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Basler A101f User Manual

Progressive scan camera
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Basler Support Worldwide:
Americas: +1-877-934-8472
vc.support.usa@baslerweb.com
www.basler-vc.com
Camera User's Manual
Europe: +49-4102-463-500
vc.support.europe@baslerweb.com
Document ID Number: DA039104
Revision Date: May 20, 2002
Subject to Change Without Notice
© Basler Vision Technologies
Asia: +65-425-0472
vc.support.asia@baslerweb.com
A101
f

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Summary of Contents for Basler A101f

  • Page 1 A101 Camera User’s Manual Document ID Number: DA039104 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...
  • Page 2 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.

  • Page 3: Table Of Contents

    DRAFT Table of Contents 1 Introduction 1.1 Camera Models ........... 1-1 1.2 Performance Specifications .
  • Page 4 3.12.2 Customizable Formats and Modes on the A101f Monochrome Camera ....... . 3-22 3.12.3 Standard Formats, Modes, and Frame Rates...

  • Page 5: Introduction

    DRAFT Introduction 1 Introduction The BASLER A101 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) •...

  • Page 6: Performance Specifications

    DRAFT Introduction 1.2 Performance Specifications Specification A101 Sensor Type Sony ICX085AL/AK - 2/3 inch, HAD, interline transfer, progressive scan CCD Pixels 1300 (H) x 1030 (V) Pixel Size 6.7 µm (H) x 6.7 µm (V) Anti-Blooming 1:100 Dark Signal Non-uniformity ±...
  • Page 7 DRAFT Introduction The spectral responsivity for monochrome cameras is shown in Figure 1-1. The graph includes lens characteristics and excludes light source characteristics. 1000 Wave Length [nm] Figure 1-1: Spectral Responsivity - Monochrome Cameras BASLER A101...
  • Page 8 DRAFT Introduction The spectral responsivity for color cameras is shown in Figure 1-2. The graph includes lens characteristics and excludes light source characteristics. Wave Length [nm] Figure 1-2: Spectral Responsivity - Color Cameras Cameras equipped with a C-mount lens adapter contain an integrated IR cut filter. On cameras equipped with an F-mount adapter, use of a suitable IR cut filter is rec- ommended to maintain spectral balance and optimum MTF.

  • Page 9: Environmental Requirements

    DRAFT Introduction 1.3 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°...
  • Page 10 DRAFT Introduction BASLER A101...

  • Page 11: Camera Interface

    DRAFT Camera Interface 2 Camera Interface 2.1 Connections 2.1.1 General Description The A101 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.

  • Page 12: Pin Assignments

    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. Signal Signal +12 VDC TPB+ DC Gnd TPA-...

  • Page 13: Connector Types

    DRAFT 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 equivalent. 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.

  • Page 14: Pixel Data

    DRAFT Camera Interface 2.2.2.3 Pixel Data Pixel data are 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.

  • Page 15: Camera Power

    DRAFT 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 is 5.0 W for the A101 . Ripple must be less than 1%. 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...
  • Page 16 DRAFT Camera Interface BASLER A101...

  • Page 17: Operation And Features

    DRAFT Operation and Features 3 Operation and Features 3.1 Functional Description The A101 area scan camera employs 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.
  • Page 18 DRAFT Operation and Features CCD Sensor Vert. Vert. Vert. Vert. Shift Shift Shift Shift Pixels Pixels Pixels Pixels Reg. Reg. Reg. Reg. Horizontal Shift Register Figure 3-1: Sensor Architecture Micro- Micro- Control controller controller Control: Shutter Binning Asynchronous Control 2 MB Data SDRAM Gain...

  • Page 19: Exposure Control

    DRAFT Operation and Features 3.2 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 0xFFF). The value in the register represents n in the equation: Exposure Time = (n + 1) x 20 µs.

  • Page 20: Controlling Exposure Start With An Extrig Signal

    DRAFT Operation and Features 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 3.12.2). Frame exposure and transmission stop when the ISO_EN/CONTINUOUS_SHOT control register is set to 0.

  • Page 21: Recommended Methods For Controlling Exposure Start

    DRAFT Operation and Features 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.
  • Page 22 DRAFT Operation and Features Case 1 - Exposure Start When the Camera is not Transferring a Frame After each exposure is complete, there is a time period of 80.7 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: •...
  • Page 23 DRAFT 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 80.7 ms. during which the captured frame is 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: •...

  • Page 24: Trigger Ready Signal

    DRAFT Operation and Features 3.3 Trigger Ready Signal The trigger ready signal is not defined in the 1394 Trade Association Digital Camera Specification. Trigger ready is a special feature of Basler cameras. One possible way to control the camera is to perform an image exposure followed by charge read out and frame transfer and to wait until frame transfer is complete before beginning the next exposure.

  • Page 25: What Happens If You Toggle Extrig While Trigrdy Is Low

    DRAFT 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 µs for every exposure and that you want to begin exposing as early as possible during transfer of the previous frame.

  • Page 26: Integrate Enabled Signal

    DRAFT Operation and Features 3.4 Integrate Enabled Signal The Integrate Enabled (IntEn) signal goes high when exposure begins and goes low when exposure ends. This signal is especially 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 be used to move the camera to view different portions of a product assembly.

  • Page 27: Gain And Brightness

    DRAFT Operation and Features 3.6 Gain and Brightness The major components in the camera electronics include: a CCD sensor, a VGC (Variable Gain Control), input signal and an ADC (Analog to Digital Converter). The pixels in to ADC the CCD sensor output voltage signals when they are exposed to light.

  • Page 28: Gain Settings In More Detail

    DRAFT Operation and Features 3.6.1 Gain settings in more detail The output signals from the pixels in the CCD sensor normally range from 0 Volts when the pixels are exposed to no light to 0.4 Volts when they are exposed to bright light. Within that range, the sensor characteristics are linear.

  • Page 29: Binning

    DRAFT Operation and Features 3.7 Binning Binning increases the camera’s sensitivity to light by summing the charges from adjacent pixels into one pixel. There are three types of binning available: horizontal binning, vertical binning and full binning. With horizontal binning, pairs of adjacent pixels in each line are summed (see Figure 3-11). With vertical binning, pairs of adjacent pixels from two lines are summed.

  • Page 30: Area Of Interest (Aoi)

    DRAFT Operation and Features 3.8 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 transferred out of the camera.

  • Page 31: Changes To The Frame Rate With Aoi

    DRAFT Operation and Features On the A101 color 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.

  • Page 32: Test Images

    DRAFT Operation and Features 3.9 Test Images The test image mode is used to check the camera’s basic functionality and its ability to transmit an image via the video data cable. The test image mode can be used for service purposes and for failure diagnostics.
  • Page 33 DRAFT Operation and Features Test Image Two As shown in Figure 3-14, test image two consists of lines with several gray scale gradients ranging from 0 to 255. If the camera is operating at full 1300 x 1030 resolution when the test images are generated: •...

  • Page 34: Low Smear

    DRAFT Operation and Features 3.10 Low Smear In applications where a CCD sensor is under con- stant illumination, high- contrast images show smearing. Smear- ing is an unwanted effect that converts dark pixels into brighter ones. With the help of the low smear feature A101 smearing is reduced on...
  • Page 35 DRAFT Operation and Features To better understand these calculations, let’s look at an example. Suppose that you are working with an 800 (H) x 600 (V) area of interest, that there are 215 rows above the AOI and that you want a 2 ms.

  • Page 36: Color Creation In The A101Fc

    DRAFT Operation and Features 3.11 Color Creation in the A101fc The CCD sensor used in the A101 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.

  • Page 37: White Balance

    DRAFT Operation and Features Once the conversion to YUV is complete, pixels are transmitted from the camera in the YUV (4:2:2) format as defined in Section 2.1.3 Video Data Payload Structure in the 1394-based Digital Camera Specification Version 1.20. The values for U and for V normally range from -128 to +128. Because the 1394 Dig- ital Camera specification requires that U values and V values be transmitted with un- signed integers, 128 is added to each U value and to each V value before the values are transmitted from the camera.

  • Page 38: Available Video Formats, Modes, & Frame Rates

    3.12 Available Video Formats, Modes, & Frame Rates 3.12.1 Standard Formats, Modes, and Frame Rates on the A101f Monochrome Camera The following standard video formats, modes, and frame rates are available on the A101 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)
  • Page 39 DRAFT Operation and Features The maximum bytes per packet will vary depending on the size of the AOI. This occurs to avoid image buffer under-runs. The rate of image data flowing out of the image buffer must be correctly balanced against the amount of image data entering the buffer. If you set the bytes per packet to a value lower than the maximum allowed, the camera will transmit frames at a lower rate.

  • Page 40: Standard Formats, Modes, And Frame Rates

    DRAFT Operation and Features 3.12.3 Standard Formats, Modes, and Frame Rates on the A101fc Color Camera The following standard video formats, modes, and frame rates are available on the A101 Format_0, Mode_1, FrameRate_1 (YUV 4:2:2, 16 bits/pixel, 320 x 240 pixels at 3.75 fps) Format_0, Mode_1, FrameRate_2 (YUV 4:2:2, 16 bits/pixel, 320 x 240 pixels at 7.5 fps) Format_0, Mode_1, FrameRate_3 (YUV 4:2:2, 16 bits/pixel, 320 x 240 pixels at 15 fps) Format_0, Mode_3, FrameRate_1 (YUV 4:2:2, 16 bits/pixel, 640 x 480 pixels at 3.75 fps)

  • Page 41: Customizable Formats And Modes On

    DRAFT Operation and Features 3.12.4 Customizable Formats and Modes on the A101fc Color Camera The following customizable video formats and modes are available on the A101 Format_7, Mode_0 Format_7, Mode_0 is available on the A101 . When an A101 is operating in Format_7, Mode_0, its output will be monochrome at 8 bits/pixel and the camera will output the raw data for each pixel (see Section 3.11.2).
  • Page 42 DRAFT Operation and Features 3-26 BASLER A101...

  • Page 43: Configuring The Camera

    DRAFT Configuring the Camera 4 Configuring the Camera The A101 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 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.

  • Page 44: Block Read And Write Capabilities

    DRAFT Configuring the Camera 4.1 Block Read and Write Capabilities The camera supports block reads but not block writes. Block writes are rejected by the camera. Do not block read registers that are not present. Use the inquiry registers to find out what registers are present and see the tables on the following pages which de- scribe all implemented registers.

  • Page 45: Implemented Registers

    DRAFT Configuring the Camera 4.4 Implemented Registers A list of all registers implemented in the A101 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.
  • Page 46 DRAFT 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_INQ_0_0 (Format_0, Mode_0) 204h V_RATE_INQ_0_1 (Format_0, Mode_1) 208h V_RATE_INQ_0_2 (Format_0, Mode_2) 20Ch...
  • Page 47 DRAFT Configuring the Camera Inquiry Register for Basic Functions Offset Name Notes 400h BASIC_FUNC_INQ Inquiry Registers for Feature Presence Offset Name Notes 404h Feature_Hi_Inq 408h Feature_Lo_Inq 480h Advanced_Feature_Inq Inquiry Registers for Feature Elements Offset Name Notes 500h BRIGHTNESS_INQ 504h AUTO_EXPOSURE_INQ 508h SHARPNESS_INQ 50Ch...
  • Page 48 DRAFT 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...
  • Page 49 DRAFT 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.”...
  • Page 50 DRAFT Configuring the Camera The base address for each Format_7, Mode_1 camera control register is: Bus_ID, Node_ID, FFFF F1F0 0100 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.”...
  • Page 51 DRAFT Configuring the Camera The base address for each Format_7, Mode_2 camera control register is: Bus_ID, Node_ID, FFFF F1F0 0200 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.”...
  • Page 52 DRAFT Configuring the Camera The base address for each Format_7, Mode_3 camera control register is: Bus_ID, Node_ID, FFFF F1F0 0300 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.”...

  • Page 53: Advanced Features

    DRAFT Configuring the Camera 4.5 Advanced Features 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 F2F0 0000 This address is contained in the Advanced_Feature_Inq register of the “Inquiry register for feature presence”...
  • Page 54 DRAFT Configuring the Camera Extended Versions Information Register Offset Name Field Description 1014h EXTD_VERSIONS String [n Bytes] An ASCII character string that includes the (Read only) software version numbers for the camera. The length of this string field is equal to the number of quadlets given in the “Length”...
  • Page 55 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 3.9). Offset Name Field Description 0098h TEST_IMAGE Presence_Inq Presence of this feature (Read only) 0: N/A 1: Available...
  • Page 56 DRAFT Configuring the Camera 4-14 BASLER A101...

  • Page 57: Mechanical Considerations

    DRAFT Mechanical Considerations 5 Mechanical Considerations 5.1 Camera Dimensions The camera housing for the A101 is manufactured with high precision. Planar, parallel, and angular sides guarantee precise mounting with high repeatability. The A101 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.
  • Page 58 DRAFT Mechanical Considerations PHOTO− SENSITIVE SURFACE OF CCD Figure 5-1: A101 Mechanical Dimensions (in mm) BASLER A101...

  • Page 59: C-Mount Adapter Dimensions

    DRAFT Mechanical Considerations 5.2 C-Mount Adapter Dimensions C-Mount Adapter C-Mount Adapter on an A101 PHOTO− SENSITIVE SURFACE OF CCD Figure 5-2: C-Mount Adapter Dimensions (in mm) 5.3 F-Mount Adapter Dimensions F-Mount Adapter F-Mount Adapter on an A101 PHOTO− SENSITIVE SURFACE OF CCD Figure 5-3: F-Mount Adapter Dimensions (in mm) BASLER A101...

  • Page 60: Positioning Accuracy Of The Sensor Chip

    DRAFT Mechanical Considerations 5.4 Positioning Accuracy of the Sensor Chip On the A101 , 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.

  • Page 61: Troubleshooting

    DRAFT Troubleshooting 6 Troubleshooting 6.1 Fault Finding Using Camera LEDs 6.1.1 Yellow LED The A101 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.
  • Page 62 DRAFT Troubleshooting BASLER A101...

  • Page 63: Revision History

    DRAFT Revision History Revision History Doc. ID Number Date Changes DA039101 6-Feb.-2001 Initial release. DA039102 18-Apr.-2001 Made numerous small changes to grammar and phrasing. Added connector information in Section 2.1.3. Added ripple specification to Table 1-1 and Section 2.3. Added Section 3.10 containing information on the low smear feature. This feature is available on cameras with FPGA firmware version 2.17 or higher.
  • Page 64 DRAFT Revision History BASLER A101...

  • Page 65: Index

    DRAFT Index housing size ......1-2 advanced features ..... . . 4-11 humidity requirements .
  • Page 66 DRAFT sensor anti-blooming ......1-2 pixel size ......1-2 size .

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