1 Mode switch 38 8 5 2 Range change 38 8 6 WDR 39 9 DCAM560C Accessories and Package 42 10 Customization Service 44 Appendix 44 ROHS Declaration 44 Laser Specification 44 Manufact...

Page 4: ...elines below when using the Vzense camera Do not remove the product s serial number label Warranty will be void if the label is damaged or removed and the serial number can t be read from the camera s registers Do not disassemble the product housing Do not disassemble the housing Touching any internal components may damage the products Prevent any objects or substances from entering the product ho...

Page 5: ...ened with a small amount of neutral detergent Pure water or alcohol after that wipe dry Make sure no any residual detergent after cleaning before reconnecting the camera to power Read the manual Do read the manual carefully before using the camera ...

Page 6: ...er normal usage conditions Eye safety is only guaranteed when the camera is used properly 2 2 Power The DCAM560C series products can work with either Power over Ethernet or external DC power For PoE power source the PSE device shall apply the PoE standard 802 3at or above lower than that may cause the product doesn t work well or even be damaged The DC power can accept 11V 26V power source For hig...

Page 7: ...e can damage the camera To avoid switch on surges damaging the camera please plug in the power cable into the camera s power connector firstly before getting power source on Don t try to change the position of the lens may cause damage to the camera Do store the camera carefully when not in use in original package the best 2 4 Temperature To avoid damaging the camera and to achieve best performanc...

Page 8: ...ange 0 3m 6m customizable Accuracy 1 Power Consumption Average Max 6W Ref Illumination 940nm 2 x 2W Vcsel Dimension L W H DCAM560C Pro 105mm 65mm 64 6mm DCAM560C Lite 105mm 65mm 60mm Weight DCAM560C Pro 550g DCAM560C Lite 520g Power Supply DCAM560C Pro PoE or DC power DCAM560C Lite DC power Interface Gigabit Ethernet and RS485 Digital I O Exposure Control Synchronization etc 1in 1out Passive Sync ...

Page 9: ...1200mm 30fps 278 369 mA Range 1 500mm 2800mm 30fps 413 587 mA Range 2 800mm 4400mm 30fps 481 698 mA Range 5 1200mm 6000mm 15fps 532 1233 mA Note 12V input voltage 3 2 3 Absolute Maximum Ratings This is a stress rating only and functional operation of the devices at those or any other conditions above those indicated in the operation listings of this specification is not promised Exposure to maximu...

Page 10: ...o Dimension This drawing contains information about the dimensions and user mounting location of the ToF Camera Front View Back View Bottom View Top View Left View Right View Fig 3 1 ToF Camera Dimensions Unit mm Unit mm ...

Page 11: ... Lite Dimension This drawing contains information about the dimensions and user mounting location of the ToF Camera Front View Back View Bottom View Top View Left View Right View Fig 3 2 ToF Camera Dimensions Unit mm ...

Page 12: ...choices according to the lens FOV and wavelength The laser FOV must match to the lens FOV and the wider FOV products need stronger power therefore higher power consumption Even with higher power supplied the laser power per angle of the wider FOV product may be reduced so normally the maximum distance of wider FOV products is shorter than narrower FOV products As for the wavelength we have 850nm a...

Page 13: ...4 bit Windows 7 10 recommended Linux x86 x64 Android 5 0 or above Vzense ToF Driver The Vzense ToF Driver software is available for Windows Linux and Android operating systems and includes the following SDK code Sample code Software user manual 3 6 3 Environmental Requirements Temperature and Humidity Housing temperature during operation Humidity during operation Storage temperature Storage humidi...

Page 14: ... dimensional information The CCS data can switch to the WCS data using the camera internal parameters Fig 3 3 Origin of the Coordinate System The origin of the coordinate system is defined as the below figure shows 1 X coordinate is zero at the X direction axis line of the camera housing 2 Y coordinate is 9 75mm offset from the Y direction axis line of the camera housing 3 Z coordinate is zero off...

Page 15: ...sing as shown in below figure For more information about pin assignments and connector types see the following sections 8 pin Ethernet Interface Pin Designation Description 1 TX_D1 Tranceive Data 2 TX_D1 Tranceive Data 3 RX_D2 Receive Data 4 BI_D3 Bi directional Data 5 BI_D3 Bi directional Data 6 RX_D2 Receive Data 7 BI_D4 Bi directional Data 8 BI_D4 Bi directional Data ...

Page 16: ...hen the IP is reset as 192 168 1 101 Hardware Trigger Function Hardware trigger mode is available only when the camera works at slave mode in slave mode the camera will wait for the hardware trigger signal on Ext_Trigger The EXT_Trigger signal is to driver the MOSFET External input trigger signal voltage should range 3 3V 20V driving current ability should be more than 5mA You can use input pin Ex...

Page 17: ...tput indicates the whole exposure period of the camera The internal circuit of this pin with a pull up resistor 430Ω The pull up voltage is 5V At low level the pull down resistor is 100Ω By default the polarity is low level activated which means a low level signal indicates the exposure period Please refer to below figure Exposure Exposure Exposure_timing Pin ...

Page 18: ...in Connector for DCAM560C Lite The 6pin connector includes the one physical input signals and one physical output signal RS485 signal The pin assignments and pin numbering for the receptacle are as shown in below table The connector of the camera is a Molex receptacle part number 535170630 The recommended mating connector is a Molex plug part number 511030600 Pin Line Color Designation 1 BN RS485 ...

Page 19: ...input trigger signal voltage should range 3 3V 20V driving current ability should be more than 5mA You can use input pin Ext_Trigger to send a hardware trigger signal to the camera The hardware trigger can be used to trigger the acquisition start A hardware debouncer circuit shall be considered on the EXT_Trigger line By default the hardware trigger is rising edge activated refer to below exposure...

Page 20: ...xposure Exposure_timing Pin RJ45 Ethernet Connector for DCAM560C Lite DCAM560C Lite has the standard RJ45 interface for Ethernet transmission IP Reset Button for DCAM560C Lite A hidden button hole is for IP reset a pin shall be used to press the button While the camera is powered on long pressing the button for 10 seconds until the LED is off Then the IP is reset as 192 168 1 101 ...

Page 21: ... no connection established BLUE LED blinking repeatedly Ethernet connection established BLUE LED constantly on IP RESET Press the IP RESET button for 5 seconds PURPLE LED is on for 5 seconds and blink twice then the product reset itself Firmware Upgrade WHITE LED is on until firmware upgrade finished ToF driver Upgrade GREEN LED blinking repeatedly ...

Page 22: ...ra any additional light e g artificial light sources or sunlight may influence the measurement results A strong ambient light may affect the accuracy and precision of the depth data the Zense DCAM 560C is suggested to in user below 50K LUX ambient light 5 2 Multipath Propagation Based on the principle of ToF Multipath effect may happen when the light reflected more one once Any light that has been...

Page 23: ...ifferent reflectivity of the target may cause measurement result deviation objects which have 20 to 80 reflectivity to 850nm or 940nm infrared light have the best result 5 4 Scattering Effect Scattering light effect is a noise factor to ToF products it is caused by multiple reflection inside the lens of camera or the cover of camera To eliminate the scattering light effect you should 1 Keep the co...

Page 24: ...ith the Ethernet cable Order NO 814000600003 the standard RJ45 socket locates at the back of the DCAM560 Lite camera 3 Insert the DC connector of the power supply adaptor into the 12V DC Jack at the back of the camera 4 Connect the adaptor to power source 5 Please do set the IP address of the camera and host PC in the same segment 6 The default IP address of DCAM560 Lite is 192 168 1 101 you can c...

Page 25: ... power It simplifies the topology of the Ethernet system by reducing the dedicated power cable a PoE switch or injector shall be in use to support the PoE feature For Vzense DCAM560C camera the POE Switch or POE injector needs to support IEEE 802 3at 2009 standard also known as PoE which can provide up to 25 5W or IEEE 802 3bt 2018 standard also known as PoE which can provide up to 60W Otherwise t...

Page 26: ... Oversea https github com Vzense Please chose the suitable version based on the product and system Windows SDK Linux SDK have different project repository 6 2 2 Graphic Tool on windows Vense uTool is a graphic tool on windows for the all Vzense ToF products Download or clone uTool evaluation tool from our GitHub Gitee China https gitee com Vzense UTool Oversea https github com Vzense UTool Please ...

Page 27: ...d version app in Tools folder the source code is in Samples folder See the document for the details 6 3 Firmware Upgrade Download the VzenseUpgradeTool from below link China https gitee com Vzense VzenseUpgradeTool Oversea https github com Vzense VzenseUpgradeTool Please read the Vzense_UpgradeTool_User_Guide pdf before upgrading firmware ...

Page 28: ...28 ...

Page 29: ...ory setting TOF Driver Upgrade product is in upgrading of TOF driver System Upgrade product is in upgrading of firmware 6 5 Software Command Set DCAM560C support different work mode like depth_30 IR_30 depth IR_30 Four default ranges range0 0 35m 1 5m range1 0 5m 2 8m range2 0 8m 4 4m range5 1 2m 6 0m User can use Frameviewer to try the different command or can use the APIs to control the camera T...

Page 30: ...ment multiple products synchronization one works as master the other works as slave 7 2 Range Customization By default there are 4 different range modes calibrated for DCAM560C please see below table for more information Range number Distance range Range 0 0 35m 1 5m Range 1 0 5m 2 8m Range 2 0 8m 4 4m Range 5 1 2m 6 0m Please do NOT use uncalibrated modes the measurement data will not be guarante...

Page 31: ...ic range means that the camera can work at more than one range modes alternately then the camera itself will combine the frames of all ranges into one depth frame therefore can expand the range limitation from furthest distance to nearest distance However the frame rate will be reduced 0 0 005 0 01 0 015 0 02 0 025 250 400 600 800 1000 1200 1400 1600 1800 2000 2200 2400 2600 2800 3000 3200 3400 36...

Page 32: ...ring algorithm includes Median filtering Gaussian filtering Bilateral filtering Timing filtering Flying pixel removing 7 5 IR Image Besides the depth image Vzense DCAM560C camera can also output a VGA resolution IR image And the IR image is exactly timing synchronized with the depth image Pixel to pixel mapping is also exactly aligned 0 0 5 1 1 5 2 2 5 3 3 5 4 DISTANCE ERROR DISTANCE RANGE UNIT MM...

Page 33: ...33 ...

Page 34: ...n 30fps IR 30 IR image in 30fps Depth IR 30 both depth and ir in 30fps WDR see the detail in below Range Change Range 0 7 different depth detect range Exposure parameter modify Pulse count laser pulse parameter Gamma gain IR image gamma gain Filters switch different image filters IR_BG the background light swtich 8 1 Main screen Frameviewer have some areas for different function for example image ...

Page 35: ...area is the area of showing depth image IR image 8 1 2 Command and information area Frameviewer use CMD shell for camera control and information output Like the image below switch mode change detect range save 3D image and so on ...

Page 36: ...ut the base information on the window 8 3 2D view The display area can show different type image 8 3 1 Depth Image Depth image is covert to a rainbow image for real distance showing Depth Image with color map COLORMAP_RAIN BOW Color_Map_Mi n 255 0 Color_Map_Ma x 8bit 16bit ...

Page 37: ...37 8 3 2 IR Image 8 4 3D image store When the depth image is showing input s S to store the point cloud file User can use CloudCompare to viewer the 3D image ...

Page 38: ...0 fps 8 5 2 Range change By default DCAM560C product has 4 different range modes calibrated please see below table for more information Range number Distance range Range 0 0 35m 1 5m Range 1 0 5m 2 8m Range 2 0 8m 4 4m Range 5 1 2m 6 0m Please do NOT use uncalibrated modes the measurement data will not be guaranteed If you need other range mode requirement you can ask Vzense team to do range ...

Page 39: ...t range For example if you want to get the distance from 0 35m to 4 4m only one range mode can t cover the whole distance Use range 0 and 2 WDR can match this requirement Configure the WDR mode If you have some particular requirement and want to use WDR mode you can contract with Vzense FAE first Change mode to WDR mode ...

Page 40: ...40 Depth image in range 0 Depth image in range 2 ...

Page 41: ...41 Merged depth image in WDR mode ...

Page 42: ...wisted Pair Aviation Connector to RJ45 Cord Length 3m 814000300018 9pin Multiple Functional Cable Cord Length 2m No Color Wire Gauge Signal 1 RED 22AWG DC 12 24V 2 BLACK 22AWG GND Power GND 3 ORANGE 28AWG GND Signal GND 4 BLUE 28AWG EXT_OUT 5 BLUE WHITE 28AWG RS485 A 6 BROWN WHITE 28AWG RS485 B 7 GREEN 28AWG EXT_TRIGGER 8 BROWN WHITE 28AWG EXPOSURE_TIMING 9 GREEN WHITE 28AWG IP RESET VZENSE UG560C...

Page 43: ...Functional Cable RS485 EXT IO Cord Length 1m No Color Signal 1 BROWN RS485 A 2 GREEN RS485 B 3 WHITE Ext_Trigger 4 YELLOW Exposure_Timing 5 BLACK GND 6 RED Ext_OUT VZENSE UG560C User guide You can ask Vzense to do customization to the cable for any reason for example extending the cable length Please do NOT use the accessories from other parts except Vzense Company otherwise warranty will void Opt...

Page 44: ...ols or adjustments or performance of procedures other than those specified herein may result in hazardous radiation exposure Complies with 21 CFR 1040 10 and 1040 11 except for conformance with IEC 60825 1 Ed 3 as described in Laser Notice No 56 data May 8 2019 The following Class1 laser label is located on the bottom of the sensor Manufacturer Name Qingdao Vzense Technology Co Ltd Address 3 Build...

Page 45: ...erference when the equipment is operated i n a commercial environment This equipment generates uses and can radiate radio frequency energy and if not installed and used in accordance with the instruction ma nual may cause harmful interference to radio communications Operation of this equi pment in a residential area is likely to cause harmful interference in which case the u ser will be required t...

Page 46: ...46 Revision History Revised on Version Description Approved by 22 Dec 2021 1 0 Add appendix with laser spec and manufacturer information per requirement by compliance test ...

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