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

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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Point Grey GazelleTech nical Reference

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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Point Grey GazelleTech nical Reference

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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Point Grey GazelleTech nical Reference 1 Gazelle Specifications

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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+ 49 hidden pages

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