Allied Vision Technologies Pike Instruction manual

AVT Pike
Technical Manual
V4.0.0
15 January 2008
Allied Vision Technologies GmbH
Taschenweg 2a
D-07646 Stadtroda / Germany
Legal notice
For customers in the U.S.A.
This equipment has been tested and found to comply with the limits for a Class B 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 residential 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. However there is no guarantee that interferences will not occur in
a particular installation. If the equipment does cause harmful interference to radio or television reception, the user is encouraged to try to correct the interference by one or more of the
following measures:
•
•
•
•
Reorient or relocate the receiving antenna.
Increase the distance between the equipment and the receiver.
Use a different line outlet for the receiver.
Consult a radio or TV technician for help.
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 B of Part 15 of FCC Rules.
For customers in Canada
This apparatus complies with the Class B limits for radio noise emissions set out in the Radio
Interference Regulations.
Pour utilisateurs au Canada
Cet appareil est conforme aux normes classe B pour bruits radioélectriques, spécifiées dans le
Règlement sur le brouillage radioélectrique.
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. Allied
customers using or selling these products for use in such applications do so at their own risk
and agree to fully indemnify Allied for any damages resulting from such improper use or sale.
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Unless stated otherwise, all trademarks appearing in this document of Allied Vision
Technologies are brands protected by law.
Warranty
The information provided by Allied Vision Technologies is supplied without any guarantees or
warranty whatsoever, be it specific or implicit. Also excluded are all implicit warranties concerning the negotiability, the suitability for specific applications or the non-breaking of laws
and patents. Even if we assume that the information supplied to us is accurate, errors and
inaccuracy may still occur.
Copyright
All texts, pictures and graphics are protected by copyright and other laws protecting intellectual property. It is not permitted to copy or modify them for trade use or transfer, nor may
they be used on web sites.
Allied Vision Technologies GmbH 01/2008
All rights reserved.
Managing Director: Mr. Frank Grube
Tax ID: DE 184383113
Support:
Taschenweg 2A
D-07646 Stadtroda, Germany
Tel.: +49 (0)36428 6770
Fax: +49 (0)36428 677-28
e-mail: info@alliedvisiontec.com
PIKE Technical Manual V4.0.0
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Contents
Introduction ...........................................................................................................10
Document history ......................................................................................................... 10
Conventions used in this manual..................................................................................... 12
Styles ..................................................................................................................... 12
Symbols .................................................................................................................. 13
Before operation .......................................................................................................... 13
Declarations of conformity ...........................................................................14
Safety instructions ............................................................................................16
Reference documents applicable in the United States......................................................... 16
Reference documents applicable in Europe ....................................................................... 16
Reference documents applicable in Japan......................................................................... 16
Cautions...................................................................................................................... 17
Environmental conditions .............................................................................................. 17
PIKE types and highlights .............................................................................18
FireWire ....................................................................................................................21
Overview ..................................................................................................................... 21
Definition ............................................................................................................... 21
IEEE 1394 standards ................................................................................................. 21
Why use FireWire? .................................................................................................... 21
FireWire in detail .......................................................................................................... 22
Serial bus................................................................................................................ 22
FireWire connection capabilities ................................................................................. 23
Capabilities of 1394a (FireWire 400)............................................................................ 24
IIDC V1.3 camera control standards ........................................................................ 24
Capabilities of 1394b (FireWire 800) ........................................................................... 24
IIDC V1.31 camera control standards ...................................................................... 24
Compatibility between 1394a and 1394b...................................................................... 25
Compatibility example .......................................................................................... 25
Image transfer via 1394a and 1394b ........................................................................... 26
1394b bandwidths.................................................................................................... 27
Requirements for PC and 1394b.............................................................................. 27
Requirements for laptop and 1394b ........................................................................ 28
Example1: 1394b bandwidth of PIKE cameras ........................................................... 29
Example 2: More than one PIKE camera at full speed ................................................. 30
FireWire Plug & play capabilities................................................................................. 31
FireWire hot plug precautions..................................................................................... 31
Operating system support .......................................................................................... 31
System components .........................................................................................32
Camera lenses.......................................................................................................... 34
PIKE Technical Manual V4.0.0
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Specifications .......................................................................................................36
PIKE F-032B / F-032B fiber ............................................................................................ 37
PIKE F-032C / F-032C fiber............................................................................................. 39
PIKE F-100B / F-100B fiber ............................................................................................ 41
PIKE F-100C / F-100C fiber............................................................................................. 43
PIKE F-145B / F-145B fiber (-15fps*) .............................................................................. 45
PIKE F-145C / F-145C fiber (-15fps*) ............................................................................... 47
PIKE F-210B / F210B fiber ............................................................................................. 49
PIKE F-210C / F-210C fiber............................................................................................. 51
PIKE F-421B / F-421B fiber ............................................................................................ 53
PIKE F-421C / F-421 C fiber............................................................................................ 55
PIKE F-505B / F-505B fiber ............................................................................................ 57
PIKE F-505C / F-505C fiber............................................................................................. 59
Spectral sensitivity ....................................................................................................... 61
Camera dimensions ..........................................................................................67
PIKE standard housing (2 x 1394b copper) ....................................................................... 67
PIKE (1394b: 1 x GOF, 1 x copper)................................................................................... 68
Tripod adapter ............................................................................................................. 69
Pike W90 (2 x 1394b copper).......................................................................................... 70
Pike W90 (1394b: 1 x GOF, 1 x copper) ............................................................................ 71
Pike W90 S90 (2 x 1394b copper).................................................................................... 72
Pike W90 S90 (1394b: 1 x GOF, 1 x copper) ...................................................................... 73
Pike W270 (2 x 1394b copper) ........................................................................................ 74
Pike W270 (1394b: 1 x GOF, 1 x copper)........................................................................... 75
Pike W270 S90 (2 x 1394b copper) .................................................................................. 76
Pike W270 S90 (1394b: 1 x GOF, 1 x copper)..................................................................... 77
Cross section: CS-Mount (only PIKE F-032B/C) .................................................................. 78
Cross section: C-Mount (VGA size filter) ........................................................................... 79
Cross section: C-Mount (large filter) ................................................................................ 80
Adjustment of C-Mount.................................................................................................. 81
F-Mount, K-Mount, M39-Mount ....................................................................................... 82
Cross section: M39-Mount.......................................................................................... 82
Camera interfaces .............................................................................................83
PIKE fiber.................................................................................................................... 84
IEEE 1394b port pin assignment ..................................................................................... 86
Camera I/O connector pin assignment ............................................................................. 87
Status LEDs.................................................................................................................. 90
On LED (green) ........................................................................................................ 90
Status LED............................................................................................................... 90
Operating the camera .................................................................................................... 92
Control and video data signals........................................................................................ 92
Inputs .................................................................................................................... 92
Triggers.............................................................................................................. 94
Input/output pin control........................................................................................... 95
PIKE Technical Manual V4.0.0
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IO_INP_CTRL 1-2 ................................................................................................. 96
Trigger delay ....................................................................................................... 97
Outputs .................................................................................................................. 99
IO_OUTP_CTRL 1-4 ............................................................................................. 103
Output modes.................................................................................................... 104
Pixel data.................................................................................................................. 107
Description of the data path ......................................................................110
Block diagrams of the cameras ..................................................................................... 110
Black and white cameras ......................................................................................... 110
Color cameras ........................................................................................................ 111
Sensor ...................................................................................................................... 112
Channel balance ......................................................................................................... 112
Channel adjustment with SmartView (>1.5) ................................................................ 112
White balance ............................................................................................................ 115
One-push automatic white balance ........................................................................... 116
Automatic white balance ......................................................................................... 118
Auto shutter .............................................................................................................. 119
Auto gain .................................................................................................................. 121
Manual gain............................................................................................................... 123
Brightness (black level or offset) .................................................................................. 123
Horizontal mirror function ........................................................................................... 125
Shading correction...................................................................................................... 126
Building shading image in Format_7 modes ............................................................... 126
First example .................................................................................................... 126
Second example................................................................................................. 126
How to store shading image..................................................................................... 127
Automatic generation of correction data.................................................................... 128
Requirements .................................................................................................... 128
Algorithm ......................................................................................................... 128
Loading a shading image out of the camera ............................................................... 131
Loading a shading image into the camera .................................................................. 132
Look-up table (LUT) and gamma function....................................................................... 133
Loading an LUT into the camera ............................................................................... 134
Binning (only PIKE b/w models) ................................................................................... 135
2 x / 4 x / 8 x binning ............................................................................................ 135
Vertical binning ..................................................................................................... 136
Horizontal binning ................................................................................................. 138
2 x full binning/4 x full binning/8 x full binning ........................................................ 140
Sub-sampling (PIKE b/w and color) ............................................................................... 142
What is sub-sampling? ............................................................................................ 142
Which PIKE models have sub-sampling? ..................................................................... 142
Description of sub-sampling..................................................................................... 142
Binning and sub-sampling access .................................................................................. 149
Quick parameter change timing modes....................................................................... 151
Why new timing modes?.......................................................................................... 151
Standard Parameter Update Timing .................................................................... 152
New: Quick Format Change Mode (QFCM) ............................................................. 152
PIKE Technical Manual V4.0.0
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How to transfer parameters to the camera..................................................................
Encapsulated Update (begin/end)......................................................................
Parameter-List Update ......................................................................................
Standard Update (IIDC).....................................................................................
Packed 12-Bit Mode...................................................................................................
High SNR mode (High Signal Noise Ratio) ......................................................................
Frame memory and deferred image transport...................................................................
Deferred image transport.........................................................................................
HoldImg mode .......................................................................................................
FastCapture mode...................................................................................................
Color interpolation (BAYER demosaicing) .......................................................................
Sharpness..................................................................................................................
Hue and saturation .....................................................................................................
Color correction..........................................................................................................
Why color correction? .........................................................................................
Color correction in AVT cameras ...........................................................................
Color correction: formula.....................................................................................
GretagMacbeth ColorChecker ................................................................................
Changing color correction coefficients ..................................................................
Switch color correction on/off .............................................................................
Color conversion (RGB
YUV) .....................................................................................
Bulk Trigger ...............................................................................................................
Level Trigger..............................................................................................................
Serial interface...........................................................................................................
153
153
154
155
156
157
157
157
159
161
162
163
164
165
165
165
165
165
166
166
167
167
167
168
Controlling image capture ..........................................................................173
Trigger modi ..............................................................................................................
Bulk Trigger (Trigger_Mode_15)................................................................................
Trigger delay .........................................................................................................
Trigger delay advanced register............................................................................
Exposure time ............................................................................................................
Exposure time offset ...............................................................................................
Minimum exposure time ..........................................................................................
Extended shutter....................................................................................................
One-shot ...................................................................................................................
One-shot command on the bus to start of exposure .....................................................
End of exposure to first packet on the bus .................................................................
Multi-shot .................................................................................................................
ISO_Enable / Free-Run ................................................................................................
Asynchronous broadcast ..............................................................................................
Jitter at start of exposure ............................................................................................
Sequence mode ..........................................................................................................
How is sequence mode implemented?........................................................................
Setup mode (new for 3.x)....................................................................................
Sequence step mode (new for 3.x)........................................................................
SeqMode description ..........................................................................................
Sequence repeat counter (new for 3.x) ..................................................................
173
175
178
179
180
180
181
181
183
184
184
186
186
186
187
189
190
191
191
192
192
PIKE Technical Manual V4.0.0
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Manual stepping & reset (new for 3.x) .................................................................. 192
Which new sequence mode features are available?....................................................... 194
Setup mode....................................................................................................... 194
I/O controlled sequence stepping mode.............................................................. 194
I/O controlled sequence pointer reset ................................................................ 195
I/O controlled sequence stepping mode and I/O controlled sequence pointer reset via
software command ............................................................................................. 195
Points to pay attention to when working with a sequence ............................................ 195
Changing the parameters within a sequence ............................................................... 197
Points to pay attention to when changing the parameters............................................ 197
Secure image signature (SIS): definition and scenarios .................................................... 198
SIS: Definition ....................................................................................................... 198
SIS: Scenarios........................................................................................................ 198
Smear reduction ......................................................................................................... 200
Smear reduction: definition ..................................................................................... 200
Smear reduction: how it works ................................................................................. 200
Smear reduction: switch on/off in register and SmartView ............................................ 200
Video formats, modes and bandwidth .................................................201
PIKE F-032B / PIKE F-032C...........................................................................................
PIKE F-100B / PIKE F-100C...........................................................................................
PIKE F-145B / PIKE F-145C (-15 fps**) ..........................................................................
PIKE F-210B / PIKE F-210C...........................................................................................
PIKE F-421B / PIKE F-421C...........................................................................................
PIKE F-505B / PIKE F-505C...........................................................................................
Area of interest (AOI) .................................................................................................
Autofunction AOI ...................................................................................................
Frame rates................................................................................................................
Frame rates Format_7 .............................................................................................
PIKE F-032: AOI frame rates.....................................................................................
PIKE F-100: AOI frame rates.....................................................................................
PIKE F-145: AOI frame rates (no sub-sampling)...........................................................
PIKE F-145: AOI frame rates (sub-sampling) ...............................................................
PIKE F-145-15fps: AOI frame rates (no sub-sampl.) .....................................................
PIKE F-145-15fps: AOI frame rates (sub-sampl.)..........................................................
PIKE F-210: AOI frame rates (no sub-sampling)...........................................................
PIKE F-210: AOI frame rates (sub-sampling) ...............................................................
PIKE F-421: AOI frame rates.....................................................................................
PIKE F-505: AOI frame rates.....................................................................................
AOI frame rates with max. BPP = 8192 ..................................................................
AOI frame rates with max. BPP = 11000 ................................................................
201
203
205
207
209
211
213
215
216
220
221
223
225
227
229
231
232
234
236
238
238
240
How does bandwidth affect the frame rate? ...................................241
Test images ...............................................................................................................
Loading test images ...............................................................................................
Test images for b/w cameras....................................................................................
Test images for color cameras ..................................................................................
YUV4:2:2 mode ..................................................................................................
243
243
243
244
244
PIKE Technical Manual V4.0.0
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Mono8 (raw data) .............................................................................................. 244
Configuration of the camera ......................................................................245
Camera_Status_Register...............................................................................................
Example................................................................................................................
Sample program .....................................................................................................
Example FireGrab ...............................................................................................
Example FireStack API ........................................................................................
Configuration ROM ......................................................................................................
Implemented registers.................................................................................................
Camera initialize register.........................................................................................
Inquiry register for video format...............................................................................
Inquiry register for video mode ................................................................................
Inquiry register for video frame rate and base address .................................................
Inquiry register for basic function.............................................................................
Inquiry register for feature presence .........................................................................
Inquiry register for feature elements .........................................................................
Inquiry register for absolute value CSR offset address ..................................................
Status and control register for feature .......................................................................
Feature control error status register ..........................................................................
Video mode control and status registers for Format_7..................................................
Quadlet offset Format_7 Mode_0 ..........................................................................
Quadlet offset Format_7 Mode_1 ..........................................................................
Format_7 control and status register (CSR) ............................................................
Advanced features ......................................................................................................
Extended version information register .......................................................................
Advanced feature inquiry.........................................................................................
Camera status ........................................................................................................
Maximum resolution ...............................................................................................
Time base .............................................................................................................
Extended shutter....................................................................................................
Test images ...........................................................................................................
Look-up tables (LUT) ..............................................................................................
Loading a look-up table into the camera ...............................................................
Shading correction .................................................................................................
Reading or writing shading image from/into the camera ..........................................
Automatic generation of a shading image..............................................................
Non-volatile memory operations...........................................................................
Memory channel error codes ................................................................................
Deferred image transport.........................................................................................
Frame information..................................................................................................
Input/output pin control.........................................................................................
Triggers............................................................................................................
IO_INP_CTRL 1-2 ...............................................................................................
IO_OUTP_CTRL 1-4 .............................................................................................
Output mode .....................................................................................................
Delayed Integration enable......................................................................................
Auto shutter control ...............................................................................................
245
246
249
249
250
251
254
254
254
255
256
265
266
268
271
272
276
276
276
276
276
278
281
283
285
286
286
288
289
290
291
292
294
294
294
295
296
297
297
297
297
297
297
298
299
PIKE Technical Manual V4.0.0
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Auto gain control ...................................................................................................
Autofunction AOI ...................................................................................................
Color correction .....................................................................................................
Trigger delay .........................................................................................................
Mirror image..........................................................................................................
AFE channel compensation (channel balance).............................................................
Soft Reset .............................................................................................................
High SNR mode (High Signal Noise Ratio) ..................................................................
Quick parameter change timing modes ......................................................................
Standard Parameter Update Timing ....................................................................
Quick Format Change Mode................................................................................
Automatic reset of the UpdActive flag...................................................................
Parameter-List Update ............................................................................................
Format_7 mode mapping .........................................................................................
Example ...........................................................................................................
Secure image signature (SIS) ...................................................................................
Advanced register: SIS........................................................................................
Advanced register: frame counter .........................................................................
Advanced register: trigger counter........................................................................
Where to find time stamp, frame counter and trigger counter in the image.................
Where to find all SIS values in the image ..............................................................
Smear reduction.....................................................................................................
User profiles ..........................................................................................................
Error codes .......................................................................................................
Reset of error codes ...........................................................................................
Stored settings ..................................................................................................
GPDATA_BUFFER.....................................................................................................
300
301
303
304
304
305
305
306
307
307
307
308
309
310
311
312
312
314
315
316
316
317
317
318
318
319
320
Firmware update ...............................................................................................321
Extended version number (FPGA/µC).............................................................................. 321
Appendix ................................................................................................................322
Sensor position accuracy of AVT cameras........................................................................ 322
Index.........................................................................................................................323
PIKE Technical Manual V4.0.0
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Introduction
Introduction
Document history
Version
Date
Remarks
V2.0.0
07.07.2006
New Manual - RELEASE status
PRE_V3.0.0
22.09.2006
Minor corrections
Added Pike F-145
Pike F-210 AOI frame rates corrected: Chapter PIKE F-210: AOI
frame rates (no sub-sampling) on page 232
New advanced registers: Chapter Advanced features on page
278
V3.0.1
29.09.2006
Minor corrections
V3.1.0
13.02.2007
Changed camera status register (Table 137: Camera status register on page 285)
Added description for the following mode Output state follows
PinState bit (Table 40: Output routing on page 104)
Added M39-Mount for Pike F-201 and F-421 (Chapter F-Mount,
K-Mount, M39-Mount on page 82)
to be continued on next page
Table 1: Document history
PIKE Technical Manual V4.0.0
10
Introduction
Version
Date
Remarks
continued from last page
V3.2.0
22.08.2007
Minor corrections
Added CE in Chapter Declarations of conformity on page 14.
Added Value field in Table 48: Shutter CSR on page 120.
Added Chapter Cross section: CS-Mount (only PIKE F-032B/C)
on page 78.
Added detailed description of BRIGHTNESS (800h) in Table 130:
Feature control register on page 272
Added detailed description of WHITE-BALANCE (80Ch) in Table
130: Feature control register on page 272 et seq.
Added Appendix, Chapter Sensor position accuracy of AVT cameras on page 322.
Added new frame rates in Chapter Specifications on page 36
Added new AOI frame rates and diagrams in Chapter Frame rates
Format_7 on page 220
New minimum shutter speeds for each of the Pike cameras in
Chapter Specifications on page 36 and the following
Added new features of PIKE update round:
•
•
•
•
•
•
•
SIS: see Chapter Secure image signature (SIS): definition
and scenarios on page 198
Sequence mode: see Chapter Sequence mode on page 189
Smear reduction
see Chapter Smear reduction on page 200
4 x / 8 x binning and sub-sampling modes
see Chapter Binning (only PIKE b/w models) on page 135
see Chapter Sub-sampling (PIKE b/w and color) on page
142
see Chapter Binning and sub-sampling access on page
149
Quick mode for format changes
see Chapter Quick parameter change timing modes on
page 151
Speed increase mode (Packed 12-bit Mode)
Chapter Packed 12-Bit Mode on page 156
CS-Mount (only for PIKE F-032)
Chapter PIKE F-032B / F-032B fiber on page 37, Chapter
PIKE F-032C / F-032C fiber on page 39 and Chapter Cross
section: CS-Mount (only PIKE F-032B/C) on page 78
to be continued on next page
Table 1: Document history
PIKE Technical Manual V4.0.0
11
Introduction
Version
Date
Remarks
continued from last page
V4.0.0
15.01.2008
Added 15fps versions of PIKE F-145 at Table 135: Camera type
ID list on page 282
Added VERSION_INFO1_EX, VERSION_INFO3_EX and description
at Table 134: Extended version information register on page
281
Revised Chapter Secure image signature (SIS) on page 312
Added detailed description to register 0xF10000570
PARAMUPD_TIMING (how to switch on Quick Format Change
Mode) see Chapter Quick parameter change timing modes on
page 307
Added Chapter PIKE F-505B / F-505B fiber on page 57 and
Chapter PIKE F-505C / F-505C fiber on page 59.
Added Chapter PIKE F-505B / PIKE F-505C on page 211.
Revised description of C-Mount adjustment in Chapter Adjustment of C-Mount on page 81.
Moved AVT Glossary from Appendix of PIKE Technical Manual to
AVT Website.
Revised PIKE F-505B/C data.
Corrected binning (only b/w cameras) and added Format_IDs
in Figure 86: Mapping of possible Format_7 modes to
F7M1...F7M7 on page 150.
Table 1: Document history
Conventions used in this manual
To give this manual an easily understood layout and to emphasize important
information, the following typographical styles and symbols are used:
Styles
Style
Function
Example
Bold
Programs, inputs or highlighting bold
important things
Courier
Code listings etc.
Input
Upper case
Register
REGISTER
Table 2: Styles
PIKE Technical Manual V4.0.0
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Introduction
Style
Function
Example
Italics
Modes, fields
Mode
Parentheses and/or blue
Links
(Link)
Table 2: Styles
Symbols
Note
This symbol highlights important information.
L
Caution
a
www
Ý
This symbol highlights important instructions. You have to
follow these instructions to avoid malfunctions.
This symbol highlights URLs for further information. The URL
itself is shown in blue.
Example:
http://www.alliedvisiontec.com
Before operation
We place the highest demands for quality on our cameras. This Technical
Manual is the guide to the installation and setting up of the camera for operation. You will also find the specifications and interfaces here.
Please read through this manual carefully before operating the camera.
PIKE Technical Manual V4.0.0
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Declarations of conformity
Declarations of conformity
Allied Vision Technologies declares under its sole responsibility that the following products
Category Name
Model Name
Digital Camera (IEEE 1394)
PIKE F-032B
PIKE F-032C
PIKE F-032B fiber
PIKE F-032C fiber
PIKE F-100B
PIKE F-100C
PIKE F-100B fiber
PIKE F-100C fiber
PIKE F-145B*
PIKE F-145C*
PIKE F-145B fiber*
PIKE F-145C fiber*
PIKE F-210B
PIKE F-210C
PIKE F-210B fiber
PIKE F-210C fiber
PIKE F-421B
PIKE F-421C
PIKE F-421B fiber
PIKE F-421C fiber
PIKE F-505B
PIKE F-505C
PIKE F-505B fiber
PIKE F-505C fiber
Table 3: Model names
to which this declaration relates are in conformity with the following standard(s) or other normative document(s):
• EN 55022
• EN 55024
• EN 61000
• FCC Class B
• CE
• RoHS (2002/95/EC)
PIKE Technical Manual V4.0.0
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Declarations of conformity
Following the provisions of 89/336/EEC directive(s), amended by directive
91/263 EEC, 92/31/EEC and 93/68/EEC.
*: also -15fps variant
PIKE Technical Manual V4.0.0
15
Safety instructions
Safety instructions
Note
•
L
•
•
There are no switches or parts inside the camera that
require adjustment. The guarantee becomes void upon
opening the camera casing.
If the product is disassembled, reworked or repaired by
other than a recommended service person, AVT or its
suppliers will take no responsibility for the subsequent
performance or quality of the camera.
The camera does NOT generate dangerous voltages
internally. However, because the IEEE 1394b standard
permits cable power distribution at voltages higher
than 24 V, various international safety standards apply.
Reference documents applicable in the United
States
The reference documents include
• Information Processing and Business Equipment, UL 478
• National Electric Code, ANSI/NFPA 70
• Standard for the Protection of Electronic Computer/Data-Processing
Equipment, ANSI/NFPA 75
Reference documents applicable in Europe
The reference documents include materials to ensure the European Union CE
marking as follows:
• Telecommunications Terminal Equipment (91/263/EEC)
• EMC Directive (89/339/EEC)
• CE Marking Directive (93/68/EEC)
• LOW Voltage Directive (73/23/EEC) as amended by the CE Marking
Reference documents applicable in Japan
The reference documents include:
• Electronic Equipment Technology Criteria by the Ministry of Trading and
Industry (Similar to NFPA 70)
PIKE Technical Manual V4.0.0
16
Safety instructions
•
•
•
Wired Electric Communication Detailed Law 17 by the Ministry of Posts
and Telecom Law for Electric Equipment
Dentori law issued by the Ministry of Trading and Industry
Fire law issued by the Ministry of Construction
Cautions
Caution
•
a
•
•
•
Make sure NOT to touch the shield of the camera cable
connected to a computer and the ground terminal of
the lines at the same time.
Use only DC power supplies with insulated cases. These
are identified by having only TWO power connectors.
Although IEEE 1394b is functionally plug and play, the
physical ports may be damaged by excessive ESD (electrostatic discharge), when connected under powered
conditions. It is good practice to ensure proper grounding of computer case and camera case to the same
ground potential, before plugging the camera cable
into the port of the computer. This ensures that no
excessive difference of electrical potential exists
between computer and camera.
If you feel uncomfortable with the previous advice or if
you have no knowledge about the connectivity of an
installation, we strongly recommend powering down all
systems before connecting or disconnecting a camera.
Environmental conditions
Housing temperature (when camera in use): + 5 °C ... + 50 °C
Ambient temperature during storage:
- 10 °C ... + 60 °C
Relative humidity:
20 % … 80 % without condensation
Protection:
IP 30
PIKE Technical Manual V4.0.0
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PIKE types and highlights
PIKE types and highlights
With Pike cameras, entry into the world of digital image processing is simpler
and more cost-effective than ever before.
With the new Pike, Allied Vision Technologies presents the broadest range of
cameras in the market with IEEE 1394b interfaces. Moreover, with daisy chain
as well as Direct Fiber technology they gain the highest level of acceptance
for demanding areas of use in manufacturing industry.
Allied Vision Technologies can provide users with a range of products that
meet almost all the requirements of a very wide range of image applications.
The industry standard IEEE 1394 (FireWire or i.Link) facilitates the simplest
computer compatibility and bidirectional data transfer using the plug & play
process. Further development of the IEEE 1394 standard has already made
800 Mbit/second possible – and the firewire roadmap is already envisaging
1600 Mbit/second, with 3.2 Gbit/second as the next step. Investment in this
standard is therefore secure for the future; each further development takes
into account compatibility with the preceding standard, and vice versa,
meaning that IEEE 1394b is reverse-compatible with IEEE 1394a. Your applications will grow as technical progress advances.
For further information on FireWire read Chapter FireWire on page 21.
The AVT Pike family consists of five IEEE 1394b C-Mount cameras, which are
equipped with highly sensitive high-quality CCD sensors.
Each of these cameras is available in black/white and color versions.
A large selection of different sensor sizes (type 1/3, type 2/3, type 1,
type 1.2) and resolutions ensures the suitability of the cameras for all applications.
The Pike family consists of the following models:
Pike type
Sensor
Picture size (max.) Frame rates,
Format_7 Mode_0 full resolution
PIKE F-032B/C
Type 1/3 KODAK KAI-340
640 (h) x 480 (v)
PIKE F-032B/C fiber
Progressive Scan CCD imager
PIKE F-100B/C
Type 2/3 KODAK KAI-1020
PIKE F-100B/C fiber
Progressive Scan CCD imager
PIKE F-145B/C
Type 2/3 SONY ICX285
PIKE F-145B/C fiber
Progressive Scan CCD imager
PIKE F-145B/C-15fps
Type 2/3 SONY ICX285
PIKE F-145B/C-15fps fiber
Progressive Scan CCD imager
Up to 208 fps
1000 (h) x 1000 (v) Up to 60 fps
1388 (h) x 1038 (v) Up to 30 fps
1388 (h) x 1038 (v) Up to 16 fps
Table 4: PIKE camera types
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PIKE types and highlights
Pike type
Sensor
Picture size (max.) Frame rates,
Format_7 Mode_0 full resolution
PIKE F-210B/C
Type 1 KODAK KAI-2093
1920 (h) x 1080 (v) Up to 31 fps
PIKE F-210B/C fiber
Progressive Scan CCD imager
PIKE F-421B/C
Type 1.2 KODAK KAI-4021
PIKE F-421B/C fiber
Progressive Scan CCD imager
PIKE F-505B/C
Type 2/3 SONY ICX625
PIKE F-505B/C fiber
Progressive Scan CCD imager
2048 (h) x 2048 (v) Up to 16 fps
2456 (h) x 2058 (v) Up to 15 fps
Table 4: PIKE camera types
Operating in 8-bit and 14-bit mode, the cameras ensure very high quality
images under almost all circumstances. The Pike is equipped with an asynchronous trigger shutter as well as true partial scan, and integrates numerous
useful and intelligent Smart Features for image processing.
Note
•
L
•
•
Warning
a
All color models are equipped with an optical filter to
eliminate the influence of infrared light hitting the
sensor. Please be advised that, as a side effect, this filter reduces sensitivity in the visible spectrum. The optical filter is part of the back focus ring, which is
threaded into the C-Mount.
B/w models come with a sensor protection glass
mounted in the back focus ring.
Changing filters is achieved by changing back focus
rings with the appropriate filter already mounted.
Please be advised that back focus adjustment will be
necessary in order to match C-Mount distance of
17.526 mm after changing back focus ring. Ask your
dealer for further information or assistance.
Mount/dismount lenses and filters in a dust-free environment, and do not use compressed air (which can push dust
into cameras and lenses).
Use only optical quality tissue/cloth if you must clean a
lens or filter.
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PIKE types and highlights
Warning
Special warning for all PIKE models with GOF connectors:
a
GOF connectors are very sensitive. Any dust or dirt may cause
damage.
•
•
•
•
Always keep the GOF connector and optical fiber plug
clean.
If GOF connection is not in use, keep GOF dust cover on
the GOF connector.
Reduce mating cycles to a minimum to prevent abrasion.
Please note that optical fiber cables have a very limited
deflection curve radius.
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FireWire
FireWire
Overview
FireWire provides one of the most comprehensive, high-performance, costeffective solutions platforms. FireWire offers very impressive throughput at
very affordable prices.
Definition
FireWire (also known as i.Link or IEEE 1394) is a personal computer and
digital video serial bus interface standard, offering high-speed communications and isochronous real-time data services. FireWire has low implementation costs and a simplified and adaptable cabling system.
Figure 1: FireWire Logo
IEEE 1394 standards
FireWire was developed by Apple Computer in the late 1990s, after work
defining a slower version of the interface by the IEEE 1394 working committee in the 1980s. Apple's development was completed in 1995. It is defined
in IEEE standard 1394 which is currently a composite of three documents:
• the original IEEE Std. 1394-1995
• the IEEE Std. 1394a-2000 amendment
• the IEEE Std. 1394b-2002 amendment
FireWire is used to connect digital cameras, especially in industrial systems
for machine vision. An advantage over USB is its faster effective speed and
higher power distribution capabilities. Multi-camera applications are easier
to set up than in USB.
Why use FireWire?
Digital cameras with on-board FireWire (IEEE 1394a or 1394b) communications conforming to the IIDC standard (V1.3 or V1.31) have created costeffective and powerful solutions options being used for thousands of different applications around the world. FireWire is currently the premier robust
digital interface for industrial applications for many reasons, including:
PIKE Technical Manual V4.0.0
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FireWire
•
•
•
•
•
•
•
•
Guaranteed bandwidth features to ensure fail-safe communications
Interoperability with multiple different camera types and vendors
Diverse camera powering options, including single-cable solutions up to
45 W
Effective multiple-camera solutions
Large variety of FireWire accessories for industrial applications
Availability of repeaters and optical fibre cabling
Forwards and backward compatibility blending 1394a and 1394b
Both real-time (isochronous) and demand-driven asynchronous data
transmission capabilities
FireWire in detail
Serial bus
Briefly summarized, FireWire is a very effective way to utilize a low-cost
serial bus, through a standardized communications protocol, that establishes
packetized data transfer between two or more devices. FireWire offers real
time isochronous bandwidth for image transfer with guaranteed low latency.
It also offers asynchronous data transfer for controlling camera parameters,
such as gain and shutter, on the fly. As illustrated in the diagram below,
these two modes can co-exist by using priority time slots for video data
transfer and the remaining time slots for control data transfer.
Figure 2: 1394a data transmission
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FireWire
In case of 1394b no gaps are needed due to parallel arbitration, handled by
bus owner supervisor selector (BOSS) (see the following diagram). Whereas
1394a works in half duplex transmission, 1394 does full duplex transmission.
Cycle Sync: 1394b
Parallel arbitration, handled by BOSS, can eliminate gaps
Figure 3: 1394b data transmission
Additional devices may be added up to the overall capacity of the bus, but
throughput at guaranteed minimum service levels is maintained for all
devices with an acknowledged claim on the bus. This deterministic feature is
a huge advantage for many industrial applications where robust performance
is required. Such is the case when it is not acceptable to drop images within
a specific time interval.
FireWire connection capabilities
FireWire can connect together up to 63 peripherals in an acyclic network
structure (hubs). It allows peer-to-peer device communication (between digital cameras), to take place without using system memory or the CPU.
But even more importantly, a FireWire camera can directly, via direct memory access (DMA), write into or read from the memory of the computer with
almost no CPU load.
FireWire also supports multiple hosts per bus. FireWire requires only a cable
with the correct number of pins on either end (normally 6 or 9). It is
designed to support plug-and-play and hot swapping. Its six-wire cable can
supply up to 54 W of power per port at 36 V, allowing moderate-consumption
devices to operate without a separate power cord.
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FireWire
Capabilities of 1394a (FireWire 400)
FireWire 400 (S400) is able to transfer data between devices at 100, 200 or
400 MBit/s data rates. Although USB 2.0 claims to be capable of higher
speeds (480 Mbit/s), FireWire is, in practice, not slower than USB 2.0.
The 1394a capabilities in detail:
• 400 Mbit/s
• Hot-pluggable devices
• Peer-to-peer communications
• Direct Memory Access (DMA) to host memory
• Guaranteed bandwidth
• Multiple devices (up to 45 W) powered via FireWire bus
IIDC V1.3 camera control standards
IIDC V1.3 released a set of camera control standards via 1394a which established a common communications protocol on which most current FireWire
cameras are based.
In addition to common standards shared across manufacturers, a special
Format_7 mode also provided a means by which a manufacturer could offer
special features (smart features), such as:
• higher resolutions
• higher frame rates
• diverse color modes
as extensions (advanced registers) to the prescribed common set.
Capabilities of 1394b (FireWire 800)
FireWire 800 (S800) was introduced commercially by Apple in 2003 and has
a 9-pin FireWire 800 connector (see details in Chapter IEEE 1394b port pin
assignment on page 86). This newer 1394b specification allows a transfer
rate of 800 MBit/s with backward compatibilities to the slower rates and 6pin connectors of FireWire 400.
The 1394b capabilities in detail:
• 800 Mbit/s
• All previous benefits of 1394a (see above)
• Interoperability with 1394a devices
• Longer communications distances (up to 500 m using GOF cables)
IIDC V1.31 camera control standards
Twinned with 1394b, the IIDC V1.31 standard arrived in January 2004, evolving the industry standards for digital imaging communications to include I/
O and RS232 handling, and adding further formats. At such high bandwidths
it has become possible to transmit high-resolution images to the PC’s memory at very high frame rates.
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FireWire
Compatibility between 1394a and 1394b
1394a port
1394b port
1394b camera
1394a camera
1394a camera connected to 1394b bus
1394b camera connected to 1394a bus
The cable explains dual compatibility: This cable
serves to connect an IEEE 1394a camera with its
six-pin connector to a bilingual port (a port which
can talk in a- or b-language) of a 1394b bus.
The cable explains dual compatibility: In this case,
the cable connects an IEEE 1394b camera with its
nine-pin connector to a 1394a port.
In this case the b-camera communicates in
In this case the b-bus communicates in a-language a-language with the camera achieving
a-performance
and a-speed with the camera achieving
a-performance
Figure 4: 1394a and 1394b cameras and compatibility
Compatibility example
It’s possible to run a 1394a and a 1394b camera on the 1394b bus.
You can e.g. run a PIKE F-032B and a MARLIN F-033B on the same bus:
• PIKE F-032B @ S800 and 120 fps (5120 bytes per cycle, 64% of the
cycle slot)
• MARLIN F-033B @ S400 and 30 fps (1280bytes, 32% of the cycle slot)
Bus runs at 800 Mbit/s for all devices. Data from Marlin’s port is up-converted
from 400 Mbit/s to 800 Mbit/s by data doubling (padding), still needing 32%
of the cycle slot time. This doubles the bandwidth requirement for this port,
as if the camera were running at 60 fps. Total consumption is thus 5120 +
2560 = 7680 bytes per cycle.
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FireWire
Image transfer via 1394a and 1394b
Technical detail
1394a
1394b
Transmission mode
Half duplex (both pairs needed) Full duplex (one pair needed)
400 Mbit/s data rate
1 Gbit/s signaling rate, 800
Mbit/s data rate
aka: a-mode, data/strobe (D/S)
mode, legacy mode
10b/8b coding (Ethernet), aka:
b-mode (beta mode)
Devices
Up to 63 devices per network
Number of cameras
Up to 16 cameras per network
Number of DMAs
4 to 8 DMAs (parallel) cameras / bus
Real time capability
Image has real time priority
Available bandwidth acc. IIDC
(per cycle 125 µs)
4096 bytes per cycle
8192 bytes per cycle
~ 1000q @ 400 Mbit/s
~ 2000q @ 800 Mbit/s
(@1 GHz clock rate)
For further detail read Chapter Frame rates on page 216.
Max. image bandwidth
31.25 MByte/s
62.5 MByte/s
Max. total bandwidth
~45 MByte/s
~85 MByte/s
Multiple busses per PC
Multiple busses per PC
limit: PCI bus
limit: PCI (Express) bus
Number of busses
CPU load
Almost none for DMA image transfer
Gaps
Gaps negatively affect asynchro- No gaps needed, BOSS mode for
nous performance of widespread
parallel arbitration
network (round trip delay),
reducing efficiency
Table 5: Technical detail comparison: 1394a and 1394b
Note
The bandwidth values refer to the fact:
L
1 MByte = 1024 kByte
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FireWire
1394b bandwidths
According to the 1394b specification on isochronous transfer, the largest
data payload size of 8192 bytes per 125 µs cycle is possible with a bandwidth
of 800 Mbit/s.
For further details read Chapter How does bandwidth affect the frame rate?
on page 241.
Requirements for PC and 1394b
One PIKE camera connected to a PC’s 1394b bus saturates the standard PCI
bus.
1394b also requires low latency for data transmission (due to small receiveFIFO). In order to get the most out of your camera-to-PC configuration, we
recommend the following chipsets for your PC:
• For Intel-based desktops, chipset 945 (or higher)
• For non-Intel based desktops (e.g. AMD), PCI Express compatible
chipset
www
For more information:
Ý
http://support.intel.com/support/chipsets/#desktop
For multi-camera applications one of the following bus cards is needed:
• PCI ExpressCard with potential 250 MByte/s per lane (up to four supported by chipset) or
• 64-bit PCI-X card (160 MByte/s)
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FireWire
Figure 5: Block diagram of modern PC (915 chipset by INTEL)
Requirements for laptop and 1394b
As mentioned above, 1394b requires low latency for data transmission (small
receive-FIFO). In order to get the most out of your camera-to-laptop configuration, we recommend the following chipset for your laptop:
• For Intel-based laptops, chipset 915 (or higher)
• For non-Intel based laptops (e.g. AMD), PCI Express compatible chipset
Because most laptops have (only) one PC-card interface, it is possible to connect one PIKE camera to your laptop at full speed. Alternatively laptops with
an additional 1394 ExpressCard interface can be used.
Figure 6: ExpressCard Logo, ExpressCard/54 (SIIG)
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FireWire
Figure 7: ExpressCard technology
www
ExpressCard is a new standard set by PCMCIA.
Ý
For more information visit:
http://www.expresscard.org/web/site/
Example1: 1394b bandwidth of PIKE cameras
PIKE model
Resolution
Pike F-032 B/C
VGA
Pike F-100 B/C
Frame rate
Bandwidth
208 fps
62.5 MByte/s
1 megapixel
60 fps
57.62 MByte/s
Pike F-145 B/C
1.45 megapixel
30 fps
41.41 MByte/s
Pike F-210 B/C
2.1 megapixel
31 fps
62.5 MByte/s
Pike F-421 B/C
4 megapixel
15 fps
62.5 MByte/s
Pike F-505 B/C
5 megapixel
13 fps
62.5 MByte/s
Table 6: Bandwidth of PIKE cameras
Note
All data are calculated using Raw8 / Mono8 color mode.
L
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FireWire
Example 2: More than one PIKE camera at full speed
Due to the fact that one PIKE camera saturates a 32 bit PCI bus, you are
advised to use either a PCI Express card and/or multiple 64-bit PCI bus cards,
if you want to use 2 or more PIKE cameras simultaneously (see the following
table).
# cameras
PC hardware required
1 PIKE camera at full speed
1 x 32-bit PCI bus card (85 MByte/s)
2 or more PIKE cameras at full speed PCI Express card and/or
Multiple 64-bit PCI bus cards
Table 7: Required hardware for multiple camera applications
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FireWire
FireWire Plug & play capabilities
FireWire devices implement the ISO/IEC 13213 configuration ROM model for
device configuration and identification, to provide plug & play capability. All
FireWire devices are identified by an IEEE EUI-64 unique identifier (an extension of the 48-bit Ethernet MAC address format) in addition to well-known
codes indicating the type of device and protocols it supports. For further
details read Chapter Configuration of the camera on page 245.
FireWire hot plug precautions
Although FireWire devices can be hot-plugged without powering down equipment, we recommend turning the computer power off, before connecting a
digital camera to it via a FireWire cable.
Operating system support
Operating system
1394a
1394b
Linux
Full support
Full support
Apple Mac OS X
Full support
Full support
Windows XP
With service pack 2 the default speed for 1394b is S100 (100 Mbit/s).
A download and registry modification is available from Microsoft to
restore performance to either S400 or S800.
http://support.microsoft.com/kb/885222
Alternatively use the drivers of SP1 instead.
We strongly recommend to install AVT FirePackage, which replaces the
Microsoft driver. (See PIKE Getting Started Manual for details.)
Windows Vista
Full support from beginning
Support only with service pack,
coming later.
Table 8: FireWire and operating systems
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System components
System components
Each camera package consists of the following system components:
AVT PIKE
4.5 m cable with screw locking
Color version:
Jenofilt 217 IR cut filter (built-in)
B/w version:
only protection glass (no filter)
CD with driver and documentation
Optional: tripod adapter
Optional: GOF cable
Optional: HIROSE connector for
cable mount HR10A-10P-12S
Figure 8: System components
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System components
The following illustration shows the spectral transmission of the IR cut filter:
Figure 9: Spectral transmission of Jenofilt 217
Note
L
www
Ý
Note
L
To demonstrate the properties of the camera, all examples in
this manual are based on the FirePackage OHCI API software
and the SmartView application.
These utilities can be obtained from Allied Vision
Technologies (AVT). A free version of SmartView is available
for download at:
www.alliedvisiontec.com
The camera also works with all IIDC (formerly DCAM) compatible IEEE 1394 programs and image processing libraries.
PIKE Technical Manual V4.0.0
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System components
Camera lenses
AVT offers different lenses from a variety of manufacturers. The following
table lists selected image formats depending on camera type, distance and
the focal length of the lens.
Focal length
for type 1/3 sensors
PIKE F-032
Distance = 0.5 m
Distance = 1 m
4.8 mm
0.375 m x 0.5 m
0.75 m x 1 m
8 mm
0.22 m x 0.29 m
0.44 m x 0.58 m
12 mm
0.145 m x 0.19 m
0.29 m x 0.38 m
16 mm
11 cm x 14.7 cm
22 cm x 29.4 cm
25 mm
6.9 cm x 9.2 cm
13.8 cm x 18.4 cm
35 mm
4.8 cm x 6.4 cm
9.6 cm x 12.8 cm
50 mm
3.3 cm x 4.4 cm
6.6 cm x 8.8 cm
Table 9: Focal length vs. field of view (PIKE F-032)
Focal length
for type 2/3 sensors
PIKE F-100/F-145/F-505
Distance = 0.5 m
Distance = 1 m
4.8 mm
0.7 m x0.93 m
1.4 m x 1.86 m
8 mm
0.4 m x 0.53 m
0.8 m x 1.06 m
12 mm
0.27 m x 0.36 m
0.54 m x 0.72 m
16 mm
0.2 m x 0.27 m
0.4 m x 0.54 m
25 mm
12.5 cm x 16.625 cm
25 cm 33.25 cm
35 mm
8.8 cm x 11.7 cm
17.6 cm x 23.4 cm
50 mm
6 cm x 7.98 cm
12 cm x 15.96 cm
Table 10: Focal length vs. field of view (PIKE F-100/F-145/F-505)
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System components
Focal length
for type 1 sensors
PIKE F-210
Distance = 0.5 m
Distance = 1 m
8 mm
0.6 m x 0.8 m
1.2 m x 1.6 m
12 mm
0.39 m x 0.52 m
0.78 m x 1.16 m
16 mm
0.29 m x 0.38 m
0.58 m x 0.76 m
25 mm
18.2 cm x 24.2 cm
36.4 cm x 48.8 cm
35 mm
12.8 cm x 17.02 cm
25.6 cm x 34.04 cm
50 mm
8.8 cm x 11.7 cm
17.6 cm x 23.4 cm
Table 11: Focal length vs. field of view (PIKE F-210)
Note
L
Lenses with focal lengths < 35 mm will very likely show excessive shading in the edges of the image due to the fact that
the image size of the sensor is slightly bigger than the
C-mount itself and due to micro lenses on the sensor's pixel.
Ask your dealer if you require non C-Mount lenses.
Focal length
for type 1.2 sensors
PIKE F-421
Distance = 0.5 m
Distance = 1 m
35 mm
15.4 cm x 20.4 cm
30.7 cm x 40.8 cm
50 mm
10.6 cm x 14.0 cm
21.1 cm x 28.1 cm
Table 12: Focal length vs. field of view (PIKE F-421)
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Specifications
Specifications
Note
H-binning means horizontal binning.
L
V-binning means vertical binning.
H-sub-sampling means horizontal sub-sampling.
V-sub-sampling means vertical sub-sampling.
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Specifications
PIKE F-032B / F-032B fiber
Feature
Specification
Image device
Type 1/3 (diag. 5.92 mm) type progressive scan KODAK IT CCD
KAI340
Lens mount
Adjustable C-Mount: 17.526 mm (in air); Ø 25.4 mm (32 tpi)
mechanical flange back to filter distance: 12.5 mm
(see Figure 34: Pike C-Mount dimensions (VGA size filter for Pike F032) on page 79)
Adjustable CS-Mount: 12.526 mm (in air), Ø 25.4 mm (32 tpi),
mechanical flange back distance: 7.9 mm
(see Figure 33: Pike CS-Mount dimensions (only PIKE F-032B/C) on
page 78)
Picture sizes (default modes)
640 x 480 pixels (Format_0 Mode_5 and Mode_6)
640 x 480 pixels (Format_7 Mode_0)
320 x 480 pixels (Format_7 Mode_1, 2 x H-binning)
640 x 240 pixels (Format_7 Mode_2, 2 x V-binning)
320 x 240 pixels (Format_7 Mode_3, 2 x full binning)
320 x 480 pixels (Format_7 Mode_4, 2 out of 4 H-sub-sampling)
640 x 240 pixels (Format_7 Mode_5, 2 out of 4 V-sub-sampling)
320 x 240 pixels (Format_7 Mode_6, 2 out of 4 full sub-sampling)
Cell size
7.4 µm x 7.4 µm
ADC
14 bit
Frame rates
1.875 fps; 3.75 fps; 7.5 fps; 15 fps; 30 fps; 60 fps; 120 fps
up to 208 fps in Format_7 (Mono8)
Gain control
Manual: 0-22 dB (0.0353 dB/step); auto gain (select. AOI)
Shutter speed
18 … 67.108.864 µs (~67s); auto shutter (select. AOI)
External trigger shutter
Programmable, trigger level control, single trigger,
bulk trigger, programmable trigger delay
Internal FIFO memory
Up to 105 frames
# look-up tables
4 user programmable (14 bit
Smart functions
AGC (auto gain control), AEC (auto exposure control), real-time
shading correction, LUT, 64 MByte image memory, mirror, binning,
sub-sampling, High SNR, storable user sets
14 bit); gamma (0.45 and 0.7)
Two configurable inputs, four configurable outputs
RS-232 port (serial port, IIDC V1.31)
Transfer rate
100 Mbit/s, 200 Mbit/s, 400 Mbit/s, 800 Mbit/s
Table 13: Specification PIKE F-032B / F-032B fiber
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Specifications
Feature
Specification
Digital interface
IEEE 1394b (IIDC V1.31), 2 x copper connectors (bilingual) (daisy
chain)
fiber: IEEE 1394b, 2 connectors: 1 x copper (bilingual), 1 x GOF
connector (2 x optical fiber on LCLC), (daisy chain)
Power requirements
DC 8 V - 36 V via IEEE 1394 cable or 12-pin HIROSE
Power consumption
Typical 5 watt (@ 12 V DC); fiber: typical 5.75 watt (@ 12 V DC)
(full resolution and maximal frame rates)
Dimensions
96.8 mm x 44 mm x 44 mm (L x W x H); incl. connectors, w/o tripod
and lens
Mass
250 g (without lens)
Operating temperature
+ 5 °C ... + 50 °C housing temperature (without condensation)
Storage temperature
- 10 °C ... + 60 °C ambient temperature (without condensation)
Regulations
EN 55022, EN 61000, EN 55024, FCC Class B, DIN ISO 9022, RoHS
(2002/95/EC)
Options
IR cut filter, IR pass filter, host adapter card, angled head, power
out (HIROSE), API (FirePackage, Direct FirePackage, Fire4Linux)
Table 13: Specification PIKE F-032B / F-032B fiber
Note
L
The design and specifications for the products described
above may change without notice.
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Specifications
PIKE F-032C / F-032C fiber
Feature
Specification
Image device
Type 1/3 (diag. 5.92 mm) type progressive scan KODAK IT CCD
KAI340
Lens mount
Adjustable C-Mount: 17.526 mm (in air); Ø 25.4 mm (32 tpi)
mechanical flange back to filter distance: 12.5 mm
(see Figure 34: Pike C-Mount dimensions (VGA size filter for Pike F032) on page 79)
Adjustable CS-Mount: 12.526 mm (in air), Ø 25.4 mm (32 tpi),
mechanical flange back distance: 7.9 mm
(see Figure 33: Pike CS-Mount dimensions (only PIKE F-032B/C) on
page 78)
Picture sizes (default modes)
320 x 240 pixels (Format_0 Mode_1)
640 x 480 pixels (Format_0 Mode_2 to Mode_5)
640 x 480 pixels (Format_7 Mode_0)
320 x 480 pixels (Format_7 Mode_4, 2 out of 4 H-sub-sampling)
640 x 240 pixels (Format_7 Mode_5, 2 out of 4 V-sub-sampling)
320 x 240 pixels (Format_7 Mode_6, 2 out of 4 full sub-sampling)
Cell size
7.4 µm x 7.4 µm
ADC
14 bit
Color modes
Raw8, Raw12, Raw16, Mono8, YUV4:2:2, YUV4:1:1, RGB8
Frame rates
1.875 fps; 3.75 fps; 7.5 fps; 15 fps; 30 fps; 60 fps; 120 fps
up to 208 fps in Format_7 (Mono8, Raw8)
up to 139 fps in Format_7 (Raw12)
up to 139 fps (YUV 4:1:1)
up to 105 fps (YUV 4:2:2, Raw 16)
up to 70 fps (RGB8)
Gain control
Manual: 0-20 dB (0.0353 dB/step); auto gain (select. AOI)
Shutter speed
18 … 67.108.864 µs (~67s); auto shutter (select. AOI)
External trigger shutter
Programmable, trigger level control, single trigger,
bulk trigger, programmable trigger delay
Internal FIFO memory
Up to 105 frames
# look-up tables
4 user programmable (14 bit
14 bit); gamma (0.45 and 0.7)
Table 14: Specification PIKE F-032C / F-032C fiber
PIKE Technical Manual V4.0.0
39
Specifications
Feature
Specification
Smart functions
AGC (auto gain control), AEC (auto exposure control), AWB (auto
white balance), color correction, hue, saturation, real-time shading
correction, LUT, 64 MByte image memory, mirror, sub-sampling,
High SNR, storable user sets
Two configurable inputs, four configurable outputs
RS-232 port (serial port, IIDC V1.31)
Transfer rate
100 Mbit/s, 200 Mbit/s, 400 Mbit/s, 800 Mbit/s
Digital interface
IEEE 1394b (IIDC V1.31), 2 x copper connectors (bilingual) (daisy
chain)
fiber: IEEE 1394b, 2 connectors: 1 x copper (bilingual), 1 x GOF
connector (2 x optical fiber on LCLC), (daisy chain)
Power requirements
DC 8 V - 36 V via IEEE 1394 cable or 12-pin HIROSE
Power consumption
Typical 5 watt (@ 12 V DC); fiber: typical 5.75 watt (@ 12 V DC)
(full resolution and maximal frame rates)
Dimensions
96.8 mm x 44 mm x 44 mm (L x W x H); incl. connectors, w/o tripod
and lens
Mass
250 g (without lens)
Operating temperature
+ 5 °C ... + 50 °C housing temperature (without condensation)
Storage temperature
- 10 °C ... + 60 °C ambient temperature (without condensation)
Regulations
EN 55022, EN 61000, EN 55024, FCC Class B, DIN ISO 9022, RoHS
(2002/95/EC)
Options
Protection glass, host adapter card, angled head, power out
(HIROSE), API (FirePackage, Direct FirePackage, Fire4Linux)
Table 14: Specification PIKE F-032C / F-032C fiber
Note
L
The design and specifications for the products described
above may change without notice.
PIKE Technical Manual V4.0.0
40
Specifications
PIKE F-100B / F-100B fiber
Feature
Specification
Image device
Type 2/3 (diag. 10.5 mm) type progressive scan KODAK IT CCD
KAI1020
Lens mount
Adjustable C-Mount: 17.526 mm (in air); Ø 25.4 mm (32 tpi)
mechanical flange back to filter distance: 12.5 mm
(see Figure 35: Pike C-Mount dimensions (large filter for Pike F-100,
F-145, F-210, F-421, F-505) on page 80)
Picture sizes (default modes)
640 x 480 pixels (Format_0 Mode_5 and Mode_6)
800 x 600 pixels (Format_1 Mode_2 and Mode_6)
1000 x 1000 pixels (Format_7 Mode_0)
500 x 1000 pixels (Format_7 Mode_1, 2 x H-binning)
1000 x 500 pixels (Format_7 Mode_2, 2 x V-binning)
500 x 500 pixels (Format_7 Mode_3, 2 x full binning)
500 x 1000 pixels (Format_7 Mode_4, 2 out of 4 H-sub-sampling)
1000 x 500 pixels (Format_7 Mode_5, 2 out of 4 V-sub-sampling)
500 x 500 pixels (Format_7 Mode_6, 2 out of 4 full sub-sampling)
Cell size
7.4 µm x 7.4 µm
ADC
14 bit
Frame rates
1.875 fps; 3.75 fps; 7.5 fps; 15 fps; 30 fps; 60 fps
up to 60 fps in Format_7 (Mono8)
Gain control
Manual: 0-22 dB (0.0353 dB/step); auto gain (select. AOI)
Shutter speed
43 µs … 67.108.864 µs (~67s); auto shutter (select. AOI)
External trigger shutter
Programmable, trigger level control, single trigger,
bulk trigger, programmable trigger delay
Internal FIFO memory
Up to 32 frames
# look-up tables
4 user programmable (14 bit
Smart functions
AGC (auto gain control), AEC (auto exposure control), real-time
shading correction, LUT, 64 MByte image memory, mirror, binning,
sub-sampling, High SNR, storable user sets
14 bit); gamma (0.45 and 0.7)
Two configurable inputs, four configurable outputs
RS-232 port (serial port, IIDC V1.31)
Transfer rate
100 Mbit/s, 200 Mbit/s, 400 Mbit/s, 800 Mbit/s
Digital interface
IEEE 1394b (IIDC V1.31), 2 x copper connectors (bilingual) (daisy
chain)
fiber: IEEE 1394b, 2 connectors: 1 x copper (bilingual), 1 x GOF
connector (2 x optical fiber on LCLC), (daisy chain)
Table 15: Specification PIKE F-100B / F-100B fiber
PIKE Technical Manual V4.0.0
41
Specifications
Feature
Specification
Power requirements
DC 8 V - 36 V via IEEE 1394 cable or 12-pin HIROSE
Power consumption
Typical 5 watt (@ 12 V DC); fiber: typical 5.75 watt (@ 12 V DC)
Dimensions
96.8 mm x 44 mm x 44 mm (L x W x H); incl. connectors, w/o tripod
and lens
Mass
250 g (without lens)
Operating temperature
+ 5 °C ... + 50 °C housing temperature (without condensation)
Storage temperature
- 10 °C ... + 60 °C ambient temperature (without condensation)
Regulations
EN 55022, EN 61000, EN 55024, FCC Class B, DIN ISO 9022, RoHS
(2002/95/EC)
Options
IR cut filter, IR pass filter, host adapter card, angled head, power
out (HIROSE), API (FirePackage, Direct FirePackage, Fire4Linux)
Table 15: Specification PIKE F-100B / F-100B fiber
Note
L
The design and specifications for the products described
above may change without notice.
PIKE Technical Manual V4.0.0
42
Specifications
PIKE F-100C / F-100C fiber
Feature
Specification
Image device
Type 2/3 (diag. 10.5 mm) type progressive scan KODAK IT CCD
KAI1020
Lens mount
Adjustable C-Mount: 17.526 mm (in air); Ø 25.4 mm (32 tpi)
mechanical flange back to filter distance: 12.5 mm
(see Figure 35: Pike C-Mount dimensions (large filter for Pike F-100,
F-145, F-210, F-421, F-505) on page 80)
Picture sizes (default modes)
320 x 240 pixels (Format_0 Mode_1)
640 x 480 pixels (Format_0 Mode_2 to Mode_5)
800 x 600 pixels (Format_1 Mode_0 to Mode_2)
1000 x 1000 pixels (Format_7 Mode_0)
500 x 1000 pixels (Format_7 Mode_4, 2 out of 4 H-sub-sampling)
1000 x 500 pixels (Format_7 Mode_5, 2 out of 4 V-sub-sampling)
500 x 500 pixels (Format_7 Mode_6, 2 out of 4 full sub-sampling)
Cell size
7.4 µm x 7.4 µm
ADC
14 bit
Color modes
Raw8, Raw12, Raw16, Mono8, YUV4:2:2, YUV4:1:1, RGB8
Frame rates
1.875 fps; 3.75 fps; 7.5 fps; 15 fps; 30 fps; 60 fps; 120 fps
up to 60 fps in Format_7 (Mono8, Raw8)
up to 43 fps in Format_7 (Raw12)
up to 43 fps (YUV 4:1:1)
up to 33 fps (YUV 4:2:2, Raw16)
up to 22 fps (RGB8)
Gain control
Manual: 0-20 dB (0.0353 dB/step); auto gain (select. AOI)
Shutter speed
43 µs … 67.108.864 µs (~67s); auto shutter (select. AOI)
External trigger shutter
Programmable, trigger level control, single trigger,
bulk trigger, programmable trigger delay
Internal FIFO memory
Up to 32 frames
# look-up tables
4 user programmable (14 bit
Smart functions
AGC (auto gain control), AEC (auto exposure control), AWB (auto
white balance), color correction, hue, saturation, real-time shading
correction, LUT, 64 MByte image memory, mirror, sub-sampling,
High SNR, storable user sets
14 bit); gamma (0.45 and 0.7)
Two configurable inputs, four configurable outputs
RS-232 port (serial port, IIDC V1.31)
Transfer rate
100 Mbit/s, 200 Mbit/s, 400 Mbit/s, 800 Mbit/s
Table 16: Specification PIKE F-100C / F-100C fiber
PIKE Technical Manual V4.0.0
43
Specifications
Feature
Specification
Digital interface
IEEE 1394b (IIDC V1.31), 2 x copper connectors (bilingual) (daisy
chain)
fiber: IEEE 1394b, 2 connectors: 1 x copper (bilingual), 1 x GOF
connector (2 x optical fiber on LCLC), (daisy chain)
Power requirements
DC 8 V - 36 V via IEEE 1394 cable or 12-pin HIROSE
Power consumption
Typical 5 watt (@ 12 V DC); fiber: typical 5.75 watt (@ 12 V DC)
Dimensions
96.8 mm x 44 mm x 44 mm (L x W x H); incl. connectors, w/o tripod
and lens
Mass
250 g (without lens)
Operating temperature
+ 5 °C ... + 50 °C housing temperature (without condensation)
Storage temperature
- 10 °C ... + 60 °C ambient temperature (without condensation)
Regulations
EN 55022, EN 61000, EN 55024, FCC Class B, DIN ISO 9022, RoHS
(2002/95/EC)
Options
Protection glass, host adapter card, angled head, power out
(HIROSE), API (FirePackage, Direct FirePackage, Fire4Linux)
Table 16: Specification PIKE F-100C / F-100C fiber
Note
L
The design and specifications for the products described
above may change without notice.
PIKE Technical Manual V4.0.0
44
Specifications
PIKE F-145B / F-145B fiber (-15fps*)
* Variant: F-145-15fps only
This variant offers lower speed (only 15 fps), but better image quality.
Feature
Specification
Image device
Type 2/3 (diag. 11.2 mm) type progressive scan SONY ICX285
Lens mount
Adjustable C-Mount: 17.526 mm (in air); Ø 25.4 mm (32 tpi)
mechanical flange back to filter distance: 12.5 mm
(see Figure 35: Pike C-Mount dimensions (large filter for Pike F-100,
F-145, F-210, F-421, F-505) on page 80)
Picture sizes (default modes)
640 x 480 pixels (Format_0 Mode_5 and Mode_6)
800 x 600 pixels (Format_1 Mode_2 and Mode_6)
1024 x 768 pixels (Format_1 Mode_5 and Mode_7)
1280 x 960 pixels (Format_2 Mode_2 and Mode_6)
1388 x 1038 pixels (Format_7 Mode_0)
692 x 1038 pixels (Format_7 Mode_1, 2 x H-binning)
1388 x 518 pixels (Format_7 Mode_2, 2 x V-binning)
692 x 518 pixels (Format_7 Mode_3, 2 x full binning)
692 x 1038 pixels (Format_7 Mode_4, 2 out of 4 H-sub-sampling)
1388 x 518 pixels (Format_7 Mode_5, 2 out of 4 V-sub-sampling)
692 x 518 pixels (Format_7 Mode_6, 2 out of 4 full sub-sampling)
Cell size
6.45 µm x 6.45 µm
ADC
14 bit
Frame rates
1.875 fps; 3.75 fps; 7.5 fps; 15 fps; 30 fps (* Variant: F-145-15fps
only up to 15 fps)
up to 30 (16*) fps in Format_7 (Mono8 no sub-sampling)
up to 30 (16*) fps in Format_7 (Mono12 no sub-sampling)
up to 23 (16*) fps in Format_7 (Mono16 no sub-sampling)
Gain control
Manual: 0-32 dB (0.0358 dB/step); auto gain (select. AOI)
Shutter speed
39 (71*) µs … 67.108.864 µs (~67s); auto shutter (select. AOI)
External trigger shutter
Programmable, trigger level control, single trigger,
bulk trigger, programmable trigger delay
Internal FIFO memory
Up to 22 frames
# look-up tables
4 user programmable (14 bit
14 bit); gamma (0.45 and 0.7)
Table 17: Specification PIKE F-145B / F-145B fiber
PIKE Technical Manual V4.0.0
45
Specifications
Feature
Specification
Smart functions
AGC (auto gain control), AEC (auto exposure control), real-time
shading correction, LUT, 64 MByte image memory, mirror, binning,
sub-sampling, High SNR, storable user sets
Two configurable inputs, four configurable outputs
RS-232 port (serial port, IIDC V1.31)
Transfer rate
100 Mbit/s, 200 Mbit/s, 400 Mbit/s, 800 Mbit/s
Digital interface
IEEE 1394b (IIDC V1.31), 2 x copper connectors (bilingual) (daisy
chain)
fiber: IEEE 1394b, 2 connectors: 1 x copper (bilingual), 1 x GOF
connector (2 x optical fiber on LCLC), (daisy chain)
Power requirements
DC 8 V - 36 V via IEEE 1394 cable or 12-pin HIROSE
Power consumption
Typical 5 watt (@ 12 V DC); fiber: typical 5.75 watt (@ 12 V DC)
Dimensions
96.8 mm x 44 mm x 44 mm (L x W x H); incl. connectors, w/o tripod
and lens
Mass
250 g (without lens)
Operating temperature
+ 5 °C ... + 50 °C housing temperature (without condensation)
Storage temperature
- 10 °C ... + 60 °C ambient temperature (without condensation)
Regulations
EN 55022, EN 61000, EN 55024, FCC Class B, DIN ISO 9022, RoHS
(2002/95/EC)
Options
IR cut filter, IR pass filter, host adapter card, angled head, power
out (HIROSE), API (FirePackage, Direct FirePackage, Fire4Linux)
Table 17: Specification PIKE F-145B / F-145B fiber
Note
L
The design and specifications for the products described
above may change without notice.
PIKE Technical Manual V4.0.0
46
Specifications
PIKE F-145C / F-145C fiber (-15fps*)
* Variant: F-145-15fps only
This variant offers lower speed (only 15 fps), but better image quality.
Feature
Specification
Image device
Type 2/3 (diag. 11.2 mm) type progressive scan SONY ICX285
Lens mount
Adjustable C-Mount: 17.526 mm (in air); Ø 25.4 mm (32 tpi)
mechanical flange back to filter distance: 12.5 mm
(see Figure 35: Pike C-Mount dimensions (large filter for Pike F-100,
F-145, F-210, F-421, F-505) on page 80)
Picture sizes (default modes)
320 x 240 pixels (Format_0 Mode_1)
640 x 480 pixels (Format_0 Mode_2 to Mode_5)
800 x 600 pixels (Format_1 Mode_0 to Mode_2)
1024 x 768 pixels (Format_1 Mode_3 to Mode_5)
1280 x 960 pixels (Format_2 Mode_0 to Mode_2)
1388 x 1038 pixels (Format_7 Mode_0)
692 x 1038 pixels (Format_7 Mode_4, 2 out of 4 H-sub-sampling)
1388 x 518 pixels (Format_7 Mode_5, 2 out of 4 V-sub-sampling)
692 x 518 pixels (Format_7 Mode_6, 2 out of 4 full sub-sampling)
Cell size
6.45 µm x 6.45 µm
ADC
14 bit
Color modes
Raw8, Raw12, Raw16, Mono8, YUV4:2:2, YUV4:1:1, RGB8
Frame rates
1.875 fps; 3.75 fps; 7.5 fps; 15 fps; 30 fps; 60 fps
up to 30 (16*) fps in Format_7 (Mono8, Raw8, no sub-sampling)
up to 30 (16*) fps in Format_7 (Raw12, no sub-sampling)
up to 30 (16*) fps (YUV 4:1:1, no sub-sampling)
up to 23 (16) fps (YUV 4:2:2, Raw16, no sub-sampling)
up to 15 (15*) fps (RGB8, no sub-sampling)
Gain control
Manual: 0-32 dB (0.0358 dB/step); auto gain (select. AOI)
Shutter speed
39 (71*) µs … 67.108.864 µs (~67s); auto shutter (select. AOI)
External trigger shutter
Programmable, trigger level control, single trigger,
bulk trigger, programmable trigger delay
Internal FIFO memory
Up to 22 frames
# look-up tables
4 user programmable (14 bit
14 bit); gamma (0.45 and 0.7)
Table 18: Specification PIKE F-145C / F-145C fiber
PIKE Technical Manual V4.0.0
47
Specifications
Feature
Specification
Smart functions
AGC (auto gain control), AEC (auto exposure control), AWB (auto
white balance), color correction, hue, saturation, real-time shading
correction, LUT, 64 MByte image memory, mirror, sub-sampling,
High SNR, storable user sets
Two configurable inputs, four configurable outputs
RS-232 port (serial port, IIDC V1.31)
Transfer rate
100 Mbit/s, 200 Mbit/s, 400 Mbit/s, 800 Mbit/s
Digital interface
IEEE 1394b (IIDC V1.31), 2 x copper connectors (bilingual) (daisy
chain)
fiber: IEEE 1394b, 2 connectors: 1 x copper (bilingual), 1 x GOF
connector (2 x optical fiber on LCLC), (daisy chain)
Power requirements
DC 8 V - 36 V via IEEE 1394 cable or 12-pin HIROSE
Power consumption
Typical 5 watt (@ 12 V DC); fiber: typical 5.75 watt (@ 12 V DC)
Dimensions
96.8 mm x 44 mm x 44 mm (L x W x H); incl. connectors, w/o tripod
and lens
Mass
250 g (without lens)
Operating temperature
+ 5 °C ... + 50 °C housing temperature (without condensation)
Storage temperature
- 10 °C ... + 60 °C ambient temperature (without condensation)
Regulations
EN 55022, EN 61000, EN 55024, FCC Class B, DIN ISO 9022, RoHS
(2002/95/EC)
Options
Protection glass, host adapter card, angled head, power out
(HIROSE), API (FirePackage, Direct FirePackage, Fire4Linux)
Table 18: Specification PIKE F-145C / F-145C fiber
Note
L
The design and specifications for the products described
above may change without notice.
PIKE Technical Manual V4.0.0
48
Specifications
PIKE F-210B / F210B fiber
Feature
Specification
Image device
Type 1 (diag. 15.3 mm) type progressive scan KODAK IT CCD
KAI2093
Lens mount
Adjustable C-Mount: 17.526 mm (in air); Ø 25.4 mm (32 tpi)
mechanical flange back to filter distance: 12.5 mm
(see Figure 35: Pike C-Mount dimensions (large filter for Pike F-100,
F-145, F-210, F-421, F-505) on page 80)
Picture sizes (default modes)
640 x 480 pixels (Format_0 Mode_5 and Mode_6)
800 x 600 pixels (Format_1 Mode_2 and Mode_6)
1024 x 768 pixels (Format_1 Mode_5 and Mode_7)
1280 x 960 pixels (Format_2 Mode_2 and Mode_6)
1600 x 1200 pixels (Format_2 Mode_5 and Mode_7)
1920 x 1080 pixels (Format_7 Mode_0)
960 x 1080 pixels (Format_7 Mode_1, 2 x H-binning)
1920 x 540 pixels (Format_7 Mode_2, 2 x V-binning)
960 x 540 pixels (Format_7 Mode_3, 2 x full binning)
960 x 1080 pixels (Format_7 Mode_4, 2 out of 4 H-sub-sampling)
1920 x 540 pixels (Format_7 Mode_5, 2 out of 4 V-sub-sampling)
960 x 540 pixels (Format_7 Mode_6, 2 out of 4 full sub-sampling)
Cell size
7.4 µm x 7.4 µm
ADC
14 bit
Frame rates
1.875 fps; 3.75 fps; 7.5 fps; 15 fps; 30 fps
up to 31 fps in Format_7 (Mono8, no sub-sampling)
Gain control
Manual: 0-22 dB (0.0353 dB/step); auto gain (select. AOI)
Shutter speed
43 … 67.108.864 µs (~67s); auto shutter (select. AOI)
External Trigger Shutter
Programmable, trigger level control, single trigger,
bulk trigger, programmable trigger delay
Internal FIFO memory
Up to 15 frames
# look-up tables
4 user programmable (14 bit
Smart functions
AGC (auto gain control), AEC (auto exposure control), real-time
shading correction, LUT, 64 MByte image memory, mirror, binning,
sub-sampling, High SNR, storable user sets
14 bit); gamma (0.45 and 0.7)
Two configurable inputs, four configurable outputs
RS-232 port (serial port, IIDC V1.31)
Transfer rate
100 Mbit/s, 200 Mbit/s, 400 Mbit/s, 800 Mbit/s
Table 19: Specification PIKE F-210B / F-210B fiber
PIKE Technical Manual V4.0.0
49
Specifications
Feature
Specification
Digital interface
IEEE 1394b (IIDC V1.31), 2 x copper connectors (bilingual) (daisy
chain)
fiber: IEEE 1394b, 2 connectors: 1 x copper (bilingual), 1 x GOF
connector (2 x optical fiber on LCLC), (daisy chain)
Power requirements
DC 8 V - 36 V via IEEE 1394 cable or 12-pin HIROSE
Power consumption
Typical 5.5 watt (@ 12 V DC); fiber: typical 6.25 watt (@ 12 V DC)
Dimensions
96.8 mm x 44 mm x 44 mm (L x W x H); incl. connectors, w/o tripod
and lens
Mass
250 g (without lens)
Operating temperature
+ 5 °C ... + 50 °C housing temperature (without condensation)
Storage temperature
- 10 °C ... + 60 °C ambient temperature (without condensation)
Regulations
EN 55022, EN 61000, EN 55024, FCC Class B, DIN ISO 9022, RoHS
(2002/95/EC)
Options
IR cut filter, IR pass filter
M39-Mount suitable for e.g. Voigtländer optics
Adjustable M39-Mount: 28.80 mm (in air); M39 x 26 tpi
mechanical flange back to filter distance: 24.2 mm (see Figure 37:
Pike M39-Mount dimensions (only Pike F-210 and Pike F-421) on
page 82)
host adapter card, angled head, power out (HIROSE),
API (FirePackage, Direct FirePackage, Fire4Linux)
Table 19: Specification PIKE F-210B / F-210B fiber
Note
L
The design and specifications for the products described
above may change without notice.
PIKE Technical Manual V4.0.0
50
Specifications
PIKE F-210C / F-210C fiber
Feature
Specification
Image device
Type 1 (diag. 15.3 mm) type progressive scan KODAK IT CCD
KAI2093
Lens mount
Adjustable C-Mount: 17.526 mm (in air); Ø 25.4 mm (32 tpi)
mechanical flange back to filter distance: 12.5 mm
(see Figure 35: Pike C-Mount dimensions (large filter for Pike F-100,
F-145, F-210, F-421, F-505) on page 80)
Picture sizes (default modes)
320 x 240 pixels (Format_0 Mode_1)
640 x 480 pixels (Format_0 Mode_2 to Mode_5)
800 x 600 pixels (Format_1 Mode_0 to Mode_2)
1024 x 768 pixels (Format_1 Mode_3 to Mode_5)
1280 x 960 pixels (Format_2 Mode_0 to Mode_2)
1600 x 1200 pixels (Format_2 Mode_3 to Mode_5)
1920 x 1080 pixels (Format_7 Mode_0)
960 x 1080 pixels (Format_7 Mode_4, 2 out of 4 H-sub-sampling)
1920 x 540 pixels (Format_7 Mode_5, 2 out of 4 V-sub-sampling)
960 x 540 pixels (Format_7 Mode_6, 2 out of 4 full sub-sampling)
Cell size
7.4 µm x 7.4 µm
ADC
14 bit
Color modes
Raw8, Raw12, Raw16, Mono8, YUV4:2:2, YUV4:1:1, RGB8
Frame rates
1.875 fps; 3.75 fps; 7.5 fps; 15 fps; 30 fps; 60 fps
up to 40 fps (Mono8, Raw8, no sub-sampling)
up to 40 fps (Raw12, no sub-sampling)
up to 40 fps (YUV 4:1:1, no sub-sampling)
up to 31 fps (YUV 4:2:2, Raw16, no sub-sampling)
up to 21 fps (RGB8, no sub-sampling)
Gain control
Manual: 0-20 dB (0.0353 dB/step); auto gain (select. AOI)
Shutter speed
43 … 67.108.864 µs (~67s); auto shutter (select. AOI)
External trigger shutter
Programmable, trigger level control, single trigger,
bulk trigger, programmable trigger delay
Internal FIFO memory
Up to 15 frames
# look-up tables
4 user programmable (14 bit
14 bit); gamma (0.45 and 0.7)
Table 20: Specification PIKE F-210C / F-210C fiber
PIKE Technical Manual V4.0.0
51
Specifications
Feature
Specification
Smart functions
AGC (auto gain control), AEC (auto exposure control), AWB (auto
white balance), color correction, hue, saturation, real-time shading
correction, LUT, 64 MByte image memory, mirror, sub-sampling,
High SNR, storable user sets
Two configurable inputs, four configurable outputs
RS-232 port (serial port, IIDC V1.31)
Transfer rate
100 Mbit/s, 200 Mbit/s, 400 Mbit/s, 800 Mbit/s
Digital interface
IEEE 1394b (IIDC V1.31), 2 x copper connectors (bilingual) (daisy
chain)
fiber: IEEE 1394b, 2 connectors: 1 x copper (bilingual), 1 x GOF
connector (2 x optical fiber on LCLC), (daisy chain)
Power requirements
DC 8 V - 36 V via IEEE 1394 cable or 12-pin HIROSE
Power consumption
Typical 5.5 watt (@ 12 V DC); fiber: typical 6.25 watt (@ 12 V DC)
Dimensions
96.8 mm x 44 mm x 44 mm (L x W x H); incl. connectors, w/o tripod
and lens
Mass
250 g (without lens)
Operating temperature
+ 5 °C ... + 50 °C housing temperature (without condensation)
Storage temperature
- 10 °C ... + 60 °C ambient temperature (without condensation)
Regulations
EN 55022, EN 61000, EN 55024, FCC Class B, DIN ISO 9022, RoHS
(2002/95/EC)
Options
Protection glass
M39-Mount suitable for e.g. Voigtländer optics
Adjustable M39-Mount: 28.80 mm (in air); M39 x 26 tpi
mechanical flange back to filter distance: 24.2 mm (see Figure 37:
Pike M39-Mount dimensions (only Pike F-210 and Pike F-421) on
page 82)
host adapter card, angled head, power out (HIROSE),
API (FirePackage, Direct FirePackage, Fire4Linux)
Table 20: Specification PIKE F-210C / F-210C fiber
Note
L
The design and specifications for the products described
above may change without notice.
PIKE Technical Manual V4.0.0
52
Specifications
PIKE F-421B / F-421B fiber
Feature
Specification
Image device
Type 1.2 (diag. 21.4 mm) type progressive scan KODAK IT CCD
KAI4021
Lens mount
Adjustable C-Mount: 17.526 mm (in air); Ø 25.4 mm (32 tpi)
mechanical flange back to filter distance: 12.5 mm
(see Figure 35: Pike C-Mount dimensions (large filter for Pike F-100,
F-145, F-210, F-421, F-505) on page 80)
Picture sizes (default modes)
640 x 480 pixels (Format_0 Mode_5 and Mode_6)
800 x 600 pixels (Format_1 Mode_2 and Mode_6)
1024 x 768 pixels (Format_1 Mode_5 and Mode_7)
1280 x 960 pixels (Format_2 Mode_2 and Mode_6)
1600 x 1200 pixels (Format_2 Mode_5 and Mode_7)
2048 x 2048 pixels (Format_7 Mode_0)
1024 x 2048 pixels (Format_7 Mode_1, 2 x H-binning)
2048 x 1024 pixels (Format_7 Mode_2, 2 x V-binning)
1024 x 1024 pixels (Format_7 Mode_3, 2 x full binning)
1024 x 2048 pixels (Format_7 Mode_4, 2 out of 4 H-sub-sampling)
2048 x 1024 pixels (Format_7 Mode_5, 2 out of 4 V-sub-sampling)
1024 x 1024 pixels (Format_7 Mode_6, 4 out of 4 full sub-sampling)
Cell size
7.4 µm x 7.4 µm
ADC
14 bit
Frame rates
1.875 fps; 3.75 fps; 7.5 fps; 15 fps; 30 fps
up to 16 fps in Format_7 (Mono8)
Gain control
Manual: 0-22 dB (0.0353 dB/step); auto gain (select. AOI)
Shutter speed
70 … 67.108.864 µs (~67s); auto shutter (select. AOI)
External trigger shutter
Programmable, trigger level control, single trigger,
bulk trigger, programmable trigger delay
Internal FIFO memory
Up to 6 frames
# look-up tables
4 user programmable (14 bit
Smart functions
AGC (auto gain control), AEC (auto exposure control), real-time
shading correction, LUT, 64 MByte image memory, mirror, binning,
sub-sampling, High SNR, storable user sets
14 bit); gamma (0.45 and 0.7)
Two configurable inputs, four configurable outputs
RS-232 port (serial port, IIDC V1.31)
Transfer rate
100 Mbit/s, 200 Mbit/s, 400 Mbit/s, 800 Mbit/s
Table 21: Specification PIKE F-421B / F-421B fiber
PIKE Technical Manual V4.0.0
53
Specifications
Feature
Specification
Digital interface
IEEE 1394b (IIDC V1.31), 2 x copper connectors (bilingual) (daisy
chain)
fiber: IEEE 1394b, 2 connectors: 1 x copper (bilingual), 1 x GOF
connector (2 x optical fiber on LCLC), (daisy chain)
Power requirements
DC 8 V - 36 V via IEEE 1394 cable or 12-pin HIROSE
Power consumption
Typical 5.5 watt (@ 12 V DC); fiber: typical 6.25 watt (@ 12 V DC)
Dimensions
96.8 mm x 44 mm x 44 mm (L x W x H); incl. connectors, w/o tripod
and lens
Mass
250 g (without lens)
Operating temperature
+ 5 °C ... + 50 °C housing temperature (without condensation)
Storage temperature
- 10 °C ... + 60 °C ambient temperature (without condensation)
Regulations
EN 55022, EN 61000, EN 55024, FCC Class B, DIN ISO 9022, RoHS
(2002/95/EC)
Options
IR cut filter, IR pass filter
M39-Mount suitable for e.g. Voigtländer optics
Adjustable M39-Mount: 28.80 mm (in air); M39 x 26 tpi
mechanical flange back to filter distance: 24.2 mm (see Figure 37:
Pike M39-Mount dimensions (only Pike F-210 and Pike F-421) on
page 82)
host adapter card, angled head, power out (HIROSE),
API (FirePackage, Direct FirePackage, Fire4Linux)
Table 21: Specification PIKE F-421B / F-421B fiber
Note
L
The design and specifications for the products described
above may change without notice.
PIKE Technical Manual V4.0.0
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Specifications
PIKE F-421C / F-421 C fiber
Feature
Specification
Image device
Type 1.2 (diag. 21.4 mm) type progressive scan KODAK IT CCD
KAI4021
Lens mount
Adjustable C-Mount: 17.526 mm (in air); Ø 25.4 mm (32 tpi)
mechanical flange back to filter distance: 12.5 mm
(see Figure 35: Pike C-Mount dimensions (large filter for Pike F-100,
F-145, F-210, F-421, F-505) on page 80)
Picture sizes (default modes)
320 x 240 pixels (Format_0 Mode_1)
640 x 480 pixels (Format_0 Mode_2 to Mode_5)
800 x 600 pixels (Format_1 Mode_0 to Mode_2)
1024 x 768 pixels (Format_1 Mode_3 to Mode_5)
1280 x 960 pixels (Format_2 Mode_0 to Mode_2)
1600 x 1200 pixels (Format_2 Mode_3 to Mode_5)
2048 x 2048 pixels (Format_7 Mode_0)
1024 x 2048 pixels (Format_7 Mode_4, 2 out of 4 H-sub-sampling)
2048 x 1024 pixels (Format_7 Mode_5, 2 out of 4 V-sub-sampling)
1024 x 1024 pixels (Format_7 Mode_6, 2 out of 4 full sub-sampling)
Cell size
7.4 µm x 7.4 µm
ADC
14 bit
Color modes
Raw8, Raw12, Raw16, Mono8, YUV4:2:2, YUV4:1:1, RGB8
Frame rates
1.875 fps; 3.75 fps; 7.5 fps; 15 fps; 30 fps
up to 16 fps (Mono8, Raw8, no sub-sampling)
up to 10 fps (Raw12, no sub-sampling)
up to 10 fps (YUV 4:1:1, no sub-sampling)
up to 8 fps (YUV 4:2:2, Raw16, no sub-sampling)
up to 5 fps (RGB8, no sub-sampling)
Gain control
Manual: 0-20 dB (0.0353 dB/step); auto gain (select. AOI)
Shutter speed
70 … 67.108.864 µs (~67s); auto shutter (select. AOI)
External trigger shutter
Programmable, trigger level control, single trigger,
bulk trigger, programmable trigger delay
Internal FIFO memory
Up to 6 frames
# look-up tables
4 user programmable (14 bit
14 bit); gamma (0.45 and 0.7)
Table 22: Specification PIKE F-421C / F-421C fiber
PIKE Technical Manual V4.0.0
55
Specifications
Feature
Specification
Smart functions
AGC (auto gain control), AEC (auto exposure control), AWB (auto
white balance), color correction, hue, saturation, real-time shading
correction, LUT, 64 MByte image memory, mirror, sub-sampling,
High SNR, storable user sets
Two configurable inputs, four configurable outputs
RS-232 port (serial port, IIDC V1.31)
Transfer rate
100 Mbit/s, 200 Mbit/s, 400 Mbit/s, 800 Mbit/s
Digital interface
IEEE 1394b (IIDC V1.31), 2 x copper connectors (bilingual) (daisy
chain)
fiber: IEEE 1394b, 2 connectors: 1 x copper (bilingual), 1 x GOF
connector (2 x optical fiber on LCLC), (daisy chain)
Power requirements
DC 8 V - 36 V via IEEE 1394 cable or 12-pin HIROSE
Power consumption
Typical 5.5 watt (@ 12 V DC); fiber: typical 6.25 watt (@ 12 V DC)
Dimensions
96.8 mm x 44 mm x 44 mm (L x W x H); incl. connectors, w/o tripod
and lens
Mass
250 g (without lens)
Operating temperature
+ 5 °C ... + 50 °C housing temperature (without condensation)
Storage temperature
- 10 °C ... + 60 °C ambient temperature (without condensation)
Regulations
EN 55022, EN 61000, EN 55024, FCC Class B, DIN ISO 9022, RoHS
(2002/95/EC)
Options
Protection glass
M39-Mount suitable for e.g. Voigtländer optics
Adjustable M39-Mount: 28.80 mm (in air); M39 x 26 tpi
mechanical flange back to filter distance: 24.2 mm (see Figure 37:
Pike M39-Mount dimensions (only Pike F-210 and Pike F-421) on
page 82)
host adapter card, angled head, power out (HIROSE),
API (FirePackage, Direct FirePackage, Fire4Linux)
Table 22: Specification PIKE F-421C / F-421C fiber
Note
L
The design and specifications for the products described
above may change without notice.
PIKE Technical Manual V4.0.0
56
Specifications
PIKE F-505B / F-505B fiber
Feature
Specification
Image device
Type 2/3 (diag. 11.016 mm) progressive scan SONY ICX625
Lens mount
Adjustable C-Mount: 17.526 mm (in air); Ø 25.4 mm (32 tpi)
mechanical flange back to filter distance: 12.5 mm
(see Figure 35: Pike C-Mount dimensions (large filter for Pike F-100,
F-145, F-210, F-421, F-505) on page 80)
Picture sizes (default modes)
640 x 480 pixels (Format_0 Mode_5 and Mode_6)
800 x 600 pixels (Format_1 Mode_2 and Mode_6)
1024 x 768 pixels (Format_1 Mode_5 and Mode_7)
1280 x 960 pixels (Format_2 Mode_2 and Mode_6)
1600 x 1200 pixels (Format_2 Mode_5 and Mode_7)
2452 x 2054 pixels (Format_7 Mode_0)
1224 x 2054 pixels (Format_7 Mode_1, 2 x H-binning)
2452 x 1026 pixels (Format_7 Mode_2, 2 x V-binning)
1224 x 1026 pixels (Format_7 Mode_3, 2 x full binning)
1224 x 2054 pixels (Format_7 Mode_4, 2 out of 4 H-sub-sampling)
2452 x 1026 pixels (Format_7 Mode_5, 2 out of 4 V-sub-sampling)
1224 x 1026 pixels (Format_7 Mode_6, 2 out of 4 full sub-sampling)
Cell size
3.45 µm x 3.45 µm
ADC
14 bit
Frame rates
1.875 fps; 3.75 fps; 7.5 fps; 15 fps
up to 15* fps in Format_7 (Mono8 no sub-sampling)
up to 9 fps in Format_7 (Mono12 no sub-sampling)
up to 7 fps in Format_7 (Mono16 no sub-sampling)
* at 11000 bytes per packet
Gain control
Manual: 0-24 dB (0.0359 dB/step); auto gain (select. AOI)
Shutter speed
27 µs … 67.108.864 µs (~67s); auto shutter (select. AOI)
External trigger shutter
Programmable, trigger level control, single trigger,
bulk trigger, programmable trigger delay
Internal FIFO memory
Up to 5 frames
# look-up tables
4 user programmable (14 bit
Smart functions
AGC (auto gain control), AEC (auto exposure control), real-time
shading correction, LUT, 64 MByte image memory, mirror, binning,
sub-sampling, High SNR, storable user sets
14 bit); gamma (0.45 and 0.7)
Two configurable inputs, four configurable outputs
RS-232 port (serial port, IIDC V1.31)
Transfer rate
100 Mbit/s, 200 Mbit/s, 400 Mbit/s, 800 Mbit/s
Table 23: Specification PIKE F-505B / F-505B fiber
PIKE Technical Manual V4.0.0
57
Specifications
Feature
Specification
Digital interface
IEEE 1394b (IIDC V1.31), 2 x copper connectors (bilingual) (daisy
chain)
fiber: IEEE 1394b, 2 connectors: 1 x copper (bilingual), 1 x GOF
connector (2 x optical fiber on LCLC), (daisy chain)
Power requirements
DC 8 V - 36 V via IEEE 1394 cable or 12-pin HIROSE
Power consumption
Typical 5.75 watt (@ 12 V DC); fiber: typical 6.50 watt (@ 12 V DC)
Dimensions
96.8 mm x 44 mm x 44 mm (L x W x H); incl. connectors, w/o tripod
and lens
Mass
250 g (without lens)
Operating temperature
+ 5 °C ... + 50 °C housing temperature (without condensation)
Storage temperature
- 10 °C ... + 60 °C ambient temperature (without condensation)
Regulations
EN 55022, EN 61000, EN 55024, FCC Class B, DIN ISO 9022, RoHS
(2002/95/EC)
Options
IR cut filter, IR pass filter, host adapter card, angled head, power
out (HIROSE), API (FirePackage, Direct FirePackage, Fire4Linux)
Table 23: Specification PIKE F-505B / F-505B fiber
Note
L
The design and specifications for the products described
above may change without notice.
PIKE Technical Manual V4.0.0
58
Specifications
PIKE F-505C / F-505C fiber
Feature
Specification
Image device
Type 2/3 (diag. 11.016 mm) type progressive scan SONY ICX625
Lens mount
Adjustable C-Mount: 17.526 mm (in air); Ø 25.4 mm (32 tpi)
mechanical flange back to filter distance: 12.5 mm
(see Figure 35: Pike C-Mount dimensions (large filter for Pike F-100,
F-145, F-210, F-421, F-505) on page 80)
Picture sizes (default modes)
320 x 240 pixels (Format_0 Mode_1)
640 x 480 pixels (Format_0 Mode_2 to Mode_5)
800 x 600 pixels (Format_1 Mode_0 to Mode_2)
1024 x 768 pixels (Format_1 Mode_3 to Mode_5)
1280 x 960 pixels (Format_2 Mode_0 to Mode_2)
1600 x 1200 pixels (Format_2 Mode_3 to Mode_5)
2452 x 2054 pixels (Format_7 Mode_0)
1224 x 2054 pixels (Format_7 Mode_4, 2 out of 4 H-sub-sampling)
2452 x 1026 pixels (Format_7 Mode_5, 2 out of 4 V-sub-sampling)
1224 x 1026 pixels (Format_7 Mode_6, 2 out of 4 full sub-sampling)
Cell size
3.45 µm x 3.45 µm
ADC
14 bit
Color modes
Raw8, Raw12, Raw16, Mono8, YUV4:2:2, YUV4:1:1, RGB8
Frame rates
1.875 fps; 3.75 fps; 7.5 fps; 15 fps
up to 15* fps in Format_7 (Mono8, Raw8, no sub-sampling)
up to 9 fps in Format_7 (Raw12, no sub-sampling)
up to 9 fps (YUV 4:1:1, no sub-sampling)
up to 7 fps (YUV 4:2:2, Raw16, no sub-sampling)
up to 4 fps (RGB8, no sub-sampling)
* at 11000 bytes per packet
Gain control
Manual: 0-24 dB (0.0359 dB/step); auto gain (select. AOI)
Shutter speed
27 µs … 67.108.864 µs (~67s); auto shutter (select. AOI)
External trigger shutter
Programmable, trigger level control, single trigger,
bulk trigger, programmable trigger delay
Internal FIFO memory
Up to 5 frames
# look-up tables
4 user programmable (14 bit
14 bit); gamma (0.45 and 0.7)
Table 24: Specification PIKE F-505C / F-505C fiber
PIKE Technical Manual V4.0.0
59
Specifications
Feature
Specification
Smart functions
AGC (auto gain control), AEC (auto exposure control), AWB (auto
white balance), color correction, hue, saturation, real-time shading
correction, LUT, 64 MByte image memory, mirror, sub-sampling,
High SNR, storable user sets
Two configurable inputs, four configurable outputs
RS-232 port (serial port, IIDC V1.31)
Transfer rate
100 Mbit/s, 200 Mbit/s, 400 Mbit/s, 800 Mbit/s
Digital interface
IEEE 1394b (IIDC V1.31), 2 x copper connectors (bilingual) (daisy
chain)
fiber: IEEE 1394b, 2 connectors: 1 x copper (bilingual), 1 x GOF
connector (2 x optical fiber on LCLC), (daisy chain)
Power requirements
DC 8 V - 36 V via IEEE 1394 cable or 12-pin HIROSE
Power consumption
Typical 5.75 watt (@ 12 V DC); fiber: typical 6.50 watt (@ 12 V DC)
Dimensions
96.8 mm x 44 mm x 44 mm (L x W x H); incl. connectors, w/o tripod
and lens
Mass
250 g (without lens)
Operating temperature
+ 5 °C ... + 50 °C housing temperature (without condensation)
Storage temperature
- 10 °C ... + 60 °C ambient temperature (without condensation)
Regulations
EN 55022, EN 61000, EN 55024, FCC Class B, DIN ISO 9022, RoHS
(2002/95/EC)
Options
Protection glass, host adapter card, angled head, power out
(HIROSE), API (FirePackage, Direct FirePackage, Fire4Linux)
Table 24: Specification PIKE F-505C / F-505C fiber
Note
L
The design and specifications for the products described
above may change without notice.
PIKE Technical Manual V4.0.0
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Specifications
Spectral sensitivity
Figure 10: Spectral sensitivity of Pike F-032B
Figure 11: Spectral sensitivity of Pike F-032C
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61
Specifications
Figure 12: Spectral sensitivity of Pike F-100B
Figure 13: Spectral sensitivity of Pike F-100C
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Specifications
Figure 14: Spectral sensitivity of Pike F-145B
Figure 15: Spectral sensitivity of Pike F-145C
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63
Specifications
Figure 16: Spectral sensitivity of Pike F-210B
Figure 17: Spectral sensitivity of Pike F-210C
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Specifications
Figure 18: Spectral sensitivity of Pike F-421B
Figure 19: Spectral sensitivity of Pike F-421C
PIKE Technical Manual V4.0.0
65
Specifications
Figure 20: Spectral sensitivity of Pike F-505B
Figure 21: Spectral sensitivity of Pike F-505C
PIKE Technical Manual V4.0.0
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Camera dimensions
Camera dimensions
Note
For information on sensor position accuracy:
L
(sensor shift x/y, optical back focal length z and sensor rotation α) see Chapter Sensor position accuracy of AVT cameras
on page 322.
PIKE standard housing (2 x 1394b copper)
Note: different from GOF version
see next page
Body size: 96.8 mm x 44 mm x 44 mm (L x W x H)
Mass: 250 g (without lens)
Figure 22: Camera dimensions (2 x 1394b copper)
PIKE Technical Manual V4.0.0
67
Camera dimensions
PIKE (1394b: 1 x GOF, 1 x copper)
Note: different from 2 x copper version
see previous page
Body size: 96.8 mm x 44 mm x 44 mm (L x W x H)
Mass: 250 g (without lens)
Figure 23: Camera dimensions (1394b: 1 x GOF, 1 x copper)
PIKE Technical Manual V4.0.0
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Camera dimensions
Tripod adapter
This tripod adapter is only designed for standard housings, but not for the
angled head versions.
Note
L
If you need a tripod adapter for angled head versions, please
contact AVT support.
Figure 24: Tripod dimensions
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Camera dimensions
Pike W90 (2 x 1394b copper)
This version has the sensor tilted by 90 degrees clockwise, so that it views
upwards.
Figure 25: Pike W90 (2 x 1394b copper)
PIKE Technical Manual V4.0.0
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Camera dimensions
Pike W90 (1394b: 1 x GOF, 1 x copper)
This version has the sensor tilted by 90 degrees clockwise, so that it views
upwards.
Figure 26: Pike W90 (1394b: 1 x GOF, 1 x copper)
PIKE Technical Manual V4.0.0
71
Camera dimensions
Pike W90 S90 (2 x 1394b copper)
This version has the sensor tilted by 90 degrees clockwise, so that it views
upwards.
The sensor is also rotated by 90 degrees clockwise.
Figure 27: Pike W90 S90 (1394b: 1 x GOF, 1 x copper)
PIKE Technical Manual V4.0.0
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Camera dimensions
Pike W90 S90 (1394b: 1 x GOF, 1 x copper)
This version has the sensor tilted by 90 degrees clockwise, so that it views
upwards.
The sensor is also rotated by 90 degrees clockwise.
Figure 28: Pike W90 S90 (1394b: 1 x GOF, 1 x copper)
PIKE Technical Manual V4.0.0
73
Camera dimensions
Pike W270 (2 x 1394b copper)
This version has the sensor tilted by 270 degrees clockwise, so that it views
downwards.
Figure 29: Pike W270 (2 x 1394b copper)
PIKE Technical Manual V4.0.0
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Camera dimensions
Pike W270 (1394b: 1 x GOF, 1 x copper)
This version has the sensor tilted by 270 degrees clockwise, so that it views
downwards.
Figure 30: Pike W270 (1394b: 1 x GOF, 1 x copper)
PIKE Technical Manual V4.0.0
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Camera dimensions
Pike W270 S90 (2 x 1394b copper)
This version has the sensor tilted by 270 degrees clockwise, so that it views
downwards.
The sensor is also rotated by 90 degrees clockwise.
Figure 31: Pike W270 S90 (2 x 1394b copper)
PIKE Technical Manual V4.0.0
76
Camera dimensions
Pike W270 S90 (1394b: 1 x GOF, 1 x copper)
This version has the sensor tilted by 270 degrees clockwise, so that it views
downwards.
The sensor is also rotated by 90 degrees clockwise.
Figure 32: Pike W270 S90 (1394b: 1 x GOF, 1 x copper)
PIKE Technical Manual V4.0.0
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Camera dimensions
Cross section: CS-Mount (only PIKE F-032B/C)
Figure 33: Pike CS-Mount dimensions (only PIKE F-032B/C)
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Camera dimensions
Cross section: C-Mount (VGA size filter)
PIKE F-032 cameras are equipped with VGA size filter.
Figure 34: Pike C-Mount dimensions (VGA size filter for Pike F-032)
PIKE Technical Manual V4.0.0
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Camera dimensions
Cross section: C-Mount (large filter)
PIKE F-100, PIKE F-145, PIKE F-210, PIKE F-421, PIKE F-505 are equipped
with a large filter.
Figure 35: Pike C-Mount dimensions (large filter for Pike F-100, F-145, F-210, F-421, F-505)
PIKE Technical Manual V4.0.0
80
Camera dimensions
Adjustment of C-Mount
PIKE cameras allow the precise adjustment of the back focus of the C-Mount
by means of a back focus ring which is threaded into the C-Mount and held
by two screws on either side of the camera. The mechanical adjustment of
the imaging device is important in order to achieve a perfect alignment with
the focal point of the lens.
Individual adjustment may be required:
• if you cannot focus correctly at near or far distances or
• if the back focal plane of your lens does not conform to the C-Mount
back-focus specification or
• if you have e.g. removed the IR cut filter.
loosen screw on both sides
Figure 36: Back focus adjustment
Do the following:
1.
Loosen screws (location as shown above by arrow) with an Allen key
(1.3 x 50; Order#: K 9020411).
2.
With the lens set to infinity or a known focus distance, set the camera
to view an object located at 'infinity' or the known distance.
3.
Rotate the C-Mount ring and lens forward or backwards on its thread
until the object is in sharp focus. Be careful that the lens remains
seated in the C-Mount.
4.
Once focus is achieved, tighten the two locking screws without applying
excessive torque.
PIKE Technical Manual V4.0.0
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Camera dimensions
F-Mount, K-Mount, M39-Mount
Note
L
Note
L
For other mounts (e.g. F-Mount, K-Mount) please contact
your distributor.
Pike F-210 and Pike F-421 can be equipped at factory site
with M39-Mount instead of C-Mount.
M39-Mount is ideally suited for Voigtländer (aka Voigtlander)
short focal length optics. See drawing below for further
details.
Please ask AVT or your local dealer if you require further information.
Cross section: M39-Mount
Figure 37: Pike M39-Mount dimensions (only Pike F-210 and Pike F-421)
PIKE Technical Manual V4.0.0
82
Camera interfaces
Camera interfaces
In addition to the two status LEDs (see Chapter Status LEDs on page 90),
there are three jacks located at the rear of the camera.
• The 12-pin camera I/O connector provides different control inputs and
output lines.
• Both IEEE 1394b connectors with screw lock mechanism provide access
to the IEEE 1394 bus and thus makes it possible to control the camera
and output frames. Connect the camera by using either of the connectors. The other connector can be used to daisy chain a second camera.
12-pin camera
I/O connector
Status LEDs
Yellow
Green
(Trg/S2)
(Com/S1)
IEEE 1394b connector
(copper)
IEEE 1394b connector
(copper)
Figure 38: Rear view of camera (2 x 1394b copper)
PIKE Technical Manual V4.0.0
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Camera interfaces
PIKE fiber
All PIKE cameras are also available as fiber version with 1 x GOF connector
and 1 x copper connector.
The GOF connector is of the following type: 2 x optical fiber on LCLC
The GOF transmission uses MMF (multi-mode fiber at 850 nm).
Connect the camera by using either of the connectors. The other connector
can be used to daisy chain a second camera. In case of long distances
between PC and camera, use the GOF connector for the long distance and the
IEEE 1394b connector for optional daisy-chaining. Please ensure that you use
a GOF hub on the PC side for reconversion from GOF to copper (order number
E3000074 (with mounting plate) or E3000084 (with top-hat rail)). Alternatively use PCI or PCIExpress cards with built in GOF port. Ask your dealer for
availability and details of these cards.
Power
Dust cover off
Optical connection ok
Figure 39: GOF hub
Figure 40: PCI Express card (1 x GOF, 2 x 1394 bilingual)
PIKE Technical Manual V4.0.0
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Camera interfaces
IEEE 1394b connector GOF
(2x optical fiber on LCLC)
Dust cover off
IEEE 1394b connector
(copper)
Figure 41: Rear view of camera (1394b: 1 x GOF, 1 x copper)
Warning
Special warning for all PIKE models with GOF connectors:
a
GOF connectors are very sensitive. Any dust or dirt may cause
damage.
•
•
•
•
Always keep the GOF connector and optical fiber plug
clean.
If GOF connection is not in use, keep GOF dust cover on
the GOF connector.
Reduce mating cycles to a minimum to prevent abrasion.
Please note that optical fiber cables have a very limited
deflection curve radius.
PIKE Technical Manual V4.0.0
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Camera interfaces
IEEE 1394b port pin assignment
The IEEE 1394b connector is designed for industrial use and has the following
pin assignment as per specification:
4
3
2
1
5
6 7 8
9
Figure 42: IEEE 1394b connector
Pin
Signal
1
TPB-
2
TPB+
3
TPA-
4
TPA+
5
TPA (Reference ground)
6
VG (GND)
7
N.C.
8
VP (Power, VCC)
9
TPB (Reference ground)
Table 25: IEEE 1394b pin assignment
Note
L
Cables with latching connectors on one or both sides can be
used and are available with lengths of 5 m or 7.5 m. Ask your
local dealer for more details.
PIKE Technical Manual V4.0.0
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Camera interfaces
Camera I/O connector pin assignment
The camera I/O connector is also designed for industrial use and, in addition
to providing access to the inputs and outputs on the camera, it also provides
a serial interface for e.g. the firmware update. The following diagram shows
the pinning as viewed in pin direction.
The connector is available in straight and angled version under the following
numbers:
Order text
Order number
PC-12P 12-Pin
HR10A-10P-12S
cable connector female
K7600040
PC-12PW 12-Pin
HR10A-10LT-12S
angled cable connector female
K7600044
Table 26: Order numbers: I/O connector
Note
L
AVT supplies suitable I/O cables of different lengths (up to
10 m) as shown below.
Order text
Length
Order number
Trigger cable
12-pin HIROSE female to BNC
2.0 m
E1000648
Trigger cable
12-pin HIROSE female to BNC
5.0 m
E1000772
Trigger cable
12-pin HIROSE female to open end
2.0 m
E1000728
Trigger cable
12-pin HIROSE female to open end
10.0 m
E1000736
I/O cable
12-pin HIROSE female to open end
2.0 m
E1000746
I/O cable
12-pin HIROSE female to open end
3.0 m
E1000732
Table 27: Order numbers: trigger and I/O cables
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Camera interfaces
Order text
Length
I/O cable
12-pin HIROSE female to open end
I/O cable
Order number
5.0 m
E1000786
10.0 m
E1000749
12-pin HIROSE female to open end
Table 27: Order numbers: trigger and I/O cables
Figure 43: Camera I/O connector pin assignment
Pin
Signal
Direction
Level
Description
1
External GND
GND for RS232 External Ground for RS232 and
and ext. power external power
2
ExtPower
+8...+36 V DC Power Supply
3
CameraOut4
Out
Open emitter
Camera Output 4 (GPOut4)
default: -
4
CameraIn1
In
CMOS / TTL
max. 5 V
Camera Input 1 (GPIn1)
default: Trigger
5
CameraOut3
Out
Open emitter
Camera Output 3 (GPOut3)
default: Busy
6
CameraOut1
Out
Open emitter
Camera Output 1 (GPOut1)
default: IntEna
Table 28: Camera I/O connector pinning
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Camera interfaces
Pin
Signal
Direction
Level
Description
7
CameraIn GND
In
Common GND
for inputs
Camera Common Input Ground
(In GND)
See Figure 47: Input Ground
(InGND) (Pin no. 7 from camera I/O connector) on page 94
8
RxD_RS232
In
RS232
Terminal Receive Data
9
TxD_RS232
Out
RS232
Terminal Transmit Data
10
CameraOutPower
In
Common VCC
for outputs
max. 35 V DC
Camera Output Power
for digital outputs (OutVCC)
11
CameraIn2
In
CMOS/TTL
max. 5 V
Camera Input 2 (GPIn2)
default: -
12
CameraOut2
Out
Open emitter
Camera Output 2 (GPOut2)
default: -
Table 28: Camera I/O connector pinning
Note
GP = General Purpose
L
Note
L
Pin 1 is not internally bridged with pin 7 to avoid ground
noise being induced in the camera and to prevent ground
loops. Use pin 1 only if you want to power the camera by
HIROSE or to connect to the serial interface of the camera in
combination with pin 8 and 9.
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Camera interfaces
Status LEDs
On LED (green)
The green power LED indicates that the camera is being supplied with sufficient voltage and is ready for operation.
Status LED
The following states are displayed via the LED:
State
Description
Com/S1 (green)
Asynchronous and isochronous data transmission
active (indicated asynchronously to transmission
via the 1394 bus)
Trg/S2 (yellow)
LED on - waiting for external trigger
LED off - triggered / internal sync
Table 29: LED indication
Blink codes are used to signal warnings or error states:
Class S1
Error code S2
Warning
1 blink
DCAM
2 blinks
MISC
3 blinks
FPGA boot error
FPGA
4 blinks
Stack
5 blinks
1-5 blinks
Stack setup
1 blink
Stack start
2 blinks
No FLASH object
1 blink
No DCAM object
1 blink
Register mapping
3 blinks
VMode_ERROR_STATUS
1 blink
FORMAT_7_ERROR_1
2 blinks
FORMAT_7_ERROR_2
3 blinks
Table 30: Error codes
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Camera interfaces
The following sketch illustrates the series of blinks for a Format_7_error_1:
Figure 44: Warning and error states
You should wait for at least 2 full cycles because the display of blinking codes
starts asynchronously - e.g. on the second blink from S2.
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Camera interfaces
Operating the camera
Power for the camera is supplied either via the FireWire™ bus or the camera
I/O connector's pin 2.
The input voltage must be within the following range:
Vcc min.: +8 V
Vcc max.: +36 V
Note
•
L
•
An input voltage of 12 V is recommended for most efficient use of the camera
As mentioned above: The camera I/O supplies power to
the camera via a diode. This means that there is no
power out at pin 2 if the camera is powered via the bus.
Consult the factory if you need power output at this pin
instead of power in.
Control and video data signals
The camera has 2 inputs and 4 outputs. These can be configured by software.
The different modes are described below.
Inputs
All inputs have been implemented as shown in the diagram below.
+3.3 V
+3.3 V
390
LP
fg=480kHz
GND
InGND
4k7
VCC
GPIn1
HCPL-063L
GND
Figure 45: Input schematics
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Camera interfaces
Flux voltage from LED type 1.5 V at 10 mA
Initial on-current:
5 mA
Max. off-current:
0.25 mA
Max. input current:
15 mA
Min. pulse width
2.2 µs
Table 31: Input characteristics: Flux voltage
Cycle delay of the optocoupler
tpdLH:
2275 ns
tpdHL:
2290 ns
Table 32: Input characteristics: Cycle delay
The inputs can be connected directly to +5 V. If a higher voltage is used, an
external resistor must be placed in series. Use at +12 V a 820 Ω resistor and
at +24 V a 2.2 kΩ resistor.
Caution
Voltages above +45 V may damage the optical coupler.
a
The optocoupler inverts all input signals. Inversion of the signal is controlled
via the IO_INP_CTRL1..2 register (see Table 33: Input configuration register
on page 95).
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Figure 46: Input block diagram
390R
390R
In1 – Pin 4
In2 – Pin 11
InGND – Pin 7
Figure 47: Input Ground (InGND) (Pin no. 7 from camera I/O connector)
Triggers
All inputs configured as triggers are linked by AND. If several inputs are being
used as triggers, a high signal must be present on all inputs in order to generate a trigger signal. Each signal can be inverted. The camera must be set
to external triggering to trigger image capture by the trigger signal.
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Camera interfaces
Input/output pin control
All input and output signals running over the camera I/O connector are controlled by an advanced feature register.
Register
Name
Field
Bit
Description
0xF1000300
IO_INP_CTRL1
Presence_Inq
[0]
Indicates presence of this
feature (read only)
---
[1..6]
Reserved
Polarity
[7]
0: Signal not inverted
1: Signal inverted
---
[8..10]
Reserved
InputMode
[11..15] Mode
see Table 34: Input routing
on page 96
0xF1000304
IO_INP_CTRL2
---
[16..30] Reserved
PinState
[31]
RD: Current state of pin
Same as
IO_INP_CTRL1
Table 33: Input configuration register
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Camera interfaces
IO_INP_CTRL 1-2
The Polarity flag determines whether the input is low active (0) or high
active (1). The input mode can be seen in the following table. The PinState
flag is used to query the current status of the input.
The PinState bit reads the inverting optocoupler status after an internal
negation. See Figure 46: Input block diagram on page 94.
This means that an open input sets the PinState bit to 0. (This is different
to AVT Marlin/Dolphin/Oscar, where an open input sets PinState bit to 1.)
ID
Mode
Default
0x00
Off
0x01
Reserved
0x02
Trigger input
0x03
Reserved
0x06
Sequence Step
0x07
Sequence Reset
0x08..0x1F
Reserved
Input 1
Table 34: Input routing
Note
L
If you set more than 1 input to function as a trigger input,
all trigger inputs are ANDed.
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Camera interfaces
Trigger delay
The cameras feature various ways to delay image capture based on external
trigger.
With IIDC V1.31 there is a standard CSR at Register F0F00534/834h to control
a delay up to FFFh x time base value. The following table explains the inquiry
register and the meaning of the various bits.
Register
Name
Field
Bit
Description
0xF0F00534
TRIGGER_DELAY_INQUIRY Presence_Inq
[0]
Indicates presence of this
feature (read only)
Abs_Control_Inq
[1]
Capability of control with
absolute value
-
[2]
Reserved
One_Push_Inq
[3]
One-push auto mode (controlled automatically by the
camera once)
Readout_Inq
[4]
Capability of reading out the
value of this feature
ON_OFF
[5]
Capability of switching this
feature ON and OFF
Auto_Inq
[6]
Auto mode (controlled automatically by the camera)
Manual_Inq
[7]
Manual mode (controlled by
user)
Min_Value
[8..19]
Minimum value for this feature
Max_Value
[20..31] Maximum value for this feature
Table 35: Trigger delay inquiry register
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Camera interfaces
Register
Name
Field
Bit
Description
0xF0F00834
TRIGGER_DELAY
Presence_Inq
[0]
Presence of this feature:
0:N/
1: Available
Abs_Control
[1]
Absolute value control
O: Control with value in the
value field
1: Control with value in the
absolute value CSR. If this
bit=1 the value in the value
field has to be ignored.
-
[2..5]
Reserved
ON_OFF
[6]
Write ON or OFF this feature, ON=1 Read: Status of
the feature; OFF=0
-
[7..19]
Reserved
Value
[20..31]
Value
Table 36: Trigger Delay CSR
The cameras also have an advanced register which allows even more precise
image capture delay after receiving a hardware trigger.
Trigger delay advanced register
Register
Name
Field
Bit
Description
0xF1000400
TRIGGER_DELAY
Presence_Inq
[0]
Indicates presence of this
feature (read only)
---
[1..5]
-
ON_OFF
[6]
Trigger delay on/off
---
[7..10]
-
DelayTime
[11..31]
Delay time in µs
Table 37: Trigger Delay Advanced CSR
The advanced register allows the start of the integration to be delayed by
max. 221 µs, which is max. 2.1 s after a trigger edge was detected.
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Camera interfaces
Note
•
L
•
Switching trigger delay to ON also switches external
Trigger_Mode_0 to ON.
This feature works with external Trigger_Mode_0 only.
Outputs
The camera has 4 non-inverting outputs with open emitters. These are shown
in the following diagram:
OutVCC – Pin 10
GPOut1 – Pin 6
GND
GND
R
GPOut2 – Pin 12
GND
GND
R
GPOut3 – Pin 5
GND
GND
R
GPOut4 – Pin 3
GND
GND
R
Figure 48: Output schematics with external resistors R (pin no. from camera I/O connector)
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Camera interfaces
Parameter
Test condition
Value
Collector emitter voltage
Max. 35 V
Emitter collector voltage
Max. 7 V
Emitter current
Max. 50 mA
Collector current
Max. 80 mA
Collector peak current
tp/T=0.5
100 mA
t p ≤ 10ms
Power dissipation
100 mW
OutVCC
Resistor value
5V
1 kΩ
12 V
2.4 kΩ
24 V
4.7 kΩ
Note
L
•
•
•
•
•
Voltage above +45 V may damage the optical coupler.
The output connection is different to the AVT Dolphin
series to achieve higher output swing.
Depending on the voltage applied at OutVCC and the
type of input which you want to drive, it may be necessary to switch an external resistor in series between
GPOut1...4 and ground.
See Figure 48: Output schematics with external resistors
R (pin no. from camera I/O connector) on page 99.
Typical delay is not more than 40 µs.
Pike cameras have the new optocoupler TLP281-4 from
serial no. 101077005 on.
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Camera interfaces
Parameter Symbol Value
Delay time
td
0.70 µs
Rise time
tr
0.56 µs
Storage
time
ts
35.00 µs
Fall time
tf
12.00 µs
Condition
OutVCC = 5 V
Resistor value=1 kΩ
Figure 49: Output schematics: switching times
Output features are configured by software. Any signal can be placed on any
output.
The main features of output signals are described below:
Signal
Description
IntEna (Integration Enable) signal
This signal displays the time in which exposure
was made. By using a register this output can be
delayed by up to 1.05 seconds.
Fval (Frame valid) signal
This feature signals readout from the sensor. This
signal Fval follows IntEna.
Busy signal
This indicator appears when the exposure is being
made; the sensor is being read from or data transmission is active. The camera is busy.
Table 38: Output signals
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Camera interfaces
Figure 50: Output block diagram
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Camera interfaces
IO_OUTP_CTRL 1-4
The outputs (Output mode, Polarity) are controlled via 4 advanced feature
registers (see Table 39: Output configuration register on page 103).
The Polarity field determines whether the output is inverted or not. The output mode can be viewed in the table below. The current status of the output
can be queried and set via the PinState.
It is possible to read back the status of an output pin regardless of the output
mode. This allows for example the host computer to determine if the camera
is busy by simply polling the BUSY output.
Register
Name
Field
Bit
Description
0xF1000320
IO_OUTP_CTRL1
Presence_Inq
[0]
Indicates presence of this
feature (read only)
---
[1..6]
Reserved
Polarity
[7]
0: Signal not inverted
1: Signal inverted
---
[8..10]
Reserved
Output mode
[11..15] Mode
see Table 40: Output routing
on page 104
---
[16..30] Reserved
PinState
[31]
RD: Current state of pin
WR: New state of pin
0xF1000324
IO_OUTP_CTRL2
Same as
IO_OUTP_CTRL1
0xF1000328
IO_OUTP_CTRL3
Same as
IO_OUTP_CTRL1
0xF100032C
IO_OUTP_CTRL4
Same as
IO_OUTP_CTRL1
Table 39: Output configuration register
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Camera interfaces
Output modes
ID
Mode
Default / description
0x00
Off
0x01
Output state follows PinState bit Using this mode, the Polarity bit
has to be set to 0 (not inverted).
This is necessary for an error free
display of the output status.
0x02
Integration enable
0x03
Reserved
0x04
Reserved
0x05
Reserved
0x06
FrameValid
0x07
Busy
0x08
Follow corresponding input
(Inp1 Out1, Inp2
Out2)
0x09..0x0F
Reserved
0x10..0x1F
Reserved
Output 1
Output 2
Table 40: Output routing
PinState 0 switches off the output transistor and produces a low level over
the resistor connected from the output to ground.
The following diagram illustrates the dependencies of the various output signals.
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Camera interfaces
Figure 51: Output impulse diagram
Note
The signals can be inverted.
L
Caution
a
Firing a new trigger while IntEna is still active can result in
missing image.
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Camera interfaces
Note
L
•
•
Note that trigger delay in fact delays the image capture whereas the IntEna_Delay only delays the leading
edge of the IntEna output signal but does not delay the
image capture.
As mentioned before, it is possible to set the outputs
by software. Doing so, the achievable maximum frequency is strongly dependent on individual software
capabilities. As a rule of thumb, the camera itself will
limit the toggle frequency to not more than 700 Hz.
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Camera interfaces
Pixel data
Pixel data are transmitted as isochronous data packets in accordance with
the 1394 interface described in IIDC V1.31. The first packet of a frame is
identified by the 1 in the sync bit (sy) of the packet header.
sync bit
0-7
8-15
data_length
16-23
tg
channel
24-31
tCode
sy
header_CRC
Video data payload
data_CRC
Table 41: Isochronous data block packet format. Source: IIDC V1.31
Field
Description
data_length
Number of bytes in the data field
tg
Tag field
shall be set to zero
channel
Isochronous channel number, as programmed in the iso_channel
field of the cam_sta_ctrl register
tCode
Transaction code
shall be set to the isochronous data block packet tCode
sy
Synchronization value (sync bit)
This is one single bit. It indicates the start of a new frame.
It shall be set to 0001h on the first isochronous data block of a frame,
and shall be set to zero on all other isochronous blocks
Video data payload
Shall contain the digital video information
Table 42: Description of data block packet format
•
•
•
The video data for each pixel are output in either 8-bit or 14-bit format
(Packed 12-Bit Mode: 12-bit format).
Each pixel has a range of 256 or 16384 (Packed 12-Bit Mode: 4096)
shades of gray.
The digital value 0 is black and 255 or 16383 (Packed 12-Bit Mode:
4095) is white. In 16-bit mode the data output is MSB aligned.
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Camera interfaces
The following table provides a description of the video data format for the
different modes. (Source: IIDC V1.31; packed 12-bit mode: AVT)
Figure 52: YUV 4:2:2 and YUV 4:1:1 format: Source: IIDC V1.31 specification
Figure 53: Y8 and Y16 format: Source: IIDC V1.31 specification
<Y (Mono12) format>
Y-(K+0) [11..4]
Y-(K+1) [3..0]
Y-(K+1) [11..4]
Y-(K+2) [11..4]
Y-(K+4) [11..4]
Y-(K+5) [3..0]
Y-(K+0) [3..0]
Y-(K+3) [3..0]
Y-(K+3) [11..4]
Y-(K+2)[3..0]
Y-(K+5) [11..4]
Y-(K+4)[3..0]
Y-(K+6) [11..4]
Y-(K+7) [3..0]
Y-(K+7) [11..4]
Y-(K+6) [3..0]
Table 43: Packed 12-Bit Mode (mono and raw) Y12 format
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Camera interfaces
Figure 54: Data structure: Source: IIDC V1.31 specification
<Y(Mono12)>
Y component has 12-bit data. The data type is „unsigned“.
Y
Signal level (decimal)
Data (hexadecimal)
Highest
4095
0x0FFF
4094
0x0FFE
.
.
.
.
1
0x0001
0
0x0000
Lowest
Table 44: Data structure of Packed 12-Bit Mode (mono and raw)
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Description of the data path
Description of the data path
Block diagrams of the cameras
The following diagrams illustrate the data flow and the bit resolution of
image data after being read from the CCD sensor chip in the camera. The individual blocks are described in more detail in the following paragraphs.
Black and white cameras
14 bit
14 bit
Horizontal
masking
Test-Pattern
14 bit
HSNR
control
16 bit
8 Bit
1394b
Analog
Gain
IEEE 1394b
interface
Analog
Offset
Frame
memory
Camera control
Analog
ADC
14 bit
Channel
balance
14 bit
Horizontal
mirror
Horizontal
sub-sampling
14 bit
LUT
Shading
correction
14 bit
Sensor
HIROSE I/O
RS232
Figure 55: Block diagram b/w camera
PIKE Technical Manual V4.0.0
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Sensor
Analog
8 bit
16 bit
Analog
Sharpness
HSNR
control
Offset
8 bit
14 bit
ADC
Camera control
Hue
Saturation
Color correction
Color conversion
Horizontal
sub-sampling
Camera control
Analog
8 bit
14 bit
14 bit
IEEE 1394b
interface
Horizontal
masking
Channel
balance
1394b
14 bit
14 bit
LUT
White balance
14 bit
14 bit
Test-Pattern
Color
interpolation
Frame
memory
Gain
Shading
correction
Horizontal
mirror
Description of the data path
Color cameras
14 bit
HIROSE I/O
RS232
16 bit
Figure 56: Block diagram color camera
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Description of the data path
Sensor
The PIKE family is equipped with various sensor types and resolutions. CCD
types are available in color and monochrome.
The following table provides an overview (all models also with fiber):
Model
PIKE F-032B
PIKE F-032C
PIKE F-100B
PIKE F-100C
PIKE F-145B
PIKE F-145C
PIKE F-210B
PIKE F-210C
PIKE F-421B
PIKE F-421C
Techn Manufacturer
Sensor
Type
Optical
Format
CCD
KODAK
KAI-340 type 1/3
CCD
KODAK
KAI-1020 type 2/3 10.5 mm
CCD
SONY
ICX285
CCD
KODAK
KAI-2093
15.3 mm
CCD
KODAK
KAI-4021 type 1.2 21.4 mm
CCD
SONY
ICX625
Micro- Chip Size
lens
[mm2]
6 mm
type 1
type 2/3
11.016
mm
Pixel Size
[µm2]
Yes
4.74x3.55
7.4x7.4
Yes
7.4x7.4
7.4x7.4
10.2x8.3
6.45 x 6.45
Yes
15.9x8.6
7.4x7.4
Yes
16.67x16.05
7.4x7.4
Yes
Super
HAD
9.93×8.70
3.45x3.45
Yes
type 2/3 11.2 mm EXview
HAD
PIKE F-505B
PIKE F-505C
Sensor
diag.
Table 45: Sensor data
Channel balance
All KODAK PIKE sensors are read out via two channels: the first channel for
the left half of the image and the second channel for the right half of the
image (divided by a central vertical line).
All KODAK equipped cameras come with a sensor-specific pre-adjusted channel balance.
However in some cases it may be advantageous to carry out a fine adjustment
with the so-called channel balance.
To carry out an adjustment in an advanced register: see Table 155: Channel
balance register on page 305.
Channel adjustment with SmartView (>1.5)
Prerequisites:
• Test sheet with continuous b/w gradient
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Description of the data path
•
•
•
PIKE camera with defocused lens
PIKE color cameras set to RAW8 and RAW16
In case of using AOI, be aware that the middle vertical line (+/- 20
pixel) is part of the AOI.
To carry out an adjustment in SmartView, perform the following steps:
1.
In SmartView click Extras
Adjust channels... or use Alt+Ctrl+A.
The following window opens:
Figure 57: SmartView: channel adjustment
Note
Program button is only available for AVT factory.
L
2.
To perform an automatic channel adjustment, click on Do one-push
adjustment.
3.
If the adjustment is not sufficient, repeat this step or adjust by clicking
the arrow buttons.
The two channels are automatically adjusted. For the channel adjustment a
region from +/- 20 pixel around the middle vertical is taken into account.
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Description of the data path
before
after
Figure 58: Example of channel adjustment: PIKE F-032B
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Description of the data path
White balance
PIKE color cameras have both manual and automatic white balance. White
balance is applied so that non-colored image parts are displayed non-colored. From the user's point, the white balance settings are made in register
80Ch of IIDC V1.31. This register is described in more detail below.
Register
Name
Field
Bit
0xF0F0080C
WHITE_BALANCE Presence_Inq [0]
Description
Presence of this feature:
0: N/A
1: Available
Abs_Control
[1]
Absolute value control
O: Control with value in the Value field
1: Control with value in the Absolute
value CSR
If this bit=1, the value in the Value field
will be ignored.
-
[2..4]
Reserved
One_Push
[5]
Write 1: begin to work (self-cleared after
operation)
Read:
1: in operation
0: not in operation
If A_M_Mode = 1, this bit will be ignored.
ON_OFF
[6]
Write: ON or OFF this feature
Read: read a status
0: OFF
1: ON
A_M_MODE
[7]
Write: set mode
Read: read current mode
0: MANUAL
1: AUTO
U/B_Value
[8..19]
U/B value
This field is ignored when writing the
value in Auto or OFF mode.
If readout capability is not available, reading this field has no meaning.
V/R_Value
[20..31] V/R Value
This field is ignored when writing the
value in Auto or OFF mode.
If readout capability is not available, reading this field has no meaning.
Table 46: White balance register
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Description of the data path
The values in the U/B_Value field produce changes from green to blue; the
V/R_Value field from green to red as illustrated below.
Figure 59: U/V slider range
Type
Range
Range in dB
PIKE color cameras
0 ... 568
± 10 dB
Table 47: Manual gain range of the various PIKE types
The increment length is ~0.0353 dB/step.
One-push automatic white balance
To configure this feature in control and status register (CSR): See Table 46:
White balance register on page 115.
The camera automatically generates frames, based on the current settings of
all registers (GAIN, OFFSET, SHUTTER, etc.).
For white balance, in total 9 frames are processed. For the white balance
algorithm the whole image or a subset of it is used. The R-G-B component
values of the samples are added and are used as actual values for both the
one-push and the automatic white balance.
This feature uses the assumption that the R-G-B component sums of the samples shall be equal; i.e., it assumes that the average of the sampled grid pixels is to be monochrome.
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Description of the data path
Note
L
The following ancillary conditions should be observed for successful white balance:
•
•
There are no stringent or special requirements on the
image content, it requires only the presence of monochrome pixels in the image.
Automatic white balance can be started both during
active image capture and when the camera is in idle
state.
If the image capture is active (e.g. IsoEnable set in register 614h), the
frames used by the camera for white balance are also output on the 1394 bus.
Any previously active image capture is restarted after the completion of
white balance.
Automatic white balance can also be enabled by using an external trigger.
However, if there is a pause of >10 seconds between capturing individual
frames this process is aborted.
The following flow diagram illustrates the automatic white balance sequence.
Pause image
capture
Capture image
via one-shot
Repeat steps
nine times
Calculate and
set correction
values
Restart image
capture if
necessary
Figure 60: Automatic white balance sequence
Finally, the calculated correction values can be read from the
WHITE_BALANCE register 80Ch.
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Description of the data path
Automatic white balance
The auto white balance feature continuously optimizes the color characteristics of the image.
For the white balance algorithm the whole image or a subset of it is used.
To set position and size of the control area (Auto_Function_AOI) in an
advanced register: see Table 151: Advanced register for autofunction AOI on
page 301.
AUTOFNC_AOI affects the auto shutter, auto gain and auto white balance features and is independent of the Format7 AOI settings. If this feature is
switched off the work area position and size follow the current active image
size.
Within this area, the R-G-B component values of the samples are added and
used as actual values for the feedback.
The following drawing illustrates the AUTOFNC_AOI settings in greater detail.
AOI: X-size
0,0
AF_AREA_POSITION: Left,Top
AOI: Y-size
Sampling grid for Auto-Function
AF_AREA_SIZE: Height: n x 4
AF_AREA_SIZE: Width: n x 4
Figure 61: AUTOFNC_AOI positioning
The algorithm is based on the assumption that the R-G-B component sums of
the samples are equal, i.e., it assumes that the mean of the sampled grid pixels is to be monochrome.
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Auto shutter
In combination with auto white balance, PIKE cameras are equipped with
auto-shutter feature.
When enabled, the auto shutter adjusts the shutter within the default shutter
limits or within those set in advanced register F1000360h in order to reach
the reference brightness set in auto exposure register. Target grey level
parameter in SmartView corresponds to Auto_exposure register 0xF0F00804
(IIDC). Increasing the auto exposure value increases the average brightness
in the image and vice versa.
The applied algorithm uses a proportional plus integral controller (PI controller) to achieve minimum delay with zero overshot.
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To configure this feature in control and status register (CSR):
Register
Name
Field
Bit
Description
0xF0F0081C
SHUTTER
Presence_Inq [0]
Presence of this feature:
0: N/A
1: Available
Abs_Control
[1]
Absolute value control
O: Control with value in the Value field
1: Control with value in the Absolute value CSR
If this bit=1, the value in the Value field will be
ignored.
-
[2..4]
Reserved
One_Push
[5]
Write 1: begin to work (self-cleared after operation)
Read:
1: in operation
0: not in operation
If A_M_Mode = 1, this bit will be ignored.
ON_OFF
[6]
Write: ON or OFF this feature
Read: read a status
0: OFF
1: ON
A_M_MODE
[7]
Write: set mode
Read: read current mode
0: MANUAL
1: AUTO
-
[8..19]
Reserved
Value
[20..31]
Read/Write Value
This field is ignored when writing the value in
Auto or OFF mode.
If readout capability is not available, reading
this field has no meaning.
Table 48: Shutter CSR
To configure auto shutter control in an advanced register: See Table 149:
Auto shutter control advanced register on page 299.
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Auto gain
All PIKE cameras are equipped with auto gain feature.
To configure this feature in an advanced register: See Table 150: Advanced
register for auto gain control on page 300.
When enabled auto gain adjusts the gain within the default gain limits or
within the limits set in advanced register F1000370h in order to reach the
brightness set in auto exposure register as reference.
Increasing the auto exposure value increases the average brightness in the
image and vice versa.
The applied algorithm uses a proportional plus integral controller (PI controller) to achieve minimum delay with zero overshot.
The following table shows both the gain and auto exposure CSR.
Register
Name
Field
Bit
Description
0xF0F00820
GAIN
Presence_Inq
[0]
Presence of this feature:
0: N/A
1: Available
Abs_Control
[1]
Absolute value control
O: Control with value in the value field
1: Control with value in the absolute
value CSR
If this bit=1 the value in the value field
has to be ignored.
-
[2..4]
Reserved
One_Push
[5]
Write: Set bit high to start
Read: Status of the feature:
Bit high: WIP
Bit low: Ready
ON_OFF
[6]
Write: ON or OFF this feature
Read: read a status
0: OFF
1: ON
A_M_MODE
[7]
Write: set mode
Read: read current mode
0: MANUAL
1: AUTO
-
[8..19]
reserved
Value
[20..31] Read/Write Value
This field is ignored when writing the
value in Auto or OFF mode.
If readout capability is not available,
reading this field has no meaning.
Table 49: Gain
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Register
Name
Field
Bit
Description
0xF0F00804
AUTO_EXPOSURE Presence_Inq
[0]
Presence of this feature:
0: N/A
1: Available
Abs_Control
[1]
Absolute value control
O: Control with value in the value field
1: Control with value in the absolute
value CSR
If this bit=1 the value in the value field
has to be ignored.
-
[2..4]
Reserved
One_Push
[5]
Write: Set bit high to star
Read: Status of the feature:
Bit high: WIP
Bit low: Ready
ON_OFF
[6]
Write: ON or OFF this feature
Read: read a status
0: OFF
1: ON
A_M_MODE
[7]
Write: set mode
Read: read current mode
0: MANUAL
1: AUTO
-
[8..19]
Reserved
Value
[20..31] Read/Write Value
This field is ignored when writing the
value in Auto or OFF mode.
If readout capability is not available,
reading this field has no meaning.
Table 50: Auto Exposure CSR
To configure auto gain control in an advanced register: See Table 150:
Advanced register for auto gain control on page 300.
Note
•
L
•
•
Values can only be changed within the limits of gain
CSR.
Changes in auto exposure register only have an effect
when auto gain is active.
Auto exposure limits are 50..205. (SmartView Ctrl1
tab: Target grey level)
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Manual gain
PIKE cameras are equipped with a gain setting, allowing the gain to be manually adjusted on the fly by means of a simple command register write.
The following ranges can be used when manually setting the gain for the analog video signal:
Type
Range
Range in dB
PIKE color cameras
0 ... 565
0 ... 20 dB
PIKE b/w cameras
1 ... 630
0 ... 22 dB
PIKE F-145B
0 ... 900
0 ... 32 dB
PIKE F-145C
0 ... 900
0 ... 32 dB
PIKE F-145B-15fps
0 ... 900
0 ... 32 dB
PIKE F-145C-15fps
0 ... 900
0 ... 32 dB
PIKE F-505B
0 ... 670
0 ... 24 dB
PIKE F-505C
0 ... 670
0 ... 24 dB
Table 51: Manual gain range of the various PIKE types
The increment length is ~0.0353 dB/step.
The increment length for the PIKE F-145B/C is ~0.0358 dB/step.
The increment length for the PIKE F-145B/C-15fps is ~0.0358 dB/step.
The increment length for the PIKE F-505B/C is ~0.0359 dB/step.
Note
•
L
•
Setting the gain does not change the offset (black
value)
A higher gain produces greater image noise. This
reduces image quality. For this reason, try first to
increase the brightness, using the aperture of the camera optics and/or longer shutter settings.
Brightness (black level or offset)
It is possible to set the black level in the camera within the following ranges:
0 ... +16 gray values (@ 8 bit)
Increments are in 1/16 LSB (@ 8 bit)
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Note
•
L
Setting the gain does not change the offset (black
value).
The IIDC register brightness at offset 800h is used for this purpose.
The following table shows the BRIGHTNESS register.
Register
Name
Field
Bit
Description
0xF0F00800
BRIGHTNESS
Presence_Inq
[0]
Presence of this feature:
0: N/A
1: Available
Abs_Control
[1]
Absolute value control
O: Control with value in the value
field
1: Control with value in the absolute
value CSR
If this bit= 1 the value in the value
field has to be ignored
-
[2..4]
Reserved
One_Push
[5]
Write: Set bit high to start
Read: Status of the feature:
Bit high: WIP
Bit low: Ready
ON_OFF
[6]
Write ON or OFF this feature ON=1
Read: Status of the feature OFF=0
A_M_MODE
[7]
Set bit high for Auto feature Read for
Mode; 0= MANUAL; 1= AUTO
-
[8..19]
Reserved
Value
[20..31]
Read/Write Value; this field is
ignored when writing the value in
Auto or OFF mode; if readout capability is not available reading this field
has no meaning
Table 52: Brightness
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Horizontal mirror function
All PIKE cameras are equipped with an electronic mirror function, which mirrors pixels from the left side of the image to the right side and vice versa.
The mirror is centered to the actual FOV center and can be combined with all
image manipulation functions, like binning, shading and DSNU.
This function is especially useful when the camera is looking at objects with
the help of a mirror or in certain microscopy applications.
To configure this feature in an advanced register: See Table 154: Mirror control register on page 304.
Note
L
The use of the mirror function with color cameras and image
output in RAW format has implications on the BAYERordering of the colors.
Mirror OFF: R-G-G-B for Pike 145C
Mirror ON: G-R-B-G Pike 145 C
Mirror OFF: G-R-G-B for all other Pikes
Mirror ON: R-G-G-B for all other Pikes
Figure 62: Mirror and Bayer order
Note
During switchover one image may be temporarily corrupted.
L
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Shading correction
Shading correction is used to compensate for non-homogeneities caused by
lighting or optical characteristics within specified ranges.
To correct a frame, a multiplier from 1...2 is calculated for each pixel in
1/256 steps: this allows for shading to be compensated by up to 50%.
Besides generating shading data off-line and downloading it to the camera,
the camera allows correction data to be generated automatically in the camera itself.
Note
•
L
•
•
Shading correction does not support the mirror function.
If you use shading correction, don’t change the mirror
function.
Due to binning and sub-sampling in the Format_7
modes read the following hints to build shading image
in Format_7 modes.
Building shading image in Format_7 modes
horizontal
vertical
Binning/sub-sampling is always done after shading correction. Shading is
always done on full horizontal resolution. Therefore shading image has
always to be built in full horizontal resolution.
Binning/sub-sampling is done in the sensor, before shading correction.
Therefore shading image has to be built in the correct vertical resolution.
Note
L
Build shading image always with the full horizontal resolution (0 x horizontal binning / 0 x horizontal sub-sampling), but with the desired vertical binning/subsampling.
First example
4 x horizontal binning, 2 x vertical binning
build shading image with 0 x horizontal binning and 2 x vertical binning
Second example
2 out of 16 horizontal sub-sampling, 2 out of 8 vertical sub-sampling
build shading image with 0 x horizontal binning and 2 out of 8 vertical
sub-sampling
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How to store shading image
There are two storing possibilities:
• After generating the shading image in the camera, it can be uploaded to
the host computer for nonvolatile storage purposes.
• The shading image can be stored in the camera itself.
The following pictures describe the process of automatic generation of correction data (PIKE F-032C). Surface plots and histograms were created using
the ImageJ program.
255.0
surface plot
0.0
p
0.0
48
ls
ixe
640.
histogram
0
els
0 pix
256
Count: 307200
Mean: 135.337
StdDev. 30.497
Min: 79
Max. 19
Mode: 88 (4200)
Figure 63: Shading correction: Source image with non-uniform illumination
•
•
•
On the left you see the source image with non-uniform illumination.
The surface plot on the right clearly shows a gradient of the brightness
(0: brightest
255: darkest pixels).
The histogram shows a wide band of gray values.
By defocusing the lens, high-frequency image data is removed from the
source image, therefore its not included in the shading image.
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Automatic generation of correction data
Requirements
Shading correction compensates for non-homogeneities by giving all pixels
the same gray value as the brightest pixel. This means that only the background must be visible and the brightest pixel has a gray value of less than
255 when automatic generation of shading data is started.
It may be necessary to use a neutral white reference, e.g. a piece of paper,
instead of the real image.
Algorithm
After the start of automatic generation, the camera pulls in the number of
frames set in the GRAB_COUNT register. Recommended values are 2, 4, 8, 16,
32, 64, 128 or 256. An arithmetic mean value is calculated from them (to
reduce noise).
After this, a search is made for the brightest pixel in the mean value frame.
The brightest pixel(s) remain unchanged. A factor is then calculated for each
pixel to be multiplied by, giving it the gray value of the brightest pixel.
All of these multipliers are saved in a shading reference image. The time
required for this process depends on the number of frames to be calculated
and on the resolution of the image.
Correction alone can compensate for shading by up to 50% and relies on full
resolution data to minimize the generation of missing codes.
How to proceed:
Set GrabCount to # of
desired frames
Set BuildImage Flag to true
Poll SHGD_Control
Register until Busy and
BuildImage Flag are
resetted
Figure 64: Automatic generation of a shading image
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To configure this feature in an advanced register: See Table 144: Shading
control register on page 293.
Note
•
The SHDG_CTRL register should not be queried at very
short intervals. This is because each query delays the
generation of the shading image. An optimal interval
time is 500 ms.
•
The calculation of shading data is always carried out at
the current resolution setting. If the AOI is later larger
than the window in which correction data was calculated, none of the pixels lying outside are corrected.
For Format_7 mode, it is advisable to generate the
shading image in the largest displayable frame format.
This ensures that any smaller AOIs are completely covered by the shading correction.
The automatic generation of shading data can also be
enabled when image capture is already running. The
camera then pauses the running image capture for the
time needed for generation and resumes after generation is completed.
Shading correction can be combined with the image
mirror and gamma functionality.
Changing binning modes involves the generation of
new shading reference images due to a change in the
image size.
L
Note
L
•
•
•
•
After the lens has been focused again the image below will be seen, but now
with a considerably more uniform gradient.
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255.0
surface plot
0.0
p
0.0
48
ls
ixe
histogram
0p
640.
ixels
0
256
Count: 307200
Mean: 157.039
StdDev: 2.629
Min: 139
Max: 162
Mode: 158 (84449)
Figure 65: Example of shaded image
•
•
•
On the left you see the image after shading correction.
The surface plot on the right clearly shows nearly no more gradient of
the brightness (0: brightest
255: darkest pixels). The remaining gradient is related to the fact that the source image is lower than 50% on
the right hand side.
The histogram shows a peak with very few different gray values.
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Loading a shading image out of the camera
GPDATA_BUFFER is used to load a shading image out of the camera. Because
the size of a shading image is larger than GPDATA_BUFFER, input must be
handled in several steps:
Query limits from
register:
SHDG_INFO and
GPDATA_INFO
Set EnableMemRD
to true (1)
Set AddrOffset to 0
Read n databytes
of
GPDATA_BUFFER
Increase
AddrOffset by n
bytes
Repeat steps until
all data is read
Check
EnableMemRD for
no change
Set EnableMemRD
to false (0)
Figure 66: Uploading shading image to host
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Loading a shading image into the camera
GPDATA_BUFFER is used to load a shading image into the camera. Because
the size of a shading image is larger than GPDATA_BUFFER, input must be
handled in several steps (see also Chapter Reading or writing shading image
from/into the camera on page 294):
Query limits from
register:
SHDG_INFO and
GPDATA_INFO
Set EnableMemWR
to true (1)
Set AddrOffset to 0
Write n databytes
in
GPDATA_BUFFER
Increase
AddrOffset by n
bytes
Repeat steps until
all data is written
Check
EnableMemWR for
no change
Set EnableMemWR
to false (0)
Figure 67: Loading the shading reference image
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Look-up table (LUT) and gamma function
The AVT PIKE camera provides sixteen (0-15) user-defined look-up tables
(LUT). The use of one LUT allows any function (in the form Output = F(Input))
to be stored in the camera's RAM and to be applied on the individual pixels
of an image at run-time.
The address lines of the RAM are connected to the incoming digital data,
these in turn point to the values of functions which are calculated offline,
e.g. with a spreadsheet program.
This function needs to be loaded into the camera's RAM before use.
One example of using an LUT is the gamma LUT:
There are two gamma LUTs (gamma=0.7 and gamma=0.45)
Output = (Input)0.7 and Output = (Input)0.45
These two gamma LUTs are used with all PIKE models.
It is known as compensation for the nonlinear brightness response of many
displays e.g. CRT monitors. The look-up table converts the incoming 14 bits
from the digitizer to outgoing up to 14 bits.
Output = f (Input)
Pike, gamma=0.45
Pike, gamma=0.7
16000
14000
12000
Output
10000
8000
6000
4000
2000
0
0
2000
4000
6000
8000
10000
12000
14000
16000
Input
Figure 68: LUTs with gamma=0.45, gamma=0.7
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Note
L
•
•
•
•
The input value is the 14-bit value from the digitizer.
The two gamma LUTs use LUT 14 and 15.
Gamma 1 (gamma=0.7) switches on LUT 14, gamma 2
(gamma=0.45) switches on LUT 15. After overriding
LUT 14 and 15 with a user defined content, gamma
functionality is no longer available until the next full
initialization of the camera.
LUT content is volatile if you do not use the user profiles to save the LUT.
Loading an LUT into the camera
Loading the LUT is carried out through the data exchange buffer called
GPDATA_BUFFER. As this buffer can hold a maximum of 2 kB, and a complete
LUT at 16384 x 14 bit is 28 kByte, programming can not take place in a one
block write step because the size of an LUT is larger than GPDATA_BUFFER.
Therefore input must be handled in several steps. The flow diagram below
shows the sequence required to load data into the camera.
Query limits from
register:
LUT_INFO and
GPDATA_INFO
Set EnableMemWR
to true (1)
Set AddrOffset to 0
Write n databytes
in
GPDATA_BUFFER
Offset is increased
in camera after n
bytes are written
Repeat steps until
all data is written
Check
EnableMemWR for
no change
Set EnableMemWR
to false (0)
Figure 69: Loading an LUT
To configure this feature in an advanced register: See Table 143: LUT control
register on page 290.
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Binning (only PIKE b/w models)
2 x / 4 x / 8 x binning
Definition
Binning is the process of combining neighboring pixels while being read out
from the CCD chip.
Note
L
•
•
Only PIKE b/w cameras have this feature.
Binning does not change offset, brightness or blacklevel.
Binning is used primarily for 3 reasons:
• a reduction in the number of pixels and thus the amount of data while
retaining the original image area angle
• an increase in the frame rate (vertical binning only)
• a brighter image, also resulting in an improvement in the signal-tonoise ratio of the image
Signal-to-noise ratio (SNR) and signal-to-noise separation specify the
quality of a signal with regard to its reproduction of intensities. The value
signifies how high the ratio of noise is in regard to the maximum achievable
signal intensity.
The higher this value, the better the signal quality. The unit of measurement
used is generally known as the decibel (dB), a logarithmic power level. 6 dB
is the signal level at approximately a factor of 2.
However, the advantages of increasing signal quality are accompanied by a
reduction in resolution.
Only Format_7
Binning is possible only in video Format_7. The type of binning used
depends on the video mode.
Note
L
Types
Changing binning modes involves the generation of new
shading reference images due to a change in the image size.
In general, we distinguish between six types of binning (H=horizontal,
V=vertical):
• 2 x H-binning
• 2 x V-binning
• 4 x H-binning
• 4 x V-binning
• 8 x H-binning
• 8 x V-binning
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and the full binning modes:
• 2 x full binning (a combination of 2 x H-binning and 2 x V-binning)
• 4 x full binning (a combination of 4 x H-binning and 4 x V-binning)
• 8 x full binning (a combination of 8 x H-binning and 8 x V-binning)
Vertical binning
Vertical binning increases the light sensitivity of the camera by a factor of
two (4 or 8) by adding together the values of two (4 or 8) adjoining vertical
pixels output as a single pixel. This is done directly in the horizontal shift
register of the sensor.
Format_7 Mode_2
By default and without further remapping use Format_7 Mode_2 for
2 x vertical binning.
This reduces vertical resolution, depending on the model.
2 x vertical binning
4 x vertical binning
Figure 70: 2 x vertical binning and 4 x vertical binning
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8 x vertical binning
Figure 71: 8 x vertical binning
Note
L
Note
L
Vertical resolution is reduced, but signal-to noise ratio
(SNR) is increased by about 3, 6 or 9 dB (2 x, 4 x or 8 x binning).
If vertical binning is activated the image may appear to be
over-exposed and may require correction.
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Note
L
The image appears vertically compressed in this mode and
no longer exhibits a true aspect ratio.
Horizontal binning
In horizontal binning adjacent horizontal pixels in a line are combined digitally in the FPGA of the camera without accumulating the black level:
2 x horizontal binning: 2 pixel signals from 2 horizontal neighboring pixels
are combined.
4 x horizontal binning: 4 pixel signals from 4 horizontal neighboring pixels
are combined.
8 x horizontal binning: 8 pixel signals from 8 horizontal neighboring pixels
are combined.
Light sensitivity
Horizontal
resolution
Format_7 Mode_1
This means that in horizontal binning the light sensitivity of the camera is
also increased by a factor of two (6 dB), 4 (12 dB) or 8 (18 dB). Signal-tonoise separation improves by approx. 3, 6 or 9 dB.
Horizontal resolution is lowered, depending on the model.
By default and without further remapping use Format_7 Mode_1 for
2 x horizontal binning.
2 x horizontal binning
4 x horizontal binning
Figure 72: 2 x horizontal binning and 4 x horizontal binning
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8 x horizontal binning
Figure 73: 8 x horizontal binning
Note
L
The image appears horizontally compressed in this mode
and does no longer show true aspect ratio.
If horizontal binning is activated the image may appear to
be over-exposed and must eventually be corrected.
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2 x full binning/4 x full binning/8 x full binning
If horizontal and vertical binning are combined, every 4 (16 or 64) pixels are
consolidated into a single pixel. At first two (4 or 8) horizontal pixels are put
together and then combined vertically.
This increases light sensitivity by a total of a factor of 4 (16 or 64) and at
the same time signal-to-noise separation is improved by about 6 (12 or 18)
dB. Resolution is reduced, depending on the model.
By default and without further remapping use Format_7 Mode_3 for
2 x full binning.
2 x full binning
4 x full binning
Figure 74: 2 x and 4 x full binning
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8 x full binning
Figure 75: 8 x full binning
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Sub-sampling (PIKE b/w and color)
What is sub-sampling?
Definition
Sub-sampling is the process of skipping neighboring pixels (with the same
color) while being read out from the CCD chip.
Which PIKE models have sub-sampling?
All PIKE models, both color and b/w, have this feature.
Description of sub-sampling
Sub-sampling is used primarily for the following reason:
• A reduction in the number of pixels and thus the amount of data while
retaining the original image area angle and image brightness
Similar to binning mode the cameras support horizontal, vertical and h+v
sub-sampling mode.
Format_7 Mode_4
By default and without further remapping use Format_7 Mode_4 for
• b/w cameras: 2 out of 4 horizontal sub-sampling
• color cameras: 2 out of 4 horizontal sub-sampling
The different sub-sampling patterns are shown below.
2 out of 4
2 out of 8
2 out of 16
Figure 76: Horizontal sub-sampling (b/w)
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2 out of 4
2 out of 8
2 out of 16
Figure 77: Horizontal sub-sampling (color)
Note
L
The image appears horizontally compressed in this mode
and no longer exhibits a true aspect ratio.
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Format_7 Mode_5
By default and without further remapping use Format_7 Mode_5 for
• b/w cameras: 2 out of 4 vertical sub-sampling
• color cameras: 2 out of 4 vertical sub-sampling
The different sub-sampling patterns are shown below.
2 out of 4
2 out of 8
2 out of 16
Figure 78: Vertical sub-sampling (b/w)
2 out of 4
2 out of 8
2 out of 16
Figure 79: Vertical sub-sampling (color)
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Note
L
Format_7 Mode_6
The image appears vertically compressed in this mode and no
longer exhibits a true aspect ratio.
By default and without further remapping use Format_7 Mode_6 for
2 out of 4 H+V sub-sampling
The different sub-sampling patterns are shown below.
2 out of 4 H+V sub-sampling
Figure 80: 2 out of 4 H+V sub-sampling (b/w)
2 out of 8 H+V sub-sampling
Figure 81: 2 out of 8 H+V sub-sampling (b/w)
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2 out of 16 H+V sub-sampling
Figure 82: 2 out of 16 H+V sub-sampling (b/w)
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2 out of 4 H+V sub-sampling
Figure 83: 2 out of 4 H+V sub-sampling (color)
2 out of 8 H+V sub-sampling
Figure 84: 2 out of 8 H+V sub-sampling (color)
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Description of the data path
2 out of 16 H+V sub-sampling
Figure 85: 2 out of 16 H+V sub-sampling (color)
Note
L
Changing sub-sampling modes involves the generation of new
shading reference images due to a change in the image size.
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Description of the data path
Binning and sub-sampling access
The binning and sub-sampling modes described in the last two chapters are
only available as pure binning or pure sub-sampling modes. A combination
of both is not possible.
As you can see there is a vast amount of possible combinations. But the number of available Format_7 modes is limited and lower than the possible combinations.
Thus access to the binning and sub-sampling modes is implemented in the
following way:
• Format_7 Mode_0 is fixed and can not be changed
• A maximum of 7 individual AVT modes can be mapped to Format_7
Mode_1 to Mode_7
(see Figure 86: Mapping of possible Format_7 modes to F7M1...F7M7 on
page 150)
• Mappings can be stored via register (see Chapter Format_7 mode mapping on page 310) and are uploaded automatically into the camera on
camera reset.
• The default settings (per factory) in the Format_7 modes are listed in
the following table
Format_7
PIKE monochrome cameras Format_7
PIKE color cameras Format_7
Mode_0
full resolution, no binning,
no sub-sampling
full resolution, no sub-sampling
Mode_1
2 x horizontal binning
--
Mode_2
2 x vertical binning
--
Mode_3
2 x full binning
--
Mode_4
2 out of 4 horizontal sub-sampling
2 out of 4 horizontal sub-sampling
Mode_5
2 out of 4 vertical sub-sampling
2 out of 4 vertical sub-sampling
Mode_6
2 out of 4 full sub-sampling
2 out of 4 full sub-sampling
Table 53: Default Format_7 binning and subsampling modes (per factory)
Note
•
L
•
A combination of binning and sub-sampling modes is
not possible. Use either pure binning or pure sub-sampling modes.
The Format_ID numbers 0...31 in the binning/sub-sampling list do not correspond to any of the Format_7
modes.
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Description of the data path
F7M5
F7M6
F7M7
8 x horizontal
4
0 x horizontal
5
2 x horizontal
6
4 x horizontal
7
8 x horizontal
8
0 x horizontal
9
2 x horizontal
10
4 x horizontal
11
8 x horizontal
12
0 x horizontal
13
2 x horizontal
14
4 x horizontal
15
8 x horizontal
16
2 out of 2 horizontal
17
2 out of 4 horizontal
18
2 out of 8 horizontal
19
2 out of 16 horizontal
20
2 out of 2 horizontal
21
2 out of 4 horizontal
22
2 out of 8 horizontal
23
2 out of 16 horizontal
24
2 out of 2 horizontal
25
2 out of 4 horizontal
26
2 out of 8 horizontal
27
2 out of 16 horizontal
28
2 out of 2 horizontal
29
2 out of 4 horizontal
30
2 out of 8 horizontal
31
2 out of 16 horizontal
2 x vertical
(only b/w cameras)
3
0 x vertical
g
4 x horizontal
4 x vertical
n
2
n i
F7M4
mapping of
each of 32 modes
to F7M1..F7M7
possible
2 x horizontal
n
F7M3
1
i
F7M2
0 x horizontal
8 x vertical
2 out of 2 vertical
2 out of 4 vertical
2 out of 8 vertical
2 out of 16 vertical
b
F7M1
0
(color and b/w)
F7M0 (no change)
AVT modes
s u b - s a m p l i n g
Format_ID (see p310)
F7 modes
according to IIDC 1394
Figure 86: Mapping of possible Format_7 modes to F7M1...F7M7
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Description of the data path
Quick parameter change timing modes
Why new timing modes?
Former timing of the PIKE cameras showed the same behavior as MARLIN
cameras:
• Frame rate or transfer rate is always constant (precondition:
shutter < transfer time)
• The delay from shutter update until the change takes place: up to 3
frames. Figure 87: Former standard timing on page 151 demonstrates
this behavior. It shows that the camera receives a shutter update command while the sensor is currently integrating (Sync is low) with shutter
setting 400. The camera continues to integrate and this image is output
with the next FVal. The shutter change command becomes effective with
the next falling edge of sync and finally the image taken with shutter
200 is output with a considerable delay.
• Parameters that are sent to the camera faster than the max. frame rate
per second are stored in a FIFO and are activated in consecutive images.
Shutter Update Command
Current Charge Time
400
continues integrating
Sync
FVal
with shutter eg 400
200
integrates image
with shutter 200
outputs image
with shutter 400
outputs image
with shutter 200
Figure 87: Former standard timing
Principally a PIKE camera is not able to recognize how many parameter the
user will change. Due to the fact that communication between host and camera is asynchronous, it may happen that one part of parameter changes is
done in image n+1 and the other part is done in image n+2.
To optimize the transfer of parameter changes there is a new timing mode
called Quick Format Change Mode, which effectively resets the current shutter.
Therefore you can choose between the following update timing modes:
• Standard Parameter Update Timing (slightly modified from previous
PIKE cameras)
• New: Quick Format Change Mode
In the following you find a short description of both timing modes:
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Standard Parameter Update Timing
The Standard Parameter Update Timing keeps the frame rate constant and
does not create any gaps between two image transfers via bus (precondition:
exposure (shutter) time must be smaller than transfer time).
• Frame rate / transfer rate is always constant
(if shutter time < transfer time)
• Delay from shutter update until change takes place is always 2 frames
(delay from update command reception by FPGA and not by microcontroller)
• Parameters sent to the camera faster than max. frame rate are no longer
stored in a FIFO. The last sent parameter will be activated for the next
image. All others will be dropped. This ensures that the last image is
shot with the last shutter setting.
New: Quick Format Change Mode (QFCM)
The Quick Format Change Mode creates gaps between two images. Current
exposure is interrupted and the new exposure is started immediately with
new parameters if during exposure (integration/shutter) an new shutter command is received.
• Frame rate / transfer rate can be interrupted. This is shown in the diagram below whenever FVal goes low after a reception of a new shutter
command while Sync was low.
• Shutter will be interrupted, if the update command is received while
camera integrates
• Delay from shutter update until change takes place is always 1 frame
(the delay is calculated from update command reception by FPGA and
not by microcontroller)
Figure 88: Quick Format Change Mode
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How to transfer parameters to the camera
The following 3 variants of transferring the parameters are available with the
firmware 3.x:
Transfer mode
Advantage ☺
Encapsulated Update (begin/
end)
☺ easy to use (standard quad
writes in camera register is
possible)
one write access per register
access
Parameter-List Update
☺ only one write access for all
parameters
not so easy to use (block
writes)
☺ fastest host camera transfer
(from 5 parameters on faster
than encapsulated mode)
max. 64 entries for parameter
list
Disadvantage
☺ handling of parameter list
easy
Standard Update (IIDC)
☺ compliant with IIDC V1.31
non deterministic change of
parameters
Table 54: Comparison of 3 transfer modes
In the following you find a short description of each variant:
Encapsulated Update (begin/end)
The Encapsulated Update (begin/end) has the following characteristics:
• Host will set a parameter update begin flag in the camera
• Host will send several parameters to the camera and then signalize end
by resetting the flag
• All parameters will become active for the same next image
• Dependent on timing mode, the camera
– (standard Update): uses the previous parameters until the update
flag is reset
– (Quick Format Change Mode): waits until the update flag is reset.
In the Encapsulated Update (begin/end) the exact sequence is:
1.
Parameter update begin (advanced feature register)
2.
Standard IIDC register update (1..N register) (standard feature register)
3.
Parameter update end (advanced feature register)
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Camera timing behavior is like this:
Fast Parameter Update Timing
Quick Format Change Mode
After the parameter update stop command all
changed parameters are valid for the available
next image. Frame rate is constant.
After the parameter update start command a current transfer is interrupted. A started exposure
will be interrupted until the next parameter
update stop command. Exposure of the next image
with new parameters is started.
There may be a gap between two succeeding
images but images are always transmitted compeletely.
Table 55: Encapsulated Update (begin/end): comparison of standard timing and fast timing 2
If after end of time-out (10 seconds after Quick Format Change Mode) no
parameter update end is sent, all changes will become valid.
A new write event of parameter update begin starts time-out again.
Parameter-List Update
In the Parameter-List Update mode a complete list with IIDC addresses and
values of up to 64 parameters is sent to the camera.
• Host sends a list with parameters to the camera (advanced feature
space)
• Microcontroller processes that list
• All parameters will become active for the same image
• Dependent on timing mode, the camera will:
– Standard Format Change Mode: use the previous parameters until
the new parameter set is copied to the FPGA
– Quick Format Change Mode (QFCM): waits until all parameters have
been copied to the FPGA and may interrupt an already started integration for a new integration with the new settings
Example of parameter list:
Address
Value
0xF0F0081C
0x80000100
0xF0F00820
0x800000ac
0xF0F00818
0x82000001
...
...
Table 56: Example of parameter list
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Description of the data path
The exact sequence is:
Block-write (this needs to be a functionality of the underlying software stack
(e.g. AVT FirePackage). It may not be available for third party IIDC software
stacks.) of list to advanced feature address
Camera timing behavior is like this:
Fast Parameter Update Timing
Quick Format Change Mode (QFCM)
After block write command is processed in the
camera all changed parameters are valid for the
available next image. Frame rate is constant.
After transfer of the parameter list via block write
a current transfer will be finished. A started exposure will be interrupted until the microcontroller
has processed the list and copied it into the FPGA.
Exposure of the next image with new parameters
is started.
There may be a gap between two images.
Table 57: Parameter-List Update: comparison of standard timing and QFCM
Standard Update (IIDC)
In the Standard Update (IIDC) mode single parameter are sent to the camera.
• Standard Update (IIDC)shows same behavior as MARLIN
• Parameter will be sent from host to camera and will be activated as soon
as possible without interruption of the transfer
• If the host updates more than one parameter (without block write) the
parameters may become active in different images
• Standard Update (IIDC) can be combined with the new parameter
update timing modes
Camera timing behavior is like this:
Fast Parameter Update Timing
Quick Format Change Mode (QFCM)
After sending a new parameter value, the changed After sending a new parameter value, the changed
parameter value is valid for the available next
parameter value is valid for the available next
image. Frame rate is constant.
image.
A running exposure will be interrupted and the
image is dropped.
There may be a gap between two consecutive
image transfers.
Table 58: Standard Update (IIDC): comparison of Standard Format Change Mode and QFCM
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Packed 12-Bit Mode
All PIKE cameras have the so-called Packed 12-Bit Mode. This means: two
12-bit pixel values are packed into 3 bytes instead of 4 bytes.
B/w cameras
Color cameras
Packed 12-Bit MONO camera mode
Packed 12-Bit RAW camera mode
SmartView: MONO12
SmartView: RAW12
Mono and raw mode have the same implementation.
Table 59: Packed 12-Bit Mode
Note
L
For data block packet format see Table 43: Packed 12-Bit
Mode (mono and raw) Y12 format on page 108.
For data structure see Table 44: Data structure of Packed 12Bit Mode (mono and raw) on page 109.
The color codings are implemented via Vendor Unique Color_Coding according to IIDC V1.31: COLOR_CODING_INQ @ 024h...033h, IDs=128-255)
See Table 132: Format_7 control and status register on page 276.
Mode
Color_Coding
ID
Packed 12-Bit MONO
ECCID_MONO12
ID=132
Packed 12-Bit RAW
ECCID_RAW12
ID=136
Table 60: Packed 12-Bit Mode: color coding
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High SNR mode (High Signal Noise Ratio)
To configure this feature in an advanced register: See Table 157: High Signal
Noise Ratio (HSNR) on page 306.
In this mode the camera grabs and averages a set number of images and outputs one image with the same bit depth and the same brightness. This means
that the camera will output an 8-bit averaged image when an 8-bit image
format is selected.
Because of the fact that normally uncorrelated (photon-, amplifier-) noise
dominates over correlated noise (fixed pattern noise), adding two images
will double (6 dB) the gray levels but only increase the noise levels by 2
(3 dB).
This enhances both the dynamic range as well as the signal-to-noise ratio.
Consequently adding 256 8-bit images will lead to a potential signal-to-noise
enhancement of 24 dB or a resulting bit depth of 16 bit.
Note
•
L
•
•
•
The averaged image is output at a lower frame rate
being exactly the fraction: frame rate/number of
images.
The camera must be in idle before turning this feature
on.
The potential SNR enhancement may be lower when
using more than 8-bit original bit depth.
Select 16-bit image format in order to take advantage
of the full potential SNR and DNR (DyNamic Range)
enhancements.
Frame memory and deferred image transport
An image is normally captured and transported in consecutive steps. The
image is taken, read out from the sensor, digitized and sent over the 1394
bus.
Deferred image transport
As all PIKE cameras are equipped with built-in image memory, this order of
events can be paused or delayed by using the deferred image transport feature.
PIKE cameras are equipped with 64 MB of RAM. The table below shows how
many frames can be stored by each model. The memory operates according
to the FIFO (first in, first out) principle. This makes addressing for individual
images unnecessary.
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Description of the data path
Model
Memory size
PIKE F-032B/C
PIKE F-032B/C fiber
PIKE F-100B/C
PIKE F-100B/C fiber
PIKE F-145B/C
PIKE F-145B/C fiber
PIKE F-145B/C-15fps
PIKE F-145B/C fiber-15fps
PIKE F-210B/C
PIKE F-210B/C fiber
PIKE F-421B/C
PIKE F-421B/C fiber
PIKE F-505B/C
PIKE F-505B/C fiber
105 frames
32 frames
22 frames
22 frames
15 frames
6 frames
5 frames
Table 61: FIFO memory size
Deferred image transport is especially useful for multi-camera applications:
Assuming several cameras acquire images concurrently. These are stored in
the built-in image memory of every camera. Until this memory is full, the limiting factor of available bus bandwidth, DMA- or ISO-channel is overcome.
Image transfer is controlled from the host computer by addressing individual
cameras one after the other and reading out the desired number of images.
Note
L
To configure this feature in an advanced register: See Table
146: Deferred image configuration register on page 296.
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HoldImg mode
By setting the HoldImg flag, transport of the image over the 1394 bus is
stopped completely. All captured images are stored in the internal
ImageFiFo. The camera reports the maximum possible number of images in
the FiFoSize variable.
Note
L
•
•
•
•
•
•
•
•
Pay attention to the maximum number of images that
can be stored in FiFo. If you capture more images than
the number in FiFoSize, the oldest images are overwritten.
The extra SendImage flag is set to true to import the
images from the camera. The camera sends the number
of images set in the NumOfImages parameter.
If NumOfImages is 0, all images stored in FIFO will be
sent.
If NumOfImages is not 0, the corresponding number of
images will be sent.
If the HoldImg field is set to false, all images in
ImageFIFO will be deleted. No images will be sent.
The last image in the FiFo will be corrupted, when
simultaneously used as input buffer while being read
out. In this case read out one image less than max.
buffer size.
NumOfImages is incremented after an image was read
out of the sensor and therefore stored into the onboard
image FIFO.
NumOfImages is decremented after the last isochronous packet of an image was handed over to the
IEEE1394 chipset of the camera.
The following screenshot shows the sequence of commands needed to work
with deferred mode.
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Description of the data path
Figure 89: Example: Controlling deferred mode (SmartView - Direct Access; PIKE F-032C)
For a description of the commands see the following table:
#
rw Address
10 rd
F1000260
Value
Description
82006900h Check how many images are left in FiFo
9
wr F1000260
86006901h Read out the second image of FiFo
8
rd
82006901h Check how many images are left in FiFo
7
wr F1000260
86006901h Read out the first image of FiFo
6
rd
82006902h Check that two images are in FiFo
5
wr F0F0061C
82000000h Do second one-shot
4
wr F0F0061C
82000000h Do first one-shot
3
wr F1000260
82006900h Switch deferred mode on
2
rd
80006900h Check pres. of deferred mode and FiFo size (69h
1
wr F0F00614
F1000260
F1000260
F1000260
105 frames)
00000000h Stop continuous mode of camera
Table 62: Example: Controlling deferred mode (SmartView - Direct Access; PIKE F-032C)
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FastCapture mode
Note
This mode can be activated only in Format_7.
L
By setting FastCapture to false, the maximum frame rate both for image
acquisition and read out is associated with the packet size set in the
BYTE_PER_PACKET register. The lower this value is, the lower the attainable
frame rate is.
By setting FastCapture to true, all images are recorded at the highest possible frame rate, i.e. the setting above does not affect the frame rate for the
image intake but only the read out. The speed of the image transport over
the 1394 bus can be defined via the BytesPerPacket register. This mode is
ideal for applications where a burst of images need to be recorded at the
highest sensor speed but the output can be at a lower frame frequency to
save bandwidth.
Similar to the HoldImg mode, captured images will be stored in the internal
image FIFO, if the transport over the 1394 bus is slower than images are captured.
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Color interpolation
(BAYER demosaicing)
The color sensors capture the color information via so called primary color
(R-G-B) filters placed over the individual pixels in a BAYER mosaic layout.
An effective BAYER RGB color interpolation already takes place in all PIKE
color version cameras.
In color interpolation a red, green or blue value is determined for each pixel.
An AVT proprietary BAYER demosaicing algorithm is used for this interpolation (max. 3x3), optimized for both sharpness of contours as well as reduction of false edge coloring.
x
Figure 90: Bayer demosaicing (example of 3x3 matrix)
Color processing can be bypassed by using so-called RAW image transfer.
RAW-mode is primarily used to
• save bandwidths on the IEEE 1394 bus
• achieve higher frame rates
• use different BAYER demosaicing algorithms on the PC (for Pike F-145
the first pixel of the sensor is RED, for all other Pikes the first pixel is
GREEN followed by RED).
Note
L
If the PC does not perform BAYER to RGB post-processing, the
b/w image will be superimposed with a checkerboard pattern.
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Sharpness
The PIKE color models are equipped with a two step sharpness control, applying a discreet horizontal high pass in the Y channel as shown in the next
three line profiles.
Sharpness 0, 1 and 2 is calculated with the following scheme:
Sharpness value
0
0
1
0
1
-0.25
+1.5
-0.25
2
-0.5
2
-0.5
Table 63: Sharpness scheme
Figure 91: Sharpness: left: 0, middle: 1, right: 2
Note
L
Sharpness does not show any effect on PIKE color models in
the Raw8 and Raw16 format, because color processing is put
off in all Raw formats.
To configure this feature in feature control register: See Table 130: Feature
control register on page 272.
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Hue and saturation
PIKE CCD color models are equipped with hue and saturation registers.
The hue register at offset 810h allows the color of objects to be changed
without altering the white balance, by +/- 40 steps (+/- 10°) from the nominal perception. Use this setting to manipulate the color appearance after
having carried out the white balance.
The saturation register at offset 814h allows the intensity of the colors to be
changed between 0 and 200% in steps of 1/256.
This means a setting of zero changes the image to black and white and a setting of 511 doubles the color intensity compared to the nominal one at 256.
To configure this feature in feature control register: See Table 130: Feature
control register on page 272.
Note
L
Hue and saturation do not show any effect on PIKE color
models in the Raw8 and Raw16 format, because color processing is switched off in all Raw formats.
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Color correction
Why color correction?
The spectral response of a CCD is different of those of an output device or
the human eye. This is the reason for the fact that perfect color reproduction
is not possible. In each PIKE camera there is a factory setting for the color
correction coefficients, see Chapter GretagMacbeth ColorChecker on page
165.
Color correction is needed to eliminate the overlap in the color channels. This
overlap is caused by the fact that:
• Blue light:
is seen by the red and green pixels on the CCD
• Red light:
is seen by the blue and green pixels on the CCD
• Green light: is seen by the red and blue pixels on the CCD
The color correction matrix subtracts out this overlap.
Color correction in AVT cameras
In AVT cameras the color correction is realized as an additional step in the
process from the sensor data to color output.
Color correction is used to harmonize colors for the human eye. With other
AVT (color) cameras so far, you had the opportunity to use it or to switch it
off.
PIKE cameras introduce for the first time the so-called color correction
matrix. This means: you are now able to manipulate the color-correction
coefficients yourself.
Color correction: formula
Before converting to the YUV format, color correction on all color models is
carried out after BAYER demosaicing via a matrix as follows:
red* = Crr × red + Cgr × green + Cbr × blue
green* = Crg × red + Cgg × green + Cbg × blue
blue* = Crb × red + Cgb × green + Cbb × blue
Formula 1: Color correction
GretagMacbeth ColorChecker
Sensor-specific coefficients Cxy are scientifically generated to ensure that
GretagMacbeth™ ColorChecker®-colors are displayed with highest color fidelity and color balance.
These coefficients are stored in user set 0 and can not be overwritten (factory
setting).
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Description of the data path
Changing color correction coefficients
You can change the color-correction coefficients according to your own
needs. Changes are stored in the user settings.
Note
If you need technical assistance, call the AVT support.
L
Note
•
L
•
•
•
•
•
•
A number of 1000 equals a color correction coefficient
of 1.
To obtain an identity matrix set values of 1000 for the
diagonal elements an 0 for all others. As a result you
get colors like in the RAW modes.
The sums of all rows should be equal to each other. If
not, you get tinted images.
Color correction values range -1000..+2000 and are
signed 32 bit.
In order for white balance to work properly ensure that
the row sum equals 1000.
Each row should sum up to 1000. If not, images are less
or more colorful.
The maximum row sum is limited to 2000.
To configure the color correction coefficients in an advanced register: See
Table 152: Color correction on page 303.
To change the color-correction coefficients in SmartView, go to Adv3 tab.
Switch color correction on/off
Color correction can also be switched off in YUV mode:
To configure this feature in an advanced register: See Table 152: Color correction on page 303.
Note
Color correction is deactivated in RAW mode.
L
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Color conversion (RGB
YUV)
The conversion from RGB to YUV is made using the following formulae:
Y =
0.3 × R + 0.59 × G + 0.11 × B
U = – 0.169 × R – 0.33 × G + 0.498 × B + 128 (@ 8 bit)
V = 0.498 × R – 0.420 × G – 0.082 × B + 128 (@ 8 bit)
Formula 2: RGB to YUV conversion
Note
•
L
•
As mentioned above: Color processing can be bypassed
by using so-called RAW image transfer.
RGB
YUV conversion can be bypassed by using RGB8
format and mode. This is advantageous for edge color
definition but needs more bandwidth (300% instead of
200% relative to b/w or RAW consumption) for the
transmission, so that the maximal frame frequency will
drop.
Bulk Trigger
See Chapter Trigger modi on page 173 and the following pages.
Level Trigger
See Trigger Mode 1 in Chapter Trigger modi on page 173.
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Description of the data path
Serial interface
All PIKE cameras are equipped with the SIO (serial input/output) feature as
described in IIDC V1.31. This means that the PIKE’s serial interface can be
used as a general RS232 interface.
Data written to a specific address in the IEEE 1394 address range will be sent
through the serial interface. Incoming data of the serial interface is put in a
camera buffer and can be polled via simple read commands from this buffer.
Controlling registers enable the settings of baud rates and the check of buffer
sizes and serial interface errors.
Note
L
•
•
Hardware handshaking is not supported.
Typical PC hardware does not usually support
230400 bps or more.
Base address for the function is: F0F02100h.
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Description of the data path
To configure this feature in access control register (CSR):
Offset
Name
Field
Bit
Description
000h
SERIAL_MODE_REG
Baud_Rate
[0..7]
Baud rate setting
WR: Set baud rate
RD: Read baud rate
0: 300 bps
1: 600 bps
2: 1200 bps
3: 2400 bps
4: 4800 bps
5: 9600 bps
6: 19200 bps
7: 38400 bps
8: 57600 bps
9: 115200 bps
10: 230400 bps
Other values reserved
Char_Length
[8..15]
Character length setting
WR: Set data length (7 or 8 bit)
RD: Get data length
7: 7 bits
8: 8 bits
Other values reserved
Parity
[16..17] Parity setting
WR: Set parity
RD: Get parity setting
0: None
1: Odd
2: Even
Stop_Bit
[18..19] Stop bits
WR: Set stop bit
RD: Get stop bit setting
0: 1
1: 1.5
2: 2
-
[20..23] Reserved
Buffer_Size_Inq [24..31] Buffer Size (RD only)
This field indicates the maximum size of
receive/transmit data buffer.
If this value=1, Buffer_Status_Control
and SIO_Data_Register Char 1-3 should
be ignored.
Table 64: Serial input/output control and status register (SIO CSR)
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Offset
Name
0004h
Field
Bit
Description
SERIAL_CONTROL_REG RE
[0]
Receive enable
RD: Current status
WR:
0: Disable
1: Enable
TE
[1]
Transmit enable
RD: Current status
WR:
0: disable
1: Enable
-
[2..7]
Reserved
TDRD
[8]
Transmit data buffer ready
Read only
0: not ready
1: ready
-
[9]
Reserved
RDRD
[10]
Receive data buffer ready
Read only
0: not ready
1: ready
-
[11]
Reserved
ORER
[12]
Receive data buffer overrun error
Read: current status
WR:
0: no error (to clear status)
1: Ignored
FER
[13]
Receive data framing error
Read: current status
WR:
0: no error (to clear status)
1: Ignored
PER
[14]
Receive data parity error
Read: current status
WR:
0: no error (to clear status)
1: Ignored
-
[15..31] Reserved
SERIAL_STATUS_REG
Table 64: Serial input/output control and status register (SIO CSR)
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Description of the data path
Offset
Name
Field
Bit
Description
008h
RECEIVE_BUFFER_
STATUS_CONTRL
RBUF_ST
[0..7]
SIO receive buffer status
RD: Number of bytes pending in receive
buffer
WR: Ignored
RBUF_CNT
[8..15]
SIO receive buffer control
RD: Number of bytes to be read from the
receive FiFo
WR: Number of bytes left for readout
from the receive FiFo
-
[16..31] Reserved
TBUF_ST
[0..7]
SIO output buffer status
RD: Space left in TX buffer
WR: Ignored
TBUF_CNT
[8..15]
SIO output buffer control
RD: Number of bytes written to transmit
FiFo
WR: Number of bytes to transmit
-
[16..31] Reserved
-
Reserved
00Ch
TRANSMIT_BUFFER_
STATUS_CONTRL
010h
..
0FFh
100h
104h
..
1FFH
SIO_DATA_REGISTER
CHAR_0
[0..7]
Character_0
RD: Read character from receive buffer
WR: Write character to transmit buffer
SIO_DATA_REGISTER
CHAR_1
[8..15]
Character_1
RD: Read character from receive
buffer+1
WR: Write character to transmit
buffer+1
SIO_DATA_REGISTER
CHAR_2
[16..23] Character_2
RD: Read character from receive
buffer+2
WR: Write character to transmit
buffer+2
SIO_DATA_REGISTER
CHAR_3
[24..31] Character_3
RD: Read character from receive
buffer+3
WR: Write character to transmit
buffer+3
SIO_DATA_REGISTER_
ALIAS
[0..31]
Alias SIO_Data_Register area for block
transfer
Table 64: Serial input/output control and status register (SIO CSR)
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Description of the data path
To read data:
1.
Query RDRD flag (buffer ready?) and write the number of bytes the host
wants to read to RBUF_CNT.
2.
Read the number of bytes pending in the receive buffer RBUF_ST (more
data in the buffer than the host wanted to read?) and the number of
bytes left for reading from the receive FiFo in RBUF_CNT (host wanted
to read more data than were in the buffer?).
3.
Read received characters from SIO_DATA_REGISTER, beginning at char 0.
4.
To input more characters, repeat from step 1.
To write data:
1.
Query TDRD flag (buffer ready?) and write the number of bytes to send
(copied from SIO register to transmit FiFo) to TBUF_CNT.
2.
Read the available data space left in TBUF_ST (if the buffer can hold
more bytes than are to be transmitted) and number of bytes written to
transmit buffer in TBUF_CNT (if more data is to be transmitted than fits
in the buffer).
3.
Write character to SIO_DATA_REGISTER, beginning at char 0.
4.
To output more characters, repeat from step 1.
Note
•
L
•
Contact your local dealer if you require further information or additional test programs or software.
AVT recommends the use of Hyperterminal™ or other
communication programs to test the functionality of
this feature. Alternatively use SmartView to try out this
feature.
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Controlling image capture
The cameras support the SHUTTER_MODES specified in IIDC V1.31. For all
models this shutter is a global pipelined shutter; meaning that all pixels are
exposed to the light at the same moment and for the same time span.
Pipelined means that the shutter for a new image can already happen, while
the preceding image is transmitted.
In continuous modes the shutter is opened shortly before the vertical reset
happens, thus acting in a frame-synchronous way.
Combined with an external trigger, it becomes asynchronous in the sense
that it occurs whenever the external trigger occurs. Individual images are
recorded when an external trigger impulse is present. This ensures that even
fast moving objects can be grabbed with no image lag and with minimal
image blur.
The external trigger is fed as a TTL signal through Pin 4 of the camera I/O
connector.
Trigger modi
The cameras support IIDC conforming Trigger_Mode_0 and Trigger_Mode_1
and special Trigger_Mode_15 (bulk trigger).
Trigger Mode
also known as
Description
Trigger_Mode_0
Edge mode
Sets the shutter time according to the value set in
the shutter (or extended shutter) register
Trigger_Mode_1
Level mode
Sets the shutter time according to the active low
time of the pulse applied (or active high time in
the case of an inverting input)
Trigger_Mode_15
Programmable mode
Is a bulk trigger, combining one external trigger
event with continuous or one-shot or multi-shot
internal trigger
Table 65: Trigger modi
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Controlling image capture
External Trigger input, as applied at input pin
External Trigger input, after inverting opto coupler
Shutter register value
External Trigger input, as applied at pin
External Trigger input,
after inv. Opto.
Integration Time
Figure 92: Trigger_mode_0 and 1
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Controlling image capture
Bulk Trigger (Trigger_Mode_15)
Trigger_Mode_15 is an extension to the IIDC trigger modes. One external
trigger event can be used to trigger a multitude of internal image intakes.
This is especially useful for:
• Grabbing exactly one image based on the first external trigger.
• Filling the camera's internal image buffer with one external trigger without overriding images.
• Grabbing an unlimited amount of images after one external trigger (surveillance)
The Figure below illustrates this mode.
External Trigger input, after inverting optocoupler
N x image; N: continuous, one_shot, multi_shot
Figure 93: Trigger_Mode_15
The functionality is controlled via bit [6] and bitgroup [12-15] of the following register:
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Controlling image capture
Register
Name
Field
Bit
Description
0xF0F00830
TRIGGER_MODE Presence_Inq
[0]
Presence of this feature:
0: N/A
1: Available
Abs_Control
[1]
Absolute value control
O: Control with value in the Value field
1: Control with value in the Absolute
value CSR
If this bit = 1 the value in the Value
field has to be ignored
-
[2..5]
Reserved
ON_OFF
[6]
Write: ON or OFF this feature
Read: read a status
0: OFF
1: ON
In this bit = 0, other fields will be read
only.
Trigger_Polarity [7]
Select trigger polarity
(Except for software trigger)
If Polarity_Inq is 1:
Write to change polarity of the trigger
input.
Read to get polarity of the trigger input.
If Polarity_Inq is 0:
Read only.
0: Low active input
1: High active input
Trigger_Source
[8..10]
Select trigger source
Set trigger source ID from trigger source
ID_Inq
Trigger_Value
[11]
Trigger input raw signal value
read only
0: Low
1: High
Trigger_Mode
[12..15] Trigger_Mode
(Trigger_Mode_0..15)
-
[16..19] Reserved
Parameter
[20..31] Parameter for trigger function, if
required (optional)
Table 66: Trigger_Mode_15 (Bulk Trigger)
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The screenshots below illustrate the use of Trigger_Mode_15 on a register
level:
• Line #1switches continuous mode off, leaving viewer in listen mode.
• Line #2 prepares 830h register for external trigger and Mode_15.
Left = continuous
Middle = one shot
Right = multi shot
Line #3 switches camera back to
continuous mode. Only one
image is grabbed precisely with
the first external trigger.
Line #3 toggles one-shot bit [0]
of the one-shot register 61C so
that only one image is grabbed,
based on the first external trigger.
Line #3 toggles multi-shot bit
[1] of the one-shot register 61C
so that Ah images are grabbed,
starting with the first external
trigger.
To repeat rewrite line three.
To repeat rewrite line three.
To repeat rewrite line three.
Table 67: Description: using Trigger_Mode_15: continuous, one-shot, multi-shot
Figure 94: Using Trigger_Mode_15: continuous, one-shot, multi-shot
Note
Shutter for the images is controlled by shutter register.
L
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Trigger delay
As already mentioned earlier the cameras feature various ways to delay image
capture based on external trigger.
With IIDC V1.31 there is a standard CSR at Register F0F00534/834h to control
a delay up to FFFh x time base value. The following table explains the Inquiry
register and the meaning of the various bits.
Register
Name
0xF0F00534 TRIGGER_DLY_INQUIRY
Field
Bit
Description
Presence_Inq
[0]
Indicates presence of this feature (read only)
Abs_Control_Inq [1]
Capability of control with absolute value
-
[2]
Reserved
One_Push_Inq
[3]
One Push auto mode (controlled
automatically by the camera
once)
ReadOut_Inq
[4]
Capability of reading out the
value of this feature
On_Off_Inq
[5]
Capability of switching this feature ON and OFF
Auto_Inq
[6]
Auto Mode (controlled automatically by the camera)
Manual_Inq
[7]
Manual Mode (controlled by
user)
Min_Value
[8..19]
Minimum value for this feature
Max_Value
[20..31] Maximum value for this feature
Table 68: Trigger Delay Inquiry register
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Name
0xF0F00834
Field
Bit
Description
[0]
Presence of this feature:
0: N/A
1: Available
Abs_Control
[1]
Absolute value control
O: Control with value in the Value field
1: Control with value in the Absolute
value CSR
If this bit = 1, the value in the Value
field has to be ignored
-
[2..5]
Reserved
ON_OFF
[6]
Write: ON or OFF this feature
Read: read a status
0: OFF
1: ON
In this bit = 0, other fields will be read
only.
-
[7..19]
Reserved
Value
[20..31] Value
TRIGGER_DELAY Presence_Inq
If you write the value in OFF mode, this
field will be ignored.
If ReadOut capability is not available,
then the read value will have no meaning.
Table 69: Trigger Delay CSR
Trigger delay advanced register
In addition, the cameras have an advanced register which allows even more
precise image capture delay after receiving a hardware trigger.
Register
Name
Field
Bit
Description
0xF1000400
TRIGGER_DELAY Presence_Inq
[0]
Indicates presence of this feature (read only)
---
[1..5]
-
ON_OFF
[6]
Trigger delay on/off
---
[7..10]
-
DelayTime
[11..31]
Delay time in µs
Table 70: Trigger Delay Advanced CSR
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Controlling image capture
The advanced register allows start of the integration to be delayed by max.
221 µs, which is max. 2.1 s after a trigger edge was detected.
Note
•
L
•
Switching trigger delay to ON also switches external
Trigger_Mode_0 to ON.
This feature works with external Trigger_Mode_0 only.
Exposure time
The exposure (shutter) time for continuous mode and Trigger_Mode_0 is
based on the following formula:
Shutter register value x time base + offset
The register value is the value set in the corresponding IIDC 1.31 register
(SHUTTER [81Ch]). This number is in the range between 1 and 4095.
The shutter register value is multiplied by the time base register value (see
Table 140: Time base ID on page 287). The default value here is set to 20 µs.
A camera-specific offset is also added to this value. It is different for the
camera models:
Exposure time offset
Camera model
Exposure time offset
PIKE F-032
17 µs
PIKE F-100
42 µs
PIKE F-145
38 µs
PIKE F-145-15fps
70 µs
PIKE F-210
42 µs
PIKE F-421
69 µs
PIKE F-505
26 µs
Table 71: Camera-specific exposure time offset
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Controlling image capture
Minimum exposure time
Camera model
Minimum exposure time
Effective min. exp. time
= Min. exp. time + offset
PIKE F-032
1 µs
1 µs + 17 µs = 18 µs
PIKE F-100
1 µs
1 µs + 42 µs = 43 µs
PIKE F-145
1 µs
1 µs + 38 µs = 39 µs
PIKE F-145-15fps
1 µs
1 µs + 70 µs = 71 µs
PIKE F-210
1 µs
1 µs + 42 µs = 43 µs
PIKE F-421
1 µs
1 µs + 69 µs = 70 µs
PIKE F-505
1 µs
1 µs + 26 µs = 27 µs
Table 72: Camera-specific minimum exposure time
Example: PIKE F-032
Camera
Register value
PIKE F-032
Time base (default)
100
20 µs
Table 73: Register value and time base for PIKE F-032
register value x time base = exposure time
100 x 20 µs + 17 µs = 2017 µs exposure time
The minimum adjustable exposure time set by register is 1 µs.
The real
minimum exposure time of PIKE F-032 is then 1 µs + 17 µs = 18 µs.
Extended shutter
The exposure time for long-term integration of up to 67 seconds can be
extended via the advanced register: EXTENDED_SHUTTER
Register
Name
Field
0xF100020C
EXTD_SHUTTER Presence_Inq
Bit
Description
[0]
Indicates presence of this feature (read
only)
---
[1.. 5]
ExpTime
[6..31]
Exposure time in µs
Table 74: Extended shutter configuration
The longest exposure time, 3FFFFFFh, corresponds to 67.11 sec.
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Controlling image capture
The lowest possible value of ExpTime is camera-specific (see Table 72: Camera-specific minimum exposure time on page 181).
Note
•
L
•
•
•
Exposure times entered via the 81Ch register are mirrored in the extended register, but not vice versa.
Longer integration times not only increase sensitivity,
but may also increase some unwanted effects such as
noise and pixel-to-pixel non-uniformity. Depending on
the application, these effects may limit the longest
usable integration time.
Changes in this register have immediate effect, even
when the camera is transmitting.
Extended shutter becomes inactive after writing to a
format/mode/frame rate register.
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One-shot
The camera can record an image by setting the one-shot bit in the 61Ch register. This bit is automatically cleared after the image is captured. If the camera is placed in ISO_Enable mode (see Chapter ISO_Enable / Free-Run on
page 186), this flag is ignored.
If one-shot mode is combined with the external trigger, the one-shot command is used to arm it. The following screenshot shows the sequence of commands needed to put the camera into this mode. It enables the camera to
grab exactly one image with an external trigger edge.
If there is no trigger impulse after the camera has been armed, one-shot can
be cancelled by clearing the bit.
Figure 95: One-shot control (SmartView)
#
Read = rd Address
Write = wr
Value
Description
7
wr
F0F0061C
80000000
Do one-shot.
6
rd
F0F0061C
00000000
Read out one-shot register.
5
wr
F0F00830
82000000
Switch on external trigger mode 0.
4
rd
F0F00830
80000000
Check trigger status.
3
wr
F0F00614
00000000
Stop free-run.
2
rd
F0F00614
80000000
Check Iso_Enable mode ( free-run).
1
rd
F0F00614
00000000
This line is produced by SmartView.
Table 75: One-shot control: descriptions
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Controlling image capture
One-shot command on the bus to start of
exposure
The following sections describe the time response of the camera using a single frame (one-shot) command. As set out in the IIDC specification, this is
a software command that causes the camera to record and transmit a single
frame.
The following values apply only when the camera is idle and ready for use.
Full resolution must also be set.
Feature
One-shot
Value
Microcontroller-Sync
µC-Sync/ExSync
≤ 150 µs (processing time in the
microcontroller)
Integration-Start 8 µs
Table 76: Values for one-shot
Microcontroller-Sync is an internal signal. It is generated by the microcontroller to initiate a trigger. This can either be a direct trigger or a release for
ExSync if the camera is externally triggered.
End of exposure to first packet on the bus
After the exposure, the CCD sensor is read out; some data is written into the
FRAME_BUFFER before being transmitted to the bus.
The time from the end of exposure to the start of transport on the bus is:
710 µs ± 62.5 µs
This time 'jitters' with the cycle time of the bus (125 µs).
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Controlling image capture
OneShot Command
Exposure
Integration-Start
Timebase Reg.
X
Shutter-Reg.
Offset
Processing Delay
First Packet on Bus
< 150 μs
Timebase x Shutter + Offset = Exposure Time
Decode command
Pike F-032:
17 µs
Pike F-100:
42 µs
Pike F-145:
38 µs
Pike F-145-15fps: 70 µs
Pike F-210:
42 µs
Pike F-421:
69 µs
Pike F-505:
26 µs
< 710 μs
+/-62.5 μs
Figure 96: Data flow and timing after end of exposure
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Controlling image capture
Multi-shot
Setting multi-shot and entering a quantity of images in Count_Number in
the 61Ch register enables the camera to record a specified number of images.
The number is indicated in bits 16 to 31. If the camera is put into
ISO_Enable mode (see Chapter ISO_Enable / Free-Run on page 186), this flag
is ignored and deleted automatically once all the images have been recorded.
If multi-shot mode is activated and the images have not yet all been captured, it can be cancelled by resetting the flag. The same result can be
achieved by setting the number of images to 0.
Multi-shot can also be combined with the external trigger in order to grab a
certain number of images based on an external trigger. This is especially
helpful in combination with the so called Deferred_Mode to limit the number of grabbed images to the FIFO size.
ISO_Enable / Free-Run
Setting the MSB (bit 0) in the 614h register (ISO_ENA) puts the camera into
ISO_Enable mode or Continuous_Shot. The camera captures an infinite series
of images. This operation can be quit by deleting the 0 bit.
Asynchronous broadcast
The camera accepts asynchronous broadcasts. This involves asynchronous
write requests that use node number 63 as the target node with no acknowledge.
This makes it possible for all cameras on a bus to be triggered by software
simultaneously - e.g. by broadcasting a One_Shot. All cameras receive the
One_Shot command in the same IEEE 1394 bus cycle. This creates uncertainty for all cameras in the range of 125 µs.
Inter-camera latency is described in Chapter Jitter at start of exposure on
page 187.
The following screenshot shows an example of broadcast commands sent with
the Firedemo example of FirePackage:
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Controlling image capture
Figure 97: Broadcast one-shot
•
•
Line 1 shows the broadcast command, which stops all cameras connected to the same IEEE 1394 bus. It is generated by holding the
<shift> key down while clicking on <Write>.
Line 2 generates a broadcast One_Shot in the same way, which forces
all connected cameras to simultaneously grab one image.
Jitter at start of exposure
The following chapter discusses the latency time which exists for all CCD
models when either a hardware or software trigger is generated, until the
actual image exposure starts.
Owing to the well-known fact that an Interline Transfer CCD sensor has both
a light sensitive area and a separate storage area, it is common to interleave
image exposure of a new frame and output that of the previous one. It makes
continuous image flow possible, even with an external trigger.
The uncertain time delay before the start of exposure depends on the state
of the sensor. A distinction is made as follows:
FVal is active
the sensor is reading out, the camera is busy
In this case the camera must not change horizontal timing so that the trigger
event is synchronized with the current horizontal clock. This introduces a
max. uncertainty which is equivalent to the line time. The line time depends
on the sensor used and therefore can vary from model to model.
FVal is inactive
the sensor is ready, the camera is idle
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In this case the camera can resynchronize the horizontal clock to the new
trigger event, leaving only a very short uncertainty time of the master clock
period.
Model
Exposure start jitter
(while FVal)
Exposure start jitter
(while camera idle)
Pike F-032
± 4.9 µs
± 375 ns
Pike F-100
± 8.2 µs
± 1.65 µs
Pike F-145
± 16 µs
± 2.9 µs
Pike F-145-15fps
± 30 µs
± 5.4 µs
Pike F-210
± 14.25 µs
± 1.8 µs
Pike F-421
± 15 µs
± 1.65 µs
Pike F-505
± 17 µs
± 5.7 µs
Table 77: Jitter at exposure start (no binning, no sub-sampling)
Note
L
•
Jitter at the beginning of an exposure has no effect on
the length of exposure, i.e. it is always constant.
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Sequence mode
Generally all AVT Pike cameras enable certain image settings to be modified
on the fly, e.g. gain and shutter can be changed by the host computer by
writing into the gain and shutter register even while the camera is running.
An uncertainty of up to 3 images remains because normally the host does not
know (especially with external trigger) when the next image will arrive.
Sequence mode is a different concept where the camera holds a set of different image parameters for a sequence of images. The parameter set is
stored volatile in the camera for each image to be recorded. This sequence
of parameter sets is simply called a sequence. The advantage is that the camera can easily synchronize this parameter set with the images so that no
uncertainty can occur. All AVT Pike cameras support 32 different sequence
parameters.
Additionally to the sequence mode known from Marlin cameras, the Pike cameras have:
• Repeat counter per sequence item
• Incrementing list pointer on input status (on/off)
• Pointer reset (software command; on input pin)
Examples
For a sequence of images, each image can be recorded with a different shutter or gain to obtain different brightness effects.
The image area (AOI) of a sequence of images can automatically be modified,
thus creating a panning or sequential split screen effect.
The following registers can be modified to affect the individual steps of the
sequence. Different configurations can be accessed via e.g a footswitch
which is connected to an input.
Mode
this registers can be modified...
All modes
Cur_V_Mode, Cur_V_Format, ISO_Channel, ISO_Speed, Brightness,
White_Balance (color cameras only), Shutter, Gain, LUT, TestImage,
Image-Mirror, HSNR, Output-Ctrl, ColorCorrection matrix (color cameras only), ISO-Channel, Shading-Ctrl, Sequence-Stepping Mode,
SIS_UserValue
Fixed modes only
Cur_V_Frm_Rate
Format_7 only
Image_Position (AOI-Top, AOI-Left), Image_Size (AOI-Width, AOIHeight), Color_Coding_ID*, Binning*, Sub-Sampling*,
Byte_Per_Packet
*hidden in video formats and video modes
Table 78: Registers to be modified within a sequence
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Note
Sequence mode requires not only firmware 3.x but also special care if changing image size, Color_Coding_ID and frame
rate related parameters. This is because these changes not
only affect settings in the camera but also require corresponding settings in the receiving software in the PC.
L
Caution
Incorrect handling may lead to image corruption or loss of
subsequent images.
a
Please ask for detailed support when you want to use this
feature.
How is sequence mode implemented?
There is a FIFO (first in first out) memory for each of the IIDC V1.31 registers
listed above. The depth of each FIFO is fixed to 32(dez) complete sets. Functionality is controlled by the following advanced registers.
Register
Name
Field
Bit
Description
0xF1000220
SEQUENCE_CTRL
Presence_Inq
[0]
Indicates presence of this feature
(read only)
---
[1..4]
Reserved
AutoRewind
[5]
ON_OFF
[6]
Enable/disable this feature
SetupMode
[7]
Sequence setup mode
---
[8..15]
Reserved
MaxLength
[16..23] Maximum possible length of a
sequence (read only)
SeqLength
[24..31] Length of the sequence (32 dez for
all CCD models)
0xF1000224
SEQUENCE_PARAM ---
[0..4]
Reserved
ApplyParameters
[5]
Apply settings to selected image of
sequence; auto-reset
---
[6..7]
Reserved
SeqStepMode
[8..15]
Sequence stepping mode
ImageRepeat
[16..23] Image repeat counter
ImageNo
[24..31] Number of image within a sequence
Table 79: Sequence configuration register
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Register
Name
Field
Bit
Description
0xF1000228
SEQUENCE_STEP
Presence_Inq
[0]
Indicates presence of this feature
(read only)
---
[1..4]
Reserved
PerformStep
[5]
Sequence is stepped one item forward
PerformReset
[6]
Sequence reset
---
[7..23]
Reserved
SeqPosition
[24..31] Get the current sequence position
Presence_Inq
[0]
Indicates presence of this feature
(read only)
---
[1..4]
Reserved
PerformReset
[5]
Reset the sequence to start position
---
[6..31]
Reserved
0xF100022C
SEQUENCE_RESET
Table 79: Sequence configuration register
Enabling this feature turns the camera into a special mode. This mode can be
used to set up a bunch of parameter sets for up to MaxLength consecutive
images. The sequence mode of the Pike 3.x series firmware behaves slightly
different than the sequence mode of e.g. the Marlin series and implements
some new controlling features. You may use a sequence with internal or
external trigger and with the Deferred Transport feature.
Setup mode (new for 3.x)
The SetupMode flag allows you to set up a sequence while capturing images.
Using this flag you get a visual feedback of the settings.
Set SetupMode flag when setting up the sequence and reset the flag before
using the sequence.
Sequence step mode (new for 3.x)
The SeqMode field selects the signal source for stepping the sequence one
parameter set further.
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SeqMode description
Seqence mode
Description
0x80
This mode is the default sequence mode and stepping the
sequence is compatible to e.g. the Marlin series. With
each image integration start the sequence is stepped
one item further and the new parameter set becomes
active for the next image.
0x82
Stepping of the sequence is controlled by a rising edge
of an external signal. The new parameter set becomes
active with the next integration start. When using this
mode select the suitable input mode of the input lines.
0x84
Stepping of the sequence is controlled by a high level
of an external signal. The new parameter set becomes
active with the next integration start. When using this
mode select the suitable input mode of the input lines.
Other mode
Choosing any other mode value, automatically defaults
to mode 0x80.
Table 80: Sequence mode description
Note
L
It is also possible, that a sequence consists of parameter sets
with different sequence modes. This can be achieved by using
the SeqMode and the ImageNo fields within the
Sequence_Param register.
Sequence repeat counter (new for 3.x)
For each parameter set one can define an image repeat counter. Using the
image repeat counter means that a parameter set can be used for n consecutive images before the next parameter set is applied.
Setting the ImageRepeat field to 0 has the same effect like setting this field
to 1.
Manual stepping & reset (new for 3.x)
With firmware 3.x a sequence can be stepped further with a software command. To use manual stepping use stepping mode 0x82 or 0x84, but dont
setup any input pin for external sequence stepping.
Every time the PerformStep flag is set the sequence will be stepped one
parameter set further. Manual stepping observes the repeat counter also.
For some application it could be useful to reset the sequence during runtime.
Simply set the PerformReset flag to one: the sequence starts over with the
very first parameter set.
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Controlling image capture
The following flow diagram shows how to set up a sequence.
Set
SEQUENCE_CTRL
ON_OFF flag to
true (1)
Set
SetupMode to
true (1)
Set SeqLength to
desired length
(<=MaxLength)
Set ImageNo = 0 in
SEQUENCE_PARAM
Assign image
parameters in the
corresp. registers
ApplyParameters
= 1 (Selfcleared)
Repeat steps until
sequence is
complete
Increment
ImageNo
Disable SetupMode
Start sequence in
MultiShot or
ISOEnable mode
Figure 98: Sequence mode flow diagram
During sequencing, the camera obtains the required parameters, image by
image, from the corresponding FIFOs (e.g. information for exposure time).
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Controlling image capture
Which new sequence mode features are
available?
New features:
• Repeat one step of a sequence n times where n can be set by the variable ImageRepeat in SEQUENCE_PARAM.
• Define one or two hardware inputs in Input mode field of IO_INP_CTRL
as:
– Sequence step input (if two are set as input, they are AND gated) or
– Sequence reset input
Note
From now on:
L
sequence step is I/O controlled sequence stepping mode
sequence reset is I/O controlled sequence pointer reset
Setup mode
The SetupMode flag allows you to set up a sequence while capturing images.
Using this flag you get a visual feedback of the settings. Set this flag when
setting up the sequence and reset the flag before using the sequence.
I/O controlled sequence stepping mode
The I/O controlled sequence stepping mode can be done level controlled
or edge controlled:
Level controlled
•
•
•
Edge controlled
•
As long as the input is in high
state the sequence pointer will
be incremented from image to
image.
•
Can be combined with Quick
Format Change Modes. See
Chapter Standard Parameter
Update Timing on page 152 and
Chapter New: Quick Format
Change Mode (QFCM) on page
152.
Level change is asynchronous to
image change.
A rising edge on the input will
cause one pointer increment
immediately.
Can be combined with Quick
Format Change Modes. See
Chapter Standard Parameter
Update Timing on page 152 and
Chapter New: Quick Format
Change Mode (QFCM) on page
152.
Table 81: Description of sequence stepping control
The I/O controlled sequence stepping mode can be set for ervery single
sequence entry. Thus a sequence can be controlled in a very flexible manner.
PIKE Technical Manual V4.0.0
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Controlling image capture
I/O controlled sequence pointer reset
I/O controlled sequence pointer reset is always edge controlled. A rising
edge on the input pin resets the pointer to the first entry.
I/O controlled sequence pointer reset can be combined with Quick Format
Change Modes. See Chapter Standard Parameter Update Timing on page 152
and Chapter New: Quick Format Change Mode (QFCM) on page 152.
I/O controlled sequence stepping mode and I/O controlled
sequence pointer reset via software command
Both sequence modes can be controlled via software command.
Points to pay attention to when working with a
sequence
Note
•
L
•
•
•
•
•
If more images are recorded than defined in
SeqLength, the settings for the last image remain in
effect.
If sequence mode is cancelled, the camera can use the
FIFO for other tasks. For this reason, a sequence must
be loaded back into the camera after sequence mode
has been cancelled.
To repeat the sequence, stop the camera and send the
multi-shot or IsoEnable command again. Each of these
two commands resets the sequence.
Using SingleShot mode in combination with a
sequence does not make sense, because SingleShot
mode restarts the sequence every time.
The sequence may not be active when setting the
AutoRewind flag. For this reason it is important to set
the flag before the multi-shot or IsoEnable commands.
If the sequence is used with the deferred transport
feature, the number of images entered in Seq_Length
may not be exceeded.
The following screenshot shows an example of a sequence for eight different
image settings. It uses the AVT Firetool program as graphical representation. Please note the changes in the shutter time; that creates descending
image brightness, and the change in the image position; which creates a
panning effect.
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Controlling image capture
Figure 99: Example of sequence mode settings
Instead of Firetool you also can use SmartView (Version 1.7.0 or greater),
but image and transfer formats have to be unchanged (height, width,
ColorID).
To open the Sequence editor in SmartView:
1.
Click Extras
Sequence dialog
Figure 100: SmartView: Extras
Sequence dialog
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Controlling image capture
Changing the parameters within a sequence
To change the parameter set for one image, it is not necessary to modify the
settings for the entire sequence. The image can simply be selected via the
ImageNo field and it is then possible to change the corresponding IIDC
V1.31 registers.
Points to pay attention to when changing the
parameters
Note
•
L
•
•
•
Caution
a
If the ApplyParameters flag is used when setting the
parameters, all not-configured values are set to default
values. As changing a sequence normally affects only
the value of a specific register, and all other registers
should not be changed, the ApplyParameters flag may
not be used here.
The values stored for individual images can no longer
be read.
If the camera is switched into sequence mode, the
changes to the IIDC V1.31 registers for the image specified in ImageNo take immediate effect.
Sequence mode requires firmware 3.x and special care if
changing image size and frame rate related parameters.
This is because these changes not only affect settings
in the camera but also require corresponding settings in
the receiving software in the PC (e.g. FirePackage).
Incorrect handling may lead to image corruption or loss of
subsequent images.
Please ask for detailed support when you want to use this
feature.
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Controlling image capture
Secure image signature (SIS): definition and
scenarios
Note
For all customers who know SIS from MARLIN cameras:
L
•
•
PIKE cameras have additional SIS features: AOI, exposure/gain, input/output state, index of sequence mode
and serial number.
In contrary to MARLIN cameras, in the PIKE SIS feature
the endianness cannot be changed.
SIS: Definition
Secure image signature (SIS) is the synonym for data, which is inserted into
an image to improve or check image integrity.
With the new firmware 3.x, all PIKE models can insert
• Time stamp (1394 bus cycle time at the beginning of integration)
• Trigger counter (external trigger seen only)
• Frame counter (frames read out of the sensor)
• AOI (x, y, width, height)
• Exposure (shutter) and gain
• Input and output state on exposure start
• Index of sequence mode
• Serial number
• User value
into a selectable line position within the image. Furthermore the trigger
counter and the frame counter are available as advanced registers to be read
out directly.
SIS: Scenarios
The following scenarios benefit from this feature:
• Assuming camera runs in continuous mode, the check of monotonically
changing bus cycle time is a simple test that no image was skipped or
lost in the camera or subsequently in the image processing chain.
• In (synchronized) multi camera applications, the time stamp can be
used to identify those images, shot at the same moment in time.
• The cross-check of the frame counter of the camera against the frame
counter of the host system also identifies any skipped or lost images
during transmission.
• The cross-check of the trigger counter against the frame counter in the
camera can identify a trigger overrun in the camera.
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Controlling image capture
•
•
•
•
•
AOI can be inserted in the image if it was set as a variable e.g. in a
sequence.
Exposure/gain scenario parameters can be inserted in the image if set
as a variable in e.g. sequence mode to identify the imaging conditions.
Inserting input and output state on exposure start can be helpful when
working with input and output signals.
Index of sequence mode can be inserted if SIS is used together with
sequence mode.
Serial number inserted in the image helps to document/identify the
camera in e.g. multi camera applications.
Note
L
•
FirePackage offers additional and independent checks
to be performed for the purpose of image integrity.
Details can be found in the respective documentation.
The handling of the SIS feature is fully described in the Chapter Secure image
signature (SIS) on page 312.
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Controlling image capture
Smear reduction
Smear reduction: definition
Definition
Smear is an undesirable CCD sensor artefact creating a vertical bright line
that extends above and below a bright spot in an image.
Definition
Smear reduction is a new feature of PIKE cameras: it is a function implemented in hardware in the camera itself to compensate for smear.
Smear reduction: how it works
To reduce smear a reference line is used. This reference line is built from the
mean value of the so-called black lines (two lines before image start). The
reference line is subtracted from every line of the whole image.
But how will this reduce smearing?
The point is: black lines have no image information but are also affected from
smearing. Thus the smearing effect itself is isolated and can be reduced in
the whole image.
The two additional black lines and the calculated anti-smear values do not
lower the transfer rates significantly due to hardware implementation.
Smear reduction: switch on/off in register and
SmartView
To switch on/off smear reduction in advanced registers, see Chapter Smear
reduction on page 317.
In SmartView: Edit settings
Adv3 tab (Smear reduction
Enable)
PIKE Technical Manual V4.0.0
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Video formats, modes and bandwidth
Video formats, modes and bandwidth
The different PIKE models support different video formats, modes and frame
rates.
These formats and modes are standardized in the IIDC (formerly DCAM) specification.
Resolutions smaller than the generic sensor resolution are generated from
the center of the sensor and without binning.
Note
•
L
•
The maximum frame rates can only be achieved with
shutter settings lower than 1/framerate. This means
that with default shutter time of 40 ms, a camera will
not achieve frame rates higher than 25 frames/s. In
order to achieve higher frame rates, please reduce the
shutter time proportionally.
The following tables assume that bus speed is
800 Mbit/s. With lower bus speeds (e.g. 400, 200 or
100 Mbit/s) not all frame rates may be achieved.
PIKE F-032B / PIKE F-032C
Format Mode Resolution Color mode 240
fps
0
120
fps
60
fps
30
fps
15
fps
7.5
fps
3.75
fps
1.875
fps
0
160 x 120 YUV444
1
320 x 240 YUV422
x
x
x
x
x
x
x
2
640 x 480 YUV411
x
x
x
x
x
x
x
3
640 x 480 YUV422
x
x
x
x
x
x
4
640 x 480 RGB8
x
x
x
x
x
x
5
640 x 480 Mono8
x x*
x x*
x x*
x x*
x x*
x x*
6
640 x 480 Mono16
x
x
x
x
x
x
x x*
Table 82: Video fixed formats PIKE F-032B / PIKE F-032C
*: Color camera outputs RAW image, which needs to be converted outside of
camera.
Frame rates with shading are only achievable with 1394b (S800).
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Video formats, modes and bandwidth
Format Mode Resolution Color mode
Maximal S800 frame rates for Format_7 modes
640 x 480 Mono8
Mono12
Mono16
208 fps
139 fps
105 fps
640 x 480 YUV411
YUV422,Raw16
Mono8,Raw8
RGB8
139 fps
105 fps
208 fps
70 fps
1
320 x 480 Mono8
Mono12
Mono16
208 fps 2x H-binning
208 fps 2x H-binning
208 fps 2x H-binning
2
640 x 240 Mono8
Mono12
Mono16
372 fps 2x V-binning
271 fps 2x V-binning
208 fps 2x V-binning
3
320 x 240 Mono8
Mono12
Mono16
372 fps 2x H+V binning
372 fps 2x H+V binning
372 fps 2x H+V binning
4
320 x 480 Mono8
Mono12
Mono16
208 fps 2 out of 4 H-sub-sampling
208 fps 2 out of 4 H-sub-sampling
208 fps 2 out of 4 H-sub-sampling
320 x 480 YUV411
YUV422,Raw16
Mono8,Raw8
RGB8
208 fps
208 fps
208 fps
139 fps
320 x 240 Mono8
Mono12
Mono16
372 fps 2 out of 4 V-sub-sampling
372 fps 2 out of 4 V-sub-sampling
372 fps 2 out of 4 V-sub-sampling
320 x 240 YUV411
YUV422,Raw16
Mono8,Raw8
RGB8
372 fps
372 fps
372 fps
271 fps
320 x 240 Mono8
Mono12
Mono16
372 fps 2 out of 4 H+V sub-sampling
372 fps 2 out of 4 H+V sub-sampling
372 fps 2 out of 4 H+V sub-sampling
320 x 240 YUV411
YUV422,Raw16
Mono8,Raw8
RGB8
372 fps
372 fps
372 fps
271 fps
0
7
5
6
2 out of 4 H-sub-sampling
2 out of 4 H-sub-sampling
2 out of 4 H-sub-sampling
2 out of 4 H-sub-sampling
2 out of 4 V-sub-sampling
2 out of 4 V-sub-sampling
2 out of 4 V-sub-sampling
2 out of 4 V-sub-sampling
2 out of 4 H+V sub-sampling
2 out of 4 H+V sub-sampling
2 out of 4 H+V sub-sampling
2 out of 4 H+V sub-sampling
Table 83: Video Format_7 default modes PIKE F-032B / PIKE F-032C
PIKE Technical Manual V4.0.0
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Video formats, modes and bandwidth
PIKE F-100B / PIKE F-100C
Format Mode Resolution
0
1
Color mode 240
fps
120
fps
60
fps
30
fps
15
fps
7.5
fps
3.75
fps
1.875
fps
x
x
x
x
x
x
x
0
160 x 120
YUV444
1
320 x 240
YUV422
2
640 x 480
YUV411
x
x
x
x
x
x
3
640 x 480
YUV422
x
x
x
x
x
x
4
640 x 480
RGB8
x
x
x
x
x
x
5
640 x 480
Mono8
xx*
x x*
x x*
x x*
x x*
x x*
6
640 x 480
Mono16
x
x
x
x
x
x
0
800 x 600
YUV422
x
x
x
x
x
1
800 x 600
RGB8
x
x
x
2
800 x 600
Mono8
x x*
x x*
x x*
x x*
3
1024 x 768
YUV422
4
1024 x 768
RGB8
5
1024 x 768
Mono8
6
800 x 600
Mono16
x
x
x
x
7
1024 x 768
Mono16
x
Table 84: Video fixed formats PIKE F-100B / F-100C
*: Color camera outputs RAW image, which needs to be converted outside of
camera.
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Video formats, modes and bandwidth
Format Mode Resolution
0
Color mode
Maximal S800 frame rates for Format_7 modes
1000 x 1000 Mono8
Mono12
Mono16
60 fps
43 fps
33 fps
1000 x 1000 YUV411
YUV422,Raw16
Mono8,Raw8
RGB8
43 fps
33 fps
60 fps
22 fps
1
500 x 1000
Mono8
Mono12
Mono16
60 fps
60 fps
60 fps
2x H-binning
2x H-binning
2x H-binning
2
1000 x 500
Mono8
Mono12
Mono16
99 fps
86 fps
65 fps
2x V-binning
2x V-binning
2x V-binning
3
500 x 500
Mono8
Mono12
Mono16
99 fps
99 fps
99 fps
2x H+V binning
2x H+V binning
2x H+V binning
4
500 x 1000
Mono8
Mono12
Mono16
60 fps
60 fps
60 fps
2x H-sub-sampling
2x H-sub-sampling
2x H-sub-sampling
500 x 1000
YUV411
YUV422,Raw16
Mono8,Raw8
RGB8
60 fps
60 fps
60 fps
43 fps
2 out of 4 H-sub-sampling
2 out of 4 H-sub-sampling
2 out of 4 H-sub-sampling
2 out of 4 H-sub-sampling
1000 x 500
Mono8
Mono12
Mono16
99 fps
86 fps
65 fps
2x V-sub-sampling
2x V-sub-sampling
2x V-sub-sampling
1000 x 500
YUV411
YUV422,Raw16
Mono8,Raw8
RGB8
86 fps
65 fps
99 fps
43 fps
2 out of 4 V-sub-sampling
2 out of 4 V-sub-sampling
2 out of 4 V-sub-sampling
2 out of 4 V-sub-sampling
500 x 500
Mono8
Mono12
Mono16
99 fps
99 fps
99 fps
2x H+V-sub-sampling
2x H+V-sub-sampling
2x H+V-sub-sampling
500 x 500
YUV411
YUV422,Raw16
Mono8,Raw8
RGB8
99 fps
99 fps
99 fps
86 fps
2 out of 4 H+V-sub-sampling
2 out of 4 H+V-sub-sampling
2 out of 4 H+V-sub-sampling
2 out of 4 H+V-sub-sampling
7
5
6
Table 85: Video Format_7 default modes PIKE F-100B / F-100C
PIKE Technical Manual V4.0.0
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Video formats, modes and bandwidth
PIKE F-145B / PIKE F-145C (-15 fps**)
**Pike F-145-15fps cameras have frame rates up to 15 fps only (except color
cameras Format_0 Mode_1: up to 30 fps).
Format Mode Resolution
0
1
2
Color mode 240
fps
120
fps
60
fps
30
fps
15
fps
7.5
fps
3.75
fps
1.875
fps
x
x
x
x
x
x
0
160 x 120
YUV444
1
320 x 240
YUV422
2
640 x 480
YUV411
x
x
x
x
x
3
640 x 480
YUV422
x
x
x
x
x
4
640 x 480
RGB8
x
x
x
x
x
5
640 x 480
Mono8
x x*
x x*
x x*
x x*
x x*
6
640 x 480
Mono16
x
x
x
x
x
0
800 x 600
YUV422
x
x
x
x
1
800 x 600
RGB8
x
x
x
2
800 x 600
Mono8
x x*
x x*
x x*
3
1024 x 768
YUV422
x
x
x
x
x
4
1024 x 768
RGB8
x
x
x
x
5
1024 x 768
Mono8
x x*
x x*
x x*
x x*
x x*
6
800 x 600
Mono16
x
x
x
x
7
1024 x 768
Mono16
x
x
x
x
x
0
1280 x 960
YUV422
x
x
x
x
1
1280 x 960
RGB8
x
x
x
x
2
1280 x 960
Mono 8
x x*
x x*
x x*
x x*
3
1600 x 1200 YUV422
4
1600 x 1200 RGB8
5
1600 x 1200 Mono8
6
1280 x 960
x
x
x
x
7
1600 x 1200 Mono16
Mono16
x x*
Table 86: Video fixed formats PIKE F-145B / F-145C
*: Color camera outputs RAW image, which needs to be converted outside of
camera.
Frame rates with shading are only achievable with 1394b (S800).
PIKE Technical Manual V4.0.0
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Video formats, modes and bandwidth
Format Mode Resolution
Color mode
Maximal S800 frame rates for Format_7 modes
0
1388 x 1038 Mono8
Mono12
Mono16
1388 x 1038 YUV411
YUV422,Raw16
Mono8,Raw8
RGB8
30
30
23
30
23
30
15
1
692 x 1038
Mono8
Mono12
Mono16
30 (16**) fps
30 (16**) fps
30 (16**) fps
2x H-binning
2x H-binning
2x H-binning
2
1388 x 518
Mono8
Mono12
Mono16
51 (27**) fps
51 (27**) fps
45 (27**) fps
2x V-binning
2x V-binning
2x V-binning
3
692 x 518
Mono8
Mono12
Mono16
51 (27**) fps
51 (27**) fps
51 (27**) fps
2x H+V binning
2x H+V binning
2x H+V binning
4
692 x 1038
Mono8
Mono12
Mono16
YUV411
YUV422,Raw16
Mono8,Raw8
RGB8
30
30
30
30
30
30
30
(16**) fps
(16**) fps
(16**) fps
(16**) fps
(16**) fps
(16**) fps
(16**) fps
2 out of 4 H-sub-sampling
2 out of 4 H-sub-sampling
2 out of 4 H-sub-sampling
2 out of 4 H-sub-sampling
2 out of 4 H-sub-sampling
2 out of 4 H-sub-sampling
2 out of 4 H-sub-sampling
Mono8
Mono12
Mono16
YUV411
YUV422,Raw16
Mono8,Raw8
RGB8
30
30
23
30
23
30
15
(16**) fps
(16**) fps
(16**) fps
(16**) fps
(16**) fps
(16**) fps
(15**) fps
2 out of 4 V-sub-sampling
2 out of 4 V-sub-sampling
2 out of 4 V-sub-sampling
2 out of 4 V-sub-sampling
2 out of 4 V-sub-sampling
2 out of 4 V-sub-sampling
2 out of 4 V-sub-sampling
Mono8
Mono12
Mono16
YUV411
YUV422,Raw16
Mono8,Raw8
RGB8
30
30
30
30
30
30
30
(16**) fps
(16**) fps
(16**) fps
(16**) fps
(16**) fps
(16**) fps
(16**) fps
2 out of 4 H+V-sub-sampling
2 out of 4 V-sub-sampling
2 out of 4 H+V-sub-sampling
2 out of 4 H+V-sub-sampling
2 out of 4 H+V-sub-sampling
2 out of 4 H+V-sub-sampling
2 out of 4 H+V-sub-sampling
7
692 x 1038
5#
1388 x 518
1388 x 518
6#
692 x 518
692 x 518
(16**) fps
(16**) fps
(16**) fps
(16**) fps
(16**) fps
(16**) fps
(15**) fps
Table 87: Video Format_7 default modes PIKE F-145B / F-145C
#: Vertical sub-sampling is done via concealing
certain lines, so the frame rate is not
** applying to -15fps variant only
frame rate = f (AOI height)
but
frame rate = f (2 x AOI height)
PIKE Technical Manual V4.0.0
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Video formats, modes and bandwidth
PIKE F-210B / PIKE F-210C
Format Mode Resolution
0
1
2
Color mode 240
fps
120
fps
60
fps
30
fps
15
fps
7.5
fps
3.75
fps
1.875
fps
x
x
x
x
x
x
0
160 x 120
YUV444
1
320 x 240
YUV422
2
640 x 480
YUV411
x
x
x
x
x
3
640 x 480
YUV422
x
x
x
x
x
4
640 x 480
RGB8
x
x
x
x
x
5
640 x 480
Mono 8
x x*
x x*
x x*
x x*
x x*
6
640 x 480
Mono 16
x
x
x
x
x
0
800 x 600
YUV422
x
x
x
x
1
800 x 600
RGB8
x
x
x
2
800 x 600
Mono8
x x*
x x*
x x*
3
1024 x 768
YUV422
x
x
x
x
x
4
1024 x 768
RGB8
x
x
x
x
5
1024 x 768
Mono 8
x x*
x x*
x x*
x x*
x x*
6
800 x 600
Mono16
x
x
x
x
7
1024 x 768
Mono16
x
x
x
x
x
0
1280 x 960
YUV422
x
x
x
x
1
1280 x 960
RGB8
x
x
x
x
2
1280 x 960
Mono 8
x x*
x x*
x x*
x x*
3
1600 x 1200 YUV422
4
1600 x 1200 RGB8
5
1600 x 1200 Mono8
6
1280 x 960
x
x
x
x
7
1600 x 1200 Mono16
Mono16
x x*
Table 88: Video fixed formats PIKE F-210B / F-210C
*: Color camera outputs RAW image, which needs to be converted outside of
camera.
Frame rates with shading are only achievable with 1394b (S800).
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Video formats, modes and bandwidth
Format Mode Resolution
Color mode
Maximal S800 frame rates for Format_7 modes
0
1920 x 1080 Mono8
Mono12
Mono16
1920 x 1080 YUV411
YUV422,Raw16
Mono8,Raw8
RGB8
31 fps
21 fps
16 fps
21 fps
16 fps
31 fps
11 fps
1
960 x 1080
Mono8
Mono12
Mono16
32 fps
32 fps
31 fps
2x H-binning
2x H-binning
2x H-binning
2
1920 x 540
Mono8
Mono12
Mono16
52 fps
42 fps
31 fps
2x V-binning
2x V-binning
2x V-binning
3
960 x 540
Mono8
Mono12
Mono16
52 fps
52 fps
52 fps
2x H+V binning
2x H+V binning
2x H+V binning
4
960 x 1080
Mono8
Mono12
Mono16
YUV411
YUV422,Raw16
Mono8,Raw8
RGB8
32 fps
32 fps
31 fps
32 fps
31 fps
32 fps
21 fps
2x H-sub-sampling
2x H-sub-sampling
2x H-sub-sampling
2 out of 4 H-sub-sampling
2 out of 4 H-sub-sampling
2 out of 4 H-sub-sampling
2 out of 4 H-sub-sampling
Mono8
Mono12
Mono16
YUV411
YUV422,Raw16
Mono8,Raw8
RGB8
31 fps
21 fps
16 fps
21 fps
16 fps
31 fps
11 fps
2x V-sub-sampling
2x V-sub-sampling
2x V-sub-sampling
2 out of 4 V-sub-sampling
2 out of 4 V-sub-sampling
2 out of 4 V-sub-sampling
2 out of 4 V-sub-sampling
Mono8
Mono12
Mono16
YUV411
YUV422,Raw16
Mono8,Raw8
RGB8
32 fps
32 fps
31 fps
32 fps
31 fps
32 fps
21 fps
2x H+V sub-sampling
2x H+V sub-sampling
2x H+V sub-sampling
2 out of 4 H+V sub-sampling
2 out of 4 H+V sub-sampling
2 out of 4 H+V sub-sampling
2 out of 4 H+V sub-sampling
7
960 x 1080
5#
1920 x 540
1920 x 540
6#
960 x 540
960 x 540
Table 89: Video Format_7 default modes PIKE F-210B / F-210C
#: Vertical sub-sampling is done via concealing certain lines, so the frame rate is not
frame rate = f (AOI height)
but
frame rate = f (2 x AOI height)
PIKE Technical Manual V4.0.0
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Video formats, modes and bandwidth
PIKE F-421B / PIKE F-421C
Format Mode Resolution
0
1
2
Color
Mode
240
fps
120
fps
60
fps
30
fps
15
fps
7.5
fps
3.75
fps
1.875
fps
0
160 x 120
YUV444
1
320 x 240
YUV422
x
x
x
x
x
2
640 x 480
YUV411
x
x
x
x
x
3
640 x 480
YUV422
x
x
x
x
x
4
640 x 480
RGB8
x
x
x
x
x
5
640 x 480
Mono8
xx
x x*
x x*
x x*
x x*
6
640 x 480
Mono16
x
x
x
x
x
0
800 x 600
YUV422
x
x
x
x
1
800 x 600
RGB8
x
x
x
2
800 x 600
Mono8
x x*
x x*
x x*
3
1024 x 768
YUV422
x
x
x
x
x
4
1024 x 768
RGB8
x
x
x
x
5
1024 x 768
Mono8
x x*
x x*
x x*
x x*
x x*
6
800 x 600
Mono16
x
x
x
x
7
1024 x 768
Mono16
x
x
x
x
x
0
1280 x 960
YUV422
x
x
x
x
1
1280 x 960
RGB8
x
x
x
x
2
1280 x 960
Mono8
x x*
x x*
x x*
x x*
3
1600 x 1200 YUV422
x
x
x
x
4
1600 x 1200 RGB8
x
x
x
5
1600 x 1200 Mono8
x x*
x x*
x x*
x x*
6
1280 x 960
Mono16
x
x
x
x
7
1600 x 1200 Mono16
x
x
x
x
Table 90: Video fixed formats PIKE F-421-B / PIKE F-421C
*: Color camera outputs RAW image, which needs to be converted outside of
camera.
Frame rates with shading are only achievable with 1394b (S800).
PIKE Technical Manual V4.0.0
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Video formats, modes and bandwidth
Format Mode Resolution
0
Color Mode
Maximal S800 frame rates for Format_7 modes
2048 x 2048 Mono8
Mono12
Mono16
16 fps
10 fps
8 fps
2048 x 2048 YUV411
YUV422,Raw16
Mono8,Raw8
RGB8
10 fps
8 fps
16 fps
5 fps
1
1024 x 2048 Mono8
Mono12
Mono16
16 fps
16 fps
16 fps
2x H-binning
2x H-binning
2x H-binning
2
2048 x 1024 Mono8
Mono12
Mono16
29 fps
21 fps
16 fps
2x V-binning
2x V-binning
2x V-binning
3
1024 x 1024 Mono8
Mono12
Mono16
29 fps
29 fps
29 fps
2x H+V binning
2x H+V binning
2x H+V binning
4
1024 x 2048 Mono8
Mono12
Mono16
16 fps
16 fps
16 fps
2x H-sub-sampling
2x H-sub-sampling
2x H-sub-sampling
1024 x 2048 YUV411
YUV422,Raw16
Mono8,Raw8
RGB8
16 fps
16 fps
16 fps
10 fps
2 out of 4 H-sub-sampling
2 out of 4 H-sub-sampling
2 out of 4 H-sub-sampling
2 out of 4 H-sub-sampling
2048 x 1024 Mono8
Mono12
Mono16
29 fps
21 fps
16 fps
2 out of 4 V-sub-sampling
2 out of 4 V-sub-sampling
2 out of 4 V-sub-sampling
2048 x 1024 YUV411
YUV422,Raw16
Mono8,Raw8
RGB8
29 fps
21 fps
29 fps
10 fps
2 out of 4 V-sub-sampling
2 out of 4 V-sub-sampling
2 out of 4 V-sub-sampling
2 out of 4 V-sub-sampling
1024 x 1024 Mono8
Mono12
Mono16
29 fps
29 fps
29 fps
2 out of 4 H+V-sub-sampling
2 out of 4 H+V-sub-sampling
2 out of 4 H+V-sub-sampling
1024 x 1024 YUV411
YUV422,Raw16
Mono8,Raw8
RGB8
29 fps
29 fps
29 fps
21 fps
2 out of 4 H+V-sub-sampling
2 out of 4 H+V-sub-sampling
2 out of 4 H+V-sub-sampling
2 out of 4 H+V-sub-sampling
7
5
6
Table 91: Video Format_7 default modes PIKE F-421-B / PIKE F-421C
PIKE Technical Manual V4.0.0
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Video formats, modes and bandwidth
PIKE F-505B / PIKE F-505C
Format Mode Resolution
0
1
2
Color mode 240
fps
120
fps
60
fps
30
fps
15
fps
7.5
fps
3.75
fps
1.875
fps
0
160 x 120
YUV444
1
320 x 240
YUV422
x
x
x
x
x
2
640 x 480
YUV411
x
x
x
x
x
3
640 x 480
YUV422
x
x
x
x
x
4
640 x 480
RGB8
x
x
x
x
x
5
640 x 480
Mono8
x x*
x x*
x x*
x x*
x x*
6
640 x 480
Mono16
x
x
x
x
x
0
800 x 600
YUV422
x
x
x
1
800 x 600
RGB8
x
x
2
800 x 600
Mono8
x x*
x x*
3
1024 x 768
YUV422
x
x
x
x
4
1024 x 768
RGB8
x
x
x
x
5
1024 x 768
Mono8
x x*
x x*
x x*
x x*
6
800 x 600
Mono16
x
x
x
7
1024 x 768
Mono16
x
x
x
x
0
1280 x 960
YUV422
x
x
x
x
1
1280 x 960
RGB8
x
x
x
x
2
1280 x 960
Mono 8
x x*
x x*
x x*
x x*
3
1600 x 1200 YUV422
x
x
x
x
4
1600 x 1200 RGB8
x
x
x
5
1600 x 1200 Mono8
x x*
x x*
x x*
x x*
6
1280 x 960
Mono16
x
x
x
x
7
1600 x 1200 Mono16
x
x
x
x
Table 92: Video fixed formats PIKE F-505B / F-505C
*: Color camera outputs RAW image, which needs to be converted outside of
camera.
Frame rates with shading are only achievable with 1394b (S800).
PIKE Technical Manual V4.0.0
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Video formats, modes and bandwidth
Format Mode Resolution
Color mode
Maximal S800 frame rates for Format_7 modes
0
2452 x 2054 Mono8
Mono12
Mono16
2452 x 2054 YUV411
YUV422,Raw16
Mono8,Raw8
RGB8
Raw12
13 fps
09 fps
07 fps
09 fps
07 fps
13 fps
04 fps
09 fps
1
1224 x 2054 Mono8
Mono12
Mono16
15 fps
15 fps
13 fps
2x H-binning
2x H-binning
2x H-binning
2
2452 x 1026 Mono8
Mono12
Mono16
22 fps
17 fps
13 fps
2x V-binning
2x V-binning
2x V-binning
3
1224 x 1026 Mono8
Mono12
Mono16
22 fps
22 fps
22 fps
2x H+V binning
2x H+V binning
2x H+V binning
4
1224 x 2054 Mono8
Mono12
Mono16
1224 x 2054 YUV411
YUV422,Raw16
Mono8,Raw8
RGB8
Raw12
15 fps
15 fps
13 fps
15 fps
13 fps
15 fps
09 fps
15 fps
2 out of 4 H-sub-sampling
2 out of 4 H-sub-sampling
2 out of 4 H-sub-sampling
2 out of 4 H-sub-sampling
2 out of 4 H-sub-sampling
2 out of 4 H-sub-sampling
2 out of 4 H-sub-sampling
2 out of 4 H-sub-sampling
5
2452 x 1026 Mono8
Mono12
Mono16
2452 x 1026 YUV411
YUV422,Raw16
Mono8,Raw8
RGB8
Raw12
22 fps
17 fps
13 fps
17 fps
13 fps
22 fps
09 fps
17 fps
2 out of 4 V-sub-sampling
2 out of 4 V-sub-sampling
2 out of 4 V-sub-sampling
2 out of 4 V-sub-sampling
2 out of 4 V-sub-sampling
2 out of 4 V-sub-sampling
2 out of 4 V-sub-sampling
2 out of 4 V-sub-sampling
6
1224 x 1026 Mono8
Mono12
Mono16
1224 x 1026 YUV411
YUV422,Raw16
Mono8,Raw8
RGB8
Raw12
22 fps
22 fps
22 fps
22 fps
22 fps
22 fps
17 fps
22 fps
2 out of 4 H+V-sub-sampling
2 out of 4 H+V-sub-sampling
2 out of 4 H+V-sub-sampling
2 out of 4 H+V-sub-sampling
2 out of 4 H+V-sub-sampling
2 out of 4 H+V-sub-sampling
2 out of 4 H+V-sub-sampling
2 out of 4 H+V-sub-sampling
7
Table 93: Video Format_7 default modes PIKE F-505B / F-505C
PIKE Technical Manual V4.0.0
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Video formats, modes and bandwidth
Area of interest (AOI)
The camera’s image sensor has a defined resolution. This indicates the maximum number of lines and pixels per line that the recorded image may have.
However, often only a certain section of the entire image is of interest. The
amount of data to be transferred can be decreased by limiting the image to
a section when reading it out from the camera. At a lower vertical resolution
the sensor can be read out faster and thus the frame rate is increased.
Note
The setting of AOIs is supported only in video Format_7.
L
While the size of the image read out for most other video formats and modes
is fixed by the IIDC specification, thereby determining the highest possible
frame rate, in Format_7 mode the user can set the upper left corner and
width and height of the section (area of interest = AOI) he is interested in
to determine the size and thus the highest possible frame rate.
Setting the AOI is done in the IMAGE_POSITION and IMAGE_SIZE registers.
Attention should be paid to the increments entered in the UNIT_SIZE_INQ
and UNIT_POSITION_INQ registers when configuring IMAGE_POSITION and
IMAGE_SIZE.
AF_AREA_POSITION and AF_AREA_SIZE contain in the respective bits values
for the column and line of the upper left corner and values for the width and
height.
Note
L
For more information see Table 132: Format_7 control and
status register on page 276.
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Video formats, modes and bandwidth
Figure 101: Area of interest (AOI)
Note
•
L
•
The left position + width and the upper position +
height may not exceed the maximum resolution of the
sensor.
The coordinates for width and height must be divisible
by 4.
In addition to the AOI, some other parameters have an effect on the maximum frame rate:
• the time for reading the image from the sensor and transporting it into
the FRAME_BUFFER
• the time for transferring the image over the FireWire™ bus
• the length of the exposure time.
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Video formats, modes and bandwidth
Autofunction AOI
Use this feature to select the image area (work area) on which the following
autofunctions work:
• auto shutter
• auto gain
• auto white balance
In the following screenshot you can see an example of the autofunction AOI:
work area
Figure 102: Example of autofunction AOI (Show work area is on)
Note
L
For more information see Chapter Autofunction AOI on page
301.
PIKE Technical Manual V4.0.0
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Video formats, modes and bandwidth
Frame rates
An IEEE 1394 camera requires bandwidth to transport images.
The IEEE 1394b bus has very large bandwidth of at least 62.5 MByte/s for
transferring (isochronously) image data. Per cycle up to 8192 bytes (or
around 2000 quadlets = 4 bytes@ 800 Mbit/s) can thus be transmitted.
Note
All bandwidth data is calculated with:
L
1 MByte = 1024 kByte
Depending on the video format settings and the configured frame rate, the
camera requires a certain percentage of maximum available bandwidth.
Clearly the bigger the image and the higher the frame rate, the more data is
to be transmitted.
The following tables indicate the volume of data in various formats and
modes to be sent within one cycle (125 µs) at 800 Mbit/s of bandwidth.
The tables are divided into three formats:
Format
Resolution
max. Video Format
Format_0
up to VGA
640 x 480
Format_1
up to XGA
1024 x 768
Format_2
up to UXGA
1600 x 1200
Table 94: Overview fixed formats
They enable you to calculate the required bandwidth and to ascertain the
number of cameras that can be operated independently on a bus and in which
mode.
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Video formats, modes and bandwidth
Format Mode
0
Resolution
240
fps
120
fps
60
fps
30
fps
15
fps
7.5
fps
160 x 120 YUV (4:4:4)
4H
640p
480q
2H
320p
240q
1H
160p
120q
1/2H
80p
60q
1/4H
40p
30q
1/8H
20p
15q
8H
4H
2H
2560p 1280p 640p
1280q 640q 320q
1H
320p
160q
1/2H
160p
80q
1/4H
80p
40q
1/8H
40p
20q
8H
4H
2H
1H
5120p 2560p 1280p 640p
1920q 960q 480q 240q
1/2H
320p
120q
1/4H
160p
60q
4H
2H
1H
2560p 1280p 640p
1280q 640q 320q
1/2H
320p
160q
1/4H
160p
80q
4H
2H
1H
2560p 1280p 640p
1280q 960q 480q
1/2H
320p
240q
1/4H
160p
120q
8H
4H
2H
1H
5120p 2560p 1280p 640p
1280q 640q 320q 160q
1/2H
320p
80q
1/4H
160
p40q
4H
2H
1H
2560p 1280p 640p
1280q 640q 320q
1/2H
320p
160q
1/4H
160p
80q
24 bit/pixel
1
320 x 240 YUV (4:2:2)
16 bit/pixel
2
640 x 480 YUV (4:1:1)
12 bit/pixel
3
640 x 480 YUV (4:2:2)
16 bit/pixel
0
4
640 x 480 RGB
24 bit/pixel
5
640 x 480 (Mono8)
8 bit/pixel
6
640 x 480 Y (Mono16)
16 Bit/pixel
7
3.75
fps
Reserved
Table 95: Format_0
As an example, VGA Mono8 @ 60 fps requires four lines (640 x 4 = 2560 pixels/byte) to transmit every 125 µs: this is a consequence of the sensor's line
time of about 30 µs, so that no data needs to be stored temporarily. It takes
120 cycles (120 x 125 µs = 15 ms) to transmit one frame, which arrives every
16.6 ms from the camera. Again no data need to be stored temporarily.
Thus around 64% of the available bandwidth (at S400) is used. Thus one camera can be connected to the bus at S400.
The same camera, run at S800 would require only 32% of the available bandwidth, due to the doubled speed. Thus up to three cameras can be connected
to the bus at S800.
PIKE Technical Manual V4.0.0
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Video formats, modes and bandwidth
Format Mode Resolution
0
800 x 600 YUV (4:2:2)
16 bit/pixel
1
240
fps
120
fps
60
fps
800 x 600 RGB
800 x 600 Y (Mono8)
8 bit/pixel
3
4
1024 x 768 YUV (4:2:2)
8 bit/pixel
6
800 x 600 (Mono16)
16 bit/pixel
7
1.875
fps
6/16H
250p
125q
3H
3/2H 3/4H
3072p 1536p 768p
1536q 768q 384q
3/8H
384p
192q
3/16H
192p
96q
3/2H 3/4H
1536p 768p
384q 576q
3/8H
384p
288q
3/16H
192p
144q
6H
3H
3/2H 3/4H
6144p 3072p 1536p 768p
1536q 768q 384q 192q
3/8H
384p
96q
3/16H
192p
48q
5H
5/2H 5/4H 5/8H
4000p 2000p 1000p 500p
2000q 1000q 500q 250q
5/16H
250p
125q
1024 x 768 RGB
1024 x 768 Y (Mono)
3.75
fps
10H
5H
5/2H 5/4H 5/8H
8000p 4000p 2000p 1000p 500p
2000q 1000q 500q 250q 125q
24 bit/pixel
5
7.5
fps
5/2H 5/4H 5/8H
2000p 1000p 500p
1500q 750q 375q
16 bit/pixel
1
15
fps
5H
5/2H 5/4H 5/8H
4000p 2000p 1000p 500p
2000q 1000q 500q 250q
24 bit/pixel
2
30
fps
1024 x 768 Y (Mono16)
3H
3/2H 3/4H
3072p 1536p 768p
1536q 768q 384q
16 bit/pixel
3/8H
384p
192q
3/16H
192p
96q
Table 96: Format_1
PIKE Technical Manual V4.0.0
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Video formats, modes and bandwidth
Format
Mode
Resolution
60
fps
0
1280 x 960 YUV (4:2:2)
30
fps
16 bit/pixel
1
1280 x 960 RGB
24 bit/pixel
2
1280 x 960 Y (Mono8)
4H
5120p
1280q
8 bit/pixel
3
1600 x 1200 YUV(4:2:2)
16 bit/pixel
2
4
15
fps
7.5
fps
3.75
fps
1.875
fps
2H
2560p
1280q
1H
1280p
640q
1/2H
640p
320q
1/4H
320p
160q
2H
2560p
1920q
1H
1280p
960q
1/2H
640p
480q
1/4H
320p
240q
2H
2560p
640q
1H
1280p
320q
1/2H
640p
160q
1/4H
320p
80q
5/2H
4000p
2000q
5/4H
2000p
1000q
5/8H
1000p
500q
5/16H
500p
250q
5/4H
2000p
1500q
5/8H
1000p
750q
5/16
500p
375q
5/2H
4000p
1000q
5/4H
2000p
500q
5/8H
1000p
250q
5/16H
500p
125q
2H
2560p
1280q
1H
1280p
640q
1/2H
640p
320q
1/4H
320p
160q
5/2H
4000p
2000q
5/4H
2000p
1000q
5/8H
1000p
500q
5/16H
500p
250q
1600 x 1200 RGB
24 bit/pixel
5
1600 x 1200 Y (Mono) 8
bit/pixel
6
5H
8000p
2000q
1280 x 960 Y (Mono16)
16 bit/pixel
7
1600 x 1200Y(Mono16)
16 bit/pixel
Table 97: Format_2
As already mentioned, the recommended limit for transferring isochronous
image data is 2000q (quadlets) per cycle or 8192 bytes (with 800 Mbit/s of
bandwidth).
Note
L
•
•
If the cameras are operated with an external trigger the
maximum trigger frequency may not exceed the highest
continuous frame rate, so preventing frames from being
dropped or corrupted.
IEEE 1394 adapter cards with PCILynx™ chipsets (predeccessor of OHCI) have a limit of 4000 bytes per cycle.
The frame rates in video modes 0 to 2 are specified and set fixed by IIDC
V1.31.
PIKE Technical Manual V4.0.0
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Video formats, modes and bandwidth
Frame rates Format_7
In video Format_7 frame rates are no longer fixed.
For the different sensors, different values apply.
Frame rates may be further limited by bandwidth limitation from the IEEE
1394 bus.
Details are described in the next chapters:
• Max. frame rate of CCD (theoretical formula)
• Diagram of frame rates as function of AOI by const. width: the curves
describe RAW8, RAW12/YUV411, RAW16/YUV422, RGB8 and max. frame
rate of CCD
• Table with max. frame rates as function of AOI by const. width
PIKE Technical Manual V4.0.0
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Video formats, modes and bandwidth
PIKE F-032: AOI frame rates
1
max. frame rate of CCD = --------------------------------------------------------------------------------------------------------------------------------------------------69.3µs + AOI height × 9.81µs + ( 490 – AOI height ) × 0.81µs
Formula 3: PIKE F-032: theoretical max. frame rate of CCD
Frame rate = f(AOI height) *PIKE F-032*
RAW8
RAW12, YUV411
RAW16, YUV422
RGB8
CCD
2000
1800
Frame rate / fps
1600
1400
1200
1000
800
600
400
200
0
0
50
100
150
200
250
300
350
400
450
500
550
AOI height / pixel
Figure 103: Frame rates PIKE F-032 as function of AOI height [width=640]
CCD
Raw8
Raw12
Raw16
YUV411
YUV422
480
208.93
208
139
105
139
105
70
300
315.84
314
219
168
219
168
112
240
380.78
372
271
208
271
208
139
150
550.60
551
432
327
432
327
219
120
646.75
640
516
410
516
410
271
60
993.84
941
941
762
941
762
516
30
1358.33
1358
1358
1358
1358
1358
941
10
1797.91
1778
1778
1778
1778
1778
1778
AOI height
RGB8
Table 98: Frame rates (fps) of PIKE F-032 as function of AOI height (pixel) [width=640]
PIKE Technical Manual V4.0.0
221
Video formats, modes and bandwidth
Note
L
CCD = theoretical max. frame rate (in fps) of CCD according to
given formula
PIKE Technical Manual V4.0.0
222
Video formats, modes and bandwidth
PIKE F-100: AOI frame rates
1
max. frame rate of CCD = ---------------------------------------------------------------------------------------------------------------------------------------------------174µs + AOI height × 16.40µs + ( 1008 – AOI height ) × 3.4µs
Formula 4: Pike F-100: theoretical max. frame rate of CCD
Frame rate = f(AOI height) *PIKE F-100*
Raw8
RAW12, YUV411
RAW16, YUV422
RGB8
CCD
300
280
260
240
220
Frame rate / fps
200
180
160
140
120
100
80
60
40
20
0
0
50
100
150
200
250
300
350
400
450
500
550
600
650
700
750
800
850
900
950
1000
AOI height / pixel
Figure 104: Frame rates PIKE F-100 as function of AOI height [width=1000]
AOI height
CCD
RAW8
RAW12
RAW16
YUV411
YUV422
RGB8
1000
60.24
60
43
33
43
33
22
960
62.18
62
45
34
45
34
23
600
87.71
87
72
54
72
54
36
500
99.00
99
86
65
86
65
43
480
101.61
102
90
68
90
68
45
Table 99: Frame rates (fps) of PIKE F-100 as function of AOI height (pixel) [width=1000]
PIKE Technical Manual V4.0.0
223
Video formats, modes and bandwidth
AOI height
CCD
RAW8
RAW12
RAW16
YUV411
YUV422
RGB8
300
133.31
132
132
107
132
107
72
240
148.78
149
149
134
149
134
90
150
180.14
180
180
180
180
180
144
120
193.75
193
193
193
193
193
180
60
228.25
225
225
225
225
225
225
30
250.55
251
251
251
251
251
251
10
268.01
268
268
268
268
268
268
Table 99: Frame rates (fps) of PIKE F-100 as function of AOI height (pixel) [width=1000]
Note
L
CCD = theoretical max. frame rate (in fps) of CCD according to
given formula
PIKE Technical Manual V4.0.0
224
Video formats, modes and bandwidth
PIKE F-145: AOI frame rates (no sub-sampling)
1
max. frame rate of CCD = ------------------------------------------------------------------------------------------------------------------------------------------------------242µs + AOI height × 31.80µs + ( 1051 – AOI height ) × 5.85µs
Formula 5: Pike F-145: theoretical max. frame rate of CCD (no sub-sampling)
Frame rate = f(AOI height) *PIKE F-145*
RAW8
RAW12, YUV411
RAW16, YUV422
RGB8
CCD
160
140
Frame rate / fps
120
100
80
60
40
20
0
0
50
100
150
200
250
300
350
400
450
500
550
600
650
700
750
800
850
900
950
1000
1050
1100
AOI height / pixel
Figure 105: Frame rates PIKE F-145 as function of AOI height [width=1388]
AOI height
CCD
RAW8
RAW12
RAW16
YUV411
YUV422
RGB8
1038
30.01
30
30
23
30
23
15
1024
30.34
30
30
23
30
23
15
960
31.95
32
32
25
32
25
16
600
45.54
46
46
39
46
39
26
518
50.42
50
50
45
50
45
30
480
53.06
53
53
49
53
49
33
240
79.25
79
79
79
79
79
65
120
105.21
105
105
105
105
105
105
60
125.83
126
126
126
126
126
126
30
139.49
139
139
139
139
139
139
Table 100: Frame rates (fps) of PIKE F-145 as function of AOI height (pixel) [width=1388]
PIKE Technical Manual V4.0.0
225
Video formats, modes and bandwidth
Note
L
CCD = theoretical max. frame rate (in fps) of CCD according to
given formula
PIKE Technical Manual V4.0.0
226
Video formats, modes and bandwidth
PIKE F-145: AOI frame rates (sub-sampling)
1
max. frame rate of CCD = ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------242µs + AOI height × 1.5 × 31.80µs + ( 1051 – AOI height × 1.5 ) × 5.85µs
Formula 6: Pike F-145: theoretical max. frame rate of CCD (sub-sampling)
Frame rate = f(AOI height) *PIKE F-145 sub-sampling*
RAW8
RAW12, YUV411
RAW16, YUV422
RGB8
CCD
160
140
Frame rate / fps
120
100
80
60
40
20
0
0
50
100
150
200
250
300
350
400
450
500
550
600
650
700
750
800
850
900
950
1000
1050
1100
AOI height / pixel
Figure 106: Frame rates PIKE F-145 as function of AOI height [width=1388] (sub-sampling)
AOI height
CCD
RAW8
RAW12
RAW16
YUV411
YUV422
RGB8
518
37.66
38
38
38
38
38
30
480
39.88
40
40
40
40
40
33
240
63.56
64
64
64
64
64
64
120
90.40
90
90
90
90
90
90
60
114.60
115
115
115
115
115
115
30
132.31
132
132
132
132
132
132
10
147.50
147
147
147
147
147
147
Table 101: Frame rates (fps) PIKE F-145 as function of AOI height (pixel) [width=1388] (sub-sampl.)
PIKE Technical Manual V4.0.0
227
Video formats, modes and bandwidth
Note
L
CCD = theoretical max. frame rate (in fps) of CCD according to
given formula
PIKE Technical Manual V4.0.0
228
Video formats, modes and bandwidth
PIKE F-145-15fps: AOI frame rates (no sub-sampl.)
1
max. frame rate of CCD = ---------------------------------------------------------------------------------------------------------------------------------------------------------450µs + AOI height × 59.36µs + ( 1051 – AOI height ) × 10.92µs
Formula 7: Pike F-145-15fps: theoretical max. frame rate of CCD (no sub-sampling)
Frame rate = f(AOI height) *PIKE F-145-15fps*
RAW8
RAW12, YUV411
RAW16, YUV422
RGB8
CCD
80
70
Frame rate / fps
60
50
40
30
20
10
0
0
50
100
150
200
250
300
350
400
450
500
550
600
650
700
750
800
850
900
950
1000
1050
1100
AOI height / pixel
Figure 107: Frame rates PIKE F-145-15fps as function of AOI height [width=1388]
AOI height
CCD
RAW8
RAW12
RAW16
YUV411
YUV422
RGB8
1038
16.08
16
16
16
16
16
15
1024
16.25
16
16
16
16
16
15
960
17.11
17
17
17
17
17
16
600
24.40
24
24
24
24
24
24
518
27.01
27
27
27
27
27
27
480
28.43
28
28
28
28
28
28
240
42.46
42
42
42
42
42
42
120
56.37
56
56
56
56
56
56
60
67.42
67
67
67
67
67
67
30
74.74
74
74
74
74
74
74
Table 102: Frame rates (fps) of PIKE F-145-15fps as function of AOI height (pixel) [width=1388]
PIKE Technical Manual V4.0.0
229
Video formats, modes and bandwidth
Note
L
CCD = theoretical max. frame rate (in fps) of CCD according to
given formula
PIKE Technical Manual V4.0.0
230
Video formats, modes and bandwidth
PIKE F-145-15fps: AOI frame rates (sub-sampl.)
1
max. frame rate of CCD = -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------450µs + AOI height × 1.5 × 59.36µs + ( 1051 – AOI height × 1.5 ) × 10.92µs
Formula 8: Pike F-145-15fps: theoretical max. frame rate of CCD (sub-sampling)
Frame rate = f(AOI height) *PIKE F-145-15fps sub-sampling*
RAW8
RAW12, YUV411
RAW16, YUV422
RGB8
FPS-CCD
90
80
70
Frame rate / fps
60
50
40
30
20
10
0
0
50
100
150
200
250
300
350
400
450
500
550
600
650
700
750
800
850
900
950
1000
1050
1100
AOI height / pixel
Formula 9: Frame rates PIKE F-145-15fps as function of AOI height [width=1388] (sub-sampling)
AOI height
CCD
RAW8
RAW12
RAW16
YUV411
YUV422
RGB8
518
20.18
20
20
20
20
20
20
480
21.37
21
21
21
21
21
21
240
34.05
34
34
34
34
34
34
120
48.44
48
48
48
48
48
48
60
61.40
61
61
61
61
61
61
30
70.89
71
71
71
71
71
71
10
79.03
79
79
79
79
79
79
Table 103: Frame rates of PIKE F-145-15fps as function of AOI height [width=1388] (sub-sampl.)
Note
L
CCD = theoretical max. frame rate (in fps) of CCD according to
given formula
PIKE Technical Manual V4.0.0
231
Video formats, modes and bandwidth
PIKE F-210: AOI frame rates (no sub-sampling)
1
max. frame rate of CCD = ---------------------------------------------------------------------------------------------------------------------------------------------------107µs + AOI height × 28.6µs + ( 1092 – AOI height ) × 6.75µs
Formula 10: Pike F-210: theoretical max. frame rate of CCD (no sub-sampling)
Frame rate = f(AOI height) *PIKE F-210*
RAW8
RAW12, YUV411
RAW16, YUV422
RGB8
CCD
140
Frame rate / fps
120
100
80
60
40
20
0
0
50
100 150 200 250 300 350 400 450 500 550 600 650 700 750 800 850 900 950 1000 1050 1100 1150
AOI height / pixel
Table 104: Frame rates PIKE F210 as function of AOI height [width=1000] (no sub-sampling)
AOI height
CCD
RAW8
RAW12
RAW16
YUV411
YUV422
RGB8
1080
32.18
31
21
16
21
16
11
1024
33.50
33
22
17
22
17
11
960
35.14
35
24
18
24
18
12
600
48.57
49
38
28
38
28
19
540
51.88
52
42
31
42
31
21
480
55.66
56
47
35
47
35
24
240
78.60
79
79
70
79
70
47
120
99.01
99
99
99
99
99
94
Table 105: Frame rates of PIKE F-210 as function of AOI height [width=1000] (no sub-sampl.)
PIKE Technical Manual V4.0.0
232
Video formats, modes and bandwidth
AOI height
CCD
RAW8
RAW12
RAW16
YUV411
YUV422
RGB8
60
113.78
113
113
113
113
113
113
30
122.95
122
122
122
122
122
122
Table 105: Frame rates of PIKE F-210 as function of AOI height [width=1000] (no sub-sampl.)
Note
L
Note
L
CCD = theoretical max. frame rate (in fps) of CCD according to
given formula
In Format_7 Mode_5 and Mode_6 the Pike F-210 has a frame
rate of:
frame rate ~ f(2 x AOI height)
PIKE Technical Manual V4.0.0
233
Video formats, modes and bandwidth
PIKE F-210: AOI frame rates (sub-sampling)
1
max. frame rate of CCD = -----------------------------------------------------------------------------------------------------------------------------------------------------------------------------107µs + AOI height × 1.5 × 28.6µs + ( 1092 – AOI height × 1.5 ) × 6.75µ
Formula 11: Pike F-210: theoretical max. frame rate of CCD (sub-sampling)
Frame rate = f(AOI height) *PIKE F-210 sub-sampling*
RAW8
RAW12, YUV411
RAW16, YUV422
RGB8
CCD
140
Frame rate / fps
120
100
80
60
40
20
0
0
50
100 150 200 250 300 350 400 450 500 550 600 650 700 750 800 850 900 950 1000 1050 1100 1150
AOI height / pixel
Table 106: Frame rates PIKE F210 as function of AOI height [width=1000] (sub-sampling)
AOI height
CCD
RAW8
RAW12
RAW16
YUV411
YUV422
RGB8
540
39.72
40
40
31
40
31
21
480
43.08
43
43
35
43
35
24
240
65.17
65
65
65
65
65
47
120
87.63
87
87
87
87
87
87
60
105.88
106
106
106
106
106
106
30
118.19
118
118
118
118
118
118
Table 107: Frame rates (fps) of PIKE F-210 as function of AOI height [width=1000] (sub-sampling)
PIKE Technical Manual V4.0.0
234
Video formats, modes and bandwidth
Note
L
CCD = theoretical max. frame rate (in fps) of CCD according to
given formula
In Format_7 Mode_5 and Mode_6 the Pike F-210 has a frame
rate of:
frame rate ~ f(2 x AOI height)
PIKE Technical Manual V4.0.0
235
Video formats, modes and bandwidth
PIKE F-421: AOI frame rates
1
max. frame rate of CCD = -----------------------------------------------------------------------------------------------------------------------------------------------------------125.2µs + AOI height × 30.10µs + ( 2072 – AOI height ) × 3.37µs
Formula 12: Pike F-421: theoretical max. frame rate of CCD
Frame rate = f(AOI height) *PIKE F-421*
RAW8
RAW12, YUV422
RAW16, YUV422
RGB8
CCD
140
120
Frame rate / fps
100
80
60
40
20
0
0
100
200
300
400
500
600
700
800
900 1000 1100 1200 1300 1400 1500 1600 1700 1800 1900 2000 2100 2200
AOI height / pixel
Table 108: Frame rates PIKE F-421 as function of AOI height[width=2048]
AOI height
CCD
RAW8
RAW12
RAW16
YUV411
YUV422
RGB8
2048
16.17
16
10
8
10
8
5
1200
25.52
26
18
13
18
13
9
1024
29.00
29
21
16
21
16
10
960
30.52
30
22
17
22
17
11
600
43.20
43
35
27
35
27
18
480
50.15
50
44
33
44
33
22
240
73.95
74
74
66
74
66
44
120
96.94
97
97
97
97
97
88
60
114.79
115
115
115
115
115
115
30
126.43
126
126
126
126
126
126
Table 109: Frame rates PIKE F-421 as function of AOI height [width=2048]
PIKE Technical Manual V4.0.0
236
Video formats, modes and bandwidth
Note
L
CCD = theoretical max. frame rate (in fps) of CCD according to
given formula
PIKE Technical Manual V4.0.0
237
Video formats, modes and bandwidth
PIKE F-505: AOI frame rates
1
max. frame rate of CCD = ----------------------------------------------------------------------------------------------------------------------------------------------------------636µs + AOI height × 33.10µs + ( 2069 – AOI height ) × 10.34µs
Formula 13: Pike F-505: theoretical max. frame rate of CCD
AOI frame rates with max. BPP = 8192
Frame rate = f(AOI height) *PIKE F-505* (max BPP = 8192)
RAW8
RAW12, YUV411
RAW16, YUV422
RGB8
CCD
50
45
40
Frame rate / fps
35
30
25
20
15
10
5
0
0
100 200 300 400 500 600 700 800 900 1000 1100 1200 1300 1400 1500 1600 1700 1800 1900 2000 2100 2200 2300 2400 2500
AOI height / pixel
Figure 108: Frame rates PIKE F-505 as function of AOI height [width=2452] (max BPP = 8192)
AOI height
CCD
RAW8
RAW12
RAW16
YUV411
YUV422
RGB8
2054
14.54
13
9
7
9
7
4
2048
14.57
13
9
7
9
7
4
1200
20.27
20
15
11
15
11
7
1024
22.06
22
17
13
17
13
9
960
22.79
23
18
14
18
14
9
600
28.02
28
28
22
28
22
15
480
30.35
30
30
28
30
28
18
240
36.37
36
36
36
36
36
36
Table 110: Frame rates PIKE F-505 as function of AOI height (pixel) [width=2452] (maxBPP=8192)
PIKE Technical Manual V4.0.0
238
Video formats, modes and bandwidth
AOI height
CCD
RAW8
RAW12
RAW16
YUV411
YUV422
RGB8
120
40.39
40
40
40
40
40
40
60
42.74
43
43
43
43
43
43
30
44.03
44
44
44
44
44
44
Table 110: Frame rates PIKE F-505 as function of AOI height (pixel) [width=2452] (maxBPP=8192)
Note
L
CCD = theoretical max. frame rate (in fps) of CCD according to
given formula
PIKE Technical Manual V4.0.0
239
Video formats, modes and bandwidth
AOI frame rates with max. BPP = 11000
Frame rate = f(AOI height) *PIKE F-505* (max BPP = 11000)
RAW8
RAW12, YUV411
RAW16, YUV422
RGB8
CCD
50
45
40
Frame rate / fps
35
30
25
20
15
10
5
0
0
100 200 300 400 500 600 700 800 900 1000 1100 1200 1300 1400 1500 1600 1700 1800 1900 2000 2100 2200 2300 2400 2500
AOI height / pixel
Figure 109: Frame rates PIKE F-505 as function of AOI height [width=2452] (max BPP = 11000)
AOI height
CCD
RAW8
RAW12
RAW16
YUV411
YUV422
RGB8
2054
14.54
15
12
9
12
9
6
2048
14.57
15
12
9
12
9
6
1200
20.27
20
20
15
20
15
10
1024
22.06
22
22
17
22
17
12
960
22.79
23
23
19
23
19
12
600
28.02
28
28
28
28
28
20
480
30.35
30
30
30
30
30
25
240
36.37
36
36
36
36
36
36
120
40.39
40
40
40
40
40
40
60
42.74
43
43
43
43
43
43
30
44.03
44
44
44
44
44
44
Table 111: Frame rates PIKE F-505 as function of AOI height [width=2452] (maxBPP=11000)
Note
L
CCD = theoretical max. frame rate (in fps) of CCD according to
given formula
PIKE Technical Manual V4.0.0
240
How does bandwidth affect the frame rate?
How does bandwidth affect the frame
rate?
In some modes the IEEE 1394b bus limits the attainable frame rate. According to the 1394b specification on isochronous transfer, the largest data payload size of 8192 bytes per 125 µs cycle is possible with bandwidth of
800 Mbit/s. In addition, there is a limitation, only a maximum number of
65535 (216 -1) packets per frame are allowed.
The following formula establishes the relationship between the required
Byte_Per_Packet size and certain variables for the image. It is valid only for
Format_7.
BYTE_PER_PACKET = frame rate × AOI_WIDTH × AOI_HEIGHT × ByteDepth × 125µs
Formula 14: Byte_per_Packet calculation (only Format_7)
If the value for BYTE_PER_PACKET is greater than 8192 (the maximum data
payload), the sought-after frame rate cannot be attained. The attainable
frame rate can be calculated using this formula:
(Provision: BYTE_PER_PACKET is divisible by 4):
BYTE_PER_PACKET
frame rate ≈ --------------------------------------------------------------------------------------------------------------------AOI_WIDTH × AOI_HEIGHT × ByteDepth × 125µs
Formula 15: Maximum frame rate calculation
ByteDepth based on the following values:
Mode
bit/pixel
Mono8, Raw8
byte per pixel
8
1
Mono16, Raw16
16
2
YUV4:2:2
16
2
YUV4:1:1
12
1.5
RGB8
24
3
Table 112: ByteDepth
PIKE Technical Manual V4.0.0
241
How does bandwidth affect the frame rate?
Example formula for the b/w camera
Mono16, 1392 x 1040, 30 fps desired
BYTE_PER_PACKET = 30 × 1392 × 1040 × 2 × 125µs = 10856 > 8192
8192
⇒ frame rate reachable ≈ ------------------------------------------------------------ = 22.64
1392 × 1040 × 2 × 125µs
Formula 16: Example maximum frame rate calculation
PIKE Technical Manual V4.0.0
242
How does bandwidth affect the frame rate?
Test images
Loading test images
FirePackage
Direct FirePackage
Fire4Linux
1. Start SmartView.
1. Start SmartView for WDM.
1. Start cc1394 viewer.
2. Click the Edit settings
button.
2. In Camera menu click
Settings.
2. In Adjustments menu click
on Picture Control.
3. Click Adv1 tab.
3. Click Adv1 tab.
3. Click Main tab.
4. In combo box Test images
choose Image 1 or another
test image.
4. In combo box Test images
choose Image 1 or another
test image.
4. Activate Test image check
box on.
5. In combo box Test images
choose Image 1 or another
test image.
Table 113: Loading test images in different viewers
Test images for b/w cameras
The b/w cameras have two test images that look the same. Both images show
a gray bar running diagonally (mirrored at the middle axis).
• Image 1 is static.
• Image 2 moves upwards by 1 pixel/frame.
Figure 110: Gray bar test image
PIKE Technical Manual V4.0.0
243
How does bandwidth affect the frame rate?
Test images for color cameras
The color cameras have 1 test image:
YUV4:2:2 mode
Figure 111: Color test image
Mono8 (raw data)
Figure 112: Bayer-coded test image
The color camera outputs Bayer-coded raw data in Mono8 instead of - as
described in IIDC V1.31 - a real Y signal. The first pixel of the image is always
the red pixel from the sensor. (Mirror must be switched off.)
PIKE Technical Manual V4.0.0
244
Configuration of the camera
Configuration of the camera
All camera settings are made by writing specific values into the corresponding registers.
This applies to:
• values for general operating states such as video formats and modes,
exposure times, etc.
• extended features of the camera that are turned on and off and controlled via corresponding registers (so-called advanced registers).
Camera_Status_Register
The interoperability of cameras from different manufacturers is ensured by
IIDC, formerly DCAM (Digital Camera Specification), published by the IEEE
1394 Trade Association.
IIDC is primarily concerned with setting memory addresses (e.g. CSR:
Camera_Status_Register) and their meaning.
In principle all addresses in IEEE 1394 networks are 64 bits long.
The first 10 bits describe the Bus_Id, the next 6 bits the Node_Id.
Of the subsequent 48 bits, the first 16 bits are always FFFFh, leaving the
description for the Camera_Status_Register in the last 32 bits.
If in the following, mention is made of a CSR F0F00600h, this means in full:
Bus_Id, Node_Id, FFFF F0F00600h
Writing and reading to and from the register can be done with programs such
as FireView or by other programs developed using an API library (e.g.
FirePackage).
PIKE Technical Manual V4.0.0
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Configuration of the camera
Every register is 32 bit (big endian) and implemented as follows (MSB = Most
Significant Bit; LSB = Least Significant Bit):
Far left
Bit
Bit
Bit
0
1
2
...
MSB
Bit
Bit
30
31
LSB
Table 114: 32-bit register
Example
This requires, for example, that to enable ISO_Enabled mode (see Chapter
ISO_Enable / Free-Run on page 186), (bit 0 in register 614h), the value
80000000 h must be written in the corresponding register.
PIKE Technical Manual V4.0.0
246
Configuration of the camera
Offset of Register: (0x0F00614)
ISO_Enable
Write 80000000 and click Write
Content of register: 80000000
= 1000 0000 0000 0000 0000 0000 0000 0000
Figure 113: Enabling ISO_Enable
PIKE Technical Manual V4.0.0
247
Configuration of the camera
Offset of Register: (0x1000040)
ADV_FNC_INQ
Content of register: FAE3C401
= 1111 1010 1110 0011 1110 0100 0000 0001
ExtdShutter
Testimage
Look-up tables
Shading
DeferredTrans
Trigger Delay
Misc. features
2
3
4
5
6
7
8
9
10
11
12
13
14
15
1
1
1
1
1
0
1
0
1
1
1
0
0
0
1
1
ColorCorr
GP_Buffer
UserProfiles
VersionInfo
TimeBase
1
High SNR
Bit
0
SoftReset
Bit
MaxResolution
Table 115: Configuring the camera (PIKE F-421C)
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
1
1
1
0
0
1
0
0
0
0
0
0
0
0
0
1
Table 116: Configuring the camera: registers
PIKE Technical Manual V4.0.0
248
Configuration of the camera
Sample program
The following sample code in C/C++ shows how the register is set for video
mode/format, trigger mode etc. using the FireGrab and FireStack API.
Example FireGrab
…
// Set Videoformat
if(Result==FCE_NOERROR)
Result= Camera.SetParameter(FGP_IMAGEFORMAT,MAKEIMAGEFORMAT(RES_640_480,
CM_Y8, FR_15));
// Set external Trigger
if(Result==FCE_NOERROR)
Result= Camera.SetParameter(FGP_TRIGGER,MAKETRIGGER(1,0,0,0,0));
// Start DMA logic
if(Result==FCE_NOERROR)
Result=Camera.OpenCapture();
// Start image device
if(Result==FCE_NOERROR)
Result=Camera.StartDevice();
…
PIKE Technical Manual V4.0.0
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Configuration of the camera
Example FireStack API
…
// Set framerate
Result=WriteQuad(HIGHOFFSET,m_Props.CmdRegBase+CCR_FRAMERATE,(UINT32)m_Parms.F
rameRate<<29);
// Set mode
if(Result)
Result=WriteQuad(HIGHOFFSET,m_Props.CmdRegBase+CCR_VMODE,(UINT32)m_Parms.Video
Mode<<29);
// Set format
if(Result)
Result=WriteQuad(HIGHOFFSET,m_Props.CmdRegBase+CCR_VFORMAT,(UINT32)m_Parms.Vid
eoFormat<<29);
// Set trigger
if(Result)
{
Mode=0;
if(m_Parms.TriggerMode==TM_EXTERN)
Mode=0x82000000;
if(m_Parms.TriggerMode==TM_MODE15)
Mode=0x820F0000;
WriteQuad(HIGHOFFSET,m_Props.CmdRegBase+CCR_TRGMODE,Mode);
}
// Start continous ISO if not oneshot triggermode
if(Result && m_Parms.TriggerMode!=TM_ONESHOT)
Result=WriteQuad(HIGHOFFSET,m_Props.CmdRegBase+CCR_ISOENABLE,0x80000000);
…
PIKE Technical Manual V4.0.0
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Configuration of the camera
Configuration ROM
The information in the Configuration ROM is needed to identify the node, its
capabilities and which drivers are required.
The base address for the configuration ROM for all registers is
FFFF F0000000h.
Note
If you want to use the DirectControl program to read or write
to a register, enter the following value in the Address field:
L
F0F00000h + Offset
The ConfigRom is divided into
• Bus info block: providing critical information about the bus-related
capabilities
• Root directory: specifying the rest of the content and organization,
such as:
– Node unique ID leaf
– Unit directory and
– Unit dependant info
The base address of the camera control register is calculated as follows based
on the camera-specific base address:
Offset 0-7
Bus info block
16-23 24-31
400h
04
29
0C
C0
404h
31
33
39
34
…. ASCII for 1394
408h
20
00
B2
03
…. Bus capabilities
40Ch
00
0A
47
01
…. Node_Vendor_Id, Chip_id_hi
410h
Root directory
8-15
Serial number
…. Chip_id_lo
414h
00
04
B7
85
418h
03
00
0A
47
41Ch
0C
00
83
C0
420h
8D
00
00
02
424h
D1
00
00
04
According to IEEE1212, the root directory
may have another length. The keys (e.g.
8D) point to the offset factors rather than
the offset (e.g. 420h) itself.
Table 117: Config ROM
The entry with key 8D in the root directory (420h in this case) provides the
offset for the Node unique ID leaf.
To compute the effective start address of the node unique ID leaf:
PIKE Technical Manual V4.0.0
251
Configuration of the camera
To compute the effective start address of the node unique ID leaf
currAddr
= node unique ID leaf address
destAddr
= address of directory entry
addrOffset
= value of directory entry
destAddr
= currAddr + (4 * addrOffset)
= 420h + (4 * 000002h)
= 428h
Table 118: Computing effective start address
420h + 000002 * 4 = 428h
Offset
Node unique ID leaf
0-7
8-15
16-23
24-31
428h
00
02
5E
9E
....CRC
42Ch
00
0A
47
01
….Node_Vendor_Id,Chip_id_hi
430h
00
00
Serial number
Table 119: Config ROM
The entry with key D1 in the root directory (424h in this case) provides the
offset for the unit directory as follows:
424h + 000004 * 4 = 434h
Offset
Unit directory
0-7
8-15
16-23
24-31
434h
00
03
93
7D
438h
12
00
A0
2D
43Ch
13
00
01
02
440h
D4
00
00
01
Table 120: Config ROM
The entry with key D4 in the unit directory (440h in this case) provides the
offset for unit dependent info:
440h + 000001 * 4 = 444h
PIKE Technical Manual V4.0.0
252
Configuration of the camera
Offset
0-7
8-15
16-23
24-31
444h
00
0B
A9
6E
....unit_dep_info_length, CRC
Unit dependent info 448h
44Ch
40
3C
00
00
....command_regs_base
81
00
00
02
....vender_name_leaf
450h
82
00
00
06
....model_name_leaf
454h
38
00
00
10
....unit_sub_sw_version
458h
39
00
00
00
....Reserved
45Ch
3A
00
00
00
....Reserved
460h
3B
00
00
00
....Reserved
464h
3C
00
01
00
....vendor_unique_info_0
468h
3D
00
92
00
....vendor_unique_info_1
46Ch
3E
00
00
65
....vendor_unique_info_2
470h
3F
00
00
00
....vendor_unique_info_3
Table 121: Config ROM
And finally, the entry with key 40 (448h in this case) provides the offset for
the camera control register:
FFFF F0000000h + 3C0000h * 4 = FFFF F0F00000h
The base address of the camera control register is thus:
FFFF F0F00000h
The offset entered in the table always refers to the base address of
F0F00000h.
PIKE Technical Manual V4.0.0
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Configuration of the camera
Implemented registers
The following tables show how standard registers from IIDC V1.31 are implemented in the camera. Base address is F0F00000h. Differences and explanations can be found in the third column.
Camera initialize register
Offset
Name
Notes
000h
INITIALIZE
Assert MSB = 1 for Init.
Table 122: Camera initialize register
Inquiry register for video format
Offset
Name
Field
Bit
Description
100h
V_FORMAT_INQ
Format_0
[0]
Up to VGA (non compressed)
Format_1
[1]
SVGA to XGA
Format_2
[2]
SXGA to UXGA
Format_3
[3..5]
Reserved
Format_6
[6]
Still Image Format
Format_7
[7]
Partial Image Format
-
[8..31]
Reserved
Table 123: Format inquiry register
PIKE Technical Manual V4.0.0
254
Configuration of the camera
Inquiry register for video mode
Offset
Name
Field
Bit
Description
180h
V_MODE_INQ
Mode_0
[0]
160 x 120 YUV 4:4:4
(Format_0)
Mode_1
[1]
320 x 240 YUV 4:2:2
Mode_2
[2]
640 x 480 YUV 4:1:1
Mode_3
[3]
640 x 480 YUV 4:2:2
Mode_4
[4]
640 x 480 RGB
Mode_5
[5]
640 x 480 Mono8
Mode_6
[6]
640 x 480 Mono16
Mode_X
[7]
Reserved
-
[8..31]
Reserved (zero)
V_MODE_INQ
Mode_0
[0]
800 x 600 YUV 4:2:2
(Format_1)
Mode_1
[1]
800 x 600 RGB
Mode_2
[2]
800 x 600 Mono8
Mode_3
[3]
1024 x 768 YUV 4:2:2
Mode_4
[4]
1024 x 768 RGB
Mode_5
[5]
1024 x 768 Mono8
Mode_6
[6]
800 x 600 Mono16
Mode_7
[7]
1024 x 768 Mono16
-
[8..31]
Reserved (zero)
V_MODE_INQ
Mode_0
[0]
1280 x 960 YUV 4:2:2
(Format_2)
Mode_1
[1]
1280 x 960 RGB
Mode_2
[2]
1280 x 960 Mono8
Mode_3
[3]
1600 x 1200 YUV 4:2:2
Mode_4
[4]
1600 x 1200 RGB
Mode_5
[5]
1600 x 1200 Mono8
Mode_6
[6]
1280 x 960 Mono16
Mode_7
[7]
1600 x 1200 Mono16
-
[8..31]
Reserved (zero)
184h
188h
18Ch
…
Reserved for other V_MODE_INQ_x for Format_x.
Always 0
197h
198h
V_MODE_INQ_6 (Format_6)
Always 0
Table 124: Video mode inquiry register
PIKE Technical Manual V4.0.0
255
Configuration of the camera
Offset
Name
Field
Bit
Description
19Ch
V_MODE_INQ
Mode_0
[0]
Format_7 Mode_0
(Format_7)
Mode_1
[1]
Format_7 Mode_1
Mode_2
[2]
Format_7 Mode_2
Mode_3
[3]
Format_7 Mode_3
Mode_4
[4]
Format_7 Mode_4
Mode_5
[5]
Format_7 Mode_5
Mode_6
[6]
Format_7 Mode_6
Mode_7
[7]
Format_7 Mode_7
-
[8..31]
Reserved (zero)
Table 124: Video mode inquiry register
Inquiry register for video frame rate and base
address
Offset
Name
Field
Bit
Description
200h
V_RATE_INQ
FrameRate_0
[0]
Reserved
(Format_0, Mode_0)
FrameRate_1
[1]
Reserved
FrameRate_2
[2]
7.5 fps
FrameRate_3
[3]
15 fps
FrameRate_4
[4]
30 fps
FrameRate_5
[5]
60 fps
FrameRate_6
[6]
120 fps (V1.31)
FrameRate_7
[7]
240 fps (V1.31)
-
[8..31]
Reserved (zero)
V_RATE_INQ
FrameRate_0
[0]
1.875 fps
(Format_0, Mode_1)
FrameRate_1
[1]
3.75 fps
FrameRate_2
[2]
7.5 fps
FrameRate_3
[3]
15 fps
FrameRate_4
[4]
30 fps
FrameRate_5
[5]
60 fps
FrameRate_6
[6]
120 fps (V1.31)
FrameRate_7
[7]
240 fps (V1.31)
-
[8..31]
Reserved (zero)
204h
Table 125: Frame rate inquiry register
PIKE Technical Manual V4.0.0
256
Configuration of the camera
Offset
Name
Field
Bit
Description
208h
V_RATE_INQ
FrameRate_0
[0]
1.875 fps
(Format_0, Mode_2)
FrameRate_1
[1]
3.75 fps
FrameRate_2
[2]
7.5 fps
FrameRate_3
[3]
15 fps
FrameRate_4
[4]
30 fps
FrameRate_5
[5]
60 fps
FrameRate_6
[6]
120 fps (V1.31)
FrameRate_7
[7]
240 fps (V1.31)
-
[8..31]
Reserved (zero)
V_RATE_INQ
FrameRate_0
[0]
1.875 fps
(Format_0, Mode_3)
FrameRate_1
[1]
3.75 fps
FrameRate_2
[2]
7.5 fps
FrameRate_3
[3]
15 fps
FrameRate_4
[4]
30 fps
FrameRate_5
[5]
60 fps
FrameRate_6
[6]
120 fps (V1.31)
FrameRate_7
[7]
240 fps (V1.31)
-
[8..31]
Reserved (zero)
V_RATE_INQ
FrameRate_0
[0]
1.875 fps
(Format_0, Mode_4)
FrameRate_1
[1]
3.75 fps
FrameRate_2
[2]
7.5 fps
FrameRate_3
[3]
15 fps
FrameRate_4
[4]
30 fps
FrameRate_5
[5]
60 fps
FrameRate_6
[6]
120 fps (V1.31)
FrameRate_7
[7]
240 fps (V1.31)
-
[8..31]
Reserved (zero)
20Ch
210h
Table 125: Frame rate inquiry register
PIKE Technical Manual V4.0.0
257
Configuration of the camera
Offset
Name
Field
Bit
Description
214h
V_RATE_INQ
FrameRate_0
[0]
1.875 fps
(Format_0, Mode_5)
FrameRate_1
[1]
3.75 fps
FrameRate_2
[2]
7.5 fps
FrameRate_3
[3]
15 fps
FrameRate_4
[4]
30 fps
FrameRate_5
[5]
60 fps
FrameRate_6
[6]
120 fps (V1.31)
FrameRate_7
[7]
240 fps (V1.31)
-
[8..31]
Reserved (zero)
(Format_0,
Mode_6)
[0]
1.875 fps
FrameRate_1
[1]
3.75 fps
FrameRate_2
[2]
7.5 fps
FrameRate_3
[3]
15 fps
FrameRate_4
[4]
30 fps
FrameRate_5
[5]
60 fps
FrameRate_6
[6]
120 fps (V1.31)
FrameRate_7
[7]
240 fps (V1.31)
-
[8..31]
Reserved (zero)
218h
V_RATE_INQ
FrameRate_0
21Ch
…
Reserved V_RATE_INQ_0_x (for other Mode_x of
Format_0)
Always 0
21Fh
220h
V_RATE_INQ
FrameRate_0
[0]
Reserved
(Format_1, Mode_0)
FrameRate_1
[1]
3.75 fps
FrameRate_2
[2]
7.5 fps
FrameRate_3
[3]
15 fps
FrameRate_4
[4]
30 fps
FrameRate_5
[5]
60 fps
FrameRate_6
[6]
120 fps (V1.31)
FrameRate_7
[7]
240 fps (V1.31)
-
[8..31]
Reserved (zero)
Table 125: Frame rate inquiry register
PIKE Technical Manual V4.0.0
258
Configuration of the camera
Offset
Name
Field
Bit
Description
224h
V_RATE_INQ
FrameRate_0
[0]
Reserved
(Format_1, Mode_1)
FrameRate_1
[1]
Reserved
FrameRate_2
[2]
7.5 fps
FrameRate_3
[3]
15 fps
FrameRate_4
[4]
30 fps
FrameRate_5
[5]
60 fps
FrameRate_6
[6]
120 fps (V1.31)
FrameRate_7
[7]
240 fps (V1.31)
-
[8..31]
Reserved (zero)
V_RATE_INQ
FrameRate_0
[0]
Reserved
(Format_1, Mode_2)
FrameRate_1
[1]
Reserved
FrameRate_2
[2]
7.5 fps
FrameRate_3
[3]
15 fps
FrameRate_4
[4]
30 fps
FrameRate_5
[5]
60 fps
FrameRate_6
[6]
120 fps (V1.31)
FrameRate_7
[7]
240 fps (V1.31)
-
[8..31]
Reserved (zero)
228h
22Ch
V_RATE_INQ (Format_1, FrameRate_0
Mode_3)
FrameRate_1
[0]
1.875 fps
[1]
3.75 fps
FrameRate_2
[2]
7.5 fps
FrameRate_3
[3]
15 fps
FrameRate_4
[4]
30 fps
FrameRate_5
[5]
60 fps
FrameRate_6
[6]
120 fps (V1.31)
FrameRate_7
[7]
240 fps (V1.31)
-
[8..31]
Reserved (zero)
Table 125: Frame rate inquiry register
PIKE Technical Manual V4.0.0
259
Configuration of the camera
Offset
Name
Field
Bit
Description
230h
V_RATE_INQ
FrameRate_0
[0]
1.875 fps
(Format_1, Mode_4)
FrameRate_1
[1]
3.75 fps
FrameRate_2
[2]
7.5 fps
FrameRate_3
[3]
15 fps
FrameRate_4
[4]
30 fps
FrameRate_5
[5]
60 fps
FrameRate_6
[6]
120 fps (V1.31)
FrameRate_7
[7]
240 fps (V1.31)
-
[8..31]
Reserved (zero)
V_RATE_INQ
FrameRate_0
[0]
1.875 fps
(Format_1, Mode_5)
FrameRate_1
[1]
3.75 fps
FrameRate_2
[2]
7.5 fps
FrameRate_3
[3]
15 fps
FrameRate_4
[4]
30 fps
FrameRate_5
[5]
60 fps
FrameRate_6
[6]
120 fps (V1.31)
FrameRate_7
[7]
240 fps (V1.31)
-
[8..31]
Reserved (zero)
V_RATE_INQ
FrameRate_0
[0]
1.875 fps
(Format_1, Mode_6)
FrameRate_1
[1]
3.75 fps
FrameRate_2
[2]
7.5 fps
FrameRate_3
[3]
15 fps
FrameRate_4
[4]
30 fps
FrameRate_5
[5]
60 fps
FrameRate_6
[6]
120 fps (V1.31)
FrameRate_7
[7]
240 fps (V1.31)
-
[8..31]
Reserved (zero)
234h
238h
Table 125: Frame rate inquiry register
PIKE Technical Manual V4.0.0
260
Configuration of the camera
Offset
Name
Field
Bit
Description
23Ch
V_RATE_INQ
FrameRate_0
[0]
1.875 fps
(Format_1, Mode_7)
FrameRate_1
[1]
3.75 fps
FrameRate_2
[2]
7.5 fps
FrameRate_3
[3]
15 fps
FrameRate_4
[4]
30 fps
FrameRate_5
[5]
60 fps
FrameRate_6
[6]
120 fps (V1.31)
FrameRate_7
[7]
Reserved
-
[8..31]
Reserved (zero)
V_RATE_INQ
FrameRate_0
[0]
1.875 fps
(Format_2, Mode_0)
FrameRate_1
[1]
3.75 fps
FrameRate_2
[2]
7.5 fps
FrameRate_3
[3]
15 fps
FrameRate_4
[4]
30 fps
FrameRate_5
[5]
60 fps
FrameRate_6
[6]
Reserved
FrameRate_7
[7]
Reserved
-
[8..31]
Reserved (zero)
V_RATE_INQ
FrameRate_0
[0]
1.875 fps
(Format_2, Mode_1)
FrameRate_1
[1]
3.75 fps
FrameRate_2
[2]
7.5 fps
FrameRate_3
[3]
15 fps
FrameRate_4
[4]
30 fps
FrameRate_5
[5]
60 fps
FrameRate_6
[6]
Reserved
FrameRate_7
[7]
Reserved
-
[8..31]
Reserved (zero)
240h
244h
Table 125: Frame rate inquiry register
PIKE Technical Manual V4.0.0
261
Configuration of the camera
Offset
Name
Field
Bit
Description
248h
V_RATE_INQ
FrameRate_0
[0]
1.875 fps
(Format_2, Mode_2)
FrameRate_1
[1]
3.75 fps
FrameRate_2
[2]
7.5 fps
FrameRate_3
[3]
15 fps
FrameRate_4
[4]
30 fps
FrameRate_5
[5]
60 fps
FrameRate_6
[6]
120 fps (V1.31)
FrameRate_7
[7]
Reserved
-
[8..31]
Reserved (zero)
V_RATE_INQ
FrameRate_0
[0]
1.875 fps
(Format_2, Mode_3)
FrameRate_1
[1]
3.75 fps
FrameRate_2
[2]
7.5 fps
FrameRate_3
[3]
15 fps
FrameRate_4
[4]
30 fps
FrameRate_5
[5]
60 fps
FrameRate_6
[6]
Reserved
FrameRate_7
[7]
Reserved
-
[8..31]
Reserved (zero)
V_RATE_INQ
FrameRate_0
[0]
1.875 fps
(Format_2, Mode_4)
FrameRate_1
[1]
3.75 fps
FrameRate_2
[2]
7.5 fps
FrameRate_3
[3]
15 fps
FrameRate_4
[4]
30 fps
FrameRate_5
[5]
Reserved
FrameRate_6
[6]
Reserved
FrameRate_7
[7]
Reserved
-
[8..31]
Reserved (zero)
24Ch
250h
Table 125: Frame rate inquiry register
PIKE Technical Manual V4.0.0
262
Configuration of the camera
Offset
Name
Field
Bit
Description
254h
V_RATE_INQ
FrameRate_0
[0]
1.875 fps
(Format_2, Mode_5)
FrameRate_1
[1]
3.75 fps
FrameRate_2
[2]
7.5 fps
FrameRate_3
[3]
15 fps
FrameRate_4
[4]
30 fps
FrameRate_5
[5]
60 fps
FrameRate_6
[6]
Reserved
FrameRate_7
[7]
Reserved
-
[8..31]
Reserved (zero)
V_RATE_INQ
FrameRate_0
[0]
1.875 fps
(Format_2, Mode_6)
FrameRate_1
[1]
3.75 fps
FrameRate_2
[2]
7.5 fps
FrameRate_3
[3]
15 fps
FrameRate_4
[4]
30 fps
FrameRate_5
[5]
60 fps
FrameRate_6
[6]
Reserved
FrameRate_7
[7]
Reserved
-
[8..31]
Reserved (zero)
V_RATE_INQ
FrameRate_0
[0]
1.875 fps
(Format_2, Mode_7)
FrameRate_1
[1]
3.75 fps
FrameRate_2
[2]
7.5 fps
FrameRate_3
[3]
15 fps
FrameRate_4
[4]
30 fps
FrameRate_5
[5]
60 fps
FrameRate_6
[6]
Reserved
FrameRate_7
[7]
Reserved
-
[8..31]
Reserved
258h
25Ch
260h
…
Reserved V_RATE_INQ_y_x (for other Format_y, Mode_x)
2BFh
2C0h
V_REV_INQ_6_0 (Format_6, Mode0)
Always 0
2C4h
..
Reserved V_REV_INQ_6_x (for other Mode_x of Format_6) Always 0
2DFh
Table 125: Frame rate inquiry register
PIKE Technical Manual V4.0.0
263
Configuration of the camera
Offset
2E0h
2E4h
2E8h
2ECh
2F0h
2F4h
2F8h
2FCh
Name
Field
V-CSR_INQ_7_0
V-CSR_INQ_7_1
V-CSR_INQ_7_2
V-CSR_INQ_7_3
V-CSR_INQ_7_4
V-CSR_INQ_7_5
V-CSR_INQ_7_6
V-CSR_INQ_7_7
Bit
Description
[0..31]
CSR_quadlet offset for Format_7
Mode_0
[0..31]
CSR_quadlet offset for Format_7
Mode_1
[0..31]
CSR_quadlet offset for Format_7
Mode_2
[0..31]
CSR_quadlet offset for Format_7
Mode_3
[0..31]
CSR_quadlet offset for Format_7
Mode_4
[0..31]
CSR_quadlet offset for Format_7
Mode_5
[0..31]
CSR_quadlet offset for Format_7
Mode_6
[0..31]
CSR_quadlet offset for Format_7
Mode_7
Table 125: Frame rate inquiry register
PIKE Technical Manual V4.0.0
264
Configuration of the camera
Inquiry register for basic function
Offset
Name
Field
Bit
Description
400h
BASIC_FUNC_INQ Advanced_Feature_Inq
[0]
Inquiry for advanced features (Vendor unique Features)
[1]
Inquiry for existence of
Vmode_Error_Status register
Feature_Control_Error_Status_Inq [2]
Inquiry for existence of
Feature_Control_Error_Status
Opt_Func_CSR_Inq
[3]
Inquiry for Opt_Func_CSR
-
[4..7]
1394b_mode_Capability
[8]
Inquiry for
1394b_mode_Capability
-
[9..15]
Reserved
Cam_Power_Cntl
[16]
Camera process power ON/
OFF capability
-
[17..18] Reserved
One_Shot_Inq
[19]
One Shot transmission
capability
Multi_Shot_Inq
[20]
Multi Shot transmission
capability
-
[21..27] Reserved
Memory_Channel
[28..31] Maximum memory channel
number (N) If 0000, no
user memory available
Vmode_Error_Status_Inq
Table 126: Basic function inquiry register
PIKE Technical Manual V4.0.0
265
Configuration of the camera
Inquiry register for feature presence
Offset
Name
Field
Bit
Description
404h
FEATURE_HI_INQ
Brightness
[0]
Brightness Control
Auto_Exposure
[1]
Auto_Exposure Control
Sharpness
[2]
Sharpness Control
White_Balance
[3]
White_Balance Control
Hue
[4]
Hue Control
Saturation
[5]
Saturation Control
Gamma
[6]
Gamma Control
Shutter
[7]
Shutter Control
Gain
[8]
Gain Control
Iris
[9]
Iris Control
Focus
[10]
Focus Control
Temperature
[11]
Temperature Control
Trigger
[12]
Trigger Control
Trigger_Delay
[13]
Trigger_Delay Control
White_Shading
[14]
White_Shading Control
Frame_Rate
[15]
Frame_Rate Control
[16..31] Reserved
408h
FEATURE_LO_INQ
Zoom
[0]
Zoom Control
Pan
[1]
Pan Control
Tilt
[2]
Tilt Control
Optical_Filter
[3]
Optical_Filter Control
[4..15]
Reserved
Capture_Size
[16]
Capture_Size for Format_6
Capture_Quality
[17]
Capture_Quality for Format_6
[16..31] Reserved
40Ch
OPT_FUNCTION_INQ
-
[0]
Reserved
PIO
[1]
Parallel Input/Output control
SIO
[2]
Serial Input/Output control
Strobe_out
[4..31]
Strobe signal output
Table 127: Feature presence inquiry register
PIKE Technical Manual V4.0.0
266
Configuration of the camera
Offset
Name
Field
Bit
Description
410h
..
Reserved
Address error on access
47Fh
480h
Advanced_Feature_Inq Advanced_Feature_Quadlet_Offset [0..31]
Quadlet offset of the advanced
feature CSR's from the base
address of initial register
space (Vendor unique)
This register is the offset for
the Access_Control_Register
and thus the base address for
Advanced Features.
Access_Control_Register does
not prevent access to
advanced features. In some
programs it should still always
be activated first. Advanced
Feature Set Unique Value is
7ACh and CompanyID is
A47h.
484h
PIO_Control_CSR_Inq
PIO_Control_Quadlet_Offset
[0..31]
Quadlet offset of the
PIO_Control CSR's from the
base address of initial register
space (Vendor unique)
488h
SIO_Control_CSR_Inq
SIO_Control_Quadlet_Offset
[0..31]
Quadlet offset of the
SIO_Control CSR's from the
base address of initial register
space (Vendor unique)
48Ch
Strobe_Output_CSR_Inq Strobe_Output_Quadlet_Offset [0..31]
Quadlet offset of the
Strobe_Output signal CSR's
from the base address of initial register space (Vendor
unique)
Table 127: Feature presence inquiry register
PIKE Technical Manual V4.0.0
267
Configuration of the camera
Inquiry register for feature elements
Register
Name
0xF0F00500 BRIGHTNESS_INQUIRY
Field
Bit
Description
Presence_Inq
[0]
Indicates presence of this
feature (read only)
Abs_Control_Inq
[1]
Capability of control with
absolute value
-
[2]
Reserved
One_Push_Inq
[3]
One Push auto mode (Controlled automatically by the
camera once)
Readout_Inq
[4]
Capability of reading out the
value of this feature
ON_OFF
[5]
Capability of switching this
feature ON and OFF
Auto_Inq
[6]
Auto Mode (Controlled automatically by the camera)
Manual_Inq
[7]
Manual Mode (Controlled by
user)
Min_Value
[8..19]
Min. value for this feature
Max_Value
[20..31]
Max. value for this feature
504h
AUTO_EXPOSURE_INQ
Same definition as Brightness_inq.
508h
SHARPNESS_INQ
Same definition as Brightness_inq.
50Ch
WHITE_BAL_INQ
Same definition as Brightness_inq.
510h
HUE_INQ
Same definition as Brightness_inq.
514h
SATURATION_INQ
Same definition as Brightness_inq.
518h
GAMMA_INQ
Same definition as Brightness_inq.
51Ch
SHUTTER_INQ
Same definition as Brightness_inq.
520h
GAIN_INQ
Same definition as Brightness_inq.
524h
IRIS_INQ
Always 0
528h
FOCUS_INQ
Always 0
52Ch
TEMPERATURE_INQ
Same definition as Brightness_inq.
Table 128: Feature elements inquiry register
PIKE Technical Manual V4.0.0
268
Configuration of the camera
Register
Name
Field
Bit
Description
530h
TRIGGER_INQ
Presence_Inq
[0]
Indicates presence of this
feature (read only)
Abs_Control_Inq
[1]
Capability of control with
absolute value
-
[2..3
Reserved
Readout_Inq
[4]
Capability of reading out the
value of this feature
ON_OFF
[5]
Capability of switching this
feature ON and OFF
Polarity_Inq
[6]
Capability of changing the
polarity of the trigger input
[7..15]
Reserved
534h
Trigger_Mode0_Inq [16]
Presence of Trigger_Mode 0
Trigger_Mode1_Inq [17]
Presence of Trigger_Mode 1
Trigger_Mode2_Inq [18]
Presence of Trigger_Mode 2
Trigger_Mode3_Inq [19]
Presence of Trigger_Mode 3
[20..31
Reserved
[0]
Indicates presence of this
feature (read only)
Abs_Control_Inq
[1]
Capability of control with
absolute value
-
[2]
Reserved
One_Push_Inq
[3]
One Push auto mode Controlled automatically by the
camera once)
Readout_Inq
[4]
Capability of reading out the
value of this feature
ON_OFF
[5]
Capability of switching this
feature ON and OFF
Auto_Inq
[6]
Auto Mode (Controlled automatically by the camera)
Manual_Inq
[7]
Manual Mode (Controlled by
user)
Min_Value
[8..19]
Min. value for this feature
Max_Value
[20..31]
Max. value for this feature
TRIGGER_DELAY_INQUIRY Presence_Inq
538 .. 57Ch
Reserved for other FEATURE_HI_INQ
580h
ZOOM_INQ
Always 0
584h
PAN_INQ
Always 0
Table 128: Feature elements inquiry register
PIKE Technical Manual V4.0.0
269
Configuration of the camera
Register
Name
Field
Bit
Description
588h
TILT_INQ
Always 0
58Ch
OPTICAL_FILTER_INQ
Always 0
Reserved for other
FEATURE_LO_INQ
Always 0
590
..
5BCh
5C0h
CAPTURE_SIZE_INQ
Always 0
5C4h
CAPTURE_QUALITY_INQ
Always 0
Reserved for other
FEATURE_LO_INQ
Always 0
5C8h
..
5FCh
600h
CUR-V-Frm_RATE/Revision Bits [0..2] for the frame rate
604h
CUR-V-MODE
Bits [0..2] for the current video mode
608h
CUR-V-FORMAT
Bits [0..2] for the current video format
60Ch
ISO-Channel
Bits [0..3] for channel, [6..7] for ISO speed
610h
Camera_Power
614h
ISO_EN/Continuous_Shot
618h
Memory_Save
Always 0
61Ch
One_Shot, Multi_Shot,
Count Number
See text
620h
Mem_Save_Ch
Always 0
624
Cur_Mem_Ch
Always 0
628h
Vmode_Error_Status
Always 0
Bit 0: 1 for start continuous shot; 0 for stop continuos shot
Error in combination of Format/Mode/ISO Speed:
Bit(0): No error; Bit(0)=1: error
Table 128: Feature elements inquiry register
PIKE Technical Manual V4.0.0
270
Configuration of the camera
Inquiry register for absolute value CSR offset
address
Offset
Name
Notes
700h
ABS_CSR_HI_INQ_0
Always 0
704h
ABS_CSR_HI_INQ_1
Always 0
708h
ABS_CSR_HI_INQ_2
Always 0
70Ch
ABS_CSR_HI_INQ_3
Always 0
710h
ABS_CSR_HI_INQ_4
Always 0
714h
ABS_CSR_HI_INQ_5
Always 0
718h
ABS_CSR_HI_INQ_6
Always 0
71Ch
ABS_CSR_HI_INQ_7
Always 0
720h
ABS_CSR_HI_INQ_8
Always 0
724h
ABS_CSR_HI_INQ_9
Always 0
728h
ABS_CSR_HI_INQ_10
Always 0
72Ch
ABS_CSR_HI_INQ_11
Always 0
730h
ABS_CSR_HI_INQ_12
Always 0
Reserved
Always 0
734
..
77Fh
780h
ABS_CSR_LO_INQ_0
Always 0
784h
ABS_CSR_LO_INQ_1
Always 0
788h
ABS_CSR_LO_INQ_2
Always 0
78Ch
ABS_CSR_LO_INQ_3
Always 0
790h
..
Reserved
Always 0
7C0h
ABS_CSR_LO_INQ_16
Always 0
7C4h
ABS_CSR_LO_INQ_17
Always 0
Reserved
Always 0
7BFh
7C8h
..
7FFh
Table 129: Absolute value inquiry register
PIKE Technical Manual V4.0.0
271
Configuration of the camera
Status and control register for feature
The OnePush feature, WHITE_BALANCE, is currently implemented. If this flag
is set, the feature becomes immediately active, even if no images are being
input (see Chapter One-push automatic white balance on page 116).
Offset
Name
Field
Bit
Description
800h
BRIGHTNESS
Presence_Inq
[0]
Presence of this feature
0: N/A
1: Available
Abs_Control
[1]
Absolute value control
0: Control with value in the Value
field
1: Control with value in the Absolute
value CSR
If this bit = 1, value in the Value field
is ignored.
One_Push
[2-4]
Reserved
[5]
Write '1': begin to work (Self cleared
after operation)
Read: Value='1' in operation
Value='0' not in operation
If A_M_Mode =1, this bit is ignored.
ON_OFF
[6]
Write: ON or OFF this feature
Read: read a status
0: OFF, 1: ON
If this bit =0, other fields will be read
only.
A_M_Mode
[7]
Write: set the mode
Read: read a current mode
0: Manual
1: Auto
[8-19]
Value
Reserved
[20-31] Value.
Write the value in Auto mode, this
field is ignored.
If "ReadOut" capability is not available, read value has no meaning.
Table 130: Feature control register
PIKE Technical Manual V4.0.0
272
Configuration of the camera
Offset
Name
804h
AUTO-EXPOSURE
Field
Bit
Description
See above
Note: Target grey level parameter in
SmartView corresponds to
Auto_exposure register 0xF0F00804
(IIDC).
808h
SHARPNESS
See above
Table 130: Feature control register
PIKE Technical Manual V4.0.0
273
Configuration of the camera
Offset
Name
Field
Bit
Description
80Ch
WHITE-BALANCE
Presence_Inq
[0]
Presence of this feature
0: N/A
1: Available
Always 0 for Mono
Abs_Control
[1]
Absolute value control
0: Control with value in the Value
field
1: Control with value in the Absolute
value CSR
If this bit = 1, value in the Value field
is ignored.
One_Push
[2-4]
Reserved
[5]
Write '1': begin to work (Self cleared
after operation)
Read: Value='1' in operation
Value='0' not in operation
If A_M_Mode =1, this bit is ignored.
ON_OFF
[6]
Write: ON or OFF this feature,
Read: read a status
0: OFF
1: ON
If this bit =0, other fields will be read
only.
A_M_Mode
[7]
Write: set the mode
Read: read a current mode
0: Manual
1: Auto
U_Value /
B_Value
[8-19]
U Value / B_Value
Write the value in AUTO mode, this
field is ignored.
If ReadOut capability is not available, read value has no meaning.
V_Value /
R_Value
[20-31] V value / R value
Write the value in AUTO mode, this
field is ignored.
If ReadOut capability is not available, read value has no meaning.
Table 130: Feature control register
PIKE Technical Manual V4.0.0
274
Configuration of the camera
Offset
Name
810h
HUE
Field
Bit
Description
See above
Always 0 for Mono
814h
SATURATION
See above
Always 0 for Mono
818h
GAMMA
See above
81Ch
SHUTTER
see Advanced Feature time base
see Table 48: Shutter CSR on page
120
820h
GAIN
See above
824h
IRIS
Always 0
828h
FOCUS
Always 0
82Ch
TEMPERATURE
Always 0
830h
TRIGGER-MODE
Can be effected via advanced feature
IO_INP_CTRLx.
834h
Reserved for other
FEATURE_HI
Always 0
880h
Zoom
Always 0
884h
PAN
Always 0
888h
TILT
Always 0
88Ch
OPTICAL_FILTER
Always 0
Reserved for other
FEATURE_LO
Always 0
8C0h
CAPTURE-SIZE
Always 0
8C4h
CAPTURE-QUALITY
Always 0
8C8h
Reserved for other
FEATURE_LO
Always 0
..
87C
890
..
8BCh
..
8FCh
Table 130: Feature control register
PIKE Technical Manual V4.0.0
275
Configuration of the camera
Feature control error status register
Offset
Name
Notes
640h
Feature_Control_Error_Status_HI
Always 0
644h
Feature_Control_Error_Status_LO
Always 0
Table 131: Feature control error register
Video mode control and status registers for
Format_7
Quadlet offset Format_7 Mode_0
The quadlet offset to the base address for Format_7 Mode_0, which can be
read out at F0F002E0h (according to Table 125: Frame rate inquiry register
on page 256) gives 003C2000h.
4 x 3C2000h = F08000h so that the base address for the latter (Table 132:
Format_7 control and status register on page 276) equals
F0000000h + F08000h = F0F08000h.
Quadlet offset Format_7 Mode_1
The quadlet offset to the base address for Format_7 Mode_1, which can be
read out at F0F002E4h (according to Table 125: Frame rate inquiry register
on page 256) gives 003C2400h.
4 x 003C2400h = F09000h so that the base address for the latter (Table 132:
Format_7 control and status register on page 276) equals
F0000000h + F09000h = F0F09000h.
Format_7 control and status register (CSR)
Offset
Name
Notes
000h
MAX_IMAGE_SIZE_INQ
According to IIDC V1.31
004h
UNIT_SIZE_INQ
According to IIDC V1.31
008h
IMAGE_POSITION
According to IIDC V1.31
00Ch
IMAGE_SIZE
According to IIDC V1.31
010h
COLOR_CODING_ID
See note
014h
COLOR_CODING_INQ
According to IIDC V1.31
Table 132: Format_7 control and status register
PIKE Technical Manual V4.0.0
276
Configuration of the camera
Offset
Name
Notes
024h
.
.
COLOR_CODING_INQ
Vendor Unique Color_Coding
0-127 (ID=128-255)
ID=132 ECCID_MONO12
ID=136 ECCID_RAW12
033h
ID=133 Reserved
ID=134 Reserved
ID=135 Reserved
See Chapter Packed 12-Bit Mode
on page 156.
034h
PIXEL_NUMER_INQ
According to IIDC V1.31
038h
TOTAL_BYTES_HI_INQ
According to IIDC V1.31
03Ch
TOTAL_BYTES_LO_INQ
According to IIDC V1.31
040h
PACKET_PARA_INQ
See note
044h
BYTE_PER_PACKET
According to IIDC V1.31
Table 132: Format_7 control and status register
Note
•
L
•
•
•
•
For all modes in Format_7, ErrorFlag_1 and
ErrorFlag_2 are refreshed on each access to the
Format_7 Register.
Contrary to IIDC DCAM V1.31, registers relevant to
Format_7 are refreshed on each access. The Setting_1
bit is automatically cleared after each access.
When ErrorFlag_1 or ErrorFlag_2 are set and Format_7
is configured, no image capture is started.
Contrary to IIDC V1.31, COLOR_CODING_ID is set to a
default value after an INITIALIZE or reset.
Contrary to IIDC V1.31, the UnitBytePerPacket field is
already filled in with a fixed value in the
PACKET_PARA_INQ register.
PIKE Technical Manual V4.0.0
277
Configuration of the camera
Advanced features
The camera has a variety of extended features going beyond the possibilities
described in IIDC V1.31 The following chapter summarizes all available
advanced features in ascending register order.
The following table gives an overview of all available registers:
Register
Register name
Remarks
0XF1000010
VERSION_INFO1
0XF1000018
VERSION_INFO3
see Table 134: Extended version information register on page 281
0XF1000040
ADV_INQ_1
0XF1000044
ADV_INQ_2
0XF1000048
ADV_INQ_3
0XF100004C
ADV_INQ_4
0xF1000100
CAMERA_STATUS
see Table 137: Camera status register on page 285
0XF1000200
MAX_RESOLUTION
see Table 138: Max. resolution inquiry register on
page 286
0XF1000208
TIMEBASE
see Table 139: Time base configuration register on
page 286
0XF100020C
EXTD_SHUTTER
see Table 141: Extended shutter configuration register on page 288
0XF1000210
TEST_IMAGE
see Table 142: Test image configuration register
on page 289
0XF1000220
SEQUENCE_CTRL
0XF1000224
SEQUENCE_PARAM
Table 79: Sequence configuration register on page
190
0XF1000228
SEQUENCE_STEP
0XF100022C
SEQUENCE_RESET
0XF1000240
LUT_CTRL
0XF1000244
LUT_MEM_CTRL
0XF1000248
LUT_INFO
0XF1000250
SHDG_CTRL
0XF1000254
SHDG_MEM_CTRL
0XF1000258
SHDG_INFO
0XF1000260
DEFERRED_TRANS
see Table 146: Deferred image configuration register on page 296
0XF1000270
FRAMEINFO
0XF1000274
FRAMECOUNTER
see Table 147: Frame information configuration
register on page 297
see Table 136: Advanced feature inquiry register
on page 283
In ADV_INQ_3 there is a new field
F7MODE_MAPPING [3]
see Table 143: LUT control register on page 290
see Table 144: Shading control register on page
293
Table 133: Advanced registers summary
PIKE Technical Manual V4.0.0
278
Configuration of the camera
Register
Register name
Remarks
0XF1000300
IO_INP_CTRL1
0XF1000304
IO_INP_CTRL2
see Table 33: Input configuration register on page
95
0XF1000308
IO_INP_CTRL3
0XF100030C
IO_INP_CTRL4
0XF1000320
IO_OUTP_CTRL1
0XF1000324
IO_OUTP_CTRL2
0XF1000328
IO_OUTP_CTRL3
0XF100032C
IO_OUTP_CTRL4
0XF1000340
IO_INTENA_DELAY
see Table 148: Delayed integration enable configuration register on page 298
0XF1000360
AUTOSHUTTER_CTRL
0XF1000364
AUTOSHUTTER_LO
see Table 149: Auto shutter control advanced register on page 299
0XF1000368
AUTOSHUTTER_HI
0XF1000370
AUTOGAIN_CTRL
see Table 150: Advanced register for auto gain
control on page 300
0XF1000390
AUTOFNC_AOI
0XF1000394
AF_AREA_POSITION
see Table 151: Advanced register for autofunction
AOI on page 301
0XF1000398
AF_AREA_SIZE
0XF10003A0
COLOR_CORR
see Table 39: Output configuration register on
page 103
Pike color cameras only
see Table 152: Color correction on page 303
0xF10003A4
COLOR_CORR_COEFFIC11 = Crr
0xF10003A8
COLOR_CORR_COEFFIC12 = Cgr
0xF10003AC
COLOR_CORR_COEFFIC13 = Cbr
0xF10003B0
COLOR_CORR_COEFFIC21 = Crg
0xF10003B4
COLOR_CORR_COEFFIC22 = Cgg
0xF10003B8
COLOR_CORR_COEFFIC23 = Cbg
0xF10003BC
COLOR_CORR_COEFFIC31 = Crb
0xF10003C0
COLOR_CORR_COEFFIC32 = Cgb
0xF10003C4
COLOR_CORR_COEFFIC33 = Cbb
0XF1000400
TRIGGER_DELAY
see Table 153: Trigger delay advanced CSR on page
304
0XF1000410
MIRROR_IMAGE
see Table 154: Mirror control register on page 304
0XF1000420
AFE_CHN_COMP
see Table 155: Channel balance register on page
305
0XF1000424
Pike color camera only
see Table 152: Color correction on page 303
0XF1000428
Table 133: Advanced registers summary
PIKE Technical Manual V4.0.0
279
Configuration of the camera
Register
Register name
Remarks
0XF1000440
LOW_SMEAR
see Chapter Smear reduction on page 317
0XF1000510
SOFT_RESET
see Table 156: Soft reset register on page 305
0XF1000520
HIGH_SNR
see Table 157: High Signal Noise Ratio (HSNR) on
page 306
0X1000550
USER PROFILES
see Table 169: User profiles on page 317
0X1000620
TRIGGER_COUNTER
0X1000630
SIS
see Table 166: Advanced register: trigger counter
on page 315
0X1000560
F7MODE_MAPPING
see Format_7 mode mapping on page 310
0X1000570
PARAMUPD_TIMING
see Chapter Quick parameter change timing modes
on page 307
0XF1000FFC
GPDATA_INFO
see Table 172: GPData buffer register on page 320
0XF1001000
GPDATA_BUFFER
...
0XF100nnnn
0x1100000
PARRAMLIST_INFO
0x1101000
PARAMLIST_BUFFER
see Chapter Parameter-List Update on page 309
Table 133: Advanced registers summary
Note
L
Advanced features should always be activated before accessing them.
Note
•
L
•
Currently all registers can be written without being
activated. This makes it easier to operate the camera
using Directcontrol.
AVT reserves the right to require activation in future
versions of the software.
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Configuration of the camera
Extended version information register
The presence of each of the following features can be queried by the 0 bit of
the corresponding register.
Register
Name
Field
Bit
Description
0xF1000010
VERSION_INFO1
µC type ID
[0..15]
Always 0
µC version
[16..31]
Bcd-coded version number
0xF1000014
VERSION_INFO1_EX µC version
[0..31]
Bcd-coded version number
0xF1000018
VERSION_INFO3
Camera type ID
[0..15]
See Table 135: Camera type
ID list on page 282.
FPGA version
[16..31]
Bcd-coded version number
[0..31]
Bcd-coded version number
0xF100001C
VERSION_INFO3_EX FPGA version
0xF1000020
---
[0..31]
Reserved
0xF1000024
---
[0..31]
Reserved
0xF1000028
---
[0..31]
Reserved
0xF100002C
---
[0..31]
Reserved
0xF1000030
OrderIDHigh
[0..31]
8 Byte ASCII Order ID
0xF1000034
OrderIDLow
[0..31]
Table 134: Extended version information register
The µC version and FPGA firmware version numbers are bcd-coded, which
means that e.g. firmware version 0.85 is read as 0x0085 and version 1.10 is
read as 0x0110.
The newly added VERSION_INFOx_EX registers contain extended bcd-coded
version information formatted as special.major.minor.patch.
So reading the value 0x00223344 is decoded as:
• special: 0 (decimal)
• major: 22 (decimal)
• minor: 33 (decimal)
• patch: 44 (decimal)
This is decoded to the human readable version 22.33.44 (leading zeros are
omitted).
Note
L
If a camera returns the register set to all zero, that particular
camera does not support the extended version information.
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Configuration of the camera
The FPGA type ID (= camera type ID) identifies the camera type with the help
of the following list:
ID
Camera type
101
PIKE F-032B
102
PIKE F-032C
103
PIKE F-100B
104
PIKE F-100C
105
PIKE F-145B
106
PIKE F-145C
107
PIKE F-210B
108
PIKE F-210C
109
-
110
-
111
PIKE F-421B
112
PIKE F-421C
113
-
114
-
115
PIKE F-145B-15fps
116
PIKE F-145C-15fps
117
PIKE F-505B
118
PIKE F-505C
Table 135: Camera type ID list
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Configuration of the camera
Advanced feature inquiry
This register indicates with a named bit if a feature is present or not. If a
feature is marked as not present the associated register space might not be
available and read/write errors may occur.
Note
L
Ignore unnamed bits in the following table: these bits might
be set or not.
Register
Name
Field
Bit
0xF1000040
ADV_INQ_1
MaxResolution
TimeBase
ExtdShutter
TestImage
FrameInfo
Sequences
VersionInfo
--Look-up tables
Shading
DeferredTrans
HDR mode
----TriggerDelay
Mirror image
Soft Reset
High SNR
Color Correction
--User Sets
--Paramlist_Info
GP_Buffer
[0]
[1]
[2]
[3]
[4]
[5]
[6]
[7]
[8]
[9]
[10]
[11]
[12]
[13]
[14]
[15]
[16]
[17]
[18]
[19..20]
[21]
[22..29]
[30]
[31]
Description
Reserved
Reserved
Reserved
Reserved
Reserved
Table 136: Advanced feature inquiry register
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Configuration of the camera
Register
Name
Field
Bit
0xF1000044
ADV_INQ_2
Input_1
Input_2
--Output_1
Output_2
Output_3
Output_4
--IntEnaDelay
--Camera Status
[0]
[1]
[2..7]
[8]
[9]
[10]
[11]
[12..15]
[16]
[17..31]
[0]
---
[1]
Paramupd_Timing
[2]
F7 mode mapping
[3]
Auto Shutter
[4]
Auto Gain
[5]
Auto FNC AOI
[6]
---
[7..31]
HDR Pike
[0]
Channel Compensation
[1]
Smear reduction
[2]
---
[18..31]
0xF1000048
0xF100004C
ADV_INQ_3
ADV_INQ_4
Description
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Table 136: Advanced feature inquiry register
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Configuration of the camera
Camera status
This register allows to determine the current status of the camera. The most
important flag is the Idle flag.
If the Idle flag is set the camera does not capture and does not send any
images (but images might be present in the image FIFO).
The ExSyncArmed flag indicates that the camera is set up for external triggering. Even if the camera is waiting for an external trigger event the Idle
flag might get set.
Other bits in this register might be set or toggled: just ignore these bits.
Note
•
L
•
Excessive polling of this register may slow down the
operation of the camera. Therefore the time between
two polls of the status register should not be less than
5 milliseconds. If the time between two read accesses
is lower than 5 milliseconds the response will be
delayed.
Depending on shutter and isochronous settings the status flags might be set for a very short time and thus
will not be recognized by your application.
Register
Name
Field
Bit
Description
0xF1000100
CAMERA_STATUS
Presence_Inq
[0]
Indicates presence of this
feature (read only)
---
[1..23]
Reserved
ID
[24..31] Implementation ID = 0x01
---
[0..14]
Reserved
ExSyncArmed
[15]
External trigger enabled
---
[16..27] Reserved
ISO
[28]
---
[29..30] Reserved
Idle
[31]
0xF1000104
Isochronous transmission
Camera idle
Table 137: Camera status register
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Configuration of the camera
Maximum resolution
This register indicates the highest resolution for the sensor and is read-only.
This register normally outputs the MAX_IMAGE_SIZE_INQ Format_7 Mode_0
value.
Register
Name
Field
Bit
Description
0xF1000200
MAX_RESOLUTION
MaxHeight
[0..15]
Sensor height
(read only)
MaxWidth
[16..31] Sensor width
(read only)
Table 138: Max. resolution inquiry register
Time base
Corresponding to IIDC, exposure time is set via a 12-bit value in the corresponding register (SHUTTER_INQ [51Ch] and SHUTTER [81Ch]).
This means that a value in the range of 1 to 4095 can be entered.
PIKE cameras use a time base which is multiplied by the shutter register
value. This multiplier is configured as the time base via the TIMEBASE register.
Register
Name
Field
Bit
Description
0xF1000208
TIMEBASE
Presence_Inq
[0]
Indicates presence of this
feature (read only)
---
[1..7]
Reserved
ExpOffset
[8..19]
Exposure offset in µs
---
[20..27] Reserved
Timebase_ID
[28..31] See Table 140: Time base ID
on page 287.
Table 139: Time base configuration register
The time base IDs 0-9 are in bits 28 to 31. See Table 140: Time base ID on
page 287.
Default time base is 20 µs: This means that the integration time can be
changed in 20 µs increments with the shutter control.
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Configuration of the camera
Note
Time base can only be changed when the camera is in idle
state and becomes active only after setting the shutter value.
L
The ExpOffset field specifies the camera specific exposure time offset in
microseconds (µs). This time (which should be equivalent to Table 71: Camera-specific exposure time offset on page 180) has to be added to the exposure time (set by any shutter register) to compute the real exposure time.
If ExpOffset = zero: unknown exposure time offset.
ID
Time base in µs
0
1
1
2
2
5
3
10
4
20
5
50
6
100
7
200
8
500
9
1000
Default value
Table 140: Time base ID
Note
L
The ABSOLUTE VALUE CSR register, introduced in IIDC V1.3, is
not implemented.
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Configuration of the camera
Extended shutter
The exposure time for long-term integration of up to 67 seconds can be
entered with µs precision via the EXTENDED_SHUTTER register.
Register
Name
Field
Bit
Description
0xF100020C
EXTD_SHUTTER
Presence_Inq
[0]
Indicates presence of this feature (read only)
---
[1..5]
Reserved
ExpTime
[6..31]
Exposure time in µs
Table 141: Extended shutter configuration register
The minimum allowed exposure time depends on the camera model. To determine this value write 1 to the ExpTime field and read back the minimum
allowed exposure time.
The longest exposure time, 3FFFFFFh, corresponds to 67.11 sec.
Note
•
L
•
•
•
Exposure times entered via the 81Ch register are mirrored in the extended register, but not vice versa.
Changes in this register have immediate effect, even
when camera is transmitting.
Extended shutter becomes inactive after writing to a
format / mode / frame rate register.
Extended shutter setting will thus be overwritten by
the normal time base/shutter setting after Stop/Start
of FireView or FireDemo.
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Configuration of the camera
Test images
Bits 8-14 indicate which test images are saved. Setting bits 28-31 activates
or deactivates existing test images.
By activating any test image the following auto features are automatically
disabled:
• auto gain
• auto shutter
• auto white balance
Register
Name
Field
Bit
Description
0xF1000210
TEST_IMAGE
Presence_Inq
[0]
Indicates presence of this feature
(read only)
---
[1..7]
Reserved
Image_Inq_1
[8]
Presence of test image 1
0: N/A
1: Available
Image_Inq_2
[9]
Presence of test image 2
0: N/A
1: Available
Image_Inq_3
[10]
Presence of test image 3
0: N/A
1: Available
Image_Inq_4
[11]
Presence of test image 4
0: N/A
1: Available
Image_Inq_5
[12]
Presence of test image 5
0: N/A
1: Available
Image_Inq_6
[13]
Presence of test image 6
0: N/A
1: Available
Image_Inq_7
[14]
Presence of test image 7
0: N/A
1: Available
---
[15..27]
Reserved
TestImage_ID
[28..31]
0: No test image active
1: Image 1 active
2: Image 2 active
…
Table 142: Test image configuration register
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Configuration of the camera
Look-up tables (LUT)
Load the look-up tables to be used into the camera and choose the look-up
table number via the LutNo field. Now you can activate the chosen LUT via
the LUT_CTRL register.
The LUT_INFO register indicates how many LUTs the camera can store and
shows the maximum size of the individual LUTs.
The possible values for LutNo are 0..n-1, whereas n can be determined by
reading the field NumOfLuts of the LUT_INFO register.
Register
Name
Field
Bit
Description
0xF1000240
LUT_CTRL
Presence_Inq
[0]
Indicates presence of this
feature (read only)
---
[1..5]
Reserved
ON_OFF
[6]
Enable/disable this feature
---
[7..25]
Reserved
LutNo
[26..31] Use look-up table with LutNo
number
Presence_Inq
[0]
Indicates presence of this
feature (read only)
---
[1..4]
Reserved
EnableMemWR
[5]
Enable write access
---
[6..7]
Reserved
AccessLutNo
[8..15]
Reserved
AddrOffset
[16..31] byte
Presence_Inq
[0]
Indicates presence of this
feature (read only)
---
[1..2]
Reserved
BitsPerValue
[3..7]
Bits used per table item
NumOfLuts
[8..15]
Maximum number of look-up
tables
MaxLutSize
[16..31] Maximum look-up table size
(bytes)
0xF1000244
0xF1000248
LUT_MEM_CTRL
LUT_INFO
Table 143: LUT control register
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Configuration of the camera
Note
L
The BitsPerValue field indicates how many bits are read from
the LUT for any gray-value read from the sensor. To determine
the number of bytes occupied for each gray-value round-up
the BitsPerValue field to the next byte boundary.
Examples:
• BitsPerValue = 8
1 byte per gray-value
• BitsPerValue = 14
2 byte per gray-value
Divide MaxLutSize by the number of bytes per gray-value in
order to get the number of bits read from the sensor.
Note
L
Note
L
Pike cameras have the gamma feature implemented via a
built-in look-up table. Therefore you can not use gamma and
your own look-up table at the same time. Nevertheless you
may combine a gamma look-up table into your own look-up
table.
When using the LUT feature and the gamma feature pay
attention to the following:
•
•
•
•
gamma ON
look-up table is switched ON also
gamma OFF
look-up table is switched OFF also
look-up table OFF
gamma is switched OFF also
look-up table ON
gamma is switched OFF
Loading a look-up table into the camera
Loading a look-up table into the camera is done through the
GPDATA_BUFFER. Because the size of the GPDATA_BUFFER is smaller than a
complete look-up table the data must be written in multiple steps.
To load a lookup table into the camera:
1.
Query the limits and ranges by reading LUT_INFO and GPDATA_INFO.
2.
Set EnableMemWR to true (1).
3.
Set AccessLutNo to the desired number.
4.
Set AddrOffset to 0.
5.
Write n lookup table data bytes to GPDATA_BUFFER (n might be lower
than the size of the GPDATA_BUFFER; AddrOffset is automatically
adjusted inside the camera).
6.
Repeat step 5 until all data is written into the camera.
7.
Set EnableMemWR to false (0).
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Configuration of the camera
Shading correction
Owing to technical circumstances, the interaction of recorded objects with
one another, optical effects and lighting non-homogeneities may occur in
the images.
Because these effects are normally not desired, they should be eliminated as
far as possible in subsequent image editing. The camera has automatic shading correction to do this.
Provided that a shading image is present in the camera, the on/off bit can
be used to enable shading correction.
The on/off and ShowImage bits must be set for saved shading images to be
displayed.
Note
L
•
•
•
Always make sure that the shading image is saved at
the highest resolution of the camera. If a lower resolution is chosen and ShowImage is set to true, the image
will not be displayed correctly.
The shading image is computed using the current video
settings. On fixed video modes the selected frame rate
also affects the computation time.
The build process will not work, if a MONO16/RGB16
format is active.
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Configuration of the camera
Register
Name
Field
Bit
Description
0xF1000250
SHDG_CTRL
Presence_Inq
[0]
BuildError
[1]
--ShowImage
BuildImage
ON_OFF
Busy
MemChannelSave
[2..3]
[4]
[5]
[6]
[7]
[8]
MemChannelLoad
[9]
MemChannelClear
--MemChannelError
[10]
[11..15]
[16..19]
MemoryChannel
[20..23]
GrabCount
Presence_Inq
[24..31]
[0]
Indicates presence of this
feature (read only)
Could not built shading
image
Reserved
Show shading data as image
Build a new shading image
Shading on/off
Build in progress
Save shading data in flash
memory
Load shading data from flash
memory
Erase flash memory
Reserved
Indicates memory channel
error. See Table 145: Memory
channel error description on
page 295.
Set memory channel number
for save and load operations
Number of images
Indicates presence of this
feature (read only)
---
[1..4]
Reserved
EnableMemWR
[5]
Enable write access
EnableMemRD
[6]
Enable read access
---
[7]
Reserved
AddrOffset
[8..31]
In bytes
Presence_Inq
[0]
Indicates presence of this
feature (read only)
---
[1..3]
Reserved
MaxMemChannel
[4..7]
Maximum number of available
memory channels to store
shading images
MaxImageSize
[8..31]
Maximum shading image size
(in bytes)
0xF1000254
0xF1000258
SHDG_MEM_CTRL
SHDG_INFO
Table 144: Shading control register
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Configuration of the camera
Reading or writing shading image from/into the camera
Accessing the shading image inside the camera is done through the
GPDATA_BUFFER. Because the size of the GPDATA_BUFFER is smaller than a
whole shading image the data must be written in multiple steps.
To read or write a shading image:
1.
Query the limits and ranges by reading SHDG_INFO and GPDATA_INFO.
2.
Set EnableMemWR or EnableMemRD to true (1).
3.
Set AddrOffset to 0.
4.
Write n shading data bytes to GPDATA_BUFFER (n might be lower than
the size of the GPDATA_BUFFER; AddrOffset is automatically adjusted
inside the camera).
5.
Repeat step 4 until all data is written into the camera.
6.
Set EnableMemWR and EnableMemRD to false.
Automatic generation of a shading image
Shading image data may also be generated by the camera. To use this feature
make sure all settings affecting an image are set properly. The camera uses
the current active resolution to generate the shading image.
To generate a shading image:
1.
Set GrabCount to the number of the images to be averaged before the
correction factors are calculated.
2.
Set BuildImage to true.
3.
Poll the SHDG_CTRL register until the Busy and BuildImage flags are
reset automatically.
The maximum value of GrabCount depends on the camera type and the number of available image buffers. GrabCount is automatically adjusted to a
power of two.
Do not poll the SHDG_CTRL register too often, while automatic generation is
in progress. Each poll delays the process of generating the shading image.
An optimal poll interval time is 500 ms.
Non-volatile memory operations
Pike cameras support storing shading image data into non-volatile memory.
Once a shading image is stored it is automatically reloaded on each camera
reset.
MaxMemChannel indicates the number of so-called memory channels/slots
available for storing shading images.
To store a shading image into non-volatile memory:
1.
Set MemoryChannel to the desired memory channel and
MemoryChannelSave to true (1).
2.
Read MemoryChannelError to check for errors.
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Configuration of the camera
To reload a shading image from non-volatile memory:
1.
Set MemoryChannel to the desired memory channel and
MemChannelLoad to true (1).
2.
Read MemChannelError to check for errors.
To clear already stored shading image data in non-volatile memory (shading
image data won't be loaded on camera resets):
1.
Set MemoryChannel to the desired memory channel and
MemChannelClear to true (1).
2.
Read MemChannelError to check for errors.
Memory channel error codes
ID
Error description
0x00
No error
0x01
Memory detection error
0x02
Memory size error
0x03
Memory erase error
0x04
Memory write error
0x05
Memory header write error
0x0F
Memory channel out of range
Table 145: Memory channel error description
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Configuration of the camera
Deferred image transport
Using this register, the sequence of recording and the transfer of the images
can be paused. Setting HoldImg prevents transfer of the image. The images
are stored in ImageFIFO.
The images indicated by NumOfImages are sent by setting the SendImage
bit.
When FastCapture is set (in Format_7 only), images are recorded at the highest possible frame rate.
Register
Name
Field
Bit
Description
0xF1000260
DEFERRED_TRANS
Presence_Inq
[0]
Indicates presence of this
feature (read only)
---
[1..4]
Reserved
SendImage
[5]
Send NumOfImages now
(auto reset)
HoldImg
[6]
Enable/Disable deferred
transport mode
FastCapture
[7]
Enable/disable fast capture
mode
---
[8..15]
Reserved
FiFoSize
[16..23] Size of FiFo in number of
images (read only)
NumOfImages
[24..31] Write: Number of images to
send
Read: Number of images in
buffer
Table 146: Deferred image configuration register
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Configuration of the camera
Frame information
Register
Name
Field
Bit
Description
0xF1000270
FRAMEINFO
Presence_Inq
[0]
Indicates presence of this
feature (read only)
ResetFrameCnt
[1]
Reset frame counter
---
[1..31]
Reserved
FrameCounter
[0..31]
Number of captured frames
since last reset
0xF1000274
FRAMECOUNTER
Table 147: Frame information configuration register
The FrameCounter is incremented when an image is read out of the sensor.
The FrameCounter does not indicate whether an image was sent over the
IEEE 1394 bus or not.
Input/output pin control
See Chapter Input/output pin control on page 95
Triggers
See Chapter Triggers on page 94
IO_INP_CTRL 1-2
See Chapter IO_INP_CTRL 1-2 on page 96
IO_OUTP_CTRL 1-4
See Chapter IO_OUTP_CTRL 1-4 on page 103
Output mode
See Chapter Output modes on page 104
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Configuration of the camera
Delayed Integration enable
A delay time between initiating exposure on the sensor and the activation
edge of the IntEna signal can be set using this register. The on/off flag activates/deactivates integration delay. The time can be set in µs in DelayTime.
Note
•
•
L
Please note that only one edge is delayed.
If IntEna_Out is used to control an exposure, it is possible to have a variation in brightness or to precisely
time a flash.
Figure 114: Delayed integration timing
Register
Name
0xF1000340 IO_INTENA_DELAY
Field
Bit
Description
Presence_Inq
[0]
Indicates presence of this
feature (read only)
---
[1..5]
Reserved
ON_OFF
[6]
Enable/disable integration
enable delay
---
[7..11]
Reserved
DELAY_TIME
[12..31]
Delay time in µs
Table 148: Delayed integration enable configuration register
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Configuration of the camera
Auto shutter control
The table below illustrates the advanced register for auto shutter control.
The purpose of this register is to limit the range within which auto shutter
operates.
Register
Name
0xF1000360 AUTOSHUTTER_CTRL
0xF1000364 AUTOSHUTTER_LO
Field
Bit
Description
Presence_Inq
[0]
Indicates presence of this
feature (read only)
---
[1..31]
Reserved
---
[0..5]
Reserved
MinValue
[6..31]
Minimum auto shutter value
lowest possible value: 10 µs
0xF1000368 AUTOSHUTTER_HI
---
[0..5]
Reserved
MaxValue
[0..31]
Maximum auto shutter value
Table 149: Auto shutter control advanced register
Note
•
L
•
•
Values can only be changed within the limits of shutter
CSR.
Changes in auto exposure register only have an effect
when auto shutter is enabled.
Auto exposure limits are: 50..205 (SmartView Ctrl1
tab: Target grey level)
When both auto shutter and auto gain are enabled, priority is given to
increasing shutter when brightness decreases. This is done to achieve the
best image quality with lowest noise.
For increasing brightness, priority is given to lowering gain first for the same
purpose.
MinValue and MaxValue limits the range the auto shutter feature is allowed
to use for the regulation process. Both values are initialized with the minimum and maximum value defined in the standard SHUTTER_INQ register
(multiplied by the current active timebase).
If you change the MinValue and/or MaxValue and the new range exceeds the
range defined by the SHUTTER_INQ register, the standard SHUTTER register
will not show correct shutter values. In this case you should read the
EXTENDED_SHUTTER register for the current active shutter time.
Changing the auto shutter range might not affect the regulation, if the regulation is in a stable condition and no other condition affecting the image
brightness is changed.
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Configuration of the camera
If both auto gain and auto shutter are enabled and if the shutter is at its
upper boundary and gain regulation is in progress, increasing the upper auto
shutter boundary has no effect on auto gain/shutter regulation as long as
auto gain regulation is active.
Note
L
As with the Extended Shutter the value of MinValue and
MaxValue must not be set to a lower value than the minimum
shutter time.
Auto gain control
The table below illustrates the advanced register for auto gain control.
Register
Name
0xF1000370 AUTOGAIN_CTRL
Field
Bit
Description
Presence_Inq
[0]
Indicates presence of this
feature (read only)
---
[1..3]
Reserved
MaxValue
[4..15]
Maximum auto gain value
---
[16..19]
Reserved
MinValue
[20..31]
Minimum auto gain value
Table 150: Advanced register for auto gain control
MinValue and MaxValue limits the range the auto gain feature is allowed to
use for the regulation process. Both values are initialized with the minimum
and maximum value defined in the standard GAIN_INQ register.
Changing the auto gain range might not affect the regulation, if the regulation is in a stable condition and no other condition affecting the image
brightness is changed.
If both auto gain and auto shutter are enabled and if the gain is at its lower
boundary and shutter regulation is in progress, decreasing the lower auto
gain boundary has no effect on auto gain/shutter regulation as long as auto
shutter regulation is active.
Both values can only be changed within the range defined by the standard
GAIN_INQ register.
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Configuration of the camera
Autofunction AOI
The table below illustrates the advanced register for autofunction AOI.
AOI means area of interest.
Use this feature to select the image area (work area) on which the following
autofunctions work:
• auto shutter
• auto gain
• auto white balance
Note
Autofunction AOI is independent from Format_7 AOI settings.
L
If you switch off autofunction AOI, work area position and
work area size follow the current active image size.
To switch off autofunctions, carry out following actions in the
order shown:
1. Uncheck Show AOI check box (SmartView Ctrl2 tab).
2. Uncheck Enable check box (SmartView Ctrl2 tab).
Switch off Auto modi (e.g. Shutter and/or Gain) (SmartView
Ctrl2 tab).
As a reference it uses a grid of up to 65534 sample points equally spread over
the AOI.
Register
Name
0xF1000390 AUTOFNC_AOI
0xF1000394 AF_AREA_POSITION
Field
Bit
Description
Presence_Inq
[0]
Indicates presence of this
feature (read only)
---
[1..3]
Reserved
ShowWorkArea
[4]
Show work area
---
[5]
Reserved
ON_OFF
[6]
Enable/disable AOI (see note
above)
---
[7]
Reserved
YUNITS
[8..19]
Y units of work area/pos.
beginning with 0 (read only)
XUNITS
[20..31]
X units of work area/pos.
beginning with 0 (read only)
Left
[0..15]
Work area position (left
coordinate)
Top
[16..31]
Work area position (top
coordinate)
Table 151: Advanced register for autofunction AOI
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Configuration of the camera
Register
Name
0xF1000398 AF_AREA_SIZE
Field
Bit
Description
Width
[0..15]
Width of work area size
Height
[16..31]
Height of work area size
Table 151: Advanced register for autofunction AOI
The possible increment of the work area position and size is defined by the
YUNITS and XUNITS fields. The camera automatically adjusts your settings to
permitted values.
Note
L
If the adjustment fails and the work area size and/or work
area position becomes invalid, then this feature is automatically switched off.
Read back the ON_OFF flag, if this feature does not work as
expected.
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Configuration of the camera
Color correction
To switch off color correction in YUV mode: see bit [6]
Register
Name
0xF10003A0 COLOR_CORR
Field
Bit
Description
Presence_Inq
[0]
Indicates presence of this
feature (read only)
---
[1..5]
Reserved
ON_OFF
[6]
Color correction on/off
default: on
Write: 02000000h to switch
color correction OFF
Write: 00000000h to switch
color correction ON
Reset
[7]
Reset to defaults
---
[8..31]
Reserved
0xF10003A4 COLOR_CORR_COEFFIC11 = Crr
[0..31]
0xF10003A8 COLOR_CORR_COEFFIC12 = Cgr
[0..31]
0xF10003AC COLOR_CORR_COEFFIC13 = Cbr
[0..31]
A number of 1000 equals a
color correction coefficient
of 1.
0xF10003B0 COLOR_CORR_COEFFIC21 = Crg
[0..31]
0xF10003B4 COLOR_CORR_COEFFIC22 = Cgg
[0..31]
0xF10003B8 COLOR_CORR_COEFFIC23 = Cbg
[0..31]
0xF10003BC COLOR_CORR_COEFFIC31 = Crb
[0..31]
0xF10003C0 COLOR_CORR_COEFFIC32 = Cgb
[0..31]
0xF10003C4 COLOR_CORR_COEFFIC33 = Cbb
[0..31]
Color correction values
range -1000..+2000 and are
signed 32 bit.
In order for white balance
to work properly ensure that
the row sum equals to 1000.
The maximum row sum is
limited to 2000.
...
Reserved for testing purposes
0xF10003FC
Don’t touch
0xF10003A4
Table 152: Color correction
For an explanation of the color correction matrix and for further information
read Chapter Color correction on page 165.
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Configuration of the camera
Trigger delay
Register
Name
0xF1000400 TRIGGER_DELAY
Field
Bit
Description
Presence_Inq
[0]
Indicates presence of this
feature (read only)
---
[1..5]
Reserved
ON_OFF
[6]
Trigger delay on/off
---
[7..10]
Reserved
DelayTime
[11..31]
Delay time in µs
Table 153: Trigger delay advanced CSR
The advanced register allows start of the integration to be delayed via
DelayTime by max. 221 µs, which is max. 2.1 s after a trigger edge was
detected.
Note
Trigger delay works with external trigger modes only.
L
Mirror image
PIKE cameras are equipped with an electronic mirror function, which mirrors
pixels from the left side of the image to the right side and vice versa. The
mirror is centered to the actual FOV center and can be combined with all
image manipulation functions, like binning and shading.
Register
Name
0xF1000410 MIRROR_IMAGE
Field
Bit
Description
Presence_Inq
[0]
Indicates presence of this
feature (read only)
---
[1..5]
Reserved
ON_OFF
[6]
Mirror image on/off
1: on
0: off
Default: off
---
[7..31]
Reserved
Table 154: Mirror control register
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Configuration of the camera
AFE channel compensation (channel balance)
All KODAK PIKE sensors are read out via two channels: the first channel for
the left half of the image and the second channel for the right half of the
image.
Channel gain adjustment (PIKE color cameras only RAW8 and RAW16) can be
done via the following two advanced registers:
Register
Name
Field
Bit
Description
Presence_Inq
[0]
Indicates presence of this
feature (read only)
---
[1..7]
Reserved
Save as default
[8]
Set to 1, if you want to save
your own values.
---
[9..31]
Reserved
0xF1000424 CHANNEL_ADJUST_VALUE ---
[0..15]
Reserved
[16..31]
Signed 16 bit value
-8192...0...+8191
0xF1000420 CHANNEL_ADJUST_CTRL
Balance_Value
SmartView shows only:
-2048...0...+2047
Table 155: Channel balance register
Soft Reset
Register
Name
0xF1000510 SOFT_RESET
Field
Bit
Description
Presence_Inq
[0]
Indicates presence of this
feature (read only)
---
[1..5]
Reserved
Reset
[6]
Initiate reset
---
[7..19]
Reserved
Delay
[20..31]
Delay reset in 10 ms steps
Table 156: Soft reset register
The SOFT_RESET feature is similar to the INITIALIZE register, with the following differences:
• 1 or more bus resets will occur
• the FPGA will be rebooted
The reset can be delayed by setting the Delay to a value unequal to 0 - the
delay is defined in 10 ms steps.
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Configuration of the camera
Note
When SOFT_RESET has been defined, the camera will respond
to further read or write requests but will not process them.
L
High SNR mode (High Signal Noise Ratio)
With High SNR mode enabled the camera internally grabs GrabCount images
and outputs a single averaged image.
Register
Name
Field
Bit
Description
0xF1000520
HIGH_SNR
Presence_Inq
[0]
Indicates presence of this feature
(read only)
---
[1..5]
Reserved
ON_OFF
[6]
High SNR mode on/off
---
[7..22]
Reserved
GrabCount
[23..31]
Number of images (min. 2)
2n images with n=1..8 (automatically)
Table 157: High Signal Noise Ratio (HSNR)
Note
The camera must be idle to toggle this feature on/off.
L
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Configuration of the camera
Quick parameter change timing modes
You can choose between the following update timing modes:
• Standard Parameter Update Timing (slightly modified from previous
PIKE cameras)
• New: Quick Format Change Mode
For a detailed description see Chapter Quick parameter change timing modes
on page 151.
Register
Name
Field
Bit
Description
0xF1000570
PARAMUPD_TIMING Presence_Inq
[0]
Indicates presence of this feature (read only)
---
[1..5]
Reserved
UpdActive
[6]
Update active
Set to 1 and set UpdTiming to 1
to switch on Quick Format
Change Mode.
---
[7..23]
Reserved
UpdTiming
[24..31]
Update timing mode
O: Standard Parameter Update
Timing is active
If set to 1 and also UpdActive is
set to 1: Quick Format Change
Mode is active
Integration is stopped.
Set your parameters.
Then set UpdActive to 0: end of
sequence. All new parameters
are written to FPGA. Integration
is done now with new parameters.
Table 158: Update timing modes
Standard Parameter Update Timing
The camera behaves like older firmware versions without this feature. The
UpdActive flag has no meaning.
Quick Format Change Mode
This mode behaves like Standard Parameter Update Timing mode with the
following exception:
An already started image transport to the host will not be interrupted, but
an already started integration will be interrupted.
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Configuration of the camera
To switch on Quick Format Change Mode do the following:
1.
Set UpdTiming to 1.
2.
Set UpdActive to 1.
3.
Be aware that all parameter values have to be set within 10 seconds.
Automatic reset of the UpdActive flag
With Quick Format Change Mode you normally have to clear the UpdActive
flag after all desired parameters have been set. Every time the
PARAMUPD_TIMING register is written to with the UpdActive flag set to 1
a 10 second time-out is started / restarted. If the time-out passes before you
clear the UpdActive flag, the UpdActive flag is cleared automatically and all
parameter changes since setting the UpdActive flag to 1 become active automatically.
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Configuration of the camera
Parameter-List Update
The parameter list is an array of address/data pairs which can be sent to the
camera in a single bus cycle.
Register
Name
Field
Bit
Description
0xF1100000
PARAMLIST_INFO
Presence_Inq
[0]
Indicates presence of this feature (read only)
---
[1..15]
Reserved
BufferSize
[16..31]
Size of parameter list buffer in
bytes
0x1101000
PARAMLIST_BUFFER
...
0x1101nnn
Table 159: Parameter-List Update: parameter list
Dependant on the parameter update mode the address/data pairs may
become active one by one or after the processing of the complete parameter
list. A parameter list may look like follows (the description is for your convenience):
Address offset
Data quadlet
Description
0xF0F00608
0xE0000000
Set video format 7
0xF0F00604
0x00000000
Set video mode 0
0xF0F08008
0x00000000
Set image position
0xF0F0800C
0x028001E0
Set image size
0xF0F08044
0x04840484
Set BytePerPacket value
0xF0F0080C
0x80000100
Set shutter to 0x100
0xF0F00820
0x80000080
Set gain to 0x80
Table 160: Example: parameter list
Note
•
L
•
The PARAMLIST_BUFFER shares the memory with the
GPDATA_BUFFER. Therefore it is not possible to use
both features at the same time.
Not all CSRs or features of a particular camera model
can be used with the parameter list feature.
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Configuration of the camera
Format_7 mode mapping
With Format_7 mode mapping it is possible to map special binning and subsampling modes to F7M1..F7M7 (see Figure 86: Mapping of possible Format_7
modes to F7M1...F7M7 on page 150).
Register
Name
Field
Bit
Description
0xF1000580
F7MODE_MAPPING
Presence_Inq
[0]
Indicates presence of this feature
(read only)
---
[1..31]
Reserved
F7MODE_00_INQ
[0]
Format_7 Mode_0 presence
F7MODE_01_INQ
[1]
Format_7 Mode_1 presence
...
...
...
F7MODE_31_INQ
[31]
Format_7 Mode_31 presence
0xF1000584
F7MODE_MAP_INQ
0xF1000588
Reserved
---
---
---
0xF100058C
Reserved
---
---
---
0xF1000590
F7MODE_0
Format_ID
[0..31]
Format ID (read only)
0xF1000594
F7MODE_1
Format_ID
[0..31]
Format ID for Format_7 Mode_1
0xF1000598
F7MODE_2
Format_ID
[0..31]
Format ID for Format_7 Mode_2
0xF100059C
F7MODE_3
Format_ID
[0..31]
Format ID for Format_7 Mode_3
0xF10005A0
F7MODE_4
Format_ID
[0..31]
Format ID for Format_7 Mode_4
0xF10005A4
F7MODE_5
Format_ID
[0..31]
Format ID for Format_7 Mode_5
0xF10005A8
F7MODE_6
Format_ID
[0..31]
Format ID for Format_7 Mode_6
0xF10005AC
F7MODE_7
Format_ID
[0..31]
Format ID for Format_7 Mode_7
Table 161: Format_7 mode mapping register
Firmware 3.x adds additional Format_7 modes. Now you can add some special
Format_7 modes which aren’t covered by the IIDC standard. These special
modes implement binning and sub-sampling.
To stay as close as possible to the IIDC standard the Format_7 modes can be
mapped into the register space of the standard Format_7 modes.
There are visible Format_7 modes and internal Format_7 modes:
• At any time only 8 Format_7 modes can be accessed by a host computer.
• Visible Format_7 modes are numbered from 0 to 7.
• Internal Format_7 modes are numbered from 0 to 31.
Format_7 Mode_0 represents the mode with the maximum resolution of the
camera: this visible mode cannot be mapped to any other internal mode.
The remaining visible Format_7 Mode_1 ... Mode_7 can be mapped to any
internal Format_7 mode.
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Configuration of the camera
Example
To map the internal Format_7 Mode_19 to the visible Format_7 Mode_1,
write the decimal number 19 to the above listed F7MODE_1 register.
Note
L
For available Format_7 modes see Figure 86: Mapping of possible Format_7 modes to F7M1...F7M7 on page 150.
Setting the F7MODE_x register to:
•
•
-1 forces the camera to use the factory defined mode
-2 disables the respective Format_7 mode (no mapping
is applied)
After setup of personal Format_7 mode mappings you have to
reset the camera. The mapping is performed during the camera startup only.
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Configuration of the camera
Secure image signature (SIS)
Secure image signature (SIS) is the synonym for data, which is inserted into
an image to improve or check image integrity.
All
•
•
•
•
PIKE models can insert
Time stamp (1394 bus cycle time at the beginning of integration)
Frame counter (frames read out of the sensor)
Trigger counter (external trigger seen only)
Various camera settings
into a selectable line position within the image. Frame counter and trigger
counter are available as advanced registers to be read out directly.
Advanced register: SIS
The SIS feature is controlled by the following advanced feature register:
Note
L
Register
Name
0xF1000630 SIS
0xF1000634
This register is different to the MARLIN Timestamp (600)
register!
Field
Bit
Description
Presence_Inq
[0]
Indicates presence of this
feature (read only)
---
[1..5]
Reserved
ON_OFF
[6]
SIS mode on/off
---
[7.. 15]
Reserved
LineNo
[16..31]
SIS data position inside an
image
UserValue
[0..31]
User provided value for
sequence mode to be placed
into the SIS area of an image
Table 162: Advanced register: SIS
Enabling this feature, SIS data will be inserted into any captured image. The
size of SIS data depends on the selected SIS format.
The LineNo field indicates at which line the SIS data will be inserted.
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Configuration of the camera
Enter a
• positive value from 0..HeightOfImage to specify a position relative to
the top of the image. LinePos=0 specifies the very first image line.
• negative value from -1..-HeightOfImage to specify a position relative
to the bottom of the image. LinePos=-1 specifies the very last image
line.
SIS UserValue can be written into the camera’s image. In sequence mode for
every sequence entry an own SIS UserValue can be written.
Note
SIS outside the visible image area:
L
For certain Format_7 modes the image frame transported may
contain padding (filling) data at the end of the transported
frame. Setting LinePos=HeightOfImage places the stamp in
this padding data area, outside the visible area (invisible
SIS).
If the transported image frame does not contain any padding
data the camera will not relocate the SIS to the visible area
automatically (no SIS).
Take in mind that the accuracy of the time stamp might be
affected by asynchronous traffic – mainly if image settings
are changed.
Note
The IEEE 1394 cycle counter (aka time stamp) will be
inserted into the very first 4 bytes/pixels of a line.
L
Cycle offset
Cycles
Seconds
Cycle offset 12 bit
Cycle count 13 bit
Second count 7 bit
0 .. 3071 cycle offsets (40.69 ns) 0 .. 7999 cycles
0 .. 127 seconds
24.576 MHz cycle timer counter 8000 Hz cycle timer counter
1 Hz cycle timer counter
Table 163: 32-bit cycle timer layout
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Configuration of the camera
Bit
0
1
2
3
4
5
6
7
8
9
10
11
12
Cycle offset 12 bit
Bit
16
17
18
19
20
21
22
23
13
14
15
Cycle count ...
24
25
26
... Cycle count 13 bit
27
28
29
30
31
Second count 7 bit
Table 164: Cycle timer layout
Advanced register: frame counter
Different to Marlin SIS: Register 610 is only to be used to reset the frame
counter. The frame counter feature is controlled by the following advanced
feature register:
Register
Name
0xF1000610 FRMCNT_STAMP
0xF1000614 FRMCNT
Field
Bit
Description
Presence_Inq
[0]
Indicates presence of this
feature (read only)
Reset
[1]
Reset frame counter
---
[2..31]
Reserved
[0..31]
Frame counter
Table 165: Advanced register: frame counter
Having this feature enabled, the current frame counter value (images read
out of the sensor, equivalent to # FrameValid) will be inserted as a 32-bit
integer value into any captured image.
Setting the Reset flag to 1 resets the frame counter to 0 — the Reset flag
is self-cleared.
Note
L
The 4 bytes of the frame counter value will be inserted as
the 5th to 8th byte of a line.
Additionally there is a register for direct read out of the frame counter value.
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Configuration of the camera
Advanced register: trigger counter
The trigger counter feature is controlled by the following advanced feature
register:
Register
Name
0xF1000620 TRIGGER_COUNTER
0xF1000624 TRGCNT
Field
Bit
Description
Presence_Inq
[0]
Indicates presence of this
feature (read only)
Reset
[1]
Reset trigger counter
---
[2..31]
Reserved
TriggerCounter
[0..31]
Trigger counter
Table 166: Advanced register: trigger counter
Having this feature enabled, the current trigger counter value (external trigger seen by hardware) will be inserted as a 32-bit integer value into any captured image.
Setting the Reset flag to 1 resets the trigger counter to 0 – the Reset flag
is self-cleared.
The ON_OFF and LinePos fields are simply mirrors of the time stamp feature.
Settings of these fields are applied to all image stamp features.
Note
L
The 4 bytes of the trigger counter value will be inserted as
the 9th to 12th byte of a line.
Additionally there is a register for direct read out of the trigger counter
value.
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Configuration of the camera
Where to find time stamp, frame counter and trigger counter
in the image
Time stamp (Cycle counter)
1
2
3
4
⎫
⎬
⎭
⎫
⎬
⎭
Trigger counter
5
6
7
8
9
10 11 12 .. .. .
Output line
of image
.
⎫
⎬
⎭
Frame counter
Bytes
Figure 115: SIS in the image
Where to find all SIS values in the image
In the following table you find the position of all SIS values byte for byte
including the endianness of SIS values.
CycleCounter [7..0]
CycleCounter [15..8]
Byte 1
Byte 2
FrameCounter [7..0]
FrameCounter [15..8]
Byte 5
Byte 6
TriggerCounter [7..0]
Byte 9
Byte 10
AoiLeft [7..0]
AoiLeft [15..8]
Byte 13
Byte 14
AoiWidth [7..0]
AoiWidth [15..8]
Byte 17
Byte 18
Shutter [7..0]
Shutter [15..8]
Byte 21
Byte 22
Gain [7..0]
Gain [15..8]
Byte 25
Byte 26
OutputState_1 [7..0]
Byte 29
OutputState_2 [7..0]
Byte 30
InputState_1 [7..0]
InputState_2 [7..0]
Byte 33
Byte 34
SequenceIndex [7..0]
Byte 37
Reserved [NULL]
Byte 38
SerialNumber [7..0]
SerialNumber [15..8]
Byte 41
Byte 42
SIS_UserValue [7..0]
Byte45
TriggerCounter [15..8]
SIS_UserValue [15..8]
Byte46
CycleCounter [23..16]
CycleCounter [31..24]
Byte 3
FrameCounter [23..16]
Byte 4
FrameCounter [31..24]
Byte 7
Byte 8
TriggerCounter [23..16] TriggerCounter [31..24]
Byte 11
AoiTop [7..0]
Byte 12
AoiTop [15..8]
Byte 15
AoiHeight [7..0]
Byte 16
AoiHeight [15..8]
Byte 19
Shutter [23..16]
Byte 20
Shutter [31..24]
Byte 23
Reserved [NULL]
Byte 24
Reserved [NULL]
Byte 27
OutputState_3 [7..0]
Byte 28
OutputState_4 [7..0]
Byte 31
Reserved [NULL]
Byte 32
Reserved [NULL]
Byte 35
ColorCoding [NULL]
Byte 36
Reserved [NULL]
Byte 39
SerialNumber [23..16]
Byte 40
SerialNumber [31..24]
Byte 43
Byte 44
SIS_UserValue [23..16]
SIS_UserValue [31..24]
Byte47
Byte48
Table 167: SIS values (increasing order of transmitted pixels)
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Configuration of the camera
Smear reduction
To enable/disable smear reduction use the following register(s):
Register
Name
Field
Bit
Description
0xF1000440
LOW_SMEAR
Presence_Inq
[0]
Indicates presence of this feature
(read only)
--
[1..5]
Reserved
ON_OFF
[6]
Smear reduction on/off
--
[7..31]
Reserved
Table 168: Register for smear reduction
User profiles
Within the IIDC specification user profiles are called memory channels. Often
they are called user sets. In fact these are different expressions for the following: storing camera settings into a non-volatile memory inside the camera.
Offset
Name
Field
Bit
Description
0x1000550
USER_PROFILE
Presence_Inq
[0]
Indicates presence of this feature
(read only)
Error
[1]
An error occurred
---
[2..6]
Reserved
Busy
[7]
Save/Load in progress
Save
[8]
Save settings to profile
Load
[9]
Load settings from profile
SetDefaultID
[10]
Set Profile ID as default
---
[11..19]
Reserved
ErrorCode
[20..23]
Error code
See Table 170: User profiles: Error
codes on page 318.
---
[24..27]
Reserved
ProfileID
[28..31]
ProfileID (memory channel)
Table 169: User profiles
In general this advanced register is a wrapper around the standard memory
channel registers with some extensions. So to query the number of available
user profiles you have to check the Memory_Channel field of the
BASIC_FUNC_INQ register at offset 0x400 (see IIDC V1.31 for details).
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Configuration of the camera
The ProfileID is equivalent to the memory channel number and specifies the
profile number to store settings to or to restore settings from. In any case
profile #0 is the hard-coded factory profile and cannot be overwritten.
After an initialization command, startup or reset of the camera, the ProfileID
also indicates which profile was loaded on startup, reset or initialization.
Note
•
L
•
The default profile is the profile that is loaded on
power-up or an INITIALIZE command.
A save or load operation delays the response of the
camera until the operation is completed. At a time only
one operation can be performed.
To store the current camera settings into a profile:
1.
Write the desired ProfileID with the SaveProfile flag set.
2.
Read back the register and check the ErrorCode field.
To restore the settings from a previous stored profile:
1.
Write the desired ProfileID with the RestoreProfile flag set.
2.
Read back the register and check the ErrorCode field.
To set the default profile to be loaded on startup, reset or initialization
1.
Write the desired ProfileID with the SetDefaultID flag set.
2.
Read back the register and check the ErrorCode field.
Error codes
ErrorCode #
Description
0x00
No error
0x01
Profile data corrupted
0x02
Camera not idle during restore operation
0x03
Feature not available (feature not present)
0x04
Profile does not exist
0x05
ProfileID out of range
0x06
Restoring the default profile failed
0x07
Loading LUT data failed
0x08
Storing LUT data failed
Table 170: User profiles: Error codes
Reset of error codes
The ErrorCode field is set to zero on the next write access.
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Configuration of the camera
You may also reset the ErrorCode
• by writing to the USER_PROFILE register with the SaveProfile,
RestoreProfile and SetDefaultID flag not set.
• by writing 00000000h to the USER_PROFILE register.
Stored settings
The following table shows the settings stored inside a profile:
Standard registers
Standard registers
(Format_7)
Advanced registers
Cur_V_Frm_Rate
Cur_V_Mode
Cur_V_Format
ISO_Channel
ISO_Speed
BRIGHTNESS
AUTO_EXPOSURE (Target grey level)
SHARPNESS
WHITE_BALANCE (+ auto on/off)
HUE (+ hue on)
SATURATION (+ saturation on)
GAMMA (+ gamma on)
SHUTTER (+ auto on/off)
GAIN
TRIGGER_MODE
TRIGGER_POLARITY
TRIGGER_DELAY
ABS_GAIN
IMAGE_POSITION (AOI)
IMAGE_SIZE (AOI)
COLOR_CODING_ID
BYTES_PER_PACKET
TIMEBASE
EXTD_SHUTTER
IO_INP_CTRL
IO_OUTP_CTRL
IO_INTENA_DELAY
AUTOSHUTTER_CTRL
AUTOSHUTTER_LO
AUTOSHUTTER_HI
AUTOGAIN_CTRL
AUTOFNC_AOI (+ on/off)
COLOR_CORR (on/off + color correction
coefficients)
TRIGGER_DELAY
MIRROR_IMAGE
HIGH_SNR
LUT_CTRL (LutNo; ON_OFF is not saved)
SHDG_CTRL (on/off + ShowImage)
DEFERRED_TRANS (HoldImg +
NumOfImages)
CHANNEL_ADJUST_CTRL
CHANNEL_ADJUST_VALUE
Table 171: User profile: stored settings
The user can specify which user profile will be loaded upon startup of the
camera.
This frees the user software from having to restore camera settings, that differ from default, after every cold start. This can be especially helpful if third
party software is used which may not give easy access to certain advanced
features or may not provide efficient commands for quick writing of data
blocks into the camera.
PIKE Technical Manual V4.0.0
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Configuration of the camera
Note
•
L
•
•
•
•
A profile save operation automatically disables capturing of images.
A profile save or restore operation is an uninterruptable
(atomic) operation. The write response (of the asynchronous write cycle) will be sent after completion of
the operation.
Restoring a profile will not overwrite other settings
than listed above.
If a restore operation fails or the specified profile does
not exist, all registers will be overwritten with the
hard-coded factory defaults (profile #0).
Data written to this register will not be reflected in the
standard memory channel registers.
GPDATA_BUFFER
GPDATA_BUFFER is a general purpose register that regulates the exchange of
data between camera and host for:
• writing look-up tables (LUTs) into the camera
• uploading/downloading of the shading image
GPDATA_INFO
GPDATA_BUFFER
Register
Buffer size query
indicates the actual storage range
Name
0xF1000FFC GPDATA_INFO
Field
Bit
Description
---
[0..15]
Reserved
BufferSize
[16..31]
Size of GPDATA_BUFFER
(byte)
0xF1001000
…
GPDATA_BUFFER
0xF10017FC
Table 172: GPData buffer register
Note
L
•
•
Read the BufferSize before using
GPDATA_BUFFER can be used by only one function at a
time.
PIKE Technical Manual V4.0.0
320
Firmware update
Firmware update
Firmware updates can be carried out via FireWire cable without opening the
camera.
Note
For further information:
L
•
•
Read the application note: How to update Guppy/Pike
firmware at AVT website or
Contact your local dealer.
Extended version number (FPGA/µC)
The new extended version number for microcontroller and FPGA firmware has
the following format (4 parts separated by periods; each part consists of two
digits):
Special.Major.Minor.Bugfix
or
xx.xx.xx.xx
Digit
Description
1st part: Special
Omitted if zero
Indicates customer specific versions
(OEM variants). Each customer has its
own number.
2nd part: Major
Indicates big changes
Old: represented the number before
the dot
3rd part: Minor
Indicates small changes
Old: represented the number after
the dot
4th part: Bugfix
Indicates bugfixing only (no changes
of a feature) or build number
Table 173: New version number (microcontroller and FPGA)
PIKE Technical Manual V4.0.0
321
Appendix
Appendix
Sensor position accuracy of AVT cameras
D
camera body
pixel area
pixel area
y
camera body
sensor case
sensor case
x
AVT Guppy Series
Method of Positioning:
Automated mechanical alignment of sensor into camera front module.
(lens mount front flange)
Reference points:
Sensor: Center of pixel area (photo sensitive cells).
Camera: Center of camera front flange (outer case edges).
Accuracy:
x/y:
z:
D:
+/- 0.25mm
+50 / -100μm
+0 / -100μm
+/- 1°
(Sensor shift)
(for SN > 84254727, optical back focal length)
(for SN > 252138124, optical back focal length)
(Sensor rotation)
AVT Marlin, Oscar, Dolphin, Pike
Method of Positioning:
Optical alignment of photo sensitive sensor area into camera front module.
(lens mount front flange)
Reference points:
Sensor: Center of pixel area (photo sensitive cells).
Camera: Center of camera front flange (outer case edges).
Accuracy:
x/y:
z:
D:
+/- 0.1mm
+0 / -50μm
+/- 0.5°
(Sensor shift)
(Optical back focal length)
(Sensor rotation)
Note: x/y - tolerances between c-Mount hole and pixel area may be higher.
Figure 116: AVT sensor position accuracy
PIKE Technical Manual V4.0.0
322
Index
Index
Numbers
1394a data transmission ........................... 22
1394b
bandwidths ....................................... 27
requirements laptop............................ 28
1394b data transmission ........................... 23
2 out of 16 H+V sub-sampling (b/w)
drawing ...........................................146
2 out of 16 H+V sub-sampling (color)
drawing ...........................................148
2 out of 4 H+V sub-sampling (b/w)
drawing ...........................................145
2 out of 4 H+V sub-sampling (color)
drawing ...........................................147
2 out of 8 H+V sub-sampling (b/w)
drawing ...........................................145
2 out of 8 H+V sub-sampling (color)
drawing ...........................................147
2 x full binning
drawing ...........................................140
2 x horizontal binning
drawing ...........................................138
2 x vertical binning
drawing ...........................................136
4 x full binning
drawing ...........................................140
4 x horizontal binning
drawing ...........................................138
4 x vertical binning
drawing ...........................................136
8 x full binning
drawing ...........................................141
8 x horizontal binning
drawing ...........................................139
8 x vertical binning
drawing ...........................................137
A
Abs_Control (Field) ..... 115, 120, 121, 122, 124
Abs_Control_Inq (Field) ............................ 97
access
binning and sub-sampling...................149
AccessLutNo (Field).................................290
Access_Control_Register ..........................267
AddrOffset (Field) ............................ 290, 293
Advanced feature inquiry .........................283
Advanced feature inquiry register ..............283
Advanced features...................................278
activate ...........................................280
base address.....................................267
inquiry.............................................265
advanced register
auto shutter control ..........................299
Algorithm
correction data .................................128
AOI................................................ 129, 213
correction data .................................129
area of interest (AOI) ....................... 129, 301
Asynchronous broadcast...........................186
auto exposure
limits ..............................................299
target grey level......................... 122, 299
auto gain........................................ 121, 299
auto shutter............................. 118, 119, 299
auto shutter control (advanced register) ....299
AUTOFNC_AOI.........................................118
AUTOFNC_AOI positioning ........................118
automatic generation
correction data .................................128
automatic white balance ..........................118
AUTO_EXPOSURE .....................................122
Auto_Exposure CSR..................................122
Auto_Inq ................................................ 97
AVT Firetool program ...............................195
A_M_MODE (Field)........115, 120, 121, 122, 124
B
bandwidth .............................................201
affect frame rate ...............................241
available ..........................................217
deferred image transport ....................158
FastCapture ......................................161
frame rates.......................................216
limitation of IEEE 1394 bus ................220
RGB8 format .....................................167
save in RAW-mode .............................162
BAYER demosaicing .......................... 162, 165
PIKE Technical Manual V4.0.0
323
Index
BAYER mosaic.........................................162
BAYER to RGB
color interpretation ...........................162
binning .................................................135
access..............................................149
full..................................................140
horizontal ........................................138
only PIKE b/w...................................135
vertical ............................................136
BitsPerValue...........................................290
black level .............................................123
black lines .............................................200
black value .....................................123, 124
black/white camera
block diagram ...................................110
blink codes ............................................. 90
block diagram
b/w camera ......................................110
color camera.....................................111
block diagrams
cameras ...........................................110
BRIGHTNESS....................................124, 272
Brightness
inquiry register .................................266
brightness
auto shutter .....................................119
average............................................121
decrease ..........................................299
descending.......................................195
effects .............................................189
IIDC register .....................................124
increase ....................................123, 299
level.........................................127, 130
LUT .................................................133
nonlinear .........................................133
reference...................................119, 121
setting.............................................123
sub-sampling ....................................142
variation ..........................................298
Brightness Control ..................................266
brightness (table) ...................................124
BRIGHTNESS_INQUIRY .............................268
Brightness_inq. ......................................268
buffer
LUT .................................................134
bulk trigger.....................................173, 175
busy signal ............................................101
Bus_Id ..................................................245
C
camera
operating .......................................... 92
rear view........................................... 83
camera dimensions................................... 67
camera interfaces..................................... 83
camera lenses.......................................... 34
Camera status (register)...........................285
cameras
block diagram ...................................110
CAMERA_STATUS .....................................285
Camera_Status_Register ...........................245
CCD.......................................................112
CD
driver and documentation.................... 32
CE ......................................................... 14
channel .................................................107
channel balance .....................................112
chip size................................................112
C-Mount ................................................. 18
color
correction ........................................162
color camera
block diagram ...................................111
color coding...........................................156
color codings .........................................156
color correction ............................... 165, 166
AVT cameras .....................................165
formula............................................165
why? ...............................................165
color correction (advanced register) ..........303
Color Correction (Field)............................283
color information....................................162
Color_Coding..........................................156
COLOR_CODING_INQ ................................156
Com (LED state)....................................... 90
common GND
inputs............................................... 89
common vcc
outputs............................................. 89
continuous
using Trigger_Mode_15 ......................177
controlling
image capture...................................173
correction
color ...............................................162
correction data
algorithm .........................................128
PIKE Technical Manual V4.0.0
324
Index
AOI .................................................129
automatic generation.........................128
requirements ....................................128
shading ...........................................126
CSR .......................................................245
cycle counter..........................................313
Cycle delay
input characteristics ........................... 93
optocoupler ....................................... 93
D
data block packet format..........................107
description .......................................107
data exchange buffer
LUT .................................................134
data packets ..........................................107
data path...............................................110
data payload size ...............................27, 241
data_length ...........................................107
DCAM ........................................33, 201, 245
declaration of conformity .......................... 14
deferred image transport............ 157, 158, 296
deferred transport ...................................195
diagonal ................................................112
Digital Camera Specification .....................245
digital video information .........................107
digitizer ................................................134
document history..................................... 10
DSNU
horizontal mirror function...................125
E
edge mode (Trigger_Mode_1)....................173
effective min. exp. time...........................181
emitter................................................... 99
EN 55022................................................ 14
EN 55024................................................ 14
EN 61000................................................ 14
EnableMemWR (Field) ..............................290
Encapsulated Update (begin/end) ......153, 154
End of exposure ......................................184
endianness ............................................198
environmental conditions.......................... 17
error codes
LED .................................................. 90
error states ............................................. 90
Exposure time
(Field) .............................................181
exposure time ........................................180
81 Ch register ...................................182
example ...........................................181
extended shutter...............................288
FIFO ................................................193
formula............................................180
longest ............................................181
long-term integration ........................181
minimum .........................................181
ExpressCard............................................. 28
technology ........................................ 29
ExpressCard/54 ........................................ 28
ExpTime (Field) ......................................181
EXTD_SHUTTER .......................................288
extended shutter ....................................181
configuration....................................181
FireDemo..........................................288
FireView...........................................288
inactive .................................... 182, 288
register............................................288
Trigger mode ....................................173
EXTENDED_SHUTTER ................................181
External GND ........................................... 88
external signal (SeqMode) ........................192
external trigger ....................................... 94
F
Fast Parameter Update Timing ........... 154, 155
FastCapture
bandwidth........................................161
deferred image transport ....................296
false................................................161
only Format_7 ..................................161
FastCapture (Field)..................................296
FCC Class B.............................................. 14
FireDemo
Extended shutter...............................288
FirePackage
additional checks image integrity ........199
OHCI API software .............................. 33
FireView
Extended shutter...............................288
FireWire
connecting capabilities ....................... 23
definition.......................................... 21
serial bus .......................................... 22
FireWire 400............................................ 24
PIKE Technical Manual V4.0.0
325
Index
FireWire 800............................................ 24
FireWire™ bus.......................................... 92
firmware update ..............................321, 322
Flux voltage
input characteristics ........................... 93
LED .................................................. 93
focal length ............................................ 34
Format_7 modes
mapping ..........................................150
FORMAT_7_ERROR_1 ................................. 90
FORMAT_7_ERROR_2 ................................. 90
formula
color correction.................................165
FOV.......................................................125
FPGA boot error ....................................... 90
frame counter........................... 198, 312, 314
frame rates
bandwidth........................................216
bandwidth limitation .........................220
bus speed.........................................201
Format_7 .........................................220
maximum .........................................201
tables ..............................................216
video mode 0....................................219
video mode 2....................................219
Frame valid ............................................101
Free-Run................................................186
Full binning ...........................................140
Fval ......................................................101
Fval signal .............................................101
G
gain
auto ................................................121
auto exposure CSR .............................121
AUTOFNC_AOI ...................................118
manual ............................................123
manual gain range......................116, 123
ranges .............................................123
gain CSR ................................................122
GAIN (Name)..........................................121
GAIN (register) ................................116, 121
gamma function .....................................133
CCD models.......................................129
gamma LUT ............................................133
global pipelined shutter ...........................173
global shutter.........................................173
GND for RS232 ......................................... 88
GPDATA_BUFFER ....................... 131, 132, 134
GRAB_COUNT..........................................128
H
hardware trigger ................................98, 179
HDR mode..............................................283
HDR Pike ...............................................284
high level (SeqMode)...............................192
High Signal Noise Ratio (HSNR) ................157
High SNR mode.......................................157
HoldImg
field ................................................159
flag .................................................159
mode...............................................159
set ..................................................296
HoldImg (Field) ......................................296
horizontal binning ..................................138
horizontal mirror function ........................125
horizontal sub-sampling (b/w)
drawing ...........................................142
horizontal sub-sampling (color)
drawing ...........................................143
HSNR ....................................................157
hue.......................................................164
offset ..............................................164
I
ID
color coding .....................................156
IEEE 1394 ............................................... 33
IEEE 1394 standards................................. 21
IEEE 1394 Trade Association.....................245
IEEE 1394b
Pike family ........................................ 18
pin assignment .................................. 86
IEEE 1394b connector............................... 83
IIDC..........................................33, 201, 245
data structure ...................................109
isochronous data block packet format...107
pixel data.........................................107
trigger delay...................................... 97
video data format..............................108
Y16 .................................................108
Y8...................................................108
YUV 4:1:1.........................................108
YUV 4:2:2.........................................108
IIDC V1.31 .............................................173
PIKE Technical Manual V4.0.0
326
Index
IIDC V1.31 camera control standards........... 24
image capture
controlling .......................................173
ImageRepeat ..........................................194
IMAGE_POSITION ....................................213
IMAGE_SIZE ...........................................213
incrementing list pointer .........................189
input
block diagram .................................... 94
characteristics ................................... 93
configuration register ......................... 95
max. current ...................................... 93
schematics ........................................ 92
signals.............................................. 93
type ................................................100
input characteristics
Cycle delay ........................................ 93
input mode ............................................. 96
input voltage .......................................... 92
InputMode (Field) .................................... 95
inputs ............................................... 83, 87
common GND ..................................... 89
general ............................................. 92
in detail............................................ 92
triggers............................................. 94
voltage ............................................. 93
input/output pin control..........................297
Inquiry register
basic function...................................265
Integration Enable signal .........................101
IntEna..............................................88, 105
IntEna signal ..................................101, 298
IntEna_Delay..........................................106
internal trigger.......................................173
interpolation
BAYER demosaicing ...........................162
Bayer to RGB ....................................162
color ...............................................162
IO_INP_CTRL1 ......................................... 95
IO_INP_CTRL2 ......................................... 95
IO_OUTP_CTRL1 ......................................103
IO_OUTP_CTRL2 ......................................103
IO_OUTP_CTRL3 ......................................103
IO_OUTP_CTRL4 ......................................103
IR cut filter............................................. 32
isochronous blocks ..................................107
isochronous channel number ....................107
isochronous data block packet format ........107
isochronous data packets .........................107
IsoEnable ..............................................195
white balance ...................................117
ISO_Enable ............................................186
ISO_Enable mode....................................186
multi-shot........................................186
one-shot ..........................................183
I/O controlled sequence pointer reset ........195
I/O controlled sequence stepping mode .....194
J
Jenofilt 217 IR cut filter ........................... 32
jitter.............................................. 184, 187
at exposure start ...............................188
L
latching connectors.................................. 86
LED
Com ................................................. 90
current ............................................. 93
error codes ........................................ 90
flux voltage ....................................... 93
indication ......................................... 90
on (green)......................................... 90
status.......................................... 83, 90
Trg ................................................... 90
yellow .............................................. 90
Legal notice .............................................. 2
level mode (Trigger_Mode_1)....................173
look-up table
user-defined .....................................133
look-up table (LUT) .......................... 133, 290
LOW_SMEAR ...........................................317
LUT.......................................................290
data exchange buffer .........................134
example ...........................................133
gamma ............................................133
general ............................................133
loading into camera...........................134
volatile ............................................134
LutNo (Field)..........................................290
LUT_CTRL...............................................290
LUT_INFO ..............................................290
LUT_MEM_CTRL .......................................290
M
Manual_Inq............................................. 97
Maximum resolution (register) ..................286
PIKE Technical Manual V4.0.0
327
Index
MaxLutSize (Field)...................................290
MaxResolution (Field) ..............................283
MAX_RESOLUTION ...................................286
Max_Value .............................................. 97
microlens...............................................112
minimum exposure time ...........................181
Min. exp. time + offset ............................181
Min_Value............................................... 97
mirror function
horizontal ........................................125
MSB aligned ...........................................107
multi-shot ......................................186, 195
external trigger .................................186
using Trigger-Mode_15 .......................177
No DCAM object ....................................... 90
No FLASH object ...................................... 90
Node_Id ................................................245
non-uniform illumination .........................127
NumOfLuts (Field) ...................................290
ON_OFF .................................................. 97
ON_OFF (Field) .......................................115
operating
camera ............................................. 92
optical filter............................................ 19
optocoupler ............................................ 93
cycle delay ........................................ 93
output
block diagram ...................................102
signals.............................................101
output configuration register....................103
output mode ..........................................103
ID ............................................ 104, 297
Output mode (Field) ................................103
output pin control ..................................104
outputs ............................................. 87, 99
common vcc ...................................... 89
general ............................................. 92
non-inverting .................................... 99
registers ..........................................103
set by software .................................106
OutVCC ................................................... 89
O
P
OFFSET
automatic white balance ....................116
offset
800h ...............................................124
CCD .................................................124
configuration ROM.............................251
factors .............................................251
hue .................................................164
initialize register...............................254
inquiry register video format ...............254
inquiry register video mode.................255
saturation ........................................164
setting brightness .............................123
setting gain......................................123
OHCI API
FirePackage ....................................... 33
one-shot................................................183
Trigger_Mode_15...............................173
using Trigger_Mode_15 ......................177
values..............................................184
one-shot bit...........................................183
one-shot mode .......................................183
One_Push (Field) ........ 115, 120, 121, 122, 124
One_Push_Inq ......................................... 97
Packed 12-Bit Mode ................................156
Packed 12-Bit MONO................................156
Packed 12-Bit RAW..................................156
packet format.........................................107
parameter list
example ...........................................154
Parameter-List Update ............... 153, 154, 155
partial scan............................................. 19
PI controller ..........................................121
picture size ............................................. 18
PIKE
camera types ..................................... 18
PIKE F-032B (Specification)....................... 37
PIKE F-032C (Specification)....................... 39
PIKE F-100B (Specification)....................... 41
PIKE F-100C (Specification)....................... 43
PIKE F-145B (Specification)....................... 45
PIKE F-145C (Specification)....................... 47
PIKE F-210B (Specification)....................... 49
PIKE F-210C (Specification)....................... 51
PIKE F-421B (Specification)....................... 53
PIKE F-421C (Specification)....................... 55
Pike types............................................... 18
Pike W270 S90......................................... 69
N
PIKE Technical Manual V4.0.0
328
Index
pin assignment
IEEE 1394b........................................ 86
pin control.............................................297
PinState flag ..........................................103
PinState (Field) ....................................... 95
pixel data ..............................................107
pixel size ...............................................112
plus integral controller ............................121
pointer reset ..........................................189
Polarity ............................................95, 103
Power
IEEE 1394b........................................ 86
power
cable ................................................ 16
connectors ........................................ 17
DC.................................................... 17
GND.................................................. 88
LED .................................................. 90
power down ............................................ 17
Presence_Inq .......................................... 95
Presence_Inq (Field) ..........................97, 115
programmable mode (Trigger_Mode_15) .....173
protection glass....................................... 32
Q
QFCM.....................................................152
Quick Format Change Mode................151, 154
(QFCM)............................... 152, 154, 155
Quick parameter change timing modes .......151
R
Readout_Inq ........................................... 97
rear view of camera .................................. 83
Reference documents
Europe .............................................. 16
Japan ............................................... 16
USA.................................................. 16
Register mapping ..................................... 90
repeat counter........................................189
Requirements
correction data .................................128
RGB to YUV
formula............................................167
RGB8 format...........................................167
rising edge (SeqMode) .............................192
RoHS (2002/95/EC) .................................. 14
RS232 .................................................... 89
RxD_RS232 ............................................. 89
S
safety instructions ................................... 16
saturation..............................................164
offset ..............................................164
scan....................................................... 19
secure image signature (SIS)
advanced registers.............................312
definition.........................................198
scenarios .........................................198
sensor
size .................................................. 18
sensor size.............................................112
sensor type ............................................112
SeqLength .............................................195
SeqMode
description.......................................192
sequence
automatic white balance ....................117
deferred mode ..................................159
important notes ................................195
loading a LUT ...................................134
modified registers .............................189
of images.........................................189
OneShot...........................................183
white balance ...................................117
sequence mode.......................................189
cancel .............................................195
changes to registers ..........................197
example of settings ...........................196
features ...........................................194
flow diagram ....................................193
frame rate ........................................190
image size........................................190
implemented ....................................190
pointer reset ....................................189
repeat counter ..................................189
Sequence Reset ....................................... 96
Sequence Step ......................................... 96
sequence step mode ................................191
SEQUENCE_CTRL ............................... 190, 278
SEQUENCE_PARAM ............................ 190, 278
SEQUENCE_RESET ............................. 191, 278
SEQUENCE_STEP ............................... 191, 278
Seq_Length............................................195
shading
correction data .................................126
PIKE Technical Manual V4.0.0
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Index
shading correction ...........................126, 292
shading image........................................127
automatic generation.........................128
delay ...............................................129
Format_7 .........................................129
generation .......................................130
load into camera ...............................132
load out of camera ............................131
shading images ......................................292
shading reference image ..........................128
sharpness ..............................................163
SHDG_CTRL .....................................129, 293
SHDG_INFO ............................................293
SHDG_MEM_CTRL.....................................293
SHUTTER................................................120
Shutter CSR............................................120
shutter time
formula............................................180
SHUTTER_MODES .....................................173
signal-to noise ratio (SNR)
vertical binning.................................137
signal-to-noise ratio (SNR) .......................135
signal-to-noise separation........................135
SingleShot .............................................195
SIS
advanced registers.............................312
definition.........................................198
scenarios..........................................198
size
sensor .............................................. 18
SmartView............................................... 33
smear
compensate ......................................200
smear reduction...............................200, 317
definition.........................................200
how it works.....................................200
switch on/off....................................200
(advanced register)............................317
SNR ......................................................135
specifications .......................................... 36
spectral sensitivity
MF-033B ........................................... 61
spectral transmission
IR cut filter ....................................... 33
Jenofilt 217....................................... 33
Stack setup ............................................. 90
Stack start .............................................. 90
standard housing ..................................... 67
Standard Parameter Update Timing .... 151, 152,
307
Standard Update (IIDC) .................... 153, 155
status LED .............................................. 90
styles ..................................................... 12
subsampling
access .............................................149
sub-sampling
brightness........................................142
b/w and color ...................................142
definition.........................................142
sy.........................................................107
symbols............................................. 12, 13
sync bit.................................................107
sync bit (sy) ..........................................107
synchronization value (sync bit) ...............107
system components.................................. 32
T
Tag field................................................107
Target grey level
corresponds to Auto_exposure.............273
Target grey level (auto exposure) ....... 122, 299
Target grey level (SmartView)
corresponds to auto exposure..............119
tCode ....................................................107
test image .............................................243
Bayer-coded .....................................244
b/w cameras.....................................243
color ...............................................244
color cameras ...................................244
configuration register ........................289
gray bar ...........................................243
save ................................................289
TEST_IMAGE ...........................................289
tg.........................................................107
time base ..............................................181
exposure time ...................................180
setting ............................................288
trigger delay................................97, 178
time response.........................................184
Time stamp ............................................312
time stamp ............................................198
time stamp (advanced register).................312
TIMEBASE ....................................... 278, 286
TimeBase (Field) .....................................283
timebase (Register).................................286
TPA-
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Index
IEEE 1394b........................................ 86
TPA(R)
IEEE 1394b........................................ 86
TPA+ ...................................................... 86
TPBIEEE 1394b........................................ 86
TPB(R)
IEEE 1394b........................................ 86
TPB+ ...................................................... 86
IEEE 1394b........................................ 86
Transaction code.....................................107
Trg (LED state) ........................................ 90
trigger
bulk .........................................173, 175
control image capture ........................173
delay ..........................................97, 106
edge................................................. 98
external ......................................90, 173
hardware.....................................98, 179
impulse............................................183
IntEna .............................................105
internal ...........................................173
latency time .....................................187
microcontroller .................................184
one-shot ..........................................183
sequence mode .................................189
signal ............................................... 94
software...........................................186
synchronize ......................................187
Trigger counter.......................................312
trigger counter ................................198, 315
trigger delay ..........................................178
advanced CSR...............................98, 179
advanced register .........................98, 179
off ................................................... 98
on.................................................... 98
Trigger Delay CSR ...............................98, 179
trigger delay inquiry register ..................... 97
trigger function ......................................176
Trigger modi ..........................................173
trigger overrun .......................................198
trigger shutter
asynchronous..................................... 19
triggers .................................................. 94
input ................................................ 94
TRIGGER_DELAY .................................98, 179
TRIGGER_DELAY_INQUIRY....................97, 178
Trigger_Delay_Inquiry register ..................178
TRIGGER_MODE .......................................176
Trigger_Mode .........................................176
Trigger_Mode_0 .................................99, 173
Trigger_Mode_1 ......................................173
Trigger_Mode_1 (edge mode) ...................173
Trigger_Mode_1 (level mode)....................173
Trigger_Mode_15 ....................................175
Trigger_Mode_15 (bulk trigger).................173
Trigger_Mode_15 (programmable mode) .....173
Trigger_Polarity ......................................176
Trigger_Source .......................................176
Trigger_Value .........................................176
tripod adapter .................................... 32, 69
Tripod dimensions.................................... 69
true partial scan ...................................... 19
types
Pike cameras ..................................... 18
U
UNIT_POSITION_INQ................................213
UNIT_SIZE_INQ.......................................213
user value..............................................198
U/B_Value (Field) ...................................115
U/V slider range .....................................116
V
VCC
IEEE 1394b........................................ 86
Vendor Unique Color_Coding.....................156
Vendor unique Features............................265
vertical binning ......................................136
SNR.................................................137
vertical sub-sampling (b/w)
drawing ...........................................144
vertical sub-sampling (color)
drawing ...........................................144
VG (GND)
IEEE 1394b........................................ 86
video data format
IIDC V1.31 .......................................108
Video data payload .................................107
video format
available bandwidth...........................216
frame rate ........................................216
MF-080 ....................... 203, 204, 205, 211
video formats .........................................201
video Format_7
AOI .................................................213
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Index
video information ...................................107
video mode
CUR-V-MODE .....................................270
Format_7 .........................................276
inquiry register .................................255
sample C code...................................249
video mode 0 .........................................219
video mode 2 .........................................219
VMode_ERROR_STATUS.............................. 90
VP
IEEE 1394b........................................ 86
VP (Power, VCC)
IEEE 1394b........................................ 86
V/R_Value (Field)....................................115
W
white balance
auto shutter .....................................119
AUTOFNC_AOI ...................................118
automatic .......................... 115, 117, 118
automatic sequence ...........................117
conditions........................................117
general ............................................115
Hue register .....................................164
manual ............................................115
one-push automatic...........................116
register 80Ch ....................................115
six frames ........................................116
trigger .............................................117
WHITE_BALANCE ..............................115, 117
www.alliedvisiontec.com ........................... 33
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