External Hardware Trigger Settings for RICOH Stereo Cameras User’s Guide RICOH Industrial Solutions Inc. RICOH Stereo Camera External Hardware Trigger Settings SV-M-S1 User’s Guide Rev.1.0 1/10 Contents 1. FUNCTIONAL OVERVIEW ......................................................................................................................................... 3 [Timing Diagram]............................................................................................................................................................. 3 2. POWER CONNECTOR ............................................................................................................................................... 4 [Connector Specifications] .............................................................................................................................................. 4 [I/O Signal Terminal Circuit Diagrams] ............................................................................................................................ 5 3. INPUT SIGNAL DETAILS ............................................................................................................................................ 7 [Input Signal] ................................................................................................................................................................... 7 Filter Width (Input Pin * Debounce) ............................................................................................................................. 7 4. OUTPUT SIGNAL DETAILS ........................................................................................................................................ 8 [Output Signal] ................................................................................................................................................................ 8 Trigger State Signal (TrigState).................................................................................................................................... 8 Exposure Signal (Exposure) ........................................................................................................................................ 8 Strobe Signal (Strobe) .................................................................................................................................................. 9 External Input Signal (In-To-OutPin) ............................................................................................................................ 9 Fixed Signal (User) ...................................................................................................................................................... 9 5. HOW TO SET THE SOFTWARE ................................................................................................................................. 9 RICOH Stereo Camera External Hardware Trigger Settings SV-M-S1 User’s Guide Rev.1.0 2/10 1. FUNCTIONAL OVERVIEW This user’s guide describes the imaging functions using external hardware triggering. • Edge trigger function Imaging is performed using the edge of the external hardware trigger as a trigger. There is a trigger disabled period during which a new trigger signal is not accepted after the completion of the camera image output (approximately 32 ms). A new trigger signal is not accepted during the period from the trigger input to the end of the trigger disabled period. The time until the next trigger signal can be accepted varies depending on the setting. Do not change the external hardware trigger settings during the period from the trigger input to the end of the camera image output period. • Signal output function An arbitrary output signal can be output from each output pin. [Timing Diagram] Trigger disabled period 32 ms 32ms Software trigger input or or hardware trigger input strobedelay strobeontime Strobe signal Trigger state signal Filter delay (imaging command to the image sensor) trig_delay 233us 233 us Exposure signal Camera image output period Set exposure time Exposure Processing delay 2.4 2.4ms ms 32ms 32 ms RICOH Stereo Camera External Hardware Trigger Settings SV-M-S1 User’s Guide Rev.1.0 3/10 2. POWER CONNECTOR [Connector Specifications] Connector: HR10A-10R-12PB (Hirose) or an equivalent connector The connector doubles as the power supply. Prepare an IO power input and IO GND separately from the power input and power GND when connecting with an external device to, for example, input a trigger signal. Use an HR10A-10P-12S (Hirose) or an equivalent connector on the cable side. * For the output pins and input pins, it is recommended to configure the setting so the total Low period becomes shorter. The life of the Opt. Isolated device is consumed during the Low period. Pin Assignment Pin No. Signal Name Specification Default Setting Mode Polarity Debounce 1 Power GND GND - 2 Power input 12, 24 V ±10％ - 3 Output 1 Opt. Isolated User Active Low - 4 Output 2 Opt. Isolated User Active Low - 5 Output 3 Opt. Isolated User Active Low - 6 Output 4 Opt. Isolated User Active Low - 7 Output 5 Opt. Isolated User Active Low - 8 Input 1 Opt. Isolated None Active Low None 9 Input 2 10 Input 3 Active Low None 11 IO power input 12 IO GND Opt. Isolated, System reset, Active Low, - Minimum pulse width: 8 us Opt. Isolated None 3.3, 5.0, 12, 24 V ±10％ - IO GND - 12-pin connector RICOH Stereo Camera External Hardware Trigger Settings SV-M-S1 User’s Guide Rev.1.0 4/10 [I/O Signal Terminal Circuit Diagrams] • Input signal terminal circuit diagram SV-M-S1 IO power input 3.3V If Constant current circuit DC Input Maximum consumption of If is 6mA User Input Opto Isolator SHARP:PC400J00000F IO power input: I/O terminal power supply for inputting from a power signal connector (11-pin) • Response timing USER INPUT 50% INPUT 90% 10% ts td tf tr Response time Td [us] Tr [ns] Ts [ns] Tf [ns] 3.3 [V] 37.2 115 492 13.1 IO power input voltage 5.0 [V] 12 [V] 52.8 121 116 115 478 440 13.1 12.7 24 [V] 226 120 434 13.3 The response time values are reference values and do not guarantee the performance. RICOH Stereo Camera External Hardware Trigger Settings SV-M-S1 User’s Guide Rev.1.0 5/10 • Output signal terminal circuit diagram IO power input SV-M-S1 10k Ohm Output User Output Opto Isolator SHARP:PC354NJ0000F IO GND IO power input: I/O terminal power supply for inputting from a power signal connector (11-pin) • Response timing OUTPUT 90% 10% USER OUTPUT td ts tf tr Response time IO power input voltage Td [us] Tr [us] Ts [us] Tf [us] 3.3 [V] 32.0 195 2.8 8.6 5.0 [V] 34.0 160 3.0 11.4 12 [V] 33.4 100 4.0 22.4 24 [V] 11.4 71.3 4.6 52.5 The response time values are reference values and do not guarantee the performance. RICOH Stereo Camera External Hardware Trigger Settings SV-M-S1 User’s Guide Rev.1.0 6/10 3. INPUT SIGNAL DETAILS [Input Signal] For input trigger signals, the following settings need to be configured from either R-Stereo-GigE-Player or -SDK. A new trigger signal is not accepted during the period from the trigger input to the end of the trigger disabled period. When both input pins 1 and 3 are set to HardTrigger mode,the logical OR of both signals functions as the trigger signal. Setting Item Input Pin * Mode Input Pin * Polarity Input Pin * Debounce Setting Name Description Remark None Input signal disabled - HardTrigger Trigger signal input - Active Low Negative logic - Active High Positive logic - None Chattering elimination function OFF - MicroSec20 Eliminate signals of 20 us or less - MicroSec100 Eliminate signals of 100 us or less - MicroSec200 Eliminate signals of 200 us or less - MicroSec300 Eliminate signals of 300 us or less - * “*” represents an input pin number (1 or 3). Filter Width (Input Pin * Debounce) Set the filter width for eliminating the chattering that occurs when a signal is input from the input pin. A delay equivalent to the set filter width is generated. Input signal before elimination Input signal after elimination Delay (filter width) RICOH Stereo Camera External Hardware Trigger Settings SV-M-S1 User’s Guide Rev.1.0 7/10 4. OUTPUT SIGNAL DETAILS [Output Signal] For output signals, the following settings need to be configured from either R-Stereo-GigE-Player or -SDK. Setting Item Output Pin * Mode Output Pin * Polarity Setting Name Description Remark TrigState Trigger state Imaging command signal to the image sensor Exposure Exposure signal Exposure state of the image sensor Strobe Strobe signal Signal equivalent to the set OnTime and Delay values In-To-OutPin External input signal Input signal User Fixed signal - Active Low Negative logic - Active High Positive logic - * “*” represents an output pin number (1 to 5). Trigger State Signal (TrigState) Imaging command signal to the image sensor. The signal is asserted by a hardware or software trigger and negated by the completion of the image output from the camera. The delay value from the hardware or software trigger to the assertion start can be set by setting the trigger delay (trig_delay) value. Setting Item Setting Range Sensor Trigger Delay [nano sec] 0 to 2,000,000,000 ns Description Delay value from the trigger input to the start of the imaging command to the image sensor Software trigger input or or hardware trigger input trig_delay Trigger state signal (imaging command to the image sensor) Camera image output period Exposure Signal (Exposure) The exposure signal is asserted approximately 233 us after the rise of the trigger state signal. It is negated after the end of the exposure. It is asserted or negated according to the trigger state signal in free run mode. The set exposure time and the assertion period of the exposure signal are different because the image sensor uses a rolling shutter. Software trigger input oror hardware trigger input Trigger state signal (imaging command to the image sensor) Exposure signal 233us 233 us Set exposure time Exposure RICOH Stereo Camera External Hardware Trigger Settings SV-M-S1 User’s Guide Rev.1.0 8/10 Strobe Signal (Strobe) Signal for controlling external devices (such as lighting). Inputting a trigger signal (hardware or software) outputs the signal equivalent to the set delay value and assertion period. A new trigger signal is not accepted during the period from the trigger input to the end of the trigger disabled period and during the period until the completion of the strobe output. Software trigger input or or hardware trigger input strobedelay strobeontime Strobe signal Setting Item Setting Range Description Strobe Delay [nano sec] 0 to 2,000,000,000 ns Strobe signal delay value Strobe On-Time [nano sec] 0 to 2,000,000,000 ns Strobe signal assertion period Remark Delay value setting from the trigger input to the strobe signal assertion Strobe signal assertion period setting External Input Signal (In-To-OutPin) Outputs the signal that is input from the input pin (after eliminating the chattering). Either input 1 or input 3 must be selected for the pin used. Setting Item In-To-OutPin (Through Pin) Setting Name Description Input Pin 1 Outputs the signal that is input to input pin 1. Input Pin 3 Outputs the signal that is input to input pin 3. Fixed Signal (User) High Fixed or Low Fixed can be set in Polarity Setting. Polarity Setting Output Active High Low Fixed Active Low High Fixed 5. HOW TO SET THE SOFTWARE For an overview of R-Stereo-GigE-Player and -SDK, refer to the R-Stereo-GigE-Player User’s Guide and the -SDK documentation. RICOH Stereo Camera External Hardware Trigger Settings SV-M-S1 User’s Guide Rev.1.0 9/10 Revision History Rev Date 1.00 January 26, 2016 Changes Note Newly issued RICOH Industrial Solutions Inc. RICOH Stereo Camera External Hardware Trigger Settings SV-M-S1 User’s Guide Rev.1.0 10/10