FRAMOS D400e Series User manual

FRAMOS Industrial Depth Camera D400e Series
USER MANUAL
Version 1.0.0 from 2020-06-30
www.framos.com

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Table of Contents
Description and Features .............................................................................................. 6
1.1 Description.............................................................................................................................................. 6
1.2 Features.................................................................................................................................................. 6
1.3 Minimum System Requirements............................................................................................................. 7
Introduction.................................................................................................................... 8
2.1 Purpose of this Document ...................................................................................................................... 8
2.2 Terminology ............................................................................................................................................ 8
2.3 Stereo Vision Depth Technology Overview............................................................................................ 8
Component Overview...................................................................................................10
3.1 Stereo Depth Module............................................................................................................................ 10
3.2 Left and Right Imagers ......................................................................................................................... 11
3.3 Infrared Projector .................................................................................................................................. 12
3.4 Color Sensor......................................................................................................................................... 13
3.5 Labels on the Camera .......................................................................................................................... 13
3.6 Thermal Control .................................................................................................................................... 13
3.7 Mechanical Dimensions........................................................................................................................ 14
3.8 Storage and Operating Conditions ....................................................................................................... 15
3.9 Connectors and PINs of M12 and M8 .................................................................................................. 15
3.9.1 Ethernet M12 connector, X-Coded, Female .................................................................................... 15
3.9.2 Power M8 connector, A-Coded, Male .............................................................................................. 16
3.10 Power Consumption ............................................................................................................................. 16
Optimum Thermal Conditions.......................................................................................17
4.1 Fundamentals of the Camera’s Heat Dissipation ................................................................................. 17
4.2 Operating Conditions for Different Temperatures ................................................................................ 18
4.3 Maximum Operating Ambient Temperatures ....................................................................................... 21
4.4 Summary of Operating Conditions and Temperatures......................................................................... 21

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Mounting and Deployment............................................................................................23
5.1 Camera Mounting ................................................................................................................................. 23
5.2 Application of External Cabling............................................................................................................. 23
5.3 Cleaning Procedures ............................................................................................................................ 24
Functional Specification................................................................................................25
6.1 Stream Configurations Possible ........................................................................................................... 25
6.2 Depth Field of View (FOV).................................................................................................................... 26
6.3 Minimum-Z Depth ................................................................................................................................. 26
6.4 Depth Accuracy .................................................................................................................................... 27
6.5 Depth Camera Functions...................................................................................................................... 27
6.6 Color Camera Functions....................................................................................................................... 27
6.7 D400e Camera Specific Features ........................................................................................................ 28
6.7.1 Packet Size ...................................................................................................................................... 28
6.7.2 Inter Packet Delay ............................................................................................................................ 29
6.7.3 Heartbeat Time................................................................................................................................. 29
6.7.4 Intercam Sync Mode ........................................................................................................................ 29
6.7.5 RGB/Stereo Synchronization ........................................................................................................... 29
Firmware Updates ........................................................................................................31
7.1 Parallel Firmware Update ..................................................................................................................... 32
Software .......................................................................................................................33
8.1 FRAMOS Camera Suite SDK............................................................................................................... 33
8.1.1 Set IP Configuration ......................................................................................................................... 33
8.1.2 Manage Camera Calibration Tables ................................................................................................ 34
8.2 Intel® RealSense™ Software Development Kit 2.0 ............................................................................. 35
Regulatory Compliance ................................................................................................37
Accessories ..................................................................................................................39
References ...................................................................................................................40
Revision History............................................................................................................41

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List of Figures
Figure 1 – M12 PIN Layout.....................................................................................................15
Figure 2 – M8 PIN Layout.......................................................................................................16
Figure 3 – Hottest Part of the Camera Housing........................................................................17
Figure 4 – D400e Series Camera Body Back Side ..................................................................23
Figure 5 – D400e Series Camera Synchronized Streams .........................................................30
Figure 6 – D400e Series Camera Streams out of Synchronization ............................................30
Figure 7 - Tool UpdateFirmware Part1.....................................................................................31
Figure 8 – Tool UpdateFirmware Part2 ....................................................................................31
Figure 9 - Tool UpdateFirmware Parallel Part1 .........................................................................32
Figure 10 – Tool UpdateFirmware Parallel Part2.......................................................................32
Figure 11 – Tool ConfigureIp Part1..........................................................................................34
Figure 12 – Tool ConfigureIp Part2..........................................................................................34
Figure 13 – Tool CalibrationTables Part1 .................................................................................35
Figure 14 – Tool CalibrationTables Part2 .................................................................................35
List of Tables
Table 1 – D400e Series Camera Features................................................................................ 6
Table 2 - Terminology ............................................................................................................. 8
Table 3 – D430 Depth Module Properties ...............................................................................10
Table 4 – D410 Depth Module Properties ...............................................................................10
Table 5 – D430 Imager Properties ..........................................................................................11
Table 6 – D410 Imager Properties ..........................................................................................11
Table 7 – D430 infrared projector properties............................................................................12
Table 8 – D410 infrared projector properties............................................................................12
Table 9 – Color Sensor Properties ..........................................................................................13
Table 10 – Camera Labels .....................................................................................................13
Table 11 – D400e Series Camera Dimensions ........................................................................14
Table 12 – Storage and Operating Conditions.........................................................................15
Table 13 – M12 PIN Layout....................................................................................................15
Table 14 – M8 PIN Layout......................................................................................................16
Table 15 – D400e Series Camera Power Consumption ...........................................................16
Table 16 – D400e Maximum Power Consumption...................................................................17
Table 17 – D400e Operating Temperature ..............................................................................18
Table 18 – Operating Conditions for Different Temperatures.....................................................18
Table 19 – Heat Dissipation Elements .....................................................................................20
Table 20 – Maximum Operating Ambient Temperatures ...........................................................21
Table 21 – Example of Possible Streams on Gigabit Ethernet Network......................................25
Table 22 – Depth FOV ...........................................................................................................26
Table 23 – Minimum-Z Depth .................................................................................................26
Table 24 – Depth Camera Functions ......................................................................................27
Table 25 – Color Camera Functions........................................................................................28
Table 26 – Revision History ....................................................................................................41

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List of Abbreviations
Abbreviation
Explanation
SDK
Software Development Kit
NIC
Network Interface Card
I/O
Input/output
DC
Direct Current
GND
Ground
IN
Input
OUT
Output
RMA
Return material authorization
TBD
To Be Determined
DHCP
Dynamic Host Communication Protocol
LLA
Link-local address

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Description and Features
1.1 Description
The FRAMOS Industrial Depth Camera D400e Series are built with Intel® RealSense™ technology.
The depth cameras have industrial M12 ethernet and M8 power connectors. Its water and dust
resistant housing is optimized for industrial environments. The FRAMOS Industrial Depth Camera
D400e Series are ideal for OEMs and integrators who need 3D as well as 2D vision in their products
and applications. The FRAMOS Industrial Depth Camera D400e Series are compatible with the
Cross-platform SDK for Intel® RealSense™ devices, enabling multiple programming languages,
wrappers, sample code and tools. FRAMOS D435e camera model features a wide field of view for
depth and RGB sensors, and global shutter feature of the depth sensors allows for applications
with fast motion.
1.2 Features
Resolution depth
D435e: 1280 x 720 px (global shutter)
D415e: 1280 x 720 px (rolling shutter)
Resolution RGB
1920 x 1080 px (rolling shutter)
FOV depth (HxVxD)
D435e: 86° x 57° x 94° (+/- 3°)
D415e: 65° x 40° x 72° (+/- 3°)
FOV RGB (HxVxD)
69° x 43° x 77° (+/- 3°)
Projector
Unstructured light in IR spectrum to
enhance depth quality
Operating range
0,2m – 10m+
Streaming speed
30 fps for simultaneous RGB and depth
streams @ 1280 x 720 px
Power consumption
6W (AUX) / 7W (PoE)
Housing material
Aluminium, anodized
Dimensions (LxHxW)
100mm x 47mm x 38mm
Mounting holes (backside)
4 x M3 ↧3,20mm
Connector 1*
M12 Ethernet, X-Coded (Data stream + PoE
possible)
Connector 2*
M8, 8 pin, A-Coded (Power supply + GPIO)
Housing Grade
IP66 (IP67 possible on project basis)
Protection glass
AR coating, scratch resistant (6H)
Physical Interface
Gigabit ethernet
Camera weight
Ca. 250 grams
Table 1 – D400e Series Camera Features

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1.3 Minimum System Requirements
Host PC Operating System:
Microsoft® Windows® 10
Linux Ubuntu 16.04
Host PC Architecture:
x86_64
ARM64 (NVIDIA® Jetson™ TX2)
Hardware:
Gigabit Network Interface Card (NIC)

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Introduction
2.1 Purpose of this Document
This document captures the specifications and the design–in details for the FRAMOS Industrial
Depth Camera D400e Series. This document provides information necessary to understand and
implement the camera system.
2.2 Terminology
Term
Description
6DOF
Six degrees of freedom (6DoF) refers to the freedom of
movement of a rigid body in three-dimensional space.
Forward/back, up/down, left/right, pitch, yaw, roll.
Stereo Depth
Baseline
The distance between the center of the left and right imagers in
a stereo camera.
Depth
Depth video streams are like color video streams except each
pixel has a value representing the distance away from the
camera instead of color information.
FOV
Field of View (FOV) describes the angular extent of a given
scene that is imaged by a camera. A camera's FOV can be
measured horizontally, vertically, or diagonally.
IR Projector
This refers to the source of infrared (IR) light used for illuminating
a scene, object, or person to collect depth data.
Imagers
Depth camera system uses a pair of cameras referred as imagers
to calculate depth. They are identical cameras configured with
identical settings.
Image Signal
Processor (ISP)
Image processing functions to enhance color image quality.
Left imager
From the perspective of the stereo camera looking out at the
world, the left imager is on the left side of the camera module.
Thus, when the user is facing the D400e camera, the left imager
is on the right side of the camera module.
Lens
This refers to the optical component of an imager in the D4
camera. Its purpose is to focus the incoming light rays onto the
CMOS chip in the imager.
Platform camera
This refers to the two-dimensional (2D) color camera on platform.
Table 2 - Terminology
2.3 Stereo Vision Depth Technology Overview
The FRAMOS Industrial Depth Camera D400e Series use stereo vision to calculate depth. The
stereo vision implementation consists of a left imager, right imager, and an optional infrared

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projector. The infrared projector projects non-visible static IR pattern to improve depth accuracy in
scenes with low texture. The left and right imagers capture the scene and send image data to the
vision processor. The vision processor calculates depth values for each pixel in the image by
correlating points on the left image to the right image. The depth pixel values are processed to
generate a depth frame. Subsequent depth frames create a depth video stream.

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Component Overview
3.1 Stereo Depth Module
The stereo depth module used in the D435e camera is the Intel® RealSense™ D430, while D415e
implements Intel® RealSense™ D410 depth module. Properties of the Intel® RealSense™ depth
modules are as follows:
D430
Baseline
50mm
Left/Right Imagers Type
Wide
Depth FOV HD (degrees)
H:87±3 / V:58±1 / D:95±3
Depth FOV VGA (degrees)
H:75±3 / V:62±1 / D:89±3
IR Projector
Wide
IR Projector FOV
H:90 / V:63 / D:99
Module Dimensions (mm)
X=70.7mm / Y=14mm / Z=10.53mm
Table 3 – D430 Depth Module Properties
D410
Baseline
55mm
Left/Right Imagers Type
Standard
Depth FOV HD (degrees)
H:65±2 / V:40±1 / D:72±2
Depth FOV VGA (degrees)
H:50±2 / V:40±1 / D:61±2
IR Projector
Standard
IR Projector FOV
H:67 / V:41 / D:75
Module Dimensions (mm)
X=74.7mm / Y=10mm / Z=4.7mm
Table 4 – D410 Depth Module Properties
H – Horizontal FOV, V – Vertical FOV, D – Diagonal FOV, X – Length, Y – Breadth, Z –
Thickness
Depth FOV specified at 2 meters.
Due to mechanical tolerances of +/-5%, Max and Min FOV values can vary from lens to lens and
module to module by ~ +/- 3 degrees.