Photon Focus MV4 Series User Manual Download

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Preface

1.1

IMPORTANT NOTICE!

READ THE INSTRUCTIONS FOR USE BEFORE

OPERATING THE CAMERA

STORE THE INSTRUCTIONS FOR USE FOR

Summary of Contents for MV4 Series

Page 1: ...Photonfocus MV4 UV Camera Series CMOS camera series with GigE Interface MV4 D1280U H01 G2 available on request MV4 D1280U H01 GT MV4 D1280U H01 FB available on request MAN093 08 2021 V1 1 ...

Page 2: ...y is assumed by Photonfocus AG for its use Photonfocus AG reserves the right to make changes to this information without notice Reproduction of this manual in whole or in part by any means is prohibited without prior permission having been obtained from Photonfocus AG 2 of 143 MAN093 08 2021 V1 1 ...

Page 3: ...ture 23 4 1 3 Image Acquisition Frame and Exposure Control Parameters 24 4 1 4 Image Acquisition Frame and Exposure Trigger 25 4 1 5 Image Acquisition Frame and Exposure Status 25 4 2 Acquisition Control 26 4 2 1 Acquisition Start and Stop Commands Acquisition Mode and Acquisition Frame Count 26 4 2 2 Acquisition Frame Rate and Acquisition Frame Rate Enable 26 4 2 3 Acquisition Start Trigger 27 4 ...

Page 4: ... 1 3 Counter Active Start and End Signal 44 6 1 4 Counter Reset 44 6 1 5 Counter Event Source 45 6 1 6 Counter Trigger Source 46 6 1 7 Counter Reset Source 47 6 2 Timer 49 6 2 1 Timer Usage 49 6 2 2 Timer Status 49 6 2 3 Timer Active Start and End Signal 50 6 2 4 Timer Reset 50 6 2 5 Timer Trigger Source 50 7 Encoder 53 7 1 Encoder Usage 53 7 2 Encoder trigger output 54 7 3 Encoder Status 54 7 4 E...

Page 5: ...LFSR 85 12 8 Status Line and Image Information 87 12 8 1 Image Average Value 87 12 8 2 Status Line Format 87 12 8 3 Camera Type Codes 89 12 9 Frame Combine 90 12 9 1 Frame Combine Timeout 90 13 Precautions 93 13 1 IMPORTANT NOTICE 93 14 Hardware Interface 97 14 1 Absolute Maximum Ratings 97 14 2 Electrical Characteristics 97 14 3 GigE Camera Connector 99 14 4 Power Supply Power Over Ethernet PoE 1...

Page 6: ...aim 123 18 3 Breach of Warranty 123 19 Support and Repair 125 19 1 Technical Support 125 19 2 Repair and obtaining an RMA Number 125 19 3 Temporal Abandoning and Scrapping 125 20 References 127 A Pinouts 129 A 1 I O Connector 129 A 2 GigE Connector 131 B Camera Timing 133 B 1 Timed Exposure Mode Camera Timing 133 C Use Cases 135 C 1 Acquisition 135 C 1 1 Camera runs in free running mode 135 C 1 2 ...

Page 7: ...Predefined LUT settings 140 C 5 Encoder 140 C 5 1 Configuration of the encoder AB signals 141 C 5 2 Configuration of the encoder Z signal 141 C 5 3 Configuration of the encoder ALARM signal 141 C 6 Calibration of the FPN Correction 141 D Document Revision History 143 MAN093 08 2021 V1 1 7 of 143 ...

Page 8: ...CONTENTS 8 of 143 MAN093 08 2021 V1 1 ...

Page 9: ...STRUCTIONS FOR USE BEFORE OPERATING THE CAMERA STORE THE INSTRUCTIONS FOR USE FOR FURTHER READING Photonfocus AG Bahnhofplatz 10 CH 8853 Lachen SZ Switzerland www photonfocus com info photonfocus com 41 55 451 00 00 MAN093 08 2021 V1 1 9 of 143 ...

Page 10: ...1 55 451 00 00 Email support photonfocus com Table 1 1 Photonfocus Contact 1 4 Sales Offices Photonfocus products are available through an extensive international distribution network and through our key account managers Find your local Photonfocus contact at our homepage www photonfocus com or contact us via email at sales photonfocus com 1 5 Further information Photonfocus reserves the right to ...

Page 11: ... er rors 1 6 Legend In this documentation the reader s attention is drawn to the following icons Important note additional information Important instructions General warning possible component damage hazard Warning electric shock hazard Warning fire hazard MAN093 08 2021 V1 1 11 of 143 ...

Page 12: ...1 Preface 12 of 143 MAN093 08 2021 V1 1 ...

Page 13: ...mera series MV4 with form factor 59mmx59mm Prefix2 Camera family specifier The following specifiers are used in this manual D digital standard area scan cameras Sensor width Width of image sensor of the camera in pixels Sensor type Sensor types specification U UV cameras Cameras without sensor type specifier have a standard monochrome sensor Sensor Manufacturer Sensor manufacturer Sensor Family Se...

Page 14: ...4 D1280U H01 GT 1280 x 1024 140 fps 1 10 Gigabit Ethernet Copper 1 3 MP monochrome standard camera MV4 D1280U H01 FB 2 1280 x 1024 140 fps 1 10 Gigabit Ethernet Fibre 1 3 MP monochrome standard camera Table 2 1 Camera models covered by this manual Footnotes 1 frame rate at at full resolution2 available on request 14 of 143 MAN093 08 2021 V1 1 ...

Page 15: ...280 L01 camera series at maximal resolution 85 fps GigE and 140 fps 10GigE I O capabilities 4x Isolated inputs or shaft encoder A B Z Y interface RS422 TTL D HTL HTL 3x Isolated outputs 2x open drain 1x TTL highspeed 2 look up tables 12 to 8 bit on user defined image region Region LUT Dual Crosshairs overlay on the image Image Binning Image information and camera settings inside the image status l...

Page 16: ...3 Product Specification Figure 3 1 Photonfocus MV4 UV 10 GigE GT camera series 16 of 143 MAN093 08 2021 V1 1 ...

Page 17: ...t Camera Control GigE Vision Suite Trigger Modes Software Trigger External isolated trigger inputs A B Trigger Features Extended spectral range of 150 nm to 1000nm Greyscale resolution 12 bit 10 bit 8 bit Region of Interest ROI 2 look up tables 12 to 8 bit on user defined image region Region LUT Test pattern LFSR and grey level ramp Image information and camera settings inside the image status lin...

Page 18: ...fill factor 100 Dark current 200 e s 25 C Dynamic range 53 dB Micro lenses No Characteristic curve Linear Shutter mode global shutter Sensor bit depth 10 bit 12 bit Maximal frame rate MV4 GigE 1 85 fps 28 fps Maximal frame rate MV4 10GigE 1 140 fps 28 fps Maximal frame rate MV4 10GigE Fibre 1 140 fps 28 fps Camera pixel formats MV4 12 10 8 bit Digital gain 0 1 to 15 99 Fine Gain Exposure time rang...

Page 19: ...nt I O Inputs 4x Isolated inputs or shaft encoder A B Z Y interface RS422 TTL D HTL HTL I O Outputs 3x Isolated 2x open drain 1x TTL highspeed I O Control 1x Isolated RS485 Dimensions 59 x 59 x 88 9 mm3 GigE 59 x 59 x 102 5 mm3 10GigE 59 x 59 x 100 5 mm3 10GigE Fibre Mass 460 g 10GigE Connector I O 17 pin M12 Connector Interface Copper X coded M12 Connector Interface Fibre LC connector for multimo...

Page 20: ...amera Control Output Signal Output Power Single Ended 0 5 W ESD Contact Discharge Camera Control Signals 10 kV ESD Air Discharge Camera Control Signals 7 kV Fast Transients Bursts Data and Camera Control Signals 1 kV Surge immunity Data and Camera Control Signals 1 kV Table 3 4 Absolute Maximum Ratings 3 3 2 Electrical Characteristics In the following tables VIN is the input voltage for single end...

Page 21: ...c LineIn0 LineIn1 LineIn2 Differential Input Voltage Logic Level Fault Condition VID 2V High No Fault 1 2V VID 2V High Indeterminate 0 9V VID 0 9V Indeterminate Low Differential Input Voltage Fault 2V VID 1 2V Low Indeterminate VID 2V Low No Fault Table 3 8 Differential D HTL Mode Receiver Logic LineIn0 LineIn1 LineIn2 Differential Input Voltage Logic Level Fault Condition VID 0 45V High No Fault ...

Page 22: ... curve of the sensor measured in the wavelength range from 150 nm to 1100 nm 0 10 20 30 40 50 60 70 80 100 200 300 400 500 600 700 800 900 1000 1100 Wavelength nm Monochrome Figure 3 2 Quantum efficiency QE of the monochrome image sensors with cover glass 22 of 143 MAN093 08 2021 V1 1 ...

Page 23: ...sure time and an image read out A burst of frame is defined as a capture of a group of one or many frames within an acquisition An acquisition can be grouped in N single frames or N burst of frames 4 1 2 Structure The image acquisition is controlled by the three sub blocks acquisition control frame control and exposure control Furthermore the camera contains controller blocks which take care of th...

Page 24: ... GigE interface to the camera with low latency and low jitter I O Control The I O control unit manages physical camera inputs and outputs and LED A switch matrix within this block allows connecting internal status signals to the output lines or LED Status signals can come from the acquisition frame or exposure control block also from timer or counter or even input lines can be routed to an output ...

Page 25: ...signals or from a pulse generated by a software command Each of these triggers can be switched on or off individually The camera generates the triggers pulses internally which are switched off The following sections Acquisition Frame Exposure Control show the usage of these triggers Each trigger has its own source signal processing path Section 4 6 gives more information about the configuration 4 ...

Page 26: ...in number of frames which are defined by acquisition frame count parameter or when the acquisition stop command is executed Acquisition Mode Continuous Frame When the acquisition is started the camera captures images continuously until the acquisition stop command is executed 4 2 2 Acquisition Frame Rate and Acquisition Frame Rate Enable With frame start trigger mode off see Section 4 3 1 and fram...

Page 27: ...state Acquisition Active and is ready to capture frames Acquisition Start Trigger Mode off As soon as the acquisition is started by executing of the acquisition start command the camera goes immediately into state Acquisition Active and is ready to capture frames Fig 4 4 shows an example when the trigger mode of the acquisition start trigger is on The acquisition status goes to acquisition trigger...

Page 28: ...Acquisition Trigger Wait An asserted acquisition trigger wait indicates that the acquisition control is waiting for an acquisition start trigger see Section 4 2 3 Acquisition Active Acquisition active is a status signal which is asserted when the acquisition has been started and deasserted when the acquisition is stopped Acquisition Start The acquisition start is an event which is generated when t...

Page 29: ...d Frame Start Trigger Mode off The frame start triggers are ignored The camera runs in free running mode when the mode of both triggers the frame start trigger and frame burst start trigger is set to off and the exposure mode is set to Timed see Section 4 4 1 for more information about the expo sure mode Fig 4 6 shows the procedure of a single frame capture started with a frame start trigger The a...

Page 30: ...rst Fig 4 7 shows the procedure of a burst of frames and a single frame capture The Acquisition start and end trigger mode is on So the camera waits for an acquisition trigger once the acquisition command has been executed During this period any frame burst start or frame start triggers are ignored As soon as an acquisition start trigger has been received the camera waits for frame triggers It can...

Page 31: ...serted frame trigger wait indicates that the frame control is waiting for a frame start trigger see Section 4 3 1 frame burst start trigger see Section 4 3 2 or an exposure start trigger see Section 4 4 2 Frame Active An asserted frame active signal indicates that one or more frames are being captured Frame Start The frame start is an event which is generated when a new frame starts Frame End The ...

Page 32: ... exposure start and exposure end triggers see Section 4 4 2 and Section 4 4 3 for more information 4 4 2 Exposure Start Trigger The exposure start trigger is used to start an exposure Exposure Start Trigger Mode on As soon as a exposure start trigger has been received the camera starts with the exposure cycle which is showed by the Exposure Active status The exposure remains until an exposure end ...

Page 33: ...t i o n S t o p E x p o s u r e 1 R e a d O u t 1 F r a m e 1 E x p o s u r e S t a r t T r i g g e r 1 E x p o s u r e E n d T r i g g e r 1 F r a m e A c t i v e E x p o s u r e 2 R e a d O u t 2 F r a m e 2 E x p o s u r e S t a r t T r i g g e r 2 E x p o s u r e E n d T r i g g e r 2 E x p o s u r e A c t i v e E x p o s u r e A c t i v e A c q u i s i t i o n S t a r t T r i g g e r M o d e ...

Page 34: ...r a m e S t a r t T r i g g e r 1 F r a m e S t a r t T r i g g e r 2 F r a m e S t a r t T r i g g e r N F r a m e T r i g g e r W a i t F r a m e T r i g g e r W a i t F r a m e T r i g g e r W a i t A c q u s i t i o n T r i g g e r W a i t A c q u s i t i o n T r i g g e r W a i t A c q u i s i t i o n S t a r t A c q u i s i t i o n S t o p F r a m e A c t i v e F r a m e T r i g g e r W a i ...

Page 35: ...t r i g g e r s w i t h i n t h i s p e r i o d a r e i g n o r e d E v e r y t r i g g e r w i l l b e i n d i c a t e d b y a n M i s s e d T r i g g e r e v e n t Figure 4 11 Overlapped Image acquisition when exposure time read out time E x p o s u r e 1 R e a d O u t 1 F r a m e 1 E x p o s u r e 2 R e a d O u t 2 F r a m e 2 F r a m e S t a r t T r i g g e r 1 F r a m e S t a r t T r i g g e ...

Page 36: ...c q u i s i t i o n E n d T r i g g e r D e l a y D i v i d e r M o d e O n O f f A c t i v a t i o n R i s i n g E d g e F a l l i n g E d g e B o t h E d g e s S o u r c e S o f t w a r e A c q u i s i t i o n S t a r t T r i g g e r Figure 4 13 Trigger Path 4 6 1 Trigger Source Selection The user can select the source which is used to generate the corresponding trigger The source can come from ...

Page 37: ... signal is generated by the encoder see Chapter 7 for more information about the encoder Action A trigger signal is generated by the action control block see Chapter 9 for more information about the action control 4 6 2 Trigger Software The trigger software is a software command register which is available in the signal path of each trigger Accessing to this register generates an internal trigger ...

Page 38: ...ses A division factor of 1 processes every incoming trigger A division factor of 2 processes every second trigger and so on 4 6 6 Trigger Delay The trigger delay lets the user specify a delay that will be applied between the reception of a trigger event and when the trigger becomes active 38 of 143 MAN093 08 2021 V1 1 ...

Page 39: ...o start a procedure Acquisition Start Trigger Acquisition End Trigger Frame Start Trigger Frame Burst Start Trigger Frame Burst End Trigger Exposure Start Trigger Exposure End Trigger Counter Trigger Counter Event Encoder Reset Counter Reset Timer Trigger The user output block is an eight bit status register The bits can be set to 0 or 1 by software The bits are available in the following firmware...

Page 40: ...4 Image Acquisition 40 of 143 MAN093 08 2021 V1 1 ...

Page 41: ...he minimum exposure time is lowered by 1 333 µs per row that is not read out At ROI Height 2 the minimum exposure time becomes 36 333 µs 5 1 TriggerControlled exposure If the camera is triggered externally and the exposure duration is dictated by the trigger pulse width the exposure is extended automatically depending on configuration In 10 bit mode the exposure is extended by 0 266 µs per row rea...

Page 42: ...5 Exposure Control 42 of 143 MAN093 08 2021 V1 1 ...

Page 43: ...vent and counter reset signals This section describes the configuration and the function of the counters Fig 6 1 shows the structure of one counter Along with the counter function itself it contains a counter trigger source a counter event source and a counter reset source selection and activation block Furthermore there is a counter active status signal which is available in the I O control block...

Page 44: ...received Once the counter is in the state overflow it has to be reset by software or by counter reset signal in order to recover it from this state 6 1 3 Counter Active Start and End Signal Each counter has the following output signals Counter Active An asserted counter active signal indicates that the counter is active and is counting events The counter active signal is internally routed to the I...

Page 45: ...rt Counts the number of frame burst start events Frame Burst End Counts the number of frame burst end events Exposure Start Counts the number of exposure start events Exposure End Counts the number of exposure end events Counter 0 3 Start Counts the number of the chosen counter start events Counter 0 3 End Counts the number of the chosen counter end events Timer 0 3 Start Counts the number of the ...

Page 46: ...ounter counts rising edges on the selected line input Falling Edge Counter counts falling edges on the selected line input Both Edges Counter counts both edges on the selected line input Activation configuration has only effect when line input is selected as a counter event source otherwise this configuration is ignored The counter can be temporarely switched off if the counter event source is set...

Page 47: ...ion which needs to be set accordingly Following configuration values are available Rising Edge Counter starts with the rising edge on the selected line input Falling Edge Counter starts with the falling edge on the selected line input Both Edges Counter starts with any edge on the selected line input Level High Counter starts and is counting events as long as the level is high When the counter is ...

Page 48: ...esets with the reception of the chosen counter end event Timer 0 3 Start Resets with the reception of the chosen timer start event Timer 0 3 End Resets with the reception of the chosen timer end event Encoder Resets with the reception the encoder trigger event Action 0 3 Resets with the reception of the chosen action signal event Software Signal Pulse 0 7 Resets with the reception of chosen softwa...

Page 49: ...delay and timer duration value needs to be configured accordingly When a timer trigger source is selected the timer is waiting for a trigger signal Once this trigger signal has been received the timer starts first with the timer delay period if the timer delay value is 0 and counts then for the specified timer duration When the timer trigger source is set to off see Section 6 2 5 a software timer ...

Page 50: ...to reset and to start the timer The following list of signals are available Off Disables the timer trigger Acquisition Trigger Starts with the reception of the acquisition trigger event Acquisition Start Starts with the reception of the acquisition start event Acquisition End Starts with the reception of the acquisition end event FrameTrigger Starts with the reception of the frame trigger event Fr...

Page 51: ...a activation configuration which needs to be set accordingly Following configuration values are available Rising Edge Timer starts with the rising edge on the selected line input Falling Edge Timer starts with the falling edge on the selected line input Both Edges Timer starts with any edge on the selected line input A self re trigger timer can be configured when the trigger source is set to its o...

Page 52: ...6 Counter Timer 52 of 143 MAN093 08 2021 V1 1 ...

Page 53: ... 7 1 shows the structure of the encoder The trigger sources for the A and B inputs can be mapped to any of the line inputs of the camera while the reset source can also be mapped to a multitude of other triggers The encoder signals are used to track the position of the target using a counter The block generates trigger signals based on the input these can be used to trigger other blocks like count...

Page 54: ...he PostionUp and Down modes a watermark counter is used The counter resets whenever the output mode changes the encoder is reset or a new start value is written See Fig 7 3 for a comparison of the modes The number of generated output triggers can be reduced by setting the EncoderDivider H i g h R e s o l u t i o n M o d e A B G r a y C o u n t e r E n c o d e r C o u n t e r P o s i t i o n U p T ...

Page 55: ... of the frame trigger Frame Start Resets with the reception of the frame start event Frame End Resets with the reception of the frame end event Frame Burst Start Resets with the reception of the frame burst start event Frame Burst End Resets with the reception of the frame burst end event Exposure Start Resets with the reception of the exposure start event Exposure End Resets with the reception of...

Page 56: ...ine input Level High Resets the encoder as long as the level is high The encoder remains in reset state until the level is low again Level Low Resets the encoder as long as the level is low The encoder remains in reset state until the level is high again Activation configuration has only effect when line input is selected as an encoder reset source otherwise this configuration is ignored 56 of 143...

Page 57: ...can invert this signal and its current status can be read by software I n p u t S i g n a l P a t h L i n e 0 S t a t u s I n v e r t L i n e I n 0 I n p u t S i g n a l P a t h L i n e 1 I n p u t S i g n a l P a t h L i n e 2 I n p u t S i g n a l P a t h L i n e 3 L i n e I n 1 L i n e I n 2 L i n e I n 3 Figure 8 1 Input Signal Path The output of the signal input path is distributed to followi...

Page 58: ... e O u t 2 L i n e O u t 1 L i n e O u t 0 L E D 0 Figure 8 2 Output Signal Path Following signals are available and can be selected for the output Input Lines Counter Active Status Timer Active Status User Output Acquisition Trigger Wait Status Acquisition Active Status Frame Trigger Wait Status Frame Active Status Exposure Active Status Frame Valid Status Line Valid Status Heartbeat Serial Commu...

Page 59: ...nd Usage Each action command message comes with the following key and mask information which is necessary to validate the requested action signal ActionUnconditionalMode Enables the unconditional action command mode where action commands are processed even when the primary control channel is closed ActionDeviceKey The ActionDeviceKey authorize the action in the camera The camera reacts only when t...

Page 60: ...9 Action Control 9 2 Action Control Output The action output signals can be used to trigger other blocks like counter timer acquisition frame or exposure control 60 of 143 MAN093 08 2021 V1 1 ...

Page 61: ... width W and height H The ROI width must be a multiple of 8 and not smaller than 16 The ROI height must be at least 2 10 2 Pixel format The pixel format defines the output format of the pixels in the image Following pixel formats are available Mono 8 Mono10 Mono12 Mono10 Packed Mono12 Packed 10 3 Decimation monochrome cameras Decimation in y direction transfers every nth row only and directly resu...

Page 62: ...10 Image Format Control 0 0 x m a x y m a x Figure 10 1 Decimation in full image 0 0 x m a x y m a x R O I Figure 10 2 Decimation and ROI 62 of 143 MAN093 08 2021 V1 1 ...

Page 63: ...rement of the elongation of an injection needle is given in Fig 10 4 In this application the height information is less important than the width information Applying decimation 2 on the original image on the left hand side doubles the resulting frame rate R O I w i t h o u t d e c i m a t i o n R O I w i t h d e c i m a t i o n Figure 10 4 Example of decimation 2 on image of injection needle MAN09...

Page 64: ...10 Image Format Control 64 of 143 MAN093 08 2021 V1 1 ...

Page 65: ...r any available image dimensions and expsoure time settings ROI Dimension Standard MV4 D1280U H01 G2 MV4 D1280U H01 GT FB 1280 x 1024 SXGA 85 fps 140 fps 1024 x 1024 106 fps 140 fps 1280 x 768 WXGA 113 fps 187 fps 800 x 600 SVGA 233 fps 240 fps 640 x 640 225 fps 225 fps 640 x 480 VGA 300 fps 300 fps 480 x 480 300 fps 300 fps Table 11 1 Frame rates of different ROI settings minimal exposure time fo...

Page 66: ...11 Frame Rate 66 of 143 MAN093 08 2021 V1 1 ...

Page 67: ...ras data path The sequence of blocks is shown in figure Fig 12 1 From Image Sensor Receive logic FPN Correction Saturation Correction PreGain Digital Gain Region LUT Binning Dual Crosshairs Test Images To Interface Digital Offset Status Line Frame Combine Figure 12 1 Camera data path MAN093 08 2021 V1 1 67 of 143 ...

Page 68: ...3 3 Enable Correction_AutoThreshold or set the correction thresholds manually see Section 12 2 4 4 Let the camera calculate the calibration values by sending the command Correction_Calculate The new calibration values are now active in the camera 5 It is recommended to test the calibration values by examining images grabbed with the FPN correction enabled e g setting Correction_Mode to OffsetGainH...

Page 69: ...ction 1 Determine the average value of the black reference image 2 Subtract the black reference image from the average value 3 Store the result in the camera as the offset correction matrix 4 During image acquisition subtract the correction matrix from the acquired image and interpolate the defect pixels see Section 12 2 4 4 4 4 3 1 2 1 3 1 4 3 2 3 4 1 1 2 4 1 4 4 3 1 3 4 b l a c k r e f e r e n c...

Page 70: ...ed on a grey reference image which is taken at uniform illumination to give an image with a mid grey level The average grey level of the grey reference image should be between 2400 and 3200 DN at 12 bit resolution 150 to 200 DN at 8 bit resolution if PreGain is correctly set so that the saturation level is at 4095 DN 12 bit resolution Gain correction is not a trivial feature The quality of the gre...

Page 71: ...about 70 of the saturation level Use a high quality light source that delivers uniform illumination Standard illu mination will not be appropriate If PreGain is correctly set so that the saturation level is at 4095 DN 12 bit resolution then the grey reference image should have a mean between 2400 and 3200 DN 12 bit resolution If PreGain is set to 1 0 then the mean of the grey reference image shoul...

Page 72: ...s required to set the threshold manually The grey levels used in the determination of defect pixels refer to the grey levels of the reference images which are acquired with PreGain 1 0 It is possible to see which defect pixel thresholds were used in the Calcu late step when AutoThreshold was enabled by disabling AutoThreshold after the Calculate step The values of Correction_HotPixelThreshold and ...

Page 73: ... m a g e 5 6 6 5 5 6 5 5 4 4 3 7 3 4 7 1 7 4 6 4 4 3 1 3 4 1 1 1 2 1 2 2 1 0 1 1 1 1 0 2 0 1 0 2 0 1 1 2 2 2 o f f s e t c o r r e c t i o n m a t r i x 1 1 2 1 0 9 1 1 2 2 0 9 1 1 1 1 0 8 1 1 0 1 3 0 8 1 0 1 1 2 2 2 g a i n c o r r e c t i o n m a t r i x c o r r e c t e d i m a g e Figure 12 5 Schematic presentation of the corrected image using gain correction algorithm 12 2 6 Correction Ranges ...

Page 74: ...turated 2 Begin with a small PreGain value so that not all pixels are saturated 3 Observe the histogram of the image If not all pixels except cold pixels are saturated then increase PreGain by a small amount e g by 0 01 Repeat this step until all pixels except cold pixels are saturated Add a small margin e g 0 02 as a reserve This is the correctly calibrated PreGain value 4 To store this value per...

Page 75: ...ich generate a look up table and transfer it to the camera For other transfer functions the user can define his own LUT file Some commonly used transfer curves are shown in Fig 12 6 Line a denotes a negative or inverse transformation line b enhances the image contrast between grey values x0 and x1 Line c shows brightness thresholding and the result is an image with only black and white grey levels...

Page 76: ...0 50 100 150 200 250 300 Grey level transformation Gain y 255 1023 a x x grey level input value 10 bit DN y grey level output value 8 bit DN a 1 0 a 2 0 a 3 0 a 4 0 Figure 12 7 Applying a linear gain with clamping to an image 76 of 143 MAN093 08 2021 V1 1 ...

Page 77: ...200 400 600 800 1000 1200 0 50 100 150 200 250 300 Grey level transformation Gamma y 255 1023γ xγ γ 1 x grey level input value 10 bit DN y grey level output value 8 bit DN γ 1 0 γ 1 2 γ 1 5 γ 1 8 γ 2 5 γ 4 0 Figure 12 8 Applying gamma correction to an image gamma 1 0 200 400 600 800 1000 1200 0 50 100 150 200 250 300 Grey level transformation Gamma y 255 1023γ xγ γ 1 x grey level input value 10 bi...

Page 78: ...UT 0 active in Region 0 X X X LUT 0 active in Region 0 and LUT 1 active in Region 1 LUT 0 supersedes LUT1 Table 12 2 LUT Enable and Region LUT When Region LUT feature is enabled then the LUTs are only active in a user defined region Examples are shown in Fig 12 11 and Fig 12 12 Fig 12 11 shows an example of overlapping Region LUTs LUT 0 LUT 1 and Region LUT are enabled LUT 0 is active in region 0 ...

Page 79: ... y m a x L U T 1 x 0 0 x 1 0 x 0 1 x 1 1 y 1 0 y 0 0 y 0 1 y 1 1 Figure 12 11 Overlapping Region LUT example L U T 0 L U T 1 L U T 1 L U T 0 0 0 0 0 x m a x y m a x x m a x y m a x Figure 12 12 Region LUT in keyhole inspection MAN093 08 2021 V1 1 79 of 143 ...

Page 80: ... side The result of the application of the Region LUT is shown on the right hand side One Region LUT was applied on a small region on the lower part of the image where the brightness has been increased Figure 12 13 Region LUT example with camera image left original image right gain 4 region in the are of the date print of the bottle 80 of 143 MAN093 08 2021 V1 1 ...

Page 81: ... binning 12 5 2 Camera settings The camera supports binning settings of 1 2 4 or 8 in horizontal and vertical direction The relevant parameters for binning are shown in Table 12 3 Property Type Description BinningHorizontal Integer Number of pixels combined in binning in horizontal direction BinningVertical Integer Number of pixels combined in binning in vertical direction BinningBitshift Integer ...

Page 82: ...12 Pixel Data Processing 82 of 143 MAN093 08 2021 V1 1 ...

Page 83: ...ck 4095 means white This allows setting any grey level to get the maximum contrast depending on the acquired image Figure Fig 12 15 shows an example of two crosshairs with different grey values One with white lines and the other with black lines The width of the lines can be set to one or two pixels Two pixels increase the visibility of the crosshairs The 12 bit format of the grey level was chosen...

Page 84: ...rs configuration The same image format settings are used in both situations The crosshairs however is set differently The crosshairs is not seen in the image on the right because the x and y position is set outside the ROI region 0 0 x a b s o l u t y a b s o l u t G r e y L e v e l R O I 0 0 x m a x y m a x R O I x a b s o l u t y a b s o l u t G r e y L e v e l R O I R O I x m a x y m a x Figure...

Page 85: ...ages 8 bit output left 10 bit output right 12 7 2 LFSR The LFSR Linear Feedback Shift Register test image outputs a constant pattern with a pseudo random grey level sequence containing every possible grey level that is repeated for every row The LFSR test pattern was chosen because it leads to a very high data toggling rate which stresses the interface electronic and the cable connection In the hi...

Page 86: ... histogram Fig 12 20 indicates problems that may be caused either by a defective camera by problems in the acquisition software or in the transmission path Figure 12 19 LFSR test pattern received and typical histogram for error free data transmission In robots applications the stress that is applied to the camera cable is especially high due to the fast movement of the robot arm For such applicati...

Page 87: ...that the 12 bit format was chosen to be compatible with other Photonfocus cameras 12 8 2 Status Line Format If enabled the status line replaces the last row of the image with camera status information Every parameter is coded into fields of 4 pixels LSB first and uses the lower 8 bits of the pixel value so that the total size of a parameter field is 32 bit see Fig 12 21 The assignment of the param...

Page 88: ...lock Frequency 48 12 Image Average Value raw data without taking in account gain settings see Section 12 8 1 52 12 Horizontal start position of ROI OffsetX 56 12 Image Width 60 12 Vertical start position of ROI OffsetY 64 12 Image Height 68 2 Digital Gain 72 12 Digital Offset 76 16 FineGain This is fixed a point value in the format 4 digits integer value 12 digits fractional value 80 4 Line Input ...

Page 89: ...8 Status Line and Image Information 12 8 3 Camera Type Codes Camera Model Camera Type Code MV4 D1280U H01 GT 540 Table 12 5 Type codes of Photonfocus MV4 UV GigE camera series MAN093 08 2021 V1 1 89 of 143 ...

Page 90: ...mbineNrFrames can be set by the user This value should be set so that the resulting frame rate is well below 1000 fps e g at 100 fps E g if the camera shows a maximal frame rate of 4000 property AcquisitionFrameRateMax then FrameCombineNrFrames could be set to 40 to have a resulting frame rate of 100 fps The FrameCombineNrFrames value should be set so that the resulting frame rate is well below 10...

Page 91: ...alue 0 An example is shown in Fig 12 23 The timeout occured after the second frame and the two remaining frames are filled with dummy data When acquisition is stopped then a pending combined frame will be discarded To get the pending combined frame a FrameCombine_ForceTimeout command must be sent prior to stopping the acquisition P i x e l d a t a f r a m e 0 1 8 7 6 8 0 0 0 1 8 7 6 8 0 0 0 1 8 7 ...

Page 92: ...12 Pixel Data Processing 92 of 143 MAN093 08 2021 V1 1 ...

Page 93: ...ust use camera power supplies which meet the Limited Power Source LPS requirements If you use a powered hub or a powered switch in PoE or USB vision systems these devices must meet the LPS requirements Supply voltages outside of the specified range will cause damage Check the supply voltage range given in this manual Avoid reverse supply voltages Respect the voltage limits and the common mode rail...

Page 94: ...age is available on the Photonfocus website www photonfocus com To ensure that the examples will work properly in your application you must adjust them to meet your specific needs and must carefully test them thoroughly prior to use Avoid dust on the sensor The camera is shipped with a plastic cap on the lens mount To avoid collecting dust on the camera s IR cut filter colour cameras or sensor mon...

Page 95: ...electronic parts Avoid the generation of ESD during cleaning Take only a small amount of detergent to clean the camera body Keep in mind that the camera body complies to the IP40 standard Make sure the detergent has evaporated after cleaning before reconnect ing the camera to the power supply Cooling For long life and high accuracy operation we highly recommend to mount the camera thermally couple...

Page 96: ...13 Precautions 96 of 143 MAN093 08 2021 V1 1 ...

Page 97: ...era Control Output Signal Output Power Single Ended 0 5 W ESD Contact Discharge Camera Control Signals 10 kV ESD Air Discharge Camera Control Signals 7 kV Fast Transients Bursts Data and Camera Control Signals 1 kV Surge immunity Data and Camera Control Signals 1 kV Table 14 1 Absolute Maximum Ratings 14 2 Electrical Characteristics In the following tables VIN is the input voltage for single ended...

Page 98: ...ineIn0 LineIn1 LineIn2 Differential Input Voltage Logic Level Fault Condition VID 2V High No Fault 1 2V VID 2V High Indeterminate 0 9V VID 0 9V Indeterminate Low Differential Input Voltage Fault 2V VID 1 2V Low Indeterminate VID 2V Low No Fault Table 14 5 Differential D HTL Mode Receiver Logic LineIn0 LineIn1 LineIn2 Differential Input Voltage Logic Level Fault Condition VID 0 45V High No Fault 0 ...

Page 99: ...to the 17 pin M12 I O connector The MV4 10 GigE fibre cameras are interfaced to external components via an LC connector for multimode fibre through included SFP cage 10G fibre connector to transmit configuration image data and trigger a 17 pin M12 I O connector with 4 digital inputs 3 digital outputs and one RS485 interface The camera is powered by a wall adapter connected to the 17 pin M12 I O co...

Page 100: ...14 Hardware Interface Figure 14 2 Rear view of the MV4 10 GigE GT camera Figure 14 3 Rear view of the MV4 10 GigE fibre FB camera 100 of 143 MAN093 08 2021 V1 1 ...

Page 101: ...riate voltages to your camera Incorrect voltages will damage the camera When using wall adapter an input voltage of 12V has a better efficiency in the internal power supply heat generation instead of supplying 24V For further details including the pinout please refer to Appendix Appendix A The GigE and 10GigE copper cameras can also be powerd over ethernet PoE PoE is compliant according to IEEE 80...

Page 102: ...tion It pulsates when the camera is not grabbing images It means the intensity starts from dark and goes slowly to bright and slowly to dark again When the camera is grabbing images the LED blinks at a rate equal to the frame rate At slow frame rates the LED blinks At high frame rates the LED changes to an apparently continuous green light with intensity proportional to the ratio of readout time o...

Page 103: ...0 C0 R1 C1 R2 C2 10nF 10nF 3 4 5 6 7 8 9 Isolator 13 14 10 2 1 12 11 CAMERA_PWR CAMERA_GND ISO_GND 17 Isolator 17 pin M12 I O Connector Camera Firmware Camera Firmware LineOut0 LineOut1 LineOut2 17 pin M12 I O Connector Isolator Isolator 120 15 16 RS485 Isolator R0 C0 R1 C1 R2 C2 3 4 5 6 7 8 9 13 14 10 2 1 12 11 17 15 16 ISO_OUT0 ISO_OUT1 ISO_OUT2 high speed ISO_OUT0 ISO_OUT1 ISO_OUT2 high speed I...

Page 104: ...nded HTL Differential P and N input is available on the 17 pin I O connector when a dif ferential input standard is selected If a single ended I O standard is configured only the P input is available The N input must be tied to ISO_GND externally The input standard of LineIn3 is TTL and terminated with a 120 Ω resistor and can t be changed This line can be used either as a normal camera line input...

Page 105: ...vels and fault conditions Unused inputs should be configured as single ended and the N input must be tight to ISO_GND in order not to get an I O fault condition If an error condition has been detected on an input and signalized by the Line Fault parameter it must be acknowledged by the LineFaultAcknowledge command in order to use or reconfigure the corresponding input again Parameter LineFaultUpda...

Page 106: ...SO_GND TTL120 120 10nF 17 pin M12 I O Connector Camera Firmware Camera TTL or SE HTL YOUR_POWER YOUR_GND YOUR_GND R0 C0 R1 C1 R2 C2 YOUR_GND 3 4 5 6 7 8 9 2 1 12 11 17 ISO_IN0 ISO_IN1 ISO_IN2 ISO_IN3 YOUR_POWER 4 7k Figure 14 5 Example of input connections 106 of 143 MAN093 08 2021 V1 1 ...

Page 107: ... configuration must be set to True in order to use the alarm indication Consider the polarity of the encoders Y ALARM signal The LineIn3 must be in verted when the Y ALARM signal is low active The Z signal is a single pulse that occurs once every shaft encoder rotation It can be used to reset the encoder Section 7 4 Isolator LineIn0 LineIn1 LineIn2 LineIn3 3 4 5 6 7 8 9 2 1 12 11 CAEMRA_PWR CAMERA...

Page 108: ... 12 11 CAMERA_PWR CAMERA_GND ISO_GND 17 TTL120 120 10nF 17 pin M12 I O Connector Camera Firmware A B Z ALARM Encoder Camera YOUR_GND TTL or SE HTL R0 C0 R1 C1 R2 C2 GND ISO_IN0 ISO_IN1 ISO_IN2 ISO_IN3 Y Figure 14 7 Connection of a single ended encoder 108 of 143 MAN093 08 2021 V1 1 ...

Page 109: ...OUR_POWER R R ISO_OUT0 ISO_OUT1 ISO_OUT2 high speed Figure 14 8 Example of output connection Respect the limits of the opto isolator in the connection to ISO_OUT Maximal ratings that must not be exceeded voltage 30 V current 0 5 A power 0 5 W see also Fig 14 9 LineOut0 LineOut1 LineOut2 2 1 12 11 CAMERA_PWR CAMERA_GND ISO_GND 17 Camera Firmware 13 14 10 Isolator 17 pin M12 I O Connector Camera YOU...

Page 110: ...UT2 is used see connection B in Fig 14 10 which is a high speed TTL out put it can be connected to any of the four single ended input without a pull up resistor Isolator LineIn0 LineIn1 LineIn2 LineIn3 3 4 5 6 7 8 9 2 1 12 11 CAMERA_PWR CAMERA_GND ISO_GND 17 TTL120 120 10nF 17 pin M12 I O Connector Camera Firmware Camera TTL or SE HTL R0 C0 R1 C1 R2 C2 YOUR_GND Camera Camera Firmware Isolator CAME...

Page 111: ...from camera power CAMERA_GND CAMERA_PWR Using a common power supply for camera and I O signals with star wiring 14 7 1 Separate Grounds To separate the signal and ground connections of the camera CAM_GND CAM_PWR data connections from the I O connections ISO_GND ISO_IN ISO_OUT is one way to avoid ground loops Fig 14 11 shows a schematic of this setup In this setup the power supplies for the camera ...

Page 112: ...cept Fig 14 13 shows a schematic of the star wiring concept applied to a Photonfocus GigE camera The power supply and ground connections for the camera and for the I O are connected to the same power supply which acts as the Star Point GND PWR Device 1 Device n Device 2 Device 4 Device 3 Figure 14 12 Star wiring principle Isolator ISO_IN ISO_GND CAMERA_GND Star wiring no ground loop Star point Fig...

Page 113: ...r in this example is generated from a light barrier Note how the power and ground cables are connected to the same power supply ISO_IN Camera Flash ISO_OUT ISO_GND CAMERA_PWR CAMERA_GND Power Supply Light Barrier Machine Vision System PC Ethernet Cable OUT IN Figure 14 14 I O wiring using star wiring example MAN093 08 2021 V1 1 113 of 143 ...

Page 114: ...es a ground loop is shown in Fig 14 15 Isolator ISO_IN ISO_GND Ground Loop CAMERA_GND Ground plane voltage difference Connecting CAMERA_GND and ISO_GND the wrong way ground loop Figure 14 15 Improper I O wiring causing a ground loop 114 of 143 MAN093 08 2021 V1 1 ...

Page 115: ...gE Interface Fig 15 1 show the mechanical drawing of the camera housing for the Photonfocus MV4 UV GigE camera series 19 20 5 16 30 13 1 M 5 8 8 x 102 5 72 5 13 1 30 1 4 20 6 2x c M o u n t 1 3 2 U N 9 5 59 59 Figure 15 1 Mechanical dimensions of the Photonfocus MV4 UV 10 GigE copper GT cameras For long life and high accuracy operation we highly recommend to mount the camera thermally coupled so t...

Page 116: ...he ring is locked the lens can now be easily removed Figure 15 2 Position of the 2 small screws that lock C mount ring 15 3 Optical Interface 15 3 1 Cleaning the Sensor The sensor is part of the optical path and should be handled like other optical components with extreme care Dust can obscure pixels producing dark patches in the images captured Dust is most visible when the illumination is collim...

Page 117: ... fulfil the above requirements and permanent damage to the sensor may result 4 Wipe the sensor carefully and slowly First remove coarse particles and dirt from the sensor using Q Tips soaked in 2 propanol applying as little pressure as possible Using a method similar to that used for cleaning optical surfaces clean the sensor by starting at any corner of the sensor and working towards the opposite...

Page 118: ... tips Hans J Michael GmbH Germany Methanol Fluid Johnson Matthey GmbH Germany Semiconductor Grade 99 9 min Assay Merck 12 6024 UN1230 slightly flammable and poisonous www alfa chemcat com 2 Propanol Iso Propanol Fluid Johnson Matthey GmbH Germany Semiconductor Grade 99 5 min Assay Merck 12 5227 UN1219 slightly flammable www alfa chemcat com Table 15 1 Recommended materials for sensor cleaning For ...

Page 119: ...Photonfocus support support photonfocus com 16 1 1 No acquisition due to no triggers Set the camera to the free running trigger mode see Section C 1 1 If no images can be acquired in free running mode then triggering is not the main cause of the acquisition problem If images can be acquired in free running mode but not in your chosen trigger mode then check the trigger configuration see Section C ...

Page 120: ...16 Troubleshooting 120 of 143 MAN093 08 2021 V1 1 ...

Page 121: ...trial environments EN 61000 4 2 2009 Electronic discharge immunity tests EN 61000 4 3 2006 A1 2008 A2 2010 Radiated radio frequency electromagnetic field immunity test EN 61000 4 4 2012 Electrical fast transient burst immunity test EN 61000 4 5 2014 Surge immunity test EN 61000 4 6 2014 Immunity to conducted disturbances induced by radio frequency fields 17 2 Country specific Information 17 2 1 Fo...

Page 122: ...ns set out in Radio Interference Regulations 17 2 3 Pour utilisateurs au Canada Cet appareil est conforme aux normes Classe A pour bruits radioélectriques spécifiées dans le Règlement sur le brouillage radioélectrique 17 3 Life support applications These products are not designed for use in life support appliances devices or systems where malfunction of these products can reasonably be expected to...

Page 123: ...nsure that your warranty remains in force adhere to the following rules 1 Do not open the housing or destroy the warranty seal of the camera Touching internal electronic components of the camera may damage the camera electronic 2 Do not remove the camera serial number label If the label is removed and the serial number cannot be read out from the camera registers the product identification and the...

Page 124: ...uctions in the corresponding chapter of this manual 9 Transport and store the camera in its original packaging only and protect the sensor and the lens mount with a camera body cap 10 Read the manual carefully before installing and using the camera 124 of 143 MAN093 08 2021 V1 1 ...

Page 125: ...the Photonfocus sales team via email sales photonfocus com 19 2 Repair and obtaining an RMA Number Whenever you want to return a camera to Photonfocus contact first the Photonfocus support to be sure that the camera has to be repaired In a repair case you will get from Photonfocus a Return Material Authorization RMA number The RMA number must be stated in your delivery documents Please send us tog...

Page 126: ...19 Support and Repair 126 of 143 MAN093 08 2021 V1 1 ...

Page 127: ...20 References All referenced documents can be downloaded from our website at www photonfocus com MAN093 08 2021 V1 1 127 of 143 ...

Page 128: ...20 References 128 of 143 MAN093 08 2021 V1 1 ...

Page 129: ... voltages will damage or destroy the camera The connection of the input and output signals is described in Section 14 6 Suitable I O cables can be ordered from your Photonfocus dealership Connector Type Order Nr P T S Cable M12 17 pin PUR PVC 1 5m 704090 070 P T S Cable M12 17 pin PUR PVC 3 0m 704090 071 P T S Cable M12 17 pin PUR PVC 5 0m 704090 072 Table A 1 I O cables with 17 pin M12 2 17 1 3 4...

Page 130: ...RS422 HTL differential input negative polarity Single ended configuration Must be tied to ISO_GND 7 I ISO_INC2_P ISO_IN2 Differential configuration Isolated RS422 HTL differential input positive polarity Single ended configuration Isolated TTL HTL single ended input 8 I ISO_INC2_N ISO_GND Differential configuration Isolated RS422 HTL differential input negative polarity Single ended configuration ...

Page 131: ...or A 2 GigE Connector An X coded M12 connector is used for the GigE interface and power supply of the camera Suitable GigE interface cables can be ordered from your Photonfocus dealership MAN093 08 2021 V1 1 131 of 143 ...

Page 132: ...A Pinouts 132 of 143 MAN093 08 2021 V1 1 ...

Page 133: ...s started which is shown by the timer active signal see Section 6 2 The timer active signal needs to be selected to output it on Line Out see Section 8 2 which has a fix delay of tlineout offset The Line Out is isolated by an opto isolator from the camera electronics which leads to an additional delay of tiso out The maximum exposure offset value texposure offset is up to the read out time of one ...

Page 134: ... r A c t i v e S i g n a l L i n e O u t I S O _ O U T t i n p u t j i t t e r t i s o i n t p u l s e d e l a y t e x p o s u r e o f f s e t t e x p o s u r e t t i m e r d e l a y t t i m e r _ d u r a t i o n t l i n e o u t o f f s e t t i s o o u t Figure B 1 Timing diagram for the timed exposure mode 134 of 143 MAN093 08 2021 V1 1 ...

Page 135: ...2 Camera runs in constant frame rate mode In some application it is necessary that the camera acquires image at a certain frame rate This mode is similar to the free running mode however a required frame rate can be configured additionally The following configuration procedure shows how to set the camera in the constant frame rate mode 1 The TriggerMode of the AcquisitionStart FrameStart FrameBurs...

Page 136: ...ight software signals for instances SoftwareSignal0 A frame is started when the command TriggerSignalPulse in the section SoftwareSignalControl is applied SoftwareSignalSelector must be set to SoftwareSignal0 C 1 4 Camera runs in burst triggered mode If a certain number of images must be acquired on a single trigger input event the cameras frame burst start trigger feature can be used The followin...

Page 137: ...t accordingly 8 The required image Width and Height must be set 9 The required PixelFormat must be set 10 AcquisitionMode must be set to Continuous 11 The software command AcquisitionStart must be applied C 2 Timer There are four general purpose timers available The following sections show some use cases how the timers can be used C 2 1 Strobe Signal Output The timer can be used to generate a puls...

Page 138: ...StartReset must be set to False for the corresponding counter and the user must execute the parameter CounterReset manually for a first counter start C 3 2 Image Counter Any of the four available counters can be used as an image counter The following configuration procedure must be applied 1 Select one of the four available counters by setting of the CounterSelector to Counter0 Counter1 Counter2 o...

Page 139: ...igger or MissedTrigger 3 Parameter TimerTriggerActivation can be ignored This configuration is only necessary when Line0 input is selected as a trigger source 4 All other counter parameter must be left in default state Both the CounterResetSource and CounterTriggerSource must be set to Off 5 The counter needs to be reset see C 3 1 C 4 Look Up Table LUT C 4 1 Overview The LUT is described in detail...

Page 140: ...ection C 4 3 For every LUT value the following steps must be done 1 Set LUTIndex in category LUTControl to desired value The LUTIndex corresponds to the grey value of the 12 bit input signal of the LUT 2 Set LUTValue in category LUTControl to desired value The LUTValue corresponds to the grey value of the 8 bit output signal of the LUT The LUTIndex is auto incremented internally after setting a LU...

Page 141: ...al is low active 2 Set the EncoderAlarmMode to True 3 The parameter EncoderAlarmUpdate needs to be performed in order to get current value of EncoderAlarmStatus 4 When an alarm has occured the parameter EncoderAlarmAcknowledge will acknowledge the pending alarm C 6 Calibration of the FPN Correction The camera is calibrated in the factory with the default camera settings If the camera is operated w...

Page 142: ... to OffsetGainHotpixel 12 The reference images and the calibration values are now stored in the camera s volatile memory RAM The new calibration is lost if the camera power is switched off To store the calibration values permanently send the command Correction_SaveToFlash Note that this overwrites the factory presets Note that the reference images are not stored permanently There are two independe...

Page 143: ... Document Revision History Revision Date Changes 1 0 March 2021 First Version 1 1 August 2021 Fixed exposure timing units in Chapter 5 Fixed fill factor value in Table 3 2 MAN093 08 2021 V1 1 143 of 143 ...

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