User Manual

FRAMOS Industrial Depth Camera D400e Series

1. Description and Features

1.1 Description

The FRAMOS Industrial Depth Camera D400e Series (D400e Series) are built with RealSense™ technology. The depth cameras have industrial M12 ethernet and M8 power connectors. Its water and dust resistant housing is optimized for industrial environments.

The D400e Series are ideal for OEMs and integrators who need 3D as well as 2D vision in their products and applications. The D400e Series are compatible with the Cross-platform SDK for RealSense™ devices, enabling multiple programming languages, wrappers, sample code and tools.

D435e and D455e camera models, featuring global shutter, wide field of view sensors, are especially suitable for applications with fast motion.

1.2 Features

• Gigabit Ethernet data transmission

• Data transfer up to 100m in length

• Single cable solution for both power & data via PoE

• Increased data transmission reliability with packet resend functionality

• RealSense™ SDK 2.0 compatible

• Onboard depth calculation with RealSense™ Vision Processor D4

• Projector with unstructured light in IR spectrum for enhanced depth quality

• IP66 dust and water-proof housing for industrial environments, IP67 on project basis

• Secure cable connections with threaded M12 and M8 plugs

• Synchronization with external events

• Simultaneous depth and RGB streaming at profile 1280 x 720 @ 30fps

1.3 System Requirements

Host PC Operating System:

• Microsoft® Windows® 10 (or newer)

• Linux Ubuntu 20.04 (or newer)

Host PC Architecture:

• x86_64

• ARM64 (NVIDIA® Jetson™ platform)

Hardware:

• Gigabit Ethernet Network Interface Card (NIC)

2. Introduction

2.1 Purpose of this Document

This document contains the specifications and the design–in details for the FRAMOS Industrial Depth Camera D400e Series. This document provides the information necessary to understand and implement the camera system.

2.2 Terminology

2.2 Terminology

Term	Description
6DOF	Six degrees of freedom (6DoF) refers to the freedom of movement of a rigid body in three-dimensional space. Forward/back, up/down, left/right, pitch, yaw, roll.
Stereo Depth Baseline	The distance between the center of the left and right imagers in a stereo camera.
Depth	Depth video streams are like color video streams except each pixel has a value representing the distance away from the camera instead of color information.
FOV	Field of View (FOV) describes the angular extent of a given scene that is imaged by a camera. A camera’s FOV can be measured horizontally, vertically, or diagonally.
IR Projector	This refers to the source of infrared (IR) light used for illuminating a scene, object, or person to collect depth data.
Imagers	The depth camera system uses a pair of cameras known as imagers to calculate depth. They are identical cameras configured with identical settings.
Image Signal Processor (ISP)	Image processing functions to enhance color image quality.
Left imager	From the perspective of the stereo camera looking out at the world, the left imager is on the left side of the camera module. Thus, when the user is facing the D400e camera, the left imager is on the right side of the camera module.
Lens	This refers to the optical component of an imager in a D4 camera. Its purpose is to focus the incoming light rays onto the CMOS chip in the imager.

Table 1 – Terminology

2.3 Stereo Vision Depth Technology Overview

The FRAMOS Industrial Depth Camera D400e Series uses stereo vision to calculate depth. The stereo vision implementation consists of a left imager, right imager, and an optional infrared projector.

The infrared projector projects an invisible, static IR pattern to improve depth accuracy in low texture scenes.

The left and right imagers capture the scene and send image data to the vision processor.

The vision processor calculates the depth values for each pixel in the image by correlating points on the left image to the right image. The depth pixel values are processed to generate a depth frame. Subsequent depth frames create a depth video stream.

3. Component Overview

The information provided in this chapter on RealSense components are taken from the RealSense™ D400 Series Product Family datasheet.

For mechanical drawings and further details please refer to the RealSense™ D400 Series Product Family Datasheet [Ref-1].

3.1 Stereo Depth Module

The stereo depth module used in the D435e/D435e-f cameras is the RealSense™ D430, D415e implements the RealSense™ D410 depth module, while D455e/D455e-f implement the RealSense™ D450 depth module. Properties of the RealSense™ depth modules are as follows:

D430

Baseline	50mm
Left/Right Imagers Type	Wide
Depth FOV HD	H:87°±3° / V:58°±1° / D:95°±3°
Depth FOV VGA	H:75°±3° / V:62°±1° / D:89°±3°
IR Projector	Wide
Module Dimensions (mm)	X=70.7mm / Y=14mm / Z=10.53mm

Table 2 – D430 Depth Module Properties

D410

Baseline	55mm
Left/Right Imagers Type	Standard
Depth FOV HD	H:65°±2° / V:40°±1° / D:72°±2°
Depth FOV VGA	H:50°±2° / V:40°±1° / D:61°±2°
IR Projector	Standard
Module Dimensions (mm)	X=74.7mm / Y=10mm / Z=4.7mm

Table 3 – D410 Depth Module Properties

D450

Baseline	95mm
Left/Right Imagers Type	Wide
Depth FOV HD	H:87°±3° / V:58°±1° / D:95°±3°
Depth FOV VGA	H:75°±3° / V:62°±1° / D:89°±3°
IR Projector	Wide
Module Dimensions (mm)	X=119.5mm / Y=17.4mm / Z=10.53mm

Table 4 – D450 Depth Module Properties

Notes:

1. H – Horizontal, V – Vertical, D – Diagonal, X – Length, Y – Breadth, Z – Thickness

2. Depth FOV specified at 2 meters

3. Due to mechanical tolerances of +/-5%, Max and Min FOV values can vary from lens to lens and module to module by ~ +/- 3°

3.2 Left and Right Imagers

D430

Image Sensor	OmniVision OV9282
Active Pixels	1280 X 800
Sensor Aspect Ratio	8:5
Format	10-bit RAW
F Number	f/2.0
Focal Length	1.93mm
Filter Type	None
Focus	Fixed
Shutter Type	Global Shutter
Imager Field of View	H:91.2° / V:65.5° / D:100.6°
Distortion	<=1.5%

Table 5 – D430 Imager Properties

D410

Image Sensor	OmniVision OV2740
Active Pixels	1920 X 1080
Sensor Aspect Ratio	16:9
Format	10-bit RAW
F Number	f/2.0
Focal Length	1.88mm
Filter Type	None
Focus	Fixed
Shutter Type	Rolling Shutter
Imager Field of View	H:69.4° / V:42.5° / D:77.0°
Distortion	<=1.5%

Table 6 – D410 Imager Properties

D450

Image Sensor	OmniVision OV9272
Active Pixels	1280 X 800
Sensor Aspect Ratio	8:5
Format	10-bit RAW
F Number	f/2.0
Focal Length	1.93mm
Filter Type	None
Focus	Fixed
Shutter Type	Global Shutter
Imager Field of View	H:90.0° / V:65.0° / D:98.0°
Distortion	<=1.5%

Table 7 – D450 Imager Properties

3.3 Infrared Projector

The infrared projector improves the ability of the stereo camera system to determine depth by projecting a static infrared pattern on the scene to increase texture on low texture scenes. The infrared projector meets class 1 laser safety under normal operation. The power delivery and laser safety circuits are on the stereo depth module.

The infrared projector is referred to as Standard or Wide based on the field of projection.

D430 / D450

Projector	Infrared
Pattern Type	Static
Illuminating Component	Vertical-cavity surface-emitting laser (VCSEL) + Optics
Laser Controller	PWM
Optical Power	360mW average, 4.25W peak
Laser Wavelength	850nm ± 10 nm nominal @ 20°C
Laser Compliance	Class 1, IEC 60825-1:2007 Edition 2, IEC 60825-1:2014 Edition 3
Field of Projection	H:90°±3° / V:63°±3° / D:99°±3°

Table 8 – D430/D450 infrared projector properties

D410

Projector	Infrared
Pattern Type	Static
Illuminating Component	Vertical-cavity surface-emitting laser (VCSEL) + Optics
Laser Controller	PWM
Optical Power	360mW average, 440mW peak
Laser Wavelength	850nm ± 10 nm nominal @ 20°C
Laser Compliance	Class 1, IEC 60825-1:2007 Edition 2, IEC 60825-1:2014 Edition 3
Field of Projection	H:64°±3° / V:41°±3° / D:72°±3°

Table 9 – D410 infrared projector properties

3.4 Color Sensor

The color sensor on the stereo depth module, in addition to the color image, provides texture information. Uses for texture information include an overlay on a depth image to create a color point cloud and an overlay on a 3D model for reconstruction.

D415e / D435e / D435e-f

Image Sensor	OmniVision OV2740
Color Image Signal Processor	Discrete
Active Pixels	1920 X 1080
Sensor Aspect Ratio	16:9
Format	10-bit RAW RGB
F Number	f/2.0
Focal Length	1.88mm
Filter Type	IR Cut Filter
Focus	Fixed
Shutter Type	Rolling Shutter
Imager Field of View	H:69.4° / V:42.5° / D:77.0°
Distortion	<=1.5%

Table 10 – D415e/D435e/D435e-f Color Sensor Properties

D455e / D455e-f

Image Sensor	OmniVision OV9782
Color Image Signal Processor	Discrete
Active Pixels	1280 X 800
Sensor Aspect Ratio	16:10
Format	10-bit RAW RGB
F Number	f/2.0
Focal Length	1.88mm
Filter Type	IR Cut Filter
Focus	Fixed
Shutter Type	Global Shutter
Imager Field of View	H:90.0° / V:65.0° / D:98.0°
Distortion	<=1.5%

Table 11 – D455e/D455e-f Color Sensor Properties

3.5 Inertial Measurement Unit

The Inertial Measurement Unit (IMU) contains sensors which allow for measurement of both directional movement and rotation. FRAMOS D400e depth cameras generate and transmit gyro and accelerometer samples independently as the inertial sensors exhibit different FPS rates (200/400Hz for gyro, 63/250Hz for accelerometer).

D415e / D435e / D435e-f / D455e / D455e-f

Degrees of Freedom	6
Acceleration Range	±4g
Accelerometer Sample Rate1	62.5, 250 (Hz)
Gyroscope Range	±1000 deg/s
Gyroscope Sample Rate2	200, 400 (Hz)

Table 12 – IMU Specifications

Notes:

1. The sample rate may differ from the absolute specified sample rate by ±5%. It is advised to rely on the sample timestamp.

2. The sample rate may differ from the absolute specified sample rate by ±0.3%.

3.6 Image Signal Processor

The color sensor data is sent to an Image Signal processor (ISP) for color image quality enhancement. The enhanced image is sent to the onboard SoC for further processing.

D415e / D435e / D435e-f / D455e / D455e-f

ISP	RTS5845
Interface to Color Sensor	MIPI CSI-2, 1x Lane
Interface to SoC	MIPI CSI-2, 2x Lanes

Table 13 – ISP Properties

3.7 FRAMOS D4 Visual Processing Board

The FRAMOS D4 Visual Processing Board with an integrated RealSense™ D4 Vision Processor D4 for depth calculation provides a Gigabit Ethernet interface, Power over Ethernet (PoE) and additional GPIOs for external triggering or user output.

For a module variant, ethernet, power supply and GPIOs can be connected directly to the board without soldering via wire to board connectors (see Chapter 5.2).

FRAMOS D4 Visual Processing Board Key Components

System on Chip (SoC)	Processing unit that implements the control and image data processing, external triggering and data link layers of the Ethernet
D4 Vision Processor	RealSense™ D4 Vision Processor for depth calculation
Color Image Signal Processor (ISP)	Image processing functions to enhance color image quality
Inertial Measurement Unit (IMU)	Inertial Measurement Units allow measurement of directional movement and rotation
Gigabit Ethernet Transceiver	Implements the physical layer of the Ethernet (Ethernet PHY)

Table 14 – FRAMOS D4 Visual Processing Board Key Components

FRAMOS D4 Visual Processing Board Dimensions

Module Dimensions (mm)

X=93mm / Y=40mm / Z=15mm

Table 15 – FRAMOS D4 Visual Processing Board Dimensions

4. FRAMOS Depth Camera D400e Series

4.1 Depth Camera Properties

	D415e	D435e / D435e-f	D455e / D455e-f
Depth Module	RealSense™ Depth Module D410	RealSense™ Depth Module D430	RealSense™ Depth Module D450
Left/Right Imagers Type	Standard	Wide	Wide
Depth Resolution	1280 x 720 px (rolling shutter)	1280 x 720 px (global shutter)	1280 x 720 px (global shutter)
Depth FOV HD	H:65°±2° / V:40°±1° / D:72°±2°	H:87°±3° / V:58°±1° / D:95°±3°	H:87°±3° / V:58°±1° / D:95°±3°
Depth FOV VGA	H:50°±2° / V:40°±1° / D:61°±2°	H:75°±3° / V:62°±1° / D:89°±3°	H:75°±3° / V:62°±1° / D:89°±3°
IR Projector	Standard	Wide	Wide
IR Projector FOP	H:64°±3° / V:41°±3° / D:72°±3°	H:90°±3° / V:63°±3° / D:99°±3°	H:90°±3° / V:63°±3° / D:99°±3°
Color Sensor	OV2740	OV2740	OV9782
Color Resolution	1920 x 1080 px (rolling shutter)	1920 x 1080 px (rolling shutter)	1280 x 720 px (global shutter)
Color Camera FOV	H:69.4° / V:42.5° / D:77.0°	H:69.4° / V:42.5° / D:77.0°	H:90.0° / V:65.0° / D:98.0°
IMU	Bosch BMI055 6-axis inertial sensor	Bosch BMI055 6-axis inertial sensor	Bosch BMI055 6-axis inertial sensor
Operating range	0,2m – 10m	0,2m – 10m	0,3m – 20m
Power consumption	6W (AUX) / 7W (PoE)	6W (AUX) / 7W (PoE)	6W (AUX) / 7W (PoE)
Dimensions (L x H x W)	100mm x 47mm x 38mm	100mm x 47mm x 38mm	132mm x 47mm x 41mm
Mounting holes (backside)	4 x M3 ↧ 3,2mm	4 x M3 ↧ 3,2mm	4 x M4 ↧ 5,0mm
Camera Weight	250 grams	250 grams	395 grams
Protection Glass	AR coating, scratch resistant (6H)
Housing material	Aluminum, anodized

Table 16 – FRAMOS Depth Camera D400e Series Properties

4.2 Mechanical Dimensions

Front View D435e / D435e-f
Front View D435e v1.1 (Legacy)
Front View D415e
Front View D455e / D455e-f
Side View D435e / D415e / D435e-f
Side View D455e / D455e-f
Back View D435e/D415e
Back View D455e

Table 17 – D400e Series Camera Dimensions

4.3 Physical Interfaces

FRAMOS D400e series cameras are equipped with two physical interfaces:

• An M12 Ethernet connector for data interface

• An M8 Power connector for power and I/O interfaces

4.3.1 Ethernet M12 connector, X-Coded, Female

The Ethernet interface provides configuration access to the camera and is also used for image data transmission.

Figure 1 – M12 Connector PIN Layout

The M12 connector is a circular connector with pins assigned as shown in Table 18.

M12 Pin	Signal ID/T568B color	Description
1	1 (BI_DA+, White/orange stripe)	Bi-directional pair A+
2	2 (BI_DA-, Orange solid)	Bi-directional pair A-
3	3 (BI_DB+, White/green stripe)	Bi-directional pair B+
4	6 (BI_DB-, Green solid)	Bi-directional pair B-
5	7 (BI_DD+, White/brown stripe)	Bi-directional pair D+
6	8 (BI_DD-, Brown solid)	Bi-directional pair D-
7	5 (BI_DC-, White/blue stripe)	Bi-directional pair C-
8	4 (BI_DC+, Blue solid)	Bi-directional pair C+

Table 18 – M12 Connector PIN Layout and Description

An example of connecting the M12 to RJ45 with the T568B termination is shown in the Figure 2.

Figure 2 – Example of connecting M12 to RJ45, T568B termination

4.3.2 Power M8 connector, A-Coded, Male

Beside the Ethernet interface for communication and data transmission, FRAMOS D400e series cameras are equipped with M8 connector providing I/O-interface and power input.

Figure 3 – M8 Connector PIN Layout

Via this interface, cameras provide access to opto-isolated input and opto-isolated output.

M8 Pin	Description
1	DC Power supply, 12-24V DC (+/- 10%)
2	Opto isolated IN
3	Opto isolated OUT
4	GND for opto isolated I/O
5	Not connected
6	Not connected
7	Not connected
8	Power GND

Table 19 – M8 Connector PIN Layout and Description

4.4 Thermal Control

The depth module inside the camera has thermal sensors implemented that prevent the laser projector on the depth module from overheating. Once the temperature on the depth module exceeds 60°C, the intensity of the projector is reduced and eventually, if temperature does not decrease, it will be switched OFF.

To operate the camera in a safe temperature range, the temperature of the back side of the camera’s housing should be monitored (see chapter 6. “Optimal Thermal Conditions”). As most of the heat is conducted on the back side of the camera’s housing, it’s recommended to use heat conductive material for mounting the camera.

4.5 Storage and Operating Conditions

Description	Condition	Min	Max
Temperature	Operating (Case Temperature)	0 °C	60 °C
	Storage (Ambient Temperature, Sustained, Controlled)	0 °C	50 °C
	Storage (Ambient Temperature, Short Exposure)	-40 °C	70 °C
Humidity (RH)	Operating and Storage	10 % non-condensing	90 % non-condensing

Table 20 – Storage and Operating Conditions

4.6 Power Consumption

Condition	Typical	Max
Power via M8	5.5W	7W
Power via M12 (PoE)	6.9W	8W

Table 21 – D400e Series Camera Power Consumption

Note

The FRAMOS D400e Series Camera is an IEEE 802.3af compliant PD (Powered Device) so it requires IEEE 802.3af compliant PSE (Power Sourcing Equipment).

4.7 Depth Camera Depth Origin Reference

Figure 4 – Depth Camera D415e Depth Origin Reference

Figure 5 – Depth Camera D435e v1.1 (Legacy) Depth Origin Reference

Figure 6 – Depth Camera D435e / D435e-f Depth Origin Reference

Figure 7 – Depth Camera D455e / D455e-f Depth Origin Reference

4.8 Labels on the Camera

The information about camera Model Name, Product Code (PC) and Serial Number (SN) is available on the camera’s label. The Serial Number is the unique identifier of a single camera and it is required for support and RMA cases. Product Codes of the Framos D400e cameras are defined in the table below.

Model Name	Camera Only	Starter Kit	Module
D415e	PRO0500	PRO0499	PRO0738
D435e	PRO0504	PRO0503	PRO0709
D455e	PRO0509	PRO0508	PRO0542
D435e-f	PRO0545	PRO0546	Not available
D455e-f	PRO0544	PRO0543	Not available

Table 22 – D400e Cameras Product Codes

4.9 D400e cameras with an IR-Pass filter

Cameras D435e-f and D455e-f are the same as D435e and D455e cameras, respectively, with a 750nm IR-Pass filter (CLAREX NIR-75N) installed in front of the depth module, with holes over the projector and RGB sensor openings. A filter transmits near-infrared light and absorbs visible light. The filter’s thickness is 0.5 mm.

For filter properties, please see CLAREX® NIR Near-Infrared Acrylic Filters.

Optical properties of the CLAREX NIR filter, taken from the above web page, are presented in Figure 8.

A comparison between standard D400e cameras and D400e-f cameras with an IR-Pass filter is presented in the table below.

	D435e / D455e	D435e-f / D455e-f
Ambient light spectrum	Both visible and IR light	IR light only
Repetitive pattern	May cause false depth	False depth mitigated
Specular reflections	May cause image saturation	Saturation mitigated
Indoor operating range	Long (unlimited)	Limited by IR projector power
Left/Right images	Available in all lighting conditions	Availability limited by ambient IR strength
Calibration (OEM, Dynamic, Self)	Works in typical ambient lighting conditions	May need additional IR light

Table 23 – Comparison between D400e and D400e-f Cameras

Figure 8 – CLAREX NIR Filter Optical Properties

5. FRAMOS Depth Camera D400e Module Variant

The FRAMOS Depth Camera D400e module variant is a module version of the D400e series camera, providing the same functionality and connectivity without housing. The module variant aims for easy design-in and integration into compact form factor products.

The module variants have the same technical specifications as housed camera variants.

5.1 D400e Module Components

The FRAMOS D400e Module consists of:

• RealSense Depth Module:

• D415e: RealSense D410 Depth Module

• D435e: RealSense D430 Depth Module

• D455e: RealSense D450 Depth Module

• Depth Module Cable Bracket

• Depth Module Interposer

• RGB Module Interposer (D415e/D435e only)

• RGB Module (D415e/D435e only)

• RGB Module Cover (D415e/D435e only)

• FRAMOS D4 Visual Processing Board

Figure 9 – FRAMOS D400e Module Components Overview

Figure 10 – Connecting Interposer Cables to FRAMOS D4 Visual Processing Board

Caution

Care should be taken when connecting RGB and Depth Interposer cables to the FRAMOS D4 Visual Processing Board as the wrong connection, position, or orientation, can cause permanent damage to the device. The correct cable position and orientation is shown in Figure 10.

5.2 D400e Module Variant Connectors Pinout

There are two connectors available on the FRAMOS D4 Visual Processing Board for interfacing with external devices:

• J3 Ethernet Connector

• J6 Power and IO Connector

The Molex Pico Blade Connector 53398-0871 is used for the J3 Ethernet port.

The DF13C-8P-1.25V Hirose Connector is used for the J6 Power and IO port (please see the note related to older revisions of the FRAMOS D4 Visual Processing Boards in the section below).

5.2.1 Ethernet Connector J3

Figure 11 – FRAMOS D4 Visual Processing Board Ethernet Connector

J3 Pin	Description
P1	BI_DA+
P2	BI_DA-
P3	BI_DD+
P4	BI_DD-
P5	BI_DC+
P6	BI_DC-
P7	BI_DB+
P8	BI_DB-

Table 24 – J3 Pin Assignment

Ethernet Connector J3 component details: Molex Pico Blade Connector 53398-0871.

5.2.2 Power and IO Connector J6

Figure 12 – FRAMOS D4 Visual Processing Board Power and IO Connector

J6 Pin	Description
P1	DC Power supply, 12-24V DC (+/- 10%)
P2	Power GND
P3	Not connected
P4	Not connected
P5	Not connected
P6	GND for opto-isolated I/O
P7	Opto-isolated OUT
P8	Opto-isolated IN

Table 25 – J6 Pin Assignment

Power and IO Connector J6 component details: Hirose Connector DF13C-8P-1.25V.

Note that Molex Pico Blade Connector 53398-0871 was used for the J6 Power and IO port on older revisions of FRAMOS D4 Visual Processing Boards (D415e with HW ID 1.2, D435e with HW ID 1.2, D455e with HW ID 1.1).

5.3 Thermal Design Consideration

When integrating the D400e Module variant in a custom design, thermal mechanical design must be considered.

Tip

A heat sink should be designed to have optimal contact with all elements of the PCBs backside. The back cover of the housed version can be used as reference design. When designed according to the recommendation, the D400e Module Variant can achieve the thermal conditions described in the “Optimum Thermal Conditions” chapter.

5.4 Mechanical Drawings

5.4.1 FRAMOS D4 Visual Processing Board

Top and side views and dimensions [mm] for the FRAMOS D4 Visual Processing Board are shown in the image below.

• D415e HW ID 1.3, D435e HW ID 1.3, D455e HW ID 1.2

• D415e HW ID 1.2, D435e HW ID 1.2, D455e HW ID 1.1

Figure 13 – FRAMOS D4 Visual Processing Board Dimensions

5.4.2 Depth Module Interposer

Figure 14 – Depth Module Interposer Dimensions

5.4.3 Depth Module Cable Bracket

Figure 15 – D435e Depth Module Cable Bracket Dimensions

Figure 16 – D415e Depth Module Cable Bracket Dimensions

Figure 17 – D455e Depth Module Cable Bracket Dimensions

5.4.4 RGB Module Including Cover

Figure 18 – RGB Module Including Cover Dimensions

5.4.5 RGB Interconnect

Figure 19 – RGB Interconnect Dimensions

5.5 D400e Module Variant Calibration

Although RealSense Depth Modules are factory calibrated by RealSense, in most cases customers are required to calibrate the D400e Module Variant camera when it is integrated into the final product. One of the reasons is the calibration of the RGB module that is not available on RealSense D410 and D430 depth modules. Another reason could be the addition of protective glass in front of the depth module in the customer’s device that would have impact on calibration. It is also likely that assembling depth modules into the final device will result in small bends and torsion that could affect depth quality.

The recommended calibration procedure is the OEM Calibration as it provides very good results and is the fastest method, making it suitable for factory calibration. For more information contact FRAMOS Support.

6. Optimal Thermal Conditions

6.1 Fundamentals of the Camera’s Heat Dissipation

The power consumption of the D400e cameras is the main determining factor for heat generation inside the camera, which depends on the camera’s operation mode.

In case that all available functionality of the camera (i.e. frame rates or projector intensity) is used at maximum capacity, power consumption ,and thus the heat generation, increases accordingly.

Aside from the camera’s resource utilization, the power supply option also has a large effect on power consumption. PoE (power over Ethernet) has higher power consumption due to uneven circuit efficiency compared to the circuitry used when powering the camera via the M8 connector.

Power Supply Option	Max.
Power via M8	7W
Power via M12 (PoE)	8W

Table 26 – D400e Maximum Power Consumption

Most of the power consumed by the camera is converted to heat and consequently, the camera will generate heat that is released to the surroundings via the camera’s housing.

Due to the camera’s internal structure, most heat dissipation will happen via the back side. Therefore, this part of the camera’s body is intended for thermal coupling with an external dissipative element such as a camera holder or stand.

In tabletop applications, a simple heatsink element can be used. It is recommended to use metal parts for camera mounts to assure good thermal conductivity on the back side of the camera’s body.

Four threaded holes (M3 for D415e/D435e, M4 for D455e) are available on the camera’s back side to attach the camera to a mounting facility. It is recommended to use thermal paste on the contact surface between the camera and the heatsink for maximum thermal conductivity.

Figure 20 – Hottest Part of the Camera Housing

The camera’s maximum allowed operating temperature is defined as the temperature measured on the camera’s housing on the back side of the case, as shown in the figure above.

Operating Temperature	Min.	Max.
Temperature of the case (measured on the back side of the camera)	0 °C	60 °C

Table 27 – D400e Operating Temperature

Exceeding the maximum operating temperature defined in the table above can lead to permanent damage. The thermal dynamic of the camera is relatively slow due to the mass of the housing and its internal construction. Therefore, more than 1.5h of steady operation under unchanged ambient conditions is necessary for the camera to reach a thermal-steady state.

The camera operator should be aware of the camera settings that affect power consumption (framerate, laser usage, …), the power supply options and environmental conditions to assure that the camera remains in a safe temperature range at all times. Examples of using appropriate heatsinks are discussed in the following chapter.

6.2 Operating Conditions for Different Temperatures

Depending on ambient conditions, the camera can either operate without any additional heat dissipation element or with an adequate heatsink attached. The allowed maximum ambient temperatures are given for the camera’s different operating modes to indicate at which configuration the camera can run in several application use cases.

Use case:	Description:
Typical1	Power supply: M8, 12V Exposure time: 5 ms Framerate: 30 fps Laser projector power: 150 mW
Typical2	Power supply: M12, PoE Exposure time: 5 ms Framerate: 30 fps Laser projector power: 150 mW
Max1	Power supply: M8, 12V Exposure time: 30 ms Framerate: 30 fps Laser projector power: 360 mW
Max2	Power supply: M12, PoE Exposure time: 30 ms Framerate: 30 fps Laser projector power: 360 mW

Table 28 – Operating Conditions for Different Temperatures

The table below lists several heat dissipation elements that can be used to keep the camera in safe operation mode.

Heatsink:	Description:
H0	No heatsink attached
H1 - passive	SK 424 75 ME Heatsink length: 75 mm Thermal resistance: approx. 3.8 K/W
H2 - passive	SK 408 50 ME Heatsink length: 50 mm Thermal resistance: approx. 2.3 K/W
H3 - passive	SK 530 100 AL Heatsink length: 100 mm Thermal resistance: approx. 0.38 K/W
H4 - active	SK 424 75 ME Heatsink length: 75 mm Cooling fan: Xilence XPF40

Table 29 – Heat Dissipation Elements

6.3 Maximum Operating Ambient Temperatures

The table below shows the maximum allowed ambient temperatures that keep the camera working within its safe operating temperature range. These results can be used when defining a cooling solution for a specific camera use case.

The information given is based on testing the camera in its thermal-steady state using a thermal test chamber. In the chamber, there was no airflow at all. A temperature measurement error of ±1°C is possible.

Operating mode Cooling option	Typical1	Typical2	Max1	Max2
H0 – no heatsink	32 °C	28 °C	26 °C	25 °C
H1 – passive	37 °C	33 °C	33 °C	31 °C
H2 – passive	45 °C	44 °C	44 °C	42 °C
H3 – passive	53 °C	52 °C	52 °C	51 °C
H4 – active	54 °C	53 °C	53 °C	52 °C

Table 30 – Maximum Operating Ambient Temperatures

6.4 Summary of Operating Conditions and Temperatures

Depending on the camera’s operation mode and the applied heat dissipation elements, ambient temperatures between 25°C and 54°C are possible.

Table 30 shows that the camera can operate in normal indoor environments (up to 31°C – 37°C) with a very small heatsink such as H1. For moderately increased ambient temperatures, larger heat sinks must be used. H2 shows the tradeoff between heatsink size and maximum allowed ambient temperatures at 42°C – 45°C.

For very high ambient temperatures, either large heatsink elements (H3) or active cooling (H4) must be used.

Without any heatsink attached, the camera can sustain an ambient temperature of 25°C – 32°C, depending on its utilization rate. Since, in most cases, the camera will be fixed on a mount, the inherent heat dissipation will likely be better than shown in H0. Consequently, the allowed ambient temperature will be higher than indicated in the H0 column.

By choosing the appropriate camera holder, sufficient thermal conductivity for most typical applications can be achieved.

The specific customer application will differ from the examples shown above and every solution will require a thermal analysis to ensure safe and reliable camera operation. The given information should be used as a guideline for customers when designing the entire system.

Tip

Use a metal camera mount to assure optimal heat conductivity (avoid plastic mounts).

Tip

In case there is a problem with overheating, it is recommended to supply power to the camera via M8 connector rather than using PoE.

Tip

Minimize the camera’s resource utilization (i.e. fps, exposure, projector intensity), which will positively affect heat generation and product longevity.

7. Mounting and Deployment

7.1 Camera Mounting

D400e cameras are designed to support mounting on the back side of the housing. The internal structure of the device is designed to dissipate most of the generated heat through this part of the camera’s housing. Therefore, it is recommended to use a holder or stand which will ensure good camera mechanical stability but also act as a thermal drain.

For this purpose, metal parts with high thermal conductivity and which are physically connected to a large part of the camera’s back side are recommended. Please avoid materials like plastic, rubber, or similar materials with high thermal resistance.

On the back side of the D415e/D435e camera body, four M3 thread holes are available for mounting. Since the housing is made of aluminum and M3 thread hole depth is 3.2mm, care is required when tightening the screws to avoid thread damage. For these screws, the applied tightening torque should not exceed 100 cNm.

Figure 21 – D400e Series Camera Body Back Side

The D455e camera features four robust M4 thread holes for mounting, with stainless steel thread inserts and a maximum insertion depth of 5mm. Applied tightening torque for mounting screws should not exceed 100 cNm to avoid thread damage.

The camera is constructed for operation in industrial environments and can be used with moving objects. For this purpose, it is tested and compliant according to EN 60068-2-6, EN 60068-2-64 and EN 60068-2-27 norms.

However, stronger shock and vibration can lead to damage of sensitive optical and electronic components inside the camera. Dropping the camera or colliding it with any surface can lead to severe damage.

7.2 Application of External Cabling

The camera interface has an M8 and an M12 industrial grade connector.

The M8 connector is used for power supply and external synchronization while the M12 connector serves for data transmission and power over Ethernet (in case the M8 connector is not used for power supply). Both are receptacles for relatively large external cable connectors.

When connecting the camera with external cable connectors (either M8 or M12), the corresponding camera connector nut should be held with an appropriate wrench. In case the nut is not held by a wrench, the respective connector could be turned together with the cable if excessive force is applied. This should be prevented as it could cause damage to the camera’s internal wiring.

The FRAMOS D400e series camera is supplied with the M8 connector covered with a protective plastic cap. The function of the protective cap is to protect the M8 connector against impurities and moisture in case the connector is not used, thus keeping it clean and ready for the future.

Note

When attaching M8 and M12 cables to the camera, the connectors should be fixed with a tool (wrench/key) so that the connectors do not rotate under force. The maximum tightening torque for the M12 cable connector is 0.6Nm. The maximum tightening torque for the M8 cable connector is 0.4Nm.

Tip

Use the protective cap on the M8 connector in case the M8 connector is not used to protect it from environmental influences (exposure of connector pins to humidity, dust, and other particles). Note that the protective cap does not influence the IP rating of the camera.

7.3 Cleaning Procedures

Depending on operating environment, the camera needs to be cleaned from time to time. For cleaning the camera’s housing, it is recommended to use a soft camera cleaning brush or a soft cleaning cloth.

Using an eyeglass cleaning cloth is recommended for cleaning the camera glass window. Although the hardness of used glass is grade 6H, special attention is required when cleaning the window to prevent long-term decreasing of optical properties. Using inadequate cleaning materials can cause micro scratches of the camera’s window.

Ethyl alcohol can be used for light wiping of the entire camera housing. Using strong solvents is not recommended and can lead to aesthetic or functional camera damage.

8. Functional Specification

8.1 Possible Stream Configurations

The theoretical maximum throughput on a Gigabit Ethernet link is 125 MB/s. To calculate the bandwidth required for a specific stream configuration on a D400e camera use the following formula:

   BPP = Bytes per pixel

   Depth_BPP = 2 BPP
Infrared1_BPP = 1 BPP
Infrared2_BPP = 1 BPP
     RGB_BPP = 2 BPP

  Bandwidth_REQ = Depth_BPP * Depth_WIDTH * Depth_HEIGHT * Depth_FPS +
  Infrared1_BPP * Infrared1_WIDTH * Infrared1_HEIGHT * Infrared1_FPS +
  Infrared2_BPP * Infrared2_WIDTH * Infrared2_HEIGHT * Infrared2_FPS +
  RGB_BPP * RGB_WIDTH * RGB_HEIGHT * RGB_FPS

An example of a bandwidth calculation is given below (Depth profile 640x480@30fps with both left and right infrared streams enabled, RGB profile 848x480@30fps):

Depth WIDTH = Infrared1 WIDTH = Infrared2 WIDTH =640
Depth HEIGHT = Infrared1 HEIGHT = Infrared2 HEIGHT =480
RGB WIDTH =848
RGB HEIGHT =480
Depth FPS = Infrared1 FPS = Infrared2 FPS = RGB FPS =30

Bandwidth REQ =2*640*480*30+
1*640*480*30+
1*640*480*30+
2*848*480*30=
61286400 B/s= 61.29 MB/s

Depth	RGB	60fps	30fps	25fps	15fps	6fps
1280x720	1920x1080				ok	ok
1280x720	1280x720		ok	ok	ok	ok
848x480	960x540	ok	ok	ok	ok	ok
848x480	848x480	ok	ok	ok	ok	ok
848x480	1920x1080				ok	ok
640x480	640x480	ok	ok	ok	ok	ok
640x360	640x360	ok	ok	ok	ok	ok
424x240	424x240	ok	ok	ok	ok	ok

Table 31 – Example of Possible Streams on Gigabit Ethernet Network

8.2 Depth Field of View (FOV)

Format	D435e / D455e / D435e-f / D455e-f | D415e
Horizontal FOV (VGA 4:3)	74°	48°
Vertical FOV (VGA 4:3)	62°	40°
Diagonal FOV (VGA 4:3)	88°	60°
Horizontal FOV (HD 16:9)	86°	64°
Vertical FOV (HD 16:9)	57°	41°
Diagonal FOV (HD 16:9)	94°	72°

Table 32 – Depth FOV

Note

The specified FOV Depth is at a 2 meter distance. Due to mechanical tolerances of +/-5%, Max and Min FOV values can vary from lens to lens and module to module by ~ +/- 3 degrees.

Depth Field of View (Depth FOV) at any distance (Z) can be calculated using the equation:

• Depth FOV = Depth Field of View

• HFOV = Horizontal Field of View of Left Imager on Depth Module

• B = Baseline

• Z = Distance of Scene from Depth Module

8.3 Minimum-Z Depth

The Minimum-Z Depth is the minimum distance from the depth camera to the scene for which the D4 Vision Processor provides depth data.

Resolution	D435e / D435e-f Min-Z (mm)	D415e Min-Z (mm)	D455e / D455e-f Min-Z (mm)
1280x720	280	450	520
848x480	195	310	350
640x480	175	310	320
640x360	150	240	260
480x270	120	180	200
424x240	105	160	180

Table 33 – Minimum-Z Depth

8.4 Depth Quality Specifications

A set of standard metrics based on accuracy, data validity and temporal stability are used to determine the depth quality.

FRAMOS D400e series camera depth quality specifications are the same as the corresponding RealSense D400 series camera specifications.

Metric	D415e / D435e / D435e-f (up to 2 meters and 80% ROI, HD Resolution)	D455e / D455e-f (up to 4 meters and 80% ROI, HD Resolution)
Z-accuracy (or absolute error)	±2%	±2%
Fill rate	≥99%	≥99%
RMS Error (or Spatial Noise)	≤2%	≤2%
Temporal Noise	≤1%	≤1%

Table 34 – Depth Quality Specifications for FRAMOS D400e Series Camera

For depth accuracy and the optimal camera settings, please refer to Tuning Depth Cameras for Best Performance [Ref-5].

For more information on depth quality specifications, please refer to RealSense™ D400 Series Product Family Datasheet [Ref-1], Chapter “Depth Quality Specification”.

For depth quality metrics definitions and test methodology, please refer to RealSense™ Camera Depth Testing Methodology [Ref-7].

Note

The depth quality specifications apply to all FRAMOS D400e series cameras. All FRAMOS D400e cameras are factory calibrated; the Realsense D400 Camera OEM Calibration Target and Tool is used in the D400e factory calibration procedure.

Note

Calibration parameters may become invalid and depth quality may decrease if the camera has been subjected to force or impact. In such cases, RealSense calibration tools can be used to improve depth quality by re-calculating the calibration parameters. Please refer to released calibration guides and white papers [Ref-8].

The RealSense™ Self-Calibration for D400 Series Depth Cameras feature is not applicable for FRAMOS D400e series cameras.

8.5 Depth Camera Functions

Control	Description	Min	Max
Manual Exposure(1) (µs)	Control sensor exposure period	1	165000
Manual Gain(1) (Gain 1.0 = 16)	Control sensor digital gain	16	248
Laser Power (on/off) (On = 1)	Power to IR Projector	0	1
Manual Laser Power (mW)	Laser Power setting (30mW steps)	0	360
Auto Exposure Mode (Enable = 1)	Auto Exposure Mode. When Auto Exposure is enabled, Exposure and Gain are set based on the environment condition	0	1
Auto Exposure ROI	Auto Exposure on a selected ROI	T-0 L-0 B-1 R-1	T-719 L-1279 B-720 R-1280

Table 35 – Depth Camera Functions

NOTES:

• 1. – Not supported in Auto Exposure Mode

• T - Top, L – Left, B - Bottom, R – Right

8.6 Color Camera Functions

Control	Description	Min	Max
Auto-Exposure Mode	Automatically sets the exposure time and gain for the frame.	0	1
Auto Exposure ROI	Auto Exposure on a selected ROI	T-0 L-0 B-1 R-1	T-1079 L-1919 B-1080 R-1920
Manual Exposure Time (100µs unit)	Sets the absolute exposure time when autoexposure is disabled.	1	10000
Brightness	Sets the amount of brightness applied when autoexposure is enabled.	-64	64
Contrast	Sets the amount of contrast based on the brightness of the scene.	0	100
Gain	Sets the amount of gain applied to the frame if autoexposure is disabled.	0	128
Hue	Sets the amount of hue adjustment applied to the frame.	-180	180
Saturation	Sets the amount of saturation adjustment applied to the frame.	0	100
Sharpness	Sets the amount of sharpening adjustment applied to the frame.	0	100
Gamma	Sets amount of gamma correction applied to the frame.	100	500
White Balance Temperature Control	Sets the white balance when AWB is disabled.	2800	6500
White Balance Temperature Auto (AWB)	Enables or disables the AWB algorithm.	0	1
Power Line Frequency	Specified based on the local power line frequency for flicker avoidance.	0	4
Backlight Compensation	Sets a weighting amount based on brightness to the frame.	0	1
Low Light Comp	Low Light	0	1

Table 36 – Color Camera Functions

8.7 Inertial Measurement Unit Streams

Stream	Description	Format	FPS	Unit
Accel	Acceleration data from IMU sensor	MOTION_XYZ32F	63, 250	meter/sec²
Gyro	Gyroscope data from IMU sensor	MOTION_XYZ32F	200, 400	radian/sec

Table 37 – Inertial Measurement Unit Streams

8.8 D400e Camera Specific Features

8.8.1 Packet Size

The Packet Size feature specifies the stream+s packet size in bytes. It can be configured separately for Depth and RGB streams. The optimal value of the Packet Size feature is automatically calculated by the software, but it can be manually overridden.

Increasing the Packet Size is generally beneficial for overall system performance. For more information, please refer to FRAMOS Industrial Depth Camera D400e Series - Tuning System For Best Performance [Ref-4].

Tip

Enable Jumbo Frames in the Network Adapter’s Advanced settings to allow using larger Packet Size values. This reduces the number of packets sent by the camera, thus reducing the packet overhead and workload of the host NIC.

8.8.2 Inter Packet Delay

The Inter Packet Delay is the delay introduced by the camera between sending two consecutive packets on the stream channel. This delay reduces the effective network load (on NIC or switch) and creates timeslots for processing packets from other devices on the network.

The Inter Packet Delay is very useful when multiple cameras are streaming to one PC on the same Network Interface Card (NIC). For more information, please refer to FRAMOS Industrial Depth Camera D400e Series - Tuning System For Best Performance [Ref-4].

8.8.3 Heartbeat Time

The heartbeat mechanism is used to determine whether the logical link between the D400e camera and the application running on the host is active. The host sends the heartbeat command to the camera in regular intervals and the camera sends a response. If the camera does not respond in a certain interval, the host considers the camera disconnected. If the camera does not receive a heartbeat command in the same interval, it considers the host disconnected.

For more information, please refer to document d400e_api_extensions.md (part of the D400e software package).

8.8.4 Inter Cam Sync Mode

Enables synchronous streaming of multiple cameras and stream synchronization to an external event. A FRAMOS D400e camera provides the following Inter Cam Sync modes:

• Default

• Master

• Slave

• Genlock Mode (only FRAMOS D400e Global Shutter based cameras)

• External Event

• External Event Burst

The Inter Cam Sync Mode feature, in conjunction with Output Trigger Enabled and User Output Level features, defines the state of pin 3 (Opto-Isolated Output) on the M8 power connector.

Note

When the camera operates in “External Event Mode” or “External Event Burst Mode”, the camera’s internal streams and laser projector are active even if no external event pulse is applied and no stream is sent to the host. This should be taken into consideration when designing applications using those operating modes.

Note

When the camera operates in “Genlock Mode”, “External Event Mode” or “External Event Burst Mode”, it is recommended to use the Syncer Mode feature (see Chapter 8.8.9).

For more information please refer to FRAMOS Industrial Depth Camera D400e Series - External Event Camera Synchronization [Ref-2] and FRAMOS Industrial Depth Camera D400e Series - Multi-Camera Synchronization [Ref-3].

8.8.5 Output Trigger Enabled

The Output Trigger Enabled feature switches between the synchronization signal VSYNC (described in FRAMOS Industrial Depth Camera D400e Series - External Event Camera Synchronization [Ref-2]) and user controllable output.

When enabled, VSYNC is selected as an M8 Pin 3 driver. VSYNC drives the pin in all Inter Cam Sync modes.

When disabled, the user can change the state of Pin 3 on the M8 Connector with the User Output Level feature.

8.8.6 User Output Level

Enables the user to set the signal level of Pin 3 (Opto-Isolated Output) on the M8 Connector to a low or high voltage level. This can be used to control external lighting or other devices.

User Output Level is active in all Inter Cam Sync modes when Output Trigger Enabled is disabled.

Output Trigger Enabled and User Output Level feature behavior are shown in Figure 22.

Figure 22 – D400e M8 Pin 3 Behavior

8.8.7 Line Debouncer Time

The Line Debouncer Time feature defines the minimum interval in microseconds that an input signal on a camera’s digital input pin must remain active for to be recognized as a valid signal. The Line Debouncer Time is used to prevent possible unwanted trigger events by eliminating short pulses or noise that could easily be interpreted as a trigger signal.

The Line Debouncer Time functionality is shown in Figure 23. The trigger signal has three glitches that are ignored because the width of these signals is shorter than the Line Debouncer Time. The fourth signal is accepted as a valid trigger signal as its width is longer than the Line Debouncer Time.

The Line Debouncer Time effectively increases delay time between the external trigger (signal on digital input pin) and the internal trigger that is used to start the camera event, so it should be set large enough to filter unwanted glitches, but small enough to keep the delay as small as possible.

Figure 23 – D400e Line Debouncer Time

Note

The Line Debouncer Time feature continuously filters signals on the camera’s digital input pin so it may affect the camera behavior when the camera is operating in “Slave”, “Genlock”, “External Event” or “External Event Burst” operating modes.

For optimal operation, set the Line Debouncer Time to a value larger than the width of noise pulses expected or observed on the signal line, but smaller than the width of the trigger signal applied on the camera’s digital input pin.

8.8.8 RGB/Stereo Synchronization

By default, the FRAMOS D400e camera operates in the “Default” operating mode, with asynchronous streams from the RGB and Stereo sensor. For explanation on camera operating modes please refer to FRAMOS Industrial Depth Camera D400e Series - Multi-Camera Synchronization [Ref-3].

To achieve synchronization between the RGB and Stereo stream, make sure that:

• Inter Cam Sync Mode is set to “Default Mode” or “External Event Mode”

• RGB Auto Exposure Priority option is disabled (even if RGB Auto Exposure is disabled)

• RGB and Stereo framerates match

When streams are synchronized, there is a constant delay between the frames, as shown in Figure 24.

Figure 24 – D400e Series Camera Synchronized Streams

With streams out of synchronization, RGB and Stereo streams drift apart over time, as shown in Figure 25.

Figure 25 – D400e Series Camera Streams out of Synchronization

Tip

Use synchronization with the Auto Exposure option enabled for both RGB and Stereo sensors.

8.8.9 Syncer Mode

D400e cameras have a possibility to synchronize streams to an external event (using Inter Cam Sync Mode External Event operating mode).

As the frequency of external events is not known in front, the “syncer module” in librealsense2 is extended to handle this case. Available syncer options in the librealsense2 API are listed in the rs2_syncer_mode enumeration available in the librealsense2/h/rs_types.h header file:

// Syncer Mode
typedef enum rs2_syncer_mode
{
    RS2_SYNCER_MODE_DEFAULT,       // default syncer mode
    RS2_SYNCER_MODE_WAIT_FRAMESET, // wait-for-full-frameset syncer mode
    RS2_SYNCER_MODE_COUNT
};

The RS2_SYNCER_MODE_DEFAULT enumerator represents the default working mode of the syncer module (original librealsense2 syncer implementation) in which the same frame, in certain situations, can be returned in consecutive framesets by a “wait_for_frames” call, as shown in Figure 26.

Figure 26 – Syncer Default Mode

The RS2_SYNCER_MODE_WAIT_FRAMESET enumerator represents the wait-for-full-frameset mode of the syncer module with the support for external events specific to D400e cameras. In this mode, the syncer returns a synchronized frameset only when frames from all enabled streams have arrived, as shown in Figure 27.

Figure 27 – Syncer Wait-For-Frameset Mode

Syncer mode can be set only through the API using the following code snippets:

//C++
rs2::config cfg; //config object
cfg.set_syncer_mode(RS2_SYNCER_MODE_WAIT_FRAMESET);

//C
rs2_error* e = 0;
rs2_config* config = rs2_create_config(&e);
check_error(e);
rs2_config_set_syncer_mode(config, RS2_SYNCER_MODE_WAIT_FRAMESET, &e);

#Python
config = rs.config()
config.set_syncer_mode(rs.syncer_mode.wait_frameset)

9. Firmware Updates

The firmware contains camera operational instructions. Firmware on the camera can be upgraded via Ethernet interface. This allows the implementation of new features and potential bug fixes using the firmware update tool.

The UpdateFirmware tool is used to update the firmware on FRAMOS Industrial Depth Cameras. The firmware update file is verified by the compatibility tool for the selected camera before initiating the firmware update process. The tool can be run in two modes: interactive and non-interactive.

9.1 Firmware Update Interactive Mode

This is the default running mode of the UpdateFirmware tool. The user must manually select the camera by index from the list of connected cameras and follow the on-screen instructions to perform a firmware update on selected camera.

Usage example on Linux:

./UpdateFirmware FRAMOS_D415e_r1111_v1_7_0_0.fw_update

Figure 28 – UpdateFirmware Tool, Part 1

Select a camera from the list, and confirm to initiate the firmware update procedure:

Figure 29 – UpdateFirmware Tool, Part 2

9.1.1 Parallel Firmware Update

The UpdateFirmware tool can upgrade multiple cameras at the same time.

Usage example on Linux:

./UpdateFirmware FRAMOS_D415e_r1111_v1_7_0_0.fw_update

Enter the “all” keyword to select all available cameras:

Figure 30 – UpdateFirmware Tool, Parallel Procedure, Part 1

The firmware update procedure will start on all cameras that are compatible with the selected firmware update file. If there are cameras on the list that are not compatible with the firmware update file, the UpdateFirmware tool will simply ignore these cameras and will inform the user about incompatibilities at the end of the firmware update procedure.

Figure 31 – UpdateFirmware Tool, Parallel Procedure, Part 2

On firmware update procedure completion, the UpdateFirmware tool will list cameras with the corresponding firmware update status message (firmware update pass / fail).

Tip

When performing the firmware update on multiple cameras, it is recommended to perform the firmware update on a smaller batch first and verify the result, then update the firmware on other cameras afterwards.

9.2 Firmware Update, Non-Interactive Mode

In non-interactive mode, no additional input from the user is required once the tool is started. The user can choose to perform the firmware update on a single camera, all available cameras, or a set of cameras specified by the camera’s serial number/s. The serial number argument (“-sn”) must be specified after the argument “-noninteractive”.

Usage examples for Linux are shown below.

To perform a firmware update on a single camera:

./UpdateFirmware FRAMOS_D415e_r1111_v1_7_0_0.fw_update -noninteractive -sn=6CD146030D2C

Figure 32 – Selecting one device in noninteractive mode

To perform a firmware update on a set of cameras, specify the serial numbers of the selected cameras after the “-sn” argument and separate them with a comma sign delimiter (no spaces are allowed):

./UpdateFirmware FRAMOS_D415e_r1111_v1_7_0_0.fw_update -noninteractive -sn=6CD146030D2C,6CD146030D31

To perform a firmware update on all cameras:

./UpdateFirmware FRAMOS_D415e_r1111_v1_7_0_0.fw_update -noninteractive -sn=all

9.3 IP Address Conflict

9.3.1 Interactive Mode

If multiple devices with identical IP addresses were detected during discovery, the tool will display the IP address conflict warning when started in interactive mode. In this case, the firmware update procedure can be started only on cameras that are not in conflict.

If a camera that is in conflict is selected for a firmware update, the procedure will be terminated, as shown on Figure 34.

Figure 33 – IP address conflict

Figure 34 – IP address conflict when selecting all devices

9.3.2 Non-interactive Mode

In non-interactive mode, no warning will be displayed but selected cameras will be verified for IP address conflicts.

If the list contains a camera that is in IP address conflict, the firmware update procedure will be terminated.

Figure 35 – IP address conflict, procedure terminated

10. Software

Instructions on how to quickly start the camera up can be found in the quickstart guide:

FRAMOS Industrial Depth Camera D400e Series - Getting Started [Ref-6].

10.1 FRAMOS Camera Suite SDK

The FRAMOS CameraSuite Software Development Kit (SDK) provides a set of tools, guides, and samples, used for configuration and image acquisition from GigE Vision cameras. The CameraSuite SDK consists of the following components:

• CameraSuite API - The Application Programming Interface (API) for configuration and image acquisition from GigE Vision cameras

• FRAMOS GigE Vision filter driver - A high-performance network filter driver designed to ensure optimal performance of GigE Vision cameras

• Sample code - Example source code for various CameraSuite API functions

• Tools - tools used for operating the FRAMOS Industrial Depth Cameras

The FRAMOS CameraSuite API, assisted by a FRAMOS GigE Vision filter driver, acts as middleware between the FRAMOS D400e Series Industrial Depth Camera and the RealSense™ 2.0 SDK, allowing the D400e Series camera to be used by tools based on the RealSense™ 2.0 SDK.

10.1.1 Set IP Configuration

The ConfigureIP tool is used to configure the IP address of a FRAMOS Industrial Depth Camera.

Supported IP configurations are:

• Persistent IP - A fixed IP address which is stored in the camera’s non-volatile memory

• DHCP - The camera attempts to acquire an IP address via DHCP protocol

• LLA - The camera attempts to acquire an IP address via LLA protocol, always enabled

If more than one configuration is enabled, Persistent IP configuration has the highest priority, followed by DHCP and, finally, LLA. The LLA configuration is used as a fallback if other configurations fail, and it cannot be disabled.

Note

The factory default camera IP configuration has DHCP and LLA enabled, while Persistent IP is disabled. This way, the camera tries to dynamically acquire the IP address from the DHCP server if available, or via LLA protocol if the DHCP server is not available.

The camera and network interface card (NIC) that is used to connect to the camera need to be on the same subnet for the camera to be accessible by the software. For this reason, the ConfigureIP tool allows a temporary change the camera’s current IP address. This is useful in situations where the NIC and the camera are on different subnets, and the IP configuration of the NIC cannot be changed.

There are two ways to use the ConfigureIP tool:

• Interactive mode - Allows modification to the camera’s IP configuration settings via text interface

• Noninteractive mode - Arguments passed to the tool define the operation that will be performed.

To learn more about the arguments that can be passed to the ConfigureIP tool, call the tool with the “-help” argument.

Interactive mode

Usage example on Linux:

./ConfigureIp

Figure 36 – ConfigureIp Tool, Part 1

The IP Configuration column displays the current IP address and additional flags in parentheses indicating the IP Configuration protocols enabled on each device:

L = The device has LLA protocol enabled (always enabled)

D = The device has DHCP protocol enabled

P = The device has Persistent IP address enabled

Select a camera from the list, and then set the desired IP configuration:

Figure 37 – ConfigureIp Tool Part 2

Note that while setting a new temporary IP will change the temporary IP immediately, all other newly set IP configurations will not be active until the camera is restarted. In certain cases, especially when using Persistent IP configuration, there is a possibility of IP address conflict between two or more cameras. If an IP address conflict is detected, the ConfigureIP tool will display a warning message.

Figure 38 – IP address conflict warning message

Noninteractive mode

To get a list of all available arguments, run the tool with the “-help” argument:

Figure 39 – ConfigureIp tool arguments

The following examples show how to run the tool with some of the available arguments.

To verify if the device has DHCP protocol enabled:

Figure 40 – DHCP protocol status verification

To verify if the device has persistent IP address enabled:

Figure 41 – Persistent IP address status verification

10.1.2 Manage Camera Calibration Tables

The CalibrationTables tool is used to manage calibration tables on the FRAMOS Industrial Depth D400e Camera Series.

The following actions are supported:

• Read calibration tables from device

• Write calibration tables to device (active)

• Write calibration tables to device (active + gold)

• Reset calibration tables on device to default gold factory settings

• Convert local binary table files to XML file

Usage example on Linux – running the CalibrationTables tool:

CalibrationTables

Figure 42 – CalibrationTables tool, Part 1

Select a camera from the list and then choose the desired action:

Figure 43 – CalibrationTables tool, Part 2

10.2 RealSense™ Software Development Kit 2.0

FRAMOS provides a modified version of the 2.0 SDK, which includes a wrapper of the Camera Suite as described above.

The modified version of the SDK 2.0 can be downloaded here.

The SDK, at minimum, includes:

• RealSense™ Viewer - This application can be used to view, record and playback depth streams, set camera configurations and other controls.

• Depth Quality Tool - This application can be used to test depth quality, including distance to plane accuracy, Z accuracy, standard deviation of the Z accuracy and fill rate.

• Debug Tools - These command line tools gather data and generate logs to assist in camera debugging.

• Code Examples - Examples to demonstrate the use of the SDK to include D400 Series camera code snippets into applications.

• Wrappers - Software wrappers supporting common programming languages and environments such as ROS, Python, Matlab, node.js, LabVIEW, OpenCV, PCL, .NET and more.

Additional documentation and instructions on the Realsense SDK can be found here.

11. Troubleshooting

For troubleshooting problems related to the FRAMOS D400e Series Camera, please refer to the FRAMOS RealSense Cameras Knowledge Base [Ref-9].

12. Regulatory Compliance

Life Support Applications

These products are not designed for use in life support systems, appliances, or devices where product malfunction can reasonably be expected to result in personal injury.

Customers, Integrators and End Users using or selling these products for use in such applications do so at their own risk and agree to fully indemnify FRAMOS for any damages resulting from any improper use or sale.

CE-Declaration

This product complies with all applicable European directives.

EMC Directive

This equipment is in compliance with the essential requirements and other relevant provisions of the following EMC directives: EN 61000-6-2, EN 61000-6-4.

The equipment specified above was tested conforming to the applicable Rules under the most accurate measurement standards possible, and that all the necessary steps have been taken and are in force to assure that production units of the same product will continue complying with the requirements.

FCC Part 15 Declaration of Conformity

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 designed 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.

Modifications not expressly approved by the manufacturer could void the user‘s authority to operate the equipment under FCC rules.

KC Certification

Certification numbers: R-R-fm3-D415e; R-R-fm3-D435e; R-R-fm3-D455e

Applicant / Manufacturer: Framos Technologies d.o.o.

Product name: FRAMOS Depth Camera

Series models: FRAMOS Depth Camera D415e; FRAMOS Depth Camera D435e, FRAMOS Depth Camera D435e-f; FRAMOS Depth Camera D455e, FRAMOS Depth Camera D455e-f

Country of manufacture: Made in Croatia – EU

RoHS

This equipment is in compliance with the essential requirements and other relevant provisions of the following RoHS Directives: Directive 2011/65/EU and (EU) 2015/863.

Materials declarations comply with EN 63000:2018 requirements for RoHS Technical Documentation.

The RoHS Directive (Restriction of Hazardous Substances) complements the WEEE Directive by severely restricting the presence of specific toxic substances in electronic equipment at the design phase, thereby reducing the environmental impact of discarding such products at the end of their useful life. FRAMOS Technologies d.o.o. is committed to complying with this Directive and has worked in collaboration with its suppliers to evaluate the new restrictions, to identify relevant exemptions, and to substitute environmentally benign, compliant alternative materials in its product components and manufacturing processes. Subject to the available exemptions, FRAMOS Technologies d.o.o. products were compliant with the RoHS Directive for its products.

Materials declarations comply with EN 63000:2018 requirements for RoHS Technical Documentation. EU Declaration of conformity according to RoHS are issued on customer demand.

REACH

FRAMOS neither manufactures nor imports chemical substances. FRAMOS is well aware of:

• The requirements of REACH regulation of the European Council (EC) No. 1907/2006

• The SVHC Candidate List

• Our obligations concerning safety datasheets as well as informing customers

WEEE

The WEEE Directive obliges manufacturers, importers, and/or distributors of electronic equipment to label the equipment for recycling and to provide for recycling of the electronic equipment at the end of its useful life. FRAMOS is committed to complying with the WEEE Directive (as implemented in each EU member state). In accordance with the requirements of the Directive, FRAMOS Technologies d.o.o. has labelled its electronic products that are shipped. The WEEE label and instructions for disposal are as follows:

Instructions for Disposal of Waste Equipment by Users in the European Union

This symbol on the product or its packaging indicates that this product must not be disposed of with other waste. Instead, it is your responsibility to dispose of your waste equipment by handing it over to a designated collection point for the recycling of electrical waste and electronic equipment. The separate collection and recycling of your waste equipment at the time of disposal will help conserve natural resources and ensure that it is recycled in a manner that protects human health and the environment.

For more information about where you can drop off your consumer waste equipment for recycling, please contact your local city recycling office or the dealer from whom you originally purchased the product.

Laser Safety

This product is classified as a Class 1 Laser Product under the EN/IEC 60825-1, Edition 3 (2014) internationally. This product complies with FDA performance standards except for conformance with IEC 60825-1 Ed. 3., as described in Laser Notice No. 56, dated May 8, 2019.

Caution

Use of controls or adjustments or performance of procedures other than those specified herein may result in hazardous radiation exposure.

Safety and Handling Instructions:

• Do not power on the product if any external damage was observed.

• Do not attempt to open any portion of this laser product. There are no user serviceable parts.

• Invisible laser radiation when opened. Avoid direct exposure to beam.

• Do not modify or service the product in any way. Modification or service of the product may cause the emissions to exceed Class 1 level.

• Do not try to update camera firmware that is not officially released for specific camera module and revision.

Shock

This equipment has been tested and found to comply with the requirements of the testing method:

EN 60068-2-27

Vibration

This equipment has been tested and found to comply with the requirements of the testing methods:

EN 60068-2-6

EN 60068-2-64

13. Accessories

Recommended Cables

M12 - Connector

• M12_to_RJ45 cable, 2m (Order Number: 79 9723 020 08)

• Connection line M12 X-coded, 2.0 m M12 plug angled - RJ45 plug straight 8-pole, position of coding 225°

M8 - Connector

• M8 female cable connector, Contacts: 8, 2m (Order Number: 77 3406 0000 50008-0200)

• Sensor/actuator cable - SAC-8P- 1,5-PUR/M 8FS SH – 1404147

• M8 Sensor/actuator cable - SAC-8P- 1,5-PUR/M 8FR – 1404191

14. References

1. RealSense™ D400 Series Product Family Datasheet, Revision 023, published in March 2026, RealSense.

2. FRAMOS Industrial Depth Camera D400e Series - External Event Camera Synchronization, FRAMOS GmbH.

3. FRAMOS Industrial Depth Camera D400e Series - Multi-Camera Synchronization, FRAMOS GmbH.

4. FRAMOS Industrial Depth Camera D400e Series - Tuning System For Best Performance, FRAMOS GmbH.

5. Tuning Depth Cameras for Best Performance, Revision 2.0, RealSense.

6. FRAMOS Industrial Depth Camera D400e Series - Getting Started Guide, FRAMOS GmbH.

7. RealSense™ Camera Depth Testing Methodology, Revision 1.2, published in January 2021.

8. Realsense Camera Calibration Tools and Guides, Realsense.

9. FRAMOS RealSense Cameras Knowledge Base, FRAMOS GmbH.

15. List Of Abbreviations

Abbreviation	Explanation
AR	Anti-Reflective
DC	Direct Current
DHCP	Dynamic Host Communication Protocol
DOF	Degrees of Freedom
FOV	Field of View
FOP	Field of Projection
GND	Ground
I/O	Input/Output
IN	Input
IP	Internet Protocol
IR	Infrared
ISP	Image Signal Processor
LLA	Link-Local Address
NIC	Network Interface Card
OUT	Output
PHY	Physical Layer
POE	Power Over Ethernet
RH	Relative Humidity
RMA	Return Material Authorization
SDK	Software Development Kit
TBD	To Be Determined

16. Revision History

Date	Version	Changes
2020-06-30	1.0.0	Initial version
2020-09-01	1.1.0	Added chapter “Output Trigger Enabled”; Added chapter “User Output Level”; Added chapter “Syncer Mode”; Updated chapter “D400e Camera Specific Features”
2020-10-01	1.2.0	Added chapter “Line Debouncer Time”; Updated chapter “D400e Camera Specific Features”
2021-01-15	1.3.0	Updated chapter “Power Consumption”; Updated chapter “Firmware Updates”; Added chapter “Inertial Measurement Unit”; Added chapter “Physical Interfaces”; Added chapter “Depth Quality Specifications”; Updated chapter “Manage Camera Calibration Tables”; Added chapter “FRAMOS Depth Camera D400e Series”; Added chapter “FRAMOS Depth Camera D400e Module Variant”; Added chapter “Mechanical Drawings”; Updated chapter “Component Overview”; Added chapter “Troubleshooting”
2021-05-31	1.4.0	Added chapter “Depth Camera Depth Origin Reference”; Updated chapter “FRAMOS Depth Camera D400e Module Variant”; Updated chapter “Labels on the Camera”; Updated chapter “Accessories”
2021-07-15	1.5.0	Updated entire document with information related to D455e camera
2021-10-15	1.6.0	Updated chapter “Thermal Control”; Updated chapter “Storage and Operating Conditions”; Updated chapter “RGB/Stereo Synchronization”; Updated chapter “Firmware Updates”; Updated chapter “Software”
2023-01-15	1.7.0	Added chapter “D400e Module Variant Calibration”; Updated chapter “Depth Camera Depth Origin Reference”; Updated chapter “Set IP Configuration”; Updated chapter “Inter Cam Sync Mode”; Updated chapter “Manage Camera Calibration Tables”; Updated chapter “Regulatory Compliance”; Updated chapter “Accessories”; Updated chapter “References”
2023-07-15	1.8.0	Added chapter “D400e cameras with IR-Pass filter”; Updated chapter “Storage and Operating Conditions”; Updated chapter “Labels on the Camera”; Updated chapter “References”
2024-07-15	1.9.0	Updated chapter “Regulatory Compliance”
2026-04-24	1.10.0	Updated chapter “System Requirements”; Updated chapter “Mechanical Dimensions”; Updated chapter “Depth Camera Depth Origin Reference”; Updated chapter “Labels on the Camera”; Updated chapter “D400e Module Variant Connectors Pinout”; Updated chapter “FRAMOS D4 Visual Processing Board”; Updated chapter “Application of External Cabling”; Updated chapter “Accessories”; Updated chapter “References”

Table 38 – Revision History

Note

This document replaces and supersedes the user manual “FRAMOS Industrial Depth Camera D435e” v1.1.0.