Carrida Cam Basic+ Series Operating Manual

Hardware specifications of Carrida Cam Basic+ Smart Cameras

Revision: 1.0.0
Date: 2019-01-30
Contact: support@carrida-technologies.com
Copyright: 1996-2018 Carrida Technologies GmbH, Ettlingen, Germany
Author: VC Support

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Table of Contents

1   General Information

The Carrida Cam Basic+ has been designed for high resolution image processing with a very small form factor. It is the ideal compromise between high performance and low system costs, and thus especially suited for high volume OEM applications.

Based on a dual-core processor ARM® Cortex®-A9 with 866 MHz and an integrated FPGA the models of the Carrida Cam Basic+ series offer solutions at extreme high-speed in real-time.

All cameras are equipped with a battery backed real time clock and come with a range of inputs and outputs, with trigger input and flash trigger output, as well as an Ethernet interface.

The Carrida Cam Basic+ Hardware capabilities:

1.1   Technical Specification Carrida Cam Basic+

Technical Data
Component / Feature Specification
CMOS Sensor
Carrida Cam Basic+ 0273:
1/2.9" Sony IMX273, monochrome version
Active pixels
Carrida Cam Basic+ 0273:
1440(H) x 1080(V)
Pixel size
Carrida Cam Basic+ 0273:
3.45(H) x 3.45(V) µm
Active sensor size
Carrida Cam Basic+ 0273:
3.45(H) x 3.45(V) µm
High-speed shutter
Carrida Cam Basic+ 0273:
1 µs
Low-speed shutter
Carrida Cam Basic+ 0273:
up to 2 sec. adjustable integration time
Integration Global shutter
Picture taking

program-controlled or external high speed trigger, jitterfree acquisition

Carrida Cam Basic+ 273:
full-frame 181 frames per second
A/D conversion 118.75 MHz / 10 bit, only the 8 most significant bits used for grey values
Input LUT yes
Image Display Via Ethernet onto PC
Processor Dual-Core ARM® Cortex®-A9 with 866MHz and integrated FPGA
RAM 512 MB DDR-SDRAM
Flash EPROM 16 GB flash memory (nonvolatile) industrial eMMC
Process interface 2 inputs / 2 outputs, outputs 200 mA each
Trigger Input 1 dedicated picture trigger input. Any of the available PLC inputs can be chosen as an optional trigger input source.
Trigger Output 1 default trigger output on TrigOut pin. Any set of the available PLC outputs can be chosen as trigger output.
Ethernet interface 100 Mbit / 10 Mbit
CE certification CE Certification from Vision Components
Storage Conditions Temperature: -20 to +60 deg C, Max. humidity: 90%, non condensing.
Operating Conditions
  • without heater: Temperature: 0 to +50 deg C, Max. humidity: 80%, non condensing.
  • with heater: Temperature: -20 to +50 deg C, Max. humidity: 80%, non condensing.
Power Supply

24V DC

  • without PLC illumination: max. 200 mA
  • with maximum PLC output current (limited to 1A in total) and maximum illumination current, or power-up with heater activated: max. 1500 mA
Power Consumption 5.5 W typical
Heater 23 W
Protection IP67

The following diagram shows the maximum reachable (with the shortest shutter time) framerate according to the number of captured lines for the VC pro Z 0273:

images/nano_Z_plus_0273_FPS.png

Frames per second over number of lines

The following table gives some example values.

Example Framerates
Carrida Cam Basic+ 0273
Resolution Max. framerate (FPS)
1440 x 1080 181
1440 x 1024 191
1440 x 768 252
1440 x 640 300
1440 x 512 370
1440 x 384 483
1440 x 256 695
1440 x 192 890
1440 x 128 1227
1440 x 64 1974
1440 x 32 2843
1440 x 16 3112
1440 x 8 3215
1440 x 4 3267
1440 x 2 N/A
1440 x 1 N/A

Note

Note Sign

2   Hardware Interfaces

./images/nano_Z_plus_connectors.png

Connector Positions

The Carrida Cam Basic+ camera incorporates the following connector interfaces:

Nomenclature for Connectors
Connector Description
J0 Power Connector
JE Ethernet Connector

2.1   Power Connector J0

2.1.1   J0 Pin Assignment

Pin Assignment of J0 Connector (M12 A-Coding Binder 09-3491-600-12 - male)
Camera Socket Rear View Pin Signal Level Cable Standard Color
socket_power 1 Main Power Supply +24V brown
2 Common Ground GND blue
3 PLCIn0 +24V white
4 PLCOut0 +24V green
5 PLCIn1 +24V pink
6 PLCOut1 +24V yellow
7     black
8     grey
9     red
10 TrigIn +24V purple
11 TrigOut +24V grey/pink
12     red/blue

2.1.2   Electrical Specification: Camera Power Supply

Voltage/Current Overview
What How much
Nominal Voltage +24V
Absolute Voltage Limits +32V
Minimum nominal Operating voltage 21.6V
Maximum nominal Operating voltage 26.4V
Operating Current (Typical) 220mA (see note)
Nominal Power Consumption (Typical) 5.5W (see note)

Note

Note Sign

The power consumption relies on a setup with internal LED illumination and without PLC I/O current.

2.1.3   Electrical Specification: Digital PLC I/O

Electrical Specifications
Separation of PLC/trigger output voltage PLC outputs supply not separated from power supply
PLC Input Voltage 5 - 24V
Input Current (max) 3mA @ 24V
PLC Output Voltage 24V
PLC Output Current (max) 2 x 200 mA
Max Current for 1 Power / PLC connector pin 200 mA
Power failure detection Yes, overcurrent protection with polyfuse on each output

Warning

Warning Sign If power failure is detected, each PLC output may switch off regardless of their output state.

2.1.3.1   Connection of PLC inputs Carrida Cam Basic+ Series

./images/nano_Z_plus_connection_plc_in.png

Connection of PLC Inputs

2.1.3.2   Connection of PLC outputs Carrida Cam Basic+ Series

./images/nano_Z_plus_connection_plc_out.png

Connection of PLC Outputs

2.1.4   Electrical Specification: Trigger I/O

2.1.4.1   Connection of Trigger Input

./images/nano_Z_plus_connection_plc_in.png

Connection of Trigger input

2.1.4.2   Connection of Trigger Output

./images/nano_Z_plus_connection_plc_out.png

Connection of Trigger output

Warning

Warning Sign

Do not connect inductive loads to TrigOut output!

2.2   Ethernet Connector JE

2.2.1   JE Pin Assignment

Pin Assignment of JE Connector ( M12 D-Coding Binder 09-3732-500-04 - female)
Camera Socket Rear View Pin Signal
socket_eth 1 Tx+
2 Rx+
3 Tx-
4 Rx-

Note

Note Sign

  • The Ethernet connector has an ESD input protection.

2.3   Flash LEDs

2.3.1   Electrical Specification: Flash LEDs

Note

Note Sign

Activation of flash output is done by assigning the right GPIO via the command line tool named vcio (and vcproz_flash_set), see GPIOs and Trigger Assignment for more information.

The flash duration is dependent on the shutter time. Max. flash duration ist 3500 µs (with a tolerance of +/- 20%, actual max. flash duration may thus be smaller).

The flash intensity can be set using the internal i2c-controlled DACs.

Technical Data for the LED Controller
IOut 150-1000 mA, programmable
LED Up to 6 IR LEDs (Oslon Black SFH4715)

2.3.2   Programming the flash LEDs

Thanks to 2 DACs it is possible to control the intensity of the current running through the LEDs. Only one DAC is used at a time. It is possible to switch between them by setting the GPIO #8 to 0 (DAC1) or 1 (DAC2). The DACs have an i2c register to control the output voltage.

i2c addresses:

  • DAC1: 0x0c
  • DAC2: 0x0d

The register is 16-bit. The 4 first bits have to be zero. The last 4 bits are also zero. The 8 bits in the middle define the voltage value.

Commands for min and max value (example for address 0x0c, using the debian package i2c-tools):

i2cset -y 0 0x0c 0x00 0x00
i2cset -y 0 0x0c 0x0f 0xf0

Commands for setting the GPIOs:

vcgpio -w 0 -f 8 (or vcgpio -w 1 -f 8)
vcgpio -w 1 -f 9

This demo program shows how to do the same in C: http://files.vision-components.com/VCLinux/vc_nano_z_plus/i2c_DAC081C081.zip

2.4   Built-in heater

The Carrida Cam Basic+ camera contains a built-in heater which is automatically activated when necessary. The following table and diagram show the behaviour of the heater.

Heater
Temperature Heating power CPU
T < -5 °C 100 % (23 W) Off
-5 °C < T < 5 °C 20 % (4.6 W) On
T > 5 °C 0 % On
./images/nano_Z_plus_heater_diagram.png

Behaviour of the built-in heater

3   Software Interfaces

3.1   GPIOs

Connector Assignment of GPIOs
GPIO Nr. Connector Pin Designator Usability Remark
0 J0 OUT 0 Output
1 J0 OUT 1 Output
2
3
4
5
6
7
8 Output DAC selection for flash
9 Output Flash activation
10 J0 INP 0 Input
11 J0 INP 1 Input
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31(Out) J0 TrigOut Output Adjustable current source
31(In ) J0 TrigIn Input Optically isolated

They can be accessed over the linux standard way via /sys/class/gpio, see https://www.kernel.org/doc/Documentation/gpio/sysfs.txt. The GPIO numbers are relative to the start number of the gpiochip labelled with '/amba@0/axi-gpio0@41200000', here: /sys/class/gpio/gpiochip224.

3.2   Trigger Assignment

To choose the sensor input/output trigger signals, the corresponding GPIO Nr. must be determined and assigned by the supporting program named vcio. More information can be found at the help of the program, if you run it with no command line parameter, it will show how to do it.

Sample usage instructions are provided here, but always refer to the instructions of your version, different camera models may have different vcio parameters:

VCIO v.1.2.3.- VCLinux Camera I/O Configuration and Connection Setup.

Usage: vcio [-s sen] [-i gpioNr] [-n] [-o gpioField] [-d gpioField] [-t time]

-s Sensor to be configured, default value: 0.
-i GPIO Nr. to be used as external sensor trigger input (TRGSRC_EXT)
-n Negates trigger input signal
-o Bitfield of GPIOs which are coupled with sensor trigger output signal. The bit of GPIO Nr. X is coupled, if Bit X is set to 1, for example, For coupling GPIO Nr. 0, 3 and 31 (TrigOut) provide the Bitfield as Decimal Value: 2^0+2^3+2^31=2147483657, as Hex Value: 0x80000009, or as Binary Value: 0b10000000000000000000000000001001.
-d The direction of the GPIOs as bitfield (see -o switch); If the GPIO Nr. X should be configured as output, set bit X to 1, and if it should be an input, set bit X to 0.
-t Time used to debounce all input sources, default value: 10000. Time Unit is in FPGA Cycles. The FPGA clock frequency can be acquired by reading out the value of capt->sen->d.fpgaClkHz, e.g. 153846161 Hz. The default debouncing time for that example is then given by 10000 cycles / 153846161 Hz = 0.000065 s = 65 us.

Settings done cannot be read out. Different camera models may have different vcio parameters.

Note

Note Sign

At a Carrida Cam Basic+ Smart Camera you are not able to change the GPIO direction, i.e. you cannot turn an output pin to an input pin.

Note

Note Sign

To actually use the trigger input source (assigned by the vcio program) you have to select it at your source code in your image capture struct by setting the capture trigger input source to TRGSRC_EXT (instead of TRGSRC_IMM for immediate trigger); refer to the libvclinux image acquisition documentation!

You may also invert the trigger signal, see Output Trigger Signal Inversion

Default Trigger Assignment
GPIO Nr. Connector Pin Designator Assignment
31(Out) J0 TrigOut Trigger Output
31(In ) J0 TrigIn Trigger Input

3.2.1   Output Trigger Signal Inversion

One can invert the value of the trigger output signal by writing a 1 onto the corresponding GPIO nr, for example via the program vcgpio. To get usage instruction for the program vcgpio run it without any parameters.

3.3   Status LEDs

The Carrida Cam Basic+ Smart Cameras feature 8 LEDs providing status information on power supply and ethernet connection.

TODO: drawing

4   Accessories

4.1   Camera order numbers

Carrida Cam Basic+ Cameras
Order Number Product / Service description
VK00xxxx Carrida Cam Basic+ 0273 Smart Camera, b/w sensor

5   Appendix A: Dimensions Carrida Cam Basic+ Series

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Dimensions of the Carrida Cam Basic+ Series Camera