A301f User`s Manual
Contents
1. Horizontal Shift z D D D D b pa H a x D a Register v v v v v v v v v gt E le la la le le M H Le la la ta Figure 3 14 Bayer Filter Pattern on the A301fc 3 18 BASLER A301f Operation and Features 3 10 Available Video Formats Modes amp Frame Rates 3 10 1 Standard Formats Modes and Frame Rates The following standard video formats modes and frame rates are available on the A301f and on the A30Olfc Format_0 Mode_5 FrameRate_1 Mono 8 bits pixel 640 x 480 pixels at 3 75 fps Format_0 Mode_5 FrameRate_2 Mono 8 bits pixel 640 x 480 pixels at 7 5 fps Format_0 Mode_5 FrameRate_3 Mono 8 bits pixel 640 x 480 pixels at 15 fps Format_0 Mode_5 FrameRate_4 Mono 8 bits pixel 640 x 480 pixels at 30 fps Format_0 Mode_5 FrameRate_5 Mono 8 bits pixel 640 x 480 pixels at 60 fps The A30lfc color camera outputs single color raw data for each pixel It does not output a Y component see Section 3 9 3 10 2 Customizable Format and Mode The following customizable video format and mode is available on the A301f and on the A30lfc Format 7 Mode 0 Format 7 Mode O is available on the A301f and on the A301fc This mode is used to enable and set up the area of interest AOI feature described in Section 3 7 When the camera is operating in Format 7 Mode 0 the frame rate can be adjusted by setting the number of bytes that are transmi2. CCD Sensor Vert Vert Vert Vert Shift Shift Shift Shift Reg Pixels Reg Pixels Reg Pixels Reg Pixels t 7 H t y y y ae EE H EE LAE IE EI pa e kag a y y a t TE YS aa NT t t y Y Y Y t 7 7 t TEPEL EE EE u t t t t Y Y Y Y a a a t ADC VEC Horizontal Shift Register ADC VGC Horizontal Shift Register Figure 3 1 A301f Sensor Architecture Micro Control Micro controller controller 1 2 Control Shutter Binning Asynchronous Ao Control Data Gain Brtness Isochronous Isochronous and and mage Asynchi Asynch Data Hagen Link Miaa Physical Data IEEE Layer Layer 1394 CCD Controller Controller Bus Sensor Gain amp s Brightness AID C rt onverter IntEn ExTrig Figure 3 2 Block Diagram 3 2 BASLER A301f 3 2 Operation and Features Exposure Control 3 2 1 Setting the Exposure Time Exposure time is determined by the value stored in the SHUTTER control register The value in the register can range from 0 to 4095 0x000 to OxFFF The value in the register represents n in the equation Exposure Time n 1 x 20 us So for example if the value stored in the SHUTTER register is 100 0x064 the exposure time will be 100 1 x 20 us or 2020 us The default setting for the exposure time will usually be set to the maximum With the exposure time set to the maximum you can only operate the camera a
3. Assuming that these general guidelines are followed the reaction of the camera to a rising external trigger signal will be one of two cases In case one the rising edge of ExTrig occurs when the camera is not transferring a captured frame from the sensor to the image buffer In case two BASLER A301f 3 5 Operation and Features the rising edge of ExTrig occurs when the camera is transferring a captured frame from the sensor to the image buffer Case 1 Exposure Start When the Camera is not Transferring a Frame After each exposure is complete there is a time period of 11 7 ms during which the captured frame is transferred from the CCD sensor to the camera s image buffer If the ExTrig signal rises after this time period has ended as shown in Figure 3 3 The start of exposure will occur between 3 and 4 us after the rise of ExTrig For a given cam era the delay in the start of exposure will be consistent from frame to frame The size of the delay will vary slightly from camera to camera but will always be in the 3 to 4 us range The IntEn signal will rise between 2 and 3 us after the start of exposure For a given camera the delay in the rise of IntEn will be consistent from frame to frame The size of the delay will vary slightly from camera to camera but will always be in the 2 to 3 us range The actual length of exposure will be equal to the programmed exposure time plus 4 us To know when frame transfer to the
4. Exposure Time Control Programmable via IEEE 1394 bus Synchronization External via External Trigger signal ExTrig input is opto isolated max 1 4 V max 50 mA Power Requirements 12 VDC 10 6 0 W lt 1 ripple supplied via 1394 cable Max Cable Lengths 1394 45m VO 10 m Shock 20G with 50 repetitions in each axis Vibration 10G 58 500Hz for 1 hour in each axis Lens Adapter C mount or F mount Housing Size without lens adapter 48 7mm x 62 mm x 62 mm L x W x H with C mount adapter 51 2 mm x 62 mm x 62 mm with F mount adapter 80 2 mm x 62 mm x 62 mm Weight without lens adapter 200g with C mount adapter 240g with F mount adapter 310g Conformity CE FCC Table 1 1 Performance Specifications 1 2 BASLER A301f Introduction The spectral responsivity for monochrome cameras is shown in Figure 1 1 The graph includes lens characteristics and excludes light source characteristics 1 0 0 9 0 8 0 7 0 6 0 5 Relative Response 0 4 0 3 0 2 0 1 0 0 H i H 1 q 400 500 600 700 800 900 1000 Wave Length nm Figure 1 1 Spectral Responsivity Monochrome Cameras BASLER A301f Introduction The spectral responsivity for color cameras is shown in Figure 1 2 The graph includes lens characteristics and excludes light source characteristics Relative Response Wave Length nm Figure 1 2 Spectral Responsivity Col
5. 1 4 monochrome cameras 1 3 status LED temperature requirements testimages DEERE RR EE ohne US trigger ready signal 2 3 troubleshooting V ventilation requirements version information vibration ee video data and control signals video format changing the setting video formats modes amp frame rates customizable 0064 D 6 25060678 85206 8 884 standard video output o W write order register BASLER A301f
6. BASLER A OIf Camera User s Manual Document ID Number DA00044803 Revision Date May 20 2002 Subject to Change Without Notice Basler Vision Technologies Basler Support Worldwide Americas 1 877 934 8472 Europe 49 4102 463 500 Asia 65 425 0472 vc support usa baslerweb com vc support europe baslerweb com vc support asia baslerweb com www basler vc com 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 communica tions Operation of this equipment in a residential area is likely to cause harmful interference in which case the user will be required to correct the interference at his own expense You are cautioned that any changes or modifications not expressly approved in this manual could void your authority to operate this equipment The shielded interface cable recommended in this manual must be used with this equipment in order to comply with the limits for a computing device pursuant to Subpart J of Part 15 of FCC Rules For customers in Canada This apparatus complies with the Class
7. Inquiry Registers for Feature Presence Offset Name Notes 404h Feature_Hi Inq 408h Feature Lo Ing 480h Advanced Feature Ing Inguiry Registers for Feature Elements Offset Name Notes 500h BRIGHTNESS ING 504h AUTO EXPOSURE ING 508h SHARPNESS ING 50Ch WHITE BAL ING 510h HUE ING 514h SATURATION ING 518h GAMMA ING 51Ch SHUTTER ING 520h GAIN ING 524h IRIS ING 528h FOCUS ING 52Ch TEMPERATURE ING 530h TRIGGER ING 580h ZOOM_INQ 584h PAN_INQ 588h TILT_INQ 58Ch OPTICAL_FILTER_INQ 5C0h CAPTURE SIZE ING 5C4h CAPTURE GUALITY ING BASLER A301f 4 5 Configuring the Camera Status and Control Registers for the Camera Offset Name Notes 600h CUR V FRAME RATE 604h CUR V MODE 608h CUR V FORMAT 60Ch ISO CHANNEL 610h Camera Power Has no effect 614h ISO EN Continuous Shot 618h Memory Save Has no effect 61Ch One Shot Multi Shot 620h Mem Save Ch Has no effect 624h Cur Mem Ch Has no effect Status and Control Registers for Features Offset Name Notes 800h BRIGHTNESS 804h AUTO EXPOSURE Has no effect 808h SHARPNESS Has no effect 80Ch WHITE BALANCE Has no effect 810h HUE Has no effect 814h SATURATION Has no effect 818h GAMMA Has no effect 81Ch SHUTTER Exposure time shutter value 1 x 20 us 820h GAIN 824h IRIS Has no effect 828h FOCUS Has no effect 82Ch TEMPERATURE Has no effect 830h TRIGGER MODE Only trigger mode
8. oo c L rst A A e ka gt PHOTO 3e SENSITIVE SURFACE O OF CCD L Y Q gt Y X Rz EN B 05 NM osla EE d I A10 03 A vis Rz 4 m X7 2541 L 648 h7 he 59 Figure 5 2 C Mount Adapter Dimensions in mm 5 3 F Mount Adapter Dimensions F Mount Adapter F Mount Adapter on an A301f ag 315 02 2 T B EMEN SS 46 9 eH ie t PHOTO SENSITIVE SURFACE OF CCD s r B 061 8 h7 wa 19s Figure 5 3 F Mount Adapter Dimensions in mm BASLER A301f 5 3 Mechanical Considerations 5 4 Positioning Accuracy of the Sensor Chip On the A301f the tolerance for the positioning of the sensor s image area to the camera housing is 0 3 mm in the horizontal and vertical directions Rotational positioning accuracy is as shown in Figure 5 4 Reference position is the center of the camera housing 5 5 5 4 Since the translational and rotational positioning tolerances depend on each other the worst case of maximum rotational and horizontal vertical mis positioning cannot occur at the same time Figure 5 4 A301f Rotational Positioning Accuracy Maximum Lens Thread Length on A301fc Caution When a C mount lens is used on a
9. A limits for radio noise emissions set out in Radio Inter ference Regulations Pour utilisateurs au Canada Cet appareil est conforme aux normes Classe A pour bruits radio lectriques sp cifi es dans le R glement sur le brouillage radio lectrique Life Support Applications These products are not designed for use in life support appliances devices or systems where malfunction of these products can reasonably be expected to result in personal injury Basler cus tomers using or selling these products for use in such applications do so at their own risk and agree to fully indemnify Basler for any damages resulting from such improper use or sale Warranty Note Do not open the housing of the camera The warranty becomes void if the housing is opened Table of Contents 1 Introduction 1 1 Camera Models nce EA GN I A AJ 1 1 1 2 Performance Specifications elle 1 2 1 3 Environmental Requirements o eee eee 1 5 1 3 1 Temperature and Humidity c c c eae 1 5 1 3 2 Ventilation 2 b a odd na parida da 1 5 1 4 Precautions o 1 5 2 Camera Interface Zl COMECIONS EER EE ER bok V U ios 2 1 2 1 1GeneralDescriptioN c c 22 22 2224 2 1 2 1 2 Pin Assignments is DEUE E a 2 2 2 1 3 Connector TYDeS oikea 4 23 AAS RA AA n 2 3 2 2 Video Data and Control Signals 2 4 0 24 2 424 4 2 3 22 1 Inp t Signals aha bA O O vie
10. Registers for Video Mode Offset Name Notes 180h V MODE ING 0 Format 0 184h V MODE ING 1 Format 1 188h V MODE ING 2 Format 2 18Ch 194h Reserved 198h V MODE ING 6 Format 6 19Ch V MODE ING 7 Format 7 BASLER A301f 4 3 Configuring the Camera Inquiry Registers for Video Frame Rate and the Base Address of the Video Mode Command and Status Registers for the Scalable Image Size Format Offset Name Notes 200h V RATE ING 0 0 Format 0 Mode 0 204h V RATE ING 0 1 Format 0 Mode 1 208h V RATE ING 0 2 Format 0 Mode 2 20Ch V RATE ING 0 3 Format 0 Mode 3 210h V RATE ING 0 4 Format 0 Mode 4 214h V RATE ING 0 5 Format 0 Mode 5 218h 21Fh Reserved 220h V RATE ING 10 Format 1 Mode 0 224h V RATE ING 1 1 Format 1 Mode 1 228h V RATE ING 1 2 Format 1 Mode 2 22Ch V RATE ING 1 3 Format 1 Mode 3 230h V RATE ING 1 4 Format 1 Mode 4 234h V RATE ING 1 5 Format 1 Mode 5 238h 23Fh Reserved 240h V RATE ING 2 0 Format 2 Mode 0 244h V RATE ING 2 1 Format 2 Mode 1 248h V RATE ING 2 2 Format 2 Mode 2 2E0h V CSR ING 7 0 2E4h V CSR ING 7 1 2E8h V CSR ING 7 2 2ECh V CSR ING 7 3 BASLER A301f Configuring the Camera Inquiry Register for Basic Functions Offset Name Notes 400h BASIC_FUNC_INQ
11. buffer is taking place the user must monitor the integrate enabled signal The frame transfer time period begins on the falling edge of the integrate enabled signal and lasts for 11 7 ms TrigRdy ExTrig H j i47 gt 3 ps i 23s lt 4us i lt 4 ys Exposure Exposure Exposure Frame N Frame N 1 Frame N 2 Exposure J L Ba 4 gt 2 pS gt 4 22 us lt 3 us io s3us IntEn 11 7 ms Mems gt Frame Frame N Transfer to the Image Buffer Frame N 1 Transfer to the Image Buffer Transfer TIMING CHARTS ARE NOT DRAWN TO SCALE Figure 3 3 Exposure Start After Frame Transfer The camera can be programmed to react to a rising edge of the ExTrig signal or to a falling edge of the ExTrig signal We strongly recommend that you program the cam era to react to the rising edge of the signal i e active high If falling edge triggering is used the time between the falling edge of the ExTrig signal and the actual start of exposure is excessively long at least 90 us This occurs due to the characteristics of the opto coupler on the camera s ExTrig input 3 6 BASLER A301f Operation and Features Case 2 Exposure Start When the Camera is Transferring a Frame After each exposure is complete there is a time period of 11 7 ms during which the captured frame i
12. camera the firmware version for microcontroller 1 the firmware version for microcontroller 2 The layout of the information in the string field of the Extended Version Information register is as follows the layout version for the registers accessible via the 1394 bus the layout version for the registers in the FPGA the layout version of the registers in microcontroller 2 If the string does not fill the entire allocated field length it will be padded with 0x00 at the end of the string BASLER A301f 4 9 Configuring the Camera 4 10 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 3 8 Offset Name Field Bit Description 0098h TEST IMAGE Presence Ing 0 Presence of this feature Read only 0 NA 1 Available 1 7 Reserved Image_lnq_1 8 Presence of test image 1 Read only 0 N A 1 Available Image Ing 2 9 Presence of test image 2 Read only 0 NA 1 Available Image Ina 3 10 Presence of test image 3 Read only 0 NA 1 Available Image Ina 4 11 Presence of test image 4 Read only 0 NA 1 Available Image lng 5 12 Presence of test image 5 Read only 0 NA 1 Available Image Ing 6 13 Presence of test image 6 Read only 0 N A 1 Available Image lng 7 14 Presence of test image 7 Read only 0 NA 1 Available 15 Reserv
13. pulses The FPGA could not be configured Please contact Basler technical support Table 6 1 LED States 6 1 2 Green LED The green LED on the back of the camera is used to indicate whether power is being supplied to the camera When the green LED is out it means that no power is present When the green LED is lit it means that power is present Keep in mind that the circuit used to light the green LED does not perform a range check If power to the camera is present but it is out of range the LED may be lit but the camera will not operate properly BASLER A301f 6 1 Troubleshooting 6 2 BASLER A301f Revision History Doc ID Number Date Changes DA00044801 26 October 2001 Initial release of manual covering prototype cameras only DA00044802 13 November 2001 Initial release of manual covering series production cameras DA00044803 20 May 2002 Added the block diagram on page 3 2 Deleted descriptions of the extended shutter extended gain and ex tended brightness features from Chapter 3 Updated the exposure control information in Section 3 2 3 to specify the use of rising edge triggering Corrected the timings and revised the timing charts in the recom mended methods for exposure Section 3 2 4 Updated Figure 3 12 in Section 3 7 and added information about the minimum AOI size to the note box Corrected the description of test image one in Section 3 8 Corrected Fig
14. the odd lines and the even lines Due to variations in the camera electronics the gain needed on the odd channel to correctly map the output from the VGC to the input of the ADC may be different from the gain needed on the even channel Gain balance between the odd and even channels is important to maintain uniform output data with minimal gray value difference between odd and even lines When each A301f camera leaves the Basler factory it undergoes a calibration procedure As part of the procedure a set of gain reference values are determined and stored in the camera During normal operation the camera uses the reference values to keep the odd and even channels in balance Whenever the value field in the camera s GAIN control register is changed the camera will automatically make any adjustments necessary to achieve the desired gain while keep the channels in balance BASLER A301f Operation and Features 3 6 2 Setting Brightness Normally the camera s brightness is changed by setting the value field in the BRIGHTNESS control register The setting can range on a decimal scale from 0 to 511 0x000 to Ox1FF An increase of 8 decimal in the setting will result in a positive offset of 1 in the digital values output by the camera Internally A301f cameras process odd and even lines separately in two different data channels see Figure 3 1 Whenever the value field in the camera s BRIGHTNESS control register is changed the camera will auto
15. to Digital converters ADCs For optimal digitization gain and brightness can be programmed by setting command registers in the camera Since the IEEE 1394 bus can only handle 8 bit data the two least significant bits from each ADC are dropped The 8 bit pixel data leaving the ADC is transferred to an image buffer From the buffer the image data is moved to a 1394 link layer controller where it is assembled into data packets that comply with version 1 20 of the 1394 based Digital Camera Specification issued by the 1394 Trade Association The packets are passed to a 1394 physical layer controller which transmits them isochronously to a 1394 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 BASLER A301f 3 1 Operation and Features
16. 0 is available We strongly recommend that the trigger input po larity be set for high active 1 4 6 BASLER A301f Configuring the Camera Video Mode Control and Status Registers for Format_7 The base address for each Format 7 Mode 0 camera control register is Bus ID Node ID FFFF F1F0 0000 This address is contained in the Format 7 section of the Inquiry Registers for Video Frame Rate and Base Address of the Video Mode Command and Status Registers for the Scalable Image Size Format A register has been prepared for each video mode that is Format 7 Mode x The offset field in each of the tables is the byte offset from the above base address Video Mode Control and Status Registers for Format 7 Mode 0 Offset Name Notes 000h MAX IMAGE SIZE INQ 004h UNIT SIZE INQ 008h IMAGE POSITION 00Ch IMAGE SIZE 010h COLOR CODING ID 014h COLOR CODING ING 034h PIXEL NUMBER ING 038h TOTAL BYTES HI ING 03Ch TOTAL BYTES LO ING 040h PACKET PARA ING 044h BYTE PER PACKET TOTAL BYTES LO INQ BYTE PER PACKET must be x 4095 BASLER A301f 4 7 Configuring the Camera 4 5 Advanced Features 4 8 The advanced features control and status registers are vendor unique and are subject to change 4 5 1 Advanced Features Access Register The base address for the Advanced Features Access register is Bus ID Node ID FFFF F2FO 0000 This address is contained in th
17. A rising edge on the ExTrig signal begins exposure The ExTrig signal can be periodic or non periodic The ExTrig signal must be used in combination with a one shot multi shot or continuous shot command If precise control of exposure start time is desired you must also monitor the Trigger Ready signal and Integrate Enabled signals and you must base the timing of the ExTrig signal on the state of these signals See Section 3 3 for recommended methods for using the signals To enable the external trigger feature and set the camera for rising edge triggering set the ON OFF field of the TRIGGER MODE control register to 1 the Trigger Polarity field to 1 and the Trigger Mode field to 0 ExTrig One Shot Operation In ExTrig One shot operation the camera exposes and transmits a single frame To use this method of operation follow this seguence 1 Setthe SHUTTER control register for your desired exposure time see Section 3 2 1 2 Setthe ONE SHOT control register to 1 3 Check the state of the TrigRdy signal a If TrigRdy is high you can toggle ExTrig when desired b If TrigRdy is low wait until TrigRdy goes high and then toggle ExTrig when desired 4 When ExTrig goes high exposure will begin Exposure will continue for the length of time specified in the SHUTTER control register 5 Atthe end of the specified exposure time frame readout and transmission will take place The ONE SHOT control register is self cleared after frame trans
18. REVISION HIStory aie ter EER mala pis ma e Tae oe AE Kaiba Ene na hd i Index EIE SE dos EE AR i WE EE iii BASLER A301f Introduction 1 Introduction The BASLER A301f progressive scan camera is a versatile camera designed for industrial use Superb image sensing features are combined with a robust high precision housing Important features are Compliant with the 1394 TA Digital Camera Specification V 1 20 High spatial resolution High sensitivity Anti blooming Asynchronous full frame shutter via electronic control Square sensor cells High Signal to Noise Ratio Area of interest scanning Correlated double sampling Industrial housing manufactured with high planar parallel and angular precision Compact size 1 1 Camera Models The camera is available in a monochrome model the A301f and a color model theA30lfe Throughout the manual the camera will be called the A301f Passages that are only valid for a specific model will be so indicated BASLER A301f 1 1 Introduction 1 2 Performance Specifications Specification A301f Sensor Type Sony ICX074AL AK 1 2 inch HAD interline transfer progressive scan CCD Pixels 658 H x 494 V Pixel Size 9 9 um H x 9 9 um V Anti Blooming 1 100 Max Frame Rate 80 frames sec Video Output Signal Mono 8 bits per pixel IEEE 1394 Compliant Color 8 bits per pixel raw data Gain and Brightness Programmable via IEEE 1394 bus
19. Trade Association The specification is available at the 1394 Trade Association s web site www 1394ta org If you are creating your own driver to operate the camera Sections 4 1 through 4 5 provide the basic information that you will need about the registers implemented in the camera along with some information about read write capabilities A fully functional driver is available for Basler IEEE 1394 cameras such as the A301f The Basler BCAM 1394 Driver includes an API that allows a C programmer to easily integrate camera configuration and operating functions into your system control software The driver also includes a Windows based viewer program that provides camera users with quick and simple tools for changing camera settings and viewing captured images The BCAM 1394 Driver is supplied with comprehensive documentation including a programmer s guide and code samples For more information visit the Basler web site at www basler vc com BASLER A301f 4 1 Configuring the Camera 4 1 4 2 Block Read and Write Capabilities The camera supports block reads but not block writes Block writes are rejected by the camera out what registers are present and see the tables on the following pages which list all implemented registers Do not block read registers that are not present Use the inguiry registers to find Register Write Order Whenever the camera is powered on or is initialized the registers must be w
20. able 2 1 Pin Signal Pin Signal 1 12 VDC 4 TPB 2 DC Gnd 5 TPA 3 TPB 6 TPA Table 2 1 Pin Assignments for the IEEE 1394 Socket The 9 pin micro D plug is used to interface the external trigger integrate enabled and trigger ready signals The pin assignments for the plug are shown in Table 2 2 Pin Signal Pin Signal 1 External Trigger External Trigger Integrate Enabled Integrate Enabled Trigger Ready Trigger Ready OO Oo nf o Not Connected 2 3 4 Not Connected 5 Not Connected Table 2 2 Pin Assignments for the 9 Pin Micro D Plug The camera housing is not grounded and is isolated from the circuit boards inside of the camera 4 pinnam mm ie el Figure 2 2 A301f Pin Numbering 2 2 BASLER A301f Camera Interface 2 1 3 Connector Types The 6 pin connector on the camera is a standard IEEE 1394 socket The 9 pin Micro D plug is Molex Part Number 83611 9006 or the eguivalent A three meter long cable with a 9 pin Micro D receptacle on one end and a 9 pin D sub receptacle on the other end is available from Basler part 1000012016 2 2 Video Data and Control Signals 2 2 1 Input Signals 2 2 1 1 ExTrig Controls Exposure Start An external trigger ExTrig signal can be used to control the start of exposure ExTrig can be a per
21. aximum reverse voltage is 6 V and the maximum collector current is 100 mA A conducting transistor means a logical one and a non conducting transistor means a logical zero 1 The opto isolator used in the camera is a Sharp PC3Q64Q or the equivalent A detailed spec sheet for this device is available at the Sharp Microelectronics Group www sharpmeg com BASLER A301f 2 3 Camera Interface 2 4 2 2 2 3 Pixel Data Pixel data is transmitted as isochronous data packets according to version 1 20 of the 1394 based Digital Camera Specification issued by the 1394 Trade Association The first packet of each frame is identified by a 1 in the sync bit of the packet header The video data for each pixel is output in an 8 bit format Thus the range of intensity for each pixel includes 256 gray levels The digital gray value of O corresponds to black and the digital gray value of 255 to white Pixel Data Transmission Sequence Pixel data is transmitted in the following sequence Line 1 Pixel 1 Line 1 Pixel 2 Line 1 Pixel 3 Line 1 Pixel 657 Line 1 Pixel 658 Line 2 Pixel 1 Line 2 Pixel 2 Line 2 Pixel 3 Line 2 Pixel 657 Line 2 Pixel 658 Line 3 Pixel 1 Line 3 Pixel 2 Line 3 Pixel 3 Line 3 Pixel 657 Line 3 Pixel 658 and so forth 2 2 3 IEEE 1394 Device Information The A301f uses an IEEE 1394a compliant physical layer device to transmit pixel data Detailed spec sheets for devices of this type are available at t
22. cond line starts with a value of 1 for the first pixel the third line starts with a gray vale of 2 for the first pixel and so on If the camera is operating at a lower resolution when the test images are generated the basic appearance of the test pattern will be similar to Figure 3 13 but the starting pixel values on each line will not be as described above The mathematical expression for test image one is grayvalue x y MOD256 Figure 3 13 Test Image One BASLER A301f Operation and Features Test Image Two Test image two is similar to test image one but it is not stationary The image moves by 1 pixel from right to left whenever a one shot multi shot or continuous shot command signal is sent to the camera Test images are an advanced feature and may not be supported by the camera driver software that you are using BASLER A OIf 3 17 Operation and Features 3 9 Color Creation in the A301fc The CCD sensor used in the A301fc 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 A301fc is shown in Figure 3 14 As the figure illustrates within each block of four pixels one pixel sees only red light one sees only blue light and two pixels see only green light This combination mimics the human
23. d 2 3 2 2 1 1 ExTrig Controls Exposure Start 2 3 2 2 2 Output Signals iem NA is a 2 3 2 2 2 1 IntEn Indicates that Exposure is Taking Place 2 3 2 2 2 2 TrigRdy Indicates that Exposure Can Begin 2 3 2 2 2 9 Pixel Data cosa Bg re DE Dai doe PAP aed De 2 4 2 2 3 IEEE 1394 Device Information 24 4 2 4 29 Camera POWBI ve t 002010 MR DV Rea tas Wat a ERA E Eas 2 6 24 Status LEDS 3 are VA ESE NE Gh DR Bean Pn BRE na 2 6 3 Operation and Features 3 1 Functional Description Ee ee ee Ge ee ee ee ee 3 1 BNI OVEN d asir A o PTS OR a a tn 3 1 3 2 EXpos re Control 2 2 xe RA aa ies MAGAAN dal DARE Poe A ee ANA 3 3 3 2 1 Setting the Exposure Time ie SE ee Ge ee ees 3 3 3 2 2 Controlling Exposure Start via the 1394 Interface 3 3 3 2 3 Controlling Exposure Start with an ExTrigSignal 3 4 3 2 4 Recommended Methods for Controlling Exposure Start 3 5 3 3 Trigger Ready Signal 4035 Poast redre ER corro hh hh 3 8 3 3 1 What Happens if you Toggle ExTrig while TrigRdy is Low 3 9 3 4 Integrate Enabled Signal 0 cece eee 3 10 3 5 Version Information pieneni uaa R a ee dA RR ee d d 3 10 3 6 Gain and Brightness 4258 enikan a 6 RAVA RL BAA ENA es 3 11 3 6 1 Seng Galia mia a Han pha PAD AR RE lady NG phd AG bs 3 12 3 6 2 Setting Brightness 2
24. e Advanced Feature Ind register of the Inquiry register for feature presence section The offset field in each of the tables is the byte offset from the above base address Advanced Features Access Register Offset Name Notes 000h ADV FEATURE ACCESS 4 5 2 Advanced Features Registers The base address for the advanced features registers is Bus ID Node ID FFFF F2FO 0000 The offset field in each of the tables is the byte offset from the above base address Inguiry Register for Extended Version Information Offset Name Field Bit Description 1010h EXTD VERSIONS ING Presence 0 Presence of this feature Read only 1 7 Reserved Length 8 15 Specifies the length in quadlets of the Read only String field in the Version Information register see below 16 31 Reserved BASLER A301f Extended Versions Information Register Configuring the Camera Offset Name Field Bit Description 1014h EXTD_VERSIONS String Read only n Bytes An ASCII character string that includes the software version numbers for the camera The length of this string field is equal to the number of guadlets given in the Length field of the Inquiry Register for Version Information see page 4 8 aaaa bbbb CC dddd ee FF 99 aaaa bbbb cc dddd ee ffff gg the FPGA firmware version the overall version number of the
25. ed Image_On 16 18 0 No test image active Read write 1 Test image 1 active 2 Test image 2 active 19 31 Reserved BASLER A301f Mechanical Considerations 5 Mechanical Considerations 5 1 Camera Dimensions The camera housing for the A301f is manufactured with high precision Planar parallel and angular sides guarantee precise mounting with high repeatability The A301f camera is equipped with four M4 mounting holes on the front and two M4 mounting holes on each side as indicated in Figure 5 1 Caution To avoid collecting dust on the sensor mount a lens on the camera immediately after unpacking it BASLER A301f Mechanical Considerations Figure 5 1 A301f Mechanical Dimensions in mm 5 2 955 13 PHOTO SENSITIVE SURFACE OF CCD 4x M4 5 deep SS P 4 la u F 00 4 lt t O O y Lt B 0 N8x 4 5 deep BASLER A301f Mechanical Considerations 5 2 C Mount Adapter Dimensions C Mount Adapter C Mount Adapter on an A301f REE I nn EE B es 17 5 ya 2 E
26. eh 3 13 3 7 Area of Interest AOI 3 14 3 6 Test Images A N r alba dd ANN tn of do RA E Ma 3 16 BASLER A301f 3 9 Color Creation in the A301fc 0 3 18 3 9 1 Integrated IR Cut Filter on C Mount Equipped Cameras 3 18 3 10 Available Video Formats Modes 4 Frame Rates 3 19 3 10 1 Standard Formats Modes and Frame Rates 3 19 3 10 2 Customizable Format andMode ee eens 3 19 4 Configuring the Camera 4 1 Block Read and Write Capabilities 2020 02 22 4 2 4 2 Register Write Order 4 2 4 3 Changing the Video Format setting cee ee 4 2 4 4 Implemented Registers eh 4 3 4 5 Advanced Features e hn 4 8 4 5 1 Advanced Features Access Register 4 8 4 5 2 Advanced Features Registers EE e lesen 4 8 5 Mechanical Considerations 5 1 Camera Dimensions c c c c 5 1 5 2 C Mount Adapter Dimensions 0 cee eee eee 9 3 5 3 F Mount Adapter Dimensions c c 9 3 5 4 Positioning Accuracy of the Sensor Chip ee ee 9 4 5 5 Maximum Lens Thread Length on A301fc 0 0 2 02022 9 4 6 Troubleshooting 6 1 Fault Finding Using Camera LEDs c 6 1 61 1 Yellow LED ii a n ERR EET A ee a 6 1 6 1 2 Greern LED sand be of AM RR DAD AR ED AE AAR abe NGA EE e 6 1
27. eye s sensitivity to color The A30lfc color camera outputs single color raw data for each pixel This allows the camera user to perform color interpolations or other processing algorithms on pixel data that has not been manipulated Since each individual pixel gathers information for only one color an interpolation must be made from the surrounding pixels to get full RGB information for an individual pixel A DII that can be used to convert the output from the to full RGB color is available through Balser support 3 9 1 Integrated IR Cut Filter on C Mount Eguipped Cameras A30lfc cameras eguipped with a C mount lens adapter contain an IR cut filter inside of the camera The location of the filter limits the thread length of the lens that is used on the camera See Section 5 5 for more details on lens thread length
28. g for Width must not exceed 658 On all cameras the sum of the setting for Top plus the setting for Height must not exceed 494 On all cameras the AOI must contain at least 7680 pixels width x height BASLER A OIf Operation and Features 3 8 3 16 Test Images A301f cameras include a test image mode as an advanced 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 CCD sensor VGC or ADC Three different test images are available The test images are enabled by setting the ImageOn field of the TEST_IMAGE advanced features register see page 4 10 To enable test image one set the field to 1 to enable test image two set the field to 2 to enable test image three set the field to 3 To disable the test image feature set the field to 0 When a test image is active the gain brightness and exposure time have no effect on the image Test Image one As shown in Figure 3 13 test image one consists of lines with several gray scale gradients ranging from 0 to 255 If the camera is operating at full 658 x 494 resolution when the test images are generated the first line starts with a gray value of O for the first pixel the se
29. he CUR V FRM RATE REVISION control register If the camera is operating in video Format 7 the rate at which frames will be captured and transmitted is determined by the value stored in the BYTE PER PACKET control register see Section 3 10 2 The MULTI Shot control register is self cleared when transmission of the last frame begins BASLER A301f 3 3 Operation and Features 3 4 Continuous Shot Operation In continuous shot operation the camera continuously exposes and transmits frames The exposure of the first frame begins when the ISO EN CONTINUOUS SHOT control register is set to 1 The exposure time for each frame is determined by the value field in the SHUTTER control register see Section 3 2 1 The start of exposure on the second and subseguent frames is automatically controlled by the camera If the camera is operating in video Format 0 the rate at which frames will be captured and transmitted is determined by the value stored in the CUR V FRM RATE REVISION control register If the camera is operating in video Format 7 the rate at which frames will be captured and transmitted is determined by the value stored in the BYTE PER PACKET control register see Section 3 10 2 Frame exposure and transmission stop when the ISO EN CONTINUOUS SHOT control register is set to 0 3 2 3 Controlling Exposure Start with an ExTrig Signal The external trigger ExTrig input signal can be used to control the start of exposure
30. he Texas Instruments web site www ti com BASLER A301f Camera Housing Shield To 1394a Compliant Controller 12 VDC Input Figure 2 3 O Schematic BASLER A301f Camera Interface 2 5 Camera Interface 2 3 Camera Power Power must be supplied to the camera via the IEEE 1394 cable The camera requires 12 VDC 10 Maximum power consumption for the A301f is 6 0 W approximately Ripple must be less than 1 The IEEE 1394 standard specifies a voltage range of 8 to 40 VDC The A301f does not conform to this specification The A301f requires an input voltage of 12 VDC 10 2 4 Status LEDs Green LED The green LED on the back of the camera is used to indicate whether power is being supplied to the camera When the green LED is out it means that no power is present When the green LED is lit it means that power is present Keep in mind that the circuit used to light the green LED does not perform a range check If power to the camera is present but it is out of range the LED may be lit but the camera will not operate properly Yellow LED The yellow LED indicates signal integrity In case of an error blinking signals from the yellow LED indicate that an error condition is present See Section 6 1 for more information 2 6 BASLER A301f 3 1 Operation and Features Operation and Features Functional Description 3 1 1 Overview The A301f area scan camera emplo
31. he camera is to perform an exposure and to wait until transmission of the captured frame from the camera to the frame grabber is complete before beginning the next exposure This situation is illustrated in Figure 3 5 Frame 1 Frame 2 Frame 3 Exposure Exposure Exposure Frame 1 Frame 2 Frame 3 Transmission Transmission Transmission EE Ls Read Read Read Out Out Out Figure 3 5 Exposure Between Frame Transmissions While the method of control shown above may be useful in many situations it is not workable if your objective is to achieve maximum frame rate To achieve maximum frame rate most of the exposure for each frame must take place while the previous frame is being transmitted out of the camera This situation is illustrated in Figure 3 6 Frame 1 Frame 2 Frame 3 Frame 4 Exposure Exposure Exposure Exposure Frame 1 i Frame 2 i Frame 3 i Transmission i Transmission 1 Transmission 1 1 Toy l 1 1 1 d a A gt 4 gt 100 ns gt i 1 gt 100 ns gt i i gt 100 ns i na 1 1 Bg 1a Pa i i 1 Read Read Read Read Out Out 1 Out 1 Out Figure 3 6 Exposure During Frame Transmission A point to notice when looking at Figure 3 6 is that exposure must not end during frame transmission the end of exposure for the next frame must occur at least 100 ns after transmission of
32. igh the exposure will end at the earliest allowable point Figure 3 8 illustrates how the ExTrig signal should toggle if you want your 20 us exposure time to overlap frame transfer as much as possible Note that the trigger ready signal goes low when exposure starts i 20 LE ExTrig 20 us 20 us us i i exposure exposure POU oo i taor Toms taor i i i Trigger 20 ps 20 us 20 ps Ready i i i i j i i i i Frame 1 Frame 2 Frame 3 i Transmission Transmission Transmission l Frame i f Transfer E d nG Re La d E A A Jj 14 gt 100 ns Jj gt 100 ns 5 1 4 gt 100 ns Figure 3 8 Using Trigger Ready to Time the ExTrig Signal 3 3 1 What Happens if you Toggle ExTrig while TrigRdy is Low As explained above the trigger ready signal is designed to ensure that exposure ends after the previous frame transmission is complete But what happens if you toggle ExTrig while the trigger ready signal is low In this case the camera will remember that ExTrig has toggled and will delay the start of exposure until the trigger ready signal goes high BASLER A301f 3 9 Operation and Features 3 4 3 5 3 10 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 s
33. iodic or a non periodic function When the camera is operating under the control of an ExTrig signal the frequency of the ExTrig signal determines the camera s frame rate For more detailed information on using the ExTrig signal see Sections 3 2 and 3 3 As shown in Figure 2 3 the input for the ExSync signal is opto isolated The voltage of the LED in the opto coupler is 1 4 V The absolute maximum input current for the LED is 50 mA For the ExSync input a current of more than 5 mA means a logical one A current of less than 0 1 mA means a logical zero 2 2 2 Output Signals 2 2 2 1 IntEn Indicates that Exposure is Taking Place The integration enabled IntEn signal indicates that exposure is taking place The IntEn signal will be high during exposure and low when exposure is not taking place As shown in Figure 2 3 the output for the IntEn signal is opto isolated The maximum forward voltage is 35 V the maximum reverse voltage is 6 V and the maximum collector current is 100 mA A conducting transistor means a logical one and a non conducting transistor means a logical zero 2 2 2 2 TrigRdy Indicates that Exposure Can Begin When the trigger ready TrigRdy signal goes high it indicates that exposure of the next frame can be triggered Section 3 3 explains the operation of the trigger ready signal in more detail As shown in Figure 2 3 the output for the TrigRdy signal is opto isolated The maximum forward voltage is 35 V the m
34. matically apply the new setting to both the odd line channel and the even line channel BASLER A OIf 3 13 Operation and Features 3 7 3 14 Starting Row Area of Interest AOI The area of interest AOI feature allows you to specify a portion of the CCD array and during operation only the pixel information from the specified portion of the array is transmitted out of the camera The area of interest is referenced to the top left corner of the CCD array The top left corner is designated as column O and row O as shown in Figure 3 12 The location and size of the area of interest is defined by declaring a left most column a width a top row and a height Reference position is the top left corner of the image For example suppose that you specify the left column as 10 the width as 16 the top row as 4 and the height as 10 The area of the array that is bounded by these settings is shown in Figure 3 12 The camera will only transmit pixel data from within the area defined by your settings Information from the pixels outside of the area of interest is discarded On A301f cameras the maximum allowed frame rate does not increase when the area of interest feature is used Column 0 1 2 3 4 5 6 7 8 9110 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 Row 0 Row 1 Row 2 The camera will only transmit
35. mission See Section 4 2 Register Write Order for a complete description of the order in which the camera registers must be written This applies for one shot multi shot and continuous shot operation BASLER A301f Operation and Features ExTrig Multi Shot Operation In ExTrig Multi shot operation the camera exposes and transmits multiple frames The number of frames that will be transmitted is determined by the value stored in the COUNT NUMBER control register To use this method of operation follow this sequence 1 Set the SHUTTER control register for your desired exposure time See Section 3 2 1 2 Set the MULTI SHOT control register to 1 and set the COUNT NUMBER control register to the desired number of frames 3 Check the state of the TrigRdy signal a If TrigRdy is high you can toggle ExTrig when desired b If TrigRdy is low wait until TrigRdy goes high and then toggle ExTrig when desired 4 When ExTrig goes high exposure will begin Exposure will continue for the length of time specified in the SHUTTER control register At the end of the specified exposure time frame readout and transmission will take place 6 Repeat steps 3 4 and 5 until you have captured the number of frames specified in the count number register The MULTI_SHOT control register is self cleared after transmission of the last frame ExTrig Continuous Shot Operation In ExTrig Continuous shot operation the camera continu
36. n A301fc the thread length on the lens must be less than 7 5 mm If a lens with a longer thread length is used the camera will be damaged and will no longer operate As shown in Figure 5 5 when a C mount lens is used on an A30l1t the thread length on the lens must be less than 7 5 mm A30lfc cameras eguipped with a C mount lens adapter have an internal IR cut filter 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 Cameras eguipped with F mount lens adapters do not have an internal IR cut filter IR Cut Filter T Tm TT Ill Not to Scale Figure 5 5 C mount Lens Thread BASLER A301f 6 1 Troubleshooting Troubleshooting Fault Finding Using Camera LEDs 6 1 1 Yellow LED The A301f regularly performs self tests Detected errors are signaled by blinking of the yellow LED on the back of the camera The number of pulses indicate the detected error If several error states are present the yellow LED outputs the error codes in succession See Table 6 1 for the description of the pulses LED Camera Condition On Continuous The camera is OK 3 pulses ExTrig has not changed state for 5 seconds or longer If you are not using an ExTrig signal this indication is normal and should be ignored 6 pulses The default camera configuration settings could not be loaded Please contact Basler technical support 8
37. or Cameras Cameras equipped with a C mount lens adapter contain an integrated IR cut filter On cameras eguipped with an F mount adapter use of a suitable IR cut filter is rec ommended to maintain spectral balance and optimum MTF 1 4 BASLER A301f 1 3 1 4 Introduction Environmental Requirements 1 3 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 3 2 Ventilation Allow sufficient air circulation around the camera to prevent internal heat build up in your system and to keep the camera housing temperature below 50 C Provide additional cooling such as fans or heat sinks if necessary Warning Without sufficient cooling the camera can get hot enough during opera tion to cause burning when touched Precautions Read the manual Read the manual carefully before using the camera Keep foreign matter outside of the camera Do not open the casing Touching internal components may damage them Be careful not to allow liquid flammable or metallic material inside the camera housing If operated with any foreign matter inside the camera may fail or cause a fire Electromagnetic Fields Do not operate the camera in the vicinity of strong electromagnetic fields Avoid electrostatic charging Transporting Only transport the camera in its original packaging Do no
38. ously exposes and transmits frames To use this method of operation follow this sequence 1 Set the SHUTTER control register for your desired exposure time see Section 3 2 1 2 Set the ISO EN CONTINUOUS SHOT control register to 1 3 Check the state of the TrigRdy signal a If TrigRdy is high you can toggle ExTrig when desired b If TrigRdy is low wait until TrigRdy goes high and then toggle ExTrig when desired 4 When ExTrig goes high exposure will begin Exposure will continue for the length of time specified in the SHUTTER control register 5 Atthe end of the specified exposure time frame readout and transmission will take place 6 Repeat steps 3 4 and 5 each time that you want to capture a frame 7 Frame exposure and transmission stop when the ISO EN CONTINUOUS SHOT control register is set to 0 3 2 4 Recommended Methods for Controlling Exposure Start If a camera user reguires close control of exposure start there are several general guidelines that must be followed the camera should be placed in continuous shot mode the user must use an external trigger signal to start exposure and must set the camera to react to a rising edge of the trigger signal i e active high the user must monitor the trigger ready signal and the integrate enabled signal see Sections 3 3 and 3 4 for an explanation of these signals a rising edge of the external trigger signal must only occur when the trigger ready signal is high
39. ransfer 1 This variability in the start of exposure is commonly referred to as an exposure start jitter It occurs because when the camera is transferring an image exposure can only start at certain fixed points during the frame transfer process If an exposure is triggered when the transfer process is very near to one of these fixed points the exposure start delay can be as little as 3 us If an exposure is triggered when the transfer process is very far from one of these fixed points the start delay can be as much as 51 us If you need very close control of exposure start time you should trigger exposure start when the camera is not transferring a frame as shown on page 3 6 d The camera can be programmed to react to a rising edge of the ExTrig signal or to a falling edge of the ExTrig signal We strongly recommend that you program the cam era to react to the rising edge of the signal i e active high If falling edge triggering is used the time between the falling edge of the ExTrig signal and the start of exposure will be excessively long at least 90 us This occurs due to the characteristics of the opto coupler on the camera s ExTrig input BASLER A301f 3 7 Operation and Features 3 3 Trigger Ready Signal 3 8 The trigger ready signal is not defined in the 1394 Trade Association Digital Camera Specification Trigger ready is a patented feature of Basler cameras One possible way to control t
40. ritten in the following seguence INITIALIZE optional ISO Channel CUR V FORMAT CUR V MODE IMAGE POSITION Only when using Format 7 IMAGE SIZE Only when using Format 7 BYTE PER PACKET Only when using Format 7 CUR V FRAME RATE For formats other than Format 7 TRIGGER MODE All other registers in any order ONE SHOT MULTI SHOT or CONTINUOUS SHOT 4 3 Changing the Video Format setting 4 2 Whenever the Current Video Format setting is changed you must also do the following If the CUR V FORMAT is changed from Format 7 to Format 0 you must also write the CUR V MODE and the CUR V FRM RATE If the CUR V FORMAT is changed from Format 0 to Format 7 you must also write the CUR V MODE the IMAGE POSITION the IMAGE SIZE and the BYTES PER PACKET See Section 3 10 2 for more information on setting the Bytes per Packet in Format 7 BASLER A301f 4 4 Implemented Registers Configuring the Camera A list of all registers implemented in A301f appears below The base address for all camera control registers is Bus ID Node ID FFFF FOFO 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 Camera lnitialize Register Offset Name Notes 000h INITIALIZE Inguiry Register for Video Format Offset Name Notes 100h V FORMAT ING Inguiry
41. s are associated with each VGC As shown in Figures 3 9 and 3 10 increasing or decreasing the gain increases or decreases the amplitude of the signal that is input to the ADC Increasing or decreasing the brightness moves the signal up or down the measurement scale but does not change the signal amplitude For most applications black should have a gray value of 1 and white should have a gray value of 254 Attempt to achieve this by varying exposure and illumination rather than changing the camera s gain The default gain is the optimal operating point minimum noise and should be used if possible Operation and Features increasing gain increases the amplitude of the input signal gt light intensity uJ cm Figure 3 9 Gain increasing brightness moves the input signal up the measurement scale offset gt light intensity uJ cm Figure 3 10 Brightness Because increasing gain increases both signal and noise the signal to noise ratio does not change significantly when gain is increased BASLER A301f Operation and Features 3 12 3 6 1 Setting Gain Normally the VGCs in the camera should be Gray set so that the linear output range of the CCD values sensor maps directly to the input range of the ADCs In this situation a gray value of 0 is 255 produced when the pixels are exposed to no light and a gray value of 255 is produced when
42. s transferred from the CCD sensor to the camera s image buffer If the ExTrig signal rises during this time period as shown in Figure 3 4 The start of exposure will occur between 3 us and 51 us after the rise of ExTrig The delay in the start of exposure will vary from frame to frame but will always fall in the 3 to 51 us range The IntEn signal will rise between 2 and 3 us after the start of exposure For a given camera the delay in the rise of IntEn will be consistent from frame to frame The size of the delay will vary slightly from camera to camera but will always be in the 2 to 3 us range The actual length of exposure will be equal to the programmed exposure time plus 4 us To know when frame transfer to the buffer is taking place the user must monitor the integrate enabled signal The frame transfer time period begins on the falling edge of the integrate enabled signal and lasts for 11 7 ms TrigRdy gt ExTrig od xps lt gt 3 ps lt 51 us lt 511s Exposure Exposure Exposure Frame N Frame N 1 Frame N 2 Exposure L Er gt 2 us 22ys lt 3 us i lt 3ps IntEn 11 7 ms 11 7 ms gt Frame Frame N Transfer to the Image Buffer Frame N 1 Transfer to the Image Buffer Transfer TIMING CHARTS ARE NOT DRAWN TO SCALE Figure 3 4 Exposure Start During Frame T
43. size EE EE eee 1 2 humidity requirements 1 5 BASLER A301f l IEEE 1394 Device Information 2 4 input signals external trigger 2 3 integrate enabled signal 2 3 3 10 introduction 1 1 IR cut filter 1 4 5 4 L LEDS s MEES ra rra Seas ateis e 2 6 6 1 lens adapters 1 2 5 3 lens thread length 9 4 M mechanical considerations 5 1 models camera cee eee 1 1 mounting facilities 5 1 multi shot operation 3 3 3 5 O one shot operation 3 3 3 4 output signals integrate enabled 2 3 pixel data x pa r U ee 2 4 trigger ready eee eee eee 2 3 P performance specifications 1 2 pin assignments 2 2 pixel data 0 020202 ed e ee 2 4 EER Na a EER EDE OK 1 2 positioning accuracy of the sensor chip 5 4 power requirements 1 2 2 6 precautions 1 5 R register write order 4 2 registers implemented in the camera 4 3 S sensor anti plooming 1 2 pixel siZe 5 aa end 1 2 SIZE al Tal 1 2 Me rossa en s NE 1 2 nee di EA N EN La 1 2 spectral responsivity color cameras
44. t about 10 frames per second If you want to operate the camera at the maximum rate of 80 frames per second you must use a shorter exposure time 3 2 2 Controlling Exposure Start via the 1394 Interface One Shot Operation In one shot operation the camera exposes and transmits a single frame Exposure begins when the ONE SHOT control register is set to 1 Exposure time is determined by the value field in the SHUTTER control register see Section 3 2 1 The ONE SHOT control register is self cleared when transmission of frame data begins See Section 4 2 Register Write Order for a complete description of the order in which the camera registers must be written This applies for one shot multi shot and continuous shot operation Multi Shot Operation In multi shot operation the camera exposes and transmits multiple frames The exposure for the first frame begins when the MULTI SHOT control register is set to 1 The number of frames that will be transmitted is determined by the value stored in the COUNT NUMBER field of the control register The exposure time for each frame is determined by the value field in the SHUTTER control register see Section 3 2 1 The start of exposure on the second and subseguent frames is automatically controlled by the camera If the camera is operating in video Format 0 Format 1 or Format 2 the rate at which frames will be captured and transmitted is determined by the value stored in t
45. t discard the packaging Cleaning Avoid cleaning the surface of the CCD sensor if possible If you must clean it use a soft lint free cloth dampened with a small quantity of pure alcohol Do not use methylated alcohol Because electrostatic discharge can damage the CCD sensor you must use a cloth that will not generate static during cleaning cotton is a good choice To clean the surface of the camera housing use a soft dry cloth To remove severe stains use a soft cloth dampened with a small quantity of neutral detergent then wipe dry Do not use volatile solvents such as benzine and thinners they can damage the surface finish BASLER A301f 1 5 Introduction 1 6 BASLER A301f Camera Interface 2 Camera Interface 2 1 Connections 2 1 1 General Description The A301f is interfaced to external circuitry via an IEEE 1394 socket and a 9 pin micro D plug located on the side of the housing Figure 2 1 shows the location of the two connectors There are also two status LEDs on the back of the camera The LEDs indicate signal integrity and power OK see Section 6 1 9 Pin 1394 Micro D Sl Plug 5 Yellow LED Signal Integrity Green LED Power OK Figure 2 1 Camera Connectors and Indicators BASLER A OIf 2 1 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 T
46. the current frame is complete For example the exposure for frame two must end at least 100 ns after frame one transfer is complete This situation poses a problem when you are controlling exposure with an ExTrig signal that is how will you know when to toggle the ExTrig signal and begin exposure so that the exposure will end at least 100 ns after the last frame transmission is complete This problem is addressed by the trigger ready signal The trigger ready signal will go high at the earliest moment that you can begin exposure and still be sure that the exposure will end at least 100 ns after the transmission of the last frame BASLER A301f Operation and Features For better understanding of the use of trigger ready signal consider an example Assume that you will set the exposure time to 20 us for each exposure and that you want to begin exposing as early as possible during transfer of the previous frame In this case the trigger ready signal will go high 20 us before the earliest allowable end of exposure This situation is illustrated in Figure 3 7 20 ps 2045 20 ps Trigger i h Ready f Frame 1 Frame 2 Frame 3 Transmission Transmission Transmission j Frame 1 ph Transfer ni 1a m pg A gt i gt 100 ns R gt 100 ns AH i gt 100 ns fyi 1 1 Figure 3 7 Trigger Ready Signal If you monitor the trigger ready signal and toggle ExTrig when the trigger ready signal goes h
47. the pixel data from this area o Nd a BF alo N HEI II EI EA lr Starting Column e gt Width in Columns Figure 3 12 Area of Interest The AOI feature is enabled by setting the CUR_V_FORMAT control register to 7 and the CUR_V_MODE control register to 0 The location of the area of interest is defined by setting a value for the left field and a value for the top field within the IMAGE_POSITION control register that has been established for Format 7 Mode 0 The size of the area of interest is defined by setting a value for the width field and a value for the height field within the IMAGE SIZE control register that has been established for Format 7 Mode 0 To use the entire CCD array on the A301f set the value for left to 0 the value for top to O the value for width to 658 and the value for height to 494 BASLER A301f Operation and Features On A301f and A301fc camera the setting for Left must be 0 or an even number the setting for Top must be 0 or an even number the setting for Width must be an even number the setting for Height must be an even number On all cameras the sum of the setting for Left plus the settin
48. the pixels are exposed to bright light This condition is defined as 0 dB of system gain for the camera 12 dB 6 dB 0 dB Increasing the gain to more than 0 dB maps a smaller portion of the sensor s linear output range to the ADC s input This can be useful when at your brightest exposure a gray value of less than 255 is achieved For 0 example if gray values no higher than 127 0 25 50 100 were achieved with bright light you could increase the gain to 6 dB an amplification factor of 2 and see an increase in gray Figure 3 11 Gain Settings in dB values to 254 j Sensor output signal Normally the camera s gain setting is determined by the value field in the GAIN control register The value can range from O to 213 0x000 to 0x0D5 These settings result in the following amplification Decimal Hexadecimal dB Amplification Factor 0 0x000 0 x1 213 OxOD5 20 x 10 Table 3 1 Gain Settings For each increase of one in the setting the gain will increase by 0 094 dB To determine the dB of amplification that you will see for a particular setting multiply the setting by 0 094 For example if the setting of the value field in the GAIN control register is 125 decimal the gain will be 125 x 0 094 11 8 dB Automatic Gain Balancing Internally A301f cameras process odd and even lines separately in two different data channels see Figure 3 1 Consequently gain must be adjusted separately for
49. tted in each packet The number of bytes per packet is set using the BytePerPacket field of the BYTE PER PACKET control register that has been established for Format 7 Mode 0 The value that appears in the MaxBytePerPacket field of the PACKET PARA ING control register will show the maximum allowed setting for the bytes per packet When the bytes per packet is set to the maximum the camera will transmit frames at its maximum specified rate By default the bytes per packet are set to the maximum If you set the bytes per packet to a value lower than the maximum allowed the camera will transmit frames at a lower rate The rate is calculated by the formula 1 000 000 us F GET SEE MM rames Sec Packets per Frame x 125 us When you set the bytes per packet keep in mind that the camera s link layer controller can handle a maximum of 4095 packets per frame If you set the bytes per packet too low the number of packets per frame will exceed this limit and the camera will not transmit frames properly When the camera is operating in Format 7 Mode 0 the CUR V FRAME RATE control register is not used and has no effect on camera operation BASLER A301f 3 19 Operation and Features 3 20 BASLER A301f Configuring the Camera 4 Configuring the Camera The A301f is configured by setting status and control registers as described in version 1 20 of the 1394 Based Digital Camera Specification issued by the 1394
50. ure 3 14 in Section 3 9 Added information about the BCAM Driver to page 4 1 Updated information about the advanced features registers in Sec tion 4 5 BASLER A OIf BASLER A301f Index A advanced features registers 4 8 anti blooming Ee Se eee 1 2 area of interest 3 14 B block reads and writes 4 2 brightness naset iii eee eee 3 11 C cable lengths Viriato N KAN 1 2 camera models 1 1 camera power iesse tessa terleo cipia dea 2 6 cleaning the camera and sensor 1 5 C mount adapter 5 3 connections general description 2 1 connector types 002 O L see 2 3 continuous shot operation 3 4 3 5 D dimensions 5 2 5 3 E environmental requirements 1 5 exposure start controlling via the 1394 interface 3 3 controlling with an ExTrig signal 3 4 exposuretime setting 3 3 external trigger signal 2 3 F fault finding using camera LEDs 6 1 F mount adapter 9 3 frame rate nominal maximum rate 1 2 standard frame rates 3 19 functional description 3 1 G ef p M ee Tace PE A RE gen 3 11 gain balancing 3 12 H housing
51. ys a CCD sensor chip which provides features such as electronic exposure time control and anti blooming Normally exposure time and charge readout are controlled by values transmitted to the camera s control registers via the IEEE 1394 interface Command registers are available to set exposure time and frame rate There are also command registers available to set the camera for single frame capture multiple frame capture and continuous frame capture Exposure start can also be controlled via an externally generated trigger ExTrig signal The ExTrig signal facilitates periodic or non periodic start of exposure When exposure start is controlled by an ExTrig signal exposure begins when the trigger signal goes low and continues for a pre programmed period of time Accumulated charges are read out when the programmed exposure time ends At readout accumulated charges are transported from the sensor s light sensitive elements pixels to the vertical shift registers see Figure 3 1 The charges from the bottom two lines of pixels in the array are then moved into two horizontal shift registers As charges move out of the horizontal shift registers they are converted to voltages which are proportional to the size of each charge Shifting is clocked according to the camera s internal data rate The voltages moving out of the horizontal shift registers are amplified by two internal Variable Gain Controls VGCs and then digitized by two 10 bit Analog
52. ystem 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 be used to move the camera to view different portions of a product assembly Typically you do not want the camera to move during exposure In this case you can monitor the IntEn signal to know exactly when exposure is taking place and thus know when to avoid moving the camera Version Information A301f cameras include an advanced feature called Extended Versions that allows the user to read the version numbers of the firmware and several other elements in the camera The version numbers are contained in an ASCII character string located in the EXTD_VERSIONS advanced features register The extended versions register and the layout of the information contained in the character string are described in detail on page 4 9 Extended versions is an advanced feature and may not be supported by the camera driver software that you are using BASLER A301f 3 6 Gain and Brightness The major components in the camera electronics include a CCD sensor two VGC Variable Gain Controls and two ADCs Analog to Digital Converters The pixels in the CCD sensor output voltage signals when they are exposed to light These voltages are amplified by the VGCs and transferred to the ADCs which convert the voltages to digital output signals Two parameters gain and brightnes
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