Dalsa DALSTAR 6M18 User manual

DALSTAR 6M18
DS-4x-06M18
18 fps 3k x 2k
CCD Camera
User’s Manual and Reference
Document number 03-32-10017
Revision 03

6M18 Camera User’s Manual 2
DALSA 03-32-10017-03
© 2003 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 digital imaging solutions company that designs, develops, manufactures, and markets high
performance image sensors, electronic cameras, and vision systems. DALSA products are designed to replace human
vision and act as high performance “electronic eyes” in machine visions. DALSA’s continually expanding markets
include Vision for Machines, Life Sciences, Vision Systems, and Digital Cinema. DALSA sells to Original
Equipment Manufactures (OEMs), end users, and to the scientific and research communities in Canada, the United
States, Europe, Japan, and Asia Pacific. Based in Waterloo, Canada, with operations in Colorado Springs, Tucson,
Munich, and Tokyo, DALSA is a public company listed on the Toronto Stock Exchange under the symbol “DSA”.
All DALSA products are manufactured using the latest state-of-the-art equipment to ensure product reliability. All
electronic modules and cameras are subjected to a 24 hour burn-in test.
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]
www.dalsa.com
[e-mail]
Breslauer Str. 34
D-82194 Gröbenzell
(Munich)
Germany
Tel: +49 - 8142 –
46770
Fax: +49 - 8142 –
467746
www.dalsa.com
[e-mail]
Space G1 Building, 4F
2-40-2 Ikebukuro
Toshima-ku, Tokyo
171-0014
Japan
[phone]
(phone)
[phone] (fax)
www.dalsa.com
[email protected]m
DALSA Worldwide Operations
Waterloo Colorado
Springs Tucson Europe Asia Pacific
605 McMurray Rd
Waterloo, ON
N2V 2E9
Canada
Tel: [phone]
Fax: 519 886
8023
www.dalsa.com
[e-mail]
5055 Corporate Plaza
Drive
Colorado Springs, CO
80919
USA
Tel: [phone]
Fax: [phone]
www.dalsa.com
[e-mail]
3450 S. Broadmont Dr.
Suite #128
Tucson, AZ 85713-5245
USA
Tel: [phone]
Fax: [phone]
http://lifesciences.dalsa.
com
[e-mail]
Breslauer Str. 34
D-82194 Gröbenzell
(Munich)
Germany
Tel: +49 - 8142 –
46770
Fax: +49 - 8142 –
467746
www.dalsa.com
[e-mail]
Space G1 Building, 4F
2-40-2 Ikebukuro
Toshima-ku, Tokyo
171-0014
Japan
[phone]
(phone)
[phone] (fax)
www.dalsa.com
[email protected]m
Camera Link is a trademark registered by PULNiX America Inc., as chair of a committee of industry members
including DALSA.
Note: The enclosed information details an engineering model camera that has been made available for initial
evaluation and proof of concept for your application. It is not a production model. As such, the current camera
configuration may differ from that of a production model.

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DALSA 03-32-10017-03
Contents
ContentsContents
Contents
Introduction to the 6M18 Camera ____________________________________________ 5
1.1 Camera Highlights.......................................................................................................................................................5
1.2 Image Sensor...............................................................................................................................................................6
1.3 Camera Performance Specifications ............................................................................................................................7
Camera Hardware Interface________________________________________________ 11
2.1 Installation Overview...................................................................................................................................................11
2.2 Input/Output................................................................................................................................................................11
2.3 LED Status Indicators...................................................................................................................................................12
2.4 Power Input .................................................................................................................................................................13
2.5 Power Supplies............................................................................................................................................................13
2.6 Data Output.................................................................................................................................................................14
2.7 Serial Communication .................................................................................................................................................16
2.8 Serial Communication Settings....................................................................................................................................18
2.9 TTL Trigger Input and Output .....................................................................................................................................18
2.10 Integration Time........................................................................................................................................................19
2.11 Timing .......................................................................................................................................................................19
Camera Operation ______________________________________________________ 21
3.1 How to Control the Camera .........................................................................................................................................21
3.3 Control Register Reference ..........................................................................................................................................23
3.4 Resetting the ADC boards (“soft” reset) ......................................................................................................................24
3.5 Adjusting User Gain.....................................................................................................................................................24
3.6 Automatic Offset Control (AOC)...................................................................................................................................25
3.7 Reading the Camera Type ...........................................................................................................................................26
3.8 Reading the Firmware Revision ..................................................................................................................................26
3.9 Resetting the Camera (“hard” reset)...........................................................................................................................26
3.10 Controlling Binning ...................................................................................................................................................27
3.11 Flush Before Integrate...............................................................................................................................................28
3.12 Triggering, Integration, and Frame Rate Overview..................................................................................................28
3.13 Controlling Integration..............................................................................................................................................29
3.14 Controlling Frame Rate.............................................................................................................................................32
Optical and Mechanical Considerations________________________________________ 33

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4.1 Mechanical Interface....................................................................................................................................................33
4.2 Mechanical Tolerances.................................................................................................................................................34
4.3 Mounting the Camera..................................................................................................................................................34
Cleaning and Maintenance ________________________________________________ 35
5.1 Cleaning.......................................................................................................................................................................35
5.2 Maintenance ................................................................................................................................................................36
Troubleshooting________________________________________________________ 37
Warranty_____________________________________________________________ 39
7.1 Limited One-Year Warranty ........................................................................................................................................39
Index _______________________________________________________________ 41

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1
Introduction to the 6M18
Introduction to the 6M18Introduction to the 6M18
Introduction to the 6M18
Camera
CameraCamera
Camera
1.1 Camera Highlights
Features
• 3072 x 2048 resolution, Full-frame
CCD architecture.
• 18 fps four channel at full resolution,
4 x 40 MHz data rate
• True 12-bit digitization
• Progressive scan readout
• Asynchronous image capture, externally triggerable to within 200ns.
• Available with F-mount or M72x1 mount.
• Selectable binning
• Programmable operation via RS232, including gain (1x and 10x) , binning, and triggering
• 100% fill factor
Description
The 6M18 digital camera provides high-sensitivity 12-bit images with 3k x 2k spatial resolution at
up to 18 frames per second (fps). The 6M18 is a Full Frame CCD camera using a progressive scan
CCD to simultaneously achieve outstanding resolution and gray scale characteristics. A square
pixel format and high fill factor provide superior, quantifiable image quality even at low light
levels.
Applications
The 6M18 is an outstanding performer in fast, very high resolution applications. True 12 bit
performance provides up to 4096 distinct gray levels—perfect for applications with large
interscene light variations. The low-noise, digitized video signal also makes the camera an
excellent choice where low contrast images must be captured in challenging applications.

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1.2 Image Sensor
Figure 1: Image Sensor Block Diagram
Image Area
3072 active pixels
2048
active
lines
6 black lines
6 black lines
44
20 pixels
3120 cells
3134 cells
Output Register
Output Amplifier
2060
lines
77
20 pixels
Table 1: Sensor Characteristics
Sensor characteristics
Optical size 36.864mm (H)x24.576 mm (V)
Chip size 39.148 mm (H)x26.508 mm (V)
Pixel size 12µm x 12µm
Active pixels 3072 (H) x 2048 (V)
Total number of pixels 3120 (H) x 2060 (V)
Optical black pixels Left: 20 Right: 20
Timing pixels Left: 4 Right: 4
Dummy register cells Left: 7 Right: 7
Optical black lines Bottom: 6 Top: 6
Table 2: Sensor Cosmetic Specifications
Type Allowable Blemishes
Columns 1
Clusters 6
Pixels 36
Definition of blemishes
Pixel defect
• Pixel whose signal, at nominal light (illumination at 50% of the linear range), deviates more
than ±30% from its neighboring pixels.
• Pixel whose signal, in dark, deviates more than 6mV from its neighboring pixels (about 1% of
nominal light).
i
TEST CONDITIONS
Temperature:
Temperature:Temperature:
Temperature: 35°C
Integration Time:
Integration Time:Integration Time:
Integration Time: 10 ms

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Cluster defect
• A grouping of pixel defects where within a sub area of 3*3 pixels there are at most 5 present.
Column or row defect
• A column or row which has more than 12 pixel defects.
• Column defects must be horizontally separated by 3 columns.
• Row defects are not allowed.
1.3 Camera Performance Specifications
Table 3: 6M18 Camera Performance Specifications
Physical
Characteristics
Units Notes
Resolution H x V pixels 3072x2048
Pixel Size µm 12x12
Chip Working Area mm 36.86 x 24.57
Pixel Fill Factor %100
Image Sensor Grade Industrial Grade See Table 2:
Sensor Cosmetic
Specifications
Size mm 146x92x105
Mass kg 1.05
Power Dissipation W< 27
Output Data Format LVDS 4 x 12 Bit, LVDS 1
Serial Port Setup 9600 8N1
Serial Data Format Hexadecimal
Lens Mount F-mount
and M72x1mm
Cooling Fan Present
Operating Ranges Units Min. Max.
Data Rate MHz 4 x 40 4 x 40
Operating Temp °C 10 40
+15 Input Voltage V+14.25 +15.75
+5 Input Voltage V+4.975 +5.25
-5 Input Voltage V- 4.75 - 5.25
Nominal Gain Range X1x 10x
Binning Modes Default Min Max
Horizontal Binning 1x 2x 4x
Vertical Binning 1x 2x 4x

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Calibration
Conditions
Units Setting Min. Max. Notes
Data Rate MHz 4x40 4x40 4x40
+15 Input Voltage V+15 +14.925 +15.075 2
+5 Input Voltage V+5 +4.975 +5.025 2
-5 Input Voltage V- 5 - 4.975 - 5.025 2
Binning Mode 1x1
Ambient
Temperature
°C 25
Gain X1x
Electro-Optical
Specifications
Units Min. Typical Max. Notes
Quantum Efficiency
@ 530nm
%20 26
Dark Current
Generation @ 30C
e-/pix/sec 305
Dark Offset DN 40 50 60
Dynamic Range 1850:1 2500:1
System Noise DN(rms) 1.5 2.0
Saturation Output
Amplitude
DN 3700 3800
Maximum Full frame
Rate
Fps 18
Integration time at
Max Frame Rate
mSec 1.4
FPN DN(rms) 1.5 2.0 3
PRNU %0.5 5 4
Responsivity @
530nm
DN/(nj/cm2)32 36 41
Notes:
Notes:Notes:
Notes:
1. Each of the 60 Pin Molex connectors contains 2 12 bit data words synchronized
to 1 set of control signals.
2. Max supply ripple for Performance specs <5mV
3. FPN = Fixed Pattern Noise defined by the following equation:
FPN(DNrms)=Std_dev(Dark_image(i,j))
Dark_image(i,j)= pixel by pixel average of a statistically significant number of data frames in
darkness
Std_dev= Standard deviation
4. PRNU= Photo Response Nonuniformity defined by the following equation:
PRNU(%) = [Std_dev (illuminated_50(i,j)) / (mean(Illuminated_sat(i,j))-
mean(Dark_average(i,j)))] x 100
illuminated_50(i,j)= pixel by pixel average image of a statistically significant number of
images at 50% illumination
illuminated_sat(i,j)= pixel by pixel average image a statistically significant number of
saturated frames

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Dark_average(i,j)= pixel by pixel average image of a statistically significant number of data
frames in darkness
Std_dev= standard deviation
mean = mean of all pixels (i,j)

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2
Camera Hardware
Camera HardwareCamera Hardware
Camera Hardware
Interface
InterfaceInterface
Interface
2.1 Installation Overview
In order to set up your camera, you should take these initial steps:
1. Power down all equipment.
2. Following the manufacturer’s instructions, install the frame grabber (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 (the Camera Performance
Specifications earlier in this document lists appropriate voltages). Power supplies must meet
the requirements defined in section 2.4 Power Input.
5. Inspect all cables and connectors prior to installation. Do not use damaged cables or
connectors or the camera may be damaged.
6. Connect data, serial interface, and power cables.
7. After connecting cables, apply power to the camera. The POST (power on self test) LED on
the back of the camera should glow green after one second to indicate that the camera is
operating and ready to receive commands.
2.2 Input/Output
The camera provides 12-bit LVDS data and synchronization signals through the data output
connector. Camera functions such as integration time, binning and camera gain are all controllable
by the user via RS232 serial port. The camera is capable of free running operation or may be
triggered externally via the input TRIGGER IN. TRIGGER OUT allows the synchronization of
shutters or illumination sources in free running or externally triggered modes.
This installation
overview assumes you
have not installed any
system components yet.

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Figure 2: Camera Inputs/Outputs
Channel C & D Output Channel A & B output
Trigger input & output
Serial port
LED Status indicators
LED Status indicators
Power supply input
Power supply input
ON
S/N ________________
PST
BIN
MODE
S
E
R
I
A
L
T
R
I
G
G
E
R
I
N
O
U
T
D
A
T
A
1
D
A
T
A
2
P
O
W
E
R
2.3 LED Status Indicators
There are three LED’s visible on the rear cover of the camera that indicate the status of the camera.
Table 4: LED Functions
LED Label Color LED “ON” LED “OFF”
POST Green Camera Power On Self Test
successful
Camera failed Power On Self
Test
BIN Green Camera is operating in a
binning mode
Camera is operating unbinned
(1x1)
MODE Green Camera is in an external trigger
mode (uses external signal to
trigger image capture)
Camera is triggering image
capture internally

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2.4 Power Input
Table 5: Power Connector Pinout
Pin Symbol
1+5V
2+5V
3- 5V
4+15V
5NC
6NC
7GND
8GND
9+5V
10 - 5V
11 +15V
12 +15V
13 NC
14 GND
15 GND
1
9
15 8
DB15M
DB15MDB15M
DB15M
(AMP Part # 747236-4 or
(AMP Part # 747236-4 or(AMP Part # 747236-4 or
(AMP Part # 747236-4 or
equivalent)
equivalent)equivalent)
equivalent)
2.5 Power Supplies
When setting up the camera’s power supplies, follow these guidelines:
• Do not connect or disconnect cable while power is on.
• 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.
Table 6: 6M18 Power Requirements
V
(DC)
±%Max Ripple mV I (A)
+15 0.5 < 5 0.40
+5 0.5 < 5 3.25
-5 0.5 < 5 0.55
Note: Performance specifications are not guaranteed if your power supply does not meet these
requirements.
Many high quality supplies are available from other vendors. DALSA assumes no responsibility
for the use of these supplies.
!
WARNING: It is extremely
important that you apply the
appropriate voltages to your
camera. Incorrect voltages will
damage the camera.

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2.6 Data Output
Data channel outputs represent the CCD per the following (Image viewed from the front of the
CCD). Arrows indicate channel read out direction.
Figure 3: Sensor tap read out direction
The camera back panel output connectors DATA1 and DATA2 utilize differential LVDS signals
with pin assignments as follows:
Connector and Pinout
Figure 4: DATA1 Connector Pinout
15
1
16
30
45
31
46
60
(Molex Part # 70928-2000 or equivalent)
Table 7: DATA1 Connector Pinout
Pin Symbol Pin Symbol Pin Symbol Pin Symbol
1DA0+ 16 Reserved 31 DB8- 46 GND
2DA0- 17 DA7+ 32 DB8+ 47 DB11-
3DA1+ 18 DA7- 33 DB7- 48 DB11+
4DA1- 19 DA8+ 34 DB7+ 49 DB10-
5DA2+ 20 DA8- 35 DB6- 50 DB10+
6DA2- 21 DA9+ 36 DB6+ 51 DB9-
7DA3+ 22 DA9- 37 DB5- 52 DB9+
8DA3- 23 DA10+ 38 DB5+ 53 Reserved
9DA4+ 24 DA10- 39 DB4- 54 Reserved
10 DA4- 25 DA11+ 40 DB4+ 55 VSYNC-
11 DA5+ 26 DA11- 41 DB3- 56 VSYNC+
12 DA5- 27 DB0+ 42 DB3+ 57 HSYNC-
13 DA6+ 28 DB0- 43 DB2- 58 HSYNC+
14 DA6- 29 DB1+ 44 DB2+ 59 PIXCLK-
15 Reserved 30 DB1- 45 GND 60 PIXCLK+
A
C
B
D

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DALSA 03-32-10017-03
!
Figure 5: DATA2 Connector
15
1
16
30
45
31
46
60
(Molex Part # 70928-2000 or equivalent)
Table 8: DATA2 Connector Pinout
Pin Symbol Pin Symbol Pin Symbol Pin Symbol
1DC0+ 16 Reserved 31 DD8- 46 GND
2DC0- 17 DC7+ 32 DD8+ 47 DD11-
3DC1+ 18 DC7- 33 DD7- 48 DD11+
4DC1- 19 DC8+ 34 DD7+ 49 DD10-
5DC2+ 20 DC8- 35 DD6- 50 DD10+
6DC2- 21 DC9+ 36 DD6+ 51 DD9-
7DC3+ 22 DC9- 37 DD5- 52 DD9+
8DC3- 23 DC10+ 38 DD5+ 53 Reserved
9DC4+ 24 DC10- 39 DD4- 54 Reserved
10 DC4- 25 DC11+ 40 DD4+ 55 VSYNC-
11 DC5+ 26 DC11- 41 DD3- 56 VSYNC+
12 DC5- 27 DD0+ 42 DD3+ 57 HSYNC-
13 DC6+ 28 DD0- 43 DD2- 58 HSYNC+
14 DC6- 29 DD1+ 44 DD2+ 59 PIXCLK-
15 Reserved 30 DD1- 45 GND 60 PIXCLK+
WARNING. Care must be taken when connecting Data cables to the camera to insure proper
connection and to prevent damage to the connector.

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RJ-11
View into female jack
6-position with 4 conductors
RXDTXDGND
Data Signals
Table 9: Data Signal Definition
Signal Description
D*0+, D*0- Data bit 0 true and complement--Output. (Least significant
bit)
D*1+, D*1- Data bit 1 true and complement--Output.
D*2+, D*2- Data bit 2 true and complement--Output.
D*3-D*10+,-
etc.
Etc.
D*11+,
D*11-
Data bit 11 true and complement--Output. (Most significant
bit)
Digitized video data is output from the camera as LVDS differential signals using two Molex 60-
pin connectors on the rear panel (labeled “DATA1” and “DATA2”). The data is synchronous and
is accompanied by a pixel clock and clocking signals.
Note:
Note:Note:
Note: Data frequency is dependent on binning mode. Reference section 3.12 – Triggering,
Integration, and Frame Rate Overview.
Data Clocking Signals
Table 10: Clock Signal Descriptions
Signal Description
PIXCLK+, PIXCLK- Pixel clock true and complement. 40MHz (unbinned) -- Output.
Data is valid on the falling edge. Note that data and PIXCLK
frequency is dependent on binning mode. Reference section 3.12 –
Triggering, Integration, and Frame Rate Overview
HSYNC+, HSYNC- Horizontal sync, true and complement--Output.
HSYNC high indicates the camera is outputting a valid line of
data. The number of valid lines in a frame depends on binning
mode. Reference section 3.12 – Triggering, Integration, and Frame
Rate Overview.
VSYNC+, VSYNC- Vertical sync, true and complement--Output.
VSYNC high indicates the camera is outputting a valid frame of
data.
2.7 Serial Communication
Connector and Pinout
The serial interface provides control of integration time,
video gain, pixel binning, external trigger and external
integration (for information on how to control these
functions, see section 3.1 How to Control the Camera on page
21). The remote interface consists of a two-wire (plus
ground) full duplex RS-232 compatible serial link, used for
camera configuration, and two back panel SMA coax
connectors used for external trigger input and output
IMPORTANT:
This camera uses the
falling
fallingfalling
falling edge of the
pixel clock to register
data.

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!
The camera uses an RJ-11 telephone-style connector for serial communications, with four
conductors installed in a six-position connector. Note that both four- and six- conductor plugs may
be used interchangeably with the RJ-11 jack.
IMPORTANT: Both the PC/AT and the camera are configured as “DTE” (Data Terminal Equipment)
devices requiring the TXD and RXD lines to be swapped when interconnecting the two (note that
pin 4, normally the yellow wire, is not used on the RJ-11.) That is, the TXD pin represents DATA
OUT and the RXD pin represents DATA IN on both devices, so that one device’s TXD line must
connect to the other device’s RXD line and vice-versa.
Figure 6: 25 Pin Serial Port Connector to Camera RJ-11 Connector
Figure 7: 9 Pin Serial Port Connector to Camera RJ-11 Connector

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!
Serial Port
Configuration
Baud 9600, fixed
Start bits 1
Data bits 8
Stop bits 1
Parity None
2.8 Serial Communication Settings
The serial interface operates at RS-232 levels with
fixed parameters of 9600 baud, 1 start bit, 8 data bits,
1 stop bit, and no parity. The interface uses only three
wires, for received data, transmitted data, and ground.
In general writing data must start with a write
command byte and be followed by a data byte.
Reading a camera register requires only a single read
command byte.
WARNING: Due to initialization sequencing after power-
up, no commands should be sent to the camera for a
minimum of 1 second after power up.
Serial Cable Source
The remote interface connector, on the cameras rear panel,
is specified as a low-profile RJ-11 modular connector. The
connector is a 6-position model, but only the center four
positions are populated with contacts. It will mate with
either the 4-position or 6-position cable plugs. This type of
connector typically requires special assembly tools;
complete cable assemblies are available from suppliers
such as Digi-Key:
Digi-Key
701 Brooks Ave. South
Thief River Falls, MN 56701
1-800-344-4539
cable part number:
H2643-14-ND (14 feet)
DALSA provides serial cables in 3 lengths: 10’, 20’ and 50’. Part number CL-31-00004-xx
(where xx refers to the cable length in feet).
2.9 TTL Trigger Input and Output
Connector
The camera uses an SMA connector (labeled TRIGGER IN) to allow the user to provide a standard
TTL signal to control camera integration and readout. The input is high impedance (>10K)
allowing the user to terminate at the SMA input as needed. The camera has another SMA
connector (TRIGGER OUT) that provides a standard TTL output which is high whenever the
camera is integrating.

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TTL Trigger Input
175ns
+/- 25
Min. 10 µs
Figure 8: Trigger Timing Description
2.10 Integration Time
The minimum integration time is 10 µs. As with any full frame imager, the camera will continue to
integrate during read out unless externally shuttered or strobed.
2.11 Timing
The 6M18 pixel clock runs at 40 MHz, so each pixel clock cycle will be 1/40,000,000 or 25 Ns.
The following diagram and tables describe the correct timing requirements for the 6M18 camera.
Figure 9: 6M18 Timing
Table 11: HSYNC Pixel Timing
Horizontal
Binning
Mode
A B C D E F
1x 11 26 1536 13 518 0
2x 516 768 4539 0
4x 3 6 384 3550 0
VSYNC
HSYNC
PIXEL
CLOCK
123
ABC
C
E
DF
IMPORTANT:
This camera uses the
falling
fallingfalling
falling edge of the pixel
clock to register data.

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Table 12: VSYNC Pixel Timing (HSYNC falling edges/VSYNC falling edge)
Vertical
Binning
Mode
Pre-Scan
Lines/Frame
Active
Lines/Frame
Post Scan
Lines/Frame
1x 61024 0
2x 3512 0
4x 2256 0
“A” represents the number of falling clock edges from the rising edge of VSYNC to the rising
edge of HSYNC.
“B” represents the number of falling clock edges prior to the first word. (Pre-Scan pixels)
“C” represents the number of words per line.
“D” represents the number of falling clock edges between the last word and the falling edge of
HSYNC. (Post-Scan pixels)
“E” represents the number of falling clock edges between a falling HSYNC and a rising HSYNC.
“F” represents the number of falling clock edges from the falling edge of HSYNC to the falling
edge of VSYNC