RPU104 Vision System
Key Features:
- High Performance NVIDIA AI
- Rugged design
- Camera controls and triggers
- Large variety of IO interfaces
- CoaXPress 2.0 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 2.0 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 a M.2 E slot for WIFI & BT sloth.
All these features makes the RPU104 ideally suited for industrial, defense and aerospace Machine Vision Systems and applications.
System Technical Data
General Information
| Feature | |
| 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 |
| Certifications | |
| 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
| 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 2.0 (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):
| |
| Raw | ||
| Mono8, Mono10, Mono12, Mono14, Mono16 | ||
| BayerXX8, BayerXX10, BayerXX12, BayerXX14, BayerXX16 where XX = GR, RG, GB, | ||
| or BG | ||
| RGB8, RGB10, RGB12, RGB14, RGB16 | ||
| RGBA8, RGBA10, RGBA12, RGBA14, RGBA16 | ||
| 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_411_16 | ||
| YCbCr601_422_8, YCbCr601_422_10, YCbCr601_422_12, YCbCr601_422_14, | ||
| YCbCr601_422_16 | ||
| YCbCr601_444_8, YCbCr601_444_10, YCbCr601_444_12, YCbCr601_444_14, | ||
| YCbCr601_444_16 | ||
| 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 | |
| Software | ||
| 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 | |
| Compilers: | ||
| 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 | ||
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