FRAMOS D455e User manual

FRAMOS Industrial Depth Camera D400e Series
USER MANUAL
Version 1.6.0 from 2021-10-15
www.framos.com

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Table of Contents
Description and Features .............................................................................................. 8
1.1 Description.............................................................................................................................................. 8
1.2 Features.................................................................................................................................................. 8
1.3 System Requirements ............................................................................................................................ 8
Introduction.................................................................................................................... 9
2.1 Purpose of this Document ...................................................................................................................... 9
2.2 Terminology ............................................................................................................................................ 9
2.3 Stereo Vision Depth Technology Overview.......................................................................................... 10
Component Overview...................................................................................................11
3.1 Stereo Depth Module............................................................................................................................ 11
3.2 Left and Right Imagers ......................................................................................................................... 12
3.3 Infrared Projector .................................................................................................................................. 13
3.4 Color Sensor......................................................................................................................................... 14
3.5 Inertial Measurement Unit .................................................................................................................... 15
3.6 Image Signal Processor ....................................................................................................................... 15
3.7 FRAMOS D4 Visual Processing Board ................................................................................................ 15
FRAMOS Depth Camera D400e Series .......................................................................17
4.1 Depth Camera Properties ..................................................................................................................... 17
4.2 Mechanical Dimensions........................................................................................................................ 18
4.3 Physical Interfaces................................................................................................................................ 20
4.3.1 Ethernet M12 connector, X-Coded, Female ........................................................................................ 20
4.3.2 Power M8 connector, A-Coded, Male .................................................................................................. 21
4.4 Thermal Control .................................................................................................................................... 22
4.5 Storage and Operating Conditions ....................................................................................................... 22
4.6 Power Consumption ............................................................................................................................. 22
4.7 Depth Camera Depth Origin Reference ............................................................................................... 23

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4.8 Labels on the Camera .......................................................................................................................... 24
FRAMOS Depth Camera D400e Module Variant .........................................................25
5.1 D400e Module Components................................................................................................................. 25
5.2 D400e Module Variant Connectors Pinout ........................................................................................... 26
5.2.1 Ethernet Connector J3 ......................................................................................................................... 27
5.2.2 Power and IO Connector J6................................................................................................................. 28
5.3 Thermal Design Consideration ............................................................................................................. 29
5.4 Mechanical Drawings ........................................................................................................................... 29
5.4.1 FRAMOS D4 Visual Processing Board ................................................................................................ 29
5.4.2 Depth Module Interposer...................................................................................................................... 29
5.4.3 Depth Module Cable Bracket ............................................................................................................... 30
5.4.4 RGB Module Including Cover............................................................................................................... 30
5.4.5 RGB Interconnect................................................................................................................................. 30
Optimum Thermal Conditions.......................................................................................31
6.1 Fundamentals of the Camera’s Heat Dissipation ................................................................................. 31
6.2 Operating Conditions for Different Temperatures ................................................................................ 32
6.3 Maximum Operating Ambient Temperatures ....................................................................................... 35
6.4 Summary of Operating Conditions and Temperatures......................................................................... 35
Mounting and Deployment............................................................................................37
7.1 Camera Mounting ................................................................................................................................. 37
7.2 Application of External Cabling............................................................................................................. 38
7.3 Cleaning Procedures ............................................................................................................................ 38
Functional Specification................................................................................................39
8.1 Stream Configurations Possible ........................................................................................................... 39
8.2 Depth Field of View (FOV).................................................................................................................... 40
8.3 Minimum-Z Depth ................................................................................................................................. 40
8.4 Depth Quality Specifications................................................................................................................. 41
8.5 Depth Camera Functions...................................................................................................................... 42
8.6 Color Camera Functions....................................................................................................................... 42
8.7 Inertial Measurement Unit Streams ...................................................................................................... 43

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8.8 D400e Camera Specific Features ........................................................................................................ 43
8.8.1 Packet Size .......................................................................................................................................... 43
8.8.2 Inter Packet Delay ................................................................................................................................ 44
8.8.3 Heartbeat Time..................................................................................................................................... 44
8.8.4 Inter Cam Sync Mode........................................................................................................................... 44
8.8.5 Output Trigger Enabled........................................................................................................................ 45
8.8.6 User Output Level ................................................................................................................................ 45
8.8.7 Line Debouncer Time ........................................................................................................................... 45
8.8.8 RGB/Stereo Synchronization ............................................................................................................... 46
8.8.9 Syncer Mode ........................................................................................................................................ 47
Firmware Updates ........................................................................................................49
9.1 Firmware Update Interactive Mode ...................................................................................................... 49
9.1.1 Parallel Firmware Update..................................................................................................................... 50
9.2 Firmware Update Non-Interactive Mode .............................................................................................. 51
9.3 IP Address Conflict ............................................................................................................................... 52
9.3.1 Interactive Mode................................................................................................................................... 52
9.3.2 Non-interactive Mode ........................................................................................................................... 53
Software .......................................................................................................................54
10.1 FRAMOS Camera Suite SDK............................................................................................................... 54
10.1.1 Set IP Configuration ........................................................................................................................... 54
10.1.2 Manage Camera Calibration Tables .................................................................................................. 57
10.2 Intel® RealSense™ Software Development Kit 2.0 ............................................................................. 58
Troubleshooting............................................................................................................59
Regulatory Compliance ................................................................................................60
Accessories ..................................................................................................................62
References ...................................................................................................................63
Revision History............................................................................................................64

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List of Figures
Figure 1 – M12 Connector PIN Layout ....................................................................................20
Figure 2 – Example of connecting M12 to RJ45, T568B termination.........................................21
Figure 3 – M8 Connector PIN Layout ......................................................................................21
Figure 4 – Depth Camera D415e Depth Origin Reference........................................................23
Figure 5 – Depth Camera D435e Depth Origin Reference........................................................23
Figure 6 – Depth Camera D455e Depth Origin Reference........................................................24
Figure 7 – FRAMOS D400e Module Components Overview ....................................................25
Figure 8 – Connecting Interposer Cables to FRAMOS D4 Visual Processing Board ...................26
Figure 9 – FRAMOS D4 Visual Processing Board Ethernet Connector ......................................27
Figure 10 – FRAMOS D4 Visual Processing Board Power and IO Connector ............................28
Figure 11 – FRAMOS D4 Visual Processing Board Dimensions ................................................29
Figure 12 – Depth Module Interposer Dimensions....................................................................29
Figure 13 – D435e Depth Module Cable Bracket Dimensions ..................................................30
Figure 14 – D415e Depth Module Cable Bracket Dimensions ..................................................30
Figure 15 – D455e Depth Module Cable Bracket Dimensions ..................................................30
Figure 16 – RGB Module Including Cover Dimensions .............................................................30
Figure 17 – RGB Interconnect Dimensions..............................................................................30
Figure 18 – Hottest Part of the Camera Housing......................................................................31
Figure 19 – D400e Series Camera Body Back Side ................................................................37
Figure 20 – D400e M8 Pin 3 Behavior ....................................................................................45
Figure 21 – D400e Line Debouncer Time................................................................................46
Figure 22 – D400e Series Camera Synchronized Streams .......................................................46
Figure 23 – D400e Series Camera Streams out of Synchronization ..........................................47
Figure 24 – Syncer Default Mode ...........................................................................................48
Figure 25 – Syncer Wait-For-Frameset Mode ..........................................................................48
Figure 26 – Tool UpdateFirmware Part 1 .................................................................................49
Figure 27 – Tool UpdateFirmware Part 2 .................................................................................50
Figure 28 – Tool UpdateFirmware Parallel Part 1......................................................................50
Figure 29 – Tool UpdateFirmware Parallel Part 2......................................................................51
Figure 30 – Selecting one device in noninteractive mode .........................................................51
Figure 31 – IP address conflict ...............................................................................................52
Figure 32 – IP address conflict when selecting all devices........................................................52
Figure 33 – IP address conflict, procedure terminated..............................................................53
Figure 34 – Tool ConfigureIp Part 1.........................................................................................55
Figure 35 – Tool ConfigureIp Part 2.........................................................................................55
Figure 36 – IP address conflict warning message ....................................................................56
Figure 37 – ConfigureIp tool arguments...................................................................................56
Figure 38 – Verification of status of DHCP protocol..................................................................56
Figure 39 – Verification of status of persistent IP address .........................................................57
Figure 40 – Tool CalibrationTables Part1 .................................................................................57
Figure 41 – Tool CalibrationTables Part2 .................................................................................57
List of Tables
Table 1 – Terminology............................................................................................................. 9

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Table 2 – D430 Depth Module Properties ...............................................................................11
Table 3 – D410 Depth Module Properties ...............................................................................11
Table 4 – D450 Depth Module Properties ...............................................................................11
Table 5 – D430 Imager Properties ..........................................................................................12
Table 6 – D410 Imager Properties ..........................................................................................12
Table 7 – D450 Imager Properties ..........................................................................................12
Table 8 – D430/D450 infrared projector properties ..................................................................13
Table 9 – D410 infrared projector properties............................................................................13
Table 10 – D415e/D435e Color Sensor Properties..................................................................14
Table 11 – D455e Color Sensor Properties .............................................................................14
Table 12 – IMU Specifications ................................................................................................15
Table 13 – ISP Properties.......................................................................................................15
Table 14 – FRAMOS D4 Visual Processing Board Key Components ........................................16
Table 15 – FRAMOS D4 Visual Processing Board Dimensions.................................................16
Table 16 – FRAMOS Depth Camera D400e Series Properties..................................................17
Table 17 – D400e Series Camera Dimensions ........................................................................19
Table 18 – M12 Connector PIN Layout and Description...........................................................20
Table 19 – M8 Connector PIN Layout and Description.............................................................21
Table 20 – Storage and Operating Conditions.........................................................................22
Table 21 – D400e Series Camera Power Consumption ...........................................................22
Table 22 – Camera Label Information......................................................................................24
Table 23 – J3 Pin Assignment ................................................................................................27
Table 24 – J6 Pin Assignment ................................................................................................28
Table 25 – D400e Maximum Power Consumption...................................................................31
Table 26 – D400e Operating Temperature ..............................................................................32
Table 27 – Operating Conditions for Different Temperatures.....................................................32
Table 28 – Heat Dissipation Elements .....................................................................................34
Table 29 – Maximum Operating Ambient Temperatures ...........................................................35
Table 30 – Example of Possible Streams on Gigabit Ethernet Network......................................39
Table 31 – Depth FOV ...........................................................................................................40
Table 32 – Minimum-Z Depth .................................................................................................40
Table 33 – Depth Quality Specifications for FRAMOS D400e Series Camera............................41
Table 34 – Depth Camera Functions ......................................................................................42
Table 35 – Color Camera Functions........................................................................................43
Table 36 – Inertial Measurement Unit Streams.........................................................................43
Table 37 – Revision History ....................................................................................................64
List of Abbreviations
Abbreviation
Explanation
AR
Anti-Reflective
DC
Direct Current
DHCP
Dynamic Host Communication Protocol
DOF
Degrees of Freedom
FOV
Field of View
FOP
Field of Projection
GND
Ground

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I/O
Input/Output
IN
Input
IP
Internet Protocol
IR
Infrared
ISP
Image Signal Processor
LLA
Link-Local Address
NIC
Network Interface Card
OUT
Output
PHY
Physical Layer
POE
Power Over Ethernet
RH
Relative Humidity
RMA
Return Material Authorization
SDK
Software Development Kit
TBD
To Be Determined

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Description and Features
1.1 Description
The FRAMOS Industrial Depth Camera D400e Series (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 D400e
Series are ideal for OEMs and integrators who need 3D as well as 2D vision in their products and
applications. The D400e Series are compatible with the Cross-platform SDK for Intel® RealSense™
devices, enabling multiple programming languages, wrappers, sample code and tools. D435e and
D455e camera models, featuring global shutter, wide field of view sensors, are especially suitable
for applications with fast motion.
1.2 Features
Gigabit Ethernet data transmission
Data transfer up to 100m in length
Single cable solution for both power & data via PoE
Increased data transmission reliability with packet resend functionality
Intel® RealSense™ SDK 2.0 compatible
Onboard depth calculation with Intel® RealSense™ Vision Processor D4
Projector with unstructured light in IR spectrum for enhanced depth quality
IP66 dust and water-proof housing for industrial environments, IP67 on project basis
Secure cable connections with threaded M12 and M8 plugs
Synchronization with external events
Simultaneous depth and RGB streaming at profile 1280 x 720 @ 30fps
1.3 System Requirements
Host PC Operating System:
Microsoft® Windows® 10
Linux Ubuntu 16.04 (or newer)
Host PC Architecture:
x86_64
ARM64 (NVIDIA® Jetson™ platform)
Hardware:
Gigabit Ethernet Network Interface Card (NIC)

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Introduction
2.1 Purpose of this Document
This document contains 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.
Table 1 – Terminology

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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
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.