Teledyne DALSA Piranha PC-30-02K80-00-R, DALSA Piranha PC-30-02K60-00-R, DALSA Piranha PC-30-04K80-00-R, DALSA Piranha PC-30-04K60-00-R User Manual

Piranha Color Camera 1

Camera User’s Manual 03-032-10211-08 3-Jun-11

Piranha Color

Trilinear Camera

PC-30-02K80-00-R
PC-30-02K60-00-R
PC-30-04K80-00-R
PC-30-04K60-00-R

Piranha Color Camera 2

North America

605 McMurray Rd
Waterloo, ON N2V 2E9
Canada

Tel: [phone]
Fax: [phone]

www.teledynedalsa.com

[e-mail]
[e-mail]

Europe

Breslauer Str. 34
D-82194 Gröbenzell (Munich)
Germany

Tel: +49 - 8142 – 46770
Fax: +49 - 8142 – 467746

www.teledynedalsa.com

[e-mail]
[e-mail]

Asia Pacific

Ikebukuro East 13F

3-4-3 Higashi-Ikebukuro

Toshima-ku, Tokyo 170-0013

Japan

Tel: [phone]
Fax: [phone] (fax)

www.teledynedalsa.com

[e-mail]
[e-mail]

© 2011 Teledyne DALSA. All information provided in this manual is believed to be
accurate and reliable. No responsibility is assumed by Teledyne DALSA for its use.
Teledyne DALSA reserves the right to make changes to this information without notice.
Reproduction of this manual in whole or in part, by any means, is prohibited without
prior permission having been obtained from Teledyne DALSA.

About Teledyne Technologies and Teledyne DALSA, Inc.

Teledyne Technologies is a leading provider of sophisticated electronic subsystems,
instrumentation and communication products, engineered systems, aerospace engines,

and energy and power generation systems. Teledyne Technologies’ operations are

primarily located in the United States, the United Kingdom and Mexico. For more
information, visit Teledyne Technologies’ website at www.teledyne.com.

Teledyne DALSA, a Teledyne Technologies company, is an international leader in high
performance digital imaging and semiconductors with approximately 1,000 employees
worldwide, headquartered in Waterloo, Ontario, Canada. Established in 1980, the
company designs, develops, manufactures and markets digital imaging products and
solutions, in addition to providing MEMS products and services. For more information,
visit Teledyne DALSA’s website at www.teledynedalsa.com.

Support

For further information not included in this manual, or for information on Teledyne
DALSA’s extensive line of image sensing products, please contact:

Piranha Color Camera 3

Contents

Features and Specifications 5

1.0 Introduction 5

1.1 Camera Performance Specifications 5

1.2 Image Sensor 11

1.3 Responsivity 12

Hardware Interface: Connectors and Timing 13

2.1 Installation Overview 13

2.2 Input/Output Connectors and LED 13

2.3 Camera LED 14

2.4 Power Connector 14

2.5 Camera Link Data Connector 15

2.6 Camera Timing 15

Software Interface: Configuring the Camera 21

3.1 First Power Up Camera Settings 21

3.2 Rebooting the Camera 22

3.3 Baud Rate 22

3.4 Select Cable 22

3.5 Help 22

3.6 Sensor Output 24

3.7 Data Output 26

3.8 Set Color Correction 27

3.9 Camera Selection Variables 28

3.10 Exposure Control 29

3.11 Spatial Correction 33

3.12 Averaging Horizontal Pixels 35

3.13 Processing Chain Overview and Description 36

3.14 Analog Gain and Analog Offset 38

3.15 Flat Field Correction 41

3.16 Digital Gain and Background Subtract 48

3.17 Look-Up Tables 49

3.18 Saving, Loading and Restoring Settings 51

3.19 Diagnostics 57

Optical and Mechanical Considerations 69

4.1 Mechanical Interface 69

4.2 Lens Mounts 70

4.3 Optical Interface 71

CCD Handling Instructions 73

5.1 Electrostatic Discharge and the CCD Sensor 73

5.2 Protecting Against Dust, Oil and Scratches 73

5.3 Cleaning the Sensor Window 74

Troubleshooting 75

6.1 Common Issues 75

Piranha Color Camera 4

Appendix A: ASCII Command Reference 79

Appendix B: Blue Correction Command 89

Appendix C: EMC Declaration of Conformity 91

Appendix D: Revision History 93

Index 95

Piranha Color Camera 5

Model Number

Description

PC-30-02k60-00-R

2k resolution, 3 taps at 60 MHz

PC-30-02k80-00-R

2k resolution, 3 taps at 80 MHz

PC-30-04k60-00-R

4k resolution, 3 taps at 60 MHz

PC-30-04k80-00-R

4k resolution, 3 taps at 80 MHz

Sensor Features

Value

Imager Format

Trilinear CCD

Resolution

2048 pixels

Features and Specifications

1.0 Introduction

Camera Features

 2048 or 4096 trilinear RGB line scan sensor.
 Color spacing: 3 lines, center-to-center.
 Forward and reverse scanning operation.
 Maximum line rates of 22 kHz (2k60) and 32 kHz (2k80), or 12 kHz (4k60) and 17

kHz (4k80).

 Programmable analog gain and offset.
 FPN and PRNU correction.
 White balancing algorithms.
 Optional luminance output.
 Spatial correction.
 Anti-blooming.
 Configurable base or medium Camera Link.
 RoHS and CE compliant.

Applications

 100% print inspection.
 Electronics manufacturing inspection.
 Postal and parcel sorting.
 High performance document scanning and image lift.
 Narrow and large web inspection.
 High-end industrial inspection.

Models

1.1 Camera Performance Specifications

2k Model Performance Specifications

Test conditions and notes follow. All numbers measured at 12-bit unless specified
otherwise.

Piranha Color Camera 6

Sensor Features

Value

Pixel Fill Factor

100%

Pixel Size

14 x 14 µm

Antiblooming

10x

Operating Ranges

Value

Minimum Line Rate

3.0 kHz (Operable to 1 Hz from external)

Maximum Line Rate

22.7 kHz (2k60) or 32.3 kHz (2k80)

Pixel RGB Throughput

Up to 80 Mps

Gain

-10 dB to +10 dB

Optical Interface

Value

Back Focal Distance
M72 Mount

19.56 mm (M72 x 0.75)

Sensor Alignment
x
y
z
z

± 50 µm
± 50 µm
± 250 µm

±0.2°

Lens Mount

M72 x 0.75, M42x1 and F-mount.

Mechanical Interface

Value

Camera Size

67 x 105 x 76 (l x h x w)

Mass

450 g

Power connector

Single voltage input (+12V to +15V) Hirose 6-pin circular male

Data connector

Camera Link MDR26F

Electrical Interface

Input Voltage

+12 to +15 volts

Power Dissipation

12 W

Operating Temperature (front
plate)

0 to 50 °C
Data Output Format

8 or 12 bits

Output Data Configuration

3 taps 8 bit
3 taps 12 bit
6 taps 8 bit

Piranha Color Camera 7

Operating Specifications

FFC

Unit

Color -10dB

0dB

+10dB

Min

Typ

Max

Min

Typ

Max

Min

Typ

Max

Responsivity

Off

DN/(nJ/cm²)

R

76 228

240

252 758 G 127 380

400

420 1264

B

63 190

200

210 632 Responsivity

On

DN/(nJ/cm²)

R

95 285

300

315 948

G 158 475

500

525 1580

B 79 238

250

263 790 Dynamic Range

On

Ratio

RGB

758

240

76 Random Noise

On

DN rms

RGB

5.4

10 17

30 54

95

DC Offset

DN RGB

180

180

180 FPN

Off

DN p-p

K60

RGB

25

55

137 K80

RG

K80

B*

60

140

450

FPN

On

DN p-p

RGB

10

PRNU global

Off

DN p-p

RGB

760

760

1000

PRNU pixel-to-pixel

Off

DN p-p

RGB

517

517

890

PRNU global

On

DN p-p

RGB

18

NEE

On

pJ/cm²

R

56.7

56.7

56.7 G 34

34

34 B 68

68

68 SEE

On

nJ/cm²

R

43.1

13.7

4.3 G 25.9

8.2

2.6 B 51.8

16.4

5.2

Saturation Output
Amplitude

DN RGB

4095

4095

4095

2k Model Operating Specifications

Test conditions and notes follow. All numbers measured at 12-bit unless specified
otherwise.

Piranha Color Camera 8

Sensor Features

Value

Imager Format

Trilinear CCD

Resolution

4096 pixels

Pixel Fill Factor

100%

Pixel Size

10 x 10 µm

Antiblooming

100x

Operating Ranges

Value

Minimum Line Rate

3.0 kHz (Operable to 1 Hz)

Maximum Line Rate

12.1 kHz (4k60) or 17.6 kHz (4k80)

Pixel RGB Throughput

up to 80 Mps

Gain

-10 dB to +10 dB

Optical Interface

Value

Back Focal Distance
M72 Mount

91.56 mm (M72 x 0.75)

Sensor Alignment
x
y
z
z

±50 µm
±50 µm
±250 µm

±0.2°

Lens Mount

M72 x 0.75, M42x1 and F-mount.

Mechanical Interface

Value

Camera Size

67 x 105 x 76 mm (l x h x w)

Mass

450 g

Power connector

Single voltage input (+12V to +15V) Hirose 6-pin circular male

Data connector

Camera Link MDR26F

Electrical Interface

Input Voltage

+12 to +15 volts

Power Dissipation

12 W

Operating Temperature
(front plate)

0 to 50 °C
Data Output Format

8 or 12 bits

Output Data
Configuration

3 taps 8 bit
3 taps 12 bit
6 taps 8 bit

4k Model Performance Specifications

Test conditions and notes follow. All numbers 12 bit unless specified otherwise.

Piranha Color Camera 9

Operating Specifications

FFC

Unit

Color

-10dB

0dB

+10dB

Min

Typ

Max

Min

Typ

Max

Min

Typ

Max

Responsivity

Off

DN/(nJ/cm²)

R

38 114

120

126 379 G 63 190

200

210 632 B 32 95

100

105 316 Responsivity

On

DN/(nJ/cm²)

R

47 143

150

158 474

G 79 238

250

263 790

B 40 119

125

131 395 Dynamic Range

On

Ratio

RGB

758

240

76 Random Noise

On

DN rms

RGB

5.4

10 17

30 54

95

DC Offset

DN RGB

180

180

180 FPN

Off

DN p-p

K60

RGB

40

87

275 K80

RG

K80

B*

60

140

450

FPN

On

DN p-p

RGB

10

PRNU global

Off

DN p-p

RGB

760

760

1000

PRNU pixel-to-pixel

Off

DN p-p

RGB

517

517

890

PRNU global

On

DN p-p

RGB

18

NEE

On

pJ/cm²

R

113.3

113.3

113.3

G

68

68

68 B 136

136

136 SEE

On

nJ/cm²

R

86

27.3

8.6 G 51.8

16.4

5.2 B 103.5

32.8

10.4

Saturation Output
Amplitude

DN RGB

4095

4095

4095

4k Model Operating Specifications

Test conditions and notes follow. All numbers measured at 12-bit unless specified
otherwise.

Piranha Color Camera 10

2K

4K

R G B R G B

-10 dB

800

480

960

1600

960

1920

0 dB

253

152

304

506

304

607

+10 dB

80

48

96

160

96

192

Specification tables test conditions and notes 2k and 4k models:

 Line Rate: 400 Hz.
 Exposure Time (µs):

 Light Source: Broadband Quartz Halogen, BG-38, with 750nm cutoff filter

installed, Correction Color Temperature = 5300°K.

 Ambient Test Temperature: 25°C.
 Output swing (FFC off): 3220 DN includes 180 DN Dark Offset. (Range of 0 to

4095 DN).

 Output swing (FFC on): 3800 DN.
 All numbers are 12-bit unless specified otherwise.
 The responsivity of each color is adjusted to achieve equal output.
 Tested in Camera Link Mode clm 16.
 PRNU specified at 75% of full swing.

General Notes:

 Specifications apply to both 60 MHz and the 80 MHz camera models unless

indicated otherwise.

 Specification with "FFC on" apply to the factory calibrated FFC. User calibrated

FFC may have a different affect on camera performance.

*FPN Notes:

 2K80 cameras have increased FPN on the blue outputs between pixels 533 - 543

and 1506 - 1516.

 4K80 cameras have increased FPN on the blue outputs between pixels 1045 - 1055

and 3042 - 3052.

 Outside of this range, FPN meets the same specification as the other colors.

Piranha Color Camera 11

Red Tap 2

Red Tap 1

Blue Tap 2

Blue Tap 1

2048 or 4096 pixels

Red Tap 4

Red Tap 3

Green Tap 2

Green Tap 1

Green Tap 4

Green Tap 3

Red Tap 2
Red Tap

1

Blue Tap
1

Green Tap 2
Green Tap

1

30 µm (4k)

42 µm (2k)

30 µm (4k)

42 µm (2k)

The three color lines are separated
30 µm (4k) or 42 µm (2k) apart
center to center.

1.2 Image Sensor

The Piranha Color camera uses a trilinear CCD sensor with three lines of pixels: one
blue, one red and one green. Depending on your camera model, each line contains
either 2048 or 4096 pixels. As illustrated in the diagram below, the blue line has 2
outputs (taps), and the red and green lines have 4 outputs.

Figure 1: Sensor Block Diagram

Piranha Color Camera 12

2K Spectral Responsivity, FFC on

0

10

20

30

40

50

60

400 500 600 700 800 900 1000 1100

Wavelength (nm)

Responsivity [DN/(nJ/cm

2

)]

Blue
Green
Red

4K Spectral Responsivity, FFC on

0

5

10

15

20

25

30

400 500 600 700 800 900 1000 1100

Wavelength (nm)

Responsivity[DN/(nJ/cm2)]

Blue
Green
Red

1.3 Responsivity

Piranha Color Camera 13

Camera Link Connector

Camera Link Connector

Power Connector

Hardware Interface: Connectors
and Timing

2.1 Installation Overview

When installing your camera, you should take these steps:

1. Power down all equipment.

2. Following the manufacturer’s instructions, install the frame grabber (if applicable).

Be sure to observe all static precautions.

3. Install any necessary imaging software.

4. Before connecting power to the camera, test all power supplies. Ensure that all the

correct voltages are present at the camera end of the power cable. Power supplies
must meet the requirements defined in section 2.2.2 Power Connector.

5. Inspect all cables and connectors prior to installation. Do not use damaged cables

or connectors or the camera may be damaged.

6. Connect Camera Link and power cables.

7. After connecting cables, apply power to the camera.

8. Check the diagnostic LED. See the LED Status Indicator section below for an

LED description.

9. The camera powers on with a baud rate of 9600.

You must also set up the other components of your system, including light sources,
camera mounts, host computers, optics, encoders, and so on.

2.2 Input / Output Connectors and LED

The camera uses:

 An LED to display the camera's status.
 High-density 26-pin MDR26 connectors for Camera Link control signals, data

signals, and serial communications.

 One 6-pin Hirose connector for power.

Piranha Color Camera 14

!

Priority

Color of Status LED

Meaning

1

Flashing Red

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

2

Flashing Green

Camera initialization or executing a long command
(e.g., flat field correction commands ccp or ccf).
During this state, any other sent command is ignored.

3

Solid Green

Camera is operational and functioning correctly and
ready to receive commands.

Hirose 6-pin Circular Male

5

4

6

2

3

1

Mating Part: HIROSE

HR10A-7P-6S

Table 2: Hirose Pin Description

Pin

Description

Pin

Description

1

Min +12 to Max +15V

4

GND

2

Min +12 to Max +15V

5

GND

3

Min +12 to Max +15V

6

GND

Note: Refer to the following sections for details on equipment recommendations and
camera connector information.

2.3 Camera LED

The camera is equipped with a red/green LED used to display the operational status of
the camera. The table below summarizes the operating states of the camera and the
corresponding LED states.

When more than one condition is active, the LED indicates the condition with the
highest priority. The fatal error state is accompanied by corresponding messages further
describing the problem.

Table 1: Diagnostic LED

2.4 Power Connector

Figure 2: Hirose 6-pin Circular Male—Power Connector

The camera requires a single voltage input (+12 V to +15 V). The camera meets all
performance specifications using standard switching power supplies, although well­regulated linear supplies provide optimum performance.

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

 Ensure +12 V to +15 V at the camera power input (after the voltage drop across

the power cable. This may mean that the power supply will have to provide a
voltage greater than the required camera voltage. For example, to achieve +12 V at
the camera, the power supply may need to be +12.5 V or greater.

 Protect the camera with a fast-blow fuse between power supply and camera.
 Do not use the shield on a multi-conductor cable for ground.
 Keep leads as short as possible to reduce voltage drop.
 Use high-quality linear supplies to minimize noise.
 Use an isolated type power supply to prevent LVDS common mode range

violation.

Note: Camera performance specifications are not guaranteed if your power supply

does not meet these requirements.

Piranha Color Camera 15

Clocking Signal

Indicates

LVAL (high)

Outputting valid line

DVAL (high)

Valid data (unused, tied high)

STROBE (rising edge)

Valid data

FVAL (high)

Outputting valid frame (unused, tied high)

IMPORTANT:

This camera’s

data should be
sampled on the
rising edge of
STROBE.

i

2.5 Camera Link Data Connector

Figure 3: Camera Link MDR26 Connector

Input Signals, Camera Link

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

The camera ships in internal sync, internal programmed integration (exposure mode 2).

EXSYNC (Triggers Line Readout)

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

Direction Control

You control the CCD shift direction through the serial interface. With the software
command, scd, you determine whether the direction control is set via software control
or via the Camera Link control signal on CC3.

Output Signals, Camera Link

These signals indicate when data is valid, allowing you to clock the data from the camera
to your acquisition system. These signals are part of the Camera Link configuration and
you should refer to the Camera Link Roadmap, available from the Knowledge Center
on our website here, for the standard location of these signals.

 The camera internally digitizes 12 bits and outputs the 8 MSB or all 12 bits

depending on the camera’s Camera Link operating mode.

2.6 Camera Timing

The Piranha Color camera uses a base or medium Camera Link interface.

Base Configuration

A base configuration uses 1 MDR26 connector and 1 Channel Link chip. The main
characteristics of the base configuration are:

 Ports supported: A, B, C.

Piranha Color Camera 16

Base Configuration

One Channel Link Chip + Camera Control + Serial

Communication

Camera

Connector

Right Angle

Frame Grabber

Channel Link

Signal

1 1 inner shield

14

14

inner shield

2

25

X0-

15

12

X0+

3

24

X1-

16

11

X1+

4

23

X2-

17

10

X2+

5

22

Xclk-

18 9 Xclk+

6

21

X3-

19 8 X3+

7

20

SerTC+

20 7 SerTC-

8

19

SerTFG-

21 6 SerTFG+

9

18

CC1-

22 5 CC1+

10

17

CC2+

23 4 CC2-

11

16

CC3-

24 3 CC3+

12

15

CC4+

25 2 CC4-

13

13

inner shield

26

26

inner shield

Base Configuration

Connector 1

Maximum SSF8

CLM1

Bits2

Taps3

Lum4

Time5

Port6 A

Port B

Port C

SOT7

2k60

4k60

2k80

4k80

5 8 1

No

NA

R

0-7

G

0-7

B

0-7

30

14.5

7.3

14.5

7.3

40

19.3

9.7

19.3

9.7

60

22.79

12.1

28.99

14.6

80

NA

NA

31.8

17.5

910 8 1

Yes
T0

R

0-7

B

0-7

NA

30

14.5

7.3

14.5

7.3

T1

G

0-7

Y

7-0

NA

40

19.3

9.7

19.3

9.7

 Serializer bit width: 28.
 Number of chips: 1.
 Number of MDR26 connectors: 1.

Base Configuration Timing

Each pixel output has 8 bits for each of the three colors (red, green, and blue).

Table 3: Base Configuration Video Data

Piranha Color Camera 17

1010

12 1 Yes
T0

R

0-7

B

8-11R8-11

B

0-7

30

14.5

7.3

14.5

7.3

T1

G

0-7

Y

8-11G8-11

Y

0-7

40

19.3

9.7

19.3

9.7

EXSYNC

TBD

R1

R2 R3 R4 R5 R6 R7

Rn 1

Rn

Rn 2

Rn 3

Rn 4

G1

Gn 1

Gn

Gn 2

Gn 3

Gn 4

G2

G3 G4 G5 G6 G7

B1

Bn 1

Bn Bn 2

Bn 3 Bn 4

B2

B3 B4

B5

B6 B7

RED Data

GREEN Data

BLUE Data

n = Number of pixels per line (2048 or 4096)

Data = 8 - bits/color/pixel

Line and Data Valid

Pixel Clock
40 or 80MHz

Medium Configuration (Connector 2)

2 Channel Link Chips

Camera

Connector

Right Angle

Frame Grabber

Channel Link

Signal

Cable Name

1 1 inner shield

Inner Shield

14

14

inner shield

Inner Shield

2

25

Y0-

PAIR1-

15

12

Y0+

PAIR1+

3

24

Y1-

PAIR2-

16

11

Y1+

PAIR2+

4

23

Y2-

PAIR3-

17

10

Y2+

PAIR3+

5

22

Yclk-

PAIR4-

18 9 Yclk+

PAIR4+

6

21

Y3-

PAIR5-

Figure 4: Base Configuration

Medium Configuration

A medium configuration uses 2 MDR26 connectors and 2 Channel Link chips. The
main characteristics of the medium configuration are:

 Ports supported: A, B, C, D, E, F.
 Serializer bit width: 28.
 Number of chips: 2.
 Number of MDR26 connectors: 2.

Piranha Color Camera 18

Medium Configuration (Connector 2)

2 Channel Link Chips

Camera

Connector

Right Angle

Frame Grabber

Channel Link

Signal

Cable Name

19 8 Y3+

PAIR5+

7

20

terminated

PAIR6+

20 7 terminated

PAIR6-

8

19

Z0-

PAIR7-

21 6 Z0+

PAIR7+

9

18

Z1-

PAIR8-

22 5 Z1+

PAIR8+

10

17

Z2-

PAIR9+

23 4 Z2+

PAIR9-

11

16

Zclk-

PAIR10-

24 3 Zclk+

PAIR10+

12

15

Z3-

PAIR11+

25 2 Z3+

PAIR11-

13

13

inner shield

Inner Shield

26

26

inner shield

Inner Shield

Notes:

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

Piranha Color Camera 19

Medium Configuration

Connector 1

Connector 2

Maximum SSF8

CLM1

Bits2

Taps3

Lum4

Port6 A

Port B

Port C

Port D

Port E

Port F

SOT7

2k60

4k60

2k80

4k80

14 8 2

No

R

A

0-7

G

A

0-7

B

A

0-7

R

B

0-7

G

B

0-7

B

B

0-7

60

22.7

12.1

28.6

14.5

80

NA

NA

31.8

17.5

15 8 1

Yes

R

0-7

G

0-7

B

0-7

Y

0-7

NA

NA

30

14.5

7.3

14.5

7.3

40

19.3

9.7

19.3

9.7

60

22.7

12.1

28.9

14.6

80

NA

NA

31.8

17.5

16

12 1 Yes

R

0-7

B

8-11

R

8-11

B

0-7

Y

0-7

G

0-7

Y

8-11

G

8-11

30

14.5

7.2

14.5

7.3

40

19.3

9.7

19.3

9.7

60

22.7

12.1

28.9

14.6

80

NA

NA

31.8

17.5

CLM 14 Pixels are Interleaved

Port

Sequence

1 2 3 4 5 6 7 8 9

10

A

RedA

R1

R3

R5

R7

R9

R11

R13

R15

R17

R19

B

GreenA

G1

G3

G5

G7

G9

G11

G13

G15

G17

G19

C

BlueA

B1

B3

B5

B7

B9

B11

B13

B15

B17

B19 D RedB

R2

R4

R6

R8

R10

R12

R14

R16

R18

R20

E

GreenB

G2

G4

G6

G8

G10

G12

G14

G16

G18

G20

F

BlueB

B2

B4

B6

B8

B10

B12

B14

B16

B18

B20

EXSYNC

TBD

Line and Data Valid

Pixel Clock
40MHz

R1

R3

R5

R7 R9 R11

R13

Rn

1

Rn

Rn

3

Rn 5

Rn

- 7

G1

Gn - 1

Gn

Gn 3

Gn 5

Gn

7

G3

G5 G7

G9 G11

G13

B1

Bn

1

Bn

Bn

3

Bn

5

Bn

7

B3 B5

B7

B11

B13

RED Data 1

BLUE Data 1

GREEN Data 2

GREEN Data 1

G2

Gn

2

Gn Gn

4

Gn

6 Gn

8

G4

G6 G8

G10 G12

G14

RED Data 2

B2

Bn 2

Bn

Bn 4

Bn 6

Bn

8

B4 B6

B8

B10

B12

B14

R2

R4

R6

R8 R10 R12

R14

Rn

2

Rn

Rn

4

Rn

6

Rn

8

B9

Medium Configuration Timing

Figure 5: Medium Configuration (8 Bits/Color/Pixel)

Piranha Color Camera 20

EXSYNC

TBD

R1

R2 R3 R4 R5 R6 R7

Rn 1

Rn

Rn 2

Rn 3

Rn 4

G1

Gn 1

Gn

Gn 2

Gn 3

Gn 4

G2

G3 G4 G5 G6 G7

B1

Bn 1

Bn Bn 2

Bn 3 Bn 4

B2

B3 B4

B5

B6

B7

RED Data

GREEN Data

BLUE Data

n = Number of pixels per line (2048 or 4096)

Line and Data Valid

Pixel Clock
40 or 80MHz

Figure 6: Medium Configuration (12 Bits/Color/Pixel)

Notes for Base and Medium Configuration Timing:

1. CLM: Camera Link Mode.

2. Bits: Number of bits per pixel.

3. Taps: Number of camera link taps per color.

4. Luminance: Indicates if a tap constructed from the RGB using the SCC command

is output.

5. Time: Time multiplex interval.

6. Port : Camera Link port.

7. SOT: Output throughput [mega-pixels / second / color].

8. Maximum SSF: Maximum line rate [kHz] possible in this mode (may be reduced by

SBH, ELS and SRM).

9. The maximum line rate for SOT 60 for the 80 model is greater than the 60 model as

a result of the different readout clocking scheme.

10. Time multiplexing (CLM 9 and 10) is not supported in all frame grabbers.

11. Measurements were made using command settings els 0 and srm 2.

Piranha Color Camera 21

Software Interface: Configuring
the Camera

Using ASCII Commands

All of the camera’s functionality is configurable through its serial interface using the
three-letter commands. You can use any terminal program (e.g. HyperTerminal) to send
serial commands to the camera; however, you must comply with the following serial
protocol:

 8 data bits
 1 stop bit
 No parity
 No flow control
 9.6 kbps (at power up)
 Camera does not echo characters

Command Format

When entering commands please remember the following:

 A carriage return <CR> ends each command.
 The camera will answer each command with either <CR><LF> OK > or

<CR><LF>Error xx: Error Message > or Warning xx: Warning
Message. The > character is always the last character sent by the camera.

 The following parameter conventions are used in the manual:

i = integer value
f = real number
m = member of a set
s = string
t = tap id
x = pixel column number
y = pixel row number

Example: to return the current camera settings:

gcp <CR>

3.1 First Power Up Camera Settings

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

 Internal forward color scanning direction.
 Maximum line rate: 32 kHz (2k) or 17 kHz (4k).
 0 dB calibrated analog gain and offset.
 Factory calibrated FPN and PRNU coefficients enabled.
 8 bit output.

Piranha Color Camera 22

Purpose:

Sets the speed in bps of the serial communication port.

Syntax:

sbr m

Syntax Elements:

m

Baud rate. Available baud rates are: 9600 (Default), 19200,
57600, and 115200.

Notes:

Power-on rate is always 9600 baud.
The rc (reset camera) command will not reset the camera to the
power-on baud rate and will reboot using the last used baud rate.

Example:

sbr 57600

Purpose:

Sets the cable parameters.

Syntax:

scb m

Syntax Elements:

m

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

Notes:

In medium configuration, both cables must be the same length.
Only one copy of this setting is saved in the camera (rather than
with each setting).
Using the lfs (load factory settings) command, the cable length
will be set to the factory default of 100.
The cable parameter is a relational value. Increase the value for
longer cables, and decrease it for shorter ones.
Adjust the value until the test pattern (svm 1) is clean.

Example:

scb 75

 9600 baud rate.
 Exposure mode 2: Internal sync and exposure control.
 RGB color selection.
 Camera Link mode 5: base configuration, RGB, 8 bit output.

Note: The FPN and PRNU coefficients are factory calibrated at 0 dB gain setting 0. The
FFC calibration line rate is 400 Hz.

3.2 Rebooting the Camera

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

3.3 Baud Rate

3.4 Select Cable

3.5 Help

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

Piranha Color Camera 23

Syntax:

h

Syntax:

gh

Notes:

For more information on the camera’s ―get‖ commands, refer to

section Returning Camera Settings.

There are two different help screens available. One lists all of the available commands to
configure camera operation. The other help screen lists all of the commands available
for retrieving camera parameters (these are called ―get‖ commands).

To view the help screen listing all of the camera configuration commands, use the
command:

To view a help screen listing all of the ―get‖ commands, use the command:

The camera configuration command help screen lists all commands available. Parameter
ranges displayed are the extreme ranges available. Depending on the current camera
operating conditions, you may not be able to obtain these values. If this occurs, values
are clipped and the camera returns a warning message.

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

The following help screen listing is for a 2k camera:

ccf correction calibrate fpn
ccg calibrate camera gain iti 1-4:0-0:1024-4055
ccp correction calibrate prnu
cil calibrate input lut
clm camera link mode m 5/9/10/14/15/16/
cpa calibrate PRNU algorithm mi 1/2/3/4/:1024­ 4055
css correction set sample m 1024/2048/4096/
dil display input lut taa 0-0:0-1023:0-1023
dpc display pixel coeffs xx 1-2048:1-2048
ebc enable blue correction i 0-1
eil enable input lut i 0-1
els end of line sequence i 0-2
epc enable pixel coefficients ii 0-1:0-1
gcl get command log
gcm get camera model
gcp get camera parameters
gcs get camera serial
gcv get camera version
get get values s
gfc get fpn coeff x NA
gh get help
gil get input lut ta NA
gl get line xx 1-2048:1-2048
gla get line average xx 1-2048:1-2048
gpc get prnu coeff x NA
gsf get signal frequency i 1-4
h help
lfc load fpn coefficients
lfs load factory settings
lil load input lut
lpc load prnu coefficients
lus load user settings

Piranha Color Camera 24

Purpose:

Selects the forward or reverse color scan direction or external
direction control. This accommodates object direction change
on a web and allows you to mount the camera ―upside down.‖

Syntax:

scd i

Syntax Elements:

i

Shift direction. Allowable values are:
0 = Forward CCD shift direction.

rc reset camera
ril reset input lut
roi region of interest xx 1-2048:1-2048
rpc reset pixel coeffs
sab set add background ti 0-0:0-4095
sag set analog gain tf 0-0:-10.0-+10.0
sah set averaging horizontal i 1-2
sao set analog offset ti 0-0:0-255
sbr set baud rate m 9600/19200/57600/
115200/
scb select cable i 0-255
scc set colour correction iiii 0-+4095:-8192­ +8191:-8192­ +8191:-8192-+8191
scd set ccd direction i 0-2
scl set colour m rgb/r/g/b/
sdo set digital offset ti 0-0:0-4095
sem set exposure mode m 2/3/4/5/6/7/
sfc set fpn coeff xi NA
sfr set fpn range xxi NA
sil set input lut tai NA
slt set lower threshold i 0-4095
smm set mirroring mode i 0-1
sot set output throughput m 30/40/60/80/
spc set prnu coeff xi NA
spr set prnu range xxi NA
srm set readout mode i 0-2
ssa set spatial alignment i 0-6
ssb set subtract background ti 0-0:0-4095
ssf set sync frequency f 1-32362
ssg set system gain ti 0-0:0-65535
ssn set set number i 0-5
sut set upper threshold i 0-4095
svm set video mode i 0-10
ugr update gain reference
vt verify temperature
vv verify voltage
wfc write FPN coefficients
wil write input lut
wpc write PRNU coefficients
wus write user settings

3.6 Sensor Output

Color Scan Direction

Piranha Color Camera 25

1 = Reverse CCD shift direction.
2 = External direction control via Camera Link control:

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

Notes:

To obtain the current value of the shift direction, use the
command gcp or get scd.

Related Commands:

smm

Example:

scd 0

Direction of
Object Movement

Camera should operate in

Reverse CCD Shift Direction

scd 1

Direction of
Object Movement

Camera should operate in

Forward CCD Shift Direction

scd 0

Piranha Color Camera 26

Purpose:

Selects the camera’s horizontal readout direction.

Syntax:

smm i

Syntax Elements:

i

Direction of sensor readout

0 = Left to right = 1 to n
1 = Right to left = n to 1

Note:

Pixel readout remains the same after a direction change.

Example:

smm 0

Purpose:

Sets the camera’s Camera Link configuration, number of Camera

Link taps and data bit depth.

Syntax:

clm m

Syntax Elements:

m

5 = Base configuration, RGB, 8 bit output

9 = Base configuration, RGBY, 8 bit output
10 = Base configuration, RGBY, 12 bit output
14 = Medium configuration, 2xRGB, 8 bit output
15 = Medium configuration, RGBY, 8 bit output
16 = Medium configuration, RGBY, 12 bit output

Note:

 To obtain the current data mode, use the command

gcp or get clm.

 The bit patterns are defined by the Camera Link

Roadmap and the Camera Link Standard. Available
from the Knowledge Center on the Teledyne DALSA
site, here.

Example:

clm 5

Purpose:

The sot command works in conjunction with the clm
command (see previous command) and determines the pixel rate
of the camera.

Syntax:

sot m

Syntax Elements:

m

30 = outputs pixels RGB (triplet) or RGBY (quad) at 30
Mps
40 = outputs pixels RGB (triplet) or RGBY (quad) at 40
Mps
60 = outputs pixels RGB (triplet) or RGBY (quad) at 64
Mps
80 = outputs pixels RGB (triplet) or RGBY (quad) at 80
Mps

Sensor Readout Direction (Mirroring Mode)

3.7 Data Output

Setting the Camera Link Mode

Setting the Camera’s Pixel Rate (Throughput)

Piranha Color Camera 27

Note:

 To obtain the current throughput, use the command

gcp or get sot.

 The bit patterns are defined by the Camera Link

Roadmap and the Camera Link Standard. Available
from the Knowledge Center on the Teledyne DALSA
site, here.

 Changes to the clm may affect this parameter.

Example:

sot 80

Purpose:

Sets the color correction coefficients.

Syntax:

scc Co C1 C2 C3

Syntax Elements:

Co = offset (0 to 4095)

C1 = red multiplier (-8192 to +8191)
C2 = green multiplier (-8192 to +8191)
C3 = blue multiplier (-8192 to +8191)

Note:

Set coefficients used to combine three color streams, e.g.
White = C0 + (C1 x Red) + (C2 x Green) + (C3 x Blue)

C0 is a DN, whereas:
Coefficient = C

1-3

/ 4,096
Modified by set color command (SCL):
RGB: White
R|G|B: Red, Green, or Blue
All colors are not necessary because constructing white is
different
Factory (initial) values combine the three colors equally:

White = 0 + (0.33 x Red) + (0.33 x Green) + (0.33 x Blue)

Cn = 0.33 x 4,096= 1,365

Red = 0 + (1 x Red) + (0 x Green) + (0 x Blue)

C1 = 1 x 4,096= 4,096

Range of {-8,192 to +8,191} is equivalent to floating point
coefficients of {-2.0 to +1.999}
Step size is 0.000244
Values are saved with camera settings
Values may be viewed with GCP or GET SCC

Example:

White = 100 + (0.25 x Red) + (-0.15 x Green) + (0.8 x Blue)
Therefore,
C1 = 0.25 x 4096 = 1024
C2 = (-0.15 x 4096) = -614
C3 = 0.8 x 4096 = 3276

OK>scl RGB
OK>scc 100 1024 -614 3276

3.8 Set Color Correction

Piranha Color Camera 28

Purpose:

Selects the color or colors that you want to adjust with the ccf,

ccg, ccp, cpa, dpc, gfc, gl, gla, gpc, sag, sao, sdo,
set, sfc, spc, ssb, ssg commands.

Syntax:

scl s

Syntax Elements:

s

rgb = adjust all colors (red, green, and blue). Power on
setting.

r = adjust red
g = adjust green
b = adjust blue

Note:

The camera always powers up using scl rgb.

Example:

scl b

Color selection limits the taps that can be selected in these commands as follows:

scl

Tap

Notes

rgb

0

All 10 camera taps

r

0
1 to 4

All 4 red taps
Single red tap

g

0
1 to 4

All green taps
Single green tap

b

0
1 to 2

All blue taps (2)
Single blue tap

Purpose:

When saving and loading camera settings, you have a choice of
saving up to four different sets and loading from five different
sets (four user and one factory). This command determines the
set number from where these values are loaded and saved. The
set number is saved along with the camera settings when the
wus command is issued.

Syntax:

ssn i

Syntax Elements:

i

0 = Factory set. Settings can only be loaded from this set.
1 - 4 = User sets. You can save, or load settings with these
sets.

Note:

The camera powers up with the last set saved using this
command.

Related Commands

wus, lus, wil, lil, wfc, lfc

3.9 Camera Selection Variables

There are some camera condition variables that you should determine before adjusting
any digital or analog settings like gain or offset, or before changing the camera’s
exposure time. These variables are:

 The color (or colors) that you want to adjust.
 The set number where you want to save any of these adjustments.
 The region of interest for performing these adjustments.

Setting the Color Variable

Selecting the Set Number

Piranha Color Camera 29

Example:

ssn 3

Purpose:

Sets the pixel range used to collect the end-of-line statistics and
sets the region of pixels used in the ccg, gl, gla, ccf, and
ccp commands.
In most applications, the field of view exceeds the required object
size and these extraneous areas should be ignored. It is
recommended that you set the region of interest a few pixels
inside the actual useable image.

Syntax:

roi x1 x2

Syntax Elements:

x1

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

x2

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

Notes:

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

Related Commands

ccg, gl, gla, ccf, ccp, cpa, els

Example:

roi 10 50

You must first set the camera exposure mode using the sem command.

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

Purpose:

Sets the camera’s exposure mode allowing you to control your sync,

exposure time, and line rate generation.

Syntax:

sem i

Syntax Elements:

i

Exposure mode to use. Factory setting is 2.

Notes:

Refer to Table 4: Color Exposure Modes for a quick list of available
modes or to the following sections for a more detailed explanation.
To obtain the current value of the exposure mode, use the command
gcp or get sem.

Related Commands:

ssf, set

Example:

sem 3

Setting a Region of Interest (ROI)

3.10 Exposure Control

Overview

You have a choice of operating in one of six exposure modes. The camera’s line rate

(synchronization) can be generated internally through the software command ssf or set
externally with an EXSYNC signal, depending on your mode of operation. To select
how you want the camera’s line rate to be generated:

Setting the Exposure Mode

Piranha Color Camera 30

Mode

SYNC

Exposure

Control

Description

2

Internal

Internal

Each color may have a different exposure time.

3

External

None

All colors share the same exposure time.

4

External

External

Smart EXSYNC. All colors share same exposure time.

5

External

External

Each color may have a different exposure time.

6

External

Internal

Each color may have a different exposure time.

7

Internal

None

All colors share the same exposure time.

Table 4: Color Exposure Modes

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

Piranha Color Camera 31

Exposure Modes in Detail

Piranha Color Camera 32

Purpose:

Sets the camera’s line rate in Hz. Camera must be operating in

exposure mode 2 or 7.

Syntax:

ssf f

Syntax Elements:

f

Desired line rate in Hz. Allowable values are:
2k80: 1 to 32362 Hz
2k60: 1 to 22714 Hz
4k80: 1 to 17699 Hz
4k60: 1 to 12132 Hz

Notes:

To read the current line frequency, use the command gcp or get
ssf.
If you enter an invalid line rate frequency, an error message is
returned.
Line rate reduces depending on clm, sut, els, and sah
settings.
Values less than 5000 Hz will return the warning: "Warning 01:
Outside of specification>".

Related Commands:

sem, set
Example:

ssf 10000

Purpose:

Sets the camera’s exposure time in micro seconds. Camera must be

operating in mode 2 or 6.

Syntax:

set f

Syntax Elements:

f

Desired exposure time in µs. Allowable range is 5.0 to

9997.000.0 µs.

Notes:

To read the current exposure time, use the command gcp or get
set.
The ssf and set commands will "push" each other when set.

i

Applies to
Modes 2 and 7

i

Applies to
Modes 2 and 8

Setting the Line Rate

Setting the Exposure Time

Piranha Color Camera 33

Related Commands:

sem, ssf
Example:

set 400.5

Blue

Green

Red

Sensor

Object

As the object travels along the web, the object passes the three color lines at different points in time.
As a result, the camera uses spatial correction to reconstruct the image.

Direction of object movement.

3.11 Spatial Correction

Spatial Correction and Trilinear Sensor Design

The trilinear sensors three color lines do not share a common optical axis. This results
in the three color lines imaging three separate object points.

As a result, the color images need to be stored, delayed and recombined to properly
reconstruct the color image. This characteristic is referred to as spatial correction.

The Piranha Color sensor uses proprietary design to minimize the center to center
spacing to 30 µm (4k) or 42 µm (2k).

Piranha Color Camera 34

Red Tap 2
Red Tap

1

Blue Tap
1

Green Tap 2
Green Tap

1

30 µm (4k)

42 µm (2k)

30 µm (4k)

42 µm (2k)

The three color lines are separated
30 µm (4k) or 42 µm (2k) apart
center-to-center.

The trilinear CCD sensor used in the Piranha Color camera has three linear arrays for
Red (R), Green (G) and Blue (B) color channel, respectively. The inter-array spacing
between color channels is 3 lines apart centre-to-centre. Because of the spacing between
the linear arrays, each array will have a slightly different view of an object that is passing
before the camera. Therefore, for each exposure, each color array in the sensor captures
an image of a slightly different area on the object.

The spatial correction process is used to properly reconstruct the full color (RGB) image
of the object. For example, assuming that the following parameters are used:

The system uses a magnification of 1/10, i.e., an area of 0.1 mm x 0.1 mm on the object
will have an image of 10 µm x 10 µm on the sensor;

The encoder is set to have a step of 0.1 mm in the movement of the web; i.e., the image
on the sensor will move 10 µm for each step of the encoder;

The image is line captured at each step of the encoder;

The moving object A from the view of line of Red channel to that of Green channel is 3
steps, i.e.:

3 steps x 0.1 mm/step x 1/10 magnification = 30 µm movement of the image on the
sensor.

There are 3 more steps to move the image of object A further from the Green channel
to the Blue channel.

To properly reconstruct the full RGB image of the object A, the user needs to combine
the Red channel data captured at line capture #0 with Green data captured at capture
#3 and Blue data captured at capture #6. A parameter Line Delay is used to specify
which line captures should be combined to properly reconstruct the image. In the
above case, the Line Delay is 3. In general,

Inter-array spacing (30 µm or 42 µm)

Line Delay = -----------------------------------------------------

Step of encoder (µm) x magnification

Piranha Color Camera 35

Purpose:

Sets the number of lines of delay between colors that are read out
from the sensor.

Syntax:

ssa i

Syntax Elements:

i

Line delay between colors in a range from 0-6.

Notes:

To read the current line delay, use the command gcp or get ssa.
If your line rate matches the speed of the object, then the value of
the line delay will be 3.
Adjust the ssa value until you remove the red and blue halos
above and below a black on white horizontal line in order to set
the line delay.

Example:

ssa 3

Purpose:

Averaging reduces the pixel noise and decreases the horizontal
resolution. The charge collected in adjacent pixels is averaged
together.

Syntax:

sah i

Syntax Elements:

i

The number of horizontal pixels to average. Available values
are 1 (factory setting) and 2.

The Piranha Color is a bi-directional camera and the direction of the web movement
can be arranged in either way. If the object is passing the camera in the other direction,
its image will pass over the Blue channel first, then the Green channel, and finally the
Red channel. In order to properly construct a full color (RGB) image, the system needs
to know the direction of the movement. Another parameter, color scan direction (scd),
is used to specify the direction of web movement.

Setting the Line Delay between Colors

3.12 Averaging Horizontal Pixels

Setting the Averaging Horizontal

Piranha Color Camera 36

Notes:

 Selecting sah 1 results in no averaging.
 Selecting sah 2 averages pairs of pixels: (P1+P2)/2,

(P3+P4)/2, (P5+P6)/2…

 If you are using averaging, the minimum, maximum, and

mean statistics generated by the gl or gla commands
and used by the ccg, cao, ccf, and ccp commands are
for the un-averaged pixels.

 Changing the averaging does not require the recalibration

(analog gain, FPN or PRNU) of the camera.

 The current value of horizontal averaging factor can be

obtained using the gcp or get sah commands.

 Horizontal averaging does not affect the CCD readout

time, but it does affect FIFO readout as all the pixels still
need to be read out of the CCD, but only the averaged
pixels stored in the FIFO (line store).

 ROI will be pushed out to include both averaged pixels at

each end (e.g. if the ROI was 4-2048, the start value
would be changed to 3, since the first averaged pixel
consists of sensor pixels 3 and 4).

Example:

sah 2

Analog Processing

Digital Processing

analog video

analog

gain

analog

offset

FPN

coefficients

digital

offset

PRNU

coefficients

background

subtract

digital system

gain

sag,ccg

sao

ccf

sdo

ccp,cpa ssb

ssg

background

addition

digital video

sab

background

addition

digital video

eil

LUT

addition

3.13 Processing Chain Overview and
Description

The following diagram shows a simplified block diagram of the camera’s analog and
digital processing chain. The analog processing chain begins with an analog gain
adjustment, followed by an analog offset adjustment. These adjustments are applied to
the video analog signal prior to its digitization by an A/D converter.

The digital processing chain contains the spatial correction, non-linearity look-up table
(LUT) correction, FPN correction, the PRNU correction, the background subtract, the
digital gain, and the background add. All of these elements are user programmable.

Figure 7: Signal Processing Chain

Piranha Color Camera 37

Analog Processing

 Optimizing offset performance and gain in the analog domain allows you to achieve

a better signal-to-noise ratio and dynamic range use. Perform all analog adjustments
prior to any digital adjustments.

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

the signal strength before the A/D conversion (and before noise is added to the
signal).

 The analog offset (sao command) or black level is an ―artificial‖ offset introduced

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

Digital Processing

 To optimize camera performance, complete all analog adjustments before digital

signal adjustments.

 Fixed pattern noise (FPN) calibration (calculated using the ccf command) is used

to subtract away individual pixel dark current.

 The digital offset (sdo command) enables the subtraction of the ―artificial‖ A/D

offset (the analog offset) so that application of the PRNU coefficient doesn’t result
in artifacts at low light levels due to the offset value. You may want to set the sdo
value if you are not using FPN correction but want to perform PRNU correction.

 Photo-Response Non-Uniformity (PRNU) coefficients (calculated using the ccp or

cpa commands) are used to correct the difference in responsivity of individual

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

 Background subtract (ssb command) and system (digital) gain (ssg command) are

used to increase image contrast after FPN and PRNU calibration. It is useful for
systems that process 8-bit data but want to take advantage of the camera’s 12 bit
digital processing chain. For example, if you find that your image is consistently
between 128 and 255DN(8 bit), you can subtract off 128 (ssb 2048) and then
multiply by 2 (ssg 0 8192) to get an output range from 0 to 255.

 Background addition (sab command) is used to ensure a minimum output value,

and is added to the digital video after the system gain is applied.

The Effects of the Processing Chain on Calibration

The Processing Chain (as shown in Figure 7):

 Video out = (([video in] x SAG + SAO - SDO - FPN) x PRNU – SSB) x SSG +

SSB

Calibration takes place at the output of the parameter being calibrated. If the parameters
further down the chain are not zero or unity, then the video out may not be as expected.

For example, if the analog gain is calibrated to an average of 3,000 DN using ―CCG 2 0
3000‖ while SSB is 100, the average video output will be 2,900 DN not 3,000 DN.

This applies to:

 CCG: calibrate analog gain (SAG) or system gain (SSG)

Piranha Color Camera 38

Purpose:

Sets the camera’s analog gain value. Analog gain is multiplied by

the analog signal to increase the signal strength before the A/D
conversion. It is used to take advantage of the full dynamic
range of the A/D converter.

Syntax:

sag t f

Syntax Elements:

t

Tap selection. Use 0 for all taps. Color selection limits the
taps that may be selected by this command. See scl for
further information.

f

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

Notes:

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

Example:

sag 0 5.2

Related Commands:

ccg

Purpose:

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

Syntax:

ccg i t i

Syntax
Elements:

i

Calibration algorithm to use.
1 = This algorithm adjusts analog gain so that 8% to 13% of tap region of
interest (ROI) pixels are above the specified target value.

 CCF: calibrate FPN
 CCP: calibrate PRNU
 CPA: calibrate analog gain (SAG) and PRNU

PRNU calibration includes the FPN whether it is enabled or not (as they are linked). If
you do not want the PRNU calibration to include the effect of FPN then it should be
zeroed first using the RPC command.

CCG 3 (system gain) only includes FPN and PRNU if they are enabled with EPC.

Note: Refer to section 3.9 Camera Selection Variables for details on commands that
should be set before performing any analog or digital adjustments.

3.14 Analog Gain and Analog Offset

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

Setting Analog Gain

Calibrating Camera Gain

Piranha Color Camera 39

10% Above
Target

Before
Calibration

Algorithm One

2 = This algorithm adjusts analog gain so that the average pixel value in tap’s
ROI is equal to the specified target value.

Algorithm Two

Mean
Target

Before
Calibration

3 = This algorithm adjusts digital gain so that the average pixel value in tap’s
ROI is equal to the specified target.
Note: See Alogrithm Two above for an illustration.

4 = This algorithm adjusts the analog gain so that the peak tap ROI pixels are
adjusted to the specified target.

Piranha Color Camera 40

Peak
Target

Before
Calibration

Algorithm Four

t Tap value. Use 0 for all taps. Color selection limits the taps that may be

selected by this command. See scl for further information.

i

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

Notes:

Analog gain calibration requires constant light on a clean, white reference. White
plastic or white ceramic is ideal.
If very few tap pixels are within the ROI, gain calculation may not be optimal.
When all taps are selected, taps outside of the ROI are set to the average gain of the
taps that are within the ROI.
Perform analog gain algorithms before performing FPN and PRNU calibration.
All digital settings affect the analog gain calibration. If you do not want the digital
processing to have any effect on the camera gain calibration, then turn off all digital
settings by sending the commands: sdo 0 0, epc 0 0, ssb 0 0, ssg 0
4096, and sab 0 0.

Example:

ccg 2 0 3040

Related
Commands:

sag, ssg

Purpose:

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

Syntax:

sao t i

Syntax Elements:

t

Tap selection. Use 0 for all taps. Color selection limits the
taps that may be selected by this command. See scl for
further information.

i

Offset value in a range from 0 to 255DN (12 bit LSB).

Notes:

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

Setting Analog Offset

Piranha Color Camera 41

Example:

sao 2 35

Related Commands:

cao

Analog Processing

Digital Processing

analog video

analog

gain

analog

offset

FPN

coefficients

digital

offset

PRNU

coefficients

background

subtract

digital system

gain

sag,ccg

sao

ccf

sdo

ccp,cpa ssb

ssg

background

addition

digital video

sab

background

addition

digital video

eil

LUT

addition

where

V

output

=

digital output pixel value

V

input

=

digital input pixel value from the CCD

PRNU( pixel)

=

PRNU correction coefficient for this pixel

FPN( pixel )

=

FPN correction coefficient for this pixel

Background Subtract

=

background subtract value

System Gain

=

digital gain value

Background Addition

=

background addition value

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

3.15 Flat Field Correction

Flat Field Correction Overview

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

 Fixed Pattern Noise (FPN)
 Photo Response Non Uniformity (PRNU)

Lens and light source non-uniformity Correction is implemented such that for each
pixel:

V

=[(V

output

System Gain + Background Addition

The algorithm is performed in two steps. The fixed offset (FPN) is determined first by

performing a calibration without any light. This calibration determines exactly how
much offset to subtract per pixel in order to obtain flat (zero) output when the CCD is
not exposed.

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

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

input

Piranha Color Camera 42

Brightest Pixel (per tap)

Darkest Pixel (per tap)

3>

Flat Field Correction Restrictions

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

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

For best results, ensure that:

 50 or 60 Hz ambient light flicker is sufficiently low so as not to affect camera

performance and calibration results.

 The analog gain should be adjusted for the expected operating conditions.
 The ratio of the brightest to darkest pixel in a tap should be less than 3 to 1, where:

 The brightest pixel should be slightly below the target output.

When greater than 6.25% of the pixels from a single row within the region of interest
are clipped, then flat field correction results may be inaccurate.

Correction results are valid only for the current analog gain and offset values. If you
change these values, it is recommended that you recalculate your coefficients.

Piranha Color Camera 43

Set up the camera operating environment
(i.e. line rate, exposure, offset, gain, etc.)

Set the calibration sample size using

the command css. It is recommended that

you use the default setting.

Perform FPN calculation

Perform PRNU calculation

1. Stop all light from entering the camera. (Tip: Cover lens with a lens cap.)

2. Verify that the output signal level is within range by issuing the command
or . If there are too many zeros in the output data (more than 6.25%

of output data within the roi) , increase the analog offset ( ) or use the
automated algorithm . If the average of the pixels is too high for your
application, reduce the analog offset or gain level ( ).

3. Issue the command . The camera will respond withOK> (if no error occurs).

FPN calculation automatically calibrates FPN coefficients and digital offset.

4. After the calibration is complete, you should save these settings to non-volatile

memory so they be reusable on reboot. To do so, issue the commands and

.

5. To verify output, enable the FPN coefficients using the command .

You should see close to zero output.

gl gla

sao

cao 0

sag

wfc

wus

epc 1 0

i

1. Place a white reference in front of the camera.

2. Verify that the output signal level is within range by issuing the command

or . If the signal level is too low, increase your light level, adjust the analog

gain ( ) or use the automated algorithm .
DALSA recommends a target value of about 80% of saturation. If you change
the gain, FPN coefficients should be recalculated.

3. Issue the command . The camera will respond with OK>( if no error occurs).

4. After the calculation is complete, you can save these settings to non-volatile
memory so they will be remembered after power-down and direction change.

To do so, issue the commands and
5

gl

gla

sag ccg i 0 i

ccp

wpc wus.

. Enable the coefficients using the command, .epc 1 1

Perform PRNU calculation next to determine the multiplication
factors required to bring each pixel to the required value (balance target) for
flat, white output.

Set the region of interest to include all

of the image’s pixels of importance using

the command roi x1 y1 x2 y2. You can use

the default if you want to calibrate all pixels.

Digital offset and digital system gain, and background subtract and
add values should be set to zero ( , , , )ssb 0 0sdo 0 0ssg 0 0sab 0 0

Purpose:

Measures fixed pattern noise (FPN).

Syntax:

ccf

Notes:

 Before sending this command, use the scl command to

select the color or colors you want to adjust. This allows
you to limit the calibration to a single color.

 Perform all analog and digital adjustments before

performing FPN correction.

 Perform FPN correction before PRNU correction.

To save FPN coefficients after calibration, use the wfc command.

FPN Measurement

Performing FPN Measurement

Piranha Color Camera 44

Related Commands:

ccp, wfc

Example:

ccf

Purpose:

Sets an individual pixel’s FPN coefficient.

Syntax

sfc x i

Syntax Elements:

x The pixel number from 1 to sensor pixel count.

i

Coefficient value in a range from 0 to 4095 (12 bit LSB).

Notes:

Before sending this command, use the scl command to select the
color you want to adjust.

Example:

sfc 10 50

Purpose:

Sets a range of pixel FPN coefficients.

Syntax

sfr x x i

Syntax Elements:

x

The first pixel number of the range.

x

The last pixel number of the range.

i

Coefficient value in a range from 0-2048.

Notes:

 Before sending this command, use the scl command to

select the color you want to adjust.

The first pixel of the range must be less than the last.

Example:

sfr 1 100 80

Purpose:

Calculate the PRNU coefficients to eliminate the difference in
responsivity between the pixels, thereby creating a uniform response to
light. Using this command, you must provide a calibration target.

Syntax:

cpa i1 i2

Syntax Elements:

i1

PRNU calibration algorithm to use:
1 = This algorithm first adjusts each tap’s analog gain so that
8-13% of pixels within a tap are above the value specified in
the target value parameter. PRNU calibration then occurs using
the peak pixel in the region of interest.
This algorithm is recommended for use only when FPN is
negligible and FPN coefficients are set to zero. Since this
algorithm adjusts the analog gain, it also affects FPN. If FPN is
calibrated prior to running this algorithm, FPN will be
observable in dark conditions and an incorrect FPN value will
be used during PRNU calibration resulting in incorrect PRNU
coefficients.
2 = Calculates the PRNU coefficients using the entered target

Setting a Pixel’s FPN Coefficient

Setting a Range of FPN Coefficients

PRNU Calculation

Performing PRNU to a user entered value

Piranha Color Camera 45

value as shown below:

PRNU Coefficient =

Target

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

i

i

i

The calculation is performed for all sensor pixels but warnings
are only applied to pixels in the region of interest. This
algorithm is useful for achieving uniform output across
multiple cameras. It is important that the target value (set with
the next parameter) is set to be at least equal to the highest
pixel across all cameras so that all pixels can reach the highest
pixel value during calibration. Confirm this using the gla
statistics.
3 = This algorithm includes an analog gain adjustment prior to
PRNU calibration. Analog gain is first adjusted so that the peak

pixel value in tap’s ROI is within 97 to 99% of the specified

target value. It then calculates the PRNU coefficients using the
target value as shown below:

PRNU Coefficient =

Target

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

i

i

i

The calculation is performed for all sensor pixels but warnings
are only applied to pixels in the region of interest. This
algorithm is useful for achieving uniform output across
multiple cameras.
This algorithm is should be used only when FPN is negligible
and FPN coefficients are set to zero. Since this algorithm
adjusts the analog gain, it also affects FPN. If FPN is calibrated
prior to running this algorithm, FPN will be observable in dark
conditions and an incorrect FPN value will be used during
PRNU calibration resulting in incorrect PRNU coefficients.
This algorithm is more robust and repeatable than algorithm 1
because it uses an average pixel value rather than a number
above target. However, this algorithm is slower.
4 = Calculates the PRNU coefficient in the same way as cpa 2
with the exception that this command only calculates PRNU
for pixels within the current Region of Interest (ROI).

i2

Peak target value in a range from 1024 to 4055DN. The target
value must be greater than the current peak output value.

Notes:

 Perform all analog adjustments before calibrating PRNU.
 This command performs the same function as the cpp

command with the exception that you enter a target value.

 Calibrate FPN before calibrating PRNU. If you are not

performing FPN calibration then issue the rpc (reset pixel
coefficients) command and set the sdo (set digital offset)
value so that the output is near zero under dark.

Example:

cpa 1 600

Purpose:

Performs PRNU correction and eliminates the difference in

responsivity between the most and least sensitive pixel creating a

uniform response to light.

Syntax

ccp

Performing PRNU Calculation to a Camera Calculated Value

Piranha Color Camera 46

Notes:

 Before sending this command, use the scl command to

select the color or colors you want to adjust. This
allows you to limit the calibration to a single color.

 Perform all analog adjustments before calculating

PRNU.

 Perform FPN correction before PRNU correction.
 If FPN cannot be calibrated, use the rpc command to

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

 Ensure camera is operating at its expected analog gain,

integration time, and temperature.

 To save PRNU coefficients after calibration, use the

wpc command.

Related Commands:

ccf, cpa

Purpose:

Sets an individual pixel’s PRNU coefficient.

Syntax:

spc i1 i2

Syntax Elements:

i1

The pixel number from 1 to n, where n = 2048 or 4096
depending on the resolution.

i2

Coefficient value in a range from 0 to 61438 where:

Notes:

Before sending this command, use the scl command to select the

color you want to adjust.

Example:

spc 1024 10000

Purpose:

Sets a range of pixel PRNU coefficients.

Syntax:

spr i1 i2 i3

Syntax Elements:

i1

The first pixel number of the range.

i2

The last pixel number of the range.

i3

Coefficient value in a range from 0 to 61438 where:

Notes:

Before sending this command, use the scl command to select the

color or colors you want to adjust. This allows you to limit the

calibration to a single color.

i2

4096

1 +

prnu coefficient =
i3

4096

1 +

prnu coefficient =

Setting a Pixel’s PRNU Coefficient

Setting a range of Pixel PRNU Coefficients

Piranha Color Camera 47

The first pixel of the range must be less than the last.

Example:

spr 4001 4096 0

Purpose:

Returns all the current pixel coefficients in the order FPN, PRNU,

FPN, PRNU… for the range specified by x1 and x2.

Syntax:

dpc x1 x2

Syntax Elements:

x1

Start pixel to display in a range from 1 to n, where n = 2048 or
4096 depending on the resolution.

x2

End pixel to display in a range from x1 to n, where n = 2048 or
4096 depending on the resolution.

Notes:

This function returns all the current pixel coefficients in the order
FPN, PRNU, FPN, PRNU…
Limited by the scl color selection.

Example:

dpc 10 20

Purpose:

Returns a pixel’s FPN coefficient value in DN (12 bit LSB)

Syntax:

gfc i

Syntax Elements:

i

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

Notes:

Before sending this command, use the scl command to select the

color you want to adjust.

Example:

gfc 10

Purpose:

Returns a pixel’s PRNU coefficient value in DN (12 bit LSB)

Syntax:

gpc i

Syntax Elements:

i

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

Notes:

Before sending this command, use the scl command to select the

color you want to adjust.

Example:

gpc 10

Purpose:

Enables and disables FPN and PRNU coefficients.

Syntax:

epc i i

Syntax Elements:

i

FPN coefficients.

0 = FPN coefficients disabled

1 = FPN coefficients enabled

i

PRNU coefficients.

Returning Calibration Results and Errors

Returning All Pixel Coefficients

Returning FPN Coefficients

Returning PRNU Coefficients

Enabling and Disabling Pixel Coefficients

Piranha Color Camera 48

0 = PRNU coefficients disabled

1 = PRNU coefficients enabled

Example:

epc 0 1

Purpose:

Sets the digital offset. Digital offset is set to zero when you

perform FPN correction (ccf command). If you are unable to

perform FPN correction, you can partially remove FPN by

adjusting the digital offset.

Syntax:

sdo t i

Syntax Elements:

t

Tap selection. Allowable range is 1 to 4 depending on color

selected, or 0 for all taps.

i Subtracted offset value in a range from 0 to 4095.

Notes:

When subtracting a digital value from the digital video signal, the

output can no longer reach its maximum unless you apply digital

gain using the ssg command. See the following section for

details on the ssg command.

Related Commands:

ssg

Example:

sdo 0 100

Purpose:

Use the background subtract command after performing a flat

field correction in order to improve your image in a low contrast

scene. This is useful for systems that process 8 bit data but want

to take advantage of the camera’s 12 bit digital processing chain.

You should try to make your darkest pixel in the scene equal to

zero.

Syntax:

ssb t i

Syntax Elements:

t

Tap selection. Allowable range is 1 to 4 depending on color

selected, or 0 for all taps.

i

Subtracted value in a range in DN from 0 to 4095.

Notes:

When subtracting a digital value from the digital video signal the

output can no longer reach its maximum. Use the ssg

command to correct for this where:

ssg value =

max output value

max output value - ssb value

See the following section for details on the ssg command.

Related Commands:

ssg

Example

ssb 0 800

In 8-bit Camera Link mode: If your scene has a minimum value

of 50 DN and a maximum of 200 DN, then to expand it to 0

DN and 255 DN, set the ssb command to 800 (50 x 16), and

the ssg command to 6990 (4096 / ((200 – 50) x 16)) x 4096).

3.16 Digital Gain and Background Subtract

Setting Digital Offset

Subtracting Background

Piranha Color Camera 49

Purpose:

Improves signal output swing after a background subtract.

When subtracting a digital value from the digital video signal,

using the ssb command, the output can no longer reach its

maximum. Use this command to correct for this where:

ssg value =

max output value

max output value - ssb value

Syntax:

ssg t i

Syntax Elements:

t

Tap selection. Allowable range is 1 to 4, or 0 for all taps.

i

Gain setting. The gain ranges are 0 to 65535. The digital
video values are multiplied by this value where:

Therefore, the multiplication factor range is 0 to 16.
Use this command in conjunction with the ssb command.

Related Commands:

ssb

Example:

ssg 1 15

Purpose:

Use the set add background command to ensure a minimum

output value by adding this value to the digital video after

system gain is applied.

Syntax:

sab t i

Syntax Elements:

t

Tap selection. 0 for all taps. Color selection limits the taps
that may be selected. See the scl command for details.

i

Background add values. The range is from 0 to 4095.

Related Commands:

ssg, scl

Example:

sab 1 25

i

Digital Gain=

4096

Setting Digital System Gain

Setting Add Background

3.17 Look-Up Tables

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

Piranha Color Camera 50

Purpose:

Calibrates the current input look-up table for correcting non-

linearity in the analog chain (CCD sense node and analog-to-

digital conversion).

Syntax:

cil

Syntax Elements:

Notes:

This command calibrates all taps within the ROI for current

color (RBG does all).

To calibrate:

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

a PRNU calibration.

Adjust the light level such that at maximum LUT line rate:

2K60 is equal to 10,501 Hz, and 4K60 is equal to 5,410 Hz.

Average output is less than 590 DN (12 bit) and at minimum

line rate average output is greater than 3,685 DN (12 bit)

In addition:

Use the wil command to write the LUT to non-volatile

memory.

Use the eil command to enable use of the LUT.

Use the scl command to select which colored taps to calibrate.

Use the roi command to limit the taps calibrated and to limit

which pixels are used for calibration. If a tap is not in the region

of interest, then it will not be calibrated.

Press spacebar to abort this command.

Rerun this command if the analog gain or operating temperature

changes.

Example:

Purpose:

Enables or disables the use of the input look-up tables for the

correction of the analog chain non-linearity.

Syntax:

eil flag

Syntax Elements:

0

Disable

1

Enable

Notes:

Coefficients must be created first with the cil command.

Setting saved with the wfs and wus commands.

Example:

Calibrate Input LUT

Enable Input LUT

Piranha Color Camera 51

Current

 Settings
 LUT
 FPN
 PRNU

Factory

 Settings
 LUT
 FPN
 PRNU

User

 Settings
 LUT
 FPN
 PRNU

PC

 Settings
 LUT
 FPN
 PRNU

L

F

S

User

 Settings
 LUT
 FPN
 PRNU

User

 Settings
 LUT
 FPN
 PRNU

User

 Settings
 LUT
 FPN
 PRNU

WUS

WIL
WFC
WPC

LUS

LIL

LFC

LPC

SSN 0

SSN 1-4

SSN 5

3.18 Saving, Loading and Restoring Settings

Saving and Restoring Settings

Figure 8: Saving and Restoring Overview

Factory Settings

On first initialization, the camera operates using user set 1, which has been set equal to
the factory settings. You can restore the original factory settings at any time using the
command lfs.

User Settings

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

 To save all current user settings to Flash, use the command wus. The camera will

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

 To load the user settings from non-volatile memory, use the command lus.
 To write and load the LUTs, use the wil and lil commands, respectively.

Piranha Color Camera 52

Purpose:

Write all the current camera settings to the micro-controller’s
EEPROM.

Syntax:

wus

Syntax Elements:

Example:

wus

Notes:

Before issuing this command, select the set you wish to write
with the ssn command:

Set 1-4 are user sets

The settings can be manually restored with using the lus
command.

The last saved set (excluding PC sets) of settings will be
restored automatically after the power is cycled or after the rc
command – this includes loading the LUT, FPN, and PRNU
with the saved set number

The format of the file sent to a PC is proprietary.

Related Commands:

Purpose:

Load the camera’s user settings from non-volatile memory and
send values to FPGA.

Syntax:

lus

Syntax Elements:

Example:

lus

Notes:

Before issuing this command, select the set you wish to load
with the SSN command

0 = Factory set
1 to 4 = User sets
5 = Selects transfer from PC

Unlike LFS, LUS only restores the settings and not the FPN,
PRNU, and LUT.

 To write and load the FPN coefficients, use the wfc and lfc commands,

respectively.

 To write and load the PRNU coefficients, use the wpc and lfc commands,

respectively.

 Before issuing the user setting commands, select the set you wish to write using the

ssn command: Sets 1 to 4 are user sets.

Current Session Settings

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

Writing and Loading Setting to Non-Volatile Memory

Write User Settings

Load User Settings

Piranha Color Camera 53

Related Commands:

Purpose:

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

Syntax:

wil

Syntax Elements:

Example:

wil

Notes:

Before issuing this command, select the set you wish to write
with the SSN command:

0 = Factory set
1 to 4 = User sets

Input LUT is loaded by LIL, LFS, and automatically at power­up.
LUT use is enabled or disabled with the EIL command.
Set 0 can only be written from factory mode.

Format of LUT PC
File

Provided so that user can generate their own LUT’s to send to

the camera

Binary file

((2 bytes, LSB first) x (1024 values)) x (4 red taps)
((2 bytes, LSB first) x (1024 values)) x (4 green taps)
((2 bytes, LSB first) x (1024 values)) x (2 blue taps)
32 bytes reserved
2 byte CRC-16 of previous bytes

e.g. PC-30-02k80 would have
1024 words for red tap 1 +
1024 words for red tap 2 +
1024 words for red tap 3 +
1024 words for red tap 4 +
1024 words for green tap 1 +
1024 words for green tap 2 +
1024 words for green tap 3 +
1024 words for green tap 4 +
1024 words for blue tap 1 +
1024 words for blue tap 2 +
32 unused bytes +
2 byte CRC of the above

LUT values are indexed using the most significant 10 bytes of
the video signal

When LUT’s are enabled, an indexed value is added to each

value in the video signal

e.g. If the value out of the A/D converter was 4007 then the
index into the LUT would be 4007 / 4 = 1001.75. If the LUT
were enabled, then the value at index 1001 (zero based) in the
LUT would be added to the value coming out of the A/D
converter.

Write Input LUT

Piranha Color Camera 54

The LUT values are two’s complement signed integers from ­256 to +255

e.g. 710 = 11

12

= [0000][0000][0000][0111]

-1210 = 0-11002 = [1111][1111][1111][0100]

See WFC for a description of the CRC algorithm.

Purpose:

Load previously stored LUT for all taps from non-volatile
memory to FPGA SDRAM.

Syntax:

lil

Syntax Elements:

Example:

lil

Notes:

Before issuing this command, select the set you wish to load
with the SSN command:

0 = Factory set
1 to 4 = User sets
5 = Selects transfer from PC

LUTs are only loaded from non-volatile memory on: power-up,
LIL, and LFS. They are not loaded by LUS.

Related Commands:

wil

Purpose:

Saves current values of FPN pixel coefficients that are in
FPGA SDRAM to Flash memory or a PC file.

Syntax:

wfc

Syntax Elements:

Example:

wfc

Notes:

Before issuing this command, select the set you wish to write
with the SSN command:

0 = Factory set
1 to 4 = User sets

FPN pixel coefficients are loaded by LFC, LFS, and
automatically at power-up.

Coefficient use is enabled or disabled with the EPC command
Set 0 can only be written from factory mode.

Format of FPN PC
File

Provided so that user can generate their own coefficients to
send to the camera
Binary file

((2 bytes, LSB first) x (number of pixels)) x (3 colors – red,
green, blue)
32 bytes reserved
2 byte CRC-16 of previous bytes

Load Input LUT

Write FPN Coefficients

Piranha Color Camera 55

e.g. PC-30-02k80 would have:

2048 words of red +
2048 words of green +
2048 words of blue +
32 unused bytes +
2 byte CRC of the above

2 byte FPN = [IIII][IIII][IIII][FFFF]
I – Integer portion {0-4095}
F – Binary fraction portion
e.g. 6.510 = 110.12 = [0000][0000][0110][1000]
CRC-16 Algorithm

// Fast CRC16 Algorithm
// (X^16 + X^12 + X^5 + 1).
// ―unsigned int‖ is two bytes

unsigned int CRC_table16[256] =
{
0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50a5, 0x60c6, 0x70e7, 0x8108,
0x9129, 0xa14a, 0xb16b, 0xc18c, 0xd1ad, 0xe1ce, 0xf1ef, 0x1231, 0x0210,
0x3273, 0x2252, 0x52b5, 0x4294, 0x72f7, 0x62d6, 0x9339, 0x8318, 0xb37b,
0xa35a, 0xd3bd, 0xc39c, 0xf3ff, 0xe3de, 0x2462, 0x3443, 0x0420, 0x1401,
0x64e6, 0x74c7, 0x44a4, 0x5485, 0xa56a, 0xb54b, 0x8528, 0x9509, 0xe5ee,
0xf5cf, 0xc5ac, 0xd58d, 0x3653, 0x2672, 0x1611, 0x0630, 0x76d7, 0x66f6,
0x5695, 0x46b4, 0xb75b, 0xa77a, 0x9719, 0x8738, 0xf7df, 0xe7fe, 0xd79d,
0xc7bc, 0x48c4, 0x58e5, 0x6886, 0x78a7, 0x0840, 0x1861, 0x2802, 0x3823,
0xc9cc, 0xd9ed, 0xe98e, 0xf9af, 0x8948, 0x9969, 0xa90a, 0xb92b, 0x5af5,
0x4ad4, 0x7ab7, 0x6a96, 0x1a71, 0x0a50, 0x3a33, 0x2a12, 0xdbfd, 0xcbdc,
0xfbbf, 0xeb9e, 0x9b79, 0x8b58, 0xbb3b, 0xab1a, 0x6ca6, 0x7c87, 0x4ce4,
0x5cc5, 0x2c22, 0x3c03, 0x0c60, 0x1c41, 0xedae, 0xfd8f, 0xcdec, 0xddcd,
0xad2a, 0xbd0b, 0x8d68, 0x9d49, 0x7e97, 0x6eb6, 0x5ed5, 0x4ef4, 0x3e13,
0x2e32, 0x1e51, 0x0e70, 0xff9f, 0xefbe, 0xdfdd, 0xcffc, 0xbf1b, 0xaf3a,
0x9f59, 0x8f78, 0x9188, 0x81a9, 0xb1ca, 0xa1eb, 0xd10c, 0xc12d, 0xf14e,
0xe16f, 0x1080, 0x00a1, 0x30c2, 0x20e3, 0x5004, 0x4025, 0x7046, 0x6067,
0x83b9, 0x9398, 0xa3fb, 0xb3da, 0xc33d, 0xd31c, 0xe37f, 0xf35e, 0x02b1,
0x1290, 0x22f3, 0x32d2, 0x4235, 0x5214, 0x6277, 0x7256, 0xb5ea, 0xa5cb,
0x95a8, 0x8589, 0xf56e, 0xe54f, 0xd52c, 0xc50d, 0x34e2, 0x24c3, 0x14a0,
0x0481, 0x7466, 0x6447, 0x5424, 0x4405, 0xa7db, 0xb7fa, 0x8799, 0x97b8,
0xe75f, 0xf77e, 0xc71d, 0xd73c, 0x26d3, 0x36f2, 0x0691, 0x16b0, 0x6657,
0x7676, 0x4615, 0x5634, 0xd94c, 0xc96d, 0xf90e, 0xe92f, 0x99c8, 0x89e9,
0xb98a, 0xa9ab, 0x5844, 0x4865, 0x7806, 0x6827, 0x18c0, 0x08e1, 0x3882,
0x28a3, 0xcb7d, 0xdb5c, 0xeb3f, 0xfb1e, 0x8bf9, 0x9bd8, 0xabbb, 0xbb9a,
0x4a75, 0x5a54, 0x6a37, 0x7a16, 0x0af1, 0x1ad0, 0x2ab3, 0x3a92, 0xfd2e,
0xed0f, 0xdd6c, 0xcd4d, 0xbdaa, 0xad8b, 0x9de8, 0x8dc9, 0x7c26, 0x6c07,
0x5c64, 0x4c45, 0x3ca2, 0x2c83, 0x1ce0, 0x0cc1, 0xef1f, 0xff3e, 0xcf5d,
0xdf7c, 0xaf9b, 0xbfba, 0x8fd9, 0x9ff8, 0x6e17, 0x7e36, 0x4e55, 0x5e74,
0x2e93, 0x3eb2, 0x0ed1, 0x1ef0
};

unsigned int CalcCrc(unsigned char *ptr, // pointer to buffer to process
unsigned int count) // number of bytes in buffer
{

Piranha Color Camera 56

unsigned int sum = 0;

while(count--)
{
sum = CRC_table16[(sum >> 8) ^ *ptr] ^ (sum << 8);
ptr++;
}
return sum;
}

Purpose:

Loads previously stored FPN pixel coefficients from non­volatile memory to FPGA SDRAM.

Syntax:

lfc

Syntax Elements:

Example:

lfc

Notes:

Before issuing this command, select the set you wish to load
with the SSN command:

0 = Factory set
1 to 4 = User sets
5 = Selects transfer from PC

FPN coefficients are only loaded from non-volatile memory
on: power-up, LFC, and LFS. They are not loaded by LUS.

Related Commands:

wfc

Purpose:

Saves current values of PRNU pixel coefficients that are in
FPGA SDRAM to Flash memory or a PC file.

Syntax:

wpc

Syntax Elements:

Example:

wpc

Notes:

Before issuing this command, select the set you wish to write
with the SSN command:

0 = Factory set
1 to 4 = User sets

PRNU coefficients will be loaded by LPC, LFS, and
automatically at power-up
Coefficient use is enabled or disabled with the EPC command
Set 0 can only be written from factory mode

Format of PRNU PC
File

Provided so that user can generate their own coefficients to
send to the camera

Binary file

((2 bytes, LSB first) x (number of pixels)) x (3 colors – red,
green, blue)

32 bytes reserved

Load FPN Coefficients

Write PRNU Coefficients

Piranha Color Camera 57

2 byte CRC-16 of previous bytes

e.g. PC-30-02k80 would have
2048 words of red +
2048 words of green +
2048 words of blue +
32 unused bytes +
2 byte CRC of the above

2 byte PRNU is an unsigned integer from 0 to 61,438

This value will be converted to the PRNU coefficient as
follows:
PRNU = 1 + value / 4096

Therefore the PRNU range is 1 to 15.9995 and the formula to
calculate the value is:
value = 4096 x (PRNU -1)

See WFC for a description of the CRC algorithm

Purpose:

Load previously stored PRNU pixel coefficients from non­volatile memory to FPGA SDRAM.

Syntax:

lpc

Syntax Elements:

Example:

lpc

Notes:

Before issuing this command, select the set you wish to load
with the SSN command

0 = Factory set
1 to 4 = User sets
5 = Selects transfer from PC

PRNU coefficients are only loaded from non-volatile memory
on: power-up, LPC, and LFS. They are not loaded by LUS.

Related Commands:

wpc

Purpose:

Produces an end-of-line sequence that provides basic
calculations including "line counter", "line sum", "pixels above
threshold", "pixels below threshold", and "derivative line sum"
within the region of interest.
To further aid in debugging and cable/data path integrity, the
first three pixels after Line Valid are AA16, 5516, AA16. Refer to
the following table. These statistics refer only to pixels within
the region of interest.

Syntax:

els i

Load PRNU Coefficients

3.19 Diagnostics

End-of-line Sequence

Piranha Color Camera 58

Syntax Elements:

i

0 Disable end-of-line sequence

1 Enable end-of-line sequence, LVAL is not high for
end-of-line statistics.

2 LVAL high for video and end-of-line statistics

Notes:

Example:

els 1

Location

Value

Description

1

AA16

By ensuring these values consistently
toggle between AA16 and 5516, you can
verify cabling (i.e. no stuck bits)

2

5516

3

AA16

4

4 bit counter LSB justified

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

5

Line sum (7…0)

Use these values to help calculate line
average and gain

6

Line sum (15…8)

7

Line sum (23…16)

8

Line sum (31…24)

9

Pixels above threshold (7…0)

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

10

Pixels above threshold
(15…8)

11

Pixels below threshold (7…0)

12

Pixels below threshold
(15…8)

13

Differential line sum (7..0)

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

14

Differential line sum (15…8)

15

Differential line sum (23…16)

16

Differential line sum (31…24)

Purpose:

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

Syntax:

sut i

Syntax Elements:

i Upper threshold limit in range from 0 to 4095.

Notes:

You must first select the color or colors you want to adjust using
the scl command.
RGB: all outputs
R: red output
G: green output
B: blue output
To change just the white (luminance) value, first change all

Table 5: End-of-Line Sequence Description

Setting Thresholds

Setting an Upper Threshold

Piranha Color Camera 59

outputs using the scl command set to rgb to the desired white
value, and then change each color back individually.
LVAL is not high during the end-of-line statistics.

Related Commands:

els, slt, scl

Example:

sut 1024

Purpose:

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

Syntax:

slt i

Syntax Elements:

i Upper threshold limit in range from 0 to 4095.

Notes:

You must first select the color or colors you want to adjust using
the scl command.
RGB: white output
R: single color output
G: single color output
B: single color output
LVAL is not high during the end-of-line statistics.

Related Commands:

els, sut

Example:

slt 1024

Purpose:

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

Syntax:

svm i

Syntax Elements:

i

0 Normal video

1 Horizontal ramp

2 Diagonal ramp

3 Vertical ramp

4 0xAA-0x55 alternating pixel pattern per color

5 8 pixels of 0x00 followed by 8 pixels of 0xFF on all
colors, repeating

6 DC value

7 FPN demo

8 PRNU demo

9 All 4095 (to get FPN)

10

All 2048 (to get PRNU)

Notes:

Example:

svm 1

Setting a Lower Threshold

Generating Test Pattern

Examples of the horizontal ramp test pattern (svm 1):

PC-30-02K80

Piranha Color Camera 60

Purpose:

Returns a complete line of video (without pixel coefficients
applied) displaying one pixel value after another. After pixel
values have been displayed it also displays the minimum,
maximum, and mean value of the line sampled within the region
of interest (the region of interest command is explained in section
Setting a Region of Interest (ROI)).
Use the gl command, or the following gla command, to ensure
the proper video input range into the processing chain before
executing any pixel calibration commands.

Syntax:

gl x1 x2

Syntax Elements:

x1

Pixel start number. Must be less than the pixel end number
in a range from 1 to n (sensor resolution), where n = 2048
or 4086.

x2

Pixel end number. Must be greater than or equal to the pixel
start number in a range from 1 to n (sensor resolution),
where n = 2048 or 4086.

Notes:

If x2  x1 then x2 is forced to be x1.
Values returned are in 12-bit DN.

Related Commands

roi

Example:

gl 10 20

PC-30-04K80

Returning Video Information

The camera’s microcontroller has the ability to read video data. This functionality can be

used to verify camera operation and to perform basic testing without having to connect
the camera to a frame grabber. This information is also used for collecting line statistics
for calibrating the camera.

Returning a Single Line of Video

Piranha Color Camera 61

Purpose:

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

Syntax:

gla x1 x2

Syntax Elements:

x1

Pixel start number. Must be less than the column end
number in a range from 1 to n, where n = 2048 or 4096
depending on the resolution.

x2

Pixel end number. Must be greater than or equal to the
column start number in a range from 1 to n, where n = 2048
or 4096 depending on the resolution.

Notes:

If x2  x1 then x2 is forced to be x1.
Analog gain, analog offset, digital offset, background subtract,
and digital system gain are applied to the data. FPN and PRNU
coefficients are not included in the data.
Values returned are in 12 bit DN.

Related Commands:

css, roi

Example:

gla 10 20

Purpose:

Sets the number of lines to sample when using the gla
command or when performing FPN and PRNU calibration.

Syntax:

css m

Syntax Elements:

m

Number of lines to sample. Allowable values are 1024,
2048, or 4096.

Notes:

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

Related Commands:

gla, ccf, ccp, cpa

Returning the Average of Multiple Lines of Video

Setting the Number of Lines to Sample

Temperature Measurement

The temperature of the camera can be determined by using the vt command. This
command will return the internal chip case temperature in degrees Celsius. For proper
operation, this value should not exceed 75°C.

Note: If the camera reaches 75°C, the camera will shutdown and the LED will flash red.
If this occurs, the camera must be rebooted using the command, rc or can be powered
down manually. You will not be able to restart the camera until the temperature is less
than 65°C. You will have to correct the temperature problem or the camera will
shutdown again. The camera allows you to send the vt (verify temperature) command
while it is in this state.

Piranha Color Camera 62

Purpose:

Returns the frequency for the requested Camera Link control
signal

Syntax:

gsf i

Syntax Elements:

i

Camera Link control signal to measure:

1: CC1 (EXSYNC/Blue PR)
2: CC2 (Green PR)
3: CC3 (CCD Direction)
4: CC4 (Spare/Red PR)

Note:

Accuracy: ±271 ns
Reliable up to 40,000 H

Example:

gsf 1
Purpose:

Returns the status of the camera’s LED.

Syntax:

gsl

The camera returns one of the following values:

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

Notes:

 Refer to section 2.3 Camera LED for more information

on the camera LED.

Syntax:

gcp

Voltage Measurement

The command vv displays the camera’s input voltage. Note that the voltage
measurement feature of the camera provides only approximate results (typically within
10%). The measurement should not be used to set the applied voltage to the camera but
only used as a test to isolate gross problems with the supply voltage.

Camera Frequency Measurement

Returning the LED Status

Returning Camera Settings

Returning All Camera Settings with the Camera Parameter Screen

The camera parameter (gcp) screen returns all of the camera’s current settings. The table

below lists all of the gcp screen settings.

To read all current camera settings, use the command:

Piranha Color Camera 63

Example:

OK>gcp

C A M E R A S E T T I N G S:

Camera Model No.: PC-30-02K60-00-R
Camera Serial No.: 3
Microcode Version: 03-081-00166-06
CCI Version: 03-110-20014-01
FPGA Version: 03-056-20031-04
UART Baud Rate: 115200

Set Number, Current: 3
Set Number, Last Settings: 3
Set Number, Last LUT: 3
Set Number, Last FPN: 3
Set Number, Last PRNU: 3
Color: RGB
Video Mode: Normal video
Region Of Interest: 1 to 2048
End-Of-Line Sequence: 1
Number Of Line Samples: 1024
Upper Threshold: White: 4095 Red: 4095 Green: 4095 Blue: 4095
Lower Threshold: White: 0 Red: 0 Green: 0 Blue: 0

Readout Mode: Off
Exposure Mode: 7
SYNC Frequency [Hz]: 10498.7
Exposure Time [uSec]: 95.25
CCD Direction: Internal/Forward
Horizontal Averaging: 1
Camera Link Mode: 16, Medium, 1 taps, 12 bits, no time MUX
Cable Parameter: 100
Output Throughput: 80
Spatial Alignment 0
Mirroring Mode: 0, left to right

Piranha Color Camera 64

Color Correction Coefficients: White 0 1365 1365 1365
Red 0 4096 0 0
Green 0 0 4096 0
Blue 0 0 0 4096
Input LUT: Off
FPN Coefficients: Off
PRNU Coefficients: Off
Analog Gain [dB]: Red 10.0 10.0 10.0 10.0
Green 10.0 10.0 10.0 10.0
Blue 10.0 10.0
Analog Reference Gain [dB]: Red 0.0 0.0 0.0 0.0
Green 0.0 0.0 0.0 0.0
Blue 0.0 0.0
Total Analog Gain [dB]: Red 10.0 10.0 10.0 10.0
Green 10.0 10.0 10.0 10.0
Blue 10.0 10.0
Analog Offset: Red 80 80 80 80
Green 80 80 80 80
Blue 80 80
Digital Offset: Red 0 0 0 0
Green 0 0 0 0
Blue 0 0
Background Subtract: Red 0 0 0 0
Green 0 0 0 0
Blue 0 0
System Gain: Red 4096 4096 4096 4096
Green 4096 4096 4096 4096
Blue 4096 4096
Background Add: Red 0 0 0 0
Green 0 0 0 0
Blue 0 0
OK>

Syntax

Parameters

Description

get ccf

x1 x2

Returns the FPN pixel coefficients for the pixel range
indicated.

x1 = Pixel start number
x2= Pixel end number

get ccp

x1 x2

Returns the PRNU pixel coefficients for the pixel range
indicated.

x1 = Pixel start number
x2= Pixel end number

get clm

Returning Camera Settings with Get Commands

You can also return individual camera settings by inserting a ―get” in front of the
command that you want to query. If the command has a tap or pixel number parameter,
you must also insert the tap number or pixel number that you want to query. This
command returns the values without the descriptions found on the gcp screen. Refer to
Table 6 below for a list of available commands. To view a help screen listing the
following get commands, use the command gh.

Table 6: Get Commands

Piranha Color Camera 65

Syntax

Parameters

Description

get css

Returns the number of line samples averaged for pixel
coefficient calculations or for output of gla command.

get dil

t a a

Displays LUT values.
t = Tap dependent on scl, 0 for all.
a1 = Start LUT address
a2 = Stop LUT address, a1 < a2

get dpc

x1 x2

Returns pixel coefficients without formatting.

get ebc

Returns blue correction status.

0: Off
1: On

get eil

Returns LUTs status.

0: Off
1: On

get els

Returns whether the end-of-line statistics are turned off
or on.

0: Off
1: On

get epc

Returns whether pixel coefficients are enabled or
disabled.
The first parameter returns the FPN coefficients setting
where:

0 = FPN coefficients disabled
1 = FPN coefficients enabled

The second parameter returns the PRNU coefficients
setting where:

0 = PRNU coefficients disabled
1 = PRNU coefficients enabled

get gcm

Returns the camera’s model number

get gcs

Returns the camera’s serial number

get gcv

Returns the camera’s software version.

get gfc

x

Returns the FPN pixel coefficient for the pixel indicated.
Only available when a single color is selected.

get gl

x1 x2

Returns pixel values for the pixel range specified.

get gla

x1 x2

Returns the average of the pixel range indicated.

get gpc

x

Returns the PRNU pixel coefficient for the pixel
indicated.

get gsf

i

Returns the frequency of the Camera Link control signal
indicated: 1, 2, 3, or 4.

get gsl

Returns the led status.

get lfc

Returns the current coefficient set number

get lpc

Returns the current coefficient set number.

get lfs

Returns the current coefficient set number.

get lus

Returns the current coefficient set number.

get roi

Returns the current region of interest.

get sab

t

Returns the current background add value.

t = Tap value.
0 for all taps
1 to 4 for individual tap selection, depending on camera

model.

get sag

t

Returns the analog gain in dB for the tap indicated
t = Tap value. 0 for all taps or 1 to 4 for individual tap
selection.

get sah

Returns the horizontal averaging factor.

Piranha Color Camera 66

Syntax

Parameters

Description

get sao

t

Returns the analog offset for the tap indicated.
t = 0 for all taps or 1 to 4 for individual tap selection.

get sbr

Returns the speed of camera serial communication port.

get scb

Returns cable parameter.

get scc

Returns current color correction coefficients.

get scd

Returns the CCD shift direction selection where:

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

get scl

Return current color selection (rgb, r, g, or b)

get sdo

t

Returns the digital offset value in DN for the tap
indicated.
t = Tap value. 0 for all taps or 1 to 2 for individual tap
selection.

get sem

Returns the current exposure mode:
2 = Internal SYNC, internal PRIN, programmable line
rate and exposure time using commands ssf and set

3 = External SYNC, maximum exposure time
4 = Smart EXSYNC
5 = External SYNC and PRIN
6 = External SYNC, internal PRIN, programmable

exposure time
7 = Internal programmable SYNC, maximum
exposure time.

get set

Returns the current exposure time in µs.

get sfc

x

Returns the FPN coefficient for the pixel number
indicated.
x =pixel number within the range 1 to n, where n =
2048 or 4096 depending on the resolution.

get sfr

x1 x2

Returns pixel range of FPN coefficients. x1 < x2.

get sil

t a

Returns single LUT entry.
Only available when a single color is selected.

t = tap: 1 to 4
a = LUT address

get slt

Returns the current lower threshold value. This
command depends on the color selected previously
using the scl command.

get smm

Returns mirroring mode:

0: Off
1: On

get sot

Returns output throughput in mega pixels per second
(mps) per color.

get spc

x

Returns the PRNU coefficient for the specified pixel
number.
This command is only available when a single color is
selected.
x=pixel number within the range 1 to n, where n =
2048 or 4096 depending on the resolution.

get spr

x1 x2

Returns the pixel range of PRNU coefficients. x1 < x2.

get ssb

t

Returns the current background subtract value.
t = Tap value. 0 for all taps or 1 to 4 for individual tap
selection depending on camera model.

get ssf

Returns the current line rate in Hz. Only available while

Piranha Color Camera 67

Syntax

Parameters

Description

in internal exposure modes.

get ssg

t

Returns the current digital gain setting.
t = tap selection, either 1 to 4 depending on camera
model, or 0 for all taps

get ssn

Returns current set number.

get sut

Returns the current upper threshold value.

get svm

Returns the current video mode.

0: Normal video
1: Horizontal ramp
2: Diagonal ramp
3: Vertical ramp
4: n/a
5: n/a
6: DC value
7: FPN demo
8: PRNU demo
9: All 4095 (to get FPN)
10: All 2048 (to get PRNU)
11: Power toggle
12: All 320 to FPN offset
13: All zeros
14: All ones

get ugr

t

Returns the gain reference value.
t = tap selection: 1 to 4 depending on camera model,
or 0 for all taps.

get vt

Returns the camera’s internal chip temperature in
degrees Celsius.

get vv

Returns the camera’s supply voltage.

get wfc

Returns the current coefficient set number.

get wil

Returns the current coefficient set number.

get wpc

Returns the current coefficient set number.

get wus

Returns the current coefficient set number.

Piranha Color Camera 68

Piranha Color Camera 69

Optical and Mechanical
Considerations

4.1 Mechanical Interface

Figure 9: Piranha Color Camera Mechanical Dimensions

Piranha Color Camera 70

Model Number

Lens Mount Options

All models

M72 x 0.75, M42x1 and F-mount.

4.2 Lens Mounts

Piranha Color Camera 71

4.3 Optical Interface

Illumination

The amount and wavelengths of light required to capture useful images depend on the
particular application. Factors include the nature, speed, and spectral characteristics of
objects being imaged, exposure times, light source characteristics, environmental and
acquisition system specifics, and more.

It is often more important to consider exposure than illumination. The total amount of
energy (which is related to the total number of photons reaching the sensor) is more

important than the rate at which it arrives. For example, 5J/cm2 can be achieved by
exposing 5mW/cm2 for 1ms just the same as exposing an intensity of 5W/cm2 for 1s.

Light Sources

Keep these guidelines in mind when setting up your light source:

LED light sources are relatively inexpensive, provide a uniform field, and longer life
span compared to other light sources. However, they also require a camera with
excellent sensitivity.

Halogen light sources generally provide very little blue relative to infrared light (IR).

Fiber-optic light distribution systems generally transmit very little blue relative to IR.

Some light sources age; over their life span they produce less light. This aging may not
be uniform—a light source may produce progressively less light in some areas of the
spectrum but not others.

Filters

CCD cameras are extremely responsive to infrared (IR) wavelengths of light. To prevent

infrared from distorting the images you scan, use a ―hot mirror‖ or IR cutoff filter that

transmits visible wavelengths but does not transmit wavelengths over 750nm. Examples

are the Schneider Optics™ B+W 489, which includes a mounting ring, the CORION™

LS-750, which does not include a mounting ring, and the CORION™ HR-750 series
hot mirror.

Lens Modeling

Any lens surrounded by air can be modeled for camera purposes using three primary
points: the first and second principal points and the second focal point. The primary
points for a lens should be available from the lens data sheet or from the lens
manufacturer. Primed quantities denote characteristics of the image side of the lens.

That is, h is the object height and h is the image height.

The focal point is the point at which the image of an infinitely distant object is brought to
focus. The effective focal length (f) is the distance from the second principal point to the

second focal point. The back focal length (BFL) is the distance from the image side of the
lens surface to the second focal point. The object distance (OD) is the distance from the
first principal point to the object.

Piranha Color Camera 72

SECOND PRINCIPAL POINT

SECOND FOCAL POINT

f

BACK FOCAL LENGTH.

LIGHT RAYS FROM LEFT

OBJECT

HEIGHT (h)

FIRST PRINCIPAL

POINT

OPTICAL AXIS

OBJECT

DISTANCE (OD)

IMAGE SIDEOBJECT SIDE

m =

h '
h

—

where m is the magnification, h’ is the image height

(pixel size) and h is the object height (desired object
resolution size).

m=

f '

—

OD

h '
h

—

=

f '

–

OD

This is the governing equation for many object and
image plane parameters.

10 µm

100 µm

— =

45 mm

OD

OD=450 mm (0.450 m)—

Figure 10: Primary Points in a Lens System

Magnification and Resolution

The magnification of a lens is the ratio of the image size to the object size:

By similar triangles, the magnification is alternatively given by:

These equations can be combined to give their most useful form:

Example: An acquisition system has a 512 x 512 element, 10µm pixel pitch area scan
camera, a lens with an effective focal length of 45 mm, and requires that 100m in the

object space correspond to each pixel in the image sensor. Using the preceding equation,
the object distance must be 450 mm (0.450m).

Piranha Color Camera 73

!

CCD Handling Instructions

5.1 Electrostatic Discharge and the CCD
Sensor

Cameras contain charge-coupled device (CCD) image sensors, which are metal oxide
semiconductor (MOS) devices and are susceptible to damage from electrostatic
discharge (ESD).

Electrostatic charge introduced to the sensor window surface can induce charge buildup
on the underside of the window that cannot be readily dissipated by the dry nitrogen gas
in the sensor package cavity. When charge buildup occurs, surface-gated photodiodes
(SGPDs) may exhibit higher image lag. Some SGPD sensors, such as the IL-P4 and the
IT-P4 used in the Piranha Color cameras, may also exhibit a highly non-uniform
response when affected by charge buildup, with some pixels displaying a much higher
response when the sensor is exposed to uniform illumination. The charge normally
dissipates within 24 hours and the sensor returns to normal operation.

WARNING: Charge buildup will affect the camera’s flat-field correction calibration. To
avoid an erroneous calibration, ensure that you perform flat-field correction only after a
charge buildup has dissipated over 24 hours.

5.2 Protecting Against Dust, Oil and
Scratches

The CCD window is part of the optical path and should be handled like other optical
components, with extreme care.

Dust can obscure pixels, producing dark patches on the sensor response. Dust is most
visible when the illumination is collimated. The dark patches shift position as the angle
of illumination changes. Dust is normally not visible when the sensor is positioned at
the exit port of an integrating sphere, where the illumination is diffuse.

Dust can normally be removed by blowing the window surface using a compressed air
blower, unless the dust particles are being held by an electrostatic charge, in which case
either an ionized air blower or wet cleaning is necessary.

Oil is usually introduced during handling. Touching the surface of the window
barehanded will leave oily residues. Using rubber fingercots and rubber gloves can
prevent oil contamination. However, the friction between the rubber and the window
may produce electrostatic charge that may damage the sensor. To avoid ESD damage
and to avoid introducing oily residues, only hold the sensor from the edges of the
ceramic package and avoid touching the sensor pins and the window.

Scratches can be caused by improper handling, cleaning or storage of the sensor.
Vacuum picking tools should not come in contact with the window surface. CCDs
should not be stored in containers where they are not properly secured and can slide
against the container.

Piranha Color Camera 74

Scratches diffract incident illumination. When exposed to uniform illumination, a sensor
with a scratched window will normally have brighter pixels adjacent to darker pixels.
The location of these pixels changes with the angle of illumination.

5.3 Cleaning the Sensor Window

Use compressed air to blow off loose particles. This step alone is usually sufficient to
clean the sensor window.

If further cleaning is required, use a lens wiper moistened with alcohol or acetone.

We recommend using lint-free ESD-safe cloth wipers that do not contain particles that

can scratch the window. The Anticon Gold 9‖x 9‖ wiper made by Milliken is both ESD

safe and suitable for class 100 environments. Another ESD acceptable wiper is the
TX4025 from Texwipe.

An alternative to ESD-safe cloth wipers is Transplex swabs that have desirable ESD
properties. There are several varieties available from Texwipe. Do not use regular cotton
swabs, since these can introduce charge to the window surface.

Wipe the window carefully and slowly.

When cleaning long linear sensors, it may be easier to wipe along the width (i.e. as
opposed to the length) of the sensor.

Piranha Color Camera 75

 power supplies

 cabling

 software

 host computer

 light sources

 optics

 operating environment

 encoder

Troubleshooting

6.1 Common Issues

The information in this chapter can help you solve problems that may occur during the
setup of your camera. Remember that the camera is part of the entire acquisition system.
You may have to troubleshoot any or all of the following:

LED

When the camera is first powered up, the LED will glow on the back of the camera.
Refer to section 2.3 for information on the LED.

Connections

The first step in troubleshooting is to verify that your camera has all the correct
connections.

Cable Length/Type

Ensure that cable lengths are no longer than 10m. Use the scb command to select the
correct cable parameter for the cable length.

Equipment Requirements

Ensure that you are using compatible equipment.

Power Supply Voltages

Check for the presence of all voltages at the camera power connector. Verify that all
grounds are connected.

EXSYNC

When the camera is received from the factory, it defaults (no external input required) to
exposure mode 7 (5000 Hz line rate, internal Sync to trigger readout). After a user has
saved settings, the camera powers up with the saved settings.

If you change to an exposure mode that requires an external sync, ensure that you are
providing an external sync

Communications and Verify Parameters

TBD.

Verify Voltage

To check the camera’s input voltage, use the vv command. The supplied voltage must
be within specification. Erratic behavior may occur at low voltages. Voltages will be
reduced through the use of lengthy power supple cables.

Verify Temperature

To check the internal temperature of the camera, use the vt command.

Piranha Color Camera 76

6.2 Specific Solutions

Camera Does Not Respond to Serial Commands

Verify that the baud rate of the communications software matches that of the camera.
The camera always powers up at 9,600 bps.

Flashing Red LED on Power-up

This indicates a serious error. There will be no camera output and the serial interface
will only respond to a limit set of commands. An error message is sent in response to all
commands. Refer to Appendix A5 for a description of these errors and the action to
take.

Erratic Behavior

Use the vv command in order to verify that the supplied voltage is within specification.

No Output or Erratic Behavior

If your camera provides no output or behaves erratically, it may be picking up random
noise from long cables acting as antennae. Do not attach wires to unused pins. Verify
that the camera is not receiving spurious inputs (e.g. EXSYNC if camera is in exposure
mode that requires external signals).

Line Dropout, Bright Lines, or Incorrect Line Rate

Verify that the frequency of the internal sync is set correctly, or when the camera is set
to external sync that the EXSYNC signal supplied to the camera does not exceed the

camera’s useable line rate under the current operating conditions and that it is free from

noise.

Horizontal Lines or Patterns in Image

A faulty or irregular encoder signal may result in horizontal lines due to exposure time
fluctuations; ensure that your exposure time is regular. If you have verified that your
exposure time is consistent and patterns of low frequency intensity variations still occur,
ensure that you are using a DC or high frequency light source.

Noisy Output

Check your power supply voltage outputs for noise. Noise present on these lines can
result in poor video quality.

Dark Patches

If dark patches appear in your output the optics path may have become contaminated.
Clean your lenses and sensor windows with extreme care.

1. Take standard ESD precautions.

2. Wear latex gloves or finger cots.

3. Blow off dust using a filtered blow bottle or dry, filtered compressed air.

4. Fold a piece of optical lens cleaning tissue (approx. 3" x 5") to make a square pad

that is approximately one finger-width.

5. Moisten the pad on one edge with 2-3 drops of clean solvent—either alcohol or

acetone. Do not saturate the entire pad with solvent.
Wipe across the length of the window in one direction with the moistened end first,
followed by the rest of the pad. The dry part of the pad should follow the moistened
end. The goal is to prevent solvent from evaporating from the window surface, as this
will end up leaving residue and streaking behind.

Repeat steps 3-5 using a clean tissue until the entire window has been cleaned.

Blow off any adhering fibers or particles using dry, filtered compressed air.

Piranha Color Camera 77

Customer name

Organization name

Customer phone number
fax number
email

Complete Product Model
Number

(e.g. PC-30-04K80-00-R.)

Complete Serial Number

Your Agent or Dealer

Acquisition System hardware
(frame grabber, host computer,
light sources, etc.)

Power supply setting and
current draw

Data rate used

Control signals used in your
application, and their frequency
or state (if applicable)

EXSYNC Camera Link
Other _______

Voltage reported by the vv
command and voltage range
reported by the ? vvRange
command.

gcp screen

Please attach text received from the camera when the
gcp command is run.

gcl log

Please attach text received from the camera in
response to the gcl command. (This is a log of the
last 50 commands and the camera's response to
them.)

Detailed description of problem
encountered.

Please attach description with as much detail as
appropriate.

North America

Europe

Asia

Voice:

519-886-6000

[phone]

519-886-6000

Fax:

519-886-8023

[phone]

519-886-8023

Email:

[e-mail]

6.3 Product Support

If there is a problem with your camera, collect the following data about your application
and situation and call your Teledyne DALSA representative.

Note: You may also want to photocopy this page to fax to Teledyne DALSA.

In addition to your local Teledyne DALSA representative, you may need to call
technical Sales Support:

Piranha Color Camera 78

Piranha Color Camera 79

Mnemonic

Syntax

Parameters

Description

correction calibrate fpn

ccf Performs FPN calibration and
eliminates FPN noise by subtracting
away individual pixel dark current.
Measures FPN (dark current). Use the
epc command to enable subtracting
these values from the video. Use wfc
to write these values to non-volatile
memory.

calculate camera gain

ccg

i t i

Calculates the camera gain according
to the selected algorithm.

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

so that 8% to 13% of tap ROI pixels
are above the specified target value.
2 = This algorithm adjusts analog gain

so that the average pixel value in tap’s

ROI is equal to the specified target
value.
3 = This algorithm adjusts digital
(system) gain so that the average pixel

value in tap’s ROI is equal to the

specified target.
4= This algorithm adjusts the analog
gain so that the peak tap ROI pixels
are adjusted to the specified target.

t = Tap value. Use 0 for all taps or
1 or 4 for individual tap selection

depending on the color selected using
the scl command.
i = Calibration target value in a range
from 1024 to 4055DN (12 bit LSB).

correction calibrate prnu

ccp Performs PRNU calibration in order to
eliminate the difference in responsivity
between the pixels to create a uniform
response to light.

calibrate input LUT

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

camera link mode

clm Selects the CameraLink mode.

calculate PRNU
algorithm

cpa

i1 i2

Performs PRNU calibration according
to the selected algorithm.
i1 = The calibration algorithm:

Parameters:

t = tap id
i = integer value
f = float
m = member of a

set
s = string
x = pixel column
number
y = pixel row
number

Appendix A: ASCII Command
Reference

The following table lists and describes all of the camera’s available ASCII commands.

Table 7: Command Quick Reference

Piranha Color Camera 80

Mnemonic

Syntax

Parameters

Description

1 = The algorithm first adjusts each

tap’s analog gain so that 8-13% of
pixels within a tap are above the value
specified in the target value parameter.
PRNU calibration then occurs using
the peak pixel in the region of interest.
(Identical to ccp)
2 = Calculates the PRNU coefficients
using the entered target value as shown
below:

PRNU Coefficient =

Target

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

The calculation is performed for all
sensor pixels but warnings only apply
to pixels in the region of interest. This
algorithm is useful for achieving
uniform output across multiple
cameras.
3 = This algorithm includes an analog
gain adjustment prior to PRNU
calibration. Analog gain is first adjusted

so that the peak pixel value in tap’s

ROI is within 97 to 99% of the
specified target value. It then calculates
the PRNU coefficients using the target
value as shown below:

PRNU Coefficient =

Target

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

i

i

i

The calculation is performed for all
sensor pixels but warnings only apply
to pixels in the region of interest. This
algorithm is useful for achieving
uniform output across multiple
cameras.
4 = This algorithm is the same as 2
with the exception that it only
calculates PRNU for the pixels within
the current Region of Interest (ROI).
The second parameter is the target
value to use in a range from 1024 to

4055 DN.
i2 = Output target.

correction set sample

css m Sets the number of lines to sample
when using the gla command or
when performing FPN and PRNU
calibration where m is 1024, 2048,
or 4096.

display input LUT

dil

t a1 a2

Displays the range of input LUT
values, where:
t = Tap number: 0 for all. The range
is modified by the color selected.

a1 = Range start address: 0 to 1023.
a2 = Range stop address: 0 to 1023.

Piranha Color Camera 81

Mnemonic

Syntax

Parameters

Description

a1 ≤ a2

display pixel coeffs

dpc

x1 x2

Displays the pixel coefficients in the
order FPN, PRNU, FPN, PRNU, …

x1 = Pixel start number
x2= Pixel end number
in a range from 1 to n. Where n =
2048 or 4096.

enable blue correction

ebc i Enable blue correction, where:

0: Disable/Off
1: Enable/On

enable input LUT

eil i Enable input LUT, where:

0: Off
1: On

end of line sequence

els i Sets the end-of-line sequence:

0: Off
1: On
2: LVAL (video and statistics)

enable pixel coefficients

epc

i1 i2

Sets whether pixel coefficients are
enabled or disabled.
The first parameter sets the FPN
coefficients where i1 is:

0 = FPN coefficients disabled
1 = FPN coefficients enabled

The second parameter sets the PRNU
coefficients where i2 is:

0 = PRNU coefficients disabled
1 = PRNU coefficients enabled

get command log

gcl Displays the last 50 commands and the
camera's response to them.

get camera model

gcm Displays the camera model number.

get camera parameters

gcp Displays all of the camera parameters.

get camera serial

gcs Displays the camera serial number.

get camera version

gcv Displays the camera's firmware
versions.

get values

get s Displays the current value of the
parameter(s) set by the command s.

get fpn coefficient

gfc x Read the FPN coefficient
x = pixel number to read in a range
from 1 to n. Where n = 2048 or 4096.

get help

gh Returns all of the available ―get‖
commands.

get input LUT

gil

t a

Display a single LUT value. Must
select a color with SCL first.
t = Tap number; 0 for all; range
modified by color selected
a = LUT address; 0 to 1023

get line

gl

x1 x2

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

Piranha Color Camera 82

Mnemonic

Syntax

Parameters

Description

x1 = Pixel start number
x2 = Pixel end number
in a range from 1 to n. Where n =

2048 or 4096.

get line average

gla

x1 x2

Read the average of line samples.

x1 = Pixel start number
x2 = Pixel end number
in a range from 1 to n. Where n =

2048 or 4096.

get prnu coeff

gpc x Displays a PRNU coefficient.
x = pixel number to read in a range
from 1 to n. Where n = 2048 or 4096.

get signal frequency

gsf i Reads the requested Camera Link
control frequency.

1 = EXSYNC frequency
2 = CC2
3 = Direction
4 = CC4

help

h Display the online help.

load FPN coefficients

lfc Loads the FPN coefficients from non­volatile memory to current. This
command is modified by the ssn
command.

load factory settings

lfs Loads the camera’s factory settings
LUT, FPN and PRNU coefficients.
Also used to clear a fatal error if the
user settings are corrupt at power up.

load input LUT

lil Load input LUT’s from non-volatile
memory to current. Modified by the
ssn command.

load pixel coefficients

lpc Load the previously saved PRNU
coefficients from non-volatile memory.
Modified by the ssn command.

load user settings

lus Load the camera user settings from
non-volatile memory. Modified by the
ssn command.

reset camera

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

reset input LUT

ril Set all values in all current LUT’s to
zero.

region of interest

roi

x1 x2

Sets the pixel range affected by the
ccg, gl, gla, cil, ccf, ccp,
and cpa commands. The parameters
are the pixel start and end values (x).

reset pixel coeffs

rpc Resets the FPN and PRNU
coefficients to 0.

set add background

sab

ti

Set 12 bit value to add at end of digital
chain.
t = Tap; 0 to 4 depending on color
selected; 0 for all taps
i = Value to add

Piranha Color Camera 83

Mnemonic

Syntax

Parameters

Description

set analog gain

sag

t f

Sets the analog gain in dB.
t = tap selection, either 1 or 4
depending on the color selected, or 0
for all taps.

f= gain value specified from –10 to
+10 dB

set analog offset

sao

t i

Sets the analog offset.
t = tap selection, 1 to 4 depending on
color selected, or 0 for all taps.

i= Offset value in a range from 0 to
255 (12-bit LSB). Set to three time

RMS noise at high gain.

set averaging horizontal

sah i Sets the number of horizontal pixels to
average. Available values are 1 (factory
settings) and 2.

set baud rate

sbr

i Set the speed of camera serial
communication port. Baud rates:

9600, 19200, 57600, and

115200. Power on default: 9600.

select cable

scb i Sets the cable parameter. Increase this
value for longer cables and decrease
the value for shorter cables.

set color correction

scc

i1 i2 i3 i4

Set how three video streams from the
CCD are combined to provide the four
(red, green, blue, and luminance)
output streams. Use SCL to select the
color, RGB for luminance, to modify.
i1 = Offset (0 to 4095)
i2 = Red multiplier (-8192 to 8191)
i3 = Green multiplier (-8192 to 8191)
i4 = Blue multiplier (-8192 to 8191)
Multipliers are divided by 4096 to get
the actual factor.

set ccd direction

scd

i

Sets the CCD shift direction where:

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

control via CC3.

set color

scl s rgb/r/g/b

set digital offset

sdo

t i

Subtracts this value from the video
signal prior to FPN correction.
t = tap selection, 1 to 4 depending on
color selected, or 0 for all taps.
i = Offset in a range from 0 to 4095.

set exposure mode

sem m Sets the exposure mode:
2 = Internal line rate and exposure
time set using commands ssf and

set
3 = External SYNC, maximum

exposure time

4 = Smart EXSYNC
5 = External SYNC and PRIN

Piranha Color Camera 84

Mnemonic

Syntax

Parameters

Description

6 = External SYNC, internal exposure
time set using SET command
7 = Internal line rate, maximum
exposure time. Factory setting.

set exposure time

set f Sets the exposure time. Refer to the
camera help screen (h command) for
allowable range.

set fpn coeff

sfc

x i

Set the FPN coefficient. First must
select a single color with SCL.

x =pixel number within the range 1 to
n. Where n = 2048 or 4096.
i= FPN value within the range 0 to
4095 (12-bit LSB).

set fpn range

sfr

x x i

Set a range of pixel FPN coefficients.
First must select a single color with
SCL.

x1=first pixel number of the range.
x2=last pixel number of the range
i=coefficient value in a range from 0

to 4095.

set input LUT

sil

t a i

Set a single value in a LUT. First must
select a single color with SCL.

t = Tap; 1 to 4 depending on color
a = Address within LUT; 0 to 1023
i = Value; -256 to 255

set lower threshold

slt i The pixels below the lower threshold
are counted and reported in the end­of-line sequence.

i = Threshold in a range from 0-

4095.

set mirroring mode

smm

i

Set mirroring mode:

0 = Left to right
1 = Right to left

set output throughput

sot m Sets the camera's total throughput per
color. Valid values are: 30, 40, 60, or
80 mega-pixels per second per color.

set prnu coeff

spc

x i

Set a PRNU coefficient. First must
select a single color with SCL.

x=pixel number within the range 1 to
n. Where n = 2048 or 4096.
i= PRNU value within the range 0 to

61438.

set prnu range

spr

i1 i2 x

Set a range of pixel PRNU coefficients.
First must select a single color with
SCL.

i1 = first pixel number of the range
i2 = last pixel number of the range
x = coefficient value in a range from 0

to 61438.

set readout mode

srm i Select vertical transfer dark clear mode.
0 = Auto, clears dark below
approximately 60% of maximum line

Piranha Color Camera 85

Mnemonic

Syntax

Parameters

Description

rate
1 = Always clears dark; reduces the
maximum line rate
2 = Off

set spatial alignment

ssa i Set line delay between colors. 0 to 6.

set subtract background

ssb

t i

Subtract this value from the output
signal.
t = Tap value. 0 for all taps or 1 to
number of camera taps the color
selected.
i = Subtracted value in a range from 0
to 4095.

set sync frequency

ssf f Set internal line rate. 1Hz to 22,714
Hz (2k model) or 12,132 Hz (4k
model).

set system gain

ssg

t i

Set the digital gain.
t = tap selection, 0 for all taps or 1 to
number of camera taps for color

i = Digital gain in a range from 0 to
65,535. The digital video values are

multiplied by this number divided by
4,096.

set select number

ssn i Set number for write/load settings
commands:

0 = Factory set (load only)
1-4 = Internal user sets

set upper threshold

sut i The pixels equal to or greater than the
upper threshold are counted and
reported in the end-of-line sequence.
i = Threshold 0-4095.

set video mode

svm i Switch between normal video mode
and camera test patterns:
0: Normal video
1: Horizontal ramp
2: Diagonal ramp
3: Vertical ramp
4: N/A - A5 pattern
5: N/A - Data transmission
6: DC value
7: FPN demo
8: PRNU demo
9: All 4095 (to get FPN)
10: All 2048 (to get PRNU)
11: Power toggle
12: All 320 - FPN offset
13: All zeros
14: All ones

update gain reference

ugr For all taps, changes 0 dB gain to equal
the current analog gain value.

verify temperature

vt Display the internal temperature of the
camera.

verify voltage

vv Display the voltage supplied to the

Piranha Color Camera 86

Mnemonic

Syntax

Parameters

Description

camera.

write FPN coefficients

wfc Write current FPN coefficients to non­volatile memory set previously using
the ssn command.

write input LUT

wil Write current LUT’s to non-volatile
memory set previously using the ssn
command.

write PRNU coeffs

wpc Write current PRNU coefficients to
non-volatile memory set previously
using the ssn command.

write user settings

wus Write current camera settings to non­volatile memory set previously using
the ssn command.

Message

Description

Warning 01:
Outside of
specification>

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

Warning 02:
Clipped to min>

Parameter was clipped to the current operating range. Use GCP or
GET to see value used.

Warning 03:
Clipped to max>

Parameter was clipped to the current operating range. Use GCP or
GET to see value used.

Warning 04: Related
parameters
adjusted>

Internal operating condition is adjusted to accommodate the entered
command. E.g. requesting exposure time longer than line time
automatically adjusts the line time to meet the exposure time
requirement.

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

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

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

Greater than 1% of FPN or PRNU coefficients have been calculated to
be greater than the maximum allowable and so were clipped.

Warning 09:
Internal line rate
inconsistent with
read out time>

Changes to the parameter (e.g. horizontal averaging) have changed read
out time and that is greater than the internal SYNC.

Error Message

Description

Error 01: Internal
error xx>

Where xx is a code list below.
Only output during power up.
Customer should contact customer support.

A5 Error Handling

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

Table 8: Warning and Error Messages

Piranha Color Camera 87

Message

Description

Error 02:
Unrecognized
command>

Command is not valid (or not available at the current access level).

Error 03: Incorrect
number of
parameters>

Too many or too few parameters.

Error 04: Incorrect
parameter value>

This error is returned for:

- Alpha character received instead of numeric character or visa versa.

- Float where integer expected.

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

- Outside the range limit

Error 05: Command
unavailable in this
mode>

E.g. Set sync frequency (ssf) when in external sync mode 3 (sem).

Error 06: Timeout>

Command not completed in time. E.g. CCF or CCP in SEM 3 when
no external EXSYNC is present.

Error 07: Camera
settings not saved>

Indicates that user settings have been corrupted by turning off the
power while executing the WUS command. Must build up new settings
from factory and re-save with WUS.
Also present during manufacturing before settings saved for first time.

Error 08: Unable to
calibrate - tap
outside ROI>

Cannot calibrate a tap that is not part of the end of line statistics.

Piranha Color Camera 88

Piranha Color Camera 89

Model

1st Blue Tap

2nd Blue Tap

PC-30-02K80-00-R

534

1515

PC-30-04K80-00-R

1046

3051

Syntax:

ebc i

Syntax Elements:

i

0: disable
1: enable

Notes

This value is saved using the wus command.
This value may be viewed on the gcp screen or by sending the
get ebc command.

Appendix B: Blue Correction
Command

Note: This command applies to the PC-30-0xK80 cameras only.

The 80 mega-pixel camera models (PC-30-02K80 and PC-30-04K80) show an artifact at
the mid-point of the blue taps. This blue correction command enables replacing these
pixels with interpolated values.

Affected pixels:

The bilinear interpolation equation:

Blue: [B1][B2][B3]

B2 = ½ x (B1 + B3)

This value is saved with the wus command.

This value may be viewed on the gcp screen or with the get ebc command.

Enabling blue correction

Piranha Color Camera 90

Piranha Color Camera 91

We,

Teledyne DALSA
605 McMurray Rd.,
Waterloo, ON
CANADA N2V 2E9

declare under sole responsibility, that the product(s):

PC-30-02K80-00-R
PC-30-02K60-00-R
PC-30-04K80-00-R
PC-30-04K60-00-R

fulfill(s) the requirements of the standard(s)

EMC:

CISPR 24:1997, A1:2001, and A2:2002 /
EN 55024:1998, A1:2001, and A2:2003
European CISPR 22:2005 / EN 55022:2006

This product complies with the requirements of the Low Voltage Directive
73/23/EEC and the EMC Directive 89/336/EEC and carries the CE mark
accordingly.

Place of Issue

Waterloo, ON, CANADA

Date of Issue

December 2007

Name and Signature of
authorized person

Hank Helmond
Quality Manager, Teledyne DALSA Corp.

Appendix C: EMC Declaration of
Conformity

Piranha Color Camera 92

Piranha Color Camera 93

Revision
Number

Change Description

00

Preliminary release

01

-"rfs" commands substituted with "lfs" commands (no change to
command performance). "i" parameter removed from "wpc," "wfc,"
and "wil" commands descriptions. These commands use the "ssn"
command to indicate the storage set. Parameter 5 (PC set. Selects
transfer from PC) removed from command "ssn". This parameter is
not in the current cameras.

-Extensive updates throughout manual. Manual remains preliminary.

-Base and medium configuration timing tables updated.

-Product name revised from PC-30-02k40 and 04k40 to PC-30-02k60
and 04k60.

-Blue correction enable command and algorithm added.

-Revised and added information to the Generating a Test Pattern
section, page 60. Example test patterns added.

-Set Binning Horizontal (sbh) command replaced with Set Averaging
Horizontal (sah) command. Horizontal average replaces horizontal
binning.

-Added Warning 09: Changing this parameter (e.g. vertical binning)
has changed read out time and that is greater than the internal SYNC,
to table 10: Warnings and Errors.

02

-Revised base and medium configuration tables in section 2.6 Camera
timing, page 15. SOT command updated, sot 30 removed.

-Lens mount option M42x1 added to specifications and mechanical
sections.

-Revised FPN values added to the performance specifications table
for the 2k80 and 4k80 models, page 5.

-RoHS designation added, including camera model numbers.

03

-SOT 30 parameter removed from the Help screen description, page
22, the Data Ouput section, page 26, and from the list of all available
commands, page 79.

-"Pending" added to declarations of CE compliance in manual.

04

-Mechanical connector dimension revised.

-Blue correction affected pixels, revised in Appendix B.

-EMC declaration: "pending" stamp removed and fulfilled
requirements listed.

-Exposure mode 5 revised so that the timing signal for the green
exposure starts at the same time as CC2 Green PRIN rising edge. The

signal was starting too late. Page 31.

05

-Test conditions and notes for the performance and operating
specification, Section 1.1, combined.

-Operating specifications tables for both 2k and 4k models revised.

-Sensor responsivity graphs revised, Section 1.3.

06

-SOT 30 command added to camera. Base and medium configuration
tables updated on pages 19 and 21.

07

"Preliminary" designation removed.

08

Mechanical drawing revised showing sensor alignment measured
from tooling holes in the front plate. Teledyne DALSA logo added.

Appendix D: Revision History

Piranha Color Camera 94

Revision
Number

Change Description

Blue correction algorithm revised, Appendix B.

Piranha Color Camera 95

Index

A

analog

gain, 38, 40

processing, 37
applications, 5
average horizontal

setting, 35

B

background subtract, 48
blue correction command, 89
bright lines, 76

C

camera

dimensions, 69

messages, 86
Camera Link

connector, 15

outputs, 15
camera settings. See settings
clocking signals, 15
coefficients

diabling, 47

enabling, 47

loading, 47

resetting, 47
command

format, 21

parameters, 21
conectors

Camera Link, 15
connectors

Hirose, 14

power, 14

E

electrical

specifications, 6, 8

EMC Declaration of

Conformity, 91
enable blue correction, 89
end-of-line sequence, 57
error messages, 86
exposure mode

overview, 30
setting, 29

exposure time

setting, 32

EXSYNC, 15

troubleshooting, 75

external trigger, 15

F

fiber-optic light sources, 71
filters, 71
flat field correction

errors, 47
restrictions, 42
results, 47

FPN

coefficient, 44
correction, 43

FVAL, 15

G

gain, 38

analog, 38
calibrating, 38
digital, 49, 50
ranges, 6, 8

D

dark calibration. See flat field

correction

dark patches, 76
data bus, 15
data rate, 6, 8
digital

gain, 49, 50
offset, 48
processing, 37

direction

externally controlled, 24, 26

DVAL, 15

H

halogen light sources, 71
help, 22
Hirose connector, 14
hot mirror, 71

I

illumination, 71
incorrect line rate, 76
inputs (user bus), 15
interface

electrical, 6, 8
mechanical, 6, 8

Piranha Color Camera 96

optical, 6, 8, 71

L

LED, 14
lens

modeling, 71

light calibration. See flat field

correction

light sources, 71
line delay between colors

setting, 35
line dropout, 76
line rate, 6, 8

setting, 32
line statistics, 60
LVAL, 15

M

magnification, 72
mechanical

drawing, 69

specifications, 6, 8

N

noisy output, 76

R

rebooting, 22
resolution, 5, 8
restoring

factory settings, 51
revision history, 93
roi. See Region of Interest

S

sensor, 11

cleaning, 73
settings

factory, 21

restoring, 51

returning, 62, 64

saving, 51
specifications

electrical, 6, 8

mechanical, 6, 8

optical, 6, 8
statistics, 60
STROBE, 15
subtracting background, 48
sync frequency, 62

T

Technical Sales Support, 77

O

offset

analog, 40

digital, 48
online help, 22
optical

specifications, 6, 8
optical interface, 71
output signals, 15

P

pixel statistics, 60
power

connectors, 14

guidelines, 14
PRNU

coefficient, 46

correction, 45
product support, 77

temperature

measurement, 61

threshold

lower, 59
upper, 58

trigger

external, 15

V

video data, 61
voltage

measurement, 62

W

warning messages, 86