r D t f a USER’S MANUAL Document Number: DA00056106 Release Date: 22 March 2004
For customers in the U.S.A. This equipment has been tested and found to comply with the limits for a Class A digital device, pursuant to Part 15 of the FCC Rules. These limits are designed to provide reasonable protection against harmful interference when the equipment is operated in a commercial environment. This equipment generates, uses, and can radiate radio frequency energy and, if not installed and used in accordance with the instruction manual, may cause harmful interference to radio communications.
Contacting Basler Support Worldwide Europe: Basler AG Ander Strusbek 60 - 62 22926 Ahrensburg Germany Tel.: +49-4102-463-500 Fax.: +49-4102-463-599 vc.support.europe@baslerweb.com Americas: Basler, Inc. 740 Springdale Drive, Suite 100 Exton, PA 19341 U.S.A. Tel.: +1-877-934-8472 Fax.: +1-877-934-7608 vc.support.usa@baslerweb.com Asia: Basler Asia PTe. Ltd 25 Internat. Business Park #04-15/17 German Centre Singapore 609916 Tel.: +65-6425-0472 Fax.: +65-6425-0473 vc.support.asia@baslerweb.com www.
DRAFT Contents Table of Contents 1 Introduction 1.1 Documentation Applicability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1 1.2 Performance Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2 1.3 Camera Models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-3 1.4 Spectral Response . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
DRAFT Contents 3.7 Color Creation in the A600fc . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-22 3.7.1 White Balance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-23 3.7.2 Color Filter ID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-24 3.7.3 Integrated IR Cut Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-24 3.
DRAFT Contents 5.7.5 CRC Checksum. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-16 5.7.6 Test Images. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-19 5.7.7 Extended Version Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-22 5.7.8 Lookup Table. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-23 5.7.
Contents IV DRAFT BASLER A600f
DRAFT Introduction 1 Introduction 1.1 Documentation Applicability This User’s Manual applies to cameras with a firmware ID number of 21. Cameras with a lower or a higher firmware ID number may have fewer features or have more features than described in this manual. Features on cameras with a lower or a higher firmware ID number may not operate exactly as described in this manual.
DRAFT Introduction 1.2 Performance Specifications Category Specification Sensor Type Micron MT9V403 - 1/2 inch, CMOS, Global Shutter Pixels A601f / A602f: 656 (H) x 491 (V) A601fc / A602fc: 656 (H) x 490 (V) Pixel Size 9.9 µm (H) x 9.9 µm (V) Max.
DRAFT Introduction 1.3 Camera Models A600f series cameras are available in different models. The model depends on the maximum frame rate and whether the camera is monochrome or color. Table 1-2 lists the available camera models. Throughout this manual, the camera will be called the A600f. Passages that are only valid for a specific model will be so indicated. Camera Version Mono / Color Max.
DRAFT Introduction 1.4 Spectral Response The spectral response for A600f monochrome cameras is shown in Figure 1-2. 35 30 25 20 15 10 5 0 400 500 600 700 800 900 1000 Wavelength (nm) Figure 1-2: A600f Monochrome Camera Spectral Response L 1-4 The spectral response curve excludes lens characteristics and light source characteristics.
DRAFT Introduction The spectral response for A600fc color cameras is shown in Figure 1-3. 25 20 Blue Green (B) Green (R) Red 15 10 5 0 400 450 500 550 600 650 700 Wavelength (nm) Figure 1-3: A600fc Color Camera Spectral Response L The spectral response curves exclude lens characteristics, light source characteristics, and IR cut-off filter characteristics. To obtain the best performance from A600fc color cameras, use of a dielectric IR cut-off filter is recommended.
Introduction DRAFT 1.5 Environmental Requirements 1.5.1 Temperature and Humidity Housing temperature during operation: 0° C … + 50° C (+ 32° F … +122° F) Humidity during operation: 20% … 80%, relative, non-condensing 1.5.2 Ventilation Allow sufficient air circulation around the camera to prevent internal heat build-up in your system and to keep the housing temperature below 50° C. Additional cooling devices such as fans or heat sinks are not normally required but should be provided if necessary. 1.
DRAFT Camera Interface 2 Camera Interface 2.1 Connections 2.1.1 General Description The A600f is interfaced to external circuitry via an IEEE 1394 socket and a 10 pin RJ-45 jack located on the back of the housing. Figure 2-1 shows the location of the two connectors.
DRAFT Camera Interface 2.1.2 Pin Assignments The IEEE 1394 socket is used to supply power to the camera and to interface video data and control signals. The pin assignments for the socket are shown in Table 2-1. Pin Signal 1 Power Input (+8.0 to +36.0 VDC) 2 DC Gnd 3 TPB - 4 TPB + 5 TPA - 6 TPA + Table 2-1: Pin Assignments for the IEEE 1394 Socket The RJ-45 jack is used to access the four physical input ports and four physical output ports on the camera.
DRAFT 10 Camera Interface 6 5 4 3 2 1 1 Figure 2-2: A600f Pin Numbering L The camera housing is connected to the cable shields and coupled to signal ground through an RC network (see Figure 2-3 for more details). 2.1.3 Connector Types The 6-pin connector on the camera is a standard IEEE-1394 socket. The 10-pin connector on the camera is an RJ-45 jack. Caution! ! BASLER A600f The plug on the cable that you attach to the camera’s RJ-45 jack must have 10 pins.
DRAFT Camera Interface 2.2 Cables The maximum length of the IEEE 1394 cable used between the camera and the adapter in your PC or between the camera and a 1394 hub is 4.5 meters as specified in the IEEE 1394 standard. Standard, shielded IEEE 1394 cables must be used. The maximum length of the I/O cable is at least 10 meters. The cable must be shielded and must be constructed with twisted pair wire. Close proximity to strong magnetic fields should be avoided. 2.
DRAFT Camera Interface 2.4 Input and Output Ports 2.4.1 Input Ports A600f cameras are equipped with four physical input ports designated as Input Port 0, Input Port 1, Input Port 2, and Input Port 3. The input ports are accessed via the 10 pin RJ-45 jack on the back of the camera. See Table 2-2 and Figure 2-2 for input port pin assignments and pin numbering. As shown in Figure 2-3, each input port is opto-isolated. The nominal input voltage for the LED in the opto-coupler is 5.0 V (± 1.0 V).
Camera Interface DRAFT 2.5 Pixel Data Pixel data is transmitted as isochronous data packets according to version 1.30 of the “1394 based Digital Camera Specification” (DCAM) issued by the 1394 Trade Association (see the trade association’s web site: www.1394ta.org). The first packet of each frame is identified by a 1 in the sync bit of the packet header. Pixel Data Transmission Sequence Pixel data is transmitted in the following sequence: • Row 0/Pixel 0, Row 0/Pixel 1, Row 0/Pixel 2 ...
DRAFT Camera Interface 3.3 V 3.3 V 5.1k 390 Ω In_0 + 390 Ω In_1 + 390 Ω In_2 + HCPCL063L Gnd 3.3 V 5.1k HCPCL063L 3.3 V 3.3 V 5.1k HCPCL063L Gnd 3.3 V 5.
Camera Interface 2-8 DRAFT BASLER A600f
DRAFT Basic Operation & Standard Features 3 Basic Operation and Standard Features 3.1 Functional Description 3.1.1 Overview A600f area scan cameras employ a CMOS-sensor chip which provides features such as a full frame shutter and electronic exposure time control. Normally, exposure time and charge readout are controlled by values transmitted to the camera’s control registers via the IEEE 1394 interface. Control registers are available to set exposure time and frame rate.
DRAFT Basic Operation & Standard Features interface board in the host PC. The physical and link layer controllers also handle transmission and receipt of asynchronous data such as programming commands. The image buffer between the sensor and the link layer controller allows data to be transferred out of the sensor at a rate that is independent of the of the data transmission rate between the camera and the host computer. This ensures that the data transmission rate has no influence on image quality.
DRAFT Basic Operation & Standard Features ExTrig 8 MB Image Buffer I/O IntEn TrigRdy Image Data CMOS Sensor Image Data FPGA Image Data Image Data Link Layer Controller Isochronous and Asynchronous Data Physical Layer Controller Isochronous and Asynchronous Data IEEE 1394 Bus Control Control: AOI Gain Brtness.
Basic Operation & Standard Features DRAFT 3.2 Exposure Control 3.2.1 Setting the Exposure Time Exposure time is determined by the value stored in the Shutter control register (see page 4-9). The value in the register can range from 1 to 4095 (0x001 to 0xFFF). The value in the register represents n in the equation: Exposure Time = n x 20 µs. So, for example, if the value stored in the Shutter register is 100 (0x064), the exposure time will be 100 x 20 µs or 2000 µs.
DRAFT Basic Operation & Standard Features 3.2.3 Controlling Exposure Start with “Shot” Commands via the 1394 Interface Exposure start can be controlled by sending “shot” commands directly to the camera via the 1394 bus. In this case, a software trigger or an external trigger (ExTrig) signal is not used. When exposure start is controlled via the 1394 bus, two modes of operation are available: one-shot and continuous-shot.
Basic Operation & Standard Features DRAFT 3.2.4 Controlling Exposure Start with a Software Trigger Exposure start can be controlled by sending a software trigger command to the camera via the 1394 bus. The Trigger_Mode control register (see page 4-10) is used to enable the ability to start image exposure with a software trigger. The Software_Trigger control register (see page 4-8) is used to set the software trigger.
DRAFT Basic Operation & Standard Features Software Trigger / Continuous-Shot Operation In Software Trigger/Continuous-shot operation, a “Continuous Shot Command” is used to prepare the camera to capture multiple images. In this mode, exposure will begin when the Software_Trigger register is set to 1. To use this method of operation, follow this sequence: 1. Set the Shutter control register for your desired exposure time (see page 4-9). 2. Set the Iso_En/Continuous_Shot control register to 1. 3.
DRAFT Basic Operation & Standard Features 3.2.5 Controlling Exposure Start with an ExTrig Signal The external trigger (ExTrig) input signal can be used to control the start of exposure. A rising edge or a falling edge of the signal can be used to trigger exposure start. The Trigger_Mode control register (see page 4-10) is used to enable ExTrig exposure start control, to select rising or falling edge triggering, and to assign a physical input port to receive the ExTrig signal.
DRAFT Basic Operation & Standard Features Level Controlled Exposure Mode When level controlled mode is selected, the length of the exposure will be determined by the ExTrig signal alone. If the camera is set for rising edge triggering, exposure begins when the ExTrig signal rises and continues until the ExTrig signal falls. If the camera is set for falling edge triggering, exposure begins when the ExTrig signal falls and continues until the ExTrig signal rises.
Basic Operation & Standard Features DRAFT The ExTrig signal must be used in combination with a one-shot or a continuous-shot command. If precise control of exposure start time is desired, you must also monitor the Trigger Ready signal and you must base the timing of the ExTrig signal on the state of the Trigger Ready signal. (See Section 3.2.
DRAFT Basic Operation & Standard Features L These explanations of exposure start are included to give the user a basic insight into the interactions of the camera’s registers. Typically, IEEE 1394 cameras are used with a driver which includes an interface that allows the user to parameterize and operate the camera without directly setting registers. The Basler BCAM 1394 Camera Driver, for example, has both a simple Windows® interface and a programmer’s API for parameterizing and operating the camera.
Basic Operation & Standard Features DRAFT 3.2.6 Recommended Method for Controlling Exposure Start L The camera can be programmed to begin exposure on a rising edge or on a falling edge of an ExTrig signal. Also, two modes of exposure control are available: programmable and level controlled (see Section 3.2.5). For this illustration, we are assuming that a rising edge trigger and the programmable exposure mode are used.
DRAFT Basic Operation & Standard Features 3.3 Trigger Ready Signal L The trigger ready signal is not defined in the 1394 Trade Association Digital Camera Specification. Trigger ready is a patented feature of Basler cameras that allows our cameras to have optimized timings. The maximum frame rate for the camera can be limited by any one of three factors: • The amount of time it takes to transfer a captured image from the CMOS sensor to the frame buffer.
Basic Operation & Standard Features DRAFT 3.4 Integrate Enabled Signal The Integrate Enabled (IntEn) signal goes high when exposure begins and goes low when exposure ends. This signal can be used as a flash trigger and is also useful when you are operating a system where either the camera or the object being imaged is movable. For example, assume that the camera is mounted on an arm mechanism and that the mechanism can move the camera to view different portions of a product assembly.
DRAFT Basic Operation & Standard Features 3.5 Gain and Brightness On A600f cameras, the output from the camera’s sensor is digital and the gain and brightness functions are accomplished by manipulation of the sensor’s digital output signal. As shown in the top graph in Figure 37, when the gain is set to 0, the full 10 bit output range of the camera’s CMOS sensor is mapped directly to the 8 bit output range of the camera.
DRAFT Basic Operation & Standard Features As shown in the top graph in Figure 3-8, setting the brightness higher than the default value of 725 moves the response curve to the left. This would increase the 8 bit value output from the camera for any given 10 bit value from the sensor and thus increase the apparent brightness of the image. As shown in the bottom graph, setting the brightness lower than the default value of 725 moves the response curve to the right.
DRAFT Basic Operation & Standard Features 3.5.2 Setting the Brightness The camera’s brightness is changed by setting the value field in the Brightness control register (see page 4-9). The setting can range on a decimal scale from 0 to 1023 (0x000 to 0x3FF). The default is typically 725 (0x2D5) by may vary slightly from camera to camera. Settings below the default decrease the brightness and settings above the default increase the brightness.
Basic Operation & Standard Features DRAFT 3.6 Area of Interest (AOI) The area of interest (AOI) feature allows you to specify a portion of the CMOS array and during operation, only the pixel information from the specified portion of the array is transmitted out of the camera. The area of interest is referenced to the top left corner of the CMOS array. The top left corner is designated as column 0 and row 0 as shown in Figure 3-9.
DRAFT L Basic Operation & Standard Features The sum of the setting for Left plus the setting for Width must not exceed 656. The sum of the setting for Top plus the setting for Height must not exceed 491 on monochrome cameras or 490 on color cameras. When you are setting the AOI on an A600fc color camera: • • • • The setting for Width must be divisible by 2. The setting for Height must be divisible by 2. The setting for Left must be zero or be divisible by 2.
Basic Operation & Standard Features DRAFT 3.6.2 Changes to the Frame Rate With AOI L This section applies to A602f cameras only. On A601f cameras, the maximum frame rate is 60 frames per second in 8 bit output modes or 30 frames per second in 16 bit output modes and does not increase when the AOI feature is used. These formulas assume that the camera is being operated in an 8 bit output mode.
DRAFT Basic Operation & Standard Features Example Assume that your AOI is set for 100 columns wide and 110 rows high and that your exposure time is set for 2000 µs. Also assume that after making all camera settings, you check the Packet_Per_Frame_Inq register in the control and status registers for Format 7. You find that the packets per frame with the current settings is 3. L The number of packets per frame depends on the setting of the Format 7 Byte_Per_Packet control register.
DRAFT Basic Operation & Standard Features 3.7 Color Creation in the A600fc The CMOS sensor used in the A600fc 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 A600fc is shown in Figure 3-10.
DRAFT Basic Operation & Standard Features Once the conversion to YUV is complete, pixels are transmitted from the camera in the YUV (4:2:2) format as defined in Section 2.1.3 Video Data Payload Structure in the 1394-based Digital Camera Specification Version 1.30. L The values for U and for V normally range from -128 to +127.
Basic Operation & Standard Features DRAFT 3.7.2 Color Filter ID The Color_Filter_ID field of the Format 7 register (see page 4-13) has been implemented on A600f cameras. This field can be used to determine the order of the pixel colors being output from a color camera. To use this feature, make all desired changes to the camera’s parameter settings and then read the Color_Filter_ID field. The field will return the appropriate filter ID for the current settings.
DRAFT Basic Operation & Standard Features 3.8 Selectable 8 or 10 Bit Pixel Depth When an A600f camera is operating in Format 7, it can be set to output pixel data at either 8 bit or 10 bit depth. 3.8.1 A600f Monochrome Cameras For 8 Bit Depth Set the Color_Coding_ID field of the Format_7, Mode_0 register for Mono 8 (see Section 3.12.2 and page 4-13). With this ID set, the camera outputs 8 bits per pixel. For 10 Bit Depth Set the Color_Coding_ID field of the Format_7, Mode_0 register for Mono 16.
Basic Operation & Standard Features DRAFT 3.9 Mirror Image A600f monochrome cameras include a mirror image feature. When the mirror image feature is active, the image will be “reflected” on its vertical, center axis before it is transmitted out of the camera. In essence, this is accomplished by transmitting the pixels in each line in descending order rather than the normal ascending order.
DRAFT Basic Operation & Standard Features 3.10 Strobe Control Output Signals A600f cameras include a feature designed to help you control strobe lighting. The feature allows a user to enable and parameterize up to four strobe control output signals. The signals are designated as Strobe_0, Strobe_1, Strobe_2, and Strobe_3. Enabling the Strobe Control Feature The Strobe Signal Function control registers (see page 4-19) are used to enable and parameterize the strobe output signals.
Basic Operation & Standard Features L DRAFT If you start an image exposure and the strobe signal for the previously captured image is still running, the running strobe signal ends immediately and the next delay and duration begin. The Strobe Control Output Signal registers are defined in version 1.31 of the IIDC specification. Because the strobe control output signal feature is so new, the Basler BCAM 1394 Driver does not yet include a method call to access this feature.
DRAFT Basic Operation & Standard Features 3.11 Parallel Input/Output Control A parallel I/O control feature is available on A600f cameras. The feature allows a user to set the state of the four physical output ports on the camera and to read the state of the four physical input ports. To set state of the four physical output ports, write the contents of the PIO_Output register (see page 4-18). The bits are interpreted as follows: • • • • • Bit 31 sets the state of physical output port 0.
Basic Operation & Standard Features DRAFT 3.12 Available Video Formats, Modes, and Frame Rates on Monochrome Cameras 3.12.1 Standard Formats, Modes, and Frame Rates The following standard video formats, modes, and frame rates are available on A601f and A602f monochrome cameras: Format_0, Mode_5, FrameRate_0 (Mono, 8 bits/pixel, 640 x 480 pixels at 1.875 fps) Format_0, Mode_5, FrameRate_1 (Mono, 8 bits/pixel, 640 x 480 pixels at 3.
DRAFT Basic Operation & Standard Features 3.12.2 Customizable Formats and Modes Format_7, Mode_0 and Format_7, Mode_3 are available on A601f and A602f monochrome cameras. Format_7, Mode_0 Format_7, Mode_0 is available on A601f and A602f monochrome cameras. This mode is used to enable and set up the area of interest (AOI) feature described in Section 3.6. Format_7, Mode 0 is parameterized by using the Format_7, Mode 0 control and status registers (see page 4-11).
Basic Operation & Standard Features DRAFT When the camera is set for Mono 16: On the A601f, the maximum frame rate is 30 fps. On the A602f, with the AOI set to full resolution, the maximum frame rate is 50 fps. L Color code definitions can vary from camera model to camera model. This is especially true for older models of Basler cameras. Format_7, Mode_3 Format_7, Mode_3 is available on A601f and A602f monochrome cameras. Selecting this mode will enable the mirror image feature described in Section 3.
DRAFT Basic Operation & Standard Features 3.13 Available Video Formats, Modes, and Frame Rates on Color Cameras 3.13.1 Standard Formats, Modes, and Frame Rates The following standard video formats, modes, and frame rates are available on A601fc and A602fc color cameras: Format_0, Mode_1, FrameRate_0 (YUV 4:2:2, 16 bits/pixel avg., 320 x 240 pixels at 1.875 fps) Format_0, Mode_1, FrameRate_1 (YUV 4:2:2, 16 bits/pixel avg., 320 x 240 pixels at 3.
Basic Operation & Standard Features DRAFT 3.13.2 Customizable Formats and Modes Format_7, Mode_0 and Format_7, Mode_1 are available on A601fc and A602fc color cameras. Format_7, Mode_0 Format_7, Mode_0 is available on A601fc and A602fc color cameras. This mode is used to enable and set up the area of interest (AOI) feature described in Section 3.6. Format_7, Mode 0 is parameterized by using the Format_7, Mode 0 control and status registers (see page 4-11).
DRAFT Basic Operation & Standard Features When the 4:2:2 YUV ID is set in the Color_Coding_ID field of the Format_7, Mode_0 register, the camera outputs image data in the YUV 4:2:2 format at an average of 16 bits per pixel. When the camera is operating in the YUV 4:2:2 or Raw 16 modes: On the A601fc, the maximum frame rate is 30 fps. On the A602fc, with the AOI is set to full resolution, the maximum frame rate is 50 fps. L The Raw 8 and Raw 16 color codings are defined in version 1.
Basic Operation & Standard Features 3-36 DRAFT BASLER A600f
DRAFT Configuring the Camera 4 Configuring the Camera The A600f is configured by setting status and control registers as described in the “1394-Based Digital Camera Specification” issued by the 1394 Trade Association. (The specification is available at the 1394 Trade Association’s web site: www.1394ta.org.) Except where noted, all registers conform to version 1.31 of the specification. If you are creating your own driver to operate the camera, Sections 4.1 through 4.
Configuring the Camera DRAFT 4.1 Block Read and Write Capabilities The camera supports block reads and block writes. If you do a single read or a block read, the camera will return a 0 for all non-existent registers. If you do a single write to a non-existent register or a block write that includes non-existent registers, the writes to non-existent registers will have no effect on camera operation. Block reads or writes are limited to a payload of 32 quadlets. 4.
DRAFT Configuring the Camera 4.4 Implemented Standard Registers A list of all standard registers implemented in A600f appears below. The base address for all camera control registers is: Bus_ID, Node_ID, FFFF F0F0 0000 This address is contained in the configuration ROM in the camera unit directory. The offset field in each of the tables is the byte offset from the above base address. 4.4.
DRAFT Configuring the Camera Inquiry Registers for Video Frame Rate Offset Name Notes 204h V_Rate_Inq_0_1 (Format_0, Mode_1) In format 0, mode 1, the A600f supports the following frame rates: • 1.875 fps (frame rate 0) • 3.75 fps (frame rate 1) • 7.5 fps (frame rate 2) • 15 fps (frame rate 3) • 30 fps (frame rate 4) In format 0, mode 1, the A600fc supports the following frame rates: • 1.875 fps (frame rate 0) • 3.75 fps (frame rate 1) • 7.
DRAFT Configuring the Camera CSR Inquiry Registers for Format 7 Offset Name Notes 2E0h V_CSR_Inq_7_0 The A600f and A600fc implement the CSR for: • Format_7, mode_0 2E4h V_CSR_Inq_7_1 The A600fc implements the CSR for: • Format_7, mode_1 2ECh V_CSR_Inq_7_3 The A600f implements the CSR for: • Format_7, mode_3 Inquiry Register for Basic Functions Offset Name Notes 400h Basic_Func_Inq The A600f and A600fc support the following basic functions: • Advanced_Feature_Inq • Vmode_Error_Status_Inq •
DRAFT Configuring the Camera Inquiry Registers for Feature Elements Offset Name Notes 500h Brightness_Inq The A600f and A600fc support the following sub-features for brightness: • Presence_Inq • ReadOut_Inq • Manual_Inq • Min_Value = 0x000 • Max_Value = 0x3FF 50Ch White_Bal_Inq The A600fc supports the following sub-features for white balance: • Presence_Inq • ReadOut_Inq • Manual_Inq • Min_Value = 0x10 • Max_Value = 0xFF 51Ch Shutter_Inq The A600f and A600fc support the following sub-features f
DRAFT Configuring the Camera Offset Name Notes 530h Trigger_Inq The A600f and A600fc supports the following sub-features for trigger: • Presence_Inq • ReadOut_Inq • OnOff_Inq • Polarity_Inq • Value_Read_Inq * • Trigger_Source_0_Inq * • Trigger_Source_1_Inq * • Trigger_Source_2_Inq * • Trigger_Source_3_Inq * • Software_Trigger_Inq * • Trigger_Mode0_Inq • Trigger_Mode1_Inq * These fields are defined in version 1.31 of the IIDC specification.
DRAFT Configuring the Camera 4.4.2 Control and Status Registers Control and Status Registers for the Camera Offset Name Notes 600h Cur_V_Frame_Rate Default = 0 604h Cur_V_Mode Default = 0 608h Cur_V_Format Default = Format 7 60Ch Iso_Channel / Iso_Speed Default Channel =0 Default Speed = S400 614h Iso_En Continuous Shot Default = 0 61Ch One_Shot / Multi_Shot Default = 0 Multi_Shot is not supported 62Ch * Software_Trigger Write a 1 to set the trigger.
DRAFT Configuring the Camera Control and Status Registers for Features Offset Name Notes 800h Brightness Brightness settings range from 0 to 1023 (0x000 to 0x3FF). Typical default = 725 (0x2D5). Settings below the default decrease the brightness and settings above the default increase the brightness. The effect of a change in the brightness setting varies depending on the gain setting.
DRAFT Configuring the Camera Offset Name Notes 830h Trigger_Mode Setting On_Off to: 0 = disable trigger use {= default} 1 = enable trigger use Setting Trigger_Polarity to: 0 = low active {= default} 1 = high active Setting Trigger_Source * to: 0 = ExtTrig on physical input port 0 {= default} 1 = ExtTrig on physical input port 1 2 = ExtTrig on physical input port 2 3 = ExtTrig on physical input port 3 7 = Software trigger Setting Trigger_Mode to: 0 = mode 0 (programmable mode) 1 = mode 1 (level mode)
DRAFT Configuring the Camera Control and Status Registers for Format_7, Mode_0 Format_7, Mode_0 is available on all A600f monochrome and A600fc color cameras. The base address for each Format_7, Mode_0 camera control register is: Bus_ID, Node_ID, FFFF F1F0 0000 The offset field in each of the tables is the byte offset from the above base address.
DRAFT Configuring the Camera Offset Name Notes 034h Pixel_Number_Inq The value of this register depends on the following registers: • Image_Size 038h Total_Bytes_Hi_Inq The value of this register depends on the following registers: • Image_Size • Color_Coding_ID The value Includes the following data: • Image data • Padding bytes • Data added by any enabled smart features 03Ch Toyal_Bytes_Lo_Inq See Total_Bytes_Hi_Inq register 040h Packet_Para_Inq UnitBytePerPacket = 4 MaxBytePerPacket depend
DRAFT Configuring the Camera Offset Name Notes 054h * Data_Depth Indicates the effective data depth of the pixel in- formation being transmitted from the camera.
DRAFT Configuring the Camera Control and Status Registers for Format_7, Mode_1 Format_7, Mode_1 is available on A600fc color cameras only. The base address for each Format_7, Mode_1 camera control register is: Bus_ID, Node_ID, FFFF F1F0 0100 The offset field in each of the tables is the byte offset from the above base address. Offset Name Notes 000h Max_Image_Size_Inq Hmax = 656, Vmax = 490 The VGA sub-image is positioned in the center of the full size image.
DRAFT Configuring the Camera Offset Name Notes 044h Byte_Per_Packet BytePerPacket = set by user * RecBytePerPacket = 4092 (0xFFC) 048h Packet_Per_Frame_Inq The value of this register depends on the following registers: • Image_Size • Color_Coding_ID • Byte_Per_Packet The value covers the following data: • Image data • Padding bytes • Data added by any enabled smart features 04Ch Unit_Position_Inq Hposunit = 2 Vposunit = 2 054h ** Data_Depth Indicates the effective data depth of the pixel in-
DRAFT Configuring the Camera Control and Status Registers for Format_7, Mode_3 Format_7, Mode_3 is available on A600f monochrome cameras only. The base address for each Format_7, Mode_3 camera control register is: Bus_ID, Node_ID, FFFF F1F0 0300 The offset field in each of the tables is the byte offset from the above base address. Offset Name Notes 000h Max_Image_Size_Inq Hmax = 656, Vmax = 491 The VGA sub-image is positioned in the center of the full size image.
DRAFT Configuring the Camera Offset Name Notes 044h Byte_Per_Packet BytePerPacket = set by user * RecBytePerPacket = 4092 (0xFFC) 048h Packet_Per_Frame_Inq The value of this register depends on the following registers: • Image_Size • Color_Coding_ID • Byte_Per_Packet The value Includes the following data: • Image data • Padding bytes • Data added by any enabled smart features 04Ch Unit_Position_Inq Hposunit = 1, Vposunit = 1 054h ** Data_Depth Indicates the effective data depth of the pixel
DRAFT Configuring the Camera Control and Status Registers for the PIO Control Function The base address for the PIO Control Function control and status registers is: Bus_ID, Node_ID, FFFF F2F0 00C8 The offset field in the table is the byte offset from the above base address. Offset Name Notes 000h * PIO_Output Bit 31 sets the state of physical output port 0. Bit 30 sets the state of physical output port 1. Bit 29 sets the state of physical output port 2.
DRAFT Configuring the Camera Control and Status Registers for the Strobe Signal Output Function The base address for the Strobe Signal Output Function control and status registers is: Bus_ID, Node_ID, FFFF F2F0 0300 The offset field in the table is the byte offset from the above base address.
DRAFT Configuring the Camera Offset Name Notes 204h * Strobe_1_Cnt Same definition as Strobe_0_Cnt. 208h * Strobe_2_Cnt Same definition as Strobe_0_Cnt. 20Ch * Strobe_3_Cnt Same definition as Strobe_0_Cnt. * These registers are defined in version 1.31 of the IIDC specification. L If a strobe signal is enabled, the signal will only be present on the associated output port when the output port is configured for “strobe.
DRAFT Configuring the Camera 4.5 Advanced Features Registers L The functionally of the advanced features control and status registers has been made part of Basler’s Smart Features Framework (SFF). We strongly recommend that you use the SFF registers (see Section 5) rather than the advanced features registers. To ensure backward compatibility, the existing advanced features registers described below will continue to be supported, but their functionality will not be extended in the future.
DRAFT Configuring the Camera Inquiry Register for Advanced Features (Low) Offset Name Field Bit Description 000Ch ADV_INQ_LO Presence [0] Presence of this feature --- [1..31] Reserved Inquiry Register for Extended Version Information Offset Name Field Bit Description 1010h EXTD_VERSIONS_INQ Presence [0] Presence of this feature --- [1..7] Reserved Length [8..15] Specifies the length in quadlets of the “String” field in the Extended Versions Information Register (see below).
DRAFT Configuring the Camera Status and Control Register for Test Images This advanced features register can be used to control the operation of the camera’s test image feature (see Section 5.7.6 for a description of the available test images). Offset 0098h BASLER A600f Name TEST_IMAGE Field Bit Description Presence_Inq (Read only) [0] Presence of this feature 0: N/A 1: Available --- [1..
Configuring the Camera 4-24 DRAFT BASLER A600f
DRAFT Smart Features 5 Smart Features and the Smart Features Framework 5.1 What are Smart Features Smart features are features unique to Basler cameras. Test Images, the Cycle Time Stamp, and the CRC (Cyclic Redundancy Check) Checksum are examples of Basler smart features. In some cases, enabling a smart feature will simply change the behavior of the camera. The Test Image feature is a good example of this type of smart feature.
DRAFT Smart Features part of the added data. The GUIDs are especially useful when you enable several smart features that add data to the image stream. The GUIDs make it possible to identify which portion of the added data is the result of each enabled smart feature. Refer to Sections 5.6 and 5.7 for detailed information about getting smart features results. 5.3 What do I Need to Use Smart Features To use smart features you will need: • A camera that supports smart features.
DRAFT Smart Features 5.5 Enabling and Parameterizing Smart Features The camera provides a control and status register (CSR) for each smart feature (see Sect 5.7 for details of each feature and its CSR). To enable and parameterize a smart feature, the following steps must be performed: 1. Check to see if the camera supports smart features. 2. Ask the camera for the address of the CSR for the desired smart feature. 3. Enable and parameterize the desired smart features.
DRAFT Smart Features 5.5.2 Determining the Address a Smart Feature’s CSR The control and status register (CSR) for each smart feature is identified by a 128 bit Globally Unique Identifier (GUID). GUIDs are also known as UUIDs (Universal Unique Identifier). A GUID consists of: • One 32 bit number • Two 16 bit numbers • A sequence of 8 bytes (D1) (D2, D3) (D4[0] - D4[7]) GUID example: CA8A916A (D1) - 14A4 - (D2) 4D8E - BBC9 - (D3) (D4[0] - D4[1]) 93DF50495C16 (D4[2] - D4[7]) Section 5.
DRAFT Smart Features Example Determine the address of the “CRC Checksum” smart feature which has a CSR GUID of: 3B34004E - 1B84 - 11D8 - 83B3 - 00105A5BAE55 D1: 0x3B34 004E D2: 0x1B84 D3: 0x11D8 D4[0]: 0x83 D4[1]: 0xB3 D4[2]: 0x00 D4[3]: 0x10 D4[4]: 0x5A D4[5]: 0x5B D4[6]: 0xAE D4[7]: 0x55 Step 1: Write the CSR GUID to the SF_Inq_Register Assuming that the address for the ACR is 0xFFFF F2F0 0000, perform the following quadlet write operations to the SF_Inq_Register a.
Smart Features DRAFT 5.5.3 Enabling and Parameterizing a Smart Feature Once you have determined the starting address of the control and status register (CSR) for your desired smart feature, you are ready to enable and parameterize the feature by setting bits within the CSR. Section 5.7 describes the standard smart features available on A600f cameras. Each smart features description includes an explanation of what the feature does and an explanation of the parameters associated with the feature.
DRAFT Smart Features 5.6 Getting Smart Features Results In many cases, activating a smart feature results in additional data that must be transmitted by the camera, i.e., the results of the smart feature. The results of a smart feature will be appended to the image data so that each frame contains both image data and smart features results. Before using any of the smart features that add information to the image data, the extended data stream feature must be enabled.
Smart Features DRAFT There are different types of chunks, for example, the chunk that is added when the cycle time stamp smart feature is enabled and the chunk that is added when the frame counter smart feature is enabled. Although most chunks follow the general structure described in Table 5-1, each type of chunk has unique aspects to its layout. To allow you to distinguish between the chunks, each chunk carries a “chunk GUID”.
DRAFT Smart Features 5.7 Standard Smart Features on the A600f 5.7.1 Extended Data Stream The extended data stream feature has two functions: • When it is enabled, information such as image height, image width, and AOI size is added to the basic pixel data for each image. • It must be enabled before you can use any other smart feature that adds information to the image data stream.
DRAFT Smart Features 5-10 K+M Stride [ 4 Bytes ] Signed integer. Indicates the number of bytes needed to advance from the beginning of one row in an image to the beginning of the next row. K+M+4 Reserved [ 3 Bytes ] ----- K+M+7 Data Depth [ 1 Byte ] Effective data depth in bits of the pixels in the image. K+M+8 Top [ 2 Bytes ] Y coordinate of the top left corner of the current area of interest (AOI). K + M + 10 Left [ 2 Bytes ] X coordinate of the top left corner of the current AOI.
DRAFT Smart Features 5.7.2 Frame Counter The frame counter feature numbers images sequentially as they are captured. The counter starts at 0 and wraps at 4294967296 (operating continuously at 100 frames per second, it would take the counter about 500 days to wrap). The counter increments by one for each captured frame. Whenever the camera is powered off, the counter will reset to 0.
DRAFT Smart Features 5.7.3 Cycle Time Stamp The cycle time stamp feature adds a chunk to each image frame containing the value of the counters for the IEEE 1394 bus cycle timer. The counters are sampled at the start of exposure of each image. L The extended data stream feature (see Section 5.7.1) must be enabled in order to use the cycle time stamp feature or any of the other smart feature that adds information to the image data stream.
DRAFT Smart Features 5.7.4 DCAM Values The DCAM values feature adds a chunk to each image frame containing the current settings for some standard DCAM features. The settings are sampled at the start of exposure of each image. L The extended data stream feature (see Section 5.7.1) must be enabled in order to use the DCAM values feature or any of the other smart feature that adds information to the image data stream.
DRAFT Smart Features DCAM Values Chunk Layout Position Name Description 0 Gain CSR [ 4 Bytes ] Content of the DCAM Gain CSR Field Bit Description Presence_Inq [0] Presence of this feature If 0, the DCAM feature is not available and all of its values should be ignored Abs_Control [1] Absolute control mode If 1, the DCAM feature is in absolute control mode and the current value can be read from the Absolute Value CSR. Otherwise, the Value field holds the current raw value setting. ----- [2 ..
DRAFT 24 White Balance CSR [ 4 Bytes ] Smart Features Content of the DCAM White Balance CSR Field Bit Description Presence_Inq [0] Presence of this feature If 0, the DCAM feature is not available and all of its values should be ignored Abs_Control [1] Absolute control mode If 1, the DCAM feature is in absolute control mode and the current value can be read from the Absolute Value CSR. Otherwise, the Value field holds the current raw value setting. ----- [2 ...
DRAFT Smart Features 5.7.5 CRC Checksum The CRC (Cyclic Redundancy Check) Checksum feature adds a chunk to each image frame containing a 16 bit CRC checksum calculated using the Z-modem method. The CRC Checksum chunk is always the last chunk added to the image data stream and the chunk is always 32 bits in size. As shown in Figure 5-2, the checksum is calculated using all of the image data and all of the appended chunks except for the checksum itself.
DRAFT Smart Features CRC Checksum Chunk Layout The CRC checksum is an exception to the normal chunk structure. The CRC chunk is always 32 bits wide and is always the last chunk appended to the image data. The lower 16 bits of the chunk are filled with the checksum and the upper 16 bits of the chunk are filled with zeros. Bit Description [ 0 ... 7 ] CRC Checksum low byte [ 8 ... 15 ] CRC Checksum high byte [ 16 ... 23 ] 0x00 [ 24 ...
DRAFT Smart Features /** \brief Verifies a frame buffer's CRC checksum * \param pData Pointer to the frame * \param nbyLength Size of frame in bytes * \return 1, if the check succeeds, 0 otherwise */ int CheckBuffer(const unsigned char* pData, unsigned long nbyLength ) { unsigned long nCurrentCRC, nDesiredCRC; /* Calculate the CRC checksum of the buffer.
DRAFT Smart Features 5.7.6 Test Images A600f cameras include a test image mode as a smart feature. The test image mode is used to check the camera’s basic functionality and its ability to transmit an image via the video data cable. The test image mode can be used for service purposes and for failure diagnostics. In test mode, the image is generated with a software program and the camera’s digital devices and does not use the optics, the CMOS pixel array, or the ADCs.
DRAFT Smart Features Test Image Two As shown in Figure 5-4, test image two consists of rows with several gray scale gradients ranging from 0 to 255.
DRAFT Smart Features Control and Status Register for the Test Image Feature Name Test_Images Address See “Determining the Address of Smart Features CSRs” on page 5-4. CSR GUID 2A411342 - C0CA - 4368 - B46E - EE5DEEBF0548 Field Bit Description Presence_Inq (Read only) [0] Presence of this feature 0: Not Available 1: Available ----- [1 ...
DRAFT Smart Features 5.7.7 Extended Version Information A600f cameras include a register that contains version numbers for the camera’s internal software. For troubleshooting purposes, Basler technical support may ask you to read this register and to supply the results. L The extended version information smart feature does not add information to the image data stream and can be accessed even when the extended data stream feature (see Section 5.7.1) is disabled.
DRAFT Smart Features 5.7.8 Lookup Table A600f cameras have a sensor that reads pixel values at a 10 bit depth, however, the cameras can be set to output pixel values at an 8 bit depth. When set for 8 bit output, the camera normally uses an internal process to convert the 10 bit pixel values from the sensor to the 8 bit values transmitted out of the camera. When making the 10 to 8 bit conversion, the internal process takes the camera’s current gain and brightness settings into account.
Smart Features DRAFT Please look at the next page and examine the layout of the control and status register for the lookup table smart feature. You will notice that the first two quadlets of the register include bits that allow you to check for this feature’s presence and to enable or disable the feature. These initial two quadlets are followed by 1024 quadlets. The 1024 quadlets contain the values that make up the customized lookup table.
DRAFT Smart Features Control and Status Register for the Lookup Table Feature Name Lookup_Table Address See “Determining the Address of Smart Features CSRs” on page 5-4. CSR GUID B28C667C - DF9D - 11D7 - 8693 - 000C6E0BD1B0 Position Field Bit Description 0 Presence_Inq (Read only) [0] Presence of this feature 0: Not Available 1: Available ----- [1 ... 30] Reserved Enable (Read / write) [31] Enable / Disable this feature 0: Disable 1: Enable In_Depth_Inq (Read only) [0 ...
DRAFT Smart Features Using the SFF Viewer to Upload a Lookup Table The Configurator window in the Basler SFF Viewer (see Section 5.4) includes an Upload button that can be used to easily load a file containing a customized lookup table into the camera. The file must be plain text and must be formatted correctly. The file must have 1024 lines with each line containing two comma-separated values.
DRAFT Smart Features 5.7.9 Trigger Flag and Trigger Counter A600f cameras include a trigger flag and trigger counter feature. The trigger counter increments by one each time an image capture is triggered regardless of whether the trigger is internal (one shot or continuous shot commands) or is external (hardware or software trigger). Triggers that occur when the camera is not ready are discarded and not counted. The trigger counter wraps to zero after 65535 is reached.
Smart Features DRAFT 5.7.10 Output Port Configuration A600f cameras are equipped with four physical output ports designated as Output Port 0, Output Port 1, Output Port 2, and Output Port 3. The output port configuration feature can be used to change the assignment of camera output signals (such as Integrate Enabled and Trigger Ready) to the physical output ports. As shown on pages 5-29 and 5-30, there is a control and status register (CSR) for each physical output port.
DRAFT Smart Features Control and Status Registers for the Output Port Configuration Feature Name Output_Port_0_Configuration Address See “Determining the Address of Smart Features CSRs” on page 5-4.
DRAFT Smart Features 5-30 Name Output_Port_1_Configuration Address See “Determining the Address of Smart Features CSRs” on page 5-4?. CSR GUID 949D820A - 4513 - 11D8 - 9EB1 - 00105A5BAE55 Position Field 0 Same as port 0. 4 Same as port 0. 8 Same as port 0. 12 Same as port 0. 16 Same as port 0. 20 Same as port 0. Name Output_Port_2_Configuration Address See “Determining the Address of Smart Features CSRs” on page 5-4.
DRAFT Smart Features 5.8 Customized Smart Features The Basler A600f has significant processing capabilities and Basler can accommodate customer requests for customized smart features. A great advantage of the smart features framework is that it serves as a standardized platform for parameterizing any customized smart feature and for returning the results from the feature. The Basler camera development team is ready and able to handle requests for customized smart features.
Smart Features 5-32 DRAFT BASLER A600f
DRAFT Mechanical Considerations 6 Mechanical Considerations 6.1 Camera Dimensions The camera housing for the A600f is manufactured with high precision. Planar, parallel, and angular sides guarantee precise mounting with high repeatability. A600f cameras are equipped with four M3 mounting holes on the bottom and two M3 mounting holes on the top as indicated in Figure 6-1. Caution! ! BASLER A600f To avoid collecting dust on the sensor, mount a lens on the camera immediately after unpacking it.
DRAFT Mechanical Considerations 2 x M3; 4 deep 29 23.5 73.3 13.3 4 x M3; 4 deep 50 5 Photosensitive Surface of the CMOS Sensor 59 Tolerances are TBD 17.
DRAFT Mechanical Considerations 6.2 Maximum Lens Thread Length on the A600fc A600fc cameras are normally equipped with a C-mount lens adapter that contains an internal IR cut filter. As shown in Figure 6-2, the thread length of the C-mount lens used on the camera must be less than 7.5 mm. If a lens with a longer thread length is used, the IR cut filter will be damaged or destroyed and the camera will no longer operate. < 7.
Mechanical Considerations 6-4 DRAFT BASLER A600f
DRAFT Revision History Revision History Doc. ID Number Date Changes DA00056101 7 November 2002 Initial release of the manual. Applies to prototype cameras only. DA00056102 23 April 2003 Initial release of the manual for series production cameras. DA00056103 24 October 2003 Added information for the color version of the camera. DA00056104 4 February 2004 Updated the version and specification tables in Sections 1.3 and 1.2 to include the new A601f - HDR camera model.
DRAFT Revision History Doc.
DRAFT Feedback Feedback Your feedback will help us improve our documentation. Please click the link below to access an online feedback form. Your input is greatly appreciated. http://www.baslerweb.com/umfrage/survey.
Feedback iv DRAFT BASLER A600f
DRAFT Index Index A advanced features registers . . . . . . . . . . . 4-21–4-23 area of interest . . . . . . . . . . . . . . . . . . . . . . . . . 3-18 B frame rate basic specification . . . . . . . . . . . . . . . . . . . . . 1-2 changes with AOI . . . . . . . . . . . . . . . . . . . . 3-20 standard frame rates . . . . . . . . . . . . . 3-30, 3-33 functional description . . . . . . . . . . . . . . . . . . . . . . 3-1 bayer filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Index DRAFT R Y registers implemented in the camera . . . . . 4-3–4-23 YUV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-22 S sensor pixel size . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2 size . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2 type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2 shot commands controlling exposure with . . . . . . . . . . . . . . . 3-5 shutter value . . . . . . . . . . . . . . . . . . . . . .
