Automation Technology C2-2040-GigE Quick user guide

C2-2040(HS)-GigE Camera
Hardware Reference
Manual
Rev 1.8
AT - Automation Technology GmbH

2 •C2-2040(HS)-GigE Camera Hardware Reference Manual Rev. 1.8
Table of Contents
Table of Contents 2
C2 Camera Series Overview 5
Introduction................................................................................................... 5
Measuring Principle........................................................................................ 5
Geometry 1 ....................................................................................... 6
Geometry 2 ....................................................................................... 6
Geometry 3 ....................................................................................... 7
Geometry 4 ....................................................................................... 7
The C2-2040(HS)-GigE Camera General Specifications ................................... 8
Mechanical Drawings ......................................................................... 9
Temperature Range (Operation/Storage) ............................................ 10
Heat Dissipation ............................................................................... 10
General Guidelines for Heat Dissipation............................................. 10
Using the C2 Heat Sink..................................................................... 11
Temperature Development of C2 Series after Power-Up ....................... 12
The C2-2040(HS)-GigE CMOS Imager Specifications..................................... 13
C2-2040(HS)-GigE Camera Operational Reference 15
C2-2040(HS)-GigE Camera GenICam Features............................................. 15
DeviceControl .................................................................................. 15
ImageFormatControl ........................................................................ 15
AcquisitionControl ............................................................................ 16
CameraControl – AOIs (Areas Of Interest).......................................... 17
CameraControl – FIRControl ............................................................. 17
CameraControl – ModeAndAlgorithmControl ..................................... 17
CameraControl – ModeAndAlgorithmControl - AoiTracking ................. 18
CameraControl – ModeAndAlgorithmControl - AoiSearch.................... 18
CameraControl – ModeAndAlgorithmControl - ColumnEvaluationMask...... 18
CameraControl – SensorControl........................................................ 18
CameraControl – SensorControl – AdvancedSensorsettings.................. 19
CameraControl – DataOutput ........................................................... 19
CameraControl – Commands............................................................ 19
CameraIO ....................................................................................... 19
TriggerControl.................................................................................. 20
TriggerControl – ResolverRS422 ........................................................21
TriggerControl – AutoStart................................................................. 21
TransportLayerControl....................................................................... 21

C2-2040(HS)-GigE Camera Hardware Reference Manual Rev. 1.8 •3
TransportLayerControl - GigEVision.................................................... 21
UserSetControl ................................................................................. 23
ChunkDataControl ........................................................................... 23
EventControl .................................................................................... 23
FileAccessControl ............................................................................. 23
The GenICam Features Configuration of C2-2040(HS)-GigE .......................... 25
The C2-2040(HS)-GigE Camera Algorithms................................................... 27
The Image Mode (IMG) .................................................................... 27
The Maximum Intensity Profile Mode (MAX)......................................... 28
The Threshold Mode (TRSH) .............................................................. 29
The Center Of Gravity Mode (COG).................................................. 30
The FIR Peak Mode (FIR PEAK)........................................................... 31
The FIR Filter Function .................................................................................. 32
The High Dynamic Range 3D Feature (HDR-3D) of C2-2040(HS)-GigE............ 33
Multiple Slope Function..................................................................... 33
Multi-Frame Readout Mode (NDR) ..................................................... 36
The Data Output Format of C2-2040(HS)-GigE ............................................. 38
The Data Channel Assignment DC0, DC1 and DC2............................ 38
The Output Frame Structure .............................................................. 40
Advanced AOI Functions .............................................................................. 44
C2-2040(HS)-GigE Camera Triggering ......................................................... 45
Description of Profile Trigger Modes................................................... 45
Description of Modes for Triggering of Sequencer/Frame and Profile
Acquisition ....................................................................................... 46
The Chunk Data Mode of C2-2040(HS)-GigE................................................ 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 of C2-2040(HS)-GigE .................................... 52
C2-2040(HS)-GigE Camera Interface............................................................ 53
The GigE Interface............................................................................ 53
The I/O & Power Interface................................................................. 54
Description of LEDs........................................................................... 55
Integrated RS232 serial interface and Camera Boot Log....................... 56
The External C2-I/O-Panel (Rev. 2.0) ............................................................ 58
Schematic of isolated digital I/Os located on the C2-I/O-Panel............ 65
Availability of I/O and Laser Control Signals ....................................... 67
depending on the revision of C2-I/O-Panel and C2 camera
(Compatibility Overview) ................................................................... 67
The C2 cables ............................................................................................. 69
Service Information 74
Document Revision ...................................................................................... 74
Product Information and Updates .................................................................. 75
Warranty Conditions .................................................................................... 76

4 •C2-2040(HS)-GigE Camera Hardware Reference Manual Rev. 1.8
© 2015 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.

C2-2040(HS)-GigE Camera Hardware Reference Manual Rev. 1.8 •5
C2 Camera Series Overview
Introduction
The C2 camera 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.
Measuring Principle
The C2 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 C2 camera
views the object from another angle defining the triangulation geometry. The resulting sensor image is
evaluated by the C2 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.

6 •C2-2040(HS)-GigE Camera Hardware Reference Manual Rev. 1.8
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)
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)
Scan direction
α
Scan direction
α
Y
Z
X
Y
Z
X

C2-2040(HS)-GigE Camera Hardware Reference Manual Rev. 1.8 •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)
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),
Scan direction
αβ
Scan direction
α
β
Y
Z
X
Y
Z
X

8 •C2-2040(HS)-GigE Camera Hardware Reference Manual Rev. 1.8
The C2-2040(HS)-GigE Camera General Specifications
Camera Controls
Synchronization Modes Free running, Triggered, Software Triggered
Exposure Modes Programmable, Pulse controlled
Shutter Modes Global Shutter
Digital Trigger Input 2 inputs, 5 V
VIL, logic “0” Voltage < 1.5 V
VIH, logic “1” Voltage > 3.5 V
Digital Output 2 outputs
VOL, logic “0” Voltage < 0.5 V
VOH, logic “1” Voltage ≥4.5 V
IOH, logic “1” output current 20 mA
IOL, logic “0” output current 20 mA
Features
3D-Algorithms MAX, TRSH, COG, FIR PEAK
High Speed Acquisition Full frame: 340 fps
High Dynamic Range Imaging Multiple Slope, Multi-Frame Readout
Multiple AOIs / Laser lines Up to 8
Optical Interface
Lens Mount C-Mount with Back Focal Distance 17.526 mm
Mechanical Interface
Camera Size 44 mm x 44 mm x 66 mm
Mass (without optics) 125 g
Power connector 17 pin, M12 connector
Ethernet connector 8 pin, A-coded M12 connector
Electrical Interface
Input Voltage 10 – 24 V DC (max. 27 V DC)
Power consumption < 6 W
Operating Temperature 0 °C to +50 °C (non condensing)
Output Data Interface Gigabit Ethernet (IEEE 802.3)
Communication Protocol GigE Vision with GeniCam

C2-2040(HS)-GigE Camera Hardware Reference Manual Rev. 1.8 •9
Mechanical Drawings
C2-2040(HS)-GigE
44,00
44,00
66,00
32,00
32,00
4x M2.5 4.5mm deep
Hole pattern identical on all 4 sides
Example Protection Tube (#202 201 100)
For Lens with L=30 mm & Ø36 mm
Protective Tube
Part Number #
Max. Lens Ø (mm) Max. Lens length
(mm)
Camera Overall length (mm)
202 201 100 36 30 100
202 201 101 36 80 150
202 201 102 36 40 110
202 201 103 36 50 120
202 201 104* 50 55 130
*max. tube diameter 62 mm
(Further Models on Request)
M12
,
8
p
in
,
female
,
IP67
M12
,
17
p
in
,
male
,
IP67

10 •C2-2040(HS)-GigE Camera Hardware Reference Manual Rev. 1.8
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 C2 sensors requires sufficient heat dissipation. Due to the small size of the camera
housing there is not enough cooling surface to dissipate the thermal power loss generated by the core
electronics and sensor chip.
All 3D sensors of the C2 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 C2 sensor on a heat conductive material,
such as a metal surface. However if it is not possible to mount the camera on any heat dissipating
carrier, then it is necessary to use a heat sink with the recommended specification of AT.
General Guidelines for Heat Dissipation
•Mount the 3D 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.
•The 3D sensor of the C2 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 stabilized and no longer increased.

C2-2040(HS)-GigE Camera Hardware Reference Manual Rev. 1.8 •11
Using the C2 Heat Sink
AT provide a specially designed heat sink to improve the cooling of C2 sensors in applications lacking
sufficient thermal dissipation:
Absolute thermal resistance for camera housing: Rth = 5 [K / W]
Absolute thermal resistance for heat sink: Rth = 6 [K / W]

12 •C2-2040(HS)-GigE Camera Hardware Reference Manual Rev. 1.8
Temperature Development of C2 Series after Power-Up
This section gives information about the temperature development of C2 series after power-up. A total
of three temperature measurement cases are shown and compared.
The first case indicates the development of internal temperature and external housing temperature
after power-up without any additional mounted heat sink. This case is very unlike, because in most
industrial applications the C2 sensor is mounted on a heat conductive carrier (e.g. metal plate), which
works as a heat dissipater. The operation of C2 sensor without any metal plate (e.g. during evaluation
and/or testing in laboratory environment), requires the mount of a heat sink on the housing.
The other two cases show the temperature development after power-up with one and two mounted
heat sinks. In all test cases the ambient temperature was 22 °C.

C2-2040(HS)-GigE Camera Hardware Reference Manual Rev. 1.8 •13
The C2-2040(HS)-GigE CMOS Imager Specifications
Parameters Specifications
Sensitivity 16000 LSB / µJ / cm2@ 550 nm
Maximum Spectral Response 0.290 A / (W nm) @ 665 nm
Resolution 2048 x 1088 pixels
Pixel Size 5.5 µm x 5.5 µm
Sensor Size 11.264 mm x 5.984 mm, diagonal: 14.638 mm
Sensor Format 2/3”
Sensor ADC Resolution 10 bit
Sensor Dynamic Range 90 dB with HDR
Max. Internal Full-Frame Rate 340 fps
Max. External Full-Frame Rate
(limited due to GigE bandwidth)
50 fps
Effective Frame / Profile Rate at
Max. Row Length
Number of Rows Effective Frame / Profile Rate (Hz)*
C2-2040HS-GigE C2-2040-GigE
8
16
32
64
128
256
512
1088
30720
19608
10638
5556
2841
1401
723
340
1401
1401
1401
1401
1401
1401
723
340
*with Frame Overhead Time (FOT)=2

14 •C2-2040(HS)-GigE Camera Hardware Reference Manual Rev. 1.8

C2-2040(HS)-GigE Camera Hardware Reference Manual Rev. 1.8 •15
C2-2040(HS)-GigE Camera
Operational Reference
C2-2040(HS)-GigE Camera GenICam Features
DeviceControl
Name Rev. Interface Access Description
DeviceVendorName 1.0 IString R The name of the device vendor.
DeviceModelName 1.0 IString R The name of the device model.
DeviceManufacturerInfo 1.0 IString R Additional info from manufacturer about this device.
DeviceVersion 1.0 IString R A string identifying the version of the device.
DeviceID 1.0 IString R A unique identifier of the device, e.g., a serial number
or a GUID (User Data in GigE Boot register).
DeviceFirmwareVersion 1.0 IString R Version of firmware/software.
DeviceUserID 1.0 IString R/W User-programmable device identifier.
DeviceScanType 1.0 IEnumeration R Show the camera type:
- Areascan
DeviceReset 1.0 ICommand W Resets and reboots the device immediately.
DeviceRegistersStreamingStart 1.2 ICommand W Announces the start of registers streaming without
immediate checking for consistency.
DeviceRegistersStreamingEnd 1.2 ICommand W Announces the end of registers streaming and
perform validation for registers consistency before
activating them. This will also update the
DeviceRegistersValid flag.
DeviceRegistersCheck 1.2 ICommand W Performs an explicit register set validation for
consistency.
DeviceRegistersValid 1.2 IBoolean R Indicates whether the current register set is valid and
consistent.
DeviceTemperatureSelector AT IEnumeration R/W Select temperature sensor:
- Mainboard
- Sensor
DeviceTemperature AT IFloat R Device temperature in degrees Celsius (°C).
DeviceMaxThroughput 1.2 IInteger R Maximum Bandwidth of data in Bytes/sec.
ImageFormatControl
Name Rev. Interface Access Description
SensorWidth 1.0
IInteger R Width of sensor (effective pixels)
SensorHeight 1.0
IInteger R Height of sensor (effective pixels)
Width 1.0
IInteger R/W Width of Image/Area Of Interest.
Height 1.0
IInteger R/W Height of Image/Area Of Interest.
In Image-Mode writing this manipulates AOI[0].height
PixelFormat 1.0
IEnumeration R/W Format of the image pixels. For more details, see the
Pixel Format description chapter.
- Mono8
- Mono16
ReverseX 1.0
IBoolean R/W When set to true, this parameter flips the sensor
image horizontally

16 •C2-2040(HS)-GigE Camera Hardware Reference Manual Rev. 1.8
Name Rev. Interface Access Description
ReverseY 1.0
IBoolean R/W When set to true, this parameter flips the sensor
image vertically.
OffsetX 1.0 IInteger R
X Offset of AOI (fixed to zero)
TestImageSelector 1.0
IEnumeration R/W Selection of the test image to be used.
- Off
- GreySensorColumnPattern
LinePitch 1.0
IInteger R Distance between consecutive lines in bytes.
PixelDynamicRangeMin 1.0
IInteger R Minimum pixel value sent by the camera.
PixelDynamicRangeMax 1.0
IInteger R Maximum pixel value sent by the camera.
AcquisitionControl
Name Rev. Interface Access Description
AcquisitionStart 1.0 ICommand W Issues the START command. This starts the
acquisition.
AcquisitionStop 1.0 ICommand W Issues the STOP command. This stops the
acquisition.
AcquisitionMode 1.0 IEnumeration R/W Defines the type of acquisition:
- SingleFrame
- MultiFrame
- Continuous
AcquisitionAbort 1.0 ICommand W Issues the ABORT command. This immediately
aborts the acquisition without completing the current
frame.
AcquisitionFrameCount 1.0 IInteger R/W Number of frames to be acquired in MultiFrame
acquisition mode. The minimum allowable value is 1.
AcquisitionFrameRateAbs 1.2 IFloat R The frame rate of the imager. Absolute units are in
Hz.
AcquisitionStatusSelector 1.2
IEnumeration R/W Selector for AcquisitionStatus to read:
- AcquisitionTriggerWait
- AcquisitionActive
- AcquisitionTransfer
- FrameTriggerWait
AcquisitionStatus[AcquisitionStatus
Selector]
1.2
IBoolean R Status of the selected acquisition flag
AcquisitionMaxBufferedFrameCoun
t
AT IInteger R Maximum number of buffered frames
ExposureMode 2.2 IEnumeration R Sets the operation mode of the exposure:
1 : Timed
2 : MultiSloped
3 : MultiExposed
MultiSloped and MultiExposed refers to HDR-3D
ExposureTime 2.2 IInteger R/W Sets the overall exposure time when ExposureMode
is Timed or MultiSloped in microseconds (µs).
This parameter is the standardized equivalent to
ExposureTimeAbs
ExposureSlopeKneepointCount AT IInteger R/W The number of additional exposure slopes used for
Multi-Slope exposure
0: SingleSlope
1: DualSlope
2: TripleSlope
ExposureSlopeKneePointSelector AT IInteger R/W Selects the parameters for controlling a kneepoint
during multi-slope exposure
ExposureSlopeDuration AT IFloat R/W The exposure duration (in percentage of
ExposureTime) for determining a kneepoint during
multi-slope exposure
ExposureSlopeThreshold AT IFloat R/W The threshold for determining a kneepoint during
multi-slope exposure. Setting this value to 100% will
effectively disable this kneepoint

C2-2040(HS)-GigE Camera Hardware Reference Manual Rev. 1.8 •17
CameraControl – AOIs (Areas Of Interest)
Name Rev. Interface Access Description
MaxNumAOIs AT IInteger R Maximum number of AOIs.
NumAOIs AT IInteger R/W Number of used AOIs.
ImageModeAoiSelector AT IInteger R/W Selects the AOI to show in image mode
AoiSelector AT IInteger R/W Selects which AOI to control
AoiHeight AT IInteger R/W
Number of sensor rows in AOI
AoiOffsetY AT IInteger R/W
Offset distance in rows between the first row of AOI
and the first row of sensor chip
AoiThreshold AT IInteger R/W
Intensity threshold value for selected AOI.
CameraControl – FIRControl
Name Rev. Interface Access Description
FIR AT IBoolean R/W True: Enables the FIR filter
False: Disables the FIR filter
FIRMode AT IEnumeration R/W Selection of the FIR mode
-Derivative
-Smoothing
FIRCoef AT IEnumeration R/W Selection of the FIR filter coefficients
- SG5
- SG7
- SG9
- AV5 (Smoothing mode only)
- AV7 (Smoothing mode only)
- AV9 (Smoothing mode only)
- Custom
FIRGain AT IInteger R/W Gain of FIR filter
FIRCorrection AT IBoolean R/W
True: The effect of filter index mismatch in 3D mode
is cancelled
False: No correction is performed
FIRC0 AT IFloat R/W Value of FIR coefficient #0
FIRC1 AT IFloat R/W Value of FIR coefficient #1
FIRC2 AT IFloat R/W Value of FIR coefficient #2
FIRC3 AT IFloat R/W Value of FIR coefficient #3
FIRC4 AT IFloat R/W Value of FIR coefficient #4
CameraControl – ModeAndAlgorithmControl
Name Rev. Interface Access Description
CameraMode AT IEnumeration R/W Selects the camera mode or algorithm:
- Image
- FIRPeak
- CenterOfGravity
- Threshold
- MaximumIntensity
ProfilesPerFrame AT IInteger R/W This feature represents the number of Profiles per
Frame in 3D-Mode expelled by the camera.
AbsOffsetPos AT IBoolean R/W True: Position values are referenced to the first row
of sensor chip (absolute position).
False: Position values are referenced to the first row
of AOI.
TrshFirstFalling AT IBoolean R/W Stops the position calculation along an AOI column,
as soon as the falling edge of a Gauss curve is
detected.
NumSubPixel AT IInteger R/W Number of subpixel bits of COG and FIR-Peak
output (0-6)
PosValidationEn AT IBoolean R/W Enable validation of position value of a Gauss curve
using tolerances for width and sum of intensity.
Perform validation during scan of image column and
immediately after detecting a Gauss falling edge.
Clear the result, if the position value is invalid.
ClearInvalidPos AT IBoolean R/W Enable validation of position value using tolerances
for width and sum of intensity. Perform validation at
the end of scan of image column. Invalid position
values are set to zero in all DCs.
ValidationWidthMin AT IInteger R/W Minimum width of valid intensity distribution in 3D-
mode.

18 •C2-2040(HS)-GigE Camera Hardware Reference Manual Rev. 1.8
Name Rev. Interface Access Description
ValidationWidthMax AT IInteger R/W Maximum width of valid intensity distribution in 3D-
mode.
ValidationSumMin AT IInteger R/W Minimum sum of intensity of valid intensity
distribution in 3D-mode.
ValidationSumMax AT IInteger R/W Maximum sum of intensity of valid intensity
distribution in 3D-mode.
CameraControl – ModeAndAlgorithmControl - AoiTracking
Name Rev. Interface Access Description
AoiTrackingEnable AT IBoolean R/W True: AOI-Tracking mode is enabled
False: AOI-Tracking mode is disabled
AoiTrackingMinNumPixel AT IInteger R/W Minimum number of required pixel (one pixel per
column) to start AOI tracking algorithm
AoiTracking_P AT IFloat R/W Proportional gain of PID controller
AoiTracking_I AT IFloat R/W Integral gain of PID controller
AoiTracking_D AT IFloat R/W Derivative gain of PID controller
AoiTrackingUpdateRate AT IInteger R/W Update frequency of tracking algorithm (Hz)
AoiTrackingSensorWriteTimeout AT IInteger R/W AOI tracking senosr write timeout in microseconds
(µs)
CameraControl – ModeAndAlgorithmControl - AoiSearch
Name Rev. Interface Access Description
AoiSearchEnable AT IBoolean R/W True: AOI-Search mode is activated
False: AOI-Search mode is disabled
AoiSearchHeight AT IInteger R/W Height of search AOI
AoiSearchOffsetY AT IInteger R/W Vertical offset from the origin to the search AOI
CameraControl – ModeAndAlgorithmControl - ColumnEvaluationMask
Name Rev. Interface Access Description
ColRangeStart AT IInteger R/W Column start index
ColRangeEnd AT IInteger R/W Column end index
ColRangeEnableCommand
AT ICommand W Enable all columns from RangeStart to RangeEnd
ColRangeDisableCommand AT ICommand W Disable all columns from RangeStart to RangeEnd
ColRangeActivate AT ICommand W Activate complete ColumnEvaluationMask and write
data into flash memory
CameraControl – SensorControl
Name Rev. Interface Access Description
SensorFrameCounter AT IInteger R Sensor frame counter.
SensorReadoutTime AT IInteger R Sensor Readout Time in µs.
ExposureTimeAbs AT IInteger R/W Sensor integration time in µs.
FramePeriode AT IInteger R/W Time between two frames in µs.
FrameRate AT IFloat R Frame rate in Hz
ExposureMode AT IEnumeration R Sensor exposure mode:
- Interleaved (the sensor integration and readout
are performed in parallel).
MultipleSlopeMode AT IEnumeration R/W MultipleSlope Mode:
- SingleSlope
- DualSlope
- TripleSlope
DualSlopeTime AT IInteger R/W DualSlopeTime in % of sensor integration time
TripleSlopeTime AT IInteger R/W TripleSlopeTime in % of sensor integration time
NumberOfNDRFrames AT IInteger R/W Number of NDR frames.
NDRMode AT IEnumeration R/W Multi-Frame Readout Mode (NDR):
- Off
- On
NDRExposureTimeAbs_1 AT IInteger R/W NDR exposure time 1.
NDRExposureTimeAbs_2 AT IInteger R/W NDR exposure time 2.
NDRExposureTimeAbs_3 AT IInteger R/W NDR exposure time 3.
NDRExposureTimeAbs_4 AT IInteger R/W NDR exposure time 4.

C2-2040(HS)-GigE Camera Hardware Reference Manual Rev. 1.8 •19
CameraControl – SensorControl – AdvancedSensorsettings
Name Rev. Interface Access Description
GainPGA AT IEnumeration R/W PGA Gain Voltage
GainADC 1.2 IEnumeration R/W ADC Gain Voltage
Vlow2 AT IInteger
R/W Voltage for defining exposure kneepoint 1 in the
range of 127 (zero intensity) down to 64
(saturation).
Vlow3 AT IInteger
R/W Voltage for defining exposure kneepoint 2 in the
range of 127 (zero intensity) down to 64
(saturation).
Vramp1 AT IInteger
R/W Start voltage first ramp for column FPN
correction
Vramp2 AT IInteger
R/W Start voltage second ramp for column FPN
correction
FOT AT IInteger
R/W Frame Overhead Time
CameraControl – DataOutput
Name Rev. Interface Access Description
EnableDC0 AT IBoolean R/W Activates the output data channel DC0.
EnableDC1 AT IBoolean R/W Activates the output data channel DC1.
EnableDC2 AT IBoolean R/W Activates the output data channel DC2.
EnableDC0Shift AT IBoolean R/W Right shift twice the intensity value in DC0, when
PixelFormat is Mono8.
EnableDC2TrshSP AT IBoolean R/W Controls the output in channel DC2, when TRSH
algorithm is selected:
True: DC2 outputs the position value with 1
subpixel.
False: DC2 outputs the right edge position.
EnableDC1TrshWidth AT IBoolean R/W Controls the output in channel DC1, when TRSH
algorithm is selected:
True: DC1 outputs the laser line width.
False: DC1 outputs the left edge position.
EnableDC1Width AT IBoolean R/W Controls the output in channel DC1.
When CameraMode = CenterOfGravity:
True: DC1 outputs the laser line width.
False: DC1 outputs the left edge position.
When CameraMode = FIRPeak:
True: DC1 outputs the maximum value of
intensity first derivative.
False: DC1 outputs the index of next sensor row
to the left of zero-crossing
EnableDC1Flags AT IBoolean R/W When in 16 bit mode, the bits 12-15 of output
channel DC1 contain additional algorithm flags
CameraControl – Commands
Name Rev. Interface Access Description
StartPulse AT ICommand W Send Start pulse.
StopPulse AT ICommand W Send Stop pulse.
TriggerPulse AT ICommand W Send Trigger pulse.
RstFrameCnt AT ICommand W Reset frame counter to zero.
SearchAoi AT ICommand W Fit AOI to laser line position. Supports only one
AOI
CameraIO
Name Rev. Interface Access Description
Input1 AT IEnumeration R Lists the input signals available for IN1:
- Input1_Unused.
- Input1_FrameStart
- Input1_EnableFrame
- Input1_Trigger
Input2 AT IEnumeration R Lists the input signals available for IN2:
- Input2_Unused.
- Input2_StopFrame
- Input2_Trigger

20 •C2-2040(HS)-GigE Camera Hardware Reference Manual Rev. 1.8
Name Rev. Interface Access Description
Output1 AT IEnumeration RW Selects the output signal for OUT1:
Symbolic Value
- Out1_IntegrationActive
- Out1_SequencerActive
- Out1_IntegrationDualSlopeActive
- Out1_IntegrationTripleSlopeActive
- Out1_High
- Out1_Low
- Out1_InternalTrigger
- Out1_SequencerTriggerActive
Integer Value
0
1
2
3
4
5
6
7
Output2 AT IEnumeration RW Selects the output signal for OUT2:
Symbolic Value
- Out2_IntegrationActive
- Out2_IntegrationDualSlopeActive
- Out2_IntegrationTripleSlopeActive
- Out2_High
- Out2_Low
- Out2_TriggerOverrun
- Out2_ResolverCountDir
- Out2_TriggerBusy
- Out2_AutoStart
Integer Value
0
1
2
3
4
5
6
7
8
TriggerOverrun AT IBoolean R Trigger Overrun Flag.
Input1Level AT IEnumeration R The voltage level of IN1:
- Input1Level_High
- Input1Level_Low
Input2Level AT IEnumeration R The voltage level of IN2:
- Input2Level_High
- Input2Level_Low
RS422ChannelALevel AT IEnumeration R Voltage level of RS422 Channel A:
- RS422ChannelALevel_High
- RS422ChannelALevel_Low
RS422ChannelBLevel AT IEnumeration R Volatge level of RS422 Channel B
- RS422ChannelBLevel_High
- RS422ChannelBLevel_Low
RS422ChannelZLevel AT IEnumeration R Volatge level of RS422 Channel Z
- RS422ChannelZLevel_High
- RS422ChannelZLevel_Low
LaserPower AT IFloat R/W Sets the output analog voltage of illumination control
in the range 0.0-5.0 V DC (corresponds to 0...100%)
TurnLaserOn AT IBoolean R/W Laser turn on/off.
TurnLaserOnAuto AT IBoolean R/W Laser turn on automatically during sensor integration.
VoltageIn AT IFloat R Reads the input analog voltage of illumination control
(range 0.0-5.0 V DC)
Output1MinPulseWidth AT
IInteger
R/W Output1 minimum pulse width in microseconds (µs)
Output2MinPulseWidth AT
IInteger
R/W Output2 minimum pulse width in microseconds (µs)
Output1Delay AT
IInteger
R/W Output1 delay in microseconds (µs)
Output2Delay AT
IInteger
R/W Output2 delay in microseconds (µs)
Output1Invert AT
IBoolean
R/W True: Output1 inverted
False: Output1 not inverted
Output2Invert AT
IBoolean
R/W True: Output1 inverted
False: Output1 not inverted
TriggerControl
Name Rev. Interface Access Description
SequencerMode AT IEnumeration R/W Selects the start trigger mode:
- FreeRun
- StartStopCameraInput12
- StartCameraInput1
- GateCameraInput1
- StartStopCameraInput12Event
- AutoStart
ProfileTriggerMode AT IEnumeration R/W Selects the profile trigger mode:
- FreeRun
- CameraInput1
- CameraInput2
- EncoderResolverInterfaceRS422.
ClearTriggerOverrun AT ICommand W Command to clear the trigger overrun flag.