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Contents

Nano-5G Series GigE Vision Camera

Model Part Numbers

This manual covers the released Genie Nano-5G monochrome and color models summarized in the
two tables below. These tables list models in increasing resolution. Nano-5G

common specifications

and details for each Genie Nano-5G model follow these tables.

Monochrome Cameras

Model

Full Resolution

Sensor Size/Model

Lens

Part Number

Nano-5G-M2050

2048 x 1536

Sony 3.2M

(IMX252)

C-mount

G5-GM30-M2050

Nano-5G-M2450

2448 x 2048

Sony 5.1M

(IMX250)

C-mount

G5-GM30-M2450

Nano-5G-M4060

4112 x 2176

Sony 8.9M

(IMX255)

C-mount

G5-GM30-M4060

Nano-5G-M4040

4112 x 3008

Sony 12M

(IMX253)

C-mount

G5-GM30-M4040

Color Cameras

Model

Full Resolution

Sensor Size/Model

Lens

Part Number

Notes

Nano-5G-C2050

2048 x 1536

Sony 3.2M

(IMX252)

C-mount

G5-GC30-C2050

G5-GC30-C2050IF

With IR cut-off filter

Nano-5G-C2450

2448 x 2048

Sony 5.1M

(IMX250)

C-mount

G5-GC30-C2450

G5-GC30-C2450IF

With IR cut-off filter

Nano-5G-C4060

4112 x 2176

Sony 8.9M

(IMX255)

C-mount

G5-GC30-C4060

G5-GC30-C4060IF

With IR cut-off filter

Nano-5G-C4040

4114 x 3008

Sony 12M

(IMX253)

C-mount

G5-GC30-C4040

G5-GC30-C4040IF

With IR cut-off filter

Optional Hardware Accessories

Nano Accessories & Cables (sold separately)

Order Number

Mounting Bracket Plate

(2 or 3 screw camera mount),
with ¼ inch external device screw mount
(also known as a tripod mount)

G3-AMNT-BRA01

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Summary of Contents for Genie Nano-5G Series

Page 1: ...no 5G Series Camera User s Manual 5 Gb GigE Vision Monochrome Color Area Scan October 4 2019 Rev 0001 P N G5 G00M USR00 www teledynedalsa com sensors cameras frame grabbers processors software vision solutions ...

Page 2: ...ows 10 are trademarks of Microsoft Corporation All other trademarks or intellectual property mentioned herein belong to their respective owners Document Date November 22 2019 Document Number G5 G00M USR00 About Teledyne DALSA Teledyne DALSA is an international high performance semiconductor and Electronics Company that designs develops manufactures and markets digital imaging products and solution...

Page 3: ...Noise Ratio Measurement Conditions 15 EMI Shock and Vibration Certifications 16 Mean Time between Failure MTBF 17 HEAT SINK REQUIREMENTS 17 NETWORK HARDWARE CONSIDERATIONS 18 SONY SENSOR MODELS 19 SPECIFICATIONS M2050 19 SPECIFICATIONS C2050 21 SPECIFICATIONS M2450 22 SPECIFICATIONS C2450 23 SPECIFICATIONS M4060 24 SPECIFICATIONS C4060 25 SPECIFICATIONS M4040 26 SPECIFICATIONS C4040 27 FIRMWARE FI...

Page 4: ...TH GENIE NANO 5G CAMERAS 43 CamExpert Panes 43 CamExpert View Parameters Option 44 CAMERA FEATURE CATEGORIES 45 CAMERA INFORMATION CATEGORY 46 Camera Information Feature Descriptions 46 Power up Configuration Dialog 50 Camera Power up Configuration 50 Load Save Configuration 50 SENSOR CONTROL CATEGORY 51 Sensor Control Feature Descriptions 52 Offset Gain Control Details Sony sensors 54 Sony Sensor...

Page 5: ...or Processing Functional Overview 90 White Balance Operation 90 CYCLING PRESET MODE CONTROL CATEGORY 91 Cycling Preset Mode Control Feature Description 92 Using Cycling Presets a Simple Example 95 Multi Exposure Cycling Example Setup 95 Cycling Reset Timing Details 96 Case 1 Cycling with Internal Synchronous Increment 96 Case 2 Cycling with External Asynchronous Increment 96 Using Cycling Presets ...

Page 6: ...tions 132 Case Examples Overview 132 Case 1 Simple Repeating Acquisitions as Upcoming Events 132 Case 2 Potential Uncertainness to the Start Time 133 Case 3 Timer Reset before the Actual Start Time 134 Case 4 Timer Reset after the Actual Start Time 135 Case 5 Changing timestampModulo during Acquisitions 136 GIGE VISION TRANSPORT LAYER CONTROL CATEGORY 137 GigE Vision Transport Layer Feature Descri...

Page 7: ...E CORRECT IMAGE CIRCLE 168 Lens Options for Models 2450 2050 168 Lens Options for Models 4040 4060 169 Additional Lens Parameters application specific 170 OPTICAL CONSIDERATIONS 170 Illumination 170 Light Sources 171 IR Cut off Filters 171 Nano 5G Models with Built in IR Cut off Filters 171 Guidelines for Choosing IR Cut off Filters 172 Back Focal Variance when using any Filter 173 LENS MODELING 1...

Page 8: ...frame rate is lower than expected 195 Camera is functional frame rate is as expected but image is black 195 Other Problems or Issues 196 Preventing Dropped Packets by adjusting Power Options 196 Random Invalid Trigger Events 197 Minimum Sapera Version Required 197 Issues with uninstalling Cognex VisionPro with Sapera LT CamExpert 197 ADDENDUMS 198 10 PIN I O CONNECTOR PINOUT DETAILS SPECIAL ORDER ...

Page 9: ... Nano 5G cameras use the industries latest leading sensors such as the Sony Pregius series of global shutter active pixel type CMOS image sensors Genie Nano 5G cameras combine standard gigabit Ethernet technology supporting GigE Vision 2 0 with the Teledyne DALSA Trigger to Image Reliability framework to dependably capture and transfer images from the camera to the host PC Genie Nano 5G cameras ar...

Page 10: ...hput simultaneously taking full advantage of both the sensor s maximum frame rate and the camera s maximum 5 GigE data transfer speed up to 575 MB s Teledyne DALSA s TurboDrive increases system dependability and robustness similar to Camera Link throughput on a GigE network Important Actual Transfers with TurboDrive is image content dependent but in the best case scenario transfers over a GigE Net...

Page 11: ... Supports the Gigabit Ethernet PAUSE Frame feature GigE Vision 2 0 compliant 1 2 5 and 5 Gigabit Ethernet GigE interconnection to a computer via standard CAT5e or CAT6 cables Gigabit Ethernet GigE transfer speed up to 575 MB second Application development with the freely available Sapera LT software libraries Native Teledyne DALSA Trigger to Image Reliability design framework Refer to the Operatio...

Page 12: ...M30 M4060 Nano 5G M4040 4112 x 3008 Sony 12M IMX253 C mount G5 GM30 M4040 Color Cameras Model Full Resolution Sensor Size Model Lens Part Number Notes Nano 5G C2050 2048 x 1536 Sony 3 2M IMX252 C mount G5 GC30 C2050 G5 GC30 C2050IF With IR cut off filter Nano 5G C2450 2448 x 2048 Sony 5 1M IMX250 C mount G5 GC30 C2450 G5 GC30 C2450IF With IR cut off filter Nano 5G C4060 4112 x 2176 Sony 8 9M IMX25...

Page 13: ...er Screw Retention to Euroblock connector G3 AIOC BRKOUT2M Power and Cable Evaluation Kit Includes a Power Supply 12V an Ethernet Cable RJ 45 2 meter and a 2 meter I O Breakout Cable Euroblock G3 ACBL EVALKIT Generic 12 volt power supply for Genie Nano Aux connector Samtec 10 Pin 4 Meter length G3 APWS S10S04M See section Components Express Right Angle Cable Assemblies and Alysium Tech Extreme Rat...

Page 14: ...GenICam XML schema version 1 1 GenICam support XML camera description file Embedded within Genie Nano 5G About GigE Vision Genie Nano 5G cameras are 100 compliant with the GigE Vision 2 0 specification which defines the communication interface protocol used by any GigE Vision device The device description and capabilities are contained in an XML file For more information see https www visiononline...

Page 15: ... memory for OEM usage deviceUserBuffer Gain In Sensor gain model dependent and Digital gain up to 4x Auto Brightness Yes with Auto Exposure and AGC Sensor Gain or FPGA Gain Note1 Sensor Gain AGC only with Sony sensors Color model output Color cameras support Bayer output firmware Binning monochrome models Support for both Horizontal and Vertical Binning 1x 2x and 4x in FPGA Models M4040 M4060 have...

Page 16: ...er Over Ethernet standard PoE Class 3 as per IEEE 802 3af Inputs Outputs Default models have 2 Inputs and 3 Outputs Power Dissipation typical 24V 9 4 to 9 6W dependent on model PoE Class 2 10 to 10 7W dependent on model Data Output Gigabit Ethernet 10 100 Mbps are not supported 1000 Mbps 115 MB sec max a Mbps 575 MB sec max Ethernet Option supported PAUSE Frame support as per IEEE 802 3x Data and ...

Page 17: ...e Grouping of more than 5 single pixel defects in a 3x3 kernel Column defects none Vertical grouping of more than 10 contiguous pixel defects along a single column Row defects none Horizontal grouping of more than 10 contiguous pixel defects along a single row Test conditions Nominal light illumination at 50 of saturation Temperature of camera is 45 C At exposures lower than 0 1 seconds At nominal...

Page 18: ...tic immunity EN61000 6 4 2007 Electromagnetic emissions CISPR 11 2009 A1 group 1 FCC part 15 subpart B 2010 Limit class A Conducted Emissions CISPR 22 2008 Limit class A LAN port Conducted Emissions FCC Part 15 class A RoHS Compliancy as per European directive 2011 65 EC For an image of Genie Nano 5G certificates see EC FCC Declarations of Conformity on page 167 Vibration Shock Tests Test Levels w...

Page 19: ...te Failure 106 hours Hours Years 20 12642225 1443 0 0791 0 6489293 741 0 154 1 20 2345766 268 0 426 3 40 673718 77 1 484 3 60 185532 21 5 389 9 80 54118 6 18 478 100 17260 2 57 937 Heat Sink Requirements To minimize the camera body size the camera is designed to convey heat to the external casing and therefore must be heat sinked to maintain the front plate temperature within operating temperature...

Page 20: ...rmance For the host computer NIC o Maximize receive buffers descriptors o Adjust the Receive Side Scaling RSS Queue for best performance for processing intensive applications the optimal value may not be the maximum value For any switches o Maximize the memory allocated to internal buffers if available o Enable PAUSE frame support if available For the host application o Maximize the number of imag...

Page 21: ...cations C2450 Specifications M4060 Spectral Responses models 4040 4060 Specifications C4060 Specifications M4040 Specifications C4040 For supported firmware for all models refer to the section Specifications M2050 Supported Features Nano M2050 Resolution 2064 x 1544 Sensor Sony IMX252 3 2M Pixel Size 3 45 µm x 3 45 µm Shutter type Full frame electronic global shutter function Firmware option Field...

Page 22: ... Line Time 3 36 µs Readout Time H Line Time x lines in frame 23 in μs Auto Brightness Yes with Auto Exposure and AGC FPGA Gain or Sensor Gain Black offset control Yes in DN Gain Control In sensor Gain 1 0x to 251x In FPGA Digital Gain 1x to 4x in 0 007x steps Binning Support Yes In FPGA summing and average 2x2 4x4 Decimation Support No Color Correction Support No Defective Pixel Replacement No Ima...

Page 23: ...nt 0 µs Reset Exposure Alignment Actual Exposure Time Minimum see exposureTimeActual in Sensor Control 17 µs increment of 3 36 µs steps Min Time from End of Exposure to Start of Next Exposure 13 lines 13 73 µs 29 95 µs Horizontal Line Time 3 36 µs Readout Time H Line Time x lines in frame 23 in μs Auto Brightness Yes with Auto Exposure and AGC FPGA Gain or Sensor Gain Black offset control Yes in D...

Page 24: ...e Alignment 0 µs Reset Exposure Alignment Actual Exposure Time Minimum see exposureTimeActual in Sensor Control 17 µs increment of xx µs steps Min Time from End of Exposure to Start of Next Exposure 24 lines 14 26 µs 67 34 µs Horizontal Line Time 3 4 µs Readout Time H Line Time x lines in frame 23 in μs Auto Brightness Yes with Auto Exposure and AGC FPGA Gain or Sensor Gain Black offset control Ye...

Page 25: ...µs Reset Exposure Alignment Actual Exposure Time Minimum see exposureTimeActual in Sensor Control 17 µs increment of xx µs steps Min Time from End of Exposure to Start of Next Exposure 24 lines 14 26 µs 67 34 µs Horizontal Line Time 3 4 µs Readout Time H Line Time x lines in frame 23 in μs Auto Brightness Yes with Auto Exposure and AGC FPGA Gain or Sensor Gain Black offset control Yes in DN Gain C...

Page 26: ...exposureTimeActual in Sensor Control 19 38 µs increment of 5 12 µs steps Min Time from End of Exposure to Start of Next Exposure 24 lines 14 26 µs 108 62 µs Horizontal Line Time Normal operation with In Sensor Binning enable 5 12 µs Readout Time H Line Time x lines in frame 39 in μs Auto Brightness Yes with Auto Exposure and AGC FPGA Gain or Sensor Gain Black offset control Yes in DN Gain Control ...

Page 27: ...ime Minimum see exposureTimeActual in Sensor Control 24µs 1 line time 14 26 us in 9 72µs steps Min Time from End of Exposure to Start of Next Exposure 16 lines 14 26µs 141 3µs Horizontal Line Time Normal operation with In Sensor Binning enable 9 72µs 5 27µs Readout Time H Line Time x lines in frame 39 in μs Auto Brightness Yes with Auto Exposure and AGC FPGA Gain or Sensor Gain Black offset contro...

Page 28: ...posureTimeActual in Sensor Control 19 38 µs increment of 5 12 µs steps Min Time from End of Exposure to Start of Next Exposure 24 lines 14 26 µs 108 62 µs Horizontal Line Time Normal operation with In Sensor Binning enabled 5 12 µs Readout Time H Line Time x lines in frame 39 in μs Auto Brightness Yes with Auto Exposure and AGC FPGA Gain or Sensor Gain Black offset control Yes in DN Gain Control I...

Page 29: ...sure Time Minimum see exposureTimeActual in Sensor Control 19 38 µs increment of 5 12 µs steps Min Time from End of Exposure to Start of Next Exposure 24 lines 14 26 µs 108 62 µs Horizontal Line Time Normal operation with In Sensor Binning enable 5 12 µs Readout Time H Line Time x lines in frame 39 in μs Auto Brightness Yes with Auto Exposure and AGC FPGA Gain or Sensor Gain Black offset control Y...

Page 30: ...les for mono and color models are listed below The xx denotes the current build number Monochrome Camera Firmware Model Firmware Type Filename M2050 Standard Genie_Nano5G_Sony_IMX25x_3M 5M 9M 12M_STD_Firmware_1CA22 xx cbf M2450 Standard M4060 Standard M4040 Standard Color Camera Firmware Model Firmware Type Filename C2050 Bayer Output Genie_Nano5G_Sony_IMX25x_3M 5M 9M 12M_STD_Firmware_1CA22 xx cbf...

Page 31: ...ies GigE Vision Camera Sony Sensor Models 29 Spectral Response Curves The response curves describe the sensor excluding lens and light source characteristics Spectral Responses model 2050 Models M2050 Models C2050 ...

Page 32: ...30 Contents Nano 5G Series GigE Vision Camera Spectral Responses model 2450 Models M2450 Models C2450 ...

Page 33: ...Nano 5G Series GigE Vision Camera Sony Sensor Models 31 Spectral Responses models 4040 4060 Models M4040 M4060 Models C4040 C4060 ...

Page 34: ... The Nano 5G Status LED will change to steady Blue Testing Nano 5G without a Lens Start CamExpert The Nano 5G Status LED will be steady Green From the Image Format Feature Category select the Moving Grey Diagonal Ramp test pattern from the Test Image Selector Parameter Click grab You will see the moving pattern in the CamExpert display window Testing Nano 5G with a Lens Start CamExpert The Nano 5G...

Page 35: ... Genie Nano 5G Camera Connecting a Genie Nano 5G to a network system is similar whether using the Teledyne DALSA Sapera LT package or a third party GigE Vision development package Power supplies must meet the requirements defined in section Input Signals Electrical Apply power to the camera Connect Nano 5G to the host computer GigE network adapter or to the Ethernet switch via a CAT5e CAT6 CAT6a o...

Page 36: ... general I O signals The connector supports a retention latch while the Nano 5G case supports thumbscrews Teledyne DALSA provides optional cables see Optional Hardware Accessories See 10 pin I O Connector Pinout Details for connector pin out specifications The following figure of the Genie Nano 5G back end shows connector and LED locations See Mechanical Specifications for details on the connector...

Page 37: ...ains as steady Red only if there is a fatal error Camera is not initialized Flashing Red Initialization sequence in progress Wait less than a minute for the Nano 5G to reboot itself Steady Red Flashing Blue Fatal Error If the Genie Nano 5G does not reboot itself contact Technical Support Slow Flashing Blue Ethernet cable disconnected The camera continuously attempts to assign itself an IP address ...

Page 38: ...ocal Address LLA or DHCP by default If required a persistent IP address can be assigned refer to the Network Imaging manual Preferably a DHCP server is present on the network where the Genie Nano 5G issues a DHCP request for an IP address The DHCP server then provides the Nano 5G an IP address The Teledyne DALSA Network Configuration tool installed with the Sapera Teledyne DALSA Network Imaging Pa...

Page 39: ...d to earth ground Teledyne DALSA has performed ESD testing on Nano 5G cameras using an 8 kilovolt ESD generator without any indication of operational faults The two following methods either individually or together will prevent ESD problems Method 1 Use a shielded grounded power supply that connects ground to pin 10 of the I O connector The Nano 5G case is now properly connected to earth ground an...

Page 40: ...liant environment Sapera or Sapera runtime is not required and you need to follow the installation instructions of the third party package The Windows Firewall exceptions feature is automatically configured to allow the Sapera GigE Server to pass through the firewall Computers with VPN software virtual private network may need to have the VPN driver disabled in the NIC properties This would be req...

Page 41: ...apera LT is used Optional If the Teledyne DALSA Sapera LT SDK package is not used click to install the Genie Nano 5G firmware and user manuals only Follow the on screen prompts Connect the camera to an available free Gigabit NIC that s not part of some other corporate network Refer to Sapera LT User s Manual concerning application development with Sapera Note The Teledyne DALSA Sapera CamExpert to...

Page 42: ... in the simplest case the Genie is not connected If you place your mouse cursor on this icon the GigE Server will display the number of GigE Vision devices found by your PC Right click the icon and select status to view information about those devices See Troubleshooting for more information GigE Server Status Once the Genie Nano 5G is assigned an IP address its Status LED is steady blue the GigE ...

Page 43: ...nstalled Sapera devices In the Device list area on the left side the connected Nano 5G camera is shown or will be listed in a few seconds after CamExpert completes the automatic device search device discovery Select the Nano 5G camera device by clicking on the camera user defined name By default the Nano 5G camera is identified by its serial number The Nano 5G status LED will turn green indicating...

Page 44: ...Teledyne DALSA cameras are labeled as GigEVision Device Click on a device user name to select it for control by CamExpert An imaging application uses any one of these attributes to identify a camera its IP address MAC address serial number or User Name Some important considerations are listed below Do not use the camera s IP address as identification unless it is a persistent IP since it can chang...

Page 45: ... configurations as individual camera parameter files on the host system ccf An important component of CamExpert is its live acquisition display window which allows immediate verification of timing or control parameters without the need to run a separate acquisition program CamExpert Panes The various areas of the CamExpert tool are described in the summary figure below GigE Vision device Categorie...

Page 46: ...e Trigger type click to send a single software trigger command CamExpert display controls these do not modify the frame buffer data Stretch or shrink image to fit set image display to original size or zoom the image to any size and ratio Note that under certain combinations of image resolution acquisition frame rate and host computer speed the CamExpert screen display may not update completely due...

Page 47: ...device version will increase therefore identifying the supported function package New features for a major device version release will be indicated by green text for easy identification For each feature the device version may differ for each camera sensor available The B W Color column when present indicates whether a feature applies to monochrome or color camera models via a symbol No symbol indi...

Page 48: ... family name 1 00 Beginner Model Name DeviceModelName Displays the device model name 1 00 Beginner Device Version DeviceVersion Displays the device version This tag will also highlight if the firmware is a beta or custom design RO 1 00 Beginner Manufacturer Part Number deviceManufacturerPartNumber Displays the device manufacturer part number 1 00 DFNC Beginner Manufacturer Info DeviceManufacturerI...

Page 49: ... as a bitfield The meaning for each bit is device specific A value of 0 indicates no error Bit 0 1 Firmware Update Failure Bit 2 1 Unexpected Error 1 00 DFNC Beginner Device Reset DeviceReset Resets the device to its power up state W 1 00 Beginner Device Temperature Selector DeviceTemperatureSelector Select the source where the temperature is read 1 00 Beginner Internal Internal Value from FPGA an...

Page 50: ...n not be updated during a Sapera transfer W 1 00 Beginner Save Configuration UserSetSave Saves the current camera configuration to the user set specified by the User Set Selector feature The user sets are located on the camera in non volatile memory W 1 00 Beginner Power up Configuration Selector UserSetDefault Specify the camera configuration set to load and make active on camera power up or rese...

Page 51: ...er set was requested SaveResourceManagerError An internal error happened related to the resource manager DFNC Major Rev deviceDFNCVersionMajor Major revision of Dalsa Feature Naming Convention which was used to create the device s XML 1 00 DFNC Invisible DFNC Minor Rev deviceDFNCVersionMinor Minor revision of Dalsa Feature Naming Convention which was used to create the device s XML 1 00 DFNC Invis...

Page 52: ...load on power up see feature UserSetDefaultSelector The user chooses from one factory data set or one of two possible user saved states Load Save Configuration The second drop list allows the user to change the camera configuration any time after a power up see feature UserSetSelector To reset the camera to the factory configuration select Factory Setting and click Load To save a current camera co...

Page 53: ...ion Camera Operational Reference 51 Sensor Control Category The Genie Nano 5G sensor controls as shown by CamExpert groups sensor specific parameters This group includes controls for frame rate exposure time gain and so forth ...

Page 54: ...h in active pixels RO 1 00 Expert Sensor Height SensorHeight Defines the sensor height in active lines RO 1 00 Expert Acquisition Frame Rate Control Mode acquisitionFrameRateControlMode Set the frame control method used in free running mode Note that this feature applies only to sensor acquisitions not internal test images 1 00 Guru DFNC Programmable Programmable The camera frame rate is controlle...

Page 55: ... the Exposure Mode feature is set to Timed 1 00 Beginner Actual Exposure Time exposureTimeActual Actual Exposure Time performed by sensor due to its design based on the requested Exposure Time 1 00 Beginner DFNC Sensor Shutter Mode SensorShutterMode States or selects the supported shutter mode of the device 1 00 Beginner Global Global The shutter exposes all pixels at the same time Gain Selector G...

Page 56: ...is 0 to 480 which controls a 0 to 48dB gain range Gain Selector Digital The gain function controls the post sensor digital amplifier available only on some models of Nano 5G cameras This gain factor is independent of any sensor gain set This setting is a linear multiplying number of 1 to 4 in 0 1 steps Black Level This offset variable exists within the sensor The Sony sensors allow an offset range...

Page 57: ...e Timed free run or external trigger or controlled by the external input trigger pulse width Exposure Mode TriggerWidth Note that different Nano 5G models will support different combinations of exposure controls See also Trigger Overlap Feature Details Synchronous Exposure Alignment Exposure is synchronous to the internal timing of the sensor The readout is concurrent to the exposure for the faste...

Page 58: ... described below Trigger Characteristics Start of Exposure External Trigger Input Input propagation Delay see Input Signals Electrical Specifications Internal Trigger Control Delay to Next Horizontal Time delay jitter Re alignment delay is maximum of 1 Horizontal Line Time Internal Continuous Horizontal Line Time Clock Actual Sensor Exposure Start Delay after 2 H Time Exposure Active Sensor Exposu...

Page 59: ...Brightness function 1 00 Expert DFNC Off Off Disable the auto brightness mode Active Active Activates the auto brightness mode when the AcquisitionStart or AcquisitionArm command is received Auto Brightness Sequence autoBrightnessSequence Specifies the processing order for the auto brightness algorithm Gain and Exposure are adjusted sequentially in the selected order to achieve the auto brightness...

Page 60: ...the maximum time the autoBrightnessAlgorithm should take to compensate the image brightness as defined by the autoBrightnessTarget Actual times typically are less but may on occasion be more 1 00 Expert DFNC Auto Exposure ExposureAuto Sets the automatic exposure mode when the ExposureMode feature is set to Timed 1 00 Expert Off Off Exposure duration is manually controlled using the ExposureTime fe...

Page 61: ...master feature only activates the auto brightness auto exposure and auto gain controls but doesn t enable the processing The features autoBrightnessSequence autoBrightnessTargetSource autoBrightnessTarget autoBrightnessTargetRangeVariation and autoBrightnessAlgorithm can remain at their default settings for this demo Note that the Auto Brightness function is not available if Cycling Mode is active...

Page 62: ... stage is limited to a small positive multiplier and will have the side effect of increasing digital noise Setup will be similar to using auto exposure alone Enable automatic digital gain by setting the feature GainAuto to Continuous Limit the total digital gain range by adjusting the values for gainAutoMaxValue and gainAutoMinValue Auto Brightness by using Auto Exposure and Auto Gain Use both Exp...

Page 63: ...Operational Reference 61 I O Control Category The Genie Nano 5G I O controls as shown by CamExpert has features used to configure external inputs and acquisition actions based on those inputs plus camera output signals to other devices ...

Page 64: ... Line 1 and associated I O control block to use as the external trigger source See LineSelector feature for complete list Line 2 Line2 Select Line 2 and associated I O control block to use as the external trigger source See LineSelector feature for complete list Software Software The trigger command source is only generated by software using the Trigger Software command Action 1 Action1 Select the...

Page 65: ...ated I O control block to use Pin 8 is the Output Signal and Pin 4 is the common output power on the I O connector Line 5 Line5 Index of the physical line and associated I O control block to use Pin 9 is the Output Signal and Pin 4 is the common output power on the I O connector Line Name lineName Description of the physical Pin associated with the logical line 1 00 Beginner DFNC Input 1 Input 2 I...

Page 66: ...eTrigger Generate a pulse on the ValidFrameTrigger event Pulse on Rejected Frame s Trigger PulseOnInvalidFrameTrigger Generate a pulse on the InvalidFrameTrigger event Pulse on Start of Acquisition PulseOnStartofAcquisition Generate a pulse when the AcquisiontStart event occurs Pulse on End of Acquisition PulseOnEndofAcquisition Generate a pulse when the AcquisiontStop event occurs Pulse on End of...

Page 67: ... Latch value of the outputLineSoftwareLatchControl and or executes the PulseOnSoftwareCmd for any output line programmed for software control The feature outputLineSoftwareCmd can take any binary value and each bit set to 1 corresponds to a Icommand for an Output Note that Outputs are numbered from 1 to N therefore Bit 1 of outputLineSoftwareCmd corresponds to Output1 This is applicable to OutputL...

Page 68: ...d exposure External trigger Trigger Mode On Exposures are controlled by an external trigger signal where the specific input line is selected by the Trigger Source feature External signals are isolated by an opto coupler input with a time programmable debounce circuit Trigger Source Types Trigger Mode On Trigger Source Software An exposure trigger is sent as a control command via the Ethernet netwo...

Page 69: ...erpreted as a valid pulse The duration is user programmable from 0µs to 255µs with CamExpert Line Signal Propagation Timing Maximum delay values are defined in Input Signals Electrical Specifications Trigger Overlap Feature Details The Trigger Overlap feature defines how the Nano 5G handles triggers that might occur more frequently than the Frame Active period an exposure plus readout period If Tr...

Page 70: ...s TriggerMode On ExposureMode Timed TriggerActivation RisingEdge TriggerDelay 0 TriggerSelector FrameStart ExposureAlignment Synchronous Trigger Input Trigger Exclusion Period Exposure 1 Readout 1 Frame 1 Active period Exposure 2 Readout 2 Frame 2 Active period Frame Exposure Frame Readout TriggerOverlap Readout Trigger Exclusion Period End of Exposure to Start of Readout End of Exposure to Start ...

Page 71: ...nsor Nano 5G models support a maximum trigger rate by allowing a trigger signal soon after the exposure period A trigger is accepted and buffered for a 12 line clock period after the exclusion period at which the next exposure starts As shown in the diagram below the following exposure can be active even before the frame readout of the previous exposure Trigger Input Trigger Exclusion Period Expos...

Page 72: ... will end with the end of the previous frame readout The second readout period will then start immediately Diagram Conditions TriggerMode On ExposureMode Timed TriggerActivation RisingEdge TriggerDelay 0 TriggerSelector FrameStart ExposureAlignment Synchronous Trigger Input Exposure 1 Readout 1 Frame 1 Active period Exposure 2 Readout 2 Frame 2 Active period Frame Exposure Frame Readout TriggerOve...

Page 73: ...ted the camera will continue the second exposure until the previous readout is completed In this condition the actual exposure time is longer than the trigger input width Diagram Conditions Sony Sensors TriggerMode On ExposureMode TriggerWidth TriggerActivation RisingEdge TriggerDelay 0 TriggerSelector FrameStart ExposureAlignment Synchronous Trigger Input Exposure 1 Readout 1 Frame 1 Active perio...

Page 74: ...sureMode TriggerWidth TriggerActivation RisingEdge TriggerDelay 0 TriggerSelector FrameStart ExposureAlignment Synchronous Trigger Input Exposure 1 Readout 1 Frame 1 Active period Exposure 2 Readout 2 Frame 2 Active period Frame Exposure Frame Readout TriggerOverlap Off and ExposureMode TriggerWidth Exclusion Region Exclusion Region ...

Page 75: ... LineStatus RO See Output Signals Electrical Specifications for more information External outputs Can be used as a strobe signals to control lighting or to generate programmable pulses when specific events are generated by the camera Output on Events Each output can be set independently to one of the available event modes defined by the outputLineSource feature Output High and Output Low Block Dia...

Page 76: ... 1 Counter mode counterMode Selects the counter mode The selected Counter is either Active or Disabled When Disabled the Counter can be configured 1 00 Expert DFNC Off Off The selected Counter is Disabled Active Active The selected Counter is Enabled Counter Status counterStatus Returns the current state of the counter 1 00 Expert DFNC Counter Idle CounterIdle The counter is idle The counterStartS...

Page 77: ...e specified transitions on Line 2 Timer 1 End Timer1End Counter starts on the reception of the Timer 1 End event Counter 1 End Counter1End Counter starts on the reception of the Counter 1 End event Counter Start Line Activation counterStartLineActivation Selects the activation mode of the input line trigger which starts the counter This is only applicable when the counterStartSource feature select...

Page 78: ...reception of the Readout Start event Readout End ReadoutEnd Reset the counter on the reception of the Readout End event Frame Trigger FrameStart Reset on reception of the Frame Trigger Valid Frame Trigger ValidFrameTrigger Reset on reception of the Valid Frame Trigger Rejected Frame Trigger InvalidFrameTrigger Reset on reception of the Invalid Frame Trigger MultiFrame End Trigger FrameBurstEnd Res...

Page 79: ...doutEnd Start Timer on Readout Start event Readout End ReadoutStart Start Timer on Readout End event Frame Start FrameStart Start Timer on Frame Start event Frame Trigger ValidFrameTrigger Start Timer on Frame Trigger event Frame Burst End FrameBurstEnd Start Timer on Frame Burst End event Action 1 Action1 GigEVision Action Command 1 This is a broadcast command that multiple devices can respond to...

Page 80: ...n Software Driven Line Detection Level Example Counter Start Source OFF Countermode OFF Counter is IDLE Counter Overflow CounterEnd Event Generated Counter is Active CounterStartSource OFF CounterWait Trigger Counter is incrementing Countermode Active CounterResetSource OFF CounterResetSource Event Counter Reset CMD Counter Completed CounterResetSource CounterEnd CounterStartSource OFF 0 The count...

Page 81: ...unter to 00 and it then continues counting counterResetSource must be set to CounterEnd When the counterValue feature reaches the counterDuration value an event is generated and the counter is reset to 00 then continues Example CounterStartSource EVENT and Signal Edge Base Countermode OFF Counter is IDLE Counter Overflow CounterEnd Event Generated Counter is Active CounterStartSource EVENT or Sign...

Page 82: ...erStartSource Line 1 CounterWait Start Counter Register Countermode Active Counter Completed CounterResetSource CounterEnd Itself CounterStartSource Line Edge Base Example 2 Active Active Active CounterTriggerActivation Falling Edge Counter STATUS 0 12 8 5 10 any Tick in CounterEventSource Active 1 1 CounterDuration 12 0 The Second StartSource Pulse is ignored ...

Page 83: ... the enable state for defective pixel replacement 1 00 Expert DFNC Off Off Disable defective pixel replacement Active Active Enable defective pixel replacement Defective Pixel Replacement Map Current Active Set defectivePixelReplacementMapCurren tActiveSet Specifies the defective pixel replacement set 1 00 Expert DFNC Off Off Disable defective pixel replacement User Map 1 UserMap1 Sets the User Ma...

Page 84: ...User Defined 2 UserDefined2 User Defined 1 is under control LUT Size lutSize Specify the LUT size of the selected LUT Lookup Table Available choices are model dependent 1 00 Guru DFNC 8 Bits Pixel 10 Bits Pixel 12 Bits Pixel Bpp8 Bpp10 Bpp12 8 bits per pixel 10 bits per pixel 12 bits per pixel LUT Index LUTIndex Selects the index offset of the coefficient to access in the selected LUT 1 00 Guru LU...

Page 85: ...mmed as Invert Function Simplified Example 10 bit to 8 bit LUT Block Diagram LUT Size vs Output Pixel Format The LUT size will be the same as the camera s sensor pixel size for the current Nano 5G standard firmware this is a 10 bit All camera processing is performed at the 10 bit sensor pixel format of the camera while the the output pixel format is 8 bit The Nano 5G default neutral LUT programmin...

Page 86: ...the graphic is not to scale As Gamma Correction is reduced in value to the minimum allowed the nonlinear output of acquisition data through the LUT effectively boosts low value data As Gamma Correction is increased in value to the maximum allowed the nonlinear output of acquisition data through the LUT effectively reduces low value data DN 00 DN 255 LUT Output Input DN DN 00 DN 255 Gamma Factor go...

Page 87: ... map file Each bad pixel position relative to the image origin which is the upper left corner must be identified by the XML statement DefectivePixel OffsetX number OffsetY number The pixel format whether 8 10 12 bit is handled transparently thus requires no special consideration by the user This example XML listing has four bad pixels identified maximum number of entries is model dependent The Alg...

Page 88: ... pixel is replaced by the following good pixel if previous pixel is bad or not existent Or a defective pixel is replaced by the previous good pixel Sensor Row pix1 pix2 pix3 pix5 pix6 pix7 pix4 pix0 Bad pixel in a sensor line with bad adjacent pixels Replace bad pixel with the corresponding pixel of the previous line Do nothing when the neighboring pixels are also bad Sensor Row n 1 pix1 pix2 pix3...

Page 89: ...ment cases below describe general color pixel replacements Single bad pixel in a sensor line with a good adjacent pixel A defective pixel is replaced by the following good pixel if previous pixel is bad or not existent Or a defective pixel is replaced by the previous good pixel Sensor Row pix1 pix2 pix3 pix5 pix6 pix7 pix4 pix0 Bad pixel in a sensor line with bad adjacent pixels Do nothing when th...

Page 90: ...their view attribute and device framework version For each feature the device version may differ for each camera sensor available Such differences will be clearly indicated for any applicable feature As Genie Nano 5G capabilities evolve the device firmware version will increase therefore identifying the supported function package The description column will indicate which feature is a member of th...

Page 91: ...ied to subsequent snaps or grabs 1 00 Expert DFNC White Balance Ratio Reference Component balanceRatioReference Selects which color component to use as the reference point for BalanceWhiteAuto 1 00 Expert DFNC Red Red Red component will remain constant after the white balance adjustment Green Green Green component will remain constant after the white balance adjustment Blue Blue Blue component wil...

Page 92: ... for most applications For Manual Adjustments RGB values range from 1 to 4 in 0 01 increments Use BalanceRatioSelector to select the RGB gain to adjust and use BalanceRatio to change the gain value The user selects one color to stay fixed at a gain of 1 00 often green Adjust the gain for R B to achieve the white balance desired For Automatic Adjustments With either periodic or on demand modes the ...

Page 93: ...etween camera states thus ensuring immediate camera response A setup example follows the feature table Parameters in gray are read only either always or due to another parameter being disabled Parameters in black are user set in CamExpert or programmable via an imaging application Features listed in the description table but tagged as Invisible are usually for Teledyne DALSA or third party softwar...

Page 94: ... feature Falling Edge FallingEdge The source is considered valid on the falling edge of the line source signal after being processed by the line inverter feature Any Edge AnyEdge The source is considered valid on any edge falling or rising of the line source signal after being processed by the line inverter feature Cycling Preset Repeater cyclingPresetRepeater Specifies the required number of cycl...

Page 95: ...d camera feature to read only Expert DFNC 1 00 Expert DFNC Off Off Exclude the selected feature from the cycling Active Active Include the selected feature in the cycling Preset Configuration Selector cP_PresetConfigurationSelector Selects the cycling preset to configure 1 00 Expert DFNC Cycling Preset Repeater cP_PresetRepeater Specifies the required number of cycling preset increment events gene...

Page 96: ...ol block to use Pin 8 is the Output Signal and Pin 4 is the common output power on the I O connector Line 5 Line5 Index of the physical line and associated I O control block to use Pin 9 is the Output Signal and Pin 4 is the common output power on the I O connector Output Line Source cP_OutputLineSource Selects which internal signal or event driven pulse or software control state to output on the ...

Page 97: ... running acquisition setup Set the feature cyclingPresetRepeater to the number of incremental source events to count before switching to the next preset In this example we are counting StartOfFrame events thus a value of 20 with a test setup of 20 fps will switch presets every 1 second The feature cyclingPresetResetSource is optional for this example This defines the event which will reset the pre...

Page 98: ...Preset 3 Preset 1 Acquisition Command Frame Acquisition 1 Increment Source cyclingPresetIncrementalSource Frame Acquisition 2 Increment Source cyclingPresetIncrementalSource Frame Acquisition 3 Increment Source cyclingPresetIncrementalSource Frame Acquisition 4 Increment Source cyclingPresetIncrementalSource Asynchronous Cycling Reset cyclingPresetResetSource Reset Applied cyclingPresetCurrentActi...

Page 99: ...his Example Below are listed key features for this setup Other Nano 5G features will be as required by the user I O Controls TriggerSelector FrameBurstStart TriggerMode On triggerFrameCount 2 Cycling Preset cyclingPresetMode Active cyclingPresetCount 2 cyclingPresetIncrementalSource StartOfFrame cP_FeaturesActivationSelector ExposureTime cP_FeaturesActivationMode Active plus set required exposure ...

Page 100: ...ge Format group of features Obviously the defined initial ROI area would be smaller so as to allow it to be moved around via the Cycling Mode OffsetX and OffsetY features set for each Cycling Preset Specifics Concerning Sony Sensor Models Sony sensors can only use in FPGA ROI settings thus the complete sensor area must be readout to the processing FPGA Then the defined ROI area is read out of the ...

Page 101: ...erence 99 Image Format Control Category The Genie Nano 5G Image Format controls as shown by CamExpert has parameters used to configure camera pixel format image cropping image flip Binning multiple ROI and selecting a test output image without a lens ...

Page 102: ...orizontal Offset OffsetX Horizontal offset from the Sensor Origin to the Region Of Interest in pixels 1 00 Beginner Vertical Offset OffsetY Vertical offset from the Sensor Origin to the Region Of Interest in Lines 1 00 Beginner Width Width Width of the Image provided by the device in pixels 1 00 Beginner Height Height Height of the Image provided by the device in lines 1 00 Beginner Horizontal Fli...

Page 103: ...ith a digital processing function Binning does not affect the current data rate from the sensor or camera Binning Mode binningMode Sets the mode used to combine pixels together when BinningHorizontal and or BinningVertical is greater than 1 1 00 Beginner DFNC Sum Sum The responses from the individual pixels are added together resulting in increased sensitivity Average Average The responses from th...

Page 104: ...igned MonoPacked MonoPacked Pixel is monochrome and packed Raw Bayer Raw Pixel is raw Bayer Pixel Color Filter PixelColorFilter Indicates the type of color filter applied to the image RO 1 00 Invisible DFNC None None No filter applied on the sensor Bayer GR BayerGR For BayerGR the 2x2 mosaic alignment is GR BG Bayer RG BayerRG For BayerRG the 2x2 mosaic alignment is RG GB Bayer GB BayerGB For Baye...

Page 105: ...e Nano 5G model maximum The following figure is an example of a partial scan acquisition using both Height and Vertical Offset controls The Vertical Offset feature defines at what line number from the sensor origin to acquire the image The Height feature defines the number of lines to acquire to a maximum of the remaining frame height Note that only the partial scan image ROI is transmitted to the...

Page 106: ...rd Design Firmware Vertical Lines Acquired Model M C2050 M C2450 M C4040 M C4060 Increased frame rates with reduced ROI available only when In Sensor binning is not active 3008 Not applicable Not applicable 63 Not applicable 2176 Not applicable Not applicable 87 2056 Not applicable 87 92 1536 187 122 1024 279 181 768 368 237 512 539 344 384 702 445 256 1009 629 128 1788 1072 64 2906 1655 32 4237 2...

Page 107: ...nts from maximum in pixel counts of 8 that is the video width is in steps of 8 pixels Horizontal Crop Horizontal Offset Width Using the Multiple ROI Mode Genie Nano 5G monochrome cameras implement the Multiple ROI mode region of interest features which allow having 2 to 16 smaller image ROI areas versus the single ROI area possible with vertical and horizontal crop functions These multiple areas a...

Page 108: ... 5G firmware by default provides a 4x4 sample multi ROI setup for easy verification of this function The following graphics show examples of the multi ROI function 2x1 and 2x2 areas the resultant camera output and the constraints when configuring the ROI areas Example Two Horizontal ROI Areas 2x1 ROI x1 y1 ROI x2 y1 ROI x1 y1 ROI x2 y1 2 ROI Areas Defined Camera Outputs only the 2 ROI Areas Note t...

Page 109: ... x2 y2 Note that ROI x1 y1 defines the height of any ROI in that row ROI x2 y1 can have a different width ROI x1 y2 can have a different height relative to ROI x1 y1 The camera output image frame consists only of the ROI areas in the same order as the ROI rows and columns The user must account for the change between ROI data for each output image row The output image being smaller reduces the band...

Page 110: ...manually added to this example Note how the top row ROI areas may be larger than ideal due to height and width requirements of ROI areas in the second row constraints and interdependencies as defined in the preceding ROI descriptions With the ROI areas defined the camera outputs an image consisting only of data within those ROI areas as shown below Such data reduction improves transfer bandwidth a...

Page 111: ... thus internal test images cannot be flipped When image flip is supported directly at the sensor activation of the flip function does not reduce the maximum frame rate possible from that model of Nano The Image flip functions operate both on full image acquisitions and when using multi ROI Both modes are described below Image Flip Full Frame With full frame acquisitions live horizontal and or vert...

Page 112: ...ti ROI implementation resizes the programmed ROI areas so that the same exact image areas are output by the camera but flipped as expected Note that the ROI indexes do not transpose just their size and offsets All multi ROI setup constraints remain as described in the previous section describing the Multi ROI mode ROI x1 y1 ROI x2 y1 ROI x1 y1 ROI x2 y1 2 ROI Areas Defined Camera Output ROI x2 y1 ...

Page 113: ... vertical binning only is activated the image is reduced to 640x240 With both binning modes activated the resulting image is 320x240 Binning is performed digitally therefore there is no increase in acquisition frame rate The following graphic illustrates binning 1 640 639 4 3 2 1 2 320 Horizontal Binning by 2 Line 1 Line 2 Line 3 Line 4 Line 479 Line 480 Line 1 Line 2 Line 240 Repeated for each li...

Page 114: ...The patterns are identical for monochrome or color camera models and subject to processing operations Note Selecting the camera 8 bit output format displays the lower 8 bits of the processing path The Nano 5G Test Patterns are Grey Horizontal ramp Image is filled horizontally with an image that goes from the darkest possible value to the brightest Grey Vertical ramp Image is filled vertically with...

Page 115: ...e Nano 5G cameras are available in a number of models implementing different sensors and image resolutions which may not support the full feature set defined in this category Metadata Control Category Feature Descriptions Teledyne DALSA provides header files for developers managing Genie Nano 5G LUT data and chunk payload data as supported by GigE Vision 1 2 Refer to section following the table of...

Page 116: ...s the value of the feature counterValueAtReset at the start of Frame Readout to the Metadata attached to the image Supported only in GenAPI compatibility mode DeviceID Add the DeviceID value to the metadata attached to the image DeviceUserID Add the DeviceUserID value to the metadata attached to the image TestImageSelector Add the TestImageSelector value used during the image acquisition to the me...

Page 117: ...splay the metadata or save it to a file csv In addition source code and C project files are included for a console based executable The following figure shows the Sapera Explorer tool screen with the Metadata Example highlighted Important When an internal Nano 5G Test Image is selected the Metadata feature values for Exposure Time ExposureTime and Exposure Delay exposureDelay are not valid values ...

Page 118: ...116 Contents Nano 5G Series GigE Vision Camera ...

Page 119: ... Camera Operational Reference 117 Acquisition and Transfer Control Category The Genie Nano 5G Acquisition and Transfer controls as shown by CamExpert has parameters used to configure the optional acquisition modes of the device ...

Page 120: ...n mode 1 00 Beginner Acquisition Arm Cmd AcquisitionArm Arms the device before an AcquisitionStart command This optional command validates all the current features for consistency and prepares the device for a fast start of the acquisition If not used explicitly this command is automatically executed at the first AcquisitionStart but will not be repeated for subsequent ones unless a data transfer ...

Page 121: ...on the GigE cable The value is displayed in MB Note This statistic is reset when acquisitions are stopped 1 00 DFNC Beginner Transferred Image Average Data Size in MB transferAverageBlockSize Average size of the last 16 images GVE blocks of data sent on the GigE cable The value is displayed in Megabytes Use this value to calculate the sustained frame rate transferred on the GigE cable GigE Link sp...

Page 122: ... 5G will not need to drop frames when there are temporary delays to the transfer When using CamExpert right click on this field and then click on Refresh from the pop up menu The current frame count in the transfer buffer is displayed in the Value field During live grab if the number of frames in the transfer buffer is increasing then there is a problem with the network or host bandwidth being exc...

Page 123: ...ano 5G default 0 for all action command Provides the key that the device uses to validate that the action command message is part of the requested group 1 00 Guru Action Group Mask ActionGroupMask Nano 5G default 1 for action 1 or 2 for action 2 Provides the mask used to filter particular action command messages for the selected action 1 00 Guru Action Device Key ActionDeviceKey This Write Only fe...

Page 124: ...tiple functions acting on that received command Please refer to the GigE Vision Specification version 2 0 RC6 for configuration and usage details Contact Teledyne DALSA Support and request example code for Action Command usage Nano 5G Features Supporting Action Command Feature Category Feature Enum I O Control Trigger Selector Single Frame Trigger Start MultiFrame Trigger Start Trigger Source Acti...

Page 125: ...Nano 5G Series GigE Vision Camera Operational Reference 123 Event Control Category The Genie Nano 5G Event control as shown by CamExpert has parameters used to configure Camera Event related features ...

Page 126: ...ust be disabled first to reset the PTP clock timer 1 00 Expert DFNC Event Selector EventSelector Select the Event to enable disable with the EventNotification feature 1 00 Expert Start of Frame FrameStart Event sent on control channel on an Active Frame This occurs with the start of the exposure delay Start of Exposure ExposureStart Event sent on control channel on start of exposure End of Exposur...

Page 127: ...ts dropped The camera queues the packet resend requests until they are processed There is a limit to the number of requests that can be queued by the camera When a new request is received and the queue is full the request is dropped but this statistic is still incremented Ethernet Pause Frame Received EthernetPauseFrameReceived Counts the number of Ethernet Pause Frame received Feature limited to ...

Page 128: ...ge PreMaster PreMaster The port shall behave in all respects as though it were in the MASTER state except that it shall not place any messages on its communication path except for Pdelay_Req Pdelay_Resp Pdelay_Resp_Follow_Up signaling or management messages Master Master The port is behaving as a master port Passive Passive The port shall not place any messages on its communication path except for...

Page 129: ...n Event Qualification Timeout Expires QualificationTimeoutExpires Qualification Timeout Expires Announce Receipt Timeout Expires AnnounceReceiptTimeoutExpires Announce Receipt Timeout Expires Synchronization Fault SynchronizationFault Synchronization Fault Master Clock Selected MasterClockSelected Master Clock Selected Recommended State Master RS_Master Recommended State Master Recommended State G...

Page 130: ...nt ID to identify the EventInvalidFrameTrigger software Event RO 1 00 Guru InvalidFrameTrigger Event ID EventInvalidFrameTrigger Event ID to identify the EventInvalidFrameTrigger software Event RO 1 00 Guru AcquisitionStartNextValid Event ID EventAcquisitionStartNextValid Event ID to identify the EventAcquisitionStartNextValid software Event RO 1 00 Guru ImageLost Event ID EventImageLost Event ID ...

Page 131: ...sures The following timing graphic shows the primary events and acquisition timing associated with a synchronous exposure of two individually triggered frames FrameActive 1 Frame Inactive FrameTrigger Inactive Frame Inactive FrameActive 2 FrameTrigger Active Exposure 1 ReadOut 1 Exposure Delay Exposure 2 ReadOut 2 Exposure Delay FrameStart Event 1 FrameStart Event 2 ExposureStart Event 1 ExposureE...

Page 132: ...rames from a single trigger event FrameActive 1 Frame Inactive FrameTrigger Inactive Frame Inactive TriggerDelay FrameActive 2 FrameTrigger Active Exposure 1 ReadOut 1 Exposure Delay Exposure 2 ReadOut 2 Exposure Delay FrameStart Event 1 FrameStart Event 2 ExposureStart Event 1 ExposureEnd Event 1 Input Signal Event FrameTrigger Inactive Multiple FrameActive exposureAlignment Synchronous Invalid F...

Page 133: ...st value MAC address to be the clock master The feature TimeStamp Source is automatically changed to IEEE1588 when PTP Mode is enabled This timestamp tick in ns cannot be reset by the user The Genie Nano 5G cameras implement additional features designed to synchronize multiple camera acquisitions via IEEE 1588 PTP Mode not via external camera trigger signals PTP Master Clock Identity The clock ID ...

Page 134: ...o with timestampControlReset if ptpMode Off else only the internal camera Timestamp counter resets Case Examples Overview The following case examples use a simplified Timestamp timeline which for clarity is shown with time tics from 00 to 60 without units A timeline scale based on real time is not required to describe the usage concepts These examples also apply equally to using an internal Timest...

Page 135: ...tTime first event F1 Case 2 differs only from case 1 by showing that there is a period of uncertainty if the start time is too close to the first modulo count that follows The first frame acquisition may occur at the first modulo count time or at the following The actual value for the uncertainty period may vary with different camera and network conditions 00 10 20 30 40 50 60 Reset Start Time Act...

Page 136: ...The Modulo 10 actual start time for the first acquisition is at Timestamp 30 as described in Case 1 Now if a new Timestamp reset happens between the Start Time and acquisition Actual Start Time the Timestamp counter will restart from time 00 but the Start Time value has already been stored thus the modulo Actual Start Time remains at 30 In this condition the Actual Start Time did not reset as migh...

Page 137: ...a modulo controlled acquisition occurs A shows the initial conditions with the first acquisition F1 at the actual start time B shows a Timestamp reset occurring after the first acquisition C shows that acquisitions then continue at the first modulo 10 time after the reset due to acquisitions already in progress compared to the example case 3 above 00 10 20 30 40 50 60 Timestamp Reset Start Time Ac...

Page 138: ...duloActualStartTime first event F1 timestampModulo changes to 20 Case 5 shows that the Modulo value can be changed dynamically Using the simple example of case 1 after the second acquisition F2 the Modulo value is changed from 10 to 20 The third acquisition now occurs at modulo 20 time following the previous acquisition 00 10 20 30 40 50 60 Timestamp Reset Start Time Actual Start Time F1 F2 F3 Mod...

Page 139: ...When disabled lower level TL specific features are expected to control the throughput When enabled DeviceLinkThroughputLimitRatio controls the overall throughput 1 00 Guru Off Off Disables the device link throughput limit feature On On Enables the device link throughput limit feature Device Link Throughput Limit in DeviceLinkThroughputLimitRatio Limits the maximum bandwidth of the data that will b...

Page 140: ...d NIC ForceIP ForceIP Device IP Address Configuration is set to ForceIP Used to force an IP address change Current IP Address GevCurrentIPAddress Reports the IP address for the given network interface 1 00 Beginner Current Subnet Mask GevCurrentSubnetMask Reports the subnet mask of the given interface 1 00 Beginner Current Default Gateway GevCurrentDefaultGateway Reports the default gateway IP add...

Page 141: ...e IP address the camera uses when booting in Persistent IP mode 1 00 Invisible Persistent Subnet Mask GevPersistentSubnetMask Persistent subnet mask for the selected interface 1 00 Invisible Persistent Default Gateway GevPersistentDefaultGateway Persistent default gateway for the selected interface 1 00 Invisible Primary Application Socket GevPrimaryApplicationSocket Returns the UDP User Datagram ...

Page 142: ...s the Nano 5G with a randomly chosen address on the 169 254 xxx xxx subnet After an address is chosen the link local process sends an ARP query with that IP onto the network to see if it is already in use If there is no response the IP is assigned to the device otherwise another IP is selected and the ARP is repeated Note that LLA is unable to forward packets across routers LLA is the recommended ...

Page 143: ...the source port of the stream channel RO 1 00 Invisible I First URL GevFirstURL Indicates the first URL to the XML device description file 1 00 Invisible I Second URL GevSecondURL Indicates the second URL to the XML device description file 1 00 Invisible I Major Version GevVersionMajor Major version of the specification 1 00 Invisible I Minor Version GevVersionMinor Minor version of the specificat...

Page 144: ...a for this stream RO 1 00 Invisible Defaults for devicePacketResendBufferSize The default minimum for devicePacketResendBufferSize allows at least two maximum sized buffer Resend buffers hold the last images that have been transferred to host More buffers allow more possible resend packets But it is important to remember that increasing the packet resend buffer value consumes internal memory used ...

Page 145: ... Genie Nano 5G cameras supporting TurboDrive ensure to set the feature Turbo Transfer Mode to True For information on TurboDrive see our technology primer http www teledynedalsa com imaging knowledge center appnotes turbodrive Plus this application note reviews Teledyne DALSA s continued development of TurboDrive G3 AN0004 Genie Nano Comparing TurboDrive v2 0 with TurboDrive v2 0 algorithm http ww...

Page 146: ...pera LUT file into the camera s internal LUT User Defined 2 1 00 Factory Defective Pixel Map BadPixelCoordinate0 Select the Factory Defective Pixel Map 1 00 User Defective Pixel Map BadPixelCoordinate1 Select the User Defective Pixel Map XML file as defined in Advanced Processing 1 00 User Defined Saved Image userDefinedSavedImage Upload and download an image in the camera 1 00 Open Source License...

Page 147: ...y for an unknown reason File Unavailable FileUnavailable The last file operation has completed unsuccessfully because the file is currently unavailable File Invalid FileInvalid The last file operation has completed unsuccessfully because the selected file in not present in this camera model File Operation Result FileOperationResult Displays the file operation result For Read or Write operations th...

Page 148: ... selected file type Click the Browse button to open a typical Windows Explorer window Select the specific file from the system drive or from a network location Click the Upload button to execute the file transfer to the Genie Nano 5G Reset the Nano 5G when prompted Overview of the deviceUserBuffer Feature The feature deviceUserBuffer allows the machine vision system supplier access to 4 kB of rese...

Page 149: ...are Licenses statement directly from the installed Nano 5G firmware Select File type Miscellaneous File Selector item Open Source Licenses to download the file to your computer Add the file extension of TXT and open with Notepad or add the extension DOC and Microsoft Word will open it as a Unicode UTF 8 Either of these methods will format the text correctly in Windows ...

Page 150: ...neral information FAQ and White Paper download about the Trigger to Image Reliability T2IR framework in hardware and Sapera LT software SDK http www teledynedalsa com imaging knowledge center appnotes t2ir T2IR with Genie Nano 5G Nano 5G provides a number of features for system monitoring Built in Self Test on power up and reset after firmware change Image Buffer Accumulation Count Status Image Bu...

Page 151: ...nt Events Overflow eventsOverflow Event Statistic Count Reset eventStatisticCountReset Acquisition and Triggers Valid Frame Trigger ValidFrameTrigger Invalid Frame Trigger InvalidFrameTrigger Image Lost ImageLost Output Lines Pulse on Valid Frame Trigger PulseOnValidFrameTrigger Pulse on Rejected Frame s Trigger PulseOnInvalidFrameTrigger Image Transfers Transfer Queue Current Block Count transfer...

Page 152: ... Vision Camera Technical Specifications Both 2D and 3D design drawings are available for download from the Teledyne DALSA web site http www teledynedalsa com genie nano Mechanical Specifications C Mount Note Genie Nano 5G with C Mount ...

Page 153: ...ting holes in identical locations which provide good grounding capabilities Overall height or width tolerance is 0 05mm Temperature Management Genie Nano 5G cameras are designed that optimally transfer internal component heat to the outer metallic body Due to the small form factor of the camera body heat sinking is required to dissipate thermal energy The camera is free standing that is not mounte...

Page 154: ...roduction cameras Dimensions x y z are in microns and referenced to the Genie Nano 5G mechanical body or the optical focal plane for the z axis dimension Theta specifies the sensor rotation relative to the sensor s center and Nano 5G mechanical X variance 250 microns Y variance X variance Sensor Alignment Reference Z variance not shown theta variance Y variance 250 microns Z variance 300 microns T...

Page 155: ...s required to provide a camera ground connection to the controlling computer Note Connect power via the I O or PoE not both Although Nano 5G has protection differences in ground levels may cause operational issues or electrical faults The Nano 5G has a single 10 pin connector SAMTEC connector TFM 105 02 L D WT for all I O signals and for an auxiliary DC power source Nano 5G supports connecting cab...

Page 156: ...ral External Output 1 7 GPI 2 In General External Input 2 8 GPO 2 Out General External Output 2 9 GPO 3 Out General External Output 3 10 Reserved Do not use Note Differs from previous Genie Nano models if upgrading verify cable connections Reserved GPO 2 GPO 1 GPO Power PWR VCC PWR GND GPI Common GPI 1 GPI 2 GPO 3 Camera DC Power Characteristics DC Operating Characteristics Input Voltage 10 Volts ...

Page 157: ...ssembled Length E2O End 2 Option Discrete Cable Assembly see example below https www samtec com products sfsd ISDF 05 D M Connector Availability On Line North America specific country can be selected http www newark com samtec isdf 05 d m connector housing receptacle 10 dp 06R6184 Europe specific country can be selected http uk farnell com samtec isdf 05 d m receptacle 1 27mm crimp 10way dp 230854...

Page 158: ... PoE the camera network setup requires a powered computer NIC supporting PoE or a PoE capable Ethernet switch or an Ethernet power injector Important Connect power via the I O connector or PoE but not both Although Nano 5G has protection differences in ground levels may cause operational issues or electrical faults If both supplies are connected and active the Nano 5G will use the I O power supply...

Page 159: ...er acquisition event counter or timestamp event or integration control User programmable debounce time from 0 to 255µs in 1µs steps Source signal requirements Single ended driver meeting TTL 12V or 24V standards see table below If using a differential signal driver only one input can be used due to the shared input common see details below External Input DC Characteristics Operating Specification ...

Page 160: ... KHz Input Pulse 0V 12V Input Pulse width High 345 µs Input Pulse width Low 1 28 µs Max Frequency 392 KHz Input Pulse 0V 24V Input Pulse width High 132 µs Input Pulse width Low 1 22 µs Max Frequency 392 KHz External Inputs Using TTL LVTTL Drivers External Input maximum current is limited by the Nano 5G circuits to a maximum of 12mA User IO Ground User IO Power Imax 10mA Imax 10mA LVTTL TTL Push Pu...

Page 161: ...mera IO Interface B E C B E C External Signal 2 External Signal 1 Common Ground Input 1 Input 2 External Inputs Using Common Emitter NPN Driver External Input maximum current is limited by the Nano 5G circuits to a maximum of 12mA Warning Only one External Signal can be used input 1 or input 2 User IO Ground User IO Power 3V 28V 10 9 8 7 6 5 4 3 2 1 Camera IO Interface B E C Imax 10mA Only one Inp...

Page 162: ...utput 2 pin 8 Output 1 pin 6 Output Common Power pin 4 External Output Details and DC Characteristics Programmable output mode such as strobe event notification etc see outputLineSource feature Outputs are open on power up with the default factory settings A software reset will not reset the outputs to the open state if the outputs are closed A user setup configured to load on boot will not reset ...

Page 163: ...d Control Signal Opto coupled Output AC Characteristics at an internal FPGA temperature of 83C Note All measurements subject to some rounding Output Common Power Output Current Rload Test td1 µs Leading Delay trise µs Rise Time td2 µs Trailing Delay tfall µs Fall Time TBD TBD TBD TBD TBD TBD TBD TBD TBD TBD TBD TBD TBD TBD TBD TBD TBD TBD TBD TBD TBD TBD TBD TBD TBD TBD TBD TBD TBD TBD TBD TBD TBD...

Page 164: ... Pull Down R Pull Down Signal 2 10 9 8 7 6 5 4 3 2 1 User IO Power Output 1 Output 2 External Outputs Using External LED Indicators Two external LEDs can be connected in the Common Cathode configuration User IO Ground User IO Power Camera IO Interface R R 10 9 8 7 6 5 4 3 2 1 User IO Power Output 1 Output 2 Set resistor R value to not exceed output current of IF 30mA IF IF ...

Page 165: ...one external LED can be connected in the Common Anode configuration User IO Ground User IO Power Camera IO Interface R 10 9 8 7 6 5 4 3 2 1 Output 1 Output 2 IF Set resistor R value to not exceed output current of IF 30mA Only one Output 1 or 2 can be used in this configuration ...

Page 166: ...Interface 10 9 8 7 6 5 4 3 2 1 Camera Slave 1 Camera IO Interface 10 9 8 7 6 5 4 3 2 1 Camera Slave 2 Camera IO Interface 10 9 8 7 6 5 4 3 2 1 Camera Slave 3 Camera IO Interface 10 9 8 7 6 5 4 3 2 1 Camera Slave 4 Camera IO Interface 10 9 8 7 6 5 4 3 2 1 Camera Slave 5 Camera IO Interface 10 9 8 7 6 5 4 3 2 1 Camera Slave 6 User IO Ground GPI_CMD_GND GPI_P0 GPI_P1 User IO Ground GPI_CMD_GND GPI_P0...

Page 167: ... Vision compliant SDK for computer requirements Network Adapters To support 5G the network connection to the camera must support the 5G link speed network adapter and or switches otherwise speed will auto negotiate to the maximum speed supported by the network hardware this speed can be validated using the GevLinkSpeed feature For more information refer to the Network Hardware Considerations secti...

Page 168: ...g the GigE Vision Transport Layer Control IEEE 802 3x Pause Frame Flow Control Ethernet Switches supporting Full duplex IEEE 802 3x Pause Frame Flow Control must be used in situations where multiple cameras may be triggered simultaneously In such a case the NIC maximum bandwidth would be exceeded if there was no mechanism to temporarily hold back data from cameras Nano 5G cameras support the IEEE ...

Page 169: ...Nano 5G Series GigE Vision Camera Technical Specifications 167 EC FCC Declarations of Conformity ...

Page 170: ...mily along with alternative lens types Brief information on other lens parameters to consider follows those sections Lens Options for Models 2450 2050 The following figure shows the lens image circles relative to Genie Nano 5G models using the Sony IMX250 264 and IMX252 265 sensors in color or monochrome versions A typical 2 3 lens will fully illuminate these sensors A smaller 1 1 8 lens could be ...

Page 171: ...ve to Genie Nano 5G models using the Sony IMX253 models 4040 and MX255 models 4060 sensors A typical 1 1 lens will illuminate both sensors models while the 1 lens should only be used with models 4060 to avoid image vignetting 1 3 Lens 22 5mm Image Circle Models 4040 17 6mm diagonal Models 4060 16 1mm diagonal 1 Lens 16mm Image Circle 1 1 Lens 17mm Image Circle ...

Page 172: ...n used to image fine details Aberrations defect chromatic spherical Aberrations are specific types of lens faults affecting resolution and distortion Lens surface defects or glass faults distort all light or specific colors Aberrations are typically more visible when imaging fine details Spatial Distortions Describes non linear lens distortions across the field of view Such distortion limits the a...

Page 173: ... less light in some areas of the spectrum but not others IR Cut off Filters Genie Nano 5G cameras are responsive to near infrared IR wavelengths To prevent infrared from distorting the color balance of visible light acquisitions use a hot mirror or IR cut off filter that transmits visible wavelengths but does not transmit near infrared wavelengths and above Genie Nano 5G color cameras have a spect...

Page 174: ... sensor response spectrum shows the transmission response of typical filters designed for CMOS sensor cameras When selecting an IR cut off filter choose a near infrared blocking specification of 650nm Filters that block at 700nm or longer wavelengths designed for CCD cameras are not recommended for Genie Nano 5G color cameras ...

Page 175: ...nserted between the lens and the camera sensor the focal point is now about 1 3 of the filter thickness behind the sensor plane Genie Nano 5G filters are specified as 1mm thick Genie Nano 5G models with factory installed filters automatically compensate for the focal point variance by having the sensor PCB mounted deeper within the camera body For Nano 5G models normally shipped without filters wh...

Page 176: ...rface to the second focal point The object distance OD is the distance from the first principal point to the object Primary Points in a Lens System Magnification and Resolution The magnification of a lens is the ratio of the image size to the object size h h m Where m is the magnification h is the image height pixel size and h is the object height desired object resolution size By similar triangle...

Page 177: ...ical path and should be handled like other optical components with extreme care Dust can obscure pixels producing dark patches on the sensor response Dust is most visible when the illumination is collimated The dark patches shift position as the angle of illumination changes Dust is normally not visible when the sensor is positioned at the exit port of an integrating sphere where the illumination ...

Page 178: ...lternative to ESD safe cloth wipers is Transplex swabs that have desirable ESD properties There are several varieties available from Texwipe Do not use regular cotton swabs since these can introduce static charge to the window surface Wipe the window carefully and slowly when using these products Ruggedized Cable Accessories Teledyne DALSA provides optional I O cable assemblies for Genie Nano 5G U...

Page 179: ...Nano 5G Series GigE Vision Camera Additional Reference Information 177 Cable Assembly G3 AIOC BLUNT1M ...

Page 180: ...178 Contents Nano 5G Series GigE Vision Camera Cable Assembly G3 AIOC BLUNT2M ...

Page 181: ...Nano 5G Series GigE Vision Camera Additional Reference Information 179 ...

Page 182: ...180 Contents Nano 5G Series GigE Vision Camera Cable Assembly G3 AIOC BRKOUT2M ...

Page 183: ...Nano 5G Series GigE Vision Camera Additional Reference Information 181 ...

Page 184: ...182 Contents Nano 5G Series GigE Vision Camera Nano 5G Generic Power Supply with no I O ...

Page 185: ...3 Components Express Right Angle Cable Assemblies These cable assemblies can be acquired directly from our partner Components Express In such cases use the manufacturer s part number shown on the cable assembly engineering drawing Cable Assembly Right Angle I O Bunt End ...

Page 186: ...184 Contents Nano 5G Series GigE Vision Camera Cable Assembly Right Angle I O to Euro Block ...

Page 187: ...andard RJ45 one example shown below These cables are recommended when Nano 5G is installed in a high vibration environment All Nano 5G versions support this secure Ethernet cable Review their catalog for all available versions of vertical thumbscrew RJ45 cable sets All cables made in U S A all cables RoHS compliant CAT6 certified tested for near end far end crosstalk and return loss IGE 3M 3meters...

Page 188: ...186 Contents Nano 5G Series GigE Vision Camera Cable Assembly Right Angle Ethernet ...

Page 189: ...ditional Reference Information 187 Right Angle Cable Set Mounted Photos show the Components Express Right Angle combo package CC C1679 xxM consisting of a Right Angle Ethernet cable Right Angle I O to Euro Block and power supply not shown ...

Page 190: ...um Tech Extreme Rating HiFlex Ethernet Cable Alysium Tech has a cable series for constant movement applications such as cameras mounted on robotic arms or other locations where reliable interconnects are required Contact Alysium Tech directly for pricing ...

Page 191: ...ssue may still require optimization to perform to specification Device Not Available Device IP Error Device Available GigE Server Tray Icon Note It will take a few seconds for the GigE Server to refresh its state after any change A red X will remain over the GigE server tray icon when the Nano 5G device is not found This indicates a network issue where there is no communication with Nano Or in the...

Page 192: ...igE server tray icon shows a warning with IP errors Review the following topics on network IP problems to identify and correct the condition Please refer to the Teledyne DALSA Network Imaging Package manual for information on the Teledyne DALSA Network Configuration tool and network optimization foe GigE Vision cameras and devices Multiple Camera Issues When using multiple cameras with a computer ...

Page 193: ...cted See Camera acquisition is good but frame rate is lower than expected There is no image but the frame rate is as expected See Camera is functional frame rate is as expected but image is black Other problems Unexpected or missing Trigger Events See Random Invalid Trigger Events Dropped packets or lost frames when using newer CPU system See Preventing Dropped Packets by adjusting Power Options V...

Page 194: ...but an application such as CamExpert does not see the camera A Nano 5G that had a fault with a firmware update will automatically recover by booting with the previous firmware version Important New Nano 5G cameras installed in previously deployed systems are fully backward compatible with the older vision application Power Failure during a Firmware Update Now What Don t panic There is far greater ...

Page 195: ...ano 5G is in a high vibration environment See Ruggedized RJ45 Ethernet Cables Check the Ethernet status LEDs on the NIC used with the camera The Link Status indicator is on and the activity LED should flash with network messages Verify that the Ethernet cable is CAT5e or CAT6 This is very important with long cable lengths When using very long cables up to the maximum specified length of 100m for g...

Page 196: ...m the acquisition All configuration parameters seem correct and the Ethernet cable is secure The following image shows an example of this type of bad acquisition while testing a Genie installation with CamExpert This problem has been seen with network adapters that do not support jumbo frames but still report a false maximum packet frame size Test for a good acquisition by reducing the camera pack...

Page 197: ...CamExpert tool has limits to the maximum frame rate possible due to CamExpert generating an interrupt for each acquired frame The Sapera Grab Demo may be better suited for testing at higher frame rates Verify that network parameters are optimal as described in the Teledyne DALSA Network Imaging Module manual Ensure the host computer is not executing other network intensive tasks Try a different Gi...

Page 198: ... Packets by adjusting Power Options New computers using new generation CPU chips such as Intel Skylake require adjustments to the default Power Options to avoid possible dropped packets or frames Open Control Panel Power Options and select advanced settings as shown below Scroll down to the Processor Power Management control and change the Minimum Processor State to 100 Disable the Sleep and Hiber...

Page 199: ...imum Sapera Version Required Save User Configuration Failed An unusual error that occurred with no other Nano 5G control problem The solution is to verify the minimum Sapera version used with the Nano 5G Framework The Genie Nano 5G requires Sapera version 8 42 or later Issues with uninstalling Cognex VisionPro with Sapera LT CamExpert When the Cognex VisionPro package is uninstalled the Genie Nano...

Page 200: ...nie Nano 5G Direction Definition 1 PWR GND Camera Power Ground 2 PWR VCC Camera Power DC 10 to 36 Volts 3 GPI Common General Input Common Ground 4 GPO Power General Output Common Power 5 GPI 1 In General External Input 1 6 GPO 1 Out General External Output 1 7 RS232_RX In Serial Port Input for G5 Gx4 models GPI_2 In General External Input 2 with G5 Gx3 models 8 GPO 2 Out General External Output 2 ...

Page 201: ...t include lighting motors remote switching various sensors etc The following figure shows an example of such a setup Serial Controled Device Ethernet up to 100m Enable the Virtual Serial Port Driver The Virtual Serial Port Driver is automatically installed with the Nano 5G Framework Even if the Nano 5G is used only with third part GigE Vision applications usage of the serial port requires that the...

Page 202: ...disabled and then follow by an un install of the Nano 5G driver Selecting Serial Port Parameters The Sapera CamExpert tool allows selecting a camera serial port and viewing its current configuration With the Port Control set to RemoteHostControlled use any third party serial communication program to configure the serial ports and control connected devices Note that currently only the Baud rate is ...

Page 203: ...Nano 5G Series GigE Vision Camera Revision History 201 Revision History Revision Date Major Change Description R 0001 November 22 2019 Initial release ...

Page 204: ... 670 2000 Fax 978 670 2010 Teledyne DALSA GMBH Lise Meitner Str 7 82152 Krailling Munich Germany Tel 49 89 89545730 Fax 49 89 895457346 Asian Sales Teledyne DALSA Asia Pacific Ikebukuro East 13F 3 4 3 Higashi Ikebukuro Toshima ku Tokyo Japan Tel 81 3 5960 6353 Fax 81 3 5960 6354 Shanghai Industrial Investment Building Room G 20F 18 North Cao Xi Road Shanghai China 200030 Tel 86 21 64279081 Fax 86 ...

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