Intel RealSenseTM Product Family D400 Series - FRAMOS
Intel RealSenseTMProduct Family D400 SeriesDatasheetIntel RealSense Vision Processor D4, Intel RealSense VisionProcessor D4 Board, Intel RealSense Vision Processor D4 Board V2,Intel RealSense Vision Processor D4 Board V3, Intel RealSense Depth Module D400, Intel RealSense Depth Module D410, Intel RealSense Depth Module D415, Intel RealSense Depth Camera D415,Intel RealSense Depth Module D420, Intel RealSense Depth ModuleD430, Intel RealSense Depth Module D450, Intel RealSense DepthCamera D435, Intel RealSense Depth Camera D435i, Intel RealSense Depth Camera D455Revision 009June 2020Document Number: 337029-009
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Description and FeaturesContents1Description and Features . 142Introduction . 152.12.22.32.42.52.63151516181920Component Specification . 213.13.23.33.43.53.63.73.8337029-009Purpose and Scope of this Document.Terminology .Stereo Vision Depth Technology Overview .Camera System Block Diagram .Intel RealSense Depth Module D400 series Product SKUs .Intel RealSense Depth Camera D400 series Product SKUs .Vision Processor D4 Camera System Components . 21Host Processor . 21Intel RealSense Vision Processor D4 . 213.3.1Vision Processor D4 Features . 213.3.2Vision Processor D4 Signal Description . 223.3.3Vision Processor D4 Package Mechanical Attributes . 273.3.4Vision Processor D4 Power Requirements . 333.3.5Vision Processor D4 Power Sequencing . 333.3.6Vision Processor D4 Spec Code . 343.3.7Vision Processor D4 Storage and Operating Conditions . 343.3.8Vision Processor D4 Thermals . 35Clock . 35Serial (SPI) Flash Memory . 35Stereo Depth Module . 353.6.1Left and Right Imagers . 373.6.2Infrared Projector . 383.6.3Color Sensor . 393.6.4Depth Module Connector . 403.6.5Stereo Depth Module Label . 403.6.6Stiffener . 413.6.7Temperature Sensor . 413.6.8Other Stereo Depth Module Components . 413.6.9Mechanical Dimensions. 423.6.10 Stereo Depth Module Power Sequence. 433.6.11 Stereo Depth Module Storage and Powered Conditions . 43Intel RealSense Vision Processor D4 Board . 443.7.1Mechanical Dimensions. 453.7.2Depth Module Receptacle . 453.7.3Flex and Rigid Interposer Interconnect . 453.7.4External Sensor Sync Connector . 503.7.5USB Peripheral Connector – Type-C . 503.7.6Color Image Signal Processor (ISP) . 523.7.7Vision Processor D4 Board Power Requirements . 523.7.8Vision Processor D4 Board Thermals . 523.7.9Vision Processor D4 Board Storage and Powered Conditions . 533.7.10 Intel RealSense Vision Processor D4 Board Product Identifier andMaterial Code . 54Intel RealSense Depth Camera D400 Series . 543
3.8.13.8.23.8.33.8.444.94.104.115.2Update . 735.1.1Update Limits . 73Recovery . 73Intel RealSense Software Development Kit 2.0. 74System Integration . 6465656769707172Software. 746.17Vendor Identification (VID) and Device Identification (DID) .Vision Processor D4 Data Streams .Depth Field of View (FOV) .Depth Field of View at Distance (Z) .Invalid Depth Band .Minimum-Z Depth .Depth Quality Specification .Depth Start Point (Ground Zero Reference) .4.8.1Depth Origin X-Y Coordinates .Depth Camera Functions .Color Camera Functions .IMU Specifications.Firmware . 735.1655565858Functional Specification . 594.14.24.34.44.54.64.74.85Depth Camera D400 Series Mechanical Dimensions .Depth Camera D400 Series Thermals .Depth Camera D400 Series Product Identifier and Material Code .Camera Lens Cleaning Procedure .System Level Block Diagram .Vision Processor D4 System Integration .7.2.1Vision Processor D4 Board .7.2.2Vision Processor D4 on Motherboard .D4 Camera System Power Delivery .Vision Processor D4 Board for Integrated Peripheral .7.4.1USB 3.1 Gen 1 Receptacle .7.4.2USB 3.1 Gen 1 High Speed Cable Assembly .7.4.3Transmit to Receive Crossover .7.4.4Motherboard Receptacle .7.4.5Vision Processor D4 Board for Integrated Peripheral PowerRequirements.Thermals .Stereo Depth Module Flex .Stereo Depth Module Mounting Guidance .7.7.1Screw Mount .7.7.2Bracket Mount .7.7.3Stereo Depth Module Air gap.Thermal Interface Material .Heat Sink .Cover Design and Material Guidance .Gaskets .7.11.1 Optical Isolation .7.11.2 Dust Protection .Firmware Recovery 37029-009
Description and Features7.137.147.158Calibration Support . 89Multi-Camera Hardware Sync . 89Handling Conditions . 90Platform Design Guidelines . 918.18.28.39Vision Processor D4 on Motherboard . 91Kaby Lake U and Kaby Lake Y platforms . 928.2.1Kaby Lake Platform Introduction . 928.2.2Supported PCB Stack-Up and Routing Geometries . 928.2.3Vision Processor D4 on Motherboard with USB Host Interface . 938.2.4Vision Processor D4 on Motherboard with MIPI Host Interface . 948.2.5Vision Processor D4 Board for Integrated Peripheral (USB 3.1 Gen 1Host to Vision Processor D4 Routing) . 968.2.6USB2.0 Design Guidelines (USB2 Host to Vision Processor D4Routing) . 97Cherry Trail T4 Platform. 988.3.1Cherry Trail T4 Platform Introduction . 988.3.2Vision Processor D4 Platform Design Guidelines . 98Regulatory Compliance . 999.19.29.3System Laser Compliance . 999.1.1Certification Statement. 999.1.2Explanatory Label . 999.1.3Cautionary Statements . 999.1.4US FDA Accession Number . 100Regulatory Compliance . 1009.2.1Manufacturer’s Information . 1009.2.2EU Single Place of Contact . 1009.2.3NRTL Statement . 1019.2.4FCC Part 15 Declaration of Conformity . 1019.2.5Canada . 1029.2.6European Directives . 1029.2.7Japan . 1029.2.8South Korea. 102Ecology Compliance . 1039.3.1China RoHS Declaration . 1039.3.2Waste Electrical and Electronic Equipment (WEEE) . 10510Mechanical Drawings . 10611Connector Drawings . 11512Appendix A – Vision Processor D4 on Motherboard Schematic Checklist . 11712.113Power Delivery . 124Appendix B- Cover Material . Active Infrared (IR) Stereo Vision Technology .Depth Measurement (Z) versus Range (R) .Vision Processor D4 Camera System Block Diagram .Vision Processor D4 Package Drawing .337029-009171718295
FigureFigureFigureFigure63-2. Vision Processor D4 Ball-out . 303-3. Vision Processor D4 Power Sequencing . 343-4. Stereo Depth Module (Intel RealSense Depth Module D410). 363-5. Stereo Depth Module (Intel RealSense Depth Module D430). 363-6. Stereo Depth Module Power Sequence . 433-7. Vision Processor D4 Board (USB Peripheral Type-C). 443-8. Flex Interposer (Illustration) . 463-9. Rigid Interposer (Illustration) . 463-10. Depth Module Receptacle and Plug Connector Pin Position . 473-11. Depth Module Connector Orientation and Pin Position . 493-12. USB Type-C Receptacle Pin Map . 513-13. Intel RealSenseTM Depth Camera D415 . 543-14. Intel RealSense Depth Camera D435/D435i . 543-15. Intel RealSense Depth Camera D455 . 554-1. Depth Field of View to Depth Map illustration . 634-2. Left Invalid Depth Band . 644-3. Depth Module Depth Start Point Reference . 674-4. Depth Camera Depth Start Point Reference . 684-5. Depth Module X-Y Depth Origin Reference . 694-6. Depth Camera X-Y Depth Origin Reference . 707-1. System Block Diagram . 757-2. Intel RealSense Vision Processor D4 Board . 767-3. Vision Processor D4 on Motherboard (Illustration) . 767-4. D4 Camera System Power Scheme . 777-5. Host Motherboard USB 3.1 Gen 1 Routing . 797-6. Receptacle Ground Bar Motherboard Connections . 807-7. Bottom Stiffener Depth Module D410 . 827-8. Bottom Stiffener Depth Module D430 . 827-9. Stereo Depth Module Screw Mount . 837-10. Stereo Depth Module Bracket . 837-11. Stereo Depth Module Bracket Mount . 847-12. Stereo Depth Module Bracket Install . 847-13. Stereo Depth Module Air Gap . 857-14. Illustration of Gasket Placement and Cover Material . 877-15. Example of Light Leakage Effects. 887-16. Firmware Recovery Sequence . 897-17. External Sensor Sync Connector Location on D4 Vision Processor D4 Board . 897-18. External Sensor Sync Connector Location on Depth Camera D435/D435i/D455 . 908-1. Vision Processor D4 with USB Host Interface . 918-2. Vision Processor D4 with MIPI Host Interface . 918-3. Vision Processor D4 on Board for USB Integrated Peripheral . 928-4. Host Processor - Vision Processor D4 . 938-5. Vision Processor D4 Transmit - Host Receive . 948-6. Stereo Depth Transmit - Vision Processor D4 Receive . 958-7. Flex Interposer PCB Stack-Up . 968-8. USB 3.1 Gen 1 Host to Vision Processor D4 Topology . 968-9. USB2.0 Host to Vision Processor D4. 979-1. NRTL Certifications . 10110-1. Intel RealSense Depth Module D400 . 10610-2. Intel RealSense Depth Module D410 . 10710-3. Intel RealSense Depth Module D415 . 10810-4. Intel RealSense Depth Module D420 . 10910-5. Intel RealSense Depth Module D430 . 11010-6. Vision Processor D4 Board USB Type-C (Intel RealSense Vision Processor D4 Board). 111337029-009
Description and 3.12-4.Intel RealSense Depth Camera D415 . 112Intel RealSense Depth Camera D435/D435i . 113Intel RealSense Depth Camera D455 . 114Receptacle Mechanical Drawing (50 Pin Depth Module Receptacle). 115Plug Mechanical Drawing (50 pin Depth Module Plug) . 116Vision Processor D4 Laser PWM Reference Platform Schematic . 124Vision Processor D4 24MHz Crystal Clock Reference Platform Schematic. 124DC-DC Reference Platform Schematic (3.3V, 1.8V, 0.9V) . 125Vision Processor D4 VDD PG and AVDD Reference Platform Schematic . ableTable2-1. Depth Module Product SKU Descriptions .2-2. Depth Camera Product SKU Descriptions .3-1. Component Descriptions.3-2. Vision Processor D4 Signal Descriptions .3-3. Hardware Straps .3-4. Vision Processor D4 Package Mechanical Attributes .3-5. Vision Processor D4 Ball-out by Signal Name .3-6. Vision Processor D4 Power Requirements .3-7. Vision Processor D4 Power Sequencing Timing Parameters .3-8. Vision Processor D4 SPEC Code .3-9. Vision Processor D4 Storage and Operating Conditions .3-10. Stereo Depth Module.3-11. Stereo Depth Module SKU Properties .3-12. Standard Left and Right Imager Properties .3-13. Wide Left and Right Imager Properties .3-14. Standard Infrared Projector Parameters .3-15. Wide Infrared Projector Parameters .3-16. Color Sensor Properties .3-17. Depth Module 50-pin Connector Plug Details .3-18. Stereo Depth Module Product Labeling .3-19. Stereo Depth Module Label Fields .3-20. Intel RealSense Depth Module D400 Series Product Identifier Code and ProductMaterial Code .3-21. Other Stereo Depth Module Components .3-22. Intel RealSense Depth Module D400 Mechanical Dimensions .3-23. Intel RealSense Depth Module D410 Mechanical Dimensions .3-24. Intel RealSense Depth Module D415 Mechanical Dimensions .3-25. Intel RealSense Depth Module D420 Mechanical Dimensions .3-26. Intel RealSense Depth Module D430 Mechanical Dimensions .3-27. Stereo Depth Module Storage and Powered Conditions .3-28. Vision Processor D4 Board .3-29. Vision Processor D4 Board Components .3-30. Vision Processor D4 USB Type-C Board Mechanical Dimensions .3-31. Depth Module Receptacle Details .3-32. Interposer Interconnect Signal Description.3-33. Custom Flex Interposer Ordering Logistics .3-34. External Sensor Connector Details .3-35. External Sensor Sync Connector Pin List .3-36. USB Peripheral Connector Pin List .3-37. Recommended USB Type C cable Assemblies Ordering Logistics .3-38. ISP Properties 040414142424242434344444545474950505152527
TableTableTableTableTableTable83-39. Vision Processor D4 Board Power Requirements . 523-40. Vision Processor D4 Board Storage and Powered Conditions . 533-41. Vision Processor D4 Board Product Identifier and Material Code . 543-42. Depth Camera SKU properties . 553-43. Intel RealSense Depth Camera D415 Mechanical Dimensions . 553-44. Intel RealSense Depth Camera D435, D435i Mechanical Dimensions . 563-45. Intel RealSense Depth Camera D455 Mechanical Dimensions . 563-46. Depth Camera D400 Series Storage and Powered Conditions . 563-47. Depth Camera D400 Series Product Identifier and Material Code . 584-1. Vendor ID and Device ID Table . 594-2. Image Formats (USB 3.1 Gen1) . 594-3. Image Formats (USB 3.1 Gen1) – D455 . 604-4. Simultaneous Image Streams (USB 3.1 Gen1 & USB2.0) . 624-5. Depth Field of View . 624-6. Minimum-Z Depth . 654-7: Depth Quality Metric . 654-8: Depth Quality Metric Illustration . 664-9. Depth Quality Specification . 664-10. Depth Module Depth Start Point .
Document Number: 337029 -009 Intel RealSenseTM Product Family D400 Series Datasheet Intel RealSense Vision Processor D4, Intel RealSense Vision Processor D4 Board, Intel RealSense Vision Processor D4 Board V2, Intel RealSense Vision Processor D4 Board V3, Intel RealSense Depth Module D400, Intel RealSense Depth Module D410, Intel
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