Point Grey Gazelle GZL-CL-22C5M-C, Gazelle GZL-CL-41C6M-C Technical Reference

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Gazelle

Camera Link Digital Camera

Technical Reference

Version 2.0

Revised 10/31/2013

Point Grey Research®Inc.

12051 Riverside Way • Richmond, BC • Canada • V6W 1K7 •T (604) 242-9937 • www.ptgrey.com

FCC Compliance

This device complies with Part 15 of the FCC rules. Operation is subject to the following two conditions: (1) This device may not cause harmful interference, and (2) this device must accept any interference received, including interference that may cause undesirable operation.

Korean EMCCertification

The KCC symbol indicates that this product complies with Korea’s Electrical Communication Basic Law regarding EMC testing for electromagnetic interference (EMI) and susceptibility (EMS).

Hardware Warranty

The warranty for the Gazelle camera is 3 years. For detailed information on how to repair or replace your camera, please see the terms and conditions on our website.

WEEE

The symbol indicates that this product may not be treated as household waste. Please ensure this product is properly disposed as inappropriate waste handling of this product may cause potential hazards to the environment and human health. For more detailed information about recycling of this product, please contact Point Grey Research.

Trademarks

Point Grey Research, PGR, the Point Grey Research, Inc. logo, Blackfly, Bumblebee, Chameleon, Digiclops, Dragonfly, Dragonfly Express, Firefly, Flea, FlyCapture, Gazelle, Grasshopper, Ladybug, Triclops and Zebra are trademarks or registered trademarks of Point Grey Research, Inc. in Canada and other countries.

Point Grey GazelleTech nical Reference

Table of Contents

1 Gazelle Specifications 1

1.1 Gazelle Specifications 1

1.1.1 GZL-CL-22C5M(Mono) Imaging Performance 3

1.1.2 GZL-CL-41C6M(Mono) Imaging Performance 4

1.1.3 GazelleComparison 5

1.2 Physical Description 6

1.3 Camera Dimensions 7

1.4 Tripod Adapter Dimensions 8

1.5 Lens Mounting 8

1.5.1 Back Flange Distance 9

1.6 Dust Protection 9

1.7 Mounting with the Case or Mounting Bracket 9

1.8 Analog-to-Digital Converter 10

1.9 Handling Precautions and Camera Care 11

1.9.1 Case Temperature and Heat Dissipation 11

1.10 Camera Interface and Connectors 13

1.10.1 Camera Link Connectors 13

1.10.2 Interface Card 15

1.10.3 Interface Cables 15

1.10.4 Frame Grabbers 15

1.10.5 General Purpose Input/Output (GPIO) 15

1.10.5.1 GPIO Modes 16

GPIO Mode 0: Input 16

GPIO Mode 1: Output 16

GPIO Mode 2: Asynchronous (External) Trigger 16

GPIO Mode 3: Strobe 16

2 Gazelle Installation 17

2.1 Before You Install 17

2.1.1 Will your system configuration support the camera? 17

2.1.2 Do you have all the parts you need? 17

2.1.3 Do you have a downloads account? 17

2.2 Installing Your Interface Card and Software 18

2.3 Installing Your Camera 19

2.4 Controlling the Camera 19

2.4.1 User Configuration Sets 20

3 General Gazelle Operation 21

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3.1 Powering the Camera 21

3.2 Camera Error and Status Monitoring 21

3.2.1 Camera Initialization 21

3.2.2 General Status Monitoring 21

3.2.3 Device Information 22

3.3 Non-Volatile Flash Memory 23

3.4 Camera Firmware 24

3.4.1 Upgrading Camera Firmware 24

4 Video Data Output 26

4.1 GZL-CL-22C5 Video Data Output 26

4.2 GZL-CL-41C6 Video Data Output 26

4.3 Setting the Video Format and Frame Rate 27

4.3.1 Sensor Mode Pixel Binning 27

4.3.2 Specifying 8-Tap 10-Bit Output 27

4.4 Specifying Regions of Interest 29

4.4.1 Specifying Multiple ROIs 29

4.4.2 Calculating Frame Rate 29

4.4.3 Creating ROIs 30

4.4.4 Example: Specifying Regions of Interest 31

5 Image Acquisition 33

5.1 Free-Running Acquisition 33

5.2 Asynchronous Triggering 33

5.2.1 Triggering off the GPIO 34

5.2.2 Software triggering 34

5.2.3 Maximum Frame Rates When Triggering 35

5.2.4 Trigger Delay 36

5.2.5 Trigger Polarity 37

5.2.6 Single-Shot Trigger Mode 37

5.2.7 Bulb Shutter Trigger Mode 39

5.2.8 Minimum Trigger Pulse Length 40

5.3 Programmable Strobe Output 41

5.3.1 Strobe Output Examples 42

5.3.1.1 Outputting a continuous strobe 42

5.3.1.2 Outputting a strobe for duration of exposure 42

5.3.1.3 Outputting a strobe for duration of trigger signal 42

5.3.1.4 Outputting a strobe for a specified duration, after a specified delay 42

5.4 Serial Communication 43

6 Imaging Parameters 44

6.1 Exposure 44

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6.2 Gain 45

6.2.1 Analog Gain 45

6.2.2 Digital Gain 45

6.3 Black Level 46

6.4 Sensor Input Clock 46

6.5 Image Flip/Mirror 46

6.6 Chunk Data 47

7 Troubleshooting 49

7.1 Status Indicator LED 49

7.2 Test Pattern 49

7.3 Blemish Pixel Artifacts 51

7.3.1 Pixel Defect Correction 51

7.4 Horizontal Line Artifact 52

7.5 CMOSISSensor Artifacts 52

A Software Instruction Set 53

A.1 Device Control 53

A.2 Image Format Control 54

A.3 Acquisition Control 55

A.4 Strobe Control 56

A.5 Imaging Parameters Control 57

A.6 User Set Control 58

A.7 Status Monitoring 58

A.8 Flash Memory Control 59

A.9 Chunk Data Control 59

B GPIO Electrical Characteristics 60

Contacting Point Grey Research 62

Revision History 63

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Point Grey GazelleTech nical Reference

About This Manual

This manual provides the user with a detailed specification of the Gazelle camera system. The user should be aware that the camera system is complex and dynamic – if any errors or omissions are found during experimentation, please contact us. (See Contacting Point Grey Research.)

This document is subject to change without notice.

All model-specific information presented in this manual reflects functionality available in the model's firmware version.

For more information see Camera Firmware.

Where to Find Information

Chapter What You Will Find

Gazelle Specifications General camera specifications and specific model specifications, and camera properties.

Gazelle Installation Instructions for installing the Gazelle, as well as introduction to Gazelle configuration.

General Gazelle Operation

Video Data Output Information on video data output, frame rates, and regions of interest.

Image Acquisition Information on asynchronous triggering and supported trigger modes.

Imaging Parameters Information on supported imaging parameters and their controls.

Troubleshooting Information on how to get support, diagnostics for the Gazelle, and common sensor artifacts.

Appendix: Software Instruction

Set

Appendix: GPIO Electrical

Characteristics

Information on powering the Gazelle, monitoring status, user configuration sets, memory controls, and firmware.

Information on the Software Instruction Set commands.

Information on the GPIO electrical characteristics.

Document Conventions

This manual uses the following to provide you with additional information:

A note that contains information that is distinct from the main body of text. For example, drawing attention to a difference between models; or a reminder of a limitation.

A note that contains a warning to proceed with caution and care, or to indicate that the information is meant for an advanced user. For example, indicating that an action may void the camera's warranty.

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If further information can be found in our Knowledge Base, a list of articles is provided.

Related Knowledge Base Articles

Title Article

Title of the Article Link to the article on the Point Grey website

If there are further resources available, a link is provided either to an external website, or to the SDK.

Related Resources

Title Link

Title of the resource Link to the resource

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Point Grey GazelleTech nical Reference 1 Gazelle Specifications

1 Gazelle Specifications

The Gazelle series of cameras feature high-resolution, high-frame rate CMOS image sensors, compact case, and Camera Link interface in Base (2-tap) and Full (8-tap) configurations.

1.1 Gazelle Specifications

Model Version MP Imaging Sensor

GZL-CL-22C5M-C Mono 2.2 MP

GZL-CL-41C6M-C Mono 4.1 MP

n CMOSIS CMV2000 CMOS, 2/3", 5.5 μm n Global Shutter n 280 FPS at 2048 x 1088

n CMOSIS CMV4000 CMOS, 1", 5.5 μm n Global Shutter n 150 FPS at 2048 x 2048

All Gazelle Models

A/DConverter 10-bit

Video Data Output 8-bit (Full 8-tap mode) or 10-bit (Base 2-tap mode)

Image Data Formats Mono8, Mono10

Partial Image Modes Single or multiple region of interest modes

Image Processing Gain, Black Level, Pixel Defect Correction

Shutter

Gain

Digital Interface

Global shutter; Manual

74.175 μs - 54 s (Full 8-tap mode)

Analog and digital programmable via software 32-64 dB (analog); 1-63 dB (digital)

Camera Link LVDS for camera control and video data transmission; Base (2-tap) and Full (8-tap) configurations

Transfer Rates 5.44 Gbits/s

GPIO 8-pin Hirose HR25 GPIO connector; opto-isolated pins for trigger and strobe

External Trigger Modes Single-shot, bulb shutter trigger mode

Synchronization Via external trigger or software trigger

Memory Channels 2 memory channels for custom camera settings

Flash Memory 4 MB non-volatile memory

Dimensions 44 mm x 29 mm x 59.5 mm excluding lens holder, without optics (metal case)

Mass 90 grams (without optics or tripod mounting bracket)

Power Consumption 12 V +/- 10%, 6 W

Machine Vision Standard Camera Link

Camera Control Via software instruction set

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All Gazelle Models

Camera Updates In-field firmware updates

Lens Mount C-mount

Temperature Operating: -10° to 50°C; Storage: -30° to 60°C

Compliance CE, FCC, RoHS

Operating System XP, Vista, Windows 7

Warranty 3 years

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1.1.1 GZL-CL-22C5M(Mono) Imaging Performance

Specification Mode 0

Full Well Depth 12900 e- at zero gain

Dynamic Range 57 dB

Read Noise 18.8 e- at zero gain

Measurements taken at maximum resolution

Quantum Efficiency

Peak QE Wavelength 530 nm

Peak QE Value 56%

Figure 1.1: GZL-CL-22C5 Quantum Efficiency

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1.1.2 GZL-CL-41C6M(Mono) Imaging Performance

Specification Mode 0

Full Well Depth 11900 e- at zero gain

Dynamic Range 56 dB

Read Noise 18.8 e- at zero gain

Measurements taken at maximum resolution

Quantum Efficiency

Peak QE Wavelength 530 nm

Peak QE Value 53%

Figure 1.2: GZL-CL-41C6 Quantum Efficiency

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1.1.3 GazelleComparison

Figure 1.3: GZL-CL Mono Quantum Efficiency

Figure 1.4: GZL-CL Mono Dynamic Range

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1.2 Physical Description

1. Lens holder (C-mount)

Attach any C-mount lens or other optical equipment. See Lens Mounting .

4. FULL Camera Link connector

The camera uses a standard 26-pin SDR connector. M2 screwholes are located on either side of the connector for secure connection to the 26-pin locking Camera Link cable. Use this connector for the full configuration (with BASE connector). See Camera Link Connectors.

2. Glass/IR filter system

See Dust Protection .

3. M3 mounting holes

Configuration of M3 mounting holes is the same on the top and bottom of the camera case. See Mounting with the Case or

Mounting Bracket.

5. General purpose I/O connector

The 8-pin GPIO connector is used for power, external triggering, and strobe output. See .

6. BASE Camera Link connector

Use this connector for the base configuration. See

Camera Link Connectors.

7. Status LED

This light indicates the current state of the camera operation. See Status Indicator LED.

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1.3 Camera Dimensions

To obtain 3D models, contact support@ptgrey.com.

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Figure 1.5: Camera Dimensional Diagram

Point Grey GazelleTech nical Reference 1 Gazelle Specifications

1.4 Tripod Adapter Dimensions

Figure 1.6: Tripod Adapter Dimensional Diagram

1.5 Lens Mounting

Lenses are not included with individual cameras.

Related Knowledge Base Articles

Title Article

Selecting a lens for your camera Knowledge Base Article 345

The lens mount is compatible with C-mount lenses. Correct focus cannot be achieved using a CS-mount lens on a Cmount camera.

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1.5.1 Back Flange Distance

The Back Flange Distance (BFD) is offset due to the presence of both a 1 mm infrared cutoff (IRC) filter and a 0.55 mm sensor package window. These two pieces of glass fit between the lens and the sensor image plane. The IRC filter is installed on color cameras. In monochrome cameras, it is a transparent piece of glass. The sensor package window is installed by the sensor manufacturer. Both components cause refraction, which requires some offset in flange back distance to correct.

The resulting C-mount BFDis 18.01 mm.

1.6 Dust Protection

The camera housing is designed to prevent dust from falling directly onto the sensor's protective glass surface. This is achieved by placing a piece of clear glass (monochrome camera models) or an IR cut-off filter (color models) that sits above the surface of the sensor's glass. A removable plastic retainer keeps this glass/filter system in place. By increasing the distance between the imaging surface and the location of the potential dust particles, the likelihood of interference from the dust (assuming non-collimated light) and the possibility of damage to the sensor during cleaning is reduced.

n Cameras are sealed when they are shipped. To avoid contamination, seals should not

be broken until cameras are ready for assembly at customer's site.

n Use caution when removing the protective glass or filter. Damage to any component of

the optical path voids the Hardware Warranty.

n Removing the protective glass or filter alters the optical path of the camera, and may

result in problems obtaining proper focus with your lens.

Related Knowledge Base Articles

Title Article

Removing the IR filter from a color camera Knowledge Base Article 215

Selecting a lens for your camera Knowledge Base Article 345

1.7 Mounting with the Case or Mounting Bracket

Using the Case

The case is equipped with the following mounting holes:

n Four (4) M3x0.5mm mounting holes on the top of the case n Four (4) M3x0.5mm mounting holes on the bottom of the case that can be used to attach the camera directly to

a custom mount or to the tripod mounting bracket.

Using the Mounting Bracket

Thetripod mounting bracket is equipped with four (4) M3 mounting holes. For more information, see Tripod Adapter

Dimensions on the previous page.

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Point Grey GazelleTech nical Reference 1 Gazelle Specifications

1.8 Analog-to-Digital Converter

All CMOS camera sensors incorporate an on-chip analog to digital converter.

The Gazelle's ADC is configured to a fixed bit output. If the pixel format selected has fewer bits per pixel than the ADCoutput, the least significant bits are dropped. If the pixel format selected has greater bits per pixel than the ADC output, the least significant bits are padded with zeros.

A 10-bit conversion produces 1,024 possible values between 0 and 65,472. Image data is left-aligned across a 2-byte format. The least significant bits are always zero.

The bit depth of the output varies between sensors and can be seen in the table below. Image data is left-aligned across a 2-byte format. The least significant bits, which are the unused bits, are always zero.

For example, for a 12 bit output, the least significant 4 bits will be zeros in order to fill 2 bytes. E.g. 0xFFF0.

GZL-CL-22C5M-C 10-bit

GZL-CL-41C6M-C 10-bit

Model ADC

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1.9 Handling Precautions and Camera Care

Do not open the camera housing. Doing so voids the Hardware Warranty described at the beginning of this manual.

Your Point Grey digital camera is a precisely manufactured device and should be handled with care. Here are some tips on how to care for the device.

n Avoid electrostatic charging.

n When handling the camera unit, avoid touching the lenses. Fingerprints will affect the quality of the image

produced by the device.

n To clean the lenses, use a standard camera lens cleaning kit or a clean dry cotton cloth. Do not apply excessive

force.

n Extended exposure to bright sunlight, rain, dusty environments, etc. may cause problems with the electronics

and the optics of the system.

n Avoid excessive shaking, dropping or any kind of mishandling of the device.

Related Knowledge Base Articles

Title Article

Solving problems with static electricity Knowledge Base Article 42

Cleaning the imaging surface of your camera Knowledge Base Article 66

1.9.1 Case Temperature and Heat Dissipation

You must provide sufficient heat dissipation to control the internal operating temperature of the camera.

The camera is equipped with an on-board temperature sensor. It allows you to obtain the temperature of the camera board-level components. The sensor measures the ambient temperature within the case.

Table 1.1: Temperature Sensor Specifications

Accuracy 0.5°C

Range -25°C to +85°C

Resolution 12-bits

As a result of packing the camera electronics into a small space, the outer case of the camera can become very warm to the touch when running in some modes. This is expected behavior and will not damage the camera electronics.

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Point Grey GazelleTech nical Reference 1 Gazelle Specifications

To reduce heat, use a cooling fan to set up a positive air flow around the camera, taking into consideration the following precautions:

n Mount the camera on a heat sink, such as a camera mounting bracket, made out of a heat-conductive material

like aluminum.

n Make sure the flow of heat from the camera case to the bracket is not blocked by a non-conductive material like

plastic.

n Make sure the camera has enough open space around it to facilitate the free flow of air.

To access temperature information use:

n Software Instruction Set—Device Temperature command Status Monitoring

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1.10 Camera Interface and Connectors

1.10.1 Camera Link Connectors

The camera is equipped with two 26-pin female 0.05 inch SDR connectors for video data and camera control and configuration. Pin assignments conform to the Camera Link specification. For reference, pin assignments for both connectors are provided below. For more information, see Serial Communication.

Figure 1.7: Camera Link connector pin numbering

Table 1.2: BASE Camera Link connector pin assignments

Pin Number Signal Direction Level Description

1 GND In Ground Ground for inner shield of cable

2 XO- Out Camera Link LVDS Data from Camera Link transmitter

3 X1- Out Camera Link LVDS Data from Camera Link transmitter

4 X2- Out Camera Link LVDS Data from Camera Link transmitter

5 XClk- Out Camera Link LVDS Transmit clock from Camera Link transmitter

6 X3- Out Camera Link LVDS Data from Camera Link transmitter

7 SerTC+ In RS-644 LVDS Serial to camera

8 SerTFG- Out RS-644-LVDS Serial to frame grabber

9 CC1- In RS-644-LVDS External trigger

10 CC2+ In RS-644 LVDS External clock (not supported)

11 CC3- In RS-644 LVDS External flash

12 CC4+ In RS-644 LVDS Reserved

13 GND In Ground Ground for inner shield of cable

14 GND In Ground Ground for inner shield of cable

15 XO+ Out Camera Link LVDS Data from Camera Link transmitter

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Pin Number Signal Direction Level Description

16 X1+ Out Camera Link LVDS Data from Camera Link transmitter

17 X2+ Out Camera Link LVDS Data from Camera Link transmitter

18 XClk+ Out Camera Link LVDS Transmit clock from Camera Link transmitter

19 X3+ Out Camera Link LVDS Data from Camera Link transmitter

20 SerTC- In RS-644 LVDS Serial to camera

21 SerTFG+ Out RS-644 LVDS Serial to frame grabber

22 CC1+ In RS-644 LVDS External trigger

23 CC2- In RS-644 LVDS External clock (not supported)

24 CC3+ In RS-644 LVDS External flash

25 CC4- In RS-644 LVDS Reserved

26 GND In Ground Ground for inner shield of cable

Table 1.3: FULL Camera Link connector pin assignments

Pin Number Signal Direction Level Description

1 GND In Ground Ground for inner shield of cable

2 YO- Out Camera Link LVDS Data from Camera Link transmitter

3 Y1- Out Camera Link LVDS Data from Camera Link transmitter

4 Y2- Out Camera Link LVDS Data from Camera Link transmitter

5 YClk- Out Camera Link LVDS Transmit clock from Camera Link transmitter

6 Y3- Out Camera Link LVDS Data from Camera Link transmitter

7 T+ Connected to T-; not used

8 Z0- Out Camera Link LVDS Data from Camera Link transmitter

9 Z1- Out Camera Link LVDS Data from Camera Link transmitter

10 Z2- Out Camera Link LVDS Data from Camera Link transmitter

11 ZClk- Out Camera Link LVDS Transmit clock from Camera Link transmitter

12 Z3- Out Camera Link LVDS Data from Camera Link transmitter

13 GND In Ground Ground for inner shield of cable

14 GND In Ground Ground for inner shield of cable

15 YO+ Out Camera Link LVDS Data from Camera Link transmitter

16 Y1+ Out Camera Link LVDS Data from Camera Link transmitter

17 Y2+ Out Camera Link LVDS Data from Camera Link transmitter

18 YClk+ Out Camera Link LVDS Transmit clock from Camera Link transmitter

19 Y3+ Out Camera Link LVDS Data from Camera Link transmitter

20 T- Connected to T+; not used

21 Z0+ Out Camera Link LVDS Data from Camera Link transmitter

22 Z1+ Out Camera Link LVDS Data from Camera Link transmitter

23 Z2+ Out Camera Link LVDS Data from Camera Link transmitter

24 ZClk+ Out Camera Link LVDS Transmit clock from Camera Link transmitter

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Pin Number Signal Direction Level Description

25 Z3+ Out Camera Link LVDS Data from Camera Link transmitter

26 GND In Ground Ground for inner shield of cable

1.10.2 Interface Card

The camera must connect to an interface card. This is sometimes called a host adapter, a bus controller, or a network interface card (NIC).

To purchase a compatible card from Point Grey, visit the Point Grey Webstore or the Products Accessories page.

1.10.3 Interface Cables

85 MHz-certified cables are required for the Camera Link connection between the camera and the host system. The maximum supported cable length is 5 meters.

Related Knowledge Base Articles

Which frame grabbers and cables can I use with my Camera Link camera? Knowledge Base Article 359

Title Link

To purchase a recommended cable from Point Grey, visit the Point Grey Webstore or the Products Accessories page.

1.10.4 Frame Grabbers

Point Grey provides camera configuration files (CCFs) for using the following Camera Link frame grabbers with Gazelle cameras:

n Aval Data APX-3318 n Dalsa Xcelera-CL PX4 Full n BitFlow Karbon-CL

Related Resources

To find... Go to...

CCFs for download Point Grey downloads page

Related Knowledge Base Articles

Title Article

Which frame grabbers and cables can I use with my Camera Link camera?

1.10.5 General Purpose Input/Output (GPIO)

Knowledge Base Article 359

The camera has an 8-pin GPIO connector on the back of the case; refer to the diagram below for wire color-coding. The connector is a Hirose HR25 8 pin connector with part number: HR25-7TR-8SA. The male connector is part number: HR25-7TP-8P.

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Diagram Color Pin Function Description

For more information on camera power, see Powering the Camera.

For details on GPIO circuits, see GPIO Electrical Characteristics.

1.10.5.1 GPIO Modes

GPIO Mode 0: Input

When a GPIO pin is put into GPIOMode 0 it is configured to accept external trigger signals. See Serial Communication.

Black 1 I0 Opto-isolated input (default Trigger in)

White 2 O1 Opto-isolated output

Red 3 IO2 Input/Output/serial transmit (TX)

Green 4 IO3 Input/Output/serial receive (RX)

Brown 5 GND Ground for bi-directional IO, V

Blue 6 OPTO_GND Ground for opto-isolated IO pins

Orange 7 V

Yellow 8 +3.3 V Power external circuitry up to 150 mA

EXT

Allows the camera to be powered externally

, +3.3 V pins

EXT

GPIO Mode 1: Output

When a GPIO pin is put into GPIOMode 1 it is configured to send output signals.

Do not connect power to a pin configured as an output (effectively connecting two outputs to each other). Doing so can cause damage to camera electronics.

GPIO Mode 2: Asynchronous (External) Trigger

When a GPIO pin is put into GPIO Mode 2, and an external trigger mode is enabled (which disables isochronous data transmission), the camera can be asynchronously triggered to grab an image by sending a voltage transition to the pin. See Asynchronous Triggering.

GPIO Mode 3: Strobe

A GPIO pin in GPIO Mode 3 outputs a voltage pulse of fixed delay, either relative to the start of integration (default) or relative to the time of an asynchronous trigger. A GPIOpin in this mode can be configured to output a variable strobe pattern. See Programmable Strobe Output.

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Point Grey GazelleTech nical Reference 2 Gazelle Installation

2 Gazelle Installation

2.1 Before You Install

2.1.1 Will your system configuration support the camera?

Recommended System Configuration

Operating

System

XP, Vista, Windows 7

2.1.2 Do you have all the parts you need?

To install your camera you will need the following components:

n Camera Link cable (see Interface Cables) n 8-pin GPIOcable (see General Purpose Input/Output (GPIO)) n C-mount Lens (see Lens Mounting ) n Tripod adapter (optional) (see Mounting with the Case or Mounting Bracket) n Interface card (see Interface Card)

CPU RAM Video Ports

2.4 GHz (or equivalent)

512MBNVIDIAGeForce6 or later; 128 MB RAM

or more

Camera Link PCIe card with Full CL interface

Point Grey sells a number of the additional parts required for installation. To purchase, visit the Point Grey Webstore or the Products Accessories page.

2.1.3 Do you have a downloads account?

The Point Grey downloads page has many resources to help you operate your camera effectively, including:

n Software, including CCFs (required for installation) n Firmware updates and release notes n Dimensional drawings and CADmodels n Documentation

To access the downloads resources you must have a downloads account.

1. Go to the Point Grey downloads page.

2. Under Register (New Users), complete the form, then click Submit.

After you submit your registration, you will receive an email with instructions on how to activate your account.

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2.2 Installing Your Interface Card and Software

1. Install your Interface Card

Ensure the card is installed per the manufacturer's instructions.

Connect the internal IDE or SATApower connector on the card to the computer power supply.

Open the Windows Device Manager. Ensure the card is properly installed under the manufacturer's name or, in some cases, Multifunction Adaptors. An exclamation point (!) next to the card indicates the driver has not yet been installed.

2. Enable the driver for the card

If not already done so as part of the card installation, enable the driver for the card as per the manufacturer's instructions.

3. Install the Camera Configuration File for your Frame Grabber

a. Login to the Point Grey downloads page.

b. Select your Gazelle from the drop-down lists and click the Search button.

c. Click on the Software search results to expand the list.

d. Click on Gazelle Camera Configuration Files to begin the download.

e. From the download location, extract the zip files to a directory location of your choice.

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2.3 Installing Your Camera

1. Install the Tripod Mounting Bracket (optional)

The ASA and ISO-compliant tripod mounting bracket attaches to the camera using the included metal screws.

2. Attach a Lens

Unscrew the dust cap from the C-mount lens holder to install a lens.

3. Connect the interface Card and Cable to the Camera

Plug the interface cable into the host controller card and the camera. The cable jack screws can be used for a secure connection.

For Base 2-tap configuration, use base connector. For Full 8-tap configuration, use both base and full connectors (two cables are required). Connectors are labelled on the camera.

4. Plug in the GPIO connector

GPIOis used for power, trigger, serial input output, and strobe.

The wiring harness must be compatible with a Hirose HR25 8-pin female GPIOconnector.

5. Confirm Successful Installation

To operate the camera, start the serial interface tool for your frame grabber and reference the configuration files downloaded in Step 3 of Installing your Interface Card and Software. Control the camera using the software instruction set described in the Technical Reference Manual.

2.4 Controlling the Camera

The user can monitor or control features of the camera using a command set developed by Point Grey. These commands are used with the serial interface tool provided by your Camera Link frame grabber, and control the camera via a frame grabber-specific camera configuration file (CCF) that is downloaded during the camera installation process. For more information about CCFs, see Frame Grabbers.

Commands are introduced in this manual with the features they control. In some cases, examples of common usage are also provided. A complete list of commands is provided in Software Instruction Set.

Commands return an error when parameters are outside of allowable values. All errors begin with the string Err:

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2.4.1 User Configuration Sets

The camera can save and restore settings and imaging parameters via on-board configuration sets, also known as memory channels. This is useful for saving default power-up settings, such as gain, shutter, video format and frame rate, and others that are different from the factory defaults.

Configuration set 0 stores the factory default settings. Two additional sets are provided for custom default settings.

The following property settings are saved in configuration sets:

Table 2.1: User configuration set properties

Number of taps (see Setting the Video Format and

Frame Rate)

Sensor Input Clock speed Strobe activation (see Programmable Strobe Output)

Gain(analog and digital) Chunk Data and checksum embedding

Exposure Blemish Pixel Artifacts correction on/off

Black Level Test Pattern mode

Trigger source (see Triggering off the GPIO Height and vertical offset of all ROIs (seeSpecifying Regions of Interest)

Trigger mode (see Asynchronous Triggering) Width and horizontal offset of R OIs (seeSpecifying Regions of Interest)

Trigger Delay Sensor Mode Pixel Binning

Trigger activation phase (see Trigger Polarity) Image Flip/Mirror

Strobe mode (see Programmable Strobe Output)

Strobe delay (see Programmable Strobe Output)

User Configuration Sets

Name Description Write

Saves the camera's current configuration to

User Set Save

User Set Load Loads a configuration set

User Set Current Gets the currently-loaded configuration set memcurr

one of the three available user-configuration sets

memsave value value is 1 or 2

memload value value is 0 (default), 1, or 2

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Point Grey GazelleTech nical Reference 3 General Gazelle Operation

3 General Gazelle Operation

3.1 Powering the Camera

The power consumption specification is: 12 V +/- 10%, 6 W.

Power must be provided through the GPIO interface. For more information, see General Purpose Input/Output (GPIO).

Point Grey sells a 12 V wall-mount power supply equipped with a HR25 8-pin GPIO wiring harness for connecting to the camera. For more information, see the miscellaneous product accessories page on the Point Grey website.

The camera does not transmit images for the first 100 ms after power- up. The auto-exposure and auto-white balance algorithms do not run while the camera is powered down. It may therefore take several (n) images to get a satisfactory image, where n is undefined.

When the camera is power cycled (power disengaged then re-engaged), the camera reverts to its default factory settings, or if applicable, the last saved memory channel. For more information, see User Configuration Sets.

3.2 Camera Error and Status Monitoring

3.2.1 Camera Initialization

For information about power-up default settings, refer to the Gazelle Specifications. For information about powering-up to a user-defined configuration set, see User Configuration Sets.

Device Reset

Name Description Read Write

Device Reset Resets Device to Power Up State dr

Indicates if initialization is complete

Initialization

0=Still in initialization 1=Complete

3.2.2 General Status Monitoring

Use the following parameters to monitor the status of the camera.

Uptime Status—This reports the time, in seconds, since the camera was initialized during a hard power-up. This is different from powering up the camera, which will not reset this time.

Voltage—This allows the user to access and monitor the input as well as several of the internal voltages of the cameras.

Current—This allows the user to access and monitor the current consumption of the camera.

init

Temperature—Allows the user to get the temperature of the camera board-level components. For cameras housed in a case, it is the ambient temperature within the case. For more information about camera temperature, see Case

Temperature and Heat Dissipation.

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Status Monitoring

Name Description Read Write

Voltage Status Returns the internal and external voltage, in volts vstat

Current Status Returns the electrical current, in amperes cstat

Uptime Status

Device Clock Frequency

Device Temperature

Returns the time since the camera was last initialized, in hours:minutes:seconds

Returns the frequency of the sensor input Clock, in hertz dcf

Returns the ambient temperature inside the camera case, in degrees Celsius

3.2.3 Device Information

Use the following to obtain information about the camera.

Device Information

Name Description Read

Device Vendor Name Returns the Vendor Name dvn

Device Model Name Returns the Model Name dvm

Device Firmware Version Returns the Firmware Version dfv

Device Firmware Build Date Returns the Firmware build date dbd

Device Hardware Version Returns the hardware versions of the PCBs in the camera dhv

Sensor Hardware Version

Device ID Returns the Serial Number did

Returns the sensor model of the camera 0170FFFEh = CMOSISCMV4000 0180FFFEh = CMOSISCMV2000

ustat

dcf value value can be 40, 35, 30, 20, or 10MHz for 8-tap mode 10 MHz for 2-tap mode

shv

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Name Description Read

Gets the following camera information: Camera Model Camera Serial Number Firmware Version Firmware Build Date Baud Rate Analog Gain Digital Gain Trigger source Trigger Polarity Trigger Mode Trigger Delay Strobe width Strobe Mode Strobe Delay

Device Information

Strobe Activation ROIs Reverse Image Status Defect Pixel Correction status Current User Set Voltage Status Current Status Uptime Status Width Height OffsetX OffsetY Number of Taps Input Clock Exposure Black Level

dump

3.3 Non-Volatile Flash Memory

The camera has 4 MB non- volatile memory for users to store data. Data must be written to individual pages in 528-byte data chunks.

Related Knowledge Base Articles

Title Article

Storing data in on-camera flash memory Knowledge Base Article 341

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Non-Volatile Flash Memory

Name Description Read Write

Returns the following in order:

Flash Memory Size

Flash Memory Write

Flash Memory Read

Flash Memory Clear Page

Flash Memory Clear All

Total size of flash memory Number of pages Page size

Writes a page to the flash memory

Reads a page from the flash memory

Clears a page of the flash memory

Clears all the flash memory dfclear

dfr page_number page_number can be from 0 to 8191

dfi

dfw page_number num_bytes ASCII_string

page_number can be from 0 to 8191 num_bytes can e from 0 to 527

If the size of ASCII_string is more than 528 bytes, it is cut to 528 to fit the page size

dfw page_number 0 0 page_number can be from 0 to 8191

3.4 Camera Firmware

Firmware is programming that is inserted into the programmable read-only memory (programmable ROM) of most Point Grey cameras. Firmware is created and tested like software. When ready, it can be distributed like other software and installed in the programmable read-only memory by the user.

The latest firmware versions often include significant bug fixes and feature enhancements. To determine the changes made in a specific firmware version, consult the Release Notes.

Firmware is identified by a version number, a build date, and a description.

Related Knowledge Base Articles

Title Article

PGR software and firmware version numbering scheme/standards

Determining the firmware version used by a PGR camera Knowledge Base Article 94

Should I upgrade my camera firmware or software? Knowledge Base Article 225

3.4.1 Upgrading Camera Firmware

Camera firmware can be upgraded or downgraded to later or earlier versions using

Before upgrading firmware:

Knowledge Base Article 96

n Install the SDK, downloadable from the Point Grey downloads site. n Download the firmware file from the Point Grey downloads site.

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To upgrade the firmware:

1. Start Menu-->All Programs-->FlyCapture2 SDK-->Utilities-->UpdatorGUI

2. Select the camera from the list at the top.

3. Click Open to select the firmware file.

4. Click Update.

Do not disconnect the camera during the update process.

Firmware Information

Name Description Read Write

Device Firmware Version Returns the Firmware Version dfv

Device Firmware Build Date Returns the Firmware build date dbd

Update Mode Puts the camera into firmware update mode update

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Point Grey GazelleTech nical Reference 4 VideoData Output

4 Video Data Output

4.1 GZL-CL-22C5 Video Data Output

# Taps Bit Depth Max Size (HxV)

8 8 2048x1088 281 319 630 1231 2347

2 10 2048x1088 71 80 160 319 630

4.2 GZL-CL-41C6 Video Data Output

# Taps Bit Depth Max Size (HxV)

Max

Size

Max

Size

1600 x

1200

Maximum Frame Rate at

1280 x 960 640 x 480 320 x 240 160 x 120

Maximum Frame Rate at

1280 x

960

640 x 480 320 x 240 160 x 120

8 8 2048x2048 149 253 315 618 1183 2183

2 10 2048x2048 37 64 80 160 318 630

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4.3 Setting the Video Format and Frame Rate

The number of Camera Link taps for video output dictates the data format and frame rate in which the camera operates, per the tables above. The number of Camera Link taps can be changed dynamically without power-cycling the camera.

Setting Video Format

Name Description Read Write

Gets or sets the video format. Can be

Video Format

set to 2-tap, 8-tap, 8-tap 10-bit, or bin2x2. (2x binning is only available in base 2-tap mode)

4.3.1 Sensor Mode Pixel Binning

When operating in base 2-tap mode, the camera can implement 2x2 pixel binning, which occurs digitally after sensor readout, on the FPGA of the camera. In this configuration, the values of two adjacent pixels are aggregated and averaged, both vertically and horizontally, resulting in a resolution that is both half in width and half in height of the original video output. Pixel binning can be implemented in conjunction with regions of interest. See Specifying Regions

of Interest.

smod

smod value value is 2tap, 8tap, 8tap10bit, bin2x2

The primary benefit of pixel binning is an increase in frame rate in 2-tap mode. When binning is implemented, the sensor input clock can run up to twice as fast as in non-binning mode, resulting in a frame rate also up to twice as fast. Because pixel values are averaged after aggregation, there is no significant increase in image intensity.

Sensor Mode Pixel Binning

Name Description Read Write

Sensor Mode (Pixel Binning mode)

Gets or sets the sensor mode to 2x binning (only available in base 2-tap mode)

4.3.2 Specifying 8-Tap 10-Bit Output

Unless identified as 8-tap 10-bit, references to 8-tap throughout this document mean 8-tap 8-bit.

The camera can output 10 bits/pixel in full 8-tap configuration. This mode is not supported by the Camera Link standard and requires users to implement custom software to decode data on the PC for outputting images.

In this mode, four contiguous horizontal pixels contain the eight most significant bits (MSB) of their respective pixels. Every fifth pixel contains the two least significant bits (LSB) of the previous four pixels, effectively increasing image output width by 25%. The bit format of every fifth pixel is as follows:

smod smod bin2x2

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Bits of every 5th pixel Description

0 - 1 LSBs of 4th pixel

2 - 3 LSBs of 3rd pixel

4 - 5 LSBs of 2nd pixel

6 - 7 LSBs of 1st pixel

Point Grey GazelleTech nical Reference 4 VideoData Output

To output 8-tap 10-bit data, you must increase image width on the frame grabber by 25%. Assuming no ROI is specified, width should be increased to 2560. Frame grabber output will appear corrupted unless user-defined post-processing is performed on the PC. After processing, image width at full resolution should be 2048.

Video Format 8-tap 10-bit

Name Description Read Write

Video Format (8-tap 10bit mode)

Gets or sets the video format to 8-tap 10-bit smod smod 8tap10bit

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4.4 Specifying Regions of Interest

You can specify subsets of the sensor pixel array, or 'regions of interest (ROIs),' for transmitting images. Regions of interest allow you to limit the amount of image data that is sampled and transmitted, and may increase frame rate.

When specifying regions of interest, keep in mind the following:

n Vertical offset and height are configurable in increments of one pixel row. Horizontal offset and width are

configurable in multiples of eight pixel columns.

n Reducing the number of rows is performed on the image sensor, prior to image readout. Reducing image width

is performed on the FPGA of the camera. As a result, a frame rate increase may be achieved by reducing image height. No frame rate increase is achieved by reducing image width.

n Vertical and horizontal offsets are measured from pixel (0,0) in the image array. n Dynamically setting or changing ROI configuration does not require stopping and re-starting image acquisition, or

produce any latency in frame rate.

n To maximize frame rate, exposure adjusts dynamically when ROIs are set or changed. For more information

about exposure, see Exposure.

n ROI settings are saved in user configuration sets. For more information, see User Configuration Sets. n ROI information can be saved in chunk data. For more information, see Chunk Data.

4.4.1 Specifying Multiple ROIs

The camera supports up to eight ROIs within the larger pixel array. Multiple ROIs have different vertical offsets, but only one width and horizontal offset can be set for all ROIs. The camera joins multiple ROIs to form a single image, which is transmitted to the frame grabber in a single frame readout cycle. Imaging parameters, such as exposure, gain and black level, are applied equally to all ROIs.

4.4.2 Calculating Frame Rate

Using the following formulas, you can calculate frames per second based on Sensor Input Clock speed and image height.

Due to the Camera Link standard for processing Frame Valid and Line Valid bits of LVDS data channels,actual frame rates may be slower than calculated frame rates.

The formula for calculating frame rate is:

Frame Rate = 1 / (Frame Overhead Time +Readout Time)

GZL-CL-41C6

Sensor Input Clock (MHz) FOT (µs) Readout Time (µs)

40 70.95 (129 / 40) x height

35 81.08 (129 / 35) x height

30 94.60 (129 / 30) x height

20 141.90 (129 / 20) x height

10 38.70 (129 / 10) x height

GZL-CL-41C6 Example:

For a camera operating at 40 MHz with an image size of 2048 x 2048, the frame rate would be:

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Frame rate = 1 / (FOT+Readout Time)

= 1 / [70.95 +((129/40) x 2048)] = 1 / [70.95 + (3.225 x 2048)] = 1 / [70.95 + 6604.8] = 1 / 6675.75µs = 1 / 0.00667575 seconds = 149.79 FPS

GZL-CL-22C5

Sensor Input Clock

(MHz)

40 38.70 (129 / 40) x height

35 44.23 (129 / 35) x height

30 51.60 (129 / 30) x height

20 77.40 (129 / 20) x height

10 38.70 (129 / 10) x height

FOT

(µs)

Readout Time

(µs)

GZL-CL-22C5 Example:

For a camera operating at 40 MHz with an image size of 2048 x 1088, the frame rate would be:

4.4.3 Creating ROIs

Use the following commands when creating ROIs.

Regions of Interest (ROI)

Name Description Read Write

Width

OffsetY, Height

Frame rate = 1 / (FOT+Readout Time)

= 1 / [38.70 +((129/40) x 1088)] = 1 / [38.70 + (3.225 x 1088)] = 1 / [38.70 + 3508.8] = 1 / 3547.5µs = 1 / 0.0035475 seconds = 281.89 FPS

Gets or sets the image width (Returns zero if no ROIs are present) Width must be specified before horizontal offset.

Gets or sets the vertical offset and height of current ROIs. (Returns zero if no ROIs are present)

To specify more than one ROI, use multiple setroi commands. R OI_ number and y-offset must vary between ROIs

getroi

w value value is in pixel columns and is measured from the specified horizontal offset; it must be a multiple of 8

setroi ROI_number y_offset height ROI_number can be from 0 to 7, specifying one of eight allowable ROIs y_offset is the starting row of the ROI on the y-axis, measure from pixel row 0 at the top of the image height specifies how many rows of pixels are sampled, beginning from the y-offset

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Name Description Read Write

Gets or sets the horizontal offset of

OffsetX

Sensor Width

Sensor Height

the image from the left side of the pixel array. (Returns zero if no ROIs are present) The combination of horizontal offset and width must not exceed sensor width.

Returns the total width of the sensor, in pixels

Returns the total height of the sensor, in pixels

Removes an ROI or returns the camera to non-ROI operation.

ox offset offset is the starting column of the ROI on the x-axis, measured from pixel column 0 at the left of the image; it must be a multiple of 8

Removing a subset of ROIs results in

Remove ROI

the camera sampling and transmitting any remaining ROIs. If all ROIs are removed, the camera stops using R OIs and returns to sampling and transmitting the entire pixel array

Regions of interest must be removed, then re-created, when changing video output format, including number of taps (see Setting the Video Format and Frame Rate) or between binning and non-binning (see

Sensor Mode Pixel Binning), or when changing ROI height.

Best practice: If creating a single ROI, specify ROI_ number = 0. If creating multiple ROIs, number them sequentially from the top-most ROI, beginning with ROI_number =0.

4.4.4 Example: Specifying Regions of Interest

The figure below shows three regions of interest specified within the 2048 x 2048 pixel array of the GZL-CL-41C6: ROI_ 0, ROI_1 and ROI_2. ROI_0 is offset vertically by 300 pixels, and is 374 pixels in height. ROI_1 is offset vertically by 874 pixels and is 300 pixels in height. ROI_2 is offset vertically by 1374 pixels and is 374 pixels in height. The ROIs are offset horizontally by 648 pixels, and are 752 pixels wide.

rstroi ROI_number ROI_number is a previously set ROI using the setroi command. Removing an ROI does not affect the ROI_number value of any remaining ROIs

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Figure 4.1: Example ROI configuration on GZL-CL-41C6

The following are the commands for achieving this ROI configuration:

setroi 0 300 374 setroi 1 874 300 setroi 2 1374 374 w 752 ox 648

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5 Image Acquisition

5.1 Free-Running Acquisition

When image capture is not controlled by a triggering mechanism, the camera captures and transmits image data continuously, based on the specified frame rate. For information, see Video Data Output. When Exposure is increased beyond what the specified frame rate can sustain, the frame rate is lowered dynamically.

Image Acquisition

Name Description Read Write

Acquisition Start Starts Image Acquisition astart

Acquisition Stop Stops Image Acquisition astop

5.2 Asynchronous Triggering

The camera supports asynchronous triggering, which allows the start of exposure (shutter) to be initiated by an external electrical source (or hardware trigger) or from an internal software mechanism (software trigger).

External triggers can be sourced through one of the RS- 644 LVDS Camera Control (CC) signals on the Camera Link connectors, or a GPIO pin. For information about the Camera Link connectors, see Camera Link Connectors. For information about the GPIO interface, see .

Gazelle Supported Trigger Modes

Model Mode

All Single-Shot Trigger Mode

All Bulb Shutter Trigger Mode

GZL-CL-22C5 and GZL-CL- 41C6 models implement different exposure timing mechanisms between freerunning and asynchronous trigger modes. As a result, images may appear over-exposed when switching to trigger mode. To fix, lower the gain or exposure settings. For more information, see Gain or Exposure. Additionally, achievable frame rates may decrease. To fix, lower the exposure setting. To maximize frame rate when operating these models in trigger mode, we recommend raw exposure values of 100 or less.

To access trigger modes:

n Software Instruction Set—Acquisition Control

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Triggering

Name Description Read Write

Trigger Source

Trigger Mode

Trigger Software

Gets or sets the source from which to accept an incoming trigger

Gets or sets the trigger acquisition mode

Fires a software trigger trgsoft

5.2.1 Triggering off the GPIO

This example puts the camera into synchronized exposure mode by starting exposure from the falling edge of a trigger that originates from the camera's opto-isolated GPIO pin (GPIO0). Single-shot mode is specified, which means exposure lasts for the duration to which it is set, in this case a raw value of 10, or 10.32 μs (Full 8-tap configuration, 40 MHz input clock):

trsrc

trm

trsrc source source may be: soft—Software trigger line1—Camera Control 1 (CC1) line2—Camera Control 2 (CC2) line3—Camera Control 3 (CC3) line4—Camera Control 4 (CC4) GPIO0—Opto-isolated GPIO input pin

trm mode mode is single, bulb, freerun, or none. (Both freerun and none put the camera in a free running state, but freerun may limit maximum frame rate. See

Horizontal Line Artifact for more information.)

trsrc GPIO0 eraw 10 tra fe trm single

5.2.2 Software triggering

This example puts the camera into synchronized exposure mode by starting exposure from a software trigger. Singleshot mode is specified, with a raw exposure value of 100, or 393.45 μs (full configuration, 40 MHz input clock). The example finishes by invoking a software trigger, which results in one frame capture.

trsrc soft eraw 100 trm single trgsoft

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5.2.3 Maximum Frame Rates When Triggering

The following are the camera's maximum achievable frame rates in asynchronous trigger mode, full 8-tap configuration, and exposure set to the minimum allowable value when triggering (eraw = 5).

Table 5.1: Maximum Frame Rates in Trigger Mode

Camera Trigger Mode Maximum Frames per Second

GZL-CL-22C5

GZL-CL-41C6

If exposure is set to higher than image readout rate * image height, frame rate decreases dynamically. To determine readout rate, see Asynchronous Triggering. For information about setting exposure, see Exposure.

Single shot 265

Bulb shutter 266

Single shot 142

Bulb shutter 142

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5.2.4 Trigger Delay

You can specify a delay from when a trigger signal is detected by the camera to when the trigger actually fires and initiates image acquisition.

To convert from raw values to seconds, use one of the following formulas, depending on current number of taps for output (see Setting the Video Format and Frame Rate) and Sensor Input Clock speed.

n Full 8-tap configuration:

40 MHz (default)

((2^12 * raw_value ) / 40e6 ) + 0.00007095

30 MHz

((2^12 * raw_value ) / 30e6 ) + 0.0000946

20 MHz

((2^12 * raw_value ) / 20e6 ) + 0.0001419

10 MHz

((2^12 * raw_value ) / 10e6 ) + 0.0002838

n Base 2-tap configuration:

((2^12 * raw_value ) / 10e6 ) + 0.0000903

Trigger Delay

Name Description Read Write

Gets or sets the delay from when the trigger

Trigger Delay Raw

Trigger Delay Minimum

Trigger Delay Maximum

signal is detected to when the trigger fires and initiates image acquisition

Gets the minimum image acquisition delay available in the current video mode

Gets the maximum image acquisition delay available in the current video mode

trdraw

trdraw gmin

trdraw gmax

trdraw value value is in raw (non-absolute) terms

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5.2.5 Trigger Polarity

You can specify the rising or falling edge of the trigger phase that activates image acquisition.

Trigger Polarity

Name Description Read Write

Trigger Activation

Gets or sets the trigger phase that activates image acquisition

5.2.6 Single-Shot Trigger Mode

In single-shot trigger mode, the camera starts exposure of the incoming light from external trigger input falling/rising edge. Exposure time is user-configurable (see Exposure.) The camera can be triggered in this mode using the Camera Link camera control lines, the opto-isolated GPIO pin, or internally (software trigger). For information about maximum frame rates while triggering, see Maximum Frame Rates When Triggering.

To configure trigger delay, see Trigger Delay. If no additional delay is explicitly configured, the delay between the trigger signal and exposure is 45 ns.

tra

tra phase phase is re (rising edge) or fe (falling edge)

Figure 5.1: Single-Shot Trigger Timing

Values for Frame Overhead Time and Readout Rate vary by current Sensor Input Clock speed and Video Data

Outputmode , as follows:

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Full 8-tap configuration

Sensor Input Clock Speed (MHz) Frame Overhead Time (µs) Readout Rate (µs/line)

40 70.95 3.2

30 94.60 4.27

20 141.9 6.4

10 38.7 12.8

Base 2-tap configuration

Sensor Input Clock Speed (MHz) Frame Overhead Time (µs) Readout Rate (µs/line)

20 (binning mode) 141.9 6.4

10 (non-binning mode) 38.7 12.8

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5.2.7 Bulb Shutter Trigger Mode

In bulb shutter mode, the camera starts exposure from the external trigger edge. Exposure time is equal to the low state time of the external trigger input. For information about maximum frame rates while triggering, see Maximum

Frame Rates When Triggering.

To configure trigger delay, see Trigger Delay. If no additional delay is explicitly configured, the delay between the trigger signal and exposure is 45 ns.

Figure 5.2: Bulb Shutter Trigger Timing

Values for Frame Overhead Time and Readout Rate vary by current Sensor Input Clock speed and Video Data

Outputmode , as follows:

Full 8-tap configuration

Sensor Input Clock Speed (MHz) Frame Overhead Time (µs) Readout Rate (µs/line)

40 70.95 3.2

30 94.60 4.27

20 141.9 6.4

10 38.7 12.8

Base 2-tap configuration

Sensor Input Clock Speed (MHz) Frame Overhead Time (µs) Readout Rate (µs/line)

20 (binning mode) 141.9 6.4

10 (non-binning mode) 38.7 12.8

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5.2.8 Minimum Trigger Pulse Length

A digital signal debouncer helps to ensure that the camera does not respond to spurious electrical signals that are shorter than 16 ticks of the current Sensor Input Clock setting. This safeguard results in a minimum 16-tick delay before the camera responds to a trigger signal.

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5.3 Programmable Strobe Output

The camera is capable of outputting a strobe pulse off select GPIO pins that are configured as outputs. The start of the strobe can be offset from either the start of exposure (free-running mode) or time of incoming trigger (external trigger mode). By default, a pin that is configured as a strobe output will output a pulse each time the camera begins integration of an image.

The duration of the strobe can also be controlled. Setting a strobe duration value of zero produces a strobe pulse with duration equal to the exposure (shutter) time.

Multiple GPIO pins, configured as outputs, can strobe simultaneously.

Connecting two strobe pins directly together is not supported. Instead, place a diode on each strobe pin.

On GZL-CL-41C6 models, strobe output is not available when raw exposure value is set to 35 or lower. To adjust exposure, see Exposure.

Related Knowledge Base Articles

Title Article

Buffering a GPIO pin strobe output signal using an optocoupler to drive external devices

GPIO strobe signal continues after isochronous image transfer stops Knowledge Base Article 212

Setting a GPIOpin to output a strobe signal pulse pattern Knowledge Base Article 207

Knowledge Base Article 200

Programmable Strobe Output

Name Description Read Write

Strobe Activation

Strobe Source

Strobe Width

Specifies whether the strobe active state is low or high, or if no signal is output at all

Specifies the strobe output type

Specifies a user-defined duration for the strobe signal. Note that the stsrc command must be set to user.

sta

stsrc

sta mode mode is high, low, or off (default)

stsrc source source may be: high—The strobe signal is always high low—The strobe signal is always low duration—The strobe signal lasts for the duration of exposure. Signal polarity depends on the setting of the sta command trigger—The strobe signal lasts for the duration of a high input trigger signal. The trigger input can be from either the GPIOor a Camera Control (CC) Camera Link line. Signal polarity depends on the setting of the sta command. user—The strobe signal duration is defined using the stw command below. Signal polarity depends on the setting of the sta command.

stw value value is in raw (non-absolute) terms. To convert the raw value to microseconds, multiply by 0.12

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Name Description Read Write

Specifies that the strobe

Strobe Delay

output signal be delayed by a period of time.

Strobe Source 'duration' cannot be specified if the camera is operating in Bulb

Shutter Trigger Mode. To synchronize the strobe signal with exposure in bulb

shutter trigger mode, use 'trigger'.

5.3.1 Strobe Output Examples

5.3.1.1 Outputting a continuous strobe

This example puts the camera into an active high strobe state, and outputs a continuous high strobe signal:

sta high stsrc high

5.3.1.2 Outputting a strobe for duration of exposure

This example puts the camera into an active high strobe state, and outputs a high strobe signal for the duration of exposure:

std value value is in raw (non-absolute) terms. To convert the raw value to microseconds, multiply by 0.12

sta high stsrc duration

5.3.1.3 Outputting a strobe for duration of trigger signal

This example puts the camera into active high strobe state, and outputs a high strobe signal for the duration of the trigger signal:

sta high stsrc trigger trsrc GPIO0 trm single

5.3.1.4 Outputting a strobe for a specified duration, after a specified delay

This example puts the camera into active high strobe state, and outputs a high strobe signal at the start of a trigger signal plus a specified delay period, and lasts for a specified duration. The delay period is specified as a raw value of 10, or

10.32 μs (full configuration, 40 MHz input clock). The duration is specified as a raw value of 100, or 393.45 μs (full configuration, 40 MHz input clock):

sta high stsrc trigger stw 100 std 10 trsrc GPIO0 trm single

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5.4 Serial Communication

The camera supports RS-644 serial communication via the serial connection (SerTC/SerTFG) signals in the Camera Link interface. The default baud rate of the serial port is 9600 bit/s. For more information about the Camera Link interface, see Camera Link Connectors.

Related Knowledge Base Articles

Title Article

Configuring and testing the RS-232 serial port Knowledge Base Article 151

SIO Buffers

Both the transmit and receive buffers are implemented as circular buffers that may exceed the 255 byte maximum.

n The transmit buffer size is 512 B.

n The receive buffer size is 8 KB.

Block reads and writes are both supported. Neither their length nor their address have to be 32-bit aligned or divisible by 4.

Serial Communication: Device Baud Rate

Name Description Read Write

Device Baud Rate

Gets or sets the speed (baud rate) of the serial communications port, in bit/s

dbr

dbr value value can be 9600, 19200, 57600, 115200, or 230400

Revised 10/31/2013

Point Grey GazelleTech nical Reference 6 ImagingParameters

6 Imaging Parameters

6.1 Exposure

Exposure, or integration, refers to the amount of time the shutter stays open. The shutter is the camera mechanism that controls exposure to light on the sensor for each frame.

The exposure range is a 24-bit register. The range of values is from 1h - FFFFFFh. For factory default settings, refer to the

Gazelle Specifications tables for each model.

If the exposure time is changed after placing the camera in asynchronous trigger mode, the exposure time will automatically revert to its previous value after the camera is taken out of trigger mode. For more information about trigger mode, see Asynchronous Triggering.

When operating in trigger mode, the minimum allowable exposure value is 5. For more information about trigger modes, see Asynchronous Triggering.

Exposure (Shutter)

Name Description Read Write

Exposure Time Raw Gets or sets the exposure time eraw

Exposure Time Minimum

Exposure Time Maximum

Gets the minimum exposure time available in the current video mode

Gets the maximum exposure time available in the current video mode

eraw value value is in raw (non-absolute) terms

eraw gmin

eraw gmax

To convert from raw values to seconds, use one of the following formulas, depending on current Image Acquisition mode (either free-running or synchronized exposure), number of taps for output and sensor input clock speed:

Free-running mode: Synchronized Exposure (Trigger)mode:

n Full 8-tap configuration:

40 MHz (default)

((raw_value * 129) / 40e6 ) + 0.00007095

30 MHz

((raw_value * 129) / 30e6 ) + 0.0000946

20 MHz

((raw_value * 129) / 20e6 ) + 0.0001419

10 MHz

((raw_value * 129) / 10e6 ) + 0.0002838

n Base 2-tap configuration:

((raw_value * 129) / 10e6 ) + 0.0000903

Revised 10/31/2013

40 MHz (default)

((2^12 * raw_value ) / 40e6 ) + 0.00007095

30 MHz

((2^12 * raw_value ) / 30e6 ) + 0.0000946

20 MHz

((2^12 * raw_value ) / 20e6 ) + 0.0001419

10 MHz

((2^12 * raw_value ) / 10e6 ) + 0.0002838

((2^12 * raw_value ) / 10e6 ) + 0.0000903

n Full 8-tap configuration:

n Base 2-tap configuration:

Point Grey GazelleTech nical Reference 6 ImagingParameters

6.2 Gain

Gain refers to the amount of amplification applied to the image pixels. The camera supports configuring both analog and digital gain. In the imaging data path, analog gain is applied before digital gain. Both analog and digital gain values are saved in User Configuration Sets.

6.2.1 Analog Gain

Analog gain is configurable in raw values between 32 and 64. A formula for converting raw values to dB is not available. The default analog gain setting is factory-calibrated for each camera based on the default exposure setting.

The combination of analog gain and Exposure time impact imaging performance. In general, longer exposure times require a higher analog gain for the sensor to achieve full saturation.

6.2.2 Digital Gain

Digital gain multiplies pixel values. The allowable range of multipliers is 1 to 63.

Gain

Name Description Read Write

Analog Gain Raw Gets or sets the sensor analog gain agraw

Analog Gain Minimum

Analog Gain Maximum

Digital Gain Raw Gets or sets the sensor digital gain graw

Digital Gain Minimum

Digital Gain Maximum

Gets the minimum sensor analog gain

Gets the maximum sensor analog gain

Gets the minimum sensor digital gain

Gets the maximum sensor digital gain

agraw value value is in raw (non-absolute) terms, between 32-64

agraw gmin

agraw gmax

graw value value is in raw (non-absolute) terms, between 1-64

graw gmin

graw gmax

Revised 10/31/2013

Point Grey GazelleTech nical Reference 6 ImagingParameters

6.3 Black Level

Brightness, also known as offset or black level, controls the level of black in an image.

Black level is a digital value added to the existing pixel value after analog to digital conversion.

Black Level (Brightness)

Name Description Read Write

Black Level Gets or sets the sensor black level blraw

Black Level Minimum

Black Level Maximum

Gets the minimum sensor black level

Gets the maximum sensor black level

6.4 Sensor Input Clock

blraw value value is in raw (non-absolute) terms, between 0-

950 The default setting is 10.

blraw gmin

blraw gmax

The sensor input clock controls the rate at which pixel data is acquired by the imaging sensor. In full 8-tap configuration, the input clock runs at a default rate of 40 MHz. You can configure the sensor input clock to run at 35 MHz, 30 MHz, 20 MHz, or 10 MHz. Configuring the sensor input clock at any other setting is not supported. Exposure and frame rate are affected by the pixel clock, so slowing the pixel clock is an alternative way to regulate these properties.

In base 2- tap configuration, the input clock runs at a default rate of 10 MHz, and 20 MHz in Sensor Mode Pixel

Binningmode. Setting the pixel clock speed at any other rate in base configuration is not supported.

Sensor Input Clock

Name Description Read Write

Device Clock Frequency

Gets or sets the frequency of the sensor input Clock, in hertz

6.5 Image Flip/Mirror

The camera supports reverse imaging, otherwise known as image mirroring or image flipping. When images are reversed, pixel values are flipped along the x (horizontal) center axis of the image, y (vertical) center axis, or both. Reverse imaging is compatible with regions of interest (ROIs) (see Specifying Regions of Interest).

Image Flipping

Name Description Read Write

Reverse Image

Flips the image horizontally, vertically, or both

dcf value

dcf

ri value value is one of the following: 0—Images are vertically reflected along the y center axis

1—Images are vertically and horizontally reflected along both the x and y axes 2—Original image orientation (default) 3—Images are horizontally reflected along the x center axis

value can be 40, 35, 30, 20, or 10MHz for 8tap mode 10 MHz for 2-tap mode

Revised 10/31/2013

Point Grey GazelleTech nical Reference 6 ImagingParameters

6.6 Chunk Data

The camera provides a feature that allows image information and camera settings, such as checksum, frame counter, region of interest (ROI) and other settings, to be embedded in images. When this feature is enabled, the last pixels of the last line in an image are replaced with 'chunk data' that contain binary values for the information requested. The size of each chunk depends on the data item. Refer to the table below for a list of items in the order they are embedded and the number of pixels each item comprises. In 10-bit per pixel mode, the two left-most bits of the pixel are padded with zeros.

Table 6.1: Chunk data information types, order and size

Value (Information

Item)

htroi3 2

stroi3 2

htroi2 2

stroi2 2

htroi1 2

stroi1 2

htroi0 2

stroi0 2

width 2

offsetx

blacklevel

gain 1 See Gain.

exposure 3 See Exposure.

horizline 2

framecounter 2

checksum 8

Pixels Description

The vertical offset (stroi) and height (htroi) of regions of interest (ROI) 0, 1, 2 and 3 (if configured) of the image. For more information, see Specifying Regions of Interest. Only data on the first four ROIs can be embedded in chunk data.

The width and horizontal offset of all regions of interest (ROIs)of the image. See

Specifying Regions of Interest.

2 See Black Level

The line number of the horizontal line artifact. For more information, see Horizontal Line

Artifact.

The frame number since the onset of free-running or synchronized exposure. For more information, see Image Acquisition

A checksum computed as the sum of all previous bytes in the image. This value can be compared with a user-generated checksum on the transmitted image to determine if the image was corrupted during transmission.

Revised 10/31/2013

Checksum is specified using separate syntax (see below).

Point Grey GazelleTech nical Reference 6 ImagingParameters

Chunk Data

Name Description Write

Chunk Enable

Chunk Selector

Checksum Embeds a checksum in images

Enables or disables chunk data embedding

Specifies the chunk data items to embed images

Removes all currently embedded data items from being embedded. It is not possible to unembed a subset of currently embedded items

chnken value value is 0 (disabled) or 1 (enabled)

chnksel value For more information see Chunk Data Multiple values cannot be specified in a single command; to embed multiple items, issue separate commands for each one. Information items are presented in the order in which they appear in the last pixels of the last line in an image. If images are offset by ROIs, the location of chunk data is adjusted to fit within the last ROI.

chnksel none

icsum value value is 0 (disabled) or 1 (enabled) When icsum=1, a checksum is embedded in the last bytes of the last line of an image. A total of 8 bytes are used. The first 7 bytes are programmed 0(black). The last bytes is the checksum value. In 2-tap mode, the checksum is a 10-bit value. All remaining bits are padded with 0's.

Revised 10/31/2013

Point Grey GazelleTech nical Reference 7 Troubleshooting

7 Troubleshooting

7.1 Status Indicator LED

LED Status Description

Off Not receiving power

Orange Initialization

Steady green Receiving power and successful camera initialization

Slow flashing green Streaming images or performing internal operation

Alternating red/green flashing Firmware update in progress

Solid red Input voltage is out of tolerance

Slow flashing red Firmware initialization problem - contact technical support

Fast flashing red General error - contact technical support

7.2 Test Pattern

The camera is capable of outputting continuous static images for testing and development purposes. The test pattern image is inserted into the imaging pipeline immediately prior to the transfer to the on-board FIFO, and is therefore not subject to changes in imaging parameters.

Supported outputs include a fixed pattern or a pseudorandom pattern. The pseudorandom pattern uses a linear feedback shift register to generate pixel values for each frame, with different starting values for each pixel.

Fixed Pattern Pseudorandom Pattern

Revised 10/31/2013

Figure 7.1: Test Pattern Sample Image

Point Grey GazelleTech nical Reference 7 Troubleshooting

Test Pattern

Name Description Read Write

tp value value is 0 (live image—no test pattern), 1 (fixed

pattern), or 2 (pseudorandom pattern).

Test Pattern

Specifies the type of test image to transmit

Revised 10/31/2013

Point Grey GazelleTech nical Reference 7 Troubleshooting

7.3 Blemish Pixel Artifacts

Cosmic radiation may cause random pixels to generate a permanently high charge, resulting in a permanently lit, or 'glowing,' appearance. Point Grey tests for and programs white blemish pixel correction into the camera firmware.

In very rare cases, one or more pixels in the sensor array may stop responding and appear black (dead) or white (hot/stuck).

7.3.1 Pixel Defect Correction

Point Grey tests for both dead (black) pixels and hot (white) pixels on each camera. The mechanism to correct pixel defects is hard-coded into the camera firmware, and is enabled by default. Pixels are corrected if they are 20 grayscale levels different than a neighboring pixel average in a gray (mid-level) image. The correction algorithm involves applying the average grayscale values of horizontal neighbor pixels to the defective pixel. The maximum number of pixels corrected is 253.

Pixel correction is not done in any of the binning modes.

Related Knowledge Base Articles

Title Article

How Point Grey tests for white blemish pixels Knowledge Base Article 314

Defect Pixel Correction

Name Description Read Write

Defect Pixel Correction

Defect Pixel Dump

Defect Pixel Information

Defect Pixel Test Mode

Turns defect pixel correction on or off

Returns the x,y coordinates of all pixels being corrected, from top left to bottom right

Returns the number of pixels corrected, or the x,y coordinates of a corrected pixel

Displays all corrected pixels of an image in white

dpdump

dpinfo value value is the defect pixel number. Defect pixels are numbered (zero-based) from top left to bottom right in the image array. For example, to get the x,y coordinates of the third defect pixel, specify dpinfo 2

dpc value value is 0 (disabled) or 1 (enabled)

dpt value value is 0 (disabled) or 1 (enabled). This feature is disabled by default.

Revised 10/31/2013

Point Grey GazelleTech nical Reference 7 Troubleshooting

7.4 Horizontal Line Artifact

One artifact described by CMOSIS is a horizontal line artifact. This artifact can be handled using one of the following methods:

n When the camera operates in Free-Running Acquisition mode, issue the trm freerun command. When

issued, the horizontal line artifact is auto-corrected and virtually disappears. However, maximum achievable frame rates in 8-tap mode are slightly slower than when running in standard 8-tap free-running mode, per the following table. To return to standard free-running mode, issue the trm none command.

Table 7.1: Maximum frame rates in trm freerun mode versus standard free-running mode

Model #Taps

8-tap 265 281

GZL-CL-22C5

2-tap 71 71

8-tap 142 149

GZL-CL-41C6

2-tap 37 37

n In bothFree-Running Acquisition and Asynchronous Triggering modes, the horizontal line number of the artifact

(with trm freerun command)

can be obtained for performing user-defined correction of the artifact.To obtain the horizontal line number of the artifact, specify the horizline chunk data item. For more information about working with chunk data, see Chunk Data.

7.5 CMOSISSensor Artifacts

Certain image effects have been identified by the sensor manufacturer as known artifacts, and may manifest themselves depending on your application. These include:

n Horizontal Line effect n Black Sun effect n Black Level offset

Max FPS at max resolution

(standard free-running mode)

For more information about these artifacts, see this CMOSIS application note.

Revised 10/31/2013

Point Grey GazelleTech nical Reference A Software InstructionSet

A Software Instruction Set

A.1 Device Control

Name Description Read Write

Device Vendor Name Returns the Vendor Name dvn

Device Model Name Returns the Model Name dvm

Device Firmware Version Returns the Firmware Version dfv

Device Firmware Build Date

Device Hardware Version Returns the hardware versions of the PCBs in the camera dhv

Sensor Hardware Version

Device ID Returns the Serial Number did

Update Mode Puts the camera into firmware update mode update

Device Reset Resets Device to Power Up State dr

Initialization

Returns the Firmware build date dbd

Returns the sensor model of the camera 0170FFFEh = CMOSISCMV4000 0180FFFEh = CMOSISCMV2000

Indicates if initialization is complete 0=Still in initialization 1=Complete

shv

init

Revised 10/31/2013

Point Grey GazelleTech nical Reference A Software InstructionSet

Name Description Read Write

Device Information

dump

A.2 Image Format Control

Name Description Read Write

Gets or sets the image width

Width

OffsetY, Height

Revised 10/31/2013

(Returns zero if no ROIs are present) Width must be specified before horizontal offset.

Gets or sets the vertical offset and height of current ROIs. (Returns zero if no ROIs are present)

To specify more than one ROI, use multiple setroi commands. R OI_ number and y-offset must vary between ROIs

getroi

w value value is in pixel columns and is measured from the specified horizontal offset; it must be a value of 8

Point Grey GazelleTech nical Reference A Software InstructionSet

Name Description Read Write

Gets or sets the horizontal offset of

OffsetX

Sensor Width

Sensor Height

the image from the left side of the pixel array. (Returns zero if no ROIs are present) The combination of horizontal offset and width must not exceed sensor width.

Returns the total width of the sensor, in pixels

Returns the total height of the sensor, in pixels

Removes an ROI or returns the camera to non-ROI operation.

ox offset offset is the starting column of the ROI on the x-axis, measured from pixel column 0 at the left of the image; it must be a value of 8

Removing a subset of ROIs results in

Remove ROI

Sensor Mode

Test Pattern

the camera sampling and transmitting any remaining ROIs. If all ROIs are removed, the camera stops using R OIs and returns to sampling and transmitting the entire pixel array

Gets or sets the sensor mode. Can be set to 2-tap, 8-tap, 8-tap 10-bit, or bin2x2. (2x binning is only available in base 2-tap mode)

Specifies the type of test image to transmit

A.3 Acquisition Control

Name Description Read Write

Acquisition Start

Acquisition Stop

Trigger Source

Starts Image Acquisition astart

Stops Image Acquisition astop

Gets or sets the source from which to accept an incoming trigger

trsrc

rstroi ROI_number ROI_number is a previously set ROI using the setroi command. Removing an ROI does not affect the ROI_number value of any remaining ROIs

smod

smod value value is 2tap, 8tap, 8tap10bit, bin2x2

tp value value is 0 (live image—no test pattern), 1 (fixed pattern), or 2 (pseudorandom pattern).

Revised 10/31/2013

Point Grey GazelleTech nical Reference A Software InstructionSet

Name Description Read Write

trm mode mode is single, bulb, freerun, or none.

Trigger Mode

Trigger Activation

Trigger Software

Trigger Delay Raw

Trigger Delay Minimum

Trigger Delay Maximum

Exposure Time Raw

Exposure Time Minimum

Exposure Time Maximum

Gets or sets the trigger acquisition mode

Gets or sets the trigger phase that activates image acquisition

Fires a software trigger trgsoft

Gets or sets the delay from when the trigger signal is detected to when the trigger fires and initiates image acquisition

Gets the minimum image acquisition delay available in the current video mode

Gets the maximum image acquisition delay available in the current video mode

Gets or sets the exposure time eraw

Gets the minimum exposure time available in the current video mode

Gets the maximum exposure time available in the current video mode

trm

tra

trdraw

gmin

trdraw

gmax

eraw

gmin

eraw gmax

(Both freerun and none put the camera in a free running state, but freerun may limit maximum frame rate. See

Horizontal Line Artifact on page 52 for more

information.)

tra phase phase is re (rising edge) or fe (falling edge)

trdraw value value is in raw (non-absolute) terms

eraw value value is in raw (non-absolute) terms

A.4 Strobe Control

Name Description Read Write

Strobe Activation

Strobe Source

Revised 10/31/2013

Specifies whether the strobe active state is low or high, or if no signal is output at all

Specifies the strobe output type

sta

stsrc

sta mode mode is high, low, or off (default)

Point Grey GazelleTech nical Reference A Software InstructionSet

Name Description Read Write

Specifies a user-defined

Strobe Width

Strobe Delay

duration for the strobe signal. Note that the stsrc command must be set to user.

Specifies that the strobe output signal be delayed by a period of time.

A.5 Imaging Parameters Control

Name Description Read Write

Analog Gain Raw

Analog Gain Minimum

Analog Gain Maximum

Digital Gain Raw

Digital Gain Minimum

Digital Gain Maximum

Black Level

Black Level Minimum

Black Level Maximum

Reverse Image

Defect Pixel Correction

Gets or sets the sensor analog gain

Gets the minimum sensor analog gain

Gets the maximum sensor analog gain

Gets or sets the sensor digital gain

Gets the minimum sensor digital gain

Gets the maximum sensor digital gain

Gets or sets the sensor black level

Gets the minimum sensor black level

Gets the maximum sensor black level

Flips the image horizontally, vertically, or both

Turns defect pixel correction on or off

stw value value is in raw (non-absolute) terms. To convert the raw value to microseconds, multiply by 0.12

std value value is in raw (non-absolute) terms. To convert the raw value to microseconds, multiply by 0.12

agraw value

agraw

agraw gmin

agraw gmax

graw

graw gmin

graw gmax

blraw

blraw gmin

blraw gmax

value is in raw (non-absolute) terms, between 32-64

graw value value is in raw (non-absolute) terms, between 1-64

blraw value value is in raw (non-absolute) terms, between 0-950

ri value value is one of the following: 0—Images are vertically reflected along the y center axis 1—Images are vertically and horizontally reflected along both the x and y axes 2—Original image orientation (default) 3—Images are horizontally reflected along the x center axis

dpc value value is 0 (disabled) or 1 (enabled)

Revised 10/31/2013

Point Grey GazelleTech nical Reference A Software InstructionSet

Name Description Read Write

Defect Pixel Dump

Defect Pixel Information

Defect Pixel Test Mode

Returns the x,y coordinates of all pixels being corrected, from top left to bottom right

Returns the number of pixels corrected, or the x,y coordinates of a corrected pixel

Displays all corrected pixels of an image in white

A.6 User Set Control

Name Description Write

Saves the camera's current configuration to

User Set Save

User Set Load Loads a configuration set

User Set Current Gets the currently-loaded configuration set memcurr

one of the three available user-configuration sets

dpdump

dpinfo value value is the defect pixel number. Defect pixels are numbered (zerobased) from top left to bottom right in the image array. For example, to get the x,y coordinates of the third defect pixel, specify dpinfo 2

dpt value value is 0 (disabled) or 1 (enabled). This feature is disabled by default.

memsave value value is 1 or 2

memload value value is 0 (default), 1, or 2

A.7 Status Monitoring

Name Description Read Write

Voltage Status Returns the internal and external voltage, in hertz vstat

Current Status Returns the electrical current, in amperes cstat

Uptime Status

Device Clock Frequency

Device Temperature

Revised 10/31/2013

Returns the time since the camera was last initialized, in hours:minutes:seconds

Returns the frequency of the sensor input Clock, in hertz dcf

Returns the ambient temperature inside the camera case, in degrees Celsius

ustat

dcf value value can be 40, 35, 30, 20, or 10MHz for 8-tap mode 10 MHz for 2-tap mode

Point Grey GazelleTech nical Reference A Software InstructionSet

A.8 Flash Memory Control

Name Description Read Write

Returns the following in order:

Flash Memory Size

Flash Memory Write

Flash Memory Read

Flash Memory Clear Page

Flash Memory Clear All

Total size of flash memory Number of pages Page size

Writes a page to the flash memory

Reads a page from the flash memory

Clears a page of the flash memory

Clears all the flash memory dfclear

dfi

dfw page_number num_bytes ASCII_string

page_number can be from 0 to 8191 num_bytes can e from 0 to 527

If the size of ASCII_string is more than 528 bytes, it is cut to 528 to fit the page size

dfr page_number page_number can be from 0 to 8191

dfw page_number 0 0 page_number can be from 0 to 8191

A.9 Chunk Data Control

Name Description Write

Chunk Enable

Chunk Selector

Checksum Embeds a checksum in images

Enables or disables chunk data embedding

Specifies the chunk data items to embed images

Removes all currently embedded data items from being embedded. It is not possible to unembed a subset of currently embedded items

chnken value value is on or off

chnksel value For more information see Chunk Data

chnksel none

Revised 10/31/2013

Point Grey GazelleTech nical Reference B GPIO Electrical Characteristics

B GPIO Electrical Characteristics

Both the opto-isolated input and output have over current protection.

The output is open collector and thus requires a pull-up resistor to operate. The rise time and bias current will be determined by the resistor value chosen. If the camera is generating an output signal that approaches the rise time plus the fall time of the opto-isolated circuit, care must be taken to optimize the pull-up resistor chosen to minimize the rise time while still remaining within the current limits of the output circuit.

To avoid damage, connect the OPTO_GND pin first before applying voltage to the GPIO line.

Figure B.1: Opto-isolated input circuit

Figure B.2: Opto-isolated output circuit

Revised 10/31/2013

Point Grey GazelleTech nical Reference B GPIO Electrical Characteristics

Note: identical for IO3 pin 4

Figure B.3: Input/output circuit

Revised 10/31/2013

Point Grey GazelleTech nical Reference Contacting Point Grey Research

Contacting Point Grey Research

For any questions, concerns or comments please contact us via the following methods:

Knowledge Base Find answers to commonly asked questions in our Knowledge Base

Downloads Download the latest documents and software

Main Office

Europe and Israel

Distributors

Japan ViewPLUS Inc. www.viewplus.co.jp

Korea Cylod Co. Ltd. www.cylod.com

Singapore, Malaysia &

Thailand

Taiwan Apo Star Co., Ltd. www.apostar.com.tw

United Kingdom ClearView Imaging Ltd. www.clearviewimaging.co.uk

General questions about Point Grey Research Technical support (existing customers only)

Point Grey Research, Inc. 12051 Riverside Way Richmond, BC, Canada V6W 1K7

USA

Point Grey Research GmbH Schwieberdinger Strasse 60 71636 Ludwigsburg Germany

China LUSTERLightVision Tech. Co., Ltd. www.lusterlighttech.com

Voltrium Systems Pte Ltd. www.voltrium.com.sg

Tel: +1 (604) 242-9937 Toll Free +1 (866) 765-0827

(North America only)

Fax: +1 (604) 242-9938 Email: sales@ptgrey.com

Tel: +1 (866) 765-0827 Email: na-sales@ptgrey.com

Tel: +49 7141 488817-0 Fax: +49 7141 488817-99 Email: eu-sales@ptgrey.com

Revised 10/31/2013

Point Grey GazelleTech nical Reference Revision History

Revision History

Revision Date Notes

1.0 January 18, 2011

1.1 May 16, 2011

1.2 February 7, 2012

n Initial version

n Updated formula for converting raw strobe duration and delay values to

absolute values.

n Revised frame rate values per testing on latest firmware. n Added trm freerun command for troubleshooting horizontal line

artifact.

n Added chunk data item for troubleshooting horizontal line artifact. n Updated timing diagram with new value for delay between end of

integration and readout.

n Added that checksum cannot be embedded when pixel defect correction

is enabled.

n Revised chunk data implementation. n New options for troubleshooting. n Added that ROIparameters must be specified according to pixel

configuration on the sensor, even if the camera is operating in binning mode.

n Added that ROIs must be re-configured if changing video output format. n Digital gain range changed from 0-64 to 1-64. n Updated dimensional diagram. n Added missing instructions for stsrc command. n Revised frame rate formulas. n Updated the Software Instruction Set n Standardized format for presentation of software instruction set commands n New specifications format n Added commands: dump, blraw gmin, blraw gmax, graw gmin, graw

gmax, agraw gmin, agraw gmax

1.3 June 1, 2012

1.4 October 1, 2012

2.0 October 31, 2013

Revised 10/31/2013

n Digital gain range changed to 1-63. n Added note that changing ROI height requires removal and redefinition. n Corrected vstat unit of measure to be volts. n Clarified ROI offset to be multiple of 8. n Clarified image flipping commands. n Added note that strobe duration cannot be used in Bulb trigger mode.

n Added revised imaging performance specifications and quantum efficiency

graphs

n Clarified trm freerun and trm none commands

n Fixed dimensional diagram mounting hole distance n Corrected transfer rates n Minor document fixes

Point Grey Gazelle GZL-CL-22C5M-C, Gazelle GZL-CL-41C6M-C Technical Reference

Specifications and Main Features

Frequently Asked Questions

User Manual

Point Grey GazelleTech nical Reference 1 Gazelle Specifications

1.1 Gazelle Specifications

1.2 Physical Description

1.3 Camera Dimensions

1.4 Tripod Adapter Dimensions

1.5 Lens Mounting

1.5.1 Back Flange Distance

1.6 Dust Protection

1.7 Mounting with the Case or Mounting Bracket

1.8 Analog-to-Digital Converter

1.9 Handling Precautions and Camera Care

1.9.1 Case Temperature and Heat Dissipation

1.10 Camera Interface and Connectors

1.10.1 Camera Link Connectors

1.10.2 Interface Card

1.10.3 Interface Cables

1.10.4 Frame Grabbers

1.10.5 General Purpose Input/Output (GPIO)

1.10.5.1 GPIO Modes

GPIO Mode 0: Input

GPIO Mode 1: Output

GPIO Mode 2: Asynchronous (External) Trigger

GPIO Mode 3: Strobe

Point Grey GazelleTech nical Reference 2 Gazelle Installation

2.1 Before You Install

2.1.1 Will your system configuration support the camera?

2.1.2 Do you have all the parts you need?

2.1.3 Do you have a downloads account?

2.2 Installing Your Interface Card and Software

2.3 Installing Your Camera

2.4 Controlling the Camera

2.4.1 User Configuration Sets

Point Grey GazelleTech nical Reference 3 General Gazelle Operation

3.1 Powering the Camera

3.2 Camera Error and Status Monitoring

3.2.1 Camera Initialization

3.2.2 General Status Monitoring

3.2.3 Device Information

3.3 Non-Volatile Flash Memory

3.4 Camera Firmware

3.4.1 Upgrading Camera Firmware

Point Grey GazelleTech nical Reference 4 VideoData Output

4.1 GZL-CL-22C5 Video Data Output

4.2 GZL-CL-41C6 Video Data Output

4.3 Setting the Video Format and Frame Rate

4.3.1 Sensor Mode Pixel Binning

4.3.2 Specifying 8-Tap 10-Bit Output

4.4 Specifying Regions of Interest

4.4.1 Specifying Multiple ROIs

4.4.2 Calculating Frame Rate

4.4.3 Creating ROIs

4.4.4 Example: Specifying Regions of Interest

Point Grey GazelleTech nical Reference 5 Image Acquisition

5.1 Free-Running Acquisition

5.2 Asynchronous Triggering

5.2.1 Triggering off the GPIO

5.2.2 Software triggering

5.2.3 Maximum Frame Rates When Triggering

5.2.4 Trigger Delay

5.2.5 Trigger Polarity

5.2.6 Single-Shot Trigger Mode

5.2.7 Bulb Shutter Trigger Mode

5.2.8 Minimum Trigger Pulse Length

5.3 Programmable Strobe Output

5.3.1 Strobe Output Examples

5.3.1.1 Outputting a continuous strobe

5.3.1.2 Outputting a strobe for duration of exposure

5.3.1.3 Outputting a strobe for duration of trigger signal

5.3.1.4 Outputting a strobe for a specified duration, after a specified delay

5.4 Serial Communication

Point Grey GazelleTech nical Reference 6 ImagingParameters

6.1 Exposure

6.2 Gain

6.2.1 Analog Gain

6.2.2 Digital Gain

6.3 Black Level