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FRAMOS Industrial Depth Camera D400e Series - User Manual

Version 1.6.0

from 2021-10-15 7 of 64

I/O

Input/Output

Input

Internet Protocol

Infrared

ISP

Image Signal Processor

LLA

Link-Local Address

NIC

Network Interface Card

OUT

Output

PHY

Physical Layer

POE

Power Over Ethernet

Relative Humidity

RMA

Return Material Authorization

SDK

Software Development Kit

TBD

To Be Determined

Main Page

Table of Contents2
Description and Features8
Description8
Features8
System Requirements8
Introduction9
Purpose of this Document9
Terminology9
Table 1 - Terminology9
Stereo Vision Depth Technology Overview10
Component Overview11
Stereo Depth Module11
Table 2 - D430 Depth Module Properties11
Table 3 - D410 Depth Module Properties11
Table 4 - D450 Depth Module Properties11
Left and Right Imagers12
Table 5 - D430 Imager Properties12
Table 6 - D410 Imager Properties12
Table 7 - D450 Imager Properties12
Infrared Projector13
Table 8 - D430/D450 Infrared Projector Properties13
Table 9 - D410 Infrared Projector Properties13
Color Sensor14
Table 10 - D415E/D435E Color Sensor Properties14
Table 11 - D455E Color Sensor Properties14
Inertial Measurement Unit15
Image Signal Processor15
FRAMOS D4 Visual Processing Board15
Table 12 - IMU Specifications15
Table 13 - ISP Properties15
Table 14 - FRAMOS D4 Visual Processing Board Key Components16
Table 15 - FRAMOS D4 Visual Processing Board Dimensions16
FRAMOS Depth Camera D400E Series17
Depth Camera Properties17
Table 16 - FRAMOS Depth Camera D400E Series Properties17
Mechanical Dimensions18
Table 17 - D400E Series Camera Dimensions19
Physical Interfaces20
Ethernet M12 Connector, X-Coded, Female20
Figure 1 - M12 Connector PIN Layout20
Table 18 - M12 Connector PIN Layout and Description20
Power M8 Connector, A-Coded, Male21
Figure 2 - Example of Connecting M12 to RJ45, T568B Termination21
Figure 3 - M8 Connector PIN Layout21
Table 19 - M8 Connector PIN Layout and Description21
Thermal Control22
Storage and Operating Conditions22
Power Consumption22
Table 20 - Storage and Operating Conditions22
Table 21 - D400E Series Camera Power Consumption22
Depth Camera Depth Origin Reference23
Figure 4 - Depth Camera D415E Depth Origin Reference23
Figure 5 - Depth Camera D435E Depth Origin Reference23
Labels on the Camera24
Figure 6 - Depth Camera D455E Depth Origin Reference24
Table 22 - Camera Label Information24
FRAMOS Depth Camera D400E Module Variant25
D400E Module Components25
Figure 7 - FRAMOS D400E Module Components Overview25
D400E Module Variant Connectors Pinout26
Figure 8 - Connecting Interposer Cables to FRAMOS D4 Visual Processing Board26
Ethernet Connector J327
Figure 9 - FRAMOS D4 Visual Processing Board Ethernet Connector27
Table 23 - J3 Pin Assignment27
Power and IO Connector J628
Figure 10 - FRAMOS D4 Visual Processing Board Power and IO Connector28
Table 24 - J6 Pin Assignment28
Thermal Design Consideration29
Mechanical Drawings29
FRAMOS D4 Visual Processing Board29
Depth Module Interposer29
Figure 11 - FRAMOS D4 Visual Processing Board Dimensions29
Figure 12 - Depth Module Interposer Dimensions29
Depth Module Cable Bracket30
RGB Module Including Cover30
RGB Interconnect30
Figure 13 - D435E Depth Module Cable Bracket Dimensions30
Figure 14 - D415E Depth Module Cable Bracket Dimensions30
Figure 15 - D455E Depth Module Cable Bracket Dimensions30
Figure 16 - RGB Module Including Cover Dimensions30
Figure 17 - RGB Interconnect Dimensions30
Optimum Thermal Conditions31
Fundamentals of the Camera's Heat Dissipation31
Figure 18 - Hottest Part of the Camera Housing31
Table 25 - D400E Maximum Power Consumption31
Operating Conditions for Different Temperatures32
Table 26 - D400E Operating Temperature32
Table 27 - Operating Conditions for Different Temperatures32
Table 28 - Heat Dissipation Elements34
Maximum Operating Ambient Temperatures35
Summary of Operating Conditions and Temperatures35
Table 29 - Maximum Operating Ambient Temperatures35
Mounting and Deployment37
Camera Mounting37
Figure 19 - D400E Series Camera Body Back Side37
Application of External Cabling38
Cleaning Procedures38
Functional Specification39
Stream Configurations Possible39
Table 30 - Example of Possible Streams on Gigabit Ethernet Network39
Depth Field of View (FOV)40
Minimum-Z Depth40
Table 31 - Depth FOV40
Table 32 - Minimum-Z Depth40
Depth Quality Specifications41
Table 33 - Depth Quality Specifications for FRAMOS D400E Series Camera41
Depth Camera Functions42
Color Camera Functions42
Table 34 - Depth Camera Functions42
Inertial Measurement Unit Streams43
D400E Camera Specific Features43
Packet Size43
Table 35 - Color Camera Functions43
Table 36 - Inertial Measurement Unit Streams43
Inter Packet Delay44
Heartbeat Time44
Inter Cam Sync Mode44
Output Trigger Enabled45
User Output Level45
Line Debouncer Time45
Figure 20 - D400E M8 Pin 3 Behavior45
Rgb/Stereo Synchronization46
Figure 21 - D400E Line Debouncer Time46
Figure 22 - D400E Series Camera Synchronized Streams46
Syncer Mode47
Figure 23 - D400E Series Camera Streams out of Synchronization47
Figure 24 - Syncer Default Mode48
Figure 25 - Syncer Wait-For-Frameset Mode48
Firmware Updates49
Firmware Update Interactive Mode49
Figure 26 - Tool Updatefirmware Part 149
Parallel Firmware Update50
Figure 27 - Tool Updatefirmware Part 250
Figure 28 - Tool Updatefirmware Parallel Part 150
Firmware Update Non-Interactive Mode51
Figure 29 - Tool Updatefirmware Parallel Part 251
Figure 30 - Selecting One Device in Noninteractive Mode51
IP Address Conflict52
Interactive Mode52
Figure 31 - IP Address Conflict52
Figure 32 - IP Address Conflict When Selecting All Devices52
Non-Interactive Mode53
Figure 33 - IP Address Conflict, Procedure Terminated53
Software54
FRAMOS Camera Suite SDK54
Set IP Configuration54
Figure 34 - Tool Configureip Part 155
Figure 35 - Tool Configureip Part 255
Figure 36 - IP Address Conflict Warning Message56
Figure 37 - Configureip Tool Arguments56
Figure 38 - Verification of Status of DHCP Protocol56
Manage Camera Calibration Tables57
Figure 39 - Verification of Status of Persistent IP Address57
Figure 40 - Tool Calibrationtables Part157
Figure 41 - Tool Calibrationtables Part257
Intel® Realsense™ Software Development Kit 2.058
Troubleshooting59
Regulatory Compliance60
Accessories62
References63
Revision History64
Table 37 - Revision History64

FRAMOS D455e - Page 7

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