8k to 12k Line Scan CCD Cameras
Piranha 3
Camera User’s Manual
P3-80-12k40-00-R
P3-80-08k40-00-R
P3-87-12k40-00-R
P3-87-08k40-00-R
7-Jun-11
03-032-10216-06
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Piranha 3 User Manual
2
© 2011 Teled yne DALSA. All inform ation provid ed in this m anu al is believed to be
accu rate and reliable. N o resp onsibility is assu m ed by Teled yne DALSA for its u se.
Teled yne DALSA reserves the right to m ake changes to this inform ation w ithou t notice.
Reprod u ction of this m anu al in w hole or in part, by any m eans, is prohibited w ithou t
prior perm ission having been obtained from Teled yne DALSA.
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03-032-10216-06
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3
Piranha 3 User Manual
Contents
Introduction to the Piranha 3 Camera _________________________________________ 7
1.1 Camera Highlights ....................................................................................................................................................... 7
Features .......................................................................................................................................................... 7
Key Specifications ............................................................................................................................................ 7
Programmability ............................................................................................................................................. 8
Description ...................................................................................................................................................... 8
Applications..................................................................................................................................................... 8
Models ............................................................................................................................................................. 8
1.2 Camera Performance Specifications............................................................................................................................. 9
1.3 Image Sensor ............................................................................................................................................................... 12
1.4 Responsivity ................................................................................................................................................................. 13
Camera Hardware Interface ________________________________________________ 15
2.1 Installation Overview ................................................................................................................................................... 15
2.2 Input/Output Connectors and LED ............................................................................................................................... 15
Camera Link Configuration............................................................................................................................. 18
Input Signals, Camera Link............................................................................................................................. 19
Output Signals, Camera Link .......................................................................................................................... 19
2.3 Camera Link Video Timing .......................................................................................................................................... 20
Software Interface: How to Control the Camera __________________________________ 23
Setting Baud Rate ........................................................................................................................................... 24
Camera Help Screen........................................................................................................................................ 24
3.1 Command Categories ................................................................................................................................................... 26
3.2 Sensor Output Format ................................................................................................................................................. 27
Overview ......................................................................................................................................................... 27
Setting the Exposure Mode.............................................................................................................................. 27
Setting the Line Rate....................................................................................................................................... 30
Setting the Exposure Time .............................................................................................................................. 31
3.3 Camera Output Format ................................................................................................................................................ 31
3.4 Data Processing ........................................................................................................................................................... 33
Processing Chain Overview and Description ................................................................................................... 33
Calibrating the Camera to Remove Non-Uniformity (Flat Field Correction) .................................................. 35
Analog Signal Processing: Setting Analog Gain and Offset ........................................................................... 38
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Piranha 3 User Manual
Digital Signal Processing ................................................................................................................................ 44
Returning Calibration Results and Errors........................................................................................................ 49
Setting Thresholds .......................................................................................................................................... 51
3.5 Saving and Restoring Settings ..................................................................................................................................... 52
3.6 Diagnostics ................................................................................................................................................................... 54
Returning a Single Line of Video .................................................................................................................... 54
Returning Averaged Lines of Video ................................................................................................................ 55
Returning All Camera Settings with the Camera Parameter Screen ............................................................... 57
Returning Camera Settings with Get Commands ............................................................................................ 60
Optical and Mechanical Considerations________________________________________ 63
4.1 Mechanical Interface .................................................................................................................................................... 63
Lens Mounts .................................................................................................................................................... 64
4.2 Optical Interface ........................................................................................................................................................... 65
Illumination .................................................................................................................................................... 65
Light Sources ................................................................................................................................................... 65
Filters .............................................................................................................................................................. 65
Lens Modeling ................................................................................................................................................. 65
Magnification and Resolution ......................................................................................................................... 66
Troubleshooting ________________________________________________________ 67
5.1 Common Solutions ....................................................................................................................................................... 67
5.2 Troubleshooting Using the Serial Interface ................................................................................................................. 68
Communications.............................................................................................................................................. 68
Verify Parameters ........................................................................................................................................... 68
Verify Factory Calibrated Settings ................................................................................................................... 68
Verify Timing and Digital Video Path ............................................................................................................. 68
Verify Voltage.................................................................................................................................................. 68
5.3 Specific Solutions ......................................................................................................................................................... 68
No Output or Erratic Behavior......................................................................................................................... 68
Line Dropout, Bright Lines, or Incorrect Line rate .......................................................................................... 68
Noisy Output ................................................................................................................................................... 69
Dark Patches ................................................................................................................................................... 69
Camera Link™ Reference, Timing, and Configuration Table _________________________ 71
LVDS Technical Description ............................................................................................................................. 71
Camera Signal Requirements ......................................................................................................................... 71
Video Data ...................................................................................................................................................... 72
Camera Control Signals .................................................................................................................................. 72
Communication ............................................................................................................................................... 72
Power .............................................................................................................................................................. 73
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Error Handling and Command List ___________________________________________ 75
B1 Error Handling.............................................................................................................................................................. 75
B2 All Available Commands .............................................................................................................................................. 76
EMC Declaration of Conformity _____________________________________________ 85
Revision History ________________________________________________________ 87
Index _______________________________________________________________ 89
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Piranha 3 User Manual
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Piranha 3 User Manual
1
Introduction to the
Piranha 3 Camera
1.1 Camera Highlights
Features
•
8k or 12k resolu tion
•
Up to 33.7 kH z line rates
•
Selectable 8 or 12 bit ou tpu t
•
320MH z throu ghpu t (8x40 MH z)
•
100x antibloom ing
•
Selectable Med iu m or Fu ll Cam era Link™ configu ration interface
•
Au tom atic tap balancing algorithm s
•
RoH S, CE and FCC com pliant
Key Specifications
Value
Units
8k
Typ (0dB Gain)
12k
Typ (0dB Gain)
Pixel Pitch
µm
7x7
5x5
Cam era Size
mm
150 H x 42 L x 80 W (P3-80)
mm
85 H x 54.2 L x 80 W (P3-87)
Maxim um Line Rate
kH z
Broad band Responsivity
DN / nJ/ cm
33.7
23.5
224
Rand om N oise rm s
138
DN
12.5
10.5
Dynam ic Range (8 bit)
ratio
328:1
391:1
FPN Corrected
DN
4
4
PRN U Corrected
DN
18
18
2
N ote: All nu m bers referenced to 12 bits u nless otherw ise specified .
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Piranha 3 User Manual
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Programmability
•
Sim ple ASCII protocol controls gain, offset, line rates, trigger m od e, pixel correction,
test pattern ou tpu t, and cam era d iagnostics
Description
The next generation of Piranha line scan cam eras has arrived w ith m ore pow er, m ore
speed and m ore resolu tion than ever before. The Piranha 3 cam era fam ily takes im aging
to a new level w ith eight ou tpu ts ru nning at 40MH z and either 8k or 12k resolu tions. The
large nu m ber of pixels and fast line rates specifically m eet the throu ghpu t d em and s of flat
panel inspection (Gen7 and Gen8), printed circu it board inspection , and m u lti-cam era
w eb inspection. With this large resolu tion and high speed , these cam eras can inspect
m ore panels in the sam e am ou nt of tim e than ever before
Applications
The Piranha 3 fam ily is id eal for applications requ iring high speed , su perior im age
qu ality, and high responsivity. Applications inclu d e:

Flat panel d isplay inspection

Printed circu it board inspection

Parcel sorting

Mu lti-cam era w eb inspection

H igh perform ance d ocu m ent scanning

H igh throu ghpu t applications
Models
The Piranha 3 cam eras are available in the follow ing m od els.
Table 1: Piranha 3 Camera Models Overview
Model
Description
Number
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P3-80-12k40-00-R
12k resolution, 8 taps, 40MH z d ata rate, Med ium or Full Cam era Link
configuration.
P3-80-08k40-00-R
8k resolution, 8 taps, 40MH z d ata rate, Med ium or Full Cam era Link
configuration.
P3-87-12k40-00-R
Sm aller, square bod y, 12k resolution, 8 taps, 40MH z d ata rate,
Med ium or Full Cam era Link configuration .
P3-87-08k40-00-R
Sm aller, square bod y, 8k resolution, 8 taps, 40MH z d ata rate,
Med ium or Full Cam era Link configuration .
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Piranha 3 User Manual
1.2 Camera Performance Specifications
Table 2: Piranha 3 Camera Performance Specifications
Feature / Specification Units 8k
Sensor Features
Im ager Form at
12k
line scan CCD
line scan CCD
Resolution
pixels
8192
12288
Pixel Fill Factor
%
100
100
Pixel Size
µm
7x7
5x5
Output Form at (# of taps)
8
8
Antibloom ing
100x
100x
Optical Interface
Back Focal Distance
M72 Mount
Sensor Alignm ent
x
y
z
z
Lens Mount
Units
8k
12k
mm
6.56±0.25
6.56±0.25
mm
mm
mm
°
±0.05
±0.05
±0.25
±0.4
M72x0.75
±0.05
±0.05
±0.25
±0.4
M72x0.75
Mechanical Interface
Units
Cam era Size
m m (h x l x w )
Notes
Notes
Notes
150 x 42 x 80 (P3-80)
85 x 54.2 x 80 (P3-87)
Mass
g
<630 (P3-80)
<125 (P3-87)
Connectors
pow er connector
d ata connector
6 pin m ale H irose
MDR26 fem ale
Electrical Interface
Units
Input Voltage
Volts
+12 to +15
Pow er Dissipation
W
<15
Operating Tem perature
(m easured at front plate)
°C
0 to +50
Data Output Form at
Bits
8 or 12 bit user selectable
Output Data Configuration
Teledyne DALSA
Notes
Maxim um
pow er supply of
±5%
12 bits available
in 4 tap
op eration only.
Med ium or Full Cam era Link
user selectable
Specification
Units
8k
12k
Minim um Line Rate
kH z
2.5
2.5
Notes
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Piranha 3 User Manual
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Specification
Units
8k
12k
Maxim um Line Rate
kH z
33.7
23.5
Data Throughput
MH z
320
320
Gain
dB
-10 to +10
-10 to +10
Operating Specifications
(No Flat Field Correction)
Specification
Unit
Notes
P3-8k
Min
2
-10 dB
Typ
Max
71
Min
0 dB
Typ
Max
189
224
236
708
12.5
15.0
40.0
Min
+10 dB
Typ
Max
Notes
Broad band
Responsivity
DN / nJ/ cm
Rand om N oise
rm s
DN
Dynam ic Range
(12 bit)
ratio
DC Offset
DN
160
FPN ECD
DN
4
13
10
40
32
128
2
FPN ECE
DN
12
25
58
80
180
260
2
3
8
4
8
10
16
4
4.0
820
FPN Corrected
5.0
1036
274
328
82
160
1
50.0
103
160
3
PRN U ECD
DN
120
330
120
330
140
330
2
PRN U ECE
DN
125
330
140
330
220
330
2
PRN U Pixel to
Pixel
DN
80
255
80
255
80
255
PRN U Corrected
ECD
ECE
DN
DN
16
16
48
48
18
18
64
64
48
80
80
232
N EE
pJ/ cm
2
56
56
56
SEE
nJ/ cm
2
58
18
6
Operating Specifications
(No Flat Field Correction)
Specification
Unit
2, 5, 6
P3-12k
Min
2
-10 dB
Typ
Max
Min
121
138
145
436
10.5
13
33
Min
+10 dB
Typ
Max
Broad band
Responsivity
DN / nJ/ cm
Rand om N oise
rm s
DN
Dynam ic Range
(12 bit)
ratio
DC Offset
DN
160
FPN ECD
DN
9
13
16
40
58
128
2
FPN ECE
DN
12
25
40
80
120
255
2
3
8
4
8
10
16
4
FPN Corrected
43.6
0 dB
Typ
Max
3.3
1000
4.1
1242
316
391
100
160
1
42
125
160
3
PRN U ECD
DN
120
330
120
330
140
330
2
PRN U ECE
DN
125
330
130
330
180
330
2
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Piranha 3 User Manual
PRN U Pixel to
Pixel
DN
80
255
80
255
80
255
PRN U Corrected
ECD
ECE
DN
DN
16
16
64
64
18
18
64
64
48
80
80
232
N EE
pJ/ cm
2
76
76
76
nJ/ cm
2
95
30
9.5
SEE
Test conditions unless otherwise noted:

Data Rate: 40MH z

Line Rate: 2.5kH z

Light Sou rce: Broad band Qu artz H alogen, 3250k, w ith 750nm cu toff filter installed

Am bient test tem peratu re 25°C

All nu m bers referenced to 12 bits u nless otherw ise specified

Specifications are only valid w hen line rates greater than 2.5kH z and inpu t voltage is
betw een +12V and +15V.
Notes:
1. H alogen 3200K color tem peratu re w ith 750nm cu toff filter ligh t sou rce, 59 µW/ cm
2
(12k cam era) and 71.3 µW/ cm (8k cam era) light intensity, line rate 2500 H z (12k
cam era) and 5000 H z (8k cam era), ECD, 25 °C am bient tem peratu re.
2
2. ECE = Exposu re control enabled — exposu re m od es 2, 4, 5 and 6. ECD = Exposu re
control d isabled —exposu re m od es 3 and 7.
3. Offset is factory-calibrated to 160DN .
4. FPN m easu rem ent is perform ed in d ark at 2500 H z line rate.
5. PRN U corrected is m easu red at 35% satu ration u sing FPN coefficients calcu lated at 0%
satu ration and PRN U coefficients calcu lated at 70% satu ration.
6. The FPN / PRN U calibration cond itions (gain, ECE, ECD, line rated , light) are set
before calibration. The resid u al error is confirm ed to be less than the m axim u m
specified .
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03-032-10216-06
2, 5, 6
Piranha 3 User Manual
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1.3 Image Sensor
Sensitivity is m axim ized throu gh ou r new est IT-P9 and IT-PB sensors that w ere d esigned
u sing ou r state-of-the-art CCD d esign process.
Figure 1: 12k40 and 08k40 Sensor Block Diagram
Storage Well with Exposure Control, Reset, and Shift Register Structures
Up to12288 Photoelements (12k: 5µm x 5µm or 6k, 8k: 7µm x 7µm)
Storage Well with Exposure Control, Reset, and Shift Register Structures
Isolation
pixels
Table 3: 12k40 Pixel Readout
Tap # First Pixel
1
1-3071 (od d pixels)
2
2-3072 (even pixels)
3
3073-6143 (od d pixels)
4
3074-6144 (even pixels)
5
9215-6145 (od d pixels)
6
9216-6146 (even pixels)
7
12287-9217 (od d pixels)
8
12288-9217 (even pixels)
Table 4: 08k40 Pixel Readout
Tap #
First Pixel
03-032-10216-06
1
1-2047 (od d pixels)
2
2-2048 (even pixels)
3
2049-4095 (od d pixels)
4
2050-4096 (even pixels)
5
6143-4097 (od d pixels)
6
6144-4098 (even pixels)
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Piranha 3 User Manual
7
8191-6141 (od d pixels)
8
8192-6142 (even pixels)
1.4 Responsivity
Figure 2: Responsivity Graphs
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Piranha 3 User Manual
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Piranha 3 User Manual
2
Camera Hardware
Interface
2.1 Installation Overview
When setting u p you r cam era, you shou ld take these steps:
This installation
overview assumes you
have not installed any
system components yet.
1.
Pow er d ow n all equ ipm ent.
2.
Follow ing the m anu factu rer’s instru ctions, install the fram e grabber (if applicable). Be
su re to observe all static precau tions.
3.
Install any necessary im aging softw are.
4.
Before connecting pow er to the cam era, test all pow er su pplies. Ensu re that all the
correct voltages are present at the cam era end of the pow er. Pow er su pplies m u st
m eet the requ irem ents d efined in section 2.2.2 Pow er Connector.
5.
Inspect all cables and connectors prior to installation. Do not u se d am aged cables or
connectors or the cam era m ay be d am aged .
6.
Connect Cam era Link and pow er cables.
7.
After connecting cables, apply pow er to the cam era.
8.
Check the d iagnostic LED. See 2.2.1 LED Statu s Ind icator for an LED d escription.
You m u st also set u p the other com ponents of you r system , inclu d ing light sou rces,
cam era m ou nts, host com pu ters, optics, encod ers, an d so on.
2.2 Input/Output Connectors and LED
The cam era u ses a:
Teledyne DALSA
•
Diagnostic LED for m onitoring the cam era. See LED Statu s Ind icator in section 2.2.1
LED Statu s Ind icator for d etails.
•
6-pin H irose connector for pow er. Refer to section 2.2.2 Pow er Connector for d etails.
•
H igh-d ensity 26-pin MDR26 connector for Cam era Link control signals, d ata signals,
and serial com m u nications. Refer to section
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Piranha 3 User Manual
16
2.2.3 Cam era Link Data Connector for d etails.
Figure 3: Piranha 3 Input and Output Connectors
!
WARNING: It is extremely important that you apply the appropriate voltages to your camera.
Incorrect voltages will damage the camera. See section 2.4 for more details.
2.2.1 LED Status Indicator
The cam era is equ ipped w ith a red / green LED u sed to d isplay the operation al statu s of
the cam era. The table below su m m arizes the operating states of the cam era and the
correspond ing LED states.
When m ore than one cond ition is active, the LED ind icates the cond ition w ith the highest
priority. Error and w arning states are accom pa nied by correspond ing m essages fu rther
d escribing the cu rrent cam era statu s.
Table 5: Diagnostic LED
Color of Status LED
03-032-10216-06
Meaning
Flashing Green
Cam era initialization or executing a long com m and (e.g., flat field
correction com m and s ccp or ccf)
Solid Green
Cam era is operational and functioning correctly
Flashing Red
Fatal Error. Cam era tem perature is too high and cam era therm al
shutd ow n has occurred .
Solid Red
Warning. Loss of functionality (e.g. external SRAM failure)
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Piranha 3 User Manual
2.2.2 Power Connector
Figure 4: Hirose 6-pin Circular Male—Power Connector
Table 6: Hirose Pin Description
Pins
Description
1,2,3
+12 to +15V
4, 5, 6
GN D
The cam era requ ires a single voltage inpu t w ith a +12V to +15V operating range (+11V to
+16V absolu te m axim u m range). The cam era m eets all perform ance specifications u sing
stand ard sw itching pow er su pplies, althou gh w ell-regu lated linear su pplies provid e
optim u m perform ance.
!
WARNING: When setting up the camera’s power supplies follow these guidelines:
•
Protect the cam era w ith a fast-blow fuse betw een pow er su pply and cam era.
•
Do not u se the shield on a m u lti-cond u ctor cable for grou nd .
•
Keep lead s as short as possible to red u ce voltage d rop.
•
Use high-qu ality linear su pplies to m inim ize noise.
•
Use an isolated type pow er su pply to prevent LVDS com m on m od e range violation.
Note: Perform ance specifications are not gu aranteed if you r pow er su pply d oes not m eet
the +12V to +15V requ irem ents.
!
WARNING: It is extremely important that you apply the appropriate voltages to your
camera. Incorrect voltages will damage the camera. Protect the camera with a fast-blow
fuse between power supply and camera.
We offer a pow er su pply w ith attached 6’ pow er cable that m eets the Piranha 3 cam era’s
requ irem ents, bu t it shou ld not be consid ered the only choice. Many high qu ality su pplies
are available from other vend ors. Teled yne DALSA assu m es no responsibility for the u se
of these su pplies.
Visit the w w w .teled yned alsa.com Web site for a list of com panies that m ake pow er
su pplies that m eet the cam era’s requ irem ents. The com panies listed shou ld not be
consid ered the only choices.
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Piranha 3 User Manual
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2.2.3 Camera Link Data Connector
Figure 5: Camera Link MDR26 Connector
**3M part 14X26-SZLB-XXX-0LC is a complete
cable assembly, including connectors.
Unused pairs should be terminated in 100 ohms
at both ends of the cable.
A note concerning the length of the Camera Link cables
The length of the cables over w hich d ata can be transm itted w ithou t loss d epend s on the
d ata rate and on the qu ality of the cables.
The cam era is tested u sing a recognized brand of cable w ith a length of 5 m eters. Data
transm ission is not gu aranteed if you are u sing a cable greater than 5 m eters in length.
Camera Link Configuration
The Cam era Link interface is im plem ented as a Med iu m or Fu ll Configu ration in the
Piranha 3 cam eras. Refer to section 3.3.1 Setting the Cam era Link Mod e for d etails on
setting the Cam era Link configu ration.
Table 7: Camera Link Hardware Configuration Summary
Configuration 8 Bit Ports
Serializer
Supported
Bit Width
Number of MDR26
Connectors
Med ium
A, B, C, D, E, F
28
2
2
Full
A, B, C, D, E, F, G, H
28
3
2
Table 8: Camera Link Connector Pinout
Medium and Full Configuration
Camera Connector Right Angle
Frame Grabber
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Number
of Chips
Channel Link Signal Cable Name
1
1
inner shield
Inner Shield
14
14
inner shield
Inner Shield
2
25
Y0-
PAIR1-
15
12
Y0+
PAIR1+
3
24
Y1-
PAIR2-
16
11
Y1+
PAIR2+
4
23
Y2-
PAIR3-
17
10
Y2+
PAIR3+
5
22
Yclk-
PAIR4-
18
9
Yclk+
PAIR4+
6
21
Y3-
PAIR5-
19
8
Y3+
PAIR5+
7
20
100 ohm
PAIR6+
20
7
term inated
PAIR6-
8
19
Z0-
PAIR7-
21
6
Z0+
PAIR7+
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Medium and Full Configuration
Camera Connector Right Angle
Frame Grabber
Channel Link Signal Cable Name
9
18
Z1-
PAIR8-
22
5
Z1+
PAIR8+
10
17
Z2-
PAIR9+
23
4
Z2+
PAIR9-
11
16
Zclk-
PAIR10-
24
3
Zclk+
PAIR10+
12
15
Z3-
PAIR11+
25
2
Z3+
PAIR11-
13
13
inner shield
Inner Shield
26
26
inner shield
Inner Shield
Table 9: Camera Control Configuration
Signal
Configuration
CC1
EXSYN C
CC2
PRIN
CC3
Spare
CC4
Spare
Input Signals, Camera Link
The cam era accepts control inpu ts throu gh the Cam era Link MDR26F connector.
i
The camera ships in internal sync, internal programmed integration (exposure mode 2).
EXSYNC (Triggers Line Readout)
Line rate can be set internally u sing the serial interface. The external control signal
EXSYN C is optional and enabled throu gh the serial interface. This cam era u ses the falling
edge of EXSYN C to trigger line read ou t. Section 3.2.1 Exposu re Mod e, Line Rate and
Exposu re Tim e d etails how to set fram e tim es, exposu re tim es, and cam era m od es.
Output Signals, Camera Link
IMPORTANT:
These signals ind icate w hen d ata is valid , allow ing you to clock the d ata from the cam era
to you r acqu isition system . These signals are part of the Cam era Link configu ration and
you shou ld refer to the Cam era Link Im plem entation Road Map, available here, for the
stand ard location of these signals.
This camera’s data
should be sampled on
the rising edge of
STROBE.
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Clocking Signal
Indicates
LVAL (high)
Outputting valid line
DVAL (high)
Valid d ata
STROBE (rising ed ge)
Valid d ata
FVAL (high)
Outputting valid fram e
•
The cam era internally d igitizes 12 bits and ou tpu ts 8 MSB or all 12 bits d epend ing on
the cam era’s Cam era Link operating m od e. Refer to section 3.3.1 Setting the Cam era
Link Mod e for d etails on setting the Cam era Link configu ration.
•
For a Cam era Link reference refer to Append ix A on page 71.
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2.3 Camera Link Video Timing
Figure 6: Piranha 3 Overview Timing Showing Input and Output Relationships
Figure 7: Piranha 3 Fixed (Programmed) Integration Timing with External EXSYNC
Table 10: Piranha 3 Input and Output
Symbol
Definition
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tw SYN C
The m inim um low w id th of the EXSYN C pulse w hen
not in SMART EXSYN C m od e.
tw SYN C (SMART)*
The m inim um low w id th of the EXSYN C pulse w hen
in SMART EXSYN C m od es to guarantee the
photosites are reset.
tw SYN C_IN T
The m inim um w id th of the high pulse w hen the
―SMART EXSYN C‖ feature is turned off
tw SYN C_IN T
(SMART)
*
Is the integration tim e w hen the ―SMART EXSYN C‖
feature is available and turned on. N ote that the
m inim um tim e is necessary to guarantee proper
operation.
Min (ns)
100
3,000
100
3,000
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Symbol
Definition
Min (ns)
tLIN E PERIOD
(t LP)
The m inim um and m axim um line tim es m ad e up of
tTransfer, tREADOUT plus tOVERH EAD to m eet
specifications.
53,190 (12k)
106,382 (8k)
tTransfer
The tim e from the reception of the falling ed ge of
EXSYN C to the rising ed ge of LVAL w hen pretrigger
is set to zero. Pretrigger red uces the num ber of clocks
to the rising ed ge of LVAL but d oesn’t change the tim e
to the first valid pixel. If the fixed integration tim e
m od e of operation is available and selected then the
integration tim e is ad d ed to the specified value.
3,725 ±25
tw Fixed Int.
Fixed Integration Tim e m od e of operation for variable
exsync frequency.
800
tREADOUT
Is the num ber of pixels per tap tim es the read out clock
period . Pretrigger = 0.
38,400 (12k)
tOVERH EAD
Is the num ber of pixels that m ust elapse after the
falling ed ge of LVAL before the EXSYN C signal can be
asserted . This tim e is used to clam p the internal
analog electronics
425±25
thPR
Applies w hen the PRIN exposure control feature is
enabled . The PRIN signal m ust be held a m inim um
tim e after the EXSYN C falling ed ge to avoid losing the
integrated charge
Don’t care
tw PR_LOW
Minim um Low tim e to assure com plete photosite reset
3,000
tPR_SET
The nom inal tim e that the photo sites are integrating.
Clock synchronization w ill lead to integration tim e
jitter, w hich is show n in the specification as +/ values. The user should com m and tim es greater than
these to ensure proper charge transfer from the
photosites. Failure to m eet this requirem ent m ay
result in bloom ing in the H orizontal Shift Register.
3,000
25,600 (8k)
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3
Software Interface: How
to Control the Camera
All Piranha 3 cam era featu res can be controlled throu gh the serial interface. The cam era
can also be u sed w ithou t the serial interface after it has been set u p correctly. Fu nctions
available inclu d e:
i
This chapter outlines the
more commonly used
commands. See section B2
All Available Commands
for a list of all available
commands.

Controlling basic cam era fu nctions su ch as gain and sync signal sou rce

Flat field correction

Generating a test pattern for d ebu gging
The serial interface u ses a sim ple ASCII-based protocol and the cam era d oes not requ ire
any cu stom softw are.
Serial Protocol Defaults

8 d ata bits

1 stop bit

N o parity

N o flow control

9.6kbps

Cam era d oes not echo characters
Command Format
When entering com m and s, rem em ber that:
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
A carriage retu rn <CR> end s each com m and .

A space or m u ltiple space characters separate param eters. Tabs or com m as are invalid
param eter separators.

Upper and low ercase characters are accepted

The backspace key is su pported
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
The cam era w ill answ er each com m and w ith either <CR><LF> ―OK >" or
<CR><LF>"Error xx: Error Message >" or ―Warning xx: Warning Message‖. The ">" is
alw ays the last character sent by the cam era.
The follow ing param eter conventions are u sed in the m anu al:
i = integer valu e
f = real nu m ber
m = m em ber of a set
s = string
t = tap id
x = pixel colu m n nu m ber
y = pixel row nu m ber
Setting Baud Rate
Purpose:
Syntax:
Sets the speed in bps of the serial com m unication port.
Syntax Elem ents:
m
sbr m
Baud rate. Available baud rates are: 9600 (Default), 19200,
57600, and 115200.
N otes:
Exam ple:

Pow er-on rate is alw ays 9600 baud .

The rc (reset cam era) com m and w ill not reset the cam era to
the pow er-on baud rate and w ill reboot using the last used
baud rate.
sbr 57600
Camera Help Screen
For qu ick help, the cam era can retu rn all available com m and s and param eters throu gh the
serial interface.
There are tw o d ifferent help screens available. O ne lists all of the available com m and s to
configu re cam era operation. The other help screen lists all of the com m and s available for
retrieving cam era param eters (these are called ―get‖ com m and s).
To view the help screen listing all of the camera configuration commands, use the command:
Syntax:
h
To view a help screen listing all of the ―get‖ commands, use the command:
Syntax:
gh
N otes:
For m ore inform ation on the cam era’s ―get‖ com m and s, refer to
section 3.6.6 Returning Cam era Settings.
The cam era configu ration com m and help screen lists all available com m and s. Param eter
ranges d isplayed are the absolu te m axim u m ranges available. Depend ing on the cu rrent
cam era operating cond itions, you m ay not be able to obtain the se valu es. If this occu rs,
valu es are clipped and the cam era retu rns a w arning m essage.
Som e com m and s m ay not be available in you r cu rrent operating m od e. The help screen
d isplays N A in this case.
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P3 12k Example Help Screen
cao
ccf
ccg
ccp
clm
cpa
css
dpc
els
epc
gcm
gcp
gcs
gcv
get
gfc
gh
gl
gla
gpc
gsf
gss
h
lpc
rc
rfs
roi
rpc
rus
sag
sao
sbr
sdo
sem
set
sfc
sfr
slt
sot
spc
spr
spt
ssb
ssf
ssg
sut
svm
ugr
vt
vv
wfc
wpc
wus
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calibrate analog offset
correction calibrate fpn
calibrate camera gain
correction calibrate prnu
camera link mode
calibrate PRNU algorithm
correction set sample
display pixel coeffs
end of line sequence
enable pixel coefficients
get camera model
get camera parameters
get camera serial
get camera version
get values
get fpn coeff
get help
get line
get line average
get prnu coeff
get signal frequency
get sensor serial
help
load pixel coefficients
reset camera
restore factory settings
region of interest
reset pixel coeffs
restore user settings
set analog gain
set analog offset
set baud rate
set digital offset
set exposure mode
set exposure time
set fpn coeff
set fpn range
set lower threshold
set output throughput
set prnu coeff
set prnu range
set pretrigger
set subtract background
set sync frequency
set system gain
set upper threshold
set video mode
update gain reference
verify temperature
verify voltage
write FPN coefficients
write PRNU coefficients
write user settings
ti
0-8:0-255
iti
1-4:0-8:1024-4055
m
ii
m
xx
i
ii
15/16/21/
1-4:1024-4055
256/512/1024/
1-12288:1-12288
0-1
0-1:0-1
s
x
1-12288
xx
xx
x
i
1-12288:1-12288
1-12288:1-12288
1-12288
1-4
i
0-4
xyxy
1-12288:1-1:1-12288:1-1
tf
ti
m
ti
m
f
xi
xxi
i
m
xi
xxi
i
ti
f
ti
i
i
i
i
0-8:-10.0-+10.0
0-8:0-255
9600/19200/57600/115200/
0-8:0-2048
2/3/4/5/6/7/8/
3-3330 [uSec]
1-12288:0-2048
1-8192:1-8192:0-2048
0-4095
320/
1-12288:0-28671
1-8192:1-8192:0-28671
0-16
0-8:0-4095
300-23619
0-8:0-65535
0-4095
0-2
1-4
1-4
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3.1 Command Categories
The follow ing d iagram categorizes and lists all of the cam era’s com m and s. This chapter is
organized by com m and category.
Figure 8: Command Categories
Other
Introduction
Help (h)
Set Baud Rate (sbr)
Sensor Output Format
Section 3.2
Set Exposure Mode (sem)
Set Frame/Line Rate (ssf)
Set Exposure Time (set)
Camera Output Format
Section 3.3
Camera Link Mode (clm)
Camera Throughput (sot )
Generate a Test Pattern (svm)
Set Upper Threshold (sut)
Set Lower Threshold (slt)
End of Line Sequence (els)
Set Pretrigger (spt)
Data Processing
Section 3.4
Region of Interest (roi)
Set Analog Gain (sag or ccg)
Update Gain Reference (ugr)
Set Analog Offset (sao)
Calibrate Analog Offset (cao)
Correction Set Sample (css)
Calculate FPN (ccf)
Set Digital Offset (sdo)
Calculate PRNU (ccp)
Enable Pixel Coefficients (epc)
Set PRNU Coefficient (spc)
Set FPN Coefficient (sfc )
Set PRNU Range (spr)
Set FPN Range (sfr)
Set Background Subtract (ssb)
Set Digital System Gain (ssg)
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Saving and Restoring Settings
Section 3.5
Save Current User Settings (wus)
Restore Previously Saved User Settings (rus)
Save Current PRNU Coefficients (wpc)
Save Current FPN Coefficients (wfc)
Load Pixel Coefficients (lpc)
Reset Pixel Coefficients (rpc)
Restore Factory Settings (rfs)
Reboot Camera (rc)
Diagnostics
Section 3.6
Get Line of Data (gl)
Get an Average of Multiple Lines (gla)
Display Pixel Coefficients (dpc)
Measure Internal Temperature (vt)
Measure Input Voltage (vv )
Get Commands
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3.2 Sensor Output Format
3.2.1 Exposure Mode, Line Rate and Exposure Time
Overview
You have a choice of operating in one of seven m od es. The cam era’s line rate
(synchronization) can be generated internally throu gh the softw are com m and ssf or set
externally w ith an EXSYN C signal, d epend ing on you r m od e of ope ration. To select how
you w ant the cam era’s line rate to be generated :
1.
You m ust first set the cam era m od e using the sem com m and .
2.
N ext, if using m od e 2, 7 or 8 use the com m and s ssf and / or set to set the line rate and
exposure tim e.
Setting the Exposure Mode
Purpose:
Sets the cam era’s exposure m od e allow ing you to control your
sync, exposure tim e, and line rate generation.
Syntax:
sem i
Syntax Elem ents:
i
Exposure m od e to use. Factory setting is 7.

N otes:
Refer to Table 11: Piranha 3 Exposure Mod es for a quick list
of available m od es or to the follow ing sections for a m ore
d etailed explanation.

Related Com m and s:
To obtain the current value of the exposure m od e, use the
com m and gcp or get sem.
ssf, set
Exam ple:
sem 3
Table 11: Piranha 3 Exposure Modes
Programmable Line Rate
Mode SYNC
PRIN
Teledyne DALSA
Programmable Exposure Time
Description
2
Internal
Internal
Yes
Yes
Internal fram e rate and exposure tim e.
Exposure m od e enabled (ECE)
3
External
Internal
No
No
Maxim um exposure tim e. Exposure
control d isabled (ECD)
4
External
Internal
No
No
Sm art EXSYN C. ECE.
5
External
External
No
No
External sync, external pixel reset.
ECE.
6
External
Internal
No
Yes
Fixed integration tim e. ECE.
7
Internal
Internal
Yes
No
Internal line rate, m axim um exposure
tim e. ECD.
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Mode
SYNC
PRIN
8
Internal
Internal
Description
No
Yes
Maxim um line rate for exposure tim e.
ECE.
Note: When setting the camera to external signal modes, EXSYNC and/or PRIN must be supplied.
Exposure Modes in Detail
Mode 2: Internally Programmable Line Rate and Exposure Time
Mod e 2 operates at a u ser specified line rate and exposu re tim e.

When setting the line rate (u sing the ssf com m and ), exposu re tim e w ill be red u ced ,
if necessary, to accom m od ate the new line rate. The exposu re tim e w ill alw ays be set
to the m axim u m tim e (line period – line transfer tim e – pixel reset tim e) for that line
rate w hen a new line rate requ iring red u ced exposu re tim e is entered .

When setting the exposu re tim e (u sing the set com m and ), line tim e w ill be
increased , if necessary, to accom m od ate the exposu re tim e. Und er this cond ition, the
line tim e w ill equ al the exposu re tim e + line transfer tim e.
Example 1: Exposure Time less than Line Period
Programmable Period (set command)
CR
Readout
Exposure Time
Readout
CR
Line Period
Programmable Period (ssf command)
Programmable Period
Exposure Time
Line Period
Programmable Period
CR=Charge Reset
Mode 3: External Trigger with Maximum Exposure
Line rate is set by the period of the external trigger pu lses. The falling ed ge of the external
trigger m arks the beginning of the exposu re.
Example 2: Line Rate is set by External Trigger Pulses.
Line Period
Line Period
Readout
Readout
Exposure Time
Exposure Time
EXSYNC
Falling Edge
Ignored During
Readout
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Falling Edge
Ignored During
Readout
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Mode 4: Smart EXSYNC, External Line Rate and Exposure Time
In this m od e, EXSYN C sets both the line per iod and the exposu re tim e. The rising ed ge of
EXSYN C m arks the beginning of the exposu re and the falling ed ge initiates read ou t.
Example 3: Trigger Period is Repetitive and Greater than Read Out Time.
CR
CR
Exposure Time
Exposure Time
Readout
Readout
Line Period
Line Period
EXSYNC
Mode 5: External Line Rate (EXSYNC) and External Pixel Reset (PRIN)
In this m od e, the falling ed ge of EXSYN C sets the line period and the rising ed ge of PRIN
sets the start of exposu re tim e.
Figure 9: EXSYNC controls Line Period and PRIN controls Exposure Time
Line Period
Line Period
Line Period
Readout
Readout
EXSYNC
PRIN
cr=Charge Reset
Mode 6: External Line Rate and Internally Programmable Exposure Time
Figure 10: EXSYNC controls Line Period with Internally controlled Exposure Time
Line Period
Line Period
Readout
Programmable Period
Using set Command
Readout
Programmable Period
Using set command
EXSYNC
CR=Charge Reset
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Mode 7: Internally Programmable Line Rate, Maximum Exposure Time
In this m od e, the line rate is set internally w ith a m axim u m exposu re tim e.
Figure 11: Mode 7 Camera Timing
Line Period
Line Period
Exposure Time
Exposure Time
Readout
Readout
Internal Sync set
with ssf Command
EXSYNC Falling
Edge ignored
during readout
(Only Possible on
sot change)
EXSYNC Falling
Edge ignored
during readout
Mode 8: Maximum Line Rate, Programmable Exposure Time
In this m od e, the exposu re tim e is set internally w ith a m axim u m line rate.
Figure 12: Mode 8 Timing
Programmable Period
Readout
CR
Exposure Time
Frame Period
Programmable Period
Readout
CR
Exposure Time
Frame Period
CR=Charge Reset
i
Applies to Modes 2 and
7
Setting the Line Rate
Purpose:
Sets the cam era’s line rate in H z. Cam era m ust be operating in
exposure m od e 2 or 7.
Syntax:
ssf f
Syntax Elem ents:
i
Desired line rate in H z. Allow able values are:
12k: 2500-23619 H z
8k: 2500-33855 H z
N otes:
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
To read the current line frequency, use the com m and gcp or
get ssf.

If you enter an invalid line rate frequency, an error m essage is
returned .
Related Com m and s:
sem, set
Exam ple:
ssf 10000
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Setting the Exposure Time
i
Applies to Modes 2 and
8
Purpose:
Sets the cam era’s exposure tim e is µs. Cam era m ust be operating in
m od e 2 or 8.
Syntax:
set f
Syntax Elem ents:
i
Desired exposure tim e in µs. Allow able values are 3 to 3330µs.
N otes:

To read the current line frequency, use the com m and gcp or
get set.

If you enter an invalid line rate frequency, an error m essage is
returned .
Related Com m and s:
sem, ssf
Exam ple:
set 400.5
3.3 Camera Output Format
3.3.1 Setting the Camera Link Mode
Purpose:
Sets the cam era’s Cam era Link con figuration, num ber of Cam era
Link taps and d ata bit d epth. Refer to Table 12 for a d escription of
each Cam era Link m od e.
Syntax:
clm m
Syntax Elem ents:
m
Output m od e to use:
15: Med ium configuration, 4 taps, 8 bit output
16: Med ium configuration, 4 taps, 12 bit output
21: Full configuration, 8 taps, 8 bit output
N otes:
Exam ple:
Teledyne DALSA

To obtain the current d ata m od e, use the com m and gcp or get
clm.

The bit patterns are d efined by the Cam era Link Road m ap and
the Cam era Link Stand ard .
clm 15
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Table 12: Piranha 3 Data Readout Configurations
Camera Link Mode Configuration (Controlled by clm command)
Command
Camera Link
Camera Link Taps
Camera Link
Configuration
Data Rate
Bit
Depth
clm 15
80MH z
8
80MH z
12
40MH z
8
Med iu m
4 Cam era Link taps
w here:
1 = CCD tap 1+2
2 = CCD tap 3+4
3 = CCD tap 5+6
4 = CCD tap 7+8
N ote: Concatenated
taps are interleaved .
Refer to section 1.3 for a
sensor read ou t
d escription.
clm 16
Med iu m
4 Cam era Link taps
w here:
1 = CCD tap 1+2
2 = CCD tap 3+4
3 = CCD tap 5+6
4 = CCD tap 7+8
N ote: Concatenated
taps are interleaved .
Refer to section 1.3 for a
sensor read ou t
d escription.
clm 21
Fu ll
8 Cam era Link taps
w here:
1 = CCD tap 1
2 = CCD tap 2
3 = CCD tap 3
4 = CCD tap 4
5 = CCD tap 5
6 = CCD tap 6
7 = CCD tap 7
8 = CCD tap 8
3.3.2 Setting the Camera Throughput
Purpose:
In these cam eras, the sot com m and w orks in conjunction w ith the
clm com m and (see above) and d eterm ines the throughput of the
cam era. The Piranha 3 currently only supports a throughput of 320.
This m ay change in future cam eras.
Syntax:
sot m
Syntax Elem ents:
m
Output throughput. Allow able value is:
320 = 4 taps at 80MH z or 8 taps at 40MH z
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3.3.3 Setting a Pretrigger
Purpose:
Som e fram egrabbers require a sm all am ount of tim e (several
pixels) to acquire d ata from a cam era. Pretrigger allow s the
fram egrabber set up tim e by send ing the LVAL signal high several
pixels earlier than valid d ata.
Syntax:
spt i
Syntax Elem ents:
i
Pretrigger in a range from 0 to 16.
3.4 Data Processing
3.4.1 Setting a Region of Interest (ROI:setting)
Purpose:
Sets the pixel range used to collect the end -of-line statistics and sets
the region of pixels used in the ccg, cao, gl, gla, ccf, ccp, and
cpa com m and s.
In m ost applications, the field of view exceed s the required object
size and these extraneous areas should be ignored . It is
recom m end ed that you set the region of interest a few pixels insid e
the actual useable im age.
Syntax:
roi x1 y1 x2 y2
Syntax Elem ents:
x1
Pixel start num ber. Must be less than the pixel end num ber in a
range from 1 to sensor resolution.
y1
Colum n start num ber. Since the Piranha 3 is a line scan cam era,
this value m ust be 1.
x2
Pixel end num ber. Must be greater than or equal to the pixel
start num ber in a range from 2 to sensor resolution.
y2
Colum n end num ber. Since the Piranha 3 is a line scan cam era,
this value m ust be 1.
N otes:

Related Com m and s
Exam ple:
roi 10 1 50 1
To return the current region of interest, use the com m and s gcp
or get roi.
ccg, cao, gl, gla, ccf, ccp,els
3.4.2 Analog and Digital Signal Processing Chain
Processing Chain Overview and Description
The follow ing d iagram show s a sim plified block d iagram of the cam era’s analog and
d igital processing chain. The analog processing chain begins w ith an analog gain
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ad ju stm ent, follow ed by an analog offset ad ju stm ent. These ad ju stm ents are applied to
the vid eo analog signal prior to its d igitization by an A/ D converter.
The d igital processing chain contains the FPN correction, the PRN U correction, the
backgrou nd su btract, and the d igital gain and offset. All of t hese elem ents are u ser
program m able.
Figure 13: Signal Processing Chain
Analog Processing
Optim izing offset perform ance and gain in the analog d om ain allow s you to achieve a
better signal-to-noise ratio and d ynam ic range than you w ou ld achieve by trying to
optim ize the offset in the d igital d om ain. As a resu lt, perform all analog ad ju stm ents prior
to any d igital ad ju stm ents.
1.
Analog gain (sag or ccg com m and ) is m u ltiplied by the analog signal to increase the
signal strength before the A/ D conversion. It is u sed to take ad vantage of the fu ll
d ynam ic range of the A/ D converter. For exam ple, in a low light situ ation the
brightest part of the im age m ay be consistently com ing in at only 50% of the DN . An
analog gain of 6 d B (2x) w ill ensu re fu ll u se of the d ynam ic range of the A/ D
converter. Of cou rse the noise is also increased .
2.
The analog offset (sao or cao com m and ) or black level is an ―artificial‖ offset
introd u ced into the vid eo path to ensu re that the A/ D is fu nctioning properly. The
analog offset shou ld be set so that it is at least 3 tim es the rm s noise valu e at the
cu rrent gain.
Digital Processing
To optim ize cam era perform ance, d igital signal processing shou ld be com pleted after any
analog ad ju stm ents.
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1.
Fixed pattern noise (FPN ) calibration (calcu lated u sing the ccf com m and ) is u sed to
su btract aw ay ind ivid u al pixel d ark cu rrent.
2.
The d igital offset (sdo com m and ) enables the su btraction of the ―artificial‖ A/ D offset
(the analog offset) so that application of the PRN U coefficient d oesn’t resu lt in
artifacts at low light levels d u e to the offset valu e. You m ay w ant to set the sdo valu e
if you are not u sing FPN correction bu t w ant to perform PRN U correction.
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3.
Photo-Response N on-Uniform ity (PRN U) coefficients (calcu lated u sing the ccp or
cpa com m and s) are u sed to correct the d ifference in responsivity of ind ivid u al pixels
(i.e. given the sam e am ou nt of light d ifferent pixels w ill charge u p at d ifferent rates)
and the change in light intensity across the im age either becau se of the light sou rce or
d u e to optical aberrations (e.g. there m ay be m ore light in the center of the im age).
PRN U coefficients are m u ltipliers and are d efined to be of a valu e greater than or
equ al to 1. This ensu res that all pixels w ill satu rate together.
4.
Backgrou nd su btract (ssb com m and ) and system (d igital) gain (ssg com m and ) are
u sed to increase im age contrast after FPN and PRN U calibration. It is u sefu l for
system s that p rocess 8-bit d ata bu t w ant to take ad vantage of the cam era’s 12 bit
d igital processing chain. For exam ple, if you find that you r im age is consistently
betw een 128 and 255DN (8 bit), you can su btract off 128 (ssb 2048) and then
m u ltiply by 2 (ssg 0 8192) to get an ou tpu t range from 0 to 255.
Calibrating the Camera to Remove Non-Uniformity
(Flat Field Correction)
Flat Field Correction Overview
This cam era has the ability to calcu late correction coefficients in ord er to rem ove non u niform ity in the im age. This vid eo correction operates on a pixel-by-pixel basis and
im plem ents a tw o point correction for each pixel. This correction can red u ce or elim inate
im age d istortion cau sed by the follow ing factors:

Fixed Pattern N oise (FPN )

Photo Response N on Uniform ity (PRN U)

Lens and light sou rce non -u niform ity
Correction is im plem ented su ch that for each pixel:
Voutput =[(Vinput - FPN( pixel ) - digital offset) * PRNU(pixel) – Background Subtract] x System Gain
w here
Voutput
=
d igital ou tpu t pixel valu e
Vinput
=
d igital inpu t pixel valu e from the CCD
PRN U( pixel)
=
PRN U correction coefficient for this pixel
FPN ( pixel )
=
FPN correction coefficient for this pixel
Backgrou nd Su btract
=
backgrou nd su btract valu e
System Gain
=
d igital gain valu e
The algorithm is perform ed in tw o steps. The fixed offset (FPN ) is d eterm ined first by
perform ing a calibration w ithou t any light. This calibration d eterm ines exactly how m u ch
offset to su btract per pixel in ord er to obtain flat ou tpu t w hen the CCD is not exposed .
The w hite light calibration is perform ed next to d eterm ine the m u ltiplication factors
requ ired to bring each pixel to the requ ired valu e (target) for flat, w hite ou tpu t. Vid eo
ou tpu t is set slightly above the brightest pixel (d epend ing on offset su btracted ).
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Flat Field Correction Restrictions
It is im portant to d o the FPN correction first. Resu lts of the FPN correction are u sed in the
PRN U proced u re. We recom m end that you repeat the correction w hen a tem peratu re
change greater than 10°C occu rs or if you change the analog gain, integration tim e, or line
rate.
Note: If your
illumination or white
reference does not
extend the full field of
view of the camera,
the camera will send a
warning.
PRN U correction requ ires a clean, w hite reference. The qu ality of this reference is
im portant for proper calibration. White paper is often not su fficient becau se the grain in
the w hite paper w ill d istort the correction. White plastic or w hite ceram ic w ill lead to
better balancing.
For best resu lts, ensu re that:

50 or 60 H z am bient light flicker is su fficiently low not to affect cam era perform ance
and calibration resu lts.

For best resu lts, the analog gain shou ld be ad ju sted for the expected operating
cond itions and the ratio of the brightest to d arkest pixel in a tap shou ld be less than 3
to 1 w here:
3>
Brightest Pixel (per tap)
Darkest Pixel (per tap)
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
The cam era is capable of operating u nd er a range of 8 to 1, bu t w ill clip valu es larger
than this ratio.

The brightest pixel shou ld be slightly below the target ou tpu t.

When 6.25% of pixels from a single row w ithin the region of interest are clipped , flat
field correction resu lts m ay be inaccu rate.

Correction resu lts are valid only for the cu rrent analog gain and offset valu es . If you
change these valu es, it is recom m end ed that you recalcu late you r coefficients.
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Set up the camera operating environment
(i.e. line rate, exposure, offset, gain, etc.)
Set the calibration sample size using
the command css. It is recommended that
you use the default setting.
Set the region of interest to include all
of the image’s pixels of importance using
the command roi x1 y1 x2 y2. You can use
the default if you want to calibrate all pixels.
Perform FPN calculation
Perform PRNU calculation
1. Stop all light from entering the camera. (Tip: Cover lens with a lens cap.)
2. Verify that the output signal level is within range by issuing the command
gl or gla. If there are too many zeros in the output data (more than 6.25%
of output data within the roi) , increase the analog offset (sao) or use the
automated algorithm cao 0 i. If the average of the pixels is too high for your
application, reduce the analog offset or gain level (sag).
3. Issue the command ccf. The camera will respond with OK> (if no error occurs).
FPN calculation automatically calibrates FPN coefficients and digital offset.
4. After the calibration is complete, you should save these settings to non-volatile
memory so they will be reusable on reboot. To do so, issue the commands wfc
and wus.
5. To verify output, enable the FPN coefficients using the command epc 1 0.
You should see close to zero output.
Perform PRNU calculation next to determine the multiplication
factors required to bring each pixel to the required value (balance target) for
flat, white output.
1. Place a white reference in front of the camera.
2. Verify that the output signal level is within range by issuing the command gl
or gla. If the signal level is too low, increase your light level, adjust the analog
gain (sag) or use the automated algorithm ccg i 0 i.
DALSA recommends a target value of about 80% of saturation. If you change
the gain, FPN coefficients should be recalculated.
3. Issue the command ccp. The camera will respond with OK>( if no error occurs).
4. After the calculation is complete, you can save these settings to non-volatile
memory so they will be remembered after power-down and direction change.
To do so, issue the commands wpc and wus.
5. Enable the coefficients using the command, epc 1 1.
Note: All commands listed above are described in detail in the following sections in the order
that they should be performed.
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Analog Signal Processing: Setting Analog Gain and
Offset
All analog signal processing chain com m and s shou ld be perform ed prior to FPN and
PRN U calibration and prior to d igital signal processing com m and s. All d igital processing
(d igital offset, pixel coefficients, backgrou nd su btract and d igital gain) shou ld be d isabled
prior to perform ing analog processing. To d isable d igital processing, send the follow ing
com m and s: sdo 0 0, epc 0 0, ssb 0 0, ssg 0 4096.
Setting Analog Gain
Purpose:
Sets the cam era’s analog gain value. Analog gain is m ultiplied by
the analog signal to increase the signal strength before the A/ D
conversion. It is used to take ad vantage of the full d ynam ic range
of the A/ D converter.
Syntax:
sag t f
Syntax Elem ents:
t
Tap selection. Use 0 for all taps or 1 to 8 for ind ivid ual tap
selection.
f
Gain value in a range from –10 to +10d B in steps of .035
(typical).
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N otes:

Exam ple:
sag 0 5.2
Related Com m and s:
ccg
To return the current analog gain setting, use the com m and
gcp or get sag.
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Calibrating Camera Gain (Automatic Tap Matching)
Purpose:
Instead of m anually setting the analog gain to a specific value, the
cam era can d eterm ine appropriate gain values for optim al tap
m atching. This com m and calculates and sets the analog gain
accord ing to the algorithm d eterm ined by the first param eter.
Syntax:
ccg i t i
Syntax Elem ents:
i
Calibration algorithm to use.
1 = This algorithm ad justs analog gain so that 8% to 13% of
tap region of interest (ROI) pixels are above the specified
target value.
2 = This algorithm ad justs analog gain so that the average
pixel value in tap’s ROI is equal to the specified target value.
3 = This algorithm ad justs d igital gain (ssg) so that the
average pixel value in tap’s ROI is equal to the specified
target.
4 = This algorithm ad justs the analog gain so that the
m axim um pixel per tap w ithin the ROI of the m ulti-line
average (css com m and ) is equal to the specified target.
t
Tap value. Use 0 for all taps or 1 to 8 for ind ivid ual tap
selection.
i
Calculation target value in a range from 1024 to 4055DN
(12 bit LSB).
N otes:
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
This function requires constant light input w hile executing.

If very few tap pixels are w ithin the ROI, gain calculation
m ay not be optim al.

When all taps are selected , taps outsid e of the ROI are set to
the average gain of the taps that are w ithin the ROI.

Perform analog gain algorithm s before perform ing FPN and
PRN U calibration.

All d igital settings affect the analog gain calibration. If you
d o not w ant the d igital processing to have any effect on the
cam era gain calibration, then turn off all d igital settings by
send ing the com m and s: sdo 0 0, epc 0 0, ssb 0 0, and
ssg 0 4096
Exam ple:
ccg 2 0 3040
Related Com m and s:
sag, ssg
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Setting Analog Offset
Purpose:
Sets the analog offset. The analog offset should be set so that it is
at least 3 tim es th e rm s noise value at the current gain. The analog
offset for the noise is configured at the m axim um specified gain
and as a result you should not need to ad just the analog offset.
Syntax:
sao t i
Syntax Elem ents:
t
Tap selection. Use 0 for all taps or 1 to 8 for ind ivid ual tap
selection.
i
Offset value in a range from 0 to 255DN (12 bit LSB).
N otes:

Exam ple:
sao 3 35
Related Com m and s:
cao
To return the current analog offset value, use the com m and
gcp or get sao.
Calibrating Analog Offset
Purpose:
Instead of m anually setting the analog offset to a specific value,
the cam era can d eterm ine appropriate offset values. This
com m and calculates and averages each tap’s pixels w ithin the
region of interest and sets the offset to achieve the specified
average target value.
Syntax:
cao t i
Syntax Elem ents:
t
Tap selection. Use 0 for all taps or 1 to 8 for ind ivid ual tap
selection.
i
Average target value in a range from 0 to 255DN (12 bit
LSB).
N otes:
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
Perform analog offset calibration before perform ing FPN and
PRN U coefficients.

To return the current analog offset values, use the com m and
gcp or get cao.
Exam ple:
cao 1 50
Related Com m and s:
sao
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The follow ing d iagram s su m m arize and provid e an exam ple of how analog gain is
calibrated w hen u sing a region of interest.
In the follow ing exam ple, analog gain is being set for a single tap insid e the region of
interest. The peak valu e of the tap is calibrated to the specified target valu e and all other
taps rem ain u nchanged .
Figure 14: Calibrating Analog Gain for a Tap outside of the Region of Interest
ccg 1 4 2800
Since tap 4 is within the region of interest,
tap 4 gain is adjusted so that the peak value
is set to 2800. Gain values for all other taps are
left unchanged.
4095
Region of Interest
Tap 4(even)
Video
2800
Video
Tap 3(odd)
0
Tap 1(odd)
Tap 2(even)
0
Tap 5(odd)
Tap 6(even)
4000
Tap 7(odd)
Tap 8(even)
9700
12288
Pixel Number
After analog gain calibration
Before analog gain calibration
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In the follow ing exam ple, analog gain is being set for a tap ou tsid e the region of interest.
Since analog gain cannot be set for taps ou tsid e the region of interest, an error m essage is
retu rned and calibration d oes not occu r.
Figure 15: Calibrating Analog Gain for a Tap inside the Region of Interest
ccg 1 2 2800
Since tap 2 is completely outside the region
of interest, an error message is returned and analog
gain calibation does not occur.
4095
Region of Interest
Video
2800
Video
0
Tap 1(odd)
Tap 2(even)
0
Tap 3(odd)
Tap 4(even)
Tap 5(odd) Tap 7(odd)
Tap 6(even) Tap 8(even)
4000
9700
12288
Pixel Number
After analog gain calibration
Before analog gain calibration
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In the follow ing exam ple, analog gain is being set for all taps. The peak valu e of each tap
w ithin the region of interest is calibrated to the specified target valu e. All taps com pletely
ou tsid e the region of interest are calibrated to the average analog gain valu e of the taps
insid e the region of interest.
Figure 16: Calibrating Analog Gain for all Taps
4095
Region of Interest
Video
2800
Video
Tap 1(odd)
Tap 2(even)
0
Tap 3(odd)
Tap 4(even)
0
Tap 5(odd)
Tap 6(even)
4000
Tap 7(odd)
Tap 8(even)
9700
12288
Pixel Number
ccg 1 0 2800
When calibrating all taps, taps completely outside the region
of interest (in this example, interleaved taps 1and 2) are calibrated to the
average analog gain of taps within the region of interest. Taps
within the region of interest calibrate to the target value. Note: Seams
between taps will be visible until you perform white light calibration using
the ccp command.
After analog gain calibration
Before analog gain calibration
Updating the Gain Reference
To update the analog gain reference:
Teledyne DALSA
Purpose:
Sets the current analog gain setting to be the 0d B point. This is
useful after tap gain m atching allow ing you to change the gain on
all taps by the sam e am ount.
Syntax:
ugr
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Digital Signal Processing
To optim ize cam era perform ance, d igital signal processing shou ld be com pleted after any
analog ad ju stm ents.
FPN Correction
Performing FPN Correction
Syntax:
Perform s FPN correction and elim inates FPN noise by subtracting
aw ay ind ivid ual pixel d ark current.
Syntax:
ccf
N otes:



Related Com m and s:
ccp
Exam ple:
ccf
Perform all analog and d igital ad ju stm ents before
perform ing FPN correction.
Perform FPN correction before PRN U correction.
Refer to Calibrating the Cam era to Rem ove N on-Uniform ity
(Flat Field Correction)on page 35 for a proced u ral overview
on perform ing flat field correction.
Setting a Pixel’s FPN Coefficient
Purpose:
Syntax
Sets an ind ivid ual pixel’s FPN coefficient.
Syntax Elem ents:
x
sfc x i
The pixel num ber from 1 to sensor pixel count.
i
Coefficient value in a range from 0 to 2048 (12 bit LSB).
Exam ple:
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sfc 10 50
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Setting Digital Offset
Purpose:
Sets the d igital offset. Digital offset is set to zero w hen you
perform FPN correction (ccf com m and ). If you are unable to
perform FPN correction, you can partially rem ove FPN by
ad justing the d igital offset.
Syntax:
sdo t i
Syntax Elem ents:
t
Tap selection. Allow able range is 1 to 8, or 0 for all taps.
i
Subtracted offset value in a range from 0 to 2048 w here
FPN Coefficient=i (12 bit LSBJustified)
N otes:

Related Com m and s:
ssg
Exam ple:
sdo 0 100
When subtracting a d igital value from the d igital vid eo
signal, the output can no longer reach its m axim um unless
you apply d igital gain using the ssg com m and . See the
previous section for d etails on the ssg com m and .
PRNU Correction
Performing PRNU Correction to a Camera Calculated Value
Purpose:
Perform s PRN U correction and elim inates the d ifference in
responsivity betw een the m ost and least sensitive pixel cr eating a
uniform response to light.
Syntax
ccp
N otes:





Related Com m and s:
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Perform all analog ad ju stm ents before calcu lating PRN U.
Perform FPN correction before PRN U correction.
If FPN cannot be calibrated , u se the rpc com m and to reset
all coefficients to zero, and save them to m em ory w ith the
wfc com m and . You can then ad ju st the d igital offset ( sdo
com m and ) to rem ove som e of the FPN .
Ensu re cam era is operating at its expected analog gain,
integration tim e, and tem peratu re.
Refer to Calibrating the Cam era to Rem ove N onUniform ity (Flat Field Correction)on page 35 for a
proced u ral overview on perform ing flat field correction.
ccf
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Performing PRNU to a User Entered Value
Purpose:
Perform s PRN U calibration to user entered value and elim inates the
d ifference in responsivity betw een the m ost and least sensitive pixel
creating a uniform response to light. Using this com m and , you m ust
provid e a calibration target.
Syntax:
cpa i i
Syntax Elem ents:
i
PRN U calibration algorithm to use:
1 = This algorithm first ad justs each tap’s analog gain so that 813% of p ixels w ithin a tap are above the value specified in the
target value param eter. PRN U calibration then occurs using the
peak pixel in the region of interest (ROI).
2 = Calculates the PRN U coefficients using the entered target
value as show n below :
Target
PRNU Coefficient =
i
(AVG Pixel Value ) - (FPN + sdo value)
i
i
The calculation is perform ed for all sensor pixels but w arnings
are only applied to pixels in the region of interest. This
algorithm is useful for achieving uniform output across m ultiple
cam eras. Recom m end ed peak vid eo output before PRN U
calibration is 5-20% low er than target. The target value m ust be
greater than the current peak output value.
This com m and perform s the sam e fu nction as the cpp
com m and bu t requ ires that you enter a target valu e.
3 = This algorithm includ es an analog gain ad justm ent prior to
PRN U calibration. Analog gain is first ad justed so that the peak
pixel value in tap’s ROI is w ithin 97 to 99% of the specified
target value. It then calculates the PRN U coefficients using the
target value as show n below :
Target
PRNU Coefficient =
i
(AVG Pixel Value ) - (FPN + sdo value)
i
i
The calculation is perform ed for all sensor pixels but w arnings
are only applied to pixels in the region of interest. This
algorithm is useful for achieving uniform output across m ultiple
cam eras.
4 = Calculates the PRN U coefficient in the sam e w ay as cpa 2
w ith the exception that this com m and only calculates PRN U for
pixels w ithin the current Region of Interest (ROI).
i
Peak target value in a range from 1024 to 40554DN .
N otes:



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Perform all analog ad ju stm ents before calibrating PRN U.
Calibrate FPN before calibrating PRN U. If FPN cannot be
calibrated , u se the rpc com m and to reset all coefficients to
zero, and save them to m em ory w ith the wfc com m and . You
can then ad ju st the d igital offset ( sdo com m and ) to rem ove
som e of the FPN .
N ote: Refer to Calibrating the Cam era to Rem ove N onUniform ity (Flat Field Correction)on page 35 for a proced u ral
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overview on perform ing flat field correction.
Exam ple:
cpa 1 600
Setting a Pixel’s PRNU Coefficient
Purpose:
Syntax:
Sets an ind ivid ual pixel’s PRN U coefficient.
Syntax Elem ents:
i
spc i i
The pixel num ber from 1 to sensor pixel count.
i
Coefficient value in a range from 0 to 28671 w here:
i
prnu coefficient = 1 +
Exam ple:
4096
spc 1024 10000
Setting a range of Pixel PRNU Coefficients
Purpose:
Syntax:
Sets a range of pixel PRN U coefficients.
Syntax Elem ents:
i
spr i i x
The first pixel num ber of the range.
i
The last pixel num ber of the range.
x
Coefficient value in a range from 0 to 28671 w here:
i
prnu coefficient = 1 +
N otes:

Exam ple:
spr 4001 4096 0
4096
The first pixel of the range m ust be less than the last.
Subtracting Background
Purpose:
Use the background subtract com m and after perform ing flat field
correction if you w ant to im prove your im age in a low contrast
scene. It is useful for system s that process 8-bit d ata but w ant to
take ad vantage of the cam era’s 12 bit d igital processing chain.
You should try to m ake your d arkest pixel in the scene equal to
zero.
Syntax:
ssb t i
Syntax Elem ents:
t
Tap selection. Allow able range is 1 to 8, or 0 for all taps.
i
Subtracted value in a range in DN from 0 to 4095.
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
N otes:
When subtracting a d igital value from the d igital vid eo signal
the output can no longer reach its m axim um . Use the ssg
com m and to correct for this w here:
ssg value =

max output value
max output value - ssb value
See the follow ing section for d etails on the ssg com m and .
Related Com m and s:
ssg
Exam ple
ssb 0 25
Setting Digital System Gain
Purpose:
Im proves signal output sw ing after a background subtract. When
subtracting a d igital value from the d igital vid eo signal, using the
ssb com m and , the output can no longer reach its m axim um . Use
this com m and to correct for this w here:
ssg value =
Syntax:
ssg t i
Syntax Elem ents:
t
max output value
max output value - ssb value
Tap selection. Allow able range is 1 to 8, or 0 for all taps.
i
Gain setting. The gain ranges are 0 to 65535. The d igital vid eo
valu es are m ultiplied by this value w here:
Digital Gain=
i
4096
Use this com m and in conjunction w ith the ssb com m and .
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Related Com m and s:
ssb
Exam ple:
ssg 1 15
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Returning Calibration Results and Errors
Returning All Pixel Coefficients
Purpose:
Returns all the current pixel coefficients in the ord er FPN , PRN U,
FPN , PRN U… for the range specified by x1 and x2. The cam era
also returns the pixel num ber w ith every fifth coefficient.
Syntax:
dpc x1 x2
Syntax Elem ents:
x1
Start pixel to d isplay in a range from 1 to sensor pixel
count.
x2
End pixel to d isplay in a range from 1 to sensor pixel
count.
N otes:

Exam ple:
dpc 10 20
This function returns all the current pixel coefficients in the
ord er FPN , PRN U, FPN , PRN U… The cam era also returns the
pixel num ber w ith each coefficient.
Returning FPN Coefficients
Purpose:
Syntax:
Returns a pixel’s FPN coefficient value in DN (12 bit LSB)
Syntax Elem ents:
i
gfc i
The pixel num ber to read in a range from 1 to sensor
pixel count.
gfc 10
Exam ple:
Setting a Range of FPN Coefficients
Purpose:
Syntax
Sets a range of pixel FPN coefficients.
Syntax Elem ents:
x
sfr x x i
The first pixel num ber of the range.
x
The last pixel num ber of the range.
i
Coefficient value in a range from 0-2048.
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N otes:

Exam ple:
sfr 1 100 80
The first pixel of the range m ust be less than the last.
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Returning PRNU Coefficients
Purpose:
Syntax:
Returns a pixel’s PRN U coefficient value in DN (12 bit LSB)
Syntax Elem ents:
i
gpc i
The pixel num ber to read in a range from 1 to sensor
pixel count.
gpc 10
Exam ple:
Enabling and Disabling Pixel Coefficients
Purpose:
Enables and d isables FPN and PRN U coefficients.
Syntax:
epc i i
Syntax Elem ents:
i
FPN coefficients.
0 = FPN coefficients d isabled
1 = FPN coefficients enabled
i
PRN U coefficients.
0 = PRN U coefficients d isabled
1 = PRN U coefficients enabled
epc 0 1
Exam ple:
3.4.3 End-of-line Sequence
Purpose:
Prod uces an end -of-line sequence that provid es basic calculations
includ ing "line counter", "line sum ", "pixels above threshold ",
"pixels below threshold ", and "d erivative line sum " w ithin the
region of interest. These basic calculations are used to calibrate
analog offset (cao) and calibrate analog gain (ccg).
To further aid in d ebugging and cable/ d ata path integrity, the
first three pixels after Line Valid are "aa", "55", "aa". Refer to the
follow ing table. These statistics refer only to pixels w ithin the
region of interest.
Syntax:
els i
Syntax Elem ents:
i
0
Disable end -of-line sequence
1
Enable end -of-line sequence
N otes:

Exam ple:
els 1
LVAL is not high d u ring the end -of-line statistics.
Table 13: End-of-Line Sequence Description
Location Value
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1
A’s
2
5’s
Description
By ensuring these values consistently
toggle betw een "aa" and "55", you can
verify cabling (i.e. no stuck bits)
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Location
Value
Description
3
A’s
4
4 bit counter LSB justified
5
Line sum (7…0)
6
Line sum (15…8)
7
Line sum (23…16)
8
Line sum (31…24)
9
Pixels above threshold (7…0)
10
Pixels above threshold
(15…8)
11
Pixels below threshold (7…0)
12
Pixels below threshold (15…8)
13
Differential line sum (7..0)
14
Differential line sum (15…8)
15
Differential line sum (23…16)
16
Differential line sum (31…24)
Counter increm ents by 1. Use this value to
verify that every line is output
Use these values to help calculate line
average and gain
Monitor these values (either above or
below threshold ) and ad just cam era
d igital gain and background subtract to
m axim ize scene contrast. This provid es a
basis for autom atic gain control (AGC)
Use these values to focus the cam era.
Generally, the greater the sum the greater
the im age contrast and better the focus.
Setting Thresholds
Setting an Upper Threshold
Purpose:
Sets the upper threshold lim it to report in the end -of-line
sequence.
Syntax:
sut i
Syntax Elem ents:
i
N otes:
Related Com m and s:


Exam ple:
sut 1024
Upper threshold lim it in range from 0 to 4095.
LVAL is not high d u ring the end -of-line statistics.
els, slt
Setting a Lower Threshold
Purpose:
Sets the low er threshold lim it to report in the end -of-line
sequence.
Syntax:
slt i
Syntax Elem ents:
i
Upper threshold lim it in range from 0 to 4095.
Related Com m and s:


Exam ple:
slt 1024
N otes:
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LVAL is not high d u ring the end -of-line statistics.
els, sut
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3.5 Saving and Restoring Settings
Figure 17: Saving and Restoring Overview
Factory
Settings
rfs,
lpc 0
rus,lpc
Current
Session
User
Settings
wus,wpc,wfc
Factory Settings
On first initialization, the cam era operates u sing the factory settings. You can restore the
original factory settings at any tim e u sing the com m and rfs.
User Settings
You can save or restore you r u ser settings to non -volatile m em ory u sing the follow ing
com m and s. Pixel coefficients are stored separately from other d ata.
•
To save all cu rrent u ser settin gs to EEPROM, u se the com m and wus. The cam era w ill
au tom atically restore the saved u ser settings w hen pow ered u p. Note: While settings
are being w ritten to nonvolatile m em ory, d o not pow er d ow n cam era or cam era
m em ory m ay be corru pted .
•
To restore the last saved u ser settings, u se the com m and rus.
•
To save the cu rrent pixel coefficients, u se the com m and wpc i and wfc i.
•
To restore saved pixel coefficients, u se the com m and lpc i.
Current Session Settings
These are the cu rrent operating settings of you r cam era. To save these settings to non volatile m em ory, u se the com m and wus.
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3.5.1 Saving and Restoring PRNU and FPN Coefficients
Saving the Current PRNU Coefficients
Purpose:
Saves the current PRN U coefficients. You can save up to four sets
of pixel coefficients
Syntax:
wpc i
Syntax Elem ents:
i
PRN U coefficients set to save.
1 = Coefficient set one
2 = Coefficient set tw o
3 = Coefficient set three
4 = Coefficient set four
Exam ple:
wpc 2
Saving the Current FPN Coefficients
Purpose:
Saves the current FPN coefficients. You can save up to four sets of
pixel coefficients
Syntax:
wfc i
Syntax Elem ents:
i
FPN coefficients set to save.
1 = Coefficient set one
2 = Coefficient set tw o
3 = Coefficient set three
4 = Coefficient set four
Exam ple:
wfc 2
Loading a Saved Set of Coefficients
Purpose:
Load s a saved set of pixel coefficients. A factory calibrated set of
coefficients is available.
Syntax:
lpc i
Syntax Elem ents:
i
FPN coefficients set to save.
0 = Factory calibrated pixel coefficients.
1 = Coefficient set one
2 = Coefficient set tw o
3 = Coefficient set three
4 = Coefficient set four
Exam ple:
lpc 0
Resetting the Current Pixel Coefficients
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Purpose:
Resets the current pixel coefficients to zero. This com m and d oes
not reset saved coefficients.
Syntax:
rpc
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N otes:
The d igital offset is not reset.
3.5.2 Rebooting the Camera
The com m and rc reboots the cam era. The cam era starts u p w ith the last saved settings
and the bau d rate u sed before reboot. Previou sly saved pixel coefficients are also restored .
3.6 Diagnostics
3.6.1 Generating a Test Pattern
Purpose:
Generates a test pattern to aid in system d ebugging. The test
patterns are useful for verifying proper tim ing and connections
betw een the cam era and the fram e grabber. The follow ing tables
show each available test pattern.
Syntax:
svm i
Syntax Elem ents:
i
Exam ple:
0
Vid eo.
1
12 bit ram p test pattern.
2
8 bit step test pattern .
svm 1
3.6.2 Returning Video Information
The cam era’s m icrocontroller has the ability to read vid eo d ata. This fu nctionality can be
u sed to verify cam era operation and to perform basic testing w ithou t having to connect
the cam era to a fram e grabber. This inform ation is also u sed for collecting line statistics
for calibrating the cam era.
Returning a Single Line of Video
Purpose:
Returns a com plete line of vid eo (w ithout pixel coefficients or test
pattern) d isplaying one pixel value after another. After pixel values
have been d isplayed it also d isplays the m inim um , m axim um , and
m ean value of the line sam pled w ithin the region of interest (the
region of interest com m and is explained in section 3.4.1 Setting a
Region of Interest (ROI:setting)).
Use the gl com m and , or the follow ing gla com m and , to ensure
the proper vid eo input range into the processing chain before
executing any pixel calibration com m and s.
Syntax:
gl x1 x2
Syntax Elem ents:
x1
Pixel start num ber. Must be less than or equal to the pixel end
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num ber in a range from 1 to sensor resolution.
x2
Pixel end num ber. Must be greater than or equal to the pixel
start num ber in a range from 1 to sensor resolution.
N otes:

Related Com m and s
roi
Exam ple:
gl 10 20
Values returned are in 12 bit DN .
Returning Averaged Lines of Video
Setting the Number of Lines to Sample
Purpose:
Sets the num ber of lines to sam ple w hen using the gla com m and
or w hen perform ing FPN and PRN U calibration .
Syntax:
css i
Syntax Elem ents:
i
N um ber of lines to sam ple. Allow able values are 256, 512,
or 1024 (factory setting).
N otes:

Related Com m and s:
Exam ple:
css 1024
To return the current setting, use the gcp com m and or get
css.
gla, ccf, ccp, cpa
Returning the Average of Multiple Lines of Video
Purpose:
Returns the average for m ultiple lines of vid eo d ata (w ithout pixel
coefficients or test pattern). The num ber of lines to sam ple is set
and ad justed by the css com m and . The cam era d isplays the Min.,
Max., and Mean statistics for the pixels in the region of interest (the
region of interest com m and is explained in section 3.4.1 Setting a
Region of Interest (ROI:setting)).
Syntax:
gla x1 x2
Syntax Elem ents:
x1
Colum n start num ber. Must be less than or equal to the
colum n end num ber in a range from 1 to column
resolution.
x2
Colum n end num ber. Must be greater than or equal to the
colum n start num ber in a range from 1 to colum n resolution.
N otes:
Related Com m and s:
Exam ple:
Teledyne DALSA

Analog gain, analog offset, d igital offset, background subtract,
and d igital system gain are applied to the d ata. FPN and
PRN U coefficients are not includ ed in the d ata.

Values returned are in 12 bit DN .
css, roi
gla 10 20
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3.6.3 Temperature Measurement
The tem peratu re of the cam era can be d eterm ined by u sing the vt com m and . This
com m and w ill retu rn the internal chip case tem peratu re in d egrees Celsiu s. For proper
operation, this valu e shou ld not exceed 75°C.
Note: If the cam era reaches 75°C, the cam era w ill shu td ow n and the LED w ill flash red . If
this occu rs, the cam era m u st be rebooted u sing the com m and , rc or can be pow ered
d ow n m anu ally. You w ill not be able to restart the cam era u ntil the tem peratu re is less
than 65°C. You w ill have to correct the tem peratu re problem or the cam era w ill shu td ow n
again. The cam era allow s you to send the vt (verify tem peratu re) com m and w hile it is in
this state.
3.6.4 Voltage Measurement
The com m and vv d isplays the cam era’s inpu t voltage. N ote that the voltage
m easu rem ent featu re of the cam era provid es only approxim ate resu lts (typically w ithin
10%). The m easu rem ent shou ld not be u sed to set the applied voltage to the cam era bu t
only u sed as a test to isolate gross problem s w ith the su pply voltage.
3.6.5 Camera Frequency Measurement
Purpose:
Returns the frequency for the requested Cam era Link control
signal
Syntax:
gsf i
Syntax Elem ents:
i
Cam era Link control signal to m easure:
1: CC1 (EXSYN C)
2: CC2 (PRIN )
3: CC3 (Spare)
4: CC4 (Spare)
Exam ple:
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gsf 1
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3.6.6 Returning Camera Settings
Returning All Camera Settings with the Camera
Parameter Screen
The cam era param eter (gcp) screen retu rns all of the cam era’s cu rrent settings. The table
below lists all of the gcp screen settings.
To read all current camera settings, use the command:
Syntax:
gcp
GCP Screen
Desctiption
GENERAL CAMERA SETTINGS
Teledyne DALSA
Camera Model No.:
P3-xx-xxxxx
Cam era m od el num ber.
Camera Serial No.:
xxxxxxxxx
Cam era serial num ber.
Firmware Design Rev.:
xx-xx-xxxxx-xx
Firm w are d esign revision
num ber.
CGI Version:
03-81-xxxxx-xx
CGI version. Part of FPGA
firm w are.
FPGA Design Rev.:
xxx.xx
DSP d esign revision
num ber.
UART Baud Rate:
9600
Serial com m unication
connection speed set w ith
the sbr com m and . See
Setting Baud Rate on page
24 for d etails.
Exposure Mode:
2
Current exposure m od e
value set w ith the sem
com m and . See section
3.2.1 Exposure Mod e, Line
Rate and Exposure Tim e
for d etails.
SYNC Frequency:
5000 Hz
Current line rate. Value is
set w ith the ssf
com m and . See section
3.2.1 Exposure Mod e, Line
Rate and Exposure Tim e
for d etails.
Internal Exposure Time:
50 uSec
Current exposure tim e
setting. Value is set w ith
the set com m and . See
section 3.2.1 Exposure
Mod e, Line Rate and
Exposure Tim e for d etails.
Video Mode:
video
Current vid eo m od e value
set w ith the svm
com m and . See section
3.6.1 Generating a Test
Pattern for d etails.
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Region of Interest:
(1,1) to (12288, 1)
Region of interest size set
w ith the roi com m and .
See section 3.4.1 Setting a
Region of Interest
(ROI:setting) for d etails.
End-Of-Line Sequence:
on
States w hether an end of
line sequence is turned on
or off. Set using the els
com m and . See section
3.4.3 End -of-line Sequence
for d etails.
FFC Coefficient Set:
0
Current pixel coefficient
set load ed . Refer to
section 3.5.1 Saving and
Restoring PRN U and FPN
Coefficients for d etails.
FPN Coefficients:
off
States w hether FPN
coefficients are on or off.
Set w ith the epc
com m and . Refer to section
3.4.2 Analog and Digital
Signal Processing Chain
for d etails.
PRNU Coefficients:
off
States w hether PRN U
coefficients are on or off.
Set w ith the epc
com m and . Refer to section
3.4.2 Analog and Digital
Signal Processing Chain
for d etails.
Number of Line Samples:
256
N um ber of lines sam ples
set w ith the css
com m and . See section
3.6.2 Returning Vid eo
Inform ation for d etails.
Upper Threshold
0
Upper threshold value set
w ith the sut com m and .
See section 3.4.3 End -ofline Sequence for d etails.
Lower Threshold
4095
Low er threshold value set
w ith the slt com m and .
See section 3.4.3 End -ofline Sequence for d etails.
Camera Link Mode:
21, Full, 8 taps, 8
bits, no time MUX
Cam era Link m od e set
w ith the clm com m and .
See section 3.3.1 Setting
the Cam era Link Mod e for
d etails.
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Output Throughput:
320
Cam era throughput value
set w ith the sot
com m and . Throughput is
set to 320 and is not
configurable in the
Piranha 3 cam era. See
section 3.3.2 Setting the
Cam era Throughput for
d etails.
Pretrigger
0
Pretrigger set w ith the spt
com m and . See section
3.3.3 Setting a Pretrigger.
Analog Gain (dB):
3.0
3.0
3.0
3.0
3.0
3.0
3.0
3.0
Analog gain settings set
w ith the sag com m and .
See section 3.4.2 Analog
and Digital Signal
Processing Chain for
d etails.
Analog Reference Gain
(dB):
3.0
3.0
3.0
3.0
Analog reference gain set
w ith the ugr com m and .
See section Analog Signal
Processing for d etails.
Total Analog Gain (dB):
6.0
6.0
6.0
6.0
This is the sum of the
analog gain and analog
gain reference values and
is the total analog gain
being used by the cam era.
Analog Offset:
100
100
100
100
100
100
100
100
Analog offset settings set
w ith the sao com m and .
See section 3.4.2 Analog
and Digital Signal
Processing Chain for
d etails.
Digital Offset:
50
50
50
50
50
50
Background Subtract:
150
150
150
150
150
150
150
150
Background subtract
settings set w ith the ssb
com m and . See section
3.4.2 Analog and Digital
Signal Processing Chain
for d etails.
System Gain:
125
125
125
125
125
125
125
125
Digital gain settings set
w ith the ssg com m and .
See section 3.4.2 Analog
and Digital Signal
Processing Chain for
d etails.
50
50
Digital offset settings set
w ith the sdo com m and .
See section 3.4.2 Analog
and Digital Signal
Processing Chain for
d etails.
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Returning Camera Settings with Get Commands
You can also retu rn ind ivid u al cam era settings by inserting a ― get” in front of the
com m and that you w ant to qu ery. If the com m and has a tap or pixel nu m ber param eter,
you m u st also insert the tap nu m ber or pixel nu m ber that you w ant to qu ery. Refer to
Table 14 below for a list of available com m and s. To view a help screen listing the
follow ing get com m and s, u se the com m and gh.
Table 14: Get Commands
Syntax
Parameters
t
Returns the analog offset for the tap ind icated
t = tap selection, either 1 to 8, or 0 for all taps
get ccf
x1 x2
Returns the FPN pixel coefficients for the pixel range
ind icated .
x1 = Pixel start num ber
x2= Pixel end num ber
get ccp
x1 x2
Returns the PRN U pixel coefficients for the pixel range
ind icated .
x1 = Pixel start num ber
x2= Pixel end num ber
get clm
Returns the current Cam era Link m od e.
get css
Returns the num ber of line sam ples averaged for pixel
coefficient calculations or for output of gla com m and .
get els
Returns w hether the end -of-line statistics are turned off or
on.
0: Off
1: On
get epc
Returns w hether pixel coefficients are enabled or
d isabled .
The first param eter returns the FPN coefficients setting
w here:
0 = FPN coefficients d isabled
1 = FPN coefficients enabled
The second param eter returns the PRN U coefficients
setting w here:
0 = PRN U coefficients d isabled
1 = PRN U coefficients enabled
get gcm
Returns the cam era’s m od el num ber
get gcs
Returns the cam era’s serial num ber
get gcv
Returns the cam era’s softw are version.
get gfc
x
Returns the FPN pixel coefficient for the pixel ind icated .
get gl
x1 x2
Returns pixel values for the pixel range specified .
get gla
x1 x2
Returns the average of the pixel range ind icated .
get gsf
i
Returns the frequency of the Cam era Link control signal
ind icated , either 1, 2, 3, or 4.
get lpc
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Description
get cao
Returns the current coefficient set num ber.
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Syntax
Parameters
get rfs
Returns w hether factory settings have been saved . The
cam era alw ays retu rns 1 (factory settings have been
saved ).
get roi
Returns the current region of interest.
get rus
Returns w hether user settings have been saved .
0 = N o user settings saved
1 = User settings have been saved
get sag
t
Returns the analog gain in d B for the tap ind icated
t = Tap value. 0 for all taps or 1 to 8 for ind ivid ual tap
selection.
get sao
t
Returns the analog offset for the tap ind icated .
t = 0 for all taps or 1 to 8 for ind ivid ual tap selection.
get sbr
get sdo
Returns the speed of cam era serial com m unication port.
t
get sem
get sfc
Returns the d igital offset value in DN for the tap
ind icated .
t = Tap value. 0 for all taps or 1 to 8 for ind ivid ual tap
selection.
Returns the current exposure m od e:
3 = External SYN C, m axim um exposure tim e
7 = Internal program m able SYN C, m axim um exposure
tim e. Factory setting.
x
Returns the FPN coefficient for the pixel num ber id icated .
x =pixel num ber w ithin the range 1 to sensor pixel
count.
get sgr
Returns the current analog gain reference value in d B.
get slt
Returns the current low er threshold value.
get sot
Returns the Cam era Link strobe rate.
get spc
x
get spt
get ssb
get ssg
Returns the PRN U coefficient for the specified pixel
num ber.
x=pixel num ber w ithin the range 1 to sensor pixel
count.
Returns the current pretrigger value.
t
get ssf
Teledyne DALSA
Description
Returns the current background subtract value.
t = Tap value. 0 for all taps or 1 to 8 for ind ivid ual tap
selection.
Returns the current line/ fram e rate in H z.
t
Returns the current d igital gain setting.
t = tap selection, either 1 to 8, or 0 for all taps
get sut
Returns the current uppd er threshold value.
get svm
Returns the current vid eo m od e.
0: N orm al vid eo m od e
1: Test pattern
2: Test pattern
3: Test pattern
get ugr
Returns the gain reference value
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Syntax
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Parameters
Description
get vt
Returns the cam era’s internal chip tem perature in d egrees
Celsius.
get vv
Returns the cam era’s supply voltage.
get wfc
Returns w hether FPN coefficients have been saved .
0 = N o FPN coefficients saved
1 = Pixel coefficients have been saved
get wpc
Returns w hether PRN U coefficients have been saved .
0 = N o PRN U coefficients saved
1 = Pixel coefficients have been saved
get wus
Returns w hether user settings have been saved .
0 = N o user settings saved
1 = User settings have been saved
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4
Optical and Mechanical
Considerations
4.1 Mechanical Interface
Figure 18: P3-80 Mechanical Drawing
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Figure 19: P3-87 Mechanical Drawing
P3-87
M3x0.5
x 6.0 deep
(4x)
80.0
73.0 (2x)
6.0 (4x)
15.0 (2x)
42.50 ±0.05
36.5 CCD imaging
(2x) center
Pixel 1
73.0
85.0 (2x)
38.7
49.9
60.1
72.5
55.0 (2x)
M72 x 0.75
x 4.0 deep
49.5
54.2
36.5 (2x)
40.00±0.05
CCD imaging
center
6.56`±0.25
CCD imaging
distance (from
top of CCD to
datum A)
6.0 (2x)
12.5
55.0
M3x0.5
x 6.0
deep (4x)
14.1
29.8 (2x)
69.4
Units: mm
M3x0.5
x 6.0 deep
(2x)
Lens Mounts
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Model Number
Lens Mount Options
All m od els
M72x0.75
Mount
Back Focal Distance (sensor die to adapter)
M72
6.56±0.25m m
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4.2 Optical Interface
Illumination
The am ou nt and w avelengths of light requ ired to captu re u sefu l im ages d epend on the
particu lar application. Factors inclu d e the natu re, speed , and spectral characteristics of
objects being im aged , exposu re tim es, light sou rce characteristics, environm ental and
acqu isition system specifics, and m ore. Teled yne DALSA’s Web site, here, provid es an
introd u ction to this potentially com plicated issu e. See ―Rad iom etry and Photo
Responsivity‖ and "Sensitivities in Photom etric Units" in the CCD Technology Prim er
fou nd u nd er the Application Su pport link.
It is often m ore im portant to consid er exposu re than illu m ination. The total am ou nt of
energy (w hich is related to the total nu m ber of photons reaching the sensor) is m ore
2
im portant than the rate at w hich it arrives. For exam ple, 5J/ cm can be achieved by
2
2
exposing 5m W/ cm for 1m s ju st the sam e as exposing an intensity of 5W/ cm for 1s.
Light Sources
Keep these gu id elines in m ind w hen setting u p you r light sou rce:
•
LED light sou rces are relatively inexpensive, provid e a u niform field , and longer life
span com pared to other light sou rces. H ow ever, they also requ ire a cam era w ith
excellent sensitivity, su ch as the Piranha 3 cam eras.
•
H alogen light sou rces generally provid e very little blu e relative to IR.
•
Fiber-optic light d istribu tion system s generally transm it very little blu e relative to IR.
•
Som e light sou rces age; over their life span they prod u ce less light. This aging m ay
not be u niform —a light sou rce m ay prod u ce progressively less light in som e areas of
the spectru m bu t not others.
Filters
CCD cam eras are extrem ely responsive to infrared (IR) w avelengths of light. To prevent
infrared from d istorting the im ages you scan, u se a ―hot m irror ‖ or IR cu toff filter that
transm its visible w avelengths bu t d oes not transm it w avelengths over 750nm . Exam ples
are the Schneid er Optics™ B+W 489, w hich inclu d es a m ou nting ring, the CORION ™ LS750, w hich d oes not inclu d e a m ou nting ring, and the CORION ™ H R-750 series hot
m irror.
Lens Modeling
Any lens su rrou nd ed by air can be m od eled for cam era pu rposes u sing three prim ary
points: the first and second principal points and the second focal point. The prim ary
points for a lens shou ld be available from the lens d ata sheet or from the lens
m anu factu rer. Prim ed qu antities d enote characteristics of the im age sid e of the lens. That
is, h is the object height and h is the im age height.
The focal point is the point at w hich the im age of an infinitely d istant object is brou ght to
focu s. The effective focal length (f) is the d istance from the second principal point to the
second focal point. The back focal length (BFL) is the d istance from the im age sid e of the
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lens su rface to the second focal point. The object distance (OD) is the d istance from the first
principal point to the object.
Figure 20: Primary Points in a Lens System
Magnification and Resolution
The m agnification of a lens is the ratio of the im age size to the object size:
m
h
h
w here m is the m agnification, h’ is the im age height
(pixel size) and h is the object height (d esired object
resolu tion size).
By sim ilar triangles, the m agnification is alternatively given by:
m
f
OD
These equ ations can be com bined to give their m ost u sefu l form :
h
f

h OD
This is the governing equ ation for m any object and
im age plane param eters.
Example: An acqu isition system has a 512 x 512 elem ent, 10m pixel pitch area scan cam era,
a lens w ith an effective focal length of 45m m , and requ ires that 100m in the object space
correspond to each pixel in the im age sensor. Using the preced ing equ ation, the object
d istance m u st be 450m m (0.450m ).
10m
45mm

100m
OD
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OD  450mm (0.450m)
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5
Troubleshooting
The inform ation in this chapter can help you solve problem s that m ay occu r d u ring the
setu p of you r cam era. Rem em ber that the cam era is part of the entire acqu isition system .
You m ay have to trou bleshoot any or all of the follow ing:




pow er su pplies
fram e grabber hard w are & softw are
light sou rces
operating environm ent




cabling
host com pu ter
optics
encod er
You r steps in d ealing w ith a technical problem shou ld be:
1.
Try the general and specific solu tions listed in sections 5.1, 5.2 and 5.3.
2.
If these solu tions d o not resolve you r problem , see section 5.4 on getting prod u ct
su pport.
5.1 Common Solutions
Connections
The first step in trou bleshooting is to verify tha t you r cam era has all the correct
connections.
Power Supply Voltages
Check for the presence of all voltages at the cam era pow er connector. Verify that all
grou nd s are connected .
Data Clocking/Output Signals
To valid ate cable integrity, have the cam era send ou t a test pattern and verify it is being
properly received . Refer to section 3.6.1 Generating a Test Pattern for fu rther inform ation
on ru nning test patterns.
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5.2 Troubleshooting Using the Serial Interface
Communications
To qu ickly verify serial com m u nications send the h (help) com m and . By send ing the h
and receiving the help m enu , the serial com m u nications are verified . If fu rther problem s
persist, review Append ix B for m ore inform ation on com m u nications.
Verify Parameters
To verify the cam era setu p, send the gcp (get cam era param eters) com m and .
Verify Factory Calibrated Settings
To restore the cam era’s factory settings send the rfs com m and .
After execu ting this com m and send the gcp com m and to verify the factory settings.
Verify Timing and Digital Video Path
Use the test pattern featu re to verify the proper tim ing and connections betw een the
cam era and the fram e grabber and verify the proper ou tpu t along the d igital processing
chain.
Verify Voltage
To check the cam era’s inpu t voltages, u se the vv com m and . Make su re the voltage is
w ithin the proper range (+12V to +15V). If a problem still persists, contact Technical
Su pport. See section Error! Reference source not found. for contact inform ation.
5.3 Specific Solutions
No Output or Erratic Behavior
If you r cam era provid es no ou tpu t or behaves erratically, it m ay be picking u p rand om
noise from long cables acting as antennae. Do not attach w ires to u nu sed pins. Verify that
the cam era is not receiving spu riou s inpu ts (e.g. EXSYN C, if cam era is u sing an internal
signal for synchronization).
Line Dropout, Bright Lines, or Incorrect Line rate
Verify that the frequ ency of the internal sync is set correctly.
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Noisy Output
Check you r pow er su pply voltage ou tpu ts for noise. N oise present on these lines can
resu lt in poor vid eo qu ality. Low qu ality or non -tw isted pair cable can also ad d noise to
the vid eo ou tpu t.
Dark Patches
If d ark patches appear in you r ou tpu t the optics path m ay have becom e contam inated .
Clean you r lenses and sensor w ind ow s w ith extrem e care.
1.
Take stand ard ESD precau tions.
2.
Wear latex gloves or finger cots
3.
Blow off d u st u sing a filtered blow bottle or d ry, filtered com pressed air.
4.
Fold a piece of optical lens cleaning tissu e (approx. 3" x 5") to m ake a squ are pad that
is approxim ately one finger-w id th
5.
Moisten the pad on one ed ge w ith 2-3 d rops of clean solvent—either alcohol or
acetone. Do not satu rate the entire pad w ith solvent.
6.
Wipe across the length of the w ind ow in one d irection w ith the m oistened end first,
follow ed by the rest of the pad . The d ry part of the pad shou ld follow the m oistened
end . The goal is to prevent solvent from evaporating from the w ind ow su rface, as this
w ill end u p leaving resid u e and streaking behind .
7.
Repeat steps 2-4 u sing a clean tissu e u ntil the entire w ind ow has been cleaned .
Blow off any ad hering fibers or particles u sin g d ry, filtered com pressed air.
Horizontal Lines or Patterns in Image
A fau lty or irregu lar encod er signal that is applied as the EXSYN C signal m ay resu lt in
horizontal lines d u e to exposu re tim e flu ctu ations; ensu re that you r exposu re tim e is
regu lar. If you have verified that you r exposu re tim e is consistent and patterns of low
frequ ency intensity variations still occu r, ensu re that you are u sing a DC or high
frequ ency light sou rce and that no am bient light is affecting you r system .
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Appendix A
Camera Link™ Reference,
Timing, and
Configuration Table
Cam era Link is a com m u nication interface for vision applications. It provid es a
connectivity stand ard betw een cam eras and fram e grabbers. A stand ard cable connection
w ill red u ce m anu factu rers’ su pport tim e and greatly red u ce the level of com plexity and
tim e need ed for cu stom ers to su ccessfu lly integrate high speed cam eras w ith fram e
grabbers. This is particu larly relevant as signal and d ata transm issions increase both in
com plexity and throu ghpu t. A stand ard cable/ connector assem bly w ill also enable
cu stom ers to take ad vantage of volu m e pricing, thu s red u cing costs.
The cam era link stand ard is intend ed to be extrem ely flexible in ord er to m eet the need s
of d ifferent cam era and fram e grabber m anu factu rers.
The Cam era Link Im plem entation Road Map (available from the link) d etails how w e
stand ard ize the u se of the Cam era Link interface.
LVDS Technical Description
Low Voltage Differential Signaling (LVDS) is a high-speed , low -pow er general pu rpose
interface stand ard . The stand ard , know n as AN SI/ TIA/ EIA -644, w as approved in March
1996. LVDS u ses d ifferential signaling, w ith a nom inal signal sw ing of 350m V d ifferential.
The low signal sw ing d ecreases rise and fall tim es to achieve a theoretical m axim u m
transm ission rate of 1.923 Gbps into a loss-less m ed iu m . The low signal sw ing also m eans
that the stand ard is not d epend ent on a particu lar su pply voltage. LVDS u ses cu rrent m od e d rivers, w hich lim it pow er consu m ption. The d ifferential signals are im m u ne to ±1
V com m on volt noise.
Camera Signal Requirements
This section provid es d efinitions for the signals u sed in the Cam era Link interface. The
stand ard Cam era Link cable provid es cam era control signals, serial com m u nication, and
vid eo d ata.
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Video Data
The Channel Link technology is integral to the transm ission of vid eo d ata. Im age d ata and
im age enable signals are transm itted on the Channel Link bu s. Fou r enable signals are
d efined as:
• FVAL—Fram e Valid (FVAL) is d efined H IGH for valid lines.
• LVAL—Line Valid (LVAL) is d efined H IGH for valid pixels.
• DVAL—Data Valid (DVAL) is d efined H IGH w hen d ata is valid .
• Spare— A spare has been d efined for fu tu re u se.
All fou r enable signals m u st be provid ed by the cam era on each Channel Link chip. All
u nu sed d ata bits m u st be tied to a know n valu e b y the cam era. For m ore inform ation on
im age d ata bit allocations, refer to the official Cam era Link specification on the Web site,
available here.
Camera Control Signals
Fou r LVDS pairs are reserved for general-pu rpose cam era control. They are d efined as
cam era inpu ts and fram e grabber ou tpu ts. Cam era m anu factu rers can d efine these signals
to m eet their need s for a particu lar prod u ct. The signals are:
• Cam era Control 1 (CC1)
• Cam era Control 2 (CC2)
• Cam era Control 3 (CC3)
• Cam era Control 4 (CC4)
The Piranha 3 u ses the follow ing cam era control signals:
Table 15: Camera Control Configuration
C1
EXSYN C, negative ed ge active
CC2
PRIN
CC3
N ot Used
CC4
N ot Used
Communication
Tw o LVDS pairs have been allocated for asynchronou s serial com m u nication to and from
the cam era and fram e grabber. Cam eras and fram e grabbers shou ld su pport at least 9600
bau d . These signals are
• SerTFG—Differential pair w ith serial com m u nications to the fram e grabber.
• SerTC—Differential pair w ith serial com m u nications to the cam era.
The serial interface w ill have the follow ing characteristics: one s tart bit, one stop bit, no
parity, and no hand shaking. It is recom m end ed that fram e grabber m anu factu rers su pply
both a u ser interface and a softw are application program m m ing interface (API) for u sing
the asynchronou s serial com m u nication port. The u ser in terface w ill consist of a term inal
program w ith m inim al capabilities of send ing and receiving a character string and
send ing a file of bytes. The softw are API w ill provid e fu nctions to enu m erate board s and
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send or receive a character string. See Append ix B in the Official Cam era Link
specification available from the Web site here.
Power
Pow er w ill not be provid ed on the Cam era Link connector. The cam era w ill receive pow er
throu gh a sep arate cable. Cam era m anu factu rers w ill d efine their ow n pow er connector,
cu rrent, and voltage requ irem ents.
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Appendix B
Error Handling and
Command List
B1 Error Handling
The follow ing table lists w arning and error m essages and provid es a d escription and
possible cau se.
Table 16: Warning and Error Messages
Message
Description
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OK>
SUCCESS
Warning 01: Outsid e
of specification>
Param eter accepted w as outsid e of sp ecified operating range (e.g.
gain greater than ±10 d B of factory setting).
Warning 02: Clipped
to m in>
Param eter w as clipped to the current operating range. Use GCP to
see value used .
Warning 03: Clipped
to m ax>
Param eter w as clipped to the current oper ating range. Use GCP to
see value used .
Warning 04: Related
param eters
ad justed >
Param eter w as clipped to the current operating range. Use GCP to
see value used .
Warning 05: Missing
cod es – insufficient
d igital gain>
Output w hen the d igital gain is such that m issing cod es are to be
expected d ue to not enough d igital gain.
Warning 06: Missing
cod es – too m uch
d igital gain>
Output w hen the d igital gain is such that m issing cod es are to be
expected d ue to too m uch d igital gain.
Warning 07:
Coefficient m ay be
inaccurate A/ D
clipping has
occurred >
In the region of interest (ROI) greater than 6.251% single or 1% of
averaged pixel values w ere zero or saturated .
Warning 08: Greater
than 1% of
coefficients have
been clipped
A FPN / PRN U has been calculated to be g reater than the m axim um
allow able 511 (8).
Message
Description
Error 01: Internal
error xx>
Output only in ―d iagnostic m od e‖ or self check at pow er or reset
cam era. Where xx is a cod e.
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Message
Description
Error 02:
Unrecognized
com m and >
Com m and is not available in the curr ent access level or it is not a
valid com m and .
Error 03: Incorrect
num ber of
param eters>
Error 04: Incorrect
param eter value>
This response returned for
·Alpha received for num eric or vice versa
·N ot an elem ent of the set of possible values. E.g., Bau d Rate
·Outsid e the range lim it
Error 05: Com m and
unavailable in this
m od e>
Com m and is valid at this level of access, but not effective. Eg line rate
w hen in sm art Exsync m od e
Error 06: Tim eout>
Com m and not com pleted in tim e. Eg FPN / PRN U calculation w hen
no external exsync is present.
Error 07: Cam era
settings not saved >
Tried saving cam era settings (rfs/ rus) but they cannot be saved .
Error 08: Unable to
calibrate - tap
outsid e ROI>
Cannot calibrate a tap that is not part of the end of line statistics.
Error 09: The
cam era's
tem perature exceed s
the specified
operating range>
Ind icates that the cam era has shut itself d ow n to prevent d am age
from further overheating.
B2 All Available Commands
Parameters:
i = integer
t = tap id
i = integer value
f = real number
s = string
x1 = horizontal pixel start
number
x2 = horizontal pixel end
number
y1 = vertical pixel start
number
y2 = vertical pixel end
number
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As a qu ick reference, the follow ing table lists all of the com m and s available to the cam era
u ser. For d etailed inform ation on u sing these com m and s, refer to Chapter 3.
Command
Syntax
Parameters
Description
calibrate analog offset
cao
t i
Calibrates the analog gain and averages
each tap’s pixels w ithin the ROI to the
specified average target value.
t = tap selection, either 1 to number of
CCD taps, or 0 for all taps
i = target value in a range from 0 to
255DN (12-bit LSB)
Refer to Analog Signal Processing:
Setting Analog Gain and Offset for
d etails.
correction calibrate fpn
ccf
Start FPN coefficient calibration. Refer to
section 3.4.2 Analog and Digital Signal
Processing Chain for d etails.
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Command
Syntax
Parameters
Description
calculate cam era gain
ccg
i t i
Calculates the cam era gain and optim izes
tap m atching accord ing to the selected
algorithm .
i = Calibration algorithm to use.
1 = This algorithm ad justs analog
gain so that 8% to 13% of tap ROI
pixels are above the specified target
value.
2 = This algorithm ad justs analog
gain so that the average pixel value
in tap’s ROI is equal to the specified
target value.
3 = This algorithm ad justs d igital
gain so that the average pixel value
in tap’s ROI is equal to the specified
target.
4 = This algorithm ad justs the analog
gain so that all tap ROI pixels are
w ithin 98% of the specified target
value and then perform s a PRN U
correction.
t = Tap value. Use 0 for all taps or 1 to
8 for ind ivid ual tap selection.
i = Calibration target value in a range
from 1024 to 4055DN (12 bit LSB).
correction calibrate prnu
ccp
cam era link m od e
clm
Start PRN U coefficient calibration. Refer
to section 3.4.2 Analog and Digital Signal
Processing Chain for d etails.
i
Sets the Cam era Link configuration,
num ber of Cam era Link taps, and d ata
bit d epth.
15: Med ium configuration, 4 taps, 8 bit
output
16: Med ium configuration, 4 taps, 12 bit
output
21: Full configuration, 8 taps, 8 bit
output
Refer to section 3.3.1 Setting the Cam era
Link Mod e for d etails.
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Command
Syntax
Parameters
Description
calculate PRN U
algorithm
cpa
i i
Perform s PRN U calibration accord ing to
the selected algorithm .
The first param eter is the algorithm
w here i is:
1 = This algorithm first ad justs each tap’s
analog gain so that 8-13% of pixels
w ithin a tap are above the value specified
in the target value param eter. PRN U
calibration then occurs using the peak
pixel in the region of interest. (Id entical
to ccp i)
2 = Calculates the PRN U coefficients
using the entered target value as show n
below :
Target
PRNU Coefficient =
(AVG Pixel Value) - (FPN+sdo value)The
calculation is perform ed for all sensor
pixels but w arnings are only applied to
pixels in the region of interest. This
algorithm is useful for achieving uniform
output across m ultiple cam eras.
3 = This algorithm includ es an analog
gain ad justm ent prior to PRN U
calibration. Analog gain is first ad justed
so that the peak pixel value in tap’s ROI
is w ithin 97 to 99% of the specified target
value. It then calculates the PRN U
coefficients using the target value as
show n below :
PRNU Coefficient =
i
Target
(AVG Pixel Value ) - (FPN + sdo value)
i
i
The calculation is perform ed for all
sensor pixels but w arnings are only
applied to pixels in the region of interest.
This algorithm is useful for achieving
uniform output across m ultiple cam eras.
The second param eter is the target value
to use in a range from 1024 to 4055DN .
section 3.4.2 Analog and Digital Signal
Processing Chain
4 = This algorithm is the sam e as 2 w ith
the exception that it only calculates
PRN U for the pixels w ithin the current
Region of Interest (ROI).
The second param eter is the target value
to use in a range from 1024 to 4055DN .
correction set sam ple
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css
m
Set num ber of line sam ples averaged for
pixel coefficient calculations or for
output of gla com m and . Values: 256,
512, 1024.
Refer to Returning Averaged Lines of
Vid eo on page 55 for d etails.
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Command
Syntax
Parameters
Description
d isplay pixel coeffs
dpc
x1 x2
Displays the pixel coefficients in the
ord er FPN , PRN U, FPN , PRN U, …
x1 = Pixel start num ber
x2 = Pixel end num ber
in a range from 1 to sensor pixel
count.
Refer to Returning Calibration Results
and Errors on page 49 for d etails.
end of line sequence
els
i
Sets the end -of-line sequence:
0: Off
1: On
Refer to section 3.4.3 End -of-line
Sequence for d etails.
enable pixel coefficients
epc
i i
Sets w hether pixel coefficients are
enabled or d isabled .
The first param eter sets the FPN
coefficients w here i is:
0 = FPN coefficients d isabled
1 = FPN coefficients enabled
The second param eter sets the PRN U
coefficients w here i is:
0 = PRN U coefficients d isabled
1 = PRN U coefficients enabled
Refer to section Enabling and Disabling
Pixel Coefficients on page 49 for d etails.
get cam era m od el
gcm
Read s the cam era m od el num ber.
get cam era param eters
gcp
Read s all of the cam era param eters.
get cam era serial
gcs
Read the cam era serial num ber.
get cam era version
gcv
Read the firm w are version and FPGA
version.
get com m and s
get
Retrieves cam era settings for the
com m and nam e specified .
Refer to Returning Cam era Settings w ith
Get Com m and s on page 60 for d etails.
get fpn coeff
gfc
get help
gh
get line
gl
x
Read the FPN coefficient
i = pixel num ber to read in a range from
1 – sensor pixel count.
Refer to Returning Calibration Results
and Errors on page 49 for d etails.
Lists all of the available get com m and s.
x1 x2
Get a line of vid eo (not includ ing FPN
and PRN U coefficients) d isplaying one
pixel value after another and the
m inim um , m axim um , and m ean value of
the sam pled line.
x1 = Pixel start num ber
x2 = Pixel end num ber
in a range from 1 to sensor pixel count.
Refer to Returning a Single Line of Vid eo
on page 54 for d etails.
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Command
Syntax
Parameters
Description
get line average
gla
x1 x2
Read the average of line sam ples.
x1 = Pixel start num ber
x2 = Pixel end num ber
in a range from 1 to sensor pixel
count.
Refer to Returning Averaged Lines of
Vid eo on page 45 for d etails.
get prnu coeff
gpc
i
Read the PRN U coefficient.
i = pixel nu m ber to read in a range from
1 to sensor pixel count.
Refer to Returning Calibration Results
and Errors on page 49 for d etails.
get signal frequency
gsf
i
Read the current sync frequency.
1: CC1 (EXSYN C)
2: CC2 (PRIN )
3: CC3 (Spare)
4: CC4 (Spare)
Refer to section 3.6.5 Cam era Frequency
Measurem ent for d etails.
get sensor serial
gss
Read the sensor serial num ber
help
h
Display the online help. Refer to on page
24 for d etails.
load pixel coefficients
lpc
reset cam era
rc
Reset the entire cam era (reboot).
restore factory settings
rfs
Restore the cam era’s factory settings.
FPN and PRN U coefficients reset to 0.
Refer to section 3.5 Saving and Restoring
Settings for d etails.
region of interest
roi
reset pixel coeffs
rpc
i
x1 y1 x2
y2
Load s the previously saved pixel
coefficients from non -volatile m em ory
w here i is:
0 = Factory calibrated coefficients
1 = Coefficient set one
2 = Coefficient set tw o
3 = Coefficient set three
4 = Coefficient set four
Refer to 3.5.1 Saving and Restoring
PRN U and FPN Coefficients for d etails.
Sets the pixel range affected by the cag,
cao, gl, gla, ccf, and ccp com m and s. The
param eters are the pixel start and end
values (x) and the colum n start and end
values (y) in a range from 1 to sensor
pixel count. Refer to section 3.4.1 Setting
a Region of Interest (ROI:setting) for
d etails.
Reset the pixel coefficients to 0. Refer to
Resetting the Current Pixel Coefficients
on page 53 for d etails.
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Command
Syntax
Parameters
Description
restore user settings
rus
set analog gain
sag
t f
Sets the analog offset.
t = Tap value. 0 for all taps or 1-8 for
ind ivid ual tap selection.
f= gain value specified from –10 to +10
Refer to Analog Signal Processing:
Setting Analog Gain and Offset on page
38 for d etails.
set analog offset
sao
t i
Sets the analog offset.
t = Tap value. 0 for all taps or 1-8 for
ind ivid ual tap selection.
i= Offset value in a range from 0 to 255.
Offset increases w ith higher values.
Refer to Analog Signal Processing:
Setting Analog Gain and Offset on page
38 for d etails.
set baud rate
sbr
i
Set the speed of cam era serial
com m unication port. Baud rates: 9600,
19200, 57600, and 115200. Default:
9600. Refer to section Setting Baud Rate
on page 24 for d etails.
set d igital offset
sdo
t i
Subtracts the input value from the vid eo
signal prior to FPN correction.
t = Tap value. 0 for all taps or 1 to 8 for
ind ivid ual tap selection.
i = Offset in a range from 0 to 2048DN .
Refer to
Setting Digital Offset on page45 for
d etails.
set exposure m od e
sem
m
Set the exposure m od e:
2 = Internal SYN C, internal PRIN ,
program m able line rate and exposure
tim e using com m and s ssf and set
3 = External SYN C, internal PRIN ,
m axim um exposure tim e
4 = Sm art EXSYN C
5 = External SYN C and PRIN
6 = External SYN C, internal PRIN ,
program m able exposure tim e
7 = Internal program m able SYN C,
m axim um exposure tim e. Factory
setting.
8 = Internal SYN C, internal PRIN ,
program m able exposure tim e. Maxim um
line rate for exposure tim e.
set exposure tim e
set
f
Sets the exposure tim e. Refer to the
cam era help screen (h com m and ) for
allow able range.
Restore the cam era's last saved user
settings and FPN and PRN U coefficients.
Refer to section 3.5 Saving and Restoring
Settings for d etails.
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Command
Syntax
Parameters
Description
set fpn coeff
sfc
x i
Set the FPN coefficient.
x =pixel num ber w ithin the range 1 to
sensor pixel count.
i= FPN value w ithin the range 0 to
2048.
Refer to Setting a Pixel’s FPN Coefficient
on page 44 for d etails.
set fpn range
sfr
x x i
Set a range of pixel FPN coefficients
x=first pixel num ber of th e range.
x =last pixel num ber of the range
i =coefficient value in a range from O to
2048.
Refer to Setting a Range of FPN
Coefficients on page 49 for d etails.
set low er threshold
slt
i
Sets the low er threshold that is checked
for and reported in the end -of-line
sequence in a value from 0-4095. Refer
to section 3.4.3 End -of-line Sequence for
d etails.
set output throughput
sot
m
This com m and w orks in conjunction
w ith the clm com m and and d eterm ines
the pixel rate of the cam era.
320 = 4 taps at 80MH z or 8 taps at
40MH z
This com m and is currently not
configurable in the Piranha 3 cam era.
set prnu coeff
spc
x i
Set the PRN U coefficient.
x =pixel num ber w ithin the range 1 to
sensor pixel count.
i= PRN U value w ithin the range 0 to
28671.
Refer to on page 46 for d etails.
set prnu range
spr
i i x
Set a range of pixel PRN U coefficients
i=first pixel num ber of the range
i=last pixel num ber of the range
x=coefficient value in a range from 0 to
28671.
Refer to Setting a Range of PRN U
Coefficients on page 47 for d etails.
set pretrigger
spt
i
Set the pretrigger to a value from 0 to 16.
set subtract background
ssb
t i
Subtract the input value from the output
signal.
t = Tap value. 0 for all taps or 1 to 8 for
ind ivid ual tap selection.
i = Subtracted value in a range from 0 to
4095.
Refer to on page 44 for d etails.
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Teledyne DALSA
Command
Syntax
Parameters
Description
set sync frequency
ssf
i
Set the fram e rate to a value from :
12k: 300-23619H z
8k: 300-33855H z
Value round ed up/ d ow n as required .
Refer to section 3.2.1 Exposure Mod e,
Line Rate and Exposure Tim e for d etails.
set system gain
ssg
t i
Set the d igital gain.
t = Tap value. 0 for all taps or 1 to 8 for
ind ivid ual tap selection.
i = Gain value is specified from 0 to
65535. The d igital vid eo values are
m ultiplied by this num ber.
Refer to Setting Digital System Gain on
page 48 for d etails.
set upper threshold
sut
i
Set upper threshold that is check for and
reported in the end -of-line sequence to a
value from 0-4095. Refer to section 3.4.3
End -of-line Sequence for d etails.
set vid eo m od e
svm
i
Sw itch betw een norm al vid eo m od e and
test patterns:
0: N orm al vid eo m od e
1: 12 bit ram p test pattern
2: 8 bit step test pattern
Refer to section 3.6.1 Generating a Test
Pattern for d etails.
upd ate gain reference
ugr
Changes the 0d B gain to equal the
current analog gain value set w ith the
sag com m and .
verify tem perature
vt
Get the internal tem perature of the
cam era
verify voltage
vv
Get the cam era input voltage
w rite FPN coefficients
wfc
i
Write all current FPN coefficients to
EEROM w here i is:
1 = FPN coefficient set one
2 = FPN coefficient set tw o
3 = FPN coefficient set three
4 = FPN coefficient set four
Refer to section 3.5.1 Saving and
Restoring PRN U and FPN Coefficients
for d etails.
w rite pixel coeffs
wpc
i
Write all current PRN U coefficients to
EEROM w here i is:
1 = PRN U coefficient set one
2 = PRN U coefficient set tw o
3 = PRN U coefficient set three
4 = PRN U coefficient set four
Refer to section 3.5.1 Saving and
Restoring PRN U and FPN Coefficients
for d etails.
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Command
Syntax
w rite user settings
wus
Parameters
Description
Write all of the user settings to EEROM.
Refer to section 3.5 Saving and Restoring
Settings for d etails.
Teledyne DALSA
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Appendix C
EMC Declaration of
Conformity
We,
Teledyne D ALSA
605 McMurray Rd.,
Waterloo, ON
CAN AD A N 2V 2E9
d eclare u nd er sole responsibility, that the prod u ct(s):
P3-80-08k40-00-R
P3-80-12k40-00-R
P3-87-08k40-00-R
P3-87-12k40-00-R
fu lfill(s) the requ irem ents of the stand ard (s)
EMC:
CISPR 11:2004 / EN 55011:2003, CLASS A, GROUP1
IEC/EN 61000-3-2:2001
IEC/EN 61000-3-3:2001
EN 61326:2001 / IEC 61326:2002
IEC/EN 61000-4-2:2001
IEC/EN 61000-4-3:2002/ENV 50204
IEC/EN 61000-4-4:2004
IEC/EN 61000-4-5:2001
IEC/EN 61000-4-6:2004
IEC/EN 61000-4-11:2004
FCC PART 15, SUBPART B, CLASS A
EUROPEAN CISPR 11:2004/EN 55011:2003
This prod u ct com plies w ith the requ irem ents of the Low Voltage Directive
73/ 23/ EEC and the EMC Directive 89/ 336/ EEC and carries the CE m ark
accord ingly.
Teledyne DALSA
Place of Issu e
Waterloo, ON , CAN ADA
Date of Issu e
April 2005
N am e and Signatu re
of au thorized person
Hank Helmond
Quality Manager, Teledyne D ALSA Corp.
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This Declaration correspond s to EN 45 014.
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Appendix D
Revision History
Teledyne DALSA
Revision
Number
Change Description
00
RoH S cam era p relim inary release.
01
CE and no-Pb stam ps ad d ed to front cover.
N ew param eter (4) ad d ed to com m and Correction Calibrate PRN U (cpa), pages
25, 46, and 79.
Tw o new com m and s ad d ed : Set FPN Range (sfr), and Set PRN U Range (spr),
pages 47, 49, and 83.
02
Tooling hole d im ensions ad d ed to m echanical d raw ing, section 4.1 page 63.
Piranha 3 square option ad d ed to m echanicals section, section 4.1 page 63. Also
ad d ed to the Mod els table, page 8, and to the EMC d eclaration, page 85.
03
-Labels for p ow er and control/ d ata connectors upd ated on the m echanicals.
N ew labels read : "Pow er 12 - 15V DC" and "Control & Data 1."
-Revised allow able line rate values, page 30. 12k: 2500-23619H z and 8k: 250033855H z.
- Reference to the cam era w ith square bod y and heat sink (P3-87-12k40-01-00-R)
rem oved .
04
-Cam era m od el nam es on cover revised to includ e all m od els.
-Input and output connectors figure, page 16, revised to includ e both cam era
bod y m od els, slim and square.
-Revised m od el num bers ad d ed to m echanical interface d iagram s, page 63.
-Measurem ent units (m m ) ad d ed to m echanical d iagram s.
05
N ote ad d ed to section 2.2.3 recom m end ing a Cam era Link cable no longer than
5 m eters for lossless d ata transm ission.
06
Cam era m echanicals revised so that the sensor alignm ent is d one based on the
tooling holes in the cam era's front plate. Mechanical illustration in the m anuals
and d atasheets revised to show the new alignm ent. Teled yne DALSA log o and
inform ation also ad d ed .
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Index
A
analog
gain, 38, 39, 40
offset, 40
processing, 34
applications, 8
B
background subtract, 47
baud rate
setting, 24
bright lines, 68
C
calibrating the cam era, 35, 44,
45, 46
calibration. See flat field
correction
cam era
control configuration, 72
control signals, 19, 72
m essages, 75
Cam era Link
configuration pinout, 18
connector, 18
d escription, 71
m od e, 31
reference, tim ing and
configuration, 71
Cam era Link m od e
configurations, 32
setting, 31
cam era settings. See settings
CCD, 12
clock signals, 19
coefficients
d iabling, 50
enabling, 50
load ing, 50
resetting, 50
com m and
form at, 23
list, 76
param eters, 24
com m and s
categories, 26
connectors, 15–19
Teledyne DALSA
Cam era Link, 18
H irose, 17
pow er, 17
D
d ark calibration. See flat field
correction
d ark patches, 69
d ata rate, 10
d iagnostics, 54
d igital
gain, 48
offset, 45
processing, 34
signal processing, 44
DVAL, 72
E
electrical
interface, 15
specifications, 9
EMC Declaration of
Conform ity, 85
end -of-line sequence, 50
erratic behavior, 68
error m essages, 75
exposure m od e, 27
overview , 27
setting, 27
tim ing, 28
exposure tim e, 27
setting, 31
EXSYN C, 19
external trigger, 19
F
fiber-optic light sources, 65
filters, 65
flat field correction
errors, 49
overview , 35
perform ing, 37
restrictions, 36
results, 49
FPN , 35
coefficient, 44
correction, 44
FVAL, 72
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G
gain, 23, 39, 41, 43
analog, 38
calibrating, 39
d igital, 48
ranges, 10
reference, 43
graph
responsivity, 13
N
H
noisy output, 69
halogen light sources, 65
help, 24
screen exam ple, 25
H irose connector, 17
horizontal lines, 69
hot m irror, 65
O
I
illum ination, 65
im age sensor, 12
incorrect line rate, 68
input/ output, 15
inputs (user bus), 19
installation, 15
overview , 15
interface
electrical, 9, 15
m echanical, 9
optical, 9, 65
serial, 23
softw are, 23
L
LED, 16
lens
m od eling, 65
lens m ounts, 64
light calibration. See flat field
correction
light sources, 65
line d ropout, 68
line rate, 9
setting, 30
line rate, 27
line statistics, 54
LVAL, 72
LVDS, 71
pairs, 72
M
m agnification, 66
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MDR26. See Camera Link
connector
m echanical
d raw ing, 63
specifications, 9
m od els, 8
m od es
d efault, 29
offset
analog, 40
calibrating, 40
d igital, 45
operating
m od es, 27
optical
interface, 65
specifications, 9
optical interface, 65
filters, 65
illum ination, 65
lens m od eling, 65
light sources, 65
m agnification and resolution,
66
output
noisy, 69
none, 68
P
perform ance specifications, 8–
11
pixel read out, 12
pixel statistics, 54
pow er
connector, 17
connectors, 17
guid elines, 17
supply, 17
pretrigger
setting, 33
PRN U, 35
coefficient, 47
correction, 45, 46
processing chain, 33
R
read out, 12
rebooting, 54
resolution, 9
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responsivity, 13
graph, 13
restoring
coefficients, 53
factory settings, 52
user settings, 52
Revision H istory, 87
roi. See Region of Interest
S
saving
coefficients, 53
user settings, 52
sensor, 12
read out, 12
specifications, 9
serial interface, 23
settings
restoring, 52
returning, 57, 60
saving, 52
signals
input, 19
output, 19
specifications
electrical, 9
key, 7
m echanical, 9
optical, 9
perform ance, 9
sensor, 9
statistics, 54
status
cam era LED, 16
subtracting background , 47
Teledyne DALSA
sync frequency, 56
T
tap m atching, 39
tem perature
m easurem ent, 56
test patterns, 54
threshold
low er, 51
setting, 51
upper, 51
throughput
setting, 32
tim ing, 20
cam era, 20
Cam era Link, 20
m od e 7, 30
trigger
external, 19
troubleshooting, 67
connections, 67
horizontal lines, 69
line rates, 68
serial interface, 68
V
vid eo d ata, 55, 72
voltage
m easurem ent, 56
W
w arning m essages, 75
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