Draft Basler A202k USER’S MANUAL Document Number: DA0440 Version: 08 Language: 000 (English) Release Date: 29 June 2007
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. 855 Springdale Drive, Suite 160 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 8 Boon Lay Way, #03-03 Tradehub 21 Singapore 609964 Tel.: +65-6425-0472 Fax.: +65-6425-0473 vc.support.asia@baslerweb.com www.basler-vc.
DRAFT Contents Table of Contents 1 Introduction 1.1 Camera Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1 1.2 Performance Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2 1.3 Spectral Response . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3 1.4 Environmental Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Contents DRAFT 3 Basic Operation and Features 3.1 Functional Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1 3.2 Exposure Time Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3 3.2.1 ExSync Controlled Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-3 3.2.1.1 Basics of ExSync Controlled Operation . . . . . . . . . . . . . . . . . . . . . 3-3 3.2.1.
DRAFT Contents 4 Configuring the Camera 4.1 Configuring the Camera with the Camera Configuration Tool Plus (CCT+) . . . . . 4-2 4.1.1 Opening the Configuration Tool. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2 4.1.2 Closing the Configuration Tool . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-2 4.1.3 Configuration Tool Basics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-3 4.1.4 Configuration Tool Help. . . . . . . . .
DRAFT Contents 4.2.5.8 Read FPGA Firmware Version . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-24 4.2.5.9 Read Camera Temperature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-25 4.2.5.10 Reference Values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-26 4.2.6 Commands for Manipulating Configuration Sets . . . . . . . . . . . . . . . . . . . . . 4-27 4.2.6.1 Copy the Factory Set or a User Set into the Work Set . . . . . . . . . 4-27 4.2.6.
DRAFT Introduction 1 Introduction The Basler A202k high resolution, progressive scan camera is a versatile camera designed for industrial use. Superb image sensing features are combined with a robust, high-precision, machined housing.
DRAFT Introduction 1.2 Performance Specifications Specification A202k A202kc Sensor Kodak KAI-1020 Interline Transfer Progressive Scan CCD Sensor Pixels 1004 (H) x 1004 (V) Pixel Size 7.4 µm x 7.4 µm Mono or Color Mono Color Spectral Response See Figure 1-1 See Figure 1-2 Photo Response Non-uniformity ± 5% (typical) Dark Signal Non-uniformity ± 1 gray value (typical) Pixel Clock Speed 40 MHz (20 MHz when horizontal or full binning is used) Max. Frame Rate 48 Frames/sec.
DRAFT Introduction 1.3 Spectral Response The spectral response for the A202k monochrome camera is shown in Figure 1-1.
DRAFT Introduction The spectral response for the A202kc color camera is shown in Figure 1-2. Figure 1-2: A202kc ColorSpectral Response L The spectral response curve excludes lens characteristics and light source characteristics. To obtain best performance regarding the camera’s blooming, smearing and dark signal non-uniformity characteristics, 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...
DRAFT Introduction 1.4 Environmental Requirements 1.4.1 Temperature and Humidity Housing temperature during operation: 0 °C ... + 50 °C (+ 32 °F ... + 122 °F) Humidity during operation: 20 % ... 80 %, relative, non-condensing Housing temperature during storage: -20 °C ... + 80 °C (- 4 °F ... + 176 °F) Humidity during storage: 5 % ... 95 %, relative, non-condensing 1.4.
Introduction DRAFT Read the manual Read the manual carefully before using the camera. Keep foreign matter outside of the camera Do not open the casing. Touching internal components may damage them. Be careful not to allow liquid, flammable, or metallic material inside the camera housing. If operated with any foreign matter inside, the camera may fail or cause a fire. Electromagnetic Fields Do not operate the camera in the vicinity of strong electromagnetic fields. Avoid electrostatic charging.
DRAFT Camera Interface 2 Camera Interface 2.1 Connections 2.1.1 General Description The A202k is interfaced to external circuitry via two connectors located on the back of the camera: • a 26 pin, .050” Mini D Ribbon (MDR) female connector used to transmit video data, control signals, and configuration commands. • a 6 pin, micro-miniature, push-pull receptacle used to provide power to the camera. A status LED located on the back of the camera is used to indicate power present and signal integrity.
DRAFT Camera Interface 2.1.2 Pin Assignments 26-Pin MDR Connector The pin assignments for the 26 pin, MDR connector used to transmit video data, control signals, and configuration commands are shown in Table 2-1.
DRAFT Camera Interface 6-Pin Micro-miniature Receptacle The pin assignments for the 6 pin, micro-miniature receptacle used to supply power to the camera are shown in Table 2-2. Pin Number Signal Name Direction Level Function 1, 2 [1] 12 V In Input +12 VDC Camera Power Input 3 Not Connected 4 Not Connected 5, 6 [2] DC Gnd Input Ground [1] Pins 1 and 2 are tied together inside of the camera. [2] Pins 5 and 6 are tied together inside of the camera.
DRAFT Camera Interface 2.2 Cable Information 2.2.1 Camera Link Cable A Camera Link compatible MDR cable assembly is available from Basler as a stock item (part # 1000013041 for a 3 meter cable and part # 1000013042 for a 5 meter cable). Alternatively, you can use the cable assembly manufactured by 3M (part # 14X26-SZLB-XXX-0LC). The maximum allowed length for the MDR cable used with an A202k is 10 meters. L In order to access the Integrate Enabled signal, you must use the Basler stock cable (see Sect.
DRAFT Camera Interface Figure 2-3: Camera / Frame Grabber Interface BASLER A202k 2-5
DRAFT Camera Interface 2.4 Input Signals The only control signal that can be input into the A202k is an external sync (ExSync) signal. ExSync is an RS-644 LVDS signal as specified in the Camera Link standard. Section 2.4.1 describes the function of the ExSync signal. 2.4.1 ExSync: Controls Frame Readout and Exposure Time The ExSync input signal is used to control exposure time and frame read out.
DRAFT Camera Interface 2.5 Output Signals The camera’s output signals include a pixel clock, video data, and video data qualifiers such as frame valid and line valid. An integrate enabled output signal is also available. Sections 2.5.1 through 2.5.5 describe the output signals. 2.5.1 Pixel Clock As shown in Figure 2-3 and in Table 2-3, the pixel clock is assigned to the TxClkIn (transmit clock) pin of the Camera Link transmitter.
DRAFT Camera Interface 2.5.4 Video Data 2.5.4.1 Bit Assignments Table 2-3 lists the assignment of pixel data bits to the input ports on the transmitter in the camera and the corresponding output pins on the receiver in the frame grabber. These bit assignments comply with the Camera Link standard. As shown in the table, the bit assignments for pixel data vary depending on the output mode setting of the camera. The available output modes are explained in more detail in Section 2.5.4.2.
DRAFT Camera Interface 2.5.4.2 Video Data Output Modes The A202k can output pixel data in either a Dual 10 Bit, or a Dual 8 Bit output mode. These modes are described in detail below. Operation in Dual 10 Bit or Dual 8 Bit Output Mode In Dual 10 Bit mode, the pixel clock operates at 40 MHz. On each clock cycle, the camera transmits data for two pixels at 10 bit depth, a frame valid bit, and a line valid bit. The assignment of the bits is shown in Table 2-3.
Camera Interface DRAFT • After all of the pixels in line one have been transmitted, the line valid bit will become low indicating that valid data for line one is no longer being transmitted. • On the pixel clock cycle where data transmission for line two begins, the line valid bit will become high. Ten of the bits transmitted during this clock cycle will contain the data for pixel number one in line two and ten of the bits will contain data for pixel number two in line two.
BASLER A202k [3] [2] [1] Figure 2-4: Dual 10 Bit or Dual 8 Bit Output Mode with Level Controlled Exposure TIMING CHARTS ARE NOT DRAWN TO SCALE The diagram assumes that the area of interest (AOI) feature is not being used. With the AOI feature enabled, the number of lines transferred and the number of pixels in each line could be smaller. In the level controlled exposure mode, the fall of ExSync starts exposure.
2-12 [3] [2] [1] Figure 2-5: Dual 10 Bit or Dual 8 Bit Output Mode with Programmable Exposure TIMING CHARTS ARE NOT DRAWN TO SCALE The diagram assumes that the area of interest (AOI) feature is not being used. With the AOI feature enabled, the number of lines transferred and the number of pixels in each line could be smaller. In the programmable exposure mode, the rise of ExSync starts exposure.
DRAFT Camera Interface 2.5.5 Integrate Enabled Signal An RS-644 LVDS output signal called Integrate Enabled (IntEn) is available on A202k cameras. The integrate enabled signal indicates that an exposure is taking place. The signal will go high when each exposure begins and go low when the exposure ends. As shown in the schematic on page 2-5, the IntEn signal is available on pins 24 and 11 of the A202k.
Camera Interface DRAFT 2.6 RS-644 Serial Communication The A202k is equipped for RS-644 serial communication via the frame grabber as specified in the Camera Link standard. The RS-644 serial connection in the Camera Link interface is used to issue commands to the camera for changing modes and parameters. The serial link can also be used to query the camera about its current setup.
DRAFT Camera Interface 2.7 Converting Camera Link Output to RS-644 with a k-BIC On the A202k, video data is output from the camera in Camera Link LVDS format and parameter change commands are issued to the camera using RS-644 serial communication via the frame grabber. On older cameras, video data was output using an RS-644 LVDS format and commands were issued using RS-232 serial communication via the host PC.
Camera Interface DRAFT 2.9 Status LED The A202k has a status LED on the back of the camera. The LED is used to indicate that power is present and to indicate an error condition if one is detected. See Section 6.1 for details.
DRAFT Operation and Features 3 Basic Operation and Features 3.1 Functional Description The A202k area scan camera employs a CCD-sensor chip which provides features such as electronic exposure time control and anti-blooming. Exposure time is normally controlled via an externally generated sync signal (ExSync). The ExSync signal facilitates periodic or non-periodic pixel readout. When exposure is controlled by an ExSync signal, exposure time can be either level-controlled or programmable.
Operation and Features DRAFT Figure 3-1: A202k Sensor Architecture 3-2 BASLER A202k
DRAFT Operation and Features 3.2 Exposure Time Control The A202k can operate under the control of an external sync signal (ExSync) or can operate in “free-run”. In free-run, the camera generates its own internal control signal and does not require an ExSync signal. 3.2.1 ExSync Controlled Operation 3.2.1.1 Basics of ExSync Controlled Operation In ExSync operation, the camera’s frame rate and exposure time are controlled by an externally generated (ExSync) signal.
Operation and Features DRAFT You can set the camera to operate in one of the ExSync controlled exposure modes using either the Camera Configuration Tool Plus (see Section 4.1 and the configuration tool’s on-line help) or binary commands (see Section 4.2). With the configuration tool, you use the Exposure Time Control Mode setting in the Exposure group to set the camera for ExSync operation and to select the level-controlled or programmable exposure time control mode.
DRAFT Operation and Features Case 1 - Exposure Start With Frame Valid High Timing charts are not drawn to scale. Figure 3-4: ExSync, Level-controlled Mode - Exposure Start with Frame Valid High If the ExSync signal falls while frame valid is high as shown in Figure 3-4: • The actual start of exposure can be up to 25 µs later than the fall of the ExSync signal. (This is commonly referred to as an exposure start jitter.
Operation and Features DRAFT Case 2 - Exposure Start With Frame Valid Low Timing charts are not drawn to scale. Figure 3-5: ExSync, Level-controlled Mode - Exposure Start with Frame Valid Low If the ExSync signal falls while frame valid is low as shown in Figure 3-5: • Exposure will start after a delay of 4.4 µs. • The actual length of the exposure time will be equal to the ExSync signal low time plus 77.7 µs.
DRAFT Operation and Features 3.2.1.3 Recommendations for Controlling Exposure in ExSync Programmable Mode When using the ExSync programmable mode to control exposure, several general guidelines must be followed: • The ExSync signal must toggle. • The ExSync signal must remain high for at least 4 µs. • The minimum setting for Timer 1 is 13 µs. • The programmed exposure time must be less than the ExSync signal period.
Operation and Features DRAFT Case 1 - Exposure Start With Frame Valid High Timing charts are not drawn to scale. Figure 3-6: ExSync, Programmable Mode - Exposure Start with Frame Valid High If the ExSync signal rises while frame valid is high as shown in Figure 3-6: • The actual start of exposure can be up to 25 µs later than the rise of the ExSync signal. (This is commonly referred to as an exposure start jitter.
DRAFT Operation and Features Case 2 - Exposure Start With Frame Valid Low Timing charts are not drawn to scale. Figure 3-7: ExSync, Programmable Mode - Exposure Start with Frame Valid Low If the ExSync signal falls while frame valid is low as shown in Figure 3-7: • The actual start of exposure can be up to 11.5 µs later than the rise of the ExSync signal. (This is commonly referred to as an exposure start jitter.
Operation and Features DRAFT 3.2.2 Free-run Operation In free-run, no ExSync signal is required. The camera generates a continuous internal control signal based on two programmable parameters: "Timer 1" and "Timer 2." Timer 1 determines how long the internal signal will remain low and the Timer 2 determines how long the signal will remain high. The control signal period is equal to Timer 1 plus Timer 2.
DRAFT Operation and Features 3.2.2.1 Recommendations for Controlling Exposure in Free-run Programmable Mode When using the free-run programmable mode to control exposure, several general guidelines must be followed: • The minimum setting for Timer 1 is 13 µs. • The minimum setting for Timer 2 is 35 µs. • The actual length of the exposure time will be equal to the programmed time plus 77.7 µs.
Operation and Features DRAFT 3.3 Video Data Output Modes The A202k can output video data using two different modes: dual 10 bit mode, or dual 8 bit mode. In dual 10 bit mode, the camera outputs data for two pixels on each cycle of the pixel clock and the pixel data is at 10 bit depth. In dual 8 bit mode, the camera outputs data for two pixels on each cycle of the pixel clock and the pixel data is at 8 bit depth. These modes are described in detail in Section 2.5.4.2.
DRAFT Operation and Features 3.5 Gain and Offset The major components in the A202k electronics include: a CCD sensor, two VGCs (Variable Gain Controls), and two ADCs (Analog to Digital Converters). When exposed to light, the pixels in the CCD sensor output voltage signals. These voltages are amplified by the VGCs and transferred to the ADCs which convert the voltages to digital output signals. Two parameters, gain and offset are associated with each VGC.
DRAFT Operation and Features With binary commands, you must use the Left Side Gain and Right Side Gain binary commands to set the gain and the Left Side Offset and Right Side Offset binary commands to set the offset. 3.5.1 Setting the Gain When the gain is set to default, the sensor’s linear output range directly matches the input voltage range of the ADCs.
DRAFT L Operation and Features In normal operation, gain settings lower than 288 (0x0120) should not be used. With gain settings lower than 288, the sensor output signal mapped to the input of the ADCs will not be linear. 3.5.2 Balancing the Left Side and Right Side Gain As described on page 3-13, gain alignment between the channels, combined with offset alignment, is important to maintain uniform output data with minimal gray value differences between the left side and the right side of the image.
DRAFT Operation and Features 3.5.2.1 Balancing Gain Settings When Using Binary Commands The left side gain is set using the Left Side Gain binary command (see Section 4.2.4.10) and the right side gain is set using the Right Side Gain binary command (see Section 4.2.4.12). Each gain setting can be programmed on a decimal scale that ranges from 0 to 569 (0x0000 to 0x0239), however, values lower than 288 (0x0120) should not be used.
DRAFT Operation and Features 4. Enter the decimal value for the left side reference gain (RGLS) and the decimal value for the desired gain (G) into the formula below: X LS = 20 log 10 658 + RG LS ----------------------------------- – 8.15 + G 658 – RG LS Where: G = Desired gain in dB G is set so that XLS ≤ 28.06 For our example, the calculation would be: X LS = 20 log 658 + 288.39 -------------------------------------- – 8.15 + 6 10 658 – 288.39 XLS = 6.02 5.
Operation and Features DRAFT 6. Use the same method as shown in steps 3, 4, and 5 to calculate the right side gain setting. For our example, the result would be 446. 7. Convert the results to hexadecimal: Left Side Gain Setting of 443 decimal = 0x01BB Right Side Gain Setting of 446 decimal = 0x01BE 8. Use the left side gain and the right side gain binary commands to set the left side gain and the right side gain to the calculated values.
DRAFT Operation and Features 3.5.4 Balancing the Left Side and Right Side Offset As described on page 3-13, offset alignment between the channels, combined with gain alignment, is important to maintain uniform output data with minimal gray value differences between the left side and the right side of the image. In some applications, multiple cameras are used, for example, when two area scan cameras are used next to each other to form one large image.
DRAFT Operation and Features Sample Calculation Using the Reference Offset Values Assume that you are working with an A202k, that you have selected an 8 bit output mode, that you want an offset of 5, and that you want to keep the left side and the right side of the image in balance. 1. Read the reference values that were stored during the camera’s calibration procedure using the “Read Reference Values” binary command (see Section 4.2.5.10).
DRAFT Operation and Features Left Side Offset Setting = RO LS + (16 x (O - 2)) Left Side Offset Setting = 25 + (16 x 3) Left Side Offset Setting = 73 5. Use the same method as shown in steps 3 and 4 to calculate the right side offset setting. For our example, the result would be 72. 6. Convert the results to hexadecimal: Left Side Offset Setting of 73 decimal = 0x0049 Right Side Offset Setting of 72 decimal = 0x0048 7.
Operation and Features DRAFT 3.6 Digital Shift The “digital shift” feature allows you to change the group of bits that is output from each ADC. Using the digital shift feature will effectively multiply the output of the camera by 2 times or 4 times. Section 3.6.1 describes how digital shift works when the camera is operating in 10 bit output mode and Section 3.6.2 describes how digital shift works when the camera is operating in 8 bit output mode.
DRAFT Operation and Features Shift Twice When the camera is set to shift twice, the output from the camera will include bit 7 through bit 0 from each ADC along with two zeros as LSBs. The result of shifting twice is that the output of the camera is effectively multiplied by four. For example, assume that the camera is set for no shift, that it is viewing a uniform white target, and that under these conditions the reading for the brightest pixel is 100.
Operation and Features DRAFT Shift Once When the camera is set to shift once, the output from the camera will include bit 8 through bit 1 from each ADC. The result of shifting once is that the output of the camera is effectively doubled. For example, assume that the camera is set for no shift, that it is viewing a uniform white target and that under these conditions the reading for the brightest pixel is 20. If you changed the digital shift setting to shift once, the reading would increase to 40.
DRAFT Operation and Features 3.6.3 Precautions When Using Digital Shift There are several checks and precautions that you must follow before using the digital shift feature. The checks and precautions differ depending on whether you will be using the camera in 10 bit output mode or in 8 bit output mode. If you will be using the camera in 10 bit output mode, make this check: 1.
Operation and Features DRAFT 3.7 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 lines included in the AOI is transferred out of the camera. The size of the area of interest is defined by declaring a starting column, a width in columns, a starting line and a height in lines.
DRAFT Operation and Features 3.7.1 AOI Setup Guidelines When setting up the area of interest, several guidelines must be followed. The setup rules are listed below. • The starting line must be an odd numbered line and the starting column must be an odd numbered column. • The number of columns included in the AOI must be divisible by 2 the number of lines included in the AOI must be divisible by 2.
Operation and Features DRAFT 3.7.3 Changes to the Pixel Timing and Output with AOI When the AOI feature is being used, frame valid will rise at the normal time, however, there will be a delay between the rise of frame valid and the rise of the first line valid while the camera discards data from the lines below the AOI. The length of the delay depends on the number of lines below the AOI.
Figure 3-13: Timing and Output Changes with AOI TIMING CHART IS NOT TO SCALE DRAFT BASLER A202k Operation and Features 3-29
Operation and Features DRAFT 3.8 Binning Binning is available on A202k monochrome cameras. Binning increases the camera’s sensitivity to light by summing the charges from adjacent pixels into one pixel. There are three types of binning available: horizontal binning, vertical binning, and full binning. With horizontal binning, pairs of adjacent pixels in each line are summed (see Figure 3-14). With vertical binning, pairs of adjacent pixels from two lines are summed.
DRAFT Operation and Features 3.8.1 Changes to the Maximum Frame Rate with Binning When vertical binning or full binning is used, the camera’s maximum allowed frame rate increases. The maximum allowed frame rate can be calculated using the following formula: 1000000 µs Maximum Frames per Second = ----------------------------------------------------------------------------------------------------------------------------------(LI x 27.85 µs) + [ (502 - LI) x 14.6 µs ] + 204.
Operation and Features DRAFT 3.10 Color Creation in the A202kc The CCD sensor used in the A202kc 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 A202kc is shown in Figure 3-15.
DRAFT Operation and Features 3.11 Test Images 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 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, CCD sensor, VGCs or ADCs. Three test images are available.
Operation and Features DRAFT 3.11.2 Test Image Two The basic pattern of test image two is similar to test image one. However, with test image two, the pattern of the image moves up by one pixel each time the ExSync signal cycles. When you view the output of a camera that is set for test image two, the pattern should appear to be gradually moving up the screen. This feature is useful for determining if you camera is receiving and reacting to an ExSync signal.
DRAFT Operation and Features 3.12 Configuration Sets The camera’s adjustable parameters are stored in configuration sets and each configuration set contains all of the parameters needed to control the camera. There are three different types of configuration sets: the Work Set, the Factory Set, and User Sets. Work Set The Work Set contains the current camera settings and thus determines the camera’s present performance, that is, what your image currently looks like.
DRAFT Operation and Features 3.13 Camera Temperature A202k series cameras include a sensor that measures the temperature on one of the electronic boards inside of the camera. The readings of this sensor allow you to monitor that ventilation works correctly. You can use the Read Camera Temperature binary command to read out the current temperature (see Section 4.2.5.9). Warning! The reading for the internal camera temperature must not exceed 90 °C.
DRAFT Configuring the Camera 4 Configuring the Camera The A202k comes factory-set so that it will work properly for most applications with only minor changes to the camera’s settings.
Configuring the Camera DRAFT 4.1 Configuring the Camera with the Camera Configuration Tool Plus (CCT+) The Camera Configuration Tool Plus (CCT+ for short) is a Windows™ based program used to easily change the camera’s settings. The tool communicates via the RS-644 serial connection in the Camera Link interface between the frame grabber and the camera. The tool automatically generates the binary programming commands that are described in Section 4.2.
DRAFT Configuring the Camera 4.1.3 Configuration Tool Basics The RAM memory in the camera contains the set of parameters that controls the current operation of the camera. This set of parameters is known as the Work Set (see Section 3.12). The CCT+ is used to view the present settings for the parameters in the Work Set or to change the settings. When the CCT+ is opened and a port is selected, it queries the camera and displays a list of the current settings for the parameters in the Work Set.
Configuring the Camera L DRAFT Keep in mind that the Work Set is stored in a volatile memory. Any changes you make to the Work Set using the configuration tool will be lost when the camera is switched off. To save changes you make to the Work Set, open the Camera menu of the configuration tool and save the modified Work Set into one of the camera’s 15 User Sets. The User Sets are stored in non-volatile memory and will not be lost when the camera is switched off (see Section 3.12).
DRAFT Configuring the Camera 4.2 Configuring the Camera with Binary Programming Commands Configuration commands can be issued to the A202k via the RS-644 serial connection in the Camera Link interface between the frame grabber and the camera. Commands are issued using a binary protocol. With this protocol, data is placed into a frame and sent to the camera. Once the data is received it is checked for validity. If valid, the data is extracted and the command is executed.
DRAFT Configuring the Camera 4.2.
DRAFT ACK/NAK Response Configuring the Camera Positive frame acknowledge/negative frame acknowledge Size = 1 byte (The value for a positive frame acknowledgement is 0x06 and for a negative frame acknowledgement is 0x15.) L BASLER A202k All values are formatted as little endian (Intel format).
Configuring the Camera DRAFT 4.2.2 Error Checking 4.2.2.1 ACK/NAK When the camera receives a frame, it checks the order of the bytes in the frame and checks to see if the XOR sum of the bytes in the descriptor and the data fields matches the block check character. The camera also checks to see if the number of bytes in the data field is equal to the number specified in the descriptor. If all checks are correct, an ACK is send to the host. If any check is incorrect, a NAK is sent. 4.2.2.
DRAFT Configuring the Camera 4.2.3 Example Commands 4.2.3.1 Read command An example of the command message used to read the camera status is: 0x02, 0x43, 0x82, 0xC1, 0x03 0x02 - is the STX. The STX is always 0x02. 0x43 - is the first byte of the descriptor. The first byte of the descriptor is the command ID. Command IDs can be found in the tables on pages 4-11 through 4-32. If you check the table on page 4-30, you will find that the ID for the camera status read command is 0x43.
Configuring the Camera DRAFT 4.2.3.3 Calculating the Block Check Character The block check character in any A202k command is the exclusive-or sum (XOR sum) of the bytes in the descriptor and the data fields. For the write command example shown in Section 4.2.3, the block check character is 0x45. Let’s consider how this block check character was calculated. In this case, we must find the XOR sum of three bytes.
DRAFT Configuring the Camera 4.2.4 Commands for Setting Camera Parameters 4.2.4.1 Video Data Output Mode Purpose: To set the video data output mode or to read the current video data output mode setting. See Sections 2.5.4.2 for an explanation of the available video data output modes. Type: This is a read or write command.
DRAFT Configuring the Camera 4.2.4.2 Exposure Time Control Mode Purpose: To set the exposure time control mode or to read the current exposure time control mode setting. See Section 3.2 for an explanation of exposure time control modes. Type: This is a read or write command.
DRAFT Configuring the Camera 4.2.4.3 Timer 1 Purpose: To set Timer 1 or to read the current Timer 1 setting. Timer 1 is used when the camera is operating in ExSync programmable mode or in free-run mode. See Section 3.2 for details. Type: This is a read or write command.
DRAFT Configuring the Camera 4.2.4.5 Digital Shift Purpose: To enable or disable digital shift. See Section 3.6 for an explanation of digital shift. Type: This is a read or write command.
DRAFT Configuring the Camera 4.2.4.6 Area of Interest Starting Column Purpose: To set the starting column for the area of interest or to read the current setting. See Section 3.7 for details on the area of interest. Type: This is a read or write command.
DRAFT Configuring the Camera 4.2.4.8 Area of Interest Starting Line Purpose: To set the starting line for the area of interest or to read the current setting. See Section 3.7 for details on the area of interest. Type: This is a read or write command.
DRAFT Configuring the Camera 4.2.4.10 Left Side Gain Purpose: To set the gain for the left side of the CCD array or to read the current left side gain setting. See Section 3.5 for more information on gain. Type: This is a read or write command.
DRAFT Configuring the Camera 4.2.4.12 Right Side Gain Purpose: To set the gain for the right side of the CCD array or to read the current right side gain setting. See Section 3.5 for more information on gain. Type: This is a read or write command.
DRAFT Configuring the Camera 4.2.4.14 Horizontal Binning Purpose: To enable or disable horizontal binning. See Section 3.8 for an explanation of binning. Type: This is a read or write command. Read Command: Response: Write Command: Response: Data Format: Cmd-ID 0xA3 R/W-Flag 1 Data Length 1 Data - Cmd-ID 0xA3 R/W-Flag 0 Data Length 1 Data 1 Byte Cmd-ID 0xA3 R/W-Flag 0 Data Length 1 Data 1 Byte None Byte 1 ID An ID that specifies the binning status (see the table below).
DRAFT Configuring the Camera 4.2.4.16 Mirror Image Purpose: To enable or disable the mirror image feature. See Section 3.9 for an explanation of mirror image. Type: This is a read or write command.
DRAFT Configuring the Camera 4.2.4.17 Test Image Command Purpose: To enable or disable a test image. See Section 3.11 for an explanation of the available test images. Type: This is a read or write command.
DRAFT Configuring the Camera 4.2.5 Query Commands 4.2.5.1 Read Vendor Information Purpose: To read the camera vendor’s name. Type: This is a read only command. Read Command: Response: Data Format: Cmd-ID 0x01 R/W-Flag 1 Data Length 16 Data - Cmd-ID 0x01 R/W-Flag 0 Data Length 16 Data 16 Bytes Zero terminated string if less than 16 bytes are needed for the vendor information. Unterminated string if all 16 bytes are needed. 4.2.5.
DRAFT Configuring the Camera 4.2.5.4 Read Serial Number Purpose: To read the camera’s serial number. Type: This is a read only command. Read Command: Response: Data Format: Cmd-ID 0x04 R/W-Flag 1 Data Length 16 Data - Cmd-ID 0x04 R/W-Flag 0 Data Length 16 Data 16 Bytes Zero terminated string if less than 16 bytes are needed for the serial number information. Unterminated string if all 16 bytes are needed. 4.2.5.5 Read Camera Version Purpose: To read the camera’s version information.
DRAFT Configuring the Camera 4.2.5.7 Read Microcontroller Firmware Version Purpose: To read the microcontroller firmware version. Type: This is a read only command. Read Command: Response: Data Format: Cmd-ID 0x40 R/W-Flag 1 Data Length 3 Data - Cmd-ID 0x40 R/W-Flag 0 Data Length 3 Data 3 Bytes Byte 1 Low byte of firmware version BCD coded Byte 2 High byte of firmware version BCD coded Byte 3 Register Layout ID 4.2.5.
DRAFT Configuring the Camera 4.2.5.9 Read Camera Temperature Purpose: To read the camera’s internal temperature. See Section 3.13 for the allowed maximum temperature. Type: This is a read only command. Read Command: Response: Data Format: Cmd-ID 0x70 R/W-Flag 1 Data Length 1 Data - Cmd-ID 0x70 R/W-Flag 0 Data Length 1 Data 1 Byte The temperature is given in °C as an 8 bit signed number. If the MSB is 1, a temperature below 0° C is present.
DRAFT Configuring the Camera 4.2.5.10 Reference Values Purpose: To read the reference values that are determined during the camera’s factory calibration procedure (see Sections 3.5.2 and 3.5.4 for information on how to use these values). Bytes 1 through 8 refer to reference gain values, bytes 9 through 16 to reference offset values. Type: This is a read only command.
DRAFT Configuring the Camera 4.2.6 Commands for Manipulating Configuration Sets 4.2.6.1 Copy the Factory Set or a User Set into the Work Set Purpose: To copy the Factory Set or one of the 15 User Sets into the Work Set. See Section 3.12 for an explanation of configuration sets. The write command will cause the selected set to be copied into the Work Set and the set will become active immediately. The read command returns the ID of the set that was last copied into the Work Set.
DRAFT Configuring the Camera 4.2.6.2 Copy Work Set into a User Set Purpose: To copy the Work Set into one of the 15 User Sets. See Section 3.12 for an explanation of configuration sets. Type: This is a write only command. Write Command: Response: Data Format: Cmd-ID 0x46 Data Length 1 Data 1 Byte None Byte 1 Set ID 4-28 R/W-Flag 0 An ID that specifies the user set. (see the table below).
DRAFT Configuring the Camera 4.2.6.3 Select the Startup Pointer Purpose: The Startup Pointer is used to tag the configuration set that will be copied into the Work Set at power on (see Section 3.12). The write command is used to set the Startup Pointer to the Factory Set or to one of the User Sets. The read command returns the Set ID for the current setting. Type: This is a read or write command.
DRAFT Configuring the Camera 4.2.7 Camera Status Command Purpose: The camera has been programmed to detect several error conditions. When an error condition is detected, a flag is set. The status command allows you to read the error flags. Type: This is a read only command. Read Command: Response: Data Format: Cmd-ID 0x43 R/W-Flag 1 Data Length 2 Data - Cmd-ID 0x43 R/W-Flag 0 Data Length 2 Data 2 Bytes Byte 1 Each bit specifies an error condition (see table below).
DRAFT Configuring the Camera 4.2.8 Bitrate Command Purpose: To set the bitrate of the serial communications link. The bitrate is changed immediately after the successful receipt of this command. (The default bitrate is 9600.) Type: This is a write only command. Write Command: Response: Data Format: Cmd-ID 0x44 Data Length 4 Data 4 Bytes None Byte 1 An ID that specifies the bitrate (see table below).
DRAFT Configuring the Camera 4.2.9 Camera Reset Command Purpose: Initiates a camera reset. The behavior is similar to a power up reset. Type: This is a write only command.
DRAFT Mechanical Considerations 5 Mechanical Considerations The A202k camera housing is manufactured with high precision. Planar, parallel, and angular sides guarantee precise mounting with high repeatability. Caution! The camera is shipped with a cap on the lens mount. To avoid collecting dust on the sensor, make sure that at all times either the cap is in place or a lens is mounted on the camera.
Mechanical Considerations DRAFT 5.1 Camera Dimensions and Mounting Facilities The dimensions for A202k cameras are as shown in Figure 5-1. A202k cameras are equipped with four M4 mounting holes on the front and two M4 mounting holes on each side as indicated in the drawings.
DRAFT Mechanical Considerations 5.2 Sensor Positioning Accuracy The sensor positioning accuracy is as shown in Figure 5-2.
Mechanical Considerations DRAFT 5.3 C-Mount Adapter Dimensions Figure 5-3: C-Mount Adapter Dimensions (in mm) 5.
DRAFT Mechanical Considerations 5.5 Maximum Lens Thread Length on C-mount Equipped Cameras A202kc cameras shipped with a C-mount lens adapter are equipped with an IR cut filter as standard equipment. The filter is mounted in the lens adapter. As shown in Figure 5-5, the location of the filter limits the thread length of the lens used on the camera. The thread length of the Cmount lens must be less than 7.5 mm.
Mechanical Considerations 5-6 DRAFT BASLER A202k
DRAFT Troubleshooting 6 Troubleshooting 6.1 Fault Finding Using the Camera LED When the power supply to the camera is switched on, the LED on the back of the camera will become orange colored for several seconds as the microprocessor in the camera boots up. If the LED then remains orange continuously, bootup has been successful. Once bootup is complete, the camera performs a continuous series of self checks. If an error condition is detected, the LED will begin to flash between green and orange.
DRAFT Troubleshooting 6.2 Troubleshooting Charts The following pages contain several troubleshooting charts which can help you find the cause of problems that users sometimes encounter. The charts assume that you are familiar with the camera’s features and settings and with the settings for your frame grabber. If you are not, we suggest that you review the manuals for your camera and frame grabber before you troubleshoot a problem. 6.2.
DRAFT Are you controlling the camera with an ExSync signal or is the camera in free-run? Free-run. Troubleshooting Did you set up free-run using the Exposure Time Control Mode setting on the CCT+ or with binary commands? ExSync signal. CCT+ Check the setup on your frame grabber and make sure that the ExSync signal is not too short. The period of the ExSync signal must be greater than 20.83 ms.
DRAFT Troubleshooting 6.2.2 Image Quality Problems Use this chart if the image is completely white, if the image is completely black, or if you have other image quality problems. If you get no image at all when you attempt to capture an image with the frame grabber, use the chart that appears in Section 6.2.1. Use the Camera Configuration Tool Plus to set the camera for test image one. Use your frame grabber to capture an image and examine the image carefully.
DRAFT Troubleshooting 6.2.3 Interfacing Use the interfacing troubleshooting charts if you think that there is a problem with the cables between your devices or if you have been directed here from another chart. Interfacing Chart Always switch off power to the system before making or breaking any connection. If you have not already done so, use a voltmeter to check the power source for the camera. The output must be 12 VDC ± 1.2 V.
DRAFT Troubleshooting 6.2.4 RS-644 Serial Communication Use the serial communication troubleshooting charts if you think that there is a problem with RS644 serial communication or if you have been directed here from another chart. Serial Communication Chart A (without a k-BIC) Always switch off power to the system before making or breaking any connection. The RS-644 port used by the A202k is located on the frame grabber. Check the documentation for your frame grabber.
DRAFT Troubleshooting 6.3 Before Calling Basler Technical Support To help you as quickly and efficiently as possible when you have a problem with a Basler camera, it is important that you collect several pieces of information before you contact technical support. Copy the form that appears on this and the next page (or download it from the support section of www.basler-vc.com), fill it out, and fax the pages to your local dealer or to your nearest Basler support center.
DRAFT Troubleshooting 9 How often did/does the problem occur? Once. Every time. Regularly when: Occasionally when: 10 How severe is the problem? Camera can still be used. Camera can be used after I take this action: Camera can no longer be used. 11 Did your application ever run without problems? Yes No 12 Parameter set It is very important for Basler technical support to get a copy of the exact camera parameters that you were using when the problem occurred.
DRAFT Revision History Revision History Doc. ID Number Date Changes DA 044001 3 July 2001 Initial release covering prototype cameras only. DA 044002 26 October 2001 Initial release covering series production cameras. DA044003 04 March 2002 Update to camera version 1.01: Changed the minimum high time for the ExSync signal from 1 µs to 4 µs. (Sect. 2.4.1, for example) Changed the exposure time offset to 94.5 µs. (Sect. 3.2) Changed the minimum setting for Timer 1 from 10 µs to 6 µs. (Sections 3.
DRAFT Revision History Doc. ID Number Date Changes DA044008 29 June 2007 Updated Basler addresses in Singapore and the U.S.A . Added environmental requirements for storage in Section 1.4.1. Added warning against overvoltage in Section 1.5. Added warnings not to reverse polarity of input power in Sections 1.5 and 2.8. Modified Section 3.5 to include offset balance. Added Sections 3.5.4 and 3.5.5. Renamed the register and modified Section 4.2.5.10 to include offset balance.
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Feedback iv DRAFT BASLER A202k
DRAFT Index Index A D area of interest explained . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-26 setting with binary commands . . . . . . . 4-15, 4-16 data output mode see video data output mode(s) digital shift explained . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-22 setting with binary commands . . . . . . . . . . . 4-14 dimensions camera . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2 C-mount adapter . . . . . . . . . . . . . . . . . . . . . .
Index DRAFT L LED. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-16, 6-1 lens thread length . . . . . . . . . . . . . . . . . . . . . . . . . 5-5 level-controlled exposure mode explained . . . . . . . . . . . . . . . . . . . . . . . . 3-3, 3-10 setting with binary commands . . . . . . . . . . . 4-12 serial number viewing with binary commands. . . . . . . . . . . 4-23 specifications. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2 startup pointer explained . . . . . . . . . .
