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C4-2350-GigE Camera Hardware Reference Manual Rev. 2.1

The C4 cables

Standard Power & I/O Cables

Part #

Description

202 182 012  C4 cable length 2 m, quick release latches, moulded shell
202 182 013  C4 cable length 5 m, quick release latches, moulded shell
202 182 014  C4 cable length 7 m, quick release latches, moulded shell

202 182 015 C4 cable length 10 m, quick release latches, moulded shell

High Flex Power & I/O Cables for Robot Applications

Part #

Description

202 182 007 C4 cable length 2 m, with locking screws on camera plug, high flex

202 182 016 C4 cable length 5 m, with locking screws on camera plug, high flex
202 182 008 C4 cable length 7 m, with locking screws on camera plug, high flex

202 182 009 C4 cable length 10 m, with locking screws on camera plug, high flex

High Flex GigE Cables for Robot Applications

Part #

Description

202 182 107  GigE cable length 2 m, with locking screws on camera plug, high flex
202 182 116  GigE cable length 5 m, with locking screws on camera plug, high flex
202 182 108  GigE cable length 7 m, with locking screws on camera plug, high flex

202 182 109 GigE cable length 10 m, with locking screws on camera plug, high flex

Miscellaneous

Part #

Description

202 182 401

Y-cable for simultaneously connecting fan and laser to the C4 camera. Please

specify the cable length between camera and laser.

202 182 405 Cable for laser control, 5 pin, length 2 m, pigtail

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Содержание C4-2350-GigE

Страница 1: ...C4 2350 GigE Camera Hardware Reference Manual Rev 2 1 AT Automation Technology GmbH...

Страница 2: ......

Страница 3: ...AcquisitionControl 9 CameraControls AOIs Areas Of Interest 9 CameraControls ModeAndAlgorithmControls 9 CameraControls SensorControls 10 CameraControls SensorControls AdvancedSensorsettings 10 CameraCo...

Страница 4: ...0 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 In...

Страница 5: ...ile 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 liabilit...

Страница 6: ...he 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 proj...

Страница 7: ...e while the camera views the object under the triangulation angle The height resolution can be approximated Z X sin Geometry 2 The camera views the object perpendicularly to its surface while the lase...

Страница 8: ...projected under a different angle The height resolution can be approximated Z X cos sin in case direct reflex Z X 2 sin Geometry 4 The camera views the object under an angle while the laser line is pr...

Страница 9: ...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 Spe...

Страница 10: ...ut 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 Mechanic...

Страница 11: ...el Size 7 m x 7 m Sensor Size 16 46 mm x 12 10 mm diagonal 20 43 mm Optics 1 Sensor ADC Resolution 10 bit Sensor Dynamic Range 59 dB Max Internal Full Frame Rate 190 fps Max External Full Frame Rate 2...

Страница 12: ...nounces the end of registers streaming and perform validation for registers consistency before activating them This will also update the DeviceRegistersValid flag DeviceRegistersCheck 1 2 ICommand W P...

Страница 13: ...ctive AcquisitionTransfer FrameTriggerWait AcquisitionStatus AcquisitionStat usSelector 1 2 IBoolean R Status of the selected acquisition flag AcquisitionMaxBufferedFrameCo unt AT IInteger R Maximum n...

Страница 14: ...s shorter than the Sensor Readout Time ShortIntegrationRows AT IInteger R Number of Sensor Rows used to adjust the exposure time in Short Integration Mode CameraControls SensorControls AdvancedSensors...

Страница 15: ...igger Output1 AT IEnumeration RW Selects the output signal for OUT1 Symbolic Value Out1_IntegrationActive Out1_SequencerActive Out1_High Out1_Low Out1_InternalTrigger Out1_SequencerTriggerActive Integ...

Страница 16: ...ntrols the behaviour of the pulse counter True The pulse counter is decreased and countdown to 0 when resolver pulses are generated from both moving directions forwards and backwards False The pulse c...

Страница 17: ...IP address for the selected interface GevPersistentSubnetMask 1 2 IInteger R W Persistent subnet mask for the selected interface GevPersistentDefaultGateway 1 2 IInteger R W Persistent default gateway...

Страница 18: ...Control Name Rev Interface Access Description ChunkModeActive 1 2 IBoolean R W Enables the chunk data mode ChunkModeSelector 1 2 IEnumeration R W Selects the chunk data mode OneChunkPerFrame OneChunkP...

Страница 19: ...gth 1 2 IInteger Controls the Length of the mapping between the device file storage and the FileAccessBuffer FileOperationStatus 1 2 IEnumeration R Represents the file operation execution status Succe...

Страница 20: ...0 FramePeriode 5218 ShortIntegrationMode 1 DarkOffsetEnable 1 UsePersistentFPNdata 1 NumAois 1 AoiSelector 1 AoiHeight 1728 AoiOffsetY 0 AoiThreshold 128 AbsOffsetPos 0 TrshFirstFalling 0 NumCOGSP 6 V...

Страница 21: ...Selector 0 GevSCPSPacketSize 1500 GevSCPD 5000 ChunkModeActive 0 EventSelector None EventNotification Off EventSelector AcquisitionStart EventNotification Off EventSelector AcquisitionEnd EventNotific...

Страница 22: ...ature Note XML grid visibility should be set to Guru Furthermore it is necessary that the camera has been booted with factory settings Userset Factory If this is not the case the factory settings can...

Страница 23: ...limited only by 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 va...

Страница 24: ...result includes the position value of the maximum PMAX as well as the maximum intensity value IMAX AOI_TRSH PMAX IMAX PR The calculation of position value is performed with simple pixel accuracy i e t...

Страница 25: ...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 1...

Страница 26: ...er beam profile for a given intensity threshold value PL Sum of intensity value Is Ip Sum of first order moment Ms Ip P AOI_TRSH PCOG PL IS The position value of laser line center of gravity of beam p...

Страница 27: ...ers the 8 most significant bits of the 10 bit intensity data The Data Channel Assignment DC0 DC2 Alg DC0 DC1 DC2 IMG Grey scale values Not used Not used TRSH Maximum intensity Left edge of laser line...

Страница 28: ...true write_data_of_DC2 AOI_idx Index Definition Index Range Description Profile_idx 1 16384 Index of Profile AOI_idx 1 4 Index of sensor AOI Examples of Output Frame Structure 1 Configuration with si...

Страница 29: ...ta 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 Data...

Страница 30: ...of Profile Trigger Modes No Profile Trigger Mode PTM 0 Free run PTM0 1 Camera input 1 PTM1 t Profile Acquisition 1 Profile Acquisition 2 Profile Acquisition 3 IN1 Profile Acquisition 4 2 Camera input...

Страница 31: ...ference Manual Rev 2 1 27 No Profile Trigger Mode PTM 3 Encoder Resolver Interface PTM3 Profile Acquisition 1 A B RS422 Example Trigger after number of steps 4 Counter Internal Trigger Profile Acquisi...

Страница 32: ...edge of camera input 1 IN1 and stopped with rising edge of camera input 2 IN2 trigger start of sequencer frame trigger t trigger stop of sequencer When stop occurs the frame is not transmitted immedia...

Страница 33: ...Continuous frame acquisition is started with rising edge of camera input 1 IN1 and stopped with rising edge of camera input 2 IN2 trigger start of sequencer frame trigger t trigger stop of sequencer...

Страница 34: ...fo block per image frame in 3D mode the camera can send one ChunkAcqInfo block either per 3D frame OneChunkPerFrame or per 3D profile OneChunkPerProfile The ChunkImageInfo is the last ChunkData sent b...

Страница 35: ...ition as soon as the stop trigger occurs and transfers the complete contents of internal image buffer Using the ChunkImageInfo data block it is possible to detect how many image rows and ChunkAqInfo b...

Страница 36: ...Manual Rev 2 1 XML Descriptors and Id s ChunkImageInfo Port Name FrameInfoPort ChunkID 11119999 ChunkID Port ChunkAcqInfo Port Name CameraChunkPort ChunkID 66669999 ChunkID Port ChunkImage Port Name I...

Страница 37: ...d short reserved29_30 29 30 unsigned char reserved31 31 GV_ChunkAcqInfo define CHUNKACQINFO_TRIGGERSTATUS_BIT_TRIGGER_OVERRUN 0x01 define CHUNKACQINFO_TRIGGERSTATUS_BIT_RESOLVER_CNT_UP 0x02 define CHU...

Страница 38: ...tion by means of a callback function Events provide real time notification on various stages of the acquisition sequence and data transfer Event Name Event ID Description AcquisitionStart 36882 Frame...

Страница 39: ...4 RS232_GND reserved 5 ENC_A encoder Track1 RS422 reversible input A 6 ENC_B encoder Track2 RS422 reversible input B 7 OUT1 optoisolated Output1 8 OUT2 optoisolated Output2 9 IN1 optoisolated Input1...

Страница 40: ...for optoisolated Input1 20 GND_IN2 GND for optoisolated Input2 Shield SHIELD is connected to camera case Part Numbers for I O Connector MDR 20 Description Part Number 3M 20 pin Connector 10120 lockab...

Страница 41: ...3 LASER_DOUT Output for digital modulation of illumination device TTL signal 4 LASER_AOUT Output for analog modulation of illumination device 0 5 V DC 5 LASER_AIN Input for monitoring specific functi...

Страница 42: ...38 C4 2350 GigE Camera Hardware Reference Manual Rev 2 1 Schematic of C4 2350 GigE digital inputs Schematic of C4 2350 GigE digital outputs...

Страница 43: ...uration failure Boot procedure is repeated up to 3 times after which the Factory Image is loaded Green On camera start up completed FPGA configuration success Off FPGA configuration successful after e...

Страница 44: ...drate 115200 Data bits 8 Parity None Stopbits 1 Handshake None Sample camera boot log MCB InitDone WaitClks 92637 104465 Bootloader build Jan 6 2012 12 36 24 Executing program starting at address 0x50...

Страница 45: ...004799 ms File 2350S6 srec Rev 1030300 Device 1 Length 710970 00004805 ms GEV Version 1 1 00004808 ms XML URL1 Local C4_2350_GigE_1 3 3 zip 0x8C400904 0x4B02 00004814 ms XML URL2 http www automationte...

Страница 46: ...N2 GND for optoisolated Input2 P4 2 IN2 optoisolated Input2 5 V P4 3 GND_IN1 GND for optoisolated Input1 P4 4 IN1 optoisolated Input1 5 V P4 5 OUT1 optoisolated Output1 P4 6 OUT2 optoisolated Output2...

Страница 47: ...C4 2350 GigE Camera Hardware Reference Manual Rev 2 1 43 Mechanical Dimensions mm Weight of C4 I O Panel 50 g 58 90 48 Mount for DIN rail assembly...

Страница 48: ...camera plug high flex 202 182 008 C4 cable length 7 m with locking screws on camera plug high flex 202 182 009 C4 cable length 10 m with locking screws on camera plug high flex High Flex GigE Cables f...

Страница 49: ...Modification 1 0 28 05 2009 First version 1 1 11 09 2009 Update GenICam XML file Trigger Modes LED RS232 and boot log 1 2 03 12 2009 Update GenICam Features 1 3 12 02 2010 Update GenICam Features Tri...

Страница 50: ...urer 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 th...

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