Transcript
Line Scan Camera SK4096VTDI-XL Manual (v. 11.2014)
Line Scan Camera SK4096VTDI-XL Camera Sensor
CCD, 96-stage TDI
Type
CCD5045
Pixel number
4096 x96
Pixel size
13 µm
Active length
53.2 mm
Anti-Blooming
yes
Integration Control
no
Shading Correction
yes
Window Function (ROI)
yes
Pixel frequency fP
100 MHz
Line frequency max
22.3 kHz
Line frequency min
0.05 kHz
Integration time max
0.044 ms
Integration time min
20 ms
Dynamic range
1:2500 (rms)
Spectral range
400 – 1000 nm
Interface
GigE VisionTM
Voltage
+5 V, +15 V 5 Watt 7 Watt
1
Lens
Object
1 2
M72 x 0.75 0.3 kg
Working temperature
1
CCD line scan camera
2 3 4
Focus adapter FA26-S45
CG5 (84 x 84 x 61 mm)
Weight
3 4
= 5V * 600mA + 15V * 125mA = 5V * 650mA + 15V * 250mA
Objective mount
1)
TDI-Sensor
digital 8-bit / 12-bit 1)
Video signal
Casing (W x H x D)
charge transfer
13 µm x 13 µm
Line spacing
Power consumption at fP = 30 MHz: at fP = 100 MHz:
Multiple exposure of a moving object
SK4096VTDI-XL
intensity
4096 pixels, 13 µm x 13 µm, 100 MHz pixel frequency
+5°C to +45°C
SK4096VTDI-XL mounted with Extension rings Macro lens APO-Rodagon D1x4.0/75
12-bit only with pixel frequency set to 30 MHz or 60 MHz.
Contents Section
SK4096VTDI-XL
1. 2. 3. 4. 5. 5.1 5.2 5.3 5.4 5.5
Page Section
Gigabit Ethernet Interface 2 Connections and I/O Signals 3 Hardware and Software Requirements 4 Hardware and Software Installation: GigE Setup 5 Scanning with SkGEVTool and GEV Device Control 6 Camera Control 7 Gain and Offset Controls 7 Shading Correction 8 Generating an Image – Scanning a Surface 9 Image Generation using TDI Technology 10
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6. Serial Commands 7. GEV Device Feature List 8. Sensor Performance Specifications 9. Dimensions 10. Line Scan Camera Fundamentals 10.1 Features and Characteristics 10.2 Alignments and Adjustments 11. Warranty 12. Accessories
11 12 14 17 18 18 19 20 20
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 18.
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
Line Scan Camera SK4096VTDI-XL Manual (v. 11.2014)
1. Gigabit Ethernet Interface Line scan cameras of the V series use the Gigabit Ethernet communication protocol and are 100% compliant with the GigE VisionTM specification and the Gen
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 implement a superset of the GenCam™ specification which defines the device capabilities. This XML device description file employs the syntax defined by the GenApi module of the GenCamTM specification.
1
The GenCamTM 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 GenCamTM 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
3
Application: Parallel acquisition using a GigE switch
4 PC or Notebook with GigE
4
1 2
5
1 CCD line scan camera 4 Software GenCam 2 Power supply 3 Illumination
or the GenCamTM standard: http://www.emva.org/cms/index.php?idcat=27&lang=1
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2
GigE interface for transmission of video and control data over distances up to 100 m
2
-compliant, eBus driver
5 GigE switch
Line Scan Camera SK4096VTDI-XL Manual (v. 11.2014)
2. Connections and I/O Signals
2 5
6 7
12
4 11
10
8 9
4
3
6
1
5
3 2
2
Power +5 V, 700 mA +15 V, 50 mA Hirose series 10A, male 6-pin Pin 1 2 3
1
2
Signal +15 V +15 V +5 V
Pin 4 5 6
Signal +5 V GND GND
1 3 I/O Connector Hirose series 10A, male 12-pin
3 5
6 7
12 10
8 9
Camera back view
2
3
4
4 11
3 2
1
1 Data
RJ45 connector for a Gigabit Ethernet cable
Pin 6 1 8 10 6
2 1
TTL_In Specification Max. input frequency Input voltage, absolute max. range
1
Input voltage max. low Input voltage min. high Input current
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3
5
3
Signal GND FrameSync IN LineSync A IN LineSync B IN
Value 16.5 MHz min -0.5 V max 7.0 V 0.99 V 2.31 V 10 µA
Line Scan Camera SK4096VTDI-XL Manual (v. 11.2014)
3. Hardware and Software Requirements Hardware 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
To optimize the Network Adapter, open the Device Manager and go to Advanced Properties of the Adapter
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.
Recommended optimization values: • Receive Descriptors/Empfangsdescriptors = 2048 • Interrupt Moderation Rate/Interrupt-Drosselungsrate=extreme • Jumbo Frames = 9014 Byte
Software The line scan cameras of the V series work with any software that is GenCamTM 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.
eBUS Driver Installation Tool – allows choice of the best driver according to needs.
If no special software is available then the recommended software is the eBUS PureGEV Package 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.
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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.
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Line Scan Camera SK4096VTDI-XL Manual (v. 11.2014)
4. Hardware and Software Installation: GigE Setup Step 1: Install SkGEVTool and eBUS Driver Installation Tool from CD or any third party GenCamTM-compliant software.
Step 3: Connect the power supply to the camera. Step 4: Connect camera and NIC or GigE switch using CAT6 cables.
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.
Step 5: Check the network connection A . Step 6: Start the SkGEVTool (Section 8) or any application program from third party software.
GigE Network Integration • 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 B network is: Persistent IP = Subnet Mask = Default Gateway =
IP address assigned to a class
A
169.254.35.10 255.255.0.0 0.0.0.0
• Windows Firewall: a) Switch Off the Windows Firewall or b) 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
B
To Set the NIC IP address: Start > Control Panel > Network Connections. A Right-click Local Area Connection and select Properties. The Local Area Connection Properties dialog appears. B Select Internet Protocol (TCP/IP) and click Properties. The Internet Protocol (TCP/IP) Properties dialog appears. C 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
C
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.
LAN Connection 4 Speed: 1.0 GBit/s Status: Connected
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Line Scan Camera SK4096VTDI-XL Manual (v. 11.2014)
5. Scanning with SkGEVTool and GEV Device Control SkGEVTool uses the GenCamTMcompliant features to adjust GigE Vision line scan c amera 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.
A 1
To start, click on: A
Select / Connect
If no IP or camera details are listed then go to B GEV Device Control. Select Line Scan or Area Scan from the adjacent selection window. 1 Line scan. The oscilloscope 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 a llow the online configuration of the camera.
B C D
A 2
2 Area scan. The number of lines for a 2-dimensional area scan is programmed 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. B
GEV Device Control
The SK4096VTDI-XL camera should be declared as a GigE Vision device. The GenCamTM-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 .
B C D
* If the SK4096VTDI-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.
For an extensive list of GEV device features, see Section 8. Page
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Line Scan Camera SK4096VTDI-XL Manual (v. 11.2014)
5.1 Camera Control
5.2 Gain and Offset Controls The gain/offset dialog contains up to 4 sliders for altering gain and offset. The number of active sliders depends on the individual number of adjustable gain/offset channels of the camera.
2
1
3
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.
Changes to gain and offset settings are immediately visible in the oscilloscope display of the line scan signal.
Integration Time: 1 Slider for stepless control of the integration time in the displayed time range, automatically adjusting line frequency. 2 This slider adjusts the time range for slider 1
Adjustment principle 1. Offset The zero baselines of the video signal A and B must be adjusted and balanced. To do this, totally block the incident light and enter "00" (volts) in boxes A and B. Minimize any differences using the Offset sliders "A" and "B". A slight signal noise should be visible in the zero baseline.
Synchronization: 3 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.
2. Gain Illuminate the sensor with a slight overexposure to identify the maximum clipping. Use the gain slider "A" to adjust the maximum output voltage. Adjust the signal intensity with slider "B" to minimize the difference between channels A and B. For the full 8-bit resolution of the camera, the maximum output voltage is set to "255" digital.
Synchronization 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 e xposure 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 (for cameras with integration control): 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).
Adjust zero level and minimize A / B difference using Offset slider
Adjust gain and minimize A / B difference using Gain slider
Camera Control by Serial Commands A set of serial commands allows the direct programming of the camera and the retrieval of camera data and parameters (see Section 7 for full list). The serial commands dialog window is opened using the button "Serial" in the GigE Camera Control dialog (see Section 5.1).
Timing: Frame Sync + trigger mode "LineStart" FrameStart ExtSync Video
SK4096VTDI-XL
VideoValid Data transmission
A full list of the serial commands is provided in Section 7. Page
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Line Scan Camera SK4096VTDI-XL Manual (v. 11.2014)
5.3 Shading Correction Shading Correction (or flat-field compensation) is used to compensate for non-uniform illumination of the line sensor as well as for lens vignetting. Before Shading Correction can be used, a reference signal from a homogeneous white calibration target is acquired. This reference signal is used by the Shading Correction algorithm to calculate an individual amplification factor for each pixel, scaling each value to the signal maximum (e.g. 4095 for a bit depth of 12) and producing a corrected flat maximum signal. This acquired Shading Correction reference signal is stored in the Shading Correction Memory (SCM) within the camera. Whenever Shading Correction is active then each acquired line scan will be corrected by the SCM contents. The SCM can be stored permanently within the camera by writing it into the non-volatile flash memory before powering the camera off.
A
B
Shading correction with SkGEVTool In GEV Device Control, the following custom features can be used for Shading Correction: SkShadCorrReference: for acquisition of reference signal SkSaveScmToFlash: for writing the SCM values into flash SkSetShadingCorrection: ON = Shading Correction is active OFF= deactivated
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A The signal from a monochrome CCD line scan camera using a homogeneous white calibration target with signal reduction caused by either lens vignetting or inhomogeneous object illumination. B CCD line scan camera signal after s hading correction. On startup, the camera resorts to the shading correction status last used. If previously activated then shading correction will be used for adjusting the signal. If previously deactivated then a raw line signal is produced without any shading correction.
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Line Scan Camera SK4096VTDI-XL Manual (v. 11.2014)
5.4 Generating an Image – Scanning a Surface • •
• •
A two-dimensional image is generated by moving either the object or the camera. The direction of the translation movement must be orthogonal to the sensor axis of the CCD line scan camera. To obtain a proportional image with the correct aspect ratio, a line synchronous transport with the laterally correct pixel assignment is required. The line frequency and the constant object velocity have to be adapted to each other. The TDI technology requires most accurate synchronization between object velocity and scan velocity. Asynchronous exposure will result in aberration. The scan direction is specified by the illustration below. Various trigger modes as described below are implemented in the camera. Commonly TDI cameras are operated in Free Run / SK Mode 0.
The optimum object scan velocity is calculated from:
S
WP · VO = ß Pixel #1, Line 96
CCD Sensor
If the velocity of the object carrier is not adjustable then the line frequency of the camera must be adjusted to provide an image with the correct aspect ratio, where:
Pixel #1, Line 1
VO · fL = WP
Pixel #1, Line 1 V0
Pixel #1, Line 96
fL
ß
VO = object scan velocity WP = pixel width fL = line frequency S = sensor length FOV = field of view ß = magnification = S / FOV
Scan Object
FOV
WP / ß
Example 1:
Calculating the object scan velocity for a given field of view and line frequency: Pixel width = 13 µm Line frequency = 13.9 kHz S = 53.2 mm FOV = 80 mm
13 µm · 13.9 kHz VO = (53.2 mm / 80 mm) = 272 mm/s
Example 2:
Calculating the line frequency for a given field of view and object scan velocity: Pixel width = 13 µm Object scan velocity = 200 mm/s S = 53.2 mm FOV = 80 mm
200 mm/s · (53.2 mm / 80 mm) fL = 13 µm = 10.2 kHz
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Line Scan Camera SK4096VTDI-XL Manual (v. 11.2014)
5.5 Image Generation using TDI Technology The principle of TDI technology is based on the time-delayed multiple exposure of a moving object. The sensor is composed of 96 line sensors arranged in parallel. At the end of one period of exposure, the accumulated charges in that line sensor are shifted to the next line (see right). During the next exposure pe riod, new charges are acquired, added to the already existing charges and the new sum is again shifted to the next line. Finally, after 96 exposures, the sum of all lines is output as a video signal.
intensity
Multiple exposure of a moving object
charge transfer
Synchronous transport of a scanned object across the field of the camera actually produces a 96-fold multiple exposure. For each exposure period, the object has moved far enough that the next sensor line is not only ready for exposure but also already filled with the accumulated charges from the previous sensor line(s).
TDI-Sensor
The SK4096VTDI-XL TDI camera has a maximum line frequency of 22.3 kHz and a programmable range for the illumination period from 0.044 ms to 20.0 ms. Valid settings of the minimum illumination period or the maximum line frequency require a minimum value between two SOS signals of at least N = 4096 pixel clocks, plus a sensor-dependent passive number of pixel clocks, NP = 134.
Lens
Thus, the sensor requires 4096 + 134 = 4230 clock pulses to read out a line scan completely. The read-out velocity is determined by the pixel frequency (MCLK). The illumination period (exposure time) tE of the camera is calculated as follows:
tE =
Object
( N + NP )
fp A sharp image of the scanned object can only be achieved when there is perfect synchrony between the transport speed, the exposure time and the magnification. The optimal transport speed is calculated from the formula:
producing a line frequency of: fL = 1 / tE
Example:
SK4096VTDI-XL 50 MHz pixel frequency, 2*8-bit (double tap) tE = (4096 + 134) / (2 * 50 MHz) tE = 0.045 ms fL = (2 * 50 MHz) / (4096 + 134) fL = 22.30 kHz
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Line Scan Camera SK4096VTDI-XL Manual (v. 11.2014)
6. Serial Commands To set camera parameters: Command Feedback
Description
Gxxxx
0= ok, 1= not ok
gain setting channel A from 0 to 24 dB (xxxx = 0-1023)
Bxxxx
0= ok, 1= not ok
gain setting channel B from 0 to 24 dB (xxxx = 0-1023)
Hxxxx
0= ok, 1= not ok
gain setting channel C from 0 to 24 dB (xxxx = 0-1023)
Jxxxx
0= ok, 1= not ok
gain setting channel D from 0 to 24 dB (xxxx = 0-1023)
Oxxx
0= ok, 1= not ok
offset setting channel A (xxx = 0-255)
Pxxx
0= ok, 1= not ok
offset setting channel B (xxx = 0-255)
Qxxx
0= ok, 1= not ok
offset setting channel C (xxx = 0-255)
Uxxx
0= ok, 1= not ok
offset setting channel D (xxx = 0-255)
SK4096VTDI-XL
A set of serial commands allows the direct programming of the camera and the retrieval of camera data and parameters. The serial commands dialog window is opened using the button "Serial" in the GigE Camera Control dialog (see Section 5.1).
To read data from camera: Command
Feedback
Description
K
SK4096VTDT-XL
returns SK type number
R
Rev2.35
returns revision number
S
SNr00163
returns serial number
I
SK4096VTDI-XL Rev2.12 SNr00163
camera identification
F8
0= ok, 1= not ok
output format: 8-bit video data
F10
0= ok, 1= not ok
output format: 10-bit video data
F12
0= ok, 1= not ok
output format: 12-bit video data
F16
0= ok, 1= not ok
output format: 2*8-bit video data
C30
0= ok, 1= not ok
camera clock: 30 MHz data rate
C60
0= ok, 1= not ok
camera clock: 60 MHz data rate
I1
VCC: nnnnn
returns VCC (1=10mV)
Copt
0= ok, 1= not ok
clock: opt 100 MHz data rate
I2
VDD: nnnnn
returns VDD (1=10mV)
moo: nnnnn
returns mode of operation
T0
0= ok, 1= not ok
test pattern off / SCM off
I3
T1
0= ok, 1= not ok
test pattern on (turns off when power off)
I4
CLo: nnnnn
returns camera clock: low pixel frequency
T2
0= ok, 1= not ok
Shading Correction on
I5
CHi: nnnnn
T3
0= ok, 1= not ok
auto program Shading Correction / SCM on
returns camera clock: high pixel frequency
I6
Ga1: nnnnn
returns gain channel 1
T4
0= ok, 1= not ok
copy flash memory 1 to SCM
I7
Ga2: nnnnn
returns gain channel 2
T5
0= ok, 1= not ok
save SCM to flash memory 1
I8
Ga3: nnnnn
returns gain channel 3
Ga4: nnnnn
returns gain channel 4
T6
0= ok, 1= not ok
Video out = SCM data
I9
T7
0= ok, 1= not ok
copy flash memory 2 to SCM
I10
Of1: nnnnn
returns offset channel 1
T8
0= ok, 1= not ok
save SCM to flash memory 2
I11
Of2: nnnnn
returns offset channel 2
M0
0= ok, 1= not ok
trigger mode 0: internal, all lines will be acquired
I12
Of3: nnnnn
returns offset channel 3
I13
Of4: nnnnn
returns offset channel 4
I19
Tab: nnnnn
number of video channels
I20
CLK: nnnnn
returns pixel frequency (MHz)
I21
ODF: nnnnn
returns output data format
M1
0= ok, 1= not ok
trigger mode 1: external trigger, next line (J2)
M2
0= ok, 1= not ok
trigger mode 0: internal, all lines with max line rate
M5
0= ok, 1= not ok
trigger mode: external SOS, all lines (J2)
I22
TRM: nnnnn
returns trigger mode
Axxxx
0= ok, 1= not ok
SCM address (xxxx = 0-4095)
I23
SCO: nnnnn
Dxxxx
0= ok, 1= not ok
SCM data (xxxx = 0-4095), auto increment SCM address
Shading Correction status 0 = off, 1 = on
I24
Exp: nnnnn
returns exposure time (µs)
Wxxxxx
0= ok, 1= not ok
set line frequency (xxxxx= 50-22727) in Hz
I25
miX: nnnnn
returns minimum exposure time (µs)
Xxxxxx
0= ok, 1= not ok
set exposure time (xxxxx= 44-20000) in µs
I26
LCK: nnnnn
returns line frequency (Hz)
Vxxxxx
0= ok, 1= not ok
external sync divider (xxxxx= 1-32767)
I27
maZ: nnnnn
returns maximum line frequency (Hz)
TSc: nnnnn
returns trigger clock divider
0= ok, 1= not ok
set sync control (xxxxx= 0-255)
I28
Yxxxxx
I29
SyC: nnnnn
returns sync control
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Line Scan Camera SK4096VTDI-XL Manual (v. 11.2014)
7. GEV Device Feature List (GenCamTM compliant, see Section 5) ImageSizeControl SensorWidth: SensorHeight:
number of pixels in line sensor (fixed) 1 (fixed)
Width: Height:
image width = SensorWidth (fixed) 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 Mono12 = gray scale 12-bit
4096
PixelSize:
bits per pixel, depends on PixelFormat Mono8: PixelSize= Bpp8 = 8-bit Mono12: PixelSize= Bpp16 = 16-bit
4096
Note: For Mono12 the pixel frequency fP must be set to 30 MHz or 60 MHz.
SK4096VTDI-XL
AcquisitionAndTriggerControls AcquisitionMode:
Continuous: repeating acquisition SingleFrame: one snapshot
AcquisitionLineRateAbs: line rate in Hz minimum: 50 Hz maximum: 22300 Hz ExposureTimeRaw:
exposure time in µs, 44 ... 20000 (master feature of exposure control)
ExposureTimeAbs:
exposure time in ms, 0.044 ... 20.000
Trigger Selector: FreeRun: LineStart: ExposureStart: ExposureActive:
for trigger lines (LineSync) each line is acquired, no trigger external trigger, reading in next line external trigger and restart exposure exposure time is determined by the external trigger period FrameTrigger: for trigger images see CustomFeatures Timing diagram: see Section 6 TriggerDivider:
incoming trigger clock divider (integer) AnalogControls (Gain / Offset)
GainSelector:
Tap1: Tap2: All:
gain control for tap 1 gain control for tap 2 gain control for both taps
BlackLevelSelector: Tap1: offset control for tap 1 Tap2: offset control for tap 2 All: offset control for both taps
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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 SK4096VTDI-XL Manual (v. 11.2014) 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 5.3 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.12)
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:
133
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13
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.
Line Scan Camera SK4096VTDI-XL Manual (v. 11.2014)
8. Sensor Performance Specifications Manufacturer: Fairchild Imaging Type:
CCD5045
Data source:
CCD5045 data sheet RevA March 2010
Performance Specifications
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Line Scan Camera SK4096VTDI-XL Manual (v. 11.2014)
Block Diagram and Dimensions
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Line Scan Camera SK4096VTDI-XL Manual (v. 11.2014)
Pin-out
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Line Scan Camera SK4096VTDI-XL Manual (v. 11.2014)
9. Dimensions Line scan cameras with GigE VisionTM interface Lens thread: C-Mount
Casing group: BG1
Camera types:
71 4
C-Mount 2.5
B/W: SK512VDP SK512VSP SK1024VDP SK1024VSD
11.1
Ø47.5
50/M3/4x90°
65
41.7
58
Pixel1
23.5 6
M3 (4x) depth 6.5 mm
Ø65
65
17.5 * * Camera flange length
Lens thread: M45x0.75
Casing group: BG3
Camera types:
73 4
M45x0.75
B/W: SK2048VSD-L SK2048VPD-L SK2048VJR-L SK4096VPD-L SK5150VJR-L SK8160VJR-L
12.7
Ø47.5
50/M3/4x90°
65
41.7
58
6
2.5
Pixel 1
25.1
M3 (4x) depth 6.5 mm
Ø65
65
19.5*
Color: SK6288VKOC-L SK12240VKOC-LB
* Camera flange length
* Camera flange length
TDI: SK1024VTDI-L SK2048VTDI-L Casing group: CG5
Lens thread: M72x0.75
12
49 75/M4
7
60/Ø6.5
5
84 75/M4
Camera types:
46x68 68x46
M72x0.75
34/M4/4x90°
Le M ns 72 m x0 ou .7 nt 5
B/W: SK7500VTO-XL Color: SK12240VKOC-XL TDI: SK4096VTDI-XL 8*
* Camera flange length
Page
17
Ø2.7 DB (8x)/Ø5x7
Line Scan Camera SK4096VTDI-XL Manual (v. 11.2014)
10. Line Scan Camera Fundamentals 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.
10.1 Features and Characteristics
GigE SK7500GTO
Pixel 1 CCD Sensor
Object structure
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.
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, C ameraLink® or USB 2.0 interfaces available for data output. The oscilloscope display facility of the supplied software is responsive in realtime, 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.
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 (antiblooming) or cut by reducing the integration time or lens aperture.
A line scan camera 2D area scan can easily be performed by simply specifying the number of line scans to be integrated.
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.
• Exposure Period and Integration Time
• Pixel and Line Scan Frequencies
• Optical Resolution
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.
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 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.
Imaging Definitions
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).
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 b eing exposed. Thus, the minimum exposure period determines the maximum line scan frequency.
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.
Data Reduction and Acquisition Acceleration • Thresholding (B/W cameras only)
• Region of Interest
GigE SK7500GTF-XB
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.
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 a rea scan acquisitions. Constraint: the ROI memory allocation must be divisible by 8. Page
18
Line Scan Camera SK4096VTDI-XL Manual (v. 11.2014)
10.2 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
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
camera signal exhibiting insufficient gain: A the integration time is too short as only about 50% of the B/W gray scale is used.
B
ptimized gain of the camera signal after O increasing the integration time, by a factor of 4, to 95% of the available scale.
A
B
Gain / Offset and Shading Correction 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,
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.
B
C A
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.
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 integration 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
ptimal focus: dark-bright transitions have O sharp edges, highly modulated signal peaks with high frequency density variations
B
A
Page
19
Line Scan Camera SK4096VTDI-XL Manual (v. 11.2014)
12. Accessories
11. Warranty 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.
CAT6 network cable Shielded CAT6 patch c able, 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)
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.
Cable for external synchronization 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
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.
Power supply cable SK9015... Shielded cable with male 6 -pin Lumberg SV60 and female 6-pin Hirose HR10A connectors
The warranty period for the CCD line scan camera when used for the purpose for which it was intended is 24 months.
SK9015.1.5-MF Order Code MF = connector (male/female) 0.2 = 0.2 m cable length 1.5 = 1.5 m (standard)
The warranty is immediately void on inappropriate modification, use or damage. EC Declaration of Conformity
Power Supply: PS051515 Order Code Input: 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
This product satisfies the requirements of the EC directive 89/336/EEG as well as DIN EN 61326.
Software: Any third party software that uses the GENCAMTM software interface SkGEVTool
Order Code
Fokus Adapter FA26-Sx High-precision adapter with linear tracking rods for precise travel of the focussing encasement and for locking focus position. Focussing range 30 mm, 1 turn of the focussing ring corresponds to 10 mm. Screws for focus locking. SFA26-Sx Order Code 45 = thread M45x0.75 55 = thread M55x0.75 Lenses: • high resolution enlarging and macro lenses • high speed photo lenses • lenses with additional locking bridge for locking of focus and aperture setting
SK4096VTDI-XL
Adapter: Lens adapter AOC-... • for fitting photo lenses onto the CCD line scan camera Focus adapter FA22-... • for fitting enlarging or macro lenses
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
