Automation Technology C2-2040-GigE Guide rapide de l'utilisateur

C2-2040(HS)-GigE Camera

Hardware Reference

Manual

Rev 1.8

AT - Automation Technology GmbH

2 •C2-2040(HS)-GigE Camera Hardware Reference Manual Rev. 1.8

Table of Contents

Table of Contents 2

C2 Camera Series Overview 5

Introduction................................................................................................... 5

Measuring Principle........................................................................................ 5

Geometry 1 ....................................................................................... 6

Geometry 2 ....................................................................................... 6

Geometry 3 ....................................................................................... 7

Geometry 4 ....................................................................................... 7

The C2-2040(HS)-GigE Camera General Specifications ................................... 8

Mechanical Drawings ......................................................................... 9

Temperature Range (Operation/Storage) ............................................ 10

Heat Dissipation ............................................................................... 10

General Guidelines for Heat Dissipation............................................. 10

Using the C2 Heat Sink..................................................................... 11

Temperature Development of C2 Series after Power-Up ....................... 12

The C2-2040(HS)-GigE CMOS Imager Specifications..................................... 13

C2-2040(HS)-GigE Camera Operational Reference 15

C2-2040(HS)-GigE Camera GenICam Features............................................. 15

DeviceControl .................................................................................. 15

ImageFormatControl ........................................................................ 15

AcquisitionControl ............................................................................ 16

CameraControl – AOIs (Areas Of Interest).......................................... 17

CameraControl – FIRControl ............................................................. 17

CameraControl – ModeAndAlgorithmControl ..................................... 17

CameraControl – ModeAndAlgorithmControl - AoiTracking ................. 18

CameraControl – ModeAndAlgorithmControl - AoiSearch.................... 18

CameraControl – ModeAndAlgorithmControl - ColumnEvaluationMask...... 18

CameraControl – SensorControl........................................................ 18

CameraControl – SensorControl – AdvancedSensorsettings.................. 19

CameraControl – DataOutput ........................................................... 19

CameraControl – Commands............................................................ 19

CameraIO ....................................................................................... 19

TriggerControl.................................................................................. 20

TriggerControl – ResolverRS422 ........................................................21

TriggerControl – AutoStart................................................................. 21

TransportLayerControl....................................................................... 21

C2-2040(HS)-GigE Camera Hardware Reference Manual Rev. 1.8 •3

TransportLayerControl - GigEVision.................................................... 21

UserSetControl ................................................................................. 23

ChunkDataControl ........................................................................... 23

EventControl .................................................................................... 23

FileAccessControl ............................................................................. 23

The GenICam Features Configuration of C2-2040(HS)-GigE .......................... 25

The C2-2040(HS)-GigE Camera Algorithms................................................... 27

The Image Mode (IMG) .................................................................... 27

The Maximum Intensity Profile Mode (MAX)......................................... 28

The Threshold Mode (TRSH) .............................................................. 29

The Center Of Gravity Mode (COG).................................................. 30

The FIR Peak Mode (FIR PEAK)........................................................... 31

The FIR Filter Function .................................................................................. 32

The High Dynamic Range 3D Feature (HDR-3D) of C2-2040(HS)-GigE............ 33

Multiple Slope Function..................................................................... 33

Multi-Frame Readout Mode (NDR) ..................................................... 36

The Data Output Format of C2-2040(HS)-GigE ............................................. 38

The Data Channel Assignment DC0, DC1 and DC2............................ 38

The Output Frame Structure .............................................................. 40

Advanced AOI Functions .............................................................................. 44

C2-2040(HS)-GigE Camera Triggering ......................................................... 45

Description of Profile Trigger Modes................................................... 45

Description of Modes for Triggering of Sequencer/Frame and Profile

Acquisition ....................................................................................... 46

The Chunk Data Mode of C2-2040(HS)-GigE................................................ 48

General Description.......................................................................... 48

Payload Layout in Chunk Data Mode ................................................. 49

XML Descriptors and Id’s ................................................................... 50

Chunk Data Structure........................................................................ 51

The GigE-Vision Events of C2-2040(HS)-GigE .................................... 52

C2-2040(HS)-GigE Camera Interface............................................................ 53

The GigE Interface............................................................................ 53

The I/O & Power Interface................................................................. 54

Description of LEDs........................................................................... 55

Integrated RS232 serial interface and Camera Boot Log....................... 56

The External C2-I/O-Panel (Rev. 2.0) ............................................................ 58

Schematic of isolated digital I/Os located on the C2-I/O-Panel............ 65

Availability of I/O and Laser Control Signals ....................................... 67

depending on the revision of C2-I/O-Panel and C2 camera

(Compatibility Overview) ................................................................... 67

The C2 cables ............................................................................................. 69

Service Information 74

Document Revision ...................................................................................... 74

Product Information and Updates .................................................................. 75

Warranty Conditions .................................................................................... 76

4 •C2-2040(HS)-GigE Camera Hardware Reference Manual Rev. 1.8

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.

C2-2040(HS)-GigE Camera Hardware Reference Manual Rev. 1.8 •5

C2 Camera Series Overview

Introduction

The C2 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). This

extreme data reduction boosts the measuring speed to unprecedented levels without affecting the

performance of the connected image processing unit.

Measuring Principle

The C2 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 C2 camera

views the object from another angle defining the triangulation geometry. The resulting sensor image is

evaluated by the C2 camera core 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:

∆X= resolution along the laser line (lateral),

∆Y= resolution perpendicular to the laser line (longitudinal in the direction of motion),

∆Z= height resolution.

6 •C2-2040(HS)-GigE Camera Hardware Reference Manual Rev. 1.8

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)

Scan direction

C2-2040(HS)-GigE Camera Hardware Reference Manual Rev. 1.8 •7

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)

Geometry 4

The camera views the object under an angle α, while the laser line is projected under a different

angle βat the camera side.

The height resolution can be approximated: ∆Z ≈∆X * cos(β) / sin(α- β),

Scan direction

αβ

Scan direction

8 •C2-2040(HS)-GigE Camera Hardware Reference Manual Rev. 1.8

The C2-2040(HS)-GigE Camera General Specifications

Camera Controls

Synchronization Modes Free running, Triggered, Software Triggered

Exposure Modes Programmable, Pulse controlled

Shutter Modes Global Shutter

Digital Trigger Input 2 inputs, 5 V

VIL, logic “0” Voltage < 1.5 V

VIH, logic “1” Voltage > 3.5 V

Digital Output 2 outputs

VOL, logic “0” Voltage < 0.5 V

VOH, logic “1” Voltage ≥4.5 V

IOH, logic “1” output current 20 mA

IOL, logic “0” output current 20 mA

Features

3D-Algorithms MAX, TRSH, COG, FIR PEAK

High Speed Acquisition Full frame: 340 fps

High Dynamic Range Imaging Multiple Slope, Multi-Frame Readout

Multiple AOIs / Laser lines Up to 8

Optical Interface

Lens Mount C-Mount with Back Focal Distance 17.526 mm

Mechanical Interface

Camera Size 44 mm x 44 mm x 66 mm

Mass (without optics) 125 g

Power connector 17 pin, M12 connector

Ethernet connector 8 pin, A-coded M12 connector

Electrical Interface

Input Voltage 10 – 24 V DC (max. 27 V DC)

Power consumption < 6 W

Operating Temperature 0 °C to +50 °C (non condensing)

Output Data Interface Gigabit Ethernet (IEEE 802.3)

Communication Protocol GigE Vision with GeniCam

C2-2040(HS)-GigE Camera Hardware Reference Manual Rev. 1.8 •9

Mechanical Drawings

C2-2040(HS)-GigE

44,00

66,00

32,00

4x M2.5 4.5mm deep

Hole pattern identical on all 4 sides

Example Protection Tube (#202 201 100)

For Lens with L=30 mm & Ø36 mm

Protective Tube

Part Number #

Max. Lens Ø (mm) Max. Lens length

(mm)

Camera Overall length (mm)

202 201 100 36 30 100

202 201 101 36 80 150

202 201 102 36 40 110

202 201 103 36 50 120

202 201 104* 50 55 130

*max. tube diameter 62 mm

(Further Models on Request)

M12

female

IP67

M12

male

IP67

10 •C2-2040(HS)-GigE Camera Hardware Reference Manual Rev. 1.8

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: 20 % to 80 %, relative, non-condensing

Storage temperature: -20 °C to +80 °C (-4 °F to +176 °F)

Storage humidity: 20 % to 80 %, relative, non-condensing

Heat Dissipation

The operation of C2 sensors requires sufficient heat dissipation. Due to the small size of the camera

housing there is not enough cooling surface to dissipate the thermal power loss generated by the core

electronics and sensor chip.

All 3D sensors of the C2 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 C2 sensor on a heat conductive material,

such as a metal surface. However if it is not possible to mount the camera on any heat dissipating

carrier, then it is necessary to use a heat sink with the recommended 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 C2 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.

Ce manuel convient aux modèles suivants

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