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TR-33 TR-34 TR-35 Trillium Rhino User's Manual

1. 8 1 4 6CD Gam ra Primer dede eii ed egre 11 1 4 CCD Camera Primer essent nnne tnn 11 2 0 Camera Hardware Interface 13 2 1 Interface Overview eene nnne nennen nnne 13 2 2 Connectors Pinouts and Cables 14 2 3 Power Supplles s za tata astu pes 16 2 4 Control Signal lfipUtS u u a L L A LD R SSS usu I usss 16 2 5 HS232 lnputs ss a 18 2 6 Pushbutton aa oe e REESE 1 18 2 7 Iris Control Outp 1S uu u ee es sheet 18 2 8 Data naran inie RI 18 2 9 11001 RAS ERNI ON 19 2 10 LED Status Codes esee 20 3 0 Software Interface How to Control the Camera 21 3 1 OVEVIEW teet E SR A 21 oes 21 9 2 Sfatt pz oti iU bo b aa 22 3 3 Status and Error ERE rr ret 22 3 4 Setting Line Rate EXSYNOC neret 23 3 5 Setting Exposure Duty Cycle a 24 3 6 Controlling Channels Separately en 24 3 7 Setting GAS cia dde eee ned epe erbe depende ates 24 3 8 Calibrating the Camera sese ne nennen 25 3 9 Adjusting Color Balance err 29 3 19 Usingthe Pushbu ttonh cee es ene re Er eC RE
2. 03 32 10119 03 e If the device ID is present only cameras with the same character ID will respond to the command IDs from 0 to 9 and from A to Z e All of cameras will ship with a default ID of 0 When the camera responds in multi drop mode it will send the ID of the camera with the response For example when sending a command to camera 2 the camera will respond 2 Ok gt e In multi drop mode a global command can be sent by including the but omitting the camera ID cameras will process the command but will not respond For example to begin a camera calibration for all cameras at once enter cc 1 None of the cameras will respond The query busy command can then be used to determine when the calibration has been completed Acamera s ID can be programmed while in the network by using the set camera id global command For example to set the ID to 8 use the command set camera id 8 DALSA Trillium User s Manual 55 C5 Examples Example to set the gain for all channels to 1 set_gain 1 1 1 or sg 1 1 1 Example to return the model number of camera 1 1 get camera model or 1 gcm Example to begin a camera calibration white light correction correction_set_sample 64 correction_calibrate 2 or css 64 cc 2 C6 Error Handling The camera will send Ok gt to an empty message i e just a CR This simulates a command prompt e non query functions return Ok gt u
3. Since each channel has an independent balance the color balance target parameter can be adjusted to suit the application This allows manual control of color balance and gain level The factory default balance target is 94 for all channels This means that the white light calibration algorithm will ensure that for the white reference the resulting image will have all pixels set to 94 of saturation 240DN after removing random noise Note Color balance targets must be set before performing a white light calibration The color balance can be changed by modifying the balance target for one or more channels For instance to emphasize red in an image you could use the following balance targets Red 94 Green 90 correction_set_balance 94 90 90 Blue 90 This will increase the red response of the camera The balance targets can also be changed to adjust the gain of the camera By setting all of the balance targets a value lower than 94 the analog and or digital gains in the camera will be reduced By controlling the iris when calibrating it is possible to balance the camera and increase or decrease the camera s gains by performing a white light calibration The range for correction set balance parameters is 50 150 Values greater than 10076 are useful if the white reference used is brighter than the white levels in the object to be imaged In this case values greater than 100 can bring objects white levels up to s
4. r 7 2 az e e re lt 4 E On rt x 080 eA 020206 gt 000606 x n 5660600 nr 5660600 o g000000000060260 8 7 gt 2 a an on 2 3 Sora P ol we gt cot 2 2 lt Onn 2 Oa E lt MX i8 z E u Ws o e gt i EN 2 0900 x 900900090000 0 00 p 0000000000 0 09 00 u Pe oo o ocococococooso TTT wu gt 4 5 gt gt E ot s et N kacma 6 N on TE af DEM a N SN 2 lt og 40000000000000600 gt Bano 06000600P P ansananannanansno 06 T te o o c 4 2 a n TEELE DD 2 ES 25 of S 25 Ec 4 FAR us N ri DALSA 03 32 10119 03 40 Trillium User s Manual Mounting The camera includes a mounting plate that can be attached to any of the camera s four long sides This plate allows interfacing to other mounting structures Note Installation of camera mount requires prior removal of the two existing screws before these two screws will
5. each channel e 146 pixels wide for each color bar for 1k 292 pixels wide for each color for 2k e Color sequence is red green blue yellow magenta cyan white Color ramp e Output levels toggle between 0 and 255 on each channel e 4ramp sequences for 1k cameras 8 ramps for 2k e Color sequence is red green blue repeat Once initiated test patterns continue until you turn them off 03 32 10119 03 DALSA Trillium User s Manual 33 These commands control test patterns Command Action test_set_pattern number Selects the pattern test_start Start the test pattern output test_halt Stop the test pattern output and return to normal operation 3 12 Returning Video Information through the Serial Port DALSA The camera s microcontroller has the ability to read corrected or uncorrected video from the CCD sensor This functionality can be used to verify camera operation and to perform basic testing without having to connect the camera to a frame grabber This video information can be sampled through the serial port by issuing the following command get_line channel sample size Sample size indicates the number of lines to average note that the camera returns only one line but that line is the average of the sample size This command will return the pixel values for one channel Each value is represented as an integer from 0 to 255 Generating Statistics It is also possible to get some simple statis
6. CCE by the IL P3 sensors may result in large dark offsets caused by the amplification of temperature generated dark signal integrated over long periods This effect has an impact on the ability of the camera to correctly calibrate itself See Appendix E for further information on the de rating curve Note The de rating curve applies only to applications requiring long integration times not necessarily low line rates For example a web inspection application where line rates may vary considerably but integration time is limited to a short duration will not experience a dark offset issue 4 2 Optical Interface For more information on lenses and chromatic aberration see DALSA s Correcting Chromatic Aberration application note doc 03 32 00363 03 32 10119 03 Lenses For 1k resolutions images may be obtained with high quality F mount lenses e g Nikon NIKKOR 55mm At present DALSA cannot recommend commercial lenses for 2k resolutions DALSA Trillium User s Manual 43 Illumination The amount and wavelengths of light required to capture useful images depend on the particular application Factors include the nature speed and spectral characteristics of objects being imaged exposure times light source characteristics environmental and acquisition system specifics and more It is often more important to consider exposure than illumination The total amount of energy which is related to the total
7. Desired Levels 2 Actual Levels for each Channel 6 Re calibrate the camera The desired levels for each channel should now be met when imaging the white present in the media Saving your Settings After you have completed the calibration you can save these settings in the camera s non volatile memory in order to retain them after a power down up cycle To save your settings send the command write_settings 03 32 10119 03 68 Trillium User s Manual 03 32 10119 03 DALSA Trillium User s Manual 69 TRILLIUM USER S MANUAL Appendix E Dark Offset De rating Curve D1 Overview At high temperatures and low line rates the increase in CCE by the IL P3 sensor results in large dark offsets caused by the amplification of temperature generated dark signal integrated over long periods This effect has an impact on the ability of the Trillium camera to correctly calibrate itself The plots below detail the offset characteristics and associated limits for successful calibration The first plot shows the limit for cc3 being able to calibrate the camera without a dark reference and meet the calibration accuracy specifications Blue Channel Int egr ation Time Pl ots of Offset vsTem per ature 204 2 A e 3333us ec 15 m 2000usec k 4 1000usec 10 4 I _ ee Shouse a g 5 E 250usec 143usec 9 j 90 9u ec 0 10 20 30 40 5
8. McMurray Rd Waterloo ON CANADA N2V 2E9 declare under sole responsibility that the product s TR 36 xxxxW all models TR 37 xxxxW all models TR 38 xxxxW all models fulfill s the requirements of the standard s FCC Part 15 ICES 003 EN 55022 1998 EN 55024 1998 EN 61000 6 1 2001 This product complies with the requirements of the Low Voltage Directive 73 23 and the EMC Directive 89 336 EEC and carries the CE mark accordingly Place of Issue Waterloo ON CANADA Date of Issue 18 February 2005 Hank Helmond Name and Signature Quality Manager DALSA Corp of authorized person This Declaration corresponds to EN 45 014 03 32 10119 03 52 Trillium User s Manual 03 32 10119 03 DALSA Trillium User s Manual 53 TRILLIUM USER S MANUAL Appendix C Communications Protocol C1 Protocol Overview This protocol defines the complete method used to control the camera via RS232 serial interface The communication protocol defines the command format used as well as the checksum and error handling methods used C2 Protocol Features e ASCII based e Checksum is optional If it is provided then the camera s microprocessor will verify it and only proceed if no error occurs e Multi drop communications Multiple baud rates e No autobaud camera will not respond if the wrong baud rate is chosen Camera Serial Port Defaults e 8 data bits 1 stop bit No parity e No flow contro
9. camera can return all available commands and parameters reference through the serial interface To generate this list send the command help or to including the camera command shortcuts for the camera s serial interface Serial Protocol Defaults 8 data bits 1 stop bit No parity No flow control 38 4Kbps Camera does not echo characters DALSA 03 32 10119 03 22 Trillium User s Manual 3 2 Startup When the camera is first started it must perform several actions before it is ready for imaging This startup routine takes less than 10 seconds and follows this sequence 1 Initializes the camera and all internal hardware 2 Loads the last settings saved to non volatile memory including the last set of video correction coefficients 3 Sets the iris to the last saved position 4 Performs a memory test voltage test hardware test and temperature test and reports an error if any occurred During startup the seven segment on the camera backplate display shows a P for processing After this startup sequence is complete the camera display will show either a 0 if no error occurred or an error code if a problem has been discovered 3 3 Status and Error Codes 03 32 10119 03 The 7 segment display on the camera backplate shows status and error codes If any errors occur in the camera including communications errors the camera will also send the error code and its message to the host system t
10. ie 30 DALSA 03 32 10119 03 Trillium User s Manual 03 32 10119 03 3 11 Generating Test 32 3 12 Returning Video Information through the Serial Port 33 3 13 Gantrolling the lris Ep etta 34 3 14 Monitoring the 35 4 0 Optical and Mechanical Considerations 37 4 1 Mechanical 37 4 2 Optical Interface as aaa er ar na 42 4 3 EMG Operation se labanki kb 43 5 0 Troubleshooting 45 51 DiaQnOStic TO0 Su u 2 tec n tie 45 5 2 Product SUPPOMt RS 46 Appendix A EIA 644 Reference 47 Appendix B EMC Declaration of Conformity 51 Appendix C Communications Protocol 53 G1 Protocol Overview s s u an Hee eM eR REY 53 C2 Protocol 2 2 rn 53 C3 Gommand FOtimal ere efe ar He ER a irre 53 C4 Multi drop Mode nennen eene nennen 54 CS Examples die ete 55 C6 Error Handling etat att t 55 C7ECOMMANGS Tu Q L SQ E e SL eat Pe el tad els 57 Appendix D Setting Up Your Camera 61 D1 Overview tn leet ei Ale Adee i 61 D2 Checking the Integrity of the Camera se 61 D3 Determining Appropriate 63 D4 Calibrating the a 65 OVERVIOW Pe 69 Appe
11. if no error occurs 3 After the calibration is complete you can save these settings to non volatile memory so they will be remembered after power down To do so issue the command write_settings White Light Calibration White light calibration is more complex than dark calibration because the camera attempts to create a flat white image This calibration corrects PRNU effects as well as non uniform lighting and lens vignetting affects White light calibration requires a clean white reference The quality of this reference is important for proper calibration White paper is often not sufficient because the grain in the white paper will distort the correction A more uniform source such as white plastic will lead to better balancing The factory default balance target is 94 for all channels This means that the white light calibration algorithm will ensure that for the white reference the resulting image will have all pixels set to 94 of saturation 240DN after removing random noise Balance targets can also be set independently for each channel See page 29 There are several restrictions that must be met in order for the calibration to succeed Our testing has shown that these criteria can be easily met with a halogen bulb light source one bulb for 1k resolution two for 2k and a fiber optic light pipe 1 At high gain settings the camera is sufficiently sensitive to detect 60 Hz ambient light flicker which may affect camera pe
12. 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 01 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 Fox 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 01 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 0014 Tel 519 886 6000 Tel 719 599 7700 Tel 4 49 8142 46770 Japan Fax 519 886 8023 Fax 719 599 7775 Fax 49 8142 467746 813 5960 6353 phone www dalsa com www dalsa com www dalsa com 81 3 5960 6354 fax sales americas dalsa com sales americas dalsa com sales europe dalsa com www dalsa com sales asia dalsa com DALSA Trillium User s Manual 3 Contents 1 0 Introduction to the Trillium 5 1 1 Camera Highlights 22855454 Ee eie ent ee ba 5 1 2 Image Sefsors ida d aaa 7 1 3 Camera Performance
13. number of photons reaching the sensor is more important than the rate at which it arrives For example 5uJ cm2 can be achieved by exposing 5mW cm for 1ms just the same as exposing intensity of 5W cm for 1us Light Sources Keep these guidelines in mind when setting up your light source e Halogen light sources generally provide very little blue relative to IR e Fiber optic light distribution systems generally transmit very little blue relative to IR Some light sources age over their lifespan they produce less light This aging may not be uniform a light source may produce progressively less light in some areas of the spectrum but not others The camera s calibration process can compensate for this degradation assuming there is still sufficient blue light Filters CCD cameras can be extremely responsive to infrared IR wavelengths of light To prevent infrared from distorting the images you scan the camera uses a hot mirror or IR cutoff filter that transmits visible wavelengths but does not transmit wavelengths over 700um Depending on your application additional filters may be justified 4 3 EMC Operation DALSA The Trillium has been designed for EMC compliance including the supplied cables Follow these specific guidelines to maximize compliance in your application Keep all cables as short as possible e All cables must have 95 coverage shields that include braided wire Metallic foil shields are in
14. returns the current gains of the camera Set the calibration balance target for all channels as a of full scale The values for each channel are independent Write the correction coefficients for a specific pixel Write the correction coefficients for a specific pixel Set the number of lines to average for the calibration Get the camera ID Read the camera model number Read all of the camera parameters Note Sequence of camera parameters may change as new functionality is added to the camera When possible use commands specific to the information you want to retrieve Read the camera serial number Read the firmware version and FPGA version Get a scan line averaged over x lines 03 32 10119 03 58 Command get_line_noise get_line_statistics help increment_aperture increment_sync_duty increment sync frequency optimize vpr reset camera restore factory settings restore settings set aperture set baud rate set camera id set gain set pretrigger set sync duty set sync frequency set sync mode 03 32 10119 03 Short Form gin gls isd isf ovp rc rfs rs sa sbr sci Sg sp ssd ssf ssm Parameters Channel Sample size Channel Sample size Value Value Value Value Value Rate Serial number ID Red value Green value Blue value Pretrigger Duty cycle Exsync rate mode Trillium User s Manual Description Get
15. 0 M cc Limit C Integration Time De rating Plots for the cc3 Calibration Mode Typical Gains Set to 2 DALSA 03 32 10119 03 70 Trillium User s Manual The second plot shows the limits for cc1 cc2 being able to calibrate the camera The exposure time temperature range for cc1 cc2 is greater than cc3 However caution must be taken when calibrating at the lower line rates as the effects of temperature drift will become greater Plots for the blue channel only are shown as the red green channel offsets are lower due to their gain in the analog signal processing chain being only 60 of the blue channel Blue Channel Int egrationTime Plots of Offset F PN 2 vsTem perature 80 70 3333usec y 60 2000usec 5 50 2 _ 1000usec 40 L z 30 500usec 20 250usec 10 143usec 0 90 9usec 9 10 E 30 0 a cc 1 cc2 Limit Temp C Integration Time De Rating Plots for the cc1 cc2 Calibration Mode Typical Gains Set to 2 Note The de rating curves are specified in integration time Thus low line rates can be used if the integration time is not exceeded 03 32 10119 03 DALSA Trillium User s Manual 71 Appendix F Revision History Revision Description 00 Manual release 01 Removed section 3 10 Increasing Sensitivity with Binning and removed the binning command from s
16. 1 is Red e Channel 2 is Green e Channel 3 is Blue 3 7 Setting Gains Although the camera sets gains automatically during calibration the camera also allows independent manual control of the gain for each color channel In this situation the output will not be calibrated To set gains manually use the set gain command and specify each channel s gain setting Note you must always specify parameters for each channel The gain ranges are 1 15 98 floating point numbers For example to set Red gain to 4 Green Gain to 3 and Blue gain to 7 5 set gain 4 3 7 5 03 32 10119 03 DALSA Trillium User s Manual 25 3 8 Calibrating the Camera For more detail on this camera s calibration and correction algorithms see DALSA s Trillium TR 31 Calibration application note doc 03 32 00366 DALSA Calibration Overview This camera has the ability to calibrate itself in order to improve the color balance and image flatness This video correction operates on a pixel by pixel basis and implements a two point correction for each pixel This correction can reduce or eliminate image distortion caused by the following factors e Fixed Pattern Noise FPN e Photo Response Non Uniformity PRNU Color imbalance e Lens and light source non uniformity This video correction can also be used to adjust the gains of the camera and to configure the color balance as required The two point correction is implemented su
17. 32 LI O Lens Aperture Control LY A A t 1 1 1 t Power Analog Analog Analog CCD OP CCD OP CCD OP External DC Input Sensor Control RO 9 Sensor Sensor Sensor EXSYNC PR Driver Driver Driver Board Board Board 03 32 10119 03 DALSA Trillium User s Manual 11 1 4 CCD Camera Primer For more background and detail on how beamsplitter cameras work see DALSA s Common Optical Axis Cameras application note doc 03 32 00364 DALSA How CCD Image Sensors Work In a camera such as the Trillium CCD image sensor converts photons light into electrons charge When photons hit an image sensor the sensor accumulates electrons This is called charge integration The brighter your light source the more photons available for the sensor to integrate and the smaller the amount of time required to collect a given amount of light energy The way photosensitive elements pixels on CCD image sensors collect charge has often been compared to wells or buckets filling with water From this analogy comes the term full well capacity meaning the maximum charge number of electrons a pixel well can hold without spilling charge onto adjacent pixels Photons Full well capacity CCD pixel bucket Collected charge As an image sweeps over a line of pixels the pixels collect charge At certain intervals the sensor transfers its collected charge to one or
18. 5 full well capacity 13 G gains 28 generating statistics 35 generating test patterns 34 H halogen light sources 45 help 23 hot mirror 45 how CCD image sensors work 13 IL CC image sensor 8 Illumination 45 determining 65 Input Output 15 inputs control signals 18 integration 13 interface mechanical 39 software 23 Introduction to the TR 31 6 iris control 36 Iris Control 20 03 32 10119 03 74 L lenses 44 level mode 19 light sources 45 line rate 25 Logic HIGH and LOW 49 LVAL 21 LVDS 18 mechanical interface 39 mounting 42 N noise levels determining 66 O offset optimizing 26 optical interface 44 performance specifications 8 9 photosensitive elements pixels 13 pinouts 16 power supplies 18 64 PRIN 19 product support 48 programmable exposure mode 19 programming User inputs 32 pushbutton 32 Pushbutton 20 03 32 10119 03 Trillium User s Manual R returning calibration results and errors 30 5 serial interface 23 serial port 35 setting line rate 25 startup 24 statistics 35 status codes 24 STROBE 20 T Technical Sales Support 48 temperature 44 temperature measurement 37 test patterns 34 Timing 21 troubleshooting 47 U User1 LVDS 19 User2 User3 User4 RS232 20 using the pushbutton 32 V voltage measurement 37 white reference adjusting 68 DALSA
19. C falling edge to PR falling edge hold us 2 tprh PR high duration of tex 2 95 5 Notes on Timing 1 Fixed by internal oscillator 2 High duration determines CCD integration time with EXSYNC in level mode 3 texlval will jitter by 20ns due to the synchronization of EXSYNC with internal camera timing 4 High duration determines CCD integration time with PRIN in edge mode tprh will jitter by 40ns due to the synchronization of EXSYNC with internal camera timing 2 10 LED Status Codes See section 3 3 03 32 10119 03 DALSA Trillium User s Manual 21 CHAPTER 3 3 0 Software Interface How to Control the Camera 3 1 Overview All camera features can be controlled through the serial interface The camera e can also be used without the serial interface after it has been set up correctly Functions available include A guide to getting e Controlling basic camera functions such as gain sync signal source and started with your d camera is P provided in Performing color balance and camera calibration Appendix D e Measuring sensor temperature supply voltages and external sync rate Capturing video and line statistics Generating test patterns for debugging e Controlling the camera iris u The serial interface uses a simple ASCII based protocol and the camera does not or the complete syntax and require any custom software The complete protocol is described in Appendix C For quick help the
20. N EXSYNCB EXSYNCB N p 100R UNUSED INPUT DIG 5V gt 100R 227 UNUSED INPUT 100N gt gt gt 2 UNUSED INPUT 10uf a DGND Y pewp V e g DS90C031 e g DS90C032 Signal Polarities HIGH EXSYNC TTL DOMAIN VOU EXSYNC EIA 644 DOMAIN HIGH EXSYNCB EIA 644 DOMAIN EO DALSA Trillium User s Manual 49 DALSA Unused EIA 644 Inputs and Outputs Unused outputs should be left unconnected This will reduce power dissipation within the camera and reduce radiated emissions Unused inputs should also be left unconnected EIA 644 chips have fail safe features that guarantee a known logic state HIGH in fault conditions unconnected shorted or unterminated Do not connect cables to unused inputs Cables can act as antennae and cause erratic camera behavior Cable Lengths Figure 5 shows a graph of ideal communication data rate vs cable length for the 644 standard Figure 5 EIA 644 Data Rate vs Cable Length 1000 20 Jitter Measured at OV Differential 20 Jitter Measured at 0100mV Differential 100 CAT3 Cable Typical Data Rate vs Cable Length National DS90C031 Data Rate Mbps 10 1 2 3 5 10 Cable Length m 03 32 10119 03 50 Trillium User s Manual 03 32 10119 03 DALSA Trillium User s Manual 51 DALSA TRILLIUM USER S MANUAL Appendix B EMC Declaration of Conformity We DALSA Corp 605
21. R 22 IEC 1000 4 2 1995 1000 4 3 1995 1000 4 4 1995 Exposure Control EC off sec 3 Exposure Control EC on sec 4 OPERATING RANGES UNITS MIN NOTES Data Rate MHz 25 25 Line Rate 1024 kHz 2 0 21 2048 kHz 2 0 11 Temperature EG 0 50 Temperature drift before recalibration 10 Input Voltage M 11 16 Gain Adjustment per channel 1 15 98 1 RS232 Data Rate kbps 9 6 38 4 default Photoresponse Variation across field Ratio 1 8 1 of view combining light source variation and lens vignetting ELECTRO OPTIC SPECIFICATIONS UNITS MIN TYP NOTES Factory Set Average Broadband 2 4 Responsivity Red DN nJ cm 2 4 2 Green DN nJ cm 2 42 Blue DN nJ cm 2 4 2 Calibration Error 3 4 EC off all channels DN 2 4 ECon Red DN 2 4 Green DN 2 4 Blue DN 3 7 Signal to Noise OdB gain 5 Red Ratio 1 300 1 370 Green Ratio 1 300 1 370 Blue Ratio 1 240 1 320 Pk Pk Noise OdB gain 5 Red Ratio 4 6 Green Ratio 4 6 Blue Ratio 4 8 Output Linearity DN 0 5 1 0 1 5 6 White Balance DN x0 5 0 7 1 1 5 6 Power Supply Current Vin 15V A 1 06 Vin 12V A 1 29 DALSA Trillium User s Manual 9 Notes to Table 1 DN Digital numbers 0 255 also known as gray levels EC 1 2 Exposure control Manual gain adjustment forces uncalibrated operation With calibration off using factory settings these are separate from user defaults settings both are set during factory calibration With calibration on usi
22. Trillium TR 36 TR 37 TR 38 Programmable High Speed Color Line Scan Cameras Camera User s Manual 03 32 10119 rev 03 Printed 11 3 2005 1 18 00 PM echnology with vision 03 32 10119 03 Trillium 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 semiconductor products and services DALSA s core competencies are in specialized integrated circuit and electronics technology software and highly engineered semiconductor wafer processing Products and services include image sensor components electronic digital cameras vision processors image processing software and semiconductor wafer foundry services for use in MEMS high voltage semiconductors image sensors and mixed signal CMOS chips DALSA is listed on the Toronto Stock Exchange under the symbol DSA The Company has its corporate offices in Waterloo ON and over 1000 employees world wide For further information not included in this
23. adjustment using your frame grabber and image processing S W 03 32 10119 03 Trillium User s Manual Calibrating the Camera with Exposure Control Enabled Calibration can be performed when running from internal or external sync With the line rate and exposure control duty cycle set to the desired calibration frequency perform the calibration 1 Place a white reference in front of the camera close to the object plane 2 Ensure that the light intensity is characteristic of the final imaging environment 3 Establish a flat field and remove the pixel offsets by sending the command correction_calibrate 3 Note for further calibration issues refer to the dark offset de rating curve section page 40 Reviewing the Calibration Results To review the results of the calibration send the command get line statistics channel 20 The average values for each channel should be close to 240 DN and the minimum and maximum values should be within a few DN of the average Note increasing the number of lines averaged will reduce the minimum maximum spread if gains are high Try a value of 64 to determine if there is a difference Adjusting Calibration to Accommodate the White Reference If the white in the media you want to image is not equal in brightness and hue to the white reference images could be distorted To accommodate for different white values use the command correction_set_balance 1 Determine the corr
24. ate EXSYNC The camera s line rate synchronization generated internally or input from a e frame grabber host system The source is selected using the set sync mode mode or ssm mode command through the serial port see Appendix C for more al oma details on serial commands modes syntax etc When using internally ave shor Sie generated sync the frequency be programmed using the commands Appendix for set sync frequency frequency ssf frequency where frequency is the complete a floating point number in Hz between 300 and the specified maximum line rate syntax and command For external sync the control signal EXSYNC determines line rate See page 17 reference and section 2 9 Timing DALSA 03 32 10119 03 24 Trillium User s Manual 3 5 Setting Exposure Duty Cycle When the camera generates sync and exposure control internally the duty cycle can be programmed using the set sync duty percentage ssd percentage where percentage is an integer from 0 to 100 90 means that the camera integrates light for 90 of the period between line readouts For external exposure control use PRIN See page 17 and section 2 9 Timing 3 6 Controlling Channels Separately Many of the commands in the communications protocol operate on single channels only In the protocol these commands have Channel as one of the command parameters When referring to a channel the following color mappings apply e Channel
25. aturation Note that if there are large variations in light level across the image the full 15076 may not be attainable Note The color balance changes when adjustments are made to the iris due to changes in the angle of incidence at the dichroic filters The camera should be re calibrated following adjustments to the iris 03 32 10119 03 30 Trillium User s Manual Activating Deactivating Video Correction White light calibration should be performed in the field at least once to compensate for the application specific lighting conditions Note Video correction is disabled if you set gains manually To re enable video correction use the command restore_setting or rs if calibration results have been previously stored in the user settings ws command or perform a calibration using one of the correction_calibrate commands 3 10 Using the Pushbutton 03 32 10119 03 The pushbutton on the camera backplate triggers predefined serial commands By default the pushbutton triggers a white light calibration equivalent to the command correction_calibrate 2 If you press the pushbutton during camera power up the camera will be forced to factory default settings including setting the baud rate to 38 4Kbps DALSA Trillium User s Manual DALSA 31 Programming the Pushbutton The pushbutton can perform any command available To change the behavior of the pushbutton use the command user_set input command Input iden
26. ch that for each pixel Voutput PRNU pixel Vinput FPN pixel where Voutput output pixel value Vinput input pixel value from the CCD PRNU pixel PRNU correction coefficient for this pixel FPN pixel FPN correction coefficient for this pixel The calibration algorithm is performed in two steps The fixed offset FPN is determined first by performing a calibration without any light This calibration determines exactly how much offset to subtract per pixel in order to obtain flat output when the CCD is not exposed The white light calibration is performed next to determine the multiplication factors required to bring each pixel to the required value balance target for flat white output The white light calibration also sets the analog gains in the camera appropriately to balance all of the channels When performing any camera calibration random noise must be averaged out to ensure proper sampling Make sure the sample size for calibration is large enough to average out random noise The factory default sample size of 64 lines is adequate for most purposes The command to set the calibration sample size is correction_set_sample 64 The current value can be read by reading the camera parameters with get_camera_parameters 03 32 10119 03 26 03 32 10119 03 Trillium User s Manual Digital and Analog Gains The camera has a number of internal gain stages that are used to balance each CCD in order to obtain whi
27. connection you can capture reference data without a frame grabber e The camera can output a test pattern for data path acquisition system debugging Internal diagnostics to verify power temperature and timing DALSA 03 32 10119 03 46 Trillium User s Manual 5 2 Product Support 03 32 10119 03 If the troubleshooting flowchart indicates a problem with your camera collect the following data about your application and situation and call your DALSA representative Note You may also want to photocopy this page to fax to DALSA 2 Organization name Customer phone number pone pee e g TR 36 01K25 C Acquisition System hardware frame grabber host computer light sources etc enon Ge System software version 223 etc Control signals used in your application and their frequency or state if applicable Detailed description of problem please attach description with as encountered much detail as appropriate 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 DALSA Trillium User s Manual 47 DALSA Appendix A EIA 644 Reference EIA 644 is an electrical specification for the transmission of digital data The standard is available from the EIA Electronic Industries Association It defines volta
28. ection C7 Binning Is not available in this camera 02 Removed Pending from Appendix B EMC Declaration of Conformity and updated declaration to new standards 03 Removed all references to matched lenses These are no longer available for this camera Fixed incorrect gain range listed in section 1 3 from 6 to 12dB to 1 to 15 98dB and in section 3 7 from 0 to 15 98 to 1 to 15 98 Removed references to on pages 9 69 and 70 and changed the value to 2 the linear equivalent DALSA 03 32 10119 03 72 Trillium User s Manual 03 32 10119 03 DALSA Trillium User s Manual 73 INDEX A activating deactivating video correction 32 adjusting color balance 31 asynchronous reset PRIN 19 B beam splitting prism 7 block diagram 12 bucket analogy 13 C cable lengths 18 cables 16 length 51 calibrating the camera 27 67 calibration dark 28 white light 29 CCD image sensors 13 color balance 31 command reference 55 commands 59 communications protocol 55 connectors 16 control signals inputs 18 controlling channels separately 26 controlling the iris 36 cooling 44 D Data 20 duty cycle 26 E edge mode 19 EIA 644 Reference 49 EMC 45 DALSA EMC Declaration of Conformity 53 EMC test setup 46 environmental considerations 44 error codes 24 57 exposure control 19 exposure duty cycle 26 EXSYNC 19 F fiber optic light sources 45 Filters 4
29. ection_set_balance parameters by sending the command correction_set_balance 100 100 100 and calibrate the camera in the desired mode line rate and white reference 2 Place the media to be imaged at the object plane of the camera ensuring it contains white as you define it 3 Obtain the image data for the actual white levels recorded by the camera by sending the command get_line channel 20 DALSA Trillium User s Manual 67 DALSA 4 Examine the value of the white levels White Levels Lower than 254 DN If the actual white levels are lower than 254 DN for each color your white reference is brighter than the white in your media and you need to brighten the image by increasing the calibration target levels 1 Adjust the levels for each channel by sending the command correction_set_balance 100 Desired Levels Actual Levels for each Color 2 Re calibrate the camera White Levels Higher than 254 DN If the actual white levels are higher than 254 DN your white reference is dimmer than the white in your media and you need to stop saturation by reducing the calibration target levels 1 Send the command correction_set_balance 50 50 50 2 Re calibrate the camera 3 Obtain the image data for the actual white levels recorded by the camera by sending the command get_line channel 20 4 Examine the value of the white levels 5 Adjust the levels for each channel by sending the command correction_set_balance 100
30. fit NOTE INSTALATION OF CAMERA MOUNT REQUIRES PRIOR lt REMOVAL OF THE TWO N k EXISTING SCREWS BEFORE Sas THESE TWO SCREWS WILL FIT 4 40 UNC x 0 5 LONG 2X NS M4 X0 7 x 14 0mm LONG 2X 03 32 10119 03 DALSA Trillium User s Manual DALSA Mount Plate 76 2 1 44 2x 795 09 5 2X 41 889 4 70 4 2X 24 120 4X A A 597 3X 497 2X i Y 265 165 20 8X x 889 d 777777777 1 SECTIONA A 20m 03 32 10119 03 42 Trillium User s Manual 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 Specified operating temperature is 0 50 C The camera case is vented to allow for convection cooling Some environments may warrant a cooling fan At temperatures below 35 C convection cooling has proven to be sufficient if a reasonable airflow is maintained around the camera For higher temperatures some minimal forced air circulation may be necessary Requirements can be determined by reading the camera s internal temperature using the verify temperature command after the camera has stabilized For best performance keep the operating temperature below the de rating curves De rating curves In some applications requiring long integration times an increase in Charged Conversion Efficiency
31. ge levels expected transmission speeds over various cable lengths common mode voltage operating requirements for transmitters and receivers and input impedances and sensitivities for receivers The table below gives a quick comparison between EIA 644 and RS422 another differential standard Table 2 RS422 vs EIA 644 Parameter RS422 EIA 644 Differential Driver Output Voltage 2 5V 250 450mV Receiver Input Threshold 200mV 100mV Data Rate lt 30Mbps gt 400Mbps Supply Current Quad Driver no load static 60mA 3 0mA Prop Delay of Driver max ins 3ns Prop Delay of Receiver max 30ns 5ns Supply Current Quad Receiver no load static 23mA 10mA based on National Semiconductor DS90C031 2 The standard requires that two wires e g twisted pair be used to transmit one signal in a differential mode This means that one wire will be logic HIGH while the other wire is logic LOW Voltage swing between HIGH and LOW is approximately 350mV with a typical offset of approximately 1 25V The use of differential signal transmission allows the receiver to reject common mode voltages This noise rejection improves data integrity and allows cameras to be installed in an industrial environment EIA 644 compatible line receivers and drivers are available from many different IC manufacturers in a variety of fabrication technologies such as CMOS and GaAs The EIA 644 standard does not define specific voltages so it can migrate from 5V power sup
32. ght only while EXSYNC is high PRIN is an optional signal if not using PRIN leave inputs unconnected User1 LVDS Userl is user configurable LVDS input It can be used to trigger camera functions that have been previously programmed through the serial interface 03 32 10119 03 18 Trillium User s Manual This allows you to trigger camera functions from your frame grabber or other controller User2 User3 User4 RS232 These signals are user configurable single ended inputs with RS232 thresholds They can be used to trigger camera functions that have been previously programmed through the serial interface This allows you to trigger camera functions from your frame grabber or other controller without connecting to a PC 2 5 RS232 Inputs The camera accepts RS232 inputs on a standard DB9F connector See Appendix C for protocol and command structure details 2 6 Pushbutton Input The camera s pushbutton located on the upper left corner of the backplate triggers software commands The factory default setting is a white light calibration equivalent to the command correction_calibrate 2 The button s function can be customized to any command through the serial interface See Chapter 3 for details 2 7 Iris Control Outputs The camera s 6 pin iris control connector is designed to output control signals to a motorized iris The camera has an embedded controller that can adjust lens aperture from a maximum of f 1 4
33. hrough the serial interface With only 7 segments the camera cannot display all error codes any code greater than 9 will be displayed as 9 See Appendix C for the full list of error codes Status Code Explanation single point Internal power test Ok P The camera is processing The camera will delay processing of any new commands until after the processing is complete After the processing is complete typically within a few seconds the P code will be replaced with another status or error code U The user button has been pressed and the camera is processing 0 Ok 1 Internal camera error Please report this error code to DALSA 2 Video Timeout Error External or internal sync not functioning DALSA Trillium User s Manual 23 Status Code Explanation 3 Unable to program internal FPGAs Please report this error code to DALSA 4 Validation error programming flash memory Please report this error code to DALSA 5 One or more of the required supply voltages is out of specification Please report this error code to DALSA 6 The camera temperature is outside the valid operating range 7 The camera memory check failed Please report this error code to DALSA 8 The camera flash memory check failed Please report this error code to DALSA 9 All other failure codes Detailed in Appendix C Notes Error codes will only be cleared after the error message has been transmitted through the serial port 3 4 Setting Line R
34. ic HIGH or logic LOW prevents line readout Minimum high or low time is 100ns In level mode the camera integrates light as long as EXSYNC is in logic HIGH and the falling edge of EXSYNC triggers line readout For exposure control in this mode PRIN does not need to be connected While EXSYNC is LOW the camera does not integrate light integration begins on the rising edge of EXSYNC Minimum EXSYNC low time is 226 Note EXSYNC must not be clocked faster than the camera s specified maximum line rate To slightly improve offset performance at maximum line rates other than the defaults see the section Setting Line Rate EXSYNC PRIN PRIN is an optional signal that can shorten the effective exposure time by resetting the pixels draining accumulated charge on the image sensor between EXSYNC triggered line readouts PRIN operates differently in different integration modes edge mode and level mode Exposure mode is selected using the RS232 interface In edge mode PRIN provides exposure control if it is clocked go from LOW to HIGH at a specific interval preceding the falling edge of EXSYNC While PRIN is LOW the camera does not integrate light exposure effectively begins on the rising edge of PRIN If PRIN is kept high the integration time is maximized if it is kept low the sensor collects no image information In level mode hold PRIN is not necessary for exposure control In this mode the camera will ignore PRIN and integrate li
35. known command Command could not be completed successfully Invalid command format Parameters out of range Invalid parameters type Invalid number of parameters Camera ID character is invalid Command will invalidate the video correction results Recalibrate the camera Aperture is not responding DALSA Trillium User s Manual C7 Commands Command correction_calibrate correction get fpn correction get prnu correction get results correction set balance correction set fpn correction set prnu correction set sample get camera id get camera model get camera parameters get camera serial get camera version get line DALSA Short Form cc cof cgp cgr csb csf csp css gci gcm gcp gcs gcv gl Parameters Calibration Type Channel Pixel Channel Pixel Red value Green value Blue value Channel Pixel Value Channel Pixel Value Sample size Channel Sample size 57 Description Execute a calibration Calibration type is the type of calibration to perform and can have the following values 0 Clear the calibration coefficients 1 Calibration with a black reference 2 Calibration with a white reference 3 Calibration with a white reference only in exposure control mode Read the correction coefficient for a specific pixel Read the PRNU coefficient for a specific pixel Return the results from the last calibration Also
36. l 38 4Kbps e Camera does not echo characters C3 Command Format Short Form ID a b c channel values nn CR DALSA 03 32 10119 03 54 Trillium User s Manual Long Form ID acommand bcommand ccommand parameters nn CR e Carriage return CR Ends each command The linefeed character is optional e All values are assumed to be in decimal e Values in square brackets are optional or are command specific e A simple addition checksum can be used by placing key as the last parameter before the carriage return The checksum is calculated by adding all of the ASCII values of the line up to the character including spaces and then sending it as a 3 digit integer number from 0 255 The checksum will be calculated using an 8 bit number All higher order bits will simply be truncated e Command words a b and c uniquely specify each command e Spaces must be placed between all sections and commas must be placed between all parameters e There are two methods for entering the commands In long mode each command is written in its entirety and words are separated by the underscore _ character In the short mode only the first letters of each command required and no spaces or underscore characters are permitted e 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 C4 Multi drop Mode
37. le as the grain induces significant PRNU after calibration To assess your illumination requirements 1 Set the sync source to internal with exposure control off by sending the command set sync mode 2 2 Set the maximum desired line rate by sending the command set sync frequency frequency where frequency is the line rate in kHz 3 Set the gain for each channel to the lowest level by sending the command set_gain 1 1 1 4 Determine the response of each channel by sending the command get_line_statistics channel 20 For example get line statisticc 3 20 Where 20 is the number of lines used to determine the statistics Record the average response for each channel and calculate the gain required to achieve approximately 200 DN 5 Using the gain values determined above send the set gain command again Note 15 98 is the maximum 6 Determine the response of each channel by sending the command get line statistics channel 20 The average values reported should be close to 200 DN If not adjust the gains appropriately You have now established the approximate gains the camera will use when calibrated The higher the gains the worse the generated noise level Determining Noise Levels To determine the noise level generated by the camera at the established gain settings use the command get line noise channel 20 The values returned are for RMS noise Peak to peak noise will be about 5 times this figure Any extraneous light
38. ments of your system Check the integrity of the camera including power supplies and communication links features used to control your e Calibrate the camera provided if The Trillium camera incorporates a number of features that enable you to get Chapter 3 your camera running quickly Much of this evaluation can be done through the serial interface without a frame grabber D2 Checking the Integrity of the Camera To establish the basic functionality of the camera you require a 12 or 15 volt power supply and an RS232 serial link A cable starter kit accessory AC SU 0500 is available to the first time user The kit includes a power cable control cable and data cable all terminated at one end plus an RS232 cable All cables use appropriate shielding to ensure the best EMC performance and signal integrity Contact DALSA to order DALSA 03 32 10119 03 62 Important Protect the camera and power cable with a 2AF fuse Internal protection circuits in the camera rely on this fuse being present 03 32 10119 03 Trillium User s Manual Ensuring an Adequate Power Supply You must ensure your power source has adequate current capability At low voltage 6 to 8 volts the switching supply in the camera draws a current that can be as much as twice the rated current Some supplies even though they appear to be rated appropriately will not come up when the camera is plugged in Though not harmful to the ca
39. mera this low voltage current draw can cause the power source to reach the external supply current limit before it can reach the specified operating voltage disabling the camera You need a power supply that can handle an input surge current of approximately 4 Amps for 10 milliseconds of operation A 2 Amp power supply running under normal conditions should be sufficient Communicating with the Camera You communicate with the camera through a serial interface communication package such as the HyperTerminal program available with Windows 95 or NT If you choose to use the HyperTerminal application configure the connection s properties e g data bits stop bits parity bits per second etc as described in Appendix C Because the camera does not echo characters you send to it you need to set the Echo typed characters locally option located under the ASCH Setup button on the Settings tab in HyperTerminal Startup Once you have started your camera and allowed the startup routine to run the camera displays either a 0 if no error occurred or an error code if a problem has been discovered If an error occurs see Appendix C for a full list of error codes and the response you should take DALSA Trillium User s Manual 63 Obtaining Basic Camera Information Use the following commands to obtain basic camera information Note All commands have 1 To verify the link with your camera type a carriage return The camera sho
40. more readout registers which feed each pixel s charge from the image sensor into an output node that converts the charges into voltages After this transfer and conversion Photoelements the voltages are amplified to become the camera s analog output In digital output cameras the camera s analog to digital A D board converts voltages to digital numbers 0 255 for 8 bit cameras 0 4095 for 12 bit cameras These digital numbers are what the camera outputs as data to a frame grabber 9 9 9 Readout Register 03 32 10119 03 12 Trillium User s Manual For more information on terms and concepts from the digital imaging industry see DALSA s current Databook Glossary CCD Technology Primer and Application Notes 03 32 10119 03 DALSA Trillium User s Manual 13 2 0 Camera Hardware Interface 2 1 Interface Overview 7 SS Contd lt a EXSYNC optional In 2 24 N MEDI lt I PRIN optional E 7 Segment Display Input button U ser configurable n Setthrough RS232 ink Iris Control signals 12V to 15V and Ground B bit Data Red B 8 bit Data Green B 38 bit Data Blue gt LAL x mb STROBE DB9F n DR lt gt RS232 Serial Note The camera should be protected with a 2A fast blow fuse between power supply and camera DALSA 03 32 10119 03 14 Trillium User s Manual 2 2 Connecto
41. n This allows the camera to perform a white light calibration for a large range of illumination conditions Note You can choose to set gain manually using the set_gain command As with autocalibrated gain the camera will adjust the various analog and digital stages to achieve the specified target But with manual gain settings the camera s video correction will be disabled Dark Calibration Dark calibration is used to remove the fixed analog offset from the video path When exposure control is disabled this offset and FPN is usually very low As a result dark calibration may only be required at first installation or power up and then stored in the user settings by initiating the ws command With exposure control enabled FPN can be high if a long integration time is used and or the ambient temperature is high see offset de rating curve page 40 DALSA Trillium User s Manual 27 Note If your illumination or white reference does not extend the full field of view of the camera calibration will still be successful for the center portion of the image However the camera will send a warning that the illumination level is too low under these conditions DALSA and the dark calibration must be repeated if the camera temperature varies more than 10 C To perform dark calibration 1 Stop all light from entering the camera 2 Issue the command correction_calibrate 1 The camera will respond with Ok gt
42. nc used by the white light calibration and exposure control signals are algorithm characteristic of final operation 2 Place a white reference in front of the camera 3 Ensure that the light intensity is characteristic of the final imaging environment 4 Instruct the camera to perform a 4 Instruct the camera to perform a white light calibration using the command correction calibrate 3 The camera will respond with if no error occurs white light calibration using the command correction calibrate 2 The camera will respond with if no error occurs 5 After the calibration is complete you can save these settings to non volatile memory so they will be remembered after power down To do so issue the command write settings If an error occurs adjust the light intensity into the correct range for calibration Error messages will help to determine how much to increment or decrement the light intensity Returning Calibration Results and Errors After calibration you can retrieve the results using the command correction get results This function returns the analog gain and minimum and maximum digital gains for each channel DALSA Trillium User s Manual 29 The possible values for the analog gain are 1x 2x and 4x The per pixel digital gain ranges from 1 00 to 4 00 These values can be used to determine the cause of a calibration failure 3 9 Adjusting Color Balance DALSA
43. ndixF RevisionHistory DALSA Trillium User s Manual 5 CHAPTER 1 1 0 Introduction to the Trillium 1 1 Camera Highlights DALSA Precision e Prism beamsplitter gives 3 color outputs from common optical axis for superior color registration e Pixel by pixel FPN and PRNU correction and color balancing by integrated signal processing e Separate data channel for each color red green blue e Low image lag and high blue response Programmability e Camera self calibration and self color balancing camera can adapt to changing lighting conditions Simple ASCII protocol can control virtually all camera functions including line rate exposure period e Permanent PC connection not required customizable power up configuration e Programmable pushbutton and configurable inputs to trigger almost any camera function without PC connection Performance 1024 or 2048 pixels 14um x 14um e 25MHz per output data rate 8 bit output from 10 bit digitization e Line rates to 21kHz 1k resolution or 11kHz 2k resolution EIA 644 LVDS data format e Antiblooming and exposure control Usability e Camera mounted diagnostic display e Test pattern output for debugging Grab reference lines through RS232 without the need for a frame grabber e 12V 15V Single input voltage e CE compliant 03 32 10119 03 6 Trillium User s Manual Description The Trillium cameras represent a significant advance in the power preci
44. ng user default settings using integrating sphere and a 10 C drift from time of calibration Tungsten halogen light source 3200K bulb temp and 750nm cutoff filter Calibration off Gain for each channel set to 2 command sg 2 2 2 Deviation from ideal from 10 90 exposure Measured after calibration light intensity 1201 W cm 4kHz line rate Ideal condition is based on line of best fit through 12 points of data Figure 2 Normalized Responsivity DALSA Trillium Camera Typical Responsivity Normalized to 100 4 0 120 100 0 83 Blue 80 1 0 60 40 20 Relative Gain Red 400 450 Wavelength nm 03 32 10119 03 10 Trillium User s Manual Figure 3 Trillium Block Diagram FPGA Programming Serial Bus Camera Timing 4 x x Internal Serial Bus Sensor 1 1 Timing Multi Mode Parallel Bus v dul vvv vvv vv y vv I 11 16V dc Comm 3 8Bit LVDS 10 bit 10 Bit 10 Bit Conto Quipus Timing Digitizer amp Digitizer amp Digitizer amp Future Post Embedded DC DC Power Generation FPGA FPGA FPGA Processor Controller Coverters Interfaces EXSYNC PR Based Based Based Trigger DSP DSP DSP RS2
45. nless an error occurs e lf an error occurs the function returns Error x Description gt where x is an error code e Error codes include Code Description 0 Ok 1 Camera error An internal error was found Please report this error code to DALSA 2 Video Timeout Error External or internal sync not functioning DALSA 03 32 10119 03 56 03 32 10119 03 Code 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 Trillium User s Manual Description Unable to program internal FPGAs Please report this error code to DALSA Validation error programming flash memory Please report this error code to DALSA One or more of the required supply voltages is out of specification The camera temperature is outside the valid operating range The camera memory check failed Please report this error code to DALSA The camera flash memory check failed Please report this error code to DALSA The camera DSP check failed Please report error to DALSA Camera calibration error The light level is below the acceptable range for white light calibration Camera calibration error The light level is above the acceptable range for calibration Camera calibration error The white reference variation exceeds 2 to 1 The calibration requires that the camera operate with exposure control enabled Sensor saturation error One or more pixels will be clipped at 255 Checksum error The command was not processed Un
46. particularly from fluorescent fixtures can affect the noise figure significantly especially when the gains are high Try turning lights off in the vicinity of the camera to determine if the noise figures change Note that the get line noise command returns slightly higher figures than actually exist on the data port This is due to a different noise environment existing within the camera while the embedded controller is capturing data DALSA Trillium User s Manual 65 D4 Calibrating the Camera Note If your illumination or white reference does not extend the full field of view of the camera calibration will still be successful for the center portion of the image However the camera will send a warning that the illumination level is too low under these conditions Note If you can tolerate minor FPN it may be possible to omit the correction_ calibrate 1 command or perform it less frequently Usual calibration can then consist of correction_ calibrate 2 only DALSA To ensure the camera will calibrate successfully you need to check the camera s response to the white reference 1 Continuing from the setup above send the command get line statistics channel 20 for each channel Examine the maximum and minimum values reported If the maximum values are no greater than twice their associated minimum values the camera should calibrate successfully 2 If the ratio of minimum to maximum value repor
47. plies to 3 3V and sub 3V DALSA recommends the use of 5V CMOS line drivers and receivers such as National Semiconductor parts DS90C031 quad line driver and DS90C032 quad line receiver 03 32 10119 03 48 03 32 10119 03 Trillium User s Manual To achieve full benefit of the common mode rejection twisted pair cable should be used for all ELA 644 signals The cable impedance should be 100 Ohms and the cable terminated at the receiving end with a 100 Ohm resistor All EIA 644 inputs in a DALSA camera are terminated with 100 Ohms between the and of a signal Figure A 1 a shows an example of an EIA 644 transmission DALSA indicates the signal by the name of the signal i e EXSYNC while the signal is indicated by either an overscore over the name or appending the letter B to the end of the name i e EXSYNC or EXSYNCB The signal has the same sense as the TTL signal which is sent or received i e when EXSYNC in the TTL domain is HIGH then EXSYNC in the EIA 644 domain is HIGH The signal has the opposite sense of the TTL domain signal and so if EXSYNC TTL is HIGH then EXSYNCB EIA 644 is LOW Figure 4 shows the relationship Figure 4 EIA 644 Example User s System Camera EIA 644 DIE 97 Te DOMAIN vu DOMAIN DOMAIN 100N 1 1 1 1 A DIG 5V DIG 5V 1 100 OHM EXSYNC TWISTED PAIR EXSYNC DGND EXSYNC Ps 100855 gt EXSYNC
48. rements 2 4 Control Signal Inputs The camera accepts differential LVDS control inputs on a DB15F connector All control signals are optional and default to HIGH If not using these inputs leave them unconnected Standard control signals include EXSYNC and PRIN but the camera also allows up to four user defined inputs These can be used to trigger functions that have been user defined through the RS232 interface LVDS control signals must be supplied from your frame grabber to the camera using twisted pair cable DALSA recommends shielded cables Maximum cable lengths depend on environmental factors and EIA 644 limitations See Appendix A 03 32 10119 03 DALSA Trillium User s Manual 17 Note The TR 36 also offers a programmable exposure mode in which line rate and exposure period are programmed through the RS232 interface In programmable mode an EXSYNC input is not necessary DALSA EXSYNC EXSYNC triggers line readout and controls integration time It can operate in two different exposure modes edge mode or level mode Exposure mode is selected using the RS232 interface In edge mode the falling edge of EXSYNC triggers line readout The camera integrates light from one EXSYNC falling edge to the next To control integration time independently from line rate you must clock the PRIN signal with a LOW to HIGH edge at the desired amount of time before the next EXSYNC falling edge Restricting EXSYNC to log
49. rformance and calibration results 2 The light must be bright enough within the 4 1 range available so the camera can reach the balance If the light is not bright enough then the camera will not produce a flat response to a white surface and the resulting image will be gray 3 The light must not be too bright within the 4 1 range available for the camera to reach the balance If the camera is at minimum gain and the image sensor is still saturated the calibration can not be completed 03 32 10119 03 28 03 32 10119 03 Trillium User s Manual 4 The variance in light intensity across the target must not be more than 2 to 1 Since the maximum per pixel digital gain is 2x the camera will not be able to compensate for extremely non uniform light and a flat response to a white surface will not be achieved These restrictions are all tested within the calibration algorithm and the camera will report an error if any of these conditions could not be met In this case the calibration will still complete but the results will not be optimum White calibration with a dark reference exposure control disabled White calibration without a dark reference exposure control enabled only at high line rate see offset de rating curve page 40 1 All calibration is performed with an 1 Perform a dark calibration first The illuminated white reference Ensure dark calibration s FPN results are that the internal or external sy
50. rs Pinouts and Cables 34 RGB DATA Data Connector Mating Parts Shell 3M 10368 3280 000 1 68 Pin Male Connector 10168 6000 Cable 3M 3600B 68 Pin Signal Pin Signal 1 GND 35 GND The 68 Pin Male 2 Future use 36 Future use Connector is not 3 Future use 37 Future use Be 4 Future use 38 Future use and with the 5 G7 MSB 39 G7B MSB proper tooling 6 G6 40 G6B can be used to 7 G5 41 G5B eed Green 8 G4 42 048 pairs For 9 G3 43 G3B a 0 Ge wc Dal cables it 11 G1 45 GIB may be most cost 12 GO 46 13 Future use 47 Future use assembled 14 Future use 48 Future use cables already 15 B7 MSB 49 B7B MSB terminated at one 16 B6 50 B6B 17 5 5 B5B Blue 18 B4 52 B4B 19 B3 53 20 B2 54 B2B 21 B1 55 B1B 22 BO 56 BOB 23 Future use 57 Future use 24 Future use 58 Future use 25 R7 MSB 59 RZB 26 R6 60 R6B 27 R5 61 R5B Red 28 R4 62 R4B 29 R3 63 R3B 30 R2 64 R2B 31 R1 65 1 32 RO 66 ROB 33 STROBE 67 STROBEB 34 LVAL 68 LVALB 03 32 10119 03 Note MSB Most Significant Bit DALSA Trillium User s Manual Control Input Connector RS232 Connector Power Connector DALSA Pin Ook wo 5 GQ Signal Pin Signal Future use 9 User3 Future use 10 Future use User1 11 User1B EXSYNCB 12 EXSYNC PRIN 13 PRINB Future use 14 Future use User2 15 User4 GND Signal Data Carrier Detec
51. rt forms See should display the gt prompt Appendix C 2 To generate a list of all available commands and parameters send the command help or to the camera 3 To verify the serial number model number and sensor length send the command get_camera_parameters 4 To execute the same tests performed during power send the verify camera command This command can be used anytime 5 To check that all supplies including the power source are within specification send the command verify voltage When using the power cable supplied with the cable starter kit the voltage at the camera should measure no more than 300mV below the power source voltage D3 Determining Appropriate Illumination After ensuring the integrity of your camera you need to determine the appropriate level of illumination for your system The faster your lens the less illumination you need Establishing Illumination Requirements Mount the camera in your system with the desired lens The widest aperture may not give you optimum image quality and you may have to stop the lens down and increase illumination significantly DALSA 03 32 10119 03 64 Note Running the camera from an internally generated sync signal allows for the greatest flexibility while performing the procedure 03 32 10119 03 Trillium User s Manual The initial object for the camera should be white plastic or PVC with minimal texture or grain Paper is undesirab
52. s non volatile memory can remember its configuration for subsequent power ups you can also return to user specified or factory defaults The camera can also adapt to complex situations performing user configured functions at the touch of the camera mounted pushbutton or upon receiving combinations of the four user configurable inputs To speed setup and system debugging the camera offers a seven segment diagnostic LED the camera can also output a test pattern to help track the path of data through an acquisition system 03 32 10119 03 DALSA Trillium User s Manual 7 1 2 Image Sensors The Trillium uses three high performance DALSA line scan image sensors They are available in a range of pixel sizes and resolutions with 100 fill factor A beamsplitting prism separates the red green and blue components of polychromatic light using dichroic filters for selective transmission and reflection Figure 1 Beamsplitting prism Red CCD Pol vchromatic light Green CCD IR filter DALSA 03 32 10119 03 8 Trillium User s Manual 1 3 Camera Performance Specifications 03 32 10119 03 Table 1 Trillium Performance Specifications PHYSICAL CHARACTERISTICS UNITS Size excluding lens mm 88 9 x 88 9 x 218 4 3 5 x 3 5 x 8 6 Mass excluding lens kg 1 44 Power Dissipation w 16 Sensor to Sensor Alignment x y um 10 Regulatory Compliance Time to calibrate CE EN55022 1988 class A CISP
53. sion and flexibility of color line scan imaging With unmatched performance and an unprecedented array of programmable diagnostic and signal processing features the Trilliums break new ground The camera s superior performance starts with a precisely aligned beam splitting prism with interference filters to separate red green and blue inputs from a common optical axis with superior transmission efficiency This common optical axis approach provides higher fidelity images than interdigitated color imagers without the buffering complexities of trilinear imagers And the prism s interference filters provide sharper transitions lower out of band transmission and higher in band transmission than the absorption filters typical of other color imaging approaches Three high performance DALSA line scan sensors collect high quality image information from the prism and pass it to integrated signal processing circuits which perform pixel to pixel correction for FPN PRNU and color balance This allows the camera to adapt to variations in the intensity and spectra of the application s light source 10 bit digitization circuits output the most significant 8 bits An embedded controller handles communication and diagnostic functions The camera s simple ASCII communications protocol allows you to configure and program virtually all camera functions through an RS232 serial interface but the camera need not be connected to a PC permanently Trillium
54. sufficient without braided wire 03 32 10119 03 44 Trillium User s Manual e Ensure that all cable shields have 360 electrical connection to the connector e Electrically connect camera mount to the metal camera support structure EMC Test Setup for CE Compliance Testing Camera electrically connected to test jig via camera mounting Test camera x Iris Cable 4 Lens Cable details Data cable 3M 3600B 68 Power cable Unitrek 178 1187 66 e RS232 cable Alpha 3469C Control cable 3M 3600B 14 All cables use double shielding 100 foil 80 braid minimum samples available in starter kit 41 Keyboard and Mouse EXsync PR Generator Welded aluminum frame 03 32 10119 03 DALSA Trillium User s Manual 45 5 0 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 power supplies e cabling e frame grabber hardware amp software e host computer e light sources optics e operating environment encoder 5 1 Diagnostic Tools The Trillium has a range of very useful diagnostic capabilities including the following e On camera LED status code indicator e With a 12 15V power supply and a RS232
55. t not used Received Data Transmitted Data Data Terminal Ready not used GND Data Set Ready not used Ready To Send not used Clear To Send not used Ring Indicator Used if camera wants attention Signal 12 to 15V 12 to 15V 12 to 15V GND GND GND CONTROL 15 Mating Parts Amphenol hood 17 1657 15 AMP plug 205206 3 AMP pin 745254 7 Belden cable 9807 28AWG or equiv User1 is a user configurable LVDS differential input User2 User3 and User4 are user configurable digital inputs with RS232 thresholds Mating Part and Cable standard off the shelf straight through 9 pin serial cable Mating Part HIROSE HR10A 7P 6S Note The camera should be protected with a 2A fast blow fuse between power supply and camera 03 32 10119 03 16 Trillium User s Manual Iris Control P Connector Signal Pot Pin 1 GND Pot Pin 2 Wiper Pot Pin 3 Pot Pin 1 GND Motoni Mating Part HIROSE Motor HR10A 7R 6S complete cable included with lens G 2 3 Power Supplies The camera requires a single input voltage 12 to 15V Contact DALSA for more information When setting up the camera s power supply follow these guidelines e Protect the camera with a 2A fast blow fuse between power supply and camera Do not use the shield on a multi conductor cable for ground e Use shielded cable for better noise immunity See section 1 3 for power requi
56. t the applied voltage to the camera The purpose of this test is to isolate gross problems with the supply voltages DALSA 03 32 10119 03 36 Trillium User s Manual 03 32 10119 03 DALSA Trillium User s Manual 37 CHAPTER 4 4 0 Optical and Mechanical Considerations 4 1 Mechanical Interface The camera s electronics are housed in an anodized aluminum case TO L 55 9 4 SCREW HEAD PROTRUDES 1 5 TYP 14 x T 1 172 178 nu 36 2 f By kis ie N 53 6 Y c 1 88 9 J YAO RELATIVE POSITION OF PIXEL 1 24 9 43 m NOTE ALL DIMENSIONS ARE IN MM L Pus DALSA 03 32 10119 03 8 S Trillium User s Manual xe 9 91 m rsz 28 WW NI 38V SNOIS NAWIG 11V 3LON aL 02 01 J 1 H3 0 t H9 LOXPIN 8 H9 0 H roxp 8 xe az 25 8 vY az 25 8 ev 1 beh aZ 25 8 ZV 8 19 az 26 8 LV aZ 288 IV un ldBLSIOH d va er XE 222 38 DALSA 03 32 10119 03 Trillium User s Manual 39 MX x SS w gt e gt 94 1 a u a x gt gt a ME n F zs
57. te light These gain stages are briefly described below 1 Fixed analog gain Each channel has a fixed analog gain stage that is used to compensate for different sensor sensitivities between colors This gain stage is fixed at the factory on a channel by channel basis 2 Variable analog gain Each channel also has a variable gain stage that is used to compensate for changing lighting conditions This stage implements either a 1x 2x or 4x gain 3 Variable per pixel digital gain Each pixel has a unique gain coefficient PRNU coefficient that is used to compensate for PRNU and non uniform lighting conditions Each pixel has a maximum gain of 2x meaning that the light variation across the white image cannot vary by more than 2 to 1 4 Variable per channel digital gain Each channel also has a variable digital gain stage that is applied after the video correction This gain stage has a maximum gain of 2x in 256 linear steps and is used in the calibration process When the camera performs a white light calibration it finds the appropriate analog gains and per pixel digital gains so that each pixel meets a specified target value If the targets for all three channels are the same the resulting output will be a completely flat white image The 1x 2x and 4x analog gain adjustment plus the digital gain adjustment allows for a 2 1 variation in light non uniformity across the object plane plus a further possible 4 1 overall light variatio
58. ted is greater than 2 times send the command get_line channel 20 to display a line of pixel data Examine the displayed data looking for low values that are causing the unacceptable spread of data Associate the low light level spots with the illumination system and identify alignment and or unevenness problems that can be improved 3 When the minimum to maximum value reported is less than 2 times you can calibrate the camera The factory defaults for the calibration balance targets for all channels are 9476 This means that after calibration the white reference will appear as nominally 240DN for all pixels These values can be used to compensate for the white reference see below Calibrating the Camera with Exposure Control Disabled Calibration can be performed when running from internal or external sync With the line rate set to the desired calibration frequency perform the calibration 1 Resetthe correction values by sending the command correction calibrate 0 2 Establish dark conditions by covering the lens 3 Correct the pixel offsets by sending the command correction calibrate 1 4 Placea white reference in front of the camera close to the object plane 5 Ensure that the light intensity is characteristic of the final imaging environment 6 Establish a flat field by sending the command correction calibrate 2 03 32 10119 03 66 Note Depending on what you have available it may be easier to do this
59. the rms noise for a specific channel Get the minimum maximum and average for x lines of video Display the online help Increment the aperture setting by Value Value can be negative Increment the sync duty cycle by Value Value can be negative Increment the sync frequency by Value Value can be negative Set the minimum pixel level Recommended value is 12 Reset the entire camera reboot Restore the camera s factory settings Restore the last settings saved to non volatile memory by the write settings command Set the aperture iris position from 0 100 0 closed 100 fully open Command sa 50 provides 50 of the light of sa 100 The aperture is accurate within 5 Set the baud rate Valid rates are 2400 4800 9600 19200 38400 Set the camera ID 0 9 and A F If the serial number is given only that camera will change its ID Set the gain for each channel The values for each channel are independent Gain value is specified from 1 to 15 98 as a floating point number Set the pretrigger either 0 or 8 Set the internal sync duty cycle for exposure control mode Returns an error message if value is beyond specified limits Set the internal sync rate in Hz Set the line sync mode of the camera DALSA Trillium User s Manual 59 Command Short Parameters Description Form 1 Internally generated Sync EC exposure control Enabled 2 Internally generated Sync EC Disabled 3 Externall
60. tics from a line by issuing the command get line statistics channel sample size This command returns the maximum pixel value minimum pixel value and average for one line of video If video correction is enabled both commands will operate on corrected video If the correction is disabled the results returned are from raw image data Determining Channel Noise To determine channel noise issue the command 03 32 10119 03 34 Trillium User s Manual get_line noise channel sample size This command returns an rms noise figure for the selected channel over the number of lines set by the sample size Note Camera noise specifications are for no light conditions 3 13 Controlling the Iris The optional camera lens assembly includes an electronically controlled iris that can be used to adjust the amount of light that reaches the camera CCDs This iris is controlled through the serial communications port using the command set_aperture setting The aperture setting is an integer from 0 to 100 representing the percentage of light reaching the camera However due to hysterisis in the iris drive mechanism an accuracy no better than 5 can be guaranteed except for fully open and closed which is ensured to be repeatable Before the iris can be used it must be calibrated using an illuminated white reference and the optimize_aperture command The command takes several seconds to execute To disable the aperture control e g
61. tifies the input number The camera has the following inputs which have the following default actions equivalent to serial commands Input 1 2 3 Input Pushbutton User1 LVDS control input User2 digital input RS232 thresholds User3 digital input RS232 thresholds User4 digital input RS232 thresholds Default Command correction_calibrate 2 set_aperture 0 set_aperture 33 set_aperture 66 set_aperture 100 Example this example sets the pushbutton to perform a dark calibration user_set 1 correction_calibrate 1 03 32 10119 03 32 Trillium User s Manual 3 11 Generating Test Patterns The camera can generate a variety of test patterns to aid in system debugging Pattern Command 1 test_set_pattern 1 2 test_set_pattern 2 3 test_set_pattern 3 4 test_set_pattern 4 5 test_set_pattern 5 Description Black to white ramp e All channels creates gray pattern e Output levels ramp from 0 to 255 e 4 pixels per value for ik cameras 8 pixels per value for 2k cameras Black to white pyramid e All channels creates gray pattern e Output levels ramp from 0 to 255 back to 0 e 1 pixel per value e 2 cycles for 1k cameras 4 for 2k cameras Black to white sawtooth e All channels creates gray pattern e Output levels ramp from 0 to 255 e 1 pixel per value e 2 cycles for 1k cameras 4 for 2k cameras Color bars e Output levels toggle between 0 and 255 on
62. to f 22 4 assuming the use of a DALSA supplied 1K lens The 2K lens aperture range is f 2 to f 16 2 8 Data Outputs See section 2 3 RU for pinouts Digital Data V IMPORTANT This camera s data is valid on the rising edge The camera uses 10 bit ADCs and outputs the most significant 8 bits one channel for each color in LVDS format To clock digital data into the frame grabber use the camera outputs clocking signals STROBE and LVAL DALSA Trillium User s Manual 19 STROBE STROBE is a pixel clock signal for digital data It is continuous toggling even when data is not valid Data is valid on the rising edge of STROBE LVAL LVAL high indicates the camera is outputting a valid line of pixels 2 9 Timing last valid pixe DATA i valid 3 Wwe eee eles ma _ gt 1 t D w str 5 ne 2 I text b EXSYNC BEE I val F Y cr D gt lt E 22 cr y r cr O pn d DALSA 03 32 10119 03 20 Trillium User s Manual Symbol Parameter Units Min Nom Max Notes t STROBE period ns 40 1 str LVAL Data setup to STROBE rising edge ns 28 31 th LVAL Data hold from STROBE rising edge ns 6 9 fae EXSYNC period 1K ms 0 0476 3 33 2K 0 0909 3 33 EXSYNC high duration of tex 2 95 2 ae EXSYNC falling edge to LVAL rising edge us 2 56 2 76 4 tival LVAL high duration 1K us 40 96 2K 81 92 te EXSYN
63. to use a lens without iris control disconnect the iris and use the optimize_aperture command again Note that the iris position is saved within the camera The camera will remember the last iris position and set the iris to this position during startup Also note that the color balance changes when adjustments are made to the iris due to changes to the angle of incidence at the dichroic filters The camera should be re calibrated following adjustments to the iris 03 32 10119 03 DALSA Trillium User s Manual 35 3 14 Monitoring the Camera Temperature Measurement The temperature of the camera can be determined by using the verify temperature command This command will return the temperature of the CCD sensor in degrees Celsius For proper operation this value should not exceed 80 C By default the camera only checks the sensor temperature once at startup unless it receives the appropriate command If the temperature exceeds 80 C the camera will report an error Verify that the camera is getting adequate convection cooling i e the camera is not enclosed and the vent holes are not blocked etc Voltage Measurement The command verify voltage checks the camera s input voltage and internal voltages If they are within the proper range the camera returns Ok Otherwise the camera returns Fail Note that the voltage measurement feature of the camera provides only approximate results within 1076 They should not be used to se
64. y generated Sync Level Mode Combined EC see page 17 4 Externally generated Sync Edge Mode Separate EC see page 17 5 Externally generated Sync EC Disabled 6 Free running mode test_halt th Stop test pattern generation and return to regular operation test_set_pattern tsp Test number Set the test pattern used for test pattern generation test start ts Start the test pattern generation user get ug Input Get the function of the user input user set us Input text Set the function of the user input number to the command specified command This command will be executed whenever the input is triggered Note that input 1 is the push button verify camera vc Check the entire camera verify memory vm Perform a memory check verify sync vs Verify that the sync signal is being generated internally sync modes 1 2 or being supplied externally sync modes 3 5 Returns an error message if exposure levels exceed the range of 2 95 verify temperature vt Check the temperature of the camera verify_voltage vv Check the camera voltages and return OK or fail write_settings wS Write all of the user settings to FLASH DALSA 03 32 10119 03 60 Trillium User s Manual 03 32 10119 03 DALSA Trillium User s Manual 61 TRILLIUM USER S MANUAL Appendix D Setting Up Your Camera D1 Overview In order to get your camera running quickly and smoothly you will need to A detailed overview of the e Determine the lighting require

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