Baumer Exg03 User manual

Baumer EXG

User's Guide for Gigabit Ethernet Cameras

2

3

Table of Contents

1. Camera Models......................................................................................................... 5

2. ProductSpecications ............................................................................................ 6

2.1. Sensor Specications �� 6

2.1.1. Quantum Efciency for Baumer EXG Cameras �� 6

2.1.2. Shutters �� 6

2.2. Timings�� 8

2.2.1. Free Running Mode�� 8

2.2.2. Trigger Mode �� 9

2.3. Process- and Data Interface ��11

2.3.1. Pin-Assignment Gigabit Ethernet Interface ��11

2.3.2. Pin-Assignment Power Supply and Digital IOs ��11

2.3.3. LED Signaling��11

2.4. Environmental Requirements�� 12

2.4.1. Temperature and Humidity Range�� 12

2.4.2. Heat Transmission�� 12

3. Software .................................................................................................................. 13

3.1. Baumer-GAPI�� 13

3�2� 3rd Party Software�� 13

4. CameraFunctionalities.......................................................................................... 14

4.1. Image Acquisition�� 14

4.1.1. Image Format �� 14

4.1.2. Pixel Format �� 15

4.1.3. Exposure Time�� 17

4.1.4. High Dynamic Range (HDR) �� 17

4.1.5. Look-Up-Table �� 17

4.1.6. Gamma Correction �� 17

4.1.7. Partial Scan / Area of Interest (AOI) �� 18

4.1.8. Binning�� 19

4.1.9. Brightness Correction (Binning Correction)�� 20

4.2. Color Processing�� 20

4.3. Color Adjustment – White Balance �� 20

4.3.1. User-specic Color Adjustment �� 21

4.3.2. One Push White Balance �� 21

4.4. Analog Controls�� 21

4.4.1. Offset / Black Level�� 21

4.4.2. Gain�� 21

4.5. Pixel Correction�� 22

4.5.1. General information�� 22

4.5.2. Correction Algorithm �� 22

4.5.3. Defectpixellist �� 23

4�6� Process Interface �� 23

4.6.1. IO Circuits�� 23

4.6.2. Trigger Input �� 24

4.6.3. Trigger Source�� 24

4.6.4. Debouncer�� 25

4

4.6.5. Flash Signal�� 25

4.6.6. Frame Counter �� 25

4.7. User Sets �� 26

4.8. Factory Settings �� 26

4.9. Timestamp �� 26

5. InterfaceFunctionalities ........................................................................................ 27

5.1. Device Information �� 27

5.2. Packet Size and Maximum Transmission Unit (MTU)�� 27

5.3. Inter Packet Gap �� 27

5.3.1. Example 1: Multi Camera Operation – Minimal IPG�� 28

5.3.2. Example 2: Multi Camera Operation – Optimal IPG�� 28

5.4. IP Conguration �� 29

5.4.1. Persistent IP �� 29

5.4.2. DHCP (Dynamic Host Conguration Protocol) �� 29

5�4�3� LLA �� 30

5.4.4. Force IP�� 30

5.5. Packet Resend�� 31

5.5.1. Normal Case�� 31

5.5.2. Fault 1: Lost Packet within Data Stream �� 31

5.5.3. Fault 2: Lost Packet at the End of the Data Stream �� 31

5.5.4. Termination Conditions �� 32

5.6. Message Channel �� 33

5.6.1. Event Generation �� 33

5.7. Action Command / Trigger over Ethernet�� 34

5.7.1. Example: Triggering Multiple Cameras �� 34

6. Start-Stop-Behaviour ............................................................................................. 35

6.1. Start / Stop Acquisition (Camera)�� 35

6.2. Start / Stop Interface �� 35

6.3. Pause / Resume Interface �� 35

6.4. Acquisition Modes �� 35

6.4.1. Free Running�� 35

6.4.2. Trigger �� 35

7. NotesandInstructions .......................................................................................... 36

7.1. Warranty Notes �� 36

7.2. Lens Mounting �� 36

8. Conformity .............................................................................................................. 37

8.1. CE �� 37

8.2. FCC – Class B Device �� 37

Index .............................................................................................................................. 38

5

Camera Models1.

CameraType Sensor

Size Resolution

Full

Frames

[max.fps]

Monochrome

EXG03 1/3" 752 x 480 60

EXG50 1/2.5" 2592 x 1944 14

Color

EXG03c 1/3" 748 x 476 60

Dimensions

26

36

4xM3

36

36 43

C-MountPhotosensitive

surface of the

sensor

2xM3

26

◄Figure1

Front and rear view of a

Baumer EXG camera.

◄Figure2

Dimensions of a

Baumer EXG camera.

6

2. ProductSpecications

SensorSpecications2.1.

2.1.1. QuantumEfciencyforBaumerEXGCameras

The quantum efciency characteristics of monochrome and color matrix sensors for

Baumer EXG cameras are displayed in the following graphs. The characteristic curves

for the sensors do not take the characteristics of lenses and light sources without lters

into consideration.

Values relating to the respective technical data sheets of the sensors manufacturer.

350 450 550 650 750 850 950 10501150

Wave Length [nm]

Quantum Efficiency [%]

EXG03

350 450 550 650 750 850 950 10501150

0

5

10

20

15

25

30

35

40

45

Wave Length [nm]

Quantum Efficiency [%]

EXG03c

350 450 550 650 750 850 950 10501150

Wave Length [nm]

Quantum Efficiency [%]

EXG50

Shutters2.1.2.

The camera models of the EXG series are equipped with different shutters:

CameraType ShutterType

Monochrome

EXG03 Global

EXG50 Rolling

Color

EXG03c Global

Figure3►

Spectral sensitivities for

Baumer EXG cameras

with 0.3 MP*) CMOS

sensor�

*) MP = Megapixels

Figure4►

Spectral sensitivities for

Baumer EXG cameras

with 5.0 MP CMOS

sensor�

7

GlobalShutter2.1.2.1.

Pixel

Active Area (Photodiode)

Storage Area

Microlens

Global shutter means that all pixels of the sensor are reset and afterwards exposed for a

specied interval (texposure).

For each pixel an adjacent storage area exists. Once the exposure time elapsed, the

information of a pixel is transferred immediately to its storage area and read out from

there.

Due to the fact that photosensitive surface get's "lost" by the implementation of the stor-

age area, the pixels mostly are equipped with microlenses, which focus the light to the

pixels active area.

RollingShutter2.1.2.2.

Reset Pointer

Readout Pointer

Pixels of Frame(n-1) – will be deleted

Currently exposed pixels (Frame(n))

Read out pixels of current Frame (Frame(n))

Rolling shutter means that – in contrast to the global shutter – not the whole sensor is

exposed at once, but single portions successively. It is said the shutter "rolls" over the

sensor�

For Baumer EXG cameras with rolling shutter this means two pointers are "rolling" across

the sensor:

First, the reset pointer deletes any information of former exposures stored within the ▪

pixels (Frame(n-1)). After that the pixels are empty and restart collecting information

from incoming light – the new exposure (Frame(n)) begins.

Once a predened interval – the exposure time t▪exposure – is elapsed, the readout

pointer rolls across the sensor and the information of the pixels is read out.

For example: On Baumer EXG50, the pass of a pointer lasts approx. 72 msec ▪

(tFull Frame).

Due to technical issues of rolling shutter, a ash control depending on the

exposure time does not make sense. Such cameras should be used in a

continuously illuminated environment.

◄Figure5

Structure of an imaging

sensor with global shut-

ter (interline).

◄Figure6

Operating mode of a

rolling shutter.

8

Timings2.2.

The image acquisition consists of two seperate, successively processed components.

Exposing the pixels on the photosensitive surface of the sensor is only the rst part of the

image acquisition. After completion of the rst step, the pixels are read out.

Thereby the exposure time (texposure) can be adjusted by the user, however, the time need-

ed for the readout (treadout) is given by the particular sensor and used image format.

Baumer cameras can be operated with two modes, the Free Running Mode and the

Trigger Mode.

The cameras can be operated non-overlapped*) or overlapped. Depending on the mode

used, and the combination of exposure and readout time:

Non-overlappedOperation OverlappedOperation

Here the time intervals are long enough

to process exposure and readout succes-

sively.

In this operation the exposure of a frame

(n+1) takes place during the readout of

frame (n).

Exposure

Readout

Exposure

Readout

Due to the differing CMOS sensor models installed to the Baumer EXG cameras, the

operation modes are subdevided into the respective camera models.

2.2.1. FreeRunningMode

In the "Free Running" mode the camera records images permanently and sends them to

the PC. In order to achieve an optimal (with regard to the adjusted exposure time texposure

and image format) the camera is operated overlapped.

In case of exposure times equal to / less than the readout time (texposure ≤ treadout), the maxi-

mum frame rate is provided for the image format used. For longer exposure times the

frame rate of the camera is reduced.

EXG03/EXG03c2.2.1.1.

Exposure

Readout

Flash

texposure(n)

tflash(n)

tflashdelay

tflash(n+1)

treadout(n+1)

treadout(n)

texposure(n+1)

tash = texposure

*) Non-overlapped means the same as sequential.

Imageparameters:

Offset

Gain

Mode

Partial Scan

Timings:

A - exposure time

frame (n) effective

B - image parameters

frame (n) effective

C - exposure time

frame (n+1) effective

D - image parameters

frame (n+1) effective

9

EXG502.2.1.2.

Sensor

Reset

Sensor

Readout

tFull Frame

texposure(n) texposure(n+1) tdelay

tFull Frame

Timing Value

tFull Frame 71.66 msec

texposure 4 µsec �� 1 sec

TriggerMode2.2.2.

After a specied external event (trigger) has occurred, image acquisition is started.

EXG03/EXG03c2.2.2.1.

Exposure

Readout

texposure(n)

treadout(n+1)

treadout(n)

texposure(n+1)

ttriggerdelay

tmin

Trigger

Flash

tflash(n)

tflashdelay

tflash(n+1)

TriggerReady

tnotready

10

EXG502.2.2.2.

Sensor

Reset

Sensor

Readout

tFull Frame

ttriggerdelay

tmin

Trigger

tFull Frame

texposure

tdelay

Imageparameters:

Offset

Gain

Mode

Partial Scan

Timings:

A - exposure time

frame (n) effective

B - image parameters

frame (n) effective

11

2.3. Process-andDataInterface

2.3.1. Pin-AssignmentGigabitEthernetInterface

8P8C mod jack

1 8

1(gn/wh) MX1+

2(gn) MX1-

3(og/wh) MX2+

4(bu) MX3+

5(bu/wh) MX3-

6(og) MX2-

7(bn/wh) MX4+

8(bn) MX4-

2.3.2. Pin-AssignmentPowerSupplyandDigitalIOs

M8/3pins M8/4pins

1

4

3

1

24

3

1(bn) Power VCC 1(bn) TrigIN+

3(bu) GND 2(wh) TrigIN-

4(bk) NC 3(bu) Flashout

4(bk) Uext

2.3.3. LEDSignaling

1

2

LED Signal Meaning

1green Power on

yellow Readout active

2

green Link active

green ash Receiving

yellow Transmitting

yellow / red ash Receiving and Transmitting

◄Figure7

LED positions on Baumer EXG

cameras.

12

2.4. EnvironmentalRequirements

2.4.1. TemperatureandHumidityRange*)

Temperature

Storage temperature -10°C ... +70°C ( +14°F ... +158°F)

Operating temperature* +5°C ... +50°C (+41°F ... +122°F)

Housing temperature**)***) max. +50°C (+122°F)

* For environmental temperatures ranging from (value A) to (value B), please pay atten-

tion to the max. housing temperature. The values are listed in the table below:

CameraType ValueA Value B

Monochrome

EXG03 +25°C (+77°F) +50°C (+122°F)

EXG50 +25°C (+77°F) +50°C (+122°F)

Color

EXG03c +25°C (+77°F) +50°C (+122°F)

Humidity

Storage and Operating Humidity 10% �� 90%

Non-condensing

T

2.4.2. HeatTransmission

It is very important to provide adequate dissipation of heat, to ensure that the temperature

does not reach or exceed +50°C (+122°F). As there are numerous possibilities for instal-

lation, Baumer do not speciy a specic method for proper heat dissipation, but suggest

the following principles:

operate the cameras only in mounted condition▪

mounting in combination with forced convection may provide proper heat dissipation▪

*) Please refer to the respective data sheet.

**) Measured at temperature measurement point (T).

***) Housing temperature is limited by sensor specications.

Figure8►

Temperature measure-

ment points of Baumer

EXG cameras

13

3. Software

3.1. Baumer-GAPI

Baumer-GAPI stands for Baumer “Generic Application Programming Interface”. With this

API Baumer provides an interface for optimal integration and control of Baumer Gigabit

Ethernet (GigE) and Baumer FireWire™ (IEEE1394) cameras.

This software interface allows changing to other camera models or interfaces. It also al-

lows the simultaneous operation of Baumer cameras with Gigabit Ethernet and FireWire™

interfaces.

This GAPI supports both Windows® (XP and Vista) and Linux® (from Kernel 2.6.x) operat-

ing systems in 32 bit, as well as in 64 bit. It provides interfaces to several programming

languages, such as C, C++ and the .NET™ Framework on Windows®, as well as Mono

on Linux® operating systems, which offers the use of other languages, such as e.g. C# or

VB.NET.

3.2. 3rdPartySoftware

Strict compliance with the Gen<I>Cam™ standard allows Baumer to offer the use of 3rd

Party Software for operation with cameras of the EXG series.

You can nd a current listing of 3rd Party Software, which was tested successfully in com-

bination with Baumer cameras, at http://www.baumer.com�

14

Camera4. Functionalities

Image4.1. Acquisition

4.1.1. ImageFormat

A digital camera usually delivers image data in at least one format - the native resolution

of the sensor. Baumer cameras are able to provide several image formats (depending on

the type of camera).

Compared with standard cameras, the image format on Baumer cameras not only in-

cludes resolution, but a set of predened parameter.

These parameters are:

▪ Resolution (horizontal and vertical dimensions in pixels)

▪ Binning Mode(see chapter 4.1.6)

CameraType

Full frame

Binning 1x2

Binning 2x1

Binning 2x2

Binning 4x4

Monochrome

EXG03 ■■■■□

EXG50 ■□□■ ■

Color

EXG03c ■□□□□

15

4.1.2. PixelFormat

On Baumer digital cameras the pixel format depends on the selected image format.

Denitions4.1.2.1.

RAW: Raw data format. Here the data are stored without processing.

Bayer: Raw data format of color sensors.

Color lters are placed on these sensors in a checkerboard pattern, generally

in a 50% green, 25% red and 25% blue array.

Mono: Monochrome. The color range of mono images consists of shades of a single

color. In general, shades of gray or black-and-white are synonyms for mono-

chrome.

RGB: Color model, in which all detectable colors are dened by three coordinates,

Red, Green and Blue.

Red

Green

Blue

Black

White

The three coordinates are displayed within the buffer in the order R, G, B.

BGR: Here the color alignment mirrors RGB.

YUV: Color model, which is used in the PAL TV standard and in image compression.

In YUV, a high bandwidth luminance signal (Y: luma information) is transmitted

together with two color difference signals with low bandwidth (U and V: chroma

information). Thereby U represents the difference between blue and luminance

(U = B - Y), V is the difference between red and luminance (V = R - Y). The third

color, green, does not need to be transmitted, its value can be calculated from

the other three values.

YUV 4:4:4 Here each of the three components has the same sample rate.

Therefore there is no subsampling here.

YUV 4:2:2 The chroma components are sampled at half the sample rate.

This reduces the necessary bandwidth to two-thirds (in relation to

4:4:4) and causes no, or low visual differences.

YUV 4:1:1 Here the chroma components are sampled at a quater of the

sample rate.This decreases the necessary bandwith by half (in

relation to 4:4:4).

◄Figure9

Sensor with Bayer

Pattern

◄Figure10

RBG color space dis-

played as color tube.

16

Pixel depth: In general, pixel depth denes the number of possible different values for

each color channel. Mostly this will be 8 bit, which means 28 different "col-

ors".

For RGB or BGR these 8 bits per channel equal 24 bits overall.

Two bytes are needed for transmitting more than 8 bits per pixel - even if the

second byte is not completely lled with data. In order to save bandwidth, the

packed formats were introduced to Baumer EXG cameras. In this formats,

the unused bits of one pixel are lled with data from the next pixel.

8 bit:

Byte 1 Byte 2 Byte 3

10 bit:

Byte 1 Byte 2

unused bits

12 bit:

Byte 1 Byte 2

unused bits

Packed:

Byte 1 Byte 2 Byte 3

Pixel 0Pixel 1

PixelFormatsonBaumerEXGCameras4.1.2.2.

CameraType

Mono 8

Mono 10

Mono 10 Packed

Mono 12

Mono 12 Packed

Bayer RG 8

Bayer RG 10

Bayer RG 12

RGB 8 Packed

BGR 8 Packed

YUV 444 Packed

YUV 422 Packed

YUV 411 Packed

Monochrome

EXG03 ■■■□□□□□□□□□□

EXG50 ■□□■■□□□□□□□□

Color

EXG03c ■ □□□□■■□■■■■■

Figure11►

Bit string of Mono 8 bit

and RGB 8 bit.

Figure13►

Spreading of Mono 12

bit over two bytes.

Figure22►

Spreading of Mono 10

bit over 2 bytes.

Figure14►

Spreading of two pix-

els in Mono 12 bit over

three bytes (packed

mode).

17

4.1.3. ExposureTime

On exposure of the sensor, the inclination of photons produces a charge separation on

the semiconductors of the pixels. This results in a voltage difference, which is used for

signal extraction.

Light

Photon

Pixel

Charge Carrie

r

The signal strength is inuenced by the incoming amount of photons. It can be increased

by increasing the exposure time (texposure).

On Baumer EXG cameras, the exposure time can be set within the following ranges (step

size 1μsec):

CameraType texposuremin texposuremax

Monochrome

EXG03 32 μsec 1 sec

EXG50 4 μsec 1 sec

Color

EXG03c 32 μsec 1 sec

4.1.4. HighDynamicRange(HDR)

The term "HDR" envelops several techniques to increase the dynamic range of brightness

(from the brightest spot to the darkest spot of an image) beyond the native dynamic range

of the imaging sensor. On Baumer cameras HDR-Images are created from a bracketing

of several recorded – so called "Low Dynamic Range" (LDR) – images.

Look-Up-Table4.1.5.

The Look-Up-Table (LUT) is employed on Baumer monochrome cameras. It contains 212

(4096) values for the available levels of gray. These values can be adjusted by the user.

In this example the LUT is used to overwrite levels of gray which are not of interest or in

the case of overdrive.

4.1.6. GammaCorrection

With this feature, Baumer EXG cameras offer the possibility of compensating nonlinearity

in the perception of light by the human eye.

For this correction, the corrected pixel intensity (Y') is calculated from the original intensity

of the sensor's pixel (Yoriginal) and correction factor γ using the following formula (in over-

simplied version):

Y' = Yoriginal



◄Figure15

Incidence of light causes

charge separation on

the semiconductors of

the sensor.

AutoExposure:

Some models of the EXG

series are equipped with

the ability for automatic

adjustment of the exposure

time by means of target-

settings in respect of the

intensity of the recorded

images.

H

E0

▲Figure16

Non-linear perception of

the human eye.

H - Perception of bright-

ness

E - Energy of light

18

On Baumer EXG cameras the correction factor γ is adjustable from 0.001 to 2.

The values of the calculated intensities are entered into the Look-Up-Table (see 4.1.4.).

Thereby previously existing values within the LUT will be overwritten.

If the LUT feature is disabled on the software side, the gamma correction

feature also is disabled.

4.1.7. PartialScan/AreaofInterest(AOI)

With the "Partial Scan" function it is possible to predene a so-called Area / Region of

Interest (AOI / ROI). This ROI is an area of pixels of the sensor. On image acquisition,

only the information of these pixels is sent to the PC. Therefore all the lines of the sensor

need not be read out, which decreases the readout time (treadout). This increases the frame

rate.

This function is employed, when only a region of the eld of view is of interest. It is coupled

to a reduction in resolution.

The ROI is specied by four values:

▪ Offset X - x-coordinate of the rst relevant pixel

▪ Offset Y - y-coordinate of the rst relevant pixel

▪ Size X - horizontal size of the ROI

▪ Size Y - vertical size of the ROI

Start ROI

End ROI

Figure17►

Partial Scan:

Parameters of the ROI.

19

Binning4.1.8.

On digital cameras, you can nd several operations for progressing sensitivity. One of

them is the so-called "Binning". Here, the charge carriers of neighboring pixels are aggre-

gated. Thus, the progression is greatly increased by the amount of binned pixels. By using

this operation, the progression in sensitivity is coupled to a reduction in resolution.

Baumer cameras support three types of Binning - vertical, horizontal and bidirectional.

In unidirectional binning, vertically or horizontally neighboring pixels are aggregated and

reported to the software as one single "superpixel".

In bidirectional binning, a square of neighboring pixels is aggregated.

Binning Illustration Example

without

1x2

2x1

2x2

4x4

◄Figure18

Full frame image, no

binning of pixels.

◄Figure19

Vertical binning causes

a vertically compressed

image with doubled

brightness.

◄Figure20

Horizontal binning causes a

horizontally compressed im-

age with doubled brightness.

◄Figure21

Bidirectional binning

causes both a hori-

zontally and vertically

compressed image with

quadruple brightness.

◄Figure22

Bidirectional binning

causes both a horizon-

tally and vertically com-

pressed image with six-

teenfold brightness.

20

4.1.9. BrightnessCorrection(BinningCorrection)

The aggregation of charge carriers may cause an overload. To prevent this, binning cor-

rection was introduced. Here, three binning modes need to be considered separately:

Binninig Realization

1x2 1x2 binning is performed within the sensor, binning correction also takes

place here. A possible overload is prevented by halving the exposure time.

2x1 2x1 binning takes place within the FPGA of the camera. The binning cor-

rection is realized by aggregating the charge quantities, and then halving

this sum.

2x2 2x2 binning is a combination of the above versions.

Charge quantity

Binning 2x2

Super pixel

To tal charge

quantity of the

4 aggregated

pixels

4.2. Color Processing

Baumer color cameras are balanced to a color temperature of 5000 K.

Oversimplied, color processing is realized by 4 modules.

Camera

Module

Bayer

Processor

Color-

Transfor-

mation

RGB

r

g

b

r'

g'

b'

r''

b''

g''

Y

White balance

The color signals r (red), g (green) and b (blue) of the sensor are amplied in total and

digitized within the camera module.

Within the Bayer processor, the raw signals r', g' and b' are amplied by using of indepen-

dent factors for each color channel. Then the missing color values are interpolated, which

results in new color values (r'', g'', b''). The luminance signal Y is also generated.

The next step is the color transformation. Here the previously generated color signals r'',

g'' and b'' are converted to the chroma signals U and V, which conform to the standard.

Afterwards theses signals are transformed into the desired output format. Thereby the

following steps are processed simultaneously:

Transformation to color space RGB ▪or YUV

▪ External color adjustment

Color ▪ adjustment as physical balance of the spectral sensitivities

In order to reduce the data rate of YUV signals, a subsampling of the chroma signals can

be carried out. Here the following items can be customized to the desired output format:

Order of data output▪

Subsampling of the chroma components to ▪ YUV 4:2:2 or YUV 4:1:1

Limitation of the data rate to 8 bits▪

4.3. Color Adjustment–WhiteBalance

This feature is available on all color cameras of the Baumer EXG series and takes

place within the Bayer processor.

White balance means independent adjustment of the three color channels, red,

green and blue by employing of a correction factor for each channel.

Figure23►

Aggregation of charge

carriers from four pixels

in bidirectional binning.

Figure24►

Color processing mod-

ules of Baumer color

cameras.

Baumer EXG03 User manual

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