AVT Bonito Technical Manual High-speed high-resolution CMOS Camera V2.2.
Legal notice Life support applications These products are not designed for use in life support appliances, devices, or systems where malfunction of these products can reasonably be expected to result in personal injury. Allied Vision Technologies customers using or selling these products for use in such applications do so at their own risk and agree to fully indemnify Allied for any damages resulting from such improper use or sale.
Contents Contacting Allied Vision Technologies ................................................... 5 Introduction ............................................................................................................ 6 Document history............................................................................................................ 6 Manual overview .............................................................................................................
Serial interface (SerTC, SerTFG) ........................................................................................ 30 Trigger inputs (CC1)....................................................................................................... 30 Reserve control input (CC2)............................................................................................. 31 Pixel order ...................................................................................................................
Contacting Allied Vision Technologies Contacting Allied Vision Technologies Info • Technical information: http://www.alliedvisiontec.com • Support: support@alliedvisiontec.com Allied Vision Technologies GmbH (Headquarters) Taschenweg 2a 07646 Stadtroda, Germany Tel.: +49 36428-677-0 Fax.: +49 36428-677-28 e-mail: info@alliedvisiontec.com Allied Vision Technologies Canada Inc.
Introduction Introduction This Bonito Technical Manual describes in depth the technical specifications, dimensions, all pixel formats, bandwidth and frame rate related subjects. Note Please read through this manual carefully. Document history Version Date Remarks V2.0.0 03.11.11 New Bonito Technical Manual V2.1.0 23.01.
Introduction Version Date Remarks continued from last page V2.2.0 03.05.12 Added description of new features in camera firmware V1.0.7 • • • • • • • • • • • • Changed max. current from 0.36 A to 0.4 A: – Description to power supply: see Chapter Bonito CL400B/C, Bonito CL-400B/C 200fps on page 12 – Chapter Accessories on page 20 – Chapter Power supply (pin 1-4) on page 23 Pin 6 changed from Reserve to Sync: see Chapter Camera I/O connector pin assignment (15-pin D-Sub jack) on page 23ff.
Introduction Version Date Remarks continued from last page V2.2.
Introduction • • • Chapter Camera dimensions on page 15 provides CAD drawings of standard housing models (2D drawings and 3D isometric drawings), tripod adapter and cross sections of CS-Mount and C-Mount. Furthermore you find information on adjustment of C-Mount and CS-Mount. Chapter Camera interfaces on page 19 describes in general the inputs/ outputs of the cameras (incl. trigger features). Chapter Index on page 65 gives you quick access to all relevant data in this manual.
Introduction www This symbol highlights URLs for further information. The URL itself is shown in blue. Example: http://www.alliedvisiontec.com Before operation Target group This Technical Manual is the guide to detailed technical information of the camera and is written for experts. Note Caution Please read through this manual carefully before operating the camera. Before operating any AVT camera read the following safety instructions and ESD warnings.
Conformity Conformity Allied Vision Technologies declares under its sole responsibility that all standard cameras of the Bonito family to which this declaration relates are in conformity with the following standard(s) or other normative document(s): • CE, following the provisions of 2004/108/EG directive • RoHS (2002/95/EC) CE We declare, under our sole responsibility, that the previously described Bonito cameras conform to the directives of the CE. Bonito Technical Manual V2.2.
Specifications Specifications Note The correct polarity of the 12 V supply voltage must be assured. The warranty becomes void in case of unauthorized tampering or any modifications not approved by the manufacturer. Bonito CL-400B/C, Bonito CL-400B/C 200fps Feature Specification Image device Type 4/3, CMOS progressive with global shutter Effective chip size 16.24 mm (H) x 12.08 mm (V) Cell size 7 μm x 7 μm Picture size (max.
Specifications Feature Specification Smart features ROI (Region of Interest), fixed pattern noise (FPN) correction, digital gain (selects 8 of 10 bits for output), offset (brightness), continuous mode (image acquisition with maximum frame rate), image on demand mode (triggered image acquisition) Dimensions 44.2 mm x 80 mm x 70 mm (C-Mount) 71 mm x 80 mm x 70 mm (EF-Mount) 73.
Specifications Spectral sensitivity Figure 1: Spectral sensitivity of Bonito CL-400B Note Due to the sensor manufacturer, the spectral sensitivity curve for the color sensor is not available. Bonito Technical Manual V2.2.
Camera dimensions Camera dimensions Bonito CL-400B/C C-Mount 44,2 80 M5 39.8 C-Mount Connection M5 35 27 50 70 50 0 Ø6 M5 (4x) UNC 1/4" M5 M5 UNC 1/4" and all M5 max. screw depth 8mm 60 M5 (2x) UNC 1/4" and M5 max. screw depth 8mm 27 Figure 2: Camera dimensions: Bonito CL-400B/C C-Mount (front/side) Bonito Technical Manual V2.2.
Camera dimensions Bonito CL-400B/C EF-Mount 71 80 M5 66,6 EF-Mount Connection M5 35 27 M5 (4x) UNC 1/4" M5 M5 UNC 1/4" and all M5 max. screw depth 8mm 60 50 70 65 50 Ø M5 (2x) UNC 1/4" and M5 max. screw depth 8mm 27 Figure 3: Camera dimensions: Bonito CL-400B/C EF-Mount (front/side) Bonito CL-400B/C F-Mount 73,5 80 M5 F-Mount Connection 69,1 M5 35 27 M5 (4x) UNC 1/4" M5 M5 UNC 1/4" and all M5 max. screw depth 8mm 60 50 70 50 0 Ø6 M5 (2x) UNC 1/4" and M5 max.
Camera dimensions Back view of Bonito CL-400B/C C-/EF-Mount 80 70 15pin D-Sub Jack Camera Link Connection UNC 1/4" max.
Camera dimensions Back view of Bonito CL-400B/C C-/EF-/F-Mount 200fps 80 15pin D-Sub Jack CL2 70 CL1 Camera Link Connection UNC 1/4" max.
Camera interfaces Camera interfaces This chapter gives you information on the control junction, inputs and outputs and trigger features. www For accessories like cables or power supply see: http://www.alliedvisiontec.com/emea/products/accessories Go to Camera Link section. Requirements and serial I/O Frame grabber requirements Special care has to be taken in selecting the Camera Link frame grabbers.
Camera interfaces Accessories The Bonito needs a DC power supply with 12 V at an average current of 0.35 A (max. 0.4 A). The camera is delivered with suitable power supply without power cord. The Bonito is available with C-Mount, F-Mount or EF-Mount lens adapter. Please consider the CMOS sensor size for lens selection. The lens should fully illuminate an area of 16 mm x 12 mm (ø 20 mm, type 4/3). The software depends on the frame grabber.
Camera interfaces At power-up the camera loads the stored parameter configuration from its nonvolatile memory and sends a start message after successful initialization to all activated serial interfaces. This message is e.g. similar to the following: Bonito CL / CMC-4000 CMOS High-Speed Camera Version: CMC.040.xx.yy > The command prompt character > signals that the camera is ready to receive and process the next command.
Camera interfaces To query a parameter value, just send the corresponding command letter followed by the equality sign and a question mark character: >s=?[CR] If the intended action does not need any parameter it is also sufficient in most cases – as a shortcut – to send the command letter only, directly followed by [CR]. At the beginning of a command sequence it is good practice to check the serial communication by sending just a [CR] to the camera and verify that the command prompt > is returned.
Camera interfaces Camera I/O connector pin assignment (15-pin D-Sub jack) This connector is intended for supplying power as well as external input/output signals. Pin Signal Direction Level 1 2 3 4 +12 V DC (+5%, –10%), 0.35 A (4.2 W), max. 0.36 A External Power Description Power supply 5 (GND) External GND 5 Reserve 6 Sync Out RS232 7 RXD In RS232 8 TXD Out RS232 Serial control 9 Reserve 10 - 11 Trigger input + Optocoupler input, 5 ... 12 V, 15 mA max.
Camera interfaces Synchronization output (pin 6) Note Only cameras with firmware CMC.040.01.07 or newer support this feature. If you use a camera with an older firmware version: don‘t connect pin 6. Use this signal for the following: • Synchronize external devices to the effective exposure of Bonito. Examples of external devices: flash lights or timer circuits. • Reduce the timing jitter of start and end point of exposure.
Camera interfaces Trigger input (pin 10-11) Figure 13: Trigger input diagram The current through the optocoupler’s LED should be in the range of 5 mA to 15 mA. This is the case if 5.0 V ≤ Vin ≤ 12 V. Note If you use higher voltages, you have to connect externally an additional current limiting resistor. A rising edge at this optocoupler input starts the exposure.
Camera interfaces This is an open collector optocoupler output. The transistor is conductive during the active exposure time of the image sensor. The power dissipation through the optocoupler’s transistor must not exceed 150 mW. A typical value for the external pull-up resistor is R = 4700 . This ensures riskfree operation to the upper Vcc limit Note The optocoupler adds an intrinsic delay to the signal. Note This output is not recommended for new system designs.
Camera Link interface (O1-O4 or CL1, CL2) Camera Link interface (O1-O4 or CL1, CL2) Camera Link is an interface for the transmission of digital video data. The standard defines data transfer on a physical base and determines connectors, cables and components for transmission and reception. Three different configurations (base, medium and full) are available, distinguished by the number of transmitter–receiver pairs (one, two or three respectively).
Camera Link interface (O1-O4 or CL1, CL2) Each channel delivers ten Camera Link ports labelled A–J. Every port has eight bits and is assigned to a corresponding sensor tap which outputs specific pixel columns of the image. Consequently, up to 2 x 10 = 20 simultaneous pixels are transferred to the frame grabber(s) in parallel per Camera Link clock cycle.
Camera Link interface (O1-O4 or CL1, CL2) Figure 16: Camera link connector: 10-tap pin assignment (O1/O3 or CL2 connector) Bonito Technical Manual V2.2.
Camera Link interface (O1-O4 or CL1, CL2) Serial interface (SerTC, SerTFG) The Camera Link connectors O2 and O4 (Bonito CL-400B/C 200fps: connector CL1 only) each provide the asynchronous serial control lines SerTC and SerTFG. This is the preferred communication channel to control the various camera functions. Both Camera Link serial interfaces (and also the third RS-232 interface at the 15-pin D-SUB connector) are virtually equal. They all use one global baud rate setting.
Camera Link interface (O1-O4 or CL1, CL2) Reserve control input (CC2) The camera control signals CC2 at the Camera Link connectors O2 and O4 (or connector CL1) are reserved for future use. Pixel order Each frame in single channel mode (S=0, max. 193 full frames per second) is transmitted from top left to bottom right, line per line. The diagram below shows how the image is reconstructed from the ten Camera Link taps A – J.
Camera Link interface (O1-O4 or CL1, CL2) In the high speed dual channel modes (S=1 or S=3, max. 386 full frames per second) the image is split up vertically into two equal sized halves. Each half uses its own Camera Link channel and the pixel data travels over the corresponding connector pair. Note This mode is not available for the Bonito CL-400B/C 200fps cameras. From the host’s point of view the Bonito basically behaves like two cameras with half of the possible image width.
Camera Link interface (O1-O4 or CL1, CL2) Timing (FVAL, LVAL, PCLK) The Camera Link pixel clock frequency of the Bonito is 80 MHz. The 10-tap configuration transfers 10 pixels per clock cycle at once (or 20 per clock cycle in the dual-channel mode). The synchronisation signals LVAL and FVAL are used to designate valid data output. Following charts illustrate the timing in continuous mode (M=0). Please note that the frame gap may vary in other trigger modes.
Camera Link interface (O1-O4 or CL1, CL2) Camera Link timing for dual channel mode (full line length, S=1, not for Bonito CL-400B/C 200fps): Figure 20: Timing dual channel, full line length Camera Link timing for dual channel mode (compatibility mode with reduced line length, S=3, not for Bonito CL-400B/C 200fps): Figure 21: Timing dual channel, reduced line length Bonito Technical Manual V2.2.
Parameters and Commands Parameters and Commands This section explains the basic Bonito configuration parameters and general commands available to the user. Parameters and commands are communicated using the camera’s serial interface. Note For more information see Chapter Serial I/O on page 20. Primary starting address (A) The parameter A defines which line of the image sensor is the first line of the output image.
Parameters and Commands Secondary starting address (B) Note For more information on double ROI mode see Chapter Double region of interest mode (D) on page 37. If the double ROI mode is active, B defines which line of the image sensor is the first line of the second half of the output image. The sensor’s first (topmost) line has the address B=0, the last line has the address B=6BD. The value of B in conjunction with N and I is used to create the secondary region of interest (ROI2).
Parameters and Commands Double region of interest mode (D) In double ROI mode (D=1) the camera outputs two equally sized regions of interest. Both ROIs share the parameters N and I and are output as two halves of one image. The top half contains the lines of the primary ROI (ROI1), the bottom half the lines of the secondary ROI (ROI2) accordingly. The starting line address for ROI1 is configured using the parameter A. Parameter B controls the starting line address of ROI2.
Parameters and Commands Digital gain (G) The digital gain setting controls the shifting of the pixel bits. It selects, which eight of the ten digitizer bits are output to Camera Link. Overflow is represented by saturation to maximum. Setting Gain G=0 1x G=1 2x G=2 4x Table 5: Digital gain setting Line address increment (I) The line address increment value I is added to the current address at the end of each line read out from the sensor. Setting values 1 skip lines accordingly.
Parameters and Commands Synchronization output (J) Use parameter J to configure output on pin 6 of the camera control connector. Setting Output signal J=0 Effective sensor exposure J=1 Charge transfer pulse Active for one line duration at the end of exposure. End of this pulse marks the end of exposure and at the same time start of sensor readout. In PIV mode: this pulse occurs at the exposure end of only the first image of each PIV pair.
Parameters and Commands Exposure control mode (M) There are various modes available to control the exposure time and frame duration of the Bonito CL-400B/C. The exposure control is depending on some general timing parameters which are specified in the following table: Parameter Value Line Duration (S=0) tL = 3 μs Line Duration (S=1) tL = 1.5 μs Line Duration (S=3) tL = 1.
Parameters and Commands Bit group Value Function e 0 Continuous mode The camera outputs images as fast as possible in a free running mode. The gap between two images is only one line, thus the total frame duration takes tFDmin. The exposure time is nearly equal to this inherent minimal frame duration. e 1 Image on demand mode (IOD) The exposure is directly controlled by an externally applied signal. Use parameter T to select the signal source.
Parameters and Commands Bit group Value Function e 2 Image on demand mode (IOD) with exposure timer The exposure time is controlled by the parameter E. Each rising edge of an externally applied signal starts one exposure. Use parameter T to select the signal source. A rising edge at the corresponding input starts exposure synchronized to the line after the next.
Parameters and Commands Bit group Value Function e 3 Image on demand mode (IOD) with exposure timer and frame duration timer This mode is also free-running (like M=0), but exposure time and frame duration is set using the parameters E and F accordingly. Furthermore the start of the exposure may optionally be synchronized to the rising edge of an externally applied synchronization pulse. Use parameter T to select the synchronization signal source.
Parameters and Commands Bit group Value Function p 0 PIV mode = Off p 1 PIV mode = On PIV means Particle Image Velocimetry. Exposure control is not available in this mode. The exposure is permanently active. Thus a synchronized strobe light source and eliminating other light sources is mandatory. The frame rate is controlled as usual using parameter F or external trigger, but note that the camera outputs two images per trigger event.
Parameters and Commands Bit group Value Function f 0 Standard mode f 1 Enhanced full well (3T) mode The full frame shutter is not available in this mode. Instead, the sensor operates in rolling shutter mode with an effective shutter time equaling the frame duration. Thus a synchronized strobe light is recommended. Consequently any exposure time setting, controlled by Parameter E or by external signal, is ignored.
Parameters and Commands Number of lines (N) The number of lines per frame is controlled with N. The actual line count is N+1, thus the default of N=6BD results into 1726 output lines. Valid values range from N=0 to N=6BD. If the double ROI mode is active (D=1) the actual line count is doubled: (N + 1) * 2. Note • • • Consider this in minimum frame duration calculations for the image on demand (IOD) mode.
Parameters and Commands Camera Link output mode setting (S) The parameter S controls how the camera outputs pixel data to the Camera Link interface. • For more information about how the resulting image is reconstructed in the various modes, see Chapter Pixel order on page 31. • For more information about pixel output timing, see Chapter Timing (FVAL, LVAL, PCLK) on page 33.
Parameters and Commands Setting Function S=7 Same as mode 3, but with right image half via O2/O1 and left image half via O4/O3 (if available). Others Reserved for future use. Table 18: Output mode setting (S) Trigger source selection (T) This parameter selects the signal source for triggering and exposure control. For more information about usage of the selected signals: see Chapter Exposure control mode (M) on page 40. Setting Function T=0 No input selected.
Parameters and Commands Note • • The effective image size and also the frame rate depend on the corresponding camera settings such as e.g. D, N or M. Edge markers are only fully visible if all 1726 active lines are output. The digital gain setting G also applies to the test image, but the FPN correction C is temporary disabled. Setting Function U=0 Normal image output. U=1 Enable metadata overlay The overlay occupies the first (top left) 8 pixels of each frame.
Parameters and Commands Version information (V) The command V displays information about the camera model and firmware version. >V Bonito CMOS High-Speed Camera Version: CMC.040.xx.yy > Save parameters (X) Use the command X=1 to store all parameter values into the embedded flash memory. After a re-start they are automatically restored. Note Acquired FPN correction data is not stored and is therefore lost after switch-off. See Chapter Fixed Pattern Noise (FPN) Correction (C) on page 36.
Parameters and Commands Reset to factory defaults (Z) The command Z=1 sets the camera into a factory default state. To save the new parameter configuration, the command X=1 has to be executed afterwards. The default settings are: A=0000 B=0000 C=00 D=00 E=000006BE F=000006BF G=00 I=01 J=01 K=A7 M=00 N=06BD S=00 T=03 U=00 W=18 s=2A > Note The serial interfaces are not reinitialized by Z=1.
Parameters and Commands Product variant code (b) The product variant code is a 16-bit number unambiguously identifying the camera variant. Use command b to read it.
Parameters and Commands Baud rate (s) The Baud Rate of the serial interface is setup using parameter s. The bits of the parameter value are divided into three different sized bit groups a, e and x. Each bit group has a special function being independent of the other ones: Bit group Description a Controls the enable state of the serial ports. e Controls the echo mode. x Controls the baud rate of the serial port.
Parameters and Commands Baud Rate (default setting 2A) a e 00 RS232 via 15-pin D-SUB control connector only. 01 Additionally activates second channel via Camera Link connector O2. 10 Additionally activates second channel via Camera Link connector O4. 11 Additionally activates second channel via Camera Link connector O2 and O4. 0 Each character received from the host is echoed back to it.
Bayer filter mosaic pattern Bayer filter mosaic pattern The color variants of the Bonito are equipped with a Bayer filter mosaic on the image sensor, which is aligned to the top left corner of the sensor like shown in the following pattern: G R G R ... B G B G ... G R G R ... B G B G ... ... ... ... ... ... Changing the output mode (parameter S) does not affect the pattern alignment in the output image.
Appendix Appendix Command reference This chapter describes the general command reference of the Bonito CL-400B/C firmware. It can be output to the camera’s serial interface by sending the command ?=1. Bonito CL-400 and CMC-4000 Series Command Reference =============================================================================== Referenced Firmware...: CMC.040.01.07 Document Version......: 06 / 02.02.
Appendix Conventions ---------- (*) : : : : 8 bits long parameter value (1 to 2 Hex characters) 16 bits long parameter value (1 to 4 Hex characters) 32 bits long parameter value (1 to 8 Hex characters) 8 bits long parameter (resulting in two hex chars) consisting of bit fields. The function of each bit field is described, like this: "aa" : Lower case letters label the bits of interest. "**" : Reserved, should be written as "0", read undefined.
Appendix z=1 : Reload parameters from file. (*) O= : File number of the file containing the FPGA configuration data. (*) P=1 : Upload a new FPGA configuration file via the serial interface and store it in the flash memory. After issuing a special transfer protocol is processed. A currently existing file will be overwritten. (*) Q= : Upload a general file via the serial interface and store it in the flash memory using the specified file number.
Appendix | | 7 -> 19200 Baud. (x) | | 8 -> 38400 Baud. (x) | | 9 -> 57600 Baud. (x) | | A -> 115200 Baud. (x) | +---------a: Second channel UART port selection. | 00 -> Second channel UART off. | 01 -> Activate second channel via Camera | Link connector O2 (or CL1). | 10 -> Activate second channel via Camera | Link connector O4 (if available). | 11 -> Activate second channel via Camera | Link connector O2 (or CL1) and O4. +-----------e: Echo suppression.
Appendix +--s: Suppression of new data acquisition. This bit is write-only and reads always 0. Write C=3 to reactivate the fixed pattern noise correction from the state C=0 without the correction data being reacquired as C=1 would do. D= : Double ROI mode. Can be used to read out two independent areas of the same size into one output image. This is useful to gain speed due to dropping unneeded lines between two areas of interest. Also field separation for interlaced mode can be obtained.
Appendix | of the sensor. This allows to synchronize | external devices even if the sensor is in | permanent exposure mode. See M= for | details about permanent exposure. +----n: Invert the logic levels of the sync output. K= : Timer prescale value. The basic clock frequency of 56 MHz is divided by the prescale value (K+1) to generate the time base for exposure time E= and frame duration F=. A value of K=37 (decimal: 55) leads to a timer resolution of 1µs, for example.
Appendix | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | | +---p: | | | | | | | | | | | | | | | | | | | | | | +------f: timer and frame duration timer. The exposure time is controlled by the parameter E=. The frame duration is controlled by the parameter F=. Start of the exposure can be synchronized to the rising edge of an externally applied signal. Use parameter T= to select the signal source.
Appendix 2: 3: Permanent exposure mode. Used to maximize the exposure time. If activated, the exposure time equals the frame duration. Consequently any exposure time setting, controlled by E= or by external signal, is ignored. Reserved. N= : This parameter sets the number of lines per frame. The actual line count is N+1, thus the default of N=6BD results into 1726 lines. If the double ROI mode is active (D=1) the actual line count is (N+1)*2.
Appendix All other values are reserved. T= : Trigger source selection. 0: None. 2: OK1 at control connector. 3: CC1 at O2 connector (or CL1). 4: CC1 at O4 connector (if available). All other values are reserved. U= : Metadata overlay and test image. <***t_***m> | | | +-m: Metadata overlay mode. | 0: No overlay. | 1: Show metadata in each frame starting at | the first pixel of the first line. +------t: Test image generator. 0: Normal image output. 1: Test image generator is active.
Index Index B I baud rate ................................................ 53 Bayer filter.............................................. 55 I/O connector .......................................... 23 L C camera dimensions .............................. 15, 16 camera interfaces ..................................... 19 camera I/O connector................................ 23 Camera Link interface ................................ 27 Camera Link output mode setting................. 47 CC2 ..................
Index symbols .................................................... 9 Synchronization output ............................. 39 T Technical information.................................. 5 test image generator ................................. 48 Timer prescaler value ................................ 39 Timing.................................................... 33 Trigger input ........................................... 23 Trigger source selection ............................. 48 V Version information .....
