EPC TOF cam 635 User manual

TOF>cam 635
Installation an Operation Manual
General description
The TOF>cam 635 is a miniaturized and cost-optimized
3D TOF camera. It is based on the E PRO proprietary time-of-
flight (TOF) technology using the epc635 TOF chip. The camera
controls the illumination and the imager chip to obtain distance and
grayscale images.
The cameras are calibrated to provide accurate 3D depth images.
By using the RO driver from E PRO , 3D point clouds in a world
cartesian coordinate system are available.
The depth images are compensated against DRNU errors, modula-
tion errors, ambient-light, temperature and reflectivity of the scene.
Thanks to the high performance of the imager chip with the unique
ambient-light suppression, the camera can be used in many cases
under full sunlight conditions. The output of the TOF>cam 635 is
depth and grayscale images – allowing a variety of new applica-
tions, e.g. for mobile robotics. This module brings you right in front
with the latest technology of 3D depth sensing. All the complex
engineering and time consuming design tasks regarding optics,
illumination and signal processing are already solved.
Features
■Field of view (FOV) of 50° x 19° (h x v)
■Distance measurement ranges on white target:
Wide FOV: 0.1 – 7.5 m, center beam (NFOV): 1.0 – 15 m
■Measurement rate up to 50 TOF measurements per second
■un- and ambient-light tolerant up to 100 kLux
■Calibrated and compensated
■Temperature compensated
■Easy to use
■High speed serial interface UART 10 Mbit/s
■Low power consumption
■RO driver available
■Customized versions possible
Applications
■Distance measurement from centimeters to a few meters
■Mobile robots, automatic vehicle guidance, collision avoidance
■canner for LAM data acquisition in mobile robots
■People and object counting, in-cabin monitoring
■Door opening, machine controlling and safeguarding, IoT
■Gesture control (man-machine-interface)
■Object classification
Figure 1: TOF>cam 635 Figure 2: Wide and narrow field definition
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Contents
1. Before you start............................................................................................................................................................. 4
1.1. Precaution and afety...............................................................................................................................................................................4
1.2. Updates.....................................................................................................................................................................................................4
1.3. Important Notes........................................................................................................................................................................................4
. Abbreviations................................................................................................................................................................. 5
3. Technical data................................................................................................................................................................ 6
4. Mechanical dimensions................................................................................................................................................7
5. Sensor interface............................................................................................................................................................. 8
5.1. Connector..................................................................................................................................................................................................8
5.2. Pin table....................................................................................................................................................................................................8
6. Power up......................................................................................................................................................................... 9
7. Communication interface.............................................................................................................................................. 9
7.1. Hardware interface....................................................................................................................................................................................9
7.2. oftware interface.....................................................................................................................................................................................9
7.3. Command format....................................................................................................................................................................................10
7.4. Response format.....................................................................................................................................................................................10
7.5. CRC checksum.......................................................................................................................................................................................10
7.6. Acknowledge ACK (response)................................................................................................................................................................11
7.7. Error handling.........................................................................................................................................................................................11
8. Command set overview............................................................................................................................................... 1
8.1. ET commands......................................................................................................................................................................................12
8.2. GET commands......................................................................................................................................................................................12
8.3. Miscellaneous commands......................................................................................................................................................................12
8.4. Factory maintenance commands............................................................................................................................................................14
9. SET commands............................................................................................................................................................ 15
9.1. ET_MOD_CHANNEL [0x0E] .............................................................................................................................................................15
9.2. ET_INT_TIME_DI T [0x00] ..............................................................................................................................................................16
9.3. ET_INT_TIME_G [0x01] .................................................................................................................................................................16
9.4. ET_OPERATION_MODE [0x04] .......................................................................................................................................................17
9.5. ET_HDR [0x0D] .................................................................................................................................................................................17
9.6. ET_ROI [0x02] ...................................................................................................................................................................................18
9.7. ET_TEMPORAL_FILTER_WFOV [0x07] ..........................................................................................................................................18
9.8. ET_TEMPORAL_FILTER_NFOV [0x0F] ..........................................................................................................................................18
9.9. ET_AVERAGE_FILTER [0x0A] .........................................................................................................................................................19
9.10. ET_MEDIAN_FILTER [0x0B] ............................................................................................................................................................19
9.11. ET_INTERFERENCE_DETECTION [0x11] ......................................................................................................................................19
9.12. ET_EDGE_DETECTION [0x10]..........................................................................................................................................................20
9.13. ET_FRAME_RATE [0x0C] ................................................................................................................................................................20
9.14. ET_AMPLITUDE_LIMIT [0x09] .........................................................................................................................................................20
9.15. ET_OFF ET [0x08] ...........................................................................................................................................................................20
9.16. TOP_ TREAM [0x28 ] ......................................................................................................................................................................20
9.17. ET_COMPEN ATION [0x41] ............................................................................................................................................................20
9.18. ET_ILLUMINATION_POWER [0x6C] ...............................................................................................................................................21
9.19. ET_DLL_ TEP [0x06] .......................................................................................................................................................................22
10. GET commands........................................................................................................................................................... 3
10.1. Acquisition modes...................................................................................................................................................................................23
10.2. Acquisition data output formats..............................................................................................................................................................23
10.3. Response header....................................................................................................................................................................................24
10.4. Warm-up.................................................................................................................................................................................................26
10.5. GET_DI T [0x20] .................................................................................................................................................................................26
10.6. GET_DI T_G [0x0A] .........................................................................................................................................................................27
10.7. GET_DI T_AMPLITUDE [0x22] ..........................................................................................................................................................27
10.8. GET_G [0x24] ....................................................................................................................................................................................28
10.9. GET_DC [0x25 ] ................................................................................................................................................................................28
10.10. GET_CALIBRATION_INFO [0x50 ] .....................................................................................................................................................28
11. Miscellaneous commands.......................................................................................................................................... 9
11.1. ET_OUTPUT [0x51] ..........................................................................................................................................................................29
11.2. GET_INPUT [0x52] ..............................................................................................................................................................................29
11.3. GET_TEMPERATURE [0x4A] .............................................................................................................................................................29
11.4. GET_TOFCO _VER ION [0x49] .......................................................................................................................................................29
11.5. GET_CHIP_INFORMATION [0x48] .....................................................................................................................................................29
11.6. GET_PROD_DATE [0x50] ..................................................................................................................................................................30
11.7. IDENTIFY [0x47] .................................................................................................................................................................................30
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1 . Factory maintenance commands............................................................................................................................... 31
12.1. CALIBRATE_DRNU [0x41] .................................................................................................................................................................31
12.2. GET_CALIBRATION [0x43] ................................................................................................................................................................31
12.3. JUMP_TO_BOOTLOADER [0x44] .....................................................................................................................................................31
12.4. UPDATE_TOFCO [0x45] .................................................................................................................................................................31
12.5. WRITE_CALIBRATION_DATA [0x4B] ...............................................................................................................................................32
12.6. ET_MOD_FREQUENCY [0x05] ........................................................................................................................................................32
12.7. ET_BINNING [0x03] ..........................................................................................................................................................................32
13. ROS camera driver...................................................................................................................................................... 33
13.1. What is RO ?.........................................................................................................................................................................................33
13.2. Installation...............................................................................................................................................................................................33
13.3. Running the RO driver..........................................................................................................................................................................33
14. ROS API........................................................................................................................................................................ 34
14.1. tart of the node.....................................................................................................................................................................................34
14.2. Published topics......................................................................................................................................................................................34
14.3. Dynamically reconfigurable parameters.................................................................................................................................................35
15. Update camera operating system TOFCOS..............................................................................................................36
16. Maintenance and disposal.......................................................................................................................................... 37
16.1. Maintenance............................................................................................................................................................................................37
16.2. Disposal..................................................................................................................................................................................................37
17. Ordering information................................................................................................................................................... 37
18. Addendum.................................................................................................................................................................... 37
18.1. Related documents.................................................................................................................................................................................37
18.2. Links........................................................................................................................................................................................................37
18.3. Licenses..................................................................................................................................................................................................37
19. IMPORTANT NOTICE................................................................................................................................................... 38
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Characteristics subject to change without notice
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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 E D 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: Place or mount the sensor on solid ground or fix it correctly on a solid support. Place cables carefully.
Falling devices can be damaged or harm persons.
The sensor comes with its own calibrated TOFCO . Do not alter the TOFCO without obeying the instructions herein.
Take care that the lens 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 - LO 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. E PRO Photonics AG is not responsible
for any liability or warranty claim which results from such manipulation or disregarding of given operating instructions.
E PRO Photonics AG is an I O 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 TOF>cam 635.
Download the latest Installation and Operation Manual of the TOF>cam 635.
Download and use the latest “E PRO _TOFCAM635_GUI”, “E PRO _TOFCAM635_RO _driver” and TOF>cam 635
firmware TOFCO .
If there are any questions, please contact your E PRO sales office or send an email to sa[email protected].
1.3. Important Notes
Notes on PRELIMINARY versions:
THIS DATASHEET 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.
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. Abbreviations
Designator Description
ACK Acknowledged
API Application program interface
Binning ummation 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)
DC 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
E D Electrostatic discharge
FOV Field of view
fps Frame rate, number of images per second
Frame One image
GND Ground terminal, negative supply voltage
G Grayscale
HDR High dynamic range
ID Identifier
IN Input terminal which is used to sense a high or low voltage
LED Light emitting diode used to illuminate the scenery or as indicator
L B Least significant bit / byte
LVTTL Low voltage transistor transistor logic
M B Most significant bit / byte
NACK Not acknowledged
NFOV Narrow field of view
OUT Output terminal which is can be set to high or low voltage
ROI Region of interest in the pixel-field
RO Robot operating system
RX Receive terminal, data in
TBD / tbd To be defined, information not yet available or not valid
TOF Time of flight
TOFCO TOF camera operating system, firmware in the camera
TTL Transistor transistor logic
TX Transmit terminal, data out
UART Universal asynchronous receiver transmitter
VDD Positive supply voltage
WFOV Wide field of view
Table 1: List of abbreviations used in this document
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3. Technical data
All characteristics are at typical operational ratings, TA = +25ºC, VDD / VDDLED = 5V, object reflectivity 90%, unless otherwise stated.
Parameter Description Conditions Min. Typ Max. Units Comments
VDD Main supply voltage Ripple 1 < 50 mVpp 4.75 5.0 5.25 V
VDDLED LED supply voltage Ripple 1 < 200 mVpp 4.75 5 5.25 V
IDD Main supply current Acquisition 140 mA
Idle 100 mA
IDDLED LED supply current Acquisition 200 /
925
mA RM / Peak, @ VDDLED 5V,
30fps
Idle 10 mA @ VDDLED 5V
λ Operating wavelength 850 nm
RE IMAGE Image resolution 160 x 60 Pixel
FOV Field of view WFOV 50 x 19 ° 160x60 pixel
NFOV 5 x 5 ° 8x8 NFOV pixel
D Operating range WFOV 0.10 7.5 m Depends on integration time
NFOV 1 15 m
DUnabiguity Unambiguity range 2WFOV 7.5 m
NFOV 15.0 m
Acc Accuracy WFOV 0.1 … 2.0 m ± 4 cm Mean of 100 samples
WFOV 2.0 … 7.5 m ± 2 %
NFOV 3.0 ... 15.0m ± 2 %
DNOI E Distance noise (1σ value) WFOV 0.1 mm Amplitude 100 ... 1'900 L B,
Kalman Filter k = 10 and
threshold t = 300 mm,
ambient-light less than
10 kLux on target
NFOV 0.1 mm
tINT Integration time selectable 1 1000 µs Default: 125µs
tCYCLE Measurement cycle time GET_DI T
GET_DI T_AMPLITUDE
50
72
ms
ms
@tINT = 125µs, single
measurement, including data
transmission
fMOD Modulation frequency WFOV 19.20 20.00 20.70 MHz Refer to Chapter 9.1
NFOV 9.60 10.00 10.35 MHz
tPWR_UP Power up time until acceptance of commands 1.5 s
tWARM_UP Warm-up time until output data is in tolerance Refer to Chapter 10.4
RE DI TANCE Distance measurement resolution 1 mm/L B Refer to Chapter 10.
ΦAL Ambient-light suppression 100 kLux Indirect, on target
Ee PEAK Peak 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 OUT1 / OUT2 voltage drive capability 36 V Refer to Figure 6
IOUT OUT1 / OUT2 current sink capability 50 mA Over-current protected
VIN IN input voltage logic low 0 0.8 V Input resistance 100kΩ,
refer to Figure 5
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
E D 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 2: Technical data
Notes:
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 of 10MHz (NFOV) and
20MHz (WFOV). This leads to unambiguity distances of 15m, 7.5m respectively. Highly reflective objects outside of the effective
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operating range of 15 / 7.5 m will appear closer due to the wrap-around of the modulation period. Example for 20MHz: Is the object at
a distance of 8.5m, the camera displays a distance of 1m (8.5m – 7.5m). This is obviously wrong!
4. Mechanical dimensions
Notes:
■The distance measurement starts from the front window of the housing with distance value 0mm.
■The base plate contains 4 pcs M3 threaded holes with a depth of 6mm for mounting. Use only these mounting points.
■Because the base plate is also a heat sink for the illumination LEDs, it should not be covered by thermal insulating material. Free air flow
shall be provided at any time in order to avoid excessive heat of the camera. The camera temperature can be monitored by reading the
temperature with the command GET_TEMPERATURE (refer to Chapter 11.3).
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Figure 3: Mechanical dimensions
Zero Distance
(camera lens window)
4 x M3
(6 mm deep)
Base plate
Connector
Indicator
LEDs
Cover
Illumination window
X axis Y axis
Distance axis (spheric)

5. Sensor interface
5.1. Connector
Connector type: J T M10B- R -TB
Matching plug: J T HR-10V- -B or J T HR-10V-
Accessory: A cable with one side plug and other side with cable leads are available. Refer to Chapter 17.
Make sure to use the right plug and insert it properly to avoid damage of the device connector!
5. . Pin table
No. Name Function Comments
1 VDD VDD: +5V table and free of noise power supply for the imager section.
Decouple from pin 8/10.
2 GND Negative supply terminal hort with pin 9.
3 PIN3 OUT1 Open-drain output, refer to Chapter 11.1, ET_OUTPUT [0x51] and Figure 5.
4 PIN4 OUT2
5 PIN5 IN Digital input, refer to Chapter 11.2, GET_INPUT [0x52] .
6 UART_TX Data output Tx Data interface, refer to Chapter 7.
7 UART_RX Data input Rx
8 VDDLED VDDLED: +5V upply pin for illumination circuitry. hort with pin 10.
9 GND Negative supply terminal hort with pin 2.
10 VDDLED VDDLED: +5V upply pin for illumination circuitry. hort with pin 8.
Table 3: Pin table
GND
TOF>cam 635
RI 100k
+5V
IN LVTTL 3.3V
GND
TOF>cam 635
OUT1
OUT2
DLRL
VL
VL: upply voltage for the load
RL: Load
DL: Protection diode for inductive loads
IL ≤ 50 mA
Figure 5: Input pin IN Figure 6: Output pins OUT1 and OUT2
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Figure 4: Interface view
Pin 1 Pin 10
Error
LED
tatus
LED

6. Power up
Apply power on VDD and VDDLED. The sequence does not matter. The device notifies the power-up with a short red LED flash (Error
LED). It is ready to operate as soon as the greenstatus LED is on. Refer to Figure 4.
Error cases:
■Red error LED flashing: TOFCO not correctly downloaded. Download the TOFCO with the GUI of E PRO _TOFCAM635 or with the
bootloader (refer to Chapter 12.4 and 15).
■Red error LED stays on: Error during boot-up. witch off/on power again.
■If the error remains, contact your sales responsible.
Make sure that the power supply has the correct voltage and is capable to deliver the required current. Please note that there is a
surge current draw by the camera during power up. Also during image acquisition, pulse currents are drawn by the camera. A
voltage drop due to surge currents shall be avoided by placing a big enough block capacitor nearby the power supply terminals.
7. Communication interface
7.1. Hardware interface
Communication takes place over a standard TTL UART interface. The communication protocol is as follows:
Parameter Value Unit Comment
Baud rate 10 Mbit/s 1 bit = 0.1 µs
tart bits 1 Bit low active
Data 8 Bit
top bits 1 Bit high active
Parity No
Voltage level LVTTL 3.3 V
Table 4: UART configuration
Figure 7: UART frame format
7. . Software interface
The UART operates in a master-slave mode with the application as the master and the camera as the slave. A request is initiated with a
command by the master. The camera as the slave returns the answer to the request after the processing time tPROC. The camera does not
accept commands during the processing tPROC and the communication tCOM_TX. A next command can be issued earliest after finishing Data
Out.
Figure 8: Command and answer sequence
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TART TOP
Data 8 bit, L B first
3.3 V
GND
No acceptance of commands
Data Out
Processing
Application:
Command on Rx
Request
processing
tCOM
tPROC
Camera:
Data Out on Tx
tCOM_TX

Additionally, the camera has a streaming mode. The master starts the stream with a stream command. The camera continuously streams
data to the master until the master stops the streaming by command. During streaming, the camera accepts commands to change param-
eters or to stop the stream.
Figure 9: treaming mode
7.3. Command format
The camera is operated by issuing commands on the UART interface UART_RX. The camera answers to each command with either the
required data, acknowledge, not acknowledge or an error. L B is transmitted first, M B last.
Use the listed commands only, otherwise uncontrolled operation or TOFCO deadlock can occur.
The command packet has a fixed length of 14 Bytes: A start byte (value 0xF5), followed by 1 byte command identifier (CMD), 8 bytes of
parameters corresponding to the command and 4 closing bytes with a 32bit CRC.
Figure 10: Command format
Note: Configuration settings applied by commands are stored as long as power is on or a new value is set.
7.4. Response format
The answer packet has variable length: A start byte (value 0xFA), followed by 1 byte type definition, 2 byte length definition n, n bytes data
and 4 closing bytes with a 32bit CRC.
Figure 11: Response format
Note: The Readout order for pixel data starts at row 0, pixel 0 until end of row0 ... and ends with last row, last pixel.
7.5. CRC checksum
Data integrity is provided by a CRC checksum added to every camera response. The calculation of the CRC includes all bytes of the
packet except the CRC itself. Examples are listed in the command list. The CRC specification is as follows:
■Byte-wise CRC32
■Polynom: 0x04C11DB7
■Xor value: 0x00000000
■Init value: 0xFFFFFFFF
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Data out
Processing
Application:
Command on Rx
Request
processing
tCOM
tPROC
Camera:
Data out on Tx
tCOM_TX
Data out
Processing
Data out
Processing Processing
Data out
tFRAME
0xF5 CMD 32 bit CRCParameters, fix length
1 byte 8 bytes 4 byte1 byte
L B M BL BM B
0xFA 32 bit CRC Length n DataType
2 bytes n bytes 4 bytes1 byte1 byte
L B M BL B L BM B M B