Help Manual Rev. 1.6
C3-Explorer
Automation Technology GmbH
Contents
Contents
iii
Overview
2
Introduction................................................................................................... 2
Warranty....................................................................................................... 2
Trademarks ................................................................................................... 2
Installation
3
System Requirements ...................................................................................... 3
Installing the Software .................................................................................... 3
The Laser Triangulation Measuring Principle
4
Overview ...................................................................................................... 4
Geometry 1................................................................................................... 5
Geometry 2................................................................................................... 5
Geometry 3................................................................................................... 6
Geometry 4................................................................................................... 7
The C3 Explorer GUI
8
The C3 Explorer toolbar ................................................................................. 8
The C3 Explorer menu bar.............................................................................. 9
The Interface selection dialogue box .............................................................. 10
The camera settings dialogue........................................................................ 11
General Tab .................................................................................... 12
AOI’s Tab ........................................................................................ 18
Sensor Tab (C3-1280) ...................................................................... 19
Sensor Tab (C3-A1024) .................................................................... 21
Sensor Tab (C3-2350) ...................................................................... 23
DAC’s Tab (C3-1280) ...................................................................... 24
DAC’s Tab (C3-A1024) .................................................................... 25
DAC’s Tab (C3-2350) ...................................................................... 26
Register/Prom Tab ............................................................................ 28
The Application Options dialogue ................................................................. 29
The About C3Explorer dialogue .................................................................... 31
The C3 image display .................................................................................. 32
The 2D-View Graph ..................................................................................... 34
Help Manual Rev. 1.6 C3-Explorer
• iii
Interface Information
36
Camera Link................................................................................................ 36
Service Information
39
Document Revision ...................................................................................... 39
Product Information and Updates .................................................................. 39
Index
iv •
41
Help Manual Rev. 1.6 C3-Explorer
© 2009 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.
This document is subject to change without notification. All rights reserved.
Help Manual Rev. 1.6 C3-Explorer
Contents • 1
Overview
Introduction
The C3 Explorer is a software package for the configuration of C3-Cameras via Camera Link or GigE.
It features a user-friendly GUI, which demonstrates the implementation of the C3Lib function library
and supports live image acquisition for a variety of Camera Link frame grabbers. Furthermore, the C3
Explorer allows modification of complete register set of cameras supports storing of start-up
configuration in camera and allows storing of captured 3D data as TIFF or PNG bitmap as well as in
binary format.
The information in this manual can also be found in the online help of the program.
Warranty
The software is completely supplied by AT-Automation Technology GmbH. To the maximum extend by
applicable law, AT-Automation Technology GmbH and its suppliers shall not be liable for any
damages whatsoever (including, without limitation, damages for loss of business profits, business
interruption, loss of business information, or other pecuniary loss) arising out of the use of or inability
to use the software product or the provision of or failure to provide support services (including, without
limitation, through negligence), even if AT-Automation Technology GmbH has been advised of the
possibility of such damages.
Trademarks
All nationally and internationally recognized trademarks and trade names specified in this manual are
property of the respective companies and are hereby acknowledged.
2 • Overview
Help Manual Rev. 1.6 C3-Explorer
Installation
System Requirements
The system requirements of C3 Explorer are listed in the following table:
Operating System
Windows XP, WindowsTM 2000, WindowsTM NT4 (depending on available
frame grabber drivers)
Hardware
x86 based 32-Bit microprocessor, e. g. Intel Pentium IV.
Camera Link frame grabber
C3-Camera
Installing the Software
1. The computer is started and you are logged in. For Windows NT, Windows 2000 and
Windows XP, you need to be logged in with administrative rights.
2. Insert the C3-Support Package CD-ROM.
3. The CD-ROM Installation Program starts. If it does not start automatically, double click the
CD-ROM icon to enter the Installation Program.
4. Follow the installation procedure. Be aware that the computer may need to be restarted
once after installation.
5. After the installation is completed, check the installation using the "C3-Explorer" program.
Help Manual Rev. 1.6 C3-Explorer
Installation • 3
The Laser Triangulation
Measuring Principle
Overview
The C3 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 C3 camera
views the object from another angle defining the triangulation geometry. The resulting sensor image is
evaluated by the C3 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.
4 • The Laser Triangulation Measuring Principle
Help Manual Rev. 1.6 C3-Explorer
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)
Help Manual Rev. 1.6 C3-Explorer
The Laser Triangulation Measuring Principle • 5
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)
6 • The Laser Triangulation Measuring Principle
Help Manual Rev. 1.6 C3-Explorer
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),
β
Z
Y
α
X
Help Manual Rev. 1.6 C3-Explorer
The Laser Triangulation Measuring Principle • 7
The C3 Explorer GUI
The C3 Explorer toolbar
Export current image data in TIFF, PNG or binary format
Show image display
Show 2D-View profile graph
Start live image capture
Stop live image capture
Snapshot
Camera settings
Options
Help
8 • The C3 Explorer GUI
Help Manual Rev. 1.6 C3-Explorer
The C3 Explorer menu bar
File
Export image data
Export current image data in TIFF, PNG or binary format
Save camera configuration
Save camera configuration parameters to C3C file
Load camera configuration
Load camera configuration parameters from C3C file
Printer Setup
Setup printer
Exit
Exit C3-Explorer
Camera
Open camera connection
Show the interface selection dialogue box and open connection to the
C3 camera.
Close camera connection
Close the current connection to the C3 camera
Display Mode
Set the current display mode:
Show image displays: activate the image display
Show 2D profiles: activate the 2D-View profile graph
Camera Settings
Open camera settings dialogue box
Start Live
Start live image acquisition
Stop Live
Stop live image acquisition
Snapshot
Take a snapshot
Save camera start-up
values
Save start-up configuration parameters of the camera
Set camera factory settings Restore the default configuration parameters of the camera
Camera Control
Reset Camera Perform a global camera reset
Reset Sequencer and Reset the camera internal sequencer
Sensor
Start Sequencer Start the camera sequencer
Stop Sequencer Stop the camera sequencer
Generate Software Trigger Generate a software trigger
Load Resolver Counter Load the resolver trigger counter
Options
Show the general settings dialogue box.
Help
Help Manual Rev. 1.6 C3-Explorer
The C3 Explorer GUI • 9
Help context
Shows the online help.
About C3-Explorer
Shows release information of C3-Explorer and C3-Lib DLLs.
The Interface selection dialogue box
The interface selection dialogue box appears by selecting the menu item Open camera connection
from the menu Camera.
Matrox MeteorII-CL
Open connection to C3 camera using frame grabber driver for Matrox
MeteorII-CL (MIL). The c3lib_mil.dll is loaded.
Dalsa PC-CamLink,
PC2-CamLink
Open connection to C3 camera using frame grabber driver for Dalsa
PC-Camlink, PC2-Camlink (IFC). The c3lib_ifc.dll is loaded.
Dalsa X64-CL
iPro/Lite/Express/GigE
/Xcelera
Open connection to C3 camera using Sapera frame grabber software
and drivers for Dalsa X64-CL iPro/Lite/Express/GigE and X64-XceleraCL. The c3lib_sapera.dll is loaded.
NI-IMAQ PCI/PXI142X
Open connection to C3 camera using frame grabber driver for National
Instruments NI-IMAQ (PCI/PXI-1426, -1428). The c3lib_imaq.dll is
loaded.
Euresys GrabLink
Value, GrabLink
Expert2
Open connection to C3 camera using frame grabber driver for Euresys
GrabLink Value, GrabLink Expert2 (Multicam). The c3lib_emc.dll is
loaded.
GigE (Pleora iPORT)
Open connection to C3 camera using Pleora iPORT Gigabit Ethernet
driver. The c3lib_pleora.dll is loaded.
COM-Serial
Open connection to C3 camera using a standard COM-port (e.g.
10 • The C3 Explorer GUI
Help Manual Rev. 1.6 C3-Explorer
COM4) interface. In this case the C3Explorer is used as a configuration
tool only. No image acquisition functions can be used. The c3lib_uart.dll
is loaded.
CL-Serial
Open connection to C3 camera using the clserial driver of the
CameraLink interface. In this case the C3Explorer is used as a
configuration tool only. No image acquisition functions can be used. The
c3lib_clser.dll is loaded.
The camera settings dialogue
The Camera settings dialogue box appears by selecting the menu item Camera settings from the
menu Camera or by clicking the
icon on the C3 Explorer toolbar. Please refer to the C3
hardware reference manual for a detailed description of the C3 camera settings.
Help Manual Rev. 1.6 C3-Explorer
The C3 Explorer GUI • 11
General Tab
12 • The C3 Explorer GUI
Help Manual Rev. 1.6 C3-Explorer
Algorithm
Parameter
Description
Register Operation
Algorithm: Image
Set the image mode
Set bit CFG_ALG_IMG in register
CFG_REG.
Algorithm: Threshold Position
Set the 3D mode using the threshold
algorithm.
Set bit CFG_ALG_TRSH in register
CFG_REG
Algorithm: Max. Pos.+Intensity
Set the 3D mode using the maximum
intensity algorithm.
Set bit CFG_ALG_MAX in register
CFG_REG
Algorithm: COG
Set the 3D mode using the centre of
gravity (COG) algorithm.
Set bit CFG_ALG_COG in register
CFG_REG
Use Absolute Position
Calculate height position as absolute
values
Set bit CFG_ALG_ABS_POS in
register CFG_REG
Generate Test Image
Generate artificial image of laser line
Set bit CFG_ALG_TEST_IMAGE
register CFG_REG
Use First Falling Edge
Use first falling edge of the intensity
profile in 3D mode with threshold and
COG algorithm.
Set bit
CFG_ALG_TRSH_FIRST_FALLING in
register CFG_REG
Vertical Invert
Flip the image vertically
Set bit CFG_ALG_VERTICAL_INVERT
register CFG_REG
Suppress Single Pixel Pos.
Suppress positions with single pixel
width.
Set bit
CFG_ALG_SUPPRESS_SINGLE_PIXEL_LIN
E in register CFG_REG
Suppress Invalid Gaussian
Suppress any detected Gaussian
curve, which does not fulfil the
validation criteria
Set bit CFG_ALG_POS_VALIDATION_EN
in register CFG_REG
Clear Invalid Pos. Value
Suppress any invalid 3D position
value in all DCs
Set bit
CFG_ALG_CLEAR_INVALID_POS in
register CFG_REG
Min Gauss Width
Minimum width tolerance of Gaussian Set value in register
intensity distribution
WIDTH_VALID_MIN_REG
Max Gauss Width
Maximum width tolerance of
Gaussian intensity distribution
Set value in register
WIDTH_VALID_MAX_REG
Min Gauss Area
Minimum area tolerance of Gaussian
intensity distribution
Set value in register
SUM_INT_VALID_MIN_REG
Max Gauss Area
Maximum area tolerance of Gaussian
intensity distribution
Set value in register
SUM_INT_VALID_MAX_REG
COG Subpixel Bits
Number of subpixel bits to be
included in the result of COG height
calculation
Set bits DATAOUT_NUM_SP in
register DATAOUT_REG
Help Manual Rev. 1.6 C3-Explorer
The C3 Explorer GUI • 13
Output Channel
Parameter
Description
Register Operation
DC0 (Img, MI, CI)
Activate the output data channel
DC0.
Set bit DATA_OUT_DC0 in register
DATAOUT_REG
DC1 (TL, TW, CW)
Activate the output data channel DC1
Set bit DATA_OUT_DC1 in register
DATAOUT_REG
DC2 (TR, SP, MP, CP)
Activate the output data channel DC2
Set bit DATA_OUT_DC2 in register
DATAOUT_REG
DC0 Shift
Right shift twice the intensity value in
DC0, i.e. convert to 8 bit
(recommended for use only with
intensity values when
DATAOUT_8BIT=1)
Set bit DATAOUT_DC0_SHIFT in
register DATAOUT_REG
DC 8Bit Mode
Enables 8-bit mode in all output data
channels
Set bit DATAOUT_8BIT in register
DATAOUT_REG
DC 12Bit Mode
Enables 12-bit mode in all output
data channels
Set bit DATAOUT_12BIT in register
DATAOUT_REG
DC 16Bit Mode
Enables 16-bit mode in all output
data channels
Set bit DATAOUT_16BIT in register
DATAOUT_REG
DC Two Pixel Mode
Output two pixel values in one cycle
Set bit DATAOUT_TWO_PIXEL_OUT
in register DATAOUT_REG
DC1 Flags
When in 16-bit mode, the bits 3-15 of Set bit DATAOUT_DC1_FLAGS in
output channel DC0 contains
register DATAOUT_REG
additionally the algorithm flags
DC1 Width
Output the laser line width in channel
DC1, when COG algorithm is
selected
Set bit DATAOUT_DC1_WIDTH in
register DATAOUT_REG
DC1 Trsh Width
Output the laser line width in channel
DC1, when threshold algorithm is
selected
Set bit
DATAOUT_DC1_TRSH_WIDTH in
register DATAOUT_REG
DC2 Trsh SP-Pos
Output the sum of left and right
threshold position (sub pixel in
channel DC2, when threshold
algorithm is selected
Set bit DATAOUT_DC2_TRSH_SP in
register DATAOUT_REG
14 • The C3 Explorer GUI
Help Manual Rev. 1.6 C3-Explorer
I/O and Trigger Configuration
Parameter
Description
Register Operation
Camera Output1: Integration Active
The camera output 1 is set to “high”
during the integration period
Set bit IO_OUT1_INTEG_ACTIVE in
register IO_REG
Camera Output1: Sequencer Active
The camera output 1 is set to “high”
as long as the sequencer is active
Set bit IO_OUT1_SEQ_ACTIVE in
register IO_REG
Camera Output1: Readout Active
The camera output 1 is set to “high”
during the readout period
Set bit IO_OUT1_READOUT_ACTIVE
register IO_REG
Camera Output1: Internal Trigger
The camera output 1 is set to “high”
during the readout period
Set bit IO_OUT1_READOUT_ACTIVE
register IO_REG
Camera Output2: Frame Valid
The camera output 2 is set to “high”
during the period of frame transfer
(Frame Valid)
Set bit IO_OUT2_FRAME_VALID in
register IO_REG
Camera Output2: Line Valid
The camera output 2 is set to “high”
during the period of row transfer (Line
Valid)
Set bit IO_OUT2_LINE_VALID in
register IO_REG
Camera Output2: Resolver Count Dir
The camera output 2 is set to “high”
when the camera is triggered by
resolver signal.
Set bit IO_OUT2_CNT_DIR in register
IO_REG
Camera Output2: Resolver Trigger
Output the resolver signal each time a Set bit IO_OUT2_CNT_ZERO in
trigger occurs.
register IO_REG
Camera Output2: OVR Flag
Output is high when Trigger Overrun
occurs (OVR flag).
Set bit IO_OUT2_OVR in register
IO_REG
Sequencer Start/Stop: Free run
Image acquisition is performed in free
run mode
Set bit CFG_SEQ_FREERUN in
register CFG_REG
Sequencer Start/Stop: Camera Input
1, 2
Use trigger signal to start / stop the
Set bit CFG_START_STOP_MODE in
sequence over the external inputs IN1, register CFG_REG and bit
IO_START_STOP_SEQ_IO_EN in
IN2
register IO_REG
Sequencer Start/Stop: CameraLink
CC(2), CC(3)
Use trigger signal to start / stop the
sequence over the Camera Link
control signals CC(2) and CC(3)
Set bit CFG_START_STOP_MODE in
register CFG_REG and bit
IO_START_STOP_SEQ_CC_EN in
register IO_REG
Image/Line Trigger: Freerun
Image integration is performed in free
run mode
Set bit CFG_INTEG_FREERUN in
register CFG_REG
Image/Line Trigger: Resolver RS422
Trigger image using external RS422
resolver signals
Set bit TRIG_CNT_CNT_MODE and
TRIG_CNT_LOAD_AT_START in
register TRIG_CNT_H_REG
Image/Line Trigger: Camera Input1
Trigger image using external input
IN1
Set bit IO_TRIGGER_IO_EN in
register IO_REG
Image/Line Trigger: CameraLink
CC(1)
Trigger image using Camera Link
control signal CC(1)
Set bit IO_TRIGGER_CC_EN in
register IO_REG
Trigger Enable: Enabled
Enables the camera triggering, when
EXT_TRIG_INTEG_MODE=0
Trigger Enable: Camera Input2
Enable camera triggering, from
external input IN2, when
EXT_TRIG_INTEG_MODE=0
Trigger Enable: CameraLink CC(4)
Enable camera triggering from
Camera Link control signal, when
EXT_TRIG_INTEG_MODE=0
Help Manual Rev. 1.6 C3-Explorer
The C3 Explorer GUI • 15
Stop Sequencer at Frame End
Stop the sequencer, when the frame
end is reached
Set bit CFG_STOP_AT_FRAME_END
in register CFG_REG
Number of profiles
Parameter
Number of 3D Profiles per Frame
Description
Number of profiles per frame to be
acquired
Register Operation
Set bits CL_DY in register
CL_DY_REG
Camera Link
Parameter
Description
Pulsed FrameValid signal
Produce a pulsed FrameValid signal
during the CameraLink data transfer
(if required by frame grabber)
Pulsed LineValid signal
Produce a pulsed LineValid signal
during the Camera Link data transfer
(if required by frame grabber)
Frame End Pause
Pause period between the transfer of
two frames (in 1000/f ns, where f is
the CameraLink-clock frequency in
MHz)
Row End Cause
Pause period between the transfer of
two rows (in 1000/f ns, where f is the
Cl-clock frequency in MHz)
Register Operation
RS422 Resolver
Parameter
Description
Register Operation
Count Bidirectional
Count RS422 resolver pulses in both
directions
Set bit TRIG_CNT_BIDIR in register
TRIG_CNT_H_REG
Invert Count Direction
Reverse the RS422 resolver count
direction
Set bit TRIG_CNT_INV in register
TRIG_CNT_H_REG
Trigger After Number Of Steps
Define the number of RS422 resolver
counts to pass before triggering the
camera
Set value in bits TRIG_CNT_L of
register TRIG_CNT_L_REG
Status: EN
Indicates that camera triggering is
enabled
Status: OVR
Indicates that the resolver trigger
frequency is greater than the actual
frame rate (OVERRUN). When OVR
occurs then the value of “trigger after
number of steps” must be increased.
Status: UP
Indicates that camera triggering over
resolver occurs in one direction
Clear Overrun Status
Reset the overrun status
Laser Control (C3 CompactSensors only)
16 • The C3 Explorer GUI
Help Manual Rev. 1.6 C3-Explorer
Parameter
Register Operation
Description
Turn Power On
Turn laser on
Set bit LASER_ON in register
LASER_CONTROL_REG
Power Level (0-100%)
Adjust the laser power
Set value in bits LASER_POWER in
register LASER_CONTROL_REG
Data channels for C3-camera
The check boxes „DC0 (Img, MI, CI)“, „DC1 (TL, TW, CW)“, „DC2 (TR, SP, MP, CP)“ are used to
configure the C3 camera data output channels as follows:
Algorithm
DC0
DC1
DC2
„Image“
Grey scale values
Not used
Not used
„Threshold Position“
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)
„Maximum Pos.+Intensity“
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
Algorithm Flags – Output over DC1 in 16 bit mode:
o
LEFT_TRSH_FOUND_FLAG (Bit 14): indicates that the left edge of laser line was found
o
RIGHT_TRSH_FOUND_FLAG (Bit 15): indicates that the right edge of laser line was found
Help Manual Rev. 1.6 C3-Explorer
The C3 Explorer GUI • 17
AOI’s Tab
Parameter
Description
Register Operation
AOI0…AOI7: YS
Define the starting row of AOI
Set value in bits Y0 of registers
AOI0_Y0… AOI7_Y0
AOI0…AOI7: DY
Define the number of rows in AOI
Set value in bits DY of registers
AOI0_DY… AOI7_DY
AOI0…AOI7: TRSH
Define the intensity threshold value
Set value in bits TRSH of registers
AOI0_TRSH… AOI7_TRSH
Number of AOIs
Select the number of AOIs to be used
Set value in bits NUM_AOIS of
register NUM_AOIS_REG
XS
Define the number of pixels per row
Set value in bits CL_DX of register
CL_X0_REG
DX
Define the starting column of the
output frame with respect to the
internal buffer of the camera
Set value in bits CL_DX of register
CL_DX_REG
Apply all
18 • The C3 Explorer GUI
Apply the modification of AOI parameters
Help Manual Rev. 1.6 C3-Explorer
Sensor Tab (C3-1280)
Sensor Timing
Parameter
Description
Register Operation
Integration Time
Define the integration time (in µs)
Set value bits ITIME_L of registers
ITIME_L_REG and in bits ITIME_H of
registers ITIME_H_REG
Integration Reduction
Enter value (in µs) to reduce the
integration time in interleaved mode.
Set value in bits IRTIME_L of registers
IRTIME_L_REG and in bits IRTIME_H
of registers IRTIME_H_REG
Pause Time
Define the pause period (in µm), when Set value in bits PTIME_L of registers
PTIME_L_REG and in bits PTIME_H of
sequential mode is active
registers PTIME_H_REG
Correct Sensor Eclipse
Corrects the eclipse effect of CMOS
sensor
Set bit SENSOR_CORRECT_ECLIPSE
in register SENSOR_REG
Timing information
The Timing group shows information about the sensors current internal and external timing
behaviour.
Help Manual Rev. 1.6 C3-Explorer
The C3 Explorer GUI • 19
Shutter Mode
Shutter Mode
Description
Register Operation
Interleaved
Set the shutter mode to interleaved
Set bit SENSOR_INTERLEAVED in
register SENSOR_REG
Sequential
Set the shutter mode to sequential
Set bit SENSOR_SEQ in register
SENSOR_REG
20 • The C3 Explorer GUI
Help Manual Rev. 1.6 C3-Explorer
Sensor Tab (C3-A1024)
Sensor Timing
Parameter
Description
Register Operation
Integration Time
Define the integration time (in µs)
Set value bits ITIME_L of registers
ITIME_L_REG and in bits ITIME_H of
registers ITIME_H_REG
Integration Reduction
Enter value (in µs) to reduce the
integration time in interleaved mode.
Set value in bits IRTIME_L of registers
IRTIME_L_REG and in bits IRTIME_H
of registers IRTIME_H_REG
Help Manual Rev. 1.6 C3-Explorer
The C3 Explorer GUI • 21
Pause Time
Define the pause period (in µm), when Set value in bits PTIME_L of registers
PTIME_L_REG and in bits PTIME_H of
sequential mode is active
registers PTIME_H_REG
Timing information
The Timing group shows information about the sensors current internal and external timing
behaviour.
LinLog Mode
Parameter
Description
Register Operation
LinLog
Enable the LinLog mode
Set bit SENSOR_LINLOG_ON in
register SENSOR_REG
LinLog2 Mode
Enable the LinLog2 mode
Set bit SENSOR_LOG_MODE in
register SENSOR_REG
LinLog2 Val1
Define the parameter DAC-Value1 of
the LinLog2 algorithm
Set value in bits LINLOG_VAL0 of
register LINLOG_VAL0_REG
LinLog2 Time
Define the time parameter of the
LinLog2 mode (in µs)
Set value in bits LINLOG_TIME_L of
register LINLOG_TIME_L_REG and in
bits LINLOG_TIME_H of register
LINLOG_TIME_H_REG
LinLog2 Val2
Define the parameter DAC-Value2
used by the LinLog2 mode
Set value in bits LINLOG_VAL1 of
register LINLOG_VAL1_REG
Skimming Mode
Enable the skimming mode
Set bit SENSOR_SKIMMING_ON in
register SENSOR_REG
Log Mode
Set the sensor log mode
Set bit SENSOR_LOG_MODE in
register SENSOR_REG
ADC-Settings
Parameter
Description
Register Operation
ADC Gain
Set the ADC gain
Set value in bits ADC_A_GAIN of
register ADC0_REG
ADC Offset
Set the ADC offset
Set value in bits DAC_VAL, set
DAC_ADDR=2 in register DAC_REG
Shutter Mode
Shutter Mode
Description
Register Operation
Interleaved
Set the shutter mode to interleaved
Set bit SENSOR_INTERLEAVED in
register SENSOR_REG
Sequential
Set the shutter mode to sequential
Set bit SENSOR_SEQ in register
SENSOR_REG
22 • The C3 Explorer GUI
Help Manual Rev. 1.6 C3-Explorer
Sensor Tab (C3-2350)
Sensor Timing
Parameter
Description
Register Operation
Integration Time
Define the integration time (in µs)
Set value bits ITIME_L of registers
ITIME_L_REG and in bits ITIME_H of
registers ITIME_H_REG
Enable Short Integration Mode
Enables the “Short Integration Mode”.
This mode is used, when the integration
time is needed to be smaller than the
sensor readout time (3D mode) of CLframe readout time (image mode)
Set bit SENSOR_SHORT_INTEG_MODE in
register SENSOR_REG
Number Of Rows
Enter number of rows in order to adjust
the “Short Integration Mode”. The
resulting integration time is shown for
convenience.
Set value in bits IRTIME_L of registers
IRTIME_L_REG and in bits IRTIME_H of
registers IRTIME_H_REG
Timing information
The Timing group shows information about the sensors current internal and external timing
behaviour.
Help Manual Rev. 1.6 C3-Explorer
The C3 Explorer GUI • 23
DAC’s Tab (C3-1280)
Parameter
Description
Register Operation
ADC reference VREF1 (0.2-1.5)
Set the ADC VREF1 reference voltage
Set value in bits DAC_VAL, set
DAC_ADDR=1 in register DAC_REG
ADC bias (0.8-1.1)
Set the ADC reference bias voltage
Set value in bits DAC_VAL, set
DAC_ADDR=2 in register DAC_REG
ADC calibration reference (0.3-1.5)
Set the ADC calibration reference
voltage
Set value in bits DAC_VAL, set
DAC_ADDR=3 in register DAC_REG
Row driver control (0.0-0.0)
Set the row driver control voltage
Set value in bits DAC_VAL, set
DAC_ADDR=4 in register DAC_REG
Dark offset clamp (0 – 3.0)
Set the dark offset clamp voltage
Set value in bits DAC_VAL, set
DAC_ADDR=5 in register DAC_REG
Dark offset reference (0.0-2.5)
Set the dark offset reference voltage
Set value in bits DAC_VAL, set
DAC_ADDR=6 in register DAC_REG
Pixel source follower bias (0.8-1.1)
Set the pixel source follower bias
voltage
Set value in bits DAC_VAL, set
DAC_ADDR=7 in register DAC_REG
ADC reference VREF4=1/4 VREF1
Set the ADC VREF4 reference voltage
Set value in bits DAC_VAL, set
DAC_ADDR=8 in register DAC_REG
Dark offset enable
Enable dark offset
Set bit DARK_OFF_EN in register
SENSOR_REG
Calibrate Sensor
Perform sensor calibration
DAC-Defaults
Set all DAC-values to the factory default values.
Apply
Set all DAC-values at once.
24 • The C3 Explorer GUI
Help Manual Rev. 1.6 C3-Explorer
DAC’s Tab (C3-A1024)
Parameter
Description
Register Operation
Pixel High Voltage (3.7 -4.2)
Set pixel high voltage
Set value in bits DAC_VAL, set
DAC_ADDR=1 in register DAC_REG
ADC offset (1.5 - 3.0))
Set ADC offset voltage
Set value in bits DAC_VAL, set
DAC_ADDR=2 in register DAC_REG
Shutter Voltage (2.5 – 4.2)
Set shutter voltage
Set value in bits DAC_VAL, set
DAC_ADDR=3 in register DAC_REG
LinLog Voltage (0.0 – 3.7)
Set LinLog Voltage
Set value in bits DAC_VAL, set
DAC_ADDR=4 in register DAC_REG
Dummy Row Voltage (1.5 – 3.0)
Set dummy row voltage
Set value in bits DAC_VAL, set
DAC_ADDR=5 in register DAC_REG
Pixel Bias Voltage VB1 (0.6 – 0.9)
Set pixel bias voltage VB1
Set value in bits DAC_VAL, set
DAC_ADDR=6 in register DAC_REG
Column Bias Voltage VB2 (2.0 – 2.4)
Set column bias voltage
Set value in bits DAC_VAL, set
DAC_ADDR=7 in register DAC_REG
Output Driver Bias VB3 (0.7 – 1.1)
Set output driver bias
Set value in bits DAC_VAL, set
DAC_ADDR=8 in register DAC_REG
Dummy Row Voltage Enable
Enable dummy row voltage
Set bit SENSOR_DUMMY_ROW_EN
in register SENSOR_REG
Pixel Bias Voltage int. high
Set pixel bias voltage int. high
Set bit HIGH_VB1 in register
SENSOR_REG
Column Bias Voltage int. high
Set column bias voltage int. high
Set bit HIGH_VB2 in register
SENSOR_REG
Output Driver Bias int. high
Set output driver bias voltage int. high
Set bit HIGH_VB3 in register
SENSOR_REG
Internal current source on (VB1-VB3)
Set internal current source
Set bit CURR_ON in register
SENSOR_REG
Help Manual Rev. 1.6 C3-Explorer
The C3 Explorer GUI • 25
Set DAC-Defaults
Set all DAC-values to the factory default values.
DAC’s Tab (C3-2350)
Parameter
Description
Register Operation
ADC reference VREF1 (0.25-1.5)
Set the ADC VREF1 reference voltage
Set value in bits DAC_VAL, set
DAC_ADDR=1 in register DAC_REG
ADC calibration reference (0.4-1.5)
Set the ADC calibration reference
voltage
Set value in bits DAC_VAL, set
DAC_ADDR=2 in register DAC_REG
Dark offset reference (0.0-3.0)
Set the dark offset reference voltage
Set value in bits DAC_VAL, set
DAC_ADDR=3 in register DAC_REG
Dark offset clamp (0.0 – 3.0)
Set the dark offset clamp voltage
Set value in bits DAC_VAL, set
DAC_ADDR=4 in register DAC_REG
VRSTPIX (2.9-3.3)
Set the VRSTPIX voltage
Set value in bits DAC_VAL, set
DAC_ADDR=5 in register DAC_REG
Pixel source follower bias (0.5-1.2)
Set the pixel source follower bias
voltage
Set value in bits DAC_VAL, set
DAC_ADDR=6 in register DAC_REG
Row driver control (1.0-2.3)
Set the row driver control voltage
Set value in bits DAC_VAL, set
DAC_ADDR=7 in register DAC_REG
ADC reference VREF4=1/4 VREF1
Set the ADC VREF4 reference voltage
Set value in bits DAC_VAL, set
DAC_ADDR=8 in register DAC_REG
Dark offset enable
Enable dark offset
Set bit DARK_OFF_EN in register
SENSOR_REG
Calibrate Sensor
Perform sensor calibration
DAC-Defaults
Set all DAC-values to the factory default values.
Apply
Set all DAC-values at once.
26 • The C3 Explorer GUI
Help Manual Rev. 1.6 C3-Explorer
Help Manual Rev. 1.6 C3-Explorer
The C3 Explorer GUI • 27
Register/Prom Tab
28 • The C3 Explorer GUI
Help Manual Rev. 1.6 C3-Explorer
The Application Options dialogue
The Options dialogue box appears by selecting the menu Options or by clicking the
C3 Explorer toolbar.
icon on the
Start camera with defaults
and image mode
The C3 Explorer sets the camera in image mode and loads the default
settings during start-up.
Use advanced mode
Allow the adjustment of further camera parameter. The Sensor and
DAC’s tab appears on the camera settings dialogue box.
Enumerate devices during
open
If this option is enabled then the C3 Explorer performs a device
enumeration, when opening a connection to the camera. The
enumeration can be time consuming depending on the number of
cameras connected to the host system. By disabling this option, the
enumeration can be bypassed. In that case the user is prompted to
enter the device open string in order to open the connection to the
camera:
Alternatively, the camera connection can be opened without
Help Manual Rev. 1.6 C3-Explorer
The C3 Explorer GUI • 29
performing enumeration by starting the C3 Explorer using the following
command line argument:
“c3libname:DeviceOpenString” where
- c3libname is the name of C3Lib DLL to load (see interface selection
dialogue box for details)
-DeviceOpenString is the open string of camera
Example:
C3Explorer.exe “c3lib_sapera.dll:SAPERA 1 0”
This example will start the C3 Explorer and open the connection to the
camera, which is connected to the first port of the first DALSA frame
grabber installed at the host system.
Grab Timeout [ms]
Set timeout for image triggering
Device Open String
Device Open String of the C3 camera
30 • The C3 Explorer GUI
Help Manual Rev. 1.6 C3-Explorer
The About C3Explorer dialogue
The About C3 Explorer dialogue box appears by selecting the menu item About C3 Explorer from the
menu Help. It shows release information about C3Explorer and function library files (DLL).
Help Manual Rev. 1.6 C3-Explorer
The C3 Explorer GUI • 31
The C3 image display
The C3 image display is used to show the current 2D or 3D image acquired from the C3 camera. In
image mode the image display shows a grey scale image.
Example of image display in image mode
32 • The C3 Explorer GUI
Help Manual Rev. 1.6 C3-Explorer
In 3D mode the image display shows the 3D profile data acquired from the C3 camera. The total
number of profiles shown in one frame can be set at the General tab of the Camera Settings dialogue
box.
Example of a 3D image display
Image Display toolbar
Drag to adjust the minimum height value of scaling control. Doubleclick to fix limit.
Drag to adjust the maximum height value of scaling control. Doubleclick to fix limit.
Scale to fit (do not keep aspect ratio)
Scale 1:1
Scale to fit (keep aspect ratio)
Load colour palette for pseudo color visualisation of image data.
The current AOI name and Data Channel (DC) to be visualised can
be selected form the combo box of the image display.
On the title bar appears the current AOI name, Data Channel and
image depth
Help Manual Rev. 1.6 C3-Explorer
The C3 Explorer GUI • 33
The 2D-View Graph
The 2D-View Graph is a very helpful graphical tool, which displays profile data. In image mode the
2D-View Graph shows the intensity profile along the column located in the middle of the sensor.
Example of intensity profile plot
In 3D mode the 2D-View Graph shows the height data acquired from the C3 camera.
Example of 3D height profile plot
2D-GraphView Pop-Up Menu
A pop-up context menu appears by right clicking on the 2D-View Graph
34 • The C3 Explorer GUI
Help Manual Rev. 1.6 C3-Explorer
Select
Select a region of the graph
Zoom
Perform zoom
Reset
Reset the graph display
Pan
Pans the entire graph
Cursor
A cursor appears showing information about the displayed data
Insert Label
Insert a label
2D-GraphView toolbar
Suppress zero pixel.
Auto scale graph
Connect data points with line segments
Plot data as points
Help Manual Rev. 1.6 C3-Explorer
The C3 Explorer GUI • 35
Interface Information
Camera Link
Specific information about Matrox MeteorII-CL
•
C3-Lib supports both multiplexed Camera Link ports. The frame grabber does not
implement a real dual port interface for simultaneous grabbing from two cameras!
•
C3-Lib supports serial communication over MIL - functions with 9600 or 115200 Baud
and acquisition functionality for this frame grabber.
•
The frame grabber supports clserial interface according to Camera Link Spec. 1.0, without
configurable baud rate (only 9600 Baud can be used via the clser –DLL). In order to use
the Matrox clser-DLL “clsermtx.dll” it is necessary to install Matrox GNL 3.24 Build 4 or
higher. In releases prior to 3.24 the clser-interface did not work correctly.
•
Supported image processing software, e.g.: MIL , HALCON.
•
The camera configuration files are typically located in “MIL installation directory”\gnl\dcf
or in the application directory. For C3Lib – based applications the location of the camera
configuration files can be specified by setting the environment variable “C3_DCF_PATH”.
This environment variable will be set during installation of C3Explorer / C3Lib.
•
Required frame grabber support software: Matrox frame grabber driver and Matrox MIL or
MIL-Lite 7.5 runtime environment.
Specific information about Coreco PC-CamLink, PC2-CamLink
•
The frame grabber supports mapping of the Camera Link UART to a standard PC-COM
port. A baud rate of 9600 or 115200 baud can be used for connecting the camera.
•
The frame grabber supports clserial interface according to Camera Link Spec. 1.0, without
configurable baud rate (only 9600 Baud can be used via the clser –DLL “clsercii.dll”).
•
C3-Lib supports serial communication over IFC functions with 9600 or 115200 baud and
acquisition functionality for these frame grabbers.
•
Supported image processing software, e.g.: IFC, ITEX, CVB.
•
PC2-CamLink : since the PC2-CamLink is FIFO based without on-board image memory,
data loss will happen in 2x12 mode. See chapter PCI-Bandwidth limitation.
•
The camera configuration files are typically located in “IFC installation directory”\config or
in the application directory. Furthermore, the location of the configuration files can be
specified by setting the environment variable “IFCCNF”.
36 • Interface Information
Help Manual Rev. 1.6 C3-Explorer
•
Required frame grabber support software: Coreco frame grabber driver and IFC 5.7
runtime environment.
Specific information about Dalsa X64CL-Ipro/Lite/Express and X64-Xcelera-CL
•
These frame grabbers (except X64CL-Iprolite) do implement a real dual port Camera Link
interface for simultaneous grabbing from two cameras.
•
The frame grabber supports mapping of the Camera Link UART to a standard PC-COM
port. A baud rate of 9600 or 115200 baud can be used for connecting the camera.
•
The frame grabber supports clserial interface according to Camera Link Spec. 1.1
•
C3-Lib supports serial communication and acquisition functionality for these frame
grabbers.
•
Supported image processing software, e.g.: CVB
•
PCI 64-bit/66MHz
•
on-board memory: 16/32MB (single/dual port)
Specific information about Euresys GrabLink Value, GrabLink Expert2
•
The frame grabber does implement a real dual port Camera Link interface for
simultaneous grabbing from two cameras.
•
The frame grabber supports mapping of the Camera Link UART to a standard PC-COM
port. A baud rate of 9600 or 115200 baud can be used for connecting the camera.
•
The frame grabber supports clserial interface according to Camera Link Spec. 1.1 with
9600. Known bugs in the clserial implementation: shows version 1.0, runs only with 9600
baud, use clFlushInputBuffer instead of clFlashPort.
•
C3-Lib supports serial communication and acquisition functionality for these frame
grabbers.
•
Supported image processing software, e.g.: HALCON.
•
PCI 64-bit/66MHz
•
on-board memory: 8/16MB
•
requires C3-Register FrameEndPause set to 25
•
Required frame grabber support software: Euresys frame grabber driver and Multicam 4.3
run-time environment. Choose the installation option RunTime in the Multicam Installation
procedure for installing only run-time components.
Specific information about NI-IMAQ (PCI/PXI-1426/1428)
•
The frame grabber supports mapping of the Camera Link UART to a standard PC-COM
port with 9600 baud.
•
The frame grabber supports clserial interface according to Camera Link Spec. 1.1 with
9600 baud (the on-board UART is limited to a maximum baud rate of 57600 baud).
•
C3-Lib supports serial communication over NI-IMAQ functions with 9600 baud and
acquisition functionality for this frame grabber.
•
There is currently no support for reconfiguring the frame grabber configuration without
applying a specific configuration file. Therefore the NI-IMAQ based C3-Lib
Help Manual Rev. 1.6 C3-Explorer
Interface Information • 37
implementation always shows three different camera configurations when opening the
camera connection.
•
Supported image processing software, e.g.: NI-IMAQ, LabView.
•
on-board memory: 16MB
•
Camera Link clock: 20-50MHz
Specific information about CLSERIAL interface
•
C3Lib supports all clser interface DLLs according to Camera Link Spec. 1.0 and 1.1.
•
Note that clser DLLs according to Camera Link Spec. 1.0 only works with 9600 Baud.
With Camera Link Spec. 1.1 clser-DLLs the baud rate can be configured. This is
automatically handled in the C3Lib. For 9600 Baud mode the C3-camera configuration
DIP-switch inside the camera needs to be set to 9600 mode enabled.
•
The C3Lib relies on the clallserial implementation (as recommended in Camera Link Spec.
1.1), which handles the enumeration of all installed Camera Link – clserial channels.
•
The clallserial-DLL uses the following registry key for locating the clserial – DLLs of different
Camera Link vendors.
[HKEY_LOCAL_MACHINE\SOFTWARE\cameralink]
"CLSERIALPATH"=" C:\Programme\Automation Technology GmbH\C3_13\FrameGrabberSupport\
cameralink_clser_dlls "
This key will be set during installation of C3Explorer / C3Lib.
PCI-Bandwidth Limitation with Camera Link
When the 2 x 12-bit mode running at 40MHz Camera Link output rate is activated the resulting
camera bandwidth is greater than the available bandwidth of the 32Bit PCI-bus. This effect leads to a
maximum frame rate of 50 fps when live image mode is used. In case that a higher frame rate (60 fps)
is required a PCI-64-bit frame grabber should be used. When grabbing a single image into frame
grabber on-board memory this limitation does not arise as long as the time between consecutive
images is sufficient for the transfer of the image from on-board memory to host memory.
38 • Interface Information
Help Manual Rev. 1.6 C3-Explorer
Service Information
Document Revision
Rev. Nr. Date
Modification
1.0
25.08.2003
first release
1.1
08.12.2004
added specific support information for different Camera Link frame grabbers
1.2
23.03.2007
Update GUI description
1.3
13.02.2008
Added C3-2350
1.4
05.06.2008
Added new registers for 3D validation, digital output of OVR flag, Correct Sensor
Eclipse
1.5
26.11.2008
Added new features of firmware 4.8
1.6
26.05.2009
Added new features concerning enumeration bypass
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 EPROM’s, a snapshot and a precise problem description.
Product Inquiries and Price Quotations
info@AutomationTechnology.de
Help Manual Rev. 1.6 C3-Explorer
Service Information • 39
L
Laser Control (C3 CompactSensors only) 16
LinLog Mode 22
Index
N
Number of profiles 16
O
Output Channel 14
Overview 4
P
2
2D-GraphView Pop-Up Menu 33
2D-GraphView toolbar 34
PCI-Bandwidth Limitation with Camera Link 37
Product Information and Updates 38
R
A
ADC-Settings 22
Algorithm 13
Algorithm Flags - Output over DC1 in 16 bit
mode: 17
AOI's Tab 18
C
Camera Link 16, 35
D
DAC's Tab (C3-1280) 24
DAC's Tab (C3-2350) 26
DAC's Tab (C3-A1024) 25
Data channels for C3-camera 17
Document Revision 38
G
General Tab 12
Geometry 1 5
Geometry 2 5
Geometry 3 6
Geometry 4 7
I
I/O and Trigger Configuration 15
Image Display toolbar 32
Installing the Software 3
Introduction 2
Help Manual Rev. 1.6 C3-Explorer
Register/Prom Tab 28
RS422 Resolver 16
S
Sensor Tab (C3-1280) 19
Sensor Tab (C3-2350) 23
Sensor Tab (C3-A1024) 21
Sensor Timing 19, 21, 23
Shutter Mode 20, 22
Specific information about CLSERIAL interface
37
Specific information about Coreco PCCamLink, PC2-CamLink 35
Specific information about Dalsa X64CLIpro/Lite/Express and X64-Xcelera-CL 36
Specific information about Euresys GrabLink
Value, GrabLink Expert2 36
Specific information about Matrox MeteorII-CL
35
Specific information about NI-IMAQ (PCI/PXI1426/1428) 36
System Requirements 3
T
The 2D-View Graph 33
The About C3Explorer dialogue 30
The Application Options dialogue 29
The C3 Explorer menu bar 9
The C3 Explorer toolbar 8
The C3 image display 31
The camera settings dialogue 11
The Interface selection dialogue box 10
Timing information 19, 22, 23
Index • 41
Trademarks 2
W
Warranty 2
42 • Index
Help Manual Rev. 1.6 C3-Explorer