4 Megapixel 31/62 fps Stop Action Area Scan Cameras 29-May-06 03-32-10121-09 www.dalsa.
PRELIMINARY 2 4M Stop Action Camera Manual © 2006 DALSA. All information provided in this manual is believed to be accurate and reliable. No responsibility is assumed by DALSA for its use. DALSA 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 DALSA.
4M Stop Action Camera Manual PRELIMINARY 3 Contents Introduction to the 4 Megapixel Stop Action Cameras ______________________________ 5 1.1 Camera Highlights.......................................................................................................................................................5 1.2 Camera Performance Specifications ............................................................................................................................6 1.3 Camera Blemish Specifications.
PRELIMINARY 4M Stop Action Camera Manual 3.8 Generating a Test Pattern ...........................................................................................................................................42 Optical and Mechanical Considerations ________________________________________ 47 4.1 Mechanical Interface.................................................................................................................................................... 47 4.2 Lens Mounts....................
4M Stop Action Camera Manual 5 PRELIMINARY 1 Introduction to the 4 Megapixel Stop Action Cameras 1.1 Camera Highlights Features • 4 megapixels, 2352(H) x 1728(V) resolution • Stop Action shutter (non-rolling shutter) for crisp images • 62fps model or 31fps model • Vertical windowing for faster frame rate • 7.4µm x 7.4µm pixel pitch • 4x80MHz or 2x80MHz data rates • Nominal broadband responsivity of 11.
PRELIMINARY 6 4M Stop Action Camera Manual Description This 4 megapixel, stop action camera is our most advanced stop action area array camera. With data rates up to 320MHz, this camera is capable of capturing low smear images at incredibly fast speeds. Programmable features and diagnostics are accessible through the Camera Link™ MDR26 connector. Applications The 4M stop action camera is ideal for applications requiring high speed, superior image quality, and high responsivity.
4M Stop Action Camera Manual 7 PRELIMINARY Connectors power connector data connector 6 pin male Hirose 2 x MDR26 female Input Voltage Volts +12 to +15 Power Dissipation W 7 typ, 12 max Operating Temperature °C 0 to 50 Data Output Format Bits 6 1 8 or 10 user selectable Output Data Configuration Base or Medium Camera Link Minimum Frame Rate Hz 1 1 Maximum Frame Rate Hz 62.1 (4M60) 31 (4M30) 62.
PRELIMINARY 8 4M Stop Action Camera Manual 3. Output over 10-90% 4. Although the part number indicates that the maximum frame rate is 60fps, the actual maximum frame rate is 62fps. 5. Optical distance. 6. +12V consumes the least amount of power 1.
4M Stop Action Camera Manual 9 PRELIMINARY 1.4 Image Sensor and Pixel Readout The camera uses DALSA’s new DCR2417M, 4 megapixel, 2352 x 1728 stop action sensor. Figure 1: 4 Tap Sensor Block Diagram Note: As viewed from the front of the camera without lens.
PRELIMINARY 10 4M Stop Action Camera Manual 1.
4M Stop Action Camera Manual 11 PRELIMINARY 2 Camera Hardware Interface 2.1 Installation Overview When setting up your camera, you should take these steps: This installation overview assumes you have not installed any system components yet. 1. Power down all equipment. 2. Following the manufacturer’s instructions, install the frame grabber (if applicable). Be sure to observe all static precautions. 3. Install any necessary imaging software. 4.
PRELIMINARY 12 • 4M Stop Action Camera Manual One 6-pin Hirose connector for power. Refer to section 2.2.3 Power Connector for details. Figure 6: Input and Output Diagnostic LED CONTROL DATA 1 Camera Link (Base Configuration) Camera Link (Medium Configuration) DATA 2 POWER +12V to +15V WARNING: Ensure that all the correct voltages at full load are present at the camera end of the power (irrespective of cable length) according to the pinout defined in section 2.2.3 Power Connector. 2.2.
4M Stop Action Camera Manual 13 PRELIMINARY The following tables provide this camera’s principal Camera Link information. See Appendix A for the complete DALSA Camera Link configuration table, and refer to the DALSA Web site, vfm.dalsa.com, for the official Camera Link documents. Table 4: Camera Link Hardware Configuration Summary Base A, B, C 28 1 1 Medium A, B, C, D, E, F 28 2 2 Mode 2 2 Tap 8 bit Tap 1 LSB..Bit 7 Tap 2 LSB..Bit7 xxxxxxx Mode 3 2 Tap 10 bit Tap 1 LSB..
PRELIMINARY 14 4M Stop Action Camera Manual 23 4 Z2+ 23 4 CC2- 11 16 Zclk- 11 16 CC3- 24 3 Zclk+ 24 3 CC3+ 12 15 Z3- 12 15 CC4+ 25 2 Z3+ 25 2 CC4- 13 13 inner shield 13 13 inner shield 26 26 inner shield 26 26 inner shield Notes: *Exterior Overshield is connected to the shells of the connectors on both ends. **3M part 14X26-SZLB-XXX-0LC is a complete cable assembly, including connectors. Unused pairs should be terminated in 100 ohms at both ends of the cable.
4M Stop Action Camera Manual 15 PRELIMINARY • The camera internally digitizes to 10 bits and outputs 8 MSB or all 10 bits depending on the camera’s Camera Link operating mode. • For a Camera Link reference and timing definitions refer to Appendix A on page 55. 2.2.
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4M Stop Action Camera Manual 17 PRELIMINARY 3 Software Interface: How to Control the Camera All camera features can be controlled through the serial interface. The camera can also be used without the serial interface after it has been set up correctly.
PRELIMINARY 18 4M Stop Action Camera Manual s = string t = tap id x = pixel column number y = pixel row number Example: to retrieve the current camera settings gcp Setting Baud Rate Purpose: Syntax: Sets the speed in bps of the serial communication port. Syntax Elements: m sbr m Baud rate. Available baud rates are: 9600 (Default), 19200, 57600, and 115200. Notes: Example: • Power-on rate is always 9600 baud.
4M Stop Action Camera Manual 19 PRELIMINARY h lpc rc rfs rpc rus sao sbr sem set sfc sot spc ssb ssf ssg svm vt vv wfc wpc wse help load pixel coefficient reset camera restore factory settings reset pixel coefficients restore user settings set analog offset set baud rate set exposure mode set exposure time set fpn coefficient set output throughput set prnu coefficient set subtract background set sync frequency set system gain set video mode verify temperature verify voltages write fpn coefficients write
PRELIMINARY 20 4M Stop Action Camera Manual • 80 MHz pixel rate (320 total throughput) • Full window (2352 x 1728) PT-21-04M30 • Flat field coefficients enabled (calibrated in exposure mode 2, 29 fps, and exposure time of 2 ms) • Exposure mode 2 • 30 fps • 14992.6 µs exposure time • Camera Link mode 3 (Medium configuration, 2 taps. 10 bits) • 80 MHz pixel rate (160 total throughput) • Full window (2352 x 1728) 3.
4M Stop Action Camera Manual 21 PRELIMINARY 3.3 Camera Output Format 3.3.1 How to Configure Camera Output The 4M stop action cameras offer great flexibility when configuring your camera output. Using the clm command, you determine the camera’s Camera Link configuration, number of output taps, and bit depth. Using the sot command, you determine the camera’s output rate. These two commands work together to determine your final camera output configuration.
PRELIMINARY 22 4M Stop Action Camera Manual Table 9: 4M60 Data Readout Configurations clm 2 clm 3 clm 15 clm 16 Base Base Medium Medium 2 Camera Link taps where: 1 = Taps 1+3 2 = Taps 2+4 8 2 Camera Link taps where: 1 = Taps 1+3 2 = Taps 2+4 10 4 Camera Link taps where: 1 = Tap 1 2 = Tap 2 3 = Tap 3 4 = Tap 4 8 4 Camera Link taps where: 1 = Tap 1 2 = Tap 2 3 = Tap 3 4 = Tap 4 10 sot 130 = 65 MHz strobe sot 160 = 80 MHz strobe sot 130 = 65 MHz strobe sot 160 = 80 MHz strobe sot 260 =
4M Stop Action Camera Manual 23 PRELIMINARY 3.3.3 Setting the Camera’s Pixel Rate Purpose: Sets the camera’s pixel rate. Refer to Table 8and Table 9 for a description of how pixel rates relate to the camera’s Camera Link mode.
PRELIMINARY 24 4M Stop Action Camera Manual 3.4.1 Setting the Exposure Mode Purpose: Sets the camera’s exposure mode allowing you to control your sync, exposure time, and frame rate generation. Syntax: sem m Syntax Elements: m Exposure mode to use. Factory setting is 2. Notes: • Refer to Table 10: Exposure Modes for a quick list of available modes or to the following sections for a more detailed explanation. • To obtain the current value of the exposure mode, use the command gcp.
4M Stop Action Camera Manual 25 PRELIMINARY Figure 11: Mode 2 Timing Programmable Period Programmable Period Exposure Time Exposure Time Readout Readout Frame Period Frame Period Programmable Period Programmable Period Mode 3: External Trigger with Maximum Exposure Frame rate is set by the period of the external trigger pulses. The falling edge of the external trigger marks the beginning of the maximum exposure with exposure control disabled (ECD).
PRELIMINARY 26 4M Stop Action Camera Manual Mode 7: Internal Frame Rate, Maximum Exposure Time In this mode, the frame rate is set internally with a maximum exposure time with exposure control disabled (ECD). Figure 14: Programmable Frame Rate with Maximum Exposure Time Exposure Time Readout Readout Frame Period Programmable Period Exposure Time Frame Period Programmable Period 3.4.2 Setting the Frame Rate Purpose: Syntax: Sets the camera’s frame rate in Hz.
4M Stop Action Camera Manual 27 PRELIMINARY 3.4.3 Setting the Exposure Time Purpose: Syntax: Sets the camera’s exposure time is µs. set f Syntax Elements: f Floating point number in µs. Allowable range is 10-999989 µs. See Table 11 below for allowable increments. Notes: • Camera must be operating in exposure mode 2. • To retrieve the current exposure time, use the command gcp. • If you enter an exposure time outside of a valid range, the input will not be accepted.
PRELIMINARY 28 4M Stop Action Camera Manual This is because, in exposure mode 4, the falling edge is captured by the camera every 18.475µs (clm 15 or 16) or 37.000µs (clm 2 or 3). Refer to sections and 3.4 Exposure Correction for more information on the clm and sot (sets pixel rate) commands. Refer to section Figure 11: Mode 2 Timing on page 25 for an example where exposure time overlaps frame readout. 3.
4M Stop Action Camera Manual 29 PRELIMINARY The following graph illustrates the relationship of maximum frame rate versus sequence size. Figure 16: Maximum Frame Rate versus Sequence Size 10000.0 100000 1000.0 10000 Frame Readout (usec) Max Frame Rate (fps) Max Frame Rate vs Sequence Size 448, 234 896, 119 448, 119 CLM 16, Max FR CLM 3, Max FR CLM 16, Frame Readout CLM 3, Frame Readout 1000 100.0 896, 60 1728, 62 1728, 31 100 10.
PRELIMINARY 30 4M Stop Action Camera Manual always set to 2352. y2 Window end pixel number in range from 2-1728 and must belong to the following set: 4, 8, 12, …1728.
4M Stop Action Camera Manual 31 PRELIMINARY thWLEV Window Level Hold Time- The Window Control Signals must remain valid and constant after the EXSYNC falling edge for at least the thWLEV time. TBD TBD tsWLEV Window Level Set Time- The Window Control Signals must remain valid and constant at least tsWLEV before the EXSYNC falling edge.
PRELIMINARY 32 4M Stop Action Camera Manual 3.6 Flat Field Correction This camera has the ability to calculate correction coefficients in order to remove nonuniformity in the image. This video correction operates on a pixel-by-pixel basis and implements a two point correction for each pixel.
4M Stop Action Camera Manual 33 PRELIMINARY 3.6.1 Selecting Factory or User Coefficients Purpose: Selects the coefficient set to use. The camera ships with a factory calibrated set of FPN and PRNU coefficients. The factory coefficients cannot be erased or modified. Syntax: csn i Syntax Elements: i Coefficient set to use. 0 = Factory calibrated set of FPN and PRNU coefficients. These coefficients cannot be erased or modified. 1 = User calibrated set of FPN and PRNU coefficients.
PRELIMINARY 34 4M Stop Action Camera Manual 3.6.3 Selecting the Calibration Sample Size Setting the Number of Lines to Sample Purpose: Sets the number of frames to sample when performing pixel coefficient calculations. Higher values cause calibration to take longer but provide the most accurate results. Syntax: css i Syntax Elements: i Number of lines to sample. Allowable values are 32, 64, 128 (factory setting), 256, 512, or 1024.
4M Stop Action Camera Manual 35 PRELIMINARY Calibrating Individual Pixels Purpose: Syntax Sets an individual pixel’s FPN coefficient. Syntax Elements: x sfc x y i The pixel column number from 1 to 2352. y The pixel row number from 1 to 1728. i Coefficient value in a range from 0 to 1023. Notes: Example: DALSA The sfc command is not available when the camera is using the factory calibrated coefficients (csn 0).
PRELIMINARY 36 4M Stop Action Camera Manual 3.6.5 Performing PRNU Calibration Purpose: Performs PRNU calibration to a targeted, user defined value and eliminates the difference in responsivity between the most and least sensitive pixel creating a uniform response to light. Using this command, you must provide a calibration target. Executing these algorithms causes the ssb command to be set to 0 (no background subtraction) and the ssg command to 4096 (unity digital gain).
4M Stop Action Camera Manual 37 PRELIMINARY Calibrating Individual Pixels Purpose: Syntax Sets an individual pixel’s PRNU coefficient. Syntax Elements: x spc x y i The pixel column number from 1 to 2352. y The pixel row number from 1 to 1728. i Coefficient value in a range from 0 to 12287 where PRNU coeff = 1 + ( Notes: Example: i ) 4096 The spc command is not available when the camera is using the factory calibrated coefficients (csn 0).
PRELIMINARY 38 4M Stop Action Camera Manual Loading Pixel Coefficients Purpose: Loads the last saved user coefficients or original factory coefficients from non-volatile memory. Syntax: lpc Notes: Example: The coefficient set that you are loading is determined by the csn value. Refer to the section, Selecting Factory or User Settings, for an explanation of the csn command. To return the current csn number, send the command get csn.
4M Stop Action Camera Manual 39 PRELIMINARY 3.7 Offset and Gain Adjustments Setting Analog Offset Purpose: Sets the analog offset. The analog offset should be set so that it is at least 3 times the rms noise value at the current gain. The analog offset is factory calibrated and is applicable to exposure mode sem 2/4 but no calibration is assumed for exposure mode sem 3/7. Syntax: sao t i Syntax Elements: t Tap selection. Allowable value is 0 for all taps. i Analog offset value.
PRELIMINARY 40 4M Stop Action Camera Manual Subtracting Background Purpose: Use the background subtract command if you want to improve your image in a low contrast scene. It is useful for systems that process 8 bit data but want to take advantage of the camera’s 10 bit digital processing chain. You should try to make your darkest pixel in the scene equal to zero. Syntax: ssb t i Syntax Elements: t Sensor tap selection. Allowable range is 1 to 2, or 0 for all taps.
4M Stop Action Camera Manual 41 PRELIMINARY Setting Digital System Gain Purpose: Improves signal output swing after a background subtract. When subtracting a digital value from the digital video signal, using the ssb command, the output can no longer reach its maximum. Use this command to correct for this where: max output value ssg value = max output value - ssb value Syntax: ssg t i Syntax Elements: t Sensor tap selection. Allowable range is 1 to 2, or 0 for all taps. i Gain setting.
PRELIMINARY 42 4M Stop Action Camera Manual 3.8 Generating a Test Pattern 03-32-10121-09 Purpose: Generates a test pattern to aid in system debugging. The test patterns are useful for verifying proper timing and connections between the camera and the frame grabber. The following table shows each available test pattern. Syntax: svm i Syntax Elements: i 0 Video.
4M Stop Action Camera Manual 43 PRELIMINARY 4 Test pattern horizontal ramp 8 bit 10 bit 5 Test pattern vertical ramp 8 bit DALSA 03-32-10121-09
PRELIMINARY 6 4M Stop Action Camera Manual 10 bit Test pattern diagonal ramp 8 bit 10 bit 03-32-10121-09 DALSA
4M Stop Action Camera Manual 45 PRELIMINARY 7 FPN test pattern 8 bit 8 10 bit FPN and PRNU test pattern 8 bit 10 bit DALSA 03-32-10121-09
PRELIMINARY 46 9 Fixed 1023 test pattern 10 Fixed 255 test pattern 4M Stop Action Camera Manual When switching the camera from video mode (svm 0) to one of the test pattern modes (svm 1 thru 8), the camera "turns off" any digital gain (ssg), background subtract (ssb), settings currently being used. The gcp screen does not turn off these settings and displays the settings used prior to switching to test pattern mode.
4M Stop Action Camera Manual 47 PRELIMINARY 4 Optical and Mechanical Considerations 4.1 Mechanical Interface Figure 20: Camera Mechanical Dimensions 82.0 46.50±.25 Optical Distance 50.80 2X F-Mount Adapter (DALSA P/N AC-UN-0002) 21.56 2X 5.00 2X Both Sides 48.4 42.3 M4 x .7 x 4 Deep 2X Both Sides 1/4-20 x 6 Deep Tripod Mount 46.96 F-MOUNT CONFIGURATION 5.00 2X Both Sides 93.9 STATUS CONTROL DATA 1 M4 x .7 x 4 Deep 17.52±.25 Optical Distance C-MOUNT CONFIGURATION 36.83±.15 46.96±.15 39.
PRELIMINARY 48 4M Stop Action Camera Manual 4.2 Lens Mounts M42 6.56±0.25mm F-Mount 46.50 ±0.25mm C-Mount 17.52±0.25mm Note that the use of a C-Mount lens will cause vignetting due to the size of the image sensor. 4.3 Optical Interface Illumination The amount and wavelengths of light required to capture useful images depend on the particular application.
4M Stop Action Camera Manual 49 PRELIMINARY 750, which does not include a mounting ring, and the CORION™ HR-750 series hot mirror. Lens Modeling Any lens surrounded by air can be modeled for camera purposes using three primary points: the first and second principal points and the second focal point. The primary points for a lens should be available from the lens data sheet or from the lens manufacturer. Primed quantities denote characteristics of the image side of the lens.
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4M Stop Action Camera Manual 51 PRELIMINARY 5 Troubleshooting The information in this chapter can help you solve problems that may occur during the setup of your camera. Remember that the camera is part of the entire acquisition system. You may have to troubleshoot any or all of the following: power supplies cabling frame grabber hardware & software host computer light sources optics operating environment encoder Your steps in dealing with a technical problem should be: 1.
PRELIMINARY 52 4M Stop Action Camera Manual 5.2 Troubleshooting Using the Serial Interface Communications To quickly verify serial communications send the h (help) command. By sending the h and receiving the help menu, the serial communications are verified. If further problems persist, review Appendix B for more information on communications. Verify Parameters To verify the camera setup, send the gcp (get camera parameters) command. To retrieve valid parameter ranges, send the h (help) command.
4M Stop Action Camera Manual 53 PRELIMINARY Dark Patches If dark patches appear in your output the optics path may have become contaminated. Clean your lenses and sensor windows with extreme care. DALSA 1. Take standard ESD precautions. 2. Wear latex gloves or finger cots 3. Blow off dust using a filtered blow bottle or dry, filtered compressed air. 4. Fold a piece of optical lens cleaning tissue (approx. 3" x 5") to make a square pad that is approximately one finger-width 5.
PRELIMINARY 54 4M Stop Action Camera Manual 5.4 Product Support If there is a problem with your camera, collect the following data about your application and situation and call your DALSA representative. Note: You may also want to photocopy this page to fax to DALSA. Customer name Organization name Customer phone number fax number Complete Product Model Number (e.g. PT-40-04M60...
4M Stop Action Camera Manual 55 PRELIMINARY Appendix A Camera Link™ Reference, Timing, and Configuration Table Camera Link is a communication interface for vision applications. It provides a connectivity standard between cameras and frame grabbers. A standard cable connection will reduce manufacturers’ support time and greatly reduce the level of complexity and time needed for customers to successfully integrate high speed cameras with frame grabbers.
PRELIMINARY 56 4M Stop Action Camera Manual • LVAL—Line Valid (LVAL) is defined HIGH for valid pixels. • DVAL—Data Valid (DVAL) is defined HIGH when data is valid. • Spare— A spare has been defined for future use. All four enable signals must be provided by the camera on each Channel Link chip. All unused data bits must be tied to a known value by the camera. For more information on image data bit allocations, refer to the official Camera Link specification on the http://vfm.dalsa.com Web site.
4M Stop Action Camera Manual 57 PRELIMINARY Power Power will not be provided on the Camera Link connector. The camera will receive power through a separate cable. Camera manufacturers will define their own power connector, current, and voltage requirements. Camera Link Video Timing Figure 22: Pantera SA 4M60 Standard Timing (Input and Output Relationships) STROBE IMPORTANT: This camera uses the falling edge of EXSYNC to trigger line readout, unlike previous DALSA cameras, which used the rising edge.
PRELIMINARY 58 4M Stop Action Camera Manual 20000 (clm 15/16, sot 260) 40000 (clm 2/3, sot 130) tOVERHEAD Is the number of pixels that must elapse after the falling edge of FVAL before the EXSYNC falling edge can occur. ns TBD tLINE The line time µs (clm 15/16, sot 320) 18.475 µs (clm 15/16, sot 260) 22.875 µs (clm 2/3, sot 130) 45.600 µs tFL Number strobes between FVAL rising and the first LVAL rising edge.
4M Stop Action Camera Manual 59 PRELIMINARY Appendix B Error Handling and Command List B1 All Available Commands As a quick reference, the following table lists all of the commands available to the camera user. For detailed information on using these commands, refer to Chapter 3. Table 16: All Available Commands correction calibrate FPN ccf Performs FPN calibration and eliminates FPN noise by subtracting away individual pixel dark current.
PRELIMINARY 60 03-32-10121-09 4M Stop Action Camera Manual coefficient set number csn i Selects the coefficient set to use, either: 0 = Factory calibrated set of FPN and PRNU coefficients. These coefficients cannot be erased or modified. 1 = User calibrated set of FPN and PRNU coefficients. These coefficients can be deleted or modified.
4M Stop Action Camera Manual DALSA 61 PRELIMINARY set analog offset sao t i Set the analog gain. t = Tap selection. Allowable value is 0 for all taps. i = Analog offset value. Allowable range is 0 -1023. set baud rate sbr m Set the speed of the serial communication port. Baud rates: 9600, 19200, 57600, and 115200. Default baud: 9600 set exposure mode sem m Set the exposure mode. Available values are: 2: Internal SYNC, programmable frame rate and exposure time using commands ssf and set.
PRELIMINARY 62 03-32-10121-09 4M Stop Action Camera Manual window start end wse i i x1 y1 x2 y2 Sets the window start and stop pixels where: i is the window sequence id. It is always 0 in this camera. i is the number of windows to set. It is always 1 in this camera. x1 is window start corner value. Since there is only vertical window of interest in this camera, this value is always set to 1.
4M Stop Action Camera Manual 63 PRELIMINARY Appendix C Revision History DALSA 00 Preliminary release 01 .Added the sce and eec commands to Table 16: All Available Commands. Updated the set command description from allowable steps of 1µs to allowable steps of 18.475 and 37.0µs in 3.4.3 Setting the Exposure Time and in Table 16: All Available Commands. 02 In section 3.6.1, updated Mode 2 timing diagram to show that readout and exposure time can overlap.
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4M Stop Action Camera Manual 65 PRELIMINARY Index A Camera Link, 13 control configuration, 55 control signals, 55 analog offset, 38 antiblooming, 7 applications, 6 D background subtract, 39 base configuration, 12 baud rate, 17 bright lines, 51 dark patches, 52 data bus, 14 data rate, 7 DC offset, 7 digital gain, 40 DVAL, 55 dynamic range, 7 C E calibration errors, 37 overview, 31 results, 37 steps, 31 camera output configuration, 20 camera control signals, 14 Camera Link configuration, 12, 21, 22
PRELIMINARY 66 inputs (user bus), 14 installation, 11 interface electrical, 7 mechanical, 6, 8, 46 optical, 6, 47 L LED, 12 lens modeling, 48 mounts, 47 light sources, 47 line dropout, 51 line rate, 7 LVAL, 55 LVDS, 54 pairs, 55 M magnification, 48 mechanical interface, 46 specifications, 6, 8 N noisy output, 51 O offset, 38 online help, 17 operating modes, 22 ranges, 7 optical interface, 47 optical specifications, 6 P performance specifications, 9– 10 pixel rate, 20, 21 power connector, 15 connector
