Sentis ToF - P510
Contents
1. 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 Template No 900 306 A A ION Hardware User Manual Sentis ToF P510 Last change 7 July 2015 Version 1 5 BLUE TECHNIX 1 General Information This guide applies to the Sentis ToF P510 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 VO O 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 NM 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 l 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 indica2. A ION Hardware User Manual Sentis ToF P510 Last change 7 July 2015 Version 1 5 2 Introduction 2 1 Overview The Sentis ToF P510 is a depth sensor module developed by Bluetechnix operating on the Time of Flight TOF principle The Sentis ToF P510 is based on the ToF sensor 19k S3 of PMDtec and Freescale MX6 processor The camera consists of different modules from Bluetechnix like the TIM uP 19k S3 Spartan 6 LIM u LED 850 and CM i MX6x 2 2 Key Features e 3D depth sensor module TIM uP 19k S3 Spartan6 based on PMD PhotonICsO 19k S3 e 2D sensor module based on Omnivision OV5640 e 2xlight modules LIM u LED 850 e Processor module CM i MX6Q based on Freescale i MX6Q e Upto 160fps adjustable e Gigabit Ethernet e Support for 30 60 and 90 FOV 90 default e Extension interface e Power supply connector e Matlab support e Software configuration interface e Ethernet data streaming server e 3D Depth amplitude data and 2D color image Bluetechnix Page 8 23 A BLUETECHNIX A ON Embedding Ideas Hardware User Manual Sentis ToF P510 Last change 7 July 2015 Version 1 5 3 General Description 3 1 Functional Description The following image shows the block diagram of the Sentis ToF P510 Sentis ToF P510 2D Sensor Figure 3 1 Sentis ToF P510 block diagram 3 2 PCB description The hardware is based on 6 PCBs The PCBs are stacked like a sandwich Th
3. Hardware User Manual of TIM uP 19k S3 Spartan6 The height of the optical barrier and the distance to the 3D sensor depends from the used objective and FOV The following picture shows one possibility how to design an appropriate optical barrier a for a FOV of 90 with 60mm objective area default configuration of the Sentis ToF P510 Bluetechnix Page 12 23 A BLUETECHNIX R Embedding Ideas Hardware User Manual Sentis ToF P510 Last change 7 July 2015 Version 1 5 Figure 4 2 Possible optical isolation Side view Y O gt y ee E ma FIR Gs Dn bp do O aan Go ES Figure 4 3 Possible optical isolation Top view Bluetechnix Page 13 23 A BLUETECHNIX A Embedding Ideas SIA NN Hardware User Manual Sentis ToF P510 Last change 7 July 2015 Version 1 5 4 6 Sensor Orientation See Hardware User Manual of the TIM UP 19k S3 USB 2 0 PVI available from Bluetechnix website Bluetechnix Page 14 23 rN BLUETECHNIX Hardware User Manual Sentis ToF P510 Last change 7 July 2015 Version 1 5 5 Specifications 5 1 Electrical Specifications 5 1 1 Operating Conditions Symbol Parameter Min Typical Max Unit Vin Input supply voltage 18 24 30 V lin Input Current 2 3 5 A Top Operating Temperature 0 60 C Tsrc Storage Temperature 65 150 C FITP Frame rate Integration Time Product TBD Table 5 1 Electrical characteristics Depends on cooling mech
4. ETECHNIX AN ON Embedding Ideas Hardware User Manual Sentis ToF P510 Last change 7 July 2015 Version 1 5 7 Mechanical Outline A 3D STEP model of the Sentis ToF P510 can be provided by Bluetechnix on request 7 1 Top View im Iz Il i3 i 1 NER Imm ND v d IEBIBI e 00000060 e IBIBIE bes 65 58 oa Bi B uL Ki d USE CUm Figure 7 1 Top View of the Sentis ToF P510 Baseboard Bluetechnix Page 19 23 A BLUETECHNIX ANAN Embedding Ideas Hardware User Manual Sentis ToF P510 Last change 7 July 2015 Version 1 5 7 2 Bottom View Figure 7 2 Bottom View of the Sentis ToF P510 Baseboard 7 3 Side View Figure 7 3 Side view of the Sentis ToF P510 Baseboard Bluetechnix Page 20 23 A BLUETECHNIX A Embedding Ideas D N Hardware User Manual Sentis ToF P510 Last change 7 July 2015 Version 1 5 8 Product History 8 1 Version Information 8 1 1 Sentis ToF P510 Version Component Type 1 0 0 TIM Bluetechnix TIM uP 19k S3 V2 0 LIM Bluetechnix LIM U LED 850 V2 0 CM i MX6Q Bluetechnix CM i MX6Q C I Q24S2048F2N4096 V1 2 5V Controller Texas Instruments LM25116MH NOPB Table 8 1 Overview Sentis ToF P510 product changes 8 2 Anomalies Version Date Description V1 0 2014 09 30 No anomalies reported yet Table 8 2 Product anomalies Bluetechnix Page 21 23 A BLUETECHNIX N Embedding Ideas DN Ha
5. T 19 2 BONO EE 20 E Ee EE 20 WEE e e HOTON Zu 21 8 1 Version Information RETE aan mann dann 21 8 1 1 Sens OP P lO Seer cn eee eee 21 82 ANOMAllES E 21 9 Document Revision HiStOFY oocccoccconcconcconcconccnnconaconaconacinanonaronnnonnronnronnnonnnonnnonnnenanenaninanenanenaninanes 22 A List of Figures and Tables nnne nennen nennen nnn n nnne nni nnne nnne nnne nns 23 Template No 900 306 A A BLUETECHNIX LIA Bluetechnix GmbH 2014 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
6. anism 5 1 2 ESD Sensitivity boards can discharge without detection Although this product features patented or proprietary protection circuitry damage may occur on devices subjected to 4 high energy ESD Therefore proper ESD precautions should be taken to avoid performance degradation or loss of functionality ESD electrostatic discharge sensitive device Charged devices and circuit 5 1 3 EMC The system is intended for light industrial environments according to the following normative EN55022 class A EN55024 2010 Only pre compliance measurements according to the above stated normative will be performed on the system The customer responsible for the final product is also responsible to fulfill all regulations requested by law Bluetechnix Page 15 23 BLUETECHNIX IR Embedding Ideas Hardware User Manual Sentis ToF P510 Last change 7 July 2015 Version 1 5 6 Connector Description Marks Pin 1 Figure 6 1 Connectors of the Sentis ToF P510 top view with transparent LIM u LED 850 Figure 6 2 Front panel vew Bluetechnix Page 16 23 A ION Hardware User Manual Sentis ToF P510 6 1 Power Connector a Pin assignment on the power connector Connector Type 2 1mm ID 5 5mm OD Voltage 18 30V Polarity O This pins are protected against wrong polarity Note Use inherently limited power sources only 6 2 GBit Ethernet Connector b BLUETECHNIX Last chang
7. conditions The most important cooling areas are LIM modules each LIM module produces up to 25W of dissipation power that must be cooled mounting a heatsink enclosure and a gap pad on the bottom of the module red areas in Figure 4 1 CM i MX6Q the processor module produces up to 5W of dissipation power The main heat sources are the i MX6Q processor left dark region in orange area in Figure 4 1 and the PMIC right dark region in orange area in Figure 4 1 Bluetechnix Page 11 23 BLUETECHNIX nbedding Ideas Hardware User Manual Sentis ToF P510 Last change 7 July 2015 Version 1 5 O 2 1 0 O GUO e Dor de bes Figure 4 1 Hot Spots of the Sentis ToF P510 Bottom View 4 3 Lenses and objective The Sentis ToF P510 is equipped with a 90 objective for the TIM module 90 objective for the 2D sensor and 90 lenses for the LIM modules Other objectives lenses can be provided by Bluetechnix on request Note Be aware that using different objectives and lenses for other FOVs leads to different objective lenses height relative to the 3D and 2D sensor 4 4 Sensor sensitivity See Hardware User Manual of the TIM uP 19k S3 Spartan6 available from Bluetechnix website 4 5 Optical Isolation To prevent direct irradiation from the LIMs into the camera lens an optical barrier has to be applied There is a component free area on the TIM module to support an optical barrier down to the PCB see
8. e 7 July 2015 Version 1 5 This standard RJ45 connector provides a 10 100 1000 Base T interface to the Sentis ToF P510 6 3 Extension Connector c The Mini DIN 8 connector provides several interfaces to connect the Sentis ToF P510 to external devices No Signal Type Description 1 GND Power Ground 2 nRESET Input 100k pu Reset input active low 3 TRIGGER IN Input 100 pd Trigger input 10 30V 4 OWIRE Output External OWIRE interface 5 MOD_P Output External Light modulation signal differential positive 6 MOD_N Output External Light modulation signal differential negative 7 GPIO In Output General purpose I O galvanic isolated 8 GPIO_Ref Power GPIO reference galvanic isolated Table 6 1 Power connector pinout Note To use the output functionality of the GPIO pin an external pullup resistor is necessary This pullup must be designed for a minimum current of 13mA e g 1k5 pullup to 20V Bluetechnix O Page 17 23 BLUETECHNIX A A Embedding Ideas HA N Hardware User Manual Sentis ToF P510 Last change 7 July 2015 Version 1 5 Figure 6 3 Mini DIN8 pin out Description Manufacturer Part Number Mini DIN8 plug male CUI Inc MD 80 Table 6 2 Mating connector 6 4 JTAG Connector d The JTAG interface of the CM i MX6x is connected to the 20 pin 2 54mm header connector The JTAG connector is compliant with any ARM JTAG Emulator e g ARM DSTREAM Bluetechnix Page 18 23 A BLU
9. e CM i MX6x is mounted on the bottom of the Baseboard The TIM uP 19k S3 Spartan 6 is mounted on the Baseboard The Extension Board is mounted on the Baseboard The two LIM u LED 850 are mounted on the Extension Board 3 3 Interfaces The following chapters describes the interfaces on the Sentis ToF P510 Baseboard 3 3 1 Power connector The Sentis ToF P510 must be powered by an external 18V 30V power supply connected to the 2 5mm EH connector see chapter 6 1 Bluetechnix O Page 9 23 rN BLUETECHNIX Hardware User Manual Sentis ToF P510 Last change 7 July 2015 Version 1 5 3 3 2 GBit Ethernet The Gbit Ethernet interface from CM i MX6Q is available on a standard RJ45 connector see chapter 6 2 3 3 3 Extension connector The extension connector provides multiple interfaces to control external units and to trigger the Sentis Tor P510 see chapter 6 3 3 3 4 JTAG connector A JTAG connector is available for debug purposes see chapter 6 4 3 3 5 Reset button A reset button is available to perform a hardware reset component e in Figure 6 1 3 3 6 RGB LED A RGB LED s available on the Extension Board and can be used to show the state of the Sentis ToF P510 component f in Figure 6 1 The RGB LED is controlled by a Toshiba LED driver TCA62724FMG O EL connected though the I2C2 interface with the CM i MX6x The 12C slave address is set to 0x55 3 3 7 Buzzer A buzzer is available on the Extension B
10. nenne nnn nnns 20 Tables Table 5 1 Electrical engel Leed LE 15 Table 6 1 Power connector DIN OU E 17 WAI Oa EN dn COMMICCE ON MR m 18 Table 8 1 Overview Sentis TOF P510 product Changes nennen nennen nnn nnn nnns 21 FADE G2 Geelen ei E 21 Tapie 9 1 NSVISIOTERISEOE E 22 Bluetechnix Page 23 23
11. oard and can be used to provide an audible feedback to the user component g in Figure 6 1 The buzzer is connected to the pin DISPO DAT9 of the CM MX6x Bluetechnix O Page 10 23 BLUETECHNIX A ION Hardware User Manual Sentis ToF P510 Last change 7 July 2015 Version 1 5 4 Hardware installation 4 1 Mounting The Sentis ToF P510 Baseboard provides 4 x M3 mounting holes to fix it on the enclosure The positions of the mounting holes is shown in figure 7 1 3 2mm holes Note The mounting holes must be electrically connected to the enclosure using metallic screws The LIM modules mounted on the Sentis ToF P510 Baseboard must be fixed to a heatsink or to the enclosure For more information about the LIM modules see the Hardware User Manual of the LIM U LED 850 available from Bluetechnix website The mounting holes are also visible on the 3D STEP model of the Sentis ToF P510 camera Note Gap pads must be used to isolate the LIM module cooling area from the heatsink or enclosure The TIM module can also be fixed on the enclosure using the top two M2 holes available on the module For further information about the TIM module see the Hardware User Manual of the TIM uP 19k S3 Spartan6 available from Bluetechnix website The mounting holes are also visible on the 3D STEP model of the Sentis TOF P510 camera 4 2 Cooling areas The Sentis ToF P510 must be cooled at several areas to ensure valid operation
12. rdware User Manual Sentis ToF P510 Last change 7 July 2015 Version 1 5 9 Document Revision History Version 1 2 3 4 5 Bluetechnix Date 2014 09 30 2014 10 30 2014 14 11 2014 12 12 2015 03 04 Document Revision First release V1 0 of the document Updated mechanical outline and Connector descriptions due to hardware version V1 0 Added front panel connector description Added information about external pullup resistor on external GPIO Added GPIO_Ref to pin 8 of Mini Din 8 connector Table 9 1 Revision history Page 22 23 BLUETECHNIX Hardware User Manual Sentis ToF P510 Last change 7 July 2015 Version 1 5 A List of Figures and Tables Figures Figure 3 1 Sentis TOF P510 block diagram cccccccsseeecssececseeceeeececescaueecsaueeeeaseecsueeeceeeesaueessaseessueeessneeees 9 Figure 4 1 Hot Spots of the Sentis ToF P510 Bottom View 12 Figure 4 2 Possible optical isolation Side view 13 Figure 4 3 Possible optical isolation Top view 13 Figure 6 1 Connectors of the Sentis ToF P510 top view with transparent LIM u LED 850 16 EIQUFE 9 2 Error panel VOW tcc 16 FIguUre 6 3 MINI DINS te Ui Be u nein 18 Figure 7 1 Top View of the Sentis ToF PhiO Baseboard nennen nennen nnns 19 Figure 7 2 Bottom View of the Sentis ToF PbiO Baseboard nennen nennen nennen 20 Figure 7 3 Side view of the Sentis ToF P510 Baseboard nennen nennen
13. s NE D wN BLUE TECHNIX Embedding Ideas Sentis ToF P510 Hardware User Manual Version 1 0 BLUETECHNIX ANAN Embedding Ideas A Contact Bluetechnix Waidhausenstra e 3 19 A 1140 Vienna AUSTRIA office bluetechnix com http www bluetechnix com Date 2015 07 07 Template No 900 306 A BLUETECHNIX Table of Contents T Genera MOM Te EE 6 Meh ug OL EE 6 las Cai cuo EE 6 In SEET e e e g cere ter Umm 7 1 4 A A T 2 VO CII CUO EE 8 21 e 8 ce A APP Dee 8 3 Genoa DE CPU e E E ee ee 9 3 1 FUncuonal Descrip ON sss TETTE 9 AA Ee Ed EE 9 EISE 9 3 3 1 POWer CONDE TO dM 9 2e o oe En 10 3 3 3 EE EE acusada arcilla 10 ORC Eo a e PA An 10 3 3 5 aime PPP E T E E 10 EE mensa 10 3 3 7 EE eebe 10 2 lee eg om EE E den EE 11 4 1 MOUNDI A EURE errr ree 11 42 91 010 a EE 11 4 3 Lenses andoDleeiVe ss enter ineinander en 12 44 E e E RE 12 o OCA VSO ON ROSTER 12 4O A AA R APP AA 14 SS o i cie dcs 15 5 1 Electrical SDpeelliCaltlOliS EE 15 5 1 1 Operating A TTE 15 5 12 AP PP A a 15 A ENO A e A UE ECO O PE OE 15 6 Gonnector Descripcion ctm 16 6 1 POWer Connector E 17 6 2 GBit Ethernet Connector Di 17 6 3 Extension CONNeCctor cl 17 64 JIAG S70 deeem 18 Template No 900 306 A BLUETECHNIX N Embedding Ideas N T Mocranical OU NE een een ee een 19 T Kee WA
14. tes an expected result of your action References SS This symbol indicates a cross reference to a different chapter of this manual or to an external document 1 2 Certification X Grade Version X Grade version 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 Page 6 23 BLUETECHNIX A ION Hardware User Manual Sentis ToF P510 Last change 7 July 2015 Version 1 5 13 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 Ill The electric supply must only be made via PELV circuits The device must only be powered by a limited energy source lt 30V lt 8A lt 100VA Disconnect power before connecting the unit Bluetechnix O Page 7 23 BLUETECHNIX
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