Camera Selector based on Scene Volume

This section aims to help you choose the correct Zivid camera based on the length, width, height, and number of bins in the scene. The typical bins that are used for piece picking are Euro Containers and AutoStore Bins.

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 [1]
			70 - 520	Z2+ M130	2000	2070 - 2520 [1]

[1] (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 [2]	570 - 820
		600 - 700	70 - 320	Z2+ M60 [2]	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

[2] (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 [3]	670 - 920
		700	70 - 320	Z2+ M60 [3]	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

[3] (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 [4]	870 - 920
			170 - 520	Z2+ L110 [4]	970 - 1320
		900	70 - 120	Z2+ M60 [4]	970 - 1020
				Z2 M70
			170 - 520	Z2+ L110 [4]	1070 - 1420
				Z2 L100
		1000 - 1200	70 - 320	Z2+ L110 [4]	1070 - 1520
				Z2 L100
		1300	70 - 320	Z2+ M130	1370 - 1620
				Z2+ L110
				Z2 L100
		1400	70 - 520	Z2+ M130 [4]	1470 - 1920
			70 - 320	Z2+ L110	1470 - 1670
				Z2 L100
		1500	70 - 520	Z2+ M130 [4]	1570 - 2020
			70 - 170	Z2+ L110	1570 - 1670
				Z2 L100
		1600	70 - 520	Z2+ M130 [4]	1670 - 2120 [5]
			70	Z2+ L110	1670
				Z2 L100

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

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

[5]

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

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 [6]	1420 - 1620
				Z2 L100
		1400	120 - 320	Z2+ L110 [6]	1520 - 1620
				Z2 L100
		1500	120	Z2+ L110 [6]	1620
				Z2 L100
		2000	120 - 520	Z2+ M130 [6]	2120 - 2520 [7]

[6] (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.

[7]

Outside the working range but worth testing.

The camera in bold is the recommend one.

All dimensions are given in mm.

AutoStore Bins

Outside dimensions		Inside dimensions
Length	Width	Length	Width	Height
649 mm	449 mm	603 mm	403 mm	220 mm
				330 mm
				425 mm

Camera Selector for AutoStore Bins

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 AutoStore bins in your scene. Our recommended capture distance (to bin top) is in the same row.

AutoStore Bin	Bin length	Bin width	Bin height	Camera	To bin top	To bin bottom
One Bin	603	403	220 - 330	2+ M60	600	820 - 930
			425	Z2 L100	650	1175
			220 - 425	2+ M130	1020	1240 - 1445
Two Bins	898	603	220 - 425	2+ L110	1000	1220 - 1425
			220 - 425	2+ M130	1480	1700 - 1905

All dimensions are given in mm. The camera in bold is the recommend one.

Stationary Mounting

Choose the number of AutoStore Bins 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 Bin

Bin length	Bin width	To bin top	Bin height	Camera	To bin bottom
603	403	1100	220 - 425	Z2+ M130	1320 - 1525

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
603	403	600	220 - 425	Z2+ M60	820 - 1025
		700	220 - 425	Z2+ M60	920 - 1125
				Z2+ L110
				Z2 M70
		800	220 - 425	Z2+ L110	1020 - 1225
				Z2+ M60
				Z2 M70
				Z2 L100
		900	220 - 425	Z2+ L110 [8]	1070 - 1220
				Z2 L100
				Z2 M70
		1000 - 1300	220 - 425	Z2+ M130 [8]	1220 - 1725
				Z2+ L110
				Z2 L100

[8] (1,2)

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

The camera in bold is the recommend one.

Two Bins

Bin length	Bin width	To bin top	Bin height	Camera	To bin bottom
898	603	1500	220 - 425	Z2+ M130	1720 - 1920

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
898	603	900	220	Z2+ M60	970 - 1020
			330 - 425	Z2+ L110	1230 - 1325
				Z2 M70
				Z2 L100
		1000 - 1200	220 - 425	Z2+ L110	1220 - 1625
				Z2 L100
		1300	220 - 425	Z2+ L110	1520 - 1620
				Z2 L100
		1400	220 - 425	Z2+ M130 [9]	1620 - 1825
			220 - 330	Z2+ L110	1620 -1730
		1500	220 - 425	Z2+ M130 [9]	1720 - 1920
		1600	220 - 425	Z2+ M130 [9]	1820 - 2025

[9] (1,2,3)

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

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.