Lucid Helios User manual

Helios Camera Technical Manual
V1.0.0
Revised on July 25, 2019

LUCID Helios Camera Technical Manual 2
Contents
Product Specification....................................................................................................................................6
Welcome.......................................................................................................................................................8
Safety and Precautions .................................................................................................................................8
Definitions and Symbols ...........................................................................................................................8
General Safety Notices..............................................................................................................................8
Laser Radiation..........................................................................................................................................9
Service and Maintenance............................................................................................................................10
Service.....................................................................................................................................................10
Maintenance...........................................................................................................................................11
Contact Us...................................................................................................................................................11
Contact Sales...........................................................................................................................................11
Contact Support......................................................................................................................................11
Installing the Camera Hardware .................................................................................................................12
Mounting.................................................................................................................................................12
GigE Cable ...............................................................................................................................................12
GPIO Cable ..............................................................................................................................................12
Lens.........................................................................................................................................................13
Configuring the Camera and Host System..................................................................................................14
Installing the Ethernet Driver..................................................................................................................14
Device Discovery and Enumeration........................................................................................................14
Camera IP Setup..................................................................................................................................16
Setting Up Persistent IP ......................................................................................................................16
Bandwidth Management ........................................................................................................................17
Jumbo Frames.....................................................................................................................................17
Receive Buffers ...................................................................................................................................17
Device Link Throughput Limit .............................................................................................................17
User Sets, Streamables, and File Access.................................................................................................18
User Sets .............................................................................................................................................18
Streamables ........................................................................................................................................18
File Access ...........................................................................................................................................18
Using the Camera........................................................................................................................................20

LUCID Helios Camera Technical Manual 3
Using Arena SDK......................................................................................................................................20
Using ArenaView.....................................................................................................................................20
Camera Specifications.................................................................................................................................21
Power......................................................................................................................................................21
Temperature...........................................................................................................................................21
GPIO Characteristics................................................................................................................................21
GPIO Schematics.....................................................................................................................................22
Opto-isolated Input –GPIO Line 0 ......................................................................................................22
Opto-isolated Output –GPIO Line 1 ...................................................................................................23
Non-isolated Input - GPIO Line 2 ........................................................................................................24
Non-isolated Output - GPIO Line 2 .....................................................................................................24
Non-isolated Input - GPIO Line 3 ........................................................................................................25
Non-isolated Output - GPIO Line 3 .....................................................................................................25
3.5V Output.........................................................................................................................................25
LED Status ...............................................................................................................................................25
Specification Tests ..................................................................................................................................26
FCC ......................................................................................................................................................26
RoHS, REACH, and WEEE.....................................................................................................................26
CE ........................................................................................................................................................26
Camera Features.........................................................................................................................................27
Image Processing Controls......................................................................................................................27
Operating Mode..................................................................................................................................27
Exposure Time.....................................................................................................................................27
Gain.....................................................................................................................................................28
Image Accumulation ...........................................................................................................................28
Confidence Threshold.........................................................................................................................28
Pixel Formats...........................................................................................................................................28
Range Data..........................................................................................................................................28
Intensity Image ...................................................................................................................................29
Confidence Data..................................................................................................................................29
Time of Flight Invalidation ......................................................................................................................29
Multipath ............................................................................................................................................29

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High Reflectivity ..................................................................................................................................29
Low Reflectivity...................................................................................................................................30
Aliasing/Ambiguity..............................................................................................................................30
Veiling Glare........................................................................................................................................30
Firmware Update ....................................................................................................................................30
Updating your Camera Firmware........................................................................................................31
Device Nodes ..............................................................................................................................................32
Acquisition Control .................................................................................................................................32
Acquisition Modes ..............................................................................................................................32
Analog Control ........................................................................................................................................35
Chunk Data Control.................................................................................................................................35
Device Control.........................................................................................................................................36
Digital IO Control.....................................................................................................................................38
Event Control ..........................................................................................................................................38
Event Exposure End Data....................................................................................................................39
Event Exposure Start Data ..................................................................................................................39
Event Test Data...................................................................................................................................39
File Access Control..................................................................................................................................39
I2C Access Control...................................................................................................................................40
Image Format Control.............................................................................................................................40
Scan 3D Control.......................................................................................................................................41
Serial Access Control...............................................................................................................................42
Test Control.............................................................................................................................................42
Transfer Control......................................................................................................................................42
Transport Layer Control..........................................................................................................................43
GigE Vision ..........................................................................................................................................43
PTP Control .........................................................................................................................................45
User Set Control......................................................................................................................................45
Revision History ..........................................................................................................................................46

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LUCID Helios Camera Technical Manual 6
Product Specification
Basic Information
Model
HLS003S-001
Resolution
0.3MP (640 x 480 px)
Framerate
30fps
Sensor
Sony DepthSense™IMX556PLR CMOS
Optical Format
½”
Pixel Size
10um
Physical, Interface and Power Information
Digital Interface
Gigabit Ethernet with M12 connector IEC 61076-2-109
GPIO Interface
8-pin M8 connector IEC 61076-2-104
I/O ports
1 input, 1 output, 2 bidirectional
Dimension
55 x 55 x 76 mm
Lens Mount
Integrated S-mount lens (not user changeable)
Weight
280 g
Power Consumption
12-24Vdc, Pavg <10W, 2.8A peak pulse current
Imaging Properties
Working Range
Near Mode: up to 1.5m; Far Mode: up to 6m
Lens Field of View
59⁰x 45⁰(nominal)
Illumination
4 x VCSEL laser diodes @ 850nm
Camera Features
User Sets
1 default and 2 custom
Exposure Control
Manual with 2 modes
Output Formats
3D Point Cloud, Intensity and Confidence
OS Support
Windows and Linux
Standard and Certification
Standard
GigE Vision 2.0, GenICam 3D
Compliance
CE, FCC, RoHS, REACH, WEEE, Eye Safety IEC 60825-1:2014
Operating Case Temperature
-10⁰C to 60⁰C (case temperature)
Accuracy & Precision
Accuracy
+/- 5mm over range 0.3-1.5m (1.5m mode)
+/- 10mm over range 0.3-6.0m (6m mode)
Precision
Distance (m)
1.5m Mode (mm)
6m Mode (mm)
0.5
0.69
0.53
1
1.6
1.25

LUCID Helios Camera Technical Manual 7
1.5
3.11
2.24
2
-
3.17
3
-
6.81
4
-
10.8
5
-
16.8
6
-
25.4

LUCID Helios Camera Technical Manual 8
Welcome
HLS003S is a GigE Vision and GenICam compliant Time of Flight camera featuring Sony’s DepthSense ToF
sensor, along with 4 VCSEL laser diodes operating at 850nm. The camera calculates depth data by
measuring the time it takes for light emitted from the diodes to reflect off objects in the scene and
return to the sensor for each point of the image. HLS003S can produce 3D point cloud data, confidence
value as well as raw intensity image data.
Designed for industrial applications such as factory automation, logistic applications such as palletizing,
package identification, measurement and handling.
Safety and Precautions
Follow these guidelines carefully before using your Helios camera.
Definitions and Symbols
Below is some warning, safety, and/or tips icons used in this document.
The Warning icon indicates a potentially hazardous situation. If not avoided, the
situation can result in damage to the product.
The ESD icon indicates a situation involving electrostatic discharge. If not avoided, the
situation can result in damage to the product.
This symbol is used in this manual to indicate a procedure that may cause hazardous
exposure to laser radiation.
The Help icon indicates important instructions and steps to follow.
The Light Bulb icon indicates useful hints for understanding the operation of the
camera.
The Computer icon represents useful resources found outside of this documentation.
General Safety Notices
Powering the Camera
The camera may not work, may be damaged, or may exhibit unintended behavior if
powered outside of the specified power range.
When using the GPIO, the supplied power must be within the stated voltage range.
See the Power section for further information.

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Operating Temperature
The camera may not work, may be damaged, or may exhibit unintended behavior if
operated outside of the specified temperature range.
See the Temperature section for further information.
•Caution, use of controls or adjustments or performance of procedures other
than those specified herein may result in hazardous radiation exposure.
•Do not open the Helios camera housing.
•Do not contact the laser apertures with any objects. Damage to the laser
modules could produce hazardous radiation levels.
Electrostatic Discharge
Ensure proper precautions are implemented to prevent damage from an electrostatic
discharge.
Image Quality
Dust or fingerprints on the sensor may result in a loss of image quality.
Work in a clean and dust-free environment.
Use only compressed ionized air or an optics cleaner to clean the surface of the sensor
window. Pleaser refer to the Maintenance section for details.
Laser Radiation
The Helios camera emits infrared radiation that is invisible to the human eye. Helios has been tested to
IEC / EN 60825-1: 2014 and classified as Class 1 (eye safe). The location and a sample of the laser safety
classification label are shown in Figure 1. The location and a sample of the product label are shown in
Figure 2.
Emission is produced by 4 VCSEL (Lasers) with integrated diffusers that illuminate the field of view. The
laser apertures are shown in Figure 3.
The diffusers are integral to the eye safety classification and must not be damaged or
removed. The emission characteristics are as follows:
•Wavelength: 850 nm +/- 10 nm
•Divergence (FWHM): 60°×45°
•Maximum average power: 2.2 mW (through IEC / EN 60825-1: 2014 limiting
aperture)

LUCID Helios Camera Technical Manual 10
Figure 1. Location and Sample of Laser Safety Classification Label
Figure 2. Location and Sample of Product Label
Figure 3 Locations of 4 Laser Apertures
Service and Maintenance
Service
Helios is a precision optical instrument and contains no user serviceable parts.

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If the unit sustains any damage or ceases to function as expected please contact Lucid
Vision Labs, Inc. to begin the RMA process.
Maintenance
Ensure the Helios is unpowered during inspection and cleaning.
The laser apertures should be kept clear and clean.
The laser apertures should only be cleaned with a gentle dust blower such as a hand-
squeeze type lens blower. Do not contact the laser apertures during cleaning or any
other process. Do not use solvents to clean the laser apertures. If a laser aperture
becomes contaminated, e.g., splattered with paint, oils or other hard to remove
sources, contact LUCID Vision Labs, Inc. to begin the RMA process.
To achieve the specified accuracy of the Helios, the lens (see Figure 3) must be kept clean. Avoid
touching the lens –fingerprints will significantly degrade performance. Dust should be blown off with a
gentle clean air source (do not use aerosol cans) and or lens brush if necessary. Any smudges on the
glass should subsequently be removed by applying a very small amount of optical grade lens cleaning
solution or isopropanol to an optical grade swab and gently removed.
Contact Us
Think LUCID. Go LUCID.
Contact Sales
https://www.thinklucid.com/contact-us/
Contact Support
https://thinklucid.com/support/

LUCID Helios Camera Technical Manual 12
Installing the Camera Hardware
Camera Installation
•Systems must be installed and operated by trained personnel.
•Safety warnings and procedures specified in this user manual must be observed.
Mounting
The camera is equipped with four M4 mounting holes. The camera front contains one pair of M4 holes.
An additional pair of M4 holes are found at the back of the bottom side.
GigE Cable
•The Helios camera uses x-coded 8 position M12 connector (compliant with IEC 61076-2-109
standard) for Ethernet communication.
•For the best performance, a shielded Ethernet Cat5e or higher should be used. STP shielding is
recommended for minimal electromagnetic interference in environments with harsh EMI
conditions.
•An unshielded or lower grade/quality Ethernet cable may result in loss of camera connection
and/or lost and inconsistent image data.
•The maximum cable length from camera to host with no switch or repeater in between is 100
meters.
•Lucid Vision Labs recommends using qualified Ethernet cables from our web store.
GPIO Cable
The Helios camera is equipped with an 8-pin General Purpose Input/Output (GPIO) connector at the
back.
•The GPIO cable should be shielded for best performance.
•Poor quality unshielded GPIO cable may result in false triggers or missing triggers.
•Any GPIO cable with M8 connector compliant with IEC 61076-2-104 will work. An example
connector that mates with Helios is Phoenix Contact Part Number 1424237.
•Recommended wire thickness is AWG26 or AWG28.
•Lucid Vision Labs recommends using qualified GPIO cables from our web store.
Consult the GPIO Characteristics section for a GPIO pinout diagram.

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Lens
The M12 integrated lens is designed specifically for the Helios camera. The lens is 6mm in focal length
and has a nominal field of view of 59° x 45° (nominal).
To get the best performance, the lens needs to be perfectly clean. The slightest smudge
or fingerprint on the glass vastly more inaccurate depth data.

LUCID Helios Camera Technical Manual 14
Configuring the Camera and Host System
Installing the Ethernet Driver
LUCID Vision Labs recommends updating to the latest version of your Ethernet adapter’s driver before
connecting your camera. You may need to navigate to the manufacturer’s website to find the latest
version of the driver.
Device Discovery and Enumeration
Lucid cameras are discovered and enumerated with the following process:

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LUCID Helios Camera Technical Manual 16
Camera IP Setup
There are three methods used by LUCID cameras to obtain an IP address:
•Persistent - The camera uses a fixed IP address
•Dynamic Host Configuration Protocol (DHCP) - The camera is assigned an address from a DHCP
server
•Link-Local Address (LLA) - The camera obtains an address in the Link-Local Address range from
169.254.1.0 to 169.254.254.255
A Link-Local Address is selected with a pseudo-random number generator, so an LLA
address cannot be reliably predicted. If you require a consistent IP address, you should set
up a persistent IP on the camera. For more information on Link-Local Address selection,
refer to Section 2.1 in RFC 3927.
The camera must be on the same subnet as the Ethernet adapter and have a valid IP
address before use.
Persistent IP and DHCP configurations can be disabled on the camera. The default camera configuration
is as follows:
Persistent IP
Disabled
DHCP
Enabled
LLA
Enabled (always enabled)
Out of the box, the camera first attempts to connect using DHCP. If the camera is unable to connect
using DHCP, it will use Link-Local Addressing.
Setting Up Persistent IP
The following pseudocode demonstrates setting up persistent IP:

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Bandwidth Management
Jumbo Frames
Lucid Vision Labs recommends enabling jumbo frames on your Ethernet adapter. A jumbo frame is an
Ethernet frame that is larger than 1500 bytes. Most Ethernet adapters support jumbo frames; however,
it is usually turned off by default.
Enabling jumbo frames on the Ethernet adapter allows a packet size of up to 9000 bytes to be set on the
Helios camera. The larger packet size will enable optimal performance on high-bandwidth cameras, and
it usually reduces CPU load on the host system. Please note in order to set a 9000-byte packet size on
the camera, the Ethernet adapter must support a jumbo frame size of 9000 bytes or higher.
The following table are some of the Ethernet adapters that Lucid Vision Labs has tested:
Product Name
Maximum Jumbo Frame Size
ADLINK PCIe-GIE64+
9000
Neousys PCIe-PoE354at
9500
Intel EXPI9301CT (non-POE)
9000
If you still experience issues such as lost packets or dropped frames, you can also try:
•Updating the Ethernet adapter driver (you may need to enable jumbo frames again after
updating).
•Increasing the receive buffer size in your Ethernet adapter properties.
•Reducing the DeviceLinkThroughputLimit value (this may reduce maximum frame rate).
Receive Buffers
A receive buffer is the size of system memory that can be used by the Ethernet adapter to receive
packets. Some Ethernet adapter drivers or the operating system itself may set the receive buffer value
to a low value by default, which may result in decreased performance. Increasing the receive buffer size,
however, will also result in increased system memory usage.
Device Link Throughput Limit
The Device Link Throughput Limit is the maximum available bandwidth for transmission of data
represented in bytes per second. This can be used to control the amount of bandwidth used by the
camera. The maximum available frame rate may decrease when this value is lowered since less
bandwidth is available for transmission.

LUCID Helios Camera Technical Manual 18
User Sets, Streamables, and File Access
User Sets
The Helios camera features two customizable user sets to load or save user-defined settings on the
camera. Accessing the user set named Default will allow loading or saving of factory default settings. The
camera will load the user set selected in UserSetDefault when powering up or when reset.
If the camera is acquiring images, AcquisitionStop must be called before loading or saving a
user set.
Streamables
A camera feature marked as Streamable allows the feature’s current value to be stored to and loaded
from a file.
File Access
The Helios camera features persistent storage for generic file access on the camera. This feature allows
users to save and load a custom file up to 16 megabytes with UserFile. Users can also save and load User
Set contents to and from a file.
Loading new firmware onto the camera may overwrite existing UserFile contents.
The following pseudocode demonstrates reading from the camera using file access:
The following pseudocode demonstrates writing to the camera using file access:

LUCID Helios Camera Technical Manual 19
User Sets, Streamables, and File Access functions do not load or save camera IP
configuration settings.

LUCID Helios Camera Technical Manual 20
Using the Camera
Using Arena SDK
The Arena Software Development Kit (SDK) is designed from the ground up to provide customers with
access to the latest in industry standards and computer technology. The SDK supports Lucid GigE Vision
cameras on both Windows and Linux platforms.
Using ArenaView
The Arena SDK includes Lucid’s easy to use GUI called ArenaView. Based on the GenICam standard,
ArenaView allows you to access and validate camera features quickly and easily through the GenICam
XML based feature tree. Optimized for today’s diverse range of user preferences, our viewer improves
readability on higher resolutions and includes options for different color schemes.
ArenaView also has the following 3D image processing options with a HLS003S:
•Visualize X-Y-Z 3D point cloud data, with the ability to zoom, rotate and pan the point cloud.
•Visualize intensity image overlaid on top of the 3D point cloud data above.
•Visualize depth data in 2D false color heat map.
•Visualize raw intensity data only.
For more information on Arena SDK and ArenaView, please refer to our website.