Wilco Imaging, Inc
0

VK003125

$3,423.00 $3,793.00
VC NANO 3D-Z REGULAR 1230
  • 1/2.9" CMOS
  • Resolution: 1408(H) x 1080(V) active pixels
  • Scanrate: up to 2 kHz max.
  • Flash EPROM: 16 GB
  • Encoder interface: Yes
  • Trigger input: Yes
  • Power Supply: 24 V +/-20 % DC, max. 300 mA
  • Laser: Laser class 2, blue laser, wavelength of 450 nm
  • Power consumption: 7.2 W
  • Dimensions: approx. 140 mm x 83 mm x 37 mm, approx. 400 g
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Product Details
Hardware specifications of VC nano 3D-Z Smart Cameras
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 us 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.

Image symbols used in this document
SymbolMeaning
Note SignThe Light bulb highlights hints and ideas that may be helpful for a development.
Warning SignThis warning sign alerts of possible pitfalls to avoid. Please pay careful attention to sections marked with this sign.
Example SignThis is a sign for an example.

Trademarks

Linux, Debian, the Tux logo, Vivado, Xilinx and Zynq, ARM, Cortex, Windows XP, Total Commander, Tera Term, Motorola, HALCON, Vision Components are registered Trademarks. All trademarks are the property of their respective owners.

1 General Information

Technical Data
Component / FeatureSpecification
LaserClass 2, <100mW average, wave length 450nm
CMOS Sensor1/2.9" sony IMX273LLR, monochrome version
Active pixels1408(H) x 1080(V)
Pixel size3.45(H) x 3.45(V) µm
Active sensor size4.8(H) x 3.7(V) mm
High-speed shutter1 µsec + steps of 1 µsec
IntegrationGlobal shutter
Data acquisitionprogram-controlled or external high speed trigger, jitter-free acquisition full-frame up to 174 frames per second
A/D conversion10 bit, 8 bits used after LUT application
Input LUT1024 x 8 bits
Image DisplayVia Ethernet onto PC
ProcessorDual-Core ARM® Cortex®-A9 with 866MHz and integrated FPGA
FPGALaser line processing during image acquisition in FPGA
RAM512 MB DDR-SDRAM
Flash EPROM16 GB flash memory (nonvolatile) industrial eMMC
Process interfaceSee following description.
Encoder InputsYes, and encoder inputs can be used as additional 5-24V inputs.
Trigger InputEncoder Signal A can be used as trigger input.
Ethernet interface1 Gbit / 100 Mbit / 10 Mbit
CE certificationCE Certification from Vision Components
Storage ConditionsTemperature -20 to +60 deg C, Max. humidity: 90%, non condensing.
Operating ConditionsTemperature: 0 to +50 deg C, Max. humidity: 80%, non condensing.
Power Supply24V DC, 300mA without I/O usage.
Power Consumption7.2 W typical without I/O usage.

1.1 Technical Specification VC nano 3D-Z

1.1.1 Framerate calculation

the framerate can be calculated by following these subcalculations:

  1. Calculate the time for a video line: TLine = *13.468.
  2. Calculate the time for storing the captured image: TCapt = (DY + 33 + )*TLine + 3.3us.
  3. Calculate the total time: TTotal = ShutterTime + TCapt.

FPGADelay: between 7 and 38 depending on the filter configuration.

HMAX vs. DX
DXHMAXTLine (us)
14083704.983
13443504.713
12803304.444
12163204.310
11523004.040
10882903.906
10242703.636
9602503.367
8962403.232
6402403.232
3202403.232

The following tables show some examples.

frame time (ms) at NrOfProcessingLines="7," shutter="1us
DY/DX1408134412801216115210881024960896640320
10805.5845.2834.9814.8304.5294.3784.0763.7743.6233.6233.623
10245.3055.0194.7324.5894.3024.1593.8723.5863.4423.4423.442
9604.9864.7174.4484.3134.0443.9093.6403.3703.2363.2363.236
8004.1893.9633.7373.6233.3973.2843.0582.8322.7182.7182.718
5122.7542.6052.4572.3822.2342.1592.0111.8621.7881.7881.788
2561.4781.3991.3191.2791.1991.1591.0801.0000.9600.9600.960
1280.8400.7950.7500.7270.6820.6590.6140.5690.5460.5460.546
frame time (ms) at NrOfProcessingLines="38," shutter="1us
DY/DX1408134412801216115210881024960896640320
10805.7395.4295.1194.9644.6544.4994.1893.8793.7243.7243.724
10245.4605.1654.8704.7224.4284.2803.9853.6903.5433.5433.543
9605.1414.8634.5864.4474.1694.0303.7523.4753.3363.3363.336
8004.3444.1093.8743.7573.5223.4053.1712.9362.8192.8192.819
5122.9082.7512.5942.5162.3592.2802.1231.9661.8881.8881.888
2561.6331.5451.4571.4131.3251.2801.1921.1041.0601.0601.060
1280.9950.9410.8880.8610.8070.7810.7270.6730.6470.6470.647
maximum frame rate (fps) at NrOfProcessingLines="7," shutter="1us
DY/DX1408134412801216115210881024960896640320
1080179189201207221228245265276276276
1024188199211218232240258279290290290
960201212225232247256275297309309309
800239252268276294304327353368368368
512363384407420448463497537559559559
2566767157587828348639261000104210421042
12811901258133313751466151616281758183018301830
maximum frame rate (fps) at NrOfProcessingLines="38," shutter="1us
DY/DX1408134412801216115210881024960896640320
1080174184195201215222239258269269269
1024183194205212226234251271282282282
960195206218225240248266288300300300
800230243258266284294315341355355355
512344363385397424439471509530530530
256612647687708755781839906943943943
12810051062112611621239128113761485154715471547

Note

Note Sign

  • The measurements were done without any other CPU load. Parallel image processing tasks may lead to a lower framerate.
  • These values are only reachable if image capturing is deactivated.

1.1.2 Measurement specifications

VC offers a wide range of models of VC nano 3D-Z sensors concerning field of view and resolution. The following table shows some examples. For additional models see the links below. Please contact us for custom designs.

VC nano 3D-Z model range
Model (focal distance [mm] / angle [deg])(8/30) regular(8/34) regular(8/30) large(8/34) large(8/30) xlarge(8/34) xlarge(8/30) xxlarge(8/34) xxlarge(6/32) regular
Minimal distance Z [mm]908017015028524546040070
Maximal distance Z [mm]24519547037578562512851020285
Min. horizontal field of view X [mm]656513012021520035032580
Max. horizontal field of view X [mm]150125295240495400810660230
Resolution X Min [µm]605011010017016028026070
Resolution X Max [µm]120100240190390320640520190
Resolution Z Min [µm]101020203030404010
Resolution Z Max [µm]403080601309022015070

A more comprehensive list of possible models:

VC nano 3D Z 6/xx regular

VC nano 3D Z 8/xx regular

VC nano 3D Z 12/xx regular

VC nano 3D Z 6/xx large

VC nano 3D Z 8/xx large

VC nano 3D Z 12/xx large

VC nano 3D Z 6/xx xlarge

VC nano 3D Z 8/xx xlarge

VC nano 3D Z 12/xx xlarge

VC nano 3D Z 8/xx xxlarge

VC nano 3D Z 12/xx xxlarge

2 Hardware Interfaces

Connector Positions

The VC nano 3D-Z camera incorporates the following connector interfaces:

Nomenclature for Connectors
ConnectorDescription
J0Power Connector
JEEthernet Connector

A detailled description of the connectors follows below.

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 ViewPinSignalLevelCable Standard Color
socket_power1Main Power Supply+24Vbrown
2Common GroundGNDblue
3INP 0 or Laser Enable+5–24Vwhite
4OUT 0+24Vgreen
5INP 1 or ENC Z or Trigger Enable+5–24Vpink
6OUT 1+24Vyellow
7OUT 2+24Vblack
8INP 2 or ENC A or TrigIn+5–24Vgrey
9OUT 3 or TrigOut [1]+24Vred
10INP 3 or ENC /B+5–24Vpurple
11INP 4 or ENC B+5–24Vgrey/pink
12INP 5 or ENC /A+5–24Vred/blue
[1]TrigOut only supported at custom OEM versions.

All outputs are high-side switches, 24V, 400mA max.

All inputs and encoder inputs are 5-24V, 3mA, 200kHz max.

Signal Description
SignalDescription
INP 0 – INP 5PLC inputs.
OUT 0 – OUT 3PLC outputs.
Laser EnableHardware safety signal for the activation of the laser, must be set to high to enable the laser. It completely shuts down the power supply of the laser. Feature depending on hardware option. Does not influence triggering.
TrigInExternal trigger for image capture.
Trigger EnableExternal signal to activate capturing, must be set to high for the complete capturing process. If signal is set to low, triggers will be blocked.
ENC A, ENC /A, ENC B, ENC /B, ENC ZEncoder signals.
TrigOutExternal trigger output, only supported at OEM custom versions; Other versions will be inaccurate!

Trigger Schematics

If the Laser Warden is used and no Laser Enable is given, the capture will be done nevertheless but without active laser.

Laser Power Supply Control Schematics

2.1.2 Electrical Specification: Camera Power Supply

Voltage/Current Overview
WhatHow much
Nominal Voltage+24V
Absolute Maximum Voltage Limit+32V
Minimum recommended Operating voltage21.6V
Maximum recommended Operating voltage26.4V
Operating Current (Typical)260mA
Operating Current (Maximum)300mA
Nominal Power Consumption (Typical)6.5W
Nominal Power Consumption (Maximum)7.2W

2.1.3 Electrical Specification: Digital PLC I/O, Encoder

Electrical Specifications
Separation of PLC/trigger output voltagePLC outputs supply not separated from power supply
PLC Input Voltage+5–24V
Input Current (max)3mA, Threshold: Positive: +1.3mA typ., Negative: 0.7mA typ.
PLC Output Voltage24V
PLC Output Current (max)4 x 400 mA Max total of all outputs: 1A
Max Current for 1 Power / PLC connector pin400 mA
LoadsResistive, inductive and capacitive possible
Output ProtectionYes: short circuit, overcurrent, temperature
Power failure detectionYes, power failure detected if total PLC current > 1A

Warning

Warning SignIf power failure is detected, all PLC outputs may switch off regardless of their output state for hardware protection.

2.1.3.1 Connection of PLC, Encoder inputs VC nano 3D-Z Series

Connection of PLC Inputs

2.1.3.2 Connection of PLC outputs VC nano 3D-Z Series

Connection of PLC Outputs

2.1.4 Encoder input specification VC nano 3D-Z Series

It is possible to connect the following encoder signals: ENC A, ENC /A, ENC B, ENC /B, ENC Z. There is no connection provided for signal ENC /Z.

Timings for Encoder Pins

Supported Encoder Connection Configurations
ENC AENC /AENC BENC /BENC ZRemarks
XNot recommended
XX 
XXOnly recommended for cables < 5m
XXXOnly recommended for cables < 5m
XXXXMost noise tolerant
XXXXXMost noise tolerant

Due to noise and signal bouncing the configuration using only ENC A signal is not recommended.

Pins not used for the encoder can be used as GPIO inputs.

It is possible to swap the signals A and B per software.

The maximum encoder frequency is limited to 200 kHz.

Warning

Warning SignIf the ENC Z signal is used, but the full-step resolution of the encoder is not programmed correctly, triggering may stop working after some occurences.

2.1.4.1 Encoder Counter

Encoder Counter

All internal encoder values represent positions with microstep resolution: A counter is used internally for counting the full-steps (Bits 31 to 2), whereas the microsteps (Bits 2 to 0) are directly derived from the encoder signals ENC A and ENC B.

The ENC Z signal is detected during microsteps 1 and 2. It resets the full-step counter without resetting the value of the microstep: I.e. the output value during reset can be 0, 1, 2 or 3 depending on the microstep position of the encoder.

If the ENC Z signal is used, the user must program the full-step resolution of the encoder for correct operation, else triggers may not work anymore after some cycles. This number is usually documented at the data sheet of the encoder device. The encoder counts even before the first ENC Z signal is detected. Until then the encoder counter value may be considered as invalid. It is a common practice to calibrate the encoder, moving it to a zero position (reference) first. For your convenience the GPIO input signal 28 is provided indicating that a first ENC Z impulse has been detected. Loss of calibration is indicated if the GPIO input signal 27 is set. This may happen if the ENC Z signal is inconsistent with the full-step resolution. This may occur due to noise, broken cable or a wrong setting for the encoder full-step resolution.

The encoder position at the image trigger is stored in memory for possible later reference.

Note

Note SignIn case of doubt, the correct programming of the encoder's full-step resolution is verifyable over the GPIO signal 27.

2.1.4.2 Encoder Trigger

Scanline Triggering for K = 5

This internal hardware module allows for the generation of triggers every K microsteps (see figure). It allows to control the spacing of the scanlines with high resolution.

At very low encoder speed the encoder position may occasionally move slightly backwards. In this case there will be no trigger until the encoder reaches the next valid trigger position in forward direction.

Although the encoder trigger is internal, for the image acquisition it acts as like an 'external trigger'. Triggers may be lost during the image acquisition time.

At startup time the system is in an uncalibrated state. This state can also be re-entered when the program 'vcio' is called without the option '-R'. When the first ENC Z signal in positive direction occurs, the system is calibrated, i.e. the encoder position is set to zero plus the current microstep and the next trigger position is set as follows:

trigger position = microstep + trigger increment + trigger offset.

The re-entering done at 'vcio' is a pseudo-calibration like using the Z signal at this encoder position which is all that is necessary for systems without an ENC Z signal.

If the ENC Z signalling is active, each incoming ENC Z signal resets the encoder position counter to zero plus the current microstep, in contrast to the trigger position which is only reset at calibration time.

Example for encoder/trigger acting

Example

Example SignGiven the encoder full-step resolution is 8 and the trigger increment 3.

and the last trigger position of the first revolution is 30. The encoder counter then counts to encoder position 31 and wraps around to 0.

The following trigger signals then occur at positions: 1, 4, 7, …

Note

Note SignIf increment plus offset is greater than or equals the full-step resolution times 4 trigger signals may never occur.

The encoder does not require an ENC Z signal. Such a system is called an uncalibrated system. It produces the trigger signals relative to a virtual zero which was set at the start of the system and can be set manually by calling 'vcio'. For systems using the ENC Z signal the situation is similar up to the point where the ENC Z signal occurs. I.e. there may be a number of uncalibrated trigger impulses before the occurrence of the ENC Z signal. After the occurrence of the ENC Z signal the system is calibrated, i.e. the trigger impulses are relative to the absolute zero set by the ENC Z signal at calibration time. The GPIO input signal 28 is provided indicating that a first ENC Z impulse has been detected.

Note

Note SignAlways check the direction of the encoder movement if no or not enough trigger impulses occur. You can change the interpretation of the direction via the 'vcio' program.

Warning

Warning SignDuring image acquisition, additional triggers may be lost.

2.2 Ethernet Connector JE

2.2.1 JE Pin Assignment

Pin Assignment of JE Connector (M12 X-Coding Binder 09-3782-91-08 - female)
Camera Socket Rear ViewPinSignal
socket_eth1ETH_A_p
2ETH_A_n
3ETH_B_p
4ETH_B_n
5ETH_D_p
6ETH_D_n
7ETH_C_n
8ETH_C_p

2.3 Electrical Specification: Laser

Laser Information
Laser class2
Power<100mW
Wave lenght450nm
Maximum pulse duration100us
Maximum duty cycle1:7

If the acquisition time exceeds the maximum pulse duration of the laser, the laser will be switched off.

The duty cycle is limited to 1:7, i.e. the off-state is six times longer than the on-state for the laser output.

Example

Example Sign100 us pulse duration, 600 us cool down duration.

2.4 Status LEDs

The VC nano 3D-Z Smart Cameras feature 4 LEDs providing status information as listed at the following table.

Status LEDMeaning if light is turned on
POW: Power ONThe camera system is powered.
ON: Laser ONThe laser emits light.
OVL: Laser OverloadThe laser does not emit light due to excess of the maximum allowed acquisiton time.
EN: Laser PermissionThe laser does not emit light due to missing permission.
STA: TriggerToggles on/off for each internal encoder trigger.

Status LED Positions

3 Software Interfaces

3.1 GPIOs

Connector Assignment of GPIOs
GPIO Nr.ConnectorPin DesignatorUsabilityRemark
0J0OUT 0Output
1J0OUT 1Output
2J0OUT 2Output
3J0OUT 3OutputIn case OUT 3 is configured as TrigOut, this GPIO inverts the polarity of the signal if set.
4INTERNALLaser enableOutputActivates laser power supply if set to 1, active only if external Laser Warden laser enable is not active.
5
6
7
8
9
10J0INP 0Input
11J0INP 1Input
12J0INP 2Input
13J0INP 3Input
14J0INP 4Input
15J0INP 5Input
16
17
18
19
20
21
22
23
24
25
26
27INTERNALCounter mismatch detectorInputSet to 1 if ENC Z impulse detected while internal counter not 0, requires encoder counter reset to be cleared. Nevertheless the counter will be reset to zero.
28INTERNALEncoder calibration doneInputSet to 1 after first ENC Z impulse detected. Used to indicate the validity of the encoder counter values.
29INTERNALMALFUNCTIONInput
30
31(Out)
31(In )

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.

As an alternative the program called 'vcgpio' can be used for convenience. Sample usage instructions are provided here, but always refer to the instructions of your version:

08:11:57[root@VC-Z] ~ #vcgpio

VCGPIO v.1.0.0.- VCLinux Camera GPIO Setter/Getter.

Usage: vcgpio [-w val] [-f] <GPIO Nr.>

-wWrite the value given, valid values are 0 and 1. If this switch is not provided, a read operation will be done.
-fForces Operation. If a GPIO should be written, but the GPIO is configured as input, this switch will change the GPIO to act as an output and write the value. Forced read operations reconfigure the GPIO to be an input.

There are also wrapper functions provided at the libvclinux. Refer to its documentation.

3.2 Encoder Configuration

The program named 'vcio' can be used to setup the encoder. It provides usage information if no parameter is given. Sample usage instructions are provided here, but always refer to the instructions of your version:

08:11:57[root@VC-Z] ~ #vcio

VCIO v.1.2.2.- VCLinux Camera I/O Configuration and Connection Setup.

Usage: /tmp/vcio [-r MaxPos ] [-i Inc ] [-t time] [-a] [-b] [(-z | -e)] [-s] [-d] [-l] [-R] [-x]

-rDefine the encoder full-step resolution here, see encoder data sheet, if not defined, use default value of 2048.
-iAfter the counter increments this count of microsteps, a trigger signal is being invoked which can be utilized by defining TRGSRC_EXT as trigger source. The least significant two bits represent the subincrement step. Note that counter resets to zero do not affect the state of the subincrements, i.e. after a reset the counter value can be 0, 1, 2 or 3. If not defined, use default value of 1.
-omicrostep offset for first trigger after calibration, first trigger occurs at microstep position increment (-i) plus offset (-o) plus 3. If not defined, use default value of 0.
-aInterprets the signal at the corresponding PLCIn as encoder signal NA. On activation, connection is then mandatory.
-bInterprets the signal at the corresponding PLCIn as encoder signal NB. On activation, connection is then mandatory.
-zInterprets the signal at the corresponding PLCIn as encoder signal Z. On activation, connection is then mandatory. The switches -z and -e may never be set simultaneously.
-eTurn on Trigger Warden: The trigger signal is suppressed until the corresponding PLCIn signal is high active. The switches -z and -e may never be set simultaneously.
-sChanges rotation direction (swaps signal A and B).
-dTurns off the encoder signal B. Beware that just using signal A as increment, jitter may be present.
-lTurn on Laser Warden: Laser is only activatable if the corresponding PLCIn is active. There are camera versions which do not allow the deactivation of the laser warden, and they act as if this parameter is always applied.
-xPut sensor trigger output signal also to gpio Nr. 3; only for custom OEM versions, otherwise the signal is inaccurate!
-tTime used to debounce encoder input source, 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. If not defined, use default value of 10000.
-RSuppresses reset of encoder hardware (GPIO Nr. 27, 28 and counter val- ue will then remain unchanged)

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

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!

Default Settings for Wardens
TargetDefault Value
Trigger WardenInactive
Laser WardenInactive for cameras where the Laser Warden can be turned off, active else.

4 Accessories

4.1 Camera order numbers

VC nano 3D-Z Cameras
Order NumberProduct / Service description
VK002861VC nano 3D-Z 830
VK003122VC nano 3D-Z 830 - Laser Safety

For other models please contact us.

5 Appendix A: Dimensions VC nano 3D-Z Series

Dimensions of VC nano 3D Z Series - Regular model

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