Argos3D-P320 - Bluetechnix
Contents
1. ED eee 16 230 PN 17 4 3 9 KN 17 2000 RT Ee E RE CA RA 17 2001 OS ME edserkninselbslukans sladennanne 17 Ee gl 18 5 1 TE EE 18 32 DEMO ele lege EE 18 5 3 Getting Started Software Development Example W sssssssseeesee sener k ket est k RE REE REE REE RELSE 18 5 4 Camera Firmware Development Klee 18 SE len Le EE 19 6 1 Operating Conditions E 19 6 1 1 MT EE 19 6 2 Optical Charactertstce skt kk L ERE ERE E RL E REE ERE E RELSE REE ERE ERE ES EERLE REESE ERR 19 Bluetechnix 2015 BLUETECHNIX 6 3 Measurement Specifications ccccccescecsssceceeeeeceeeeeceueeesaeeecsueeeceaeeecaueeesaueesseeessueeeseaeessaaees 20 6 3 1 Measurement Environmental Conditions cccccecccccseseeeeeeseeecsaeeeeeeeeeeeeeegeeeesaneesenaaeess 20 6 3 2 BARN EE 20 6 3 3 Typical Integration Time cccccccseccseceeeeeeeeeeeceneeeseeeeaeenseesaeeseeeseeeseeeseeeseeeseeeteeeseeeseeenes 20 034 eeler RANGE 21 6 3 5 Accuracy of DISTANCES AE 21 64 Environmental eene Dee e 21 6 4 1 Temperature on the Cooling Hate 21 6 4 2 Integration Time vs Frame rate cccceccseccseceseeeceeeceeeseeeseeesaeesaeeeeeeeeeeeeeeeeeeeeeeeeeeeneeenaes 22 6 5 Mechanical Outline ssssseeeere eter LEE LEE ELLE ERE ELLE ELIE LEE ELLE ELLER E LEE ELLE LEE LEE 22 TN 24 7 1 1 TO 24 7 2 Software Packages det demikdneinin 24 To ER Edel e 24 o FONN 25 8 1 Version Information eee 25 8 1 1 STP 25 8 2 EEN 25 8 3 Document Revision H2. X User Manual Argos3D P320 Last change 31 August 2015 Version 0 4 7 Support 7 1 1 General Support General support for products can be found at Bluetechnix support site Support Link NEN https support bluetechnix at wiki 7 2 Software Packages Software packages and software downloads are for registered customers only Software Package NEN https support bluetechnix at software 7 3 Related Products e TIM 19KS3 Spartan6 e LIMV LED 850 Bluetechnix 2015 Page 24 26 A BLUETECHNIX Bx Embedding Ideas User Manual Argos3D P320 Last change 31 August 2015 Version 0 4 8 Product History 8 1 Version Information 8 1 1 Argos3D P320 Version Release date X Grade July 2014 X Grade March 2015 Table 8 1 Overview Argos3D P320 product changes Note Please refer to our support site for additional information about product changes 8 2 Anomalies Applies to Date Description Table 8 2 Product anomalies 8 3 Document Revision History Version Date Document Revision 1 2014 06 10 First preliminary of the document 2 2014 07 22 Added ToF Flash ext illumination i f warning 3 2015 03 19 Update HUM to Argos3D P320 V2 2 Base 4 2015 08 31 Figure updates with new chassis Status LED added Table 8 3 Revision history Bluetechnix 2015 Page 25 26 User Manual Argos3D P320 9 Index A Accuracy DISTANCES EN 20 Anomalies E 26 C Current MOUT EEE EE 18 F Flash External Fla
3. e 4 BLUE TECHNIX Embedding Ideas Argos3D P320 Hardware User Manual Version 0 4 EE Bluetechnix WaidhausenstraBe 3 19 A 1140 Vienna AUSTRIA office bluetechnix com www bluetechnix com Argos3D P320 Hardware User Manual Document No 900 308 A Publication date August 31 2015 Subject to change without notice Errors excepted This document is protected by copyright All rights reserved No part of this document may be reproduced or transmitted for any purpose in any form or by any means electronically or mechanically without expressly written permission by Bluetechnix GmbH Windows is a registered trademark of Microsoft Bluetechnix 2015 d A BLUETEGHNIX a GES Le Table of Contents T BENN 6 Mh ug OR EE 6 I GECO EEE EN EN NE OE 7 EE E 8 2 1 Go 11 ONEN EE 8 2 2 Interfaces EE Eeer ee ee 9 FANEN 10 3 1 NOI 10 3 1 1 MOUNINO HE TE 10 3 1 2 Mount SOG IG aerer OE E EE 11 3a Eno ge Ke Le E 11 PINT 11 A Me NNvrv4v4r5r4rr4r SEED AiAi 13 Al OIG Me ANAS EEN 13 42 Connector Numbering vis cwisdeccdveriesditeessecdensdvwwacavduevdeuuvencdvecewedvedeseciulvdeusduucdeudeduessuvdeuvdvewssavdesivns 13 fo NERE Ne 13 4 3 1 Power Connector ve 14 4 3 2 TSS 0 EEE 14 4 3 3 General purpose mpuf1S2IE bt kk E ERE ERE REE REE REE REEL REE EEEE RET E REESE REE REN 14 4 3 4 General purpose output 1 amp 20 15 4 3 5 Modulation Light Interface tel 15 CC GT EE 16 EG SLP E TO EEE NE R
4. e Argos module in your own application a getting started example will be available on our download site Please refer to our support site Software and documentation gt TBD 5 4 Camera Firmware Development KITs The camera offers the possibility to bring your own application onto the Argos3D P320 Using the quad core i MX6 processor from Freescale Inc one core is reserved for the calculation of the depth data the other cores can be used by customers for their own applications The Argos3D P320 is based on an embedded Linux system Bluetechnix 2015 Page 18 26 BLUETECHNIX A i E User Manual Argos3D P320 Last change 31 August 2015 Version 0 4 6 Appendix 6 1 Operating Conditions Symbol Parameter Min Typical Max Unit Vin Input supply voltage 18 24 30 V lin Input current TBD TBD TBD mA Input current without Interface Board TBD TBD TBD mA Input current Mainboard only gt TBD TBD TBD mA T Operating Temperature 2 TBD TBD C T Storage Temperature 40 125 C FITP Frame rate Integration Time Product TBD Table 6 1 Operating Conditions 1 Note Valid for a frame rate of 40fps and an integration time of 1500us The input current depends on the applied frame rate and integration time 2 Note The maximum operating temperature depends on the frame rate and integration time 6 1 1 Input current The input current depends on the selected frame rate fps and the integration t
5. e hot Figure 3 1 Mounting holes for the case 3 1 1 Mounting Holes a The case has four holes for up to M5 screws that allows mounting the Argos3D P320 Bluetechnix 2015 Page 10 26 A BLUETECHNIX R ON Embedding Ideas User Manual Argos3D P320 Last change 31 August 2015 Version 0 4 3 1 2 Mount Spacing ON ne ER P OE 50 Figure 3 2 Distance to mounted wall Argos P320 Spacers c Wall or mounting panel To maintain a natural air flow behind the Argos P320 the device should not be mounted closer than 30 mm to the mounting panel A keep out area of at least 50 mm on the four small sides must be provided as well Caution The user is responsible to take care for an appropriate cooling 3 2 Lens and focus TBD 3 3 External ToF Flash In case you want to use the external ToF Flash or another external light source you can connect them to the Modulation Light Interface see chapter 4 3 5 Warning Before connecting an external ToF Flash all internal LIMs must be removed beforehand Usage of an external ToF Flash is only safe under certain conditions Please contact Bluetechnix 2015 Page 11 26 A BLUETECHNIX J Bx Embedding Ideas User Manual Argos3D P320 Last change 31 August 2015 Version 0 4 Bluetechnix support for more information Bluetechnix 2015 Page 12 26 A BLUETECHNIX Bx Embedding Ideas User Manual Argos3D P320 Last change 31 Aug
6. elay contact A 2 OUT1B SPST B Relay contact B 3 OUT2A SPST A Relay contact A 4 OUT2B SPST B Relay contact B Table 4 3 General purpose output 1 amp 2 connector description A solid state relay ASSR 3210 from Avago Technologies is used for each general purpose output Voltage range 18V to 30V Current range OMA to 200mA 4 3 5 Modulation Light Interface e This 4 pole 3 5mm terminal connector allows plugging a cable entry plug like 691361100004 from Wurth Elektronik No Signal Type Description 1 MOD_N DN Modulation signal output 2 MOD_P DP Modulation signal output 3 GND P Power ground 4 OWIRE I O 3V3 TTL 1 Wire communication interface Table 4 4 Modulation Light Interface connector description The Modulation Light Interface provides the modulation signal for an external illumination module differential LVDS as well as a 1 Wire communication interface Caution Overvoltage on the Modulation Light Interface will destroy the Argos3D P320 Bluetechnix 2015 Page 15 26 BLUETECHNIX A i E User Manual Argos3D P320 Last change 31 August 2015 Version 0 4 Warning Before connecting an external ToF Flash all internal LIMs must be removed beforehand Usage of an external ToF Flash is only safe under certain conditions Please contact Bluetechnix support for more information 4 3 6 Trigger f This 3 pole 3 5mm terminal connector allows plugging a cable entr
7. ersion of the products are not intended for sale and have therefore no certifications The user is responsible for a correct usage in order with federal laws Bluetechnix 2015 Page 7 26 A BLUETECHNIX R ON Embedding Ideas User Manual Argos3D P320 Last change 31 August 2015 Version 0 4 2 Overview 2 1 Components Figure 2 1 Argos3D P320 components Case oS P Viewing window for 3D sensor Viewing window for 2D sensor Viewing window for illumination module Interface cover gt 9 20 Interface board Bluetechnix 2015 Page 8 26 A BLUETECHNIX R N Embedding Ideas User Manual Argos3D P320 Last change 31 August 2015 Version 0 4 2 2 Interfaces and Connectors a SS HET e E iii ME Le j LSA SAS i pm j JJ BIE hen be JE R WALLY JE al ame a Ae ku Fk P Y 4 O GG lt lt Marks Pin 1 Figure 2 2 Argos3D P320 connectors and interfaces Power supply Ethernet RJ45 10 100 1000Base T with PoE General purpose inputs galvanic isolated O D General purpose outputs galvanic isolated Modulation Light Interface gt 9 20 Trigger RS232 485 DIP Switch gt i Reset Button j Debug UART k Status LED Bluetechnix 2015 Page 9 26 A BLUETECHNIX J ON Embedding Ideas User Manual Argos3D P320 Last change 31 August 2015 Version 0 4 3 Hardware Installation 3 1 Mounting Caution Case may becom
8. ime tint The following figure shows typical values The values for the x axis shows the FITP which has been calculated with the following equation 1 TBD Figure 6 1 Input power depending on frame rate integration time product 6 2 Optical Characteristics Symbol Parameter Min Typical Max Unit LEDs Nr of LEDs 12 AcENTROID Centroid Wavelength of Illumination 850 nm AA Spectral Bandwidth 30 nm le Radiant intensity W sr FoVi Horizontal Field of View 90 Deg FoVy Vertical Field of View 67 Deg Bluetechnix 2015 Page 19 26 A DUN BLUETECHNIX User Manual Argos3D P320 6 3 Measurement Specifications 6 3 1 Measurement Environmental Conditions Last change 31 August 2015 Version 0 4 All the following measurements have been acquired at the following constant environmental conditions Parameter Temperature Humidity Ambient light Modulation Frequency Frame rate 6 3 2 Typical Reproducibility TBD 2 kLux 20 MHz 25 fps Table 6 2 Environmental Specification The following table shows the standard deviation over 100 samples Measuring range mm 100 300 500 700 900 1100 1300 1500 1700 1900 2100 2300 2500 2700 2900 6 3 3 Typical Integration Time White target 90 mm TBD TBD TBD TBD TBD TBD TBD TBD TBD TBD TBD TBD TBD TBD TBD Measuring range mm 500 1000 1500 2000 2500 3000 Integration time ms Gray targe
9. istory sc scicccnceiesccteecscsiscivicesaectszseseiuevcbuesnexidcniibeseaesreiansdduaabteucaetacdeivarse 25 EE lie EE 26 Bluetechnix 2015 A BLUETECHNIX DN Bluetechnix GmbH 2015 All Rights Reserved The information herein is given to describe certain components and shall not be considered as a guarantee of characteristics Terms of delivery and rights of technical change reserved We hereby disclaim any warranties including but not limited to warranties of non infringement regarding circuits descriptions and charts stated herein Bluetechnix makes and you receive no warranties or conditions express implied statutory or in any communication with you Bluetechnix specifically disclaims any implied warranty of merchantability or fitness for a particular purpose Bluetechnix takes no liability for any damages and errors causing of the usage of this board The user of this board is responsible by himself for the functionality of his application He is allowed to use the board only if he has the qualification More information is found in the General Terms and Conditions AGB Information For further information on technology delivery terms and conditions and prices please contact Bluetechnix http www bluetechnix com Warning Due to technical requirements components may contain dangerous substances Bluetechnix 2015 A BLUETECHNIX i DUN User Manual Argos3D P320 Last change 31 August 2015 Ve
10. ntegration time product FITP and the ambient temperature The FITP has been calculated as follow 1 FITP tiyr ms fps H A TBD Figure 6 2 Expected cooling plate temperature depending on frame rate integration time product The temperature on the cooling plate can be reduced by mounting an additional heat sink on the cooling plate Bluetechnix 2015 Page 21 26 A BLUETECHNIX AA User Manual Argos3D P320 Last change 31 August 2015 Version 0 4 6 4 2 Integration Time vs Frame rate The following table shows recommended frame rate integration time combinations depending on the ambient temperature Caution Be careful to not stress the device beyond the limits otherwise you may damage the device TBD Figure 6 3 Integration time vs frame rate The diagram takes care to limit the FITP in a way that the temperature on the cooling plate doesn t exceed 70 G Using an appropriate heat sink higher values of the FITP may be applied Caution The user is responsible to take care for an appropriate cooling if the Sentis is mounted into a case 6 5 Mechanical Qutline All dimensions are given in mm Mechanical outline of the Bounding Box Bluetechnix 2015 Page 22 26 BLUE N Embedding Ideas ZN User Manual Argos3D P320 Last change 31 August 2015 Version 0 4 Figure 6 4 Mechanical outline of the bounding box Bluetechnix 2015 Page 23 26 BLUETECHNI
11. ntry plug like 691361100002 from Wurth Elektronik Compatible connectors from other manufacturers may be found as well No Signal 1 VIN GND Table 4 1 Power connector description Type D D Description Positive power supply Power ground The pins of the power connector are protected against wrong polarity Voltage range 18V to 30V Note 4 3 2 Ethernet b Use inherently limited power sources only This is a standard straight RJ45 10 100 1000 Base T compatible Ethernet connector 4 3 3 General purpose input 1 amp 2 c This 4 pole 3 5mm terminal connector allows plugging a cable entry plug like 691361100004 from Wurth No Signal Elektronik 1 IN2A 2 IN2B 3 IN A Relay contact A Type OV to 50V OV to 50V OV to 50V Description Relay contact A Relay contact B Bluetechnix 2015 Page 14 26 EN User Manual Argos3D P320 Last change 31 August 2015 Version 0 4 No Signal Type Description 4 IN1B OV to 50V Relay contact B Table 4 2 General purpose input 1 amp 2 connector description An optocoupler SFH6286 2T from Vishay is used for each general purpose input OFF Range OV to 2V ON Range 5V to 50V 4 3 4 General purpose output 1 amp 2 d This 4 pole 3 5mm terminal connector allows plugging a cable entry plug like 6913861100004 from Wurth Elektronik No Signal Type Description 1 OUTIA SPST A R
12. rsion 0 4 1 General Information This guide applies to the Argos3D P320 camera platform from Bluetechnix GmbH Follow this guide chapter by chapter to set up and understand your product If a section of this document only applies to certain camera parts this is indicated at the beginning of the respective section The document applies to X Grade product from V1 0 1 1 Symbols Used This guide makes use of a few symbols and conventions Warning Indicates a situation which if not avoided could result in minor or moderate injury and or A property damage or damage to the device Caution Indicates a situation which if not avoided may result in minor damage to the device in malfunction of the device or in data loss Note Notes provide information on special issues related to the device or provide information that will make operation of the device easier Procedures A procedure always starts with a headline 1 The number indicates the step number of a certain procedure you are expected to follow Steps are numbered sequentially This sign gt indicates an expected result of your action References gt This symbol indicates a cross reference to a different chapter of this manual or to an external document Bluetechnix 2015 Page 6 26 BLUETECHNIX A ON Embedding Ideas RV User Manual Argos3D P320 Last change 31 August 2015 Version 0 4 1 2 Certification X Grade Version X Grade v
13. shusmsrsnnunnuasnsssmsosnanseresnsssnisaviedvnie 11 I Integration Time Typical UI 20 Interfaces OL EEE EE 9 M Measurement Specifications cccceccceseeceeeeeceeeecaeeeceueeceueesseeeenes 19 Mounting Holes cccsecessecessseecesereeeeeseeeesenereeaeeeses 10 Bluetechnix 2015 BLUETECHNIX A IN Last change 31 August 2015 Version 0 4 O Operating Conditions Environmental Conditions ccccccccsseeceeeeeseeeeeees 18 Outline de ler E 23 R Range BP 20 RS232 RS485 Connector Description cccsseceseeeeseeeeseeeeeeeeees 15 S Signal naming Nomenclature ANE 12 SOWA ENN 17 SUD DOI eigene Eeer 25 T Temperature Case HOUSING BE 21 V Version Product History ccscetesnoratcocsossentaonttacnsaseetesnenttauncctes 26 Page 26 26
14. t 18 Integration time mm TBD TBD TBD TBD TBD TBD TBD TBD TBD TBD TBD TBD TBD TBD TBD Table 6 3 Typical Reproducibility Integration time for white target 90 ms TBD TBD TBD TBD TBD TBD Table 6 4 Typical Integration Time ms Integration time for gray target 18 ms TBD TBD TBD TBD TBD TBD Bluetechnix 2015 Page 20 26 A BLUETECHNIX DN User Manual Argos3D P320 Last change 31 August 2015 Version 0 4 6 3 4 Typical Range Integration time Minimum distance Maximum Minimum distance Maximum ms for white target distance for white for gray target distance for gray 90 mm target 90 mm 18 mm target 18 mm TBD TBD TBD TBD TBD TBD TBD TBD Table 6 5 Typical Range 6 3 5 Accuracy of Distances TBD The following table has been determined by calibrating the device at a distance of 1500mm and an integration time of 1 5ms For applications with specific environment optimized calibration may improve the error results Measuring White target 90 Integration time ms Gray target 18 Integration time range mm mm mm ms 500 TBD TBD 1000 TBD TBD 1500 TBD TBD 2000 TBD TBD 2500 TBD TBD 3000 TBD TBD Table 6 6 Accuracy of Distances 6 4 Environmental considerations TBD 6 4 1 Temperature on the Cooling Plate The following figure shows the expected case temperature depending on the frame rate i
15. tion resistor is active Table 4 7 DIP Switch Description Note Make sure that the termination resistor is always disabled if the driver runs in RS232 mode 4 3 9 Reset Button i This button can be used to perform a hardware reset and a factory default reset For further information about the factory default reset function see Software User Manual of the Argos3D P320 4 3 10 Debug UART j This Micro USB connector provides a Debug UART interface to the camera A FT234 from FTDI is used as UART to USB Converter 4 3 11 Status LED k The Status LED indicates whether the power supply is within the specified range green or not red Additional functionalities may be firmware dependent Please refer to the Software User Manual for additional information Bluetechnix 2015 Page 17 26 BLUETECHNIX A E User Manual Argos3D P320 Last change 31 August 2015 Version 0 4 5 Software 51 Firmware For a description of the firmware related interfaces protocol descriptions register settings etc please refer to the Software User Manual 5 2 Demo Application For the first evaluation of the camera and to evaluate different settings and configurations a NET demo application for Microsoft Windows is provided BLT ToF Suite The demo application can be downloaded from our support web site Software and documentation TBD 5 3 Getting Started Software Development Example To facilitate the integration of th
16. ust 2015 Version 0 4 4 Interface Description 4 1 Signal naming Signal names are usually written in capital letters They are noted in positive logic positive asserted If the signal is negative asserted an n will be added as prefix to the signal name Type The type describes the electrical characteristics of the signal The following types are available e Input e O Output e DN Negative Differential Output e DP Positive Differential Output e P Power supply e 3 3V TTL TTL compatible signal with 3 3V high level and OV low level e 5Vtolerant Accepts 5V input level 4 2 Connector Numbering All pins no 1 of each connector are marked in the figures with a red arrow The connector numbering always starts at this pin continuing in this row and going backwards at the opposite side 4 3 Interface Slot kr SE Am a vi i eg gr el i e U i i T y HH ri Jak i x r l Lg E Marks Pin 1 Figure 4 1 Argos3D P320 connector location Bluetechnix 2015 Page 13 26 User Manual Argos3D P320 a Power Connector b Ethernet General purpose input 1 amp 2 Modulation Light Interface gt 9 20 Trigger RS232 RS485 DIP Switch gt Reset Button L Debug UART k Status LED 4 3 1 Power Connector a General purpose output 1 amp 2 A EE Last change 31 August 2015 Version 0 4 This 3 5mm terminal connector allows plugging a cable e
17. y plug like 691361100003 from Wurth Elektronik No Signal Type Description 1 TriggerOUT OD 10k pull up to 5V Trigger Output 2 TriggerIN I 10V to 30V Trigger Input 3 GND P Power ground Table 4 5 Trigger connector description Note The usage of this interface may depend on the firmware version 4 3 7 RS232 RS485 g This 3 pole 3 5mm terminal connector allows plugging a cable entry plug like 691361100003 from Wurth Elektronik No Signal Type Description 1 GND P Signal Ground RS232 RxD lO RS232 Receive Data RS485 A Y DN RS485 Negative Differential Data 3 RS232 TxD lO RS232 Transmit Data RS485 B Z DP RS485 Positive Differential Data Table 4 6 GPIO Connector Description 0 The interface mode can be selected with the DIP Switch see chapter 4 3 7 The RS232 interface is running in full duplex mode and the RS485 is running in half duplex mode Note The usage of this interface may depend on the firmware version Bluetechnix 2015 Page 16 26 BLUETECHNIX ON User Manual Argos3D P320 Last change 31 August 2015 Version 0 4 4 3 8 DIP Switch h The DIP Switch allows configuring the RS232 RS485 transceiver The following table shows the functionality of each switch No Name Description 1 Not used 2 S Not used 3 RS485 Enable ON Transceiver works in RS485 mode OFF Transceiver works in RS232 mode 4 RS485 Termination ON Enables the 1200 RS485 termination resistor OFF No termina
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