Vzense DS77 Series User manual

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Vzense DS77 Series ToF Camera
User Manual

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Table of Contents
1General Information.........................................................................................................4
1.1 Terms of Use.........................................................................................................4
2Precautions .....................................................................................................................6
2.1 Safe Usage Instructions ........................................................................................6
2.2 Power....................................................................................................................6
2.3 Usage ...................................................................................................................7
2.4 Temperature..........................................................................................................7
3Specifications and Requirement......................................................................................8
3.1 General Specifications ..........................................................................................8
3.2 Electrical Specifications.........................................................................................9
3.2.1 Recommended Operating Conditions..........................................................9
3.2.2 Power Consumption....................................................................................9
3.2.3 Absolute Maximum Ratings.........................................................................9
3.3 DS77 Pro Dimension...........................................................................................10
3.4 DS77 Lite Dimension...........................................................................................11
3.5 DS77C Pro Dimension ........................................................................................12
3.6 DS77C Lite Dimension ........................................................................................13
3.7 Optical Specifications ..........................................................................................14
3.7.1 Field of View .............................................................................................14
3.7.2 Wavelength of the VCSEL.........................................................................14
3.8 Working Condition Requirements ........................................................................15
3.8.1 Hardware Requirements ...........................................................................15
3.8.2 Software Requirements.............................................................................15
3.8.3 Environmental Requirements ....................................................................15
3.8.4 Coordinate of the Camera System ............................................................16
4Interface with Host.........................................................................................................17
4.1 DS77 Pro&DS77C Pro Interface..........................................................................17
4.2 DS77&DS77C Lite Interface................................................................................20
4.3 LED Indication.....................................................................................................24
5Installation.....................................................................................................................25
5.1 Hardware Installation...........................................................................................25
5.1.1 DS77 Pro&DS77C Pro Installation Steps ..................................................25
5.1.2 DS77 Lite&DS77C Lite Installation Steps..................................................26
5.1.3 POE Mode Installation (Only For DS77 Pro&DS77C Pro) .........................26
5.2 Software Installation............................................................................................27
5.2.1 How to get.................................................................................................27
5.2.2 Graphic Tool on windows ..........................................................................27
5.2.3 Frameviewer .............................................................................................27
5.2.4 Default IP address.....................................................................................28
5.3 Firmware Upgrade ..............................................................................................28
5.4 Product State Machine ........................................................................................29
6Features........................................................................................................................30

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6.1 Slave Trigger Mode .............................................................................................30
6.1.1 Hardware Trigger Mode.............................................................................30
6.1.2 Software Slave Trigger Mode ....................................................................30
6.2 Exposure Time Configuration ..............................................................................30
6.2.1 Auto Exposure ..........................................................................................30
6.2.2 Manual Exposure ......................................................................................31
6.3 Data Filtering.......................................................................................................31
6.4 IR Image .............................................................................................................31
7DS77 Series Accessories and Package.........................................................................33
8Customization Service...................................................................................................35
Appendix..............................................................................................................................35
ROHS Declaration ........................................................................................................35
Laser Specification........................................................................................................35
Manufacturer..........................................................................................................35
Factory...................................................................................................................36
FCC Statement .............................................................................................................36
Revision History ...................................................................................................................37

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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 DS77 Series products family. This document provides important information about
the camera’s features, hardware specification, safe use of the camera, and installation
procedures.
DS77 series have four configuration, DS77 Pro,DS77 Lite,DS77C Pro and DS77C Lite.
Model
IP67 Housing
PoE+
RGB
DS77 Lite
No
No
No
DS77 Pro
Yes
Yes
No
DS77C Lite
No
No
Yes
DS77C Pro
Yes
Yes
Yes
DS77 Pro and DS77C Pro can be powered either by DC power or Power over Ethernet, and
IP67 rating enclosure to resist dust and water.
While DS77 Lite and DS77C Lite can only be powered by DC power and NOT IP67 rating.
1.1 Terms of Use
Vzense offers a 1-year-warranty for this ToF product.
Warranty Information
Please do follow the guidelines below when using the Vzense camera:
Do not remove the product’s serial number label
Warranty will be void, if the label is damaged or removed and the serial number can’t be read
from the camera’s registers.
Do not disassemble the product housing
Do not disassemble the housing. Touching any internal components may damage the products.
Prevent any objects or substances from entering the product housing, otherwise the
product may fail or damaged.
Avoid electromagnetic areas
Do not use the camera near strong electromagnetic areas. Prevent the product from
electrostatic charging.
Transport in original packaging
Transport and store the camera in its original packaging only. Suggest not to discard the
packaging.

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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 or alcohol); 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 absolute
specification of voltage and current.
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
The DS77 Pro and DS77C Pro can work with either Power over Ethernet or external DC power;
DS77 Lite and DS77C Lite can only work with external DC power.
For PoE power source, the PSE device shall apply the PoE+ standard (802.3at) or above,
lower than that may cause the product doesn’t work well or even be damaged.
The DC power can accept 12V~24V power source. For higher than 24V or lower than 12V, the
device shall not work well or even be damaged.
Vzense doesn’t produce PoE injector, but we can purchase it from 3rd party and ship to
customer at original cost.
Below is the PoE+ injector available vendor list.
Vendor
Model Number
H3C
EWPAM2NPOE
TP LINK
TL-POE170S

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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
power connector firstly before getting power source on.
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

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3 Specifications and Requirement
3.1 General Specifications
Specification
Vzense DS77
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)
Typical: H-70°V-50°
RGB Sensor Resolution and Frame Rate
1600*1200@30fps
RGB Sensor FOV
H-77 °V-55°
Use Range
0.15m～5m(max. 5meters, customizable)
Accuracy
<1%
Power Consumption
Average Max. 6W(Ref)
Illumination
940nm, 2 x 2W VCSEL
Dimension(L*W*H)
DS77 Pro:65mm*65mm*72.65mm
Ds77 Lite: 65mm*65mm*60mm
DS77C Pro:105mm*65mm*72.65mm
Ds77C Lite: 105mm*65mm*60mm
Weight
DS77 Pro: 342g
Ds77 Lite: 312g
DS77C Pro:581g
Ds77C Lite: 551g
Power Supply
DS77 Pro: PoE+ or DC power
DS77 Lite: DC power
DS77C Pro: PoE+ or DC power
DS77C Lite: DC power
Interface
Gigabit Ethernet and RS485
Digital I/O
(Exposure Control, Synchronization etc.)
1in/1out
Passive Sync Signal
Enclosure Rating
DS77 Pro&DS77C Pro: IP67
DS77 Lite&DS77C Lite: IP42
Working/Storage Temperature
-20℃~50℃/-30℃~70℃
Software
C/C++/Python/ROS SDK
Operation System
Windows 7/8/10/11, Linux, Arm Linux/ROS
Cooling
Passive, no fan
Certification
FCC/CE/FDA
Eye safety
Class 1

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3.2 Electrical Specifications
3.2.1 Recommended Operating Conditions
Parameter
Symbol
Conditions
Min
Typ.
Max
Units
DC Power
VDD
11
26
V
Digital I/O
(Ext_Trigger)
Vin
3.3
20
V
RS485
-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
Active Mode
400mm-5000mm @30fps
mA
Broadcast
Mode
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
Parameter
Symbol
Conditions
Min
Typ.
Max
Units
DC Power
VDD
10
26
V
Digital I/O
(Ext_Trigger)
Vin
3.3
24
V
RS485
-13.2
13.2
V
Operating Temperature
Ta
-20
50
°C

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3.3 DS77 Pro Dimension
This drawing contains information about the dimensions and user mounting location of the ToF
Camera
Front View Back View
Bottom View Top View
Left View Right View
Fig. 3.1: ToF Camera Dimensions: (Unit:mm)

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3.4 DS77 Lite Dimension
This drawing contains information about the dimensions and user mounting location of the ToF
Camera.
Front View Back View
Bottom View Top View
Left View Right View
Fig. 3.2: ToF Camera Dimensions:(Unit:mm)

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3.5 DS77C Pro Dimension
This drawing contains information about the dimensions and user mounting location of the ToF
Camera
Front View Back View
Bottom View Top View
Left View Right View
Fig. 3.3: ToF Camera Dimensions: (Unit:mm)

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3.6 DS77C Lite Dimension
This drawing contains information about the dimensions and user mounting location of the ToF
Camera.
Front View Back View
Bottom View Top View
Left View Right View
Fig. 3.4: ToF Camera Dimensions:(Unit:mm)

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3.7 Optical Specifications
3.7.1 Field of View
The field of view refers to the view angle of the ToF products. The TOF sensor’s aspect ratio
is 4:3, typically the horizontal field of view is larger than the vertical field of view. The DFOV
(see figure below) is the angle subtended by the diagonal of the camera sensor onto the center
of the lens.
The definition of HFOV and VFOV can be exchanged, i. e. we can rotate the camera sensor
to have larger FOV at vertical direction.
Typical FOV of DS77 Series is 70°*55°, we can do FOV customization if the customer requires,
and reasonable NRE fee shall be charged.
3.7.2 Wavelength of the VCSEL
All our product are based on VCSEL laser. We have variety choices according to the lens FOV
and wavelength. The laser FOV must match to the lens FOV, and the wider FOV products
need stronger power, therefore higher power consumption. Even with higher power supplied,
the laser power per angle of the wider FOV product may be reduced, so normally the maximum
distance of wider FOV products is shorter than narrower FOV products.
As for the wavelength, we have 850nm and 940nm laser selection. Because of the silicon
process based ToF sensor, the ToF sensor’s QE of 850nm is much better than it of 940nm.
That means normally 850nm product can reach longer distance or the same distance with
lower power consumption;
But the 940nm wavelength has better performance under strong sunlight, especially when the
ambient light is stronger than 20K LUX.
Below are the laser choices we can provide, if you have other needs, please let us know.
H70°, V55°--- 2W, 940nm
H110°, V85°--- 2W, 850nm

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3.8 Working Condition Requirements
3.8.1 Hardware Requirements
DS77 Pro&DS77C Pro:
◼ CAT6A Ethernet cable (Included in package)
◼ 8 PIN A CODE Multiple Functional cable. (Included in package)
Or
◼ PoE+ Power Supplier. (Not included in package)
DS77 Lite&DS77C Lite:
◼ CAT5 Ethernet cable (Included in package)
◼ 6 PIN cable which provide interface with host. (Included in package)
◼ DC Power cable. (Included in package)
3.8.2 Software Requirements
Operating system
◼ 32-bit Windows 7/10/11
◼ 64-bit Windows 7/10 (recommended)/11
◼ Linux (x86, x64)
Vzense ToF Driver
The Vzense ToF Driver software is available for Windows, Linux, ARM Linux operating systems
and includes the following:
◼ SDK code
◼ Sample code
◼ Software user manual
3.8.3 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

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an air flow over the camera.
3.8.4 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).
CCS: CCS describe the two-dimensional data, the origin of coordinates is the optic center.
WCS: WCS describe the three-dimensional information.
The CCS data can switch to the WCS data using the camera internal parameters.
Fig. 3.5: Origin of the Coordinate System
The origin of the coordinate system is defined as the below figure shows:
1. X coordinate is zero at the X direction axis line of the camera housing;
2. Y coordinate is 9.75mm offset from the Y direction axis line of the camera housing;
3. Z coordinate is zero offset at the front of the camera housing;
Meshlab and CloudCompare tools are recommended to analyze the point cloud data saved by
Vzense software or SDK method.

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4 Interface with Host
4.1 DS77 Pro&DS77C Pro Interface
DS77 Pro&DS77C Pro is equipped with two M12 aviation connectors at the back of its housing
as shown in below figure.
For more information about pin assignments and connector types, see the following sections.
Figure 4.1 DS77 Pro Interface
Figure 4.2 DS77C Pro Interface

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8PIN-X CODE Ethernet Interface
Pin
Designation
Description
1
TX_D1+
Tranceive Data+
2
TX_D1-
Tranceive Data-
3
RX_D2+
Receive Data+
4
RX_D2-
Receive Data-
5
BI_D4+
Bi-directional Data+
6
BI_D4-
Bi-directional Data-
7
BI_D3-
Bi-directional Data-
8
BI_D3+
Bi-directional Data+
8PIN-A CODE Multiple Functional Interface
Pin
Line Color
Designation
1
BLACK
GND
2
RED
VCC
3
BROWN
RS485-A
4
GREEN
RS485-B
5
WHITE
Ext_Trigger
6
YELLOW
Ext_Trigger
7
BLACK
GND
8
BLUE
IP RESET
Pin
Designation
Direction
Description
1.7
GND
GND
GND
2
VCC
Power
DC 12-24V
3
RS485-A
I/O
RS485-A
4
RS485-B
I/O
RS485-B
5,6
Ext_Trigger
INPUT
External trigger input（3.3V-20V）
8
IP RESET
INPUT
Pull high (3.3V-20V) for 10 seconds
then the IP is reset as
192.168.1.101.

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Hardware Trigger Function
Hardware trigger mode is available only when the camera works at slave mode, in slave mode
the camera will wait for the hardware trigger signal on Ext_Trigger.
The EXT_Trigger signal is to driver the MOSFET, External input trigger signal voltage should
range 3.3V-20V, driving current ability should be more than 5mA;
You can use input pin Ext_Trigger to send a hardware trigger signal to the camera. The
hardware trigger can be used to trigger the acquisition start. A hardware debouncer circuit
shall be considered on the EXT_Trigger line.
By default, the hardware trigger is rising edge activated, refer to below exposure timing:
T1
Frame start
EXT_Trigger
Camera Exposure
T1
Frame start
T2
T3
The requirement to T1 should be from 100us to 2ms;
T2 means the interval between two trigger signals, it MUST be more than 33ms;
T3 means the exposure time of the frame, it varies according to the range mode;

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4.2 DS77&DS77C Lite Interface
DS77C Lite is equipped with RJ45, LED, 6pin connector, IP reset button at the back of its
housing as shown in below figure.
For more information about pin assignments and connector types, see the following sections.
Figure 4.3 DS77C Lite Interface
Figure 4.4 DS77 Lite Interface