Schäfter+Kirchhoff SK6288CKOC User manual

Kieler Str. 212, 22525 Hamburg, Germany • Tel: [phone] • Fax: [phone] • [email protected] • www.SuKHamburg.de
SK6288CKOC
Line Scan Camera SK6288CKOC Manual (v. 10.2011)
Color Line Scan Camera
SK6288CKOC
3 x 2096 pixels, 14 µm x 14 µm, 60/30 MHz pixel frequency
Camera SK6288CKOC
Sensor Triple Line Sensor
Type KLI-2113
Pixel number 3 x 2096 (B-G-R)
Pixel size 14 µm x 14 µm
Pixel spacing 14 µm
Line spacing (B-G-R) 112 µm
Active length 29.3 mm
Anti-Blooming no
Integration Control yes
CDS 1yes
Pixel frequency 60 / 30 MHz
Line frequency max 9.28 kHz
Line frequency min 0.05 kHz
Integration time max 20 ms 2
Integration time min 0.010 ms
Dynamic range 1:2500 (1 MHz, no Integration control)
Spectral range 400–700 nm
Video signal 8-bit / 12-bit
Interface
Voltage +5 V, +15 V
Power consumption 3.5 W
Casing (W x H x D) 65 mm x 65 mm x 73 mm
Objective mount M45 x 0.75
Weight 0.2 kg
Working temperature +5°C to +45°C
1) CDS = Correlated Double Sampling. Noise-reduction technology, increase of photosensitivity.
2) Longer exposure times are possible in trigger mode "exposure active".
Contents
1. Introducing the SK6288CKOC Color Camera 2
2. Connections and I/O Signals 2
3. Interface 3
4. Camera Control and SkCLConfig 4
4.1 Gain / Offset and Shading Correction 4
4.2 Illumination and Exposure 5
4.3 Integration Control 5
5. RGB Sensors: 2D Imaging and Pixel Allocation 6
6. Control Signals and Timing Diagram 7
7. Sensor Performance Specifications 8
8. Dimensions 10
9. Warranty 11
10. Accessories 11
Section Page Section Page
Smart line scan camera
SK6288CKOC
with
Clamp set SK5102
Mounting bracket SK5105
Photo lens Nikon AF 1:1.4/f'=50 mm,
M45x0.75 thread, with locking bridge
for fixing focus and aperture
1
2
3
4
Interface:
Interface:
2
3
4
1

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Line Scan Camera SK6288CKOC Manual (v. 10.2011)
1. Introducing the SK6288CKOC Color Line Scan Camera
Schäfter+Kirchhoff supplies the operating program
SkLineScan® for certified grabber boards, including µEnable
III from Silicon Software, National Instruments PCI-1428,
DALSA X64 XCelera-CL and the Matrox Solios.
The zoom function of the SkLineScan oscilloscope display of
the line camera signal accelerates the optimal parameterization
of the camera and alignment of the optical system. SkLineScan
can be customized for a particular grabber board on request.
The cameras are supplied precalibrated, with factory
settings for gain and offset that can be changed according
to requirements using the supplied software. Significant
losses in signal quality do accrue when the gain or offset
parameters are set incorrectly. The gain and offset values in
current use are stored in the camera in non-volatile memory
and are immediately available when the camera is reactivated
or switched on again.
The successful use of the line scan camera requires that
the complete optical system is properly set up, especially
the location of the illumination, the degree of focus of the
objective and the aperture setting. The most critical factor
is the perpendicular alignment of the sensor axis either with
the object to be measured or the direction of its relative travel
when scanned.
Data acquisition requires that the grabber board conforms
to the CameraLinkTM standard. The grabber board provides
the Start-Of-Scan (SOS) signals and thereby determines the
exposure time and line frequency of the camera.
The configuration program SkCLConfig allows the full
parameterization of the camera settings, such as gain, offset
and pixel frequency, via the CameraLinkTM serial port interface.
SkCLConfig uses the clser ***. dll driver that is supplied with
the CameraLink grabber board and personalized applications
can also be developed using the SDKs available from the
grabber board producers.
2. Connections and I/O Signals
Data Connector: Mini-D ribbon, female 26-pin
Data Connector:
Mini-D ribbon,
female 26-pin
Power Connector:
Hirose series HR10A,
female 6-pin
Power Connector: Hirose series HR10A, female 6-pin
+ 5 V ± 5% ca. 300 mA (30 MHz Clock)
ca. 430 mA (60 MHz Clock)
+15 V ± 5% ca. 35 mA
Data Power
Signal Pin Pin Signal
GND 1 o o 14 GND
X0- 2 o o 15 X0+
X1- 3 o o 16 X1+
X2- 4 o o 17 X2+
Xclk- 5 o o 18 Xclk+
X3- 6 o o 19 X3+
SerTC+ 7 o o 20 SerTC-
SerTFG- 8 o o 21 SerTFG+
CC1 9 o o 22 CC1+
CC2+ 10 o o 23 CC2-
CC3- 11 o o 24 CC3+
CC4+ 12 o o 25 CC4-
GND 13 o o 26 GND
Signal Pin Signal Pin
+ 15 V 1 + 5 V 4
+ 15 V 2 GND 5
+ 5 V 3 GND 6

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Line Scan Camera SK6288CKOC Manual (v. 10.2011)
3. Interface
I = Input, O = Output, IO = Bidirectional, P = Power/Ground, NC = not connected
Warning: CC4 is not used.
The differential LVDS signals X0-X3 and XCLK are reserved for the transmission of high-
speed video data from the camera to the grabber board. The video data is transmitted using
numerous serial channels simultaneously, according to the protocol for the channel link
chipset from National Semiconductor.
The CameraLink standard defines the names of the pixel signals, the description of the
signal level and the pin assignments and pinout of the chip.
I = Input, O = Output, IO = Bidirectional, P = Power/Ground, NC = not connected
Warning: FVAL and DVAL are not used here as defined in the CameraLink standard.
FVAL is always set to the value = 0 (low).
DVAL is always set to the value = 11 (high).
For a single output, the data is output as ODD (multiplex).
Signal Name I/O Type Description
TRIG1 I RS644 CC1 - Synchronization input (SOS)
TRIG2 I RS644 CC2 - Start Integration period in dual synchro modus
(only cameras with Integration Control)
CLK_IN I RS644 CC3 - External pixel frequency (optional)
Signal Name I/O Type Description
D[0–11] O RS644 Pixel data, 00 = LSB, 11 = MSB
STROBE O RS644 Output data clock
Data are valid for a rising edge
LVAL O RS644 Line Valid, active High Signal
Signal Name I/O Type Description
SerTFG O RS644 Differential pair for serial communications to
the grabber board
SerTC O RS644 Differential pair for serial communications from
the grabber board
Camera control
Video data
Bit allocation
12-bit data (F12)
Bit allocation
8-bit data (F8)
Serial communication
Bit DS90CR285
Pin Name Bit DS90CR285 Pin Name Bit DS90CR285 Pin Name Bit DS90CR285 Pin Name
D 0 Tx0 D 7 Tx5 NC Tx19 NC Tx14
D 1 Tx1 D 8 Tx7 NC Tx20 NC Tx10
D 2 Tx2 D 9 Tx8 NC Tx21 NC Tx11
D 3 Tx3 D10 Tx9 NC Tx22 STROBE TxCLK
D 4 Tx4 D11 Tx12 NC Tx16 LVAL Tx24
D 5 Tx6 NC Tx15 NC Tx17
D 6 Tx27 NC Tx18 NC Tx13
Bit DS90CR285
Pin Name Bit DS90CR285 Pin Name Bit DS90CR285 Pin Name Bit DS90CR285 Pin Name
D 0 Tx0 D 7 Tx5 NC Tx19 NC Tx14
D 1 Tx1 NC Tx7 NC Tx20 NC Tx10
D 2 Tx2 NC Tx8 NC Tx21 NC Tx11
D 3 Tx3 NC Tx9 NC Tx22 STROBE TxCLK
D 4 Tx4 NC Tx12 NC Tx16 LVAL Tx24
D 5 Tx6 NC Tx15 NC Tx17
D 6 Tx27 NC Tx18 NC NC
The CameraLink interface supports two LVDS signal pairs for communication between the camera and
grabber board, which conform with the RS232 protocol for asynchronous communication:
– full duplex, no handshake
– 9600 baud, 8-bit, no parity bit, 1 stop bit.
The bit allocation conforms to the CameraLink Standard basic configuration.

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Line Scan Camera SK6288CKOC Manual (v. 10.2011)
4. Camera Control and SkCLConfig
4.1 Gain / Offset and Shading Correction
To set and read camera parameters:
The configuration program SkCLConfig is shipped with all
Schäfter+Kirchhoff cameras and enables the adjustment of
line scan camera parameters, such as gain, offset and pi xel
frequency, via the serial connector of the CameraLink interface.
The software uses the clser***.dll supplied with the Camera Link
grabber board or a choice is made from the installed clser*.dll
list using Select. On startup, the camera declares information
about type, revision and serial number. If the camera type field
is empty then switch off, check the connections and restart.
Operation Description
Gnnnn<CR> Set Gain Chan1 (Red) 0-24 dB
Bnnnn<CR> Set Gain Chan2 (Green) 0-24 dB
Hnnnn<CR> Set Gain Chan3 (Blue) 0-24 dB
Jnnnn<CR> Set Gain Chan4 0-24 dB
Ommm<CR> Set Offset Chan1 (Red)
Pmmm<CR> Set Offset Chan2 (Green)
Qmmm<CR> Set Offset Chan3 (Blue)
Ummm<CR> Set Offset Chan4
F8<CR> Output Format: 8-bit data
F12<CR> Output Format: 12-bit data
C30<CR> Camera Clock: 30 MHz
C60<CR> Camera Clock: 60 MHz
CC3<CR> Camera Clock external at CC3
(max. 60 MHz / optional)
T0<CR> Test pattern off
T1<CR> Test pattern on,
M1<CR> Trigger Mode: External Trigger CC1
M2<CR> Free Run with maximum line rate
M3<CR> External Trigger & Integration
CC1-input, optional
M4<CR> External Trigger CC1, Integration
CC2- input, optional
I<CR> returns camera identification
K<CR> returns SK type number
R<CR> returns Revision number
S<CR> returns Serial number
I4<CR> returns Camera Clock Low Freq.
I5<CR> returns Camera Clock High Freq.
I6<CR> Ga1:xxxxx<CR> ret.Gain Chan1
I7<CR> Ga2:xxxxx<CR> ret.Gain Chan2
I10<CR> Ga3:xxxxx<CR> ret.Gain Chan3
I11<CR> Ga4:xxxxx<CR> ret.Gain Chan4
I8<CR> Of1:xxxxx<CR> ret.Offset Chan1
I9<CR> Of2:xxxxx<CR> ret.Offset Chan2
I12<CR> Of3:xxxxx<CR> ret.Offset Chan3
I13<CR> Of4:xxxxx<CR> ret.Offset Chan4
Range nnnn = 0 .... 1023
of values: mmm = 0 ... 255
Camera commands are entered into the 'Input' field of the
configuration tool and executed with the 'Set Command'.
The camera is shipped prealigned with gain and offset factory
settings. On startup, the RGB sliders register the gain and
offset values already stored in the camera. Customized settings
for gain or offset can be programmed using the SkLineScan
software:
A Offset
After blocking all light reaching the line sensor, bring the
individual video signals close to zero using the R, G and B
offset sliders. The line signal should be just visible in the
oscilloscope display.
B Gain
Now fully illuminate the sensor and move the R, G and B gain
sliders to provide a slight overexposure for maximum signal
clipping (for 8-bit: 255 or slightly above, for 12-bit: 4095).
The parameter settings are stored within the list using Select
and are retained for immediate subsequent use even after a
complete shut down.
C Shading Correction: White Balance
Shading correction is a procedure used for compensating for
the potential sources of variation in the signal, whether caused
by lens vignetting or variations in pixel sensitivity or illumination.
A reference signal for the shading correction is obtained by
taking an image of a plain white surface, so that each
individual pixel can be compensated for algorithmically to
provide a maximum overall intensity and an idealized flat
signal. Alternatively, the R, G and B gain sliders can be used
to regulate the signal.
The shading correction reference values are permanently
stored in the designated shading correction memory (SCM) in
the camera, for future use, and can be switched on and off
according to demand.
C
A
B
R G B

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Line Scan Camera SK6288CKOC Manual (v. 10.2011)
4.2 Illumination and Exposure 4.3 Integration Control
An exposure is illumination of the line scan sensor for a set
period of time. The light sensitive elements of the sensor
transform the radiation into freed charges. The time period of
accumulation of these charges during one exposure is called
the Integration Time. The accumulated charges are read out
of the sensor, pixel-by-pixel, using a scrolling shift register. This
total process of integration time and read-out is termed the
Exposure Period TE. The speed of data read-out is determined
by the pixel frequency (MLCK).
The reciprocal of the maximum line frequency determines the
minimum exposure period. In continuous mode, the next
exposure is simply begun at the time of read-out of the previous
exposure and the charges accumulated at each camera pixel
are transformed into appropriate voltage values for further use.
In trigger mode, the time between the positive edges of two
consecutive SOS signals detemines the exposure period.
Cameras with Integration Control can regulate the integration
time within an exposure period (shutter mechanism). The line
frequency is not increased thereby, as the total exposure time
remains the same.
The maximum line frequency of the SK6288CKOC camera is
9.28 kHz and the programmable exposure period ranges from
0.11 ms to 20.0 ms.
The minimum exposure period is the time interval between two
SOS signals and must be at least the length of N = 3 x 2096
pixel clocks, plus the sensor-dependent number of passive
pixels Nρ = 176 (for the SK6288CKOC camera).
Example: SK6288CKOC, 60 MHz pixel frequency
TE = (3 x 2096 +176) / 60 MHz = 0.108 ms
fL = 1 / 0.108 ms = 9.28 kHz
In the normal use of the line scan camera at lower pixel
frequencies, the SOS signals between two exposure periods
are set at 'high' and the integration time and exposure time are
essentially the same.
Integration control is a function that extends the 'high' pulse of
the SOS signal over a programmable number of pixel clocks.
Within an illumination cycle, this results in a delay before the
accumumulation of charge can begin.
The integration time TA is shortened to the difference between
the minimum pixel frequency for an illumination cycle (N + Nρ)
and the programmed number of pixel clocks required for the
extension of the 'high' pulse of the SOS signal (SOSL).
The line frequency is not increased by using integration control
and the total exposure time remains the same.
TE = exposure period fL = line scan frequency
N = number of pixels NP = passive pixels of the sensor
fP = pixel frequency
1
TE
fL =
N + NP
fP
TE =
( N + NP ) - SOSL
fP
TA =
SOS
charge
accumulation charges charges placed
discarded in data stack
The principle of Integration Control

Page 6
Line Scan Camera SK6288CKOC Manual (v. 10.2011)
5. RGB Sensors: 2D Imaging and Pixel Allocation
Triple line sensors require a precise synchronous translation of
the object for the correct allocation of pixels A . When these
conditions are not met then images with co lor convergence
ab er rations are generated B .
Triple line sensors have 3 separate sensor lines for the primary
colors red, green and blue and can achieve extremely high
optical resolutions. The SK6288CKOC color line scan camera
has 3 x 2096 pixel triple line sensors of red, green and blue.
The distance between the sensor lines is 8 times the pixel
height, so the inter-sensor distance is 112 µm for a pixels of
14 µm.
Allocation of color information
Signal display - RGB sequentially
Signal display - RGB splitting
RED
BLUE
GREEN
RED
GREEN
BLUE
Monochrome font pattern
A
line synchronous object transport
B
asynchronous transport of the object causes
color convergence aberration
A
B
A two-dimensio nal color image is generated by moving the
object or the camera, ensuring that the sensor properties, the
travel direction and speed are all accounted for:
object velocity = pixel width • magnification
exposure time
The co lor information originating from the different parts of the
object is stored in the buffer of the PC and subsequently
reallocated correctly.
During object travel, an object point reaches the blue line
sensor first. If the object is transla ted by one pixel height per
clock pulse then after 8 lines the green pixels are exposed.
After another 8 pixels then the red pixels have been covered
and all color information has been acquired.
112 µm
112 µm

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Line Scan Camera SK6288CKOC Manual (v. 10.2011)
6. Control Signals and Timing Diagram
Input Control Signals
The control signals needed to run the CCD line scan camera
are "Clock" (MCLK) and "Start Of Scan" (SOS). The clock
signal is generated internally by a 60 MHz oscillator, which can
be reduced to 30 MHz using a frequency divider. The clock
signal can also be supplied from an external source if required.
Because these signals are used to trigger the camera, they
should be of the highest quality.
The frequency of the 'SOS' signal determines the number of
lines that are read per second. On the rising edge of this signal,
the accumulated charges in the sensor pixels of the analog
shift register are read out with each beat of the clock signal.
Thus, the frequency of the clock signal determines the speed
at which the charges of the individual pixels of the line sensor
appear in the camera video output. At each positive edge, the
accumulated charges of the subsequent pixels are released as
video output.
The Clock and 'SOS' signals do not have be synchronized.
However, the clock frequency should be sufficiently slow to
allow two successive 'SOS' signals to be read out from the line
camera. The SK6288CKOC camera requires 6464 clock pulses
for a line scan to be read out completely. Larger numbers of
clock pulse can be used without restriction.
Input
Internal Clock or CLK_IN
MCLK
CC3
SOS
CC1
CLT *
intern
CCLK
STROBE
LVAL
D[0-11]
Video
intern
Output
ca. 40 ns 167 Clock Cycles 6288 Clock Cycles 9 Clock Cycles min
15 ns
R1
iB1G1 RN GN BN
R1 G1 B1 R2 G2 BN
CLT = Camera Line Transfer (internal line camera signal). The black value signal is 4 to 36 pixels prior to pixel no.1.
i = isolation pixels, o = overclocking R = red, G = green, B = blue, N = 2096
*
MCLK: Master Clock in: determines the frequency of pixel transfer, maximally 60 MHz.
SOS: Start Of Scan: minimum pulse length of 30 ns.
The frequency of the SOS signal is directly controlled by the line frequency of the camera. The rising edge of
the 'SOS' signal is the start of the signal accumulation process. The accumulated charges within the sensor
are transferred to the analog transport registers in parallel with the sensor line information.

Page 8
Line Scan Camera SK6288CKOC Manual (v. 10.2011)
7. Sensor Performance Specifications
Producer: Eastman Kodak Company
Type: KLI-2113
Data source: Kodak Digital Science KLI-2113 Image Sensor - Technical Data
Representative Characteristics Test conditions: T = 25°C, fCLK = 2 MHz, tint =1.066 msec

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Line Scan Camera SK6288CKOC Manual (v. 10.2011)
Electro-optical Characteristics

Page 10
Line Scan Camera SK6288CKOC Manual (v. 10.2011)
8. Dimensions
50
3.5 16.5 20 6.5
10
10
15
Ø4.3
50.3 41.7
Ø42
66
36
M3 Ø3.3
M4
M3
6
1/4" 20G
70 63 40
CCD line scan camera, digital
Lens thread: (AC2) M40x0.75
Distance to sensor: 19.5 mm
Data Connector: Mini-D ribbon,
female 26-pin
Power Connector: Hirose series HR10A,
female 6-pin
Camera type:
C series from 512 to 6288 pixels
CCD line scan camera, digital
Lens thread (AC3) M45x0.75
mounted on:
Clamp set SK5102
Camera mount SK5105
Lens
Locking bridge (aperture and
focus)
Mounting bracket SK5105
for digital and analog cameras
Order Code: SK5105
Warp resistant construction for
mounting a CCD Line Scan Camera
Clamp set SK5102
(set of 4)
to lock the CCD Line Scan Camera
at an arbitrary rotation
Cylinder screw
DIN 912-M3x12
Clamp set SK 5102
Clamp
2
1
3
5
4
Ø 65
M40x0.75
Pixel No.1
M3 (4x)
Depth 6.5 mm
Ø 42
2.5 6 12.7
62.5
19.5
CCD sensor
 41.7
36
68.5
1 2 3 54
Data Power
Power
Data
Line scan cameras with CameraLink interface
Casing group: AC2, AC3

Page 11
Line Scan Camera SK6288CKOC Manual (v. 10.2011)
EC Declaration of Conformity
This product satisfies the
requirements of the EC
directive
89/336/EEG as
well as
DIN EN 61326.
This manual has been prepared and
reviewed as carefully as possible but
no warranty is given or implied for any
errors of fact or in interpretation that
may arise. If an error is suspected then
the reader is kindly requested to inform
us for appropriate action.
The circuits, descriptions and tables
may be subject to and are not meant
to infringe upon the rights of a third
party and are provided for informational
purposes only.
The technical descriptions are general in
nature and apply only to an assembly
group. A particular feature set, as well as
its suitability for a particular purpose, is
not guaranteed.
The warranty period for the CCD line
scan camera when used for the
purpose for which it was intended is
24 months.
The warranty is immediately void on
inappropriate modification, use or
damage.
9. Warranty
Lenses:
• high resolution enlarging and macro lenses
• high speed photo lenses
• lenses with additional blocking bridge for locking of
focus and aperture setting
Adapter:
Lens adapter AOC-...
• for fitting photo lenses onto the CCD line scan
camera
Focus adapter FA22-...
• for fitting enlarging or macro lenses
Control cable SK9018...
26-pin shielded cable, both ends with mini-D ribbon
connector, male/male MM
SK9018.5-MM Order Code
3 = 3 m cable length
5 = 5 m (standard)
x = length of choice (maximum = 100 m)
Power supply cable SK9015...
Shielded cable with Lumberg SV60 male 6-pin and
Hirose HR10A female 6-pin connectors, MF
SK9015.1.5-MF Order Code
1.5 = 1.5 m standard
3 = 3 m
x = length of choice
Power Supply:
PS051515 Order Code
Input: 100–240 V AC, 50/60 Hz, 0.8 A
3-pin input connection (IEC 320)
Output: 5 V DC/2.5 A
15 V DC/0.5 A, -15 V DC/0.3 A
output connector: Lumberg KV60
female 6-pin, length 1 m
Software:
SK91CL-WIN
* Order Code
SkCLConfig control program for line scan cameras
with a CameraLinkTM interface (all grabber boards).
SkLineScan operating program with oscilloscope
display and scan function.
Operating system: * Windows XP/2000
Mounting bracket
SK5105 Order Code
Warp-resistant construction for mounting the line
scan camera
Clamp set
SK5102 Order Code
to lock the line scan camera in desired position
(set of 4)
Mounting Console
SK5105-2 Order Code
for indirect mounting of the line scan camera via the
extension tube, suitable for extension tube larger than
50 mm, for example with macro lens.
10. Accessories

Kieler Str. 212, 22525 Hamburg, Germany • Tel: [phone] • Fax: [phone] • [email protected] • www.SuKHamburg.de
SK6288CKOC
Line Scan Camera SK6288CKOC Manual (v. 10.2011)