Automation Technology 202 201 005 User Manual Download

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C2 Series

User Manual

for High Speed 3D Sensors

Rev 1.9

AT - Automation Technology GmbH

Summary of Contents for 202 201 005

Page 1: ...C2 Series User Manual for High Speed 3D Sensors Rev 1 9 AT Automation Technology GmbH...

Page 2: ...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 dam...

Page 3: ...ard 13 C2 2040 GigE with C Mount Standard 13 Part Number for C2 Series 13 Part Number for Scheimpflug Adapter Option 13 Lens Protection Tubes for the C2 Series 14 C Mount Lens Protection Tube with 44m...

Page 4: ...ure 43 The GigE Vision Events 44 The Web Interface 45 The External C2 I O Panel Rev 2 0 47 Mechanical Drawing 48 Clamp Configuration 48 Mechanical Dimension 50 Electrical Specifications of C2 I O Pane...

Page 5: ...t 70 Transport Layer Control 70 GigE Vision 70 User Set Control 70 Chunk Data Control 70 Event Control 70 File Access Control 70 CXEXPLORER OVERVIEW 71 The CXExplorer 71 CXExplorer Features 72 Image W...

Page 6: ...ns 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...

Page 7: ...IOL logic 0 drive current max 100 mA IOH logic 1 drive current max 100 mA Analog Output Range 0V to 5V DC Encoder Resolver Input A A B B Z Z High Speed Triple RS 422 Receiver Max input voltage 5V DC T...

Page 8: ...tion Protocol GigE Vision with GenICam Mechanical Interface Camera Size 44 mm x 44 mm x 61 66 mm Mass without optics 125 g Power connector 17 pin M12 connector Ethernet connector 8 pin A coded M12 con...

Page 9: ...7 4 m Sensor Size 4 795 mm x 3 611 mm diagonal 6 mm Sensor Format 1 3 Sensor ADC Resolution 10 bit Sensor Dynamic Range 90 dB with HDR Max Internal Full Frame Rate for Image Mode 520 fps Max External...

Page 10: ...Format 2 3 Sensor ADC Resolution 10 bit Sensor Dynamic Range 90 dB with HDR Max Internal Full Frame Rate for Image Mode 340 fps Max External Full Frame Rate for Image Mode limited due to GigE bandwidt...

Page 11: ...ries User Manual Rev 1 9 9 The Sensors Spectral Response 0 10 20 30 40 50 60 70 350 400 450 500 550 600 650 700 750 800 850 900 950 1000 1050 QE WAVELENGTH nm SPECTRAL RESPONSE C2 2040 HS GigE C2 640...

Page 12: ...s 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 mat...

Page 13: ...t Sink AT provide a specially designed heat sink to improve the cooling of C2 sensors in applications lacking sufficient thermal dissipation Absolute thermal resistance for camera housing Rth 5 K W Ab...

Page 14: ...e after power up without any additional mounted heat sink This case is very unlike because in most industrial applications the C2 sensor is mounted on a heat conductive carrier e g metal plate which w...

Page 15: ...rt Number for Scheimpflug Adapter Option Part Number Product Name 202 186 007 C2 Scheimpflug Adapter 10 with C Mount for C2 640GigE C2 2040 HS GigE 44 00 44 00 32 00 32 00 61 00 4x M2 5 4 5mm deep Hol...

Page 16: ...th different sizes C Mount Lens Protection Tube with 44mm Part Number for Lens Protection Tubes Part Number Tube mm Tube Length mm Max Lens mm Max Lens Length mm Camera Overall Length X mm 202 201 100...

Page 17: ...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 follo...

Page 18: ...rojected under the triangulation angle The height resolution can be approximated Z X tan Geometry 3 The camera views the object under an angle while the laser line is projected under a different angle...

Page 19: ...al Rev 1 9 17 Geometry 4 The camera views the object under an angle while the laser line is projected under a different angle at the camera side The height resolution can be approximated Z X cos sin S...

Page 20: ...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 values higher than...

Page 21: ...rmed with simple pixel accuracy i e the evaluation of 1088 rows delivers a position range from 0 to 1087 pixels 11 bit If there is more than one local maximum e g when the intensity is saturated the p...

Page 22: ...over 2 is not performed and thus an integer representation with one subpixel is realised The evaluation of 1088 rows delivers a position range from 0 to 2174 pixels 11 bit In threshold mode the camer...

Page 23: ...ity value Is Ip Sum of first order moment Ms Ip P The position value of laser line center of gravity of beam profile is then obtained from PCOG PL Ms Is In addition the laser line width can be deliver...

Page 24: ...t with subpixel accuracy up to 6 subpixels In this case the threshold AOI_TRSH is used to detect the first rising edge of the derived intensity signal Valid values of AOI_TRSH range from 513 to 1023 M...

Page 25: ...d in a smoothing or differentiating mode FIR in smoothing mode in combination with MAX TRSH and COG algorithms FIR in differentiating mode FIR PEAK Pre defined templates with 5 7 or 9 coefficients let...

Page 26: ...a piecewise linear response The intensity of illuminated pixels which reach a certain level is clipped while darker pixels remain untouched The clipping level can be adjusted 2 times within one exposu...

Page 27: ...e Points Weld Seam Intensity 1 3 2 Saturation 1 3 2 Exposure Time 100 0 Exposure Time Intensity 3 Saturation 1 2 Saturation Threshold 1 3 1 2 100 0 Exposure Limit 1 Knee Point 1 3 1 2 Intensity 3 1 2...

Page 28: ...alSlope TripleSlope More details regarding the operation of the MultipleSlope function can be found in a separate application note 0 5 10 15 20 25 30 35 40 100 200 300 400 500 600 700 800 900 1000 110...

Page 29: ...R with 2 frames when subsequent sensor images are acquired The exposure times for NDR frame 1 and 2 are depicted with It1 and It2 respectively Please note that the readout of the second frame R2 canno...

Page 30: ...ensity Not used Not used True Derivative First derivative of sensor intensity Not used Not used True Smoothing Smoothed sensor intensity Not used Not used MaximumIntensity False Maximum intensity of G...

Page 31: ...h 1 2N pixel resolution where N number of subpixel bits 0 6 True Smoothing Sum of intensity values of Gauss Is in smoothed sensor image Position of rising edge of Gauss line PosL or Gauss width PosR P...

Page 32: ...mAOIs 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 profil...

Page 33: ...with single AOI single DC disabled NDR mode and output of 6 profiles resulting to a frame height of 6 rows ProfilesPerFrame 6 NumAOIs 1 EnableDC0 false EnableDC1 false EnableDC2 true NDRMode Off Row...

Page 34: ...4 Data 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 D...

Page 35: ...lse 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 Da...

Page 36: ...he optimal position of the laser line In that case the laser line is automatically centered to the AOI The user must only define the minimum required AOI Height number of required sensor rows for the...

Page 37: ...PTM2 3 Encoder Resolver Interface PTM3 t Profile Acquisition 1 Profile Acquisition 2 Profile Acquisition 3 IN1 Profile Acquisition 4 t Profile Acquisition 1 Profile Acquisition 2 Profile Acquisition...

Page 38: ...ss Visibility Description TriggerDivider IInteger RW Beginner Trigger divider Min 1 Max 65535 Increment 1 TriggerCoord IInteger RO Beginner Trigger coordinate TriggerDirectionMode IBoolean RW Beginner...

Page 39: ...s User Manual Rev 1 9 37 during image acquisition only UseAlternateResolverInputs IBoolean RW Guru Use IN1 IN2 instead of A B as inputs UseAlternateResolverInputsInverted IBoolean RW Guru Use inverted...

Page 40: ...IN1 and stopped with rising edge of camera input 2 IN2 When stop occurs the frame is not transmitted immediately over the GigE interface but the camera continues to acquire profile data until the pred...

Page 41: ...y over the GigE interface Using the Chunk Data mode of C2 camera it is possible to determine how many rows of the frame contain valid data see ChunkImageInfo for details PTM0 free run PTM3 RS422 5 Aut...

Page 42: ...o is the last ChunkData sent by the camera and contains following data Number of valid rows in ChunkImage Number of valid ChunkAcqInfo blocks Flags identifying the current frame as Start or Stop and t...

Page 43: ...block it is possible to detect how many image rows and ChunkAcqInfo blocks are valid in the payload buffer The tag of ChunkData has big endian byte order The data of ChunkData has little endian byte...

Page 44: ...9 XML Descriptors and ID s ChunkImageInfo Port Name FrameInfoPort ChunkID 11119999 ChunkID Port ChunkAcqInfo Port Name CameraChunkPort ChunkID 66669999 ChunkID Port ChunkImage Port Name ImageInfoPort...

Page 45: ...8 11 signed int triggerCoord 12 15 unsigned char triggerStatus 16 unsigned short DAC 17 18 unsigned short ADC 19 20 unsigned char INT_idx 21 unsigned char AOI_idx 22 unsigned short AOI_ys 23 24 unsign...

Page 46: ...sition is started AcquisitionEnd 36883 9013 Frame Acquisition is terminated TransferStart 36884 9014 Frame transfer is started from the camera TransferEnd 36885 9015 Frame transfer is terminated AoiTr...

Page 47: ...pdate Button in the panel header Each button updates the data for the specific panel Collapsing and opening the panel by clicking the Arrow on the right hand side At the System Log panel is an additio...

Page 48: ...46 C2 Series User Manual Rev 1 9...

Page 49: ...he C2 camera It features the following functions integrated receiver for use with differential RS422 HTL as well as single ended encoder signals direct I C interface to control laser or other external...

Page 50: ...ND Supply chain of camera ground J201 4 VCC Supply chain of camera voltage J300 1 GND Encoder ground J300 2 HZ HTL encoder index track Z J300 3 HZ HTL encoder index track Z single ended index track Z...

Page 51: ...HV OUT1 Isolated output 1 9V 24V J400 4 HV OUT2 Isolated output 2 9V 24V J400 5 OUT1 Isolated output 1 5V J400 6 OUT2 Isolated output 2 5V J400 7 IN1 Isolated input 1 5V 24V J400 8 IN2 Isolated input...

Page 52: ...50 C2 Series User Manual Rev 1 9 Mechanical Dimension 78mm 90mm Mount for DIN rail assembly Weight 110 g 57mm...

Page 53: ...acity 4 mA VCC_ext 9V to 45V absolute max ratings VOL logic 0 Voltage 3V no load VOH logic 1 Voltage VCC_ext 0 1V driving capacity 1 A The isolated Inputs of the C2 I O Panel Rev 2 0 can be operated b...

Page 54: ...mpers HTLs_A HTLs_B and HTLs_Z must be set The isolated digital outputs of C2 I O Panel can be operated either with TTL level or with higher voltage 9 24V DC In the latter case an external voltage sup...

Page 55: ...D may be set in order to let the camera ground be connected to the shield Use of Power Supply Chain with Interlock Function to supply a Laser Suitable for lasers capable of operating with camera suppl...

Page 56: ...54 C2 Series User Manual Rev 1 9 Schematic of Isolated digital I Os located on the C2 I O Panel...

Page 57: ...2 HV OUT1 Not available Not available Available Available HV OUT2 Not available Not available Available Available OUT1 Available Available Available Available OUT2 Available Available Available Availa...

Page 58: ...ries User Manual Rev 1 9 The C2 GigE Interface The GigE Interface M12 GigE Female Connector Pin Assignment Pin No GigE Signal Name 1 BI_DC 2 BI_DD 3 BI_DD 4 BI_DA 5 BI_DB 6 BI_DA 7 BI_DC 8 BI_DB Shiel...

Page 59: ...UT Output for analog modulation of illumination device 0 5V DC 8 VCC_EXT camera supply voltage 12 24V DC 9 GND_EXT Camera supply ground 10 RS232_RX RS 232 compatible input 11 RS232_TX RS 232 compatibl...

Page 60: ...network cable connected Green On network connected After Network connected Green On CCP status connected Off CCP status disconnected Red On no network found no network cable connected 3 LSR Red On Las...

Page 61: ...ws Baudrate 115200 Data bits 8 Parity None Stopbits 1 Handshake None Sample camera boot log Bootloader build May 31 2013 16 24 31 Executing program starting at address 0x50000000 00004682 ms Camera st...

Page 62: ...Rev 1020300 Device 1 Length 726124 00004904 ms File CMV2k4k srec Rev 1020300 Device 1 Length 726124 00004910 ms GEV Version 1 1 00004913 ms XML URL1 Local C2_2040_GigE_1 0 4 zip 8C400904 55DB 0000491...

Page 63: ...h 10m standard Pigtail cables 202 201 074 C2 pigtail cable for power I O and laser control straight M12 female connector IP64 on camera plug shielded length 3m standard 202 201 075 C2 pigtail cable fo...

Page 64: ...nd 10 Light Blue RS232_RX RS 232 compatible input 11 Light Blue Black RS232_TX RS 232 compatible output 12 Pink DO_1 OUT2 Digital Output 2 TTL 13 Black White DI_0 IN1 Digital Input 1 TTL 14 Black DI_1...

Page 65: ...12 male connector IP67 on camera plug to RJ45 IP20 length 15m standard High flex cables 202 201 062 C2 C5 GigE cable straight M12 connector IP67 to RJ45 IP20 length 3m high flex 202 201 063 C2 C5 GigE...

Page 66: ...C2 Series User Manual Rev 1 9 GigE Signal Name Pin No M12 Pin No RJ45 BI_DC 1 5 BI_DD 2 7 BI_DD 3 8 BI_DA 4 2 BI_DB 5 3 BI_DA 6 1 BI_DC 7 4 BI_DB 8 6 Shield Shield Shield 1 8 RJ45 Male Plug M12 Male P...

Page 67: ...t M12 female connector IP67 to straight M12 male connector IP67 unshielded length 5m 202 201 036 C2 cable for power I O and laser control straight M12 female connector IP67 to straight M12 male connec...

Page 68: ...EXT Camera supply ground 10 Violette RS232_RX RS 232 compatible input 11 Gray Pink RS232_TX RS 232 compatible output 12 Red Blue DO_1 OUT2 Digital Output 2 TTL 13 White Green DI_0 IN1 Digital Input 1...

Page 69: ...d Adapter Cable Depending on the used adapter cable the orientation differs The option UP or DOWN will change the outlet direction of the angled cables Power I O UP 202 201 060 GigE UP 202 201 061 Pow...

Page 70: ...camera and its sensor Image Format Control Features controlling the size and type of the transmitted image Acquisition Control Feature relating to actual frame acquisition Camera Control Features rel...

Page 71: ...s AOI Tracking AOI Search AutoStart Sensor Control Features relating to sensor control Advanced Sensor Settings Features relating to advanced sensor settings Data Output Channels Features relating to...

Page 72: ...gE Vision Features related to GigE Vision specification User Set Control Features related to the User Set Control to save and load the user device settings Chunk Data Control Features relating to chun...

Page 73: ...y to display various information like the 2D image 3D height image 3D view and many more This chapter gives some general information about the layout of the CX Explorer such as an overview of how to s...

Page 74: ...e or in 3D mode The configuration of the required mode can be easily done with the CXExplorer via the Image Wizard 3D Wizard or over the XML Window Image Wizard The Image Wizard is the easy way to set...

Page 75: ...e the laser power the Area Of Interest or the exposure time 2D greyscale image 3D Wizard With the 3D Wizard the camera mode can be easily switched to 3D mode Set the number of profiles per frame choos...

Page 76: ...e can be acquired and displayed in the Image View using one of the four different algorithms Furthermore the intensity image can be also displayed 3D greyscale height image A detailed description of t...

Page 77: ...le not needed filter drivers and protocols of the NIC port 4 Set the computer Internet Protocol Version 4 TCP IPv4 to a fix IP address and a fix subnet mask For example 169 254 64 1 255 255 0 0 5 Enab...

Page 78: ...Fax 49 4531 88011 20 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...

Page 79: ...ual Warranty Period 2 year warranty for C2 series sold inside of the European Union EU 1 year warranty for all C2 series sold outside of the European Union EU Extended Warranty The warranty period can...

Page 80: ...2014 Minor corrections added information regarding C2 I O Panel Rev 2 0 1 8 20 02 2015 Minor corrections added new HDR Genicam registers shielded cables 1 9 18 01 2019 Corrected colour assignment for...

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