This page summarizes common connection, imaging, point-cloud, and accuracy issues for XEMA, FINCH, and KINGFISHER cameras. Complete the general checks first, then troubleshoot the relevant issue.

Warning

The exposure, gain, and filter values in this page come from specific cases and are provided only to illustrate adjustment directions. Adjust actual values gradually according to the camera model, working distance, workpiece material, ambient light, and cycle-time requirements. Change only one variable at a time and record the result.

1. General Troubleshooting

1. Restart and reconnect: Power off the camera, wait 5 minutes, and power it on again. Disconnect the camera in the software, then search for and connect to it again.
2. Check the network configuration: Confirm that the network adapter is configured correctly, the IP segments match, and Jumbo Frame is configured as required for the camera model.
3. Check cables and connectors: Reconnect the Ethernet or USB cable. If possible, replace the cable to rule out aging, damage, or poor contact.

1.1 Check the aviation connector

• Check for wear where the camera connects to the network cable.
• Check whether the network-cable pins are bent or deformed.
• Check whether the aviation-connector screws are fully tightened.

Warning

The aviation connector must be tightened. A loose connector reduces protection and long-term shaking or vibration can accelerate interface aging and cause poor contact. If the link rate drops from 1000 Mbps to 100 Mbps, check the connector and plug first.

2. Connection and Network Issues

2.1 Camera cannot be found

Confirm in order that the camera is powered on, the Ethernet or USB cable is connected correctly, the cable is not connected through an adapter or extension, and the camera-side connector is secure. If the camera still cannot be found after replacing the cable and computer port, record the camera model, serial number, indicator status, software version, and network configuration, then contact technical support.

2.2 Camera is found but reports different network segments

When a computer has multiple network adapters, the camera segment may not match the configuration of the active adapter.

1. On the search screen, confirm the camera IP address and the network adapter currently in use.
2. Click Auto Configuration to change the camera IP to a segment that can communicate with the computer.
3. Search and connect again. If this still fails, temporarily disable unrelated network adapters and test again.

2.3 Suspected IP address conflict

1. Power off the camera and run ping CAMERA_IP. If the address is still reachable, another device may be using the same IP address.
2. Run arp -a and check whether the MAC address mapped to the camera IP matches the camera's actual MAC address.
3. Assign a different static IP address to the conflicting device, then clear the ARP cache or restart the network connection and test again.

2.4 Camera disconnects abnormally or cannot be found

1. Rule out an IP conflict using the method in the previous section.
2. Power off the camera and run ping CAMERA_IP; it should normally be unreachable. After powering the camera on again, it should become reachable.
3. Continue testing network connectivity and watch for timeouts or packet loss.
4. If an abnormality appears, replace the network cable and check connector wear, bent pins, and the aviation-connector lock.
5. If network tests remain normal, save the camera log, software log, fault time, and reproduction steps, then continue checking hardware and software status.

Download ping_ip.zip

.\\ping_ip.exe CAMERA_IP

Warning

Scan the archive before running the tool. Save test results in a directory that does not contain a customer name, project name, person's name, or account path.

3. Imaging and Point-Cloud Issues

3.1 Basic checks before adjustment

• The camera installation area is unobstructed, the lens is clean, and the factory protective film has been removed.
• The camera-to-workpiece distance is within the working range specified in the product documentation.
• Site lighting does not flicker. Use a phone's slow-motion mode to observe the light source if necessary.
• No sunlight or other light source shines directly into the field of view. Perform a light-blocking test when necessary.
• Do not use the camera near strong magnetic fields, high-voltage discharge equipment, or laser equipment.
• There is no obvious impact or continuous vibration, and the ambient temperature meets the product-documentation requirements.

3.2 General approach to exposure and filtering

• For local reflections or a large brightness difference, use HDR: use a short exposure to preserve highlights and a long exposure to fill dark areas while avoiding overexposure.
• When material and brightness are uniform, start with a single exposure, then adjust exposure time and projection brightness according to the depth map.
• Use radius filtering first for isolated noise. For floating noise, gradually strengthen depth filtering together with radius filtering.
• For reflections on the inner wall of a ring, focus on noise filtering and check whether invalid areas become black in the depth map.
• For large missing areas, check overexposure, underexposure, external light, lens contamination, protective film, occlusion, and working distance in that order.

3.3 Large missing areas in structured-light point clouds

1. Turn off or block flickering and directly incident external light sources.
2. Block external light when it causes overexposure; lower the exposure value when the exposure setting is too high.
3. Increase exposure time and projection brightness when the workpiece is too dark or the exposure is too short.
4. Clean the lens with a lens cloth and confirm that the protective film has been removed.
5. If waves appear on a flat surface, check the protective film, equipment vibration, and camera mounting.

3.4 XEMA-LC: missing point cloud on a highly reflective workpiece

Use HDR, with long and short exposures covering dark and bright areas respectively. Then use radius and depth filters to reduce noise.

3.5 XEMA-S: noise and edge fluctuations on a metal ring

Use HDR in high-reflectivity mode. Balance bright and dark areas with the two parameter sets and avoid overexposure. If filtering is incomplete, strengthen the filters gradually. Decide whether to enable smoothing according to cycle-time requirements.

3.6 XEMA-L: incomplete point cloud on a black reflective workpiece

Use HDR with a longer exposure and gain to fill dark areas. Use radius and reflection filters to reduce reflective noise. Gain can also increase noise, so verify it against point-cloud quality and cycle time.

3.7 FINCH: floating noise on a carton surface

Enable depth and radius filters. While preserving valid information, gradually increase the depth-filter value and the radius-filter threshold point count.

3.8 Other adjustment cases

• XEMA-L aluminum ring: HDR short exposure 1700/1023 and long exposure 10000/1023; radius and depth filters can be added.
• XEMA-L boxed circuit board: The case used depth filtering 40 and radius filtering 2/10. Iterate while observing the depth map and point cloud.
• XEMA-L metal shaft: At an approximately 1.2 m working distance, use HDR long exposure 1023/20000 and short exposure 1023/1700, then optimize with the three filter types.
• XEMA-S thin metal sheet: Use HDR values 500/1700 and 1023/8000. If overexposure remains, lower projection brightness appropriately.
• XEMA-L aluminum ingot with floating noise: Set depth filtering to 70; change radius filtering from 2/10 to 2/18, strengthening it gradually while checking valid point clouds.
• XEMA-L inner wall of a metal ring: Strengthen noise filtering, together with radius and depth filters. Confirm that invalid inner-wall areas turn black without losing edges.
• XEMA-LC high-temperature workpiece: The case used a single exposure. On top of radius filtering, strengthen depth and noise filtering. Before using the camera at high temperature, verify the temperature and insulation requirements in the product documentation.
• XEMA-L white plastic inner liner: The case used exposure 5000 and gain 5, with radius and noise filters enabled and smoothing disabled. Capture time was approximately 630 ms. Higher gain may increase noise; verify the result on the target device.
• XEMA-S white plastic and metal combination: Use long exposure to fill dark edge areas and short exposure to preserve center highlights. Use reflection and radius filters for noise from edge metal.

4. Accuracy and Extrinsic Calibration

4.1 Basic checks for abnormal accuracy

1. Check the exposure and overexposure display.
2. Confirm that the calibration-board model and size parameters match the camera.
3. Clean and inspect the calibration-board surface.
4. Confirm that the camera, calibration board, and structure did not shake during calibration.
5. Confirm that the camera-to-board distance is within the valid range.

If accuracy becomes abnormal again after a period of time, check for impact, continuous vibration, structural stress, and temperature fluctuation. If a concentric-circle calibration board is difficult to recognize, adjust the exposure or change the pose by a small angle and try again.

4.2 XEMA extrinsic calibration

Caution

Writing calibration parameters changes data inside the camera. Export and back up the original calibration file first. Do not run a write command when the camera version, calibration-board specification, or command parameters are uncertain.

4.2.1 Capture calibration images

1. Fix the camera at the working distance, run open_cam3d_gui.exe, and connect to the camera.
2. Place the calibration board flat at the center of the field of view and adjust exposure until it is clear without overexposure.
3. Create a capture folder in the SDK tool directory.
4. Capture five image groups in directories 00 to 04: one at the center and one at each corner of the field of view.

.\\open_cam3d.exe --get-raw-02 --ip CAMERA_IP --path .\\capture\\00

4.2.2 Calculate and write parameters

.\\open_cam3d.exe --get-calib-param --ip CAMERA_IP --path .\\param.txt
.\\calibration.exe --correct --use patterns --path .\\capture\\ --version 3010 --board 20 --param-in .\\param.txt --param-out .\\param.txt
.\\open_cam3d.exe --set-calib-looktable --ip CAMERA_IP --path .\\param.txt

--version and --board must match the current camera and calibration board. Before writing, confirm that correction completed without errors and that the original parameters are backed up. After writing, capture the calibration board again and check accuracy. If accuracy does not improve, restore the backup and contact technical support.

5. FINCH and KINGFISHER Specific Issues

5.1 FINCH color image and point cloud are misaligned

The color and grayscale cameras are independent modules. An impact can change the extrinsic parameters between the modules, causing the color image and point cloud to appear in different layers. Try extrinsic calibration. If the cause is physical impact, the camera usually needs to be returned for inspection.

5.2 FINCH color mode is incompatible with HDR

Some shipped versions do not support HDR in color mode. The original record recommends updating to firmware 0925. Before upgrading, confirm the model, serial number, and current firmware with technical support. Do not flash firmware across models.

5.3 Abnormal picking after switching FINCH color and monochrome modes

Use the hand-eye calibration conversion tool to process calibration data. Back up the original data, read the archive instructions, and confirm version compatibility before use. Run calibration verification again after conversion.

Download the FINCH hand-eye coordinate conversion tool

5.4 XEMA threadlocker batch

According to the original record, cameras manufactured after October 2025 have threadlocker applied. The production date can be checked from the serial number. Batch boundaries and rework status may change; confirm on-site decisions with technical support.

5.5 Structured-light camera cycle time is too long

1. Test network speed, latency, and packet loss.
2. Check the firmware, SDK, and host-computer software versions.
3. Record the number of exposure sets, filters, smoothing, transmitted data types, and total elapsed time.
4. Separate imaging, transmission, and host-computer processing time before optimizing.

6. Error Codes

6.1 XEMA series

Error code	Value	Description
DF_SUCCESS	0	Success
DF_FAILED	-1	Failure
DF_UNKNOWN	-2	Unknown command
DF_BUSY	-3	Camera is busy
DF_NOT_CONNECT	-4	Camera is not connected
DF_ERROR_NETWORK	-5	Network error
DF_ERROR_2D_CAMERA	-6	2D camera failure
DF_ERROR_INVALID_PARAM	-7	Invalid parameter
DF_ERROR_LIGHTCRAFTER_SET_MODEL	-8	Projector-mode setting error
DF_ERROR_LIGHTCRAFTER_SET_TRIGGEROUT	-9	Projector trigger setting error
DF_ERROR_LIGHTCRAFTER_SET_CURRENT	-10	Projector brightness setting error
DF_ERROR_LIGHTCRAFTER_SET_PATTERN_ORDER	-11	Projector pattern-setting error
DF_ERROR_CAMERA_STREAM	-12	Camera stream operation error
DF_ERROR_CAMERA_GRAP	-13	Camera image-capture error
DF_FRAME_CAPTURING	-14	Camera is capturing frame data
DF_ERROR_LOST_TRIGGER	-15	Trigger signal is missing
DF_ERROR_LOST_PATTERN_SETS	-16	Projector pattern set is missing

6.2 FINCH series

Error code	Value	Description
DF_SUCCESS	0	Success
DF_FAILED	-1	Failure (general error)
DF_UNKNOWN	-2	Unknown error
DF_BUSY	-3	Device is busy (camera is occupied)
DF_NOT_CONNECT	-4	Not connected
DF_ERROR_NETWORK	-5	Network error
DF_ERROR_2D_CAMERA	-6	2D camera error
DF_ERROR_INVALID_PARAM	-7	Invalid parameter
DF_ERROR_LIGHTCRAFTER_SET_MODEL	-8	Projector overheating
DF_ERROR_LIGHTCRAFTER_SET_TRIGGEROUT	-9	Projector trigger-output setting error
DF_ERROR_LIGHTCRAFTER_SET_CURRENT	-10	Projector current-setting error
DF_ERROR_LIGHTCRAFTER_SET_PATTERN_ORDER	-11	Projector pattern-order setting error
DF_ERROR_CAMERA_STREAM	-12	Camera data-stream error
DF_ERROR_CAMERA_GRAP	-13	Camera image capture or acquisition error
DF_FRAME_CAPTURING	-14	Frame capture in progress
DF_ERROR_LOST_PARAM	-15	Parameter is missing

Prepare before contacting support

Prepare the camera model and serial number, firmware and software versions, connection method, network configuration, fault time, reproduction steps, error code, logs, and original images, depth maps, or point clouds that show the issue. Before sharing materials externally, remove customer names, project names, personal information, account paths, unrelated IP/MAC addresses, and other traceable identifiers.

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