Automation Technology C4-2350-GigE Guida rapida per l'utente
C4-2350-GigE Camera
Hardware Reference
Manual
Rev 2.1
AT - Automation Technology GmbH
C4-2350-GigE Camera Hardware Reference Manual Rev. 2.1 •iii
Table of Contents
Table of Contents iii
C4 Camera Series Overview 2
Introduction................................................................................................... 2
Measuring Principle........................................................................................ 2
Geometry 1 ....................................................................................... 3
Geometry 2 ....................................................................................... 3
Geometry 3 ....................................................................................... 4
Geometry 4 ....................................................................................... 4
The C4-2350-GigE Camera General Specifications ......................................... 5
Mechanical Drawings: ........................................................................ 6
The C4-2350-GigE Camera Sensor Specifications............................................ 7
C4-2350-GigE Camera Operational Reference 8
C4-2350-GigE Camera GenICam Features..................................................... 8
DeviceInformation .............................................................................. 8
ImageFormatControls ......................................................................... 8
AcquisitionControl .............................................................................. 9
CameraControls – AOIs (Areas Of Interest)........................................... 9
CameraControls – ModeAndAlgorithmControls..................................... 9
CameraControls – SensorControls ..................................................... 10
CameraControls – SensorControls – AdvancedSensorsettings ............... 10
CameraControls – DataOutput.......................................................... 10
CameraControls – Commands .......................................................... 11
CameraIO ....................................................................................... 11
TriggerControls ................................................................................ 12
TriggerControls – ResolverRS422 ....................................................... 12
GigEVisionTransportLayer.................................................................. 13
UserSets .......................................................................................... 14
ChunkDataControl ........................................................................... 14
EventGeneration............................................................................... 14
FileAccessControl ............................................................................. 14
The GenICam Features Configuration of C4-2350-GigE ................................ 16
Correction of Column Fixed Pattern Noise (FPN) of C4-2350-GigE.................. 18
The C4-2350-GigE Camera Algorithms......................................................... 19
The Image Mode (IMG) .................................................................... 19
The Maximum Intensity Profile Mode (MAX)......................................... 20
The Threshold Mode (TRSH) .............................................................. 21
iv •C4-2350-GigE Camera Hardware Reference Manual Rev. 2.1
The Center Of Gravity Mode (COG).................................................. 22
The Data Output Format of C4-2350-GigE ................................................... 23
The Data Channel Assignment DC0-DC2........................................... 23
The Output Frame Structure .............................................................. 24
C4-2350-GigE Camera Triggering ...............................................................26
Description of Profile Trigger Modes................................................... 26
Description of Modes for Triggering of Sequencer/Frame and Profile
Acquisition ....................................................................................... 28
The Chunk Data Mode of C4-2350-GigE...................................................... 30
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 Interface............................................................................ 35
The I/O & Power Interface................................................................. 35
The Illumination Control.................................................................... 37
Schematic of C4-2350-GigE digital inputs.......................................... 38
Schematic of C4-2350-GigE digital outputs........................................ 38
Description of LEDs........................................................................... 39
Integrated RS232 serial interface and Camera Boot Log....................... 40
The External C4-I/O-Panel (#202 182 006).................................................. 42
The C4 cables ............................................................................................. 44
Service Information 45
Document Revision ...................................................................................... 45
Product Information and Updates .................................................................. 45
Warranty Conditions .................................................................................... 46
C4-2350-GigE Camera Hardware Reference Manual Rev. 2.1 •1
© 2014 Automation Technology GmbH.
All rights reserved. No part of this document shall be reproduced, stored in a retrieval system, or
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.
This document is subject to change without notification. All rights reserved.
2 •C4-2350-GigE Camera Hardware Reference Manual Rev. 2.1
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). This
extreme data reduction boosts the measuring speed to unprecedented levels without affecting the
performance of the 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 projected on the object from one direction. The C4 camera
views the object from another angle defining the triangulation geometry. The resulting sensor image is
evaluated by the C4 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.
C4-2350-GigE Camera Hardware Reference Manual Rev. 2.1 •3
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
α
Scan direction
α
4 •C4-2350-GigE Camera Hardware Reference Manual Rev. 2.1
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)
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
α
β
C4-2350-GigE Camera Hardware Reference Manual Rev. 2.1 •5
The C4-2350-GigE Camera General Specifications
Camera Controls
Synchronization Modes Free running, Triggered, Software Triggered
Exposure Modes Programmable, Pulse controlled
Shutter Modes Rolling Shutter
Digital Trigger Input 2 optoisolated inputs, 5 V
VIL, logic “0”, Voltage < 2.5 V
VIH, logic “1” Voltage > 3.5 V
Digital Output 2 optoisolated outputs
VOL, logic “0” Voltage 0.6 V
VOH, logic “1” Voltage VCC (internal 20 kOhm pull-up)
IOH, logic “1” output current (internal 20 kOhm pull-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 Speed Acquisition Full frame: 190 fps
Optical Interface
Lens Mount M42x1 with Back Focal Distance 6.52 mm
Adapter for C-Mount lens (must
be ordered separately)
Back Focal Distance 17.52 mm
Adapter for F-Mount lens with
Bajonett mount (must be
ordered separately)
Back Focal Distance 46.50 mm
Mechanical Interface
Camera Size 68 mm x 68 mm x 64.2 mm (C-Mount)
68 mm x 68 mm x 93.2 mm (F-Mount)
Mass (without optics) 350 g (C-Mount), 420 g (F-Mount)
Power connector 20-pin MDR
Ethernet connector RJ45
Illumination control connector 5-pin M9
6 •C4-2350-GigE Camera Hardware Reference Manual Rev. 2.1
Electrical Interface
Input 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
Mechanical Drawings:
C4-2350-GigE with C-Mount adapter:
C4-2350-GigE with F-Mount adapter:
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