AVT Guppy PRO Technical Manual V2.0.
Legal notice For customers in the U.S.A. This equipment has been tested and found to comply with the limits for a Class B digital device, pursuant to Part 15 of the FCC Rules. These limits are designed to provide reasonable protection against harmful interference when the equipment is operated in a residential environment.
Contents Contacting Allied Vision Technologies ................................................... 9 Introduction ...........................................................................................................10 Document history ......................................................................................................... 10 Manual overview........................................................................................................... 13 Conventions used in this manual.....
Guppy PRO F-032B/C ..................................................................................................... 37 Guppy PRO F-125B/C ..................................................................................................... 39 Guppy PRO F-146B/C ..................................................................................................... 41 Guppy PRO F-201B/C .....................................................................................................
Defect pixel correction (only Guppy PRO F-503B/C).......................................................................................... Building defect pixel data ....................................................................................... Grab an image with defect pixel data .................................................................... Calculate defect pixel coordinates ........................................................................
Exposure time (shutter) and offset ................................................................................ Exposure time of Guppy PRO F-503 (CMOS) ................................................................. Exposure time offset ............................................................................................... Minimum exposure time .......................................................................................... Extended shutter............................................
Inquiry register for video format............................................................................... Inquiry register for video mode ................................................................................ Inquiry register for video frame rate and base address ................................................. Inquiry register for basic function............................................................................. Inquiry register for feature presence ..............................
GPDATA_BUFFER..................................................................................................... 248 Little endian vs. big endian byte order.................................................................. 248 Firmware update ...............................................................................................250 Extended version number (FPGA/µC).............................................................................. 250 Appendix .........................................
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 AVT Guppy PRO Technical Manual describes in depth the technical specifications, dimensions, all camera features (IIDC standard and AVT smart features) and their registers, trigger features, all video and color formats, bandwidth and frame rate calculation. For information on hardware installation, safety warnings, pin assignments on I/O connectors and 1394b connectors read the Hardware Installation Guide. Note Please read through this manual carefully.
Introduction Version Date Remarks continued from last page V2.0.2 05.04.
Introduction Version Date Remarks continued from last page [continued] [continued] V2.0.2 05.04.11 • • • • • • • • • • • • • • Video data formats now with subscript letters instead of underscore as wrongly used in IIDC, see Chapter Description of video data formats on page 77 Revised spectral sensitivity for Guppy PRO F-031C: see Figure 10: Spectral sensitivity of Guppy PRO F-031C (without IR cut filter) on page 48 Defect pixel correction: you don’t need to set value for brightness to max.
Introduction Version Date Remarks continued from last page [continued] [continued] V2.0.2 05.04.11 V2.0.3 08.04.11 • • • Guppy PRO F-503: manual gain range now 8 ... 48 (instead of 60): see Chapter Manual gain on page 94 Guppy PRO F-503: manual gain range in db now 0 ...
Introduction • • • • • • • • • Chapter Camera interfaces on page 58 describes in detail the inputs/ outputs of the cameras (incl. Trigger features). For a general description of the interfaces (FireWire and I/O connector) see Hardware Installation Guide. Chapter Description of the data path on page 82 describes in detail IIDC conform as well as AVT-specific camera features. Chapter Controlling image capture on page 127 describes trigger modes, exposure time, one-shot/multi-shot/ISO_Enable features.
Introduction Symbols Note This symbol highlights important information. Caution www This symbol highlights important instructions. You have to follow these instructions to avoid malfunctions. This symbol highlights URLs for further information. The URL itself is shown in blue. Example: http://www.alliedvisiontec.
Introduction Before operation We place the highest demands for quality on our cameras. Target group This Technical Manual is the guide to detailed technical information of the camera and is written for experts. Getting started For a quick guide how to get started read Hardware Installation Guide first. Note Caution www Note Please read through this manual carefully before operating the camera. For information on AVT accessories and AVT software read Hardware Installation Guide.
Guppy PRO cameras Guppy PRO cameras Guppy PRO With Guppy PRO cameras, entry into the world of digital image processing is simpler and more cost-effective than ever before. Guppy PRO cameras are the smallest 1394b cameras worldwide. IEEE 1394b With the new Guppy PRO, Allied Vision Technologies presents a wide range of cameras with IEEE 1394b interfaces.
Conformity Conformity Allied Vision Technologies declares under its sole responsibility that all standard cameras of the AVT Guppy PRO 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 • FCC Part 15 Class B • RoHS (2002/95/EC) CE We declare, under our sole responsibility, that the previously described AVT Guppy PRO cameras conform to the directives of the CE.
FireWire FireWire Overview FireWire provides one of the most comprehensive, high-performance, costeffective solutions platforms. FireWire offers very impressive throughput at very affordable prices. Definition FireWire (also known as i.Link or IEEE 1394) is a personal computer and digital video serial bus interface standard, offering high-speed communications and isochronous real-time data services. FireWire has low implementation costs and a simplified and adaptable cabling system.
FireWire • • • • • • Diverse camera powering options, including single-cable solutions up to 45 W Effective multiple-camera solutions Large variety of FireWire accessories for industrial applications Availability of repeaters and optical fibre cabling Forwards and backward compatibility blending 1394a and 1394b Both real-time (isochronous) and demand-driven asynchronous data transmission capabilities FireWire in detail Serial bus Briefly summarized, FireWire is a very effective way to utilize a low-cost
FireWire In case of 1394b no gaps are needed due to parallel arbitration, handled by bus owner supervisor selector (BOSS) (see the following diagram). Whereas 1394a works in half duplex transmission, 1394 does full duplex transmission.
FireWire FireWire also supports multiple hosts per bus. FireWire requires only a cable with the correct number of pins on either end (normally 6 or 9). It is designed to support plug-and-play and hot swapping. It can supply up to 45 W of power per port at 30 V, allowing high consumption devices to operate without a separate power cord. Caution While supplying such an amount of bus power is clearly a beneficial feature, it is very important not to exceed the inrush current of 18 mJoule in 3 ms.
FireWire The 1394b capabilities in detail: • 800 Mbit/s • All previous benefits of 1394a (see above) • Interoperability with 1394a devices • Longer communications distances (up to 500 m using GOF cables) IIDC V1.31 camera control standards Twinned with 1394b, the IIDC V1.31 standard arrived in January 2004, evolving the industry standards for digital imaging communications to include I/O and RS232 handling, and adding further formats.
FireWire Bus runs at 800 Mbit/s for all devices. Data from Marlin’s port is up-converted from 400 Mbit/s to 800 Mbit/s by data doubling (padding), still needing 32% of the cycle slot time. This doubles the bandwidth requirement for this port, as if the camera were running at 60 fps. Total consumption is thus 2560+ 2560 = 5120 bytes per cycle.
FireWire 1394b bandwidths According to the 1394b specification on isochronous transfer, the largest recommended data payload size is 8192 bytes per 125 µs cycle at a bandwidth of 800 Mbit/s. Note Certain cameras may offer, depending on their settings in combination with the use of AVT FirePackage higher packet sizes. Consult your local dealer's support team, if you require additional information on this feature. For further details read Chapter How does bandwidth affect the frame rate? on page 178.
FireWire Requirements for laptop and 1394b As mentioned above, 1394b requires low latency for data transmission (small receive-FIFO). In order to get the most out of your camera-to-laptop configuration, we recommend the following chipset for your laptop: • For Intel-based laptops, chipset 915 (or higher) • For non-Intel based laptops (e.g. AMD), PCI Express compatible chipset Because most laptops have (only) one PC-card interface, it is possible to connect one Guppy PRO camera to your laptop at full speed.
FireWire Figure 6: ExpressCard Logo, ExpressCard/54 (SIIG) Figure 7: ExpressCard technology www ExpressCard is a new standard set by PCMCIA. For more information visit: http://www.expresscard.org/web/site/ Guppy PRO Technical Manual V2.0.
FireWire Example 1: 1394b bandwidth of Guppy PRO cameras Guppy PRO model Resolution Frame rate Bandwidth Guppy PRO F-031 B/C 0.3 megapixels 136 fps 38 MByte/s Guppy PRO F-032 B/C 0.3 megapixels 80 fps 22 MByte/s Guppy PRO F-125 B/C 1.2 megapixels 30 fps 37 MByte/s Guppy PRO F-146 B/C 1.4 megapixels 16 fps 20 MByte/s Guppy PRO F-201 B/C 2.0 megapixels 14 fps 28 MByte/s Guppy PRO F-503 B/C 5.
FireWire FireWire Plug & play capabilities FireWire devices implement the ISO/IEC 13213 configuration ROM model for device configuration and identification, to provide plug & play capability. All FireWire devices are identified by an IEEE EUI-64 unique identifier (an extension of the 48-bit Ethernet MAC address format) in addition to well-known codes indicating the type of device and protocols it supports. For further details read Chapter Configuration of the camera on page 182.
FireWire Operating system support Operating system 1394a 1394b Linux Full support Full support Apple Mac OS X Full support Full support Windows XP With SP2 / SP3 the default speed for 1394b is S100 (100 Mbit/s). A download and registry modification is available from Microsoft to restore performance to either S400 or S800. http://support.microsoft.com/kb/885222 Alternatively use the drivers of SP1 instead: Microsoft Windows XP SP2 and XP SP3 do not correctly support IEEE 1394b FireWire adapters.
Filter and lenses Filter and lenses IR cut filter: spectral transmission The following illustration shows the spectral transmission of the IR cut filter: Figure 8: Spectral transmission of Hoya C5000 Guppy PRO Technical Manual V2.0.
Filter and lenses Camera lenses AVT offers different lenses from a variety of manufacturers. The following table lists selected image formats in width x height depending on camera type, distance and the focal length of the lens. Note All calculations apply to the principle planes of the lenses: these are unknown (real lenses are not infinite thin). All calculations are valid only for a distortion free optical image (among other things: not valid for fisheye lenses).
Filter and lenses Focal length for type 1/3 sensors Guppy PRO F-032 Distance = 500 mm Distance = 1000 mm 8 mm 300 mm x 224 mm 605 mm x 453 mm 12 mm 198 mm x 148 mm 402 mm x 301 mm 16 mm 148 mm x 110 mm 300 mm x 224 mm 25 mm 93 mm x 69 mm 190 mm x 142 mm Table 8: Focal length vs. field of view (Guppy PRO F-032) Focal Width for type 1/2.5 sensors Guppy PRO F-503 Distance = 0.5 m Distance = 1 m 4.8 mm 0.44 m x 0.59 m 0.89 m x 1.18 m 8 mm 0.26 m x 0.35 m 0.53 m x 0.70 m 12 mm 0.
Filter and lenses Focal length for type 1/1.8 sensors Guppy PRO F-201 Distance = 500 mm Distance = 1000 mm 4.8 mm 740 mm x 549 mm 1488 mm x 1103 mm 8 mm 441 mm x 327 mm 890 mm x 660 mm 12 mm 292 mm x 216 mm 591 mm x 438 mm 16 mm 217 mm x 161 mm 441 mm x 327 mm 25 mm 136 mm x 101 mm 280 mm x 207 mm 35 mm 95 mm x 71 mm 198 mm x 147 mm 50 mm 65 mm x 48 mm 136 mm x 101 mm Table 11: Focal length vs.
Specifications Specifications Note • • For information on bit/pixel and byte/pixel for each color mode see Table 87: ByteDepth on page 179. Maximum protrusion means the distance from lens flange to the glass filter in the camera. Guppy PRO F-031B/C Feature Specification Image device Type 1/4 (diag. 4.5 mm) progressive scan SONY IT CCD ICX618AL/AQA with EXview HAD microlens Effective chip size 3.6 mm x 2.7 mm Cell size 5.6 µm x 5.6 µm Picture size (max.
Specifications Feature Specification Smart functions AGC (auto gain control), AEC (auto exposure control), autofunction AOI, LUT, binning (only b/w), sub-sampling (only b/w), color correction, hue, saturation, 1 storable user set only color: AWB (auto white balance) I/Os One configurable input (optocoupled), three configurable outputs (optocoupled) Transfer rate 100 Mbit/s, 200 Mbit/s, 400 Mbit/s, 800 Mbit/s Digital interface IEEE 1394b (IIDC V1.
Specifications Guppy PRO F-032B/C Feature Specification Image device Type 1/3 (diag. 6 mm) progressive scan SONY IT CCD ICX424AL/AQ with HAD microlens Effective chip size 4.9 mm x 3.7 mm Cell size 7.4 µm x 7.4 µm Picture size (max.) 656 x 492 pixels (Format_7 Mode_0) Lens mount Adjustable C-Mount: 17.526 mm (in air); Ø 25.4 mm (32 tpi) maximum protrusion: 10.
Specifications Feature Specification Mass 75 g (without lens) + 5 g filter ring Operating temperature + 5 °C ... + 45 °C ambient temperature (non-condensing) Storage temperature - 10 °C ...
Specifications Guppy PRO F-125B/C Feature Specification Image device Type 1/3 (diag. 6 mm) progressive scan SONY IT CCD ICX445ALA/AQA with EXview HAD microlens Effective chip size 4.8 mm x 3.6 mm Cell size 3.75 µm x 3.75 µm Picture size (max.) 1292 x 964 pixels (Format_7 Mode_0) Lens mount Adjustable C-Mount: 17.526 mm (in air); Ø 25.4 mm (32 tpi) maximum protrusion: 10.
Specifications Feature Specification Mass 75 g (without lens) + 5 g filter ring Operating temperature + 5 °C ... + 45 °C ambient temperature (non-condensing) Storage temperature - 10 °C ...
Specifications Guppy PRO F-146B/C Feature Specification Image device Type 1/2 (diag. 8 mm) progressive scan SONY IT CCD ICX267AL/AK with HAD microlens Effective chip size 6.5 mm x 4.8 mm Cell size 4.65 µm x 4.65 µm Picture size (max.) 1388 x 1038 pixels (Format_7 Mode_0) Lens mount Adjustable C-Mount: 17.526 mm (in air); Ø 25.4 mm (32 tpi) maximum protrusion: 10.
Specifications Feature Specification Mass 75 g (without lens) + 5 g filter ring Operating temperature + 5 °C ... + 45 °C ambient temperature (non-condensing) Storage temperature - 10 °C ...
Specifications Guppy PRO F-201B/C Feature Specification Image device Type 1/1.8 (diag. 8.9 mm) progressive scan SONY IT CCD ICX274AL/AQ with Super HAD microlens Effective chip size 7.1 mm x 5.4 mm Cell size 4.40 µm x 4.40 µm Picture size (max.) 1624 x 1234 pixels (Format_7 Mode_0) Lens mount Adjustable C-Mount: 17.526 mm (in air); Ø 25.4 mm (32 tpi) maximum protrusion: 10.
Specifications Feature Specification Mass 75 g (without lens) + 5 g filter ring Operating temperature + 5 °C ... + 45 °C ambient temperature (non-condensing) Storage temperature - 10 °C ...
Specifications Guppy PRO F-503B/C Feature Specification Image device Type 1/2.5 (diag. 7.13 mm) Micron/Aptina CMOS MT9P031 with microlens • • Electronic rolling shutter (ERS) Global reset release shutter (GRR) Effective chip size 5.7 mm x 4.3 mm Cell size 2.2 µm x 2.2 µm Lens mount Adjustable C-Mount: 17.526 mm (in air); Ø 25.4 mm (32 tpi) maximum protrusion: 10.
Specifications Feature Specification Power consumption Typical 3.5 watt (@ 12 V DC) (full resolution and maximal frame rates) Dimensions 44.8 mm x 29 mm x 29 mm (L x W x H); incl. connectors, without tripod and lens Mass 75 g (without lens) + 5 g filter ring Operating temperature + 5 °C ... + 45 °C ambient temperature (non-condensing) Storage temperature - 10 °C ...
Specifications Spectral sensitivity Note All measurements were done without protection glass / without filter. The uncertainty in measurement of the QE values is 10%. (QE = Quantum Efficiency) This is due to: • • Manufacturing tolerance of the sensor Uncertainties in the measuring apparatus itself (Ulbricht-Kugel/Ulbricht sphere, optometer, etc.) Guppy PRO Technical Manual V2.0.
Specifications Sensor Response Monochrome 45% 40% 35% Quantum Efficiency 30% 25% 20% 15% 10% 5% 0% 400 500 600 700 800 900 1000 1100 Wavelength [nm] Figure 9: Spectral sensitivity of Guppy PRO F-031B Figure 10: Spectral sensitivity of Guppy PRO F-031C (without IR cut filter) Guppy PRO Technical Manual V2.0.
Specifications Sensor Response Monochrome 60% 50% Quantum Efficiency 40% 30% 20% 10% 0% 400 500 600 700 800 900 1000 1100 700 750 Wavelength [nm] Figure 11: Spectral sensitivity of Guppy PRO F-032B Sensor Response Red Green Blue 35% 30% Quantum Efficiency 25% 20% 15% 10% 5% 0% 400 450 500 550 600 650 Wavelength [nm] Figure 12: Spectral sensitivity of Guppy PRO F-032C (without IR cut filter) Guppy PRO Technical Manual V2.0.
Specifications Sensor Response Monochrome 60% 50% Quantum Efficiency 40% 30% 20% 10% 0% 400 500 600 700 800 900 1000 1100 700 750 Wavelength [nm] Figure 13: Spectral sensitivity of Guppy PRO F-125B Sensor Response Red Green Blue 50% 45% 40% Quantum Efficiency 35% 30% 25% 20% 15% 10% 5% 0% 400 450 500 550 600 650 Wavelength [nm] Figure 14: Spectral sensitivity of Guppy PRO F-125C (without IR cut filter) Guppy PRO Technical Manual V2.0.
Specifications Sensor Response Monochrome 50% 45% 40% Quantum Efficiency 35% 30% 25% 20% 15% 10% 5% 0% 400 500 600 700 800 900 1000 1100 700 750 Wavelength [nm] Figure 15: Spectral sensitivity of Guppy PRO F-146B Sensor Response Red Green Blue 30% 25% Quantum Efficiency 20% 15% 10% 5% 0% 400 450 500 550 600 650 Wavelength [nm] Figure 16: Spectral sensitivity of Guppy PRO F-146C (without IR cut filter) Guppy PRO Technical Manual V2.0.
Specifications Sensor Response Monochrome 60% 50% Quantum Efficiency 40% 30% 20% 10% 0% 400 500 600 700 800 900 1000 1100 700 750 Wavelength [nm] Figure 17: Spectral sensitivity of Guppy PRO F-201B Sensor Response Red Green Blue 35% 30% Quantum Efficiency 25% 20% 15% 10% 5% 0% 400 450 500 550 600 650 Wavelength [nm] Figure 18: Spectral sensitivity of Guppy PRO F-201C (without IR cut filter) Guppy PRO Technical Manual V2.0.
Specifications Sensor Response Monochrome 70% 60% Quantum Efficiency 50% 40% 30% 20% 10% 0% 400 500 600 700 800 900 1000 1100 700 750 Wavelength [nm] Figure 19: Spectral sensitivity of Guppy PRO F-503B Sensor Response Red Green Blue 50% 45% 40% Quantum Efficiency 35% 30% 25% 20% 15% 10% 5% 0% 400 450 500 550 600 650 Wavelength [nm] Figure 20: Spectral sensitivity of Guppy PRO F-503C (without IR cut filter) Guppy PRO Technical Manual V2.0.
Camera dimensions Camera dimensions Note For information on sensor position accuracy: (sensor shift x/y, optical back focal length z and sensor rotation ) see Chapter Sensor position accuracy of AVT Guppy PRO cameras on page 251. Guppy PRO standard housing (1 x 1394b copper) 4.5 14 20 03x3 (3x) 23.8 29 12.3 C-Mount 29 2.5 16 29 Q27 10.3 10.3 9.5 5.2 03x3 (3x) 38.5 44.8 Figure 21: Camera dimensions (1 x 1394b copper) Guppy PRO Technical Manual V2.0.
Camera dimensions Tripod adapter This three hole tripod adapter (AVT order number 1216) ... • ... can be used for Guppy PRO only. • ... is only designed for standard housings. 29 20 30 14 23.8 4.5 UNC 1/4-20, 6 mm thread depth 11 9 3 14 9 10 Q3.2 (3x) Body size: 29 mm x 30 mm x 10 mm (L x W x H) Figure 22: Tripod dimensions Guppy PRO Technical Manual V2.0.
Camera dimensions Cross section: C-Mount • • All monochrome Guppy PRO cameras are equipped with the same model of protection glass. All color Guppy PRO cameras are equipped with the same model of IR cut filter. filter / protection glass Ø16 maximum protrusion: 10.7 adjustment spacer C-Mount Figure 23: Guppy PRO C-Mount dimensions Note Adjustment is only done (via adjustment spacer between lens and front flange), if the customer needs accuracy below 100 µm.
Camera dimensions Adjustment of C-Mount The dimensional adjustment cannot be done any more by the customer. All adjustments have to be done by the AVT factory. Adjustment is only done (via adjustment spacer between lens and front flange), if the customer needs accuracy below 100 µm. If you need any adjustments, please contact Customer Care: For phone numbers and e-mail: See Chapter Contacting Allied Vision Technologies on page 9.
Camera interfaces Camera interfaces This chapter gives you detailed information on status LEDs, inputs and outputs, trigger features and transmission of data packets. Note For a detailed description of the camera interfaces (FireWire, I/O connector), and operating instructions see the Hardware Installation Guide, Chapter Camera interfaces. Read all Notes and Cautions in the Hardware Installation Guide, before using any interfaces.
Camera interfaces www For more information on cables and on ordering cables online (by clicking the article and sending an inquiry) go to: http://www.alliedvisiontec.com/emea/products/accessories/ firewire-accessories.html Camera I/O connector pin assignment Pin Signal 10 3 11 4 Description 1 External GND GND for ext. power External Ground for external power 2 External Power +8...+36 V DC Power supply 3 --- --- --- --- 4 Camera In 1 In Uin(high) = 3 V...24 V Uin(low) = 0 V...1.
Camera interfaces Note GP = General Purpose For a detailed description of the I/O connector and its operating instructions see the Hardware Installation Guide, Chapter Guppy PRO input description. Read all Notes and Cautions in the Hardware Installation Guide, before using the I/O connector.
Camera interfaces Normal conditions Event (GREEN) (RED) Camera startup During startup all LEDs are switched on consecutively to show the startup progress: (GREEN + RED) long time then (GREEN + RED) short time then GREEN permanent on Power on GREEN Bus reset not available Asynchronous traffic +GREEN pulsing Isochronous traffic +GREEN pulsing Waiting for external trigger GREEN RED External trigger event GREEN +RED pulsing Table 18: LEDs showing normal conditions Error conditions Blink c
Camera interfaces 1 blink 2 blinks 3 blinks 1 blink Video mode error Format 7 error 1 Format 7 error 2 2 blinks Camera class object Camera regconst object Register mapping 3 blinks FLASH class object Platform class object Platform Platform initializa- firmware tion set Platform LLC version 4 blinks FPGA boot S1 error FPGA boot S2 error FPGA boot S3 error FPGA boot S5 error 5 blinks Stack setup error Stack LLC not start error ready Error Code S1 4 blinks 5 blinks 6 blinks 7 blink
Camera interfaces Control and video data signals The inputs and outputs of the camera can be configured by software. The different modes are described below. Inputs Note For a general description of the inputs and warnings see the Hardware Installation Guide, Chapter Guppy PRO input description. The optocoupler inverts all input signals. Inversion of the signal is controlled via the IO_INP_CTRL1..2 register (see Table 20: Advanced register: Input control on page 64).
Camera interfaces Input/output pin control All input and output signals running over the camera I/O connector are controlled by an advanced feature register. Register Name Field Bit Description 0xF1000300 IO_INP_CTRL1 Presence_Inq [0] Indicates presence of this feature (read only) --- [1..6] Reserved Polarity [7] 0: Signal not inverted 1: Signal inverted --- [8..10] Reserved InputMode [11..15] Mode see Table 21: Input routing on page 65 --- [16..
Camera interfaces IO_INP_CTRL 1 The Polarity flag determines whether the input is low active (0) or high active (1). The input mode can be seen in the following table. The PinState flag is used to query the current status of the input. The PinState bit reads the inverting optocoupler status after an internal negation. See Figure 27: Input block diagram on page 63. This means that an open input sets the PinState bit to 0.
Camera interfaces Trigger delay Guppy PRO cameras feature various ways to delay image capture based on external trigger. With IIDC V1.31 there is a standard CSR at Register F0F00534/834h to control a delay up to FFFh x time base value. The following table explains the inquiry register and the meaning of the various bits.
Camera interfaces Register Name Field Bit Description 0xF0F00834 TRIGGER_DELAY Presence_Inq [0] Presence of this feature: 0: N/A 1: Available Abs_Control [1] Absolute value control O: Control with value in the value field 1: Control with value in the absolute value CSR. If this bit=1 the value in the value field has to be ignored. --- [2..5] Reserved ON_OFF [6] Write ON or OFF this feature Read: Status of the feature ON=1 OFF=0 --- [7..19] Reserved Value [20..
Camera interfaces Note • • Switching trigger delay to ON also switches external Trigger_Mode_0 to ON. This feature works with external Trigger_Mode_0 only. Outputs Note For a general description of the outputs and warnings see the Hardware Installation Guide, Chapter Guppy PRO output description. Output features are configured by software. Any signal can be placed on any output.
Camera interfaces Output mode selectable via software Polarity selectable via software Operation state read IntEna FVal Busy Opto- PulseWidthMod WaitingForTrigger Output signal Coupler Operation state read Figure 28: Output block diagram Guppy PRO Technical Manual V2.0.
Camera interfaces IO_OUTP_CTRL 1-3 The outputs (Output mode, Polarity) are controlled via 3 advanced feature registers (see Table 26: Advanced register: Output control on page 70). The Polarity field determines whether the output is inverted or not. The output mode can be viewed in the table below. The current status of the output can be queried and set via the PinState. It is possible to read back the status of an output pin regardless of the output mode.
Camera interfaces Output modes ID Mode Default / description 0x00 Off 0x01 Output state follows PinState bit Using this mode, the Polarity bit has to be set to 0 (not inverted). This is necessary for an error free display of the output status.
Camera interfaces External trigger input Delay set by Trigger_Delay register IntegrationEnable (IntEna) Delay set by IntEna_Delay register IntEna delayed FrameValid (FVal) Busy WaitingForTrigger (only edge mode) Figure 29: Output impulse diagram Note The signals can be inverted. Caution Firing a new trigger while IntEna is still active can result in missing image. Guppy PRO Technical Manual V2.0.
Camera interfaces Note • • Note that trigger delay in fact delays the image capture whereas the IntEna_Delay only delays the leading edge of the IntEna output signal but does not delay the image capture. As mentioned before, it is possible to set the outputs by software. Doing so, the achievable maximum frequency is strongly dependent on individual software capabilities. As a rule of thumb, the camera itself will limit the toggle frequency to not more than 700 Hz.
Camera interfaces Period PulseWidth Figure 30: PulseWidth and Period definition Note Note the following conditions: • • PulseWidth Period Period MinPeriod PWM: minimal and maximal periods and frequencies In the following formulas you find the minimal/maximal periods and frequencies for the pulse-width modulation (PWM). period min = 3µs 1 - = ------1 - = 333.33kHz frequencymax = --------------------period min 3µs 1 frequency min = ------------------------ = 15.
Camera interfaces PWM: Examples in practice In this chapter we give you two examples, how to write values in the PWM registers. All values have to be written in microseconds (µs) in the PWM registers, therefore remember always the factor 10-6s. Example 1: Set PWM with 1kHz at 30% pulse width.
Camera interfaces Pixel data Pixel data are transmitted as isochronous data packets in accordance with the 1394 interface described in IIDC V1.31. The first packet of a frame is identified by the 1 in the sync bit (sy) of the packet header. sync bit 0-7 8-15 data_length 16-23 tg channel 24-31 tCode sy header_CRC Video data payload data_CRC Table 29: Isochronous data block packet format. Source: IIDC V1.
Camera interfaces Description of video data formats The following tables provide a description of the video data format for the different modes. (Source: IIDC V1.31; packed 12-bit mode: AVT) Each component has 8-bit data.
Camera interfaces Y component has 8-bit data. Y(K+0) Y(K+1) Y(K+2) Y(K+3) Y(K+4) Y(K+5) Y(K+6) Y(K+7) Y(K+Pn-8) Y(K+Pn-7) Y(K+Pn-6) Y(K+Pn-5) Y(K+Pn-4) Y(K+Pn-3) Y(K+Pn-2) Y(K+Pn-1) Table 33: Y (Mono8) format: Source: IIDC V1.31 / Y (Raw8) format: AVT Y component has 16-bit data.
Camera interfaces Y(K+0) [11..4] Y(K+1) [3..0] Y(K+1) [11..4] Y(K+2) [11..4] Y(K+4) [11..4] Y(K+5) [3..0] Y(K+0) [3..0] Y(K+3) [3..0] Y(K+3) [11..4] Y(K+2) [3..0] Y(K+5) [11..4] Y(K+4) [3..0] Y(K+6) [11..4] Y(K+7) [3..0] Y(K+7) [11..4] Y(K+6) [3..0] Table 35: Packed 12-Bit Mode (mono and raw) Y12 format (AVT) Each component (Y, R, G, B) has 8-bit data. The data type is Unsigned Char.
Camera interfaces Each component (Y, U, V) has 8-bit data. The Y component is the same as in the above table. U, V Signal level (decimal) Data (hexadecimal) Highest (+) 127 0xFF 126 0xFE . . . . 1 0x81 0 0x80 -1 0x7F -127 0x01 -128 0x00 Lowest Highest (-) Figure 32: Data structure of YUV8; Source: IIDC V1.31 Y component has 16-bit data. The data type is Unsigned Short (big-endian).
Camera interfaces Y component has 12-bit data. The data type is unsigned. Y Signal level (decimal) Data (hexadecimal) Highest 4095 0x0FFF 4094 0x0FFE . . . . 1 0x0001 0 0x0000 Lowest Table 36: Data structure of Packed 12-Bit Mode (mono and raw) (AVT) Guppy PRO Technical Manual V2.0.
Description of the data path Description of the data path Block diagrams of the cameras The following diagrams illustrate the data flow and the bit resolution of image data after being read from the CCD sensor chip in the camera. The individual blocks are described in more detail in the following paragraphs. For sensor data see Chapter Specifications on page 35.
Sensor CMOS: the following functions are integrated in sensor: Sub-sampling, horizontal masking Analog Horizontal masking (only CCD) Hue Saturation Color correction Color conversion Gain 8 bit 8 bit Analog Camera control Frame memory Color interpolation Camera control Offset 8 bit 14 bit Analog 10 IEEE 1394b interface 12 LUT ADC 1394b 14 bit 14 bit Defect pixel correction (only CMOS) White balance Description of the data path Color cameras 14 bit Test-Pattern HIROSE I/O RS232
Description of the data path White balance There are two types of white balance: • one-push white balance: white balance is done only once (not continuously) • auto white balance (AWB): continuously optimizes the color characteristics of the image Guppy PRO color cameras have both one-push white balance and auto white balance. White balance is applied so that non-colored image parts are displayed noncolored. Guppy PRO Technical Manual V2.0.
Description of the data path From the user's point, the white balance settings are made in register 80Ch of IIDC V1.31. This register is described in more detail below. Register Name Field Bit 0xF0F0080C WHITE_BALANCE Presence_Inq [0] Description Presence of this feature: 0: N/A 1: Available Abs_Control [1] Absolute value control O: Control with value in the Value field 1: Control with value in the Absolute value CSR If this bit=1, the value in the Value field will be ignored. --- [2..
Description of the data path Note While lowering both U/B and V/R registers from 284 towards 0, the lower one of the two effectively controls the green gain. Figure 36: U/V slider range Type Range Range in dB Guppy PRO color cameras 0 ... 568 10 dB Table 38: U/V slider range of the various Guppy PRO types The increment length is ~0.0353 dB/step.
Description of the data path This feature uses the assumption that the R-G-B component sums of the samples shall be equal; i.e., it assumes that the average of the sampled grid pixels is to be monochrome. Note The following ancillary conditions should be observed for successful white balance: • There are no stringent or special requirements on the image content, it requires only the presence of monochrome pixels in the image. If the image capture is active (e.g.
Description of the data path Auto white balance (AWB) The auto white balance feature continuously optimizes the color characteristics of the image. For the white balance algorithm the whole image or a subset of it is used. Auto white balance can also be enabled by using an external trigger. However, if there is a pause of >10 seconds between capturing individual frames this process is aborted.
Description of the data path AOI: X-size 0,0 AF_AREA_POSITION: Left,Top AOI: Y-size Sampling grid for Auto-Function AF_AREA_SIZE: Height: n x 4 AF_AREA_SIZE: Width: n x 4 Figure 38: AUTOFNC_AOI positioning The algorithm is based on the assumption that the R-G-B component sums of the samples are equal, i.e., it assumes that the mean of the sampled grid pixels is to be monochrome. Auto shutter In combination with auto white balance, Guppy PRO cameras are equipped with auto shutter feature.
Description of the data path To configure this feature in control and status register (CSR): Register Name Field Bit Description 0xF0F0081C SHUTTER Presence_Inq [0] Presence of this feature: 0: N/A 1: Available Abs_Control [1] Absolute value control O: Control with value in the Value field 1: Control with value in the Absolute value CSR If this bit=1, the value in the Value field will be ignored. --- [2..
Description of the data path Auto gain All Guppy PRO cameras are equipped with auto gain feature. Note Configuration To configure this feature in an advanced register: See Table 123: Advanced register: Auto gain control on page 234. When enabled auto gain adjusts the gain within the default gain limits or within the limits set in advanced register F1000370h in order to reach the brightness set in auto exposure register as reference.
Description of the data path Register Name Field Bit Description 0xF0F00820 GAIN Presence_Inq [0] Presence of this feature: 0: N/A 1: Available Abs_Control [1] Absolute value control O: Control with value in the value field 1: Control with value in the absolute value CSR If this bit=1 the value in the value field has to be ignored. --- [2..
Description of the data path Register Name Field Bit Description 0xF0F00804 AUTO_EXPOSURE Presence_Inq [0] Presence of this feature: 0: N/A 1: Available Abs_Control [1] Absolute value control O: Control with value in the value field 1: Control with value in the absolute value CSR If this bit=1 the value in the value field has to be ignored. --- [2..
Description of the data path Note • • • Values can only be changed within the limits of gain CSR. Changes in auto exposure register only have an effect when auto gain is active. Auto exposure limits are 50..205. (SmartViewCtrl1 tab: Target grey level) Manual gain Guppy PRO cameras are equipped with a gain setting, allowing the gain to be manually adjusted on the fly by means of a simple command register write.
Description of the data path The IIDC register brightness at offset 800h is used for this purpose. The following table shows the BRIGHTNESS register: Register Name Field Bit Description 0xF0F00800 BRIGHTNESS Presence_Inq [0] Presence of this feature: 0: N/A 1: Available Abs_Control [1] Absolute value control O: Control with value in the value field 1: Control with value in the absolute value CSR If this bit= 1 the value in the value field has to be ignored --- [2..
Description of the data path Mirror function (only Guppy PRO F-503) Guppy PRO F-503 cameras are equipped with a mirror function, which is built directly into the sensor. The mirror is centered to the current FOV center and can be combined with all image manipulation functions, like binning. This function is especially useful when the camera is looking at objects with the help of a mirror or in certain microscopy applications. • With Guppy PRO F-503B, horizontal and vertical mirror is possible.
Description of the data path Look-up table (LUT) and gamma function The AVT Guppy PRO camera provides one user-defined look-up table (LUT). The use of this LUT allows any function (in the form Output = F(Input)) to be stored in the camera's RAM and to be applied on the individual pixels of an image at run-time. The address lines of the RAM are connected to the incoming digital data, these in turn point to the values of functions which are calculated offline, e.g. with a spreadsheet program.
Description of the data path Note • • • The input value is the most significant 12-bit value from the digitizer. Gamma 1 (gamma= 0.45) switches on the LUT. After overriding the LUT with a user defined content, gamma functionality is no longer available until the next full initialization of the camera. LUT content is volatile if you do not use the user profiles to save the LUT. Guppy PRO Technical Manual V2.0.
Description of the data path Loading an LUT into the camera Loading the LUT is carried out through the data exchange buffer called GPDATA_BUFFER. As this buffer can hold a maximum of 2 kB, and a complete LUT at 4096 x 10 bit is 5 kByte, programming can not take place in a one block write step because the size of an LUT is larger than GPDATA_BUFFER. Therefore input must be handled in several steps. The flow diagram below shows the sequence required to load data into the camera.
Description of the data path Defect pixel correction (only Guppy PRO F-503B/C) The mechanisms of defect pixel correction are explained in the following drawings. All examples are done in Format_7 Mode_0 (full resolution). The first two examples are explained for b/w cameras, the third and fourth example are explained for color cameras. The X marks a defect pixel. 50% brightness of pixel value 1.
Description of the data path Note While building defect pixel correction data or uploading them from host, the defect pixel correction data are stored volatile in FPGA. Optionally you can store the data in a non-volatile memory (Set MemSave to 1). Note Configuration To configure this feature in an advanced register: See Table 120: Advanced register: Defect pixel correction on page 229. Guppy PRO Technical Manual V2.0.
Description of the data path Building defect pixel data Note • • • • • Defect pixel correction is only possible in Mono8 modes for monochrome cameras and Raw8 modes for color cameras. In all other modes you get an error message in advanced register 0xF1000298 bit [1] see Table 120: Advanced register: Defect pixel correction on page 229. Using Format_7 Mode_x: Defect pixel correction is done in Format_7 Mode_x.
Description of the data path To build defect pixel data perform the following steps: Grab an image with defect pixel data 1. Take the camera, remove lens and put on lens cap. 2. Set image resolution to Format_7 Mode_x or Format_7 Mode_0 (when using fixed modes) with Raw8 or Mono8 color encoding, and set AOI to maximum. 3. Set values for shutter and gain to maximum. 4. Grab a single image (one-shot). Calculate defect pixel coordinates 5. Accept default threshold from system or choose own threshold.
Description of the data path 9. Grab a single image (one-shot). Activate/deactivate defect pixel correction Activate: 1. Set ON_OFF flag to 1. Deactivate: 1. Set ON_OFF flag to 0. Store defect pixel data non-volatile 1. Set the MemSave flag to 1. Load non-volatile stored defect pixel data 1. Set the MemLoad flag to 1. All non-volatile stored defect pixel coordinates are loaded.
Description of the data path Binning (only b/w cameras; F-503: also color cameras) 2 x binning (F-503 also 4 x) Definition Binning is the process of combining neighboring pixels while being read out from the sensor. Note • Binning does not change offset, brightness or blacklevel.
Description of the data path For Guppy F-503 there are also mixed modes via mode mapping available: For example: • 4 x H-binning 2 x V-binning (only F-503) • 2 x H-binning 4 x V-binning (only F-503) ... and many other mixed modes. For more information see the mapping table of possible Format_7 modes (for F-503 only) on page 120. Vertical binning Light sensitivity Vertical binning increases the light sensitivity of the camera by a factor of two (monochrome CCD models).
Description of the data path Figure 44: 2 x vertical binning (CCD models) Figure 45: 2 x vertical binning (Guppy PRO F-503B/C) Note Vertical resolution is reduced, but signal-to noise ratio (SNR) is increased by about 3 or 6 dB (2 x or 4 x binning). Guppy PRO Technical Manual V2.0.
Description of the data path Note The image appears vertically compressed in this mode and no longer exhibits a true aspect ratio. If vertical binning is activated the image may appear to be over-exposed and may require correction. Guppy PRO Technical Manual V2.0.
Description of the data path Horizontal binning Definition (CCD cameras only) In horizontal binning adjacent pixels of a row are combined digitally in the FPGA of the camera without accumulating the black level. CMOS cameras: horizontal binning is done in the CMOS sensor. With the CMOS sensor of Guppy PRO F-503C, color binning is possible. The monochrome CMOS sensor of Guppy PRO F-503B uses the same binning patterns as the color version.
Description of the data path Figure 46: 2 x horizontal binning (CCD models) Figure 47: 2 x horizontal binning (Guppy PRO F-503B/C) Note The image appears horizontally compressed in this mode and does no longer show true aspect ratio. If horizontal binning is activated the image may appear to be over-exposed and must be corrected, if necessary. Guppy PRO Technical Manual V2.0.
Description of the data path 2 x full binning (F-503 also 4 x full binning) If horizontal and vertical binning are combined, every 4 (16) pixels are consolidated into a single pixel. At first two (4) vertical pixels are put together and then combined horizontally. With the CMOS sensor of Guppy PRO F-503C, color binning is possible. The monochrome CMOS sensor of Guppy PRO F-503B uses the same binning patterns as the color version.
Description of the data path Figure 48: Full binning (CCD models) Figure 49: 2 x full binning (Guppy PRO F-503) Note If full binning is activated the image may appear to be overexposed and must be corrected, if necessary. Guppy PRO Technical Manual V2.0.
Description of the data path Sub-sampling (only F-503B/C and CCD cameras b/w) What is sub-sampling? Definition Sub-sampling is the process of skipping neighboring pixels (with the same color) while being read out from the CCD chip. Which Guppy PRO models have sub-sampling? • • CMOS Guppy PRO cameras (F-503B/C) (b/w and color cameras) have sub-sampling.
Description of the data path 2 out of 4 Figure 52: Horizontal sub-sampling 2 out of 4 (color) 2 out of 8 Figure 53: Horizontal sub-sampling 2 out of 8 (color) Note The image appears horizontally compressed in this mode and no longer exhibits a true aspect ratio. Guppy PRO Technical Manual V2.0.
Description of the data path Format_7 Mode_5 By default and without further remapping use Format_7 Mode_5 for • Guppy PRO F-503B: 2 out of 4 vertical sub-sampling • Guppy PRO F-503C: 2 out of 4 vertical sub-sampling The different sub-sampling patterns are shown below. 2 out of 4 2 out of 8 Figure 54: Vertical sub-sampling (b/w) Guppy PRO Technical Manual V2.0.
Description of the data path 2 out of 4 2 out of 8 Figure 55: Vertical sub-sampling (color) Note Format_7 Mode_6 The image appears vertically compressed in this mode and no longer exhibits a true aspect ratio. By default and without further remapping use Format_7 Mode_6 for 2 out of 4 H+V sub-sampling The different sub-sampling patterns are shown below. 2 out of 4 H+V sub-sampling Figure 56: 2 out of 4 H+V sub-sampling (b/w) Guppy PRO Technical Manual V2.0.
Description of the data path 2 out of 8 H+V sub-sampling Figure 57: 2 out of 8 H+V sub-sampling (b/w) Guppy PRO Technical Manual V2.0.
Description of the data path 2 out of 4 H+V sub-sampling Figure 58: 2 out of 4 H+V sub-sampling (color) 2 out of 8 H+V sub-sampling Figure 59: 2 out of 8 H+V sub-sampling (color) Binning and sub-sampling access (F-503 only) The binning and sub-sampling modes described in the last two chapters are only available as pure binning or pure sub-sampling modes. A combination of both is not possible. As you can see there is a vast amount of possible combinations.
Description of the data path • • (see Figure 60: Mapping of possible Format_7 modes to F7M1...F7M7 (F503 only) For default mappings per factory see page 162 on page 120) Mappings can be stored via register (see Chapter Format_7 mode mapping (only Guppy PRO F-503) on page 241) and are uploaded automatically into the camera on camera reset.
Description of the data path F7M1 F7M2 F7M3 F7M4 F7M5 F7M6 F7M7 mapping of each of 27 modes to F7M1..
Description of the data path Note Configuration To configure this feature in an advanced register: See Table 131: Advanced register: Format_7 mode mapping on page 241. Packed 12-Bit Mode All Guppy PRO cameras have the so-called Packed 12-Bit Mode. This means: two 12-bit pixel values are packed into 3 bytes instead of 4 bytes. B/w cameras Color cameras Packed 12-Bit MONO camera mode Packed 12-Bit RAW camera mode SmartView: MONO12 SmartView: RAW12 Mono and raw mode have the same implementation.
Description of the data path Color interpolation (BAYER demosaicing) The color sensors capture the color information via so-called primary color (R-G-B) filters placed over the individual pixels in a BAYER mosaic layout. An effective BAYER RGB color interpolation already takes place in all Guppy PRO color version cameras. In color interpolation a red, green or blue value is determined for each pixel.
Description of the data path In color interpolation a red, green or blue value is determined for each pixel.
Description of the data path Note Configuration Hue and saturation do not show any effect on Guppy PRO color models in the Raw8 and Raw16 format, because color processing is switched off in all Raw formats. Color correction Why color correction? The spectral response of a CCD is different of those of an output device or the human eye. This is the reason for the fact that perfect color reproduction is not possible.
Description of the data path These coefficients are stored in user set 0 and can not be overwritten (factory setting). Changing color correction coefficients You can change the color-correction coefficients according to your own needs. Changes are stored in the user settings. Note • • • • • • • A number of 1000 equals a color correction coefficient of 1. To obtain an identity matrix set values of 1000 for the diagonal elements an 0 for all others. As a result you get colors like in the RAW modes.
Description of the data path Color conversion (RGB to YUV) The conversion from RGB to YUV is made using the following formulae: Y = 0.3 R + 0.59 G + 0.11 B U = – 0.169 R – 0.33 G + 0.498 B + 128 (@ 8 bit) V = 0.498 R – 0.420 G – 0.082 B + 128 (@ 8 bit) Formula 6: RGB to YUV conversion Note • • As mentioned above: Color processing can be bypassed by using so-called RAW image transfer. RGB YUV conversion can be bypassed by using RGB8 format and mode.
Controlling image capture Controlling image capture Global shutter (CCD cameras only) Shutter modes The cameras support the SHUTTER_MODES specified in IIDC V1.31. For all models (except Guppy PRO F-503) this shutter is a global shutter; meaning that all pixels are exposed to the light at the same moment and for the same time span. Pipelined Pipelined means that the shutter for a new image can already happen, while the preceding image is transmitted.
Controlling image capture Electronic rolling shutter (ERS) and global reset release shutter (GRR) (only Guppy PRO F-503) The CMOS Guppy PRO F-503 (Micron/Aptina CMOS sensor MT9P031) has an electronic rolling shutter (ERS) and a global reset release shutter (GRR) but no global shutter.
Controlling image capture Trigger modes Guppy PRO cameras support IIDC conforming Trigger_Mode_0 and Trigger_Mode_1 and special Trigger_Mode_15 (bulk trigger). Note CMOS cameras Guppy PRO F-503 support only Trigger_Mode_0.
Controlling image capture Trigger_Mode_0 (edge mode) and Trigger_Mode_1 (level mode) External Trigger input, as applied at input pin External Trigger input, after inverting opto coupler Shutter register value External Trigger input, as applied at pin External Trigger input, after inv. Opto. Integration Time Figure 63: Trigger_Mode_0 and 1 Guppy PRO Technical Manual V2.0.
Controlling image capture The Guppy PRO F-503 has two shutter modes: • electronic rolling shutter (ERS) and • global reset release shutter (GRR) Note With this two shutter modes only Trigger_Mode_0 is possible. Details are explained in the following diagrams. Guppy PRO F-503, Trigger_Mode_0, electronic rolling shutter • IntEna is high, when all pixels are integrated simultaneously. • IntEna starts with start of exposure of last row. • IntEna ends with end of exposure of first row.
Controlling image capture Short exposure time: If the following condition is true: Texp eff. = Texp - Tframe < 0 then you don’t get an IntEna signal and triggering is not possible. IntEna Texp Tframe No overlapping, no IntEna, no flash Texp – Tframe < 0 FVal Figure 65: Trigger_Mode_0: Guppy PRO F-503 electronic rolling shutter (short exposure time) Guppy PRO Technical Manual V2.0.
Controlling image capture Guppy PRO F-503, Trigger_Mode_0, global reset release shutter Note • • • For activating global reset release shutter in an advanced register see Table 137: Advanced register: Global reset release shutter on page 247. IntEna is high, when all pixels are integrated simultaneously. Readout starts with end of exposure of first row. Readout ends with (end of exposure of last row) + (1x Trow).
Controlling image capture Bulk trigger (Trigger_Mode_15) Note Trigger_Mode_15 is only available for Guppy PRO CCD cameras. Trigger_Mode_15 is a bulk trigger, combining one external trigger event with continuous or one-shot or multi-shot internal trigger. It is an extension to the IIDC trigger modes. One external trigger event can be used to trigger a multitude of internal image intakes. This is especially useful for: • Grabbing exactly one image based on the first external trigger.
Controlling image capture The functionality is controlled via bit [6] and bitgroup [12-15] of the following register: Register Name Field Bit Description [0] Presence of this feature: 0: N/A 1: Available Abs_Control [1] Absolute value control O: Control with value in the Value field 1: Control with value in the Absolute value CSR If this bit = 1 the value in the Value field has to be ignored. --- [2..
Controlling image capture The screenshots below illustrate the use of Trigger_Mode_15 on a register level: • Line #1switches continuous mode off, leaving viewer in listen mode. • Line #2 prepares 830h register for external trigger and Mode_15. Left = continuous Middle = one-shot Right = multi-shot Line #3 switches camera back to continuous mode. Only one image is grabbed precisely with the first external trigger.
Controlling image capture Trigger delay Guppy PRO cameras feature various ways to delay image capture based on external trigger. With IIDC V1.31 there is a standard CSR at register F0F00534/834h to control a delay up to FFFh x time base value. The following table explains the Inquiry register and the meaning of the various bits.
Controlling image capture Register Name Field Bit Description 0xF0F00834 TRIGGER_DELAY Presence_Inq [0] Presence of this feature: 0: N/A 1: Available Abs_Control [1] Absolute value control O: Control with value in the Value field 1: Control with value in the Absolute value CSR If this bit = 1, the value in the Value field has to be ignored --- [2..5] Reserved ON_OFF [6] Write: ON or OFF this feature Read: read a status 0: OFF 1: ON If this bit = 0, other fields will be read only.
Controlling image capture The advanced register allows start of the integration to be delayed by max. 221 µs, which is max. 2.1 s after a trigger edge was detected. Note • • Switching trigger delay to ON also switches external Trigger_Mode_0 to ON. This feature works with external Trigger_Mode_0 only. Software trigger A software trigger is an external signal that is controlled via a status and control register: 62Ch on page 207: to activate software trigger set bit [0] to 1.
Controlling image capture To set this feature in SmartView: Trig/IO tab, Input pins table, Debounce column. Debounce time This register controls the debounce feature of the cameras input pins. The debounce time can be set for each available input separately. Increment is 500 ns Debounce time is set in Time x 500 ns Minimum debounce time is 1.
Controlling image capture Exposure time (shutter) and offset The exposure (shutter) time for continuous mode and Trigger_Mode_0 is based on the following formula: Shutter register value x time base + offset The register value is the value set in the corresponding IIDC 1.31 register (SHUTTER [81Ch]). This number is in the range between 1 and 4095. The shutter register value is multiplied by the time base register value (see Table 116: Time base ID on page 224). The default value here is set to 20 µs.
Controlling image capture Camera model Exposure time offset Guppy PRO F-201 Guppy PRO F-503 41 µs see Chapter Exposure time of Guppy PRO F-503 (CMOS) on page 141 Table 58: Camera-specific exposure time offset Minimum exposure time Camera model Minimum exposure time Effective min. exp. time = Min. exp.
Controlling image capture Register Name Field Bit Description 0xF100020C EXTD_SHUTTER Presence_Inq [0] Indicates presence of this feature (read only) --- [1.. 5] Reserved ExpTime [6..31] Exposure time in µs Table 61: Advanced register: Extended shutter The longest exposure time, 3FFFFFFh, corresponds to 67.11 sec. The lowest possible value of ExpTime is camera-specific (see Table 59: Camera-specific minimum exposure time on page 142).
Controlling image capture One-shot Guppy PRO cameras can record an image by setting the one-shot bit in the 61Ch register. This bit is automatically cleared after the image is captured. If the camera is placed in ISO_Enable mode (see Chapter ISO_Enable / freerun on page 147), this flag is ignored. If one-shot mode is combined with the external trigger, the one-shot command is used to arm it. The following screenshot shows the sequence of commands needed to put the camera into this mode.
Controlling image capture One-shot command on the bus to start of exposure The following sections describe the time response of the camera using a single frame (one-shot) command. As set out in the IIDC specification, this is a software command that causes the camera to record and transmit a single frame. The following values apply only when the camera is idle and ready for use. Full resolution must also be set.
Controlling image capture End of exposure to first packet on the bus After the exposure, the CCD sensor is read out; some data is written into the FRAME_BUFFER before being transmitted to the bus. The time from the end of exposure to the start of transport on the bus is: 710 µs ± 62.5 µs This time jitters with the cycle time of the bus (125 µs). OneShot Command Exposure Integration-Start Timebase Reg. X Shutter-Reg.
Controlling image capture Multi-shot Setting multi-shot and entering a quantity of images in Count_Number in the 61Ch register enables the camera to record a specified number of images. The number is indicated in bits 16 to 31. If the camera is put into ISO_Enable mode (see Chapter ISO_Enable / free-run on page 147), this flag is ignored and deleted automatically once all the images have been recorded.
Controlling image capture The following screenshot shows an example of broadcast commands sent with the Firedemo example of FirePackage: Figure 72: Broadcast one-shot • • Line 1 shows the broadcast command, which stops all cameras connected to the same IEEE 1394 bus. It is generated by holding the Shift key down while clicking on Write. Line 2 generates a broadcast one_shot in the same way, which forces all connected cameras to simultaneously grab one image.
Controlling image capture In this case the camera can resynchronize the horizontal clock to the new trigger event, leaving only a very short uncertainty time of the master clock period. Model Exposure start jitter (while FVal) Exposure start jitter (while camera idle) Guppy PRO F-031 14.2 µs 2.9 µs Guppy PRO F-032 24.3 µs 3 µs Guppy PRO F-125 33.2 µs 5 µs Guppy PRO F-146 56 µs 13.7 µs Guppy PRO F-201 29.5 µs 10.
Video formats, modes and bandwidth Video formats, modes and bandwidth The different Guppy PRO models support different video formats, modes and frame rates. These formats and modes are standardized in the IIDC (formerly DCAM) specification. Resolutions smaller than the generic sensor resolution are generated from the center of the sensor and without binning. Note • • • Note The maximum frame rates can only be achieved with shutter settings lower than 1/framerate.
Video formats, modes and bandwidth Guppy PRO F-031B / Guppy PRO F-031C Format Mode Resolution Color mode 240 fps 0 120 fps 60 fps 30 fps 15 fps 7.5 fps 3.75 fps 1.
Video formats, modes and bandwidth Format Mode Resolution Color mode Maximal S800 frame rates for Format_7 modes 656 x 492 Mono8 Mono12 Mono16 121 fps 121 fps 121 fps 656 x 492 YUV411 YUV422,Raw16 Mono8,Raw8 RGB8 Raw12 121 fps 121 fps 121 fps 66 fps 121 fps 1 328 x 492 Mono8 Mono12 Mono16 123 fps 2x H-binning 122 fps 2x H-binning 121 fps 2x H-binning 2 656 x 246 Mono8 Mono12 Mono16 204 fps 2x V-binning 204 fps 2x V-binning 194 fps 2x V-binning 3 328 x 246 Mono8 Mono12
Video formats, modes and bandwidth Guppy PRO F-032B / Guppy PRO F-032C Format Mode Resolution Color mode 240 fps 0 120 fps 60 fps 30 fps 15 fps 7.5 fps 3.75 fps 1.
Video formats, modes and bandwidth Format Mode Resolution Color mode Maximal S800 frame rates for Format_7 modes 656 x 492 Mono8 Mono12 Mono16 79 fps 79 fps 79 fps 656 x 492 YUV411 YUV422,Raw16 Mono8,Raw8 RGB8 Raw12 79 fps 79 fps 79 fps 66 fps 79 fps 1 328 x 492 Mono8 Mono12 Mono16 79 fps 79 fps 79 fps 2 656 x 246 Mono8 Mono12 Mono16 135 fps 2x V-binning 135 fps 2x V-binning 135 fps 2x V-binning 3 328 x 246 Mono8 Mono12 Mono16 135 fps 2x H+V binning 135 fps 2x H+V binn
Video formats, modes and bandwidth Guppy PRO F-125B / Guppy PRO F-125C Format Mode Resolution 0 1 2 Color mode 240 fps 120 fps 60 fps 30 fps 15 fps 7.5 fps 3.75 fps 1.
Video formats, modes and bandwidth Note Format Mode Resolution The following table shows default Format_7 modes without Format_7 mode mapping. • see Chapter Mapping of possible Format_7 modes to F7M1...
Video formats, modes and bandwidth Guppy PRO F-146B / Guppy PRO F-146C Format Mode Resolution 0 1 2 Color mode 240 fps 120 fps 60 fps 30 fps 15 fps 7.5 fps 3.75 fps 1.
Video formats, modes and bandwidth Format Mode Resolution Color mode Maximal S800 frame rates for Format_7 modes 0 1388 x 1038 Mono8 Mono12 Mono16 1388 x 1038 YUV411 YUV422,Raw16 Mono8,Raw8 RGB8 Raw12 17 17 17 17 17 17 17 17 1 692 x 1038 Mono8 Mono12 Mono16 17 fps 17 fps 17 fps 2x H-binning 2x H-binning 2x H-binning 2 1388 x 518 Mono8 Mono12 Mono16 28 fps 28 fps 28 fps 2x V-binning 2x V-binning 2x V-binning 3 692 x 518 Mono8 Mono12 Mono16 28 fps 28 fps 28 fps 2x H+V b
Video formats, modes and bandwidth Guppy PRO F-201B / Guppy PRO F-201C Format Mode Resolution 0 1 2 Color mode 240 fps 120 fps 60 fps 30 fps 15 fps 7.5 fps 3.75 fps 1.
Video formats, modes and bandwidth Format Mode Resolution Maximal S800 frame rates for Format_7 modes 0 1624 x 1234 Mono8 Mono12 Mono16 1624 x 1234 YUV411 YUV422,Raw16 Mono8,Raw8 RGB8 Raw12 14 14 14 14 14 14 10 14 1 812 x 1234 Mono8 Mono12 Mono16 14 fps 14 fps 14 fps 2x H-binning 2x H-binning 2x H-binning 2 1624 x 616 Mono8 Mono12 Mono16 24 fps 24 fps 24 fps 2x V-binning 2x V-binning 2x V-binning 3 812 x 616 Mono8 Mono12 Mono16 24 fps 24 fps 24 fps 2x H+V binnin
Video formats, modes and bandwidth Guppy PRO F-503B / Guppy PRO F-503C Format Mode Resolution Color mode 0 1 2 120 fps 60 fps 30 fps 15 fps 7.5 fps 3.75 1.
Video formats, modes and bandwidth Format Mode Resolution 0 1 2 3 7 4 5 6 Color mode 2588 x 1940 Mono8 Mono12 Mono16 2588 x 1940 Mono8,Raw8 YUV411,Raw12 YUV422,Raw16 1292 x 1940 Mono8 Mono12 Mono16 1292 x 1944 Mono8,Raw8 YUV411,Raw12 YUV422,Raw16 2588 x 968 Mono8 Mono12 Mono16 2588 x 968 Mono8,Raw8 YUV411,Raw12 YUV422,Raw16 1292 x 968 Mono8 Mono12 Mono16 1292 x 968 Mono8,Raw8 YUV411,Raw12 YUV422,Raw16 1292 x 1940 Mono8 Mono12 Mono16 1292 x 1940 Mono8,Raw8 YUV411,Ra
Video formats, modes and bandwidth Area of interest (AOI) The camera’s image sensor has a defined resolution. This indicates the maximum number of lines and pixels per line that the recorded image may have. However, often only a certain section of the entire image is of interest. The amount of data to be transferred can be decreased by limiting the image to a section when reading it out from the camera. At a lower vertical resolution the sensor can be read out faster and thus the frame rate is increased.
Video formats, modes and bandwidth Figure 73: Area of interest (AOI) Note • • The left position + width and the upper position + height may not exceed the maximum resolution of the sensor. The coordinates for width and height must be divisible by 4.
Video formats, modes and bandwidth Autofunction AOI Use this feature to select the image area (work area) on which the following autofunctions work: • Auto shutter • Auto gain • Auto white balance In the following screenshot you can see an example of the autofunction AOI: Work area Figure 74: Example of autofunction AOI (Show work area is on) Note Autofunction AOI is independent from Format_7 AOI settings.
Video formats, modes and bandwidth Note Configuration To configure this feature in an advanced register see Chapter Autofunction AOI on page 235. Frame rates An IEEE 1394 camera requires bandwidth to transport images. The IEEE 1394b bus has very large bandwidth of at least 62.5 MByte/s for transferring (isochronously) image data. Per cycle up to 8192 bytes (or around 2000 quadlets = 4 bytes@ 800 Mbit/s) can thus be transmitted.
Video formats, modes and bandwidth Format Mode 0 Resolution 240 fps 120 fps 60 fps 30 fps 15 fps 7.
Video formats, modes and bandwidth Format Mode Resolution 0 800 x 600 YUV (4:2:2) 16 bit/pixel 1 240 fps 120 fps 60 fps 800 x 600 RGB 800 x 600 Y (Mono8) 8 bit/pixel 3 4 1024 x 768 YUV (4:2:2) 8 bit/pixel 6 800 x 600 (Mono16) 16 bit/pixel 7 1.
Video formats, modes and bandwidth Format Mode Resolution 60 fps 0 1280 x 960 YUV (4:2:2) 30 fps 16 bit/pixel 1 1280 x 960 RGB 24 bit/pixel 2 1280 x 960 Y (Mono8) 1600 x 1200 YUV(4:2:2) 4 1.
Video formats, modes and bandwidth Frame rates Format_7 In video Format_7 frame rates are no longer fixed. Note • • Different values apply for the different sensors. Frame rates may be further limited by longer shutter times and/or bandwidth limitation from the IEEE 1394 bus. Details are described in the next chapters: • Max. frame rate of CCD (theoretical formula) • Diagram of frame rates as function of AOI by constant width: the curves describe RAW8, RAW12/YUV411, RAW16/YUV422, RGB8 and max.
Video formats, modes and bandwidth Guppy PRO F-031: AOI frame rates 1 max. frame rate of CCD = ---------------------------------------------------------------------------------------------------------------------------------------------------148.71µs + AOI height 16.05µs + 508 – AOI height 3µs Formula 9: Guppy PRO F-031: theoretical max.
Video formats, modes and bandwidth Guppy PRO F-032: AOI frame rates 1 max. frame rate of CCD = ---------------------------------------------------------------------------------------------------------------------------------------------495.5µs + AOI height 24.4µs + 509 – AOI height 3µs Formula 10: Guppy PRO F-032: theoretical max.
Video formats, modes and bandwidth Guppy PRO F-125: AOI frame rates 1 max. frame rate of CCD = ---------------------------------------------------------------------------------------------------------------------------------------------189.3µs + AOI height 33.2µs + 978 – AOI height 5µs Formula 11: Guppy PRO F-125: theoretical max.
Video formats, modes and bandwidth Guppy PRO F-146: AOI frame rates 1 max. frame rate of CCD = -----------------------------------------------------------------------------------------------------------------------------------------------------73.1µs + AOI height 56.1µs + 1051 – AOI height 11.6µs Formula 12: Guppy PRO F-146: theoretical max.
Video formats, modes and bandwidth Guppy PRO F-201: AOI frame rates 1 max. frame rate of CCD = -----------------------------------------------------------------------------------------------------------------------------------------------------------344.90µs + AOI height 57.50µs + 1238 – AOI height 8.2µs Formula 13: Guppy PRO F-201: theoretical max.
Video formats, modes and bandwidth Guppy PRO F-503: AOI frame rates 1 max. frame rate of CMOS = ------------------------------------------------------- AOI height + 9 t row Formula 15: Guppy PRO F-503: theoretical max. frame rate of CMOS (min. shutter, no binning, no sub-sampling).
Video formats, modes and bandwidth AOI height / pixel Frame rate / fps Frame rate / fps Frame rate / fps full width half width quarter width 800 640 480 320 240 120 31.5 39.2 52.2 77.3 103.2 187.9* 52.8** 61.2 86.3 125.6 164.2 299.1 74.3 92.2 121.6 174.7 230.0 404.2 Table 86: Frame rates Guppy PRO F-503 as function of AOI height and AOI width (full/half/quarter) *: Max. packet size 7760 **: max. packet size 6980 ***: max.
How does bandwidth affect the frame rate? How does bandwidth affect the frame rate? In some modes the IEEE 1394b bus limits the attainable frame rate. According to the 1394b specification on isochronous transfer, the largest data payload size of 8192 bytes per 125 µs cycle is possible with bandwidth of 800 Mbit/s. In addition, there is a limitation, only a maximum number of 65535 (216 -1) packets per frame are allowed.
How does bandwidth affect the frame rate? ByteDepth is based on the following values: Mode Mono8, Raw8 bit/pixel byte per pixel 8 1 Mono12, Raw12 12 1.5 Mono16, Raw16 14 2 YUV4:2:2 16 2 RGB8 24 3 Table 87: ByteDepth Example formula for the b/w camera Mono16, 1392 x 1040, 30 fps desired BYTE_PER_PACKET = 30 1392 1040 2 125µs = 10856 8192 8192 frame rate reachable ------------------------------------------------------------ = 22.
How does bandwidth affect the frame rate? Test images Loading test images FirePackage Fire4Linux 1. Start SmartView. 1. Start cc1394 viewer. 2. Click the Edit settings button. 2. In Adjustments menu click on Picture Control. 3. Click Adv1 tab. 3. Click Main tab. 4. In combo box Test images choose Image 1 or another test image. 4. Activate Test image check box on. 5. In combo box Test images choose Image 1 or another test image.
How does bandwidth affect the frame rate? Test images for color cameras The color cameras have 1 test image: YUV4:2:2 mode Figure 81: Color test image Mono8 (raw data) Figure 82: Bayer-coded test image The color camera outputs Bayer-coded raw data in Mono8 instead of (as described in IIDC V1.31) a real Y signal. Note The first pixel of the image is always the red pixel from the sensor. (Mirror must be switched off.) Guppy PRO Technical Manual V2.0.
Configuration of the camera Configuration of the camera All camera settings are made by writing specific values into the corresponding registers. This applies to: • values for general operating states such as video formats and modes, exposure times, etc. • extended features of the camera that are turned on and off and controlled via corresponding registers (so-called advanced registers).
Configuration of the camera Far left Bit Bit Bit 0 1 2 ... MSB Bit Bit 30 31 LSB Table 89: 32-bit register Example This requires, for example, that to enable ISO_Enabled mode (see Chapter ISO_Enable / free-run on page 147), (bit 0 in register 614h), the value 80000000 h must be written in the corresponding register.
Configuration of the camera Offset of Register: (0xF1000040) ADV_FNC_INQ Content of register: FA838583 = 1111 1010 1000 0011 1000 0101 1000 0011 TimeBase ExtdShutter Testimage Trigger Delay Misc.
Configuration of the camera Sample program The following sample code in C/C++ shows how the register is set for video mode/format, trigger mode etc. using the FireGrab and FireStack API. Example FireGrab … // Set Videoformat if(Result==FCE_NOERROR) Result= Camera.SetParameter(FGP_IMAGEFORMAT,MAKEIMAGEFORMAT(RES_640_480, CM_Y8, FR_15)); // Set external Trigger if(Result==FCE_NOERROR) Result= Camera.SetParameter(FGP_TRIGGER,MAKETRIGGER(1,0,0,0,0)); // Start DMA logic if(Result==FCE_NOERROR) Result=Camera.
Configuration of the camera Example FireStack API … // Set framerate Result=WriteQuad(HIGHOFFSET,m_Props.CmdRegBase+CCR_FRAMERATE,(UINT32)m_Parms.F rameRate<<29); // Set mode if(Result) Result=WriteQuad(HIGHOFFSET,m_Props.CmdRegBase+CCR_VMODE,(UINT32)m_Parms.Video Mode<<29); // Set format if(Result) Result=WriteQuad(HIGHOFFSET,m_Props.CmdRegBase+CCR_VFORMAT,(UINT32)m_Parms.Vid eoFormat<<29); // Set trigger if(Result) { Mode=0; if(m_Parms.TriggerMode==TM_EXTERN) Mode=0x82000000; if(m_Parms.
Configuration of the camera Configuration ROM The information in the configuration ROM is needed to identify the node, its capabilities and which drivers are required. The base address for the configuration ROM for all registers is FFFF F0000000h.
Configuration of the camera To compute the effective start address of the node unique ID leaf currAddr = node unique ID leaf address destAddr = address of directory entry addrOffset = value of directory entry destAddr = currAddr + (4 x addrOffset) = 420h + (4 x 000002h) = 428h Table 93: Computing effective start address 420h + 000002h x 4 = 428h Offset Node unique ID leaf 0-7 8-15 16-23 24-31 428h 00 02 5E 9E ....CRC 42Ch 00 0A 47 01 ….
Configuration of the camera Offset 0-7 8-15 16-23 24-31 444h 00 0B A9 6E ....unit_dep_info_length, CRC Unit dependent info 448h 44Ch 40 3C 00 00 ....command_regs_base 81 00 00 02 ....vender_name_leaf 450h 82 00 00 06 ....model_name_leaf 454h 38 00 00 10 ....unit_sub_sw_version 458h 39 00 00 00 ....Reserved 45Ch 3A 00 00 00 ....Reserved 460h 3B 00 00 00 ....Reserved 464h 3C 00 01 00 ....vendor_unique_info_0 468h 3D 00 92 00 ....
Configuration of the camera Implemented registers (IIDC V1.31) The following tables show how standard registers from IIDC V1.31 are implemented in the camera: • Base address is F0F00000h • Differences and explanations can be found in the Description column. Camera initialize register Offset Name Description 000h INITIALIZE Assert MSB = 1 for Init.
Configuration of the camera Inquiry register for video mode Offset Name Field Bit Description Color mode 180h V_MODE_INQ Mode_0 [0] 160 x 120 YUV 4:4:4 (Format_0) Mode_1 [1] 320 x 240 YUV 4:2:2 Mode_2 [2] 640 x 480 YUV 4:1:1 Mode_3 [3] 640 x 480 YUV 4:2:2 Mode_4 [4] 640 x 480 RGB Mode_5 [5] 640 x 480 MONO8 Mode_6 [6] 640 x 480 MONO16 Mode_X [7] Reserved --- [8..
Configuration of the camera Offset Name Field Bit Description 19Ch V_MODE_INQ Mode_0 [0] Format_7 Mode_0 (Format_7) Mode_1 [1] Format_7 Mode_1 Mode_2 [2] Format_7 Mode_2 Mode_3 [3] Format_7 Mode_3 Mode_4 [4] Format_7 Mode_4 Mode_5 [5] Format_7 Mode_5 Mode_6 [6] Format_7 Mode_6 Mode_7 [7] Format_7 Mode_7 --- [8..
Configuration of the camera Offset Name Field Bit Description 208h V_RATE_INQ FrameRate_0 [0] 1.875 fps (Format_0, Mode_2) FrameRate_1 [1] 3.75 fps FrameRate_2 [2] 7.5 fps FrameRate_3 [3] 15 fps FrameRate_4 [4] 30 fps FrameRate_5 [5] 60 fps FrameRate_6 [6] 120 fps (V1.31) FrameRate_7 [7] 240 fps (V1.31) --- [8..31] Reserved (zero) V_RATE_INQ FrameRate_0 [0] 1.875 fps (Format_0, Mode_3) FrameRate_1 [1] 3.75 fps FrameRate_2 [2] 7.
Configuration of the camera Offset Name Field Bit Description 214h V_RATE_INQ FrameRate_0 [0] 1.875 fps (Format_0, Mode_5) FrameRate_1 [1] 3.75 fps FrameRate_2 [2] 7.5 fps FrameRate_3 [3] 15 fps FrameRate_4 [4] 30 fps FrameRate_5 [5] 60 fps FrameRate_6 [6] 120 fps (V1.31) FrameRate_7 [7] 240 fps (V1.31) --- [8..31] Reserved (zero) (Format_0, Mode_6) [0] 1.875 fps FrameRate_1 [1] 3.75 fps FrameRate_2 [2] 7.
Configuration of the camera Offset Name Field Bit Description 224h V_RATE_INQ FrameRate_0 [0] Reserved (Format_1, Mode_1) FrameRate_1 [1] Reserved FrameRate_2 [2] 7.5 fps FrameRate_3 [3] 15 fps FrameRate_4 [4] 30 fps FrameRate_5 [5] 60 fps FrameRate_6 [6] 120 fps (V1.31) FrameRate_7 [7] 240 fps (V1.31) --- [8..31] Reserved (zero) V_RATE_INQ FrameRate_0 [0] Reserved (Format_1, Mode_2) FrameRate_1 [1] Reserved FrameRate_2 [2] 7.
Configuration of the camera Offset Name Field Bit Description 230h V_RATE_INQ FrameRate_0 [0] 1.875 fps (Format_1, Mode_4) FrameRate_1 [1] 3.75 fps FrameRate_2 [2] 7.5 fps FrameRate_3 [3] 15 fps FrameRate_4 [4] 30 fps FrameRate_5 [5] 60 fps FrameRate_6 [6] 120 fps (V1.31) FrameRate_7 [7] 240 fps (V1.31) --- [8..31] Reserved (zero) V_RATE_INQ FrameRate_0 [0] 1.875 fps (Format_1, Mode_5) FrameRate_1 [1] 3.75 fps FrameRate_2 [2] 7.
Configuration of the camera Offset Name Field Bit Description 23Ch V_RATE_INQ FrameRate_0 [0] 1.875 fps (Format_1, Mode_7) FrameRate_1 [1] 3.75 fps FrameRate_2 [2] 7.5 fps FrameRate_3 [3] 15 fps FrameRate_4 [4] 30 fps FrameRate_5 [5] 60 fps FrameRate_6 [6] 120 fps (V1.31) FrameRate_7 [7] Reserved --- [8..31] Reserved (zero) V_RATE_INQ FrameRate_0 [0] 1.875 fps (Format_2, Mode_0) FrameRate_1 [1] 3.75 fps FrameRate_2 [2] 7.
Configuration of the camera Offset Name Field Bit Description 248h V_RATE_INQ FrameRate_0 [0] 1.875 fps (Format_2, Mode_2) FrameRate_1 [1] 3.75 fps FrameRate_2 [2] 7.5 fps FrameRate_3 [3] 15 fps FrameRate_4 [4] 30 fps FrameRate_5 [5] 60 fps FrameRate_6 [6] 120 fps (V1.31) FrameRate_7 [7] Reserved --- [8..31] Reserved (zero) V_RATE_INQ FrameRate_0 [0] 1.875 fps (Format_2, Mode_3) FrameRate_1 [1] 3.75 fps FrameRate_2 [2] 7.
Configuration of the camera Offset Name Field Bit Description 254h V_RATE_INQ FrameRate_0 [0] 1.875 fps (Format_2, Mode_5) FrameRate_1 [1] 3.75 fps FrameRate_2 [2] 7.5 fps FrameRate_3 [3] 15 fps FrameRate_4 [4] 30 fps FrameRate_5 [5] 60 fps FrameRate_6 [6] Reserved FrameRate_7 [7] Reserved --- [8..31] Reserved (zero) V_RATE_INQ FrameRate_0 [0] 1.875 fps (Format_2, Mode_6) FrameRate_1 [1] 3.75 fps FrameRate_2 [2] 7.
Configuration of the camera Offset 2E0h 2E4h 2E8h 2ECh 2F0h 2F4h 2F8h 2FCh Name Field V-CSR_INQ_7_0 V-CSR_INQ_7_1 V-CSR_INQ_7_2 V-CSR_INQ_7_3 V-CSR_INQ_7_4 V-CSR_INQ_7_5 V-CSR_INQ_7_6 V-CSR_INQ_7_7 Bit Description [0..31] CSR_quadlet offset for Format_7 Mode_0 [0..31] CSR_quadlet offset for Format_7 Mode_1 [0..31] CSR_quadlet offset for Format_7 Mode_2 [0..31] CSR_quadlet offset for Format_7 Mode_3 [0..31] CSR_quadlet offset for Format_7 Mode_4 [0..
Configuration of the camera Inquiry register for basic function Offset Name 400h Field Bit Description BASIC_FUNC_INQ Advanced_Feature_Inq [0] Inquiry for advanced features (Vendor unique Features) [1] Inquiry for existence of Vmode_Error_Status register Vmode_Error_Status_Inq Feature_Control_Error_Status_Inq [2] Inquiry for existence of Feature_Control_Error_Status Opt_Func_CSR_Inq [3] Inquiry for Opt_Func_CSR --- [4..
Configuration of the camera Inquiry register for feature presence Offset Name Field Bit Description 404h FEATURE_HI_INQ Brightness [0] Brightness control Auto_Exposure [1] Auto_Exposure control --- [2] Reserved White_Balance [3] White balance control Hue [4] Hue control Saturation [5] Saturation control Gamma [6] Gamma control Shutter [7] Shutter control Gain [8] Gain control Iris [9] Iris control Focus [10] Focus control Temperature [11] Temperature control Trigg
Configuration of the camera Offset Name Field Bit Description 410h .. Reserved Address error on access 47Fh 480h Advanced_Feature_Inq Advanced_Feature_Quadlet_Offset [0..31] Quadlet offset of the advanced feature CSR's from the base address of initial register space (vendor unique) This register is the offset for the Access_Control_Register and thus the base address for Advanced Features. Access_Control_Register does not prevent access to advanced features.
Configuration of the camera Inquiry register for feature elements Register Name 0xF0F00500 BRIGHTNESS_INQUIRY Field Bit Description Presence_Inq [0] Indicates presence of this feature (read only) Abs_Control_Inq [1] Capability of control with absolute value --- [2] Reserved One_Push_Inq [3] One-push auto mode (controlled automatically by the camera once) Readout_Inq [4] Capability of reading out the value of this feature ON_OFF [5] Capability of switching this feature ON and OFF Aut
Configuration of the camera Register Name Field Bit Description 530h TRIGGER_INQ Presence_Inq [0] Indicates presence of this feature (read only) Abs_Control_Inq [1] Capability of control with absolute value --- [2..
Configuration of the camera Register Name Field 534h TRIGGER_DELAY_INQUIRY Presence_Inq 538 ..
Configuration of the camera Status and control registers for camera Register Name Field Bit Description 600h CUR-V-Frm_RATE/Revision Bit [0..2] for the frame rate 604h CUR-V-MODE Bit [0..2] for the current video mode 608h CUR-V-FORMAT Bit [0..2] for the current video format 60Ch ISO-Channel Bit [0..3] for channel, [6..
Configuration of the camera Inquiry register for absolute value CSR offset address Offset Name Description 700h ABS_CSR_HI_INQ_0 Always 0 704h ABS_CSR_HI_INQ_1 Always 0 708h ABS_CSR_HI_INQ_2 Always 0 70Ch ABS_CSR_HI_INQ_3 Always 0 710h ABS_CSR_HI_INQ_4 Always 0 714h ABS_CSR_HI_INQ_5 Always 0 718h ABS_CSR_HI_INQ_6 Always 0 71Ch ABS_CSR_HI_INQ_7 Always 0 720h ABS_CSR_HI_INQ_8 Always 0 724h ABS_CSR_HI_INQ_9 Always 0 728h ABS_CSR_HI_INQ_10 Always 0 72Ch ABS_CSR_HI_INQ_11 A
Configuration of the camera Status and control register for one-push The OnePush feature, WHITE_BALANCE, is currently implemented. If this flag is set, the feature becomes immediately active, even if no images are being input (see Chapter One-push white balance on page 86).
Configuration of the camera Offset Name 804h AUTO-EXPOSURE Field Bit Description See above Note: Target grey level parameter in SmartView corresponds to Auto_exposure register 0xF0F00804 (IIDC). Table 106: Feature control register Guppy PRO Technical Manual V2.0.
Configuration of the camera Offset Name Field Bit Description 80Ch WHITE-BALANCE Presence_Inq [0] Presence of this feature 0: N/A 1: Available Always 0 for Mono Abs_Control [1] Absolute value control 0: Control with value in the Value field 1: Control with value in the Absolute value CSR If this bit = 1, value in the Value field is ignored.
Configuration of the camera Offset Name Field Bit Description 810h HUE See above Always 0 for Mono 814h SATURATION See above Always 0 for Mono 818h GAMMA See above 81Ch SHUTTER See Advanced Feature time base See Table 39: CSR: Shutter on page 90 820h GAIN See above 824h IRIS Always 0 828h FOCUS Always 0 830h TRIGGER_MODE Can be effected via advanced feature IO_INP_CTRLx.
Configuration of the camera Video mode control and status registers for Format_7 Quadlet offset Format_7 Mode_0 The quadlet offset to the base address for Format_7 Mode_0, which can be read out at F0F002E0h (according to Table 100: Frame rate inquiry register on page 192) gives 003C2000h. 4 x 3C2000h = F08000h so that the base address for the latter (Table 108: Format_7 control and status register on page 213) equals F0000000h + F08000h = F0F08000h.
Configuration of the camera Offset Name Description 040h PACKET_PARA_INQ See note 044h BYTE_PER_PACKET According to IIDC V1.31 Table 108: Format_7 control and status register Note • • • • • For all modes in Format_7, ErrorFlag_1 and ErrorFlag_2 are refreshed on each access to the Format_7 register. Contrary to IIDC V1.31, registers relevant to Format_7 are refreshed on each access. The Setting_1 bit is automatically cleared after each access.
Configuration of the camera Advanced features (AVT-specific) The camera has a variety of extended features going beyond the possibilities described in IIDC V1.31. The following chapter summarizes all available (AVTspecific) advanced features in ascending register order. Note This chapter is a reference guide for advanced registers and does not explain the advanced features itself.
Configuration of the camera Register Register name Description 0xF1000298 DEFECT_PIXEL_CORRECTION Defect pixel correction (only Guppy PRO F-503 CMOS) 0xF100029C See Table 120: Advanced register: Defect pixel correction on page 229 0xF10002A0 0xF1000300 IO_INP_CTRL1 Guppy PRO housing See Table 20: Advanced register: Input control on page 64 0xF1000320 IO_OUTP_CTRL1 0xF1000324 IO_OUTP_CTRL2 0xF1000328 IO_OUTP_CTRL3 Guppy PRO housing See Table 26: Advanced register: Output control on page 7
Configuration of the camera Register Register name Description 0xF1000800 0xF1000804 IO_OUTP_PWM1 0xF1000808 0xF100080C IO_OUTP_PWM2 Guppy PRO housing See Table 28: PWM configuration registers on page 73 0xF1000810 0xF1000814 IO_OUTP_PWM3 0xF1000840 IO_INP_DEBOUNCE_1 0xF1000850 IO_INP_DEBOUNCE_2 0xF1000860 IO_INP_DEBOUNCE_3 0xF1000870 IO_INP_DEBOUNCE_4 0xF1000FFC GPDATA_INFO 0xF1001000 GPDATA_BUFFER See Table 57: Advanced register: Debounce time for input ports on page 140 See Ta
Configuration of the camera Register Name Field Bit Description 0xF1000018 VERSION_INFO3 Camera type ID [0..15] See Table 111: Camera type ID list on page 219. FPGA version [16..31] Bcd-coded version number [0..31] Bcd-coded version number 0xF100001C VERSION_INFO3_EX FPGA version 0xF1000020 --- [0..31] Reserved 0xF1000024 --- [0..31] Reserved 0xF1000028 --- [0..31] Reserved 0xF100002C --- [0..31] Reserved 0xF1000030 OrderIDHigh [0..
Configuration of the camera The FPGA type ID (= camera type ID) identifies the camera type with the help of the following list: ID Camera type 501 Guppy PRO F-031B 502 Guppy PRO F-031C 503 Guppy PRO F-032B 504 Guppy PRO F-032C --- --- --- --- 511 Guppy PRO F-125B 512 Guppy PRO F-125C --- --- --- --- 515 Guppy PRO F-146B 516 Guppy PRO F-146C 517 Guppy PRO F-201B 518 Guppy PRO F-201C 519 Guppy PRO F-503B 520 Guppy PRO F-503C --- --- --- --Table 111: Camera type ID list G
Configuration of the camera Advanced feature inquiry This register indicates with a named bit if a feature is present or not. If a feature is marked as not present the associated register space might not be available and read/write errors may occur. Note Ignore unnamed bits in the following table: these bits might be set or not.
Configuration of the camera Register Name Field Bit 0xF1000044 ADV_INQ_2 Input_1 ----Output_1 Output_2 Output_3 ----IntEnaDelay --Output 1 PWM Output 2 PWM Output 3 PWM --Camera Status [0] [1] [2..7] [8] [9] [10] [11] [12..15] [16] [17..23] [24] [25] [26] [27..31] [0] Max IsoSize [1] Paramupd_Timing [2] F7 mode mapping [3] Auto Shutter [4] Auto Gain [5] Auto FNC AOI [6] --- [7..11] Defect Pixel Correction [12] --- [13..31] --- [0] --- [1] --- [2] --- [18..
Configuration of the camera Camera status This register allows to determine the current status of the camera. The most important flag is the Idle flag. If the Idle flag is set the camera does not capture and does not send any images. The ExSyncArmed flag indicates that the camera is set up for external triggering. Even if the camera is waiting for an external trigger event the Idle flag might get set. Other bits in this register might be set or toggled: just ignore these bits.
Configuration of the camera Maximum resolution This register indicates the highest resolution for the sensor and is read-only. Note This register normally outputs the MAX_IMAGE_SIZE_INQ Format_7 Mode_0 value. This is the value given in the specifications tables under Picture size (max.) in Chapter Specifications on page 35ff. Register Name Field Bit Description 0xF1000200 MAX_RESOLUTION MaxWidth [0..15] Sensor width (read only) MaxHeight [16..
Configuration of the camera Note Time base can only be changed when the camera is in idle state and becomes active only after setting the shutter value. The ExpOffset field specifies the camera specific exposure time offset in microseconds (µs). This time (which should be equivalent to Table 58: Camera-specific exposure time offset on page 141) has to be added to the exposure time (set by any shutter register) to compute the real exposure time.
Configuration of the camera Extended shutter The exposure time for long-term integration of up to 67 seconds can be entered with µs precision via the EXTENDED_SHUTTER register. Register Name Field Bit Description 0xF100020C EXTD_SHUTTER Presence_Inq [0] Indicates presence of this feature (read only) --- [1..5] Reserved ExpTime [6..31] Exposure time in µs Table 117: Advanced register: Extended shutter The minimum allowed exposure time depends on the camera model.
Configuration of the camera Test images Bit [8] to [14] indicate which test images are saved. Setting bit [28] to [31] activates or deactivates existing test images. By activating any test image the following auto features are automatically disabled: • auto gain • auto shutter • auto white balance Register Name Field Bit Description 0xF1000210 TEST_IMAGE Presence_Inq [0] Indicates presence of this feature (read only) --- [1..
Configuration of the camera Look-up tables (LUT) Load the look-up tables to be used into the camera and choose the look-up table number via the LutNo field. Now you can activate the chosen LUT via the LUT_CTRL register. The LUT_INFO register indicates how many LUTs the camera can store and shows the maximum size of the individual LUTs. The possible values for LutNo are 0..n-1, whereas n can be determined by reading the field NumOfLuts of the LUT_INFO register.
Configuration of the camera Note The BitsPerValue field indicates how many bits are read from the LUT for any grey-value read from the sensor. To determine the number of bytes occupied for each grey-value round-up the BitsPerValue field to the next byte boundary.
Configuration of the camera Defect pixel correction Definition The defect pixel correction mode allows to correct an image with defect pixels. Via threshold you can define the defect pixels in an image. Defect pixel correction is done in the FPGA and defect pixel data can be stored inside the camera. DPC = defect pixel correction WR = write RD = read MEM, Mem = memory Note • • Defect pixel correction is always done in Format_7 Mode_0.
Configuration of the camera Register Name Field Bit Description 0xF100029C DPC_MEM Presence_Inq [0] Indicates presence of this feature (read only) --- [1] Reserved EnaMemWR [2] Enable write access from host to RAM EnaMemRD [3] Enable read access from RAM to host DPDataSize [4..17] Size of defect pixel data to read from RAM to host. A maximum of 2000 defect pixels can be stored. To get the number of defect pixels read out this value and divide by 4.
Configuration of the camera Input/output pin control Note • • • • See Chapter Input/output pin control on page 64 See Chapter IO_INP_CTRL 1 on page 65 See Chapter IO_OUTP_CTRL 1-3 on page 70 See Chapter Output modes on page 71 Guppy PRO Technical Manual V2.0.
Configuration of the camera Delayed Integration Enable (IntEna) A delay time between initiating exposure on the sensor and the activation edge of the IntEna signal can be set using this register. The on/off flag activates/deactivates integration delay. The time can be set in µs in DelayTime. Note • • Only one edge is delayed. If IntEna_Out is used to control an exposure, it is possible to have a variation in brightness or to precisely time a flash.
Configuration of the camera Auto shutter control The table below illustrates the advanced register for auto shutter control. The purpose of this register is to limit the range within which auto shutter operates. Register Name 0xF1000360 AUTOSHUTTER_CTRL 0xF1000364 AUTOSHUTTER_LO Field Bit Description Presence_Inq [0] Indicates presence of this feature (read only) --- [1..31] Reserved --- [0..5] Reserved MinValue [6..
Configuration of the camera If both auto gain and auto shutter are enabled and if the shutter is at its upper boundary and gain regulation is in progress, increasing the upper auto shutter boundary has no effect on auto gain/shutter regulation as long as auto gain regulation is active. Note As with the Extended Shutter the value of MinValue and MaxValue must not be set to a lower value than the minimum shutter time.
Configuration of the camera Autofunction AOI The table below illustrates the advanced register for autofunction AOI. Register Name 0xF1000390 AUTOFNC_AOI 0xF1000394 AF_AREA_POSITION 0xF1000398 AF_AREA_SIZE Field Bit Description Presence_Inq [0] Indicates presence of this feature (read only) --- [1..3] Reserved ShowWorkArea [4] Show work area --- [5] Reserved ON_OFF [6] Enable/disable AOI (see note above) --- [7] Reserved YUNITS [8..19] Y units of work area/pos.
Configuration of the camera Color correction To switch off color correction in YUV mode: see bit [6] Register Name 0xF10003A0 COLOR_CORR Field Bit Description Presence_Inq [0] Indicates presence of this feature (read only) --- [1..5] Reserved ON_OFF [6] Color correction on/off default: on Write: 02000000h to switch color correction OFF Write: 00000000h to switch color correction ON Reset [7] Reset to defaults --- [8..31] Reserved 0xF10003A4 COLOR_CORR_COEFFIC11 = Crr [0..
Configuration of the camera Trigger delay Register Name 0xF1000400 TRIGGER_DELAY Field Bit Description Presence_Inq [0] Indicates presence of this feature (read only) --- [1..5] Reserved ON_OFF [6] Trigger delay on/off --- [7..10] Reserved DelayTime [11..31] Delay time in µs Table 126: Advanced register: Trigger delay The advanced register allows start of the integration to be delayed via DelayTime by max. 221 µs, which is max. 2.1 s after a trigger edge was detected.
Configuration of the camera Soft reset Register Name 0xF1000510 SOFT_RESET Field Bit Description Presence_Inq [0] Indicates presence of this feature (read only) --- [1..5] Reserved Reset [6] Initiate reset --- [7..19] Reserved Delay [20..
Configuration of the camera Maximum ISO packet size Use this feature to increase the MaxBytePerPacket value of Format_7 modes. This overrides the maximum allowed isochronous packet size specified by IIDC V1.31. Register Name Field Bit Description 0xF1000560 ISOSIZE_S400 Presence_Inq [0] Indicates presence of this feature (read only) --- [1..5] Reserved ON_OFF [6] Enable/Disable S400 settings Set2Max [7] Set to maximum supported packet size --- [8..15] Reserved MaxIsoSize [16..
Configuration of the camera Note We strongly recommend to use PCI-X (64 bit) or PCI Express adapter. Restrictions Note the restrictions in the following table. When using software with an Isochronous Resource Manager (IRM): deactivate it. Software Restrictions FireGrab Deactivate Isochronous Resource Manager: SetParameter (FGP_USEIRMFORBW, 0) FireStack/FireClass No restrictions SDKs using Microsoft driver (Active FirePackage, Direct FirePackage, ...) n/a Linux: libdc1394_1.
Configuration of the camera Format_7 mode mapping (only Guppy PRO F-503) With Format_7 mode mapping it is possible to map special binning and subsampling modes to F7M1..F7M7. See page 120. For default mappings see Table 47: Default Format_7 binning and sub-sampling modes (per factory) on page 119 Register Name Field Bit Description 0xF1000580 F7MODE_MAPPING Presence_Inq [0] Indicates presence of this feature (read only) --- [1..
Configuration of the camera The remaining visible Format_7 Mode_1 ... Mode_7 can be mapped to any internal Format_7 mode. Example To map the internal Format_7 Mode_19 to the visible Format_7 Mode_1, write the decimal number 19 to the above listed F7MODE_1 register. Note For available Format_7 modes see Figure 60: Mapping of possible Format_7 modes to F7M1...F7M7 (F-503 only) For default mappings per factory see page 162 on page 120.
Configuration of the camera Software feature control (disable LED) The software feature control register allows to enable/disable some features of the camera (e.g. disable LED). The settings are stored permanently within the camera and do not depend on any user set. Disable LEDs • To disable LEDs set bit [17] to 1. • To disable LEDs in SmartView: Adv3 tab, activate Disable LED functionality check box.
Configuration of the camera User profiles Definition Within the IIDC specification user profiles are called memory channels. Often they are called user sets. In fact these are different expressions for the following: storing camera settings into a non-volatile memory inside the camera.
Configuration of the camera Store Restore Set default Note • • The default profile is the profile that is loaded on power-up or an INITIALIZE command. A save or load operation delays the response of the camera until the operation is completed. At a time only one operation can be performed. To store the current camera settings into a profile: 1. Write the desired ProfileID with the SaveProfile flag set. 2. Read back the register and check the ErrorCode field.
Configuration of the camera Reset of error codes The ErrorCode field is set to zero on the next write access. You may also reset the ErrorCode • by writing to the USER_PROFILE register with the SaveProfile, RestoreProfile and SetDefaultID flag not set. • by writing 00000000h to the USER_PROFILE register.
Configuration of the camera Note • • • • • A profile save operation automatically disables capturing of images. A profile save or restore operation is an uninterruptable (atomic) operation. The write response (of the asynchronous write cycle) will be sent after completion of the operation. Restoring a profile will not overwrite other settings than listed above.
Configuration of the camera GPDATA_BUFFER GPDATA_BUFFER is a general purpose register that regulates the exchange of data between camera and host for: • writing look-up tables (LUTs) into the camera • uploading/downloading of shading image (not used) and defect pixel correction data (only CMOS cameras) GPDATA_INFO GPDATA_BUFFER Register Buffer size query indicates the actual storage range Name 0xF1000FFC GPDATA_INFO Field Bit Description BufferSize [0..31] Size of GPDATA_BUFFER (byte) Bit 0 ...
Configuration of the camera Bit depth little endian big endian Description 8 bit L0 L1 L2 L3 L3 L2 L1 L0 L: low byte 16 bit L0 H0 L1 H1 H1 L1 H0 L0 H: high byte Table 139: Swapped first quadlet at address offset 0 Guppy PRO Technical Manual V2.0.
Firmware update Firmware update Firmware updates can be carried out via FireWire cable without opening the camera. Note For further information read the application note: How to update Guppy/Guppy PRO/Pike/Stingray firmware. This application note and the firmware itself is only accessible for distributors. End customers have to contact technical support.
Appendix Appendix Sensor position accuracy of AVT Guppy PRO cameras D camera body pixel area pixel area y camera body sensor case sensor case x AVT Guppy PRO series Method of positioning: Optical alignment of photo sensitive sensor area into camera front module. (lens mount front flange) Reference points: Sensor: Center of pixel area (photo sensitive cells). Camera: Center of camera front flange (outer case edges). Accuracy: x/y: z: D: +/- 150 μm +0 / -100 μm +/- 0.
Index Index Numbers 0xF1000010 (version info) .......................217 0xF1000040 (advanced feature inquiry)......220 0xF1000100 (camera status) .....................222 0xF1000200 (max. resolution) ..................223 0xF1000208 (time base) ..........................223 0xF100020C (extended shutter)..........143, 225 0xF1000210 (test image) .........................226 0xF1000240 (LUT)...................................227 0xF1000298 (DPC_CTRL)...........................229 0xF1000300 (input control).
Index asynchronous broadcast ...........................147 auto exposure limits ..............................................233 target grey level...........................94, 233 Auto Exposure (CSR register) ..................... 93 auto gain..........................................91, 233 Auto gain control (advanced register) ........234 auto shutter................................ 88, 89, 233 Auto shutter control (advanced register) ....233 auto white balance...................................
Index color codings .........................................121 color correction ...............................124, 125 AVT cameras .....................................124 formula............................................124 why? ...............................................124 Color correction (advanced register) ..........236 color information ....................................122 Color_Coding..........................................121 COLOR_CODING_INQ ................................
Index Extended shutter (advanced register)..143, 225 Extended version (advanced register).........217 EXTENDED_SHUTTER..........................141, 142 External GND ........................................... 59 external trigger ....................................... 63 F FCC Class B.............................................. 18 FireDemo extended shutter ...............................225 FireView extended shutter ...............................225 FireWire connecting capabilities ...................
Index isochronous data block packet format.... 76 pixel data.......................................... 76 trigger delay...................................... 66 video data format............................... 77 YUV 4:1:1..................................... 77, 78 YUV 4:2:2..................................... 77, 78 IIDC V1.31 .............................................127 IIDC V1.31 camera control standards........... 23 image capture controlling .......................................
Index Mean defect pixel mean value......................229 mechanical shutter..................................133 memory channels ....................................244 memory channels (user profiles)................244 Micron/Aptina CMOS sensor ......................128 minimum exposure time ...........................142 MinValue ...............................................234 Min_Value............................................... 66 Min. exp. time + offset ............................
Index Readout_Inq ........................................... 66 RGB to YUV formula............................................126 RGB8 format...........................................126 RoHS (2002/95/EC) .................................. 18 row time Guppy PRO F-503...............................141 S saturation..............................................123 offset ..............................................123 sensor position accuracy ..........................251 sequence loading a LUT .........
Index IEEE 1394b........................................ 58 TPA+ ...................................................... 58 TPBIEEE-1394b........................................ 58 TPB(R) IEEE 1394b........................................ 58 TPB+ ...................................................... 58 IEEE 1394b........................................ 58 transaction code (tCode)........................... 76 trigger bulk .........................................129, 134 control image capture .............
Index video Format_7 AOI .................................................163 video information .................................... 76 video mode CUR-V-MODE .....................................207 Format_7 .........................................213 inquiry register .................................191 sample C code...................................185 video mode 0 .........................................169 video mode 2 .........................................169 VP IEEE 1394b.......................
