Point Grey Gazelle GZL-CL-22C5M-C Use and care manual

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 [phone] • www.ptgrey.com
Copyright © 2011-2013 Point Grey Research Inc. All Rights Reserved.

FCC Compliance
This device complies with Part 15 of the FCC rules. Operation is subject to the following two conditions:
(1) This device may not cause harmful interference, and (2) this device must accept any interference
received, including interference that may cause undesirable operation.
Korean EMCCertification
The KCC symbol indicates that this product complies with Korea’s Electrical Communication Basic Law
regarding EMC testing for electromagnetic interference (EMI) and susceptibility (EMS).
Hardware Warranty
The warranty for the Gazelle camera is 3 years. For detailed information on how to repair or replace your
camera, please see the terms and conditions on our website.
WEEE
The symbol indicates that this product may not be treated as household waste. Please ensure
this product is properly disposed as inappropriate waste handling of this product may cause
potential hazards to the environment and human health. For more detailed information
about recycling of this product, please contact Point Grey Research.
Trademarks
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.

Point Grey Gazelle Technical Reference
Table of Contents
1 Gazelle Specifications 1
1.1 Gazelle Specifications 1
1.1.1 GZL-CL-22C5M(Mono) Imaging Performance 3
1.1.2 GZL-CL-41C6M(Mono) Imaging Performance 4
1.1.3 GazelleComparison 5
1.2 Physical Description 6
1.3 Camera Dimensions 7
1.4 Tripod Adapter Dimensions 8
1.5 Lens Mounting 8
1.5.1 Back Flange Distance 9
1.6 Dust Protection 9
1.7 Mounting with the Case or Mounting Bracket 9
1.8 Analog-to-Digital Converter 10
1.9 Handling Precautions and Camera Care 11
1.9.1 Case Temperature and Heat Dissipation 11
1.10 Camera Interface and Connectors 13
1.10.1 Camera Link Connectors 13
1.10.2 Interface Card 15
1.10.3 Interface Cables 15
1.10.4 Frame Grabbers 15
1.10.5 General Purpose Input/Output (GPIO) 15
1.10.5.1 GPIO Modes 16
GPIO Mode 0: Input 16
GPIO Mode 1: Output 16
GPIO Mode 2: Asynchronous (External) Trigger 16
GPIO Mode 3: Strobe 16
2 Gazelle Installation 17
2.1 Before You Install 17
2.1.1 Will your system configuration support the camera? 17
2.1.2 Do you have all the parts you need? 17
2.1.3 Do you have a downloads account? 17
2.2 Installing Your Interface Card and Software 18
2.3 Installing Your Camera 19
2.4 Controlling the Camera 19
2.4.1 User Configuration Sets 20
3 General Gazelle Operation 21
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Point Grey Gazelle Technical Reference
3.1 Powering the Camera 21
3.2 Camera Error and Status Monitoring 21
3.2.1 Camera Initialization 21
3.2.2 General Status Monitoring 21
3.2.3 Device Information 22
3.3 Non-Volatile Flash Memory 23
3.4 Camera Firmware 24
3.4.1 Upgrading Camera Firmware 24
4 Video Data Output 26
4.1 GZL-CL-22C5 Video Data Output 26
4.2 GZL-CL-41C6 Video Data Output 26
4.3 Setting the Video Format and Frame Rate 27
4.3.1 Sensor Mode Pixel Binning 27
4.3.2 Specifying 8-Tap 10-Bit Output 27
4.4 Specifying Regions of Interest 29
4.4.1 Specifying Multiple ROIs 29
4.4.2 Calculating Frame Rate 29
4.4.3 Creating ROIs 30
4.4.4 Example: Specifying Regions of Interest 31
5 Image Acquisition 33
5.1 Free-Running Acquisition 33
5.2 Asynchronous Triggering 33
5.2.1 Triggering off the GPIO 34
5.2.2 Software triggering 34
5.2.3 Maximum Frame Rates When Triggering 35
5.2.4 Trigger Delay 36
5.2.5 Trigger Polarity 37
5.2.6 Single-Shot Trigger Mode 37
5.2.7 Bulb Shutter Trigger Mode 39
5.2.8 Minimum Trigger Pulse Length 40
5.3 Programmable Strobe Output 41
5.3.1 Strobe Output Examples 42
5.3.1.1 Outputting a continuous strobe 42
5.3.1.2 Outputting a strobe for duration of exposure 42
5.3.1.3 Outputting a strobe for duration of trigger signal 42
5.3.1.4 Outputting a strobe for a specified duration, after a specified delay 42
5.4 Serial Communication 43
6 Imaging Parameters 44
6.1 Exposure 44
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Point Grey Gazelle Technical Reference
6.2 Gain 45
6.2.1 Analog Gain 45
6.2.2 Digital Gain 45
6.3 Black Level 46
6.4 Sensor Input Clock 46
6.5 Image Flip/Mirror 46
6.6 Chunk Data 47
7 Troubleshooting 49
7.1 Status Indicator LED 49
7.2 Test Pattern 49
7.3 Blemish Pixel Artifacts 51
7.3.1 Pixel Defect Correction 51
7.4 Horizontal Line Artifact 52
7.5 CMOSISSensor Artifacts 52
A Software Instruction Set 53
A.1 Device Control 53
A.2 Image Format Control 54
A.3 Acquisition Control 55
A.4 Strobe Control 56
A.5 Imaging Parameters Control 57
A.6 User Set Control 58
A.7 Status Monitoring 58
A.8 Flash Memory Control 59
A.9 Chunk Data Control 59
B GPIO Electrical Characteristics 60
Contacting Point Grey Research 62
Revision History 63
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Copyright ©2011-2013 Point Grey Research Inc.

Point Grey Gazelle Technical Reference
About This Manual
This manual provides the user with a detailed specification of the Gazelle camera system. The user should be aware that
the camera system is complex and dynamic – if any errors or omissions are found during experimentation, please
contact us. (See Contacting Point Grey Research.)
This document is subject to change without notice.
All model-specific information presented in this manual reflects functionality available in the model's
firmware version.
For more information see Camera Firmware.
Where to Find Information
Chapter What You Will Find
Gazelle Specifications General camera specifications and specific model specifications, and camera properties.
Gazelle Installation Instructions for installing the Gazelle, as well as introduction to Gazelle configuration.
General Gazelle Operation Information on powering the Gazelle, monitoring status, user configuration sets, memory
controls, and firmware.
Video Data Output Information on video data output, frame rates, and regions of interest.
Image Acquisition Information on asynchronous triggering and supported trigger modes.
Imaging Parameters Information on supported imaging parameters and their controls.
Troubleshooting Information on how to get support, diagnostics for the Gazelle, and common sensor artifacts.
Appendix: Software Instruction
Set Information on the Software Instruction Set commands.
Appendix: GPIO Electrical
Characteristics Information on the GPIO electrical characteristics.
Document Conventions
This manual uses the following to provide you with additional information:
A note that contains information that is distinct from the main body of text. For example,
drawing attention to a difference between models; or a reminder of a limitation.
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.
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Point Grey Gazelle Technical Reference
If further information can be found in our Knowledge Base, a list of articles is provided.
Title Article
Title of the Article Link to the article on the Point Grey website
Related Knowledge Base Articles
If there are further resources available, a link is provided either to an external website, or to the SDK.
Title Link
Title of the resource Link to the resource
Related Resources
Revised 10/31/2013
Copyright ©2011-2013 Point Grey Research Inc.

Point Grey Gazelle Technical Reference 1 Gazelle Specifications
1 Gazelle Specifications
The Gazelle series of cameras feature high-resolution, high-frame rate CMOS image sensors, compact case, and Camera
Link interface in Base (2-tap) and Full (8-tap) configurations.
1.1 Gazelle Specifications
Model Version MP Imaging Sensor
GZL-CL-22C5M-C Mono 2.2 MP
nCMOSIS CMV2000 CMOS, 2/3", 5.5 μm
nGlobal Shutter
n280 FPS at 2048 x 1088
GZL-CL-41C6M-C Mono 4.1 MP
nCMOSIS CMV4000 CMOS, 1", 5.5 μm
nGlobal Shutter
n150 FPS at 2048 x 2048
All Gazelle Models
A/DConverter 10-bit
Video Data Output 8-bit (Full 8-tap mode) or 10-bit (Base 2-tap mode)
Image Data Formats Mono8, Mono10
Partial Image Modes Single or multiple region of interest modes
Image Processing Gain, Black Level, Pixel Defect Correction
Shutter Global shutter; Manual
74.175 μs - 54 s (Full 8-tap mode)
Gain Analog and digital programmable via software
32-64 dB (analog); 1-63 dB (digital)
Digital Interface Camera Link LVDS for camera control and video data transmission; Base (2-tap) and Full
(8-tap) configurations
Transfer Rates 5.44 Gbits/s
GPIO 8-pin Hirose HR25 GPIO connector; opto-isolated pins for trigger and strobe
External Trigger Modes Single-shot, bulb shutter trigger mode
Synchronization Via external trigger or software trigger
Memory Channels 2 memory channels for custom camera settings
Flash Memory 4 MB non-volatile memory
Dimensions 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
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Point Grey Gazelle Technical Reference 1 Gazelle Specifications
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
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Point Grey Gazelle Technical Reference 1 Gazelle Specifications
1.1.1 GZL-CL-22C5M(Mono) Imaging Performance
Specification Mode 0
Full Well Depth 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 56%
Figure 1.1: GZL-CL-22C5 Quantum Efficiency
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