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Automation Technology C3 Series Hardware Reference Manual

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C3 Camera
Hardware Reference
Manual
Rev. 1.3.7
Automation Technology GmbH

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Summary of Contents for Automation Technology C3 Series

  • Page 1 C3 Camera Hardware Reference Manual Rev. 1.3.7 Automation Technology GmbH...

  • Page 3: Table Of Contents

    Sensor Modes .................. 11 Trigger Modes.................. 13 The External Trigger Enable line ............14 Output of internal Trigger and Status signals ..........15 Software Integration of C3 Camera ............... 16 Register Description The C3 Camera Register Set ................. 20 Register Reference..................20 CFG_REG ..................
  • Page 4 The CameraLink Interface of C3 Camera System Overview..................42 Supported CameraLink Modes ..............42 Output Modes of C3 Camera with CameraLink Interface ..... 44 CameraLink Signal Assignment ............44 Camera Control Signal Assignment............ 44 The UART Configuration Protocol ..............45 CMD_WRITE_DAC ................
  • Page 5 Camera Specifications ..............53 Electrical Specification of I/O Signals ..........53 Mechanical Specifications................54 Service Information Document Revision ..................55 Product Information and Updates ..............55 Warranty Conditions ..................56 Index • v C3 Camera Hardware Reference Manual Rev. 1.3.7...
  • Page 7 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 3M™...

  • Page 8: Overview

    The C3 camera acquires height profiles and height images based on the laser triangulation principle. According to this method a laser line is projected on the object from one direction. The C3 camera views the object from another angle defining the triangulation geometry. The resulting sensor image is evaluated by the C3 camera core and converted into a single height profile.

  • Page 9: 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 Overview • 3 C3 Camera Hardware Reference Manual Rev. 1.3.7...

  • Page 10: 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), β α 4 • Overview C3 Camera Hardware Reference Manual Rev. 1.3.7...

  • Page 11: The C3 Camera Algorithms

    The C3 Camera Algorithms The C3 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 configuration bits of the CFG register. 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 (CameraLink).

  • Page 12: The Maximum Intensity Profile Mode (Max)

    0 to 1023 pixels (10 bit). If there is more than one local maximum, the position of the first maximum (starting from row zero) is used. 6 • Overview C3 Camera Hardware Reference Manual Rev. 1.3.7...

  • Page 13: The Threshold Mode (Trsh)

    In threshold mode the camera can output either the left and right threshold position separately or the subpixel position (P ) and the line width (P ). Moreover, the maximum intensity value can be optionally delivered. Overview • 7 C3 Camera Hardware Reference Manual Rev. 1.3.7...

  • Page 14: The Center Of Gravity Mode (Cog)

    In addition the laser line width can be delivered over the Data Channel DC1. The average intensity of the illumination profile can be calculated by normalising the sum of intensity value I with the line width. 8 • Overview C3 Camera Hardware Reference Manual Rev. 1.3.7...

  • Page 15: The Camera Aois

    The Camera AOIs The C3 camera series supports the operation of up to 8 none overlapping sensor Areas of Interest (AOIs). Every AOI is defined by its starting row and total number of rows. A reduction of the AOI size increases linearly the maximum frame rate.

  • Page 16: The Image Data Output Format

    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 10 • Overview C3 Camera Hardware Reference Manual Rev. 1.3.7...

  • Page 17: Image Acquisition

    In order to achieve a constant integration time, even for asynchronous trigger pulses (e.g. from resolver interface) an integration time greater or equal to the sensor readout time is recommended. Overview • 11 C3 Camera Hardware Reference Manual Rev. 1.3.7...

  • Page 18: Image Mode

    Integration Frame N Pause Time Frame N Frame N+1 Image Mode Integration optional Integration Sensor Readout Frame N Pause Time Frame N+1 Frame N 3D Profile Mode Output Profile N 12 • Overview C3 Camera Hardware Reference Manual Rev. 1.3.7...

  • Page 19: Trigger Modes

    Image Acquisition Start The image acquisition is initiated by a trigger when CFG_SEQ_FREERUN = 0 and „Start – Input“, when IO_START_STOP_SEQ_IO_EN = 1 or CC(2) when IO_START_STOP_SEQ_CC_EN = 1 or Overview • 13 C3 Camera Hardware Reference Manual Rev. 1.3.7...

  • Page 20: The External Trigger Enable Line

    In free-run (untriggered) mode the external trigger enable signal enables the acquisition. The external trigger enable has no function in external integration time control mode. 14 • Overview C3 Camera Hardware Reference Manual Rev. 1.3.7...

  • Page 21: Output Of Internal Trigger And Status Signals

    The trigger overrun flag can be cleared by writing the CTRL_TRIG_OVERRUN_CLR bit. Overview • 15 C3 Camera Hardware Reference Manual Rev. 1.3.7...

  • Page 22: Software Integration Of C3 Camera

    1. Operation as a Standard CameraLink-Camera in combination with One-Off Configuration In this case the C3 camera is configured with the software tool “C3Explorer” and the configuration is saved permanently in the camera EEPROM. This default configuration will be loaded automatically each time the camera is connected to power.
  • Page 23 Camera Height Image Configuration Image Processing Lib C3Lib UART DLL with Frame Grabber API with UART interface (eg. SAPERA, MIL, CVB) UART-Serial driver Frame Grabber driver CameraLink Frame Grabber C3-Camera Overview • 17 C3 Camera Hardware Reference Manual Rev. 1.3.7...
  • Page 24 PC-Camlink, PC2-Camlink Euresys Grablink Value, Grablink Expert Multicam Matrox Meteor II/CL National Instruments PCI-1426, PCI-1428 NI-IMAQ In addition, the C3Lib supports the Iport protocol of Pleora Technologies over Gigabit Ethernet interface. 18 • Overview C3 Camera Hardware Reference Manual Rev. 1.3.7...
  • Page 25 4. Camera configuration and image acquisition over GenIcam Transport Layer A fourth method for integration of C3 camera in software applications is the use of the GenIcam API standard with the XML functionality. Based on Dalsa X64CL-Ipro and Sapera library, AT has developed a CameraLink Transport Layer, which allows the easy integration of C3 cameras into machine vision applications.

  • Page 26: Register Description

    Register Description The C3 Camera Register Set The C3 camera can be configured by means of a programmable register set. In this way e.g. the camera operation (image mode of 3D profile mode) can be changed by setting the register contents to appropriate values.

  • Page 27: Cl_X0_Reg

    Stop the sequencer when the frame end is reached CL_X0_REG Description Address: 1 Access: R/W This register defines the starting column of the output frame with respect to the internal buffer of the camera. Register Bit Description Register Description • 21 C3 Camera Hardware Reference Manual Rev. 1.3.7...

  • Page 28: Cl_Dx_Reg

    Set the number of output rows per frame. JTAG_REG Description Address: 4 Access: R/W Register Bit Description The access to this register is reserved for commissioning and maintenance tasks of the manufacturer. 22 • Register Description C3 Camera Hardware Reference Manual Rev. 1.3.7...

  • Page 29: Itime_L_Reg

    Bit Name Description 0 – 15 IRTIME_L Reduction of sensor integration time (low Word) in µs 0-10 IRTIME C3-2350-CL only: Number of rows needed when „Short Integration Mode“ is enabled Register Description • 23 C3 Camera Hardware Reference Manual Rev. 1.3.7...

  • Page 30: Irtime_H_Reg

    Pause time (low Word) in µs PTIME_H_REG Description Address: 10 Access: R/W Register Bit Description Bit Name Description 0 – 7 PTIME_H Pause time (high Word) SENSOR_REG Description Address: 11 Access: R/W 24 • Register Description C3 Camera Hardware Reference Manual Rev. 1.3.7...

  • Page 31: Sensor_X0_Reg

    0 = sensor is active SENSOR_X0_REG Description Address: 12 Access: R/W Register Bit Description Bit Name Description 0-11 SENSOR_X0 Starting column of sensor readout, (C3-2350-CL only). For C3-1280-CL = 0. SENSOR_DX_REG Description Address: 13 Access: R/W Register Bit Description Bit Name Description 0-11 SENSOR_DX Row width of sensor readout (C3-2350-CL only).

  • Page 32: Trig_Cnt_Reg

    13-8 CL_CFG_ROW_END_PAUSE number of additional CameraLink pulse at end of output row CL_CFG_FRAME_END_PAUSE number of additional Anzahl CameraLink pulse at end of frame HWINFO_REG Description Address: 16 Access: R/W 26 • Register Description C3 Camera Hardware Reference Manual Rev. 1.3.7...

  • Page 33: Num_Aois_Reg

    LINLOG-DAC-Value1 for LinLog2 mode. This value is enabled in the beginning of integration and remains active until LINLOG_TIME expires. LINLOG_VAL1 (obsolete, C3-A1024-CL only) Description Address: 19 Access: R/W Register Bit Description Register Description • 27 C3 Camera Hardware Reference Manual Rev. 1.3.7...

  • Page 34: Linlog_Time_L_Reg (Obsolete, C3-A1024-Cl Only)

    ADC channel A Gain (0-1FH), 0=0dB, 1FH =18.06dB ADC_B_GAIN ADC channel B Gain (0-1FH) , 0=0dB, 1FH =18.06dB ADC_SELB always 0 ADC_MODE always 1 ADC_TWOS always 0 14-13 reserved always 0 28 • Register Description C3 Camera Hardware Reference Manual Rev. 1.3.7...

  • Page 35: Adc2_Reg (Obsolete, C3-A1024-Cl Only)

    SW reset register set CTRL_START SW start pulse CTRL_STOP SW stop pulse CTRL_TRIG SW trigger pulse CTRL_LOAD_TRIG_CNT SW pulse to load the trigger counter CTRL_TRIG_OVERRUN_CLR SW pulse for clearing Trigger - Overrunflag Register Description • 29 C3 Camera Hardware Reference Manual Rev. 1.3.7...

  • Page 36: Status_Reg

    5: FrameOutputTimeH 6: Capability Info 7: Revision MUX_REG Description Address: 26 Access: RO Register Bit Description Bit Name Description 0-15 STATUS_MUX returns data according to STATUS_MUX_SEL bits of STATUS_REG register 30 • Register Description C3 Camera Hardware Reference Manual Rev. 1.3.7...

  • Page 37: Mux_Trig_Status

    µs MUX_FRAME_OUTPUT_TIME_L Description Address: MUX_REG = 26 STATUS_MUX_SEL = 4 Access: Register Bit Description Bit Name Description 0-15 FRAME_OUTPU_TIME_L frame output time in µs (low word) Register Description • 31 C3 Camera Hardware Reference Manual Rev. 1.3.7...

  • Page 38: Mux_Frame_Output_Time_H

    1 = 3D profile mode; threshold algorithm (TRSH) is implemented CAP_COG 1 = 3D profile mode; center of gravity algorithm (COG) is implemented 12-15 reserved MUX_REVISION Description Address: MUX_REG = 26 32 • Register Description C3 Camera Hardware Reference Manual Rev. 1.3.7...

  • Page 39: Io_Reg

    / stop mode of sequencer over the CameraLink control signals CC2 and CC3 IO_ TRIGGER_ENABLE_IN2 configure input IN2 as Triggerenable. IO_ TRIGGER_ENABLE_CC4 configure CameraLink Control Signale CC4 as Triggerenable. DATAOUT_REG Description Address: 29 Register Description • 33 C3 Camera Hardware Reference Manual Rev. 1.3.7...

  • Page 40: Aoi0_Y0-Aoi7_Y0

    (recommended for use only with intensity values when DATAOUT_8BIT=1) DATAOUT_TWO_PIXEL_OUT output two pixel values in one cycle AOI0_Y0-AOI7_Y0 Description Address: AOI0_Y0=30, AOI0_Y1=33, .. AOI0_Y7=51 Access: R/W Register Bit Description Bit Name Description starting row of AOI 34 • Register Description C3 Camera Hardware Reference Manual Rev. 1.3.7...

  • Page 41: Aoi0_Dy-Aoi7_Dy

    0 – 1023 correspond to 0...2.7V 12-15 DAC_ADDR DAC channel code: 0 = no modification 1= DAC1 2= DAC2 8 = DAC8 15 = load all DAC channels (1-8) with the same value Register Description • 35 C3 Camera Hardware Reference Manual Rev. 1.3.7...

  • Page 42: Laser_Control_Reg (C3-Compactsensors Only)

    Description Address: 54 Access: R/W Registerbit Description Bit Name Description LASER_POWER 10 Bit Laser Power: 0-1023 correspond to 0...100% LASER_ON 0 = Laser turn off 1= Laser turn on 36 • Register Description C3 Camera Hardware Reference Manual Rev. 1.3.7...

  • Page 43: Width_Valid_Min_Reg

    SUM_INT_VALID_MIN_REG Description Adresse: 66 Access: R/W Registerbit Description Bit Name Description 0-15 SUM_INT_VALID_MIN _VAL Minimum area of valid Gaussian intensity distribution in 3D-mode SUM_INT_VALID_MAX_REG Description Adresse: 67 Access: R/W Register Description • 37 C3 Camera Hardware Reference Manual Rev. 1.3.7...
  • Page 44 Registerbit Description Bit Name Description 0-15 SUM_INT_VALID_MAX _VAL Maximum area of valid Gaussian intensity distribution in 3D-mode 38 • Register Description C3 Camera Hardware Reference Manual Rev. 1.3.7...

  • Page 45: I/O Interface

    *a series resistor 3.6k is required for operation with 24V signals (included in the external I/O-Panel) I/O Connector Pin Assignment (View from solder side of connector) I/O Interface • 39 C3 Camera Hardware Reference Manual Rev. 1.3.7...

  • Page 46: The Internal Dip-Switches

    2 (green) on = camera sequencer is active off = camera sequencer is inactive, e.g. it is waiting for external trigger signal. 3 (green) on = camera start up completed. 40 • I/O Interface C3 Camera Hardware Reference Manual Rev. 1.3.7...

  • Page 47: The External I/O Panel

    OUT2 optoisolated Output2 P4 / 7 GND IO I/O signal ground P4 / 8 VCC IO supply voltage for the optoisolated inputs and outputs (5-24V DC) P1/1 P2/1 P4/1 I/O Interface • 41 C3 Camera Hardware Reference Manual Rev. 1.3.7...

  • Page 48: The Cameralink Interface Of C3 Camera

    Supported CameraLink Modes A CameraLink compatible frame grabber with at least one Base CameraLink connection is required in order to operate the C3-Camera with CameraLink interface. The CameraLink pixel frequency of the 42 • The CameraLink Interface of C3 Camera...
  • Page 49 40MHz (C3-2350-CL 50MHz). Camera versions with different CameraLink pixel frequency are available on request. In all versions the frame grabber must support the corresponding pixel frequency of the camera. The following frame grabbers have been tested with the C3 camera.

  • Page 50: Output Modes Of C3 Camera With Cameralink Interface

    Output Modes of C3 Camera with CameraLink Interface DC Mode Assignment of CameraLink Ports A, B, C pixel N = port A (7...0) 8 bit mode with 2 taps (always with parallel output of two pixels) pixel N+1 = port B (7...0) pixel N = port B (3..0) + port A (7..0)

  • Page 51: The Uart Configuration Protocol

    Apart from the image data transmission line, an additional serial UART channel is available for the communication with the C3 CameraLink version. This can be implemented by using the hardware integrated CameraLink UART interface or the separate RS232 lines in the I/O panel. A specific serial protocol is defined for the access to camera registers, sensor DAC and configuration EEPROM.

  • Page 52: Cmd_Read_Reg

    TX 3-4 16 bit data word (16 bit) RX 1-2 16 bit data word (first high byte, then low byte) RX 3 CMD_ACK / CMD_NAK 46 • The CameraLink Interface of C3 Camera C3 Camera Hardware Reference Manual Rev. 1.3.7...

  • Page 53: The Cameralink Connection

    Xclk+ SerTC+ SerTC- SerTFG- SerTFG+ CC1- CC1+ CC2+ CC2- CC3- CC3+ CC4+ CC4- inner shield inner shield SCHIRM SCHIRM is connected to the camera case The CameraLink Interface of C3 Camera • 47 C3 Camera Hardware Reference Manual Rev. 1.3.7...
  • Page 54 Helukabel Part Number of dragchain cable Bezeichnung Helukabel Part Number shielded dragchain cable Supertronic-C-PVC (14 x 0,14mm²) with diameter 7mm 49627 and bending radius 70mm 48 • The CameraLink Interface of C3 Camera C3 Camera Hardware Reference Manual Rev. 1.3.7...

  • Page 55: Technical Specifications

    14400 Hz (32 rows) Frequency / Number of Rows 7200 Hz (64 rows) 3600 kHz (128 rows) 1800 Hz (256 rows) 900 Hz (512 rows) 450 Hz (1024 rows) Technical Specifications • 49 C3 Camera Hardware Reference Manual Rev. 1.3.7...
  • Page 56 Spectral sensitivity of C3-1280-CL sensor 50 • Technical Specifications C3 Camera Hardware Reference Manual Rev. 1.3.7...

  • Page 57: C3-2350-Cl Sensor

    12160 Hz (27 rows) Frequency / Number of Rows 3040 Hz (108 rows) 1520 Hz (216 rows) 760 Hz (432 rows) 380 Hz (864 rows) 190 Hz (1728 rows) Technical Specifications • 51 C3 Camera Hardware Reference Manual Rev. 1.3.7...
  • Page 58 Spectral sensitivity of C3-2350-CL sensor 52 • Technical Specifications C3 Camera Hardware Reference Manual Rev. 1.3.7...

  • Page 59: Operating Specifications

    IOH, optoisolated outputs, logic ‚1’ output current OC output with 4.7kOhm pull-up to VCC I/O IOL, optoisolated outputs, logic ‚0’ output current Encoder interface ENC_A, ENC_B RS422 Standard with 100 Ohm termination Technical Specifications • 53 C3 Camera Hardware Reference Manual Rev. 1.3.7...

  • Page 60: Mechanical Specifications

    All units are in mm. C3-1280-CL & C3-2350-CL Hole mounting pattern is identical in all 4 sides (C-Mount) C3-1280-CL & C3-2350-CL Hole mounting pattern is identical in all 4 sides (F-Mount) F-Mount Bajonett 54 • Technical Specifications C3 Camera Hardware Reference Manual Rev. 1.3.7...

  • Page 61: Service Information

    26.11.08 Update (added new features of Rev. 4.8) 1.3.6 26.05.09 Update (minor corrections) 1.3.7 11.08.09 Update (C3-A1024-CL removed, drawing of camera housing with C-Mount modified) Product Information and Updates Updates www.AutomationTechnology.de Service and Support service@AutomationTechnology.de In order to process your support inquiries immediately, we always need the serial number of the camera, a dump of configuration EEPROMs, a snapshot and a precise problem description.

  • Page 62: Warranty Conditions

    56 • Service Information C3 Camera Hardware Reference Manual Rev. 1.3.7...

  • Page 63: Index

    CL_DY_REG 22 CL_X0_REG 21 CTRL_REG 29 DAC_REG 35 DATAOUT_REG 33 HWINFO_REG 26 IO_REG 33 IRTIME_H_REG 24 IRTIME_L_REG 23 ITIME_H_REG 23 ITIME_L_REG 23 JTAG_REG 22 LASER_CONTROL_REG 36, 37 MUX_FRAME_OUTPUT_TIME_H 32 MUX_FRAME_OUTPUT_TIME_L 31 Index • 57 C3 Camera Hardware Reference Manual Rev. 1.3.7...

This manual is also suitable for:

C3-1280-clC3-2350-cl

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