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

LUCID Helios Camera Technical Manual 4
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

LUCID Helios Camera Technical Manual 5

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

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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)

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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.