Automation Technology GmbH C4-2040-GigE Reference Manual
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Automation Technology GmbH C4-2040-GigE Reference Manual

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C4-2040-GigE Camera
Hardware Reference
Manual
Rev 2.1
AT - Automation Technology GmbH

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Summary of Contents for Automation Technology GmbH C4-2040-GigE

  • Page 1 C4-2040-GigE Camera Hardware Reference Manual Rev 2.1 AT - Automation Technology GmbH...

  • Page 2: Table Of Contents

    Geometry 1 ..................6 Geometry 2 ..................6 Geometry 3 ..................7 Geometry 4 ..................7 The C4-2040-GigE Camera General Specifications ......8 Mechanical Drawings ............... 10 The C4-2040-GigE CMOS Imager Specifications ........... 11 C4-2040-GigE Camera Operational Reference C4-2040-GigE Camera GenICam Features ........... 12 DeviceControl ..................
  • Page 3 The Center Of Gravity Mode (COG) ..........29 The FIR Peak Mode (FIR PEAK) ............30 The FIR Filter Function .................. 31 The High Dynamic Range 3D Feature (HDR-3D) of C4-2040-GigE ....32 Multiple Slope Function ..............32 Multi-Frame Readout Mode (NDR) ............. 35 The Data Output Format of C4-2040-GigE ...........
  • Page 4 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.

  • Page 5: C4 Camera Series Overview

    The figures below demonstrate some typical triangulation geometries. The following notation is used in the approximation of height resolution: ∆X= resolution along the laser line (lateral), ∆Y= resolution perpendicular to the laser line (longitudinal in the direction of motion), ∆Z= height resolution. • 5 C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1...

  • Page 6: Geometry 1

    The camera views the object perpendicularly to its surface, while the laser line is projected under the triangulation angle α. The height resolution can be approximated: ∆Z ≈ ∆X / tan(α) α Scan direction 6 • C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1...

  • Page 7: Geometry 3

    The camera views the object under an angle α, while the laser line is projected under a different angle β at the camera side. The height resolution can be approximated: ∆Z ≈ ∆X * cos(β) / sin(α), β α Scan direction • 7 C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1...

  • Page 8: The C4-2040-Gige Camera General Specifications

    M42x1 with Back Focal Distance 6.52 mm Adapter for C-Mount lens (must Back Focal Distance 17.52 mm be ordered separately) Adapter for F-Mount lens with Back Focal Distance 46.50 mm Bajonett mount (must be ordered separately) 8 • C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1...
  • Page 9 10 – 24 V DC Power consumption < 10 W Operating Temperature 0 °C to +50 °C (non condensing) Output Data Interface Gigabit Ethernet (IEEE 802.3) Communication Protocol GigE Vision with GeniCam • 9 C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1...

  • Page 10: Mechanical Drawings

    Mechanical Drawings C4-2040-GigE with C-Mount adapter: C4-2040-GigE with F-Mount adapter: 10 • C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1...

  • Page 11: The C4-2040-Gige Cmos Imager Specifications

    (limited due to GigE bandwidth) Effective Frame / Profile Rate at Number of Rows Effective Frame / Profile Rate (Hz) Max. Row Length 30720 18778 10362 5464 2809 1424 1088 *with Frame Overhead Time (FOT)=2 • 11 C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1...

  • Page 12: C4-2040-Gige Camera Operational Reference

    Pixel Format description chapter. - Mono8 - Mono16 ReverseX IBoolean When set to true, this parameter flips the sensor image horizontally ReverseY IBoolean When set to true, this parameter flips the sensor 12 • C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1...

  • Page 13: Acquisitioncontrol

    CameraControl – AOIs (Areas Of Interest) Name Rev. Interface Access Description MaxNumAOIs IInteger Maximum number of AOIs. NumAOIs IInteger Number of used AOIs. ImageModeAoiSelector IInteger Selects the AOI to show in image mode • 13 C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1...

  • Page 14: Cameracontrol - Fircontrol

    ValidationWidthMin IInteger Minimum width of valid intensity distribution in 3D- mode. ValidationWidthMax IInteger Maximum width of valid intensity distribution in 3D- mode. ValidationSumMin IInteger Minimum sum of intensity of valid intensity 14 • C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1...

  • Page 15: Cameracontrol - Modeandalgorithmcontrol - Aoitracking

    Interface Access Description LineStartSyncTrigger IBoolean Enable line start synchronous frame trigger GainPGA IEnumeration PGA Gain Voltage GainADC IEnumeration ADC Gain Voltage Vlow2 IInteger Voltage for defining exposure kneepoint 1 in the • 15 C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1...

  • Page 16: Cameracontrol - Dataoutput

    Control the laser power from 0 to 100 percent (%) using increments of 0.1 %. This value is translated to the equivalent analog modulation- voltage value for the selected light device. The 16 • C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1...

  • Page 17: Cameraio

    GET_OPERATION_STATUS command. Please see the ZFSM manufacturer data sheet for more details. CameraIO Name Rev. Interface Access Description Input1 IEnumeration Lists the input signals available for IN1: - Input1_Unused. - Input1_FrameStart • 17 C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1...

  • Page 18: Triggercontrol

    - AutoStart ProfileTriggerMode IEnumeration Selects the profile trigger mode: - FreeRun - CameraInput1 - CameraInput2 - EncoderResolverInterfaceRS422. TriggerOverrun IBoolean Trigger Overrun Flag. ClearTriggerOverrun ICommand Command to clear the trigger overrun flag. 18 • C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1...

  • Page 19: Triggercontrol - Resolverrs422

    -HistoryBuffer TransportLayerControl Name Rev. Interface Access Description PayloadSize IInteger PayloadSize provides the number of bytes transferred for each image on the stream channel TransportLayerControl - GigEVision Name Rev. Interface Access Description • 19 C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1...
  • Page 20 Indicate which stream channel to configure GevSCPInterfaceIndex IInteger Index of network interface GevSCPSPacketSize IInteger The size of the stream packet to send on this channel GevSCPD IInteger Delay (in timestamp counter unit) to insert between 20 • C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1...

  • Page 21: Usersetcontrol

    - Write FileOperationExecute ICommand Executes the operation selected by FileOperationSelector on the selected file. FileOpenMode IEnumeration Selects the access mode in which a file is opened in the device. - Read • 21 C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1...
  • Page 22 FileOperationResult IInteger Represents the file operation result. For Read or Write operations, the number of successfully read/written bytes is returned. FileSize IInteger Represents the size of the selected file in bytes. 22 • C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1...

  • Page 23: The Genicam Features Configuration Of C4-2040-Gige

    The GenICam Features Configuration of C4-2040-GigE Due to dependencies of the XML nodes of C4-2040-GigE registers, it is recommended to follow a specific order, when configuring the GenICam features of the camera. The list shown below, generated as a CXC file by the CX-Explorer, demonstrates an example of the correct write order:...
  • Page 24 GevSCPD 5000 GevHeartbeatTimeout 3000 ChunkModeActive ChunkModeSelector OneChunkPerFrame EventSelector AcquisitionStart EventNotification Off EventSelector AcquisitionEnd EventNotification Off EventSelector TransferStart EventNotification Off EventSelector TransferEnd EventNotification Off EventSelector AoiTrackingOn EventNotification Off EventSelector AoiTrackingOff EventNotification Off 24 • C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1...
  • Page 25 EventSelector AoiSearchFailed EventNotification Off EventSelector AutoStarted EventNotification Off EventSelector AcquisitionStart • 25 C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1...

  • Page 26: The C4-2040-Gige Camera Algorithms

    The C4-2040-GigE Camera Algorithms The C4-2040-GigE camera can be operated both in a variety of 3D profile modes and in image mode. The current operation mode can be chosen by setting the parameter Camera Controls→ ModeAndAlgorithmControls→CameraMode. The frame rate can be increased in all camera modes by reducing the AOI size. In the image mode the frame rate is limited by the output rate of the camera interface (GigE).

  • Page 27: The Maximum Intensity Profile Mode (Max)

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

  • Page 28: The Threshold Mode (Trsh)

    ). Moreover, the maximum intensity value can be optionally output. The precision of the position calculation can be improved by enabling the smoothing mode of the FIR filter of the camera. 28 • C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1...

  • Page 29: The Center Of Gravity Mode (Cog)

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

  • Page 30: The Fir Peak Mode (Fir Peak)

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

  • Page 31: The Fir Filter Function

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

  • Page 32: The High Dynamic Range 3D Feature (Hdr-3D) Of C4-2040-Gige

    The High Dynamic Range 3D Feature (HDR-3D) of C4- 2040-GigE One of the most powerful features of C4-2040-GigE is the HDR-3D (High Dynamic Range) functionality, which allows scanning materials and surfaces with inhomogeneous reflection properties. Using HDR-3D the dynamic range of image intensity is extended up to 90dB, thus avoiding intensity saturation.
  • Page 33 Triple Slope Mode (2 Knee Points) Intensity Knee point 1 Knee point 2 100% Saturation Exposure Slope Threshold 2 Exposure Slope Threshold 1 Exposure Slope Exposure Slope Duration 1 Duration 2 Exposure Time • 33 C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1...
  • Page 34 Vlow3 DS Slope Slope Time Time Time Time Integration Integration Time The MultipleSlope parameters Vlow2 and Vlow3 can be adjusted in the range of 127 (zero intensity) down to 64 (saturation). 34 • C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1...
  • Page 35 Application of Multiple Slope function on the image of a laser line projected on a surface with non- homogeneous reflectivity (black & white chessboard pattern) Single Slope Dual Slope Triple Slope 1100 1100 1100 1000 1000 1000 Sensor row # Sensor row # Sensor row # • 35 C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1...

  • Page 36: Multi-Frame Readout Mode (Ndr)

    Image 1 Image 2 Readout Readout Frame 1 of Frame 1 of Sensor Image 2 Sensor Image 1 Readout Readout Frame 2 of Frame 2 of Sensor Image 1 Sensor Image 2 36 • C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1...

  • Page 37: The Data Output Format Of C4-2040-Gige

    Position of falling edge of Gauss smoothed sensor image (PosL) (PosR) Gauss width (PosR-PosL) detected in Position of Gauss with 1/2 pixel smoothed sensor image resolution (PosL+PosR) detected in smoothed sensor image • 37 C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1...
  • Page 38 Alg. Flags – Output over DC1 (16 bit mode): Bit14 = LEFT_TRSH_FOUND_FLAG: indicates that the left edge of laser line was found Bit15 = RIGHT_TRSH_FOUND_FLAG: indicates that the right edge of laser line was found 38 • C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1...

  • Page 39: The Output Frame Structure

    The Output Frame Structure Depending on configuration, the C4-2040-GigE writes data to the output frame according to following scheme: 1) NDR mode disabled (NDRMode=”Off”) for (profile_idx=1; profile_idx <=ProfilesPerFrame; profile_idx ++) for(AOI_idx=1; AOI_idx<=NumAOIs; AOI_idx++) if(EnableDC0==true) write_data_of_DC0 (AOI_idx); if(EnableDC1==true) write_data_of_DC1 (AOI_idx); if(EnableDC2==true) write_data_of_DC2 (AOI_idx);...
  • Page 40 Data of DC2 readout from AOI1 Data of DC2 readout from AOI1 Data of DC2 readout from AOI1 Data of DC2 readout from AOI1 Data of DC2 readout from AOI1 Data of DC2 readout from AOI1 40 • C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1...
  • Page 41 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 • 41 C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1...
  • Page 42 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 42 • C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1...

  • Page 43: Advanced Aoi Functions

    In some cases the AOI position may not be constant and it should follow the image of laser line on the camera sensor. The C4-2040-GigE features functions for performing an automatic AOI positioning (AOI-Search) as well as line tracking (AOI-Tracking). A detailed description of these functions can be found in a separate application note.

  • Page 44: C4-2040-Gige Camera Triggering

    Camera input 1 (PTM1) Profile Profile Profile Profile Acquisition 1 Acquisition 2 Acquisition 3 Acquisition 4 Camera input 2 (PTM2) Profile Profile Profile Profile Acquisition 1 Acquisition 2 Acquisition 3 Acquisition 4 44 • C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1...
  • Page 45 Profile Trigger Mode (PTM) Encoder/Resolver Interface (PTM3) RS422 Example: Trigger after number of steps = 4 Counter Profile Profile Profile Acquisition 1 Acquisition 2 Acquisition 3 Internal Trigger • 45 C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1...

  • Page 46: Description Of Modes For Triggering Of Sequencer/Frame And Profile Acquisition

    Start over camera input 1 PTM0 (free-run) Single frame acquisition is triggered over the rising edge of camera input 1 (IN1) PTM2 (IN2) PTM3 (RS422) trigger start of sequencer (frame trigger) 46 • C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1...
  • Page 47 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. • 47 C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1...

  • Page 48: The Chunk Data Mode Of C4-2040-Gige

    The Chunk Data Mode of C4-2040-GigE General Description The C4-2040-GigE features a Chunk Data mode for providing additional information to the acquired image data. The implementation of XML nodes is performed according to SFNC 1.4: • Category ChunkDataControl • ChunkModeActive •...

  • Page 49: Payload Layout In Chunk Data Mode

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

  • Page 50: Xml Descriptors And Id's

    XML Descriptors and Id’s ChunkImageInfo <Port Name="FrameInfoPort"> <ChunkID>11119999</ChunkID> </Port> ChunkAcqInfo <Port Name="CameraChunkPort"> <ChunkID>66669999</ChunkID> </Port> ChunkImage <Port Name="ImageInfoPort"> <ChunkID>A5A5A5A5</ChunkID> </Port> 50 • C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1...

  • Page 51: Chunk Data Structure

    0x02 #define CHUNKIMAGEINFO_FLAG_BIT_BUFFER_OVERRUN 0x04 typedef struct _GV_ChunkImageInfo unsigned int mSizeYReal; unsigned int numChunkAcqInfo; unsigned int flag; } GV_ChunkImageInfo; typedef struct _GV_ChunkDescriptor unsigned int descriptor; unsigned int length; } GV_ChunkDescriptorData; #pragma pack(pop) • 51 C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1...

  • Page 52: The Gige-Vision Events Of C4-2040-Gige

    The GigE-Vision Events of C4-2040-GigE The C4-2040-GigE supports a number of events that can be monitored by a software application by means of a callback function. Events provide real time notification on various stages of the acquisition sequence and data transfer.

  • Page 53: C4-2040-Gige Camera Interface

    Track1 RS422 none reversible input (A+) ENC_B+ encoder Track2 RS422 none reversible input (B+) VCC_OUT Power supply voltage of camera optoisolated outputs (5 V / 24 V DC) GND_OUT Ground of camera optoisolated outputs • 53 C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1...

  • Page 54: The Illumination Control

    Output for digital modulation of illumination device (TTL signal) LASER_AOUT Output for analog modulation of illumination device (0 – 5 V DC) LASER_AIN Input for monitoring specific functions of illumination device (0 - 5V DC) 54 • C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1...
  • Page 55 Part Number for Illumination Control Connector Description Part Number Binder Series 712 M9 5-pin male connector, EMV 99-0413-10-05 protected M9 5-pin male connector 90° angled, 99-0413-75-05 EMV protected • 55 C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1...

  • Page 56: Schematic Of C4-2040-Gige Digital Inputs

    Schematic of C4-2040-GigE digital inputs Schematic of C4-2040-GigE digital outputs 56 • C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1...

  • Page 57: Description Of Leds

    Green blink = Indication of network activity 5 (GigE_right) Green On = Linkspeed 1 Gbit Yellow On = Linkspeed 100 Mbit Off = Linkspeed 10 Mbit or wait for end of autonegotiation • 57 C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1...

  • Page 58: Integrated Rs232 Serial Interface And Camera Boot Log

    Stack info: Current Stack position changed to 0x00001F98. 00004831 ms: Load Bootstrap registers. 00004835 ms: ************************************** 00004839 ms: Camera type: 2040 00004842 ms: Sensor height : 1088 00004845 ms: Model: C4_2040_GigE 00004848 ms: MAC: 0-50-C2-8E-D4-7 58 • C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1...
  • Page 59 00004985 ms: Network interface is up, speed: 1000 Mbps 00004990 ms: IP: 169.254. 64. 2 00004993 ms: Netmask: 255.255. 0. 0 00004997 ms: Gateway: 0. 0. 0. 0 00005000 ms: Assigned from static address • 59 C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1...

  • Page 60: Web Service Interface

    A login window appears, as the following figure shows. The static password “admin” gives access to the camera service web interface. Detailed information of the web service interface can be found on a separate application note. 60 • C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1...

  • Page 61: The External C4-I/O-Panel (#202 182 006)

    P4 / 6 OUT1 optoisolated Output1 P4 / 7 GND_OUT Ground of camera optoisolated outputs P4 / 8 VCC_OUT Power supply voltage of camera optoisolated outputs (5 V / 24 V DC) • 61 C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1...
  • Page 62 DIP switch: the panel features a 2A fuse for camera protection in order to avoid signal noise, do not connect the main ground GND_EXT to other GND signals 62 • C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1...
  • Page 63 Mechanical Dimensions (mm) Weight of C4-I/O-Panel: 50 g Mount for DIN rail assembly • 63 C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1...

  • Page 64: The C4 Cables

    Y-cable for simultaneously connecting fan and laser to the C4 camera. Please 202 182 401 specify the cable length between camera and laser. 202 182 405 Cable for laser control, 5 pin, length 2 m, pigtail 64 • C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1...

  • Page 65: Service Information

    11.08.2014 Added C4-I/O-Panel Rev. 1.3, added DCs in FIR mode, minor corrections 20.02.2015 Minor corrections, added new HDR Genicam registers 20.06.2016 Minor corrections, added new Genicam registers, light control, web service • 65 C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1...

  • Page 66: Product Information And Updates

    In order to process your support inquiries immediately, we always need the serial number of the camera, a dump of configuration EEPROMs, a snapshot and a precise problem description. Product Inquiries and Price Quotations info@AutomationTechnology.de 66 • C4-2040-GigE Camera Hardware Reference Manual Rev. 2.1...

  • Page 67: Warranty Conditions

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

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