C4-1280-GigE Camera Hardware Reference Manual Rev 1.
Table Of Contents Table Of Contents iii C4 Camera Series Overview 6 Introduction................................................................................................... 6 Measuring Principle........................................................................................ 6 Geometry 1 ....................................................................................... 7 Geometry 2 ....................................................................................... 7 Geometry 3 ..
The Image Mode (IMG) .................................................................... 23 The Maximum Intensity Profile Mode (MAX) ......................................... 24 The Threshold Mode (TRSH) .............................................................. 25 The Center Of Gravity Mode (COG) .................................................. 26 The High Dynamic Range 3D Feature (HDR-3D) of C4-1280-GigE.................. 27 MultipleSlope Function....................................................
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C4 Camera Series Overview Introduction The C4 camera 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).
Geometry 1 The laser line is projected perpendicular to the object surface, while the camera views the object under the triangulation angle α. The height resolution can be approximated: ∆Z ≈ ∆X / sin(α) Geometry 2 The camera views the object perpendicularly to its surface, while the laser line is projected under the triangulation angle α. The height resolution can be approximated: ∆Z ≈ ∆X / tan(α) α C4-1280-GigE Camera Hardware Reference Manual Rev. 1.
Geometry 3 The camera views the object under an angle α, while the laser line is projected under a different angle β. The height resolution can be approximated: ∆Z ≈ ∆X * cos(β) / sin(α + β), in case α= β (direct reflex) : ∆Z ≈ ∆X / 2* sin(α) α β 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 C4-1280-GigE Camera General Specifications Camera Controls Synchonization Modes Free running, Triggered, Software Triggered Exposure Modes Programmable, Pulse controlled Shutter Modes Global Shutter Digital Trigger Input 2 optoisolated inputs, 5V or 24V with C4-I/O-Panel VIL, logic ‚0’ Voltage < 2.5V VIH, logic ‚1’ Voltage > 3.5V Encoder Trigger Input RS422 Standard with 100 Ohm termination Digital Output 2 optoisolated outputs VOL, logic ‚0’ Voltage 0.
Mechanical Interface Mass (without optics) 340g (C-Mount), 410g (F-Mount) Power connector 20-pin MDR Ethernet connector RJ45 Illunimation control connector 5-pin M9 Electrical Interface Input Voltage 10 - 24V DC Power consumption <10W Operating Temperature 0°C to +50°C (non condensing) Output Data Interface Gigabit Ethernet (IEEE 802.
The C4-1280-GigE Camera Sensor Specifications Parameters Specifications Sensitivity at peak response 20000 LSB / µJ / cm² @680nm Resolution 1280 x 1024 Pixel Size 14µm x 14µm Sensor Size 17.92mm x 14.34mm, diagonal: 22.95mm Optics 1” Sensor ADC Resolution 10 bit Sensor Dynamic Range 90dB Max. Internal Full-Frame Rate 500fps Max. External Full-Frame Rate 80fps Effective Frame / Profile Rate at Max.
C4-1280-GigE Camera Operational Reference C4-1280-GigE Camera GenICam Features DeviceInformation Name DeviceVendorName DeviceModelName DeviceManufacturerInfo DeviceVersion DeviceID Rev. 1.0 1.0 1.0 1.0 1.0 Interface IString IString IString IString IString Access R R R R R DeviceFirmwareVersion DeviceUserID DeviceScanType 1.0 1.0 1.0 IString IString IEnumeration R R/W R DeviceReset DeviceRegistersStreamingStart 1.0 1.2 ICommand ICommand W W DeviceRegistersStreamingEnd 1.
Name ReverseY Rev. 1.0 Interface IBoolean Access R/W OffsetX TestImageSelector 1.0 1.0 IInteger IEnumeration R/W R/W LinePitch PixelDynamicRangeMin PixelDynamicRangeMax 1.0 1.0 1.0 IInteger IInteger IInteger R R R Description When set to true, this parameter flips the image vertically. X Offset of AOI Selection of the test image to be used. - Off - GreySensorColumnPattern Distance between consecutive lines in bytes. Minimum pixel value sent by the camera. Maximum pixel value sent by the camera.
Name Rev. Interface Access ClearInvalidPos AT IBoolean R/W ValidationWidthMin AT IInteger R/W ValidationWidthMax AT IInteger R/W ValidationSumMin AT IInteger R/W ValidationSumMax AT IInteger R/W Description immediately after detecting a Gauss falling edge. Clear the result, if the position value is invalid. Enable validation of position value using tolerances for width and sum of intensity. Perform validation at the end of scan of image column.
NDRMode AT IEnumeration R/W NDRSingleFrameNumber NDRExposureTimeAbs_1 NDRExposureTimeAbs_2 NDRExposureTimeAbs_3 NDRExposureTimeAbs_4 AT AT AT AT AT IInteger IInteger IInteger IInteger IInteger R/W R/W R/W R/W R/W Non Destructive Readout (NDR) Mode: - Off - On - SingleFrameMode. NDR single frame number. NDR exposure time 1. NDR exposure time 2. NDR exposure time 3. NDR exposure time 4. CameraControls – SensorControls – AdvancedSensorsettings Name FPNCorrection Rev.
CameraIO Name Input1 Rev.
Name ClearTriggerOverrun Rev. AT Interface ICommand Access W Description - EncoderResolverInterfaceRS422. Command to clear the trigger overrun flag. TriggerControls – ResolverRS422 Name TriggerDivider TriggerCoord TriggerDirectionMode Rev.
Name GevDeviceModeCharacterSet Rev. 1.2 Interface IEnumeration Access R GevInterfaceSelector 1.2 IEnumeration R GevMACAddress GevSupportedIPConfigurationLLA 1.2 1.2 IInteger IBoolean R R/W GevSupportedIPConfigurationDHC P GevSupportedIPConfigurationPers istentIP GevCurrentIPConfigurationLLA 1.2 IBoolean R/W 1.2 IBoolean R/W 1.2 IBoolean R GevCurrentIPConfigurationDHCP 1.
UserSets Name UserSetSelector Rev. 1.2 Interface IEnumeration Access R/W Description Selects the feature User Set to load, save or configure: - Factory - UserSet1 - UserSet2 - UserSet3 Loads the User Set specified by UserSetSelector to the device and makes it active. Saves the selected User Set specified by UserSetSelector to persistent memory. Selects the feature User set to load at power up: - Factory - UserSet1 - UserSet2 - UserSet3 UserSetLoad[UserSetSelector] 1.
Name Rev. Interface Access FileOperationStatus 1.2 IEnumeration R FileOperationResult 1.2 IInteger R FileSize 1.2 IInteger R 20 • Description device file storage and the FileAccessBuffer. Represents the file operation execution status: - Success - Failure Represents the file operation result. For Read or Write operations, the number of successfully read/written bytes is returned. Represents the size of the selected file in bytes. C4-1280-GigE Camera Hardware Reference Manual Rev. 1.
The GenICam Features Configuration of C4-1280-GigE Due to dependencies of the XML nodes of C4-1280-GigE registers, it is recommended to follow a specific order, when configuring the GenICam features of the camera.
MemH 3.2 MemL 2.55 BlackLevelAdjust 80 EnableDC0 0 EnableDC1 0 EnableDC1TrshWidth 0 EnableDC1Width 0 EnableDC1Flags 0 EnableDC2 1 EnableDC2TrshSP 0 EnableDC0Shift 0 AcquisitionFrameCount 1 AcquisitionMode Continuous Output1 Out1_SequencerActive Output2 Out2_IntegrationActive LaserPower 0 TurnLaserOn 0 TurnLaserOnAuto 0 Output1MinPulseWidth 0 22 • C4-1280-GigE Camera Hardware Reference Manual Rev. 1.
The C4-1280-GigE Camera Algorithms The C4-1280-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).
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 (PMAX) as well as the maximum intensity value (IMAX). IMAX AOI_TRSH PMAX PR The calculation of position value is performed with simple pixel accuracy, i.e. the evaluation of 1024 rows delivers a position range from 0 to 1023 pixels (10 bit).
The Threshold Mode (TRSH) In this mode the position of left (PL) and right (PR) edge of the laser beam profile are detected for a given threshold value of intensity AOI_TRSH. AOI_TRSH PL PTRSH PR The position value of the laser line 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 1024 rows delivers a position range from 0 to 2047 pixels (11 bit).
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 PL , Sum of intensity value Is = ∑ Ip, Sum of first order moment Ms = ∑Ip * P . IS AOI_TRSH PL PCOG The position value of laser line (center of gravity of beam profile) is then obtained from: PCOG = PL + Ms / Is .
The High Dynamic Range 3D Feature (HDR-3D) of C41280-GigE One of the most powerful features of C4-1280-GigE is the HDR-3D (High Dynamic Range) functionality, which allows to scan 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.
SingleSlope-Modus (default mode) Intensity 1 1 Saturation 2 2 3 3 Integration time DualSlope mode Intensity 1 1 Saturation 2 2 3 3 DS Reset Level DS Reset Time Integration time TripleSlope mode Intensity 1 Saturation 2 3 1 2 TS Reset Level DS Reset Level 3 DS Reset TS Reset Time Time Integration time 28 • C4-1280-GigE Camera Hardware Reference Manual Rev. 1.
Application of MultipleSlope function in the image of a laser line projected on a surface with nonhomogeneous reflectivity (black & white pattern) DualSlope TripleSlope 1100 1100 1000 1000 1000 900 900 900 800 800 800 700 600 500 400 300 200 100 Intensity 1100 Intensity Intensity SingleSlope 700 600 500 400 300 200 0 5 10 15 20 25 30 35 Sensor row # 40 700 600 500 400 300 200 100 100 0 5 10 15 20 25 30 Sensor row # C4-1280-GigE Camera Hardware Reference Manual Rev. 1.
Non-Destructive Readout (NDR) Mode With the NDR mode it is possible to readout of up to 4 images at different integration levels during one exposure period. The principle is comparable to multiple scans with different integration times with the advantage of taking all data during one single integration period. 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 Data Output Format of C4-1280-GigE 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.
The Output Frame Structure Depending on configuration, the C4-1280-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); } } 2) NDR mode enabled (NDRMode=”On”) for (profile_idx=1; profile_idx <=Prof
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=10 NumAOIs=1 EmableDC0= false, EnableDC1=false EnableDC2=true NDRMode=”Off” Row # Description Profile # 1 Data of DC2 readout from AOI1 1 2 Data of DC2 readout from AOI1 2 3 Data of DC2 readout from AOI1 3 4 Data of DC2 readout from AOI1 4 5 Data of DC2 readout from AOI1 5 6 Data of DC2 readout from AOI1 6 C4-1
2) Configuration with two AOIs, two DCs, disabled NDR mode and output of 5 profiles resulting to frame height of 20 rows: ProfilesPerFrame=5 NumAOIs=2 EmableDC0= true, EnableDC1=false EnableDC2=true NDRMode=”Off” Row # Description Profile # 1 Data of DC0 readout from AOI1 1 2 Data of DC2 readout from AOI1 3 Data of DC0 readout from AOI2 4 Data of DC2 readout from AOI2 5 Data of DC0 readout from AOI1 6 Data of DC2 readout from AOI1 7 Data of DC0 readout from AOI2 8 Data of DC2 readout from
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=6 NumAOIs=1 EmableDC0= false, EnableDC1=false EnableDC2=true NDRMode=”On” NumberOfNDRFrames=2 Row # Description Profile # 1 Data of DC2 extracted from NDR1, readout from AOI1 1 2 Data of DC2 extracted from NDR2, readout from AOI1 3 Data of DC2 extracted from NDR1, readout from AOI1 4 Data of DC2 extracted from NDR2, readout from AOI1 5 Data o
Advanced AOI Functions The C4 camera 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.
C4-1280-GigE Camera Triggering Description of Profile Trigger Modes No. Profile Trigger Mode (PTM) 0 Free-run (PTM0) 1 Camera input 1 (PTM1) IN1 Profile Acquisition 1 Profile Acquisition 2 Profile Acquisition 3 Profile Acquisition 4 t 2 Camera input 2 (PTM2) IN2 Profile Acquisition 1 Profile Acquisition 2 Profile Acquisition 3 Profile Acquisition 4 t C4-1280-GigE Camera Hardware Reference Manual Rev. 1.
No. Profile Trigger Mode (PTM) 3 Encoder/Resolver Interface (PTM3) RS422 A B Example: Trigger after number of steps = 4 Counter Profile Acquisition 1 Profile Acquisition 2 Profile Acquisition 3 Internal Trigger t 38 • C4-1280-GigE Camera Hardware Reference Manual Rev. 1.
Description of Modes for Triggering of Sequencer/Frame and Profile Acquisition No.
No.
The Chunk Data Mode of C4-1280-GigE General Description The C4-1280-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.
Furthermore, when ChunkMode is enabled, the camera sends the full payload, even if the ChunkImage or ChunkAqInfo blocks contain partially valid data. The number of valid ChunkImage rows and ChunkAqInfo blocks can be read from ChunkImageInfo. 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.
XML Descriptors and Id’s ChunkImageInfo 11119999 ChunkAcqInfo 66669999 ChunkImage A5A5A5A5 C4-1280-GigE Camera Hardware Reference Manual Rev. 1.
Chunk Data Structure #pragma pack(push) #pragma pack(1) typedef struct _GV_ChunkAcqInfo { unsigned int unsigned int unsigned int signed int unsigned char unsigned short unsigned short unsigned char unsigned char unsigned short unsigned short unsigned short unsigned short unsigned char } GV_ChunkAcqInfo; timeStamp64L; // 0..3 timeStamp64H; // 4..7 frameCnt; // 8..11 triggerCoord; // 12..15 triggerStatus; // 16 DAC; // 17..18 ADC; // 19..20 INT_idx; // 21 AOI_idx; // 22 AOI_ys; // 23..24 AOI_dy; // 25..
The GigE-Vision Events of C4-1280-GigE The C4-1280-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.
C4-1280-GigE Camera Interface The GigE Interface Pin Nr. GigE Signal Name 1 MX0+ 2 MX0- 3 MX1+ 4 MX1- 5 MX2+ 6 MX2- 7 MX3+ 8 MX3- Shield Shield The I/O & Power Interface Pin Nr.
Pin Nr.
The Illumination Control Pin Nr. Signal Name Description 1 VCC_LASER Output to power the illumination device (5V, max.
Schematic of C4-1280-GigE digital inputs C4-1280-GigE Camera Hardware Reference Manual Rev. 1.
Schematic of C4-1280-GigE digital outputs 50 • C4-1280-GigE Camera Hardware Reference Manual Rev. 1.
Description of LEDs LED 1 (PWR) Description During boot: Green On = FPGA configuration done Red On = Loader Stop. Boot failed. No valid Image could be loaded. After boot: Green On= Boot completed 2 (USR) During boot: Green fast blink = boot procedure takes places Green blink = Configuration Error, FPGA configuration failure. Boot procedure is repeated up to 3 times, after which the Factory-Image is loaded.
Integrated RS232 serial interface and Camera Boot Log During boot procedure, the camera outputs a log via the integrated RS232 serial interface. The external C4-I/O-Panel provides a D-sub 9-pin male socket for monitoring the boot log. A null-modem cable (crosslinked) must be used to connect the C4-I/O-Panel to a host PC.
00004768 ms: Serial Number: 20502217 00004772 ms: Device Version: 2.0.0 00004775 ms: Firmware Version: 1.4.1 00004778 ms: Application build: Development 1.4.0.2374 - Fri Mar 16 09:07:23 2012 00004786 ms: LwIP build: Patched LwIp 1.30 Mar 16 2012, 08:55:33 00004791 ms: Installed Modules: 00004794 ms: File: C4_1280_GigE_1.3.4.zip, Rev.: 1030400, Device: 1, Length: 2274949 00004808 ms: File: Bitstreamfb.bin, Rev.: 1000000, Device: 1, Length: 2453092 00004815 ms: File: 1280S6.srec, Rev.
The External C4 I/O Panel Clamp Pin Nr.
Mechanical Dimensions (mm) 58 90 48 Weight of C4-I/O-Panel: 50 g Mount for DIN rail assembly C4-1280-GigE Camera Hardware Reference Manual Rev. 1.
Service Information Document Revision Rev. Nr. 1.0 1.1 Date 05.01.2009 13.05.2009 1.2 1.3 1.4 1.5 1.6 1.7 1.8 27.05.2009 03.12.2009 12.02.2010 05.10.2010 05.03.2011 05.01.2012 13.08.2012 Modification First version Added mechanical drawings, information about I/O panel, I/O cable. Updated GenICam file description.
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.
