Vzense DCAM500 User manual

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Vzense DCAM500 ToF Camera
User Manual

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Table of Contents
1General Information............................................................................................ 4
1.1 Terms of Use............................................................................................ 4
2Precautions ........................................................................................................ 5
2.1 Safe Usage Instructions ........................................................................... 5
2.2 Power....................................................................................................... 5
2.3 Usage....................................................................................................... 5
2.4 Temperature............................................................................................. 6
3Specifications and Requirement......................................................................... 6
3.1 General Specifications.............................................................................. 6
3.2 Electrical Specifications............................................................................ 7
3.2.1 Recommended Operating Conditions............................................. 7
3.2.2 Power Consumption....................................................................... 7
3.2.3 Absolute Maximum Ratings............................................................ 7
3.3 Mechanical Specifications ........................................................................ 9
3.4 Working Condition Requirements........................................................... 10
3.4.1 Hardware Requirements............................................................... 10
3.4.2 Software Requirements................................................................ 10
3.4.3 Environmental Requirements ....................................................... 10
3.4.4 Coordinate of the Camera System ............................................... 10
4Interface with Host.............................................................................................11
4.1 6pin power and signal Connector........................................................... 12
4.2 Type B USB2.0 Connector ..................................................................... 13
4.3 LED indication........................................................................................ 14
5Principle of Time of Flight ................................................................................. 15
5.1 Scope of remote sensing technology...................................................... 15
5.1.1 Direct Time of Flight ..................................................................... 15
5.1.2 Range-gated Imaging ToF............................................................ 16
5.1.3 Continuous Waveform ToF........................................................... 17
5.1.4 Vzense ToF Principle.................................................................... 18
5.2 Noise Factors......................................................................................... 19
5.2.1 Ambient Light............................................................................... 19
5.2.2 Multipath Propagation .................................................................. 19
5.2.3 Reflectivity of the Target............................................................... 19
5.2.4 Scattering Effect........................................................................... 20
6Installation........................................................................................................ 21
6.1 Hardware Installation.............................................................................. 21
6.1.1 USB2.0 Mode Installation............................................................. 21
6.1.2 USB2.0 External Power Mode Installation.................................... 21
6.1.3 Standalone Mode Installation....................................................... 22
6.2 Software Installation............................................................................... 23
6.2.1 How to get.................................................................................... 23
6.2.2 Frameviewer ................................................................................ 23

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6.3 Product State Machine........................................................................... 24
6.4 Software Command Set ......................................................................... 24
6.5 USB Connection..................................................................................... 24
7Features........................................................................................................... 24
7.1 Multiple Camera Synchronization........................................................... 24
7.2 Range Customization............................................................................. 25
7.3 Wide Dynamic Range............................................................................. 25
7.4 Data Filtering.......................................................................................... 26
7.5 IR Image................................................................................................. 26
8Camera Operation on Frameviewer.................................................................. 28
8.1 Main screen............................................................................................ 28
8.1.1 Image area................................................................................... 29
8.1.2 Command and information area................................................... 29
8.2 Connect devices..................................................................................... 30
8.3 2D view .................................................................................................. 30
8.3.1 Depth Image................................................................................. 30
8.3.2 IR Image ...................................................................................... 31
8.4 3D image store....................................................................................... 31
8.5 Camera Control...................................................................................... 32
8.5.1 Mode switch................................................................................. 32
8.5.2 Range change.............................................................................. 32
8.6 WDR ...................................................................................................... 33
9DCAM500 Accessories and Package ............................................................... 35
10 Customization Service ...................................................................................... 36
Appendix................................................................................................................. 36
ROHS Declaration............................................................................................ 36
Eye Safety Declaration..................................................................................... 36
Reliability Declaration....................................................................................... 36
Revision History...................................................................................................... 36

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1 General Information
The purpose of this document is to familiarize the customer with the correct operation
of the Vzense ToF Camera. This document provides important information about the
camera’s features, hardware specification, safe use of the camera, and installation
procedures.
1.1 Terms of Use
Vzense offers a 1-year-warranty for this camera.
Warranty Information
Please do follow the following guidelines when using the Vzense camera:
Do not remove the product’s serial number label
Warranty must be void, if the label is damaged or removed and the serial number
can’t be read from the camera’s registers.
Do not open the camera housing
Do not open the housing. Touching any internal components may damage the camera.
Prevent any objects or substances from entering the camera housing.
Otherwise the camera may fail or damaged.
Avoid electromagnetic fields
Do not use the camera near strong electromagnetic fields. Prevent from electrostatic
charging.
Transport in original packaging
Transport and store the camera in its original packaging only. Do not discard the
packaging.
Clean with care
If you have to clean the housing of the camera, follow the guidelines in the notice as
below:
Use a soft, dry cloth that won’t generate static during cleaning;
To remove tough stains, use a soft cloth dampened with a small amount of
neutral detergent(Pure water); after that wipe dry;
Make sure no any residual detergent after cleaning, before reconnecting the
camera to power
Read the manual
Do read the manual carefully before using the camera.

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2 Precautions
2.1 Safe Usage Instructions
DANGER
Electric Shock Risk
Non-standard and improper power supplies may result in fire and electric shock.
You must confirm the camera power supply used that meets the Safety Extra Low
Voltage(SELV) and Limited Power Supply (LPS) requirements.
CAUTION
Invisible Radiation
This camera uses laser to work, improper use may damage the eye. Lasers are classified
as risk group 1 (low risk) according to EN 60825 which means that the product presents
no risk related to exposure limits under normal usage conditions. Eye safety is only
guaranteed when the camera is used properly
2.2 Power
If you are supplying camera power via the camera’s 6-pin connector cable and the
voltage is higher than 11VDC (±10 %), the power supply will be cut off to protect the
camera from damage. If the voltage is lower than 4.5V, the camera may not work as
expected and you may not be able to start the camera. Use a power supply with a
minimum output current of 3 A at 5V or 3A at 9V.
2.3 Usage
Don’t try to open the camera housing. Each camera has been calibrated at the factory
to achieve precise measurements. Touching internal components may damage the
camera and cause calibration data lost.
Incorrect plugging in and unplugging of the camera’s power cable can damage the
camera. To avoid switch-on surges damaging the camera, please plug in the power
cable into the camera’s 6-pin connector firstly before getting power supply.

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Don’t try to change the position of the lens, may cause damage to the camera.
Do store the camera carefully when not in use, in original package the best.
2.4 Temperature
To avoid damaging the camera and to achieve best performance, please observe the
maximum and minimum housing temperatures in Section 3.1
3 Specifications and Requirement
3.1 General Specifications
Specification
Vzense DCAM500
Technology
ToF (Time-of-flight) Depth Camera
Depth Sensor Resolution and Frame
rate
640 x 480(VGA)@30FPS
Output Formats
Depth & IR Map (RAW12)
Depth Sensor Field of View
H-Horizontal, V-Vertical(degree)
H-69°
V-51°(customizable)
Use Range
0.2m～6m(customizable)
Accuracy
<1%
Power Consumption
Average Max. 5W(Ref)
Illumination
In-door 850nm/Out-door 940nm,2 x Vcsel
Dimension(L*W*H)
78mm x 57mm x 23.5mm
Weight
122g
Power Supply
USB2.0 / DC5V-9V
Interface
USB2.0 / RS232
Digital I/O
(Exposure Control, Synchronization
etc.)
1in/1out
Enclosure Rating
IP42
Working/Storage Temperature
-20℃-50℃/-30℃-70℃
Software
C/C++ SDK

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Operation System
Windows 7/8/10, Android, Linux
Cooling
Passive, no fan
Certification
FCC/CE/FDA
Eye safety
Class 1
3.2 Electrical Specifications
3.2.1 Recommended Operating Conditions
Parameter
Symbol
Conditions
Min
Typ.
Max
Units
6pin-connector power
VDD
5
9
10
V
USB2.0
USB
4.75
5
5.5
V
Digital I/O
(Exposure_timing)
Vout
Work
mode
5
V
Digital I/O
(Ext_Trigger)
Vin
3.3
20
V
RS232
-12
12
V
Operating Temperature
Ta
-20
50
°C
Operating humidity
20
80
%
Storage humidity
20
80
%
Storage temperature
-30
70
°C
3.2.2 Power Consumption
Parameter
Conditions
Average
Max
Units
Current at
near mode
250mm-1200mm @30 frame
mA
Current at
far mode
800mm-4300mm @30frame
mA
Current at
xfar mode
1200mm-6300mm@15frame
mA
Note: 12V input voltage
3.2.3 Absolute Maximum Ratings
This is a stress rating only and functional operation of the devices at those or any
other conditions above those indicated in the operation listings of this specification is
not promised. Exposure to maximum rating conditions for extended periods may
affect device reliability

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Parameter
Symbol
Conditions
Min
Typ.
Max
Units
6pin-connector power
VDD
4
11
V
USB2.0
USB
-0.3
6
V
Digital I/O
(Ext_Trigger)
Vin
-0.3
20
V
RS232
-13.2
13.2
V
Operating Temperature
Ta
-20
50
°C

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3.3 Mechanical Specifications
This drawing contains information about the dimensions and user mounting location of the
ToF Camera.
Fig. 1: ToF Camera Dimensions
Unit: mm

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3.4 Working Condition Requirements
3.4.1 Hardware Requirements
Vzense ToF Camera
TYPE B USB cable (Included in package)
6 pin cable which provide power and interface with host. ( included in package)
3.4.2 Software Requirements
Operating system
32-bit Windows 7/10
64-bit Windows 7/10 (recommended)
Linux (x86, x64)
Android 5.0 or above
Vzense ToF Driver
The Vzense ToF Driver software is available for Windows, Linux and Android
operating systems and includes the following:
SDK code
Sample code
Software user manual
3.4.3 Environmental Requirements
Temperature and Humidity
Housing temperature during operation:
Humidity during operation:
Storage temperature:
Storage humidity:
-20–50 °C
20–80 %, relative
-30–70 °C
20–80 %, relative
Heat Dissipation
Users can provide sufficient heat dissipation, like mounting the camera on a
substantial, thermally conductive component that can act as a heat sink. Or a fan can
be used to provide an air flow over the camera.
3.4.4 Coordinate of the Camera System
There are two coordinate system need to be understood, one is camera coordinate
system (CCS), one is world coordinate system (WCS).