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CHEETAH Hardware User's Manual

1. Address Register Name ua Usage MIN Value MAX Value 00 disable 0x0618 Frame B WDR Enable RW 01 enable Ox00000000 0x00000001 0000 100 0001 90 0010 80 0011 75 Frame B WDR P1 0110 60 0111 55 0x061C Baco Output Range RW 1000 5096 1001 45 Ox00000000 Ox0000000F 1010 40 1011 35 1100 30 1101 25 1110 20 1111 15 0000 100 0001 90 0010 80 0011 75 0100 70 0101 65 Frame B WDR P2 ar s 0x0620 Bright Pixel Allocation of RW Hr a eae 32er loxo0000000 AGA Output Range os eas g 1010 40 1011 35 1100 30 1101 25 1110 20 1111 15 0000 100 0001 90 0010 80 0011 75 0100 70 0101 65 Frame B WDR P3 0110 60 0111 55 MAX_HRZ_SZE 0x0624 Set to 0000 RW 1000 5096 1001 4595 QX00000000 1 1010 40 1011 35 1100 30 1101 25 1110 20 1111 15 0x0628 Frame B WDR Bright Pixel RW lt Bright Pixel Exposure Time 0x00000000 0x000FFFFF Exposure E1 us gt FrameB WDR Very bright lt Very Bright Pixel Exposure 0x062C Pixel Exposure E2 RW Time us gt 0x00000000 OxOOOFFFFF Frame A WDR Ultra bright lt Ultra Bright Pixel Exposure 0x0664 Pixel Exposure E2 RW Time us gt Ox00000000 OxOOOFFFFF Imperx Inc Rev 2 0 7 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 137 of 152 IMPERX CHEETAH Hardware User s Manual A 7 DUAL VIDEO REGISTERS
2. c7 c6 c5 C4 c3 c2 c1 Imperx Inc Rev 6 2 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 25 of 152 IMPERX Y CHEETAH Hardware User s Manual B7 B6 BS B4 B3 B2 B1 BO B9 B8 AQ A8 A7 AG Ad A4 A3 A2 A1 AO 2x10 A11 A10 A9 A8 A7 AG A5 A4 A3 A2 A1 AO 1x12 B7 B6 BS B4 B3 B2 B1 BO B11 B10 B9 B8 JA11 A10 A9 A8 A7 AG A5 A4 A3 A2 A1 AO 2x12 Table 1 5a Image data bit to port assignments per the Camera Link specification Base modes Table 1 5b Image data bit to port assignments per the Camera Link specification Medium modes Table 1 5d Image data bit to port assignments per the Camera Link specification Deca modes Imperx Inc 6421 Congress Ave Boca Raton FL 33487 1 561 989 0006 26 of 152 Rev 6 2 7 7 2015 IMPERX Y CHEETAH Hardware User s Manual 1 5 4 Camera Power Connector The male 12 pin Hirose connector provides power and a
3. Figure 2 8a WDR mode disabled Imperx Inc Rev 6 2 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 52 of 152 IMPERXY CHEETAH Hardware User s Manual a 450 LELL ES A IH CHEETAH 12 MP CMOS Camera Wide Dynamic Range Figure 2 8b WDR mode enabled To extend the dynamic range of the camera the output is partitioned into several user defined zones In the simplest case the user partitions the output into one region for dark pixel data in which pixels integrate for the full exposure period and another region for bright pixel data in which pixels integrate for only a small portion of the total exposure period Table 2 6a demonstrates one such partitioning Assuming 10 bit digitization Dark pixel data have values from O to 512 counts 50 of the output and Bright pixel data values range from 513 to 1024 counts 51 to 100 of the output The user must keep in mind however that Bright pixel data was captured with a much shorter exposure period For example suppose the user selects a Bright pixel exposure period which is 10 of the overall exposure period In this case a pixel with a value of 612 counts resides in the Bright pixel data partition and represents 100 counts 612 512 taken with an exposure that is 10 of the total exposure These 100 counts of signal then were collected with 1 10 the exposure time of the Dark pixels and therefore these 100 counts are 10x brig
4. IMPERX Y CHEETAH Hardware User s Manual information Current Image Size Size Number of Frame per second FPS the Frame Time FTM Exposure Time EXP and Temperature of the CMOS sensor TMP Additional information can be obtained by clicking on the buttons shown in the CamConfig window such as Video Amp Trigger etc The bottom of the main utility window is camera name and status of Cam link connection If the connection between the camera and the computer is lost a red cross will appear above the connection icon 5 4 MAIN GUI MENU All panels in the CHEETAH CamConfig share the same general control options and menus for Menu View and Help Figure 5 3 Menu View Help Run Application Load From b Save To d Boot From gt DPM Command Terminal Soft Reset Connection d Exit Figure 5 3 Main Menu Run Application Select and starts other executable file Frame Grabber application etc that user normally uses CamConfig will remember the path of last executable file that you used so the next time when you start the application without having to type in the location Load From Loads the camera registers from a saved configuration space File Workspace Factory Space User Space 1 or User Space 2 1 File loads the camera registers from a saved configuration file 2 Workspace updates the GUI with the current camera workspace settings 3 Factory lo
5. Figure 2 7 Strobe positioning with respect to exposure start 2 10 VIDEO AMPLIFIER GAIN AND OFFSET 2 10 1 Analog Domain manual control The camera takes advantage of the analog gain functionality built into the KAC 12040 image sensor The manufacturer recommends applying analog gain before using the digital gain function The image sensor automatically adjusts the black level as the analog gain is adjusted to minimize fluctuation The user adjustable target black level is added after the gain stage and adjustments to this setting will not impact dark level sensitivity The analog gain is a non linear function with smaller gain adjustments when the gain is small and larger adjustments when the gain is large The gain range depends upon output bit depth with gains of 1 to 12dB possible using 12 bit digitization and 1 to 18 dB possible using 10 bit digitization For 10 bit digitization there are 15 different potential gain settings while 12 bit digitization has 7 potential settings as described formula and table below 10 Bit Digitization Gains Analog Gain 16 Select Code Bits 5 0 2 12 Bit Digitization Analog Gain 8 Select Code Bits 4 0 2 Note Bit 0 is always 0 and Select code 2 and gains less than 1 are not allowed Analog Gain Vs Select Code Select Code 10 Bit Gain 12 Bit Gain 4 8 00 4 00 6 5 33 2 67 8 4 00 2 00 10 3 20 1 60 Imperx Inc Rev 6 2 6421 Congress Ave 7
6. The non volatile parameter FLASH memory also contains Defective Pixel Map Hot Pixel Map LUT 1 and LUT 2 which can be loaded to the camera internal memory upon enabling the corresponding camera feature The user can create its own DPM HPM and LUT tables and upload them to the parameter FLASH using the CHEETAH Configurator graphical user interface Imperx Inc Rev 2 0 7 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 76 of 152 IMPERX Y Imperx Inc CHEETAH Hardware User s Manual 4 2 2 Camera Serial Protocol In order to access the camera registers and resources a sequence of bytes needs to be transmitted to the camera via the Camera Link serial interface This is an RS232 asynchronous full duplex serial protocol with 1 start bit 8 data bits 1 stop bit no hand shake and no parity Figure 4 1 The default baud rate is configurable 9600 19200 38400 57600 and 115200 default wee LPEPEEEEPT 051251415117 idle data bits data bits idle start stop stop start Figure 4 1 Serial protocol format Each camera control register can be updated independently In terms of the serial protocol all registers are defined as 16 bit address hex format and 32 bit data hex format Camera registers using less than 32 bits in width must be padded with Os on writes and unused bits are ignored on reads Register data is always packed low within 32 bit data words for registers defined
7. 100 0001 90 0010 80 0011 75 0100 70 0101 65 0110 60 0111 5590 1000 50 1001 45 1010 40 1011 35 1100 30 1101 25 1110 20 1111 1590 NA 0x0624 0000 100 0001 90 0010 80 95 of 152 Rev 2 0 7 7 7 2015 IMPERX Y CHEETAH Hardware User s Manual 0011 75 0100 70 0101 65 0110 60 0111 5590 1000 50 1001 45 1010 40 1011 35 1100 30 1101 25 1110 20 1111 15 Data 31 4 NA Frame B WDR E1 Bright Pixel exposure period Address 0x0628 Data 19 0 lt value gt El exposure time in micro sec 1 sec max Data 31 20 N A Frame B WDR E2 Ultra Bright Pixel Exposure period Address 0x062C Data 19 0 k lt value gt E2 exposure time in micro sec sec max Data 31 20 N A Frame B WDR E3 Ultra Bright Pixel Exposure period Address 0x0664 Data 19 0 lt value gt E3exposure time in micro sec 1 sec max Data 31 20 N A 4 3 7 Acquisition Control Registers Imperx Inc 4 3 7 1 Frame Mode This register selects the acquisition mode either Frame A Frame B or Dual Video Address 0x07FC Data 1 0 00 Frame A active only 01 Frame B active only 10 Dual Video automatic or triggered 11 Dual Video Trigger Rev 2 0 7 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 96 of 152 IMPERX Y CHEETAH Hardwa
8. Deca Deca Imperx Inc 6421 Congress Ave Boca Raton FL 33487 1 561 989 0006 23 of 152 Rev 6 2 7 7 2015 IMPERX Y Imperx Inc 6421 Congress Ave Boca Raton FL 33487 1 561 989 0006 CHEETAH Hardware User s Manual 4 D4 D6 D4 5 D7 D7 D7 6 D5 EO D5 7 EO E1 EO 8 E1 E2 E1 9 E2 E3 E2 10 E6 E4 E6 11 E7 E5 E7 12 E3 E6 E3 13 E4 E7 E4 14 E5 FO E5 15 FO F1 FO 16 F6 F2 F6 17 F7 F3 F7 18 F1 F4 F1 19 F2 F5 F2 20 F3 F6 F3 21 F4 F7 F4 22 F5 GO F5 23 SPR G1 14 24 LVAL G2 LVAL 25 FVAL G3 I2 26 DVAL G4 I3 27 D6 LVAL D6 Table 1 4b Camera Link Connector 2 Y0 Y3 Camera Link Z0 Z3 CL RCVR Bits Full 10tap8bit 8tap10bit Deca Deca 1 G1 G6 G1 2 G2 G7 G2 3 G3 HO G3 4 G4 H1 G4 24 of 152 Rev 6 2 7 7 2015 IMPERX Y CHEETAH Hardware User s Manual 5 G7 H2 G7 6 G5 H3 G5 7 HO H4 HO 8 HI H5 H1 9 H2 H6 H2 10 H6 H7 H6 11 H7 10 H7 12 H3 I1 H3 13 H4 I2 H4 14 H5 13 H5 15 14 I5 16 I5 33 17 l6 J4 18 17 l6 19 JO 17 20 J1 JO 21 J2 J1 22 J3 J2 23 SPR J4 J7 24 LVAL J5 LVAL 25 FVAL J6 J5 26 DVAL J7 J6 27 G6 LVAL G6 Table 1 4c Camera Link Connector 2 Z0 Z3 1 5 4 Camera Link Port assignments based on selected output configuration 1x12 v
9. 6421 Congress Ave CHEETAH Hardware User s Manual Data 15 2 N A 4 3 6 2 Frame B Fixed Frame Period Enable This register enables the Frame B Fixed Frame Period Address 0x0708 Data 0 0 disable 1 enable Data 31 1 N A 4 3 6 3 Frame B Fixed Frame Period adds V Blanking Lines This register sets the Frame B period Address 0x070C Data 15 0 lt value gt frame period in lines 65 535 maximum Data 31 16 N A 4 3 6 4 Frame B Line Time This register sets the Frame B line time by adding additional clocks to each line readout Address a 0x0714 Data 15 0 lt value gt line time in tics 65 535 maximum Data 31 16 N A 4 3 6 5 Frame B Area of Interest These set of registers defines the Area of Interest and sets the appropriate window size and offset in horizontal and vertical direction Frame B AOI Horizontal Offset Address 0x0108 Data 11 0 lt value gt AOI horizontal offset multiple of 8 Data 31 12 N A Frame B AOI Horizontal Width Address 0x010C Data 12 0 h lt value gt AOI horizontal width multiple of 8 Data 31 13 N A Frame B AOI Vertical Offset Address 8 0x0100 Data 11 0 lt value gt AOI vertical offset multiple of 2 Data 31 12 N A Rev 2 0 7 7 7 2015 Boca Raton FL 33487 1 561 989 0006 92 of 152 IMPERX Y Frame B AOI Vertical Height CHEETAH Hardware User s Manual Ad
10. CHAPTER 1 INTRODUCTION 1 0 CHEETAH FAMILY 1 1 GENERAL DESCRIPTION 1 2 MAIN CHEETAH FEATURES 1 3 CHEETAH SPECIFICATIONS 1 3 1 General Information 1 3 2 Spectral Sensitivity Curves 1 3 3 Bayer Pattern Information 1 4 TECHNICAL SPECIFICATIONS 1 5 CAMERA CONNECTIVITY 1 5 1 CLF Full Camera Link CL Output 1 5 2 Camera Link Full Signal Mapping 1 5 3 Camera Link Physical Layer to Camera Link Receiver Bits 1 5 4 Camera Link Bit to Port Bit assignments 1 5 4 Camera Link Port assignments based on selected output configuration 1 5 4 Camera Power Connector 1 6 MECHANICAL OPTICAL and ENVIRONMENTAL 1 6 1 Mechanical 1 6 2 Optical 1 6 3 Environmental 1 6 4 Mechanical Drawings CHAPTER 2 CAMERA FEATURES 2 1 DUAL VIDEO FRAME A FRAME B 2 1 1 Frame A Frame B Description 2 1 2 Dual Video Frame A Frame B Switching Options 2 2 GLOBAL VS ROLLING SHUTTER 2 3 A D DIGITIZATION Imperx Inc 6421 Congress Ave Boca Raton FL 33487 1 561 989 0006 3 of 152 CHEETAH Hardware User s Manual 11 12 12 15 16 16 18 18 19 21 22 25 27 28 28 28 28 30 32 Rev 6 2 7 7 2015 33 33 34 34 35 IMPERX Y 2 4 FRAME TIME CONTROL 2 4 1 Internal Line and Frame Time Control 2 4 2 Camera Output Control 2 5 AREA OF INTEREST 2 5 1 Overview 2 5 2 Horizontal and Vertical Window 2 5 3 Factors Impacting Frame Rate 2 6 SUBSAMPLING 2 6 1 Pixel Averaging 2 6 2 Sub sampling Decimation 2 7 EXPOS
11. P9 P8 P7 P6 P5 P4 P3 P2 P1 PO MSB Camera Output 10 bits LSB Do Ds 07 6 05 pa o3 n2 n1 no P11 P10 P9 P8 P7 P6 P5 P4 P3 P2 MSB Camera Output 8 bits LSB D7 o6 D5 pa D3 p2 p1 no P11 P10 P9 P8 P7 P6 P5 P4 Figure 2 12 12 bit internal Digitization with 8 10 and 12 bit outputs Imperx Inc Rev 6 2 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 62 of 152 IMPERX Y CHEETAH Hardware User s Manual MSB Internal Camera 12 bits LSB D9 os 57 06 ps 04 ps p2 p1 no P9 P8 P7 P6 P5 P4 P3 P2 P1 PO MSB Camera Output 12 bits LSB D11 p10 Do os o7 oe os va n3 o2 ma P9 P8 P7 P6 P5 P4 P3 P2 P1 PO 0 0 MSB Camera Output 10 bits LSB Do os D7 06 D5 na D3 p2 n1 no P8 p9 p7 P6 P5 P4 P3 P2 P1 PO MSB Camera Output 8 bits LSB 05 pa 03 p2 n1 oo P9 P8 P7 P6 P5 P4 P3 P2 Figure 2 13 10 bit internal digitization with 8 10 and 12 bit outputs 2 12 2 Output Taps CHEETAH camera series supports Camera Link Base 1 or 2 Tap Medium 4 tap Full 8 tap or Deca 10 taps The amount of data that can be transferred per unit time increases with the number of taps selected The camera reduces the image sensor output rate to match the bandwidth of the output based
12. Value less then minimum x05 Value higher than maximum x06 AGC error x07 Supervisor mode error x08 Mode not supported error 4 3 CAMERA CONFIGURATION REGISTER DESCRIPTION 4 3 1 4 3 2 Imperx Inc Startup Procedure Upon power on or receipt of a Sw Reset command the camera performs the following steps 1 Boot loader checks Program FLASH memory for a valid Firmware image and loads it into the FPGA 2 The camera reads the Boot From register from the parameter FLASH and loads its workspace from one of the configuration spaces as determined by the Boot From data The available configuration spaces are Factory User 1 User 2 3 The camera is initialized and ready to accept user commands Saving and Restoring Settings Operational settings for the camera may be stored for later retrieval in its non volatile memory Three separate configuration spaces exist for storing these settings factory space user 1 space and user 2 space The factory space is pre programmed by factory personnel during the manufacturing process This space is write protected and cannot be altered by the user Two user spaces are also provided allowing the user to store his her own preferences The camera can be commanded to load its internal workspace from either of the three configuration spaces at any time The user can also define from which space the Rev 2 0 7 6421 Con
13. 000 Single 001 Dual Camera Link Output 010 4 Taps 0x0424 Selector RW 011 8 Taps 0x00000000 0x00000005 100 10 Taps A 14 WB AND COLOR CORRECTION REGISTERS Address Register Name Type Usage MIN Value MAX Value 0x0538 White Balance Mode RW 00 Off 01 Once 0x00000000 0x00000003 10 Auto Tracking 11 Manual 0x053C_ AWB tracking speed RW 000 1x slowest Ox00000000 0x00000FFF 001 2x 010 3x 011 4x 100 5x fastest 0x0540 WB Coef Red RW lt Value gt 0x00000000 0x00000FFF 0x0544 WB Coef Green RW lt Value gt 0x00000000 0x00000FFF 0x0548 WB Coef Blue RW lt Value gt 0x00000000 0x00000FFF A 15 DATA CORRECTION REGISTERS Address Register Name Type Usage MIN Value MAX Value Imperx Inc Rev 2 0 7 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 140 of 152 IMPERX Y CHEETAH Hardware User s Manual 0x0410 Look Up Table selector RW 1 LUT2 0 LUT 1 0x00000000 0x00000001 0x0414 Look Up Table RW 1 Enable 0 Disable 0x00000000 0x00000001 00 Disable 0x0418 Defective Pixel Correction RW 01 Static 10 Dynamic 0x00000000 0x00000003 11 Static 4 Dynamic 00 Disable 0x041C Hot Pixel Correction RW 1 Static 10 Dynamic 0x00000000 0x00000003 11 Static 4 Dynamic 0x042C Dynamic DPC Threshold RW lt Value gt 0x00000000 0x00000FFF 0x0430 D
14. 2 0 7 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 115 of 152 IMPERX Output Mode Shutter Mode ADC Selector DV Line Time CHEETAH Hardware User s Manual Figure 5 9 Frame A B Options Menu Frame A outputs video according to the Frame A settings Frame B outputs video according to the Frame B settings Dual Video the cameras outputs M Frame As followed by N Frame Bs then repeats this sequence M and N are values between 1 and 256 In the above graphic Dual Video is selected and M is set to 3 and N is set to 1 If trigger is enabled the camera waits for trigger then outputs M Frame As followed by N Frame Bs and then awaits the next trigger Dual Video Trigger the camera outputs Frame As continuously Upon receipt of trigger the camera outputs N Frame Bs and then returns to outputting Frame A s Selects Shutter mode Global shutter for objects in high speed motion or rolling shutter for best dynamic range and lowest possible noise floor Selects image sensor digitization level 12 bit digitization requires longer settling time and impacts maximum camera frame rate 10 bit digitization provides higher maximum frame rates In Dual Video mode line time controls for Frame A and Frame B are disabled The dual video line time control sets the line time for both Frame A and Frame B captures 5 7 1 2 Exposure Controls This window controls the
15. 3 4092 4 4091 4095 0 Imperx Inc Rev 2 0 7 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 143 of 152 IMPERX Y B 3 USING MICROSOFT EXCEL CHEETAH Hardware User s Manual The LUT file can be created in Excel as follows 1 create the spreadsheet as shown below note that 4096 rows are required in the table 2 add the necessary equations into the output cells to generate the transfer function required 3 save the file as a csv comma delimited format 4 rename the csv file to an extension of lut A B 0 D E E H l i M 1 GAMMA CORRECTION LUT 2 lines beginning with two dashes are comments 3 and are ignored by parser 4 Header 5 this is the text that will get displayed with a glh command 6 Function is Gamma Correction G 0 55 7 Created by Imperx 8 Date 12 26 05 Ba 10 Table 11 This is User Selectable Gamma Value 12 13 Gamma LUT ga EF 14 This is the actual LUT Gamma TF 15 input output 4500 16 0 0 17 1 42 4000 18 2 61 19 3 7 3500 20 4 90 21 5 102 3000 22 6 113 E 23 7 123 amp 2500 24 8 132 S 25 9 141 EF 2000 26 10 149 oS ngi 2T 11 157 28 12 165 1000 29 13 173 30 14 180 500 31 15 187 32 16 193 0 33 17 200 1 251 501 751 1001 1251 1501 1751 2001 2251 2501 2751 3001 3251 3501 3751 4001 34 18 206 Input Signal 35 19 213 36 20 219 HG 21 225 38 22 231 39 23 236 40 24 242 41 25 247 42 26 253 43 27 2
16. Figure 2 18 Custom LUT 2 18 DEFECTIVE PIXEL CORRECTION A CMOS imager is composed of a two dimensional array of light sensitive pixels In general the majority of the pixels have similar sensitivity Unfortunately there are some pixels which sensitivity deviates from the average pixel sensitivity A defective pixel is defined as a pixel whose response deviates by more than 15 from the average response In extreme cases these pixels can be stuck black or stuck white and are non responsive to light There are two major types of pixel defects Defective and Hot 1 Defective these are pixels which sensitivity deviates more than 15 due to fluctuations in the CMOS manufacturing process During final camera testing at the factory up to 1024 defective pixels are identified and will be automatically corrected if defective pixel correction is enabled Two type of defective pixels are possible a DARK is defined as a pixel whose sensitivity is lower than the sensitivity of the adjacent pixels In some cases this pixel will have no response completely dark b BRIGHT is defined as a pixel whose sensitivity is higher than the sensitivity of the adjacent pixels In some cases this pixel will have full response completely bright Imperx Inc Rev 6 2 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 70 of 152 IMPERX Y pa CHEETAH Hardware User s Manual Hot
17. Frame Period Area of Interest AOD Averaging Subsampling Gain Offset Wide Dynamic Range The dual video function provides the ability to use the image sensors high output frame rate to boost camera functionality For example Frame A can be programmed to readout a quad Full HD QFHD 3840 x 2160 AOI with 4 1 color averaging so that the resulting camera output is 1080P 1920 x 1080 at video frame rates Frame B can then be programmed to provide the same Quad Full HD AOI but without averaging so the resulting camera output is full resolution QFHD The user can then switch between Frame A and Frame B HD and QFHD resolutions using a variety of different controls and providing a high resolution QFHD video stream and a lower resolution video stream of the same field of view Figure 2 0 below shows the concept As another example Frame B might provide a low resolution contextual image showing the entire field of view at video frame rates while Frame A is programmed to be small AOI within the field of view at full resolution and displayed at much higher frame rates to track objects of interest within the larger scene 30 fps average A yY gt 30 fps lower res Figure 2 0 Dual Video Operational Example Imperx Inc Rev 6 2 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 33 of 152 IMPERX Y CHEETAH Hardware User s Manual 2 1 2 Dual Video Frame A Frame B Switching Options The cameras prov
18. In this example two line artifacts may be seen These artifacts will be located where they occurred with respect to the readout of Frame 1 in time For the E1 exposure the artifact may be seen at image line 150 1000 micro seconds before the end of the frame readout and for the E2 exposure an artifact at line 15 100 micro seconds before the end of the Frame 1 readout maybe observed If the F1 and E2 exposures do not overlap with the readout of Frame 1 no artifacts will be observed To eliminate these artifacts when trying to achieve maximum frame rates e Enable the Fixed Frame Period control to increase the frame time slightly so the WDR exposures occur after the frame readout ends For example if the minimum frame time is 20ms 50 fps and the longest WDR exposure desired is 2ms so the WDR exposure occurs 2ms before the end of the frame time then use the Fixed Frame Period control to increase the frame time by 2ms to 22ms e Use trigger mode WDR image artifacts will never be present because the exposure and readout are not overlapped in triggered mode 2 12 DATA OUTPUT FORMAT 2 12 1 Bit Depth The internal digitization level within the image sensor can be varied to improve frame rate 10 bit digitization level allows the on chip A D converters to settle more quickly enabling higher frame rates while 12 bit digitization levels provides higher dynamic range at the expense of frame rate The camera can output the data in 12 10 or
19. consecutive pulses Minimum value is 1 maximum is 16777215 Width Specifies the amount of time determined by the granularity that the pulse remains at a high level before falling to a low level Minimum value is 1 maximum is 65535000 Width Period Figure 2 14 Internal pulse generator 2 14 V O CONTROL 2 14 1 Input Output Mapping The camera has 2 external inputs 1 TTL input and 1 opto coupled input and 2 external outputs wired to the 12 pin HIROSE connector located on the back of the camera In addition to these inputs and outputs Camera Link inputs CC1 and CC2 are also available The user can map CC1 and CC2 or either external input to the Trigger input The user can map the camera outputs to Trigger Pulse Generator Strobe One or Strobe Two For each mapped signal active High active Low Imperx Inc Rev 6 2 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 64 of 152 IMPERX Y CHEETAH Hardware User s Manual can be selected All possible mapping options for the camera inputs and outputs are shown in Table 2 8a and Table 2 8b respectively Input Signals IN1 IN2 CC1 CC2 v v v Trigger v Table 2 8a CHEETAH Input Mapping Trigger Pulse Generator Strobe One Strobe Two Table 2 8b CHEETAH Output Mapping 2 14 2 Electrical Connectivity The Cheetah has two external inputs IN 1 and IN 2 Input IN 1 is optica
20. re power the camera and load the factory settings If the LED is still OFF please contact the factory for RMA 2 19 2 Temperature Monitor The camera has a built in temperature sensor which monitors the internal camera temperature The sensor is placed on the hottest spot in the camera The internal camera temperature is displayed on the Camera Configuration Utility screen and can be queried by the user at any time refer to Camera Configuration section 2 19 3 Exposure Time Monitor The camera has a built in exposure time monitor In any mode of operation i e normal AOI etc the user can query the camera for the current exposure time by issuing a command refer to the Exposure Control section The current camera integration time in units of microseconds will be returned 2 19 4 Frame Time Monitor The camera has a built in frame rate monitor In any mode of operation i e normal AOI etc the user can query the camera for the current frame rate by issuing a command refer to the Exposure Control section The current camera speed in units of frames per second will be returned Imperx Inc Rev 2 0 7 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 72 of 152 IMPERX Y CHEETAH Hardware User s Manual 2 19 5 Current image size The camera image size can change based on a camera feature selected In any mode of operation i e normal AOI etc the user can query the camera for the current image
21. these are pixels which in normal camera operation behaves as normal pixel the sensitivity is equal to the one of the adjacent pixels but during long time integration behaves as a high intensity bright pixel In some cases this pixel will have full response completely bright During final camera testing at the factory up to 8192 hot pixels will be identified and will be automatically corrected if hot pixel correction is enabled 2 18 1 Static Pixel Correction Static defective and Hot pixel correction works with predetermined and preloaded Defective and Hot pixel maps During factory final testing our manufacturing engineers run a program specially designed to identify these defective and hot pixels The program creates a map file which lists the coordinates i e row and column of every defective pixel This file called the Defect Pixel Map is then downloaded into the camera s non volatile memory Users may wish however to create and to upload their own DPM file because of the uniqueness of their operating environment or camera use When Defective Pixel Correction is enabled the camera will compare each pixel s coordinates with entries in the defect map If a match is found then the camera will correct the defective pixel When Hot Pixel Correction is enabled the camera will compare each pixel s coordinates with entries in the defect map If a match is found then the camera will corre
22. 4 3 9 Strobe Control Registers CHEETAH Hardware User s Manual These registers enable and control the position and pulse width of the two available strobes The strobe signal is mapped to one or both of the available strobe outputs 4 3 9 1 Strobe 1 Enable This register enables Strobe 1 Address 0x0630 Data 1 0 00 disable 01 enable for Frame A only exposure period 10 enable for Frame B only exposure period 11 enable for both Frame A and B Data 31 2 N A 4 3 9 2 Strobe 1 Reference Select This register sets the reference for the strobe 1 Start Address 0x0634 Data 0 0 Exposure Start 1 Readout Start Data 31 1 N A 4 3 9 3 Strobe 1 Delay This register sets the strobe 1 delay from the selected Reference Address 0x0638 Data 19 0 svalues delay in micro sec 1 sec max Data 31 20 N A 4 3 9 4 Strobe 1 Width This register sets the strobe 1 pulse duration Address 0x063C Data 19 0 svalues width in micro sec 1 sec max Data 31 20 N A 4 3 9 5 Strobe 2 Enable This register enables Strobe 2 Address 0x0640 Data 1 0 00 disable Imperx Inc 6421 Congress Ave 01 enable for Frame A only exposure period 10 enable for Frame B only exposure period 11 enable for both Frame A and B Rev 2 0 7 7 7 2015 Boca Raton FL 33487 1 561 989 0006 99 of 152 IMPERX Y CHEETAH Hardware User s Manual Data 31 2 N A 4 3 9 6 Strobe 2 Reference Selec
23. 561 989 0006 7 of 152 CHEETAH Hardware User s Manual 137 138 138 138 139 139 140 140 140 140 141 142 143 143 144 145 146 146 147 149 Rev 6 2 7 7 2015 IMPERX Y CHEETAH Hardware User s Manual CINE DEOP N Introduction This chapter outlines the key features of the CHEETAH camera Imperx Inc Rev 6 2 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 8 of 152 IMPERX Y CHEETAH Hardware User s Manual 1 0 CHEETAH FAMILY The CHEETAH series of cameras are built around a robust imaging platform utilizing the latest digital technology and components The CHEETAH camera series is designed around 2 different CMOS imaging sensors featuring different resolutions and frame rates and are available in monochrome and color The Cheetah family currently supports Camera Link Full output and will support CoaXPress output in the future The CHEETAH series is programmable to support Camera Link Deca Full Camera Link Medium and Camera Link Base depending upon the user s needs The CHEETAH family list is shown below C4080M 4000x3000 ONSEMI KAC 12040 CLF CXP C4080C 4000x3000 ONSEMI KAC 12040 CLF CXP C2880M 2832 x 2128 ONSEMI KAC 6040 CLF CXP C2880M 2832 x 2128 ONSEMI KAC 6040 CLF CXP Table 1 0 Cheetah Family Overview 1 1 GENERAL DESCRIPTION The CHEETAH cameras are advanced intelligent high resolution progressive scan fully programmable and
24. 7 2015 Boca Raton FL 33487 1 561 989 0006 50 of 152 IMPERX Y CHEETAH Hardware User s Manual 12 2 67 1 33 14 2 29 1 14 16 2 00 1 00 18 1 78 NA 20 1 60 NA 22 1 45 NA 24 1 33 NA 26 1 23 NA 28 1 14 NA 30 1 07 NA 32 1 00 NA Table 2 4 Analog Gain Steps 2 10 2 Digital Domain manual control As mentioned under Analog Domain manual control for optimal noise performance analog gain should be applied before digital gain Digital gain is applied before the application of the user selected target black level To provide finer control at lower gain settings the digital gain step size varies according to Table 2 5 below Gain range 1 to 1 984375 0 015625 2 to 3 96875 0 03125 4to 7 9375 8 to 15 875 Table 2 5 Digital Gain Range and Step Size 2 11 WIDE DYNAMIC RANGE WDR 2 11 1 Overview The Cheetah cameras introduce an exciting new feature for outdoor and uncontrolled lighting applications The extended dynamic range function or wide dynamic range function is applied to each individual pixel In WDR mode the camera effectively varies the exposure time of each individual pixel based on the intensity of the source Imperx Inc Rev 6 2 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 51 of 152 IMPERX Y CHEETAH Hardware User s Manual at each pixel location For each pixel the camera can be programmed to select from up
25. Bright pixel data is partitioned between the P1 and P2 output settings Like P1 parameter P2 which can have values ranging from 15 to 100 of the camera output 16 steps and must be greater than P1 See Table 2 6c If P2 is set to 100 then the camera output is partitioned into two zones Dark Pixel data 0 to P1 and Bright pixel data P1 to 100 Rev 6 2 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 57 of 152 IMPERX CHEETAH Hardware User s Manual Very Bright Pixels The exposure period for the Very Bright pixels is set by parameter E2 The Very Bright pixel exposure period is defined as the Total Exposure Period Texp minus E2 For example if Texp Dark Pixel Exposure time is 50 0ms and it is desired to set the Very Bright pixel exposure period to 0 5ms then E2 must be set to 49 5ms 50 0ms 49 5ms 0 5ms Tvb Very Bright Texp E2 E2 is a value in microseconds and must have a value between the E1 exposure period and Texp The minimum E2 value is 2 micro seconds The amount of camera output allocated to Very Bright pixels is set by parameter P3 which can have values ranging from 15 to 100 of the camera output 16 steps and must be greater than P2 The Very Bright pixel data is contained between the P2 percentage of output and the P3 percentage of output See Table 2 6c If P3 is set to 100 then the camera output is partitioned into three zones Ultra Bright Pixels Th
26. Data The camera contains non volatile memory that stores manufacturing related information This information is programmed in the factory during the manufacturing process 4 3 3 1 Firmware Revision This register returns the camera main firmware revision Address Ox6004 Data 31 28 lt FW images Data 27 24 lt CMOS Types Data 23 0 lt FW revisions 4 3 3 2 Firmware Build Number Imperx Inc Rev 2 0 7 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 82 of 152 IMPERX Y CHEETAH Hardware User s Manual This register returns the firmware build number which tracks custom firmware for specific applications Address 0x6038 Data lt FPGA EPCS ID Customer ID gt 4 3 3 3 Assembly Part Number This register returns the camera assembly part number the complete assembly part number is 4 registers Address 0x7004 Ox7008 Ox700C 0x7010 Data lt Assembly Part Number gt 4 3 3 4 Camera Serial Number This register returns the camera serial number the complete serial number is 2 registers Address 0x7014 0x7018 Data lt Camera Serial Numbers 4 3 3 5 CMOS Serial Number This register returns the CMOS imager number the complete CMOS number is 2 registers Address 0x701C 0x7020 Data lt CMOS Image Sensor Serial Number gt 4 3 3 6 Date of Manufacture This register returns the camera date of manufacture The complete date of manufacture is 2 registers Ad
27. Tap Deca 6 8 67 Table 2 0 C4080 Frame Rate vs Output Taps CLF C2880 C2880 8 10 12 Single 1 02 C2880 8 10 12 2 Tap Base 2 04 27 C2880 8 10 12 4 Tap Medium 4 08 50 C2880 8 Bit 8 Tap Full 5 44 80 Imperx Inc Rev 6 2 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 36 of 152 IMPERX Y CHEETAH Hardware User s Manual C2880 10 Bit 8 Tap Deca 6 8 80 C2880 8 Bit 10 Tap Deca 6 8 129 Table 2 1 C2800 Frame Rates vs Output Taps 2 5 AREA OF INTEREST 2 5 1 Overview For some applications the user may not need the entire image but only a portion of it To accommodate this requirement CHEETAH provides 1 one Region of Interest ROI also known as Area of Interest AOT for Frame A and one for Frame B The C4080 offers a pre programmed quad full HD QFD AOI 3840 x 2160 resolution to simplify camera setup for QFHD applications The Cheetah also allows custom AOIs as described below 2 5 2 Horizontal and Vertical Window Imperx Inc The starting and ending point for each AOI can be set independently in horizontal direction Horizontal Window and vertical direction Vertical Window by setting the window H amp V offset and H amp V size Figure 2 1 The minimum window size is 8 H x 2 V pixel line The maximum horizontal window size H and the vertical
28. camera exposure line and frame time Imperx Inc 6421 Congress Ave Boca Raton FL 33487 1 561 989 0006 Rev 2 0 7 7 7 2015 116 of 152 IMPERX Y Imperx Inc 6421 Congress Ave Boca Raton FL 33487 1 561 989 0006 CHEETAH Hardware User s Manual Exposure Control 3 z Off _ Trigger pulse width _ Internal Exposure Time us il 5040 0 10018 576 Lines 0 Clocks Fixed frame period Enable 24185 vs NS 1000000 mea 1400 1356 65535 Figure 5 10 Exposure control window 5 7 1 2 1 Exposure Control Texp Sets the camera exposure period with three options Off no exposure control The camera free runs and the exposure time equals the frame time Trigger Pulse Width the pulse width duration determines the exposure Trigger must be enabled Internal internal camera registers controls the exposure Exposure time slider sets the actual camera exposure in microseconds The minimum exposure time adjusts accordingly based on the camera mode of operation The slider can only be used when Internal mode is enabled 5 7 1 2 2 Fixed Frame Period These controls allow the user to control the frame rate and the line rates of the camera Since the camera outputs data at a very high rate the line time controls are used to match the camera output rate to the interface bandwidth The fixed frame period control should be enabled to achieve the desired output frame
29. can be properly referenced to the Dark pixel data Bright pixel Linear Bright pixel counts Dark pixel max counts x Texp Bright pixel exposure period Another way to view the data partitioning concept is to use view the histogram of the output data In Figure 2 10 a histogram is shown with four output partitions Again the user must bear in mind that each data region Dark Bright Very Bright and Ultra Bright has a different exposure time Wide Dynamic Range WDR Histogram View Dark Pixel Data exposure time Texp between O counts and PD e Bright Pixel Data Exposure time Tb Texp E1 in GUI Between PD and Pb 250 to 500 e Very Bright Pixel Data Exposure time TV Texp E2 in GUI Between Pb and Pv 500 to 750 e Ultra Bright Pixel Data Exposure time TU Texp E3 in GUI Between Pv and Pu 750 to 1000 Percentage of output Dark PD set to 2596 P1 in GUI Percentage of output Bright Pb set to 5096 P2 in GUI Percentage of output Very Bright Pv set to 75 P3 in GUI Percentage of output Ultra bright PU set to 100 Figure 2 10 Output partitioning using Histogram Rev 6 2 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 56 of 152 IMPERX Y CHEETAH Hardware User s Manual 2 11 2 Wide Dynamic Range Controls Imperx Inc Extended Dynamic Range feature is only available in global shutter mode The user has the option of enabling or di
30. does not lead to a corresponding display brightness decrease The same is valid if the brightness is increased This is because the display has a nonlinear transfer function and a brightness dynamic range much lower than the camera The camera has a built in transfer function to compensate for this non linearity which is called gamma correction If enabled the video signal is transformed by a non linear function close to the square root function 0 45 power formula 2 4 In the digital domain this is a nonlinear conversion from 12 bit to 12 bit Figure 2 17 Output signal V input signal V 2 4 5000 4000 Gamma Corrected Signal G 0 45 T Original Signal 5 3000 a 5 O 2000 1000 o 500 1000 1500 2000 2500 3000 3500 4000 4500 Input Signal Figure 2 17 Gamma corrected video signal Imperx Inc Rev 6 2 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 69 of 152 IMPERX Y CHEETAH Hardware User s Manual 2 17 2 User Defined LUT The user can define any 12 bit to 12 bit transformation as a user LUT and can upload it to the camera using the configuration utility software The user can specify a transfer function of their choice to match the camera s dynamic range to the scene s dynamic range There are no limitations to the profile of the function The LUT must include all possible input values 0 to 4095 Figures 2 18 Modified TF Output signal Input signal
31. field upgradeable CMOS cameras They are built around On Semiconductors area scan CMOS imagers and are feature rich with a built in image processing engine low noise and efficient and optimized internal thermal distribution The CHEETAH cameras feature a wide range of programmable functions including dual video options extended dynamic range exposure control frame rate control area of interest subsampling pixel averaging gain offset several triggering options strobe output control transfer function correction temperature monitoring and user programmable and up loadable LUT The user can program either a rolling shutter for the widest dynamic range or global shutter for superior motion capture The dual video mode allows two independent acquisition frames Frame A and Frame B to be programmed with independent control of exposure time area of interest AOI subsampling gain offset and wide dynamic range parameters Additional controls support a variety of ways to seamless switch between frames Exposure time for each frame can be controlled using an internal control or controlled by an external pulse width Exposure times up to 1 second with lus increments in rolling shutter mode and Sus increments in global shutter mode are supported A custom AOI can be programmed for each acquisition frame and subsampling or pixel averaging capabilities are Imperx Inc Rev 6 2 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 00
32. for 1 micro second Note more detail in lamp region and less contrast in dark 2 11 3 Initial WDR Setup Recommendations For initial extended dynamic range set up the setup below provides one knee point and quickly gets a usable image and allows experimentation with various settings 1 Set the overall exposure period so the dark portions of the image are visible with good contrast while other portions of the image are over exposed with no visible detail 2 Set El to 90 or 95 of the overall exposure period 3 Set P1 to 50 then P2 and P3 to 100 4 Try varying P1 and E1 and observe the impact on the image and histogram Increasing P1 will increase the amount of contrast in the dark regions of the image while decreasing contrast in the bright regions If the dark regions appear noisy or if the color reproduction in the dark regions is poor try increasing P1 Changing E1 changes the Imperx Inc Rev 6 2 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 59 of 152 IMPERX Y CHEETAH Hardware User s Manual exposure period for the bright areas of the image If more contrast is needed in these brighter regions of the image try increasing P1 View a histogram of the output to get a sense of how changes in P1 affect the output In a scene with several different intensity levels two knee points can be helpful If two knee points 3 intensity slopes are required then both E1 and E2 E1 is the exposure period
33. for bright pixels and E2 is the exposure period for the Very Bright pixels must be used Below is an initial setting for applications that have several areas of varying intensities 1 Set the overall camera exposure period so areas in the darkest regions of the image have contrast and the bright areas of the image are overexposed 2 Set Texp El to 10 of the overall exposure period and Set Texp E2 to 1 of the overall exposure period 3 Set PI to 40 P2 to 70 and P3 to 100 Extended dynamic range images will look flat and dark because the bright areas of the image have been compressed into the camera s output range Viewing the histogram of the output is a very useful tool for seeing the impact of changes to P1 P2 and P3 settings The LUT function can be used to stretch the image and increase the image brightness if needed keeping in mind that data is not linear and is partitioned into different exposure ranges 2 11 4 WDR at maximum frame rates image artifact prevention To provide the highest frame rates the exposure time and readout time overlap meaning while Frame 1 is being readout out Frame 2 is being exposed The exposure period for Frame 2 is always positioned at the end of the Frame 1 and any additional WDR exposures E1 E2 and B3 are positioned at the very end of the overall exposure time When the application demands maximum frame rate then the exposure period of Frame 2 overlaps with the re
34. invalid command Figure 4 3a If the user specifies a wrong address the camera returns acknowledge lt 06 gt and four bytes of data lt 00 gt lt 00 gt lt 00 gt lt 00 gt Read from camera 3 Bytes lt Read_Cmd gt lt Address gt 1 byte 0x52 Read Command 2 byte lt Register Address_High gt MSB 3 byte lt Register Address_Low gt LSB The camera returns 5 bytes lt ACK gt lt Data gt i byte 0x06 Acknowledge 2 byte lt Register Data Byte 4 gt MSB i byte lt Register Data Byte 35 5 byte lt Register Data Byte 27 6 byte lt Register Data Byte 1 gt LSB Rd_Cmd Addr aN OO Rx 52 04 10 Ack Data AT _ _ Tx 06 11 22 33 44 Figure 4 4 Normal read cycle Example Read from camera register address 0x0410 gt Camera Read Command lt 0x52 gt lt 04 gt lt 10 gt Camera returns register data payload value 0x11223344 gt Register data lt 0x06 gt lt 11 gt 2225 lt 33 gt lt 44 gt Imperx Inc Rev 2 0 7 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 79 of 152 IMPERX Y CHEETAH Hardware User s Manual 4 2 3 3 Error Code Description To manage camera reliability not acknowledge error codes are defined as follows x00 No error x01 Invalid command An invalid command not 52 or 57 has been sent to the camera x02 Time out x03 Checksum error x04
35. lt N A gt 4 3 4 5 Current Frame A Frame Time This register returns the current frame time for Frame A in us Address 0x6084 Data 23 0 lt Frame Time gt Data 31 24 N A 4 3 4 6 Current Frame B Frame Time This register returns the current frame time for Frame B in us Address Ox608C Data 23 0 lt Frame Time gt Imperx Inc Rev 2 0 7 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 84 of 152 IMPERX Y Data 31 24 N A CHEETAH Hardware User s Manual 4 3 4 7 Current Minimum Frame A Line Time This register returns the current minimum line time for Frame A in pixel clocks 160 Mhz 6 25nS Address 0x60B0 Data 15 0 lt Minimum Line Time gt Data 31 16 N A 4 3 4 8 Current Minimum Frame B Line Time This register returns the current minimum line time for Frame B in pixel clocks 160 MHz 6 25nS Address 0x60B4 Data 15 0 lt Minimum Line Time gt Data 31 16 N A 4 3 4 9 Current Frame A Exposure This register returns the current Frame A camera exposure time in us Address f 0x6080 Data 23 0 lt Camera Exposure gt Data 31 24 N A 4 3 4 10 Current Frame B Exposure This register returns the current Frame B camera exposure time in us Address 0x6088 Data 23 0 lt Camera Exposure gt Data 31 24 N A 4 3 4 11 Horizontal Image Size Maximum This register returns the maximum horizontal imag
36. on the number of taps selected by changing the minimum line readout time For example if one output taps is selected then the minimum line time is set to 15 200 clocks 93 micro seconds whereas if dual output taps are selected then the minimum line time reduces to 7550 47 micro seconds line clocks See Table 2 7 below Max C4080 Full Res Output Min Line Min Line Frame Rate Taps Clocks Time uS fps 1 15200 93 6 7 Imperx Inc Rev 6 2 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 63 of 152 IMPERX Y CHEETAH Hardware User s Manual 2 7625 47 13 3 3810 23 27 8 1910 12 56 10 1875 12 70 Table 2 7 Dependency of Line time and frame rate on Output Taps 2 13 PULSE GENERATOR The camera has a built in pulse generator The user can program the camera to generate a discrete sequence of pulses or a continuous trail Figure 2 14 The pulse generator can be used as a trigger signal or can be mapped to one of the outputs refer to I O Control section for more information The discrete number of pulse can be set from 1 to 65535 with a step of 1 The user has options to set Granularity Indicates the number of clock cycles that are used for each increment of the width and the period Four possible options are available x1 x10 x100 and x 1000 Period Indicates the amount of time also determined by the granularity between
37. rate Fixed Frame Period can be enabled or disabled If enabled the frame time can be set using the slider bar in microseconds or using the inputting the desired frame time in the box to the right of the slider Line Time The camera will automatically compute the minimum line time necessary to match the camera output data rate to the interface data rate As a general rule the user should always set the line rate to the minimum value Rev 2 0 7 7 7 2015 117 of 152 IMPERX Y 5 7 1 3 Area of Interest AOD AOL is used to select the area of the image sensor which will be output to the user The user chose to output the entire image sensor field of view or any region within this field of view CHEETAH Hardware User s Manual Frame size Resultant size 2848x2144 AOI O Full Frame Offset X 0 7 Width 2848 gt QFHD PAC OffsetY 0 1S Height 2144 5 gt Figure 5 11 AOI Functions Full Frame This is a pre programmed AOI providing the full resolution of the camera QFHD This is a pre programmed AOI providing a Quad Full HD 3840 x 2160 centered within the field of view available only on the C4030 version Custom The user can enter the desired area of interest by setting the active window size Width Height and offset X Y Image location 1 1 is top left corner The user can set the desired window size by inputting the numbers directly or use the scroll controls Horizontal offset value should
38. readout of the previous frame In Triggered Dual Video Mode the exposure time and readout time are not overlapped and the total readout time is the sum of the exposure and readout times 2 5 3 1 AOI Frame Rate Examples The Tables below describe resulting frame rate FR for various AOIs using Camera Link Deca output The frame grabber speed will impact results and values below assume an x8 speed frame grabber The camera will calculate and display the actual frame rate at any horizontal and vertical window selection Examples of C4080 Frame Rate performance at full resolution and within selected AOIs for 10 and 12 bit digitization are described in Table 2 2 C4080 Frame 12 bit 10 bit CL 8 bit CL Rates fps CL 4 taps 8 taps 10 taps Full Resolution 27 50 67 3840 x 2160 40 82 90 1920 x 1080 80 172 172 1280 x 720 110 243 243 Table 2 2 C4080 AOI frame rate for various AOIs Rev 6 2 7 7 2015 Boca Raton FL 33487 1 561 989 0006 39 of 152 IMPERX Y CHEETAH Hardware User s Manual Examples of C2880 frame rate performance at full resolution and within selected AOls for 8 10 and 12 bit digitization are described in Table 2 3 C2880 Frame 8 bit CL Rates fps 10 tap Full Resolution 1920 x 1080 1280 x 720 640 x 480 Table 2 3 C2880 Maximum Frame Rate for various AOIs 2 6 SUBSAMPLING 2 6 1 Pixel Averaging The principal objective of the averaging function is to reduc
39. size by issuing a command refer to the Image Size section The current camera image size in pixels x lines will be returned Imperx Inc Rev 2 0 7 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 73 of 152 IMPERX Y CHEETAH Hardware User s Manual Digital Image Processing This chapter is intentionally left blank for future use Imperx Inc Rev 2 0 7 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 74 of 152 IMPERX Y CHEETAH Hardware User s Manual Camera Configuration This chapter discusses how to communicate with the camera and configure the camera s operating parameters Imperx Inc Rev 2 0 7 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 75 of 152 IMPERX Y CHEETAH Hardware User s Manual 4 1 OVERVIEW The CHEETAH series of cameras are highly programmable and flexible All of the cameras resources internal registers video amplifiers and parameter FLASH can be controlled by the user The user communicates with the camera using a simple register based command protocol via the Camera Link s serial interface The interface is bi directional with the user issuing commands to the camera and the camera issuing responses either status or info to the user The entire camera registers and resources can be configured and monitored by the user The camera s parameters can be programmed using the CHEETAH Configu
40. the front and the back An additional plate with 1 4 20 UNC tripod mount and hardware is shipped with each camera Mechanical drawings for C4080 and C2880 Camera Link output cameras are found in Figures 1 7a to 1 7b below All dimensions are in millimeters 1 6 2 Optical The C4080 camera 72 x 72 mm cross section comes with an adapter for F mount lenses which have a 46 50 mm back focal distance and the C2880 camera also 72 x 72 mm cross section comes with an adapter for C Mount lenses which have a 17 5 mm The camera performance and signal to noise ratio depends on the illumination amount of light reaching the sensor and the exposure time Always try to balance these two factors Unnecessarily long exposure will increase the amount of noise and thus decrease the signal to noise ratio The cameras are very sensitive in the IR spectral region All color cameras have and IR cut off filter installed The monochrome cameras are without IR filter If necessary an IR filter 1 mm thickness or less can be inserted under the front lens bezel CAUTION NOTE 1 Avoid direct exposure to a high intensity light source such as a laser beam This may damage the camera optical sensor 2 Avoid foreign particles on the surface of the imager 1 6 3 Environmental Imperx Inc The camera is designed to operate from 40 to 85 C in a dry environment The relative humidity should not exceed 80 non condensing Always keep the camera R
41. to four user defined exposure periods based on the intensity of the source at the individual pixel For example the user can set an ultra short exposure for ultra bright pixels within the image a longer exposure for very bright pixels a long exposure for bright pixels while dark pixels within the image are allowed to integrate for the full exposure period The camera determines the intensity of the source at each pixel and categorizes the pixel into dark bright very bright or ultra bright based on user defined criteria The user need not know which pixels are bright or dark the camera takes care of managing these details Unlike some extended dynamic range schemes which involve two or more separate exposures separated by one or more frame times Cheetah can provide as many as four separate exposures based on the source intensity at each pixel within one exposure time eliminating motion artifacts While up to four separate exposures are possible the user can opt to use only two or three separate exposures for simplicity The user defines the exposure periods and also partitions the camera output to collect the data for the dark bright very bright and ultra bright pixel information In this way up to four different intensity slopes can be captured in one image capture Figures 2 8a and 2 8b demonstrate the WDR functionality PPT TTT TIT METH 225 1600 il 750 tH ob tra jaiii A rg IMPERX
42. user has option to disable the error checking by enabling the Disable Error Checking box a G commana Temin 7 Disable Polling Polling Time 2000 ms 7 Disable ErrorChecking value 4 lt 0000000000000004 gt gt sBR 115200 CMD lt 527000 gt ACK lt 06 gt RSP lt 00000000 gt value 0 lt 0000000000000000 gt gt boot 0 Figure 5 5 Command terminal 2 Cheetah Download Utility BUM One of the great features about the Cheetah is the separate Cheetah Download Manager Imperx Inc Rev 2 0 7 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 112 of 152 IMPERX Y Soft Reset Connection Exit CHEETAH Hardware User s Manual This separates the powerful features of uploading LUTs Firmware Defective Pixel Map and Hot Pixel Map Re initializes the camera similar to cycling power to the camera The user can select the connection type between the camera and the computer 1 Switch Port If checked Select Port window will popup The user can select new CamLink port which connect to current camera 2 Set Baud Rate the user can set the communication baud rate 9600 19200 38400 57600 or 115200 default value Terminates the application 5 5 VIEW GUI WINDOWS The View menu allows the user to select which camera parameter window to be displayed on the main CamConfig GUI window Figure 5 6 Frame A B Imperx Inc 6421 Congress Ave B
43. window size V are determined by image full resolution C4080 4000 x 3000 and C2880 2832 x 2128 Rev 6 2 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 37 of 152 IMPERX Y CHEETAH Hardware User s Manual Pixel 1 1 Pixel 1 H Pixel V 1 Pixel H V Figure 2 1 Horizontal and vertical window positioning Note Color version users when AOI is enabled for proper color reconstruction and WB Offset X and Offset Y must be an even number 2 5 3 Factors Impacting Frame Rate Imperx Inc The camera frame rate depends upon a number of variables including the integration time number of rows in the AOI the amount of decimation within the image the A D converter bit depth the bandwidth of the output interface and whether triggered dual video mode is enabled AOI size The camera must readout an entire image sensor row even if the AOI function specifies a lower horizontal fewer columns resolution The camera need not readout all rows so improvements in frame rate are possible as the number of rows in the AOI decreases Exposure Time The camera overlaps the exposure time and image readout If the exposure time is increased to a value exceeding the minimum readout time the frame rate will be reduced accordingly Decimation The camera supports both sub sampling and pixel averaging to reduce the output resolution Use of the pixel averaging feature does not increase the image sensor fra
44. 0110 60 0111 5590 1000 50 1001 45 1010 40 1011 35 1100 30 1101 25 1110 20 1111 1590 N A vel 0x060C 0000 100 0001 90 0010 80 0011 75 90 of 152 Rev 2 0 7 7 7 2015 IMPERX Y CHEETAH Hardware User s Manual 0100 70 0101 65 0110 60 0111 5590 1000 50 1001 45 1010 40 1011 35 1100 30 1101 25 1110 20 1111 1590 Data 31 1 f N A Frame A WDR E1 Bright Pixel exposure period Address 0x0610 Data 19 0 lt value gt El exposure time in micro sec 1 sec max Data 31 20 N A Frame A WDR E2 Very Bright Pixel Exposure period Address 0x0614 Data 19 0 lt value gt E2 exposure time in micro sec 1 sec max Data 31 20 N A Frame A WDR E3 Ultra Bright Pixel Exposure period Address 0x0660 Data 19 0 lt value gt E3 exposure time in micro sec 1 sec max Data 31 20 N A 4 3 6 Frame B Workspace Registers Imperx Inc 6421 Congress Ave 4 3 6 1 Frame B Exposure Control This register controls the Frame B Exposure Control Address 2 0x0724 Data 1 0 00 Off Free Running 01 Trigger Pulse Width Duration of selected trigger pulse determines exposure time 10 Internal Exposure Control Register sets exposure time in micro seconds 11 Reserved Rev 2 0 7 7 7 2015 Boca Raton FL 33487 1 561 989 0006 91 of 152 IMPERX Y Imperx Inc
45. 06 9 of 152 IMPERX Y CHEETAH Hardware User s Manual also available Pixel averaging is a unique feature providing reduced noise and improved signal to noise ratio by blending adjacent pixel information together Analog gains up to 12 dB 4x in 12 bit digitization mode and 18 dB 8x in 10 bit mode are available Digital gain controls allow further expansion of the low end signal with 24dB 15 9x of additional gain available The wide dynamic range capability features multi integration times within one frame period compressing bright areas into the available output range and extending the visible dynamic range up to 100db global shutter mode only with up to 3 knee points A built in Gamma correction and user defined LUT capability optimizes the camera s dynamic range even further Defective and hot pixel corrections can also be applied to correct for pixels that are over responding or under responding Auto White Balance AWB is available in color cameras to correct for color temperature The cameras have a Camera Link interface that includes 8 10 12 bits data transmission with two four eight or ten output taps as well as camera control all on one or two cables The cameras are fully programmable via the Camera Link interface The adaptability and flexibility of the camera allow it to be used in a wide and diverse range of applications including machine vision metrology high definition imaging and surveillance medical and scientific ima
46. 0A8 Vertical Size Max RO lt VER_SZE MAX gt Ox60AC Camera Attributes Tri scan RO Bit 8 Tri scan mode 7 0 Reserved 0x60B0 Frame A Line Time Min RO lt FRA_LT_MIN gt 0x60B4 Frame B Line Time Min RO lt FRB_LT_MIN gt Imperx Inc Rev 2 0 7 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 133 of 152 IMPERX Y A 3 FRAME A REGISTERS Stored in FLASH CHEETAH Hardware User s Manual Address Register Name Type Usage MIN Value MAX Value Frame A Offset Value 0x0000 KO Vertical Offset Y1 RW a 11 0 multiple of 2 2X00000000 MAX VER SZE 2 Frame A Height Value 0x0004 AOI Height H1 RW D 11 0 multiple of 2 0x00000000 MAX_VER_SZE Frame A Offset Value 0x0008 pA Horizontal Offset RW d 11 0 multiple of 2 0x00000000 MAX HOR SZE 2 Frame A Width Value 0x000C AOI Width W1 RW d 11 0 multiple of 2 0x00000000 MAX_HOR_SZE 0x0050 Frame A Black Level RW Black Offset Value 0x00000000 0x000007FF Frame A 00 Disable 0x0700 Fixed Frame Period RW 01 Enable 0x00000000 0x00000001 Enable Frame A lt lines gt 0x0704 Fixed Period in line RW 0x00000000 Ox0000FFFF times 0x0710 Frame A Line Time RW Line Time pixel clocks 0x00000000 0x00000001 Frame A Exposure op 0x0720 Control mode RW 01 trigger Pulse width 0x00000000 0x00000002 10 Internal Timer 0x0728 Frame A Integration Lines RW aa
47. 0x00000000 0x00000001 Frame A Integration Exposure Value 0x072C Clocks RW Pixel Clocks 0x00000001 0x00000001 Frame A Decimation dg Gi 0x073C Mode RW 01 Subsample enable 0x00000001 0x00000002 02 Averaging Mode Frame A Subsampling Contiguous Pixels to 0x0740 Parameter N RW Keep mult of 2 0x00000001 0x0000000F 0x0744 Frame A Subsampling Rw Pixels to skip 0x00000001 0x0000000F Parameter M 0x0748 Frame A Analog Gain RW lt Analog Gain Values 0x00000001 0x0000007F 0x074C Frame A Digital Gain Fine RW Dig Gain Fine Values 0x00000001 0x0000003F 0x0750 Frame A Digital Gain RW lt Dig Gain Coarse 0x00000001 0x00000003 Coarse Value 0x0778 Frame A Pixel Averaging RW 00 4 1 01 9 1 0x00000001 0x00000001 Imperx Inc Rev 2 0 7 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 134 of 152 IMPERX Y A 4 FRAME A WDR REGISTERS CHEETAH Hardware User s Manual Address Register Name ua Usage MIN Value MAX Value 00 disable 0x0600 Frame A WDR Enable RW 01 enable Ox00000000 0x00000001 0000 100 0001 90 0010 80 0011 75 Frame AWDR P1 E at 0x0604 Dark Pixel Allocation of RW 4 kia 1001 450 Ox00000000 0x0000000F Output Range 000 50 1001 45 1010 40 1011 35 1100 30 1101 25 1110 2096 1111 15 0000 100 0001 90 0010 80 0011 75 Frame A WDR P2 0110 60 0111 55 0x0608 Bright Pixel Allocat
48. 0x063C Strobe 1 duration RW lt S1 Duration Value us gt 0x00000000 OxQOOFFFFF 00 disable 0x0640 Sirobe 2 enable Rw 01 Enable Frame A only 999900000 Ox00000003 10 Enable Frame B only 11 Enable Frame A8 B 0x0644 Strobe 2 Start Reference RW 0 Exposure Start oxoo000000 ox00000001 1 Readout Start 0x0648 Strobe 2 delay RW lt S2 Delay Value us gt 0x00000000 0x000FFFFF 0x064C Strobe 2 Duration RW lt S2 Duration Value us gt 0x00000000 0x000FFFFF Imperx Inc Rev 2 0 7 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 139 of 152 IMPERX Y A 12 INPUT AND OUTPUT REGISTERS CHEETAH Hardware User s Manual Address Register Name Type Usage MIN Value MAX Value 0x0680 OUT1 Polarity Selector RW 1 Active H O Active L 0x00000000 0x00000001 000 no mapping 001 trigger pulse 0x0684 OUT1 Output Selector RW 010 pulse generator 0x00000000 0x00000003 011 Strobe 1 100 Strobe 2 0x0688 OUT2 Polarity Selector RW 1 Active H O Active L 0x00000000 0x00000001 000 no mapping 001 trigger pulse 0x068C OUT2 Output Selector RW 010 pulse generator 0x00000000 0x00000003 011 Strobe 1 100 Strobe 2 A 13 OUTPUT DATA FORMAT REGISTERS Address Register Name Type Usage MIN Value MAX Value 0x040C Bit Depth Selector RW 000 LB 001 10 0x00000000 0x00000002
49. 33487 1 561 989 0006 122 of 152 IMPERX Y CHEETAH Hardware User s Manual 5 7 3 Pulse Generator In this window the user can configure the parameters of the Internal Pulse Generator Figure 5 16 X100 100000 Width i Delay as a E 50000 10 000 Figure 5 16 Pulse generator window Granularity Sets the granularity for the internal counters Granularity can be set to 1x 10x 100x or 1000x Period Sets the pulse period in microseconds Width Sets the pulse width in microseconds of Pulses Sets the number of pulses generated Two modes are available 1 Continuous provides a continuous operation To stop the process you have to press the Stop button 2 Send Pulses the user can set only a discrete number of pulses ranging 1 to 65500 to be generated To stop the process you have to press the Stop button Otherwise the process stops automatically after the last pulse is sent Process Start starts and stops the process of Internal Pulse Generator When the process is in progress the Start button becomes a Stop button Status provides the status of the process Red the process is on hold Green the process is working Imperx Inc Rev 2 0 7 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 123 of 152 IMPERX Y CHEETAH Hardware User s Manual 5 7 4 Strobe Control And Output Mapping This window sets the camera strob
50. 40 and KAC 06040 image sensors have an analog to digital converter on each column and built in correction circuits that automatically compensate and correct for fixed pattern noise within the image array With an A D converter on each column of the imaging array digitization occurs within each row time rather than within a readout pixel time and this improves noise performance Two rows are readout simultaneously one from the top of the array and one from the Imperx Inc Rev 6 2 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 13 of 152 IMPERX Y Imperx Inc CHEETAH Hardware User s Manual bottom of the array during one line time readout The camera takes care of all the details of re ordering the lines within frame grabber memory The A D converter architecture allows the user to select between 8 10 or 12 bit digitization The Cheetah C4080 supports both 10 and 12 bit digitization In 12 bit digitization mode the A D conversion time is longer than the minimum chip readout time and this reduces maximum frame rates In 10 bit digitization the A D conversion time is reduced increasing the maximum frame rate The image sensor provides up to eight LVDS readout banks and the time to readout one line from the image sensor is less than the time necessary to output the data using Camera Link The camera compensates for this mismatch in data output rates by adding additional delay at the end of each line Fach pixel wit
51. 58 44 28 263 45 29 269 46 30 274 47 31 279 48 32 284 49 33 288 50 34 293 Imperx Inc 6421 Congress Ave Boca Raton FL 33487 1 561 989 0006 144 of 152 IMPERX Y CHEETAH Hardware User s Manual Creating DPC and HPC Tables This appendix provides a reference on how to create a DPC and HPC table using an ASCII editor Imperx Inc Rev 2 0 7 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 145 of 152 C 1 C 2 IMPERX CHEETAH Hardware User s Manual OVERVIEW The Defective Pixel Map DPM and Hot Pixel Map HPM are provided with each camera If the user wants to create its own DPM or HPM file he she can use any standard ASCII text editor or Microsoft Excel Additionally any spreadsheet or mathematical program capable of generating a comma delimited csv file can be used USING AN ASCII TEXT EDITOR A custom Defective Pixel Map DPM and Hot Pixel Map HPM can be prepared using any ASCII text editor such as Notepad or similar The file must have a dpm extension for DPM map and hpm extension for HPM The dpm or hpm file has two main sections a header and a table The header section is a free text area of up to 256 ASCII characters Fach line of the header section must be terminated in a comma The table section of the file contains an array of lines with each line containing an X pixel number value followed by a comma and a Y line number value A
52. 8 bit format In 8 bit output standard bit reduction process is used and the least significant bits are truncated 12 bit digitization See Figure 2 12 If the camera is set to output 12 bit data the image sensor data bits are mapped to DO LSB to D11 MSB output bits If the camera is set to output 10 bit data the image sensor most significant data bits D2 to D11 are mapped to the DO LSB to D9 MSB output bits Imperx Inc Rev 6 2 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 61 of 152 IMPERX Y CHEETAH Hardware User s Manual If the camera is set to output 8 bit data the image sensor most significant data bits D4 to D11 are mapped to DO LSB to D7 MSB 10 bit digitization See Figure 2 13 If the camera is set to output 12 bit data the image sensor data bits are mapped to the D2 LSB to D11 MSB output bits and output bits DO and D1 are set to zero If the camera is set to output 10 bit data the image sensor data bits are mapped directly to DO LSB to D9 MSB If the camera is set to output 8 bit data the image sensor data most significant data bits D2 to D9 are mapped to DO LSB to D7 MSB MSB Internal Camera 12 bits LSB D11 p10 Do os D7 oe os pa n3 D2 pa no P11 P10 P9 P8 P7 P6 P5 P4 P3 P2 P1 PO MSB Camera Output 12 bits LSB D11 p10 Do os 7 oe os oa n3 D2 pa no P11 P10
53. AND FRAME A B COMMON REGISTERS Address Register Name Type Usage MIN Value MAX Value ox071g ual Video Frame A Rw Number of Frame Asto 499900000 0x000000FF Repetition capture ox071c Pual Video Frame B Rw Number of Frame Bsto 4999900000 ox000000FF Repetition capture Dual Video Line Time RW Line Times 0x00000000 OxOOOOFFFF 0x0738 ADC Bit Depth RW e oe 07 10bit x00000000 0xo0000002 0x076C Shutter mode RW 00 Rolling 01 Global 0x00000000 0x00000001 0x0770 Vertical Flip Output RW 00 off 01 enable 0x00000000 0x00000001 0x0774 Horizontal Flip Output RW 00 Off 01 enable 0x00000000 0x00000001 00 Dual Scan 0x0780 Dual Tri scan Readout RW 01 Tri Scan 0x00000000 0x00000001 00 Frame A 01 Frame B 0x07FC IFrame Mode Select RW 10 Dual Video 0x00000000 0x00000003 11 Dual Video Trigger A 8 TRIGGER REGISTERS Address Register Name Type Usage MIN Value MAX Value 000 IN1 001 IN2 0x0650 Trigger Input Selector RW 010 CC1 011 CC2 0x00000000 0x00000004 100 PlsGen 101 Software 0x0654 Trigger Enable RW 0 enable 1 disable 0x00000000 0x00000001 0x0658 Trigger Edge Selector RW 1 Falling 0 Rising 0x00000000 0x00000001 000 100 10s 0x065C De bounce Time Selector Rw 101 50us 001 100us 0x00000000 0x00000007 110 500s 010 1
54. Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 121 of 152 IMPERX CHEETAH Hardware User s Manual Trigger Source selects the active triggering input signal from one of six sources In1 External Camera Input 1 In2 External Camera Input 2 CC1 Camera Link Control 1 CC2 Camera Link Control 2 Software Software trigger button command that can be sent by Software trigger button Pulse Gen the internal pulse generator produces the trigger signal Edge the user can select the active triggering edge Rising the rising edge is used for triggering Falling the falling edge is used for triggering Debounce the trigger inputs are de bounced to prevent multiple triggering from ringing triggering pulses The user has eight choices of de bounce interval Off No de bounce 10 0 us 10 microseconds de bounce interval 50 0 us 50 microseconds de bounce interval 100 0 us 100 microseconds de bounce interval default 500 0 us 500 microseconds de bounce interval 1 0 ms 1 milliseconds de bounce interval 5 0 ms 5 milliseconds de bounce interval 10 0 ms 10 milliseconds de bounce interval Software Trigger this button only becomes active when the Trigger source selected is Software Pressing the Software Trigger button triggers the camera one time This can be useful in debugging operation Imperx Inc Rev 2 0 7 6421 Congress Ave 7 7 2015 Boca Raton FL
55. Base 24 bits C 4 Taps Camera Link 48 bits D 8 Taps Camera Link Full 72 bits E 10 Taps Camera Link Deca 80 bits Depth sets the output data bit depth i e the number of output bits per pixel and mapped to the camera link output Options are 8 10 or 12 bits Enable enables the usage of the selected Look Up Table LUT LUT Select selects which of the two supported LUTs will be used By default LUT 1 is factory programmed with standard Gamma of 0 45 LUT 1 and LUT 2 can be reprogrammed by the user Rev 2 0 7 7 7 2015 126 of 152 IMPERX Y Corrections Image Flip Test Mode 5 7 5 Color CHEETAH Hardware User s Manual DPC enables Defective Pixel Correction DPC Each camera comes with a built in Defective Pixel Map DPM to correct for defective pixels The user can upload a custom DPM HPC enables Hot Pixel Correction HPC Each camera comes with a built in Hot Pixel Map HPM to correct for hot pixels The user can upload a custom HPM H Mirror Mirrors the Horizontal output video when checked On V Mirror Mirrors the Vertical output video when checked On Test Patterns the camera can output eight test patterns DYE tor Off test mode is off H Ramp displays a stationary horizontal ramp image V Ramp displays a stationary vertical ramp image H Ramp move displays a moving horizontal ramp image V Ramp move displays a moving vertic
56. ERVIEW The Lookup Table file can be created using any standard ASCII text editor or by using Microsoft Excel Additionally any spreadsheet or mathematical program capable of generating a comma delimited csv file can be used See Appendix E for software load procedure B 2 USING AN ASCII TEXT EDITOR A custom LUT lookup table can be prepared using any ASCII text editor such as Notepad or similar Alternatively any spreadsheet program i e Microsoft Excel can be used by converting the spreadsheet into a comma delimited csv file In either case the file must be renamed to include the lut extension The lut file has two main sections a header and a table The header section is a free text area of up to 256 ASCII characters Each line of the header section must be terminated in a comma The table section of the file contains an array of 4096 lines with each line containing an input value followed by a comma and an output value The input values represent incoming pixels and the output values represent what each incoming pixel should be converted into as an output pixel The format of the LUT file is as follows Look Up Table input file example lines beginning with two dashes are comments and are ignored by parser Header this is the text that will get displayed with a glh command Function is Negative Image Created by John Doe Date 1 14 09 Table input output 0 4095 1 4094 2 4093
57. FL 33487 1 561 989 0006 108 of 152 IMPERX Y 5 3 GRAPHICAL USER INTERFACE CHEETAH Hardware User s Manual After having selected the desired camera the main CHEETAH CamConfig dialog will appear Figure 5 2 The Graphical User Interface GUI is very intuitive and self explanatory The basic features are 1 Compact Design small size saves space when user displays image and control at the same time 2 Real Time Data updates camera information in real time while camera is working Gives quick and general information about camera configuration status 3 Dockable Windows all configuration windows Gain AOI Trigger can be separated and docked in the main GUI with just one click 4 Configurable user can customize the main menu by selecting the sub windows and also memorize the last setting Menu View Help Camera Info Frame A Frame B Size 2840x2136 2840x2136 PxL FPS 46 784 0 000 fps FTM 21 375 0 000 ms exp 19 635 0 000 ms TMP 49 00 C An one A B Frame A Trigger Off fnn Pulse Off 9 Strobe Til Data Out 8 Taps 8 Color AWB Tracking cur c2880c oF w Figure 5 2 CamConfig GUI The configuration utility includes an interactive help file which will guide you through the GUI controls and camera settings On the main window the user can see useful camera Imperx Inc Rev 0 3 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 109 of 152
58. IMPERX CHEETAH Hardware User s Manual Figure 1 2a KAC XX040 CMOS mono spectral response Monochrome with the cover glass Measured with AR coated Cover Glass Absolute Quantum Efficiency N 400 500 600 700 800 900 1000 Illumination wavelength nm Figure 1 2b KAC XX040 CMOS typical color spectral response Color with Microlens and with cover glass 1 3 3 Bayer Pattern Information CHEETAH is available with Monochrome or Color CMOS imager To generate a color image a set of color filters Red Green and Blue arranged in a Bayer pattern are placed over the pixels The starting color is Green 1 4 TECHNICAL SPECIFICATIONS The following Tables describe features and specifications that relate to all CHEETAH CLF and CXP cameras hutter Operation Dual Video Operation Frame Time Long int ubsampling Pixel Averaging color and mono ide Dynamic Range Optional uto White Balance Yes Imperx Inc Rev 6 2 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 16 of 152 Global or Rolling Independent Acquisition Frames up to 1 sec Up to 32x 4x 9x Mirror image H Mirror ertical image V Mirror Image Overlay Defective pixel correction Hot pixel correction Pulse Generator In camera Image Processing amera housing upply voltage range Upgradeable firmware Upgradeable LUT DPM FFC perating Environmental Storage ibration Sh
59. IMPERX Y CHEETAH Hardware User s Manual CHEETAH Hardware User s Manual HIGH SPEED HIGH RESOLUTION AND VERSATILE CMOS DIGITAL CAMERAS CONFIDENTIAL NOTICE These products are not intended for use in life support appliances devices or systems where malfunction of these products can reasonably be expected to result in personal injury Imperx customers using or selling these products for use in such applications do so at their own risk and agree to fully indemnify Imperx for any damages resulting from such improper use or sale Copyright 2011 Imperx Inc All rights reserved All information provided in this manual is believed to be accurate and reliable Imperx assumes no responsibility for its use Imperx reserves the right to make changes to this information without notice Redistribution of this manual in whole or in part by any means is prohibited without obtaining prior permission from Imperx ein Imperx Inc Rev 6 2 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 1 of 152 IMPERXY CHEETAH Hardware User s Manual Revision History Rev 2 0 02 20 15 K Wetzel Updated power and current input values temp range KAGAT S450 ST image artifacts in WDR p60 6 Cheetah Configurator Strobe menu T115 Update GUI Screen Shots 6 2 Imperx Inc Rev 6 2 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 2 of 152 IMPERX Y TABLE OF CONTENTS Contents
60. IR 4 PAIR 5 PAIR 5 PAIR 6 PAIR 6 PAIR 7 PAIR 7 PAIR 8 PAIR 8 PAIR 9 PAIR 9 PAIR 10 PAIR 10 PAIR 11 PAIR 11 Base Wire Base Wire CHEETAH Hardware User s Manual 18 X CLK LVDS Out 6 X3 LVDS Out 19 X3 LVDS Out 7 SerTC LVDS In 20 SerTC LVDS In 8 SerTFG LVDS Out 21 SerTFG LVDS Out 9 CC1 LVDS In 22 tCC1 LVDS In 10 CC2 LVDS In 23 CC2 LVDS In 11 N C N C 24 N C N C 12 N C N C 25 N C N C 13 Power Return Ground 26 12 VDC Power Power amera Link Clock Tx amera Link Channel Tx amera Link Channel Tx erial Data Receiver erial Data Receiver erial Data Transmitter erial Data Transmitter User Selectable Input ser Selectable Input User Selectable Input ser Selectable Input N C N C N C N C round Power Base Table 1 3a CLF Camera Output Connector 1 Signal Mapping O Gitta Figure 1 4b CLF Camera output connector 2 Base Wire Base Wire PAIR 1 PAIR 1 PAIR 2 PAIR 2 PAIR 3 PAIR 3 PAIR 4 PAIR 4 PAIR 5 PAIR 5 Imperx Inc 6421 Congress Ave Boca Raton FL 33487 1 561 989 0006 12 VDC Power Power Power Return YO Y0 Y1 Y1 Y2 Y2 Y CLK Y CLK Y3 Y3 20 of 152 Power Base round amera Link Channel Tx amera Link Channel Tx amera Link Channel Tx amera Link Channel Tx amera Link Channel Tx amera Link Channel Tx amera Link Clock T
61. ISCOVERY PROCEDURE Often times multiple frame grabbers and cameras may be installed into a computer at the same time The CamConfig utility provides an intelligent automated method of discovering and searching all available UART components in your PC and allowing the user to select the one that is connected to CHEETAH camera CHEETAH Cam Configurator is expecting the serial interface DLL clserXXX dll file to be located in C WWindows System32 The search engine not only finds the CamLink DLL port but also looking for any available COM port installed on the PC as well It will then communicate with each port DLL and COM and attempt to query the attached camera If it finds an attached Imperx CHEETAH camera it will read the camera type information from the camera CHEETAH camera name will be displayed in the list box which includes all DLLs ports and cameras that it discovered The user can then select the DLL port camera of interest by highlighting the entry and clicking on the OK button Clicking on the Rescan Ports button causes the above discovery procedure to be repeated Please note the frame grabber has to be Camera Link v1 0 or later compliant a a o O Port Interface DLL Camera 00 clseripx dil Chetah12M 000 01 clseripx dll none fears oma Figure 5 1 Discovery procedure select port Imperx Inc Rev 2 0 7 6421 Congress Ave 7 7 2015 Boca Raton
62. TAH Hardware User s Manual Regulatory Class 1 Safety standards UL60950 1 EN60950 1 TEC60950 1 Safety 1 EMC UL CUL CE TUV DoIR C Tick Semko CCC FCC Safety 2 BSMI FCC Imperx Inc Rev 2 0 7 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 152 of 152
63. TING HOLES M2 5 X 0 45 8X SCREW 45 0 Figures 1 7a C4080 Mechanical Drawings F Mount Imperx Inc 6421 Congress Ave Boca Raton FL 33487 1 561 989 0006 30 of 152 Rev 6 2 7 7 2015 IMPERX Y CHEETAH Hardware User s Manual 1 6 4 2 C2880 Drawings NOTE DATUM A REFERS TO THE IMAGE PLANE TOP OF IMAGING DIE 17 53 0 1 140 28 KAC 06040 IMAGE PLANE IS BEHIND MOUNTING HOLES M3 0X0 5 THREAD 7 5 DEEP 8X EVERY SIDE IMAGE CENTER IS NOMINALLY AT CENTER OF LENS 10 8 M2 5 X 0 45 8X SCREWS Figure 1 7b C2880 Mechanical Drawings C Mount Imperx Inc Rev 6 2 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 31 of 152 IMPERX Y CHEETAH Hardware User s Manual GRAPEW Camera Features This chapter discusses the camera s features and their use Imperx Inc Rev 6 2 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 32 of 152 IMPERX Y CHEETAH Hardware User s Manual 2 1 DUAL VIDEO FRAME A FRAME B 2 1 1 Frame A Frame B Description The camera provides two user defined frames Frame A and Frame B and the ability to switch seamlessly between the two frames either manually automatically or triggered See Section 2 1 2 Frame Switching Options The user can program each frame with independent control of the following functions Exposure Time
64. URE CONTROL 2 7 1 Internal Exposure Control Electronic Shutter 2 7 3 External exposure control 2 7 4 Variable Frame Time Programmable Line and Frame Time 2 8 CAMERA TRIGGERING 2 8 1 Triggering Inputs 2 8 2 Acquisition and Exposure Control 2 8 3 Triggering modes 2 9 STROBES 2 10 VIDEO AMPLIFIER GAIN AND OFFSET 2 10 1 Analog Domain manual control 2 10 2 Digital Domain manual control 2 11 WIDE DYNAMIC RANGE WDR 2 11 1 Overview 2 11 2 Wide Dynamic Range Controls 2 11 3 Initial WDR Setup Recommendations 2 11 4 WDR at maximum frame rates image artifact prevention 2 12 DATA OUTPUT FORMAT 2 12 1 Bit Depth 2 12 2 Output Taps 2 13 PULSE GENERATOR 2 14 I O CONTROL 2 14 1 Input Output Mapping 2 14 2 Electrical Connectivity 2 15 TEST IMAGE PATTERNS Imperx Inc 6421 Congress Ave Boca Raton FL 33487 1 561 989 0006 4 of 152 CHEETAH Hardware User s Manual Rev 6 2 7 7 2015 35 35 36 37 37 37 38 40 40 41 43 43 45 45 46 46 46 47 49 50 50 51 51 51 57 59 60 61 61 63 64 64 64 65 67 IMPERX Y 2 15 1Test Image patterns 2 16 WHITE BALANCE AND COLOR CONVERSION 2 16 1 White Balance Correction 2 17 TRANSFER FUNCTION CORRECTION USER LUT 2 17 1 Standard Gamma Correction 2 17 2 User Defined LUT 2 18 DEFECTIVE PIXEL CORRECTION 2 18 1 Static Pixel Correction 2 18 2 Dynamic Pixel Correction 2 19 CAMERA INTERFACE 2 19 1 Status LED 2 19 2 Temperat
65. a to load its workspace from the user 2 space All current workspace settings will be replaced with the contents of the user 2 space This is a command not a register The act of writing to this location initiates the load from the user 2 Address 0x6068 Imperx Inc Rev 2 0 7 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 81 of 152 IMPERX Y 4 3 2 5 Save to User 1 The Save To User 1 command instructs the camera to save its workspace to the user 1 space All current workspace settings will be saved to the user 1 space This is a command not a register The act of writing to this location initiates the save to user 1 space Address 0x6074 CHEETAH Hardware User s Manual 4 3 2 6 Save to User 2 The Save To User 2 command instructs the camera to save its workspace to the user 2 space All current workspace settings will be saved to the user 2 space This is a command not a register The act of writing to this location initiates the save to user 2 space Address 0x6078 4 3 2 7 SW Reset The sw Reset command instructs the camera to initiate software reset which resets the camera and loads its workspace from one of the configuration spaces as determined by the Boot From data Although this is a command the user MUST write a specific data 0xDEADBEEF in order to initiate the reset sequence Address 0x601C Data 0xDEADBEEF 4 3 3 Retrieving Manufacturing
66. adout of Frame 1 For lower frame rate applications the exposure for Frame 2 will occur after Frame 1 is readout non overlapping An image artifact a faint horizontal line may be seen at the beginning of the WDR E1 E2 and E3 exposures if the WDR exposures for Frame 2 overlap with the Frame readout time At maximum frame rate these artifacts typically occur very near the bottom of the image For example suppose the camera is providing a system constrained maximum frame rate of 50 fps 20 000 micro second frame time Let s also suppose that the exposure time Texp is set to 5 000 micro seconds and two additional WDR exposures E1 and E2 are used El is set to 4 000 micro seconds a WDR exposure of 1 000 micro seconds and E2 is set to 4 900 micro seconds a 2 WDR exposure of 100 micro seconds Let s also assume a full 4000 x 3000 resolution image is readout from the C4080 camera and Frame 1 begins reading out at time equals O seconds In this example the exposure for Frame 2 begins 15 Imperx Inc Rev 6 2 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 60 of 152 IMPERX Y CHEETAH Hardware User s Manual 000 micro seconds after the Frame 1 readout begins 5 000 microseconds before the end of the Frame 1 readout time and the first WDR exposure E1 begins 1 000 micro seconds before the end of Frame 1 readout Finally the 2 WDR exposure E2 begins 100 micro seconds before the end of the Frame 1 readout
67. ads the camera registers with the original factory settings 4 User Space 1 loads the camera registers with a saved camera settings in the user space 1 Imperx Inc Rev 2 0 7 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 110 of 152 IMPERX Y Save To Boot DPM Imperx Inc 6421 Congress Ave Boca Raton FL 33487 1 561 989 0006 CHEETAH Hardware User s Manual 5 User Space 2 loads the camera registers with a saved camera settings in the user space 2 Saves the camera registers to File User Space 1 or User Space 2 Factory Space is disabled for regular users and it is available only for manufacturing technicians 1 File saves the current camera settings to a configuration file 2 Factory Space saves the current camera settings to the camera Factory space This is restricted command and is disabled for regular users 3 User Space 1 saves the current camera settings to the camera User space 1 4 User Space 2 saves the current camera settings to the camera User space 2 This menu selects the Boot From source Upon power up the camera will load its registers from the selected Boot From source Factory User 1 or User 2 CHEETAH camera will be release with Factory Setting and user can save and boot camera with their own configurable features Defect Pixel Map When selected the DPM window will show defected pixels location The d
68. al ramp image Crosshair superimposes a cross located in the center of the CMOS images This window sets the corrections for the primary R G B colors In addition this window sets the White balance mode and displays the calculated white balance coefficients Figure 5 19 This window is disabled for monochrome cameras Imperx Inc 6421 Congress Ave Boca Raton FL 33487 1 561 989 0006 White Balance Manual WB coef AWB Once X 5x fastest Statistic Red Coef 256 Green Coef 263 Blue Coef 823 Rev 2 0 7 7 7 2015 127 of 152 IMPERX Y White Balance Manual WBC Tracking Speed Manual WB Imperx Inc 6421 Congress Ave Boca Raton FL 33487 1 561 989 0006 CHEETAH Hardware User s Manual Figure 5 19 Color window Sets the White balance mode of operation 1 Off No white balance is performed AWB Once the camera analyzes only one image frame calculates only one set correction coefficients and all subsequent frames are corrected with this set of coefficients 3 AWB Tracking the camera analyzes every frame a set of correction coefficients are derived for each frame and applied to the next frame 4 Manual the camera uses the correction coefficients as entered from the user The user enters manually the white balance coefficients for each color The range is from 0 to 255 255 is equal to 1 0x The user has option to set a
69. ame as XO to X3 Imperx Inc Rev 6 2 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 21 of 152 IMPERX Y CHEETAH Hardware User s Manual TxCLK OUT RxCLK IN sada TxIN23 TxIN17 TxIN11 TxIN10 TxIN5 TxIN27 RxIN2 TxIN26 TxIN25 TxIN24 TxIN22 TxIN21 TxIN20 TxIN19 naun ora GID Gr wants Tan Figure 1 5 Camera Link bit sequence over the physical connection 1 5 4 Camera Link Bit to Port Bit assignments Tables 1 4a c describe how the Camera Link Receiver bits received from X0 X3 YO Y3 and Z0 Z3 physical connections on CL connectors 1 and are translated into the Camera Link Port bits based on the selected Camera Link Configuration Base Medium Full or Deca Camera Link X0 X3 10tap8bit 8tap10bit CL RCVR Bits Base Deca Deca Imperx Inc Rev 6 2 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 22 of 152 IMPERX Y CHEETAH Hardware User s Manual 3 A3 A3 A3 4 A4 A4 A4 5 A7 A5 A7 6 A5 A6 A5 7 BO A7 BO 8 B1 BO B1 9 B2 B1 B2 10 B6 B2 B6 11 B7 B3 B7 12 B3 B4 B3 13 B4 B5 B4 14 B5 B6 B5 15 CO B7 CO 16 C6 CO C6 17 C7 C1 C7 18 C1 C2 C1 19 C2 C3 C2 20 C3 C4 C3 21 C4 C5 C4 22 C5 C6 C5 23 SPR C7 I1 24 LVAL LVAL LVAL 25 FVAL FVAL FVAL 26 DVAL DO 10 Table 1 4a Camera Link Connector 1 X0 X3 Camera Link Y0 Y3 CL RCVR Bits Med 10tap8bit 8tap10bit
70. applied before digital gain Address 0x0748 Data 5 0 lt analog gain values Data 31 6 N A Frame A Digital Gain Fine Control This register sets the Frame A digital gain fine control Address 0x074C Data 5 0 lt digital gain fine value gt Data 31 6 N A Frame A Digital Gain Course Control This register sets Frame A Course Digital Gain Address 0x0750 Data 1 0 00 Course gain 1x to 2x 01 Course gain 2x to 4x 10 Course gain 4x to 8x 11 Course gain 8x to 15x Data 31 2 f N A 4 3 5 9 Wide Dynamic Range WDR Registers These set of registers controls the Wide Dynamic Range Function Frame A WDR Enable Address 0x0600 Data 0 0 Disable 1 Enable Data 31 1 N A Frame A WDR P1 Level Address 0x0604 Data 3 0 0000 100 Rev 2 0 7 7 7 2015 Boca Raton FL 33487 1 561 989 0006 89 of 152 IMPERX Y Imperx Inc 6421 Congress Ave Data 31 1 Frame A WDR Address Data 3 0 Data 31 1 Frame A WDR Address Data 3 0 Boca Raton FL 33487 1 561 989 0006 P2 Level P3 Le CHEETAH Hardware User s Manual 0001 90 0010 80 0011 75 0100 70 0101 65 0110 60 0111 5590 1000 50 1001 45 1010 40 1011 35 1100 30 1101 25 1110 20 1111 1590 N A 0x0608 0000 100 0001 90 0010 80 0011 75 0100 70 0101 65
71. arity Out2 Out2 Polarity 5 7 4 Data Output External Output 1 can be mapped to the following No Mapping Trigger Input Mirror Pulse Generator Strobe 1 or Strobe 2 External Output 1 polarity can be changed to be active High or Low External Output 2 can be mapped to the following No Mapping Trigger Input Mirror Pulse Generator Strobe 1 or Strobe 2 External Output 2 polarity can be changed to be active High or Low Data Output window provides full control of the camera digital data output Figure 5 18 Imperx Inc 6421 Congress Ave Boca Raton FL 33487 1 561 989 0006 Rev 2 0 7 7 7 2015 125 of 152 IMPERX Y Camera Link Settings LUT Settings Imperx Inc 6421 Congress Ave Boca Raton FL 33487 1 561 989 0006 CHEETAH Hardware User s Manual Camera Link Output Taps 8Taps v Depth 8Bits v LUT Settings C Enable Corrections DPC Off LUT 1 v v Dyn thres 1500 pa v Dyn thres 1500 pa HPC Off Image Flip H Mirror Test Mode Test Pattern Off V Mirror Figure 5 18 Data output window Sets the data format and camera speed Refer to Chapter 2 for more information Taps sets the number of image taps used in the current configuration These are Camera Link Output Taps In some camera the tap selection is not available A 1 Taps Camera Link CL Base mode Single only one CL tap is used 24 bits B 2 Taps Camera Link
72. ation Mode Imperx Inc Rev 2 0 7 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 87 of 152 IMPERX Y CHEETAH Hardware User s Manual This register sets Frame A decimation mode Averaging or Subsampling Address 0x073C Data 1 0 00 decimation off 01 Subsampling enable 10 Averaging enable 11 N A Data 31 2 N A Frame A Subsampling Parameter N This register sets Frame A subsampling parameter N Address f 0x0740 Data 3 0 lt Frame A subsampling parameter N value gt Data 31 4 N A Frame A Subsampling Parameter M This register sets the Frame A subsampling parameter M M gt N Address 0x0744 Data 3 0 lt Frame A subsampling parameter M value gt Data 31 4 N A Frame A Averaging Type This register sets the Frame A averaging level Address 0x0778 Data 0 I 0 4into 1 1 9into 1 Data 31 1 N A 4 3 5 7 Frame A Black Level This register controls the Frame A Black Level Address 0x0050 Data 13 0 lt value gt Target Black Level in DN Data 15 14 N A 4 3 5 8 Frame A Analog amp Digital Gain Imperx Inc Rev 2 0 7 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 88 of 152 IMPERX Y Imperx Inc 6421 Congress Ave CHEETAH Hardware User s Manual Frame A Analog Gain This register controls the Frame A analog gains Analog gains should always be
73. ationary horizontal ramp image V Ramp Still displays a stationary vertical ramp image H Ramp Move displays a moving horizontal ramp image V Ramp Move displays a moving vertical ramp image Cross hairs displays a cross hair in the absolute center of the image 2000 x 1500 A live image is superimposed under the cross hair pattern Cross hair has a thickness of 2 pixels 2 16 WHITE BALANCE AND COLOR CONVERSION 2 16 1 White Balance Correction The color representation in the image depends on the color temperature of the light source and CHEETAH has a built in algorithm to compensate for this effect When white balance correction is enabled the camera collects the luminance data for each of the primary colors R G and B analyzes it and adjusts the color setting in order to preserve the original colors and make white objects appear white The algorithm collects data from the entire image and can work in four different modes Off Once AWB Tracking and Manual When set to Off no color correction is performed When set to Once the camera analyzes one image frame calculates only one set correction coefficients and all subsequent frames are corrected with this set of coefficients When set to Manual the camera uses the correction coefficients as entered from the user In Tracking mode the camera analyzes every frame a set of correction coefficients are derived for each frame and a
74. be multiple of 8 horizontal offset value should be multiple of 2 5 7 1 4 Subsampling and Averaging Subsampling and Averaging functions are active within the defined AOI and is used to reduce the output resolution while maintaining the desired field of view See Figure 5 12 Subsampling OFF pai E P1 P2 Subsampling N FEE Pe f eaa H z Figure 5 12 Subsampling Functions Off Both subsampling and averaging are disabled Imperx Inc Rev 2 0 7 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 118 of 152 IMPERX CHEETAH Hardware User s Manual Subsampling Decimates the output image within the defined AOI by outputting N out of M pixels within each row and N out of M rows within each frame The N pixels and rows are adjacent to one another In all cases N must be less then M If N is greater than or equal to M subsampling is disabled Note For color applications Bayer Output N and M values must be multiples of 2 Averaging The Cheetah offers a four into one 4 1 and nine into one 9 1 averaging In the case of 4 1 averaging four pixels are summed together and the result divided by 4 In the case of 9 1 averaging 9 pixels are summed and the result divided by nine Averaging can be used with monochrome or color image sensors In the case of color the Bayer pattern will be preserved 5 7 1 5 Video Amplifie
75. c HPC enable 11 Static and Dynamic HPC enable Data 31 2 N A Rev 2 0 7 7 7 2015 Boca Raton FL 33487 1 561 989 0006 105 of 152 IMPERX Y CHEETAH Hardware User s Manual 4 3 15 5 Dynamic DPC Threshold This register sets the threshold for dynamic pixel correction Address 0x042C Data 11 0 lt value gt 0 to 4095 counts Data 31 12 N A 4 3 15 6 Dynamic HPC Threshold Imperx Inc 6421 Congress Ave This register sets the threshold for dynamic pixel correction Address 0x0430 Data 11 0 lt value gt O to 4095 counts Data 31 12 N A Rev 2 0 7 7 7 2015 Boca Raton FL 33487 1 561 989 0006 106 of 152 IMPERX CHEETAH Hardware User s Manual GINEDESR v CHEETAH Configurator for CameraLink This chapter provides a quick reference to using the CHEETAH Configurator camera configuration utility for the Camera Link series of CHEETAH cameras Imperx Inc Rev 2 0 7 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 107 of 152 IMPERX Y CHEETAH Hardware User s Manual 5 1 OVERVIEW Camera configuration utility software and CHEETAH Camera Configurator CamConfig are provided with each camera After installing the program the user can program the camera change its settings and save the settings in a file or in the camera The configuration utility includes an interactive help file which will guide you through the camera setup 5 2 D
76. communication between the frame grabber and the camera is established If the test pattern is not present power off the camera check all the cabling frame grabber settings and computer status 4 If you still have problems with the camera operation please contact technical support at Email techsupport imperx com Toll Free 1 866 849 1662 or 1 561 989 0006 Fax 1 561 989 0045 Visit our Web Site www imperx com Imperx Inc Rev 2 0 7 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 130 of 152 IMPERX Y CHEETAH Hardware User s Manual 7 3 WARRANTY Imperx Inc 6421 Congress Ave Boca Raton FL 33487 1 561 989 0006 Imperx warrants performance of its products and related software to the specifications applicable at the time of sale in accordance with Imperx s standard warranty which is 2 two years parts and labor FOR GLASSLESS CAMERAS THE CMOS IS NOT COVERED BY THE WARRANTY Do not open the housing of the camera Warranty voids if the housing has been open or tampered IMPORTANT NOTICE This camera has been tested and complies with the limits of Class A digital device pursuant to part 15 of the FCC rules Copyright 2013 Imperx Inc All rights reserved All information provided in this manual is believed to be accurate and reliable No responsibility is assumed by Imperx for its use Imperx reserves the right to make changes to this information without notice Redistribu
77. ct the hot pixel The Defective Hot Pixel Map can be displayed upon user request 2 18 2 Dynamic Pixel Correction Imperx Inc Dynamic pixel correction works without preloaded pixel maps When this option is enabled the camera determines which pixel needs correction and performs the correction automatically Static and Dynamic Defective Pixel Correction and Hot Pixel Correction can be enabled independently or simultaneously The Dynamic Threshold can be set to have a value between 0 to 4096 12 bit This threshold determines how much a pixel can deviate from neighboring pixels either brighter or darker before a pixel is considered to be defective and correction is applied to this pixel Rev 2 0 7 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 71 of 152 IMPERX Y 2 19 CAMERA INTERFACE CHEETAH Hardware User s Manual 2 19 1 Status LED The camera has a dual red green LED located on the back panel The LED color and light pattern indicate the camera status and mode of operation e GREEN is steady ON Normal operation The user is expected to see a normal image coming out of the camera e GREEN blinks with frequency 0 5 Hz indicates trigger is enabled e RED is steady ON Test mode enabled e LED is OFF Power not present error The camera has no power or indicates a camera power supply failure A faulty external AC adapter could also cause this To restore the camera operation
78. ddress 0x0544 Data 0 11 lt value gt WBC Green Data 31 12 N A 4 3 14 5 WBC Blue Coefficient This register contains the white balance correction coefficients for Blue In manual mode the user enters the value in Once or Auto the camera returns Imperx Inc Rev 2 0 7 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 104 of 152 IMPERX Y CHEETAH Hardware User s Manual the actual calculated coefficient Coefficient values range from 0 000 0 Hex to 415 996 FFF Hex in steps of 0 004 4096 steps Address 0x0548 Data 0 11 lt value gt WBC Blue Data 31 12 N A 4 3 15 Data Correction Workspace Registers 4 3 15 1 LUT Select This register selects which LUT will be used LUTI or LUT2 Address 0x0410 Data 0 0 LUT 1 selected 1 LUT 2 selected Data 31 1 I N A 4 3 15 2 LUT Enable This register enables the selected LUT Address 0x0414 Data 0 a 0 disable 1 enable Data 31 1 N A 4 3 15 3 Defective Pixel Correction DPC Enable This register enables the DPC Defective Pixel Correction Address 0x0418 Data 1 0 00 DPC disable 01 Static DPC enable 10 Dynamic DPC enable 11 Static and Dynamic DPC enable Data 31 2 N A 4 3 15 4 HPC Enable Imperx Inc 6421 Congress Ave This register enables the HPC Hot Pixel Correction Address 0x041C Data 1 0 00 HPC disable 01 Static HPC enable 10 Dynami
79. dress 0x7024 0x7028 Data lt Date of Manufacture gt 4 3 3 7 Camera Type This register returns the camera type The complete assembly is 4 registers Address 0x7040 Data lt Camera Type 0x0 Mono 0xCz Colors Sensor Type 0x7040 Ox0 Mono 0xC Color Imperx Inc Rev 2 0 7 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 83 of 152 IMPERX Y CHEETAH Hardware User s Manual 4 3 4 Camera Information Registers The camera has a set of information registers which provide information for the camera current status frame rate exposure time image size etc 4 3 4 1 Current Frame A Horizontal Frame Size This register returns the current horizontal image frame size in pixels Address 0x6090 Data 15 0 3 lt Current Horizontal Size gt Data 31 16 lt N A gt 4 3 4 2 Current Frame A Vertical Frame Size This register returns the current vertical image frame size in lines Address 0x6094 Data 15 0 lt Current Vertical Size gt Data 31 16 lt N A gt 4 3 4 3 Current Frame B Horizontal Frame Size This register returns the current horizontal image frame size in pixels Address 2 0x6098 Data 15 0 lt Current Horizontal Size gt Data 31 16 lt N A gt 4 3 4 4 Current Frame B Vertical Frame Size This register returns the current vertical image frame size in lines Address 0x609C Data 15 0 lt Current Vertical Size gt Data 31 16 a
80. dress a 0x0104 Data 11 0 lt value gt AOI vertical height multiple of 2 Data 31 12 N A 4 3 6 6 Frame B Decimation Averaging or Subsampling Frame B Decimation Mode This register sets Frame B decimation mode Averaging or Subsampling Address f 0x0754 Data 1 0 00 decimation off 01 Subsampling enable 10 Averaging enable 11 N A Data 31 2 N A Frame B subsampling parameter N This register sets Frame B subsampling parameter N bits to keep Address i 0x0758 Data 3 0 lt Frame B subsampling parameter N value gt Data 31 4 N A Frame B subsampling parameter M This register sets the Frame B subsampling parameter M M gt N Address 0x075C Data 3 0 Frame B subsampling parameter M values Data 31 4 N A Frame B averaging type This register sets the Frame B averaging level Address I 0x077C Data 0 0 4 into 1 1 9 into 1 Data 31 1 N A 4 3 6 7 Frame B Black Level This register controls the Frame B Black Level Imperx Inc Rev 2 0 7 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 93 of 152 IMPERX Y Imperx Inc 6421 Congress Ave CHEETAH Hardware User s Manual Address 0x0150 Data 13 0 lt value gt Target Black Level in DN Data 15 14 N A 4 3 6 8 Frame B Analog amp Digital Gain Frame B Analog Gain This register controls the Frame B analog
81. e exposure period for the Ultra Bright pixels is set by parameter E3 The Ultra Bright pixel exposure period is defined as the Total Exposure Period Texp minus E3 For example if Texp Dark Pixel Exposure time is 50 00ms and it is desired to set the Ultra Bright Pixel exposure period to 0 05ms then E3 must be set to 49 95ms 50 00ms 49 95ms 0 05ms Tub Ultra Bright Texp E3 E3 is a value in microseconds and must have a value larger than E2 but less than Texp The minimum E3 value is 2 micro seconds The amount of camera output allocated to Ultra Bright pixels is between the P3 setting and 100 of the camera output Figures 2 11a d is a single knee point demonstration of the WDR function It is useful to note how the output histogram changes as PI is varied from 75 to 50 to 25 Imperx Inc Rev 6 2 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 58 of 152 IMPERX Y CHEETAH Hardware User s Manual Wide Dynamic Range WDR Using the Histogram 1 knee point i PD P1 Set to 75 Counts greater than 750 received a 1 micro second exposure Counts below 750 received full 20mS exposure WDR Disabled The output represents the normal Dynamic Range All output counts were exposed for full 20mS exposure time Pd P1 in GUI is set to 50 Output counts greater than 500 Pd P1 is set to 2596 Output counts greater were exposed for 1 micro second than 250 were exposed
82. e signals Two independently controlled strobe signals are supported Figure 5 17 Strobe 1 Enable for Frame Aonly Reference Exposure Start Delay ps 0 0 1000000 Width us 1000 0 1000000 Strobe 2 Enable for Frame B only YY Reference Exposure Start Delay ps u Width us 0 1000000 Start of acquisition t Integration Time Readout Time i delay width Strobe 1 delay Strobe 2 Output Outi High Out2 High Figure 5 17 Strobe Control window Strobe 1 Mode Sets the Strobe 1 mode of operation The strobe can be disabled or enabled When enabled the strobe can be referenced to Frame A referenced to Frame B or referenced to both Frame A and Frame B Strobe 2 Mode Sets the Strobe 2 mode of operation The strobe can be disabled or enabled When enabled the strobe can be referenced to Frame A referenced to Frame B or referenced to both Frame A and Frame B Imperx Inc Rev 2 0 7 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 124 of 152 IMPERX Y Reference Delay Width CHEETAH Hardware User s Manual Sets the reference for the Strobe pulse Options are either the beginning of the Frame X exposure period or the beginning of the Frame X readout period Sets the duration and delay of the strobe sent to the camera output The user can set the strobe pulse width and the delay from O to 1 000 000 us OUTPUT MAPPING Out1 Out1 Pol
83. e size in pixels Address 0x60A4 Data 15 0 i lt Maximum Horizontal Size gt Data 31 16 N A 4 3 4 12 Vertical Image Size Maximum This register returns the maximum vertical image size in pixels Address Ox60A8 Data 15 0 lt Maximum Vertical Size gt Imperx Inc Rev 2 0 7 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 85 of 152 IMPERX Y CHEETAH Hardware User s Manual Data 31 16 N A 4 3 4 13 Current Camera Temperature This register returns the current camera temperature in degrees Celsius The temperature resolution is 0 25 C Table 4 0 Address 0x6010 Data 9 0 lt Current Camera Temperature gt Data 31 10 N A Temperature Register Value 127 75 C 0111111111 0 25 C 00 0000 0001 0 C 00 0000 0000 0 25 C 11 1111 1111 128 C 10 0000 0000 Table 4 0 Current camera temperature values 4 3 5 Frame A Workspace Registers 4 3 5 1 Frame A Exposure Control This register controls the Frame A Exposure Control Address f 0x0720 Data 1 0 00 Off Free Running 01 Trigger Pulse Width Duration of selected trigger pulse determines exposure time 10 Internal Exposure Control Register sets exposure time in micro seconds 11 Reserved Data 15 2 N A 4 3 5 2 Frame A Fixed Frame Period Enable This register enables the Frame A Fixed Frame Period Address 0x0700 Data 0 0 d
84. e the image resolution with better final image quality than a sub sampling function Sub sampling as opposed to averaging has the advantage of increasing the output frame rate by reducing the number of rows readout but also introduces aliasing in the final image Pixel averaging reduces the output resolution by averaging several pixels together and has the advantage of reducing aliasing and reducing noise which increases SNR Averaging decimation however does not increase output frame rate It is possible to apply both averaging and sub sampling decimation simultaneously to gain both improvements in frame rate and improvements in SNR while minimizing aliasing The camera offers a 4 1 read as four into one and a 9 1 nine into one averaging function compatible with both monochrome and color Bayer cameras Averaging four pixels together reduces the temporal noise and increasing sensitivity by a factor of 2 while averaging 9 pixels together reduces the noise by a factor of 3 The graphic below illustrates the concept of 4 1 averaging for a monochrome image sensor The values of pixels P1 P2 P3 and P4 are summed together arithmetically and the result is divided by 4 to achieve a pure arithmetic average of the 4 adjacent pixels Imperx Inc Rev 6 2 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 40 of 152 IMPERX Y CHEETAH Hardware User s Manual Figure 2 2 Monochrome pixel averaging Color pixel averagin
85. ed to control the exposure time in GS mode the camera idles and waits for a trigger signal Upon receiving the trigger signal the camera starts integration for the frame completes the integration and the image is readout There is small delay between the trigger active edge and the exposure start as shown in the figure below The exposure time can be set manually using the internal exposure register setting as shown in Figure 2 6a or set by the Rev 6 2 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 47 of 152 IMPERX Y CHEETAH Hardware User s Manual duration of the trigger pulse as shown in Figure 2 6b The minimum exposure time using the trigger pulse width is 2 micro seconds Upon completing the readout the trigger cycle is completed and the camera idles awaiting the next trigger pulse RS Mode With limitations the exposure time can be controlled using trigger pulse width In this case the minimum exposure time is equal to the time required to reset all the rows within the image sensor the time readout one frame of the image sensor In other words the minimum exposure time is equal to the frame time Longer exposure times are possible but exposures shorter than one frame time are not supported Upon receiving the active edge of the trigger signal the camera resets image sensor row 1 and exposure of line 1 begins One row time later row 2 is reset and the integration of row 2 begins Each row is res
86. efective pixel map is stored in the camera s non volatile memory and read out when running bad pixel correction Figure 5 4 Defected pixels are categorized as O Dead Pixels Hot Pixels Num X Y won DM NM bb WN m Rev 2 0 7 7 7 2015 111 of 152 IMPERX Y CHEETAH Hardware User s Manual Figure 5 4 Defective pixel map 1 Dead Pixels pixels with sensitivity that deviates more than 15 due to fluctuations in the CMOS manufacturing process 2 Hot Pixels pixels that during normal camera operation are normal but in long integration modes programmable frame time behave as high intensity bright pixels Terminal The user can display two panels Command Terminal and a download utility 1 Command Terminal shows information about all the commands sent to or received from the camera User can type in CHEETAH command directly in the text box provided Figure 5 5 All commands must start with Ox followed by ADDRESS and DATA without spaces refer to chapter 4 for more information The Disable Polling check box will turn on off the polling commands such as Frame Time Exposure time Frame Rate and Sensor Temperature in the dialog windows The user can change the polling time by entering the desired number in the window If for some reason the camera returns an error when command was sent to the camera the GUI will respond with a pop up window displaying an error message The
87. efined number N of Frame Bs then returns to outputting Frame As awaiting the next trigger pulse Valid Trigger sources as described in the Section 2 6 External Trigger 2 2 GLOBAL VS ROLLING SHUTTER The camera supports both rolling and global shutter operational modes In global shutter operational mode all lines and all pixels within the imaging array are reset at the same time and then exposed Readout follows exposure and lines are readout of the array Imperx Inc Rev 6 2 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 34 of 152 IMPERX Y CHEETAH Hardware User s Manual sequentially In this mode every pixel in the array is exposed during the same time period as determined by the cameras exposure control setting This is useful if an object within the scene is moving since all pixels within the array capture the image at the same instant in time Global shutter mode introduces more noise into the image and therefore is not as sensitive as rolling shutter operation In rolling shutter mode each line with imaging array is reset and exposed at a slightly different time period If there is motion within the scene this can result in distortions to the object in motion but the size of these distortions will vary based on the readout rate of the camera and the speed of the object in motion Many applications are not sensitive to these slight distortions Rolling shutter mode has much more sensitivity as co
88. egisters 4 3 14 1 WB Select This register selects which white balance mode will be used Off Once Auto or Manual Address 0x0538 Data 0 2 000 Off Imperx Inc Rev 2 0 7 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 103 of 152 IMPERX Y CHEETAH Hardware User s Manual 001 WB Once 010 WB Auto Tracking 011 WB Manual 1XX Reserved Data 31 3 i N A 4 3 14 2 Automatic White Balance AWB tracking The camera will automatically track the scene and adjust white balance according to five different tracking rates Address 0x053C Data 0 2 000 1x slowest 001 2x 010 3x 011 4x 100 5x fastest no tracking Others unused Data 31 12 N A 4 3 14 3 WBC Red Coefficient This register contains the white balance correction coefficients for Red In manual mode the user enters the value in once or Auto the camera returns the actual calculated coefficient Coefficient values range from 0 000 0 Hex to 15 996 FFF Hex in steps of 0 004 4096 steps Address 0x0540 Data 0 11 lt value gt WBC Red Data 31 12 N A 4 3 14 4 WBC Green Coefficient This register contains the white balance correction coefficients for Green In manual mode the user enters the value in Once or Auto the camera returns the actual calculated coefficient Coefficient values range from 0 000 0 Hex to 15 996 FFF Hex in steps of 0 004 4096 steps A
89. elected the camera outputs Frame A continuously until the external trigger signal is received Upon receipt of the external trigger the camera switches to Frame B and outputs N Frame Bs where is user selectable from N 1 to 256 After outputting N Frame Bs the camera reverts to Frame A and outputs Frame A s until receipt of the next trigger input CAUTION The time interval between trigger pulses must be greater than the combined exposure and frame time If the time between triggers is too short then the camera will ignore some trigger pulses 2 9 STROBES The camera can provide up to two strobe pulses for synchronization with an external light source additional cameras or other peripheral devices The user can set each strobes pulse duration and the delay with respect to the start of the exposure period or the start of the readout period for either Frame A Frame B or both The maximum pulse duration and the maximum delay can be set up to 1 second with 1 0us precision The strobe pulse can be assigned to either external output Figure 2 7 shows two strobe signals positioned with respect to the start of exposure See Section 2 14 VO Control Imperx Inc Rev 6 2 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 49 of 152 IMPERX Y CHEETAH Hardware User s Manual Start of acquisition 4 Integration Time Readout Time i delay width 1 i H Strobe 1 c Strobe 2
90. era dependent LIN TIM MIN Minimum Line time FRM TIM MIN Minimum Frame time A 1 SAVING AND RESTORING REGISTERS Address Register Name Type Usage MIN Value MAX Value 00 Factory 0x6000 Boot From RW 01 User 1 0x00000000 0x00000002 10 User 2 0x601C Soft Reset WO Command OxDEDBEEF 0XDEDBEEF 0x6060 Load From Factory WO Command 0x00000000 0x6064 Load From User1 WO Command 0x00000000 0x6068 Load From User2 WO Command 0x00000000 0x6074 Save to User WO Command 0x00000000 0x6078 Save to User2 WO Command 0x00000000 A 2 CAMERA INFORMATION REGISTERS Address Register Name Type Value 0x6004 Firmware Revision RO lt Firmware Revision gt 0x6008 FPGA amp EPCS 8 Customer ID RO Image ID amp Sensor Type amp FWare Revs Ox600C Test Register RW 0x76543210 0x6010 Camera Temperature RO lt TEMPERATURE_STATUS gt 0x6020 Pixel Clock Rate RO In MHZ 0x6080 Frame A Exposure Time RO lt FRA_EXP_TIM gt 0x6084 Frame A Frame Time RO lt FRA_FRM_TIM gt 0x6088 Frame B Exposure Time RO zFRB EXP TIMs5 0x608C Frame B Frame Time RO cFRB FRM TIMs 0x6090 Frame A Horizontal Size RO lt FRA_HOR_SZE gt 0x6094 Frame A Vertical Size RO lt FRA_VER_SZE gt 0x6098 Frame B Horizontal Size RO lt FRB_HOR_SZE gt 0x609C Frame B Vertical Size RO zFRB VER SZEs Ox60A4 Horizontal Size Max RO lt HOR_SZE_MAX gt Ox6
91. erest Subsampling Pixel Averaging Wide Dynamic Range 1 us to 1 sec RS 5usto 1 sec GS One per Frame 0 to 12dB 12 bit 0 to 18dB 8 amp 10 bit Rev 6 2 7 7 2015 17 of 152 IMPERX Y CHEETAH Hardware User s Manual Digital gain 0 to 24dB 0 to 24dB Black level offset 0 to 2048 1 step 0 to 2048 1 step User LUT 2 LUTs Gamma User LUT 2 LUTs Gamma User LUT Dual Frame Switching Manual Auto External Trigger Manual Auto External ontrol Trigger Hardware trigger Asynchronous Asynchronous trobe Modes Programmable Width Delay Programmable Width Delay rigger Sources External Pulse Generator External Pulse Generator Computer Computer rigger features Rising Falling edge De glitch Rising Falling edge De glitch Delay Strobe Delay Strobe ize W x H x L CLB 72 0 x 72 0 x 39 8 mm 72 0 x 72 0 x 39 8 mm eight 384 g TBD Lens Mount F Mount C Mount 4 3 format C Mount 1 format Power 12V 0 34 A TBD Table 1 2 Cheetah C2880 C4080 Camera Specifications 1 5 CAMERA CONNECTIVITY 1 5 1 CLF Full Camera Link CL Output The interface between the CHEETAH cameras and outside equipment is done via 2 connectors and one LED located on the back panel of the camera Figure 1 3 1 Two camera outputs standard Full Camera Link Mini connectors provides data sync control and serial interface 2 Male 12 pin Power Connector provides power and I O interface 3 USB type B programming SPI con
92. et one line time after the prior row and this process continues until the entire image sensor is reset When the trigger signal goes inactive must be one frame time min later the integration concludes for the first row and the image sensor is readout one line at a time The time between trigger pulses start of exposure must be at least the exposure time plus the readout time of the image sensor It is possible to use strobed illumination in rolling shutter mode if the scene is completely dark In RS mode the flash must occur after all the rows within the image sensor have been reset one frame readout time and the exposure time must therefore be set to the sum of the image sensor readout time plus the exposure window for the flash The sequence is as follows the exposure starts and all rows in the image sensor are reset one frame time the strobe illumination flashes the exposure ends and the readout begins Once the readout has completed the next exposure can begin Imperx Inc Trigger Read out Read out time Figure 2 6a Standard Trigger Mode Internal Exposure Control Rev 6 2 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 48 of 152 IMPERX Y CHEETAH Hardware User s Manual Trigger Trigger pulse width Read out Read out time Figure 2 6b Standard Trigger Mode GS Trigger Pulse Width Exposure Control B Dual Video Trigger If the Dual Video Trigger Option is s
93. ev 6 2 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 28 of 152 IMPERX Y CHEETAH Hardware User s Manual as cool as possible Always allow sufficient time for temperature equalization if the camera was kept below 0 C The camera should be stored in a dry environment with the temperature ranging from 50 to 90 C CAUTION NOTE 1 Avoid direct exposure to moisture and liquids The camera housing is not hermetically sealed and any exposure to liquids may damage the camera electronics 2 Avoid operating in an environment without any air circulation in close proximity to an intensive heat source strong magnetic or electric fields 3 Avoid touching or cleaning the front surface of the optical sensor If the sensor needs to be cleaned use soft lint free cloth and an optical cleaning fluid Do not use methylated alcohol Imperx Inc Rev 6 2 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 29 of 152 IMPERXY 1 6 4 Mechanical Drawings 1 6 4 1 C4080 Drawings fe 46 39 0 28 gt 8 5 4X 5 0 M B 0 7 i 48 x i o o o 1 o w wo i q KG 2 1 1 0 M3 0X0 5 THREAD B 7 5 DEEP 8X 34 340 35 EVERY SID IMAGE CENTER IS NOMINALLY AT CENTER OF LENS 72 0 CHEETAH Hardware User s Manual NOTE DATUM A REFERS TO a THE IMAGE PLANE TOP OF IMAGING DIE 0 1 1 0 28 KAC 12040 IMAGE PLANE IS BEHIND MOUN
94. f the image sensor is captured at a slightly different time Figure 1 0b This can cause distortions in the image if an object is moving very quickly and the integration time is short with respect to the frame readout time In rolling shutter mode pixels in a row are cleared of charge allowed to integrate for the required exposure time and then the entire row is readout The resetting of each row ripples through the array and each row is exposed with a slight time delay equal to the line readout time relative to the previous row In RS mode the transistor within each pixel used to provide global shutter capability is used to provide noise reduction Rev 6 2 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 12 of 152 IMPERXY CHEETAH Hardware User s Manual Global Shutter Integration Time Integration of next frame overlaps 8 33 msec readout of previous frame em gt row address axis Time ol address axis Frame Readout 13 80 msec lt _______ _ __ gt Effective frame time video Readout time Figure 1 0a Global Shutter Description Rolling Shutter Integration Time Intagration of naxt frama overlaps readout of previous frame row address axis TimakCol address axis Frame Readout 13 80 msec e Effective frame time vided Readout time Figure 1 0b Rolling Shutter Description 1 3 1 2 A D architecture and Blooming Suppression The On Semiconductor KAC 120
95. fined number of Frame Bs upon receipt of Trigger In Dual Video Trigger mode the camera outputs Frame As until trigger is received and then outputs a user defined number of Frame Bs There are three input modes available for external triggering computer CC internal pulse generator and external Please note that the desired trigger input has to be mapped to corresponding camera input For more information please refer to Section 2 14 I O Control External the camera receives the trigger signal coming from the connector located on the back of the camera Computer the camera receives the trigger signal command from the CC signals Internal the camera has a built in programmable pulse generator refer to Pulse Generator section In Internal triggering mode the camera receives the trigger signal from the internal pulse generator 2 8 2 Acquisition and Exposure Control For each trigger input the user can set the trigger edge and the de bounce de glitch time Imperx Inc Rev 6 2 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 46 of 152 IMPERX Y CHEETAH Hardware User s Manual 1 Triggering Edge the user can select the active triggering edge Rising the rising edge will be used for triggering Falling the falling edge will be used for triggering 2 De bounce the trigger inputs are de bounced to prevent multiple tri
96. g works in a similar manner but like color pixels are aggregated to maintain the Bayer pattern and to allow the standard Bayer interpolation color processing algorithms to be used 4 1 color pixel averaging is described in Figure 2 3 below As shown red pixels R1 R2 R3 and R4 are aggregated together and the result is divided by 4 to create an average red pixel value Likewise Green GR1 GR2 GR3 and GR4 are summed together and the result divided by 4 to generate the green pixel in the red green pixel row Green pixels in the blue green row are similarly processed along with the Blue pixels The result of these operations is to preserve the Bayer pattern while averaging like color pixels to reduce the output resolution while increasing SNR HE Figure 2 3 Principle of 4 1 averaging for Bayer Color Filter Pattern The principle of 9 1 averaging function is identical to 4 1 with a 3x3 pixel area averaged together for B amp W and a 9x9 pixel area averaged for the Bayer color pattern The averaging feature can be used on the full resolution image or within any area of interest If for example the area of interest is defined to be quad full HD 3840 x 2160 and 4 1 averaging is selected the output is 1080P 1920 x 1080 and if 9 1 averaging is selected the output is 720P 1280 x 720 2 6 2 Sub sampling Decimation Subsampling reduces the number of pixels output by reducing the output frame size but maintains the full field of view If a
97. gains Analog gains should always be applied before digital gain Address a 0x0760 Data 5 0 lt analog gain value gt Data 31 6 N A Frame B Digital Gain Fine Control This register sets the Frame A digital gain fine control Address 0x0764 Data 5 0 lt digital gain fine value gt Data 31 6 N A Frame B Digital Gain Course Control This register sets the Frame B Course Digital Gain Address 0x0768 Data 1 0 00 Course gain 1x to 2x 01 Course gain 2x to 4x 10 Course gain 4x to 8x 11 Course gain 8x to 15x Data 31 2 N A 4 3 6 9 Frame B Wide Dynamic Range WDR Registers These set of registers controls the Wide Dynamic Range Function Frame B WDR Enable Address 0x0618 Data 0 0 Disable 1 Enable Data 31 1 N A Frame B WDR P1 Level Address 0x061C Rev 2 0 7 7 7 2015 Boca Raton FL 33487 1 561 989 0006 94 of 152 IMPERX Y Imperx Inc 6421 Congress Ave Data 3 0 Data 31 4 Frame B WDR Address Data 3 0 Data 31 4 Frame B WDR P3 Level Normally set to 100 Address Data 3 0 Boca Raton FL 33487 1 561 989 0006 P2 Le CHEETAH Hardware User s Manual 0000 100 0001 90 0010 80 0011 75 0100 70 0101 65 0110 60 0111 5590 1000 50 1001 45 1010 40 1011 35 1100 30 1101 25 1110 20 1111 1590 NA vel 0x0620 0000
98. ggering from ringing triggering pulses The user has eight choices of de bounce interval Off no de bounce default 10 us 50 us 100 us 500 us de bounce interval 1 0 ms 5 0 ms 10 0 ms de bounce interval 3 Exposure Time the exposure for all frames can be set in two ways Pulse Width the trigger pulse width duration determines the exposure subject to limitations In GS mode the minimum exposure is about 6 micro seconds In RS mode the minimum exposure is equal to the minimum frame time Internal the camera internal exposure register determines the exposure CAUTION NOTE 1 The de bounce interval MUST be smaller than the trigger pulse duration Adjust the interval accordingly 2 When Triggering is enabled Programmable Integration is not active 2 8 3 Triggering modes Imperx Inc A Exposure Control When Trigger mode is enabled the trigger can be used to control the integration time of Frame A and or Frame B using the Exposure Control Trigger Pulse Width control The trigger can also be used to switch between Frame A to Frame B in dual video Trigger mode The Exposure Control Trigger Pulse Width option is only available when single video either Frame A or Frame B is selected Control of the exposure using the trigger pulse width is not available in Dual Video or Dual Video Trigger modes GS Mode When the trigger pulse width is us
99. ging intelligent transportation systems aerial imaging character recognition document processing and many more Imperx Inc Rev 6 2 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 10 of 152 IMPERX Y CHEETAH Hardware User s Manual 1 2 MAIN CHEETAH FEATURES Global shutter GS or rolling shutter RS Monochrome or color Large 4 7 micron pixels Excellent near infrared NIR sensitivity Ultra low fixed pattern noise Exceptional blooming suppression Fast frame rates 129 fps C2880 67 fps C4080 e Dual Video Capability o Independent control of resolution gain offset pixel averaging sub sampling area of Interest AOI and WDR for two acquisition frames o Seamless switching between frames o Manual auto or triggered frame switching e Extended Dynamic Range WDR o 3 knee points Piece wise Linear Color and monochrome pixel averaging 4x and 9x Sub sampling up to 32x Areas of Interest Analog and Digital Gain Controls Offset Control Three selectable trigger sources external pulse generator or computer Built in pulse generator Two programmable output strobes Auto white balance once static or tracking Image Enhancements o Horizontal and vertical flip Two 12 bit look up tables one LUT pre programmed with gamma 0 45 Defective pixel correction hot pixel correction Two programmable external Inputs and two external outputs Camera Link Base Medium Full and Deca support Temperature monitor F
100. gress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 80 of 152 IMPERX Y CHEETAH Hardware User s Manual camera should automatically load itself following a power cycle or receipt of a reset SW Reset command 4 3 2 1 Boot From This register determines which configuration space factory user 1 or user 2 should be loaded into the camera following a power cycle or reset SW Reset command Upon a power cycle or reset the camera reads the boot from value from non volatile memory and loads the appropriate configuration space Address i 0x6000 Data 1 0 00 Boot from Factory 01 Boot from User 1 10 Boot from User 2 Data 31 2 N A 4 3 2 2 Load From Factory The Load From Factory command instructs the camera to load its workspace from the factory space All current workspace settings will be replaced with the contents of the factory space This is a command not a register The act of writing to this location initiates the load from the factory Address 0x6060 4 3 2 3 Load From User 1 The Load From User 1 command instructs the camera to load its workspace from the user 1 space All current workspace settings will be replaced with the contents of the user 1 space This is a command not a register The act of writing to this location initiates the load from the user 1 Address 0x6064 4 3 2 4 Load From User 2 The Load From User 2 command instructs the camer
101. h for the OUT1 output Address I 0x0680 Data 0 0 active LOW 1 active HIGH Data 31 1 N A 4 3 122 OUT1 Output Mapping This register maps the various internal signals to OUT1 camera output Address 0x0684 Data 2 0 000 no mapping 001 trigger pulse 010 pulse generator 011 Strobe 1 100 Strobe 2 1XX reserved Data 31 3 N A 4 3 12 3 OUT2 Output Polarity This register sets the polarity active Low or High for the OUT2 output Address 0x0688 Data 0 0 active LOW 1 active HIGH Data 31 1 N A 4 3 12 4 OUT2 Output Mapping Imperx Inc Rev 2 0 7 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 102 of 152 IMPERX Y CHEETAH Hardware User s Manual This register maps the various internal signals to OUT2 camera output Address 0x068C Data 2 0 000 no mapping 001 trigger pulse 010 pulse generator 011 Strobe 1 100 Strobe 2 1XX Reserved Data 31 3 N A 4 3 13 Data Output Bit Depth Format Selector This register selects the bit depth output for the camera Address 0x040C Data 1 0 00 8 bit 01 10 bit 10 12 bit Data 31 2 N A 4 3 13 1 Data Format Selector This register selects the tap format for the camera data output Address 0x0424 Data 2 0 000 1 tap 001 2 tap 011 4 tap 100 8 tap 101 10 tap Others reserved Data 31 2 N A 4 3 14 White Balance WB Workspace R
102. hin the imaging array has extremely robust anti blooming suppression eliminating classic black sun artifacts present in other CMOS imaging arrays The CMOS readout architecture also eliminates column smearing often seen in traditional CCD image sensors under extremely bright exposure conditions The time interval required for all the pixels from the entire imager to be clocked out of the CMOS is called a frame To generate a color image a set of color filters Red Green and Blue arranged in a Bayer pattern are placed over the pixels The starting color is Green Figure 1 1 shows the CMOS image sensor architecture Figures 1 2a b show the camera s spectral response Rev 6 2 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 14 of 152 IMPERX Y CHEETAH Hardware User s Manual 3 5 Va 1 8 Va CIk1 4000 H x 3000 V 4 7 um pixel CIk0 Timing Control Sub Sampling Averaging ADC Ref1 4 02 kO 21 ADC_Ref2 Figure 1 1 CMOS image sensor architecture 1 3 2 Spectral Sensitivity Curves Imperx Inc 6421 Congress Ave Boca Raton FL 33487 1 561 989 0006 60 y male Measured with AR 50 F 1 Hi P i g coated Cover Glass a5 Hr 40 1g 35 30 20 15 Absolute Quantum Efficiency 96 10 o i PARANG SAANG UA i PEA a KI PAPA AE 400 450 500 550 600 650 700 750 800 850 900 950 1000 Illumination Wavelength nm Rev 6 2 7 7 2015 15 of 152
103. hter than 100 counts of signal collected in the Dark pixel partition Percentage of Output Pixel Data 100 Bright Pixel Data Imperx Inc Rev 6 2 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 53 of 152 IMPERX Y CHEETAH Hardware User s Manual Dark Pixel Data Table 2 6a Example of possible output partitioning for 2 intensity slopes Table 2 6b is just one example of how the output can be partitioned into four separate exposure zones To reinforce the concept of output partitioning let s suppose that the user selects the partitioning in Table 2 6b with 10 bit digitization and selects the total exposure to be 50ms Dark pixels the Bright pixel exposure to be 5ms the Very Bright pixel exposure to be 0 5ms and the Ultra Bright pixel exposure to be 0 05ms In this example See Table 2 6b Dark pixels with a 50ms exposure are contained between 0 to 300 output counts 30 of output Bright pixel data with a 5ms exposure have counts between 301 to 600 Very Bright pixel data with 0 5ms exposures have counts between 601 to 800 and Ultra Bright pixel data with 0 05ms exposures have counts between 800 to 1000 A single count in the Ultra Bright pixel data region represents signal that is 1 000x higher intensity 50ms 0 05ms than a single count in the Dark pixel data region Percentage of Output Pixel Data 100 Ultra Bright 81 Pixel data 80 Very Bright 61 Pixel Data Bright Pixel Data Da
104. ides several options for switching between Frame A and Frame B Dual Video e Manual e Automatic e Triggered Manual switching uses the computer software to switch between Frame A and Frame B Automatic switching The camera outputs a user defined number of frame As M frame As followed by a user defined number of Frame Bs N Frame Bs with this sequence repeated continuously For example the camera can be programmed to output one Frame B for every sixty 60 Frame A s The camera can be programmed to provide up to two hundred fifty six 256 Frame A s followed by two hundred fifty six 256 Frame B s The camera continues to output M Frame As followed by N Frame Bs continuously Triggered Switching There are two dual video triggered modes Dual Video and Dual Video Triggered Frame A Frame B With trigger enabled and in Frame A or Frame B mode the camera captures one frame of the selected Frame A or Frame B and outputs it on each trigger Dual Video With the trigger enabled and Dual Video selected the camera waits for trigger On receipt of trigger the camera outputs a user selected number M Frame As followed by a user selected number CN Frame Bs then waits for trigger Dual Video Triggered With trigger enabled and Dual Video Triggered mode selected the camera outputs Frame As continuously until a trigger is received Upon receipt of trigger the camera outputs a user d
105. ield upgradeable firmware LUT DPC HPC Imperx Inc Rev 6 2 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 11 of 152 IMPERX Y CHEETAH Hardware User s Manual 1 3 CHEETAH SPECIFICATIONS 1 3 1 General Information Imperx Inc A CMOS camera is an electronic device for converting light into an electrical signal The camera contains a light sensitive element CMOS Charge Coupled Device where an electronic representation of the image is formed The CMOS image sensor consists of a two dimensional array of sensitive elements silicon photodiodes also known as pixels The photons falling on the CMOS surface create photoelectrons within the pixels where the number of photoelectrons is linearly proportional to the light level Although the number of electrons collected in each pixel is linearly proportional to the light level and exposure time the amount of electrons varies with the wavelength of the incident light 1 3 1 1 Rolling and Global Shutter Description Cheetah C4080 and C2880 cameras support both global and rolling shutter readout mode In Global Shutter GS mode every pixel starts and stops integration at the same time This mode is excellent for clean capture of moving scenes without the need for a mechanical shutter When global shutter mode is used all pixel data is stored in light shielded regions within each pixel and held there until readout Figure 1 0a In Rolling Shutter RS mode each row o
106. ight pixel exposure is 0 0025X The remaining portion of the camera output 25 is allocated to these Very Bright pixels In this way the camera can support three separate exposure periods Figure 2 9 compares a single slope normal CCD or CMOS camera exposure with a dual slope exposure in which Dark pixels integrate for the full exposure period up to 30 of the camera output while Bright pixels integrate for only 10 of the exposure period with 70 of the camera output partitioned to Bright pixel information Dual Slope Vs Single Slope Integrations Bright pixels integrate for 10 of exposure using 70 of the output 0 8 0 6 0 4 0 1 0 2 0 3 04 0 5 0 6 0 7 0 8 0 9 1 Dark Pixels slope WDR Mode Bright Pixels slope WDR mod Non WDR mode slope Imperx Inc Rev 6 2 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 55 of 152 IMPERX Y Imperx Inc CHEETAH Hardware User s Manual Figure 2 9 Dual Slope vs Single Slope Integration The user can translate pixel data back to linear space by accounting for the different exposure periods in each of the output partitions For example suppose Bright pixel data is contained between 301 and 1000 of the camera output counts 10 bit system By subtracting 300 from every pixel with a value greater than 300 counts and multiplying the result by the ratio of the Total Exposure Texp period divided by the Bright pixel exposure period the Bright pixel data
107. ion of RW 1000 50 1001 45 0x00000000 0x0000000F Output Range os eas 1010 40 1011 35 1100 30 1101 25 1110 20 1111 15 0000 100 0001 90 0010 80 0011 75 0100 70 0101 65 Frame AWDR P3 0110 60 0111 55 0x060C Set to 0000 RW 1000 50 1001 45 0x00000000 0x0000000F 1010 40 1011 35 1100 30 1101 25 1110 20 1111 15 0x0610 Frame A WDR Bright Pixel RW lt Bright Pixel Exposure Time 0x00000000 Ox000FFFFF Exposure E1 us gt Frame A WDR Very bright lt Very Bright Pixel Exposure 0x0614 Pixel Exposure E2 RW Time us gt 0x00000000 OxOOOFFFFF Frame A WDR Ultra bright lt Ultra Bright Pixel Exposure 0x0660 Pixel Exposure E3 RW Time us gt Ox00000000 OxOOOFFFFF Imperx Inc Rev 2 0 7 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 135 of 152 IMPERX Y A 5 FRAME B REGISTERS Stored in FLASH CHEETAH Hardware User s Manual Address Register Name Type Usage MIN Value MAX Value Frame B Offset Value 0x0100 401 Vertical Offset Y1 PW 11 0 multiple ot2 X00000000 MAX VER SzE 2 Frame B Height Value 0x0104 AOI Height H1 RW D 11 0 multiple of 2 0x00000000 MAX_VER_SZE Frame B Offset Value 0x0108 AQ Horizontal Offset X1 PW a 11 0 multiple of2 0 00000000 MAX_HOR_SZE 2 Frame B Width Value 0x010C AOI Width W1 RW d 11 0 mu
108. isable 1 enable Data 31 1 N A Imperx Inc Rev 2 0 7 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 86 of 152 IMPERXY Vv CHEETAH Hardware User s Manual 4 3 5 3 Frame A Fixed Frame Period Adds V blanking lines This register sets the Frame A period Address 0x0704 Data 15 0 lt value gt frame period in lines 65 535 maximum Data 31 16 N A 4 3 5 4 Frame A Line Time This register sets the Frame A line time by adding additional clocks to each line readout Address 0x0710 Data 15 0 lt value gt line time in tics 65 535 maximum Data 31 16 N A 4 3 5 5 Frame A Area of Interest These set of registers defines the Area of Interest and sets the appropriate window size and offset in horizontal and vertical direction Frame A AOI Horizontal Offset Address 0x0008 Data 11 0 lt value gt AOI horizontal offset multiple of 8 Data 31 12 N A Frame A AOI Horizontal Width Address 0x000C Data 12 0 lt value gt AOI horizontal width multiple of 8 Data 31 13 f N A Frame A AOI Vertical Offset Address 0x0000 Data 11 0 lt value gt AOI vertical offset multiple of 2 Data 31 12 N A Frame A AOI Vertical Height Address 0x0004 Data 11 0 lt value gt AOI vertical height multiple of 2 Data 31 12 N A 4 3 5 6 Frame A Decimation Averaging or Subsampling Frame A Decim
109. less than 32 bits There is a latency delay for each command due to command execution and data transmission over the serial port This latency varies from command to command because of resource location and command response length 4 2 2 1 Write Operation In order to write to any given camera register a sequence of 7 bytes should be sent to the camera If there is no error the camera returns one byte acknowledge for the write command lt Ack gt Figure 4 2 If there is an error the camera returns two bytes not acknowledge for the write command the first byte is lt Nac gt lt Err gt the second is the error code Figure 4 3a b Write to camera 7 Bytes lt Write_Cmd gt lt Address gt lt Data gt i byte 0x57 Write Command 2 byte lt Register Address_High gt MSB 3 byte lt Register Address_Low gt LSB 4 byte lt Register Data Byte 4 gt MSB F byte lt Register Data Byte 35 g byte lt Register Data Byte 27 7 byte lt Register Data Byte 1 gt LSB Rev 2 0 7 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 77 of 152 IMPERX Y Write Acknowledge 1 Byte lt Ack gt CHEETAH Hardware User s Manual 1 byte 0x06 Acknowledge Wr_Cmd Addr Data Rx 57 04 10 11 22 83 44 Ack Tx 06 Figure 4 2 Normal write cycle Write Not acknowledge 2 Bytes lt Nac gt lt Error Codes st 1 byte 0x15 Not ackn
110. ll coefficients to Zero For Auto White Balance AWB the user has the option of selecting from five update rates When Ix is selected the AWB algorithm responds slowly to any changes in the scene illumination whereas 5x tracking provides most responsiveness The user can set individually the desired digital gain for each primary color R G B 1 0x to 4 0x 0 001x increment via the arrows or by entering the desired value The user has option to set all gains to Unity 1 0x Rev 2 0 7 7 7 2015 128 of 152 IMPERX Y CHEETAH Hardware User s Manual CAPER v Cheetah Warranty and Support Imperx Inc Rev 2 0 7 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 129 of 152 IMPERX CHEETAH Hardware User s Manual ORDERING INFORMATION CLF C4080M OF CLF Camera Link C4080 12 Megapixel M Monochrome O OnSemi F F Mount CXP CoaXpress C2880 6 Megapixel C Color C C Mount NOTE For any other custom camera configurations please contact Imperx Inc 7 2 TECHNICAL SUPPORT Each camera is fully tested before shipping If for some reason the camera is not operational after power up please check the following 1 Check the power supply and all I O cables Make sure that all the connectors are firmly attached 2 Check the status LED and verify that it is steady ON if not refer to the LED section 3 Enable the test mode and verify that the
111. ll external input output signals supplied to the camera Refer to Fig 1 5 for connector pin outs Refer to Table 1 6 for corresponding pin mapping The connector is a male HIROSE type miniature locking receptacle HRIOA 10R 12PB 71 The optionally purchased power supply is shipped with a power cable which terminates in a female HIROSE plug HR10A 10P 12S 73 Figure 1 6 Camera Power Connector Viewed from rear 12 VDC Return Ground Return 12 VDC Main Power Return 12 VDC Power Input 12 VDC Main Power NC NC No Connect NC NC No Connect GP OUT2 Opto Switch contact 2 General Purpose Output 2 GP Out 1 RTN TTL Ground Return General Purpose Output 1 Return GP OUT 1 TTL OUT 1 General Purpose Output 1 GP IN 1 Opto isolated IN 1 General Purpose Input 1 GP IN 2 TTL LVTTL IN 2 General Purpose Input 2 GP IN 1 Return Ground Return IN1 General Purpose Input 1 Return GP IN 2 Return LVTTL Ground Return IN2 General Purpose Input 2 Return GP OUT 2 Opto Switchcontact 1 General Purpose Output 2 Table 1 6 Camera Power Connector Pin Mapping Imperx Inc Rev 6 2 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 27 of 152 IMPERX Y CHEETAH Hardware User s Manual 1 6 MECHANICAL OPTICAL and ENVIRONMENTAL 1 6 1 Mechanical The camera housing is manufactured using high quality zinc aluminum alloy and anodized aluminum For maximum flexibility the camera has eight 8 M3X0 5mm mounting screws located towards
112. ll pixels are listed in the DPM or HPM in order of increasing Y location If the Y location is identical the listing is in order of increasing X location After editing save each file with the appropriate file extension The maximum number of pixels in the DMP list is 128 and in HPM list is 1024 Here is a simple example how to create a DPM Create the DPM file with extension dpm using Notepad or any other editing software Locate the defective pixels in the camera and enter them in order starting with the smallest pixel number of the line number first The file looks like this Defective Pixel Map Date 7 21 2013 Model CLB BO610M Serial 060380 Table Column X Row Y 4 1 588 1 78 5 82 27 405 300 Note In this example the first table entry is pixel 4 from line 1 the next entry is pixel 588 from line 1 and the next entry is pixel 78 from line 5 and so on Imperx Inc Rev 2 0 7 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 146 of 152 IMPERX Y CHEETAH Hardware User s Manual Software Installation CL This appendix explains how to install the CHEETAH CamConfig software Imperx Inc Rev 2 0 7 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 147 of 152 IMPERX CHEETAH Hardware User s Manual Use the following steps to install the CHEETAH Configurator software supplied on a CD Note that click refers to the left mo
113. lly isolated while Input IN 2 accepts Low Voltage TTL LVTTL Cheetah provides two general purpose outputs Output OUT 1 is a 5v TTL 5 0 Volts compatible signal and Output OUT 2 is opto isolated Figure 2 15a and b shows the external input electrical connections Figure 2 15c and d shows the external output electrical connections A Input IN 1 Opto Isolated The input signal IN 1 and IN 1 Rtn are optically isolated and the voltage difference between the two must be positive between 3 3 and 5 0 volts To limit the input current a 160 Ohm internal resistor is used but the total maximum current MUST NOT exceed 5 mA Imperx Inc Rev 6 2 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 65 of 152 IMPERX Y CHEETAH Hardware User s Manual Boe ee ne eee ee Ue In 1 pin 8 gt gt TO CAMERA In irtn 5 mA MAX pinio CAMERA Figure 2 15a IN1 electrical connection B Input IN 2 LVTTL The input signals IN 2 and IN 2 Rtn are used to interface to a TTL or LVTTL input signal The signal level voltage difference between the inputs IN 2 and IN 2 Rtn MUST be LVTTL 3 3 volts or TTL 5 0 volts The total maximum input current MUST NOT exceed 2 0 mA In 2 Pin 9 In 2 Rtn Pin 11 Figure 2 15b IN 2 electrical connection C Output OUT 1 LVTTL Output OUT 1 is a 5v TTL 5 0 Volts compatible signal and the maximum output c
114. ltiple of 2 0x00000000 MAX_HOR_SZE 0x0150 Frame B Black Level RW Black Offset Value 0x00000000 0x000007FF Frame B 00 disable 0x0708 Fixed Frame Period RW 01 Enable 0x00000000 0x00000001 Enable Frame B lt Lines gt 0x070C Fixed Frame Period in line RW 0x00000000 0x00000001 times 0x0714 Frame B Line Time RW Line Time pixel clocks 0x00000000 0x00000001 Frame B Exposure one Ot 0x0724 Control RW 01 trigger Pulse width 0x00000000 0x00000002 10 Internal Timer 0x0730 Frame B Integration Lines RW a 0x00000000 0x00000001 Exposure Value 0x0734 Frame B Integration Clocks RW Pixel Clocks 0x00000001 0x00000001 00 off 0x0754 Frame B Decimation Mode RW 01 Subsample enable 0x00000001 0x00000002 02 Averaging Mode Frame B Subsampling Contiguous Pixels to 0x0758 Parameter N RW Keep mult of 2 0x00000001 0x0000000F 0x075 E ame B Subsampling RW Pixels to skip 0x00000001 0x0000000F Parameter M 0x0760 Frame B Analog Gain RW lt Analog Gain Values 0x00000001 0x0000007F 0x0764 Frame B Digital Gain Fine RW lt Dig Gain Fine Values 0x00000001 0x0000003F 0x0768 Frame B Digital Gain RW lt Dig Gain Coarse 0x00000001 0x00000003 Coarse Value 0x077C Frame B Pixel Averaging RW 00 4 1 01 9 1 0x00000001 0x00000001 Imperx Inc Rev 2 0 7 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 136 of 152 IMPERX Y A 6 FRAME B WDR REGISTERS CHEETAH Hardware User s Manual
115. me rate because all the pixels must be readout and averaged together Rev 6 2 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 38 of 152 IMPERX Imperx Inc 6421 Congress Ave CHEETAH Hardware User s Manual However sub sampling decimation can offer a frame rate improvement by reducing the number of rows readout from the image sensor A D Bit Depth The image sensor has an A D converter on each column of the image sensor and reads out two rows simultaneously There is a finite time required to reach convergence depending upon the A D digitization level selected and this can impact the maximum frame rate 1 8 bit digitization 9 micro seconds 2 10 bit digitization 9 micro seconds 3 12 bit digitization 20 micro seconds For example if 12 bit digitization is selected then two rows can be digitized in 20 micro seconds Since 3136 rows in the C4080 camera must be readout digitizing the entire image array consumes 31mS per frame and the frame rate is accordingly limited Output Interface Bandwidth The bandwidth of the output interface can also impact the maximum achievable frame rate For example with Camera Link Base 2 taps selected and with 10 bit digitization and 10 bit output mode selected the camera will output 13 full frames per second limited by the output interface bandwidth of 2 04 Gbps Triggered Dual Video Mode The camera normally overlaps the exposure time of one frame with the
116. mmable Line and Frame Time Variable frame time mode provides the ability to run the camera in full resolution and a frame rate slower than the nominal frame readout rate reducing the bandwidth requirements on the camera output The camera can provide very high frame rates that can quickly over run the bandwidth of the frame grabber and output interface Imperx Inc Rev 6 2 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 45 of 152 IMPERX CHEETAH Hardware User s Manual By adding a delay after the readout of each line and at the end of the frame the overall output frame rate can be reduced matching the camera frame rate to each applications specific requirements Using the programmable line and frame delay to add a delay before commencing readout of the next line or frame increases the readout time and reduces frame rate CAUTION NOTE 1 If the frame time is greater than 50ms the camera has to be kept still otherwise a motion smear will appear on the image 2 8 CAMERA TRIGGERING 2 8 1 Triggering Inputs In the normal mode of operation the camera is free running Using the trigger mode allows the camera to be synchronized to an external timing pulse Trigger inputs can be used to control the exposure times of Frame A and Frame B or can be used to control Dual Video mode switching In Dual Video mode enabling the trigger input causes the camera to output a user defined number of Frame As followed by a user de
117. mpared to global shutter mode and is useful in light starved applications 2 3 A D DIGITIZATION The user has the ability to select the internal digitization level within the image sensor to trade off dynamic range for frame rate When the ADC Selector is set to 12 bit digitization level the maximum frame rate is reduced to about 26 frames per second limited by the ADC settling time When the ADC selector is set to 10 bits the A D converter settling time is reduced and the maximum camera output frame rate increases The ADC selector setting sets the internal camera digitization level the output panel allows the user to select between 10 and 12 bit digitization 2 4 FRAME TIME CONTROL 2 44 Internal Line and Frame Time Control The camera speed frame rate depends on the CMOS read out time the time necessary to read all the pixels out of the CMOS imager The frame rate can be calculated using the following Formula 1 1 Frame rate fps 1 read out time sec 1 1 The user can program the camera to run slower than the nominal speed preserving the camera full resolution by extending the camera line time the time required to read one line out of the CMOS imager and camera frame time the time required to read the entire frame out of the CMOS imager Since the image sensor readout speed exceeds the Camera Link interface output rate the camera automatically sets a minimum line time based on the number of output taps and bit depth
118. ms 111 5ms 011 10ms ox6030 Software Trigger Single wo Command 0x00000000 Pulse Generator A 9 PULSE GENERATOR REGISTERS Address Register Name Type Usage MIN Value MAX Value P 00 1x 01 10x 10 0x0690 Pulse Gen Granularity RW 100x 11 1000x 0x00000000 0x00000003 0x0694 Pulse Gen Pulse Width RW lt Pulse Width gt 0x00000001 Ox0007FFFF 0x0698 Pulse Gen Pulse Period RO lt Pulse Period gt 0x00000001 0x001FFFFF Ox069C Pulse Gen of Pulses RW lt Number of Pulses gt 0x00000001 OxOOOOFFFF Imperx Inc Rev 2 0 7 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 138 of 152 IMPERX Y CHEETAH Hardware User s Manual 0x06A0 Pulse Gen Enable RW 1 Enable 0 Disable 0x00000000 0x00000001 A 10 TEST PATTERN REGISTERS Address Register Name Type Usage MIN Value MAX Value 000 Disable 001 H Ramp Static 010 V Ramp Static 0x0428 Test Mode Selector RW 1011 H Ramp Moving O0x00000000 Ox00000005 100 V Ramp Moving 101 Cross Hair A 11 STROBE REGISTERS Address Register Name Type Usage MIN Value MAX Value 00 disable 0x0630 Strobe 1 Enable Rw 01 Enable Frame A only oxo0000000 Ox00000003 10 Enable Frame B only 11 Enable Frame A8 B 0x0634 Strobe 1 Start Reference RW 0 Exposure Start 999900000 0x00000001 1 Readout Start 0x0638 Strobe 1 delay RW lt S1 Delay Value us gt 0x00000000 OxQOOFFFFF
119. msec readout i of previous frame row address axis e a Frame Readout 13 80 msec e a Effective frame time video Readout time Figure 2 5a Rolling Shutter Mode with 8 33 msec exposure time Global Shutter Integration Time Integration of next frame overiaps 8 33 msec Teadout of previous frame row address axis o _ Frame Readout 13 80 msec ta Effective frame time video Readout time Figure 2 5b Global Shutter with 8 33mS exposure time Rev 6 2 Imperx Inc 7 7 2015 6421 Congress Ave Boca Raton FL 33487 1 561 989 0006 44 of 152 IMPERX Y CHEETAH Hardware User s Manual In Dual Video Triggered Mode exposure times and readout times do not overlap and the effective frame time is the sum of both values Integration Time Frame n Readout Frame n Effective frame time Inteqration time Readout time Figure 2 5c Global Shutter Mode with a long exposure period integration time 2 7 3 External exposure control The camera exposure can be controlled using an external pulse supplied to the camera The pulse duration determines the exposure In global shutter mode the minimum exposure time is about 6 micro seconds In rolling shutter mode the minimum exposure time is equal to the minimum frame time because the exposure must occur during the readout time Please refer to 2 8 Camera Triggering and 2 14 VO control sections 2 7 4 Variable Frame Time Progra
120. n area of interest AOD is selected then the field of view of the AOI is maintained The Cheetah cameras provide a very flexible subsampling capability The user defines how many sequential pixels to read out N and how many total pixels of the Imperx Inc Rev 6 2 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 41 of 152 IMPERX Y CHEETAH Hardware User s Manual contiguous area pixels readout pixels skipped M The sub sampling decimation factors N and M are applied along both rows and columns as shown in the figures 2 4a and 2 4b The camera will adjust AOI size depending on subsampling factor averaging factor and the presence of a color filter array on the image sensor Subsampling constraints The N contiguous pixels readout and M pixels of the area which includes pixels readout and pixels skipped parameters are restricted to even values M must always be greater than N and maximum value of M is 32 as LT ETT TET TE ere tT Figure 2 4b Color sub sampling with N 2 and M 4 Imperx Inc Rev 6 2 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 42 of 152 IMPERX Y CHEETAH Hardware User s Manual 2 7 EXPOSURE CONTROL 2 7 1 Internal Exposure Control Electronic Shutter In rolling shutter mode each row is reset cleared of signal sequentially one after another There is a delay between the time that a row is reset and the time when thi
121. ndow 5 7 2 Trigger Inputs 5 7 3 Pulse Generator 5 74 Strobe Control And Output Mapping 5 7 4 Data Output 5 7 5 Color CHAPTER 6 CHEETAH WARRANTY AND SUPPORT ORDERING INFORMATION 7 2 TECHNICAL SUPPORT 73 WARRANTY APPENDIX A CAMERA CONFIGURATION REFERENCE A 0 ABBREVIATIONS A 1 SAVING AND RESTORING REGISTERS A 2 CAMERA INFORMATION REGISTERS A 3 FRAME A REGISTERS Stored in FLASH A 4 FRAME A WDR REGISTERS A 5 FRAME B REGISTERS Stored in FLASH Imperx Inc 6421 Congress Ave Boca Raton FL 33487 1 561 989 0006 6 of 152 CHEETAH Hardware User s Manual 105 107 108 108 109 110 113 114 115 115 121 123 124 125 127 129 130 130 131 132 133 133 133 134 135 136 Rev 6 2 7 7 2015 IMPERX Y A 6 FRAME B WDR REGISTERS A 7 DUAL VIDEO REGISTERS AND FRAME A B COMMON REGISTERS A 8 TRIGGER REGISTERS A 9 PULSE GENERATOR REGISTERS A 10 TEST PATTERN REGISTERS A 11 STROBE REGISTERS A 12 INPUT AND OUTPUT REGISTERS A 13 OUTPUT DATA FORMAT REGISTERS A 14 WB AND COLOR CORRECTION REGISTERS A 15 DATA CORRECTION REGISTERS A 16 MANUFACTURING DATA REGISTERS APPENDIX B CREATING LOOK UP TABLES B 1 OVERVIEW B 2 USING AN ASCII TEXT EDITOR B 3 USING MICROSOFT EXCEL APPENDIX C CREATING DPC AND HPC TABLES C 1 OVERVIEW C 2 USING AN ASCII TEXT EDITOR APPENDIX D SOFTWARE INSTALLATION CL APPENDIX G POWER SUPPLIES Imperx Inc 6421 Congress Ave Boca Raton FL 33487 1
122. nector 4 Status LED indicates the status of the camera refer to Status LED section 5 Model Serial Number shows camera model and serial number Imperx Inc Rev 6 2 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 18 of 152 IMPERX CHEETAH Hardware User s Manual 4 9 POWER 1 0 FULL BASE CLF C4080M OF000 sn 850004 ase Rod D IMPERX CeFe K Made in USA 12 VOC Figure 1 3 CLF Camera back panel Deca Full Medium or Base 1 5 2 Camera Link Full Signal Mapping Camera data output is compliant with Deca 80 bit Full 64 bit Medium 48 bit and Base 24 bit Camera Link standard up to 80 data bits 4 sync signals LVAL FVAL DVAL and User Out 1 reference clock 2 external inputs CC1 CC2 and a bi directional serial interface The camera link output connectors are shown in Figure 1 4a and 1 4b and the corresponding bit and port mapping is described below Base Wire Base Wire PAIR 1 PAIR 1 PAIR 2 PAIR 2 PAIR 3 PAIR 3 PAIR 4 Imperx Inc 6421 Congress Ave Boca Raton FL 33487 1 561 989 0006 aman 16 Figure 1 4a CLF Camera output connector 1 Power Return X0 amera Link Channel Tx X0 amera Link Channel Tx X1 amera Link Channel Tx 1X1 amera Link Channel Tx X2 amera Link Channel Tx X2 amera Link Channel Tx X CLK amera Link Clock Tx Rev 6 2 7 7 2015 19 of 152 IMPERX Y PA
123. oca Raton FL 33487 1 561 989 0006 Frame A B Trigger Pulse Generator Strobe Control Settings Color Select All Attach Windows Figure 5 6 View Menu Controls the exposure AOI camera analog digital gain black level correction Averaging Subsampling and Wide Dynamic Range modes for each acquisition frame A amp B The user has several options controlling switching between Frame A and Frame B Rev 2 0 7 7 7 2015 113 of 152 IMPERX Y Trigger Pulse Generator Strobe Control Settings Color Select All Attach Windows 5 6 MENU HELP CHEETAH Hardware User s Manual Controls the camera triggering features Enables and controls the internal pulse generator which can be used to generate trigger or output signals Enables and controls the camera strobe signals Sets the output data format enables Look Up Tables H amp V Mirror DPC HPC and test patterns Sets the white balance mode Displays WBC values Enables all camera parameter windows Attaches all camera parameter windows to the main GUI window The main Help menu is shown on Figure 5 7 Open Help Debug Save Camera Reg About Imperx Inc 6421 Congress Ave Boca Raton FL 33487 1 561 989 0006 Menu View Camera Info Open Help Frame A Fram Size 2840x2136 2840 s FPS 46 784 Save Camera Registers Frmu 21 375 ARa run ana rar Y Figure 5 7 Help menu Opens an interactive hel
124. ock Relative humidity CHEETAH Hardware User s Manual Static Dynamic Yes Yes Crosshairs at Optical Center Static Dynamic User DPM Static Dynamic User HPM 1 LVTTL 1 Opto coupled 1 5v TTL 1 Opto coupled Programmable Rising Falling De bounce Yes 2 LUTs Aluminum 10 V to 15 VDC Yes Yes 40 0 to 85 0 deg C 50 0 to 90 0 deg C 100G 20 200 Hz XYZ 1000G 10 to 90 non condensing Table 1 1 Cheetah General Features ctive image resolution ctive image area H V 4000x3000 18 8mm x 14 1mm 23 5mm Diagonal 2832x2128 13 1mm x 10 0mm 16 65mm Diagonal 4 7 um 4 7 um ideo output Digital 8 10 12 bit Digital 8 10 12 bit utput structure 10 Tap 10 Tap Data clock 80 MHz 80 MHz amera interface DECA Full Medium or Base CL DECA Full Medium or Base CL onnector Maximum frame rate DR rolling global Dual Video Frame Control FRAME A FRAME B hutter speed rea of Interest nalog gain Imperx Inc 6421 Congress Ave Boca Raton FL 33487 1 561 989 0006 HDR 26 pin mini CL 27 fps 12 bit 67fps 8 bit 72 RS 56 GS dB Independent control of Resolution Exposure Time Gain Area of Interest Subsampling Pixel Averaging Wide Dynamic Range 1 us to 1sec RS Bus to 1 sec GS One per Frame 0 to 12dB 12 bit 0 to 18MB 8 amp 10 bit HDR 26 pin mini CL 0 fps 12 bit 129 fps 8 bit 72 RS 56 GS dB Independent control of Resolution Exposure Time Gain Area of Int
125. or Number of Pulses This register sets the number of the pulses generated when the Pulse Generator Mode is set to Burst Mode discrete number of pulses Address 0x069C Data 15 0 svalues number of discrete pulses Data 31 16 N A 4 3 10 5 Pulse Generator Mode This register sets the Pulse Generator to either continuous mode or burst mode Address Ox06A4 Data 0 i 0 Continuous Mode continuous pulse generation 1 Burst Mode Generate discrete number of pulses see Pulse Generator Number of Pulses section register 0x069C Data 31 1 N A 4 3 10 6 Pulse Generator Enable This register enables the pulse generator Address a Ox06A0 Data 0 0 disable pulse generator operation 1 enable pulse generator operation Data 31 1 N A 4 3 11 Test Pattern Workspace Registers 4 3 11 1 Test Mode Select This register selects the test mode pattern Address 0x0428 Imperx Inc Rev 2 0 7 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 101 of 152 IMPERX Y CHEETAH Hardware User s Manual Data 3 0 000 no test pattern 001 steady horizontal image ramp 010 steady vertical image ramp 011 moving horizontal image ramp 100 moving vertical image ramp 101 crosshairs superimposed over live image 110 reserved 111 reserved Data 31 4 N A 4 3 12 Input output Workspace Registers 4 3 12 1 OUT1 Output Polarity This register sets the polarity active Low or Hig
126. owledge nd 2 byte lt XX gt Nac Error Code See Error Code Description section Cmd These characters are dropped p23 SSS SSS Rx 47 04 10 11 22 33 44 Nak Invalid Cmd All sub pen i A A RE subsequent Rx characters are dropped until the receipt of a valid Tx 15 01 52 or 57 command Figure 4 3a Invalid command error These characters Wr Cmd Addr are dropped PONG HA Rx 57 04 10 11 22 33 44 t 0 t 100 mS Nak Timeout mA KS All subsequent Rx characters are Tx dropped until the receipt of a valid 15 02 52 or 57 command Figure 4 3b Rx timeout error Example Write to register address 0x0410 data value 0x 11223344 Imperx Inc Rev 2 0 7 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 78 of 152 IMPERX Y CHEETAH Hardware User s Manual gt Camera Write Command lt 0x57 gt lt 04 gt lt 10 gt lt 11 gt lt 22 gt lt 33 gt lt 44 gt 4 2 2 2 Read Operation In order to read from any given camera register a sequence of 3 bytes should be sent to the camera If there is no error the camera returns 5 bytes one byte acknowledge for the read command lt Ack gt and four bytes of data lt DD gt lt DD gt lt DD gt lt DD gt Figure 4 4 During read operation the camera does not return an error or lt Nac gt The only exception is the case of
127. p file Puts the GUI in a debug mode for test purposes and troubleshooting Saves the camera registers Provides information about application version and important camera parameters such as Firmware revision Assembly Part Number etc Figure 5 8 Rev 2 0 7 7 7 2015 114 of 152 IMPERX Y CHEETAH Hardware User s Manual o Cheetah CamConfig Version 1 0 5 900 Ng Copyright 2008 2015 Imperx Inc Firmware Version 00 00 03 Firmware Build 0018 Custom Version 00 00 Color Version Color Firmware Image ID Application RGS Version 8 0 1 6 Assembly Part Number ASSY 0000 0000 RA01 Assembly Serial Number 000000 CCD Serial Number 00000000 Manufacturing date 06 06 2014 Camera Type Copy info to Clipboard Figure 5 8 About CamConfig 5 7 PARAMETER WINDOWS CHEETAH Cameras have many features that can easily be programmed using the CHEETAH graphical user interface GUI or via simple register commands using the Command Terminal The main parameter windows are described below 5 7 1 Dual Video Frame A Frame B Window 5 7 1 1 Dual Video Controls Frame A B window allows the user to set up two independent acquisition setups Frames and the conditions under which the camera switches between these two independent camera configurations E 10 Frame A 10 Frame Shutter mode Rolling Global ADC Selector 10 bits 12bits Dual Video 1400 z Line Time pdk 1355 65535 Imperx Inc Rev
128. pixels Select from 15 to 100 in 5 steps Normal setting is 30 to 70 Rev 2 0 7 7 7 2015 120 of 152 IMPERX Y CHEETAH Hardware User s Manual The Dark pixel information is contained from 0 output level to the P1 setting P2 Percentage of camera output allocated to Bright pixels Select from 15 to 100 in 5 steps P2 must be greater than P1 The Bright pixel information is contained between the P1 to P2 output levels To disable the E2 and E3 exposures set P2 and P3 to 100 P3 Percentage of camera output assigned to Very Bright pixels Select from 15 to 100 in 5 steps The Very Bright pixel information is contained between the P2 to P3 output levels To disable the E3 exposure set P3 to 100 The Ultra Bright pixel information is contained between the P3 level and 100 of the output Notes 1 A good set of initial settings as follows E1 90 or 95 of the overall exposure time P1 50 P2 P3 both set to 100 5 7 2 Trigger Inputs The Trigger Tab is used to set the camera trigger inputs and trigger settings Figure 5 15 The user can select from one of 6 input sources and set the active trigger edge to rising or falling with optional signal debouncing Figure 5 15 Trigger parameter window Enable Enabling the trigger function allows the user to control either the camera Frame A B exposure period or control the dual video mode switching Imperx Inc Rev 2 0 7 6421 Congress
129. pplied to the next frame When Auto White Balance AWB Tracking mode is selected the user can select 5 tracking speeds from slow to fastest 2 17 TRANSFER FUNCTION CORRECTION USER LUT The user defined LUT Lookup Table feature allows the user to modify and transform the original video data into any arbitrary value Figure 2 16 Any 12 bit value can be transformed into any other 12 bit value The camera supports two separate lookup tables each consisting of 4096 entries with each entry being 12 bits wide The first LUT is factory programmed with a standard Gamma 0 45 The second LUT is not pre programmed in the factory Both LUT s are available for modifications and the user can generate and upload his own custom LUT using the CHEETAH Configuration software refer to Appendix B Imperx Inc Rev 6 2 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 68 of 152 IMPERX Y CHEETAH Hardware User s Manual 12 bit input pwr 12 bit output data eau data Figure 2 16 Look up table 2 17 1 Standard Gamma Correction The image generated by the camera is normally viewed on a CRT or LCD display does not have a linear transfer function i e the display brightness is not linearly proportional to the scene brightness as captured by the camera As the object brightness is lowered the brightness of the display correspondingly lowers At a certain brightness level the scene brightness decrease
130. r Video Amplifier allows the user to adjust the Analog and Digital Gains and black level Manual entry and sliders are available for adjusting the individual parameters Figure 5 13 Video Amplifier Analog Gain 1x O2x C 4x O 8x icital Gain Jk 1 00 1 00 15 88 Black Level 10 7 0 2048 Figure 5 13 Video Amp parameter window Analog Gain The user can set the desired analog gain using radio buttons For digitization levels of 8 or 10 bits analog gain levels of 1x 2x 4x and 8x can be selected For 12 bit digitization level analog gain levels of 1x 2x and 4x are supported Analog gain should always be applied before digital gain Digital Gain The user can set the digital gain from 1 to 15 88x with 128 individual steps Step size varies with gain setting with finer steps at lower gain settings Black Level The digital offset O to 8192 1 step increment via the slider or by entering the desired value Digital offset is applied after gain 5 7 1 6 Wide Dynamic Range WDR Imperx Inc 6421 Congress Ave Boca Raton FL 33487 1 561 989 0006 Rev 2 0 7 7 7 2015 119 of 152 IMPERX Y CHEETAH Hardware User s Manual Wide Dynamic Range mode is available in global shutter mode only and allows the user to compress bright regions of the image into the available output range The camera allows the user to select from three user defined exposure periods depending upon the brightness of each indi
131. rator graphical user interface 4 2 CAMERA CONFIGURATION 4 2 1 Configuration Memory parameter FLASH The camera has a built in configuration memory divided into 4 segments work space factory space user space 1 and user space 2 The work space segment contains the current camera settings while the camera is powered up and operational All camera registers are located in this space These registers can be programmed and retrieved via commands issued by the user The workspace is RAM based and upon power down all camera registers are cleared The factory space segment is ROM based write protected and contains the default camera settings This space is available for read operations only The user space 1 and user space 2 are non volatile FLASH based and used to store two user defined configurations Upon power up the camera firmware loads the work space registers from the factory space user space 1 or user space 2 as determined by a boot control register located in the configuration memory The boot control register can be programmed by the user refer to Camera Configuration Section The user can at any time instruct the camera to loads its workspace with the contents of the factory space user space 1 or user space 2 Similarly the user can instruct the camera to save the current workspace settings into either the user space 1 or user space 2
132. re User s Manual Data 31 2 N A 4 3 7 2 Dual Video Frame A Repetition This register sets the number of Frame As which are output before switching to output Frame Bs in Dual Video modes Address 4 0x0718 Data 7 0 lt value gt number of Frame As Data 31 8 N A 4 3 7 3 Dual Video Frame B Repetition This register sets the number of Frame Bs which are output after switching from Frame A output in Dual Video modes Address 0x071C Data 7 0 i lt value gt number of Frame As Data 31 8 N A 4 3 8 Triggering Workspace Registers 4 3 8 1 Trigger Input Selector Imperx Inc 6421 Congress Ave This register selects the triggering source Address 0x0650 Data 2 0 000 INI the camera expects the trigger to come from the external source mapped to the INI connection within the power and I O connector 001 IN2 the camera expects the trigger to come from the external source mapped to the IN2 connection within the power and I O connector 010 CC 1 the camera expects the trigger to come from the Camera Link cable signal CC1 011 CC2 the camera expects the trigger to come from the Camera Link cable signal CC2 100 Internal the camera expects the trigger to come from the programmable pulse generator 101 Software trigger expects a one clock cycle pulse generated by the computer The trigger exposure is internal register controlled Pulse d
133. rk Pixel Data Table 2 6b Example of output data partitioning for 4 intensity slopes Imperx Inc Rev 6 2 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 54 of 152 IMPERX Y CHEETAH Hardware User s Manual As another example of the range of exposures possible the user can set the exposure period for the pixels in the darkest region of the image to be say 33 0 milliseconds consistent with a 30 frame per second video rate For Bright pixels within the scene an exposure time of 3 milliseconds can be selected and for Very Bright pixels an exposure time of 300 micro seconds might be selected The output would then be partitioned into three zones one for Dark pixel exposure data another for Bright pixel exposure data and another section for Very Bright pixel data It is useful to set the wide dynamic range parameters using ratios The overall entire exposure period Texp is the time during which the dark pixels integrate to some value As an example let s describe this time period as the quantity X and the user has specified that 40 of the output range is allocated to Dark pixel data The user might then set the exposure time for Bright pixels to 5 of the overall exposure period Bright pixel exposure is 0 05X and allocate 35 of the remaining output to these bright pixels Finally for the Very Bright pixels within the scene the user might set the exposure time to 0 5 of the overall exposure Very br
134. rx com Imperx Inc Rev 2 0 7 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 148 of 152 IMPERX Y CHEETAH Hardware User s Manual Power Supplies This appendix has power supply models and connectors for CHEETAH series cameras Imperx Inc Rev 2 0 7 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 149 of 152 CHEETAH Hardware User s Manual Trigger amp Strobe pigtail with Male BNC connectors Imperx Inc Rev 2 0 7 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 150 of 152 IMPERXY CHEETAH Hardware User s Manual Supplied AC power input cable IEC 1 8m 67 Power Supply Output 212V 3m 10f 4 15cm 6 Strobe amp Trigger 10cm 4 0 4 tem 5 Auto Iris 18cm 77 Tem 57 eee Bobcat Power Connector and Cable Harness aaa ae Power Supply Specs Cable length Supplied AC power input cable IEC 1 8m 6 100 240 Vac 50 60Hz 1A Power supply Output 12V 3m 10 15cm 6 connector HIROSE HR10A 10P 12S Strobe amp Trigger 10cm 4 1cm 0 5 connector BNC male Electrical Over Voltage Protective Installation Short circuit Protective Installation Protection Type Auto Recovery 10 15 VDC 12VDC nominal 2 A Load regulation 5 Imperx Inc Rev 2 0 7 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 151 of 152 IMPERX Y Ripple amp Noise 1 Max CHEE
135. s row is readout equaling the exposure time While rolling shutter mode offers superior noise performance and thus better sensitivity as compared to global shutter mode in rolling shutter mode each row of the image is captured at a slightly different time and this can introduce image artifacts when there is motion in the image In global shutter mode all pixels in the array are reset at the same time allowed to collect signal during the exposure time and then the image is transferred to a non photosensitive region within each pixel Once the image is transferred to the non photosensitive region then the readout of the array begins In this way all pixels capture the image during the same time period reducing any image artifacts due to motion within the scene The maximum exposure is frame time dependent and the minimum exposure is 5 microseconds in global shutter mode and 1 microseconds in rolling shutter mode The camera normally overlaps the exposure and readout times for both global and rolling shutter modes as shown in Figure 2 5a and Figure 2 5b Both figures show an 8 33mS exposure time overlapping with the 13 8 ms readout time Figure 2 5c shows non overlap exposure and readout in Dual Video Trigger mode Rolling Shutter Imperx Inc Rev 6 2 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 43 of 152 IMPERXY CHEETAH Hardware User s Manual Integration Time Integration of next frame overlaps 8 33
136. sabling extended dynamic range When disabled all pixels within the array integrate charge for the full exposure period as defined by the exposure control settings When wide dynamic range is activated the exposure period for each pixel varies based on the following user defined settings Dark Pixels Exposure period is set by the normal camera exposure controls and dark pixels integrate for the full exposure period Texp just as if the WDR mode were disabled The amount of the camera output allocated to dark pixels is set by parameter P1 and dark pixel data is contained between 0 of camera output to the P1 percentage level P1 can range from 15 of the camera output to 100 as shown in Table 2 6c If PI is set to 100 then the entire output is allocated to Dark Pixels and WDR is effectively disabled 90 80 75 70 65 50 55 50 45 40 35 30 25 20 15 Table 2 6c Camera output allocation 906 Bright Pixels The exposure period for bright pixels is set by parameter E1 The Bright pixel exposure period is defined as the Total Exposure Period Texp minus E1 For example if Texp Dark Pixel Exposure time is 50ms and it is desired to set the Bright pixel exposure period to 5ms then El must be set to 45ms 50ms 45ms 5ms Tb Bright Texp E1 E1 is a value in microseconds and must be some fraction of the overall exposure period usually 90 of Texp or more The minimum value for El is 2 micro seconds
137. selected and this sets the maximum frame rate consistent with the available bandwidth of the Imperx Inc Rev 6 2 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 35 of 152 IMPERX Y CHEETAH Hardware User s Manual output interface If the frame grabber is losing data increase the line time control to match the frame grabber acquisition rate to the Cheetah output rate When the Fixed Frame Period control is enabled the user can increase the frame time from the camera determined minimum frame time to a maximum of 1 sec with a precision of 1 0us In this way the user can reduce the camera output frame rate to match the application requirements 2 4 2 Camera Output Control CHEETAH camera supports the following Camera Link Outputs Single Tap 2 Tap 4 Tap 8 Tap or 10 Tap Output This corresponds to Base Medium Full or Deca Output These camera settings combined with the output bit depth 8 10 or 12 bit to control the total the interface bandwidth The output interface clock speed for the Cheetah Camera is 85 MHz Camera Link Spec is 85 MHz maximum It is important to match the camera s output to the frame grabber Select a frame grabber or camera output based upon the following criteria of data rate CLF C4080 C4080 8 10 12 Single 1 02 6 C4080 8 10 12 2 Tap Base 2 04 13 C4080 8 10 12 4 Tap Medium 4 08 27 C4080 8 Bit 8 Tap Full 5 44 50 C4080 10 Bit 8 Tap Deca 6 8 50 C4080 8 Bit 10
138. t This register sets the reference for the strobe 2 start Address 0x0644 Data 0 a 0 Exposure Start 1 Readout Start Data 31 1 N A 4 3 9 7 Strobe 2 Delay This register sets the strobe 2 delay from the selected Reference Address 0x0648 Data 19 0 svalues delay in micro sec 1 sec max Data 31 20 N A 4 3 9 8 Strobe 2 Width This register sets the strobe 2 pulse duration Address 0x064C Data 19 0 svalues width in micro sec 1 sec max Data 31 20 N A 4 3 10 Pulse Generator Workspace Registers 4 3 10 1 Pulse Generator Timing Granularity This register sets the pulse generator main timing resolution The main resolution is in microseconds and 4 granularity steps are possible x1 x10 x100 x1000 x1000 is equal to 1ms timing resolution Address 0x0690 Data 1 0 00 x1 01 x10 10 x100 11 x1000 Data 31 2 N A 4 3 10 2 Pulse Generator Pulse Width This register sets the value of the pulse width in microseconds Address i 0x0694 Data 18 0 lt value gt pulse width in microseconds Imperx Inc Rev 2 0 7 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 100 of 152 IMPERX Data 31 19 N A CHEETAH Hardware User s Manual 4 3 10 3 Pulse Generator Pulse Period This register sets the value of the pulse period in microseconds Address 0x0698 Data 19 0 svalues pulse width in microseconds Data 31 20 h N A 4 3 10 4 Pulse Generat
139. tion of this manual in whole or in part by any means is prohibited without obtaining prior permission from Imperx Imperx reserves the right to make changes to its products or to discontinue any product or service without notice and advises its customers to obtain the latest version of relevant information to verify before placing orders that the information being relied on is current IMPERX PRODUCTS ARE NOT DESIGNED INTENDED AUTHORIZED OR WARRANTED TO BE SUITABLE FOR USE IN LIFE SUPPORT APPLICATIONS DEVICES OR SYSTEMS OR OTHER CRITICAL APPLICATIONS WHERE MALFUNCTION OF THESE PRODUCTS CAN REASONABLY BE EXPECTED TO RESULT IN PERSONAL INJURY IMPERX CUSTOMERS USING OR SELLING THESE PRODUCTS FOR USE IN SUCH APPLICATIONS DO SO AT THEIR OWN RISK AND AGREE TO FULLY INDEMNIFY IMPERX FOR ANY DAMAGES RESULTING FROM SUCH IMPROPER USE OR SALE Rev 2 0 7 7 7 2015 131 of 152 IMPERX Y CHEETAH Hardware User s Manual APPRENCIX Camera Configuration Reference This appendix provides a quick reference to the camera configuration workspace registers Imperx Inc Rev 2 0 7 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 132 of 152 IMPERX Y A 0 ABBREVIATIONS CHEETAH Hardware User s Manual RW read write RO read only WO write only MAX HRZ SZE MIN HRZ SZE Max and Min horizontal image size camera dependent MAX VER SZE MIN VER SZE Max and Min vertical image size cam
140. uration exposure is not supported 110 to 111 N A Data 31 3 N A Rev 2 0 7 7 7 2015 Boca Raton FL 33487 1 561 989 0006 97 of 152 IMPERX Y CHEETAH Hardware User s Manual 4 3 8 2 Trigger Enable This register enables or disables the triggering operation Address 0x0654 Data 0 1 trigger is disabled free running mode 0 trigger is enabled camera is in trigger mode Data 31 1 i N A 4 3 8 3 Software Trigger Start The Start SW Trigger command instructs the camera to generate one short trigger pulse This is a command not a register The act of writing to this location initiates the pulse generation Address 0x6030 4 3 8 4 Triggering Edge Selector This register selects the triggering edge Rising or Falling Address 0x0658 Data 0 0 rising edge 1 falling edge Data 31 1 N A 4 3 8 5 Trigger De bounce Time This register selects the trigger signal de bounce time Any subsequent trigger signals coming to the camera within the de bounce time interval will be ignored Address 0x065C Data 2 0 000 no de bounce 100 10 us de bounce time 101 50 us de bounce time 001 100 us de bounce time 110 500 us de bounce time 010 1 0 ms de bounce time 111 5 0 ms de bounce time 011 10 0 ms de bounce time Data 31 3 N A Imperx Inc Rev 2 0 7 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 98 of 152 IMPERX Y
141. ure Monitor 2 19 3 Exposure Time Monitor 2 19 4 Frame Time Monitor 2 19 5 Current image size CHAPTER 3 DIGITAL IMAGE PROCESSING CHAPTER 4 CAMERA CONFIGURATION 4 1 OVERVIEW 4 2 CAMERA CONFIGURATION 4 2 1 Configuration Memory parameter FLASH 4 2 2 Camera Serial Protocol 4 3 CAMERA CONFIGURATION REGISTER DESCRIPTION 4 3 1 Startup Procedure 4 3 2 Saving and Restoring Settings 4 3 3 Retrieving Manufacturing Data 4 3 4 Camera Information Registers 4 3 5 Frame A Workspace Registers 4 3 6 Frame B Workspace Registers 4 3 7 Acquisition Control Registers 4 3 8 Triggering Workspace Registers 4 3 9 Strobe Control Registers 4 3 10 Pulse Generator Workspace Registers 4 3 11 Test Pattern Workspace Registers 4 3 12 Input output Workspace Registers 4 3 13 Data Output Bit Depth Format Selector 4 3 14 White Balance WB Workspace Registers Imperx Inc 6421 Congress Ave Boca Raton FL 33487 1 561 989 0006 5 of 152 CHEETAH Hardware User s Manual 67 68 68 68 69 70 70 71 71 72 72 712 712 T2 T3 74 75 76 76 76 Ji 80 80 80 82 84 86 91 96 97 99 100 101 102 103 103 Rev 6 2 7 7 2015 IMPERX Y 4 3 15 Data Correction Workspace Registers CHAPTER 5 CONFIGURATOR FOR CAMERALINK 5 1 OVERVIEW 5 2 DISCOVERY PROCEDURE 5 3 GRAPHICAL USER INTERFACE 5 4 MAIN GUI MENU 5 5 VIEW GUI WINDOWS 5 6 MENU HELP 5 7 PARAMETER WINDOWS 5 7 1 Dual Video Frame A Frame B Wi
142. urrent MUST NOT exceed 8 mA Rev 6 2 Imperx Inc 7 7 2015 6421 Congress Ave Boca Raton FL 33487 1 561 989 0006 66 of 152 IMPERX Y CHEETAH Hardware User s Manual OUT 1 Pin 7 8 mA MAX OUT 1 Pin 6 L Figure 2 15c OUT 1 LVTTL electrical connection D Output OUT 2 Opto isolated Output OUT 2 is an optically isolated switch There is no pull up voltage on either contact The voltage across OUT 2 Contact 1 and OUT 2 Contact 2 MUST NOT exceed 25 volts and the current through the switch MUST NOT exceed 50 mA Out 2 Contact 2 Pin 5 lt Out 2 Contact 1 Pa Pin 12 qt A Figure 2 15d OUT 2 Opto Isolated electrical connection 2 15 TEST IMAGE PATTERNS 2 15 1Test Image patterns The camera can output several test images which can be used to verify the camera s general performance and connectivity to the frame grabber This ensures that all the major modules in the hardware are working properly and that the connection between the frame grabber and the camera is synchronized i e the image framing output mode communication rate etc are properly configured Please note that the test image patterns do not exercise and verify the image sensor functionality Imperx Inc Rev 6 2 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 67 of 152 IMPERX CHEETAH Hardware User s Manual The following test images are available H Ramp Still displays a st
143. use button 1 If a version of CHEETAH Configurator was previously installed on this machine then you must first remove it To remove the application files 1 1 Click on Start 1 2 Click on Settings 1 3 Click on Control Panel Double click on Add or Remove Programs for Windows XP or Programs and Features for Windows Vista and Windows 7 1 5 Click on CHEETAH Configurator 1 6 Click on Remove 1 7 If the CHEETAH Configurator InstallShield Wizard pops up then do the following otherwise go to step 1 8 Click on Remove Click Next Click Yes Click Finish 1 8 Click on Yes 1 9 Clickon Close 2 After having removed a previous version or if a version of CHEETAH Configurator was NOT previously installed on this machine then The first step is to install the application files 2 1 1 2 1 3 2 4 2 5 Insert the CHEETAH Configurator CD into the appropriate drive the setup exe file will run automatically Note If it does not start automatically click on Start Run enter or browse to CD drive setup exe and click OK Wait for the CHEETAH Configurator InstallShield Wizard screen to appear Follow the on screen instructions Click Finish This completes the software installation Reboot your computer For additional information and the latest updates and downloads please visit our website at www impe
144. vidual pixel See Figure 5 14 Imperx Inc 6421 Congress Ave Boca Raton FL 33487 1 561 989 0006 WDR gassasasassasana Enable Enable von ne eee P3 75 v p3il ab i P2 60 vig 2 P1 145 Vig P2 o KO E1 1000 lus 5 PI eo l vius l 20 Id 0 E1 E2 E3 Texp E3 4000 us EXPOSURE uSeconds Figure 5 14 Wide Dynamic Range Controls WDR Wide Dynamic Range WDR also Extended Dynamic Range can be enabled or disabled using the Enable check box The overall exposure period Texp is set using the Exposure control slider See Section 5 7 1 2 Exposure Controls Pixels in the dark regions of the image area will collect charge through out the entire exposure period E1 Exposure period for Bright pixels El can be set with the slider or input directly El must be some fraction of the overall exposure period as defined by the Exposure setting Bright pixels are exposed for Texp El See section 5 7 1 2 Exposure Controls E2 Exposure Period for Very Bright pixels Can be set with slider or input directly Very Bright pixel exposure is Texp E2 E2 must be some fraction of Texp and must be greater than E1 E3 Exposure Period for Ultra Bright pixels Can be set with slider or input directly Ultra Bright pixel exposure is Texp E3 E3 must be some fraction Texp and greater than of E2 P1 Percentage of camera output assigned to Dark
145. x amera Link Clock Tx amera Link Channel Tx amera Link Channel Tx Rev 6 2 7 7 2015 IMPERX Y CHEETAH Hardware User s Manual PAIR 6 7 unused LVDS In erial Data Receiver PAIR 6 20 unused LVDS In erial Data Receiver PAIR 7 8 Z0 LVDS Out amera Link Channel Tx PAIR 7 21 Z0 LVDS Out amera Link Channel Tx PAIR 8 9 Z1 LVDS Out amera Link Channel Tx PAIR 8 22 Z1 LVDS Out amera Link Channel Tx PAIR 9 10 Z2 LVDS Out Camera Link Channel Tx PAIR 9 23 Z2 LVDS Out amera Link Channel Tx PAIR 10 11 Z CLK LVDS Out amera Link Clock Tx PAIR 10 24 Z CLK LVDS Out amera Link Clock Tx PAIR 11 12 Z3 LVDS Out amera Link Channel Tx PAIR 11 25 Z 3 LVDS Out amera Link Channel Tx Base Wire 13 Power Return Ground round Base Wire 26 12 VDC Power Power Power Base Table 1 3b CLF Camera Output Connector 2 Signal Mapping 1 5 3 Camera Link Physical Layer to Camera Link Receiver Bits The timing diagram below describes how the Camera Link bits are transmitted over the physical link In the timing diagram below XO X1 X2 and X3 are the physical connections Seven data packets of four bits each are sent during each clock cycle and provide the 28 Camera Link Bits In the figure 1 5 below Camera Link bits O 8 19 and 27 are received over X0 to X3 in the first transfer and bits 1 9 20 and 5 are received in the second transfer cycle The timing for YO to Y3 and Z0 to Z3 physical connections is the s
146. ynamic HPC Threshold RW lt Value gt 0x00000000 0x00000FFF A 16 MANUFACTURING DATA REGISTERS Address Register Name Type Value 0x7004 Assembly Part Number RO lt Assembly Part Number 15 0x7008 Assembly Part Number RO lt Assembly Part Number 25 0x700C Assembly Part Number RO lt Assembly Part Number 35 0x7010 Assembly Part Number RO lt Assembly Part Number 45 0x7014 Assembly Serial Number RO lt Assembly Serial Number 15 0x7018 Assembly Serial Number RO Assembly Serial Number 2 0x701C CMOS Serial Number RO lt CMOS Serial Number 15 0x7020 CMOS Serial Number RO lt CMOS Serial Number 25 0x7024 Date of Manufacturer RO lt Date of Manufacturer 15 0x7028 Date of Manufacturer RO lt Date of Manufacturer_2 gt 0x702C Camera Type RO lt Type of Camera_1 gt 0x7030 Camera Type RO lt Type of Camera_2 gt 0x7034 Camera Type RO lt Type of Camera_3 gt 0x7038 Camera Type RO lt Type of camera_4 gt 0x7040 Sensor Type RO Mono 0000000B Bayer O000000C Imperx Inc Rev 2 0 7 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 141 of 152 IMPERX Y CHEETAH Hardware User s Manual AWDENAN SN Creating Look Up Tables This appendix provides a reference on how to create a lookup table using both an ASCII editor and an Excel spreadsheet Imperx Inc Rev 2 0 7 6421 Congress Ave 7 7 2015 Boca Raton FL 33487 1 561 989 0006 142 of 152 IMPERX Y CHEETAH Hardware User s Manual B 1 OV

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