Baumer HXG (Release 2) User's Guide for Dual
Contents
1. 11 6 1 2 User Definable Inputs The wiring of these input connectors is left to the user Sole exception is the compliance with predetermined high and low levels 0 4 5V low 11 30V high The defined signals will have no direct effect but can be analyzed 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 LineO Line1 and Line2 state selection ee side Lo 0 a e Input Line1 Line1 N Input Line2 Line2 lt Figure 35 IO matrix of the Baumer HXG on input ue Matrix side 37 11 6 1 3 Configurable Outputs With this feature Baumer offers the possibility of wiring the output connectors to internal signals which are controlled on the software side Hereby on cameras of the HXG series 17 signal sources subdivided into three catego ries can be applied to the output connectors The first category of output signals represents a loop through of signals on the input side such as Signal Name Explanation LineO Signal of input LineO is loopthroughed to this ouput Line Signal of input Line1 is loopthroughed to this ouput Line2 Signal of input Line2 iys loopthroughed to this ouput Within the second category you will find signals that are created on camera side Signal2. 12 5 1 Example 1 Multi Camera Operation Minimal IPG Setting the IPG to minimum means every image is transfered at maximum speed Even by using a frame rate of 1 fps this results in full load on the network Such bursts can lead to an overload of several network components and a loss of packets This can occur especially when using several cameras In the case of two cameras sending images at the same time this would theoretically oc cur at a transfer rate of 2 Gbits sec The switch has to buffer this data and transfer it at a speed of 1 Gbit sec afterwards Depending on the internal buffer of the switch this oper ates without any problems up to n cameras n 2 1 More cameras would lead to a loss of packets These lost packets can however be saved by employing an appropriate resend mechanism but this leads to additional load on the network components lt Figure 43 Packet Delay PD be tween the packets A Figure 44 Operation of two camer as employing a Gigabit Ethernet switch Data processing within the switch is displayed in the next two figures lt Figure 45 Operation of two camer as employing a minimal inter packet gap IPG 47 On the Gigabit Ethernet the max IPG and the data packet must not exceed 1 Gbit Otherwise data pack ets can be lost Figure 46 gt Operation of two camer as employing an optimal inter packet gap IPG 48 12 5 2 Example 2 Multi Camera Operation
3. 12 10 Message Channel The asynchronous message channel is described in the GigE Vision standard and of fers the possibility of event signaling There is a timestamp 64 bits for each announced event which contains the accurate time the event occurred Each event can be activated and deactivated separately Eventmap HXG Bit Edge Event ID GigE Vision Standard Events HXG Hardware Events O ON DOA FP WN CH 10 HXG Software Events rising falling rising falling rising falling rising falling rising falling rising falling rising rising rising rising rising rising rising rising rising rising rising falling rising falling rising rising rising rising rising rising 0x0007 0x9000 0x9001 0x9002 0x9003 0x9004 0x9005 0x9006 0x9007 0x9008 0x9009 Ox900A Ox900B Ox900C Ox900D Ox900E Ox900F 0x9010 0x9011 0x9012 0x9013 0x9014 0x9015 0x9016 0x9017 0x9018 0x9019 0x901A 0x901B 0x901C 0x901D 0x901E 0x901F 0x9020 0x9021 0x9022 0x9023 XML Event Description PrimaryApplicationSwitch LineORisingEdge LineOFallingEdge Line1RisingEdge Line1FallingEdge Line2RisingEdge Line2FallingEdge Line3RisingEdge Line3FallingEdge Line4RisingEdge Line4FallingEdge LinedSRisingEdge LinedFallingEdge ExposureStart ExposureEnd FramesStart FrameEnd TriggerReady TriggerOverlapped TriggerSkipped Software Action Action2 LinkOUp LinkODown Link1Up Link1 Down Timer1End Ti
4. 12 11 1 Action Command Trigger The figure below displays three cameras which are triggered synchronously by a soft ware application Figure 58 gt Triggering of multiple cameras via trigger over Ethernet ToE Another application of action command is that a secondary application or PC or one of the attached cameras can actuate the trigger 58 12 11 2 Action Command Timestamp The figure below show a PC with 1 n connected cameras which are receives the Action Command Timestamp from the PC Thus the time signal of all 1 n cameras can simul taneously set to 0 lt Figure 59 Timestamping of mul tiple cameras over Eth ernet 59 Asynchronous Reset For further information on the timings of this feature please see the respective data sheets 60 13 Start Stop Behaviour 13 1 Start Stop Acquisition Camera Once the image acquisition is started three steps are processed within the camera Determination of the current set of image parameters Exposure of the sensor Readout of the sensor Afterwards a repetition of this process takes place until the camera is stopped Stopping the acquisition means that the process mentioned above is aborted If the stop signal occurs within a readout the current readout will be finished before stopping the camera If the stop signal arrives within an exposure this will be aborted Special Case Asynchronous Reset The asynchronous reset repr
5. WEE a d EE Has e 00000000 W h eeeee e e e e eg g dbdb W he eeeee e e e eeg g dhdb Wb beeeee e e e 00000000 M eeee e 000000000 W eeeee e mo ee Aana na aana nn Baumer HXG Release 2 User s Guide for Dual Gigabit Ethernet Cameras with CMOSIS Sensors Table of Contents 1 General Informati n EE 6 2 General safety instructions ccccccceesseeeeseeeeseeeeeeeeseeeeesneeeeeneeeeeneeseaneseeenesseneeees 7 3 MENET USE EE 7 4 General Description EE 7 9 Camera ee TEE 8 5 1 HXG Cameras with CGMoumt 8 5 2 HXG F Cameras with EMount 9 6 Environmental Requirements ccccseceecceeceeeeneeensceeeenesenecneseesseneseeeonesanenees 10 6 1 Temperature and Humidity Range for Storage and Operation 10 6 2 Heat VAIS NS SIO essani Ra aa aa 10 6 3 Mechanical CSS isc caress hse crn anc cireviedaanesenteaiseigcannnennetanak Ta aai aiiora ainiai 11 7 Process and Data Interface ccccccceeeeeeeeeeeeeeeeeeeeeneceneeeeeeseneeenseonseseneseneseneenes 12 1 1 Ge GE Let gun e 12 7 2 Pin Assignment Power Supply and Digital Oe 12 e CED Sgal geeen Raa AEEA OR 12 Be E WS EEA E EE A A A E 13 9 Product SpecicaUohs ee a ene EAEE eee eee 14 9 1 Identification Of Firmware version ccceecceecesseecececeneeeseeceeeceneeceeeteneceneeneeeeeeees 14 9 2 Gensor ele de 14 9 2 1 Identification of Sensor Version ccceecceeeeseeececeteneceseeteetenecee
6. GigE lt Figure 41 Transmission of data packets with Dual GigE 45 Figure 42 gt Location of the Baumer Image Info Header 46 12 3 Baumer Image Info Header The Baumer Image Info Header is a data packet which is generated by the camera and integrated in the last data packet of every image if chunk mode is activated The Baumer Image Info Header is a data packet which is generated by the camera and integrated in the first data packet of every image if chunk mode is activated In this integrated data packet are different settings for this image BGAPI can read the Image Info Header Third Party Software which supports the Chunk mode can read the features in the table below This settings are not completely Feature Description ChunkOffsetX Horizontal offset from the origin to the area of interest in pixels ChunkOffsetY Vertical offset from the origin to the area of interest in pix els ChunkWidth Returns the Width of the image included in the payload ChunkHeight Returns the Height of the image included in the payload ChunkPixelFormat Returns the PixelFormat of the image included in the pay load ChunkExposureTime Returns the exposure time used to capture the image ChunkBlackLevelSelector Selects which Black Level to retrieve data from ChunkBlackLevel Returns the black level used to capture the image included in the payload ChunkFramelD Returns the unique Identifier of the frame or image incl
7. exposure time frame n 1 effective D image parameters frame n 1 effective thotready E earliest possible trigger e ooo TriggerReady Image parameters Offset t liash n 1 Gain Flash Mode we tiashdelay Partial Scan 19 9 3 2 3 Overlapped Operation texposure n 2 lt texposure n 1 If the exposure time t is decreased from the current acquisition to the next acquisi exposure tion the time the camera is unable to process occuring trigger signals t TEEN is scaled up When decreasing the t such that t exceeds the pause between two incoming exposure notready trigger signals the camera is unable to process this trigger and the acquisition of the im age will not start the trigger will be skipped III Trigger a briggerdelay l Z l texposure n texposure n 1 T egener Exposure ZE l l 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 t F frame not started Ti Pead notready trigger skipped rggerneadgy Image parameters l l Offset l l l t readout n 1 Readout Gain Mode Flash Partial Scan tiash n 1 1 a ad thashdelay From a certain frequency of the trigger signal skipping triggers is unavoidable In gen eral this frequency depends on the combina
8. 1 0 13 0 13 0 76 0 025 HXG40 0 1 0 1 0 13 0 13 0 65 0 025 HXG40NIR 0 1 0 1 0 13 0 13 0 65 0 025 16 9 3 Timings Overlapped mode can be switched off with setting the readout mode to sequential shut ter instead of overlapped shutter The image acquisition consists of two separate successively processed components Exposing the pixels on the photosensitive surface of the sensor is only the first part of the image acquisition After completion of the first step the pixels are read out Thereby the exposure time t can be adjusted by the user however the time need exposure ed for the readout t is given by the particular sensor and image format readout Baumer cameras can be operated with two modes the Free Running Mode and the Trigger Mode The cameras can be operated non overlapped or overlapped Depending on the mode used and the combination of exposure and readout time Non overlapped Operation Overlapped Operation Here the time intervals are long enough to process exposure and readout succes In this operation the exposure of a frame n 1 takes place during the readout of Sively frame n Exposure Exposure Readout Readout 9 3 1 Free Running Mode In the Free Running mode the camera records images permanently and sends them to the PC In order to achieve an optimal with regard to the adjusted exposure time t and image format the camera is operated overlapped exposure In case of expos
9. 18 gt Parameters of the ROI 11 1 7 Gamma Correction With this feature Baumer HXG cameras offer the possibility of compensating nonlinearity in the perception of light by the human eye For this correction the corrected pixel intensity Y is calculated from the original intensity of the sensor s pixel Aer and correction factor y using the following formula in over simplified version Yey E original 11 1 8 Region of Interest ROI and Multi ROI With this functions it is possible to predefine a so called Region of Interest ROI or Partial scan The ROI is an area of pixels of the sensor After image acquisition only the informa tion of these pixels is sent to the PC This functions is turned on when only a region of the field of view is of interest It is coupled to a reduction in resolution and increases the frame rate The ROI is specified by following values Region Selector Region 0 Multi ROI horizontal 1 8 Multi ROI vertical 1 8 Region Mode On Off Offset X x coordinate of the first relevant pixel Offset Y y coordinate of the first relevant pixel Width horizontal size of the ROI Height vertical size of the ROI Notice The values of the Offset X and Size X must be a multible of 32 The step size in Y direction is 1 pixel at monochrome cameras and 2 pixel at color cam eras 11 1 8 1 Normal ROI Readout Region 0 For the sensor readout time of the ROI th
10. Name Explanation FrameActive The camera processes a Frame consisting of exposure and readout TriggerReady Camera is able to process an incoming trigger signal TriggerOverlapped The camera operates in overlapped mode TriggerSkipped Camera rejected an incoming trigger signal ExposureActive Sensor exposure in progress TransferActive Image transfer via hardware interface in progress ExposureEnlarged This output marks the period of enlarged exposure time Beside the 10 signals mentioned above each output can be wired to a user defined signal UserOutputO UserOutput1 UserOutput2 SequencerOut 0 2 or disabled OFF CH a l Oo state selection signal selection 5 software side software side a Sa F ae AULT few 8 Output Line 3 E D ee W D E f an Output Line 4 i S Output Line 5 2 Figure 36 gt 8 lO matrix of the s Baumer HXG on output I gt D id j IO Matrix NSE 5 side AE 38 11 7 Trigger Input Trigger Delay Trigger signals are used to synchronize the camera exposure and a machine cycle or in case of a software trigger to take images at predefined time intervals Different trigger sources can be used here LineO Actioncommand Line1 Off Line2 SW Trigger Possible settings of the Trigger Delay Delay 0 2 sec Number of tracked Triggers 512 Step 1 usec There are three types of modes The timing diagrams for the three types you can see below Normal Trigger with
11. adjusted Exposure Trigger valid A gt Exposure B i i gt i Readout Time Pulse Width controlled Exposure Trigger valid Exposure B 1 if d I i gt i Readout C I i e Time ee Edge controlle Exposure Trigger valid Exposure B I ji i gt i Readout Time Figure 37 A Trigger signal valid for Baumer cameras Camera in trigger mode A Trigger delay B Exposure time C Readout time 39 11 7 1 Trigger Source others ectric Se xO O lt Q T are tri So e A Y amp Figure 38 gt Examples of possible trigger sources Each trigger source has to be activated separately When the trigger mode is activated the hardware trigger is activated by default 40 11 7 2 Debouncer The basic idea behind this feature was to seperate interfering signals short peaks from valid square wave signals which can be important in industrial environments Debouncing means that invalid signals are filtered out and signals lasting longer than a user defined testing time t ebouncenign WII be recognized and routed to the camera to induce a trigger In order to detect the end of a valid signal and filter out possible jitters within the signal a second testing time t ebounceLoy Was introduced This timing is also adjustable by the user If the signal value falls to s
12. automates the assignment of network parameters such as IP addresses sub net masks and gateways This process takes up to 12 sec Once the device client is connected toa DHCP enabled network four steps are processed DHCP Discovery In order to find a DHCP server the client sends a so called DHCPDISCOVER broad cast to the network PHCPDISCOVER Dm ie gt al EE Se a SEH KA broadcast SC SE 2 IA DHCP Offer After reception of this broadcast the DHCP server will answer the request by a unicast known as DHCPOFFER This message contains several items of information such as MAC address Information for the client offered IP address IP adress Information on server subnet mask duration of the lease APATA gt AARNA Ee unicast TOO Ta Ioa ER dt 2 DHCPOFFER Internet Protocol On Baumer cameras IP v4 is employed Persistent IP LLA Figure 50 A Connection pathway for Baumer Gigabit Ether net cameras The device connects step by step via the three descr bed mecha nisms DHCP Please pay attention to the DHCP Lease Time lt Figure 51 DHCP Discovery broadcast lt Figure 52 DHCP offer unicast 53 Figure 53 gt DHCP Request broadcast DHCP Lease Time The validity of DHCP IP addresses is limited by the lease time When this time is elapsed the IP configu ration needs to be redone This causes a connecti
13. ets 12 9 2 Fault 1 Lost Packet within Data Stream If one or more packets are lost within the data stream this is detected by the fact that packet number n is not followed by packet number n 1 In this case the application sends a resend request A Following this request the camera sends the next packet and then resends B the lost packet lt Figure 56 Resending lost packets within the data stream In our example packet no 3 is lost This fault is detected on packet no 4 and the re send request triggered Then the camera sends packet no 5 followed by resending packet no 3 55 Figure 57 gt Resending of lost pack ets at the end of the data stream 56 12 9 3 Fault 2 Lost Packet at the End of the Data Stream In case of a fault at the end of the data stream the application will wait for incoming packets for a predefined time When this time has elapsed the resend request is triggered and the lost packets will be resent H A ZS d In our example packets from no 3 to no 5 are lost This fault is detected after the pre defined time has elapsed and the resend request A is triggered The camera then re sends packets no 3 to no 5 B to complete the image transfer 12 9 4 Termination Conditions The resend mechanism will continue until all packets have reached the pc the maximum of resend repetitions is reached the resend timeout has occured or the camera returns an error
14. t msec 0 000001 t TransmissionDelay ticks TransmissionDela 51 Multicast Addresses For multicasting Baumer suggests an adress range from 232 0 1 0 to 232 200 200 200 Figure 49 gt Principle of Multicast 52 12 7 Multicast Multicasting offers the possibility to send data packets to more than one destination ad dress without multiplying bandwidth between camera and Multicast device e g Router or Switch The data is sent out to an intelligent network node an IGMP Internet Group Management Protocol capable Switch or Router and distributed to the receiver group with the specific address range In the example on the figure below multicast is used to process image and message data separately on two differents PC s 12 8 IP Configuration 12 8 1 Persistent IP A persistent IP adress is assigned permanently Its validity is unlimited Please ensure a valid combination of IP address and subnet mask IP range Subnet mask 0 0 0 0 127 255 255 255 259 0010 128 0 0 0 191 255 255 255 255 255 0 0 192 0 0 0 223 255 255 255 259 299 2990 IP subnet combination the camera will start in LLA mode These combinations are not checked by Baumer GAPI Baumer GAPI Viewer or cam era on the fly This check is performed when restarting the camera in case of an invalid This feature is disabled by default 12 8 2 DHCP Dynamic Host Configuration Protocol The DHCP
15. to 4 4 4 and causes no or low visual differences Here the chroma components are sampled at a quarter of the sample rate This decreases the necessary bandwith by half in relation to 4 4 4 Pixel depth In general pixel depth defines the number of possible different values for each color channel Mostly this will be 8 bit which means 2 different col ors For RGB or BGR these 8 bits per channel equal 24 bits overall 8 bit 10 bit 12 bit Bit 7 H w me p E Bit 0 Bit 0 Bit 7 Byte 1 Byte 2 Byte 3 unused bits TH Byte 1 Byte 2 unused bits COT Bit 0 Bit 11 Byte 1 Byte 2 lt Figure 12 RBG color space dis played as color tube lt Figure 13 Bit string of Mono 8 bit and RGB 8 bit lt Figure 14 Spreading of Mono 10 bit over 2 bytes lt Figure 15 Spreading of Mono 12 bit over two bytes 25 26 Figure 16 gt Incidence of light causes charge separation on the semiconductors of the sensor 11 1 3 Exposure Time On exposure of the sensor the inclination of photons produces a charge separation on the semiconductors of the pixels This results in a voltage difference which is used for signal extraction Light Photon Charge Carrier Pixel The signal strength is influenced by the incoming amount of photons It can be increased by increasing the exposure time t sions On Baume
16. used by de fault This settings are not editable 43 44 12 Interface Functionalities 12 1 Link Aggregation Group Configuration Link Aggregation LAG allows grouping the two links of the HXG camera to form a vir tual link enabling the camera to treat the LAG as if it was a single link This is done ina transparent way from the application perspective It is important to note that LAG does not define the distribution algorithm to be used at the transmission end of a link aggregation group Since LAG shows a single MAC IP then switches cannot figure out how to distribute the image traffic the traffic might end up on one outgoing port of the switch Characteristic Static LAG Number of network interfaces 2 Number of IP address 1 Number of stream channels 1 Load balancing Round robin distribution algorithm Physical link down recovery Packets redistributed on remaining physical link Grouping configuration All links are automatically grouped on the device Manual grouping must be performed on the PC often called teaming The installation of LAG is described in the nstallation Guide for Baumer GAPI SDK Gigabit Ethernet 12 1 1 Camera Control The communication for the camera control is always sent on the same physical link of the LAG 12 1 2 Image data stream A round robin distribution algorithm allows for a uniform distribution of the bandwidth as sociated to the image data since all image packet
17. 36 11 6 Gielen En Ce 37 161 TOA NOS aires ta sents sateen tees tiara EEE oiia of 11 7 Trigger Input Trigger RE EE 39 1171 WUC CIS Ee 40 E Eet in e EE 41 1S A E Leer E 41 Ltb Eeer 42 TELS SON EE 43 To WISE Ee 43 19 Factory End e 43 12 Interface EE Eege Ee 44 12 1 Link Aggregation Group Configuration ccccccccseeeeeseeeeeeeeeeeeaeseeeeeeeeeseeeeeaees 44 12 1 1 Camera Control iis vieenctdacnnecsceesscegebiseseccenccdenesensansebeceecenteneticnseeadnoendetestectscbesss 44 kee Image dala ee soinura nina iana aE Ea SES EEEE SE 4A 12 2 Device Information EE 45 12 3 Baumer Image Info Header EE 46 12 4 Packet Size and Maximum Transmission Unit MIT 46 12 5 Inter Packet Ga IPG testen geegent eege ege 47 12 5 1 Example 1 Multi Camera Operation Minimal IC 47 12 5 2 Example 2 Multi Camera Operation Optimal Io 48 12 6 Frame Delay enge 49 12 6 1 Time Saving in Multi Camera Operation cccccseeeeeeeeeeeeeeeeeeeeeeeeeaeeeeeas 49 12 6 2 ee le Dien Ni e 50 12 E Te EE 52 UE WE gene oe A ee eer ee peer enoe eee 53 12 8 2 DHCP Dynamic Host Configuration Hrotocolt 53 Uy RA EE 54 12 6 4 Force TEE 54 12 9 Packet Hesend 55 129 1 Nomal CAS E 55 12 9 2 Fault 1 Lost Packet within Data Stream cc ccc cccccccececececceaececececeseeeeaeaes 55 12 9 3 Fault 2 Lost Packet at the End of the Data Stream es 56 12 9 4 Termination elt el 1 e EE 56 E KARTEN 57 TZ AA Accion Commando EE 58 12 11 1 Action
18. CmdTrigger TriggerSkipped You can set a counter duration too You can therefore set the number of events to be counted When the set value is 0 then the maximum number of countable events is 232 1 If you specify a value then the counter counts up to that value and stops Then a GigE event is triggered Counter1 2End and the status of the counter changes from ACTIVE to the readable status COMPLETED Reset the counter When the reset event is reached or the counter is reset by software with reset counter then the count value is stored under CounterValueAtReset and set the counter value back to 0 11 8 User Sets Three user sets 1 3 are available for the Baumer cameras of the HXG series The user sets can contain the following information Parameter Binning Mode Mirroring Control Defectpixellist Partial Scan Digital I O Settings Pixelformat Exposure Time Readout Mode Gain Factor Testpattern Look Up Table Trigger Settings Sequencer Action Command Parameter Events Counter Timer Frame Delay Fixed Frame Rate Offset Gamma HDR Control Sensor Speed These user sets are stored within the camera and and cannot be saved outside the de vice By employing a so called user set default selector one of the three possible user sets can be selected as default which means the camera starts up with these adjusted pa rameters 11 9 Factory Settings The factory settings are stored in an additional parametrization set which is
19. Command WE hee EE 58 12 11 2 Action Command Tmestamp 59 13 Start Stop BehaviOur ccccccseccssececseeeencecnsecceneeceseeceneeseneesoasesoassoeaseaeanessanenss 60 13 1 Start Stop Acquisition Camera 60 13 2 Stat Eeer Ee 60 Ta PUSS RESUME en CS aa asec E E aceon ee qenseeteeaseeeeceen 60 13 4 Acquisition Modes EE 60 134 1 Free RUNNING E 60 Toa TT ee 60 1343 G 01 0 E 60 E CEANN ener renner cee e ener nmin ne Mena ren meer anne te ener ee ne eect ree 61 15 TRAINS DOLL SUM LE 61 16 PIS OS RE 62 17 Warranty Information esc eres eer ce eesqesesdeeseeecedseonereerenecaascarssasdasaasueecanensentenanenataeseaceens 62 LEi elos 5 E 62 TI CORTON e E 63 19 1 CEE ccmaaeamprutasscitawaciencucanie EAA ian A necaliieaneecxwecevacsaxedtawbendacextadedumauinniecuadeevavens 63 1 General Information Thanks for purchasing a camera of the Baumer family This User s Guide describes how to connect set up and use the camera Read this manual carefully and observe the notes and safety instructions Target group for this User s Guide This User s Guide is aimed at experienced users which want to integrate camera s into a vision system Copyright Any duplication 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 Classifica
20. In order to realize the second short exposure time without an overrun of the sensor a second short flash must be employed and any subsequent extraneous light prevented Trigger 7 e qst 2nd Flash ZU qst 2nd Exposure Prevent Light i Readout On Baumer TXG 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 Loops m 1 Repeats n 1 Frames Per Trigger z 2 11 6 Process Interface 11 6 1 Digital IOs Cameras of the Baumer HXG series are equipped with three input lines and three output lines 11 6 1 1 lO Circuits Low Active At this wiring only one consumer can be connected When all Output pins 1 2 3 connected to O_GND then current flows through the resistor as soon as one Output is switched If only one output connected to O_GND then this one is only us able The other two Outputs are not usable and may not be connected e g IO Power Voc Output high active Output low active Input Camera Customer Device Camera Customer Device Customer Device Camera m lO Power Voc gt DRV De SE IO Power Voc RL e Out I MU Pin Outt 2 3 Vx IN GND Pin l I l E N ut n Pn IRL S Ge euT EE 1O GND i IO GND L 10 GND Out or Out2 or Out3
21. Optimal IPG A better method is to increase the IPG to a size of optimal IPG packet size 2 x minimal IPG In this way both data packets can be transferred successively Zipper principle and the switch does not need to buffer the packets 12 6 Frame Delay Another approach for packet sorting in multi camera operation is the so called Frame De lay which was introduced to Baumer Gigabit Ethernet cameras in hardware release 2 1 Due to the fact that the currently recorded image is stored within the camera and its transmission starts with a predefined delay complete images can be transmitted to the PC at once The following figure should serve as an example Due to process related circumstances the image acquisitions of all cameras end at the same time Now the cameras are not trying to transmit their images simultaniously but according to the specified transmission delays subsequently Thereby the first camera starts the transmission immediately with a transmission delay 0 12 6 1 Time Saving in Multi Camera Operation As previously stated the Frame delay feature was especially designed for multi camera operation with employment of different camera models Just here an significant accelera tion of the image transmission can be achieved For the above mentioned example the employment of the transmission delay feature re sults in a time saving compared to the approach of using the inter paket gap of a
22. Temperature Monochrome HXG20 49 C 120 2 F HXG20NIR 49 C 120 2 F HXG40 46 C 114 8 F HXG40NIR 46 C 114 8 F Color HXG20c 49 C 120 2 F HXG40c 46 C 114 8 F Humidity Storage and Operating Humidity 10 90 Non condensing 6 2 Heat Transmission Provide adequate dissipation of heat to ensure that the temperature does not exceed 50 C 122 F The surface of the camera may be hot during operation and immediately after use Be careful when handling the camera and avoid contact over a longer period It is very important to provide adequate dissipation of heat to ensure that the housing temperature does not reach or exceed 50 C 122 F As there are numerous possibili ties for installation 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 Please refer to the respective data sheet SEI Measured at temperature measurement point T goe Housing temperature is limited by sensor specifications 6 3 Mechanical Tests Environmen tal Testing Vibration sinu sodial Vibration broad band Shock Bump Standard IEC 60068 2 6 IEC 60068 2 64 IEC 60068 2 2 IEC60068 2 29 Parameter Search for Reso nance Amplitude under neath crossover frequencies Acceleration
23. Test duration Frequency range Acceleration Displacement Test duration Puls time Acceleration Pulse Time Acceleration 10 2000 Hz 1 5mm 1g 15 min 20 1000 Hz 10g 5 7 mm 300 min 11 ms 6 ms 50g 80g 2ms 80g 11 Figure 6 gt LED positions on Baumer HXG cameras 12 7 Process and Data Interface 7 1 Pin Assignment Interface Only Port 1 supports Power over Ethernet 38 VDC 57 VDC For the data transfer the ports are equal For Single GigE connect one Port and for Dual GigE connect the second Port additionally The order does not matter Data Control 1000 Base T Port 1 Data Control 1000 Base T Port 2 1 MX1 green white 5 MX3 blue white 1 MX1 green white 5 MX3 blue white negative positive Kei RN negative positive Vo H 2 MX1 green 6 MX2 orange 2 MX1 green 6 MX2 orange negative positive Ko Si positive negative Ny a negative positive We a positive negative Vo oi 3 MX2 orange white 7 MX4 brown white 3 MX2 orange white 7 MX4 brown white positive negative Vio NW positive negative Vo a 4 MX3 blue 8 MX4 brown 4 MX3 blue 8 MX4 brown 7 2 Pin Assignment Power Supply and Digital IOs Power Supply Digital UO Ms 3 pins M8 8 pins 3 1 4 1 brown Power Vec 1 white Line 5 3 blue GND 2 brown Line 1 4 black not used 3 green Line O 4 yellow GND Power Supply 5 gr
24. age 30 11 1 10 Binning On digital cameras you can find several operations for progressing sensitivity One of them is the so called Binning Here the charge carriers of neighboring pixels are aggre gated Thus the progression is greatly increased by the amount of binned pixels By using this operation the progression in sensitivity is coupled to a reduction in resolution Baumer cameras support three types of Binning vertical horizontal and bidirectional In unidirectional binning vertically or horizontally neighboring pixels are aggregated and reported to the software as one single superpixel In bidirectional binning a square of neighboring pixels is aggregated Binning Illustration Example Ge A Wi A Ge Ge without A A G XXX 2x1 Subsam pling 2x2 11 1 11 Brightness Correction Binning Correction The summation of pixel values may cause an overload To prevent this binning correction was introduced Binninig Realization 2x1 2x1 binning takes place within the FPGA of the camera The binning cor rection is realized by averaging the pixel values instead of simply adding them 11 2 Color Adjustment White Balance This feature is available on all color cameras of the Baumer HXG series and takes place within the Bayer processor White balance means independent adjustment of the three color channels red green and blue by employing of a correction factor for each cha
25. ation of a pixel is transferred immediately to its circuit and read out from there Due to the fact that photosensitive area gets lost by the implementation of the circuit area the pixels are equipped with microlenses which focus the light on the pixel 9 2 4 Digitization Taps Due the recording speed is faster than the read out speed the recorded images are stored until read out in the internal memory of the camera Thus also can be taken quick sequences for a short time If the memory is full no other images can be stored Recorded images at full memory are lost The CMOSIS sensors employed in Baumer HXG cameras can be read out up to 16 chan nels in parallel More channels increase the speed framerate but the use of more channels produces a higher heat generation Use only the maximum required number of channels Due to sensor characteristics in 12 bit mode only 2 or 4 channels are available Readout with 4 Channels Readout with 2 Channels lt Figure 9 Digitization Tap of the Baumer HXG cameras 15 9 2 5 Field of View Position The typical accuracy by assumption of the root mean square value is displayed in the figures and the table below Ce A Photosensitive surface of the sensor Figure 10 gt Sensor accuracy of Baumer HXG cameras Camera ES i Van tyo ae ee ZB GH Type mm mm mm mm RN mm HXG20 0 1 0 1 0 13 0 13 0 76 0 025 HXG20NIR 0 1 0
26. cation of Sensor Version e BGAPI 2 x Camera Explorer Device Control DeviceSensorType e g CMV4000 V3 Sensor Version 3 9 2 2 Quantum Efficiency for Baumer HXG Cameras The quantum efficiency characteristics of monochrome also in NIR and color matrix sen sors for Baumer HXG cameras are displayed in the following graphs The characteristic curves for the sensors do not take the characteristics of lenses and light sources without filters into consideration but are measured with an AR coated cover glass Values relating to the respective technical data sheets of the sensors manufacturer 60 60 50 50 40 40 30 30 Quantum Efficiency Quantum Efficiency 20 20 10 0 0 350 450 550 650 750 850 950 1050 350 450 550 650 750 850 950 1050 HXG 20 40 monochrome Wave Length nm HXG 20 40 color Wave Length nm Figure 7 gt Quantum efficiency for Baumer HXG cameras 9 2 3 Shutter All cameras of the HXG series are equipped with a global shutter Microlens Keen H Pixel Active Area Photodiode H Storage Area Figure 8 gt Structure of an imag ing sensor with global shutter 14 Global shutter means that all pixels of the sensor are reset and afterwards exposed for a specified interval t rr For each pixel an adjacent storage circuit exists Once the exposure time elapsed the inform
27. e horizontal subdivision of the sensor is unim portant only the vertical subdivision is of importance The activation of ROI turns off all Multi ROIs EE GE SE aS e tt EE gt lt lt gt lt C22 eege Ee SCH SC a Gef a A LEME gt lt S ef gt lt 2S lt Figure 19 ROI Readout The readout is line based which means always a complete line of pixels needs to be read out and afterwards the irrelevant information is discarded End ROI Start ROI lt Figure 20 ROI Discarded Information 11 1 9 Multi ROI With Multi ROI it is possible to predefine several Region of Interests ROIs It can be specified up to 8 horizontal and vertical stripes total up to 64 ROIs Overlapped Multi ROls will be merged by the camera The Multi ROI s are sorted by the camera The camera only reads out sensor parts that are within one of the active Multi Regions The readout time is therefore only determined by the Multi Horizontal Regions The activation of Multi ROI turns off ROI Multi ROI can not be used simultaneously with Binning and Subsampling lt Figure 21 Result image generated by using the 5 Multi ROI s 2x horizontal 3x vertical 29 Figure 22 gt Full frame image no binning of pixels Figure 23 gt Horizontal binning causes a horizontally compressed image with doubled brightness Figure 24 gt Subsampling 2x2 causes both a hori zontally and vertically compressed im
28. eptable Due to this fact exposure times are limited However this causes low output signals from the camera and results in dark images To solve this issue the signals can be amplified by user within the camera This gain is adjustable from 0 to 26 db Increasing the gain factor causes an increase of image noise and leads to missing codes at Mono12 if the gain factor gt 1 0 11 4 Pixel Correction 11 4 1 General information A certain probability for abnormal pixels the so called defect pixels applies to the sen sors of all manufacturers The charge quantity on these pixels is not linear dependent on the exposure time The occurrence of these defect pixels 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 spot in the recorded image Warm Pixel et ez LED Ei WEE Be EA a at A KA KEE EE SES Pee Cees Cold Pixel Charge quantity Normal Pixel Charge quantity Warm Pixel Charge quantity Cold Pixel 11 4 2 Correction Algorithm On monochrome cameras of the Baumer HXG series the problem of defect pixels is solved as follows Possible defect pixels are identified during the production process of the camera The coordinates of these pixels are stored in the factory settings of the camera see 11 4 3 Defectpixellist Once
29. eseetaeetaneeans 14 9 2 2 Quantum Efficiency for Baumer HXG Cameras n nnneennnsennnennnnenennnnnenenne 14 d E En Un E 14 9 24 Digitization Taps sipiris rn dont RE eiar eia aaien 15 9 20 Fed OF VIEW POSION E 16 GE T e E E E EE E E EE E E cat TE 17 9 3 1 Free Running MOG EN 17 9092 Migger EIERE 18 len EE 22 10 1 Baumer CAF WE 22 10 2 3 Gel 22 11 Camera FUNCTIONALITIES KKK NNN 23 11 1 Image Fos CUTS EE 23 11 1 1 Image e EE 23 KB Pikeli Fomai eee rene ern em en 24 111 3 Exposure EIERE EE 26 11 1 4 PRNU DSNU Correction FPN Fixed Pattern Moise 26 a Ve Ee 27 11 1 6 Beier e EE 27 11 1 7 Gamma E e ed 28 11 1 8 Region of Interest ROI and Mul HO 28 KEE WR E O EE 29 E Wan ue EE Cie ei e EE EA 11 1 11 Brightness Correction Binning Correction senna 31 11 2 Color Adjustment White Balance 31 11 2 1 User specific Color Acdustment 31 11 2 2 One Push WAITER Ee 31 To Analg ZOE ONS EE 32 11 3 1 Offset Black E dno caesnansaenabaesameshadneleasnaeestnecsander 32 e ST 32 11 4 IP IKONS ON e EE 33 11 4 1 General information ccccccccccceeccceececeeeeeeeeeeeeeeseeeeseueeseaeesesessuseseneessaees 33 114 2 Correction ee E 33 11 4 3 DETSCIDIXSINS boca cisacc ancien seisdetunseetaeestexsdesaedeanexeenictesaderemid saasciaiannecsanciesundleeiecuixeddsies 33 Ee Me EE 34 11 5 1 General Information EE 34 110 2 EXIMPIES EE 35 11 5 3 Capability Characteristics of Baumer GAPI Sequencer Module 35 11 5 4 OI Ss EEN
30. esents a special case of stopping the current acquisition Thereby exposure is aborted immediately Thus the current image is not read out and the image is upcasted This feature was introduced to accelerate the changing of image parameters 13 2 Start Stop Interface Without starting the interface transmission of image data from the camera to the PC will not proceed If the image acquisition is started befor the interface is activated the recorded images are lost If the interface is stopped during a transmission this is aborted immediately 13 3 Pause Resume Interface Pausing while the interface is operational results in an interim storage of the recorded images within the internal buffer of the camera After resuming the interface the buffered image data will be transferred to the PC 13 4 Acquisition Modes In general three acquisition modes are available for the cameras in the Baumer HXG series 13 4 1 Free Running Free running means the camera records images continuously without external events 13 4 2 Trigger The basic idea behind the trigger mode is the synchronization of cameras with machine cycles Trigger mode means that image recording is not continuous but triggered by external events 13 4 3 Sequencer A sequencer is used for the automated control of series of images using different settings for exposure time and gain 14 Cleaning Cover glass The sensor is mounted dust proof Remove of t
31. ey Uy Power Vec 20 VDC 30 VDC 6 pink Line 3 T blue Line 4 8 red Line 2 7 3 LED Signaling e 3 P La LS 2 LED Signal Meaning 1 green green flash Link active Receiving 2 yellow Transmitting 3 green yellow Power on Readout active 8 Lens install Avoid contamination of the sensor and the lens by dust and airborne particles when mounting a lens to the device Therefore the following points are very important Install lenses in an environment that is as dust free as possible Keep the dust covers on camera and lens as long as possible Hold the camera downwards with unprotected sensor or filter cover glass Avoid contact with any optical surface of the camera or lens At the example on the figures below the installation of C mount objective is shown At a camera with F Mount it is principle the same 1 Turn the camera with the lens mount to the bottom S 2 Unscrew the protective cap 3 Screw the lens on the lens mount 13 9 Product Specifications 9 1 Identification of Firmware version e Label on Camera R2 0 is Firmware 2 0 e BGAPI 1 x Viewer Camera Information Hardware Version CID Firmware 1 0 starts with 02 CID Firmware 2 0 starts with 03 e g CID 020011 Firmware 1 0 e BGAPI 2 x Camera Explorer Device Version CID Firmware 1 0 starts with 02 CID Firmware 2 0 starts with 03 e g CID 030001 Firmware 2 0 9 2 Sensor Specifications 9 2 1 Identifi
32. he cover glass for cleaning is not neces Sary Avoid cleaning the cover glass of the CCD sensor if possible To prevent dust follow the instructions under Install lens If you must clean it use compressed air or a soft lint free cloth dampened with a small quantity of pure alcohol Housing Volatile solvents for cleaning Volatile solvents damage the surface of the camera Never use volatile solvents benzine thinner for cleaning To clean the surface of the camera housing use a soft dry cloth To remove persistent stains use a soft cloth dampened with a small quantity of neutral detergent then wipe dry 15 Transport Storage Transport the camera only in the original packaging When the camera is not installed then storage the camera in the original packaging Storage Environment Storage temperature 10 C 70 C 14 F 158 F Storage Humidy 10 90 non condensing 61 62 16 Disposal Dispose of outdated products with electrical or electronic circuits not in the normal domestic waste but rather according to your national law and the directives 2002 96 EC and 2006 66 EC for recycling within the competent collectors Through the proper disposal of obsolete equipment will help to save valu able resources and prevent possible adverse effects on human health and the environment The return of the packaging to the material cycle helps conserve raw mate ZA rial
33. l GigE Resulting Data Volume 1024 x 500 msec All the cameras are triggered simultaniously The transmission delay is realized as a counter that is started immediately after the sen II sor readout is started Trigger Camera 1 fexposure Camera 1 SXG10 Ke t readout Camera 1 i transfer Camera 1 texposure Camerd 2 Camera 2 SXG20 t WI Fi readout Camera 2 t transferGigE Camera 2 Il texposure Camera 3 Camera 3 SXG80 Lt treadout Camieta 3 t WW transferGigE Camera 3 TransmissionDelay Camera 2 l l TransmissionDelay Camera 3 i In general the transmission delay is calculated as t t n TransmissionDelay Camera n exposure Camera 1 leadout Camera 1 7 ET Camera n gt l ransferGigE Cameran 1 n23 Therewith for the example the transmission delays of camera 2 and 3 are calculated as follows TransmissionDelay Camera 2 eene 1 Krieg 1 Dees 2 TransmissionDelay Camera 3 E ET 1 eege 1 E EE 3 ee ae 2 Solving this equations leads to TransmissionDelay Camera 2 6 msec 8 MSEC 6 MsSec 8 msec 8000000 ticks Se 6 msec 8 msec 6 msec 15 62 msec ransmissionDelay Camera 3 23 62 msec 23620000 ticks In BGAPI the delay is specified in ticks How do convert microseconds into ticks 1 tick 1nNns 7 msec 1000000 ns 1 tick 0 000001 msec ticks
34. mer2End Timer3End Counter1End Counter2End Gev_Event_Link_Speed_Change GigEVisionError EventLost EventDiscarded GigEVisionHeartbeat TimeOut oF 12 11 Action Commands The basic idea behind this feature was to achieve a simultaneous trigger for multiple cameras Action Command Action Command Description Since hardware release 2 1 the implemetation of the Action Command Trigger used to send a trigger to all connected Action Command follows cameras the regulations of the GigE Action Command Timestamp used to reset the Timestamp of the con Vision standard 1 2 nected cameras Therefore a broadcast ethernet packet was implemented This packet can be used to induce a trigger as well as other actions Due to the fact that different network components feature different latencies and jitters the trigger over the Ethernet is not as synchronous as a hardware trigger Nevertheless applications can deal with these jitters in switched networks and therefore this is a com fortable method for synchronizing cameras with software additions The action command is sent as a broadcast In addition it is possible to group cameras so that not all attached cameras respond to a broadcast action command Such an action command contains e a Device Key for authorization of the action on this device a Group Key for triggering actions on separated groups of devices a Group Mask for extension of the range of separate device groups
35. n a residential environment This equipment generates uses and can radiate radio frequency energy and if not in stalled and used in accordance with the instructions may cause harmful interference to radio communications However there is no guarantee that interference will not occure in a particular installation If this equipment does cause harmful interference to radio or television reception which can be determined by turning the equipment off an on the user is encouraged to try to correct the interference by one or more of the following measures Reorient or relocate the receiving antenna Increase the separation between the equipment and the receiver Connect the equipment into an outlet on a circuit different from that to which the receiver is connected Consult the dealer or an experienced radio TV technician for help 63 ee eessen Leeeeeeet peeecocecd peeececer LL LEELEEE LED LU ECKE KETTER A d peeeeoood peeeceeeod LL peeeccecd pecececed peccececs EE Baumer Optronic GmbH Badstrasse 30 DE 01454 Radeberg Germany Phone 49 0 3528 4386 0 Fax 49 0 3528 4386 86 sales baumeroptronic com www baumer com OZE980L1 VLA EL GO Auewiag U paud 8d 0U OU auey o alqns pesejuesenb jou Jeyew pajuid jo Aoeinooe yng Deep AU u q sey eyep jeoiuyoaL
36. nding on the response the IP address will be assigned to the device if not existing or the process is repeated This method may take some time the GigE Vision standard stipulates that establishing connection in the LLA should not take longer than 40 seconds in the worst case it can take up to several minutes 12 8 4 Force IP Inadvertent faulty operation may resultin connection errors between the PC and the camera In this case Force IP may be the last resort The Force IP mechanism sends an IP ad dress and a subnet mask to the MAC address of the camera These settings are sent without verification and are adapted immediately by the client They remain valid until the camera is de energized In the GigE Vision standard this feature is defined as Static IP 12 9 Packet Resend Due to the fact that the GigE Vision standard stipulates using a UDP a stateless user datagram protocol for data transfer a mechanism for saving the lost data needs to be employed Here a resend request is initiated if one or more packets are damaged during transfer and due to an incorrect checksum rejected afterwards On this topic one must distinguish between three cases 12 9 1 Normal Case In the case of unproblematic data transfer all packets are transferred in their correct order from the camera to the PC The probability of this happening is more then 99 lt Figure 55 Data stream without damaged or lost pack
37. nnel 11 2 1 User specific Color Adjustment The user specific color adjustment in Baumer color cameras facilitates adjustment of the correction factors for each color gain This way the user is able to adjust the amplifica tion of each color channel exactly to his needs The correction factors for the color gains range from 1 to 4 non adjusted histogramm after histogramm user specific color adjustment neta a 11 2 2 One Push White Balance Due to the internal processing of the camera One Push White Balance refers to the current ROI but always considers the entire row Here the three color spectrums are balanced to a single white point The correction fac tors of the color gains are determined by the camera one time non adjusted histogramm after histogramm one push white balance DLA lt Figure 25 Examples of histo gramms for a non adjusted image and for an image after user specific white balance lt Figure 26 Examples of histo gramms for a non ad justed image and for an image after one push white balance 31 32 11 3 Analog Controls 11 3 1 Offset Black Level On Baumer cameras the offset or black level is adjustable from Oto 255 LSB always related to 12 bit Camera Type Step Size 1 LSB Relating to Monochrome HXG20 12 bit HXG20NIR 12 bit HXG40 12 bit HXG40NIR 12 bit Color HXG20c 12 bit HXG40c 12 bit 11 3 2 Gain In industrial environments motion blur is unacc
38. on abort Figure 54 gt DHCP Acknowledge ment unicast LLA Please ensure operation of the PC within the same subnet as the camera 54 DHCP Request Once the client has received this DHCPOFFER the transaction needs to be con firmed For this purpose the client sends a so called DHCPREQUEST broadcast to the network This message contains the IP address of the offering DHCP server and informs all other possible DHCPservers that the client has obtained all the necessary information and there is therefore no need to issue IP information to the client broadcast X v ay Cx 8 8 DEE EE EE DHCPREQUES DHCP Acknowledgement Once the DHCP server obtains the DHCPREQUEST a unicast containing all neces sary information is sent to the client This message is called DHCPACK According to this information the client will configure its IP parameters and the pro cess is complete unicast Zi A EE DHCPACK 12 8 3 LLA LLA Link Local Address refers to a local IP range from 169 254 0 1 to 169 254 254 254 and is used for the automated assignment of an IP address to a device when no other method for IP assignment is available The IP address is determined by the host using a pseudo random number generator which operates in the IP range mentioned above Once an address is chosen this is sent together with an ARP Address Resolution Pro tocol query to the network to check if it already exists Depe
39. or operation with cameras of the HXC series You can find a current listing of 3 Party Software which was tested successfully in com bination with Baumer cameras at http www baumer com de en produkte identification image processing software and starter kits third party software 11 Camera Functionalities 11 1 Image Acquisition 11 1 1 Image Format A digital camera usually delivers image data in at least one format the native resolution of the sensor Baumer cameras are able to provide several image formats depending on the type of camera Compared with standard cameras the image format on Baumer cameras not only in cludes resolution but a set of predefined parameter These parameters are Resolution horizontal and vertical dimensions in pixels Binning Mode see chapter 11 1 10 N X lt La D ke o N Q 2 S 2 5 I 5 Camera Type H m N HXG20 8 E HXG20NIR E E E HXG40 E 8 P HXG40NIR 8 E a HXG20c R Oo S HXG40c 8 o o 11 1 2 Pixel Format On Baumer digital cameras the pixel format depends on the selected image format 11 1 2 1 Pixel Formats on Baumer HXG Cameras e N o0 m N D D D o fF SF 8 go Z S D D D O O O Camera Type m m m Mono HXG20 R R R o o S HXG20NIR E E E o E o HXG40 E B m o o o HXG40NIR E SI E o o o Color HXG20c o o o m E HXG40c o o o R E E 11 1 2 2 Definitions Below is a general description of pixel formats The table above shows
40. part of the trigger signal edges or states that activates the timer This feature represents the interval between incoming trig ger signal and the start of the timer 0 usec 2 sec step 1 usec By this feature the activation time of the timer is adjustable 10 usec 2 sec step 1 usec Different Timer sources can be used Input LineO Input Line1 Input Line2 SW Trigger ActionCommand Trigger Exposure Start Exposure End Frame Start Frame End TriggerSkipped For example the using of a timer allows you to control the flash signal in that way that the illumination does not start synchronized to the sensor exposure but a predefined interval earlier For this example you must set the following conditions Setting TriggerSource TimerTriggerSource Outputline7 Source TimerTriggerActivation Trigger Polarity Value InputLineO InputLineO Timer1Active Falling Edge Falling Edge Input me Exposure Timer briggerdelay t exposure t l TimerDelay wegl I I t l TimerDuration I a_l l 11 7 5 Counter You can count the events in the table below The count values of the events are readable and writable With the function Event Source Activation you can specify which event should be count ed These events can also be used as a counter reset source These events are CounterTriggerSources LineO ExposureStart Line1 ExposureEnd Line2 FramesStart Softwaretrigger FrameEnd Act
41. pprox 45 applied to the transmission of all three images lt Figure 47 Principle of the Frame delay lt Figure 48 Comparison of frame delay and inter packet gap employed for a multi ccamera system with different camera models 49 A exposure start for all cameras B all cameras ready for transmission C transmission start camera 2 D transmission start camera 3 Due to technical issues the data transfer of camera 7 does not take place with full Dual GigE speed Figure 49 gt Timing diagram for the transmission delay of the three employed cameras using even exposure times 50 12 6 2 Configuration Example For the three used cameras the following data are known Camera Sensor Pixel Format Data Readout Exposure Transfer Time Model Resolution Pixel Depth Volume Time Time Dual GigE Pixel bit bit msec msec msec HXG20 2048 x 1088 8 17825792 8 6 8 3 HXG40 2048 x 2048 8 33554432 15 6 15 62 SXG80 3296 x 2472 8 65181696 56 6 30 35 The sensor resolution and the readout time t a4 can be found in the respective Technical Data Sheet TDS For the example a full frame resolution is used The exposure time t posure iS Manually set to 6 msec The resulting data volume is calculated as follows Resulting Data Volume horizontal Pixels x vertical Pixels x Pixel Depth The transfer time el for full Dual GigE transfer rate is calculated as follows Transfer Time Dua
42. r HXG cameras the exposure time can be set within the following ranges step size 1usec Camera Type Lee MIN Lie MAX HXG20 HXG20c HXG20NIR 4 usec 20 usec 1 sec HXG40 HXG40c HXG40NIR 4 usec 20 usec 1 sec The exposure time can be programmed or controlled via trigger width starting with 4 us However the sensor needs additional time for the sampling operation during which the sensor is still light sensitive As a consequence the real minimum exposure time is higher 20 us 11 1 4 PRNU DSNU Correction FPN Fixed Pattern Noise CMOS sensors exhibit nonuniformities that are often called fixed pattern noise FPN However it is no noise but a fixed variation from pixel to pixel that can be corrected The advantage of using this correction is a more homogeneous picture which may simplify the image analysis Variations from pixel to pixel of the dark signal are called dark signal non uniformity DSNU whereas photo response nonuniformity PRNU describes variations of the sensitivity DNSU is corrected via an offset while PRNU is corrected by a factor The correction is based on columns It is important that the correction values are comput ed for the used sensor readout configuration During camera production this is derived for the factory defaults If other settings are used e g different number of readout channels using this correction with the default data set may degrade the image quality In this case the user may de
43. rive a specific data set for the used setup PRNU DSNU Correction Off PRNU DSNU Correction On 11 1 5 HDR Beside the standard linear response the sensor supports a special high dynamic range mode HDR called piecewise linear response With this mode illuminated pixels that reach a certain programmable voltage level will be clipped Darker pixels that do not reach this threshold remain unchanged The clipping can be adjusted two times 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 t 5 Lane Pot and Pot can be edited The value for t will be calculated automatically in the camera t Expo2 Expo2 7 Loci 7 GE 7 ey 32 tein lines per cm Ji HDR Off HDR On Sensor Output tExpo0 tExpo1 t exposure 11 1 6 Look Up Table The Look Up Table LUT is employed on Baumer monochrome cameras It contains 2 4096 values for the available levels of gray These values can be adjusted by the user Notice The LUT always calculates with 12 bit input and 12 bit output In 8 10 bit mode the lower bits of the input values are equal zero but can be spread to full 12 bit because of digital gain Therefore all values of the LUT have to be filled in 27 0 A Figure 17 28 Non linear perception of the human eye H Perception of bright ness E Energy of light Figure
44. rome HXG20 2 3 2048 x 1088 105 337 HXG20NIR 29 2048 x 1088 105 337 HXG40 1 2048 x 2048 56 180 HXG40NIR ile 2048 x 2048 56 180 Color HXG20c 23 2048 x 1088 105 337 HXG40c 1 2048 x 2048 56 180 Dimensions UNC 1 4 20 Oo O N LO Q O O Figure 2 gt Dimensions of a Baum er HXG C camera 5 2 HXG F Cameras with F Mount Camera Type Monochrome HXG20 F HXG20NIR F HXG40 F HXG40NIR F Color HXG20c F HXG40c F Dimensions SEI Resolution Size 2 3 2048 x 1088 2 2048 x 1088 1 2048 x 2048 le 2048 x 2048 2 3 2048 x 1088 1 2048 x 2048 UNC 1 4 20 Full Frames max fps 105 105 56 56 105 56 Burst mode buffered 337 337 180 180 337 180 lt Figure 3 View of a Baumer HSC F Mount camera lt Figure A Dimensions of a Baumer HXG F camera Figure 5 gt Temperature measure ment points of Baumer HXG cameras 10 6 Environmental Requirements 6 1 Temperature and Humidity Range for Storage and Operation Temperature Storage temperature 10 C lt 7 0 C 14 F 158 F Operating temperature 5 C 50 C 41 F 122 F Housing temperature max 50 C 122 F If the environmental temperature exceeds the values listed in the table below the cam era must be cooled see Heat Transmission Camera Type Environmental
45. s an reduces the production of waste When no longer required dispose LA of the packaging materials in accordance with the local regulations in force C Keep the original packaging during the warranty period in order to be able to pack the device in the event of a warranty claim 17 Warranty Information There are no adjustable parts inside the camera In order to avoid the loss of warranty do not open the housing If it is obvious that the device is was dismantled reworked or repaired by other than Baumer technicians Baumer Optronic will not take any responsibility for the subse quent performance and quality of the device 18 Support If you have any problems with the camera then feel free to contact our support Worldwide Baumer Optronic GmbH Badstrasse 30 DE 01454 Radeberg Germany Tel 49 0 3528 4386 845 Mail support cameras baumer com Website www baumer com 19 Conformity COMPLIANT 2002 95 EC Cameras of the Baumer HXG family comply with e CE FCC Part 15 Class B ROHS 19 1 CE We declare under our sole responsibility that the previously described Baumer HXG cameras conform with the directives of the CE 19 2 FCC Class B Device This equipment has been tested and found to comply with the limits for a Class B digital device pursuant to part 15 of the FCC Rules These limits are designed to provide rea sonable protection against harmful interference i
46. s have the same size So it adequately balances the bandwidth across the two available links A suitable packet size must be selected to ensure all physical links can handle it Because of this loose definition of conversation and the selected distribution algorithm it is necessary for the receiver of the image data to be tolerant to out of order packets and accommodate longer timeouts than seen with Single Link configuration Special provision must be taken for the inter packet gap it represents the delay between packets of the image data stream travelling on a given physical link 12 2 Device Information This Gigabit Ethernet specific information on the device is part of the Discovery Acknowl edge of the camera Included information MAC address Current IP configuration persistent IP DHCP LLA Current IP parameters IP address subnet mask gateway Manufacturer s name Manufacturer specific information Device version Serial number User defined name user programmable string Single GigE A Bauer By using Single GigE all data packets are sequentially transmitted over one cable At the beginning of a frame will transmitted a Leader and at the end will transmitted a Trailer Dual GigE i S 6 E a By using Dual GigE the data packets are alternately distributed over both cables The Leader and the Trailer are always transmitted over the same cable lt Figure 40 Transmission of data packets with single
47. sure n texposure A leadout 4 _ tnotread nad tex osure n 9 3 2 1 Overlapped Operation texposure n 2 texposure n 1 In overlapped operation attention should be paid to the time interval where the camera is unable to process occuring trigger signals t orea oc This interval is situated between two exposures When this process time t has elapsed the camera is able to react to external events again notready After torea NAS elapsed the timing of E depends on the readout time of the current im AGE UL sl aNd exposure time of the next image t xposuren 1 can be determined by the formulas mentioned above no 1 or 3 as is the case In case of identical exposure times t remains the same from acquisition to acquisi notready tion Trigger texposure n texposure n 1 Exposure readout n teadout n 1 Readout tiash n tnash n 1 Flash 1 Ek thashdelay 9 3 2 2 Overlapped Operation texposure n 2 7 texposure n 1 If the exposure time Cie is Increased from the current acquisition to the next acquisi tion the time the camera is unable to process occuring trigger signals t is scaled down notready This can be simulated with the formulas mentioned above no 2 or 4 as is the case 1 TTT Trigger 1 t triggerdelay texposure n texposure n 1 texposure n 2 Exposure _ A exposure time frame n effective B image parameters readout n 1 frame n effective C
48. tate low and does not rise within t this is recognized as end of the signal DebounceLow The debouncing times t and t BEER DebounceLoyw Are adjustable from O to 5 msec in steps of 1 usec This feature is disabled by default 30V Please note that the edges of valid trigger signals are shifted by t and DebounceHigh Incoming signals loaba valid and invalid ke Depending on these two timings the trigger 4 5V signal might be temporally stretched or compressed Debouncer t DebounceHigh t DebounceLow 30V Filtered signal 4 5V 0 At high time of the signal toebounceHigh USEF defined debouncer delay for state high lt Figure 39 DebounceLow User defined debouncer delay for state low Principle of the Baumer debouncer 11 7 3 Flash Signal On Baumer cameras this feature is realized by the internal signal ExposureActive which can be wired to one of the digital outputs 41 11 7 4 Timer Timers were introduced for advanced control of internal camera signals On Baumer HXG cameras the timer configuration includes four components Setting Timeselector TimerTriggerSource TimerTriggerActivation TimerDelay TimerDuration Description There are three timers Own settings for each timer can be made Timer1 Timer2 Timer3 This feature provides a source selection for each timer This feature selects that
49. the sensor readout is completed correction takes place Before any other processing the values of one neighboring pixels on the left and the right side of the defect pixel will be read out Then the average value of these 2 pixels is determined e Finally the value of the defect pixel is substituted by the previously determined average value Defect Pixel Average Value Corrected Pixel 11 4 3 Defectpixellist As stated previously this list is determined within the production process of Baumer cam eras and stored in the factory settings This list is editable lt Figure 27 Distinction of hot and cold pixels within the recorded image lt Figure 28 Charge quantity of hot and cold pixels compared with normal pixels lt Figure 29 Schematic diagram of the Baumer pixel correction 33 lt Figure 30 Flow chart of sequencer m number of loop passes n number of set repetitions o number of sets of parameters z number of frames per trigger Sequencer Parameter The mentioned sets of parameter include the fol lowing Exposure time Gain factor Repeat counter 10 Value Figure 31 gt Timeline for a single sequence 34 11 5 Sequencer 11 5 1 General Information A sequencer is used for the automated control of series of images using different sets of parameters Sequencer d Start Ne The figure above displays the fundamental struc
50. tion of exposure and readout times 20 9 3 2 4 Non overlapped Operation If the frequency of the trigger signal is selected for long enough so that the image acquisi run successively the camera operates non overlapped oT tions t t exposure or Trigger Exposure 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 trotready E earliest possible trigger e A4 TriggerReady Readout Image parameters Offset Gain tiash n 1 Flash Mode l D gt H thashdelay Partial Scan 21 22 10 Software 10 1 Baumer GAPI Baumer GAPI stands for Baumer Generic Application Programming Interface With this API Baumer provides an interface for optimal integration and control of Baumer cameras This software interface allows changing to other camera models It provides interfaces to several programming languages such as C C and the NET Framework on Windows as well as Mono on Linux operating systems which offers the use of other languages such as e g C or VB NET The HXG camera features are in general supported by Baumer GAPI V 1 7 2 However to use the new release 2 features e g HDR and Multi ROI Baumer GAPI V 2 1 is re quired 10 2 3 Party Software Strict compliance with the Gen lt I gt Cam standard allows Baumer to offer the use of 3 Party Software f
51. tion of the safety instructions In the User s Guide the safety instructions are classified as follows Gives helpful notes on operation or other general recommendations Indicates a possibly dangerous situation If the situation is not avoided slight or minor injury could result or the device may be damaged Pictogram 2 General safety instructions Observe the the following safety instruction when using the camera to avoid any damage or injuries Provide adequate dissipation of heat to ensure that the temperature does not exceed 50 C 122 F The surface of the camera may be hot during operation and immediately after use Be careful when handling the camera and avoid contact over a longer period Use the camera only for its intended purpose For any use that is not described in the technical documentation poses dangers and will void the warranty The risk has to be borne solely by the unit s owner 3 Intended Use The camera is used to capture images that can be transferred over two GigE interfaces to aPC 4 General Description 6 5 No Description No Description 1 respective lens mount 4 Digital lIO supply 2 Power supply 5 Data Port 2 3 Data Port 1 6 Signaling LED 5 Camera Models 5 1 HXG Cameras with C Mount Figure 1 gt View of a Baumer HXG C Mount cameray Camera Type Sensor Resolution FullFrames Burst mode Size max fps buffered Monoch
52. ture of the sequencer module The loop counter m represents the number of sequence repetitions The repeat counter n is used to control the amount of images taken with the respective sets of parameters For each set there is a separate n The start of the sequencer can be realized directly free running or via an external event trigger The source of the external event trigger source must be determined before The additional frame counter z is used to create a half 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 A 5 B 3 C 2 repetitions per set of parameters o 3 sets of parameters A B and C m 1 sequence and Zz 2 frames per trigger Trigger 11 5 2 Examples 11 5 2 1 Sequencer without Machine Cycle lt Figure 32 Example for a fully auto mated sequencer 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 is set for A 5 B 3 C 2 and the loop counter m has a value of 2 When the sequencer is started with or without an external event the camera
53. ud ed in the payload 12 4 Packet Size and Maximum Transmission Unit MTU Network packets can be of different sizes The size depends on the network components employed When using GigE Vision compliant devices it is generally recommended to use larger packets On the one hand the overhead per packet is smaller on the other hand larger packets cause less CPU load The packet size of UDP packets can differ from 576 Bytes up to the MTU The MTU describes the maximal packet size which can be handled by all network com ponents involved In principle modern network hardware supports a packet size of 1518 Byte which is specified in the network standard However so called Jumboframes are on the advance as Gigabit Ethernet continues to spread Jumboframes merely characterizes a packet size exceeding 1500 Bytes Baumer HXG cameras can handle a MTU of up to 16384 Bytes 12 5 Inter Packet Gap IPG To achieve optimal results in image transfer several Ethernet specific factors need to be considered when using Baumer HXG cameras Upon starting the image transfer of a camera the data packets are transferred at maxi mum transfer speed 1 Gbit sec In accordance with the network standard Baumer em ploys a minimal separation of 12 Bytes between two packets This separation is called Inter Packet Gap IPG In addition to the minimal PD the GigE Vision standard stipu lates that the PD be scalable user defined Sanne
54. ure times equal to less than the readout time t cour treadout the maxi mum frame rate is provided for the image format used For longer exposure times the frame rate of the camera is reduced 1 TT t t exposure n 1 exposure n EE Exposure Readout 1 Stashin thash n 1 Flash IT RER I Il SR thashdelay Losst lexposure a Non overlapped means the same as sequential 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 Image parameters Offset Gain Mode Partial Scan 17 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 Image parameters Offset Gain Mode Partial Scan 18 9 3 2 Trigger Mode After a specified external event trigger has occurred image acquisition is started De pending on the interval of triggers used the camera operates non overlapped or over lapped in this mode With regard to timings in the trigger mode the following basic formulas need to be taken into consideration Case Formula 1 learliestpossibletrigger n 1 E readout n texposure n 1 lexposure E leadout 2 t t t t notready n 1 exposure n readout n exposure n 1 3 tearliestpossibletrigger n 1 texpo
55. which camera support which formats Bayer Raw data format of color sensors Color filters are placed on these sensors in a checkerboard pattern generally in a 50 green 25 red and 25 blue array Figure 11 gt Sensor with Bayer Pattern Mono Monochrome The color range of mono images consists of shades of a single color In general shades of gray or black and white are synonyms for mono chrome 24 RGB Color model in which all detectable colors are defined by three coordinates Red Green and Blue Green _ ei See Lee Blue The three coordinates are displayed within the buffer in the order R G B BGR Here the color alignment mirrors RGB YUV Color model which is 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 Thereby 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 its value can be calculated from the other three values YUV 4 4 4 YUV 4 2 2 YUV 4 1 1 Here each of the three components has the same sample rate Therefore there is no subsampling here The chroma components are sampled at half the sample rate This reduces the necessary bandwidth to two thirds in relation
56. will record the pictures using the sets of parameters A B and C which constitutes a sequence After that the sequence is started once again followed by a stop of the sequencer in this case the parameters are maintained 11 5 2 2 Sequencer Controlled by Machine Steps trigger Gm lt Figure 33 oO d We Example for a half auto mated sequencer The figure above shows an example for a half 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 11 5 3 Capability Characteristics of Baumer GAPI Sequencer Module up to 128 sets of parameters up to 4 billion loop passes e up to 4 billion repetitions of sets of parameters up to 4 billion images per trigger event e free running mode without initial trigger 35 36 Figure 34 gt Example of a double shutter 11 5 4 Double Shutter This feature offers the possibility of capturing two images in a very short interval Depend ing on the application this is performed in conjunction with a flash unit Thereby the first exposure time t sure IS arbitrary and accompanied by the first flash The second expo sure time must be equal to or longer than the readout time toag of the sensor Thus the pixels of the sensor are recepitve again shortly after the first exposure
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