TIM-UP-19k-S3 Ethernet
Contents
1. ON Embedding Ideas y AS Hardware User Manual TIM UP 19k S3 Ethernet Last change 16 April 2015 Version 1 6 2 General Description 2 1 Functional Description The following image shows the block diagram of the TIM UP 19k S3 Ethernet TIM UP 19k S3 Ethernet MachXO2 CPLD TCM BF537 2 Optional Stream Control Signals H Components Programmable Active interes Devices Components Figure 2 1 TIM UP 19k S3 Ethernet block diagram 2 2 Interfaces The following chapter describes the interfaces which are available on the 100 pin TIM connector 2 2 1 Ethernet The Ethernet interface offers a 10 100Base T link to the base board This interface allows to use the TIM UP 19k S3 Ethernet as Ethernet video stream device Bluetechnix O Page 7 26 BLUETECHNIX A N IR Hardware User Manual TIM UP 19k S3 Ethernet Last change 16 April 2015 Version 1 6 222 LIM The LIM interface must be used in conjunction with an external LIM module This interface consists of two 1 wire interfaces LED IO1 and LED IO2 or 12C I2CM SCL I2CM SDA and the light modulation signal differential LED MOD single ended LED SMOD Note Keep the connection between the TIM and LIM as short as possible If multiple LIMs are connected to one TIM then the modulation signals to each LIM must be length matched The LED MOD signals must be routed with a differential impedance of 100 Ohm The LED SMOD signal must be ro2. 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 A BLUETECHNIX LA Hardware User Manual TIM UP 19k S3 Ethernet Last change 16 April 2015 Version 1 6 1 Introduction 1 1 Overview The TIM UP 19k S3 Ethernet features 3D point cloud streaming via Ethernet It has a standard field of view of 90 and provides a 3D point cloud data via UDP stream For this product there is a variety of lenses available This product is no standalone product You need at least one Light Module LIM and one interface board IF 1 2 Key Features ToF Module based on PMD PhotonICs 19k S3 Size 80 x 40mm Ethernet interface LIM interface Support CS and M12 lense holder Support for firmware updates DN single supply 1 3 Applications Range measurements Object counting 8D safety areas Map building Robot navigation Obstacle detection Touch less control HMI for industrial Robots People counting Safety access control Bluetechnix O Page 6 26 A BLUETECHNIX J
3. 015 Version 1 6 10 Document Revision History Version 1 2 our Bluetechnix Date 2014 08 23 DST 2014 12 05 ROB 2014 12 05 WAC 2015 02 05 ROB 2015 03 19 ROB 2015 04 10 MKO Document Revision First draft Small modifications and fixed typos Anomaly list added Optical isolation update in chapter 3 5 Side view update in chapter 6 3 Ethernet LED description added to 100 pol connector description Product anomalies updated Added Factory Default Reset Pin to Pin Description Table 10 1 Revision history Page 24 26 A BH Hardware User Manual TIM UP 19k S3 Ethernet 11 List of Abbreviations Abbreviation ADI Al MTBF NFC PPI PWR RTOS SADA SoC SPI SPM SPORT TISM TSC UART USB USBOTG ZIF Bluetechnix Description Analog Devices Inc Analog Input Asynchronous Memory Select Analog Output Core Module Direct Current Digital Signal Processor Enhanced Core Module External Bus Interface Electrostatic Discharge General Purpose Input Output Input Inter Integrated Circuit Input Output Image Sensor Module Low Drop Out regulator Mean Time Between Failure Not Connected NAND Flash Controller Output Operating System Parallel Peripheral Interface Power Real Time Operating System Stand Alone Debug Agent Secure Digital System on Chip Serial Peripheral Interface Speech Processing Module Serial Port Thin Film Transistor Tiny Image Sensor Module Touch
4. 60mm objective area i i 1 jo E E i E p 2mm Figure 3 3 Optical isolation side view Figure 3 4 Optical isolation front view Figure 3 5 Optical isolation top view Bluetechnix Page 12 26 BLUETECHNIX A Sag Embedding Ideas LAN N Hardware User Manual TIM UP 19k S3 Ethernet Last change 16 April 2015 Version 1 6 3 6 Sensor Orientation The 3D sensor is mounted in portrait mode as shown in Figure 3 6 For further information about the data format see Software User Manual Figure 3 6 Sensor orientation Bluetechnix Page 13 26 Seele N LA E Hardware User Manual TIM UP 19k S3 Ethernet Last change 16 April 2015 Version 1 6 4 Specifications 4 1 Electrical Specifications 4 1 1 Operating Conditions Symbol Parameter Min Typical Max Unit Vin Input supply voltage 4 9 5 0 5 1 V lin Input current TBD TBD mA Von High level output voltage 3 0 3 3 3 45 V VoL Low level output voltage 0 0 0 4 V Tor Operating Temperature 20 60 C Tere Storage Temperature 65 150 C FITP Frame rate Integration Time Product TBD Table 4 1 Electrical characteristics 4 1 2 Maximum Ratings Stressing the device above the rating listed in the absolute maximum ratings table may cause permanent damage to the device These are stress ratings only Operation of the device at these or any other conditions greater than those indicated in the operating sections of this specification is
5. ESET ISM SADDR GND GND GND GND GND Description ISM Output enable Power ground Power ground Power ground ISM Configuration bus data signal ISM Configuration bus clock signal ISM Reset signal Factory Default Reset 10k Pullup required ISM Slave address Power ground Power ground Power ground Power ground Power ground Page 15 26 Hardware User Manual TIM UP 19k S3 Ethernet Pin 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 87 88 89 90 91 Type O 1 0 NC PWR VO O O 1 0 PWR NC NC PWR NC NC I NC O O O O NC NC NC PWR NC NC NC NC PWR NC NC NC Bluetechnix O Signal name 12CM1 SCL I2CM1 SDA UART RX UART TX CAN RX CAN TX LED SMOD LED IO1 GND LED MOD N LED MOD P GND GPIO 3 GPIO 2 GPIO 1 LED IO2 ETH SPEED ETH ACTIVITY GND ETH TX N ETH TX P ETH RX N ETH RX P GND GND PEN SPI SCLK SPI SIO0 SPI SIO12 SPI nCS GND GND BLUETECHNIX A DN Last change 16 April 2015 Version 1 6 Description 12C Master Clock signal 12C Master Data signal UART Receive UART Transmit CAN Receive CAN Transmit LIM Single ended mod signal LIM one wire communication bus 1 Power ground LIM Differential pair mod signal negative LIM Differential pair mod signal positive Power ground GPIO 3 GPIO 2 GPIO 1 LIM Single wire communication bus 2 Speed LED for the Ethernet connect th
6. NOTE Custom specifications are available on request Please contact Bluetechnix office bluetechnix com if you are interested in custom Core Modules Bluetechnix Page 22 26 A BLUETECHNIX Jp Embedding Ideas c Hardware User Manual TIM UP 19k S3 Ethernet Last change 16 April 2015 Version 1 6 9 Product History 94 Version Information 9 1 1 TIM UP 19k S3 Ethernet Version Component 1 x y Sensor DSP CPLD 92 Anomalies Version Date V1 0 x 2014 09 17 V1 1 x 2014 10 12 V1 2 x 2014 12 05 V1 3 x 2014 03 19 Bluetechnix Type PMDTech 19k S3 with RG850 filter Analog Devices ADSP BF537 Lattice LCMXO2 1200HC 4TG100I Table 9 1 Overview TIM UP 19k S3 Ethernet product changes Description ISM nRESET Pin 26 will be driven by the module instead of being input only But a low active pulse can be applied to perform a Reset of the module Use an Open Drain or Open Collector transistor to apply the pulse ISM nRESET Pin 26 will be driven by the module instead of being input only But a low active pulse can be applied to perform a Reset of the module Use an Open Drain or Open Collector transistor to apply the pulse No internal pullup on ISM nRESET Pin 26 External pullup required No anomalies reported yet Table 9 2 Product anomalies Page 23 26 AA BLUETECHNIX J A Embedding Ideas Hardware User Manual TIM UP 19k S3 Ethernet Last change 16 April 2
7. P 19k S3 Ethernet are recommended Bluetechnix Page 19 26 A BLUETECHNIX ANA Embedding Ideas Hardware User Manual TIM UP 19k S3 Ethernet Last change 16 April 2015 Version 1 6 6 5 Connectors Connector Manufacturer Manufacturer Part No Module connector Hirose FX 10A 100S 10SV Matching connector Hirose FX 10A 100P 10SV Table 6 1 Connector types Bluetechnix Page 20 26 A BLUETECHNIX AA Embeddinc Hardware User Manual TIM UP 19k S3 Ethernet Last change 16 April 2015 Version 1 6 7 Support 7 1 General Support General support for products can be found at Bluetechnix support site https support bluetechnix at wiki 7 2 Board Support Packages Board support packages and software downloads are for registered customers only https support bluetechnix at software 7 2 1 Upcoming Products and Software Releases Keep up to date with all product changes releases and software updates of Bluetechnix at http support bluetechnix com Bluetechnix O Page 21 26 AA BLUETECHNIX J A Embedding Ideas Hardware User Manual TIM UP 19k S3 Ethernet 8 Ordering Information Article Number 150 2206 1 150 2207 1 150 2208 1 Name TIM UP 19k S3 Ethernet 90 25 TIM UP 19k S3 Ethernet 30 25 TIM UP 19k S3 Ethernet 60 25 Last change 16 April 2015 Version 1 6 Note Default Version with 90 lens 30 Version 60 Version Table 8 1 Ordering information
8. Screen Controller Universal Asynchronous Receiver Transmitter Universal Serial Bus USB On The Go Zero Insertion Force Table 11 1 List of abbreviations BLUETECHNIX Last change 16 April 2015 Version 1 6 Page 25 26 A EE EN y Hardware User Manual TIM UP 19k S3 Ethernet Last change 16 April 2015 Version 1 6 A List of Figures and Tables Figures Figure 2 1 TIM UP 19k S3 Ethernet block diagram AA 7 Figure 3 1 Spectral sensitivity of 19k S3 with Schott RG850 filter A 11 Figure 3 2 Spectral sensitivity of 19k S3 with Coated Corning Eagle filter oooooonnnccccnnnccccnnnnccccnnnccccnnnnnannno 11 Figure 3 3 Optical isolation side view oooooooccccnncncnoncccccccnnnnccnnnonennccnnnnnnnnnnnnnncnnn cnn naar nn cnn nn nn rana n nn nnnn nnns nnns 12 Figure 3 4 Optical isolation front view 12 Figure 3 5 Optical isolation top view 12 Figure 3 6 1 1pl 1e te gl 1n r 11 e 1 PRRRAERTEFFRIEFEELFEEHRIEETRFEFFEPREINRIETEREEFFEFEFSHRFEERRESTTFERELEHFEFEFEUREFFEEFEHELFEFERREFFEEPEHEFFEFEUREFEERFEHELTEE 13 Figure 6 1 Top View of the TIM UP 19k S3 Ethernet AAA 18 Figure 6 2 Bottom View of the TIM UP 19k S3 Ethernet AAA 18 Figure 6 3 Side view of the TIM UP 19k S3 Ethernet AAA 19 Figure 6 4 Footprint of the TIM UP 19k S3 Ethernet AAA 19 Tables Table 2 1 Function of ISM nRESET signal AE 8 Table 2 2 Function of PEN Re ET 9 Table 4 1 Electrical Characteristics acond 14 Table 4 2 Absolute maximum ratings siii it 14 Tabl
9. a ode 20 OS 21 Bluetechnix O BLUETECHNIX N Embedding Ideas LN 7 1 General SUP OOM EE 21 7 2 Board Support PACKAGES faces ociosas askean aa ENER ERRE cess reine 21 7 2 1 Upcoming Products and Software Releases sese 21 8 Ordering ite Er Le outra en OI dice esee tig eni etnies a ue Oe eoo res Re ict 22 O Product HISO ZABEURPRLFECHER PREEHRREEEEILEBIFELERPENERLGERFERRETLFEERFETERPEEITERPFREEEETEREERTELPEERERELEPREHRERPERERFETPRRUNFETPEEREFETE 23 94 Version IMMA ara 23 93 1 TIM UP 19K S3 Ethernet een een 23 92 orc PEUT 23 10 Document Revision Histoire taria 24 11 list of ee E 25 A List of Figuressand Tables iwi ninia dai 26 Bluetechnix A BLUETECHNIX _ SA Embedding 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
10. e 5 1 Pin out of the TIM UP 19k S3 Ethernet Connector nennen 17 Table 6 1 Connector EE 20 Fable 8 1 Ordering Info Mat ET 22 Table 9 1 Overview TIM UP 19k S3 Ethernet product changes AA 23 Table 9 2 ee teen 23 Table 10 1 Revision history rire iet ee ni 24 Table 1 15 Dist Of abbreviations oui o ie imitado polenta dida 25 Bluetechnix O Page 26 26
11. e LED using a 220 ohm resistor to 3V3 Activity LED for the Ethernet connect the LED using a 220 ohm resistor to 3V3 Power ground Ethernet differential pair A Ethernet differential pair A Ethernet differential pair B Ethernet differential pair B Power ground 100Mbit TX_N 100Mbit TX_P 100Mbit RX_N 100Mbit RX_P E VES Power ground Module power enable SPI Clock signal SPI Data 0 SPI Data 1 SPI Chip select Power ground Power ground Page 16 26 LUETEOHNIK CTITIOGCOO IO UCAS Hardware User Manual TIM UP 19k S3 Ethernet Pin 92 93 94 95 96 Type NC O O PWR PWR PWR PWR PWR PWR PWR PWR PWR PWR PWR PWR PWR PWR PWR PWR Signal name Description I2CM SCL 12C Master Clock signal I2CM SDA 12C Master Data signal GND Power ground GND Power ground VIN 5V Power supply VIN 5V Power supply VIN 5V Power supply VIN 5V Power supply GND Power ground GND Power ground GND Power ground GND Power ground GND Power ground GND Power ground GND Power ground GND Power ground GND Power ground GND Power ground Table 5 1 Pin out of the TIM UP 19k S3 Ethernet connector Last change 16 April 2015 Version 1 6 Function is firmware dependent For further information refer to Software User Manual or contact Bluetechnix support 2 Function is firmware dependent when ISM nRESET 1 If ISM nRESET 0 then EXTSPI can be used for firmware updates See chapter 2 2 3 for further in
12. formation Bluetechnix O Page 17 26 ing Ideas BLUETECHNIX A A Embedd lt A 16 April 2015 Last change Hardware User Manual TIM UP 19k S3 Ethernet Version 1 6 6 Mechanical Outline Top View 1 6 set s 00 02 _ _ _ DSP 00 0t 2 75 74 50 80 00 Figure 6 1 Top View of the TIM UP 19k S3 Ethernet 10 00 10 00 r 5 00 6 2 Bottom View Figure 6 2 Bottom View of the TIM UP 19k S3 Ethernet Page 18 26 Bluetechnix O N BLUETECHNIX Jg Embedding Ideas Hardware User Manual TIM UP 19k S3 Ethernet Last change 16 April 2015 Version 1 6 6 3 Side View Figure 6 3 Side view of the TIM UP 19k S3 Ethernet The objective lens is not considered in this drawing A 3D STEP file is available on request 6 4 Footprint 6 20 2 75 34 50 40 00 Pin 100 2 75 i 74 50 2 75 80 00 Figure 6 4 Footprint of the TIM UP 19k S3 Ethernet The footprint for Altium Designer is available on request The used connector is FX 10A 100P 10SV from Hirose For detailed dimensions of the connectors please see the datasheet from the manufacturer s web site The mounting holes are designed for reflow solder able spacers SMTSO M2 4 from PEM For further details regarding dimensions and paste expansion please refer the manufacturer s website If simple holes are desired on the base board identical ones as on the TIM U
13. gnal Power Enable signal can be used to shut down the TIM module The PEN signal is internally pulled up by a 10kO resistor PEN signal Function LOW TIM module power supply disabled HIGH TIM module power supply enabled Table 2 2 Function of PEN signal Bluetechnix Page 9 26 A BLUETECHNIX LA Hardware User Manual TIM UP 19k S3 Ethernet Last change 16 April 2015 Version 1 6 3 Hardware installation 3 1 Mounting The TIM UP 19k S3 Ethernet must be connected to a base board through a FX 10A 100P 10SV connector from Hirose see chapter 6 4 The module provides 4 additional M2 mounting holes to fix it on the base board See chapter 6 4 for more information 3 2 Processor cooling In harsh environment or when the TIM UP 19k S3 Ethernet is used within a case without appropriate cooling it may be necessary to provide a heat sink on the top side for the TCM The module provides also the possibility to cool the 3D sensor by applying a heat sink on the bottom side of the board below the sensor This might be useful to increase the accuracy of the sensor at high temperatures Note The cooling area for the 3D sensor is spread from solder mask and connected to GND Take care if using non isolated heat sinks See figure 6 2 for more information 3 3 Lenses The TIM UP 19k S3 Ethernet provides a M12 lens holder as well as a CS mount holder on request The module will be equipped with a 90 objective Other objective
14. not implied Exposure to absolute maximum rating conditions for extended periods may affect device reliability Symbol Parameter Min Max Unit Vio Input or output voltage 0 6 3 95 V Vin Input supply voltage 45 5 5 Lon do Current per pin 0 12 mA Tams Ambient temperature 20 60 C Tsto Storage temperature 40 85 C ams Relative ambient humidity 90 Table 4 2 Absolute maximum ratings 41 3 ESD Sensitivity boards can discharge without detection Although this product features patented or proprietary protection circuitry damage may occur on devices subjected to 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 Bluetechnix O Page 14 26 Hardware User Manual TIM UP 19k S3 Ethernet 5 Connector Description 5 1 TIM Connector A BLUE TECHNIX AA Last change 16 April 2015 Version 1 6 The following table shows the pin out of the 100 pin TIM connector Pin Type 1 2 NC 3 NC 4 NC 5 NC 6 PWR 7 NC 8 NC 9 NC 10 NC 11 PWR 12 NC 13 NC 14 NC 15 NC 16 NC 17 NC 18 NC 19 NC 20 NC 21 NC 22 PWR 23 NC 24 1 0 25 l 26 l 27 28 l 29 PWR 30 NC 31 NC 32 PWR 33 NC 34 NC 35 PWR 36 NC 37 NC 38 PWR 39 NC 40 NC 41 PWR 42 NC 43 NC Bluetechnix Signal name ISM nDE GND GND GND ISM SDA ISM SCL ISM nRESET FACT R
15. s UN gt BLUETECHNIX Embedding Ideas TIM UP 19k S3 Ethernet Hardware User Manual 1 a g z srin BS 618810 sa 9221 001 a OTT ss Version 6 A BLUETECHNIX J A Embedding Ideas Contact Bluetechnix WaidhausenstraBe 3 19 A 1140 Vienna AUSTRIA office bluetechnix com http www bluetechnix com Date 2015 04 16 Bluetechnix T4301 GUIH IU BLUETECHN 1M Table of Contents 4 2 3 4 6 7 Intr duction u ei een E 6 Ti e EE 6 1 2 Key Features cocida debido 6 1 3 AD PIICATOMS DE RR 6 General Description BOESEN 7 2 1 Reie gel RR le le EE 7 2 2 E A geegent EE See Seege 7 2 2 1 auge E 7 222 EM er 8 229 eg RE 8 VV MEDI AE 8 220 CAN ER 8 2126 O pp 8 22 2CM ng tae oe ates eege Eeer DUM IE 8 2 2 8 PEN EE 9 lge WEN e EE 10 3 1 MOUNTING aaa lernen 10 KN coolllg ET 10 EIS WE EE 10 OA SENSOF SONSIUIVIY a 10 3 5 Optical Isolation ici aii aber di 12 3 06 Sensor OrientatiOn iia 13 Teen Lee EE 14 4 1 Electrical Specifications cote een 14 4 1 1 Operating Conditions cette ehren 14 4 1 2 Maximum He rn EE 14 4 1 3 SR Vacio ti 14 Connector Description ia ras nein dee 15 I Connector u a rca 15 Mechanical Qutlin UE 18 Ol TOP WEE 18 62 Bottom IER sd 18 AO E 19 64 Te det TE 19 6 5 sCOMMECIONS ie ccd oo shee teh E vs eect edie to ter ec aleta ist
16. s can be provided by Bluetechnix on request 3 4 Sensor sensitivity Following diagrams shows the spectral sensitivity of the 19k S3 sensor chip depending from the IR cut filter mounted on the sensor chip Bluetechnix O Page 10 26 A BLUETECHNIX A Embedding Ideas AR Hardware User Manual TIM UP 19k S3 Ethernet Last change 16 April 2015 Version 1 6 Spectral sensitivity of 19k S3 with Schott RG850 filter 0 1 0 08 0 06 0 04 Spectral sensitivity A W 0 02 450 500 550 600 650 700 750 800 850 900 950 0 02 Wavelength nm Figure 3 1 Spectral sensitivity of 19k S3 with Schott RG850 filter Spectral sensitivity of 19k S3 with Coated Corning Eagle filter 0 1 Spectral sensitivity A W 450 500 550 600 650 700 750 800 850 900 950 Wavelength nm Figure 3 2 Spectral sensitivity of 19k S3 with Coated Corning Eagle filter Bluetechnix O Page 11 26 A BLUETECHNIX ON Embedding Ideas oS Hardware User Manual TIM UP 19k S3 Ethernet Last change 16 April 2015 Version 1 6 3 5 Optical Isolation To prevent direct irradiation from the Light Module into the sensor objective lens an optical barrier has to be applied There is a component free area on the PCB to support an optical barrier down to the PCB The height of the optical barrier and the distance to the 3D sensor depends from the used objective and FOV The following picture shows the field of view and the height of a 90 objective lens with
17. uted and terminated with an impedance of 50 Ohm 2 2 3 EXTSPI The EXTSPI interface provides a fast serial interface to the FPGA as well as an interface to the on board SPI Flash for firmware updates The EXTSPI interface of the TIM connector can be routed by the on board analog switch to the on board SPI Flash using the ISM nRESET signal The ISM nRESET signal is internally pulled up by a 10kQ resistor The EXTSPI nCS signal is internally pulled up when connected to the SPI Flash ISM nRESET signal Function LOW On board SPI Flash connected to EXTSPI Firmware update mode TIM module is in reset mode HIGH On board SPI Flash connected to FPGA SPI interface of TIM connector connected to FPGA Table 2 1 Function of ISM nRESET signal 2 2 4 UART Function is firmware dependent For further information refer to Software User Manual or contact Bluetechnix support 2 2 5 CAN Function is firmware dependent For further information refer to Software User Manual or contact Bluetechnix support 2 2 6 GPIOs Function is firmware dependent For further information refer to Software User Manual or contact Bluetechnix support 22 7 12CM Function is firmware dependent For further information refer to Software User Manual or contact Bluetechnix support Bluetechnix Page 8 26 A BLUETECHNIX ANA Embedding Ideas Hardware User Manual TIM UP 19k S3 Ethernet Last change 16 April 2015 Version 1 6 2 2 8 PEN The PEN si
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