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xiB & xiB-64 - Technical Manual Version 1.06

Binning/skipping

pixels

Bit/px

fps

1x1/1x1

4096 x 3072

330

1x1/2x2

2048 x 1536

791

2x2/1x1

2048 x 1536

251

1x1/1x1

4096 x 3072

296

1x1/2x2

2048 x 1536

1049

2x2/1x1

2048 x 1536

267

1x1/1x1

4096 x 3072

130

1x1/2x2

2048 x 1536

528

2x2/1x1

2048 x 1536

267

table 3-19, CB120xG-CM-X8G3, standard readout modes

3.6.6.2.

Quantum efficiency curves [%]

figure 3-18, CMV12000-mono, color and NIR, quantum efficiency curve, ©CMOSIS

10%

20%

30%

40%

50%

60%

350

400

450

500

550

600

650

700

750

800

850

900

950

1000 1050

ant

m Eff

ici

ency

(

)

Wavelength (nm)

CMV12000 - Spectral Response

Monochrome

Red Bayer

Green Bayer

Blue Bayer

NIR

Содержание CB013CG-LX-X8G3

Страница 1: ...xiB xiB64 ksi bee or sai bee PCI Express camera series Technical Manual Version 1 06 August 2018...

Страница 2: ...llaboration with customers XIMEA has developed a broad spectrum of technologies and cutting edge highly competitive products XIMEA s camera centric technology portfolio comprises a broad spectrum of d...

Страница 3: ...lity EMC Generic standards Immunity for industrial environments EN 61000 6 3 2007 A1 2011 Generic standards Emission standard for residential commercial and light industrial environments EN 61000 6 4...

Страница 4: ...6 GenICam GenTL API GenICam standard transport layer interface grabbing images GenICam GenTL provides an agnostic transport layer interface to acquire images or other data and to communicate with a de...

Страница 5: ...eneral Specification 14 3 2 1 Environment 14 3 2 2 Firmware Host driver API features 14 3 3 Lens Mount 15 3 4 Mounting points 16 3 5 Optical path 16 3 6 Model Specific Characteristics 17 3 6 1 CB120xG...

Страница 6: ...lated Digital Input General info 46 3 9 4 2 Digital Input signal levels 46 3 9 4 3 Digital Input Internal Schematic 47 3 9 4 4 Digital Input Wiring 47 3 9 4 5 Digital Input Timing 48 3 9 5 Optically i...

Страница 7: ...te Balance 71 4 5 2 1 Assisted Manual White Balance 71 4 5 2 2 Auto White Balance 71 4 5 3 Gamma 71 4 5 4 Sharpness 71 4 5 5 Color Correction Matrix 72 4 5 6 Sensor Defect Correction 72 4 5 7 HDR 73 5...

Страница 8: ...p 1 Contact Support 93 6 2 2 Step 2 Create Product Service Request PSR 93 6 2 3 Step 3 Wait for PSR Approval 93 6 2 4 Step 4 Sending the camera to XIMEA 93 6 2 5 Step 5 Waiting for Service Conclusion...

Страница 9: ...Off the shelf hardware can be used for camera to computer interfaces but testing was limited to the items discussed in this manual See section 3 10 3 12 for materials needed to interface your camera t...

Страница 10: ...assisted correction Auto adjustments Auto white balance auto gain auto exposure Flat field corrections Host assisted pixel level shading and lens corrections Image Data and Control Interface iPass ex...

Страница 11: ...y CBxxxyG zz xiB 64 family CBxxxyG zz X8G3 CB xiB and xiB 64 family name xxx Resolution in 0 1 MPixel E g 1 3 MPixel Resolution xxx 013 y y C color model y M black white model y R black white Infrared...

Страница 12: ...4 6 m 12 64 dB 45 6 mm 30 CB500CG CM Color CB013MG LX X8G3 b w 1280 x 864 13 7 m 10 60 dB 21 1 mm 3500 CB013CG LX X8G3 Color CB019MG LX X8G3 b w 1920 x 1080 10 0 m 10 60 dB 22 mm 2500 CB019CG LX X8G3...

Страница 13: ...les CBL PCI COP 1M0 1 0m PCIe Gen 2 x4 copper cable CBL PCI COP 3M0 3 0m PCIe Gen 2 x4 copper cable CBL PCI COP 5M0 5 0m PCIe Gen 2 x4 copper cable CBL PCI COP 7M0 7 0m PCIe Gen 2 x4 copper cable CBL...

Страница 14: ...n 10 to 25 C Ambient temperature operation 0 to 50 C Ambient temperature for storage and transportation 25 to 70 C Relative Humidity non condensing 80 table 3 1 environment Housing temperature must no...

Страница 15: ...ithout the optional EF Mount Adapter The cameras are optionally delivered with or without outer EF Mount Adapter Note The distance between the outer EF Mount Adapter and the active sensor surface is 4...

Страница 16: ...read Four mounting points at the front panel are used for the EF mount adapter when installed Figure 3 2 drawing demonstrating the mounting hole positions Camera shown without EF mount 3 5 Optical pat...

Страница 17: ...sion gain e LSB12 TBD Dark noise e TBD Dark current e s 22 RT 10 bit mode DSNU e 2 in 10 bit mode PRNU 1 27 Linearity TBD Shutter efficiency 1 50 000 Micro lenses Yes Camera parameters Digitization bi...

Страница 18: ...36 10 267 1x1 1x1 4096 x 3072 12 92 1x1 2x2 2048 x 1536 12 443 2x2 1x1 2048 x 1536 12 267 table 3 4 CB120xG CM standard readout modes 3 6 1 2 Quantum efficiency curves figure 3 3 CMV12000 mono color a...

Страница 19: ...xiB xiB 64 Technical Manual Version 1 06 19 3 6 1 3 Dimensional drawings CB120xG CM figure 3 4 dimensional drawing CB120xG CM figure 3 5 dimensional drawing CB120xG CM with EF mount adapter...

Страница 20: ...heet v2 11 3 6 1 5 Sensor features feature Note Binning Yes 2x2 Skipping Yes 2x2 ROI Vertical cropping results in increased read speed horizontal reduces data transfer HW Trigger Trigger with overlap...

Страница 21: ...n e LSB12 TBD Dark noise e TBD Dark current e s 125e s RT DSNU e 10 PRNU TBD Linearity TBD Shutter efficiency 1 50 000 Micro lenses Yes Camera parameters Digitization bit 12 Supported bit resolutions...

Страница 22: ...200xG CM standard readout modes 3 6 2 2 Quantum efficiency curves figure 3 6 CMV20000 mono and color quantum efficiency curve CMOSIS 0 10 20 30 40 50 60 70 350 400 450 500 550 600 650 700 750 800 850...

Страница 23: ...B 64 Technical Manual Version 1 06 23 3 6 2 3 Dimensional drawings CB200xG CM figure 3 7 dimensional drawing CB200xG CM with EF mount adapter figure 3 8 dimensional drawing CB200xG CM with EF mount ad...

Страница 24: ...v2 3_2 3 6 2 5 Sensor features feature Note Binning No Skipping No ROI Vertical cropping results in increased readout speed horizontal reduces data transfer HW Trigger Trigger without overlap usable s...

Страница 25: ...ution bit 12 FWC ke 14 5 Dynamic range dB 64 SNR Max dB 41 6 Conversion gain e LSB12 TBD Dark noise e 8 8 Dark current e s 33 DSNU e 24 5 PRNU 1 0 Linearity TBD Shutter efficiency 1 PLS 1 18000 Micro...

Страница 26: ...8 61 4 1x1 2x2 3960 3000 10 61 4 1x1 2x2 3960 3000 12 61 4 2x2 1x1 3960 3000 8 30 8 2x2 1x1 3960 3000 10 30 8 2x2 1x1 3960 3000 12 30 8 table 3 10 CB500xG CM standard readout modes 3 6 3 2 Quantum ef...

Страница 27: ...l Manual Version 1 06 27 3 6 3 3 Dimensional drawings CB500xG CM with and without EF mount figure 3 10 dimensional drawing CB500xG CM w o EF mount adapter figure 3 11 dimensional drawing CB500xG CM wi...

Страница 28: ...1 3 6 3 5 Sensor features feature Note Binning Yes 2x2 Skipping Yes 2x2 ROI Vertical cropping results in increased read speed horizontal reduces data transfer HW Trigger Trigger with overlap usable se...

Страница 29: ...ain e LSB12 TBD Dark noise e 14 Dark current e s TBD DSNU e TBD PRNU 1 5 Linearity TBD Shutter efficiency 1 PLS TBD Micro lenses TBD Camera parameters Digitization bit 10 Supported bit resolutions bit...

Страница 30: ...2 Quantum efficiency curves figure 3 12 LUX13HS quantum efficiency chart Luxima 0 5 10 15 20 25 30 35 400 450 500 550 600 650 700 750 800 850 900 Quantum Efficiency Wavelength nm LUX13HS Spectral Res...

Страница 31: ...l Version 1 06 31 3 6 4 3 Dimensional drawings CB013xG LX X8G3 figure 3 13 dimensional drawing CB013xG LX X8G3 without EF mount adapter figure 3 14 dimensional drawing CB013xG LX X8G3 with EF mount ad...

Страница 32: ...asheet_V2 3 3 6 4 5 Sensor features feature Note Binning No Skipping No ROI Vertical cropping results in increased read speed horizontal reduces data transfer HW Trigger Trigger with overlap usable se...

Страница 33: ...in e LSB12 TBD Dark noise e 10 Dark current e s TBD DSNU e TBD PRNU 1 5 Linearity TBD Shutter efficiency 1 PLS TBD Micro lenses TBD Camera parameters Digitization bit 10 Supported bit resolutions bit...

Страница 34: ...xiB xiB 64 Technical Manual Version 1 06 34 3 6 5 2 Quantum efficiency curves TBD figure 3 15 LUX19HS quantum efficiency chart Luxima...

Страница 35: ...l Version 1 06 35 3 6 5 3 Dimensional drawings CB019xG LX X8G3 figure 3 16 dimensional drawing CB019xG LX X8G3 without EF mount adapter figure 3 17 dimensional drawing CB019xG LX X8G3 with EF mount ad...

Страница 36: ...asheet_V2 3 3 6 5 5 Sensor features feature Note Binning No Skipping No ROI Vertical cropping results in increased read speed horizontal reduces data transfer HW Trigger Trigger with overlap usable se...

Страница 37: ...version gain e LSB12 TBD Dark noise e TBD Dark current e s 22 RT 10 bit mode DSNU e 2 in 10 bit mode PRNU 1 27 Linearity TBD Shutter efficiency 1 PLS 1 50 000 Micro lenses Yes Camera parameters Digiti...

Страница 38: ...0 267 1x1 1x1 4096 x 3072 12 130 1x1 2x2 2048 x 1536 12 528 2x2 1x1 2048 x 1536 12 267 table 3 19 CB120xG CM X8G3 standard readout modes 3 6 6 2 Quantum efficiency curves figure 3 18 CMV12000 mono col...

Страница 39: ...l Version 1 06 39 3 6 6 3 Dimensional drawings CB120xG CM X8G3 figure 3 19 dimensional drawing CB120xG CM X8G3 without EF mount adapter figure 3 20 dimensional drawing CB120xG CM X8G3 with EF mount ad...

Страница 40: ...heet v2 11 3 6 6 5 Sensor features feature Note Binning Yes 2x2 Skipping Yes 2x2 ROI Vertical cropping results in increased read speed horizontal reduces data transfer HW Trigger Trigger with overlap...

Страница 41: ...nnected in system the LEDs are showing PCIe link status The meaning differs between xiB and xiB 64 slightly LED Color Defaults On Blink Off 1 Green PCIe Lanes x4 or x2 x1 Link down 2 Red PCIe Clock Pr...

Страница 42: ...sTM connector is used for high speed data transmission Please note that many computers do not initialize PCIe buses that do not have devices plugged in upon boot The camera needs to be plugged in with...

Страница 43: ...le side Ximea PN CBL CB PWR SYNC 3M0 for 3m cable xiB 64 I O Power 12 pin Alysium 60 30 1112 Opto isolated trigger input and non isolated I O plus camera power Alysium 60 41 1012 60 41 1112 60 01 1012...

Страница 44: ...INOUT4 Non isolated I O LVTTL 3 3 50 A table 3 26 xiB I O connector Pin Assignment xiB 64 figure 3 25 xiB 64 IO connector pinout I O connector Pin Assignment Pin Name Signal Technical description 1 I...

Страница 45: ...ed twisted pair configuration xiB 3 9 3 Power input The cameras require a DC input of 12 to 24V with a maximum of about 29W without lens control Ximea offers a power supply which can plug into the CBL...

Страница 46: ...2 s VINPUT 10V TAMBIENT 25 C Input delay falling edge1 10 7 0 2 s VINPUT 10V TAMBIENT 25 C Number of inputs 1 External trigger mapping Yes Input functions Trigger get current level rising or falling...

Страница 47: ...signal flow inside the camera is below figure 3 27 digital input interface schematic 3 9 4 4 Digital Input Wiring figure 3 28 digital input interface wiring VCC DIGITAL IN PUT IINP UT FPG A_IN PUT GND...

Страница 48: ...pen collector NPN Protection short circuit over current Reverse voltage Protection circuit PTC Resettable Fuse Maximal sink current 25mA Trip current 50mA self restarting when failure mode current dis...

Страница 49: ...t transfer characteristics 3 9 5 4 Digital Output Wiring Digital output has an open collector switching transistor with common IO Ground In most cases a power source for external device must be provid...

Страница 50: ...y one general opto isolated input is used Output state Output switch state Input state ON Sourcing current Pull down energized OFF Relaxing Not energized figure 3 32 Connecting Digital OUTPUT to a NPN...

Страница 51: ...a PNP compatible device Pull up resistor can be calculated as follows psu input input V V R I Where psu V power supply voltage Must be higher than required input amplitude input V required input ampl...

Страница 52: ...put pins see 3 9 5 1 Optically isolated Digital Output General info led V LED forward voltage see table below led I LED current Note Remember to use the appropriate resistor power rating 2 Typical LED...

Страница 53: ...ent for transistor You should also use an external diode to protect the transistor from over voltage while disconnecting an inductive load Keep in mind that this connection has an inverted logic Curre...

Страница 54: ...g examples Use external pull up in case that no pull up at controller input is used Negative edge No 0 5 s figure 3 34 Note that external pull up is not used in this case Assume that internal pull up...

Страница 55: ...400ns Load 100k threshold 2V Output delay falling edge 450ns Load 100k threshold 0 5V Input impedance minimum 15k Input level for logical 0 0 7V Input level for logical 1 3 3V Input debounce filter N...

Страница 56: ...an be achieved with the fiber optic option since the copper cables are limited to 7 0m to 3 0m for PCIe Gen 3 Both cables interface with a PCIe adapter board for your PC see section 3 12 Get the lates...

Страница 57: ...G2 COP PCIe Gen 2 x4 extender host adapter for copper cables PN Description PEX4 G2 COP PCIe Gen 2 x4 extender host adapter for copper cables 1 port PEX4 G2 COP X2 PCIe Gen 2 x4 extender host adapter...

Страница 58: ...nc cable current revisions of this cable are 3m in length Cable components Item Description 1 65 00 1112 IO Series 65 12 pin male circular plug 2 A11 8861 UL20276 5STP 30 10C 30 OD 5mm Black 3 Heat sh...

Страница 59: ...urrent revisions of this cable are 3m in length Item Description 1 Series60 Female Circular Plug 60 01 1112 IO BLK 2 TBA UL20276 4STP 28 4C 28 2C 24 OD 6 80mm BLK 3 Process end with wire end stripped...

Страница 60: ...MM BRACKET T Get the latest information on available accessories at xiB xiB 64 series tripod mounting bracket figure 3 47 mounting tripod adapter Use 2x M4 screws provided with bracket as a kit for mo...

Страница 61: ...rew driver and 4 M2 5x14 can be attached or detached When removing or inserting fan assembly please take care not to damage spring pins used to connect the cooling unit to camera electronics figure 3...

Страница 62: ...ecessary remove 4xM2 screws indicated in image below These screws also hold the camera together so this step must be done with care Place the heatsink as depicted and return the four M2 screws you rem...

Страница 63: ...e 3 51 mounting lens adapter with CANON EF mount MECH 60MM EF ADAPTER 3 19 xiB Lens adapter LA C MNT 60MM xxx KIT xiB and xiB 64 cameras with 4 3 or smaller sensor can be equipped with C mount lens ad...

Страница 64: ...d frameworks supported in Windows For more information visit page https www ximea com support wiki apis APIs 4 1 2 Hardware Requirements The XIMEA xiB xiB 64 cameras are compatible with PCI express Ge...

Страница 65: ...MB of free disc space Video NVIDIA or Radeon graphics card 128MB Ports Motherboard with PCIe x4 16 Gen 2 x8 Gen3 for xiB 64 slot for compatible PCIe host adapter See 3 12 PCIe host adapter cards 4 1 2...

Страница 66: ...without reducing the physical size of the sensing area This feature is useful when optics are used that are particularly fitted to a certain sensor size and if it is necessary to maintain the full im...

Страница 67: ...efficient storage and later offline processing is required Format is defined by XI_PRM_TRANSPORT_PIXEL_FORMAT table 4 1 image formats Note1 For color modes RGB32 and RGB24 the image from sensor needs...

Страница 68: ...gger controlled Acquisition Exposure Unlike in the free run each image exposure can also be triggered with an input trigger signal In this mode the sensor waits in stage until the trigger signal arriv...

Страница 69: ...settings Conditions Debounce on trigger input line and trigger delay are disabled The timing strongly depends on camera settings Most of the times can be calculated using Camera performance calculato...

Страница 70: ...e burst active Please see Frame Burst Modes https www ximea com support wiki allprod Frame_Burst_Modes 4 3 2 3 Exposure defined by trigger pulse length In this mode the exposure is defined by trigger...

Страница 71: ...the objective to achieve a target intensity level for the following image Further the maximum applicable exposure and gain values can be defined Since both exposure and gain have an influence on the...

Страница 72: ...ust the brightness contrast and saturation 4 5 6 Sensor Defect Correction During the manufacturing process every camera is tested for various type of defects and a list of the measured defect pixels i...

Страница 73: ...e integration The dynamic range of a linear image sensor is limited by the saturation of the pixel Different light intensities are shown in the figure below All blue marked light intensities cause dif...

Страница 74: ...ind of HDR method the user has to define two pairs of parameters T1 SL1 and T2 SL2 T1 and T2 define portions of the total exposure time and the length of the three timing phases SL1 and SL2 define por...

Страница 75: ...xels in this phase Phase 3 All pixels are integrated until the exposure time is reached The pixel saturation may reach the maximum saturation level The main idea of this method is to reach an approx l...

Страница 76: ...for C C developments and xiAPI Net for C Net based developments 5 1 2 Standard Interface As an alternative to the proprietary API the camera can be accessed through a set of standard interfaces These...

Страница 77: ...ra families Short description It runs on Windows Linux macOS systems offering a substantial imaging tool set which can be further extended with custom modules using a plugin infrastructure CamTool is...

Страница 78: ...ve load camera and program settings LUT Look up table Lua scripting CamTool allows to operate all connected cameras simultaneously In this case all control are layered for the cameras Basic controls a...

Страница 79: ...Based Design More http www mathworks de or https www ximea com support wiki vision libraries MathWorks_Matlab 5 3 1 2 MVTec HALCON HALCON is the comprehensive standard software for machine vision wit...

Страница 80: ...6 64 Windows 10 32 64 bit APIs xiAPI xiAPI NET xiApiPtyhon Examples CamTool xiCop GenTL Producer for connection of GenTL Consumer applications Vision Libraries integration demonstrations o NI LabView...

Страница 81: ...ck the components you don t want to install but it is recommended to leave them all checked figure 5 3 XIMEA Windows Software Package installation 2 Specify the install location you can leave the defa...

Страница 82: ...82 Now the XIMEA API Software Package should start copying files updating System Variables and installing drivers if necessary figure 5 5 xiAPI installation Windows 4 Installation is completed figure...

Страница 83: ...Contents The package contains Driver beta version for XIMEA USB2 and USB3 cameras xiAPI Ximea CamTool Examples o xiSample sample showing basic image acquisition in xiAPI 5 5 2 Installation Download XI...

Страница 84: ...al Version 1 06 84 figure 5 8 XIMEA Linux Software Package installation 2 1 Note If logged in user is not root you will be asked for your password to get root access because the installation runs with...

Страница 85: ...ool Examples o xiSample sample showing basic image acquisition in xiAPI 5 6 2 Installation Before installing XIMEA macOS Software Package it may be necessary to modify security settings on your comput...

Страница 86: ...A macOS Software Package http www ximea com downloads recent XIMEA_OSX_SP dmg Mount it by double clicking this file in Finder Run the install script to install XiAPI on your macOS system A window with...

Страница 87: ...ware packages for Windows Linux and MacOS For information on the software packages see 5 Software 5 7 3 xiAPI Functions Description The core of xiAPI consists of the following functions which allow co...

Страница 88: ...Device This example shows the enumeration of available devices If any device was found the first device with index 0 is opened HANDLE xiH NULL Get number of camera devices DWORD dwNumberOfDevices 0 xi...

Страница 89: ...re start This time should be less than 10 s figure 5 11 GPIO schematic HANDLE xiH xiOpenDevice 0 xiH select trigger source xiSetParamInt xiH XI_PRM_TRG_SOURCE XI_TRG_EDGE_RISING select input pin 1 mod...

Страница 90: ...BC the application should set parameter XI_PRM_AUTO_BANDWIDTH_CALCULATION to XI_OFF before the first xiOpenDevice is used This setting disabled ABC and the camera stream is not limited 5 7 7 GenICam F...

Страница 91: ...mance bottlenecks xiCOP is capable of retrieving the system s hardware tree thus problematic hardware configurations can be identified Diagnosis of firmware and software compatibility xiCOP checks rel...

Страница 92: ...cal Support There are a few steps to take before contacting your local dealer for technical support In case you cannot display images from your xiB or xiB 64 camera please open the XIMEA xiCOP softwar...

Страница 93: ...is not working as expected please contact your local dealer for troubleshooting the product and determine the eligibility of a Product Service Request PSR In case you were asked to create a PSR by you...

Страница 94: ...turn shipment please confirm it by changing the status of the PSR to Received by customer 6 3 Safety instructions and precautions This chapter describes safety instructions and precautions valid for x...

Страница 95: ...ions or too much light laser light 6 3 7 Protect the optical components Do not touch the optical components with hard or abrasive objects When handling the camera avoid touching the lenses and filter...

Страница 96: ...unit Repaired or replaced Products are covered for the remainder of the original Product warranty period Please note our explanations regarding the usage and handling of board level cameras and relate...

Страница 97: ...chaser has the non exclusive right to use standard software and firmware provided that it remains unchanged is used within the agreed performance parameters and on the agreed equipment Without express...

Страница 98: ...r the statutory provisions providing that a remedy period is not needed shall be unaffected The Purchaser shall be obliged to return the Retained Goods The fact that the Supplier takes back Retained G...

Страница 99: ...location of concealed electric power gas and water lines or of similar installations as well as the necessary structural data 3 Prior to assembly or erection the materials and equipment necessary for...

Страница 100: ...odily injury or damage to health and or intentionally or grossly negligent breach of contract on the part of the Supplier The above provisions do not imply a change in the burden of proof to the detri...

Страница 101: ...on of the delivery period has previously been agreed with the Purchaser Article XII Other Claims for Damages 1 Unless otherwise provided for in the present GL the Purchaser has no claim for damages ba...

Страница 102: ...ount section minor changes 1 02 10 10 2017 Corrected typos and added handling guidelines 1 03 11 09 2017 Corrected specification CB500 1 04 01 18 2018 Added CB019xG LX X8G3 Added c mount lens adapter...

Страница 103: ...per second FWC Full Well Capacity GR Global reset GS Global shutter IR Infra Red JTAG Joint Test Action Group LSB Least Significant Bit MIMR Multiple integration multiple ROI MSB Most significant bit...

Страница 104: ...ure 3 20 dimensional drawing CB120xG CM X8G3 with EF mount adapter and fan cooler unit 39 figure 3 21 position status LEDs 41 figure 3 22 position iPassTM connector 42 figure 3 23 position GPIO power...

Страница 105: ...4 5 Exposure defined by trigger pulse length 70 figure 4 6 image saturation example without HDR 73 figure 4 7 image example without HDR 73 figure 4 8 image saturation example with HDR 74 figure 4 9 im...

Страница 106: ...nd camera parameters 37 table 3 19 CB120xG CM X8G3 standard readout modes 38 table 3 20 sensor features available 40 table 3 21 LED output description after camera is opened in API 41 table 3 22 LED o...

Страница 107: ...xiB xiB 64 Technical Manual Version 1 06 107 table 6 2 interface depending transfer rates 93 table 6 3 service operations overview 94...

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