Color Line Scan Camera SK12240VKOC-XL - Schäfter · Line Scan Camera SK12240VKOC-XL Manual ......
Transcript of Color Line Scan Camera SK12240VKOC-XL - Schäfter · Line Scan Camera SK12240VKOC-XL Manual ......
Kieler Str. 212, 22525 Hamburg, Germany • Tel: +49 40 85 39 97-0 • Fax: +49 40 85 39 97-79 • [email protected] • www.SuKHamburg.de
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Line Scan Camera SK12240VKOC-XL Manual (v. 10.2011)
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Color Line Scan CameraSK12240VKOC-XL 3 x 4080 pixels, 10 µm x 10 µm, 60/30 MHz pixel frequency
CCD line scan camera
SK12240VKOC-XL
mounted with
Focus adapter FA26-S45
Extension rings
Macro lens APO-Rodagon D1x4.0/75
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Camera SK12240VKOC-XL
Sensor Triple Line Sensor
Type KLI-4104
Pixel number 3 x 4080 (G-R-B)
Pixel size 10 µm x 10 µm
Pixel spacing 10 µm
Line spacing (G-R-B) 90 µm
Active length 40.8 mm
Anti-Blooming yes
Integration Control yes
CDS 1 yes
Pixel frequency 60 / 30 MHz
Line frequency max 4.88 kHz
Line frequency min 0.05 kHz
Integration time max 20 ms 2
Integration time min 0.010 ms
Dynamic range 1:2500 (1 MHz, no Integration control)
Spectral range 400–700 nm
Video signal 8-bit / 12-bit
Interface GigE VisionTM
Voltage +5 V, +15 V
Power consumption 3.5 W
Casing (W x H x D) 84 mm x 84 mm x 61 mm
Objective mount M72 x 0.75
Weight 0.2 kg
Working temperature +5°C to +45°C
1) CDS = Correlated Double Sampling. Noise-reduction technology, increase of photosensitivity.2) Longer exposure times are possible in trigger mode "exposure active".
Contents
Line scan cameras from Schäfter+Kirchhoff are supplied factory-preset for the particular application. If you are not familiar with line scan cameras, or their operation using the supplied software, then consult the glossary in Section 11. Line Scan Camera Fundamentals, p 16.
1. Gigabit Ethernet Interface 22. Connections and I/O Signals 33. Hardware and Software Requirements 44. Hardware and Software Installation: GigE Setup 55. Scanning with SkGEVTool and GEV Device Control 65.1 Camera Control 75.2 Gain / Offset and Shading Correction 76. RGB Sensors: 2D Imaging and Pixel Allocation 87. Control Signals and Timing Diagram 9
8. GEV Device Feature List 10
9. SkGigEconfig and Serial Commands 12
10. Sensor Performance Specifications 13
11. Line Scan Camera Fundamentals 16
11.1 Features and Characteristics 16
11.2 Alignments and Adjustments 17
12. Dimensions 18
13. Warranty 19
14. Accessories 19
Section Page Section Page
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Line Scan Camera SK12240VKOC-XL Manual (v. 10.2011)
1. Gigabit Ethernet Interface
Line scan cameras of the VKOC-XL series use the Gigabit Ethernet communication protocol and are 100% compliant with the GigE VisionTM specification and the Gen<I>CamTM standard.
GigE Vision allows for fast image transfer using low cost standard cables up to distances of 100 m. With GigE Vision, hardware and software from different vendors can interoperate seamlessly via the GigE connections. The camera is connected to a computer either via the GigE socket directly or through a Gigabit Ethernet switch.
The line scan cameras of the VKOC-XL series implement a superset of the Gen<I>Cam™ specification which defines the device capabilities. This XML device description file employs the syntax defined by the GenApi module of the Gen<I>CamTM specification.
The Gen<I>CamTM standard provides a generic programming interface for all kinds of cameras and, no matter what features they implement, the application programming interface (API) always remains the same. The Gen<I>CamTM standard consists of multiple modules relevant to the main tasks to be solved:
• GenApi: for configuring the camera• Standard Feature Naming Convention (SFNC): recommended
names and types for common features• GenTL: transport layer interface, for grabbing images
For more information on the GigE VisionTM specification, see: http://www.machinevisiononline.org/vision-standards-details.cfm?type=5
or the Gen<I>CamTM standard:http://www.emva.org/cms/index.php?idcat=27&lang=1
Application:Parallel acquisition using a GigE switch
PCorNotebookwith GigE
GigE inter face for transmission of video and control data over distances up to 100 m
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CCD line scan camera
2 Power supply
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Software Gen<i>Cam
-compliant, eBus driver
GigE switch
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Line Scan Camera SK12240VKOC-XL Manual (v. 10.2011)
2. Connections and I/O Signals
Camera back view Data RJ45 con nector for a Gigabit Ethernet cable
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Power+5 V, 700 mA +15 V, 50 mAHirose series 10A, male 6-pin
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I/O ConnectorHirose series 10A, male 12-pin
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Pin Signal1 GND8 FrameSync10 LineSync
Pin Signal Pin Signal1 +15 V 4 +5 V2 +15 V 5 GND3 +5 V 6 GND
TTL_Inx Specification ValueMax. input frequency 16.5 MhzInput voltage, absolute max. range min -0.5 V
max 7.0 VInput voltage max. low 0.99 VInput voltage min. high 2.31 VInput current 10 µA
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Line Scan Camera SK12240VKOC-XL Manual (v. 10.2011)
3. Hardware and Software Requirements
Hardware
To optimize the Network Adapter, open the Device Manager and go to Advanced Properties of the Adapter
Recommended optimization values:• Receive Descriptors/Empfangsdescriptors = 2048• Interrupt Moderation Rate/Interrupt-Drosselungsrate=extreme• Jumbo Frames = 9014 Byte
eBUS Driver Installation Tool – allows choice of the best driver according to needs (also provided with SkGEVTool).
With the installed eBus driver, the additional optimization of the network adapter is not necessary
Trouble-shooting:If the camera cannot connect properly with the NIC or has acquisition timeout errors, there may be a conflict between the eBus Optimal driver and a third party filter driver. In this case, install the eBus Universal Driver or install the driver supplied by the manufacturer and use the filter driver of the third party software.
PC:• Intel Pentium 4 or AMD equivalent• RAM min. 1 GB, depending on size of acquired images• High-performance video card using either an AGP bus or
PCIe bus• Operating System: Windows XP, Windows Vista, Windows 7
(32-bit and 64-bit) are supported
Network Adapters:• Any Gigabit Ethernet network adapter as a card or on the
motherboard is suitable. For the best performance, a NIC with Intel PRO/1000 chip is recommended.
• PCIe adapters outperform PCI adapters.• Network adapters that support Jumbo Frames outperform
adapters with fixed packet-size frames.
Optimizing the Network Adapter (not eBus Optimal driver)Most Gigabit network interface controllers allow the user to modify their parameters, such as Adapter Buffers and Jumbo Frames. These should be optimized during installation in the Advanced Properties of the Network Adapter.
The line scan cameras of the VKOC-XL series work with any software that is Gen<I>CamTM compliant and that supports GigE Vision cameras. Most software products provide their own network filter driver for a better performance and, where available, this filter driver should be installed.
If no special software is available then the recommended software package is the latest eBUS SDK from Pleora: http://www.pleora.com
The software package contains a SDK and two kinds of eBus drivers (instead of a filter driver).
1. The eBUS Universal Driver – ideal for most real-time vision applications. It runs on almost any vendor NIC, handles all IP transport protocols – including ordinary network traffic and GigE Vision transport protocols – and has less CPU usage than a filter driver.
2. The eBUS Optimal Driver – ideal for applications with a very heavy processing overhead. It runs on the Intel PRO/1000 family of NICs, handles all IP transport protocols – including ordinary network traffic and GigE Vision transport protocols – and exhibits the lowest CPU load in the industry.
Software
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Line Scan Camera SK12240VKOC-XL Manual (v. 10.2011)
To Set the NIC IP address:
Start > Control Panel > Network Connections.
Right-click Local Area Connection and select Properties.
The Local Area Connection Properties dialog appears.
Select Internet Protocol (TCP/IP) and click Properties. The
Internet Protocol (TCP/IP) Properties dialog appears.
Enable "Use the following IP address" and enter the following settings: IP address: 169.254.35.10 Subnet mask: 255.255.0.0 Default gateway: leave blank
Ensure these do not conflict with an existing IP address on another NIC. For multiple dedicated connections on the same host PC, increment the third IP address by one for each NIC (i.e. 36, 37, etc., subnet 255.255.255.0 - class C).
Click OK to close the Internet Protocol (TCP/IP) Properties dialog.
Click Close to close the Local Area Connection Properties dialog.
Your NIC is now configured for a dedicated connection.
• The GigE Vision camera has an enforced static IP address. The NIC IP address must be part of the same subnet otherwise the camera is not accessible.
An example of a Persistent IP address assigned to a class B network is:
Persistent IP = 169.254.35.10 Subnet Mask = 255.255.0.0 Default Gateway = 0.0.0.0
• Windows Firewall:a) Switch Off the Windows Firewall orb) allowed exception:- Start > Control Panel > Open the Windows Firewall- Select the Exceptions tab- Click Add Program- The Add a Program dialog appears- Select the camera program (e.g. SkGEVTool, or your own program) and click OK- Click OK to close the Windows Firewall dialog
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Step 3: Connect the power supply to the camera.
Step 4: Connect camera and NIC or GigE switch using CAT6 cables.
Step 5: Check the network connection .
Step 6: Start the SkGEVTool (Section 5) or any application program from third party software.
4. Hardware and Software Installation: GigE Setup
GigE Network Integration
Step 1: Install SkGEVTool and eBUS Driver Installation Tool from CD or any third party Gen<i>CamTM-compliant software.
Step 2: If the Gigabit network interface controller (NIC) has an INTEL PRO/1000 chip then install the eBUS Optimal Driver or else install the eBUS Universal Driver. If the third party software provides a filter driver then install this instead of an eBus Driver.
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LAN Connection 4Speed: 1.0 GBit/sStatus: Connected
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Line Scan Camera SK12240VKOC-XL Manual (v. 10.2011)
SkGEVTool uses the Gen<i>CamTM-compliant features to adjust GigE Vision line scan camera parameters such as gain, offset or integration time. The currently set parameters and the camera product information can also be read out. Parameter settings are stored in the non-volatile camera flash memory and are available for subsequent use, even after a complete shut down or loss of power.
To start, click on:
Select / Connect
If no IP or camera details are listed then go to GEV Device Control.
Select Line Scan or Area Scan from the adjacent selection window.
Line scan. The oscillos cope display of the line scan signal, with zoom function, is an important tool for aligning the optical system. Easily accessible controls for the integration time and gain allow the online configuration of the camera.
Area scan. The number of lines for a 2-dimensional area scan is pro-grammed in the "ImageSizeControl" category of the device feature list using the feature "Height".
If the camera is connected, press the "Play" button to start the continuous grabbing.
GEV Device Control
The SK12240VKOC-XL camera should be declared as a GigE Vision device. The Gen<i>CamTM-compliant feature list and camera parameters are listed in categories and can be changed according to requirements. Customizable functions, like Shading Correction, are also available or are directly accessible via "Camera control" and "Gain control" C , D .
5. Scanning with SkGEVTool and GEV Device Control
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* If the SK12240VKOC-XL camera is not listed as a GigE device then check that the IP address is in the same region as the IP of the NIC. Check "Show unreachable GigE Vision Devices" and solve network conflicts by inputting a new IP address for the camera. The "Set IP Address" dialog automatically places the input cursor at the correct place for inputting a valid IP address.
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For an extensive list of GEV device features, see Section 8.
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Line Scan Camera SK12240VKOC-XL Manual (v. 10.2011)
FrameStart
ExtSync
Video
VideoValid
Datatransmission
Timing: Frame Sync + trigger mode "LineStart"
Line Trigger Modes
Free Run: Each line is acquired and the next scan is started automatically on completion of the previous line scan.Line Start: The triggered line is read out at the next line clock. The start and time of exposure are controlled internally by the camera and are not affected by the trigger. The exposure time is programmable and the trigger clock does not affect the exposure time.
Exposure Start: A new exposure is started exactly at the time of triggering. The programmed exposure time is unaffected by the trigger clock.Exposure Active: The exposure time is controlled by the external trigger signal.Sync divider: Divides the external trigger frequency by a programmed integer. Only every n-th line is recorded.
Frame Trigger Mode The Frame Trigger synchronizes the acquisition of 2D area scans. The individual line scans in this area scan can be synchronized either in free run mode or triggered externally.The camera suppresses the data transfer until a falling edge of a TTL signal occurs at ’FrameStart’ input (useful for control by the breaching of a light barrier, for example).
Synchronization
5.1 Camera Control
The "Camera control" button opens a dialog for a more convenient way of controlling the main camera features than simply entering parameters directly using GEV Device Control.
Integration Time: Slider for stepless control of the integration time in the displayed time range, automatically adjusting line frequency. This slider adjusts the time range for slider
Synchronization: The camera supports line trigger and frame trigger modes. The radio buttons control the line trigger mode. The Frame Sync check box activates or deactivates the frame trigger mode.
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5.2 Gain / Offset and Shading Correction
The camera is shipped prealigned with gain and offset factory settings. The SK91GigE-WIN software package includes everything needed for a rapid set-up of the GigE camera, the configuration tool SkGigEconfig, as well as the software development kit (SDK) with DLLs and class libraries for development of application software.
On startup, the RGB sliders register the gain and offset values already stored in the camera. Customized settings for gain or offset can also be programmed using the SkLineScan® software.
A Offset
After blocking all light reaching the line sensor, bring the individual video signals close to zero using the R, G and B offset sliders. The line signal should be just visible in the oscilloscope display.
B Gain
Now fully illuminate the sensor and move the R, G and B gain sliders to provide a slight overexposure for maximum signal clipping (255 for 8-bit, 4095 for 12-bit).
C Shading Correction: White Balance
Shading correction is a procedure used for compensating for the potential sources of variation in the signal, whether caused by lens vignetting or variations in pixel sensitivity or illumination. A reference signal for the shading correction is obtained by taking an image of a plain white surface, so that each individual pixel can be compensated for algorithmically to provide a maximum overall intensity and an idealized flat signal. Alternatively, the R, G and B gain sliders can be used to regulate the signal.
The shading correction reference values can be permanently stored in the designated shading correction memory (SCM) in the camera, for future use, and can be activated or deactivated in the dialog according to demand.
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BR G B
For Control Signals and Timing Diagram, see Section 7.
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6. RGB Sensors: 2D Imaging and Pixel Allocation
Triple line sensors have 3 separate sensor lines for the primary colors red, green, blue and can achieve extremely high optical resolutions. The SK12240VKOC-XL has a luma channel and 3 x 4080 pixel triple line sensors of red, green and blue.
The distance between the sensor lines is 9 times the pixel height, so the inter-sensor distance is 90 µm for a pixel width of 10 µm.
Luma channel
Blue channel
Red channel
Green channel
A two-dimensio nal color image is generated by moving the object or the camera, ensuring that the sensor properties, the travel direction and speed are all accounted for:
object velocity =
pixel width • magnification exposure time
During object travel, an object point reaches the green line sensor first. If the object is transla ted by one pixel height per clock pulse then after 9 lines the red pixels are exposed. After another 9 lines then the blue pixels have been covered and all color information has been acquired.
Triple line sensors require a precise synchronous translation of the object for the correct allocation of pixels A . When these conditions are not met then images with co lor convergence ab er rations are generated B .
Allocation of color information
Signal display - RGB sequentially
Signal display - RGB splitting
RED
BLUE
GREEN
RED
GREEN
BLUE
Monochrome font pattern A line synchronous object transportB asynchronous transport of the object causes
color convergence aberration
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B
The co lor information originating from the different parts of the object is stored in the buffer of the PC and subsequently reallocated correctly.
Line
0 → 9 →
18 →
Pixel line 18
Raw Data
R G B R G B R G B
R G B R G B R G B
R G B R G B R G B
0 1 2 ...
R G B R G B R G B ...
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Line Scan Camera SK12240VKOC-XL Manual (v. 10.2011)
7. Control Signals and Timing Diagram
Input Control Signals
The control signals needed to run the CCD line scan camera are 'Clock' (MCLK) and 'Start Of Scan' (SOS). The clock signal is generated internally by a 60 MHz oscillator, which can be reduced to 30 MHz using a frequency divider. The clock signal can also be supplied from an external source if required.Because these signals are used to trigger the camera, they should be of the highest quality.
The frequency of the 'SOS' signal determines the number of lines that are read per second. On the rising edge of this signal, the accumulated charges in the sensor pixels of the analog shift register are read out with each beat of the clock signal.
Thus, the frequency of the clock signal determines the speed at which the charges of the individual pixels of the line sensor appear in the camera video output. At each positive edge, the accumulated charges of the subsequent pixels are released as video output.
The 'Clock' and 'SOS' signals do not have be synchronized. However, the clock frequency should be sufficiently slow to allow two successive 'SOS' signals to be read out from the line camera. The SK12240VKOC-XL camera requires 12448 clock pulses for a line scan to be read out completely. Larger numbers of clock pulse can be used without restriction.
Input
Internal Clock or CLK_IN MCLKCC3
SOSCC1
CLT *intern
CCLKSTROBE
LVAL
D[0-11]
Videointern
Output
ca. 40 ns 172 Clock Pulses 12240 Clock Pulses 36 Clock Pulses min
15 ns
R1 B1G1 RN GN BN
R1 G1 B1 R2 G2 BN
CLT = Camera Line Transfer (internal line camera signal). The black value signal is 4 to 36 pixels prior to pixel no.1.
i = isolation pixels, o = overclocking R = red, G = green, B = blue, N = 4080
*
MCLK: Master Clock in: determines the frequency of pixel transfer, maximally 60 MHz.
SOS: Start Of Scan: minimum pulse length of 30 ns.
The frequency of the SOS signal is directly controlled by the line frequency of the camera. The rising edge of the 'SOS' signal is the start of the signal accumulation process. The accumulated charges within the sensor are transferred to the analog transport registers in parallel with the sensor line information.
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Line Scan Camera SK12240VKOC-XL Manual (v. 10.2011)
8. GEV Device Feature List (Gen<i>CamTM compliant, see Section 5)
ImageSizeControl
SensorWidth: number of pixels in line sensor (fixed)SensorHeight: 1 (fixed)
Width: image width = SensorWidth (fixed)Height: image height (number of lines per image) 1 (fixed) for Line Scan mode 2 - 32000 for Area Scan mode Grab Must be stopped before
changing Height feature
PixelFormat: Mono8 = gray scale 8-bit Mono10 = gray scale 10-bit Mono12 = gray scale 12-bit
PixelSize: bits per pixel, depends on PixelFormat Mono8: PixelSize= Bpp8 = 8-bit Mono10: PixelSize= Bpp16 = 16-bit Mono12: PixelSize= Bpp16 = 16-bit
AcquisitionAndTriggerControls
AcquisitionMode: Continuous: repeating acquisition SingleFrame: one snapshot
AcquisitionLineRateAbs: line rate in Hz minimum: 50 Hz maximum: 7142 Hz
ExposureTimeRaw: exposure time in µs, 10 ... 16383 (master feature of exposure control)
ExposureTimeAbs: exposure time in ms, 0.01 ... 16.383
Trigger Selector: for trigger lines (LineSync) FreeRun: each line is acquired, no trigger LineStart: external trigger, reading in next line ExposureStart: external trigger and restart exposure ExposureActive: exposure time is determined by the
external trigger period FrameTrigger: for trigger images see CustomFeatures Timing diagrams: see Sections 6.1 and 8
TriggerDivider: incoming trigger clock divider (integer)
AnalogControls (Gain / Offset)
GainSelector: Tap1: gain control for tap 1 Tap2: gain control for tap 2 All: gain control for both taps
BlackLevelSelector: Tap1: offset control for tap 1 Tap2: offset control for tap 2 All: offset control for both taps
GainRaw: selected gain is controllable range: 0 ... 1023 (integer) (master feature of gain control)
GainAbs: gain control in dB range: 0 ... 24.0 (float)
BlackLevelRaw: selected offset is controllable range: 0 ... 255 (integer)
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Line Scan Camera SK12240VKOC-XL Manual (v. 10.2011)
CustomFeatures (Beginner)
SkGetPixFrequencyHigh: returns the high pixel frequency in kHz
SkGetPixFrequencyLow: returns the low pixel frequency in kHz
SkSetPixelFrequency: sets the pixel frequency in kHz (low or high) with reciprocal effect on line frequency.
For lower line frequencies, a low value for pixel frequency is recommended.
SkSetShadingCorrection: ON: activates Shading Correction OFF: deactivates Shading Correction see Guru visibility and Section 6.2
SkGetMaxLineFrequency: returns the maximum line rate in Hz
SkGetMinExposureTime: returns the minimum exposure time in microseconds
SkFrameTrigger: selects "Frame Sync" for external trigger of images
True: Frame Trigger is active FALSE: Frame Trigger is off The Frame Trigger works with all Line
Trigger modes (see Trigger Selector p.10)
SkGetVideoChannels: returns the number of taps for gain /offset control
SkGetSerialNumber: returns the serial number of the camera
SkGetRevisionNumber: returns the revision number for the camera
CustomFeatures (Guru)
SkShadCorrReference: a single line scan is acquired using a white background and saved in the Shading Correction Memory (SCM).
For each pixel, a correction factor is calculated for adjusting the intensity to the maximum (255 at Mono8). When Shading Correction is active then all of following scans are normalized using this factor.
SkSaveScmToFlash: writes the Shading Correction Memory factors into the non-volatile flash memory of the camera, allowing use of the SCM even after a complete shut down or loss of power.
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Line Scan Camera SK12240VKOC-XL Manual (v. 10.2011)
The supplied config program SkGigEconfig can be used to modify the gain, offset or pixel frequency settings using the sliders or by sending camera control commands directly.
Current gain, offset, pixel frequency or specific product information can also be read from the camera using the get serial commands.
Examples of serial commands are listed in the Set (left) and Get (right) tables, respectively.
9. SkGigEconfig and Serial Commands
CommandReturned
String Value Returned Description Valid for models
K<CR>
SK7500GTOSK2048GSDSK6288GKOC SK4096GPD
Type number (SK-number)
Example for GTOExample for GSDExample for GKOCExample for GPD
R<CR> Rev1.50 Revision number All models
S<CR> SNr00163 Serial number All models
I<CR>
SK6288GKOCRev1.50SNr00163
Camera Identification read-out (listed values)
All modelsExample for GKOC
I1<CR> VCC:00501 Operational voltage VCC
All models
I2<CR> VDD:01523 Operational voltage VDD
All models
I3<CR> moo:00004 mode (eg. 2 = 12 Bit or 4 = HighClock)
All models
I4<CR> CLo:00025 Camera Clock Low Frequency
All models
I5<CR> CHi:00050 Camera Clock High Frequency
All models
I6<CR>
Ga1:xxxx
Gain 1
GTO: Even gainGSD: Single gainGKOC: Gain 1 (red)GPD: Even gain
I7<CR>
Ga2:xxxx
Gain 2
GTO: Odd gainGSD: Not validGKOC: Gain 2 (green)GPD: Odd gain
I8<CR>
Of1:yyy
Offset 1
GTO: Even offsetGSD: Single offsetGKOC: Offset 1 (red)GPD: Even offset
I9<CR>
Of2:yyy
Offset 2
GTO: Odd offsetGSD: Not validGKOC: Offset 2 (green)GPD: Odd offset
I10<CR>
Ga3:xxxx
Gain 3
GTO: Not validGSD: Not validGKOC: Gain 3 (blue)GPD: Not valid
I11<CR>
Ga4:xxxx Gain 4 (future use)
Only for GKOC
I12<CR>
Of3:yyy
Offset 3
GTO: Not validGSD: Not validGKOC: Offset 3 (blue)GPD: Not valid
I13<CR>
Of4:yyy Offset 4 (future use) Only for GKOC
I14<CR> THL:yyy Threshold level Valid for GSD and GPD
Valid values: xxxx = 0000→1023, yyy = 000→255
Command Returned Description Specific model details
Gxxxx<CR>
Gain setting from 0 to 24 dB
GTO: Single or even gainGSD: Single gainGKOC: Gain 1 (red)GPD: Single or even gain
Bxxxx<CR>
Gain setting from 0 to 24 dB
GTO: Odd gainGSD: Not validGKOC: Gain 2 (green)GPD: Odd gain
Hxxxx<CR>
Gain setting from 0 to 24 dB
GTO: Not validGSD: Not validGKOC: Gain 3 (blue)GPD: Not valid
Oyyy<CR>
Offset setting
GTO: Single or even offsetGSD: Single offsetGKOC: Offset 1 (red)GPD: Single or even offset
Pyyy<CR>
Offset setting
GTO: Odd offsetGSD: Not validGKOC: Offset 2 (green)GPD: Odd offset
Qyyy<CR>
Offset setting
GTO: Not validGSD: Not validGKOC: Offset 3 (blue) GPD: Not valid
F1<CR> Output Format: transitions 16 bit Valid for GPD and GSD
F8<CR> Output Format: 8 bit gray-scaled Valid for all types
F10<CR> Output Format: 10 bit gray-scaled Valid for all types
F12<CR> Output Format: 12 bit gray-scaled Valid for all types
F16<CR> Output Format: 2 x 8 bit gray-scaled (optional)
Valid only for GKOC
C20<CR> Camera Clock: 20 MHz data rate Valid for GTO and GSD
C25<CR> Camera Clock: 25 MHz data rate Valid for GKOC
C30 <CR> Camera Clock: 30 MHz data rate Valid for GSD and GPD
C40<CR> Camera Clock: 40 MHz data rate Valid for GTO
C50<CR> Camera Clock: 50 MHz data rate Valid for GKOC
C60<CR> Camera Clock: 60 MHz data rate Valid for GPD
CC3<CR>
Camera Clock External by CC3-input (optional)
GTO: max 40MHzGSD: max 30MHzGKOC: max 50MHzGPD: max 60MHz
T0<CR> Test pattern off / SCM off Valid for all types
T1<CR> Test pattern ON, turns off with power off
Valid for all types
T2<CR> Shading Correction ON Valid for GSD and GPD
T3<CR> Auto program Shading Correction / SCM ON
Valid for GSD and GPD
Lyyy<CR> Set threshold level Valid for GSD and GPD
M1<CR> Trigger Mode: External CC1-input Valid for all types
M2<CR> Free Run with max. line rate Valid for all types
M3<CR> External Trigger and Integration CC1-input, optional
Not for GTO
M4<CR> Extern Trigger CC1, Integration CC2-input, optional
Not for GTO
Azzzz<CR> SCM address
Dzzzz<CR> SCM data incl. SCM address
Valid values: xxxx = 0000→1023, yyy = 000→255, zzzz = 0000→4095
All commands return with 0 = successful or 1 = not successful
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Line Scan Camera SK12240VKOC-XL Manual (v. 10.2011)
10. Sensor Performance Specifications
Manufacturer: Eastman Kodak Company®
Type: KLI-4104
Data source: Kodak® KLI-4104 Image Sensor, Device Performance Specification, Rev. 7.0, 1/6/2009
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Line Scan Camera SK12240VKOC-XL Manual (v. 10.2011)
Architecture
Typical Responsivity
Defect Definitions
1 Dark offset error 2, 3 Bright-field defects; bright (2) or dark (3) 4, 5 Exposure control mode defects, fast (4) or slow (5) pixels
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Imaging Performance Specifications - Luma Channels
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Line Scan Camera SK12240VKOC-XL Manual (v. 10.2011)
A charge-coupled device is a linear array designed for moving discrete electrical charges from one element of the array to the next by successively applying a voltage to each element in turn. The discrete charge packets emanating from the end of the linear array are converted into a voltage and digitized for further transmission.
A line scan signal is produced by moving the object to be imaged in a trajectory perpendicular to the camera sensor. By synchronizng data acquisition, high frequencies and resolutions are achieved.
The choice of line scan camera is primarily determined by the customer application requirements, which influence sensor length, pixel number and line scan frequency – see Imaging Definitions, below.
Our considerable experience in line scan camera design and software production allows us to get the best possible imaging performance within the constraints of the technology. Potential problems are simply designed out – or an intrinsic constraint is tuned away – according to circumstance.
For example, illumination over-exposure of the sensor causes blooming and signal blur or loss, from charge leakage across pixels. Blooming can be either designed out (anti-blooming) or cut by reducing the integration time or lens aperture.
Similarly, gain and offset tuning can increase signal-to-noise ratios, while shading correction negates any problems of pixel variability, lens vignetting or inhomogeneous illumination, whether initially present or not.
Other custom features can be chosen, such as specialized or filtered illumination, choice of color or monochrome line sensors as well as type of interface, with either GigE VisionTM, Gigabit Ethernet, LVDS, CameraLink® or USB 2.0 interfaces available for data output.
The oscilloscope display facility of the supplied software is responsive in real-time, and the zoom function can be used to highlight an area of interest. The oscilloscope display is ideally suited for parameterizing the camera, for evaluating object illumination, for focussing the image or for aligning the line scan camera correctly – see Section 11.2 Alignments and Adjustments.
A line scan camera 2D area scan can easily be performed by simply specifying the number of line scans to be integrated.
• Exposure Period and Integration Time
The illumination cycle of a line scan sensor, of a particular length and number of pixels, for a set period of time is designated the exposure period.
Within a single exposure period, the integration time is the duration designated for signal accumulation of charges by the sensor.
In continuous mode, the next exposure cycle is simply begun at the time of read-out of the previous exposure and, so, the durations of exposure period and integration time are identical. Cameras with integration control are capable of curtailing the integration time within an exposure period (emulating a shutter mechanism).
• Pixel and Line Scan Frequencies
The pixel frequency for an individual sensor is the rate of charge transfer from pixel to pixel and its ultimate conversion into a signal. The minimum exposure period of a sensor is the minimum time required for the read-out of a whole line scan and is dependent on the maximum pixel frequency and the number of pixels (plus a sensor-dependent overhead of passive pixels).
The line scan frequency is inversely proportional to exposure period. During the time the charges from a finished line scan are read out, the next line scan is being exposed. Thus, the minimum exposure period determines the maximum line scan frequency.
• Optical Resolution
The optical resolution of a line scan camera is determined primarily by the number of pixels in the linear sensor and secondarily by their size and spacing, the inter-pixel distance.
Currently available line scan cameras have up to 12 000 pixels, ranging from 4 to 14 µm in size and spacing, for sensors up to 56 mm in length and line scan frequencies up to 83 kHz.
During a scanning run, the effective resolution perpendicular to the line scan camera is determined by the velocity of the scan and by the line scan frequency, i.e. the number of line scans per second.
Imaging Definitions
11. Line Scan Camera Fundamentals
11.1 Features and Characteristics
Pixel 1CCD Sensor
Objectstructure
GigESK7500GTO
Line scan cameras from Schäfter+Kirchhoff are supplied factory-preset for the particular application, with optional accessories and appropriate software – for parameterization of the camera or for optimizing signal acquisition. The advantages and constraints of the technology are described below and some essential aspects of sensor alignment, lens focussing and signal optimization are presented.
• Region of Interest
A freely programmable window (region of interest, ROI) can be applied to the line sensor so that only the pixel information within the ROI can reach the memory. By only illuminating these ranges, data volume and data processing is accelerated for both line and area scan acquisitions. Constraint: the ROI memory allocation must be divisible by 8.
Data Reduction and Acquisition Acceleration
• Thresholding (B/W cameras only)
The thresholding process generates a binary signal from the gray scale data, with values below the threshold yielding 0 and those above yielding 1. Only the pixel addresses of the location and threshold transition (from high→low or low→high) are transmitted, reducing data throughput.Thresholding is particularly appropriate for measuring widths or edge positions, by simply masking the required pixel addresses.
GigESK7500GTF-XB
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Line Scan Camera SK12240VKOC-XL Manual (v. 10.2011)
Integration Time and Aperture Optimization
The line scan signal is optimum when the signal from the brightest region of the object corresponds to 95% of the maximum gain. Full use of the digitalization depth (255 at 8-bit, 4096 at 12-bit) provides an optimum signal sensitivity and avoids over-exposure (and blooming). The range of intensity distribution of the line scan signal is affected by the illumination intensity, the aperture setting and the camera integration time. Conversely, the aperture setting influences the depth of field as well as the overall quality of the image and the perceived illumination intensity.
A A camera signal exhibiting insufficient gain: the integration time is too short as only about 50% of the B/W gray scale is used.
B Optimized gain of the camera signal after increasing the integration time, by a factor of 4, to 95% of the available scale.
B
A
Gain / Offset and Shading Correction
white balance or flat-field compensation are all related techniques that automatically compensate for any variation in pixels, lens vignetting or inhomogeneity in the illumination, etc, whether initially present or not. All lenses show some vignetting as a function of the field angle (collectively, the relationship between sensor and focal lengths and magnification). Hence, even with homogeneous object illumination, the image signal intensity decreases with increasing image height.
A reference signal for shading correction, for example, is obtained by taking an image of a diffuse white surface, followed by algorithmic compensation of each pixel to provide a maximum overall intensity. Many alternative solutions are available, such as using the R, G and B gain sliders directly to superimpose the individual channels. Corrected parameter settings can be stored within the non-volatile memory of the camera and are retained for subsequent use even after a complete shutdown.
A
B
C
Cameras are shipped prealigned with gain and offset factory settings, although they can be customized using the SkLineScan software.
A Offset. After blocking all light reaching the line sensor, the video signals are adjusted to zero using the offset sliders. The line signal should be just visible at the bottom of the oscilloscope display. B Gain. The sensor is fully illuminated and the gain sliders adjusted to provide a close to maximum signal intensity (255 for 8-bit or 4095 for 12-bit) and superimposed signals for each camera or RGB channel.
C Shading Correction. Shading correction,
Lens Focussing
The oscilloscope display can also be used to focus a line scan camera system by using the variations in edge steepness at dark/bright transitions – observed as modulations in the zoomed line scan signal. Initial focussing is performed with a fully opened aperture (smallest depth of field and largest sensitivity to focus adjustment). The in-tegration time can also be reduced to provide a sufficiently sensitive, low amplitude signal.
A Out of focus: edges are indistinct, signal peaks blurred with low density modulation
B Optimal focus: dark-bright transitions have sharp edges, highly modulated signal peaks with high frequency density variations
BA
11.2 Alignments and Adjustments
Sensor Alignment
For linear illumination sources, rotating the line sensor results in asymmetric vignetting. The camera and illumination optics can be aligned optimally by monitoring the object illumination using the oscilloscope display. Sensor and optics rotated in apposition A and aligned B .
A B
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Line Scan Camera SK12240VKOC-XL Manual (v. 10.2011)
12. Dimensions
Casing group: BG1
* Camera flange length
* Camera flange length
Line scan cameras with GigE VisionTM interface
5
Ø2.7 DB (8x)/Ø5x7
7
Lens
moun
t
M72
x0.7
5
Pixel1
M3 (4x)depth 6.5 mm
65
65
2.56
4 23.5
17.5*
58
41
.7
Ø65
Ø47
.5
11.1C-Mount
50/M
3/4x
90°
49
75/M4
60/Ø6.5
84
75/M4
34/M
4/4x
90°
68x4
646
x68
M72
x0.7
5
12
8*
71
Lens thread: C-Mount
Camera types:
B/W:SK512VDPSK512VSPSK1024VDPSK1024VSD
Casing group: BG3
65
73
2.56
4 25.1
19.5*
Ø65
Ø47
.5
50/M
3/4x
90°
12.7
Pixel 1
M3 (4x)depth 6.5 mm
65
M45x0.75
58
41
.7
* Camera flange length
Casing group: CG5
* Camera flange length
Lens thread: M45x0.75
Camera types:
B/W:SK2048VSD-LSK2048VPD-LSK2048VJR-LSK4096VPD-LSK5150VJR-LSK8160VKO-LB
Color:SK6288VKOC-LSK12240VKOC-LB
TDI:SK1024VTDI-LSK2048VTDI-L
Lens thread: M72x0.75
Camera types:
B/W:SK7500VTO-XL
Color:SK12240VKOC-XL
TDI:SK4096VTDI-XL
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Line Scan Camera SK12240VKOC-XL Manual (v. 10.2011)
Lenses:• high resolution enlarging and macro lenses • high speed photo lenses• lenses with additional locking bridge for locking of
focus and aperture setting
Adapter:Lens adapter AOC-...• for fitting photo lenses onto the CCD line scan
cameraFocus adapter FA22-...• for fitting enlarging or macro lenses
Mounting bracket SK5105-G Order CodeWarp-resistant construction for the mounting of the CCD line scan camera
Clamp set SK5101 Order Code to lock the CCD line scan camera in desired position
CAT6 network cable Shielded CAT6 patch cable, halogen-free, both ends with RJ45 connectors for Gigabit Ethernet
CAT6.3 Order Code 3 = 3 m cable length 5 = 5 m (standard) x = length of choice (up to 100 m)
Cable for external synchro nization BNC coaxial cable with Hirose connector HR10A, female 12-pin
SK9024.3 Order Code 3 = 3 m cable length 5 = 5 m (standard) x = length of choice
Power supply cable SK9015... Shielded cable with male 6-pin Lumberg SV60 and female 6-pin Hirose HR10A connectors
SK9015.1.5-MF Order Code MF = connector (male/female) 0.2 = 0.2 m cable length 1.5 = 1.5 m (standard)
Power Supply: PS051515 Order CodeInput: 100–240 V AC, 50/60 Hz, 0.8 A 3-pin input connection (IEC 320)Output: 5 V DC/2.5 A 15 V DC/0.5 A, -15 V DC/0.3 A output connector: Lumberg KV60, female 6-pin, length 1 m
Software: SK91GigE-WIN * Order CodeSK91GigE-LV **SkLineScan operating program for camera control.SDK with examples, DLLs and C++ class library.
* Windows 7 (32/64 bit) / Vista (32/64) / XP / 2000 ** LabVIEW VI library
EC Declaration of Conformity
This product satisfies the requirements of the EC directive 89/336/EEG as well as DIN EN 61326.
This manual has been prepared and reviewed as carefully as possible but no warranty is given or implied for any errors of fact or in interpretation that may arise. If an error is suspected then the reader is kindly requested to inform us for appropriate action.
The circuits, descriptions and tables may be subject to and are not meant to infringe upon the rights of a third party and are provided for informational purposes only.
The technical descriptions are general in nature and apply only to an assembly group. A particular feature set, as well as its suitability for a particular purpose, is not guaranteed.
The warranty period for the CCD line scan camera when used for the purpose for which it was intended is 24 months.
The warranty is immediately void on inappropriate modification, use or damage.
13. Warranty 14. Accessories
Kieler Str. 212, 22525 Hamburg, Germany • Tel: +49 40 85 39 97-0 • Fax: +49 40 85 39 97-79 • [email protected] • www.SuKHamburg.de
SK
1224
0VK
OC
-XL
Line Scan Camera SK12240VKOC-XL Manual (v. 10.2011)