Baumer HXG User manual

Baumer HXG (Release 2)
User's Guide for Dual Gigabit Ethernet Cameras with CMOSIS
Sensors

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Table of Contents
1. General Information ................................................................................................. 6
2. General safety instructions ..................................................................................... 7
3. Intended Use............................................................................................................. 7
4. General Description ................................................................................................. 7
5. Camera Models......................................................................................................... 8
5.1 HXG – Cameras with C-Mount ............................................................................... 8
5.2 HXG-F – Cameras with F-Mount ............................................................................ 9
6. Environmental Requirements ............................................................................... 10
6.1 Temperature and Humidity Range for Storage and Operation.............................. 10
6.2 Heat Transmission ................................................................................................ 10
6.3 Mechanical Tests....................................................................................................11
7. Process- and Data Interface .................................................................................. 12
7.1 Pin-Assignment Interface...................................................................................... 12
7.2 Pin-Assignment Power Supply and Digital IOs ..................................................... 12
7.3 LED Signaling ....................................................................................................... 12
8. Lens install.............................................................................................................. 13
9. ProductSpecications .......................................................................................... 14
9.1 Identication of Firmware version ......................................................................... 14
9.2 Sensor Specications ........................................................................................... 14
9.2.1 Identication of Sensor Version...................................................................... 14
9.2.2 Quantum Efciency for Baumer HXG Cameras ............................................. 14
9.2.3 Shutter............................................................................................................ 14
9.2.4 Digitization Taps ............................................................................................ 15
9.2.5 Field of View Position ..................................................................................... 16
9.3 Timings.................................................................................................................. 17
9.3.1 Free Running Mode........................................................................................ 17
9.3.2 Trigger Mode .................................................................................................. 18
10. Software .................................................................................................................. 22
10.1 Baumer GAPI...................................................................................................... 22
10.2 3rd Party Software................................................................................................ 22

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11. Camera Functionalities.......................................................................................... 23
11.1 Image Acquisition ................................................................................................ 23
11.1.1 Image Format ............................................................................................... 23
11.1.2 Pixel Format.................................................................................................. 24
11.1.3 Exposure Time.............................................................................................. 26
11.1.4 PRNU / DSNU Correction (FPN - Fixed Pattern Noise) ............................... 26
11.1.5 HDR .............................................................................................................. 27
11.1.6 Look-Up-Table .............................................................................................. 27
11.1.7 Gamma Correction ....................................................................................... 28
11.1.8 Region of Interest (ROI) and Multi-ROI ........................................................ 28
11.1.9 Multi-ROI....................................................................................................... 29
11.1.10 Binning........................................................................................................ 30
11.1.11 Brightness Correction (Binning Correction) ................................................ 31
11.2 Color Adjustment – White Balance...................................................................... 31
11.2.1 User-specic Color Adjustment..................................................................... 31
11.2.2 One Push White Balance.............................................................................. 31
11.3 Analog Controls................................................................................................... 32
11.3.1 Offset / Black Level....................................................................................... 32
11.3.2 Gain .............................................................................................................. 32
11.4 Pixel Correction ................................................................................................... 33
11.4.1 General information ...................................................................................... 33
11.4.2 Correction Algorithm ..................................................................................... 33
11.4.3 Defectpixellist................................................................................................ 33
11.5 Sequencer ........................................................................................................... 34
11.5.1 General Information ...................................................................................... 34
11.5.2 Examples ...................................................................................................... 35
11.5.3 Capability Characteristics of Baumer-GAPI Sequencer Module................... 35
11.5.4 Double Shutter.............................................................................................. 36
11.6 Process Interface ................................................................................................ 37
11.6.1 Digital IOs ..................................................................................................... 37
11.7 Trigger Input / Trigger Delay................................................................................ 39
11.7.1 Trigger Source .............................................................................................. 40
11.7.2 Debouncer .................................................................................................... 41
11.7.3 Flash Signal .................................................................................................. 41
11.7.4 Timer............................................................................................................. 42
11.7.5 Counter ........................................................................................................ 43
11.8 User Sets............................................................................................................. 43
11.9 Factory Settings .................................................................................................. 43
12. Interface Functionalities ........................................................................................ 44
12.1 Link Aggregation Group Conguration................................................................ 44
12.1.1 Camera Control ............................................................................................ 44
12.1.2 Image data stream ....................................................................................... 44
12.2 Device Information .............................................................................................. 45
12.3 Baumer Image Info Header ................................................................................ 46
12.4 Packet Size and Maximum Transmission Unit (MTU)......................................... 46
12.5 "Inter Packet Gap" (IPG) .................................................................................... 47
12.5.1 Example 1: Multi Camera Operation – Minimal IPG..................................... 47
12.5.2 Example 2: Multi Camera Operation – Optimal IPG..................................... 48
12.6 Frame Delay ....................................................................................................... 49
12.6.1 Time Saving in Multi-Camera Operation ...................................................... 49
12.6.2 Conguration Example ................................................................................. 50
12.7 Multicast.............................................................................................................. 52

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12.8 IP Conguration .................................................................................................. 53
12.8.1 Persistent IP ................................................................................................. 53
12.8.2 DHCP (Dynamic Host Conguration Protocol) ............................................. 53
12.8.3 LLA ............................................................................................................... 54
12.8.4 Force IP........................................................................................................ 54
12.9 Packet Resend.................................................................................................... 55
12.9.1 Normal Case................................................................................................. 55
12.9.2 Fault 1: Lost Packet within Data Stream ...................................................... 55
12.9.3 Fault 2: Lost Packet at the End of the Data Stream ..................................... 56
12.9.4 Termination Conditions ................................................................................ 56
12.10 Message Channel ............................................................................................. 57
12.11 Action Commands ............................................................................................. 58
12.11.1 Action Command Trigger ............................................................................ 58
12.11.2 Action Command Timestamp...................................................................... 59
13. Start-Stop-Behaviour ............................................................................................. 60
13.1 Start / Stop Acquisition (Camera)........................................................................ 60
13.2 Start / Stop Interface ........................................................................................... 60
13.3 Pause / Resume Interface .................................................................................. 60
13.4 Acquisition Modes ............................................................................................... 60
13.4.1 Free Running................................................................................................ 60
13.4.2 Trigger .......................................................................................................... 60
13.4.3 Sequencer .................................................................................................... 60
14. Cleaning .................................................................................................................. 61
15. Transport / Storage ................................................................................................ 61
16. Disposal .................................................................................................................. 62
17. Warranty Information ............................................................................................. 62
18. Support.................................................................................................................... 62
19. Conformity .............................................................................................................. 63
19.1 CE ....................................................................................................................... 63
19.2 FCC – Class B Device ........................................................................................ 63

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General Information1.
Thanks for purchasing a camera of the Baumer family. This User´s Guide describes how
to connect, set up and use the camera.
Read this manual carefully and observe the notes and safety instructions!
Target group for this User´s Guide
This User's Guide is aimed at experienced users, which want to integrate camera(s) into
a vision system.
Copyright
Any duplication or reprinting of this documentation, in whole or in part, and the reproduc-
tion of the illustrations even in modied form is permitted only with the written approval of
Baumer. This document is subject to change without notice.
Classicationofthesafetyinstructions
In the User´s Guide, the safety instructions are classied as follows:
Notice
Gives helpful notes on operation or other general recommendations.
Caution
P i ctogram
Indicates a possibly dangerous situation. If the situation is not avoided,slight
or minor injury could result or the device may be damaged.

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General safety instructions2.
Observe the the following safety instruction when using the camera to avoid any damage
or injuries.
Caution
Provide adequate dissipation of heat, to ensure that the temperature does
not exceed +50°C (+122°F).
The surface of the camera may be hot during operation and immediately
after use. Be careful when handling the camera and avoid contact over a
longer period.
Notice
Use the camera only for its intended purpose! For 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.
Intended Use3.
The camera is used to capture images that can be transferred over two GigE interfaces
to a PC.
General Description4.
123
4
56
No. Description No. Description
1(respective) lens mount 4Digital-IO supply
2Power supply 5Data Port 2
3Data Port 1 6Signaling LED

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Camera Models5.
HXG – Cameras with C-Mount5.1
Camera Type Sensor
Size Resolution Full Frames [max. fps]
Burst mode
(buffered)
Monochrome
HXG20 2/3" 2048 x 1088 105 337
HXG20NIR 2/3" 2048 x 1088 105 337
HXG40 1" 2048 x 2048 56 180
HXG40NIR 1" 2048 x 2048 56 180
Color
HXG20c 2/3" 2048 x 1088 105 337
HXG40c 1" 2048 x 2048 56 180
Dimensions
52
52
26 36
UNC 1/4 - 20
26 36
16xM3 deph 5
26 36
54,7
Figure1►
View of a Baumer HXG
C-Mount cameray
Figure2►
Dimensions of a Baum-
er HXG-C camera

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5.2 HXG-F – Cameras with F-Mount
Camera Type Sensor
Size Resolution Full Frames [max. fps]
Burst mode
(buffered)
Monochrome
HXG20-F 2/3" 2048 x 1088 105 337
HXG20NIR-F 2/3" 2048 x 1088 105 337
HXG40-F 1" 2048 x 2048 56 180
HXG40NIR-F 1" 2048 x 2048 56 180
Color
HXG20c-F 2/3" 2048 x 1088 105 337
HXG40c-F 1" 2048 x 2048 56 180
Dimensions
36 26 26
36
16 x M3 depth 6
UNC 1/4-20
52
52
26 36
55
5
12,5
10
◄Figure3
View of a Baumer HXG
F-Mount camera
◄Figure4
Dimensions of a
Baumer HXG-F
camera

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6. Environmental Requirements
6.1 Temperature and Humidity Range for Storage and Operation*)
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)
* If the environmental temperature exceeds the values listed in the table below, the cam-
era must be cooled. (see Heat Transmission)
Camera Type Environmental Temperature
Monochrome
HXG20 +49°C(+120.2°F)
HXG20NIR +49°C(+120.2°F)
HXG40 +46°C(114.8°F)
HXG40NIR +46°C(114.8°F)
Color
HXG20c +49°C(+120.2°F)
HXG40c +46°C(+114.8°F)
Humidity
Storage and Operating Humidity 10% ... 90%
Non-condensing
T
6.2 Heat Transmission
Caution
Provide adequate dissipation of heat, to ensure that the temperature does
not exceed +50°C (+122°F).
The surface of the camera may be hot during operation and immediately
after use. Be careful when handling the camera and avoid contact over a
longer period.
It is very important to provide adequate dissipation of heat, to ensure that the housing
temperature does not reach or exceed +50°C (+122°F). As there are numerous possibili-
ties for installation, 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5►
Temperature measure-
ment points of Baumer
HXG cameras.

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Mechanical Tests6.3
Environmen-
tal Testing
Standard Parameter
Vibration, sinu-
sodial
IEC 60068-2-6 Search for Reso-
nance
10-2000 Hz
Amplitude under-
neath crossover
frequencies
1.5 mm
Acceleration 1 g
Test duration 15 min
Vibration,
broad band
IEC 60068-
2-64
Frequency range 20-1000 Hz
Acceleration 10 g
Displacement 5.7 mm
Test duration 300 min
Shock IEC 60068-
2-27
Puls time 11 ms / 6 ms
Acceleration 50 g / 80 g
Bump IEC60068-2-
29
Pulse Time 2 ms
Acceleration 80 g

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Process- and Data7. Interface
7.1 Pin-Assignment Interface
Notice
Only Port 1 supports Power over Ethernet (38 VDC .. 57 VDC).
For the data transfer, the ports are equal. For Single GigE connect one Port and for Dual
GigE connect the second Port additionally. The order does not matter.
Data / Control 1000 Base-T (Port 1) Data / Control 1000 Base-T (Port 2)
LED2 LED1
81
LED2 LED1
81
1 MX1+ (green/white)
(negative/positive Vport)
5 MX3- (blue/white) 1 MX1+ (green/white)
(negative/positive Vport)
5 MX3- (blue/white)
2 MX1- (green)
(negative/positive Vport)
6 MX2- (orange)
(positive/negative Vport)
2 MX1- (green)
(negative/positive Vport)
6 MX2- (orange)
(positive/negative Vport)
3 MX2+ (orange/white)
(positive/negative Vport)
7 MX4+ (brown/white) 3 MX2+ (orange/white)
(positive/negative Vport)
7 MX4+ (brown/white)
4 MX3+ (blue) 8 MX4- (brown) 4 MX3+ (blue) 8 MX4- (brown)
7.2 Pin-Assignment Power Supply and Digital IOs
Power Supply
M8 / 3 pins
Digital I/O
M8 / 8 pins
1
4
3
8
5
7 3
1
4
2
6
1 (brown) Power VCC 1 (white) Line 5
3 (blue) GND 2 (brown) Line 1
4 (black) not used 3 (green) Line 0
4 (yellow) GND
Power Supply 5 (grey) Uext
Power VCC 20 VDC ... 30 VDC 6 (pink) Line 3
7 (blue) Line 4
8 (red) Line 2
7.3 LED Signaling
1
2
3
LED Signal Meaning
1green / green ash Link active / Receiving
2 yellow Transmitting
3 green / yellow Power on / Readout active
Figure6►
LED positions on Baumer HXG
cameras.

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Lens install8.
Notice
Avoid contamination of the sensor and the lens by dust and airborne particles when
mounting a lens to the device!
Therefore the following points are very important:
Install lenses in an environment that is as dust free as possible!▪
Keep the dust covers on camera and lens as long as possible!▪
Hold the camera downwards with unprotected sensor (or lter- /cover glass)!▪
Avoid contact with any optical surface of the camera or lens!▪
At the example on the gures below the installation of C-mount objective is shown. At a
camera with F-Mount it is principle the same.
1. Turn the camera with the lens mount
to the bottom.
2. Unscrew the protective cap.
3. Screw the lens on the lens mount.

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ProductSpecications9.
IdenticationofFirmwareversion9.1
Label on Camera ("R2.0" is Firmware 2.0)•
BGAPI 1.x - Viewer: • Camera Information: Hardware Version (CID Firmware 1.0 starts
with 02 / CID Firmware 2.0 starts with 03 (e.g. CID:020011 - Firmware 1.0)
BGAPI 2.x Camera Explorer: • Device Version: CID Firmware 1.0 starts with 02 / CID
Firmware 2.0 starts with 03 (e.g. CID:030001 - Firmware 2.0)
9.2 SensorSpecications
IdenticationofSensorVersion9.2.1
BGAPI 2.x - Camera Explorer - Device Control • DeviceSensorType (e.g. CMV4000_
V3 - Sensor Version 3)
9.2.2 QuantumEfciencyforBaumerHXGCameras
The quantum efciency characteristics of monochrome (also in NIR) and color matrix sen-
sors for Baumer HXG 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, but are measured with an AR coated cover glass.
Values relating to the respective technical data sheets of the sensors manufacturer.
350 450 550 650 750 850 950 1050
Wave Length [nm]
Quantum Efficiency [%]
HXG 20/40 (monochrome)
NIR
350 450 550 650 750 850 950 1050
Wave Length [nm]
Quantum Efficiency [%]
HXG 20/40 (color)
9.2.3 Shutter
All cameras of the HXG series are equipped with a global shutter.
Pixel
Active Area (Photodiode)
Storage Area
Microlens
Figure7►
Quantum efciency for
Baumer HXG cameras.
Figure8►
Structure of an imag-
ing sensor with global
shutter

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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 circuit exists. Once the exposure time elapsed, the
information of a pixel is transferred immediately to its circuit and read out from there.
Due to the fact that photosensitive area gets "lost" by the implementation of the circuit
area, the pixels are equipped with microlenses, which focus the light on the pixel.
Digitization Taps9.2.4
Due the recording speed is faster than the read out speed, the recorded images are
stored until read out in the internal memory of the camera. Thus also can be taken quick
sequences for a short time. If the memory is full, no other images can be stored. Recorded
images at full memory are lost!
The CMOSIS sensors, employed in Baumer HXG cameras can be read out up to 16 chan-
nels in parallel.
Notice
More channels increase the speed (framerate), but the use of more channels produces
a higher heat generation. Use only the maximum required number of channels!
Notice
Due to sensor characteristics in 12 bit mode only 2 or 4 channels are available.
Readout with 16 Channels Readout with 8 Channels
Readout with 4 Channels Readout with 2 Channels
◄Figure9
Digitization Tap of the
Baumer HXG cameras

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FieldofViewPosition9.2.5
The typical accuracy by assumption of the root mean square value is displayed in the
gures and the table below:
±Z
Photosensitive
surface of the
sensor
±X
±Y
±Y
±X
±ß
M
M
R
R
Camera
Type
± xM,typ
[mm]
± yM,typ
[mm]
± xR,typ
[mm]
± yR,typ
[mm]
± βtyp
[°]
± ztyp
[mm]
HXG20 0,1 0,1 0,13 0,13 0,76 0,025
HXG20NIR 0,1 0,1 0,13 0,13 0,76 0,025
HXG40 0,1 0,1 0,13 0,13 0,65 0,025
HXG40NIR 0,1 0,1 0,13 0,13 0,65 0,025
Figure10►
Sensor accuracy of
Baumer HXG cameras.

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Timings9.3
Notice
Overlapped mode can be switched off with setting the readout mode to sequential shut-
ter instead of overlapped shutter.
The image acquisition consists of two separate, 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 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
9.3.1 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.
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

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9.3.2 Trigger Mode
After a specied external event (trigger) has occurred, image acquisition is started. De-
pending on the interval of triggers used, the camera operates non-overlapped or over-
lapped in this mode.
With regard to timings in the trigger mode, the following basic formulas need to be taken
into consideration:
Case Formula
texposure < treadout
(1) tearliestpossibletrigger(n+1) = treadout(n) - texposure(n+1)
(2) tnotready(n+1) = texposure(n) + treadout(n) - texposure(n+1)
texposure > treadout
(3) tearliestpossibletrigger(n+1) = texposure(n)
(4) tnotready(n+1) = texposure(n)
9.3.2.1 Overlapped Operation: texposure(n+2) = texposure(n+1)
In overlapped operation attention should be paid to the time interval where the camera is
unable to process occuring trigger signals (tnotready). This interval is situated between two
exposures. When this process time tnotready has elapsed, the camera is able to react to
external events again.
After tnotready has elapsed, the timing of (E) depends on the readout time of the current im-
age (treadout(n)) and exposure time of the next image (texposure(n+1)). It can be determined by the
formulas mentioned above (no. 1 or 3, as is the case).
In case of identical exposure times, tnotready remains the same from acquisition to acquisi-
tion.
Exposure
Readout
texposure(n)
treadout(n+1) treadout(n)
texposure(n+1)
ttriggerdelay
tmin
Trigger
Flash
tflash(n)
tflashdelay
tflash(n+1)
TriggerReady
tnotready
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
E - earliest possible trigger

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Overlapped Operation: t9.3.2.2 exposure(n+2) > texposure(n+1)
If the exposure time (texposure) is increased from the current acquisition to the next acquisi-
tion, the time the camera is unable to process occuring trigger signals (tnotready) is scaled
down.
This can be simulated with the formulas mentioned above (no. 2 or 4, as is the case).
Exposure
Readout
texposure(n)
treadout(n+1) treadout(n)
texposure(n+1) texposure(n+2)
ttriggerdelay
tmin
Trigger
Flash
tflash(n)
tflashdelay
tflash(n+1)
TriggerReady
tnotready
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
E - earliest possible trigger

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9.3.2.3 Overlapped Operation: texposure(n+2) < texposure(n+1)
If the exposure time (texposure) is decreased from the current acquisition to the next acquisi-
tion, the time the camera is unable to process occuring trigger signals (tnotready) is scaled
up.
When decreasing the texposure such, that tnotready exceeds the pause between two incoming
trigger signals, the camera is unable to process this trigger and the acquisition of the im-
age will not start (the trigger will be skipped).
Exposure
Readout
texposure(n)
treadout(n+1) treadout(n)
texposure(n+1) texposure(n+2
ttriggerdelay
tmin
Trigger
Flash
tflash(n)
tflashdelay
tflash(n+1)
TriggerReady
tnotready
Notice
From a certain frequency of the trigger signal, skipping triggers is unavoidable. In gen-
eral, this frequency depends on the combination of exposure and readout times.
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
E - earliest possible trigger
F - frame not started /
trigger skipped