IMAGO VisionCam XM User manual

Hardware Manual
"VisionCam XM"
Version 1.9 –May 2020

Contents Page 2 / 44
IMAGO Technologies GmbH
Strassheimer Str. 45; 61169 Friedberg; Germany; Tel. [phone]; Fax [phone]
[e-mail]; www.imago-technologies.com
Contents
1Handling and Safety Instructions.........................................................4
2Introduction............................................................................................5
Concept ............................................................................................................... 6
Operating Conditions......................................................................................... 8
3Interfaces..............................................................................................10
Power and I/O.................................................................................................... 10
100 Mbit/s Ethernet (M12 / IP65) ...................................................................... 11
1 Gbit/s Ethernet (M12 / IP65) .......................................................................... 12
1 Gbit/s Ethernet (RJ45 / IP20)......................................................................... 13
Signal LEDs....................................................................................................... 14
Digital I/O........................................................................................................... 15
LED Flash Controller........................................................................................ 16
RS-422................................................................................................................ 17
4Image Sensors.....................................................................................18
Aptina WVGA MT9V032M / MT9V032C............................................................ 19
Aptina WXGA MT9M021M / MT9M021C........................................................... 21
e2v SXGA EV76C560M / EV76C560C .............................................................. 23
e2v UXGA EV76C570M / EV76C570C .............................................................. 25
ON Semi. PYTHON 5000 NOIP3SN5000A........................................................ 27
AWAIBA Dragster DR-2k-7, DR-4k-7 ............................................................... 29
AWAIBA Dragster DR-4k-3.5, DR-8k-3.5 ......................................................... 31
AWAIBA Dragster DR-2x2k-7, DR-2x4k-7 ....................................................... 33
AWAIBA Dragster DR-2x2k-7-RGB, DR-2x4k-7-RGB..................................... 35
PROPHESEE CCVS1STMU0300A.................................................................... 37
5Mechanical Drawings ..........................................................................38
M12 100Mbit/s IP65........................................................................................... 38
RJ45 1 Gbit/s IP20............................................................................................. 39
M12 1Gbit/s IP65 ............................................................................................... 40
RJ45 1 Gbit/s Line Scan................................................................................... 41
Additional Information (Tubes and BFD for S-Mount)................................... 42
6Support.................................................................................................43

Contents Page 3 / 44
IMAGO Technologies GmbH
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[e-mail]; www.imago-technologies.com
7History..................................................................................................44

1Handling and Safety Instructions Page 4 / 44
IMAGO Technologies GmbH
Strassheimer Str. 45; 61169 Friedberg; Germany; Tel. [phone]; Fax [phone]
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1 Handling and Safety Instructions
Depending on the operating conditions, the housing temperature
can exceed 60 °C. There is a risk of injury!
Electrical installation should be executed without power applied to the de-
vice and connected devices.
EMC conformity according to EN/IEC 61000-6-2:2005 is qualified for cable
lengths ≤ 30 m.
Only open the housing if advised by IMAGO!
➔Warranty void if product is opened without authorization by IMAGO.
Please take special note of the voltage range which may be applied
to the device. Otherwise, permanent damage to the device may re-
sult!
Due to the characteristics and physical principles inside flash
memory, memory cards have a finite lifetime dictated by the num-
ber of write operations.
Therefore, take care of the regular write operations to prevent an
early flash damage.

2Introduction Page 5 / 44
IMAGO Technologies GmbH
Strassheimer Str. 45; 61169 Friedberg; Germany; Tel. [phone]; Fax [phone]
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2 Introduction
Thank you very much for your interest in our product VisionCam XM.
The purpose of this description is to provide as much information as possible about the
VisionCam XM. How should the connectors and plugs be connected? What is needed in
the periphery? These and other questions will be answered here. Should you have other
unanswered questions, do not hesitate to contact us via phone, fax or email.
The VisionCam XM is a specific smart camera derived from the VisionBox AGE-X series.
Therefore, the software library or exactly the API is identical to the VisionBox AGE-X. It’s
possible to develop one program which runs on an i7 AGE-X and on the VisionCam XM,
with only a simple rebuild.
The heart of the VisionCam XM is a very powerful dual core ARM Cortex-A15 which
brings your application to the next level. We deliver the camera with a modern Debian
based OS, which gives the customer the capabilities to use the poplar Linux programs/li-
braries, and at the moment Debian contains more than 40.000 packets! So, the customer
is able to use even very rare libraries in the same easy way.
The development for/on the VisionCam XM is identical to a normal x86 PC. It’s not neces-
sary to learn new skills.
Inside the VisionCam XM, there is a powerful and easily configurable RTCC (Real-Time
Communication Controller). This makes it possible to work/produce with signals without
any influence of the OS. For more details about what is possible, please have a look into
the software documentation.

2Introduction Page 6 / 44
IMAGO Technologies GmbH
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Concept
Camera Sensor:
oCMOS sensors up to 5 Megapixels and up to 60 fps at full resolution
oLine scan sensors up to 8k pixels
oHardware Bayer demosaicing without CPU load
1
oEvent-Based sensor up to 25 million events per second (for the sensor principle, refer to
https://support.prophesee.ai)
Real-Time Communication Controller
oControls vision- & automation-specific interfaces
▪Digital in- & outputs
▪Encoder
▪Camera Trigger
▪LED Controller
oContains functional units for controlling I/Os in real time:
▪Trigger unit: creation of trigger signals, derived from other inputs (e.g. encoder)
▪I/O Scheduler: applies values stored in a FIFO to outputs in real time (based on
trigger event, encoder position, or timer value)
▪Multiplexer: flexible connection of functional units with each other
oOperates independently from ARM processor and OS
oEasy-to-use high-level API for C++
LED Controller:
oUp to 2 A per strobe pulse with current regulation
oIntegrated LED ring light
oOutput for external LED light heads
Digital In- & Outputs:
oOpto-isolated
oStatus LEDs
oInput up to 5 MHz with adjustable debouncing
oOutputs up to 50 kHz
Ethernet network interface, available connector configurations:
oM12 4-pin D-coded female (100 Mbit/s, IP65)
oM12 8-pin X-coded female (1 Gbit/s, IP65)
oRJ45 / Modular 8P8C (1 Gbit/s, IP20)
Other Interfaces
oRS-232 interface
oOptional RS-422 in- & outputs (e.g. for Encoder)
oOptional support for Ethernet Fieldbus interfaces
Processor TI Sitara
o2× ARM Cortex-A15 1.5 GHz
o1 GB DDR3 RAM
oProgrammable Real-time Units (PRU)
Storage
oµSD card (SD, SDHC, SDXC)
1
Not available for the PYTHON 5000 sensor

2Introduction Page 7 / 44
IMAGO Technologies GmbH
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Housing
oPassive cooling without heat sink
oIP65 version available
o11 - 26 VDC power input
oLens mount options
▪Area scan: C-mount, CS-mount, S-mount and integrated lenses
▪Line scan: M42, L-mount, F-mount or C-mount
oµSD card under service hatch
TI AM572x
2x Cortex-A15
1.5 GHz
Real Time Clock
Temperature
Pluggable Image
Sensor
PCIe x2
UART
Control
I²C
µSDXC/HC-Card
Flash EPROM
64KB
I²C (B)
1GB DDR3
Memory
Trigger
Image Data / Sync
optional
optional
VisionCam XM
4× Opto-Out
1× RS-232
Ethernet Phy
DC-DC-Converter
Vin = 11V.. 26.4V
2× Opto-In
Flash-Unit
RS-422
3× In / 3× Out
FPGA
EP4CGX15
Supply and
I/O
Connector
M12
connector
Ethernet
Connector
LED Lighting
RS-422
HD D-Sub 15
Figure 1: VisionCam XM structure diagram

2Introduction Page 8 / 44
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[e-mail]; www.imago-technologies.com
Operating Conditions
Power Supply:
Parameter
Min
Typ.
Max
Unit
Supply Voltage
11
26.4
V
Supply Voltage for use with internal ring light
24
V
Supply Current2(@24V)
0.25
A
RS-232:
Parameter
Min
Typ.
Max
Unit
Signal Input Range
–25
25
V
Output Voltage Swing, all Outputs Loaded with 3 kΩ
to GND
5
5.4
V
Data Rate, RL= 3kOhm, CL= 1000 pF
1200
115200
bps
Digital Input:
Parameter
Min.
Typ.
Max.
Unit
Input Voltage
24
30
V
High Level Current Threshold
1
5
mA
Maximum Current Internal Limited
6
21
mA
Threshold Voltage
6
11
V
Signal Frequency
5
MHz
Digital Output:
Parameter
Min.
Typ.
Max.
Unit
Common VCC Supply Voltage
30
V
Output Current, Saturated Operation (VCE < 1 V)
10
20
mA
Turn-On Time (24 V Common VCC, 10 mA)
5
µs
Turn-Off Time (24 V Common VCC, 10 mA)
15
µs
Flash (Strobe) Unit:
Parameter
Min
Typ.
Max
Unit
Maximum Strobe Current
2
A
Strobe Current Step Size
10
mA
Minimum Flash Duration @ 2A
10
µs
Flash Duration Step Size
1
µs
Maximum Flash Duration is Limited to ~ 0.8W Power
Dissipation Inside the Flash Unit
2
Actual current draw depends on hardware configuration and CPU/system load

2Introduction Page 9 / 44
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RS-422:
Parameter
Min.
Typ.
Max.
Unit
Receiver Differential Input Threshold
-
200
200
mV
Receiver Input Hysteresis
45
mV
Receiver Data Rate
10
Mbps
Transmitter Differential Driver Output, RL= 100 Ω
2
V
Transmitter Differential Driver Output, open
3.3
V
Transmitter Data Rate
2
Mbps
5V supply Output Current
350
mA
12V supply Output Current
100
mA
Environment:
Parameter
Value
Dimensions L x W x H [mm x mm x mm]
See section 5: Mechanical Dra-
wings
Weight [g]
180 g …310 g
Operating Temperature [°C]
0 … +50
Operating Humidity [%, relative, non-condensing]
5 … 85
Storage Temperature [°C]
-30 … +70
Storage Humidity [%, relative, non-condensing]
5 … 95
International Protection Class
IP65 with M12 Ethernet connector,
IP20 with RJ45 Ethernet connector
Storage
Dimension: micro SD Card
Capacity: SD, SDHC, SDXC

3Interfaces Page 10 / 44
IMAGO Technologies GmbH
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[e-mail]; www.imago-technologies.com
3 Interfaces
Power and I/O
A 17-pin M12 A-coded male connector is used for power supply and I/O signals.
Pin Number
Function
1
Power supply GND
2
Power supply (11V –26.4V)
3
RS-232 TX
4
RS-232 RX
5
Digital IN0
6
Digital IN1
7
Digital IN GND
8
Digital OUT0
9
Digital OUT1
10
Digital OUT2
11
Digital OUT3
12
Digital OUT VCC
13
n.c.
14
n.c.
15
External LED current +
16
External LED current -
17
n.c.
We recommend using shielded cables, for example:
Length
Product
IMAGO
order code
1.5 m
Phoenix contact 1430284 “SAC-17P- 1,5-35T/FS SH SCO”
10004440
3 m
Phoenix contact 1430297 “SAC-17P- 3,0-35T/FS SH SCO”
10004441
5 m
Phoenix contact 1430307 “SAC-17P- 5,0-35T/FS SH SCO”
10004442
There are also angled and solder versions available.

3Interfaces Page 11 / 44
IMAGO Technologies GmbH
Strassheimer Str. 45; 61169 Friedberg; Germany; Tel. [phone]; Fax [phone]
[e-mail]; www.imago-technologies.com
100 Mbit/s Ethernet (M12 / IP65)
This option provides a 4-pin M12 D-coded female connector for Ethernet.
Pin Number
Function
1
TD+
2
RD+
3
TD-
4
RD-
We recommend using shielded cables, for example:
Length
Product
IMAGO
order code
1 m
Phoenix contact 1407360 “NBC-MSD/ 1,0-93E/R4AC SCO”
10004482
3 m
Phoenix contact 1403499 “VS-MSD-IP20-93E/3,0”
10004483
5 m
Phoenix contact 1407362 “NBC-MSD/ 5,0-93E/R4AC SCO”
10004484
There are also angled and solder versions available.

3Interfaces Page 12 / 44
IMAGO Technologies GmbH
Strassheimer Str. 45; 61169 Friedberg; Germany; Tel. [phone]; Fax [phone]
[e-mail]; www.imago-technologies.com
1 Gbit/s Ethernet (M12 / IP65)
This option provides an 8-pin M12 X-coded female connector for Ethernet.
Pin Number
Function
1
D1+
2
D1-
3
D2+
4
D2-
5
D4+
6
D4-
7
D3-
8
D3+
We recommend using shielded cables, for example:
Length
Product
IMAGO
order code
1 m
Phoenix contact 1407471 “NBC-MSX/ 1,0-94F/R4AC SCO”
10007049
2 m
Phoenix contact 1407472 “NBC-MSX/ 2,0-94F/R4AC SCO”
10007050
5 m
Phoenix contact 1407473 “NBC-MSX/ 5,0-94F/R4AC SCO”
10008076

3Interfaces Page 13 / 44
IMAGO Technologies GmbH
Strassheimer Str. 45; 61169 Friedberg; Germany; Tel. [phone]; Fax [phone]
[e-mail]; www.imago-technologies.com
1 Gbit/s Ethernet (RJ45 / IP20)
This option provides an 8P8C modular jack (RJ45) for Ethernet.
Pin Number
Function
1
D1+
2
D1-
3
D2+
4
D3+
5
D3-
6
D2-
7
D4+
8
D4-
LED
Function
Left
Ethernet activity (blinking)
Right
Link status (up / down)
We recommend using shielded Cat 5e cables.

3Interfaces Page 14 / 44
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Signal LEDs
LED
Function Green
Function Red / Yellow
ETH3
Ethernet link is up
Ethernet activity (blinking)
EXP
Sensor exposure active
STR
Internal strobe active
External strobe output active
USR1
Programmable by SDK (LED 2)
USR0
Programmable by SDK (LED 0)
Programmable by SDK (LED 1)
POW
Power on, FPGA configured
Power on, FPGA not configured
I0 … I1
Digital input status
O0 … O3
Digital output status
3
The ETH LED is not available for the RJ45 connector version.

3Interfaces Page 15 / 44
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Digital I/O
The digital I/O interface provides two opto-isolated inputs and four opto-isolated outputs.
The input group is electrically isolated from the output group. Both groups are also isolated
from other VisionCam circuits and interfaces.
The following illustration shows the corresponding electrical equivalent circuit:
Galvanic
isolation
OUT 0
VCC
OUT 3
OUT 1
Galvanic isolation
GND
Current
Limit
Current
Limit
...
IN 0
IN 1 Real-Time
Communication
Controller
(FPGA)
VisionCam
...
...
Figure 2: Simplified digital I/O circuit
The input group requires external connection of a shared GND reference.
For the output group, the user must provide a shared supply voltage to the VCC pin. See
chapter 3.1 for the connector pinout.

3Interfaces Page 16 / 44
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LED Flash Controller
The LED Flash Controller is designed as a current source. Output current, flash duration
and other parameters can be set via software.
The following diagram shows the simplified internal structure for the LED Controller:
CPU
Real-Time
Communication
Controller
(FPGA)
Output Channel
Filter
Current
Regulation
Ext. LED
Lighting
Unit
+24V
Current
reference
Strobe
enable
Current
value
LED +
RSense
LED -
GND
Power
Supply
VisionCam
Int. LED
ring-light
Figure 3: LED Controller structure
The software API allows selection between the internal ring-light (optional) and the exter-
nal connector. See chapter 3.1 for connector pinout.
When initializing the strobe controller using the API, the user has to specify a load voltage
for the given current value (see SetLimits() and SetFixedCurrent()). This information
is used to protect the internal circuit against overload by increasing the minimum OFF-
time or by limiting the current value. If there load voltage is not exactly known, lower
values should be used because this provides more protection.
With the internal ring-light, the following load voltages should be used:
Current (mA)
Load voltage (V)
100…499
8
500…999
10
1000…1499
12
1500…1999
15
2000
17

3Interfaces Page 17 / 44
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RS-422
The optional RS-422 interface uses a D-SUB15 HD connector and provides three input
and three output signals. The inputs are typically used with a rotary encoder for example.
Pin
Function
Pin
Function
1
In1-
9
Out2+
2
In2-
10
Out1+
3
Out2-
11
In0+
4
Out1-
12
In0-
5
+5 V
13
Out0+
6
GND
14
Out0-
7
In1+
15
+12 V
8
In2+
Connector pins 5 and 15 provide a 5 V / 12 V power supply for RS-422 encoders. See
chapter 2.2 for current limits.

4Image Sensors Page 18 / 44
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4 Image Sensors
This chapter will give you a short overview about the available sensors for the Vision-
Cam XM. On the next pages you will find more detailed information for each sensor.
Some special sensor features are not available with the general purpose, please ask the
IMAGO Support for using this.
Area Scan Sensors:
Line Scan Sensors:
ams Dragster
DR-2k-7
ams Dragster
DR-4k-7
ams Dragster
DR-4k-3.5
ams Dragster
DR-8k-3.5
Number of pixels
1 × 2048
1 × 4096
1 × 4096
1 × 8192
Pixel size
7 µm × 7 µm
7 µm × 7 µm
3.5 µm × 3.5 µm
3.5 µm × 3.5 µm
Sensitive length
14.34 mm
28.67 mm
14.34 mm
28.67 mm
Max. line rate
80 kHz
80 kHz
80 kHz
46 kHz
Type
Monochrome
Monochrome
Monochrome
Monochrome
Dual-Line Scan Sensors:
ams Dragster
DR-2x2k-7
ams Dragster
DR-2x4k-7
ams Dragster
DR-2x2k-7-RGB
ams Dragster
DR-2x4k-7-RGB
Number of pixels
2 × 2048
2 × 4096
2 × 2048
2 × 4096
Pixel size
7 µm × 7 µm
7 µm × 7 µm
7 µm × 7 µm
7 µm × 7 µm
Sensitive length
14.34 mm
28.67 mm
14.34 mm
28.67 mm
Max. scan rate
80 kHz
46 kHz
80 kHz
46 kHz
Type
Monochrome
Monochrome
Bayer filter
Bayer filter
Event-Based Sensor:
Aptina WVGA
MT9V032M
MT9V032C
Aptina SXGA
MT9M021M
MT9M021C
e2v SXGA
EV76C560M
EV76C560C
e2v UXGA
EV76C570M
EV76C570C
ON Semi.
NOIP3SN5000A
Optical for-
mat
1/3”
1/3”
1/1.8”
1/1.8”
1.1”
Resolution
752 × 480
1280 × 960
1280 × 1024
1600 × 1200
2592 x 2048
Framerate
(full resolu-
tion)
63 fps
45 fps
45 fps
39 fps
40 fps
Framerate
(VGA)
74 fps
85 fps
95 fps
92 fps
460 fps
Type
Monochrome or
Bayer pattern
Monochrome or
Bayer pattern
Monochrome or
Bayer pattern
Monochrome or
Bayer pattern
Monochrome or
Bayer pattern
CCVS1STMU0300A
Optical format
3/4’’ optical format (12mm diagonal)
Resolution
640x480 (VGA)
Event rate
(full resolution)
25 million events per second
Pixel size
15 µm × 15 µm

4Image Sensors Page 19 / 44
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Aptina WVGA MT9V032M / MT9V032C
Overview:
•Full resolution: 752 x 480
•Up to 63 fps
•Monochrome or RGB Bayer pattern
•Partial scan function (AOI) to increase
frame rate
e.g. ~74 fps @ VGA
•8-bit or 10-bit image data
•True Global Shutter
•Easy-to-use software API
Description
Sensor
Technology
CMOS
Optical Format
1/3"
Resolution
752 x 480 pixels
Framerate (full resolution)
63 fps
Partial Scan
Yes
Color
Monochrome or Bayer pattern
Pixel Size
6.0 µm x 6.0 µm
Pixel Defects
According to manufacturer’s specification
Processing
Pixel Clock
26.6 MHz
A/D Converter
10-bit or 12-bit with companding
Exposure
80 µs …2 s
Digital Gain
0.25x …3.75x
Test Image
Yes
Bayer demosaicing (MT9V032C)
Yes, 3x 8-bit RGB pixel output
Analog
Sensitivity
572 LSBs / 90 lux (10 bit)
DSNU
Typ. 2.3 LSBs
PRNU
Typ. 1.3 %
Dynamic Range
Typ. 54.4 dB
SNR
Typ. 37.3 dB
Trigger
Trigger Modes
Free Run, SW-Trigger, HW-Trigger via RTCC
Trigger Delay
1 µs …1 s
Exposure Indicator output
Yes

4Image Sensors Page 20 / 44
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Typical Quantum Efficiency –Color Version
Typical Quantum Efficiency –Monochrome Version