Automation Technology C5 Series User manual

C5 Series
User Manual
for High Speed 3D Cameras
Rev 1.4
AT - Automation Technology GmbH

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© 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.
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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.
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acknowledged. This document is subject to change without notification. All rights
reserved.

C5 Series User Manual Rev. 1.4
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1
Table of Contents
TABLE OF CONTENTS ........................................................................................................................1
C5 SERIES OVERVIEW........................................................................................................................5
Introduction............................................................................................................................................................5
The C5 Series General Specifications.......................................................................................................................6
The Sensor Specifications.......................................................................................................................................... 8
C5-1280-GigE ........................................................................................................................................................ 8
C5-2040-GigE ........................................................................................................................................................ 9
C5-2040-4M-GigE................................................................................................................................................ 10
C5-3360-GigE ...................................................................................................................................................... 11
C5-4090-GigE ...................................................................................................................................................... 12
The Sensors Spectral Response............................................................................................................................... 13
Temperature Range (Operation/Storage) ............................................................................................................... 14
Heat Dissipation ...................................................................................................................................................... 14
General Guidelines for Heat Dissipation............................................................................................................. 14
Using the C5 Heat Sink........................................................................................................................................ 15
Mechanical Drawings .............................................................................................................................................. 16
C5-1280/2040/2040-4M/3360-GigE with M42x1 mount (Standard) ................................................................. 16
C5-4090-GigE with M42x1 mount (Standard)..................................................................................................... 16
Part Number for C5 Series .................................................................................................................................. 16
C5-1280/2040/2040-4M-GigE with C-Mount Adapter (Option)......................................................................... 17
C5-3360/4090-GigE with C-Mount Adapter (Option) ......................................................................................... 17
Part Number for C-Mount Adapter Option......................................................................................................... 17
C5-1280/2040/2040-4M/3360-GigE with F-Mount Adapter (Option)................................................................ 18
C5-4090-GigE with F-Mount Adapter (Option) ................................................................................................... 18
Part Number for F-Mount Adapter Option ......................................................................................................... 18
C5-1280/2040/2040-4M-GigE with integrated Scheimpflug Adapter (Option).................................................. 19
C5-3360/4090-GigE with integrated Scheimpflug Adapter (Option) .................................................................. 19
Part Number for Scheimpflug Adapter Option ................................................................................................... 20
Lens Protection Tubes for the C5 Series.................................................................................................................. 21
C-Mount Lens Protection Tube with Ø 44mm .................................................................................................... 21
C-Mount Lens Protection Tube with Ø 55mm .................................................................................................... 21
Part Number for Lens Protection Tubes ............................................................................................................. 21
Subpixel Limitations ................................................................................................................................................ 22
C5 SERIES OPERATIONAL REFERENCE .............................................................................................23
Measuring Principle ..............................................................................................................................................23
Geometry 1 ............................................................................................................................................................. 23
Geometry 2 ............................................................................................................................................................. 24
Geometry 3 ............................................................................................................................................................. 24
Geometry 4 ............................................................................................................................................................. 25

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C5 Series User Manual Rev. 1.4
The C5 Sensor Algorithms .....................................................................................................................................26
The Image Mode (IMG) ........................................................................................................................................... 26
The Maximum Intensity Profile Mode (MAX) ......................................................................................................... 27
The Threshold Mode (TRSH) ................................................................................................................................... 28
The Center Of Gravity Mode (COG)......................................................................................................................... 29
The FIR Peak Mode (FIR PEAK) ................................................................................................................................ 30
The FIR Filter Function ..........................................................................................................................................31
The High Dynamic Range 3D Feature (HDR-3D).....................................................................................................32
MultipleSlope Function ........................................................................................................................................... 32
Single Slope Mode (Default Mode)..................................................................................................................... 33
Dual Slope Mode (1 Knee Point) ......................................................................................................................... 33
Triple Slope Mode (2 Knee Points)...................................................................................................................... 33
Comparison of Slope Modes............................................................................................................................... 34
Multi-Frame Readout Mode (NDR)..................................................................................................................... 35
The Data Output Format.......................................................................................................................................36
The Data Channel Assignment DC0, DC1 and DC2 .................................................................................................. 36
The Output Frame Structure ................................................................................................................................... 38
Index Definition................................................................................................................................................... 39
Examples of Output Frame Structure ................................................................................................................. 39
The Advanced AOI Functions ................................................................................................................................42
AOI-Search............................................................................................................................................................... 42
AOI-Tracking............................................................................................................................................................ 42
The C5 Series Triggering Mode..............................................................................................................................43
Description of Profile Trigger Modes ...................................................................................................................... 43
Trigger Control –RS422 Resolver............................................................................................................................ 44
Description of Modes for Triggering of Sequencer/Frame and Profile Acquisition ................................................ 46
The C5 Series Chunk Data Mode ...........................................................................................................................48
General Description ................................................................................................................................................ 48
Payload Layout in Chunk Data Mode ...................................................................................................................... 49
XML Descriptors and ID’s ........................................................................................................................................ 50
Chunk Data Structure.............................................................................................................................................. 51
The GigE-Vision Events .........................................................................................................................................52
The Web Interface ................................................................................................................................................53
The External C5-IO-Panel (Breakout Board) ..........................................................................................................55
Mechanical Drawings .............................................................................................................................................. 55
Clamp Configuration ............................................................................................................................................... 56
Mechanical Dimension............................................................................................................................................ 57
The C5 Series I/O Schematics................................................................................................................................58
I/O and Encoder with Differential TTL-Mode for RS422 (Standard) ....................................................................... 58
I/O and Encoder with Differential HTL-Mode for RS422 (Option) .......................................................................... 59
I/O and Encoder with Single Ended HTL or TTL Mode for RS422 (Option).............................................................. 60
Part Number for I/O and Encoder Option ............................................................................................................... 61
Encoder / Resolver Input Specification............................................................................................................... 61
Laser Connection with Analog and Digital Modulation........................................................................................... 62
Master/Slave Connection........................................................................................................................................ 63
Example configuration for Master/Slave Connection......................................................................................... 63

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The Digital Outputs...............................................................................................................................................64
The C5-GigE Interface ...........................................................................................................................................65
The GigE Interface ................................................................................................................................................... 65
The I/O & Power Interface ...................................................................................................................................... 66
Description of LEDs ................................................................................................................................................. 67
The C5 Series Cables .............................................................................................................................................68
Cables for Power, I/O and Laser Control................................................................................................................. 68
Wire Assignment of M12 17 pin Pigtail Cable......................................................................................................... 69
Cables for GigE Interface......................................................................................................................................... 70
Orientation of Angled Adapter Cable...................................................................................................................... 72
The C5 Series GenICam Features...........................................................................................................................73
Device Control......................................................................................................................................................... 73
Image Format Control ............................................................................................................................................. 73
Acquisition Control.................................................................................................................................................. 73
Camera Control ....................................................................................................................................................... 73
AOIs..................................................................................................................................................................... 73
FIR Control .......................................................................................................................................................... 73
Mode and Algorithm Control.............................................................................................................................. 73
Sensor Control .................................................................................................................................................... 74
Data Output Channels......................................................................................................................................... 74
Commands .......................................................................................................................................................... 74
Light Control............................................................................................................................................................ 74
Camera IO................................................................................................................................................................ 74
Trigger Control ........................................................................................................................................................ 75
RS422 Resolver ................................................................................................................................................... 75
AutoStart............................................................................................................................................................. 75
Transport Layer Control .......................................................................................................................................... 75
GigE Vision .......................................................................................................................................................... 75
User Set Control ...................................................................................................................................................... 75
Chunk Data Control................................................................................................................................................. 75
Event Control........................................................................................................................................................... 75
File Access Control .................................................................................................................................................. 75
Additional Features for Scatter Firmware .............................................................................................................76
C5-2040-SCT-GigE.................................................................................................................................................... 76
CXEXPLORER OVERVIEW .................................................................................................................80
The cxExplorer ......................................................................................................................................................80
cxExplorer Features ..............................................................................................................................................81
Image Wizard .......................................................................................................................................................... 81
Image Mode ............................................................................................................................................................ 82
3D Wizard................................................................................................................................................................ 82
3D Mode.................................................................................................................................................................. 83
QUICKSTART A C5 CAMERA.............................................................................................................84
CXSOFTWARE DEVELOPMENT KIT...................................................................................................85
SERVICE INFORMATION ..................................................................................................................86

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C5 Series User Manual Rev. 1.4
Product Information and Updates ........................................................................................................................86
Warranty Conditions.............................................................................................................................................87
Warranty Period...................................................................................................................................................... 87
Extended Warranty ................................................................................................................................................. 87
Return Policy ........................................................................................................................................................87
Document Revision...............................................................................................................................................88

C5 Series User Manual Rev. 1.4
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5
C5 Series Overview
Introduction
The C5 series is a revolutionary product family of intelligent high speed sensors. It is
optimised for 3D profile measurement by means of laser triangulation technique. The 3D
profile extraction is performed in the camera 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.

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C5 Series User Manual Rev. 1.4
The C5 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
Analog Output
Range: 0V to +5V DC
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
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
Optical Interface
Lens Mount
M42x1 with flange focal distance 6.52 mm
Adapter for C-Mount lens*
With flange focal distance 17.52 mm
Adapter for Nikon F-Mount lens
with Bayonet mount*
With flange focal distance 46.50 mm
Adapter for Scheimpflug*
For C-Mount lens
* Must be ordered separately. See section Part Number for Scheimpflug Adapter Option

C5 Series User Manual Rev. 1.4
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Electrical Interface
Camera Supply
+10V to +24V DC (max. +27V DC)
Power consumption
6 W…10 W (depending on camera type)
Operating Temperature
0°C to +50°C (non-condensing)
Output Data Interface
Gigabit Ethernet (IEEE 802.3)
Communication Protocol
GigE Vision with GenICam
Mechanical Interface
Camera Size
55 mm x 55 mm x 66 mm
Mass (without optics)
250 g
Power connector
17 pin, M12 connector
Ethernet connector
8 pin, A-coded M12 connector
Mechanical Stress Specification
Vibration (sinusoidal each axis)
1 g, 10…2000Hz
IEC 60068-2-6
Vibration (random each axis)
5 g, 5…1000Hz
IEC 60068-2-64
Shock (each axis)
50 g
IEC 60068-2-27
Enclosure rating
IP67
IEC 600529

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C5 Series User Manual Rev. 1.4
The Sensor Specifications
C5-1280-GigE
Parameters
Specifications
Responsivity
9.6 V/lux.s
Shutter Type
Pipelined Global Shutter
QE * FF
55% @ 525 nm
Resolution ( H x V )
1280 x 1024 pixels
Pixel Size
6.6 µm x 6.6 µm
Sensor Size
8.448 mm x 6.758 mm, diagonal: 10.82 mm
Optical Format
2/3”
Power Consumption
10 W
ADC Resolution
12 bit
Dynamic Range
57 dB
Extended Dynamic Range
Up to 90dB with HDR
Max. Internal Full-Frame Rate for Image
Mode
288 fps
Max. External Full-Frame Rate for Image
Mode
(limited due to GigE bandwidth)
94 fps
Effective Profile Rate (Hz) at Max. Row
Width
Number
of Rows
Effective Frame / Profile Rate (Hz)
1280 Pixel
688 Pixel1
8
16
32
64
128
256
512
1024
94700
56000
30840
16240
8340
4230
2130
1070
155000
95700
54200
29000
15000
7660
3870
1940
1
C5-1280-GigE can reduce the sensor width to increase the profile rate

C5 Series User Manual Rev. 1.4
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C5-2040-GigE
Parameters
Specifications
Responsivity
5.56 V/lux.s
0.27 A/W
With micro lens
@ 550 nm
Shutter Type
Pipelined Global Shutter
QE * FF
60% @ 550 nm
Resolution ( H x V )
2048 x 1088 pixels
Pixel Size
5.5 µm x 5.5 µm
Sensor Size
11.264 mm x 5.984 mm, diagonal: 12.75 mm
Optical Format
2/3”
Power Consumption
6 W
ADC Resolution
10 bit
Dynamic Range
60 dB
Extended Dynamic Range
Up to 90dB with HDR
Max. Internal Full-Frame Rate for Image
Mode
170 fps
Max. External Full-Frame Rate for Image
Mode
(limited due to GigE bandwidth)
50 fps
Effective Profile Rate (Hz) at Max. Row
Width
Number of
Rows
Effective Frame / Profile Rate
(Hz)
8
16
32
64
128
256
512
1088
25000
16000
9540
5240
2700
1400
723
340

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C5 Series User Manual Rev. 1.4
C5-2040-4M-GigE
Parameters
Specifications
Responsivity
5.56 V/lux.s
0.27 A/W
With micro lens
@ 550 nm
Shutter Type
Pipelined Global Shutter
QE * FF
60% @ 550 nm
Resolution ( H x V )
2048 x 2048 pixels
Pixel Size
5.5 µm x 5.5 µm
Sensor Size
11.264 mm x 11.264 mm, diagonal: 15.93 mm
Optical Format
1”
Power Consumption
8 W
ADC Resolution
10 bit
Dynamic Range
60 dB
Extended Dynamic Range
Up to 90dB with HDR
Max. Internal Full-Frame Rate for
Image Mode
90 fps
Max. External Full-Frame Rate for
Image Mode
(limited due to GigE bandwidth)
25 fps
Effective Profile Rate (Hz) at Max.
Row Width
Number of Rows
Effective Frame / Profile Rate (Hz)
8
16
32
64
128
256
512
1088
2048
25000
16000
9540
5240
2700
1400
723
340
180

C5 Series User Manual Rev. 1.4
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C5-3360-GigE
Parameters
Specifications
Responsivity
5.56 V/lux.s
0.27 A/W
With micro lens
@ 550 nm
Shutter Type
Pipelined Global Shutter
QE * FF
60% @ 550 nm
Resolution ( H x V )
3360 x 2496 pixels
Pixel Size
5.5 µm x 5.5 µm
Sensor Size
18.48 mm x 13.728 mm, diagonal: 23.02 mm
Optical Format
4/3”
Power Consumption
8 W
ADC Resolution
10 bit
Dynamic Range
61 dB
Extended Dynamic Range
Up to 90dB with HDR
Max. Internal Full-Frame Rate for
Image Mode
52 fps
Max. External Full-Frame Rate for
Image Mode
(limited due to GigE bandwidth)
12 fps
Effective Profile Rate (Hz) at Max.
Row Width1
Number of Rows
Effective Frame / Profile Rate (Hz)
8
16
32
64
128
256
512
1024
2496
10100
7750
5300
3230
1815
970
500
255
106
1
With a FOT (Frame Overhead Time) = 16

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C5 Series User Manual Rev. 1.4
C5-4090-GigE
Parameters
Specifications
Responsivity
4.64 V/lux.s
0.22 A/W
With micro lens
@ 550 nm
Shutter Type
Pipelined Global Shutter
QE * FF
50% @ 550 nm
Resolution ( H x V )
4096 x 3072 pixels
Pixel Size
5.5 µm x 5.5 µm
Sensor Size
22.528 mm x 16.896 mm, diagonal: 28.16 mm
Optical Format
4/3”
Power Consumption
10 W
ADC Resolution
10 bit
Dynamic Range
60 dB
Extended Dynamic Range
Up to 90dB with HDR
Max. Internal Full-Frame Rate for
Image Mode
32 fps
Max. External Full-Frame Rate for
Image Mode
(limited due to GigE bandwidth)
9 fps
Effective Profile Rate (Hz) at Max.
Row Width
Number of Rows
Effective Frame / Profile Rate (Hz)
8
16
32
64
128
256
512
1024
2048
3072
14500
9700
5800
3200
1700
900
450
225
113
75

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The Sensors Spectral Response
0
10
20
30
40
50
60
70
300 350 400 450 500 550 600 650 700 750 800 850 900 950 1000
QUANTUM EFFICIENCY [ % ]
WAVELENGTH [nm]
SPECTRAL RESPONSE
C5-1280-GigE C5-2040-GigE / C5-2040-4M-GigE C5-3360-GigE C5-4090-GigE

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C5 Series User Manual Rev. 1.4
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
Heat Dissipation
The operation of the C5 camera requires sufficient heat dissipation. Depending on the
environmental conditions the sensor housing may not provide a sufficient cooling surface
to dissipate the thermal power loss, which is generated by the core electronics and the
sensor chip.
All 3D cameras of the C5 series feature high-speed CMOS sensor chips. A typical property
of a CMOS sensor is that it provides best image quality by low temperatures. High
temperatures will lead to an increase of dark current, noise and hence to a reduction of
signal-to-noise ratio (SNR).
To eliminate these effects it is often sufficient to mount the C5 sensor on a heat
conductive material, such as a metal surface.
In case that it is not possible to mount the camera on any heat dissipating
carrier, then it is recommended to use a heat sink with the required
specification of AT.
General Guidelines for Heat Dissipation
-Mount the 3D camera 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.
-The 3D camera of the C5 series 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 stable and no longer increase.

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Using the C5 Heat Sink
AT provide a specially designed heat sink to improve the cooling of C5 cameras in
applications lacking sufficient thermal dissipation.
Absolute thermal resistance for camera housing: Rth = 5 [K / W]
Absolute thermal resistance for heat sink: Rth = 3.75 [K / W]

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Mechanical Drawings
C5-1280/2040/2040-4M/3360-GigE with M42x1 mount (Standard)
C5-4090-GigE with M42x1 mount (Standard)
Part Number for C5 Series
Part Number #
Product Name
202 203 001
C5-3360-GigE, lens mount M42x1
202 203 002
C5-4090-GigE, lens mount M42x1
202 203 003
C5-2040-GigE, lens mount M42x1
202 203 004
C5-2040-4M-GigE, lens mount M42x1
202 203 005
C5-1280-GigE, lens mount M42x1

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C5-1280/2040/2040-4M-GigE with C-Mount Adapter (Option)
C5-3360/4090-GigE with C-Mount Adapter (Option)
Part Number for C-Mount Adapter Option
Part Number #
Product Name
202 188 001
C5 C-Mount: M42x1 adapter with thread for lens protective cover to use with
C-Mount type lens, for C5-3360-GigE/C5-4090-GigE
202 188 002
C5 C-Mount: M42x1 adapter with thread for lens protective cover to use with
C-Mount type lens, for C5-1280-GigE / C5-2040-GigE / C5-2040-4M-GigE

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C5-1280/2040/2040-4M/3360-GigE with F-Mount Adapter (Option)
C5-4090-GigE with F-Mount Adapter (Option)
Part Number for F-Mount Adapter Option
Part Number #
Product Name
202 182 011
C4/C5 F-Mount: M42x1 adapter to use with Nikon-F Bayonet type lens