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C5 Series
User Manual
for High Speed 3D Sensors
Rev 1.1
AT - Automation Technology GmbH
Copyright
© 2017 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.
Trademarks
All nationally and internationally recognized trademarks and trade names are hereby acknowledged.
This document is subject to change without notification. All rights reserved.
Table of Contents
C5 Series User Manual Rev. 1.1 1
2 C5 Series User Manual Rev. 1.1
C5 Series User Manual Rev. 1.1 3
4 C5 Series User Manual Rev. 1.1
C5 Series Overview
Introduction
The C5 series is a revolutionary product family of intelligent high speed sensors. It is optimised for
3D profile measurement by means of laser triangulation technique. The 3D profile extraction is performed in the camera by using high performance Field Programmable Gate Array processors. At the same time the 3D profile data is sent to the PC over a Gigabit Ethernet interface (GigE). This extreme data reduction boosts the measuring speed to unprecedented levels without affecting the performance of the connected image processing unit.
C5 Series User Manual Rev. 1.1 5
The C5 Series General Specifications
Sensor Controls
Synchronization Modes
Exposure Modes
Shutter Modes
Digital Input
Digital Output
Analog Output
Encoder/Resolver Input
Free Running, Triggered, Software Triggered
Programmable, Pulse Controlled
Global Shutter
2 electrical isolated inputs, 5-24V DC
VIL, logic “0” Voltage < 1.5V
VIH, logic “1” Voltage > 3.5V
Max. frequency: 450 kHz
2 electrical isolated outputs, 5-24V DC
VOL, logic “0” Voltage < 0.5V
VOH, logic “1” Voltage ≥ 3.8V
IOH, logic “1” drive current max. 100 mA
Range: 0–5V DC
A+,A-, B+,B-, Z+, Z-
High-Speed, Triple RS-422/RS-485 Receiver
Max. input voltage ±24V DC
RS422-Mode, max. frequency: 15 MHz
Sensor Features
High Dynamic Range Imaging Multiple Slope, Multi-Frame Readout
3D-Algorithms MAX, TRSH, COG, FIR PEAK
3D-Scan Features AutoStart, Automatic AOI-Tracking, Automatic AOI-Search,
Multiple AOIs
Optical Interface
Lens Mount M42x1 with flange focal distance 6.52 mm
Adapter for C-Mount lens* With flange focal distance 17.52 mm
Adapter for Nikon F-Mount lens with Bayonet mount*
With flange focal distance 46.50 mm
Adapter for Scheimpflug* For C-Mount lens
* Must be ordered separately. See section Part Number for Scheimpflug Adapter Option
6 C5 Series User Manual Rev. 1.1
Electrical Interface
Input Voltage
Power consumption
Operating Temperature
Output Data Interface
Communication Protocol
12–24V DC (max. 27V DC)
< 6 W
0 °C to +50 °C (non-condensing)
Gigabit Ethernet (IEEE 802.3)
GigE Vision with GenICam
Mechanical Interface
Camera Size
Mass (without optics)
Power connector
Ethernet connector
55 mm x 55 mm x 66 mm
250 g
17 pin, M12 connector
8 pin, A-coded M12 connector
Mechanical Stress Specification
Vibration (sinusoidal each axis) 1 Gn, 10…2000Hz
Vibration (random each axis) 5 Grms, 5…1000Hz
Shock (each axis)
Enclosure rating
50 Gn
IP67
IEC 60068-2-6
IEC 60068-2-64
IEC 60068-2-27
IEC 600529
C5 Series User Manual Rev. 1.1 7
The Sensor Specifications
C5-1280-GigE
Parameters
Responsivity
Shutter Type
QE * FF
Resolution ( H x V )
Pixel Size
Sensor Size
Optical Format
ADC Resolution
Dynamic Range
Extended Dynamic Range
Max. Internal Full-Frame Rate for
Image Mode
Max. External Full-Frame Rate for
Image Mode
(limited due to GigE bandwidth)
Effective Frame / Profile Rate
94 fps
Specifications
9.6 V/lux.s
Pipelined Global Shutter
55% @ 525 nm
1280 x 1024 pixels
6.6 µm x 6.6 µm
8.448 mm x 6.758 mm, diagonal: 10.82 mm
2/3”
12 bit
57 dB
Up to 90dB with HDR
288 fps
Number of
Rows
8
16
32
128
256
1024
Effective Frame / Profile Rate (Hz)
1280 Pixel
116000
63000
32800
8480
4260
1070
688 Pixel
192000
110000
59050
14700
7400
1860
8 C5 Series User Manual Rev. 1.1
C5-2040-GigE
Parameters
Responsivity
Shutter Type
QE * FF
Resolution ( H x V )
Pixel Size
Sensor Size
Optical Format
ADC Resolution
Dynamic Range
Extended Dynamic Range
Max. Internal Full-Frame Rate for
Image Mode
Max. External Full-Frame Rate for
Image Mode
(limited due to GigE bandwidth)
Effective Frame / Profile Rate
Specifications
5.56 V/lux.s
0.27 A/W
Pipelined Global Shutter
60% @ 550 nm
2048 x 1088 pixels
With micro lens
@ 550 nm
5.5 µm x 5.5 µm
11.264 mm x 5.984 mm, diagonal: 12.75 mm
2/3”
10 bit
60 dB
Up to 90dB with HDR
170 fps
50 fps
Number of Rows Effective Frame / Profile Rate
(Hz)
8
16
32
64
128
256
512
1088
25000
16000
9540
5240
2700
1400
723
340
C5 Series User Manual Rev. 1.1 9
C5-2040-4M-GigE
Parameters
Responsivity
Shutter Type
QE * FF
Resolution ( H x V )
Pixel Size
Sensor Size
Optical Format
ADC Resolution
Dynamic Range
Extended Dynamic Range
Max. Internal Full-Frame Rate for
Image Mode
Max. External Full-Frame Rate for
Image Mode
(limited due to GigE bandwidth)
Effective Frame / Profile Rate
8
16
32
64
128
256
512
1088
2048
Specifications
5.56 V/lux.s
0.27 A/W
Pipelined Global Shutter
60% @ 550 nm
2048 x 2048 pixels
With micro lens
@ 550 nm
5.5 µm x 5.5 µm
11.264 mm x 11.264 mm, diagonal: 15.93 mm
1”
10 bit
60 dB
Up to 90dB with HDR
90 fps
25 fps
Number of Rows Effective Frame / Profile Rate
(Hz)
25000
16000
9540
5240
2700
1400
723
340
180
10 C5 Series User Manual Rev. 1.1
C5-3360-GigE
Parameters
Responsivity
Shutter Type
QE * FF
Resolution ( H x V )
Pixel Size
Sensor Size
Optical Format
ADC Resolution
Dynamic Range
Extended Dynamic Range
Max. Internal Full-Frame Rate for
Image Mode
Max. External Full-Frame Rate
(limited due to GigE bandwidth)
Effective Frame / Profile Rate
Specifications
5.56 V/lux.s
0.27 A/W
Pipelined Global Shutter
60% @ 550 nm
3360 x 2496 pixels
With micro lens
@ 550 nm
5.5 µm x 5.5 µm
18.48 mm x 13.728 mm, diagonal: 23.02 mm
4/3”
10 bit
61 dB
Up to 90dB with HDR
52 fps
12 fps
Number of Rows Effective Frame / Profile Rate
(Hz)
8
16
32
64
128
256
512
1024
2496
10000
8000
5400
3280
1800
970
500
255
105
C5 Series User Manual Rev. 1.1 11
C5-4090-GigE
Parameters
Responsivity
Shutter Type
QE * FF
Resolution ( H x V )
Pixel Size
Sensor Size
Optical Format
ADC Resolution
Dynamic Range
Extended Dynamic Range
Max. Internal Full-Frame Rate for
Image Mode
Max. External Full-Frame Rate for
Image Mode
(limited due to GigE bandwidth)
Effective Frame / Profile Rate
8
16
32
64
128
256
512
1024
2048
3072
Specifications
4.64 V/lux.s
0.22 A/W
Pipelined Global Shutter
50% @ 550 nm
4096 x 3072 pixels
With micro lens
@ 550 nm
5.5 µm x 5.5 µm
22.528 mm x 16.896 mm, diagonal: 28.16 mm
4/3”
10 bit
60 dB
Up to 90dB with HDR
32 fps
9 fps
Number of Rows Effective Frame / Profile Rate
(Hz)
14500
9700
5800
3200
1700
900
450
225
113
75
12 C5 Series User Manual Rev. 1.1
The Sensors Spectral Response
SPECTRAL RESPONSE
C5-2040GigE / C5-2040-4M-GigE C5-3360-GigE C5-1280-GigE C5-4090-GigE
40
30
20
10
70
60
50
0
300 350 400 450 500 550 600 650
WAVELENGTH [nm]
700 750 800 850 900 950 1000
C5 Series User Manual Rev. 1.1 13
Temperature Range (Operation/Storage)
Housing temperature during operation: 0 °C to +50 °C (+32 °F to +122 °F)
Sensor chip temperature (on-board) during operation: 0 °C to +65 °C (+32 °F to +149 °F)
Humidity during operation:
Storage temperature:
Storage humidity:
20 % to 80 %, relative, non-condensing
-20 °C to +80 °C (-4 °F to +176 °F)
20 % to 80 %, relative, non-condensing
Heat Dissipation
The operation of the C5 sensors requires sufficient heat dissipation. Depending on the environmental conditions the sensor housing may not provide a sufficient cooling surface to dissipate the thermal power loss, which is generated by the core electronics and the sensor chip.
All 3D sensors of the C5 series feature high-speed CMOS sensor chips. A typical property of a CMOS sensor is that it provides best image quality by low temperatures. High temperatures will lead to an increase of dark current, noise and hence to a reduction of signal-to-noise ratio (SNR).
To eliminate these effects it is often sufficient to mount the C5 sensor on a heat conductive material, such as a metal surface.
In case that it is not possible to mount the camera on any heat dissipating carrier, then it is recommended to use a heat sink with the required specification of AT.
General Guidelines for Heat Dissipation
Mount the 3D sensor to a heat conductive material with an absolute thermal resistance of at least 6 K / W.
Always monitor the temperature of the sensor (on-board, available over GenICam) and make sure that the temperature does not exceed 65 °C.
Keep in mind that dark current and noise performance for CMOS sensor will degrade at higher temperature.
The 3D sensor of the C5 series will gradually become warmer during the first hour of operation. After one hour of operation, the housing temperature as well as the sensor temperature should be stabilized and no longer increased.
14 C5 Series User Manual Rev. 1.1
Using the C5 Heat Sink
AT provide a specially designed heat sink to improve the cooling of C5 sensors in applications lacking sufficient thermal dissipation.
Absolute thermal resistance for camera housing:
Absolute thermal resistance for heat sink:
R th
= 5 [K / W]
R th
= 3.75 [K / W]
C5 Series User Manual Rev. 1.1 15
Mechanical Drawings
C5-1280/2040/2040-4M/3360-GigE with M42x1 mount (Standard)
C5-4090-GigE with M42x1 mount (Standard)
Part Number for C5 Series
Part Number # Product Name
202 203 001
202 203 002
C5-3360-GigE, lens mount M42x1
C5-4090-GigE, lens mount M42x1
202 203 003
202 203 004
202 203 005
C5-2040-GigE, lens mount M42x1
C5-2040-4M-GigE, lens mount M42x1
C5-1280-GigE, lens mount M42x1
16 C5 Series User Manual Rev. 1.1
C5-1280/2040/2040-4M/3360-GigE with C-Mount Adapter (Option)
C5-4090-GigE with C-Mount Adapter (Option)
Part Number for C-Mount Adapter Option
Part Number # Product Name
202 188 001
202 188 002
C5 C-Mount: M42x1 adapter with thread for lens protective cover to use with C-Mount type lens, for C5-3360-GigE/C5-4090-GigE
C5 C-Mount: M42x1 adapter with thread for lens protective cover to use with C-Mount type lens, for C5-1280-GigE / C5-2040-GigE / C5-2040-4M-GigE
C5 Series User Manual Rev. 1.1 17
C5-1280/2040/2040-4M/3360-GigE with F-Mount Adapter (Option)
C5-4090-GigE with F-Mount Adapter (Option)
Part Number for F-Mount Adapter Option
Part Number # Product Name
202 182 011 C4/C5 F-Mount: M42x1 adapter to use with Nikon-F Bayonet type lens
18 C5 Series User Manual Rev. 1.1
C5-2040/2040-4M-GigE with integrated Scheimpflug Adapter (Option)
C5-3360/4090-GigE with integrated Scheimpflug Adapter (Option)
Part Number for Scheimpflug Adapter Option
Part Number # Product Name
202 186 010
202 186 011
202 186 014
202 186 015
202 186 016
202 186 020
C5 Scheimpflug-Adapter 25° with C-Mount, for C5-4090-GigE
C5 Scheimpflug-Adapter 10° with C-Mount, for C5-4090-GigE
C5 Scheimpflug-Adapter 25° with C-Mount, for C5-2040-GigE/C5-2040-4M-GigE
C5 Scheimpflug-Adapter 10° with C-Mount, for C5-2040-GigE/C5-2040-4M-GigE
C5 Scheimpflug-Adapter 35° with C-Mount, for C5-2040-GigE/C5-2040-4M-GigE
C5 Scheimpflug-Adapter 30° with C-Mount, for C5-2040-GigE/C5-2040-4M-GigE
202 186 021
202 186 017
202 186 018
202 186 019
202 186 022
C5 Scheimpflug-Adapter 5° with C-Mount, for C5-2040-GigE/C5-2040-4M-GigE
C5 Scheimpflug-Adapter 10° with C-Mount, for C5-3360-GigE
C5 Scheimpflug-Adapter 25° with C-Mount, for C5-3360-GigE
C5 Scheimpflug-Adapter 5° with C-Mount, for C5-3360-GigE
C5 Scheimpflug-Adapter 35° with C-Mount, for C5-1280-GigE
C5 Series User Manual Rev. 1.1 19
Lens Protection Tubes for the C5 Series
The C5 series offers a high IP67 protection class. Therefore a wide range of C-mount lens protection tubes are available for C-mount lenses with different sizes.
C-Mount Lens Protection Tube with Ø 44mm
C-Mount Lens Protection Tube with Ø 55mm
Y
X
Part Number for Lens Protection Tubes
Part Number #
202 201 100
202 201 101
202 201 102
202 201 103
202 201 104
202 201 105
202 201 106
202 201 107
Tube Ø
(mm)
44
55
55
55
55
44
44
44
Tube
Length
Y (mm)
48
98
58
68
70
80
90
100
Max. Lens Ø
(mm)
36
50
50
50
50
36
36
36
Max. Lens Length
(mm)
50
55
65
75
85
30
80
40
Camera Overall
Length
X (mm)
105
155
115
125
135
145
155
165
20 C5 Series User Manual Rev. 1.1
C5 Series Operational Reference
Measuring Principle
The C5 sensor acquires height profiles and height images based on the laser triangulation principle.
According to this method a laser line is projected on the object from one direction. The C5 sensor views the object from another angle defining the triangulation geometry. The resulting sensor image is evaluated by the C5 processing unit and converted into a single height profile. By scanning the laser line over the object a complete height image can be acquired.
The figures below demonstrate some typical triangulation geometries. The following notation is used in the approximation of height resolution:
ΔX= resolution along the laser line (lateral),
ΔY= resolution perpendicular to the laser line (longitudinal in the direction of motion),
ΔZ= height resolution.
Geometry 1
The laser line is projected perpendicular to the object surface, while the camera views the object under the triangulation angle α.
The height resolution can be approximated: ΔZ ≈ ΔX / sin(α)
C5 Series User Manual Rev. 1.1
Scan direction
α
Z
X
Y
21
Geometry 2
The camera views the object perpendicularly to its surface, while the laser line is projected under the triangulation angle α.
The height resolution can be approximated: ΔZ ≈ ΔX / tan(α)
α
Z
X
Y
Scan direction
Geometry 3
The camera views the object under an angle α, while the laser line is projected under a different angle
β.
The height resolution can be approximated: ΔZ ≈ ΔX * cos(β) / sin(α + β), in case α= β (direct reflex) : ΔZ ≈ ΔX / 2* sin(α)
Scan direction
α β
Z
X Y
22 C5 Series User Manual Rev. 1.1
Geometry 4
The camera views the object under an angle α, while the laser line is projected under a different angle
β at the camera side.
The height resolution can be approximated: ΔZ ≈ ΔX * cos(β) / sin(α)
Scan direction
α
β
Z
X
Y
C5 Series User Manual Rev. 1.1 23
The C5 Sensor Algorithms
The C5 series can be operated both in a variety of 3D profile modes and in image mode. The current operation mode can be chosen by setting the following parameter:
Camera Controls→ ModeAndAlgorithmControls→CameraMode.
The frame rate can be increased in all camera modes by reducing the AOI size. In the image mode the frame rate is limited by the output rate of the camera interface (GigE). However, due to reduced data size in profile mode the frame rate is limited only by the sensor output rate. As a matter of principle the processing speed is independent of the chosen profile mode and is determined by the
AOI size.
In all profile modes only intensity values higher than the AOI intensity threshold AOI_TRSH are processed in order to suppress weak signal noise. In case that no position value can be found, e.g. no intensity value is higher than threshold, the position value 0 is returned.
The Image Mode (IMG)
In the image mode the C5 camera series is operated similar to a standard CMOS camera. In this mode grey scale data of 8 or 10 bit resolution are acquired over the camera interface. Furthermore, the sensor can be divided into multiple regions, whose data can be summarised in one output frame.
24 C5 Series User Manual Rev. 1.1
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
).
I
MAX
AO I_TRSH
P
MAX
P
R
The calculation of position value is performed with simple pixel accuracy, i.e. the evaluation of 1088 rows delivers a position range from 0 to 1087 pixels (11 bit). If there is more than one local maximum
(e.g. when the intensity is saturated), the position of the first detected maximum is output. In order to avoid intensity saturation, it is recommended to activate the Multiple Slope Mode of the camera.
The detection of the maximum intensity position can be improved by enabling the smoothing mode of the FIR filter of the camera.
C5 Series User Manual Rev. 1.1 25
The Threshold Mode (TRSH)
In this mode the position of left (P
L
) and right (P
R
) edge of the laser beam profile are detected for a given threshold value of intensity AOI_TRSH.
AO I_TRSH
P
L
P
TRSH
P
R
The position value of the laser line is approximated: P
TRSH
= (P
L
+P
R
) / 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
+P
R
) and the line width (P
R
-P
L
). 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.
26 C5 Series User Manual Rev. 1.1
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
L
,
Sum of intensity value I s
= ∑ I p
,
Sum of first order moment M s
= ∑I p
* P
.
I
S
AO I_TRSH
P
L
P
CO G
The position value of laser line (center of gravity of beam profile) is then obtained from:
P
COG
= P
L
+ M s
/ I s
.
In addition the laser line width can be delivered over the Data Channel DC1. The average intensity of the illumination profile can be calculated by normalising the sum of intensity value I s
with the line width.
The precision of the COG calculation can be improved by enabling the smoothing mode of the FIR filter of the camera.
C5 Series User Manual Rev. 1.1 27
The FIR Peak Mode (FIR PEAK)
In this mode the first derivative of the intensity Gauss curve of laser beam profile is calculated.
1023
AOI_TRSH
Intensity
AOI_TRSH
Zero-Crossing
First Derivative of Intensity
0
Sensor row #
AoiHeight 0
Sensor row #
AoiHeight
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
28 C5 Series User Manual Rev. 1.1
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):
Raw Gauss Curve
FIR in differentiating mode (FIR PEAK):
Smoothed Gauss Curve
Zero-Crossing of
First Derivative
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
C5 Series User Manual Rev. 1.1 29
The High Dynamic Range 3D Feature (HDR-3D)
One of the most powerful features of the C5 series is the HDR-3D (High Dynamic Range) functionality, which allows scanning materials and surfaces with inhomogeneous reflection properties. Using HDR-
3D the dynamic range of image intensity is extended up to 90dB, thus avoiding intensity saturation.
The HDR-3D comprises two independent sensor functions:
MultipleSlope Function
The aim of the Multiple Slope function is to avoid the saturation of pixels during sensor chip exposure.
This high optical dynamic range is achieved by using a piecewise linear response. The intensity of illuminated pixels, which reach a certain level, is clipped, while darker pixels remain untouched. The clipping level can be adjusted 2 times within one exposure time to achieve a maximum of 3 slopes in the response curve. The points of the curve, where the slope changes, are called “knee points”.
The latter are defined through the setting of clipping levels for the intensity (thresholds) and time points within the exposure time.
These parameters can be adjusted using the GenIcam registers Multi Slope Exposure Limit and Multi
Slope Saturation Threshold of the Acquisition Control (XML grid visibility must be set to “Expert”). A knee point time is defined as percentage of the overall exposure time. A clipping level is defined as percentage of the maximum sensor intensity (saturation).
30 C5 Series User Manual Rev. 1.1
Single Slope Mode (Default Mode)
Intensity
Saturation
100%
1
0%
Dual Slope Mode (1 Knee Point)
Exposure Time
Intensity
Saturation
100%
Knee Point 1
1
2
Saturation
Threshold 1
0%
Exposure
Limit 1
3
Exposure
Time
Triple Slope Mode (2 Knee Points)
Intensity
100%
Saturation
Threshold 2
Saturation
Threshold 1
0%
Knee Point 1 Knee Point 2
Saturation
Exposure
Limit 1
Exposure
Limit 2
1
2
3
Exposure
Time
C5 Series User Manual Rev. 1.1 31
Comparison of Slope Modes
Application of MultipleSlope function on the image of a laser line projected on a surface with nonhomogeneous reflectivity (black & white chessboard pattern)
SingleSlope DualSlope TripleSlope
1100
1000
800
900
500
400
600
700
100
200
300
0 5 10 15 20 25 30
Sensor row #
35 40
1100
1000
800
900
500
400
600
700
100
200
300
0 5 10 15 20 25 30
Sensor row #
35 40
1100
1000
800
900
500
400
600
700
100
200
300
0 10 15 25 30 40
More details regarding the operation of the MultipleSlope function can be found in a separate application note
32 C5 Series User Manual Rev. 1.1
Multi-Frame Readout Mode (NDR)
With the Non-Destructive Readout (NDR) mode it is possible to readout up to 4 images at different exposure times. It allows the combination of profile data from different integration levels and it ensures accurate profile data even for difficult surfaces with strong changes in reflectance.
The following timing diagram shows the function of NDR with 2 frames, when subsequent sensor images are acquired. The exposure times for NDR frame 1 and 2 are depicted with It1 and It2 respectively. Please note that the readout of the second frame R2 cannot begin unless the first frame
R1 has been readout. The same applies also between two subsequent sensor images, i.e. the first
NDR frame of sensor image 2 cannot be readout unless the last NDR frame of sensor image 1 has been readout.
Trigger Sensor
Frame 1
Trigger Sensor
Frame 2
It1
R1
It2
R2
Frame 1
It1 : Exposure Time 1
It2 : Exposure Time 2
R1 : Readout Frame It1
R2 : Readout Frame It2
It1
R1
It2
Frame 2
R2
C5 Series User Manual Rev. 1.1 33
The Data Output Format
The image and 3D data output is performed by selecting the data channel DC0-DC2 (node Camera Controls→DataOutput). Depending on the algorithm the data can be acquired by enabling the corresponding output Data Channel (DC). Every DC is saved in a new image row. The bit depth of output data depends on the selected algorithm. In 3D mode the camera outputs data with 16 bit. In Image mode the camera can output 8 or 16 bit data. When in 8 bit Image mode, the DC0 delivers the 8 most significant bits of the 10 bit intensity data.
The Data Channel Assignment DC0, DC1 and DC2
Camera Mode
Image
FIR FIRMode DC0 DC1
False -
True Derivative
Sensor intensity
True Smoothing Smoothed sensor intensity
Not used
First derivative of sensor intensity Not used
Not used
MaximumIntensity False - Maximum intensity of Gauss
True Smoothing Maximum intensity of Gauss detected in smoothed sensor image
Position of rising edge of Gauss
(PosL)
Position of rising edge of Gauss
(PosL) detected in smoothed sensor image
Threshold False - Maximum intensity of Gauss - Position of rising edge of Gauss
(PosL) or
- Gauss width (PosR-PosL)
True Smoothing Maximum intensity of Gauss detected in smoothed sensor image
- Position of rising edge of Gauss
(PosL) or
DC2
Not used
Not used
Not used
Position of maximum intensity of
Gauss (PosM)
Position of maximum intensity of
Gauss (PosM) detected in smoothed sensor image
- Position of falling edge of Gauss
(PosR) or
- Position of Gauss with 1/2 pixel resolution (PosL+PosR)
- Position of falling edge of Gauss
(PosR) or
34 C5 Series User Manual Rev. 1.1
Camera Mode
CenterOfGravity
FIRPeak
FIR FIRMode DC0 DC1
- Gauss width (PosR-PosL) detected in smoothed sensor image
DC2
- Position of Gauss with 1/2 pixel resolution (PosL+PosR) detected in smoothed sensor image
False - Sum of intensity values of Gauss I s
- Position of rising edge of Gauss
(PosL) or
- Gauss width (PosR-PosL)
True Smoothing Sum of intensity values of Gauss I s in smoothed sensor image
- Position of rising edge of Gauss line (PosL) or
- Gauss width (PosR-PosL)
Position of center of gravity of Gauss with 1/(2 N ) pixel resolution, where
N=number of subpixel bits (0-6)
Position of center of gravity of Gauss in smoothed sensor image with
1/(2
N
) pixel resolution, where
N=number of subpixel bits (0-6)
True Derivative Zero-crossing slope (Absolute value)
- Index of next sensor row to the left of zero-crossing or
- maximum value of intensity first derivative
Position of Gauss peak with 1/(2 N ) pixel resolution, where N=number of subpixel bits (0-6)
C5 Series User Manual Rev. 1.1 35
The Output Frame Structure
Depending on configuration, the C5 sensor writes data to the output frame according to following scheme:
1) NDR mode disabled (NDRMode=”Off”)
} 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);
}
}
36 C5 Series User Manual Rev. 1.1
Index Definition
Index # Range Description
Profile_idx 1-16384 Index of Profile
AOI_idx 1-8 Index of sensor AOI
NDR_idx 1-4 Index of NDR frame
Examples of Output Frame Structure
1) Configuration with single AOI, single DC, disabled NDR mode and output of 6 profiles resulting to a frame height of 6 rows:
ProfilesPerFrame = 6
NumAOIs
EnableDC0
= 1
= false
EnableDC1
EnableDC2
NDRMode
= false
= true
= ”Off”
Row # Description
1
2
3
Data of DC2 readout from AOI1
Data of DC2 readout from AOI1
Data of DC2 readout from AOI1
4
5
6
Data of DC2 readout from AOI1
Data of DC2 readout from AOI1
Data of DC2 readout from AOI1
Profile #
1
2
3
4
5
6
C5 Series User Manual Rev. 1.1 37
2) Configuration with two AOIs, two DCs, disabled NDR mode and output of 5 profiles resulting to a frame height of 20 rows:
ProfilesPerFrame = 5
NumAOIs
EnableDC0
EnableDC1
EnableDC2
NDRMode
= 2
= true
= false
= true
= ”Off”
Profile #
15
16
17
18
19
20
12
13
14
9
10
7
8
11
Row # Description
1 Data of DC0 readout from AOI1
2 Data of DC2 readout from AOI1
3
4
5
6
Data of DC0 readout from AOI2
Data of DC2 readout from AOI2
Data of DC0 readout from AOI1
Data of DC2 readout from AOI1
Data of DC0 readout from AOI2
Data of DC2 readout from AOI2
Data of DC0 readout from AOI1
Data of DC2 readout from AOI1
Data of DC0 readout from AOI2
Data of DC2 readout from AOI2
Data of DC0 readout from AOI1
Data of DC2 readout from AOI1
Data of DC0 readout from AOI2
Data of DC2 readout from AOI2
Data of DC0 readout from AOI1
Data of DC2 readout from AOI1
Data of DC0 readout from AOI2
Data of DC2 readout from AOI2
1
2
3
4
5
38 C5 Series User Manual Rev. 1.1
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 = 3
NumAOIs
EnableDC0
EnableDC1
EnableDC2
NDRMode
NumberOfNDRFrames
= 1
= false
= false
= true
= ”On”
= 2
Profile # Row # Description
1 Data of DC2 extracted from NDR1, readout from AOI1
2 Data of DC2 extracted from NDR2, readout from AOI1
5
6
3
4
Data of DC2 extracted from NDR1, readout from AOI1
Data of DC2 extracted from NDR2, readout from AOI1
Data of DC2 extracted from NDR1, readout from AOI1
Data of DC2 extracted from NDR2, readout from AOI1
1
2
3
C5 Series User Manual Rev. 1.1 39
The Advanced AOI Functions
The C5 series features an area CMOS sensor, whose frame rate depends on the number of pixels to readout. By defining a sensor Area of Interest (AOI) the frame rate and hence the profile speed will be significantly increased due to the smaller number of pixels to readout.
In some cases the AOI position may not be constant and it should follow the image of laser line on the camera sensor. The C5 series features functions for performing an automatic AOI positioning
(AOI-Search) as well as line tracking (AOI-Tracking).
AOI-Search
The AOI-Search mode can be used in 2D mode as well as in 3D mode and has the benefit to adjust the AOI at the start of the acquisition to the optimal position of the laser line. In that case the laser line is automatically centered to the AOI.
The user must only define the minimum required AOI-Height (number of required sensor rows) for the expected laser line and afterwards the camera will adjust the vertical AOI-Offset (AoiOffsetY) value to the best position.
AOI-Tracking
The automatic AOI-Tracking is the dynamic version of the static AOI-Search mode. While the AOI-
Search is only working at the beginning of each 3D acquisition, the AOI-Tracking mode is working continuously during 3D image acquisition.
Thus 3D profile acquisition with AOI-Tracking is able to cover the complete image/sensor size although the defined AOI size could be much smaller. This is very useful in case of applications involving continuous profile measurements with variable distances to the surface.
A detailed description of these functions can be found in a separate application note
40 C5 Series User Manual Rev. 1.1
The C5 Series Triggering Mode
Description of Profile Trigger Modes
No. Profile Trigger Mode (PTM)
0
1
Free-run (PTM0)
Camera input 1 (PTM1)
IN1
Profile
Acquisition 1
Profile
Acquisition 2
Profile
Acquisition 3
Profile
Acquisition 4
2 Camera input 2 (PTM2)
IN2
Profile
Acquisition 1
Profile
Acquisition 2
Profile
Acquisition 3
Profile
Acquisition 4 t
3 Encoder/Resolver Interface (PTM3)
RS422 t
Example: Trigger after number of steps = 4
Counter
Profile
Acquisition 1
Profile
Acquisition 2
Internal
Trigger
Profile
Acquisition 3 t
C5 Series User Manual Rev. 1.1 41
Description of Modes for Triggering of Sequencer/Frame and Profile
Acquisition
No. Sequencer/Frame Trigger Mode
0
1
Free-run
Profile Trigger Mode
(PTM)
PTM0 (free-run)
PTM1 (IN1)
PTM2 (IN2)
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)
PTM0 (free-run)
PTM3 (RS422) trigger stop of sequencer
2 t
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.
Trigger one frame over camera input 1
Single frame acquisition is triggered over the rising edge of camera input 1 (IN1)
PTM0 (free-run)
PTM2 (IN2)
PTM3 (RS422)
IN1 trigger start of sequencer
(frame trigger) t
3
PTM0 (free-run)
42 C5 Series User Manual Rev. 1.1
No. Sequencer/Frame Trigger Mode
Gate over camera input 1
Continuous frame acquisition is performed as long as the camera input 1 is on high state
IN1
Gate Function
Profile Trigger Mode
(PTM)
PTM2 (IN2)
PTM3 (RS422) start trigger of sequencer stop trigger of sequencer
4 t
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)
PTM0 (free-run)
PTM3 (RS422) trigger stop of sequencer
5 t
When “stop” occurs, the frame is transmitted immediately over the GigE interface. Using the Chunk Data mode of C5 camera, it is possible to determine how many rows of the frame contain valid data (see ChunkImageInfo for details).
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
C5 Series User Manual Rev. 1.1 43
The C5 Series Chunk Data Mode
General Description
The C5 series features a Chunk Data mode for providing additional information to the acquired image data. The implementation of XML nodes is performed according to SFNC 1.4:
Category ChunkDataControl
ChunkModeActive
ChunkModeSelector (OneChunkPerFrame, OneChunkPerProfile)
The ChunkData generated by the camera have the following format:
ChunkImage
1…N x ChunkAcqInfo
ChunkImageInfo
Depending on camera mode (image or 3D) the ChunkData block („ChunkAcqInfo“) can be sent as follows:
In image mode, the camera can send only one ChunkAcqInfo block per image frame.
In 3D mode, the camera can send one ChunkAcqInfo block either per 3D frame
(“OneChunkPerFrame”) or per 3D profile (“OneChunkPerProfile”).
The „ChunkImageInfo“ is the last ChunkData sent by the camera and contains following data:
Number of valid rows in ChunkImage
Number of valid ChunkAcqInfo blocks
Flags identifying the current frame as „Start“ or „Stop“ and the buffer status in AutoStart mode
The ChunkAcqInfo block consists of totally 32 bytes containing following data
64 bit timestamp
32 bit frame counter
32 bit trigger coordinate
8 bit Trigger status
32 bit I/O Status
72 bit AOI information
The data of timestamp, frame counter, trigger coordinate, trigger status and I/O status are assigned at the start of every image integration.
When ChunkMode is disabled, the camera uses the “regular“ GEV image protocol, in which the optional transfer of frames with variable height and payload is supported.
Furthermore, when ChunkMode is enabled, the camera sends the full payload, even if the
ChunkImage or ChunkAcqInfo blocks contain partially valid data. The number of valid ChunkImage rows and ChunkAcqInfo blocks can be read from ChunkImageInfo.
44 C5 Series User Manual Rev. 1.1
For example, when in Start/Stop mode with instant frame transmission, the camera stops the frame acquisition as soon as the stop trigger occurs and transfers the complete contents of internal image buffer. Using the ChunkImageInfo data block, it is possible to detect how many image rows and
ChunkAcqInfo blocks are valid in the payload buffer.
The tag of ChunkData has big endian byte order. The data of ChunkData has little endian byte order.
An endian converter for ChunkData is not supported.
Payload Layout in Chunk Data Mode
Chunk Image Data
GV_ChunkDescriptorData for Image Data
N x GV_ChunkAcqInfo
GV_ChunkDescriptorData for ChunkAcqInfo
GV_ChunkImageInfo
GV_ChunkDescriptorData for ChunkImageInfo
C5 Series User Manual Rev. 1.1 45
XML Descriptors and ID
’s
ChunkImageInfo
<Port Name="FrameInfoPort">
<ChunkID>11119999</ChunkID>
</Port>
ChunkAcqInfo
<Port Name="CameraChunkPort">
<ChunkID>66669999</ChunkID>
</Port>
ChunkImage
<Port Name="ImageInfoPort">
<ChunkID>A5A5A5A5</ChunkID>
</Port>
46 C5 Series User Manual Rev. 1.1
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
#define CHUNKACQINFO_TRIGGERSTATUS_BIT_OUT0
0x20
0x40
0x80 #define CHUNKACQINFO_TRIGGERSTATUS_BIT_OUT1 typedef struct _GV_ChunkAcqInfo
{
unsigned int
unsigned int unsigned int
signed int
unsigned char unsigned short unsigned short unsigned char timeStamp64L; // 0..3 timeStamp64H; // 4..7
frameCnt;
DAC;
ADC;
INT_idx;
// 8..11
triggerCoord; // 12..15
triggerStatus; // 16
// 17..18
// 19..20
// 21 unsigned char unsigned short unsigned short unsigned short unsigned short unsigned char
} GV_ChunkAcqInfo;
AOI_idx;
AOI_ys;
AOI_dy;
AOI_xs;
AOI_trsh;
AOI_alg;
// 22
// 23..24
// 25..26
// 27..28
// 29..30
// 31
#define CHUNKIMAGEINFO_FLAG_BIT_START_FRAME
#define CHUNKIMAGEINFO_FLAG_BIT_STOP_FRAME
#define CHUNKIMAGEINFO_FLAG_BIT_BUFFER_OVERRUN 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)
0x01
0x02
0x04
C5 Series User Manual Rev. 1.1 47
The GigE-Vision Events
The C5 series supports a number of events that can be monitored by a software application by means of a callback function. Events provide real time notification on various stages of the acquisition sequence and data transfer.
Event Name Event ID , (Hex) Description
AcquisitionStart
AcquisitionEnd
TransferStart
TransferEnd
36882 , (9012)
36883 , (9013)
36884 , (9014)
36885 , (9015)
Frame Acquisition is started
Frame Acquisition is terminated
Frame transfer is started from the camera
Frame transfer is terminated
AoiTrackingOn 36886 , (9016)
The AOI tracking process is started and the laser line image is valid for AOI alignment
AoiTrackingOff 36887 , (9017)
AoiSearchFailed 36888 , (9018)
AutoStarted 36889 , (9019)
The AOI tracking process is stopped and the AOI position is not updated anymore
AOI-Search failed to detect the laser line
Frame Acquisition is initiated through AutoStart
48 C5 Series User Manual Rev. 1.1
The Web Interface
The service web interface gives access to basic device and runtime information aside from the common GenICam interface. It can be accessed with an ordinary web browser, by simply typing the cameras IP address into the browsers URL field, e.g.: http://169.254.64.2 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.
Connect via web browser by using the set IP e.g. “http://169.254.64.2/”.
The static password for login is “admin”.
In the header bar is the manufacture info, the model name and the serial number.
Every info panel has an Update Button in the panel header. Each button updates the data for the specific panel. Collapsing and opening the panel by clicking the Arrow on the right hand side.
At the “System Log” panel is an additional button which start an update process and will fetches every two seconds the log data. The state of auto update process is shown by Spinning Button (ON) or not spinning (OFF). The Autoscroll flag enable an automatically scroll down to the latest log entry.
Over Export the complete log and JSON data of each panel data, wrapped in a single text file.
The “Device Info” panel displays model specific information.
The “Status” panel shows runtime status information:
The “Memory Statistics” have an overview of used memory for each component displaying current usage, memory size, maximum usage and error.
The “System Log” shows the complete serial log of the device.
C5 Series User Manual Rev. 1.1 49
50 C5 Series User Manual Rev. 1.1
The External C5-I/O Panel (Breakout Board)
The C5-I/O-Panel (#202 202 006) provides a user friendly way to connect the power and the I/O functionality of the C5 sensor. The power supply includes a reverse voltage protection and features a 2A (two ampere) micro-fuse.
Fuse Specification
Current
Dimension
Characteristic
Operating Temperature
2A
5 x 20mm
T
-50°C…+125°C
Mechanical Drawings
C5 Series User Manual Rev. 1.1 51
Clamp Configuration
Clamp No. Signal Name
J3/8
J4/1
J4/2
J4/3
J3/4
J3/5
J3/6
J3/7
J2/4
J3/1
J3/2
J3/3
J2/1
J2/2
J2/3
J2/3
J4/4
J4/5
J4/6
J5/1
J5/2
J5/3
OUT2
IN1
IN2
SHIELD
AGND
AOUT
SHIELD
GND_EXT ( - )
GND_EXT ( - )
VCC_EXT ( + )
VCC_EXT ( + )
Z-
Z+
B-
B+
A-
A+
RGND
SHIELD
IO-GND
OUT_Supply
OUT1
Description
Camera shield
Camera supply ground
Camera supply ground
Camera supply voltage (12-24V DC)
Camera supply voltage (12-24V DC)
Differential encoder/resolver index track Z-
Differential encoder/resolver index track Z+
Differential encoder/resolver track B-
Differential encoder/resolver track B+
Differential encoder/resolver track A-
Differential encoder/resolver track A+
Encoder/Resolver ground
Encoder/Resolver shield
Reference ground for digital inputs (IN1, 2) and outputs (OUT1, 2)
Power supply voltage of camera isolated outputs (5-24V DC)
Isolated output #1 (reference voltage OUT_Supply)
Isolated output #2 (reference voltage OUT_Supply)
Isolated input #1 (5-24V)
Isolated input #2 (5-24V)
Camera shield
Analog output ground
Output for analog modulation of illumination device (0–5 V DC)
The analog output ground is directly connected to the internal camera ground. The analog output is NOT electrically isolated from the device ground! Please take care for a correct operation.
52 C5 Series User Manual Rev. 1.1
Mechanical Dimension
All dimensions in mm
Mount for DIN rail assembly
C5 Series User Manual Rev. 1.1 53
The C5 Series I/O Schematics
I/O and Encoder with Differential TTL-Mode for RS422 (Standard)
54 C5 Series User Manual Rev. 1.1
I/O and Encoder with Differential HTL-Mode for RS422 (Option)
C5 Series User Manual Rev. 1.1 55
I/O and Encoder with Single Ended HTL or TTL Mode for RS422 (Option)
56 C5 Series User Manual Rev. 1.1
Part Number for I/O and Encoder Option
Part Number # Product Option
202 187 001
202 187 002
202 187 003
C5 Camera HTL Encoder Option
C5 Camera Single-Ended TTL Encoder Option
C5 Camera Single-Ended HTL Encoder Option
Laser Connection with Analog and Digital Modulation
This schematic describes how a C5 sensor can be used to control a laser module with respect to its digital and analog modulation.
1
C5 Series User Manual Rev. 1.1 57
Master/Slave Connection
This schematic shows the required wiring to operate two C5 sensors in a Master/Slave mode. For this purpose the OUT2 of the master camera is exemplary connected to the trigger input IN1 of the slave camera. The Master/Slave mode can be realized with both inputs (IN1/IN2) and outputs
(OUT1/OUT2).
58 C5 Series User Manual Rev. 1.1
The C5-GigE Interface
The GigE Interface
M12 GigE Female Connector Pin Assignment
Pin No. GigE Signal
Name
1 BI_DC-
2 BI_DD+
3
4
5
6
7
8
Shield
BI_DD-
BI_DA-
BI_DB+
BI_DA+
BI_DC+
BI_DB-
Shield
C5 Series User Manual Rev. 1.1 59
The I/O & Power Interface
M12 I/O Male Connector Pin Assignment
Pin No. Signal Name Description
14
15
16
17
10
11
12
13
7
8
5
6
9
3
4
1
2
Shield
ENC_Z-
AO
ENC_Z+
ENC_B+
GND
ENC_B-
ENC_A-
VCC_EXT
GND_EXT
ENC_A+
ENC_GND
OUT2
IN1
IN2
OUT_Supply
OUT1
IO_GND
SHIELD
Encoder index track Z-
Output for analog modulation of illumination device (0–5V DC)
Encoder/Resolver index track Z+
Encoder/Resolver Track B+
Internal camera GND for analog output (AO)
Encoder/Resolver Track B -
Encoder/Resolver Track A -
Camera supply voltage (12-24V DC)
Camera supply ground
Encoder/Resolver Track A+
Encoder/Resolver ground
Electrically isolated digital output 2
Electrically isolated digital input 1 (5-24V DC)
Electrically isolated digital input 2 (5-24V DC)
Reference supply for digital isolated outputs (5-24V DC)
Electrically isolated output 1
Reference ground for digital inputs (IN1, 2) and outputs (OUT1, 2)
Is connected to camera case
The analog output ground is directly connected to the internal camera ground. The analog output is NOT electrically isolated from the device ground! Please take care for a correct operation.
60 C5 Series User Manual Rev. 1.1
Description of LEDs
Mod
LED
1 (PWR)
2 (USR)
3 (MOD)
4 (ACT)
5 (LNK)
Description
Green On= Power On and camera start up completed
Off = Power Off or camera start up failed
After Power On:
Off = no network cable connected
Green On = network connected
After Network connected:
Green On = CCP status connected
Off = CCP status disconnected
Red On= no network found, no network cable connected
Not assigned to any function
Green blink = Indication of network activity
Green On = Linkspeed 1 Gbit
Amber On = Linkspeed 100 Mbit
Off = Linkspeed 10 Mbit or wait for end of autonegotiation
C5 Series User Manual Rev. 1.1 61
The C5 Series Cables
Cables for Power, I/O and Laser Control
Part Number # Description
202 202 100
202 202 101
C5 cable for power, I/O and laser control, custom length and connector configuration (straight/angled), shielded, high flex
C5 cable for power, I/O and laser control, straight M12 female connector (IP67) to straight M12 male connector (IP67), shielded, length 3m, high flex
202 202 102
C5 cable for power, I/O and laser control, straight M12 female connector (IP67) to straight M12 male connector (IP67), shielded, length 5m, high flex
202 202 103
C5 cable for power, I/O and laser control, straight M12 female connector (IP67) to straight M12 male connector (IP67), shielded, length 10m, high flex
Pigtail cables:
202 202 111
C5 pigtail cable for power, I/O and laser control, straight M12 female connector
(IP67) on camera plug, shielded, length 3m, high flex
202 202 112
C5 pigtail cable for power, I/O and laser control, straight M12 female connector
(IP67) on camera plug, shielded, length 5m, high flex
202 202 113
C5 pigtail cable for power, I/O and laser control, straight M12 female connector
(IP67) on camera plug, shielded, length 10m, high flex
Angled adapter cables:
202 201 66
C2 & C5 angled adapter cable for power, I/O and laser control, 90° angled M12 female connector (IP64) on camera plug to straight M12 male (IP64), length 0.2m, standard
62 C5 Series User Manual Rev. 1.1
Wire Assignment of C5 Pigtail Cable
Pin/Wire No. Wire Colour Signal Name Description
12
13
14
8
9
10
11
15
16
6
7
4
5
1
2
3
Brown
Blue
White
Green
Pink
Yellow
Black
ENC_Z-
AO
ENC_Z+
ENC_B+
GND
ENC_B-
ENC_A-
Gray
Red
Violette
Gray/Pink
VCC_EXT
GND_EXT
ENC_A+
ENC_GND
Red/Blue OUT2
White/Green IN1
Brown/Green IN2
White/Yellow OUT_Supply
Yellow/ Brown OUT1
17 White/Gray IO_GND
Encoder index track Z-
Output for analog modulation of illumination device (0–5V DC)
Encoder/Resolver index track Z+
Encoder/Resolver Track B+
Reference GND for analog output AO (internal camera GND)
Encoder/Resolver Track B -
Encoder/Resolver Track A -
Camera supply voltage (12-24V DC)
Camera supply GND
Encoder/Resolver Track A+
Encoder/Resolver ground
Opto-isolated digital output 2
Opto-isolated digital input 1 (5-24V DC)
Opto-isolated digital input 2 (5-24V DC)
Supply for digital output signals OUT1, 2 (5-24V DC)
Opto-isolated digital output 1
Reference ground for digital inputs (IN1, 2) and outputs (OUT1,
2)
The analog output ground is directly connected to the internal camera ground. The analog output is NOT electrically isolated from the device ground! Please take care for a correct operation.
C5 Series User Manual Rev. 1.1 63
Cables for GigE Interface
Part Number # Description
202 201 040
202 201 041
202 201 042
202 201 043
C2 & C5 GigE cable with custom length and connector configuration
(straight/angled)
C2 & C5 GigE cable, straight M12 male connector (IP67) on camera plug to RJ45
(IP20), length 3m, standard
C2 & C5 GigE cable, straight M12 male connector (IP67) on camera plug to RJ45
(IP20), length 5m, standard
C2 & C5 GigE cable, straight M12 male connector (IP67) on camera plug to RJ45
(IP20), length 10m, standard
202 201 044
C2 & C5 GigE cable, straight M12 male connector (IP67) on camera plug to RJ45
(IP20), length 15m, standard
High-flex cables:
202 201 062
C2 & C5 GigE cable, straight M12 connector (IP67) to RJ45 (IP20), length 3m, high flex
202 201 063
202 201 064
C2 & C5 GigE cable, straight M12 connector (IP67) to RJ45 (IP20), length 5m, high flex
C2 & C5 GigE cable, straight M12 connector (IP67) to RJ45 (IP20), length 10m, high flex
Angled adapter cables:
202 201 067
C2 & C5 angled adapter cable for GigE, 90° angled M12 male connector (IP64) on camera plug to straight M12 female (IP64), length 0.2m, standard
64 C5 Series User Manual Rev. 1.1
M12 Male Plug
Male Plug
GigE Signal
Name
BI_DC-
BI_DD+
BI_DD-
BI_DA-
BI_DB+
BI_DA+
BI_DC+
BI_DB-
Shield
Pin No.
M12
1
2
3
4
5
6
7
8
Shield
Pin No.
RJ45
5
7
8
2
3
1
4
6
Shield
RJ45
Male Plug
1 8
C5 Series User Manual Rev. 1.1 65
The C5 Series GenICam Features
Device Control
Description of the camera and its sensor
Name
DeviceVendorName
DeviceModelName
DeviceManufacturerInfo
DeviceVersion
DeviceSerialNumber
DeviceFirmwareVersion
DeviceCVBLIC
DeviceUserID
DeviceScanType
(*)
Interface
IString
IString
IString
IString
IString
IString
IInteger
IString
RO
RO
RO
RW
IEnumeration RO
Access Visibility Description
RO Beginner Name of camera vendor
RO
RO
RO
Beginner Name of the camera model
Beginner Extended manufacturer information about the device
Beginner Version of the device
Beginner Serial number of the camera
Beginner Version of camera firmware
Guru Device CVB License
Beginner User-defined name of the camera
Beginner Scan type of camera
(1): Areascan (Value= 0)
(2): Linescan (Value= 1)
(3): Areascan3D (Value= 2)
(4): Linescan3D (Value= 3)
ICommand
ICommand
WO
WO
Guru
Guru
Resets and reboots the device immediately
Announces the start of registers streaming without immediate checking for consistency
DeviceReset
DeviceRegistersStreamingStart
(**)
DeviceRegistersStreamingEnd
(**)
DeviceRegistersCheck
(**)
DeviceRegistersValid
ICommand
ICommand
IBoolean
WO
WO
RO
Guru
Expert
Expert
Announces the end of registers streaming and perform validation for registers consistency before activating them -> This will also update the DeviceRegistersValid flag
Performs an explicit register set validation for consistency
Informs whether the current register set is valid and consistent
66 C5 Series User Manual Rev. 1.1
Name
DeviceTemperatureSelector
DeviceTemperature
Interface Access Visibility Description
IEnumeration RO Expert Select temperature sensor
(1): Mainboard (Value= 0)
(2): Sensor (Value= 1)
IFloat RO Expert Device temperature in degrees Celsius (C)
Min: 0.0
Max: 200.0
DeviceMaxThroughput
IInteger RO Expert Maximum number of bytes per second device supports
*: T
HIS FEATURE CAN BE TEMPORARILY LOCKED DEPENDING ON
C
AMERASTATUS
**: T
HIS FEATURE CAN BE TEMPORARILY NOT AVAILABLE DEPENDING ON
C
AMERASTATUS
***: T
HIS FEATURE CAN BE NOT IMPLEMENTED AT ALL DEPENDING ON
S
ENSORTYPE OR
S
OFTWAREVERSION
C5 Series User Manual Rev. 1.1 67
Image Format Control
Features controlling the size and type of the transmitted image
Name
SensorWidth
(*)
SensorHeight
(*)
Width
(*)
Interface
IInteger
IInteger
IInteger
Access Visibility Description
RO Beginner Width of sensor (effective pixels)
RO
RW
Beginner Height of sensor (effective pixels)
Height
(*)
PixelFormat
(*)
IInteger
IEnumeration RW
IBoolean
RO
RW
Beginner Width of image/area of interest (AOI)
Min: 16
Increment: 16
Beginner Height of image/area of interest (AOI)
Min: 1
Beginner Format of the image pixels
(1): Mono8 (Value= 17301505)
(2): Mono16 (Value= 17825799)
Beginner When set to true, this parameter flips the image horizontally
ReverseX
(*)
ReverseY
(*)
OffsetX
(*)
IBoolean
IInteger
RW
RW
Beginner When set to true, this parameter flips the image vertically
TestPatternGeneratorSelector IEnumeration RO
TestPattern
(*)
IEnumeration RW
Beginner Left coordinate of area of interest
Min: 0
Increment: 16
Beginner Selects which test pattern generator is controlled by the TestPattern feature
(1): Sensor (Value= 0)
Beginner Selects the type of test pattern that is generated by the device as image source
(1): Off (Value= 1)
(2): GreyHorSensorColumnPattern (Value= 2)
(3): GreyVertSensorColumnPattern (Value= 3)
68 C5 Series User Manual Rev. 1.1
Name
LinePitch
(*)
PixelDynamicRangeMin
(*)
Interface
IInteger
IInteger
Access Visibility Description
RO Beginner Distance between consecutive lines in bytes
Min: 0
Max: 16777216
RO Beginner Minimum pixel value sent by the camera
Min: 0
Max: 65535
PixelDynamicRangeMax
IInteger RO Beginner Maximum pixel value sent by the camera
Min: 0
Max: 65535
*: T
HIS FEATURE CAN BE TEMPORARILY LOCKED DEPENDING ON
C
AMERASTATUS
**: T
HIS FEATURE CAN BE TEMPORARILY NOT AVAILABLE DEPENDING ON
C
AMERASTATUS
***: T
HIS FEATURE CAN BE NOT IMPLEMENTED AT ALL DEPENDING ON
S
ENSORTYPE OR
S
OFTWAREVERSION
Acquisition Control
Feature relating to actual frame acquisition
Name
AcquisitionStart
AcquisitionStop
AcquisitionMode
(*)
AcquisitionAbort
Interface
ICommand
ICommand
Access Visibility Description
WO Beginner Starts the acquisition of the device
WO
IEnumeration RW
Beginner Stops the acquisition of the device at the end of the current Frame
ICommand WO
Beginner Acquisition mode of the device
(1): Continuous (Value= 0)
(2): SingleFrame (Value= 1)
(3): MultiFrame (Value= 2)
Beginner Issues the ABORT command: This immediately aborts the acquisition without completing the current frame
C5 Series User Manual Rev. 1.1 69
Name
AcquisitionFrameCount
AcquisitionFrameRateAbs
AcquisitionFrameRate
AcquisitionLineRate
(**)
AcquisitionStatusSelector
AcquisitionStatus
MultiSlopeKneePointCount
(*)
(**)
Interface
IInteger
IFloat
IFloat
IFloat
Access Visibility Description
RW Beginner Number of frames to be acquired in MultiFrame acquisition mode: The minimum allowable value is 1
Min: 1
RO Beginner The frame rate of the imager: Absolute units are in Hz
Min: 0.0
Max: 100000.0
RO*
RO
Beginner Controls the acquisition rate (in Hertz) at which the frames are captured
Min: 0.0
Max: 100000.0
Beginner Controls the rate (in Hertz) at which the Lines in a Frame are captured
Min: 0.0
Max: 100000.0
IEnumeration RW
AcquisitionMaxBufferedFrameCount IInteger
MultiSlopeMode
IBoolean RO
RO
IEnumeration RO
IInteger RW
Beginner Selector for AcquisitionStatus to read
(1): AcquisitionTriggerWait (Value= 0)
(2): AcquisitionActive (Value= 1)
(3): AcquisitionTransfer (Value= 2)
(4): FrameTriggerWait (Value= 3)
Beginner Status of the selected acquisition selector
Guru Maximum number of buffered frames
Expert Controls multi-slope exposure state
(1): Off (Value= 0)
(2): Manual (Value= 1)
Expert The number of knee-points as well as the number of additional exposure slopes used for multi-slope exposure
Min: 0
Max: 2
Increment: 1
70 C5 Series User Manual Rev. 1.1
Name
MultiSlopeKneePointSelector
MultiSlopeExposureLimit
(*)
MultiSlopeSaturationThreshold
ExposureMode
Interface
IInteger
IFloat
IFloat
Access Visibility Description
RW Expert Selects the parameters for controlling a kneepoint during multi-slope exposure
Min: 1
Max: 2
RW Expert Percent of the ExposureTime at a certain knee-point of multi-slope exposure
Min: 0.0
Max: 100.0
RW
IEnumeration RO
Expert The percentage of the full saturation that is applied at a certain knee-point of a multislope exposure. The limits are sensor-specific and might not span the whole range of 0…100%. In principle, setting this value to 100% would effectively disable this kneepoint, while setting this value to 0% would effectively start exposure at this kneepoint.
Min: 0.0
Max: 100.0
Beginner Sets the operation mode of the Exposure
(1): Off (Value= 0)
(2): Timed (Value= 1)
ExposureTime
(*)
(**)
IInteger RW Beginner Sets the overall Exposure time when ExposureMode is Timed or MultiSloped in microseconds (us)
Min: 1
Max: 10000000
Increment: 1
*: T
HIS FEATURE CAN BE TEMPORARILY LOCKED DEPENDING ON
C
AMERASTATUS
**: T
HIS FEATURE CAN BE TEMPORARILY NOT AVAILABLE DEPENDING ON
C
AMERASTATUS
***: T
HIS FEATURE CAN BE NOT IMPLEMENTED AT ALL DEPENDING ON
S
ENSORTYPE OR
S
OFTWAREVERSION
C5 Series User Manual Rev. 1.1 71
Camera Control
Features relating to camera control
AOIs
Features relating to area of interest
Name
MaxNumAois
(*)
NumAois
(*)
ImageModeAoiSelector
(*)
AoiSelector
AoiHeight
(*)
AoiOffsetY
Interface Access Visibility Description
IInteger RO* Beginner Maximum number of AOIs
Min: 1
Max: 8
IInteger RW
IInteger RW
Beginner Number of used AOIs
Min: 1
Beginner Selects the AOI to show in image mode
Min: 1
IInteger RW
IInteger
IInteger
RW
RW
Beginner Selects which AOI to control
Min: 1
Beginner Height of selected AOI
Min: 1
Increment: 1
Beginner Vertical offset from the origin to the selected AOI
Min: 0
Increment: 4
AoiThreshold
IInteger RW Beginner Intensity threshold value for selected AOI
Min: 0
Max: 1023
*: T
HIS FEATURE CAN BE TEMPORARILY LOCKED DEPENDING ON
C
AMERASTATUS
**: T
HIS FEATURE CAN BE TEMPORARILY NOT AVAILABLE DEPENDING ON
C
AMERASTATUS
***: T
HIS FEATURE CAN BE NOT IMPLEMENTED AT ALL DEPENDING ON
S
ENSORTYPE OR
S
OFTWAREVERSION
72 C5 Series User Manual Rev. 1.1
FIR Control
Features relating to FIR
Name
FIR
(*)
FIRMode
(*)
(**)
FIRCoef
(**)
FIRGain
(**)
Interface
IBoolean
Access Visibility Description
RW Beginner Enables the FIR when set to TRUE. FIR is disabled when set to FALSE
IEnumeration RW
IEnumeration RW
IInteger
IBoolean
RW
RW
Beginner Selection of the FIR Mode
(1): Smoothing (Value= 0)
(2): Derivative (Value= 1)
Beginner Selection of the FIR Coefficients
(1): SG5 (Value= 0)
(2): SG7 (Value= 1)
(3): SG9 (Value= 2)
(4): AV5 (Value= 3)
(5): AV7 (Value= 4)
(6): AV9 (Value= 5)
(7): Custom (Value= 6)
Beginner FIRGain
Min: 1
Expert
Max: 10
Increment: 1
If TRUE it cancels the effect of filter index mismatch in 3D mode
FIRCorrection
(*)
(**)
FIRC0
(*)
(**)
IFloat RW Guru FIRC0
Min: -1.0
Max: 1.0
C5 Series User Manual Rev. 1.1 73
Name
FIRC1
(*)
(**)
FIRC2
(*)
(**)
FIRC3
(*)
(**)
FIRC4
(*)
(**)
Interface
IFloat
IFloat
IFloat
IFloat
Access Visibility Description
RW Guru FIRC1
Min: -1.0
Max: 1.0
RW Guru FIRC2
Min: -1.0
Max: 1.0
RW Guru
RW Guru
FIRC3
Min: -1.0
Max: 1.0
FIRC4
Min: -1.0
Max: 1.0
*: T
HIS FEATURE CAN BE TEMPORARILY LOCKED DEPENDING ON
C
AMERASTATUS
**: T
HIS FEATURE CAN BE TEMPORARILY NOT AVAILABLE DEPENDING ON
C
AMERASTATUS
***: T
HIS FEATURE CAN BE NOT IMPLEMENTED AT ALL DEPENDING ON
S
ENSORTYPE OR
S
OFTWAREVERSION
Mode and Algorithm Control
Features relating to camera mode and algorithm
Name
CameraMode
(*)
Interface Access Visibility Description
IEnumeration RW Beginner Selects the camera mode and/or algorithm
(1): Image (Value= 0)
(2): FIRPeak (Value= 4)
(3): CenterOfGravity (Value= 3)
(4): Threshold (Value= 1)
(5): MaximumIntensity (Value= 2)
74 C5 Series User Manual Rev. 1.1
Name
ProfilesPerFrame
(*)
(**)
AbsOffsetPos
(**)
NumSubPixel
(**)
TrshFirstFalling
(**)
TrshFirstZeroCrossing
(**)
MinThrshValidation
(**)
PosValidationEn
(**)
IBoolean
IBoolean
IBoolean
IBoolean
ClearInvalidPos
(**)
ValidationWidthMin
(**)
IBoolean
IInteger
ValidationWidthMax
(**)
IInteger
Interface
IInteger
IBoolean
IInteger
Access Visibility Description
RW Beginner Number of profiles per frame in 3D mode expelled by the camera
Min: 1
Increment: 1
RW Beginner TRUE: Absolute row position is returned | FALSE: Offset position with respect to the start row of AOI is returned
RW
RO*
Beginner Number of subpixel bits of COG and FIR-Peak output (0-6)
Min: 0
Max: 6
Increment: 1
Beginner Stop further scan of image column after detection of first Gauss curve (TRSH and COG)
RO*
RW
RW
RW
RW
RW
Beginner Stop further scan of image column after detection of first zero crossing (PEAK)
Beginner Minimum Threshold Validation (PEAK)
Beginner 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.
Beginner 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.
Beginner Minimum width of valid intensity distribution in 3D mode
Min: 0
Increment: 1
Beginner Maxiumum width of valid intensity distribution in 3D mode
Min: 0
Increment: 1
C5 Series User Manual Rev. 1.1 75
Name
ValidationSumMin
(**)
ValidationSumMax
(**)
Interface
IInteger
IInteger
Access Visibility Description
RW Beginner Minimum sum of intensity of valid intensity distribution in 3D mode
Min: 0
Max: 65535
RW
Increment: 1
Beginner Maximal sum of intensity of valid intensity distribution in 3D mode
Min: 0
Max: 65535
Increment: 1
*: T
HIS FEATURE CAN BE TEMPORARILY LOCKED DEPENDING ON
C
AMERASTATUS
**: T
HIS FEATURE CAN BE TEMPORARILY NOT AVAILABLE DEPENDING ON
C
AMERASTATUS
***: T
HIS FEATURE CAN BE NOT IMPLEMENTED AT ALL DEPENDING ON
S
ENSORTYPE OR
S
OFTWAREVERSION
AoiTracking
Features relating to AOI-Tracking mode
Name
AoiTrackingEnable
(*)
AoiTrackingMinNumPixel
(*)
(**)
AoiTracking_P
(*)
(**)
Interface Access Visibility Description
IBoolean RW Beginner TRUE: AOI-Tracking mode is activated | FALSE: AOI-Tracking mode is disabled
IInteger RW
IFloat RW
Beginner Minimum number of required pixels (one pixel per column) to start AOI tracking algorithm
Min: 16
Increment: 1
Expert Proportional gain of PID controller
Min: 0.0
Max: 1.0
76 C5 Series User Manual Rev. 1.1
AoiTracking_I
(*)
(**)
AoiTracking_D
(*)
(**)
AoiTrackingUpdateRate
(*)
(**)
IFloat
IFloat
RW
RW
IInteger RW
Expert Integral gain of PID controller
Min: 0.0
Max: 1.0
Expert Derivative gain of PID controller
Min: 0.0
Max: 1.0
Beginner Update frequency of tracking algorithm (Hz)
Min: 1
Max: 1000
Increment: 1
AoiTrackingSensorWriteTimeout
(*)
(**)
IInteger RW Expert AOI tracking senosr write timeout in microseconds (us)
Min: 1
Max: 100000
Increment: 1
*: T
HIS FEATURE CAN BE TEMPORARILY LOCKED DEPENDING ON
C
AMERASTATUS
**: T
HIS FEATURE CAN BE TEMPORARILY NOT AVAILABLE DEPENDING ON
C
AMERASTATUS
***: T
HIS FEATURE CAN BE NOT IMPLEMENTED AT ALL DEPENDING ON
S
ENSORTYPE OR
S
OFTWAREVERSION
AoiSearch
Features relating to the AOI-Search mode
Name
AoiSearchEnable
(*)
AoiSearchHeight
(*)
Interface Access Visibility Description
IBoolean RW Beginner TRUE: AOI-Search mode is activated | FALSE: AOI-Search mode is disabled
IInteger RW Beginner Height of search AOI
Min: 1
Increment: 1
C5 Series User Manual Rev. 1.1 77
AoiSearchOffsetY
(*)
IInteger RW Beginner Vertical offset from the origin to the search AOI
Min: 0
Increment: 1
*: T
HIS FEATURE CAN BE TEMPORARILY LOCKED DEPENDING ON
C
AMERASTATUS
**: T
HIS FEATURE CAN BE TEMPORARILY NOT AVAILABLE DEPENDING ON
C
AMERASTATUS
***: T
HIS FEATURE CAN BE NOT IMPLEMENTED AT ALL DEPENDING ON
S
ENSORTYPE OR
S
OFTWAREVERSION
ColumnEvaluationMask
Features relating to the Column Evaluation Mask. It is a global mask and valid for all functions (AOI-Tracking, AOI-Search, AutoStart)
Name
ColRangeStart
(*)
ColRangeEnd
(*)
Interface Access Visibility Description
IInteger RW Beginner Column start index
Min: 0
Increment: 1
IInteger RW Beginner Column end index
Min: 0
Increment: 1
ICommand WO Beginner Enable all columns from RangeStart to RangeEnd
ColRangeEnableCommand
(**)
ColRangeDisableCommand
(**)
ICommand WO Beginner Disable all columns from RangeStart to RangeEnd
ColRangeActivate
(**)
ICommand WO Beginner Activate complete ColumnEvaluationMask and write data into flash memory
*: T
HIS FEATURE CAN BE TEMPORARILY LOCKED DEPENDING ON
C
AMERASTATUS
**: T
HIS FEATURE CAN BE TEMPORARILY NOT AVAILABLE DEPENDING ON
C
AMERASTATUS
***: T
HIS FEATURE CAN BE NOT IMPLEMENTED AT ALL DEPENDING ON
S
ENSORTYPE OR
S
OFTWAREVERSION
78 C5 Series User Manual Rev. 1.1
Sensor Control
Features relating to sensor control
Name
SensorFrameCounter
SensorReadoutTime
ExposureTimeAbs
(*)
FramePeriod
(*)
FrameRate
NDRMode
(*)
NumberOfNDRFrames
(*)
(**)
Interface
IInteger
IInteger
IInteger
IInteger
IFloat
IEnumeration RW
IInteger
Access Visibility Description
RO Beginner Sensor frame counter
Min: 0
Increment: 1
RO Beginner Sensor readout time in microseconds (us)
Min: 0
Max: 2147483640
Increment: 1
RW
RW
Beginner Sensor integration time in microseconds (us)
Min: 1
Max: 10000000
Increment: 1
Beginner Time between two sensor frames in microseconds (us)
Min: 0
Max: 85000000
Increment: 1
RO
RW
Beginner Sensor frame rate in Hz
Min: 0.0
Max: 1000000000.0
Beginner Select NDR mode
(1): Off (Value= 0)
(2): On (Value= 1)
Beginner Number of Frames used in non-destructive readout mode
Min: 2
Max: 4
C5 Series User Manual Rev. 1.1 79
Name
NDRExposureTimeAbs_1
(*)
(**)
NDRExposureTimeAbs_2
(*)
(**)
NDRExposureTimeAbs_3
(*)
(**)
NDRExposureTimeAbs_4
(*)
(**)
Interface
IInteger
IInteger
IInteger
IInteger
Access Visibility Description
RW Beginner NDR exposure time 1
Min: 4
Max: 10000000
RW
Increment: 1
Beginner NDR exposure time 2
Min: 4
Max: 10000000
Increment: 1
RW
RW
Beginner NDR exposure time 3
Min: 4
Max: 10000000
Increment: 1
Beginner NDR exposure time 4
Min: 4
Max: 10000000
Increment: 1
*: T
HIS FEATURE CAN BE TEMPORARILY LOCKED DEPENDING ON
C
AMERASTATUS
**: T
HIS FEATURE CAN BE TEMPORARILY NOT AVAILABLE DEPENDING ON
C
AMERASTATUS
***: T
HIS FEATURE CAN BE NOT IMPLEMENTED AT ALL DEPENDING ON
S
ENSORTYPE OR
S
OFTWAREVERSION
80 C5 Series User Manual Rev. 1.1
Advanced Sensor Settings
Features relating to advanced sensor settings
Name
LineStartSyncTrigger
(*)
GainPGA
Interface
IBoolean
Access Visibility Description
RW Guru Enable line start synchronous frame trigger.
IEnumeration RW
GainADC
BlackLevelOffset
Vlow2
Vlow3
Vramp1
(***)
IInteger
IInteger
IInteger
IInteger
IInteger
RW
RW
RW
RW
RW
Beginner PGA Gain
(1): Gain1 (Value= 8)
(2): Gain2 (Value= 9)
(3): Gain3 (Value= 0)
(4): Gain4 (Value= 1)
(5): Gain5 (Value= 3)
(6): Gain6 (Value= 7)
Expert
Expert
Expert
Gain ADC
Min: 0
Max: 255
Sensor register value for Offset
Dual Slope Mode: Vlow2 refers to Dual Slope Time (DS). Triple Slope Mode: Vlow2 refers to Triple Slope Time (TS). Value in the range of 127 (zero intensity) down to
64 (saturation).
Increment: 1
Expert
Expert
Triple Slope Mode: Vlow3 refers to Dual Slope Time (DS). Value in the range of 127
(zero intensity) down to 64 (saturation).
Increment: 1
Vramp1
Min: 0
Max: 255
Increment: 1
C5 Series User Manual Rev. 1.1 81
Name
Vramp2
(***)
BlackSunControl
FOT
(*)
(***)
DummyRows
(*)
(***)
Interface
IInteger
IInteger
IInteger
IInteger
Access Visibility Description
RW Expert Vramp2
Min: 0
Max: 255
RW Expert
Increment: 1
Control the black sun protection level (0 = not supported, 64 to 127 black sun protection level)
Min: 0
Max: 127
Increment: 1
RW Expert
RW Expert
FOT
Min: 1
Max: 10
Increment: 1
Dummy Rows
Min: 0
Max: 15
Increment: 1
VresLow
(***)
IInteger RW Guru VresLow
Min: 0
Max: 255
Increment: 1
*: T
HIS FEATURE CAN BE TEMPORARILY LOCKED DEPENDING ON
C
AMERASTATUS
**: T
HIS FEATURE CAN BE TEMPORARILY NOT AVAILABLE DEPENDING ON
C
AMERASTATUS
***: T
HIS FEATURE CAN BE NOT IMPLEMENTED AT ALL DEPENDING ON
S
ENSORTYPE OR
S
OFTWAREVERSION
82 C5 Series User Manual Rev. 1.1
Data Output Channels
Features relating to data output
Name
EnableDC2
(*)
(**)
EnableDC1
(*)
(**)
EnableDC0
(*)
EnableDC0Shift
(*)
(**)
EnableDC1TrshWidth
(*)
(**)
EnableDC1Option
(*)
(**)
Interface Access Visibility Description
IBoolean RW Beginner Activates the output data channel DC2 (MAX:position | TRSH:position or right edge |
COG:position | FIRPeak:position)
IBoolean RW
IBoolean RW
IBoolean RW
IBoolean RW
IBoolean RW
Beginner Activates the output data channel DC1 (MAX + TRSH + COG: left edge or width |
FIRPeak: laser position (integer) or max derivative value)
Beginner Activates the output data channel DC0 (IMG:image | MAX + TRSH:max.intensity |
COG:sum of intensity | FIRPeak: zero-crossing slope (absolute value))
Beginner Right shift twice the intensity value in DC0 -> useful for output of 10bit data as 8bit image
Beginner 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
EnableDC1Flags
(*)
(**)
IBoolean RW
Beginner Controls the output in channel DC1. COG algorithm: (TRUE) DC1 outputs laser line width || (FALSE) DC1 outputs left edge position. FIRPeak algorithm: (TRUE) DC1 outputs maximum value of intensity first derivative || (FALSE) DC1 outputs laser position
(integer part, no subpixel)
Beginner In 16 bit mode, the bits 12-15 (0 based index) of output channel DC1 contain additional algorithm flags. || Bit 12 = COG_OVERFLOW_FLAG : Indicates that the COG mode have an overflow || Bit 13 = TRSH_GREATER_THEN_FLAG : Indicates that the pixel value for the AOI is the first time higher then threshold value || Bit 14 =
LEFT_TRSH_FOUND_FLAG : Indicates that the left edge of laser line was found || Bit 15
= RIGHT_TRSH_FOUND_FLAG : Indicates that the right edge of laser line was found
C5 Series User Manual Rev. 1.1 83
Name
EnableDC2TrshSP
(*)
(**)
Interface Access Visibility Description
IBoolean RW Beginner Controls the output in channel DC2, when TRSH algorithm is selected: (TRUE) DC2 outputs the line position value with one subpixel || (FALSE) DC2 outputs the right edge position
*: T
HIS FEATURE CAN BE TEMPORARILY LOCKED DEPENDING ON
C
AMERASTATUS
**: T
HIS FEATURE CAN BE TEMPORARILY NOT AVAILABLE DEPENDING ON
C
AMERASTATUS
***: T
HIS FEATURE CAN BE NOT IMPLEMENTED AT ALL DEPENDING ON
S
ENSORTYPE OR
S
OFTWAREVERSION
Commands
Commands for camera
Name
StartPulse
StopPulse
TriggerPulse
RstFrameCnt
Interface Access Visibility Description
ICommand WO Beginner Send start pulse
ICommand WO
ICommand WO
ICommand WO
Beginner Send stop pulse
Beginner Send trigger pulse
Beginner Reset frame counter to zero
SearchAoi
(**)
ICommand WO Beginner Fit AOI to laser line position. Supports only one AOI!
*: T
HIS FEATURE CAN BE TEMPORARILY LOCKED DEPENDING ON
C
AMERASTATUS
**: T
HIS FEATURE CAN BE TEMPORARILY NOT AVAILABLE DEPENDING ON
C
AMERASTATUS
***: T
HIS FEATURE CAN BE NOT IMPLEMENTED AT ALL DEPENDING ON
S
ENSORTYPE OR
S
OFTWAREVERSION
84 C5 Series User Manual Rev. 1.1
Light Control
Category containing the Lighting control features.
Name
LightControllerSelector
(*)
(***)
LightControllerType
(*)
(***)
LightControllerSource
(***)
LightBrightnessControlMode
(***)
LightBrightness
(***)
Interface Access Visibility Description
IEnumeration RW Beginner Selects the Light Controller to configure.
(1): LightController0 (Value= 0)
(2): LightController1 (Value= 1)
(3): LightController2 (Value= 2)
(4): LightController3 (Value= 3)
IEnumeration RW Beginner Selects the Type of the Light Controller.
(1): Generic (Value= 0)
(2): GenericInverse (Value= 1)
(3): CoherentStingrayXX (Value= 16)
(4): CoherentStingrayTX (Value= 17)
(5): ZLaserZFSM (Value= 32)
(6): ZLaserZFSMRS232 (Value= 33)
(7): OselaCLRTV (Value= 48)
(8): LaserComponentsMVpicoMIDI (Value= 64)
IEnumeration RW
IEnumeration RW
IFloat RW
Beginner Selects the input source signal of the Light Controller.
(1): Off (Value= 0)
(2): On (Value= 1)
(3): ExposureActive (Value= 3)
Beginner Selects the control mode for the brightness of the lighting output
(1): Analog (Value= 0)
(2): Serial (Value= 1)
Beginner Controls laser power from 0 to 100 percentage (%)
Max: 100.0
Increment: 0.1
C5 Series User Manual Rev. 1.1 85
Name
LightModulationVoltage
(***)
LightMonitorVoltage
(**)
(***)
LightConnectionStatus
(***)
LightModelName
(**)
(***)
LightSerialNumber
(**)
(***)
LightFirmwareVersion
(**)
(***)
LightHardwareVersion
(**)
(***)
LightOperatingTime
(**)
(***)
86
Interface
IFloat
IFloat
Access Visibility Description
RO Beginner Controls the analog modulation of the laser power in volt (V)
Min: 0.0
Max: 5.0
RO
Increment: 0.01
Beginner Former VoltageIn (AI)
Min: 0.0
Max: 5.0
IEnumeration RO
IString RO
Beginner Return the selected Light status
(1): Ready (Value= 0)
(2): Sensing (Value= 1)
(3): NoConnect (Value= 2)
(4): SystemError (Value= 8)
(5): DataError (Value= 9)
(6): SystemWarning (Value= 16)
Beginner Returns the Light model name as string
IString
IString
IString
IInteger
RO
RO
RO
RO
Beginner Returns the Light device serial number.
Beginner Returns the Light firmware version as string
Beginner Returns the Light hardware version as string
Beginner Returns the laser diodes accumulated operating hours
C5 Series User Manual Rev. 1.1
Name
LightOperatingCurrent
(**)
(***)
LightTemperatureSelector
(**)
(***)
LightTemperature
(**)
(***)
LightModuleErrorStatus
(**)
(***)
Interface
IInteger
Access Visibility Description
RO Beginner Returns the Light device operating current in mA
IEnumeration RW
IFloat
IInteger
RO
RO
Beginner Selects the device specific temperature source
(1): Diode (Value= 0)
(2): Housing (Value= 1)
(3): DiodeLowLimit (Value= 2)
(4): DiodeHighLimit (Value= 3)
Beginner Light temperature in degrees Celsius (°C)
Min: -100.0
Guru
Max: 200.0
Returns the laser diodes module error status.
LightModuleWarningStatus
(**)
(***)
IInteger RO Guru Returns the laser diodes module warning status.
*: T
HIS FEATURE CAN BE TEMPORARILY LOCKED DEPENDING ON
C
AMERASTATUS
**: T
HIS FEATURE CAN BE TEMPORARILY NOT AVAILABLE DEPENDING ON
C
AMERASTATUS
***: T
HIS FEATURE CAN BE NOT IMPLEMENTED AT ALL DEPENDING ON
S
ENSORTYPE OR
S
OFTWAREVERSION
C5 Series User Manual Rev. 1.1 87
Camera IO
Features relating to camra input and output
Name
Input1
Input2
Output1
Interface Access Visibility Description
IEnumeration RO Beginner List the input signal for first input
(1): Input1_Unused (Value= 0)
(2): Input1_FrameStart (Value= 1)
(3): Input1_EnableFrame (Value= 2)
(4): Input1_Trigger (Value= 3)
IEnumeration RO Beginner List the input signal for second input
(1): Input2_Unused (Value= 0)
(2): Input2_StopFrame (Value= 1)
(3): Input2_Trigger (Value= 3)
IEnumeration RW Beginner List the output signals available for first output
(1): Out1_IntegrationActive (Value= 0)
(2): Out1_SequencerActive (Value= 1)
(3): Out1_IntegrationDualSlopeActive (Value= 2)
(4): Out1_IntegrationTripleSlopeActive (Value= 3)
(5): Out1_High (Value= 4)
(6): Out1_Low (Value= 5)
(7): Out1_InternalTrigger (Value= 6)
(8): Out1_SequencerTriggerActive (Value= 7)
(9): Out1_FrameValid (Value= 8)
(10): LightController0 (Value= 9)
88 C5 Series User Manual Rev. 1.1
Name
Output2
Input1Level
Input2Level
RS422ChannelALevel
RS422ChannelBLevel
RS422ChannelZLevel
AnalogOutput
Interface Access Visibility Description
IEnumeration RW Beginner List the output signals available for second output
(1): Out2_IntegrationActive (Value= 0)
(2): Out2_IntegrationDualSlopeActive (Value= 1)
(3): Out2_IntegrationTripleSlopeActive (Value= 2)
(4): Out2_High (Value= 3)
(5): Out2_Low (Value= 4)
(6): Out2_TriggerOverrun (Value= 5)
(7): Out2_ResolverCountDir (Value= 6)
(8): Out2_TriggerBusy (Value= 7)
(9): Out2_AutoStart (Value= 8)
(10): LightController0 (Value= 9)
IEnumeration RO
IEnumeration RO
Beginner Level of first input
(1): Input1Level_Low (Value= 0)
(2): Input1Level_High (Value= 1)
Beginner Level of second input
(1): Input2Level_Low (Value= 0)
(2): Input2Level_High (Value= 1)
IEnumeration RO
IEnumeration RO
IEnumeration RO
IFloat RW
Beginner Level of RS422 channel A
(1): RS422ChannelALevel_Low (Value= 0)
(2): RS422ChannelALevel_High (Value= 1)
Beginner Level of RS422 channel B
(1): RS422ChannelBLevel_Low (Value= 0)
(2): RS422ChannelBLevel_High (Value= 1)
Beginner Level of RS422 channel Z
(1): RS422ChannelZLevel_Low (Value= 0)
(2): RS422ChannelZLevel_High (Value= 1)
Beginner Control the analog output voltage (min=0V, max=5V)
Min: 0.0
Max: 5.0
C5 Series User Manual Rev. 1.1 89
Name Interface
Output1MinPulseWidth IInteger
Output2MinPulseWidth IInteger
Output1Delay
Output2Delay
Output1Invert
Output2Invert
IInteger
IInteger
IBoolean
IBoolean
Access Visibility Description
RW Guru Output1 minimum pulse width in microseconds (us)
Min: 1
Max: 100
RW Guru
Increment: 1
Output2 minimum pulse width in microseconds (us)
Min: 1
Max: 100
Increment: 1
RW Guru
RW Guru
Output1 delay in microseconds (us)
Min: 0
Max: 1000
Increment: 1
Output2 delay in microseconds (us)
Min: 0
Max: 1000
Increment: 1
RW
RW
Guru
Guru
Output1 inverted
Output2 inverted
90 C5 Series User Manual Rev. 1.1
Trigger Control
Features relating to trigger controls
Name
SequencerMode
(*)
ProfileTriggerMode
(*)
Interface Access Visibility Description
IEnumeration RW Beginner Configure sequencer mode
(1): FreeRun (Value= 0)
(2): StartStopCameraInput12 (Value= 1)
(3): StartCameraInput1 (Value= 2)
(4): GateCameraInput1 (Value= 3)
(5): StartStopCameraInput12Event (Value= 5)
(6): AutoStart (Value= 6)
IEnumeration RW Beginner Configure profile trigger mode
(1): FreeRun (Value= 0)
(2): CameraInput1 (Value= 1)
(3): CameraInput2 (Value= 2)
(4): EncoderResolverInterfaceRS422 (Value= 3)
IBoolean RO Beginner Flag for trigger overrun
TriggerOverrun
ClearTriggerOverrun ICommand WO* Beginner Clear trigger overrun flag
*: T
HIS FEATURE CAN BE TEMPORARILY LOCKED DEPENDING ON
C
AMERASTATUS
**: T
HIS FEATURE CAN BE TEMPORARILY NOT AVAILABLE DEPENDING ON
C
AMERASTATUS
***: T
HIS FEATURE CAN BE NOT IMPLEMENTED AT ALL DEPENDING ON
S
ENSORTYPE OR
S
OFTWAREVERSION
C5 Series User Manual Rev. 1.1 91
RS422 Resolver
Features relating to RS422 resolver
Name
TriggerDivider
(*)
TriggerCoord
TriggerDirectionMode
TriggerReverseDirection
TriggerSingleChannelMode
(*)
TriggerDividerLoadAtStart
(*)
LoadTriggerDivider
(*)
ClearTriggerCoord
ResetTriggerCoordZeroPos
TriggerCoordinateCountAlways
UseAlternateResolverInputs
(*)
Interface
IInteger
IInteger
IBoolean
IBoolean
IEnumeration
IBoolean
Access Visibility Description
RW Beginner Trigger divider
Min: 1
Max: 65535
Increment: 1
RO
RW
RW
RW
RW
Beginner
Beginner
Beginner
Guru
Beginner
Trigger coordinate
Count resolver pulses in both directions
Reverse the resolver count direction
Enable resolver in single channel mode
(1): Disabled (Value= 0)
(2): EnableIn1 (Value= 1)
(3): EnableIn2 (Value= 2)
Load trigger divider upon start trigger
ICommand
ICommand
IEnumeration
WO*
WO*
RW
IBoolean
IBoolean
RW
RW
Beginner
Beginner
Beginner
Guru
Guru
Load trigger divider
Reset trigger coordinate
Reset the Trigger Coordinate/Counter at Zero Position (Index, Z-
Channel)
(1): Off (Value= 0)
(2): On (Value= 1)
TRUE: Count trigger coordinate always, FALSE: Count trigger coordinate during image acquisition only
Use IN1/IN2 instead of A/B as inputs
92 C5 Series User Manual Rev. 1.1
Name
UseAlternateResolverInputsInverted
(*)
Interface
IBoolean
Access Visibility Description
RW Guru Use inverted IN1/IN2
*: T
HIS FEATURE CAN BE TEMPORARILY LOCKED DEPENDING ON
C
AMERASTATUS
**: T
HIS FEATURE CAN BE TEMPORARILY NOT AVAILABLE DEPENDING ON
C
AMERASTATUS
***: T
HIS FEATURE CAN BE NOT IMPLEMENTED AT ALL DEPENDING ON
S
ENSORTYPE OR
S
OFTWAREVERSION
AutoStart
Features relating to AutoStart
Name
AutoStartThreshold
(**)
AutoStartNumPixel
(**)
AutoStartOption
(**)
Interface
IInteger
IInteger
Access Visibility Description
RW Beginner AutoStartThreshold. Defines the threshold position within AOI. Valid numbers are for
(AbsolutePosition = FALSE) : 0 to AOI-Height || (AbsolutePosition = TRUE) : 0 to
Sensor-Height
RW
Min: 0
Increment: 1
Beginner AutoStartNumPixel. Number of valid laser positions within AOI that must be exceed for Autostart usage
Min: 0
Increment: 1
IEnumeration RW Beginner AutoStart option. Start when laser position is less-than or greater-than
AutoStartThreshold
(1): PosLessThanAutostartThreshold (Value= 0)
(2): PosGreaterThanAutostartThreshold (Value= 1)
C5 Series User Manual Rev. 1.1 93
AutoStartBufferOption
(*)
(**)
IEnumeration RW Expert AutoStart buffer option. Defines whether the history buffer should be transmitted as first frame or not
(1): none (Value= 0)
(2): HistoryBuffer (Value= 1)
*: T
HIS FEATURE CAN BE TEMPORARILY LOCKED DEPENDING ON
C
AMERASTATUS
**: T
HIS FEATURE CAN BE TEMPORARILY NOT AVAILABLE DEPENDING ON
C
AMERASTATUS
***: T
HIS FEATURE CAN BE NOT IMPLEMENTED AT ALL DEPENDING ON
S
ENSORTYPE OR
S
OFTWAREVERSION
Transport Layer Control
Features related to GigE Vision specification
Name Interface Access Visibility Description
PayloadSize IInteger RO Beginner Provides the number of bytes transferred for each image on the stream channel, including any end-ofline, end-of-frame statistics or other stamp data
Increment: 1
GigE Vision
Features related to GigE Vision specification
Name
GevVersionMajor
Interface
IInteger
GevVersionMinor
GevDeviceModeIsBigEndian
IInteger
IBoolean
Access Visibility Description
RO* Expert This field represents the major version of the GigE
Vision specification supported by this device
RO* Expert
RO* Guru
This field represents the minor version of the GigE
Vision specification supported by this device
This represents the endianess of bootstrap registers (FALSE: Little-endian device TRUE: Bigendian device)
94 C5 Series User Manual Rev. 1.1
Name
GevDeviceModeCharacterSet
GevInterfaceSelector
GevMACAddress
GevSupportedIPConfigurationLLA
GevSupportedIPConfigurationDHCP
GevSupportedIPConfigurationPersistentIP
GevCurrentIPConfigurationLLA
GevCurrentIPConfigurationDHCP
GevCurrentIPConfigurationPersistentIP
GevCurrentIPAddress
GevCurrentSubnetMask
GevCurrentDefaultGateway
GevPersistentIPAddress
GevPersistentSubnetMask
C5 Series User Manual Rev. 1.1
Interface Access Visibility Description
IEnumeration RO* Guru This feature represents the character set of all boot strap strings
(1): CharacterSet_UTF8 (Value= 1)
IEnumeration RO* Beginner Indicates the index of the network interface to configure
(1): EnumEntry_GevInterfaceSelector_Interface_0
(Value= 0)
IInteger
IBoolean
RO*
RO*
Beginner 48-bit MAC address of the selected interface
Expert Indicate if LLA (Auto-IP) is supported by the selected interface
IBoolean RO*
IBoolean
IBoolean
IBoolean
IBoolean
IInteger
IInteger
IInteger
IInteger
IInteger
RO*
RO*
RO*
RO*
RO
RO
RO
RW
RW
Expert Indicate if DHCP is supported by the selected interface
Expert Indicate if persistent IP is supported by the selected interface
Beginner This feature indicates if Link Local Address IP configuration scheme is activated on the given network interface
Beginner This feature indicates if DHCP Address IP configuration scheme is activated on the given network interface
Beginner This feature indicates if PersistentIP IP configuration scheme is activated on the given network interface
Beginner IP address of the selected interface
Beginner Subnet mask of the selected interface
Beginner Default gateway of the selected interface
Expert Persistent IP address for the selected interface
Expert Persistent subnet mask for the selected interface
95
Name
GevPersistentDefaultGateway
GevLinkSpeed
GevIPConfigurationStatus
GevFirstURL
GevSecondURL
GevNumberOfInterfaces
GevMessageChannelCount
GevStreamChannelCount
GevSupportedOptionalCommandsSerialNumber
GevSupportedOptionalCommandsEVENTDATA
GevSupportedOptionalCommandsEVENT
GevSupportedOptionalCommandsPACKETRESEND
GevSupportedOptionalCommandsWRITEMEM
Interface
IInteger
IInteger
Access Visibility Description
RW Expert Persistent default gateway for the selected
RO
IEnumeration RO interface
Beginner Link speed in Mbps
IString RO
Beginner Current IP configuration status
(1): None (Value= 0)
(2): PersistentIP (Value= 1)
(3): DHCP (Value= 2)
Guru
(4): LLA (Value= 3)
(5): ForceIP (Value= 4)
NULL-terminated string providing the first URL to the XML device description file
IString RO Guru
IInteger
IInteger
RO
RO
Expert
Expert
NULL-terminated string providing the second URL to the XML device description file
Indicates the number of physical network interfaces on this device
Indicates the number of message channels supported by this device
IInteger RO Expert
GevSupportedOptionalCommandsUserDefinedName IBoolean
IBoolean
IBoolean
IBoolean
IBoolean
IBoolean
RO*
RO*
RO*
RO*
RO*
RO*
Guru
Guru
Guru
Guru
Guru
Guru
Indicates the number of stream channels supported by this device
Indicates if the User-defined Name register is supported
Indicates if the Serial Number register is supported
Indicates if EVENTDATA_CMD
EVENTDATA_ACK are supported and
Indicates if EVENT_CMD and EVENT_ACK are supported
Indicates if PACKETRESEND_CMD is supported
Indicates if WRITEMEM_CMD
WRITEMEM_ACK are supported and
96 C5 Series User Manual Rev. 1.1
Name
GevSupportedOptionalCommandsConcatenation
GevHeartbeatTimeout
GevGVCPHeartbeatDisable
GevGVCPPendingAck
GevGVCPPendingTimeout
GevTimestampTickFrequency
GevTimestampControlLatch
GevTimestampControlReset
GevTimestampValue
GevStreamChannelSelector
GevSCPInterfaceIndex
Interface
IBoolean
IInteger
IBoolean
IBoolean
IInteger
IInteger
ICommand
ICommand
IInteger
IInteger
IInteger
Access Visibility Description
RO* Guru Indicates if multiple operations in a single message
RW are supported
Beginner Current heartbeat timeout in milliseconds
Min: 500
Max: 86400000
Increment: 1
Disable GVCP heartbeat RW
RW
RO
Expert
Expert
Expert
Enables the generation of PENDING_ACK.
This feature is deprecated (See
DeviceLinkCommandTimeout). It was used to indicate the longest GVCP command execution time before a device returns a PENDING_ACK
Min: 500
Max: 86400000
Increment: 1
RO* Expert
WO
WO
RO*
RO*
RO
Expert
Expert
Expert
Guru
Guru
64-bit value indicating the number of timestamp clock tick in 1 second
Latches the current timestamp value of the device
Resets the timestamp count of the device
Latched 64-bit value of the timestamp: Value must first be latched using GevTimestampControlLatch
Indicate which stream channel to configure
Min: 0
Max: 0
Index of network interface
C5 Series User Manual Rev. 1.1 97
Name
GevSCPSPacketSize
(*)
Interface
IInteger
Access Visibility Description
RO* Expert The size of the stream packet to send on this channel
Min: 204
Max: 8192
Increment: 4
GevSCPD
IInteger RW Expert Delay (in timestamp counter unit) to insert between each packet for this stream channel
Min: 0
Max: 65535
*: T
HIS FEATURE CAN BE TEMPORARILY LOCKED DEPENDING ON
C
AMERASTATUS
**: T
HIS FEATURE CAN BE TEMPORARILY NOT AVAILABLE DEPENDING ON
C
AMERASTATUS
***: T
HIS FEATURE CAN BE NOT IMPLEMENTED AT ALL DEPENDING ON
S
ENSORTYPE OR
S
OFTWAREVERSION
User Set Control
Features related to the User Set Control to save and load the user device settings
Name
UserSetSelector
(*)
Interface Access Visibility Description
IEnumeration RW Beginner Selects the feature user set to load, save or configure
(1): Factory (Value= 0)
(2): UserSet1 (Value= 1)
(3): UserSet2 (Value= 2)
(4): UserSet3 (Value= 3)
ICommand WO Beginner Load the user set specified by UserSetSelector to the device and makes it active
UserSetLoad
(*)
UserSetSave
(*)
(**)
ICommand WO Beginner Save the user set specified by UserSetSelector to the non-volatile memory of the device
98 C5 Series User Manual Rev. 1.1
UserSetDefaultSelector
IEnumeration RW Beginner Selects the feature user set to load at reset
(1): Factory (Value= 0)
(2): UserSet1 (Value= 1)
(3): UserSet2 (Value= 2)
(4): UserSet3 (Value= 3)
*: T
HIS FEATURE CAN BE TEMPORARILY LOCKED DEPENDING ON
C
AMERASTATUS
**: T
HIS FEATURE CAN BE TEMPORARILY NOT AVAILABLE DEPENDING ON
C
AMERASTATUS
***: T
HIS FEATURE CAN BE NOT IMPLEMENTED AT ALL DEPENDING ON
S
ENSORTYPE OR
S
OFTWAREVERSION
Chunk Data Control
Features relating to chunk data control
Name
ChunkModeActive
(*)
Interface
IBoolean
Access
RW
Visibility
Guru
Description
Activate chunk mode
ChunkModeSelector
(*)
IEnumeration RW Guru Configure chunk mode
(1): OneChunkPerFrame (Value= 0)
(2): OneChunkPerProfile (Value= 1)
*: T
HIS FEATURE CAN BE TEMPORARILY LOCKED DEPENDING ON
C
AMERASTATUS
**: T
HIS FEATURE CAN BE TEMPORARILY NOT AVAILABLE DEPENDING ON
C
AMERASTATUS
***: T
HIS FEATURE CAN BE NOT IMPLEMENTED AT ALL DEPENDING ON
S
ENSORTYPE OR
S
OFTWAREVERSION
C5 Series User Manual Rev. 1.1 99
Event Generation
Features required to control the generation of event notifications sent to host application
Name
EventSelector
(*)
Interface
IEnumeration
Access
RW
Visibility
Guru
Description
Selector for the event to control
(1): AcquisitionStart (Value= 36882)
(2): AcquisitionEnd (Value= 36883)
(3): TransferStart (Value= 36884)
(4): TransferEnd (Value= 36885)
(5): AoiTrackingOn (Value= 36886)
(6): AoiTrackingOff (Value= 36887)
(7): AoiSearchFailed (Value= 36888)
(8): AutoStarted (Value= 36889)
EventNotification
(*)
IEnumeration RW Guru Notification type to issue when selected event occurs
(1): Off (Value= 0)
(2): GigEVisionEvent (Value= 1)
*: T
HIS FEATURE CAN BE TEMPORARILY LOCKED DEPENDING ON
C
AMERASTATUS
**: T
HIS FEATURE CAN BE TEMPORARILY NOT AVAILABLE DEPENDING ON
C
AMERASTATUS
***: T
HIS FEATURE CAN BE NOT IMPLEMENTED AT ALL DEPENDING ON
S
ENSORTYPE OR
S
OFTWAREVERSION
100 C5 Series User Manual Rev. 1.1
File Access Control
Category that contains the file access control features
Name
FileSelector
FileOperationSelector
FileOperationExecute
FileAccessLength
(**)
FileAccessOffset
(**)
FileOperationStatus
Interface Access Visibility Description
IEnumeration RW Guru Selects the target file in the device
(1): UserSetDefault (Value= 0)
(2): UserSet1 (Value= 1)
(3): UserSet2 (Value= 2)
(4): UserSet3 (Value= 3)
(5): UserData (Value= 4)
(6): ColStatisticBits (Value= 5)
IEnumeration RW Guru Selects the target operation for the selected file in the device: Operation is executed when the FileOperationExecute feature is called
(1): Open (Value= 0)
(2): Close (Value= 1)
(3): Read (Value= 2)
(4): Write (Value= 3)
ICommand
IInteger
WO
RW
Guru
Guru
IInteger RW
IEnumeration RO
Guru
Guru
Executes the operation selected by FileOperationSelector on the selected file
Controls the length of the mapping between the device file storage and the
FileAccessBuffer
Min: 0
Increment: 1
Controls the offset of the mapping between the device file storage and the
FileAccessBuffer
Min: 0
Increment: 1
Represents the file operation execution status
(1): Success (Value= 0)
(2): Failure (Value= 1)
C5 Series User Manual Rev. 1.1 101
Name
FileOperationResult
FileOpenMode
FileSize
FileAccessBuffer
Interface
IInteger
Access Visibility Description
RO Guru Represents the file operation result: For Read or Write operations, the number of
IEnumeration RW Guru successfully read/written bytes is returned
Selects the access mode in which a file is opened in the device
(1): Read (Value= 0)
(2): Write (Value= 1)
(3): ReadWrite (Value= 2)
IInteger
IRegister
RO
RW
Guru
Invisible
Represents the size of the selected file in bytes
Defines the intermediate access buffer that allows the exchange of data between the device file storage and the application
*: T
HIS FEATURE CAN BE TEMPORARILY LOCKED DEPENDING ON
C
AMERASTATUS
**: T
HIS FEATURE CAN BE TEMPORARILY NOT AVAILABLE DEPENDING ON
C
AMERASTATUS
***: T
HIS FEATURE CAN BE NOT IMPLEMENTED AT ALL DEPENDING ON
S
ENSORTYPE OR
S
OFTWAREVERSION
102 C5 Series User Manual Rev. 1.1
Additional Features for Camera Firmwares
C5-1280-GigE
Acquisition Control
Name
MultiSlopeMode
(*)
FramePeriod
(*)
Interface Access Visibility Description
IEnumeration RW Beginner Controls multi-slope exposure state
(1): Off (Value= 0)
(2): Manual (Value= 1)
(3): PresetSoft (Value= 2)
(4): PresetMedium (Value= 3)
(5): PresetAggressive (Value= 4)
IInteger RW Beginner Time between two sensor frames in microseconds (us)
Min: 0
Max: 85000000
Increment: 1
*: T
HIS FEATURE CAN BE TEMPORARILY LOCKED DEPENDING ON
C
AMERASTATUS
**: T
HIS FEATURE CAN BE TEMPORARILY NOT AVAILABLE DEPENDING ON
C
AMERASTATUS
***: T
HIS FEATURE CAN BE NOT IMPLEMENTED AT ALL DEPENDING ON
S
ENSORTYPE OR
S
OFTWAREVERSION
Sensor Control
Name
SensorGain
Interface Access Visibility Description
IEnumeration RW Beginner Sensor Gain
(1): Gain1 (Value= 0)
(2): Gain2 (Value= 1)
(3): Gain3 (Value= 2)
(4): Gain4 (Value= 3)
C5 Series User Manual Rev. 1.1 103
Name Interface
AdcTargetOffset IInteger
VDR1
VDR2
VDR3
VRSTH
VRST
VRSTB
IFloat
IFloat
IFloat
IFloat
IFloat
IFloat
Access Visibility Description
RW Expert Target offset in ADC offset calibration
Min: 0
Max: 4095
RW Expert
Increment: 1
VDR1
Min: 2.0
Max: 3.3
RW Expert
RW Expert
VDR2
Min: 1.5
Max: 3.3
VDR3
Min: 1.0
Max: 3.3
RW Expert
RW
RW
Expert
Expert
VRSTH
Min: 2.5
Max: 3.6
VRST
Min: 2.0
Max: 3.3
VRSTB
Min: 1.5
Max: 2.7
Commands
Name
CalibFPN
Interface
ICommand
Access
WO
Visibility
Beginner
Description
Perform internal sensor FPN calibration
104 C5 Series User Manual Rev. 1.1
C5-2040-SCT-GigE
The Scatter Mode
The C5-2040-SCT-GigE is a customized firmware of the C5-2040-GigE featuring 3D profile scan by means of FIR PEAK algorithm and output of laser scatter data.
The different behaviour of the scattering of light on the object surface can highlight various features that would be hard to detect in a normal grayscale image.
The scatter component can output the direct scatter which is the sum of intensities around the PEAK position and the left or right scatter component which are the sum of intensities left and right to the
PEAK point.
The left and right scatter feature have two adjustable parameters. First the Left Scatter Width / Right
Scatter Width to set the number of rows which will sum together and second the Left Scatter Position
/ Right Scatter Position to state how far away from the PEAK the intensities are summed.
The direct scatter can determine the width (Direct Scatter Width) of the sum of intensities at the peak point.
C5 Series User Manual Rev. 1.1 105
Parameter
Left Scatter Position
Left Scatter Width
Right Scatter Position
Right Scatter Width
Direct Scatter Width
Range
1-17
1-5
1-31
1-7
1, 3 or 5
According to the possibility to adjust positions and widths of the scatter functions there are some conditions which have to follow for the right adjustment.
Conditions for adjusting the scatter functions
1. “Left Scatter Position” + “Left Scatter Width” ≤ 18
2. “Right Scatter Position” + “Right Scatter Width” ≤ 32
3. “Direct Scatter Width” = 1 -> “Left / Right Scatter Position” min. = 1
4. “Direct Scatter Width” = 3 -> “Left / Right Scatter Position” min. = 2
5. “Direct Scatter Width” = 5 -> “Left / Right Scatter Position” min. = 3
106 C5 Series User Manual Rev. 1.1
Simultaneous Output of 3D & Laser Scatter Data
Over the different data output channels it is possible to acquire the 3D information of the scanned object and in the same moment to get the laser scatter information.
For left and right scatter there are three possibilities to define which information should be transmitted over the data output channel 0.
DC0 = Left Scatter
DC0 = Left and Right Scatter
DC0 = Right Scatter
XML view of the scatter functions
C5 Series User Manual Rev. 1.1 107
Mode and Algorithm Control
Name
LeftScatterPosition
(**)
LeftScatterWidth
(**)
Interface
IInteger
IInteger
Access Visibility Description
RW Beginner Left Scatter Position
Min: 1
Max: 17
Increment: 1
RW Beginner Left Scatter Width
Min: 1
Max: 5
Increment: 1
DirectScatterWidth
(**)
RightScatterPosition
(**)
IInteger
IInteger
RW
RW
Beginner Direct Scatter Width
Min: 1
Max: 5
Increment: 2
Beginner Right Scatter Position
Min: 1
Max: 31
Increment: 1
RightScatterWidth
(**)
IInteger RW Beginner Right Scatter Width
Min: 1
Max: 7
Increment: 1
*: T
HIS FEATURE CAN BE TEMPORARILY LOCKED DEPENDING ON
C
AMERASTATUS
**: T
HIS FEATURE CAN BE TEMPORARILY NOT AVAILABLE DEPENDING ON
C
AMERASTATUS
***: T
HIS FEATURE CAN BE NOT IMPLEMENTED AT ALL DEPENDING ON
S
ENSORTYPE OR
S
OFTWAREVERSION
108 C5 Series User Manual Rev. 1.1
The GenICam Features Configuration
Due to dependencies of the C5 sensor registers, it is recommended to follow a specific order, when configuring the GenICam features of the sensor. The list shown below, generated as a CXC file by the
CXExplorer, demonstrates an example (for C5-3360-GigE) of the correct write order:
CameraMode
FIR
ProfileTriggerMode
EnableDC2
EnableDC1
Width
PixelFormat
ReverseX
ReverseY
OffsetX
AcquisitionMode
AcquisitionFrameCount
ExposureTime
MultiSlopeKneePointCount
MultiSlopeKneePointSelector
MultiSlopeExposureLimit
MultiSlopeKneePointSelector
MultiSlopeExposureLimit
MultiSlopeKneePointSelector
MultiSlopeKneePointSelector
MultiSlopeSaturationThreshold
MultiSlopeKneePointSelector
MultiSlopeSaturationThreshold
MultiSlopeKneePointSelector
NumAois
AoiSelector
AoiSelector
AoiHeight
AoiSelector
AoiSelector
AoiOffsetY
AoiSelector
AoiSelector
AoiThreshold
AoiSelector
FIR
CameraMode
ProfilesPerFrame
ClearInvalidPos
PosValidationEn
AbsOffsetPos
TrshFirstFalling
NumSubPixel
ValidationWidthMin
ValidationWidthMax
1
2496
1
1
0
1
1
120
1
99
2
1
49.2063
2
95.2381
2
1
1
CenterOfGravity
0
FreeRun
0
0
3360
Mono16
0
0
0
Continuous
1
1000
2
1
60
2
0
CenterOfGravity
500
0
0
0
0
5
0
2495
C5 Series User Manual Rev. 1.1 109
ValidationSumMin
ValidationSumMax
AoiTrackingEnable
AoiSearchEnable
AoiSearchHeight
AoiSearchOffsetY
FramePeriod
LineStartSyncTrigger
GainPGA
GainADC
VrampRes
VrampSig
BlackSunControl
BlackLevelOffset
FOT
DummyRows
VresLow
SensorTestPattern
EnableDC0
EnableDC1
EnableDC1TrshWidth
EnableDC1Width
EnableDC1Option
EnableDC1Flags
EnableDC2
EnableDC2TrshSP
Output1
Output2
AnalogOutput
Output1MinPulseWidth
0
65535
0
0
2496
0
9597
0
Gain2
32
70
70
70
444
50
0
64
0
1
0
0
0
0
0
0
0
Out1_IntegrationActive
Out2_IntegrationActive
0
1
Output2MinPulseWidth
Output1Delay
Output2Delay
Output1Invert
Output2Invert
SequencerMode
ProfileTriggerMode
TriggerDirectionMode
TriggerReverseDirection
1
0
0
0
0
FreeRun
FreeRun
1
0
TriggerSingleChannelMode
ResetTriggerCoordZeroPos
TriggerCoordinateCountAlways
UseAlternateResolverInputs
Disabled
Off
1
0
UseAlternateResolverInputsInverted 0
GevHeartbeatTimeout 3000
GevStreamChannelSelector
GevSCPSPacketSize
0
1500
GevStreamChannelSelector
GevStreamChannelSelector
GevSCPD
GevStreamChannelSelector
ChunkModeActive
ChunkModeSelector
0
0
5000
0
1
OneChunkPerFrame
110 C5 Series User Manual Rev. 1.1
CX Explorer Overview
The CX Explorer
Configuration of a C5 camera can be easily done with the CX Explorer, which is a graphical user interface provided by AT-Automation Technology. With the help of the CX Explorer a camera can be simply adjusted to the required settings. Furthermore, the CX Explorer gives the opportunity to display various information like the 2D image, 3D height image, 3D view and many more.
This chapter gives some general information about the layout of the CX Explorer such as an overview of how to set parameters and features.
More details regarding the operation of the CX Explorer can be found in a separate application note.
The CX Explorer consists of maximum six different window panes. The Image View, Info View / Log,
XML Window, LinePlot View, 3D View and the Statistic View.
Image View
Info View / Log
XML Window
3D View
Statistic View
LinePlot View
C5 Series User Manual Rev. 1.1 111
CX Explorer Features
As mentioned in the previous chapter The C5 Sensor Algorithms every C5 camera is able to run
in 2D image mode or in 3D mode.
The configuration of the required mode can be easily done with the CX Explorer via the Image
Wizard, 3D Wizard or over the XML Window.
Image Wizard
3D Wizard
Image Wizard
The Image Wizard is the easy way to set the camera manually to the 2D greyscale image mode.
Select the image format, set the integration time and enable or disable the FIR filter.
112 C5 Series User Manual Rev. 1.1
Image Mode
The image mode enables the output of the 2D CMOS sensor images of the camera. That can be helpful e.g. to set and optimize the laser power, the Area Of Interest or the exposure time.
(2D greyscale image)
3D Wizard
With the 3D Wizard the camera mode can be easily switched to 3D mode. Set the number of profiles per frame, choose the 3D algorithm, set the integration time and select the number of subpixel.
Enable the required Output Channels and select the trigger mode to finish the wizard.
C5 Series User Manual Rev. 1.1 113
3D Mode
In the 3D a greyscale height image can be acquired and displayed in the Image View using one of the four different algorithms. Furthermore, the intensity image can be also displayed.
(3D greyscale height image)
A detailed description of the operation of the CX Explorer can be found in a separate application note
114 C5 Series User Manual Rev. 1.1
Quickstart a C5 camera
This chapter explains the handling to set up a C5 camera and the computer to acquire the first images.
Set the computer to the recommended settings in the following.
1. Turn off all possible software which can block sent packages from the camera to the PC or the other way around like Firewalls or Antivirus software.
2. Connect the camera directly or over a switch to the PC. Identify which network interface card
(NIC) is linked to the camera.
3. Disable not needed filter drivers and protocols of the NIC port.
4. Set the computer Internet Protocol Version 4 (TCP/IPv4) to a fix IP address and a fix subnet mask. Camera default: 169.254.64.2, 255.255.0.0.
5. Enable Jumbo Frames if possible.
6. Starting the CX Explorer lead to the Device Selection. Chose the camera over the available
Transport Layer and open the device. If the camera isn´t visible check the IP address or search for subnets. Set a persistent camera IP or force the IP address if needed and open the device.
By default the camera start in the factory mode. For the C5 camera the factory mode is the 2D image mode. Start the continuous image grab over or do a snapshot over .
The first images were acquired.
C5 Series User Manual Rev. 1.1 115
Service Information
Product Information and Updates
Contact
AT-Automation Technology GmbH
Hermann-Bössow-Str.6-8
D-23843 Bad Oldesloe, Germany
Phone: +49 4531/88011-0
Fax: +49 4531/88011-20
Updates
www.AutomationTechnology.de
Service and Support
In order to process your support inquiries immediately, we always need the serial number of the camera, the firmware version, the device version, the camera configuration file (*.cxc), a snapshot and a precise problem description.
Product Inquiries and Price Quotations
116 C5 Series User Manual Rev. 1.1
Warranty Conditions
Only the manufacturer can recognize the conditions of warranty. Should other parties than the manufacturer be responsible for the malfunctioning, we consider the right of warranty as void. This is the case if the unit is modified electrically or mechanically, particularly in its wiring/soldering, or if the unit is used for purposes not intended by the manufacturer, or if the unit's external wiring is faulty, or if the unit is used under conditions outside those stated in its manual.
Warranty Period
2-year warranty for C5 series sold inside of the European Union (EU)
1-year warranty for all C5 series sold outside of the European Union (EU)
Extended Warranty
The warranty period can be extend to maximum 36 months.
Return Policy
Before returning a sensor for repair (warranty or non-warranty) to AT – Automation Technology
GmbH a Return Material Authorization (RMA) number have provided by AT. Please get in contact with the AT support to receive a RMA.
Ship the sensor carefully packed in its original shipping box or an equivalent box back to our destination in Germany, 23843 Bad Oldesloe, Hermann-Bössow-Straße 6-8.
If the camera was purchased over a distributor, please get in contact with them to start the RMA process.
C5 Series User Manual Rev. 1.1 117
Document Revision
Rev. No. Date
1.0 19.01.2016
Modification
Official release
1.1 03.03.2017 Modified technical drawings. Add screw thread dimensioning
Add C5-1280-GigE camera
Add XML Features
Add new chapters: The Web Interface, CX Explorer Overview, Quickstart a C5 camera, Return Police
Add Information to warranty period and extended warranty condition
118 C5 Series User Manual Rev. 1.1
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