iRAYPLE 5000 Series User manual

Binocular structured light 3D camera
User Manual V1.0.0
V1.0 .0

Foreword I
Foreword
Overview
This article briefly describes the content of the binocular 3D camera, including product introduction, networking,
installation and quick operation of application software.
Symbol definition
The following symbols may appear in the document. Please refer to the table below for the respective definition.
Symbol
Note
It indicates a potentially hazardous situation which, if not avoided, could
result in death or serious injury.
It indicates a
moderate or low level of potential danger which, if not
avoided, could result in minor or moderate injury.
It indicates a potential risk that, if ignored, could result in damage to
device, loss of data, degraded performance, or unpredictable results.
It means electrostatic-sensitive device.
It means high-voltage danger.
It means intensive laser radiation.
It means that it can help you to solve some problems or save your time.
It means the additional information, which is to emphasis or supplement.

Safety instructions II
Safety instructions
The following is about the correct use of the product, in order to prevent danger, prevent property damage, etc.,
please read this manual carefully before using the equipment and strictly follow it during use. Please keep the
manual properly after reading.
Requirements
•Please don’t place and install the device in an area exposed to direct sunlight or near heat generating
device.
•Please don’t install the device in a humid, dusty or fuliginous area.
•Please install it horizontally or stably, and prevent it from falling.
•Please don’t drip or splash liquids onto the device; don’t put on the device anything filled with liquids, in
order to prevent liquids from flowing into the device.
•Please install the device at well-ventilated places; don’t block its ventilation opening.
•Use the device only within rated input and output range.
•Please don’t dismantle the device arbitrarily.
•The laser used in this product is CLASS 3B, please do not look directly at the beam or directly through
optical instruments; the system needs to take corresponding protective measures in accordance with
relevant regulations, such as IEC60825.
Power requirements
•Please make sure to use batteries according to requirements; otherwise, it may result in fire, explosion or
burning risks of batteries!
•To replace batteries, only the same type of batteries can be used!
•The product shall use electric cables (power cables) recommended by this area, which shall be used
within its rated specification!
•Please make sure to use standard power adapter supplied with the device, or the user shall undertake
resulting personal injuries or device damages.
•Please use power supply that meets SELV (safety extra low voltage) requirements, and supply power with
rated voltage that conforms to Limited Power Source in IEC60950-1. For specific power supply
requirements, please refer to device labels.
•Products with category I structure shall be connected to grid power output socket, which is equipped with
protective grounding.
•Appliance coupler is a disconnecting device. During normal use, please keep an angle that facilitates
operation.
About this manual

Product introduction III
•Please refer to the actual product. This document is for reference only.
•This document is for reference for multiple models of products. The specific operations of each product
are not listed one by one. Users are requested to compare and operate according to the actual product.
•If you do not follow the instructions in this document, any losses caused by this will be borne by the user.
•If the obtained PDF document cannot be opened, please upgrade the reading tool to the latest version or
use other mainstream reading tools.
•The company reserves the right to modify any information in this document at any time. The modified
content will be added to the new version of this document without prior notice. There may be slight
differences in some product functions before and after the update.
•This document may contain technical inaccuracies, or inconsistencies with product functions and
operations, or printing errors. The company's final interpretation shall prevail.

Content IV
Content
Foreword ...................................................................................................................................................................I
Safety instructions ..................................................................................................................................................II
1 Product introduction ............................................................................................................................................ 1
1.1 Product introduction .................................................................................................................................... 1
1.2 Product feature............................................................................................................................................. 2
1.3 Packing list .................................................................................................................................................. 3
1.4 Product structure.......................................................................................................................................... 3
1.4.1 Product dimension............................................................................................................................ 3
1.4.2 Product interface............................................................................................................................... 4
1.5 Electrical specification................................................................................................................................. 7
2 Network............................................................................................................................................................... 17
3 Product installation ............................................................................................................................................ 18
4 Camera operation............................................................................................................................................... 19
4.1 Install the client.......................................................................................................................................... 19
4.2 Configuration guidance ............................................................................................................................. 20
4.3 Connect and disconnect the camera........................................................................................................... 21
4.4 The camera functions................................................................................................................................. 22
4.5 Image display............................................................................................................................................. 23
5 Camera functions................................................................................................................................................ 26
5.1 DeviceControl............................................................................................................................................ 26
5.2 TransportLayerControl .............................................................................................................................. 27
5.3 NTPcontrol ................................................................................................................................................ 28
5.4 TriggerControl........................................................................................................................................... 29
5.5 MonoCameraControl................................................................................................................................. 29
5.5.1 MonoCameraISPControl ................................................................................................................ 30
5.5.2 MonoCameraExposureControl....................................................................................................... 30
5.5.3 MonoImageFormatControl............................................................................................................. 31
5.6 ColorCameraControl.................................................................................................................................. 31
5.6.1 ColorCameraISPControl................................................................................................................. 32
5.6.2 ColorCameraExposureControl........................................................................................................ 32
5.6.3 ColorImageFormatControl.............................................................................................................. 33
5.7 VisionControl............................................................................................................................................. 33
5.8 BinocluarControl ....................................................................................................................................... 34
5.9 3DLocationControl.................................................................................................................................... 35
5.10 Digital IO Control.................................................................................................................................... 36
5.11 InputIOControl......................................................................................................................................... 37
5.12 LaserControl............................................................................................................................................ 37
5.13 UserSetControl ........................................................................................................................................ 38

Product introduction 1
1Product introduction
1.1 Product introduction
The 5000 series binocular 3D camera is an intelligent stereo camera specially developed for customer application
requirements such as cargo picking, palletizing and disassembling in docks, warehouses and other environments.
The camera realizes 3D detection function based on the principle of triangulation positioning through dual image
sensors and speckle laser. It uses a high-performance DSP chip and an efficient algorithm platform to transmit
point cloud images through a gigabit network port. The camera is equipped with a third image sensor for real
image output. The device supports multi-camera cascade mode to cope with application scenarios with a larger
measurement range.

Product introduction 2
1.2 Product feature
-Built-in high-precision measurement algorithm, high measurement accuracy
-Small installation space, high integration, Cost-effective product
-uniform and reliable speckle laser module
-Superior optical filter design, strong resistance to ambient light
-Built-in aviation plug, rich IO interface
-4 indicator lights for debugging and function display 4
-Industrial grade M12 connector, IP65 protection grade
-Support multi-camera cascade
Product specification:
Performance
Frame rate
25fps
Light
Speckle
Lens type M12
Focal length 4mm
Lens angle 59° × 49°
Work distance 0.5M—3.5M
Accuracy ±2mm@1M
Laser safety Class1
General parameters
Communication GigE, RS232/RS485
GPIO
Support 2 isolated input, 2 isolated output
Power
DC24V/0.15A
Power consumption ＜10 W 12VDC
Dimension 150mm × 120mm × 50.5mm
Temperature Work temperature -10℃~ +50℃, storage temperature -30℃~ ﹢80℃
Humidity 20%～95%, non-condensing
Software Smart Vision Studio
Protection IP65

Product introduction 3
1.3 Packing list
When unboxing, please check if there is any obvious damage and confirm that the accessories list is consistent
with the packing list. For details, see following Table
Table 1 Packing list
No.
Material
QTY
1 Binocular 3D camera 1
2
Mount plate
1
3
Power/IO cable
1
4 GigE network cable 1
5 M4×10 screw 4
6 Power adapter 1
1.4 Product structure
1.4.1 Product dimension
The Product dimension is as follow:
Figure 1 Product dimension(mm)

Product introduction 4
Figure 2 Dimension of mount plate
1.4.2 Product interface
There are two interfaces on the side of the device: 8-pin network interface and 12-pin power supply and I/O
interface, as shown as follow:
Figure 3 Interfaces

Product introduction 5
1.4.2.1 Network interface
The camera uses a gigabit network for software parameter setting and 3D image data transmission. The interface
form is a waterproof M12 8-pin aviation connector.
The product comes with an aviation connector to RJ45 category 6 high flexible network cable.
1.4.2.2 I/O interface
The pin definition of the I/O interface is shown in following igure . For details, see Table “Pin-assignment”
Figure 4 Pin-assignment
Table 2 Pin-assignment
Pin Color Assignment Definition
1 Yellow DIFF+ Differential input +
2
Yellow/white
DIFF-
Differential input -
3 Brown SIGNAL_GND Signal GND
4 Brown/white OPT_IN1 Opto-isolated input 1
5 Purple COM_RXD Serial communication receive
6
Purple/white
OPT_IN_GND
Opto-isolated input GND
7 Red POWER Power
8 Black POWER_GND Power GND
9 Green OPT_OUT_GND Opto-isolated output GND
10 Orange OPT_IN2 Opto-isolated input 2
11 Blue OPT_OUT Opto-isolated output
12
Grey
COM_TXD
Serial communication send
Shield Woven SGND Shield GND
(Black )

Product introduction 6
1.4.2.3 Indicator
POWER NET LASER TRIG
Power indicator/green Network status Laser enable Trigger status
The definition of status is as follow:
Table 3 Indicator
Status Definition
POWER On Power on
Off No power
NET On Camera connected
Off Camera not connected
LASER On Laser on
Off
Laser off
TRIG On Camera is working(triggering)
Off Wait for

Product introduction 7
1.5 Electrical specification
Opto-isolated input:
The relationship between sink current and input voltage of isolated input port 1 (high speed) is shown in the
figure:
Input Description
+26.0VDC Limit voltage, the input cannot exceed this limit value, otherwise it will
cause equipment damage
+0~+24VDC I/O safe working voltage range
+0~+1.4VDC Represent Logic 0
>+1.4V~+1.5VDC The input state is flipped here, and the logic state is uncertain within this
voltage range
>+1.5VDC Represent Logic 1
1. The maximum sink current of the opto-isolated input is 6mA。
2. The above values are typical values measured at an ambient temperature of 25°C, and there are individual
differences between different cameras.
The relationship between input signal amplitude and trigger delay is as follows:
0
1
2
3
4
5
6
7
0.00 5.00 10.00 15.00 20.00 25.00
Input characteristic curve

Product introduction 8
Input signal amplitude(Vp-p)
Rising edge trigger delay tDR(ns)
Falling edge trigger delay tDF(ns)
3.00 28 90
5.00
14
94
9.00
4
94
10.00 4 98
Notice: The trigger delay measures the delay from the external opto input port to the FPGApin input, without
considering the FPGA internal logic delay.
2. The above values are typical values measured at an ambient temperature of 25°C.
3. The shortest input positive pulse supported by the opto input is 50ns (typical value), and the shortest input
negative pulse is 100ns (typical value)1。
The relationship between sink current and input voltage of isolated input port 2 is shown in the figure：
Input Description
+26.0VDC Limit voltage, the input
cannot exceed this limit value, otherwise it will
cause equipment damage
+0~+24VDC I/O safe working voltage range
+0~+1.4VDC Represent Logic 0
>+1.4V~+2.2VDC The input state is flipped here, and the logic state is uncertain within this
voltage range
>+2.2VDC Represent Logic 1
1. The maximum sink current of the opto-isolated input is 4mA.
2. The above values are typical values measured at an ambient temperature of 25°C.
The relationship between input signal amplitude and trigger delay is as follows:
1Measure when the input pulse amplitude is 3.0V.
0.000
0.500
1.000
1.500
2.000
2.500
3.000
3.500
4.000
4.500
0.00 5.00 10.00 15.00 20.00 25.00
Input (mA)
Input (V)

Product introduction 9
Input signal amplitude(Vp-p) Rising edge trigger delay
tDR(ns)
Falling edge trigger delay tDF(ns)
3.00 4 25.2
5.00 3.8 25
9.00 3.6 26
10.00 3.5 25.6
3. The shortest input positive pulse supported by the opto input is 3.2μs (typical value), and the shortest input
negative pulse is 18.0μs (typical value)2。
2Measure when the input pulse amplitude is 3.0V.

Product introduction 10
Typical application example of opto input:

Product introduction 11
Diagram of wiring PNP type output PLC to camera's opto input
Diagram of wiring NPN type output PLC to camera's opto input
Opto-isolated ouput:
Voltage
Description
+26.0VDC Limit voltage, the input cannot exceed this limit value, otherwise it will cause
equipment damage
<+3.3VDC I/O output may be wrong
+3.3~+24VDC I/O output safe working range
Importance: The opto-isolated output port allows a maximum continuous current of 100mA. Exceeding the
output current limit will damage the output interface.

Product introduction 12
The pull-up resistor value selection in the figure should be based on the given voltage, not exceeding the
maximum allowable current value of the opto-isolated output port. The larger the pull-up resistor value, the
smaller the optocoupler conduction voltage drop, and the longer the output waveform rise and fall time. The
smaller the external driving ability. The recommended value of optocoupler is 270Ω when 5V power supply, 560Ω
when 12V power supply, and 1kΩ when 24V power supply.
Using a 1kΩ pull-up resistor, the output rise/fall time and rise/fall edge delay time under different external
power supply voltages are as follows:
External power
voltage (V)
Rising time
tR(us)
Falling time
tF(us)
Rising edge trigger
delay tDR (us)
F
alling edge
trigger delay tDF
(us)
5 19.70 3.20 39.9 8.06
12
24.06
5.22
44.8
11.8
24 30.11 8.10 44.8 53.2
Notice: Output delay refers to the delay from FPGA internal logic output to external opto-isolated output pins,
regardless of FPGA internal logic delay. The above values are typical values measured at an ambient
temperature of 25°C, and there are individual differences between different cameras.

Product introduction 13
The relationship between opto output conduction voltage drop (voltage drop between OPT_OUT and OPT_GND)
and output current (current flowing into the OPT_OUT pin) is shown in the figure:
1. The maximum conduction voltage drop of the opto output is 2.35V (measured at a maximum output current of
100mA).
Notice: The above values are typical values measured at an ambient temperature of 25°C, and there are
individual differences between different cameras.
The transistor output of the camera is separated from the internal circuit by an opto-isolator, so the transistor
output can be used as an NPN output or a PNP output.
0.00
0.50
1.00
1.50
2.00
2.50
0 20 40 60 80 100
Conduction drop (V)
Output current (mA)

Product introduction 14
Typical application example of opto output:
The diagram of connect the camera's opto output to the PLC through the negative common terminal
The diagram of connect the camera's opto output to the PLC through the positive common terminal
Importance: If the camera output is connected to an inductive load such as an intermediate relay, it must be a
model with a built-in freewheeling diode (or an external freewheeling diode, such as 1N4007), otherwise it will
cause instantaneous overvoltage damage to the output interface.

Product introduction 15
Differential input or output:
Common mode voltage
Description
-9/+14VDC
Limit voltage, the voltage of the input differential signal to ground cannot
exceed this limit value, otherwise it will cause damage to the equipment
-8/+13VDC Recommended voltage of input differential signal to ground
+2.5VDC Output differential signal to ground voltage
Differential Mode Voltage Description
＜
40mVAC
，＞
200mVAC
Recommended voltage between input differential signals
+2.1~2.5VAC
Voltage difference between output differential signals