Dalsa Spyder 3 S3-10-01k40-00-R User manual

Spyder 3 Camera Link
User’s Manual
S3-10-01k40-00-R
S3-20-01k40-00-R
S3-10-02k40-00-R
S3-20-02k40-00-R
S3-20-04k40-00-R
Camera Link Dual Line Scan Camera
14-Jul-08
03-032-20008-03
www.dalsa.com With the exception of the RoHS compliance information, the content in this manual also applies to
the previous versions of the S3 CL camera: S3-10-0xk40-00-L and S3-20-0xk40-00-L models

2 PRELIMINARY Spyder 3 CL User's Manual
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© 2008 DALSA. All information provided in this manual is believed to be accurate and
reliable. No responsibility is assumed by DALSA for its use. DALSA reserves the right to
make changes to this information without notice. Reproduction of this manual in whole
or in part, by any means, is prohibited without prior permission having been obtained
from DALSA.
About DALSA
DALSA is an international high performance semiconductor and electronics company
that designs, develops, manufactures, and markets digital imaging products and
solutions, in addition to providing semiconductor products and services. DALSA’s core
competencies are in specialized integrated circuit and electronics technology, software,
and highly engineered semiconductor wafer processing. Products and services include
image sensor components; electronic digital cameras; vision processors; image processing
software; and semiconductor wafer foundry services for use in MEMS, high-voltage
semiconductors, image sensors and mixed-signal CMOS chips. DALSA is listed on the
Toronto Stock Exchange under the symbol “DSA”. The Company has its corporate offices
in Waterloo, ON and over 1000 employees world-wide.
For further information not included in this manual, or for information on DALSA’s
extensive line of image sensing products, please call:
DALSA Sales Offices
Waterloo Europe Asia Pacific
605 McMurray Rd
Waterloo, ON N2V 2E9
Canada
Tel: [phone]
Fax: [phone]
http://mv.dalsa.com
[email protected]
Breslauer Str. 34
D-82194 Gröbenzell (Munich)
Germany
Tel: +49 - 8142 – 46770
Fax: +49 - 8142 – 467746
http://mv.dalsa.com
[email protected]
Ikebukuro East 13F
3-4-3 Higashi-Ikebukuro
Toshima-ku, Tokyo 170-0013
Japan
Tel: [phone]
Fax: [phone]
http://mv.dalsa.com
[email protected]

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Contents
1Introduction to the Spyder 3 CL Camera ____________________________________ 5
1.1 Camera Highlights.......................................................................................................................................................5
1.2 Camera Performance Specifications ............................................................................................................................7
1.3 Image Sensor...............................................................................................................................................................9
1.4 Responsivity.................................................................................................................................................................12
1.5 Derating Curves...........................................................................................................................................................13
2Setting Up the Camera ________________________________________________ 15
2.1 Installation Overview...................................................................................................................................................15
2.2 Input/Output Connectors and LED...............................................................................................................................15
2.3 Power Connector..........................................................................................................................................................16
2.4 Camera LED.................................................................................................................................................................17
2.5 Camera Link Data Connector ......................................................................................................................................17
2.6 Camera Link Video Timing..........................................................................................................................................20
3Software Interface: How to Control the Camera _______________________________ 23
3.1 First Power Up Camera Settings..................................................................................................................................25
3.2 Command Categories...................................................................................................................................................26
3.3 Camera Output Format ...............................................................................................................................................27
4Optical, Mechanical, and Electrical Considerations _____________________________ 31
4.1 Mechanical Interface....................................................................................................................................................31
4.2 Optical Interface ..........................................................................................................................................................32
4.3 Electrical Interface .......................................................................................................................................................34
5CCD Handling Instructions______________________________________________ 35
5.1 Electrostatic Discharge and the CCD Sensor ................................................................................................................35
5.2 Protecting Against Dust, Oil and Scratches..................................................................................................................35
5.3 Cleaning the Sensor Window.......................................................................................................................................36
6Troubleshooting ____________________________________________________ 37
6.1 Troubleshooting ..........................................................................................................................................................37
6.2 Specific Solutions.........................................................................................................................................................39
6.3 Product Support...........................................................................................................................................................41
7Appendix A ________________________________________________________ 43
7.1 Spyder 3 Camera Link ASCII Commands....................................................................................................................43
7.2 Sensor Output Format.................................................................................................................................................47
7.3 Exposure Mode, Line Rate and Exposure Time ...........................................................................................................48
7.4 Data Processing...........................................................................................................................................................54

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7.5 Analog and Digital Signal Processing Chain...............................................................................................................55
7.6 End-of-line Sequence ..................................................................................................................................................69
7.7 Look-Up Tables ...........................................................................................................................................................71
7.8 Saving and Restoring Settings.....................................................................................................................................73
7.9 Saving and Restoring PRNU and FPN Coefficients......................................................................................................74
7.10 Diagnostics.................................................................................................................................................................75
7.11 Returning Video Information ....................................................................................................................................77
7.12 Temperature Measurement.......................................................................................................................................79
7.13 Voltage Measurement................................................................................................................................................79
7.14 Camera Frequency Measurement..............................................................................................................................79
7.15 Returning the LED Status..........................................................................................................................................80
7.16 Returning Camera Settings .......................................................................................................................................80
7.17 ASCII Commands: Reference.....................................................................................................................................86
7.18 Error Handling...........................................................................................................................................................94
7.19 Clearing Dark Current ...............................................................................................................................................96
8Appendix B ________________________________________________________ 105
8.1 Camera Link™ Reference, Timing, and Configuration Table.....................................................................................105
8.2 Camera Link Bit Definitions ........................................................................................................................................107
8.3 Camera Link Configuration Tables..............................................................................................................................107
9Appendix C ________________________________________________________ 111
9.1 EMC Declaration of Conformity ...................................................................................................................................111
10 Appendix D ________________________________________________________ 113
10.1 Revision History.........................................................................................................................................................113
11 Index ____________________________________________________________ 115

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1Introductiontothe
Spyder3CLCamera
1.1CameraHighlights
Features
•Broadband responsivity up to 408±16DN(nJ/cm2) @10dB gain
•1024, 2048, or 4096 pixels, 14 x 14 µm (1k and 2k) and 10 x 10 µm (4k) pixel pitch,
100% fill factor
•Up to 68kHz line rates
•Dynamic range up to 1400:1
•Data transmission exceeding 10m
•±50µm x, y sensor alignment
•Base Camera Link configuration (8 or 12 bit data on 1 or 2 taps depending on camera
model)
•RoHS and CE compliant.
Programmability
•Serial interface (ASCII, 9600 baud, adjustable to 19200, 57600, 115200), through
Camera Link™.
•Mirroring and forward/reverse control.
•Programmable gain, offset, exposure time and line rate, trigger mode, test pattern
output, and camera diagnostics.
•Tall pixel, high sensitivity, or low sensitivity mode available.
•Flat-field correction—minimizes lens vignetting, non-uniform lighting, and sensor
FPN and PRNU.
Description
The Spyder 3 CL is also DALSA’s first dual line scan camera. When operating in high
sensitivity (dual line scan) mode, the Spyder 3 CL camera has 3x the responsivity of a
DALSA’s Spyder 2 line scan camera.

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Applications
The Spyder 3 CL camera is ideal for:
•FPD inspection
•Pick and place
•Container inspection
•Wood/tile/steel inspection
•100% print inspection (lottery tickets, stamps, bank notes, paychecks)
•Postal sorting
•Glass bottle inspection
•Industrial metrology
•Food inspection
•Web inspection
Models
The Spyder 3 CL camera is available in these models.
Table 1: Spyder 3 CL Camera Models Overview
Model Number Description
S3-20-01K40-00-R 1k resolution, 2 sensor taps. Base Camera Link configuration.
S3-20-02K40-00-R 2k resolution, 2 sensor taps. Base Camera Link configuration.
S3-10-01K40-00-R 1k resolution, 1 sensor tap. Base Camera Link configuration.
S3-10-02K40-00-R 2k resolution, 1 sensor tap. Base Camera Link configuration.
S3-20-04k40-00-R 4k resolution, 2 sensor taps. Base Camera Link configuration.

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1.2CameraPerformanceSpecifications
Table 2: Camera Performance Specifications
Feature / Specification Units 1k 2k 4k
Imager Format dual line scan dual line scan dual line scan
Resolution pixels 1024 2048 4096
Pixel Fill Factor % 100 100 100
Pixel Size µm 14x14 14x14 10x10
Sensitivity Mode High, low, or tall
pixel
High, low, or
tall pixel
High, low, or tall
pixel
Antiblooming 100x 100x 100x
Gain Range dB ±10 ±10 ±10
Optical Interface Units
Back Focal Distance
M42x1 mm 6.56±0.25
Lens mount adapters are available. Contact Sales for
more information.
Sensor Alignment
x
y
z
0z
µm
µm
mm
°
±50
±50
±0.25
±0.2
Mechanical Interface Units 1k and 2k 4k
Camera Size mm 72(h) x 60(l) x 50(w) 65(h) x 53.7(l) x 85(w)
Mass g <300 300
Connectors
power connector
data connector
6 pin male Hirose
MDR26 female
Electrical Interface Units
Input Voltage Volts +12 to +15
Power Dissipation W <5 (1k and 2k) <7 (4k)
Operating Temperature °C 0 to 50
Bit Width Bits 8 or 12 bit user selectable
Output Data Configuration Base
Camera Link
Speed 1k 2k 4k
Maximum Line Rate 2 tap model 68 kHz (80
MHz)
36 KHz (80
MHz)
18.5 kHz
1 tap model 36 (40 MHz) 18.5 (40 MHz)

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Table 3: Camera Operating Specifications
Specifications Unit -10dB 0dB +10dB
Min Typ Max Min Typ Max Min Typ Max
Broadband
responsivity
DN/(nJ/cm²)
Dual line 652.8 2064 6528
Single line 326.4 992 3264
4k Dual line 326.4±2 1032±5 3264±16
4k Single line 163.2±2 516.8±5 1632±16
Random noise rms DN 3 6.5 9.2 20.5 30 65
Dynamic range DN:DN
Dual line 500:1 1400:1 203:1 324:1 59:1 108:1
Single line 500:1 1400:1 203:1 324:1 59:1 108:1
4k Dual and Single 160:1 160:1 160:1
FPN global DN p-p
Uncorrected 52.8 169.6 536
Corrected 32 32 64
PRNU ECD
Uncorrected local % 8.5 8.5 11.5
Uncorrected global % 10 10 10
Corrected local DN p-p 80 80 95
Corrected global DN p-p 80 80 95
PRNU ECE
Uncorrected local % 8.5 12 37
Uncorrected global % 10 12 37
Corrected local DN p-p 80 237 752
Corrected global DN p-p 80 208 752
SEE (calculated) nJ/cm²
Dual line 6.35 1.92 0.61
Single line 12.2 4.0 1.2
NEE (calculated) pJ/cm²
Dual line 4.6 4.5 4.6
Single line 9.2 9.3 9.2
Saturation output
amplitude
DN 3968±80
DC offset DN 96 160 336
Test conditions unless otherwise noted:
•12-bit values, Flat Field Correction (FFC) enabled.
•CCD Pixel Rate: 40 Megapixels/second per sensor tap.
•Line Rate: 5000 Hz.
•Nominal Gain setting unless otherwise specified.
•Light Source: Broadband Quartz Halogen, 3250k, with 750 nm highpass filter
installed.
•Ambient test temperature 25 °C.
•Unless specified, all values are referenced at 12 bit.

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•Exposure mode disabled.
•Unless specified, dual line mode.
Notes
1. PRNU measured at 50% SAT.
1.3ImageSensor
The camera uses DALSA’s dual line scan sensor. The camera can be configured to read
out in either high or low sensitivity mode, tall pixel mode, and forward or reverse shift
direction.
Figure 1: 2 Tap Sensor Block Diagram
Tap2Tap1
CCDReadoutShiftRegister
CCDReadoutShiftRegister
N
Pixels
N
Pixels
N
=1024,2048,4096
Pixel1,1
Figure 2: 1 Tap Sensor Block Diagram (1k and 2k only)
Tap1
CCDReadoutShiftReg ist er
CCDReadout ShiftRegister
N
Pixels(14μmx14μm)
N
Pixels(14μmx14μm)
N
=1024,2048
Pixel1,1

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SensitivityModeandPixelReadout
The camera has the option to operate in either high sensitivity (dual line) or low
sensitivity (single line) modes, or in tall pixel mode.
When in high sensitivity mode, the camera uses both line scan sensors and its
responsivity increases accordingly. When in low sensitivity mode, the camera uses the
bottom sensor only. When operating in tall pixel mode, the camera operates using both
sensors, creating a 28µm x 14µm pixel (1k and 2k models), or a 20µm x 10µm pixel (4k
model).
The sensitivity mode is software-controlled through the ASCII command ssm.
Figure 3: High Sensitivity Mode
In high sensitivity mode, the camera uses either a 14µm x 14µm pixel (1k and 2k models)
or a 10µm x 10µm pixel (4k model) and captures the same image twice, resulting in a
brighter image.
CCDReadoutShiftRegister
CCDReadoutShiftRegister
Sensor2(14μmx14μmOR10μmx10μm)
Sensor1OR(14μmx14μm10μmx10μm)
14/10μm
Pixel Detail
14/10μm14/10μm
Figure 4: Low Sensitivity Mode
In low sensitivity mode, the camera uses either a 14µm x 14µm pixel (1k and 2k models)
or a 10µm x 10µm pixel (4k model) and captures the image using one sensor (Sensor 1).
CCDReadoutShiftRegister
CCDReadoutShiftRegister
Sensor2(14μmx14μmOR10μmx10μm)
Sensor1(14μmx14μmOR10μmx10μm)
14/10μm
Pixel DetailPixel Detail
14/10μm

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Figure 5: Tall Pixel Mode
In tall pixel mode, the camera uses a 28µm x 14µm pixel (1k and 2k) or a 20µm x 10µm
pixel (4k model) and captures an image two times taller than in high or low sensitivity
modes, resulting in a taller image.
CCDReadoutShiftRegister
CCDReadoutShiftRegister
Sensor1and2(28μmx14μmOR20μmx10μm)
14/10μm
Pixel Detail
28/20μm
SensorShiftDirection
When in high sensitivity mode, you can select either forward or reverse CCD shift
direction. This accommodates object direction change on a web and allows you to mount
the camera “upside down”.
Figure 6: Object Movement and Camera Direction Example using an Inverting Lens
Note: You can control the CCD shift direction through the serial interface. Use the
software command scd to determine whether the direction control is set via software
control or via the Camera Link control signal on CC3. Refer to the CCD Shift Direction
section of this manual, page 47, for details.

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1.4Responsivity
Figure 7: Spyder 3 CL 1k and 2k Responsivity
Spectral Responsivity. Nominal Gain
0
250
500
750
1000
1250
1500
1750
2000
2250
2500
400 500 600 700 800 900 1000 1100
Wavelength (nm)
Responsivity {DN/(nJ/cm²)}
High Sensitivity Mode
Low Sensitivity Mode
Figure 8: Spyder 3 CL 4k Responsivity
Spectral Responsivity. Nominal Gain
0
10
20
30
40
50
60
70
80
90
100
400 500 600 700 800 900 1000 1100
Wavelength (nm)
Responsivity {DN/(uJ/cm²)}
High Sensitivity Responsivity
Low Sensitivity Responsivity

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1.5DeratingCurves
Figure 9: 1k and 2k Derating Curves

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Figure 10: 4k Derating Curves
4K model: Change in DC Offset vs Temperature
(12bit, Integration Time 200us)
0.000
20.000
40.000
60.000
80.000
100.000
120.000
140.000
160.000
180.000
200.000
0C 10C 20C 30C 40C 50C 60C
Temperature (Celsius)
DN
+10dB HSM
+10dB LSM
-10dB LSM
4K model: Change in Noise vs.Temperature
(12bit, 0dB Gain, Integration time 100us)
7.400
7.600
7.800
8.000
8.200
8.400
8.600
8.800
9.000
9.200
9.400
0C 10C 20C 30C 40C 50C 60C
Temperature (Celcius)
DN(rms)
HSM
LSM
4K model: Change in FPN vs. Temperature
(12bit, 0dB Gain, Integration Time 100us )
0.000
5.000
10.000
15.000
20.000
25.000
30.000
0C 10C 20C 30C 40C 50C 60C
Temperature
DN
HSM
LSM
4K model: Change in PRNU vs. Temperature
(12bit, 0dB, Integration Time 100us)
0.000
10.000
20.000
30.000
40.000
50.000
60.000
70.000
80.000
0C 10C 20C 30C 40C 50C 60C
Temperature
DN
LSM
HSM
Changes in DC offset with Integration Time
(12bit, 0dB, HSM, 4K model)
0
20
40
60
80
100
120
140
3.32.01.00.50.30.20.10.1
Integration Time (ms)
DN

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2SettingUptheCamera
2.1InstallationOverview
When installing your camera, you should take these steps:
1. Power down all equipment.
2. Following the manufacturer’s instructions, install the framegrabber (if applicable). Be
sure to observe all static precautions.
3. Install any necessary imaging software.
4. Before connecting power to the camera, test all power supplies. Ensure that all the
correct voltages are present at the camera end of the power cable. Power supplies
must meet the requirements defined in section 2.3 Power Connector.
5. Inspect all cables and connectors prior to installation. Do not use damaged cables or
connectors or the camera may be damaged.
6. Connect Camera Link and power cables.
7. After connecting cables, apply power to the camera.
8. Check the diagnostic LED. See below for an LED description.
2.2Input/OutputConnectorsandLED
The camera uses:
•A diagnostic LED for monitoring the camera. See below for details.
•High-density 26-pin MDR26 connector for Camera Link control signals, data signals,
and serial communications. See below for details.
•One 6-pin Hirose connector for power. Refer to the section below for details.
•Camera link connector
This installation
overview assumes you
have not installed any
system components yet.

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!
!
Figure 11: Input and Output Connectors
C
B
A
Camera Link (Base Configuration)
+12V to +15V DC
Diagnostic LED
A
C
B
1k and 2k models 4k model
WARNING: It is extremely important that you apply the appropriate voltages to your
camera. Incorrect voltages may damage the camera. See section 2.4 for more details.
2.3PowerConnector
Figure 12: Hirose 6-pin Circular Male—Power Connector
Hirose 6-pin Circular Male
5
4
6
23
1
MatingPart:HIROSE
HR10A-7P-6S
The camera requires a single voltage input (+12 to +15V). The camera meets all
performance specifications using standard switching power supplies, although well-
regulated linear supplies provide optimum performance.
WARNING: When setting up the camera’s power supplies follow these guidelines:
•Apply the appropriate voltages
•Protect the camera with a fast-blow fuse between power supply and camera.
•Do not use the shield on a multi-conductor cable for ground.
•Keep leads as short as possible to reduce voltage drop.
•Use high-quality linear supplies to minimize noise.
Note: Camera performance specifications are not guaranteed if your power supply does not meet
these requirements.
DALSA offers a power supply with attached 6’ power cable that meets the Spyder 3 CL
camera’s requirements, but it should not be considered the only choice. Many high
quality supplies are available from other vendors. Visit the http://mv.dalsa.com Web site
Table 4: Hirose Pin Description
Pin Description Pin Description
1 Min +12 to Max +15V 4 GND
2 Min +12 to Max +15V 5 GND
3 Min +12 to Max +15V 6 GND

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DALSA 03-032-20008-03
for a list of companies that make power supplies that meet the camera’s requirements.
The companies listed should not be considered the only choices.
2.4CameraLED
The camera is equipped with a red/green LED used to display the operational status of
the camera. The table below summarizes the operating states of the camera and the
corresponding LED states.
When more than one condition is active, the LED indicates the condition with the highest
priority. Error and warning states are accompanied by corresponding messages further
describing the current camera status.
Table 5: Diagnostic LED
Priority Color of Status LED Meaning
1 Flashing Red Fatal Error. For example, camera temperature is too
high and camera thermal shutdown has occurred.
2 Flashing Green Camera initialization or executing a long command
(e.g., flat field correction commands ccp or ccf)
3 Solid Green Camera is operational and functioning correctly
2.5CameraLinkDataConnector
Figure 13: Camera Link MDR26 Connector
MDR26 Female
1
14
13
26
MatingPart :3M 334-31 series
Cable: 3M 14X26-SZLB-XXX-0LC **
The Camera Link interface is implemented as a Medium or Full Configuration in the
Spyder 3 cameras. Refer to section Setting the Camera Link Mode for details on setting
the Camera Link configuration.
Table 6: Camera Link Hardware Configuration Summary for Piranha HS-xx Models
Configuration 8 Bit Ports
Supported
Serializer
Bit Width
Number
of Chips
Number of
MDR26
Connectors
Applicable
Camera
Models
Base A, B, C 28 1 1 The various
models
**3M part 14X26-SZLB-XXX-0LC is a complete
cable assembly, including connectors.
Unused pairs should be terminated in 100
ohms at both ends of the cable.

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Table 7: Camera Link Connector Pinout
Base Configuration
One Channel Link Chip + Camera
Control + Serial Communication
Camera
Connector
Right Angle
Frame
Grabber
Channel
Link Signal
1 1 inner shield
14 14 inner shield
2 25 X0-
15 12 X0+
3 24 X1-
16 11 X1+
4 23 X2-
17 10 X2+
5 22 Xclk-
18 9 Xclk+
6 21 X3-
19 8 X3+
7 20 SerTC+
20 7 SerTC-
8 19 SerTFG-
21 6 SerTFG+
9 18 CC1-
22 5 CC1+
10 17 CC2+
23 4 CC2-
11 16 CC3-
24 3 CC3+
12 15 CC4+
25 2 CC4-
13 13 inner shield
26 26 inner shield
Notes:
*Exterior Overshield is connected to the shells of the connectors on both ends.
**3M part 14X26-SZLB-XXX-0LC is a complete cable assembly, including connectors.
Unused pairs should be terminated in 100 ohms at both ends of the cable.
Inner shield is connected to signal ground inside camera
Table 8: DALSA Camera Control Configuration
Signal Configuration
CC1 EXSYNC
CC2 PRIN
CC3 Direction
CC4 Spare

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See Appendix B for the complete DALSA Camera Link configuration table, and refer to
the DALSA Web site, http://mv.dalsa.com, for the official Camera Link documents.
InputSignals,CameraLink
The camera accepts control inputs through the Camera Link MDR26F connector.
The camera ships in internal sync, internal programmed integration (exposure mode 7) TDI Mode.
EXSYNC(TriggersFrameReadout)
Frame rate can be set internally using the serial interface. The external control signal
EXSYNC is optional and enabled through the serial interface. This camera uses the falling
edge of EXSYNC to trigger pixel readout. Section
Setting the Camera Link Mode
Purpose: Sets the camera’s Camera Link configuration, number of Camera
Link taps and data bit depth. Refer to the tables on the following
pages to determine which configurations are valid for your camera
model and how this command relates to other camera configuration
commands.
Syntax: clm m
Syntax Elements: m
Output mode to use:
0: Base configuration, 1 taps, 8 bit output
1: Base configuration, 1 taps, 12 bit output
2: Base configuration, 2 taps, 8 bit output
3: Base configuration, 2 taps, 12 bit output
Notes: •To obtain the current Camera Link mode, use the command
18Hgcp or 19Hget clm.
•The bit patterns are defined by the DALSA Camera Link
Roadmap available at 20Hhttp://mv.dalsa.com.
Related Commands
Example: clm 0
7.3 Exposure Mode, Line Rate for details on how to set frame times, exposure times, and
camera modes.
DirectionControl
Control the CCD shift direction through the serial interface. Use the software command
scd to determine whether the direction control is set via software control or via the
Camera Link control signal on CC3. Refer to the CCD Shift Direction section of this
manual, page 47, for details.
OutputSignals,CameraLink
These signals indicate when data is valid, allowing you to clock the data from the camera
to your acquisition system. These signals are part of the Camera Link configuration and
i

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you should refer to the DALSA Camera Link Implementation Road Map, available at
http://mv.dalsa.com, for the standard location of these signals.
Clocking Signal Indicates
LVAL (high) Outputting valid line
DVAL (high) Valid data (unused, tied high)
STROBE (rising edge) Valid data
FVAL (high) Outputting valid frame (unused, tied high)
The camera internally digitizes 12 bits and outputs the 8 MSB or all 12 bits depending on
the camera’s Camera Link operating mode.
2.6CameraLinkVideoTiming
Figure 14: Spyder 3 Overview Timing Showing Input and Output Relationships
Figure 15: Spyder 3 Fixed (Programmed) Integration Timing with External EXSYNC