Teledyne Piranha3 User Manual

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Piranha3

Camera User’s Manual

16k Resolution

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Piranha3 16K HSLink and Camera Link User Manual

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© 2013 Teled yne 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 Teled yne DALSA.

About Teledyne Technologies and Teledyne D ALSA, Inc.

Teled yne Technologies is a leading provider of sophisticated electronic subsystems, instrumentation and communication products, en gin eered syst em s, aerosp ace engin es, and en er gy and pow er generatio n system s. Teled y ne Tech n ologies’ op erat ion s ar e p rim ari ly located in the United States, the United Kingdom and Mexico. For more in for m ation, visit Teled y ne Tech n ologies’ w ebsite a t www.teledyne.com.

Teled yne DALSA, a Teledyne Technologies company, is an international lead er in high performance digital imaging and semiconductors with approximately 1,000 employees worldwide, headqua rtered in Waterloo, Ontario, Canada. Established in 1980, the company designs, develops, manufactures and markets digital imaging products and solutions, in addition to providing MEMS prod u cts and serv ices. For more in form a tion, visit Teled yne DALSA’s website at www.teledynedalsa.com.

Support

For furt her inform ation not in clu d ed in t his m a nual, or for information on Teledyn e D ALSA’s extensive lin e o f im age sen sin g

products, please contact:

Document revised December 4, 2013.

03-032-20099-02 Teledyne DALSA

Piranha3 16K HSLink and Camera Link User Manual

Contents

Piranha3 16k CMOS Line Scan Camera _________________________________________________________ 5

1.1 Camera Highlights ....................................................................................................................................................... 5

1.2 Camera Performance Specifications ............................................................................................................................ 6

1.3 Responsivity ................................................................................................................................................................. 8

Camera Hardware Interface ________________________________________________________________ 9

2.1 Installation Overview ................................................................................................................................................... 9

2.2 Input/Output Connectors and LED ............................................................................................................................... 10

HSLink Pinout ................................................................................................................................................. 12

Input Signals ................................................................................................................................................... 12

Output Signals ................................................................................................................................................ 13

Frame Grabbers .............................................................................................................................................. 13

HSLINK and Frame Grabber Supplementary Information ............................................................................. 14

Camera Link Configuration ............................................................................................................................ 16

Input Signals, Camera Link ............................................................................................................................ 17

Output Signals, Camera Link .......................................................................................................................... 17

2.3 Camera Link Video Timing .......................................................................................................................................... 18

Software Interface: How to Control the Camera __________________________________________________ 20

Setting Baud Rate ........................................................................................................................................... 21

Camera Help Screen ....................................................................................................................................... 21

3.1 First Power Up Camera Settings .................................................................................................................................. 21

3.2 Exposure Mode and Line Rate ..................................................................................................................................... 22

How to Set Exposure Mode and Line Rate ...................................................................................................... 22

Setting the Exposure Mode ............................................................................................................................. 22

3.3 Data Processing ........................................................................................................................................................... 24

Processing Chain Overview and Description ................................................................................................... 24

Calibrating the Camera to Remove Non-Uniformity (Flat Field Correction) .................................................. 25

Digital Signal Processing for Processing......................................................................................................... 28

3.4 Saving and Restoring Settings ..................................................................................................................................... 30

3.5 Diagnostics ................................................................................................................................................................... 32

Returning a Single Line of Video .................................................................................................................... 33

Returning Averaged Lines of Video ................................................................................................................ 33

Returning All Camera Settings with the Camera Parameter Screen .............................................................. 35

Returning Camera Settings with Get Commands............................................................................................ 35

Optical and Mechanical ___________________________________________________________________ 36

4.1 Lens Mounts ................................................................................................................................................................. 38

4.2 High Temperature and Mounting ................................................................................................................................ 38

Troubleshooting ________________________________________________________________________ 39

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Piranha3 16K HSLink and Camera Link User Manual

5.1 Common Solutions ....................................................................................................................................................... 39

LED ................................................................................................................................................................. 39

Connections ..................................................................................................................................................... 39

Power Supply Voltages ................................................................................................................................... 39

EXSYNC ........................................................................................................................................................... 39

Data Clocking/Output Signals ......................................................................................................................... 39

5.2 Troubleshooting Using the Serial Interface ................................................................................................................. 40

Communications.............................................................................................................................................. 40

Verify Parameters ........................................................................................................................................... 40

Verify Factory Calibrated Settings ................................................................................................................... 40

Verify Timing and Digital Video Path ............................................................................................................. 40

Generating Test Patterns ................................................................................................................................ 40

Verify Voltage ................................................................................................................................................. 40

Verify Temperature ......................................................................................................................................... 40

Verify Pixel Coefficients ................................................................................................................................... 41

5.3 Specific Solutions ......................................................................................................................................................... 41

No Output or Erratic Behavior ........................................................................................................................ 41

Line Dropout, Bright Lines, or Incorrect Frame Rate ..................................................................................... 41

Noisy Output ................................................................................................................................................... 41

Dark Patches ................................................................................................................................................... 41

Error Handling and Command List ____________________________________________________________ 42

A1 Error Handling ............................................................................................................................................................. 42

A2 Commands: Quick Reference ....................................................................................................................................... 43

Camera Link Map _______________________________________________________________________ 47

EMC Declaration ________________________________________________________________________ 50

Revision History ________________________________________________________________________ 51

Index ________________________________________________________________________________ 52

03-032-20099-02 Teledyne DALSA

Piranha3 16K HSLink and Camera Link User Manual

Piranha3 16k CMOS Line Scan Camera

1.1 Camera Highlights

Features

 16, 384 pixels, 3.5 µm x 3.5 µm pixel pitch, 100% fill factor.  1,179 MPix / s (HSLink) and 655 MPix/ s (Camera Link) data rates.  72 kHz (P3-S0-16k40 HSLink) and 40 kHz (P3-S0-16k20 HSLink and P3-80-16K40 Camera Link) line rates.

Programmability

 HSLink and CameraLink control interface, 115200 fixed signal baud rate. (Future models upgraded to

GenICam).

 Programmable gain, line rate, trigger mode, test pattern output, and camera diagnostics.  Flat-field correction—minimizes lens vignetting, non-uniform lighting, and sensor FPN and PRNU.

Description

The Piranha3 16k CMOS line scan camera raises resolution and speed to a new level. The 16k pixel resolution and up to a speedy 72 kHz line rate is ideally suited for the inspection of large-area flat-panel displays and printed circuit boards.

Applications

 Flat-panel display inspection  Printed circuit board inspection  Parcel sorting  High performance document scanning  High throughput applications

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Piranha3 16K HSLink and Camera Link User Manual

Model Number

Description

P3-S0-16K40-00-R

16k resolution, 72 kHz line rate, 1179 Mpix/ s throughput, HSLink interface.

P3-S0-16K20-00-R

16k resolution, 40 kHz line rate, 655 Mpix/ s throughput, HSLink interface.

P3-80-16K40-00-R

16k resolution, 40 kHz line rate, 655 Mpix/ s throughput, Camera Link interface.

Feature / Specification

Imager Format

CMOS line scan

Resolution

16, 384 pixels

Pixel Fill Factor

100 %

Pixel Size

3.5 µm x 3.5 µm

Antiblooming

100 x

Optical Interface

Back Focal Distance

12 mm

Sensor Alignment (aligned to sides of camera)

Flatness

 y (parallelism)

x y z

 z

25 µm

0.08° or 81 µm ± 80 µm ± 80 µm

± 250 µm

± 0.1°

Lens Mount

M72 x 0.75

Mechanical Interface

Camera Size

80 mm (W) x 150 mm (L) x 77 mm (D) / 54 mm without optional heatsink

Mass

< 800 g

Connectors

Power

Control / Data

Hirose 12 V to 15 V DC

HSLink, CameraLink

Mounting Holes

M4x0.7, 7.0 depth

Electrical Interface

Input Voltage

12 V to 15 V DC (at camera)

Power Dissipation

20 W (HSLink model)

18 W (Camera Link model)

Operating Temperature1

0 ºC to 50 °C

Bit Depth

8 bit, 10 bit, 12 bit (H SLink models)

8 bit and 10 bit (Camera Link model)

Output Data Configuration

HSLink, CameraLink

Models

Table 1: Piranha P3-S0, P3-80 Camera Models Overview

1.2 Camera Performance Specifications

Table 2: Camera Performance Specifications

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Piranha3 16K HSLink and Camera Link User Manual

Operating Ranges

P3-S0-16k40

P3-S0-16k20 and

P3-80-16k40

Minimum Line Rate

1 Hz

Maximum Line Rate

72 KHz

40 KHz

Throughput

1,179 Mpix/ s

655 Mpix/ s

Gain

0 dB to +20 dB

Performance*

Gain 0 dB

Gain +10 dB

Gain +20 dB

Min

Typ

Max

Min

Typ

Max

Min

Typ

Max

Dynamic Range

500

160

Random Noise DN rms

0.5

1.5

4.8

SEE nJ/ cm2

0.8

0.26

0.08

NEE pJ/ cm2

1.6

Corrected Broadband Responsivity (DN/ nJ/ cm2 )

2.8

8.8

28 FPN DN p-p with correction

FPN DN p-p w/ o correction

PRNU DN p-p with correction

PRNU % w/ o correction

Saturation Output Amplitude DN

255

Test conditions unless otherwise noted:

 Line Rate: 10 kHz.  Nominal Gain setting 0 dB.  Light Source: Broadband Quartz Halogen, 3250 k, with 700 nm IR cutoff filter installed .  All specifications are measured at 25 °C (front plate measurement).

1. Measu red at the fr ont p lat e. It is the u ser ’s resp on sibility to in su re that the operating te mperature does not exceed this range.

*Measused in 8-bit configuration.

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1.3 Responsivity

Responsivity vs. Wavelength: Measured from the camera.

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Piranha3 16K HSLink and Camera Link User Manual

Camera Hardware Interface

2.1 Installation Overview

(This installation overview assumes you have not installed any system components yet.) When installing your camera, you should take these steps:

1. Power down all equipment.

2. Follow th e m anu factu rer’s instruction s to install the framegrabber (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 the Power Connector section below .

5. Inspect all cables and connectors prior to installation. Do not use damaged cables or connectors or the camera m ay be damaged.

6. Connect data and power cables.

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

8. Use the verify voltage (vv) command to verify that the camera is receiving a voltage of 12 to 15 DC. If the camera is receiving less than the recommended voltage, then you may have to upgrade and/ or shorten the power cable you are using.

8. Check the diagnostic LED. See LED Status Indicator for an LED description.

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

*Please see 4.2 High Temperature and Mounting for more information on camera mounting and heat dispertion.

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Piranha3 16K HSLink and Camera Link User Manual

Color of Status LED

Meaning

Green solid

Camera is operational and functioning correctly.

Green blinking, fast

FG only - LVAL present but not grabbing (20 second time out)

Green blinking, slow

Waiting for LVAL/ Trigger Line Scan – 5 second timeout

Orange (red and green on together) solid

Running on FPGA/ micro backup

HSLink SFF_8470 or Cx4 with thumbscrews

+ 12 V to + 15 V DC Hirose 6-pin HR10A-7P-6S

Camera Link (Full Configuration) High-density 26-pin MDR26 connector

Diagnostic LED

Power

Control & Data

Status

P3-80-16K40-00-R Camera Link P3-S0-16Kx0-00-R HSLink

2.2 Input/Output Connectors and LED

The camera uses:

 A diagnostic LED for monitoring the camera. See LED Status Indicator in section LED Status Indicator for

details.

 A 6-pin Hirose connector for power. Refer to the Power Connector section below for details.  The HSLink modles use a SFF_8470 / CX4 (with thumbscrews) for control, data and serial

communication.

 The Camera Link model uses 2 high-density 26-pin MDR26 connectors for control, data and serial

communication.

Figure 1: Input and Output Connectors

WARNING: It is extremely important that you supply the appropriate voltages to your camera. Incorrect voltages will damage the camera.

LED Status Indicator

The camera is equipped with an 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 prio rity. Error and warning states are accompanied by corresponding messages further describing the current camera status.

Table 3: HSLink Diagnostic LED

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Piranha3 16K HSLink and Camera Link User Manual

Color of Status LED

Meaning

Orange blinking, slow

Loss of functionality

Orange one pulse of 0.2 sec

Random Error with HSLINK

Red blinking, fast

Fatal Error- Loss of FPGA code and or micro code

Red blinking, medium

Fatal Error- Loss of other hardware which prevents operation

Red blinking, slow

Over temperature (HSLINK CMD channel still functional)

Red / Green alternating, fast

Link Up, but idle not locked (held in Farend reset)

Red / Green alternating, medium

Incompatilbe HSLINK configuration

Red / Green alternating, slow

Looking for Link

Hirose 6-pin Circular Male

Mating Part: HIROSE

HR10A-7P-6S

Table 4: Hirose Pin Description

Description

Min +12 to Max +15V

GND

Min +12 to Max +15V

GND

Min +12 to Max +15V

GND

Power Connectors

2.2.2 Power Connector

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

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

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

 Apply the appropriate, reliable voltages  Protect the camera with a slow-blow fuse between power supply and camera (2x nominal current).

 Do not use the shield on a multi-conductor cable for grou nd.  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.  A stable supply of power must be maintained during code upgrades. Camera will fail if power is lost or

unstable while updating code. The user can not recover from this failure and the camera will have to be returned to Teledyne DALSA for repair.

Note: Camera performance specifications are not guaranteed if your power supply does not meet these requirements.

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Piranha3 16K HSLink and Camera Link User Manual

SFF_8470 (or CX4) with thumbscrews

Signal

Camera

Frame Grabber Input

Frame Grabber Signal

DataTx 2+

S16

DataRx 2+

DataTx 2-

S15

DataRx 2-

DataTx 1+

S14

DataRx 1+

DataTx 1-

S13

DataRx 1-

DataTx 0+

S12

DataRx 0+

DataTx 0-

S11

DataRx 0-

Cmd_T+

S10

Cmd R+

Cmd_T-

Cmd R-

Cmd_R-

Cmd_T-

Cmd_R+

S10

Cmd_T+

DataTx 5-

S11

DataRx 5-

DataTx 5+

S12

DataRx 5+

DataTx 4-

S13

DataRx 4-

DataTx 4+

S14

DataRx 4+

DataTx 3-

S15

DataRx 3-

DataTx 3+

S16

DataRx 3+

Signal Ground

G1- G9

Signal Ground

H1-H2

Signal Ground

Signal

Configuration

CC1

EXSYNC

Data Connectors

HSLink Pinout

Input Signals

The camera accepts control inputs through the H SLink connector.

Table 5: Camera Control Configuration

The camera ships in internal sync, internal programmed integration.

EXSYNC (Triggers Frame Readout)

Frame 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. See section Exposure Mode and Line Rate for details on how to set frame times, exposure times, and camera modes.

An Important Note: Do not stop imaging with the ESYNC signal high. If the EXSYNC signal is high when imaging stops an imaging artifact will remain on the next line.

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Piranha3 16K HSLink and Camera Link User Manual

Rx Tx 5 serial lanes (8 or 10 bit)

6 serial lanes (12 bit) @ 312.5 Mb/sec

Camera

Frame Grabber

Output Signals

Note that LVAL and FVAL are embedded in data lanes. For additional information refer to the HSLink supplementary information below .

Frame Grabbers

The cameras (HSLink) are compatible with the Xcelera-HS PX8 framegrabber.

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Piranha3 16K HSLink and Camera Link User Manual

HSLINK Function

Production

Comment

Cable Disconnect Recovery

Yes

Cameras will only properly lock to frame grabber when the camera is turned on before or after starting the d ata acquisition program. Turn off the camera when exiting a program that uses the Frame grabber.

Data Forw arding

Yes

Customer must identify the Master/ Slave Frame grabber during the system configuration step. There is no Master/ Slave communication channel support.

Communication Between FG

This is the GMII command channel and will enable auto enumeration of slaves and data resend requests from the slaves.

Video Data Resend

Master/ Slave command channel used for error communication from slave is not available at this time. Can be field upgraded.

LED functions

Yes

GeniCam

Use the ASCII serial command set.

Trigger Control

Yes

12 bit mode

Yes

Data will be packed on the Link. This will exceed the PCIx 8 Gen 1 bandwidth.

Missed Trigger Flag

Yes

DATA CRC Error Flag

Yes

CRC error counters available Header Error Flag

Yes

Header error counter available

8b/ 10B Error counter

Yes

Enables BER calculation

Test Patterns

Yes

Good for system debug

Data Lost Flag

Indicates missing rows of information

Camera Data buffer overflow

No Idle Lock Lost

Far end Reset

Cmd Packet Failure

Master/ Slave HSLINK reset

HSLINK and Frame Grabber Supplementary Information

Teledyne DALSA designed and pioneered the HSLink as a comprehensive camera-frame grabber communication standard targeted at machine vision industry use. The HSLink 12k and frame grabber product are based on the fundamental capabilities of this new interface.

We are working with industry partners to im prove an d to broaden th e interface’s ap peal for th e m achin e vision industry and as a result expect that the original specification will change and be improved. Products delivered during this draft specification phase will be field upgradeable so that customers can gain the benefit from an industry approved interface. The table below summarizes the major functions supported.

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Piranha3 16K HSLink and Camera Link User Manual

Camera

Master Id 0

Slave 1 ID 1

Slave 2 ID 0

Slave 3 ID 1

**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.

Camera to Master Frame grabber Power On Discovery Notes

The camera and frame grabber will correctly discover each other if either the camera or the frame grabber are turned on or off, regardless of order.

Master to Slave Power On Discovery Notes

Please Note: The communication channel between master and slave frame grabbers is not functional at this time and therefore must be configured manually, as shown below:

The power on sequence for the cameras to guarantee functionality is:

1. Camera/ Master

2. Slave 1

3. Slave 2

4. Slave 3

5. Slave 4

6. Slave 5 The slave should only be turned on once an image is acquired by the preceding slave.

2.2.3 Camera Link Data Connector

Camera Link information available from our Web site

The Camera Link Implementation Road Map, available from the Teledyne DALSA Web site,

http:/ www.teledynedalsa.com/ mv/ knowledge/ appnotes.aspx, contains detailed information on

implementing Camera Link, including configuration and signal information.

Figure 3: Camera Link MDR26 Connector

A note concerning the length of the Camera Link cables

The length of the cables over which data can be transmitted without loss depends on the data rate and on the quality of the cables.

The camera is tested using a recognized brand of cable with a length of 5 meters. Data tran smission is not guaranteed if you are using a cable greater than 5 meters in length.

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Piranha3 16K HSLink and Camera Link User Manual

Configuration

8 Bit Ports Supported

Serializer Bit Width

Number of Chips

Number of MDR26 Connectors

Full

A, B, C, D, E, F, G, H

28 3 2

Full Configuration

Camera Connector

Right Angle Frame Grabber

Channel Link Signal

Cable Name

1 1 inner shield

Inner Shield

inner shield

Inner Shield

Y0-

PAIR1-

Y0+

PAIR1+

Y1-

PAIR2-

Y1+

PAIR2+

Y2-

PAIR3-

Y2+

PAIR3+

Yclk-

PAIR4-

18 9 Yclk+

PAIR4+

Y3-

PAIR5-

19 8 Y3+

PAIR5+

100 ohm

PAIR6+

20 7 terminated

PAIR6-

Z0-

PAIR7-

21 6 Z0+

PAIR7+

Z1-

PAIR8-

22 5 Z1+

PAIR8+

Z2-

PAIR9+

23 4 Z2+

PAIR9-

Zclk-

PAIR10-

24 3 Zclk+

PAIR10+

Z3-

PAIR11+

25 2 Z3+

PAIR11-

inner shield

Inner Shield

inner shield

Inner Shield

Signal

Configuration

CC1

EXSYNC

CC2

PRIN

CC3

Spare

CC4

Spare

Camera Link Configuration

The Camera Link interface is implemented as a Medium or Full Configuration in the Piranha 3 cameras.

Table 6: Camera Link Hardware Configuration Summary

Table 7: Camera Link Connector Pinout

Table 8: Camera Control Configuration

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Piranha3 16K HSLink and Camera Link User Manual

Camera Link Mode Configuration (Controlled by clm command): Full and Bit Depth 8

Command

Camera Link Taps

Pixel Rate Configuration (Controlled by sot command)

sdw 8

8 Camera Link taps where:

1 = Every 4th Odd Pixel 2 = Every 4th Even Pixel 3 = Every 4th Odd Pixel 4 = Every 4th Even Pixel 1 = Every 4th Odd Pixel 2 = Every 4th Even Pixel 3 = Every 4th Odd Pixel 4 = Every 4th Even Pixel

sot 320 = NA

Camera Link Mode Configuration (Controlled by clm command): Full and Bit Depth 10

Command

Camera Link Taps

Pixel Rate Configuration (Controlled by sot command)

sdw 10

8 Camera Link taps where:

1 = Every 4th Odd Pixel 2 = Every 4th Even Pixel 3 = Every 4th Odd Pixel 4 = Every 4th Even Pixel 1 = Every 4th Odd Pixel 2 = Every 4th Even Pixel 3 = Every 4th Odd Pixel 4 = Every 4th Even Pixel

sot 320 = NA

Clocking Signal

Indicates

LVAL (high)

Outputting valid line

DVAL (high)

Valid data

STROBE (rising edge)

Valid data

FVAL (high)

Outputting valid frame

IMPORTANT:

This camera’s data should be sampled on the rising edge of STROBE.

Table 9: Camera Link Pixel Readout Configurations: Full Camera Link Configuration and Bit Depth 8

Table 10: Camera Link Pixel Readout Configurations: Full Camera Link Configuration and Bit Depth 10

Input Signals, Camera Link

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

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 line readout. Section 3.2 Exposure Mode and Line Rate details how to set frame times, exposure times, and camera modes.

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 Implementation Road Map, available here, for the standard location of these signals.

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Piranha3 16K HSLink and Camera Link User Manual

Symbol

Definition

Min (ns)

twSYNC

The minimum low width of the EXSYNC pulse when not in SMART EXSYNC mode.

100

twSYNC

(SMART)

The minimum low width of the EXSYNC pulse when in SMART EXSYNC modes to guarantee the photosites are reset.

3,000

twSYNC_INT

The m inim u m wid th of th e hig h p ulse w h en th e ― SMART EXSYN C‖ featu re

is turned off

100

twSYNC_INT

(SMART)

Is the in tegration tim e w h en th e ―SMART EXSYN C‖ featu r e is available an d

turned on. Note that the minimum time is necessary to guarantee proper operation.

3,000

 The camera internally digitizes 12 bits and outputs 8 MSB or a ll 12 bits d ep en d ing on the cam era’s

Camera Link operating mod e.

2.3 Camera Link Video Timing

Figure 4: Piranha 3 Overview Timing Showing Input and Output Relationships

Figure 5: Piranha 3 Fixed (Programmed) Integration Timing with External EXSYNC

Table 11: Piranha 3 Input and Output

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Piranha3 16K HSLink and Camera Link User Manual

Symbol

Definition

Min (ns)

tLINE PERIOD (t LP)

The minimum and maximum line times made up of tTransfer, tREADOUT plus tOVERHEAD to meet specifications.

53,190 (12k) 106,382 (8k)

tTransfer

The time from the reception of the falling edge of EXSYNC to the rising edge of LVAL when pretrigger is set to zero. Pretrigger reduces the number of clocks to the rising edge of LVAL but doesn ’t ch ange the tim e to th e first valid pixel. If the fixed integration time mode of operation is available and selected then the integration time is ad ded to the specified value.

3,725 ±25

twFixed Int.

Fixed Integration Time mode of operation for variable exsync frequency.

800

tREADOUT

Is the number of pixels per tap times the readout clock period. Pretrigger = 0.

38,400 (12k) 25,600 (8k)

tOVERHEAD

Is the number of pixels that must elapse after the falling edge of LVAL before the EXSYNC signal can be asserted. This time is used to clamp the internal analog electronics

425±25

thPR

Applies when the PRIN exposure control feature is enabled . The PRIN signal must be held a minimum time after the EXSYNC falling edge to avoid losing the integrated charge

Don’t car e

twPR_LOW

Minimum Low time to assure complete photosite reset

3,000

tPR_SET

The nominal time that the photo sites are integrating. Clock synchronization will lead to integration time jitter, which is shown in the specification as +/ values. The user should command times greater than these to ensure proper charge transfer from the photosites. Failure to meet this requirement may result in blooming in the Horizontal Shift Register.

3,000

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Piranha3 16K HSLink and Camera Link User Manual

This chapter outlines the more commonly used commands. See section A2 Commands for a list of all available commands.

Software Interface: How to Control the Camera

All camera features can be controlled through the serial interface. The camera can also be used without the serial interface after it has been set up correctly. Functions available include:

 Controlling basic camera functions such as gain and sync signal source  Flat field correction  Generating a test pattern for debugging

The serial interface uses a simple ASCII-based protocol and the PC does not require any custom software.

Note: The command set may have changed from previous camera models. Do not assume that commands

perform similarly to older cameras.

Serial Protocol Defaults

 8 data bits  1 stop bit  No parity  No flow control  115,200 kbps baud rate  Camera does not echo characters

Command Format

When entering commands, remember that:

 A carriage return <CR> ends each command.  A space or multiple space characters separate parameters. Tabs or commas are invalid parameter

separators.

 Upper and lowercase characters are accepted  The backspace key is supported  The camera will answer each command with either <CR><LF> OK > or <CR><LF> Error xx: Error

Message > or Warning xx: Warning Message >. The > is used exclusively as the last character sent by the camera.

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Syntax:

Notes:

For m ore in formation on the camer a’s ―get‖ co m m an d s, refer to

section Returning Camera Settings.

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>

Setting Baud Rate

Note on the camera and baud rate

The cameras employ a 115,200 fixed signal baud rate.

Camera Help Screen

For quick help, the camera can return all available commands and parameters through the serial interface. 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‖ com mand s).

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.

3.1 First Power Up Camera Settings

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

 Exposure mode 2  10 kHz line rate  Factory gain + 10 dB  Factory calibrated FPN and PRNU coefficients.

Note regarding start-up times: This camera requires approximately 20 seconds to power up.

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

2. Next, if using mode 2, use the command ssf to set the line rate. Refer to section Setting

Frame Rate for details.

Purpose:

Sets th e cam era’s exposu re m od e allow ing you t o control your sync and line rate generation.

Syntax:

sem m

Syntax Elements:

Exposure mode to use 2 / 3/ 4 / 6*. Factory setting is 2.

Notes:

 Refer to Table 12: Exposure Modes for a quick list of available

modes or to the follow ing sections for a more detailed explanation including timing diagrams.

 To obtain the current value of the exposure mode, use the

command gcp or get sem.

 When setting the camera to external signal modes, EXSYNC

must be supplied.

Related Commands:

ssf

Example:

sem 3

Mode

SYNC

Description

Internal

Yes

Internal

Yes

Maximum exposure time.

External

Exposure time equals EXSYNC high time.

3.2 Exposure Mode and Line Rate

How to Set Exposure Mode and Line Rate

You have a choice of operating the camera in one of four exposure modes. Depending on your mode of operation, the cam era ’s lin e rate (synchronization) can be generated internally through the software command

ssf or set externally with an EXSYNC signal (CC1).

To select how you want the camera’s line rate to be generated:

Setting the Exposure Mode

Table 12: Exposure Modes

Programmable Line Rate Programmable Exposure Time

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Mode

SYNC

Description

External

Yes

In this mode the line rate and the exposure time are mutually restrained by this formular:

Maximum user line rate = 1 / ( ( 1 / Max camera line rate) + exposure time )

Assume the camera max line rate is 40 KHz in the following examples. Ex. 1) If the user wants the line rate is 25KHz, the max exposure time should be equal or smaller than 1/ 25KHz - 1/ 40KHz = 15 us; Ex. 2) If the user sets the exposure time to 25 us, the line rate should be equal or lower than 1/ (1/ 40KHz + 25us) = 20KHz.

Mode 2: Internal SYNC, Programmable Line Rate and Exposure Time

INTERNAL SYNC

EXPOSURE

Mode 3: Internal SYNC, Maximum Exposure Time

INTERNAL SYNC

EXPOSURE

1 µs

Mode 4: External SYNC

EXTERNAL SYNC

EXPOSURE

Mode 6: External SYNC, Programmable Exposure Time

EXTERNAL SYNC

EXPOSURE

Exposure Modes in Detail

Figure 6: Timing Diagrams

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Purpose:

Sets th e cam era’s fram e rate in Hz. Camer a m u st be op era ting in exp osure m od e 2.

Syntax:

ssf f

Syntax Elements:

Set the frame rate to a value from: 1 to 72070 (P3-S0-16k40 HSLink) or 1 to 40000 (P3S0-16K20 HSLink and P3-80-16K40 Camera Link.

Value rounded up/ down as required.

Notes:

 If you enter an invalid frame rate frequency the value, the camera clips the frame rate

to be within the current operating range and a warning message is returned .

 If you enter a frame rate frequency out of the range displayed on the help screen, an

error message is returned and the frame rate remains unchanged.

 To retu rn th e ca m era’s fram e rate, u se the com m ad gcp or get ssf.

Related Commands:

sem

Example:

ssf 10000

Purpose:

Sets the exposure time in µs. The camera must be operating in mode 2, 3 or 8 to use this feature.

Syntax:

set f

Syntax Elements:

The exposure time value in a range from: 1 to 8888 µs.

Notes:

 To read the current exposure time, use the gcp command .  If you enter an invalid exposure time, an error message is returned.

Related Commands:

sem, ssf

Example:

set 400.5

Setting Frame Rate and Exposure Time

Setting the Frame Rate

Setting the Exposure Time

3.3 Data Processing

Digital Signal Processing Chain

Processing Chain Overview and Description

The follow ing d iagram sh ow s a sim p lified block d iag ram of th e camer a’s d igital processing chain. The digital processing chain contains the digital gain, FPN correction (factory set), the PRNU correction, the

background subtract, and the system gain and offset. All of these elements are user programm able.

Notes:

 FPN and PRNU coefficients are stored separately. To save the current PRNU coefficients, use the

command wpc.

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Digital Processing

PRNU

coefficients

background

subtract

digital video

cpa

ssb

sab

background

addition

FPN coefficients (factory set)

digital

gain

system

gain

ssg

Figure 7: Signal Processing Chain

Digital Processing

1. Fixed pattern noise (FPN) calibration (calculated at the factory) is used to subtract away individual pixel

dark current.

2. Photo-Response Non-Uniformity (PRNU) coefficients 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 change in light intensity across the image either because of the light source or due to optical aberrations (e.g. there many 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. When using PRNU correction, it is important that the A/ D offset and Fixed Pattern Noise (FPN) or per pixel offsets are subtracted prior to the multiplication by the PRNU coefficient. The subtraction of these 2 components ensure that the video supplied to the PRNU multiplier is nominally zero a nd zero multiplied by anything is still zero resulting in no PRNU coefficient induced FPN. If the offset is not subtracted from the video then there will be artifacts in the video at low light caused by the multiplication of the offset value by the PRNU coefficients.

3. Background subtract (ssb command), system gain (ssg command), and background addition (sab) 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 camer a’s 12-bit digital processing chain. For example, if you find that your image is consistently between 128 and 255 DN (8-bit), you can subtract off 128 (ssb 2048) and then multiply by 2 (ssg 8192) to get an output range from 0 to 255.

Setting Gain

Use the set gain (sg) command to set the gain on taps 0 to 32 and in a range of ± 24 dB. Command and parameter: sg tf, where t is tap 0 to 32 and f is ± 24 dB.

Calibrating the Camera to Remove Non-Uniformity (Flat Field Correction)

Flat Field Correction Overview

This camera has the ability to calculate correction coefficients in order to remove non -uniformity 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:

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

Piranha3 16K HSLink and Camera Link User Manual

where

output

digital output pixel value

input

digital input pixel value from the CCD

PRNU( pixel)

PRNU correction coefficient for this pixel

FPN( pixel )

FPN correction coefficient for this pixel

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

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

output

=[(V

- dark offset- FPN ( pixel )) * digital gain * PRNU (pixel)]

input

The algorithm is performed in two steps. The fixed offset (FPN) is determined first by performing a calculation without any light. This calibration determines exactly how much offset to subtract per pixel in order to obtain flat 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).

Flat Field Correction Restrictions

The FPN correction is done in the factory. 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 integration time.

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:

1. 60 Hz ambient light flicker is sufficiently low not to affect camera performance and

calibration results.

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

3. When 6.25% (or more) of pixels from a single row within the region of interest are

clipped, flat field correction results may be inaccurate.

Calibration Overview

When a camera images a uniformly lit field , ideally, all of the pixels will have the same gray value. However, in practice, this is rarely the case (see example below) as a number of factors can contribute to gray scale nonuniformity in an image: Lighting non-uniformities and lens distortion, PRNU (pixel response non-uniformity) in the imager, FPN (fixed pattern noise) in the imager, etc.

Figure 8. Image with non-uniformities

By calibrating the camera you can eliminate the small gain difference between pixels and compensate for light distortion. This calibration employs a two-point correction that is applied to the raw value of each pixel so that non-uniformities are flattened out. The response of each pixel will appear to be virtually identical to that of all the other pixels of the sensor for an equal amount of exposure.

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Calibration Steps

Step 1: Preparing for Calibration

If you do not want to change the current camera settings, but want to calibrate the camera, skip this step and move to Step 2: PRNU Calibration.

To check the current camera settings, use the get camera parameters (gcp) or the get commands. You can change some or all of the following settings before calibrating:

 Set exposure mode using the command sem m, where m = 2/ 3/ 4/ / 6

For example, sem 2

 Set line sync frequency (line rate) using the command ssf f, where f = - 72 kHz

For example, ssf 5000

 Set exposure time using the command set f, where f = 1 - 8888 µs in an available mode.

For example, set 100

 Set gain using comm and sg t i, where t are the taps 0 to 21 and i = ± 24 db

For example, sg t 0

 Save user settings using command wus.

A Note on FPN or Dark Calibration

FPN calibration (also called dark calibration) is done in the factory.

Step 2: PRNU or White Calibration

1. Remove the lens cap and prepare a white, uniform target.

2. Adjust the line rate so that the average output is about 80% of the full output, or below the PRNU target value by:

Adjusting the lighting, if you are using an internal exposu re mode. Or, Adjusting the line rate, if you are using the Smart Exsync mode.

3. Calibrate the PRNU using the command cpa 2 i, where 2 is the PRNU calculated using the entered target value as shown in the formula on page 28 and i is the target value and the value of i is 1024 to 4055 DN.

For example: cpa 2 3300

4. Save the PRNU coefficients using the command wpc.

For example: wpc

Note: Both the FPN and PRNU coefficients are always turned on.

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Purpose:

Sets the current gain setting to be the 0 dB point. This is useful after tap gain matching to allow you to change the gain on all taps by the same amount.

Syntax:

ugr

Purpose:

Performs PRNU calibration to user entered value and eliminates the difference in responsivity between the most and least sensitive pixel creating a uniform response to light. Using this command, you must provide a calibration target.

Executing these algorithms causes the ssb command to be set to 0 (no background subtraction), the ssg command to 0 (unity digital gain), and the sab command to 0 (no background addition). The pixel coefficients are disabled during the algorithm execution but returned to the state they were prior to command execution.

Syntax:

cpa m i

Syntax Elements:

PRNU calibration algorithm to use: 2 = Calculates the PRNU coefficients using the entered target value as show n below:

PRNU Coefficient =

Target

(AVG Pixel Value ) - FPN

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. Is 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.

4 = Calculates the PRN U 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).

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

Notes:

The values for background subtract (ssb), system gain (ssg) and background add (sab) are set to 0, 1, and 0 respectively after using the cpa command.

Example:

cpa 2 4000

Purpose:

Sets an in d ivid u a l p ixel’s PRNU coefficien t.

Syntax:

spc x i

Syntax Elements:

Digital Signal Processing for Processing

Updating the Gain Reference

To update the gain reference:

FPN Correction

Note: FPN correction is done in the factory.

PRNU Correction

Performing PRNU to a user entered value

Setting a Pixel’s PRNU Coefficient

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The pixel number from 1 to 16384.

Coefficient value in a range from 0 to 65535 where:

Purpose:

Returns the current PRNU pixel coefficients for the range specified by x1 and x2.

Syntax:

dpc x1 x2

Syntax Elements:

Start pixel to display in a range from 1 to 16384.

End pixel to display in a range from 1 to 16384.

Notes:

 If x2<x1 then x2 is forced to be x1.

Example:

dpc 10 20

Purpse:

Use the background subtract command after performing flat field correction if you want to improve your image in a low contrast scene. You should try to make your darkest pixel in the scene equal to zero.

Sytax

ssb i

Syntax Elements:

Subtracted value in a range in DN from 0 to 1024 (12 bit LSB).

Notes:

 See the following section for details on the ssg command.

Related Commands

ssg

Example

ssb 500

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 i

Syntax Elements:

Gain setting. The gain ranges are 0 to 61438. The d igital video values are multiplied by this value where:

System Gain=

4096

1 +

Notes:

 Use this command in conjunction w ith the ssb command (described above).

prnu coefficient =

4096

1 +

Returning PRNU Coefficients

Subtracting Background

Setting System Gain

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 We recommend that i is never set below 4096. Setting i to 0 will result in only 0

output data.

 Digital offset is set to zero after sending the command

Related Commands:

ssb, sab

Example:

ssg 4500

Purpse:

Use the background ad d command after performing flat field correction if you want to improve your image in a high contrast scene. Use this command to increase the true black above 0 DN.

Sytax

sab i

Syntax Elements:

Add value in a range in DN from 0 to 4096 (12 bit LSB).

Notes:

 See the following section for details on the ssg command.

Related Commands

ssg, ssb

Example

sab 500

Factory

Settings

Current Session

wus wpc,wfc,

rus lpc,

rfs

User

Settings

Adding Background

3.4 Saving and Restoring Settings

Saving and Restoring Factory and User Settings

Figure 9: Saving and Restoring Overview

Factory Settings

You can restore the original factory settings, including the factory calibrated pixel coefficient set, at any time using the command rfs.

User Settings

You can save or restore your user settings to non -volatile memory using the following commands.

 To save all current user settings to EEPROM for the current mode use the command wus. The camera will

automatically restore the saved user settings when powered up.

WARNING: While settings are being written to nonvolatile memory, do not power down camera or camera memory

may be corrupted.

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Purpose:

When saving and loading camera settings (e.g. PRNU coefficients), you have a choice of saving up to five different sets and loading from six different sets (five user and one factory). This command determines the set number from where these values are loaded and saved.

Syntax:

ssn

Syntax Elements:

0 = Factory set. Settings can only be loaded from this set. 1 - 5 = User sets. You can save, or load settings with these sets.

Note:

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

Example:

ssn 3

rus, wpc

Purpose:

Saves the current PRNU coefficients for the current set.

Syntax:

wpc

Notes:

Use the ssn command first to select the set number to save to (1 – 5).

Purpose:

Loads a saved set of pixel coefficients. A factory calibrated set of coefficients is available.

Syntax:

lpc

Notes:

Use the ssn command first to select the set number to save to (1 – 5).

 To restore the last saved user settings, including the last used pixel coefficient set, for the current mode,

use the command rus.

Current Session Settings

These are the cu rren t oper ating settings of you r cam era. Th ese settings are stored in th e cam era’s volatile

memory and will not be restored once you power down your camera. To save these settings for reuse at power up, use the command wus.

Saving and Restoring PRNU and Coefficients

Selecting the Set Number

Saving the Current PRNU Coefficients

Loading a Saved Set of Coefficients

Rebooting the Camera

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

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Purpose:

Generates a test pattern to aid in system debugging. The test patterns are useful for verifying proper timing and connections between the camera and the frame grabber.

Syntax:

svm i

Syntax Elements:

0 Video.

1 - 4

As shown below.

SVM 1, DCi = Integer ((i – 1) / 2048) * 24) + 24, Where i = 1 to 16384

SVM 2, HORi = Modulus (DCi + Mod ulus (Modulus ((i – 1), 2048), 256), 256), Where i = 1 to 16384

SVM 3, VERi = Modulus (DCi + (i – 1), 256), Where i = 1 to 256

SVM 4, DIAGi = Modulus ((HORi + VERi), 256), Where i = 1 to 16384

Figure 10. Test Image Patterns

3.5 Diagnostics

Generating a Test Pattern

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Purpose:

Returns a complete line of video (without pixel coefficients or test pattern) displaying one pixel value after another. It also displays the minimum, maximum, and mean value of the line sampled within the region of interest.

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:

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

16384.

Column end number. Must be greater than the column start number in a range from 2 to 16384.

Notes:

 If x2



x1 then x2 is forced to be x1.

 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

Example:

gl 10 20

Purpose:

Sets the number of lines to sample when using the gla command or for pixel coefficient calculations.

Syntax:

css m

Syntax Elements:

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

Notes:

 To return the current setting, use the gcp command.

Related Commands:

gla

Example:

css 1024

Returning Video Information

The cam era ’s m icr ocon troller h as the ability to read v id eo d ata. 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

Returning Averaged Lines of Video

Setting the Number of Lines to Sample

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Purpose:

Returns the average for multiple lines of video data (without pixel coefficients or test pattern). 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 .

Syntax:

gla x1 x2

Syntax Elements:

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

16383.

Column end number. Must be greater than the column start number in a range from 2 to 16384.

Notes:

 If x2



x1 then x2 is forced to be x1.

 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

Example:

gla 10 20

Purpose:

Returns the EXSYNC frequency (CC1).

Syntax:

gsf

Example:

gsf

Returning the Average of Multiple Lines of Video

Temperature Measurement

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

Note: If the camera’s internal tem p eratu re 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 have to correct the temperature problem or the camera will shutdown again. IMPORTANT! Refer to the camera mounting instructions below for more information on managing the

camera temperature.

Voltage Measurement

The command vv d isplays the ca m era’s in p ut voltag e. N ote th at th e voltage m easu remen t featu re of the camera provides only approximate results (typically within 1%). 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

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Syntax:

gcp

Returning Camera Settings

Returning All Camera Settings with the Camera Parameter Screen

The cam era p arameter (GCP) screen ret u rn s all of the cam era’s cu rr ent settings.

To read all current camera settings, use the command:

Returning Camera Settings with Get Commands

You can also return individual ca m era settings by insert in g 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. Refer to the Command section later in this manual for a list of available commands. To view a help screen listing the following get commands, use the command gh.

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Optical and Mechanical

Add mechanical from pdf file.

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RECOMMENDED AIRFLOW

(

)

(12.0) (2X)

M4x0.7 DEPTH 7.0 (BOTH SIDES) MAX TORQUE: 25 IN·LB (4X)

4.0 ±0.1 (2X)

(47.1)

(54.0)

(

)

RECOMMENDED AIRFLOW

(150.0)

(12.0) (2X)

M4x0.7

•

7.0 (BOTH SIDES) MAX TORQUE: 25 IN·LB

(4X)

4.0± 0.1 (2X)

(43.9)

(41.9)

(54.0)

56.0± 0.1

(2X)

Camera Link Interface

HSLink Interface

Piranha3 16K HSLink and Camera Link User Manual

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Model Number

Lens Mount Options

All models

M72x0.75 thread.

4.1 Lens Mounts

4.2 High Temperature and Mounting

Warning! Depending on the mounting design and the operating conditions the camera body could become hot. You must take precautions to ensure your safety and avoid touching the camera directly during operation.

Mounting Instructions and Recommendations

Proper camera mounting ensures that the heat generated by the camera dissipates properly and that the camera m aintains a safe temperature.

1. The camera should be bolted tightly to a mounting plate made of thermally conductive material (e.g.

Aluminum).

2. Keep contact area betw een the cam era’s fron t surface and the m ou ntin g p late su rface as la rge as p ossible.

Do not u se ―st and -off‖ style m ou ntin g .

3. Design the camera mounting plate so that there is enough surface area to dissipate heat.

4. Forced air flow to the fins is the most effective way to cool the camera. If forced air flow is not available,

then leave enough space around the fins so that heat can easily dissipate into the air by natural convection.

5. The mount setup plus the airflow must dissipate 40 Watts or more of heat.

6. Proper thermal mounting of the camera should result in an internal camera temperature < 65 ºC (verify

using command vt) and a front plate temperature < 50 ºC.

Note: To avoid internal damage the camera automatically shuts down when the internal temperature reaches 75 ºC.

The recommendations assume the following conditions:

 The camera mounting plate is equal to the full camera mounting surface (as shown) and maximum

natural convection surface.

 No impediments to the natural convection space around the surface of the mounting plate and the surface

of the camera.

 An environment temperature of approximately 25 ºC.  Good contact between the mounting plate and the camera surface.

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 power supplies

 cabling

 frame grabber hardware & software

 host computer

 light sources

 optics

 operating environment

 encoder

Troubleshooting

5.1 Common Solutions

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 LED Status Indicator for information on the LED.

Connections

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

Power Supply Voltages

Check for the presence of all voltages at the camera pow er connector. Verify that all grounds are connected. Issue the command, vv, to confirm correct voltages.

EXSYNC

When the camera is received from the factory, it defaults (no external input required) to exposure mode 2 (10 kHz line rate, internal Sync to trigger readout). After a user has saved settings, the camera powers up with the saved settings.

Data Clocking/Output Signals

To validate cable integrity, have the camera send out a test pattern and verify it is being properly received. Refer to section Generating a Test Pattern for further information.

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5.2 Troubleshooting Using the Serial Interface

The following commands can aid in debugging. (The complete command protocol is described in Appendix B and C.)

Communications

To quickly verify serial communications send the help command. The h command returns the online help menu. If further problems persist, review Appendix C for more inform ation on communications.

Verify Parameters

To verify the camera parameters, send the gcp command.

Verify Factory Calibrated Settings

To resto re the cam era’s factory settin gs an d disable the FPN and PRNU coefficients, send the rfs command. After executing this command send the gcp command to verify the factory settings.

Verify Timing and Digital Video Path

Use the test pattern feature to verify the proper timing and connections between the camera and the frame grabber and verify the proper output along the digital processing chain. See below.

Generating Test Patterns

The camera can generate a test pattern to aid in system debugging. Use the command svm 1 to activate the test pattern. The test pattern is a ramp from 0 to 255DN, then starts at 0 again. Use the test pattern to verify the proper timing and connections between the camera and the frame grabber.

 No test pattern or bad test pattern— May indicate a problem with the camera (e.g. missing bit) or a

system setup problem (e.g. frame grabber or timing). Verify the presence of the LVAL and STROBE signals.

 Test pattern successful— Ru n the svm 0 command to activate video. Then run the gl command under

both dark and light conditions to retrieve a line of raw video (no digital processing).

Verify Voltage

To ch eck th e cam era’s inpu t volt age, u se the vv command. If it is within the proper range, the camera returns OK> and the voltage value. Otherwise the camera returns an error message.

Verify Temperature

To check the internal temperature of the camera, use the vt command. 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 have to correct the temperature problem or the camera will shutdown again. If you enter any command other than vt or rc, the camera responds with:

Error 09: The camera's temperature exceeds the specified operating range>

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Verify Pixel Coefficients

Use the dpc command to display the PRNU pixel coefficients.

5.3 Specific Solutions

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 exposu re mode that requires external signals). Unused signals in the cable should be termintated in 100Ω.

Line Dropout, Bright Lines, or Incorrect Frame 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 su p plied to th e cam era d oes n ot exceed t h e cam era’s useable frame rate under the current operating conditions.

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.

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Warning Messages

Camera Response

Comment

OK>

Camera executed command

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 autom atically 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 satur ated.

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>

Changing this parameter has changed read out time and that is greater than the internal SYNC

Error Messages

Camera Response

Comment

Error 01: Internal error xx>

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

Error 02: Unrecognized command>

Command is not valid.

Error 03: Incorrect number of parameters>

Too many or too few parameters. Error 04: Incorrect parameter value>

This response returned for

Appendix A

Error Handling and Command List

A1 Error Handling

The following table lists w arning 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 13: Warning and Error Messages

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Error Messages

 Alpha received for numeric or vise-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. SSF when in SEM 3

Error 06: Timeout>

Command not completed in time. E.g. 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.

Error 08: Unable to calibrate - tap outside ROI>

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

Error 09: The camera's temperature exceeds the specified operating range>

Indicates that the camera has shut itself down to prevent damage from further overheating. (flashing red)

Shu ts d own at in ternal temp eratu re of 75˚C an d w ill not restar t u n til below 65˚C (eq u iv alent to 50˚C at fron t p late).

Error 10: FPGA Flash Program Failed

FCS failed either because of communication error or a bad file was sent.

A2 Commands: Quick Reference

As a quick reference, the following table lists all of the camera configuration commands available to the camera user. For detailed information on using these commands, refer to Chapter 3. N ote: This table d oes n ot list ―get‖ commands. Refer to section Returning Camera Settings for a list of these commands.

Parameters:

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

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Mnemonic

Syntax

Parameters

Description

calculate PRNU algorithm

cpa

m i

Performs PRNU calibration according to the selected algorithm.

The first parameter is the algorithm where m is: 2 = Calculates the PRNU coefficients using the

entered target value as shown below:

PRNU Coeffi cient =

Target

(AVG Pixel Valu e ) - FPN

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.

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.

The values for background subtract (ssb), system gain (ssg) and background add (sab) are set to 0, 1, and 0 respectively after using the cpa command.

correction set sample

css m Set number of line samples averaged for pixel coefficient calculations or for output of gla command. Values: 1024, 2048, 4096.

Refer to Returning Averaged Lines of Video on page 33 for details.

display pixel coeffs

dpc

x1 x2

Displays the PRNU pixel coefficients. x1 = Pixel start number x 2= Pixel end number In a range from 1 to 16384.

get command log

gcl

get camera model

gcm Reads the camera model number.

get camera parameters

gcp Reads all of the camera parameters. get camera serial

gcs Read the camera serial number.

get camera version

gcv Read the firmware version and FPGA version.

get values

get

get help

gh Returns a help screen listin g all of the ―get‖ commands.

get line

x x Gets a line of raw video (no digital processing or test pattern) displaying one pixel value after another and the minimum, maximum, and mean value of the sampled line.

x = Pixel start number x = Pixel end number In a range from 1 to 16384. Refer to Returning a Single Line of Video on page 33

for details.

Table 14: Command Quick Reference

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Mnemonic

Syntax

Parameters

Description

get line average

gla

x x Read the average of line samples. x = Pixel start number x = Pixel end number in a range from 1 to 16384. Refer to Returning Averaged Lines of Video on

page 33 for details.

get prnu coeff

gpc x Read the PRNU coefficient. x = pixel number to read in a range from 1 to 16384

count.

get signal frequency

gsf Returns the EXSYNC frequency.

help h

Display the online help. Refer to section for details.

help, single command

? s

load fpn coefficients

lfc Loads the factory set fpn coefficients from nonvolatile memory.

load pixel coefficients

lpc Loads the previously saved pixel coefficients from non-volatile memory.

read bit error counter

rbc

reset camera

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

restore factory coefficients

rfc i 0: load PRNU coefficients from factory set 1: load PRNU coefficients from one of user sets. The

user set selected is dependent on the current selection made using the ssn command.

restore factory settings

rfs

Restore th e cam era’s factory settin gs. FPN an d

PRNU coefficients reset to 0. Refer to section 3.4 Saving and Restoring Settings for details.

reset stats counter

rsc

restore user settings

rus Restore the camera's last saved user settings and FPN and PRNU coefficients. Refer to section 3.4 Saving and Restoring Settings for details.

set add background

sab i 0 - 4096

set binning horizontal

sbh m 1: no binning, every single pixel is the independent output unit.

2: every adjacent odd and even two pixels are bound together become a single output unit, therefore, the sensor size becomes ½ of its maximum size.

set data width

sdw i 8 10, or 12 bit operation.

set exposure mode

sem m Set the exposure mode: 2 = Internal SYNC, programmable line rate and

exposure time. 3 = Internal SYNC, maximum exposure time 4 = External SYNC 6 = External SYNC, programmable exposure time.

Set exposure time

set f Sets the exposure time in a range of 1 to 8888 µs.

set gain

t f

t = 0-32 f = ± 24 dB

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Mnemonic

Syntax

Parameters

Description

set hslink mode

shm i 0 – 6 (HSLink mod el only).

set prnu coeff

spc

x i

Set the PRNU coefficient. x=pixel number within the range 1 to 16384. i= PRNU value within the range 0 to 65535

set prnu range

spr

x1 x2 i

Sets the PRNU range. x1 = 1 to 16384 x2 = 1 to 16384 i = 0 to 65535

set subtract background

ssb i Subtract the input value from the output signal. i = Subtracted value in a range from 0 to 1024

set sync frequency

ssf f Set the frame rate to a value from:

-1 to 72070 (P3-S0-16k40 HSLink)

-1 to 40000 (P3-S0-16K20 HSLink and P3-80-16K40

Camera Link)

Value rounded up/ down as required. Refer to Setting Frame Rate on page 24 for details.

set system gain

ssg i Set the digital gain. i = Digital gain in a range from 0 to 61438. The

digital video values are multiplied by this number. Refer to Setting System Gain on page 29 for details.

set set number

ssn i 0 – 5. 0 = factory settings. 1 – 5 = user sets.

set video mode

svm i Switch between normal video mode and test patterns: svm 0 to 4

Refer to section Generating a Test Pattern for details.

update gain reference

ugr Changes 0 d B gain to equal the current gain value.

verify temperature

vt Check the internal temperature of the camera

verify voltage

vv Check the cam era ’s in p u t voltages and r etu r n OK or fail

write PRNU coeffs

wpc i Write all current PRNU coefficients to EEROM. Refer to section Saving and Restoring PRNU and

Coefficients for details.

write user settings

wus Write all of the user settings to EEROM. Refer to section Saving and Restoring Factory and User Settings for d etails.

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Transmitter X

Port

Camera

Frame

Grabber

Signal

8 Tap 8 Bit

8 Tap 10 Bit

Port A0

TxIN0

RxOUT0

D0 Bit

Port A1

TxIN1

RxOUT1

D0 Bit

Port A2

TxIN2

RxOUT2

D0 Bit

Port A3

TxIN3

RxOUT3

D0 Bit

Port A4

TxIN4

RxOUT4

D0 Bit

Port A5

TxIN6

RxOUT6

D0 Bit

Port A6

TxIN27

RxOUT27

D0 Bit

Port A7

TxIN5

RxOUT5

D0 Bit 7 (MSB)

D0 Bit 9 (MSB)

Port B0

TxIN7

RxOUT7

D1 Bit

Port B1

TxIN8

RxOUT8

D1 Bit

Port B2

TxIN9

RxOUT9

D1 Bit

Port B3

TxIN12

RxOUT12

D1 Bit

Port B4

TxIN13

RxOUT13

D1 Bit

Port B5

TxIN14

RxOUT14

D1 Bit

Port B6

TxIN10

RxOUT10

D1 Bit

Port B7

TxIN11

RxOUT11

D1 Bit 7 (MSB)

D1 Bit 9 (MSB)

Port C0

TxIN15

RxOUT15

D2 Bit

Port C1

TxIN18

RxOUT18

D2 Bit

Port C2

TxIN19

RxOUT19

D2 Bit

Port C3

TxIN20

RxOUT20

D2 Bit

Port C4

TxIN21

RxOUT21

D2 Bit

Port C5

TxIN22

RxOUT22

D2 Bit

Port C6

TxIN16

RxOUT16

D2 Bit

Port C7

TxIN17

RxOUT17

D2 Bit 7 (MSB)

D2 Bit 9 (MSB)

LVAL

TxIN24

RxOUT24

Line Valid

FVAL

TxIN25

RxOUT25

Frame Valid

DVAL or Port I0 *

TxIN26

RxOUT26

Not Used

- - D0 Bit

Port I1

TxIN23

RxOUT23

Not Used

D0 Bit

Strobe

TxINCLK

RxOUTCLK

Pixel Clock

Appendix B

Camera Link Map

Note: The sdw command sets the data width to either 8, 10, or 12 bit depths. The following tables show show the assignment of pixel data bits to the input pins on the X, Y and Z Camera

Link transmitters the camera. They also show the assignments for the corresponding output pins on the X, Y and Z Camera Link receivers in a frame grabber.

The assignments for the frame valid bit and the line valid bit are also listed.

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Transmitter Y

Port

Camera

Frame

Grabber

Signal

8 Tap 8 Bit

8 Tap 10 Bit

Port D0

TxIN0

RxOUT0

D3 Bit

Port D1

TxIN1

RxOUT1

D3 Bit

Port D2

TxIN2

RxOUT2

D3 Bit

Port D3

TxIN3

RxOUT3

D3 Bit

Port D4

TxIN4

RxOUT4

D3 Bit

Port D5

TxIN6

RxOUT6

D3 Bit

Port D6

TxIN27

RxOUT27

D3 Bit

Port D7

TxIN5

RxOUT5

D3 Bit 7 (MSB)

D3 Bit 9 (MSB)

Port E0

TxIN7

RxOUT7

D4 Bit

Port E1

TxIN8

RxOUT8

D4 Bit

Port E2

TxIN9

RxOUT9

D4 Bit

Port E3

TxIN12

RxOUT12

D4 Bit

Port E4

TxIN13

RxOUT13

D4 Bit

Port E5

TxIN14

RxOUT14

D4 Bit

Port E6

TxIN10

RxOUT10

D4 Bit

Port E7

TxIN11

RxOUT11

D4 Bit 7 (MSB)

D4 Bit 9 (MSB)

Port F0

TxIN15

RxOUT15

D5 Bit

Port F1

TxIN18

RxOUT18

D5 Bit

Port F2

TxIN19

RxOUT19

D5 Bit

Port F3

TxIN20

RxOUT20

D5 Bit

Port F4

TxIN21

RxOUT21

D5 Bit

Port F5

TxIN22

RxOUT22

D5 Bit

Port F6

TxIN16

RxOUT16

D5 Bit

Port F7

TxIN17

RxOUT17

D5 Bit 7 (MSB)

D5 Bit 9 (MSB)

LVAL

TxIN24

RxOUT24

Line Valid

FVAL or Port I2 *

TxIN25

RxOUT25

Frame Valid

- - D1 Bit

DVAL or

Port I3 **

TxIN26

RxOUT26

Not Used

- - D1 Bit

Port I4

TxIN23

RxOUT23

Not Used

D2 Bit

Strobe

TxINCLK

RxOUTCLK

Pixel Clock

* In 8 tap 8 bit mode, this port is DVAL and is not used. In 8 tap 10 bit mode, this port is Port I0 and D0 Bit 0 is assigned to it.

* In 8 tap 8 bit mode, this port is FVAL and the frame valid signal is assigned to it. In 8 tap 10 bit mode, this port is Port I2 and D1 Bit 0 is assigned to it.

** In 8 tap 8 bit mode, this port is DVAL and is not used. In 8 tap 10 bit mode, this port is Port I3 and D1 Bit 1 is assigned to it.

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Transmitter Z

Port

Camera

Frame

Grabber

Signal

8 Tap 8 Bit

8 Tap 10 Bit

Port G0

TxIN0

RxOUT0

D6 Bit

Port G1

TxIN1

RxOUT1

D6 Bit

Port G2

TxIN2

RxOUT2

D6 Bit

Port G3

TxIN3

RxOUT3

D6 Bit

Port G4

TxIN4

RxOUT4

D6 Bit

Port G5

TxIN6

RxOUT6

D6 Bit

Port G6

TxIN27

RxOUT27

D6 Bit

Port G7

TxIN5

RxOUT5

D6 Bit 7 (MSB)

D6 Bit 9 (MSB)

Port H0

TxIN7

RxOUT7

D7 Bit

Port H1

TxIN8

RxOUT8

D7 Bit

Port H2

TxIN9

RxOUT9

D7 Bit

Port H3

TxIN12

RxOUT12

D7 Bit

Port H4

TxIN13

RxOUT13

D7 Bit

Port H5

TxIN14

RxOUT14

D7 Bit

Port H6

TxIN10

RxOUT10

D7 Bit

Port H7

TxIN11

RxOUT11

D7 Bit 7 (MSB)

D7 Bit 9 (MSB)

Port I5

TxIN15

RxOUT15

Not Used

D2 Bit

Port I6

TxIN18

RxOUT18

Not Used

D3 Bit

Port I7

TxIN19

RxOUT19

Not Used

D3 Bit

Port K0

TxIN20

RxOUT20

Not Used

D4 Bit

Port K1

TxIN21

RxOUT21

Not Used

D4 Bit

Port K2

TxIN22

RxOUT22

Not Used

D5 Bit

Port K3

TxIN16

RxOUT16

Not Used

D5 Bit

Port K4

TxIN17

RxOUT17

Not Used

D6 Bit

LVAL

TxIN24

RxOUT24

Line Valid

FVAL or

Port K5 *

TxIN25

RxOUT25

Frame Valid

- - D6 Bit

DVAL or

Port K6 **

TxIN26

RxOUT26

Not Used

- - D7 Bit

Port K7

TxIN23

RxOUT23

Not Used

D7 Bit

Strobe

TxINCLK

RxOUTCLK

Pixel Clock

* In 8 tap 8 bit mode, this port is FVAL and the frame valid signal is assigned to it. In 8 tap 10 bit mode, this port is Port K5 and D6 Bit 1 is assigned to it.

** In 8 tap 8 bit mode, this port is DVAL and is not used. In 8 tap 10 bit mode, this port is Port K6 and D7 Bit 0 is assigned to it.

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Piranha3 16K HSLink and Camera Link User Manual

We,

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

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

P3-x0-16Kx0-00-R

fulfill(s) the requirements of the standards outlined below which satisfy the EMC requirements for CE marking, the FCC Part 15 requirements, and the Industry Canada ICES-003 evaluation.

Radiated emissions requirements:

EN 55022 (2006) EN 55011 (2009) ICES-003 CISPR 22 (1993) CISPR 11 FCC Part 15

Immunity to disturbances:

EN55024 (1998) EN 61326-1 (2006)

Place of Issue

Waterloo, ON, CANADA

Date of Issue

March 10, 2011

Name and Signature of authorized person

Hank Helmond Quality Manager, Teledyne DALSA Corp.

Appendix C

EMC Declaration

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Revision

Change Description

Date

Preliminary release.

February 27, 2012

Revised camera mechanical. Imaging center measured at 40.0 ±0.08 mm,

not ±0.05 as previously stated.

October 9, 2013

X and Y alignment tolerance value in the specifications table changed

from ± 50 µm to ± 80 µm to match the mechanical drawing. Revised

mechanical drawing added showing the correct tolerance.

December 4, 2013

Appendix D

Revision History

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Index

applications, 5

bright lines, 41

calibrating the camera, 25 calibration

errors, 29 overview , 25 results, 29 steps, 26

camera

control signals, 16, 17

messages, 42 camera control signals, 12 Camera Link

configuration pinout, 16

connector, 15

outputs, 13 camera settings

current, 30

factory, 30

restoring, 30

retrieving, 35

saving, 30

user, 30 clock signals, 17 command

format, 20

parameters, 21 commands

list, 43 connectors, 10

Camera Link, 15

Hirose, 11

power, 11

EMC Declaration of

Conformity, 50 error messages, 42 exposure modes

overview , 22

EXSYNC, 12, 17

troubleshooting, 39

external trigger, 12, 17

FPN, 7, 25

gain, 5, 28 gain ranges, 7

help, 21 Hirose connector, 11

incorrect line rate, 41 input/ output, 10 inputs (user bus), 12, 17 installation, 9 interface

optical, 6

LED, 10 line dropout, 41 line rate, 7 line statistics, 33

dark patches, 41 data bus, 13 data rate, 7 debugging, 39 digital

signal processing, 28

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MDR26. See Camera Link

connector models, 6

NEE, 7

Piranha3 16K HSLink and Camera Link User Manual

noisy output, 41

online help, 21 operating

modes, 22 optical specs, 6 output signals, 13

performance specifications, 6 pixel statistics, 33 power

connectors, 11

guidelines, 11 PRNU, 25

rebooting, 31 resolution, 6 responsivity, 7

SEE, 7 serial interface, 20

defaults, 20

troubleshooting, 40

settings

factory, 21

signals

input, 17 output, 17

statistics, 33

temperature

measurement, 34 test patterns, 32 test patterns, 40 timing, 18

camera, 18

Camera Link, 18 trigger

external, 12, 17 troubleshooting, 39

vid eo data, 34 voltage

measurement, 34

warning messages, 42

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Specifications and Main Features

Frequently Asked Questions

User Manual