Automation Technology C4-2350-GigE, Hardware Reference Manual

Page 1: ...C4 2350 GigE Camera Hardware Reference Manual Rev 2 1 AT Automation Technology GmbH...

Page 2: ......

Page 3: ...AcquisitionControl 9 CameraControls AOIs Areas Of Interest 9 CameraControls ModeAndAlgorithmControls 9 CameraControls SensorControls 10 CameraControls SensorControls AdvancedSensorsettings 10 CameraCo...

Page 4: ...0 General Description 30 Payload Layout in Chunk Data Mode 31 XML Descriptors and Id s 32 Chunk Data Structure 33 The GigE Vision Events of C4 2350 GigE 34 C4 2350 GigE Camera Interface 35 The GigE In...

Page 5: ...ile 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 liabilit...

Page 6: ...he connected image processing unit Measuring Principle The C4 camera acquires height profiles and height images based on the laser triangulation principle According to this method a laser line is proj...

Page 7: ...e while the camera views the object under the triangulation angle The height resolution can be approximated Z X sin Geometry 2 The camera views the object perpendicularly to its surface while the lase...

Page 8: ...projected under a different angle The height resolution can be approximated Z X cos sin in case direct reflex Z X 2 sin Geometry 4 The camera views the object under an angle while the laser line is pr...

Page 9: ...up IOL logic 0 output current 9 mA Encoder Trigger Input RS422 Standard with 100 Ohm termination Illumination Control Power 5 V DC 200 mA Modulation 20 kHz Features 3D Algorithms MAX TRSH COG High Spe...

Page 10: ...ut Voltage 10 24 V DC Power consumption 10 W Operating Temperature 0 C to 50 C non condensing Output Data Interface Gigabit Ethernet IEEE 802 3 Communication Protocol GigE Vision with GeniCam Mechanic...

Page 11: ...el Size 7 m x 7 m Sensor Size 16 46 mm x 12 10 mm diagonal 20 43 mm Optics 1 Sensor ADC Resolution 10 bit Sensor Dynamic Range 59 dB Max Internal Full Frame Rate 190 fps Max External Full Frame Rate 2...

Page 12: ...nounces the end of registers streaming and perform validation for registers consistency before activating them This will also update the DeviceRegistersValid flag DeviceRegistersCheck 1 2 ICommand W P...

Page 13: ...ctive AcquisitionTransfer FrameTriggerWait AcquisitionStatus AcquisitionStat usSelector 1 2 IBoolean R Status of the selected acquisition flag AcquisitionMaxBufferedFrameCo unt AT IInteger R Maximum n...

Page 14: ...s shorter than the Sensor Readout Time ShortIntegrationRows AT IInteger R Number of Sensor Rows used to adjust the exposure time in Short Integration Mode CameraControls SensorControls AdvancedSensors...

Page 15: ...igger Output1 AT IEnumeration RW Selects the output signal for OUT1 Symbolic Value Out1_IntegrationActive Out1_SequencerActive Out1_High Out1_Low Out1_InternalTrigger Out1_SequencerTriggerActive Integ...

Page 16: ...ntrols the behaviour of the pulse counter True The pulse counter is decreased and countdown to 0 when resolver pulses are generated from both moving directions forwards and backwards False The pulse c...

Page 17: ...IP address for the selected interface GevPersistentSubnetMask 1 2 IInteger R W Persistent subnet mask for the selected interface GevPersistentDefaultGateway 1 2 IInteger R W Persistent default gateway...

Page 18: ...Control Name Rev Interface Access Description ChunkModeActive 1 2 IBoolean R W Enables the chunk data mode ChunkModeSelector 1 2 IEnumeration R W Selects the chunk data mode OneChunkPerFrame OneChunkP...

Page 19: ...gth 1 2 IInteger Controls the Length of the mapping between the device file storage and the FileAccessBuffer FileOperationStatus 1 2 IEnumeration R Represents the file operation execution status Succe...

Page 20: ...0 FramePeriode 5218 ShortIntegrationMode 1 DarkOffsetEnable 1 UsePersistentFPNdata 1 NumAois 1 AoiSelector 1 AoiHeight 1728 AoiOffsetY 0 AoiThreshold 128 AbsOffsetPos 0 TrshFirstFalling 0 NumCOGSP 6 V...

Page 21: ...Selector 0 GevSCPSPacketSize 1500 GevSCPD 5000 ChunkModeActive 0 EventSelector None EventNotification Off EventSelector AcquisitionStart EventNotification Off EventSelector AcquisitionEnd EventNotific...

Page 22: ...ature Note XML grid visibility should be set to Guru Furthermore it is necessary that the camera has been booted with factory settings Userset Factory If this is not the case the factory settings can...

Page 23: ...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 va...

Page 24: ...result includes the position value of the maximum PMAX as well as the maximum intensity value IMAX AOI_TRSH PMAX IMAX PR The calculation of position value is performed with simple pixel accuracy i e t...

Page 25: ...is approximated PTRSH PL PR 2 In order to simplify the digital representation the division over 2 is not performed and thus an integer representation with one subpixel is realised The evaluation of 1...

Page 26: ...er beam profile for a given intensity threshold value PL Sum of intensity value Is Ip Sum of first order moment Ms Ip P AOI_TRSH PCOG PL IS The position value of laser line center of gravity of beam p...

Page 27: ...ers the 8 most significant bits of the 10 bit intensity data The Data Channel Assignment DC0 DC2 Alg DC0 DC1 DC2 IMG Grey scale values Not used Not used TRSH Maximum intensity Left edge of laser line...

Page 28: ...true write_data_of_DC2 AOI_idx Index Definition Index Range Description Profile_idx 1 16384 Index of Profile AOI_idx 1 4 Index of sensor AOI Examples of Output Frame Structure 1 Configuration with si...

Page 29: ...ta of DC2 readout from AOI2 5 Data of DC0 readout from AOI1 2 6 Data of DC2 readout from AOI1 7 Data of DC0 readout from AOI2 8 Data of DC2 readout from AOI2 9 Data of DC0 readout from AOI1 3 10 Data...

Page 30: ...of Profile Trigger Modes No Profile Trigger Mode PTM 0 Free run PTM0 1 Camera input 1 PTM1 t Profile Acquisition 1 Profile Acquisition 2 Profile Acquisition 3 IN1 Profile Acquisition 4 2 Camera input...

Page 31: ...ference Manual Rev 2 1 27 No Profile Trigger Mode PTM 3 Encoder Resolver Interface PTM3 Profile Acquisition 1 A B RS422 Example Trigger after number of steps 4 Counter Internal Trigger Profile Acquisi...

Page 32: ...edge of camera input 1 IN1 and stopped with rising edge of camera input 2 IN2 trigger start of sequencer frame trigger t trigger stop of sequencer When stop occurs the frame is not transmitted immedia...

Page 33: ...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 t trigger stop of sequencer...

Page 34: ...fo 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 b...

Page 35: ...ition as soon as the stop trigger occurs and transfers the complete contents of internal image buffer Using the ChunkImageInfo data block it is possible to detect how many image rows and ChunkAqInfo b...

Page 36: ...Manual Rev 2 1 XML Descriptors and Id s ChunkImageInfo Port Name FrameInfoPort ChunkID 11119999 ChunkID Port ChunkAcqInfo Port Name CameraChunkPort ChunkID 66669999 ChunkID Port ChunkImage Port Name I...

Page 37: ...d short reserved29_30 29 30 unsigned char reserved31 31 GV_ChunkAcqInfo define CHUNKACQINFO_TRIGGERSTATUS_BIT_TRIGGER_OVERRUN 0x01 define CHUNKACQINFO_TRIGGERSTATUS_BIT_RESOLVER_CNT_UP 0x02 define CHU...

Page 38: ...tion by means of a callback function Events provide real time notification on various stages of the acquisition sequence and data transfer Event Name Event ID Description AcquisitionStart 36882 Frame...

Page 39: ...4 RS232_GND reserved 5 ENC_A encoder Track1 RS422 reversible input A 6 ENC_B encoder Track2 RS422 reversible input B 7 OUT1 optoisolated Output1 8 OUT2 optoisolated Output2 9 IN1 optoisolated Input1...

Page 40: ...for optoisolated Input1 20 GND_IN2 GND for optoisolated Input2 Shield SHIELD is connected to camera case Part Numbers for I O Connector MDR 20 Description Part Number 3M 20 pin Connector 10120 lockab...

Page 41: ...3 LASER_DOUT Output for digital modulation of illumination device TTL signal 4 LASER_AOUT Output for analog modulation of illumination device 0 5 V DC 5 LASER_AIN Input for monitoring specific functi...

Page 42: ...38 C4 2350 GigE Camera Hardware Reference Manual Rev 2 1 Schematic of C4 2350 GigE digital inputs Schematic of C4 2350 GigE digital outputs...

Page 43: ...uration failure Boot procedure is repeated up to 3 times after which the Factory Image is loaded Green On camera start up completed FPGA configuration success Off FPGA configuration successful after e...

Page 44: ...drate 115200 Data bits 8 Parity None Stopbits 1 Handshake None Sample camera boot log MCB InitDone WaitClks 92637 104465 Bootloader build Jan 6 2012 12 36 24 Executing program starting at address 0x50...

Page 45: ...004799 ms File 2350S6 srec Rev 1030300 Device 1 Length 710970 00004805 ms GEV Version 1 1 00004808 ms XML URL1 Local C4_2350_GigE_1 3 3 zip 0x8C400904 0x4B02 00004814 ms XML URL2 http www automationte...

Page 46: ...N2 GND for optoisolated Input2 P4 2 IN2 optoisolated Input2 5 V P4 3 GND_IN1 GND for optoisolated Input1 P4 4 IN1 optoisolated Input1 5 V P4 5 OUT1 optoisolated Output1 P4 6 OUT2 optoisolated Output2...

Page 47: ...C4 2350 GigE Camera Hardware Reference Manual Rev 2 1 43 Mechanical Dimensions mm Weight of C4 I O Panel 50 g 58 90 48 Mount for DIN rail assembly...

Page 48: ...camera plug high flex 202 182 008 C4 cable length 7 m with locking screws on camera plug high flex 202 182 009 C4 cable length 10 m with locking screws on camera plug high flex High Flex GigE Cables f...

Page 49: ...Modification 1 0 28 05 2009 First version 1 1 11 09 2009 Update GenICam XML file Trigger Modes LED RS232 and boot log 1 2 03 12 2009 Update GenICam Features 1 3 12 02 2010 Update GenICam Features Tri...

Page 50: ...urer 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 th...