Dalsa S3-24-01k40-00-R, S3-24-02k40-00-R, S3-14-01k40-00-R, S3-14-02k40-00-R, S3-24-04k40-00-R User Manual

Spyder3

10 June 2013

03-032-20117-01

www.teledynedalsa.com

Monochrome Camera User’s Manual

S3-14-01k40-00-R
S3-14-02k40-00-R
S3-24-01k40-00-R
S3-24-02k40-00-R
S3-24-04k40-00-R

2 Spyder3 S3-14 and S3-24 Monochrome Camera User's Manual

North America

605 McMurray Rd
Waterloo, ON N2V 2E9
Canada

Tel: [phone]
Fax: [phone]

www.teledynedalsa.com
[e-mail]

[e-mail]

Europe

Teled yne DALSA GmbH
Felix-Wankel-Strasse 1
D-82152 Krailling (Munich)
Germany

Tel: +49 - 89 - 89545730
Fax: +49 - 89 – 895457346

www.teledynedalsa.com
[e-mail]

[e-mail]

Asia Pacific

Ikebukuro East 13F
3-4-3 Higashi-Ikebukuro
Toshima-ku, Tokyo 170-0013
Japan
Tel: [phone]
Fax: [phone] (fax)
www.teledynedalsa.com
sales.asia@teled yned alsa.com

[e-mail]

© 2013 Teled yne DALSA. All information provided in this manual is believed to be accurate and reliable. No responsibility is
assumed by Teledyne DALSA for its use. Teledyne DALSA reserves the right to make changes to this information without notice.
Reproduction of this manual in whole or in part, by any means, is prohibited without prior permission having been obtained from
Teled yne DALSA.

About Teledyne Technologies and Teledyne DALSA, Inc.

Teled yne Technologies is a leading provider of sophisticated electronic subsystem s, instrumentation and communication products,
en gin eered syst em s, aerosp ace engin es, and en er gy and pow er generatio n system s. Teled y ne Tech n ologies’ op erat ion s ar e p rim ari ly
located in the United States, the United Kingdom and Mexico. For more in for m ation, visit Teled y ne Tech n ologies’ w ebsite a t
www.teledyne.com.
Teled yne DALSA, a Teledyne Technologies company, is an international lead er in high performance digital imaging and
semiconductors with approximately 1,000 employees worldwide, headquartered in Waterloo, Ontario, Canada. Established in 1980,
the company designs, develops, manufactures and markets digital imaging products and solutions, in addition to providing MEMS
prod u cts and serv ices. For more in form a tion, visit Teled yne DALSA’s websit e at www.teled ynedalsa.com.

Support

For furt her inform ation not in clu d ed in t his m a nual, or for information on Teledyn e D ALSA’s extensive lin e o f im age sen sin g

products, please contact:

Industry Standards

Teled yne DALSA and this model of the Spyder3 camera support th e Cam era Lin k™ com m u nication s int er face for vision
applications. Camera Link is a high speed communications interface for vision applications. It provides a standard method of
communication between digital cameras and frame grabbers.

Detailed information on Camera Link is available in the Teled yne DALSA Camera Link Implementation Road Map documentation,
available from the Know ledge Center on our Web site: (http:/ / www.teledynedalsa.com/ mv/ knowledge/ appnotes.aspx).

03-032-20117-01 Teledyne DALSA

Spyder3 S3-14 and S3-24 Monochrome Camera User's Manual 3

Contents

SYSTEM PRECAUTIONS AND CLEANING .................................................................................................................................. 5

THE SPYDER3 S3-14 AND S3-24 CAMERAS ............................................................................................................................. 7

CAMERA HIGHLIGHTS ..............................................................................................................................................................................................................7

CAMERA PERFORMANCE SPECIFICATIONS ....................................................................................................................................................................................8

CERTIFICATIONS ....................................................................................................................................................................................................................10

RESPONSIVITY ......................................................................................................................................................................................................................10

DERATING CURVES ................................................................................................................................................................................................................12

MECHANICALS ......................................................................................................................................................................................................................14

IMAGE SENSOR .....................................................................................................................................................................................................................16

SOFTWARE AND HARDWARE SETUP .........................................................................................................................................................................................17

SETUP STEPS: OVERVIEW .......................................................................................................................................................................................................17

STEP 1. INSTALL AND CONFIGURE THE FRAME GRABBER AND GRAPHICS CARD .................................................................................................................................18

STEP 2. CONNECT POWER AND CAMERA LINK CABLES.................................................................................................................................................................18

INPUT SIGNALS, CAMERA LINK................................................................................................................................................................................................22

CAMERA LINK VIDEO TIMING ..................................................................................................................................................................................................23

STEP 3. ESTABLISH COMMUNICATION WITH THE CAMERA ............................................................................................................................................................26

USING CAMERA LINK WITH SPYDER3 CAMERAS .........................................................................................................................................................................27

CAMERA OPERATION ............................................................................................................................................................ 29

FACTORY SETTINGS ...............................................................................................................................................................................................................29

RETURNING CAMERA SETTINGS ...............................................................................................................................................................................................29

SAVING AND RESTORING SETTINGS .........................................................................................................................................................................................32

CAMERA OUTPUT FORMAT ......................................................................................................................................................................................................33

EXPOSURE MODE, LINE RATE AND EXPOSURE TIME ....................................................................................................................................................................39

EXPOSURE MODES IN DETAIL ..................................................................................................................................................................................................40

SENSOR OUTPUT FORMAT ......................................................................................................................................................................................................44

DATA PROCESSING ................................................................................................................................................................................................................47

ANALOG AND DIGITAL SIGNAL PROCESSING CHAIN ....................................................................................................................................................................48

RETURNING CALIBRATION RESULTS AND ERRORS ......................................................................................................................................................................59

END-OF-LINE SEQUENCE ........................................................................................................................................................................................................60

SETTING THRESHOLDS ...........................................................................................................................................................................................................61

LOOK-UP TABLES .................................................................................................................................................................................................................62

SAVING AND RESTORING PRNU AND FPN COEFFICIENTS ...........................................................................................................................................................63

DIAGNOSTICS .......................................................................................................................................................................................................................65

RETURNING VIDEO INFORMATION............................................................................................................................................................................................67

RETURNING AVERAGED LINES OF VIDEO ...................................................................................................................................................................................68

TEMPERATURE MEASUREMENT ................................................................................................................................................................................................68

VOLTAGE MEASUREMENT .......................................................................................................................................................................................................69

CAMERA FREQUENCY MEASUREMENT .......................................................................................................................................................................................69

ASCII COMMANDS: REFERENCE ..............................................................................................................................................................................................70

ERROR HANDLING ................................................................................................................................................................................................................75

APPENDIX A .......................................................................................................................................................................... 77

CLEARING DARK CURRENT .....................................................................................................................................................................................................77

APPENDIX B .......................................................................................................................................................................... 85

CAMERA LINK REFERENCE, TIMING, AND CONFIGURATION TABLE .................................................................................................................................................85

CAMERA LINK BIT DEFINITIONS...............................................................................................................................................................................................86

Teledyne DALSA 03-032-20117-01

4 Spyder3 S3-14 and S3-24 Monochrome Camera User's Manual

CAMERA LINK CONFIGURATION TABLES ....................................................................................................................................................................................87

APPENDIX C .......................................................................................................................................................................... 91

EMC DECLARATION OF CONFORMITY .......................................................................................................................................................................................91

REVISION HISTORY ............................................................................................................................................................... 92

INDEX.................................................................................................................................................................................... 93

03-032-20117-01 Teledyne DALSA

Spyder3 S3-14 and S3-24 Monochrome Camera User's Manual 5

System Precautions and
Cleaning

Precautions

Read these precautions and this manual carefully before using the camera.

Confirm th at th e camera’s p ackaging is u nd am aged before op ening it. If th e p ackaging is d amaged please

contact the related logistics personnel.

Do not open the housing of the camera. The warranty is voided if the housing is opened.

Keep the camera housing temperature in a range of 0 °C to 65 °C during operation.

Do not operate the camera in the vicinity of strong electromagnetic fields. In addition, avoid electrostatic
charging, violent vibration, and excess moisture.

To clean the device, avoid electrostatic charging by using a dry, clean absorbent cotton cloth dampened
with a small quantity of pure alcohol. Do not use methylated alcohol. To clean the surface of the camera
housing, use a soft, dry cloth. To remove severe stains use a soft cloth dampened with a small quantity of
neutral detergent and then wipe dry. Do not use volatile solvents such as benzene and thinners, as they
can d amage the surface finish. Further cleaning instructions are below.

This camera does not support hot plugging. Power down and disconnect power to the camera before you
add or replace system components.

Electrostatic Discharge and the CMOS Sensor

Image sensors and the camera bodies housing are susceptible to damage from electrostatic discharge
(ESD). Electrostatic charge introduced to the sensor window surface can induce charge buildup on the
underside of the window that cannot be readily dissipated by the dry nitrogen gas in the sen sor package
cavity. The charge normally dissipates within 24 hours and the sensor returns to normal operation.

Protecting Against Dust, Oil, and Scratches

The sensor window is part of the optical path and should be handled like other optical components, with
extreme care. Dust can obscure pixels, producing dark patches on the sensor response. Dust is most
visible when the illumination is collimated. The dark patches shift position as the angle of illumination
changes. Dust is normally not visible when the sensor is positioned at the exit port of an integrating
sphere, where the illumination is diffuse. Dust can normally be removed by blowing the wind ow surface
using an ionized air gun. Oil is usually introduced during handling. Touching the surface of the window
barehanded will leave oily residues. Using rubber fingercots and rubber gloves can prevent
contamination. However, the friction between rubber and the window may prod uce electrostatic charge
that may damage the sensor. To avoid ESD damage and to avoid introducing oily residues, avoid
touching the sensor. Scratches diffract incident illumination. When exposed to uniform illumination, a

Teledyne DALSA 03-032-20117-01

6 Spyder3 S3-14 and S3-24 Monochrome Camera User's Manual

sensor with a scratched window will normally have brighter pixels adjacent to darker pixels. The location
of these pixels will change with the angle of illumination.

Cleaning the Sensor Window

Recommended Equipment

 Glass cleaning station with microscope within clean room.
 3M ionized air gun 980 (http:/ / solutions.3mcanada.ca/ wps/ portal/ 3M/ en_CA/ WW2/ Country/ )
 Ionized air flood system, foot operated.
 Swab (HUBY-340CA-003) (http:/ / www.cleancross.net/ modules/ xfsection/ article.php?articleid=24)
 Single drop bottle (FD-2-ESD)
 E2 (Eclipse optic cleaning system (www.photosol.com)

Procedure

 Use localized ionized air flow on to the glass during sensor cleaning.
 Blow off mobile contamination using an ionized air gun.
 Place the sensor under the microscope at a magnification of 5x to determine the location of any

remaining contamination.

 Clean the contamination on the sensor using one drop of E2 on a swab.
 Wipe the swab from left to right (or right to left but only in one direction). Do this in an overlapping

pattern, turning the swab after the first wipe and with each subsequent wipe. Avoid swiping back
and forth with the same swab in order to ensure that particles are removed and not simply
transferred to a new location on the sensor window. This procedure requires you to use multiple
swabs.

 Discard the swab after both sides of the swab have been used once.
 Repeat until there is no visible contamination present

03-032-20117-01 Teledyne DALSA

Spyder3 S3-14 and S3-24 Monochrome Camera User's Manual 7

The Spyder3 S3-14 and S3-24
Cameras

Camera Highlights

The Spyder3 CL surpasses its predecessor, the Spyder2, with 3x more responsivity and 2x the speed. At
its core is dual line scan technology that achieves unprecedented responsivity and throughput rates of 80
megapixels per second, without impacting noise.

The Spyder3 CL features the Camera Link™ serial interface and is fully programmable, offering precise
control over key performance variables such as gain and offset and improved ease of use and setup.

The temperature range performance of the SC-14 and SC-24 models has increased from an operating
temperature of 0 °C to 50 °C to an operating temperature of 0 °C to 65 °C.

Features and Programmability

 Broadband responsivity up to 408 ±16 DN(nJ/ cm2) @10 dB gain, 8 bit
 1024, 2048, or 4096 pixels, 14 µm x 14 µm (1k and 2k) and 10 µm x 10 µm (4k) pixel pitch, 100% fill

factor

 Up to 68 kHz line rates
 Dynamic range up to 1400:1
 Data transmission exceeding 10 meters
 ±50 µm x, y sensor alignment
 Base Camera Link configuration (8 or 12 bit data on 1 or 2 taps depending on camera model)
 Serial interface (ASCII, 9600 baud, adjustable to 19200, 57600, 115200), through Camera Link.
 Mirroring and forward/ reverse control.
 Programmable gain, offset, exposure time and line rate, trigger mode, test pattern output, and

camera diagnostics.

 Tall pixel, high sensitivity, or low sensitivity mode available.
 Flat-field correction—minimizes lens vignetting, non-uniform lighting, and sensor FPN and PRNU.

Applications

 FPD inspection
 Pick and place
 Container inspection
 Wood / tile / steel inspection
 100% print inspection (lottery tickets, stamps, bank notes, paychecks)
 Postal sorting
 Glass bottle inspection
 Industrial metrology
 Food inspection
 Web inspection

Models

Teledyne DALSA 03-032-20117-01

8 Spyder3 S3-14 and S3-24 Monochrome Camera User's Manual

Model Number

Description

S3-24-01K40-00-R

1k resolution, 2 sensor taps. Base Camera Link configuration.

S3-24-02K40-00-R

2k resolution, 2 sensor taps. Base Camera Link configuration.

S3-14-01K40-00-R

1k resolution, 1 sensor tap. Base Camera Link configuration.

S3-14-02K40-00-R

2k resolution, 1 sensor tap. Base Camera Link configuration.

S3-24-04k40-00-R

4k resolution, 2 sensor taps. Base Camera Link configuration.

Feature / Specification

1k

2k

4k

Imager Format

dual line scan

Resolution

1024 pixels

2048 pixels

4096 pixels

Pixel Fill Factor

100 %

Pixel Size

14 µm x 14 µm

10 µm x 10 µm

Sensitivity Mode

High, low , or tall pixel

Antiblooming

100 x

Gain Range

± 10 dB

Speed

1k

2k

4k

Data Rate

40 mp / s and 80 mp / s

80 mp / s

Maximum Line
Rate

2 tap model

68 kHz (80 MHz)

36 kHz (80 MHz)

18.5 kHz

1 tap model

36 kHz (40 MHz)

18.5 kHz (40 MHz)

NA

Optical Interface

1k and 2k

4k

Lens Mount

M42 x 1, C and F*

M58 x 0.75, F*

Focal Length

6.56 mm ± 0.25

Sensor Alignment

x ± 50 µm
y ± 50 µm

z ± 0.25 mm

z ± 0.2 º

Mechanical Interface

1k and 2k

4k

Camera Size

72 mm (h) x 60 mm (l) x 60 mm (w)

60 mm (h) x 72 mm (l) x 60 mm (w)

Mass

< 300 g

Connectors

6 pin male Hirose power

MDR26 female data connector

Electrical Interface

1k and 2k

4k

Input Voltage

+ 12 to +15 Volts DC

Power Dissipation

< 5 W (1k and 2k)

< 7 W (4k)

The Spyder3 CL camera is available in these models.

Table 1: Spyder3 CL Camera Models Overview

Camera Performance Specifications

Table 2: Camera Performance Specifications

03-032-20117-01 Teledyne DALSA

Spyder3 S3-14 and S3-24 Monochrome Camera User's Manual 9

Operating Temperature

0 ºC to 65 ºC

Bit Wid th

8 or 12 bits user selectable

Output Data Configuration

Base Camera Link

Specifications

Unit

-10dB

0dB

+10dB

Min

Typ

Max

Min

Typ

Max

Min

Typ

Max

Broadband
responsivity

DN /
(nJ/cm²)

1k and 2k Dual line

652.8

2064

6528

1k and 2k Single line

326.4

992

3264

4k Dual line

431

1363

4310

4k Single line

216

682

2155

Random noise rms

DN 3

6.5 9.2

20.5 30

65

Dynamic range

DN : DN

1k and 2k Dual line

500:1

1400:1

203:1

324:1

59:1

108:1

1k and 2k Single line

500:1

1400:1

203:1

324:1

59:1

108:1

4k Dual and Single

1225:1

387:1

122.3:1

FPN global

DN p-p

Uncorrected

52.8

169.6

536

Corrected

32

32

64

PRNU ECD

Uncorrected local

%

8.5

8.5

11.5

Uncorrected global

%

10

10

10

Corrected local

DN p-p

80

80

95

Corrected global

DN p-p

80

80

95

PRNU ECE

Uncorrected local

%

8.5

12

37

Uncorrected global

%

10

12

37

Corrected local

DN p-p

80

237

752

Corrected global

DN p-p

80

208

752

SEE (calculated)

nJ / cm²

Dual line

6.35

1.92

0.61

Single line

12.2

4.0

1.2 NEE (calculated)

pJ / cm²

Dual line

4.6

4.5

4.6

Single line

9.2

9.3

9.2

Saturation output
amplitude

DN

3968
±80

DC offset

DN

96

160

336

*Lens mount adapters are available. Contact Teledyne DALSA Sales for more information.

Table 3: Camera Operating Specifications

Teledyne DALSA 03-032-20117-01

10 Spyder3 S3-14 and S3-24 Monochrome Camera User's Manual

Compliance

The CE Mark, FCC Part 15, and Industry Canada ICES-003 Evaluation of the DALSA Spyder3 CL S3-14and S3-24
cameras meet the following requirements:

CISPR 22, EN 55022 and EN 61326 Class A Emissions Requirements, EN 55024, and EN 61326 Immunity to
Disturbances

Spectral Responsivity. Nominal Gain

0

250

500

750

1000

1250

1500

1750

2000

2250

2500

400 500 600 700 800 900 1000 1100

Wavelength (nm)

Responsivity {DN/(nJ/cm²)}

High Sensitivity Mode
Low Sensitivity Mode

Test conditions unless otherwise noted

 12-bit values, Flat Field Correction (FFC) enabled.
 CCD Pixel Rate: 40 megapixels/ second per sensor tap.
 Line Rate: 5000 Hz.
 Nominal Gain setting unless otherwise specified.
 Light Source: Broadband Quartz Halogen, 3250k, with 750 nm high pass filter installed.
 Ambient test temperature 25 °C.
 Unless specified, all values are referenced at 12 bit.
 Exposure mode disabled.
 Unless specified, dual line mode.

Notes

1. PRNU measured at 50% SAT.

Certifications

Table 4: EMC Compliance Standards

Responsivity

03-032-20117-01 Teledyne DALSA

Spyder3 S3-14 and S3-24 Monochrome Camera User's Manual 11

Spectral Responsivity. Nominal Gain

0

10

20

30

40

50

60

70

80

90

100

400 500 600 700 800 900 1000 1100

Wavelength (nm)

Responsivity {DN/(uJ/cm²)}

High Sensitivity Responsivity
Low Sensitivity Responsivity

Figure 1: Spyder3 CL 1k and 2k Responsivity

Figure 2: Spyder3 CL 4k Responsivity

Teledyne DALSA 03-032-20117-01

12 Spyder3 S3-14 and S3-24 Monochrome Camera User's Manual

Derating Curves

Figure 3: 1k and 2k Derating Curves

03-032-20117-01 Teledyne DALSA

Spyder3 S3-14 and S3-24 Monochrome Camera User's Manual 13

4K model: Change in DC Offset vs Temperature

(12bit,Integration Time 200us)

0.000

20.000

40.000

60.000

80.000

100.000

120.000

140.000

160.000

180.000

200.000

0C 10C 20C 30C 40C 50C 60C

Temperature (Celsius)

DN

+10dB HSM
+10dB LSM

-10dB LSM

4K model: Change in Noise vs. Temperature

(12bit,0dB Gain, Integration time 100us)

7.400

7.600

7.800

8.000

8.200

8.400

8.600

8.800

9.000

9.200

9.400

0C 10C 20C 30C 40C 50C 60C

Temperature (Celcius)

DN(rms)

HSM
LSM

4K model: Change in FPN vs. Temperature

(12bit,0dB Gain, Integration Time 100us )

0.000

5.000

10.000

15.000

20.000

25.000

30.000

0C 10C 20C 30C 40C 50C 60C

Temperature

DN

HSM
LSM

4K model:Change in PRNU vs. Temperature

(12bit, 0dB, Integration Time 100us)

0.000

10.000

20.000

30.000

40.000

50.000

60.000

70.000

80.000

0C 10C 20C 30C 40C 50C 60C

Temperature

DN

LSM
HSM

Changes in DC offset with Integration Time

(12bit,0dB, HSM, 4K model)

0

20

40

60

80

100

120

140

3.3 2.0 1.0 0.5 0.3 0.2 0.1 0.1

Integration Time (ms)

DN

Figure 4: 4k Derating Curves

Teledyne DALSA 03-032-20117-01

14 Spyder3 S3-14 and S3-24 Monochrome Camera User's Manual

2

3

4

UNLESS OTHERWISE SPECIFIED

1. UNITS: MM

2. DRAWING PER
ASME Y14.5M-1994

3. TOLERANCES:
LINEAR ±0.15
ANGLES ±0.5

`

SURFACE FINISH

AUTHOR

APPROVED BY

APPLICATION/PROJECT

PROPRIETARY

3.2

APPROVALS

REV

5

7

B

0

.

2

46 B0.2

6

B

0

.

2

38 B0.2

6.56 B0.25
IMAGE AREA
[OPTICAL DISTANCE]

M42x1 Z 4.5

30 B0.05
CENTER OF
IMAGE AREA

36 B0.05
CENTER OF
IMAGE AREA

M4x0.7 Z 6
MAX TORQUE 25 IN-LB

(56)

(60)

7

2

B

0

.

2

60 B0.2

6 B0.2

(30)

(

3

4

)

M4x0.7 Z 6
(BOTH SIDES)
MAX TORQUE 25 IN-LB

M4x0.7 Z 6
(BOTH SIDES)
MAX TORQUE 25 IN-LB

3

8

B

0

.

2

00

INITIAL RELEASE OCT 22/2010

(12)

(

1

9

)

Ivan Bruulsema

Mechanicals

Figure 5: 1k and 2k Mechanical Dimensions

03-032-20117-01 Teledyne DALSA

36 B0.05
CENTER OF
IMAGE AREA

30 B0.05
CENTER OF
IMAGE AREA

6

0

B

0

.

2

72 B0.2

57 B0.2

4

6

B

0

.

2

3

8

B

0

.

2

6 B0.2

38 B0.2

6

B

0

.

2

(19)

(34)

(

3

0

)

(

4

8

)

(

5

6

)

(

6

0

)

6.56 B0.25
IMAGE AREA
[OPTICAL DISTANCE]

M4x0.7 Z 6
(BOTH SIDES)
MAX TORQUE 25 IN-LB

M58x0.75 Z 4.5

M4x0.7 Z 6
MAX TORQUE 25 IN-LB

M4x0.7 Z 6
(BOTH SIDES)
MAX TORQUE 25 IN-LB

Spyder3 S3-14 and S3-24 Monochrome Camera User's Manual 15

Figure 6: 4k Mechanical Dimensions

Teledyne DALSA 03-032-20117-01

16 Spyder3 S3-14 and S3-24 Monochrome Camera User's Manual

Tap 2Tap 1

CCD Readout Shift Register

CCD Readout Shift Register

N

Pixels

N

Pixels

N

=1024, 2048, 4096

Pixel 1, 1

Tap 1

CCD Readout Shift Register

CCD Readout Shift Register

N

Pixels (14µm x 14µm)

N

Pixels (14µm x 14µm)

N

=1024, 2048

Pixel 1, 1

Mounting

Heat generated by the camera must be allowed to move away from the camera. Mount the camera on the
front plate (using the provided mounting holes) with maximum contact to the area for best heat
dissipation.

Figure 7: Spyder3 Mounting Example

Image Sensor

The camera uses Teledyne DALSA’s d u al line scan sensor. The camera can be configured to read out in
either high or low sensitivity mode, tall pixel mode, and either forward or reverse shift direction.

Figure 8: 2 Tap Sensor Block Diagram

Figure 9: 1 Tap Sensor Block Diagram (1k and 2k only)

03-032-20117-01 Teledyne DALSA

Spyder3 S3-14 and S3-24 Monochrome Camera User's Manual 17

Software and Hardware Setup

Host System Requirements

To achieve best system performance, the following minimum requirements are recommended:

 Base Camera Link frame grabber.
 Operating system: Windows XP Professional, Windows Vista, Windows 7 (either 32-bit or 64-bit for

all) are supported.

Setup Steps: Overview

Take the following steps in order to setup and run your camera system. They are described briefly below
and in more detail in the following sections.

1. Install and Configure Frame Grabber

If your host computer does not have a Base Camera Link frame grabber, or equivalent, then you need to
install one.

2. Connect Power, and Camera Link I/O Cables

 Connect a power cable from the camera to a +12 VDC to +15 VDC power supply.
 If using the external signals connect the external control cable to the camera.

3. Establish communicating with the camera

The quickest and easiest way to communicate with the camera is through the u se of a terminal program
(e.g., Microsoft HyperTerminal is a widely available application).

4. Check camera LED, settings and test pattern

Ensure that the camera is operating properly by checking the LED, the current settings, and by acquiring
a test pattern.

5. Operate the Camera

At this point you will be ready to operate the camera in order to acquire and retrieve images, set camera
functions, and save settings.

Teledyne DALSA 03-032-20117-01

18 Spyder3 S3-14 and S3-24 Monochrome Camera User's Manual

!

Step 1. Install and configure the frame grabber
and graphics card

Install Frame Grabber

Install a Base Camera Lin k fr am e gr a bber accor d ing to the m anufacturer ’s d escr ip tion .
A list of frame grabbers recommended by Teledyne DALSA and supporting the Spyder3 cameras is

available on the Teledyne DALSA Web site here:
www.teledynedalsa.com/ mv/ products/ framegrabbers.aspx

Install Graphics Card

Determine the graphics card that supports your selected frame grabber and follow th e m an u fact u rer’s
installation instructions.

Step 2. Connect Power and Camera Link Cables

WARNING! Grounding Instructions

Static electricity can damage electronic components. Please discharge any static electrical
charge by touching a grounded surface, such as the metal computer chassis, before performing
any hardware installation.

The use of cable types and lengths other than those specified may result in increased emission or
decreased immunity and performance of the camera.

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!

Hirose 6-pin Circular Male

5

4

6

2

3

1

Mating Part: HIROSE

HR10A-7P-6S

Table 5: Hirose Pin Description

Pin

Description

Pin

Description

1

Min +12 to Max +15 VDC

4

GND

2

Min +12 to Max +15 VDC

5

GND

3

Min +12 to Max +15 VDC

6

GND

!

Figure 10: Hirose 6-pin Circular Male—Power Connector

Power Connector

WARNING: It is extremely important that you apply the appropriate voltages to your camera.
Incorrect voltages may damage the camera. Input voltage requirement: +12 V to +15 V DC.

The camera requires a single 6-pin Hirose connector with a single voltage input +12 VDC to
+15 VDC for power. The camera meets all performance specifications using standard switching power
supplies, although well-regulated linear supplies provide optimum performance.

WARNING: When setting up the camera’s power supplies follow these guidelines:

 Apply the appropriate voltages.
 Protect the camera with a 2 amp slow -blow fuse between the power supply and the camera.
 Do not use the shield on a multi-conductor cable for ground.
 Keep leads as short as possible in order to reduce voltage drop.
 Use high-quality linear supplies in order to minimize noise.

Note: If your power supply does not meet these requirements, then the camera performance specifications are not

guaranteed.

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20 Spyder3 S3-14 and S3-24 Monochrome Camera User's Manual

Priority

Color of Status LED

Meaning

1

Flashing Red

Fatal Error. For example, camera temperature is too high and camera
thermal shutdown has occurred.

2

Solid Red

Loss of functionality.

3

Flashing Green

Camera initialization or executing a long command (e.g., flat field
correction commands ccp or ccf).

4

Solid Green

Camera is operational and functioning correctly.

Parameter

Description

Notes

gsl

The camera returns one of the following values:

1 = red (loss of functionality)
2 = green (camera is operating correctly)
5 = flashing green (camera is performing a function)
6 = flashing red (fatal error)

Status LED

The camera is equipped with a red / green LED used to display the status of the camera's operation. The
table below summarizes the operating states of the camera and the corresponding LED states.
When more than one condition is active, the LED indicates the cond ition with the highest priority. Error
and warning states are accompanied by corresponding messages that further describe the current camera
status.

Table 6: Diagnostic LED

Returning the LED Status

Use the gsl command to retu rn th e status of the cam era’s LED.

Camera Link Command

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Configuration

8 Bit Ports Supported

Serializer Bit
Width

Number of
Chips

Number of
MDR26
Connectors

Applicable
Camera
Models

Base

A, B, C

28 1 1

The various
models

Base Configuration

One Channel Link Chip + Camera Control + Serial Communication

Camera Connector

Right Angle
Frame
Grabber

Channel Link Signal

1 1 inner shield

14

14

inner shield

2

25

X0-

15

12

X0+ 3 24

X1-

16

11

X1+ 4 23

X2-

17

10

X2+

5

22

Xclk-

18 9 Xclk+

6

21

X3-

19 8 X3+ 7 20

SerTC+

20 7 SerTC-

8

19

SerTFG-

21 6 SerTFG+

9

18

CC1-

22 5 CC1+

10

17

CC2+

23 4 CC2-

11

16

CC3-

**3M part 14X26-SZLB-XXX-0LC is a complete
cable assembly, including connectors.
Unused pairs should be terminated in 100
ohms at both ends of the cable.

Camera Link Data Connector

Figure 11: Camera Link MDR26 Connector

The Camera Link interface is implemented as Base Configuration in the Spyder3 cameras. Refer to section
Setting the Camera Link Mode for details on setting the Camera Link configuration.

Table 7: Camera Link Hardware Configuration Summary

Table 8: Camera Link Connector Pin out

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22 Spyder3 S3-14 and S3-24 Monochrome Camera User's Manual

24 3 CC3+

12

15

CC4+

25 2 CC4-

13

13

inner shield

26

26

inner shield

Signal

Configuration

CC1

EXSYNC

CC2

PRIN

CC3

Direction

CC4

Spare

i

Notes:

*Exterior Overshield is connected to the shells of the connectors on both ends.
**3M part 14X26-SZLB-XXX-0LC is a complete cable assembly, including connectors.
Unused pairs should be terminated in 100 ohms at both ends of the cable.
Inner shield is connected to signal ground inside camera

Table 9: Teledyne DALSA Camera Control Configuration

See Appendix B for the complete Teledyne DALSA Camera Link configuration table, and refer to the

Knowledge Center on Teledyne DALSA’s Web site, for the official Camera Link documents.

Input Signals, Camera Link

The camera accepts control inputs through the Camera Link MDR26F connector.

The camera ships in internal sync, internal programmed integration (exposure mode 7) TDI Mode.

EXSYNC (Triggers Frame Readout)

Frame rate can be set internally using the serial interface. The external control signal EXSYNC is optional
and enabled through the serial interface. This camera uses the falling edge of EXSYNC to trigger pixel
readout.

Direction Control

Control the CCD shift direction through the serial interface. Use the software command scd to determine
whether the direction control is set via software control or via the Camera Link control signal on CC3.

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Clocking Signal

Indicates

LVAL (high)

Outputting valid line

DVAL (high)

Valid data (unused, tied high)

STROBE (rising edge)

Valid data

FVAL (high)

Outputting valid frame (unused, tied high)

Output Signals, Camera Link

These signals indicate when data is valid, allowing you to clock the d ata from the camera to your
acquisition system. These signals are part of the Camera Link configuration and you should refer to the
Teledyne DALSA Camera Link Implementation Road Map for the standard location of these signals,
available from the Knowledge Center on our Web site:
(http:/ / www.teledynedalsa.com/ mv/ knowledge/ appnotes.aspx).

The cam era internally d igit izes 12 bits and ou tp uts the 8 M SB or all 12 bits d ep end ing on the cam era’s

Camera Link operating mode.

Camera Link Video Timing

Figure 12: Spyder3 Overview Timing Showing Input and Output Relationships

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Figure 13: Spyder3 Fixed (Programmed) Integration Timing with External EXSYNC

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Symbol

Definition

Min (ns)

twSYNC

The minimum low width of the EXSYNC pulse when not in SMART
EXSYNC mode.

100

twSYNC

(SMART)

*

The minimum low width of the EXSYNC pulse when in SMART EXSYNC
modes to guarantee the photosites are reset.

3,000

twSYNC_INT

The minimum width of the high pu lse w hen th e ―SMART EXSYNC‖
feature is turned off

100

twSYNC_INT

(SMART)

*

Is the in tegration tim e w h en th e ―SMART EXSYNC‖ fea ture is av ailable

and turned on. Note that the minimum time is necessary to guarantee
proper operation.

3,000

tLINE PERIOD
(t LP)

The minimum and maximum line times made up of tTransfer, tREADOUT
plus tOVERHEAD to meet specifications.

14,700 (1k 2 tap)
27,778 (1k 1 tap)
27,778 (2k 2 tap)
54,054 (2k 1 tap)
55,775 (4k 2 tap)

tTransfer

The time from the reception of the falling edge of EXSYNC to the rising
edge of LVAL when pretrigger is set to zero. Pretrigger reduces the

num ber of clocks to t h e risin g ed g e o f LVAL bu t d oesn’t chan g e th e t im e to

the first valid pixel. If the fixed integration time mod e of operation is
available and selected then the integration time is added to the specified
value.

3,725 ±25 (1k
and 2k)

4,100±25 (4k)

twFixed Int.

Fixed Integration Time mode of operation for variable exsync frequency.

800

tREADOUT

Is the number of pixels per tap times the read out clock period.

25,600 (1k 1 tap))
12,800 (1k 2 tap)
51,200 (2k 1 tap)
25,600 (2k 2 tap)

51,200 (4k 2 tap)

tOVERHEAD

Is the number of pixels that must elapse after the falling edge of LVAL
before the EXSYNC signal can be asserted. This time is used to clamp the
internal analog electronics

425±25
(All models)

thPR

Applies when the PRIN exposure control feature is enabled. The PRIN
signal must be held a minimum time after the EXSYNC falling edge to
avoid losing the integrated charge

To Be
Determined
twPR_LOW

Minimum Low time to assure complete photosite reset

3,000

tPR_SET

The nominal time that the photo sites are integrating. Clock
synchronization will lead to integration time jitter, which is shown in the
specification as +/ - values. The user should command times greater than
these to ensure proper charge transfer from the photosites. Failure to meet
this requirement may result in blooming in the Horizontal Shift Register.

3,000

Table 10: Spyder3 Input and Output

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26 Spyder3 S3-14 and S3-24 Monochrome Camera User's Manual

Step 3. Establish Communication with the
Camera

Power on the camera

Turn on th e cam era’s p ow er su p p ly. You m ay have to w ait u p to 60 seco n d s w hile th e cam era w arms u p

and prepares itself for operation.

Connect to the camera

In order for you to communicate with the camera, a serial connection in the Camera Link cable needs to
be established. The frame grabber manufacturers should be able to provide a solution in order to
communicate through this serial link. Terminal software can also be provided by the frame grabber
manufacturer. Stand ard terminal software, such as Microsoft HyperTerminal, can be used if the COM
port is allocated by the frame grabber. Start your GUI and establish communication with the camera.

Check LED Status

If the camera is operating correctly at this point, the diagnostic LED will flash for 10 seconds and then
turn solid green.

Software Interface

All the camera features can be controlled through the ASCII interface.

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Using Camera Link with Spyder3 Cameras

All of the camera features can be controlled through the serial interface. The camera can also be used
without the serial interface after it has been set up correctly. For example, functions available include:

 Controlling basic camera functions such as gain and sync signal source.
 Flat field correction.
 Mirroring and readout control
 Generating a test pattern for debugging.

The serial interface uses a simple ASCII-based protocol and the PC does not require any custom software.

Note: This command set may be different from those used by other Teledyne DALSA cameras. You

should not assume that these commands perform the saI me as those for older cameras.

Complete Command List

A list of all the available commands is included in ASCII Commands: Reference, page 70.

Serial Protocol Defaults

 8 data bits
 1 stop bit
 No parity
 No flow control
 9.6kbps
 Camera does not echo characters

Command Format

The camera responds to a simple ASCII-based protocol. When entering commands, remember that:

 A carriage return <CR> ends each command.
 A space or multiple space characters separate parameters. Tabs or commas are invalid parameter

separators.

 Upper and lowercase characters are accepted
 The backspace key is supported
 The cam era w ill an sw er each com m and w ith either <CR><LF> ―OK >" or <CR>< LF>"Error xx: Error

Messag e >" or ― Warning xx: Warn ing Message >‖ . Th e ">" is u sed exclu sively as t h e last ch aracter

sent by the camera.

The following parameter conventions are used in the manual:

• i = integer value

• f = real number

• m = member of a set

• s = string

• t = tap id

• x = pixel column number

• y = pixel row number

Example: to return the current camera settings

gcp <CR>

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28 Spyder3 S3-14 and S3-24 Monochrome Camera User's Manual

Camera Help Screen

For quick help, the camera can return all available commands and parameters through the serial
interface.

There are two different help screens available. One lists all of the available commands to configure
camera operation. The other help screen lists all of the commands available for retrieving camera
param eter s (th ese are called ―get‖ com m and s).

To view the help screen listing all of the camera configur ation commands, use the command h.
To view a help screen listing all of the ―get‖ com mand s, u se the co m mand gh.
The camera configuration command help screen lists all commands available. Parameter ranges

displayed are the extreme ranges available. Depending on the current camera operating conditions, you
may not be able to obtain these values. If this occurs, values are clipped and the camera returns a warning
message.

Some commands may not be available in your current operating mode. The help screen displays NA in
this case.

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At this point you are ready to start operating the camera in order to acquire images, set camera functions,
and save settings.

Camera Operation

Factory Settings

When the camera is powered up for the first time, it operates using the following factory settings:

 High sensitivity mode
 Forward CCD shift direction
 No binning
 Exposure mode 7 (Programmable line rate & max exposure time)
 5000 Hz line rate
 Readout mode: Off
 Mirroring mode: 0, left to right
 Factory calibrated analog gain and offset
 8 bit output
 sag enabled (1k and 2k use). (It is recommended that you use the ssg command with the 4k in

order to maintain valid LUT calibration.)

 LUTs enabled (4k default), factory calibrated @ -10 dB.

Returning Camera Settings

The camera parameter screen (obtained using the gcp command) returns all of the camer a’s curren t
settings. The table below lists all of the gcp screen settings.

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gcp

GCP Screen

Description

GENERAL CAMERA SETTINGS

Camera Model No.:

S3-x0-0xK40-00-R

Camera model number.

Camera Serial No.:

xxxxxxxxx

Camera serial number.

Firmware Version:

xx-xx-xxxxx-xx

Firmware design revision number.

CCI Version:

xxxxx.xx

CCI version number.

FPGA Version:

xxx.xx

FPGA revision number.

UART Baud Rate:

9600

Serial communication connection speed set
with the sbr command.

Dual Scan Mode:

High Sensitivity

Current sensitivity mode set with the smm
command. See section Sensitivity Mode for
details.

Camera Link Mode:

2 taps, 8 bits

Current bit depth setting set with the clm
command.

Mirroring Mode

0, left to right

Tap readout direction: left to right, or right to
left. Set with the smm command.

Readout Mode

Off

Current readout mode status. Set using the

srm command.

Cable Parameter

200

The cable parameter. Set using the scb
command.

Exposure Mode:

2

Current exposure mode value set with the sem
command. See the Setting the Camera Link
Mode section for details.

SYNC Frequency:

5000 Hz

Current line rate. Value is set with the ssf
command. See the Setting the Camera Link
Mode section for details.

Exposure Time:

200 µSec

Current exposure time setting. Value is set
with the set command. See the Setting the
Camera Link Mode section for details.

CCD Direction:

internal/forward

Current direction setting set with scd
command. Refer to section

CCD Shift Direction for d etails.

Horizontal Binning:

1

Current horizontal binning factor set w ith the

sbh command.

Video Mode:

video

Current video mode value set with the svm
command. See section Generating a Test
Pattern for details.

Region of Interest:

(1,1) to (1024, 1)

Region of interest size set with the roi
command. See section Setting a Region of
Interest (ROI) for details.

End-Of-Line
Sequence:

on

States whether an end of line sequence is
turned on or off. Set using the els command.
See section End -of-line Sequence for details.

FFC Coefficient Set:

0

Current pixel coefficient set loaded. Refer to
section Saving and Restoring PRNU and FPN
Coefficients for details.

To read all current camera settings, use the command:

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FPN Coefficients:

off

States whether FPN coefficients are on or off.
Set with the epc command. Refer to section
Analog and Digital Signal Processing Chain
for details.

PRNU Coefficients:

off

States whether PRNU coefficients are on or off.
Set with the epc command. Refer to section
Analog and Digital Signal Processing Chain
for details.

Number of Line
Samples:

1024

Number of lines samples set with the css
command. See section Returning Vid eo
Information for details.

Upper Threshold

3600

Upper threshold value set with the sut
command.

See section End -of-line Sequence for details.

Lower Threshold

400

Lower threshold value set w ith the slt
command. See section End -of-line Sequence
for details.

Analog Gain (dB):

0.0 0.0

Analog gain settings set with the sag
command. See section Analog and Digital
Signal Processing Chain for details.

Analog Gain
Reference(dB):

0.0 0.0

Analog reference gain set with the ugr
command.

See section Analog and Digital Signal
Processing Chain for details.

Total Analog Gain
(dB):

5.5 5.5

This is the sum of the analog gain and analog
gain reference values and is the total analog
gain being used by the camera.

Analog Offset:

70 70

Analog offset settings set with the sao
command. See section Analog and Digital
Signal Processing Chain for details.

Digital Offset:

0 0

Digital offset settings set with the sdo
command. See section Analog and Digital
Signal Processing Chain for details.

Background Subtract:

0 0

Background subtract settings set with the ssb
command. See section Analog and Digital
Signal Processing Chain for details.

System Gain (DN):

4096 4096

Digital gain settings set with the ssg
command. See section Analog and Digital
Signal Processing Chain for details.

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32 Spyder3 S3-14 and S3-24 Monochrome Camera User's Manual

Parameter

Description

lpc i

Loads your previously saved pixel coefficients from non-volatile memory to active status. 0:
factory calibration. 1 – 4: user sets.

rfs

Restores the cam era’s factor y settin gs. The FPN and PRNU coefficients are reset to 0.

rus

Restores the camera's last saved user settings and FPN and PRNU coefficients.

wfc i

Write all current FPN coefficients to non-volatile memory. 1 – 4 available sets.

wil i

Wr ite cu r r en t LUT’s to no n -volatile memory. 1- 4 available sets.

wpc i

Write all current PRNU coefficients to non-volatile memory. 1 – 4 available sets.

wus

Write all of the user settings to non -volatile memory.

4 sets of user
pixel coefficients

User

Settings

Current
Session

wus wpc,wfc,

rus lpc,

Factory

Settings

1 set of factory
pixel coefficients

For each camera operating mode:
Low Sensitivity
High Sensitivity Forward
High Sensitivity Reverse
Tall Pixel

Saving and Restoring Settings

Use these commands to select, load, and save factory, user, and coefficient sets.

Camera Link Commands

For each camera operating mode (high sensitivity forward direction, high sensitivity reverse direction,
low sensitivity, or tall pixel), the camera has distinct factory settings, current settings, and user settings. In
addition, there is one set of factory pre-calibrated pixel coefficients and up to four sets of user created
pixel coefficients for each operating mode.

Figure 14: Saving and Restoring Overview

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Mode Configuration

Readout Direction

Command

Models

Taps

Bit Depth

smm 0 increment =1
smm 1 increment = -1

clm 0

S3-14-01K40

1 8

smm 0 = CL tap 1 (1-1024)
smm 1 = CL tap 1 (1024-1)

S3-14-02K40

smm 0 = CL tap 1 (1-2048)
smm 1 = CL tap 1 (2048-1)

clm 1

S3-14-01K40

1 12

smm 0 = CL tap 1 (1-1024)
smm 1 = CL tap 1 (1024-1)

S3-14-02K40

smm 0 = CL tap 1 (1-2048)
smm 1 = CL tap 1 (2048-1)

clm 2

S3-24-01K40

2 8

smm 0 = CL tap 1 (1-512)
CL tap 2 (513-1024)

smm 1 = CL tap 1 (1024-513)
CL tap 2 (512-1)

S3-24-02K40

2

smm 0 = CL tap 1 (1-1024)

Factory Settings

On first initialization, the camera operates using the factory settings. You can restore the original factory
settings at any time using the command rfs.

User Settings

You can save or restore your user settings to non -volatile memory using the following commands. Pixel
coefficients and LUTs are stored separately from other data.

 To save all current user settings to non-volatile memory, use the command wus. The camera will

automatically restore the saved user settings when powered up. Note: While settings are being
written to nonvolatile memory, do not power down camera or camera memory may be
corrupted.

 To restore the last saved user settings, use the command rus.
 To save the current pixel coefficients, use the command wpc and wfc.
 To restore the last saved pixel coefficients, use the command lpc.
 To write LUTs, use the wil command.

Current Session Settings

These are the current operating settings of your camera. To save these settings to non-volatile memory,
use the command wus.

Camera Output Format

How to Configure Camera Output

Using the camera link mode and pixel readout direction commands

Use the camera link mode (clm) com mand to d eterm in e the cam era’s Cam era Link con figu ration, the
number of output taps, and the bit depth. Use the pixel readout direction (smm) command to select the
cam era’s pixel read ou t d irection.

The following tables summarize the possible camera con figurations for each of the S3-xx camera models.

Table 11: Data Readout Configurations

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34 Spyder3 S3-14 and S3-24 Monochrome Camera User's Manual

Mode Configuration

Readout Direction

Command

Models

Taps

Bit Depth

smm 0 increment =1
smm 1 increment = -1

CL tap 2 (1025-2048)
smm 1 = CL tap 1 (2048-1025)

CL tap 2 (1024-1)

S3-24-04k-40

2

smm 0 = CL tap 1 (1-2048)
CL tap 2 (2049-4096)

smm 1 = CL tap 1 (4096-2049)
CL tap 2 (2048-1)

clm 3

S3-24-01K40

2 12

smm 0 = CL tap 1 (1-512)
CL tap 2 (513-1024)

smm 1 = CL tap 1 (1024-513)
CL tap 2 (512-1)

S3-24-02K40

2

smm 0 = CL tap 1 (1-1024)
CL tap 2 (1025-2048)

smm 1 = CL tap 1 (2048-1025)
CL tap 2 (1024-1)

S3-24-04k-40

2

smm 0 = CL tap 1 (1-2048)
CL tap 2 (2049-4096)

smm 1 = CL tap 1 (4096-2049)
CL tap 2 (2048-1)

Parameter

Description

Notes

clm m

Output mode to use:

0: 1 taps, 8 bit output
1: 1 taps, 12 bit output

2: 2 taps, 8 bit output
3: 2 taps, 12 bit output

To obtain the current Camera Link mode, use the command
gcp or get clm.

The bit patterns are defined by the Teledyne DALSA Camera
Link Roadmap, available from the Knowledge Center on
Teledyne DALSA website.

Example

clm 1

Setting the Camera Link Mode

Use the clm command to select the Camera Link configuration, the number of Camera Link taps, and the
data bit depth. Refer to the tables on the previous page to determine which configurations are valid for
your camera model and how this command relates to other camera configuration commands

Camera Link Command

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Parameter

Description

Notes

smm i

Readout direction. Allowable values are:
0 = All pixels are read out from left to

right.
1 = All pixels are read out from right to

left.

 To obtain the current readout direction, use the

command gcp or get smm.

 This command is available in both TDI and Area

Mode.

 Refer to the following figures and tables for an

explanation of pixel readout and mirror direction.

 Refer to section Image Sensor for the sensor

architecture diagrams that illustrate the sensor
readout direction.

Example

smm 1

Setting the Pixel Readout Direction (Mirroring Mode)

The smm command sets the tap readout from left to right or from right to left. This command is
especially useful if the camera must be mounted upside down.

Camera Link Command

Figure 15: Left to Right Readout (smm 0) Forward Direction Example Output

Figure 16: Right to Left Readout (smm 1) Forward Direction Example Output

Figure 17: Camera Pixel Readout Direction Example using 2k Model with Inverting Lens

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36 Spyder3 S3-14 and S3-24 Monochrome Camera User's Manual

Camera model

Readout direction

Command

Tap 1

Tap 2

S3-14-01k40

Left to Right

smm 0

1-1024

n/ a

Right to Left

smm 1

1024-1

n/ a

S3-24-01K40

Left to Right

smm 0

1-512

513-1024

Right to Left

smm 1

1024-513

512-1

S3-14-02K40

Left to Right

smm 0

1-2048

n/ a

Right to Left

smm 1

2048-1

n/ a

S3-24-02K40

Left to Right

smm 0

1-1024

1025-2048

Right to Left

smm 1

2048-1025

1024-1

S3-24-04K40

Left to Right

smm 0

1-2048

2049-4096

Right to Left

smm 1

4096-2049

2048-1

Table 12: Forward or Reverse Pixel Readout

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CCD Readout Shift Register

CCD Readout Shift Register

Sensor 2(14µm x 14µm OR 10µm x 10µm)
Sensor 1 OR (14µm x 14µm 10µm x 10µm)

14/10µm

Pixel Detail

14/10µm14/10µm

CCD Readout Shi ft Register

CCD Readout Shi ft Register

Sensor 2(14µm x 14µm OR 10µm x 10µm )
Sensor 1 (14µm x 14µm OR 10µm x 10µm )

14/10µm

Pixel DetailPixel Detail

14/10µm

Sensitivity Mode and Pixel Readout

The camera has the option to operate in either high sensitivity (dual line) or low sensitivity (single line)
modes, or in tall pixel mode.

When in high sensitivity mode, the camera uses both line scan sensors and its responsivity increases
accordingly. When in low sensitivity mode, the camera uses the bottom sensor only. When operating in
tall pixel mode, the camera operates using both sensors, creating a 28 µm x 14 µm pixel (1k and 2k
models), or a 20 µm x 10 µm pixel (4k model).

The sensitivity mode is software-controlled through the set sensitivity command: ssm.

Figure 18: High Sensitivity Mode

In high sensitivity mode, the camera uses either a 14 µm x 14 µm pixel (1k and 2k models) or a 10 µm x 10
µm pixel (4k model) and captures the same image twice, resulting in a brighter image.

Figure 19: Low Sensitivity Mode

In low sensitivity mode, the camera uses either a 14 µm x 14 µm pixel (1k and 2k models) or a 10 µm x 10
µm pixel (4k model) and captures the image using one sensor (Sensor 1).

Figure 20: Tall Pixel Mode

In tall pixel mode, the camera uses a 28 µm x 14 µm pixel (1k and 2k) or a 20 µm x 10 µm pixel (4k model)
and captures an image two times taller than in high or low sensitivity modes, resulting in a taller image.

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CCD Readout Shi ft Register

CCD Readout Shi ft Register

Sensor 1 and 2 (28µm x 14µm OR 20µm x 10µm)

14/10µm

Pixel Detail

28/20µm

Sensor Shift Direction

When in high sensitivity mode, you can select either forward or reverse CCD shift direction. This
accom m od ates object d irection change on a w eb an d allow s yo u to m ou n t the cam era ―u psid e d ow n‖.

Figure 21: Object Movement and Camera Direction Example using an Inverting Lens

Note: You can control the CCD shift direction through the serial interface. Use the software command scd
to determine whether the direction control is set via software control or via the Camera Link control
signal on CC3.

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1. You must first set the camera mode to one of the 7 available modes using the sem command.

2. Next, if using mode 2, 7 or 8 use the commands ssf and/ or set to set the line rate and exposure time.

Parameter

Description

Notes

sem i

Sets the exposure mode to use. The
factory setting is 7.

 Refer to
 Table 13: Spyder3 CL Exposure Modes for a quick list

of available modes or to the following sections for a
more detailed explanation.

 To obtain the current value of the exposure mode, use

the command gcp or get sem.

Example

sem 3

Mode

SYNC

PRIN

Description

2

Internal

Internal

Yes

Yes

Internal frame rate and exposure time.
Exposure control enabled (ECE).

3

External

Internal

No

No

Maximum exposure time. Exposure
control disabled (ECD).

4

External

Internal

No

No

Smart EXSYNC. ECE.

5

External

External

No

No

External sync, external pixel reset. ECE.

6

External

Internal

No

Yes

Fixed integration time. ECE.

7

Internal

Internal

Yes

No

Internal line rate, maximum exposure time.
ECD.

8

Internal

Internal

No

Yes

Maximum line rate for exposure time.
ECE.

Exposure Mode, Line Rate and Exposure Time

Overview

You have a ch oice of oper ating in one of seven modes. Th e camera ’s lin e rate (syn ch r onization ) can be

generated internally through the set sync frequency software command ssf or set externally with an

EXSYNC sign al, d ep end ing on y ou r m od e of op eration . To select h ow you w ant th e cam er a’s lin e rate t o

be generated:

Setting the Exposure Mode

Sets th e cam era’s exp osu re m od e allow ing y ou to con trol you r sync, exposu r e time, an d lin e rate

generation.

Camera Link Command

Table 13: Spyder3 CL Exposure Modes

Programmable Line Rate Programmable Exposure Time

Note: When setting the camera to external signal modes, EXSYNC and / or PRIN must be supplied.

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Line Period

Exposure Time

Line Period

Readout

Exposure Time

EXSYNC

Falling Edge

Ignored During

Readout

Readout

Falling Edge

Ignored During

Readout

Programmable Period (set command)
Line Period

Readout

CR

Exposure Time

Line Period

Programmable Period

CR

Exposure Time

Programmable Period (ssf command)

Readou

Programmable Period

CR=Charge Reset

Exposure Modes in Detail

Mode 2: Internally Programmable Line Rate and Exposure Time
(Factory Setting)

Mode 2 operates at a maximum line rate and exposure time.

 When setting the line rate (using the ssf command), exposure time will be reduced, if necessary, to

accommodate the new line rate. The exposure time will always be set to the maximum time (line
period – line transfer time – pixel reset time) for that line rate when a new line rate requiring reduced
exposure time is entered.

 When setting the exposure time (using the set command), line time will be increased, if necessary,

to accommodate the exposure time. Under this condition, the line time will equal the exposure time
+ line transfer time.

Example 1: Exposure Time less than Line Period

Mode 3: External Trigger with Maximum Exposure

Line rate is set by the period of the external trigger pulses. The falling edge of the external trigger marks
the beginning of the exposure.

Example 2: Line Rate is set by External Trigger Pulses.

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Readout

EXSYNC

Line Period

CR=Charge Reset

Readout

Line Period

Programmable Period

Using Command

set

Programmable Period

Using command

set

Readout

EXSYNC

Line Period

cr=Charge Reset

Readout

PRIN

Line Period

Line Period

Readout

EXSYNC

EXSYNC Falling

Edge ignored

during readout

Line Period

CR=Charge Reset

Readout

Line Period

EXSYNC Falling

Edge ignored

during readout

Mode 4: Smart EXSYNC, External Line Rate and Exposure Time

In this mode, EXSYNC sets both the line period and the exposure time. The rising edge of EXSYNC marks
the beginning of the exposure and the falling edge initiates readout.

Example 3: Trigger Period is Repetitive and Greater than Read Out Time.

Mode 5: External Line Rate (EXSYNC) and External Pixel Reset
(PRIN)

In this mode, the falling edge of EXSYNC sets the line period and the rising edge of PRIN sets the start of
exposure time.

Figure 22: EXSYNC controls Line Period and PRIN controls Exposure Time

Mode 6: External Line Rate and Internally Programmable
Exposure Time

Figure 23: EXSYNC controls Line Period with Internally controlled Exposure Time

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Parameter

Description

Notes

ssf f

Desired line rate in Hz. Allowable
values are:

1k 1 tap: 300-36000 Hz
1k 2 tap: 300-68000 Hz
2k 1 tap: 300-18500 Hz
2k 2 tap: 300-36000 Hz

4k 2 tap: 300-18500 Hz

 To read the current line frequency, use the

command gcp or get ssf.

 If you enter an invalid line rate frequency, an

error message is returned.

Example

ssf 10000

Programmable Period

Frame Period

Readout

CR

Exposure Time

CR=Charge Reset

Frame Period

Programmable Period

CR Exposure Time

Readout

Exposure Time

Readout

Internal Sync

with Command

ssf

Line Period

Exposure Time

Readout

Line Period

EXSYNC Falling

Edge ignored

during readout

EXSYNC Falling

Edge ignored

during readout

Mode 7: Internally Programmable Line Rate, Maximum Exposure
Time

In this mode, the line rate is set internally with a maximum exposure time.

Figure 24: Mode 7 Camera Timing

Mode 8: Maximum Line Rate, Programmable Exposure Time

In this mode, the exposure time is set internally with a maximum line rate.

Figure 25: Mode 8 Timing

Setting the Line Rate

Sets th e cam era’s line rate in H z. Camera m u st be op erating in either exposure mode 2 or 7.

Camera Link Command

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Parameter

Description

Notes

set f

Desired exposure time in µs.
Allowable range is 3 to 3300µs.*

 To read the current line frequency, use the

command gcp or get set.

 If you enter an invalid line rate frequency, an

error message is returned.

 *The exposure time range is based on the

current line rate.

 To determine the maximum exposure time

allowed for the current line rate, use the
command get ger.

Example

set 400.5

Parameter

Description

Notes

sbr m

Baud rate. Available baud rates are:

9600 (Default), 19200, 57600, and

115200.

 Power-on rate is always 9600 baud.
 The rc (reset camera) command will not reset the

camera to the power-on baud rate and will
reboot using the last used baud rate.

Example

sbr 57600

Setting the Exposure Time

Sets the cam era’s exp osu re tim e is µs. Cam era m u st be op eratin g in mod e 2, 6, or 8.

Camera Link Command

Baud Rate

Determines the speed of the serial communication port in bps.

Camera Link Command

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Parameter

Description

Notes

scb i

Output compare value. Available
values are: 0 to 255.

 In medium configuration, both cables must be

the same length.

 Only one copy of this setting is saved in the

camera (rather than with each setting).

 On the lfs (load factory settings) command the

cable length will be set to the factory default of

100.

 The cable parameter is a relational value.

Increase the value for longer cables, and
decrease it for shorter ones.

 Adjust the value until the test pattern (svm 1) is

clean.

 get scb returns the current cable parameter.

Example

scb 75

Parameter

Description

Notes

ssm i

Sensitivity mode to use.

0 = Low sensitivity mode
1 = High sensitivity mode
2 = Tall pixel mode

 To obtain the current sensitivity mode, use the

command gcp or get ssm.

 The scd (set ccd direction) command is not

available in low sensitivity mode or tall pixel
mode.

Example

ssm 0

Select Cable

Sets the cable parameters.

Camera Link Command

Sensor Output Format

Sensitivity Mode

Sets th e cam era’s sen sitivity m od e. Wh en using high sensitivity m od e, the cam era’s resp on sivity

increases. High sensitivity mode permits much greater scanning speeds in low light, or allows reduced
lighting levels.

Camera Link Command

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Parameter

Description

Notes

scd i

Shift direction. Allowable values are:
0 = Internally controlled, forward

CCD shift direction.
1 = Internally controlled, reverse

CCD shift direction.
2 = Externally controlled CCD shift

direction via Camera Link control CC3
(CC3=1 forward, CC3=0 reverse).

 To obtain the current value of the exposure

mode, use the command gcp or get scd.

 Available in high sensitivity mode only.
 Refer to Figure 21: Object Movement and

Camera Direction Example using an Inverting
Lens, page 38, for an illustration of when you
should use forward or reverse shift direction.

Example

scd 0

Parameter

Description

Notes

clm m

Output mode to use:

0: Base configuration, 1 taps, 8 bit output
1: Base configuration, 1 taps, 12 bit output
2: Base configuration, 2 taps, 8 bit output
3: Base configuration, 2 taps, 12 bit output

 To obtain the current Camera Link mode, use

the command gcp or get clm.

 The bit patterns are defined by the Teledyne

DALSA Camera Link Road map available here.

Example

clm 0

CCD Shift Direction

When in high sensitivity mode, selects the forw ard or reverse CCD shift direction, internally or externally
controlled. This accommodates object direction change on a web and allows you to mount the camera
―u psid e d ow n ‖.

Camera Link Command

Setting the Camera Link Mode

Sets th e cam era’s Camer a Lin k con figuration, number of Camera Link taps and d ata bit depth. Refer to
the tables on the following pages to determine which configurations are valid for your camera model and
how this command relates to other camera configuration commands.

Camera Link Command

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Parameter

Description

Notes

smm i

0: Pixels readout left to right.
1: Pixels readout right to left.

S3-24-01K40 smm 0 = 1-512 (tap 1) or 513-1024 (tap 2)

smm 1 = 1024-513 (tap 1) or 512-1 (tap 2)

S3-24-02K40 smm 0 = 1-1024 (tap 1) or 1025-2048 (tap 2)

smm 1 = 2048-1025 (tap 1) or 1024-1 (tap 2)
S3-24-04k-40 smm 0 = 1-2048 (tap 1) or 2049-4096 (tap 2)
smm 1 = 4096-2049 (tap 1) or 2048-1 (tap 2)

Example

smm 1

Parameter

Description

Notes

srm i

0: Auto. Clears dark current below ~ 45%
of the maximum line rate.

1: Dark current clear. Always clears dark.
Reduces the maximum line rate.

2: Immediate readout. Does not clear
dark current. (Default mode.)

 The vertical transfer gates collect dark current

during the line period. This collected current is
added to the pixel charge. The midd le two red
taps have more vertical transfer gates and,
therefore, more charge. This additional charge
is especially noticeable at slower line rates.

 If the user is in sem 2 or 7 and srm 2, with

ssf at 45% of the maximum, and then srm 1 is

selected, the following warning will be
displayed, but the ssf value will not be
changed: Warning 09: Internal line rate
inconsistent with readout time> The effect in
both internal and external line rate modes is
that an EXSYNC is skipped and, therefore, the
output will be at least twice as bright.

 This value is saved with the camera settings.
 This value may be viewed using either the gcp

command or the get srm command .

Example

srm 0

Setting the Mirror Mode

Sets th e cam era’s mirror mode. Set the pixel readout as either left to right, or right to left.

Camera Link Command

Setting the Readout Mode

See also, the Clearing Dark Current section in Appendix A for more information on this mode.
Use this command to clear out dark current charge in the vertical transfer gates immediately before the

sensor is read out.

Camera Link Command

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Parameter

Description

Notes

roi x1 y1 x2 y2

x1: Pixel start number. Must be less than the pixel end
number in a range from 1 to sensor resolution.

y1: Column start number. Since the Spyder3 CL is a line
scan camera, this value must be 1.

x2: Pixel end number. Must be greater than the pixel
start number in a range from 1 to sensor
resolution

y2: Column end number. Since the Spyder3 CL is a line
scan camera, this value must be 1.

To return the current region of
interest, use the commands gcp or
get roi.

Example

roi 10 1 50 1

Data Processing

Setting a Region of Interest (ROI)

Sets the pixel range used to collect the end -of-line statistics and sets the region of pixels used in the ccg, gl, gla,
ccf, and ccp commands.

In most applications, the field of view exceeds the required object size and these extraneous areas should
be ignored. It is recommended that you set the region of interest a few pixels inside the actual useable
image

Camera Link Command

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Analog Processing

Digital Processing

analog video

analog

gain

analog

offset

FPN

coefficients

digital
offset

PRNU

coefficients

background

subtract

digital system

gain

sag,ccg

sao

ccf

sdo

ccp,cpa ssb

ssg

eil

LUT

addition

4k ONLY

Analog and Digital Signal Processing Chain

Processing Chain Overview and Description

The follow ing d iagram sh ow s a sim p lified block d iagr am of the cam era’s an alog and d igital p rocessing

chain. The analog processing chain begins with an analog gain adjustment, follow ed by an analog offset
adjustment. These adjustments are applied to the vid eo analog signal prior to its digitization by an A/ D
converter.

The digital processing chain contains the FPN correction, the PRNU correction, the background subtract,
and the digital gain and offset. Non-linearity look-up table (LUT) correction is available for the 4k model
of camera.

All of these elements are user programmable.

Figure 26: Signal Processing Chain

Analog Processing

Optimizing offset performance and gain in the analog domain allows you to achieve a better signal-to­noise ratio and dynamic range than you would achieve by trying to optimize the offset in the digital
domain. As a result, perform all analog adjustments prior to any digital adjustments.

1. Analog gain (sag or ccg command.) is multiplied by the analog signal to increase the signal strength

before the A/ D conversion. It is used to take advantage of the full dynamic range of the A/ D
converter. For example, in a low light situation the brightest part of the image may be consistently
coming in at only 50% of the DN. An analog gain of 6 dB (2x) will ensure full use of the dynamic
range of the A/ D converter. Of course the noise is also increased. Note: To maintain valid LUT
calibration do not use the sag command with the 4k model. Instead, use the ssg command.

2. The analog offset (sao com m an d ) or b la ck level is an ―ar tificial‖ offset intr od u ced into the video p ath

to ensure that the A/ D is functioning properly. The analog offset should be set so that it is at least 3
times the rms noise value at the current gain.

Digital Processing

To optimize camera performance, digital signal processing should be completed after any analog
adjustments.

1. Fixed pattern noise (FPN) calibration (calculated using the ccf command) is used to subtract away

individual pixel dark current.

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Parameter

Description

Notes

sag t f

t Tap selection. Use 0 for all taps or 1
to 2 for individual tap selection

f Gain value in a range from –10 to
+10dB.

To return the current analog gain setting, use the
command gcp or get sag.

Example

sag 0 5.2

2. The digital offset (sdo com m an d ) en a bles the su btraction of th e ―ar tificial‖ A/ D offset (the an alog

offset) so that ap p lication of the PRN U coefficien t d oesn ’t resu lt in ar tifacts at low lig ht levels due to
the offset value. You may want to set the sdo value if you are not using FPN correction but want to
perform PRNU correction.

3. Photo-Response Non-Uniformity (PRNU) coefficients (calculated using the ccp or cpa commands)

are used to correct the difference in responsivity of individual pixels (i.e. given the same amount of
light different pixels will charge up at different rates) and the change in light intensity across the
image either because of the light source or due to optical aberrations (e.g. there may be more light in
the center of the image). PRNU coefficients are multipliers and are defined to be of a value greater
than or equal to 1. This ensures that all pixels will saturate together.

4. Background subtract (ssb command) and system (digital) gain (ssg command) are used to increase

image contrast after FPN and PRNU calibration. It is useful for systems that process 8-bit data but

want to take ad vantage of the ca m era’s 12 bit d igital p rocessing chain. For exam p le, if you find that

your image is consistently between 128 and 255 DN(8 bit), you can subtract off 128 (ssb 2048) and
then multiply by 2 (ssg 0 8192) to get an output range from 0 to 255.

Analog Signal Processing: Setting Analog Gain and Offset

All analog signal processing chain commands should be performed prior to FPN and PRNU calibration
and prior to digital signal processing commands.

Note: This command will invalidate the LUT calibration for the 4k model of camera. Use the ssg
command instead.

Setting Analog Gain

Sets the cam era’s analog gain v alu e. Analog gain is m u ltiplied by the analog signal to in cr ease th e sign a l
strength before the A/ D conversion. It is used to take advantage of the full dynamic range of the A/ D
converter.

Camera Link Command

Calibrating Camera Gain

Instead of manually setting the analog gain to a specific value, the camera can determine appropriate gain
values. This command calculates and sets the analog gain according to the algorithm determined by the
first parameter.

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Parameter

Description

Notes

ccg i t i

i
Calibration algorithm to use.
1 = This algorithm adjusts analog gain so

that 8% to 13% of tap region of interest
(ROI) pixels are above the specified target
value.

2 = This algorithm adjusts analog gain so

th at the aver age p ixel value in tap ’s ROI is

equal to the specified target value.
3 = This algorithm adjusts digital gain so

th at the aver age p ixel value in tap ’s ROI is

equal to the specified target.
4 = This algorithm adjusts the analog gain

so that the peak tap ROI pixels are adjusted
to the specified target.

t
Tap value. Use 0 for all taps or 1 to 2 for

individual tap selection if you are using the
two tap model.

i
Calculation target value in a range from

1024 to 4055DN (12 bit LSB).

 This function requires constant light input while

executing.

 If very few tap pixels are within the ROI, gain

calculation may not be optimal.

 When all taps are selected, taps outside of the

ROI are set to the average gain of the taps that
are w ithin the ROI.

 Perform analog gain algorithms before

performing FPN and PRNU calibration.

 All digital settings affect the analog gain

calibration. If you do not w ant the digital
processing to have any effect on the camera gain
calibration, then turn off all digital settings by
sending the commands: sdo 0 0, epc 0 0,
ssb 0 0, and ssg 0 4096

Example

ccg 2 0 3040

Parameter

Description

Notes

sao t i

t
Tap selection. Use 0 for all taps or 1 to

2 for individual tap selection if you are
using the two tap model.

i
Offset value in a range from 0 to

255DN (12 bit LSB).

To return the current analog offset value, use
the command gcp or get sao.

Example

sao 2 35

Camera Link Command

Setting Analog Offset

Sets the analog offset. The analog offset should be set so that it is at least 3 times the rms noise value at
the current gain. Teledyne DALSA configures the analog offset for the noise at the maximum specified
gain and as a result you should not need to adjust the analog offset.

Camera Link Command

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where

V

output

=

digital output pixel value

V

input

=

digital input pixel value from the CCD

PRNU( pixel)

=

PRNU correction coefficient for this
pixel

FPN( pixel )

=

FPN correction coefficient for this pixel

Background
Subtract

=

background subtract value
System Gain

=

digital gain value

Calibrating the Camera to Remove Non-Uniformity (Flat Field
Correction)

Flat Field Correction Overview

This camera has the ability to calculate correction coefficients in order to remove non -uniformity in the
image. This video correction operates on a pixel-by-pixel basis and implements a two-point correction for
each pixel. This correction can reduce or eliminate image distortion caused by the following factors:

 Fixed Pattern Noise (FPN)
 Photo Response Non Uniformity (PRNU)
 Lens and light source non-uniformity

Correction is implemented such that for each pixel:

V

output

=[(V

- FPN( pixel ) - digital offset) * PRNU(pixel) – Background Subtract] x System Gain

input

The algorithm is performed in two steps. The fixed offset (FPN) is determined first by performing a
calibration without any light. This calibration determines exactly how much offset to subtract per pixel in
order to obtain flat output when the CCD is not exposed.

The white light calibration is performed next to determine the multiplication factors required to bring
each pixel to the required value (target) for flat, white output. Video output is set slightly above the
brightest pixel (depending on offset subtracted).

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3>

Darkest Pixel (per tap)
Brightest Pixel (per tap)

Note: If your
illumination or white
reference does not
extend the full field of
view of the camera,
the camera will send a
warning.

Flat Field Correction Restrictions

It is important to do the FPN correction first. Results of the FPN correction are used in the PRNU
procedure. We recommend that you repeat the correction when a temperature change greater than 10°C
occurs or if you change the analog gain, integration time, or line rate.

PRNU correction requires a clean, white reference. The quality of this reference is important for proper
calibration. White paper is often not sufficient because the grain in the white paper will distort the
correction. White plastic or white ceramic will lead to better balancing.

For best results, ensure that:

 50 or 60 Hz ambient light flicker is sufficiently low not to affect camera performance and calibration

results.

 For best results, the analog gain should be adjusted for the expected operating conditions and the

ratio of the brightest to darkest pixel in a tap should be less than 3 to 1 where:

 The camera is capable of operating under a range of 8 to 1, but will clip values larger than this ratio.

 The brightest pixel should be slightly below the target output.
 When 6.25% of pixels from a single row within the region of interest are clipped, flat field correction

results may be inaccurate.

 Correction results are valid only for the current analog gain and offset values. If you change these

values, it is recommended that you recalculate your coefficients.

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Calibration Overview

When a camera images a uniformly lit field, ideally, all of the pixels will have the same gray value.
However, in practice, this is rarely the case (see example below) as a number of factors can contribute to
gray scale non-uniformity in an image: Lighting non-uniformities and lens distortion, PRNU (pixel
response non-uniformity) in the imager, FPN (fixed pattern noise) in the imager, etc.

Figure 27. Image with non-uniformities

By calibrating the camera you can eliminate the small gain difference between pixels and compensate for light
distortion. This calibration employs a two-point correction that is applied to the raw value of each pixel so that
non-uniformities are flattened out. The response of each pixel will appear to be virtually identical to that of all
the other pixels of the sensor for an equal amount of exposure.

Calibration Steps

Step 1: Preparing for Calibration

If you do not want to change the current camera settings, but want to calibrate the camera, skip this step and
move to Step 2: PRNU Calibration.

To check the current camera settings, use the get camera parameters (gcp) or the get commands. You can
change some or all of the following settings before calibrating:

 Set exposure mode using the command sem m, where m = 2/ 3/ 4/ / 6

For example, sem 2

 Set line sync frequency (line rate) using the command ssf f, where f = - 72 kHz

For example, ssf 5000

 Set exposure time using the command set f, where f = 1 - 8888 µs in an available mode.

For example, set 100

 Set gain using command sg t i, where t are the taps 0 to 21 and i = ± 24 db

For example, sg t 0

 Save user settings using command wus.

A Note on FPN or Dark Calibration

FPN calibration (also called dark calibration) is done in the factory.

Step 2: PRNU or White Calibration

1. Remove the lens cap and prepare a white, uniform target.

2. Adjust the line rate so that the average output is about 80% of the full output, or below the PRNU target
value by:

Adjusting the lighting, if you are using an internal exposu re mode. Or,
Adjusting the line rate, if you are using the Smart Exsync mode.

3. Calibrate the PRNU using the command cpa 2 i, where 2 is the PRNU calculated using the entered target
value as shown in the formula on page 56 and i is the target value and the value of i is 1024 to 4055 DN.

For example: cpa 2 3300

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Parameter

Description

Notes

ccf

 Perform all analog and digital adjustments

before performing FPN correction.

 Perform FPN correction before PRNU

correction.

 Refer to Calibrating the Camera to Remove

Non-Uniformity (Flat Field Correction) on
page 51 for a procedural overview on
performing flat field correction.

 To save FPN coefficients after calibration,

use the wfc command. Refer to section
Saving and Restoring PRNU and FPN
Coefficients for details.

Example

ccf

4. Save the PRNU coefficients using the command wpc.

For example: wpc

Note: Both the FPN and PRNU coefficients are always turned on.

Digital Signal Processing

To optimize camera performance, digital signal processing should be completed after any analog
adjustments.

FPN Correction

Performs FPN correction and eliminates FPN noise by removing individual pixel dark current.

Camera Link Command

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Parameter

Description

Notes

sfc x i

x
The pixel number from 1 to sensor

pixel count
i
Coefficient value in a range from 0 to

2047 (12 bit LSB).

Example

sfc 10 50

Parameter

Description

Notes

sdo t i

t
Tap selection. Allowable range is 1 to

2 depending on camera model, or 0
for all taps.

i
Subtracted offset value in a range from

0 to 2048 where
FPN Coefficient= i (12 bit LSB

Justified)

When subtracting a digital value from the d igital
vid eo signal, the output can no longer reach its
maximum unless you apply digital gain using the
ssg command.

Example

sdo 0 100

Setting a Pixel’s FPN Coefficient

Sets an ind ividu al p ixel’s FPN coefficient.

Camera Link Command

Setting Digital Offset

Sets the digital offset. Digital offset is set to zero when you perform FPN correction (ccf command). If
you are unable to perform FPN correction, you can partially remove FPN by adjusting the digital offset.

Camera Link Command

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Parameter

Description

Notes

cpa i i

i:
PRNU calibration algorithm to use:
1 = Th is algorith m first a d ju sts each t ap’s an alog g ain so th at 8-

13% of pixels within a tap are above the value specified in the
target value parameter. PRNU calibration then occurs using the
peak pixel in the region of interest.

This algorithm is recommended for use only when FPN is
negligible and FPN coefficients are set to zero. Since this algorithm
adjusts the analog gain, it also affects FPN. If FPN is calibrated
prior to running this algorithm, FPN will be observable in dark
conditions and an incorrect FPN value w ill be used during PRNU
calibration resulting in incorrect PRNU coefficients.

2 = Calculates the PRNU coefficients using the entered target
value as shown below:

The calculation is performed for all sensor pixels but warnings are
only applied to pixels in the region of interest. This algorithm is
useful for achieving uniform output across multiple cameras. It is
important that the target value (set with the next parameter) is set
to be at least equal to the highest pixel across all cameras so that
all pixels can reach the highest pixel value during calibration.

3 = This algorithm includes an analog gain adjustment prior to
PRNU calibration. Analog gain is first adjusted so that the peak
pixel value in the tap’s ROI is w ith in 97% to 99% of the specified
target value. It then calculates the PRNU coefficients using the
target value as shown below:

The calculation is performed for all sensor pixels but warnings are
only applied to pixels in the region of interest. This algorithm is
useful for achieving uniform output across multiple cameras.

This algorithm is useful for achieving uniform output across
multiple cameras by first adjusting analog gain and then
performing PRNU calibration. This algorithm is recommended for
use only when FPN is negligible and FPN coefficients are set to
zero. Since this algorithm adjusts the analog gain, it also affects
FPN. If FPN is calibrated prior to running this algorithm, FPN will
be observable in dark conditions and an incorrect FPN value will
be used during PRNU calibration resulting in incorrect PRNU
coefficients.

This algorithm is more robust and repeatable than algorithm 1
because it uses an average pixel value rather than a number above

 Perform all analog

adjustments before
calibrating PRNU.

 This command

performs the same
function as the cpp
command but forces
you to enter a target
value.

 Calibrate FPN before

calibrating PRNU. If
you are not performing
FPN calibration then
issue the rpc (reset pixel
coefficients) command
and set the sdo (set
digital offset) value so
that the output is near
zero under dark.

PRNU Coefficient =

Target

(AVG Pixel Value ) - (FPN + value)sdo

i

i

i

PRNU Coefficient =

Target

(AVG Pixel Value ) - (FPN + value)sdo

i

i

i

PRNU Correction

Performs PRNU calibration to user entered value and eliminates the d ifference in responsivity between the most and
least sensitive pixel, creating a uniform response to light. Using this command, you must provide a calibration target.

Executing these algorithms causes the ssb command to be set to 0 (no background subtraction) and the
ssg command to 4096 (unity digital gain). The pixel coefficients are disabled (epc 0 0) during the
algorithm execution but returned to the state they were in prior to command execution.

Camera Link Command

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target. However, this algorithm is slower.
i:
Peak target value in a range from 1024 to 4055DN. The target

value must be greater than the current peak output value.

Example

cpa 1 600

Parameter

Notes

ccp

 Perform all analog adjustments before calculating PRNU.
 Perform FPN correction before PRNU correction.
 If FPN cannot be calibrated, use the rpc command to reset all coefficients to zero,

and save them to memory with the wfc command. You can then adjust the
digital offset (sdo command) to remove some of the FPN.

 Ensure camera is operating at its expected analog gain, integration time, and

temperature.

 Refer to Calibrating the Camera to Remove N on-Uniformity (Flat Field

Correction)on page 51 for a procedural overview on performing flat field
correction.

To save FPN coefficients after calibration, use the wpc command. Refer to section
Saving and Restoring PRNU and FPN Coefficients for details.

Example

Parameter

Description

Notes

spc i i

i:
The pixel number from 1 to sensor pixel count.
i:

Coefficient value in a range from 0 to 28671 where:

Example

spc 1024 10000

PRNU coefficient =

1 +

4096

i

Performing PRNU Correction to a Camera Calculated Value

Performs PRNU correction and eliminates the difference in responsivity between the most and least
sensitive pixel creating a uniform response to light.

Camera Link Command

Setting a Pixel’s PRNU Coefficient

Sets an ind ividu al p ixel’s PRN U coefficien t.

Camera Link Command

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Parameter

Description

Notes

ssb t i

t:
Tap selection. Allowable range is 1 to 2

depending on camera model, or 0 for all
taps.

i:
Subtracted value in a range in DN from 0

to 4095.

 When subtracting a digital value from the digital

vid eo signal the output can no longer reach its
maximum. Use the ssg command to correct for
this where:

ssg value =

max output value

max output value - ssb value

Example

ssb 0 25

ssg value =

max output value

max output value - ssb value

Parameter

Description

Notes

ssg t i

t: Tap selection. Allowable range is 1
to 2, or 0 for all taps.

i:
Gain setting. The gain ranges are 0 to

65535. The digital video values are
multiplied by this value where:

Use this command in conjunction with
the ssb command.

Example

ssg 1 15

Digital Gain=

4096

i

Subtracting Background

Use the background subtract command after performing flat field correction if you want to improve your
image in a low contrast scene. It is useful for systems that process 8 bit data but want to take advantage of

th e camera’s 12 bit d igital p rocessin g ch ain . You sh ou ld try to m ake y our d ar kest pixel in the scene equal

to zero.

Camera Link Command

Setting Digital System Gain

Improves signal output swing after a background subtract. When subtracting a digital value from the digital video
signal, using the ssb command, the output can no longer reach its maximum. Use this command to correct for this
where:

Camera Link Command

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Parameter

Description

Notes

dpc x1 x2

x1: Start pixel to display in a range
from 1 to sensor pixel count.

x2 End pixel to display in a range from
x1 to sensor pixel count.

 This function returns all the current pixel

coefficients in the order FPN, PRNU, FPN,

PRN U … Th e cam era also retu rn s th e pixel

number with each coefficient.

Example

dpc 10 20

Parameter

Description

Notes

gfc i

The pixel number to read in a range
from 1 to sensor pixel count.

Example

gfc 10

Parameter

Description

Notes

gpc i

i The pixel number to read in a range
from 1 to sensor pixel count.

Example

gpc 10

Returning Calibration Results and Errors

Returning All Pixel Coefficients

Returns all th e cu r rent p ixel coefficients in t h e or d er FPN , PRN U, FPN , P RN U… for the r ange specified

by x1 and x2. The camera also returns the pixel number with every fifth coefficient.

Camera Link Command

Returning FPN Coefficients

Returns a p ixel’s FPN coefficient v a lu e in DN (12 bit LSB)

Camera Link Command

Returning PRNU Coefficients

Returns a p ixel’s PRN U coefficient v alu e in DN (12 bit LSB)

Camera Link Command

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Parameter

Description

Notes

epc i i

i FPN coefficients.

0 = FPN coefficients disabled
1 = FPN coefficients enabled

i PRNU coefficients.

0 = PRNU coefficients disabled
1 = PRNU coefficients enabled

Example

epc 0 1

Parameter

Description

Notes

els i

0 Disable end-of-line sequence
1 Enable end-of-line sequence

LVAL is not high during the end -of-line
statistics.

Example

els 1

Location

Value

Description

1

A’s

By ensuring these values consistently toggle betw een "aa" and
"55", you can verify cabling (i.e. no stuck bits)

2

5’s

3

A’s

4

4 bit counter LSB justified

Counter increments by 1. Use this value to verify that every line
is output

5

Line sum (7…0)

Use these values to help calculate line average and gain
6

Line sum (15…8)

7

Line sum (23…16)

Enabling and Disabling Pixel Coefficients

Enables and disables FPN and PRNU coefficients

Camera Link Command

End-of-line Sequence

To aid in debugging, the camera can p roduce an end-of-line sequence that provides basic calculations
including "line counter", "line sum", "pixels above threshold", "pixels below threshold", and "derivative
line sum" within the region of interest. These calculations can be used to perform aoc algorithms or
indicate objects of interest.

To further aid in debugging and cable/ data path integrity, the first three pixels after Line Valid are "aa",
"55", "aa". Refer to the following table. These statistics are calculated for the pixels within the r egion of
interest.

Camera Link Command

Table 14: End-of-Line Sequence Description

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Location

Value

Description

8

Line sum (31…24)

9

Pixels abov e th reshold (7…0)

Monitor these values (either above or below threshold) and
adjust camera digital gain and background subtract to maximize
scene contrast. This provides a basis for automatic gain control
(AGC)

10

Pixels above threshold
(15…8)

11

Pixels below threshold (7…0)

12

Pixels below threshold (15…8)

13

Differential line sum (7..0)

Use these values to focus the camera. Generally, the greater the
sum the greater the image contrast and better the focus.

14

Differen tial lin e sum (15…8)

15

Differen tial lin e sum (23…16)

16

Differen tial lin e sum (31…24)

Parameter

Description

Notes

sut i

Upper threshold limit in range from 0
to 4095.

LVAL is not high during the end-of-line statistics.

Example

sut 1024

Parameter

Description

Notes

slt i

Upper threshold limit in range from 0
to 4095.

LVAL is not high during the end -of-line statistics.

Example

slt 1024

Setting Thresholds

Setting an Upper Threshold

Sets the upper threshold limit to report in the end -of-line sequence.

Camera Link Command

Setting a Lower Threshold

Sets the lower threshold limit to report in the end-of-line sequence.

Camera Link Command

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Parameter

Description

Notes

cil

0 to 1. 0 for dark, 1 for light.

This command calibrates all
taps within the ROI.

To calibrate:

 Place a white reference in front of the camera. This is similar

to a PRNU calibration.

In addition:
 Use the wil command to write the LUT to non-volatile

memory.

 Use the eil command to enable use of the LUT.
 Use the roi command to limit the taps calibrated and to limit

which pixels are used for calibration. If a tap is not in the
region of interest, then it will not be calibrated and left at
current values.

 Press spacebar to abort this command.
 Rerun this command if the analog gain or operating

temperature changes.

Example

Parameter

Description

Notes

eil flag

0 Disable

1 Enable

 Coefficients must be created first w ith the cil command.
 Setting saved with the wfs and w us commands.

Example

Look-Up Tables

Note: This information only applies to the 4k model camera.
The flat field corrections FPN and PRNU assume a linear response to the amount of light by the sensor,

output node, analog amplifier, and analog to digital converter. To correct any non -linearity in this system
of components a Look-Up Table (LUT) has been implemented in the FPGA for each tap immediately after
the ADC. The LUT adds a signed value (-256 to +255) indexed by the 10 MSB of the input value.

Calibrate Input LUT

Calibrates the current input look-up table for correcting non-linearity in the analog chain (CCD sense
node and analog-to-digital conversion).

Camera Link Command

Enable Input LUT

Enables or disables the use of the input look-up tables for the correction of the analog chain non-linearity.

Camera Link Command

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Parameter

Description

Notes

wil

0 = Factory set
1 to 4 = User sets

 LUT use is enabled or disabled with the

EIL command.

 Set 0 can only be written from factory

mode.

Example

Parameter

Description

Notes

wpc i

PRNU coefficients set to save.

1 = Coefficient set one
2 = Coefficient set two

3 = Coefficient set three
4 = Coefficient set four

Example

wpc 2

Parameter

Description

Notes

wfc i

FPN coefficients set to save.

1 = Coefficient set one
2 = Coefficient set two

3 = Coefficient set three
4 = Coefficient set four

Write Input LUT

Saves current values of input LUT that are in FPGA SDRAM to Flash memory or a PC file.

Camera Link Command

Saving and Restoring PRNU and FPN
Coefficients

Saving the Current PRNU Coefficients

The wpc command saves the current PRNU coefficients. You can save up to four sets of pixel coefficients.

Camera Link Command

Saving the Current FPN Coefficients

The wfc command saves the current FPN coefficients. You can save up to four sets of pixel coefficients

Camera Link Command

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Example

wfc 2

Parameter

Description

Notes

lpc i

FPN coefficients set to save.
0 = Factory calibrated pixel

coefficients.

1 = Coefficient set one
2 = Coefficient set two

3 = Coefficient set three
4 = Coefficient set four

Example

lpc 0

Parameter

Description

Notes

rpc

The digital offset is not reset.

Example

Loading a Saved Set of Coefficients

The lpc command Loads one of the 4 saved sets of pixel coefficients. In addition, a factory calibrated set
of coefficients is available.

Camera Link Command

Resetting the Current Pixel Coefficients

The rpc command resets the current pixel coefficients to zero. This command does not reset saved
coefficients.

Camera Link Command

Rebooting the Camera

The command rc reboots the camera. The camera starts up with the last saved settings and the baud rate
used before the reboot order. Previously saved pixel coefficients are also restored.

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Parameter

Description

svm 0 Video.

svm
smm

1
0

12 bit test pattern.
2 tap model:

svm
smm

1
1

svm
smm

2
1

svm
smm

2
0

8 bit test pattern
2 tap model:

Diagnostics

Generating a Test Pattern

Use the svm command to generate a test pattern to aid in system debugging. The test patterns are useful
for verifying camera timing and connections. The following tables show each available test pattern.

Camera Link Command

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svm
smm

2
1

svm
smm

1
0

12 bit test pattern
1 tap model:

svm
smm

1
1

svm
smm

2
1

8 bit test pattern
t tap model:

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Parameter

Description

Notes

gl x1 x2

x1 Pixel start number. Must be less
than the pixel end number in a range
from 1 to sensor resolution.

x2 Pixel end number. Must be greater
than the pixel start number in a range
from 2 to sensor resolution.

 If x2x1 then x2 is forced to be x1.

Values returned are in 12-bit DN.

Example

gl 10 20

Returning Video Information

The cam era’s m icrocon troller h as t h e ab ility to read vid eo d ata. This fu nction ality can be u sed to verify

camera operation and to perform basic testing without having to connect the camera to a frame grabber.
This information can also be used to collect line statistics for calibrating the camera.

Returning a Single Line of Video

Returns a complete line of video (without pixel coefficients applied) displaying one pixel value after another. After
pixel values have been displayed it also displays the minimum, maximum, and mean value of the line sampled
within the region of interest (the region of interest command is explained in section Setting a Region of Interest
(ROI)).

Use the gl command, or the following gla command, to ensure the proper video input range into the
processing chain before executing any pixel calibration commands.

Camera Link Command

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Parameter

Description

Notes

css m

Number of lines to sample. Allowable
values are 256, 512, or 1024 (factory
setting).

To return the current setting, use the gcp
command or get css.

Example

css 1024

Parameter

Description

Notes

gla x1 x2

x1 Pixel start number. Must be less
than the column end number in a
range from 1 to sensor resolution.

x2 Pixel end number. Must be greater
than the column start number in a
range from 2 to column resolution.

 If x2x1 then x2 is forced to be x1.
 Analog gain, analog offset, digital offset,

background subtract, and digital system gain
are applied to the data. FPN and PRNU
coefficients are not included in the data.

Values returned are in 12 bit DN.

Example

gla 10 20

Returning Averaged Lines of Video

Setting the Number of Lines to Sample

The css command sets the number of lines to sample when using the gla command or when performing
an FPN or PRNU calibration.

Camera Link Command

Returning the Average of Multiple Lines of Video

The gla command returns the average for multiple lines of video data (without pixel coefficients applied).
The number of lines to sample is set and adjusted by the css command. The camera displays the Min.,
Max., and Mean statistics for the pixels in the region of interest (t he region of interest command is
explained in section Setting a Region of Interest (ROI)).

Camera Link Command

Temperature Measurement

The temperature of the camera can be determined by using the vt command. This command will return
the internal chip case temperature in degrees Celsius. For proper operation, this value should not exceed
65 °C.

Note: If the camera reaches 65 °C, the camera will shut down and the LED will flash red. If this occurs, the

camera must be rebooted using the command, rc or can be powered down manually. You will not be
able to restart the camera until the temperature is less than 65°C. You will have to correct the temperature
problem or the camera will shut down again. The camera allows you to send the vt (verify temperature)
command w hile it is in this state.

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Parameter

Description

Notes

gsf i

Camera Link control signal to
measure:

1: CC1 (EXSYNC)
2: CC2 (PRIN)
3: CC3 (CCD Direction)

 Camera operation may be impacted when

entering the gsf command (i.e., poor time
response to direction change or video may have
artifacts (gain changes) for several lines while
the camera returns signal information)

This command is not available when operating the
camera with external CCD direction control (scd

2)

Example

gsf 1

Voltage Measurement

The command vv d isp lays the cam era’s in pu t volta ge. Note th at the voltage mea su r ement featu re of th e
camera provides only approximate results (typically within 10%). The measurement should not be used
to set the applied voltage to the camera but only used as a test to isolate gross problems with the supply
voltage.

Camera Frequency Measurement

Returns the frequency for the requested Camera Link control signal

Camera Link Command

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Mnemonic

Syntax

Parameters

Description

correction calibrate fpn

ccf

Performs FPN calibration and eliminates FPN noise by
subtracting away individual pixel dark current.

calculate camera gain

ccg

i t i

Calculates the camera gain according to the selected
algorithm.

i = Calibration algorithm to use.

1 = This algorithm adjusts analog gain so that 8% to

13% of tap ROI pixels are above the specified target
value.

2 = This algorithm adjusts analog gain so that the

aver age p ixel value in tap’s ROI is equ al to the

specified target value.
3 = This algorithm adjusts digital gain so that the

aver age p ixel value in tap’s ROI is equ al to the

specified target.
4= This algorithm adjusts the analog gain so that

the peak tap ROI pixels are adjusted to the specified
target.

t = Tap value. Use 0 for all taps or 1 or 2 for
individual tap selection depending on camera model.

i = Calibration target value in a range from 1024 to
4055 DN (12 bit LSB).

correction calibrate prnu

ccp

Performs PRNU calibration and eliminates the difference
in responsivity between the most and least sensitive
pixel creating a uniform response to light.

calibrate input LUT

cil

Calibrates the input lookup table (LUT). The LUTs are
used to remove nonlinearity from the analog chain.

Camera Link mode

clm

i m

Sets th e cam era’s bit w id th w h ere:

For S3-1x-01K40 and S3-1x-02K40

0 = 8 bits, 1 tap
1 = 12 bits, 1 tap

For S3-2x-01K40 and S3-2x-02K40

2 = 8 bits, 2 taps
3 = 12 bits, 2 taps

Parameters:
t = tap id i = integer value
f = float m = member of a set
s = string

x

= pixel column number

y

= pixel row number

Returning Camera Settings with Get Commands

You can also retu rn in div id ual cam era settings by inserting a ― get” in front of the command that you
want to query. If the command has a tap or pixel number parameter, you must also insert the tap number
or pixel number that you w ant to query. To view a help screen listing the following get commands, use
the command gh.

ASCII Commands: Reference

The following table lists all of th e camera’s availab le ASCII com m an d s. Refer to A p pend ix A for d etailed
information on using these ASCII commands.

Table 15: Command Quick Reference

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Mnemonic

Syntax

Parameters

Description

calculate PRNU algorithm

cpa

i i

Performs PRNU calibration according to the selected
algorithm.

The first parameter is the algorithm where i is:
1 = Th is algorith m first a d ju sts each t ap’s an alog g ain so

that 8-13% of pixels within a tap are above the value
specified in the target value parameter. PRNU
calibration then occurs using the peak pixel in the region
of interest. (Identical to ccp)

2 = Calculates the PRNU coefficients using the entered
target value as shown below:

PRNU Coefficient =

Target

(AVG Pixel Value) - (FPN+ value)sdo

The calculation is performed for all sensor pixels but
warnings are only applied to pixels in the region of
interest. This algorithm is useful for achieving uniform
output across multiple cameras.

3 = This algorithm includes an analog gain adjustment
prior to PRNU calibration. Analog gain is first adjusted
so th at the p eak p ixel valu e in tap ’s ROI is within 97 to
99% of the specified target value. It then calculates the
PRNU coefficients using the target value as shown
below:

The calculation is performed for all sensor pixels but
warnings are only applied to pixels in the region of
interest. This algorithm is useful for achieving uniform
output across multiple cameras.

The second parameter is the target value to use in a
range from 1024 to 4055DN.

correction set sample

css

m

Sets the number of lines to sample when using the gla
command or when performing FPN and PRNU
calibration where m is 256, 512, or 1024

display gpio configuration

dgc

Display the current configuration of the GPIO connector

display input lut

dil

t a a

0 – 2 : 0 – 1023 : 0 - 1023

display pixel coeffs

dpc

x1 x2

Displays the pixel coefficients in the order FPN, PRNU,
FPN , P RN U, …

x1 = Pixel start number
x2= Pixel end number

in a range from 1 to 1024 or 2048

enable input LUT

eil

i

Enable input LUT, w here:

0: Off
1: On

enable (EXSYNC) jitter

ejt

i

0 – 1. This feature will prevent line-to-line output
variations due to EXYNC jitter at the maximum line rate.

end of line sequence

els

i

Sets the end-of-line sequence:

0: Off
1: On

enable noise correction

enc

i

0 – 1. Enables FIR filter in the output. The first two pixels
are not filtered.

PRNU Coefficient =

Target

(AVG Pixel Value ) - (FPN + value)sdo

i

i

i

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Mnemonic

Syntax

Parameters

Description

enable pixel coefficients

epc

i i

Sets whether pixel coefficients are enabled or disabled .
The first parameter sets the FPN coefficients where i is:

0 = FPN coefficients disabled
1 = FPN coefficients enabled

The second parameter sets the PRNU coefficients where

i is:
0 = PRNU coefficients disabled
1 = PRNU coefficients enabled

enable shaft encoder

ese

i

0 - 1

enable watchdog

ewd

i

0 – 1. The watchdog subtracts excessive dark current at
line rates below 10 Hz.

get camera model

gcm

Reads the camera model number.

get camera parameters

gcp

Reads all of the camera parameters.

get camera serial

gcs

Read the camera serial number.

get camera version

gcv

Read the firmware version and FPGA version.
get exposure mode

gem

Retrieves the current camera exposure mode.

get exposure range

ger

get fpn coeff

gfc

x

Read the FPN coefficient

x = pixel number to read in a range from 1 – sensor
pixel count.

get help

gh

Returns all of th e av ailable ―g et‖ commands.

get input LUT

gil

Display the current LUT set number.

get line

gl

x x

Gets a line of video (without pixel coefficients applied)
displaying one pixel value after another and the
minimum, maximum, and mean value of the sampled
line.

x = Pixel start number
x = Pixel end number

in a range from 1 to sensor pixel count.

get line average

gla

x x

Read the average of line samples.

x = Pixel start number
x = Pixel end number

In a range from 1 to sensor pixel count.

get prnu coeff

gpc

x

Read the PRNU coefficient.

x = pixel number to read in a range from 1 – sensor
pixel count.

get signal frequency

gsf

i

Reads the requested Camera Link control frequency.

1 = EXSYNC frequency
2 = Spare
3 = Direction

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Mnemonic

Syntax

Parameters

Description

get status led

gsl

Returns the current state of the cam era’s LED w here:

1 = Red
2 = Green
5 = Blinking green
6 = Blinking red

help

h

Display the online help. Refer to the Select Cable Camera
ASCII Command Help for details.

single command help

?

s

load pixel coefficients

lpc

i

Loads the previously saved pixel coefficients from non­volatile memory where i is:

0 = Factory calibrated coefficients
1 = Coefficient set one
2 = Coefficient set two
3 = Coefficient set three
4 = Coefficient set four

load user set

lus

reset camera

rc

Resets the entire camera (reboot). Baud rate is not reset
and reboots w ith the value last used.

restore factory settings

rfs

Restores the cam era’s factor y settin gs. FPN and PRN U

coefficients reset to 0.

reset input LUT

ril

Sets the value of the current LUT to zero. Use wil to save
this setting.

region of interest

roi

x y x y

Sets the pixel range affected by the cag, gl, gla, ccf,
and ccp commands. The parameters are the pixel start
and end values (x) and the column start and end values
(y) in a range from 1 to sensor pixel count.

reset pixel coeffs

rpc

Resets the pixel coefficients to 0.

restore user settings

rus

Restores the camera's last saved user settings and FPN
and PRNU coefficients.

set analog gain

sag

t f

Sets the analog gain in dB.
t = tap selection, either 1 or 2 depending on camera

model, or 0 for all taps.
f= gain value specified from –10 to +10

set analog offset

sao

t i

Sets the analog offset.
t = tap selection, either 1 or 2 depending on camera

model, or 0 for all taps.
i= Offset value in a range from 0 to 255 (12-bit LSB).

Offset increases with higher values.

set binning horizontal

sbh

m

Sets the horizontal binning value. Available values are 1
and 2.

set baud rate

sbr

i

Set the speed of camera serial communication port. Baud
rates: 9600, 19200, 57600, and 115200. Default: 9600.

set cable parameter

scb

i

Set the cable parameter. Output compare value.
Available values are: 0-255.

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Mnemonic

Syntax

Parameters

Description

set ccd direction

scd

i

Sets the CCD shift direction where:

0 = Forward CCD shift direction.
1 = Reverse CCD shift direction.
2 = Externally controlled direction control via CC3.

(CC3=1 forward, CC3=0 reverse.)

set digital offset

sdo

t i

Subtracts the input value from the video signal prior to
FPN correction.

t = tap selection, either 1 or 2 depending on camera
model, or 0 for all taps.

i = Offset in a range from 0 to 2048DN.

set exposure mode

sem

m

Sets the exposure mode:
2 = Internal SYNC, internal PRIN, programmable line

rate and exposure time using commands ssf and set
3 = External SYNC, internal PRIN, maximum exposure

time

4 = Smart EXSYN C
5 = External SYNC and PRIN
6 = External SYNC, internal PRIN, programmable

exposure time
7 = Internal programmable SYNC, maximum exposure

time. Factory setting.
8 = Internal SYNC, internal PRIN, programmable

exposure time. Maximum line rate for exposure time.

set exposure time

set

f

Sets the exposure time. Refer to the camera help screen
(h command) for allow able range.

set fpn coeff

sfc

x i

Set the FPN coefficient.

x =pixel number within the range 1 to sensor pixel
count.

i= FPN value within the range 0 to 2047 (12-bit LSB).

set input LUT

sil

t i

Set a single value in a LUT.

t=Tap: 1 or 2.
i=Value w ithin the range -255 to +256.

set lower 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
0-4095.

set mirroring mode

smm

i

0 - 1

set prnu coeff

spc

x i

Set the PRNU coefficient.
x=pixel number within the range 1 to sensor pixel

count.
i= PRNU value within the range 0 to 28671.

set readout mode

srm

i

Set the readout mod e in order to clear out dark current
charge in the vertical transfer gates before the sensor is
read out.

0 = Auto.
1 = Dark current clear.
2 = Immediate readout. Does not clear dark current.

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 camera taps

for individual tap selection.
i = Subtracted value in a range from 0 to 4095.

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Mnemonic

Syntax

Parameters

Description

set sync frequency

ssf

i

Set the frame rate to a value from 300Hz to 36000Hz
(2k model) or 300Hz to 68000Hz (1k model). Value
rounded up/ dow n as required.

set system gain

ssg

t i

Set the digital gain.

t = tap selection, either 1 to 2, or 0 for all taps
i = Digital gain in a range from 0 to 65535. The digital

vid eo values are multiplied by this number.

set sensitivity mode

ssm

i

Sets th e cam era’s sensitiv ity m od e w h ere i is:

0 = Low sensitivity mode
1 = High sensitivity mode
2 = Tall pixel mode

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.

set video mode

svm

i

Switch between normal video mode and camera test
patterns:

0: Normal video mode
1: Camera test pattern
2: Camera test pattern

update gain reference

ugr

Changes 0dB gain to equal the current analog gain value
set with the sag command.

verify temperature

vt

Check the internal temperature of the camera

verify voltage

vv

Ch eck the cam era’s inp u t voltag es and r etu rn OK or fail

write FPN coefficients

wfc

i

Write all current FPN coefficients to non-volatile
memory, where i is:

1 = FPN coefficient set one
2 = FPN coefficient set two
3 = FPN coefficient set three
4 = FPN coefficient set four

write input LUT

wil

i

Wr ite cu r r en t LUT’s to no n -volatile memory.

i=1 to 4

write PRNU coeffs

wpc

i

Write all current PRNU coefficients to non-volatile
memory, where i is:

1 = PRNU coefficient set one
2 = PRNU coefficient set two
3 = PRNU coefficient set three
4 = PRNU coefficient set four

write user settings

wus

Write all of the user settings to non-volatile memory.

Message

Description

OK>

SUCCESS

Error Handling

The following table lists warning and error messages and provides a description and possible cause.
Warning messages are returned when the camera cannot meet the full value of the request; error
messages are returned w hen the camera is unable to complete the request.

Table 16: Warning and Error Messages

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Message

Description

Warning 01: Outside of specification>

Parameter accepted was outside of specified operating range (e.g. gain
greater than ±10 dB of factory setting).

Warning 02: Clipped to min>

Parameter was clipped to the current operating range. Use gcp to see
value used.

Warning 03: Clipped to max>

Parameter was clipped to the current operating range. Use gcp to see
value used.

Warning 04: Related parameters adjusted>

Parameter was clipped to the current operating range. Use gcp to see
value used.

Warning 07: Coefficient may be inaccurate
A/ D clipping has occurred>

In the region of interest (ROI) greater than 6.251% single or 1% of
averaged pixel values were zero or saturated.

Warning 08: Greater than 1% of coefficients
have been clipped>

A FPN/ PRNU has been calculated to be greater than the maximum
allowable 511 (8).

Warning 09: Internal line rate inconsistent
with readout time>

Message

Description

Error 02: Unrecognized command>

Command is not available in the current access level or it is not a valid
command.

Error 03: Incorrect number of parameters>

Error 04: Incorrect parameter value>

This response returned for

· Alpha received for numeric or vice versa

· Not an element of the set of possible values. E.g., Baud Rate

· Outside the range limit

Error 05: Command unavailable in this
mode>

Command is valid at this level of access, but not effective. Eg line rate
when in smart Exsync mode

Error 06: Timeout>

Command not completed in time. Eg FPN/ PRNU calculation when no
external Exsync is present.

Error 07: Camera settings not saved>

Tried saving camera settings (rfs/ rus) but they cannot be saved.

Error 08: Unable to calibrate - tap outside
ROI>

Cannot calibrate a tap that is not part of the region of interest.

Error 09: The camera's temperature exceeds
the specified operating range>

Indicates that the camera has shut itself down to prevent damage from
further overheating.

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0Hz

Watchdog
Frequency

Max. Line Rate in

Immediate

Readout Mode

Increasing Line Rate

Frequency

Dark Current

Clear

Immediate

Readout

Dark
Current
Clear to

Immediate

Readout
Transition
Frequency

Immediate
Readout to

Dark

Current

Clear

Transition

Frequency

Max. Line Rate in

Dark Current Clear

Mode

Mode

Transition Frequencies

Model

Dark Current Clear to Immediate Readout
Transition

Immediate Readout to Dark
Current Clear Transition

S3-14-01k40

13.6KHz

16.4KHz

S3-24-01k40

25.1KHz

30.4KHz

Appendix A

Clearing Dark Current

Gate Dark Current Clear

Note: This feature is not available for the S3-24-04k40 camera model.
Image sensors accumulate dark current while they wait for a trigger signal. If the readout is not triggered

in a reasonable amount of time, then this dark current accumulation may increase to an excessive
amount. The result of this happening will be that the first row, and possibly additional rows (frames), of
the image will be corrupt.

The sensor used in this camera contains two sources of dark current that will accumulate with time: 1) in
the photo sensitive area, and 2) in the gates used to clock-out the charge.

The gate dark current can account for approximately 20% of the total dark current present. While the
exposure control has direct control over the amount of dark current in the photo sensitive area, it has no
control over the charge accumulated in the gates. Even with exposure control on, at low line rates, this
gate charge can cause the camera to saturate.

Using the Set Readout Mode (srm) command, the camera user can control the camera's behavior in
order to minimize the dark current artifact.

The modes of operation selected by the srm command are: Auto, On, or Off.
Note: This command is only available in low sensitivity and tall pixel modes. High sensitivity mode

operates only in the immediate read out position.

Figure 28: Gate Dark Current Clear

Table 17.

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S3-14-02k40

7.05KHz

8.52KHz

S3-24-02k40

13.6KHz

16.4KHz

S3-24-04k40

4.4KHz

7.24KHz

Max. Line Rate

Model

Immediate Readout
Mode

Dark Current Clear
Mode

S3-14-01k40

36 KHz

18KHz

S3-24-01k40

68 KHz

34 KHz

S3-14-02k40

18.5KHz

9.25KHz

S3-24-02k40

36 KHz

18 KHz

S3-24-04k40

18.5KHz

9.25KHz

Model

Exposure Delay and Max Exposure Time in Auto
Mode

S3-14-01k40

27.5 µs

S3-24-01k40

14.75 µs

S3-14-02k40

53.1µs

S3-24-02k40

27.5 µs

S3-24-04k40

53.1µs

Immediate read out mode (default, srm 2)

In this mode the image is read out, including accumulated dark current, immediately following the
trigger or the EXSYNC falling edge.

There are no line rate limitations other than the amount of gate dark current that can be tolerated at low
line rates.

There are no timing or exposure anomalies other than situations where EXSYNC is removed from
camera. In this case, the camera will operate in a "watchdog" state.

For information on artifacts that may be experienced while using this mode, see the Artifacts section
below.

Gate dark current clear mode (always on, srm 1)

In this mode the gate dark current will be cleared continuously.
After the trigger (EXSYNC) is received, the dark current is cleared from the image sensor before the

image is acquired. The line rate is limited to ½ the maximum line rate available for that model of camera.
For information on artifacts that may be experienced while using this mode, see the Artifacts section

below.

Table 18.

When operating in the dark current clear mode, there will be a slight delay, equivalent to one readout
time, before the actual exposure is implemented. The actual exposure time will not be altered.

Table 19.

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Auto Mode (srm 0)

Note: This feature is not available for the S3-24-04k40 camera model.
In this mode the line rate from the camera will automatically cause a switch between the gate dark

current clear mode and non gate dark current clear mode.
The frequency of when this mode switchover occurs depends on the camera model.
In cases where the line rate is rapidly increased from below the Dark Current Clear to Immediate

Readout Transition Frequency to above the Immediate Readout to Dark Current Clear Transition
Frequency, the first line following this transition will likely be corrupted.

The table below outlines the artifacts that may be seen during this transition period. All subsequent lines
after this occurrence will be as expected.

In the case of a slow transition (that is, when the EXSYNC line rate increases by less than 10% of the
previous line rate) a line readout will not become corrupt.

There are also limitations on the exposure time when operating in auto mode: If the line rate exceeds half
the maximum line rate, then the exposure time cannot exceed the time stated in Table 19.

Note: Teledyne DALSA recommends Auto mode for most users.
For information on artifacts that may be experienced while using this mode, see the Artifacts section

below.
Please note: The graphic below explains the relationship between the following tables an d the preceding

Figure 28. The operating regions described in the tables refer to a specific region of Figure 28.

Dark Current Dump to Immediate Readout: Multi-Line Artifacts.

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SRM 0, Auto Mode.

Time Period

Operating Region
Refer to Figure 28.

Operating Mode

T0 Dark Current Dump state

T1 Immediate Readout state

SRM 0, Auto Mode.

Time Period

Operating Region
Refer to Figure 28.

Operating Mode

T0 Immediate Readout state

T1 Dark Current Dump state

T2 Immediate Readout state

SRM 2, Immediate Readout Mode.

Time Period

Operating Region
Refer to Figure 28.

Operating Mode

T0 Dark Current Dump state

T1 Immediate Readout state

EXSYNC

T

DUMP

T

INT

LVAL

Valid

F

DUMP

F

IMM EDIATE

Dark Current Dump to Immediate Readout (T

INT

< #)

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T

VERT_TRANS

F

DUMP

LVAL

F

IMM EDIATE

Valid

EXSYNC

T

DUMP

T

INT

SRM 0, Auto Mode.

Time Period

Operating Region
Refer to Figure 28.

Operating Mode

T0 Dark Current Dump state

T1 Immediate Readout state

SRM 0, Auto Mode.

Time Period

Operating Region
Refer to Figure 28.

Operating Mode

T0 Immediate Readout state

T1 Dark Current Dump state

T2 Immediate Readout state

SRM 2, Immediate Readout Mode.

Time Period

Operating Region
Refer to Figure 28.

Operating Mode

T0 Dark Current Dump state

T1 Immediate Readout state

Dark Current Dump to Immediate Readout (T

INT

> #)

Dark Current Dump to Immediate Readout: Multi-Line Artifacts

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Valid

T

VERT_TRANS

LVAL

EXSYNC

T

DUMP

T

INT

F

DUMP

> DU MP (MAX)

F

Valid

EXSYNC

T

DUMP

T

INT

T

VERT_TRANS

LVAL

F

DUMP

> DU MP (MAX)

F

SRM 0, Auto Mode.

Time Period

Operating Region
Refer to Figure 28.

Operating Mode

T0 Immediate Readout state

T1 Dark Current Dump state

SRM 0, Auto Mode.

Time Period

Operating Region
Refer to Figure 28.

Operating Mode

T0 Dark Current Dump state

T1 Immediate Readout state

T2 Dark Current Dump state

Dark Current Dump to Immediate Readout (T

INT

< #)

Dark Current Dump to Immediate Readout (T

INT

> #)

Immediate Readout to Dark Current Dump: Hysteresis Artifacts

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F

DUMP

F

IMM EDIATE

Valid

EXSYNC

T

DUMP

T

INT

T

VERT_TRANS

LVAL

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Parameter

Description

Notes

srm

0: Auto. Clears dark current below ~
45% of the maximum line rate. (1k and
2k camera models only.)

1: Dark current clear. Always clears
dark. Reduces the maximum line rate.
(1k and 2k camera models only.)

2: Immediate readout. Does not clear
dark current. (Default mode.)

 Modes 0 and 1 are not available to the 4k camera

model.

 The vertical transfer gates collect dark current

during the line period. This collected current is
added to the pixel charge. The midd le two red
taps have more vertical transfer gates and,
therefore, more charge. This additional charge is
especially noticeable at slower line rates.

 If the user is in sem 2 or 7 and srm 2, with

ssf at 45% of the maximum, and then srm 1 is

selected, the following warning will be
displayed, but the ssf value will not be changed:
Warning 09: Internal line rate inconsistent with
readout time> The effect in both internal and
external line rate modes is that an EXSYNC is
skipped and, therefore, the output will be at
least twice as bright.

 This value is saved with the camera settings.

This value may be viewed using either the gcp
command or the get srm command.

Example

srm 0

Setting the Readout Mode

Use this command to clear out dark current charge in the vertical transfer gates immediately before the
sensor is read out.

Camera Link Command

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Appendix B

Camera Link Reference, Timing, and
Configuration Table

Camera Link is a communication interface for vision applications. It provides a connectivity standard
between cameras and frame grabbers. A st and ard cable con n ection w ill red uce manu facturers’ sup p or t
time and greatly reduce the level of complexity and time needed for customers to successfully integrate
high speed cameras with frame grabbers. This is particularly relevant as signal and data transmissions
increase both in complexity and throughput. A stand ard cable/ conn ector assembly will also enable
customers to take advantage of volume pricing, thus reducing costs.

The camera link standard is intended to be extremely flexible in order to meet the needs of different
camera and frame grabber manufacturers.

The Teledyne DALSA Camera Link Implementation Road Map (available here) details how Teledyne
DALSA stand ardizes its use of the Camera Link interface.

LVDS Technical Description

Low Voltage Differential Signaling (LVDS) is a high speed, low power, general purpose interface
standard. The standard, known as ANSI/ TIA/ EIA-644, was approved in March 1996. LVDS uses
differential signaling, with a nominal signal swing of 350mV differential. The low signal swing decreases
rise and fall times to achieve a theoretical maximum transmission rate of 1.923 Gbps into a loss-less
medium. The low signal swing also means that the standard is not dependent on a particular supply
voltage. LVDS uses current-mode drivers, which limit power consumption. The differential signals are
immune to ±1 V common volt noise.

Camera Signal Requirements

This section provides definitions for the signals used in the Camera Link interface. The standard Camera
Link cable provides camera control signals, serial communication, and video data.

Video Data

The Channel Link technology is integral to the transmission of video data. Image data and image enable
signals are transmitted on the Channel Link bus. Four enable signals are defined as:

• FVAL—Frame Valid (FVAL) is defined HIGH for valid lines.

• LVAL—Line Valid (LVAL) is defined HIGH for valid pixels.

• DVA L—Data Valid (DVAL) is defined HIGH when data is valid.

• Spar e— A spare has been defined for future use.

All four enable signals must be provided by the camera on each Channel Link chip. All unused data bits
must be tied to a known value by the camera. For more information on image data bit allocations, refer to
the official Camera Link specification located in the Knowledge Center on Teled y n e DA LSA’s website .

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CC1

EXSYNC, negative edge active

CC2

PRIN

CC3

Direct in High Sensitivity mode

CC4

Not Used

BASE
Configuration

T0

Mode

Port A
Bits 0 thru
7

Port B
Bits 0 thru
7

Port C
Bits 0 thru
7

Mode 0
1 Tap 8 bit

Tap 1
LSB..Bit 7

xxxxxxx

xxxxxxx

Camera Control Signals

Four LVDS pairs are reserved for general purpose camera control. They are defined as camera inputs and
frame grabber outputs. Camera manufacturers can define these signals to meet their needs for a
particular product. The signals are:

• Cam era C ontr ol 1 (CC1)

• Cam era C ontr ol 2 (CC2)

• Cam era C ontr ol 3 (CC3)

• Cam era C ontr ol 4 (CC4)

The S3-xx uses the following camera control signals:

Table 20: Teledyne DALSA Camera Control Configuration

Communication

Two LVDS pairs have been allocated for asynchronous serial communication to and from the camera and
frame grabber. Cameras and frame grabbers should support at least 9600 baud. These signals are

• SerTFG—Differential pair with serial communications to the frame grabber.

• SerTC—Differential pair with serial communications to the camera.

The serial interface will have the following characteristics: one start bit, one stop bit, no parity, and no
handshaking. It is recommended that frame grabber manufacturers supply both a user interface and a
software application programming interface (API) for using the asynchronous serial communication port.
The user interface will consist of a terminal program with minimal capabilities of sending and receiving a
character string and sending a file of bytes. The software API will provide functions to enumerate boards
and send or receive a character string.

Power

Power will not be provided on the Camera Link connector. The camera will receive power through a
separate cable. Camera manufacturers will define their own power connector, current, and voltage
requirements.

Camera Link Bit Definitions

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Mode 1
1 Tap n bit

Where
n=10,12

Tap 1
LSB..Bit 7

Tap 1 Bits
8,9,10,11,

xxxxxxx

Mode 2
2 Tap 8 bit

Tap 1
LSB..Bit 7

Tap 2
LSB..Bit7

xxxxxxx

Mode 3
2 Tap n bit

Where
n=10,12

Tap 1
LSB..Bit 7

Tap 1 Bits
8,9,10,11,

Tap 2 Bits
8,9,10,11

Tap 2
LSB..Bit 7

Camera Link Configuration Tables

The following table provides tap reconstruction information. Teledyne DALSA is working with the
machine vision industry to use this table as the basis for auto configuration. Visit the Knowledge Center
on our website, and view the Teledyne DALSA Camera Link Implementation Road Map document, 03­32-00450, for further details.

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Item (when
programmable
configuration the
options are
separated with a | )

S3-14-01k40

S3-24-01k40

S3-14-02k40

S3-24-02k40

S3-24-04k-40

Imager Dimension <1,2
or 1| 2>

1 1 1 1 1

Imager
Columns<number of
active columns, X>

1024

1024

2048

2048

4096

Imager Rows<number of
active row s, Y> Line
Scan/ TDI are defined as
1

1 1 1 1 1

Number of CCD Taps
<1,2,3…..>

1 2 1 2 2

Sensor Tap Clock Rate
<xx MHz>

40

40

40

40

40

Camera Standard
<NTSC, PAL, VS, VW,
MW>

VS

VS

VS

VS

VS

Variable Window
<Column Start, Column

End, Row Start, Row
End>

(0,0,0,0)
All zeros

indicates an
unsupported
feature

(0,0,0,0)
All zeros

indicates an
unsupported
feature

(0,0,0,0)
All zeros

indicates an
unsupported
feature

(0,0,0,0)
All zeros

indicates an
unsupported
feature

(0,0,0,0)
All zeros

indicates an
unsupported
feature

Multiple Window
Number of Windows

(Column Start 1, Column
End 1, Row Start 1, Row
End 1) (Column Start 2,
Column End 2,...)

0, (0,0,0,0)
All zeros

indicates an
unsupported
feature

0, (0,0,0,0)
All zeros

indicates an
unsupported
feature

0, (0,0,0,0)
All zeros

indicates an
unsupported
feature

0, (0,0,0,0)
All zeros

indicates an
unsupported
feature

0, (0,0,0,0)
All zeros

indicates an
unsupported
feature

Number of Camera
Configuration s<1,2,3,…>

2 2 2 2 2

Configuration Definition
Cx= HDW, Number of

Output Taps, Bit Width,
Number of Processing
Nodes where

Cx is the configuration ID
x is <1,2,3…>

HDW is <Base,
Medium, Full>

Number of Output Taps
is <1,2,3…>

Bit width is <8, 10,
12…>

Number Processing
Nodes is <1 or 2>

C1 = Base, 1, 8, 1
C2 = Base, 1, 12, 1

C1 = Base, 2, 8, 1
C2 = Base, 2, 12,
1

C1 = Base, 1, 8, 1
C2 = Base, 1, 12,
1

C1 = Base, 2, 8, 1
C2 = Base, 2, 12, 1

C1 = Base, 2, 8,
1
C2 = Base, 2, 12,
1

Camera Interface Parameters (PRELIMINARY)

Table 21: Frame Grabber Interface Parameters

03-032-20117-01 Teledyne DALSA

Spyder3 S3-14 and S3-24 Monochrome Camera User's Manual 89

Item (when
programmable
configuration the
options are
separated with a | )

S3-14-01k40

S3-24-01k40

S3-14-02k40

S3-24-02k40

S3-24-04k-40

Tap Reconstruction
In some configurations

the reconstruction may
change. C0 is the default
output format and must
be listed. Output

con fig u r ation s t h at d on ’t

conform are listed
separately.

<Cx,Tn (Column Start,
Column End, Column
Increment, Row Start,
Row End, Row
Increment>

Horizontal
mirroring is
supported. Mirror

―on‖ ch a n ges th e

following
unmirrored
values to:

 The sign of

the column
increment is
inverted.

 Column Start

becomes the
Column End
value

 Column End

becomes the
Column Start
value

Direction left to
right readout

C0, T1 (1, 1024, 1,
1, 1, 1)

Horizontal
mirroring is
supported.

Mir r or ―on ‖

changes the
following
unmirrored
values to:

 The sign of

the column
increment is
inverted.

 Column

Start
becomes the
Column
End value

 Column

End
becomes the
Column
Start value

Direction left to
right readout

C0, T1 (1, 512, 1,
1, 1, 1)
C0, T2 (513,
1024, 1, 1, 1, 1)

Horizontal
mirroring is
supported.

Mir r or ―on ‖

changes the
following
unmirrored
values to:

 The sign of

the column
increment is
inverted.

 Column

Start
becomes the
Column
End value

 Column

End
becomes the
Column
Start value

Direction left to
right readout

C0, T1 (1, 2048,
1, 1, 1, 1)

Horizontal
mirroring is
supported.

Mir r or ―on ‖

changes the
following
unmirrored
values to:

 The sign of

the column
increment is
inverted.

 Column

Start
becomes the
Column
End value

 Column

End
becomes the
Column
Start value

Direction left to
right readout

C0, T1 (1, 1024,
1, 1, 1, 1)

C0, T2 (1025,
2048, 1, 1, 1, 1)

Horizontal
mirroring is
supported.

Mir r or ―on ‖

changes the
following
unmirrored
values to:

 The sign of

the column
increment is
inverted.

 Column

Start
becomes the
Column
End value

 Column

End
becomes the
Column
Start value

Direction left to
right readout

C0, T1 (1, 2048,
1, 1, 1, 1)

C0, T2 (2049,
4096, 1, 1, 1, 1)

Camera Color
<Hybrid, Mono, Pattern,

Solid>

Mono

Mono

Mono

Mono

Mono

RGB Pattern Size
< (T1, Columns*Rows)

(T2, Columns*Rows) (T3,
Colu m n s*Row s….>

(T0, 1*1) w here 0
is reserved for the
default case and
individual taps

don’t need to be

articulated

(T0, 1*1) w here 0
is reserved for
the default case
and individual

taps d on’t n eed

to be articulated

(T0, 1*1) w here 0
is reserved for
the default case
and individual

taps d on’t n eed

to be articulated

(T0, 1*1) w here 0
is reserved for
the default case
and individual

taps d on’t n eed

to be articulated

(T0, 1*1) w here 0
is reserved for
the default case
and individual

taps d on’t n eed

to be articulated

Color Definition
(Column, Row, Color)
Where color is R,G,B

T0 = (1, 1, M)
where 0 is
reserved for the
default case and
individual taps
don’t need to be
defined

T0 = (1, 1, M)
where 0 is
reserved for the
default case and
individual taps

don’t need to be

defined

T0 = (1, 1, M)
where 0 is
reserved for the
default case and
individual taps

don’t need to be

defined

T0 = (1, 1, M)
where 0 is
reserved for the
default case and
individual taps

don’t need to be

defined

T0 = (1, 1, M)
where 0 is
reserved for the
default case and
individual taps

don’t need to be

defined

Row Color Offset
<0,1,2,3…>

0 0 0 0 0

Column Color Offset
<0,1,2,3…>

0 0 0 0 0

Row Binning Factor
<1,2,3 or 1| 2| 3>

1 1 1 1 1

Teledyne DALSA 03-032-20117-01

90 Spyder3 S3-14 and S3-24 Monochrome Camera User's Manual

Item (when
programmable
configuration the
options are
separated with a | )

S3-14-01k40

S3-24-01k40

S3-14-02k40

S3-24-02k40

S3-24-04k-40

Column Binning Factor
<1,2,3 or 1| 2| 3>

1| 2

1| 2

1| 2

1| 2

1| 2

Pretrigger Pixels
<0,1,2…or 0..15>

0 0 0 0 0

Pretrigger Lines
<0,1,2.. or 0..15>

0 0 0 0 0

Frame Time Minimum
<xx µs>

27.78

14.7

54.05

27.78

54.05

Frame Time Maximum
<xx µs>

3333

3333

3333

3333

3333

Internal Line/ Frame
Time Resolution

<xx ns> 0 if not
applicable

25

25

25

25

25

Pixel Reset Pulse
Minimum Width

<xx ns> 0 if not
applicable

3000

3000

3000

3000

3000

Internal Pixel Reset Time
Resolution

<xx ns> 0 if not
applicable

25

25

25

25

25

Pixel Reset to Exsync
Hold time <xx ns>

TBD

BAUD Rate <9600….>

9600, 19200,
57600, 115200

9600, 19200,
57600, 115200

9600, 19200,
57600, 115200

9600, 19200,
57600, 115200

9600, 19200,
57600, 115200

CC1 <Exsync>

EXSYNC

EXSYNC

EXSYNC

EXSYNC

EXSYNC

CC2 <PRIN>

PRIN

PRIN

PRIN

PRIN

PRIN

CC3 <Forward,
Reverse>

Forward/
Reverse

Forward/
Reverse

Forward/
Reverse

Forward/
Reverse

Forward/
Reverse

CC4 <Spare>

Spare

Spare

Spare

Spare

Spare

DVAL out <Strobe
Valid , Alternate>

Strobe Valid

Strobe Valid

Strobe Valid

Strobe Valid

Strobe Valid

Spare out <Spare>
(For future use)

Spare

Spare

Spare

Spare

Spare

03-032-20117-01 Teledyne DALSA

Spyder3 S3-14 and S3-24 Monochrome Camera User's Manual 91

Appendix C

EMC Declaration of Conformity

We, TELEDYNE DALSA
605 McMurray Road
Waterloo, Ontario
CANADA N2V 2E9

Declare under sole responsibility that the cameras:

Brand Name: Spyder3 CL

Models:S3-14-01K40-00-R, S3-24-01K40-00-R, S3-14-02K40-00-R, S3-24-02K40-00-R, and S3-24-04k40-00-R

The CE Mark, FCC Part 15, and Industry Canada ICES-003, CISPR 22 and CISPR 11, evaluation of the
Teledyne DALSA Spyder3 CL cameras, which are manufactured by Teledyne DALSA Inc., satisfied the
following requirements:

EN 55022 Class A (2006), and EN 61326-1 (2006) Emissions Requirements
EN 55024 (1998) and EN 61326-1 (2006) Immunity to Disturbances

Place of issue: Waterloo, Ontario, Canada

Date of Issue: March 15, 2008

Hank Helmond
Director of Quality, TELEDYNE DALSA Corp.

Teledyne DALSA 03-032-20117-01

92 Spyder3 S3-14 and S3-24 Monochrome Camera User's Manual

Number

Description

Date

00

Preliminary release.

23 February 2012

01

Revision to the Clearing Dark Current section.
Revised EMC Declaration section.

June 10, 2013

Revision History

03-032-20117-01 Teledyne DALSA

Spyder3 S3-14 and S3-24 Monochrome Camera User's Manual 93

Index

A

C

analog

processing, 48

applications, 7

calibrating the camera, 51, 54,

57

camera

control configuration, 86

messages, 75
camera control signals, 22, 86
Camera Link

configurations, 21, 33

connector, 21

mode, 34, 45

outputs, 23

signals, 86
camera settings. See settings
CameraLink mode, 34
certifications, 10
cleaning

sensor window, 6
clocking signals, 23
command

format, 27

parameters, 27
commands

list, 70
conectors

Camera Link, 21
connectors, 18

Camera Link, 21

Hirose, 19

power, 19

E

EIA-644 Reference, 85
electrical

specs, 8

EMC Compliance Standards,

10

EMC Declaration of

Conformity, 91
error messages, 75
exposure mode

overview, 39
setting, 39

timing, 40
EXSYNC, 22
external trigger, 22

F

factory settings, 29
flat field correction

restrictions, 52
framegrabber parameters, 88
FVAL, 23, 85

G

gain, 7, 49
GUI

overview, 26

H

help, 28
Hirose connector, 19

D

I

Dark Current

Clearing, 77
data bus, 23
digital

processing, 48

signal processing, 54
direction

sensor shift, 38
DVAL, 23, 85

Teledyne DALSA 03-032-20117-01

I/ O cable

installation, 17
input/ output, 18
inputs (user bus), 22
interface

electrical, 8

mechanical, 8

optical, 8

parameters, 88

94 Spyder3 S3-14 and S3-24 Monochrome Camera User's Manual

L

M

O

LED, 20
line statistics, 67
LVAL, 23, 85
LVDS, 85

pairs, 86

LVDS pairs, 86

mechanical specs, 8
models, 7
modes

CameraLink, 34
default, 41

mounting, 15

online help, 28
operating

modes, 39
optical specs, 8
output signals, 23

system, 17
resolution, 8
restoring

factory settings, 33
roi. See Region of Interest

S

safety, 5
Sapera, 27
sensor, 16
serial communication

reference, 85
serial interface, 27

defaults, 27
SerTC, 86
SerTFG, 86
settings

factory, 29

restoring, 33

returning, 29, 70

saving, 33
setup

overview, 17
statistics, 67
STROBE, 23

P

R

performance specifications, 37–

38
pixel statistics, 67
power

connectors, 19

guidelines, 19
power connector, 19
precautions, 5

readout

configuring, 33
readout mode

default, 78

gate dark current clear, 78

immediate, 78
rebooting, 64
requirments

T

tap

readout direction, 35
reconstruction, 87

temperature

measurement, 68

timing

mode 7, 42

trigger

external, 22

V

vid eo data, 68, 85
voltage

measurement, 69

W

warning messages, 75

03-032-20117-01 Teledyne DALSA