VC VC20 series Operating Manual

Vision

Components

The Smart Camera People

VC20XX Operating Manual

Hardware Specifications and special Software Functions of

VC20XX Smart Cameras

Revision 2.2 October 2007 Document name: VC20XX_HW.pdf © Vision Components GmbH Ettlingen, Germany

VC20XX Operating Manual

Foreword and Disclaimer

This documentation has been prepared with most possible care. However Vision Components GmbH does not take any liability for possible errors. In the interest of progress, Vision Components GmbH reserves the right to perform technical changes without further notice. Please notify

support@vision-components.com if you become aware of any errors in this manual or

if a certain topic requires more detailed documentation. This manual is intended for information of Vision Component’s customers only. Any publication of this document or parts thereof requires written permission by Vision Components GmbH.

Trademarks

Code Composer Studio and TMS320C6000, Windows XP, Total Commander, Tera Term, Motorola are registered Trademarks. All trademarks are the property of their respective owners.

References

Since the VC4XXX smart camera family employs a TI processor, the programming environment and functions for the VC20XX cameras can be used for this camera.

Further References under “Support + Download” on

www.vision-components.com:

„Support News“ – for up to date information on VC Software and Documentation.

„

Knowledge Base / FAQ“ - searchable Database with latest software developments, frequently asked

questions and demo programs.

“

Download Areas” for all documentation and Software downloads – refer to the following table:

Description Title on Website Download Area

Schnellstart VC .

Schnellstart VC Smart

Kameras

Registered User Area

Getting Started VC SDK TI

Getting Started VC Smart Cameras

Getting Started VC Smart

Cameras

Registered User Area

Getting Started VC SDK TI

Introduction to VC Smart Camera programming

Programming Tutorial for

VC20XX and VC40XX Cameras

Registered User Area

Getting Started VC SDK TI

Demo programs and sample code used in the Programming Tutorial

Tutorial_Code

Registered User Area

Getting Started VC SDK TI

VC4XXX Hardware Manual

VC4XXX Smart Cameras

Hardware Documentation

Public Download Area Hardware

Documentation VC Smart Cameras

VCRT Operation System Functions Manual

VCRT 5.0 Software Manual

Registered User Area Software

documentation VC Smart Cameras

VCRT Operation System TCP/IP Functions Manual

VCRT 5.0 TCP/IP Manual

Registered User Area Software

documentation VC Smart Cameras

VCLIB 2.0 /3.0 Image Processing Library Manual

VCLIB 2.0/ 3.0 Software

Manual

Registered User Area Software

documentation VC Smart Cameras

The Light bulb highlights hints and ideas that may be helpful for a development.

This warning sign alerts of possible pitfalls to avoid. Please pay careful attention to sections marked with this sign.

Author: Peter Neuhaus, VC Support,

mailto:support@vision-comp.com

VC20XX Operating Manual

III

Table of Contents

1 General Information 1

1.1 Overview Camera Types 2

2 Basic Structure 4 3 Boards 5

3.1 Sensor Boards 5

3.1.1 C6SEN084 6

3.1.2 C6SEN204 6

3.1.3 C6SEN205 7

3.1.4 C6SEN311 7

3.1.5 C6SEN415 8

3.2 CPU Board 8

3.3 DAC Board 9

3.4 Power Board 10

4 PLC I/O Signals 11

4.1 Input Signals 11

4.2 Output Signals 12

4.3 Trigger input and trigger output 12

5 Pin Assignments Camera Interfaces 14

5.1 Pin Assignment Trigger / Keypad Plug Signal 14

5.2 Pin Assignment for the I/O Plug 14

5.3 Pin Assignment for the RS232 (V24) 15

5.4 Pin Assignment LAN/Ethernet 15

5.5 Pin Assignment for the XGA/SVGA Video Output 15

6 Technical Specifications VC20XX Smart Cameras 16

6.1 Technical Specifications VC2028 16

6.2 Technical Specifications VC2038 17

6.3 Technical Specifications VC2038/E 18

6.4 Technical Specifications VC2048/E 19

6.5 Technical Specifications VC2065 20

6.6 Technical Specifications VC2065/C 21

6.7 Technical Specifications VC2065/E 22

6.8 Technical Specifications VC2065/EC 23

6.9 Technical Specifications VC2066 24

6.10 Technical Specifications VC2066/E 25

6.11 Technical Specifications VC2068 26

6.12 Technical Specifications VC2068/E 27

7 Accessories 28

7.1 Trigger Cable 28

7.2 RS232(V24) Cable 28

VC20XX Operating Manual

7.3

Ethernet patch cable 29

7.4 Power / PLC Cable 29

7.5 SVGA Monitor Cable 29

7.6 Power adapter 30

7.7 Power adapter for rail mounting 30

7.8 VC Keypad C6 30

7.9 Y-cable 30

8 Connecting the Camera 31

8.1 Connecting the camera power 31

8.1.1 Single voltage, with or without PLC signals, no shutdown: 31

8.1.2 Shutdown Function for VC20XX Smart Cameras 32

8.2 Connecting the RS232 Interface 33

8.2.1 Connecting a compatible PC with a 9-pin D sub plug 33

8.3 Connecting the Ethernet Cable 33

8.4 Connecting the VC keypad 33

8.5 Connecting the external trigger 34

8.6 Connecting the external trigger and the VC keypad 34

9 Programming 35 Appendix A: Blockdiagram VC20XX Smart Cameras A Appendix B: Housing Dimensions VC20XX Smart Cameras B Appendix E: Drawing Camera Head VC40XX C Appendix C: Spectral Transmission of IR Filter D Appendix D: CE Compliance of VC20XX Smart Cameras E INDEX G

VC20XX Operating Manual

1 General Information

The VC20xx Series smart cameras are compact, light-weight black-and-white or color video cameras with video memory and an image processor.

They integrate a high-resolution CCD sensor with one of the fastest 32 bit image-processing signal processors (TMS320C6211). SDRAM memory is used to store program code, data and video images. Interfaces allow communication with the outside world. The cameras set standards for performance and integration density.

These cameras are built for industrial deployment. High goals were set as regards the image resolution, the computational speed, the sturdiness of the casing, and the electromagnetic compatibility, as mere examples. The cameras are insensitive to vibrations and shocks, while permitting precise measurements and tests. They are ideally suited as OEM cameras for mechanical engineering applications.

Only one supply voltage is required to operate the cameras (24 volts). An image processing system or a PC with a frame grabber board is not necessary. Simple control problems can even be implemented with the integrated process interfaces. For more complex control tasks, the cameras can be connected to a PLC.

This documentation describes the camera hardware. However, in many cases the software documentation is decisive. For this, please consult the software manuals.

VC20XX Operating Manual

1.1 Overview Camera Types

All VC20XX Cameras contain the following features:

- 16 MB SDRAM

- 2 MB Flash Eprom

- 8 bit overlay (translucent overlay possible)

- integrated 4 Digital Inputs, 4 Digital Outputs, 24V

- Texas Instruments CPU TMS 320C62XX; 1200MIPS

- Low speed shutter up to 10 seconds

- Programmable gain and offset

- 24V Power Supply

The following table shows the different features of each camera model:

VC20XX SELECTION TABLE

VC2028

VC2038

VC2038E

VC2048E

VC2065

VC2065E

V2065C

VC2065CE

VC2066

VC2066E

VC2068

VC2068E

Sony 1/3" Progressive Scan CCD640x480 pixel

Kodak 1/3" Progressive Scan CCD 640x480 pixel

Sony 1/2" Progressive Scan CCD 782x582 pixel

Sony 1/3" Progressive Scan CCD 1024x768 pixel

Sony 1/2" Progressive Scan CCD 1280x1024 pixel

14 Hz full Frame, 28 Hz 2x Binning

17 Hz full Frame, 34 Hz 2x Binning

25 Hz full Frame 40 Hz full Frame 45 Hz full Frame 110 Hz full Frame Color 16 MB Multimedia Card SVGA (800x600 Pixel)

output, noninterlaced SXVGA (1280x1024 Pixel)

output, noninterlaced

VC20XX Operating Manual

VC20XX SELECTION TABLE

VC2028

VC2038

VC2038E

VC2048E

VC2065

VC2065E

V2065C

VC2065CE

VC2066

VC2066E

VC2068

VC2068E

integrated Fast Trigger contact (external contact)

High speed shutter down to 33 microseconds

High speed shutter down to 9 or 10 microseconds

High speed shutter down to 5 microseconds

RS232 up to 115.200 Baud (optional)

Fast Ethernet 100MBit (optional) 2)

Size: 110x50x36mm+foot/ Weight: 488g

1) The use of the VC2028 is recommended for imaging static (non moving) objects only.

2) If ordering a camera with Ethernet interface please add the suffix "/E" to the camera name (i.e. VC38/E, VC2065/EC).

3) Dimension of housing VC2048: 111x80x36 + mounting plate, weight: 516g

VC20XX Operating Manual

2 Basic Structure

The image is formed by a high-resolution progressive scan CCD sensor. One or two channels of video output are digitized. An input lookup-table is available for basic pixel-preprocessing. The image is stored in SDRAM memory using one of the 16 DMA channels (EDMA). The video and graphics display on the monitor is performed in a very similar way: Data is stored in the main SDRAM memory, either due to a previous video capture or to computing by the DSP. Graphics data is then transferred to the graphics refresh buffer (SGRAM). This may happen periodically or on demand. The SGRAM is read out at a fast refresh rate to provide a high-quality, flickerfree display. A dual 3x256x8 output lookup-table gives you abundant choices for the appearance of images and graphics. The video capture and graphics output channels are completely independent. The storage area for each may be chosen to be identical (necessary for live image display) or completely different. If the latter is chosen, you may capture an image "in the background" while displaying a completely different one. The TMS320C6211 DSP is one of the fastest 32 DSPs. It features a RISC-like instruction set, up to 8 instructions can be executed in parallel, two L1 cache memories (4KBytes each) and a 64 KByte L2 cache on chip. Its high speed 16-channel DMA controller gives additional performance. The DSP uses fast external SDRAM as main memory. A flash EPROM and a built-in multi-media card provide nonvolatile memory.

See

Appendix A: Blockdiagram VC20XX Smart Cameras.

VC20XX Operating Manual

3 Boards

The electronic circuitry of the camera contains four printed curcuit boards (PCB).

The following presents an overview of the boards:

Description Designation Function

Sensor boards

C6SEN084, C6SEN204 C6SEN205, C6SEN311 C6SEN415

CCD sensor, driver & controller, digitization of the video signal, blackand-white and color versions

CPU board

C6CPU

TMSC6211 signal processor with SDRAM, FLASH memory, multi-media card adaptor

DAC board

C6DAC

SVGA quality video output with graphics memory, video capture, interfaces (RS232, etc.)

Power board

C6PWR Power supply, PLC interfaces

3.1 Sensor Boards

Camera Type Sensor Board

VC2028 C6SEN084 VC2038 C6SEN084 VC2038/E C6SEN084 VC2048/E C6SEN311 VC2065 C6SEN415 VC2065/E C6SEN415 VC2065/C C6SEN415 VC2065/EC C6SEN415 VC2066 C6SEN204 VC2066/E C6SEN204 VC2068 C6SEN205 VC2068/E C6SEN205

VC20XX Operating Manual

3.1.1 C6SEN084

This board takes the picture. It is used in the VC2028, VC2038 and VC2038/E The CCD sensor 1/3" SONY ICX424AL (B/W) is used. The board controls the CCD sensor and processes the analog signal.

The progressive scan type CCD sensor used is ideally suited for industrial machine vision tasks. In contrast to the conventional technique it provides the following features:

• 1/3" sensor

• resolution: 640x480 pixels

• square pixel format, 7.4(H) x 7.4(V) µm

• full-frame shutter

• can be triggered externally (except VC2028)

• sensor read out in full-frame mode (non-interlaced)

• shutter speed down to 30,80,... µsec in steps of 50 microseconds up to 20 sec

• 40fps @ 640x480 (VC2028 : 25fps@640x480)

• CCD processors providin g CDS, programmable gain and offset, auto black level

compensation and 10 bit AD-conversion

The diverse features of this board (high-speed and low-speed shutter, external trigger, etc.) are configured via software.

For the exact setting of the configuration, refer to the description of the configuration program in the

software documentation.

3.1.2 C6SEN204

This board takes the picture. It is used in the VC2066 and VC2066/E The CCD sensor ICX204AL (B/W) is used. The board controls the CCD sensor and processes the analog signal.

The progressive scan type CCD sensor used is ideally suited for industrial machine vision tasks. In contrast to the conventional technique it provides the following features:

• 1/3" sensor

• higher resolution: 1024x768 pixels

• square pixel format, 4.64 µ m

• full-frame shutter

• can be triggered externally

• sensor read out in full-frame mode (non-interlaced)

• shutter speed down to 10 µsec and up to 20 sec

• 16fps @ 640x480 or 2 x binning @ 32fps

• CCD processors providin g CDS, programmable gain and offset, auto black level

compensation and 10 bit AD-conversion

The diverse features of this board (high-speed and low-speed shutter, external trigger, etc.) are configured via software.

VC20XX Operating Manual

For the exact setting of the configuration, refer to the description of the configuration program in the

software documentation.

3.1.3 C6SEN205

This board takes the picture. It is used in the VC2068 and VC2068/E The CCD sensor ICX205AL (B/W) is used. The board controls the CCD sensor and processes the analog signal.

The progressive scan type CCD sensor used is ideally suited for industrial machine vision tasks. In contrast to the conventional technique it provides the following features:

• 1/2" sensor

• higher resolution: 1280x1024 pixels

• square pixel format, 4.65 µ m

• full-frame shutter

• can be triggered externally

• sensor read out in full-frame mode (non-interlaced)

• shutter speed down to 9 µsec and up to 20 sec

• 13,75fps @ 1280x1024 or 2 x binning @ 27,5fps

• CCD processors providin g CDS, programmable gain and offset, auto black level

compensation and 10 bit AD-conversion

The diverse features of this board (high-speed and low-speed shutter, external trigger, etc.) are configured via software.

For the exact setting of the configuration, refer to the description of the configuration program in the

software documentation.

3.1.4 C6SEN311

This board takes the picture. It is used in the VC2048/E The CCD sensor KAI0330D (B/W) is used. The board controls the CCD sensor and processes the analog signal.

The progressive scan type CCD sensor used is ideally suited for industrial machine vision tasks. In contrast to the conventional technique it provides the following features:

• 1/2" sensor

• resolution: 640x480 pixels

• square pixel format, 9(H) x 9(V) µm

• full-frame shutter

• can be triggered externally

• sensor read out in full-frame mode (non-interlaced)

• shutter speed down to 18,36,72, µsec then steps of 36 microseconds up to 20 sec

• 112fps @ 640x480 !!!

• CCD processors providin g CDS, programmable gain and offset, auto black level

compensation and 10 bit AD-conversion

VC20XX Operating Manual

The diverse features of this board (high-speed and low-speed shutter, external trigger, etc.) are configured via software.

For the exact setting of the configuration, refer to the description of the configuration program in the

software documentation.

3.1.5 C6SEN415

This board takes the picture. It is used in the VC2065, VC2065/E, VC2065/C and VC2065/EC. The CCD sensor ICX415AL (black-and-white) or ICX415AK (color) is used. The board controls the CCD sensor and processes the analog signal.

The progressive scan type CCD sensor used is ideally suited for industrial machine vision tasks. In contrast to the conventional technique it provides the following features:

• 1/2" sensor

• higher resolution: 782x582 pixels

• square pixel format

• full-frame shutter

• can be triggered externally

• sensor read out in full-frame mode (non-interlaced)

• shutter speed down to 5 µsec and up to 20 sec

• double speed video capture @ 45fps

• CCD processors providin g CDS, programmable gain and offset, auto black level

compensation and 10 bit AD-conversion

The diverse features of this board (high-speed and low-speed shutter, external trigger, etc.) are configured via software.

For the exact setting of the configuration, refer to the description of the configuration program in the

software documentation.

3.2 CPU Board

The "C6CPU" Board

The TMS320C6211 DSP is one of the fastest 32 bit DSPs. It features a RISC-like instruction set, up to 8 instructions can be executed in parallel. Turthermore it features two L1 cache memories (4KBytes each) and a 64 KByte L2 cache on chip. The DSP uses fast external SDRAM as main memory. Up to 4 memory banks can be permanently open providing fast access without unnecessary RAS commands.

A flash EPROM and a built-in multi-media card provide for non-volatile memory.

Most of the I/O functions (graphics display, video capture, etc.) are performed by Vision Components' proprietary DMA Hardware without overhead for the CPU.

VC20XX Operating Manual

The location of the SDRAM buffers for graphics display, overlay display and video capture can be selected independently.

Identical SDRAM buffers for graphics display and video capture may be chosen to produce live video display.

Board C6CPU processor TMS320C6211 150MHz SDRAM 16 Mbytes (400 MB/sec) Flash-EPROM 2 Mbytes (16bit wide) Multi-Media Card Adaptor 8-256 MBytes Clock Real time clock, battery backed-up DMA

16 independent DMA channels (EDMA) 1 very high speed DMA (QDMA)

special features on-board temperature sensor

3.3 DAC Board

The "C6DAC" Board

The "C6DAC" board is practically the periphery for the CPU board. Here, the digital video signal from the sensor board is the input using an input lookup-table and buffered with FIFO memory. The board is also responsible for the SVGA graphics output. Graphics (8 bits per pixel) and overlay data (8 bits per pixel) are stored in the on-board SGRAM. 2 independent lookup-tables for graphics and overlay data together with a 3x8 bits D/A converter produce the RGB analog video for the SVGA output.

The 8 bit pixel-mask register allows for individual selection of overlay planes.

Overlay data have priority over graphics data. Graphics pixels are displayed only if all unmasked overlay bits for that pixel are zero.

Functions of the board:

• video capture with input LUT, FIFO buffer

• graphics and overlay display with 16 Mbytes refresh memory,

• 2 independent LUTs for graphics and overlay, 8bit overlay mask register

• 3x8bit video D/A (SVGA output)

• UART and driver for RS232 (Ethernet versions : Ethernet PHY)

• UART receiver for VC Keypad (9600 baud)

• Trigger In/Out signals

• PLC communication inte rface

• Status & Control Register

• Interrupt controller for CPU

• DMA Controller

VC20XX Operating Manual

The technical specifications for the SVGA output signals :

Horizontal frequency: 45.072 kHz VBP: 32 lines Vertical frequency: 67.68 Hz VFP: 46 lines Resolution SVGA: 600x800 HSYNC width: 120 pixels Resolution eff. hor.: 752 HBP: 94 pixels Resolution eff. ver.: 582 HFP: 74 pixels VSYNC width: 6 lines Pixel frequency: 46.875 MHz Polarity HSYNC: positive Polarity VSYNC: positive

The technical specifications for the SXGA output signals :

Horizontal frequency: 64 kHz VBP: 37 lines Vertical frequency: 60 Hz VFP: 2 lines Resolution SXGA: 1280x1024 HSYNC width: 130 pixels Resolution eff. hor.: 1280 HBP: 487 pixels Resolution eff. ver.: 1024 HFP: 55 pixels VSYNC width: 3 lines Pixel frequency: 125 MHz Polarity HSYNC: positive Polarity VSYNC: positive

3.4 Power Board

The "C6PWR" Board

This board contains the power supply for the entire camera. It is also responsible for the galvanic separation of the signals, and tailors the levels of the PLC-signals (4 inputs, 4 outputs).

The camera is supplied with a nominal voltage of 24 V (+/- 20%). An electronic stabilization of the supply voltage is not necessary. The camera is internally galvanically separated from the supply voltage by means of a DC/DC converter, to avoid common ground loops and electromagnetic interference. A reverse-voltage protection diode protects the camera in case the supply voltage poles are swapped.

An I/O processor performs PLC I/O , and also monitors PLC voltage failures and overcurrent.

VC20XX Operating Manual

4 PLC I/O Signals

The camera has four optically decoupled inputs and four decoupled outputs for controlling machines and processes. An I/O processor is responsible for the handling of the PLC I/O signals. The PLC-compatible inputs (24-V level, the positive signal is connected) include input protection circuits. A minimum voltage of 14V is required to reliably sense a logic high signal.

The PLC outputs feature a highly integrated MOSFET, high-side switch with built-in protection . It is possible to switch inductive or capacitive loads. The protective feature of the outputs will produce pulses on the outputs, if the limiting values are exceeded.

A protective diode ensures, the poles of the supply voltage from the power supply of the PLC can not be swapped. It is important to connect both the external supply voltage of the outputs (+24V) as well as GND (GNDIn) of the power supply of the PLC.

The complete circuitry, including the I/O processor, is galvanically separated from the rest of the camera electronics.

If DC failure of the PLC power is detected, this information is forwarded to the DSP (PLC power failure interrupt)

Output drivers feature short circuit end thermal overload protection For additional protection of the output drivers, the I/O processor monitors the total PLC current, and switches off all outputs if the maximum threshold value is exceeded.

Technical data of the I/O signals:

Inputs Outputs Trigger input and trigger output

4.1 Input Signals

Nominal voltage: 24 V +/- 20% Absolute maximum voltage: voltages greater than 40 V can destroy the inputs Type:

galvanically separated by optocoupler (PLC

communication interface) Input current: 1 mA @ 24V Threshold value: 14 V Internal signal delay:

100 µsec (signal) + 0..200 µsec (polling) + DSP interrupt

latency

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VC VC20 series Operating Manual

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