Pantera TF 11M4 and 6M8
Contents
1. tFRAME PERIOD gt twSYNC lt I AwSYNC INT 4 TRANSFER tREADOUT ma tOVERHEAD lt tFL PLINE gt a 9 tLVAL Low icis LINE VALID DATA DOCA HOA wal MW M VW W Table 12 11M Single Output Timing Symbol twSYNC min sync pulse not SMART SYNC twSYNC min sync pulse in SMART SYNC tTRANSFER time from falling edge of EXSYNC to start of readout in SMART SYNC pretrigger 0 tREADOUT frame readout time pretrigger 0 tOVERHEAD time after readout before next EXSYNC TwSYNC_INT min integration pulse not SMART SYNC TwSYNC_INT min integration pulse in SMART SYNC tFRAME PERIOD min frame period tFL time from FVAL to first LVAL tLINE LVAL high time tLVAL_LOW LVAL low time tLF time from last LVAL to end of FVAL Binning 1x1 100ns lus 1 0ms 375ms 125us lus lus 376ms 28 5us 112us 29us 2x2 100ns lus 1 1ms 224ms 125us 1us 1us 225ms 55 5us 112us 56us 25ns 4x4 100ns lus 1 2ms 149ms 125us lus lus 150ms 110us 112us 112us 25ns 03 32 10096 03 54 DALSA Preliminary Table 13 11M Dual Output Timing Symbol twSYNC min sync pulse not SMART SYNC twSYNC min sync pulse in SMART SYNC tTRANSFER time from falling edge of EXSYNC to start of readout in SMART2. Pantera TF 11M Responsivity Responsivity DN nJ cm 0 430 480 530 580 630 680 730 780 830 880 930 Wavelength nm Figure 4 Pantera TF 6M Responsivity Pantera TF 6M Responsivity 24 20 Responsivity DN nJ cm 400 450 500 550 600 650 700 750 800 Wavelength nm DALSA 03 32 10096 03 Pantera TF 11M and 6M User s Manual Preliminary Figure 4 Pantera TF 11M Normalized Noise vs Camera Front PlateTemperature Tap 1 l Tap 2 1 4 1 3 1 2 o z 1 1 1 0 9 25 30 35 40 43 45 48 50 53 55 574 60 Temp Figure 5 Pantera TF 11M4 Dark Offset vs Camera Front Plate Temperature FPN 2 30 35 40 43 45 48 50 53 55 Temp 57 4 60 Tap 1 2 DALSA 03 32 10096 03 DALSA Figure 6 Pantera TF 11M4 FPN vs Camera Front Plate Temperature Preliminary Pantera TF 11M and 6M User s Manual FPN e Tap 1 m 2 25 30 35 40 43 45 48 Temp 50 53 55 57 4 60 03 32 10096 03 Pantera TF 11M and 6M User s Manual Preliminary Figure 7 Pantera TF 6M Normalized Noise vs Camera Front Plate Temperature 2 00 1 80 1 60 1 40 Noise 1 20 1 00 0 80 Tem
3. DALSA 03 32 10096 03 40 Preliminary Pantera TF 11M and 6M User s Manual 4 2 Lens Mounts An F mount adapter is available to order as an accessory Contact DALSA Sales for more information See contact information on page 2 4 3 Mounting the Camera The Pantera TF 11M and 6M cameras be mounted via the 4 holes 2 per side and the 1 4 20 threaded tripod mount located on the bottom of the front plate 4 4 Thermal Management For any CCD camera optimal performance is achieved by transferring heat away from the sensor Keeping a sensor cool reduces the amount of dark current generated Dark current is the leading contributor to FPN PRNU dark offset random noise and other performance specifications especially when a camera is significantly gained i e 10db Generally dark current doubles for every 7 C increase in temperature at the sensor and increases linearly with integration time The Pantera FF 11M and 6M mechanicals have been optimized to transfer heat from the sensor to the front of the housing Mount fans away from the camera to avoid vibration and direct the airflow across the housing to decrease the temperature delta between ambient and housing temperatures Convection is the ideal method to minimize camera warm up times and reduce dark current generation Both methods either conduction through heat sinking or convection through air flow greatly reduce dark current and will improve you systems performance
4. wus rus commands restore rfs command Current Session 3 4 Setting Output Mode The 2 11 04 and the PT 2x 06M08 have two data output taps or channels You can configure the camera to read out data using a single tap or you can double your frame rate by simultaneously reading out of both taps To select dual or single output mode use the command Syntax sos i Syntax Elements i 1 Single tap readout maximum 2 6 11M or 4 5 6M fps 2 Dual tap readout maximum 4 4 11M or 7 5 6M fps Related Commands Example sos 1 DALSA 03 32 10096 03 24 Preliminary Pantera TF 11M and 6M User s Manual 3 5 Setting the Data Mode The PT 2x 11M04 and the 2 06 08 have two output taps each are 12 bits The 24 bits of data two taps that are sent from the camera to the frame grabber are divided into three ports A B and C Each port is 8 bits The sos command selects the number of bits that the camera sends to the frame grabber from each tap In the table below ports A C refer to the Camera Link specification To set the data mode for the camera output use the command Syntax oms i Syntax Elements i 14 14bit Tap 1 Data bit 0 to 7 are linked to Port A Tap 1 Data bits 8 to 13 are linked to Ports B bits 0 to 5 Tap 2 Note When operating in 14 bit mode tap 2 cannot be transmitted as normal To maintain the same frame rates as when the camera is configured using 2 taps command sos 2 the dual tap data
5. 1x output gain 1 2x output gain 2 4x output gain Read the camera model number Read all of the camera parameters Read the camera serial number Read the firmware version and FPGA version Read the sensor serial number Display the online help Sets the data mode to use Available values are 8 8 bit mode 10 10 bit mode 12 12 bit mode 14 14 bit mode Reset the entire camera reboot Restore the camera s factory settings Restore the camera s last saved user settings 03 32 10096 03 60 Parameters i integer float t tap DALSA Command set baud rate strobe control pulse shutter control timing set exposure time set exposure mode set output mode set pretrigger set system gain Preliminary Syntax Parameters sbr aL scp ff sct set f sem i sos i sp i ssg ti Pantera TF 11M and 6M User s Manual Description Set the speed of camera serial communication port Baud rates 9600 19200 57600 and 115200 Default baud 9600 Sets the strobe pulse timing The first value is the time the keep the signal high or on ina range from 0 65 in 001 millisecond steps The second value is the time in milliseconds to keep the value low or off Controls the shutter signal s opening and closing times The first value is the time to keep the shutter open in a range from 0 to 65 in 001 millisecond steps The second value is the shutter s closing time in milliseconds Set
6. A charge dump occurs at the beginning of the exposure time clearing any accumulated charge gathered up to this point An external shutter or strobe should be used to remove light during readout Figure 14 Mode 4 Timing Frame Period gt D Exposure Time NS No Light Waiting Readout Charge Triggers ignored Dump 100 during readout Mode 6 External Frame Rate and Internal Exposure Time In Mode 6 EXSYNC sets the frame rate but the exposure time is set internally using the software command set described on page 28 The exposure time begins with a charge dump that clears all charge accumulated until this point To prevent image smearing you should use an external shutter or strobe to prevent light exposure during the readout period Figure 15 Mode 6 Timing Frame Period lt Exposure Time set internally Waiting Readout Charge Triggers Dump ignored during readout 100 5 03 32 10096 03 28 Preliminary Pantera TF 11M and 6M User s Manual Mode 8 Factory Setting Internal Sync Programmable Exposure Time In Mode 8 the exposure time is programmed internally with the set command described on page 28 Readout occurs immediately after the exposure time After the readout is complete the next exposure begins again Since all timing is generated internally the shutter control
7. Contents Introduction to the Pantera TF 11M and 6M Area Scan Cameras 5 1 1 Camera 5 6 1 3 Camera Performance Specifications 8 Camera Hardware Interface 15 2 1 Installation OvervieW sssssccscsssssssscsscsssssssssscssssecsscsssssssessscssssesecsssssssseessesssssssecesserssssesssssssssssssssssrsssssesssesssssessessess 2 2 Input Output Connectors and LED Software Interface How to Control the Camera 21 3 1 Communications Protocol Overview scsssccsssssssssscsssssssecsscssssesscssssssssecsssscssssssscssesssssesscssessssnsessssrssssessessessssessesesees 21 3 2 Overview Setting up the Camera to Send Commands ennt 22 3 3 Saving and Restoring Settings 3 5 Setting the Data 24 R le ee ER e EEUU 25 3 7 Setting Frame Rate Exposure Time and Exposure Mode entente 25 3 8 Controlling the Camera s Shutter and Strobe 3 9 Settilig OGlIis 3 10 Increasing Sensitivity with 32 3 11 Monitoring the Camera eene 33 3 12 Rebooting the 33 3 13 Setting the Predno EUR 33 3 14 Setting the Video Mode and Generating Test Patterns ennt 33 Optical and Mechanical Consid
8. 2 4 1 2 4 0 15 programmable 0 1 000 000 16 000 000 000 TBD 9600 Exsync Spare Spare Spare Data Valid held high except in binning modes Frame Valid Spare 57 6M8 Cl Base 1 14 1 C2 Base 2 12 1 C3 Base 1 12 1 C4 Base 1 10 1 C5 Base 2 10 1 C6 Base 1 8 1 C7 Base 2 8 1 CO T1 1 1024 1 1 1538 1 CO T2 1025 2048 1 1539 3076 1 1 2 4 1 2 4 0 15 programmable 0 1 000 000 16 000 000 000 N A N A N A TBD 9600 Exsync Spare Spare Spare Data Valid held high except in binning modes Frame Valid Spare 03 32 10096 03 58 DALSA Preliminary Pantera TF and 6M User s Manual 03 32 10096 03 Pantera TF 11M and 6M User s Manual B1 All Available Commands Parameters i integer float t tap DALSA 59 Appendix B Commands and Error Handling This table provides a brief overview of all of the available user commands For a detailed explanation of these commands refer to Chapter 3 Table 17 All Available Commands Command gain mode get camera model get camera parameters get camera serial get camera version get sensor serial help output mode select reset camera restore factory settings restore user settings Syntax gcm gcp gcs gev gss oms re rfs rus Parameters Description Sets the digital gain mode Available values are 0
9. 4 5 Environment The camera and cables should be shielded from environmental noise sources for best operation The camera should also be kept as cool as possible The specified operating temperature is 0 40 C measured at the top of the camera DALSA 03 32 10096 03 Pantera TF 11M and 6M User s Manual Preliminary 4 Cleaning and Maintenance 5 1 Cleaning DALSA Electrostatic Discharge and the CCD Sensor Charge coupled device CCD image sensors are metal oxide semiconductor MOS devices and are susceptible to damage from electrostatic discharge ESD Although many sensor pins have ESD protection circuitry the ESD protection circuitry in CCDs is typically not as effective as those found in standard CMOS circuits Electrostatic charge introduced to the sensor window surface can induce charge buildup on the underside of the window that cannot be readily dissipated by the dry nitrogen gas in the sensor package cavity When charge buildup occurs surface gated photodiodes SGPDs may exhibit higher image lag Some SGPD sensors may also exhibit a highly non uniform response when affected by charge build up with some pixels displaying a much higher response when the sensor is exposed to uniform illumination The charge normally dissipates within 24 hours and the sensor returns to normal operation Preventing ESD Damage To prevent ESD damage DALSA advises you to take the following handling precautions 1 Ground yourself prior to h
10. All DALSA products are manufactured using the latest state of the art equipment to ensure product reliability For further information not included in this manual or for information on DALSA s extensive line of image sensing products please call DALSA Sales Offices Waterloo Europe Asia Pacific 605 McMurray Rd Breslaver Str 34 Space 61 Building 4F Waterloo ON N2V 2E9 D 82194 Gr benzell Munich 2 40 2 Ikebukuro Canada Germany Toshima ku Tokyo 171 0014 Tel 519 886 6000 Tel 49 8142 46770 Japan Fax 519 886 8023 Fax 49 8142 467746 81 3 5960 6353 phone www dalsa com www dalsa com 81 3 5960 6354 fax sales americas dalsa com sales europe dalsa com www dalsa com sales asia dalsa com DALSA Worldwide Operations Waterloo Colorado Springs Europe Asia Pacific 605 McMurray Rd 4820 Centennial Blvd Suite 115 Breslauer Str 34 Space 61 Building 4F Waterloo ON N2V 2E9 Colorado Springs CO 80919 D 82194 Gr benzell Munich 2 40 2 Ikebukuro Canada USA Germany Toshima ku Tokyo 171 Tel 519 886 6000 Tel 719 599 7700 Tel 4 49 8142 46770 0014 Fax 519 886 8023 Fax 719 599 7775 Fax 4 49 8142 467746 Japan www dalsa com www dalsa com www dalsa com 81 35960 6353 phone sales americas dalsa com sales americas codalsa com sales europe dalsa com 81 3 5960 6354 fax www dalsa com sales asia dalsa com DALSA 03 32 10096 03 Pantera TF 11M and 6M User s Manual Preliminary 3 DALSA
11. SYNC pretrigger 0 tREADOUT frame readout time pretrigger 0 tOVERHEAD time after readout before next EXSYNC TwSYNC_INT min integration pulse not SMART SYNC TwSYNC_INT min integration pulse in SMART SYNC tFRAME PERIOD min frame period tFL time from FVAL to first LVAL tLINE LVAL high time tLVAL_LOW LVAL low time tLF time from last LVAL to end of FVAL Table 14 6M Single Output Timing Symbol twSYNC min sync pulse not SMART SYNC twSYNC min sync pulse in SMART SYNC tTRANSFER time from falling edge of EXSYNC to start of readout in SMART SYNC pretrigger 0 tREADOUT frame readout time pretrigger 0 Binning 1x1 100ns lus 690us 226ms 125us lus lus 227ms 28 5us 56us 29us 300ns Binning 1x1 100ns 1us 448us 218ms 2x2 100ns 1us 720us 150ms 125us 1us 1us 151ms 55 5us 56us 56us 300ns 2x2 100ns lus 868us 130ms Pantera TF and 6M User s Manual 4x4 100ns 1us 774us 112ms 125us 1us 1us 113ms 110 0us 56us 112us 250ns 4x4 100ns lus 609us 85ms 03 32 10096 03 Pantera TF 11M and 6M User s Manual DALSA Preliminary Binning Symbol 1x1 2x2 tOVERHEAD time after 12505 125us readout before next EXSYNC TwSYNC INT min lus lus integration pulse not SMART SYNC TwSYNC_INT min lus lus integration pulse in SMART SYNC tFRAME PERIOD min 219025 131ms
12. The goal is to prevent solvent from evaporating from the window surface as this will end up leaving residue and streaking behind 03 32 10096 03 48 DALSA Preliminary Pantera TF and 6M User s Manual 7 Repeat steps 2 4 using a clean tissue until the entire window has been cleaned 8 Blow off any adhering fibers or particles using dry filtered compressed air Horizontal Lines or Patterns in Image A faulty or irregular encoder signal may result in horizontal lines due to exposure time fluctuations ensure that your exposure time is regular If you have verified that your exposure time is consistent and patterns of low frequency intensity variations still occur ensure that you are using a DC or high frequency light source 03 32 10096 03 Pantera TF 11M and 6M User s Manual Preliminary 6 4 Product Support If there is a problem with your camera collect the following data about your application DALSA and situation and call your DALSA representative Note You may also want to photocopy this page to fax to DALSA E Customer phone number fax number Complete Product Model Number 21 11 04 21 06 08 Acquisition System hardware frame grabber host computer light sources etc Acquisition System software version OS etc Control signals used in your EXSYNC Other application and their frequency or state if applicable Results when you run the gcp command Detailed description of proble
13. adjacent pixels is added together To set the binning value use the command Syntax sbm i i Syntax Elements i Horizontal binning value Must be identical to the vertical binning value i Vertical binning value Must be identical to the horizontal binning value Notes Available values are 1x1 factory setting 2x2 or 4x4 Example sbm 2 2 Figure 19 2x2 Binning More charge E brighter pixel T q2 lolfa T a q4 92 os i Charge in Charge binned Normalimage image 4 adjacent pixels 1 pixel output Table 8 PT 2x 11M4 Binning vs Speed Binning Min Frame Period mS Max Frame Rate 1x1 227 4 4fps 2x2 151 6 6fps 4x4 113 8 8fps Table 9 PT 2x 6M8 Binning vs Speed Binning Min Frame Period mS Max Frame Rate 1x1 132 7 5fps 2x2 87 11 4fps 4x4 64 15 6fps DALSA 03 32 10096 03 Pantera TF 11M and 6M User s Manual Preliminary 33 3 11 Monitoring the Camera N The camera is equipped with a red green LED used to display the operational status of ote When more thon the camera Table 10 below summarizes the operating states of the camera and the one condition is active corresponding LED states the LED indicates the P 5 condition with the Table 10 Camera Operating States highest priority Error LED state Priority Camera Status Condition and warning states are accompanied by Blinking RED 1 Error Fatal hardware failure corresponding m
14. camera Protect the camera with a fast blow fuse between power supply and camera Visit the www dalsa com Web site for a list of companies that make power supplies that meet the camera s requirements The companies listed should not be considered the only choices 2 2 4 Shutter Control Connector Figure 12 Shutter Control Connector 1 2 3 4 5 Table 6 Shutter Control Connector Pinout Reference Pin Description Pin Description 1 NC 4 NC 2 Direct Trigger In 5 GND 3 Shutter Control Out 03 32 10096 03 20 DALSA Preliminary Pantera TF and 6M User s Manual The shutter control connector provides a direct interface to control an external shutter and or a trigger input when the camera is operating in one of the external trigger modes refer to section 3 7 Setting Frame Rate Exposure Time and Exposure Mode for more information on operating in external trigger modes These signals are TTL compatible i e Vlow max 0 8V Vhigh_min 2 4V The shutter control output is a signal that is active high while the camera is in the exposure state For example if the exposure time is set to 1 second then this signal would be high for the 1 second exposure and then low while the camera is reading out This signal can be used to control an external shutter opening it when the signal is high and closing it when the signal is low and preventing image smearing caused by light exposure during read out You can also modify the s
15. frame period time from FVAL to first 21 41us LVAL tLINE LVAL high time 86us 86us tLVAL LOW LVALlow 2145 41us time tLF time from last LVAL to 300ns 300ns end of FVAL Table 15 6M Dual Output Timing Binning Symbol 1x1 2x2 twSYNC min sync pulse 100ns 100ns not SMART SYNC twSYNC min sync pulse 1us lus in SMART SYNC tTRANSFER time from 55045 568us falling edge of EXSYNC to start of readout in SMART SYNC pretrigger 0 tREADOUT frame 131ms 86ms readout time pretrigger 0 tOVERHEAD time 125us 125us after readout before next EXSYNC TwSYNC_INT min lus lus integration pulse not SMART SYNC TwSYNC_INT min lus lus integration pulse in SMART SYNC tFRAME PERIOD 132ms 87ms min frame period 55 4x4 125us lus lus 86ms 81us 86us 81us 250ns 4x4 100ns lus 610us 63ms 125us lus lus 64ms 03 32 10096 03 56 DALSA Preliminary Binning Symbol 1x1 tFL time from FVAL to 21us first LVAL tLINE LVAL high time 4218 tLVAL_LOW LVAL 21us low time tLF time from last LVAL 300ns to end of FVAL Camera Link Configuration Table 2x2 41us 42us 41us 300ns Pantera TF 11M and 6M User s Manual 4x4 81us 42us 81us 250ns The following table provides tap reconstruction information DALSA is working with the machine vision industry to use this table as the basis for auto configuration Visit the http v m dalsa com Web site and
16. is piped to a single tap The output pixel rate increases to 72Mhz and the framegrabber uses the same configuration used for one tap operation Refer to section 3 4 Setting Output Mode command for setting the number of taps 12 12bit Factory setting Tap 1 Data bits 0 to 7 are linked to Port A Tap 1Data bits 8 to 11 are linked to Port B bits 0 to 3 Tap 2 Data bits 8 to 11 are linked to Port B bits 4 to 7 Tap 2 Data bits 0 to 7 are linked to Port C 10 10 bit Tap 1 Data bits 0 to 7 are linked to Port A Tap 1 Data bits 8 and 9 are linked to Port B bits 0 and 1 Tap 2 Data bits 8 and 9 are linked to Port B bits 4 and 5 Tap 2 Data bits 0 to 7 are linked to Port C 8 Tap 1 Data bits 0 to 7 are linked to Port A Tap 2 Data bits 0 to 7 are linked to Port B Notes e To obtain the current output data format use the command Example oms 8 DALSA 03 32 10096 03 Pantera TF 11M and 6M User s Manual Preliminary 25 3 6 Setting Baud Rate To set the speed of the camera serial communication port use the command Syntax sbr i Syntax Elements i Baud rate Available baud rates are 9600 Default 19200 57600 and 115200 Notes e Power on rate is always 9600 baud e The re reset camera command will not reset the camera to the power on baud rate Example sbr 57600 3 7 Setting Frame Rate Exposure Time and Exposure Mode With three different exposure mode settings the Pantera TF 11M and 6M cameras deliver m
17. is to verify that your camera has all the correct connections Power Supply Voltages Check for the presence of all voltages at the camera power connector Verify that all grounds are connected EXSYNC When the camera is powered on for the first time the factory setting is exposure mode 8 no external inputs required After you have saved settings the camera powers up with the saved settings next time it is rebooted 03 32 10096 03 46 Preliminary Pantera TF 11M and 6M User s Manual Data Clocking Output Signals To validate cable integrity have the camera send out a test pattern and verify it is being properly received 6 2 Troubleshooting Using the Serial Interface DALSA The following commands can aid in debugging The complete command protocol is described in Appendix B Communications To quickly verify serial communications send the help command The h command returns the online help menu Verify Parameters To verify the camera setup send the command Verify Factory Calibrated Settings To restore the camera s factory settings send the rfs command After executing this command send the gep 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 ca
18. low contrast images must be captured in challenging applications Specific applications include e Flat panel inspection Microscopy e Aerial reconnaissance e Medical and non destructive test x ray 1 2 Image Sensors Pantera TF 11M The Pantera TF 11M4 offers frame rates at up to 4 4 frames per second fps using two output taps to simultaneously read out data or 2 6 fps using one output tap The Pantera TF 11M2 uses one output tap This camera uses DALSA s FTF4027M full frame CCD image sensor The FTF4027M provides the highest possible image quality for its resolution with lower dark current lower noise and higher dynamic range than any competitor DALSA 03 32 10096 03 Pantera TF 11M and 6M User s Manual Preliminary 7 Figure 1 FTF4027M Image Sensor 6 black lines Y 2672 2684 Image Area active lines lines 4008 active pixels X 6 black lines 24 4056 cells 24 gt Output amplifier Output register 4 gt 4104 cells Pantera TF 6M The Pantera TF 6M8 offers frame rates at up to 7 5 fps using two output taps to simultaneously read out data or 4 5 fps using one output tap with the Pantera TF 6M5 This camera uses DALSA s FTF3020M full frame CCD image sensor and its remarkable image quality made it the de facto standard for digital still photography The FTF3020M provides the highest possible image quality for its resolution with lower dark current lower noise and higher dynamic r
19. on the sensor response Dust is most visible when the illumination is collimated The dark patches shift position as the angle of illumination changes Dust is normally not visible when the sensor is positioned at the exit port of an integrating sphere where the illumination is diffuse Dust can normally be removed by blowing the window surface using clean dry compressed air unless the dust particles are being held by an electrostatic charge in which case either an ionized blower or wet cleaning is necessary Oil is usually introduced during handling Touching the surface of the window barehanded will leave oily residues Using rubber fingercots and rubber gloves can prevent contamination However the friction between rubber and the window may produce electrostatic charge that may damage the sensor To avoid ESD damage and to avoid introducing oily residues only hold the sensor from the edges of the ceramic package and avoid touching the sensor pins and the window Improper handling cleaning or storage of the sensor can cause scratches Vacuum picking tools should not come in contact with the window surface CCDs should not be stored in containers where they are not properly secured and can slide against the container Scratches diffract incident illumination When exposed to uniform illumination a sensor with a scratched window will normally have brighter pixels adjacent to darker pixels The location of these pixels will change with the
20. the exposure time in exposure mode 8 or 6 Value is a floating point number in milliseconds in a range from 001 to 16000 000 Set the exposure mode Available values are 4 Smart EXSYNC 6 External SYNC programmable exposure time 8 Factory Setting Internal sync programmable exposure time Sets whether to read out data using one or two taps Use 1 for one tap or 2 for two taps Set the pretrigger to a value from 0 or 15 The first value is the tap value Either 1 for the left tap or 2 for the right tap The second value is the analog gain with an available range from 0 4095 03 32 10096 03 Pantera TF 11M and 6M User s Manual Command Parameters i integer float set video mode t tap write user settings verify temperature DALSA Syntax svm wus Preliminary Parameters 61 Description Set video mode Available values are 0 Normal operating mode 1 Test pattern Left side 2 Test pattern Right side 3 Test pattern Both sides 4 Flip image Left side 5 Flip image Left side Test pattern Left side 6 Flip image Left side Test pattern Right side 7 Flip image Left side Test pattern Both sides 8 Flip image Right side 9 Flip image Right side Test pattern Left side 10 Flip image Right side Test pattern Right side 11 Flip image Right side Test pattern Both sides 12 Flip image Both sides 13 Flip image Both sides Test pattern Left side 14 Flip imgae Both sides Test pat
21. the x y from 200um to be 400um Added Figure 7 Pantera TF 6M Normalized Noise vs Camera Front Plate Temperature Figure 8 Pantera TF 6M Dark Offset vs Camera Front Plate Temperature and Figure 9 Pantera TF 6M FPN vs Camera Front Plate Temperature to page 13 and 14 Updated mechanical drawing to show shutter control connector in section 4 1 Added Shutter Control Connector description and pinout to section 2 2 4 Added 14 bit data output functionality to section 3 5 Setting the Data Mode and to section B1 AII Available Commands Added section 3 8 Controlling the Camera s Shutter and Strobe Added shutter and strobe commands to section B1 All Available Commands In Table 1 Changed Fixed Pattern Noise spec from rms to DN rms and changed Max value from 3 8 to 5 DC Offset Max changed from 52 to 55 Added 100ms exposure time to Note 5 03 32 10096 03 66 Preliminary Pantera TF 11M and 6M User s Manual DALSA 03 32 10096 03 Pantera TF 11M and 6M User s Manual Preliminary DALSA 67 Index 2 2 taps 23 A aperture 8 applications 6 baud rate 25 binning 32 bright lines 47 camera control signals 52 Camera Link configuration 17 connector 17 signals 18 clock signals 18 command reference 59 commands descriptions 59 compliance 63 connector Camera Link 17 data 17 pinout 17 power 19 shutter 19 D dark patches 47 data bus 18 data rate 9 digital data 17 DVA
22. view the DALSA Camera Link Implementation Road Map document 03 32 00450 for further details Pantera TF 11M4 and 6M8 Interface Parameters Table 16 Frame Grabber Interface Parameters Unverified Item when programmable configuration the options are separated with a Imager Dimension lt 1 2 or 1 2 gt Imager Columns lt number of active columns X gt Imager Rows lt number of active rows Y gt Line Scan TDI are defined as 1 Number of Imager Taps lt 1 2 3 gt Tap Clock Rate lt MHz Camera Standard lt NTSC PAL VS VW MW gt Variable Window lt Column Start Column End Row Start Row End gt Multiple Window Number of Windows Column Start 1 Column End 1 Row Start 1 Row End 1 Column Start 2 Column End2 Camera Color lt Hybrid Mono Pattern Solid gt Pattern Size lt T1 Columns Rows 2 Columns Rows T3 Columns Rows gt Color Definition lt 1 RGB CY MG Y or gt Row Color Offset lt 0 1 2 3 gt Column Color Offset lt 0 1 2 3 gt Number of Camera Configurations lt 1 2 3 gt 11M4 2672 4032 10 2 36 VS 0 0 0 0 0 0 0 0 0 Mono TO 1 1 TO 1 1M 6M8 2048 3076 10r2 36 VS 0 0 0 0 0 0 0 0 0 Mono TO 1 1 TO 1 1M 03 32 10096 03 Pantera TF 11M and 6M User s Manual Preliminary Item when programmable configuration the options are separated with a Configuration Definition Cx HDW Num
23. L 18 51 dynamic range 9 EMC Declaration of Conformity 56 63 exposure control 25 modes 25 setting 26 time 25 exposure time setting 28 EXSYNC 18 troubleshooting 45 external trigger 18 F features 5 fill factor 8 frame rate 9 FVAL 51 G gain range 9 H help 21 incorrect line rate 47 installation 15 interface parameters 56 L LED 16 lens mounts 40 line dropout 47 LVAL 18 51 LVDS 51 pairs 52 M MDR26 connector 15 17 modes 26 default 27 exposure 26 operating 26 03 32 10096 03 68 DALSA Preliminary N noisy output 47 operating modes 26 operating temp 9 P performance specifications 8 pixel fill factor 8 size 8 power dissipation 8 PRNU 9 rebooting 33 resolution 8 responsivity 9 graph 10 S sensor alignment 8 drawing 7 serial interface 21 Pantera TF 11M and 6M User s Manual settings restoring 23 saving 23 shutter connector 19 control 19 29 size 8 specifications 8 electro optical 9 startup sequence 22 STROBE 18 troubleshooting 46 T tap reconstruction 56 Technical Sales Support 49 temperature 9 test patterns generating 46 setting 34 timing 53 camera 53 Camera Link 53 exposure 28 troubleshooting 45 V video data 51 video modes 34 03 32 10096 03
24. Manual DALSA Sensor Flatness Camera Performance Frame Rate Data Rate Data Format Operating Temp Nominal Gain Range Dynamic Range Pixel Response Non Uniformity PRNU Fixed Pattern Noise FPN Random Noise Sat Output Amplitude DC Offset DC Offset Subtraction Antiblooming Responsivity Power Up Duration Regulatory Regulatory Compliance Notes Preliminary um Units fps MHz C dB DN DN rms DN rms DN rms DN nJ cm sec CE 30 peak peak Min Nom 06 Mode 8 2x36 Max 11M4 4 4 6M8 7 5 8 10 12 or 14 bit user selectable 0 1x 66 3600 1 75 12 3600 3900 45 50 20 40 4x lt 5 lt 5 1 75 4095 55 up to 50 gt 100x 10 Notes 29 At front plate 4 5 12 bit 530nm 1 Sensor line length is actually 4008 pixels but to fit evenly on 64 bit boundaries required for most high performance frame grabbers 4032 pixels are sent in each line The extra pixels are split evenly and placed at the start and the end of each line e No binning full resolution Minimum frame rate while operating in Mode 8 2x and 4x gain are not available when using 14 bit output Nominal output 100ms exposure time Light source broadband quartz halogen 3200K 750nm and IR cutoff filter 03 32 10096 03 10 Preliminary Pantera TF 11M and 6M User s Manual Figure 3 Pantera TF 11M Responsivity
25. Pantera TF 11M and 6M User s Manual Data Clocking Signals 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 DALSA Camera Link Implementation Road Map available http v m dalsa com docs appnotes 00450 00 03 32 DALSA Camera Link Road Map pdf for the standard location of these signals Clocking Signal Indicates LVAL high Outputting valid line DVAL high Valid data STROBE rising edge Valid data See Appendix A for the complete Camera Link timing DALSA Camera Link configuration table and refer to the DALSA Web site http v m dalsa com docs appnotes 00450 00 03 32 DALSA Camera Link Road Map pdf for the official Camera Link document Input Signals The camera accepts an EXSYNC control input through the Camera Link MDR26F connector External control signals are optional and enabled through the serial interface EXSYNC Triggers Readout EXSYNC is an optional input signal that can be used to trigger the frame rate Depending on the camera s exposure mode setting it can use either the rising or falling edge of EXSYNC to trigger frame readout Refer to the following table for details Table 5 EXSYNC Edge Description Mode Edge Description 4 The rising edge of EXSYNC begins camera exposure The falling edge begins readou
26. Pantera TF 11M4 and 6M8 Camera User s Manual PT 2x 11M04 4 fps PT 2x 06M08 8 fps Progressive Scan Monochrome Camera PRELIMINARY M A DALSA P technology with vision 25 Apr 05 03 32 10096 03 www dalsa com 2 Preliminary Pantera TF 11M and 6M User s Manual 2005 DALSA All information provided in this manual is believed to be accurate and reliable No responsibility is assumed by DALSA for its use 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 DALSA About DALSA DALSA is an international high performance semiconductor and electronics company that designs develops manufactures and markets digital imaging products and solutions in addition to providing wafer foundry services DALSA s core competencies are in specialized integrated circuit and electronics technology and highly engineered semiconductor wafer processing Products include image sensor components electronic digital cameras and semiconductor wafer foundry services for use in MEMS power semiconductors image sensors and mixed signal CMOS chips DALSA is a public company listed on the Toronto Stock Exchange under the symbol DSA Based in Waterloo On Canada the company has operations in Bromont PQ Colorado Springs CO Woodland Hills CA Eindhoven NL Munich Germany and Tokyo Japan
27. Terminal can be used in case if COM port is allocated by the framegrabber Terminal should be set at 9600 baud during the camera power up When the terminal window is set up power on the camera The boot up message should appear on the terminal window Camera Initialization in progress Please Wait OK gt You can now communicate with the camera through the terminal using the software commands described in this manual Set up the framegrabber to receive the data Following the framegrabber manufacturer s instructions set up the parameters described in the Camera Link Configuration Table on page 56 Once the framegrabber is set up for data processing and the camera is powered up run your image processing software You should be able to see an image from the camera when exposed to a light source You can now set the other camera parameters described in this chapter 03 32 10096 03 Pantera TF 11M and 6M User s Manual Preliminary 23 3 3 Saving and Restoring Settings The camera provides a number of commands for restoring storing and saving settings To restore the original factory settings use the command rfs e To save all current user settings to EEPROM use the command wus The camera will automatically restore the saved user settings when powered up e To restore the last saved user settings use the command rus Figure 13 Saving and Restoring Overview Factory Settings User Settings EEROM wee restore
28. andling CCDs 2 Ensure that your ground and your workbench are also properly grounded Install conductive mats if your ground or workbench is non conductive 3 Use bare hands or non chargeable cotton gloves to handle CCDs NOTE Rubber fingercots can introduce electrostatic charge if the rubber comes in contact with the sensor window 4 Handle the CCD from the edge of the ceramic package and avoid touching the sensor pins 5 Do not touch the window especially in the region over the imaging area 03 32 10096 03 42 DALSA Preliminary Pantera TF and 6M User s Manual 6 Ground all tools and mechanical components that come in contact with the CCD 7 DALSA recommends that CCDs be handled under ionized air to prevent static charge buildup 8 Always store the devises in conductive foam Alternatively clamps can be used to short all the CCD pins together before storing The above ESD precautions need to be followed at all times even when there is no evidence of CCD damage The rate which electrostatic charge dissipates depends on numerous environmental conditions and an improper handling procedure that does not appear to be damaging the CCDs immediately may cause damage with a change in environmental conditions Protecting Against Dust Oil and Scratches The CCD window is part of the optical path and should be handled like other optical components with extreme care Dust can obscure pixels producing dark patches
29. ange than any competitor Figure 2 FTF3020M Image Sensor 6 black lines Y 2060 Image Area lines 3072 active pixels X 6 black lines lt 17 3120 cells 7b Output amplifier Output register 1 3134 cells DALSA 03 32 10096 03 1 3 Camera Performance Specifications Table 1 Pantera TF 11M4 and 6M8 Camera Performance Specifications DALSA Camera Features Resolution Pixel Size Pixel Fill Factor Output Modes Mechanical Interface Size Weight Electrical Interface Power Dissipation Input Voltage Power Connector Data Output Format Programming Connector Optical Interface Back Focal Distance F Mount M72 Mount Lens Mount Camera Thread Aperture Sensor Alignment 2 Oz Parallelism Tilt Preliminary Units H x V pixels um Units mm kg Units VDC Bits Units mm mm um F Mount back focal distance Sensor die to front edge of M72 mount um 11M 4032 x 2672 6M 3072 x 2048 11M 9x9 6M 12x12 100 Dual or Single 94 x 94 x 51 0 68 15 12 24 6 pin Hirose 12 Base Camera Link 46 50 0 18 6 5mm F mount M72x0 75 standard 36 86x24 58 6M 36 07x24 05 11M 400 46 50 0 30mm 12 1340 30mm 1 25 lt 175 Pantera 11M and 6M User s Manual Notes Notes Notes Notes available as accessory 03 32 10096 03 Pantera TF 11M and 6M User s
30. angle of illumination Cleaning the Sensor Window 1 Use clean dry compressed air to blow off loose particles This step alone is usually sufficient to clean the sensor window 2 If further cleaning is required use a lens wiper moistened with alcohol We recommend using lint free ESD safe cloth wipers that do not contain particles that can scratch the window 4 Wipe the window carefully and slowly 03 32 10096 03 Pantera TF 11M and 6M User s Manual Preliminary 43 5 2 Maintenance There are no user serviceable parts on this camera Please contact DALSA service DALSA 03 32 10096 03 44 Preliminary Pantera TF and 6M User s Manual DALSA 03 32 10096 03 Pantera TF 11M and 6M User s Manual Preliminary 45 Troubleshooting 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 e power supplies cabling e frame grabber hardware amp software host computer e light sources e optics operating environment e encoder Your steps in dealing with a technical problem should be 1 Try the general and specific solutions listed in sections 6 1 6 2 and 6 3 2 If these solutions do not resolve your problem see section 6 4 on getting product support 6 1 Common Solutions DALSA Connections The first step in troubleshooting
31. any possibilities for flexible camera timing Table 7 outlines each of these three exposure modes and is followed by a full explanation on how to set the camera s frame rate and exposure time Table 7 Overview of Pantera TF 11M and 6M Exposure Modes 5 SYNC Exposure Time Notes 4 External Not Smart EXSYNC programmable Mode external Exposure time is exposure time high For more information on set by the high pulse time of external signal is the EXSYNC signal refer width of the EXSYNC exposure time and to section 2 2 signal 1 period is frame rate Input Output Connectors The rising edge of and LED EXSYNC begins camera exposure The falling edge begins readout 6 External Programmable The user is responsible with set for not violating timing command constraints for the EXSYNC signal used in this mode The falling edge of Mode 8 is the factory EXSYNC initiates the setting camera exposure DALSA 03 32 10096 03 26 Preliminary Pantera TF 11M and 6M User s Manual me o SYNC Exposure Time Notes p 8 Internal Internal Factory Default Mode Not programmable Programmable using Frame period is the Frame rate is internally the set command programmed exposure time plus the readout time The frame period can be read in this mode by using the command set to correspond with the programmed exposure time plus readout time Overview Setting Frame Time and Exposure Time The camera s fram
32. ay be picking up random noise from long cables acting as antennae Do not attach wires to unused pins Verify that the camera is not receiving spurious inputs e g EXSYNC if camera is in exposure mode that regulates external signals 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 supplied to the camera does not exceed the camera s maximum specified frame rate Noisy Output Check your power supply voltage outputs for noise Noise present on these lines can result in poor video quality Low quality or non twisted pair cable can also add noise to the video output 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 Wear latex gloves or finger cots Blow off dust using a filtered blow bottle or dry filtered compressed air Pe 09 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 6 Wipe across the length of the window in one direction with the moistened end first followed by the rest of the pad The dry part of the pad should follow the moistened end
33. ber of Output Taps Bit Width Number of Processing Nodes where Cx is the configuration ID x is 1 23 HDW is Base Medium Full Number of Output Taps is 1 23 Bit widthis lt 8 10 12 Number Processing Nodes is 1 or 2 gt Tap Reconstruction In some configurations the reconstruction may change is the default output format and must be listed Output configurations that don t conform are listed separately Cx Tn Column Start Column End Column Increment Row Start Row End Row Increment gt Row Binning Factor 1 23 or 1 2 3 Column Binning Factor 1 223 or 1 2 3 gt Pretrigger Pixels lt 0 1 2 or 0 15 gt lt 0 1 2 or 0 15 gt Line Frame Time Minimum lt ns Pretrigger Lines Line Frame Time Maximum lt ns Internal Line Frame Time Resolution xx ns 0 if not applicable Pixel Reset Pulse Minimum Width xx ns 0 if not applicable Internal Pixel Reset Time Resolution xx ns 0 if not applicable Pixel Reset to Exsync Hold time lt ns BAUD Rate lt 9600 gt 1 lt gt 2 lt gt Forward Spare CC4 Spare DVAL out lt Strobe Valid Alternate FVAL out lt Frame Valid Alternate gt Spare out lt Spare gt 11M4 C1 Base 1 14 1 C2 Base 2 12 1 C3 Base 1 12 1 C4 Base 1 10 1 C5 Base 2 10 1 C6 Base1 8 1 C7 2 8 1 CO T1 1 1336 1 1 2016 1 CO T2 1337 2672 1 2017 4032 11
34. e rate synchronization can be generated internally through software commands or input externally from a frame grabber host system To select how you want the camera s frame rate to be generated 1 You must first set the camera mode using the sem command Refer to Step One on the next page for details 2 Then if you are using mode 8 use the set command to set the exposure time Refer to Step Two on page 27 for details 3 7 1 Step 1 Setting the Exposure Mode In internal sync mode mode 8 the camera delivers data independent of external signals according to the timing set internally In external sync modes modes 4 and 6 the camera starts exposure after an external trigger pulse EXSYNC To set the camera exposure mode use the command Syntax sem i Syntax Elements i Exposure mode to use Default is 8 Refer to Table 7 for a quick list of available modes or to the following sections for a more detailed explanation Notes Toobtain the current value of the exposure mode use the command gcp Related Commands set Example sem 4 DALSA 03 32 10096 03 Pantera TF 11M and 6M User s Manual Preliminary 2 DALSA puel EXSYNC i Mode 4 Smart EXSYNC External Frame Rate and Exposure Time In this mode the external trigger rate sets both the frame rate and the exposure time The rising pulse of the external trigger marks the beginning of the exposure time Readout begins on the falling edge of EXSYNC
35. east 9600 baud These signals are SerTFG Differential pair with serial communications to the frame grabber SerTC Differential pair with serial communications to the camera The serial interface will have the following characteristics one start bit one stop bit no parity and no handshaking It is recommended that frame grabber manufacturers supply both a user interface and a software application programmming interface API for using the asynchronous serial communication port The user interface will consist of a terminal program with minimal capabilities of sending and receiving a character string and sending a file of bytes The software API will provide functions to enumerate boards and send or receive a character string See Appendix B in the Official Camera Link specification on the http v m dalsa com Web site Power will not be provided on the Camera Link connector The camera will receive power through a separate cable Camera manufacturers will define their own power connector current and voltage requirements 03 32 10096 03 Pantera TF 11M and 6M User s Manual tt IMPORTANT This camera uses the falling edge of EXSYNC to trigger line readout unlike previous DALSA cameras which used the rising edge DALSA Preliminary e e e Camera Link Video Timing Figure 27 Pantera TF 11M4 and 6M8 Timing Input and Output Relationships 53 STROBE
36. erations 39 Ad T Mechanical re E 39 4 2 Lens Mounts 4 3 Mounting the Camera 44 Thermal Management ccsccsssssssssssseessssssssssssssssssssssssssssssssssssssssssssssssssssssssesessesessssssssesessessessesesessseesseeessseessssese 40 4 5 Enviroment e 40 Cleaning and Maintenance 41 4 43 Troubleshooting 45 03 32 10096 03 4 Preliminary Pantera TF 11M and 6M User s Manual 6 1 Common Solutions 6 2 Troubleshooting Using the Serial Interface 6 3 Specific Solutions 47 ERREUR 49 Camera Link Reference Timing and Configuration Table 51 Commands and Error Handling 59 B1 All Available Commands EMC Declaration of Conformity 63 Index 67 DALSA 03 32 10096 03 Pantera TF 11M and 6M User s Manual Preliminary 5 Introduction to the Pantera TF 11M and 6M Area Scan Cameras 1 1 Camera Highlights DALSA Features e 4008 H x 2627 V or 3072 H x 2048 V resolution full frame CCD architecture The Pantera TF 11 4 offers up to 4 4 fps two outputs at full resolution 36 MHz data rate Pantera TF 6 8 offers 7 5 fps two outputs at full resolution 36 MHz data rate e Upto 14 bit digitization Small gain steps to achieve ext
37. essages Steady RED 2 Warning Monitoring task failure further describing the Blinking 3 Progress Lengthy operation in progress current camera status GREEN Steady GREEN 4 OK Healthy 3 12 Rebooting the Camera The command rc reboots the camera The camera starts up with the last saved settings 3 13 Setting the Pre trigger A pre trigger may be required for some frame grabbers To set the pre trigger use the command Syntax sp i Syntax Elements i Pretrigger value from 0 to 15 Example sp 10 3 14 Setting the Video Mode and Generating Test Patterns To set the video mode use the command Syntax svm i Syntax Elements i Video mode to use Notes e table below for mode descriptions DALSA 03 32 10096 03 34 DALSA Preliminary Pantera TF 11M and 6M User s Manual Table 11 Pantera FF 11M and 6M Video Modes Mode 0 WON HM CoN Ov 10 11 12 13 14 15 Description Example Image Normal operating mode A Test pattern left side Test pattern right side Test pattern both sides Flip image left side Flip image left side Test pattern left side Flip image left side Test pattern right side Flip image left side Test pattern both sides Flip image right side Flip image right side Test pattern left side Flip image right side Test pattern right side Flip image right side Test pattern both sides Flip image both sides Flip image b
38. exposure Allowable range is 0 to 65 milliseconds in 001 millisecond steps The sensor requires that the charge reset is always a minimum of 1ms for opening times of 1ms or less If the opening time is set to zero the shutter control signal goes active at the start of the exposure and does not include sensor s 1ms charge reset time f Shutter closing time after exposure To prevent smearing the camera will wait the specified closing control time before starting readout Notes sensor continues to collect charge while the shutter is closing e For short exposures the shutter closing time should be included when calculating the desired exposure time Related Commands scp Example sct 1 34 3 5 Figure 17 Shutter Control Timing Extended Charge Reset T Camera ExposureTime Readout Readout delayed to prevent smearing Shutter Strobe Signa Shutter Opening Shutter Closing Time Time DALSA 03 32 10096 03 30 Preliminary Pantera TF 11M and 6M User s Manual Strobe Control The sep command provides a signal to control an external light source The control signal is only active during the exposure time of the camera This command controls rather the strobe control is to be on continuously or pulsed during this period The sep command also can be used to disable the control output for dark imaging To control the strobe signal use the command Syntax scp f f Syntax Elements f Strobe signa
39. gh time gt Pulse low time Set by command scp f DALSA 03 32 10096 03 Pantera TF 11M and 6M User s Manual Preliminary 3l 3 9 Setting Gains Optimizing gain in the analog domain allows you to achieve a better signal to noise ratio dynamic range than you would achieve by trying to optimize the gain in the digital domain As a result perform all analog gain adjustments ssg command prior to any digital gain adjustments gm command Setting Analog Gain for Tap to Tap Matching The set system gain command allows you to adjust the analog gain in both the left and right channels for precise control over tap to tap matching To set the digital gain use the command Syntax ssg ii Syntax Elements i Tap value Either 1 for the left tap or 2 for the right tap 0 4095 0 corresponds to low gain 4095 corresponds to high gain Related Commands gm Example ssg 1 4000 Gain Mode Digital Gain To set the digital gain mode use the command Syntax gm i Syntax Elements i 0 1x Output Gain Mode Factory setting 1 2x Output Gain Mode 2 4x Output Gain Mode Notes e This command is not available when operating the camera in 14 bit mode Related Commands ssg Example gm 2 DALSA 03 32 10096 03 32 Preliminary Pantera TF 11M and 6M User s Manual 3 10 Increasing Sensitivity with Binning Binning increases the camera s light sensitivity by decreasing horizontal and vertical resolution the charge collected by
40. ignal using the software commands sct and scp Refer to section 3 8 Controlling the Camera s Shutter and Strobe for details The direct trigger input has the same function as the CC1 control signal on the Camera Link interface The specific function of this trigger depends on the camera s operating mode but is similar to EXSYNC signal described in section 2 2 2 A mating connector and cable for this interface is available from DigiKey PN 167 1009 ND 1 meter length 03 32 10096 03 Pantera TF 11M and 6M User s Manual Preliminary 21 This chapter outlines the more commonly used commands See Appendix B 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 This chapter explains the most commonly used and important commands including e Saving and restoring settings described on page 23 Setting the output mode described on page 23 e Setting the exposure mode and frame rate described on page 25 Setting gain described on page 29 The serial interface uses a simple ASCII based protocol For a complete list of all available commands refer to the Communications Protocol on page 59 For quick help the camera can return all available commands and parameters through the serial interface To generate this list send the command h t
41. ip The main characteristics of the Base Configuration are e Ports supported A B C Serializer bit width 28 Number of chips 1 Number of MDR26 connectors 1 DALSA 03 32 10096 03 Pantera TF 11M and 6M User s Manual Preliminary 17 Data Connector Figure 11 MDR26 Connector MDR26 Female 13 Mating Part 3M 334 31 series Cable 3M 14 26 571 01 Table 3 MDR26 Connector Reference 26 14 Item Value Item Value Pinout BASE Pinout BASE 1 GND 14 GND 2 X0 15 X0 3 X1 16 X1 4 X2 17 X2 5 Xclk 18 Xclk 6 X3 19 X3 7 SERTC 20 SERTC 8 SERTFG 21 SERTFG 9 1 22 CC1 10 CC2 23 CC2 11 CC3 24 CC3 12 CC4 25 CC4 13 GND 26 GND Notes Exterior Overshield is connected to the shells of the connectors on both ends 3M part 14X26 SZLB XXX 0LC is a complete cable assembly including connectors Unused pairs should be terminated in 100 ohms at both ends of the cable Table 4 DALSA Camera Control Configuration Signal Configuration CCl EXSYNC CC2 Spare CC3 Spare CC4 Spare Digital Data The camera digitizes internally to 14 bits and has a user selectable output of 8 10 12 or 14 bits in LVDS format on the Camera Link connector You can select the output using the oms command For details see section 3 5 Setting the Data Mode DALSA 03 32 10096 03 This camera s data should be sampled on the rising edge of STROBE DALSA Preliminary
42. l ON time Specifies the time in milliseconds for the strobe pulse to remain high or on The strobe control output begins at the same time as the exposure time unless modified by the sct command Allowable range is 0 to 65 milliseconds in 001ms steps f Strobe signal OFF time Specifies the time in milliseconds that the pulse is low or off Allowable range is 0 to 65 milliseconds in 001ms steps Setting the low to zero makes the signal active high during the entire exposure time regardless of the on time setting Notes To force the strobe signal to be continuously low off set the ON time to zero and the OFF time to a number greater than zero e keep the strobe signal continuously active high during the exposure time set the OFF time to 0 This will work even if the ON time is 0 So for example the command default of sep 0 0 gives the continuous high during the exposure state e Ifthe total time of the ON time and the OFF is shorter than the integration time the pulse will keep repeating The pulse will terminate to the low off condition at the end of the exposure time regardless of where it is in the cycle e Shutter control is normally not used when using strobe control Ensure that the shutter control is turned off sct 0 0 when using strobe control Related Commands sct Example scp 0 4 0 6 Figure 18 Strobe Signal Timing with Pulse Control Camera ExposureTime Strobe Signal Pulse hi
43. m please attach description with as encountered much detail as appropriate 49 In addition to your local DALSA representative you may need to call DALSA Technical Sales Support North America Europe Asia Voice 519 886 6000 49 8142 46770 519 886 6000 Fax 519 886 8023 49 8142 467746 519 886 8023 03 32 10096 03 50 DALSA Preliminary Pantera TF and 6M User s Manual 03 32 10096 03 Pantera TF 11M and 6M User s Manual Preliminary 5 DALSA Appendix A Camera Link Reference Timing and Configuration Table Camera Link is a communication interface for vision applications It provides a connectivity standard between cameras and frame grabbers LVDS Technical Description Low Voltage Differential Signaling LVDS is a high speed low power general purpose interface standard The standard known as ANSI TIA EIA 644 was approved in March 1996 LVDS uses differential signaling with a nominal signal swing of 350mV differential The low signal swing decreases rise and fall times to achieve a theoretical maximum transmission rate of 1 923 Gbps into a loss less medium The low signal swing also means that the standard is not dependent on a particular supply voltage LVDS uses current mode drivers which limit power consumption The differential signals are immune to 1 V common volt noise Camera Signal Requirements This section provides definitions for the signals used in the Camera Link interface The sta
44. mera can generate a test pattern to aid in system debugging Use the command svm i to activate the test pattern see section 3 14 Setting the Video Mode and Generating Test Patterns for details The test pattern is a ramp from 1 to the number of pixels in the line then starts at 1 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 e Test pattern successful Run the svm 0 command to deactivate video correction Verify Temperature To check the camera s internal temperature use the vt command If it is within the proper range the camera returns OK Otherwise the camera returns an error message 03 32 10096 03 Pantera TF 11M and 6M User s Manual Preliminary 47 LED Status Located on the back of the camera is a red green LED used to display the operational status of the camera Red lights indicate errors or warnings and green lights indicate progress and OKs Error and warning states are accompanied by corresponding messages further describing current camera status See section 2 2 1 LED Status Indicator for the complete LED information 6 3 Specific Solutions DALSA No Output or Erratic Behavior If your camera provides no output or behaves erratically it m
45. ndard Camera Link cable provides camera control signals serial communication and video data Video Data The Channel Link technology is integral to the transmission of video data Image data and image enable signals are transmitted on the Channel Link bus Four enable signals are defined as FVAL Frame Valid FVAL is defined HIGH for valid lines e LVAL Line Valid LVAL is defined HIGH for valid pixels DVAL Data Valid DVAL is defined HIGH when data is valid Spare A spare has been defined for future use All four enable signals must be provided by the camera on each Channel Link chip unused data bits must be tied to a known value by the camera For more information on image data bit allocations refer to the official Camera Link specification on the http v m dalsa com Web site 03 32 10096 03 52 DALSA Preliminary Pantera TF 11M and 6M User s Manual Camera Control Signals Four LVDS pairs are reserved for general purpose camera control They are defined as camera inputs and frame grabber outputs Camera manufacturers can define these signals to meet their needs for a particular product The signals are Camera Control 1 CC1 Camera Control 2 CC2 Camera Control 3 CC3 CC4 Camera Control 4 CC4 Communication Two LVDS pairs have been allocated for asynchronous serial communication to and from the camera and frame grabber Cameras and frame grabbers should support at l
46. nterface and power cables After connecting cables apply power to the camera After a few seconds the LED on the back of the camera should be green to indicate that the camera is operating and ready to receive commands 2 2 Input Output Connectors and LED The camera uses a Diagnostic LED for monitoring the camera See LED Status Indicator section below for details High density 26 pin MDR26 connector for Camera Link control signals data signals and serial communications Refer to Figure 11 MDR26 Connector for pin descriptions DALSA 03 32 10096 03 16 Preliminary Pantera TF 11M and 6M User s Manual e 5 MiniUSB type connector for shutter control and direct trigger Refer to page 19 for pin descriptions e 6 pin Hirose connector for power Refer to page 18 for pin descriptions Figure 10 Camera Inputs Outputs Control i een tine Diagnostic LED auci a Camera Link 12 to 24V DC and Ground 2 2 1 LED Status Indicator Table 2 Status LED Color of Status LED Meaning Flashing Green Camera Initialization Solid Green Camera Ready Flashing Red Fatal Error Solid Red Warning such as firmware did not load or voltage out of limit 2 2 2 Camera Link Data Connector The Camera Link interface is implemented as a Base Configuration in the Pantera TF 11M and 6M cameras A Base Configuration uses 1 MDR26 connector and 1 Channel Link ch
47. o the camera Retrieving Camera Settings To read current camera settings send the command gep 3 1 Communications Protocol Overview DALSA Serial Protocol Defaults e 8 data bits e 1stopbit e No parity e No flow control 03 32 10096 03 22 Preliminary Pantera TF and 6M User s Manual 9 6Kbps Camera does not echo characters When entering commands remember that A carriage return CR ends each command The linefeed character is ignored The camera will answer each command with either OK gt or Error x Error Message gt The gt is always the last character sent by the camera The following parameters are used throughout the manual i integer f float t tap optional parameter 3 2 Overview Setting up the Camera to Send Commands The following steps describe how to begin using the Pantera TF 11M4 and 6M8 commands DALSA 1 If you have not already set up your camera cables connect your cables as described in section 2 1 Installation Overview Using a terminal program e g Microsoft HyperTerminal open a terminal window Note In order to communicate with the camera a serial connection in the Camera Link cable needs to be established The framegrabber manufacturers should be able to provide a solution in order to communicate through this serial link The terminal software can be also provided by the framegrabber manufacturer Standard terminal software such as Hyper
48. oth sides Test pattern left side Flip image both sides Test pattern right side Flip image both sides Test pattern both sides 03 32 10096 03 Pantera TF 11M and 6M User s Manual Preliminary 35 Test Patterns Figure 20 8 Bit Test Pattern One Output Figure 21 10 Bit Test Pattern One Output DALSA 03 32 10096 03 36 Preliminary Pantera and 6M User s Manual Figure 22 12 or 14 Bit Test Pattern One Output Figure 23 8 Bit Test Pattern Two Outputs DALSA 03 32 10096 03 Pantera TF 11M and 6M User s Manual Preliminary 37 Figure 24 10 Bit Test Pattern Two Outputs Figure 25 12 or 14 Bit Test Pattern Two Outputs DALSA 03 32 10096 03 38 Preliminary Pantera TF and 6M User s Manual DALSA 03 32 10096 03 Pantera TF 11M and 6M User s Manual Preliminary 39 Optical and Mechanical Considerations 4 1 Mechanical Interface Figure 26 Mechanical Drawing 46 97 661 1 4 20 x 5mm DEEP OL Tu M72 x 75 x 28 DEEP MAGE CENTER 46 50 30 4740 ROTATION WRT OPTICAL M4 x 7 x 6 DEEP CAMERA EDGE DISTANCE 313 gt 6 78 2x BOTH SIDES IS 6 MAX CONIRC DATA i ji 50 80 L el j 40 97 40 21 57 2 2 ES H WT 85 1 93 9 OPTICAL CONNECTOR DISTANCE F MOUNT CONFIGURATION 12 13 30 OPTICAL DISTANCE 50 72 at CI 17 8
49. output must be used to control an external shutter or strobe light Without any shuttering the effects of image smearing can be reduced by setting the exposure time much longer than the readout time i e 1 or 2 seconds Figure 16 Mode 8 Timing Frame Period Exposure Time Readout Exposure Time 3 7 3 Step 2 Setting Exposure Time Setting Exposure Time Camera must be operating in exposure mode 8 or mode 6 To set the camera exposure time use the command Syntax set f Syntax Elements f Floating point number in milliseconds Allowable range is 001 16000 000 milliseconds Notes To read the current line rate frequency use the command Ifyou enter an invalid exposure time the valid range of values will be displayed Related Commands sem ssf Example set 5500 3 DALSA 03 32 10096 03 Pantera TF 11M and 6M User s Manual Preliminary 29 3 8 Controlling the Camera s Shutter and Strobe The camera has a TTL compatible signal for controlling an external shutter or strobe light A connector and signal description is available in section 2 2 4 Shutter Control Connector Shutter Control The sct command controls the signal that opens and closes the shutter To control the shutter timing use the command Syntax sct f f Syntax Elements f Shutter opening time before exposure The camera will be held in charge reset during this time to allow the shutter to open prior to
50. p e Tap 1 m 2 Figure 8 Pantera TF 6M Dark Offset vs Camera Front Plate Temperature 59 57 55 53 Dark Offset 51 49 47 e Tap 1 m Tap2 DALSA 03 32 10096 03 DALSA Figure 9 Pantera TF 6M FPN vs Camera Front Plate Temperature Preliminary Pantera TF 11M and 6M User s Manual FPN 12 10 e Tap 1 mg 2 Temp 03 32 10096 03 Pantera TF 11M and 6M User s Manual Preliminary Camera Hardware Interface 2 1 Installation Overview This installation overview assumes you have not installed any system components yet 2 1 In order to set up your camera you should take these initial steps Power down all equipment Following the manufacturer s instructions install the framegrabber if applicable Be sure to observe all static precautions Install any necessary imaging software 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 The Camera Performance Specifications on page 7 list appropriate voltages Power supplies must meet the requirements defined in section 2 4 Power Input Inspect all cables and connectors prior to installation Do not use damaged cables or connectors or the camera may be damaged Connect data serial i
51. remely low seam mismatch between taps if you are using the two tap model e High sensitivity with low dark current e Progressive scan readout e Exposure control and antiblooming e Asynchronous image capture externally triggerable to tap matching e 100 fill factor Single 12VDC to 24VDC power supply Multiple triggering options Up to 4x4 binning 03 32 10096 03 6 Preliminary Pantera TF 11M and 6M User s Manual Programmability e Simple ASCII protocol controls gain offset frame rates trigger mode test pattern output up to 4x4 binning and camera diagnostics e Serial interface ASCII 9600 baud adjustable to 19200 57600 115200 through Camera Link Description The Pantera TF 11M and 6M digital cameras provide high sensitivity 14 bit images with a 4008 x 2672 output 4032 x 2672 or 3076 x 2048 spatial resolution respectively The cameras use DALSA s full frame FTF4027M and FTF3020M CCDs to simultaneously achieve outstanding resolution and gray scale characteristics A square pixel format and high fill factor provide superior quantifiable image quality even at low light levels Applications The Pantera TF 11M and 6M are outstanding performers in fast very high resolution applications 14 bit performance provides up to 8192 distinct gray levels perfect for applications with large interscene light variations The low noise digitized video signal also makes the camera an excellent choice where
52. t 6 The falling edge of EXSYNC initiates camera exposure For more information on camera exposure modes including timing diagrams refer to section 3 7 Setting Frame Rate Exposure Time and Exposure Mode on page 25 NOTE EXSYNC should not be clocked faster than the camera s specified maximum frame rate The camera ignores the EXSYNC pulse until it has completed reading the last line out 03 32 10096 03 Pantera TF 11M and 6M User s Manual Preliminary 19 DALSA 2 2 3 Power Connector Hirose 6 pin Circular Male 6 3 4 Mating Part HIRO SE HRIOA 7P 6S Pin Description Pin Description 1 12 to 24V 4 GND 2 12V to 24V 5 GND 9 12V to 24V 6 GND The camera requires a single voltage input 12VDC to 24VDC The camera meets all performance specifications using standard switching power supplies although well regulated linear supplies provide optimum performance When setting up the camera s power supplies follow these guidelines Protect the camera with a fast blow fuse between power supply and camera Do not use the shield on a multi conductor cable for ground Keep leads as short as possible to reduce voltage drop Use high quality linear supplies to minimize noise Note Performance specifications are not guaranteed if your power supply does not meet these requirements WARNING It is extremely important that you apply the appropriate voltages to your camera Incorrect voltages will damage the
53. tern Right side 15 Flip image Both sides Test pattern Both sides Write all of the user settings to EEPROM Displays the temperature of the digitizer board and the sensor board Condition lt 0 C or gt 85 C will produce an error condition 03 32 10096 03 62 Preliminary Pantera TF 11M and 6M User s Manual DALSA 03 32 10096 03 Pantera TF 11M and 6M User s Manual Preliminary 63 DALSA Appendix C EMC Declaration of Conformity We DALSA 605 McMurray Rd Waterloo ON CANADA N2V 2E9 declare under sole responsibility that the product s PT 2x 11M4 2 06 8 fulfill s the requirements of the standard s EMC EN 61326 EN 5011 CLASS A EN 61000 3 2 EN 61000 3 3 EN 61000 4 2 EN 61000 4 3 EN 61000 4 4 EN 61000 4 5 EN 61000 4 6 EN 61000 4 11 This product complies with the requirements of the Low Voltage Directive 73 23 EEC and the EMC Directive 89 336 EEC and carries the CE mark accordingly Place of Issue Waterloo ON CANADA Date of Issue March 2005 Name and Signature of Hank Helmond authorized person Quality Manager DALSA Corp This Declaration corresponds to EN 45 014 03 32 10096 03 64 Preliminary Pantera TF 11M and 6M User s Manual DALSA 03 32 10096 03 Pantera TF 11M and 6M User s Manual DALSA Preliminary 65 Appendix D Revision History Revision Number 00 01 02 03 Change Description Preliminary release On page 8 sensor alignment updated
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