Point Grey Gazelle GZL-CL-22C5M-C Technical Reference
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Point Grey Gazelle GZL-CL-22C5M-C Technical Reference

Gazelle series camera link digital camera
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Gazelle
Camera Link Digital Camera
Technical Reference
Version 2.0
Revised 10/31/2013
Point Grey Research
Inc.
®
12051 Riverside Way • Richmond, BC • Canada • V6W 1K7 •T (604) 242-9937 • www.ptgrey.com
Copyright © 2011-2013 Point Grey Research Inc. All Rights Reserved.

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Summary of Contents for Point Grey Gazelle GZL-CL-22C5M-C

  • Page 1 Camera Link Digital Camera Technical Reference Version 2.0 Revised 10/31/2013 Point Grey Research Inc. ® 12051 Riverside Way • Richmond, BC • Canada • V6W 1K7 •T (604) 242-9937 • www.ptgrey.com Copyright © 2011-2013 Point Grey Research Inc. All Rights Reserved.

  • Page 2: Fcc Compliance

    Point Grey Research, PGR, the Point Grey Research, Inc. logo, Blackfly, Bumblebee, Chameleon, Digiclops, Dragonfly, Dragonfly Express, Firefly, Flea, FlyCapture, Gazelle, Grasshopper, Ladybug, Triclops and Zebra are trademarks or registered trademarks of Point Grey Research, Inc. in Canada and other countries.

  • Page 3: Table Of Contents

    2.1.2 Do you have all the parts you need? 2.1.3 Do you have a downloads account? 2.2 Installing Your Interface Card and Software 2.3 Installing Your Camera 2.4 Controlling the Camera 2.4.1 User Configuration Sets 3 General Gazelle Operation Revised 10/31/2013 Copyright ©2011-2013 Point Grey Research Inc.
  • Page 4 5.3.1.2 Outputting a strobe for duration of exposure 5.3.1.3 Outputting a strobe for duration of trigger signal 5.3.1.4 Outputting a strobe for a specified duration, after a specified delay 5.4 Serial Communication 6 Imaging Parameters 6.1 Exposure Revised 10/31/2013 Copyright ©2011-2013 Point Grey Research Inc.
  • Page 5 A.4 Strobe Control A.5 Imaging Parameters Control A.6 User Set Control A.7 Status Monitoring A.8 Flash Memory Control A.9 Chunk Data Control B GPIO Electrical Characteristics Contacting Point Grey Research Revision History Revised 10/31/2013 Copyright ©2011-2013 Point Grey Research Inc.

  • Page 6: About This Manual

    A note that contains a warning to proceed with caution and care, or to indicate that the information is meant for an advanced user. For example, indicating that an action may void the camera's warranty. Revised 10/31/2013 Copyright ©2011-2013 Point Grey Research Inc.
  • Page 7 Point Grey website If there are further resources available, a link is provided either to an external website, or to the SDK. Related Resources Title Link Title of the resource Link to the resource Revised 10/31/2013 Copyright ©2011-2013 Point Grey Research Inc.

  • Page 8: Gazelle Specifications

    44 mm x 29 mm x 59.5 mm excluding lens holder, without optics (metal case) Mass 90 grams (without optics or tripod mounting bracket) Power Consumption 12 V +/- 10%, 6 W Machine Vision Standard Camera Link Camera Control Via software instruction set Revised 10/31/2013 Copyright ©2011-2013 Point Grey Research Inc.
  • Page 9 All Gazelle Models Camera Updates In-field firmware updates Lens Mount C-mount Temperature Operating: -10° to 50°C; Storage: -30° to 60°C Compliance CE, FCC, RoHS Operating System XP, Vista, Windows 7 Warranty 3 years Revised 10/31/2013 Copyright ©2011-2013 Point Grey Research Inc.

  • Page 10: Gzl-Cl-22C5M (Mono) Imaging Performance

    12900 e- at zero gain Dynamic Range 57 dB Read Noise 18.8 e- at zero gain Measurements taken at maximum resolution Quantum Efficiency Peak QE Wavelength 530 nm Peak QE Value Figure 1.1: GZL-CL-22C5 Quantum Efficiency Revised 10/31/2013 Copyright ©2011-2013 Point Grey Research Inc.

  • Page 11: Gzl-Cl-41C6M (Mono) Imaging Performance

    11900 e- at zero gain Dynamic Range 56 dB Read Noise 18.8 e- at zero gain Measurements taken at maximum resolution Quantum Efficiency Peak QE Wavelength 530 nm Peak QE Value Figure 1.2: GZL-CL-41C6 Quantum Efficiency Revised 10/31/2013 Copyright ©2011-2013 Point Grey Research Inc.

  • Page 12: Gazelle Comparison

    Point Grey Gazelle Technical Reference 1 Gazelle Specifications 1.1.3 Gazelle Comparison Figure 1.3: GZL-CL Mono Quantum Efficiency Figure 1.4: GZL-CL Mono Dynamic Range Revised 10/31/2013 Copyright ©2011-2013 Point Grey Research Inc.

  • Page 13: Physical Description

    Camera Link Connectors. case. See Mounting with the Case or Mounting Bracket. 7. Status LED This light indicates the current state of the camera operation. See Status Indicator LED. Revised 10/31/2013 Copyright ©2011-2013 Point Grey Research Inc.

  • Page 14: Camera Dimensions

    Point Grey Gazelle Technical Reference 1 Gazelle Specifications Camera Dimensions To obtain 3D models, contact support@ptgrey.com. Figure 1.5: Camera Dimensional Diagram Revised 10/31/2013 Copyright ©2011-2013 Point Grey Research Inc.

  • Page 15: Tripod Adapter Dimensions

    Selecting a lens for your camera Knowledge Base Article 345 The lens mount is compatible with C-mount lenses. Correct focus cannot be achieved using a CS-mount lens on a C- mount camera. Revised 10/31/2013 Copyright ©2011-2013 Point Grey Research Inc.

  • Page 16: Back Flange Distance

    Using the Mounting Bracket The tripod mounting bracket is equipped with four (4) M3 mounting holes. For more information, see Tripod Adapter Dimensions on the previous page. Revised 10/31/2013 Copyright ©2011-2013 Point Grey Research Inc.

  • Page 17: Analog-To-Digital Converter

    2-byte format. The least significant bits, which are the unused bits, are always zero. For example, for a 12 bit output, the least significant 4 bits will be zeros in order to fill 2 bytes. E.g. 0xFFF0. Model GZL-CL-22C5M-C 10-bit GZL-CL-41C6M-C 10-bit Revised 10/31/2013 Copyright ©2011-2013 Point Grey Research Inc.

  • Page 18: Handling Precautions And Camera Care

    Do not open the camera housing. Doing so voids the Hardware Warranty described at the beginning of this manual. Your Point Grey digital camera is a precisely manufactured device and should be handled with care. Here are some tips on how to care for the device.
  • Page 19 Make sure the flow of heat from the camera case to the bracket is not blocked by a non-conductive material like plastic. Make sure the camera has enough open space around it to facilitate the free flow of air. To access temperature information use: Software Instruction Set—Device Temperature command Status Monitoring Revised 10/31/2013 Copyright ©2011-2013 Point Grey Research Inc.

  • Page 20: 1.10 Camera Interface And Connectors

    External clock (not supported) CC3- RS-644 LVDS External flash CC4+ RS-644 LVDS Reserved Ground Ground for inner shield of cable Ground Ground for inner shield of cable Camera Link LVDS Data from Camera Link transmitter Revised 10/31/2013 Copyright ©2011-2013 Point Grey Research Inc.
  • Page 21 Camera Link LVDS Data from Camera Link transmitter Camera Link LVDS Data from Camera Link transmitter Camera Link LVDS Data from Camera Link transmitter ZClk+ Camera Link LVDS Transmit clock from Camera Link transmitter Revised 10/31/2013 Copyright ©2011-2013 Point Grey Research Inc.

  • Page 22: 1.10.2 Interface Card

    Point Grey Webstore or the Products Accessories page. 1.10.4 Frame Grabbers Point Grey provides camera configuration files (CCFs) for using the following Camera Link frame grabbers with Gazelle cameras: Aval Data APX-3318 Dalsa Xcelera-CL PX4 Full BitFlow Karbon-CL Related Resources To find...

  • Page 23: 1.10.5.1 Gpio Modes

    A GPIO pin in GPIO Mode 3 outputs a voltage pulse of fixed delay, either relative to the start of integration (default) or relative to the time of an asynchronous trigger. A GPIO pin in this mode can be configured to output a variable strobe pattern. See Programmable Strobe Output. Revised 10/31/2013 Copyright ©2011-2013 Point Grey Research Inc.

  • Page 24: Gazelle Installation

    Mounting with the Case or Mounting Bracket) Interface card (see Interface Card) Point Grey sells a number of the additional parts required for installation. To purchase, visit the Point Grey Webstore Products Accessories page. 2.1.3 Do you have a downloads account?

  • Page 25: Installing Your Interface Card And Software

    Click on the Software search results to expand the list. d. Click on Gazelle Camera Configuration Files to begin the download. e. From the download location, extract the zip files to a directory location of your choice. Revised 10/31/2013 Copyright ©2011-2013 Point Grey Research Inc.

  • Page 26: Installing Your Camera

    Controlling the Camera The user can monitor or control features of the camera using a command set developed by Point Grey. These commands are used with the serial interface tool provided by your Camera Link frame grabber, and control the camera via a frame grabber-specific camera configuration file (CCF) that is downloaded during the camera installation process.

  • Page 27: User Configuration Sets

    1 or 2 sets memload value User Set Load Loads a configuration set value is 0 (default), 1, or 2 User Set Current Gets the currently-loaded configuration set memcurr Revised 10/31/2013 Copyright ©2011-2013 Point Grey Research Inc.

  • Page 28: General Gazelle Operation

    Power must be provided through the GPIO interface. For more information, see General Purpose Input/Output (GPIO). Point Grey sells a 12 V wall-mount power supply equipped with a HR25 8-pin GPIO wiring harness for connecting to the camera. For more information, see the miscellaneous product accessories page on the Point Grey website.

  • Page 29: Device Information

    Returns the hardware versions of the PCBs in the camera Returns the sensor model of the camera Sensor Hardware Version 0170FFFEh = CMOSIS CMV4000 0180FFFEh = CMOSIS CMV2000 Device ID Returns the Serial Number Revised 10/31/2013 Copyright ©2011-2013 Point Grey Research Inc.

  • Page 30: Non-Volatile Flash Memory

    The camera has 4 MB non-volatile memory for users to store data. Data must be written to individual pages in 528-byte data chunks. Related Knowledge Base Articles Title Article Storing data in on-camera flash memory Knowledge Base Article 341 Revised 10/31/2013 Copyright ©2011-2013 Point Grey Research Inc.

  • Page 31: Camera Firmware

    Firmware is programming that is inserted into the programmable read-only memory (programmable ROM) of most Point Grey cameras. Firmware is created and tested like software. When ready, it can be distributed like other software and installed in the programmable read-only memory by the user.
  • Page 32 Firmware Information Name Description Read Write Device Firmware Version Returns the Firmware Version Device Firmware Build Date Returns the Firmware build date Update Mode Puts the camera into firmware update mode update Revised 10/31/2013 Copyright ©2011-2013 Point Grey Research Inc.

  • Page 33: Video Data Output

    GZL-CL-41C6 Video Data Output Maximum Frame Rate at # Taps Bit Depth Max Size (HxV) 1600 x 1280 x 640 x 480 320 x 240 160 x 120 Size 1200 2048x2048 1183 2183 2048x2048 Revised 10/31/2013 Copyright ©2011-2013 Point Grey Research Inc.

  • Page 34: Setting The Video Format And Frame Rate

    Bits of every 5th pixel Description 0 - 1 LSBs of 4th pixel 2 - 3 LSBs of 3rd pixel 4 - 5 LSBs of 2nd pixel 6 - 7 LSBs of 1st pixel Revised 10/31/2013 Copyright ©2011-2013 Point Grey Research Inc.
  • Page 35 PC. After processing, image width at full resolution should be 2048. Video Format 8-tap 10-bit Name Description Read Write Video Format (8-tap 10- Gets or sets the video format to 8-tap 10-bit smod smod 8tap10bit bit mode) Revised 10/31/2013 Copyright ©2011-2013 Point Grey Research Inc.

  • Page 36: Specifying Regions Of Interest

    (129 / 20) x height 38.70 (129 / 10) x height GZL-CL-41C6 Example: For a camera operating at 40 MHz with an image size of 2048 x 2048, the frame rate would be: Revised 10/31/2013 Copyright ©2011-2013 Point Grey Research Inc.

  • Page 37: Creating Rois

    0 at the top of the image multiple setroi commands. ROI_ height specifies how many rows of pixels are number and y-offset must vary sampled, beginning from the y-offset between ROIs Revised 10/31/2013 Copyright ©2011-2013 Point Grey Research Inc.

  • Page 38: Example: Specifying Regions Of Interest

    300 pixels in height. ROI_2 is offset vertically by 1374 pixels and is 374 pixels in height. The ROIs are offset horizontally by 648 pixels, and are 752 pixels wide. Revised 10/31/2013 Copyright ©2011-2013 Point Grey Research Inc.
  • Page 39 Figure 4.1: Example ROI configuration on GZL-CL-41C6 The following are the commands for achieving this ROI configuration: setroi 0 300 374 setroi 1 874 300 setroi 2 1374 374 w 752 ox 648 Revised 10/31/2013 Copyright ©2011-2013 Point Grey Research Inc.

  • Page 40: Image Acquisition

    Additionally, achievable frame rates may decrease. To fix, lower the exposure setting. To maximize frame rate when operating these models in trigger mode, we recommend raw exposure values of 100 or less. To access trigger modes: Software Instruction Set—Acquisition Control Revised 10/31/2013 Copyright ©2011-2013 Point Grey Research Inc.

  • Page 41: Triggering Off The Gpio

    100, or 393.45 μs (full configuration, 40 MHz input clock). The example finishes by invoking a software trigger, which results in one frame capture. trsrc soft eraw 100 trm single trgsoft Revised 10/31/2013 Copyright ©2011-2013 Point Grey Research Inc.

  • Page 42: Maximum Frame Rates When Triggering

    Bulb shutter If exposure is set to higher than image readout rate * image height, frame rate decreases dynamically. To determine readout rate, see Asynchronous Triggering. For information about setting exposure, see Exposure. Revised 10/31/2013 Copyright ©2011-2013 Point Grey Research Inc.

  • Page 43: Trigger Delay

    Gets the minimum image acquisition delay Trigger Delay Minimum trdraw gmin available in the current video mode Trigger Delay Gets the maximum image acquisition delay trdraw gmax Maximum available in the current video mode Revised 10/31/2013 Copyright ©2011-2013 Point Grey Research Inc.

  • Page 44: Trigger Polarity

    45 ns. Figure 5.1: Single-Shot Trigger Timing Values for Frame Overhead Time and Readout Rate vary by current Sensor Input Clock speed and Video Data Output mode , as follows: Revised 10/31/2013 Copyright ©2011-2013 Point Grey Research Inc.
  • Page 45 Sensor Input Clock Speed (MHz) Frame Overhead Time (µs) Readout Rate (µs/line) 70.95 94.60 4.27 141.9 38.7 12.8 Base 2-tap configuration Sensor Input Clock Speed (MHz) Frame Overhead Time (µs) Readout Rate (µs/line) 20 (binning mode) 141.9 10 (non-binning mode) 38.7 12.8 Revised 10/31/2013 Copyright ©2011-2013 Point Grey Research Inc.

  • Page 46: Bulb Shutter Trigger Mode

    Sensor Input Clock Speed (MHz) Frame Overhead Time (µs) Readout Rate (µs/line) 70.95 94.60 4.27 141.9 38.7 12.8 Base 2-tap configuration Sensor Input Clock Speed (MHz) Frame Overhead Time (µs) Readout Rate (µs/line) 20 (binning mode) 141.9 10 (non-binning mode) 38.7 12.8 Revised 10/31/2013 Copyright ©2011-2013 Point Grey Research Inc.

  • Page 47: Minimum Trigger Pulse Length

    A digital signal debouncer helps to ensure that the camera does not respond to spurious electrical signals that are shorter than 16 ticks of the current Sensor Input Clock setting. This safeguard results in a minimum 16-tick delay before the camera responds to a trigger signal. Revised 10/31/2013 Copyright ©2011-2013 Point Grey Research Inc.

  • Page 48: Programmable Strobe Output

    Strobe Width value is in raw (non-absolute) terms. Note that the stsrc command To convert the raw value to microseconds, multiply by 0.12 must be set to user. Revised 10/31/2013 Copyright ©2011-2013 Point Grey Research Inc.

  • Page 49: Strobe Output Examples

    10.32 μs (full configuration, 40 MHz input clock). The duration is specified as a raw value of 100, or 393.45 μs (full configuration, 40 MHz input clock): sta high stsrc trigger stw 100 std 10 trsrc GPIO0 trm single Revised 10/31/2013 Copyright ©2011-2013 Point Grey Research Inc.

  • Page 50: Serial Communication

    Name Description Read Write dbr value Gets or sets the speed (baud rate) of the serial Device Baud Rate value can be 9600, 19200, 57600, communications port, in bit/s 115200, or 230400 Revised 10/31/2013 Copyright ©2011-2013 Point Grey Research Inc.

  • Page 51: Imaging Parameters

    ( (2^12 * raw_value ) / 10e6 ) + 0.0002838 Base 2-tap configuration: Base 2-tap configuration: ( (raw_value * 129) / 10e6 ) + 0.0000903 ( (2^12 * raw_value ) / 10e6 ) + 0.0000903 Revised 10/31/2013 Copyright ©2011-2013 Point Grey Research Inc.

  • Page 52: Gain

    Gets or sets the sensor digital gain graw value is in raw (non-absolute) terms, between 1-64 Digital Gain Gets the minimum sensor digital graw gmin Minimum gain Digital Gain Gets the maximum sensor digital graw gmax Maximum gain Revised 10/31/2013 Copyright ©2011-2013 Point Grey Research Inc.

  • Page 53: Black Level

    Flips the image horizontally, Reverse Image 1—Images are vertically and horizontally reflected along both the vertically, or both x and y axes 2—Original image orientation (default) 3—Images are horizontally reflected along the x center axis Revised 10/31/2013 Copyright ©2011-2013 Point Grey Research Inc.

  • Page 54: Chunk Data

    A checksum computed as the sum of all previous bytes in the image. This value can be compared with a user-generated checksum on the transmitted image to determine if the image was corrupted during transmission. checksum Checksum is specified using separate syntax (see below). Revised 10/31/2013 Copyright ©2011-2013 Point Grey Research Inc.
  • Page 55 The first 7 bytes are programmed 0 (black). The last bytes is the checksum value. In 2-tap mode, the checksum is a 10-bit value. All remaining bits are padded with 0's. Revised 10/31/2013 Copyright ©2011-2013 Point Grey Research Inc.

  • Page 56: Troubleshooting

    Supported outputs include a fixed pattern or a pseudorandom pattern. The pseudorandom pattern uses a linear feedback shift register to generate pixel values for each frame, with different starting values for each pixel. Fixed Pattern Pseudorandom Pattern Figure 7.1: Test Pattern Sample Image Revised 10/31/2013 Copyright ©2011-2013 Point Grey Research Inc.
  • Page 57 Test Pattern Name Description Read Write tp value Specifies the type of test image to Test Pattern value is 0 (live image—no test pattern), 1 (fixed transmit pattern), or 2 (pseudorandom pattern). Revised 10/31/2013 Copyright ©2011-2013 Point Grey Research Inc.

  • Page 58: Blemish Pixel Artifacts

    Pixel Defect Correction Point Grey tests for both dead (black) pixels and hot (white) pixels on each camera. The mechanism to correct pixel defects is hard-coded into the camera firmware, and is enabled by default. Pixels are corrected if they are 20 grayscale levels different than a neighboring pixel average in a gray (mid-level) image.

  • Page 59: Horizontal Line Artifact

    Certain image effects have been identified by the sensor manufacturer as known artifacts, and may manifest themselves depending on your application. These include: Horizontal Line effect Black Sun effect Black Level offset For more information about these artifacts, see this CMOSIS application note. Revised 10/31/2013 Copyright ©2011-2013 Point Grey Research Inc.

  • Page 60: A Software Instruction Set

    Returns the Serial Number Update Mode Puts the camera into firmware update mode update Device Reset Resets Device to Power Up State Indicates if initialization is complete Initialization 0=Still in initialization init 1=Complete Revised 10/31/2013 Copyright ©2011-2013 Point Grey Research Inc.

  • Page 61: Image Format Control

    0 at the top of the image multiple setroi commands. ROI_ height specifies how many rows of pixels are number and y-offset must vary sampled, beginning from the y-offset between ROIs Revised 10/31/2013 Copyright ©2011-2013 Point Grey Research Inc.

  • Page 62: Acquisition Control

    Gets or sets the source from which to line1—Camera Control 1 (CC1) Trigger Source trsrc accept an incoming trigger line2—Camera Control 2 (CC2) line3—Camera Control 3 (CC3) line4—Camera Control 4 (CC4) GPIO0—Opto-isolated GPIO input pin Revised 10/31/2013 Copyright ©2011-2013 Point Grey Research Inc.

  • Page 63: Strobe Control

    Control (CC) Camera Link line. Signal polarity depends on the setting of the sta command. user—The strobe signal duration is defined using the stw command below. Signal polarity depends on the setting of the sta command. Revised 10/31/2013 Copyright ©2011-2013 Point Grey Research Inc.

  • Page 64: Imaging Parameters Control

    2—Original image orientation (default) 3—Images are horizontally reflected along the x center axis dpc value Defect Pixel Turns defect pixel correction on value is 0 (disabled) or 1 Correction or off (enabled) Revised 10/31/2013 Copyright ©2011-2013 Point Grey Research Inc.

  • Page 65: User Set Control

    Returns the frequency of the sensor input Clock, in hertz Frequency for 8-tap mode 10 MHz for 2-tap mode Device Returns the ambient temperature inside the camera case, Temperature in degrees Celsius Revised 10/31/2013 Copyright ©2011-2013 Point Grey Research Inc.

  • Page 66: Flash Memory Control

    Embeds a checksum in images last bytes of the last line of an image. A total of 8 bytes are used. The first 7 bytes are programmed 0 (black). The last bytes is the checksum value. Revised 10/31/2013 Copyright ©2011-2013 Point Grey Research Inc.

  • Page 67: Bgpio Electrical Characteristics

    To avoid damage, connect the OPTO_GND pin first before applying voltage to the GPIO line. Figure B.1: Opto-isolated input circuit Figure B.2: Opto-isolated output circuit Revised 10/31/2013 Copyright ©2011-2013 Point Grey Research Inc.
  • Page 68 Point Grey Gazelle Technical Reference B GPIO Electrical Characteristics Note: identical for IO3 pin 4 Figure B.3: Input/output circuit Revised 10/31/2013 Copyright ©2011-2013 Point Grey Research Inc.

  • Page 69: Contacting Point Grey Research

    (North America only) Richmond, BC, Canada V6W 1K7 Fax: +1 (604) 242-9938 Email: sales@ptgrey.com Tel: +1 (866) 765-0827 Email: na-sales@ptgrey.com Point Grey Research GmbH Schwieberdinger Strasse Tel: +49 7141 488817-0 Europe and Israel Fax: +49 7141 488817-99 71636 Ludwigsburg Email: eu-sales@ptgrey.com Germany...

  • Page 70: Revision History

    Added revised imaging performance specifications and quantum efficiency graphs October 1, 2012 Clarified trm freerun and trm none commands Fixed dimensional diagram mounting hole distance Corrected transfer rates October 31, 2013 Minor document fixes Revised 10/31/2013 Copyright ©2011-2013 Point Grey Research Inc.

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