Baumer VAX-32M.I.NVN User manual

V1.0 | 12/14/2021 | 11703339
EN-US
Operating Manual
AX Smart Cameras
(Embedded Processing)

List of contents Baumer
ii Operating Manual AX Smart Cameras | V1.0
List of contents
1 General information .................................................................................................................................... 8
1.1 Support ............................................................................................................................................... 8
1.2 Target group ....................................................................................................................................... 8
1.3 Intended use ....................................................................................................................................... 8
1.4 Scope and further reading .................................................................................................................. 8
1.5 Classification of the safety instructions............................................................................................... 9
1.6 Transport / Storage............................................................................................................................. 9
1.7 Disposal .............................................................................................................................................. 10
1.8 Warranty notes ................................................................................................................................... 10
1.9 Copyright ............................................................................................................................................ 10
1.10 Conformity .......................................................................................................................................... 10
1.10.1 CE ......................................................................................................................................... 10
1.10.2 UR......................................................................................................................................... 10
2 General safety instructions ........................................................................................................................ 11
3 Camera models............................................................................................................................................ 12
3.1 VAX..................................................................................................................................................... 13
3.1.1 General description............................................................................................................... 13
3.1.2 Available models................................................................................................................... 13
3.1.3 Dimensions ........................................................................................................................... 14
4 Installation.................................................................................................................................................... 15
4.1 Wiring (example)................................................................................................................................. 15
4.2 Environmental requirements............................................................................................................... 16
4.3 Ambient temperature / Heat transmission .......................................................................................... 16
4.3.1 Emergency shutdown at Overtemperature ........................................................................... 18
4.3.2 NVIDIA Jetson thermal Management ................................................................................... 19
4.4 Mechanical Tests................................................................................................................................ 19
4.5 Lens mounting .................................................................................................................................... 19
4.6 Modular tube system (ordered separately) ......................................................................................... 20
4.7 IP Protection classes .......................................................................................................................... 22
4.8 Cleaning.............................................................................................................................................. 24
5 Pin Assignment / LED-Signaling................................................................................................................ 26
5.1 VAX..................................................................................................................................................... 26
5.1.1 Data Interface (Ethernet) ...................................................................................................... 26
5.1.2 Power and Process interface ................................................................................................ 26
5.1.3 Power supply ........................................................................................................................ 26
5.1.4 Digital-IO ............................................................................................................................... 27
5.1.5 LED signaling........................................................................................................................ 28
6 Optical specification ................................................................................................................................... 29
6.1 Spectral sensitivity .............................................................................................................................. 29

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V1.0 | AX Smart Cameras Operating Manual iii
6.2 Sensor position accuracy.................................................................................................................... 31
7 Software ....................................................................................................................................................... 32
7.1 Installed OS and software................................................................................................................... 32
7.2 Getting started .................................................................................................................................... 32
7.3 Setup assistant ................................................................................................................................... 33
7.4 First log-in ........................................................................................................................................... 33
7.5 Check the version of the system image.............................................................................................. 34
7.6 The Smart Camera and Baumer software .......................................................................................... 34
7.7 Change network settings .................................................................................................................... 35
7.8 Connect via SSH ................................................................................................................................ 35
7.9 The overlay file system ....................................................................................................................... 36
7.10 Install / remove software packages .................................................................................................... 36
7.11 Add / change / remove services ......................................................................................................... 36
7.12 Using the Inputs, Power Outputs and RS232 ..................................................................................... 37
7.13 The cross-compile tool-chain for the AX Smart Camera .................................................................... 37
7.14 Flash the operating system to the Camera......................................................................................... 37
8 GenICam Camera Features......................................................................................................................... 39
8.1 Category: AcquisitionControl .............................................................................................................. 40
8.1.1 AcquisitionAbort .................................................................................................................... 40
8.1.2 AcquisitionFrameCount......................................................................................................... 40
8.1.3 AcquisitionFrameRate........................................................................................................... 40
8.1.4 AcquisitionFrameRateEnable ............................................................................................... 41
8.1.5 AcquisitionMode.................................................................................................................... 41
8.1.6 AcquisitionStart ..................................................................................................................... 41
8.1.7 AcquisitionStatus .................................................................................................................. 42
8.1.8 AcquisitionStatusSelector ..................................................................................................... 42
8.1.9 AcquisitionStop ..................................................................................................................... 42
8.1.10 ExposureAuto ....................................................................................................................... 43
8.1.11 ExposureMode...................................................................................................................... 43
8.1.12 ExposureTime....................................................................................................................... 44
8.1.13 ReadoutMode ....................................................................................................................... 45
8.1.14 ShortExposureTimeEnable ................................................................................................... 45
8.1.15 TriggerActivation ................................................................................................................... 46
8.1.16 TriggerDelay ......................................................................................................................... 46
8.1.17 TriggerMode.......................................................................................................................... 46
8.1.18 TriggerOverlap ...................................................................................................................... 46
8.1.19 TriggerSelector ..................................................................................................................... 47
8.1.20 TriggerSoftware .................................................................................................................... 47
8.1.21 TriggerSource ....................................................................................................................... 47
8.2 Category: AnalogControl .................................................................................................................... 48
8.2.1 BalanceWhiteAuto (color cameras only)............................................................................... 48
8.2.2 BlackLevel............................................................................................................................. 48
8.2.3 BlackLevelSelector ............................................................................................................... 49
8.2.4 Gain ...................................................................................................................................... 49
8.2.5 GainAuto ............................................................................................................................... 50

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8.2.6 GainSelector ......................................................................................................................... 50
8.2.7 Gamma ................................................................................................................................. 51
8.3 Category: AutoFeatureControl............................................................................................................ 52
8.3.1 AutoFeatureHeight................................................................................................................ 54
8.3.2 AutoFeatureOffsetX .............................................................................................................. 55
8.3.3 AutoFeatureOffsetY .............................................................................................................. 55
8.3.4 AutoFeatureRegionMode...................................................................................................... 56
8.3.5 AutoFeatureRegionReference .............................................................................................. 56
8.3.6 AutoFeatureRegionSelector.................................................................................................. 56
8.3.7 AutoFeatureWidth ................................................................................................................. 57
8.3.8 BalanceWhiteAutoStatus ...................................................................................................... 57
8.3.9 BrightnessAutoNominalValue ............................................................................................... 58
8.3.10 BrightnessAutoPriority .......................................................................................................... 58
8.3.11 ExposureAutoMaxValue ....................................................................................................... 59
8.3.12 ExposureAutoMinValue ........................................................................................................ 59
8.3.13 GainAutoMaxValue ............................................................................................................... 60
8.3.14 GainAutoMinValue ................................................................................................................ 60
8.4 Category: ChunkDataControl.............................................................................................................. 61
8.4.1 ChunkEnable ........................................................................................................................ 62
8.4.2 ChunkModeActive................................................................................................................. 62
8.4.3 ChunkSelector ...................................................................................................................... 62
8.5 Category: ColorTransformationControl (color cameras only) ............................................................. 63
8.5.1 ColorTransformationAuto...................................................................................................... 64
8.5.2 ColorTransformationEnable .................................................................................................. 64
8.5.3 ColorTransformationFactoryListSelector .............................................................................. 65
8.5.4 ColorTransformationOutputColorSpace................................................................................ 65
8.5.5 ColorTransformationResetToFactoryList .............................................................................. 65
8.5.6 ColorTransformationValue .................................................................................................... 66
8.5.7 ColorTransformationValueSelector....................................................................................... 66
8.6 Category: CounterAndTimerControl ................................................................................................... 67
8.6.1 CounterDuration.................................................................................................................... 67
8.6.2 CounterEventActivation ........................................................................................................ 67
8.6.3 CounterEventSource............................................................................................................. 68
8.6.4 CounterReset........................................................................................................................ 68
8.6.5 CounterResetActivation ........................................................................................................ 69
8.6.6 CounterResetSource ............................................................................................................ 69
8.6.7 CounterSelector .................................................................................................................... 69
8.6.8 CounterValue ........................................................................................................................ 69
8.6.9 CounterValueAtReset ........................................................................................................... 70
8.6.10 FrameCounter....................................................................................................................... 70
8.6.11 TimerDelay............................................................................................................................ 71
8.6.12 TimerDuration ....................................................................................................................... 71
8.6.13 TimerSelector........................................................................................................................ 71
8.6.14 TimerTriggerActivation.......................................................................................................... 72
8.6.15 TimerTriggerSource .............................................................................................................. 72
8.7 Category: CustomDataControl............................................................................................................ 73
8.7.1 CustomData .......................................................................................................................... 73
8.7.2 CustomDataSelector............................................................................................................. 73
8.8 Category: DeviceControl..................................................................................................................... 73

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8.8.1 DeviceCharacterSet.............................................................................................................. 73
8.8.2 DeviceEventChannelCount................................................................................................... 74
8.8.3 DeviceFamilyName............................................................................................................... 74
8.8.4 DeviceFirmwareVersion........................................................................................................ 74
8.8.5 DeviceGenCPVersionMajor .................................................................................................. 74
8.8.6 DeviceGenCPVersionMinor .................................................................................................. 75
8.8.7 DeviceLinkCommandTimeout............................................................................................... 75
8.8.8 DeviceLinkHeartbeatMode.................................................................................................... 75
8.8.9 DeviceLinkHeartbeatTimeout................................................................................................ 76
8.8.10 DeviceLinkSelector ............................................................................................................... 76
8.8.11 DeviceLinkSpeed .................................................................................................................. 76
8.8.12 DeviceLinkThroughputLimit .................................................................................................. 77
8.8.13 DeviceManufacturerInfo........................................................................................................ 77
8.8.14 DeviceModelName................................................................................................................ 77
8.8.15 DeviceRegistersEndiannes................................................................................................... 78
8.8.16 DeviceReset.......................................................................................................................... 78
8.8.17 DeviceResetToDeliveryState ................................................................................................ 78
8.8.18 DeviceSFNCVersionMajor .................................................................................................... 79
8.8.19 DeviceSFNCVersionMinor .................................................................................................... 79
8.8.20 DeviceSFNCVersionSubMinor.............................................................................................. 79
8.8.21 DeviceScanType................................................................................................................... 79
8.8.22 DeviceSensorType................................................................................................................ 80
8.8.23 DeviceSerialNumber ............................................................................................................. 80
8.8.24 DeviceStreamChannelCount ................................................................................................ 80
8.8.25 DeviceStreamChannelEndianness ....................................................................................... 80
8.8.26 DeviceStreamChannelPacketSize ........................................................................................ 81
8.8.27 DeviceStreamChannelSelector............................................................................................. 81
8.8.28 DeviceStreamChannelType .................................................................................................. 81
8.8.29 DeviceTLType....................................................................................................................... 81
8.8.30 DeviceTLVersionMajor.......................................................................................................... 82
8.8.31 DeviceTLVersionMinor.......................................................................................................... 82
8.8.32 DeviceTLVersionSubMinor ................................................................................................... 82
8.8.33 DeviceTemperature .............................................................................................................. 82
8.8.34 DeviceTemperatureExceeded .............................................................................................. 83
8.8.35 DeviceTemperatureSelector ................................................................................................. 83
8.8.36 DeviceTemperatureStatus .................................................................................................... 83
8.8.37 DeviceTemperatureStatusTransition .................................................................................... 83
8.8.38 DeviceTemperatureStatusTransitionSelector ....................................................................... 84
8.8.39 DeviceType ........................................................................................................................... 84
8.8.40 DeviceUserID........................................................................................................................ 85
8.8.41 DeviceVendorName.............................................................................................................. 85
8.8.42 DeviceVersion....................................................................................................................... 85
8.8.43 ReadOutTime........................................................................................................................ 86
8.8.44 TimestampLatch ................................................................................................................... 86
8.8.45 TimestampLatchValue .......................................................................................................... 86
8.8.46 TimestampLatchValuePtpDays............................................................................................. 87
8.8.47 TimestampLatchValuePtpHours ........................................................................................... 87
8.8.48 TimestampLatchValuePtpMinutes ........................................................................................ 87
8.8.49 TimestampLatchValuePtpNanoseconds............................................................................... 87
8.8.50 TimestampLatchValuePtpSeconds....................................................................................... 88
8.8.51 TimestampReset................................................................................................................... 88

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8.9 Category: DigitalIOControl.................................................................................................................. 89
8.9.1 LineDebouncerHighTimeAbs ................................................................................................ 92
8.9.2 LineDebouncerLowTimeAbs................................................................................................. 92
8.9.3 LineInverter ........................................................................................................................... 92
8.9.4 LineMode .............................................................................................................................. 92
8.9.5 LineSelector .......................................................................................................................... 93
8.9.6 LineSource............................................................................................................................ 93
8.9.7 LineStatus ............................................................................................................................. 95
8.9.8 LineStatusAll ......................................................................................................................... 95
8.9.9 UserOutputSelector .............................................................................................................. 95
8.9.10 UserOutputValue .................................................................................................................. 96
8.9.11 UserOutputValueAll .............................................................................................................. 96
8.10 Category: EventControl ...................................................................................................................... 96
8.10.1 EventNotification ................................................................................................................... 99
8.10.2 EventSelector........................................................................................................................100
8.10.3 LostEventCounter .................................................................................................................100
8.11 Category: ImageFormatControl .......................................................................................................... 101
8.11.1 BinningHorizontal..................................................................................................................105
8.11.2 BinningHorizontalMode.........................................................................................................106
8.11.3 BinningSelector.....................................................................................................................106
8.11.4 BinningVertical ......................................................................................................................107
8.11.5 BinningVerticalMode .............................................................................................................107
8.11.6 Height....................................................................................................................................108
8.11.7 HeightMax.............................................................................................................................108
8.11.8 OffsetX ..................................................................................................................................109
8.11.9 OffsetY ..................................................................................................................................110
8.11.10 PixelFormat...........................................................................................................................110
8.11.11 ReverseX (mono cameras / pixel formats only) ....................................................................112
8.11.12 ReverseY (monochrome cameras / pixel formats only) ........................................................112
8.11.13 SensorHeight ........................................................................................................................113
8.11.14 SensorName .........................................................................................................................113
8.11.15 SensorPixelHeight ................................................................................................................113
8.11.16 SensorPixelWidth..................................................................................................................113
8.11.17 SensorShutterMode ..............................................................................................................114
8.11.18 SensorWidth .........................................................................................................................114
8.11.19 TestPattern ...........................................................................................................................114
8.11.20 TestPatternGeneratorSelector ..............................................................................................115
8.11.21 Width.....................................................................................................................................116
8.11.22 WidthMax ..............................................................................................................................117
8.12 Category: LUTControl......................................................................................................................... 118
8.12.1 DefectPixelCorrection ...........................................................................................................120
8.12.2 DefectPixelListEntryActive ....................................................................................................120
8.12.3 DefectPixelListEntryPosX .....................................................................................................120
8.12.4 DefectPixelListEntryPosY .....................................................................................................120
8.12.5 DefectPixelListIndex .............................................................................................................121
8.12.6 DefectPixelListSelector .........................................................................................................121
8.12.7 LUTContent...........................................................................................................................121
8.12.8 LUTEnable ............................................................................................................................122
8.12.9 LUTIndex ..............................................................................................................................122
8.12.10 LUTSelector ..........................................................................................................................122

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8.12.11 LUTValue ..............................................................................................................................122
8.13 Category: Memory Management ........................................................................................................ 123
8.13.1 MemoryMaxBlocks................................................................................................................123
8.14 Category: SequencerControl .............................................................................................................. 123
8.14.1 SequencerConfigurationMode ..............................................................................................124
8.14.2 SequencerFeatureEnable .....................................................................................................125
8.14.3 SequencerFeatureSelector ...................................................................................................125
8.14.4 SequencerMode....................................................................................................................126
8.14.5 SequencerPathSelector ........................................................................................................126
8.14.6 SequencerSetActive .............................................................................................................126
8.14.7 SequencerSetLoad ...............................................................................................................127
8.14.8 SequencerSetNext................................................................................................................127
8.14.9 SequencerSetSave ...............................................................................................................127
8.14.10 SequencerSetSelector ..........................................................................................................127
8.14.11 SequencerSetStart................................................................................................................128
8.14.12 SequencerTriggerActivation..................................................................................................128
8.14.13 SequencerTriggerSource......................................................................................................128
8.15 Category: TransportLayerControl ....................................................................................................... 129
8.15.1 EnergyEfficientEthernetEnable .............................................................................................129
8.15.2 PayloadSize ..........................................................................................................................129
8.15.3 Category: TransportLayerControl → USB3Vision.................................................................129
8.15.3.1 InterfaceSpeedMode ........................................................................................ 130
8.15.3.2 SIControl .......................................................................................................... 130
8.15.3.3 SIPayloadFinalTransfer1Size........................................................................... 130
8.15.3.4 SIPayloadFinalTransfer2Size........................................................................... 131
8.15.3.5 SIPayloadTransferCount .................................................................................. 131
8.15.3.6 SIPayloadTransferSize..................................................................................... 131
8.16 Category: UserSetControl................................................................................................................... 132
8.16.1 UserSetDefault......................................................................................................................132
8.16.2 UserSetFeatureEnable .........................................................................................................132
8.16.3 UserSetFeatureSelector .......................................................................................................133
8.16.4 UserSetLoad .........................................................................................................................134
8.16.5 UserSetSave.........................................................................................................................134
8.16.6 UserSetSelector....................................................................................................................134

1 | General information Baumer
8 Operating Manual AX Smart Cameras | V1.0
1 General information
Thanks for purchasing a camera of the Baumer family. This User´s Guide describes how to con-
nect, set up and use the camera.
NOTICE
Read this manual carefully and observe the notes and safety instructions!
1.1 Support
In the case of any questions please contact our Technical & Application Support Center.
Worldwide
Baumer Optronic GmbH
Badstrasse 30
DE-01454 Radeberg, Germany
Tel: [phone]
Website: www.baumer.com
E-mail: [email protected]
1.2 Target group
This User´s Guide is intended for experienced users who want to integrate AX Smart Cameras
into an image processing system. Programming skills, ideally in Python™ or C++, and knowl-
edge of computer vision are required.
1.3 Intended use
The Baumer AX Smart Camera is a user programmable, Linux based, all-in-one image process-
ing system for many different applications.
It has a compact housing suitable for industrial use and is designed exclusively for indoor use.
The use in wet locations is permissible under consideration of the IP protection class.
CAUTION
Use the camera only for its intended purpose!
Any use that is not described in the technical documentation poses dangers and will void the
warranty. The risk has to be borne solely by the unit´s owner.
1.4 Scope and further reading
This User´s Guide will only cover the basics on how the AX Smart Camera is handled.
The provided Operating System and libraries are based on NVIDIA’s Jetpack and L4T (Linux®
for Tegra®) which in turn is based on Ubuntu® Linux® 18.04.

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V1.0 | AX Smart Cameras Operating Manual 9
For detailed information about the Jetson™ hardware and the Jetpack software NVIDIA® pro-
vides a lot of documentation. Please refer to this documentation at the NVIDIA® developer web-
sites and forums as required.
For general questions on usage and further help with Ubuntu® Linux®, you can also visit the
Ubuntu® help and community pages.
The Linux® image for the AX Smart Cameras can be downloaded from the website: https://
www.baumer.com/ax-software
1.5 Classification of the safety instructions
In the User´s Guide, the safety instructions are classified as follows:
NOTICE
Gives helpful notes on operation or other general recommendations.
CAUTION
Indicates a possibly dangerous situation. If the situation is not avoided, slight or minor injury
could result or the device may be damaged.
DANGER
Indicates an immediate imminent danger. If the danger is not avoided, the consequences are
death or very serious injury.
1.6 Transport / Storage
Transport the camera only in the original packaging. When the camera is not installed, then
store the camera in original packaging.

1 | General information Baumer
10 Operating Manual AX Smart Cameras | V1.0
1.7 Disposal
Dispose of outdated products with electrical or electronic circuits, not in the nor-
mal domestic waste, but rather according to your national law and the directives
2002/96/EC and 2006/66/EC for recycling within the competent collectors.
Through the proper disposal of obsolete equipment will help to save valuable re-
sources and prevent possible adverse effects on human health and the environ-
ment.
The return of the packaging to the material cycle helps conserve raw materials
and reduces the production of waste. When no longer required, dispose of the
packaging materials in accordance with the local regulations in force.
Keep the original packaging during the warranty period in order to be able to pack
the device properly in the event of a warranty claim.
1.8 Warranty notes
If it is obvious that the device is / was dismantled, reworked or repaired by other than Baumer
technicians, Baumer Optronic will not take any responsibility for the subsequent performance
and quality of the device!
1.9 Copyright
Any duplication or reprinting of this documentation, in whole or in part, and the reproduction of
the illustrations even in modified form is permitted only with the written approval of Baumer. The
information in this document is subject to change without notice.
1.10 Conformity
1.10.1 CE
We declare, under our sole responsibility, that the previously described Baumer
cameras conform with the directives of the CE.
1.10.2 UR
The camera has been tested by UL (Underwriters Laboratories) and complies
with the requirements under specified installation conditions of the standards:
nUL 61010-1 Edition 3 - Revision Date: 2016/04/29
nUL 61010-2-201 Edition 2 - Published: 2018/05/14
nCSA C22.2 NO. 61010-1-12 Edition 3 - Update No. 2: 2016/04
nCSA C22.2 NO. 61010-2-201:18 Edition 2 - Published: 2018/02