Rockwell Automation ODOS imaging StarForm Swift-G OI-G1480 User manual
StarFormTM Swift-G
3D Time-of-Flight Camera
OI-G1480, OI-G1480-R
Hardware Manual
Version 1.1.0 , May 27, 2019
For Customers in the United States of America
This device complies with part 15 of FCC Rules. Operation is subject to the
following two conditions: (1) This device may not cause harmful interference,
and (2) this device must accept any interference received, including interference
that may cause undesired operation.
This equipment has been tested and found to comply with the limits for a Class
A digital device, pursuant to part 15 of the FCC Rules. These limits are de-
signed to provide reasonable protection against harmful interference when the
equipment is operated in a commercial environment. This equipment generates,
uses, and can radiate radio frequency energy and, if not installed and used in
accordance with the instruction manual, may cause harmful interference to radio
communications. Operation of this equipment in a residential area is likely to
cause harmful interference in which case the user will be required to correct the
interference at his own expense.
The user is cautioned that any changes or modifications not expressly approved
by Odos Imaging, A Rockwell Automation Company, could void the user’s
authority to operate the equipment.
A shielded ethernet cable as is recommended within this manual must be used
with the equipment in order to comply with the limits for a Class A digital device
pursuant to Subpart J of Part 15 of the FCC Rules.
Trademarks
Unless stated otherwise, all trademarks appearing in this document of Rockwell
Automation Ltd, are brands protected by law.
Warranty
The information provided by Odos Imaging, A Rockwell Automation Com-
pany is supplied without any guarantees or warranty whatsoever, be it specific
or implicit. Also, excluded are all implicit warranties concerning the negotiability,
the suitability for specific applications or the non-breaking of laws and patents.
Even if we assume that the information supplied to us is accurate, errors and
inaccuracy may still occur.
Copyright
All texts, pictures and graphics are protected by copyright and other laws pro-
tecting intellectual property. It is not permitted to copy or modify them for trade
use or transfer, nor may they be used on websites.
Waste Electrical and Electronic Equipment (WEEE)
At the end of life this equipment should be collected separately
from any unsorted municipal waste.
Odos Imaging maintains product certificates and product environmental
information on its Certification & Compliance website at:
https://www.odos-imaging.com/certification/
Contents
1 Contact 1
2 Introduction 2
2.1 Styles .......................... 2
2.2 Precautions....................... 3
2.3 Safety .......................... 4
2.4 Cleaning......................... 5
3 System Overview 6
3.1 Optional Accessories . . . . . . . . . . . . . . . . . . 7
3.1.1 Tripod Mount Plate Kit . . . . . . . . . . . . . 7
3.1.2 AD/DC Power Supply . . . . . . . . . . . . . 7
4 Specifications 8
4.1 StarFormTM Swift-G 3D Time-of-Flight Camera . . . 8
5 Dimensions 9
5.1 StarFormTM Swift-G 3D Time-of-Flight Camera . . . 9
5.1.1 StarFormTM Swift-G Base Configuration . . . 10
5.1.2 StarFormTM Swift-G With Optional Tripod Mount
Plate....................... 11
5.1.3 StarFormTM Swift-G -R Variants (With Silicone
Rubber End Caps) . . . . . . . . . . . . . . . 12
6 Interfaces 13
6.1 StarFormTM Swift-G Camera Interfaces . . . . . . . . 13
6.1.1 Gigabit Ethernet Port . . . . . . . . . . . . . 14
6.1.2 StarFormTM Swift-G Camera Power . . . . . . 14
6.1.3 General Purpose Input/Output . . . . . . . . 14
6.1.4 Camera Status LEDs . . . . . . . . . . . . . 16
i
1 Contact
Technical Information:
https://www.odos-imaging.com
Support:
suppor[email protected]
Odos Imaging, A Rockwell Automation Company
36 South Gyle Crescent
South Gyle Industrial Park
Edinburgh
Scotland
EH12 9EB
Tel: +44 (0) 131 316 5100
Email: inf[email protected]
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2 Introduction
This hardware manual contains a description of the technical spec-
ifications and features of the StarFormTM Swift-G 3D time-of-flight
camera, including system components, physical dimensions and
interfaces. For details regarding the software interface and SDK
installation, please refer to the provided User Manual1. Additional
resources which may be of interest are detailed in Section 7.
2.1 Styles
This manual uses certain typographical conventions in order to
maintain an easily accessible and consistent layout. The styles
contained in Table 2.1 and symbols noted below are used through-
out the manual.
Style Function Example
Bold important information, key words, headings Bold
Italic filenames helpfile.pdf
Table 2.1: Description of typographical styles used throughout this manual.
This symbol highlights important information to
note.
Use of the CAUTION heading throughout this manual
explains risks that are potentially harmful to either
the product or personnel. These sections should al-
ways be read carefully and understood.
1StarFormTM Swift-G User Manual
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2.2 Precautions
Avoid Cleaning. This product may
be damaged by volatile cleaning
agents. Avoid cleaning the im-
age sensor and LED optical windows
with volatile or aggressive cleaning
agents.
Do not disassemble the camera
housing. The StarFormTM Swift-G
camera contains no user serviceable
parts. Disassembling will void all war-
ranties and may result in damage to
the system.
Check electrical connections. Ver-
ify all electrical connections, particu-
larly for appropriate voltage levels and
polarity, signal integrity, and power re-
quirements before applying power to
the system. Failure to do so may re-
sult in physical damage to the system.
Keep packaging material. All pack-
aging materials should be kept to
avoid damage to the system through
poor packing.
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2.3 Safety
The following information should be read carefully, and under-
stood, before using the StarFormTM Swift-G camera. The StarFormTM
Swift-G is intended for use by competent personnel who are famil-
iar with the safety precautions required to avoid possible injury.
All installation, operation, and maintenance instructions should be
read carefully before using the system.
Do not stare at the illumination
sources for long time periods or
from distances closer than 200
mm. The system emits invisible in-
frared radiation.
Do not disassemble the camera
housing or optical windows. Disas-
sembly may result in the creation of
electrical or radiation hazards.
Do not use the camera if the front
optical windows show signs of
damage. Contact support@odos-
imaging.com .
Consider the environment in which
the camera is to be used. Consider
the use of optical shielding or eye pro-
tection as appropriate.
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Do not exceed environmental spec-
ifications as detailed in Section 4
of this document. Additional care
must be taken to maintain a reason-
able operating temperature. If the
system is operated at temperatures
higher than the specified range, ad-
ditional heat dissipation (e.g. heat
sinks) should be used.
2.4 Cleaning
Avoid touching the front optical
elements with fingers. Doing so
can result in either damage to fragile
surface coatings or unwanted optical
artefacts.
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3 System Overview
This section provides an overview of the StarFormTM Swift-G 3D
time-of-flight camera. Figure 3.1 provides details on the main
components of the StarFormTM Swift-G camera.
The StarFormTM Swift-G 3D time-of-flight camera is designed for
industrial environments and provides calibrated metric 3D point
cloud output, corresponding to each pixel in the image sensor
array, together with an active infrared image from the integrated
infrared LEDs.
top
M4 mount threads
image sensor
window
LED windows
Front panel
rear panel
power input
GPIO connector
ethernet connector
bottom
Figure 3.1: Overview of main components of the StarFormTM Swift-G camera.
The StarFormTM Swift-G camera uses standard gigabit ethernet for
connectivity and requires a single 12 VDC power supply. A GPIO
port is provided for additional IO capability (see 6.1.3). The robust
industrial housing can be further configured with a tripod mount
plate.
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3.1 Optional Accessories
3.1.1 Tripod Mount Plate Kit
A tripod mount plate kit is available, allowing connection of the
StarFormTM Swift-G camera to a standard camera standard 1/4”
x 20 UNF tripod. This mount plate attaches to the base of the
camera with 4x M4 screws (provided in kit).
Ordering information: OI-TMOUNT
Figure 3.2: Optional tripod mount plate (Part: OI-TMOUNT).
3.1.2 AD/DC Power Supply
A universal input, 12 VDC output, IEC AC/DC switch mode laptop-
style power supply is available to provide power to the StarFormTM
Swift-G camera.
Ordering information: OI-PS (Note that user should provide IEC
610 power cable as is approproiate for the local standard: UK, EU,
US, Australia.)
Alternatively an industrial power supply and cable could be used,
for example: Allen-Bradley 1606-XLP60BQ or 1606-XLP90B, paired
with M12 power cable 889D-F4AC-x (common sizes: 2 or 5 m)
Figure 3.3: Optional AC/DC desktop power supply (Part: OI-PS).
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4 Specifications
This section details the specification of the StarFormTM Swift-G 3D
time-of-flight camera.
4.1 StarFormTM Swift-G 3D Time-of-Flight Camera
Parameter Specification
Image Sensor Resolution 640 ×480 pixels
Lens Internal fixed focus, 4.5 mm focal length
Field-of-View 43◦×33◦(H ×V) a
Data Output Range / Active Infrared / 3D Point Cloud b
Range Data Bit Depth 16 bit
Active IR Data Bit Depth 12 bit
Range Precision up to 10 mm (1 σ)
Operating Range 0.5 – 6.0 m
Mass 950 g
Operating Temperature -20◦–50◦C
Storage Temperature -20◦–60◦C
Hardware Interface Standard GigE Vision
Standards Compliance CE, RoHS (2011/65/EU)
Power Requirement 12 VDC
Power Consumption 20 W (typical) / 60 W (peak)
Table 4.1: StarFormTM Swift-G 3D time-of-flight camera specifications.
ameasured across centre of image
brange is converted to (x,y,z) format through SDK function on PC
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5 Dimensions
The following sections provide mechanical dimensional informa-
tion for the StarFormTM Swift-G 3D time-of-flight camera.
5.1 StarFormTM Swift-G 3D Time-of-Flight Camera
Figures 5.1–5.3 provide critical mechanical dimensions for the StarFormTM
Swift-G camera in various configurations.
All dimensions are provided in mil-
limetres, with the exception of the
tripod thread contained on the op-
tional mount plate.
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5.1.1 StarFormTM Swift-G Base Configuration
56.1
23.2
62.7
45.2
51.8
19.2
33.8
32.032.0
32.0 25.0 25.0 25.0
VIEW E
M4.0 x 5 DEEP
4 POSNS
M4.0 x 5 DEEP
4 POSNS
32.0 25.0 25.0 25.0
32.032.0
VIEW C
M4.0 x 5 DEEP
4 POSNS
M4.0 x 5 DEEP
4 POSNS
86.2
86.2
56.0
E
80.0
19.5 19.5
139.0
5.3
Figure 5.1: Mechanical dimensions of the base StarFormTM Swift-G camera model.
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5.1.2 StarFormTM Swift-G With Optional Tripod Mount Plate
56.1
23.2
62.7
45.2
51.8
19.2
33.8
86.2
86.2
56.0
80.0
3.0
C
D
19.5 19.5
139.0
5.3
32.0 25.0 25.0 25.0
32.032.0
VIEW C
M4.0 x 5 DEEP
4 POSNS
M4.0 x 5 DEEP
4 POSNS
52.0
69.5
87.0
32.032.0
VIEW D
1/4" x 20 UNF
Figure 5.2: Mechanical dimensions of the base StarFormTM Swift-G camera model fitted with
optional tripod mount plate, OI-TMOUNT.
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5.1.3 StarFormTM Swift-G -R Variants (With Silicone Rubber End Caps)
169.0
35.5 35.5
A
B
93.9
95.1
75.1
76.9
56.0 REF
32.032.0
25.0 25.0 25.0
84.5 REF
47.0 REF
VIEW A
M4.0 x 5 DEEP
8 POSNS
1/4" x 20 UNF
25.0 25.0 25.0
47.0 REF
32.032.0
VIEW B
M4.0 x 5 DEEP
8 POSNS
M4.0 x 5 DEEP
8 POSNS
Figure 5.3: Mechanical dimensions of the StarFormTM Swift-G camera model fitted with
ruggedized end caps.
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6 Interfaces
This section provides information on the interfaces present in the
StarFormTM Swift-G 3D time-of-flight camera.
6.1 StarFormTM Swift-G Camera Interfaces
Figure 6.1 provides a summary of the interfaces present on the
StarFormTM Swift-G time-of-flight camera. Each interface is noted
in the sections below and in Table 6.1.
Power input
GPIO
Status LED
gigabit
ethernet
Figure 6.1: Overview of the interfaces present on the StarFormTM Swift-G camera.
Interface Name Purpose
Gigabit Ethernet Port interface to host PC
Camera Power Input main power supply
General Purpose IO external synchronisation and trigger functions
Status LED provides indication and status information to user
Table 6.1: Summary of interface names and functions.
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6.1.1 Gigabit Ethernet Port
The StarFormTM Swift-G camera uses a GigEVision compliant gi-
gabit ethernet port for transfer of image data and configuration
of the camera. The gigabit ethernet port incorporates two status
LEDs. Table 6.2 provides the meaning for different states of the
LEDs.
LED State/Colour Status
GigE LED0 flashing/solid orange ethernet activity
GigE LED1 flashing green system is powered
GigE LED1 solid green link to host established
Table 6.2: Possible gigabit ethernet LED states and interpretation.
Although the StarFormTM Swift-G camera is not supplied with an
ethernet cable, it is compatible with standard ethernet cables such
as those available from Allen-Bradley (https://ab.rockwellautomation.
com/Connection-Devices/RJ45-Network-Media#selection).
To comply with with the limits for
a Class A digital device pursuant
to Subpart J of Part 15 of the FCC
Rules, it is required that a shielded
ethernet cable is used.
6.1.2 StarFormTM Swift-G Camera Power
The StarFormTM Swift-G 3D time-of-flight camera is powered through
a single M12, 12 VDC power connector.
6.1.3 General Purpose Input/Output
The StarFormTM Swift-G camera incorporates a single General
Purpose Input Output (GPIO) interface, to allow the user access
to various trigger inputs, strobe outputs, and synchronization ca-
pabilities. The location of the connector is as shown in as shown
in Figure 6.1. Figure 6.3 shows the individual pin assignments for
the connector.
Table 6.3 provides details of the electrical specifications of the
GPIO signals. Inputs are positive logic, i.e. a high voltage is in-
terpreted as a logical 1 within the system. The signal format is
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compatible with 5V CMOS logic levels. Inputs may be driven from
a higher voltage range with the use of a suitable series resistor,
e.g. 1.69 kΩfor 24 V levels (max. 28 V) or 619 Ωfor 12 V levels
(max. 14 V). Further details on using GPIO for interface and trig-
gering can be found in the StarFormTM Swift-G User Manual.
Parameter MIN TYP MAX Unit
Input voltage range (relative to IO GND) -0.2 5.2 V
Logic low input level VIL1.3 V
Logic high input level VIH3.9 V
Input resistance (to IO GND) 235 240 Ω
Input forward voltage VF1.0 1.4 1.7 V
Table 6.3: Electrical specifications of GPIO signals.
The GPIO signals are electrically isolated. Input sig-
nals must therefore be referred to the IO GND pro-
vided on pin 7 of the connector.
Please observe the minimum and maximum voltage
ratings. Whilst care has been taken to make the
GPIO interface electrically robust, prolonged expo-
sure to signal levels outside these ranges may result
in permanent damage to the system.
6.1.4 Camera Status LEDs
The StarFormTM Swift-G camera incorporates a single status LED
on the rear panel as shown in Figure 6.1. The LED provides in-
formation to the user regarding the internal operation and status
of the camera. Table 6.4 provides the an overview of the meaning
for each state of the LED during startup and operation.
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