Automation Technology GmbH C4-2040-GigE Reference Manual

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C4-2040-GigE Camera

Hardware Reference

Manual

Rev 2.1

AT - Automation Technology GmbH

2 • C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1

Table of Contents

Table of Contents 2

C4 Camera Series Overview 5

Introduction ................................................................................................... 5

Measuring Principle ........................................................................................ 5

Geometry 1 ....................................................................................... 6

Geometry 2 ....................................................................................... 6

Geometry 3 ....................................................................................... 7

Geometry 4 ....................................................................................... 7

The C4-2040-GigE Camera General Specifications .............................. 8

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

The C4-2040-GigE CMOS Imager Specifications ........................................... 11

C4-2040-GigE Camera Operational Reference 12

C4-2040-GigE Camera GenICam Features ................................................... 12

DeviceControl .................................................................................. 12

ImageFormatControl ........................................................................ 12

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

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

CameraControl – FIRControl ............................................................. 14

CameraControl – ModeAndAlgorithmControl ..................................... 14

CameraControl – ModeAndAlgorithmControl - AoiTracking ................. 15

CameraControl – ModeAndAlgorithmControl - AoiSearch.................... 15

CameraControl – ModeAndAlgorithmControl - ColumnEvaluationMask ...... 15

CameraControl – SensorControl ........................................................ 15

CameraControl – SensorControl – AdvancedSensorsettings .................. 15

CameraControl – DataOutput ........................................................... 16

CameraControl – Commands............................................................ 16

LightControl (partially available) ......................................................... 16

CameraIO ....................................................................................... 17

TriggerControl .................................................................................. 18

TriggerControl – ResolverRS422 ........................................................ 19

TriggerControl – AutoStart ................................................................. 19

TransportLayerControl ....................................................................... 19

TransportLayerControl - GigEVision .................................................... 19

UserSetControl ................................................................................. 21

ChunkDataControl ........................................................................... 21

EventControl .................................................................................... 21

C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1 • 3

FileAccessControl ............................................................................. 21

The GenICam Features Configuration of C4-2040-GigE ................................ 23

The C4-2040-GigE Camera 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) of C4-2040-GigE .................. 32

Multiple Slope Function ..................................................................... 32

Multi-Frame Readout Mode (NDR) ..................................................... 35

The Data Output Format of C4-2040-GigE ................................................... 37

The Data Channel Assignment DC0, DC1 and DC2 ............................ 37

The Output Frame Structure .............................................................. 39

Advanced AOI Functions .............................................................................. 43

C4-2040-GigE Camera Triggering ............................................................... 44

Description of Profile Trigger Modes ................................................... 44

Description of Modes for Triggering of Sequencer/Frame and Profile

Acquisition ....................................................................................... 46

The Chunk Data Mode of C4-2040-GigE ...................................................... 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 of C4-2040-GigE .......................................... 52

C4-2040-GigE Camera Interface .................................................................. 53

The GigE Interface ............................................................................ 53

The I/O & Power Interface ................................................................. 53

The Illumination Control .................................................................... 54

Schematic of C4-2040-GigE digital inputs .......................................... 56

Schematic of C4-2040-GigE digital outputs ........................................ 56

Description of LEDs ........................................................................... 57

Integrated RS232 serial interface and Camera Boot Log....................... 58

Web service interface ........................................................................ 60

The web service 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 for

the default camera IP address. A login window appears, as the

following figure shows. The static password “admin” gives access to

the camera service web interface........................................................ 60

The External C4-I/O-Panel (#202 182 006) .................................................. 61

The C4 cables ............................................................................................. 64

Service Information 65

Document Revision ...................................................................................... 65

Product Information and Updates .................................................................. 66

Warranty Conditions .................................................................................... 67

4 • C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1

© 2016 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.

C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1 • 5

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.

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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)

Scan direction

C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1 • 7

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),

Scan direction

8 • C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1

The C4-2040-GigE Camera General Specifications

Camera Controls

Synchronization Modes Free running, Triggered, Software Triggered

Exposure Modes Programmable, Pulse controlled

Shutter Modes Global Shutter

Digital Trigger Input 2 optoisolated inputs

5 V Level

VIL, logic “0” Voltage < 1.5 V

VIH, logic “1” Voltage > 3.5 V

24V Level (with C4-I/O-Panel only)

VIL, logic “0” Voltage < 7.5 V

VIH, logic “1” Voltage > 17.0 V

Digital Output 2 optoisolated outputs

VOL, logic “0” Voltage 0.6 V

VOH, logic “1” Voltage VCC (internal 20 kOhm pull-up)

IOH, logic “1” output current (internal 20 kOhm pull-up)

IOL, logic “0” output current 9 mA

Encoder Trigger Input RS422 Standard with 100 Ohm termination

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

Features

3D-Algorithms MAX, TRSH, COG, FIR PEAK

High Speed Acquisition Full frame: 340 fps

High Dynamic Range Imaging Multiple Slope, Multi-Frame Readout

Multiple AOIs / Laser lines Up to 8

Optical Interface

Lens Mount M42x1 with Back Focal Distance 6.52 mm

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

Back Focal Distance 17.52 mm

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

Back Focal Distance 46.50 mm

C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1 • 9

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)

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

Power connector 20-pin MDR

Ethernet connector RJ45

Illunimation control connector 5-pin M9

Electrical Interface

Input Voltage 10 – 24 V DC

Power consumption < 10 W

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

Output Data Interface Gigabit Ethernet (IEEE 802.3)

Communication Protocol GigE Vision with GeniCam

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Mechanical Drawings

C4-2040-GigE with C-Mount adapter:

C4-2040-GigE with F-Mount adapter:

C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1 • 11

The C4-2040-GigE CMOS Imager Specifications

Parameters Specifications

Sensitivity 16000 LSB / µJ / cm2 @ 550 nm

Maximum Spectral Response 0.290 A / (W nm) @ 665 nm

Resolution 2048 x 1088 pixels

Pixel Size 5.5 µm x 5.5 µm

Sensor Size 11.264 mm x 5.984 mm, diagonal: 14.638 mm

Sensor Format 2/3”

Sensor ADC Resolution 10 bit

Sensor Dynamic Range 90 dB with HDR

Max. Internal Full-Frame Rate 340 fps

Max. External Full-Frame Rate

(limited due to GigE bandwidth)

50 fps

Effective Frame / Profile Rate at Max. Row Length

Number of Rows Effective Frame / Profile Rate (Hz)

128

256

1088

30720

18778

10362

5464

2809

1424

340

*with Frame Overhead Time (FOT)=2

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C4-2040-GigE Camera Operational Reference

C4-2040-GigE Camera GenICam Features

DeviceControl

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. DeviceSerialNumber 1.0 IString R Serial number of the camera 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.

DeviceTemperatureSelector AT IEnumeration R/W Select temperature sensor:

- Mainboard

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

ImageFormatControl

Name Rev. Interface Access Description

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.

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 sensor

image horizontally

ReverseY 1.0

IBoolean R/W When set to true, this parameter flips the sensor

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Name Rev. Interface Access Description

image vertically.

OffsetX 1.0 IInteger R

X Offset of AOI (fixed to zero)

TestPatternGeneratorSelector 1.0

IEnumeration R Selects which test pattern generator is controlled by

the TestPattern feature.

TestPattern 1.0

IEnumeration R/W Selects the type of test pattern that is generated by

the device as image source.

- Off

- GreyHorSensorColumnPattern

- GreyVertSensorColumnPattern 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[AcquisitionStatus Selector]

1.2

IBoolean R Status of the selected acquisition flag

AcquisitionMaxBufferedFrameCount AT IInteger R Maximum number of buffered frames

ExposureMode 2.2 IEnumeration R Sets the operation mode of the exposure:

1 : Timed 2 : MultiSloped 3 : MultiExposed

MultiSloped and MultiExposed refers to HDR-3D

ExposureTime 2.2 IInteger R/W Sets the overall exposure time when ExposureMode

is Timed or MultiSloped in microseconds (µs). This parameter is the standardized equivalent to ExposureTimeAbs

ExposureSlopeKneepointCount AT IInteger R/W The number of additional exposure slopes used for

Multi-Slope exposure 0: SingleSlope 1: DualSlope 2: TripleSlope

ExposureSlopeKneePointSelector AT IInteger R/W Selects the parameters for controlling a kneepoint

during multi-slope exposure

ExposureSlopeDuration AT IFloat R/W The exposure duration (in percentage of

ExposureTime) for determining a kneepoint during multi-slope exposure

ExposureSlopeThreshold AT IFloat R/W The threshold for determining a kneepoint during

multi-slope exposure. Setting this value to 100% will effectively disable this kneepoint

CameraControl – 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

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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.

CameraControl – FIRControl

Name Rev. Interface Access Description

FIR AT IBoolean R/W True: Enables the FIR filter

False: Disables the FIR filter

FIRMode AT IEnumeration R/W Selection of the FIR mode

-Derivative

-Smoothing FIRCoef AT IEnumeration R/W Selection of the FIR filter coefficients

- SG5

- SG7

- SG9

- AV5 (Smoothing mode only)

- AV7 (Smoothing mode only)

- AV9 (Smoothing mode only)

- Custom FIRGain AT IInteger R/W Gain of FIR filter FIRCorrection AT IBoolean R/W True: The effect of filter index mismatch in 3D mode

is cancelled

False: No correction is performed FIRC0 AT IFloat R/W Value of FIR coefficient #0 FIRC1 AT IFloat R/W Value of FIR coefficient #1 FIRC2 AT IFloat R/W Value of FIR coefficient #2 FIRC3 AT IFloat R/W Value of FIR coefficient #3 FIRC4 AT IFloat R/W Value of FIR coefficient #4

CameraControl – ModeAndAlgorithmControl

Name Rev. Interface Access Description

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

- Image

- FIRPeak

- 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. NumSubPixel AT IInteger R/W Number of subpixel bits of COG/FIR-PEAK output

(0-6). TrshFirstFalling AT IBoolean R/W Stop the position calculation along an AOI column,

as soon as the falling edge of a Gauss curve is

detected. TrshFirstZeroCrossing AT IBoolean R/W Stop the position calculation along an AOI column,

as soon as the first zero-crossing of intensity first

derivative is detected (FIR-PEAK). MinTrshValidation AT IBoolean R/W Validate the FIR-PEAK result by checking for

symmetry in the derived intensity signal. 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

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

C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1 • 15

Name Rev. Interface Access Description

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

distribution in 3D-mode.

CameraControl – ModeAndAlgorithmControl - 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)

CameraControl – ModeAndAlgorithmControl - 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

CameraControl – ModeAndAlgorithmControl - 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

CameraControl – SensorControl

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 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. NDRMode AT IEnumeration R/W Multi-Frame Readout Mode (NDR):

- Off

- On 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.

CameraControl – SensorControl – AdvancedSensorsettings

Name Rev. Interface Access Description

LineStartSyncTrigger AT IBoolean R/W Enable line start synchronous frame trigger GainPGA AT IEnumeration R/W PGA Gain Voltage GainADC 1.2 IEnumeration R/W ADC Gain Voltage Vlow2 AT IInteger

R/W Voltage for defining exposure kneepoint 1 in the

16 • C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1

range of 127 (zero intensity) down to 64 (saturation).

Vlow3 AT IInteger

R/W Voltage for defining exposure kneepoint 2 in the

range of 127 (zero intensity) down to 64 (saturation).

Vramp1 AT IInteger

R/W Start voltage first ramp for column FPN

correction

Vramp2 AT IInteger

R/W Start voltage second ramp for column FPN

correction

BlackSunControl AT IInteger R/W Control the black sun protection level (0 = not

supported, 64 to 127 black sun protection level)

FOT AT IInteger

R/W Frame Overhead Time

DummyRows AT IInteger

R/W Dummy rows

VresLow AT IInteger

R/W VresLow

CameraControl – DataOutput

Name Rev. Interface Access Description

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

PixelFormat is Mono8.

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.

EnableDC1Option AT IBoolean R/W Controls the output in channel DC1.

When CameraMode = CenterOfGravity: True: DC1 outputs the laser line width. False: DC1 outputs the left edge position.

When CameraMode = FIRPeak: True: DC1 outputs the maximum value of intensity first derivative. False: DC1 outputs the index of next sensor row to the left of zero-crossing

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

channel DC1 contain additional algorithm flags

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.

CameraControl – 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. RstFrameCnt AT ICommand W Reset frame counter to zero. SearchAoi AT ICommand W Fit AOI to laser line position. Supports only one

AOI

LightControl (partially available)

Name Rev. Interface Access Description

LightSelector AT IEnumeration R/W Select a light device to control LightInterface AT IEnumeration R/(W) Select the interface for light device to control LightSource AT IEnumeration R/W Select which source signal to use to activate the

selected light device: 0: Off 1: On 3: ExposureActive

LightBrightness AT IFloat R/W Control the laser power from 0 to 100 percent (%)

using increments of 0.1 %. This value is translated to the equivalent analog modulationvoltage value for the selected light device. The

C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1 • 17

required minimum/maximum voltage values are deposited as part of firmware implementation for each of the supported light devices.

LightModulationVoltage AT IFloat R Return the actual modulation voltage for the

selected light brightness value.

LightMonitorVoltage AT

IFloat R Light monitor voltage, former VoltageIn (AI). Not

supported for all light devices.

LightConnectionStatus AT

IEnumeration R Return the selected light device status:

0: Ready Selected device is ready.

1: Sensing

Camera is attempting to establish a connection with the newly selected light device or is currently reconnecting after a disconnection. 2: NoConnect System failed to initialize connection for selected device. 8: SystemError Selected light device has indicated an internal system error. The specific error for this indication can be retrieved from the ‘LightModuleErrorStatus’ register, if supported for this light device. 9: DataError Indicates a data transmission error for the latest transmission between camera and light device. This flag indicates that the previous read register value has been corrupted, so that data should be re-read before usage. 16: SystemWarning Selected light device has indicated an internal system warning. The specific warning for this indication can be retrieved from the ‘LightModuleWarningStatus’ register, if supported for this light device.

LightModelName AT

IString R Return the light model name as string.

LightSerialNumber AT

IString R Return the light device serial number.

LightFirmwareVersion AT

IString R Return the light firmware version as string.

LightHardwareVersion AT

IString R Return the light hardware version as string.

LightOperatingTime AT

IInteger R Return the laser diodes accumulated operating

hours.

LightOperatingCurrent AT

IInteger R Return the light device operating current in mA.

LightTemperatureSelector AT

IEnumeration R/W Select the device specific temperature source:

0: Diode 1: Housing 2: DiodeLowLimit 3: DiodeHighLimit

LightTemperature AT

IFloat R Show the selected temperature value in degrees

Celsius (C).

LightModuleErrorStatus AT

IInteger R Return the light device error status as

hexadecimal value. Note: This feature is currently only supported for the ‘ZLaser ZFSM RS232’ light device. The returned value is equal to the ZFSM error code retrieved via the GET_OPERATION_STATUS command. Please see the ZFSM manufacturer data sheet for more details.

LightModuleWarningStatus AT

IInteger R Return the light device warning status as

hexadecimal value. Note: This feature is currently only supported for the ‘ZLaser ZFSM RS232’ light device. The returned value is equal to the ZFSM warning code retrieved via the GET_OPERATION_STATUS command. Please see the ZFSM manufacturer data sheet for more details.

CameraIO

Name Rev. Interface Access Description

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

- Input1_Unused.

- Input1_FrameStart

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Name Rev. Interface Access Description

- 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:

Symbolic Value

- Out1_IntegrationActive

- Out1_SequencerActive

- Out1_IntegrationDualSlopeActive

- Out1_IntegrationTripleSlopeActive

- Out1_High

- Out1_Low

- Out1_InternalTrigger

- Out1_SequencerTriggerActive

Integer Value

0 1 2 3 4 5 6 7

Output2 AT IEnumeration RW Selects the output signal for OUT2:

Symbolic Value

- Out2_IntegrationActive,

- Out2_IntegrationDualSlopeActive

- Out2_IntegrationTripleSlopeActive

- Out2_High

- Out2_Low

- Out2_TriggerOverrun

- Out2_ResolverCountDir

- Out2_TriggerBusy

- Out2_AutoStart

Integer Value

0 1 2 3 4 5 6 7 8

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

TriggerControl

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

- EncoderResolverInterfaceRS422. TriggerOverrun AT IBoolean R Trigger Overrun Flag. ClearTriggerOverrun AT ICommand W Command to clear the trigger overrun flag.

C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1 • 19

TriggerControl – 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 IEnumeration R/W Enables trigger mode using single channel resolver:

- Disabled

- EnableIn1 (Enable A/IN1)

- EnableIn2 (Enable B/IN2)

LoadTriggerDivider AT ICommand W Command to load the value of trigger divider into

the pulse counter. ClearTriggerCoord AT ICommand W Reset trigger coordinate counter ResetTriggerCoordZeroPos AT IEnumeration R/W Reset the Trigger Coordinate/Counter at Encoder

Zero Position (Index, Z-Channel)

- Off (Index Z Off)

- On (Index Z On)

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

TriggerControl – 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

TransportLayerControl

Name Rev. Interface Access Description

PayloadSize 1.0 IInteger R PayloadSize provides the number of bytes transferred

for each image on the stream channel

TransportLayerControl - GigEVision

Name Rev. Interface Access Description

20 • C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1

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)

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

Indicates if the User-defined Name register is

supported GevSupportedOptionalCommands SerialNumber

1.2

IBoolean

Indicates if the Serial Number register is supported

GevSupportedOptionalCommands EVENTDATA

1.2

IBoolean

Indicates if EVENTDATA_CMD and

EVENTDATA_ACK are supported GevSupportedOptionalCommands EVENT

1.2

IBoolean

Indicates if EVENT_CMD and EVENT_ACK are

supported GevSupportedOptionalCommands PACKETRESEND

1.2 IBoolean

Indicates if PACKETRESEND_CMD is supported

GevSupportedOptionalCommands WRITEMEM

1.2

IBoolean

Indicates if WRITEMEM_CMD and WRITEMEM_ACK

are supported GevSupportedOptionalCommands Concatenation

1.2

IBoolean

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

Latches the current timestamp value of the device GevTimestampControlReset 1.2

ICommand

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

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

C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1 • 21

Name Rev. Interface Access Description

each packet for this stream channel

UserSetControl

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

EventControl

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

- AutoStarted

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

22 • C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1

Name Rev. Interface Access Description

- 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 Controls the Length of the mapping between the

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.

C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1 • 23

The GenICam Features Configuration of C4-2040-GigE

Due to dependencies of the XML nodes of C4-2040-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 FIR 1 ProfileTriggerMode FreeRun EnableDC2 1 EnableDC1 0 LightSelector LightDevice0 LightInterface Generic LightSource Off LightBrightness 0 Output1 Out1_IntegrationActive Output2 Out2_IntegrationActive Output1MinPulseWidth 1 Output2MinPulseWidth 1 Output1Delay 0 Output1Invert 0 Output2Invert 0 Output2Delay 0 PixelFormat Mono16 Width 2048 OffsetX 0 ReverseY 0 ReverseX 0 AcquisitionMode Continuous AcquisitionFrameCount 1 ExposureSlopeKneePointSelector 1 ExposureSlopeDuration 60 ExposureSlopeThreshold 49.2063 ExposureSlopeKneePointSelector 2 ExposureSlopeDuration 99 ExposureSlopeThreshold 49.2063 ExposureTime 100 ExposureSlopeKneePointCount 0 EnableDC1Flags 0 EnableDC0 0 EnableDC1Width 0 EnableDC1TrshWidth 0 EnableDC1 0 EnableDC2TrshSP 0 EnableDC2 1 EnableDC1Option 0 CameraMode CenterOfGravity AoiTrackingEnable 0 NumSubPixel 6 ValidationSumMin 0 ValidationSumMax 65535 ValidationWidthMin 0 ValidationWidthMax 1087 ProfilesPerFrame 100

24 • C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1

TrshFirstZeroCrossing 0 ClearInvalidPos 0 PosValidationEn 0 AbsOffsetPos 0 TrshFirstFalling 0 MinThrshValidation 1 AoiSearchEnable 0 AoiSearchHeight 1088 AoiSearchOffsetY 0 ColRangeEnd 2047 ColRangeStart 0 AoiSelector 1 AoiHeight 1088 AoiOffsetY 0 AoiThreshold 120 NumAois 1 FIRCoef SG7 FIR 1 FIRGain 1 FIRCorrection 1 LineStartSyncTrigger 1 GainADC 40 GainPGA Gain2 VresLow 64 BlackLevelOffset 16323 DummyRows 1 BlackSunControl 98 FOT 10 Vramp2 109 Vramp1 109 FramePeriod 2960 NDRMode Off TriggerSingleChannelMode Disabled TriggerReverseDirection 0 TriggerDirectionMode 1 UseAlternateResolverInputsInverted 0 UseAlternateResolverInputs 0 TriggerCoordinateCountAlways 1 SequencerMode FreeRun ProfileTriggerMode FreeRun GevStreamChannelSelector 0 GevSCPSPacketSize 1500 GevSCPD 5000 GevHeartbeatTimeout 3000 ChunkModeActive 0 ChunkModeSelector OneChunkPerFrame EventSelector AcquisitionStart EventNotification Off EventSelector AcquisitionEnd EventNotification Off EventSelector TransferStart EventNotification Off EventSelector TransferEnd EventNotification Off EventSelector AoiTrackingOn EventNotification Off EventSelector AoiTrackingOff EventNotification Off

C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1 • 25

EventSelector AoiSearchFailed EventNotification Off EventSelector AutoStarted EventNotification Off EventSelector AcquisitionStart

26 • C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1

The C4-2040-GigE Camera Algorithms

The C4-2040-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 C4-2040-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.

C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1 • 27

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 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.

28 • C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1

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 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 (P

L+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.

C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1 • 29

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 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.

30 • C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1

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).

More details regarding the operation of the FIR Peak mode can be found in a separate application

note.

OI TRSH

Sensor row # Sensor row #

Zero-Crossing

OI TRSH

oiHeight 0

oiHeight

1023

First Derivative

of Intensit

Intensit

C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1 • 31

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 differentiating mode (FIR PEAK):

Pre-defined templates with 5, 7 or 9 coefficients let the FIR filter to be customised to the Gauss size

and shape of the application.

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

32 • C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1

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

2040-GigE

One of the most powerful features of C4-2040-GigE 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:

Multiple Slope 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

ExposureSlopeDuration and ExposureSlopeThreshold of the AcquisitionControl (XML grid visibility must

be set to “Expert”). A knee point times is defined as percentage of the overall exposure time. A

clipping level is defined as percentage of the maximum sensor intensity (saturation).

C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1 • 33

Single Slope Mode (default mode)

Dual Slope Mode (1 Knee Point)

Triple Slope Mode (2 Knee Points)

Intensit

Saturation

Exposure Time

100%

Exposure Time

Intensity

Saturation

Exposure Slope

Threshold 1

100%

Exposure Slope

Duration 1

Knee point 1

Intensity

Saturation

Exposure Slope

Threshold 1

Exposure Slope

Threshold 2

100%

Exposure Slope

Duration 1

Exposure Slope

Duration 2

Exposure Time

Knee point 1

Knee point 2

34 • C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1

Alternate Method for Configuring Multi Slope Mode (Deprecated)

The Multiple Slope mode can be also configured using Genicam registers of the SensorControl. This

alternate method is deprecated and it exists only due to compatibility reasons with older firmware

revisions:

Single Slope Mode (default mode)

Dual Slope Mode

Triple Slope Mode

Integration

time

Intensity

Saturation

Integration

time

Intensity

Saturation

Integration Integration

Time

Intensity

Time

Saturation

DS Slope

Time

Vlow2

127

Integration

Time

Integration

Intensity

Time

DS Slope

Time

Slope

Time

Vlow3

Vlow2

Saturation

127

The MultipleSlope parameters Vlow2 and Vlow3 can be adjusted in the range of 127 (zero intensity) down to 64 (saturation).

C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1 • 35

Application of Multiple Slope function on the image of a laser line projected on a surface with non-

homogeneous reflectivity (black & white chessboard pattern)

Single Slope Dual Slope Triple Slope

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

36 • C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1

Multi-Frame Readout Mode (NDR)

With the NDR mode it is possible to readout of 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.

Trigger Sensor

Image 1

Readout

Frame 1 of

Sensor Image 1

Readout

Frame 2 of

Sensor Image 1

Trigger Sensor

Image 2

Readout

Frame 1 of

Sensor Image 2

Readout

Frame 2 of

Sensor Image 2

C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1 • 37

The Data Output Format of C4-2040-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, DC1 and DC2

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)

- Gauss width (PosR-PosL)

- Position of falling edge of Gauss (PosR)

- 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)

- Gauss width (PosR-PosL) detected in smoothed sensor image

- Position of falling edge of Gauss (PosR)

- Position of Gauss with 1/2 pixel resolution (PosL+PosR) detected in smoothed sensor image

38 • C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1

Camera Mode FIR FIRMode DC0 DC1 DC2

CenterOfGravity

False -

Sum of intensity values of Gauss I

- Position of rising edge of Gauss (PosL)

- Gauss width (PosR-PosL)

Position of center of gravity of Gauss with 1/(2

) pixel resolution, where N=number

of subpixel bits (0-6)

True

Smoothing

Sum of intensity values of Gauss I

smoothed sensor image

- Position of rising edge of Gauss line (PosL)

- Gauss width (PosR-PosL)

Position of center of gravity of Gauss in smoothed sensor image with 1/(2

) 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

- maximum value of intensity first derivative

Position of Gauss peak with 1/(2

) pixel resolution, where N=number of subpixel bits (0-6)

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

C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1 • 39

The Output Frame Structure

Depending on configuration, the C4-2040-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

40 • C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1

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

C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1 • 41

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 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

42 • C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1

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 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

C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1 • 43

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 C4-2040-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.

44 • C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1

C4-2040-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

C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1 • 45

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

46 • C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1

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

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

0 Free-run PTM0 (free-run)

PTM1(IN1)

PTM2 (IN2)

PTM3 (RS422)

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.

PTM0 (free-run)

PTM3 (RS422)

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

PTM0 (free-run)

PTM2 (IN2)

PTM3 (RS422)

C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1 • 47

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

stop trigger of sequencer

IN1

start trigger of sequenc er

Gate Function

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)

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).

PTM0 (free-run)

PTM3 (RS422)

5 AutoStart (no external signal is required) PTM0 (free-run)

PTM1(IN1)

PTM2 (IN2)

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.

48 • C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1

The Chunk Data Mode of C4-2040-GigE

General Description

The C4-2040-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 identifying 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.

C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1 • 49

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

50 • C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1

XML Descriptors and Id’s

ChunkImageInfo

ChunkAcqInfo

ChunkImage

C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1 • 51

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)

52 • C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1

The GigE-Vision Events of C4-2040-GigE

The C4-2040-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

TransferStart 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

AutoStarted 36889 Frame Acquisition is initiated through AutoStart

C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1 • 53

C4-2040-GigE Camera Interface

The GigE Interface

Pin Nr. GigE Signal Name

1 MX0+

2 MX0-

3 MX1+

4 MX2+

5 MX2-

6 MX1-

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 – 24 V 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 (5 V)

10 IN2 optoisolated Input2 (5 V)

11 GND_EXT main camera ground

12 VCC_EXT camera supply voltage (10 – 24 V 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+)

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

18 GND_OUT Ground of camera optoisolated outputs

54 • C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1

Pin Nr. Signal Name Description

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 Plug 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:

The Illumination Control

Pin Nr. Signal Name Description

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

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

11 20

C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1 • 55

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

56 • C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1

Schematic of C4-2040-GigE digital inputs

Schematic of C4-2040-GigE digital outputs

C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1 • 57

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

58 • C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1

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

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

Bootloader(build May 31 2013, 16:24:31)

Executing program starting at address: 0x50000000

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

00004682 ms: Camera start.

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

Start HardwareInit.

Reset sensor to defaults.

Setup sensor and clocking.

Wait for PLL locked. Locked.

Sensor height is 1088.

Start stream synchronization.

Synchronization done(2).

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

CMOSIS AN2.2 fix.

Ready to start GEV.

00004823 ms: Start system monitoring.

Stack info: Current Stack position changed to 0x00001F98.

00004831 ms: Load Bootstrap registers.

00004835 ms: **************************************

00004839 ms: Camera type: 2040

00004842 ms: Sensor height : 1088

00004845 ms: Model: C4_2040_GigE

00004848 ms: MAC: 0-50-C2-8E-D4-7

C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1 • 59

00004851 ms: Serial Number: 20502103

00004854 ms: Device Version: 2.0.0

00004857 ms: Firmware Version: 1.2.3

00004861 ms: Application build: Development 1.3.0.3903 - Wed Feb 6 10:55:51 2013

00004868 ms: LwIP build: Patched LwIp 1.30 May 31 2013, 16:23:32

00004874 ms: Installed Modules:

00004877 ms: File: C4_2040_GigE_1.0.4.zip, Rev.: 1000400, Device: 1, Length: 21979

00004884 ms: File: bitstream.bin, Rev.: 1020300, Device: 1, Length: 2453092

00004891 ms: File: bitstreamfb.bin, Rev.: 1020300, Device: 1, Length: 2453092

00004897 ms: File: CMV2k4k.srec, Rev.: 1020300, Device: 1, Length: 726124

00004904 ms: File: CMV2k4k.srec, Rev.: 1020300, Device: 1, Length: 726124

00004910 ms: GEV Version 1.1

00004913 ms: XML-URL1: Local:C4_2040_GigE_1.0.4.zip;8C400904;55DB

00004919 ms: XML-URL2: http://www.automationtechnology.de/genicam/C4_2040_GigE_1.0.4.zip

00004927 ms: IP config mode:

00004929 ms: Persistent IP

00004932 ms: IP: 169.254.64.2

00004934 ms: Netmask: 255.255.0.0

00004937 ms: Gateway: 0.0.0.0

00004940 ms: LLA always ON.

00004942 ms: **************************************

auto-negotiated link speed: 1000

00004974 ms: Wait for end of IP configuration...

00004977 ms: Start IP configuration with persistent IP

00004981 ms: Enable hw InterPacketDelay.

00004985 ms: Network interface is up, speed: 1000 Mbps

00004990 ms: IP: 169.254. 64. 2

00004993 ms: Netmask: 255.255. 0. 0

00004997 ms: Gateway: 0. 0. 0. 0

00005000 ms: Assigned from static address

60 • C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1

Web service interface

The web service 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 for the default camera IP address. A login window appears, as the following figure shows. The static password “admin” gives access to the camera service web interface.

Detailed information of the web service interface can be found on a separate application note.

C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1 • 61

The External C4-I/O-Panel (#202 182 006)

Revision 1.3

Clamp Pin Nr.

Signal Name

Description

P1 / 1 SCHIELD camera shield

P1 / 2 GND_EXT camera ground

P1 / 3 VCC_EXT camera supply voltage (10 – 24 V 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 (5 V / 24 V)

P4 / 3 GND_IN1 GND for optoisolated Input1

P4 / 4 IN1 optoisolated Input1 (5 V / 24 V)

P4 / 5 OUT2 optoisolated Output2

P4 / 6 OUT1 optoisolated Output1

P4 / 7 GND_OUT Ground of camera optoisolated outputs

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

P1/1

P2/1

P4/1

62 • C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1

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

voltage level can be set over the DIP switch:

- 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

C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1 • 63

Mechanical Dimensions (mm)

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

Mount for DIN rail assembly

64 • C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1

The C4 cables

Standard Power & I/O Cables

Part # Description

202 182 012 C4 cable length 2 m, quick release latches, moulded shell

202 182 013 C4 cable length 5 m, quick release latches, moulded shell

202 182 014 C4 cable length 7 m, quick release latches, moulded shell

202 182 015 C4 cable length 10 m, quick release latches, moulded shell

High Flex Power & I/O Cables for Robot Applications

Part # Description

202 182 007 C4 cable length 2 m, with locking screws on camera plug, high flex

202 182 016 C4 cable length 5 m, with locking screws on camera plug, high flex

202 182 008 C4 cable length 7 m, with locking screws on camera plug, high flex

202 182 009 C4 cable length 10 m, with locking screws on camera plug, high flex

High Flex GigE Cables for Robot Applications

Part # Description

202 182 107 GigE cable length 2 m, with locking screws on camera plug, high flex

202 182 116 GigE cable length 5 m, with locking screws on camera plug, high flex

202 182 108 GigE cable length 7 m, with locking screws on camera plug, high flex

202 182 109 GigE cable length 10 m, with locking screws on camera plug, high flex

Miscellaneous

Part # Description

202 182 401

Y-cable for simultaneously connecting fan and laser to the C4 camera. Please specify the cable length between camera and laser.

202 182 405 Cable for laser control, 5 pin, length 2 m, pigtail

C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1 • 65

Service Information

Document Revision

Rev. Nr. Date Modification

1.0 24.01.2011 First Draft

1.1 04.04.2011 Update datasheet, XML-Registers, added Multi-Frame Readout Mode, I/O-

Schematics

1.2 05.01.2012 Update CXC file, GEV Events, Dataout structure

1.3 13.08.2012 New XML registers, GEV Events, dimensions C4-I/O-Panel, minor additions

and corrections

1.4 18.06.2013 New XML registers, added C4 cables and minor changes

1.5 28.11.2013 Minor corrections, 5V digital input limitation

1.6 28.02.2014 Minor corrections, added Vlow2 and Vlow3

1.7 08.04.2014 Minor corrections

1.8 05.06.2014 Minor corrections

1.9 11.08.2014 Added C4-I/O-Panel Rev. 1.3, added DCs in FIR mode, minor corrections

2.0 20.02.2015 Minor corrections, added new HDR Genicam registers

2.1 20.06.2016 Minor corrections, added new Genicam registers, light control, web service

66 • C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1

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

C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1 • 67

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 C4-2040-GigE Reference Manual

Specifications and Main Features

Frequently Asked Questions

User Manual