Automation Technology C3 Series Guía rápida de usuario
C3 Camera
Hardware Reference
Manual
Rev. 1.3.7
Automation Technology GmbH
C3 Camera Hardware Reference Manual Rev. 1.3.7 •iii
Table Of Contents
Table Of Contents iii
Overview 2
Introduction................................................................................................... 2
Measuring Principle........................................................................................ 2
Geometry 1 ....................................................................................... 3
Geometry 2 ....................................................................................... 3
Geometry 3 ....................................................................................... 4
Geometry 4 ....................................................................................... 4
The C3 Camera Algorithms ............................................................................ 5
The Image Mode (IMG) ...................................................................... 5
The Maximum Intensity Profile Mode (MAX)........................................... 6
The Threshold Mode (TRSH) ................................................................ 7
The Center Of Gravity Mode (COG).................................................... 8
The Camera AOIs.......................................................................................... 9
The Image Data Output Format .................................................................... 10
The Data Channel Assignment DC0-DC2........................................... 10
Image Acquisition ........................................................................................ 11
Sensor Modes .................................................................................. 11
Trigger Modes.................................................................................. 13
The External Trigger Enable line ......................................................... 14
Output of internal Trigger and Status signals .................................................. 15
Software Integration of C3 Camera ............................................................... 16
Register Description 20
The C3 Camera Register Set ......................................................................... 20
Register Reference........................................................................................ 20
CFG_REG ....................................................................................... 20
CL_X0_REG ..................................................................................... 21
CL_DX_REG..................................................................................... 22
CL_DY_REG .................................................................................... 22
JTAG_REG....................................................................................... 22
ITIME_L_REG ................................................................................... 23
ITIME_H_REG .................................................................................. 23
IRTIME_L_REG ................................................................................. 23
IRTIME_H_REG ................................................................................ 24
PTIME_L_REG .................................................................................. 24
PTIME_H_REG ................................................................................. 24
iv •C3 Camera Hardware Reference Manual Rev. 1.3.7
SENSOR_REG.................................................................................. 24
SENSOR_X0_REG ............................................................................ 25
SENSOR_DX_REG ............................................................................ 25
TRIG_CNT_REG............................................................................... 26
CL_CFG_ REG................................................................................. 26
HWINFO_REG................................................................................. 26
NUM_AOIS_REG ............................................................................. 27
LINLOG_VAL0_REG (obsolete, C3-A1024-CL only ............................. 27
LINLOG_VAL1 (obsolete, C3-A1024-CL only)..................................... 27
LINLOG_TIME_L_REG (obsolete, C3-A1024-CL only) ......................... 28
LINLOG_TIME_H_REG (obsolete, C3-A1024-CL only ......................... 28
ADC0_REG (obsolete, C3-A1024-CL only)......................................... 28
ADC2_REG (obsolete, C3-A1024-CL only)......................................... 29
CTRL_REG ....................................................................................... 29
STATUS_REG ................................................................................... 30
MUX_REG ....................................................................................... 30
MUX_TRIG_STATUS.......................................................................... 31
MUX_SENSOR_READOUT_TIME ....................................................... 31
MUX_FRAME_OUTPUT_TIME_L......................................................... 31
MUX_FRAME_OUTPUT_TIME_H........................................................ 32
MUX_CAP_INFO.............................................................................. 32
MUX_REVISION ............................................................................... 32
IO_REG........................................................................................... 33
DATAOUT_REG ............................................................................... 33
AOI0_Y0-AOI7_Y0 .......................................................................... 34
AOI0_DY-AOI7_DY ......................................................................... 35
AOI0_TRSH-AOI7_TRSH................................................................... 35
Sensor DAC Channels ...................................................................... 35
LASER_CONTROL_REG (C3-CompactSensors only) ............................ 36
WIDTH_VALID_MIN_REG.................................................................. 37
WIDTH_VALID_MAX_REG ................................................................. 37
SUM_INT_VALID_MIN_REG .............................................................. 37
SUM_INT_VALID_MAX_REG.............................................................. 37
I/O Interface 39
The Camera I/O Interface ............................................................................ 39
The internal DIP-Switches.............................................................................. 40
Description of LEDs ...................................................................................... 40
The External I/O Panel ................................................................................. 41
The CameraLink Interface of C3 Camera 42
System Overview.......................................................................................... 42
Supported CameraLink Modes ...................................................................... 42
Output Modes of C3 Camera with CameraLink Interface ..................... 44
CameraLink Signal Assignment .......................................................... 44
Camera Control Signal Assignment.................................................... 44
The UART Configuration Protocol.................................................................. 45
CMD_WRITE_DAC ........................................................................... 45
CMD_WRITE_REG............................................................................ 45
CMD_READ_REG............................................................................. 46
CMD_PROM.................................................................................... 46
The CameraLink Connection......................................................................... 47
C3 Camera Hardware Reference Manual Rev. 1.3.7 •v
Technical Specifications 49
C3-1280-CL Sensor..................................................................................... 49
C3-2350-CL Sensor..................................................................................... 51
Operating Specifications .............................................................................. 53
Camera Specifications ...................................................................... 53
Electrical Specification of I/O Signals ................................................. 53
Mechanical Specifications............................................................................. 54
Service Information 55
Document Revision ...................................................................................... 55
Product Information and Updates .................................................................. 55
Warranty Conditions .................................................................................... 56
Index 57
C3 Camera Hardware Reference Manual Rev. 1.3.7 Table Of Contents •1
© 2009 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
3M™ is a registered trademark of the 3M Company.
Camera Link™ is a registered trademark of PULNIX America, Inc.
Channel Link™ is a registered trademark of National Semiconductor, Inc.
Matrox™ is a registered trademark of Matrox Electronic Systems Ltd.
LINLOG™ is a registered trademark of Photonfocus AG
All other nationally and internationally recognized trademarks and tradenames are hereby
acknowledged.
This document is subject to change without notification. All rights reserved.
2 •Overview C3 Camera Hardware Reference Manual Rev. 1.3.7
Overview
Introduction
The C3 camera series is a revolutionary product family of high speed intelligent sensors. It is optimised
for 3D shape measurement by means of laser triangulation technique. The 3D profile extraction is
performed in the camera by using high performance parallel hardware processors. At the same time
only the 3D profile data is sent to the PC over a standard interface (CameraLink). This extreme data
reduction boosts the measuring speed to unprecedented levels without affecting the performance of
the connected image processing unit.
Measuring Principle
The C3 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 C3 camera
views the object from another angle defining the triangulation geometry. The resulting sensor image is
evaluated by the C3 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.
C3 Camera Hardware Reference Manual Rev. 1.3.7 Overview •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)
Y
X
Z
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)
α
Y
X
Z
4 •Overview C3 Camera Hardware Reference Manual Rev. 1.3.7
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)
αβ
Y
X
Z
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),
Y
X
Z
α
β
Este manual sirve para los siguientes modelos
2
Tabla de contenidos
