Stop Action
4M30 and 4M60
Camera User’s Manual
PT-21-04M30
PT-41-04M60
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29-May-06
03-32-10121-09
www.dalsa.com
Page 1: ...Stop Action 4M30 and 4M60 Camera User s Manual PT 21 04M30 PT 41 04M60 4 Megapixel 31 62 fp p Action Area Scan Cameras s Sto 29 May 06 03 32 10121 09 www dalsa com ...
Page 2: ...hnology software and highly engineered semiconductor wafer pro services include image sensor components electronic digital cameras vision sof image sensors and mixed signal CMOS chips DALSA is listed on the Toronto symbol DSA The Com cl al DA McM Waterloo ON N2V 9 Canada Tel 519 886 6000 Fax 519 886 8023 com Bresla D 821 Muni Germany Tel 49 8142 46770 Fax 49 8142 467746 Ikebukuro East 13F 3 4 3 Hi...
Page 3: ...ut Format 3 3 1 How to Configure Camera Output 3 3 2 Setting the Camera Link Mode 3 3 3 Setting the Camera s Pixel Rate 3 4 Setting Exposure Mode Frame Rate and Exposure Time 3 4 1 Setting the Exposure Mode 3 4 2 Setting the Frame Rate 3 4 3 Setting the Exposure Time 3 5 Setting a Vertical Window of Interest 3 6 Flat Field Correction 3 6 1 Selecting Factory or User Coefficients _____________ 5 5 6...
Page 4: ...rial Interface 5 4 Product Support Camera Link Reference Timing and Configuration Table__________________________ Error Handling and Command List _______________________________ 42 _________ __ 47 47 4 2 Lens Mounts 48 48 Trou _________ ___ 51 51 51 52 5 3 Specific Solutions 52 54 55 ________ ___ 59 B1 All Available Commands 59 Revision History _____________________________________________________...
Page 5: ...ility Simple ASCII protocol controls gain offset frame rates trigger ode test pattern output and camera diagnostics Serial interface ASCII 9600 baud adjustable to 19200 57600 115200 through Camera Link e t m ra Highlights Features 4 megapixels 2352 H Stop Action shutter non rolling shut er 62fps model or 31 Vertical windowing for faste 4x80MHz or 2x Nominal broadband responsivity of 11 6DN nJ cm2 ...
Page 6: ...mera Performance Specifications m The 4M stop action camera is ideal for app Camera Link Applications quality and high responsivity Applications include u Flat panel di PCB inspec Semicond sp Industrial metrology Traffic management General machine visio Table Resolution pixels 2352Hx1728V Pixel Fill Factor 45 Effective fill facto microlenses r with 60 of Lines per Frame lines 1728 Output Format of...
Page 7: ...0 1 890 1 2 Random Noise DN rms 1 3 1 1 Broadband Responsivity DN nJ cm 2 11 6 11 6 DC Offset D 0 37 N 18 Antiblooming 1000x saturation 1000x saturation FPN DN rms 20 3 PRNU 2 2 Integral non linearity DN 2 2 3 Test conditions unless otherwise noted ECE Exposure control enabled 60fps 15 millisecond exposure time Exposure de 2 or 4 re control disabled 60fps Maximum exposure time Exposure mode 3 or 7...
Page 8: ... linear range deviates more than 30 from its neighboring pixels ixel whose signal in dark deviates more than 300 DN from its neighboring pixels A grouping of at most 5 pixel defects within a sub area of 3x3 pixels Column defects must be horizontally separated by 3 good columns Row defect A horizontal grouping of more than 8 pixel defects between at least 2 good pixels on both sides where single go...
Page 9: ...olumn 1 Tap 1 Row 1728 Column 2 Tap 2 Row 1728 Column 3 Tap 3 Row 1728 Column 2349 Tap 1 Row 1728 Column 2350 Tap 2 Row 1728 Column 2351 Tap 3 Row 1728 Column 2352 Tap 4 Pixel 1 Pixel read out direction is left to right then bottom to top Row 1 Row 2 Column 4 Tap 4 Column 4 Tap 4 Row 1727 Column 4 Tap 4 Row 1728 Column 4 Tap 4 dout and Coordinates The camera readout begins with pixel 1 and reads o...
Page 10: ... Coarse Gain 0 dB Fine Gain 45 0 300 400 2 4 6 8 10 12 14 500 600 700 800 900 1000 1100 Wavelength nm Responsivity DN nJ cm 2 Figure 5 Effective Quantum Efficiency Effective Quantum Efficiency 0 10 20 30 40 50 60 300 400 500 600 700 800 900 1000 1100 Wavelength nm Fill Factor x Quantum Efficiency 03 32 10121 09 DALSA ...
Page 11: ...ails This installation overview assumes you have not installed any system components yet 2 1 In allation Overview When setting up your camera y 1 Power down all equipment 2 Following the manufacturer s instructions install the frame grab sure to observe all static preca 3 Install any necessary imaging software 4 Before connecting power to the camera test all power supplies 5 Inspect all cables and...
Page 12: ...essages further he current Table 3 Status LED Connector 1 LED Status Indicator The camera is equipped w 2 the c LED indicate ame When m n one condition is active the s the con priorit and warning states are accompanied by correspond describing t camera status Flashing Green Camera initialization or executing a time consuming command Solid Green Camera is operational and functioning correctly Flash...
Page 13: ... LSB Bit 7 Mode 15 8 bit Tap 1 LSB Tap 2 7 B xxxxxxxx xxxxxxxx 4 Tap Bit 7 LSB Bit 7 Tap 3 LSB Bit Tap 4 LSB it 7 Mode 16 4 Tap 10 bit Tap 1 LSB Bit 7 Tap 1 Bits 8 9 Tap 2 Bits 8 9 Tap 2 LSB Bit 7 Tap 4 LSB Bit 7 Tap 3 LSB Bit 7 Tap 3 Bit 8 9 Tap 4 Bit 8 9 Table 5 Camera Link Connector Pinout 1 1 inner shield 1 1 inner shield 14 14 inner shield 14 inner shield 14 2 25 Y0 2 25 X0 15 12 Y0 12 X0 15 ...
Page 14: ...n internal sync internal programmed integration exposure mode 2 and Camera Link mode he serial interface The external control signa rough the serial interface This camera uses the falling ame times Output Signals Camera Link wing you to clock the data from the camera r acquisitio These signals are part of the Camera Link configuration and you should refer to the DALSA Camera Link Implementation Ro...
Page 15: ...ng up the camera s power supplies follow these guidelines Protect the camera with a fast blow fuse between power supp Power surge limit at 2 A 12 V power supply Nominal 0 65 A load resu lta Power supply current limit needs to be set at 2 A Do not use the shield on a multi conductor cable for ground Keep leads as short as possible to red falsely indicate that the power supply is within the recommen...
Page 16: ...PRELIMINARY 4M Stop Action Camera Manual 16 03 32 10121 09 DALSA ...
Page 17: ...camera will answer each command with either CR LF or Error x Error Message The is always the last character sent by the camera The camera accepts both upper and lower case commands The following parameter conventions are used in the manual i integer value f real number m member of a set Value must be entered exactly as displayed on help screen All camera features can be cont used without the seria...
Page 18: ...ersion gfc get fpn coefficient xy 1 2352 1 1728 gpc get prnu coefficient xy 1 2352 1 1728 gsf get signal frequency m 1 4 s string t tap id x pixel column number y pixel row number gcp CR S Baud Sets the speed in bps of the serial communication port sbr m en m Baud rate Available baud rates are 96 Notes baud rate Example Camera Help Screen For quick help the camera can retrieve all available comman...
Page 19: ...uration 4 taps 10 bits h help lpc load pixel coefficient rc reset camera rfs restore factory settings rpc reset pixel coefficients rus restore user settings sao set analog offset ti 0 sbr set baud rate m 9600 1 sem set exposure mode m set set exposure time f 10 9999 sfc set fpn coefficient xyi sot set output throughput m 2 spc set prnu coefficient xyi 1 2352 1 ssb set subtract background ti 0 2 0 ...
Page 20: ...a These settings are stored in the camera s volatile memory and will not be restored once you power down your camera or issue a reset camera command rc To save these settings for reuse at power up use the command wus 80 MHz pixel ra PT 21 04M30 Flat field Exposure mod 30 fps 14992 6 µs exposure time Camera Link mode 3 Medium configuration 2 taps 10 bits 80 MHz pixel rate 160 total throug Full wind...
Page 21: ...ction cameras offer great flexibility when configuring yo Using the cl command you determine the camera s Camera Link configuration number of output taps an camera s output rate These two com Table 8 4M30 Data Readout Configurations clm 2 Base 2 Camera Link taps e 1 Taps 1 3 2 Taps 2 4 8 sot 130 65 MHz strobe sot 160 80 MHz strobe wher clm 3 Base 2 Camera Link taps where 1 Taps 1 3 2 Taps 2 4 10 s...
Page 22: ... 260 65 MHz strobe sot 320 80 MHz strobe 3 3 2 Setting the Camera Link Mode Purpose k configuration number of Camera bles above for a Syntax Syntax Elements 2 Base configuration 2 taps 8 bit output 3 Base configuration 2 taps 10 bit output 15 Medium configuration 4 taps 8 bit output 4M60 only 16 Medium configuration 4 taps 10 bit output 4M60 only Notes To retrieve the current Camera Link mode use ...
Page 23: ...You have a choice of operating in one of four exposure modes To select how you want the camera s frame rate to be generated 1 You must first set the camera s exposure mode using the sem command Set he Camera s Pixel Rate Syntax clm m m If using Camera Link mod 130 65 MHz pixel rate with a total thro 160 80 MHz pixel rate with a total thro If using Camera Link 15 or 16 4M60 only Notes To retrieve t...
Page 24: ...ternal Yes Yes Internal frame rate and exposure time Exposure control enabled ECE 3 External No No Maximum exposure ti e m Exposure control disabled ECD 4 External No No Smart EXSYNC Exposure control enabled ECE 7 Internal Yes No Internal frame rate maximum exposure time Exposure control disabled ECD Exposure Modes in Detail Mode 2 Internally Programmable Frame Rate and Exposure Time Default The p...
Page 25: ...me rate is set by the period of t Frame Period Exposure Time Frame Period Readout Exposure Time EXSYNC Readout Mode 4 Smart EXSYNC External Frame Rate and Exposure Time In this mode EXSYNC sets both the frame period and the exposure time The rising edge of EX the beginning of the exposure and the falling edge initiates readout Refer to Table 11 Allowable Exposure Time Increments on page 27 for det...
Page 26: ...mode and window size Refer to section for more information 5 Setting a Vertical formation on setting a window size Changing the frame rate will automatically adjust the exposure time if necessary The camera sends a warning when this occurs Refer to section 3 3 3 Setting the Camera s Pixel Rate for more information on how to set the camera s pixel rate Related Commands sem set Example ssf 25 0 Sets...
Page 27: ...e r See Table 11 below for allowable incremen Camera must be operating in exposure mo To os If you enter an exposure time outside of a will not be accepted Refer to the help scre the valid ra a egral readout the exposure time will automatica units of exposure time increments The cam warning Expos Com Ex le 15 or 16 18 475 µs 80 MHs pix 22 875 µs 65 MHs pixel rate 1µs n exposure time overlaps frame...
Page 28: ...d wse 0 1 x y x y 3 Acti when using an exter al window control source wts 2 or o transitioning to wss 0 or wss 1 depending on the complementary logic state when using an internal window control source wts 1 4 When or if necessary repeat steps 2 and 3 to set and activate a new window ry 18 475µs cl 0µs clm 2 or 3 m 15 or 16 or 37 00 xel rate commands uick acti of new coordin one s they have been pr...
Page 29: ...LM 3 Max FR CLM 16 Frame Readout CLM 3 Frame Readout Window Purpose Sets a window of interest Syntax Syntax Elements q e sequence id is Window to set You can only set one window so this is always x1 ly a vertical and not mera this value is always set to 1 y1 Window start pixel number in a range from 1 1725 and must belong to the following set 1 5 9 1725 x2 Window end corner value Since there is on...
Page 30: ...ggered through software gh Camera Link Related Commands Example wts 2 Notes If you are using a hardware trigger wts 2 refer to Figure 17 for timing requirements If you are using a software trigger refer to the next section for command syntax and timing requirements Figure 17 Detailed Timing Requirements for Hardware Triggering New Window Sequence y2 Related Com wss wts Example wse 0 1 1 13 2352 54...
Page 31: ...ample Notes tween the issue of the wss command and the time when the new window sequence is triggered Figure 18 When toggling windows the camera discards the first frame is prevents the camera from sending out erroneous data Upon power up or reset of camera the camera assumes that a wss 0 has already been executed elay for New Window to Become Active when Using wss Command To allow quick activatio...
Page 32: ...ou recalculate your coefficients Note If your illumination or white reference does not extend the full field of view of the camera the camera will send a warning This camera has the ability to calculate correction coefficients in order uniformity in the image This video implements a two po image distortion caused by the following factors Fixed Pattern Noise FPN Photo Response Non Uniformity Lens a...
Page 33: ... the FPN and PRNU coefficients enabled but disable FPN and PRNU coefficients whenever Syntax epc i i Syntax Ele ent PRNU coefficients 0 PRNU coefficients disabled 1 PRNU coefficients enabled Notes The coefficient set that you are enabling or disabling is determined by the csn value Refer to the previous section for an explanation of the csn command Example epc 0 1 Selects the coeff Syntax csn i s ...
Page 34: ... Perform FPN correction before PRNU correction The ccf command is not available when the camera is using the factory calibrated coefficients csn 0 You must select the user coefficient set csn 1 before you can perform FPN calibration An error message is returned if you attempt to perform FPN calibration when using csn 0 Example ccf Setting the Number of Lines to Sample Sets the number of frames to ...
Page 35: ...y 1 to 1728 The pixel row number from i 1023 Coefficient value in a range from 0 to Notes ailable when the camera is using the factory calibrated coefficients csn 0 You must select the user coefficient set csn 1 before you can perform FPN calibration An error message is returned if you attempt to perform FPN calibration when using csn 0 The sfc command is not av Example sfc 10 50 DALSA 03 32 10121...
Page 36: ...l senso are only cameras It is important that the target v parameter is set to be at least equal to all cameras so that all pixels can rea during calibration FPN value sdo i r pixels but warnings applied to pixels in the region of interest This algorithm is useful for achieving uniform output across multiple alue set with the next the highest pixel across ch the highest pixel value i 3DN The targe...
Page 37: ... v Sy wpc coefficient set csn 1 before you c perform PRNU calibration when using csn 0 current csn number send the command ge wpc t FPN Coefficients Pu u m 3 6 6 Saving Loading and Resetting Coefficients Saving the Curren Purpose olatile memory ntax Notes The wpc command is not available when the camera is using the factory calibrated coefficients csn 0 You must select the user an perform PRNU cal...
Page 38: ...lso resets Syntax Notes not availab hen the camera is using the factory calibrated coefficients csn 0 You must select the user e you can reset pixel coefficients An you attempt to reset pixel coefficients when using csn 0 To return the current csn number send the command get csn 3 6 7 Returning Pixel Coefficient Information Returning FPN rpose all the current pixel coefficients in the order FPN PR...
Page 39: ...lue depends on other camera parameters such as temperature frame rate and exposure mode The upper input limit of the offset remains the same regardless of the exposure mode t limit of the offset for sem 3 7 is set at 24 and s set at 0 Example sao 0 20 exposure mode sem 3 7 Se Analog Offset sao t i t Tap selection Allowable value is 0 for i Analog offset valu and gain settings The offset increases ...
Page 40: ...ing a digital va ue from the digital video signal mum Use the ssg ing Background Use the background subtract command if you your image in a low contrast scene It is us process 8 bit dat ssb t i Sensor tap selection Allowable taps i l the output can no longer reach its maxi command to correct for this where ssg value max output value max output value ssb value See the following section for details ...
Page 41: ...value ssb value Syntax Syntax Elements t 1 to 2 or 0 for all ssg t i Sensor tap selection Allowable range is taps i to 65535 The digital Gain setting The gain ranges are 0 video values are multiplied by this value where D igital G ain 4096 i For example to set a digital gain of 1 0 i equals 4096 Notes Entering a large value gain will cause the camera to digitally saturate the output image Entering...
Page 42: ...ying proper timing and co between the camera and the frame grabber The follow shows each available test pattern Syntax i Syntax Elements 0 Video 1 Test pattern checkerboard Generates a test pattern to aid in system deb patterns are usefu nnections ing table svm i 2 Test pattern alternating line 1 3 Test pattern alternating line 2 ...
Page 43: ...4M Stop Action Camera Manual PRELIMINARY 43 4 Test pattern horizontal ramp 8 bit 10 bit Test pattern vertical ramp 5 8 bit DALSA 03 32 10121 09 ...
Page 44: ...PRELIMINARY 4M Stop Action Camera Manual 44 10 bit 6 Test pattern diagonal ramp 8 bit 10 bit 03 32 10121 09 DALSA ...
Page 45: ...4M Stop Action Camera Manual PRELIMINARY 45 7 FPN test pattern 8 bit 10 bit 8 FPN and PRNU test pattern 8 bit 10 bit DALSA 03 32 10121 09 ...
Page 46: ...8 the camera turns off any digital gain ssg background subtract ssb settings currently being used The gcp screen does not turn off these settings and displays the settings used prior to switching to test patter ode When returning to background subtract rned to their prior Example n m video mode svm 0 the digital gain and exposure control settings are retu state svm 2 03 32 10121 09 DALSA ...
Page 47: ... 47 0 52 0 5 00 2X Both Sides 50 80 2X 21 56 2X Front Surface 300 µm 6 56 25 Optical Distance M4 x 7 x 4 Deep 2X Both Sides M4 x 7 x 4 Deep Image Area 17 40 x 12 79 Pixel 1 1 39 04 10 21 96 50 00 10 3 5 0 3 0 4 0 10 13 73 66 46 96 15 36 83 15 M42 x 1 x 4 Deep 73 66 46 96 15 36 83 15 25 00 10 Image Center Rotation WRT Camera Edge is 2 Max Tolerance Unless Otherwise Specified X 5 XX 30 For optimal c...
Page 48: ...prevent infrared from distorting the images you scan use a hot mirror or IR cutoff filter that transmits visible wavelengths but does not transmit wavelengths over 750nm Examples are the Schneider Optics B W 489 which includes a mounting ring the CORION LS Illumination The amount and wavelengths of light required to capture useful im particular application Factors includ objects being imaged expos...
Page 49: ...s the object height and h is the image height The focal point is the point at which the image of an infinitely distant o focus The effective focal length f b second focal point The n The magnification of a lens is the ratio of the image size to the object size Magnification and Resolutio m h where m is the magnification pixel size and h is the object height desired object h h is the image height r...
Page 50: ...PRELIMINARY 4M Stop Action Camera Manual 50 03 32 10121 09 DALSA ...
Page 51: ...ltages at the camera power connector Verify the connector pinout and that all grounds are connected Refer to section 2 2 3 Power Connector for details Note Avoid hot plugging long power cables into the camera Data Clocking Output Signals To validate cable integrity have the camera send out a test pattern and verify it is being properly received Refer to section 3 8 for further information on runni...
Page 52: ...e rate Verify that the frequency of the internal sync is set correctly Noisy Output Check your power supply voltage outputs for noise Noise present on these lines can result in poor video quality Low quality or non twisted pair cable can also add noise to the video output Communications To quickly verify serial communications send the h h and receiving the help menu the serial commu persist review...
Page 53: ...g behind 7 Repeat steps 2 4 using a clean tissue until the entire window has been cleaned 8 Blow off any adhering fibers or particles using dry filtered compressed air 1 Take standard ESD precautions 2 Wear latex gloves or finger cots 3 Blow off dust using a f 4 Fold a piece of optical lens cleaning tissue approx 3 x 5 to make a square pad that is approximately one finger width 5 Moisten the pad o...
Page 54: ...me grabber host computer ources etc light s Acquisition System software version OS etc Power supplies and current draw Data rate used Control signals used in your application and their frequency or sta EXSYNC BIN te if applicable MCLK Other _______ Results when you run the gcp com please attach text received from the camera after initiating he co mand t mmand Detailed description of problem enc se...
Page 55: ...terface The ntrol signals serial communication and video data Video Data The Channel Link technology is integral to the transmission of video data Image data and image enable signals are transmitted on the Channel Link bus Four enable signals are defined as FVAL Frame Valid FVAL is defined HIGH for valid lines time needed for customers to successfully integrate high speed came grabbers This is par...
Page 56: ...Window 1 data DVAL Data Valid DVAL is defined HIGH when data is Spare A spare has been defined for future use unu ust be t image data bit catio vfm dalsa com eb sit Table 15 D era C EXSYNC CC1 Reserved for future use CC2 Reserved for future use CC3 Window Toggle CC4 Communication Two LVDS pairs have been allocated for asynchronous serial commun the camera and frame grabber Cameras and frame grabbe...
Page 57: ...T tFRAME PERIOD twSYNC_INT twSYNC twSYNC_INT tFRAME PERIOD twSYNC 1 N STROBE EXSYNC FRAME VALID LINE VALID DATA PIXEL RESET DVAL twSYNC e EXSYNC lse When in SMART EXSYNC h i ater tosites to be properly µs 12 The minimum width of th pu mode the minimum widt allow for the pho s gre to reset twSYNC_INT Is the the integration time when the SMART EXSYNC feature is available and turned on Note that the ...
Page 58: ...occur ns TBD tLINE The line time µs clm 15 16 sot 320 18 475 µs clm 15 16 sot 260 22 875 µs clm 2 3 sot 130 45 600 µs tFL Number strobes between FV in AL ris g and the first LVAL rising edge cloc 0 ks tLVAL_LO Number strobes that LVAL is low during readout µs T D W B tLF Number of strobes between last LVAL falling and FVAL falling edge clocks 0 thPR N A ns twPR_LOW N A ns tPR_INT N A ns 03 32 1012...
Page 59: ...dual pixel dark current camera link mode clm m Output mode to use 2 Base configuration 2 taps 8 bit output 3 Base configuration 2 taps 10 bit output 15 Medium configuration 4 taps 8 bit output 4M60 only 16 Medium configuration 4 taps 10 bit output 4M60 only calculate PRNU algorithm cpa i i Performs PRNU calibration according to the selected algorithm The first parameter is the algorithm where i is...
Page 60: ...f 0 FPN coe FPN co 1 The second parameter sets the PRNU coefficients wh 1 PRNU c get camera l mode gcm Read the camera model number get ca par mera ameters p c mera parameters gc Read all of the a get camera serial gcs ial number Read the camera ser get camera version gcv Read the firmware version and FPGA version get comman s ay value of camera command s d parameter get Displ get sync frequency g...
Page 61: ...trol disab set exposure tim set f e Sets the exposure time to a floating point number in µs Allowable range is 10 999989 µs in increments described in Table 11 Allowable Exposure Time Increments on page 27 set sync frequency ssf f ate in Hz to a value 62 1 4M60 full frame or 1 half frame Sets the frame r from 1 to to 31 4M30 set system gain ssg t Sets the digital gain tion Allowable value is 0 ue ...
Page 62: ... wse i x1 y1 y2 Sets the wind where i is the window se alway i is the number of always 1 in this cam there is only vert this cam ng to in era this to 1 nd vertic in this came y1 is window start range from 1 1725 x2 is window e there is only ra to 2352 y2 window the following s window set sequence wss i current window sequence itching between wss 0 and Toggles the when sw wss 1 or vice versa window...
Page 63: ...le Commands Added the ssg and ssb commands to section and Table 16 All Available Commands 03 Updated Figure 20 Camera Mechanical Dimensions On page 6 changed the Camera Size from 94x94x46 to 94x94x48 and the Mass from 500 to 550 04 Updated mechanical drawing to show tooling holes on the front cover 05 Updated dynamic range responsivity operating temp to 50 from 40 measured at front plate 06 Update...
Page 64: ...PRELIMINARY 4M Stop Action Camera Manual 64 03 32 10121 09 DALSA ...
Page 65: ...ts 14 e 21 Link mode g 21 22 era settings t 19 y 19 g 19 trieving 18 ing 19 er 19 clock signals 14 coefficients 32 command format 16 parameters 16 connector 11 Camera Link 12 hirose 15 power 15 connectors Camera Link 13 control configuration 55 control signals 55 D dark patches 52 data bus 14 data rate 7 DC offset 7 digital gain 40 AL 55 ic range 7 E EIA 644 Reference 54 electrical specifications ...
Page 66: ...ine help 17 7 interface 47 pecifications 6 P performance specifications 9 10 pixel rate 20 21 power connector 15 connectors 15 guidelines 15 NU 31 PRNU calibratio R random noise 7 readout 9 configuring 20 resolution 6 responsivity 7 S nsor diagram 9 readout 9 specifications serial communic reference 54 serial interface 1 defaults 16 settings factory 18 ations electrical 7 mechanical 6 ting 7 senso...
