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9 Pixel Data Processing

9.2.3

Gain Correction

The gain correction is based on a grey reference image, which is taken at uniform illumination
to give an image with a mid grey level.

Gain correction is not a trivial feature. The quality of the grey reference image
is crucial for proper gain correction.

Gain correction algorithm

After configuring the camera with a black and grey reference image, the camera is ready to
apply the gain correction:

Determine the average value of the grey reference image.

Subtract the offset correction matrix from the grey reference image.

Divide the average value by the offset corrected grey reference image.

Pixels that have a grey level higher than a certain threshold are marked as hot pixels.

Store the result in the camera as the gain correction matrix.

During image acquisition, multiply the gain correction matrix from the offset-corrected
acquired image and interpolate the hot pixels (see Section 9.2.4).

Gain correction is not a trivial feature. The quality of the grey reference image
is crucial for proper gain correction.

58 of 121

MAN076 09/2017 V1.0

Содержание MV3-D640I-M01-144-CL

Страница 1: ...Photonfocus MV3 D640I M01 144 G2 Camera Series CMOS camera with Gigabit Ethernet interface MAN076 09 2017 V1 0...

Страница 2: ...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 prohibite...

Страница 3: ...19 4 1 3 Image Acquisition Frame and Exposure Control Parameters 20 4 1 4 Image Acquisition Frame and Exposure Trigger 21 4 1 5 Image Acquisition Frame and Exposure Status 21 4 2 Acquisition Control...

Страница 4: ...37 5 1 6 Counter Trigger Source 38 5 1 7 Counter Reset Source 39 5 2 Timer 40 5 2 1 Timer Usage 40 5 2 2 Timer Status 41 5 2 3 Timer Active Start and End Signal 41 5 2 4 Timer Reset 41 5 2 5 Timer Tr...

Страница 5: ...LFSR 74 10 Thermoelectric Cooler TEC 77 10 1 TEC Description 77 11 Precautions 79 11 1 IMPORTANT NOTICE 79 12 Hardware Interface 83 12 1 Absolute Maximum Ratings 83 12 2 Electrical Characteristics 83...

Страница 6: ...bandoning and Scrapping 105 18 References 107 A Pinouts 109 A 1 Power Supply Connector 109 A 2 GigE Connector 111 B Camera Timing 113 B 1 Timed Exposure Mode Camera Timing 113 C Use Cases 115 C 1 Acqu...

Страница 7: ...TRUCTIONS 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 4...

Страница 8: ...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 ke...

Страница 9: ...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 Warni...

Страница 10: ...1 Preface 10 of 121 MAN076 09 2017 V1 0...

Страница 11: ...amera naming convention Prefix1 Camera platform and usage prefix The following prefix applies to this camera MV3 Prefix2 Camera family specifier The following specifiers are used in this manual D stan...

Страница 12: ...lution Frame Rate Notes MV3 D640I M01 144 G2 12 640 x 512 300 fps 1 Gigabit Ethernet SWIR standard camera Table 2 1 Camera models covered by this manual Footnotes 1 frame rate at full resolution 12 of...

Страница 13: ...0 fps at maximal resolution I O capabilities 2 isolated inputs and 2 isolated outputs Up to 512 regions of interest MROI 2 look up tables 12 to 8 bit on user defined image region Region LUT Crosshairs...

Страница 14: ...3 Product Specification Figure 3 1 Photonfocus MV3 D640I M01 144 G2 GigE interface camera 14 of 121 MAN076 09 2017 V1 0...

Страница 15: ...e Trigger Modes Software Trigger External isolated trigger inputs Features Greyscale resolution 12bit 10 bit 8 bit Region of Interest ROI Up to 512 regions of interest MROI 2 look up tables 12 to 8 bi...

Страница 16: ...l capacity SNR 1 44 Me 1200 1 Spectral range 900 nm to 1700 nm Responsivity TBD x 103 DN J m2 TBD nm 8bit Quantum Efficiency 70 from 1 m to 1 6 m Optical fill factor 95 Dynamic range TBD dB Micro lens...

Страница 17: ...nector Interface X coded M12 Conformity RoHS WEEE IP Code IP40 Table 3 3 Physical characteristics and operating ranges of the MV3 D640I M01 G2 camera series 3 3 1 Absolute Maximum Ratings Parameter Va...

Страница 18: ...Spectral Response Fig 3 2 shows the quantum efficiency curve of the Snake SW sensors from Sofradir measured in the wavelength range from 900 nm to 1800 nm 0 10 20 30 40 50 60 70 80 90 800 900 1000 110...

Страница 19: ...an exposure 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 So an acquisition can be grouped in N single frames or N burst o...

Страница 20: ...block also from timer or counter or even input lines can be routed to an output The input lines can be used to control the acquisition frame and or exposure also to start a timer or count events with...

Страница 21: ...ath Section 4 6 gives more information about the configuration 4 1 5 Image Acquisition Frame and Exposure Status The following list shows the acquisition frame and exposure related status signals Acqu...

Страница 22: ...camera generates frame start triggers internally according to the acquisition frame rate enable and acquisition frame rate configuration Acquisition Frame Rate Enable off The camera runs in the free...

Страница 23: ...S t a r t T r i g g e r 1 A c q u i s i t i o n E n d T r i g g e r 1 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 o p 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...

Страница 24: ...on in the camera like counter or timer 4 3 Frame Control F r a m e C o n t r o l F r a m e S t a r t T r i g g e r F r a m e B u r s t S t a r t T r i g g e r F r a m e T r i g g e r W a i t F r a m e...

Страница 25: ...Trigger The frame burst start trigger can be used to start a burst of frame capture The main property of this trigger is the trigger mode It can be set to on or off Frame Burst Start Trigger Mode on...

Страница 26: ...7 Triggered Acquisition of a Burst of Frame and of a single Frame 4 3 3 Frame Burst End Trigger The frame burst end trigger can be used to abort a current running burst capturing cycle The main proper...

Страница 27: ...rame consists of an exposure cycle and an image read out The exposure control block takes care of the exposure cycle The camera has two modes of exposure time operations which are defined by the expos...

Страница 28: ...trolled exposure mode The Acquisition start trigger mode is off The camera goes directly into status Frame Trigger Wait once the acquisition status has been executed An exposure of a new frame is star...

Страница 29: ...previous sections show a non overlapping frame timing A new frame is always started after the previous image read out has been finished All these examples work also in the overlap mode It doesn t show...

Страница 30: ...timing situations when the exposure time longer than the read out time and when the exposure time is shorter than the 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...

Страница 31: ...e Section 4 6 4 Software A trigger is generated by the locally trigger software command register see Section 4 6 2 for more information Software Signal Pulse A trigger is generated by the software sig...

Страница 32: ...rigger A division factor of 2 process every second trigger and so on 4 6 6 Trigger Delay The trigger delay let the user specifies a delay that will be applied between the reception of a trigger event...

Страница 33: ...he 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 blocks functions Counter Trigger Counter Reset LED S0 S1...

Страница 34: ...4 Image Acquisition 34 of 121 MAN076 09 2017 V1 0...

Страница 35: ...ent and counter reset signals This section describes the configuration and the function of the counters Fig 5 1 shows the structure of one counter Along with the counter function itself it contains a...

Страница 36: ...eceived 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 5 1 3 Counter Active Start and End Signal Each counte...

Страница 37: ...rt 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...

Страница 38: ...art event Acquisition End Starts with the reception of the acquisition end event FrameTrigger Starts with the reception of the frame trigger event Frame Start Starts with the reception of the frame st...

Страница 39: ...used to reset the counter The following signals sources are available Off Disables the counter reset Counter Trigger Resets with the reception of a trigger on the counter trigger source see Section 5...

Страница 40: ...a t i o n T i m e r R e s e t 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 Figure 5 2 Timer Structure Four general purpose timers are available in the camera Timer0...

Страница 41: ...mer active signal indicates that the timer has started counting the configured duration period The timer active signal is internally routed to the I O control block and can there be selected for outpu...

Страница 42: ...of the chosen counter end event Timer 0 3 Start Starts with the reception of the chosen timer start event Timer 0 3 End Starts with the reception of the chosen timer end event Software Signal Pulse 0...

Страница 43: ...1 shows the structure of the input signal path The user can invert these signals 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 I n p u t S i g n a l P a t h L...

Страница 44: ...he output line LED S0 S1 and S3 have its own output signal path which is shown in Fig 6 2 The source can be selected and the selected signal can be invert before it is sent out of the camera Furthermo...

Страница 45: ...mera is acquiring and sending images the LED changes to a blinking characteristic If the source serial communication is selected the led flashes every time when the host communicates with the camera d...

Страница 46: ...6 I O Control 46 of 121 MAN076 09 2017 V1 0...

Страница 47: ...d position in the D640I M01 camera must be a multiple of 32 pixels The vertical size and position must be a multiple of 4 pixels 7 2 Multiple Regions of Interest MROI Up to 512 different regions of in...

Страница 48: ...age frame rate M R O I 0 M R O I 1 M R O I 2 0 0 0 0 x m a x y m a x R O I M R O I 0 M R O I 1 M R O I 2 R O I x m a x y m a x R O I X R O I W R O I Y R O I H R O I X R O I W M R O I 0 Y M R O I 0 H M...

Страница 49: ...7 2 Multiple Regions of Interest MROI Figure 7 2 Multiple Regions of Interest with 5 ROIs MAN076 09 2017 V1 0 49 of 121...

Страница 50: ...region need to be readout and a frame rate of 2600 fps can be achieved Without using MROI the resulting frame rate would be 300 fps for a 640x512 ROI x m a x y m a x 2 0 p i x e l 2 6 p i x e l 2 p i...

Страница 51: ...e www photonfocus com The maximal frame rate with the current camera settings can be read out by a camera register AcquisitionFrameRateMax A table with values for common ROI settings is shown in Secti...

Страница 52: ...posure Time TReadoutDel ReadoutTime T r i g g e r E x p o s u r e R e a d o u t F r a m e n E x p o s u r e T i m e R e a d o u t T i m e T R e a d o u t D e l F r a m e n E x p o s u r e T i m e Figu...

Страница 53: ...F r a m e n T I n t S a m p l i n g Figure 8 3 aRead out Timing 2 8 7 MROI The formulas in Section 8 5 and in Section 8 6 can be used but the read out time in MROI mode is slightly different than in...

Страница 54: ...he Photonfocus web page www photonfocus com which allows to determine the frame rates for any available image dimensions and expsoure time settings ROI Dimension MV3 D640I M01 Mono8 MV3 D640I M01 Mono...

Страница 55: ...m a g e S e n s o r D i g i t a l O f f s e t G a i n C r o s s h a i r s i n s e r t i o n C a m e r a I n t e r f a c e T e s t i m a g e s i n s e r t i o n I m a g e o u t p u t B i n n i n g 2 m...

Страница 56: ...automatically in the camera Do not set any reference images when gain or LUT is enabled Read the follow ing sections very carefully Correction values of both reference images can be saved into the int...

Страница 57: ...ay be necessary to adjust the black level offset of the camera In the histogram of the black reference image ideally there are no grey levels at value 0 DN after adjustment of the black level offset A...

Страница 58: ...mine the average value of the grey reference image 2 Subtract the offset correction matrix from the grey reference image 3 Divide the average value by the offset corrected grey reference image 4 Pixel...

Страница 59: ...orm illumination Use a high quality light source that delivers uniform illumination Standard illu mination will not be appropriate When looking at the histogram of the grey reference image ideally the...

Страница 60: ...pixel correction also corrects cold black defect pixels if a grey reference image has been set prior to the Calculate step h o t p i x e l p n p n 1 p n 1 p n p n 1 p n 1 2 Figure 9 6 Defect pixel int...

Страница 61: ...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 9 7 Schematic presentation of the corrected image using gain correction algorithm 9 2 6 Correction Ranges Table 9...

Страница 62: ...of the grey level values of an input image to new values The look up table LUT is used to convert the greyscale value of each pixel in an image into another grey value It is typically used to implemen...

Страница 63: ...T transfer curves 0 200 400 600 800 1000 1200 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...

Страница 64: ...reens 0 200 400 600 800 1000 1200 0 50 100 150 200 250 300 Grey level transformation Gamma y 255 1023 x 1 x grey level input value 10 bit DN y grey level output value 8 bit DN 1 0 1 2 1 5 1 8 2 5 4 0...

Страница 65: ...0 is active on whole image X LUT 1 is active on whole image X X LUT 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 9 2 LUT Enable and Reg...

Страница 66: ...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 9 13 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 9 14 Region LUT in...

Страница 67: ...and 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 incre...

Страница 68: ...16 Example of 2x2 binning 9 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 9 3 Prop...

Страница 69: ...er with black lines Figure 9 17 Crosshairs Example with different grey values The x and y positon is absolute to the sensor pixel matrix It is independent on the ROI MROI or decimation configurations...

Страница 70: ...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 9 18 Crosshairs absolute position...

Страница 71: ...patible with other Photonfocus cameras 9 7 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 p...

Страница 72: ...quency in Hz 48 12 Image Average Value raw data without taking in account gain settings see Section 9 7 1 52 12 Horizontal start position of ROI OffsetX 56 12 Image Width 60 12 Vertical start position...

Страница 73: ...and frame grabber The analysis of the test images with a histogram tool gives the correct result at a resolution of 512 x 512 pixels only 9 8 1 Ramp Depending on the configured grey level resolution t...

Страница 74: ...tool to display the histogram In the LFSR linear feedback shift register mode the camera generates a constant pseudo random test pattern containing all grey levels If the data transmission is correct...

Страница 75: ...ssion errors 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 applications special drag chain capable cables...

Страница 76: ...9 Pixel Data Processing 76 of 121 MAN076 09 2017 V1 0...

Страница 77: ...in standard setups The user can set the target temperature for the sensor TEC through software The current through the TEC is limited in the camera to TBDX 1A Table 10 1 gives the minimum temperature...

Страница 78: ...10 Thermoelectric Cooler TEC 78 of 121 MAN076 09 2017 V1 0...

Страница 79: ...st 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...

Страница 80: ...ge 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 te...

Страница 81: ...ents or thinners which can damage the surface the serial number label and electronic parts Avoid the generation of ESD during cleaning Take only a small amount of detergent to clean the camera body Ke...

Страница 82: ...11 Precautions 82 of 121 MAN076 09 2017 V1 0...

Страница 83: ...12 2 Electrical Characteristics Parameter Value Camera Control Input Single Ended 5 V 20 V Table 12 2 Electrical Characteristics 12 3 GigE Camera Connector The GigE cameras are interfaced to external...

Страница 84: ...igure 12 1 Rear view of the GigE camera It is extremely important that you apply the appropriate voltages to your camera Incorrect voltages will damage the camera For further details including the pin...

Страница 85: ...s an active serial communication with the camera LED S2 dark not used in default configuration Table 12 3 Default LED S0 S1 and S2 configuration of the GigE CMOS cameras LED designator Function LED P0...

Страница 86: ...r o l L i n e I n 0 L i n e O u t 1 I S O _ G N D I S O _ G N D C A M E R A _ G N D C A M E R A _ G N D C u r r e n t L i m i t e r I S O _ O U T 0 L i n e O u t 0 I S O _ G N D C A M E R A _ G N D I...

Страница 87: ...G N D Y O U R _ G N D I S O _ G N D C u r r e n t L i m i t e r Figure 12 3 Direct connection to ISO_IN Fig 12 4 shows how to connect ISO_IN to TTL logic output device I S O _ I N C a m e r a I S O _...

Страница 88: ...W R R I S O _ O U T C a m e r a I S O _ G N D Y O U R _ G N D I S O _ G N D 1 2 p o l F i s c h e r C o n n e c t o r Figure 12 6 Connection from ISO_OUT to a LED Respect the limits of the opto isolat...

Страница 89: ...8 This results in a master slave mode where the slave camera operates synchronously to the master camera 4 k 7 Y O U R _ P W R I S O _ O U T 3 I S O _ G N D 2 Y O U R _ G N D I S O _ G N D M a s t e r...

Страница 90: ...ND CAM_PWR Using a common power supply for camera and I O signals with star wiring Separate Grounds To separate the signal and ground connections of the camera CAM_GND CAM_PWR data connections from th...

Страница 91: ...r 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 D e v i...

Страница 92: ...ow the power and ground cables are connected to the same power supply P o w e r S u p p l y C a m e r a F l a s h M a c h i n e V i s i o n S y s t e m P C E t h e r n e t D a t a C a b l e S T R C A...

Страница 93: ...a t o r C A M _ G N D I S O _ I N I S O _ G N D G r o u n d p l a n e v o l t a g e d i f f e r e n c e C o n n e c t i n g C A M _ G N D a n d I S O _ G N D t h e w r o n g w a y G r o u n d l o o p...

Страница 94: ...12 Hardware Interface 94 of 121 MAN076 09 2017 V1 0...

Страница 95: ...k during storage and transport Please either retain this packaging for possible later use or dispose of it according to local regulations 13 1 1 MV3 cameras with GigE Interface Fig 13 1 shows the mech...

Страница 96: ...the most common contaminants Workshop air supply is not appropriate and may cause permanent damage to the sensor 3 If further cleaning is required use a suitable lens wiper or Q Tip moistened with an...

Страница 97: ...ps 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...

Страница 98: ...e limits can be set individually for every temperature diode If any of the temperature diodes reports a temperature that is above its higher limit then the camera is put to a power down state where th...

Страница 99: ...ail to Photonfocus support support photonfocus com 14 1 1 No acquisition due to no triggers Set the camera to the free running trigger mode TriggerMode Off If no images can be acquired in free running...

Страница 100: ...14 Troubleshooting 100 of 121 MAN076 09 2017 V1 0...

Страница 101: ...eld 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...

Страница 102: ...s set out in Radio Interference Regulations 15 2 3 Pour utilisateurs au Canada Cet appareil est conforme aux normes Classe A pour bruits radio lectriques sp cifi es dans le R glement sur le brouillage...

Страница 103: ...sure 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 da...

Страница 104: ...ctions 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 c...

Страница 105: ...he Photonfocus sales team via email sales photonfocus com 17 2 Repair and obtaining an RMA Number Whenever you want to return a camera to Photonfocus contact first the Photonfocus support to be sure t...

Страница 106: ...17 Support and Repair 106 of 121 MAN076 09 2017 V1 0...

Страница 107: ...18 References All referenced documents can be downloaded from our website at www photonfocus com AN0032 Application Note PFRemote SDK and Win64bit Photonfocus April 2011 MAN076 09 2017 V1 0 107 of 121...

Страница 108: ...18 References 108 of 121 MAN076 09 2017 V1 0...

Страница 109: ...supply plug is given in Table A 1 The receptacle used on the camera is Fischer DBPLU1031Z012 130G Suitable plugs must be of size 1031 female configuration 012 Example Fischer S1031Z012 130 It is extre...

Страница 110: ...round 5 PWR VDD Camera power 12 V DC 10 6 PWR ISO_GND Signal ground for opto isolated output signals 7 I ISO_IN0 General purpose input 0 opto isolated 8 I ISO_IN1 General purpose input 1 opto isolated...

Страница 111: ...r 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 MAN076 09 201...

Страница 112: ...A Pinouts 112 of 121 MAN076 09 2017 V1 0...

Страница 113: ...d which is shown by the timer active signal see Section 5 2 The timer active signal needs to be selected to output it on Line Out see Section 6 2 which has a fix delay of tlineout offset The Line Out...

Страница 114: ...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...

Страница 115: ...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 fra...

Страница 116: ...ameBurstStart trigger must be set to On The AcquisitionStart FrameStart and the ExposureStart trigger must be set to Off 2 The TriggerSource of the FrameBurstStart trigger must be set to the correspon...

Страница 117: ...mers by setting of the TimerSelector to Timer0 Timer1 Timer2 or Timer3 2 Select the timer trigger source Set TimerTriggerSource to ExposureStart 3 Parameter TimerTriggerActivation can be ignored This...

Страница 118: ...art can be selected 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 i...

Страница 119: ...gger MissedFrameBurstStartTrigger MissedExposureStartTrigger or MissedTrigger 3 Parameter TimerTriggerActivation can be ignored This configuration is only necessary when Line0 input is selected as a t...

Страница 120: ...C Use Cases 120 of 121 MAN076 09 2017 V1 0...

Страница 121: ...D Document Revision History Revision Date Changes 1 0 July 2017 First version MAN076 09 2017 V1 0 121 of 121...

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