Grablink 系列

Camera Link 图像采集卡

At a glance
  • 适用于Camera Link 80位Full、Medium、Base、Lite配置相机的PCIe采集卡
  • 直接兼容市场上数以百计的 Camera Link 相机
  • ECCO+ / ECCO：Camera Link 电缆延长
  • 特征丰富的数字 I/O 线
  • Memento 事件日志工具
新
Grablink Duo

用于一个Full配置或两个Base配置的Camera Link相机的采集卡
 
Grablink Full XR

用于单个完整配置 Camera Link 相机的图像采集卡，支持超长线缆
 
Grablink Full

用于单个完整配置 Camera Link 相机的图像采集卡
 
Grablink DualBase

用于两个基本配置 Camera Link 相机的图像采集卡
 
Grablink Base

用于单个基本配置 Camera Link 相机的图像采集卡
<a target="_blank" href="https://www.euresys.com/ecco" >ECCO+ / ECCO</a>：Camera Link 电缆延长
ECCO+ / ECCO：Camera Link 电缆延长

  • 支持最长可达20米Camera link 线缆！

高性能 DMA（直接存储器存取）
高性能 DMA（直接存储器存取）

  • 直接传输到用户分配的内存和显示 PCI 地址的硬件板
  • 硬件分散 － 聚集支持
  • 64 位寻址能力

线扫描触发能力 2/2

  • Grablink 图像采集卡根据从运动编码器接收到的信号来控制相机扫描率。如果零件移动速度变快，相机的采集线率将增大。如果零件移动速度变慢，相机的采集线率将减小。
  • Grablink 板解读来自正交运动编码器的 A/B 信号，了解零件向哪个方向（向前或向后）移动。
  • 可以选择仅当采集对象向前或者向后移动的时候命令Grablink卡进行图像采集。
  • 监测到向后运动时，名为“向后动作取消”的功能即停止采集。当在采集中断位置再次向前运动时，自动恢复行采集。
  • 速率转换器能够让相机以任何低于或高于运动编码器分辨率的可编程分辨率来采集行。这就为设计师在应用程序开发过程中提供了惊人的自由度和灵活度。
  • 速率分割器允许相机采集的图像分辨率高于或低于运动编码器的分辨率，它实现于利用一个可编程的整数倍来对编码器输入信号进行分割。

直接兼容市场上数以百计的 Camera Link 相机
直接兼容市场上数以百计的 Camera Link 相机

查看我们支持的相机页面（在“支持”菜单中）

区域扫描触发功能

  • 触发器用于在零件就位时启动采集。硬件触发器来自 Grablink 的 I/O 线。软件触发器来自于应用程序。
  • 可控的延时触发器，用来控制推迟图像采集的时间点。
  • 触发抽取功能允许跳过某些触发器。
  • 相机曝光控制允许应用来控制相机的曝光时间。
  • 当系统开始采集图像时，Grablink采集卡会在一个适当的时间点生成信号来控制连接在输出端的照明设备。

通过速率转换器实现灵活的线扫相机操作

  • 速率转换器是一个智能的、可编程的倍频器/分频器。
  • 用于运动编码器和线扫描相机，允许用户选择该图像中的像素纵横比。
  • 它提供了一种方法来校准采集链以轻松达到正方形（1:1 纵横比）像素。

通用 I/O 线
通用 I/O 线

兼容多种传感器和运动编码器。

线扫描触发能力 1/2

Grablink 支持连续滚网扫描（以检查无限、连续移动的表面而不丢失行）和离散的目标扫描（以采集在相机前方移动的目标图像）。

  • 触发器用于在零件就位时启动采集。硬件触发器来自主板 I/O 线。软件触发器来自于应用程序。
  • 启动以后，采集将：
    • 无限进行下去 (用于滚网式监测应用)
    • 继续进行可编程的行数（以采集已知长度的目标图像）
    • 继续进行直至收到结束触发信号（以采集可变长度的目标图像）
  • 可控的延时触发器，用来以可编程的行数推迟开始采集。

Windows、Linux和macOS驱动程序可用
Windows、Linux和macOS驱动程序可用

  • 只对Grablink Duo提供macOS和ARM支持

通过在列中选择，对产品进行比较
产品之间的差异突出显示为蓝色。
 
选择产品
选择产品
Mechanical
Format
Standard profile, half length, 8-lane PCI Express card
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Cooling method
Air cooling, fan-cooled heatsink
Air cooling, fan-cooled heatsink
Housing
-
Aluminum housing
Mounting
For insertion in a standard height, 8-lane or higher, PCI Express card slot
Desktop
Connectors
  • 'QSFP+' on bracket:
    • Enhanced Quad Small Form-factor Pluggable port
    • CoaXPress-over-Fiber host interface
  • 'EXTERNAL I/O' on bracket:
    • 26-pin 3-row high-density female sub-D connector
    • I/O lines and power output
  • 'INTERNAL I/O 1' and 'INTERNAL I/O 2' on PCB:
    • 2x 26-pin 2-row 0.1" pitch pin header with shrouding
    • I/O lines and power output
  • 'I/O EXTENSION' on PCB:
    • 26-pin 2-row 0.05" pitch pin header with shrouding
    • I/O extension lines and power output
  • 'AUXILIARY POWER INPUT' on module:
    • 6-pin PEG power socket
    • 12 VDC power input for I/O power
  • 'C2C-LINK' on module:
    • 6-pin 2-row 0.1" header
    • Card to card link
  • 'A', 'B', 'C', 'D' on front panel:
    • 4x Micro BNC female connectors
    • CoaXPress host interface
  • 'QSFP+' on rear panel:
    • Enhanced Quad Small Form-factor Pluggable port
    • CoaXPress-over-Fiber device interface
  • 'POWER IN' on rear panel:
    • 2-pin 5.08mm pitch terminal socket
    • 24 V DC power input for internal use and PoCXP
LED indicators
  • 'A', 'B', 'C', 'D' on bracket:
    • Bi-color red/green LEDs
    • CoaXPress Host connector indicator
  • 'FPGA STATUS LAMP' on PCB:
    • Bi-color red/green LED
    • FPGA status indicator
  • 'BOARD STATUS LAMP' on PCB:
    • Bi-color red/green LED
    • Board status indicator
  • 'A', 'B', 'C', 'D' on front panel:
    • Bi-color red/green LEDs
    • CoaXPress Host connector indicator
  • 'A', 'B', 'C', 'D' on rear panel:
    • Bi-color red/green LEDs
    • CoaXPress Device connector indicator
  • 'FPGA OK' on rear panel:
    • Bi-color red/green LED
    • FPGA status indicator
  • 'BOARD OK' onrear panel:
    • Bi-color red/green LED
    • Board status indicator
Switches
'RECOVERY' on PCB:
  • 3-pin 1-row 0.1" header or 2-way DIP switch
  • Firmware emergency recovery
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Dimensions
PCB L X H: 167.65 mm x 111.15 mm, 6.6 in x 4.38 in
L 112 mm x H 55 mm x D 208 mm
Weight
176 g, 6.21 oz (without transceiver)
TBD g, TBD oz (3629)
Host bus
Standard
PCI Express 3.0
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Link width
  • 8 lanes
  • 1 lane, 2 lanes or 4 lanes with reduced performance
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Link speed
  • 8.0 GT/s (PCIe 3.0)
  • 5.0 GT/s (PCIe 2.0) with reduced performance
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Maximum payload size
512 bytes
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DMA
32- and 64-bit
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Peak delivery bandwidth
7,800 MB/s
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Effective (sustained) delivery bandwidth
6,700 MB/s (Host PC motherboard dependent)
-
Power consumption
Typ. 16.5 W ( 3.0 W @ +3.3V, 12.5 W @ +12V), excluding I/O power output and optical transceiver module
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Camera / video inputs
Interface standard(s)
CoaXPress 1.0, 1.1, 1.1.1 and 2.0, CoaXPress-over-Fiber Bridge Protocol 1.0
CoaXPress 1.0, 1.1, 1.1.1 and 2.0, CoaXPress-over-Fiber Bridge Protocol 1.0
Connectors
  • Enhanced Quad Small Form-factor Pluggable (QSFP+) port
  • Compliant with SFF-8436 (4 x10 Gbit/s Pluggable Transceiver) specification
  • Compliant with CoaXPress over Fiber
  • Available power for the module: 3.5 W (SFF-8436 Power Level 4)
Four micro-BNC 75 Ohms (also known as HD-BNC™) CXP-12
Status LEDs
One CoaXPress Host connection status LED per connection
One CoaXPress Host connection status LED per connection
Number of cameras
  • Area-scan cameras:
    • One 1- or 2- or 4-connection camera
  • Line-scan cameras:
    • One 1- or 2- or 4-connection camera
  • Area-scan cameras:
    • One 1- or 2- or 4-connection camera
  • Line-scan cameras:
    • One 1- or 2- or 4-connection camera
Maximum aggregated camera data transfer rate
5,000 MB/s
50 Gbit/s (5,000 MB/s)
Supported CXP down-connection speeds
1.25 GT/s (CXP-1), 2.5 GT/s (CXP-2), 3.125 GT/s (CXP-3), 5 GT/s (CXP-5), 6.25 GT/s (CXP-6), 10.0 GT/s (CXP-10), and 12.5 GT/s (CXP-12)
1.25 GT/s (CXP-1), 2.5 GT/s (CXP-2), 3.125 GT/s (CXP-3), 5 GT/s (CXP-5), 6.25 GT/s (CXP-6), 10.0 GT/s (CXP-10), and 12.5 GT/s (CXP-12)
Supported CXP up-connection speeds
  • Low-speed 20.83... Mbps (CXP-1 to CXP-6)
  • Low-speed 41.66... Mbps (CXP-10, CXP-12)
  • Low-speed 20.83... Mbps (CXP-1 to CXP-6)
  • Low-speed 41.66... Mbps (CXP-10, CXP-12)
Number of CXP data streams (per camera)
1 data stream per camera
1 data stream per camera
Maximum CXP stream packet size
16,384 bytes
16,384 bytes
PoCXP (Power over CoaXPress)
-
  • PoCXP Safe Power:
    • PoCXP Device detection and automatic power-on
    • Overload and short-circuit protections
  • A +24V power source must be connected to the POWER IN connector
Camera types
  • Area-scan cameras:
    • Grayscale and color (YCbCr, YUV, RGB and Bayer CFA)
    • Single-tap (1X-1Y) progressive-scan
  • Line-scan cameras and contact imaging sensors:
    • Grayscale and color RGB
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Camera pixel formats supported
  • Mono8, Mono10, Mono12, Mono14, Mono16
  • BayerXX8, BayerXX10, BayerXX12, BayerXX14, BayerXX16 where XX = GR, RG, GB, or BG
  • RGB8, RGB10, RGB12, RGB14, RGB16
  • RGBA8, RGBA10, RGBA12, RGBA14, RGBA16
  • YCbCr601_422_8, YCbCr601_422_10
  • YCbCr709_422_8, YCbCr709_422_10
  • YUV422_8, YUV422_10
  • Raw
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Area-scan camera control
Trigger
  • Precise control of asynchronous reset cameras, with exposure control.
  • Support of camera exposure/readout overlap.
  • Support of external hardware trigger, with optional delay and trigger decimation.
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Strobe
  • Accurate control of the strobe position for strobed light sources.
  • Support of early and late strobe pulses.
-
Line-scan camera control
Scan/page trigger
  • Precise control of start-of-scan and end-of-scan triggers.
  • Support of external hardware trigger, with optional delay.
  • Support of infinite acquisition, without missing line, for web inspection applications.
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Line trigger
  • Support for quadrature motion encoders, with programmable noise filters, selection of acquisition direction and backward motion compensation.
  • Rate Converter tool for fine control of the pixel aspect ratio: Rate Conversion Ratio in the range 0.001 to 1000 with an accuracy better than 0.1%.
  • Rate Divider tool
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Line strobe
  • Accurate control of the strobe position for strobed light sources.
-
On-board processing
On-board memory
4 GB
-
Image data stream processing
  • Unpacking of 10-/12-/14-bit to 16-bit with selectable justification to LSb or MSb
  • Optional swap of R and B components
  • Little endian conversion
-
Flat-field correction
-
-
Input LUT (Lookup Table)
  • Monochrome 8-bit to 8-bit transformation
  • Monochrome 10-bit to 8-, 10- or 16-bit transformations
  • Monochrome 12-bit to 8-, 12- or 16-bit transformations
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Bayer CFA to RGB decoder
'1-camera' firmware variant:
  • 3x3 linear interpolation method
  • 3x3 median-based interpolation method
-
Pixel binning
-
-
CustomLogic firmware variants
-
-
Data stream statistics
  • Measurement of:
    • Frame rate (Area-scan only)
    • Line rate
    • Data rate
  • Configurable averaging interval
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Event signaling and counting
  • The application software can be notified of the occurrence of various events:
    • Standard event: the EVENT_NEW_BUFFER event notifies the application of newly filled buffers
    • A large set of custom events
  • Custom events sources:
    • I/O Toolbox events
    • Camera and Illumination control events
    • CoaXPress data stream events
    • CoaXPress host interface events
  • Each custom event is associated with a 32-bit counter that counts the number of occurrences
  • The last three 32-bit context data words of the event context data can be configured with event-specific context data:
    • Event-specific data
    • State of all System I/O lines sampled at the event occurrence time
    • Value of any event counter
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General Purpose Inputs and Outputs
Number of lines
20 I/O lines:
  • 4 differential inputs (DIN)
  • 4 singled-ended TTL inputs/outputs (TTLIO)
  • 8 isolated inputs (IIN)
  • 4 isolated outputs (IOUT)
NOTE: The number of I/O lines can be extended using I/O modules attached to the I/O EXTENSION connector.
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Usage
  • Any I/O input lines can be used by any LIN tool of the I/O Toolbox
  • Selected pairs of I/O input lines can be used by any QDC tool of the I/O toolbox to decode A/B signals of a motion encoder
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Electrical specifications
  • DIN: High-speed differential inputs, up to 5 MHz, compatible with ANSI/EIA/TIA-422/485 differential line drivers and complementary TTL drivers
  • TTLIO: High-speed 5V-compliant TTL inputs or LVTTL outputs, compatible with totem-pole LVTTL, TTL, 5V CMOS drivers or LVTTL, TTL, 3V CMOS receivers
  • IIN: 200 kHz isolated current-sense input with wide voltage input range up to 30V, compatible with totem-pole (push-pull) HTL drivers, 5V TTL/RS-422 differential line drivers, 5V CMOS drivers, potential free contacts, solid-state relays and opto-couplers
  • IOUT: Isolated contact outputs compatible with 30V / 100mA loads
NOTE: IIN and IOUT lines provide a functional isolation grade for the circuit technical protection. It does not provide an isolation that can protect a human being from electrical shock!
-
Filter control
  • Glitch removal filter available on all System I/O input lines
  • Configurable filter time constants:
    • for DIN and TTLIO lines: 50 ns, 100 ns, 200 ns, 500 ns, 1 µs
    • for IIN lines: 500 ns, 1 µs, 2 µs, 5 µs, 10 µs
-
Polarity control
Yes
-
Power output
Non-isolated, +12V, 1A, with electronic fuse protection
-
I/O Toolbox tools
The I/O Toolbox is a configurable interconnection of tools that generates events (usually triggers):
  • Line Input tool (LIN): edge detector delivering events on rising or falling edges of any selected input line.
  • Quadrature Decoder tool (QDC): a composite tool including:
    • A quadrature edge detector delivering events on selected transitions of selected pairs of input lines.
    • An optional backward motion compensator for clean line-scan image acquisition when the motion is unstable.
    • A 32-bit up/down counter for delivering a position value.
  • Device Link Trigger tool (DLT): delivers an event on reception of a valid high-speed CoaXPress 2.0 connection trigger packet message from the remote device.
  • User Actions Scheduler tool (UAS): to delegate the execution of 'User Actions' at a scheduled time or encoder position. Possible user actions include setting low/high/toggle any bit of the User Output Register or generation of any User Events.
  • Delay tool (DEL): to delay up to 16 events from one or two I/O toolbox event sources, by a programmable time or number of motion encoder ticks (any QDC events).
  • Divider tool (DIV): to generate an event every nth input events from any I/O toolbox event source.
  • Multiplier/divider tool (MDV): to generate m events every d input events from any I/O toolbox event source.
  • The 'Input Tools' (LIN, QDC, DLT and UAS) can be further processed by the 'Event Tools' (DEL, DIV and MDV) to generate any of the following "trigger" events:
    • The "cycle trigger" of the Camera and Illumination controller
    • The "cycle sequence trigger" of the Camera and Illumination controller
    • The "start-of-scan trigger" of the Acquisition Controller (line-scan only)
    • The "end-of-scan trigger" of the Acquisition Controller (line-scan only)
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I/O Toolbox composition
Determined by the selected firmware variant:
  • '1-camera': 8 LIN, 1 QDC, 2 DLT, 1 UAS, 2 DEL, 1 DIV, 1 MDV, 2 C2C
  • '1-camera, line-scan': 8 LIN, 1 QDC, 2 DLT, 1 UAS, 2 DEL, 1 DIV, 1 MDV, 3 C2C
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C2C-Link
Description
  • Accurate synchronization of the trigger and the start-of-exposure of multiple grabber-controlled area-scan cameras.
  • Accurate synchronization of the start-of-cycle, start-of-scan and end-of-scan of multiple grabber-controlled line-scan cameras.
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Specification
  • C2C-Link synchronizes cameras connected to:
    • the same card
    • to different cards in the same PC (requires an accessory cable such as the "3303 C2C-Link Ribbon Cable" or a custom-made C2C-Link cable)
    • to different cards in different PCs (requires one "1636 InterPC C2C-Link Adapter" for each PC and one RJ 45 CAT 5 STP straight LAN cable for each adapter but the last one)
  • Maximum distance:
    • 60 cm inside a PC
    • 1200 m cumulated adapter to adapter cable length
  • Maximum trigger rate:
    • 2.5 MHz for configurations using a single PC, or up to 10 PCs and 100 m total C2C-Link cable length
    • 200 kHz for configurations up to 32 PCs and 1200m total C2C-Link cable length
  • Trigger propagation delay from master to slave devices:
    • Less than 10 ns for cameras on the same card or on different cards in the same PC
    • Less than 265 ns for cameras on different cards in different PCs (3 PCs and 40m total C2C-Link cable length)
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Electrical
Supply voltage
-
24 V DC (tolerance. TBD), via external power supply block (not included)
Power connector
-
POWER IN connector: 2-pin 5.08 mm pluggable terminal block socket
Power consumption
-
  • 29 W for internal use (estimation TBC)
  • 4 x 17 W for PoCXP
Software
Host PC Operating System
  • Microsoft Windows 11, 10, 8.1, 7 for x86-64 (64-bit) processor architecture
  • Linux for x86-64 (64-bit) and AArch64 (64-bit) processor architectures
  • macOS for x86-64 (64-bit) and AArch64 (64-bit) processor architectures
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APIs
  • EGrabber class, with C++ and .NET APIs: .NET assembly designed to be used with development environments compatible with .NET frameworks version 4.0 or higher
  • GenICam GenTL producer libraries compatible with C/C++ compilers:
    • 'x86_64' dynamic library designed to be used with ISO-compliant C/C++ compilers for the development of x86-64 (64-bit) applications
    • 'aarch64' dynamic library designed to be used with ISO-compliant C/C++ compilers for the development of AArch64 (64-bit) applications
-
Environmental conditions
Operating ambient air temperature
0 to +55 °C / +32 to +131 °F
0 to +50 °C / +32 to +122 °F (TBC)
Operating ambient air humidity
10 to 90% RH non-condensing
10% to 90% RH non-condensing (TBC)
Storage ambient air temperature
-20 to +70 °C/ -4 to +158 °F
-20 to +70 °C/ -4 to +158 °F (TBC)
Storage ambient air humidity
10% to 90% RH non-condensing
10% to 90% RH non-condensing (TBC)
Certifications
Electromagnetic - EMC standards
  • European Council EMC Directive 2014/30/EU
  • United States FCC rule 47 CFR 15
  • European Council EMC Directive 2004/108/EC (TBC)
  • United States FCC rule 47 CFR 15 (TBC)
EMC - Emission
  • EN 55032:2015 / CISPR 32:2012 Class B
  • FCC 47 Part 15 Class B
TBD
EMC - Immunity
  • EN 55035:2017 / CISPR 35:2016
  • EN 61000-6-2:2005 / IEC 61000-6-2:2016
  • EN 61000-4-2:2009
  • EN 61000-4-3:2006
  • EN 61000-4-4:2004
  • EN 61000-4-6:2014
TBD
KC Certification
Korean Radio Waves Act, Article 58-2, Clause 3
TBD
Flammability
PCB compliant with UL 94 V-0
PCB compliant with UL 94 V-0
RoHS
European Union Directive 2015/863 (ROHS3)
European Union Directive 2015/863 (ROHS3)
REACH
European Union Regulation 1907/2006
European Union Regulation 1907/2006
WEEE
Must be disposed of separately from normal household waste and must be recycled according to local regulations
Must be disposed of separately from normal household waste and must be recycled according to local regulations
Ordering Information
Product code - Description
Optional accessories
-
HS Acquisition

用于AOI、3D SPI、3D铅/球检测机的高速图像采集。

Coaxlink 和 Grablink 卡是可靠的工业图像采集卡，从最快的数码相机提供强大和稳定的图像采集。它们的特点是精确的相机控制和同步功能。
  • AOI（自动光学检测）机
  • 3D SPI（锡膏检测）机
  • 3D 引线/球型检查机
关联产品
Camport CL2GigE , Coaxlink Duo CXP-12 , Coaxlink Mono CXP-12 LH , Coaxlink Octo , Coaxlink Quad CXP-12 , Coaxlink Quad CXP-12 , Coaxlink Quad CXP-12 DF , Coaxlink Quad CXP-12 Value , Coaxlink Quad G3 , Coaxlink Quad G3 DF , Coaxlink Quad G3 LH , Grablink Base , Grablink DualBase , Grablink Duo , Grablink Full , Grablink Full XR
LS Acquisition Elec

极高分辨率线扫描图像采集，用于平板显示器检测和太阳能电池检测

Coaxlink 和 Grablink 卡是可靠的工业图像采集卡，从最快的数码相机提供强大和稳定的图像采集。它们的特点是精确的线扫描相机控制和同步功能。
关联产品
Camport CL2GigE , Coaxlink Duo CXP-12 , Coaxlink Mono CXP-12 LH , Coaxlink Octo , Coaxlink Quad CXP-12 , Coaxlink Quad CXP-12 , Coaxlink Quad CXP-12 DF , Coaxlink Quad CXP-12 Value , Coaxlink Quad G3 , Coaxlink Quad G3 DF , Coaxlink Quad G3 LH , Grablink Base , Grablink DualBase , Grablink Duo , Grablink Full , Grablink Full XR
HFR Acquisition

用于检查机的高帧率图像采集

玻璃检测：瓶、小瓶
关联产品
Camport CL2GigE , Coaxlink Duo CXP-12 , Coaxlink Mono CXP-12 LH , Coaxlink Octo , Coaxlink Quad CXP-12 , Coaxlink Quad CXP-12 , Coaxlink Quad CXP-12 DF , Coaxlink Quad CXP-12 Value , Coaxlink Quad G3 , Coaxlink Quad G3 DF , Coaxlink Quad G3 LH , Grablink Base , Grablink DualBase , Grablink Duo , Grablink Full , Grablink Full XR
LS Acquisition Man

表面检测机的线扫描图像采集

Coaxlink 和 Grablink 卡是可靠的工业图像采集卡，从最快的数码相机提供强大和稳定的图像采集。它们的特点是精确的线扫描相机控制和同步功能。
关联产品
Camport CL2GigE , Coaxlink Duo CXP-12 , Coaxlink Mono CXP-12 LH , Coaxlink Octo , Coaxlink Quad CXP-12 , Coaxlink Quad CXP-12 , Coaxlink Quad CXP-12 DF , Coaxlink Quad CXP-12 Value , Coaxlink Quad G3 , Coaxlink Quad G3 DF , Coaxlink Quad G3 LH , Grablink Base , Grablink DualBase , Grablink Duo , Grablink Full , Grablink Full XR
LS Acquisition Textile

用于纺织品检测的线扫描图像采集

Coaxlink 和 Grablink 卡是可靠的工业图像采集卡，从最快的数码相机提供强大和稳定的图像采集。它们的特点是精确的线扫描相机控制和同步功能。
关联产品
Camport CL2GigE , Coaxlink Duo CXP-12 , Coaxlink Mono CXP-12 LH , Coaxlink Octo , Coaxlink Quad CXP-12 , Coaxlink Quad CXP-12 , Coaxlink Quad CXP-12 DF , Coaxlink Quad CXP-12 Value , Coaxlink Quad G3 , Coaxlink Quad G3 DF , Coaxlink Quad G3 LH , Grablink Base , Grablink DualBase , Grablink Duo , Grablink Full , Grablink Full XR