r D t f a USER’S MANUAL Document Number: DA00063003 Release Date: 22 March 2004
For customers in the U.S.A. This equipment has been tested and found to comply with the limits for a Class A 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 commercial environment. This equipment generates, uses, and can radiate radio frequency energy and, if not installed and used in accordance with the instruction manual, may cause harmful interference to radio communications.
Contacting Basler Support Worldwide Europe: Basler AG Ander Strusbek 60 - 62 22926 Ahrensburg Germany Tel.: +49-4102-463-500 Fax.: +49-4102-463-599 vc.support.europe@baslerweb.com Americas: Basler, Inc. 740 Springdale Drive, Suite 100 Exton, PA 19341 U.S.A. Tel.: +1-877-934-8472 Fax.: +1-877-934-7608 vc.support.usa@baslerweb.com Asia: Basler Asia PTe. Ltd 25 Internat. Business Park #04-15/17 German Centre Singapore 609916 Tel.: +65-6425-0472 Fax.: +65-6425-0473 vc.support.asia@baslerweb.com www.
DRAFT Contents Table of Contents 1 Introduction 1.1 Documentation Applicability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1 1.2 Performance Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2 1.3 Camera Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3 1.4 Spectral Response . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DRAFT Contents 3.8 Color Creation in the A102fc . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-24 3.8.1 White Balance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-25 3.8.2 Color Filter ID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-26 3.8.3 Integrated IR Cut Filter on C-Mount Equipped Cameras. . . . . . . . . . . . . . . 3-26 3.9 Selectable 8 or 12 Bit Pixel Depth . . .
DRAFT Contents 5.7.6 Test Images. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-19 5.7.7 Extended Version Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-22 5.7.8 Lookup Table. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-23 5.7.9 Lossless Compression . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-28 5.7.
Contents IV DRAFT BASLER A102f
DRAFT Introduction 1 Introduction 1.1 Documentation Applicability This User’s Manual applies to cameras with a firmware ID number of 20. Cameras with a lower or a higher firmware ID number may have fewer features or have more features than described in this manual. Features on cameras with a lower or a higher firmware ID number may not operate exactly as described in this manual.
DRAFT Introduction 1.2 Performance Specifications Category Specification Sensor Type Sony ICX-285 Progressive Scan CCD Sensor Pixels A102f: 1392 (H) × 1040 (V) A102fc: 1388 (H) x 1038 (V) Pixel Size 6.45 µm (H) × 6.45 µm (V) Anti-blooming Yes Max. Frame Rate (at full resolution) 15.1 frames/s (in 8 bit output modes) Video Output Formats A102f: 11.
DRAFT Introduction 1.3 Camera Models The camera is available in a monochrome model (the A102f) and a color model (the A102fc). Throughout the manual, the camera will be called the A102f. Passages that are only valid for a specific model will be so indicated. 1.4 Spectral Response The spectral response for the A102f monochrome cameras is shown in Figure 1-2. 1.0 0.9 0.8 0.7 0.6 0.5 0.4 0.3 0.2 0.
DRAFT Introduction The spectral response for A102fc color cameras is shown in Figure 1-3. Figure 1-3: A102f Spectral Response - Color Cameras L The spectral response curves exclude lens characteristics and light source characteristics. To get the best performance from A102fc color cameras, use of a dielectric IR cut-off filter is recommended. The filter should transmit in a range of 400 nm to 700...720 nm, and it should cut off from 700...720 nm to 1100 nm.
DRAFT Introduction 1.5 Environmental Requirements 1.5.1 Temperature and Humidity Housing temperature during operation: 0° C ... + 50° C (+ 32° F ... + 122° F) Humidity during operation: 20% ... 80%, relative, non-condensing 1.5.2 Ventilation Allow sufficient air circulation around the camera to prevent internal heat build-up in your system and to keep the camera housing temperature during operation below 50° C. Provide additional cooling such as fans or heat sinks if necessary. 1.
Introduction 1-6 DRAFT BASLER A102f
DRAFT Camera Interface 2 Camera Interface 2.1 Connections 2.1.1 General Description The A102f is interfaced to external circuitry via an IEEE 1394 socket and a 10 pin RJ-45 jack located on the back of the housing. Figure 2-1 shows the location of the two connectors.
DRAFT Camera Interface 2.1.2 Pin Assignments The IEEE 1394 socket is used to supply power to the camera and to interface video data and control signals. The pin assignments for the socket are shown in Table 2-1. Pin Signal 1 Power Input (+8.0 to +36.0 VDC) 2 DC Gnd 3 TPB - 4 TPB + 5 TPA - 6 TPA + Table 2-1: Pin Assignments for the IEEE 1394 Socket The RJ-45 jack is used to access the four physical input ports and four physical output ports on the camera.
DRAFT 2 4 6 1 3 5 10 Camera Interface 1 Figure 2-2: A102f Pin Numbering L The camera housing is connected to the cable shields and coupled to signal ground through an RC network (see Figure 2-3 for more details). 2.1.3 Connector Types The 6-pin connector on the camera is a standard IEEE-1394 socket. The 10-pin connector on the camera is an RJ-45 jack. Caution! ! BASLER A102f The plug on the cable that you attach to the camera’s RJ-45 jack must have 10 pins.
DRAFT Camera Interface 2.2 Cables The maximum length of the IEEE 1394 cable used between the camera and the adapter in your PC or between the camera and a 1394 hub is 4.5 meters as specified in the IEEE 1394 standard. Standard, shielded IEEE 1394 cables must be used. The maximum length of the I/O cable is at least 10 meters. The cable must be shielded and must be constructed with twisted pair wire. Close proximity to strong magnetic fields should be avoided. 2.
DRAFT Camera Interface 2.4 Input and Output Ports 2.4.1 Input Ports A102f cameras are equipped with four physical input ports designated as Input Port 0, Input Port 1, Input Port 2, and Input Port 3. The input ports are accessed via the 10 pin RJ-45 jack on the back of the camera. See Table 2-2 and Figure 2-2 for input port pin assignments and pin numbering. As shown in Figure 2-3, each input port is opto-isolated. The nominal input voltage for the LED in the opto-coupler is 5.0 V (± 1.0 V).
Camera Interface DRAFT 2.5 Pixel Data Pixel data is transmitted as isochronous data packets according to version 1.20 of the “1394 based Digital Camera Specification” (DCAM) issued by the 1394 Trade Association (see the trade association’s web site: www.1394ta.org). The first packet of each frame is identified by a 1 in the sync bit of the packet header. Pixel Data Transmission Sequence Pixel data is transmitted in the following sequence: • Row 0/Pixel 0, Row 0/Pixel 1, Row 0/Pixel 2 ...
DRAFT 5.1k 3.3 V 390 Ω In_0 + 390 Ω In_1 + 390 Ω In_2 + Camera Interface HCPCL063L Gnd 5.1k 3.3 V HCPCL063L 3.3 V 5.1k 3.3 V HCPCL063L Gnd 5.1k 3.
Camera Interface 2-8 DRAFT BASLER A102f
DRAFT Basic Operation & Standard Features 3 Basic Operation and Standard Features 3.1 Functional Description 3.1.1 Overview A102f area scan cameras employ a CCD sensor chip which provides features such as a full frame shutter and electronic exposure time control. Normally, exposure time and charge readout are controlled by values transmitted to the camera’s control registers via the IEEE 1394 interface. Control registers are available to set exposure time and frame rate.
DRAFT Basic Operation & Standard Features The image buffer between the sensor and the link layer controller allows data to be transferred out of the sensor at a rate that is independent of the data transmission rate between the camera and the host computer. This ensures that the data transmission rate has no influence on image quality. CCD Sensor Column 0 Vert. Shift Reg. Pixels Column 1 ... Column 649 Column 650 Column 651 Column 652 ... Vert. Shift Reg. .... Vert. Shift Reg. Vert.
DRAFT Basic Operation & Standard Features ExTrig Image Buffer I/O IntEn TrigRdy Image Data CCD Sensor Image Data FPGA Image Data Image Data Link Layer Controller Isochronous and Asynchronous Data Physical Layer Controller Isochronous and Asynchronous Data IEEE 1394 Bus Control Control: AOI Gain Brtness.
Basic Operation & Standard Features DRAFT 3.2 Exposure Control 3.2.1 Setting the Exposure Time Exposure time is determined by the value stored in the Shutter control register (see page 4-9). The value in the register can range from 1 to 4095 (0x001 to 0xFFF). The value in the register represents n in the equation: Exposure Time = n x 20 µs. So, for example, if the value stored in the Shutter register is 100 (0x064), the exposure time will be 100 x 20 µs or 2000 µs.
DRAFT Basic Operation & Standard Features 3.2.3 Controlling Exposure Start with “Shot” Commands via the 1394 Interface Exposure start can be controlled by sending “shot” commands directly to the camera via the 1394 bus. In this case, a software trigger or an external trigger (ExTrig) signal is not used. When exposure start is controlled via the 1394 bus, two modes of operation are available: one-shot and continuous-shot.
Basic Operation & Standard Features DRAFT 3.2.4 Controlling Exposure Start with a Software Trigger Exposure start can be controlled by sending a software trigger command to the camera via the 1394 bus. The Trigger_Mode control register (see page 4-9) is used to enable the ability to start image exposure with a software trigger. The Software_Trigger control register (see page 4-8) is used to set the software trigger.
DRAFT Basic Operation & Standard Features Software Trigger / Continuous-Shot Operation In Software Trigger/Continuous-shot operation, a “Continuous Shot Command” is used to prepare the camera to capture multiple images. In this mode, exposure will begin when the Software_Trigger register is set to 1. To use this method of operation, follow this sequence: 1. Set the Shutter control register for your desired exposure time (see page 4-9). 2. Set the Iso_En/Continuous_Shot control register to 1. 3.
Basic Operation & Standard Features DRAFT 3.2.5 Controlling Exposure Start with an ExTrig Signal An external trigger (ExTrig) input signal can be used to control the start of exposure. A rising edge or a falling edge of the signal can be used to trigger exposure start. The Trigger_Mode control register (see page 4-9) is used to enable ExTrig exposure start control, to select rising or falling edge triggering, and to assign a physical input port to receive the ExTrig signal.
DRAFT Basic Operation & Standard Features Level Controlled Exposure Mode When level controlled mode is selected, the length of the exposure will be determined by the ExTrig signal alone. If the camera is set for rising edge triggering, exposure begins when the ExTrig signal rises and continues until the ExTrig signal falls. If the camera is set for falling edge triggering, exposure begins when the ExTrig signal falls and continues until the ExTrig signal rises.
Basic Operation & Standard Features DRAFT The ExTrig signal must be used in combination with a one-shot or a continuous-shot command. If precise control of exposure start time is desired, you must also monitor the Trigger Ready signal and you must base the timing of the ExTrig signal on the state of the Trigger Ready signal. (See Section 3.2.
DRAFT Basic Operation & Standard Features L These explanations of exposure start are included to give the user a basic insight into the interactions of the camera’s registers. Typically, IEEE 1394 cameras are used with a driver which includes an interface that allows the user to parameterize and operate the camera without directly setting registers. The Basler BCAM 1394 Camera Driver, for example, has both a simple Windows® interface and a programmer’s API for parameterizing and operating the camera.
Basic Operation & Standard Features DRAFT 3.2.6 Recommended Method for Controlling Exposure Start L The camera can be programmed to begin exposure on a rising edge or on a falling edge of an ExTrig signal. Also, two modes of exposure control are available: programmable and level controlled (see Section 3.2.5). For this illustration, we are assuming that a rising edge trigger and the programmable exposure mode are used.
DRAFT Basic Operation & Standard Features 3.3 Trigger Ready Signal L The trigger ready signal is not defined in the 1394 Trade Association Digital Camera Specification. Trigger ready is a patented feature of Basler cameras that allows our cameras to have optimized timings. The maximum frame rate for the camera can be limited by any one of three factors: • The amount of time it takes to transfer a captured image from the CCD sensor to the frame buffer.
Basic Operation & Standard Features DRAFT 3.4 Integrate Enabled Signal The Integrate Enabled (IntEn) signal goes high when exposure begins and goes low when exposure ends. This signal can be used as a flash trigger and is also useful when you are operating a system where either the camera or the object being imaged is movable. For example, assume that the camera is mounted on an arm mechanism and that the mechanism can move the camera to view different portions of a product assembly.
DRAFT Basic Operation & Standard Features 3.5 Gain and Brightness The major components in the A102f electronics include: a CCD sensor, one VGC (Variable Gain Control), and one ADC (Analog to Digital Converter). The pixels in the CCD sensor output voltage signals when they are exposed to light. These voltages are amplified by the VGC and transferred to the ADC which converts the voltages to digital output signals. Two parameters, gain and offset are associated with the VGC.
Basic Operation & Standard Features DRAFT 3.5.1 Setting Gain When the gain is set to default, the sensor’s linear output range directly matches the input voltage range of the ADC. Thus, with the default gain of 0 dB, a gray value of 1 is produced when the pixels are exposed to no light and a gray value of 255 (in modes that output 8 bits per pixel) or 4095 (in modes that output 12 effective bits per pixel) is produced when the pixels are exposed to bright light.
DRAFT Basic Operation & Standard Features The gain settings result in the following amplifications: Decimal Number (DN) Hexadecimal dB Factor 192 0x0C0 0 X1 374 0x176 6 X2 499 0x1F3 12 X4 656 0x290 18 X8 825 0x339 24 X16 1023 0x3FF 31 X35.5 Table 3-1: Examples of Gain Settings in dB 3.5.2 Setting Brightness The camera’s brightness is changed by setting the value field in the Brightness control register (see page 4-8).
Basic Operation & Standard Features DRAFT 3.6 Area of Interest (AOI) The area of interest (AOI) feature allows you to specify a portion of the CCD array and during operation, only the pixel information from the specified portion of the array is transmitted out of the camera. The area of interest is referenced to the top left corner of the CCD array. The top left corner is designated as column 0 and row 0 as shown in Figure 3-10.
DRAFT L Basic Operation & Standard Features The sum of the setting for Left plus the setting for Width must not exceed 1392 for A102f monochrome cameras or 1388 for A102fc color cameras. The sum of the setting for Top plus the setting for Height must not exceed 1040 for A102f monochrome cameras or 1038 for A102fc color cameras. When you are setting the AOI on an A102fc color camera: • The setting for Width must be divisible by 2. • The setting for Height must be divisible by 2.
Basic Operation & Standard Features DRAFT 3.6.2 Changes to the Frame Rate With AOI In general, the maximum frame rate for the camera increases as the size of the AOI decreases. However, the maximum frame rate can also be limited by any one of three factors: • The amount of time it takes to transfer a captured image from the image sensor to the frame buffer. • The amount of time it takes to transfer an image from the frame buffer to the PC via the IEEE 1394 bus. • The exposure time setting.
DRAFT Basic Operation & Standard Features Example Assume that your AOI is set for 100 columns wide and 110 rows high and that your exposure time is set for 12000 µs. Also assume that after making all camera settings, you check the Packer_Per_Frame_Inq register in the control and status registers for Format 7. You find that the packets per frame with the current settings is 3. L The number of packets per frame depends on the setting of the Format 7 Byte_Per_Packet control register.
Basic Operation & Standard Features DRAFT 3.7 Low Smear In applications where a CCD sensor is under constant illumination, highcontrast images may show an unwanted effect that converts dark pixels into brighter ones. This effect is commonly called “smearing“. With the help of the Low Smear feature on the A102k, smearing is reduced in the upper part of the image. The effect of the Low Smear feature is illustrated in Figure 3-11. The left image was captured without the low smear feature.
DRAFT Basic Operation & Standard Features Second, you need to calculate the maximum recommended frame rate for low smear using this formula: Frames/s ≤ 1 -----------------------------------------------------------------------------------T(e) T(f) + AOIH – ------------ × 5.24 + T(e) 63.
DRAFT Basic Operation & Standard Features 3.8 Color Creation in the A102fc The CCD sensor used in the A102fc is equipped with an additive color separation filter known as a Bayer filter. With the Bayer filter, each individual pixel is covered by a micro-lens which allows light of only one color to strike the pixel. The pattern of the Bayer filter used in the A102fc is shown in Figure 3-13.
DRAFT Basic Operation & Standard Features Once the conversion to YUV is complete, pixels are transmitted from the camera in the YUV (4:2:2) format as defined in Section 2.1.3 Video Data Payload Structure in the 1394-based Digital Camera Specification Version 1.20. L The values for U and for V normally range from -128 to +127.
Basic Operation & Standard Features DRAFT 3.8.2 Color Filter ID The Color_Filter_ID field of the Format 7 register (see page 4-10) has been implemented on A102f cameras. This field can be used to determine the order of the pixel colors being output from a color camera. To use this feature, make all desired changes to the camera’s parameter settings and then read the Color_Filter_ID field. The field will return the appropriate filter ID for the current settings.
DRAFT Basic Operation & Standard Features 3.9 Selectable 8 or 12 Bit Pixel Depth When an A102f camera is operating in Format 7, it can be set to output pixel data at either 8 bit or 12 bit depth. 3.9.1 A102f Monochrome Cameras For 8 Bit Depth Set the Color_Coding_ID field of the Format_7, Mode_0 register to Mono 8 (see Section 3.12.2 and page 4-10). With this ID set, the camera outputs 8 bits per pixel. For 12 Bit Depth Set the Color_Coding_ID field of the Format_7, Mode_0 register for Mono 16.
Basic Operation & Standard Features DRAFT 3.10 Strobe Control Output Signals A102f cameras include a feature designed to help you control strobe lighting. The feature allows a user to enable and parameterize up to four strobe control output signals. The signals are designated as Strobe_0, Strobe_1, Strobe_2, and Strobe_3. Enabling the Strobe Control Feature The Strobe Signal Function control registers (see page 4-15) are used to enable and parameterize the strobe output signals.
DRAFT L Basic Operation & Standard Features If you start an image exposure and the strobe signal for the previously captured image is still running, the running strobe signal ends immediately and the next delay and duration begin. The Strobe Control Output Signal registers are defined in version 1.31 of the IIDC specification. Because the strobe control output signal feature is so new, the Basler BCAM 1394 Driver does not yet include a method call to access this feature.
Basic Operation & Standard Features DRAFT 3.11 Parallel Input/Output Control A parallel I/O control feature is available on A102f cameras. The feature allows a user to set the state of the four physical output ports on the camera and to read the state of the four physical input ports. To set state of the four physical output ports, write the contents of the PIO_Output register (see page 4-14). The bits are interpreted as follows: • • • • • Bit 31 sets the state of physical output port 0.
DRAFT Basic Operation & Standard Features 3.12 Available Video Formats, Modes, and Frame Rates on Monochrome Cameras 3.12.1 Standard Formats, Modes, and Frame Rates The following standard video formats, modes, and frame rates are available on all A102f monochrome cameras: Format_2, Mode_2, FrameRate_3 (Mono, 8 bits/pixel, 1280 x 960 pixels at 15 fps) Format_2, Mode_6, FrameRate_2 (Mono, 16 bits/pixel, 1280 x 960 pixels at 7.
Basic Operation & Standard Features DRAFT Keep in mind that when you lower the bytes per packet setting, the number of bytes needed to transmit a frame (the packets per frame) will increase. Due to limitations in the DCAM structure, a maximum of 4095 packets per frame is allowed. If you set the bytes per packet too low, the number of packets per frame will exceed the 4095 packet limit and the camera will not transmit frames properly.
DRAFT Basic Operation & Standard Features 3.13 Available Video Formats, Modes, and Frame Rates on Color Cameras 3.13.1 Standard Formats, Modes, and Frame Rates The following standard video formats, modes, and frame rates are available on A102fc color cameras: Format_2, Mode_0, FrameRate_2 (YUV 4:2:2, 16 bits/pixel ave., 1280 x 960 pixels at 7.
Basic Operation & Standard Features DRAFT Color Codings In Format_7, Mode_0, the Mono 8, Raw 8, Raw 16, and YUV 4:2:2 color codings are available. When the Mono 8 ID is set in the Color_Coding_ID field of the Format_7, Mode_0 register, the camera outputs 8 bits per pixel and outputs only the Y component (brightness) of the YUV format. When the Raw 8 ID is set in the Color_Coding_ID field of the Format_7, Mode_0 register, the camera outputs 8 bits per pixel and outputs the raw data for each pixel.
DRAFT Configuring the Camera 4 Configuring the Camera The A102f is configured by setting status and control registers as described in the “1394-Based Digital Camera Specification” issued by the 1394 Trade Association. (The specification is available at the 1394 Trade Association’s web site: www.1394ta.org.) Except where noted, all registers conform to version 1.31 of the specification. If you are creating your own driver to operate the camera, Sections 4.1 through 4.
Configuring the Camera DRAFT 4.1 Block Read and Write Capabilities The camera supports block reads and block writes. If you do a single read or a block read, the camera will return a 0 for all non-existent registers. If you do a single write to a non-existent register or a block write that includes non-existent registers, the writes to non-existent registers will have no effect on camera operation. Block reads or writes are limited to a payload of 32 quadlets. 4.
DRAFT Configuring the Camera 4.4 Implemented Standard Registers A list of all standard registers implemented in A102f appears below. The base address for all camera control registers is: Bus_ID, Node_ID, FFFF F0F0 0000 This address is contained in the configuration ROM in the camera unit directory. The offset field in each of the tables is the byte offset from the above base address. 4.4.
DRAFT Configuring the Camera Inquiry Registers for Video Frame Rate Offset Name Notes 240h V_Rate_Inq_2_0 (Format_2, Mode_0) In format 2, mode 0, the A102fc supports the following frame rates: • 7.5 fps (frame rate 2) 248h V_Rate_Inq_2_2 (Format_2, Mode_2) In format 2, mode 2, the A102f and A102fc support the following frame rates: • 15 fps (frame rate 3) 258h V_Rate_Inq_2_6 (Format_2, Mode_6) In format 2, mode 6, the A102f supports the following frame rates: • 7.
DRAFT Configuring the Camera Inquiry Registers for Feature Presence Offset Name Notes 404h Feature_Hi_Inq The A102f and A102fc support the following features: • Brightness • Shutter • Gain • Trigger TheA102fc also supports: • White_Balance 408h Feature_Lo_Inq =0 40Ch * Opt_Function_Inq The A102f and A102fc support the following features: • Parallel Input/Output Control • Strobe Signal 480h Advanced_Feature_Inq The A102f and A102fc implement a Basler advanced feature set.
DRAFT Configuring the Camera Inquiry Registers for Feature Elements Offset Name Notes 500h Brightness_Inq The A102f and A102fc support the following sub-features for brightness: • Presence_Inq • ReadOut_Inq • Manual_Inq • Min_Value = 0x000 • Max_Value = 0x0FF 50Ch White_Bal_Inq The A102fc supports the following sub-features for white balance: • Presence_Inq • ReadOut_Inq • Manual_Inq • Min_Value = 0x10 • Max_Value = 0xFF 51Ch Shutter_Inq The A102f and A102fc support the following sub-features f
DRAFT Configuring the Camera Offset Name Notes 530h Trigger_Inq The A102f and A102fc support the following sub-features for trigger: • Presence_Inq • ReadOut_Inq • OnOff_Inq • Polarity_Inq • Value_Read_Inq * • Trigger_Source_0_Inq * • Trigger_Source_1_Inq * • Trigger_Source_2_Inq * • Trigger_Source_3_Inq * • Software_Trigger_Inq * • Trigger_Mode0_Inq • Trigger_Mode1_Inq * These fields are defined in version 1.31 of the IIDC specification.
DRAFT Configuring the Camera 4.4.2 Control and Status Registers Control and Status Registers for the Camera Offset Name Notes 600h Cur_V_Frame_Rate / Revision Default = 0 604h Cur_V_Mode Default = 0 608h Cur_V_Format Default = Format 7 60Ch Iso_Channel / Iso_Speed Default Channel =0 Default Speed = S400 614h Iso_En / Continuous Shot Default = 0 61Ch One_Shot / Multi_Shot Default = 0 Multi_Shot is not supported 62Ch * Software_Trigger Write a 1 to set the trigger.
DRAFT Configuring the Camera Offset Name Notes 81Ch Shutter Shutter settings range from 1 (0x001) to 4095 (0xFFF). Exposure time = (shutter register value) x 20 µs Default = 500 (0x1F4) = 10 ms for the A102f = 562 (0x232) = 11.24 ms for the A102fc 820h Gain Gain settings range from 192 (0x0C0) to 1023 (0x3FF) for all output modes except Mono 16. For Mono 16, gain settings range from 192 (0x0C0) to 511 (0x1FF).
DRAFT Configuring the Camera Control and Status Registers for Format_7, Mode_0 The base address for each Format_7, Mode_0 camera control register is: Bus_ID, Node_ID, FFFF F1F0 0000 The offset field in the table is the byte offset from the above base address.
DRAFT Configuring the Camera Offset Name Notes 044h Byte_Per_Packet BytePerPacket = set by user * RecBytePerPacket = 4092 (0xFFC) 048h Packet_Per_Frame_Inq The value of this register depends on the following registers: • Image_Size • Color_Coding_ID • Byte_Per_Packet 04Ch Unit_Position_Inq A102f: Hposunit = 1, Vposunit = 1 A102fc: Hposunit = 2, Vposunit = 2 054h ** Data_Depth Indicates the effective data depth of the pixel in- formation being transmitted from the camera.
DRAFT Configuring the Camera Control and Status Registers for Format_7, Mode_1 Format_7, Mode_1 is available on color A102fc cameras only. The base address for each Format_7, Mode_1 camera control register is: Bus_ID, Node_ID, FFFF F1F0 0100 The offset field in the table is the byte offset from the above base address.
DRAFT Configuring the Camera Offset Name Notes 044h Byte_Per_Packet BytePerPacket = set by user * RecBytePerPacket = 4092 (0xFFC) 048h Packet_Per_Frame_Inq The value of this register depends on the following registers: • Image_Size • Color_Coding_ID • Byte_Per_Packet 048h Packet_Per_Frame_Inq The value of this register depends on the following registers: • Image_Size • Color_Coding_ID • Byte_Per_Packet 04Ch Unit_Position_Inq Hposunit = 2 Vposunit = 2 054h ** Data_Depth Indicates the effec
DRAFT Configuring the Camera Control and Status Registers for the PIO Control Function The base address for the PIO Control Function control and status registers is: Bus_ID, Node_ID, FFFF F2F0 00C8 The offset field in the table is the byte offset from the above base address. Offset Name Notes 000h * PIO_Output Bit 31 sets the state of physical output port 0. Bit 30 sets the state of physical output port 1. Bit 29 sets the state of physical output port 2.
DRAFT Configuring the Camera Control and Status Registers for the Strobe Signal Output Function The base address for the Strobe Signal Output Function control and status registers is: Bus_ID, Node_ID, FFFF F2F0 0300 The offset field in the table is the byte offset from the above base address.
DRAFT Configuring the Camera Offset Name Notes 204h * Strobe_1_Cnt Same definition as Strobe_0_Cnt. 208h * Strobe_2_Cnt Same definition as Strobe_0_Cnt. 20Ch * Strobe_3_Cnt Same definition as Strobe_0_Cnt. * These registers are defined in version 1.31 of the IIDC specification. L If a strobe signal is enabled, the signal will only be present on the associated output port when the output port is configured for “strobe.
DRAFT Configuring the Camera 4.5 Basler Advanced Features Registers L The functionally of the advanced features control and status registers has been made part of Basler’s Smart Features Framework (SFF). We strongly recommend that you use the SFF registers (see Section ) rather than the advanced features registers. To ensure backward compatibility, the existing advanced features registers described below will continue to be supported, but their functionality will not be extended in the future.
DRAFT Configuring the Camera Inquiry Register for Advanced Features (Low) Offset Name Field Bit Description 000Ch Adv_Inq_Lo Presence [0] Presence of this feature --- [1..31] Reserved Inquiry Register for Extended Version Information Offset Name Field Bit Description 1010h Extd_Versions_Inq Presence [0] Presence of this feature --- [1..7] Reserved Length [8..15] Specifies the length in quadlets of the “String” field in the Extended Versions Information Register (see below).
DRAFT Configuring the Camera Status and Control Register for Test Images This advanced features register can be used to control the operation of the camera’s test image feature (see Section 5.7.6 for a description of the available test images). Offset 0098h BASLER A102f Name Test_Image Field Bit Description Presence_Inq (Read only) [0] Presence of this feature 0: N/A 1: Available --- [1..
Configuring the Camera 4-20 DRAFT BASLER A102f
DRAFT Smart Features 5 Smart Features and the Smart Features Framework 5.1 What are Smart Features Smart features are features unique to Basler cameras. Test Images, the Cycle Time Stamp, and the CRC Checksum are examples of Basler smart features. In some cases, enabling a smart feature will simply change the behavior of the camera. The Test Image feature is a good example of this type of smart feature. When the Test Image feature is enabled, the camera outputs a test image rather than a captured image.
DRAFT Smart Features part of the added data. The GUIDs are especially useful when you enable several smart features that add data to the image stream. The GUIDs make it possible to identify which portion of the added data is the result of each enabled smart feature. Refer to Sections 5.6 and 5.7 for detailed information about getting smart features results. 5.3 What do I Need to Use Smart Features To use smart features you will need: • A camera that supports smart features.
DRAFT Smart Features 5.5 Enabling and Parameterizing Smart Features The camera provides a control and status register (CSR) for each smart feature (see Sect 5.7 for details of each feature and its CSR). To enable and parameterize a smart feature, the following steps must be performed: 1. Check to see if the camera supports smart features. 2. Ask the camera for the address of the CSR for the desired smart feature. 3. Enable and parameterize the desired smart features.
DRAFT Smart Features 5.5.2 Determining the Address a Smart Feature’s CSR The control and status register (CSR) for each smart feature is identified by a 128 bit Globally Unique Identifier (GUID). GUIDs are also known as UUIDs (Universal Unique Identifier). A GUID consists of: • One 32 bit number • Two 16 bit numbers • A sequence of 8 bytes (D1) (D2, D3) (D4[0] - D4[7]) GUID example: CA8A916A (D1) - 14A4 - (D2) 4D8E - BBC9 - (D3) (D4[0] - D4[1]) 93DF50495C16 (D4[2] - D4[7]) Section 5.
DRAFT Smart Features Example Determine the address of the “CRC Checksum” smart feature which has a CSR GUID of: 3B34004E - 1B84 - 11D8 - 83B3 - 00105A5BAE55 D1: 0x3B34 004E D2: 0x1B84 D3: 0x11D8 D4[0]: 0x83 D4[1]: 0xB3 D4[2]: 0x00 D4[3]: 0x10 D4[4]: 0x5A D4[5]: 0x5B D4[6]: 0xAE D4[7]: 0x55 Step 1: Write the CSR GUID to the SF_Inq_Register Assuming that the address for the ACR is 0xFFFF F2F0 0000, perform the following quadlet write operations to the SF_Inq_Register a.
Smart Features DRAFT 5.5.3 Enabling and Parameterizing a Smart Feature Once you have determined the starting address of the control and status register (CSR) for your desired smart feature, you are ready to enable and parameterize the feature by setting bits within the CSR. Section 5.7 describes the standard smart features available on A102f cameras. Each smart features description includes an explanation of what the feature does and an explanation of the parameters associated with the feature.
DRAFT Smart Features 5.6 Getting Smart Features Results In many cases, activating a smart feature results in additional data that must be transmitted by the camera, i.e., the results of the smart feature. The results of a smart feature will be appended to the image data so that each frame contains both image data and smart features results. Before using any of the smart features that add information to the image data, the extended data stream feature must be enabled.
Smart Features DRAFT There are different types of chunks, for example, the chunk that is added when the cycle time stamp smart feature is enabled and the chunk that is added when the frame counter smart feature is enabled. Although most chunks follow the general structure described in Table 5-1, each type of chunk has unique aspects to its layout. To allow you to distinguish between the chunks, each chunk carries a “chunk GUID”.
DRAFT Smart Features 5.7 Smart Features on the A102f 5.7.1 Extended Data Stream The extended data stream feature has two functions: • When it is enabled, information such as image height, image width, and AOI size is added to the basic pixel data for each image. • It must be enabled before you can use any other smart feature that adds information to the image data stream.
DRAFT Smart Features 5-10 K+M Stride [ 4 Bytes ] Signed integer. Indicates the number of bytes needed to advance from the beginning of one row in an image to the beginning of the next row. K+M+4 Reserved [ 3 Bytes ] ----- K+M+7 Data Depth [ 1 Byte ] Effective data depth in bits of the pixels in the image. K+M+8 Top [ 2 Bytes ] Y coordinate of the top left corner of the current area of interest (AOI). K + M + 10 Left [ 2 Bytes ] X coordinate of the top left corner of the current AOI.
DRAFT Smart Features 5.7.2 Frame Counter The frame counter feature numbers images sequentially as they are captured. The counter starts at 0 and wraps at 4294967296. The counter increments by one for each captured frame. Whenever the camera is powered off, the counter will reset to 0. Note that if the camera is in continuous shot mode and continuous capture is stopped, up to two numbers in the counting sequence may be skipped. This happens due to the internal image buffering scheme used in the camera.
DRAFT Smart Features 5.7.3 Cycle Time Stamp The cycle time stamp feature adds a chunk to each image frame containing the value of the counters for the IEEE 1394 bus cycle timer. The counters are sampled at the start of exposure of each image. L The extended data stream feature (see Section 5.7.1) must be enabled in order to use the cycle time stamp feature or any of the other smart feature that adds information to the image data stream.
DRAFT Smart Features 5.7.4 DCAM Values The DCAM values feature adds a chunk to each image frame containing the current settings for some standard DCAM features. The settings are sampled at the start of exposure of each image. L The extended data stream feature (see Section 5.7.1) must be enabled in order to use the DCAM values feature or any of the other smart feature that adds information to the image data stream.
DRAFT Smart Features DCAM Values Chunk Layout Position Name Description 0 Gain CSR [ 4 Bytes ] Content of the DCAM Gain CSR Field Bit Description Presence_Inq [0] Presence of this feature If 0, the DCAM feature is not available and all of its values should be ignored Abs_Control [1] Absolute control mode If 1, the DCAM feature is in absolute control mode and the current value can be read from the Absolute Value CSR. Otherwise, the Value field holds the current raw value setting. ----- [2 ..
DRAFT 24 White Balance CSR [ 4 Bytes ] Smart Features Content of the DCAM White Balance CSR Field Bit Description Presence_Inq [0] Presence of this feature If 0, the DCAM feature is not available and all of its values should be ignored Abs_Control [1] Absolute control mode If 1, the DCAM feature is in absolute control mode and the current value can be read from the Absolute Value CSR. Otherwise, the Value field holds the current raw value setting. ----- [2 ...
DRAFT Smart Features 5.7.5 CRC Checksum The CRC Checksum feature adds a chunk to each image frame containing a 16 bit CRC checksum calculated using the Z-modem method. The CRC Checksum chunk is always the last chunk added to the image data stream and the chunk is always 32 bits in size. As shown in Figure 5-2, the checksum is calculated using all of the image data and all of the appended chunks except for the checksum itself.
DRAFT Smart Features CRC Checksum Chunk Layout The CRC checksum is an exception to the normal chunk structure. The CRC chunk is always 32 bits wide and is always the last chunk appended to the image data. The lower 16 bits of the chunk are filled with the checksum and the upper 16 bits of the chunk are filled with zeros. Bit Description [ 0 ... 7 ] CRC Checksum low byte [ 8 ... 15 ] CRC Checksum high byte [ 16 ... 23 ] 0x00 [ 24 ...
DRAFT Smart Features /** \brief Verifies a frame buffer's CRC checksum * \param pData Pointer to the frame * \param nbyLength Size of frame in bytes * \return 1, if the check succeeds, 0 otherwise */ int CheckBuffer(const unsigned char* pData, unsigned long nbyLength ) { unsigned long nCurrentCRC, nDesiredCRC; /* Calculate the CRC checksum of the buffer.
DRAFT Smart Features 5.7.6 Test Images A102f cameras include a test image mode as a smart feature. The test image mode is used to check the camera’s basic functionality and its ability to transmit an image via the video data cable. The test image mode can be used for service purposes and for failure diagnostics. In test mode, the image is generated with a software program and the camera’s digital devices and does not use the optics, the CMOS pixel array, or the ADCs.
DRAFT Smart Features Test Image Two Test image two is designed for use with monochrome, 16 bit output modes. Test image two consists of rows with several gray scale gradients ranging from 0 to 4095. Assuming that the camera is operating at full 1392 x 1040 resolution and is set for a monochrome, 16 bit output mode, when the test images are generated: • Row 0 starts with a gray value of 0 for the first pixel, 1 for the second pixel, 2 for the third pixel, 3 for the fourth pixel, ...
DRAFT Smart Features Control and Status Register for the Test Image Feature Name Test_Images Address See “Determining the Address of Smart Features CSRs” on page 5-4. CSR GUID 2A411342 - C0CA - 4368 - B46E - EE5DEEBF0548 Field Bit Description Presence_Inq (Read only) [0] Presence of this feature 0: Not Available 1: Available ----- [1 ...
DRAFT Smart Features 5.7.7 Extended Version Information A102f cameras include a register that contains version numbers for the camera’s internal software. For troubleshooting purposes, Basler technical support may ask you to read this register and to supply the results. L The extended version information smart feature does not add information to the image data stream and can be accessed even when the extended data stream feature (see Section 5.7.1) is disabled.
DRAFT Smart Features 5.7.8 Lookup Table The A102f camera has a sensor that reads pixel values at a 12 bit depth, however, the camera can be set to output pixel values at an 8 bit depth. When set for 8 bit output, the camera normally uses an internal process to convert the 12 bit pixel values from the sensor to the 8 bit values transmitted out of the camera.
DRAFT Smart Features The advantage of the lookup table feature is that it allows the user to customize the response curve of the camera. The graphs below represent the contents of two typical lookup tables. The first graph is for a lookup table where the values are arranged so that the output of the camera increases linearly as the sensor output increases.
DRAFT Smart Features Control and Status Register for the Lookup Table Feature Name Lookup_Table Address See “Determining the Address of Smart Features CSRs” on page 5-4. CSR GUID B28C667C - DF9D - 11D7 - 8693 - 000C6E0BD1B0 Position Field Bit Description 0 Presence_Inq (Read only) [0] Presence of this feature 0: Not Available 1: Available ----- [1 ... 30] Reserved Enable (Read / write) [31] Enable / Disable this feature 0: Disable 1: Enable In_Depth_Inq (Read only) [0 ...
DRAFT Smart Features 5-26 16300 ... 16324 Quadlet_4073 ... 4079 (Read / write) [7 Quadlets] Not used. The values written here will be ignored. 16328 Quadlet_4080 (Read / write) [1 Quadlet] Defines the 8 bit value that will be transmitted from the camera when the 12 bit pixel value from the sensor is 4080. 16332 ... 16356 Quadlet_4081 ... 4087 (Read / write) [7 Quadlets Not used. The values written here will be ignored.
DRAFT Smart Features Using the SFF Viewer to Upload a Lookup Table The Configurator window in the Basler SFF Viewer (see Section 5.4) includes a drop down list that can be used to enable the lookup table feature. It also includes an Upload button that can be used to easily load a text file containing a customized lookup table into the camera. The file must be plain text and must be formatted correctly. The file must have 4096 lines with each line containing two comma-separated values.
Smart Features DRAFT 5.7.9 Lossless Compression The A102f includes a feature that allows lossless compression of the 12 bit output from the camera’s sensor to 8 bit output transmitted from the camera. The basis for the lossless compression feature is a mathematical process that compresses the 12 bit output from the sensor to 8 bits by removing information characterized as noise.
DRAFT Smart Features 5.7.10 Trigger Flag and Trigger Counter A102f cameras include a trigger flag and trigger counter feature. The trigger counter increments by one each time an image capture is triggered regardless of whether the trigger is internal (one shot or continuous shot commands) or is external (hardware or software trigger). Triggers that occur when the camera is not ready are discarded and not counted. The trigger counter wraps to zero after 65535 is reached.
Smart Features DRAFT 5.7.11 Output Port Configuration A102f cameras are equipped with four physical output ports designated as Output Port 0, Output Port 1, Output Port 2, and Output Port 3. The output port configuration feature can be used to change the assignment of camera output signals (such as Integrate Enabled and Trigger Ready) to the physical output ports. As shown on pages 5-31 and 5-32, there is a control and status register (CSR) for each physical output port.
DRAFT Smart Features Control and Status Registers for the Output Port Configuration Feature Name Output_Port_0_Configuration Address See “Determining the Address of Smart Features CSRs” on page 5-4.
DRAFT Smart Features 5-32 Name Output_Port_1_Configuration Address See “Determining the Address of Smart Features CSRs” on page 5-4. CSR GUID 949D820A - 4513 - 11D8 - 9EB1 - 00105A5BAE55 Position Field 0 Same as port 0. 4 Same as port 0. 8 Same as port 0. 12 Same as port 0. 16 Same as port 0. 20 Same as port 0. Name Output_Port_2_Configuration Address See “Determining the Address of Smart Features CSRs” on page 5-4.
DRAFT Smart Features 5.8 Customized Smart Features The Basler A102f has significant processing capabilities and Basler can accommodate customer requests for customized smart features. A great advantage of the smart features framework is that it serves as a standardized platform for parameterizing any customized smart feature and for returning the results from the feature. The Basler camera development team is ready and able to handle requests for customized smart features.
Smart Features 5-34 DRAFT BASLER A102f
DRAFT Mechanical Considerations 6 Mechanical Considerations 6.1 Camera Dimensions and Mounting Facilities The A102f camera housing is manufactured with high precision. Planar, parallel, and angular sides guarantee precise mounting with high repeatability. The A102f camera is equipped with four M4 mounting holes on the front and two M4 mounting holes on each side as indicated in Figure 6-1.
DRAFT Mechanical Considerations 48.7 32.1 62 ±0.2 8.7 30.5 17.526 1 48 ±0.2 Photo-sensitive surface of the sensor 8 x M4, 5 deep 6.
DRAFT Mechanical Considerations 6.2 Positioning Accuracy of the Sensor Chip The positioning accuracy of the sensor chip in the horizontal and vertical directions is as shown in Figure 6-2. Rotational accuracy is also shown in the figure. Reference position is the center of the camera housing. Since the translatory and the rotational positioning tolerances depend on each other, the worst case of maximum rotational and horizontal/vertical mis-positioning can not occur at the same time. ±0.
DRAFT Mechanical Considerations 6.3 Maximum Lens Thread Length on the A102fc A102fc cameras are normally equipped with a C-mount lens adapter that contains an internal IR cut filter. As shown in Figure 6-3, the thread length of the C-mount lens must used on the camera must be less than 7.5 mm. If a lens with a longer thread length is used, the IR cut filter will be damaged or destroyed and the camera will no longer operate. < 7.
DRAFT Revision History Revision History Doc. ID Number Date Changes DA00063001 24 October 2003 Initial release of this document. DA00063002 25 February 2004 Second draft for revision two of the manual. Added Section 1.1 describing document applicability. Updated Sections 2.4, 3.2.5, 3.3, and 3.4 to reflect the new input and output port configuration options. Added Section 3.2.4 describing the new software trigger feature.
Revision History ii DRAFT BASLER A102f
DRAFT Feedback Feedback Your feedback will help us improve our documentation. Please click the link below to access an online feedback form. Your input will be greatly appreciated. http://www.baslerweb.com/umfrage/survey.
Feedback iv DRAFT BASLER A102f
DRAFT Index Index A advanced features registers . . . . . . . . . . . 4-17–4-19 anti-blooming . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2 area of interest . . . . . . . . . . . . . . . . . . . . . . . . . 3-18 B bayer filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-24 bit depth . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-27 block reads and writes . . . . . . . . . . . . . . . . . . . . . 4-2 brightness . . . . . . . . . . . . . . . . . . . . . . . .
Index DRAFT R Y registers implemented in the camera . . . . . 4-3–4-19 YUV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-24 S sensor pixel size . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2 size . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2 type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2 shot commands controlling exposure with . . . . . . . . . . . . . . . 3-5 smart features CRC checksum . . . . . . . . . . . . . . .
