Imperx Cheetah CXP-C9440 User manual

IMPERX
Cheetah GMAX Camera
User Manual
with CoaXPress Interface
The Imperx Cheetah GMAX CMOS camera provides 65MP resolution at exceptionally high
frame rates in a remarkably compact and ruggedized design. The cameras use GMAX CMOS
sensors for their high sensitivity, image clarity, and high dynamic range. They achieve frame
rates up to 34.7 frames per second with quad CXP-6 CoaXPress output interface and
support power over CoaXPress (PoCXP).
Revision 1.1

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About Imperx, Inc.
IMPERX, Inc. is a leading designer and manufacturer of high performance, high quality digital
cameras, frame grabbers, and accessories for industrial, commercial, military, and aerospace
imaging applications including flat panel inspection, biometrics, aerial mapping, surveillance,
traffic management, semiconductors and electronics, scientific & medical Imaging, printing,
homeland security, space exploration, and other imaging and machine vision applications.
Fortune 100 companies, federal and state government agencies, domestic and foreign defense
agencies, academic institutions, and other customers worldwide use IMPERX products.
Imperx, Inc. | 6421 Congress Ave. | Boca Raton, FL, 33487
US Phone: [phone]

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Warranty
IMPERX warrants performance of its products and related software to the specifications
applicable at the time of sale in accordance with IMPERX’s standard warranty, which is 2 (two)
years parts and labor.
Do not open the housing of the camera. Warranty voids if the housing has been open or
tampered.
IMPORTANT NOTICE
This camera has been tested and complies with the limits of Class A digital device, pursuant to
part 15 of the FCC rules.
Copyright © 2020 IMPERX Inc. All rights reserved. All information provided in this manual is
believed to be accurate and reliable. No responsibility is assumed by IMPERX for its use. IMPERX
reserves the right to make changes to this information without notice. Redistribution of this
manual in whole or in part, by any means, is prohibited without obtaining prior permission from
IMPERX. IMPERX reserves the right to make changes to its products or to discontinue any
product or service without notice and advises its customers to obtain the latest version of
relevant information to verify, before placing orders, that the information being relied on is
current.
IMPERX PRODUCTS ARE NOT DESIGNED, INTENDED, AUTHORIZED, OR WARRANTED TO BE
SUITABLE FOR USE IN LIFE-SUPPORT APPLICATIONS, DEVICES OR SYSTEMS OR OTHER CRITICAL
APPLICATIONS, WHERE MALFUNCTION OF THESE PRODUCTS CAN REASONABLY BE EXPECTED TO
RESULT IN PERSONAL INJURY. IMPERX CUSTOMERS USING OR SELLING THESE PRODUCTS FOR
USE IN SUCH APPLICATIONS DO SO AT THEIR OWN RISK AND AGREE TO FULLY INDEMNIFY
IMPERX FOR ANY DAMAGES RESULTING FROM SUCH IMPROPER USE OR SALE.

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TABLE OF CONTENTS
About the Camera .........................................................................................10
General ..............................................................................................................................10
Key Features ................................................................................................................11
CXP-C9440 Technical Specifications ..................................................................................12
Ordering Information ........................................................................................................13
Accessories...................................................................................................................13
Technical Support ..............................................................................................................14
Hardware......................................................................................................15
CXP-C9440 Camera Connectivity .......................................................................................15
Pin Assignments...........................................................................................................17
Camera LED Status Indicator .............................................................................................18
Powering the Camera ........................................................................................................18
PS12V04A Standard Power Supply ..............................................................................19
I/O Cable CBL-PWIO01.................................................................................................21
Active Canon EF mount................................................................................................22
Electrical Connectivity .......................................................................................................23
Opto-Isolated Input......................................................................................................23
TTL/LVTTL Input ...........................................................................................................23
TTL Output ...................................................................................................................23
Opto-Isolated Output...................................................................................................24
Mechanical Drawings.........................................................................................................26
Mounting Plate ............................................................................................................28
Optical................................................................................................................................29
Environmental ...................................................................................................................30
Handling the Camera .........................................................................................................31
GenICamTM API Module – Configuring the Camera .........................................32
Overview............................................................................................................................32
Camera Startup..................................................................................................................32
GenApi Camera Configuration...........................................................................................32
Device Control Category ..............................................................................................33
Version Information Category .....................................................................................35
Image Format Control Category ..................................................................................37
Acquisition Control Category .......................................................................................41
Analog Control Category..............................................................................................44
Auto White Balance, Exposure and Gain Algorithm Control Category ........................46
Data Correction Category ............................................................................................50
Digital Input / Output Control Category ......................................................................52
Pulse Generator Category............................................................................................55
Canon Lens Control Category.......................................................................................56
Transport Layer Control Category................................................................................60
User Set Control Category ...........................................................................................63
Special Features Category............................................................................................63
Camera Features ...........................................................................................64
Image Data Flow ................................................................................................................64
Exposure Control ...............................................................................................................65
Exposure Control in Free-Running Mode.....................................................................65

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Exposure Control in Trigger Mode ...............................................................................67
Global Shutter..............................................................................................................68
Automatic Exposure and Gain Control ..............................................................................69
P, I, and D Coefficients.......................................................................................................71
Proportional Response.................................................................................................72
Integral Response ........................................................................................................72
Derivative response .....................................................................................................72
Camera Triggering .............................................................................................................73
Trigger Modes ..............................................................................................................73
Trigger Sources ............................................................................................................77
Configuring the Trigger ................................................................................................78
Video Amplifier Gain and Offset........................................................................................80
Analog Gain..................................................................................................................80
Digital Gain...................................................................................................................80
Black Level and Offset..................................................................................................80
Data Output Format ..........................................................................................................81
Pulse Generator.................................................................................................................81
Input / Output Control.......................................................................................................82
Strobe and Synchronization Controls ................................................................................83
Configuring the Strobe in Free-Running Mode............................................................84
Configuring a Strobe in Trigger Mode..........................................................................86
Area of Interest..................................................................................................................91
Horizontal and Vertical Window..................................................................................91
Factors Impacting Frame Rate .....................................................................................91
Sub-Sampling Decimation..................................................................................................92
Transfer Function Correction.............................................................................................93
Gamma Control............................................................................................................93
Factory LUTs.................................................................................................................94
User Defined LUT .........................................................................................................94
Hot and Defective Pixel Correction ...................................................................................95
Flat Field Correction ..........................................................................................................95
Test Image Pattern ............................................................................................................96
Automatic White Balance..................................................................................................96
Configuration Memory ......................................................................................................99
CXP Link Customization ...................................................................................................100
Canon Lens Control..........................................................................................................102
Focus Control .............................................................................................................102
Iris Control .................................................................................................................103
Image Sensor Technology ............................................................................ 104
General Information ........................................................................................................104
Spectral Sensitivity...........................................................................................................105
Appendix A: Creating Hot and Defective Pixel Correction Maps.................... 106
Overview..........................................................................................................................106
Editing HPM / DPM Files..................................................................................................106
Finding Defective Pixels .............................................................................................107
Finding Hot Pixels.......................................................................................................107
Locating and adding pixel coordinates ......................................................................109
Creating a DPM/HPM Using a Text Editor .......................................................................112
Creating a DPM Using Imperx Toolkit..............................................................................113
Creating an HPM Using Imperx Toolkit............................................................................114

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Uploading DPM / HPM Files ............................................................................................115
Appendix B: Look Up Tables ........................................................................ 117
Creating an LUT Using a Text Editor ................................................................................117
Creating an LUT Using Microsoft Excel ............................................................................118
Creating an LUT Using Imperx Toolkit .............................................................................119
Uploading the LUT File.....................................................................................................121

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REVISION HISTORY
Revision
Date
Reviser
Comments
1.0
07/23/2020
I. Barabanova
Initial release.
1.1
12/09/2020
I. Barabanova
Changed Canon Lens Control specifications.
Added Focus and Iris adjustment procedures
for a Canon Lens.
Added UKCA compliance.

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ADDITIONAL RESOURCES
Name of the document
Description
Where to find
ANP07 Cheetah GMAX CXP
Defective Cluster Correction
Application Note
This application note describes how to create a
defective cluster correction map and upload it
into the Imperx Cheetah CoaXPress CXP-C9440
camera.
Cheetah CXP
ZIP folder
ANP10 Cheetah GMAX CXP
Custom Links Application Note
This application note describes how to change
CXP link configuration on the Imperx Cheetah
CoaXPress CXP-C9440 camera.
Imperx Sensor Cleaning Procedure
The Sensor Cleaning Procedure provides
instructions on cleaning an image sensor.

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TERMINOLOGY
Defective pixels – these are pixels whose sensitivity deviates due to fluctuations in the CMOS
manufacturing process and materials.
Defective clusters – groups of defective pixels that are considered as one unit for pixel
correction purposes.
Fast trigger mode – a camera exposes a frame and then exposes the next frame while reading
out the previous frame. In this way, the camera overlaps the exposure and readout times. Fast
trigger mode requires a predictable and stable trigger period. The TriggerOverlap setting is On.
Free-running mode – a camera runs without synchronization to an external trigger pulse
(untriggered mode).
Hot pixels – these are pixels that in normal camera operation behave as normal pixels (sensitivity
equal to one of the adjacent pixels). But during long exposures or at elevated temperatures, the
pixel becomes far brighter than the average of the pixels surrounding it. In some cases, the pixel
becomes so bright that it saturates.
Standard trigger mode – a camera waits for a trigger pulse, then exposes using an internal
exposure timer and reads out a frame and waits for next trigger pulse. The exposure and readout
do not overlap. The TriggerOverlap setting is Off.
Trigger mode – a camera waits for a trigger pulse to start the image capture, synchronizing it to
either an internal or external event.
AEC – Automatic exposure control
AGC – Automatic gain control
AOI – Area of interest
AWB – Automatic white balance
CXP – CoaXPress
DCC – Defective cluster correction
DPC – Defective pixel correction
FFC – Flat field correction
HPC – Hot pixel correction
LUT – Look-up table
PoCXP – Power over CoaXPress

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About the Camera
General
The Imperx Cheetah CoaXPress cameras feature 4-channel CXP-6 CoaXPress interface and
comply with CoaXPress Standard v1.1 transferring data with 6.25 Gbps per one channel (up to 25
Gbps via four channels).
The Cheetah GMAX CMOS camera is built around advanced GPIXEL GMAX3265 CMOS image
sensors with global shutter for high quality images in a small ruggedized form factor. The
Cheetah GMAX camera is a progressive scan digital camera featuring a built-in image-processing
engine, low power consumption, low noise, high dynamic range (66 dB), and fast frame rates for
high throughput applications.
The cameras provide several trigger modes and output strobes allowing you to synchronize the
image capture of one or more cameras to an external event. You can vary exposure times using
internal controls or an external pulse width.
The cameras also provide an area of interest (AOI), programmable look-up tables (LUT) and the
ability to store up to four different camera configurations. Using the simple GenICam™ compliant
user interface, you can quickly change the camera configuration. Built-in gamma correction and
user-defined LUT capabilities optimize the cameras’ dynamic range. Hot and defective pixel
correction is available to correct over-responding or under-responding pixels.
The cameras are suitable for a wide range of environmental conditions and applications, such as
machine vision, industrial inspection, surveillance, aerospace, and more.
The cameras provide support for active Canon EOS lens with iris and focus controls.
Camera Model
Resolution
(MP)
Resolution
(H x V)
Frame
Rate
(Max)
Type
(Color/
Mono)
Optical
format
Pixel Size
(microns)
GPIXEL Sensor
Model
CXP-C9440
65
9344 x 7000
34.7
C, M
37.4 mm
3.2
GMAX3265

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Key Features
•Global shutter (GS)
•Color and monochrome versions
•Fast frame rates
•High data transfer rates up to 6.25 Gbps per one cable
•Uses micro-BNC (HD-BNC) connectors
•Internal and external exposure controls
•Automatic exposure and gain control (AEC/AGC)
•Analog and digital gain control
•Offset control
•Built-in pulse generator
•Area of interest (AOI)
•Programmable external inputs and outputs
•Multiple Trigger/Synchronization options
•Automatic white balance
•Gamma correction
•Four 12-bit look-up tables (LUT)
•Hot and defective pixel correction, user-defined and factory
•Defective cluster correction, user-defined and factory
•Eight flat field correction tables, user defined and factory
•Dynamic transfer function and gamma corrections
•Canon EOS EF lens control (optional)
•Forced air cooling
•Power over CoaXPress or alternative power from external power supply
•Temperature monitor
•Field upgradeable firmware

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CXP-C9440 Technical Specifications
Specifications
CXP-C9440 (65 MP)
Active image resolution
9344 (H) x 7000 (V)
Pixel size
3.2 µm
Optical format
37.4 mm diagonal
Shutter
Global
Frame rate (max)
34.7 fps (8-bit), 28.9 fps (10-bit), 24.0 fps (12-bit)
Sensor digitization
10 or 12-bit
Dynamic range
66 dB
Output bit depth
8, 10, or 12-bit
Shutter speed
11 µs to 16.0 s
Analog gain
0.75x to 6.0x, 0.25x step
Digital gain
Manual, auto, once; 1x (0 dB) to 4x (12 dB), 0.001x step
AEC/AGC
Off, once, auto
Gamma correction
0.00 to 4.00 with a step of 0.01
Black level offset
Manual (-8192 to 8191)
Exposure control
Manual, auto, once, external, off
White balance
Manual, auto, once, off
Area of Interest (AOI)
One
Sub-sampling decimation
2x1
Trigger inputs
External, pulse generator, software, link trigger (trigger over CXP)
Trigger options
Edge, pulse width, trigger filter, trigger delay, debounce
Trigger modes
Free-run, standard, fast
I/O control
2 IN (OPTO, LVTTL) / 2 OUT (OPTO, TTL)
Strobe output
2 strobes, programmable position and duration
Pulse generator
Yes, programmable
Data correction
2 LUTs pre-programmed with Gamma 0.45
2 LUTs pre-programmed with Negative LUT
Hot and Defective pixel correction (static)
Defective cluster correction (static)
8 Flat field correction tables
Lens mount
F-mount (default), Canon EOS active or passive, M42 (optional)
Camera housing
6000 series aluminum
Upgradeable firmware
Yes
Forced Air Cooling Control
On, off, auto
Supply voltage range
Power over CoaXPress or 12 V/24 V external power supply (optional)
Power consumption
Typ. (Fan is on): 13.1 W (at 25 °C); Max. (Fan is off): 15 W (at 25 °C) (EST)
Camera size (W x H x L)
87 mm x 87 mm x 47 mm
Weight
655 g
Vibration, shock
20G (20–200 Hz XYZ) / 100G
Environmental
Operating
Storage
-40 °C to +55 °C (Fan is on/auto) (EST); -40 °C to +30 °C (Fan is off) (EST)
-40 °C to +85 °C
Relative humidity
10% to 90% non-condensing
Regulatory
FCC part 15 Class A, CE, RoHS, UKCA

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Ordering Information
When ordering a camera, please specify the camera ordering code. To create your own customer
Cheetah ordering code, simply choose one element from each column:
Interface
Camera
model
Sensor Type Ruggedized Lens Mount Filter Sensor Grade
CXP =
4-channel
CXP-6
CoaXPress
w/PoCXP
C9440
C = Color
M = Monochrome
R= Ruggedized
F= F-Mount
(default)
M = M42
L= Canon EF
EOS Active
Mount
E = Canon EF
EOS Passive
Mount
0 = none
00 = Grade 1
(Mono or Color)
G2 = Grade 2
(Mono or Color)
G3 = Grade 3
(Mono)
1. 0 (none) filter option means that a color camera has an IR-cut filter, while a monochrome camera
does not have any filters.
2. Sample codes:
CXP-C9440C-RL000: Cheetah Color 65 MP camera with Canon EF EOS active mount and 4-channel
CXP-6 CoaXPress w/PoCXP interface.
CXP-C9440M-RF000: Cheetah Monochrome 65 MP camera with F-Mount and 4-channel CXP-6
CoaXPress w/PoCXP interface.
3. The Imperx PS12V04A power supply is available for use with CXP cameras and can be purchased
separately.
Accessories
Imperx offers a power supply, cable, and fan assembly for use with the cameras. The accessories
are sold separately.
Part Number Description
PS12V04A
Standard Power Supply
12.6 V DC, 2 A,
With one strobe and one trigger, 1.5 m length
CBL-PWIO01
Power and Input/Output Cable,
12-pin (F) Hirose to loose end, 2 m

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Technical Support
Each camera is fully tested before shipping. If, for some reason, the camera is not operational
after power up, check the following:
1. Check the CoaXPress and all I/O cables.
Make sure that all the connectors are firmly attached.
2. Check the status LED and verify that it is steady ON, if not – refer to the section Camera LED
Status Indicator.
3. Enable the test mode and verify that the communication between a computer and the
camera is established.
If the test pattern is not present, power off the camera, check all the cabling, frame grabber settings,
and computer status.
If you still have problems with the camera operation, contact technical support at:
Email: [e-mail]
Toll Free 1 [phone] or ([phone]
Fax: [phone]
Visit our website:www.imperx.com

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Hardware
This chapter contains the detailed information needed for the initial design-in process:
•connector types, pin numbering and assignments
•electrical connectivity and voltage requirements
•mechanical drawings and cabling
•optical and environmental information
CXP-C9440 Camera Connectivity
The back panel of the camera provides all the connectors needed to operate and control the
camera and an LED status indicator.
The camera provides the following connectors:
•four micro-BNC (HD-BNC) 75 Ohm jacks providing 4-channel data output, control data
(including Canon lens control), trigger, and power over CoaXPress
•male 12-pin Hirose miniature locking receptacle #HR10A-10R-12PB(71) providing alternative
power input and I/O interface. Use a female Hirose miniature locking plug #HR10A-10P-
12S(73) on the mating end of your I/O cable
•a camera status LED indicator
•the camera’s model and serial number
status LED
four micro-BNC 75 Ohm jacks
12-pin connector for power, I/O
channel 0 – Master
channel 1 to channel 3 – Extension

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The camera’s video data output, control data, and triggers are serialized and continuously
transmitted over CoaXPress (CXP-6) using a standard 75-ohm mini-coaxial cable.
The interface provides a high-speed downlink up to 6.25 Gbps for video transport, lower speed
20 Mbps uplink for communication and control, and power (up to 13 W via one CXP cable).
Use Channel 0 (Master) and Channel 1 (Extension) for providing power over CoaXPress (PoCXP).
The CXP output interface requires a CoaXPress frame grabber for collecting
and storing the camera’s output, providing power and, if required, a trigger
pulse over CoaXPress. The frame grabber should be installed in the host
computer and enables you to view images and configure the camera.
The frame grabber, connectors, and coaxial cables MUST comply with the
CoaXPress v1.1 standard.
Use CoaXPress cables with micro-BNC (HD-BNC) connectors.
When connecting the camera to a frame grabber, attach Channel 0 (Master)
to the frame grabber’s master channel (refer to the documentation on your
frame grabber).
The new Cheetah CXP camera comes from the Factory configured for
operation with four CXP cables. If operation with one or two CXP cables is
desired, the camera must first be connected to the CXP frame grabber with
four cables and then the Link Configuration changed as described in CXP Link
Customization section.
If using only one CXP channel, always connect a coaxial cable to
Channel 0 (Master) and use an external power supply. Power over CoaXPress
is not supported when using only one CXP cable.
If using two CXP channels, always connect coaxial cables to
Channel 0 (Master) and Channel 1 (Extension).

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Pin Assignments
The 12-pin Hirose connector on the camera’s back panel is a male type miniature locking
receptacle #HR10A-10R-12PB(71).
Pin
Signal Name
Use
1
12/24 VDC Return
12 or 24 VDC Main Power Return
2
+12/24 VDC
12 or 24 VDC Main Power
3
Reserved
Reserved
4
Reserved
Reserved
5
OUT2 RTN
General Purpose Output 2, Contact 1 (Opto-isolated)
6
OUT1 RTN
General Purpose Output 1 Return (TTL)
7
OUT1
General Purpose Output 1 (TTL)
8
INPUT1
General Purpose Input 1 (Opto-isolated)
9
INPUT2
General Purpose Input 2 (TTL/LVTTL)
10
INPUT1 RTN
General Purpose Input 1 Return (Opto-isolated)
11
INPUT2 RTN
General Purpose Input 2 Return (TTL/LVTTL)
12
OUT2
General Purpose Output 2, Contact 2 (Opto-isolated)

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Camera LED Status Indicator
The camera has a red-green-yellow LED on the back panel of the camera. The following LED
colors and light patterns indicate the camera status and mode of operation:
LED Color Light Patterns Status Description
Green steady ON
Camera connected, but no data being transferred
Fast flashing green
Camera connected; data being transferred
/
Green/Amber
fast flash
ing alternation
Connection detection in progress, PoCXP active
(Shown for a minimum of 1 s even if the connection
detection is faster)
LED Off
No power
Powering the Camera
The maximum supply voltage must not exceed 33 V DC.
The camera can be powered either through the CoaXPress port (Power over CoaXPress (PoCXP))
or through the Hirose connector (pins 1 and 2) using an external power supply.
The external power supply should provide 6.5 V – 33 V DC with the inrush current 2 A @ 12 V. The
power supply should terminate in a female HIROSE plug #HR10A-10P-12S(73).
Imperx offers the PS12V04A Standard Power Supply adapter for use with the cameras. The
PS12V04A power supply can be purchased separately. It ships with a power cable that
terminates in a female HIROSE plug #HR10A-10P-12S(73). The PS12V04A includes connectors for
trigger (black wire) and strobe (white wire). Refer to the section PS12V04A Standard Power
Supply for more information.
When the camera is powered over CoaXPress, you can use cable assembly CBL-PWIO01 for
transmitting external trigger and strobe signals (see I/O Cable CBL-PWIO01).

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PS12V04A Standard Power Supply
Imperx recommends using the PS12V04A power adapter
for powering CXP-C9440 cameras.

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PS12V04A Power Supply Specs
Cable length
•Supplied AC power input cable (IEC): 1.8 m (6’) 100–240 V AC, 50–60 Hz 1 A.
•Power supply output (+12 V): 1.5 m (5’) ± 15 cm (6”) connector HIROSE #HR10A-10P-12S.
•Strobe & Trigger: 15 cm (6”) ± 1 cm (0.5”) connector BNC male.
Electrical
•Over-Voltage Protective Installation.
•Short-circuit Protective Installation.
•Protection Type: Auto-Recovery.
•12 V to 13 V DC, 12.6 V DC nominal, 2 A.
•Load regulation ± 5%.
•Ripple & Noise 1% Max.
Regulatory
•Class 1
•Safety standards UL60950-1, EN60950-1, IEC60950-1.
•Safety (1) EMC UL/CUL, CE, TUV, DoIR+C-Tick, Semko, CCC, FCC.
•Safety (2) BSMI, FCC.