DRAFT Basler A500k USER’S MANUAL Document Number: DA000570 Version: 07 Language: 000 (English) Release Date: 20 March 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 An der 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 Versions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1 1.2 Performance Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2 1.3 Digital Responsivity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4 1.4 Environmental Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Contents DRAFT 3 Basic Operation and Features 3.1 Functional Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1 3.2 Exposure Time Control Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4 3.2.1 ExSync Controlled Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-4 3.2.2 Free Run . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DRAFT Contents 3.12 Test Images . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-44 3.12.1 Gray Scale Test Image . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-45 3.12.2 Color Test Image (A504kc and A501kc Only) . . . . . . . . . . . . . . . . . . . . . 3-45 3.12.3 Running Line Test Image . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-46 3.12.4 White Screen Test Image . . . . . . . . . .
DRAFT Contents 4.2.6 Query Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-24 4.2.6.1 Read Vendor Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-24 4.2.6.2 Read Model Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-24 4.2.6.3 Read Product ID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-24 4.2.6.4 Read Serial Number . . . . . . . . . . . . . . . . . . . . . . . . . .
PRELIMINARY Introduction 1 Introduction BASLER A500k area scan cameras are high speed CMOS cameras designed for industrial use. Good CMOS image sensing features are combined with a robust, high precision manufactured housing.
Introduction PRELIMINARY 1.2 Performance Specifications The image sensor characteristics were measured at 25°C. Specifications Sensor A504k A504kc A503k A501k A501kc 1280 H x 1024 V pixel CMOS (1310720 pixels) Micron MV13 progressive scan monochrome color (see section 3.6) monochrome monochrome color (see section 3.6) Pixel Size 12 µm x 12 µm (12 µm pixel pitch) Fill Factor without micro lens 40% Sensor Imaging Area H: 15.36 mm, V: 12.29 mm, Diagonal: 19.
PRELIMINARY Specifications A504k A504kc A503k 8 taps 8 Bit each Camera Link® Full Configuration Introduction A501k Video Output Format 10 taps 8 Bit each Camera Link® Full Configuration (Basler-specific bit assignment) Synchronization Via external ExSync signal or free-run Exposure Time Control Edge-controlled, Level-controlled, or Programmable Gain and Offset Programmable via the framegrabber via a serial link Connectors All versions: A501kc 2 taps 8 Bit each; Camera Link® Base Configurati
PRELIMINARY Introduction 1.3 Digital Responsivity The specified digital responsivity is obtained if the gain is set to 98. The values are valid for the monochrome chip. In addition, the output depends on the register setting for the digital shift.
PRELIMINARY Introduction Figure 1-2: Quantum Efficiency for Color A500kc Cameras L Basler A500k Color filter arrays become transparent after 700 nm. To maintain spectral balance, use of a suitable IR cut-off filter is recommended. The filter should transmit in a range of 400 nm to 700 nm. A suitable filter type is the B+W486, for example.
PRELIMINARY Introduction 1.4 Environmental Requirements Temperature and Humidity Housing temperature during operation: 0° C ... + 50° C (+ 32° F ... + 122° F) Humidity during operation: 20% ... 80%, relative, non-condensing Storage temperature: - 20° C ... + 80° C (- 4° F ... + 176° F) Storage humidity: 20% ... 80%, relative, non-condensing L You can measure the inner temperature via the temperature register. The maximum recommended inner temperature is 60° C (140° F).
PRELIMINARY Introduction 1.5 Precautions Power Caution! Making or breaking connections when power is on can result in damage to the camera. Be sure that all power to your system is switched off before you make or break connections to the camera. If you can not switch off power, be sure that the power supply connector is the last connector plugged when you make connections to the camera, and the first connector unplugged when you break connections.
Introduction 1-8 PRELIMINARY Basler A500k
PRELIMINARY Camera Interface 2 Camera Interface 2.1 Connections 2.1.1 General Description A500k area scan cameras are interfaced to external circuitry via • a 26 pin, 0.5“ Mini D Ribbon (MDR) connector to transmit configuration, trigger and image data via Camera Link, • a microminiature push-pull lock type receptacle to provide power (12 V) to the camera, • a microminiature push-pull lock type receptacle to provide a signal for an external flash.
PRELIMINARY Camera Interface Status LED Camera Link 1 Flash Camera Link 2 (A504k/kc and A503k only) Power 12 VDC VGA monitor output (A504k/kc only) Figure 2-1: A500k Connectors and LED L The camera housing is not grounded and is electrically isolated from the circuit boards inside of the camera. Note that the connectors at the camera are described, NOT the connectors required at the connecting cables.
PRELIMINARY Camera Interface 2.1.2 Pin Assignment for the MDR 26 Camera Link Connector(s) The pin assignment for the MDR 26 pin connector used to interface video data, control signals, and configuration data is given in Table 2-1. Table 2-2 provides the pin assignment for the second MDR 26 pin connector which is only available with the A504k/kc and A503k.
PRELIMINARY Camera Interface Camera Link Connector 2 (A504k/kc and A503k only): Pin Number Signal Name Direction Level Function 1, 13, 14, Gnd Input Ground Ground for the inner shield of the cable 15 Y0+ Output Data from Channel Link transmitter 2 Y0- Channel Link LVDS 16 Y1+ Output Data from Channel Link transmitter 3 Y1- Channel Link LVDS 17 Y2+ Output Data from Channel Link transmitter 4 Y2- Channel Link LVDS 19 Y3+ Output Data from Channel Link transmitter 6 Y3- Ch
PRELIMINARY Camera Interface 2.1.3 Pin Assignment for the Power Connector The power input connector type is a microminiature push-pull lock type connector, the Hirose HR 10A-7R-6PB. The power supply should deliver 12 V at a minimum of 500 mA (A504k/kc), 450 mA (A503k) or 250 mA (A501k/kc) with a voltage accuracy of ±10%. The pin assignment of the plug is given in Table 2-3.
PRELIMINARY Camera Interface Flash Out ExFlash or Integrate Enabled max = 0.3 µs max = 0.3 µs max = 1.3 µs (A501k/kc) = 1 µs (A503k) = 1 µs (A504k/kc) max = 1.3 µs (A501k/kc) = 1 µs (A503k) = 1 µs (A504k/kc) Figure 2-3: FlashOut Signal Timing TTL Active High (default) A TTL Active High output signal is typically used together with a TTL / CMOS Logic Device. The TTL Active High output signal has the following characteristics: • High output min. 4.
PRELIMINARY Camera Interface 2.1.5 Pin Assignment for the VGA Monitor Output (A504k/kc Only) The 15 pin HDSub receptacle for the VGA monitor output transmits 640 x 480 pixels at a rate of 60 fps.
Camera Interface PRELIMINARY 2.2.2 Power Cable A Hirose, 6-pin locking plug will be shipped with each camera. This plug should be used to terminate the cable on the power supply for the camera. For proper EMI protection, the power supply cable attached to this plug must be a twin-cored, shielded cable. Also, the housing of the Hirose plug must be connected to the cable shield and the cable must be connected to earth ground at the power supply.
PRELIMINARY Camera Interface 2.3 Camera Link Implementation in the A500k The A500k uses a National Semiconductor DS90CR287 as a Channel Link transmitter. For a Channel Link receiver, we recommend that you use the National Semiconductor DS90CR288, the National Semiconductor DS90CR288A or an equivalent. Detailed data sheets for these components are available at the National Semiconductor web site (www.national.com).
Camera Interface PRELIMINARY Figure 2-5: A504k/kc Camera / Frame Grabber Interface 2-10 Basler A500k
PRELIMINARY Camera Interface Figure 2-6:A503k Camera / Frame Grabber Interface Basler A500k 2-11
PRELIMINARY Camera Interface MDR Cable DS90CR287 - Transmitter X Port A0 Port A1 Port A2 Port A3 Port A4 Port A6 Port A7 Tx0 Tx1 Tx2 Tx3 Tx4 Tx6 Tx7 Port B0 Port B1 Port B4 Port B5 Port B6 Port B7 Port C2 Tx8 Tx9 Tx12 Tx13 Tx14 Tx15 Tx18 Port C3 Port C4 Port C5 Port C6 LVAL FVAL Not Used Tx19 Tx20 Tx21 Tx22 Tx24 Tx25 Tx26 Not Used Port A5 Port B2 Port B3 Port C0 Port C1 Port C7 Tx27 Tx5 Tx10 Tx11 Tx16 Tx17 Tx23 Strobe (PClk) DS90CR288A - Receiver X X0+ 15 15 Pair 1+ 12 12 X0+ X0- 2 2
PRELIMINARY Camera Interface 2.4 Input Signals The A500k receives the RS-644 input signals ExSync, ExClk, ExFlash, and RxD of the serial interface. Section 2.4.1 describes the function of the ExSync signal, section 2.4.2 describes the function of the ExFlash signal. RxD of the serial communication is described in section 2.6. 2.4.1 ExSync: Controls Frame Readout and Exposure Time The ExSync input signal can be used to control exposure and readout of the A500k.
Camera Interface PRELIMINARY 2.5 Output Signals Data is output from the A500k using the Camera Link standard. The Pixel Clock signal is described in section 2.5.1, the Line Valid signal in section 2.5.2, the Frame Valid signal in section 2.5.3, and the video data in section 2.5.4. How the Video Data is output is described in sections 2.5.5 and 2.5.7. Section 2.5.8 describes the Flash trigger output signal. The A504k/kc uses a modification of the Camera Link standard.
PRELIMINARY Camera Interface also show the assignment for the frame valid bit and the line valid bit.These signals and the data transmitted via the three Channel Link transmitter/receiver pairs are not assigned according to the Camera Link standard. The Basler-specific connection is described in Tables 2-7 to 2-9. Note that framegrabbers are available for the Basler-specific pin assignment.
2-16 TxIN3 TxIN4 TxIN5 TxIN6 TxIN7 TxIN8 TxIN9 TxIN10 TxIN11 TxIN12 TxIN13 TxIN14 TxIN15 TxIN16 TxIN17 TxIN18 TxIN19 TxIN20 TxIN21 TxIN22 TxIN23 TxIN24 TxIN25 TxIN26 TxIN27 TxCLKIn RxCLKOut Pixel Clock A, B, C PClk Port A4 Port A5 Port A6 Port A7 Port B0 Port B1 Port B2 Port B3 Port B4 Port B5 Port B6 Port B7 Port C0 Port C1 Port C2 Port C3 Port C4 Port C5 Port C6 Port C7 LVAL FVAL Port D0 Port D1 PClk D1_1 D1_0 D0_7 (MSB) D0_6 D0_5 D0_4 D0_3 LVAL
PRELIMINARY L Camera Interface Note that the bit assignment of the A504k/kc does NOT follow the current Camera Link standard in every respect: • Channel Link transmitters Y and Z do not transmit an FVAL signal. • The data lines are assigned to different input pins. • The data lines are also assigned to the spare pins and the pins normally assigned to FVAL and DVAL. Note that framegrabbers are available for the Basler-specific bit assignment. Plug No.
PRELIMINARY Camera Interface Plug No.
PRELIMINARY Camera Interface Plug No.
PRELIMINARY Camera Interface Port Camera Frame Grabber Signal Port A0 TxIN0 RxOUT0 D0 Bit 0 Port A1 TxIN1 RxOUT1 D0 Bit 1 Port A2 TxIN2 RxOUT2 D0 Bit 2 Port A3 TxIN3 RxOUT3 D0 Bit 3 Port A4 TxIN4 RxOUT4 D0 Bit 4 Port A5 TxIN5 RxOUT5 D0 Bit 5 Port A6 TxIN6 RxOUT6 D0 Bit 6 Port A7 TxIN7 RxOUT7 D0 Bit 7 (MSB) Port B0 TxIN8 RxOUT8 D1 Bit 0 Port B1 TxIN9 RxOUT9 D1 Bit 1 Port B2 TxIN10 RxOUT10 D1 Bit 2 Port B3 TxIN11 RxOUT11 D1 Bit 3 Port B4 TxIN12 RxOUT12
PRELIMINARY Camera Interface 2.5.5 Video Data Output for the A504k/kc A504k cameras output the video data in a 10 x 8 Bit data stream. The pixel clock is used to time data sampling and transmission. As shown in Figures 2-8 and 2-9, the camera samples and transmits data on each rising edge of the pixel clock. The image has a maximum size of 1280 x 1024 pixels that are transmitted with a Pixel Clock frequency of 67.58 MHz over the three Channel Link transmitter/receiver pairs X, Y and Z.
Camera Interface PRELIMINARY stream, and so on. The tenth D_9 data stream contains the thirtieth pixel. 8 bits will contain the data for each pixel. • This pattern will continue until all of the pixel data for each data stream for line one has been transmitted. (A total of 128 cycles for the A504k/kc) • Line valid becomes low for four pixel clocks. • On the pixel clock cycle where data transmission for line two begins, the line valid bit will become high.
PRELIMINARY Camera Interface ExSync Signal min. 3 µs 2000 µs Frame Valid 0.06 µs 0.015 µs 1.89 µs Line 1 Line Valid 0 µs Line 2 Line 1024 1.95 µs Pixel Clock (67.
PRELIMINARY Camera Interface end of programmed time min. 3 µs 2000 µs Frame Valid 0.06 µs 0.015 µs 1.89 µs Line 1 Line Valid 0 µs Line 2 Line 1024 1.95 µs Pixel Clock (67.
PRELIMINARY Camera Interface 2.5.6 Video Data Output for the A503k A503k cameras output the video data in an 8 x 8 Bit data stream. The pixel clock is used to time data sampling and transmission. As shown in Figures 2-10 and 211, the camera samples and transmits data on each rising edge of the pixel clock. The image has a maximum size of 1280 x 1024 pixels that are transmitted with a Pixel Clock frequency of 67.58 MHz over the three Channel Link transmitter/receiver pairs X, Y and Z.
Camera Interface PRELIMINARY stream, and so on. The twentyfourth pixel is the third pixel in the D_7 data stream. The data for each pixel will be at eight bit depth. • This pattern will continue until all of the pixel data for each data stream for line one has been transmitted. (A total of 160 cycles for the A503k). • Line valid becomes low for four pixel clocks. • On the pixel clock cycle where data transmission for line two begins, the line valid bit will become high.
PRELIMINARY Camera Interface ExSync Signal min. 3 µs 2485 µs Frame Valid 0.06 µs 0.015 µs 2.37 µs Line 1 Line Valid 0 µs Line 2 Line 1024 2.43 µs Pixel Clock (67.
PRELIMINARY Camera Interface end of programmed time min. 3 µs 2485 µs Frame Valid 0.06 µs 0.015 µs 2.37 µs Line 1 Line Valid 0 µs Line 2 Line 1024 2.43 µs Pixel Clock (67.
PRELIMINARY Camera Interface 2.5.7 Video Data Output for the A501k/kc A501k/kc cameras output the video data in a 2 x 8 Bit data stream. The pixel clock is used to time data sampling and transmission. As shown in Figures 2-12 and 213, the camera samples and transmits data on each rising edge of the pixel clock. The image has a maximum size of 1280 x 1024 pixels that are transmitted with a Pixel Clock frequency of 50 MHz over the Channel Link transmitter/receiver pair X.
PRELIMINARY Camera Interface • This pattern will continue until all of the pixel data for each data stream for line one has been transmitted. (A total of 640 cycles for the A501k/kc.) • Line valid becomes low for twenty pixel clocks. • On the pixel clock cycle where data transmission for line two begins, the line valid bit will become high. Two data streams are transmitted in parallel during this clock cycle.
PRELIMINARY Camera Interface end of programmed time min. 3 µs 13.517 ms Frame Valid 0.1 µs 0.4 µs Line 1 Line Valid 0 µs 12.8 µs Line 2 Line 1024 13.2 µs Pixel Clock (50 MHz) D_0 Pixel Data ..5 1 3 1277 1279 1 2 20 1 1279 1 2 20 1 3 1277 1279 D_1 Pixel Data ..5 2 4 1278 1280 1 2 20 2 1280 1 2 20 2 4 1278 1280 (8 bits) (8 bits) This diagram assumes that the area of interest feature is not being used.
Camera Interface PRELIMINARY 2.5.9 VGA Monitor Output (A504k/kc Only) The VGA monitor output transmits 640 x 480 pixels RGB at a rate of 60 Hz. To achieve this, the image from the sensor (1280 x 1024 pixels) must be reduced. The first 32 lines and the last 32 lines of the image are not transmitted. Then, only every second pixel from the remaining 1280 x 960 pixels are transmitted to the VGA monitor output. The image on the monitor has a resolution of 640 x 480 pixels.
PRELIMINARY Camera Interface 2.6 RS-644 Serial Communication The A500k 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.
PRELIMINARY Camera Interface 2.8 DC Power The A500k requires 12 VDC (± 10%) power. The maximum power consumption is 6 W for the A504k/kc, 5.4 W for the A503k/kc, and 3 W for the A501k/kc. The current during constant operation is 500 mA max. for the A504k/kc, 450 mA max. for the A503k/kc, and 250 mA max. for the A501k/kc. Peak currents may occur. We recommend using 1.5 A power supplies. The camera is equipped with an undervoltage lockout. The camera has no overvoltage protection.
PRELIMINARY Basic Operation and Features 3 Basic Operation and Features 3.1 Functional Description BASLER A500k area scan cameras employ a CMOS-sensor chip which provides features such as a full frame shutter, electronic exposure time control and anti-blooming. Exposure time is controlled either internally via an internal sync signal (free-run mode) or externally via an external trigger (ExSync) signal. The ExSync signal facilitates periodic or non-periodic pixel readout.
PRELIMINARY Basic Operation and Features in the FPGA if 8 bit output is selected. The digital shifter selects the most significant 8 bits out of the 10 bits for the A504k/kc, A503k, and A501k/kc. In the next step, different data flows occur: • In the A504k/kc, the data is formatted to be output in 10 parallel data streams (10 taps).
PRELIMINARY Basic Operation and Features LED Power Supply Microcontroller Power EEPROM Config Sync DAC Control FlashOut TTL Driver FlashOut Serial LVDS Serial ExSync Driver + ExFlash ExFlash Receiver ExSync Internal Sync Image Sensor Gain + Sensor Integrate Flash Triple ImageData Ctrl PB-MV13CC Offset DACs Sensor Timing Biases ImageData Shifter Data Channel Link Data Monitor Driver Monitor RGB ImageData Test Img VGA Image Generator VGA Image (A504k/kc only) FPGA
Basic Operation and Features PRELIMINARY 3.2 Exposure Time Control Modes A500k cameras can operate under the control of an external trigger signal (ExSync signal) 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 In ExSync operation, the camera’s frame rate and exposure time are controlled by an externally generated (ExSync) signal.
PRELIMINARY Basic Operation and Features • In ExSync, programmable mode, the rising edge of ExSync triggers exposure and charge accumulation for a pre-programmed period of time. The frame is read out and transferred at the end of the pre-programmed period. The falling edge of ExSync is not relevant (see Figure 3-6). A parameter called the “Timer 1” is used to set the length of the pre-programmed exposure period.
Basic Operation and Features PRELIMINARY 3.2.2 Free Run In free-run, no ExSync signal is required. The camera generates a continuous internal control signal. When the camera is operating in free-run, it exposes and outputs frames continuously. A500k cameras have a free-run, programmable mode. The A504k/kc cameras additionally have a free-run, VGA mode. • In free-run, programmable mode, the camera generates a continuous internal control signal based on two programmable parameters: “Timer 1” and “Timer 2.
PRELIMINARY Basic Operation and Features • In free-run, VGA mode (A504k/kc only), the camera generates a continuous internal control signal which is set to 60 Hz and can not be varied. The data is output at the VGA monitor output connector and at the Camera Link connectors. Timer 1 determines how long the internal signal will remain low. Pixels are exposed and charge is accumulated when the internal control signal is low.
Basic Operation and Features PRELIMINARY 3.3 Exposure Time Control Modes in Detail This section is aimed at system integrators or engineers who intend to develop their own framegrabbers or preprocessing. If you are using a commercially available framegrabber, the framegrabber takes care of the different timings described in this section without the need for any action by you.
PRELIMINARY Basic Operation and Features The synchronous/asynchronous timing is described in sections 3.3.2.2, 3.3.3.2, and 3.3.4.2 for each exposure mode. Synchronous Timing 1: The time that frame valid is low between two subsequent frames corresponds to the time of one and a half lines. Exposure of frame N+1 starts during readout of frame N while frame valid is high. Readout of frame N+1 is triggered during transmission of the last line of frame N, i.e.
Basic Operation and Features PRELIMINARY 3.3.1 ExSync, Edge-controlled Mode When using the ExSync edge-controlled mode to control exposure, several guidelines must be followed: • ExSync must remain high for a minimum of 1 µs. • ExSync must remain low for a minimum of 1 µs. • When using full resolution, the minimum ExSync period is 2 ms for the A504k/kc, 2.485 ms for the A503k and 13.52 ms for the A501k/kc.
PRELIMINARY Basic Operation and Features 3.3.1.1 ExSync, Edge-controlled Mode with Asynchronous Timing p = ExSync Period ExSync 3.3 µs ... 5.2 µs (A504k/kc) 3.8 µs ... 6.2 µs (A503k) 27 µs ... 40 µs (A501k/kc) Frame Valid 2 µs ... 3.3 µs (A504k/kc) 2.5 µs ... 3.8 µs (A503k) 13.5 µs ... 20.2 µs (A501k/kc) Line Valid p = ExSync Period Integrate Enabled f = ≤ 3 µs (A504k/kc) f = ≤ 3.75 µs (A503k) f = ≤ 12.
Basic Operation and Features PRELIMINARY 3.3.1.2 ExSync, Edge-controlled Mode with Synchronous Timing 1 p = ExSync Period ExSync d = 3.3 µs ... 5.2 µs (A504k/kc) d = 3.8 µs ... 6.2 µs (A503k) d = 27 µs ... 40 µs (A501k/kc) Frame Valid 2 µs ... 3.3 µs (A504k/kc) 2.5 µs ... 3.8 µs (A503k) 13.5 µs ... 20.2 µs (A501k/kc) Line Valid p = ExSync Period Integrate Enabled f = ≤ 3 µs (A504k/kc) f = ≤ 3.75 µs (A503k) f = ≤ 12.
PRELIMINARY Basic Operation and Features 3.3.1.3 ExSync, Edge-controlled Mode with Synchronous Timing 2 p = ExSync Period ExSync d = 5 µs ... 6 µs (A504k/kc) d = 6.25 µs ... 7.5 µs (A503k) d = 20 µs ... 26.9 µs (A501k/kc) Frame Valid 44 ns (A504k/kc) 60 ns (A503k) 300 ns (A501k/kc) Line Valid p = ExSync Period Integrate Enabled f = ≤ 3 µs (A504k/kc) f = ≤ 3.75 µs (A503k) f = ≤ 12.
Basic Operation and Features PRELIMINARY 3.3.2 ExSync, Level-controlled Mode When using the ExSync level-controlled mode to control exposure, several guidelines must be followed: • ExSync must remain high for a minimum of 5 µs. • ExSync must remain low for a minimum of 10 µs. • When using full resolution, the minimum ExSync signal period is 2 ms for the A504k/kc, 2.485 ms for the A503k, and 13.52 ms for the A501k/kc.
PRELIMINARY Basic Operation and Features 3.3.2.1 ExSync, Level-controlled Mode with Asynchronous Timing ExSync Period ExSync p 3.3 µs (A504k/kc) 3.8 µs (A503k) 20.8 µs (A501k/kc) Frame Valid Line Valid d = 1.8 µs (A504k/kc) d = 1.8 µs (A503k) d = 7.2 µs (501k/kc) p Integrate Enabled TIMING CHARTS ARE NOT DRAWN TO SCALE Figure 3-12: ExSync, Level-controlled Mode - Exposure Start and Stop when Frame Valid is Low The ExSync signal goes low and goes high while the Frame Valid signal is low.
PRELIMINARY Basic Operation and Features 3.3.2.2 ExSync, Level-controlled Mode with Synchronous/Asynchronous Timing ExSync Period ExSync p 3.3 µs (A504k/kc) 3.8 µs (A503k) 20.8 µs (A501k/kc) Frame Valid Line Valid d = 1.8 µs ... 5 µs (A504k/kc) d = 1.8 µs ... 6.25 µs (A503k) d = 6.8 µs ... 20 µs (A501k/kc) p Integrate Enabled f = ≤ 2 µs (A504k/kc) f = ≤ 2.5 µs (A503k) f = ≤ 13 µs (A501k/kc) TIMING CHARTS ARE NOT DRAWN TO SCALE g = 0 µs (A504k/kc) g = 0 µs (A503k) g = ≤ 0.
PRELIMINARY Basic Operation and Features 3.3.2.3 ExSync, Level-controlled Mode with Synchronous Timing 1 ExSync Period ExSync p 3 µs ... 6 µs (A504k/kc) 3.5 µs ... 7.5 µs (A503k) 26.9 µs ... 34.3 µs (A501k/kc) Frame Valid 2 µs ... 3 µs (A504k/kc) 2.5 µs ... 3.75 µs (A503k) 13.5 µs ... 20.2 µs (A501k/kc) Line Valid d = 1.8 µs ... 5 µs (A504k/kc) d = 1.8 µs ... 6.25 µs (A503k) d = 6.9 µs ... 20.2 µ (A501k/kc) Integrate Enabled p f = ≤ 2 µs (A504k/kc) f = ≤ 2.
PRELIMINARY Basic Operation and Features 3.3.2.4 ExSync, Level-controlled Mode with Synchronous Timing 2 ExSync Period ExSync p 6.5 µs (A504k/kc) 5.8 µs (A503k) 39.2 µs ... 40.6 µs (A501k/kc) Frame Valid 44 ns (A504k/kc) 60 ns (A503k) 300 ns (A501k/kc) Line Valid d = 1.8 µs ... 5 µs (A504k/kc) d = 1.8 µs ... 6.25 µs (A503k) d = 1 µs ... 3 µs (A501k/kc) p Integrate Enabled f = ≤ 2 µs (A504k/kc) f = ≤ 2.
PRELIMINARY Basic Operation and Features 3.3.3 ExSync, Programmable Mode When using the ExSync programmable mode to control exposure, several guidelines must be followed: • ExSync must remain high for a minimum of 1 µs. • ExSync must remain low for a minimum of 1 µs. • Timer 1 must be set to a minimum of 10 µs. • Using full resolution, the minimum ExSync signal period is 2 ms for the A504k/kc, 2.485 ms for the A503k and 13.52 ms for the A501k/kc.
Basic Operation and Features PRELIMINARY 3.3.3.1 ExSync, Programmable Mode with Asynchronous Timing ExSync Period ExSync p = Timer 1 Frame Valid 4.7 µs (A504k/kc) 5.5 µs (A503k) 26.4 µs (A501k/kc) Line Valid d = 1.7 µs (A504k/kc) d = 1.7 µs (A503k) d = 7.2 µs (A501k/kc) p = Timer 1 Integrate Enabled f = 0 µs (A504k/kc) f = 0 µs (A503k) f = ≤ 5.
PRELIMINARY Basic Operation and Features 3.3.3.2 ExSync, Programmable Mode with Synchronous/Asynchronous Timing ExSync Period ExSync p = Timer 1 4.7 µs (A504k/kc) 5.5 µs (A503k) 26.4 µs (A501k/kc) Frame Valid Line Valid d = 1.7 µs ... 3.7 µs (A504k/kc) d = 1.7 µs ... 4.2 µs (A503k) d = 6.9 µs ... 20.2 µs (A501k/kc) p = Timer 1 Integrate Enabled f = ≤ 1 µs (A504k/kc) f = ≤ 1.25 µs (A503k) f = ≤ 7.1 µs (A501k/kc) TIMING CHARTS ARE NOT DRAWN TO SCALE g = ≤ 3 µs (A504k/kc) g = ≤ 3.
Basic Operation and Features PRELIMINARY 3.3.3.3 ExSync, Programmable Mode with Synchronous Timing 1 ExSync Period ExSync p = Timer 1 Frame Valid 5 µs ... 6 µs (A504k/kc) 6.25 µs ... 7.5 µs (A503k) 26.2 µs ... 32.8 µs (A501k/kc) 2 µs ... 3 µs (A504k/kc) 2.5 µs ... 3.75 µs (A503k) 13.5 µs ... 20.2 µs (A501k/kc) Line Valid d = 1.7 µs ... 3.7 µs (A504k/kc) d = 1.7 µs ... 4.2 µs (A503k) d = 6.9 µs ... 20.2 µs (A501k/kc) Integrate Enabled p = Timer 1 f = ≤ 1 µs (A504k/kc) f = ≤ 1.25 µs (A503k) f = ≤ 7.
PRELIMINARY Basic Operation and Features 3.3.3.4 ExSync, Programmable Mode with Synchronous Timing 2 ExSync Period ExSync p = Timer 1 5.1 µs ... 6.6 µs (A504k/kc) 6.35 µs ... 8.1 µs (A503k) 41.2 µs (A501k/kc) Frame Valid 44 ns (A504k/kc) 60 ns (A503k) 300 ns (A501k/kc) Line Valid d = 1.7 µs ... 3.7 µs (A504k/kc) d = 1.7 µs ... 4.2 µs (A503k) d = 6.9 µs ... 20.2 µs (A501k/kc) Integrate Enabled p = Timer 1 f = ≤ 1 µs (A504k/kc) f = ≤ 1.25 µs (A503k) f = ≤ 7.
Basic Operation and Features PRELIMINARY 3.3.4 Free-run Mode When using the free-run, programmable mode to control exposure, several guidelines must be followed: • The internal control signal must remain high for a minimum of 3 µs. • The internal control signal must remain low for a minimum of 10 µs. • Using full resolution, the minimum internal control signal period is 2 ms for the A504k/kc, 2.485 ms for the A503k, and 13.52 ms for the A501k/kc.
PRELIMINARY Basic Operation and Features 3.3.4.1 Free-run Mode with Asynchronous Timing Internal Control Signal Period Internal Control Signal p = Timer 1 Timer 2 3 µs (A504k/kc) 3.5 µs (A503k) 20.1 µs (A501k/kc) Frame Valid Line Valid d = 1.9 µs (A504k/kc) d = 1.
PRELIMINARY Basic Operation and Features 3.3.4.2 Free-run Mode with Synchronous/Asynchronous Timing Internal Control Signal Period Internal Control Signal p = Timer 1 Timer 2 3.3 µs (A504k/kc) 3.8 µs (A503k) 20.6 µs (A501k/kc) Frame Valid Line Valid d = 1 µs ... 3 µs (A504k/kc) d = 1.25 µs ... 3.75 µs (A503k) d = 7.2 µs ... 20.2 µs (A501k/kc) p = Timer 1 Integrate Enabled f = ≤ 1 µs (A504k/kc) f = ≤ 1.25 µs (A503k) f = ≤ 0.
PRELIMINARY Basic Operation and Features 3.3.4.3 Free-run Mode with Synchronous Timing 1 Internal Control Signal Period Internal Control Signal p = Timer 1 Timer 2 4 µs ... 6 µs (A504k/kc) 5 µs ... 7.5 µs (A503k) 26.2 µs ... 39.8 µs (A501k/kc) Frame Valid 2 µs ... 3 µs (A504k/kc) 2.5 µs ... 3.8 µs (A503k) 13.5 µs ... 20.2 µs (A501k/kc) Line Valid d = 1 µs ... 3 µs (A504k/kc) d = 1.25 µs ... 3.75 µs (A503k) d = 6.9 µ ... 20.
Basic Operation and Features PRELIMINARY 3.3.4.4 Free-run Mode with Synchronous Timing 2 Internal Control Signal Period Internal Control Signal p = Timer 1 Timer 2 4 µs ... 6 µs (A504k/kc) 5 µs ... 7.5 µs (A503k) 27.4 µs ... 39.4 µs (A501k/kc) Frame Valid 44 ns (A504k/kc) 60 ns (A503k) 300 ns (A501k/kc) Line Valid d = 0.8 µs Integrate Enabled p = Timer 1 f = ≤ 2 µs (A504k/kc) f = ≤ 2.5 µs (A503k) f = ≤ 7 µs (A501k/kc) TIMING CHARTS ARE NOT DRAWN TO SCALE g = ≤ 2 µs (A504k/kc) g = ≤ 2.
PRELIMINARY Basic Operation and Features 3.3.5 Free-run VGA Mode (A504k/kc Only) Internal Control Signal Period Internal Control Signal p = Timer 1 34 µs 16087 µs Frame Valid 580 µs Line Valid Integrate Enabled p = Timer 1 f = 15.8 µs g = 15.8 µs TIMING CHARTS ARE NOT DRAWN TO SCALE Figure 3-24: Free-run VGA Mode • Disregarding possible jitter, the duration of the effective exposure is defined by period p (set by Timer 1). • Jitter may shorten or extend the effective exposure, i.e.
Basic Operation and Features PRELIMINARY 3.4 Long Exposure Compensation (A504k/kc, A503k Only) The long exposure compensation value can be set to optimize image quality. The longer the exposure time, the higher the long exposure compensation needs to be. The long exposure compensation value determines the reset voltage which is applied to the pixels between two images to achieve full and uniform discharge.
PRELIMINARY Basic Operation and Features 3.5 Max Exposure Time at Max Speed (A504k/kc Only) In many applications, cameras are operated at maximum speed and at maximum exposure time. To obtain a reliable timing for frame read-out in synchronous timing 2, follow the setup recommendations described in this section. This recommendation applies to level-controlled, programmable, free-run VGA and free-run, programmable exposure time control modes. It is not relevant for edge-controlled mode.
Basic Operation and Features PRELIMINARY 3.6 Color Creation in the A504kc and A501kc The CMOS sensor used in the color version of the camera is equipped with an additive color separation filter. With the color 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 color filter is shown in Figure 3-26.
PRELIMINARY Basic Operation and Features 3.7 Gain and Offset The A500k includes a CMOS sensor with 1024 ADCs (Analog to Digital Converters), and a digital shifter. The pixels in the CMOS sensor output voltage signals when they are exposed to light. After readout of the pixel voltage, an offset is added to each voltage. The voltages are then transferred to the ADCs which convert the voltages to digital output signals. The ADC reference is used to set the gain, but only in a small range.
Basic Operation and Features PRELIMINARY 3.7.1 Gain Settings in More Detail The optical gain Gopt is the digital number value (DN) that the camera outputs after an exposure with the amount of light of 1 Lux per second. For this camera, the optical gain can be calculated as follows (formula based on data from sensor data sheet): 1.6 DN / lx s Gopt = -----------------------------------------------------------------------------0.006 – 0.
PRELIMINARY Basic Operation and Features 3.8 DSNU Constancy (A503k Only) In theory, when an area scan camera with a digital sensor captures a frame in complete darkness, all of the pixel values in the frame should be near zero and they should be equal. In practice, slight variations in the performance of the pixels in the sensor will cause some variation in the pixel values output from the camera. This variation is known as Dark Signal Non-uniformity (DSNU).
Basic Operation and Features PRELIMINARY 3.10 Digital Shift The digital shift feature allows you to change the group of bits that is output from the ADC. Using the digital shift feature will effectively multiply the output of the CMOS sensor by 2 times, 4 times or 8 times. Section 3.10.1 describes how digital shift works. You can set digital shift using either the Camera Configuration Tool Plus (see section 4.1) or binary commands (see section 4.2). 3.10.
PRELIMINARY Basic 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 the ADC. 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 20.
Basic Operation and Features PRELIMINARY 3.10.2 Precautions When Using Digital Shift There are several checks and precautions that you must follow before using the digital shift feature. Make this check: 1. Use the binary commands or the CCT+ to set the camera for no digital shift. 2. Check the output of the camera under your normal lighting conditions with no digital shift and note the readings for the brightest pixels. • If any of the readings are above 128, do not use digital shift.
PRELIMINARY Basic Operation and Features 3.11 Area of Interest (AOI) The area of interest feature allows you to specify a portion of the CMOS array and during operation, only the pixel information from the specified portion 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.
Basic Operation and Features PRELIMINARY You can set the area of interest using either the Camera Configuration Tool Plus (see section 4.1) or binary commands (see section 4.2). You use the Area of Interest Starting Column, Area of Interest Width in Columns, Area of Interest Starting Line and Area of Interest Height in Lines commands. L L Note that the binary commands start to count at 0. In normal operation, the camera is set to use all of the pixels in the array.
PRELIMINARY Basic Operation and Features 3.11.1 Changes to the Maximum Frame Rate with Area of Interest When the area of interest feature is used, the camera’s maximum achieveable frame rate increases. The amount that the maximum frame rate increases depends on the number of lines included in the area of interest (AOI height). The fewer the number of lines in the area of interest, the higher the maximum frame rate.
PRELIMINARY Basic Operation and Features 3.11.2 Dynamic Area of Interest (A504k/kc, A503k Only) Dynamic AOI is a useful feature for object tracking applications. It needs to be activated if you want to displace the AOI position diagonally. To show the usefulness of this feature, this section explains first what happens if you move the AOI diagonally with Dynamic AOI deactivated. When you change the AOI starting line register, the value becomes immediately active.
PRELIMINARY Basic Operation and Features AOI Starting Column, AOI Width, AOI Starting Line, AOI Height: The values come directly from the AOI registers of the camera. The AOI values are located right-justified in each 16 Bit stamp. Unused Bits are set to 0. L The stamp is not applied • if a test image is active, or • if the exposure mode is set to free-run, VGA. You can activate or deactivate the Area of Interest Stamp using either the Camera Configuration Tool Plus (see section 4.
Basic Operation and Features PRELIMINARY 3.12 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, CMOS sensor, or ADCs.
PRELIMINARY Basic Operation and Features 3.12.1 Gray Scale Test Image The gray scale test image consists of lines with repeated gray scale gradients ranging from 0 to 255. The first line starts with a gray value of 0 on the first pixel, in the second line the first pixel has a gray value of 1, in the third line the first pixel has a gray value of 2, and so on. The mathematical expression for the test image is: gray level = [x + y] MOD 256. This expression is shown graphically in Figure 3-32.
Basic Operation and Features PRELIMINARY Figure 3-34: Formation of the Color Test Image; the First Line is Shown L The color test image is only displayed correctly if the pixels are sorted according to the color pattern described in section 3.6. 3.12.3 Running Line Test Image This test image mode tests frame capture. A black image has a white line with a height of one pixel. This horizontal line moves down by one pixel after each frame. Figure 3-35: Test Image 3.12.
PRELIMINARY Basic Operation and Features 3.13 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.
Basic Operation and Features PRELIMINARY 3.14 Camera Status A500k cameras monitor their status by performing a regular series of self checks. The current status of a camera can be viewed in several ways: • with the camera configuration tool CCT+. You can use the Camera Status information in the Camera Information group (see section 4.1 and the configuration tool’s on-line help). • with binary commands (see section 4.2). You can use the Camera Status command to see if the camera has detected any errors.
PRELIMINARY Configuring the Camera 4 Configuring the Camera A500k cameras come factory-set so that they will work properly for most applications with minor changes to the camera configuration.
Configuring the Camera PRELIMINARY 4.1 Configuring the Camera with the Camera Configuration Tool Plus (CCT+) The camera configuration tool CCT+ 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.
PRELIMINARY 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 3.13). 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 PRELIMINARY 4.1.4 Configuration Tool Help The CCT+ includes a complete on-line help file which explains how to change a setting or to copy the Work Set to a User Set, to Copy a User Set or the Factory Set to the Work Set, or to set the Startup Pointer. To access on-line help, press the F1 key whenever the configuration tool is active.
PRELIMINARY Configuring the Camera 4.2 Configuring the Camera with Binary Programming Commands Configuration commands can be issued to the A500k 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.
PRELIMINARY Configuring the Camera 4.2.
PRELIMINARY 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 All values are formatted as little endian (Intel format). 4.2.2 Error Checking 4.2.2.
Configuring the Camera PRELIMINARY 4.2.2.4 Write Command In the normal case, when a write command is sent to the camera, the camera responds with an ACK. If the camera receives a write command with an unknown command ID in the descriptor, it will respond with an ACK but will not perform the write. After a write command has been issued by the host, the host can verify the write by issuing a corresponding read command and checking that the returned data is as expected.
PRELIMINARY 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 PRELIMINARY 4.2.3.3 Calculating the Block Check Character The block check character in any A500k 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 4.2.3.2, the block check character is 0x45. Let’s consider at how this block check character was calculated. In this case, we must find the XOR sum of three bytes.
PRELIMINARY Configuring the Camera 4.2.4 Commands for Setting Camera Parameters 4.2.4.1 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.
Configuring the Camera PRELIMINARY 4.2.4.2 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.
PRELIMINARY Configuring the Camera 4.2.4.4 Long Exposure Compensation (A504k/kc, A503k Only) Purpose: To set long exposure compensation or read the current long exposure compensation setting. See section 3.4 for details. Type: This is a read or write command.
Configuring the Camera PRELIMINARY 4.2.4.5 Gain Purpose: To set the gain (ADCref) or to read the current gain (ADCref) setting. See section 3.7 for more information on gain. Type: This is a read or write command.
PRELIMINARY Configuring the Camera 4.2.4.7 Positive Offset Purpose: To set the positive offset or to read the current positive offset setting. If you use OfsPos, set OfsNeg to 0. See section 3.7 for more information on offset. Type: This is a read or write command.
Configuring the Camera PRELIMINARY 4.2.4.8 DSNU Constancy and Shutterline Correction Enable (A503k Only) Purpose: To enable/disable the DSNU constancy feature and/or the shutterline correction feature. See section 3.8 for more information on the DSNU constancy feature and section 3.9 for more information on shutterline correction. Type: This is a read or write command.
PRELIMINARY Configuring the Camera 4.2.4.9 Shutterline Correction (A503k Only) Purpose: To set the shutterline correction value. See section 3.9 for more information on shutterline correction. Type: This is a read or write command.
PRELIMINARY Configuring the Camera 4.2.4.10 Digital Shift Purpose: To enable or disable digital shift. See section 3.10 for an explanation of digital shift. Type: This is a read or write command.
PRELIMINARY Configuring the Camera 4.2.4.11 Area of Interest Starting Column Purpose: To set the left starting column for the area of interest or to read the current starting column setting. See section 3.11 for details. Type: This is a read or write command.
Configuring the Camera PRELIMINARY 4.2.4.13 Area of Interest Starting Line Purpose: To set the starting line for the Area of Interest or to read the current starting pixel setting. See section 3.11 for details. Type: This is a read or write command.
PRELIMINARY Configuring the Camera 4.2.4.15 Area of Interest Stamp and Dynamic Area of Interest (A504k/kc, A503k Only) Purpose: To activate or deactivate the Area of Interest Stamp and Dynamic Area of Interest or to read the settings. See sections 3.11.3 and 3.11.2 for details. Type: This is a read or write command.
Configuring the Camera PRELIMINARY 4.2.4.16 FlashCtrl: Flash Trigger Modes Purpose: To set the flash trigger mode or to read the current flash trigger mode setting. See sections 2.1.4 and 2.5.8 for an explanation of flash trigger modes. Type: This is a read or write command.
PRELIMINARY Configuring the Camera 4.2.5 Test Image Command Purpose: To enable or disable a test image, and to select a test image. See section 3.12 for an explanation of the available test images. Type: This is a read or write command.
Configuring the Camera PRELIMINARY 4.2.6 Query Commands 4.2.6.1 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. 4.2.6.
PRELIMINARY Configuring the Camera 4.2.6.4 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. 4.2.6.5 Read Camera Version Purpose: To read the camera version information.
Configuring the Camera PRELIMINARY 4.2.6.7 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 4.2.6.
PRELIMINARY Configuring the Camera 4.2.7 Commands for Manipulating Configuration Sets 4.2.7.1 Copy the Factory Set or the User Set into the Work Set (Profile Load) Purpose: To copy the Factory Set or one of the 15 User Sets into the Work Set. See section 3.13 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. Write commands greater than 0x0F will be ignored.
Configuring the Camera PRELIMINARY 4.2.7.2 Copy the Work Set into a User Set (Profile Save) Purpose: To copy the Work Set into one of the 15 User Sets. See section 3.13 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).
PRELIMINARY Configuring the Camera 4.2.7.3 Select the Startup Pointer (Profile Startup) Purpose: The Startup Pointer is used to tag the configuration set that will be copied into the Work Set at power on (see section 3.13). 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.
Configuring the Camera PRELIMINARY 4.2.8 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).
PRELIMINARY Configuring the Camera 4.2.9 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).
Configuring the Camera PRELIMINARY 4.2.10 Camera Reset Command Purpose: Initiates a camera reset. The behavior is similar to a power up reset. Type: This is a write only command. Write Command: Response: Data Format: Cmd-ID 0x42 R/W-Flag 0 Data Length 2 Data 2 Bytes None Byte 1 Low byte 0xCF is always used Byte 2 High byte 0x07 is always used 4.2.11 Power Control Command Purpose: To set the camera to standby mode or to fully functional mode. See section 2.9 on power up time.
PRELIMINARY Mechanical Considerations 5 Mechanical Considerations 5.1 Camera Dimensions and Mounting Facilities The A500k camera housing is manufactured with high precision. Planar, parallel, and angular sides guarantee precise mounting with high repeatability. A500k cameras are equipped with four M4 mounting holes on the front and two M4 mounting holes on each side as indicated in Figure 5-1. A tripod mount is availabe as an option. The Basler part number is 1000014110.
Mechanical Considerations PRELIMINARY Tolerances are typical Drawings are not to scale Figure 5-1: A500k Mechanical Dimensions (in mm) 5-2 Basler A500k
PRELIMINARY Mechanical Considerations 5.
Mechanical Considerations PRELIMINARY 5.3 Positioning Accuracy of the Sensor Chip Positioning accuracy of the sensor chip is as shown in Figure 5-3. Since the translatory and rotational positioning tolerance depend on each other, the maximum rotational mis-positioning and the maximum horizontal/vertical mis-positioning cannot occur at the same time.
PRELIMINARY Troubleshooting 6 Troubleshooting Fault finding using the camera LED is described in section 6.1. 6.1 LED A500k cameras regularly perform self tests. Detected errors are signaled by flashes of the LED on the back of the camera. The number of flashes indicates the detected error. If several error states are present, the LED outputs the error codes in succession. See Table 6-1 for the description of the flashes and the error states.
PRELIMINARY 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.
PRELIMINARY Check to make sure that the RS-644 serial connection is working OK. You can do this by starting the CCT+. When you start the tool, the camera settings should appear in the right-hand column. (If this is the first time that you are starting the tool, no RS-644 port will be selected when starting the tool. Click the “No Port Selected“ button below the menu bar and select the RS-644 port you wish to use. The settings should appear.
PRELIMINARY Troubleshooting 6.2.2 Poor Quality Image Use this chart if the image is poor quality, is completely white, or is completely black. 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 CCT+ to set the camera for test image one. Use your frame grabber to capture an image and examine the image carefully.
PRELIMINARY 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.
PRELIMINARY Troubleshooting 6.2.4 RS-644 Serial Communication Use the serial communication troubleshooting charts if you think that there is a problem with RS-644 serial communication or if you have been directed here from another chart. Serial Communication Chart (without a k-BIC) Always switch off power to the system before making or breaking any connection. The RS-644 port used by the A500k is located on the frame grabber. Check the documentation for your frame grabber.
PRELIMINARY 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.
PRELIMINARY 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 Doc. ID Number Date Changes DA00057001 14 Oct 2002 Initial release covering series production cameras. DA00057002 07 Jan 2003 The A501kc color camera was added to the series. The high and low byte information was added to the AOI stamp. The AOI Stamp and Dynamic AOI register was renamed and is now called the AOI Feature register. DA00057003 25 Jul 2003 Vibration, shock, and bump specifications were added. FVAL high time in Figure 2-8 and Figure 2-9 was corrected.
DRAFT ii BASLER A500k
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Feedback iv DRAFT BASLER A500k
DRAFT Index Index A AOI see area of interest area of interest explained . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-39 height. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-39 setting with binary commands . . . . . . . 4-19, 4-20 size . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-39 starting column . . . . . . . . . . . . . . . . . . . . . . 3-39 width . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-39 with the SXGA monitor output . . . . . . . .
Index DRAFT exposure time control mode(s) explained . . . . . . . . . . . . . . . . . . . . . . . . . 3-4–3-7 setting with binary commands . . . . . . . . . . . 4-11 ExSync signal explained . . . . . . . . . . . . . . . . . . . . . . . . 2-13, 3-4 ExSync, level-controlled mode with asynchronous timing. . . . . . . . . . . . . 3-10, 3-14, 3-15 ExSync, level-controlled mode with synchronous timing 1 . . . . . . . . . . . . . . . . . 3-12, 3-17 ExSync, level-controlled mode with synchronous timing 2 . . . .
DRAFT Index O S offset explained . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-33 offset, negative setting with binary commands . . . . . . . . . . . 4-14 offset, positive setting with binary commands . . . . . . . . . . . 4-15 OfsNeg register . . . . . . . . . . . . . . . . . . . . . . . . . 3-34 OfsPos register. . . . . . . . . . . . . . . . . . . . . . . . . . 3-34 open collector . . . . . . . . . . . . . . . . . . . . . . . . 2-6, 4-22 output data rate . . . . . . . . . . . . . . . . . . .
Index DRAFT troubleshooting chart interfacing . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-5 no image . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-2 poor quality image . . . . . . . . . . . . . . . . . . . . . 6-4 RS-232 serial communication . . . . . . . . . . . . 6-6 TTL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-6, 4-22 U user sets copying to the work set . . . . . . . . . . . . . . . . 4-27 explained . . . . . . . . . . . . . . . . . . . . . . . . . . .
