Camera Selector based on Scene Volume

This section aims to help you choose the correct Zivid camera based on the length, width, height of the Volume Of Interest (VOI), and the number of bins in the scene. Bins with the standardized size used for bin picking are Euro Containers and Standard Plastic Totes. It is also common to use steel mesh cages, heavy-duty steel bins, and wooden crates, and sometimes, picking is done straight from a pallet.

Typical Scene Volumes

Dimensions
Length	600	800	800	800	1000	1000	1000	1100	1100	1200	1200
Width	400	600	800	800	750	1000	1000	1100	1100	800	1200
Height	400	500	500	800	500	500	1000	500	1000	800	400

All dimensions are given in mm.

Camera Selector

Choose whether you have an on-arm or a stationary camera.

On-Arm Mounting

Find the camera model that suits your application based on the bin size. Our recommended capture distance (to bin top) is in the same row.

Bin length	Bin width	Bin height	Camera	To bin top	To bin bottom
600	400	400	Z2+ M60	600	1000
800	600	500	Z2+ L110	800	1300
800	800	500		1050	1550
1000	750	500		1050	1550
1000	1000	500		1300	1800 [1]
1100	1100	500		1400	1900 [1]
1200	800	800		1200	2000 [1]
1200	1200	400		1550	1950 [1]

[1] (1,2,3,4)

The on-arm camera should be lowered as the bin is getting emptier to keep the distance to the workpieces in the recommended range.

Complete option analysis

Bin length	Bin width	Bin height	Camera	To bin top	To bin bottom
600	400	400	Z2+ M60	600	1000
			Z2 M70	700	1100
			Z2+ M130	1020	1420
800	600	500	Z2+ L110	800	1300
			Z2 L100	900	1400
			Z2+ M130	1300	1800
800	800	500	Z2+ L110	1050	1550
			Z2 L100	1250	1750 [2]
			Z2+ M130	1600	2100 [2]
1000	750	500	Z2+ L110	1050	1550
			Z2 L100	1200	1700 [2]
			Z2+ M130	1650	2150 [2]
1000	1000	500	Z2+ L110	1300	1800 [2]
1100	1100	500	Z2+ L110	1400	1900 [2]
1200	800	800	Z2+ L110	1200	2000 [2]
1200	1200	400	Z2+ L110	1550	1950 [2]

[2] (1,2,3,4,5,6,7,8)

The on-arm camera should be lowered as the bin is getting emptier to keep the distance to the workpieces in the recommended range.

The camera in bold is the recommend one.

All dimensions are given in mm.

Stationary Mounting

Choose the size of the bin in your scene. Our recommendation for the camera and mounting distance (to bin top), i.e., robot clearance, for your application is in the same row.

Bin length	Bin width	To bin top	Bin height	Camera	To bin bottom
600	400	1000	400	Z2+ M130	1400
800	600	1300	500		1800
800	800	1050	400	Z2+ L110	1450
		1600	800	Z2+ M130	2400 [3]
1000	750	1650	500		2150 [3]
1000	1000	2000	500		2500 [3]
1100	1100	2200	500		2700 [3]
1200	800	2000	1000		3000 [3]
1200	1200	2400	400		2800 [3]

[3] (1,2,3,4,5,6)

Outside the working range but worth testing.

If you have different robot clearance requirements, check out the Complete option analysis below to find the right camera for your application.

Complete option analysis

Bin length	Bin width	To bin top	Bin height	Camera	To bin bottom
600	400	600	400	Z2+ M60	1000
		700		Z2 M70	1100
		1000		Z2+ M130	1400
800	600	800	500	Z2+ L110	1300
		900		Z2 L100	1400
		1300		Z2+ M130	1800
800	800	1050	400	Z2+ L110	1450
		1600	800	Z2+ M130	2400 [4]
1000	750	1050	500	Z2+ L110	1550
		1650		Z2+ M130	2150 [4]
1000	1000	1300	500	Z2+ L110	1800 [4]
		2000		Z2+ M130	2500 [4]
1100	1100	1400	500	Z2+ L110	1900 [4]
		2200		Z2+ M130	2700 [4]
1200	800	1250	1000	Z2+ L110	2250 [4]
		2000		Z2+ M130	3000 [4]
1200	1200	1550	400	Z2+ L110	1950 [4]
		2400		Z2+ M130	2800 [4]

[4] (1,2,3,4,5,6,7,8,9,10)

Outside the working range but worth testing.

The camera in bold is the recommend one; choose Z2+ M130 always, unless limited by the robot clearance.

All dimensions are given in mm.

Euro Containers

Small Euro Containers

Outside dimensions		Inside dimensions
Length	Width	Length	Width	Height
400 mm	300 mm	367 mm	268 mm	70 mm
				120 mm
				170 mm
				220 mm
				270 mm
				320 mm

Medium Euro Containers

Outside dimensions		Inside dimensions
Length	Width	Length	Width	Height
600 mm	400 mm	576 mm	367 mm	70 mm
				120 mm
				170 mm
				220 mm
				270 mm
				320 mm

Large Euro Containers

Outside dimensions		Inside dimensions
Length	Width	Length	Width	Height
800 mm	600 mm	766 mm	567 mm	120 mm
				220 mm
				320 mm
				420 mm
				520 mm

Camera Selector

Choose whether you have an on-arm or a stationary camera.

On-Arm Mounting

Find the camera model that suits your application based on the number and size of Euro Containers in your scene and on bin height. Our recommended capture distance (to bin top) is in the same row.

Euro Container(s)	Bin length	Bin width	Bin height	Camera	To bin top	To bin bottom
One Small	400	300	70 - 320	Z2+ M60	500	570 - 820
One Medium or two Small	600	400	70 - 320	Z2+ M60	600	670 - 920
One Large or two Medium	800	600	70 - 520	Z2+ L110	800	870 - 1320
Two Large	1200	800	70 - 520	Z2+ L110	1200	1270 - 1720

You can also check out the Complete option analysis below to find the right camera for your application.

Complete option analysis

Euro Container(s)	Bin length	Bin width	Bin height	Camera	To bin top	To bin bottom
One Small	400	300	70 - 320	Z2+ M60	500	570 - 820
				Z2 M70	600	670 - 920
				Z2+ M130	800	870 - 1120
One Medium or two Small	600	400	70 - 320	Z2+ M60	600	670 - 920
				Z2 M70	700	770 - 1020
				Z2+ M130	1000	1070 - 1320
One Large or two Medium	800	600	70 - 520	Z2+ L110	800	870 - 1320
			70 - 120	Z2 M70	900	970 - 1020
			170 - 520	Z2 L100		1070 - 1420
			70 - 520	Z2+ M130	1320	1390 - 1840
Two Large	1200	800	70 - 520	Z2+ L110	1200	1270 - 1720
			120 - 420	Z2 L100	1250	1370 - 1670 [5]
			70 - 520	Z2+ M130	2000	2070 - 2520 [5]

[5] (1,2)

Outside the working range but worth testing; the on-arm camera should be lowered as the bin is getting emptier to keep the distance to the workpieces as close as possible.

The camera in bold is the recommend one.

All dimensions are given in mm.

Stationary Mounting

Choose the number and size of Euro Containers in your scene. Our recommendation for the camera and mounting distance (to bin top), i.e., robot clearance, for your application is in the same row.

One Small

Bin length	Bin width	To bin top	Bin height	Camera	To bin bottom
400	300	800	70 - 320	Z2+ M130	870 - 1120

If you have different robot clearance requirements, check out the Complete option analysis below to find the right camera for your application.

Complete option analysis

Bin length	Bin width	To bin top	Bin height	Camera	To bin bottom
400	300	500	70 - 320	Z2+ M60 [6]	570 - 820
		600 - 700	70 - 320	Z2+ M60 [6]	670 - 1020
				Z2 M70
		800	70 - 320	Z2+ M130	870 - 1120
			70 - 220	Z2+ M60	870 - 1020
				Z2 M70
			270 - 320	Z2+ L110	1070 - 1120
				Z2 L100
		900	70 - 320	Z2+ M130	970 - 1220
			70 - 120	Z2+ M60	970 - 1020
				Z2 M70
			170 - 320	Z2+ L110	1070 - 1220
				Z2 L100
		1000 - 1300	70 - 320	Z2+ M130	1070 - 1620
				Z2+ L110
				Z2 L100

[6] (1,2)

If not limited by robot clearance, choose Z2+ M130 at the closest possible distance.

The camera in bold is the recommend one.

One Medium or two Small

Bin length	Bin width	To bin top	Bin height	Camera	To bin bottom
600	400	1000	70 - 320	Z2+ M130	1070 - 1320

If you have different robot clearance requirements, check out the Complete option analysis below to find the right camera for your application.

Complete option analysis

Bin length	Bin width	To bin top	Bin height	Camera	To bin bottom
600	400	600	70 - 320	Z2+ M60 [7]	670 - 920
		700	70 - 320	Z2+ M60 [7]	770 - 1020
				Z2 M70
		800	70 - 320	Z2+ M130	870 - 1120
			70 - 220	Z2+ M60	870 - 1020
				Z2 M70
			270 - 320	Z2+ L110	1070 - 1120
				Z2 L100
		900	70 - 320	Z2+ M130	970 - 1220
			70 - 120	Z2+ M60	970 - 1020
				Z2 M70
			170 - 320	Z2+ L110	1070 - 1220
				Z2 L100
		1000 - 1300	70 - 320	Z2+ M130	1070 - 1620
				Z2+ L110
				Z2 L100

[7] (1,2)

If not limited by robot clearance, choose Z2+ M130 at the closest possible distance.

The camera in bold is the recommend one.

One Large or two Medium

Bin length	Bin width	To bin top	Bin height	Camera	To bin bottom
800	600	1300	70 - 320	Z2+ M130	1370 - 1620

If you have different robot clearance requirements, check out the Complete option analysis below to find the right camera for your application.

Complete option analysis

Bin length	Bin width	To bin top	Bin height	Camera	To bin bottom
800	600	800	70 - 120	Z2+ M60 [8]	870 - 920
			170 - 520	Z2+ L110 [8]	970 - 1320
		900	70 - 120	Z2+ M60 [8]	970 - 1020
				Z2 M70
			170 - 520	Z2+ L110 [8]	1070 - 1420
				Z2 L100
		1000 - 1200	70 - 320	Z2+ L110 [8]	1070 - 1520
				Z2 L100
		1300	70 - 320	Z2+ M130	1370 - 1620
				Z2+ L110
				Z2 L100
		1400	70 - 520	Z2+ M130 [8]	1470 - 1920
			70 - 320	Z2+ L110	1470 - 1670
				Z2 L100
		1500	70 - 520	Z2+ M130 [8]	1570 - 2020
			70 - 170	Z2+ L110	1570 - 1670
				Z2 L100
		1600	70 - 520	Z2+ M130 [8]	1670 - 2120 [9]
			70	Z2+ L110	1670
				Z2 L100

[8] (1,2,3,4,5,6,7,8)

If not limited by robot clearance, choose Z2+ M130 at the closest possible distance.

[9]

Outside the working range but worth testing.

The camera in bold is the recommend one.

Two Large

Bin length	Bin width	To bin top	Bin height	Camera	To bin bottom
1200	800	1200	120 - 420	Z2+ L110	1320 - 1620
		2000	120 - 520	Z2+ M130	2120 - 2520

The camera in bold is the recommend one.

If you have different robot clearance requirements, check out the Complete option analysis below to find the right camera for your application.

Complete option analysis

Bin length	Bin width	To bin top	Bin height	Camera	To bin bottom
1200	800	1200	120 - 420	Z2+ L110	1320 - 1620
		1300	120 - 320	Z2+ L110 [10]	1420 - 1620
				Z2 L100
		1400	120 - 320	Z2+ L110 [10]	1520 - 1620
				Z2 L100
		1500	120	Z2+ L110 [10]	1620
				Z2 L100
		2000	120 - 520	Z2+ M130 [10]	2120 - 2520 [11]

[10] (1,2,3,4)

If not limited by robot clearance, choose Z2+ L110 at the closest possible distance; otherwise, choose Z2+ M130 at the closest possible distance.

[11]

Outside the working range but worth testing.

The camera in bold is the recommend one.

All dimensions are given in mm.

Considerations taken for Camera Selector

On-Arm mounting

The camera has to be mounted on a robot in such a position that it can see the entire length and width of the bin top during capture. At this position, the gripper needs to be entirely outside of the bin. The camera also has to be mounted far enough away from the gripper tip so it does not collide with the bin edges during picking. This should hold even when picking at an angle, e.g., 45 degrees.

Stationary mounting

The robot must have enough clearance to move between the camera and the bin freely without colliding with the camera. The total distance of clearance to the bin top depends on several elements. The first one is the total gripper length. The gripper must be entirely above the bin before entering the bin. The second element is the largest height of the object in the pose the robot is taking it out from the bin. If the robot picks the object up using, e.g., a mechanical gripper, the object will be suspended from the gripper. The robot must move the object above and across the bin edge, not colliding with the bin’s edge during robot motion. Lastly, there is the camera size and some safety margin.

Spatial resolution

Spatial resolution is an important factor when selecting the distance of imaging. To find spatial resolution requirements, we need to consider the smallest object feature to be seen at the largest desired distance of imaging. As an exercise, let us take a cube of 1 cm x 1 cm in size. A spatial resolution of 1 mm gives 8-10 points in each dimension, which is 64-100 points. This number of points should be sufficient to detect the object from the point cloud and estimate its pick pose. To be safe, we recommend a spatial resolution of 0.5 - 0.8 mm for most objects, and 0.25 - 0.5 for small objects and objects with fine details / small features.

If you have a custom scene or use different bins, you can always Calculate FOV and Imaging Distance or check out our Mounting Specifications diagrams. It is also important to Calculate Depth of Focus when selecting the right camera model.

The next section is about the correct positioning of the camera for the best imaging results.

Version History

SDK	Changes
2.12.0	Zivid One+ has reached its End-of-Life and is no longer supported.