Automation Technology C5, C5-1280-GigE, C5-2040-GigE, C5-4090-GigE, C5-2040-4M-GigE User Manual
...
C5 Series
User Manual
for High Speed 3D Cameras
Rev 1.4
AT - Automation Technology GmbH
Copyright
© 2019 Automation Technology GmbH
All rights reserved. No part of this document shall be reproduced, stored in a retrieval
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or otherwise without consent in writing from the owners, AT-Automation Technology
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acknowledged. This document is subject to change without notification. All rights
reserved.
Table of Contents
TABLE OF CONTENTS ........................................................................................................................ 1
C5 SERIES OVERVIEW ........................................................................................................................ 5
Introduction ............................................................................................................................................................5
The C5 Series General Specifications .......................................................................................................................6
The Sensor Specifications .......................................................................................................................................... 8
C5-1280-GigE ........................................................................................................................................................ 8
C5-2040-GigE ........................................................................................................................................................ 9
C5-2040-4M-GigE ................................................................................................................................................ 10
C5-3360-GigE ...................................................................................................................................................... 11
C5-4090-GigE ...................................................................................................................................................... 12
The Sensors Spectral Response ............................................................................................................................... 13
Temperature Range (Operation/Storage) ............................................................................................................... 14
Heat Dissipation ...................................................................................................................................................... 14
General Guidelines for Heat Dissipation ............................................................................................................. 14
Using the C5 Heat Sink ........................................................................................................................................ 15
Mechanical Drawings .............................................................................................................................................. 16
C5-1280/2040/2040-4M/3360-GigE with M42x1 mount (Standard) ................................................................. 16
C5-4090-GigE with M42x1 mount (Standard) ..................................................................................................... 16
Part Number for C5 Series .................................................................................................................................. 16
C5-1280/2040/2040-4M-GigE with C-Mount Adapter (Option) ......................................................................... 17
C5-3360/4090-GigE with C-Mount Adapter (Option) ......................................................................................... 17
Part Number for C-Mount Adapter Option ......................................................................................................... 17
C5-1280/2040/2040-4M/3360-GigE with F-Mount Adapter (Option) ................................................................ 18
C5-4090-GigE with F-Mount Adapter (Option) ................................................................................................... 18
Part Number for F-Mount Adapter Option ......................................................................................................... 18
C5-1280/2040/2040-4M-GigE with integrated Scheimpflug Adapter (Option) .................................................. 19
C5-3360/4090-GigE with integrated Scheimpflug Adapter (Option) .................................................................. 19
Part Number for Scheimpflug Adapter Option ................................................................................................... 20
Lens Protection Tubes for the C5 Series.................................................................................................................. 21
C-Mount Lens Protection Tube with Ø 44mm .................................................................................................... 21
C-Mount Lens Protection Tube with Ø 55mm .................................................................................................... 21
Part Number for Lens Protection Tubes ............................................................................................................. 21
Subpixel Limitations ................................................................................................................................................ 22
C5 SERIES OPERATIONAL REFERENCE ............................................................................................. 23
Measuring Principle .............................................................................................................................................. 23
Geometry 1 ............................................................................................................................................................. 23
Geometry 2 ............................................................................................................................................................. 24
Geometry 3 ............................................................................................................................................................. 24
Geometry 4 ............................................................................................................................................................. 25
C5 Series User Manual Rev. 1.4 1
The C5 Sensor Algorithms ..................................................................................................................................... 26
The Image Mode (IMG) ........................................................................................................................................... 26
The Maximum Intensity Profile Mode (MAX) ......................................................................................................... 27
The Threshold Mode (TRSH) ................................................................................................................................... 28
The Center Of Gravity Mode (COG) ......................................................................................................................... 29
The FIR Peak Mode (FIR PEAK) ................................................................................................................................ 30
The FIR Filter Function .......................................................................................................................................... 31
The High Dynamic Range 3D Feature (HDR-3D) ..................................................................................................... 32
MultipleSlope Function ........................................................................................................................................... 32
Single Slope Mode (Default Mode) ..................................................................................................................... 33
Dual Slope Mode (1 Knee Point) ......................................................................................................................... 33
Triple Slope Mode (2 Knee Points) ...................................................................................................................... 33
Comparison of Slope Modes ............................................................................................................................... 34
Multi-Frame Readout Mode (NDR) ..................................................................................................................... 35
The Data Output Format ....................................................................................................................................... 36
The Data Channel Assignment DC0, DC1 and DC2 .................................................................................................. 36
The Output Frame Structure ................................................................................................................................... 38
Index Definition................................................................................................................................................... 39
Examples of Output Frame Structure ................................................................................................................. 39
The Advanced AOI Functions ................................................................................................................................ 42
AOI-Search ............................................................................................................................................................... 42
AOI-Tracking ............................................................................................................................................................ 42
The C5 Series Triggering Mode .............................................................................................................................. 43
Description of Profile Trigger Modes ...................................................................................................................... 43
Trigger Control – RS422 Resolver ............................................................................................................................ 44
Description of Modes for Triggering of Sequencer/Frame and Profile Acquisition ................................................ 46
The C5 Series Chunk Data Mode ........................................................................................................................... 48
General Description ................................................................................................................................................ 48
Payload Layout in Chunk Data Mode ...................................................................................................................... 49
XML Descriptors and ID’s ........................................................................................................................................ 50
Chunk Data Structure .............................................................................................................................................. 51
The GigE-Vision Events ......................................................................................................................................... 52
The Web Interface ................................................................................................................................................ 53
The External C5-IO-Panel (Breakout Board) .......................................................................................................... 55
Mechanical Drawings .............................................................................................................................................. 55
Clamp Configuration ............................................................................................................................................... 56
Mechanical Dimension ............................................................................................................................................ 57
The C5 Series I/O Schematics ................................................................................................................................ 58
I/O and Encoder with Differential TTL-Mode for RS422 (Standard) ....................................................................... 58
I/O and Encoder with Differential HTL-Mode for RS422 (Option) .......................................................................... 59
I/O and Encoder with Single Ended HTL or TTL Mode for RS422 (Option) .............................................................. 60
Part Number for I/O and Encoder Option ............................................................................................................... 61
Encoder / Resolver Input Specification ............................................................................................................... 61
Laser Connection with Analog and Digital Modulation ........................................................................................... 62
Master/Slave Connection ........................................................................................................................................ 63
Example configuration for Master/Slave Connection ......................................................................................... 63
2 C5 Series User Manual Rev. 1.4
The Digital Outputs ............................................................................................................................................... 64
The C5-GigE Interface ........................................................................................................................................... 65
The GigE Interface ................................................................................................................................................... 65
The I/O & Power Interface ...................................................................................................................................... 66
Description of LEDs ................................................................................................................................................. 67
The C5 Series Cables ............................................................................................................................................. 68
Cables for Power, I/O and Laser Control ................................................................................................................. 68
Wire Assignment of M12 17 pin Pigtail Cable ......................................................................................................... 69
Cables for GigE Interface ......................................................................................................................................... 70
Orientation of Angled Adapter Cable ...................................................................................................................... 72
The C5 Series GenICam Features ........................................................................................................................... 73
Device Control ......................................................................................................................................................... 73
Image Format Control ............................................................................................................................................. 73
Acquisition Control .................................................................................................................................................. 73
Camera Control ....................................................................................................................................................... 73
AOIs ..................................................................................................................................................................... 73
FIR Control .......................................................................................................................................................... 73
Mode and Algorithm Control .............................................................................................................................. 73
Sensor Control .................................................................................................................................................... 74
Data Output Channels ......................................................................................................................................... 74
Commands .......................................................................................................................................................... 74
Light Control ............................................................................................................................................................ 74
Camera IO ................................................................................................................................................................ 74
Trigger Control ........................................................................................................................................................ 75
RS422 Resolver ................................................................................................................................................... 75
AutoStart ............................................................................................................................................................. 75
Transport Layer Control .......................................................................................................................................... 75
GigE Vision .......................................................................................................................................................... 75
User Set Control ...................................................................................................................................................... 75
Chunk Data Control ................................................................................................................................................. 75
Event Control........................................................................................................................................................... 75
File Access Control .................................................................................................................................................. 75
Additional Features for Scatter Firmware ............................................................................................................. 76
C5-2040-SCT-GigE .................................................................................................................................................... 76
CXEXPLORER OVERVIEW ................................................................................................................. 80
The cxExplorer ...................................................................................................................................................... 80
cxExplorer Features .............................................................................................................................................. 81
Image Wizard .......................................................................................................................................................... 81
Image Mode ............................................................................................................................................................ 82
3D Wizard ................................................................................................................................................................ 82
3D Mode .................................................................................................................................................................. 83
QUICKSTART A C5 CAMERA ............................................................................................................. 84
CXSOFTWARE DEVELOPMENT KIT ................................................................................................... 85
SERVICE INFORMATION .................................................................................................................. 86
C5 Series User Manual Rev. 1.4 3
Product Information and Updates ........................................................................................................................ 86
Warranty Conditions............................................................................................................................................. 87
Warranty Period ...................................................................................................................................................... 87
Extended Warranty ................................................................................................................................................. 87
Return Policy ........................................................................................................................................................ 87
Document Revision ............................................................................................................................................... 88
4 C5 Series User Manual Rev. 1.4
C5 Series Overview
Introduction
The C5 series is a revolutionary product family of intelligent high speed sensors. It is
optimised for 3D profile measurement by means of laser triangulation technique. The 3D
profile extraction is performed in the camera by using high performance Field
Programmable Gate Array processors. At the same time the 3D profile data is sent to the
PC over a Gigabit Ethernet interface (GigE). This extreme data reduction boosts the
measuring speed to unprecedented levels without affecting the performance of the
connected image processing unit.
C5 Series User Manual Rev. 1.4 5
Sensor Controls
Synchronization Modes
Free Running, Triggered, Software Triggered
Exposure Modes
Programmable, Pulse Controlled
Shutter Modes
Global Shutter
Digital Input
2 electrical isolated inputs, +5V to +24V DC
VIL, logic “0” Voltage < 1.5V
VIH, logic “1” Voltage > 3.5V
Max. frequency: 450 kHz
Min. pulse width: >2µs
Digital Output
2 electrical isolated outputs, +5 to +24V DC
VOL, logic “0” Voltage < 0.5V
VOH, logic “1” Voltage ≥ 3.8V
IOL, logic “0” drive current max. 100 mA
IOH, logic “1” drive current max. 100 mA
Analog Output
Range: 0V to +5V DC
Encoder/Resolver Input
A+,A-, B+,B-, Z+, ZHigh-Speed Triple RS-422 Receiver
Max. input voltage +5V DC (TTL level)
RS-422-Mode, max. frequency: 15 MHz
Min. pulse width: >32ns
Sensor Features
High Dynamic Range Imaging
Multiple Slope, Multi-Frame Readout
3D-Algorithms
MAX, TRSH, COG, FIR PEAK
3D-Scan Features
Automatic AOI-Tracking, Automatic AOI-Search,
Multiple AOIs, AutoStart
Optical Interface
Lens Mount
M42x1 with flange focal distance 6.52 mm
Adapter for C-Mount lens*
With flange focal distance 17.52 mm
Adapter for Nikon F-Mount lens
with Bayonet mount*
With flange focal distance 46.50 mm
Adapter for Scheimpflug*
For C-Mount lens
The C5 Series General Specifications
* Must be ordered separately. See section Part Number for Scheimpflug Adapter Option
6 C5 Series User Manual Rev. 1.4
Electrical Interface
Camera Supply
+10V to +24V DC (max. +27V DC)
Power consumption
6 W…10 W (depending on camera type)
Operating Temperature
0°C to +50°C (non-condensing)
Output Data Interface
Gigabit Ethernet (IEEE 802.3)
Communication Protocol
GigE Vision with GenICam
Mechanical Interface
Camera Size
55 mm x 55 mm x 66 mm
Mass (without optics)
250 g
Power connector
17 pin, M12 connector
Ethernet connector
8 pin, A-coded M12 connector
Mechanical Stress Specification
Vibration (sinusoidal each axis)
1 g, 10…2000Hz
IEC 60068-2-6
Vibration (random each axis)
5 g, 5…1000Hz
IEC 60068-2-64
Shock (each axis)
50 g
IEC 60068-2-27
Enclosure rating
IP67
IEC 600529
C5 Series User Manual Rev. 1.4 7
Parameters
Specifications
Responsivity
9.6 V/lux.s
Shutter Type
Pipelined Global Shutter
QE * FF
55% @ 525 nm
Resolution ( H x V )
1280 x 1024 pixels
Pixel Size
6.6 µm x 6.6 µm
Sensor Size
8.448 mm x 6.758 mm, diagonal: 10.82 mm
Optical Format
2/3”
Power Consumption
10 W
ADC Resolution
12 bit
Dynamic Range
57 dB
Extended Dynamic Range
Up to 90dB with HDR
Max. Internal Full-Frame Rate for Image
Mode
288 fps
Max. External Full-Frame Rate for Image
Mode
(limited due to GigE bandwidth)
94 fps
Effective Profile Rate (Hz) at Max. Row
Width
Number
of Rows
Effective Frame / Profile Rate (Hz)
1280 Pixel
688 Pixel1
8
16
32
64
128
256
512
1024
94700
56000
30840
16240
8340
4230
2130
1070
155000
95700
54200
29000
15000
7660
3870
1940
1
The Sensor Specifications
C5-1280-GigE
C5-1280-GigE can reduce the sensor width to increase the profile rate
8 C5 Series User Manual Rev. 1.4
Parameters
Specifications
Responsivity
5.56 V/lux.s
0.27 A/W
With micro lens
@ 550 nm
Shutter Type
Pipelined Global Shutter
QE * FF
60% @ 550 nm
Resolution ( H x V )
2048 x 1088 pixels
Pixel Size
5.5 µm x 5.5 µm
Sensor Size
11.264 mm x 5.984 mm, diagonal: 12.75 mm
Optical Format
2/3”
Power Consumption
6 W
ADC Resolution
10 bit
Dynamic Range
60 dB
Extended Dynamic Range
Up to 90dB with HDR
Max. Internal Full-Frame Rate for Image
Mode
170 fps
Max. External Full-Frame Rate for Image
Mode
(limited due to GigE bandwidth)
50 fps
Effective Profile Rate (Hz) at Max. Row
Width
Number of
Rows
Effective Frame / Profile Rate
(Hz)
8
16
32
64
128
256
512
1088
25000
16000
9540
5240
2700
1400
723
340
C5-2040-GigE
C5 Series User Manual Rev. 1.4 9
Parameters
Specifications
Responsivity
5.56 V/lux.s
0.27 A/W
With micro lens
@ 550 nm
Shutter Type
Pipelined Global Shutter
QE * FF
60% @ 550 nm
Resolution ( H x V )
2048 x 2048 pixels
Pixel Size
5.5 µm x 5.5 µm
Sensor Size
11.264 mm x 11.264 mm, diagonal: 15.93 mm
Optical Format
1”
Power Consumption
8 W
ADC Resolution
10 bit
Dynamic Range
60 dB
Extended Dynamic Range
Up to 90dB with HDR
Max. Internal Full-Frame Rate for
Image Mode
90 fps
Max. External Full-Frame Rate for
Image Mode
(limited due to GigE bandwidth)
25 fps
Effective Profile Rate (Hz) at Max.
Row Width
Number of Rows
Effective Frame / Profile Rate (Hz)
8
16
32
64
128
256
512
1088
2048
25000
16000
9540
5240
2700
1400
723
340
180
C5-2040-4M-GigE
10 C5 Series User Manual Rev. 1.4
Parameters
Specifications
Responsivity
5.56 V/lux.s
0.27 A/W
With micro lens
@ 550 nm
Shutter Type
Pipelined Global Shutter
QE * FF
60% @ 550 nm
Resolution ( H x V )
3360 x 2496 pixels
Pixel Size
5.5 µm x 5.5 µm
Sensor Size
18.48 mm x 13.728 mm, diagonal: 23.02 mm
Optical Format
4/3”
Power Consumption
8 W
ADC Resolution
10 bit
Dynamic Range
61 dB
Extended Dynamic Range
Up to 90dB with HDR
Max. Internal Full-Frame Rate for
Image Mode
52 fps
Max. External Full-Frame Rate for
Image Mode
(limited due to GigE bandwidth)
12 fps
Effective Profile Rate (Hz) at Max.
Row Width1
Number of Rows
Effective Frame / Profile Rate (Hz)
8
16
32
64
128
256
512
1024
2496
10100
7750
5300
3230
1815
970
500
255
106
1
C5-3360-GigE
With a FOT (Frame Overhead Time) = 16
C5 Series User Manual Rev. 1.4 11
Parameters
Specifications
Responsivity
4.64 V/lux.s
0.22 A/W
With micro lens
@ 550 nm
Shutter Type
Pipelined Global Shutter
QE * FF
50% @ 550 nm
Resolution ( H x V )
4096 x 3072 pixels
Pixel Size
5.5 µm x 5.5 µm
Sensor Size
22.528 mm x 16.896 mm, diagonal: 28.16 mm
Optical Format
4/3”
Power Consumption
10 W
ADC Resolution
10 bit
Dynamic Range
60 dB
Extended Dynamic Range
Up to 90dB with HDR
Max. Internal Full-Frame Rate for
Image Mode
32 fps
Max. External Full-Frame Rate for
Image Mode
(limited due to GigE bandwidth)
9 fps
Effective Profile Rate (Hz) at Max.
Row Width
Number of Rows
Effective Frame / Profile Rate (Hz)
8
16
32
64
128
256
512
1024
2048
3072
14500
9700
5800
3200
1700
900
450
225
113
75
C5-4090-GigE
12 C5 Series User Manual Rev. 1.4
0
10
20
30
40
50
60
70
300 350 400 450 500 550 600 650 700 750 800 850 900 950 1000
QUANTUM EFFICIENCY [ % ]
WAVELENGTH [nm]
SPECTRAL RESPONSE
C5-1280-GigE C5-2040-GigE / C5-2040-4M-GigE C5-3360-GigE C5-4090-GigE
The Sensors Spectral Response
C5 Series User Manual Rev. 1.4 13
In case that it is not possible to mount the camera on any heat dissipating
carrier, then it is recommended to use a heat sink with the required
specification of AT.
Temperature Range (Operation/Storage)
Housing temperature during operation: 0 °C to +50 °C (+32 °F to +122 °F)
Sensor chip temperature (on-board)
during operation: 0 °C to +65 °C (+32 °F to +149 °F)
Humidity during operation: 20 % to 80 %, relative, non-condensing
Storage temperature: -20 °C to +80 °C (-4 °F to +176 °F)
Storage humidity: 20 % to 80 %, relative, non-condensing
Heat Dissipation
The operation of the C5 camera requires sufficient heat dissipation. Depending on the
environmental conditions the sensor housing may not provide a sufficient cooling surface
to dissipate the thermal power loss, which is generated by the core electronics and the
sensor chip.
All 3D cameras of the C5 series feature high-speed CMOS sensor chips. A typical property
of a CMOS sensor is that it provides best image quality by low temperatures. High
temperatures will lead to an increase of dark current, noise and hence to a reduction of
signal-to-noise ratio (SNR).
To eliminate these effects it is often sufficient to mount the C5 sensor on a heat
conductive material, such as a metal surface.
General Guidelines for Heat Dissipation
- Mount the 3D camera to a heat conductive material with an absolute thermal
resistance of at least 6 K / W.
- Always monitor the temperature of the sensor (on-board, available over
GenICam) and make sure that the temperature does not exceed 65 °C.
- Keep in mind that dark current and noise performance for CMOS sensor will
degrade at higher temperature.
- The 3D camera of the C5 series will gradually become warmer during the first hour
of operation. After one hour of operation, the housing temperature as well as the
sensor temperature should be stable and no longer increase.
14 C5 Series User Manual Rev. 1.4
Using the C5 Heat Sink
AT provide a specially designed heat sink to improve the cooling of C5 cameras in
applications lacking sufficient thermal dissipation.
Absolute thermal resistance for camera housing: Rth = 5 [K / W]
Absolute thermal resistance for heat sink: Rth = 3.75 [K / W]
C5 Series User Manual Rev. 1.4 15
Part Number #
Product Name
202 203 001
C5-3360-GigE, lens mount M42x1
202 203 002
C5-4090-GigE, lens mount M42x1
202 203 003
C5-2040-GigE, lens mount M42x1
202 203 004
C5-2040-4M-GigE, lens mount M42x1
202 203 005
C5-1280-GigE, lens mount M42x1
Mechanical Drawings
C5-1280/2040/2040-4M/3360-GigE with M42x1 mount (Standard)
C5-4090-GigE with M42x1 mount (Standard)
Part Number for C5 Series
16 C5 Series User Manual Rev. 1.4
Part Number #
Product Name
202 188 001
C5 C-Mount: M42x1 adapter with thread for lens protective cover to use with
C-Mount type lens, for C5-3360-GigE/C5-4090-GigE
202 188 002
C5 C-Mount: M42x1 adapter with thread for lens protective cover to use with
C-Mount type lens, for C5-1280-GigE / C5-2040-GigE / C5-2040-4M-GigE
C5-1280/2040/2040-4M-GigE with C-Mount Adapter (Option)
C5-3360/4090-GigE with C-Mount Adapter (Option)
Part Number for C-Mount Adapter Option
C5 Series User Manual Rev. 1.4 17
Part Number #
Product Name
202 182 011
C4/C5 F-Mount: M42x1 adapter to use with Nikon-F Bayonet type lens
C5-1280/2040/2040-4M/3360-GigE with F-Mount Adapter (Option)
C5-4090-GigE with F-Mount Adapter (Option)
Part Number for F-Mount Adapter Option
18 C5 Series User Manual Rev. 1.4
C5-1280/2040/2040-4M-GigE with integrated Scheimpflug Adapter (Option)
C5-3360/4090-GigE with integrated Scheimpflug Adapter (Option)
C5 Series User Manual Rev. 1.4 19
Part Number #
Product Name
202 186 027
C5 Scheimpflug-Adapter 0° with C-Mount, for C5-1280-GigE/C52040-GigE/C5-2040-4M-GigE
202 186 025
C5 Scheimpflug-Adapter 2.4° with C-Mount, for C5-1280-GigE/C52040-GigE/C5-2040-4M-GigE
202 186 024
C5 Scheimpflug-Adapter 8.5° with C-Mount, for C5-1280-GigE/C52040-GigE/C5-2040-4M-GigE
202 186 023
C5 Scheimpflug-Adapter 10° with C-Mount, for C5-1280-GigE
202 186 022
C5 Scheimpflug-Adapter 35° with C-Mount, for C5-1280-GigE
202 186 021
C5 Scheimpflug-Adapter 5° with C-Mount, for C5-2040-GigE/C52040-4M-GigE
202 186 015
C5 Scheimpflug-Adapter 10° with C-Mount, for C5-2040-GigE/C52040-4M-GigE
202 186 014
C5 Scheimpflug-Adapter 25° with C-Mount, for C5-2040-GigE/C52040-4M-GigE
202 186 020
C5 Scheimpflug-Adapter 30° with C-Mount, for C5-2040-GigE/C52040-4M-GigE
202 186 016
C5 Scheimpflug-Adapter 35° with C-Mount, for C5-2040-GigE/C52040-4M-GigE
202 186 019
C5 Scheimpflug-Adapter 5° with C-Mount, for C5-3360-GigE
202 186 017
C5 Scheimpflug-Adapter 10° with C-Mount, for C5-3360-GigE
202 186 018
C5 Scheimpflug-Adapter 25° with C-Mount, for C5-3360-GigE
202 186 026
C5 Scheimpflug-Adapter 0° with C-Mount, for C5-4090-GigE
202 186 011
C5 Scheimpflug-Adapter 10° with C-Mount, for C5-4090-GigE
202 186 010
C5 Scheimpflug-Adapter 25° with C-Mount, for C5-4090-GigE
Part Number for Scheimpflug Adapter Option
20 C5 Series User Manual Rev. 1.4
Part Number #
Tube Ø
(mm)
Tube
Length
Y (mm)
Max. Lens Ø
(mm)
Max. Lens Length
(mm)
Camera Overall
Length
X (mm)
202 201 100
44
48
36
30
105
202 201 101
44
98
36
80
155
202 201 102
44
58
36
40
115
202 201 103
44
68
36
50
125
202 201 104
55
70
50
55
135
202 201 105
55
80
50
65
145
202 201 106
55
90
50
75
155
202 201 107
55
100
50
85
165
Y
X
Lens Protection Tubes for the C5 Series
The C5 series offers a high IP67 protection class. Therefore a wide range of C-mount lens
protection tubes are available for C-mount lenses with different sizes.
C-Mount Lens Protection Tube with Ø 44mm
C-Mount Lens Protection Tube with Ø 55mm
Part Number for Lens Protection Tubes
C5 Series User Manual Rev. 1.4 21
0
1 2 3 4 5
6
1023
2047
3072
0
1 2 3 4 5
6
3
7
15 31
63 127
255
More details regarding the operation of the C5-1280-GigE camera can be
found in a separate application note.
Subpixel Limitations
The range values of the 3D cameras are limited to 16bit which result to possible values
between 0 and 65535. Setting the subpixel value to 6 correspond to a factor of 2^6 = 64.
If the laser line appears at a sensor row higher than #1023 (with 6 subpixel) will result in a
bit overflow. For example: laser line at row #1500 -> 1500 x 2^6 = 96000.
Therefore it can be necessary to use a lower subpixel value to avoid a bit overflow. The
table below shows the maximum subpixel value in compare to the used number of rows
and the laser line appearance on the sensor ship without bit overflow.
Nevertheless it is still possible to use a higher subpixel value even when the laser line
appears on a sensor row >#1023. In that case make sure that the defined AOI is smaller
or even 1023/2047 rows and that the flag AbsOffsetPos (Camera Control -> Mode and
Algorithm Control -> AbsOffsetPos) is set to false. Then the offset position with respect to
the start row of the AOI is returned and thus the laser line can appear on sensor rows
>#1023.
With the release of the C5-1280-GigE camera some new features were implemented
based on the SFNC 2.3 standard as well as some AT specific features.
One new feature is the Mono8 mode in 3D line mode to reduce the amount of acquired
data to be able to increase the maximum profile frequency. This reduction leads to a
specific set up which is described in the table below.
Using number of rows with a higher subpixel accuracy then stated in the table above can
result in a bit overflow. That happen easy, when the pixel values go over the 8 Bit (2^8 - 1
= 255) range.
22 C5 Series User Manual Rev. 1.4
Scan direction
α
Y
Z
X
C5 Series Operational Reference
Measuring Principle
The C5 sensor acquires height profiles and height images based on the laser triangulation
principle. According to this method a laser line is projected on the object from one
direction. The C5 sensor views the object from another angle defining the triangulation
geometry. The resulting sensor image is evaluated by the C5 processing unit and
converted into a single height profile. By scanning the laser line over the object a
complete height image can be acquired.
The figures below demonstrate some typical triangulation geometries. The following
notation is used in the approximation of height resolution:
ΔX= resolution along the laser line (lateral),
ΔY= resolution perpendicular to the laser line (longitudinal in the direction of motion),
ΔZ= height resolution.
Geometry 1
The laser line is projected perpendicular to the object surface, while the camera views
the object under the triangulation angle α.
The height resolution can be approximated: ΔZ ≈ ΔX / sin(α)
C5 Series User Manual Rev. 1.4 23
Scan direction
α
Scan direction
α
β
Y
Z
X
Y
Z
X
Geometry 2
The camera views the object perpendicularly to its surface, while the laser line is
projected under the triangulation angle α.
The height resolution can be approximated: ΔZ ≈ ΔX / tan(α)
Geometry 3
The camera views the object under an angle α, while the laser line is projected under a
different angle β.
The height resolution can be approximated: ΔZ ≈ ΔX * cos(β) / sin(α + β),
in case α= β (direct reflex) : ΔZ ≈ ΔX / 2* sin(α)
24 C5 Series User Manual Rev. 1.4
Scan direction
α
β
Y
Z
X
Geometry 4
The camera views the object under an angle α, while the laser line is projected under a
different angle β at the camera side.
The height resolution can be approximated: ΔZ ≈ ΔX * cos(β) / sin(α)
C5 Series User Manual Rev. 1.4 25
The C5 Sensor Algorithms
The C5 series can be operated both in a variety of 3D profile modes and in image mode.
The current operation mode can be chosen by setting the following parameter:
Camera Controls→ ModeAndAlgorithmControls→CameraMode.
The frame rate can be increased in all camera modes by reducing the AOI size. In the
image mode the frame rate is limited by the output rate of the camera interface (GigE).
However, due to reduced data size in profile mode the frame rate is limited only by the
sensor output rate. As a matter of principle the processing speed is independent of the
chosen profile mode and is determined by the AOI size.
In all profile modes only intensity values higher than the AOI intensity threshold AOI_TRSH
are processed in order to suppress weak signal noise. In case that no position value can
be found, e.g. no intensity value is higher than threshold, the position value 0 is returned.
The Image Mode (IMG)
In the image mode the C5 camera series is operated similar to a standard CMOS camera.
In this mode grey scale data of 8 or 10 bit resolution are acquired over the camera
interface. Furthermore, the sensor can be divided into multiple regions, whose data can
be summarised in one output frame.
26 C5 Series User Manual Rev. 1.4
AOI_TRSH
P
MAX
I
MAX
P
R
The Maximum Intensity Profile Mode (MAX)
In this mode the position of the maximum intensity of laser beam profile is calculated. The
result includes the position value of the maximum (P
value (I
MAX
).
) as well as the maximum intensity
MAX
The calculation of position value is performed with simple pixel accuracy, i.e. the
evaluation of 1088 rows delivers a position range from 0 to 1087 pixels (11 bit). If there is
more than one local maximum (e.g. when the intensity is saturated), the position of the
first detected maximum is output. In order to avoid intensity saturation, it is recommended
to activate the Multiple Slope Mode of the camera.
The detection of the maximum intensity position can be improved by enabling the
smoothing mode of the FIR filter of the camera.
C5 Series User Manual Rev. 1.4 27
AOI_TRSH
P
TRSH
P
L
P
R
The Threshold Mode (TRSH)
In this mode the position of left (PL) and right (PR) edge of the laser beam profile are
detected for a given threshold value of intensity AOI_TRSH.
The position value of the laser line is approximated: P
= (PL+PR) / 2. In order to simplify
TRSH
the digital representation the division over 2 is not performed and thus an integer
representation with one subpixel is realised. The evaluation of 1088 rows delivers a position
range from 0 to 2174 pixels (11 bit).
In threshold mode the camera can output either the left and right threshold position
separately or the subpixel position (PL+PR) and the line width (PR-PL). Moreover, the
maximum intensity value can be optionally output.
The precision of the position calculation can be improved by enabling the smoothing
mode of the FIR filter of the camera.
28 C5 Series User Manual Rev. 1.4
AOI_TRSH
P
CO G
P
L
I
S
The Center Of Gravity Mode (COG)
In this mode the center of gravity of laser beam profile is calculated. For this purpose the
following parameters are computed:
Position value of the left edge of laser beam profile for a given intensity threshold value
PL ,
Sum of intensity value Is = ∑ Ip,
Sum of first order moment Ms = ∑Ip * P .
The position value of laser line (center of gravity of beam profile) is then obtained from:
P
= PL + Ms / Is .
COG
In addition the laser line width can be delivered over the Data Channel DC1. The average
intensity of the illumination profile can be calculated by normalising the sum of intensity
value Is with the line width.
The precision of the COG calculation can be improved by enabling the smoothing mode
of the FIR filter of the camera.
C5 Series User Manual Rev. 1.4 29
More details regarding the operation of the FIR Peak mode can be found in
a separate application note.
AOI_TRSH
Sensor row #
Sensor row #
Zero-Crossing
AOI_TRSH
0
AoiHeight
0
AoiHeight
1023
First
Derivative
Intensity
The FIR Peak Mode (FIR PEAK)
In this mode the first derivative of the intensity Gauss curve of laser beam profile is
calculated.
The position of zero-crossing of first derivative is detected and output with subpixel
accuracy (up to 6 subpixels). In this case the threshold AOI_TRSH is used to detect the first
rising edge of the derived intensity signal. Valid values of AOI_TRSH range from 513 to 1023
(Mono16).
30 C5 Series User Manual Rev. 1.4
More details regarding the operation of the FIR filter function can be found in
a separate application note.
Raw Gauss
Curve
Smoothed Gauss
Curve
Zero-Crossing of
First Derivative
The FIR Filter Function
The FIR filter is a signal processing function aiming to increase the precision of laser line
detection in the sensor image. It consists of a digital Finite Impulse Response filter (FIR) and
can be operated in a smoothing or differentiating mode.
FIR in smoothing mode (in combination with MAX, TRSH and COG algorithms):
FIR in derivative mode (FIR PEAK):
Pre-defined templates with 5, 7 or 9 coefficients let the FIR filter to be customized to the
Gauss size and shape of the application.
C5 Series User Manual Rev. 1.4 31
The High Dynamic Range 3D Feature (HDR-3D)
One of the most powerful features of the C5 series is the HDR-3D (High Dynamic Range)
functionality, which allows scanning materials and surfaces with inhomogeneous
reflection properties. Using HDR-3D the dynamic range of image intensity is extended up
to 90dB, thus avoiding intensity saturation.
The HDR-3D comprises two independent sensor functions:
MultipleSlope Function
The aim of the Multiple Slope function is to avoid the saturation of pixels during sensor chip
exposure. This high optical dynamic range is achieved by using a piecewise linear
response. The intensity of illuminated pixels, which reach a certain level, is clipped, while
darker pixels remain untouched. The clipping level can be adjusted 2 times within one
exposure time to achieve a maximum of 3 slopes in the response curve. The points of the
curve, where the slope changes, are called “knee points”. The latter are defined through
the setting of clipping levels for the intensity (thresholds) and time points within the
exposure time.
These parameters can be adjusted using the GenIcam registers Multi Slope Exposure Limit
and Multi Slope Saturation Threshold of the Acquisition Control (XML grid visibility must be
set to “Expert”). A knee point time is defined as percentage of the overall exposure time.
A clipping level is defined as percentage of the maximum sensor intensity (saturation).
32 C5 Series User Manual Rev. 1.4
Intensity
1
3
2
Saturation
1
3
2
Exposure Time
100%
0%
Exposure
Time
Intensity
3
Saturation
1
2
Saturation
Threshold 1
3
1
2
100%
0%
Exposure
Limit 1
Knee Point 1
3 1 2
Intensity
3 1 2
Saturation
Saturation
Threshold 1
Saturation
Threshold 2
100%
0%
Exposure
Limit 1
Exposure
Limit 2
Exposure
Time
Knee Point 1
Knee Point 2
Single Slope Mode (Default Mode)
Weld Seam
Dual Slope Mode (1 Knee Point)
Weld Seam
Triple Slope Mode (2 Knee Points)
Weld Seam
C5 Series User Manual Rev. 1.4 33
More details regarding the operation of the MultipleSlope function can be
found in a separate application note.
0 5 10
15
20
25
30
35
40
100
200
300
400
500
600
700
800
900
1000
1100
Sensor row #
0 5 10
15
20
25
30
35
40
100
200
300
400
500
600
700
800
900
1000
1100
Sensor row #
Sensor row #
0 5 10
15
20
25
30
35
40
100
200
300
400
500
600
700
800
900
1000
1100
y
Comparison of Slope Modes
Application of MultipleSlope function on the image of a laser line projected on a surface
with non-homogeneous reflectivity (weld seam).
SingleSlope DualSlope TripleSlope
34 C5 Series User Manual Rev. 1.4
It1
R1
It2
It1
It2
R2
R1
R2
Trigger Sensor
Frame 1
Trigger Sensor
Frame 2
It1 : Exposure Time 1
It2 : Exposure Time 2
R1 : Readout Frame It1
R2 : Readout Frame It2
Frame 1 Frame 2
Multi-Frame Readout Mode (NDR)
With the Non-Destructive Readout (NDR) mode it is possible to readout up to 4 images at
different exposure times. It allows the combination of profile data from different
integration levels and it ensures accurate profile data even for difficult surfaces with
strong changes in reflectance.
The following timing diagram shows the function of NDR with 2 frames, when subsequent
sensor images are acquired. The exposure times for NDR frame 1 and 2 are depicted with
It1 and It2 respectively. Please note that the readout of the second frame R2 cannot
begin unless the first frame R1 has been readout. The same applies also between two
subsequent sensor images, i.e. the first NDR frame of sensor image 2 cannot be readout
unless the last NDR frame of sensor image 1 has been readout.
C5 Series User Manual Rev. 1.4 35
Camera Mode
FIR
FIRMode
DC0
DC1
DC2
Image
False
-
Sensor intensity
Not used
Not used
True
Derivative
First derivative of sensor
intensity
Not used
Not used
True
Smoothing
Smoothed sensor intensity
Not used
Not used
MaximumIntensity
False
-
Maximum intensity of
Gauss
Position of rising edge of Gauss
(PosL)
Position of maximum intensity of
Gauss (PosM)
True
Smoothing
Maximum intensity of
Gauss detected in
smoothed sensor image
Position of rising edge of Gauss
(PosL) detected in smoothed
sensor image
Position of maximum intensity of
Gauss (PosM) detected in
smoothed sensor image
Threshold
False
-
Maximum intensity of
Gauss
- Position of rising edge of
Gauss (PosL)
or
- Gauss width (PosR-PosL)
- Position of falling edge of
Gauss (PosR)
or
- Position of Gauss with 1/2
pixel resolution (PosL+PosR)
True
Smoothing
Maximum intensity of
Gauss detected in
smoothed sensor image
- Position of rising edge of
Gauss (PosL)
or
- Position of falling edge of
Gauss (PosR)
or
The Data Output Format
The image and 3D data output is performed by selecting the data channel DC0-DC2 (node Camera Controls→DataOutput).
Depending on the algorithm the data can be acquired by enabling the corresponding output Data Channel (DC). Every DC is saved
in a new image row. The bit depth of output data depends on the selected algorithm. In 3D mode the camera outputs data with 16
bit. In Image mode the camera can output 8 or 16 bit data. When in 8 bit Image mode, the DC0 delivers the 8 most significant bits
of the 10 bit intensity data.
The Data Channel Assignment DC0, DC1 and DC2
36 C5 Series User Manual Rev. 1.4
Camera Mode
FIR
FIRMode
DC0
DC1
DC2
- Gauss width (PosR-PosL)
detected in smoothed
sensor image
- Position of Gauss with 1/2
pixel resolution (PosL+PosR)
detected in smoothed
sensor image
CenterOfGravity
False
-
Sum of intensity values of
Gauss Is
- Position of rising edge of
Gauss (PosL)
or
- Gauss width (PosR-PosL)
Position of center of gravity of
Gauss with 1/(2N) pixel resolution,
where N=number of subpixel bits
(0-6)
True
Smoothing
Sum of intensity values of
Gauss I
s
in smoothed
sensor image
- Position of rising edge of
Gauss line (PosL)
or
- Gauss width (PosR-PosL)
Position of center of gravity of
Gauss in smoothed sensor
image with 1/(2N) pixel
resolution, where N=number of
subpixel bits (0-6)
FIRPeak
True
Derivative
Zero-crossing slope
(Absolute value)
- Index of next sensor row to
the left of zero-crossing
or
- maximum value of intensity
first derivative
Position of Gauss peak with
1/(2N) pixel resolution, where
N=number of subpixel bits (0-6)
C5 Series User Manual Rev. 1.4 37
for(profile_idx=1; profile_idx <=ProfilesPerFrame; profile_idx ++)
{
for(AOI_idx=1; AOI_idx<=NumAOIs; AOI_idx++)
{
if(EnableDC0==true)
write_data_of_DC0(AOI_idx);
if(EnableDC1==true)
write_data_of_DC1(AOI_idx);
if(EnableDC2==true)
write_data_of_DC2(AOI_idx);
}
}
for (profile_idx=1; profile_idx <=ProfilesPerFrame/2; profile_idx ++)
{
for(AOI_idx=1; AOI_idx<=NumAOIs; AOI_idx++)
{
for(NDR_idx=1: NDR_idx <= NumberOfNDRFrames; NDR_idx ++)
{
if(EnableDC0==true)
write_data_of_DC0(AOI_idx,NDR_idx);
if(EnableDC1==true)
write_data_of_DC1(AOI_idx,NDR_idx);
if(EnableDC2==true)
write_data_of_DC2(AOI_idx,NDR_idx);
}
}
}
The Output Frame Structure
Depending on configuration, the C5 sensor writes data to the output frame according to
following scheme:
1) NDR mode disabled (NDRMode=”Off”)
2) NDR mode enabled (NDRMode=”On”)
38 C5 Series User Manual Rev. 1.4
Index #
Range
Description
Profile_idx
1-17475
Index of Profile
AOI_idx
1-8
Index of sensor AOI
NDR_idx
1-4
Index of NDR frame
Row #
Description
Profile #
1
Data of DC2 readout from AOI1
1
2
Data of DC2 readout from AOI1
2
3
Data of DC2 readout from AOI1
3
4
Data of DC2 readout from AOI1
4
5
Data of DC2 readout from AOI1
5
6
Data of DC2 readout from AOI1
6
Index Definition
Examples of Output Frame Structure
1) Configuration with single AOI, single DC, disabled NDR mode and output of 6 profiles
resulting to a frame height of 6 rows:
ProfilesPerFrame = 6
NumAOIs = 1
EnableDC0 = false
EnableDC1 = false
EnableDC2 = true
NDRMode = ”Off”
C5 Series User Manual Rev. 1.4 39
Row #
Description
Profile #
1
Data of DC0 readout from AOI1
1
2
Data of DC2 readout from AOI1
3
Data of DC0 readout from AOI2
4
Data of DC2 readout from AOI2
5
Data of DC0 readout from AOI1
2
6
Data of DC2 readout from AOI1
7
Data of DC0 readout from AOI2
8
Data of DC2 readout from AOI2
9
Data of DC0 readout from AOI1
3
10
Data of DC2 readout from AOI1
11
Data of DC0 readout from AOI2
12
Data of DC2 readout from AOI2
13
Data of DC0 readout from AOI1
4
14
Data of DC2 readout from AOI1
15
Data of DC0 readout from AOI2
16
Data of DC2 readout from AOI2
17
Data of DC0 readout from AOI1
5
18
Data of DC2 readout from AOI1
19
Data of DC0 readout from AOI2
20
Data of DC2 readout from AOI2
2) Configuration with two AOIs, two DCs, disabled NDR mode and output of 5 profiles
resulting to a frame height of 20 rows:
ProfilesPerFrame = 5
NumAOIs = 2
EnableDC0 = true
EnableDC1 = false
EnableDC2 = true
NDRMode = ”Off”
40 C5 Series User Manual Rev. 1.4
Row #
Description
Profile #
1
Data of DC2 extracted from NDR1, readout from AOI1
1
2
Data of DC2 extracted from NDR2, readout from AOI1
3
Data of DC2 extracted from NDR1, readout from AOI1
2
4
Data of DC2 extracted from NDR2, readout from AOI1
5
Data of DC2 extracted from NDR1, readout from AOI1
3
6
Data of DC2 extracted from NDR2, readout from AOI1
3) Configuration with single AOI, single DC, NDR mode with two NDR frames and output of
3 profiles resulting to a frame height of 6 rows:
ProfilesPerFrame = 3
NumAOIs = 1
EnableDC0 = false
EnableDC1 = false
EnableDC2 = true
NDRMode = ”On”
NumberOfNDRFrames = 2
C5 Series User Manual Rev. 1.4 41
A detailed description of these functions can be found in a separate
application note.
The Advanced AOI Functions
The C5 series features an area CMOS sensor, whose frame rate depends on the number
of pixels to readout. By defining a sensor Area of Interest (AOI) the frame rate and hence
the profile speed will be significantly increased due to the smaller number of pixels to
readout.
In some cases the AOI position may not be constant and it should follow the image of
laser line on the camera sensor. The C5 series features functions for performing an
automatic AOI positioning (AOI-Search) as well as line tracking (AOI-Tracking).
AOI-Search
The AOI-Search mode can be used in 2D mode as well as in 3D mode and has the benefit
to adjust the AOI at the start of the acquisition to the optimal position of the laser line. In
that case the laser line is automatically centered to the AOI.
The user must only define the minimum required AOI Height (number of required sensor
rows) for the expected laser line and afterwards the camera will adjust the vertical AOIOffset (AoiOffsetY) value to the best position.
AOI-Tracking
The automatic AOI-Tracking is the dynamic version of the static AOI-Search mode. While
the AOI-Search is only working at the beginning of each 3D acquisition, the AOI-Tracking
mode is working continuously during 3D image acquisition.
Thus 3D profile acquisition with AOI-Tracking is able to cover the complete image/sensor
size although the defined AOI size could be much smaller. This is very useful in case of
applications involving continuous profile measurements with variable distances to the
surface.
42 C5 Series User Manual Rev. 1.4
No.
Profile Trigger Mode (PTM)
0
Free-run (PTM0)
1
Camera input 1 (PTM1)
2
Camera input 2 (PTM2)
3
Encoder/Resolver Interface (PTM3)
t
Profile
Acquisition 1
Profile
Acquisition 2
Profile
Acquisition 3
IN1
Profile
Acquisition 4
t
Profile
Acquisition 1
Profile
Acquisition 2
Profile
Acquisition 3
IN2
Profile
Acquisition 4
Profile
Acquisition 1
A
B
RS422
Example: Trigger after number of steps = 4
Counter
Internal
Trigger
Profile
Acquisition 2
Profile
Acquisition 3
t
ENC_A
ENC_B
The C5 Series Triggering Mode
Description of Profile Trigger Modes
C5 Series User Manual Rev. 1.4 43
Name
Interface
Access
Visibility
Description
TriggerDivider
(*)
IInteger
RW
Beginner
Trigger divider
Min: 1
Max: 65535
Increment: 1
TriggerCoord
IInteger
RO
Beginner
Trigger coordinate
TriggerDirectionMode
IBoolean
RW
Beginner
Count resolver pulses in both directions
TriggerReverseDirection
IBoolean
RW
Beginner
Reverse the resolver count direction
TriggerSingleChannelMode
(*)
IEnumeration
RW
Guru
Enable resolver in single channel mode
(1): Disabled (Value= 0)
(2): EnableIn1 (Value= 1)
(3): EnableIn2 (Value= 2)
TriggerDividerLoadAtStart
(*)
IBoolean
RW
Beginner
Load trigger divider upon start trigger
LoadTriggerDivider
(*)
ICommand
WO*
Beginner
Load trigger divider
ClearTriggerCoord
ICommand
WO*
Beginner
Reset trigger coordinate
ResetTriggerCoordZeroPos
IEnumeration
RW
Beginner
Reset the Trigger Coordinate/Counter at Zero Position (Index, ZChannel)
Trigger Control – RS422 Resolver
The TriggerCoord node always counts all the raw trigger signals arriving at the camera -> rising AND falling edge!
The TriggerDivider is used internally by the camera. The camera doesn’t change its behavior if the TriggerDivider is set to another
value. A TriggerDivider of 10 for example will use every tenth incoming trigger for one profile measurement.
If single-ended encoder signals are required it is set over TriggerSingleChannelMode. Triggering over Channel A or B or over Input1
and Input2 is then possible.
If other encoder signals than RS422 are needed, use the Inputs of the camera instead of the encoder inputs and set
UseAlternateResolverInputs to true.
44 C5 Series User Manual Rev. 1.4
(1): Off (Value= 0)
(2): On (Value= 1)
TriggerCoordinateCountAlways
IBoolean
RW
Guru
TRUE: Count trigger coordinate always, FALSE: Count trigger
coordinate during image acquisition only
UseAlternateResolverInputs
(*)
IBoolean
RW
Guru
Use IN1/IN2 instead of A/B as inputs
UseAlternateResolverInputsInverted
(*)
IBoolean
RW
Guru
Use inverted IN1/IN2
C5 Series User Manual Rev. 1.4 45
No.
Sequencer/Frame Trigger Mode
Profile Trigger Mode
(PTM)
0
Free-run
PTM0 (free-run)
PTM1 (IN1)
PTM2 (IN2)
1
Start/stop over camera input 1/2
Continuous frame acquisition is started with the rising
edge of camera input 1 (IN1) and stopped with rising
edge of camera input 2 (IN2)
When “stop” occurs, the frame is not transmitted
immediately over the GigE interface but the camera
continues to acquire profile data, until the predefined
frame height is reached.
PTM0 (free-run)
PTM3 (RS422)
2
Trigger one frame over camera input 1
Single frame acquisition is triggered over the rising
edge of camera input 1 (IN1)
PTM0 (free-run)
PTM2 (IN2)
PTM3 (RS422)
trigger start of sequencer
(frame trigger)
t
trigger stop of sequencer
trigger start of sequencer
(frame trigger)
t
IN1
Description of Modes for Triggering of Sequencer/Frame and Profile
Acquisition
46 C5 Series User Manual Rev. 1.4
No.
Sequencer/Frame Trigger Mode
Profile Trigger Mode
(PTM)
3
Gate over camera input 1
Continuous frame acquisition is performed as long as
the camera input 1 is on high state
PTM0 (free-run)
PTM2 (IN2)
PTM3 (RS422)
4
Start/stop with instant transmission over camera input
1/2
Continuous frame acquisition is started with rising edge
of camera input 1 (IN1) and stopped with rising edge
of camera input 2 (IN2)
When “stop” occurs, the frame is transmitted
immediately over the GigE interface. Using the Chunk
Data mode of C5 camera, it is possible to determine
how many rows of the frame contain valid data (see
ChunkImageInfo for details).
PTM0 (free-run)
PTM3 (RS422)
5
AutoStart (no external signal is required)
PTM0 (free-run)
PTM1(IN1)
PTM2 (IN2)
PTM3 (RS422)
A detailed description of the AutoStart function can be found in a separate
application note.
t
stop trigger of sequencer
IN1
start trigger of sequencer
Gate Function
trigger start of sequencer
(frame trigger)
t
trigger stop of sequencer
Start trigger of sequencer
Stop trigger of
sequencer
Remarks:
The above table (except AutoStart) applies also to acquisition in image mode. In this case
the camera delivers a gray scale sensor image for every profile trigger.
C5 Series User Manual Rev. 1.4 47
The C5 Series Chunk Data Mode
General Description
The C5 series features a Chunk Data mode for providing additional information to the
acquired image data. The implementation of XML nodes is performed according to SFNC
1.4:
Category ChunkDataControl
ChunkModeActive
ChunkModeSelector (OneChunkPerFrame, OneChunkPerProfile)
The ChunkData generated by the camera have the following format:
ChunkImage
1…N x ChunkAcqInfo
ChunkImageInfo
Depending on camera mode (image or 3D) the ChunkData block („ChunkAcqInfo“) can
be sent as follows:
In image mode, the camera can send only one ChunkAcqInfo block per image
frame.
In 3D mode, the camera can send one ChunkAcqInfo block either per 3D frame
(“OneChunkPerFrame”) or per 3D profile (“OneChunkPerProfile”).
The „ChunkImageInfo“ is the last ChunkData sent by the camera and contains following
data:
Number of valid rows in ChunkImage
Number of valid ChunkAcqInfo blocks
Flags identifying the current frame as „Start“ or „Stop“ and the buffer status in
AutoStart mode
The ChunkAcqInfo block consists of totally 32 bytes containing following data
64 bit timestamp
32 bit frame counter
32 bit trigger coordinate
8 bit Trigger status
32 bit I/O Status
72 bit AOI information
The data of timestamp, frame counter, trigger coordinate, trigger status and I/O status
are assigned at the start of every image integration.
When ChunkMode is disabled, the camera uses the “regular“ GEV image protocol, in
which the optional transfer of frames with variable height and payload is supported.
Furthermore, when ChunkMode is enabled, the camera sends the full payload, even if
the ChunkImage or ChunkAcqInfo blocks contain partially valid data. The number of
valid ChunkImage rows and ChunkAcqInfo blocks can be read from ChunkImageInfo.
48 C5 Series User Manual Rev. 1.4
Chunk Image Data
GV_ChunkDescriptorData
for Image Data
N x GV_ChunkAcqInfo
GV_ChunkDescriptorData
for ChunkAcqInfo
GV_ChunkImageInfo
GV_ChunkDescriptorData
for ChunkImageInfo
For example, when in Start/Stop mode with instant frame transmission, the camera stops
the frame acquisition as soon as the stop trigger occurs and transfers the complete
contents of internal image buffer. Using the ChunkImageInfo data block, it is possible to
detect how many image rows and ChunkAcqInfo blocks are valid in the payload buffer.
The tag of ChunkData has big endian byte order. The data of ChunkData has little endian
byte order. An endian converter for ChunkData is not supported.
Payload Layout in Chunk Data Mode
C5 Series User Manual Rev. 1.4 49
XML Descriptors and ID’s
ChunkImageInfo
<Port Name="FrameInfoPort">
<ChunkID>11119999</ChunkID>
</Port>
ChunkAcqInfo
<Port Name="CameraChunkPort">
<ChunkID>66669999</ChunkID>
</Port>
ChunkImage
<Port Name="ImageInfoPort">
<ChunkID>A5A5A5A5</ChunkID>
</Port>
50 C5 Series User Manual Rev. 1.4
Chunk Data Structure
#pragma pack(push)
#pragma pack(1)
#define CHUNKACQINFO_TRIGGERSTATUS_BIT_TRIGGER_OVERRUN 0x01
#define CHUNKACQINFO_TRIGGERSTATUS_BIT_RESOLVER_CNT_UP 0x02
#define CHUNKACQINFO_TRIGGERSTATUS_BIT_IN0 0x10
#define CHUNKACQINFO_TRIGGERSTATUS_BIT_IN1 0x20
#define CHUNKACQINFO_TRIGGERSTATUS_BIT_OUT0 0x40
#define CHUNKACQINFO_TRIGGERSTATUS_BIT_OUT1 0x80
typedef struct _GV_ChunkAcqInfo
{
unsigned int timeStamp64L; // 0..3
unsigned int timeStamp64H; // 4..7
unsigned int frameCnt; // 8..11
signed int triggerCoord; // 12..15
unsigned char triggerStatus; // 16
unsigned short DAC; // 17..18
unsigned short ADC; // 19..20
unsigned char INT_idx; // 21
unsigned char AOI_idx; // 22
unsigned short AOI_ys; // 23..24
unsigned short AOI_dy; // 25..26
unsigned short AOI_xs; // 27..28
unsigned short AOI_trsh; // 29..30
unsigned char AOI_alg; // 31
} GV_ChunkAcqInfo;
#define CHUNKIMAGEINFO_FLAG_BIT_START_FRAME 0x01
#define CHUNKIMAGEINFO_FLAG_BIT_STOP_FRAME 0x02
#define CHUNKIMAGEINFO_FLAG_BIT_BUFFER_OVERRUN 0x04
typedef struct _GV_ChunkImageInfo
{
unsigned int mSizeYReal;
unsigned int numChunkAcqInfo;
unsigned int flag;
} GV_ChunkImageInfo;
typedef struct _GV_ChunkDescriptor
{
unsigned int descriptor;
unsigned int length;
} GV_ChunkDescriptorData;
#pragma pack(pop)
C5 Series User Manual Rev. 1.4 51
Event Name
Event ID , (Hex)
Description
AcquisitionStart
36882 , (9012)
Frame Acquisition is started
AcquisitionEnd
36883 , (9013)
Frame Acquisition is terminated
TransferStart
36884 , (9014)
Frame transfer is started from the camera
TransferEnd
36885 , (9015)
Frame transfer is terminated
AoiTrackingOn
36886 , (9016)
The AOI tracking process is started and the laser line
image is valid for AOI alignment
AoiTrackingOff
36887 , (9017)
The AOI tracking process is stopped and the AOI position
is not updated anymore
AoiSearchFailed
36888 , (9018)
AOI-Search failed to detect the laser line
AutoStarted
36889 , (9019)
Frame Acquisition is initiated through AutoStart
The GigE-Vision Events
The C5 series supports a number of events that can be monitored by a software
application by means of a callback function. Events provide real time notification on
various stages of the acquisition sequence and data transfer.
52 C5 Series User Manual Rev. 1.4
The Web Interface
The service web interface gives access to basic device and runtime information aside
from the common GenICam interface. It can be accessed with an ordinary web browser,
by simply typing the cameras IP address into the browsers URL field, e.g.:
http://169.254.64.2. A login window appears, as the following figure shows. The static
password “admin” gives access to the camera service web interface.
Connect via web browser by using the set IP e.g. “http://169.254.64.2/”.
The static password for login is “admin”.
In the header bar is the manufacture info, the model name and the serial number.
Every info panel has an Update Button in the panel header. Each button updates the
data for the specific panel. Collapsing and opening the panel by clicking the Arrow on
the right hand side.
At the “System Log” panel is an additional button which starts an update process and will
fetches every two seconds the log data. The state of auto update process is shown by
Spinning Button (ON) or not spinning (OFF). The Autoscroll flag enable an automatically
scroll down to the latest log entry. Over Export the complete log and JSON data of each
panel data, wrapped in a single text file.
The “Device Info” panel displays model specific information.
The “Status” panel shows runtime status information.
The “Memory Statistics” have an overview of used memory for each component
displaying current usage, memory size, maximum usage and error.
The “System Log” shows the complete serial log of the device.
C5 Series User Manual Rev. 1.4 53
54 C5 Series User Manual Rev. 1.4
Fuse Specification
Current
2A
Dimension
5 x 20mm
Characteristic
T
Operating Temperature
-50°C…+125°C
Don´t connect C5 cameras to the CS-IO-Panel. Wrong wiring can cause
damage to the camera.
The External C5-IO-Panel (Breakout Board)
The C5-IO-Panel (#202 202 006) provides a user friendly way to connect the power and
the I/O functionality of the C5 sensor. The power supply includes a reverse voltage
protection and features a 2A (two ampere) micro-fuse.
Mechanical Drawings
C5 Series User Manual Rev. 1.4 55
Clamp No.
Signal Name
Description
J2/1
SHIELD
Camera shield
J2/2
GND_EXT ( - )
Camera supply ground
J2/3
GND_EXT ( - )
Camera supply ground
J2/3
VCC_EXT ( + )
Camera supply voltage (10-24V DC)
J2/4
VCC_EXT ( + )
Camera supply voltage (10-24V DC)
J3/1
Z-
Differential encoder/resolver index track Z-
J3/2
Z+
Differential encoder/resolver index track Z+
J3/3
B-
Differential encoder/resolver track B-
J3/4
B+
Differential encoder/resolver track B+
J3/5
A-
Differential encoder/resolver track A-
J3/6
A+
Differential encoder/resolver track A+
J3/7
RGND
Encoder/Resolver ground
J3/8
SHIELD
Encoder/Resolver shield
J4/1
IO_GND
Reference ground for digital inputs (IN1, 2) and outputs (OUT1, 2)
J4/2
OUT_Supply
Power supply voltage of camera isolated outputs (5-24V DC)
J4/3
OUT1
Isolated output #1 (reference voltage OUT_Supply)
J4/4
OUT2
Isolated output #2 (reference voltage OUT_Supply)
J4/5
IN1
Isolated input #1 (5-24V)
J4/6
IN2
Isolated input #2 (5-24V)
J5/1
SHIELD
Camera shield
J5/2
AGND
Analog output ground
J5/3
AOUT
Output for analog modulation of illumination device (0–5 V DC)
The analog output ground is directly connected to the internal camera
ground. The analog output is NOT electrically isolated from the device
ground! Please take care for a correct operation.
Clamp Configuration
56 C5 Series User Manual Rev. 1.4
Mechanical Dimension
All dimensions in mm
Mount for DIN rail assembly
C5 Series User Manual Rev. 1.4 57
The C5 Series I/O Schematics
I/O and Encoder with Differential TTL-Mode for RS422 (Standard)
58 C5 Series User Manual Rev. 1.4
I/O and Encoder with Differential HTL-Mode for RS422 (Option)
C5 Series User Manual Rev. 1.4 59
I/O and Encoder with Single Ended HTL or TTL Mode for RS422 (Option)
60 C5 Series User Manual Rev. 1.4
Option
Specification
Differential HTL
Max. input voltage +24V DC
Max. frequency: 1 MHz
Min. pulse width: 475ns
Single-Ended TTL
Max. input voltage +5V DC (TTL level)
Max. frequency: 400 kHz
Min. pulse width: 1.2µs
Single-Ended HTL
Max. input voltage +24V DC
Max. frequency: 400 kHz
Min. pulse width: 1.2µs
Part Number #
Product Option
202 187 001
C5 Camera HTL Encoder Option
202 187 002
C5 Camera Single-Ended TTL Encoder Option
202 187 003
C5 Camera Single-Ended HTL Encoder Option
Part Number for I/O and Encoder Option
Encoder / Resolver Input Specification
C5 Series User Manual Rev. 1.4 61
1
Laser Connection with Analog and Digital Modulation
This schematic describes how a C5 camera can be used to control a laser module with
respect to its digital and analog modulation.
- Connect the analog modulation wire of the laser to AOUT of the camera.
- Connect the digital modulation wire of the laser to OUT1 or OUT2 of the camera.
- If the laser requires modulation voltage >5V, connect higher voltage to OUT_Supply.
62 C5 Series User Manual Rev. 1.4
OUT2
IN1
t
t
Exposure
max 200µs
Exposure
max 200µs
Frame Period 400µs
Frame Period 400µs
MASTER
f=2500 Hz
SLAVE
f=2500 Hz
Triggered after
exposure of
Master Sensor
The falling edge
of Master OUT2
generate a slave
profile trigger
Use Registers:
Master:
Output2 = Out2_IntegrationActive
Output2Invert = true
Slave:
ProfileTriggerMode = CameraInput1
Master/Slave Connection
This schematic shows the required wiring to operate two C5 cameras in a Master/Slave
mode. For this purpose the OUT2 of the master camera is exemplary connected to the
trigger input IN1 of the slave camera. The Master/Slave mode can be realized with both
inputs (IN1/IN2) and outputs (OUT1/OUT2).
Example configuration for Master/Slave Connection
C5 Series User Manual Rev. 1.4 63
Name
Interface
Access
Visibility
Description
Output1
IEnumeration
RW
Beginner
List the output signals available for first output
(1): Out1_IntegrationActive (Value= 0)
(2): Out1_SequencerActive (Value= 1)
(3): Out1_IntegrationDualSlopeActive (Value= 2)
(4): Out1_IntegrationTripleSlopeActive (Value= 3)
(5): Out1_High (Value= 4)
(6): Out1_Low (Value= 5)
(7): Out1_InternalTrigger (Value= 6)
(8): Out1_SequencerTriggerActive (Value= 7)
(9): Out1_FrameValid (Value= 8)
(10): LightController0 (Value= 9)
Output2
IEnumeration
RW
Beginner
List the output signals available for second output
(1): Out2_IntegrationActive (Value= 0)
(2): Out2_IntegrationDualSlopeActive (Value= 1)
(3): Out2_IntegrationTripleSlopeActive (Value= 2)
(4): Out2_High (Value= 3)
(5): Out2_Low (Value= 4)
(6): Out2_TriggerOverrun (Value= 5)
(7): Out2_ResolverCountDir (Value= 6)
(8): Out2_TriggerBusy (Value= 7)
(9): Out2_AutoStart (Value= 8)
(10): LightController0 (Value= 9)
A detailed description of the digital outputs can be found in a separate
application note.
The Digital Outputs
The C5 series features the possibility to output various digital signals. Those signals can be
used to handle further machines or to check the internal signals.
A list of all digital outputs can be found below.
64 C5 Series User Manual Rev. 1.4
Pin No.
GigE Signal
Name
1
BI_DC-
2
BI_DD+
3
BI_DD-
4
BI_DA-
5
BI_DB+
6
BI_DA+
7
BI_DC+
8
BI_DB-
Shield
Shield
The C5-GigE Interface
The GigE Interface
M12 GigE Female Connector Pin Assignment
C5 Series User Manual Rev. 1.4 65
Pin No.
Signal Name
Description
1
ENC_Z-
Encoder index track Z-
2
AO
Output for analog modulation of illumination device (0–5V DC)
3
ENC_Z+
Encoder/Resolver index track Z+
4
ENC_B+
Encoder/Resolver Track B+
5
GND
Internal camera GND for analog output (AO)
6
ENC_B-
Encoder/Resolver Track B -
7
ENC_A-
Encoder/Resolver Track A -
8
VCC_EXT
Camera supply voltage (12-24V DC)
9
GND_EXT
Camera supply ground
10
ENC_A+
Encoder/Resolver Track A+
11
ENC_GND
Encoder/Resolver ground
12
OUT2
Electrically isolated digital output 2
13
IN1
Electrically isolated digital input 1 (5-24V DC)
14
IN2
Electrically isolated digital input 2 (5-24V DC)
15
OUT_Supply
Reference supply for digital isolated outputs (5-24V DC)
16
OUT1
Electrically isolated output 1
17
IO_GND
Reference ground for digital inputs (IN1, 2) and outputs (OUT1, 2)
Shield
SHIELD
Is connected to camera case
The analog output ground is directly connected to the internal camera
ground. The analog output is NOT electrically isolated from the device
ground! Please take care for a correct operation.
The I/O & Power Interface
M12 I/O Male Connector Pin Assignment
66 C5 Series User Manual Rev. 1.4
LED
Description
1 (PWR)
Green On= Power On and camera start up completed
Off = Power Off or camera start up failed
2 (USR)
After Power On:
Off = no network cable connected
Green On = network connected
After Network connected:
Green On = CCP status connected
Off = CCP status disconnected
Red On= no network found, no network cable connected
3 (MOD)
Not assigned to any function
4 (ACT)
Green blink = Indication of network activity
5 (LNK)
Green On = Linkspeed 1 Gbit
Amber On = Linkspeed 100 Mbit
Off = Linkspeed 10 Mbit or wait for end of autonegotiation
MOD
Description of LEDs
C5 Series User Manual Rev. 1.4 67
Part Number #
Description
202 202 300
M12 17 pin cable for power, I/O and laser control, custom length and connector
configuration (straight/angled), shielded, high flex
202 202 301
M12 17 pin cable for power, I/O and laser control, straight M12 female connector
(IP67) to straight M12 male connector (IP67), shielded, length 0.5m, high flex
202 202 302
M12 17 pin cable for power, I/O and laser control, straight M12 female connector
(IP67) to straight M12 male connector (IP67), shielded, length 3m, high flex
202 202 303
M12 17 pin cable for power, I/O and laser control, straight M12 female connector
(IP67) to straight M12 male connector (IP67), shielded, length 5m, high flex
202 202 304
M12 17 pin cable for power, I/O and laser control, straight M12 female connector
(IP67) to straight M12 male connector (IP67), shielded, length 10m, high flex
202 202 311
M12 17 pin pigtail cable for power, I/O and laser control, straight M12 female
connector (IP67) on camera plug, shielded, length 3m, high flex
202 202 312
M12 17 pin pigtail cable for power, I/O and laser control, straight M12 female
connector (IP67) on camera plug, shielded, length 5m, high flex
202 202 313
M12 17 pin pigtail cable for power, I/O and laser control, straight M12 female
connector (IP67) on camera plug, shielded, length 10m, high flex
202 201 501
M12 17 pin angled adapter cable for power, I/O and laser control, 90° angled
M12 female connector (IP64) on camera plug to straight M12 male (IP64),
angled connector configuration “DOWN”, length 0.2m, standard
202 201 511
M12 17 pin angled adapter cable for power, I/O and laser control, 90° angled
M12 female connector (IP64) on camera plug to straight M12 male (IP64),
angled connector configuration “UP”, length 0.2m, standard
The C5 Series Cables
Cables for Power, I/O and Laser Control
Pigtail cables:
Angled adapter cables:
68 C5 Series User Manual Rev. 1.4
Pin/Wire
No.
Wire Colour
Signal
Name
Description
1
Brown
ENC_Z-
Encoder index track Z-
2
Blue
AO
Output for analog modulation of illumination
device (0 to +5V DC)
3
White
ENC_Z+
Encoder/Resolver index track Z+
4
Green
ENC_B+
Encoder/Resolver Track B+
5
Pink
GND
Reference GND for analog output AO (internal
camera GND)
6
Yellow
ENC_B-
Encoder/Resolver Track B -
7
Black
ENC_A-
Encoder/Resolver Track A -
8
Gray
VCC_EXT
Camera supply voltage (+10 to +24V DC)
9
Red
GND_EXT
Camera supply GND
10
Violette
ENC_A+
Encoder/Resolver Track A+
11
Gray/Pink
ENC_GND
Encoder/Resolver ground
12
Red/Blue
OUT2
Opto-isolated digital output 2
13
White/Green
IN1
Opto-isolated digital input 1 (+5 to +24V DC)
14
Orange/Green
IN2
Opto-isolated digital input 2 (+5 to +24V DC)
15
White/Yellow
OUT_Supply
Supply for digital output signals OUT1, 2 (+5 to +24V
DC)
16
Yellow/ Orange
OUT1
Opto-isolated digital output 1
17
White/Gray
IO_GND
Reference ground for digital inputs (IN1, 2) and
outputs (OUT1, 2)
The analog output ground is directly connected to the internal camera
ground. The analog output is NOT electrically isolated from the device
ground! Please take care for a correct operation.
Wire Assignment of M12 17 pin Pigtail Cable
C5 Series User Manual Rev. 1.4 69
Part Number #
Description
202 201 200
M12 GigE cable with custom length and connector configuration
(straight/angled)
202 201 201
M12 GigE cable, straight M12 male connector (IP67) on camera plug to RJ45
(IP20), length 0.5m, standard
202 201 202
M12 GigE cable, straight M12 male connector (IP67) on camera plug to RJ45
(IP20), length 3m, standard
202 201 203
M12 GigE cable, straight M12 male connector (IP67) on camera plug to RJ45
(IP20), length 5m, standard
202 201 204
M12 GigE cable, straight M12 male connector (IP67) on camera plug to RJ45
(IP20), length 10m, standard
202 201 205
M12 GigE cable, straight M12 male connector (IP67) on camera plug to RJ45
(IP20), length 15m, standard
202 201 206
M12 GigE cable, straight M12 male connector (IP67) on camera plug to RJ45
(IP20), length 30m, standard
202 201 502
M12 GigE angled adapter cable for GigE, 90° angled M12 male connector
(IP64) on camera plug to straight M12 female (IP64), angled connector
configuration “DOWN”, length 0.2m, standard
202 201 512
M12 GigE angled adapter cable for GigE, 90° angled M12 male connector
(IP64) on camera plug to straight M12 female (IP64), angled connector
configuration “UP”, length 0.2m, standard
Cables for GigE Interface
Angled adapter cables:
70 C5 Series User Manual Rev. 1.4
GigE Signal
Name
Pin No.
M12
Pin No.
RJ45
BI_DC-
1 5 BI_DD+
2 7 BI_DD-
3 8 BI_DA-
4 2 BI_DB+
5 3 BI_DA+
6 1 BI_DC+
7 4 BI_DB-
8 6 Shield
Shield
Shield
Male Plug
1
8
RJ45
M12
Male Plug
C5 Series User Manual Rev. 1.4 71
Part Number #
Description
202 201 501
Power & I/O “DOWN”
202 201 502
GigE “DOWN”
202 201 511
Power & I/O “UP”
202 201 512
GigE “UP”
DOWN
UP
Orientation of Angled Adapter Cable
Depending on the used adapter cable the orientation differs. The option “UP” or “DOWN”
will change the outlet direction of the angled cables.
72 C5 Series User Manual Rev. 1.4
The C5 Series GenICam Features
A complete list of all GenICam features for all types of C5 cameras (C5-1280-GigE, C5-2040-GigE, C5-3360-GigE and C5-4090-GigE)
can be found in separate notes.
Device Control
Description of the camera and its sensor
Image Format Control
Features controlling the size and type of the transmitted image
Acquisition Control
Feature relating to actual frame acquisition
Camera Control
Features relating to camera control
AOIs
Features relating to area of interest
FIR Control
Features relating to FIR
Mode and Algorithm Control
Features relating to camera mode and algorithm
C5 Series User Manual Rev. 1.4 73
AoiTracking
Features relating to AOI-Tracking mode
AoiSearch
Features relating to the AOI-Search mode
ColumnEvaluationMask
Features relating to the Column Evaluation Mask. It is a global mask and valid for all functions (AOI-Tracking, AOI-Search,
AutoStart)
Sensor Control
Features relating to sensor control
Advanced Sensor Settings
Features relating to advanced sensor settings
Data Output Channels
Features relating to data output
Commands
Commands for camera
Light Control
Features relating to Light Control
Camera IO
Features relating to camera input and output
74 C5 Series User Manual Rev. 1.4
Trigger Control
Features relating to trigger controls
RS422 Resolver
Features relating to RS422 resolver
AutoStart
Features relating to AutoStart
Transport Layer Control
Features related to GigE Vision specification
GigE Vision
Features related to GigE Vision specification
User Set Control
Features related to the User Set Control to save and load the user device settings
Chunk Data Control
Features relating to chunk data control
Event Control
Features required to control the generation of event notifications sent to host application
File Access Control
Category that contains the file access control features
C5 Series User Manual Rev. 1.4 75
Additional Features for Scatter Firmware
C5-2040-SCT-GigE
The Scatter Mode
The C5-2040-SCT-GigE is a customized firmware of the C5-2040-GigE featuring 3D profile
scan by means of FIR PEAK algorithm and output of laser scatter data.
The different behavior of the scattering of light on the object surface can highlight various
features that would be hard to detect in a normal grayscale image.
The scatter component can output the direct scatter which is the sum of intensities
around the PEAK position and the left or right scatter component which are the sum of
intensities left and right to the PEAK point.
The left and right scatter feature have two adjustable parameters. First the Left Scatter
Width / Right Scatter Width to set the number of rows which will sum together and second
the Left Scatter Position / Right Scatter Position to state how far away from the PEAK the
intensities are summed.
The direct scatter can determine the width (Direct Scatter Width) of the sum of intensities
at the peak point.
76 C5 Series User Manual Rev. 1.4
Parameter
Range
Left Scatter Position
1-17
Left Scatter Width
1-5
Right Scatter Position
1-31
Right Scatter Width
1-7
Direct Scatter Width
1, 3 or 5
According to the possibility to adjust positions and widths of the scatter functions there
are some conditions which have to follow for the right adjustment.
Conditions for adjusting the scatter functions
1. “Left Scatter Position” + “Left Scatter Width” ≤ 18
2. “Right Scatter Position” + “Right Scatter Width” ≤ 32
3. “Direct Scatter Width” = 1 -> “Left / Right Scatter Position” min. = 1
4. “Direct Scatter Width” = 3 -> “Left / Right Scatter Position” min. = 2
5. “Direct Scatter Width” = 5 -> “Left / Right Scatter Position” min. = 3
C5 Series User Manual Rev. 1.4 77
Simultaneous Output of 3D & Laser Scatter Data
Over the different data output channels it is possible to acquire the 3D information of the
scanned object and in the same moment to get the laser scatter information.
For left and right scatter there are three possibilities to define which information should be
transmitted over the data output channel 0.
DC0 = Left Scatter
DC0 = Left and Right Scatter
DC0 = Right Scatter
XML view of the scatter functions
78 C5 Series User Manual Rev. 1.4
Name
Interface
Access
Visibility
Description
LeftScatterPosition
(**)
IInteger
RW
Beginner
Left Scatter Position
Min: 1
Max: 17
Increment: 1
LeftScatterWidth
(**)
IInteger
RW
Beginner
Left Scatter Width
Min: 1
Max: 5
Increment: 1
DirectScatterWidth
(**)
IInteger
RW
Beginner
Direct Scatter Width
Min: 1
Max: 5
Increment: 2
RightScatterPosition
(**)
IInteger
RW
Beginner
Right Scatter Position
Min: 1
Max: 31
Increment: 1
RightScatterWidth
(**)
IInteger
RW
Beginner
Right Scatter Width
Min: 1
Max: 7
Increment: 1
*: THIS FEATURE CAN BE TEMPORARILY LOCKED DEPENDING ON CAMERASTATUS
**: THIS FEATURE CAN BE TEMPORARILY NOT AVAILABLE DEPENDING ON CAMERASTATUS
***: THIS FEATURE CAN BE NOT IMPLEMENTED AT ALL DEPENDING ON SENSORTYPE OR SOFTWAREVERSION
Mode and Algorithm Control
C5 Series User Manual Rev. 1.4 79
Image View
Info View / Log
XML Window
Statistic View
LinePlot View
cxExplorer Overview
The cxExplorer
Configuration of a C5 camera can be easily done with the cxExplorer, which is a
graphical user interface provided by AT - Automation Technology. With the help of the
cxExplorer a camera can be simply adjusted to the required settings. Furthermore, the
cxExplorer gives the opportunity to display various information like the 2D image, 3D
height image and many more.
This chapter gives some general information about the layout of the cxExplorer such as
an overview of how to set parameters and features.
More details regarding the operation of the cxExplorer can be found in a separate
application note.
80 C5 Series User Manual Rev. 1.4
Image Wizard
3D Wizard
cxExplorer Features
As mentioned in the previous chapter The C5 Sensor Algorithms every C5 camera is
able to run in 2D image mode or in 3D mode.
The configuration of the required mode can be easily done with the cxExplorer via the
Image Wizard, 3D Wizard or over the XML Window.
Image Wizard
The Image Wizard is the easy way to set the camera manually to the 2D greyscale image
mode. Select the image format, set the integration time and enable or disable the FIR
filter.
C5 Series User Manual Rev. 1.4 81
Image Mode
The image mode enables the output of the 2D CMOS sensor images of the camera. That
can be helpful e.g. to set and optimize the laser power, the Area Of Interest or the
exposure time.
(2D greyscale image)
3D Wizard
With the 3D Wizard the camera mode can be easily switched to 3D mode. Set the number
of profiles per frame, choose the 3D algorithm, set the integration time and select the
number of subpixel. Enable the required Output Channels and select the trigger mode to
finish the wizard.
82 C5 Series User Manual Rev. 1.4
A detailed description of the operation of the cxExplorer can be found in a
separate application note.
3D Mode
In the 3D a greyscale height image can be acquired and displayed in the Image View
using one of the four different algorithms. Furthermore, the intensity image can be also
displayed.
(3D greyscale height image)
C5 Series User Manual Rev. 1.4 83
Quickstart a C5 camera
This chapter explains the handling to set up a C5 camera and the computer to acquire
the first images.
Set the computer to the recommended settings in the following.
1. Turn off all possible software which can block sent packages from the camera to
the PC or the other way around like Firewalls or Antivirus software.
2. Connect the camera directly or over a switch to the PC. Identify which network
interface card (NIC) is linked to the camera.
3. Disable not needed filter drivers and protocols of the NIC port.
4. Set the computer Internet Protocol Version 4 (TCP/IPv4) to a fix IP address and a
fix subnet mask. For example: 169.254.64.1, 255.255.0.0.
5. Enable Jumbo Frames if possible.
6. Starting the cxExplorer lead to the Device Selection. Chose the camera over the
available Transport Layer and open the device. If the camera isn´t visible check
the IP address or search for subnets.
By default the camera starts in the factory mode. For the C5 camera the factory mode is
the 2D image mode. Start the continuous image grab over or do a snapshot over
.
The first images were acquired.
84 C5 Series User Manual Rev. 1.4
cxSoftware Development Kit
Automation Technology´s Software Development Kit (cxSDK) is free of charge and allows
the programmatically access and control of C5 cameras and further the possibility of a
3D calibration.
The cxSDK provides a C-based application-programming interface (API) with language
wrappers for C++, Python, Matlab and Octave.
The cxSDK consists of the cxCam and cx3d library.
The cxCam library provides functions for discovering and enumerating connected
devices via the GEV standard as well as the camera configuration, image acquisition
and event handling.
The cx3d library provides functions for intrinsic and extrinsic calibration models to
transform the height images (range maps) from the camera to 3D point cloud images or
rectified images.
For more information about the handling and the integration of the cxSDK, please refer
to the documentation and to various example programs contained in the cxSDK.
C5 Series User Manual Rev. 1.4 85
Service Information
Product Information and Updates
Contact
AT-Automation Technology GmbH
Hermann-Bössow-Str.6-8
D-23843 Bad Oldesloe, Germany
Phone: +49 4531/88011-0
Fax: +49 4531/88011-20
Updates
www.AutomationTechnology.de
Service and Support
service@AutomationTechnology.de
In order to process your support inquiries immediately, we always need the serial number
of the camera, the firmware version, the device version, the camera configuration file
(*.cfg), a snapshot and a precise problem description.
Product Inquiries and Price Quotations
info@AutomationTechnology.de
86 C5 Series User Manual Rev. 1.4
Warranty Conditions
Only the manufacturer can recognize the conditions of warranty. Should other parties
than the manufacturer be responsible for the malfunctioning, we consider the right of
warranty as void. This is the case if the unit is modified electrically or mechanically,
particularly in its wiring/soldering, or if the unit is used for purposes not intended by the
manufacturer, or if the unit's external wiring is faulty, or if the unit is used under conditions
outside those stated in its manual.
Warranty Period
2-year warranty for C5 series sold inside of the European Union (EU)
1-year warranty for all C5 series sold outside of the European Union (EU)
Extended Warranty
The warranty period can be extend to maximum 36 months.
Return Policy
Before returning a camera for repair (warranty or non-warranty) to AT – Automation
Technology GmbH a Return Material Authorization (RMA) number has to be provided by
AT. Please get in contact with the AT support to receive a RMA.
Ship the sensor carefully packed in its original shipping box or an equivalent box back to
our destination in Germany, 23843 Bad Oldesloe, Hermann-Bössow-Straße 6-8.
If the camera was purchased over a distributor, please get in contact with them to start
the RMA process.
C5 Series User Manual Rev. 1.4 87
Rev. No.
Date
Modification
1.0
19.01.2016
Official release
1.1
02.03.2017
Modified technical drawings. Add screw thread dimensioning
Add C5-1280-GigE camera
Add XML Features
Add new chapters: The Web Interface, CX Explorer Overview,
Quickstart a C5 camera, Return Police
Add Information to warranty period and extended warranty
condition
1.2
24.08.2018
Correct Encoder Specification
Add Master/Slave Example
Changed The GenICam Features Configuration example
Add new Scheimpflug options
Add warning not to connect C5 cameras to C5-CS-I/O Panels
Add description of Trigger Control – RS422 Resolver
1.3
24.01.2019
Add terms for C5-3360 frequency
Add Orientation of Angled Adapter Cables
Add new Multiple Slope image examples
Delete extended GenICam feature list
1.4
05.07.2019
Add digital input and encoder input information
Add information for Laser Connection
Correct mechanical drawing image of C5-IO-Panel
Change part number and description for C5 series cables
Correct color wire assignment for M12 17 pin pigtail cable
Modify cxExplorer overview
Add cxSDK information
Modify Quickstart information
Add subpixel limitations
Document Revision
88 C5 Series User Manual Rev. 1.4
Automation Technology GmbH
– All rights reserved. Subjec
t to change without prior notification
.
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