Automation Technology C5-CS Series User manual

C5-CS Series
User Manual
for High Speed Laser 3D Sensors
Rev. 1.6
AT - Automation Technology GmbH

Copyright
© 2019 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
All nationally and internationally recognized trademarks and trade names are hereby
acknowledged.
This document is subject to change without notification. All rights reserved.

C5-CS Series User Manual Rev. 1.6
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1
Table of Contents
TABLE OF CONTENTS ........................................................................................................................1
C5-CS SERIES OVERVIEW...................................................................................................................4
Introduction............................................................................................................................................................4
The C5-CS Series General Specifications..................................................................................................................5
Laser Safety Guideline............................................................................................................................................... 7
Laser Safety Classification..................................................................................................................................... 7
Laser Categories.................................................................................................................................................... 7
Laser Responsibilities............................................................................................................................................ 9
The C5-CS Sensor Specifications.............................................................................................................................. 10
Temperature Range (Operation/Storage) ............................................................................................................... 11
Temperature and Measurement............................................................................................................................. 11
General Guidelines for Heat Dissipation ................................................................................................................. 11
Model Overview with Measurement Specifications ............................................................................................... 12
Definition Working Distance and Field of View (FOV)............................................................................................. 15
Definition Coordinate Plane.................................................................................................................................... 15
Mechanical Drawings .............................................................................................................................................. 16
Housing Type ...................................................................................................................................................... 16
Dimensions ......................................................................................................................................................... 17
Compact Sensor Options......................................................................................................................................... 32
Laser.................................................................................................................................................................... 32
Band-Pass Filter................................................................................................................................................... 32
Laser MTBF (Mean Time Between Failures)............................................................................................................ 32
Subpixel Limitations ................................................................................................................................................ 33
C5-CS SERIES OPERATIONAL REFERENCE ........................................................................................34
Measuring Principle ..............................................................................................................................................34
Measurement Geometry......................................................................................................................................... 34
The C5-CS Sensor Algorithms ................................................................................................................................35
The Image Mode (IMG) ........................................................................................................................................... 35
The Maximum Intensity Profile Mode (MAX) ......................................................................................................... 36
The Threshold Mode (TRSH) ................................................................................................................................... 37
The Center Of Gravity Mode (COG)......................................................................................................................... 38
The FIR Peak Mode (FIR PEAK) ................................................................................................................................ 39
The FIR Filter Function ..........................................................................................................................................40
The High Dynamic Range 3D Feature (HDR-3D) of C5-CS-GigE...............................................................................41
Multiple Slope Function .......................................................................................................................................... 41
Single Slope Mode (Default Mode)..................................................................................................................... 42

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C5-CS Series User Manual Rev. 1.6
Dual Slope Mode (1 Knee Point) ......................................................................................................................... 42
Triple Slope Mode (2 Knee Points)...................................................................................................................... 42
Comparison of Slope Modes............................................................................................................................... 43
Multi-Frame Readout Mode (NDR) ......................................................................................................................... 44
The Data Output Format of C5-CS-GigE.................................................................................................................45
The Data Channel Assignment DC0, DC1 and DC2 .................................................................................................. 45
The Output Frame Structure ................................................................................................................................... 47
Index Definition................................................................................................................................................... 48
Examples of Output Frame Structure ................................................................................................................. 48
Advanced AOI Functions.......................................................................................................................................51
AOI-Search............................................................................................................................................................... 51
AOI-Tracking............................................................................................................................................................ 51
C5-CS-GigE Triggering............................................................................................................................................52
Description of Profile Trigger Modes ...................................................................................................................... 52
Trigger Control –RS422 Resolver............................................................................................................................ 53
Description of Modes for Triggering of Sequencer/Frame and Profile Acquisition ................................................ 55
The Chunk Data Mode of C5-CS-GigE ....................................................................................................................57
General Description ................................................................................................................................................ 57
Payload Layout in Chunk Data Mode ...................................................................................................................... 58
XML Descriptors and Id’s......................................................................................................................................... 59
ChunkImageInfo.................................................................................................................................................. 59
ChunkAcqInfo...................................................................................................................................................... 59
ChunkImage ........................................................................................................................................................ 59
Chunk Data Structure .............................................................................................................................................. 60
The GigE-Vision Events .........................................................................................................................................61
The Web Interface ................................................................................................................................................62
The External CS-IO-Panel (Breakout Board) ..........................................................................................................64
Mechanical Drawings .............................................................................................................................................. 64
Clamp Configuration ............................................................................................................................................... 65
Mechanical Dimension............................................................................................................................................ 66
The C5-CS Series I/O Schematics ...........................................................................................................................67
I/O and Encoder with Differential TTL-Mode for RS422 ......................................................................................... 67
Master/Slave Connection........................................................................................................................................ 68
Example configuration for Master/Slave Connection......................................................................................... 68
C5-CS-GigE Interface .............................................................................................................................................69
The GigE Interface ................................................................................................................................................... 69
The I/O & Power Interface ...................................................................................................................................... 70
Description of LEDs ................................................................................................................................................. 71
The C5-CS Cables...................................................................................................................................................72
Cables for Power, I/O and Laser Control................................................................................................................. 72
Wire Assignment of M12 17 pin Pigtail Cable......................................................................................................... 73
Cables for GigE Interface......................................................................................................................................... 74
Orientation of Angled Adapter Cable...................................................................................................................... 76
The C5-CS Series GenICam Features......................................................................................................................79
Device Control......................................................................................................................................................... 79
Image Format Control ............................................................................................................................................. 79

C5-CS Series User Manual Rev. 1.6
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Acquisition Control.................................................................................................................................................. 79
Camera Control ....................................................................................................................................................... 79
AOIs..................................................................................................................................................................... 79
FIR Control .......................................................................................................................................................... 79
Mode and Algorithm Control.............................................................................................................................. 79
Sensor Control .................................................................................................................................................... 80
Data Output Channels......................................................................................................................................... 80
Commands .......................................................................................................................................................... 80
Light Control............................................................................................................................................................ 80
Camera IO................................................................................................................................................................ 80
Trigger Control ........................................................................................................................................................ 80
RS422 Resolver ................................................................................................................................................... 81
AutoStart............................................................................................................................................................. 81
Transport Layer Control .......................................................................................................................................... 81
GigE Vision .......................................................................................................................................................... 81
User Set Control ...................................................................................................................................................... 81
Chunk Data Control ................................................................................................................................................. 81
Event Control........................................................................................................................................................... 81
File Access Control .................................................................................................................................................. 81
CXEXPLORER OVERVIEW .................................................................................................................82
The cxExplorer ......................................................................................................................................................82
cxExplorer Features ..............................................................................................................................................83
Image Wizard .......................................................................................................................................................... 83
Image Mode ............................................................................................................................................................ 84
3D Wizard................................................................................................................................................................ 84
3D Mode.................................................................................................................................................................. 85
Calibrate the Sensor Data .....................................................................................................................................86
QUICKSTART A C5-CS SENSOR.........................................................................................................87
CXSOFTWARE DEVELOPMENT KIT...................................................................................................88
SERVICE INFORMATION ..................................................................................................................89
Product Information and Updates ........................................................................................................................89
Warranty Conditions.............................................................................................................................................90
Warranty Period...................................................................................................................................................... 90
Extended Warranty ................................................................................................................................................. 90
Return Policy ........................................................................................................................................................90
Document Revision...............................................................................................................................................91

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C5-CS Series User Manual Rev. 1.6
C5-CS Series Overview
Introduction
The C5-CS series is a revolutionary product family of intelligent high speed laser
triangulation sensors. It is optimised for 3D profile measurement by means of laser
triangulation technique. The 3D profile extraction is performed in the sensor by using high
performance Field Programmable Gate Array processors. At the same time the 3D profile
data is sent to the PC over a Gigabit Ethernet interface (GigE). This extreme data
reduction boosts the measuring speed to unprecedented levels without affecting the
performance of the connected image processing unit.

C5-CS Series User Manual Rev. 1.6
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The C5-CS Series General Specifications
Sensor Controls
Synchronization Modes
Free Running, Triggered, Software Triggered
Exposure Modes
Programmable, Pulse Controlled
Shutter Modes
Global Shutter
Digital Input
2 electrical isolated inputs, +5V to +24V DC
VIL, logic “0”Voltage < 1.5V
VIH, logic “1” Voltage > 3.5V
Max. frequency: 450 kHz
Min. pulse width: >2µs
Digital Output
2 electrical isolated outputs, +5 to +24V DC
VOL, logic “0” Voltage < 0.5V
VOH, logic “1” Voltage ≥ 3.8V
IOL, logic “0” drive current max. 100 mA
IOH, logic “1” drive current max. 100 mA
Encoder/Resolver Input
A+,A-, B+,B-, Z+, Z-
High-Speed Triple RS-422 Receiver
Max. input voltage +5V DC (TTL level)
RS-422-Mode, max. frequency: 15 MHz
Min. pulse width: >32ns
Laser Supply
Reverse voltage protection
Supply voltage +5V to +24V DC
Laser modulation
Sensor Features
High Dynamic Range Imaging
Multiple Slope, Multi-Frame Readout
3D-Algorithms
MAX, TRSH, COG, FIR PEAK
3D-Scan Features
Automatic AOI-Tracking, Automatic AOI-Search,
Multiple AOIs, AutoStart
Electrical Interface
Power Supply
+10V to +24V DC (max. +27V DC)
Power Consumption
6W to 10W (depending on sensor model)
Operating Temperature
0°C to +50°C (non-condensing)
Output Data Interface
Gigabit Ethernet (IEEE 802.3)
Communication Protocol
GigE Vision with GenICam

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C5-CS Series User Manual Rev. 1.6
Mechanical Interface
Power Connector
17 pin, M12 connector
Ethernet Connector
8 pin, A-coded M12 connector
Mechanical Stress Specification
Vibration (sinusoidal each axis)
2 g, 20 to 500Hz
IEC 60068-2-6
Vibration (random each axis)
5 g, 5 to 1000Hz
IEC 60068-2-64
Shock (each axis)
15 g
IEC 60068-2-27
Enclosure rating
IP67
IEC 600529

C5-CS Series User Manual Rev. 1.6
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Laser Safety Guideline
The C5-CS series has an integrated laser (Laser = Light Amplification by the Stimulated
Emission of Radiation) module, which has to incorporate additional safety features,
depending on the applicable laser class.
Laser Safety Classification
The International Electrotechnical Commission (IEC) and the U.S. Center for Devices &
Radiological Health (CDRH) enforce strict safety requirements for lasers and laser
products.
The relevant standards, IEC 60825–1 (2001-08) and 21 CFR 1040.10/11 (CDRH), classify
lasers into several categories. The regulations regarding the different classes applicable
to the used laser are given here for the IEC 60825-1 standard.
Laser Categories
The classification of a laser product is based on the laser power measured according to
the methods defined by the IEC standard. The classification refers to the wavelength
range between 400 nm and 700 nm.
This corresponds to the maximum light power measured through a 7 mm aperture,
measured in distances given in the standard. The limitations for the classification of the
laser classes are then:
Class 2M:
Class II/2M lasers are visible low power lasers limited to 1 mW continuous wave or more
due to the eye blink reflex for emission duration less than 0.25 seconds.
Considered eye-safe with caution, but may present a greater hazard if viewed using
collecting optics. Focusing of this light into the eye could cause eye damage. Class II/2M
laser products must bear warning and certification labels as shown in the figure below.
This label reprinted here is an example for an
IEC classified 2M laser. For detailed
specifications observe the label on your
sensor.

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C5-CS Series User Manual Rev. 1.6
Class 3R:
Class IIIa/3R lasers emit optical power between 1 to 5 mW. The accessible emission limit is
five times higher than for Class 2 visible laser light. Radiation in this class is considered low
risk, but potentially hazardous. Fewer manufacturing requirements and control measures
for 3R laser users apply than for 3B lasers.
Class IIIa/3R laser products must bear warning and certification labels as shown in the
figure below.
This label reprinted here is an example for an
IEC classified 3R laser. For detailed
specifications observe the label on your
sensor.
Class 3B:
Class IIIb/3B lasers are medium power laser sources above 5mW up to 500 mW.
Considered dangerous to your retina if exposed. Normally class IIIb/3B lasers will not
produce a hazardous diffuse reflection. Viewing into the reflection should not exceed
exposure duration more than 10 seconds
Class IIIb/3B laser products must bear warning and certification labels. In addition to the
above requirements, the certification for class IIIb/3B laser systems is only given if
additional safety requirements are fulfilled and a laser safety officer is named.
This label reprinted here is an example for an
IEC classified 3B laser. For detailed
specifications observe the label on your
sensor.

C5-CS Series User Manual Rev. 1.6
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9
Laser Responsibilities
Requirement
Class 2M
Class 3R
Class 3B
System Interlock
Not required
Not required
Required
Warning Signs
Not required
Required
Required
Emission Indicator
Not required
Not required
Required
Laser Safety Officer
Not required
Required
Required
Key Control
Not required
Not required
Required –key removal
disabled laser
Eyewear Protection
Not required
Not required
Required –under
special circumstances
Emission Delay
Not required
Not required
Required
Specular reflection
Not required
Avoid unintended
reflections
Avoid unintended
reflections
Beam Path Control
Not required
Not required
Required
Beam Attenuator
Not required
Not required
Required
Training
Not required
Required for operator
and maintenance
personnel
Required for operator
and maintenance
personnel

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C5-CS Series User Manual Rev. 1.6
The C5-CS Sensor Specifications
Parameters
Sensor Specifications
Sensor Type
CMOS
Shutter Type
Global Shutter
Resolution (Row x Column) in Pixel
1280x1024
1600 / 2048 x 1088
3360 x 2496
4096 x 3072
Sensor ADC Resolution
12 Bit
10 Bit
Sensor Dynamic Range
90dB with HDR
Max. Power Consumption
10 W
6 W
8 W
10 W
Max. Profile Rate at Max. Row
Width1
94700 Hz
25000 Hz
10000 Hz
14500 Hz
Effective Profile
Rate (Hz) at Max.
Row Width
Number of
Rows
Effective Frame / Profile Rate (Hz)
1280 Pixel
688 Pixel2
8
94700
155000
25000
10000
14500
16
56000
95700
16000
8000
9700
32
30840
54200
9540
5400
5800
64
16240
29000
5240
3280
3200
128
8340
15000
2700
1800
1700
256
4230
7660
1400
970
900
512
2130
3870
723
500
450
1024
1070
1940
358
255
225
2048
-
-
1803
128
113
3072
-
-
-
-
75
1
With reduced AOI (AoiHeight = 8)
2
C5-1280CS-GigE models can reduce the sensor width to increase the profile rate
3
On request

C5-CS Series User Manual Rev. 1.6
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11
Temperature Range (Operation/Storage)
Housing temperature during operation: 0°C to +50°C (+32°F to +122°F)
Sensor chip temperature (on-board)
during operation: 0°C to +65°C (+32°F to +149°F)
Humidity during operation: 20 % to 80 %, relative, non-condensing
Storage temperature: -20°C to +80°C (-4°F to +176°F)
Storage humidity: 20 % to 80 %, relative, non-condensing
Temperature and Measurement
The 3D laser sensor will gradually become warmer during the first hour of operation. After
one hour of operation, the housing temperature as well as the sensor temperature should
be stabilized and no longer increase. Afterwards a reliable and stable 3D measurement
is given.
General Guidelines for Heat Dissipation
-Mount the C5-CS sensor to a heat conductive material with an absolute thermal
resistance of at least 6 K / W.
-Always monitor the temperature of the sensor (on-board, available over
GenICam) and make sure that the temperature does not exceed 65°C.
-Keep in mind that dark current and noise performance for CMOS sensor will
degrade at higher temperature.

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C5-CS Series User Manual Rev. 1.6
Model Overview with Measurement Specifications
Model Name
X-FOV
Z-Range
Working
Distance
Resolution
X
Resolution
Z
Repeat-
ability
Linearity
(of Z-Range)
Points per
Profile
Housing
Type
[ mm ]
[ mm ]
[ mm ]
[ µm ]
[ µm ]
[ µm ]
[ % ]
[ pixels ]
C5-1280CS35-7
7
5.2
31
5.5
0.2
0.2
±0.02
1280
Model 6
C5-1280CS35-12
12
8
31
10
0.2
0.1
±0.02
1280
Model 6
C5-2040CS30-12
12
6
51.5
5.5
0.2
0.2
±0.02
2048
Model 4
C5-1280CS25-20
20
20
72
16
0.5
0.2
±0.02
1280
Model 6
C5-1280CS23-29
29
40
106
23
0.8
0.4
±0.01
1280
Model 1B
C5-1600CS23-30
30
40
106
19
0.7
0.5
±0.01
1600
Model 1A
C5-2040CS23-38
38
40
106
19
0.7
0.5
±0.01
2048
Model 1A
C5-2040CS18-38-2X1
38
30
117
19
0.83
0.7
±0.02
2048
Model 5
C5-1280CS21-40
40
46
90
31
1.2
0.4
±0.02
1280
Model 6
C5-1280CS23-47
47
40
106
37
1.4
0.5
±0.01
1280
Model 1B
C5-1600CS23-49
49
40
106
31
1.2
0.7
±0.01
1600
Model 1A
C5-2040CS21-53
53
46
90
26
1.0
0.5
±0.02
2048
Model 6
C5-2040CS23-63
63
40
106
31
1.2
0.7
±0.01
2048
Model 1A
C5-3360CS39-67
67
15
172
20
0.5
0.4
±0.01
3360
Model 3
C5-1280CS23-75
75
40
106
59
2.3
2.0
±0.01
1280
Model 1B
C5-1280CS14-76
76
80
197
59
3.5
1.6
±0.01
1280
Model 1B
1
Further information can be found in a separate manual

C5-CS Series User Manual Rev. 1.6
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Model Name
X-FOV
Z-Range
Working
Distance
Resolution
X
Resolution
Z
Repeat-
ability
Linearity
(of Z-Range)
Points per
Profile
Housing
Type
[ mm ]
[ mm ]
[ mm ]
[ µm ]
[ µm ]
[ µm ]
[ % ]
[ pixels ]
C5-1600CS23-78
78
40
106
49
1.9
1.0
±0.01
1600
Model 1A
C5-4090CS39-82
82
15
172
20
0.5
0.4
±0.01
4096
Model 3
C5-2040CS23-100
100
40
106
49
1.9
1.1
±0.01
2048
Model 1A
C5-2040CS14-100
100
120
197
49
3.0
2.5
±0.01
2048
Model 1B
C5-1280CS14-120
120
120
197
94
5.9
3.7
±0.01
1280
Model 1B
C5-1600CS14-125
125
120
197
78
4.9
3.7
±0.01
1600
Model 1B
C5-4090CS39-145
145
15
172
35
0.9
0.7
±0.01
4096
Model 3
C5-3360CS30-150
150
200
400
45
1.4
1.4
±0.01
3360
Model 2A
C5-2040CS14-160
160
120
197
78
4.9
6.6
±0.01
2048
Model 1B
C5-4090CS30-182
182
250
400
44
1.4
2.1
±0.01
4096
Model 2A
C5-3360CS30-236
236
300
400
70
2.2
1.2
±0.01
3360
Model 2A
C5-3360CS19-248
248
500
700
74
3.5
2.8
±0.01
3360
Model 2B
C5-1280CS30-248
248
300
400
194
6.1
3.1
±0.01
1280
Model 2A
C5-1600CS30-260
260
300
400
163
5.1
2.5
±0.01
1600
Model 2A
C5-4090CS30-288
288
300
400
70
2.2
1.2
±0.01
4096
Model 2A
C5-4090CS19-302
302
500
700
74
3.5
2.8
±0.01
4096
Model 2B
C5-2040CS30-330
330
300
400
161
5.0
2.6
±0.01
2048
Model 2A
C5-3360CS18-402
402
800
744
120
6.0
5.0
±0.01
3360
Model 2B
C5-3360CS30-406
406
300
400
121
3.8
2.2
±0.01
3360
Model 2A
C5-1280CS19-480
480
500
700
375
18
12
±0.01
1280
Model 2B

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C5-CS Series User Manual Rev. 1.6
Model Name
X-FOV
Z-Range
Working
Distance
Resolution
X
Resolution
Z
Repeat-
ability
Linearity
(of Z-Range)
Points per
Profile
Housing
Type
[ mm ]
[ mm ]
[ mm ]
[ µm ]
[ µm ]
[ µm ]
[ % ]
[ pixels ]
C5-4090CS18-490
490
800
744
120
6.0
5.0
±0.01
4096
Model 2B
C5-4090CS30-495
495
300
400
121
3.8
2.2
±0.01
4096
Model 2A
C5-1600CS19-500
500
500
700
313
15.0
10.0
±0.01
1600
Model 2B
C5-2040CS19-640
640
500
700
313
15.0
10.0
±0.01
2048
Model 2B
C5-3360CS18-691
691
800
744
206
10.4
8.0
±0.01
3360
Model 2B
C5-1600CS18-795
795
800
744
497
25.1
8.4
±0.01
1600
Model 2B
C5-4090CS18-842
842
800
744
206
10.4
8.0
±0.01
4096
Model 2B
C5-2040CS18-1015
1015
800
744
496
25.1
8.4
±0.01
2048
Model 2B
C5-2040CS15-1200
1200
800
920
586
35.0
10.5
±0.01
2048
Model 2B

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Definition Working Distance and Field of View (FOV)
Definition Coordinate Plane

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C5-CS Series User Manual Rev. 1.6
Mechanical Drawings
Housing Type
Model 1
Model 2
Model 3
Model 4
Model 5
Model 6

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17
Dimensions
Model 1
Version A
All dimensions in mm

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C5-CS Series User Manual Rev. 1.6
All dimensions in mm