Related Manuals for FRAMOS D400e Series
Summary of Contents for FRAMOS D400e Series
- Page 1 FRAMOS Industrial Depth Camera D400e Series USER MANUAL Version 1.0.0 from 2020-06-30 www.framos.com...
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Page 2: Table Of Contents
Fundamentals of the Camera’s Heat Dissipation ................. 17 Operating Conditions for Different Temperatures ................18 Maximum Operating Ambient Temperatures ..................21 Summary of Operating Conditions and Temperatures ................. 21 FRAMOS Industrial Depth Camera D400e Series - User Manual Version 1.0.0 from 2020-06-30 2 of 41... - Page 3 8.1.2 Manage Camera Calibration Tables ....................34 Intel® RealSense™ Software Development Kit 2.0 ................35 Regulatory Compliance ....................37 Accessories ........................39 References ........................40 Revision History......................41 FRAMOS Industrial Depth Camera D400e Series - User Manual Version 1.0.0 from 2020-06-30 3 of 41...
- Page 4 Figure 4 – D400e Series Camera Body Back Side ..............23 Figure 5 – D400e Series Camera Synchronized Streams ............30 Figure 6 – D400e Series Camera Streams out of Synchronization ..........30 Figure 7 - Tool UpdateFirmware Part1 ..................31 Figure 8 – Tool UpdateFirmware Part2 ..................31 Figure 9 - Tool UpdateFirmware Parallel Part1 .................32...
- Page 5 Software Development Kit Network Interface Card Input/output Direct Current Ground Input Output Return material authorization To Be Determined DHCP Dynamic Host Communication Protocol Link-local address FRAMOS Industrial Depth Camera D400e Series - User Manual Version 1.0.0 from 2020-06-30 5 of 41...
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Page 6: Description And Features
The FRAMOS Industrial Depth Camera D400e Series are ideal for OEMs and integrators who need 3D as well as 2D vision in their products and applications. The FRAMOS Industrial Depth Camera D400e Series are compatible with the Cross-platform SDK for Intel®... -
Page 7: Minimum System Requirements
Microsoft® Windows® 10 Linux Ubuntu 16.04 Host PC Architecture: x86_64 ARM64 (NVIDIA® Jetson™ TX2) Hardware: Gigabit Network Interface Card (NIC) FRAMOS Industrial Depth Camera D400e Series - User Manual Version 1.0.0 from 2020-06-30 7 of 41... -
Page 8: Introduction
Table 2 - Terminology 2.3 Stereo Vision Depth Technology Overview The FRAMOS Industrial Depth Camera D400e Series use stereo vision to calculate depth. The stereo vision implementation consists of a left imager, right imager, and an optional infrared FRAMOS Industrial Depth Camera D400e Series - User Manual Version 1.0.0 from 2020-06-30... - Page 9 The depth pixel values are processed to generate a depth frame. Subsequent depth frames create a depth video stream. FRAMOS Industrial Depth Camera D400e Series - User Manual Version 1.0.0 from 2020-06-30...
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Page 10: Component Overview
Due to mechanical tolerances of +/-5%, Max and Min FOV values can vary from lens to lens and module to module by ~ +/- 3 degrees. FRAMOS Industrial Depth Camera D400e Series - User Manual Version 1.0.0 from 2020-06-30 10 of 41... -
Page 11: Left And Right Imagers
Horizontal Field of View 69.4 deg Vertical Field of View 42.5 deg Diagonal Field of View 77.0 deg Distortion <=1.5% Table 6 – D410 Imager Properties FRAMOS Industrial Depth Camera D400e Series - User Manual Version 1.0.0 from 2020-06-30 11 of 41... -
Page 12: Infrared Projector
60825-1:2014 Edition 3 H. Field of Projection 64°±3° V. Field of Projection 41°±3° D. Field of Projection 72°±3° Table 8 – D410 infrared projector properties FRAMOS Industrial Depth Camera D400e Series - User Manual Version 1.0.0 from 2020-06-30 12 of 41... -
Page 13: Color Sensor
60°C, the intensity of the projector is reduced and eventually it will be switched OFF. Most of the heat is conducted to the rear plate of the camera. Therefore, heat conductive material for mounting the camera is recommended. FRAMOS Industrial Depth Camera D400e Series - User Manual Version 1.0.0 from 2020-06-30 13 of 41... -
Page 14: Mechanical Dimensions
3.7 Mechanical Dimensions Front View D435e Front View D415e Side View D435e/D415e Back View D435e/D415e Table 11 – D400e Series Camera Dimensions FRAMOS Industrial Depth Camera D400e Series - User Manual Version 1.0.0 from 2020-06-30 14 of 41... -
Page 15: Storage And Operating Conditions
M12 Pin RJ45 1 (MX0+) 2 (MX0-) 3 (MX1+) 6 (MX1-) 7 (MX3+) 8 (MX3-) 5 (MX2-) 4 (MX2+) Table 13 – M12 PIN Layout FRAMOS Industrial Depth Camera D400e Series - User Manual Version 1.0.0 from 2020-06-30 15 of 41... -
Page 16: Power M8 Connector, A-Coded, Male
Table 14 – M8 PIN Layout 3.10 Power Consumption Condition Typical Power via M8 5.5W Power via M12 (PoE) 6.9W Table 15 – D400e Series Camera Power Consumption FRAMOS Industrial Depth Camera D400e Series - User Manual Version 1.0.0 from 2020-06-30 16 of 41... -
Page 17: Optimum Thermal Conditions
Figure 3 – Hottest Part of the Camera Housing FRAMOS Industrial Depth Camera D400e Series - User Manual Version 1.0.0 from 2020-06-30 17 of 41... -
Page 18: Operating Conditions For Different Temperatures
Power supply: M12, PoE Exposure time: 30 ms Framerate: 30 fps Laser projector power: 360 mW Table 18 – Operating Conditions for Different Temperatures FRAMOS Industrial Depth Camera D400e Series - User Manual Version 1.0.0 from 2020-06-30 18 of 41... - Page 19 Heatsink length: 50 mm Thermal resistance: approx. 2.3 K/W SK 530 100 AL H3 - passive Heatsink length: 100 mm Thermal resistance: approx. 0.38 K/W FRAMOS Industrial Depth Camera D400e Series - User Manual Version 1.0.0 from 2020-06-30 19 of 41...
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Page 20: Table 19 - Heat Dissipation Elements
H4 - active SK 424 75 ME Heatsink length: 75 mm Cooling fan: Xilence XPF40 Table 19 – Heat Dissipation Elements FRAMOS Industrial Depth Camera D400e Series - User Manual Version 1.0.0 from 2020-06-30 20 of 41... -
Page 21: Maximum Operating Ambient Temperatures
Recommendation: Use metal camera mount to assure optimal heat conductivity (avoid plastic mounts). FRAMOS Industrial Depth Camera D400e Series - User Manual Version 1.0.0 from 2020-06-30 21 of 41... - Page 22 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. FRAMOS Industrial Depth Camera D400e Series - User Manual Version 1.0.0 from 2020-06-30 22 of 41...
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Page 23: Mounting And Deployment
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 with moving objects. -
Page 24: Cleaning Procedures
Ethyl alcohol can be used for light wiping of the entire camera housing. Using strong solvents is not recommended and can lead to aesthetic or functional damage of the camera. FRAMOS Industrial Depth Camera D400e Series - User Manual Version 1.0.0 from 2020-06-30... -
Page 25: Functional Specification
1280x720 848x480 960x540 848x480 848x480 848x480 1920x1080 640x480 640x480 640x360 640x360 424x240 424x240 Table 21 – Example of Possible Streams on Gigabit Ethernet Network FRAMOS Industrial Depth Camera D400e Series - User Manual Version 1.0.0 from 2020-06-30 25 of 41... -
Page 26: Depth Field Of View (Fov)
The Minimum-Z Depth is the minimum distance from depth camera to scene for which Vision Processor D4 provides depth data. Resolution D435e Min-Z (mm) D415e Min-Z (mm) 1280x720 960x540 848x480 640x480 640x360 424x240 Table 23 – Minimum-Z Depth FRAMOS Industrial Depth Camera D400e Series - User Manual Version 1.0.0 from 2020-06-30 26 of 41... -
Page 27: Depth Accuracy
L-1919 Auto Exposure on a selected ROI B-1080 R-1920 Manual Exposure Sets the absolute exposure time 10000 when autoexposure is disabled. Time (100µs unit) FRAMOS Industrial Depth Camera D400e Series - User Manual Version 1.0.0 from 2020-06-30 27 of 41... -
Page 28: D400E Camera Specific Features
Increasing Packet Size is generally beneficial for FRAMOS Industrial Depth the overall system performance. For more information please refer to Camera D400e Series - Tuning System For Best Performance [Ref-4]. Recommendation: Enable Jumbo Frames in the Network Adapter Advanced settings to allow using larger Packet Size values. -
Page 29: Inter Packet Delay
[Ref-3]. 6.7.5 RGB/Stereo Synchronization By default, FRAMOS D400e camera operates in the "Default" operating mode, with asynchronous streams from the RGB and Stereo sensor. For explanation on the camera operating modes please FRAMOS Industrial Depth Camera D400e Series - Multi-Camera Synchronization refer to [Ref-3]. -
Page 30: Figure 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: Firmware Updates
Ethernet interface. This allows implementing new features and potential bug fixes using the firmware update tool. UpdateFirmware tool The UpdateFirmware 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. -
Page 32: Parallel Firmware Update
Recommendation: When performing firmware update on multiple cameras, it is recommended to perform firmware update on smaller batch first and verify result, and then update firmware on other cameras. FRAMOS Industrial Depth Camera D400e Series - User Manual Version 1.0.0 from 2020-06-30 32 of 41... -
Page 33: Software
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. -
Page 34: Manage Camera Calibration Tables
Note that the newly set IP configuration will not 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 •... -
Page 35: Intel® Realsense™ Software Development Kit 2.0
Figure 14 – Tool CalibrationTables Part2 8.2 Intel® RealSense™ Software Development Kit 2.0 FRAMOS provides a modified version of the SDK 2.0, which includes a wrapper of the Camera Suite as described above. The modified version of the SDK 2.0 can be downloaded here: https://www.framos.com/en/industrial-depth-cameras... - Page 36 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 FRAMOS Industrial Depth Camera D400e Series - User Manual Version 1.0.0 from 2020-06-30 36 of 41...
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Page 37: Regulatory Compliance
No magnifying optical elements, such as eye loupes and magnifiers, are allowed. Do not try to update camera firmware that is not officially released for specific camera module and revision. FRAMOS Industrial Depth Camera D400e Series - User Manual Version 1.0.0 from 2020-06-30 37 of 41... - Page 38 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 FRAMOS Industrial Depth Camera D400e Series - User Manual Version 1.0.0 from 2020-06-30 38 of 41...
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Page 39: Accessories
Sensor/actuator cable - SAC-8P- 1,5-PUR/M 8FS SH – 1404147: https://www.phoenixcontact.com/online/portal/pi?uri=pxc-oc- itemdetail:pid=1404147&library=pien&tab=1 M8 Sensor/actuator cable - SAC-8P- 1,5-PUR/M 8FR – 1404191: https://www.phoenixcontact.com/online/portal/us/?uri=pxc-oc- itemdetail:pid=1404191&library=usen&pcck=P-18-01-01&tab=1&selectedCategory=ALL FRAMOS Industrial Depth Camera D400e Series - User Manual Version 1.0.0 from 2020-06-30 39 of 41... -
Page 40: References
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. -
Page 41: Revision History
Changes 2020-06-30 1.0.0 Initial version Table 26 – Revision History This document replaces and supersedes the user manual "FRAMOS Industrial Depth NOTE: Camera D435e" v1.1.0. FRAMOS Industrial Depth Camera D400e Series - User Manual Version 1.0.0 from 2020-06-30 41 of 41...