DATASHEET – DME 660-94º/10m Distance measurement camera engine General Description Features The DME 660 is a standalone 3D-TOF Distance Measurement Camera with a resolution of 320x240 pixel (QVGA). It is a highly integrated camera system with a wide field of view (FOV). The operating range is up to 10m on white objects. The camera system is a combination of a epc660 sensor board including a lens system, an LED illumination board and a BeagleBone Black host controller board. Even for mobile devices, only a few additional components are needed to integrate this 3D camera, e.g. a housing. The host controller operates the epc660 in all available operation modes and reads the distance values over the TCMI communication. The controller reads the imager data, applies calibration and compensation algorithms and delivers the results to an external computer via its integrated API. It is also possible to operate the DME 660 as a standalone sensor system. In this case, application software can be downloaded and run on the BeagleBone Black board also by using the full software framework like the operating system and the 3D-TOF API. ■ 320 x 240 pixel (QVGA) ■ Wide field of view H94° x V69º ■ Up to 10m distance measurement range on white targets ■ Low power consumption ■ Robust and stable ■ High speed USB or ETHERNET interface ■ Linux server with 3D-TOF API 65 full frame TOF images are delivered by the epc660 camera chip in maximal configuration. By using the advanced operation modes, this can be boosted up to more than 1'000 TOF images per second! The high degree of integration lays base for straight-forward system integration with minimal part count. The extremely high sensitivity of the optical front end allows to operate with a low power illumination subsystem which reduces the power consumption of the overall system significantly. The camera comes with a fully documented SDK based on opensource SW and HW. Applications ■ People detection and counting ■ Parcel size measurement ■ Machine safety ■ Object recognition ■ Automatic door safety ■ Humanoid robotics ■ Helicopter near terrain flight assistance ■ Man-Machine interface ■ Gesture control ■ Body size measurement ■ General volumetric mapping Figure 1: DME 660 © 2015 ESPROS Photonics Corporation 1 / 25 Datasheet_DME_660-V1.01 Characteristics subject to change without notice 32/<7(&*PE+ 3RO\WHF3ODW] ':DOGEURQQ *(50$1< 7HO)D[ (0DLORHN#SRO\WHFGH ZZZSRO\WHFGH Precaution and Safety Eye safety: Do not look directly into the camera under operation. Depending on the mode of operation, the camera device emits highly concentrated non-visible infrared light. It can be hazardous to the human eye. The use of these devices has to follow the safety precautions given in IEC 60825-1 and IEC62471. The DME 660 is a bare electronic device without a housing around. Therefore, handle it with the necessary ESD precaution. Over-voltage: Use only power supplies which corresponds to the datasheet DME 660 to avoid damage of the DME 660 or cause danger for humans. Cable-tripping: Place the DME 660 with a tripod on a flat solid ground or fix it correctly on a solid support. Place cables carefully. Falling devices can be damaged or harm persons. This camera comes with its own calibrated firmware. For proper operation of the camera, upload the correct firmware with the evaluation kit to the camera according the instructions given in the quick guide. Do this when you are changing the camera module. This camera comes with high quality lens. Do not touch, twist or turn it. Otherwise loss of performance occurs. EMC compatibility: The DME 660 is designed on module level. It is not an EMC certified device. It is users responsibility to operate it in compliance with the EMC regulations. The DME 660 is designed on module level. It is NOT a CE, UL, CSA certified device. It is the users responsibility to operate it in compliance with the relevant regulations. The DME 660 and its software may only be be used in accordance of the datasheet DME 660 This devices may not be used in safety applications, explosive atmospheres or in radioactive environment. Limited warranty - Loss of warranty The DME 660 should only be installed and used by authorized people. All instructions in this datasheet and in the related docu ments shall be followed and fully complied with. In addition, the installer and user is required to comply with all local laws and regulations. Should any of these instructions not be carefully followed, seriously injury may occur. The installer and user is fully respon sible for the safe use and operation of the system. It is the sole responsibility of the installer and the user to ensure that this product is used according to all applicable codes and standards in order to ensure safe operation of the whole application. Any alteration to the devices by the buyer, installer or user may result in unsafe operating conditions. ESPROS Photonics AG is not responsible for any liability or warranty claim which results from such manipulation or disregarding of given operating instructions. ESPROS Photonics is constantly striving to provide comprehensive and correct product information. Therefore, please check our website regularly for updated versions of datasheets and documentations: www.espros.com Download the actual Datasheet epc660: www.espros.com → Downloads → Datasheets → Chips. Download the actual Datasheet DME 660: www.espros.com → Downloads → Datasheets → Camera_and_Modules. UPDATE DOWNLOAD: Click in the GUI of the epc660 Evaluation Kit onto the Chip ID. The GUI establishes a secure Internet connection to the appropriate epc sftp server. The GUI displays a menu with the available functions for the connected DME 660 device e.g. camera specific calibration, SDK tool, emulation tools, … Update the DME 660 (BeagleBone board) by going to the corresponding subfolder of the epc660_Evaluation_Kit_Install_vX.X.X / server. Start the file “setup.xxx”. For default installation, press ENTER. © 2015 ESPROS Photonics Corporation Characteristics subject to change without notice 2 / 25 Datasheet_DME_660-V1.01 Table of Contents General Description ......................................................................................................................................................................................... 1 Features ........................................................................................................................................................................................................... 1 Applications ...................................................................................................................................................................................................... 1 Precaution and Safety ...................................................................................................................................................................................... 2 The DME 660 Distance Measurement Engine ................................................................................................................................................ 4 1. System overview ..................................................................................................................................................................................... 4 1.1. Scope of Delivery ................................................................................................................................................................................. 5 1.1.1. Bill of Material ................................................................................................................................................................................... 5 1.1.2. Documentation .................................................................................................................................................................................. 5 2. Ordering Information ............................................................................................................................................................................... 6 3. Technical Data ........................................................................................................................................................................................ 7 3.1. Recommended operating conditions ................................................................................................................................................... 7 3.2. Optical Power Data .............................................................................................................................................................................. 7 3.3. Distance Measurement Timing ............................................................................................................................................................ 8 3.4. Absolute Maximum Ratings ................................................................................................................................................................. 9 4. Interfaces ................................................................................................................................................................................................ 9 4.1. Connectors ........................................................................................................................................................................................... 9 4.2. Indicators and reset button ................................................................................................................................................................ 10 4.2.1. Status LEDs .................................................................................................................................................................................... 10 4.2.2. Monitoring LEDs ............................................................................................................................................................................. 10 4.2.3. Reset button on BeagleBone .......................................................................................................................................................... 10 4.2.4. Reset button on TOF cape ............................................................................................................................................................. 10 5. Mechanical Properties .......................................................................................................................................................................... 11 5.1. Part list ............................................................................................................................................................................................... 11 5.2. Mechanical / Optical Properties ......................................................................................................................................................... 11 6. Electrical Circuits .................................................................................................................................................................................. 12 6.1. epc660 on Carrier .............................................................................................................................................................................. 12 6.1.1. Schematics ..................................................................................................................................................................................... 12 6.2. PCB Layout ........................................................................................................................................................................................ 13 6.3. Pin Table ............................................................................................................................................................................................ 14 7. TOF Cape ............................................................................................................................................................................................. 15 7.1. Schematics ........................................................................................................................................................................................ 15 7.2. PCB Assembly ................................................................................................................................................................................... 16 7.3. Pin Table J8 & J9 ............................................................................................................................................................................... 17 8. LED Cape ............................................................................................................................................................................................. 18 8.1. Schematics ........................................................................................................................................................................................ 18 8.2. PCB Assembly ................................................................................................................................................................................... 19 9. BeagleBone Black Board ...................................................................................................................................................................... 20 9.1. System Overview ............................................................................................................................................................................... 20 9.2. Documentation ................................................................................................................................................................................... 20 10. Installation and Setup ......................................................................................................................................................................... 21 10.1. Mechanical fixation .......................................................................................................................................................................... 21 10.2. Setup of the DME 660 ..................................................................................................................................................................... 21 10.3. Software Tools ................................................................................................................................................................................. 21 10.4. Exchange of epc660 on Card Edge Connector Carrier ................................................................................................................... 21 11. epc660 Evaluation Kit ......................................................................................................................................................................... 22 11.1. Scope of Delivery ............................................................................................................................................................................. 22 11.2. Ordering Information ........................................................................................................................................................................ 22 12. Maintenance and disposal .................................................................................................................................................................. 24 12.1. Maintenance .................................................................................................................................................................................... 24 12.2. Disposal ........................................................................................................................................................................................... 24 13. Addendum ........................................................................................................................................................................................... 24 13.1. Related documents .......................................................................................................................................................................... 24 13.2. Links ................................................................................................................................................................................................. 24 13.3. Licenses ........................................................................................................................................................................................... 24 IMPORTANT NOTICE ................................................................................................................................................................................... 25 © 2015 ESPROS Photonics Corporation Characteristics subject to change without notice 3 / 25 Datasheet_DME_660-V1.01 The DME 660 Distance Measurement Engine 1. System overview 85...240 VAC epc660 chip Lens Illumination Mounting frame PC with MS-Windows Mac with OSX LED cape epc660 Carrier Power supply 24 VDC TOF cape USB ETHERNET API Ethernet API USB API HW I/O Internet 3D TOF kernel User software DEBIAN operating system www.espros.com download center Application software Point Cloud Computing Customer Application Open Source Tools BeagleBone Black Figure 2: System overview The DME 660 is a general purpose camera module based on the epc660 chip: ■ The camera is based on a BeagleBone Black (BBB) Linux computer board. ■ The TOF cape board communicates with the BBB and carries the epc660 Card Edge Connector Carrier board with the epc660 camera chip and the lens with the lens holder. It carries also the single wire power supply for the hole camera system. ■ The camera's active illumination is done by 8 power LEDs on the LED cape which is driven by the TOF cape. The LED cape's metal frame offers two camera mount 1/4” - 20UNC. ■ The application software runs on the DEBIAN GNU/Linux operating system. The 3D-TOF kernel manages the camera including correction algorithms. Data for further processing e.g. cloud computing is available on APIs (application programming interface) for USB, Ethernet interfaces or hardware I/O. It opens the world for point cloud computing, using open source tools or creating own customer applications. © 2015 ESPROS Photonics Corporation Characteristics subject to change without notice 4 / 25 Datasheet_DME_660-V1.01 1.1. Scope of Delivery Attach and remove lens cover carefully not to damage the epc660 chip Lens and sensor Various locations with M4 nuts for easy and robust mounting ➀ Metal frame with illumination board (LED cape) LED 8x ➁ Sensor board (TOF cape) with epc660 Tripod mount 1/4“ - 20UNC ➂ BeagleBone Board Figure 3: DME 660 overview 1.1.1. Bill of Material No. Designation ➀ ➁ ➂ Remarks Metal frame with camera/tripod mount 1/4” - 20UNC Use only the 1/4” - 20UNC or the M4 tread inserts for mounting the camera LED cape: Illumination board on Metal frame TOF cape: Sensor board on LED cape epc660-CSP68 chip (ESPROS part no.P100 183) assembled on card edge connector carrier (ESPROS part no. P100 244) on TOF cape Optical bandpass filter e.g. infrared filter 860nm optional Lens holder, M12-Mount (P/N P100 217) on epc660 card edge connector carrier board Lens for DME 660 (ESPROS part no. P100 295): - FOV: H94°, V69° - Lens with non-linear distortion - optimized for NIR - EFL 4.1mm (center) - F2.0 - 1/2" - M12 mount on lens holder, including lens cover BeagleBone Black board Host controller other lens types upon request 1.1.2. Documentation Designation Remarks Datasheet DME 660 available at www.espros.com / Downloads Datasheet epc660 available at www.espros.com / Downloads Application and configuration software Use the epc660 Evaluation Kit for accessing licensed corresponding tools and software development kit (SDK). Table 1: Bill of material of the delivery © 2015 ESPROS Photonics Corporation Characteristics subject to change without notice 5 / 25 Datasheet_DME_660-V1.01 2. Ordering Information Part Number Part Name Remark RoHS compliance P100 278 DME 660-94º/10m completely assembled, tested and calibrated Part Number Part Name Remark P100 244 epc660-000 Card Edge Connector epc660 on chip carrier without optical filter Carrier P100 295 Lens FOV 122°, 1/2", M12 P100 217 Lens Holder, M12-Mount Yes Accessories: Optical bandpass filters RoHS compliance Yes Lens for DME 660: - FOV: H94°, V69° - Lens with non-linear distortion - optimized for NIR - EFL 4.1mm (center) - F2.0 - 1/2" - M12 mount Please contact your sales office or info@espros.com Table 2: Ordering Information Support and technical contact: info@espros.com © 2015 ESPROS Photonics Corporation Characteristics subject to change without notice 6 / 25 Datasheet_DME_660-V1.01 3. Technical Data 3.1. Recommended operating conditions (TA = 25°C, VSUPPLY = 24V, object reflectivity 90%, unless otherwise stated) Parameter Description Min. Typ. Max. Units VSUPPLY Supply voltage 21.6 24 26.4 VDC VPP Ripple on the supply voltage VSUPPLY 0.25 VPP ISUPPLY Supply current Comments Peak value must not below min. and not above max. supply voltage Idle 0.10 A after power up Grayscale imaging 0.10 100 fps 3D-TOF imaging 0.25 25 fps, tINT = 1 ms Image resolution 320 x 240 FOV Field of view H94 x V69 ° λ Operating wavelength 850 nm fLED_INT Internal modulation frequency 0.675, 1.25, 2.5, 5, 10, 20 MHz fLED_EXT External modulation input d Operating range Out Distance output word 12 Res Resolution 0.5 Measurement output Pixel with lens P/N P100 295 1 30 MHz 0.00 10.0 m 0 Software controllable Measured with an object that has a size at least the size of the pixel (dPIXEL). It is depending on the integration time tINT and the object reflectivity. Bit cm/LSB at 10 MHz modulation frequency 2'000 1.2 LSB dCAL Calibration distance VAPM Amplitude 0 2'000 LSB useful amplitude range ΦL Ambient light suppression 0 130'000 Lux indirect, depending on integration time and object distance, ABS on Data interface TA Ambient temperature range (operation) m at 10 MHz modulation frequency, refers to 0.0 ... 10.0 m, measurement results depending on object reflectivity Output @ 3.5m = 700 LSB USB 2.0 full speed or Ethernet 0 60 °C Max. Units Comments 372 W/m 2 in 200mm distance to the front surface of the DME 660 W/m2 in 200mm distance to the front surface of the DME 660 Table 3: Operating conditions 3.2. Optical Power Data Parameter Description Ee PEAK Peak illumination irradiance Ee AVG Average illumination irradiance Min. Typ. 108 Table 4: Optical power data The analysis of the photo-biological hazards show that the DME 660 emits radiation levels below the safety limits described in EN 62471. The calculated exposure level is below the limit for any exposure time at a distance of 200 mm or more. Therefore, the DME 660 can be assumed to be safe to the eye and skin in terms of the standard and would belong to the open group (RG0). Refer also to the report 'DME_660_Photobiological_Safety_Analysis.pdf' which can be downloaded from the ESPROS website. © 2015 ESPROS Photonics Corporation Characteristics subject to change without notice 7 / 25 Datasheet_DME_660-V1.01 3.3. Distance Measurement Timing Figure 4 shows the general timing diagram. For a full range measurement cycle, four differential correlation samples (DCSn in Figure 4) have to the acquired. After each DCS acquisition, the image containing the DCS per pixel, has to be read out from the epc660 imager (Data readout in Figure 4). Once four DCS are acquired, the distance is calculated on the BeagleBone Black board and an image containing a point cloud is ready to through the API. DCS0 DCS1 DCS2 DCS3 DCS0 DCS1 DCS2 DCS3 Acquisition Data readout Readout time tREAD Integration time tINT Distance calculation, transmission over USB Tx to GUI Processing time tPROC Figure 4: DME 660 measurement timing: 3D TOF with 4 DCS frames (standard API) Parameter Description Min. Typ. tINT Integration time selectable tREAD Full frame image readout time (1 DCS) 3.8 ms with 40MHz TCMI data rate tCYCLE Total distance measurement cycle time 136.9 ms tINT = 1.0ms, refer to Figure 4 TPWR_UP Power up time 20 s 0.1 Max. Units 4,000 µs Comments Refer to chapter 4.2 Table 5: Typical distance measurement timing parameters There are various options to increase the frame rate: Parameter Description Acquisition time reduction Comments No π-delay matching DCS0 and DCS1 acquisition only reduces the frame cycle by 2 * tINT plus 2 * tREAD In-pixel non-linearities and asymmetries reduce the distance measurement quality Dual MGX Acquires the odd DCS' in the odd rows reduces the frame cycle by 2 * tINT and simultaneously the even DCS' in plus 2 * tREAD the even row Pixel tolerances in the even and odd rows reduce the distance measurement quality No π-delay matching and Dual MGX Acquires DCS0 in the even rows and simultaneously DCS1 in the odd row reduces the frame cycle by 4 * tINT plus 4 * tREAD see above ROI A reduced ROI reduces tREAD and the distance calculation time because less data need to be processed depending on ROI settings reduced FOV Row reduction It is possible to skip rows at readout depending on Row Reduction settings: - Full = full frame - Half = every second row is skipped - Quarter: 3 out of for rows are skipped - One-Eight: 7 out of 8 rows are skipped Table 6: Frame rate tuning options Additional options are to modify the calculation software in the API and utilizing the 3D graphics accelerator and the NEON floating-point accelerator of the BeagleBone Black processor. © 2015 ESPROS Photonics Corporation Characteristics subject to change without notice 8 / 25 Datasheet_DME_660-V1.01 3.4. Absolute Maximum Ratings Parameter Conditions ESD rating Not classified. Handle it with the necessary ESD precaution. Storage temperature range (TS) -40°C to +85°C Relative humidity 15 ... 95%, non-condensing Table 7: Absolute maximum ratings 4. Interfaces 4.1. Connectors View B View A View B View A Illumination LEDs Control LEDs ➃ Ethernet Status LEDs ➂ USB mini ➁ Industrial connector (alternative to the 3.5mm Jack connector) not used ➄ micro SD card Power supply of the BeagleBone Black board. It is intentionally covered. DO NOT USE! ➀ Supply 24VDC Figure 5: Connectors, status and control LEDs No. Connector Plug Remarks Supply 24VDC / 2.5A Power jack 5.0/2.1mm for supply from power adapter 24VDC / 2.5A Industrial supply Power jack WAGO 3.5mm for supply by industrial connection 24VDC / 2.5A ➂ USB micro Micro USB-B ➃ ETHERNET RJ45 ➄ Micro SD card ➀ ➁ NEVER CONNECT THE USB CABLE AS LONG POWER IS NOT TURNED ON COMPUTER AND/OR THE CAMERA CAN BE DAMAGED! Table 8: Connector list Figure 6: View to the connector side (USB and ETHERNET not connected) © 2015 ESPROS Photonics Corporation Characteristics subject to change without notice 9 / 25 Datasheet_DME_660-V1.01 4.2. Indicators and reset button Supply 24VDC RESET button BeagleBone ETERNET connector LED 0 BeagleBone USB connector LED 3 BeagleBone Figure 7: Status LEDs and RESET button 4.2.1. Status LEDs Status LED 0 LED 1 LED 2 LED 3 After power up or RESET. Startup procedure of the board operating system. For details refer to the BeagleBone manual Trying to boot the epc660 chip Wait until LED 0 only (most left) is flashing only. LEDs 1 to 3 shall be off. READY for handling requests Server successfully started on DME 660. Start communicating with the BeagleBone Black server by using either Ethernet or USB. BUSY: Handles request of single command or video READY again Start-up DME 660 or BeagleBone: The blue status LEDs start flashing Remarks After around 20s: Boot epc660 chip Regular operation: Error message: Caught signal (Error), application closed Error detected by API. Reset the BeagleBone. Table 9: Blue status LEDs on BeagleBone, refer to Figure 7 Notes: LED off LED flashing LED on 4.2.2. Monitoring LEDs Red control LEDs on LED Cape, visible from the frontside; refer to Figure 5: ■ D12: On if the LED cape is powered e.g. 3D TOF modes. Safety advise: Be careful, IR LEDs are active during exposure. Off during modes having not an active illumination e.g. greyscale mode without active illumination. ■ D13: On during integration period (exposure) independent of selected mode. 4.2.3. Reset button on BeagleBone Resets the DME660. Instead of the this button, the terminal command, as described in the "Readme" of the GUI source, can be used. 4.2.4. Reset button on TOF cape Do not use. Reset the epc660 chip only. Lost of the synchronization with the BeagleBone board. © 2015 ESPROS Photonics Corporation Characteristics subject to change without notice 10 / 25 Datasheet_DME_660-V1.01 5. Mechanical Properties 5.1. Part list No. Part name Qty. 1 2 BeagleBone Black Rev. C Illumination board: LED cape 1 1 3 4 Distance sleeve M3/18mm, hole/hole, PA Distance sleeve M3/12mm, bolt/hole, PA 4 4 5 6 Lens head screw Metal frame 4 1 7 8 Nut self-clinching Sunk screw, M3x8 2 4 9 10 Lens FOV 122°, 1/2", M12 (P/N P100 295) Connection Cable 1 1 11 12 Lens Holder, M12-Mount Sensor board: TOF Cape 1 1 13 14 Self-locking screw, M1.6 Mounting pillar 2 2 15 16 Screw - cross recessed, M2x5 Female header Dip, 2.54, 180° 2 1 17 18 Screw - cross recessed, M1.6 x 3 epc660 Card Edge Connector Carrier 1 1 19 20 5.0/2.1mm DC Power Jack 24VDC / 2.5A Industrial supply connector 1 1 21 22 Industrial supply Micro SDHC card 16GB 1 1 23 IR filter: epc-bp860-8.0x8.0 8 6 7 19 2 20 9 21 3 18 10 13 11 14 12 17 23 15 4 1 16 22 5 optional Figure 8: Part list and exploded view 5.2. Mechanical / Optical Properties FOV 69° FOV 94° Contact surface of epc660 chip 1/4"--20 1/4"--20 4 x M4 14.3 17.3 62.7 8 8 25 25 47.3 14.3 4 x M4 42.5 7.5 42.5 85 7.5 70 ±1 7.5 85 7.5 le s 40 22.5 (8 19.13 ho 46.2 19.13 op 7 il en lum ing in s ati (1 on 0x ) 46.2 ar 5 ra 0 n to ged hole th in c e i ce eq rcle nt ua re l p ) it c h 100 25 Values unless otherwise stated in mm 22.5 12.5 3 x M4 33 66 42.5 7.5 85 7.5 Figure 9: Reference dimensions of the optical axis and illumination © 2015 ESPROS Photonics Corporation Characteristics subject to change without notice 11 / 25 Datasheet_DME_660-V1.01 C19 10nF C23 10nF C18 1uF C22 1uF VSSIO VDDIO VDD VSS C15 10nF C14 1uF XSYNC_SAT 1 DATA0_FS 2 DATA1 3 VSSIO1 4 VDDIO1 5 DATA2 6 DATA3 7 VSS1 8 VDD1 9 DATA4 10 DATA5 11 VSSIO2 12 13 VDDIO2 DATA6 14 15 DATA7 DATA8 16 DATA9 17 XSYNC_SAT_CFG DATA0_FS DATA1 VSSIO1 VDDIO1 DATA2 DATA3 VSS1 VDD1 DATA4 DATA5 VSSIO2 VDDIO2 DATA6 DATA7 DATA8 DATA9 1uF C7 10nF 1uF C6 100nF 1uF C5 10nF C3 C2 TESTAIO2 TESTAIO1 68 67 66 65 64 63 62 61 60 59 58 57 56 55 54 53 52 epc660 C34 10nF C36 1uF C33 10nF C35 1uF LED VSSLED LEDFB VDDPXM2 VDDPXH2 VSSPX2 VSSA2 VDDA2 VIR VDDA1 VSSA1 VSSPX1 VDDPXH1 VDDPXM1 VBS TESTAI_VFSDG VFSAB XTALOUT XTALIN MODCLK VSSIO4 VDDIO4 DCLK HSYNC_A1 VSYNC_PSDIAG_A0 VDDPLL VSSPLL XTALOUT XTALIN_CLKIN VDD3 VSS3 SHUTTER RESET NC TESTAIO2 TESTAIO1 VDDIO3 VSSIO3 DATA10 DATA11 TDO TDI TCK TMS SCL SDA VDD2 VSS2 VSEAL TESTAIHA TESTAIHB TESTAOHA TESTAOHB 12 / 25 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 Characteristics subject to change without notice VDDIO3 VSSIO3 DATA10 DATA11 TDO TDI TCK TMS SCL SDA VDD2 VSS2 VSEAL TESTAIHA TESTAIHB TESTAOHA TESTAOHB © 2015 ESPROS Photonics Corporation MODCLK VSSIO4 VDDIO4 DCLK HSYNC VSYNC VDDPLL VSS XTA LOUT XTA LIN VDD3 VSS3 SHUTTER RESET C1 L1 100n 51 50 49 48 47 46 45 44 43 42 41 40 39 38 37 36 35 LED VSSLED LEDFB VDDPXM2 VDDPXH2 VSSPX2 VSSA2 VDDA2 VIR VDDA1 VSSA1 VSSPX1 VDDPXH1 VDDPXM1 VBS TESTAI_VFSDG VFSAB U1 epc660 VSS X1 C30 10uF C29 100nF C32 1uF C27 4.7uF C25 10uF C24 100nF C26 100nF C21 1uF C31 100nF C13 4.7uF C28 4.7uF 100n L3 C17 10uF C12 4.7uF C10 10uF C20 100nF C16 100nF C11 100nF C9 100nF 100n L2 VBS VSSIO VDDIO VDDPXH VDDA VSSA VSS VDD VSSLED VSSA XTALOUT XTALIN SHUTTER RESET VDDIO VSSIO VDD VBS VDDPXH VSS TESTAI_VFSDG VFSAB TESTAOHB TESTAOHA TESTAIHB TESTAIHA VSEAL SCL SDA 60 58 56 54 52 50 48 46 44 42 40 38 36 34 32 30 28 26 24 22 20 18 16 14 12 10 8 6 4 2 J1 59 57 55 53 51 49 47 45 43 41 39 37 35 33 31 29 27 25 23 21 19 17 15 13 11 9 7 5 3 1 LED LEDFB VDDA TMS TCK TDI TDO DATA11 DATA10 DATA9 DATA8 DATA7 DATA6 DATA5 DATA4 DATA3 DATA2 DATA1 DATA0_FS XSYNC_SAT MODCLK DCLK HSYNC VSYNC TESTAIO2 TESTAIO1 6. Electrical Circuits 6.1. epc660 on Carrier 6.1.1. Schematics Figure 10: Schematic Datasheet_DME_660-V1.01 VSS VDD VDDIO VSSIO 6.2. PCB Layout Figure 11: PCB layout top Figure 12: PCB layout top-middle Figure 13: PCB layout bottom-middle Figure 14: PCB layout bottom Figure 15: PCB assembly top Figure 16: PCB assembly bottom © 2015 ESPROS Photonics Corporation Characteristics subject to change without notice 13 / 25 Datasheet_DME_660-V1.01 36.00 18.000 7.50 7.50 3.00 3.10 Center of Pixel-field (not chip) Pin 1 37.25 2.10 15.875 ∅ 1.80 3.00 3.00 Pin 1 (top) Top view Figure 17: Mechanical dimensions PCB 6.3. Pin Table VSS TESTAI_VFSDG VFSAB TESTAOHB TESTAOHA TESTAIHB TESTAIHA VSEAL SCL SDA VBS VDDPXH VSSIO VDD VDDIO XTALOUT XTALIN SHUTTER RESET VSSA VSSLED 60 58 56 54 52 50 48 46 44 42 40 38 36 34 32 30 28 26 24 22 20 18 16 14 12 10 8 6 4 2 59 57 55 53 51 49 47 45 43 41 39 37 35 33 31 29 27 25 23 21 19 17 15 13 11 9 7 5 3 1 TMS TCK TDI TDO DATA11 DATA10 DATA9 DATA8 DATA7 DATA6 DATA5 DATA4 DATA3 DATA2 DATA1 DATA0_FS XSYNC_SAT MODCLK DCLK HSYNC VSYNC TESTAIO2 TESTAIO1 VDDA LED LEDFB J1 Figure 18: Pin table © 2015 ESPROS Photonics Corporation Characteristics subject to change without notice 14 / 25 Datasheet_DME_660-V1.01 1 3 2 DGND 6 5 4 3 2 1 Header 6 P3 2 R44 10k 1 BBB_+3.3V_ENABLE 13 epc660_ENABLE +24V C25 100nF C23 10uF +1.8V_VDD DGND R32 10k C26 10uF DGND C27 10uF 10 9 8 7 6 5 4 3 2 1 Header 10 P2 DGND TESTAIO1 TESTAIO2 VSEAL TESTAOHB_BUFF TESTAOHA_BUFF TESTAIHA TESTAIHB TESTAI_VFSDG VFSAB R43 10k C5 10uF EN NR/SS IN 2 1 DGND IC5 TPS7A4901 FB OUT L7 220uH R83 1k 2 S1 Value R46 1k DGND 4 2 R19 100k +3.3V_VDDIO C24 10nF R35 10k R18 330k C20 4.7uF R82 12k R76 0R DGND X1 4.000 MHz DGND R74 0R DGND 1 1 R57 0R R56 0R 2 4 6 8 10 12 14 16 18 20 22 24 26 28 30 32 34 36 38 40 42 44 46 VSSA R13 0R DGND R36 1k BBB_GNDA BBB_AIN5 BBB_AIN3 BBB_AIN1 BBB_V_LED_ENABLE BBB_DCLK BBB_SPI1_CS0 BBB_SPI1_D1 BBB_epc660_SDA EEPROM_SDA DGND R8 10k R65 0R R23 BBB_VSYNC 0R DGND 10 9 8 7 6 5 4 3 2 1 R2 1 R54 100R VSYNC DCLK DATA0_FS DATA2 DATA4 DATA6 DATA9 DATA8 R66 0R R62 0R R60 0R R53 0R R51 0R R49 0R R47 XSYNC_SAT 0R epc660_TDI R77 0R 1 3 5 7 9 11 13 15 17 19 21 23 25 27 29 31 33 35 37 39 41 43 45 J8 2 4 6 8 10 12 14 16 18 20 22 24 26 28 30 32 34 36 38 40 42 44 46 DGND epc660_TMS epc660_TDI BBB_DATA7 BBB_DATA5 BBB_DATA3 BBB_DATA1 BBB_DATA10 BBB_DATA11 BBB_HSYNC TESTAOHA TESTAOHB 1 2 CB1 CB2_SMD R68 0R R69 0R CB2 CB2_SMD 1 2 R22 100R T2 BC856B R80 100R R67 0R R64 0R R61 0R R59 0R R52 0R R50 0R R48 0R DGND J3 DATA1 DATA3 DATA5 DATA7 DATA11 DATA10 HSYNC R81 100R 1 R24 100R T3 BC856B BBB_VDD_3V3B A 5 6 B IC2B THS4012 7 R7 100R IC2A THS4012 1 R1 100R C4 22pF 3 2 C1 22pF TESTAOHB_BUFF TESTAOHA_BUFF R26 100R DGND VDDPXH DGND R29 10k 1 2 CB3 CB2_SMD R72 0R R73 0R 1 2 CB7 CB2_SMD 1 2 CB4 CB2_SMD R71 0R R70 0R CB8 CB2_SMD 1 2 R28 10k TCMI Bus R27 10k VDDIO STRAP Pins VSEAL VFSAB TESTAIHA TESTAIHB R30 10k Buffer for the Test Pins T4 BC856B Needed to allow BBB to Boot epc660_MODCLK epc660_RESET +5V_VDDA Connector BeagleBoneBlack 2x23 epc660_TCK epc660_TDO BBB_DATA6 BBB_DATA4 BBB_DATA2 BBB_DATA0_FS BBB_DATA8 BBB_DATA9 BBB_BOOT_DISABLE BBB_XSYNC_SAT DGND C29 10uF L3 600 R @ 100 MHz R38 0R epc660_TDO epc660_TCK R34 0R R31 0R epc660_TMS R20 0R R17 0R R25 1k Imax = 250mA DGND ILLB_epc660_LED VDDA DGND R55 4k7 DGND R21 10k TMS TCK TDI TDO DATA11 DATA10 DATA9 DATA8 DATA7 DATA6 DATA5 DATA4 DATA3 DATA2 DATA1 DATA0_FS XSYNC_SAT MODCLK DCLK HSYNC VSYNC TESTAIO2 TESTAIO1 +24V +24V BBB_AIN4 BBB_AIN2 BBB_V_LED_ENABLE ILLB_epc660_LEDFB BBB_CALIB_LED_ENABLE ILLB_epc660_LED VSSLED DGND J1 59 57 55 53 51 49 47 45 43 41 39 37 35 33 31 29 27 25 23 21 19 17 15 13 11 9 7 5 3 1 BBB_BOOT_DISABLE C3 100nF R75 10k 5V Load Switch TPS27081A 5 ON/OFF VOUT 3 VOUT 2 ZH Connector top entry 10POL RM 1.5MM 10 9 8 7 6 5 4 3 2 1 J2 VIN IC7 6 R1/C1 4 RDS_ON = max. 55mOhm Pdiss = 4mW 60 58 VSS TESTAI_VFSDG 56 VDDIO 54 VFSAB 52 TESTAOHB 50 TESTAOHA 48 R37 TESTAIHB 46 1k TESTAIHA 44 VSEAL BBB_epc660_SCL 42 BBB_epc660_SDA 40 38 36 VBS 34 VDDPXH 32 30 VSSIO 28 VDD 26 24 VDDIO 22 20 XTALOUT 18 XTALIN BBB_epc660_SHUTTER 16 epc660_RESET 14 12 10 8 6 VSSA 4 2 VSSLED DGND BBB_VDD_3V3B BBB_VDD_5V BBB_SYS_5V BBB_SYS_RESET BBB_+3.3V_ENABLE BBB_-5V_ENABLE CB10 CB2_SMD CB9 CB2_SMD DGND C32 10uF VSSIO C31 4.7uF VSS R11 0R R3 10k BBB_VDD_5V +5V_VDDA_+10_VDDPXH_ENABLE L1 600 R @ 100 MHz Imax = 700mA ( 200mA needed for 3.3V) R12 0R Connector BeagleBoneBlack 2x23 1 3 5 7 9 11 13 15 17 19 21 23 25 27 29 31 33 35 37 39 41 43 45 J9 2 2 TESTAI_VFSDG DGND C30 10uF L4 600 R @ 100 MHz L6 600 R @ 100 MHz BBB_SPI1_D0 BBB_SPI1_SCLK BBB_AIN4 BBB_AIN6 BBB_AIN2 BBB_AIN0 BBB_CALIB_LED_ENABLE BBB_VSYNC C8 10uF L5 600 R @ 100 MHz Imax = 20mA R84 1k C6 10uF 4MHZ Clock C9 18p C7 18p CB6 CB2_SMD 1 2 R85 1k DGND R10 10k R4 10k R2 10k DGND BBB_VDD_3V3B BBB_VDD_5V BBB_SYS_5V BBB_PWR_BUT BBB_+5V_+10V_ENABLE BBB_epc660_ENABLE BBB_epc660_SHUTTER BBB_epc660_SCL EEPROM_SCL BBB_epc660_ENABLE DGND R79 0R R78 0R R63 0R -10V_VBS C35 4.7uF R9 10k L2 15uH 2.3A +5V D1 BAV99 70V/0.1A Imax possible = 1.5A Imax needed = 950mA D3 B340 40V 3A Imax = 160mA Imax = 30mA C21 4.7uF +10V_VDDPXH Imax = 20mA Push Button to Reset the epc660 DGND 3 D5 B340 40V 3A 1 C33 1uF/50V RDS_ON = max. 77mOhm Pdiss = 3mW C18 10nF R2 1 IC8 TPS27081A 1 R6 22k IC9 LMR14203 FB 3 6 SW 3.3V Load Switch epc660_ENABLE R42 10k SHDN VIN VOUT 3 VOUT 2 5 ON/OFF 6 R1/C1 4 VIN R39 0R LDO 24V => 10V C28 10nF 5 6 8 4 5 C14 470pF DGND C13 12pF R5 22k FB 7 SW 1 C2 100nF 24V => 5V Buck Converter C11 2.2nF 5 SS/EN 2 Vin IC1 IC SC4524A Pdiss (90% eff) = 500mW -10V Inverting Buck Regulator C34 1uF/50V C12 1uF/50V Pdiss = 280mW R87 10k +3.3V_VDDIO_ENABLE C19 10uF R14 10k T5 BC856B R40 10k T1 BC846B R15 10k DGND BBB_VDD_3V3B Debugging Connectors DGND VDD VDDPXH VBS VDDA VDDIO R88 10k IC4D 74HC08 TSSOP14 11 epc660_RESET 3 RESET of the epc660 DGND R45 10k 12 GND DGND Vcc BBB_SYS_RESET R41 10k BBB_SYS_RESET IC4A 74HC08 TSSOP14 VOUT Pdiss = 45mW IC6 AP2120 1V8 SOT23 VIN R86 10k Imax = 220mA 6 +5V_VDDA_+10_VDDPXH_ENABLE 8 -5V_VBS_ENABLE IC4B 74HC08 TSSOP14 DGND LDO 3.3V => 1.8V C22 1uF/50V VDDIO 5 R33 10k 4 BBB_SYS_RESET BBB_+5V_+10V_ENABLE +24V R16 10k BBB_-5V_ENABLE 10 9 IC4C IC 74HC08 TSSOP14 D4 B340 40V 3A V_IN_24V_2 D2 B340 40V 3A V_IN_24V_1 BBB_SYS_RESET PowerJack 2.1mm P1 2 1 J12 Pout = 4.75W 1 CB J 2-POL 3.5mm WAGO 14 7 15 / 25 GND GND 4 COMP 6 8 BST GND 4 ROSC 3 GND Characteristics subject to change without notice 2 © 2015 ESPROS Photonics Corporation 2 Pin (90% eff) = 5.25W IC2C THS4012 V- 4 V+ 8 DGND C10 100nF +24V 7. TOF Cape 7.1. Schematics Figure 19: Schematic Datasheet_DME_660-V1.01 7.2. PCB Assembly Figure 20: PCB assembly top Figure 21: PCB assembly bottom © 2015 ESPROS Photonics Corporation Characteristics subject to change without notice 16 / 25 Datasheet_DME_660-V1.01 7.3. Pin Table J8 & J9 DGND 1 2 BBB_VDD_3V3B BBB_VDD_5V BBB_SYS_5V BBB_PWR_BUT DGND DGND BBB_epc660_ENABLE BBB_epc660_SHUTTER BBB_epc660_SCL 2 DGND BBB_VDD_3V3B --- --- BBB_VDD_5V --- --- BBB_SYS_5V --- --- --- 9 10 --- BBB_+3.3V_ENABLE --- --- BBB_-5V_ENABLE --- epc660_RESETn --- --- --- BBB_epc660_SDA --- --- 9 10 BBB_SYS_RESET BBB_+5V_+10V_ENABLE 1 BBB_BOOT_DISABLE 19 20 BBB_HSYNC EEPROM_SCL 19 20 EEPROM SDA --- --- BBB_XSYNC_SAT --- --- --- --- --- BBB_DCLK --- --- BBB_VSYNC --- BBB_DATA8 BBB_SPI1_CS0 BBB_SPI1_D0 29 30 BBB_SPI1_D1 BBB_SPI1_SCLK BBB_DATA10 BBB_DATA9 29 30 BBB_DATA11 --- --- --- --- --- BBB_AIN4 BBB_GNDA BBB_AIN6 BBB_AIN5 epc660_TCK epc660_TMS BBB_AIN2 BBB_AIN3 epc660_TDO epc660_TDI BBB_DATA6 39 40 BBB_DATA7 BBB_AIN0 39 40 BBB_AIN1 BBB_CALIB_LED_EN BBB_V_LED_ENABLE BBB_DATA4 BBB_DATA5 DGND DGND BBB_DATA2 BBB_DATA3 DGND DGND BBB_DATA0_FS BBB_DATA1 Figure 22: Pin table J8 & J9 © 2015 ESPROS Photonics Corporation Characteristics subject to change without notice 17 / 25 Datasheet_DME_660-V1.01 DGND T8 BC846B BBB_AIN4 R39 10k C20 100uF D12 LED ROT I avg = 1mA V_LED V_LED = 15V 0R R36 1 R28 27k C19 220pF C6 2.2nF 10uH SGND R29 27k R26 330k 2 L1 Temperature Sensor Lower Side D15 BAV99 R24 1k I avg = 6mA VDD_7V C9 100nF R37 220k C8 4.7uF C18 4.7uF T5 BSD316SN RDSon = 0.28OHM P avg = 70mW L5 100n R23 3R3 C4 2.2nF R9 3R9 R8 3R9 G R4 3R9 G T10 PMV45EN T9 PMV45EN G C22 1nF V_IN C17 100nF IC1F 74ACT04 Designed for: I_Emitter_max = 2A Frame Time = 40ms (25 fps) Integ Time_max = 5ms Duty Cycle = (4*5ms) / (2*40ms) = 0.25 VSSLED 13 12 1 11 HG VCC IC2 13 LG 12 BST C21 470nF 10 SW 8 ILIM R30 1k8 C16 2.2uF FB SS EN RON VIN LM3150 4 C23 33nF 330k 15k 3 6 R25 R27 7 2 Buck Regulator 24V => 15V 5A DGND Pdiss (90% eff) = 1.5W Pout = 15W Pin (90% eff) = 16.5W ILLB_epc660_LEDFB 74ACT04 IC1B C15 10nF ILLB_epc660_LEDFB R1 10k V_LED_ENABLE C26 10uF D11 B340 40V 3A D10 B340 40V 3A 8 C25 10nF 5 6 EN NR/SS IN 2 1 DGND TPS7A4901 FB OUT Pdiss = 1W IC5 R43 10k R41 100k 1k R20 C7 100nF T1 BC856B R21 1k R18 4k7 R19 C24 10uF 1k 74ACT04 IC1E D13 LED ROT C27 10uF DGND Protect cirquit for the Illumination T3 BC846B 1k R17 R16 10k BBB_V_LED_ENABLE 100k I avg = 62mA VDD_7V Linear Regulator 24V => 7V DGND +24V 11 9 74ACT04 IC1D R40 4k7 10 8 R22 10k R6 3R9 L6 100n R31 3R3 R7 3R9 R3 3R9 V = 2V @ 2A P avg = 250mW C5 2.2nF T4 BSD316SN RDSon = 0.28OHM P avg = 70mW D8 SFH4715s D7 SFH4715s D6 SFH4715s D5 SFH4715s R15 5R6 C3 4.7uF C1 100nF C11 10uF 10 9 8 7 6 5 4 3 2 1 +24V +24V BBB_AIN4 BBB_AIN2 BBB_V_LED_ENABLE ILLB_epc660_LEDFB BBB_CALIB_LED_ENABLE ILLB_epc660_LED VSSLED DGND Connector to the TOF_Cape J ZH Connector top entry 10POL RM 1.5MM 10 9 8 7 6 5 4 3 2 1 J2 R11 10k B T11 BC817-40 D9 SFH4544 C13 2.2nF C2 100nF DGND L2 600 R @ 100 MHz V_IN T2 BC846B DGND R2 1k D14 BAV99 I avg = 6mA VDD_7V Temperature Sensor Upper Side BBB_AIN2 I avg = 500mA (@ 25Fps) Ipeak = 2A L4 600 R @ 100 MHz V_LED Additional Emitter for Calibration BBB_CALIB_LED_ENABLE 4 Emitters Upper Side R5 3R9 G D17 B340 40V 3A 10R 3 5 DGND 0R R38 C12 100nF GND IC1A 74ACT04 Vcc 2 VF @ 2A = 3.2V P avg = 1.6W R13 4 6 R12 47R 1 D17, R31, L6 and C5 are not assembled. These parts are placeholders to tune the rise and fall time of the LED according to the application note paper from OSRAM. R14 74ACT04 IC1C D16 B340 40V 3A Ipeak = 100mA I avg = 25mA (@ 25Fps) ILLB_epc660_LED D16, R23, L5 and C4 are not assembled. These parts are placeholders to tune the rise and fall time of the LED according to the application note paper from OSRAM. VDD_7V 10R D4 SFH4715s D3 SFH4715s D2 SFH4715s D1 SFH4715s 4 Emitters Lower Side R10 3R9 C14 V = 2V @ 2A 2.2nF P avg = 250mW C10 100nF VF @ 2A = 3.2V P avg = 1.6W D S 14 7 I avg = 500mA (@ 25Fps) Ipeak = 2A D S L3 600 R @ 100 MHz D S D S C V_LED 14 PGND 9 SGND 5 SGND EP SGND 18 / 25 GND Characteristics subject to change without notice 4 © 2015 ESPROS Photonics Corporation E I avg = 1A (@ 25Fps) 8. LED Cape 8.1. Schematics Figure 23: Schematics Datasheet_DME_660-V1.01 8.2. PCB Assembly Figure 24: PCB assembly top D1..D8: Illumination LEDs D12, D13: Monitoring LEDs (red), refer to chapter 4.2.2, Monitoring LEDs Figure 25: PCB assembly bottom © 2015 ESPROS Photonics Corporation Characteristics subject to change without notice 19 / 25 Datasheet_DME_660-V1.01 9. BeagleBone Black Board 9.1. System Overview ■ Processor: AM335x 1GHz ARM® Cortex-A8 ■ 512MB DDR3 RAM, 4GB 8-bit eMMC on-board flash storage ■ 3D graphics accelerator, NEON floating-point accelerator, 2x PRU 32-bit micro controllers ■ USB client for power & communications, USB host, Ethernet ■ Software Compatibility: Debian, Android, Ubuntu, much more ■ Open-source tools: Point Cloud Library (PCL); www.pointcloud.org OpenCV; www.opencv.org Figure 26: The BeagleBone Black board 9.2. Documentation Technical description of the BeagleBone Black board can be downloaded from www.beagleboard.org. ■ BeagleBone Hardware Specs and Material, BeagleBone Black wiki ■ BeagleBone Black System Reference Manual, BeagleBoard.org, 2014 ■ BeagleBone Black, Document No. 450-5500-001 (Schematics), BeagleBoard.org, 2014 © 2015 ESPROS Photonics Corporation Characteristics subject to change without notice 20 / 25 Datasheet_DME_660-V1.01 10. Installation and Setup 10.1. Mechanical fixation The DME 660 has various mounting options provided by the metal frame: ■ On each long side □ one tripod mount 1/4” - 20UNC, refer to Figure 3 □ four nut M4 ■ On top side: three nut M4 Use the options only to attach the DME 660 to a housing, a tripod or something else. Never use the threaded pillars or attache something directly to one of the PCB. You may damage the PCB. 10.2. Setup of the DME 660 The DME 660 can be operated by using the GUI software provided with the epc660 Evaluation kit. The setup described by the QUICK START GUIDE. 10.3. Software Tools ESPROS Photonics supports the user's development and application by having available various support tools e.g. software development kit (SDK), updates and emulation program downloads for the epc660 chip, application interfaces (API), etc. They are available by contacting ESPROS by email at info@espros.com. The same way, the user can update the DME 660 (BeagleBone board) by using this service. 10.4. Exchange of epc660 on Card Edge Connector Carrier Make sure, all assembly procedures are executed on an ESD-compatible workstation. ■ Power off the DME 660 and remove cables ■ Remove the BeagleBone board ■ Remove the TOF cape ■ Remove the locking screws from the epc660 Card Edge Connector Carrier Softly remove the epc660 Card Edge Connector Carrier. The epc660 chip can be destroyed when excessive force is applied. ■ ■ Remove lens holder ■ Attach the lens holder to the new epc660 Card Edge Connector Carrier ■ Softly insert the new epc660 Card Edge Connector Carrier ■ Insert the locking screws for the epc660 Card Edge Connector Carrier ■ Install the TOF cape ■ Install the BeagleBone board ■ First power on the DME 660 ■ Connect the USB cable ■ Start the epc660 Evaluation Kit GUI and run a black & white video (start) ■ Adjust lens focus © 2015 ESPROS Photonics Corporation Characteristics subject to change without notice 21 / 25 Datasheet_DME_660-V1.01 11. epc660 Evaluation Kit There is an evaluation kit available which supports the development of own applications on the DME 660 in terms of the evaluation of the optical performance parameters. 11.1. Scope of Delivery ➀ Toolbox ➈ Quick Guide ➄ USB cable ➆ Camera Tripod ➃ Power Cord ➂ Power Supply ➇ Toolbox belt ➁ DME 660 ➅ Industrial connector Figure 27: epc660 Evaluation Kit overview No Pieces Designation Remarks ➀ 1 Toolbox ➁ 1 DME 660-94º/10m ➂ 1 Power Supply 24V/2.5A ➃ 1 EU version: Power cord 2 pole EU version US version: Power cord 2 pole US version Power plug EU Europlug (CEE7/16, 2 pole) Power plug US Type A (NEMA 1-15, 2 pole) ➄ 1 Cable - USB 2.0, A plug - mini-B plug Length 2m ➅ 1 Plastic bag with Industrial Supply Connector and the toolbox key The connector can also be inserted in the DME 660 ➆ 1 Camera Tripod ➇ 1 Toolbox belt ➈ 1 epc660 Evalkit Quick Start Guide also available at www.espros.com/Downloads Datasheet DME 660 available at www.espros.com/Downloads Datasheet epc660 available at www.espros.com/Downloads Application and configuration software, SDK Use the epc660 Evaluation Kit for accessing licensed corresponding tools and software development kit (SDK). P/N P100 278; with quick release fastener of the tripod Table 10: Bill of material of the delivery 11.2. Ordering Information Part Number Part Name Remarks P100 280 epc660 Evaluation Kit EU Power plug EU Europlug (CEE7/16, 2 pole) P100 307 epc660 Evaluation Kit US Power plug US Type A (NEMA 1-15, 2 pole) Table 11: Ordering Information epc660 Evaluation Kit © 2015 ESPROS Photonics Corporation Characteristics subject to change without notice 22 / 25 Datasheet_DME_660-V1.01 Figure 28: DME 660 on tripod Figure 29: epc660 Evaluation Kit Figure 30: DME 660 tripod mounting Figure 31: DME 660 with quick release fastener of the tripod Figure 32: GUI - b&w picture Figure 33: GUI - 3D TOF picture © 2015 ESPROS Photonics Corporation Characteristics subject to change without notice 23 / 25 Datasheet_DME_660-V1.01 12. Maintenance and disposal 12.1. Maintenance The components of the device do not need regular maintenance. A functional check is recommended each time the device is taken into operation: ■ Check the mounting position and the detection area of the sensor with respect to the operational conditions. Also check that there is no hazardous situation. ■ From time to time, clean the lens with a soft towel and with a little soapy water to remove dust or dirt. 12.2. Disposal Disposal should be done using the most up-to-date recycling technologies for electronic components according to the local regulations and laws. The design and manufacture of the kit's components are done in compliance with the RoHS legal regulations. Traces of dangerous materials may be found in the electronic components, but not in harmful quantities. 13. Addendum 13.1. Related documents ■ Datasheet epc660, ESPROS Photonics Corp. ■ BeagleBone Hardware Specs and Material, BeagleBone Black wiki ■ BeagleBone Black System Reference Manual, BeagleBoard.org ■ BeagleBone Black, Document No. 450-5500-001 (Schematics), BeagleBoard.org 13.2. Links www.espros.com www.beagleboard.org www.pointcloud.org - Point Cloud Library (PCL) www.pdal.io - Point Data Abstraction Library (PDAL) www.opencv.org - OpenCV (OpenSource Computer Vision) 13.3. Licenses We appreciate the use of the following open source or free software in our tools and respect the large amount of work the owners have done: ■ Putty: http://www.chiark.greenend.org.uk/~sgtatham/putty/licence.html Copyright (C) 1997-2015 Simon Tatham ■ Qt-4.8: http://www.gnu.org/licenses/old-licenses/lgpl-2.1.html Copyright (C) 2012 Nokia Corporation ■ Qwt-6.1: http://qwt.sourceforge.net/qwtlicense.html Copyright (C) 1997 Josef Wilgen & Copyright (C) 2002 Uwe Rathmann under Qwt License, Version 1.0 ■ QwtPlot3D: http://qwtplot3d.sourceforge.net/web/navigation/license.txt Copyright (C) 2003-2005 Michael Bieber All rights reserved by the owners. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUP TION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. © 2015 ESPROS Photonics Corporation Characteristics subject to change without notice 24 / 25 Datasheet_DME_660-V1.01 IMPORTANT NOTICE ESPROS Photonics AG and its subsidiaries (epc) reserve the right to make corrections, modifications, enhancements, improvements, and other changes to its products and services at any time and to discontinue any product or service without notice. Customers should obtain the latest relevant information before placing orders and should verify that such information is current and complete. All products are sold subject to epc’s terms and conditions of sale supplied at the time of order acknowledgment. epc warrants performance of its hardware products to the specifications applicable at the time of sale in accordance with epc’s standard warranty. Testing and other quality control techniques are used to the extent epc deems necessary to support this warranty. Except where mandated by government requirements, testing of all parameters of each product is not necessarily performed. epc assumes no liability for applications assistance or customer product design. Customers are responsible for their products and applica tions using epc components. To minimize the risks associated with customer products and applications, customers should provide adequate design and operating safeguards. epc does not warrant or represent that any license, either express or implied, is granted under any epc patent right, copyright, mask work right, or other epc intellectual property right relating to any combination, machine, or process in which epc products or services are used. Information published by epc regarding third-party products or services does not constitute a license from epc to use such products or services or a warranty or endorsement thereof. Use of such information may require a license from a third party under the patents or other intellectual property of the third party, or a license from epc under the patents or other intellectual property of epc. 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Further, Buyers must fully indemnify epc and its representatives against any damages arising out of the use of epc products in such safety-critical applications. epc products are neither designed nor intended for use in military/aerospace applications or environments unless the epc products are specifically designated by epc as military-grade. Only products designated by epc as military-grade meet military specifications. Buyers acknowledge and agree that any such use of epc products which epc has not designated as military-grade is solely at the Buyer's risk, and that they are solely responsible for compliance with all legal and regulatory requirements in connection with such use. epc products are neither designed nor intended for use in automotive applications or environments unless the specific epc products are designated by epc as compliant with ISO/TS 16949 requirements. Buyers acknowledge and agree that, if they use any non-designated products in automotive applications, epc will not be responsible for any failure to meet such requirements. © 2015 ESPROS Photonics Corporation 25 / 25 Datasheet_DME_660-V1.01 Characteristics subject to change without notice 32/<7(&*PE+ 3RO\WHF3ODW] ':DOGEURQQ *(50$1< 7HO)D[ (0DLORHN#SRO\WHFGH ZZZSRO\WHFGH