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xiQ

[ksi-kju: or sai-kju:]

•

USB 3.0 camera series

Technical Manual

Version 1.35, September, 2019

Содержание xiQ ksi-kju

Страница 1: ...xiQ ksi kju or sai kju USB 3 0 camera series Technical Manual Version 1 35 September 2019...

Страница 2: ...e collaboration 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...

Страница 3: ...s are designed to provide reasonable protection against harmful interference when the equipment is operated in a commercial environment This equipment generates uses and can radiate radio frequency en...

Страница 4: ...http www ximea com usb3zone USB3 Hardware Compatibility http www ximea com support wiki usb3 Compatible_hardware xiAPI stable versions download https www ximea com support documents 4 xiAPI beta versi...

Страница 5: ...11 2 5 Model Nomenclature 12 2 6 Models Overview sensor and models 13 2 7 Options 13 2 8 Accessories 14 3 Hardware Specification 15 3 1 Power Supply 15 3 2 General Specification 15 3 2 1 Environment...

Страница 6: ...4 Drawings board level 31 3 5 4 5 Camera orientation 31 3 5 4 6 Referenced documents 31 3 5 4 7 Sensor features 31 3 5 5 MQ022xG CM 32 3 5 5 1 Sensor and camera parameters 32 3 5 5 2 Quantum efficien...

Страница 7: ...d MQ042xG CM 62 3 16 2 Drawings universal bracket 62 3 17 USB 3 host adapters 64 4 Operation 65 4 1 System Requirements 65 4 1 1 Software Requirements 65 4 1 2 Hardware Requirements 65 4 1 2 1 System...

Страница 8: ...MVTec HALCON 82 5 3 1 3 National Instruments LabVIEW Vision Library 82 5 3 1 4 OpenCV 82 5 4 XIMEA Windows Software Package 83 5 4 1 Contents 83 5 4 2 Installation 83 5 5 XIMEA Linux Software Package...

Страница 9: ...Step 3 Wait for PSR Approval 97 6 2 4 Step 4 Sending the camera to XIMEA 97 6 2 5 Step 5 Waiting for Service Conclusion 97 6 2 6 Step 6 Waiting for return delivery 97 6 3 Safety instructions and preca...

Страница 10: ...standard compatibility USB3 Vision standard small fits into places where no other camera can fit Low power consumption 1 0 to 1 8 W Powerful 5Gb s interface up to 450Mpix s data throughput Fast high...

Страница 11: ...evel shading and lens corrections Image Data and Control Interface USB 3 0 standard Micro B with screw lock threads compliant to USB3 Vision standard Buffer memory 256kB of memory for stable USB trans...

Страница 12: ...del y M black white model y R black white Infrared extended model zz Vendor of the sensor zz E2 E2V zz CM CMOSIS zz ON Onsemi OPT Options OPT TP sensor with taped sensor glass OPT BRD board level came...

Страница 13: ...E2 b w NIR MQ013MG ON b w 1280x1024 4 8 m 10 56 dB 1 2 7 9 mm 210 172 MQ013CG ON Color MQ013RG ON b w NIR MQ022MG CM b w 2048 1088 5 5 m 10 60 dB 2 3 12 8 mm 170 MQ022CG CM Color MQ022RG CM b w NIR MQ...

Страница 14: ...PC MQ MC Flex Line 0 1m CBL MQ FL 0M25 Cable FPC MQ MC Flex Line 0 25m gold color CBL USB3FLEX 0M10 Cable FPC MQ MC Flex Line 0 1m white color CBL USB3FLEX 0M25 Cable FPC MQ MC Flex Line 0 25m white c...

Страница 15: ...ure for storage and transportation Tstorage 30 70 C Relative Humidity non condensing RH 80 table 3 1 environment Housing temperature must not exceed 65 C The following parameters are not guaranteed if...

Страница 16: ...unt Note The distance between the threaded flange and the surface of the filter glass is 11 9 mm in case of C Mount and 6 9 mm in case of CS Mount To avoid damaging of the filter glass nothing may ext...

Страница 17: ...ssed air to clean the camera as this could push dust into the camera Distance from the flange to sensor is designed so the optical distance is 17 526mm 0 2mm figure 3 3 monochrome camera filter glass...

Страница 18: ...50 Thickness 1 0 0 1 mm Coating NA table 3 5 color camera filter glass parameter figure 3 5 color camera filter glass transmission curve 0 10 20 30 40 50 60 70 80 90 100 350 400 450 500 550 600 650 70...

Страница 19: ...xposure time EXP 54 s to 1sec in steps of 7 56 s 1 Variable Gain Range VGA dB 6 Refresh rate MRR fps 500 Power consumption typical W 1 5 Peak 2 W s 2 2 20 Dimensions Mass height mm 26 4 width mm 26 4...

Страница 20: ...1 2 Quantum efficiency curves figure 3 6 CMV300 mono and color quantum efficiency curve CMOSIS v2 4 3 5 1 3 Drawings C mount with C CS mount module B figure 3 7 dimensional drawing MQ003xG CM C Mount...

Страница 21: ...0 05 06 13 3 5 1 6 Sensor features feature Note Binning No Skipping Not supported yet ROI Single window in y direction supported cropping in X supported by xiAPI x coordinates multiple of 16 y coordi...

Страница 22: ...s 24 25 C 420 65 C 38 25 C 830 65 C DSNU 1 LSB10 s 6 25 C 116 65 C 21 25 C 220 65 C Sensitivity 2 LSB10 Lux s 6600 13000 Camera parameters Digitization bit 10 Supported bit resolutions bit pixel 8 10...

Страница 23: ...cy curves figure 3 9 EV76C560 mono and color quantum efficiency curves E2V figure 3 10 EV76C560 mono and EV76C661 NIR quantum efficiency curves E2V 0 10 20 30 40 50 60 70 350 400 450 500 550 600 650 7...

Страница 24: ...al Manual Version 1 35 24 3 5 2 3 Drawings C mount with C CS mount module B figure 3 11 dimensional drawing MQ013xG E2 C Mount housing 3 5 2 4 Drawings board level figure 3 12 dimensional drawing MQ01...

Страница 25: ...ted HW Trigger Trigger without overlap usable see 4 3 2 1 Triggered mode without overlap HDR Currently not supported table 3 11 sensor features available 3 5 2 7 Note horizontal image lines MQ013CG E2...

Страница 26: ...vity V Lux s 4 6 Camera parameters Digitization bit 10 Supported bit resolutions bit pixel 8 10 Exposure time EXP 74 s to 1sec in steps of 1 s if exp 65 54ms 4 s if exp 262 1ms 16 s otherwise Variable...

Страница 27: ...ficiency curves Onsemi 3 5 3 3 Drawings C mount with C CS mount module B figure 3 16 dimensional drawing MQ013xG ON C Mount housing 0 10 20 30 40 50 60 350 400 450 500 550 600 650 700 750 800 850 900...

Страница 28: ...es feature Note Binning Not implemented Skipping Yes 2x2 skipping supported ROI 1 ROI with free parameters supported x coordinates multiple of 16 y coordinates multiple of 2 HW Trigger Trigger with ov...

Страница 29: ...10 Supported bit resolutions bit pixel 8 10 12 Exposure time EXP 1 29 s to 1sec in steps of 1 s if exp 65 54ms 4 s if exp 262 1ms 16 s otherwise Variable Gain Range VGA dB 20 Refresh rate MRR fps 172...

Страница 30: ...ciency curves Onsemi 3 5 4 3 Drawings C mount with C CS mount module B figure 3 19 dimensional drawing MQ013xG ON C Mount housing 0 10 20 30 40 50 60 70 350 400 450 500 550 600 650 700 750 800 850 900...

Страница 31: ...ures available NOTE The saturation behavior of the PYTHON image sensors can be impacted during integration times longer than approximately 10ms A fully exposed pixel may not result in a fully saturate...

Страница 32: ...time EXP 16 2 s to 1s 1 Variable Gain Range VGA dB 8 4 Refresh rate MRR fps 170 Supported standard readout modes Binning skipping pixels fps Bit px 0 1x1 2048 1088 170 8 1 1x1 2048 1088 852 10 Power c...

Страница 33: ...ency curves CMOSIS 0 10 20 30 40 50 60 70 350 400 450 500 550 600 650 700 750 800 850 900 950 1000 1050 Quantum Efficiency Wavelength nm CMV2000 4000 Spectral Response Monochrome Red Bayer Green1 Baye...

Страница 34: ...al Manual Version 1 35 34 3 5 5 3 Drawings C mount with C CS mount module B figure 3 24 dimensional drawing MQ022xG CM C Mount housing 3 5 5 4 Drawings board level figure 3 25 dimensional drawing MQ02...

Страница 35: ...e Note Binning No Skipping Not supported yet ROI Single window in y direction supported cropping in X supported by xiAPI x coordinates multiple of 16 y coordinates multiple of 2 HW Trigger Trigger wit...

Страница 36: ...ure time EXP 26 s to 1s 1 Variable Gain Range VGA dB 8 4 Refresh rate MRR fps 90 Supported standard readout modes Binning skipping pixels fps Bit px 0 1x1 2048 2048 90 8 1 1x1 2048 2048 45 2 10 Power...

Страница 37: ...ency curves CMOSIS 0 10 20 30 40 50 60 70 350 400 450 500 550 600 650 700 750 800 850 900 950 1000 1050 Quantum Efficiency Wavelength nm CMV2000 4000 Spectral Response Monochrome Red Bayer Green1 Baye...

Страница 38: ...al Manual Version 1 35 38 3 5 6 3 Drawings C mount with C CS mount module B figure 3 28 dimensional drawing MQ042xG CM C Mount housing 3 5 6 4 Drawings board level figure 3 29 dimensional drawing MQ04...

Страница 39: ...re Note Binning No Skipping Not supported yet ROI Single window in y direction supported cropping in X supported by xiAPI x coordinates multiple of 16 y coordinates multiple of 2 HW Trigger Trigger wi...

Страница 40: ...Enumeration USB 2 0 Enumeration default User configurable register set value strobe busy streaming trigger level edge digital input slow blink fast blink Status 1 Red Streaming default User configura...

Страница 41: ...ing USB 3 0 connector USB 3 0 Micro B connector powered Pin Assignment Pin Signal Description 1 VBUS Power 2 D USB 2 0 signal pair 3 D 4 ID OTG Identification 5 GND Power Ground 6 MicB_SSTX USB 3 0 Su...

Страница 42: ...urn and for SuperSpeed signal return 2 SSRX SuperSpeed receiver dif pair accepts reverse polarity 3 SSRX SuperSpeed receiver dif pair accepts reverse polarity 4 GND Ground for power return and for Sup...

Страница 43: ...Input GPI IEC 61131 2 specification for 24V logic 2 Common IO Ground 3 Trigger sync digital Output GPO Open collector NPN Shell Chassis ground For revisions with 24V logic it is Common IO Ground table...

Страница 44: ...th older hardware revisions are compatible only with 24V input signals xiQ cameras with newer hardware revisions support 5V digital input while staying backward compatible with 24V input signals Assig...

Страница 45: ...the input signal Voltage levels referenced to common ground GND Digital Input 24V Internal Schematic Following scheme is internal scheme of Digital Input signal flow inside the camera figure 3 38 dig...

Страница 46: ...in represents amplitude of the input signal Voltage levels referenced to common ground GND Digital Input 5V Internal Schematic Following scheme is internal scheme of Digital Input signal flow inside t...

Страница 47: ...info The digital output can only be used if the camera works in triggered mode software or hardware trigger 3 9 4 2 Digital Output signal levels Output levels definition State Open Collector Switch S...

Страница 48: ...g Digital OUTPUT to a NPN compatible PLC device input biased Output state Output switch state Input state ON Sourcing current Pull up energized OFF Relaxing Not energized figure 3 42 Connecting Digita...

Страница 49: ...put state ON Sourcing current Pull down energized OFF Relaxing Not energized figure 3 43 Connecting Digital OUTPUT to a NPN compatible PLC device input more bidirectional inputs used Note In this case...

Страница 50: ...mplitude Remember to use the appropriate resistor power rating psu input input P R V V I Connecting Cameras in Master Slave setup Connecting Opto isolated Digital output to Opto isolated Digital input...

Страница 51: ...Connecting Digital OUTPUT to a Opto isolated Digital input slave biased Connecting Opto isolated Digital output to Opto isolated Digital input PNP compatible device Use power supply in range 7 24V DC...

Страница 52: ...s see 3 9 4 3 Digital Output Internal schematic led V LED forward voltage see table below led I LED current Note Remember to use the appropriate resistor power rating led led P RES I I R Typical LED f...

Страница 53: ...r 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 Current wil...

Страница 54: ...xamples Use external pull up in case that no pull up at controller input is used Negative edge No 0 5 s figure 3 48 Note that external pull up is not used in this case Assume that internal pull up at...

Страница 55: ...scription 1 VBUS Power 2 D USB 2 0 signal pair 3 D 4 ID OTG Identification 5 GND Power Ground 6 MicB_SSTX USB 3 0 SuperSpeed transmitter signal pair 7 MicB_SSTX 8 GND_DRAIN USB 3 0 signal Ground 9 Mic...

Страница 56: ...el table 3 41 USB3 cable angled components USB 3 0 cable wiring figure 3 56 wiring USB3 cable angled xx xM XYZ Specified Cable Length Week Year 1 6 5 As per Customer Requirements max 3M recommended 10...

Страница 57: ...dentification 5 GND Power Ground 6 MicB_SSTX USB 3 0 SuperSpeed transmitter signal pair 7 MicB_SSTX 8 GND_DRAIN USB 3 0 signal Ground 9 MicB_SSRX USB 3 0 SuperSpeed receiver signal pair 10 MicB_SSRX t...

Страница 58: ...nonoperational state Connecting camera to powered host can cause destruction of camera For detaching cable the connector need to be unlocked otherwise connector soldering may be damaged figure 3 59 f...

Страница 59: ...GPO1 Trigger sync digital Output GPO Open collector NPN connected to pin 3 on Flex connector 2 GPIO GND GPO1 and GPI1 common ground connected to pin2 on Flex connector 3 GPI1 Trigger sync digital Inpu...

Страница 60: ...end with wire end Striped and tin plated soldering 5 Cable Label table 3 44 sync cable components Sync cable wiring figure 3 64 wiring sync cable Pin Assignment Pin color Signal 1 Red Trigger sync di...

Страница 61: ...eries tripod mounting bracket with 1 4 20 thread Use 4x SROB M2x4 CUST screws for mounting Bracket can be mounted on the bottom or top side of the camera Brackets are delivered as kit with respective...

Страница 62: ...and MQ042xG CM This bracket is not available anymore figure 3 67 dimensional drawing tripod adapter MQ013xG yy and MQ042xG CM Mass without screws 9 8 g 3 16 2 Drawings universal bracket figure 3 68 di...

Страница 63: ...xiQ Technical Manual Version 1 35 63 figure 3 69 dimensional drawing tripod adapter MQ BRACKET T THICK MQ BRACKET T THICK Mass without screws 16 8 g...

Страница 64: ...s x1 Gen2 Host Card figure 3 70 USB3 host adapters Please refer to following page https www ximea com support projects usb3 wiki USB_3_Host_Adapters for more information System requirements All requir...

Страница 65: ...i apis APIs 4 1 2 Hardware Requirements The XIMEA xiQ cameras are compatible with USB 3 0 and USB 2 0 only camera models MQ013xG E2 Please note that the highest performance can only be achieved by usi...

Страница 66: ...lable bandwidth e g see 4 1 2 2 USB 3 0 Host Adapter The maximum data transfer rate depends on different conditions motherboard chipset driver version operating system The Following table lists the ma...

Страница 67: ...s 4 2 3 Downsampling Modes Downsampling describes the possibility of reducing the image resolution without affecting the sensors physical size ie without cropping the image This feature is useful when...

Страница 68: ...nt storage and later offline processing is required Format is defined by XI_PRM_TRANSPORT_PIXEL_FORMAT table 4 2 image formats Note1 For color modes RGB32 and RGB24 the image from sensor needs to be p...

Страница 69: ...o be triggered with an input trigger signal In this mode the sensor waits in stage until the trigger signal arrives Only then the exposure of first frame is started which is followed by the data reado...

Страница 70: ...Readout time see trd above Typical times for selected camera models Camera Model DownS titr s texp s teio s texpo s trd s Notes MQ013xG E2 any 1 4 29 19 238 10 400 16 6 BWF LC N1 N2 table 4 3 trigger...

Страница 71: ...eriod is decreased the sensor will expose the images in overlap mode In this case the frame active signal will be constantly active Sensor timing in Exposure Overlapped with Data Readout Mode figure 4...

Страница 72: ...t is used clock depending on Bandwidth Limit parameter set in API XI_PRM_LIMIT_BANDWIDTH Flimit is set in 1MHz steps and cannot go lower than Fmin MQ003xG CM Fmax 24MHz Fmin 10MHz limit 325 BWL 6 LC F...

Страница 73: ...ame Burst Modes https www ximea com support wiki allprod Frame_Burst_Modes 4 3 2 4 Exposure defined by trigger pulse length In this mode the exposure is defined by trigger pulse length This can be use...

Страница 74: ...urther the maximum applicable exposure and gain values can be defined Since both exposure and gain have an influence on the intensity the ratio between those two parameters in their contribution to th...

Страница 75: ...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 is cr...

Страница 76: ...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 different signal levels and...

Страница 77: ...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 portions of the sensor saturation so called kneepoint1...

Страница 78: ...e 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 logarithmic saturation curve In order to...

Страница 79: ...hardware design e g physical interface of a camera from its control in software Therefore multiple camera classes and types can be used in a unified way 5 1 2 1 GenICam GenICam GenTL provides a camer...

Страница 80: ...amilies 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 base...

Страница 81: ...oad 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 are p...

Страница 82: ...Model 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 visio...

Страница 83: ...s 10 32 64 bit APIs xiAPI xiAPI NET xiApiPython Examples CamTool xiCop GenTL Producer for connection of GenTL Consumer applications Vision Libraries integration demonstrations o NI LabView interface x...

Страница 84: ...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 default...

Страница 85: ...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 5 6...

Страница 86: ...ontents 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 XIM...

Страница 87: ...Version 1 35 87 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 ro...

Страница 88: ...Tool 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 compu...

Страница 89: ...acOS 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 pa...

Страница 90: ...and MacOS For information on the software packages see Error Reference source not found Error Reference source not found 5 7 3 xiAPI Functions Description The core of xiAPI consists of the following...

Страница 91: ...ce 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 xiGetN...

Страница 92: ...ge is triggered it can be transferred using xiGetImage This setup ensures a low latency between the trigger signal and image Exposure start This time should be less than 10 s figure 5 11 GPIO schemati...

Страница 93: ...ble data transfer speed To disable ABC 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 s...

Страница 94: ...rdware tree thus problematic hardware configurations can be identified Diagnosis of firmware and software compatibility xiCOP checks relevant firmware and software versions and warns is a component is...

Страница 95: ...om your xiQ camera please open the XIMEA xiCOP software please see 5 8 XIMEA Control Panel It will immediately start searching for connected cameras Your camera will appear in the XIMEA camera list on...

Страница 96: ...ements and that all software requirements are met xiCOP please see 5 8 XIMEA Control Panel XIMEA Control Panel free software tool facilitates the task of verification of XIMEA USB3 Vision camera insta...

Страница 97: ...ntains shipping instructions attached document containing the Product Service Request Number PSRN When you received the PSR Approval email please continue to Step 4 In case your PSR was rejected pleas...

Страница 98: ...Use only recommended connectors and cables Please check the system requirements described in 4 1 System Requirements 6 3 4 Power supply Use only the recommended electrical power supply via the USB cab...

Страница 99: ...1 Safety instructions for board level cameras Abuse or misapplication of the board level camera may result in limited warranty or cancelation of warranty Due to the exposed electronics special rules a...

Страница 100: ...third party for direct indirect incidental consequential special or accidental damages including without limitation damages for business interruption loss of profits revenue data or bodily injury or d...

Страница 101: ...property until each and every claim the Supplier has against the Purchaser on account of the business relationship has been fulfilled If the combined value of the Supplier s security interests exceed...

Страница 102: ...Purchaser are fulfilled If these conditions are not fulfilled in time times set shall be extended reasonably this shall not apply if the Supplier is responsible for the delay 2 If non observance of th...

Страница 103: ...rection work starts the Purchaser shall unsolicitedly make available any information required concerning the location of concealed electric power gas and water lines or of similar installations as wel...

Страница 104: ...suant to Sec 478 BGB is limited to cases where the Purchaser has not concluded an agreement with its customers exceeding the scope of the statutory provisions governing claims based on Defects Moreove...

Страница 105: ...be unaffected 2 Where events within the meaning of Article IV No 2 a to c substantially change the economic importance or the contents of the Supplies or considerably affect the Supplier s business t...

Страница 106: ...06 24 2013 1 02 07 01 2013 Minor changes in chapter optical path 1 12 05 05 2015 Added 5V input description small corrections 1 20 24 07 2015 Added MQ013xG ON PYTHON1300 added FL1100 host controller...

Страница 107: ...ixed pattern noise FPS Frame 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...

Страница 108: ...o and color quantum efficiency curves Onsemi 30 figure 3 19 dimensional drawing MQ013xG ON C Mount housing 30 figure 3 20 dimensional drawing MQ013xG ON BRD 31 Figure 3 21 MQ013xG ON camera orientatio...

Страница 109: ...le ends 58 figure 3 60 flex cable white color 58 figure 3 61 BOB MQ FL 59 figure 3 62 BOB MQ FL dimensions 59 figure 3 63 drawing sync cable 60 figure 3 64 wiring sync cable 60 figure 3 65 label detai...

Страница 110: ...PI installation Windows 5 85 figure 5 7 XIMEA Linux Software Package installation 1 86 figure 5 8 XIMEA Linux Software Package installation 2 87 figure 5 9 XIMEA macOS Software Package installation 1...

Страница 111: ...sensor features available 31 table 3 16 MQ022xG CM sensor and camera parameters 32 table 3 17 sensor features available 35 table 3 18 MQ042xG CM sensor and camera parameters 36 table 3 19 sensor featu...

Страница 112: ...tor WAGO 218 104 pin assignment 59 table 3 44 sync cable components 60 table 3 45 sync cable pin assignment 60 table 4 1 USB3 maximum data transfer rates 66 table 4 2 image formats 68 table 4 3 trigge...

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