Automation Technology GmbH C4, C4-1280-GigE Hardware Reference Manual

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C4-1280-GigE Camera

Hardware Reference

Manual

Rev 1.8

Automation Technology GmbH

C4-1280-GigE Camera Hardware Reference Manual Rev. 1.8 • iii

Table Of Contents

Table Of Contents iii

C4 Camera Series Overview 6

Introduction................................................................................................... 6

Measuring Principle........................................................................................ 6

Geometry 1 .......................................................................................7

Geometry 2 .......................................................................................7

Geometry 3 .......................................................................................8

Geometry 4 .......................................................................................8

The C4-1280-GigE Camera General Specifications ......................................... 9

Mechanical Drawings ....................................................................... 10

The C4-1280-GigE Camera Sensor Specifications.......................................... 11

C4-1280-GigE Camera Operational Reference 12

C4-1280-GigE Camera GenICam Features................................................... 12

DeviceInformation ............................................................................12

ImageFormatControls ....................................................................... 12

AcquisitionControl ............................................................................ 13

CameraControls – AOIs (Areas Of Interest)......................................... 13

CameraControls – ModeAndAlgorithmControls................................... 13

CameraControls – ModeAndAlgorithmControls - AoiTracking ..............14

CameraControls – ModeAndAlgorithmControls - AoiSearch................. 14

CameraControls – ModeAndAlgorithmControls - ColumnEvaluationMask ... 14

CameraControls – SensorControls ..................................................... 14

CameraControls – SensorControls – AdvancedSensorsettings ............... 15

CameraControls – DataOutput.......................................................... 15

CameraControls – Commands .......................................................... 15

CameraIO ....................................................................................... 16

TriggerControls ................................................................................ 16

TriggerControls – ResolverRS422 ....................................................... 17

TriggerControls – AutoStart ...............................................................17

GigEVisionTransportLayer.................................................................. 17

UserSets .......................................................................................... 19

ChunkDataControl ........................................................................... 19

EventGeneration............................................................................... 19

FileAccessControl ............................................................................. 19

The GenICam Features Configuration of C4-1280-GigE ................................21

The C4-1280-GigE Camera Algorithms......................................................... 23

iv • C4-1280-GigE Camera Hardware Reference Manual Rev. 1.8

The Image Mode (IMG) .................................................................... 23

The Maximum Intensity Profile Mode (MAX)......................................... 24

The Threshold Mode (TRSH) ..............................................................25

The Center Of Gravity Mode (COG).................................................. 26

The High Dynamic Range 3D Feature (HDR-3D) of C4-1280-GigE.................. 27

MultipleSlope Function...................................................................... 27

Non-Destructive Readout (NDR) Mode ............................................... 29

Non-Destructive Readout (NDR) Mode ............................................... 30

The Data Output Format of C4-1280-GigE ...................................................31

The Data Channel Assignment DC0-DC2........................................... 31

The Output Frame Structure .............................................................. 32

Advanced AOI Functions .............................................................................. 36

C4-1280-GigE Camera Triggering ............................................................... 37

Description of Profile Trigger Modes................................................... 37

Description of Modes for Triggering of Sequencer/Frame and Profile

Acquisition ....................................................................................... 39

The Chunk Data Mode of C4-1280-GigE...................................................... 41

General Description.......................................................................... 41

Payload Layout in Chunk Data Mode .................................................42

XML Descriptors and Id’s ................................................................... 43

Chunk Data Structure........................................................................ 44

The GigE-Vision Events of C4-1280-GigE...................................................... 45

C4-1280-GigE Camera Interface.................................................................. 46

The GigE Interface............................................................................ 46

The I/O & Power Interface................................................................. 46

The Illumination Control.................................................................... 48

Schematic of C4-1280-GigE digital inputs.......................................... 49

Schematic of C4-1280-GigE digital outputs........................................ 50

Description of LEDs........................................................................... 51

Integrated RS232 serial interface and Camera Boot Log....................... 52

The External C4 I/O Panel............................................................................ 54

Service Information 57

Document Revision ......................................................................................57

Product Information and Updates .................................................................. 57

Warranty Conditions .................................................................................... 58

C4-1280-GigE Camera Hardware Reference Manual Rev. 1.8 • 5

© 2012 Automation Technology GmbH. All rights reserved. No part of this document shall be reproduced, stored in a retrieval system, or transmitted by any means, electronic, mechanical, photocopying, recording, or otherwise without consent in writing from the owners, AT-Automation Technology GmbH.

Disclaimer While care has been exercised in the preparation of this document to ensure that it is fully correct and comprehensive, the owners assume no responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained herein. No license is granted under any patents or patent right of AT – Automation Technology GmbH.

6 • C4-1280-GigE Camera Hardware Reference Manual Rev. 1.8

C4 Camera Series Overview

Introduction

The C4 camera 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.

Measuring Principle

The C4 camera 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 C4 camera views the object from another angle defining the triangulation geometry. The resulting sensor image is evaluated by the C4 camera core 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:

∆X= resolution along the laser line (lateral),

∆Y= resolution perpendicular to the laser line (longitudinal in the direction of motion),

∆Z= height resolution.

C4-1280-GigE Camera Hardware Reference Manual Rev. 1.8 • 7

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: ∆Z ≈ ∆X / sin(α)

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: ∆Z ≈ ∆X / tan(α)

8 • C4-1280-GigE Camera Hardware Reference Manual Rev. 1.8

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: ∆Z ≈ ∆X * cos(β) / sin(α + β),

in case α= β (direct reflex) : ∆Z ≈ ∆X / 2* sin(α)

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: ∆Z ≈ ∆X * cos(β) / sin(α - β),

C4-1280-GigE Camera Hardware Reference Manual Rev. 1.8 • 9

The C4-1280-GigE Camera General Specifications

Camera Controls

Synchonization Modes Free running, Triggered, Software Triggered

Exposure Modes Programmable, Pulse controlled

Shutter Modes Global Shutter

Digital Trigger Input 2 optoisolated inputs, 5V or 24V with C4-I/O-Panel

VIL, logic ‚0’ Voltage < 2.5V

VIH, logic ‚1’ Voltage > 3.5V

Encoder Trigger Input RS422 Standard with 100 Ohm termination

Digital Output 2 optoisolated outputs

VOL, logic ‚0’ Voltage 0.5V

VOH, logic ‚1’ Voltage OC output with 4.7kOhm pull-up to VCC I/O

IOH, logic ‚1’ output current OC output with 4.7kOhm pullup to VCC I/O

IOL, logic ‚0’ output current 8mA

Illumination Control Power 5V DC, 200mA, Modulation 20kHz

Features

3D-Algorithms MAX, TRSH, COG, user specific

Smart Camera Dedicated CPU for custom image processing, 1Gb image

memory, 256 Mb processor instruction and data memory

High Speed Acquisition Full frame: 500 fps

High Dynamic Range Imaging Multiple Slope Curve, Non-Destructive Readout

Optical Interface

Lens Mount M42x1 with Back Focal Distance 6.52mm

Adapter for C-Mount lens (must be ordered separately)

Back Focal Distance 17.52mm

Adapter for F-Mount lens with Bajonett mount (must be ordered separately)

Back Focal Distance 46.50 mm

Mechanical Interface

Camera Size 68 mm x 68 mm x 59 mm (with C-Mount adapter)

68 mm x 68 mm x 88 mm (with F-Mount adapter)

10 • C4-1280-GigE Camera Hardware Reference Manual Rev. 1.8

Mechanical Interface

Mass (without optics) 340g (C-Mount), 410g (F-Mount)

Power connector 20-pin MDR

Ethernet connector RJ45

Illunimation control connector 5-pin M9

Electrical Interface

Input Voltage 10 - 24V DC

Power consumption <10W

Operating Temperature 0°C to +50°C (non condensing)

Output Data Interface Gigabit Ethernet (IEEE 802.3)

Communication Protocol GigE Vision with GeniCam

Mechanical Drawings

C4-1280-GigE with C-Mount adapter:

C4-1280-GigE with F-Mount adapter:

C4-1280-GigE Camera Hardware Reference Manual Rev. 1.8 • 11

The C4-1280-GigE Camera Sensor Specifications

Parameters Specifications

Sensitivity at peak response 20000 LSB / µJ / cm² @680nm

Resolution 1280 x 1024

Pixel Size 14µm x 14µm

Sensor Size 17.92mm x 14.34mm, diagonal: 22.95mm

Optics 1”

Sensor ADC Resolution 10 bit

Sensor Dynamic Range 90dB

Max. Internal Full-Frame Rate 500fps

Max. External Full-Frame Rate 80fps

Number of Rows Effective Frame / Profile Rate (Hz) Effective Frame / Profile Rate at

Max. Row Length

128

256

1024

38462

23810

13699

7353

3817

1949

495

Spectral sensitivity of C4-1280 sensor

12 • C4-1280-GigE Camera Hardware Reference Manual Rev. 1.8

C4-1280-GigE Camera Operational Reference

C4-1280-GigE Camera GenICam Features

DeviceInformation

Name Rev. Interface Access Description

DeviceVendorName 1.0 IString R The name of the device vendor. DeviceModelName 1.0 IString R The name of the device model. DeviceManufacturerInfo 1.0 IString R Additional info from manufacturer about this device. DeviceVersion 1.0 IString R A string identifying the version of the device. DeviceID 1.0 IString R A unique identifier of the device, e.g., a serial number

or a GUID (User Data in GigE Boot register). DeviceFirmwareVersion 1.0 IString R Version of firmware/software. DeviceUserID 1.0 IString R/W User-programmable device identifier. DeviceScanType 1.0 IEnumeration R Show the camera type:

- Areascan DeviceReset 1.0 ICommand W Resets and reboots the device immediately. DeviceRegistersStreamingStart 1.2 ICommand W Announces the start of registers streaming without

immediate checking for consistency.

DeviceRegistersStreamingEnd 1.2 ICommand W Announces the end of registers streaming and

perform validation for registers consistency before activating them. This will also update the DeviceRegistersValid flag.

DeviceRegistersCheck 1.2 ICommand W Performs an explicit register set validation for

consistency.

DeviceRegistersValid 1.2 IBoolean R Indicates whether the current register set is valid and

consistent. DeviceTemperature AT IFloat R Device temperature in degrees Celsius (°C). DeviceMaxThroughput 1.2 IInteger R Maximum Bandwidth of data in Bytes/sec.

ImageFormatControls

Name Rev. Interface Access Description

PayloadSize 1.0 IInteger R PayloadSize provides the number of bytes transferred

for each image on the stream channel SensorWidth 1.0 IInteger R Width of sensor (effective pixels) SensorHeight 1.0 IInteger R Height of sensor (effective pixels) Width 1.0 IInteger R/W Width of Image/Area Of Interest.

In Image-Mode writing this manipulates AOI[0].width. Height 1.0 IInteger R/W Height of Image/Area Of Interest.

In Image-Mode writing this manipulates AOI[0].height PixelFormat 1.0 IEnumeration R/W Format of the image pixels. For more details, see the

Pixel Format description chapter.

- Mono8

- Mono16

ReverseX 1.0 IBoolean R/W When set to true, this parameter flips the image

horizontally.

C4-1280-GigE Camera Hardware Reference Manual Rev. 1.8 • 13

Name Rev. Interface Access Description

ReverseY 1.0 IBoolean R/W When set to true, this parameter flips the image

vertically. OffsetX 1.0 IInteger R/W X Offset of AOI TestImageSelector 1.0 IEnumeration R/W Selection of the test image to be used.

- Off

- GreySensorColumnPattern

LinePitch 1.0 IInteger R Distance between consecutive lines in bytes. PixelDynamicRangeMin 1.0 IInteger R Minimum pixel value sent by the camera. PixelDynamicRangeMax 1.0 IInteger R Maximum pixel value sent by the camera.

AcquisitionControl

Name Rev. Interface Access Description AcquisitionStart 1.0 ICommand W Issues the START command. This starts the

acquisition.

AcquisitionStop 1.0 ICommand W Issues the STOP command. This stops the

acquisition.

AcquisitionMode 1.0 IEnumeration R/W Defines the type of acquisition:

- SingleFrame

- MultiFrame

- Continuous

AcquisitionAbort 1.0 ICommand W Issues the ABORT command. This immediately

aborts the acquisition without completing the current frame.

AcquisitionFrameCount 1.0 IInteger R/W Number of frames to be acquired in MultiFrame

acquisition mode. The minimum allowable value is 1.

AcquisitionFrameRateAbs 1.2 IFloat R The frame rate of the imager. Absolute units are in

Hz.

AcquisitionStatusSelector 1.2 IEnumeration R/W Selector for AcquisitionStatus to read:

- AcquisitionTriggerWait

- AcquisitionActive

- AcquisitionTransfer

- FrameTriggerWait AcquisitionStatus[AcquisitionStat usSelector]

1.2 IBoolean R Status of the selected acquisition flag

CameraControls – AOIs (Areas Of Interest)

Name Rev. Interface Access Description

MaxNumAOIs AT IInteger R Maximum number of AOIs. NumAOIs AT IInteger R/W Number of used AOIs. ImageModeAoiSelector AT IInteger R/W Selects the AOI to show in image mode AoiSelector AT IInteger R/W Selects which AOI to control AoiHeight AT IInteger R/W Number of sensor rows in AOI AoiOffsetY AT IInteger R/W Offset distance in rows between the first row of AOI

and the first row of sensor chip

AoiThreshold AT IInteger R/W Intensity threshold value for selected AOI.

CameraControls – ModeAndAlgorithmControls

Name Rev. Interface Access Description

CameraMode AT IEnumeration R/W Selects the camera mode or algorithm:

- Image

- CenterOfGravity

- Threshold

- MaximumIntensity ProfilesPerFrame AT IInteger R/W This feature represents the number of Profiles per

Frame in 3D-Mode expelled by the camera.

AbsOffsetPos AT IBoolean R/W True: Position values are referenced to the first row

of sensor chip (absolute position). False: Position values are referenced to the first row of AOI.

TrshFirstFalling AT IBoolean R/W Stops the position calculation along an AOI column,

as soon as the falling edge of a Gauss curve is

detected. NumCOGSP AT IInteger R/W Number of subpixel bits of COG output (0-6). PosValidationEn AT IBoolean R/W Enable validation of position value of a Gauss curve

using tolerances for width and sum of intensity.

Perform validation during scan of image column and

14 • C4-1280-GigE Camera Hardware Reference Manual Rev. 1.8

Name Rev. Interface Access Description

immediately after detecting a Gauss falling edge.

Clear the result, if the position value is invalid. ClearInvalidPos AT IBoolean R/W Enable validation of position value using tolerances

for width and sum of intensity. Perform validation at

the end of scan of image column. Invalid position

values are set to zero in all DCs. ValidationWidthMin AT IInteger R/W Minimum width of valid intensity distribution in 3D-

mode. ValidationWidthMax AT IInteger R/W Maximum width of valid intensity distribution in 3D-

mode. ValidationSumMin AT IInteger R/W Minimum sum of intensity of valid intensity

distribution in 3D-mode. ValidationSumMax AT IInteger R/W Maximum sum of intensity of valid intensity

distribution in 3D-mode.

CameraControls – ModeAndAlgorithmControls - AoiTracking

Name Rev. Interface Access Description

AoiTrackingEnable AT IBoolean R/W True: AOI-Tracking mode is enabled

False: AOI-Tracking mode is disabled AoiTrackingMinNumPixel AT IInteger R/W Minimum number of required pixel (one pixel per

column) to start AOI tracking algorithm AoiTracking_P AT IFloat R/W Proportional gain of PID controller AoiTracking_I AT IFloat R/W Integral gain of PID controller AoiTracking_D AT IFloat R/W Derivative gain of PID controller AoiTrackingUpdateRate AT IInteger R/W Update frequency of tracking algorithm (Hz) AoiTrackingSensorWriteTimeout AT IInteger R/W AOI tracking senosr write timeout in microseconds

(µs)

CameraControls – ModeAndAlgorithmControls - AoiSearch

Name Rev. Interface Access Description

AoiSearchEnable AT IBoolean R/W True: AOI-Search mode is activated

False: AOI-Search mode is disabled AoiSearchHeight AT IInteger R/W Height of search AOI AoiSearchOffsetY AT IInteger R/W Vertical offset from the origin to the search AOI

CameraControls – ModeAndAlgorithmControls - ColumnEvaluationMask

Name Rev. Interface Access Description

ColRangeStart AT IInteger R/W Column start index ColRangeEnd AT IInteger R/W Column end index ColRangeEnableCommand AT ICommand W Enable all columns from RangeStart to RangeEnd ColRangeDisableCommand AT ICommand W Disable all columns from RangeStart to RangeEnd ColRangeActivate AT ICommand W Activate complete ColumnEvaluationMask and write

data into flash memory

CameraControls – SensorControls

Name Rev. Interface Access Description

SensorFrameCounter AT IInteger R Sensor frame counter. SensorReadoutTime AT IInteger R Sensor Readout Time in µs. ExposureTimeAbs AT IInteger R/W Sensor integration time in µs. FramePeriode AT IInteger R/W Time between two frames in µs. FrameRate AT IFloat R Frame rate in Hz ExposureMode AT IEnumeration R Sensor exposure mode:

- Interleaved (the sensor integration and readout are performed in parallel).

MultipleSlopeMode AT IEnumeration R/W MultipleSlope Mode:

- SingleSlope

- DualSlope

- TripleSlope DualSlopeTime AT IInteger R/W DualSlopeTime in % of sensor integration time TripleSlopeTime AT IInteger R/W TripleSlopeTime in % of sensor integration time NumberOfNDRFrames AT IInteger R/W Number of NDR frames

C4-1280-GigE Camera Hardware Reference Manual Rev. 1.8 • 15

NDRMode AT IEnumeration R/W Non Destructive Readout (NDR) Mode:

- Off

- On

- SingleFrameMode. NDRSingleFrameNumber AT IInteger R/W NDR single frame number. NDRExposureTimeAbs_1 AT IInteger R/W NDR exposure time 1. NDRExposureTimeAbs_2 AT IInteger R/W NDR exposure time 2. NDRExposureTimeAbs_3 AT IInteger R/W NDR exposure time 3. NDRExposureTimeAbs_4 AT IInteger R/W NDR exposure time 4.

CameraControls – SensorControls – AdvancedSensorsettings

Name Rev. Interface Access Description

FPNCorrection AT IEnumeration R/W FPN Correction:

- Enable

- Disable GainAbs 1.2 IEnumeration R/W Gain value:

- 1

- 1.5

- 2

- 2.25

- 3

- 4 AntiBlooming AT IFloat R/W Antiblooming Voltage (DAC 1) ResetTS AT IFloat R/W Reset Voltage Triple Slope (DAC 2) Reset AT IFloat R/W Reset Voltage (DAC 3) ResetDS AT IFloat R/W Reset Dual Slope (DAC 4) Precharge AT IFloat R/W Precharge Voltage (DAC5) MemH AT IFloat R/W Pixels memory element high level (DAC6) MemL AT IFloat R/W Pixels memory element low level (DAC7) BlackLevelAdjust AT IInteger R/W Adjustment of black level. Enable automatic SERDES recalibration

AT IBoolean R/W Enable automatic SERDES recalibration on data

channel error.

CameraControls – DataOutput

Name Rev. Interface Access Description

EnableDC0 AT IBoolean R/W Activates the output data channel DC0. EnableDC1 AT IBoolean R/W Activates the output data channel DC1. EnableDC2 AT IBoolean R/W Activates the output data channel DC2. EnableDC0Shift AT IBoolean R/W Right shift twice the intensity value in DC0, when

PixelFormat is Mono8.

EnableDC2TrshSP AT IBoolean R/W Controls the output in channel DC2, when TRSH

algorithm is selected: True: DC2 outputs the position value with 1 subpixel. False: DC2 outputs the right edge position.

EnableDC1TrshWidth AT IBoolean R/W Controls the output in channel DC1, when TRSH

algorithm is selected: True: DC1 outputs the laser line width. False: DC1 outputs the left edge position.

EnableDC1Width AT IBoolean R/W Controls the output in channel DC1, when COG

algorithm is selected: True: DC1 outputs the laser line width. False: DC1 outputs the left edge position.

EnableDC1Flags AT IBoolean R/W When in 16 bit mode, the bits 12-15 of output

channel DC1 contain additional algorithm flags

CameraControls – Commands

Name Rev. Interface Access Description

StartPulse AT ICommand W Send Start pulse. StopPulse AT ICommand W Send Stop pulse. TriggerPulse AT ICommand W Send Trigger pulse. CalibSensor AT ICommand W Start internal sensor FPN calibration. RstFrameCnt AT ICommand W Reset frame counter to zero. SearchAoi AT ICommand W Fit AOI to laser line position. Supports only one

AOI

16 • C4-1280-GigE Camera Hardware Reference Manual Rev. 1.8

CameraIO

Name Rev. Interface Access Description

Input1 AT IEnumeration R Lists the input signals available for IN1:

- Input1_Unused.

- Input1_FrameStart

- Input1_EnableFrame

- Input1_Trigger

Input2 AT IEnumeration R Lists the input signals available for IN2:

- Input2_Unused.

- Input2_StopFrame

- Input2_Trigger

Output1 AT IEnumeration RW Selects the output signal for OUT1:

- Out1_IntegrationActive

- Out1_SequencerActive

- Out1_IntegrationDualSlopeActive

- Out1_IntegrationTripleSlopeActive

- Out1_High

- Out1_Low

- Out1_InternalTrigger

- Out1_SequencerTriggerActive

Output2 AT IEnumeration RW Selects the output signal for OUT2:

- Out2_IntegrationActive,

- Out2_IntegrationDualSlopeActive

- Out2_IntegrationTripleSlopeActive

- Out2_High

- Out2_Low

- Out2_TriggerOverrun

- Out2_ResolverCountDir

- Out2_TriggerBusy TriggerOverrun AT IBoolean R Trigger Overrun Flag. Input1Level AT IEnumeration R The voltage level of IN1:

- Input1Level_High

- Input1Level_Low Input2Level AT IEnumeration R The voltage level of IN2:

- Input2Level_High

- Input2Level_Low RS422ChannelALevel AT IEnumeration R Voltage level of RS422 Channel A:

- RS422ChannelALevel_High

- RS422ChannelALevel_Low RS422ChannelBLevel AT IEnumeration R Volatge level of RS422 Channel B

- RS422ChannelBLevel_High

- RS422ChannelBLevel_Low LaserPower AT IFloat R/W Sets the output analog voltage of illumination control

in the range 0.0-5.0 V DC (corresponds to 0...100%) TurnLaserOn AT IBoolean R/W Laser turn on/off. TurnLaserOnAuto AT IBoolean R/W Laser turn on automatically during sensor integration. VoltageIn AT IFloat R Reads the input analog voltage of illumination control

(range 0.0-5.0 V DC) Output1MinPulseWidth AT IInteger R/W Output1 minimum pulse width in microseconds (µs) Output2MinPulseWidth AT IInteger R/W Output2 minimum pulse width in microseconds (µs) Output1Delay AT IInteger R/W Output1 delay in microseconds (µs) Output2Delay AT IInteger R/W Output2 delay in microseconds (µs) Output1Invert AT IBoolean R/W True: Output1 inverted

False: Output1 not inverted Output2Invert AT IBoolean R/W True: Output1 inverted

False: Output1 not inverted

TriggerControls

Name Rev. Interface Access Description

SequencerMode AT IEnumeration R/W Selects the start trigger mode:

- FreeRun

- StartStopCameraInput12

- StartCameraInput1

- GateCameraInput1

- StartStopCameraInput12Event

- AutoStart

ProfileTriggerMode AT IEnumeration R/W Selects the profile trigger mode:

- FreeRun

- CameraInput1

- CameraInput2

C4-1280-GigE Camera Hardware Reference Manual Rev. 1.8 • 17

Name Rev. Interface Access Description

- EncoderResolverInterfaceRS422.

ClearTriggerOverrun AT ICommand W Command to clear the trigger overrun flag.

TriggerControls – ResolverRS422

Name Rev. Interface Access Description

TriggerDivider AT IInteger R/W Trigger divider. TriggerCoord AT IInteger R Resolver trigger coordinates TriggerDirectionMode AT IBoolean R/W A sensor image is triggered when the internal pulse

counter is countdown to 0. Upon start of acquisition, the initial value of pulse counter is equal to trigger divider. This parameter controls the behaviour of the pulse counter: True: The pulse counter is decreased and countdown to 0, when resolver pulses are generated from both moving directions (forwards and backwards). False: The pulse counter is decreased and countdown to 0, when resolver pulses are generated from one moving direction only (e.g. forwards). In that case, pulses corresponding to the opposite moving direction (e.g. backwards) will

increase the pulse counter. TriggerReverseDirection AT IBoolean R/W Reverse the pulse count direction. TriggerDividerLoadAtStart AT IBoolean R/W Loads the value of trigger divider into the pulse

counter, when start trigger occurs. TriggerSingleChannelMode AT IBoolean R/W Enables trigger mode using single channel resolver. LoadTriggerDivider AT ICommand W Command to load the value of trigger divider into

the pulse counter. ClearTriggerCoord AT ICommand W Reset trigger coordinate counter TriggerCoordinateCountAlways AT IBoolean R/W Controls when trigger coordinates shall be counted:

True: Trigger coordinates are counted always

False: Trigger coordinates are counted only during

image acquisition UseAlternateResolverInputs AT IBoolean R/W True: Use IN1/IN2 instead of A/B as encoder input

False: Use A/B as encoder input UseAlternateResolverInputsInv erted

AT IBoolean R/W True: Invert encoder input over IN1/IN2

False: Do not invert encoder input over IN1/IN2

TriggerControls – AutoStart

Name Rev. Interface Access Description

AutoStartThreshold AT IInteger R/W Defines the position within AOI to trigger the

AutoStart. Valid values are:

When AbsolutePosition = FALSE : 0 - AOI-Height

When AbsolutePosition = TRUE : 0 - Sensor-Height AutoStartNumPixel AT IInteger R/W Minimum number of valid laser positions within AOI

required to trigger the Autostart AutoStartOption AT IEnumeration R/W PosLessThanAutostartThreshold: Start when laser

position is less-than AutoStartThreshold

PosGreaterThanAutostartThreshold: Start when

laser position is greater-than AutoStartThreshold AutoStartBufferOption AT IEnumeration R/W Defines whether the history buffer should be

transmitted as first frame or not

-none

-HistoryBuffer

GigEVisionTransportLayer

Name Rev. Interface Access Description

GevVersionMajor 1.2 IInteger R This field represents the major version of the GigE

Vision specification supported by this device

GevVersionMinor 1.2 IInteger R This field represents the minor version of the GigE

Vision specification supported by this device

GevDeviceModeIsBigEndian 1.2 IBoolean R This represents the endianess of bootstrap registers

(FALSE: Little-endian device TRUE: Big-endian device)

18 • C4-1280-GigE Camera Hardware Reference Manual Rev. 1.8

Name Rev. Interface Access Description

GevDeviceModeCharacterSet 1.2 IEnumeration R This feature represents the character set of all boot

strap strings:

- CharacterSet_UTF8

GevInterfaceSelector 1.2 IEnumeration R Indicates the index of the network interface to

configure:

- EnumEntry_GevInterfaceSelector_Interface_0

GevMACAddress 1.2 IInteger R 48-bit MAC address of the selected interface GevSupportedIPConfigurationLLA 1.2 IBoolean R/W Indicate if LLA (Auto-IP) is supported by the selected

interface

GevSupportedIPConfigurationDHCP 1.2 IBoolean R/W Indicate if DHCP is supported by the selected

interface GevSupportedIPConfigurationPers istentIP

1.2 IBoolean R/W Indicate if Persistent IP is supported by the selected

interface GevCurrentIPConfigurationLLA 1.2 IBoolean R This feature indicates if Link Local Address IP

configuration scheme is activated on the given

network interface GevCurrentIPConfigurationDHCP 1.2 IBoolean R This feature indicates if DHCP Address IP

configuration scheme is activated on the given

network interface GevCurrentIPConfigurationPersist entIP

1.2 IBoolean R This feature indicates if PersistentIP IP configuration

scheme is activated on the given network interface GevCurrentIPAddress 1.2 IInteger R IP address of the selected interface GevCurrentSubnetMask 1.2 IInteger R Subnet mask of the selected interface GevCurrentDefaultGateway 1.2 IInteger R Default gateway of the selected interface GevPersistentIPAddress 1.2 IInteger R/W Persistent IP address for the selected interface GevPersistentSubnetMask 1.2 IInteger R/W Persistent subnet mask for the selected interface GevPersistentDefaultGateway 1.2 IInteger R/W Persistent default gateway for the selected interface GevLinkSpeed 1.2 IInteger R Link speed in Mbps. GevFirstURL 1.2 IString R NULL-terminated string providing the first URL to the

XML device description file GevSecondURL 1.2 IString R NULL-terminated string providing the second URL to

the XML device description file GevNumberOfInterfaces 1.2 IInteger R Indicates the number of physical network interfaces on

this device GevMessageChannelCount 1.2 IInteger R Indicates the number of message channels supported

by this device GevStreamChannelCount 1.2 IInteger R Indicates the number of stream channels supported by

this device GevSupportedOptionalCommands UserDefinedName

1.2 IBoolean R Indicates if the User-defined Name register is

supported GevSupportedOptionalCommands SerialNumber

1.2 IBoolean R Indicates if the Serial Number register is supported

GevSupportedOptionalCommands EVENTDATA

1.2 IBoolean R Indicates if EVENTDATA_CMD and

EVENTDATA_ACK are supported GevSupportedOptionalCommands EVENT

1.2 IBoolean R Indicates if EVENT_CMD and EVENT_ACK are

supported GevSupportedOptionalCommands PACKETRESEND

1.2 IBoolean R Indicates if PACKETRESEND_CMD is supported

GevSupportedOptionalCommands WRITEMEM

1.2 IBoolean R Indicates if WRITEMEM_CMD and WRITEMEM_ACK

are supported GevSupportedOptionalCommands Concatenation

1.2 IBoolean R Indicates if multiple operations in a single message

are supported GevHeartbeatTimeout 1.2 IInteger R/W Current heartbeat timeout in milliseconds GevTimestampTickFrequency 1.2 IInteger R 64-bit value indicating the number of timestamp clock

tick in 1 second GevTimestampControlLatch 1.2 ICommand R Latches the current timestamp value of the device GevTimestampControlReset 1.2 ICommand R Resets the timestamp count of the device GevTimestampValue 1.2 IInteger R Latched 64-bit value of the timestamp. Value must first

be latched using GevTimestampControlLatch. GevStreamChannelSelector 1.2 IInteger R/W Indicate which stream channel to configure GevSCPInterfaceIndex 1.2 IInteger R Index of network interface GevSCPSPacketSize 1.2 IInteger R/W The size of the stream packet to send on this channel GevSCPD 1.2 IInteger R/W Delay (in timestamp counter unit) to insert between

each packet for this stream channel

C4-1280-GigE Camera Hardware Reference Manual Rev. 1.8 • 19

UserSets

Name Rev. Interface Access Description

UserSetSelector 1.2 IEnumeration R/W Selects the feature User Set to load, save or

configure:

- Factory

- UserSet1

- UserSet2

- UserSet3

UserSetLoad[UserSetSelector] 1.2 ICommand W Loads the User Set specified by UserSetSelector to

the device and makes it active. UserSetSave[UserSetSelector] 1.2 ICommand W Saves the selected User Set specified by

UserSetSelector to persistent memory. UserSetDefaultSelector 1.2 IEnumeration R/W Selects the feature User set to load at power up:

- Factory

- UserSet1

- UserSet2

- UserSet3

ChunkDataControl

Name Rev. Interface Access Description

ChunkModeActive 1.2 IBoolean R/W Enables the chunk data mode. ChunkModeSelector 1.2 IEnumeration R/W Selects the chunk data mode:

- OneChunkPerFrame

- OneChunkPerProfile

EventGeneration

Name Rev. Interface Access Description

EventSelector 1.2 IEnumeration R/W Selector for the Event to control:

- None

- AcquisitionStart

- AcquisitionEnd

- TransferStart

- TransferEnd

- AoiTrackingOn

- AoiTrackingOff

-AoiSearchFailed

EventNotification 1.2 IEnumeration R/W Notification type to issue when selected event

occurs:

- Off

- GigEVisionEvent

FileAccessControl

Name Rev. Interface Access Description

FileSelector 1.2 IEnumeration R/W Selects the target file in the device.:

- UserSetDefault

- UserSet1

- UserSet2

- UserSet3

- UserData

- ColStatisticBits

FileOperationSelector 1.2 IEnumeration R/W Selects the target operation for the selected file in the

device. This Operation is executed when the

FileOperationExecute feature is called:

- Open

- Close

- Read

- Write

FileOperationExecute 1.2 ICommand W Executes the operation selected by

FileOperationSelector on the selected file. FileOpenMode 1.2 IEnumeration R/W Selects the access mode in which a file is opened in

the device.

- Read

- Write

- ReadWrite

FileAccessOffset 1.2 IInteger R/W Controls the Offset of the mapping between the

device file storage and the FileAccessBuffer. FileAccessLength 1.2 IInteger R/W Controls the Length of the mapping between the

20 • C4-1280-GigE Camera Hardware Reference Manual Rev. 1.8

Name Rev. Interface Access Description

device file storage and the FileAccessBuffer. FileOperationStatus 1.2 IEnumeration R Represents the file operation execution status:

- Success

- Failure

FileOperationResult 1.2 IInteger R Represents the file operation result. For Read or

Write operations, the number of successfully

read/written bytes is returned. FileSize 1.2 IInteger R Represents the size of the selected file in bytes.

C4-1280-GigE Camera Hardware Reference Manual Rev. 1.8 • 21

The GenICam Features Configuration of C4-1280-GigE

Due to dependencies of the XML nodes of C4-1280-GigE registers, it is recommended to follow a

specific order, when configuring the GenICam features of the camera. The list shown below,

generated as a CXC file by the CX-Explorer, demonstrates an example of the correct write order:

CameraMode CenterOfGravity ProfileTriggerMode FreeRun EnableDC2 1 EnableDC1 0 OffsetX 0 TestImageSelector Off PixelFormat Mono16 ReverseY 0 ReverseX 0 Width 1280 CameraMode CenterOfGravity ProfilesPerFrame 100 ClearInvalidPos 0 PosValidationEn 0 AbsOffsetPos 0 TrshFirstFalling 0 NumCOGSP 6 ValidationWidthMin 0 ValidationWidthMax 1023 ValidationSumMin 0 ValidationSumMax 65535 AoiTrackingEnable 0 AoiTracking_P 0.65 AoiTracking_I 0.5 AoiTracking_D 0.12 AoiTrackingUpdateRate 100 AoiTrackingSensorWriteTimeout 10000 AoiTrackingMinNumPixel 100 AoiSearchEnable 0 AoiSearchHeight 1024 AoiSearchOffsetY 0 ColRangeStart 0 ColRangeEnd 1279 NumAois 1 AoiSelector 1 AoiHeight 1024 AoiOffsetY 0 AoiThreshold 250 ExposureTimeAbs 100 FramePeriode 2007 MultipleSlopeMode SingleSlope NDRMode Off FPNCorrection Enable GainAbs Gain1 AntiBlooming 0 ResetTS 1.8 Reset 3.5 ResetDS 2.5 Precharge 0.7

22 • C4-1280-GigE Camera Hardware Reference Manual Rev. 1.8

MemH 3.2 MemL 2.55 BlackLevelAdjust 80 EnableDC0 0 EnableDC1 0 EnableDC1TrshWidth 0 EnableDC1Width 0 EnableDC1Flags 0 EnableDC2 1 EnableDC2TrshSP 0 EnableDC0Shift 0 AcquisitionFrameCount 1 AcquisitionMode Continuous Output1 Out1_SequencerActive Output2 Out2_IntegrationActive LaserPower 0 TurnLaserOn 0 TurnLaserOnAuto 0 Output1MinPulseWidth 0

C4-1280-GigE Camera Hardware Reference Manual Rev. 1.8 • 23

The C4-1280-GigE Camera Algorithms

The C4-1280-GigE camera 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 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 C4-1280-GigE camera 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.

24 • C4-1280-GigE Camera Hardware Reference Manual Rev. 1.8

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

MAX

) as well as the maximum intensity value (I

MAX

AOI_TRSH

MAX

The calculation of position value is performed with simple pixel accuracy, i.e. the evaluation of 1024 rows delivers a position range from 0 to 1023 pixels (10 bit). If there is more than one local maximum, the position of the first detected maximum is output.

C4-1280-GigE Camera Hardware Reference Manual Rev. 1.8 • 25

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

AOI_TRSH

TRSH

The position value of the laser line is approximated: P

TRSH

= (PL+PR) / 2. In order to simplify the digital representation the division over 2 is not performed and thus an integer representation with one subpixel is realised. The evaluation of 1024 rows delivers a position range from 0 to 2047 pixels (11 bit).

In threshold mode the camera can output either the left and right threshold position separately or the subpixel position (P

L+PR

) and the line width (PR-PL). Moreover, the maximum intensity value can be

optionally output.

26 • C4-1280-GigE Camera Hardware Reference Manual Rev. 1.8

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 P

Sum of intensity value I

= ∑ Ip,

Sum of first order moment M

= ∑Ip * P .

AOI_TRSH

The position value of laser line (center of gravity of beam profile) is then obtained from:

COG

= PL + Ms / Is .

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 I

with the line

width.

C4-1280-GigE Camera Hardware Reference Manual Rev. 1.8 • 27

The High Dynamic Range 3D Feature (HDR-3D) of C4-

1280-GigE

One of the most powerful features of C4-1280-GigE is the HDR-3D (High Dynamic Range)

functionality, which allows to scan 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 MultipleSlope function is to avoid the saturation of pixels during sensor chip exposure.

In order to perform this task, threshold values for the recorded light amount and produced voltage are

defined. If within a predefined time the threshold is exceeded then the voltage of the pixel is reset to

the threshold value and the integration continues until the exposure is completed. This mode is known

as DualSlope. There is also an option of resetting the pixel voltage twice, which is called TripleSlope

mode. The reset time of DualSlope and TripleSlope mode is configured as percentage of the

integration time. The reset voltage levels are factory preset to a specific optimized value obtained from

extensive tests and should not be modified. Advanced users can modify the reset levels by changing

the XML grid visibility to “Guru”.

28 • C4-1280-GigE Camera Hardware Reference Manual Rev. 1.8

SingleSlope-Modus (default mode)

DualSlope mode

TripleSlope mode

Integratio n

time

Intensity

DS Reset

Time

DS Reset

Level

TS Reset

Level

TS Reset

Time

Saturation

Integratio n

time

Intensity

DS Reset

Time

DS Reset

Level

TS Reset

Level

TS Reset

Time

Saturation

Integratio n

time

Intensity

DS Re s et

Tim e

DS Reset

Level

Sa tu ra ti on

Integratio n

time

Intensity

DS Re s et

Tim e

DS Reset

Level

Sa tu ra ti on

Integration

time

Intensity

Saturation

Integration

time

Intensity

Saturation

C4-1280-GigE Camera Hardware Reference Manual Rev. 1.8 • 29

Application of MultipleSlope function in the image of a laser line projected on a surface with non-

homogeneous reflectivity (black & white pattern)

SingleSlope DualSlope TripleSlope

0 5 10 15 20 25 30 35 40

100

200

300

400

500

600

700

800

900

1000

1100

Sensor row #

Intensity

0 5 10 15 20 25 30 35 40

100

200

300

400

500

600

700

800

900

1000

1100

Sensor row #

Intensity

Sensor row #

0 5 10 15 20 25 30 35 40

100

200

300

400

500

600

700

800

900

1000

1100

Intensity

30 • C4-1280-GigE Camera Hardware Reference Manual Rev. 1.8

Non-Destructive Readout (NDR) Mode

With the NDR mode it is possible to readout of up to 4 images at

different integration levels during one exposure period. The

principle is comparable to multiple scans with different integration

times with the advantage of taking all data during one single

integration period. 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 can not 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 can not be readout unless the last NDR frame of sensor image 1 has been

readout.

It2

It1

R1(1)

R2(1)

R1(2)

R2(2)

I(1)

It2

It1

I(2)

Trigger Sensor

Image 1

Readout NDR

Frame 1 of

Sensor Image 1

Readout NDR

Frame 2 of

Sensor Image 1

Trigger Sensor

Image 2

Readout NDR

Frame 1 of

Sensor Image 2

Readout NDR

Frame 2 of

Sensor Image 2

C4-1280-GigE Camera Hardware Reference Manual Rev. 1.8 • 31

The Data Output Format of C4-1280-GigE

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-DC2

Alg. DC0 DC1 DC2

IMG Grey scale values Not used Not used

TRSH Maximum intensity Left edge of laser line

(PosL) or line width (PosR-PosL)

Right edge of laser line (PosR) or line position with 1/2 pixel accuracy (PosL+PosR)

MAX Maximum intensity Left edge of laser line

(PosL)

Position of maximum intensity (PosM)

COG

Sum of intensity values Is

Left edge of laser line (PosL) or laser line width (PosR-PosL)

Line position with 1/X pixel resolution, where X=1,2,4,8,16,32,64

Alg. Flags – Output over DC1 (16 bit mode):

Bit14 = LEFT_TRSH_FOUND_FLAG: indicates that the left edge of laser line was found

Bit15 = RIGHT_TRSH_FOUND_FLAG: indicates that the right edge of laser line was found

32 • C4-1280-GigE Camera Hardware Reference Manual Rev. 1.8

The Output Frame Structure

Depending on configuration, the C4-1280-GigE writes data to the output frame according to following scheme:

1) NDR mode disabled (NDRMode=”Off”)

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); } }

2) NDR mode enabled (NDRMode=”On”)

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); } } }

Index Definition

Index # Range Description

Profile_idx 1-16384 Index of Profile

AOI_idx 1-4 Index of sensor AOI

NDR_idx 1-4 Index of NDR frame

C4-1280-GigE Camera Hardware Reference Manual Rev. 1.8 • 33

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=10

NumAOIs=1

EmableDC0= false,

EnableDC1=false

EnableDC2=true

NDRMode=”Off”

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

34 • C4-1280-GigE Camera Hardware Reference Manual Rev. 1.8

2) Configuration with two AOIs, two DCs, disabled NDR mode and output of 5 profiles resulting to frame height of 20 rows:

ProfilesPerFrame=5

NumAOIs=2

EmableDC0= true,

EnableDC1=false

EnableDC2=true

NDRMode=”Off”

Row # Description Profile #

1 Data of DC0 readout from AOI1

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

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

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

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

18 Data of DC2 readout from AOI1

19 Data of DC0 readout from AOI2

20 Data of DC2 readout from AOI2

C4-1280-GigE Camera Hardware Reference Manual Rev. 1.8 • 35

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=6

NumAOIs=1

EmableDC0= false,

EnableDC1=false

EnableDC2=true

NDRMode=”On”

NumberOfNDRFrames=2

Row # Description Profile #

1 Data of DC2 extracted from NDR1, readout from AOI1

2 Data of DC2 extracted from NDR2, readout from AOI1

3 Data of DC2 extracted from NDR1, readout from AOI1

4 Data of DC2 extracted from NDR2, readout from AOI1

5 Data of DC2 extracted from NDR1, readout from AOI1

6 Data of DC2 extracted from NDR2, readout from AOI1

36 • C4-1280-GigE Camera Hardware Reference Manual Rev. 1.8

Advanced AOI Functions

The C4 camera 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 C4-1280-GigE features functions for performing an automatic AOI positioning

(AOI-Search) as well as line tracking (AOI-Tracking). A detailed description of these functions can be

found in a separate application note.

C4-1280-GigE Camera Hardware Reference Manual Rev. 1.8 • 37

C4-1280-GigE Camera Triggering

Description of Profile Trigger Modes

No. Profile Trigger Mode (PTM)

0 Free-run (PTM0)

1 Camera input 1 (PTM1)

Profile

Acquisition 1

Profile

Acquisition 2

Profile

Acquisition 3

IN1

Profile

Acquisition 4

2 Camera input 2 (PTM2)

Profile

Acquisition 1

Profile

Acquisition 2

Profile

Acquisition 3

IN2

Profile

Acquisition 4

38 • C4-1280-GigE Camera Hardware Reference Manual Rev. 1.8

No. Profile Trigger Mode (PTM)

3 Encoder/Resolver Interface (PTM3)

Profile

Acquisition 1

RS422

Example: Trigger afte r number of steps = 4

Counter

Internal Trigger

Profile

Acquisition 2

Profile

Acquisition 3

C4-1280-GigE Camera Hardware Reference Manual Rev. 1.8 • 39

Description of Modes for Triggering of Sequencer/Frame and Profile Acquisition

No. Sequencer/Frame Trigger Mode Profile Trigger Mode (PTM)

PTM0 (free-run)

PTM1(IN1)

PTM2 (IN2)

0 Free-run

PTM3 (RS422)

PTM0 (free-run) 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)

trigger start of sequencer

(frame trigger)

trigger stop of sequencer

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.

PTM3 (RS422)

PTM0 (free-run)

PTM2 (IN2)

2 Start over camera input 1

Single

frame acquisition is triggered over the rising edge of

camera input 1 (IN1)

trigger start of sequence r

(frame trigger)

IN1

PTM3 (RS422)

40 • C4-1280-GigE Camera Hardware Reference Manual Rev. 1.8

No. Sequencer/Frame Trigger Mode Profile Trigger Mode (PTM)

PTM0 (free-run)

PTM2 (IN2)

3 Gate over camera input 1

Continuous frame acquisition is performed as long as the camera input 1 is on high state

stop trigger of sequencer

IN1

start trigger of sequenc er

Gate Function

PTM3 (RS422)

PTM0 (free-run) 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)

trigger start of sequencer

(frame trigger)

trigger stop of sequencer

When “stop” occurs, the frame is transmitted immediately over the GigE interface. Using the Chunk Data mode of C4 camera, it is possible to determine how many rows of the frame contain valid data (see ChunkImageInfo for details).

PTM3 (RS422)

PTM0 (free-run)

PTM1(IN1)

PTM2 (IN2)

5 AutoStart (no external signal is required)

PTM3 (RS422)

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.

A detailed description of the AutoStart function can be found in a separate application note.

C4-1280-GigE Camera Hardware Reference Manual Rev. 1.8 • 41

The Chunk Data Mode of C4-1280-GigE

General Description

The C4-1280-GigE 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 identifing the current frame as „Start“ or „Stop“

The ChunkAcqInfo block consists of totally 32 bytes containing following data

• 64 bit timestamp

• 32 bit frame counter

• 32 bit trigger coordinate

• Trigger status

• I/O Status

• reserved

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.

42 • C4-1280-GigE Camera Hardware Reference Manual Rev. 1.8

Furthermore, when ChunkMode is enabled, the camera sends the full payload, even if the

ChunkImage or ChunkAqInfo blocks contain partially valid data. The number of valid ChunkImage

rows and ChunkAqInfo blocks can be read from 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

ChunkAqInfo 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

Chunk Image Data

GV_ChunkDescriptorData for Image Data

N x GV_ChunkAcqInfo

GV_ChunkDescriptorData for ChunkAcqInfo

GV_ChunkImageInfo

GV_ChunkDescriptorData for ChunkImageInfo

C4-1280-GigE Camera Hardware Reference Manual Rev. 1.8 • 43

XML Descriptors and Id’s

ChunkImageInfo

ChunkAcqInfo

ChunkImage

44 • C4-1280-GigE Camera Hardware Reference Manual Rev. 1.8

Chunk Data Structure

#pragma pack(push) #pragma pack(1)

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 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_ChunkImageInfo

{ unsigned int mSizeYReal; unsigned int numChunkAcqInfo; unsigned int flag; } GV_ChunkImageInfo;

#define CHUNKIMAGEINFO_FLAG_BIT_START_FRAME 0x00000001 #define CHUNKIMAGEINFO_FLAG_BIT_STOP_FRAME 0x00000002

typedef struct _GV_ChunkDescriptor

{ unsigned int descriptor; unsigned int length; } GV_ChunkDescriptorData;

#pragma pack(pop)

C4-1280-GigE Camera Hardware Reference Manual Rev. 1.8 • 45

The GigE-Vision Events of C4-1280-GigE

The C4-1280-GigE 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.

Event Name Event ID Description

AcquisitionStart 36882 Frame Acquisition is started

AcquisitionEnd 36883 Frame Acquisition is terminated

TrasnferStart 36884 Frame transfer is started from the camera

TransferEnd 36885 Frame transfer is terminated

AoiTrackingOn 36886 The AOI tracking process is started and the laser line image is valid for

AOI alignment

AoiTrackingOff 36887 The AOI tracking process is stopped and the AOI position is not

updated anymore

AoiSearchFailed 36888 AOI-Search failed to detect the laser line

46 • C4-1280-GigE Camera Hardware Reference Manual Rev. 1.8

C4-1280-GigE Camera Interface

The GigE Interface

Pin Nr. GigE Signal Name

1 MX0+

2 MX0-

3 MX1+

4 MX1-

5 MX2+

6 MX2-

7 MX3+

8 MX3-

Shield Shield

The I/O & Power Interface

Pin Nr. Signal Name Description

1 GND_EXT main camera ground

2 VCC_EXT camera supply voltage (10-24V DC)

3 RS232_RX reserved

4 RS232_GND reserved

5 ENC_A- encoder Track1 RS422 reversible input (A- )

6 ENC_B- encoder Track2 RS422 reversible input (B- )

7 OUT1 optoisolated Output1

8 OUT2 optoisolated Output2

9 IN1 optoisolated Input1

10 IN2 optoisolated Input2

11 GND_EXT main camera ground

12 VCC_EXT camera supply voltage (10-24V DC)

13 RS232_TX reserved

14 ENC_GND Encoder ground

15 ENC_A+ encoder Track1 RS422 none reversible input (A+)

16 ENC_B+ encoder Track2 RS422 none reversible input (B+ )

C4-1280-GigE Camera Hardware Reference Manual Rev. 1.8 • 47

Pin Nr. Signal Name Description

17 VCC_OUT Power supply voltage of camera optoisolated outputs (5V/24V DC)

18 GND_OUT Ground of camera optoisolated outputs

19 GND_IN1 GND for optoisolated Input1

20 GND_IN2 GND for optoisolated Input2

Shield SHIELD is connected to camera case

Part Numbers for I/O Connector MDR 20

Description Part Number 3M

20-pin Connector 10120

lockable connector case 10320

MDR20 I/O Connector Pin Assignment

Cable Plug: View from solder side:

Camera Receptable: View from rear side of camera:

11 20

48 • C4-1280-GigE Camera Hardware Reference Manual Rev. 1.8

The Illumination Control

Pin Nr. Signal Name Description

1 VCC_LASER Output to power the illumination device (5V, max. 200mA, fused)

2 GND_LASER Ground for illumination device

3 LASER_DOUT Output for digital modulation of illumination device (TTL signal)

4 LASER_AOUT Output for analog modulation of illumination device (0-5V DC)

5 LASER_AIN Input for monitoring specific functions of illumination device (0-5V DC)

Part Number for Illumination Control Connector

Description Part Number Binder Series 712

M9 5-pin male connector, EMV protected

99-0413-10-05

M9 5-pin male connector 90° angled, EMV protected

99-0413-75-05

C4-1280-GigE Camera Hardware Reference Manual Rev. 1.8 • 49

Schematic of C4-1280-GigE digital inputs

50 • C4-1280-GigE Camera Hardware Reference Manual Rev. 1.8

Schematic of C4-1280-GigE digital outputs

C4-1280-GigE Camera Hardware Reference Manual Rev. 1.8 • 51

Description of LEDs

LED Description

1 (PWR) During boot:

Green On = FPGA configuration done

Red On = Loader Stop. Boot failed. No valid Image could be loaded.

After boot:

Green On= Boot completed

2 (USR) During boot:

Green fast blink = boot procedure takes places

Green blink = Configuration Error, FPGA configuration failure. Boot procedure is repeated up to 3 times, after which the Factory-Image is loaded.

Green On = camera start up completed, FPGA configuration success

Off = FPGA configuration successful after error recovery

Red On = a boot error has occurred

After boot:

Red On= no network found

Off = network found

Green On=CCP status connected

3 (LSR) On = Laser is ON

Off = Laser is OFF

4 (GigE_left) Green blink = Indication of network activity

5 (GigE_right) Green On = Linkspeed 1 Gbit

Yellow On = Linkspeed 100 Mbit

Off = Linkspeed 10 Mbit or wait for end of autonegotiation

52 • C4-1280-GigE Camera Hardware Reference Manual Rev. 1.8

Integrated RS232 serial interface and Camera Boot Log

During boot procedure, the camera outputs a log via the integrated RS232 serial interface. The external C4-I/O-Panel provides a D-sub 9-pin male socket for monitoring the boot log. A null-modem cable (crosslinked) must be used to connect the C4-I/O-Panel to a host PC. The parameters of the serial communication are listed as follows:

Baudrate 115200

Data bits 8

Parity None

Stopbits 1

Handshake None

Sample camera boot log

**************************************

MCB InitDone. (WaitClks 75203(84466))

Bootloader(build Mar 6 2012, 08:25:53)

Executing program starting at address: 0x50000000

**************************************

00004700 ms: Camera start.

-------------------------------------------

Start HardwareInit.

Reset sensor to defaults.

Reset sensor.

PLL sensor.

Wait PLL locked. Locked.

StreamAlignLupa done(0x032A).

Current stream delay values.

-24 37 -30 -31 -30 31 -28 29 32 30 -31 -33 -23

-------------------------------------------

Ready to start GEV.

00004743 ms: Start system monitoring.

Stack info: Current Stack position changed to 0x00001F98.

00004752 ms: Load Bootstrap registers.

00004755 ms: **************************************

00004759 ms: Camera type: 1280

00004762 ms: Model: C4_1280_GigE

00004765 ms: MAC: 0-50-C2-8E-D0-74

C4-1280-GigE Camera Hardware Reference Manual Rev. 1.8 • 53

00004768 ms: Serial Number: 20502217

00004772 ms: Device Version: 2.0.0

00004775 ms: Firmware Version: 1.4.1

00004778 ms: Application build: Development 1.4.0.2374 - Fri Mar 16 09:07:23 2012

00004786 ms: LwIP build: Patched LwIp 1.30 Mar 16 2012, 08:55:33

00004791 ms: Installed Modules:

00004794 ms: File: C4_1280_GigE_1.3.4.zip, Rev.: 1030400, Device: 1, Length: 2274949

00004808 ms: File: Bitstreamfb.bin, Rev.: 1000000, Device: 1, Length: 2453092

00004815 ms: File: 1280S6.srec, Rev.: 1040000, Device: 1, Length: 742770

00004821 ms: File: 1280S6.srec, Rev.: 1000000, Device: 1, Length: 697386

00004828 ms: GEV Version 1.1

00004830 ms: XML-URL1: Local:C4_1280_GigE_1.3.4.zip;8C400904;58DD

00004836 ms: XML-URL2: http://www.automationtechnology.de/genicam/C4_1280_GigE_1.3.4.zip

00004844 ms: IP config mode:

00004846 ms: Persistent IP

00004849 ms: IP: 169.254.64.2

00004851 ms: Netmask: 255.255.0.0

00004854 ms: Gateway: 0.0.0.0

00004857 ms: LLA always ON.

00004860 ms: **************************************

auto-negotiated link speed: 1000

00004896 ms: Wait for end of IP configuration...

00004899 ms: Start IP configuration with persistent IP

00004904 ms: Enable hw InterPacketDelay.

00004908 ms: Network interface is up, speed: 1000 Mbps

00004913 ms: IP: 169.254. 64. 2

00004916 ms: Netmask: 255.255. 0. 0

00004919 ms: Gateway: 0. 0. 0. 0

00004923 ms: Assigned from static address

54 • C4-1280-GigE Camera Hardware Reference Manual Rev. 1.8

The External C4 I/O Panel

Clamp Pin Nr.

Signal Name

Description

P1 / 1 SCHIELD camera shield

P1 / 2 GND_EXT camera ground

P1 / 3 VCC_EXT camera supply voltage (7-24V DC)

P2 / 1 ENC_B- encoder Track2 RS422 reversible input (B- )

P2 / 2 ENC_B+ encoder Track2 RS422 none reversible input (B+ )

P2 / 3 ENC_A- encoder Track1 RS422 reversible input (A- )

P2 / 4 ENC_A+ encoder Track1 RS422 none reversible input (A+ )

P2 / 5 ENC_GND encoder ground is connected to camera ground

P4 / 1 GND_IN2 GND for optoisolated Input2

P4 / 2 IN2 optoisolated Input2

P4 / 3 GND_IN1 GND for optoisolated Input1

P4 / 4 IN1 optoisolated Input1

P4 / 5 OUT1 optoisolated Output1

P4 / 6 OUT2 optoisolated Output2

P4 / 7 GND_OUT Ground of camera optoisolated outputs

P4 / 8 VCC_OUT Power supply voltage of camera optoisolated outputs (5V/24V DC)

- the optoisolated inputs of the C4 I/O panel can be operated with 5V or 24 V DC

- the panel features a 2A fuse for camera protection

- in order to avoid signal noise, do not connect the main ground GND_EXT to other GND signals

P1/1

P2/1

P4/1

C4-1280-GigE Camera Hardware Reference Manual Rev. 1.8 • 55

Mechanical Dimensions (mm)

Weight of C4-I/O-Panel: 50 g

Mount for DIN rail assembly

C4-1280-GigE Camera Hardware Reference Manual Rev. 1.8 • 57

Service Information

Document Revision

Product Information and Updates

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, a dump of configuration EEPROMs, a snapshot and a precise problem description.

Product Inquiries and Price Quotations

info@AutomationTechnology.de

Rev. Nr. Date Modification

1.0 05.01.2009 First version

1.1 13.05.2009 Added mechanical drawings, information about I/O panel, I/O cable. Updated GenICam file description.

1.2 27.05.2009 Update I/O panel image

1.3 03.12.2009 Update GenICam Features

1.4 12.02.2010 Update GenICam Features, Trigger Modes, Specification

1.5 05.10.2010 Update GenICam Features, Trigger Modes, Chunk Data Mode

1.6 05.03.2011 Minor corrections, added I/O schematics

1.7 05.01.2012 Update CXC file, GEV Events, Dataout structure

1.8 13.08.2012 New XML registers, GEV Events, dimensions C4-I/O-Panel, minor additions and corrections

58 • C4-1280-GigE Camera Hardware Reference Manual Rev. 1.8

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.

Automation Technology GmbH C4, C4-1280-GigE Hardware Reference Manual

Specifications and Main Features

Frequently Asked Questions

User Manual