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Enhanced Sensitivity Cameras Piranha ES Camera User’s Manual ES-80-04k40-00-R ES-80-08k80-00-R ES-80-08k40-00-R ES-82-04k40-00-R ES-82-04k80-00-R Piranha ES-xx User Manual 2 © 2011 Teled yne DALSA. All inform ation provid ed in this m anu al is believed to be accu rate and reliab le. N o responsibility 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. About Teledyne Technologies and Teledyne D ALSA, Inc. Teled yne Technologies is a lead ing provid er of sophisticated electronic su bsystem s, instru m entation and com m u nication prod u cts, engineered system s, aerospace engines, and energy and pow er generation system s. Teled yne Technologies’ operations are prim arily located in the United States, the United Kingd om and Mexico. For m ore inform ation, visit Teled yne Technologies’ w ebsite at w w w .teled yne.com . Teled yne DALSA, a Teled yne Technologies com pany, is an international lead er in high perform ance d igital im aging and sem icond u ctors w ith approxim ately 1,000 em ployees w orld w id e, head qu artered in Waterloo, Ontario, Canad a. Established in 1980, the com pany d esigns, d evelops, m anu factu res and m arkets d igital im aging prod u cts and solu tions, in ad d ition to provid ing MEMS prod u cts and services. For m ore inform ation, visit Teled yne DALSA’s w ebsite at w w w .teled yned alsa.com . Support For fu rther inform ation not inclu d ed in this m anu al, or fo r inform ation on Teled yne DALSA’s extensive line of im age sensing prod u cts, please contact: N orth America Europe Asia Pacific 605 McMu rray Rd Waterloo, ON N 2V 2E9 Canad a Breslau er Str. 34 Ikebu ku ro East 13F D-82194 Gröbenzell (Mu nich) 3-4-3 H igashi-Ikebu ku ro Tel: 519 886 6000 Fax: 519 886 8023 Germ any Toshim a-ku , Tokyo 170-0013 Tel: +49 - 8142 – 46770 Japan w w w .teled yned alsa.com Fax: +49 - 8142 – 467746 Tel: 81 3 5960 6353 sales.am ericas@teled yned alsa.com su pport@teled yned alsa.com w w w .teled yned alsa.com Fax: 81 3 5960 6354 (fax) sales.eu rope@teled yned alsa.com su pport@teled yned alsa.com w w w .teled yned alsa.com sales.asia@teled yned alsa.com su pport@teled yned alsa.com Cam era Link is a trad em ark registered by the Au tom ated Im aging Association , as chair of a com m ittee of ind u stry m em bers inclu d ing Teled yne DALSA. Docu m ent nu m ber 03-032-20070-02. Docu m ent revision d ate Mond ay, Ju ne 06, 2011. 03-032-20070-02 Teledyne DALSA 3 Piranha ES-xx User Manual Contents Introduction___________________________________________________________ 5 1.1 Camera Highlights ....................................................................................................................................................... 5 1.2 Camera Performance Specifications............................................................................................................................. 7 1.3 Image Sensor ............................................................................................................................................................... 20 1.4 Responsivity ................................................................................................................................................................. 21 Camera Hardware Interface ________________________________________________ 23 2.1 Installation Overview ................................................................................................................................................... 23 2.2 Input/Output Connectors and LED ............................................................................................................................... 23 2.2.1 LED Status Indicator............................................................................................................................... 24 2.2.2 Power Connector .................................................................................................................................... 25 2.2.3 Camera Link Data Connector ................................................................................................................. 25 2.3 Camera Link Video Timing .......................................................................................................................................... 27 Software Interface: How to Control the Camera __________________________________ 29 3.1 First Power Up Camera Settings .................................................................................................................................. 33 3.2 Command Categories ................................................................................................................................................... 34 3.3 Sensor Output Format ................................................................................................................................................. 35 3.3.1 Selecting TDI or Area Mode Operation .................................................................................................. 35 3.3.2 Selecting the Number of CCD Integration Stages................................................................................... 35 3.3.3 Setting the Camera’s CCD Shift Direction .............................................................................................. 36 3.3.4 Increasing Sensitivity with Binning ........................................................................................................ 37 3.3.5 Exposure Mode and Line/Frame Rate .................................................................................................... 38 3.4 Camera Output Format ................................................................................................................................................ 42 3.4.1 How to Configure Camera Output .......................................................................................................... 42 3.4.2 Setting the Camera Link Mode............................................................................................................... 48 3.4.3 Setting the Camera Throughput............................................................................................................. 49 3.4.4 Setting the Pixel Readout Direction ....................................................................................................... 49 3.4.5 Setting a Pretrigger ............................................................................................................................... 51 3.5 Data Processing ........................................................................................................................................................... 51 3.5.1 Setting a Region of Interest ................................................................................................................... 51 3.5.2 Analog and Digital Signal Processing Chain ........................................................................................ 52 3.5.3 End-of-line Sequence ............................................................................................................................. 67 3.6 Saving and Restoring Settings ..................................................................................................................................... 69 Teledyne DALSA 03-032-20070-02 4 Piranha ES-xx User Manual 3.6.1 Saving and Restoring Factory and User Settings ................................................................................... 69 3.6.2 Saving and Restoring PRNU and FPN Coefficients ................................................................................ 70 3.6.3 Rebooting the Camera ........................................................................................................................... 72 3.7 Diagnostics ................................................................................................................................................................... 73 3.7.1 Generating a Test Pattern ...................................................................................................................... 73 3.7.2 Returning Video Information ................................................................................................................. 76 3.7.3 Temperature Measurement.................................................................................................................... 77 3.7.4 Voltage Measurement ............................................................................................................................ 78 3.7.5 Camera Frequency Measurement ........................................................................................................... 78 3.7.6 Returning Camera Settings .................................................................................................................... 78 Optical and Mechanical___________________________________________________ 85 4.1 Lens Mounts ................................................................................................................................................................. 85 4.2 Optical Interface ........................................................................................................................................................... 85 4.3 Mechanical Interface .................................................................................................................................................... 87 Error Handling and Command List ___________________________________________ 89 A1 Error Handling.............................................................................................................................................................. 89 A2 Commands: Quick Reference ........................................................................................................................................ 91 EMC Declaration of Conformity _____________________________________________ 101 Revision History ________________________________________________________ 103 Index _______________________________________________________________ 105 03-032-20070-02 Teledyne DALSA 5 Piranha ES-xx User Manual 1 Introduction 1.1 Camera Highlights Features 8192 or 4096 resolu tion, 7 µm or 14 µm pixel pitch, 90% fill factor H igh speed , u p to 640 m egapixels/ second throu ghpu t Up to 110 kH z (14 µm x 14 µm ) line rate 32 / 16 or 16/ 8 stages, ind epend ently selectable Tim e Delay and Integration (TDI) im aging regions for enhanced u ser-controlled sensitivity Broad band responsivity u p to 780 DN (nJ/ cm ) @ 10 d B, 8-bit (ES-82) 4 or 8 taps, bid irectional TDI 100x anti-bloom ing 2 Programmability Teledyne DALSA Serial interface (ASCII, 9600 bau d , ad ju stable to 19200, 57600, 115200), throu gh Cam era Link™. Program m able gain, offset, fram e and fram e rates, trigger m od e, test pattern ou tpu t, and cam era d iagnostics. Mirroring and forw ard / reverse control. Selectable Area or TDI Mod e of operation. Area Mod e facilitates cam era alignm ent and focu sing. Area m od e can also be u sed for regu lar operation. Selectable pixel size (binning). Flat-field correction—m inim izes lens vignetting, non-u niform lighting, and sensor FPN and PRN U. Selectable Base (ES-80-08k40 only), Med iu m , or Fu ll Cam era Link configu ration, d epend ing on cam era m od el. 03-032-20070-02 Piranha ES-xx User Manual 6 Description The Piranha Enhanced Sensitivity (ES) cam era fam ily represent Teled yne DALSA's latest generation of su perior sensitivity, TDI based cam eras. The Piranha ES fam ily m axim izes system throu ghpu t and provid es the largest nu m ber of pixels available in a TDI cam era. All cam eras are capable of bi-d irectionality and u p to 16 or 32 stages of integration, d epend ing on the m od el. Applications The Piranha ES fam ily is id eal for applications requ iring high speed , su perior im age qu ality, and high responsivity. Applications inclu d e: Solar cell inspection Postal sorting (flats) Flat panel d isplay inspection Printed circu it board inspection H igh perform ance d ocu m ent scanning Large w eb inspection Low -light applications Models The Piranha ES-xx cam eras are available in these m od els. Table 1: Piranha ES-xx Camera Models Overview Model Number Description 03-032-20070-02 ES-80-04k40-00-R 4k resolution, program m able 4 or 8 taps, up to 320 m egapixels/ second throughput, 68 kH z line rate, Med ium or Full Cam era Link configuration. 7 µm x 7 µm pixel size. 16 or 32 stage TDI. ES-80-08k80-00-R 8k resolution, program m able 4 or 8 taps, up to 640 m egapixels/ second throughput, 68 kH z line rate, Med ium or Full Cam era Link configuration . 7 µm x 7 µm pixel size. 16 or 32 stage TDI. ES-80-08k40-00-R 8k resolution, program m able 4 or 8 taps, up to 320 m egapixels/ second throughput, 34 kH z line rate, Base, Med ium or Full Cam era Link configuration. 7 µm x 7 µm pixel size. 16 or 32 stage TDI. ES-82-04k40-00-R 4k resolution, program m able 4 or 8 taps, up to 320 m egapixels/ second throughput, 55 kH z line rate, Med ium or Full Cam era Link configuration. 14 µm x 14 µm pixel size. 8 or 16 stage TDI. ES-82-04k80-00-R 4k resolution, program m able 4 or 8 taps, up to 640 m egapixels/ second throughput, 110 kH z line rate, Med ium or Full Cam era Link configuration. 14 µm x 14 µm pixel size. 8 or 16 stage TDI. Teledyne DALSA 7 Piranha ES-xx User Manual Throu ghou t the m anu al, the cam eras are referred to as the Piranha ES-xx cam era fam ily u nless a section is valid to a specific m od el only w here the cam era’s m od el nu m ber is u sed . 1.2 Camera Performance Specifications Table 2: ES-80-08k80 Camera Performance Specifications Feature / Units Specification Sensor Features Im ager Form at Bid irectional TDI Resolution pixels 8192 Pixel Fill Factor % 90 Pixel Size µm 7x7 Output Form at (# of Cam era Link taps) 4 or 8 Stage Selection 32, 16 Anti-bloom ing 100x CCD Shift Direction Change second s Optical Interface Units Back Focal Distance F Mount M42x1 Mount M72 Mount Sensor Alignm ent (aligned to sid es of cam era) x y z z Lens Mount H ole mm mm mm mm mm mm ° 6.56±0.25 ±0.05 ±0.05 ±0.25 ±0.2 M72x0.75 Mechanical Interface Units Cam era Size mm lxhxw 80 x 150 x 65 Mass g <800 Connectors pow er connector d ata connector Electrical Interface Pow er Dissipation 6 pin m ale H irose MDR26 fem ale Units Input Voltage Teledyne DALSA 0.2 1 Volts +12 to +15 ±5% W 19 03-032-20070-02 Piranha ES-xx User Manual 8 Operating 2 Tem perature °C 0 to 50 Bit Wid th Bits 8 or 12 bit user selectable Output Data Configuration Med ium or Full Cam era Link Operating Ranges Units Minim um Line Rate kH z 3.5 Maxim um Line Rate kH z 68 Throughput Mpix/ sec 640 Gain dB -10 to +10 Performance Units Min Typ Dynam ic Range -10 d B gain 0 d B gain +10 d B gain Ratio 312 166 56 1190 357 119 Rand om N oise -10 d B gain 0 d B gain +10 d B gain SEE -10 d B gain 0 d B gain +10 d B gain DN rm s N EE pJ/ cm .22 .7 2.1 nJ/ cm .8 1.5 4.5 2 6.4 2.0 0.6 2 -10 d B gain 0 d B gain +10 d B gain 03-032-20070-02 Max 5.6 5.6 5.6 Analog Broad band Responsivity -10 d B gain 0 d B gain +10 d B gain DN / nJ/ cm FPN w ith correction 0 d B gain FPN w / o correction -10 d B gain 0 d B gain +10 d B gain DN p -p 2 — 117 — 39 123 390 — 130 — .5 2 — 4.5 — 3 3 9 Teledyne DALSA 9 Piranha ES-xx User Manual Performance Units Min PRN U w ith correction 0 d B gain w / o correction -10 d B gain 0 d B gain +10 d B gain DN p -p Saturation Output Am plitud e DN Calibration Tim e second s 8.5 DC Offset DN 3 Typ Max 4.0 8 — — 10 22 22 25 255 5 6 Test conditions unless otherwise noted: TDI m od e of operation. These specifications are not gu aranteed for area m od e of operation. Line Rate: 10kH z N om inal Gain setting Light Sou rce: Broad band Qu artz H alogen, 3250k, w ith 700 nm IR cu toff filter installed All Max specifications are valid over a 0-50°C tem peratu re range All Typ specifications are m easu red at 25°C. All valu es are referenced at 8-bit 1. Maxim u m u sing highest Cam era Link m od e and m axim u m line rate 2. Measu red at the front plate. Table 3: ES-80-08k40 Camera Performance Specifications Feature / Units Specification Sensor Features Im ager Form at Bid irectional TDI Resolution pixels 8192 Pixel Fill Factor % 90 Pixel Size µm 7x7 Output Form at (# of Cam era Link taps) 4 or 8 Stage Selection 32, 16 Anti-bloom ing Teledyne DALSA 100x CCD Shift Direction Change second s Optical Interface Units Back Focal Distance mm 0.2 6.56±0.25 03-032-20070-02 Piranha ES-xx User Manual 10 Ad apters F Mount M42x1 Mount M72 Mount Sensor Alignm ent (aligned to sid es of cam era) x y z z Lens Mount H ole mm mm mm ° Mechanical Interface Units Cam era Size mm lxhxw 80 x 150 x 65 Mass g <800 Connectors pow er connector d ata connector Electrical Interface 6 pin m ale H irose MDR26 fem ale Units Input Voltage Volts +12 to +15 ±5% W 19 Operating 2 Tem perature °C 0 to 50 Bit Wid th Bits 8 or 12 bit user selectable Pow er Dissipation 1 Output Data Configuration 03-032-20070-02 ±0.05 ±0.05 ±0.25 ±0.2 M72x0.75 Base, Med ium , or Full Cam era Link Operating Ranges Units Minim um Line Rate kH z 3.5 Maxim um Line Rate kH z 34 Throughput Mpix/ sec 320 Gain dB -10 to +10 Performance Units Minimum Typical Dynam ic Range -10 d B gain 0 d B gain +10 d B gain Ratio 312 312 100 1920 607 192 Rand om N oise -10 d B gain 0 d B gain +10 d B gain DN rm s 0.16 0.41 1.3 Maximum 0.8 0.8 2.5 Teledyne DALSA 11 Piranha ES-xx User Manual Performance SEE Units nJ/ cm Minimum -10 d B gain 0 d B gain +10 d B gain N EE Typical Maximum 2 6.4 2.0 0.6 pJ/ cm 2 -10 d B gain 0 d B gain +10 d B gain 5.6 5.6 5.6 Analog Broad band Responsivity -10 d B gain 0 d B gain +10 d B gain DN / nJ/ cm FPN w ith correction 0 d B gain FPN w / o correction -10 d B gain 0 d B gain +10 d B gain DN p -p PRN U w ith correction 0 d B gain w / o correction -10 d B gain 0 d B gain +10 d B gain DN p -p Saturation Output Am plitud e DN DC Offset DN 2 — 117 — 39 123 390 — 130 — .5 2 — 3 — 3 3 9 3.2 5.5 — — 7 22 22 25 255 3 5 6 Test conditions unless otherwise noted: Teledyne DALSA TDI m od e of operation. These specifications are not gu aranteed for area m od e of operation. Line Rate: 10kH z N om inal Gain setting Light Sou rce: Broad band Qu artz H alogen, 3250k, w ith 700 nm IR cu toff filter installed All Max specifications are valid over a 0-50°C tem peratu re range All Typ specifications are m easu red at 25°C. All valu es are referenced at 8-bit 03-032-20070-02 Piranha ES-xx User Manual 12 1. Maxim u m u sing highest Cam era Link m od e and m axim u m line rate 2. Measu red at the front plate. Table 4: ES-80-04k40 Camera Performance Specifications Feature / Units Specification Sensor Features Im ager Form at Bid irectional TDI Resolution pixels 4096 Pixel Fill Factor % 90 Pixel Size µm 7x7 Output Form at (# of Cam era Link taps) 4 or 8 Stage Selection 32, 16 Anti-bloom ing 100x CCD Shift Direction Change second s Optical Interface Units Back Focal Distance Ad apters mm 6.56±0.25 F Mount M42x1 Mount M72 Mount mm mm mm ° ±0.05 ±0.05 ±0.25 ±0.2 M72x0.75 Sensor Alignm ent (aligned to sid es of cam era) x y z z Lens Mount H ole Mechanical Interface Units Cam era Size mm lxhxw 80 x 150 x 65 Mass g <800 Connectors pow er connector d ata connector Electrical Interface Pow er Dissipation 6 pin m ale H irose MDR26 fem ale Units Input Voltage 03-032-20070-02 0.2 1 Volts +12 to +15 ±5% W 19 Operating 2 Tem perature °C 0 to 50 Bit Wid th Bits 8 or 12 bit user selectable Teledyne DALSA 13 Piranha ES-xx User Manual Output Data Configuration Med ium or Full Cam era Link Operating Ranges Units Minim um Line Rate kH z 3.5 Maxim um Line Rate kH z 68 Throughput Mpix/ sec 320 Gain dB -10 to +10 Performance Units Dynam ic Range -10 d B gain 0 d B gain +10 d B gain Ratio Rand om N oise -10 d B gain 0 d B gain +10 d B gain SEE -10 d B gain 0 d B gain +10 d B gain DN rm s N EE pJ/ cm Minimum Typical 312 166 56 1190 357 119 0.22 0.7 2.1 nJ/ cm 0.8 1.5 4.5 2 6.4 2.0 0.6 2 -10 d B gain 0 d B gain +10 d B gain Teledyne DALSA Maximum 5.6 5.6 5.6 2 Analog Broad band Responsivity -10 d B gain 0 d B gain +10 d B gain DN / nJ/ cm @700nm FPN w ith correction 0 d B gain FPN w / o correction -10 d B gain 0 d B gain +10 d B gain DN p -p PRN U w ith correction 0 d B gain w / o correction -10 d B gain 0 d B gain +10 d B gain DN p -p — 117 — 39 123 390 — 130 — .5 2 — 3 — 3 3 9 3.2 5.5 — — 7 22 22 25 03-032-20070-02 Piranha ES-xx User Manual 14 Performance Units Saturation Output Am plitud e DN DC Offset DN Minimum Typical Maximum 255 3 5 6 Test conditions unless otherwise noted: TDI m od e of operation. These specifications are not gu aranteed for area m od e of operation. Line Rate: 10 kH z N om inal Gain setting Light Sou rce: Broad band Qu artz H alogen, 3250k, w ith 700 nm IR cu toff filter installed All Max specifications are valid over a 0-50°C tem peratu re range All Typ specifications are m easu red at 25°C. All valu es are referen ced at 8-bit 1. Maxim u m u sing highest Cam era Link m od e and m axim u m line rate 2. Measu red at the front plate. Table 5: ES-82-04k40 Camera Performance Specifications Feature / Units Specification Sensor Features Im ager Form at 03-032-20070-02 Bid irectional TDI Resolution pixels 4096 Pixel Fill Factor % 90 Pixel Size µm 14 x 14 Output Form at (# of Cam era Link taps) 4 or 8 Stage Selection 16, 8 Anti-bloom ing 100x CCD Shift Direction Change second s Optical Interface Units Back Focal Distance F Mount M42x1 Mount M72 Mount mm mm mm 0.2 6.56±0.25 Teledyne DALSA 15 Piranha ES-xx User Manual Sensor Alignm ent (aligned to sid es of cam era) x y z z Lens Mount H ole mm mm mm ° ±0.05 ±0.05 ±0.25 ±0.2 M72x0.75 Mechanical Interface Units Cam era Size mm lxhxw 80 x 150 x 65 Mass g <800 Connectors pow er connector d ata connector Electrical Interface 6 pin m ale H irose MDR26 fem ale Units Input Voltage Volts +12 to +15 ±5% W 19 Operating 2 Tem perature °C 0 to 50 Bit Wid th Bits 8 or 12 bit user selectable Pow er Dissipation 1 Output Data Configuration Teledyne DALSA Med ium or Full Cam era Link Operating Ranges Units Minim um Line Rate kH z 3.5 Maxim um Line Rate kH z 55 Throughput Mpix/ sec 320 Gain dB -10 to +10 Performance Units Dynam ic Range -10 d B gain 0 d B gain +10 d B gain Ratio Rand om N oise -10 d B gain 0 d B gain +10 d B gain SEE -10 d B gain 0 d B gain +10 d B gain DN rm s Minimum Typical 312 166 56 1190 357 119 0.22 0.7 2.1 nJ/ cm Maximum 0.8 1.5 4.5 2 3.28 1.04 0.32 03-032-20070-02 Piranha ES-xx User Manual 16 Performance N EE Units pJ/ cm Minimum Typical Maximum 2 -10 d B gain 0 d B gain +10 d B gain 2.8 2.8 2.8 2 Analog Broad band Responsivity -10 d B gain 0 d B gain +10 d B gain DN / nJ/ cm @700nm FPN w ith correction 0 d B gain FPN w / o correction -10 d B gain 0 d B gain +10 d B gain DN p -p PRN U w ith correction 0 d B gain w / o correction -10 d B gain 0 d B gain +10 d B gain DN p -p Saturation Output Am plitud e DN DC Offset DN — 234 — 78 246 780 — 260 — .5 2 3 3 3 9 3.2 5.5 — — 7 22 22 25 255 3 5 6 Test conditions unless otherwise noted: TDI m od e of operation. These specifications are not gu aranteed for area m od e of operation. Line Rate: 10 kH z N om inal Gain setting Light Sou rce: Broad band Qu artz H alogen, 3250k, w ith 700 nm IR cu toff filter installed All Max specifications are valid over a 0-50°C tem peratu re range All Typ specifications are m easu red at 25°C. All valu es are referen ced at 8-bit 1. Maxim u m u sing highest Cam era Link m od e and m axim u m line rate 2. Measu red at the front plate. 03-032-20070-02 Teledyne DALSA 17 Piranha ES-xx User Manual Table 6: ES-82-04k80 Camera Performance Specifications Feature / Units Specification Sensor Features Im ager Form at Bid irectional TDI Resolution pixels 4096 Pixel Fill Factor % 90 Pixel Size µm 14 x 14 Output Form at (# of Cam era Link taps) 4 or 8 Stage Selection 16, 8 Anti-bloom ing 100x CCD Shift Direction Change second s Optical Interface Units Back Focal Distance F Mount M42x1 Mount M72 Mount Sensor Alignm ent (aligned to sid es of cam era) x y z z Lens Mount H ole mm mm mm mm 6.56±0.25 (d ie to front plate surface) mm mm mm ° ±0.05 ±0.05 ±0.25 ±0.2 M72x0.75 Mechanical Interface Units Cam era Size mm lxhxw 80 x 150 x 65 Mass g <800 Connectors pow er connector d ata connector Electrical Interface 6 pin m ale H irose MDR26 fem ale Units Input Voltage Volts +12 to +15 ±5% W 19 Operating 2 Tem perature °C 0 to 50 Bit Wid th Bits 8 or 12 bit user selectable Pow er Dissipation Output Data Configuration Teledyne DALSA 0.2 1 Med ium or Full Cam era Link 03-032-20070-02 Piranha ES-xx User Manual 18 Operating Ranges Units Minim um Line Rate kH z 3.5 Maxim um Line Rate kH z 34 Throughput Mpix/ sec 320 Gain dB -10 to +10 Performance Units Dynam ic Range -10 d B gain 0 d B gain +10 d B gain Ratio Rand om N oise -10 d B gain 0 d B gain +10 d B gain SEE -10 d B gain 0 d B gain +10 d B gain DN rm s N EE pJ/ cm Minimum Typical 312 166 56 1190 357 119 0.22 0.7 2.1 nJ/ cm 0.8 1.5 4.5 2 3.28 1.04 0.32 2 -10 d B gain 0 d B gain +10 d B gain 03-032-20070-02 Maximum 2.8 2.8 2.8 2 Analog Broad band Responsivity -10 d B gain 0 d B gain +10 d B gain DN / nJ/ cm @700nm FPN w ith correction 0 d B gain FPN w / o correction -10 d B gain 0 d B gain +10 d B gain DN p -p PRN U w ith correction 0 d B gain w / o correction -10 d B gain 0 d B gain +10 d B gain DN p -p Saturation Output Am plitud e DN — 234 — 78 246 780 — 260 — .5 2 — 3 — 3 3 9 3.2 5.5 — — 7 22 22 25 255 Teledyne DALSA 19 Piranha ES-xx User Manual Performance Units Minimum Typical Maximum DC Offset DN 3 5 6 Test conditions unless otherwise noted: TDI m od e of operation. These specifications are not gu aranteed for area m od e of operation. Line Rate: 10 kH z N om inal Gain setting Light Sou rce: Broad band Qu artz H alogen, 3250k, w ith 700 nm IR cu toff filter installed All Max specifications are valid over a 0-50°C tem peratu re range All Typ specifications are m easu red at 25°C. All valu es are referenced at 8-bit 1. Maxim u m u sing highest Cam era Link m od e and m axim u m line rate 2. Measu red at the front plate. Teledyne DALSA 03-032-20070-02 Piranha ES-xx User Manual 20 1.3 Image Sensor The cam era u ses ou r new est bid irectional TDI sensors. The cam era can be configu red to read ou t in either Forw ard or Reverse CCD shift d irection. Th e d irection is controlled by the softw are com m and scd. Figure 1: Sensor Block Diagrams 8 Tap Sensor Block Diagram, ES-80-04k40 Camera Link Tap T1 T2 1R 2R 3R 4R T3 T4 5R 6R 7R 8R CCD Tap Reverse CCD Readout Shift Register 32 STG 32 ISO Rows 32 STG 16 STG TDI Column 4096 TDI Column 4095 16 STG TDI Column 2 TDI Imaging Region 14 µm x 14 µm pixels 32 TDI Rows TDI Column 1 6 1/4 Isolation Rows 6 1/4 Isolation Rows Forward CCD Readout Shift Register CCD Tap 1F 2F 3F 4F T1 T2 Camera Link Tap 5F 6F 7F 8F T3 T4 16 Tap Sensor Block Diagram, ES-80-08kx0 Camera Link Tap T1 T2 T5 T4 T3 T6 T7 T8 9R 10R 11R 12R 13R 14R 15R 16R 1R 2R 3R 4R 5R 6R 7R 8R CCD Tap Reverse CCD Readout Shift Register 32 STG 32 ISO Rows 32 STG 16 STG TDI Column 8192 TDI Column 8191 16 STG TDI Column 2 TDI Imaging Region 7 µm x 7 µm pixels 32 TDI Rows TDI Column 1 6 1/4 Isolation Rows 6 1/4 Isolation Rows Forward CCD Readout Shift Register CCD Tap Camera Link Tap 03-032-20070-02 1F 2F 3F 4F T1 T2 5F 6F T3 7F 8F T4 9F 10F 11F 12F 13F 14F 15F 16F T5 T6 T7 T8 Teledyne DALSA 21 Piranha ES-xx User Manual 16 Tap Sensor Block Diagram, ES-82-04k40 Camera Link Tap T1 T2 T5 T4 T3 1R 2R 3R 4R 5R 6R 7R 8R T6 T7 T8 9R 10R 11R 12R 13R 14R 15R 16R CCD Tap Reverse CCD Readout Shift Register 16 STG 16 ISO Rows 16 STG 8 STG TDI Column 4096 TDI Column 4095 TDI Imaging Region 14 µm x 14 µm pixels 16 TDI Rows 8 STG TDI Column 2 TDI Column 1 3 Isolation Rows 3 Isolation Rows Forward CCD Readout Shift Register CCD Tap 1F 2F 3F 4F T1 T2 Camera Link Tap 5F 6F T3 7F 8F T4 9F 10F 11F 12F 13F 14F 15F 16F T5 T7 T6 T8 1.4 Responsivity Figure 2: Piranha ES Analog Responsivity Responsivity (DN/(nJ/cm²)) ES-82 ES-80 1320 660 1060 530 800 400 400 270 280 140 400 Teledyne DALSA Responsivity vs. Wavelength @ 10 dB Gain 500 600 700 Wavelength (nm) 800 900 1000 03-032-20070-02 22 03-032-20070-02 Piranha ES-xx User Manual Teledyne DALSA 23 Piranha ES-xx User Manual 2 Camera Hardware Interface 2.1 Installation Overview When installing 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 the m anu factu rer’s instru ctions to 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 cable. 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, and so on. 2.2 Input/Output Connectors and LED The cam era u ses: Teledyne DALSA A d iagnostic 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. H igh-d ensity 26-pin MDR26 connectors for Cam era Link control signals, d ata signals, and serial com m u nications. Refer to section 2.2.3 Cam era Link Data Connector for d etails. 03-032-20070-02 Piranha ES-xx User Manual 24 One 6-pin H irose connector for pow er. Refer to section 2.2.2 Pow er Connector for d etails. Figure 3: Piranha ES-8x Input and Output Connectors Diagnostic LED Camera Link Camera Link +12V to +15V and Ground ! WARNING: It is extremely important that you apply the appropriate voltages to your camera. Incorrect voltages will damage the camera. See 2.2.2 Power Connector 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 operational 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 panied by correspond ing m essages fu rther d escribing the cu rrent cam era statu s. Table 5: Diagnostic LED Priority Color of Status LED 03-032-20070-02 Meaning 1 Flashing Red Fatal Error. Cam era tem perature is too high and cam era therm al shutd ow n has occurred or a pow er failure has been d etected . 2 Solid Red Warning. Loss of functionality. 3 Flashing Green Cam era initialization or executing a long com m and (e.g., flat field correction com m and s ccp or ccf) 4 Solid Green Cam era is operational and functioning correctly . Teledyne DALSA 25 Piranha ES-xx User Manual 2.2.2 Power Connector Figure 4: Hirose 6-pin Circular Male—Power Connector Hirose 6-pin Circular Male 6 1 5 2 4 3 Table 6: Hirose Pin Description Pin Description Mating Part: HIROSE HR10A-7P-6S Pin Description 1 Min +12 to Max +15V 4 GN D 2 Min +12 to Max +15V 5 GN D 3 Min +12 to Max +15V 6 GN D The cam era requ ires a single voltage inpu t (+12 to +15V). 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: Apply the appropriate voltages 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: Camera performance specifications are not guaranteed if your power supply does not meet these requirements. 2.2.3 Camera Link Data Connector Figure 5: Camera Link MDR26 Connector M D R 26F em a le 13 1 26 14 M atingP art:3M334-31series Cable: 3M14X26-S ZLB -XXX-0LC** 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 w as 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. Teledyne DALSA 03-032-20070-02 Piranha ES-xx User Manual 26 Camera Link Configuration The Cam era Link interface is im plem ented as a Base, Med iu m , or Fu ll Configu ration in the Piranha ES cam eras d epend ing on the m od el nu m ber and follow s the stand ard Cam era Link configu ration. Table 7: Camera Control Configuration Signal Configuration CC1 EXSYN C CC2 Spare CC3 Forw ard CC4 Spare See Append ix B for the com plete Cam era Link configu ration table . Also refer to the Cam era Link Road m ap, available from the Know led ge Center on ou r w ebsite here, for m ore inform ation. 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 7) TDI Mode. EXSYNC (Triggers Frame Readout) Fram e rate can be set internally u sing the ser ial 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 pixel read ou t. Section 3.3.5 Exposu re Mod e and Line/ Fram e Rate for d etails on how to set fram e tim es, exposu re tim es, and cam era m od es. Direction Control You control the CCD shift d irection throu gh the serial interface. With the softw are com m and , scd, you d eterm ine w hether the d irection control is set via softw are control or via the Cam era Link control signal on CC3. Refer to section 3.3.3 Setting the Cam era’s CCD Shift Direction for d etails. 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 Road m ap, available from the Know led ge Center on ou r w ebsite, here, for the stand ard location of these signals. This camera’s data should be sampled on the rising edge of STROBE. 03-032-20070-02 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 3.4.2 Setting the Cam era Link Mod e for d etails. Teledyne DALSA 27 Piranha ES-xx User Manual 2.3 Camera Link Video Timing The Piranha ES-xx cam era has tw o d ifferent read ou t tim es. The first read ou t tim e is the CCD Read ou t w here the cam era pixels are read ou t into the cam era’s line store. The second read ou t is the line store read ou t w here the line store pixels are read ou t to you r acqu isition system . The cam era’s m inim u m read ou t tim e is d epend ant on w hich of these tw o read ou t tim es are greater w here the greater read ou t tim e w ill be the cam era’s m inim u m read ou t tim e. The figu re below illu strates cam era tim ing w hen the CCD rea d ou t is greater than the line store read ou t. Figure 6: Piranha ES-xx TDI Mode Timing (CCD Limited) CCD Readout EXSYNC Frame Overhead VTrans Time HCCD Time N+1 Linestore Start Overhead Linestore End Overhead oLVal N Linestore Readout The follow ing figu re illu strates cam era tim ing w hen the line store read ou t is greater than the CCD read ou t. Figure 7: Piranha ES-xx TDI Mode Timing (Line store Limited) CCD Readout EXSYNC Frame Overhead VTrans Time HCCD Time N Linestore Start Overhead oLVal Linestore End Overhead N Linestore Readout Symbol HCCD Frequency HCCD Pixels/Tap Teledyne DALSA Table 8: Piranha ES-xx Timing Values Time 40 MHz (ES-80-04k40, ES-80-08K80, ES-82-04k40, ES-82-04k80) 20 MHz (ES-80-08K40) 512 (ES-80) and 256 (ES-82) 03-032-20070-02 Piranha ES-xx User Manual 28 Symbol Time Frame Overhead 4 HCCD Frequency VTransTime 33 HCCD Frequency HCCD Read Overhead HTime ES 4k: and 8k: 34 clocks HTime= HCCD Read Overhead + HCCD Pixels/Tap HCCD Frequency CCDReadoutTime = FrameOverhead + HTime + VTransTime x Vertical Binning Factor CCD Readout Time HCCD Taps Line store Start Overhead Line store End Overhead Line store Readout Time 16 (ES-80-08k40, ES-80-08K80, ES-82-04k40, ES-82-04k80) or 8 (ES-80-04k40) 15 clocks 23 clocks HCCD Pixels/Tap x HCCD Taps # Camera Link Taps x Horizontal Binning Factor Horizontal Binning Factor Vertical Binning Factor Vertical Readout Rows # of Camera Link Taps Throughput + Linestore Start Overhead+ Linestore End Overhead x # Camera Link Taps Throughput (MHz) Value set with sbh command Value set with sbv command Stage selection set with stg command Value set with the clm command Value set with sot command Figure 8: Piranha ES-xs Area Mode Timing (CCD Limited) EXSYNC IMPORTANT: This camera uses the falling edge of EXSYNC to trigger line readout, unlike previous DALSA cameras, which used the rising edge. User FVAL Internal HTime User LVAL Figure 9: Piranha ES-xx Area Mode Timing (Line store Limited) EXSYNC User FVAL Internal HTime User LVAL Symbol Table 9: Piranha Input and Output Time CCD Readout Time (Area Mode) CCD ReadoutTime= Frame Overhead + HTime + VTransTime x Remainder HCCD Frequency HTime + VTrans x Vertical Binning Factor x Integer 03-032-20070-02 Vertical readout rows + ISORows Vertical Binning Factor + Vertical readout rows + ISORows Vertical Binning Factor Teledyne DALSA 29 Piranha ES-xx User Manual 3 Software Interface: How to Control the Camera All Piranha ES-xx 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 A2 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 Mirroring and read ou t control Generating a test pattern for d ebu gging The serial interface u ses a sim ple ASCII-based protocol and the PC d oes not requ ire any cu stom softw are. Note: This com m and set has changes from previou s cam era m od els. Do not assu m e that the Piranha ES com m and s perform sim ilarly to old er cam eras. Serial Protocol Defaults Teledyne DALSA 8 d ata bits 1 stop bit N o parity N o flow control 9.6kbps Cam era d oes not echo characters 03-032-20070-02 Piranha ES-xx User Manual 30 Command Format When entering com m and s, rem em ber that: 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 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 u sed exclu sively as the last character sent by the cam era. The follow ing param eter conventions are u sed in the m anu al: • • • • • • • i f m s t x y = integer valu e = real nu m ber = m em ber of a set = string = tap id = pixel colu m n nu m ber = pixel row nu m ber Example: to return the current camera settings gcp <CR> Setting Baud Rate Purpose: Syntax: Sets the speed in bps of the cam era 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. One 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). 03-032-20070-02 Teledyne DALSA 31 Piranha ES-xx User Manual 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 3.7.6 Returning Cam era Settings. The cam era configu ration com m and help screen lists all com m and s available. Param eter ranges d isplayed are the extrem e ranges available. Depend ing on the cu rrent cam era operating cond itions, you m ay not be ab le to obtain these 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. Example Help Screen for ES-80-08k80 TDI Mode Operation Command Teledyne DALSA cag cao ccf ccg ccp clm cpa css dpc els epc gcm gcp gcs gcv get get gh gl gla gpc gsf gss h lpc rc rfs roi rpc rus sag sao sbh sbr sbv scd sdo sem sfc sfr slt calibrate analog gain calibrate analog offset correction calibrate fpn calibrate camera gain correction calibrate prnu camera link mode calculate 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 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 binning horizontal set baud rate set binning vertical set ccd direction set digital offset set exposure mode set fpn coeff set fpn range set lower threshold ti ti 0-16:1024-4055 0-16:0-255 iti 1-4:0-16:1024-4055 m ii m xx i ii 15/16/21/ 1-4:1024-4055 256/512/1024/ 1-8191:2-8192 0-1 0-1:0-1 s x 1-8192 xx xx x i 1-8191:2-8192 1-8191:2-8192 1-8192 0-0 i Parameters i = integer f = floating point number m = member of a set s = string t = tap x = pixel column number y = pixel row number Parameter Range - = range : = multiple parameter separator / = member of a set separator NA = command not available in current operating mode 0-4 xyxy 1-8192:1-8192:1-1:1-1 tf ti m m i i ti m xi xxi i 0-16:-10.0-+10.0 0-16:0-255 1/2/4/8/ 9600/19200/57600/115200/ 1-8 0-2 0-16:0-511 3/7/ 1-8192:0-511 1-8192:1-8192:0-2048 0-4095 03-032-20070-02 Piranha ES-xx User Manual 32 smm sot spc spr ssb ssf ssg stg spt sut svm tdi ugr vt vv wfc wpc wus set mirroring mode set output throughput set prnu coeff set prnu range set subtract background set sync frequency set system gain set stage set pretrigger set upper threshold set video mode set TDI or area mode update gain reference verify temperature verify voltage write FPN coefficients write PRNU coefficients write user settings i m xi xxi ti f ti m i i i i i i 0-1 320 1-8192:0-28671 1-8192:1-8192:0-28671 0-16:0-4095 3499.87-68610.6 [Hz] 0-16:0-65535 16, 32 0-16 0-4095 0-3 0-1 1-4 1-4 Example Help Screen for ES-80-08k80 Area Mode Operation 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 sbh sbr sbv scd sdo sem sfc slt smm sot 03-032-20070-02 calibrate analog offset correction calibrate fpn calibrate camera gain correction calibrate prnu camera link mode calculate 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 binning horizontal set baud rate set binning vertical set_ccd_direction set digital offset set exposure mode set fpn coeff set lower threshold set mirroring mode set output throughput ti m ii m xx i ii 0-16:0-255 NA 0-1:0-16:1024-4055 NA 5/16/21/ NA NA NA 0-1 NA s x NA xx xx x i NA NA NA 0-0 iti NA xyxy 1-8192:1-96:1-8192:1-96 NA tf ti m m i i ti m xi i i m 0-16:-10.0-+10.0 0-16:0-255 1/2/4/8/ 9600/19200/57600/115200/ 1-8 0-1 0-16:0-511 2/3/4/5/6/7/8/ NA 0-4095 0-1 320 Teledyne DALSA 33 Piranha ES-xx User Manual spc ssb ssf ssg stg spt sut svm tdi ugr vt vv wfc wpc wus set prnu coeff set subtract background set sync frequency set system gain set stage set pretrigger set upper threshold set video mode set TDI or area mode update gain reference verify temperature verify voltage write FPN coefficients write PRNU coefficients write user settings xi ti f ti m i i i i NA 0-4:0-4095 1-6169.03 [Hz] 0-4:0-65535 16, 32 0-16 0-4095 0-3 0-1 NA NA 3.1 First Power Up Camera Settings When the cam era is pow ered u p for the first tim e, it operates u sing the follow ing factory settings: TDI m od e Left to right pixel read ou t Forw ard CCD shift d irection Maxim u m integration stages N o binning Cam era Link Mod e: 21 (8 bit, 8 taps, 40MH z strobe rate) Exposu re m od e 7 (internal sync, m axim u m exposu re tim e) 10 kH z line rate 320 throu ghpu t Factory calibrated analog gain and offset Factory calibrated FPN and PRN U coefficients u sing the follow ing process: 1. ssf 10000 (line rate of 10000H z) 2. ccg 2 0 3280 (analog gain calibrated to an average pixel valu e of 3280) 3. ccf (fpn calibration) 4. ccp (prnu calibration) 5. ssg 0 0 Teledyne DALSA 03-032-20070-02 Piranha ES-xx User Manual 34 3.2 Command Categories The follow ing d iagram categorizes and lists all of the cam er a’s com m and s. This chapter is organized by com m and category. Figure 10: Command Categories Sensor Output Format TDI or Area Mode (tdi) Number of Integration Stages (stg) CCD Shift Direction (scd) Binning (sbv and sbh) Set Exposure Mode (sem) Set Frame/Line Rate (ssf) Camera Output Format Camera Link Mode (clm) Camera Throughput (sot) Pixel Readout Direction (smm) Generate a Test Pattern (svm) Set Upper Threshold (sut) Set Lower Threshold (slt) End of Line Sequence (els) Set Pretrigger (spt) Data Processing 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) Calculate PRNU Algorithm (cpa) Enable Pixel Coefficients (epc) Set PRNU Coefficient (spc) Set FPN Coefficient (sfc) Set PRNU Range (spr) Set FPM Range (sfr) Set Background Subtract (ssb) Set Digital System Gain (ssg) 03-032-20070-02 Saving and Restoring Settings 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 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 Other Help (h) Set Baud Rate (sbr) Teledyne DALSA 35 Piranha ES-xx User Manual 3.3 Sensor Output Format 3.3.1 Selecting TDI or Area Mode Operation The Piranha ES-xx cam eras have the ability to operate in both TDI and Area Mod e. In Area Mod e, the cam era operates as an area array cam era u sing a tw o d im ensional array of pixels. Area Mod e is u sefu l for aligning the cam era to you r w eb d irection or w hen you need a rectangu lar 2D im age and the lighting su pports a fu ll fram e im ager. In TDI Mod e, the cam era operates as a TDI high sensitivity line scan cam era and com bines m u ltiple exposu res of an object into one high -resolu tion resu lt. The cam era stores u ser settings for Area Mod e and TDI Mod e separately , allow ing you to sw itch betw een Area and TDI m od e w ithou t losing settings specific to ea ch m od e. See section 3.6 Saving and Restoring Settin gs for an explanation on how u ser settings are stored and retrieved . NOTE: Sensor cosmetic specifications for Area Mode of operation are neither tested nor guaranteed Purpose: Selects the cam era’s operating m od e. Area Mod e is useful for aligning and focusing your cam era. Syntax: tdi i Syntax Elem ents: i N otes: Exam ple 0 Area m od e 1 TDI m od e Rem em ber to save your user settings before changing m od e. Send ing the tdi com m and always restores your last saved user settings for the m od e of operation requested even if you are alread y operating in the requested m od e. See section 3.6 Saving and Restoring Settin gs for an explanation on how user settings are stored and retrieved for each m od e. Flat field correction is not available in Area Mod e tdi 1 3.3.2 Selecting the Number of CCD Integration Stages Purpose: In TDI Mod e, this com m and ad justs the sensitivity level in your cam era by setting the num ber of CCD integration stages. In Area Mod e, the vertical height of the im age sensor is controlled by the num ber of stages. Syntax: stg m Syntax Elem ents: m N um ber of stages to use. Available values are 8 and 16 (ES-82) or 16 and 32 (ES-80). Area m od e is restricted to the maximum number of stages. Exam ple Teledyne DALSA stg 32 03-032-20070-02 Piranha ES-xx User Manual 36 3.3.3 Setting the Camera’s CCD Shift Direction Purpose: When in TDI Mod e, selects the forw ard or reverse CCD shift d irection or external d irection control. This accom m od ates object d irection change on a w eb and allow s you to m ount the cam era ―upsid e d ow n‖. In Area Mod e, selects the vertical read out d irection. This allow s you to m irror the im age vertically or m ount the cam era ―upsid e d ow n‖. Syntax: scd i Syntax Elem ents: i Read out d irection. Allow able values are: 0 = Forw ard CCD shift d irection. 1 = Reverse CCD shift d irection. 2 = Externally controlled d irection control via Cam era Link control CC3 (CC3=1 forw ard , CC3=0 reverse). Available only in TDI Mod e. N otes: Exam ple The follow ing user settings are stored separately for forw ard and reverse d irection; analog gain, analog offset, d igital gain, d igital offset, background subtract, and pixel coefficients. These settings are autom atically load ed w hen you sw itch d irection. All other settings are com m on to both d irections. See the follow ing figures for an illustration of CCD shift d irection in relation to object m ovem ent. N ote that som e com m and s that require longer processing tim e, like ccg, d elay im plem entation of an external d irection change. scd 1 Figure 11: Object Movement and Camera Direction Example using 8k Model and an Inverting Lens Direction of Object Movement Camera should operate in Reverse CCD Shift Direction scd 1 03-032-20070-02 Camera should operate in Forward CCD Shift Direction scd 0 Direction of Object Movement Teledyne DALSA 37 Piranha ES-xx User Manual 3.3.4 Increasing Sensitivity with Binning Binning increases the cam era’s light sensitivity by d ecreasing horizontal and / or vertical resolu tion—the charge collected by ad jacent pixels is ad d ed together. Binning is also u sefu l for increasing fram e rate (vertical binning) or increasing the pixel pitch. For exam ple, if you set you r vertical binning to 2 and you r horizontal binning to 2, you r pixel size increases from 7µm x 7µm (no binning) to 14µm x 14µm (2x2 binning). Figure 12: 2x2 Binning in Area Mode Setting Horizontal Binning Purpose: Increases the horizontal pixel pitch and light sensitivity by d ecreasing horizontal resolution. The am ount of d ata bein g sent from the cam era is red uced by the horizontal binning factor. Different fram e grabber files are need ed for d ifferent horizontal binning factors. Syntax: sbh m Syntax Elem ents: m H orizontal binning value. Available values are 1 (factory setting, no binning) 2, 4, or 8 (ES-80 m od el only) N otes: Exam ple: Teledyne DALSA If you are using horizontal binning, the m in, m ax, and m ean statistics generated by the gl or gla com m and are for every second pixel (or valid d ata) only (e.g., if sbh 2, every second pixel). For optim al flat field correction, you should rerun the ccp and ccf com m and s after changing binning values. Changing binning values d oes not autom atically alter gain, fram e rate generation, or other functions of the cam era. Pixel num bering rem ains unchanged for the roi, gl, gla, dpc, gfc, sfc, gpc, and spc com m and s. Refer to Figure 13 for an explanation of pixel num bering and pixel start and stop values w hen using a region of interest. sbh 2 03-032-20070-02 Piranha ES-xx User Manual 38 Figure 13: Binning Start and End Values when using a Region of Interest roi 4 1 9 1 CCD Pixel Numbering Pixel 1 Pixel data using sbh 2 Pixel 2 Dat a1 Pixel 3 Dat a2 Pixel 4 Pixel 5 Pixel 6 Data 3 Pixel 7 Dat a4 Pixel 8 Pixel 9 Pixel 10 Dat a5 In this exam ple a region of interest is set to inclu d e pixels 4 to 9 and horizontal binning is set to 2. Becau se pixel 3 is now inclu d ed in the sam e d ata grou p as pixel 4, the re gion of interest w ill now inclu d e the d ata from pixel 3. Also, pixel 10 is inclu d ed in the sam e d ata grou p as pixel 9, so pixel 10 is now part of the region of interest. To see how the region of interest start and stop valu es have been rou nd ed , u se the com m and get roi. Setting Vertical Binning Syntax: Increases the vertical pixel pitch and light sensitivity by d ecreasing vertical resolution. Vertical binning is also useful for increasing fram e rate in Area Mod e. Vertical binning in TDI Mod e should only be used if your w eb’s shaft encod er provid es a red uced ratio of pulses to m atch w eb speed . Syntax: sbv i Syntax Elem ents: i Vertical binning value. Available values are 1 (factory setting, no binning) to 4 (ES-82 m od el) or 1 to 8 (ES-80 model). N otes: Exam ple: You w ill have to recalibrate the cam era after changing binning values. Increasing the vertical binning, d ecreases the m axim um allow able line rate. You m ay have to enter a new cam era fram e rate after changing vertical binning values if the current value becom es invalid . The cam era send s a w arning m essage in this situation. sbv 2 3.3.5 Exposure Mode and Line/Frame Rate How to Set Exposure Mode and Line/Frame Rate You have a choice of operating the cam era in one of tw o exposu re m od es. Depend ing on you r m od e of operation, the cam era’s line/ fram e rate (synchronization) can be generated internally throu gh the softw are com m and ssf or set externally w ith an EXSYN C signal (CC1). When operating in TDI Mod e, it is im portant that the line rate u sed m atches the w eb speed . Failu re to m atch the w eb speed w ill resu lt in sm earing. Refer to the application note, ―Line Scan/ TDI Line Scan Calcu lation Worksheet‖ located on the Know led ge Center page of ou r Web site, 03-032-20070-02 Teledyne DALSA 39 Piranha ES-xx User Manual w w w .teled yned alsa.com / m v/ know led ge/ appnotes.aspx, if you requ ire fu rther explanation on how to synchronize you r w eb speed . To select how you want the camera’s line/frame rate to be generated: 1. You m ust first set the cam era’s exposure m od e using the sem com m and . Refer to section Setting the Exposure Mod e below for d etails. 2. N ext, if using m od e 7, use the com m and ssf to set the line/ fram e rate. Refer to section 3. Setting Fram e Rate for d etails. Setting the Exposure Mode Purpose: Sets the cam era’s exposure m od e allow ing you to con trol your sync and line/ fram e rate generation. Syntax: sem m Syntax Elem ents: m Exposure m od e to use. Factory setting is 7. N otes: Refer to Table 10: Piranha ES 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 includ ing tim ing d iagram s. To obtain the current value of the exposure m od e, use the com m and gcp or get sem. When setting the cam era to external signal m od es, EXSYN C m u st be su pplied . Refer to section 3.5.1 for m ore inform ation on how to operate you r cam era in TDI or Area Mod e. Exposure Mod es are saved separately for TDI Mod e and Area Mod e. Refer to section 3.6 Saving and Restoring Settings for m ore inform ation on how to save cam era settings. Related Com m and s: ssf Exam ple: sem 3 Table 10: Piranha ES Exposure Modes Programmable Frame Rate Programmable Exposure Time Mode SYNC Description Teledyne DALSA 3 External No No Maxim um exposure tim e w ith no charge reset. 7 Internal Yes No Internal sync, m axim um exposure tim e w ith no charge reset. 03-032-20070-02 Piranha ES-xx User Manual 40 Exposure Modes in Detail Fram e rate is set by the period of the external trigger pu lses. EXSYN C pu lses faster than the read ou t tim e are ignored . The falling ed ge of EXSYN C m arks the start of read ou t. N ote: In TDI m od e the fram e period equ als the line period . Figure 14: Mode 3 Timing Mode 3 Frame Period Frame Period Readout Readout Exposure Time Exposure Time EXSYNC Falling Edge Ignored During Readout Falling Edge Ignored During Readout Mode 7: Internal Frame Rate, Maximum Exposure Time In this m od e, the fram e rate is set internally u sing the ssf com m and w ith a m axim u m exposu re tim e. N ote: In TDI m od e the fram e period equ als the line period . Figure 15: Mode 7 Camera Timing Frame Period Frame Period Exposure Time Exposure Time Readout Readout Internal Sync set with ssf Command EXSYNC Falling Edge ignored during readout 03-032-20070-02 EXSYNC Falling Edge ignored during readout Teledyne DALSA 41 Piranha ES-xx User Manual Setting Frame Rate Purpose: Sets the cam era’s fram e rate in H z. Cam era m ust be operating in exposure m od e 7. Syntax: ssf f Syntax Elem ents: f Set the fram e rate to a value from : TDI ES-80-08k40: 3499.56-34305.3 ES-80-08k80: 3499.87-68610.6 ES-80-04k40: 3499.87-68610.6 ES-82-04k40: 3499.87-55020.6 ES-82-04k80: 3499.87-11111.0 Area ES-80-08k40: 1-3084.5 ES-80-08k80: 1-6169.0 ES-80-04k40: 1-6169.0 ES-82-04k40: 1-1084.7 ES-82-04k80: 1-2080.7 Value round ed up/ d ow n as required . The m axim um line/ fram e rate is affected by horizontal and vertical binning factors, throughput setting, Cam era Link m od e, and num ber of CCD integration stages. N otes: Teledyne DALSA If you enter an invalid fram e rate frequency the value, the cam era clip s the fram e rate to be w ithin the current operating range and a w arning m essage is returned . If you enter a fram e rate frequency out of the range d isplayed on the help screen, an error m essage is returned and the fram e rate rem ains unchanged . The cam era d oes not autom atically change the fram e rate after you change binning or stage selection values. You m ay have to ad just your fram e rate to avoid ignored syncs. To return the cam era’s fram e rate, use the com m and gcp or get ssf. Related Com m and s: sem Exam ple: ssf 10000 03-032-20070-02 Piranha ES-xx User Manual 42 3.4 Camera Output Format 3.4.1 How to Configure Camera Output The Piranha ES cam eras offer great flexibility w hen configu ring you r cam era ou tpu t. Using the clm com m and , you d eterm ine the cam era’s Cam era Link configu ration, nu m ber of ou tpu t taps, and bit d epth. Using the sot com m and , you d eterm ine the cam era’s ou tpu t rate. These tw o com m and s w ork together to d eterm ine you r final cam era ou tpu t configu ration. You can fu rther configu re you r read ou t u sing the smm com m and to select the cam era’s pixel read ou t d irection. The follow ing tables su m m arize the possible cam era configu rations for each of the ES-xx cam era m od els. Refer to the figu re below for a d escription on how to select you r cam era ou tpu t. Figure 16: How to Read the Camera Link Tables Find the rows in the table with a line rate greater than or equal to your desired line rate. From the rows determined by part B, find the Camera Link modes with your desired bit depth. Camera Link Mode Configuration (Controlled by Readout Direction(Controlled by Pixel Rate smm command) Configuration (Controlled by sot command) Bit smm 0 increment =1 Depth smm 1 increment = -1 clm command) Command Camera Link Camera Link Taps Configuration clm 2 Base 2 Camera Link taps where: 1 = CCD taps 1 +2 2 = CCD taps 3+4 8 smm 0 =CL tap 1 (1-2048) CL tap 2 (2049-4096) smm 1 = CL tap 1 (4096-2049) CL tap 2 (2048-1) From the remaining rows determined in part C, select an acceptable Camera Link configuration. If none of the remaining configurations are acceptable for your system, you will have to reduce your bit depth or line rate. sot 160 = 80 MHz strobe (max line rate 36kHz) sot 80 = 40 MHz strobe (Max line rate 18kHz) Set the pixel readout direction. Note: Horizontal binning reduces the number of pixels sent to the frame grabber by the binning factor. From the rows determined in part A, find the sot values in the table with a throughput greater than or equal to your your required throughput. Note: In the follow ing tables, a CCD tap refers to the actu al physical taps on the sensor , w hile the Cam era Link taps refer to the w ay the d ata is configu red for ou tpu t over Cam era Link. For a d iagram illu strating sensor taps, see section 1.3 Im age Sensor. 03-032-20070-02 Teledyne DALSA 43 Piranha ES-xx User Manual Table 11: ES-80-04k40 Configurations Camera Link Mode Configuration (Controlled by clm command) Command Camera Link Camera Link Taps Bit Configuration Depth Readout Direction (Controlled by smm command) Pixel Rate Configuration (Controlled by sot command) clm 15 smm 0 = CL tap 1 (1-1024) sot 320 = 80 MH z clm 16 clm 21 Teledyne DALSA Med iu m Med iu m Fu ll 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 8 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 12 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 8 CL tap 2 (1025-2048) CL tap 3 (2049-3072) CL tap 4 (3073-4096) strobe (m ax rate 68610 H z) smm 1 = CL tap 1 (4096-3073) sot 160 = 40 MH z CL tap 2 (3072-2049) CL tap 3 (2048-1025) CL tap 4 (1024-1) strobe (m ax line rate 37629 H z) smm 0 = CL tap 1 (1-1024) CL tap 2 (1025-2048) CL tap 3 (2049-3072) CL tap 4 (3073-4096) smm 1 = CL tap 1 (4096-3073) CL tap 2 (3072-2049) CL tap 3 (2048-1025) CL tap 4 (1024-1) sot 320 = 80 MH z strobe (m ax line rate 68610 H z) sot 160 = 40 MH z strobe (m ax line rate 37629 H z) smm 0 = CL tap 1 (1-512) sot 320 = 40 MH z CL tap CL tap CL tap CL tap CL tap CL tap CL tap strobe (m ax line rate 68610 H z) 2 (513-1024) 3 (1025-1536) 4 (1537-2048) 5 (2049-2560) 6 (2561-3072) 7 (3073-3584) 8 (3585-4096) smm 1 = CL tap 1 (4096-3585) CL tap CL tap CL tap CL tap CL tap CL tap CL tap 2 (3584-3073) 3 (3072-2561) 4 (2560-2049) 5 (2048-1537) 6 (1536-1025) 7 (1024-513) 8 (512-1) 03-032-20070-02 Piranha ES-xx User Manual 44 Table 12: ES-80-08k40 Configurations Camera Link Mode Configuration (Controlled by clm command) Command Camera Link Camera Link Taps Bit Configuration Depth Readout Direction (Controlled by smm command) Pixel Rate Configuration (Controlled by sot command) clm 2 smm 0 = CL tap 1(1-4096) sot 40 = 20 MH z CL tap 2(4097-8192) smm 1 = CL tap 1(8192-4097) CL tap 2(4096-1) strobe (m ax line rate 4836 H z) Base 2 Cam era Link taps 8 sot 80 = 40 MH z strobe (m ax line rate 9671 H z) clm 3 Base 2 Cam era Link taps 12 smm 0 = CL tap 1(1-4096) sot 40 = 20 MH z CL tap 2(4097-8192) smm 1 = CL tap 1(8192-4097) CL tap 2(4096-1) strobe (m ax line rate 4836 H z) sot 80 = 40 MH z strobe (m ax line rate 9671 H z) clm 15 clm 16 03-032-20070-02 Med iu m Med iu m 4 Cam era Link taps w here: 1 = CCD tap 1+2+3+4 2 = CCD tap 5+6+7+8 3 = CCD tap 9+10+11+12 4 = CCD tap 13+14+15+16 4 Cam era Link taps w here: 1 = CCD tap 1+2+3+4 2 = CCD tap 5+6+7+8 3 = CCD tap 9+10+11+12 4 = CCD tap 13+14+15+16 smm 0 = CL tap 1(1-2048) 8 CL tap 2(2049-4096) CL tap 3(4097-6144) CL tap 4(6145-8192) sot 80 = 20 MH z strobe (m ax line rate 9583H z) smm 1 = CL tap 1(8192-6145) CL tap 2(6144-4097) CL tap 3(4096-2049) CL tap 4(2048-1) 12 smm 0 = CL tap 1(1-2048) CL tap 2(2049-4096) CL tap 3(4097-6144) CL tap 4(6145-8192) sot 160 = 40 MH z strobe (m ax line rate 19157H z) sot 80 = 20 MH z strobe (m ax line rate 9583H z) smm 1 = CL tap 1(8192-6145) CL tap 2(6144-4097) CL tap 3(4096-2049) CL tap 4(2048-1) sot 160 = 40 MH z strobe (m ax line rate 19157H z) Teledyne DALSA 45 Piranha ES-xx User Manual Camera Link Mode Configuration (Controlled by clm command) Command Camera Link Camera Link Taps Bit Configuration Depth Readout Direction (Controlled by smm command) Pixel Rate Configuration (Controlled by sot command) clm 21 smm 0 = CL tap 1(1-1024) sot 160 = 20 MH z Fu ll 8 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 5 = CCD tap 9+10 6 = CCD tap 11+12 7 = CCD tap 13+14 8 = CCD tap 15+16 8 CL tap CL tap CL tap CL tap CL tap CL tap CL tap 2(1025-2048) 3(2049-3072) 4(3073-4096) 5(4097-5120) 6(5121-6144) 7(6145-7168) 8(7169-8192) smm 1 = CL tap 1(8192-7169) CL tap CL tap CL tap CL tap CL tap CL tap CL tap strobe (m ax line rate 18814H z) sot 320 = 40 MH z strobe (m ax line rate 34305H z) 2(7168-6145) 3(6144-5121) 4(5120-4097) 5(4096-3073) 6(3072-2049) 7(2048-1025) 8(1024-1) Table 13: ES-80-08k80 Configurations Camera Link Mode Configuration (Controlled by clm command) Command Camera Link Camera Link Taps Bit Configuration Depth Readout Direction (Controlled by smm command) Pixel Rate Configuration (Controlled by sot command) clm 15 smm 0 = CL tap 1(1-2048) sot 320 = 80 MH z clm 16 Teledyne DALSA Med iu m Med iu m 4 Cam era Link taps w here: 1 = CCD tap 1+2+3+4 2 = CCD tap 5+6+7+8 3 = CCD tap 9+10+11+12 4 = CCD tap 13+14+15+16 4 Cam era Link taps w here: 1 = CCD tap 1+2+3+4 2 = CCD tap 5+6+7+8 3 = CCD tap 9+10+11+12 4 = CCD tap 13+14+15+16 8 CL tap 2(2049-4096) CL tap 3(4097-6144) CL tap 4(6145-8192) strobe (m ax rate 38314H z) smm 1 = CL tap 1(8192-6145) sot 160 = 40 MH z CL tap 2(6144-4097) CL tap 3(4096-2049) CL tap 4(2048-1) 12 smm 0 = CL tap 1(1-2048) CL tap 2(2049-4096) CL tap 3(4097-6144) CL tap 4(6145-8192) strobe (m ax line rate 19166H z) sot 320 = 80 MH z strobe (m ax line rate 38314H z) smm 1 = CL tap 1(8192-6145) CL tap 2(6144-4097) CL tap 3(4096-2049) CL tap 4(2048-1) sot 160 = 40 MH z strobe (m ax line rate 19166H z) 03-032-20070-02 Piranha ES-xx User Manual 46 Camera Link Mode Configuration (Controlled by clm command) Command Camera Link Camera Link Taps Bit Configuration Depth Readout Direction (Controlled by smm command) Pixel Rate Configuration (Controlled by sot command) clm 21 smm 0 = CL tap 1(1-1024) sot 640 = 80 MH z CL tap CL tap CL tap CL tap CL tap CL tap CL tap strobe (ES-80-08k80 only) (m ax line rate 68610H z) Fu ll 8 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 5 = CCD tap 9+10 6 = CCD tap 11+12 7 = CCD tap 13+14 8 = CCD tap 15+16 8 2(1025-2048) 3(2049-3072) 4(3073-4096) 5(4097-5120) 6(5121-6144) 7(6145-7168) 8(7169-8192) smm 1 = CL tap 1(8192-7169) CL tap CL tap CL tap CL tap CL tap CL tap CL tap 2(7168-6145) 3(6144-5121) 4(5120-4097) 5(4096-3073) 6(3072-2049) 7(2048-1025) 8(1024-1) sot 320 = 40 MH z strobe (m ax line rate 37629H z) Table 14: ES-82-04k40 Configurations Camera Link Mode Configuration (Controlled by clm command) Command Camera Link Camera Link Taps Bit Configuration Depth Readout Direction (Controlled by smm command) Pixel Rate Configuration (Controlled by sot command) clm 15 smm 0 = CL tap 1(1-1024) sot 320 = 80 MH z clm 16 03-032-20070-02 Med iu m Med iu m 4 Cam era Link taps w here: 1 = CCD tap 1+2+3+4 2 = CCD tap 5+6+7+8 3 = CCD tap 9+10+11+12 4 = CCD tap 13+14+15+16 4 Cam era Link taps w here: 1 = CCD tap 1+2+3+4 2 = CCD tap 5+6+7+8 3 = CCD tap 9+10+11+12 4 = CCD tap 13+14+15+16 8 CL tap 2(1025-2048) CL tap 3(2049-3172) CL tap 4(3173-4096) strobe (m ax rate 55020H z) smm 1 = CL tap 1(4096-3173) sot 160 = 40 MH z CL tap 2(3172-2049) CL tap 3(2048-1025) CL tap 4(1024-1) 12 smm 0 = CL tap 1(1-1024) CL tap 2(1025-2048) CL tap 3(2049-3072) CL tap 4(3073-4096) strobe (m ax line rate 37629H z) sot 320 = 80 MH z strobe (m ax line rate 55020H z) smm 1 = CL tap 1(4096-3073) CL tap 2(3072-2049) CL tap 3(2048-1025) CL tap 4(1024-1) sot 160 = 40 MH z strobe (m ax line rate 37629H z) Teledyne DALSA 47 Piranha ES-xx User Manual Camera Link Mode Configuration (Controlled by clm command) Command Camera Link Camera Link Taps Bit Configuration Depth Readout Direction (Controlled by smm command) clm 21 smm 0 = CL tap 1(1-512) Fu ll 8 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 5 = CCD tap 9+10 6 = CCD tap 11+12 7 = CCD tap 13+14 8 = CCD tap 15+16 8 CL tap CL tap CL tap CL tap CL tap CL tap CL tap 2(513-1024) 3(1025-1536) 4(1537-2048) 5(2049-2560) 6(2561-3072) 7(3173-3584) 8(3585-4096) smm 1 = CL tap 1(4096-3585) CL tap CL tap CL tap CL tap CL tap CL tap CL tap 2(3584-3173) 3(3172-2561) 4(2560-2049) 5(2048-1537) 6(1536-1025) 7(1024-513) 8(512-1) Pixel Rate Configuration (Controlled by sot command) sot 320 = 80 MH z strobe (ES-80-08k80 only) (m ax line rate 55020H z) sot 160 = 40 MH z strobe (m ax line rate 55020H z) Table 15: ES-82-04k80 Configurations Camera Link Mode Configuration (Controlled by clm command) Command Camera Link Camera Link Taps Bit Configuration Depth Readout Direction (Controlled by smm command) Pixel Rate Configuration (Controlled by sot command) clm 15 smm 0 = CL tap 1(1-1024) sot 320 = 80 MH z clm 16 Teledyne DALSA Med iu m Med iu m 4 Cam era Link taps w here: 1 = CCD tap 1+2+3+4 2 = CCD tap 5+6+7+8 3 = CCD tap 9+10+11+12 4 = CCD tap 13+14+15+16 4 Cam era Link taps w here: 1 = CCD tap 1+2+3+4 2 = CCD tap 5+6+7+8 3 = CCD tap 9+10+11+12 4 = CCD tap 13+14+15+16 8 CL tap 2(1025-2048) CL tap 3(2049-3072) CL tap 4(3073-4096) strobe (m ax rate 75187H z) smm 1 = CL tap 1(4096-3073) sot 160 = 40 MH z CL tap 2(3072-2049) CL tap 3(2048-1025) CL tap 4(1024-1) 12 smm 0 = CL tap 1(1-1024) CL tap 2(1025-2048) CL tap 3(2049-3072) CL tap 4(3073-4096) strobe (m ax line rate 37629H z) sot 320 = 80 MH z strobe (m ax line rate 75187H z) smm 1 = CL tap 1(4096-3073) CL tap 2(3072-2049) CL tap 3(2048-1025) CL tap 4(1024-1) sot 160 = 40 MH z strobe (m ax line rate 37629H z) 03-032-20070-02 Piranha ES-xx User Manual 48 Camera Link Mode Configuration (Controlled by clm command) Command Camera Link Camera Link Taps Bit Configuration Depth Readout Direction (Controlled by smm command) Pixel Rate Configuration (Controlled by sot command) clm 21 smm 0 = CL tap 1(1-512) sot 640 = 80 MH z CL tap CL tap CL tap CL tap CL tap CL tap CL tap strobe (ES-80-08k80 only) (m ax line rate 111111H z) Fu ll 8 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 5 = CCD tap 9+10 6 = CCD tap 11+12 7 = CCD tap 13+14 8 = CCD tap 15+16 8 2(513-1024) 3(1025-1536) 4(1537-2048) 5(2049-2560) 6(2561-3072) 7(3173-3584) 8(3585-4096) smm 1 = CL tap 1(4096-3585) CL tap CL tap CL tap CL tap CL tap CL tap CL tap 2(3584-3173) 3(3172-2561) 4(2560-2049) 5(2048-1537) 6(1536-1025) 7(1024-513) 8(512-1) sot 320 = 40 MH z strobe (m ax line rate 72595H z) 3.4.2 Setting the Camera Link Mode Purpose: Sets the cam era’s Cam era Link configuration, num ber of Cam era Link taps and d ata bit d epth. Refer to the tables on the previous pages to d eterm ine w hich configurations are valid for your cam era m od el and how this com m and relates to other cam era configura tion com m and s. Syntax: clm m Syntax Elem ents: m Output m od e to use: 2: Base configuration, 2 taps, 8 bit output 3: Base configuration, 2 taps, 12 bit outpu t 15: Med ium configuration, 4 taps, 8 bit output 16: Med ium configuration, 4 taps, 12 bit outpu t 21: Full configuration, 8 taps, 8 bit output N otes: 03-032-20070-02 When you change the Cam era Link m od e (clm com m and ), the cam era attem pts to m aintain the current sot throughput (pixels/ sec). If the current throughput is too slow or too fast for the current Cam era Link m od e, the cam era w ill autom atically ad just the throughput value and w ill return a w arning m essage that a related param eter w as ad justed . Base configuration only requires the use of one MDR26 Cam era Linkg cable. To obtain the current Cam era Link 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, available from the Know led ge Center on our w ebsite here. Related Com m and s sot Exam ple: clm 15 Teledyne DALSA 49 Piranha ES-xx User Manual 3.4.3 Setting the Camera Throughput Purpose: Works in conjunction w ith the clm com m and (see previous) and d eterm ines the throughput of the cam era. Refer to the tables in section 3.4.1 H ow to Configure Cam era Output to d eterm ine w hich configurations are valid for your cam era m od el and how this com m and relates to other cam era configuration com m and s. Syntax: sot m Syntax Elem ents: m Output throughput. Allow able values are: 40 = 2 taps at 20MH z 80 = 2 taps at 40MH z or 4 taps at 20MH z 160 = 2 taps at 80MH z or 4 taps at 40MH z 320 = 4 taps at 80MH z or 8 taps at 40MH z 640 = 8 taps at 80MH z N otes: Throu ghpu t is calcu lated as: Throughput= (N umber of Camera Link Taps) x (Camera Link Pixel Rate in MHz) To obtain the throughput setting, use the com m and gcp or get clm. Throughput values are clipped if the cam era is unable to m aintain the current throughput setting and a w arning m essage is d isplayed . Refer to the tables in section 3.4.1 H ow to Configure Cam era Output to d eterm ine w hich configurations are valid for your cam era m od el. Related Com m and s clm Exam ple: sot 160 3.4.4 Setting the Pixel Readout Direction Purpose: Sets the tap read out from left to right or from right to left. This com m and is useful if the cam era m ust be m ounted upsid e d ow n. Syntax: smm i Syntax Elem ents: i Read out d irection. Allow able values are: 0 = All pixels are read out from left to right. 1 = All pixels are read out from right to left. N otes: Teledyne DALSA To obtain the current read out d irection, use the com m and gcp or get smm. This com m and is available in both TDI and Area Mod e. Refer to the follow ing figures and tables for an explanation of pixel read out and m irror d irection. Refer to section 1.3 Im age Sensor for sensor architecture d iagram s that illustrate sensor read out d ir ection. 03-032-20070-02 Piranha ES-xx User Manual 50 Figure 17: Left to Right Readout (smm 0) Forward Direction Example Output Figure 18: Right to Left Readout (smm 1) Forward Direction Example Output Figure 19: Camera Pixel Readout Direction Example using 8k Model with Inverting Lens Pixel 1 Pixel 8192 Camera can be imaging in either Forward or Reverse direction smm 1 right to left Pixel 1 to 8192 Pixel 8192 to 1 Table 16: HS-80-04k40 Forward or Reverse Pixel Readout Camera Link Readout Tap 1 Tap 2 Direction Tap 3 Tap 4 Left to Right Softw are com m and smm 0 1-1024 1025-2048 2049-3072 3073-4096 Right to Left Softw are com m and smm 1 4096-3073 3072-2049 2048-1025 1024-1 Table 17: Forward or Reverse Pixel Readout Readout Direction Tap 1 Tap 2 Tap 3 Tap 4 Tap 5 Tap 6 Tap 7 Tap 8 Left to Right Softw are com m and smm 0 1-1024 1025-2048 2049-3072 3073-4096 4097-5120 5121-6144 6145-7168 7169-8192 Right to Left Softw are com m and smm 1 8192-7169 7168-6145 6144-5121 5120-4097 4096-3073 3072-2049 2048-1025 1024-1 03-032-20070-02 Teledyne DALSA 51 Piranha ES-xx User Manual 3.4.5 Setting a Pretrigger Purpose: Syntax: A pretrigger m ay be required for som e fram e grabbers. Syntax Elem ents: i spt i Pretrigger in a range from 0 to 16. 3.5 Data Processing 3.5.1 Setting a Region of Interest Purpose: Sets the pixel range used to collect the end -of-line statistics and sets the region of pixels used in the ccg, cao, cpa, gl, gla, ccf, and ccp 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 Colum n start num ber. Must be less than or equal to the colum n end num ber in a range from 1 to (colum n resolution – 1). y1 Row start num ber. Must be less than or equal to the row end num ber in a range from 1 to (row end num ber – 1) except in TDI Mod e w here y1 m ust be 1. x2 Colum n end num ber. Must be greater than or equal to the colum n start num ber in a range from 2 to colum n resolution. y2 Row end num ber. Must be greater than or equal to the row start num ber in a range from 2 to num ber of stages except in TDI Mod e w here y2 m ust be 1. N otes: If you are using binning, the start pixel is round ed d ow n to the beginning of binned area and end pixel is round ed up to the end of the binned area. Related Com m and s Exam ple: Teledyne DALSA In Area Mod e, the roi m ust be w ithin the stage. If the requested roi is above the stage, the roi row s w ill be clipped . The start and end row s w ill be clipped to the stage selection if necessary. A ―clipped to m ax‖ w arning m essage is returned . ccg, cao, cpa, gl, gla, ccf, ccp, els roi 10 1 50 1 (TDI Mod e) 03-032-20070-02 Piranha ES-xx User Manual 52 3.5.2 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 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 these elem ents are u ser program m able. Notes: FPN and PRN U correction is not available w hen operating the cam era in Are a Mod e. For d etails on how to sw itch cam era operation m od es, refer to section 3.5.1 . The follow ing u ser settings are stored separately for forw ard and reverse d irection; analog gain, analog offset, d igital gain, d igital offset, and backgrou nd su btract. They are saved u sing the wus com m and . For d etails on changing cam era shift d irection, refer to section 3.3.3 Setting the Cam era’s CCD Shift Direction. FPN and PRN U coefficients are stored separately for forw ard and reverse d irection. To save the cu rrent PRN U coefficients, u se the com m and wpc. To save the cu rrent FPN coefficients, u se the com m and wfc. Settings are saved for the cu rrent d irection only. Figure 20: Signal Processing Chain analog video analog gain sag, cag digital video analog offset PRNU coefficients sao, cao ccp, cpa FPN coefficients ccf background subtract ssb digital system gain ssg digital offset sdo 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. 03-032-20070-02 Teledyne DALSA 53 Piranha ES-xx User Manual 1. Analog gain is m u ltiplied by the analog signal to increase the signal strengt h 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 or black level is an ―artificial‖ offset introd u ced into the vid eo path to ensu re that the A/ D w ill fu nction properly. The analog offset shou ld be set so that it is at least 3 tim es the rm s n oise 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. 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. 3. Photo-Response N on-Uniform ity (PRN U) coefficients 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 any 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. When u sing PRN U correction, it is im portant that the A/ D offset and Fixed Pattern N oise (FPN ) or per pixel offsets are su btracted prior to the m u ltiplication by the PRN U coefficient. The su btraction of these 2 com ponents ensu re that the vid eo su pplied to the PRN U m u ltiplier is nom inally zero and zero m u ltiplied by anything is still zero resu lting in no PRN U coefficient ind u ced FPN . If the offset is not su btracted from the vid eo then there w ill be artifacts in the vid eo at low light cau sed by the m u ltiplication of the offset valu e by the PRN U coefficients. 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 process 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. The follow ing sections are organized as follow s: Teledyne DALSA 1. Section Analog Signal Processing provid es a d etailed d escription of all analog processing chain com m and s. 2. Section Calibrating the Cam era to Rem ove N on-Uniform ity (Flat Field Correction) provid es an overview of how to perform flat field calibration. 3. Section Digital Signal Processing provid es a d etailed d escription of all d igital processing chain com m and s. 03-032-20070-02 Piranha ES-xx User Manual 54 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. 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 num ber of CCD taps for ind ivid ual tap selection. f Gain value in a range from –10 to +10d B. Exam ple: 03-032-20070-02 sag 0 5.2 Teledyne DALSA 55 Piranha ES-xx User Manual Calibrating Camera Gain Purpose: Instead of m anually setting the analog gain to a specific value, the cam era can d eterm ine appropriate gain values. 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 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 the peak tap ROI pixels are ad justed to the specified target. t Tap value. Use 0 for all taps or 1 to num ber of CCD taps for ind ivid ual tap selection. i Calculation target value in a range from 1024 to 4055DN (12 bit LSB). N otes: Exam ple: All d igital settings (d igital offset, FPN and PRN U coefficients), d igital gain, background subtract) should be turned off before calibrating analog gain to avoid unpred ictable results. This function requires constant light input w hile executing. To use this com m and , the CCD shift d irection (scd) should be set to forw ard (0) or reverse (1). 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. ccg 2 0 3040 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 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 . Teledyne DALSA 03-032-20070-02 Piranha ES-xx User Manual 56 Figure 21: Calculating Analog Gain for a Tap inside the Region of Interest Scenario 2: ccg 1 8 3040 Since tap 8 is within the region of interest, tap 8 gain is adjusted so that the peak value is set to 3040. Gain values for all other taps are left unchanged. 4095 Region of Interest 3040 Video Video 0 Tap Tap Tap Tap Tap Tap Tap Tap Tap Tap Tap Tap Tap Tap Tap Tap 7 8 1 2 3 5 6 9 10 11 12 13 14 15 16 4 0 2600 6400 8192 Pi xel N u m ber After analog gain calibration Before analog gain calibration 03-032-20070-02 Teledyne DALSA 57 Piranha ES-xx User Manual In the follow ing exam ple, analog gain is 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 22: Calculating Analog Gain for all Taps 4095 Region of Interest Video 3040 Video 0 0 2600 6400 8192 Pixel Number Scenario 3: ccg 1 0 3040 When calibrating all taps, taps completely outside the region of interest (in this example, taps 1to 4 and 14 to 16) 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 PRNU calculation using the ccp command. After analog gain calibration Before analog gain calibration Setting Analog Offset Purpose: Sets the analog offset. The analog offset should be set so that it is at least 3 tim es the rm s noise value at the current gain. The analog offset is configured for noise 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 num ber of CCD taps for ind ivid ual tap selection. i Offset value in a range from 0 to 255DN (12 bit LSB). Exam ple: Teledyne DALSA sao 3 35 03-032-20070-02 Piranha ES-xx User Manual 58 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 ROI 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 num ber of CCD taps for ind ivid ual tap selection. i Average target value in a range from 1 to 255DN (12 bit LSB). N otes: Perform analog offset calibration before perform ing FPN and PRN U coefficients. To use this com m and , CCD shift d irection should be controlled internally, either scd 0 or 1 cao 1 50 Exam ple: Updating the Gain Reference To update the analog gain reference: 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 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 w hen operating in TDI Mod e. This vid eo correction o perates 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 03-032-20070-02 Voutput = d igital ou tpu t pixel valu e Vinput = d igital inpu t pixel valu e from the CCD Teledyne DALSA 59 Piranha ES-xx User Manual 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 calcu lation 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 ). 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, binning, or nu m ber of integration stages. 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: 1. 60 H z am bient light flicker is su fficiently low not to affect cam era perform ance and calibration resu lts. 2. 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: Brightest Pixel (per tap) 3> Darkest Pixel (per tap) The cam era is capable of op erating u nd er a range of 8 to 1, bu t w ill clip valu es larger than this ratio. Teledyne DALSA 3. The brightest pixel shou ld be slightly below the target ou tpu t. 4. 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. 5. Correction resu lts are valid only for the cu rrent stage selection. If you change the nu m ber of stages, it is recom m end ed that you recalcu late you r coefficients. 6. 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. 03-032-20070-02 Piranha ES-xx User Manual 60 How to Perform Flat Field Correction 1 Set up the camera operating environment (i.e. line rate, CCD shift direcion, exposure, offset, gain, etc.) 2 Set the calibration sample size using the command css 3 Set the region of interest to include all of the image’s pixels of importance using the command roi x1 y1 x2 y2. 4 Perform FPN correction. FPN correction should be performed before PRNU correction. 5 Perform PRNU correction 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 t i. If the average of the pixels is more than 25% of the maximum signal swing, ensure that no light is entering the camera and reduce the analog offset or gain level (sag). 3. Issue the command ccf. The camera will respond with OK> if no error occurs. FPN correction automatically calibrates FPN coefficients. 4. After the correction is complete, you must save these settings to non-volatile memory so they will be remembered and be reusable. To do so, issue the commands wfc i where i is the coefficient set to save and wus. Forward and reverse direction settings are stored separately and coefficients must be saved before switching direction. 5. If you will be operating the camera in the opposite camera shift direction, repeat steps 2 through 4 after changing direction. 6. To verify output, enable the FPN coefficients using the command epc 1 0. You should see close to zero output. Perform PRNU correction 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 and remove lens cap. 2. Verify that the output signal level is within range by issuing the command gl or gla. If the signal level is too low, adjust the analog gain (sag) or use the automated algorithm ccg i 0 i. DALSA recommends a target value of about 80% of maximum signal swing per tap. If you change the gain, FPN coefficients should be recalculated. 3. Issue the command ccp or cpa 2 i where i is equal to or greater than the maximum pixel in the image. The camera will respond with OK> if no error occurs. 4. After the correction is complete, you must save these settings to non-volatile memory so they will be remembered and be reusable. To do so, issue the commands wpc i where i is the coefficient set to save and wus. Forward and reverse direction settings are stored separately and coefficients must be saved before switching direction. 5. If you will be operating the camera in the opposite camera shift direction, repeat steps 2 through 4 after changing direction. 6. Enable the coefficients using the command, epc 1 1. You should see a flat line with a couple of DN peak to peak residual patterns. It is necessary to average many lines to see the residual FPN/PRNU. 03-032-20070-02 Teledyne DALSA 61 Piranha ES-xx User Manual Digital Signal Processing 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. 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 num ber of CCD taps, or 0 for all taps. i Subtracted value in a range in DN from 0 to 4095 (12 bit LSB). N otes: Related Com m and s ssg Exam ple ssb 0 500 See the follow ing section for d etails on the ssg com m and . Setting Digital 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 ou tput can no longer reach its m axim um . Use the 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 num ber of CCD taps, or 0 for all taps. i Gain setting. The gain ranges are 0 to 65535. The d igital vid eo values are m ultiplied by this value w here: Digi tal Gain= N otes: Teledyne DALSA 4096 Use this com m and in conjunction w ith the ssb com m and (d escribed above). It is recom m end ed that i is never set below 4096. Setting i to 0 w ill result in only 0 output d ata. Digital offset is set to zero after send ing the ccf com m and Related Com m and s: ssb, sdo Exam ple: ssg 1 4500 03-032-20070-02 Piranha ES-xx User Manual 62 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 num ber of CCD taps, or 0 for all taps. i Subtracted offset value in a range from 0 to 511 (12-bit LSB). N otes: Related Com m and s: ssg, ccf Exam ple: sdo 0 100 When su btracting a d igital valu e from the d igital vid eo signal, the ou tp u t can no longer reach its m axim u m u nless you apply d igital gain u sing the ssg com m and . See the previou s section for d etails on the ssg com m and . 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. For a com plete d escription on how to use this com m and , see the Flat Field Correction Overview on page 58. Syntax: ccf N otes: 03-032-20070-02 Before perform ing this com m and , stop all light from entering the cam era. (Tip: cover lens w ith a lens cap.) Perform all analog and d igital ad ju stm ents before perform ing FPN correction. Perform FPN correction before PRN U correction. The ccf com m and is not available w hen the CCD d irection is externally controlled (scd 2) (see Direction Control on page 26). Direction control m u st be stable w hile the cam era is calcu lating coefficients. Available in TDI Mod e only. Save coefficients before changing d irections, changing operating m od e, or pow ering off. Related Com m and s: ccp, cpa Exam ple: ccf Teledyne DALSA 63 Piranha ES-xx User Manual 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 0-511 (12-bit LSB). N otes: Exam ple: sfc 10 50 Available in TDI Mod e only. 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. N otes: Exam ple: gfc 10 Available in TDI Mod e only. 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. Teledyne DALSA N otes: Exam ple: sfr 1 100 80 The first pixel of the range m ust be less than the last. 03-032-20070-02 Piranha ES-xx User Manual 64 PRNU Correction Performing PRNU Correction Purpose: Perform s PRN U correction to a cam era calibrated peak value and elim inates the d ifference in responsivity betw een the m ost and least sensitive pixel creating a uniform response to light. For a com plete d escription on how to use this com m and , see the Flat Field Correction Overview on page 58. Syntax ccp N otes: 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 wpc 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 . The ccp com m and is not available w hen the cam era shift d irection is externally controlled . Direction control m u st be stable w hile the cam era is calcu lating coefficients (see Direction Control on page 26). Ensu re cam era is operating at its expected analog gain, integration tim e, and tem peratu re. To avoid losing you r cu rrent d irection coefficients, you m u st save the PRN U coefficients u sing the com m and wpc before changing cam era shift d irection or changing from TDI to Area Mod e. Available in TDI Mod e only. Execu ting these algorithm s cau ses the ssb com m and to be set to 0 (no backgrou nd su btraction) and the ssg com m and to 4096 (u nity d igital gain). The pixel coefficients are d isabled (epc 0 0) d u ring the algorithm execu tion bu t retu rned to the state they w ere prior to com m and execu tion. 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 th e 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. Executing these algorithm s causes the ssb com m and to be set to 0 (no background subtraction) and the ssg com m and to 4096 (unity d igital gain). The pixel coefficients are d isabled (epc 0 0) d uring the algorithm execution but returned to the state they w ere prior to com m and execution. 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 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. This algorithm is recom m end ed for use only w hen FPN is negligible and FPN coefficients are set to zero. Since this 03-032-20070-02 Teledyne DALSA 65 Piranha ES-xx User Manual algorithm ad justs the analog gain, it also affects FPN . If FPN is calibrated prior to running this algorithm , FPN w ill be observable in d ark cond itions and an incorrect FPN value w ill be used d uring PRN U calibration resulting in incorrect PRN U coefficients. 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 reg ion of interest. This algorithm is useful for achieving uniform output across m ultiple cam eras. It is im portant that the target value (set w ith the next param eter) is set to be at least equal to the highest pixel across all cam eras so that all pixels can r each the highest pixel value d uring calibration. 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 acro ss m ultiple cam eras. This algorithm is useful for achieving uniform output across m ultiple cam eras by first ad justing analog gain and then perform ing PRN U calibration. This algorithm is recom m end ed for use only w hen FPN is negligible and FPN coefficients are set to zero. Since this algorithm ad justs the analog gain, it also affects FPN . If FPN is calibrated prior to running this algorithm , FPN w ill be observable in d ark cond itions and an incorrect FPN value w ill be used d uring PRN U calibration resulting in incorrect PRN U coefficients. This algorithm is m ore robust and repeatable than algorithm 1 because it uses an average pixel value rather than a num ber above target. H ow ever, this algorithm is slow er. 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 4055DN . The target value m ust be greater than the current peak output value. N otes: Teledyne DALSA Perform all analog ad ju stm ents before calibrating PRN U. This com m and perform s the sam e fu nction as the cpp com m and bu t forces you to enter a target valu e. Calibrate FPN before calibrating PRN U. If you are not perform ing FPN calibration then issu e the rpc (reset pixel coefficients) com m and and set the sdo (set d igital offset) 03-032-20070-02 Piranha ES-xx User Manual 66 valu e so that the ou tpu t is near zero u nd er d ark. 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: prnu coefficient = 1 + i 4096 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: prnu coefficient = 1 + N otes: Exam ple: spr 4001 4096 0 i 4096 The first pixel of the range m ust be less than the last. Returning FPN and PRNU 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 -1). x2 End pixel to d isplay in a range from x1 +1 to sensor pixel count. N otes: 03-032-20070-02 If x2<x1 then x2 is forced to be x1. Teledyne DALSA 67 Piranha ES-xx User Manual dpc 10 20 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: 3.5.3 End-of-line Sequence Purpose: Prod uces an end -of-line sequence that provid es basic calculations includ ing "fram e 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 18: End-of-Line Sequence Description Location Value Teledyne DALSA 1 A’s 2 5’s 3 A’s 4 4 bit counter LSB justified (Upper 4 bits are row counter in Area Mod e) 5 Line sum (7…0) 6 Line sum (15…8) Description By ensuring these values consistently toggle betw een "aa" and "55", you can verify cabling (i.e. no stuck bits) Counter increm ents by 1. Use this value to verify that every line is output LSB justified . Use these values to help calculate line average an d gain 03-032-20070-02 Piranha ES-xx User Manual 68 Location Value Description 7 Line sum (23…16) 8 Line sum (31…24) 9 Line sum (39…32) 10 Pixels above threshold (7…0) 11 Pixels above threshold (15…8) 12 Pixels above threshold (23…16) 13 Pixels below threshold (7…0) 14 Pixels below threshold (15…8) 15 Pixels below threshold (23…16) 16 Differential line sum (7..0) 17 Differential line sum (15…8) 18 Differential line sum (23…16) 19 Differential line sum (31…24) 20 Differential line sum (39…32) 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: els, slt Upper threshold lim it in range from 0 to 4095. LVAL is not high d u ring the end -of-line statistics. sut 1024 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 N otes: Related Com m and s: Exam ple: els, sut Upper threshold lim it in range from 0 to 4095. 03-032-20070-02 LVAL is not high d u ring the end -of-line statistics. slt 1024 Teledyne DALSA 69 Piranha ES-xx User Manual 3.6 Saving and Restoring Settings 3.6.1 Saving and Restoring Factory and User Settings Figure 23: Saving and Restoring Overview Factory Settings rus,lpc User Settings rfs Current Session wus,wpc,wfc Factory Settings You can restore the original factory settings, inclu d ing the factory calibrated pixel coefficient set, at any tim e u sing the com m and rfs. User Settings There are tw o m ain sets of u ser settings: Area Mod e u ser sett ings and TDI Mod e u ser settings. After issu ing the u ser settings save com m and , wus, settings are saved d epend ing on w hich m od e the cam era is operating in w hen the com m and is issu ed . Also, w hen operating in TDI Mod e, analog gain and offset, d igital gain and offset, and backgrou nd su btract valu es are saved as d istinct valu es for Forw ard and Reverse d irections. In other w ord s, you can program the cam era to operate w ith an analog gain valu e of +5d b in Forw ard d irection and an analog gain valu e of +3d b in Reverse d irection. Forw ard and Reverse d irection settings are saved sim u ltaneou sly w ith the wus com m and . N ote that w hen you sw itch d irections, the settings saved for that d irection are au tom atically load ed . Teledyne DALSA 03-032-20070-02 Piranha ES-xx User Manual 70 Figure 24: How User Settings are Stored in the ES-xx Cameras after issuing the wus Command START User issues wus command Camera is operating in Area Mode Area Mode User Settings All settings saved for Area Mode only Camera is operating in TDI Mode TDI Mode User Settings All settings, except pixel coefficients, saved for TDI Mode only. 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. To save all cu rrent u ser settings to EEPROM for the cu rrent m od e for both TDI shift d irections, 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. WARNING: While settings are being written to nonvolatile memory, do not power down camera or camera memory may be corrupted. To restore the last saved u ser settings, inclu d ing the last u sed pixel coefficient set, for the cu rrent m od e, u se the com m and rus. Current Session Settings These are the cu rrent operating settings of you r cam era. These settings are stored in the cam era’s volatile m em ory and w ill not b e restored once you pow er d ow n you r cam era. To save these settings for reu se at pow er u p, u se the com m and wus. Settings are saved for the cu rrent operating m od e (TDI or Area) only. 3.6.2 Saving and Restoring PRNU and FPN Coefficients Note: Available in TDI Mode only. 03-032-20070-02 Pixel coefficient sets are saved separately for Forw ard and Reverse d irection, d epend ing on w hich d irection the cam era is operating in w hen the wpc or wfc com m and is issu ed . It is im portant that you save pixel coefficients before sw itching CCD shift d irection or cu rrent coefficient valu es w ill be lost. Teledyne DALSA 71 Piranha ES-xx User Manual Figure 25: How Pixel Coefficients are saved in the ES-xx Cameras after issuing the wpc or wfc Command START User issues wpc or wfc command. Note: Camera must be operating in TDI Mode Camera is operating in forward direction Camera is operating in reverse direction Coefficients saved for forward direction only Coefficients saved for reverse direction only. Saving the Current PRNU Coefficients Purpose: Syntax: Saves the current PRN U coefficients for the current d irection. Syntax Elem ents: i wpc i PRN U coefficients set to save. 1 = Coefficient set one 2 = Coefficient set tw o 3 = Coefficient set three 4 = Coefficient set four N otes: Exam ple: Available in TDI m od e only. Available only w hen operating the cam era in internal d irection control (scd 0 or 1) wpc 2 Saving the Current FPN Coefficients Purpose: Syntax: Saves the current FPN coefficients for the current d irection. Syntax Elem ents: i wfc i FPN coefficients set to save. 1 = Coefficient set one 2 = Coefficient set tw o 3 = Coefficient set three 4 = Coefficient set four N otes: Exam ple: Teledyne DALSA Available in TDI m od e only. Available only w hen operating the cam era in internal d irection control (scd 0 or 1) wfc 2 03-032-20070-02 Piranha ES-xx User Manual 72 Loading a Saved Set of Coefficients Purpose: Load s a saved set of pixel coefficients for the current d irection . 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 N otes: Exam ple: Available in TDI m od e only. Available only w hen operating the cam era in internal d irection control (scd 0 or 1). When operating in external d irection control, you m u st sw itch to internal d irection control, load the coefficient set, and then retu rn to external d irection control. lpc 0 Resetting the Current Pixel Coefficients Purpose: Resets the current pixel coefficients to zero. This com m and d oes not reset saved coefficients. Syntax: rpc N otes: The d igital offset is not reset. 3.6.3 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 . 03-032-20070-02 Teledyne DALSA 73 Piranha ES-xx User Manual 3.7 Diagnostics 3.7.1 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 0 Vid eo. 1 12 bit test pattern 1 (ram p) 2 8 bit test pattern 2 (step) N otes: When returning to vid eo (svm 0) after view ing a test pattern, the cam era restores the saved user settings for d igital offset (sdo), enable pixel coefficients (epc), set subtract background (ssb), and set system d igital gain (ssg). The follow ing d iagram s show 12-bit pixel values. When th operating in 8-bit m od e, pixel values w ill be 1/ 16 of pixel values in the d iagram . svm 2 Exam ple: Area Mod e Forw ard , smm 0, svm Teledyne DALSA 8 95 48 40 20 71 24 30 10 47 0 20 30 31 10 1 0 54 5 5 20 20 78 79 30 30 95 40 72 30 0 10 24 10 23 30 71 30 72 47 20 48 20 47 20 48 95 20 40 71 10 23 10 24 24 71 10 30 72 72 30 47 20 30 TDI Mod e Reverse, smm 1, svm 1 48 20 0 30 TDI Mod e Forw ard , smm 1, svm 1 23 10 95 TDI Mod e Reverse, smm 0, svm 1 40 TDI Mod e Forw ard , smm 0, svm 1 0 Table 19: Test Patterns ES-80Test Pattern 04k40 Operating Mode 23 10 7 03-032-20070-02 Piranha ES-xx User Manual 74 1 Area Mod e Reverse, smm 0, svm 1 03-032-20070-02 08 80 40 10 7 10 31 30 6 30 5 20 32 10 54 20 32 20 95 40 23 8 79 24 35 81 91 36 47 92 03 48 59 04 15 60 71 16 27 72 83 28 39 84 95 40 1 6 7 2 0 51 25 76 51 10 76 12 10 15 12 17 15 20 17 23 20 25 23 28 25 30 28 33 30 35 33 38 35 40 38 38 40 35 38 33 35 30 33 28 30 25 28 23 25 20 23 17 20 15 17 12 15 10 127 7 10 40 95 84 39 28 83 72 27 16 71 60 15 04 59 48 03 92 47 36 91 81 35 24 9 68 23 512 767 256 511 0 25 5 8 07 3 26 8 7 2 3 8 9 4 5 0 1 6 7 2 3 8 9 4 5 0 1 6 7 2 48 1 9 51 264 520 775 103 776 128 103 154 128 179 154 205 180 231 205 256 231 282 256 307 282 333 308 359 333 384 359 7 38 5 409 Area Mod e Forw ard , smm 1, svm 1 5 25 40 95 Area Mod e Forw ard , smm 0, svm 1 0 TDI Mod e Reverse, smm 1, svm 1 95 TDI Mod e Reverse, smm 0, svm 1 Test Pattern 40 TDI Mod e Forw ard , smm 1, svm 1 78 0 TDI Mod e Forw ard , smm 0, svm 1 55 20 30 30 56 TDI or Area Mod e, smm 0, svm 2 55 20 8 10 08 Area Mod e Reverse, smm 1, svm 2 ES-82-04K* Operating Mode 3 1 78 1 0 30 54 20 30 79 30 78 8 40 80 Area Mod e Forw ard , smm 1, svm 1 30 10 6 Area Mod e Reverse, smm 0, svm 1 8 70 Teledyne DALSA 75 Piranha ES-xx User Manual 38 24 40 49 6 24 0 80 35 68 12 75 2 64 12 33 30 56 00 20 08 28 15 10 25 17 76 44 22 20 32 88 20 32 88 22 20 76 17 44 25 15 64 12 56 00 28 33 30 12 68 35 24 10 08 75 2 6 49 24 0 26 3 8 ES-80-08K* Operating Mode Test Pattern TDI Mod e Forw ard , smm 0, svm 1 0 TDI Mod e Forw ard , smm 1, svm 1 95 84 56 45 17 06 78 67 39 28 00 89 61 50 22 11 83 72 44 33 05 94 66 5 27 16 88 477 749 238 511 40 35 38 33 36 31 33 28 31 26 29 23 26 21 24 19 21 16 19 14 17 11 14 95 12 7 9 51 1 7 7 51 80 40 38 24 7 7 24 6 51 8 4 99 5 24 5 35 68 12 33 48 72 72 9 14 30 56 75 3 96 2 12 34 73 0 99 6 91 35 14 7 96 1 0 91 35 7 52 33 7 13 24 31 36 01 12 00 28 44 25 88 22 20 32 76 17 20 15 64 12 12 00 51 14 40 19 85 28 74 31 46 26 35 29 07 23 9 26 6 68 21 57 24 29 19 18 21 90 33 10 08 75 2 36 23 31 12 28 73 33 84 26 34 31 45 23 95 29 06 21 56 26 67 19 17 24 28 16 78 21 89 14 39 51 33 6 0 1 12 40 51 7 9 9 0 18 2 9 57 68 9 6 07 3 5 46 74 85 13 24 5 2 1 2 1 7 14 19 1 6 2 1 19 2 4 21 26 2 3 29 2 6 31 28 33 31 36 3 3 9 8 6 73 6 2 12 01 51 40 9 0 7 9 2 1 68 57 0 7 96 4 3 5 8 5 1 4 9 17 12 19 14 2 1 16 2 4 19 2 6 21 2 9 23 31 26 3 3 34 12 35 91 38 63 33 52 36 24 90 6 0 4 73 12 3 8 57 4 6 96 7 2 9 49 TDI or Area Mod e, smm 1 or 2, svm 2 35 Area Mod e Reverse, smm 1, svm 1 24 0 Area Mod e Forw ard , smm 1, svm 1 8 51 6 4 75 4 8 12 2 477 7 98 8 23 8 74 9 0 35 84 40 95 33 45 38 3656 17 31 0 28 6 67 33 78 26 28 31 3 23 9 89 29 00 21 50 26 6 19 1 11 24 2 16 2 72 21 8 14 3 33 19 44 11 94 17 05 95 5 14 66 71 6 8 5 17 24 5 Area Mod e Forw ard , smm 0, svm 1 Area Mod e Reverse, smm 0, svm 1 1 8 9 7 8 6 6 4 5 3 4 2 3 1 2 0 1 9 0 8 9 7 5 6 7 5 6 4 5 51 23 74 47 98 71 122 95 146 119 170 143 194 167 18 191 242 215 266 238 290 262 313 867 378 310 361 334 85 58 09 2 3 3 4 2 3 6 TDI Mod e Reverse, smm 1, svm 1 Teledyne DALSA 38 TDI or Area Mod e, Forw ard or Reverse, sm m 1, svm 2 80 TDI or Area Mod e, smm 1 or 2, svm 2 38 48 7 359 384 333 359 308 333 282 307 256 282 231 256 205 231 180 205 154 179 128 154 103 128 776 103 775 520 264 519 8 3 2 7 6 1 0 5 4 9 8 3 2 7 2 7 6 1 0 5 4 9 1 40 Area Mod e Reverse, smm 1, svm 1 03-032-20070-02 0 24 49 6 75 2 08 10 12 20 15 17 76 20 32 88 22 44 25 56 00 28 30 12 33 68 35 24 38 80 40 TDI or Area Mod e, Forw ard or Reverse, sm m 1, svm 2 64 Piranha ES-xx User Manual 76 3.7.2 Returning Video Information The cam era’s m icrocontroller has the ability to read vid eo d ata w hen operating the cam era in TDI Mod e. This fu nctionality can be u sed to verify cam era operation and to perform basic testing w ithou t having to connect th e 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. 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 Setting a Region of Interest). 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 Colum n start num ber. Must be less than the colum n end num ber in a range from 1 to (column resolution – 1). x2 Colum n end num ber. Must be greater than the colum n start num ber in a range from 2 to sensor resolution. N otes: 03-032-20070-02 If x2 x1 then x2 is forced to be x1. 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 . Available in TDI Mod e only. Related Com m and s roi Exam ple: gl 10 20 Teledyne DALSA 77 Piranha ES-xx User Manual 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 for pixel coefficient calculations. 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). To return the current setting, use the gcp com m and . gla N otes: Related Com m and s: Exam ple: css 1024 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 Setting a Region of Interest). Syntax: gla x1 x2 Syntax Elem ents: x1 Colum n start num ber. Must be less than the colum n en d num ber in a range from 1 to (column resolution – 1). x2 Colum n end num ber. Must be greater than the colum n start num ber in a range from 2 to colum n resolution. N otes: Related Com m and s: Exam ple: If x2 x1 then x2 is forced to be x1. 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 . Available in TDI Mod e only. css, roi gla 10 20 3.7.3 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 tem peratu re in d egrees Ce lsiu 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 shutdow n and the LED w ill flash red. If this occu rs, the cam era must be rebooted u sing the com m and , rc or can be pow ered d ow n m anu ally. You w ill have to correct the tem peratu re problem or the cam era w ill shu td ow n again. Teledyne DALSA 03-032-20070-02 Piranha ES-xx User Manual 78 3.7.4 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. 3.7.5 Camera Frequency Measurement Purp ose: 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 (Spare) 3: CC3 (Forw ard ) 4: CC4 (Spare) gsf 1 Exam ple: 3.7.6 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. Figu re 26 below d escribes the GCP screen for the Piranha ES-4k cam era. To read all current camera settings, use the command: gcp Syntax: Figure 26: Example GCP Screen for ES-40-08k40 TDI Mode Operation GCP Screen CAMERA 03-032-20070-02 Description SETTINGS Camera Model No.: ES-xx-xxxxx Cam era m od el num ber. Sensor Serial No.: xxxxxxxxx Sensor serial num ber. Firmware Design Rev.: xx-xx-xxxxx-xx FPGA Version: xx-xx-xxxx-xx UART Baud Rate: 9600 TDI Mode: tdi Firm w are d esign revision num ber. DSP d esign revision num ber. Serial com m unication connection speed set w ith the sbr com m and . See section Setting Baud Rate for d etails. Current operating m od e, either TDI or Area set w ith Teledyne DALSA 79 Piranha ES-xx User Manual GCP Screen Teledyne DALSA Description Exposure Mode: 7 SYNC Frequency: 10000.00 Hz Internal Exposure Time: 100.00µs CCD Direction: internal/forward Stage Selection 16, 32 Horizontal Binning 1 Vertical Binning 1 Video Mode: video Background Subtract: 0 0 0 0 Region of Interest: (1,1)to(8192,1) End-Of-Line Sequence: on the tdi com m and . See section 3.5.1 for d etails. Current exposure m od e value set w ith the sem com m and . See section 3.3.5 Exposure Mod e and Line/ Fram e Rate for d etails. Current line rate. Value is set w ith the ssf com m and . See section 3.3.5 Exposure Mod e and Line/ Fram e Rate for d etails. Current exposure tim e setting if internal. If external, ―external‖ is d isplayed . See section 3.3.5 Exposure Mod e and Line/ Fram e Rate for d etails. CCD shift d irection set w ith the scd com m and . See section 3.3.3 Setting the Cam era’s CCD Shift Direction for d etails. N um ber of integration stages set w ith the stg com m and . See section 3.3.2 Selecting the N um ber of CCD Integration Stages for d etails. H orizontal binning value set w ith the sbh com m and . See section 3.3.4 Increasing Sensitivity w ith Binning for d etails. Vertical binning value set w ith the sbv com m and . See section 3.3.4 Increasing Sensitivity w ith Binning for d etails. Current vid eo m od e value set w ith the svm com m and . See section 3.7.1 Generating a Test Pattern for d etails. Background subtract value set w ith the ssb com m and . See section Digital Signal Processing for d etails. Region of interest size set w ith the roi com m and . See section Setting a Region of Interest for d etails. States w hether an end -ofline sequence is turned on 03-032-20070-02 Piranha ES-xx User Manual 80 GCP Screen 03-032-20070-02 Description FFC Coefficient Set: 0 FPN Coefficients: off PRNU Coefficients: off Number of Line Samples: 1024 Lower Threshold: 400 Upper Threshold: 3600 Camera Link Mode: 15, Medium, 4 taps, 8 bits, no time MUX Output Throughput: 320 Pretrigger 0 Mirroring Mode: left to right or off. Set using the eol com m and . See section 3.5.3 End -of-line Sequence for d etails. Current pixel coefficient set load ed . Refer to section 3.6.2 Saving and Restoring PRN U and FPN Coefficients for d etails. States w hether FPN coefficients are on or off. Set w ith the epc com m and . Refer to section Digital Signal Processing for d etails. States w hether PRN U coefficients are on or off. Set w ith the epc com m and . Refer to section Digital Signal Processing for d etails. N um ber of lines sam ple w ith the gla com m and set w ith the css com m and . See section 3.7.2 Returning Vid eo Inform ation for d etails. Low er threshold value set w ith the slt com m and . See section 3.5.3 End -ofline Sequence for d etails. Upper threshold value set w ith the sut com m and . See section 3.5.3 End -ofline Sequence for d etails. Cam era Link configuration set w ith the clm com m and . See 3.4.2 Setting the Cam era Link Mod e for d etails. Cam era throughput value set w ith the sot com m and . See section 3.4.3 Setting the Cam era Throughput for d etails. Pretrigger set w ith the spt com m and . See section 3.4.5 Setting a Pretrigger. Read out d irection set w ith the smm com m and . See section 3.4.4 Setting the Pixel Read out Direction for d etails. Teledyne DALSA 81 Piranha ES-xx User Manual GCP Screen Teledyne DALSA Description Analog Gain (dB): 3.0 3.0 3.0 3.0 Analog gain settings set w ith the sag com m and . See section Analog Signal Processing 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 Analog offset settings set w ith the sao com m and . See section Analog Signal Processing for d etails. Digital Offset: 50 50 50 50 Digital offset settings set w ith the sdo com m and . See section Digital Signal Processing for d etails. Background Subtract: 150 150 150 150 Background subtract settings set w ith the ssb com m and . See section Digital Signal Processing for d etails. System Gain: 4096 4096 4096 4096 Digital gain settings set w ith the ssg com m and . See section Digital Signal Processing for d etails. 03-032-20070-02 Piranha ES-xx User Manual 82 Returning Camera Settings with Get Commands You can also retu rn ind ivid u al cam era settings by in serting 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 20 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 20: Get Commands Syntax Parameters 03-032-20070-02 Description get cao t Returns the analog offset for the tap ind icated t = tap selection, either 1 to number of CCD taps, 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 sig nal ind icated , either 1, 2, 3, or 4. Teledyne DALSA 83 Piranha ES-xx User Manual Syntax Parameters get lpc Returns the current coefficient set num ber. get rfs Returns w hether factory settings have been saved . The cam era alw ays returns 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-number of CCD taps 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 number of CCD taps for ind ivid ual tap selection. get sbh Returns the horizontal binning value. get sbr Returns the speed of cam era serial com m unication port. get sbv Returns the vertical binning value. get scd Returns the CCD shift d irection w here: 0 = Forw ard TDI shift d irection. 1 = Reverse TDI shift d irection. 2 = Externally controlled d irection control via Cam era Link control CC3. get sdo t get sem get sfc Teledyne DALSA Description Returns the d igital offset value in DN for the tap ind icated . t = Tap value. 0 for all taps or 1-number of CCD taps 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 ind 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 smm Returns the cam era’s m irror m od e: 0: Pixels read out left to right (1 to 4096 or 8192) 1: Pixels read out right to left (8092 or 4096 to 1) get sot Returns the Cam era Link strobe rate. 03-032-20070-02 Piranha ES-xx User Manual 84 Syntax Parameters Description get spc x Returns the PRN U coefficient for the specified pixel num ber. x=pixel num ber w ithin the range 1 to sensor pixel count. get spt get ssb Returns the current pretrigger setting. t get ssf get ssg 03-032-20070-02 Returns the current background subtract value. t = Tap value. 0 for all taps or 1 to number of CCD taps 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 number of CCD taps, or 0 for all taps get stg Returns the current num ber of CCD integration stages. get sut Returns the current upper 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 tdi Returns the cam era’s current operatin g m od e. 0: Area Mod e 1: TDI Mod e get ugr Returns the gain reference value 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 Teledyne DALSA 85 Piranha ES-xx User Manual 4 Optical and Mechanical 4.1 Lens Mounts Mod el N um ber Lens Mount Options All m od els M72x0.75 thread . 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 charact eristics, environm ental and acqu isition system specifics, and m ore. The Know led ge Ceneter page on ou r Web site, w w w .teled yned alsa.com / m v/ know led ge/ appnotes.aspx, 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 inat ion. 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, 5J/ 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 1s. Light Sources Keep these gu id elines in m ind w hen setting u p you r light sou rce: Teledyne DALSA 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 ES-xx cam era. H alogen light sou rces generally provid e very little blu e relative to infrared light (IR). Fiber-optic light d istribu tion system s generally transm it very little blu e relative to IR. 03-032-20070-02 Piranha ES-xx User Manual 86 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 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 27: Primary Points in a Lens System 03-032-20070-02 Teledyne DALSA Piranha ES-xx User Manual 87 4.3 Mechanical Interface Figure 28: Piranha ES-8x Mechanical Dimensions Teledyne DALSA 03-032-20070-02 88 03-032-20070-02 Piranha ES-xx User Manual Teledyne DALSA 89 Piranha ES-xx User Manual Appendix A Error Handling and Command List A1 Error Handling The follow ing table lists w arning and error m essages and provid es a d escription and possible cau se. Warning m essages are retu rned w hen the cam era cannot m eet the fu ll valu e of the requ est; error m essages are retu rned w hen the cam era is u nable to com plete the requ est. Table 21: Warning and Error Messages Warning Messages Camera Response Teledyne DALSA Comment OK> Cam era executed com m and Warning 01: Outsid e of specification> Param eter accepted w as outsid e of specified operating range (e.g. gain greater than ±10 d B of factory setting, or SSF below specification ). Warning 02: Clipped to m in> Param eter w as clipped to the current operating range. Use GCP or GET to see value used . Warning 03: Clipped to m ax> Param eter w as clipped to the current operating range. Use GCP or GET to see value used . Warning 04: Related param eters ad justed > Internal operating cond ition is ad justed to accom m od ate the entered com m and . E.g. requesting exposure tim e longer than line tim e autom atically ad justs the line tim e to m eet the exposure tim e requirem ent. 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 Greater than 1% of FPN or PRN U coefficients have been calculated to be greater than the m axim um allow able and so w ere clipped . Warning 09: Internal line rate inconsistent w ith read out tim e> Changing this param eter (e.g. vertical binning) has changed read out tim e and that is greater than the internal SYN C 03-032-20070-02 Piranha ES-xx User Manual 90 Error Messages Camera Response Comment Error 01: Internal error xx> Where xx is a cod e list below . Only output d uring pow er up. Custom er should contact custom er support. Error 02: Unrecognized com m and > Com m and is not valid . Error 03: Incorrect num ber of param eters> Too m any or too few param eters. Error 04: Incorrect param eter value> This response returned for Alpha received for nu m eric or visa versa Ou tsid e the range lim it Float w here integer expected N ot an elem ent of the set of possible valu es. E.g., Bau d Rate Error 05: Com m and unavailable in this m od e> E.g. SSF w hen in SEM 3 Error 06: Tim eout> Com m and not com pleted in tim e. E.g. CCF or CCP in SEM 3 w hen no external EXSYN C is present. Error 07: Cam era settings not saved > Ind icates that user settings have been corrupted by turning off the pow er w hile executing the WUS com m and . Must build up new settings from factory and re-save w ith WUS. 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. (flashing red ) Shuts d ow n at in ternal tem perature of 75˚C and w ill not restart until below 65˚C (equivalent to 50˚C at front plate). Error 10: FPGA Flash Program Failed FCS failed either because of com m unication error or a bad file w as sent. 03-032-20070-02 Teledyne DALSA 91 Piranha ES-xx User Manual A2 Commands: Quick Reference Parameters: t = tap id i = integer value f = float m = member of a set s = string x = pixel column number y = pixel row number Teledyne DALSA As a qu ick reference, the follow ing table lists all of the cam era configu ration 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. N ote: This table d oes not list ―get‖ com m and s. Refer to section 3.7.6 Retu rning Cam era Settings for a list of these com m and s. Table 22: Command Quick Reference Mnemonic Syntax calibrate analog offset cao correction calibrate fpn ccf Parameters Description 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. Perform s FPN calibration and elim inates FPN noise by subtracting aw ay ind ivid ual pixel d ark current. Refer to Digital Signal Processing and Processing Chain Overview and Description for d etails. 03-032-20070-02 Piranha ES-xx User Manual 92 Mnemonic Syntax Parameters Description calculate cam era gain ccg i t i Calculates the cam era gain 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 algorith m 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 the peak tap ROI pixels are ad justed to the specified target. t = Tap value. Use 0 for all taps or 1 to num ber of CCD taps for ind ivid ual tap selection. i = Calibration target value in a range from : Algorithm 1 and 2: 1024 to 4055DN (12 bit LSB). Algorithm 3: 4095 to 65535. The d igital vid eo values are m ultiplied by this value w here: Digital Gain= correction calibrate prnu 03-032-20070-02 ccp i 4096 Perform s PRN U calibration and elim inates the d ifference in responsivity betw een the m ost and least sensitive pixel creating a uniform response to light. Refer to Digital Signal Processing and Processing Chain Overview and Description for d etails. Teledyne DALSA 93 Piranha ES-xx User Manual Mnemonic Syntax Parameters Description cam era link m od e clm m Sets the Cam era Link configuration, num ber of Cam era Link taps, and d ata bit d epth. 2: Base configuration, 2 taps, 8 bit output 3: Base configuration, 2 taps, 12 bit output 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 3.4.2 Setting the Cam era Link Mod e for d etails. 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) 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 Teledyne DALSA Target (AVG Pixel Value ) - (FPN + sdo value) i i 03-032-20070-02 Piranha ES-xx User Manual 94 Mnemonic Syntax Parameters Description 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 = 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 . 03-032-20070-02 correction set sam ple css m Set num ber of line sam ples averaged for pixel coefficient calculations or for outpu t of gla com m and . Values: 256, 512, 1024. Factory setting: 1024 Refer to Returning Averaged Lines of Vid eo on page 77 for d etails. 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 x 2= Pixel end num ber in a range from 1 to sensor pixel count. end of line sequence els i Sets the end -of-line sequence: 0: Off 1: On Refer to Refer to 3.5.3 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 67 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. Teledyne DALSA 95 Piranha ES-xx User Manual Teledyne DALSA Mnemonic Syntax Parameters Description get exposure m od e gem get fpn coeff gfc x Read the FPN coefficient x = pixel num ber to read in a range from 1 – sensor pixel count. Refer to Returning FPN Coefficients on page 62 for d etails. get line gl x x Gets a line of raw vid eo (no d igital processing or test pattern) d isplaying one pixel value after another and the m inim um , m axim um , and m ean value of the sam pled line. x = Pixel start num ber x = Pixel end num ber in a range from 1 to sensor pixel count. Refer to Returning a Single Line of Vid eo on page 76 for d etails. get line average gla x x Read the average of line sam ples. x = Pixel start num ber x = Pixel end num ber in a range from 1 to sensor pixel count. Refer to Returning Averaged Lines of Vid eo on page 77 for d etails. get prnu coeff gpc x Read the PRN U coefficient. x = pixel num ber to read in a range from 1 – sensor pixel count. get signal frequency gsf i Read s the requested Cam era Link control frequency. 1 = EXSYN C frequency 2 = Spare 3 = Direction (1 = forw ard , 2 = reverse) 4 = Spare help h Display the online help. Refer to section for d etails. load pixel coefficients lpc 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 reset cam era rc Reset the entire cam era (reboot). Baud rate is not reset and reboots w ith the value last used . Retrieves the current cam era exposure m od e. 03-032-20070-02 Piranha ES-xx User Manual 96 03-032-20070-02 Mnemonic Syntax Parameters Description restore factory settings rfs region of interest roi reset pixel coeffs rpc Reset the pixel coefficients to 0. Refer to section Enabling and Disabling Pixel Coefficients on page 67 for d etails. restore user settings rus Restore the cam era's last saved user settings and FPN and PRN U coefficients. Refer to section 3.6 Saving and Restoring Settin gs for d etails. set analog gain sag t f Sets the analog gain in d B. t = Tap value. 0 for all taps or 1number of CCD taps 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 54 for d etails. set analog offset sao t i Sets the analog offset. t = 0 for all taps or 1 to number of CCD taps for ind ivid ual tap selection. i= Offset value in a range from 0 to 255 (12-bit LSB). Offset increases w ith higher values. Refer to Analog Signal Processing: Setting Analog Gain and Offset for d etails. set binning horizontal sbh m Sets the horizontal binning value. Available values are 1, 2, 4, or 8. Refer to section 3.3.4 Increasing Sensitivity w ith Binning on page 37 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 30 for d etails. Restore the cam era’s factory settings. FPN and PRN U coefficients reset to 0. Refer to section 3.6 Saving and Restoring Settings for d etails. x y x y Sets the pixel range affected by the cag, cao, gl, gla, ccf, cpa 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 3.5.1 Setting a Region of Interest for d etails. Teledyne DALSA 97 Piranha ES-xx User Manual Teledyne DALSA Mnemonic Syntax Parameters Description set binning vertical sbv m Sets the vertical binning value. Available values are: 1 to 8 (ES-80) 1 to 4 (ES-82) Refer to section 3.3.4 Increasing Sensitivity w ith Binning on page 37 for d etails. set ccd d irection scd i Sets the CCD shift d irection w here: 0 = Forw ard TDI shift d irection. 1 = Reverse TDI shift d irection. 2 = Externally controlled d irection control via Cam era Link control CC3. Available only in TDI Mod e 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 1number of CCD taps for ind ivid ual tap selection. i = Offset in a range from 0 to 511DN . Refer to Setting Digital Offset on page62 for d etails. set exposure m od e sem m Set the 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. 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 511 (12-bit LSB). Refer to Perform ing FPN Correction on page 62 for d etails. set fpn range sfr x x i Set a range of pixel FPN coefficients x=first pixel num ber of the range. x=last pixel num ber of the range i=coefficient value in a range from 0 to 2048. Refer to Setting a Range of FPN Coefficients on page 62 for d etails. set low er threshold slt i The pixels below the low er threshold are checked for and reported in the end -of-line sequence in a range from 04095. Refer to section 3.5.3 End -of-line Sequence for d etails. 03-032-20070-02 Piranha ES-xx User Manual 98 03-032-20070-02 Mnemonic Syntax Parameters Description set m irror m od e smm i Set the cam era’s m irror m od e: 0: Pixels read out left to right (1 to 4096 or 8192) 1: Pixels read out right to left (8092 or 4096 to 1) Refer to 3.4.4 Setting the Pixel Read out Direction 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 Cam era Link strobe rate. 40 = 2 taps at 20MH z 80 = 2 taps at 40MH z 80 = 4 taps at 20MH z 160 = 2 taps at 80MH z or 4 taps at 40MH z 320 = 4 taps at 80MH z or 8 taps at 40MH z 640 = 8 taps at 80MH z Refer to section 3.4.3 Setting the Cam era Throughput for d etails on using this com m and . Available settings are d epend ent on your cam era m od el. set pretrigger spt i Set the pretrigger to a value from 0 to 16. 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. 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 65 for d etails. set subtract background ssb t i Subtract the input value from the output signal. t = Tap value. 0 for all taps or 1 to number of CCD taps for ind ivid ual tap selection. i = Subtracted value in a range from 0 to 4095. Refer to Subtracting Backgroun d on page 61 for d etails. Teledyne DALSA 99 Piranha ES-xx User Manual Teledyne DALSA Mnemonic Syntax Parameters Description set sync frequency ssf i Set the fram e rate to a value from : TDI ES-80-08k40: 3499.56-34305.3 ES-80-08k80: 3499.87-68610.6 ES-80-04k40: 3499.87-68610.6 ES-82-04k40: 3499.87-55020.6 ES-82-04k80: 3499.87-11111.0 Area ES-80-08k40: 1-3084.5 ES-80-08k80: 1-6169.0 ES-80-04k40: 1-6169.0 ES-82-04k40: 1-1084.7 ES-82-04k80: 1-2080.7 Value round ed up/ d ow n as required . Refer to Setting Fram e Rate on page 41 for d etails. set system gain ssg t i Set the d igital gain. t = tap selection, either 1 to number of CCD taps, or 0 for all taps i = Digital gain in a range from 0 to 65535. The d igital vid eo values are m ultiplied by this num ber. Refer to Setting Digital Gain on page 61 for d etails. stage select stg i Sets the num ber of TDI stages. Allow able values are: 16 or 32 for ES-80 models 8 or 16 for ES-82 models Refer to 3.3.2 Selecting the N um ber of CCD Integration Stages for d etails. set upper threshold sut i The pixels equal to or greater than the upper threshold are checked for and reported in the end -of-line sequence in a range from 0-4095. Refer to 3.5.3 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: Test pattern 2: Test pattern 3: Test pattern Refer to section 3.7.1 Generating a Test Pattern for d etails. set TDI m od e tdi i Set the cam era’s operating m od e. 0: Area Mod e 1: TDI Mod e Refer to section 3.5.1 for d etails. 03-032-20070-02 Piranha ES-xx User Manual 100 03-032-20070-02 Mnemonic Syntax Parameters Description upd ate gain reference ugr Changes 0d B gain to equal the current analog gain value set w ith the sag com m and . Refer to section Analog Signal Processing: Setting Analog Gain and Offset for d etails. verify tem perature vt Check the internal tem perature of the cam era verify voltage vv Check the cam era’s input voltages and return OK or fail 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 one 4 = FPN coefficient set tw o Refer to section 3.6.2 Saving and Restoring PRN U and FPN Coefficients for d etails. w rite PRN U 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 one 4 = PRN U coefficient set tw o Refer to section 3.6.2 Saving and Restoring PRN U and FPN Coefficients for d etails. w rite user settings wus Write all of the user settings to EEROM. Refer to section 3.6.1 Saving and Restoring Factory and User Settings for d etails. Teledyne DALSA 101 Piranha ES-xx User Manual Appendix B EMC Declaration of Conformity N OTE: PEN D IN G Teledyne D ALSA 605 McMurray Rd., Waterloo, ON CAN AD A N 2V 2E9 We, d eclare u nd er sole responsibility, that the prod u ct(s): ES-80-04k40-00-R ES-80-08k40-00-R ES-80-08k80-00-R ES-82-04K40-00-R ES-82-04K80-00-R fu lfill(s) the requ irem ents of the stand ard (s) EMC: CISPR-22:1997 EN 50082-1:1997 EN 61000-4-2; +/- 6kV CD , +/-8kV AD :1995 EN 61000-4-3; 3V/m:1996 EN 61000-4-4; 500V, 1100V:1995 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. 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. This Declaration correspond s to EN 45 014. Teledyne DALSA 03-032-20070-02 102 03-032-20070-02 Piranha ES-xx User Manual Teledyne DALSA 103 Piranha ES-xx User Manual Appendix C Revision History Teledyne DALSA Rev Number Change Description Date 00 Prelim inary release April 30, 2009 01 ES-82 m od els ad d ed to m anual. February 10, 2010 02 -Revised m echanical d iagram ad d ed w ith sensor alignm ent m easurem ent taken from tooling holes on front plate. -ES-80-04K40 listed m axim um line rate revised to the correct value of 68 KH z. -Base Cam era Link m od es 2 and 3 ad d ed to ES-80-08k40 m od el d escription. April 11, 2011 03-032-20070-02 104 03-032-20070-02 Piranha ES-xx User Manual Teledyne DALSA 105 Piranha ES-xx User Manual Index pow er, 25 A applications, 6 Area Mod e, 35 B binning, 37 horizontal, 37 vertical, 38 C calibrating the cam era, 53, 58 calibration errors, 66 overview , 58 results, 66 steps, 59 cam era d im ensions, 87 m essages, 89 output configuration, 42 cam era control signals, 26 Cam era Link connector, 25 m od e, 48 outputs, 26 cam era settings current, 69 factory, 69 restoring, 69 retrieving, 78 saving, 69 user, 69 clocking signals, 26 coefficients d iabling, 67 enabling, 67 load ing, 67 resetting, 67 com m and form at, 30 p aram eters, 30 com m and s, 34 list, 91 conectors Cam era Link, 25 connectors, 23 H irose, 25 Teledyne DALSA D d ata bus, 26 d ata rate, 8, 10, 13, 15, 18 d igital signal processing, 61 d irection externally controlled , 36 w eb m ovem ent, 36 DVAL, 26 d ynam ic range, 8, 10, 13, 15, 18 E electrical specs, 7, 10, 12, 15, 17 EMC Declaration of Conform ity, 101, 103 end -of-line sequence, 67 error m essages, 89 exposure m od es overview , 39 EXSYN C, 26 external trigger, 26 F fiber-optic light sources, 85 filters, 86 flat field correction, 54–60 FPN , 8, 9, 11, 13, 16, 18, 58 FVAL, 26 G gain, 5, 8, 10, 11, 13, 15, 16, 18, 52, 55, 57 analog, 58 gain ranges, 8, 10, 13, 15, 18 H halogen light sources, 85 help, 30 H irose connector, 25 hot m irror, 86 03-032-20070-02 Piranha ES-xx User Manual 106 I illum ination, 85 input/ output, 23 inputs (user bus), 26 installation, 23 interface electrical, 7, 10, 12, 15, 17 m echanical, 7, 10, 12, 15, 17 optical, 7, 9, 12, 14, 17, 85 L LED, 24 lens m od eling, 86 light sources, 85 line rate, 8, 10, 13, 15, 18 line statistics, 76 LVAL, 26 M MDR26 connector, 23 m echanical d raw ing, 87 m echanical specs, 7, 10, 12, 15, 17 m od e Area, 35 TDI, 35 m od els, 6 N N EE, 8, 11, 13, 16, 18 O offset optim izing, 52 online help, 30 operating m od es, 38 optical interface, 85 optical specs, 7, 9, 12, 14, 17 output signals, 26 P perform ance specifications, 7 pixel rate, 43, 45, 46, 47, 48 pixel read out, 50 pixel statistics, 76 03-032-20070-02 pow er connectors, 25 guid elines, 25 pretrigger, 51 PRN U, 58 R read out configuring, 42 d irection, 49 m irroring, 49 rebooting, 72 resolution, 7, 9, 12, 14, 17 responsivity, 8, 11, 13, 16, 18 roi. See Region of Interest S SEE, 8, 11, 13, 15, 18 sensitivity level, 35 sensor, 20 serial interface, 29 d efaults, 29 settings factory, 33 statistics, 76 STROBE, 26 T tap read out d irection, 49 TDI Mod e, 35 tem perature m easurem ent, 77 test patterns, 73 tim ing, 27, 28 cam era, 27, 28 Cam era Link, 27, 28 m od e 3, 40 m od e 7, 40 trigger external, 26 V vid eo d ata, 77 voltage m easurem ent, 78 W w arning m essages, 89 Teledyne DALSA
