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Argos3D-P330
Hardware User Manual
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Bluetechnix Argos3D-P33, Argos3D-P330, Argos3D-P332, Argos3D-P331 Hardware User Manual

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Argos3D-P33X
Hardware User Manual
Version 6
Hardware User Manual - Argos3D-P33X Last change: 22 June 2017 Version 6
© BECOM BLUETECHNIX 2017 Page 6 | 26
1 General Information
This guide applies to the Argos3D-P33X camera platform from BECOM BLUETECHNIX. 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 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 indicates an expected result of your action.
References
This symbol indicates a cross reference to a different chapter of this manual or to an
external document.
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1.2 Certification
1.2.1 CE Declaration
Bluetechnix hereby declares that this Argos3D-P33X product is in compliance with the essential requirements and other relevant provisions of Directive 2014/35/EU.
1.2.2 Eye Safety
Illumination: Laserdiodes Wavelength
850nm (typ)
This is a class 1 Laser product In accordance with IEC 60825-1:2014, Edition 3
Output power
48W peak
Label:
The following label is applied on the camera:
CLASS 1
LASER PRODUCT
IEC 60 825-1:20 14-03
1.3 Safety instructions
Important
This manual is part of the device and contains information and illustrations about the correct handling of the device and must be read before installation or use. Observe the operating instructions. Non-observance of the instructions, operation which is not in accordance with use as prescribed below, wrong installation or handling can affect the safety of people and machinery.
The installation and connection must comply with the applicable national and international standards. Responsibility lies with the person installing the unit.
1.4 Electrical connection
Note
The unit must be connected by a qualified electrician.
Device of protection class III (PC III).
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The electric supply must only be made via PELV circuits.
The device must only be powered by a limited energy source (≤ 30V; ≤ 8A; ≤ 100VA).
Disconnect power before connecting the unit.
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2 Overview
2.1 Components
a
d
e
b
c
f
d
b
c
a
Figure 2-1 Argos3D-P33X components
a. Case b. Viewing window for 3D sensor c. Viewing window for 2D sensor (on the Argos3D-P331 the 2D sensor is not present) d. Viewing window for illumination module e. Interface cover f. Interface board
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2.2 Interfaces and Connectors
Marks Pin #1
b a c f
e
d g i
h j
k
Figure 2-2: Argos3D-P33X connectors and interfaces
a. Power supply b. Ethernet (RJ45) 10/100/1000Base-T with PoE++. POE is only available on P330 and P331. c. General purpose inputs, galvanic isolated d. General purpose outputs, galvanic isolated e. Modulation Light Interface f. Trigger g. RS232/485 h. DIP-Switch i. Reset-Button j. Debug-UART k. Status LED
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3 Hardware Installation
3.1 Mounting
Caution
Case may become hot!
180.0
161.0
a
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-P33X.
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3.1.2 Mount Spacing
30
b ac
Figure 3-2: Distance to mounted wall
a. Argos-P33X b. Spacers c. Wall or mounting panel
To maintain a natural air flow behind the Argos-P33X, 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 a correct mounting and to not exceed the operation temperatures..
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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:
I Input O Output DN Negative Differential Output DP Positive Differential Output P Power supply 3.3V TTL TTL compatible signal with 3.3V high level and 0V low level 5V tolerant 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
Marks Pin #1
b a c f
e
d g i
h j
k
Figure 4-1: Argos3D-P33X connector location
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a. Power Connector b. Ethernet c. General purpose input 1 & 2 d. General purpose output 1 & 2 e. Modulation Light Interface (not supported, please do not use) f. Trigger g. RS232 / RS485 (functionality depends on firmware version) h. DIP-Switch i. Reset-Button j. Debug-UART k. Status LED
4.3.1 Power Connector (a)
This 3.5mm terminal connector allows plugging a cable entry plug like 691361100002 from Würth Elektronik. Compatible connectors from other manufacturers may be found as well.
No.
Signal
Type
Description
1
VIN P Positive power supply
2
GND
P
Power ground
Table 4-1: Power connector description
The pins of the power connector are protected against wrong polarity.
Voltage range: 18V to 30V.
Note
Use inherently limited power sources only!
4.3.2 Ethernet and PoE (b)
This is a standard straight RJ45 10/100/1000 Base-T compatible Ethernet connector.
The Argos3D-P330 and Argos3D-P331 supports PoE++ as alternative power source. Please use a valid PoE++ (90W) injector or switch only. Using another PoE standard may cause the camera to be not fully operational. Please check the status of your PoE connection in the StatusRegister. Pease refer to the Software User Manual for additional information and a register description.
4.3.3 General purpose input 1 & 2 (c)
This 4 pole 3.5mm terminal connector allows plugging a cable entry plug like 691361100004 from Würth Elektronik.
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No.
Signal
Type
Description
1
IN2A
I (0V to 50V)
Relay contact A
2
IN2B
I (0V to 50V)
Relay contact B
3
IN1A
I (0V to 50V)
Relay contact A
4
IN1B
I (0V to 50V)
Relay contact B
Table 4-2: General purpose input 1 & 2 connector description
An optocoupler SFH6286-2T from Vishay is used for each general purpose input.
OFF-Range: 0V to 2V. ON-Range: 5V to 50V.
4.3.4 General purpose output 1 & 2 (d)
This 4 pole 3.5mm terminal connector allows plugging a cable entry plug like 691361100004 from Würth Elektronik.
No.
Signal
Type
Description
1
OUT1A
SPST-A
Relay 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 & 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: 0mA to 200mA.
4.3.5 Trigger (f)
This 3 pole 3.5mm terminal connector allows plugging a cable entry plug like 691361100003 from “Würth 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 4-4: Trigger connector description
Note
The usage of this interface may depend on the firmware version.
4.3.6 RS232/RS485 (g)
This 3 pole 3.5mm terminal connector allows plugging a cable entry plug like 691361100003 from Würth Elektronik.
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No.
Signal
Type
Description
1
GND
P
Signal Ground
2
RS232 RxD1) RS485 A/Y
IO DN
RS232 Receive Data RS485 Negative Differential Data
3
RS232 TxD1) RS485 B/Z
IO DP
RS232 Transmit Data RS485 Positive Differential Data
Table 4-5: GPIO Connector Description
1)
The interface mode can be selected with the DIP-Switch (see chapter 4.3.6).
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.
4.3.7 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 - Not used
3
RS485 Enable
ON: Transceiver works in RS485 mode OFF: Transceiver works in RS232 mode
4
RS485 Termination
ON: Enables the 120Ω RS485 termination resistor OFF: No termination resistor is active
Table 4-6: DIP-Switch Description
4.3.8 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 Argos3D­P33X.
4.3.9 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.
Note
Make sure that the termination resistor is always disabled, if the driver runs in RS232 mode.
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4.3.10 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.
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5 Software
5.1 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 the 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
TBD
5.4 Camera Firmware Development KITs
The camera offers the possibility to bring your own application onto the Argos3D-P33X. 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-P33X is based on an embedded Linux system.
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6 Appendix
6.1 Operating Conditions
Symbol
Parameter
Min
Typical
Max
Unit
VIN
Input supply voltage
18
24
30 V IIN
Input current
1,251)
3,753)
A T Operating Temperature 2)
0° 50°
°C T Storage Temperature
-40 +85
°C
FITP4)
Frame-rate Integration Time Product
420 IP
Ingression protection
IP415)
Table 6-1: Operating Conditions
1) Note
Valid for a typical operation condition: frame-rate of 40fps, an integration time of 1500µs and 24V input voltage supply. The input current depends on the applied frame-rate, integration time and input supply voltage.
2) Note
The maximum operating temperature depends on the frame-rate and integration time.
3) Note
On maximum FIT and minimum power supply voltage.
4) Note
Framerate Integration-time Product
5) Note
In preferred mounting situation
6.1.1 Input current
The input current depends on the selected frame-rate (fps) and the integration time (t
INT
). The following figure shows typical values. The values for the x axis shows the FITP which has been calculated with the following equation:
  

󰇟󰇠  
 
  
TBD
Figure 6-1: Input power depending on frame-rate integration time product
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6.2 Optical Characteristics
Symbol
Parameter
Min
Typical
Max
Unit
#LDs
Nr. of Laser Diodes
16
Λ
CENTROID
Centroid-Wavelength of Illumination
840
850
860
nm
Δλ
Spectral Bandwidth
20 nm
Ie
Radiant intensity
W/sr
3D FoVH
Horizontal Field of View
80 Deg
3D FoVV
Vertical Field of View
65 Deg
Color FoV
H
1)
Horizontal Field of View
90 Deg
Color FoV
V
1)
Vertical Field of View
70 Deg
Table 6-2: Optical characteristics
Note 1) Not available on P321
6.3 Measurement Specifications
6.3.1 Measurement Environmental Conditions
All the following measurements have been acquired at the following constant environmental conditions.
Parameter
Value
Temperature
23 °C
Humidity
35 %
Ambient light
2 kLux
Modulation Frequency
20 MHz
Frame-rate
25 fps
Table 6-3: Environmental Specification
6.3.2 Typical Reproducibility
The following table shows the standard deviation over 100 samples.
Measuring range [mm]
White target (90%) [mm]
Integration time [ms]
Gray target (18%) [mm]
Integration time [ms]
100
TBD
TBD
300
TBD
TBD
500
TBD
TBD
700
TBD
TBD
900
TBD
TBD
1100
TBD
TBD
1300
TBD
TBD
1500
TBD
TBD
1700
TBD
TBD
1900
TBD
TBD
2100
TBD
TBD
2300
TBD
TBD
2500
TBD
TBD
2700
TBD
TBD
2900
TBD
TBD
Table 6-4: Typical Reproducibility
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6.3.3 Typical Integration Time
Measuring range [mm]
Integration time for white target (90%) [ms]
Integration time for gray target (18%) [ms]
500
TBD
TBD
1000
TBD
TBD
1500
TBD
TBD
2000
TBD
TBD
2500
TBD
TBD
3000
TBD
TBD
Table 6-5: Typical Integration Time
6.3.4 Typical Range
Integration time [ms]
Minimum distance for white target (90%) [mm]
Maximum distance for white target (90%) [mm]
Minimum distance for gray target (18%) [mm]
Maximum distance for gray target (18%) [mm]
TBD
TBD
TBD
TBD
TBD
TBD
TBD
TBD
Table 6-6: Typical Range
6.3.5 Accuracy of Distances
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 range [mm]
White target (90%) [mm]
Integration time [ms]
Gray target (18%) [mm]
Integration time [ms]
500
TBD
TBD
1000
TBD
TBD
1500
TBD
TBD
2000
TBD
TBD
2500
TBD
TBD
3000
TBD
TBD
Table 6-7: Accuracy of Distances
6.3.6 Temperature on the Cooling Plate
The following figure shows the expected case temperature depending on the frame-rate integration time product (FITP) and the ambient temperature. The FITP has been calculated as follow:
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  

󰇟󰇠  
 
  
TBD
Figure 6-2: Expected cooling plate temperature depending on frame-rate integration time product
6.3.7 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°C.
6.4 Mechanical Outline
All dimensions are given in mm.
Mechanical outline of the ‘Bounding Box’:
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204
202
62
Figure 6-4: Mechanical outline of the bounding box (dimensions in mm)
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6.5 Sensor Location
Figure 6-5: Sensor position and IR-emitting area (dimensions in mm)
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7 Support
7.1.1 General Support
General support for products can be found at Bluetechnix’ support site
Support Link
https://support.bluetechnix.at/wiki/
7.2 Software Packages
Software packages and software downloads are for registered customers only
Software Package
https://support.bluetechnix.at/software/
7.3 Related Products
P3xx Vesa Adapter
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8 Product History
8.1 Ordering information
Product
Article # (PON)
Features
Argos3D-P330
150-2037-1
Full featured
Argos3D-P331
150-2042-1
No RGB module
Argos3D-P332
150-2052-1
No PoE
Table 8-1: Ordering information
8.2 Product changes
Product
Last Version
Release date
Argos3D-P330
1.0.0
April 2017
Argos3D-P331
1.0.0
April 2017
Argos3D-P332
1.0.0
April 2017
Table 8-2: Overview Argos3D-P33X product changes
Note
Please refer to our support site for additional information about product changes.
8.3 Anomalies
Applies to
Date
Description
Table 8-3 – Product anomalies
8.4 Document Revision History
Version
Date
Document Revision
1
2016 11 03
First preliminary of the document
2
2017 02 21
Measurement results added
3
2017 02 24
Wrong diode count corrected Footer updated
4
2017 05 23
Laser standard and laser output power added
5
2017 05 29
Laser class 1 label added
6
2017 06 22
Company data
Table 8-4: Revision history
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