Automation Technology C3 Series Quick user guide

C3 Camera
Hardware Reference
Manual
Rev. 1.3.7
Automation Technology GmbH

C3 Camera Hardware Reference Manual Rev. 1.3.7 •iii
Table Of Contents
Table Of Contents iii
Overview 2
Introduction................................................................................................... 2
Measuring Principle........................................................................................ 2
Geometry 1 ....................................................................................... 3
Geometry 2 ....................................................................................... 3
Geometry 3 ....................................................................................... 4
Geometry 4 ....................................................................................... 4
The C3 Camera Algorithms ............................................................................ 5
The Image Mode (IMG) ...................................................................... 5
The Maximum Intensity Profile Mode (MAX)........................................... 6
The Threshold Mode (TRSH) ................................................................ 7
The Center Of Gravity Mode (COG).................................................... 8
The Camera AOIs.......................................................................................... 9
The Image Data Output Format .................................................................... 10
The Data Channel Assignment DC0-DC2........................................... 10
Image Acquisition ........................................................................................ 11
Sensor Modes .................................................................................. 11
Trigger Modes.................................................................................. 13
The External Trigger Enable line ......................................................... 14
Output of internal Trigger and Status signals .................................................. 15
Software Integration of C3 Camera ............................................................... 16
Register Description 20
The C3 Camera Register Set ......................................................................... 20
Register Reference........................................................................................ 20
CFG_REG ....................................................................................... 20
CL_X0_REG ..................................................................................... 21
CL_DX_REG..................................................................................... 22
CL_DY_REG .................................................................................... 22
JTAG_REG....................................................................................... 22
ITIME_L_REG ................................................................................... 23
ITIME_H_REG .................................................................................. 23
IRTIME_L_REG ................................................................................. 23
IRTIME_H_REG ................................................................................ 24
PTIME_L_REG .................................................................................. 24
PTIME_H_REG ................................................................................. 24

iv •C3 Camera Hardware Reference Manual Rev. 1.3.7
SENSOR_REG.................................................................................. 24
SENSOR_X0_REG ............................................................................ 25
SENSOR_DX_REG ............................................................................ 25
TRIG_CNT_REG............................................................................... 26
CL_CFG_ REG................................................................................. 26
HWINFO_REG................................................................................. 26
NUM_AOIS_REG ............................................................................. 27
LINLOG_VAL0_REG (obsolete, C3-A1024-CL only ............................. 27
LINLOG_VAL1 (obsolete, C3-A1024-CL only)..................................... 27
LINLOG_TIME_L_REG (obsolete, C3-A1024-CL only) ......................... 28
LINLOG_TIME_H_REG (obsolete, C3-A1024-CL only ......................... 28
ADC0_REG (obsolete, C3-A1024-CL only)......................................... 28
ADC2_REG (obsolete, C3-A1024-CL only)......................................... 29
CTRL_REG ....................................................................................... 29
STATUS_REG ................................................................................... 30
MUX_REG ....................................................................................... 30
MUX_TRIG_STATUS.......................................................................... 31
MUX_SENSOR_READOUT_TIME ....................................................... 31
MUX_FRAME_OUTPUT_TIME_L......................................................... 31
MUX_FRAME_OUTPUT_TIME_H........................................................ 32
MUX_CAP_INFO.............................................................................. 32
MUX_REVISION ............................................................................... 32
IO_REG........................................................................................... 33
DATAOUT_REG ............................................................................... 33
AOI0_Y0-AOI7_Y0 .......................................................................... 34
AOI0_DY-AOI7_DY ......................................................................... 35
AOI0_TRSH-AOI7_TRSH................................................................... 35
Sensor DAC Channels ...................................................................... 35
LASER_CONTROL_REG (C3-CompactSensors only) ............................ 36
WIDTH_VALID_MIN_REG.................................................................. 37
WIDTH_VALID_MAX_REG ................................................................. 37
SUM_INT_VALID_MIN_REG .............................................................. 37
SUM_INT_VALID_MAX_REG.............................................................. 37
I/O Interface 39
The Camera I/O Interface ............................................................................ 39
The internal DIP-Switches.............................................................................. 40
Description of LEDs ...................................................................................... 40
The External I/O Panel ................................................................................. 41
The CameraLink Interface of C3 Camera 42
System Overview.......................................................................................... 42
Supported CameraLink Modes ...................................................................... 42
Output Modes of C3 Camera with CameraLink Interface ..................... 44
CameraLink Signal Assignment .......................................................... 44
Camera Control Signal Assignment.................................................... 44
The UART Configuration Protocol.................................................................. 45
CMD_WRITE_DAC ........................................................................... 45
CMD_WRITE_REG............................................................................ 45
CMD_READ_REG............................................................................. 46
CMD_PROM.................................................................................... 46
The CameraLink Connection......................................................................... 47

C3 Camera Hardware Reference Manual Rev. 1.3.7 •v
Technical Specifications 49
C3-1280-CL Sensor..................................................................................... 49
C3-2350-CL Sensor..................................................................................... 51
Operating Specifications .............................................................................. 53
Camera Specifications ...................................................................... 53
Electrical Specification of I/O Signals ................................................. 53
Mechanical Specifications............................................................................. 54
Service Information 55
Document Revision ...................................................................................... 55
Product Information and Updates .................................................................. 55
Warranty Conditions .................................................................................... 56
Index 57

C3 Camera Hardware Reference Manual Rev. 1.3.7 Table Of Contents •1
© 2009 Automation Technology GmbH.
All rights reserved. No part of this document shall be reproduced, stored in a retrieval system, or
transmitted by any means, electronic, mechanical, photocopying, recording, or otherwise without
consent in writing from the owners, AT-Automation Technology GmbH.
Disclaimer
While care has been exercised in the preparation of this document to ensure that it is fully correct and
comprehensive, the owners assume no responsibility for errors or omissions. Neither is any liability
assumed for damages resulting from the use of the information contained herein. No license is
granted under any patents or patent right of AT – Automation Technology GmbH.
Trademarks
3M™ is a registered trademark of the 3M Company.
Camera Link™ is a registered trademark of PULNIX America, Inc.
Channel Link™ is a registered trademark of National Semiconductor, Inc.
Matrox™ is a registered trademark of Matrox Electronic Systems Ltd.
LINLOG™ is a registered trademark of Photonfocus AG
All other nationally and internationally recognized trademarks and tradenames are hereby
acknowledged.
This document is subject to change without notification. All rights reserved.

2 •Overview C3 Camera Hardware Reference Manual Rev. 1.3.7
Overview
Introduction
The C3 camera series is a revolutionary product family of high speed intelligent sensors. It is optimised
for 3D shape measurement by means of laser triangulation technique. The 3D profile extraction is
performed in the camera by using high performance parallel hardware processors. At the same time
only the 3D profile data is sent to the PC over a standard interface (CameraLink). This extreme data
reduction boosts the measuring speed to unprecedented levels without affecting the performance of
the connected image processing unit.
Measuring Principle
The C3 camera acquires height profiles and height images based on the laser triangulation principle.
According to this method a laser line is projected on the object from one direction. The C3 camera
views the object from another angle defining the triangulation geometry. The resulting sensor image is
evaluated by the C3 camera core and converted into a single height profile. By scanning the laser line
over the object a complete height image can be acquired.
The figures below demonstrate some typical triangulation geometries. The following notation is used in
the approximation of height resolution:
∆X= resolution along the laser line (lateral),
∆Y= resolution perpendicular to the laser line (longitudinal in the direction of motion),
∆Z= height resolution.

C3 Camera Hardware Reference Manual Rev. 1.3.7 Overview •3
Geometry 1
The laser line is projected perpendicular to the object surface, while the camera views the object under
the triangulation angle α.
The height resolution can be approximated: ∆Z ≈∆X / sin(α)
Y
X
Z
Geometry 2
The camera views the object perpendicularly to its surface, while the laser line is projected under the
triangulation angle α.
The height resolution can be approximated: ∆Z ≈∆X / tan(α)
α
Y
X
Z

4 •Overview C3 Camera Hardware Reference Manual Rev. 1.3.7
Geometry 3
The camera views the object under an angle α, while the laser line is projected under a different
angle β.
The height resolution can be approximated: ∆Z ≈∆X * cos(β) / sin(α+ β),
in case α= β(direct reflex) : ∆Z ≈∆X / 2* sin(α)
αβ
Y
X
Z
Geometry 4
The camera views the object under an angle α, while the laser line is projected under a different
angle βat the camera side.
The height resolution can be approximated: ∆Z ≈∆X * cos(β) / sin(α- β),
Y
X
Z
α
β

C3 Camera Hardware Reference Manual Rev. 1.3.7 Overview •5
The C3 Camera Algorithms
The C3 camera can be operated both in a variety of 3D profile modes and in image mode. The
current operation mode can be chosen by setting the configuration bits of the CFG register.
The frame rate can be increased in all camera modes by reducing the AOI size. In the image mode
the frame rate is limited by the output rate of the camera interface (CameraLink). However, due to
reduced data size in profile mode the frame rate is limited only by the sensor output rate. As a matter
of principle the processing speed is independent of the chosen profile mode and is determined by the
AOI size.
In all profile modes only intensity values higher than the AOI intensity threshold AOI_TRSH are
processed in order to suppress weak signal noise. In case that no position value can be found, e.g. no
intensity value is higher than threshold, the position value 0 is returned.
The Image Mode (IMG)
In the image mode the C3 camera is operated similar to a standard CMOS camera. In this mode grey
scale data of 8 or 10 bit resolution are acquired over the camera interface. Furthermore, the sensor
can be divided into multiple regions, whose data can be summarised in one output frame (see section
The Camera AOIs for details).

6 •Overview C3 Camera Hardware Reference Manual Rev. 1.3.7
The Maximum Intensity Profile Mode (MAX)
In this mode the position of the maximum intensity of laser beam profile is calculated. The result
includes the position value of the maximum (PMAX) as well as the maximum intensity value (IMAX).
AOI_TRSH
P
MA
X
I
MAX
P
R
The calculation of position value is performed with simple pixel accuracy, i.e. the evaluation of 1024
rows delivers a position range from 0 to 1023 pixels (10 bit). If there is more than one local
maximum, the position of the first maximum (starting from row zero) is used.

C3 Camera Hardware Reference Manual Rev. 1.3.7 Overview •7
The Threshold Mode (TRSH)
In this mode the left (PL) and (PR) right edge position of the laser beam profile are calculated for a
given threshold value of intensity AOI_TRSH.
AOI_TRSH
P
TRSH
P
L
P
R
The position value of the laser line is approximated: PTRSH = (PL+PR) / 2. In order to simplify the digital
representation the division over 2 is not performed and thus an integer representation with one
subpixel is realised. The evaluation of 1024 rows delivers a position range from 0 to 2047 pixels
(11 bit).
In threshold mode the camera can output either the left and right threshold position separately or the
subpixel position (PL+PR) and the line width (PR-PL). Moreover, the maximum intensity value can be
optionally delivered.

8 •Overview C3 Camera Hardware Reference Manual Rev. 1.3.7
The Center Of Gravity Mode (COG)
In this mode the center of gravity of laser beam profile is calculated. For this purpose the following
parameters are computed:
Position value of the left edge of laser beam profile for a given intensity threshold value PL ,
Sum of intensity value Is= ∑Ip,
Sum of first order moment Ms= ∑Ip * P .
AOI_TRSH
PCO
G
PL
I
S
The position value of laser line (center of gravity of beam profile) is then obtained from:
PCOG = PL+ Ms/ Is.
In addition the laser line width can be delivered over the Data Channel DC1. The average intensity of
the illumination profile can be calculated by normalising the sum of intensity value Iswith the line
width.

C3 Camera Hardware Reference Manual Rev. 1.3.7 Overview •9
The Camera AOIs
The C3 camera series supports the operation of up to 8 none overlapping sensor Areas of Interest
(AOIs). Every AOI is defined by its starting row and total number of rows. A reduction of the AOI size
increases linearly the maximum frame rate. The AOI configuration is performed through the register
AOIX_Y0 and AOIX_DY. The camera outputs a single frame by putting together the individual AOIs.
Furthermore, the size of an AOI in the column direction can be also defined by setting the starting
column (CL_X0) and the number of output columns (CL_DX). Especially the camera C3-2350-CL
supports the reduction of the sensor output columns. For this sensor the read out speed and thus the
maximum frame rate increases linearly by reducing the number of pixels per row. Both the output
column position (CL_X0, CL_DX) and the sensor read out column position (SENSOR_X0, SENSOR_DX)
apply for all AOIs.
(0,0)
(1279,1023)
(0,0)
(1279,1023)
(0,0)
(1023,1023)
/
(2351,1727)
(0,0)
(1023,1023)
Length of sensor read out ro
w
Length of sensor
r
ead out row
Length of senso
r
read out row
(SENSOR_DX)
Length o
f
camera output row
(CL_DX)
A
OI0_Y0
A
OI0_Y0 + AOI0_DY
A
OI0_Y0
A
OI0_Y0 + AOI0_DY
A
OI0_Y0
A
OI0_Y0 + AOI0_DY
A
OI1_Y0
A
OI1_Y0 + AOI1_DY
A
OI2_Y0
A
OI2_Y0 + AOI2_DY
A
OI0_Y0
A
OI0_Y0 + AOI0_DY
A
OI1_Y0
A
OI1_Y0 + AOI1_DY
A
OI2_Y0
A
OI2_Y0 + AOI2_DY
12790
1279
0
Length o
f
camera output row
(CL_DX)
Length o
f
camera output row
(CL_DX)
Length o
f
camera output row
(CL_DX)
Length of senso
r
read out row
(SENSOR_DX)
SENSOR_X0
SENSOR_X0
CL_X0 CL_X0
CL_X0
CL_X0
SENSOR_X0
SENSOR_X0
C3-1280-CL C3-2350-CL

10 •Overview C3 Camera Hardware Reference Manual Rev. 1.3.7
The Image Data Output Format
The image and profile data output is performed by selecting the data channel DC0-DC2 (see
DATAOUT_REG). Depending on the algorithm the data can be acquired by enabling the
corresponding output channel. Every channel is saved in a new image row. The data output can be
performed in 8 or 16 bit mode. In the 8 bit mode the DC0 (DATAOUT_DC0_SHIFT) can be
configured to deliver the 8 most significant bits of the 10 bit intensity data. For the other channels the
8 most significant data bits are ignored.
In the CameraLink version with the compressed data output it is possible to use the CameraLink 2 tap
mode, in which two successive Pixel of 12 bit data width (DATAOUT_12BIT) are transferred in one
cycle.
The Data Channel Assignment DC0-DC2
Alg. DC0 DC1 DC2
IMG Grey scale values Not used Not used
TRSH Maximum intensity Left edge of laser line
(PosL) or line width
(PosR-PosL)
Right edge of laser line (PosR) or
line position with 1/2 pixel
accuracy (PosL+PosR)
MAX Maximum intensity Left edge of laser line
(PosL)
Position of maximum intensity
(PosM)
COG Sum of intensity values IsLeft edge of laser line
(PosL) or laser line width
(PosR-PosL)
Line position with 1/X pixel
resolution, where
X=1,2,4,8,16,32,64
Alg. Flags – Output over DC1 (16 bit mode):
Bit14 = LEFT_TRSH_FOUND_FLAG: indicates that the left edge of laser line was found
Bit15 = RIGHT_TRSH_FOUND_FLAG: indicates that the right edge of laser line was found

C3 Camera Hardware Reference Manual Rev. 1.3.7 Overview •11
Image Acquisition
Sensor Modes
Freerun, untriggered Interleaved Mode (C3-1280-CL)
In this mode the acquisition (exposure) of the current image and the readout/processing of the
previous image is performed in parallel without external trigger. In 3D profile mode the maximum
frame rate is determined by the integration time or readout time of the sensor (whichever is longer).
On the contrary, in image mode the maximum frame rate is determined by the output time or
integration time of the sensor (whichever is longer). Comparing to readout or output time the
integration time (ITIME) can be reduced by the parameter IRTIME (µs).
Integration
Frame N
Sensor Readout +
Output Frame N
Integration
Frame N+1
Output
Profile N
Sensor Readout +
Output Frame N+1
Integration
Frame N+2
3D Profile Mode
Image Mode
Sensor Readout
Frame N
Output
Profile N+1
Sensor Readout
Frame N+1
Triggered Interleaved Mode (C3-1280-CL)
In this mode the acquisition of the current image and the readout/processing of the previous image
can be performed in parallel depending on an external trigger. The maximum profile rate (camera is
running in profile mode) is determined by the sensor integration time and the sensor readout time. The
greater of both values corresponds to the time for the acquisition of one profile. In order to achieve a
constant integration time, even for asynchronous trigger pulses (e.g. from resolver interface) an
integration time greater or equal to the sensor readout time is recommended.

12 •Overview C3 Camera Hardware Reference Manual Rev. 1.3.7
Integration
Frame N
Sensor Readout
Frame N
Integration
Frame N+1
Output
Profile N
Sensor Readout
Frame N+1
Integration
Frame N+2
Output
Profile N+1
3D Profile Mode
Image Mode
external trigger (e.g. from digital input CC1 or
resolver interface ENC_A, ENC_B)
Sensor Readout +
Output Frame N
Sensor Readout +
Output Frame N+1
Freerun, untriggered Sequential Mode (C3-1280-CL)
In this mode the acquisition (exposure) and the readout / processing of the current image is performed
successively and without external trigger. The integration time is independent of the sensor readout
time and is determined only by the preset time ITIME. In order to implement a predefined frame rate a
pause time (PTIME) can by optionally used.
Integration
Frame N Sensor Readout +
Frame N
optional
Pause Time Integration
Frame N+1
Integration
Frame N Sensor Readout
Frame N
optional
Pause Time Integration
Frame N+1
Output
Profile N
3D Profile Mode
Image Mode

C3 Camera Hardware Reference Manual Rev. 1.3.7 Overview •13
Triggered Sequential Mode (C3-1280-CL)
In this mode an external trigger initiates the image acquisition followed by the readout / processing.
The integration time is independent of the sensor readout time and is determined only by the preset
time ITIME.
Pause Time
external trigger (e.g. from digital input CC1 or
resolver interface ENC_A, ENC_B)
Integration
Frame N Sensor Readout +
Output Frame N
Integration
Frame N+1
Integration
Frame N Sensor Readout
Frame N
Integration
Frame N+1
Output
Profile N
3D Profile Mode
Image Mode
Pause Time
Rolling Shutter, freerun (C3-2350 only)
In this mode the acquisition (exposure) of the current image and the readout/processing of the
previous image is performed row by row in parallel without external trigger. In 3D profile mode the
maximum frame rate is determined by the integration time or readout time of the sensor (whichever is
longer). On the contrary, in image mode the maximum frame rate is determined by the output time or
integration time of the sensor (whichever is longer). Comparing to readout or output time the
integration time (ITIME) can be reduced by enabling the “Short Integration Mode”.
Rolling Shutter, triggered (C3-2350-CL only)
In this mode the acquisition of the current image and the readout/processing of the previous image
can be performed in parallel depending on an external trigger. The maximum profile rate in 3D mode
is determined by the integration time or readout time of the sensor (whichever is longer).
Trigger Modes
Image Acquisition Start
The image acquisition is initiated by a trigger when CFG_SEQ_FREERUN = 0 and
-„Start – Input“, when IO_START_STOP_SEQ_IO_EN = 1 or
-CC(2) when IO_START_STOP_SEQ_CC_EN = 1 or

14 •Overview C3 Camera Hardware Reference Manual Rev. 1.3.7
-CTRL_START bit of CTRL register
Image Acquisition Stop
The image acquisition is stopped by a trigger when CFG_SEQ_FREERUN = 0 and
-„Stop – Input“, when IO_START_STOP_SEQ_IO_EN = 1 or
-CC(3) when IO_START_STOP_SEQ_CC_EN = 1 or
-CTRL_STOP bit of CTRL registers or
-automatic stop when a frame end is reached CFG_STOP_AT_FRAME_END = 1
Profile Acquisition in 3D Profile Mode
The sensor integration or profile output is initiated by a trigger when CFG_INTEG_FREERUN = 0 and
-TRIG_CNT_MODE = 0, use external trigger:
o„Start – Input“, when IO_TRIGGER_IO_EN = 1, or
oCC(1), when IO_TRIGGER_CC_EN = 1, or
oCTRL_TRIG bit of CTRL register.
-TRIG_CNT_MODE = 1, use external trigger of RS422 encoder interface.
External Triggering of Integration
The beginning and duration of sensor integration (exposure) can be determined by an external signal.
CFG_INTEG_FREERUN = 0
CFG_EXT_INTEG_MODE = 1
Use the following trigger:
-integration is active while IN1=H, when IO_TRIGGER_IO_EN = 1, or
-integration is active while CC1=1, when IO_TRIGGER_CC_EN = 1.
The External Trigger Enable line
By using camera input IN2 or the CameraLink line CC4 the internal trigger signal can be enabled or
disabled. This behaviour can be enabled by setting the corresponding configuration bits
(IO_TRIGGER_IO_EN, IO_TRIGGER_CC_EN). With this signal any external trigger inputs (e.g.
resolver interface, camera input IN1 or CC1) can be enabled or disabled. At every low to high
transition of the trigger enable signal the trigger counter is loaded with its start value. After a high to
low transition of the trigger enable line the currently active profile acquisition will be normally finished.
In free-run (untriggered) mode the external trigger enable signal enables the acquisition.
The external trigger enable has no function in external integration time control mode.