Epc Tofcam-635-s User manual

TOFcam-635-S

Installation and Operation Manual

General description

The TOFcam-635-S is a miniaturized and cost-optimized 3D TOF

camera. It is based on the ES ROS proprietary time-of-flight (TOF)

technology using the epc635 chip. The camera controls the illumi-

nation and the imager chip to obtain distance and grayscale

images. The cameras are calibrated to provide accurate 3D depth

information. The depth images are compensated against DRNU

errors, modulation errors, temperature, ambient-light and reflec-

tivity of the scene. Its extremely wide field of view of 120° allows a

variety of new applications e.g. for mobile robotics or entrance

controls.

This document allows a TOFcam-635-S user easily to get the

camera connected and started using a computer. It contains a

description of all features, commands, protocols and interfaces of

the device. This allows to connect the module to integrated

systems. The optional software development kit (SDK) contains the

camera operating system (TOFCOS) with all C++ source codes.

Together with the ES ROS epc635 evaluation kit this is the perfect

environment to develop embedded software or even an application

specific camera.

Features

■160 x 60 pixels resolution

■Field of view of 120° x 25° for TOF images

Field of view of 120° x 45° for gray scale images

■Distance measurement ranges on white target: 5cm … 3m

■Measurement rate up to 20 TOF measurements per second

■Fully calibrated and compensated

■USB interface

■High speed serial interface UART 10 Mbit/s

■Two I/O versions available

■Low power consumption

■Various user interfaces: GUI, ROS, ython

□Evaluation of TOFcam-635-S features

□rogramming of I/O properties

□Store and recall camera configurations

□Many explanations about “time of flight done right”

Typical applications

■Research in various scientific fields

■IoT applications

■Sensing in general

■Mobile robots, automatic vehicle guidance, collision avoidance

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TOF distance FoV: 120° x 25°

Operating range: 5cm … 3m

Gray scale FoV: 120 x 45°

Operating range: 5cm … 3m

Figure 2: TOF and gray scale field definition

Figure 1: TOFcam-635-S

Figure 3: Distance scope for pixel row selection

Contents

1. Before you start .......................................................................................................................................................... 4

1.1. recaution and Safety ...........................................................................................................................................................................4

1.2. Updates..................................................................................................................................................................................................4

1.3. Important Notes......................................................................................................................................................................................4

. Abbreviations............................................................................................................................................................... 5

3. Quick guide ................................................................................................................................................................. 6

3.1. Connecting the camera module ............................................................................................................................................................6

3.2. Camera settings ....................................................................................................................................................................................6

4. TOFcam-635-S time of flight camera module ..........................................................................................................7

4.1. System overview and use cases ...........................................................................................................................................................7

4.2. Scope of delivery ...................................................................................................................................................................................8

4.3. Ordering information ..............................................................................................................................................................................8

4.4. Technical data .....................................................................................................................................................................................10

4.5. Mechanical data ..................................................................................................................................................................................11

4.5.1. Mechanical features ............................................................................................................................................................................11

4.5.2. Mechanical dimensions .......................................................................................................................................................................11

4.5.3. Mounting plane ....................................................................................................................................................................................12

5. GUI ............................................................................................................................................................................. 13

5.1. ut the camera into operation .............................................................................................................................................................13

5.1.1. USB interface ......................................................................................................................................................................................13

5.1.2. UART interface ....................................................................................................................................................................................13

5.2. GUI main window ................................................................................................................................................................................13

5.2.1. View Menu ...........................................................................................................................................................................................14

5.2.2. lay menu ............................................................................................................................................................................................16

5.2.3. Live image window...............................................................................................................................................................................16

5.2.4. Decided information windows .............................................................................................................................................................18

5.2.5. Input readout and Output Control menu .............................................................................................................................................20

5.2.6. Configurations and firmware upgrade menu........................................................................................................................................20

6. Operating the device with a ROS ............................................................................................................................ 1

6.1. ROS camera driver...............................................................................................................................................................................21

6.1.1. What is ROS?.......................................................................................................................................................................................21

6.1.2. Installation............................................................................................................................................................................................21

6.1.3. Running the ROS driver.......................................................................................................................................................................21

6.2. ROS A I...............................................................................................................................................................................................22

6.2.1. Start of the node...................................................................................................................................................................................22

6.2.2. ublished topics...................................................................................................................................................................................22

6.2.3. Dynamically reconfigurable parameters...............................................................................................................................................23

7. Operating the camera with the Python Framework................................................................................................ 4

7.1. Script example .....................................................................................................................................................................................24

7.2. Comport................................................................................................................................................................................................24

7.3. Resulting data frame ...........................................................................................................................................................................24

7.4. Toolchain:.............................................................................................................................................................................................24

8. Operating the device by UART interface ................................................................................................................ 5

8.1. Sensor interface ..................................................................................................................................................................................25

8.1.1. Connector ............................................................................................................................................................................................25

8.1.2. in table for TOFcam-635-S-UWF-850-E ...........................................................................................................................................25

8.1.3. in table for TOFcam-635-S-UWF-850-R ...........................................................................................................................................26

8.2. Communication interface......................................................................................................................................................................26

8.2.1. Hardware interface...............................................................................................................................................................................26

8.2.2. Software interface................................................................................................................................................................................26

8.2.3. Command format..................................................................................................................................................................................27

8.2.4. Response format..................................................................................................................................................................................27

8.2.5. CRC checksum.....................................................................................................................................................................................28

8.2.6. Acknowledge ACK (response).............................................................................................................................................................28

8.2.7. Error handling.......................................................................................................................................................................................28

8.3. Command set overview........................................................................................................................................................................29

8.3.1. SET commands....................................................................................................................................................................................29

8.3.2. GET commands...................................................................................................................................................................................30

8.3.3. Miscellaneous commands....................................................................................................................................................................31

8.3.4. Factory maintenance commands.........................................................................................................................................................32

8.4. SET commands ...................................................................................................................................................................................33

8.4.1. SET_MOD_CHANNEL [0x0E] ..........................................................................................................................................................33

8.4.2. SET_INT_TIME_DIST [0x00] ............................................................................................................................................................34

8.4.3. SET_INT_TIME_GS [0x01] ...............................................................................................................................................................34

8.4.4. SET_HDR [0x0D] ..............................................................................................................................................................................35

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8.4.5. SET_ROI [0x02] ................................................................................................................................................................................35

8.4.6. SET_TEM ORAL_FILTER_WFOV [0x07] .......................................................................................................................................36

8.4.7. SET_AVERAGE_FILTER [0x0A] ......................................................................................................................................................36

8.4.8. SET_MEDIAN_FILTER [0x0B] ..........................................................................................................................................................36

8.4.9. SET_INTERFERENCE_DETECTION [0x11] ...................................................................................................................................37

8.4.10. SET_EDGE_DETECTION [0x10] ......................................................................................................................................................38

8.4.11. SET_FRAME_RATE [0x0C] ..............................................................................................................................................................38

8.4.12. SET_AM LITUDE_LIMIT [0x09] .......................................................................................................................................................38

8.4.13. STO _STREAM [0x28 ] ....................................................................................................................................................................38

8.4.14. SET_COM ENSATION [0x55] .........................................................................................................................................................38

8.4.15. SET_DLL_STE [0x06] .....................................................................................................................................................................38

8.5. GET commands...................................................................................................................................................................................40

8.5.1. Acquisition modes................................................................................................................................................................................40

8.5.2. Acquisition data output formats............................................................................................................................................................40

8.5.3. Response header.................................................................................................................................................................................41

8.5.4. Warm-up...............................................................................................................................................................................................42

8.5.5. GET_DIST [0x20] ..............................................................................................................................................................................43

8.5.6. GET_DIST_GS [0x29] .......................................................................................................................................................................43

8.5.7. GET_DIST_AM LITUDE [0x22] .......................................................................................................................................................43

8.5.8. GET_GS [0x24] .................................................................................................................................................................................44

8.5.9. GET_DCS [0x25 ] ..............................................................................................................................................................................44

8.5.10. GET_CALIBRATION_INFO [0x57 ] ..................................................................................................................................................44

8.6. Miscellaneous commands....................................................................................................................................................................45

8.6.1. SET_OUT UT [0x51] ........................................................................................................................................................................45

8.6.2. GET_IN UT [0x52] ...........................................................................................................................................................................45

8.6.3. GET_TEM ERATURE [0x4A] ..........................................................................................................................................................45

8.6.4. GET_TOFCOS_VERSION [0x49] .....................................................................................................................................................45

8.6.5. GET_CHI _INFORMATION [0x48] ..................................................................................................................................................45

8.6.6. GET_ ROD_DATE [0x50] ................................................................................................................................................................46

8.6.7. IDENTIFY [0x47] ...............................................................................................................................................................................46

8.7. GET_ERROR [0x53] .........................................................................................................................................................................46

8.8. Factory maintenance commands ........................................................................................................................................................47

8.8.1. CALIBRATE_DRNU [0x41] ...............................................................................................................................................................47

8.8.2. GET_CALIBRATION [0x43] ..............................................................................................................................................................47

8.8.3. JUM _TO_BOOTLOADER [0x44] ....................................................................................................................................................47

8.8.4. U DATE_TOFCOS [0x45] ................................................................................................................................................................48

8.8.5. WRITE_CALIBRATION_DATA [0x4B] ..............................................................................................................................................48

8.8.6. SET_MOD_FREQUENCY [0x05] .....................................................................................................................................................48

8.9. Update camera operating system TOFCOS .......................................................................................................................................49

9. Maintenance and disposal........................................................................................................................................ 50

9.1. Maintenance.........................................................................................................................................................................................50

9.2. Disposal................................................................................................................................................................................................50

10. Addendum ................................................................................................................................................................. 51

10.1. Related documents .............................................................................................................................................................................51

10.2. Links ....................................................................................................................................................................................................51

10.3. Licenses ..............................................................................................................................................................................................51

11. IMPORTANT NOTICE................................................................................................................................................. 5

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1. Before you start

1.1. Precaution and Safety

This product is eye safe according to IEC62471-2013.

The camera module is an electronic device. Handle it with the necessary ESD precaution.

Over-voltage: Use only a power supply which correspond to the datasheet of the camera to avoid damage of the device

or cause danger for humans.

Cable-tripping: lace or mount the sensor on solid ground or fix it correctly on a solid support. lace cables carefully.

Falling devices can be damaged or harm persons.

The camera comes with its own calibrated TOFCOS. Do not alter the TOFCOS without obeying the instructions herein.

Be careful to the window surfaces of the camera. Never use any solvents, cleaners or mechanically abrasive towels or

high pressure water to clean the sensor.

Operate the device in compliance with the local EMC regulations.

This camera is not a safety device. It may not be used in safety applications, explosive atmospheres or in radioactive

environment, except the user implements the required safety measures, e.g. by redundancy. However, the sole respon-

sibility for the safety of the application is by the user.

LIMITED WARRANTY - LOSS OF WARRANTY

This camera should only be installed and used by authorized persons. All instructions in this datasheet and in the

related documents shall be followed and fully complied with. In addition, the installer and user is required to comply with

all local laws and regulations. The installer and user is fully responsible for the safe use and operation of the system. It

is the sole responsibility of the installer and the user to ensure that this product is used according to all applicable codes

and standards, in order to ensure safe operation of the whole application. Any alteration to the devices by the buyer,

installer or user may result in device damage or unsafe operating conditions. ES ROS hotonics AG is not responsible

for any liability or warranty claim which results from such manipulation or disregarding of given operating instructions.

ES ROS hotonics AG is an ISO 9001: 2015 certified company.

This product is according to European Union standards and free of hazardous substances.

1. . Updates

ESPROS Photonics is constantly striving to provide comprehensive and correct product information. Therefore, please check

ESPROS' website regularly for updated versions of datasheets and documentations: www.espros.com

Download the latest Flyer TOFcam-635.

Download the latest “Installation and Operation Manual TOFcam-635-S”.

Download and use the latest software package “TOFCAM635-S_SW_ ackage” containing a graphical user interface

(GUI) for Windows, Mac or Linux computers, a robot operating system (ROS) application and a ython A I framework.

The current firmware “TOFCOS” is part of the GUI which allows an easy upgrade of the camera with current firmware.

If there are any questions, please contact your ES ROS sales office or send an email to sales@espros.com.

Download and use the latest software development kit (SDK) “TOFCAM635-S_SDK” containing all source codes of the

firmware, GUI, ROS and A I. Unpacking the SDK is password protected. Get back to ES ROS to check whether you

fulfill the requirements to get the password.

1.3. Important Notes

Notes on PRELIMINARY versions:

THIS MANUAL IS UNDER CONSTRUCTION. IMPORTANT PARTS MAY BE MISSING

Colored marking in text means “under consideration” and refers to not yet applicable or verified information.

Values and/or information are either estimates or show the applicable principle only.

Characteristics subject to change without notice

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. Abbreviations

Designator Description

3D Three dimensional

ACK Acknowledged

A I Application program interface

ADC Analog-to-digital converter

Binning Summation of a defined number of pixels. Binning can be done in the charge (analog) or in the digital domain

CMD Command

CRC Cyclic redundancy check (checksum)

DCS Differential correlation sample

DLL Delay locked loop, controllable delay line

DRNU Distance response non-uniformity: Distance error from pixel to pixel with a target at the same distance

EMC Electromagnetic compatibility

EMI Electromagnetic interference

ESD Electrostatic discharge

FoV Field of view

fps Frame rate, number of images per second

Frame One image

GND Ground terminal, negative supply voltage

GS Grayscale

GUI Graphical user interface

HDR High dynamic range

ID Identifier

IN Input terminal which is used to sense a high or low voltage

ISO International organization for standardization

JEDEC Joint electron device engineering council

LED Light emitting diode used to illuminate the scenery or as indicator

LSB Least significant bit / byte

LVTTL Low voltage transistor transistor logic

MSB Most significant bit / byte

NACK Not acknowledged

OUT Output terminal which is can be set to high or low voltage

RMS Root mean square

RoHS Restriction of hazardous substances

ROI Region of interest in the pixel-field

ROS Robot operating system

RX Receive terminal, data in

SW Software

TBD / tbd To be defined, information not yet available or not valid

TOF Time of flight

TOFCOS TOF camera operating system, firmware in the camera

TTL Transistor transistor logic

TX Transmit terminal, data out

UART Universal asynchronous receiver transmitter

USB Universal Serial Bus

VDD ositive supply voltage

Table 1: List of abbreviations used in this document

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3. Quick guide

3.1. Connecting the camera module

First of all you need to prepare a power supply to supply the camera

with power. Therefore use the 8 pin connector which is included in the

scope of delivery. If you ordered the power supply and power adapter

cable as accessory according to Chapter 4.3 then you don't need to

provide a separate power supply connected to this 8 pin connector.

You need to install the Graphical User Interface onto your computer.

This is available with the "TOFCAM635_SW_ ackage" from our

download page.

•Connect the camera to your computer with a USB cable.

•Connect the camera to proper voltage using the prepared or

ordered power supply.

•Start the GUI on your Computer. The connection to the camera will be indicated in the corner bottom left of the main window of

the GUI (Connected).

3. . Camera settings

•Choose Image Type "Distance"

•Disable “Automatic Integration Time 3D” and switch “HDR off”

•Set “Offset” and “Distance Min” values to zero and the

"Distance Max" to the effective maximum distance in your

scenery.

•For object detection set the "Amplitude" limit 0” to 50 LSB, for

accurate measuring to 200 LSB (this are good starting points,

fine-tuning possible). Start streaming with the “Start” button.

•Increase / decrease the "Integration Time 3D 0" to a value

where you get a distance picture of the most far objects you

would like to see.

•Swith to “HDR temporal” and set “Integration Time 1 … 3” to

zero. increase the "Integration time 3D 1" to a value where

saturation (purple), ADC overflow (pink) and invalid (black)

pixels are removed or reduced to a minimum (normally this

value is about 10 ... 20% of the "Integration time 3D 0" value).

•lay with filtering: enable "Temporal Filter" e.g.

•Optimize the color scale (visual graduation) of the relevant

objects in your scenery by changing the "Distance Range

min." value.

•Change the image type to the illustration of the scenery you

like to see.

•Swith on the additional “Info” and “Scope” windows which

delivers you valuable information.

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Figure 4: 8-pin power-supply , UART and G IO connector

Figure 5: GUI window for camera settings

4. TOFcam-635-S time of flight camera module

4.1. System overview and use cases

The TOFcam-635-S is a camera and sensor module based on the ES ROS epc635 cwTOF imager chip:

•24VDC power supply input

•STM32F466 ARM microcontroller

•The micro controller board communicates with the epc635 chip carrier board through an ultrafast TCMI serial interface.

•An ultra wide field lens focus the reflected light from the scenery onto the pixel field of the imager chip

•NIR band pass filter, AR coatings and straylight suppression for optimal optical performance

•LED illumination

•TOF camera operating system (TOFCOS) for camera control, distance calculation and filtering

•Two sensor versions are available with one relay or three digital outputs

•Communication by USB or UART

•Application programming interface (A I) for further processing is available. It opens the world for using open source tools or

creating own customer applications.

•ROS device drivers for Linux available

•Windows, Mac and Linux GUI available

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Figure 6: Use case overview

A I

UART

A I

HW I/O

Sensor

firmware

TOFCOS

Internet

TOF Sensor TOF camera Integrated TOF module

Open Source

Tools

Customer

Application

Connected for operation

Connected for programming

4. . Scope of delivery

Pieces Part Name Picture

1 Time of Flight Sensor TOFcam-635-S consisting of:

–Molded housing

–Receiver lens

–Illumination with lens

–Electronics board

1 8 pin connector plug with L = 75mm open end cable for 24V power

supply, UART interface and G IO

–lug with 8 pin open cable ends

–Connecting instructions

–in assignment

1 Software package containing GUI, ROS, ython A I and current

Firmware. Available on the ES ROS download page.

1 Documentation

(useful additional information available on the Espros download page )

Table 2: Scope of delivery

4.3. Ordering information

Picture Part No. Name Description

100 651 TOFcam-635-S-UWF-850-E Camera with 1x digital input and 3x digital

output (0 … 24V)

100 623 TOFcam-635-S-UWF-850-R Camera with 1x digital input and 1x relay

output NO/NC

100 664 8 pin connector plug with open cable ends

(L = 75mm)

Included in TOFcam-635-S basic unit.

To connect the camera to a corresponding

power supply.

100 660 ower supply 24VDC Input 100 … 240VAC, 50 / 60Hz

Output 24VDC, 500mA

Including camera connection cable

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300 189 ower cord adapter

CH/EU – US

300 473 Cable USB A to Micro USB

Table 3: Order information for cameras and accessories

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4.4. Technical data

All characteristics are at typical operational ratings, TA = +25ºC, VDD / VDDLED = 5V, object reflectivity 90%, unless otherwise stated.

Parameter Description Conditions Min. Type Max. Units Comments

VDD Main supply voltage Ripple 1 < 50 mVpp 4.75 5.0 5.25 V

IDD Main supply current Acquisition 140 mA

Idle 100 mA

λ Operating wavelength 850 nm

RESIMAGE Image resolution 160 x 60 ixel

FOV Field of view TOF FOV 120 x 25 ° 160 x 35 pixels

GS FOV 120 x 45 ° 160 x 60 pixels

D Operating range 0.05 3 m Depends on integration time

DUnabiguity Unambiguity range 27.25 7.5 7.8 m Depends on mudulation

channel

Acc Accuracy 0.05 … 1.0 m ± 2 cm Mean of 100 samples

1.0 … 3.0 m ± 2 %

DNOISE Distance noise (1σ value) 0.1 mm Amplitude 100 ... 1'900 LSB,

Kalman Filter k = 10 and

threshold t = 300 mm,

ambient-light less than

10 kLux on target

tINT Integration time selectable 1 1000 µs Default: 125µs

tCYCLE Measurement cycle time GET_DIST

GET_DIST_AM LITUDE

@tINT = 125µs, single

measurement, including data

transmission

fMOD Modulation frequency 19.20 20.00 20.70 MHz Refer to Chapter 8.4.1

tWR_U ower up time until acceptance of commands 1.5 s

tWARM_U Warm-up time until output data is in tolerance Refer to Chapter 8.5.4

RESDISTANCE Distance measurement resolution 1 mm/LSB Refer to Chapter 8.5.

ΦAL Ambient-light suppression 100 kLux Indirect, on target

Ee EAK eak illumination irradiance 372 W/m2With 200mm distance to the

front surface of the camera

Ee AVG Average illumination irradiance 108 W/m2With 200mm distance to the

front surface of the camera

VOUT OUT0 / OUT1 / OUT2 voltage (open drain) 36 V Refer to Figure 24

IOUT OUT0 / OUT1 / OUT2 current sink 50 mA Over-current protected

VREL Relay voltage 30

125

VDC

VAC

Refer to Figure 26

IREL Relay current 1

VIN IN input voltage logic low 0 0.8 V Input resistance 100kΩ,

refer to Figure 25

logic high 3.0 30 V

TAAmbient temperature range -20 60 °C Operation and storage

RH Relative humidity 15 90 % Non-condensing

W Weight 43 g Without cable

ESD Electrostatic discharge rating JEDEC HBM class 1C (1kV to < 2kV) Human body model

EMC / EMI EMC emission EN 61000-6-3:2011, EN 61000-6-2:2005

Eye safety IEC62471:2013

Table 4: Technical data

Notes: I

1Min. and Max. voltage values include noise and ripple voltage

2The camera uses the continuous-wave TOF phase-shift measurement technique with a modulation frequency 20MHz. This leads to

unambiguity distances of 7.5m. Highly reflective objects outside of the effective operating range of 7.5m will appear closer due to the

wrap-around of the modulation period. Example: Is the object at a distance of 8.5m, the camera displays a distance of 1m (8.5m -

7.5m). This is obviously wrong !

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