1.1 Camera Link Connector......................................................................................................................................3
1.3 Equivalent Circuit for the Input Pin of the I/O Connector....................................................................................5
2
Camera Output Timing Charts.............................................................................................................................6
2.1 Normal Mode (Setting 10H: 1XX0XXXX).........................................................................................................6
Camera Operational Mode ................................................................................................................................. 15
3.1 Normal Mode .................................................................................................................................................... 15
3.1.2 Electric Shutter ..........................................................................................................................................15
3.4 H Reset Mode...................................................................................................................................................20
4
Communication Protocol ...................................................................................................................................21
4.1 Communication Method....................................................................................................................................21
4.2 Communication Settings...................................................................................................................................21
4.3 Communication Format .................................................................................................................................... 21
4.4 Camera Control Command...............................................................................................................................24
4.4.1 Camera Command List .............................................................................................................................24
4.4.2 Descriptions of the Camera Control Commands.......................................................................................26
This product is a PoCL type.
When a frame grabber is PoCL compliant, DO NOT SUPPLY POWER FROM THE I/O CONNECTOR.
When a frame grabber is NOT PoCL compliant, supply power from the I/O connector.
Pin Assignment
Power-I/O Connector
Pin No. Signal Name Pin No. Signal Name
1 +12V 14 GND
2 X0- 15 X0+
3 X1- 16 X1+
4 X2- 17 X2+
5 Xclk- 18 Xclk+
6 X3- 19 X3+
7 SerTC+ 20 SerTC-
8 SerTFG- 21 SerTFG+
9 CC1-(TRG) 22 CC1+(TRG)
10 CC2+ 23 CC2-
11 CC3- 24 CC3+
12 CC4+ 25 CC4-
13 GND 26 +12V
Camera Link Connector
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1.2 Power-I/O Connector
HR10A-7R-6PB(Hirose)or equivalent
This connector is for the power supply (12Vdc) and input /output signals.
Use HR10A-7P-6S (Hirose) or equivalent for the cable side.
Pin Assignment
Pin No. Signal Name IN / OUT
1 GND IN 0V
2 I/O-1 IN/OUT
3 I/O-2 OUT
4 I/O-3 OUT
5 I/O-4 OUT OUT 0V +3.3V
6 +12Vdc IN +12Vdc
Input/output signals can be assigned through the camera setting communication (see table 4).
Trigger input signal can be assigned either on Camera Link connector (CC1) or on the No. 2 pin of the
power-I/O connector through the camera setting communication.
IO Signal Patterns
Voltage
Low Voltage High Voltage
IN 0 to +0.99V +2.3 to +3.3V
OUT 0V +3.3V
OUT 0V +3.3V
OUT 0V +3.3V
Command No. HR10A-7R-6PB (Hirose)
Option 0
(Initial Setting)
Option 1 1H For Test Use Only
Option 2 2H OUT/CC4 OUT/CC3 OUT/CC”2 OUT/CC1
Option 3 3H OUT/FVAL OUT/XSG OUT/XSUB OUT/CC1
Option 4 4H
Option 5 5H OUT/XHD
Option 6 6H OUT/VD N/A N/A OUT/HD
Others 7H-FH For Test Use Only
F0H[3..0]
0H IN/TRG N/A N/A OUT/TRG
No.2 Pin No.3 Pin No.4 Pin No.5 Pin
I/O-1 (SP4) I/O-2 (SP3) I/O-3 (SP2) I/O-4 (SP1)
OUT/
OUT/FVAL OUT/LVAL
OUT/EXPDUR
(high-active)
(Exposure)
Right Image Data
(MSB)
OUT/TRG OUT/CC1
Note 1: Output trigger signal has a latency of 30CLK (Approximately 470 nseconds) from input trigger signal.
Note 2: To input trigger signal from the I/O connector, change the setting of 12H.5.
Note 3: EXPDUR becomes high during exposure.
OUT/
Left Image Data
(MSB)
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1.3 Equivalent Circuit for the Input Pin of the I/O Connector
+3.3V+3.3V
100ohm
On resister Max. = 30ohm
TC7WH241FK
TOSHIBA
10kohm
TRIGGER IN
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2 Camera Output Timing Charts
2.1 Normal Mode (Setting 10H: 1XX0XXXX)
2.1.1 Horizontal Timing
LVAL
DVAL
FVAL
607 CLK
Video out
700 CLK
Horizontal blanking
1924 CLK
One horizontal (1H)
1224 CLK700 CLK
Video output active term
1 CLK = 15.625 ns
700 CLK
93
CLK
700 CLK1224 CLK
Horizontal
blanking
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2.1.2 Vertical Timing
2.1.2.1 Normal Full Scanning (Setting 10H: 1XX00XXX, 11H: XXX0X000)
1 H = 30.063 μs, 16.000 Hz
2079H
FVAL
One vertical (1V)
1
2
2058H21H
Video out
LVAL
Vertical
blanking
Video output active term
2058H21H
DVAL
2.1.2.2 Partial Full Scanning (Setting 10H: 1XX01XXX, 11H: XXX0X000)
1 H = 30.063 μs, 16.100 Hz
FVAL
Video out
LVAL
DVAL
Vertical
blanking
1
2
2066H
2058H8H
2058H8H
Video output active term
One vertical (1V)
※ By transferring the blanking period pixels at a high rate, the frame rate of the partial full scanning can
be increased compared to that of the normal full scanning.
DA0 to DA11: 12bit data for one pixel from the first tap
DB0 to DB11: 12bit data for one pixel from the second tap
2TAP10bit
XCLK
X3
X2
X1
NC
X0
DA1 DA0
DA0 to DA9: 10bit data for one pixel from the first tap
DB0 to DB9: 10bit data for one pixel from the second tap
2TAP8bit
XCLK
X3
X2
X1
X0
DA1 DA0
DA0 to DA7: 8bit data for one pixel from the first tap
DB0 to DB7: 8bit data for one pixel from the second tap
SPDA6DA7DB6DB7
DA6DA7
DB2DB3
DA9DA10
DA8 DA5 DA4 DA3 DA2 DA1 DA0
SPDA6DA7DB6DB7
DA6DA7
DB2DB3
DA9
DA8 DA5 DA4 DA3 DA2 DA1 DA0
SPDA6DA7DB6DB7
DA6DA7
NCNC
DB1DB2
NC
DB9DB0DB1
NCNC
LVALFVALDVAL
NC
DA5 DA4 DA3 DA2 DA1 DA0DB0
DB10DB11
NCNC
NCNC
NCNCNC
DB2DB3DB4DB5LVALFVALDVAL
DA9DA10DA11DB8
DB2DB3DB4DB5LVALFVALDVAL
DA9DB8DB9DB0DB1DB8DB9
NC
DB1DB2DB3DB4DB5
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2.4 2 Taps Transferring Image (2XE-1Y)
Tap1
X
1
X
2
Y
1
Y
1
X
1
X
2
Y
2
Y
2
X
1
X
2
Y
H-1
Y
Sep Y = 1
H-1
Sep X = 1
Sep X = 1
X
X
W/2
X
W/2+1
Y
1
Y
1
X
W/2
X
W/2+1
Y
2
Y
2
X
W/2
X
W/2+1
Y
H-1
Y
H-1
W-1
Y
X
W-1
Y
X
W-1
Y
H-1
X
W
1
Y
1
X
W
2
Y
2
X
W
Y
H-1
Tap2
X
1
Y
H
2.5 Pixel Transferring Image
Pixeln of DataA: nth pixel being transferred from the TAP1
Pixeln of DataB: nth pixel being transferred from the TAP2
X
2
Y
H
Pixel1 of
DataA
Pixel2 of
DataA
X
X
X
W/2
X
W/2+1
Y
H
Y
H
W-1
Y
H
W
Y
H
DataB
Pixel1 of
DataB
Pixel2 of
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3 Camera Operational Mode
3.1 Normal Mode
In this mode, the images are output continuously.
3.1.1 Frame Exposure
I nt er nal VD
CCD
ex p o s u r e
Vi deo out
3.1.2 Electric Shutter
I nt er na l VD
CC D
e x po su r e
Vi de o ou t
Ex pos u r e ti me
Ex po s u r e
t i me
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3.2 Pulse Width Trigger Mode
In this “pulse width trigger mode” with positive polarity, the camera exposure starts at the rising edge of the
trigger signal and stops at the falling edge of the trigger signal. Therefore, in the case that the exposure positive
polarity is selected, the actual exposure occurs when the trigger signal is at high state.
3.2.1 Pulse Width Trigger Mode(V-Reset)
Camera mode
Trigger signal
(Positive)
Internal VD
CCD exposure
Video out
FVAL
Normal modeTrigger modeNormal mode
*Note. 2
Max. 1H
Sweep charges
*Note. 3
Exposure
time
Automatically switch to the normal
mode if the pulse width of the
trigger signal is more than
500 mseconds.
*Note. 1
Note 1: The camera does NOT switch to normal mode when the long exposure mode is selected.
This timing chart shows when the long exposure mode selected.
Note 2: The internal VD signal is reset immediately after the exposure is finished as depicted, and the video output
original is sent out according to that reset VD timing.
Note 3: The exposure time is controlled by the pulse width of the trigger signal as depicted.
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3.2.2 Pulse Width Trigger Mode (Non-Reset)
Camera mode
Trigger signal
(Positive)
Internal VD
CCD exposure
Video out
FVAL
Normal modeNormal modeTrigger mode
Next VD
Sweep charges
*Note. 3
Exposure
time
Next VD
*Note. 2
Automatically switch to the normal
mode if the pulse width of the
trigger signal is more than
500 mseconds.
*Note. 4
*Note. 1
Note 1: The camera does NOT switch to normal mode when the long exposure mode is selected.
This timing chart shows with the long exposure mode selected.
Note 2: The internal VD signal does not reset by the trigger signal.
The video output signal is sent out at the next internal VD timing.
Note 3: The exposure time is controlled by the pulse width of the trigger signal as depicted.
Note 4: The FVAL signal does not output when the exposure by the trigger signal does not exists.
3.2.3 Exposure Timing
Trigger signal
Exposure time
Filtering *Note.1
30 CLK
T1
T1'
SUB
Exposure time: T1' = T1 + 741 CLK
SG
Notes: The trigger signal equal to or shorter than 30 CLK is removed by the filtering system.
Input trigger signal has to be more than 31 CLK pulse width.
The exposure starts 198 CLK after the rising edge of the trigger signal.
(741 CLK)
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3.3 Edge Preset Trigger Mode
In this “edge preset trigger mode”, the camera exposure starts at the rising edge of the trigger signal like the
“pulse width trigger mode” in the previous sections.However, in this mode, the exposure duration time is based on the
preset value stored by the by the camera setting communication.
3.3.1 Edge Preset Trigger Mode (V-Reset)
Camera mode
Trigger signal
(Rising edge)
Normal modeNormal modeTrigger mode
*Note. 2
Max. 1H
Automatically switch to the normal
mode if the pulse width of the
trigger signal is more than
500 mseconds.
*Note. 1
Internal VD
*Note. 3
Exposure
time
CCD exposure
Video out
FVAL
Note 1: The camera does NOT switch to the normal mode when the long exposure mode is selected.
This timing chart shows when the long exposure mode is selected.
Note 2: The internal VD signal is reset immediately after the exposure is finished as depicted and the video output
signal is sent out according to the reset VD timing.
Note 3: The exposure time is preset by the camera setting communication as “shutter speed”.
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3.3.2 Edge Preset Trigger Mode (Non-Reset)
Camera mode
Normal modeTrigger modeNormal mode
Trigger signal
(Rising edge)
Internal VD
Next VDNext VD
CCD exposure
*Note. 3
Exposure
time
Video out
FVAL
Note 1: The camera does NOT switch to normal mode when the long exposure mode is selected.
This timing chart shows when the long exposure mode selected.
Note 2: The internal VD signal does not reset by the trigger signal.
The video output signal is sent out at the next internal VD timing.
Note 3: The exposure time is preset by the camera setting communication as “shutter speed”.
Note 4: The FVAL signal does not output when the exposure by the trigger signal does not exists.
3.3.3 Exposure Timing
Trigger signal
Exposure time
30CLK
Filtering *Note.1
SUB
SG
Notes: The trigger signal equal to or shorter than 30 CLK is removed by the filtering system.
Input trigger signal has to be more than 31 CLK pulse width.
The exposure starts198 CLK after the rising edge of the trigger signal.
*Note. 1
Automatically switch to the normal
mode if the pulse width of the
trigger signal is more than
500 mseconds.
*Note. 2
Next VD
*Note. 4
T1'
Exposure time: T1' = Preset electronic shutter
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3.4 H Reset Mode
Normally, video noise appears when the beginning of trigger signal is applied before finishing the video read-out
of the previous frame. This noise is caused by the SUB pulse, which is activated to clear all residual charges on the
CCD prior to a new exposure. By selecting this “H. Reset Mode”, the camera automatically holds the actual activation of
trigger until the next horizontal blanking period. By doing this, the SUB pulse is activated during the horizontal blanking
period and the noise in image can be avoided.
Due to the principal of this operation, there can be maximum “1 H” of delay of actual trigger signal.
Trigger signal
(Rising edge)
Internal HD
Normal SUB pulse timing
Next HD
SUB pulse
CCD exposure
Noise
Noise
NoiseNoise
Video out
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4 Communication Protocol
This camera has a communication function that enables external devises, such as a PC, to control the camera’s
functions.
Please use the “R-GigE-Software” communication software, or the following communication protocol to
communicate to the camera:
4.1 Communication Method
UART(RS232C), binary communication
4.2 Communication Settings
4.3 Communication Format
The Sending data format from the PC to the camera is as follows:
The Receiving Data format from the camera is as follows:
After sending the Read Command:
After sending the Write Command:
Settings
Baud Rate 9,600 bps / 38,400 bps
Data Bit 8 bit
Parity None
Stop Bit 1 bit
Flow Control None
SOF
(8bit) (6bit) (1bit) (1bit) (8bit) (8bit)
SOF Data Length
(8bit)
SOF Data Length
(8bit)
Device
Code
(8bit) (n bytes) (8bit)
(8bit) “00” (1 byte) (8bit)
Read/Write
Page
Selection
Data EOF
Receiving Code EOF
Command
Code
Data
Length
Data EOF
(R: 1 byte)
(W: n bytes)
(8bit)
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The description of the format is as follows.
Name Descriptions
SOF Start of Frame. Always set or receive the value as “02H”
Device Code This indicates the destination of communication.
Set “000000” when accessing the camera’s function settings
Set “100000” when accessing the camera’s extended function settings.
Please refer to the “Camera Command List” and “Description of the Camera Control
Commands”.
Read / Write This specifies “Read” or “Write” to command numbers.
Set (or receive) “0” to send the read command.
Set (or receive) “1” to send the write command.
Page
Selection
Command
Code
Data Length This indicates the data length (unit: byte).
Data This indicates write data or read data according to command type.
EOF End of Frame. Always set or receive the value as “03H”
Receiving
Code
This specifies page selection (access selection to registers or EEPROM) of command.
Set “0” to access the command register of the camera.
Read command: To obtain the current data from the command register.
Write command: To set a data into the command register.
The previously stored data is replaced by this data. However, the data in the EEPROM is not
replaced.
Set ”1” to access the EEPROM of the camera.
Read command: To read stored data from the EEPROM.
Write command: To store data into the EEPROM as default value.
The camera returns the receiving code “01H” to the PC after storing data in the EEPROM.
This indicates the contents of the data sent or received. Refer to the following page for the
details.
Receiving Frame:
The data length is dependent on each read command sent.
The data length is defined as “00H” when sending the write command.
The data length of error response is defined as “00H”.
Sending frame:
The data length is 1 byte dummy data when sending the read command, and that data is
not referenced.
The data length is dependent on each “write command” sent.
This indicates results of the command sent
01H: OK (ACK), 10H: NG (NAC),
11H: Connection error with peripheral device
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【
Example Code
】Reading the data from the command 00H
Command to send: 02H, 00H, 00H, 01H, 00H, 03H
SOF Device Code Read/Write Page Selection Command Code Data Length Data EOF