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PANTERA 22M
Camera User’s Manual
Progressive Scan Monochrome Camera
CA-40-22M03-00-L
20-Aug-11
www.teledynedalsa.com
03-032-20049-02
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PANTERA 22M User’s Manual
About Teledyne Technologies and Teledyne D ALSA, Inc.
Teled yne Technologies is a lead ing provid er of sophisticated electronic subsystem s, instrum entation and
com m unication prod ucts, 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 ww .teled yne.com .
Teled yne DALSA, a Teled yne Technologies com pany, is an international lead er in high performance
d igital im aging and sem icond uctors w ith approxim ately 1,000 em ployees world w id e, headquartered in
Waterloo, Ontario, Canada. Established in 1980, the com pany d esigns, d evelops, m anufactures and
m arkets d igital im aging prod ucts and solutions, in add ition to provid ing MEMS prod ucts and services.
For m ore inform ation, visit Teled yne DALSA’s website at ww w .teled yned alsa.com .
Support
For further inform ation not includ ed in this manual, or for inform ation on Teled yne DALSA’s extensive
line of im age sensing prod ucts, please contact:
North America
Europe
Asia Pacific
605 McMurray Rd
Waterloo, ON N2V 2E9
Canad a
Tel: 519 886 6000
Fax: 519 886 8023
w w w.teled ynedalsa.com
Breslauer Str. 34
D-82194 Gröbenzell (Munich)
Germ any
Tel: +49 - 8142 – 46770
Fax: +49 - 8142 – 467746
w w w.teled ynedalsa.com
Ikebukuro East 13F
3-4-3 H igashi-Ikebukuro
Toshim a-ku, Tokyo 170-0013
Japan
Tel: 81 3 5960 6353
Fax: 81 3 5960 6354 (fax)
w w w.teled ynedalsa.com
sales.am ericas@d alsa.com
support@teled ynedalsa.com
Teledyne DALSA
sales.europe@teled ynedalsa.com
support@teled ynedalsa.com
sales.asia@teled yned alsa.com
support@teled ynedalsa.com
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Contents
Introduction to the PANTERA 22M Area/TDI Scan Camera ____________________________ 5
1.1 Camera Highlights ....................................................................................................................................................... 5
1.2 Image Sensor ............................................................................................................................................................... 6
1.3 Camera Performance Specifications ............................................................................................................................ 7
1.4 Blemish specification ................................................................................................................................................... 9
Camera Hardware Interface ________________________________________________ 11
2.1 Installation Overview ................................................................................................................................................... 11
2.2 Input/Output Connectors and LED ............................................................................................................................... 11
Software Interface: How to Control the Camera __________________________________ 17
3.1 Communications Protocol Overview ............................................................................................................................ 17
3.2 Overview: Setting up the Camera to Send Commands ................................................................................................ 18
3.3 Saving and Restoring Settings ..................................................................................................................................... 19
3.4 Setting Operating Mode .............................................................................................................................................. 19
3.5 Setting Exposure Mode and Exposure Time (Area Mode) ........................................................................................... 19
3.6 TDI Mode ..................................................................................................................................................................... 24
3.7 Setting Sync Frequency (TDI and Area Mode) ............................................................................................................. 25
3.8 Switching between Area and TDI mode (TDI/Area Mode) .......................................................................................... 26
3.9 Setting the Camera Link Data Mode ........................................................................................................................... 26
3.10 Setting Baud Rate ...................................................................................................................................................... 27
3.11 Setting Gains ............................................................................................................................................................. 27
3.12 Monitoring the Camera ............................................................................................................................................. 29
3.13 Rebooting the Camera ............................................................................................................................................... 29
3.14 Setting the Video Mode and Generating Test Patterns ............................................................................................. 29
Optical and Mechanical Considerations ________________________________________ 31
4.1 Mechanical Interface .................................................................................................................................................... 31
4.2 Mounting the Camera .................................................................................................................................................. 32
4.3 Thermal Management ................................................................................................................................................. 32
4.4 Environment ................................................................................................................................................................ 32
Cleaning and Maintenance ________________________________________________ 33
5.1 Cleaning....................................................................................................................................................................... 33
5.2 Maintenance ................................................................................................................................................................ 35
Troubleshooting ________________________________________________________ 37
6.1 Common Solutions ....................................................................................................................................................... 37
6.2 Troubleshooting Using the Serial Interface ................................................................................................................. 38
6.3 Specific Solutions ......................................................................................................................................................... 39
6.4 Product Support ........................................................................................................................................................... 40
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Camera Link™ Reference, Configuration and Image Construction______________________ 41
Commands and Error Handling _____________________________________________ 45
Index _______________________________________________________________ 49
Revision History ________________________________________________________ 51
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1
Introduction to the
PANTERA 22M Area/TDI
Scan Camera
1.1 Camera Highlights
Features
•
4008(H ) x 5344(V) resolu tion, fu ll fram e CCD architectu re
•
•
•
•
•
•
•
•
•
•
The PAN TERA 22M offers u p to 3.6 fps, 4 ou tpu ts at fu ll resolu tion, 27 MH z d ata rate
Up to 12 bit d igitization
Sm all gain step s to achieve extrem ely low seam m ism at ch betw een taps
H igh sensitivity w ith low d ark cu rrent
Area or TDI m od e
Exposu re control and antibloom ing
Asynchronou s im age captu re, externally triggerable
Tap to tap m atching
100% fill factor
Single 12VDC pow er su pply
Programmability
•
•
Sim ple ASCII protocol controls gain, offset, fram e rates, trigger m od e, test pattern
ou tpu t, and cam era d iagnostics
Serial interface (ASCII, 9600 bau d , ad ju stable u p to 115200), throu gh Cam era Link™
Description
The PAN TERA 22M d igital cam eras p rovid e high-sensitivity 12 bit im ages w ith a 4008 x
5344 sp atial resolu tion. The cam eras u se the fu ll fram e FTF4052M sensor to
sim u ltaneou sly achieve ou tstand ing resolu tion and gray scale characteristics. A squ are
pixel form at and high fill factor provid e su perior, qu antifiable im age qu ality even at low
light levels.
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PANTERA 22M User’s Manual
Applications
The PAN TERA 22M are ou tstand ing perform ers in fast, very high resolu tion
ap plications. 12 bit perform ance provid es u p to 4096 d istinct gray levels—perfect for
ap plications w ith large interscene light variations. The low -noise, d igitized vid eo signal
also m akes the cam era an excellent choice w here low contrast im ages m u st be captu red in
challenging ap plications.
Specific applications inclu d e:
•
Flat panel inspection
•
Microscopy
•
Aerial reconnaissance
•
Med ical and non-d estru ctive test x-ray
1.2 Image Sensor
The PAN TERA 22M offers fram e rates at u p to 3.6 fram es per second (fp s) u sing 4 ou tp u t
tap s to sim u ltaneou sly read ou t d ata. This cam era u ses the FTF4052M fu ll-fram e CCD
im age sensor. The FTF4052M provid es the highest possible im age qu ality for its
resolu tion, w ith low er d ark cu rrent, low er noise, and higher d ynam ic range than any
com petitor.
Figure 1: FTF4052M Image Sensor
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1.3 Camera Performance Specifications
Table 1: PANTERA 22M Camera Performance Specifications
Camera Features
Units
Resolution
H x V pixels
4008 x 5344
Pixel Size
µm
9x9
Pixel Fill Factor
%
100
Output taps
Notes
4
Mechanical
Interface
Units
Size
mm
78 x 78 x 70
Weight
kg
0.65 ± 5%
Electrical Interface
Units
Pow er Dissipation
W
< 10
Input Voltage
VDC
12
Pow er Connector
Data Outpu t Form at
Notes
15
6 pin H irose
Bits
12/ 10/ 8
Base Cam era Link™
MDR26
Data Connector
Optical Interface
Notes
Units
Notes
Back Focal Distance
mm
Lens Mount
Aperture
N ot present
mm
36.072x48.096
µm
º
µm
±350
±500
±1.25
<900 over sensor
Sensor Flatness
µm
40 peak-peak
Camera
Performance
Units
Fram e Rate
fps
Data Rate
MH z
Sensor Alignm ent
x, y
z
z
Parallelism / Tilt
Data Form at
Teledyne DALSA
4.5±0.5
Min.
Nom.
Max.
Notes
3.6
4x27
8, 10, or 12 bit user selectable
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At front
plate
Operating Tem p
°C
-10
50
Gain Range
dB
0
24
Dynam ic Range
dB
63
Pixel Response N on Uniform ity (PRN U)
DN rm s
5
Fixed Pattern N oise
(FPN )
DN rm s
3
Sat. Output
Am plitud e
DN
3680
3840
4000
1
DC Offset
DN
80
160
240
1
>100x
1
21
12-bit
@530nm
Antibloom ing
2
Responsivity
DN / (nJ/ cm )
Pow er Up Duration
sec
10
Pow er Up
Stabilization tim e
m in
30
P
P
19
20
Regulatory
Regulatory
Com pliance
N one
Notes:
1. N om inal ou tpu t, 100m s exp osu re tim e. Light sou rce: broad band qu artz halogen,
3200K, 750nm and IR cu toff filter.
Figure 2 PANTERA 22M Spectral Responsivity
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1.4 Blemish specification
PAN TERA 22M cam era inclu d es an FTF4052M CCD im age sensor, ind u strial grad e.
Blem ish specification is presented below .
Below table show s FTF4052M Sensor Blem ish Specifications, m axim u m nu m ber of
blem ishes perm itted .
Description
IG (ind u strial grad e)
Pixel d efects
100
Clu ster d efects
12
Spot d efects
0
Colu m n d efects
1
Row d efects
0
Definition of blem ishes
Pixel defect
Pixel w hose signal, at nom inal light (illu m ination at 50% of the linear range), d eviates
m ore than ±30% from its neighbou ring pixels. Pixel w hose signal, in d ark, d eviates m ore
than 250m V from its neighbou ring pixels.
Cluster defect
A grou ping of at m ost 5 pixel d efects w ithin a su b-area of 3*3 pixels.
Spot defect
A grou ping of m ore than 5 p ixel d efects w ithin a su b -area of 3*3 pixels.
Column defect
A colu m n w hich has m ore than 8 pixel d efects in a 1*12 kernel.
Colu m n d efects m u st be horizontally sep arated by 3 good colu m ns.
Row defect
A horizontal grou ping of m ore than 8 pixel d efects betw een at least 2 good pixels on both
sid es, w here single good pixels betw een 2 d efective pixels are consid ered as d efective.
Test conditions
Tem peratu re: 60°C
Integration Tim e: 100m s
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2
Camera Hardware
Interface
2.1 Installation Overview
In ord er to set u p you r cam era, you shou ld take these initial step s:
This installation overview
assumes you have not installed
any system components yet.
1.
Pow er d ow n all equ ipm ent.
2.
Follow ing the m anu factu rer’s instru ctions, install the fram e grabber (if
ap plicable). Be sure to observe all static precautions
3.
Install any necessary im aging softw are.
4.
Before connecting pow er to the cam era, test all pow er su p plies. Ensure that all the
correct voltages are present at the camera end of the power cable (The Cam era Perform ance
Specifications on page 6 list approp riate voltages). Pow er su pp lies m u st m eet the
requ irem ents d efined in 2.2.3 Pow er Connector Pow er Inp u t.
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5.
Inspect all cables and connectors p rior to installation. Do not u se d am aged cables
or connectors or the cam era m ay be d am aged .
6.
Connect d ata, serial interface, and pow er cables.
7.
After connecting cables, app ly pow er to the cam era. After a few second s, the LED
on the back of the cam era shou ld be green to ind icate that the cam era is operating
and read y to receive com m and s.
2.2 Input/Output Connectors and LED
The cam era u ses a:
•
•
•
Teledyne DALSA
Diagnostic LED for m onitoring the cam era. See LED Statu s Ind icator section below
for d etails.
H igh-d ensity 26-pin MDR26 connector for Cam era Link control signals, d ata signals,
and serial com m u nications. Refer to Figu re 4: MDR26 Connector for pin d escriptions.
6-pin H irose connector for p ow er. Refer to 2.2.3 Pow er Connector for pin
d escriptions.
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Figure 3: Camera Inputs/Outputs
2.2.1 LED Status Indicator
Please refer to section 3.12 Monitoring the Cam era , page 24 for d etail.
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2.2.2 Camera Link Data Connector
The Cam era Link interface is im plem ented as a Base Configu ration in the PAN TERA 22M
cam eras. A Base Configu ration u ses 1 MDR26 connector and 1 Channel Link chip. The
m ain characteristics of the Base Configu ration are:
•
•
•
•
Ports su p ported : A, B, C
Serializer bit w id th: 28
N u m ber of chips: 1
N u m ber of MDR26 connectors: 1
Data Connector
Figure 4: MDR26 Connector
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Table 2: MDR26 Connector Reference
Item
Value
Pinout
BASE
1
2
3
4
5
6
7
8
9
10
11
12
13
GN D
X0X1X2XclkX3SERTC+
SERTFGCC1CC2+
CC3CC4+
GN D
Item
Pinout
Value
BASE
14
15
16
17
18
19
20
21
22
23
24
25
26
GN D
X0+
X1+
X2+
Xclk+
X3+
SERTCSERTFG+
CC1+
CC2CC3+
CC4GN D
Notes:
T
*Exterior Overshield is connected to the shells of the connectors on both end s.
**3M part 14X26-SZLB-XXX-0LC is a com plete cable assem bly, includ ing connectors.
Unused pairs should be term inated in 100 ohm s at both end s of the cable.
Table 3: Camera Control Configuration
Signal
Configuration
CC1
CC2
CC3
CC4
Sm art EXSYN C(Area Mod e)
Line Sync (TDI m od e)
Area/ TDI m od e
Spare
Digital Data
The cam era d igitizes internally to 12 bits and has a u ser selectable ou tpu t of 8, 10, or 12
bits in LVDS form at on the Cam era Link connector. You can select the ou tpu t u sing the
clm com m and . For d etails, see section 3.9 Setting the Cam era Link Data Mod e.
Data Clocking Signals
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 p art of the Cam era Link configu ration and
you shou ld refer to the Teled yne DALSA Cam era Link Im plem entation Road Map,
available w ith contacting Teled yne DALSA Technical su p port, for the stand ard location
of these signals:
IMPORTANT:
This camera’s data
should be sampled on
the rising edge of
STROBE.
Teledyne DALSA
Clocking Signal
Indicates
LVAL (high)
DVAL (high)
STROBE (rising edge)
FVAL (high)
Outputting valid line
Valid d ata
Valid d ata
Outputting valid fram e
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See Ap pend ix A for the com plete Cam era Link tim ing, Teled yne DALSA Cam era Link
configu ration table, and contact Teled yne DALSA Technical su p port, for the official
Cam era Link d ocu m ent.
Input Signals
The cam era accepts an EXSYN C control inpu t throu gh the Cam era Link MDR26F
connector.
EXSYNC (Triggers Readout)
For high speed com m u nication the CC lines of cam era link w ill be u sed .
The table below show s high speed controls:
Table 4: PANTERA 22M Camera Control Configuration
Camera Link
Function
input
CC1
Smart ExSync (Frame trigger
and exposure control)
CC2
Line sync
CC3
0 - Area mode, split vertical
transfer.
1 - TDI mode, one-way
transfer
Note
Will be ignored in TDI
mode
TDI mode only
The direction of one-way
transfer is set by
software
2.2.3 Power Connector
Pin
Description
Pin
Description
1
+12V
4
GN D
2
+12V
5
GN D
3
+12V
6
GN D
The cam era requ ires a single voltage inpu t (+12VDC to +15VDC). 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 p plies provid e optim u m perform ance.
When setting u p the cam era’s pow er su p plies follow these gu id elines:
•
•
•
Protect the cam era w ith a fast-blow fu se 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.
Note: Perform ance specifications are not gu aranteed if you r pow er su pply d oes not m eet
these requ irem ents
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WARNING: It is extremely important that you apply the appropriate voltages to your camera.
Incorrect voltages will damage the camera. Protect the camera with a fast-blow fuse between
power supply and camera.
Visit the w w w .teled yned alsa.com Web site for a list of com panies that m ake p ow er
su pp lies that m eet the cam era’s requ irem ents. The com panies listed shou ld not be
consid ered the only choices.
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3
Software Interface: How
to Control the Camera
All 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. This chapter explains
the m ost com m only u sed and im portant com m and s, inclu d ing:
3.3 Saving and Restoring Settings
3.4 Setting Operating Mod e
3.5 Setting Exposu re Mod e and Exposu re Tim e (Area Mod e)
3.6 Setting Scan Direction and Sync Mod e (TDI Mod e)
3.7 Setting Sync Frequ ency (TDI and Area Mod e)
3.8 Sw itching betw een area and TDI m od e (TDI/ Area Mod e)
3.9 Setting the Cam era Link Data Mod e
3.10 Setting Bau d Rate
3.11 Setting Gains
3.12 Monitoring the Cam era
3.13 Rebooting the Cam era
3.14 Setting the Vid eo Mod e and Generating Test Patterns
i
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This chapter outlines the
more commonly used
commands. See
Appendix B for a list of
all available commands.
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The serial interface u ses a sim ple ASCII-based protocol. For a com plete list of all available
com m and s, refer to the Com m u nications Protocol on p age C om m and s and Error
H and ling .
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Online Help
For qu ick help, the cam era can retu rn all available com m and s and param eters throu gh
the serial interface. To generate this list, send the com m and h to the cam era.
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Retrieving Camera Settings
To read cu rrent cam era settings, send the com m and gcp.
3.1 Communications Protocol Overview
Serial Protocol Defaults:
•
Teledyne DALSA
8 d ata bits
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PANTERA 22M User’s Manual
•
•
•
•
•
1 stop bit
N o parity
N o flow control
9.6Kbps
Cam era d oes not echo characters
When entering commands, remember that:
•
•
•
A carriage retu rn (CR) end s each com m and . The linefeed character is ignored .
The cam era w ill answ er each com m and w ith either "OK >" or "Error x: Error Message
>". The ">" is alw ays the last character sent by the cam era.
The follow ing param eters are u sed throu ghou t the m anu al:
i = integer
f = float
t = tap
[ ] = optional param eter
3.2 Overview: Setting up the Camera to Send
Commands
The follow ing step s d escribe how to begin u sing the PAN TERA 22M and com m and s.
1.
If you have not alread y set u p you r cam era cables, connect you r cables as d escribed
in section 2.1 Installation Overview .
Using a term inal program (e.g., Microsoft H yperTerm inal), open a term inal w ind ow .
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2.
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Note: In ord er to com m u nicate w ith the cam era, a serial connection in the Cam era
Link cable need s to be established . The fram egrabber m anu factu rers shou ld be able
to provid e a solu tion in ord er to com m u nicate throu gh this serial link. The term inal
softw are can be also p rovid ed by the fram egrabber m anu factu rer. Stand ard term inal
softw are su ch as H yperTerm inal can be u sed in case if COM port is allocated by the
fram egrabber.
Term inal shou ld be set at 9600 bau d d u ring the cam era p ow er u p.
3.
When the term inal w ind ow is set u p, pow er on the cam era.
4.
The boot-u p m essage shou ld ap pear on the term inal w ind ow :
Configuration Successful.
OK>
You can now com m u nicate w ith the cam era throu gh the term inal u sing the softw are
com m and s d escribed in this m anu al.
5.
6.
7.
Teledyne DALSA
Set u p the fram egrabber to receive the d ata. Follow ing the fram egrabber
m anu factu rer’s instru ctions, set u p the param eters d escribed in the Cam era Link™
Configu ration Table on page 42.
Once the fram egrabber is set u p for d ata processing and the cam era is pow ered u p,
ru n you r im age processing softw are. You shou ld b e able to see an im age from the
cam era w hen exp osed to a light sou rce.
You can now set the other cam era p aram eters d escribed in this chapter.
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3.3 Saving and Restoring Settings
The cam era provid es a nu m ber of com m and s for restoring, storing, and saving settings.
•
•
•
To restore the original factory settings, u se the com m and rfs.
To save all cu rrent u ser settings to EEPROM, u se the com m and wus. The cam era w ill
au tom atically restore the saved u ser setting s w hen p ow ered u p.
To restore the last saved u ser settings, u se the com m and rus.
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Figure 5: Saving and Restoring Overview
Factory Settings
restore
rfs command
User Settings /
EEROM
write / restore
wus, rus
commands
Current
Session
3.4 Setting Operating Mode
To select camera’s operating mode, use the command:
Syntax:
tdi i
Syntax Elem ents:
i
0
Area/ TDI m od e (Selectable by CC3)
1
Sm art ExSync (Area Mod e)
2
Line Sync (TDI m od e)
Related Com m and s:
Exam ple:
tdi 1
3.5 Setting Exposure Mode and Exposure Time
(Area Mode)
With three d ifferent exposu re m od e settings, the PAN TERA 22Mcam eras d eliver m any
possibilities for flexible cam era tim ing. Table ou tlines each of these three exposu re m od es,
and is follow ed by a fu ll explanation on how to set the cam era’s fram e rate and exp osu re
tim e.
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Mode
Table5: Overview of PANTERA 22M Exposure Modes
i
SYNC
Exposure Time
0
–External
1
–Internal
-Program m able
–Fram e rate is internally
set to correspond w ith
the program m ed
exposure tim e plus
read out tim e.
–External
–N ot
program m able
–Exposure tim e is
set by the high pulse
w id th of the iCC1
signal.
For more information on
the EXSYNC signal, refer
to section 2.2
Input/Output Connectors
and LED.
2
Notes
–Internal
–Program m able using
the set com m and
- Program m able using
the ssf com m and
-Program m able
w ith set
com m and
―Sm art EXSYN C‖ Mod e:
external exposure tim e –
high tim e of external signal
is exposure tim e and
1/ period is fram e rate.
The rising ed ge of iCC1
begins cam era exposure.
The falling ed ge begins
read out.
Fact ory Default Mode.
Fram e period is the
program m ed exposure
tim e plus the read out tim e.
The fram e period can be
read in this m od e by using
the gcp com m and .
The user is responsible for
not violating tim ing
constraints for the EXSYN C
signal used in this m od e.
The falling ed ge of
EXSYN C initiates the fram e
transfer.
i
Mode 1 is the factory
setting
Overview: Setting Exposure mode and Exposure
Time
The cam era’s fram e rate (synchronization) can be generated internally throu gh softw are
com m and s or inpu t externally from a fram e grabber/ host system . To select how you
w ant the cam era’s fram e rate to be generated :
1.
You m u st first set the cam era m od e u sing the sem com m and . Refer to Step One on
the follow ing for d etails.
2.
Then, if you are u sing m od e 1, u se the set com m and to set the exposu re tim e. Refer
to Step Tw o in 3.5.2 for d etails. Then u se the ssf t o set the fram e rate. Refer to 3.7
Setting Sync Frequ ency (TDI and Area Mod e) .
T
T
T
T
HT
TH
3.5.1 Step 1: Setting the Exposure Mode
In internal sync m od e, (m od e 1), the cam era d elivers d ata ind epend ent of external signals
accord ing to the tim ing set internally. In external sync m od es (m od es 2), the cam era starts
exposu re after an external trigger pu lse (iCC1).
To select camera’s exposure mode, use the command:
Teledyne DALSA
Syntax:
sem i
Syntax Elem ents:
i
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0
Sm art ExSync (Area Mod e)
1
Fram e Sync Internal, Exposure Internal
2
Fram e Sync External, Exposure Internal

N otes:
To obtain the current value of the exposure m od e, use the
com m and gcp.
T
Related Com m and s:
set
Exam ple:
sem 1
T
Mode 0: Smart EXSYNC, External Frame Rate and
Exposure Time
Figure5. Area mode timing diagram
The below table show s ou r recom m end ed tim ing valu es,
Teledyne DALSA
Tim ing
Type
Recom m end ed
valu e
Rem arks
T1
Variable
>276 m s
Fram e period , m axim u m
fram e rate = 3.6 fram es/ sec
T2
Variable
10 u s +
exposu re tim e
iCC1 high length
T3
Typical
718.8 u s
iCC1 falling ed ge to FVAL
start
T4
Typical
275.3 m s
FVAL length for one fram e
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T5
Typical
27 u s
FVAL start to LVAL start
T6
Typical
74.22 u s
LVAL length
T7
Typical
28.75 u s
LVAL end to next line LVAL
start
T8
Variable
>1 m s
Id le tim e, d epend ing on fram e
rate and exposu re tim e
In Sm art Exsync m od e, the follow ing events take place:

Rising ed ge of iCC1 Fram e Sync pu lse is triggering charge d u m p(CD)

Charge d u m p tim e w hich is fixed and set internally to 10µs

After charge d u m p, exposu re begins and lasts till iCC1 falling ed ge.

the iCC1 falling ed ge cau ses fram e transfer inclu d ing vertical and horizontal
read ou ts to begin.

The first 6 lines of read ou t are d u m m y lines

The next 2672 lines are active lines w ith vid eo d ata

At the end of the fram e transfer the cam era goes into id le operation state and
rem ains in this state u ntil a next iCC1 rising ed ge.
The d u ration of iCC1 pu lse in high state shou ld be larger than Charge reset tim e.
The fram e period shou ld be larger than the su m of charge d u m p tim e, exposu re tim e, and
the fram e transfer tim e (inclu d ing d u m m y and active lines).
The iCC3 signal shou ld be d riven LOW d u ring area m od e operation of the cam era.
Mode 1: Internal Frame Sync and Internal Exposure
Time
In this m od e, the exposu re tim e is program m ed internally w ith the set com m and
(d escribed on follow ing p age); the fram e rate is program m ed internally w ith ssf
com m and (d escribed on follow ing page). The Read ou t occu rs im m ed iately after the
exposu re tim e. After the read ou t is com plete, the next exposu re begins again. Both fram e
sync and exposu re tim es are generated internally. The sam e restrictions as in m od e 0
ap ply to this m od e.
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Mode 2: External Frame Sync and Internal Exposure
Time
In this m od e, iCC1 sets the fram e rate bu t the exposu re tim e is set internally u sing the
softw are com m and , set (d escribed on follow ing page).
A new fram e starts w ith iCC1 rising ed ge, then rest of processes are d one internally, bu t
id entically to m od e 0
The below table show s ou r recom m end ed tim ing valu es,
Tim ing
Type
Recom m end ed
valu e
Rem arks
T1
Variable
>276 m s
Fram e period , m axim u m
fram e rate = 3.6 fram es/ sec
T2
Fixed by u ser
100 u s
iCC1 high length.
N ot critical as iCC1 falling
ed ge d oesn’t trigger any
action
3.5.2 Step 2: Setting Exposure Time
Setting Exposure Time
Cam era m u st be operating in exposu re m od e 1, 2.
To set the camera exposure time, use the command:
Syntax:
set i
Syntax Elem ents:
i
Floating point num ber in m illisecond s. Allow able range is 110,000,000 m icrosecond s.
N otes:
Teledyne DALSA

To read the current line rate frequency, use the com m and gcp.

If you enter an invalid exposure tim e, the valid range of values w ill
be d isplayed .
T
Related Com m and s:
sem, ssf
Exam ple:
set 100,000
T
T
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3.6 TDI Mode
In TDI m od e, the follow ing events take place:

Rising ed ge of iCC2 Line Sync pu lse or internal cou nter is triggering beginning
of a new line

N ew line starts w ith vertical transfer of one line

Stop vertical transfer and start horizontal read ou t

Read ou t d u m m y pixels

Read ou t active lines. In parallel process d ata from active pixels. Enable LVAL
for active pixels d ata.

Overclock pixels, requ ired for internal p rocessing

Id le state, w aiting for next line sync
Figure 2. TDI mode timing diagram
The below table show s ou r recom m end ed tim ing valu es,
Tim ing
Type
Recom m end ed
valu e
Rem arks
T1
Typical
103u s
Line period , set externally or
internally
Equ ivalent to 9.71kH z line
rate
T2
Minim u m
0.12-1 u s
iCC2 high length.
N ot critical as iCC2 falling
ed ge d oesn’t trigger any
action
Teledyne DALSA
T3
Typical
28.7 u s
Line Sync to LVAL start
T4
Typical
74.22 u s
LVAL, slightly d elayed from
active pixels d u e to internal
d ata processing
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T5
Variable
1 us
Depend ing on line rate
If iCC2 (line sync) is ru nning at higher rate than the m axim u m , the signal w ill be ignored .
When the cam era operates in TDI m od e, iCC3 is d riven H igh and iCC1 valu e is ignored
(so iCC1 cou ld be d riven either LOW – recom m end ed , or H igh).
The sensor is exposed all the tim e and the lines are read w ith the frequ ency of the iCC2.
The valu e of FVAL w ill be set to LOW.
Setting TDI Direction (scd)
To set CCD scanning direction in TDI mode, use the command:
Syntax:
scd i
Syntax Elem ents:
i
0
Top to bottom
1
Bottom to top
Related Com m and s:
tdi
Exam ple:
Scd 0
Setting Sync Mode (ssm)
To set sync mode to internal or external in TDI mode, use the command:
Syntax:
ssm i
Syntax Elem ents:
i
0
Internal Line sync
1
External line sync
Related Com m and s:
tdi
Exam ple:
ssm 1
3.7 Setting Sync Frequency (TDI and Area Mode)
For both TDI and Area mode, to set the camera’s frame rate and line rate values, use the
command:
Teledyne DALSA
Syntax:
ssf i i
Syntax Elem ents:
i
1
Fram e rate: 278 – 16383 m illisecond s
2
Line rate: 2780 – 16383 counts of pixel clock
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N otes:

To read the current line rate frequency, use the com m and gcp.

If you enter an invalid fram e rate or line rate, the valid range of
values w ill be d isplayed.
Related Com m and s:
sem, ssm
Exam ple:
ssf 1 2780
3.8 Switching between Area and TDI mode
(TDI/Area Mode)
1. TDI m od e to Area
It is safe to sw itch from TDI m od e to Area m od e.
2. Area m od e to TDI m od e
It is safe to sw itch d u ring exposu re tim e or id le tim e. If sw itched d u ring fram e
transfer, the read ou t of fu ll fram e w ill be d one first before the cam era enters into TDI
m od e.
3.9 Setting the Camera Link Data Mode
The PAN TERA 22M cam era Cam eraLink p ort has tw o taps (channels), each are 12 bits.
The 24 bits of d ata that are sent from the cam era to the fram e grabber are d ivid ed into
three ports: A, B, C. Each port is 8 bits. The clm com m and selects the nu m ber of bits that
the cam era send s to the fram e grabber from each tap. In the table below , ports A -C refer
to the cam era link specification.
To select the bit resolution for data sent via the CameraLink interface, use the command:
Syntax:
clm i
Syntax Elem ents:
i
0
1
2
Teledyne DALSA
N otes:

Exam ple:
clm 0
12 bit (Factory setting),
Tap 1 Data bits 0 to 7 are linked to Port A
Tap 1Data bits 8 to 11 are linked to Port B bits 0 to 3
Tap 2 Data bits 8 to 11 are linked to Port B bits 4 to 7
Tap 2 Data bits 0 to 7 are linked to Port C
10 bit,
Tap 1 Data bits 0 to 7 are linked to Port A
Tap 1 Data bits 8 and 9 are linked to Port B bits 0 and 1
Tap 2 Data bits 8 and 9 are linked to Port B bits 4 and 5
Tap 2 Data bits 0 to 7 are linked to Port C
8 bit,
Tap 1 Data bits 0 to 7 are linked to Port A
Tap 2 Data bits 0 to 7 are linked to Port B
To obtain the current output d ata form at, use the com m and gcp
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3.10 Setting Baud Rate
Change speed of cam era serial com m u nication port. Defau lt speed of com m u nication
after p ow er-on cycle is alw ays 9600 bau d .
Param eters of serial com m u nication are as follow s:

Eight (8) d ata bits

N o (N ) parity

One (1) stop bit

N o hard w are flow control
To set the speed of the camera serial communication port, use the command:
Syntax:
sbr i
Syntax Elem ents:
i
Baud rate. Available baud rates are: 9600 (Default), 14400, 19200,
28800, 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.
sbr 9600
3.11 Setting Gains
Optim izing gain in the analog d om ain allow s you to achieve a better signal-to-noise ratio
(d ynam ic range). As a resu lt, perform all analog gain ad ju stm ents w ith sag and sg
com m and .
Setting Analog Gain for Tap to Tap Matching
The set analog gain com m and allow s you to ad ju st the analog gain in fou r channels for
precise control over tap -to-tap m atching.
This valu e is d irectly w ritten to the vid eo processor and d oes not take into accou nt the
0d B gain reference. Cu rrent valu e of analog again m ay be obtained fr om gcp ou tpu ts.
Since taps that have been m od ified w ith the sag com m and d o not allow for d B gain
reference, these valu es w ill not be d isplayed by gcp ou tpu ts. Gain valu es entered by w ay
of the sag com m and are not saved w ith u ser settings.
If sag is changed , then the m ap ping shou ld be u pd ated by ugr com m and . If this is not
d one, d B valu e cou ld get ou tsid e of allow ed range.
sag com m and is m ostly u sed for responsivity and tap m atching calibration at factory.
To set the analog gain, u se the com m and :
Syntax:
sag t i
Syntax Elem ents:
t
0
Teledyne DALSA
- all taps
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1-4
- Tap count (select single tap)
i
0-1023. 0 correspond s to low gain, 1023 correspond s to high gain
Related Com m and s:
gag ; ugr
Exam ple:
sag 0 27
Update Gain Reference
Com m and ugr is to u pd ate 0d B gain reference to be equ al to the cu rrent valu e of analog
gain setting. It is the DN valu e cu rrently set to the vid eo processor’s gain registers that is
u sed as the gain reference. As su ch, valu es entered via the sag com m and ) as w ell as the
sg com m and are equ ally ap plicable. Gain references are saved w ith u ser settings.
Syntax:
ugr
Set Gain (sg)
Com m and sg is for setting analog gain in the vid eo p rocessor. The valu e w ritten to the
vid eo processor is su m m ed w ith the 0d B gain refer ence. Cu rrent valu e of analog gain
m ay be obtained from gcp, and gag ou tpu ts. Gain settings entered by w ay of the sg
com m and are saved w ith u ser settings. If ju st higher resp onsivity is need ed on all taps,
the easiest w ay is to send a com m and sg 0 x.
To set the analog gain, u se the com m and :
Syntax:
sg t i
Syntax Elem ents:
t
0
- all taps
1-4
- Tap count (select single tap)
i
0.0 – 24.0 in d B, 0 correspond s to low gain, 24 correspond s to high
gain
Teledyne DALSA
Related Com m and s:
gag ; gcp
Exam ple:
Sg 0 0
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3.12 Monitoring the Camera
Note: When more than
one condition is active,
the LED indicates the
condition with the
highest priority. Error
and warning states are
accompanied by
corresponding messages
further describing the
current camera status.
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. Table 6 below su m m arizes the operating states of the cam era and the
correspond ing LED states.
Table 6: Camera Operating States
LED state
Priority
Blinking RED
Stead y RED
Blinking
GREEN
Stead y GREEN
Camera Status
Condition
1
2
3
Error
Warning
Progress
Fatal hard w are failure
Monitoring task failure
Lengthy operation in progress
4
OK
H ealthy
3.13 Rebooting the Camera
The com m and rc reboots the cam era. The cam era starts u p w ith the last saved settings.
3.14 Setting the Video Mode and Generating
Test Patterns
To set the video mode, use the command:
Syntax:
tps i
Syntax Elem ents:
i
Exam ple:
Teledyne DALSA
0
vid eo
1
Test pattern 1
2
Test pattern 2
tps 0
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4
Optical and Mechanical
Considerations
4.1 Mechanical Interface
Figure 6: Mechanical Drawing
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4.2 Mounting the Camera
The PAN TERA 22Mcam eras can be m ou nted via the 4 holes.
4.3 Thermal Management
For any CCD cam era optim al perform ance is achieved by transferring heat aw ay from the
sensor. Keeping a sensor ―cool‖ red u ces the am ou nt of d ark cu rrent generated . Dark
cu rrent is the lead ing contribu tor to FPN , PRN U, d ark offset, rand om noise and other
perform ance specifications, especially w hen a cam era is significantly gained (i.e. +10d b).
PAN TERA 22M m echanicals have been optim ized to transfer heat from the sensor to the
front of the hou sing. Recom m end to m ou nt cam era on a m etal plate. Mou nt fans aw ay
from the cam era to avoid vibration, and d irect the airflow across the hou sing to d ecrease
the tem peratu re d elta betw een am bient and hou sing tem peratu res. Proper installation
greatly red u ces d ark cu rrent and w ill im p rove you system s perform ance.
4.4 Environment
The cam era and cables shou ld be shield ed from environm ental noise sou rces for best
operation. The cam era shou ld also be kept as cool as possible. The specified operating
tem peratu re is -10–50°C m easu red at the front su rface of the cam era.
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5
Cleaning and
Maintenance
5.1 Cleaning
Electrostatic Discharge and the CCD Sensor
Charge-cou pled d evice (CCD) im age sensors are m etal oxid e sem icond u ctor (MOS)
d evices and are su sceptible to d am age from electrostatic d ischarge (ESD). Althou gh m any
sensor pins have ESD protection circu itry, the ESD p rotection circu itry in CCDs is
typically not as effective as those fou nd in stand ard CMOS circu its.
Electrostatic charge introd u ced to the sensor w ind ow su rface can ind u ce charge bu ild u p
on the u nd ersid e of the w ind ow that cannot be read ily d issip ated by the d ry nitrogen gas
in the sensor package cavity. When charge bu ild u p occu rs, su rface gated photod iod es
(SGPDs) m ay exhibit higher im age lag. Som e SGPD sensors m ay also exhibit a highly
non-u niform response w hen affected by charge bu ild -u p, w ith som e pixels d isplaying a
m u ch higher response w hen the sensor is exposed to u niform illu m ination. The charge
norm ally d issip ates w ithin 24 hou rs and the sensor retu rns to norm al operation.
Preventing ESD Damage
To prevent ESD d am age, w e ad vise you to take the follow ing hand ling precau tions.
1.
Grou nd you rself p rior to hand ling CCDs.
2.
Ensu re that you r grou nd and you r w orkbench are also properly grou nd ed . Install
cond u ctive m ats if you r grou nd or w orkbench is non -cond u ctive.
3.
Use bare hand s or non -chargeable cotton gloves to hand le CCDs. N OTE: Ru bber
fingercots can introd u ce electrostatic charge if the ru bber com es in contact w ith the
sensor w ind ow .
4.
Do not tou ch the w ind ow , especially in the region over the im aging are a.
5.
Grou nd all tools and m echanical com p onents that com e in contact w ith the CCD.
6.
We recom m end that CCDs be hand led u nd er ionized air to prevent static charge
bu ild u p.
The above ESD precau tions need to be follow ed at all tim es, even w hen there is no
evid ence of CCD d am age. The rate w hich electrostatic charge d issipates d epend s on
nu m erou s environm ental cond itions and an im proper hand ling proced u re that d oes
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not ap pear to be d am aging the CCDs im m ed iately m ay cau se d am age w ith a change
in environm ental cond itions.
Protecting Against Dust, Oil, and Scratches
The CCD w ind ow is p art of the optical path and shou ld be hand led like other optical
com ponents, w ith extrem e care.
Du st can obscu re pixels, p rod u cing d ark patches on the sensor response. Du st is m ost
visible w hen the illu m ination is collim ated . The d ark patches shift position as the angle of
illu m ination changes. Du st is norm ally not visible w hen the sensor is positioned at the
exit port of an integrating sp here, w here the illu m ination is d iffu se.
Du st can norm ally be rem oved by blow ing the w ind ow su rface u sing an ionized air gu n.
Oil is u su ally introd u ced d u ring hand ling. Tou ching the su rface of the w ind ow
barehand ed w ill leave oily resid u es. Using ru bber fingercots and ru bber gloves can
prevent contam ination . H ow ever, the friction betw een rubber and the w ind ow m ay
prod u ce electrostatic charge that m ay d am age the sensor. To avoid ESD d am age and to
avoid introd u cing oily resid u es, avoid tou ching the sensor.
Scratches d iffract incid ent illu m ination. When exposed to u niform illu m ination, a sensor
w ith a scratched w ind ow w ill norm ally have brighter p ixels ad jacent to d arker pixels. The
location of these pixels w ill change w ith the angle of illu m ination.
Cleaning the Sensor Window
Equipment Required

Glass cleaning station w ith m icroscope w ithin clean room .

3M ionized air gu n 980
(http:/ / solu tions.3m canad a.ca/ w p s/ p ortal/ 3M/ en_CA/ WW2/ Cou ntry/ )
Ionized air flood system , foot operated .



Sw ab (H UBY-340CA-003)
(http:/ / w w w .cleancross.net/ m od u les/ xfsection/ article.php?articleid =24)
Single d rop bottle (FD-2-ESD)

E2 (Eclip se optic cleaning system (w w w .photosol.com )
Procedure
Teledyne DALSA

Use localized ionized air flow on to the glass d u ring sensor cleaning.


Blow off m obile contam ination u sing an ionized air gu n.
Place the sensor u nd er the m icroscope at a m agnification of 5x to d eterm ine the
location of any rem aining contam ination.



Clean the contam ination on the sensor u sing one d rop of E2 on a sw ab.
Wipe the sw ab from left to right ( or right to left bu t only in one d irection). Do this in
an overlapping pattern, tu rning the sw ab after the first w ipe and w ith each
su bsequ ent w ipe. Avoid sw iping back and forth w ith the sam e sw ab in ord er to
ensu re that p articles are rem oved and not sim ply transferred to a new location on the
sensor w ind ow . This p roced u re requ ires you to u se m u ltiple sw abs.
Discard the sw ab after both sid es of the sw ab have been u sed once.

Repeat u ntil there is no visible contam ination present.
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5.2 Maintenance
There are no u ser serviceable parts on this cam era. Please contact Teled yne DALSA for service.
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6
Troubleshooting
The inform ation in this chapter can help you solve problem s that m ay occu r d u ring the
setu p of you r cam era. Rem em ber that the cam era is part of the entire acqu isition system .
You m ay have to trou bleshoot any or all of the follow ing:
 pow er su pplies
 cabling
 fram e grabber hard w are & softw are
 host com pu ter
 light sou rces
 optics
 operating environm ent
 encod er
You r steps in d ealing w ith a technical problem shou ld be:
1. Try the general and specific solu tions listed in sections 6.1, 6.2, and 6.3.
2. If these solu tions d o not resolve you r problem , see section 6.4 on getting prod u ct
su pp ort.
6.1 Common Solutions
Connections
The first step in trou bleshooting is to verify that you r cam era has all the correct
connections.
Power Supply Voltages
Check for the presence of all voltages at the cam era p ow er connector. Verify that all
grou nd s are connected .
EXSYNC
When the cam era is pow ered on for the first tim e, the factory setting is d efau lt(no external
inpu ts requ ired ). After you have saved settings, the cam era pow ers u p w ith the saved
settings next tim e it is rebooted .
Data Clocking/Output Signals
To valid ate cable integrity, have the cam era send ou t a test pattern and verify it is being
properly received .
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6.2 Troubleshooting Using the Serial Interface
The follow ing com m and s can aid in d ebu gging. (The com plete com m and protocol is
d escribed in Ap pend ix B.)
Communications
To qu ickly verify serial com m u nications send the help com m and . The h com m and
retu rns the online help m enu .
Verify Parameters
To verify the cam era setu p, send the gcp com m and .
Verify Factory Calibrated Settings
To restore the cam era’s factory settings, send the rfs com m and .
After execu ting this com m and send the gcp com m and to verify the factory settings.
Verify Timing and Digital Video Path
Use the test p attern featu re to verify the proper tim ing and connections betw een the
cam era and the fram e grabber and verify the proper ou tp u t along the d igital processing
chain. See below .
Generating Test Patterns
The cam era can generate a test pattern to aid in system d ebu gging. Use the com m and
svm i to activate the test pattern (see section 3.14 Setting the Vid eo Mod e and
Generating Test Patterns for d etails). The test p attern is a ram p from 1 to the nu m ber of
pixels in the line, then starts at 1 again. Use the test pattern to verify the proper tim ing
and connections betw een the cam era and the fram e grabber.


N o test pattern or bad test pattern — May ind icate a problem w ith the cam era (e.g.
m issing bit) or a system setu p problem (e.g. fram e grabber or tim ing). Verify the
presence of the LVAL and STROBE signals.
Test pattern successful — Ru n the svm 0 com m and to d eactivate vid eo correction.
Verify Temperature
To check the cam era’s internal tem peratu re, u se the vt com m and . If it is w ithin the
proper range, the cam era retu rns OK>. Otherw ise the cam era retu rns an error m essage.
LED Status
Located on the back of the cam era is a red / green LED u sed to d isplay the operational
statu s of the cam era. Red lights ind icate errors or w arnings and green lights ind icate
progress and OKs. Error and w arning states are accom p anied by correspond ing m essages
fu rther d escribing cu rrent cam era statu s. See section 2.2.1 LED Statu s Ind icator for the
com plete LED inform ation.
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39
6.3 Specific Solutions
No Output or Erratic Behavior
If you r cam era provid es no ou tpu t or behaves erratically, it m ay be picking u p rand om
noise from long cables acting as antennae. Do not attach w ires to u nu sed pins. Verify that
the cam era is not receiving spu riou s inpu ts (e.g. EXSYN C, if cam era is in expo su re m od e
that regu lates external signals).
Line Dropout, Bright Lines, or Incorrect Frame Rate
Verify that the frequ ency of the internal sync is set correctly, or w hen the cam era is set to
external sync that the EXSYN C signal su pplied to the cam era d oes not exceed the
cam era’s m axim u m specified fram e rate.
Noisy Output
Check you r pow er su pply voltage ou tpu ts for noise. N oise present on these lines can
resu lt in poor vid eo qu ality. Low qu ality or non -tw isted pair cable can also ad d noise to
the vid eo ou tpu t.
Dark Patches
If d ark p atches appear in you r ou tpu t the optics path m ay have becom e contam inated .
Refer to the sensor cleaning proced u re in Chapter 5. for p roper cleaning instru ctions.
Horizontal Lines or Patterns in Image
A fau lty or irregu lar encod er signal m ay resu lt in horizontal lines d u e to exposu re tim e
flu ctu ations; ensu re that you r exposu re tim e is regu lar. If you have verified that you r
exposu re tim e is consistent and patterns of low frequ ency intensity variations still occu r,
ensu re that you are u sing a DC or high frequ ency light sou rce.
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PANTERA 22M User’s Manual
6.4 Product Support
If there is a problem w ith you r cam era, collect the follow ing d ata abou t you r a p plication
and situ ation and call you r Teled yne DALSA representative.
Note: You m ay also w ant to photocopy this page to fax to Teled yne DALSA.
Customer name
Organization name
Customer phone number
fax number
Complete Product Model Number
(PT-21-11M04, PT-21-06M08...)
Complete Serial Number
Your DALSA Agent or Dealer
Acquisition System hardware
(frame grabber, host computer, light
sources, etc.)
Acquisition System software
(version, OS, etc.)
Power supplies and current draw
Data rate used
Control signals used in your
application, and their frequency or
state (if applicable)
Results when you run the gcp
command
Detailed description of problem
encountered.
 EXSYNC
Other _______
please attach description with as
much detail as appropriate
In ad d ition to you r local Teled yne DALSA representative, you m ay need to call Teled yne
DALSA Technical Sales Su p port:
Voice:
Fax:
Teledyne DALSA
North America
519-886-6000
519-886-8023
Europe
+49-8142-46770
+49-8142-467746
Asia
519-886-6000
519-886-8023
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41
Appendix A
Camera Link™ Reference,
Configuration and Image
Construction
Cam era Link is a com m u nication interface for vision ap plications. It provid es a
connectivity stand ard betw een cam eras and fram e grabbers.
LVDS Technical Description
Low Voltage Differential Signaling (LVDS) is a high-speed , low -pow er general-pu rpose
interface stand ard . The stand ard , know n as AN SI/ TIA/ EIA -644, w as ap proved in March
1996. LVDS u ses d ifferential signaling, w ith a nom inal signal sw ing of 350m V d ifferential.
The low signal sw ing d ecreases rise and fall tim es to achieve a theoretical m axim u m
transm ission rate of 1.923 Gbps into a loss-less m ed iu m . The low signal sw ing also m eans
that the stand ard is not d epen d ent on a p articu lar su p ply voltage. LVDS u ses cu rrent m od e d rivers, w hich lim it p ow er consu m ption. The d ifferential signals are im m u ne to ±1
V com m on volt noise.
Camera Signal Requirements
This section provid es d efinitions for the signals u sed in the Cam e ra Link interface. The
stand ard Cam era Link cable provid es cam era control signals, serial com m u nication, and
vid eo d ata.
Video Data
The Channel Link technology is integral to the transm ission of vid eo d ata. Im age d ata
and im age enable signals are transm itted on the Channel Link bu s. Fou r enable signals
are d efined as:
• FVAL—Fram e Valid (FVAL) is d efined H IGH for valid lines.
• LVAL—Line Valid (LVAL) is d efined H IGH for valid p ixels.
• DVAL—Data Valid (DVAL) is d efined H IGH w hen d ata is valid .
• Sp are— A sp are has been d efined for fu tu re u se.
All fou r enable signals m u st be provid ed by the cam era on each Channel Link chip. All
u nu sed d ata bits m u st be tied to a know n valu e by the cam era. For m ore info rm ation on
im age d ata bit allocations, refer to the official Cam era Link Road Map specification on the
w w w .teled yned alsa.com Web site.
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PANTERA 22M User’s Manual
Camera Control Signals
Fou r LVDS pairs are reserved for general-pu rpose cam era control. They are d efined as
cam era inpu ts and fram e grabber ou tpu ts. Cam era m anu factu rers can d efine these signals
to m eet their need s for a p articu lar prod u ct. The signals are:
• Cam era Control 1 (CC1)
• Cam era Control 2 (CC2)
• Cam era Control 3 (CC3)
• Cam era Control 4 (CC4)
Communication
Tw o LVDS p airs have been allocated for asynchronou s serial com m u nication to and from
the cam era and fram e grabber. Cam eras and fram e grabbers shou ld su p port at least 9600
bau d . These signals are
• SerTFG—Differential pair w ith serial com m u nications to the fram e grabber.
• SerTC—Differential p air w ith serial com m u nications to the cam era.
The serial interface w ill have the follow ing characteristics: one start bit, one stop bit, no
parity, and no hand shaking. It is recom m end ed that fram e grabber m anu factu rers su p ply
both a u ser interface and a softw are ap plication program m ing interface (API) for u sing
the asynchronou s serial com m u nication port. The u ser interface w ill consist of a term inal
program w ith m inim al cap abilities of send ing and receiving a character string and
send ing a file of bytes. The softw are API w ill provid e fu nctions to enu m erate board s and
send or receive a character string. See Ap pend ix B in the Official Cam era Link
specification on the Web site
(http:/ / w w w .teled yned alsa.com / m v/ know led ge/ appnotes.aspx).
Power
Pow er w ill not be provid ed on the Cam era Link connecto r. The cam era w ill receive
pow er throu gh a sep arate cable. Cam era m anu factu rers w ill d efine their ow n pow er
connector, cu rrent, and voltage requ irem ents.
Camera Link™ Configuration Table
The follow ing table provid es tap reconstru ction inform ation. DALSA is w orking w ith the
m achine vision ind u stry to u se this table as the basis for au to configu ration. Visit the
Web site and view the DALSA Cam era Link Im plem entation Road Map d ocu m ent for
fu rther d etails (http:/ / w w w .teled yned alsa.com / m v/ know led ge/ ap pnotes.aspx).
H
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43
PANTERA 22M Interface Parameters
Table 2: Frame Grabber Interface Parameters (Unverified)
Item (when programmable configuration the
options are separated with a | )
Im ager Dim ension <1,2 or 1| 2>
Im ager Colum ns<num ber of active colum ns, X>
Im ager Row s<num ber of active row s, Y> Line Scan/ TDI
are d efined as 1
N um ber of Im ager Taps <1,2,3…..>
Tap Clock Rate
<xx MH z>
Cam era Stand ard <N TSC, PAL, VS, VW, MW>
Variable Wind ow
<Colum n Start, Colum n End , Row Start, Row End >
Multiple Wind ow
N um ber of Wind ow s, (Colum n Start 1, Colum n End 1,
Row Start 1, Row End 1) (Colum n Start 2, Colum n End 2, …
Cam era Color
<H ybrid , Mono, Pattern, Solid>
Pattern Size
<(T1,Colum ns*Row s)(T2,
Colum ns*Row s)(T3,Colum ns*Row s….>
Color Definition
<T1= R,G,B, CY, MG, Y, or M>
Row Color Offset
<0,1,2,3…>
Colum n Color Offset <0,1,2,3…>
N um ber of Cam era Configurations<1,2,3,…>
Configuration Definition
Cx= H DW, N um ber of Outpu t Taps, Bit Wid th, N um ber of
Processing N od es w here
Cx is the configuration ID x is <1,2,3…>
H DW is <Base, Med ium , Full>
N um ber of Outpu t Taps is <1,2,3…>
Bit w id th is <8, 10,12…>
N um ber Processing N od es is <1 or 2>
Tap Reconstruction
In som e configurations the reconstruction m ay change. C0
is the d efault output form at and m ust be listed . Output
configurations that d on’t conform are listed separately.
<Cx,Tn (Colum n Start, Colum n End, Colum n Increm ent,
Row Start, Row End , Row Increm ent>
Row Binning Factor <1,2,3 or 1| 2| 3>
Colum n Binning Factor <1,2,3 or 1| 2| 3>
Pretrigger Pixels <0,1,2…or 0..15>
Pretrigger Lines <0,1,2.. or 0..15>
Fram e Tim e Minim um <xx us>
Fram e Tim e Maxim um <xx u s>
Internal Fram e Tim e Resolution
<xx u s> 0 if not applicable
Teledyne DALSA
PANTERA 22M
2
4008
5344
4
27
VS
(0,0,0,0)
0,(0,0,0,0)
Mono
TBD
TBD
0
0
TBD
C1 = Base 4, 12, 1
C2 = Base 4, 10, 1
C3 = Base 4, 8, 1
TBD
1
1
TBD
(program m able)
0
278 000
TBD
1
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PANTERA 22M User’s Manual
Item (when programmable configuration the
options are separated with a | )
PANTERA 22M
Pixel Reset Pulse Minim um Wid th
<xx ns> 0 if not applicable
Internal Pixel Reset Tim e Resolution
<xx ns> 0 if not applicable
Pixel Reset to Exsync H old time <xx ns>
BAUD Rate <9600….>
CC1 <Area m od e>
CC2 <TDI m od e>
CC3 <Area/ TDI m od e >
CC4 <Sp are>
DVAL out <Strobe Valid , Alternate>
0
0
TBD
9600
Sm art Exsync
Line Sync
Selectable
Spare
Data Valid , held
high except in
binning m odes
Fram e Valid
Line Valid
FVAL out <Fram e Valid , Alternate>
LVAL< Fram e Valid , Alternate >
PANTERA 22M Image Construction
Table: Data channels configuration
22M03 tap
Teledyne DALSA
Data channel#,
default configuration
Data channel#, custom
configuration(for use with
Xcellera PX-4 framegrabber)
W
1
1
X
3
2
Z
2
3
Y
4
4
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45
Appendix B
Commands and Error Handling
This table provid es a brief overview of all of the available u ser com m and s. For a d etailed
explanation of these com m and s, refer to Chapter 3.
Parameters:
i = integer
f = float
t = tap
Teledyne DALSA
Table: All Available CommandsTable 3Table 4
Command
Syntax Parameters
Description
FPGA
configuration
store
fcs
Place the cam era into FPGA cod e d ow nload
state. Use H yperTerm inal application to
d ow nload the binary im age of the FPGA
configuration the file, the cam era need s to be
reset or pow er cycled.
Before starting the d ow nload process w ith
this com m end , the cam era’s serial d ata rate
should be increased by using the sbr. A
baud rate of 115200 is recom m end ed .
get analog gain
gag
Read the cam era analog gain
get analog
offset
gao
Read the cam era analog offset
get cam era
m od el
gcm
Read the cam era m od el num ber
get cam era
param eters
gcp
Read all of the cam era param eters.
get cam era
serial
gcs
Read the cam era serial num ber
get cam era
version
gcv
Read the firm w are version and FPGA version
get sensor
serial
gss
Read the sensor serial num ber
help
h
Display the online help
cam era link
m od e
clm
reset cam era
rc
Reset the entire cam era (reboot)
restore factory
settings
rfs
Restore the cam era’s factory settings.
restore user
settings
rus
Restore the cam era's last saved user settings.
i
Sets the d ata m od e to use. Available values
are:
0: 12 bit m od e
1: 10 bit m od e
2: 8 bit m od e
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46
Parameters:
i = integer
f = float
t = tap
PANTERA 22M User’s Manual
Command
Syntax
Parameters
Description
set analog gain
sag
t i
Setting analog gain to vid eo processor.
0~4, 0~1023
set gain
sg
t i
Setting analog gain in the vid eo processor.
0~4, 0.0~24.0
set sync
frequ ency
ssf
t i
Sets the cam era’s fram e rate and line rate
values. Current line rate m ay be obtained
from Get_Camera_Parameters output. Sync
rate inform ation is saved w ith user settings.
T= OPERATIN G_MODE:
1 – Fram e rate
2 – Line rate
FRAME_RATE:
[T = 1]
i= 278 – 16383 m illisecond s
LIN E_RATE:
[T = 2]
i= 2780 – 16383 cou nts of pixel clock
set baud rate
sbr
Set sync m od e
ssm
i
i
Set the speed of cam era serial com m unication
port. Baud rates: 9600, 14400, 19200, 28800,
and 115200. Default baud : 9600
Sets the sync m od e to internal or external.
Sync m od e is saved w ith user settings.
01-
Internal sync
External sync
set operating
m od e
tdi
f f
Sets the cam era’s operating m od e. Operating
m od e is saved w ith user settings.
0- CC3 External
1- Area Mod e
2- TDI m od e
set exposure
tim e
set
f
Set the exposure tim e. Value is a num ber in
m icrosecond s in a range from 1 to 10,000,000.
set exposure
m od e
sem
i
Set the exposure m od e. Available values are:
0 – Sm art ExSync
1 – Fram e Sync Internal, Exp osu re Internal
2 – Fram e Sync External, Exp osu re Internal
Teledyne DALSA
set output
m od e
sos
i
Sets w hether to read out d ata using one or
tw o taps. Use 1 for one tap or 2 for tw o taps.
set exposure
tim e
set
i
Sets the cam era’s exposure tim e in
m icrosecond s. Exposure tim e is saved w ith
user. I = 1 – 10,000,000u S
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Parameters:
i = integer
f = float
t = tap
47
Command
Syntax
set td i
d irection
scd
Test pattern
select
tps
Parameters
i
Description
Set vid eo m od e. Available values are:
0: Top to Bottom
1: Bottom to Top
Selects betw een vid eo output, test pattern 1,
and test pattern 2 output. Test pattern m od e
is saved w ith user settings.
TEST_PATTERN :
0 – vid eo
1 – test pattern 1
2 – test pattern 2
Teledyne DALSA
w rite user
settings
wus
Write all of the user settings to EEPROM
upd ate gain
reference
ugr
Upd ates 0d B gain reference to be equal to the
current value of analog gain setting. It is the
DN value currently set to the vid eo
processor’s gain registers that is used as the
gain reference. As such, values entered via
the sag com m and (Set_A nalog_Gain) as w ell
as the sg com m and (Set_Gain) are equally
applicable. Gain references are saved w ith
user settings.
verify voltage
vv
Measu res and reports the external voltage
su pp ly provid ed to the cam era.
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PANTERA 22M User’s Manual
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PANTERA 22M User’s Manual
49
Index
2 taps, 19, 20
setting, 23, 25
EXSYN C, 14
troubleshooting, 37
external trigger, 14
A
F
aperture, 7
applications, 6
features, 5
fill factor, 7
fram e rate, 7
FVAL, 41
2
B
baud rate, 27
bright lines, 39
C
cam era control signals, 42
Cam era Link
configuration, 13, 14
connector, 13
signals, 13
clock signals, 13
com m and s
d escriptions, 45
connector
Cam era Link, 12
d ata, 12
pinout, 12
pow er, 14
D
d ark patches, 39
d ata bus, 13
d ata rate, 7
d igital d ata, 13
DVAL, 13, 41
d ynam ic range, 8
E
EMC Declaration of
Conform ity, 42
exposure
control, 19
m od es, 19
setting, 20
tim e, 19
exposure tim e
Teledyne DALSA
G
gain range, 8
H
help, 17
I
incorrect line rate, 39
installation, 11
interface param eters, 43
L
LED, 12
line dropout, 39
LVAL, 13, 41
LVDS, 41
pairs, 42
M
MDR26 connector, 11, 13
m od es, 20
exposure, 20
operating, 20
N
noisy output, 39
O
operating m od es, 20
operating tem p, 8
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PANTERA 22M User’s Manual
P
perform ance specifications, 7
pixel
fill factor, 7
size, 7
pow er d issipation, 7
PRN U, 8
restoring, 19
saving, 19
size, 7
specifications, 7
electro-optical, 7
startup sequence, 18
STROBE, 13
troubleshooting, 38
R
T
rebooting, 29
resolution, 7
responsivity, 8
graph, 8
tap reconstruction, 42
Technical Sales Support, 40
tem perature, 8
test patterns
generating, 38
tim ing
exposure, 23, 25
troubleshooting, 37
S
sensor
alignm ent, 7
d raw ing, 6
serial interface, 17
settings
Teledyne DALSA
V
vid eo d ata, 41
03-032-20049-02
Revision History
D ATE
Revision
Action
Originator
23/ 05/ 2008
00
Initial Release
Law son Lu o
19/ 11/ 2009
01
See d etail below
Law son Lu o
08/ 19/ 2011
02
-Upd ate to cosm etic
blem ish and sensor
cleaning proced ure
-Restored m issing
labels to tim ing
d iagram s.
Gary Gagne
D etails of the changes at version 01:
1.
2.
3.
4.
5.
6.
7.
8.
9.
On page 26 in the second to last sentence it says "there valu es w ill not be d isp layed by gcp ou tpu ts"
has been corrected to "these valu es"
On page 27 it says "d igital gain" has been changed to "analog gain"
On page 26 the sentence that says "Cu rrent valu e of analog again m ay be obtained from gcp ou tpu ts."
H as been changed to "Cu rrent valu e of analog gain m ay be obtained from gcp ou tpu ts."
Cover pictu re has been u pd ated .
On pa25, section 3.9, setting the cam era link d ata m od , line 1, ―the PAN TERA 22M cam era have fou r
tapes, each are 12 bits‖ ―The PAN TERA 22M cam era Cam eraLink port has tw o taps (channels), each
are 12 bits.
On page 25, section 3.9, ―The 28 bits of d ata that are sent from the cam era to the fram e grabber are
d ivid ed into three ports: A, B, C. Each port is 8 bits.‖ H as been changed to ―The 24 bits of d ata that are
sent from the cam era to the fram e grabber are d ivid ed into three ports: A, B, C. Each p o rt is 8 bits.‖
On page 26-27, d efinitions of u gr and sg have been ad d ed into chapter 3.11 setting analog gain.
On page 39 and 40. the w ebsite ad d ress ―heep:/ / vfm .d alsa.com ‖ has been changed to
―w w w .d alsa.com ‖
On page 42, the Table: Data channels configu ration has been u pd ated .
10. On page 44, the d escription of the com m and sag and sg of have been u pd ated .
11. Footer has been u pd ated w ith the reflection of version 01.
12. Pictu re on the front page has been u pd ated .