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9.7.3.2 Sequencer Controlled by Machine Steps (trigger)

A

A

B

B

C

C

Trigger

Sequencer

Start

The figure above shows an example for a semi-automated sequencer with three sets of

parameters (A,B and C) from the previous example. The frame counter (z) is set to 2. This

means the camera records two pictures after an incoming trigger signal.

Capability Characteristics of

9.7.4

Baumer GAPI Sequencer Module

up to 128 sets of parameters

▪

up to 65536 loop passes

▪

up to 65536 repetitions of sets of parameters

▪

up to 65536 images per

▪

trigger event

free running mode without initial

▪

trigger

Figure 39 ►

Example using a semi-
automated sequencer.

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Summary of Contents for USB3 Vision

Page 1: ...User s Guide VisiLine cameras USB3 Vision Document Version v1 0 Release 24 09 2014 Document Number 11135443 ...

Page 2: ...2 ...

Page 3: ...ion 15 8 3 Acquisition Modes and Timings 16 8 3 1 Free Running Mode 16 8 3 2 Fixed Frame Rate Mode 17 8 3 3 Trigger Mode 18 8 3 4 Advanced Timings for USB 3 0 VisionTM Message Channel 22 8 4 Software 24 8 4 1 Baumer GAPI 24 8 4 2 3rd Party Software 24 9 Camera Functionalities 25 9 1 Image Acquisition 25 9 1 1 Image Format 25 9 1 2 Pixel Format 26 9 1 3 Exposure Time 28 9 1 4 PRNU DSNU Correction F...

Page 4: ...ounter 45 9 7 Sequencer 46 9 7 1 General Information 46 9 7 2 Baumer Optronic Sequencer in Camera xml file 47 9 7 3 Examples 47 9 7 4 Capability Characteristics of Baumer GAPI Sequencer Module 48 9 7 5 Double Shutter 49 9 8 Device Reset 49 9 9 User Sets 50 9 10 Factory Settings 51 9 11 Timestamp 51 10 Interface Functionalities 52 10 1 Device Information 52 10 2 Baumer Image Info Header Chunk 53 10...

Page 5: ...5 15 Warranty Notes 57 16 Support 57 17 Conformity 17 1 CE 17 2 RoHS ...

Page 6: ...ication or reprinting of this documentation in whole or in part and the reproduc tion of the illustrations even in modified form is permitted only with the written approval of Baumer This document is subject to change without notice Classification of the safety instructions In the User s Guide the safety instructions are classified as follows Notice Gives helpful notes on operation or other genera...

Page 7: ...tion Device heats up during operation Skin irritation possible Do not touch the camera during operation Caution Observe precautions for handling electrostatically sensitive devices Intended Use 3 The camera is used to capture images that can then be transferred over a USB 3 0 inter face to a PC Notice Use the camera only for its intended purpose For any use that is not described in the technical d...

Page 8: ...cable solution for data and power GenICam and USB3 VisionTM compliant Perfect integration Flexible generic programming interface Baumer GAPI for all Baumer cameras Powerful Software Development Kit SDK with sample codes and help files for easy integration Baumer Camera Explorer Test Tool for all camera functions Camera features according to the SFNC v2 0 GenICam compliant XML file to show the came...

Page 9: ...color VLU 02M VLU 02C 1 4 656 x 490 160 VLU 12M VLU 12C 1 3 1288 x 960 42 CMOS Sensor monochrome color VLU 03M VLU 03C 1 3 640 x 480 376 Dimensions C Mount 8 M3 depth 3 2 M2 depth 3 Pixel 0 0 4 M3 depth 3 8 7 18 11 3 5 26 14 2 48 3 9 8 33 33 26 12 3 5 6 75 26 26 26 3 5 Figure 1 Baumer VLU camera ...

Page 10: ...tal Requirements 6 2 Temperature Storage temperature 10 C 70 C 14 F 158 F Operating temperature see Heat Transmission If the ambient temperature exceeds the values listed in the table below the camera must be cooled see Heat Transmission Humidity Storage and Operating Humidity 10 90 Non condensing Mechanical Tests 6 2 1 Environmen tal Testing Standard Parameter Vibration sinu sodial IEC 60068 2 6 ...

Page 11: ... Baumer do not specifiy a specific method for proper heat dissipation but suggest the following principles operate the cameras only in mounted condition mounting in combination with forced convection may provide proper heat dissipation Caution Device heats up during operation Skin irritation possible Do not touch the camera operation T Measurement Point Maximum Temperature T max 50 C 122 F Figure ...

Page 12: ...connecting cable 8 5 7 3 1 4 2 6 1 OUT 3 white 5 IO Power VCC grey 2 not connected brown 6 OUT 1 pink 3 IN 1 green 7 not connected blue 4 IO GND yellow 8 OUT 2 red IO Power VCC 4 6 5 IOUT RL IOUT IOUT RL RL 1 8 3 In 1 IO Ground current limiter cable termination IIN Out 1 Out 2 Out Line2 Line1 Line3 Line0 3 resistor must be used IOut 16 mA by UEXT 24 VDC recommended drawing shown above example for ...

Page 13: ...e Why can frames not be transferred over an USB 2 0 connection The camera needs to be supplied with more than 2 5W when transferring frames With an USB 2 0 connection maximally 2 5W are available Therefore switching off of the frame transfer is necessary However settings are still possible Figure 3 LED position on Baumer VLU camera ...

Page 14: ... Relative Response VLU 02C 350 450 550 650 750 850 950 1050 Wave Length nm Quantum Efficiency VLU 03M 350 450 550 650 750 850 950 1050 Wave Length nm Quantum Efficiency VLU 03C 400 500 600 700 800 900 1000 0 0 2 0 4 0 6 0 8 1 0 Wave Length nm Relative Response VLU 12M 400 450 500 550 600 650 700 0 0 2 0 4 0 6 0 8 1 0 Wave Length nm Relative Response VLU 12C 300 400 500 600 700 800 900 0 0 2 0 4 0 ...

Page 15: ...f sensor thickness D optical path c mount 17 526 mm XM YM YR XR α Z A 14 6 Camera Type xM mm yM mm xR mm YR mm ztyp mm αtyp A mm D mm VLU 02 0 09 0 09 0 09 0 09 0 025 0 7 16 1 0 75 VLU 03 0 07 0 07 0 07 0 07 0 025 1 23 17 54 0 45 VLU 12 0 06 0 06 0 06 0 06 0 025 0 7 16 6 0 5 typical accuracy by assumption of the root mean square value C or M Dimension D in this table is from manufacturer datasheet...

Page 16: ... to process the exposure and readout suc cessively In this operation mode the exposure of a frame n 1 occurs during the readout of frame n Exposure Readout Exposure Readout 8 3 1 Free Running Mode In the Free Running mode the camera records images permanently and transfers them to the PC To achieve the best results with regard to the adjusted exposure time texposure and image format the camera is ...

Page 17: ...r to predefine a desired frame rate in continuous mode For this mode the cameras are equipped with an internal clock generator that creates trigger pulses Notice Above a certain frame rate skipping internal triggers becomes unavoidable In general this depends on the combination of the adjusted frame rate exposure and readout times ...

Page 18: ...rocess trigger signals tnotready that occur This interval occurs between two exposures When this processing time tnotready has elapsed the camera is able to react to external events again Once tnotready has elapsed the timing of E depends on the readout time of the current image treadout n and exposure time of the next image texposure n 1 It can be determined by the formulas mentioned above no 1 o...

Page 19: ... simulated with the formulas mentioned above no 2 or 4 dependant on the case Exposure Readout texposure n treadout n 1 treadout n texposure n 1 texposure n 2 ttriggerdelay tmin Trigger Flash tflash n tflashdelay tflash n 1 TriggerReady tnotready Image parameters Offset Gain Mode Partial Scan Timings A exposure time frame n effective B image parameters frame n effective C exposure time frame n 1 ef...

Page 20: ...ll not start the trigger will be skipped Exposure Readout texposure n treadout n 1 treadout n texposure n 1 texposure n 2 ttriggerdelay tmin Trigger Flash tflash n tflashdelay tflash n 1 TriggerReady tnotready Notice Above a certain frequency of trigger signal skipping triggers becomes unavoidable In general this frequency depends on the combination of exposure and readout times Image parameters O...

Page 21: ...apped Exposure Readout texposure n treadout n 1 treadout n texposure n 1 ttriggerdelay tmin Trigger Flash tflash n tflashdelay tflash n 1 TriggerReady tnotready Image parameters Offset Gain Mode Partial Scan Timings A exposure time frame n effective B image parameters frame n effective C exposure time frame n 1 effective D image parameters frame n 1 effective E earliest possible trigger ...

Page 22: ...incoming trigger signals or not Exposure Readout texposure n treadout n 1 treadout n texposure n 1 Trigger TriggerReady Event TriggerReady tnotready 8 3 4 2 TriggerSkipped If the camera is unable to process incoming trigger signals meaning that the camera should be triggered within the interval tnotready these triggers are skipped On Baumer VLU cameras the user will be informed about this fact by ...

Page 23: ...dout n 1 treadout n texposure n 1 Trigger Trigger Overlapped Event TriggerOverlapped Once a valid trigger signal occurs outside of a readout the TriggerOverlapped signal changes to state low 8 3 4 4 ReadoutActive While the sensor is being read out the camera signals this with ReadoutActive Exposure Readout Event ReadoutActive texposure n treadout n 1 treadout n texposure n 1 Trigger Readout Active...

Page 24: ...s meaning that other languages such as e g C or VB NET can also be used Baumer GAPI SDK higher than v2 2 supports USB3 VisionTM 8 4 2 3rd Party Software Strict compliance with the GenICam and USB3 VisionTM standards allows Baumer to offer the use of 3rd Party software You can find a current list of 3rd Party software that has been tested successfully in com bination with Baumer cameras at http www...

Page 25: ...e several image formats depending on the type of camera Compared with standard cameras the image format on Baumer cameras includes not only the resolution but also a set of predefined parameters These parameters are Resolution horizontal and vertical dimensions in pixels Binning Mode Camera Type Full frame Binning 2x2 Binning 1x2 Binning 2x1 Monochrome VLU 02M VLU 03M VLU 12M Color VLU 02C VLU 03C...

Page 26: ...used in the PAL TV standard and in image compression In YUV a high bandwidth luminance signal Y luma information is transmitted together with two color difference signals with low bandwidth U and V chroma information U represents the difference between blue and luminance U B Y V is the difference between red and luminance V R Y The third color green does not need to be transmitted as its value can...

Page 27: ... Baumer VLU cameras In these for mats the unused bits of one pixel are filled with data from the next pixel 8 bit Byte 1 Byte 2 Byte 3 12 bit Byte 1 Byte 2 unused bits Packed Byte 1 Byte 2 Byte 3 Pixel 0 Pixel 1 Pixel Formats on Baumer VLU Cameras 9 1 2 2 Camera Type Mono 8 Mono 12 Mono 12 Packed Bayer RG 8 Bayer RG 12 RGB 8 BGR 8 YUV8_UYV YUV422_8_UYVY YUV411_8_UYYVYY Monochrome VLU 02M VLU 03M V...

Page 28: ...nced by the incoming amount of photons It can be increased by increasing the exposure time texposure On Baumer VLU cameras the exposure time can be set within the following ranges in crements of 1μsec Camera Type texposure min texposure max Monochrome VLU 02M 4 μsec 60 sec VLU 03M 4 μsec 60 sec VLU 12M 4 μsec 60 sec Color VLU 02C 4 μsec 60 sec VLU 03C 4 μsec 60 sec VLU 12C 4 μsec 60 sec Figure 13 ...

Page 29: ... called dark signal non uniformity DSNU whereas photo response non uniformity PRNU de scribes variations in sensitivity DSNU is corrected via an offset while PRNU is corrected using a factor The correction is based on columns It is important that the correction values are calcu lated for the sensor readout configuration used During camera production this is derived from the factory defaults If oth...

Page 30: ... illuminated pixels that reach a certain programmable voltage level are clipped Darker pixels that do not reach this threshold remain unchanged The clipping can be adjusted twice within a single exposure by configuring the respective time slices and clipping voltage levels See the figure below for details In this mode the values for tExpo0 tExpo1 Pot0 and Pot1 can be edited The value for tExpo2 is...

Page 31: ...calculated using the original inten sity of the sensor s pixel Yoriginal and correction factor γ using the following formula in an oversimplified version Y Yoriginal γ On Baumer VLU cameras the correction factor γ is adjustable from 0 001 to 2 The values of the calculated intensities are entered into the Look Up Table see 9 1 5 Previously existing values within the LUT will be overwritten Notice I...

Page 32: ...his increases the frame rate This function is used when only a particular region of the field of view is of interest It is coupled with a reduction in resolution The ROI is specified by four values Offset X x coordinate of the first relevant pixel Offset Y y coordinate of the first relevant pixel Size X horizontal size of the ROI Size Y vertical size of the ROI Start ROI End ROI ROI Readout In the...

Page 33: ...orizontal and bidirectional In unidirectional binning vertically or horizontally neighboring pixels are aggregated and reported to the software as a single superpixel In bidirectional binning a square of neighboring pixels is aggregated Binning Illustration Example without 1x2 2x1 2x2 Figure 17 Full frame image no binning of pixels Figure 18 Vertical binning causes a doubly bright vertical ly comp...

Page 34: ...ning correction also takes place here A possible overload is prevented by halving the exposure time 2x1 2x1 binning takes place within the FPGA of the camera The binning cor rection is realized by aggregating the charge quantities and then halving this sum 2x2 2x2 binning is a combination of the above versions Charge quantity Binning 2x2 Super pixel Total charge quantity of the 4 aggregated pixels...

Page 35: ...ra Notice Any defined ROI will also be flipped Camera Type Horizontal Vertical VLU 02M VLU 02C VLU 12M VLU 12C VLU 03M VLU 03C Normal Flip vertical Reverse Y Normal Flip horizontal Reverse X Normal Flip horizontal and vertical Reverse X Y Figure 22 Flip image vertically Figure 23 Flip image horizontally Figure 24 Flip image horizontally and vertically ...

Page 36: ...ng of the chroma signals can be carried out to reduce the data rate of YUV signals Here the following items can be customized to the desired output format Order of data output Sub sampling of the chroma components to YUV 4 2 2 or YUV 4 1 1 Data rate is limited to 8 bits 9 3 Color Adjustment White Balance The white balance is used to sensitize the camera to the color temperature of the light at the...

Page 37: ...ors the offset or black level is adjustable from 0 to 255 LSB relating to 12 bit Camera Type Increments of 1 LSB Relating to Monochrome VLU 02M 12 bit VLU 12M 12 bit Color VLU 02C 12 bit VLU 12C 12 bit CMOS Sensor On Baumer VLU cameras with CMOS sensors the offset or black level is adjustable from 0 to 255 LSB relating to 12 bit Camera Type Increments of 1 LSB Relating to Monochrome VLU 03M 12 bit...

Page 38: ...o solve this issue the signals can be amplified by a user defined gain factor within the camera This gain factor is adjustable Notice Increasing the gain factor causes an increase in image noise CCD Sensor Camera Type Gain factor db Monochrome VLU 02M 0 29 5 VLU 12M 0 29 5 Color VLU 02C 0 29 5 VLU 12M 0 29 5 CMOS Sensor Camera Type Gain factor db Monochrome VLU 03M 0 18 Color VLU 03C 0 18 ...

Page 39: ...els is unavoidable and intrinsic to the manufacturing and aging process of the sensors The operation of the camera is not affected by these pixels They only appear as brighter warm pixel or darker cold pixel spots on the recorded image Warm Pixel Cold Pixel Charge quantity Normal Pixel Charge quantity Cold Pixel Charge quantity Warm Pixel Figure 28 Distinction of hot and cold pixels within the rec...

Page 40: ...t pixel is corrected by using the previously corrected pixel and the pixel on the other side of the defect pixel The correction process is able to correct up to two neighboring defect pixels Defect Pixels Average Value Corrected Pixels 9 5 3 Defectpixellist As stated previously this list is determined within the production process of Baumer cam eras and stored in the factory settings Additional ho...

Page 41: ...ed and processed on the software side and used for controlling the camera The employment of a so called IO matrix offers the possibility of selecting the signal and the state to be processed On the software side the input signals are named Trigger Timer and LineOut 1 3 Input Line 1 Trigger Timer LineOut 1 Output LineOut 2 Output LineOut 3 Output state high state low IO Matrix state selection inver...

Page 42: ...d ExposureActive ReadoutActive UserOutput0 UserOutput1 UserOutput2 Timer1Active Timer2Active Timer3Active SequencerOutput0 SequencerOutput1 SequencerOutput2 User defined Signals nternal Signals Loopthroughed Signals 9 6 2 IO Circuits Notice Low Active At this wiring only one consumer can be connected When all Output pins 1 2 3 connected to IO_GND then current flows through the resistor as soon as ...

Page 43: ...Figure 32 Trigger signal valid for Baumer cameras high low U t 0 4 5V 11V 30V tdelay trigger start active trigger Figure 33 Camera in trigger mode A Trigger delay B Exposure time C Readout time Trigger Delay The trigger delay is a flexible user defined delay between the given trigger impulse and the image cap ture The delay time can be set between 0 0 μsec and 2 0 sec in increments of 1 μsec Where...

Page 44: ... debouncing times tDebounceHigh and tDebounceLow are adjustable from 0 to 5 msec in incre ments of 1 μsec low high U t 0 4 5V 11V 30V low high U t 0 4 5V 11V 30V t t1 tx high time of the signal tDebounceHigh user defined debouncer delay for state high tDebounceLow user defined debouncer delay for state low tDebounceHigh t2 t3 t4 t5 t6 tDebounceLow Incoming signals valid and invalid Debouncer Filte...

Page 45: ... the timer Flash Delay 9 6 7 1 As previously stated the timer feature can be used to start the connected illumination earlier than the sensor exposure This implies a timer configuration as follows The flash output must be wired to the selected internal timer signal The trigger source and trigger activation for the timer need to be the same as for the sensor exposure The TimerDelay feature t TimerD...

Page 46: ...itional frame counter z is used to create a semi automated sequencer It is ab solutely independent from the other three counters and used to determine the number of frames per external trigger event The following timeline displays the temporal course of a sequence with n 5 repetitions per set of parameters o 3 sets of parameters A B and C m 1 sequence and z 2 frames per trigger t n 1 n 2 n 3 n 4 n...

Page 47: ... BoSequencerFramesPerTrigger pFeature Number of frames per trigger z pFeature BoSequencerExposure pFeature Parameter exposure pFeature BoSequencerGain pFeature Parameter gain Category 9 7 3 Examples 9 7 3 1 Sequencer without Machine Cycle Sequencer Start A A B B C C The figure above shows an example for a fully automated sequencer with three sets of parameters A B and C Here the repeat counter n i...

Page 48: ...ous example The frame counter z is set to 2 This means the camera records two pictures after an incoming trigger signal Capability Characteristics of 9 7 4 Baumer GAPI Sequencer Module up to 128 sets of parameters up to 65536 loop passes up to 65536 repetitions of sets of parameters up to 65536 images per trigger event free running mode without initial trigger Figure 39 Example using a semi automa...

Page 49: ...rt exposure time without an overrun of the sensor a second short flash must be used and any subsequent extraneous light prevented Trigger Prevent Light Exposure Readout Flash On Baumer VLU cameras this feature is realized within the sequencer In order to generate this sequence the sequencer must be configured as follows Parameter Setting Sequencer Run Mode Once by Trigger Sets of parameters o 2 Lo...

Page 50: ...rOutputValueAll TriggerActivation LineDebouncerHighTimeAbs TriggerDelay LineDebouncerLowTimeAbs ExposureMode EventNotification ExposureTime HDREnable AcquisitionFrameRateEnable HDRPotentialAbs ReadoutMode HDRExposureRatio Gain Width Gamma Height BalanceWhiteAuto OffsetX BlackLevel OffsetY BrightnessCorrection BinningHorizontal BoSequencerEnable BinningVertical BoSequencerExposure ReverseX BoSequen...

Page 51: ...amp is part of the USB 3 0 VisionTM standard It is 64 bits long and denoted in nanoseconds Any image or event includes its corresponding timestamp The timestamp is not resettable with a function At power on or reset the timestamp starts running from zero 1122354 1122454 1122554 1122754 1123154 1123354 1122654 1123054 1123254 Figure 41 Timestamps of recorded images ...

Page 52: ... Included information Product ID PID Vendor ID VID Model Name Baumer USB Vendor ID Hexadecimal Baumer USB Product ID Hexadecimal VLU 02M 2825 010A VLU 02C 2825 010B VLU 03M 2825 0122 VLU 03C 2825 0123 VLU 12M 2825 010C VLU 12C 2825 010D General Unique Identifier GUID Device vendor name Manufacturer Serial number iSerialNumber ...

Page 53: ...dth Returns the width of the image included in the payload ChunkHeight Returns the height of the image included in the payload ChunkPixelFormat Returns the pixel format of the image included in the pay load ChunkTimestamp Returns the Timestamp of the image included in the pay load at the time of the FrameStart internal event ChunkExposureTime Returns the exposure time used to capture the image Chu...

Page 54: ...FrameEnd Acquisition of a frame ended Line0Rising Rising edge detected on IO Line 0 Line0Falling Falling edge detected on IO Line 0 Line1Rising Rising edge detected on IO Line 1 Line1Falling Falling edge detected on IO Line 1 Line2Rising Rising edge detected on IO Line 2 Line2Falling Falling edge detected on IO Line 2 Line3Rising Rising edge detected on IO Line 3 Line3Falling Falling edge detected...

Page 55: ...is aborted immediately and the image is not read out Start Stop 11 2 Interface Transmission of image data from the camera to the PC will not proceed until the interface is started If image acquisition is started before the interface is activated the recorded images are lost If the interface is stopped during a transmission this is aborted immediately 11 3 Acquisition Modes In general three acquisi...

Page 56: ...e camera only in its original packaging When the camera is not installed store it in its original packaging Storage Environment Storage temperature 10 C 70 C 14 F 158 F Storage Humidity 10 90 non condensing Disposal 14 Do not dispose of outdated products with electrical or electronic circuits in your normal domestic waste but rather according to your national law and the directives 2002 96 EC and ...

Page 57: ...Baumer Optronic will not take any responsibility for the sub sequent performance and quality of the device Support 16 If you have any problems with the camera feel free to contact our support Worldwide Baumer Optronic GmbH Badstrasse 30 DE 01454 Radeberg Germany Tel 49 0 3528 4386 845 Email support cameras baumer com Website www baumer com ...

Page 58: ...ply with CE RoHS CE 17 1 We declare under our sole responsibility that the previously described Baumer VLU cam eras conform with the directives of the CE RoHS 17 2 All VLU cameras comply with the recommendation of the European Union concerning RoHS Rules ...

Page 59: ...59 ...

Page 60: ...454 Radeberg Germany Phone 49 0 3528 4386 0 Fax 49 0 3528 4386 86 sales baumeroptronic com www baumer com Technical data has been fully checked but accuracy of printed matter not guaranteed Subject to change without notice Printed in Germany ...

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