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U

SER

M

ANUAL

C

OLOR

–

R

EV

I

–

09/2016

P

A G E

|

30

7.7

Gains and Offsets

GenCP address

ASCII

command

GenICam

command

Size R/W Description

0x12200

pamp

GainAbs GainSelector

= AnalogAll

4

RW

Pre-amplifier gain to:
0 : x1
1 : x2
2 : x4

0x12204

gain

GainAbs GainSelector =

GainAll

4

RW Digital gain from 0dB (0) to +8dB (6193) step

0.002dB

0x12208

gdig

GainAbs GainSelector =

DigitalAll

4

RW Contrast expansion (digital gain) from 0dB (0)

to +14dB (255) step 0.135dB (1)

0x1220C

offs

BlackLevelRaw

BlackLevelSelector =All

4

RW Common black level from -4096 to 4095 step

1

Analog Gain in the ADC

The only analog Gain available in the is located at the sensor level, in the ADC converter.
This “Preamp Gain” is in fact a variation of the ramp of the comparator of the ADC.
Then 3 Values are available : x1, x2 and x4. A gain x1 in a 12 bits conversion is equivalent to x4 in
10 bits.

OUT

Sensor

X

Preamp

Gain

X

White Balance Gains

Red

Green

red

Green

blue

Blue

+

X

FFC

Offset Gain

X

FFC

Adjust

FPGA

Sensor

Action on whole line

Action per pixel

Action per Color

X

Amp
Gain

X

X

X

Contrast Expansion

Offset Gain

+

X

x1

x2

x4

LSB

FWC

Comparator Ramps

at different Gains

Clamp (Black

Ref)

1024

electrons

4096

x1

x2

x4

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Summary of Contents for UNIIQA

Page 1: ...e2v com imaging WE PARTNER WITH OUR CUSTOMERS TO IMPROVE SAVE AND PROTECT PEOPLE S LIVES USER MANUAL UNIIQA COLOR ...

Page 2: ... 9 2 2 4 Line Interpolation Correction True Color Only 9 2 2 5 Effects of the interpolation corrections in True Color 9 2 3 Response QE curves 10 2 3 1 Quantum Efficiency 10 2 3 2 Spectral Response Curve 10 3 Camera Hardware and Interface 11 3 1 Mechanical Drawings 11 3 2 Input output Connectors and LED 12 3 2 1 Power Connector 13 3 2 2 Consumption and Inrush Current 13 3 2 3 Status LED Behaviour ...

Page 3: ... 5 Image Control 27 7 6 Acquisition Control 28 7 7 Gains and Offsets 30 7 8 Color Management 32 7 9 Flat Field Correction 37 7 9 1 Automatic Calibration 38 7 9 2 Manual Flat Field Correction 42 7 10 Save Restore FFC and Configuration User set 44 7 10 1 Save Restore FFC 44 7 10 2 Save Restore Settings 45 APPENDIX 46 Appendix A Test Patterns 47 A 1 4k Pixels 12bits 47 A 2 2k Pixels 12bits 47 A 3 1k ...

Page 4: ... P A G E 4 C 1 Choosing the Cable 52 C 2 Choosing the Data Rate 53 C 2 1 High Speed Models 53 C 2 2 Essential Models 54 Appendix D Lens Mounts 55 D 1 F Mount 55 D 2 C Mount 56 Appendix E CommCam Connection 57 Appendix F Revision History 59 ...

Page 5: ...file embedded 1 1 Key Specifications Note All values in LSB are given in 8 bits format Values per ADC per color Characteristics Typical Value Unit Sensor Characteristics at Maximum Pixel Rate Resolution 4096 2048 1024 512 Pixels pixel size square 5 x 5 10 x 10 10 x 10 10 x 10 µm Max Line Rate Essential Version CameraLink Base 1 x RGB channel at 85MHz 20 40 40 40 kHz Max Line Rate High Speed versio...

Page 6: ... CMOS sensors a single line of highly sensitive pixels of either 5µm or 10µm size 1 3 Typical Applications On line quality control Raw material inspection plastic film glass wood Print and paper inspection Sorting Food sorting Belt sorting Lane sorting Free fall sorting Parcel and postal sorting Barcode reading Functionality Programmable via Control Interface Analog Gain Up to 12 x4 dB Offset 4096...

Page 7: ...nditions and notes Values per ADC per color Blue Green Red in LSB8bits nJ cm2 Figures in LSB are for a 8bits format Measured at Max Exposure Time and Nominal Gain No Gain Maximum data rate Stabilized temperature 30 40 55 C Room Front Face Internal SNR Calculated at 75 Saturation with minimum Gain Camera Part Number Description Details UNIIQA Essential EV71YC1CCL4005 BA2 Versatile Base CameraLink 4...

Page 8: ... of 2x Green pixels one red and one blue exposed in the same time Then 1k or 0 5k 10x10µm are achieved by applying an ROI on the centre of the sensor from the 2k 10x10µm 2 2 1 4k pixels 5x5µm Full Definition This color mode 5µm requires the indication of Forward Reverse to the camera in order to manage the delay between the two colored lines 2 2 2 2k 1k or 512 pixels 10x10µm True Color These color...

Page 9: ...ted if the variation between two consecutive green values previous to next line is significant B1 αB x B1 and αB is the blue correction calculated with the variation G1 G 1 R2 αR x R2 and αR is the red correction calculated with the variation G2 G 2 This interpolation is available only for pixel size 10x10µm True Color It can be enabled by the customer By default it is disabled This interpolation ...

Page 10: ...2016 P A G E 10 2 3 Response QE curves 2 3 1 Quantum Efficiency 2 3 2 Spectral Response Curve 0 0 5 1 1 5 2 2 5 3 3 5 4 4 5 360 460 560 660 760 860 960 1060 Spectral Response LSB 8 bit nJ cm wavelength nm Spectral response UNIIQA Color ...

Page 11: ...USER MANUAL UNIIQA COLOR REV I 09 2016 P A G E 11 3 Camera Hardware and Interface 3 1 Mechanical Drawings Essential Model High Speed Model X Y Z The Step file is available on the web www e2v com cameras ...

Page 12: ...mm 4k 5µm X 19 76 mm 2k 10µm X 24 88 mm 1k 10µm X 27 44 mm 0 5k 10µm 100 µm Y 30 mm 100 µm Die flatness 50 µm Rotation X Y plan 0 3 Parallelism 50µm Power Connector 10 15V DC Multi Colored LED for Status and diagnostic CameraLink Connector CL1 PoCL CameraLink Connector CL2 High Speed ver only USB Connector For Firmware upgrade ...

Page 13: ...ly from 10 to 15v Power 3 5W max with an typical inrush current peak of 0 32A during power up 3 2 2 Consumption and Inrush Current Typical current Power during the grab possible variation 5 Power Time Max 3s Green Light Camera supply Max Speed Supply 10V Supply 12V Supply 15V I mA I mA I mA P W I mA P W Essential 314 3 14W 263 3 15W 214 3 21W High Speed 314 3 14W 263 3 15W 214 3 21W Inrush current...

Page 14: ...blinking slowly Waiting for External Trigger Trig1 and or Trig2 Red and continuous Camera out of order Internal firmware error Orange and Continuous Camera booting or upgrading 3 2 4 CameraLink Output Configuration Adjacent Channels RGB Pixels per Channel Version Essential and High Speed 4k 2k 1k 0 5k Base 1 Channel 24 bits RGB 1 x 85MHz 60 42 5MHz 1 x 4096 1 x 2048 1 x 1024 1 x 512 Version High S...

Page 15: ...sted and found to comply with the limits for Class A digital device pursuant to part 15 of the FCC rules These limits are designed to provide reasonable protection against harmful interference when the equipment is operated in a commercial environment This equipment generates uses and can radiate radio frequency energy and if not installed and used in accordance with the instruction manual may cau...

Page 16: ... to be downloaded from the web site This ensure you to have an up to date version Main Camera page www e2v com cameras On the appropriate Camera Page UNIIQA Monochrome you ll find a download link first version of CommCam compliant is indicated in the last Chapter CommCam download requires a login password Login commcam Password chartreuse 5 2 Setting up in the system w f FOV L FOV Focal Plan Senso...

Page 17: ...Cam standard COMMCAM recognizes and detects automatically all the UCL Cameras connected on any transport layers Camera Link or COM ports of your system Once connected to the Camera you have an easy access to all its features The visibility of these features can be associated to three types of users Beginner Expert or Guru Then you can make life easy for simple users Minimum version of CommCam is 2...

Page 18: ...essed The setting is implemented if valid The camera returns return code CR The camera return code has to be received before sending a new command The camera return code has to be received before sending a new command Some commands are longer than the others Waiting for the return code ensure a good treatment of all the commands without saturating the buffer of the camera 6 2 3 GenCP Compliance Th...

Page 19: ...ITE_PROTECT Attempt to write to a read only register 0x8005 GENCP_BAD_ALIGNMENT Attempt to access registers with an address which is not aligned according to the underlying technology 0x8006 GENCP_ACCESS_DENIED Attempt to read a non readable or write a non writable register address 0x8007 GENCP_BUSY The command receiver is currently busy 0x800B GENCP_MSG_TIMEOUT Timeout waiting for an acknowledge ...

Page 20: ...define name of the device 0x01C4 NA DeviceCapability 8 R Bit field describing the device s capabilities 0x1CC NA MaximunDevice ResponseTime 4 R Maximum response time in milliseconds Manufacturer Name ManufacturerName Camera identifier set by the User in a 64Bytes String Read function ASCII r vdnm Returned by the camera e2v String of 64 bytes including 0 Can t be written Model Name ModelName Camera...

Page 21: ... Integrator or privilege User computed value Unlock the Camera back in Integrator mode GenCP address ASCII command GenICam command Size R W Description 0x17040 lock PrivilegeLevel 4 RW Read 0 Factory 1 Advance User 2 User Write 1 change mode from factory to AdvanceUser 2 change mode to User Other key to unlock the camera 0x17048 stat Status 4 RO Camera Status bit set when Bit0 no trigger during mo...

Page 22: ...sWarningUnderflow True is an underflow occurs during FFC or Tap balance processing Bits 10 11 12 13 14 15 Reserved Bit 16 StatusErrorHardware True if hardware error detected Bits 17 to 31 Reserved 7 3 Communication and Firmware version Device Serial Port Baud Rate CurrentBaudRate Set the Camera Baud Rate Read function ASCII r baud Returned by the camera Value of the Baud Rate Write function ASCII ...

Page 23: ... 4 R Pixels number can be set for versatile model 0x12004 smod SensorMode 4 RW Depending the model of the camera 0 4096 Pixels 5x5µm 1 2048 pixels 10x10µm 2 1024 pixels 10x10µm Versatile only 3 512 pixels 10x10µm Versatile only 0x12008 revr ReverseReading 4 RW 0 disable 1 enable 0x1200C mode OutputMode 4 RW 0 Base 1 Output 24 bit 1 Medium 2x output 24 bit High Speed only 0x12010 clfq OutputFrequen...

Page 24: ...available in the CommCam Image Format Control section Read function ASCII r mode Returned by the camera Output mode from 0 to 7 see table below Write function ASCII w mode value detailed in the table below Modes Connector CL1 Connector CL2 Mode value Base 1 Channel 24 Bits 3 x 8 bits RGB 0 Medium 2 Channels 24bits High Speed Version Only 3 x 8 bits RGB 3 x 8 bits RGB 1 Structure of the Camera Link...

Page 25: ... section Read function ASCII r srce Returned by the camera 0 if Source from the Sensor and 1 to 5 if test pattern active Write function ASCII w srce value 0 To switch to CCD sensor image 1 Grey Horizontal Ramp Fixed See AppendixA 2 White Pattern Uniform white image 255 in 8Bits or 4095 in 12bits 3 Grey Pattern Uniform middle Grey 128 in 8bits or 2048 in 12 bits 4 Black Pattern Uniform black 0 in b...

Page 26: ...y by using the CC3 Trig signal of the CameraLink connector change the direction on the fly In these case the Trigger level signification is 0 Forward 1 Reverse The Forward Reverse indication is required in the following cases The definition is 4k Full definition with a pixel of 5x5µm The definition is 2k 1k or 512 Pixel True Color with a pixel of 10x10µm and the Line Interpolation is enabled Web D...

Page 27: ...ra 0 Camera display the Live Image 1 Camera display recorded Image Write function ASCII w play value 0 Start Playing Live Image 1 Start Playing Recorded Image FPN coefficients modification Direct access to the Saved Image in Memory The Overall size of the Memory zone is 2 x 4096 Bytes Read function ASCII r alin This Function is available only with the version 1 4 0 of the Firmware GenCP address AS...

Page 28: ... value The Timing diagrams associated to each Synchronization mode and the Timing values associated are detailed in the APPENDIX B of this document GenCP address ASCII command GenICam command Size R W Description 0x12100 tper LinePeriod 4 RW Line period from 1 0 1us to 65535 6553 5us step 1 0 1us 0x12104 tpmi LinePeriodMin 4 R Minimum line period AcquisitionLineRate 4 R 1 Line Period in Hz 0x12108...

Page 29: ... the Exposure time has to be set by taking in account the limitation detailed in the APPENDIX B of this document The Minimum exposure time which can be set is 1 5µs Line Period LinePeriod Defines the Line Period of the Camera in Timed mode This command is available in the CommCam Acquisition Control section Read function ASCII r tper Returned by the camera Integer from 1 to 65536 0 1µs to 6553 6µs...

Page 30: ...or All 4 RW Common black level from 4096 to 4095 step 1 Analog Gain in the ADC The only analog Gain available in the ELIIXA is located at the sensor level in the ADC converter This Preamp Gain is in fact a variation of the ramp of the comparator of the ADC Then 3 Values are available x1 x2 and x4 A gain x1 in a 12 bits conversion is equivalent to x4 in 10 bits OUT Sensor X Preamp Gain X White Bala...

Page 31: ...he camera Value from 0 to 6193 corresponding to a Gain range of 0dB to 8dB calculated as following Gain dB 20 log 1 Gain 4096 Write function ASCII w gain int Digital Gain GainAbs with GainSelector DigitalAll Set the global Digital Gain This command is available in the CommCam Gain Offset section Read function ASCII r gdig Returned by the camera Integer value from 0 to 255 The corresponding Gain is...

Page 32: ...Enables the use of the White Balance Gains 0 Disable 1 Enable 0x1222c ccit ColumnInterpolation 4 RW Enables the Column Interpolation 0 Disable 1 Enable 0x12230 clit LineInterpolation 4 RW Enables the Line Interpolation 0 Disable 1 Enable 0x20200 cmrr ColorMatrixRed Red 4 RW Value from x 4 256 to x4 256 step 0 015625 0x20204 cmrg ColorMatrixRed Green 4 RW Value from x 4 256 to x4 256 step 0 015625 ...

Page 33: ... the best tuning of the Camera Gains is performed from the left to the right of the Gain Chain described above Preamp Gain first and quarter Gains last if required The Following Gains are enabled by the White balance Enable switch Digital Red Gain Gain with GainSelector DigitalRed Set the Red Gain for the white balance This command is available in the CommCam Color Management section Read function...

Page 34: ...is command is available in the CommCam Color Management section No Read Function Write function w awbc 1 Launch the White Balance Calibration Process w awbc 0 Abort the White Balance Calibration Process Interpolation Corrections for True Color Modes Column Interpolation Enable Switch ColumnInterpolation Enables the Column Interpolation This command is available in the CommCam Color Management sect...

Page 35: ...available in the CommCam Color Management section Read function r cmxe Returns the Color Matrix Enable status Write function w cmxe val with val 0 or 1 0 Disables the Color Matrix 1 Enables the Color Matrix Color Matrix RedRed Set RGB Matrix Coefficient RedRed Read function r cmrr Returns the Coefficient value from 4 256 to 4 255 Write function w cmrr value Set the Coefficient value Color Matrix R...

Page 36: ...icient value Color Matrix BlueRed Set RGB Matrix Coefficient BlueRed Read function r cmbr Returns the Coefficient value from 4 256 to 4 255 Write function w cmbr value Set the Coefficient value Color Matrix BlueGreen Set RGB Matrix Coefficient BlueGreen Read function r cmbg Returns the Coefficient value from 4 256 to 4 255 Write function w cmbg value Set the Coefficient value Color Matrix BlueBlue...

Page 37: ...0x12314 lffw LowFilterFFCWidth 4 RW Width of the low filter for PRNU calculation From 0 to 127 0 is for a disabled filter ffca FFCAddress 4 RO Set the FFC address to access auto incremental after each FFC access Address Offset 0 to 2047 red 2048 to 4095 blue 4096 to 6143 green red 6144 to 8191 green blue 0x100000 ffco FPNCoefficientsAccess 8192 2 RW Access to FPN coeff Format S9 1 256 512 to 1 102...

Page 38: ...pixel value by the average on the interval The FFC Low band filter is just an help to make in use the FFC PRNU part more easily This can be done with a non moving white paper as its defaults will be filtered in order to not being taken in account in the PRNU Correction Don t forget to reset the filter to 0 after usage FFC Low Band Filter The FFC Low Band Filter allows an easier make in use of the ...

Page 39: ...ort of the PRNU process for the Gains calculation This command is available in the CommCam Flat Field Correction Automatic Calibration section Read function r calg ASCII Returns the PRNU Calculation Process Status 0 if finished 1 if processing Write function ASCII w calg 1 Launch the PRNU Calibration Process w calg 0 Abort the PRNU Calibration Process o PRNU coefficient Reset PRNUReset Reset the P...

Page 40: ...he sign the rest of 9bits is from 0 256 with precision of 1 2 A Gain on 12 bits Unsigned Int U1 13 with a max gain value of x4 999 The calculation of the new pixel value is P P Off 1 Gain 1024 Gain 0 to 4095 The FFC processing can be completed with an automatic adjustment to a global target This function is designed as FFC Adjust This adjustment to a User target is done by an internal hidden gain ...

Page 41: ...itself Launch the FFC Enable the FFC You can save the FFC result both FPN PRNU in the same time in one of the 4 x FFC User Banks The user target and Gain are saved with the associated FFC in the same memory Remove the FFC Low Band filter set to 0 if used during the Process Advices The UNIIQA Cameras have 4 x FFC Banks to save 4 x different FFC calibrations You can use this feature if your system n...

Page 42: ...fter each read or write action this address in incremented of 128 Write function ASCII w ffcga addr Set the address in memory for the next read write command of the PRNU FPN Coefficients Start address for Offsets FPN 0x12400 Start address for Gains PRNU 0x13400 addr auto increments automatically after each write command FPN coefficients modification Direct access to the FPN coefficients for readin...

Page 43: ...rting from address set by the command fcca Returned value is in hexadecimal without space between values 2 Bytes per coefficient addr auto increments automatically after each read command Write function ASCII w ffcg val Write 128 consecutive PRNU user coefficients starting from address set by the command fcca val is the concatenation of individual PRNU values without space between the values 2 Byt...

Page 44: ...L feature 7 10 1Save Restore FFC The new processed FFC values can be saved or restored in from 4 x User banks Both Gains and Offsets in the same time but also the FFC Adjust User target and associated gain These functions are available in the Flat Field correction Save Restore FFC section Restore FFC from Bank RestoreFFCFromBank Restore the FFC from a Bank in the current FFC Read function r rffc A...

Page 45: ...Tap Bank in use Write function w rcfg val ASCII Load settings from bank val 0 Factory 1 to 4 for Users 5 for Integrator Save settings to Bank Allows to save the Camera settings in User or Integrator Bank Write function w scfg val ASCII Save the current settings in the User bank val 1 to 4 for User 5 for Integrator The integrator bank User Set5 can be written only if the Camera is set in integrator...

Page 46: ...USER MANUAL UNIIQA COLOR REV I 09 2016 P A G E 46 APPENDIX ...

Page 47: ...lue 4095 A 1 4k Pixels 12bits Increment of 1 grey level at each pixel Pixel 0 1 2 3 4093 4094 4095 Value 0 1 2 3 4093 4094 4095 A 2 2k Pixels 12bits Increment of 2 grey level at each pixels Pixel 0 1 2 3 2045 2046 2047 Value 0 2 4 6 4090 4092 4094 A 3 1k Pixels 12bits Increment of 4 grey level at each pixels Pixel 0 1 2 3 1020 1022 1023 Value 0 4 8 12 4084 4088 4092 ...

Page 48: ...USER MANUAL UNIIQA COLOR REV I 09 2016 P A G E 48 A 4 1k Pixels 12bits Increment of 8 grey level at each pixels Pixel 0 1 2 3 509 510 511 Value 0 8 16 24 4072 4080 4088 ...

Page 49: ...in is applied by the gradient of the counting ramp see next chapter Gain Offset The conversion time depends on the pixel format 8 or 10 bits 6µs 12 bits 24µs This conversion is done in masked time eventually during the next exposure period Td Delay between the Start exposure required and the real start of the exposure Digital Conversion Tpix Line Trigger CC1 or Internal Td Tper Tintreal Exposure T...

Page 50: ...n of line rate is Tintmax Tper Tpix Tpix is defined above but the effective Exposure Time will be about Tintreal Tint Tx Td B 2 Synchronisation Modes with Maximum Exposure Time In these modes the rising edge of the Trigger internal or External starts the readout process Tpix of the previous integration The Real exposure time Tintreal is finally equal to the Line Period Tper even if it s delayed fr...

Page 51: ...USER MANUAL UNIIQA COLOR REV I 09 2016 P A G E 51 B 3 Timing Values Label Min Unit Tpix 2 7 µs Tx 1 26 µs Th 0 120 µs Tht Tpix µsec Td 0 7 µs 2 06µs Tintprog 1 5µs Tint real Tper min 7 3µs 10µs 7 86µs ...

Page 52: ... for a dedicated maximum value per meter of cable as max 50ps m The CameraLink Standards defines the maximum total skew possible for each data rate Here is a following example of cable and the cable length limitation in accordance with the standard 0 20 40 60 80 100 120 140 160 180 200 220 240 260 280 300 320 340 360 380 400 420 0 5 10 15 20 25 30 35 40 45 50 55 60 65 70 75 80 85 90 Skew ps Data r...

Page 53: ...dium Line Rate Max kHz Tper Min µs Line Rate Max kHz Tper Min µs 4096 Pixels 9 75 102 5 19 5 51 3 2048 Pixels 19 5 51 3 38 9 25 7 1024 Pixels 38 9 25 7 77 5 12 9 512 Pixels 77 5 12 9 100 10 Data Frequency 85MHz Definition Base Medium Line Rate Max kHz Tper Min µs Line Rate Max kHz Tper Min µs 4096 Pixels 20 50 40 25 2048 Pixels 40 25 80 12 5 1024 Pixels 80 12 5 100 10 512 Pixels 100 10 100 10 Data...

Page 54: ...ency 60MHz Definition Base Line Rate Max kHz Tper Min µs 4096 Pixels 13 8 72 2048 Pixels 27 7 36 1024 Pixels 40 25 512 Pixels 40 25 Data Frequency 42 5MHz Definition Base Line Rate Max kHz Tper Min µs 4096 Pixels 10 100 2048 Pixels 20 50 1024 Pixels 40 25 512 Pixels 40 25 Data Frequency 40MHz Definition Base Line Rate Max kHz Tper Min µs 4096 Pixels 9 75 102 5 2048 Pixels 19 5 51 3 1024 Pixels 38 ...

Page 55: ...USER MANUAL UNIIQA COLOR REV I 09 2016 P A G E 55 Appendix D Lens Mounts D 1 F Mount F Mount Part number EV71 F MOUNT ...

Page 56: ...USER MANUAL UNIIQA COLOR REV I 09 2016 P A G E 56 D 2 C Mount C Mount Part number EV71 C MOUNT ...

Page 57: ...rer dedicated CameraLink Services Library In 32bits in the directory defined by the Register Key CLSERIALPATH REG_SZ in HKEY_LOCAL_MACHINE software cameralink The directory should be program files CamerLink serial or any other specified In 64bits for a 64bits version in the directory defined by the Register Key CLSERIALPATH REG_SZ in HKEY_LOCAL_MACHINE software cameralink The directory should be p...

Page 58: ... detected but not identified A question Mark icon appears in place of the one of the AVIIVA2 The version of CommCam used is too old You have to use the version 1 2 x and after Impossible to connect to the identified Camera The message Impossible to open device is displayed There is a possible mismatch between the major version of xml file used by CommCam and the firmware version of the Camera Poss...

Page 59: ...th increased New GenCP Addresses for FFC Coeff CL Frequency available in 40MHz 1 3 0 2 5 1 Rev D Documentation correction Max Line Rates FFC Addresses for coefficients changed 1 3 0 2 5 1 Rev E New Command Record Replay Image 1 4 0 2 6 0 Rev F Typo Errors in Documentation 1 4 0 3 0 1 Rev G New C Mount Reference RGB Color Matrix Interpolation in Full Definition 1 5 0 3 0 2 Rev H Typo in mechanical ...

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