ESPROS TOFcam-635 User manual

TOFcam-635
Installation and Operation Manual
General description
The TOFcam-635 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 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 ROS driver from ES ROS, 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 TOFcam-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
■160 x 60 pixels (9600 pixels)
■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
■Sun- 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
■GUI for Windows and Mac
■ROS application for Linux
■ython library for Windows
■Software source code on request
■Customized versions possible
Applications
■Distance measurement from centimeters to a few meters
■Mobile robots, automatic vehicle guidance, collision avoidance
■Scanner for SLAM data acquisition in mobile robots
■eople and object counting, in-cabin monitoring
■Door opening, machine controlling and safeguarding, IoT
■Gesture control (man-machine-interface)
■Object classification
Figure 1: TOFcam-635 Figure 2: Wide and narrow field definition
© 2022 ES ROS hotonics Corporation
Characteristics subject to change without notice
1 / 52 Installation_and_Operation_Manual_TOFcam635-V2.0
www.espros.com

Contents
1. Before you start ............................................................................................................................................................ 4
1.1. recaution and Safety ..............................................................................................................................................................................4
1.2. Updates.....................................................................................................................................................................................................4
1.3. Important Notes........................................................................................................................................................................................4
. Abbreviations................................................................................................................................................................. 5
3. TOFcam-635 time of flight camera .............................................................................................................................. 7
3.1. System overview ......................................................................................................................................................................................7
3.2. Scope of delivery .....................................................................................................................................................................................7
3.3. Ordering information ................................................................................................................................................................................8
3.4. Technical data ..........................................................................................................................................................................................9
3.5. Mechanical data .....................................................................................................................................................................................10
3.5.1. Mechanical features ...............................................................................................................................................................................10
3.5.2. Mechanical dimensions ..........................................................................................................................................................................10
3.5.3. Mounting the camera .............................................................................................................................................................................11
3.6. Camera connectors ................................................................................................................................................................................12
3.7. Interface assembly variant .....................................................................................................................................................................13
4. Start up ........................................................................................................................................................................ 13
4.1. ower up with UART ..............................................................................................................................................................................13
4.2. System setup over USB .........................................................................................................................................................................13
5. GUI ............................................................................................................................................................................... 15
5.1. GUI main window ...................................................................................................................................................................................15
5.1.1. View menu .............................................................................................................................................................................................15
5.1.2. lay menu ..............................................................................................................................................................................................18
5.1.3. Streaming files format description .........................................................................................................................................................18
5.1.4. Live image window .................................................................................................................................................................................20
5.1.5. oint cloud .............................................................................................................................................................................................20
5.1.6. Dedicated information windows .............................................................................................................................................................28
5.2. I/O Control ..............................................................................................................................................................................................29
5.3. COM port settings ..................................................................................................................................................................................30
5.4. Configurations menu ..............................................................................................................................................................................30
6. Operating the device with a ROS .............................................................................................................................. 3
6.1. ROS camera driver.................................................................................................................................................................................32
6.1.1. What is ROS?.........................................................................................................................................................................................32
6.1.2. Installation...............................................................................................................................................................................................32
6.1.3. Running the ROS driver..........................................................................................................................................................................32
6.2. ROS A I..................................................................................................................................................................................................33
6.2.1. Test environment ...................................................................................................................................................................................33
6.2.2. Start of the node.....................................................................................................................................................................................33
6.2.3. ublished topics......................................................................................................................................................................................33
6.2.4. Dynamically reconfigurable parameters.................................................................................................................................................34
7. Communication interface............................................................................................................................................ 35
7.1. Hardware interface..................................................................................................................................................................................35
7.2. Software interface...................................................................................................................................................................................35
7.3. Command format....................................................................................................................................................................................36
7.4. Response format.....................................................................................................................................................................................36
7.5. CRC checksum.......................................................................................................................................................................................36
7.6. Acknowledge ACK (response)................................................................................................................................................................37
7.7. Error handling.........................................................................................................................................................................................37
8. Command set overview............................................................................................................................................... 38
8.1. SET commands......................................................................................................................................................................................38
8.2. GET commands......................................................................................................................................................................................39
8.3. Miscellaneous commands......................................................................................................................................................................40
8.4. Factory maintenance commands............................................................................................................................................................41
9. SET commands ........................................................................................................................................................... 4
9.1. SET_MOD_CHANNEL [0x0E] .............................................................................................................................................................42
9.2. SET_INT_TIME_DIST [0x00] ..............................................................................................................................................................43
9.3. SET_INT_TIME_GS [0x01] .................................................................................................................................................................43
9.4. SET_O ERATION_MODE [0x04] .......................................................................................................................................................44
9.5. SET_HDR [0x0D] .................................................................................................................................................................................44
9.6. SET_ROI [0x02] ...................................................................................................................................................................................45
9.7. SET_TEM ORAL_FILTER_WFOV [0x07] ..........................................................................................................................................45
9.8. SET_TEM ORAL_FILTER_NFOV [0x0F] ..........................................................................................................................................45
9.9. SET_AVERAGE_FILTER [0x0A] .........................................................................................................................................................46
9.10. SET_MEDIAN_FILTER [0x0B] ............................................................................................................................................................46
9.11. SET_INTERFERENCE_DETECTION [0x11] ......................................................................................................................................46
© 2022 ES ROS hotonics Corporation
Characteristics subject to change without notice
2 / 52 Installation_and_Operation_Manual_TOFcam635-V2.0
www.espros.com

9.12. SET_EDGE_DETECTION [0x10]..........................................................................................................................................................47
9.13. SET_FRAME_RATE [0x0C] ................................................................................................................................................................47
9.14. SET_AM LITUDE_LIMIT [0x09] .........................................................................................................................................................47
9.15. STO _STREAM [0x28 ] ......................................................................................................................................................................47
9.16. SET_COM ENSATION [0x55] ............................................................................................................................................................47
9.17. SET_ILLUMINATION_ OWER [0x6C] ...............................................................................................................................................48
9.18. SET_DLL_STE [0x06] .......................................................................................................................................................................48
10. GET commands........................................................................................................................................................... 49
10.1. Acquisition modes...................................................................................................................................................................................49
10.2. Acquisition data output formats..............................................................................................................................................................49
10.3. Response header....................................................................................................................................................................................50
10.4. Warm-up.................................................................................................................................................................................................52
10.5. GET_DIST [0x20] .................................................................................................................................................................................53
10.6. GET_DIST_GS [0x29] .........................................................................................................................................................................53
10.7. GET_DIST_AM LITUDE [0x22] ..........................................................................................................................................................53
10.8. GET_GS [0x24] .....................................................................................................................................................................................54
10.9. GET_DCS [0x25 ] ................................................................................................................................................................................54
10.10. GET_CALIBRATION_INFO [0x57 ] .....................................................................................................................................................54
11. Miscellaneous commands.......................................................................................................................................... 55
11.1. SET_OUT UT [0x51] ..........................................................................................................................................................................55
11.2. GET_IN UT [0x52] ..............................................................................................................................................................................55
11.3. GET_TEM ERATURE [0x4A] .............................................................................................................................................................55
11.4. GET_TOFCOS_VERSION [0x49] .......................................................................................................................................................55
11.5. GET_CHI _INFORMATION [0x48] .....................................................................................................................................................55
11.6. GET_ ROD_DATE [0x50] ...................................................................................................................................................................56
11.7. IDENTIFY [0x47] ..................................................................................................................................................................................56
11.8. GET_ERROR [0x53] ............................................................................................................................................................................56
1 . Factory maintenance commands............................................................................................................................... 57
12.1. CALIBRATE_DRNU [0x41] ..................................................................................................................................................................57
12.2. GET_CALIBRATION [0x43] .................................................................................................................................................................57
12.3. JUM _TO_BOOTLOADER [0x44] ......................................................................................................................................................57
12.4. U DATE_TOFCOS [0x45] ..................................................................................................................................................................58
12.5. WRITE_CALIBRATION_DATA [0x4B] ................................................................................................................................................58
12.6. SET_MOD_FREQUENCY [0x05] ........................................................................................................................................................58
12.7. SET_BINNING [0x03] ..........................................................................................................................................................................58
13. Update camera operating system TOFCOS.............................................................................................................. 59
14. Maintenance and disposal.......................................................................................................................................... 60
14.1. Maintenance............................................................................................................................................................................................60
14.2. Disposal..................................................................................................................................................................................................60
15. Addendum ................................................................................................................................................................... 60
15.1. Related documents ................................................................................................................................................................................60
15.2. Links .......................................................................................................................................................................................................60
15.3. Licenses .................................................................................................................................................................................................60
16. IMPORTANT NOTICE................................................................................................................................................... 61
© 2022 ES ROS hotonics Corporation
Characteristics subject to change without notice
3 / 52 Installation_and_Operation_Manual_TOFcam635-V2.0
www.espros.com

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 sensor comes with its own calibrated TOFCOS. Do not alter the TOFCOS 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 - 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 of the TOFcam-635.
Download and use the latest TOFCAM635_SW_ ackage.
If there are any questions, please contact your ES ROS sales office or send an email to [e-mail].
1.3. Important Notes
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.
© 2022 ES ROS hotonics Corporation
Characteristics subject to change without notice
4 / 52 Installation_and_Operation_Manual_TOFcam635-V2.0
www.espros.com

. Abbreviations
Designator Description
3D Three dimensional
ACK Acknowledged
A I Application program interface
A/D Analog to digital
Binning Summation of a defined number of pixels. Binning can be done in the charge (analog) or in the digital domain
CMD Command
C U Central rocessing Unit
CRC Cyclic redundancy check (checksum)
cwTOF Continuous wave modulated time of flight
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
MCU Microcontroller Unit
MSB 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
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
SLAM Simultaneous localization and mapping
SW Software
TBD / tbd To be defined, information not yet available or not valid
TOF Time of flight
TOFCOS Time of flight camera operating system, firmware in the camera
© 2022 ES ROS hotonics Corporation
Characteristics subject to change without notice
5 / 52 Installation_and_Operation_Manual_TOFcam635-V2.0
www.espros.com

Designator Description
TTL Transistor transistor logic
TX Transmit terminal, data out
UART Universal asynchronous receiver transmitter
USB Universal Serial Bus
VDD ositive supply voltage
WFOV Wide field of view
Table 1: List of abbreviations used in this document
© 2022 ES ROS hotonics Corporation
Characteristics subject to change without notice
6 / 52 Installation_and_Operation_Manual_TOFcam635-V2.0
www.espros.com

3. TOFcam-635 time of flight camera
3.1. System overview
The TOFcam-635 is a miniaturized and cost-optimized 3D TOF camera based on the ES ROS epc635 cwTOF imager chip with an
integrated SLAM feature:
•5VDC power supply input
•General purpose I/O connector
•STM32 ARM Cortex MCU
•The micro controller board communicates with the epc635 chip carrier board through an ultrafast TCMI serial interface.
•High performance TOF lens
•NIR band pass filter, AR coatings and stray-light suppression for optimal optical performance
•LED illumination adopted to the specific field of view
•LED illumination for narrow spot SLAM feature
•TOF camera operating system (TOFCOS) for camera control, distance calculation and filtering
•Communication by UART (standard) or USB (optional adapter required)
•Application programming interface (A I) for further processing is available. It opens the world for point cloud computing, using
open source tools or creating own customer applications.
•ROS device drivers for Linux available, Windows, Mac and Linux GUI available
3. . Scope of delivery
Pieces Part Name Picture
1 Time of Flight Camera TOFcam-635 consisting of:
–Designer housing with 2 IR windows
–Aluminum base plate and heat sink
–Receiver optic
–Illumination cpl.
–C U electronics
–Interfaces
1 “Fix clip” Aluminum mounting plate
2 Self tapping screws for camera mount
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
© 2022 ES ROS hotonics Corporation
Characteristics subject to change without notice
7 / 52 Installation_and_Operation_Manual_TOFcam635-V2.0
www.espros.com

3.3. Ordering information
Picture Part No. Name Description
100 531 TOFcam-635 FoV 51° x 20°, 7.5m operating range (WFOW)
FoV 5° x 5°, 15m operating range (NFOW)
100 539 Adapter Kit UART to USB For TOFcam-635
- Adapter
- Cable 2 x 10 pin F-F, L = 150mm
- 2 Cables USB A – micro USB
100 610 ower supply 5VDC Input 90 … 260V
DC output 5V, 2A
USB A receptacle
100 516 Cable 10 pin, F, 75mm
JST 1.0mm, 28 AWG
Cable to connect a TOFcam-635 to a host
100 566 Cable 10 pin, F-F, 150mm
JST 1.0mm, 28 AWG
Cable to connect a TOFcam-635 to the UART to USB
adapter (included in 100 539)
300 473 Cable USB A to Micro
USB
To connect the UART to USB adapter to a power
supply and to a computer (2 x included in 100 539)
100 440 USB A extension cable,
M-F, 2m
Table 3: Order information for cameras and accessories
© 2022 ES ROS hotonics Corporation
Characteristics subject to change without notice
8 / 52 Installation_and_Operation_Manual_TOFcam635-V2.0
www.espros.com

3.4. 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
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 RMS / eak, @ VDDLED 5V,
30fps
Idle 10 mA @ VDDLED 5V
λ Operating wavelength 850 nm
RESIMAGE Image resolution 160 x 60 ixel
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 ... 15.0 m ± 2 %
DNOISE Distance noise (1σ value) WFOV 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
NFOV 0.1 mm
tINT Integration time selectable 1 1000 µs Default: 125µs
tCYCLE Measurement cycle time GET_DIST
GET_DIST_AM LITUDE
50
72
ms
ms
@tINT = 125µs, single
measurement, including data
transmission
fMOD Modulation frequency WFOV 19.20 20.00 20.70 MHz Refer to Chapters 9.1 and
5.1.1
NFOV 9.60 10.00 10.35 MHz
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 10.4
RESDISTANCE Distance measurement resolution 1 mm/LSB Refer to Chapter 10.
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 OUT1 / OUT2 voltage drive capability 36 V Refer to Figure 9
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 8
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:
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 and 7.5m respectively. Highly reflective objects outside of the effective
operating range of 15 / 7.5m will appear closer due to the wrap-around of the modulation period.
© 2022 ES ROS hotonics Corporation
Characteristics subject to change without notice
9 / 52 Installation_and_Operation_Manual_TOFcam635-V2.0
www.espros.com

3.5. Mechanical data
3.5.1. Mechanical features
The distance measurement starts from the front window of the housing with distance value 0mm. The mounting plate contains 2 holes
with a diameter of 3.6mm for mounting. Use only these mounting points. Use the screws included in the scope of delivery. A maximum
height of 2.8mm is allowed for the screw head. Because the mounting 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_TEM ERATURE (refer to Chapter 11.3) or
using the GUI respectively (refer to Figure 25)
3.5. . Mechanical dimensions
© 2022 ES ROS hotonics Corporation
Characteristics subject to change without notice
10 / 52 Installation_and_Operation_Manual_TOFcam635-V2.0
www.espros.com
Figure 4: Mechanical dimensions
Figure 3: Mechanical features
Zero Distance
(camera lens window)
Base plate
Connector
Indicator
LEDs
Cover
Illumination window
X axis
Y axis
Distance axis (spheric)
Mounting plate