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1. 56 pco edge Low Level Description V1 01 PCO AG Germany Command Sections 4 3 8 Set Trigger Mode Set image trigger mode a Command Message Code Length Mode Ges ox Parameters trigger mode to be selected 0x0000 auto trigger An exposure of a new image is started automatically best possible compared to the readout of an image If using a CCD and images are taken in a sequence then exposures and readout of the sensor are started simultaneously Signals at the trigger input lt exp trig gt are irrelevant 0x0001 software trigger An exposure can only be started by a force trigger command 0x0002 extern exposure amp software trigger A delay exposure sequence is started at the RISING or FALLING edge depending on the polarity setting HWIO of the trigger input lt exp trig gt Notes the command will be rejected if Recording State is run In mode extern exposure amp software trigger it depends also on the selected acquire mode if a trigger edge at the trigger input lt exp trig gt will be effective or not A software trigger however will always be effective independent of the state of the lt acq enbl input true for software trigger and extern exposure amp software trigger b Response Message Code Length Mode ks ox Return Configured trigger modes values 0x0000 auto trigger 0x0001 software trigger 0x0002 extern exposure amp software trigger c
2. 4 1 9 Get Mailbox Status The mailboxes are useful for two control devices connected to different interfaces at the camera communicating via the camera One control device writes data to the mailbox the other one can read the message The Get Mailbox Status command implements an acknowledge mechanism for the writer of a message to see if the message has been read by the receiving device a Command Message Parameter No index of mailbox to be read range from 0 to Number of Mailboxes 1 b Response Message oe oaee Oxia T Return e Total number of mailboxes which are available max 8 values e Status of the mailboxes 0 to 7 0x0000 No message available content of the mailbox not valid 0x0001 New message is ready content of the mailbox is valid 0x0003 Content of the mailbox is valid but message was already read by recipient Notes e A read mailbox will not clear or empty the mailbox thus the content of the mailbox can be read many times It can be evaluated by the read status see above if a message in the mailbox is new and unread c Failure Warning Response Message Cks Ox10DO OXOOO9 Ox HHHHH OER Return e PCO_ERROR_FIRMWARE_NOT_SUPPORTED or values PCO_ERROR_FIRMWARE_UNKNOWN_COMMAND if the command is not supported by the camera e PCO_ERROR_FIRMWARE_VALUE_OUT_OF_RANGE e error code less than 0 see also section 5 Error Warning Codes 26 pc
3. Command Message Data Returned Status command Chksum Length success etc Message Low Data returned has not to be the data sent also Sum of all Code Byte the length of the response message may differ bytes from the received message The response message may not have the same length as the original message Note pco edge Low Level Description V1 01 PCO AG Germany 11 Communication Basics 3 2 2 Failure Warning Response Message a Transmission Failure However if the transmission of the message fails or the checksum is wrong then there is no responded message The sender has to synchronize itself via timeouts Please note that no message is sent only in case of transmission errors i e the receiver gets a message with erroneous checksum or an undefined message code If the command executed fails this has to be handled via messages described below b Command Execution Failed If the transmission is ok but the command execution fails the receiving device will indicate the failure with the following kind of message Message Length Data Returned Message LowByte High Byte E g return status etc Sum of all bytes Code before The group code is changed by a logical OR operation with 0x80 to indicate that it s a response message An additional change by a logical OR operation with 0x40 thus resulting in an OR with OxCO 0x80 0x40 indicates a failure or a warning of the requested comman
4. Command Sections 4 12 Get Camera Description Request camera description sensor type horizontal vertical dynamic resolution binning delay exposure The response message describes the sensor type the readout hardware and its possible operating range and possible operating modes Important note The camera description is a standard descriptor for the newer pco cameras like pco camera series and pco OEM cameras Therefore it may contain fields which might be not applicable The existence of an descriptor will not indicate that a corresponding feature e g binning is intended to be realized in future versions a Command Message Parameter None b Response Message OX HHH Convers Factor 3 Max Exp Time OX HHH HHH Cooling Setpoint OX HHH Reserved OER HHH Reserved OxX HHH HHH Sensor OxX HHH HHH Convers Factor 4 OX HHH Min Step OxX HHH HHH Max Cooling Setpoint OxX HHH Reserved ORR HHH Reserved OX HHH HHHH Sensor Sub Type Binn hor OxX HHH HIH Min Time IR OxX HHH HEHE Default Cooling Setpoint OxX HHH Reserved OX HHH HEHE Hor Res standard Ox HH Min Time OX HHH HEHE Time IR msec Ox HAAR Power Down OX HHH HIH Vert Res standard OX HHH HHHH Max Del Time UX HHHH HHHH Min Exp Time IR nsec UX HHHH HHHH Offset Regu lation UX HHHH Reserved
5. 4 1 4 2 General ED RE EG GR GR GR GR DA GR DAG AR MA IG 6 Communication Layers wa EE ser ie del nl ieee a eet 7 Communication BasicS iese ee AA AA AA AA AA AA AA AA ee 8 General message format EE SEE i i SE GE GE Ge eee 9 Message Acknowledgements 10 3 2 1 Regular Response Message ee ee eee ee ereer 11 3 2 2 Failure Warning Response Message sees ee ee ee 12 Command K en e EER EER RR EE RE R ER R ER RR RR RR ER RR RR RR ER RR ER R RE RR REK RR RR ee ee ee ee Ee ee ER ee dee 13 General Control Status AA AA AA AA AA AA AA ee AA 14 4 1 1 Get Camera TYPE Etes nei ast ed EES eb ie a eiua 15 4 1 2 Get Camera Description sn RE ER EE EE wane 16 4 1 3 Get Camera Health Status ses 19 4 1 4 Get Teriiperatur s ss AAR RR Re vv Dee EE ce 21 4 1 5 Get Hardware VersionS ees ees ee 22 4 1 6 Get Firmware Versions EE EER SEER GEED EE EE GEED GEED GE ED GR EG Ge KERE KERE KERR 23 4 1 7 Write dee NE ER EO hes 24 4 1 8 Read Mailbox N N 25 4 1 9 Get Mailbox Status 26 4 1 10 Get Number of HW IO Signals sese sees eee eee 27 4 1 11 Get HW IO Signal Description esse eee ee ee ee ee 28 4 1 12 Get HWIOSignal SA SE SA AAAS AAAS AAAS Bae A 29 4 1 13 Set HW IOSidnal MERE ER e Se ee 30 ImagesSefisOr ee edad el SA eA AE OE ied Dt AREAL 31 4 2 1 Get Sensor FOrilal EE Ee cies Ee Ee Ee ee ee eie ee ee ee 32 4 2 2 Set Sensor Forimat ie cid ini niin es 33 4 2 3 Get 6 RE en 34 4 2 4 Sot siel EE EE EE RE N 35 4 2 5 GeO
6. Command Message Mailbox No Data 0 BEG Cks Ox lowe Jose Return e No index of mailbox to be read from 0 to Number of values Mailboxes 1 e 64 byte of data If not all 64 byte shall contain valid data the user must implement a size mechanism by himself e g by defining the first byte or word as size parameter Notes e Writing to a mailbox will overwrite the old content of the mailbox Please use the command Get Mailbox Status in order to check if the old message has been already read b Response Message Mailbox No Ca Ox0E90 OXOOO9 ORR Ox Parameter e No index of mailbox same as input parameter c Failure Warning Response Message Code Length Message Cks OXOEDO OXOOO9 Ox HHHHH OER Return e PCO_ERROR_FIRMWARE_NOT_SUPPORTED or values PCO_ERROR_FIRMWARE_UNKNOWN_COMMAND if the command is not supported by the camera e PCO_ERROR_FIRMWARE_VALUE_OUT_OF_RANGE e error code less than 0 see also section 5 Error Warning Codes 24 pco edge Low Level Description V1 01 PCO AG Germany Command Sections 4 18 Read Mailbox The mailboxes are useful for two control devices connected to different interfaces at the camera communicating via the camera One control device writes data to the mailbox the other one can read the message There is a simple acknowledge mechanism for the writer of a message to see if the message has been read by the receiving de
7. OxX HHH HEHE Hor Res extended Convers Factor 1 Min Step OxX H HH HHHH Time IR Ox H H HHHH Pattern Ox Reserved OX H HH HHHH pco edge Low Level Description V1 01 PCO AG Germany Command Sections Return values image sensor type as word see table Sensor Type codes below image sensor sub type as word horizontal resolution standard in pixels all effective pixels vertical resolution standard in pixels all effective pixels horizontal resolution extended in pixels all pixels dummy dark eff vertical resolution extended in pixels all pixels dummy dark eff dynamic resolution in bits pixel i e 12 14 max binning value horizontal allowed values from 1 to max resolution binning steps horizontal 1 linear step binning from 1 to max i e 1 2 3 max is possible 0 binary step binning from 1 to max i e 1 2 4 8 16 max is possible max binning value vertical allowed values from 1 to max resolution binning steps vertical 1 linear step binning from 1 to max i e 1 2 3 max is possible 0 binary step binning from 1 to max i e 1 2 4 8 16 max is possible ROI steps horizontal e g 10 gt ROI right 1 11 21 31 ROI steps vertical ADC s number of ADC s inside camera i e 1 8 pixelrate 1 long word frequency in Hz pixelrate 2 long word frequency in Hz if not available then value 0 pixelrate 3 long word fe
8. technical info pco ccce Low Level Description pco Imaging This document describes the low level command structure of the pco edge scientific CMOS SCMOS camera For SDK implementation please refer to the PCO Software Development Kit for pco cameras SW_PCOSDKWIN_xxx For a detailed description on the camera handling and operating please refer to the user s manual of the pco edge camera This document replaces e pco edge camera control commands e pco edge camera link packing modes Target Audience This camera is designed for use by technicians engineers and scientists In case of any questions or comments please contact us at PCO telephone 49 0 9441 2005 50 fax 49 0 9441 2005 20 email info pco de postal address PCOAG Donaupark1 1 93309 Kelheim Germany The cover photo shows an exemplary PCO camera system The lens is sold separately Copyright 2011 PCO AG called PCO in the following text Kelheim Germany All rights reserved PCO assumes no responsibility for errors or omissions in these materials These materials are provided as is without warranty of any kind either expressed or implied including but not limited to the implied warranties of merchantability fitness for a particular purpose or non infringement PCO further does not warrant the accuracy or completeness of the information text graphics links or other items contained within these materials PCO shall not
9. Commands for changing settings Basically all settings may be changed in any order At last the Arm Camera command checks the settings for consistency and returns the PCO NOERROR code if the settings are consistent and a corresponding error code if the settings are not consistent pco edge Low Level Description V1 01 PCO AG Germany Communication Basics 3 1 General message format There is defined a general message format which facilitates the message handling for transmitter and receiver Command Message Payload Data Chksum Length Group Message l Low Length of Payload data depends on the message Sum of all Code Code Byte The data may be divided into blocks of different bytes meaning again before Detailed description of the message e The group code defines the group to which the command belongs e The message code defines the command or message itself e The message length is the length of the complete message in bytes including the checksum byte Please note that it is delivered in low byte high byte order Since the data bytes must not exceed 256 bytes the maximum length is 261 bytes e The payload data is data e g needed for executing the command e g parameter for settings data byte for programming and update commands However there may be messages with no data at all The length of the data is simply calculated based on the message length minus 5 The maximum number of data byte is 256 e The ch
10. run 0x0000 stop switch camera to idle mode b Response Message os ox Return Configured recording status values 0x0001 run camera is in recording mode 0x0000 stop camera is idle not ready to take images c Failure Warning Response Message Gode Length Message OKs Ox06D4 0x0009 Ox H H H Ox Return error code less than 0 see also section 5 Error Warning Codes values 68 pco edge Low Level Description V1 01 PCO AG Germany Command Sections 443 Arm Camera Arms i e prepares the camera for a consecutive set recording status run command All configurations and settings made up to this moment are accepted and the internal settings of the camera are prepared Thus the camera is able to start immediately when the set recording status run command is performed Note It is required to issue an arm camera command before every set recording state run command in order to ensure that all settings are accepted correctly Do not change settings between arm camera command and set recording status command a Command Message Parameter None b Response Message Return None values c Failure Warning Response Message Code Length Message Ges Ox0AD4 0x0009 Ox HHHH Ox Return error code less than 0 see also section 5 Error Warning Codes values pco edge Low Level Description V1 01 PCO AG Germany 69 Command Sections 4 5
11. Bim mitra RO See te es E a See es Sno ak bet N 36 4 2 6 Set Binning Ee EER EER hes EER Een hes hee OE Sek Se Me dk Geert 37 4 2 7 Get RE eeo E ATA 38 4 2 8 Sot Pixelate EE EE E A ia 39 4 2 9 Get Cooling Setpoint Temperature eee eee eee 40 4 2 10 Set Cooling Setpoint Temperature ss eee 41 4 2 11 Get Hot Pixel Correction Mode ee 42 4 2 12 Set Hot Pixel Correction Mode ee 43 4 2 13 Set Correction Mode ee 44 4 2 14 Get Correction Mode ee 45 4 2 15 Get Lookuptable INFO 46 4 2 16 Get LOOkKuptable EERS t escoti ereot bretot eeter E EO ee ie 47 pco edge Low Level Description V1 01 PCO AG Germany N EE ust 49 4 3 1 Get Timebase EER ER OOOO RE RE EE EE BERE EER cash castes 50 4 3 2 Set Timebase se eee erate teats Ee EED Ee ee DE TT 51 4 3 3 Get Delay Exposure Time sees 52 4 3 4 Set Delay Exposure Time sees ede ee ee ee ed ee ee Re ee ee 53 4 3 5 Get Framerate Ge EE EE Ee ee ee ee ee ha 54 4 3 6 Set Eramerate se EE E A Ge ie ag 55 4 3 7 Get Trigger Mode sss essere 56 4 3 8 Set Trigger a ee see ee ee ee ee ee ee ee 57 4 3 9 aie Mee EA EE Paka nade Ten TE vye eo 58 4 3 10 Get Camera BUSY Satge eee see ee Re ee ee Re ee ee 59 4 3 11 Get LOC RUMME ives RE SEE EES GEE EE GEES GE Gee Gee gee ee ee ee vd 60 4 3 12 Get Image TIMING faced iid wei dad ate endl ant eet 61 4 3 13 Get Sensor Signal Status see ee ee ee ee ee 62 4 3 14 Get HW IO Signal Timing sss ssssee ee ee ee ee ee e
12. Failure Warning Response Message Gode Length Message OKs 0x04D2 0x0009 Ox HHHH Ox Return error code less than 0 see also section 5 Error Warning Codes values pco edge Low Level Description V1 01 PCO AG Germany 57 Command Sections 4 3 9 Force Trigger This software command starts an exposure if the trigger mode is in the state software trigger 0x0001 or in the state extern exposure amp software trigger 0x0002 If in state extern exposure control 0x0003 nothing happens The camera has to be ready recording start and not busy a Command Message Parameter None b Response Message Code Length Return cks od Return result values 0x0000 trigger command was not successful because of camera being busy 0x0001 a new image exposure has been triggered by the command Note Due to response and processing times e g caused by the interface and or the operating system on the PC the delay between command and actual trigger may be several 10ms up to 100ms A force trigger command will be effective independent of the selected acquire mode and independent of the state of the lt acq enbl gt input c Failure Warning Response Message os Ox05D2 0x0009 Ox HHHH Ox Return error code less than 0 see also section 5 Error Warning Codes values 58 pco edge Low Level Description V1 01 PCO AG Germany Command Sections 4 3 10 Gie
13. HH HE HR MH HH HR HR HH RR HH HH HH HHE HR HH HR ER HR HR HH HR HH HH HH HER HR MH HH HR HR HH HH HH HH ER HH HH HH HH HR HH HR ER HR HH HH HH Return Signal name 4 fields of 24 characters null terminated The signal values names correspond to one physical port and will show which function can be connected to that physical port If there is only one function only the first field contains a name the other fields are filled with null strings Signal Def bit mask 0x0001 Signal can be enabled disabled 0x0002 Signal is output Signal Types bit mask describing which signal standard can be configured 0x0001 TTL 0x0002 High level TTL 0x0004 Contact 0x0008 RS485 differential Signal Polarity bit mask describing possible polarity settings 0x0001 High level active 0x0002 Low level active 0x0004 Rising edge 0x0008 Falling edge Signal Filter bit mask describing possible filter settings 0x0001 Filter off 0x0002 Medium filter time constant in the range of 10 us 0x0004 High filter time constant gt 1 ms c Failure Warning Response Message oe OxOBDO 0x0009 Ox Ox Return PCO_ERROR_FIRMWARE_NOT_SUPPORTED or values PCO_ERROR_FIRMWARE_UNKNOWN_COMMAND if the command is not supported by the camera Other error code less than 0 see also section 5 Error Warning Codes 28 pco edge Low Level Description V1 01 PCO AG Germany Command Sections 4 1 12 Get HW IO Signal Get the current co
14. Interface Specific Commands The group id code for the Interface Specific Commands is 0x16 Thus the least significant byte of all command id codes is 0x16 The command id codes are 0x 16 the code of the response message 0x 96 or in case of a failed command 0x D6 Overview Command Cmd Resp Error Code Code Warning Code Set Interface Output Format 0x1016 0x1096 0x10D6 Get Interface Output Format 0x1116 0x1196 0x11D6 70 pco edge Low Level Description V1 01 PCO AG Germany Command Sections 4 5 1 Set Interface Output Format Set interface specific output format a Command Message Code Length DestiF Format Randi Rawa Jer ox Oc Parameter Dest IF 0x0002 SCMOS Format where 0x0100 Chip readout direction from outside to inside Rsrvd 1 Reserved for future use set to 0x0000 Rsrvd 2 Reserved for future use set to 0x0000 b Response Message Code length DestiF Format Randi Rawa crs ox Oct Return See command values pco edge Low Level Description V1 01 PCO AG Germany 71 Command Sections 4 5 2 Get Interface Output Format Get interface specific output format a Command Message Code Length Dest iF cks oe Parameter Dest IF 0x0002 SCMOS b Response Message Length DestiF Format Rerwdi Rervd2 Jes 0x1196 0x000D Ox Oxi 0x0000 0x0000 Return values Dest IF 0x0002 SCMOS Format where 0x0100 Ch
15. Message Code Length Format cks ox Parameter x0000 standard x0001 alternative Note This command will be rejected if Recording State is run b Response Message Code Length Format cks ox Return x0000 standard values x0001 alternative c Failure Warning Response Message Code Length Message Cks Ox15D1 Ox0009 Ox HHHHH OER Return error code less than 0 see also section 5 Error Warning Codes values pco edge Low Level Description V1 01 PCO AG Germany 33 Command Sections 4 2 3 Get ROI Get ROI region or area of interest window The ROI is equal to or smaller than the absolute image area which is defined by the settings of format and binning a Command Message Parameter None b Response Message ED sito Gar Eed ET EE Return x0 x1 yO y1 region of interest in pixels within the complete values image of the sensor see also figure below Image area c Failure Warning Response Message Cks 0x02D1 OXOOO9 Ox HHHHH OER Return error code less than 0 see also section 5 Error Warning Codes values 34 pco edge Low Level Description V1 01 PCO AG Germany Command Sections 4 2 4 Set ROI Set ROI region or area of interest window The ROI must be equal to or smaller than the absolute image area which is defined by the settings of format and binning a Command Message ED chee ican Eka El iS ox
16. Ox Return error code less than 0 see also section 5 Error Warning Codes values pco edge Low Level Description V1 01 PCO AG Germany 21 Command Sections 4 1 5 Get Hardware Versions Reguest the current hardware version of the camera s boards a Command Message Parameter None b Response Message Text Descriptor 16 byte e g edge main Length S OXO790 Ox Ox Pa Variant Ox H Revision Ox H H Ox HHH Device 2 Device 3 Device 9 Device 10 Return values Board Number For these number of board a revision info will follow 10 entries with each Text descriptor for the board limited by a null character Field is alway 16 bytes long the bytes after the null character may be undefined RFU reserved for future use WORD Revision Revision no from 0 to 99 WORD Variant Board variant usually 1 WORD There are always 10 entries if the board number is less the 10 n fields at the end are not defined c Failure Warning Response Message Gode Length Message Gie OXO7DO 0x0009 Ox HHHH Ox Return values error code less than 0 see also section 5 Error Warning Codes 22 pco edge Low Level Description V1 01 PCO AG Germany Command Sections 4 1 6 Get Firmware Versions Request the current firmware version of t
17. Parameter Currently configured baudrate of the camera c Failure Warning Response Message ches Ox32D6 0x0009 Ox HHHH Ox Return error code less than 0 see also section 5 Error Warning Codes values 84 pco edge Low Level Description V1 01 PCO AG Germany About PCO im Ize moment PCO AG was founded in 1987 The company headquarters in Kelheim employs more than 50 specialists in the development and production of optimized fast sensitive camera systems for scientific applications PCO s range of products includes digital camera systems featuring high dynamics extremely high sensitivity high resolution high speed and extremely low noise which are sold in industrial and scientific markets all over the world Cameras for every point of view The systems produced by PCO AG are cameras and scientific measuring instruments at the same time Our high tech systems are mostly the result of manual labor over 50 highly specialized employees handle development and production at the Kelheim site We deliver roughly 4 000 cameras a year to customers all over the world As in every cutting edge technology dialogue with the user is the main focus of PCO s approach Worldwide representatives in cooperation with the in house marketing division and technical support team ensure that PCO camera systems are developed in step with the individual requirements of our customers pco edge Camera
18. are multiplied with the configured timebase unit values If exposure is set to zero an error is generated c Failure Warning Response Message Code Length Message Cks 0x02D2 0x0009 OMRI OE Return error code less than 0 see also section 5 Error Warning Codes values pco edge Low Level Description V1 01 PCO AG Germany 53 Command Sections 4 3 5 Get Framerate Get framerate and exposure time See also Set Framerate a Command Message DEE Parameter None b Response Message Gode Length Status Framerate Exposure Jes 0x1792 OxOOOF OER Ox dH OxdHBHHHHHE Return Status of last Set Framerate command values Framerate or 0 if not configured in mHz Exposure time in ns Note It is strongly recommend using either the Set Framerate or the Set Delay Exposure Time command c Failure Warning Response Message ons 0x17D2 Ox0009 Ox HHH Ox Return error code less than 0 see also section 5 Error Warning Codes values 54 pco edge Low Level Description V1 01 PCO AG Germany Command Sections 4 3 6 Set Framerate Set framerate and exposure time This command is intended to set directly the framerate and the exposure time of the camera The framerate is limited by the readout time and the exposure time 1 Framerate lt Framerate lt treadout texpos Please note that there are some overhead times therefore the real valu
19. be liable for any special indirect incidental or consequential damages including without limitation lost revenues or lost profits which may result from the use of these materials The information is subject to change without notice and does not represent a commitment on the part of PCO in the future PCO hereby authorizes you to copy documents for non commercial use within your organization only In consideration of this authorization you agree that any copy of these documents which you make shall retain all copyright and other proprietary notices contained herein Each individual document published by PCO may contain other proprietary notices and copyright information relating to that individual document Nothing contained herein shall be construed as conferring by implication or otherwise any license or right under any patent or trademark of PCO or any third party Except as expressly provided above nothing contained herein shall be construed as conferring any license or right under any PCO copyright Note that any product process or technology in this document may be the subject of other intellectual property rights reserved by PCO and may not be licensed hereunder Updated March 2011 PCO AG pco edge Low Level Description V1 01 PCO AG Germany The New Imaging Standard The new pco edge is a breakthrough in scientific imaging cameras due to its distinctive ability to simultaneously deliver extremely low noise fast frame ra
20. enabled Type 0x0001 TTL 0x0002 High level TTL 0x0004 Contact 0x0008 RS485 differential Polarity 0x0001 High level active 0x0002 Low level active 0x0004 Rising edge 0x0008 Falling edge Filter possible filter settings 0x0001 Filter off 0x0002 Medium filter time constant in the range of 10 us 0x0004 High filter time constant gt 1 ms Select Shows which function of the port is selected if there are several functions which can be connected See also command Get HW IO Signal Description b Response Message ENE NE DE NL AGE AE Ode Return Same as input parameter see above values c Failure Warning Response Message Gode Length Message OKs Ox1AD2 0x0009 Ox HHH Ox Return error code less than 0 see also section 5 Error Warning Codes values 30 pco edge Low Level Description V1 01 PCO AG Germany Command Sections 4 2 Image Sensor The group id code for image sensor control commands is 0x11 Thus the least significant byte of all command id codes is 0x11 The command id codes are 0x 11 the code of the response message 0x 91 or in case of a failed command 0x D1 Overview Command Cmd Resp Error Code Code Warning Code Get Sensor Format Ox1411 0x1491 0x14D1 Fehler Verweisaguelle konnte nicht 0x1511 0x1591 0x15D1 gefunden werden Get ROI 0x0211 0x0291 0x02D1 Set ROI 0x0311 0x0391
21. see also section 5 Error Warning Codes values pco edge Low Level Description V1 01 PCO AG Germany 81 Command Implementation per Camera Link Interface 6 2 2 Get CL Configuration Get the parameters required for the Camera Link Configuration a Command Message Parameter None b Response Message Code Length Cclines Dataformat Transmit Cks continuous Parameter Pixelclock Clockfrequency of the Camera Link Datatransfer in Hz CClines not yet implemented Dataformat CL_FORMAT_5x16 0x05 five 16bit pixels per clock CL_FORMAT_5x12 0x07 compressed data stream 12 Bit per pixel CL_FORMAT_5x12L 0x09 compressed data stream 12 Bit per pixel CL_FORMAT_5x12R Ox0A compressed data stream 12 Bit per pixel Transmit continuous BitO set continuous transmit is enabled Image date from the camera to the Camera Link interface is transmitted continuously when the camera is started recording state run Every time a new image is grabbed from the camera it is sent to the Camera Link interface Bit1 set LongGap mode enabled Longer intervals between Camera Link signals FVAL and LVAL are used c Failure Warning Response Message ga 0x34D6 0x0009 Ox HHHH Ox Return error code less than 0 see also section 5 Error Warning Codes values 82 pco edge Low Level Description V1 01 PCO AG Germany Command Implementation per Camera Link Interface 6 2 3 Set CL
22. the current image counter value and the status of the recording statemachine a Command Message Parameter e none b Response Message ImageCount Rsva 0 erd 0x2192 0X0015 OE OGE ORR OH 0500 Return values e Status SIGNAL STATE BUSY 0x00000001 SIGNAL STATE IDLE 0x00000002 SIGNAL_STATE_EXP 0x00000004 Busy and exposure state are the current states of the camera The idle state is the inverted recording state s ImageCount actual image counter value e Reserved for future use set to 0x00000000 c Failure Warning Response Message Code Length Message Cks 0x21D2 OXOOO9 Ox HHHHH OER Return error code less than 0 see also section 5 Error Warning Codes values 62 pco edge Low Level Description V1 01 PCO AG Germany Command Sections 4 3 14 Get HW IO Signal Timing Get the current signal timing of the requested hardware IO signal function a Command Message Gods Length Index Select Jes Parameter Index of signal Select Shows which function of the port is selected See also command Get HW IO Signal Description b Response Message oie EEN pe EE F oe 0x2692 0x0021 Ode OHHH OHHH OXIR OER BE Return e Index of signal values e Select Shows which function of the port is selected e Type of signal 0x00000001 Trigger signal 0x00000002 Acquire signal 0x00000003 Busy signal 0x00000004 Exposure signal 0x000000
23. values result in a failure response message the command will be rejected if Recording State is run b Response Message Code Length Pres exs 0x0791 0x0009 Ox HHHH OGE Return configured pixelrate as long word in Hz values c Failure Warning Response Message Code Length Message Cks OXO7D1 Ox0009 Ox HHHHH OER Return error code less than 0 see also section 5 Error Warning Codes values pco edge Low Level Description V1 01 PCO AG Germany 39 Command Sections 4 2 9 Get Cooling Setpoint Temperature Get the temperature setpoint for cooling the image a Command Message Parameter None Notes the actual temperature of the sensor can be read with get temperature command see 4 1 4 b Response Message Cie ox Return current cooling temperature setpoint as signed word in C units values c Failure Warning Response Message Cs 0x10D1 Ox0009 OX HHHHHHH OXHH Return error code less than 0 see also section 5 Error Warning Codes values 40 pco edge Low Level Description V1 01 PCO AG Germany Command Sections 4 2 10 Set Cooling Setpoint Temperature Set the temperature setpoint for cooling the image sensor a Command Message Cie ox Parameter cooling temperature setpoint to be adjusted as signed word in C units Notes valid range depends on camera type non valid values result in a failure response message the actual
24. 05 Read signal 0x00000006 Sync signal 0x00000007 Exposure signal for rolling shutter e Parameter of the current function which depends on the type of signal e reserved for future use set to zero c Failure Warning Response Message Cis 0x26D2 Ox0009 Ox HH Ox Return error code less than 0 see also section 5 Error Warning Codes values pco edge Low Level Description V1 01 PCO AG Germany 63 Command Sections start reset first line N start readout first line end reset last line end reset last line H H La k H readout i i i t 7 0 LA 1 P v gt H lane i 1 amaa tos Q H l t testing k alllines H i Parameter for rolling shutter exposure signal type 0x00000001 shows the exposure time of the first rolling shutter line tiirstiine 0x00000002 shows when all sensor lines are integrating tstoba 0x00000003 shows the exposure time of the last rolling shutter line tiastiinei 0x00000004 shows if any sensor line is integrating tamines 64 pco edge Low Level Description V1 01 PCO AG Germany Command Sections 4 3 15 Set HW IO Signal Timing Set the current signal timing of the requested hardware IO signal function a Command Message G eke ala ees ed F EE 0x2792 0x001D OHHH OER OXHHHHHHHH OMGEE HET Parameter Index of signal e Select Shows which function of the port is se
25. 0x03D1 Get Binning 0x0411 0x0491 0x04D1 Set Binning 0x0511 0x0591 0x05D1 Get Pixelrate 0x0611 0x0691 0x06D1 Set Pixelrate 0x0711 0x0791 0x07D1 Get Cooling Setpoint Temperature 0x1011 0x1091 0x10D1 Set Cooling Setpoint Temperature 0x1111 0x1191 0x11D1 Get Hot Pixel Correction Mode 0x1E11 0x1E91 0x1ED1 Set Hot Pixel Correction Mode 0x1F11 0x1F91 0x1FD1 Set Correction Mode 0x2A11 0x2A91 0x2AD1 Get Correction Mode 0x2B11 0x2B91 0x2BD1 Get Lookuptable Info 0x3111 0x3191 0x31D1 Get Lookuptable 0x3211 0x3291 0x32D1 Set Lookuptable 0x3311 0x3391 0x33D1 pco edge Low Level Description V1 01 PCO AG Germany 31 Command Sections 4 2 1 Get Sensor Format Get format of sensor The standard format is full resolution of 2560 x 2160 pixels the extended format is Full HD resolution of 1920 x 1080 pixels a Command Message Parameter None b Response Message Code Length Format Cks Ox Return x0000 standard values x0001 extended c Failure Warning Response Message ches 0x14D1 Ox0009 OMRI OE Return error code less than 0 see also section 5 Error Warning Codes values 32 pco edge Low Level Description V1 01 PCO AG Germany Command Sections 4 2 2 Set Sensor Format Set format of sensor The standard format uses only effective pixels while the alternative format shows all pixels inclusive effective dark reference and dummy a Command
26. 7 Set Lookuptable Set lookup table or disable it a Command Message Code Length Identifier Parameter oe Joe Parameter Identifier 0x0000 disable lookup table 0x1612 16 bit to 12 bit compression b Response Message Code Length Identifier Parameter ox o Return values See command 48 pco edge Low Level Description V1 01 PCO AG Germany Command Sections 43 Timing The group id code for the Timing Control Commands is 0x12 Thus the least significant byte of all command id codes is 0x12 The command id codes are 0x 12 the code of the response message 0x 92 or in case of a failed command 0x D2 Overview Command Cmd Resp Error Code Code Warning Code Get Timebase 0x0C12 0x0C92 0x0CD2 Set Timebase 0x0D12 0x0D92 0x0DD2 Get Delay Exposure Time 0x0112 0x0192 0x01D2 Set Delay Exposure Time 0x0212 0x0292 0x02D2 Get Framerate 0x1712 0x1792 0x17D2 Set Framerate 0x1812 0x1892 0x18D2 Get Trigger Mode 0x0312 0x0392 0x03D2 Set Trigger Mode 0x0412 0x0492 0x04D2 Force Trigger 0x0512 0x0592 0x05D2 Get Camera Busy status 0x0612 0x0692 0x06D2 Get COC Runtime 0x1012 0x1092 0x10D2 Get Image Timing 0x1E12 0x1E92 0x1ED2 Get Sensor Signal Status 0x2112 0x2192 0x21D2 Get HW IO Signal Timing 0x2612 0x2692 0x26D2 Set HW IO Signal Timing 0x2612 0x2692 0x26D2 For a detailed description of the timing and the different trigger mo
27. Baudrate Set the baudrate of the serial interface of the camera a Command Message Code Length Baudrate Jers 0x3316 Ox0009 Ox H H Ox Parameter Baudrate Possible values are 9 600 19 200 38 400 57 600 115 200 Default setting is 9 600 b Response Message Gis 0x3396 OxO00C Ox HHHH Ox Parameter Baudrate to be set c Failure Warning Response Message Code Length Message Cks 0x33D6 O0x0009 OXHHHHHHHH OER Return error code less than 0 see also section 5 Error Warning Codes values Important note Because the configuration of new baudrates must be done on the controller and the Camera the setting must be done in the following manner Send the Set CL Baudrate parameter new baudrate using the old baudrate Get the response of camera also with the old baudrate Wait 100 200 ms Then set the new baudrate on the controller using the controller specific commands Send the command Get CL Baudrate now using the new baudrate Get the response of camera using the new baudrate If no response or error response switch back to standard baudrate 9600 and try again pco edge Low Level Description V1 01 PCO AG Germany 83 Command Implementation per Camera Link Interface 6 2 4 Get CL Baudrate Get the baudrate of the serial interface of the camera a Command Message Parameter None b Response Message ches 0x3296 0x0009 Ox HHHH Ox
28. Configuration 0x3516 0x3596 0x35D6 Get CL Configuration 0x3416 0x3496 0x34D6 Set CL Baudrate 0x3316 0x3396 0x33D6 Get CL Baudrate 0x3216 0x3296 0x32D6 80 pco edge Low Level Description V1 01 PCO AG Germany Command Implementation per Camera Link Interface 6 2 1 Set CL Configuration Set the parameters required for the Camera Link Configuration a Command Message Code Length CClines Dataformat Transmit Cks continuous Parameter Pixelclock Clockfrequency of the Camera Link Datatransfer in Hz Possible values are 85 000 000 CClines not yet implemented Dataformat CL_FORMAT_5x16 0x05 five 16bit pixels per clock CL_FORMAT_5x12 0x07 compressed data stream 12 Bit per pixel CL_FORMAT_5x12L 0x09 compressed data stream 12 Bit per pixel CL_FORMAT_5x12R Ox0A compressed data stream 12 Bit per pixel Transmit i BitO set Enables continuous transmit of image data from the camera to the Camera Link interface when the camera is started recording state run Every time a new image is grabbed from the camera it is sent to the Camera Link interface Bit1 set Enable LongGap mode Use longer intervals between Camera Link signals FVAL and LVAL b Response Message Code Length Cclines Dataformat Transmit Cks continuous Return same as for the command message values c Failure Warning Response Message os Ox35D6 0x0009 Ox HHHH Ox Return error code less than 0
29. Control Commands V1 00 PCO AG Germany 85 pco Imaging
30. Low Level Description V1 01 PCO AG Germany 45 Command Sections 4 2 15 Giet Lookuptable Info Get lookup table descriptor a Command Message Parameter None b Response Message Text Descriptor 20 byte e g sqrt 256 x Identifier Input Width Output Width Ox HHH sqrt 32 x 5 Return values Number For these number of lookup tables a description will follow 10 entries with each Text descriptor for the device limited by a null character Field is always 20 bytes long the bytes after the null character may be undefined Identifier of the specific lookup table needed to activate with Set Lookuptable byte Input width in bits of the lookup table byte Output width in bits of the lookup table byte There are alway 10 entries if the number is less the 10 n fields at the end are not defined 46 pco edge Low Level Description V1 01 PCO AG Germany Command Sections 4 2 16 Get Lookuptable Get actual selected lookup table a Command Message Parameter None b Response Message Code Length Identifier Parameter TED Return values Identifier 0x0000 lookup table disabled Ox Identifier of the actual lookup table Offset 11 Bit value for fixed offset subtraction before lookup table pco edge Low Level Description V1 01 PCO AG Germany 47 Command Sections 4 2 1
31. age 0x 90 or in case of a failed command 0x D0 Overview Code Code Code Get Number of HW IO Signals 0x2511 0x2591 0x25D1 Get HW IO Signal 0x1912 0x1992 0x19D2 Set HW IO signal Ox1A12 OX1A92 0x1AD2 pco edge Low Level Description V1 01 PCO AG Germany Command Sections 4 1 1 Get Camera Type Request camera type hardware firmware version serial number etc a Command Message Parameter None b Response Message Code Length Cam Cam Sub HW Version FW Version Interf Cks Type Type Type 0x0190 0x0017 0x0800 0x0000 OXA vgagnnangz Oat 0x0001 Return camera type as word see table below values camera sub type as word currently Ox0000 serial no as long word hardware version as long word where the most significant word is the version no and the lower significant word is the revision no ver rev e g 2 01 0x00020001 firmware version as long word where the most significant word is the version no and the lower significant word is the revision no ver rev e g 2 01 interface type as word see table below Camera Type codes pco 1200 hs 0x0100 pco 4000 0x0260 pco 1300 0x0200 PCO EDGE 0x1300 pco 2000 Interface Type codes 0x0001 Ethernet 0x0004 0x0002 Serial Interface 0x0005 c Failure Warning Response Message Return error code less than 0 see also section 5 Error Warning Codes values pco edge Low Level Description V1 01 PCO AG Germany 15
32. d Note The response message may not have the same length as the original message 12 pco edge Low Level Description V1 01 PCO AG Germany Command Sections 4 Command Sections Group codes General Control Status 0x10 Image Sensor Control 0x11 Timing Control 0x12 Storage Control 0x13 Recording Control 0x14 Image Read 0x15 Interface Specific 0x16 The total set of control commands is subdivided into five sections 5 1 Camera General Control Status This section contains general instructions to control the camera and request information about the camera 5 2 Image Sensor This group contains all instructions to control the image sensor and to request information about the sensor 5 3 Timing This group contains all available commands for control of the timing of the imaging process 5 4 Recording This group contains all available commands for setting requesting recording state for preparing camera for recording command and handling the acquire signal 5 5 Image Read Interface Specific Commands The camera has no internal memory When recording the image data is send directly over Camera Link pco edge Low Level Description V1 01 PCO AG Germany 13 Command Sections 4 1 General Control Status The group id code for General Control Status Commands is 0x10 Thus the least significant byte of all command id codes is 0x10 The command id codes are 0x 10 the code of the response mess
33. de time table camera can perform a timetable with several delay exposures 0 function not supplied 1 possible double image mode camera can perform a double image with short interleave time between exposures 0 function not supplied 1 possible min cooling setpoint in C if all setpoints are 0 then cooling is not available max cooling setpoint in C if all setpoints are 0 then cooling is not available default cooling setpoint in C if all setpoints are 0 then cooling is not available power down mode switch sensor into power down mode for reduced dark current 0 function not supplied 1 possible offset regulation automatic offset regulation with reference Pixels 0 function not supplied 1 possible pco edge Low Level Description V1 01 PCO AG Germany 17 Command Sections Return values of command Get Camera Description continued color pattern word see detailed description below color pattern type word where 1 is bayer pattern 2 is bayer pattern CMY reserved 9 long words for future use Sensor Type codes monochrome sensors color sensors Fairchild CIS2051 0x2000 Fairchild CIS2051 0x2001 Note This list will be updated with new entries and available on the www pco de web page pco edge Low Level Description V1 01 PCO AG Germany Command Sections 4 13 Get Camera Health Status Request the current camera health status warnings err
34. des please refer to the user s manual pco edge Low Level Description V1 01 PCO AG Germany 49 Command Sections 4 3 1 Get Timebase Get timebase for delay and exposure times a Command Message Parameter None b Response Message Code Length Timebase Timebase Cks Delay Exposure Return values timebase for delay and exposure times 0x0000 gt timebase ns 10 s 0x0001 gt timebase us 10s 0x0002 gt timebase ms 10 s Note delay and exposure values are multiplied with the configured timebase unit values c Failure Warning Response Message Code Length Message Cks OXOCD2 OXOOO9 OMRI OE Return error code less than 0 see also section 5 Error Warning Codes values 50 pco edge Low Level Description V1 01 PCO AG Germany Command Sections 4 3 2 Set Timebase Set timebase for delay and exposure times a Command Message Code Length Timebase Timebase Cks Delay Exposure 0x0D12 Ox0009 OER Ox HHH Ox Parameter timebase to be selected for delay and exposure times 0x0000 gt timebase ns 10 s 0x0001 gt timebase us 10 s 0x0002 gt timebase ms 10s b Response Message Code Length Timebase Timebase Cks Delay Exposure Return values configured timebase for delay and exposure times 0x0000 gt timebase ns 10 s 0x0001 gt timebase us 108s 0x0002 gt ti
35. e ee 63 4 3 15 Set HW IO Signal Timing esse esse ee ee ed ee ee ee ee ed ee ee ee ee 65 4 4 Recording EE EE EE E E gevee gee Beek gee eek ges ee Sk se SE 66 4 4 1 Get Recording Status sese 67 4 4 2 Set Recording State 68 4 4 3 Arm Camera EE EE EE GE GE ee ee eds 69 4 5 Interface Specific CommandS es ennen nennen nennen 70 4 5 1 Set Interface Output Format ss 71 4 5 2 Get Interface Output Format ees 72 5 Error Warning Codes sss 73 6 Command Implementation per Camera Link Interface sss sese eee eee eee eee ee 74 6 1 Communication between Camera and Master es ee ee eee 75 6 1 1 Commands sent by the controller see ee ee ee 76 6 1 2 Command responses sent by the Camera eee see ee TT 6 1 3 Image data sent by the Camera ee ee 78 6 1 4 Control lines set by the controller see ee 79 6 2 Camera Link specific commandsS ee eee 80 6 2 1 Set CL Configuration ees ee Re ER ee ee 81 6 2 2 Get CL Configuration sees ee ee Re Re ee ee 82 6 2 3 Set CL Baudrate ee eeto ee o ee Ai 83 6 2 4 Get CL Baudrale ee eiee e e E 84 pco edge Low Level Description V1 01 PCO AG Germany 5 General 1 General Conventions The following typographic conventions are used in this manual bold e g get camera type Functions procedures or modes that can be used words in brackets e g run Possible values or states of the described functions ALL CAPITAL WORDS e
36. e for one image is Runtime s Runtime ns values c Failure Warning Response Message Code Length Message Cks 0x10D2 0x0009 Ox HHHHH OER Return error code less than 0 see also section 5 Error Warning Codes values 60 pco edge Low Level Description V1 01 PCO AG Germany Command Sections 4 3 12 Get Image Timing Get the timing of the current recording settings a Command Message Parameter none b Response Message Frametime Code Length Frametime Exposuretime Exposuretime s s ns ns Ox1E92 0x0025 Ox HHHHHHH Ox HEH Ox HHH OX HHHHHHH Trigger Trigger Trigger Trigger Cks System System Delay s Delay ns Jitter ns OGE OER OGE Return s Time for one image is Frametime s Frametime ns values e Exposure Time for one image is Time for one image is Exposuretime s Exposuretime ns e Trigger System Delay ns e Trigger System Jitter ns e Trigger Delay for one image is Triggerdelay s Triggerdelay ns Ox FE Note If a specific timing is not available the value is set to IMAGE_TIMING_NOT_APPLICABLE OxFFFFFFFF c Failure Warning Response Message Gode Length Message OKs Ox1ED2 0x0009 Ox H OGE Return error code less than 0 see also section 5 Error Warning Codes values pco edge Low Level Description V1 01 PCO AG Germany 61 Command Sections 4 3 13 Giet Sensor Signal Status Get
37. ecksum is the sum over all preceding bytes of the message A corresponding C language structure representing a general command looks like this typdef struct C structure representing a general command WORD wCommand Command of telegram WORD wLength Length of telegram BYTE bData 256 Data ks Note The checksum is not regarded within the structure since its position is not constant for the complete set of messages Please note also that low byte is sent before the high byte Because both transmitter and receiver know all commands the receiver has to decide on the first two bytes which command is sent and then will fill the appropriate structure of the command pco edge Low Level Description V1 01 PCO AG Germany 9 Communication Basics 3 2 Message Acknowledgement Basically there are three possible cases for message handshaking or acknowledgement e Transmission is ok executed command was successful e Transmission of the command failed command was ignored e Transmission is ok but executed command failed The response messages for these three cases sent are described below 10 pco edge Low Level Description V1 01 PCO AG Germany Communication Basics 3 2 1 Regular Response Message Each command has to be answered by the receiver As sign of acknowledgement the responded message s group code is changed by adding 0x80 through a logical OR operation setting bit 15 of the command word
38. ed for establishing a point to point connection Command messages are sent asynchronous Each message which has been sent contains a checksum calculated over all bytes of the message except the checksum So if a message length is 4 byte without the checksum byte the checksum byte is added and the complete message length is 5 byte The microcontroller uC in the camera also calculates the checksum over the payload data and compares the result with the sent checksum If the calculated checksum differs from the sent checksum the command is ignored The messages are transferred binary in order to speed up the transfers as well as to minimize the transferred volume thus optimizing the overall system performance Also handshaking is performed between communicating devices Each message which has been sent will be responded by the receiving device Basically three different cases have to be regarded e Transmission is ok executed command was successful e Transmission of the command failed command was ignored e Transmission is ok but executed command failed The transmitter has to wait a reasonable time due to the command and the status of the camera for the response message of the receiving device as the receiving device has to execute the command and then send back the result in the response message The timeout limit has to be specific for the command as some commands as programming or erase flash commands may take some time
39. en Ox Parameter x0 x1 y0 y1 set region of interest in pixels within the complete image of the sensor Notes s valid ROI settings range from 1 1 to hmax Vmax Amax Vmax are dependent from the settings of format and binning values out of range result in a failure response message e the command will be rejected if Recording State is run b Response Message EE Pr ns fons ie ce JES Return e x0 x1 y0 y1 configured region of interest in pixels within the values complete image of the sensor see also figure below Notes e valid ROI settings range from 1 1 to hal Vmax Image area c Failure Warning Response Message Cks 0x03D1 OXOOO9 Ox HHHHH OER Return error code less than 0 see also section 5 Error Warning Codes values pco edge Low Level Description V1 01 PCO AG Germany 35 Command Sections 4 2 5 Get Binning Get binning information a Command Message OKTA Parameter None b Response Message Return current binning x horizontal direction and binning y vertical values direction c Failure Warning Response Message Cks 0x04D1 OXOOO9 Ox HHHHH OER Return error code less than 0 see also section 5 Error Warning Codes values 36 pco edge Low Level Description V1 01 PCO AG Germany Command Sections 4 2 6 Set Binning Set binning a Command Message Parameter set binning x horizontal direction and binning y ver
40. er Supply Temperature Camera temperature board temperature FPGA temperature 0x00000004 0x00000008 Image Sensor temperature for cooled camera versions only f Status Status mask codes 0x00000001 0x00000002 0x00000004 Default State Bit set Settings were changed since powerup or reset Bit cleared No settings changed camera is in default state Settings Valid Bit set Settings are valid i e last Arm Camera was successful and no settings were changed since Arm camera except exposure time Bit cleared Settings were changed but not yet not checked and accepted by Arm Camera command Recording State Bit set Recording state is on Bit cleared Recording state is off 20 pco edge Low Level Description V1 01 PCO AG Germany Command Sections 414 Get Temperature Request the current camera operation status warnings errors a Command Message Parameter None b Response Message CCD temp Gem temp PS temp Je 0x0690 0x000B ORE OE 0x0000 Return CCD temperature as signed word in 1 10 of C values Camera temperature as signed word in C Power Supply temperature as signed word in C Note CCD temperature temperature at sensor Camera temperature temperature at electronics Power Supply temperature temperature hotspot close to FPGA c Failure Warning Response Message Code Length Message Cks OxO06D0 0x0009 Ox HHH
41. es can differ slightly e g the maximum framerate will be a little bit less than 1 exposure time The mode parameter of the function call defines how the function works if these conditions are not met a Command Message Parameter Mode defines the way of operation when settings are inconsistent where 0x0000 auto mode camera decides which parameter will be trimmed 0x0001 Framerate has priority exposure time will be trimmed 0x0002 Exposure time has priority framerate will be trimmed 0x0003 Strict function shall return with error if values are not possible Framerate in mHz milli thus e g 1kHz 1000000 Exposure time in ns b Response Message Code Length Status Framerate Exposure Cks 0x1892 OXOOOF Ox HH OXHHHHHHHH OXHHHHHHHH Return values Status where 0x0000 Settings consistent all conditions met 0x0001 Framerate trimmed framerate was limited by readout time 0x0002 Framerate trimmed framerate was limited by exposure time 0x0004 Exposure time trimmed exposure time cut to frame time configured framerate and exposure time Note Framerate and exposure time are also affected by the Set Delay Exposure Time command It is strongly recommend to use either the Set Framerate or the Set Delay Exposure Time command c Failure Warning Response Message ga 0x18D2 0x0009 Ox HHHH Ox Return error code less than 0 see also section 5 Error Warning Code
42. escription V1 01 PCO AG Germany 73 Command Implementation per Camera Link Interface 6 Command Implementation per Camera Link Interface The following description requires some basic knowledge about the Camera Link interface The referred standard is Camera Link Specification 1 0 The camera uses the base configuration for data transfer Data transfer must be started either by command or is continuous if the camera is set to this mode The clock frequency of the Camera Link channel and baud rate of the serial interface can be set with commands The commands and responses are received resp sent through the serial lines of the Camera Link interface 74 pco edge Low Level Description V1 01 PCO AG Germany Command Implementation per Camera Link Interface 6 1 Communication between Camera and Master Basically there are the following types of data to be exchanged between the camera and the Camera Link controller board Commands sent by the controller board Command responses sent by the camera Image data sent by the camera Control lines set by the controller board Commands and command responses are sent through the serial lines of the Camera Link interface and should be done in one not interruptible sequence e Write command to the camera e Read command response from the camera e Check error conditions Image data is sent as requested according to the Camera Link specification pco edge Low Level Descriptio
43. et Recording Status Requests the current recording status The recording status controls the status of the camera If the recording status is run images can be started by exposure trigger and lt acq enbl If the recording status is clear ed or stop ped all image readout or exposure sequences are stopped and the sensors are running in a special idle mode to prevent dark charge accumulation The recording status has the highest priority compared to functions like lt acq enbl or exposure trigger The recording status is controlled by e software command set recording status run The recording status is cleared by e powering ON the camera e software command set recording status stop e software command reset all settings to default values a Command Message Parameter None b Response Message Code Length Status Cks 0x0594 0x0007 Ox Ox Return current recording status values 0x0001 camera is running in recording status run 0x0000 camera is idle or stop ped not ready to take images c Failure Warning Response Message Gode Length Message OKs 0x05D4 0x0009 Ox HHHH Ox Return error code less than 0 see also section 5 Error Warning Codes values pco edge Low Level Description V1 01 PCO AG Germany 67 Command Sections 44 2 Set Recording State Sets the current recording status The recording status controls the status of the camera If
44. g TRUE Logical or Boolean values e g TRUE FALSE ON OFF 0 1 RISING FALLING HIGH LOW lt words in arrows gt e g lt acq enbl Names of hardware input output signals Hardware Exposure Trigger IN sCMOS on 2 Aa mm L Le Acquire Enable IN status Status Busy OUT EED o FE Status Exposure OUT CameraLink B Status Line OUT oj GEE to CameraLink A Power For a detailed description of the hardware please refer to the user s manual 6 pco edge Low Level Description V1 01 PCO AG Germany Communication Layers 2 Communication Layers The application software running on the PC is able to send commands to the camera as well as requesting status information from the camera There is also a channel for transmitting image data camera status and command layer PC application PC DLL interface to driver layer PC driver layer hardware transmission layer camera communication port camera microprocessor camera FPGA The DLL links the application software to the camera device driver layer Commands sent to the driver are common for all versions of pco camera models as well as for all types of interfaces Camera Link FireWire USB etc Thus the driver converts the commands to the used hardware port pco edge Low Level Description V1 01 PCO AG Germany 7 Communication Basics 3 Communication Basics In normal operation the interfaces are us
45. he camera s programmable devices a Command Message Parameter None b Response Message Text Descriptor 16 byte Minor Rev Major Rev Variant Ox e g Main up Device 2 Device 9 Device 10 Return Device number For these number of programmable devices a values revision info for the programmed firmware will follow 10 entries with each Text descriptor for the device limited by a null character Field is always 16 bytes long the bytes after the null character may be undefined Minor revision byte Major revision byte Variant Firmware variant usually 1 WORD There are alway 10 entries if the board number is less the 10 n fields at the end are not defined c Failure Warning Response Message Gode Length Message OKs Ox08D0 0x0009 Ox HHH Ox Return error code less than 0 see also section 5 Error Warning Codes values pco edge Low Level Description V1 01 PCO AG Germany 23 Command Sections 4 1 7 Write Mailbox The mailboxes are useful for two control devices connected to different interfaces at the camera communicating via the camera One control device writes data to the mailbox the other one can read the message There is a simple acknowledge mechanism for the writer of a message to see if the message has been read by the receiving device See also command Get Mailbox Status a
46. ip readout direction from outside to inside Rsrvd 1 Reserved for future use set to 0x0000 Rsrvd 2 Reserved for future use set to 0x0000 72 pco edge Low Level Description V1 01 PCO AG Germany Error Warning Codes 5 Error Warning Codes The error codes are standardized as far as possible The error codes contain the information of the error source microcontrollers CPLDs FPGAs and an error code error cause Both values are compared by a logical OR operation Error codes and warnings are always negative values if read as signed integers or if read as unsigned word the MSB is set Errors have the general format Ox80 warnings have the format OxCO See header file pco_err h for a complete list of error codes It is included in the SDK Please contact PCO if you need this file for developing your own Camera control software Command Implementation per Camera Link Interface The following description requires some basic knowledge about the Camera Link interface The referred standard is Camera Link Specification 1 0 The camera uses the base configuration for data transfer Data transfer must be started either by command or is continuous if the camera is set to this mode The clock frequency of the Camera Link channel and baudrate of the serial interface can be set with commands The commands and responses are received resp sent through the serial lines of the Camera Link interface pco edge Low Level D
47. lected e Parameter of the current function which depends on the type of signal e reserved for future use set to zero b Response Message ie eee ee ccd CS S S 0x2792 0x0021 Ode 0444 OER 0440 OER BEE Return e Index of signal values e Select Shows which function of the port is selected e Type of signal 0x00000001 Trigger signal 0x00000002 Acquire signal 0x00000003 Busy signal 0x00000004 Exposure signal 0x00000005 Read signal 0x00000006 Sync signal 0x00000007 Exposure signal for rolling shutter e Parameter of the current function which depends on the type of signal e reserved for future use c Failure Warning Response Message Cis 0x27D2 Ox0009 Ox HH Ox Return error code less than 0 see also section 5 Error Warning Codes values pco edge Low Level Description V1 01 PCO AG Germany 65 Command Sections 44 Recording The group id code for the Recording Control Commands is 0x14 Thus the least significant byte of all command id codes is 0x14 The command id codes are 0x 14 the code of the response message 0x 94 or in case of a failed command 0x D4 Overview Command Cmd Resp Error Code Code Warning Code Get Recording Status 0x0514 0x0594 0x05D4 Set Recording State 0x0614 0x0694 0x06D4 Arm Camera Ox0A14 Ox0A94 0x0AD4 66 pco edge Low Level Description V1 01 PCO AG Germany Command Sections 44 1 G
48. mebase ms 10 s Note delay and exposure values are multiplied with the configured timebase unit values c Failure Warning Response Message Gode Length Message OKs OxODD2 0x0009 Ox HHH H Ox Return error code less than 0 see also section 5 Error Warning Codes values pco edge Low Level Description V1 01 PCO AG Germany 51 Command Sections 4 3 3 Get Delay Exposure Time Get delay exposure time a Command Message oxi Parameter None b Response Message Code Length Delay _ Exposure 0x0192 OxOOOD Ox Hanna OH OE Return delay and exposure time as multiples of timebase units values Note delay and exposure values are multiplied with the configured timebase unit values c Failure Warning Response Message ga 0x01D2 Ox0009 Ox HHH Ox Return error code less than 0 see also section 5 Error Warning Codes values 52 pco edge Low Level Description V1 01 PCO AG Germany Command Sections 4 3 4 Set Delay Exposure Time Set delay exposure time a Command Message Code Length Delay Exposure 0x0212 OxOOOD Ox Hanna OH OHE Parameter delay and exposure time to be adjusted as multiples of timebase units b Response Message Code Length Delay Exposure 0x0292 OxOOOD OTHER OxtHHBHHHH Return values configured delay and exposure time as multiples of timebase units Note delay and exposure values
49. n V1 01 PCO AG Germany 75 Command Implementation per Camera Link Interface 6 1 1 Commands sent by the controller As can be seen from the chapters above the master which controls the camera send telegrams to the camera The telegrams are sent as a write to the serial interface of the Camera Link channel The camera interprets all received data from the serial line SerTC as commands Then it looks at the second word which is the message length descriptor see also 3 1 General message format calculates the checksum over the telegram and compares it to the checksum byte of the telegram Then it decodes the command by reading the first word being the command ID If the checksum is correct and the command is known the camera will execute the command and send a response telegram 76 pco edge Low Level Description V1 01 PCO AG Germany Command Implementation per Camera Link Interface 6 1 2 Command responses sent by the camera The camera does a write to the serial interface of the Camera Link channel containing a command specific response telegram The controller receives the telegram at the serial line SerTFG The controller should read at first two WORDS from the serial interface extract the size information of the telegram and then read the additional data of the telegram Then error conditions should be checked Timeout conditions should also be checked For most of the commands a timeout of 200ms is sufficient For
50. nfiguration of the requested hardware IO signal a Command Message Code Length Index Jer Parameter Index of signal b Response Message Code Length Enable Type Polarity Fiter Select ke Ox Return Enable values 0x0000 Signal is disabled not used 0x0001 Signal is enabled Type 0x0001 TTL 0x0002 High level TTL 0x0004 Contact 0x0008 RS485 differential Polarity 0x0001 High level active 0x0002 Low level active 0x0004 Rising edge 0x0008 Falling edge Filter possible filter settings 0x0001 Filter off 0x0002 Medium filter time constant in the range of 10 us 0x0004 High filter time constant gt 1 ms Select Shows which function of the port is selected if there are several functions which can be connected See also command Get HW IO Signal Description c Failure Warning Response Message os 0x19D2 0x0009 Ox H HH Ox Return error code less than 0 see also section 5 Error Warning Codes values pco edge Low Level Description V1 01 PCO AG Germany 29 Command Sections 4 1 13 Set HW IO Signal Set the current configuration of the requested hardware IO signal a Command Message Code Length Index Enable Type Polarity Fiter Select Te od Parameter Index Index of signal to configure as provided by the command Get HW IO Signal Description Enable 0x0000 Signal is disabled not used 0x0001 Signal is
51. o edge Low Level Description V1 01 PCO AG Germany Command Sections 4 1 10 Get Number of HW IO Signals Use this command in order to request the number of IO signals and ports which can be configured by the HW IO commands a Command Message Parameter None b Response Message Code Length Number cks ox Return Number of signals ports which can be configured values c Failure Warning Response Message Code Length Message crs 0x25D1 0x0009 Ox H H Ox Return error code less than 0 see also section 5 Error Warning Codes values pco edge Low Level Description V1 01 PCO AG Germany 27 Command Sections 4 1 11 Get HW IO Signal Description Get the description of the requested hardware IO signal To get the number of available hardware IO signals please call Get HW IO SignalCount Repeat the command lt num gt times and increment the index from 0 to num 1 to get all descriptors To configure the signals use the command Set HW IO Signal To request the current configuration use Get HW IO Signal a Command Message Code Length Index Cks Parameter None b Response Message SignalName SignalDefs SignalTypes SignalPol SignalFilter Ox2691 Ox009F 4 x 24 char ORR OxX HHH ORR OX HHH Ox Het HH HH HH HR HHE HR HH HR HR HR HR HH HH HR HH HR HR HH HH HH HH HH HH HH HE HR MH HH HR HR HH HR HH HH HH HHE HR HR HR HH HR HR HH HR HH HH HH
52. ode reserved for future use Notes non valid values result in a failure response message the command will be rejected if Recording State is run b Response Message Code Length Gain cks oe Return configured mode values 0x0001 hot pixel correction mode ON 0x0000 hot pixel correction mode OFF 0x0100 hot pixel correction test mode reserved for future use c Failure Warning Response Message Gode Length Message OKs Ox1FD1 0x0009 Ox Ox Return error code less than 0 see also section 5 Error Warning Codes values PCO_ERROR_FIRMWARE_NOT_SUPPORTED 0x80031020 if hot pixel correction is not supported pco edge Low Level Description V1 01 PCO AG Germany 43 Command Sections 4 2 13 Set Correction Mode Set camera specific correction modes on or off a Command Message Length Modes Offset Bard Renda cks 0x2A11 0x000D 08906 108008 0x0000 0x0000 Parameter Modes 0x0000 CORRMODE_COMPLETELY_OFF b Response Message Code length Modes Offset Randi Rawa Jer ox Oct Return See command values 44 pco edge Low Level Description V1 01 PCO AG Germany Command Sections 4 2 14 Get Correction Mode Get status of camera specific correction modes a Command Message Parameter None b Response Message Code Length Modes Offset Rswat Rsrvd2 Cks _ OR OGE Return values Modes 0x0000 CORRMODE COMPLETELY OFF pco edge
53. ors a Command Message Parameter None b Response Message Code Length Warnings Errors Status Jes 0x0290 OXOOOD OGE OER OGE Return Warnings encoded as bits of a longword Bit set indicates warning values bit cleared indicates that the corresponding parameter is ok See table on the next page System errors encoded as bits of a longword Bit set indicates error bit cleared indicates that the corresponding status is ok See table on the next page System Status encoded as bits of a longword For meaning of the bits see table on the next page The tables on the next page show the mask value not the bit no for requesting the corresponding error warning status C C example if errorcode amp 0x00000001 power supply voltage range error report error to user etc c Failure Warning Response Message Gode Length Message OKs Ox02D0 0x0009 Ox HHHH Ox Return error code less than 0 see also section 5 Error Warning Codes values d Warnings Warning mask codes 0x00000001 Power Supply Voltage Range 0x00000002 Power Supply Temperature 0x00000004 Camera temperature board temperature FPGA temperature 0x00000008 Image Sensor temperature for cooled camera versions only pco edge Low Level Description V1 01 PCO AG Germany 19 Command Sections e Errors 0x00000001 Power Supply Voltage Range 0x00000002 Pow
54. quency in Hz if not available then value 0 pixelrate 4 long word frequency in Hz if not available then value 0 conversion factor 1 in electron counts the value 100 corresponds to 1 i e 610 6 1 electron counts conversion factor 2 in electron counts if not available then value 0 the value 100 corresponds to 1 i e 610 6 1 electron counts conversion factor 3 in electron counts if not available then value 0 the value 100 corresponds to 1 i e 610 6 1 electron counts conversion factor 4 in electron counts if not available then value 0 the value 100 corresponds to 1 i e 610 6 1 electron counts IR sensitivity sensor can switch to improved IR sensitivity 0 function not supplied 1 possible min delay time in nsec long word non IR sensitivity mode max delay time in msec long word non IR sensitivity mode min delay time step in nsec long word Note Applies both to non IR sensitivity mode and IR sensitivity mode min exposure time in nsec long word non IR sensitivity mode max exposure time in msec long word non IR sensitivity mode min exposure time step in nsec long word Note Applies both to non IR sensitivity mode and IR sensitivity mode min delay time in nsec long word IR sensitivity mode max delay time in msec long word IR sensitivity mode min exposure time in nsec long word IR sensitivity mode max exposure time in msec long word IR sensitivity mo
55. s values pco edge Low Level Description V1 01 PCO AG Germany 55 Command Sections 4 3 7 Get Trigger Mode Get image trigger mode for further explanations see camera manual a Command Message Parameter None b Response Message Code Length Mode cks ox Return Current trigger mode values 0x0000 auto trigger An exposure of a new image is started automatically best possible compared to the readout of an image If using a CCD and images are taken in a sequence then exposures and readout of the sensor are started simultaneously Signals at the trigger input lt exp trig gt are irrelevant 0x0001 software trigger An exposure can only be started by a force trigger command 0x0002 extern exposure amp software trigger A delay exposure sequence is started at the RISING or FALLING edge depending on the polarity setting HWIO of the trigger input lt exp trig gt Note In mode extern exposure amp software trigger it depends also on the selected acquire mode if a trigger edge at the trigger input lt exp trig gt will be effective or not A software trigger however will always be effective independent of the state of the lt acq enbl gt input true for software trigger and extern exposure amp software trigger c Failure Warning Response Message os Ox03D2 0x0009 Ox HHHH Ox Return error code less than 0 see also section 5 Error Warning Codes values
56. t Camera Busy status Get camera busy status a trigger is ignored if the camera is still busy exposure or readout In case of force trigger command the user may request the camera busy status in order to be able to start a valid force trigger command a Command Message Parameter none b Response Message Code Length Status eks od Return camera busy status values 0x0000 camera is not busy ready for a new trigger command 0x0001 camera is busy not ready for a new trigger command Note The status is according to the hardware signal at the lt status busy gt SMA connector Due to response and processing times e g caused by the interface and or the operating system the delay between the delivered status and the actual status may be several 10ms up to 100ms If timing is critical it is strongly recommended to use the hardware signal lt status busy gt c Failure Warning Response Message os Ox06D2 0x0009 Ox HHHH Ox Return error code less than 0 see also section 5 Error Warning Codes values pco edge Low Level Description V1 01 PCO AG Germany 59 Command Sections 4 3 11 Get COC Runtime Requests the run time for one image The run time is the time which is required before a new image can be started Thus the runtime determines the frame rate a Command Message Parameter none b Response Message s ns 0x1092 OXOOOF OXHHHHHHHH Return Tim
57. temperature of the sensor can be read with get temperature command see 4 1 4 b Response Message Code Length Mode cks ox Return configured cooling temperature setpoint as signed word in C units values c Failure Warning Response Message Code Length Message Cks Ox11D1 Ox0009 Ox HHHHH Ox Return error code less than 0 see also section 5 Error Warning Codes values pco edge Low Level Description V1 01 PCO AG Germany 41 Command Sections 4 2 11 Get Hot Pixel Correction Mode Get the hot pixel correction mode a Command Message IET Parameter None b Response Message Code Length Mode cks ox Return current mode values 0x0001 hot pixel correction mode ON 0x0000 hot pixel correction mode OFF 0x0100 hot pixel correction test mode reserved for future use c Failure Warning Response Message ches Ox1ED1 Ox0009 OX HHHHHHH OXHH Return error code less than 0 see also section 5 Error Warning Codes values PCO_ERROR_FIRMWARE_NOT_SUPPORTED 0x80031020 if hot pixel correction is not supported 42 pco edge Low Level Description V1 01 PCO AG Germany Command Sections 4 2 12 Set Hot Pixel Correction Mode Set the hot pixel correction mode a Command Message Code Length Mode eks ox Parameter mode 0x0001 hot pixel correction mode ON 0x0000 hot pixel correction mode OFF 0x0100 hot pixel correction test m
58. tes wide dynamic range high quantum efficiency high resolution and a large field of view all in one image low noise 1 4electrons high resolution 5 5 megapixel Af t pco V high speed high dynamic range 100 fps 22 000 1 Live cell microscopy Particle Imaging Velocimetry PIV Single molecule detection Super resolution microscopy TIRF microscopy waveguides Spinning disk confocal microscopy Spectral hyperspectral imaging Lucky astronomy imaging Adaptive optics Solar astronomy Genome sequencing 2nd and 3rd gen Fluorescence spectroscopy Bio amp Chemi luminescence High content screening Photovoltaic inspection X ray tomography Ophthalmology Flow cytometry Biochip reading Machine vision TV Broadcasting LIBS FRAP FRET Live cell microscopy Biochip reading unit setpoint pco edge resolution hor x ver pixel 2560 x 2160 pixel size hor x ver pm 6 5 x 6 5 quantum efficiency 590 nm peak 57 dynamic range A D bit 16 readout noise e rms 230 fps lt 1 4 100 fps lt 2 imaging frequency fps full frame ssc mode 30 frame rate full frame fsc mode 100 exposure time s rolling shutter 500 ps 2 S global shutter 10 us 100 ms region of interest selectable optical input Nikon F mount std C mount opt data interface full camera link pco edge Low Level Description V1 01 PCO AG Germany 3 Table of Contents 3 1 3 2
59. the commands Arm Camera and Get COC Runtime the timeout should be set to 5000ms pco edge Low Level Description V1 01 PCO AG Germany 77 Command Implementation per Camera Link Interface 6 1 3 Image data sent by the camera FVAL LVAL DVAL signals are sent as specified in the Camera Link manual Only the pure image data is sent There are no additional black lines or pixel Therefore DVAL is the same as LVAL Two sets of interval times can be programmed using the Set CL Configuration command Default mode is ShortGapMode other setting is LongGap values in brackets e the interval between two following lines LVAL LVAL is 4 Clks 16 Clks e the interval between framestart and the first line FVAL LVAL is 8 Clks 16 Clks e the shortest interval between two frames FVAL FVAL is 16 Clks 2560 Clks 78 pco edge Low Level Description V1 01 PCO AG Germany Command Implementation per Camera Link Interface 6 1 4 Control lines set by the controller The four Camera Link control lines CC1 CC2 CC3 CC4 are assigned to specific functions of the camera The functionality of the lines can be enabled or disabled using the Set CL Configuration command not yet implemented pco edge Low Level Description V1 01 PCO AG Germany 79 Command Implementation per Camera Link Interface 6 2 Camera Link specific commands Overview Command Cmd Resp Error Code Code Code Set CL
60. the recording status is run images can be started by exposure trigger and lt acq enbl If the recording status is clear ed or stop ped all image readout or exposure sequences are stopped and the sensors CCD or CMOS are running in a special idle mode to prevent dark charge accumulation The recording status has the highest priority compared to functions like lt acq enbl or exposure trigger The recording status is controlled by e software command set recording status run The recording status is cleared by e powering ON the camera e software command set recording status stop e software command reset all settings to default values Notes e It is necessary to issue an arm camera command before every set recording status command in order to ensure that all settings are accepted correctly Do not change settings between arm camera command and set recording status command s f a set recording status stop command is sent and the current status is already stopped by stop nothing will happen no warning error message s f a set recording status run command is sent and the current status is already run a warning message will be generated e f a successful set recording status run command is sent and recording is started the images from a previous record to the active segment are lost a Command Message Code Length Status Cks ox Parameter recording status to be selected 0x0001
61. tical direction Notes e valid binning settings generally are 1 2 4 8 16 32 other values may be depending on the camera type values not valid result in a failure response message e the command will be rejected if Recording State is run b Response Message Return configured binning x horizontal direction and binning y vertical values direction c Failure Warning Response Message 0x05D1 OXOOO9 Ox Ox Return error code less than 0 see also section 5 Error Warning Codes values pco edge Low Level Description V1 01 PCO AG Germany 37 Command Sections 4 2 7 Get Pixelrate Get pixelrate for reading images from the image sensor a Command Message Parameter None b Response Message Code Length Perse ees 0x0691 Ox0009 Ox HHHH Ox Return current pixelrate as long word in Hz values c Failure Warning Response Message Code Length Message Gie Ox06D1 0x0009 Ox HHHH Ox Return error code less than 0 see also section 5 Error Warning Codes values 38 pco edge Low Level Description V1 01 PCO AG Germany Command Sections 4 2 8 Set Pixelrate Set pixelrate a Command Message Code Length Pixelvate__ Cks 0x0711 0x0009 Ox HHHH Ox Parameter pixelrate to be configured as long word in Hz Notes valid values depend on camera type the adjustable values are defined in the camera descriptor non valid
62. vice See also command Get Mailbox Status a Command Message Mailbox No Cks OXOF10 0x0007 Oxii t 0x Parameter No index of mailbox to be read range from 0 to Number of Mailboxes 1 b Response Message Mailbox No Read Status Data 0 S Data 63 Cks oxi ower loer los loer Return e No index of mailbox same as input parameter values e Status of read operation where 0x0000 No message available content of the mailbox not valid 0x0001 New message is ready content of the mailbox is valid 0x0003 Content of the mailbox is valid but message was already read by recipient e 64 byte of data If not all 64 byte shall contain valid data the user must implement a size mechanism by himself e g by defining the first byte or word as size parameter Notes e A read mailbox will not clear or empty the mailbox thus the content of the mailbox can be read many times It can be evaluated by the read status see above if a message in the mailbox is new and unread c Failure Warning Response Message Cks OxOFDO OXOOO9 Ox HHHHH OER Return e PCO_ERROR_FIRMWARE_NOT_SUPPORTED or values PCO_ERROR_FIRMWARE_UNKNOWN_COMMAND if the command is not supported by the camera e PCO_ERROR_FIRMWARE_VALUE_OUT_OF_RANGE e error code less than 0 see also section 5 Error Warning Codes pco edge Low Level Description V1 01 PCO AG Germany 25 Command Sections

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