RPU104 Vision System


Key Features:

  • High Performance NVIDIA AI
  • Rugged design
  • Camera controls and triggers
  • Large variety of IO interfaces
  • CoaXPress v2.0 compliant
  • Power over CoaXPress with 13W per link
  • Multiple camera synchronization
  • Multiple Frame Grabbers synchronization
  • Micro-BNC connectors for CoaXPress links
  • GUI Interface
  • Supporting ARM Linux OS
  • API for custom application development
  • Gen<i>Cam compliant
  • GenTL support

Ordering Code: KY-RPU104

The RPU104 is a complete system consisting of Nvidia’s Jetson AGX Xavier, KAYA’s world-class Frame Grabber, supporting the CoaXPress v2.0 standard and a proprietary carrier board binding them together to create an independent system that is rugged, reliable, and particularly resistant to shock and vibrations at a wide temperature range.

Connectivity will never be an issue with a D-Sub connector, Auxiliary power input, 2 HDMI outputs, USB 2 and 3 connectors (2 of each), 2 serial RS232 (or RS422), 4 MIPI-CSI, a single M.2 NVME module slot, PCIe/104 stack down connector, an audio interface as well as an M.2 E slot for WIFI & BT sloth.

All these features make the RPU104 ideally suited for industrial, defense, and aerospace Machine Vision Systems and applications.


System Technical Data

General Information

Cooling method Conduction cooling and passive heat dissipation
Connectors Ports 0 through 3 via x4 extended Micro-BNC female connectors cables
x1 External 26pin  I/O connector
2x HDMI outputs
2x USB 3 interfaces
2x Serial RS232/RS422 (selectable) interfaces
4x MIPI-CSI 4-Lane interfaces
1x Gigabit Ethernet interface
1x M.2 E for WIFI & Bluetooth module slot
1x M.2 NVME module slot
PCIe/104 stack down connector
1x Audio interface
Micro SD card
Dimensions L 115.7 mm x W 111.5 mm x H 55.6 mm
L 4.55 in x W 4.39 in x H 2.19 in
Weight 560gr
Power consumption 45W @ full performance
Environmental Conditions
Operating ambient air temperature -40°C to TBD°C / -40°F to TBD°F
Operating ambient air humidity 10% to 90% RH non-condensing
Storage ambient air temperature -60°C to TBD°C / -76°F to TBD°F
Storage ambient air humidity 10% to 90% RH non-condensing
Shock/Vibration MIL-STD-810G
Electromagnetic – EMC standards The European Council EMC Directive 2004/108/EC
The Unites States FCC rule 47 CFR 15
EMC – Emission EN 55022:2010 Class B
FCC 47 Part 15 Class B
EMC – Immunity EN 55024:2010 Class B
EN 61000-4-3
EN 61000-4-4
EN 61000-4-6
Flammability PCB compliant with UL 94 V-0
RoHS Compliant with the European Union Directive 2011/65/EU (RoHS2)
REACH Compliant with the European Union Regulation No 1907/2006
WEEE Must be disposed of separately from normal household waste and must be recycled
according to local regulations




Jetson AGX Xavier

GPU 512-core Volta GPU with Tensor Cores
CPU 8-core ARM v8.2 64-bit CPU, 8MB L2 + 4MB L3
Memory 32GB 256-Bit LPDDR4x | 137GB/s
Storage 32GB eMMC 5.1
DL accelerator (2x) NVDLA Engines
Vision accelerator 7-way VLIW Vision Processor
Encoder/decoder (2x) 4Kp60 | HEVC/(2x) 4Kp60 | 12-Bit Support


Komodo II CoaXPress PCIe/104

Host Bus
Standard PCI Express 3.0
Link width 8 lanes, 1, 2 or 4 lanes with reduced performance
Link speed 8.0 GT/s (PCIe 3.0)
5.0 GT/s (PCIe 2.0) with reduced performance
Maximum payload size 512 bytes
DMA 32- and 64-bit
Scatter gather support
Physical address support (GPU transfers)
Peak delivery bandwidth 7,880 MB/s
Effective (sustained) delivery bandwidth 6,710 MB/s (Host PC motherboard dependent)
Power consumption TBD
Camera / Video Inputs
Interface standard(s) CoaXPress v2.0 (CoaXPress 1.1 backward compatible)
Status LEDs 1 bicolor status LED per connector
4 System status LEDs
Number of cameras Up to 4
Number of links per Single camera Up to 4
Synchronization between cameras Yes
Line-scan cameras supported Yes
MAX aggregated camera data transfer rate 50 Gbit/s
Supported CXP down-connection speeds 1.25 GT/s (CXP-1) 6.25 GT/s (CXP-6)
2.5 GT/s (CXP-2) 10 GT/s (CXP-10)
3.125 GT/s (CXP-3) 12.5 GT/s (CXP-12)
5 GT/s (CXP-5)
Number of data streams (per camera) 1 data stream per camera
Maximum stream packet size 8.192 bytes
PoCXP (power over CoaXPress) PoCXP Safe Power
13 W of 24V DC regulated power per CoaXPress connector
PoCXP Device detection and automatic power-on
Overload and short-circuit protections
On-board 12V to 24V DC/DC converter
Camera types Area-scan cameras:
Gray-scale and color (RGB and Bayer CFA)
Single-tap (1X-1Y) progressive-scan
Line-scan cameras:
Gray-scale and color RGB
Camera pixel formats supported Raw, Monochrome, Bayer, RGB, YUV, YCbCr and RGBA (PFNC names):



Mono8, Mono10, Mono12, Mono14, Mono16
BayerXX8, BayerXX10, BayerXX12, BayerXX14, BayerXX16 where XX = GR, RG, GB,
or BG
RGB8, RGB10, RGB12, RGB14, RGB16
YUV411_8, YUV411_10, YUV411_12, YUV411_14, YUV411_16
YUV422_8, YUV422_10, YUV422_12, YUV422_14, YUV422_16
YUV444_8, YUV444_10, YUV444_12, YUV444_14, YUV444_16
YCbCr601_411_8, YCbCr601_411_10, YCbCr601_411_12, YCbCr601_411_14,
YCbCr601_422_8, YCbCr601_422_10, YCbCr601_422_12, YCbCr601_422_14,
YCbCr601_444_8, YCbCr601_444_10, YCbCr601_444_12, YCbCr601_444_14,
Area-Scan Camera Control
Trigger Precise control of asynchronous reset cameras, with exposure control.
Support of camera exposure/readout overlap.
Support of triggering from encoder or timer.
Support of external hardware trigger, with optional delay, filtering and trigger decimation.
Strobe Accurate control of the strobe position for strobe light sources. Support of early and late
strobe pulses.
Line-Scan Camera Control
Scan/page trigger Precise control of start-of-scan and end-of-scan triggers.
Support of external hardware trigger, with optional delay and filtering.
Support of triggering from encoder.
Support of infinite acquisition without missing lines.
Line trigger Support for quadrature motion encoders, with programmable filters, selection of acquisition
direction and backward motion compensation.
Line strobe Accurate control of the strobe position for strobe light sources.
On-Board Processing
On-board memory 2GByte DDR4
Bayer De-Mosaic Full 16bit resolution
Bilinear 3×3
Bilinear 3×2 for linescan with gradient correction
Color transformation Full 16bit resolution 18bit coefficients table:
Color space conversion
Gain and Offset
Decimation Line skip
Additional features Unpacking of 10-/12-/14-bit to 16-bit with justification to LSB
Frame timestamp 64bit with 8ns precision
Data stream statistics Measurement of:
Frame/Line rate
CRC Errors
Dropped frames
Received packets
Test packets
Event signaling and counting The application software can be notified of the occurrence of various events:
Newly acquired buffers
Camera and Illumination control events
I/O events
Timer events
Encoder events
General Purpose Inputs and Outputs
Number of lines 20 I/O lines:
2 differential inputs
2 differential outputs
4 singled-ended TTL inputs/outputs
4 singled-ended LVTTL inputs/outputs
4 opto-isolated inputs
4 opto-isolated outputs
Usage Any System I/O input lines can be connected to any I/O line
Any I/O line can be used to decode A/B and Z signals of a motion encoder
Any I/O line can generate any trigger event
Any I/O line can trigger a timer
Electrical specifications Differential lines – LVDS compatible
TTL lines: 5V TTL compliant
LVTTL lines: 3.3V LVTTL compliant
Isolated lines: opto-isolated lines with voltage range up to 30V
Filter control Glitch removal filter available on all System I/O input lines
Configurable filter time constants:
for DIN and TTLIO lines: 50 ns, 100 ns, 200 ns, 500 ns,1 µs
for IN lines: 500 ns, 1 µs, 2 µs, 5 µs, 10 µs
Polarity control Yes
Encoders 4 quadrature encoders with A/B and Z inputs
32bit position counter
Forward and backward counting
Position trigger support
Noise filtering
Timers 4 general purpose timers
Configurable delay and duration
32bit accumulator
Event reporting 64-bit system timestamp event reporting
Each I/O line can generate event on configurable edge
Each Timer can generate event
Each encoder can generate event
Frame Grabber Synchronization
Synchronization Precise area and line-scan cameras synchronization across different frame grabbers
Host PC operating system  Nvidia Xavier AGX
Gen<i>Cam Support of Gen<i>Cam 2.4 and 3.0
  Full camera and Frame Grabber parameters configuration
Buffer management Circular buffer support
  Accumulation of several frames/lines to single buffer to reduce CPU load
  CPU load
  DMA Buffer filling directly to system memory
GUI Supported for Windows and Linux OS
  Multi camera display and configuration
  Flexible buffer queuing
  Image/video recording and playback
Debugging capabilities Event logging
  Statistics counters
APIs Gen<i>Cam, GenTL producer libraries, C/C++, Python and NET bindings
  x86 and x86_64 dynamic library designed to be used with ISO-compliant C runtime
  Allows for development of x86 and x86_64 applications
  Plug-in modules for Matlab, HALCON, Cognex and Labview

Block diagram


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