Digital 3CCD Progressive Scan
RGB Color Camera
CV-M 9CL
Operation Manual
Camera: Revision A
Manual: Version 1.3
M9Clmanuver13.doc
JPT 21-09-05
CV-M9 CL
Table of Contents
1. General ..............................................................................................2
2. Standard Composition ............................................................................2
3. Main Features ......................................................................................2
4. Locations and Functions .........................................................................3
5. Pin Assignment.....................................................................................4
5.1. 12-pin Multi-connector (DC-IN/Trigger) ....................................................................... 4
5.2. Digital Output Connector for Camera Link.................................................................... 4
5.3. Input and output circuits ........................................................................................ 5
5.3.2. Trigger input................................................................................................ 5
5.3.3. EEN output .................................................................................................. 5
5.3.3. Camera Link interface .................................................................................... 6
5.3.5. Bit allocation in Camera Link connectors .............................................................. 7
6. Functions and Operations .......................................................................8
6.1. Basic functions .................................................................................................... 8
6.1.1. Dynamic shading correction.............................................................................. 8
6.1.2. Knee function............................................................................................... 9
6.1.3. Color bar for test .......................................................................................... 9
6.2. Sensor Layout and timing .......................................................................................10
6.2.1. CCD Sensor Layout ........................................................................................10
6.2.2. Horizontal timing .........................................................................................11
6.2.3. Vertical timing ............................................................................................11
6.2.4. Partial Scanning ...........................................................................................12
6.2.5. Vertical binning ...........................................................................................13
6.3. Input/Output of Timing Signals ................................................................................14
6.3.1. Input of external trigger .................................................................................14
6.3.2. Output of EEN .............................................................................................14
6.4. Operation Modes .................................................................................................15
6.4.1. LVAL synchronous accumulation........................................................................16
6.4.2. LVAL a-synchronous accumulation .....................................................................17
6.4.3. Continuous operation ....................................................................................18
6.4.4. Edge Pre-select Trigger Mode...........................................................................19
6.4.5. Pulse Width Control Trigger Mode......................................................................20
6.4.6. Reset Continuous Trigger mode ........................................................................21
6.4.7. Sensor Gate Control...........................................................................................22
6.5. Other Functions. .................................................................................................23
6.5.1. Customized shading correction. ........................................................................26
6.6. Request Functions. ..............................................................................................27
6.7. Save and Load Functions........................................................................................27
7. Configuring the Camera ........................................................................ 29
7.1. Setting by internal Switch SW301 .............................................................................29
7.2. RS-232C control ..................................................................................................30
7.3. CV-M9CL command list..........................................................................................31
8. Camera Control Tool for CV-M9CL ........................................................... 32
8.1. Control Tool Windows ...........................................................................................32
8.2. Camera Control Tool Interface ................................................................................33
8.3. Using the Camera Control Tool ................................................................................35
9. External Appearance and Dimensions....................................................... 36
10. Specifications................................................................................... 36
10.1. Spectral sensitivity .............................................................................................36
10.2. Specification table .............................................................................................37
11. Appendix ........................................................................................ 38
11.1. Precautions ......................................................................................................38
11.2. Typical Sensor Characteristics................................................................................38
11.3. References.......................................................................................................38
12. Users Record.................................................................................... 39
- 1 -
CV-M9 CL
- 2 -
1. General
The CV-M9CL is a digital 3 CCD progressive scanned RGB color camera. It provides an upgraded
path from the CV-M90, adding higher resolution and Camera Link output.
It is based on a 1/3” image format, making it optically compatible with CV-M90 and CV-M91.
The compact 3 CCD C-mount prism unit is designed for high color quality, and combined with a
color shading correction, it allows use of a wide range of C-mount lenses.
30 full RGB frames can be read out as 3 x 8 bit via a base Camera Link connection, or 3 X 10 bit
in a medium Camera Link configuration. Functions like partial scanning and vertical binning
allows higher frame rates.
The latest version of this manual can be downloaded from: www.jai.com
The latest version of Camera Control Tool for CV-M9CL can be downloaded from: www.jai.com
For camera revision history, please contact your local JAI distributor.
2. Standard Composition
The standard camera composition consists of the camera main body and tripod mount plate.
The camera is available in the following version:
CV-M9CL. 3 CCD progressive scan color camera.
3. Main Features
• 3 x 1/3“ CCD Progressive Scan RGB Color Camera for vision applications
• 3 x 1034(h) x 779 (v) 4.65 µm effective square pixels
• Compact RGB prism for C-mount lenses
• Chromatic shading reduction makes lens choice wider
• 30 frames per second with 1024 (h) x 768 (v) pixels
• 87 fps with 1024 (h) x 96 (v) pixels In 1/8 partial scan
• Vertical binning for higher sensitivity and frame rate
• 8 bit RGB output via single port Camera Link. 10 bit via dual port
• Edge pre-select, pulse width and sensor gate trigger modes
• Reset Continuous Trigger mode and smearless mode
• Programmable exposure individual for RGB
• Manual, Continuous or One Push white balance
• Color bar test image for set-up
• Customized shading correction
• Knee point and slope settings for higher dynamic range
• Analogue iris video output for lens iris control
• Setup by Windows 98/NT/2000/XP software via RS 232C
CV-M9 CL
4. Locations and Functions
8
8
7
6
3
4
5
2
1
1 Lens mount of C-mount type. *1)
2 RGB Prism with 3 x 1/3” CCD sensors
3 Camera Link base connector 1
4 Camera Link medium connector 2
5 12 pin connector for DC +12V power external sync signals
6 LED for power and trigger indication
7 Switch for 1 push white balance
8 Mounting holes 8 x M3deept5.
*1) Note: Rear protrusion on C-mount lens must be less than 4.0mm
Fig. 1. Locations
- 3 -
CV-M9 CL
5. Pin Assignment
5.1. 12-pin Multi-connector (DC-IN/Trigger)
Type: HR10A-10R-12PB-01
(Hirose) male.
(Seen from rear of camera.)
Notes:
*1) See “7. Configuring the Camera” for more information.
Pin no. Signal Remarks
1 GND
2 +12 V DC input
3 GND
4 Iris video
Only Contin. and RCT mode. TR=0, TR=4
5 GND
6 RXD in
RXD in HR, or CL. SW301.1 off for CL *1)
7 TXD out
TXD in HR, or CL. SW301.1 off for CL *1)
8 GND
9 XEEN out
Low during exposure
10 Trigger in
TI=1 or in CL (TI=0). SW301.2 on for 75Ω
11 +12 V DC
12 GND
3
4
5
6
7
8
9
10
11
12
1
2
SW301.1 Off for CL. ON for 12 p HR. (SW301.2 is for trig 75Ω).
Fig. 2. 12-pin connector. Factory settings are shown in Bold Italic
5.2. Digital Output Connector for Camera Link
Type: 26 pin MRD connector
13
14
1
26
3M 10226-1A10JL
Fig. 3. Camera Link connector
The digital output signals follow the Camera Link standardized multiplexed signal output
interface. Camera Link base configuration is used for 3 x 8 bit RGB signal. The interface circuit is
build around the NS type DS90CR285MTD.
The following signals are found on the Digital Output Connector:
SerTC RXD serial data to camera
(SW301.1. Off for CL. On for HR)
SerTFG TXD serial data to frame grabber (SW301.1. Off for CL. On for HR)
CC1 Trigger input
(TI=0 for CL. TI=1 for 12 pin HR)
CC2 Factory use
X0 to X3 Camera Link multiplexed data out
Xclk Camera Link clock. Used as pixel clock.
In the Channel Link X0 to X3 multiplexed signals the following signals are encoded.
D0 – D9 3 x 8 bit RGB video data out.
LVAL Line VALid. Video line data is valid. High for valid line.
FVAL Frame VALid. Video frame data is valid. High for valid frame.
DVAL Data VALid. Effective video pixel data is valid. High for valid data.
EEN Exposure ENable. High during exposure.
The polarity is positive and TRIG in negative as factory setting.
For Camera Link interface principle diagram please check Fig. 7.
- 4 -
CV-M9 CL
5.3. Input and output circuits
In the following schematic diagrams the input and output circuits for video and timing signals
are shown.
GND
75
Video
Output
800 mV
GND
75
Video
Output
GND
75
Video
Output
800 mV
800 mV
5.3.1. Iris video output
This signal can be used for lens iris control
In Continuous and Reset Continuous Trigger
Mode. The signal is taken from the CCD sensor output
before the gain circuit.
The iris video output is 0.7 Vpp from 75 Ω.
The signal is without sync.
Fig. 4. Iris video output.
5.3.2. Trigger input
With TI=1, the trigger input is on pin #10 on 12
pin connector. The input is AC coupled. To allow
a long pulse width, the input circuit is a flip flop,
which is toggled by the negative or positive
differentiated spikes caused by the falling or
rising trigger edges.
GND
+5V
15k
TTL
1k
GND
100n
1k
68k
100k
1n
75Ω
Trig input
pin #10
SW301.2
GND
+5V
15k
TTL
1k
GND
100n
1k
68k
100k
1n
75Ω
Trig input
pin #10
SW301.2
The trigger polarity can be changed by TP=1.
Trigger input level 4 V ±2 V. It can be
terminated by SW301.2: ON for 75Ω. OFF for TTL.
The trigger inputs can be changed to
Camera Link. (TI=0 for CL)
Fig. 5. Trigger input.
5.3.3. EEN output
GND
+5V
2
2
10k
2k2
75
TTL
100
Pin #9
XEEN
output
GND
+5V
2
2
10k
2k2
75
TTL
100
Pin #9
XEEN
output
XEEN is found on pin #9 on 12 pin HR connector.
The output circuit is 75 Ω complementary emitter
followers. It will deliver a full 5 volt signal.
Output level ≥4 V from 75Ω. (No termination).
XEEN is low during exposure.
EEN is found in Camera Link. It is high during
exposure.
Fig. 6. EEN output
- 5 -
CV-M9 CL
5.3.3. Camera Link interface
The video output is Camera Link with either 3 x 8 bit RGB video placed in a base configuration,
or 3 x 10 bit RGB placed in a Camera Link medium configuration. The digital output signals
follow the Camera Link standardized multiplexed signal output interface. The Camera Link
output driver is NS type DS90CR285MTD.
The data bits from the digital video, FVAL, LVAL, DVAL and EEN are multiplexed into the twisted
pairs, which are a part of the Camera Link. Trigger signals and the serial camera control are
feed directly through its own pairs. The trigger input can also be TTL on the 12 pin connector.
(TI=0 for CL. TI=1 for 12 pin HR). Factory setting is CL.
The serial camera control can be switches between the 12 pin connector or CL by the internal
switch SW301.1. Factory setting is CL.
The 26 pin MDR connector pin assignment follows the Camera Link base configuration.
For a detailed description of Camera Link specifications, please refer to the Camera Link
standard specifications found on www.jai.com
1
14
13
26
X0
X1
X2
X3
Xclk
SerTFG
SerTC
CC1
CC2
CC3
CC4
Sheilds
4 x
7-1
MUX
8bit 10bit
D2 D0
D3 D1
D4 D2
D5 D3
D6 D4
D7 D5
D8 D6
D9 D7
NC D8
NC D9
NC NC
NC NC
NC NC
NC NC
NC NC
NC NC
NC NC
NC NC
NC NC
NC NC
NC NC
NC NC
NC NC
NC NC
LVAL
FVAL
DVAL
EEN
Pclk
A 0 Tx0
A1 Tx1
A2 Tx2
A3 Tx3
A4 Tx4
A 5 Tx6
A 6 Tx27
A 7 Tx5
B 0 Tx7
B 1 Tx8
B 2 Tx9
B 3 Tx12
B 4 Tx13
B 5 Tx14
B 6 Tx10
B 7 Tx11
C 0 Tx15
C 1 Tx18
C 2 Tx19
C 3 Tx20
C 4 Tx21
C 5 Tx22
C 6 TX16
C 7 Tx17
Tx24
Tx25
Tx26
Tx23
Txclk
15
2
16
3
17
4
19
6
18
5
21
8
7
20
22
9
10
23
24
11
12
25
Pair 1
Pair 2
Pair 3
Pair 5
Pair 4
Pair 7
Pair 6
Pair 8
Pair 9
Pair 10
Pair 11
Sheilds
TXD out
RXD in
Ext. trig 1 in
Ground
Signal
Connector pin
CV-A33 Camera Camera Link Cable
Camera Signals
To
Frame
Grabber
Ext. Trig 2 in
Camera Link
Pin
1
14
13
26
X0
X1
X2
X3
Xclk
SerTFG
SerTC
CC1
CC2
CC3
CC4
Sheilds
4 x
7-1
MUX
8bit 10bit
D2 D0
D3 D1
D4 D2
D5 D3
D6 D4
D7 D5
D8 D6
D9 D7
NC D8
NC D9
NC NC
NC NC
NC NC
NC NC
NC NC
NC NC
NC NC
NC NC
NC NC
NC NC
NC NC
NC NC
NC NC
NC NC
LVAL
FVAL
DVAL
EEN
Pclk
A 0 Tx0
A1 Tx1
A2 Tx2
A3 Tx3
A4 Tx4
A 5 Tx6
A 6 Tx27
A 7 Tx5
B 0 Tx7
B 1 Tx8
B 2 Tx9
B 3 Tx12
B 4 Tx13
B 5 Tx14
B 6 Tx10
B 7 Tx11
C 0 Tx15
C 1 Tx18
C 2 Tx19
C 3 Tx20
C 4 Tx21
C 5 Tx22
C 6 TX16
C 7 Tx17
Tx24
Tx25
Tx26
Tx23
Txclk
15
2
16
3
17
4
19
6
18
5
21
8
7
20
22
9
10
23
24
11
12
25
Pair 1
Pair 2
Pair 3
Pair 5
Pair 4
Pair 7
Pair 6
Pair 8
Pair 9
Pair 10
Pair 11
Sheilds
TXD out
RXD in
Ext. trig 1 in
Ground
Signal
Connector pin
CV-A33 Camera Camera Link Cable
Camera Signals
To
Frame
Grabber
Ext. Trig 2 in
Camera Link
Pin
Port/Signal 8bit Pin No.
Port A0 R D0 Tx0
Port A1 R D1 Tx1
Port A2 R D2 Tx2
Port A3 R D3 Tx3
Port A4 R D4 Tx4
Port A5 R D5 Tx6
Port A6 R D6 Tx27
Port A7 R D7 Tx5
Port B0 G D0 Tx7
Port B1 G D1 Tx8
Port B2 G D2 Tx9
Port B3 G D3 Tx12
Port B4 G D4 Tx13
Port B5 G D5 Tx14
Port B6 G D6 Tx10
Port B7 G D7 Tx11
Port C0 B D0 Tx15
Port C1 B D1 Tx18
Port C2 B D2 Tx19
Port C3 B D3 Tx20
Port C4 B D4 Tx21
Port C5 B D5 Tx22
Port C6 B D6 Tx16
Port C7 B D7 Tx17
LVAL Tx24
FVAL Tx25
DVAL Tx26
EEN Tx23
Camera Link bit allocation
D0 = LSB. D7 = MSB
Base configuration
TxCLK
A7
A6
EEN
C7
B7
B6
A7
A6
C6
C3
C2
DVAL
FVAL
C5
C4
C3
C2
LVAL
B2
B1
C1
C0
B4
B3
B2
B1
B5
A1
A0
B0
A5
A3
A2
A1
A0
A4
TxOUT3
TxOUT2
TxOUT1
TxOUT0
1 pi xel cycl e
Timing
Fig. 7. Principle diagram for 3 x 8 bit RGB in Camera Link base configuration
- 6 -
CV-M9 CL
5.3.5. Bit allocation in Camera Link connectors
The CV-M9CL camera has outputs for the RGB signals in Camera Link. The RBG output can be
allocated as 3 x 8 bit in Camera Link base configuration. Connector 1 is then used.
For 3 x 10 bit RGB output in Camera Link, 2 connectors are used in medium configuration.
The below 2 tables shows the bit allocations in the Camera Link connectors.
CL base configuration
Connector 1
CL medium configuration
Connector 1 Connector 2
Camera
signals
8 bit
Camer
a
Link
Port
CL
Pin
No.
Camera
signals
10 bit
Camer
a
Link
Port
CL
Pin
No.
Camera
signals
10 bit
Camer
a
Link
Port
CL
Pin
No.
R D0 Port A0 Tx0 R D0 Port A0 Tx0 NC Port D0 Tx0
R D1 Port A1 Tx1 R D1 Port A1 Tx1 NC Port D1 Tx1
R D2 Port A2 Tx2 R D2 Port A2 Tx2 NC Port D2 Tx2
R D3 Port A3 Tx3 R D3 Port A3 Tx3 NC Port D3 Tx3
R D4 Port A4 Tx4 R D4 Port A4 Tx4 NC Port D4 Tx4
R D5 Port A5 Tx6 R D5 Port A5 Tx6 NC Port D5 Tx6
R D6 Port A6 Tx27
R D6 Port A6 Tx27 NC Port D6 Tx27
R D7 Port A7 Tx5 R D7 Port A7 Tx5 NC Port D7 Tx5
G D0 Port B0 Tx7 R D8 Port B0 Tx7 G D0 Port E0 Tx7
G D1 Port B1 Tx8 R D9 Port B1 Tx8 G D1 Port E1 Tx8
G D2 Port B2 Tx9 NC Port B2 Tx9 G D2 Port E2 Tx9
G D3 Port B3 Tx12
NC Port B3 Tx12 G D3 Port E3 Tx12
G D4 Port B4 Tx13
B D8 Port B4 Tx13 G D4 Port E4 Tx13
G D5 Port B5 Tx14
B D9 Port B5 Tx14 G D5 Port E5 Tx14
G D6 Port B6 Tx10
NC Port B6 Tx10 G D6 Port E6 Tx10
G D7 Port B7 Tx11
NC Port B7 Tx11 G D7 Port E7 Tx11
B D0 Port C0 Tx15
B D0 Port C0 Tx15 G D8 Port F0 Tx15
B D1 Port C1 Tx18
B D1 Port C1 Tx18 G D9 Port F1 Tx18
B D2 Port C2 Tx19
B D2 Port C2 Tx19 NC Port F2 Tx19
B D3 Port C3 Tx20
B D3 Port C3 Tx20 NC Port F3 Tx20
B D4 Port C4 Tx21
B D4 Port C4 Tx21 NC Port F4 Tx21
B D5 Port C5 Tx22
B D5 Port C5 Tx22 NC Port F5 Tx22
B D6 Port C6 Tx16
B D6 Port C6 Tx16 NC Port F6 Tx16
B D7 Port C7 Tx17
B D7 Port C7 Tx17 NC Port F7 Tx17
LVAL Tx24
LVAL Tx24 LVAL Tx24
FVAL Tx25
FVAL Tx25 FVAL Tx25
DVAL Tx26
DVAL Tx26 DVAL Tx26
EEN Tx23
EEN Tx23 NC Tx23
TXD out Ser TFG TXD out Ser TFG
RXD in Ser TC RXD in Ser TC
Trig in CC1 Trig in CC1
NC CC2 NC CC2
NC CC3 NC CC3
NC CC4 NC CC4
Fig. 8. Connector 1 base configuration and connector 1 and 2 medium configuration
- 7 -
CV-M9 CL
6. Functions and Operations
6.1. Basic functions
A 16-bit processor controls all functions in the CV-M9CL camera. The CCD sensor output is
normalized in preamplifiers. The signals are then digitized to 12 bits. Digital gain control and
look-up tables can do signal processing in 12 bits before it is truncated to a 10 or 8 bit camera
link signal.
A/D
A/D
A/D
16 bit digital processing
12 bit 8/10 bit
Camera Link
CL
Inter
face
B
R
G
Prism
Timing
CL
A. gain D. Gain
Shading
map
Knee
Point
slope
12 bit 10 bit
Iris video
RGB signal
RGB input
Shading
data
A/D
A/D
A/D
16 bit digital processing
12 bit 8/10 bit
Camera Link
CL
Inter
face
B
R
G
Prism
Timing
CL
A. gain D. Gain
Shading
map
Knee
Point
slope
12 bit 10 bit
Iris video
RGB signal
RGB input
Shading
data
Fig. 9. Principle diagram for signal processing
6.1.1. Dynamic shading correction
The CV-M9CL camera has a digital shading correction circuit, which can compensate for prism
chromatic shading, for lens vignetting and for CCD shading. It makes the choice of lenses wider.
The camera with a given lens and a given f-number is looking on a homogeneous white scene.
A horizontal profile of the shading in 128 points is made for the 3 colors.
A vertical profile of the shading in 96 points is
made for the 3 colors.
The result is stored as gain difference from the
image centre.
Data from this h and v profile is used to adjust
the R, B and G gain depending of the H and V
position. The resulting image is then
compensated for shading caused by the lens,
prism and CCD.
The lens used is a Fujinon 15mm F2.2.
The iris is set to F5.6.
With the camera control tool it is possible to
customize the correction for a given set-up, and
store the corrections in a file. Refer to chapter 6.5.1.
0 127
0
95
H shading data
V
shading
data
0 127
0
95
H shading data
V
shading
data
Fig. 10. Shading correction.
Note: Lens requirements.
To obtain the best possible image, it is recommended to use lenses designed for 1/3” 3 CCD
cameras. The shading depends of the focal length and the iris setting. Avoid wide-angle lenses,
and do not use an iris setting fully open.
- 8 -
CV-M9 CL
6.1.2. Knee function
The internal video signal is 12 bit, and only 8 or 10 bit is output. By help of the look-up table
function it is possible to compress or expand the video signal to change the dynamic range. It
can be done individually for R, G and B with the knee function.
The Knee function is given by 2 sets of parameters. Knee point and slope. These 2 sets of data
determine how the output would be with reference to the input data. This conversion is done by
the hardware (FPGA) doing calculations using the knee data.
The normal transfer function is with a slope 1:1. From a given point and up, the slope can be
changed. This point is the knee point parameter, and its range is from 0 to 1023 referring to the
video output. Factory setting is 890.
10 bit Digital
video output
S
l
o
p
e
2
0
0
32
890
1023
2848
[LSB]
S
l
o
p
e
1
4095
100%
K
n
e
e
a
d
j
u
s
t
r
a
n
g
e
102
Slope 0
Slope
adust range
12 bit CCD signal
The knee function
is individual RGB
Slope 0
S
l
o
p
e
2
10 bit Digital
video output
S
l
o
p
e
2
0
0
32
890
1023
2848
[LSB]
S
l
o
p
e
1
4095
100%
K
n
e
e
a
d
j
u
s
t
r
a
n
g
e
102
Slope 0
Slope
adust range
12 bit CCD signal
The knee function
is individual RGB
Slope 0
S
l
o
p
e
2
The new slope can be set from 1:0 to 1:2.
A slope 1:0 is a clipper function, which
will limit the output signal. A slope 1:2
will function as a 2 times contrast
expanding function.
The slope parameter range is from 0 to
4095.
0 is slope 1:0.
2048 is slope 1:1.
4095 is slope 1:2.
Factory setting is 800. The slope is then
800/2048 =1: 0.39.
Fig. 11. Knee function.
6.1.3. Color bar for test
8222822282228222
Blue
8888222222222222
Green
8822222288222222
Red
8222822282228222
Blue
8888222222222222
Green
8822222288222222
Red
Values
in 8 bit
32890328903289032890
Blue
32323232888890890890
Green
32328908903232890890
Red
32890328903289032890
Blue
32323232888890890890
Green
32328908903232890890
Red
Values
in 10 bit
The CV-M9CL camera has a build in color bar
generator. When it is activated, the output image
will be as shown below. The RGB values are shown
for both 8 and 10 bit output.
Fig. 12. Color bar RGB values
- 9 -
CV-M9 CL
6.2. Sensor Layout and timing
6.2.1. CCD Sensor Layout
788
Fig. 13. CCD sensor layout
Table for scanning.
The below table shows the start line, the stop line and the number of active lines in the vertical
centred scanned area on the CCD sensor. The front and back lines are the lines used for the fast
dump readout used in partial scanning.
Scanning
Start
line #
End
line #
Active
lines
Front
lines
Back
lines
Blank
lines Remarks
SC=0 Full 1 768 768 12 8 4 Refer to fig. 15.
SC=1 1/2 192 576 384 54 50 4 Refer to fig. 16.
SC=2 1/4 288 480 192 78 74 4 Refer to fig. 17.
SC=3 1/8 336 432 96 90 86 4 Refer to fig. 18.
- 10 -
CV-M9 CL
6.2.2. Horizontal timing
Fig. 14. Horizontal timing
6.2.3. Vertical timing
1L = 42.07 µs
Fig. 15. Vertical timing for full scan
- 11 -
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