Allied Vision Technologies MF-145B2 Instruction manual

AVT Marlin
Preliminary
Technical Manual
Allied Vision Technologies GmbH
Taschenweg 2a
D-07646 Stadtroda / Germany
MARLIN Technical Manual
Before operation
We place the highest demands for quality on our cameras.
This technical manual is the guide to the installation and settingup of the camera for operation.
Please read through this manual carefully before operating the camera.
We also refer to the technical manuals, available on CD or as download for every camera type.
Legal notice
For customers in the U.S.A.
This equipment has been tested and found to comply with the limits for a Class A digital device,
pursuant to Part 15 of the FCC Rules. These limits are designed to provide reasonable protection
against harmful interference when the equipment is operated in a commercial environment. This
equipment generates, uses, and can radiate radio frequency energy and, if not installed and used
in accordance with the instruction manual, may cause harmful interference to radio
communications. Operation of this equipment in a residential area is likely to cause harmful
interference in which case the user will be required to correct the interference at his own
expense. You are cautioned that any changes or modifications not expressly approved in this
manual could void your authority to operate this equipment. The shielded interface cable
recommended in this manual must be used with this equipment in order to comply with the
limits for a computing device pursuant to Subpart J of Part 15 of FCC Rules.
For customers in Canada
This apparatus complies with the Class A limits for radio noise emissions set out in the Radio
Interference Regulations.
Pour utilisateurs au Canada
Cet appareil est conforme aux normes classe A 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.
MARLIN Technical Manual
Allied Vision Technologies GmbH 12/2003
All rights reserved.
Managing Director: Mr. Frank Grube
Tax-ID: DE 184383113
Copyright
Support:
Taschenweg 2A
D-07646 Stadtroda, Germany
Tel.: +49/36428/6770
Fax: +49/36428/677-28
email: info@alliedvisiontec.com
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.
Trademarks
Unless stated otherwise, all trademarks appearing in this document of Allied Vision Technologies
are brands protected by law.
Warranty
The information supplied 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.
Document History
Version
0.9
0.91
Date
18.12.2003
9.1.2004
1.0
20.1.2004
Remarks
First Issue
Typos corrected, minor changes,
spectral sens. of IR cut filter added
Wording checked, Marlin W90/270
added
MARLIN Technical Manual
Contents
1
Safety instructions ...................................................................................... 1
1.1
2
3
4
Marlin types and highlights.......................................................................... 2
System components..................................................................................... 3
Specifications ............................................................................................. 5
4.1
4.2
4.3
4.4
4.5
4.6
4.7
4.8
4.9
4.10
5
6
MF-033B...........................................................................................................5
MF-033C ...........................................................................................................6
MF-046B...........................................................................................................7
MF-046C ...........................................................................................................8
MF-080B...........................................................................................................9
MF-080C .........................................................................................................10
MF-145B2 .......................................................................................................11
MF-145C2 .......................................................................................................12
F-131B...........................................................................................................13
Spectral sensitivity ..........................................................................................14
Quick start................................................................................................ 19
Camera dimensions ................................................................................... 20
6.1
6.2
6.3
6.4
7
Environmental conditions ...................................................................................1
Marlin standard housing ...................................................................................20
Marlin W90 .....................................................................................................21
Marlin W270 ...................................................................................................22
Tripod adapter ................................................................................................23
Camera interfaces ..................................................................................... 24
7.1 IEEE-1394 port pin assignment..............................................................................24
7.2 HiRose jack pin assignment..................................................................................24
7.2 HiRose jack pin assignment..................................................................................25
7.3 Status LEDs.........................................................................................................26
7.4 Operating the camera:.........................................................................................27
7.5 Control and video data signals...............................................................................27
7.5.1 Inputs.......................................................................................................27
7.5.2 Outputs.....................................................................................................30
7.6
Pixel data.......................................................................................................34
8
Description of the data path ...................................................................... 36
8.1
Block diagrams of the cameras ..........................................................................36
8.1.1 Black and white cameras:.............................................................................37
8.1.2 Color cameras:............................................................................................38
8.2
Sensor ...........................................................................................................39
8.2.1 IBIS5A multiple slope .................................................................................40
8.3
White balance .................................................................................................42
8.3.1 Automatic white balance .............................................................................42
8.4
Manual gain....................................................................................................43
8.5
Setting the offset (black level) ..........................................................................44
8.6
Lookup tables (LUT) .........................................................................................44
8.6.1 Loading a LUT into the camera .....................................................................45
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8.7
Shading correction .......................................................................................... 47
8.7.1 Automatic generation of correction data ....................................................... 47
8.7.2 Loading a shading image into the camera...................................................... 52
8.8
Color interpolation and correction ..................................................................... 53
8.8.1 Interpolation (BAYER demosaicing) .............................................................. 53
8.8.2 Color correction ......................................................................................... 54
8.8.3 RGB
YUV conversion ............................................................................... 54
9
Controlling image capture.......................................................................... 55
9.1
Exposure time................................................................................................. 56
9.1.1 Extended shutter ....................................................................................... 56
9.2
One-Shot ....................................................................................................... 57
9.2.1 OneShot command on the bus to start of exposure ......................................... 57
9.2.2 End of exposure to first packet on the bus..................................................... 58
9.3
Multi-Shot ..................................................................................................... 58
9.4
ISO_Enable / Free-Run..................................................................................... 59
9.5
Asynchronous broadcast................................................................................... 59
9.6
Jitter at start of exposure ................................................................................ 60
9.7
Frame memory and deferred image transport....................................................... 61
9.7.1 HoldImg mode........................................................................................... 62
9.7.2 FastCapture ............................................................................................... 63
9.8
Sequence mode............................................................................................... 64
9.8.1 How is sequence mode implemented? ........................................................... 65
9.8.2 Changing the parameters within a sequence................................................... 67
10
Video formats, modes and bandwidth ......................................................... 69
10.1 MF-033B/ MF-033C.......................................................................................... 69
10.2 MF-046B/ MF-046C.......................................................................................... 69
10.3 MF-080B/ MF-080C.......................................................................................... 70
10.4 MF-145B/ MF-145C.......................................................................................... 71
10.5 MF-131B ........................................................................................................ 72
10.6 Area of interest (AOI)...................................................................................... 73
10.7 Frame rates .................................................................................................... 75
10.7.1 MF-033 ................................................................................................... 79
10.7.2 MF-046 ................................................................................................... 80
10.7.3 MF-080 ................................................................................................... 81
10.7.4 MF-145B2................................................................................................ 82
10.7.5 MF-131 ................................................................................................... 83
10.8 How does bandwidth affect the frame rate? ........................................................ 84
10.9 Test images.................................................................................................... 85
11
Configuration of the camera....................................................................... 87
11.1 Camera_Status_Register ................................................................................... 87
11.2 Configuration ROM .......................................................................................... 89
11.3 Implemented registers ..................................................................................... 92
11.3.1 Camera initialize register ........................................................................... 92
11.3.2 Inquiry register for video format................................................................. 92
11.3.3 Inquiry register for video mode .................................................................. 92
11.3.4 Inquiry register for video frame rate and base address ................................... 93
11.3.5 Inquiry register for basic function............................................................... 94
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11.3.6 Inquiry register for feature presence ............................................................94
11.3.7 Inquiry register for feature elements............................................................95
11.3.8 Inquiry register for absolute value CSR offset address .....................................96
11.3.9 Status and control register for feature..........................................................97
11.3.10 Feature control error status register ...........................................................98
11.3.11 Video mode control and status registers for Format_7...................................98
11.4 Advanced features ...........................................................................................99
11.4.1 Version information inquiry ........................................................................99
11.4.2 Advanced feature inquiry.......................................................................... 100
11.4.3 MaxResolution ........................................................................................ 100
11.4.4 Timebase ............................................................................................... 101
11.4.5 Extended shutter..................................................................................... 102
11.4.6 Test images............................................................................................ 103
11.4.7 Sequence control .................................................................................... 104
11.4.8 Lookup tables (LUT) (FW > 0.90) ............................................................... 105
11.4.9 Shading correction .................................................................................. 106
11.4.10 Deferred image transport ........................................................................ 108
11.4.11 Frame information ................................................................................. 108
11.4.12 High dynamic range mode (MF-131B/C only) ............................................. 109
11.4.13 Input/output pin control ........................................................................ 110
11.4.14 Delayed Integration enable..................................................................... 112
11.4.15 GPDATA_BUFFER.................................................................................... 113
12
13
14
Firmware update ..................................................................................... 113
Declarations of conformity....................................................................... 114
Index ..................................................................................................... 123
MARLIN Technical Manual
Page iii
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
Courier
upper case
italics
parentheses
and/or blue
Function
Programs, inputs,
etc.
Register
Modes, fields
Links
Example
“Input”
REGISTER
Mode
(Link)
Symbols:
This symbol highlights important instructions that
malfunctions.
MARLIN Technical Manual
Page iv
should be followed to
avoid
Safety instructions
1
Safety instructions
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 takeno responsibility for the subsequent performance or
quality of the camera.
The camera does NOT generate dangerous voltages internally. However, because the IEEE1394a standard permits cable power distribution at voltages higher than 24 V, various
international safety standards apply. Reference documents applicable in the United States
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 include materials to secure 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 include:
• Electronic Equipment Technology Criteria by the Ministry of Trading and Industry (Similar to
NFPA 70)
• 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
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.
1.1
Environmental conditions
Ambient temperature:
when camera in use:
when being stored :
- 5° C ... +45° C
- 10° C ... + 60° C
Relative humidity:
Protection:
20 % … 80 % no condensed water
IP 30
MARLIN Technical Manual
Page 1
Marlin types and highlights
2
Marlin types and highlights
With Marlin cameras, entry into the world of digital image processing is simpler and more costeffective than ever before.
With the new MARLIN, Allied Vision Technologies presents a whole series of attractive digital
camera entry-level models of the FireWire ™type.
These products offer an unequalled price-performance relationship and make the decision to
switch from using analogue to digital technology easier that ever before.
The AVT Marlin family consists of five very compact IEEE 1394 C-mount cameras, which are
equipped with highly sensitive high-quality sensors (CCD,CMOS). Each of these cameras is
available in black/white and color versions.
A large selection of different sensor sizes (1/2 ", 1/3 ", 2/3 ") and resolutions (VGA, SVGA, XGA,
SXGA) ensures the suitability of the cameras for all applications.
The MARLIN family consists of the following models:
MARLIN F-033B/C
1/2 " Sony Progressive Scan CCD imager;(VGA) 656 (h) x 494 (v); up to 74 fps at full resolution.
MARLIN F-046B/C
1/2 " Sony Progressive Scan CCD imager;(SVGA) 780 (h) x 582 (v); up to 53 fps.
MARLIN F-080B/C
1/3 " Sony Progressive Scan CCD imager;(XGA) 1032 (h) x 778 (v); up to 20 fps.
MARLIN F-131B/C
2/3 " Global Shutter CMOS imager;(SXGA) 1280 (h) x 1024 (v); up to 25 fps.
MARLIN F-145B2/C2
1/2 " Sony Progressive Scan CCD;(SXGA) 1392 (h) x 1040 (v); up to 10 fps at full
resolution.
Operating in 8-bit mode, the cameras ensure very high quality images under almost all
circumstances. The MARLIN is equipped with an asynchronous trigger shutter as well as true
partial scan, and integrates numerous useful and intelligent Smart Features for image processing.
MARLIN Technical Manual
Page 2
System components
3
System components
The following system components are included with each camera::
AVT Marlin
4.5m 1394 standard cable
Jenofilt 217 IR cut filter (built in)
4.5m latching cable
Driver and documentation
Optional:
Tripod Adapter
The following illustration shows the spectral sensitivity of the IR cut filter
Figure 1: Spectral sensitivity of Jenofilt 217
MARLIN Technical Manual
Page 3
System components
To demonstrate the properties of the camera, all examples in this manual are based on the
“FirePackage” OHCI API software and the “FireView” application.
These utilities can be obtained from Allied Vision Technologies. A free demo version of “FireView”
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.
AVT offers different lenses from a variety of manufacturers. The following table lists selected
image formats depending on camera type, distance and the focal width of the lens.
Focal Width MF-033/046
4.8mm
8mm
12mm
16mm
25mm
35mm
50mm
Focal Width MF-080
4.8mm
8mm
12mm
16mm
25mm
35mm
50mm
Focal Width MF-131
4.8 mm
8 mm
12 mm
16 mm
25 mm
35 mm
50 mm
Distance = 0,5m
0,5m x 0,67m
0,3m x 0,4m
0,195m x 0,39m
0,145m x 0,19m
9,1cm x 12,1cm
6,4cm x 8,51cm
4,4cm x 5,85cm
Distance = 0,5m
0,375m x 0,5m
0,22m x 0,29m
0,145m x 0,19m
11cm x 14,7cm
6,9cm x 9,2cm
4,8cm x 6,4cm
3,3cm x 4,4cm
Distance = 0.5m
0.7 m x 0.93 m
0.4 m x 0.53 m
0.27 m x 0.36 m
0.2 m x 0.27 m
12.5 cm x 16.625 cm
8.8 cm x 11.7c m
6 cm x 7.98 cm
Table 1: Focal Width vs. field of view
MARLIN Technical Manual
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Distance = 1m
1,0m x 1,33m
0,6m x 0,8m
0,39m x 0,78m
0,29m x 0,38m
18,2cm x 24,2cm
12,8cm x 17,02cm
8,8cm x 11,7cm
Distance = 1m
0,75m x 1m
0,44m x 0,58m
0,29m x 0,38m
22cm x 29,4cm
13,8cm x 18,4cm
9,6cm x 12,8cm
6,6cm x 8,8cm
Distance = 1m
1.4 m x 1.86 m
0.8 m x 1.06 m
0.54 m x 0.72 m
0.4 m x 0.54 m
25 cm x 33.25 cm
17.6 cm x 23.4 cm
12 cm x 15.96 cm
Specifications
4
Specifications
4.1
MF-033B
Specification
Image device
Effective Picture
Elements
Lens Mount
Picture Sizes
Cell Size
ADC
Data Path
Frame rates
Gain Control
Shutter Speed
External Trigger Shutter
Internal FIFO-Memory
# Look Up Tables
Smart Functions
Transfer Rate
Digital Interface
Power Requirements
Power Consumption
Dimensions
Mass
Operating Temperature
Storage Temperature
Regulations
Options
1/2 " (diag. 8 mm) type progressive scan SONY IT CCD
656 (H) x 494 (V)
C-mount
640 x 480 pixels (Format_0; Mode_5)
656 x 494 pixels (Format_7; Mode_0)
9.9 µm x 9.9 µm
10 Bit
8 Bit
3.75 Hz; 7.5 Hz; 15 Hz; 30 Hz; 60 Hz; up to 74 Hz in
Format_7
Manual: 0–24 dB (0.035 dB/step); Auto gain
20 …67.108.864 µs (~67s); Auto shutter
Trigger_Mode_0, Trigger_Mode_1
Advanced feature: image transfer by command
Up to 13 frames
One, user programmable (10 Bit -> 8 Bit); Gamma (0.45)
Real time shading correction; image sequencing, two
configurable inputs, two configurable outputs
100 Mb/s, 200 Mb/s, 400 Mb/s
IEEE 1394 IIDC v. 1.3
DC 8 V – 36 V via IEEE 1394 cable or 12-pin HIROSE
Less than 3 Watts (@ 12 V d.c.)
58 mm x 44 mm x 29 mm (L x W x H); without tripod and
lens
<120 g (without lens)
+5 – +45 ° Celsius
-10 – +60 ° Celsius
EN 55022,EN61000,EN 55024,FCC Class A, DIN ISO 9022
Removable IR-cut-filter, host adapter card, locking IEEE1394 cable, API (FirePackage), TWAIN (VIA)- and WDM
stream driver
Table 2: Specification MF-033B
The design and specifications for the products described above may change without notice.
MARLIN Technical Manual
Page 5
Specifications
4.2
MF-033C
Specification
Image device
Effective Picture
Elements
Lens Mount
Picture Sizes
Cell Size
ADC
Color Modes
Data Path
Frame rates
Gain Control
Shutter Speed
External Trigger Shutter
Internal FIFO-Memory
# Look Up Tables
Smart Functions
Transfer Rate
Digital Interface
Power Requirements
Power Consumption
Dimensions
Mass
Operating Temperature
Storage Temperature
Regulations
Options
1/2 " (diag. 8 mm) type progressive scan SONY IT CCD
656 (H) x 494 (V)@Raw8; 656 (H) x 492 (V)@YUV
C-mount
640 x 480 pixels (Format_0; Mode_5)
656 x 494 pixels (Format_7; Mode_0)
9.9 µm x 9.9 µm
10 Bit
Raw8, YUV4:2:2, YUV4:1:1
8 Bit
3.75 Hz; 7.5 Hz; 15 Hz; 30 Hz; up to 74 Hz in Format_7
(RAW); 68 Hz (YUV 4:1:1); up to 51 Hz in YUV 4:2:2
Manual: 0–16 dB (0.035 dB/step); Auto gain
20 …67.108.864 µs (~67s); Auto shutter
Trigger_Mode_0, Trigger_Mode_1
Advanced feature: image transfer by command
Up to 13 frames
One, user programmable (10 Bit -> 8 Bit); Gamma (0.45)
Real time shading correction; image sequencing, two
configurable inputs, two configurable outputs
100 Mb/s, 200 Mb/s, 400 Mb/s
IEEE 1394 IIDC v. 1.3
DC 8 V – 36 V via IEEE 1394 cable or 12-pin HIROSE
Less than 3 Watts (@ 12 V d.c.)
58 mm x 44 mm x 29 mm (L x W x H); without tripod and
lens
<120 g (without lens)
+5 – +45 ° Celsius
-10 – +60 ° Celsius
EN 55022, EN 61000, EN 55024, FCC Class A, DIN ISO 9022
Host adapter card, locking IEEE-1394 cable, API
(FirePackage), TWAIN (VIA)- and WDM stream driver
Table 3: Specification MF-033C
The design and specifications for the products described above may change without notice.
MARLIN Technical Manual
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Specifications
4.3
MF-046B
Specification
Image device
Effective Picture
Elements
Lens Mount
Picture Sizes
Cell Size
ADC
Data Path
Frame rates
Gain Control
Shutter Speed
External Trigger Shutter
Internal FIFO-Memory
# Look Up Tables
Smart Functions
Transfer Rate
Digital Interface
Power Requirements
Power Consumption
Dimensions
Mass
Operating Temperature
Storage Temperature
Regulations
Options
1/2 " (diag. 8 mm) type progressive scan SONY IT CCD
780 (H) x 582 (V)
C-mount
640 x 480 pixels (Format_0); 780 x 582 (Format_7)
8.3 µm x 8.3 µm
10 Bit
8 Bit
3.75 Hz; 7.5 Hz; 15 Hz; 30 Hz; up to 53 Hz in Format_7
Manual: 0–24 dB (0.035 dB/step); Auto gain
20 …67.108.864 µs (~67s); Auto shutter
Trigger_Mode_0, Trigger_Mode_1
Advanced feature: Image transfer by command
Up to 13 frames
One, user programmable (10 Bit -> 8 Bit); Gamma (0.45)
Real time shading correction; image sequencing, two
configurable inputs, two configurable outputs
100 Mb/s, 200 Mb/s, 400 Mb/s
IEEE 1394 IIDC v. 1.3
DC 8 V – 36 V via IEEE 1394 cable or 12-pin HIROSE
Less than 3 Watts (@ 12 V d.c.)
58 mm x 44 mm x 29 mm (L x W x H); without tripod and
lens
<120 g (without lens)
+5 – +45 ° Celsius
-10 – +60 ° Celsius
EN 55022, EN 61000, EN 55024, FCC Class A, DIN ISO 9022
Removable IR-cut-filter, host adapter card, locking IEEE1394 cable, API (FirePackage), TWAIN (VIA)- and WDM
stream driver
Table 4: Specification MF-046B
The design and specifications for the products described above may change without notice.
MARLIN Technical Manual
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Specifications
4.4
MF-046C
Specification
Image device
Effective Picture
Elements
Lens Mount
Picture Sizes
Cell Size
ADC
Color Modes
Data Path
Frame rates
Gain Control
Shutter Speed
External Trigger Shutter
Internal FIFO-Memory
# Look Up Tables
Smart Functions
Transfer Rate
Digital Interface
Power Requirements
Power Consumption
Dimensions
Mass
Operating Temperature
Storage Temperature
Regulations
Options
1/2 " (diag. 8 mm) Type progressive scan SONY IT CCD
780 (H) x 582 (V)@Raw8; 780 (H) x 580 (V)@YUV
C-mount
640 x 480 pixels (Format_0); 780 (H) x 582 pixels
(V)@Raw8; 780 (H) x 580 (V)@YUV
8.3 µm x 8.3 µm
10 Bit
Raw8, YUV4:2:2, YUV4:1:1
8 Bit
3.75 Hz; 7.5 Hz; 15 Hz; 30 Hz; up to 53 Hz in Format_7
(Raw8) (36 Hz YUV4:2:2; 49Hz YUV4:1:1)
Manual: 0–16 dB (0.035 dB/step); Auto gain
20 …67.108.864 µs (~67s); Auto shutter
Trigger_Mode_0, Trigger_Mode_1
Advanced feature: image transfer by command
Up to 13 frames
One, user programmable (10 Bit -> 8 Bit); Gamma (0.45)
Real time shading correction; image sequencing, two
configurable inputs, two configurable outputs
100 Mb/s, 200 Mb/s, 400 Mb/s
IEEE 1394 IIDC v. 1.3
DC 8 V – 36 V via IEEE 1394 cable or 12-pin HIROSE
Less than 3 Watts (@ 12 V d.c.)
58 mm x 44 mm x 29 mm (L x W x H); without tripod and
lens
<120 g (without lens)
+5 – +45 ° Celsius
-10 – +60 ° Celsius
EN 55022, EN61000, EN 55024, FCC Class A, DIN ISO 9022
Host adapter card, locking IEEE-1394 cable, API
(FirePackage), TWAIN (VIA)- and WDM stream driver
Table 5: Specification MF-046C
The design and specifications for the products described above may change without notice.
MARLIN Technical Manual
Page 8
Specifications
4.5
MF-080B
Specification
Image device
Effective Picture
Elements
Lens Mount
Picture Sizes
Cell Size
ADC
Data Path
Frame rates
Gain Control
Shutter Speed
External Trigger Shutter
Internal FIFO-Memory
# Look Up Tables
Smart Functions
Transfer Rate
Digital Interface
Power Requirements
Power Consumption
Dimensions
Mass
Operating Temperature
Storage Temperature
Regulations
Options
1/3 " (diag. 6 mm) type progressive scan SONY IT CCD
1032 (H) x 778 (V)
C-mount, CS-mount
1024 x 768 pixels (Format_1 ) supporting all smaller fixed
formats; up to 1032 x 778 pixels (Format_7)
4.65 µm x 4.65 µm
10 Bit
8 Bit
3.75 Hz; 7.5 Hz; 15 Hz; up to 20 Hz in Format_7
Manual: 0–24 dB (0.035 dB/step); Auto gain
20 …67.108.864 µs (~67s); Auto shutter
Trigger_Mode_0, Trigger_Mode_1
Advanced feature: image transfer by command
Up to 7 frames
One, user programmable (10 Bit -> 8 Bit); Gamma (0.45)
Real time shading correction; image sequencing, two
configurable inputs, two configurable outputs
100 Mb/s, 200 Mb/s, 400 Mb/s
IEEE 1394 IIDC v. 1.3
DC 8 V – 36 V via IEEE 1394 cable or 12-pin HIROSE
Less than 3 Watts (@ 12 V d.c.)
58 mm x 44 mm x 29 mm (L x W x H); without tripod and
lens
<120 g (without lens)
+5 – +45 ° Celsius
-10 – +60 ° Celsius
EN 55022, EN 61000,EN 55024,FCC Class A, DIN ISO 9022
Removable IR-cut-filter, host adapter card, locking IEEE1394 cable, API (FirePackage), TWAIN (VIA)- and WDM
stream driver
Table 6: Specification MF-080B
The design and specifications for the products described above may change without notice.
MARLIN Technical Manual
Page 9
Specifications
4.6
MF-080C
Specification
Image device
Effective Picture
Elements
Lens Mount
Picture Sizes
Cell Size
ADC
Color Modes
Data Path
Frame rates
Gain Control
Shutter Speed
External Trigger Shutter
Internal FIFO-Memory
# Look Up Tables
Smart Functions
Transfer Rate
Digital Interface
Power Requirements
Power Consumption
Dimensions
Mass
Operating Temperature
Storage Temperature
Regulations
Options
1/3 " (diag. 6 mm) type progressive scan SONY IT CCD
1032 (H) x 778 (V)@Raw8; 1032 (H) x 776 (V)@YUV
C-mount, CS-mount
1024 x 768 pixels (Format_1 ) supporting all smaller fixed
formats; up to 1032 x 778 pixels (Format_7)
4.65 µm x 4.65 µm
10 Bit
Raw8,YUV4:2:2,YUV4:1:1
8 Bit
3.75 Hz; 7.5 Hz; 15 Hz; up to 20 Hz in Format_7 Raw8 (20
Hz at YUV4:1:1 /20 Hz YUV4:2:2)
Manual: 0–16 dB (0.035 dB/step); Auto gain
20 …67.108.864 µs (~67s); Auto shutter
Trigger_Mode_0, Trigger_Mode_1
Advanced feature: image transfer by command
Up to 7 frames
One, user programmable (10 Bit -> 8 Bit); Gamma (0.45)
Real time shading correction; image sequencing, two
configurable inputs, two configurable outputs
100 Mb/s, 200 Mb/s, 400 Mb/s
IEEE 1394 IIDC v. 1.3
DC 8 V – 36 V via IEEE 1394 cable or 12-pin HIROSE
Less than 3 Watts (@ 12 V d.c.)
58 mm x 44 mm x 29 mm (L x W x H); without tripod and
lens
<120 g (without lens)
+5 – +45 ° Celsius
-10 – +60 ° Celsius
EN 55022, EN 61000, EN 55024, FCC Class A, DIN ISO 9022
Host adapter card, locking IEEE-1394 cable, API
(FirePackage), TWAIN (VIA)- and WDM stream driver
Table 7: Specification MF-080C
The design and specifications for the products described above may change without notice.
MARLIN Technical Manual
Page 10
Specifications
4.7
MF-145B2
Specification
Image device
Effective Picture
Elements
Lens Mount
Picture Sizes
Cell Size
ADC
Data Path
Frame rates
Gain Control
Shutter Speed
External Trigger Shutter
Internal FIFO-Memory
# Look Up Tables
Smart Functions
Transfer Rate
Digital Interface
Power Requirements
Power Consumption
Dimensions
Mass
Operating Temperature
Storage Temperature
Regulations
Options
1/2 " (diag. 8 mm) type progressive scan SONY IT CCD
1392 (H) x 1040 (V)
C-mount
Up to 1280 x 960 pixels (Format_2), supporting all smaller
fixed formats; 1392 x 1040 pixels (Format_7)
4.65 µm x 4.65 µm
10 Bit
8 Bit
3.75 Hz; 7.5 Hz; up to 10 Hz in Format_7
Manual: 0–24 dB (0.035 dB/step); Auto gain
20 …67.108.864 µs (~67s); Auto shutter
Trigger Mode_0, Trigger_Mode_1
Advanced feature: image transfer by command
Up to 3 frames
One, user programmable (10 Bit -> 8 Bit); Gamma (0.45)
Real time shading correction; image sequencing, two
configurable inputs, two configurable outputs
100 Mb/s, 200 Mb/s, 400 Mb/s
IEEE 1394 IIDC v. 1.3
DC 8 V – 36 V via IEEE 1394 cable or 12-pin HIROSE
Less than 3 Watts (@ 12 V d.c.)
58 mm x 44 mm x 29 mm (L x W x H); without tripod and
lens
<120 g (without lens)
+5 – +45 ° Celsius
-10 – +60 ° Celsius
EN 55022, EN 61000, EN 55024, FCC Class A, DIN ISO 9022
Removable IR-cut-filter, host adapter card, locking IEEE1394 cable, API (FirePackage), TWAIN (VIA)- and WDM
stream driver
Table 8: Specification MF145B2
The design and specifications for the products described above may change without notice.
MARLIN Technical Manual
Page 11
Specifications
4.8
MF-145C2
Specification
Image device
Effective Picture
Elements
Lens Mount
Picture Sizes
Cell Size
ADC
Color Modes
Data Path
Frame rates
Gain Control
Shutter Speed
External Trigger Shutter
Internal FIFO-Memory
# Look Up Tables
Smart Functions
Transfer Rate
Digital Interface
Power Requirements
Power Consumption
Dimensions
Mass
Operating Temperature
Storage Temperature
Regulations
Options
1/2 " (diag. 8 mm) Type progressive scan SONY IT CCD
1392 (H) x 1040 (V)@Raw8; 1392 (H) x 1038 (V)@YUV
C-mount
Up to 1280 x 960 pixels (Format_2 ) supporting all smaller
fixed formats; 1392 x 1040 (Format_7 Mode_0)
4.65 µm x 4.65 µm
10 Bit
Raw8, YUV4:2:2, YUV4:1:1
8 Bit
3.75 Hz; 7.5 Hz; up to 10 Hz in Format_7
Manual: 0–16 dB (0.035 dB/step); Auto gain
20 …67.108.864 µs (~67s); Auto shutter
Trigger Mode_0, Trigger_Mode_1
Advanced feature: image transfer by command
Up to 3 frames
One, user programmable (10 Bit -> 8 Bit); Gamma (0.45)
Real time shading correction; Image sequencing, two
configurable inputs, two configurable outputs
100 Mb/s, 200 Mb/s, 400 Mb/s
IEEE 1394 IIDC v. 1.3
DC 8 V – 36 V via IEEE 1394 cable or 12-pin HIROSE
Less than 3 Watts (@ 12 V d.c.)
58 mm x 44 mm x 29 mm (L x W x H); without tripod and
lens
<120 g (without lens)
+5 – +45 ° Celsius
-10 – +60 ° Celsius
EN 55022, EN 61000, EN 55024, FCC Class A, DIN ISO 9022
Host adapter card, locking IEEE-1394 cable, API
(FirePackage), TWAIN (VIA) -and WDM stream driver
Table 9: Specification MF-145C2
The design and specifications for the products described above may change without notice.
MARLIN Technical Manual
Page 12
Specifications
4.9
F-131B
Specification
Image device
Effective Picture
Elements
Lens Mount
Picture Sizes
Cell Size
ADC
Data Path
Frame rates
Gain Control
Shutter Speed
External Trigger Shutter
Internal FIFO-Memory
# Look Up Tables
Smart Functions
Transfer Rate
Digital Interface
Power Requirements
Power Consumption
Dimensions
Mass
Operating Temperature
Storage Temperature
Regulations
Options
2/3 " (diag. 11 mm) Type global shutter CMOS sensor
1280 (H) x 1024 (V)
C-mount
Up to 1280 x 960 pixels (Format_2), supporting all smaller
fixed formats; 1280 x 1024 pixels (Format_7)
6.7 µm x 6.7 µm
10 Bit
8 Bit
3.75 Hz; 7,5 Hz; 15 Hz; up to 25 Hz in Format_7; 30 Hz @
SVGA and smaller
Manual: 0–13.5 dB (9 x 1.5 dB); Auto gain
20 µs …tbd; Auto shutter
Trigger Mode_0, Trigger_Mode_1
Advanced feature: image transfer by command
Up to 4 frames
One, user programmable (10 Bit -> 8 Bit); Gamma (0.45)
Real time shading correction; two configurable inputs, two
configurable outputs, high dynamic range mode
100 Mb/s, 200 Mb/s, 400 Mb/s
IEEE 1394 IIDC v. 1.3
DC 8 V – 36 V via IEEE 1394 cable or 12-pin HIROSE
Less than 3 Watts (@ 12 V d.c.)
58 mm x 44 mm x 29 mm (L x W x H); without tripod and
lens
<120 g (without lens)
+5 – +45 ° Celsius
-10 – +60 ° Celsius
EN 55022, EN 61000, EN 55024, FCC Class A, DIN ISO 9022
Host adapter card, locking IEEE-1394 cable, API
(FirePackage), TWAIN (VIA) -and WDM stream driver
Table 10: Specification MF-131B
The design and specifications for the products described above may change without notice.
MARLIN Technical Manual
Page 13
Specifications
4.10 Spectral sensitivity
Figure 2: Spectral sensitivity of MF-033B without cut filter and optics.
Figure 3: Spectral sensitivity of MF-033C without cut filter and optics
MARLIN Technical Manual
Page 14
Specifications
Figure 4: Spectral sensitivity of MF-046B without cut filter and optics.
Figure 5: Spectral sensitivity of MF-046C without cut filter and optics.
MARLIN Technical Manual
Page 15
Specifications
Figure 6: Spectral sensitivity of MF-080B without cut filter and optics
Figure 7: Spectral sensitivity of MF-080C without cut filter and optics.
MARLIN Technical Manual
Page 16
Specifications
Figure 8: Spectral sensitivity of MF-145B2 without cut filter and optics
Figure 9: Spectral sensitivity of MF-145C2 without cut filter and optics
MARLIN Technical Manual
Page 17
Specifications
Figure 10: Spectral sensitivity of MF-131B without cut filter and optics
MARLIN Technical Manual
Page 18
Quick start
5
Quick start
To connect up an IEEE-1394 camera you need a PC with an IEEE-1394 port and the appropriate
software. This IEEE-1394 port is already present in many modern PCs and laptops. Should this not
be the case, you can upgrade by installing one or more IEEE-1394 ports in the form of a card for
the PCI slot, or as a PC card (PCMCIA) for the PC card slot. AVT offers a range of adaptors for
different requirements.
After starting the operating system, the plug and play mechanism on the PC should recognize the
new hardware and prompt you to install the IEEE-1394 driver from Microsoft.
AVT supplies from 1Q/2004 additional TWAIN (VIA) drivers and WDM stream software to integrate
the images into third party software which has these interfaces.
Alternatively you may use ‘the FirePackage API SDK’. This replaces the MS-IEEE-1394 driver with
the driver produced by Intek.
A more detailed description for these installation routines can be found in the “FireView”
software manual.
The latter driver works in conjunction with the “Viewer” program. This enables quick and easy
access to all integrated IEEE-1394 ports and all theconnected IEEE-1394 cameras.
After using the drop down list to choose a matching card, all the available cameras which can be
connected to this will be displayed.
Select a camera and connect to this camera by clicking on the Connect button. The subsequent
dialog offers the option of setting all available video formats and displays the frame in a
corresponding window.
In the Live Control dialog box you can adjust the settings for the standard registers according to
the IIDC specification, e.g. exposure time or gain.
Direct access to the register level, e.g. to activate the advanced features of the camera, is carried
out via the Directcontrol dialog box.
Figure 11: FireView
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Camera dimensions
6
Camera dimensions
6.1
Marlin standard housing
Body size:
Weight:
58 mm x 44 mm x 29 mm (l x w x h)
120 g (without lens)
Figure 12: Camera dimensions
MARLIN Technical Manual
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Camera dimensions
6.2
Marlin W90
This version has the sensor tilted by 90 degrees clockwise, so that it views upwards.
Figure 13: Marlin W90
MARLIN Technical Manual
Page 21
Camera dimensions
6.3
Marlin W270
This version has the sensor tilted by 270 degrees clockwise, so that it views downwards.
Figure 14: Marlin W270
MARLIN Technical Manual
Page 22
Camera dimensions
6.4
Tripod adapter
Figure 15: Tripod dimensions
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Camera interfaces
7
Camera interfaces
In addition to the two status LEDs, there are two jacks located at the rear of the camera. The
12-pin HiRose plug provides different control inputs and output lines. The IEEE-1394 connector
with lock mechanism provides access to the IEEE-1394 bus and thus makes it possible to control
the camera and output frames.
Figure 16: Rear view of camera
7.1 IEEE-1394 port pin assignment
The IEEE-1394 plug is designed for industrial use and has the following pin assignment as per
specification:
Pin
1
2
Figure 17: IEEE-1394 connector
3
Signal
Cable
power
Cable
GND
TPB-
Pin Signal
4
TPB+
5
TPA-
6
TPA+
Table 11: IEEE-1394 pin assignment
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Camera interfaces
7.2
HiRose jack pin assignment
The HiRose plug 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 the firmware update. The
following diagram shows the pinning as viewed in pin direction.
Figure 18: HiRose pin
assignment
Pin
Signal
1
External
GND
2
3
4
5
6
GPInput 1
(default
trigger)
Use
Pin
Signal
7
GPInput
GND
RS232 RxD
RS232 TxD
OutVCC
8
9
TTL, Edge, 10
progr.
GP Output 1 Open
(default
emitter
IntEna)
11
12
Use
GPInput 2
TTL
GPOutput 2 Open
emitter
Table 12: HiRose pinning
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Camera interfaces
7.3 Status LEDs
On LED
The green power LED indicates that the camera is being supplied with sufficient voltage and is
ready for operation.
Status LED (yellow)
The following states are displayed via the LED:
Com
asynchronous and isochronous data transmission active
(indicated asynchronously to transmission over the 1394 bus)
LED off – waiting for external trigger
LED on – receiving external trigger
Trg
Table 13: LED indication
Blink codes are used to signal warnings or error states:
Class S1
Warning
1 blink
DCAM
2 blinks
MISC
3 blinks
Error code S2
FPGA Boot error
FPGA
4 blinks
Stack
5 blinks
1-5
blinks
Stack setup
Stack start
No FLASH object
No DCAM object
Register mapping
VMode_ERROR_STATUS
FORMAT_7_ERROR_1
FORMAT_7_ERROR_2
1 blink
2 blinks
1 blink
1 blink
2 blinks
1 blink
2 blinks
3 blinks
Table 14: Error Codes
The longer OFF-time of 3.5 sec signals the beginning of a new class period. The error codes follow
after a shorter OFF-time of 1.5 sec.
Example:
3.5 sec
one blink
1.5 sec
2 blinks
indicates a warning: Format_7_Error_1
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Camera interfaces
7.4
Operating the camera:
Power for the camera is supplied only via the FireWire™ bus.
The input voltage must be within the following range:
Vcc min.: +8 V
Vcc max.: +36 V
An input voltage of 12 V is recommended to make most efficient use of the camera.
The HiRose connector does not supply power to the camera.
7.5 Control and video data signals
The camera has 2 inputs and 2 outputs. These can be configured by software. The different modes
are described below.
7.5.1 Inputs
All inputs have been implemented as shown on the diagram below.
Figure 19: Input schematics
Flux voltage from LED type 1.5 V at 10 mA
Cycle delay of the optical coupler
min. on-current:
max. off-current:
max. input current:
min. pulse width @high
speed:
min. pulse width
@normal speed:
tpdHL:
tpdLH:
tpdHL:
tpdLH:
5 mA
0.25 mA
15 mA
0.67 µs
2.2 µs
745 ns
760 ns
2275 ns
2290 ns
Table 15: Input characteristics
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Camera interfaces
The inputs can be connected directly to +5 V. If a higher voltage is used, an external resistor
must be placed in series. Use @+12 V a 470 Ω and @+24 V a 1.2 kΩ resistor.
Voltages above +45 V may damage the optical coupler
Setting inputs to high-speed mode requires very clean input signals. It is recommended to
use the normal speed mode (default).
The optical coupler inverts all input signals. Polarity is controlled via the IO_INP_CTRL1..2
register.
Input polarity
Input signal
Optocoupler
Input
Figure 20: Input block diagram
MARLIN Technical Manual
Page 28
Input state
Camera interfaces
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. The polarity for
each signal can be set separately via the inverting inputs.
The camera must be set to "external triggering" to trigger image capture by the trigger signal.
All input and output signals running over the HiRose plug are controlled by an advanced feature
register.
Offset
0xF1000300
0xF1000304
Name
IO_INP_CTRL1
IO_INP_CTRL2
Field
Presence_Inq
Bit
[0]
Description
Indicates presence
of this feature
(read only)
--Polarity
[1..6]
[7]
--InputMode
--PinState
[8..10]
[11..15]
[16..30]
[31]
0: low active, 1:
high active
Mode
RD: Current state
of pin
Same as
IO_INP_CTRL1
Table 16: Input configuration register
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.
For inputs the PinState bit refers to the inverted output side of the optical coupler. This signals
that an open input sets the PinState bit to “1”.
Default
ID
Mode
0x00
0x01
0x02
0x03
0x04
0x05
0x06..0x0F
0x10..0x1F
Off
reserved
Trigger input
reserved
reserved
tbd (SPI external DCLK)
reserved
reserved
Input 1
Table 17: Input routing
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Camera interfaces
7.5.2 Outputs
The camera has 2 non-inverting outputs with open emitters. These are shown in the following
diagram:
Max. emitter current 500 mA
Max. collector emitter voltage 45 V
Voltage above +45 V may damage the optical coupler
Depending on the voltage applied at OutVCC, it may be necessary to switch a resistor in
series between Gpoutl and ground.
Figure 21: Output schematics
Output features are configured by software. Any signal can be placed on any output.
The main features of output signals are described below:
IntEna 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 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.
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Camera interfaces
Output
function
Output
polarity
IntEna
FVal
Opto-
Busy
Output signal
coupler
Output
state
Figure 22: Output block diagram
IO_OUTP_CTRL 1-2
The outputs are controlled via two advanced feature registers.
The Polarity flag determines whether the output is low active (0) or high active (1). The output
mode can be seen in the following table. The current status of the output can be queried and set
via the PinState flag.
Offset
Name
Field
0xF1000320 IO_OUTP_CTRL1 Presence_Inq
Bit
[0]
Description
Indicates presence of
this feature (read
only)
0: low active, 1: high
active
--Polarity
[1..6]
[7]
--Output mode
--PinState
[8..10]
[11..15] Mode
[16..30]
[31]
RD: Current state of
pin
WR: New state of pin
0xF1000324 IO_OUTP_CTRL2 Same
IO_OUTP_CTRL1
as
Table 18: Output configuration register
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Camera interfaces
Output mode
ID
0x00
0x01
0x02
0x03
0x04
0x05
0x06
0x07
0x08
0x09..0x0F
0x10..0x1F
Mode
Default
Off
Output state follows ‘PinState’
bit
Integration enable
Output 1
Incremental decoder compare
tbd (SPI internal DCLK)
tbd (SPI external DCLK)
FrameValid
Busy
Follow corresponding input Output 2
(Inp1 → Out1, Inp2 → Out2, …)
reserved
reserved
Table 19: Output routing
The “Polarity” setting refers to the input side of the optical coupler output, “PinState 0” switches
off the output transistor and produces a low level over the resistor connected from the output to
ground.
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Camera interfaces
The following diagram illustrates the dependencies of the various output signals.
Figure 23: Output Impulse Diagram
Please note that polarity of the signals can be changed.
Firing a new trigger while IntEna is still active may lead to image corruption because of
double exposure.
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Camera interfaces
7.6 Pixel data
Pixel data are transmitted as isochronous data packets in accordance with the 1394 interface
described in IIDC v. 1.3. The first packet of a frame is identified by the “1” in the sync bit (sy) of
the packet header.
Table 20: Isochronous data block packet format: Source: IIDC v. 1.3 specification
Video data for each pixel are output in an 8-bit format. Each pixel has a range of 256 shades of
gray. The digital value 0 is black and 255 is white.
The following table provides a description of the video data format for the different modes.
(Source: IIDC v. 1.3 specification)
Table 21: YUV 4:2:2 and YUV 4:1:1 format: Source: IIDC v. 1.3 specification
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Camera interfaces
Table 22: Y8 and Y16 format: Source: IIDC v. 1.3 specification
Table 23: Data structure: Source: IIDC v. 1.3 specification
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Description of the data path
8
Description of the data path
8.1
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 or CMOS sensor chip in the camera. The individual blocks are described in more
detail in the following paragraphs.
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Page 36
Description of the data path
8.1.1
Black and white cameras:
Figure 24: Block diagram b/w camera
MARLIN Technical Manual
Page 37
Description of the data path
8.1.2
Color cameras:
Figure 25: Block diagram color camera
MARLIN Technical Manual
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Description of the data path
8.2
Sensor
The Marlin family is equipped with various sensor types and resolutions. Both CCD and CMOS
types are available in color and monochrome .
The following table gives an overview:
Model
Techn.
MFCCD
033B
MF-033C CCD
MFCCD
046B
MF-046C CCD
MFCCD
080B
MF-080C CCD
Manufacturer
SONY
SONY
SONY
SONY
SONY
SONY
MF145B2
MF145C2
CCD
SONY
CCD
SONY
MF131B
CMOS
FillFactory
Sensor
Type
ICX-414AL
Sensor
MicroChip Size
Size
lens
[mm]
½” (8 mm) Yes, HAD 7.48 x
6.15
ICX-414AQ ½” (8 mm) Yes, HAD 7.48 x
6.15
ICX-415AL ½” (8 mm) Yes, HAD 7,48 x
6.15
ICX-415AQ ½” (8 mm) Yes, HAD 7.48 x
6.15
ICX-204AL 1/3”
Yes, HAD 5.8 x 4.92
(6 mm)
ICX-204AK 1/3”
Yes, HAD 5.8 x 4.92
(6 mm)
ICX-205AL ½”
Yes, HAD 7.6 x 6.2
(8 mm)
ICX-205AK ½”
Yes, HAD 7.6 x 6.2
(8 mm)
IBIS5A
2/3”
(11 mm)
Not
needed
8.6 x 6.9
Pixel Size Eff. Pixels
[µm]
9.9 x 9.9
659 x 494
9.9 x 9.9
659 x 494
8.3 x 8.3
782 x 582
8.3 x 8.3
782 x 582
4.65 x
4.65
4.65 x
4.65
4.65 x
4.65
4.65 x
4.65
1034 x 779
6.7 x 6.7
1034 x 779
1392 x
1040
1392 x
1040
1280 x
1024
Table 24: Sensor data
MARLIN Technical Manual
Page 39
Description of the data path
8.2.1
IBIS5A multiple slope
The MF-131 sensor has a high dynamic range of about 60 dB. This can be further extended to
almost 100 dB by switching to a special mode..
This is called dual (in the case of rolling shutter) or multiple slope mode (in the case of global
shutter).
The following diagram taken from FillFactory’s application note, explains the functionality.
Figure 26: Multiple slope (high dynamic range)
The colored lines represent the analogue signal on the photodiode which decrease as a resultof
exposure. The slope is determined by the amount of light at each pixel (the more light,
the steeper the slope). When the pixels reach the saturation level, the analogue signal
will no longer change despite further exposure. As shown in the diagram, without any dual or
multiple slope pulse, pixels P3’ and P4’ reach saturation before the sample moment of the
analogue values.
When dual slope is enabled, a second reset pulse will be given (blue line) at a certain time before
the end of the integration time.
This dual slope reset pulse resets the analogue signal of the pixels below the dual slope reset
level to this level. After the reset, the analogue signal starts to decrease with the same slope as
before (pink P3 and yellow P4 lines).
This introduces a knee-point in the exposure function.
If the dual slope reset pulse is placed at the end of the integration time (90% for instance), the
analogue signal that would have reached the saturation levels is no longer saturated (which
increases the optical dynamic range) at read out.
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Description of the data path
It is important to notice that pixel signals above the dual slope reset level will not be influenced
at all (green P1 and green P2).
The Marlin F131 offers two knee-points when in rolling shutter mode, and up to three kneepoints when in global shutter mode. This functionality is basically controlled via the following
registers.
Offset
0xF1000280
0xF1000284
0xF1000284
0xF1000288
0xF1000288
0xF100028C
0xF100028C
Name
HDR_CONTROL
KNEEPOINT_1
KNEEPOINT_2
KNEEPOINT_3
Field
Presence_Inq
Bit
[0]
--ON_OFF
[1..5]
[6]
Description
Indicates presence of
this feature (read only)
Enable/disable HDR
mode
--[7..19]
MaxKneePoints [20…23] Number of knee-points
possible in this mode
--[24..27]
KneePoints
[28..31] Number of active kneepoints
--[0..15]
Kneepoint1
[16..31] Time in µs
--[0..15]
Kneepoint2
[16..31] Time in µs
--[0..15]
Kneepoint3
[16..31] Time in µs
Table 25: High dynamic range configuration register
It is recommended that knee-points be adjusted to 10 %, 5 % and 2.5 % of the total
exposure or shutter time.
Example:
Adjust image so that the dark areas are well displayed. Calculate the used shutter time. Activate
HDR-Mode.
Assuming shutter time to be 40 ms = 40,000 µs:
Kneepoint_1 = 10 % * 40,000 µs = 4,000 µs = 0xFA0
Kneepoint_2 = 5 % * 40,000 µs = 2,000 µs = 0x7D0
Kneepoint_3 = 2.5 % * 40,000 µs = 1,000 µs = 0x3E8
The following needs to be written:
HDR_CONTROL: (Adress: 0xF1000280)
KNEEPOINT_1: (Adress: 0xF1000284)
KNEEPOINT_2: (Adress: 0xF1000288)
KNEEPOINT_3: (Adress: 0xF100028C)
0x02000003
0x00000FA0
0x000007D0
0x000003E8
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Description of the data path
For further tuning, readjust KNEEPOINT_X but maintain ratio KNEEPOINT_1 > KNEEPOINT_2 >
KNEEPOINT_3
8.3
White balance
The color cameras have both manual and automatic white balance and can be set via the analog
red and blue gain in the 0...+12 dB range. White balance is used so that non-colored image parts
are displayed non-colored.
These settings are made in register 80Ch of IIDC v. 1.3. The values in the V_Value/R_Value field
produce changes in the gain from green to red and in the U_Value/B_Value field from green to
blue.
8.3.1
Automatic white balance
Automatic white balance is activated by setting the “One Push” bit in the WHITE_BALANCE
register (see WHITE-BALANCE). The camera independently inputs frames and calculates the U/B
and V/R correction values on the basis of 16x16 pixels from the center of the currently set frame.
For white balance, incoming frames are input based on the current settings of all registers (GAIN,
OFFSET, SHUTTER, etc.).
The following ancillary conditions should be observed for successful white balance:
All pixels in the 16x16 calculation window must have a gray value <255 and the object in the
calculation window must be monochrome.
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
started again after the completion of white balance.
Automatic white balance can also be started 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.
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Description of the data path
Figure 27: Automatic white balance sequence
Finally, the calculated correction values can be read from the WHITE_BALANCE register 80Ch.
8.4
Manual gain
The following ranges can be used when manually setting the gain for the analog video signal:
B/W CCD-cameras:
B/W CMOS camera:
0 … 24 dB
0 … 13.5 dB
Color CCD-cameras:
0 … 16 dB
The increment length is ~0.0354 dB/step for CCD-models and 1.25 dB for CMOS.
Thus the values to be entered will be within the following ranges:
B/W CCD-cameras:
B/W CMOS camera:
0 ... 680
0…8
Color CCD-cameras:
0 ... 450
Setting the gain does not change the offset (black value).
Higher gain also produces greater image noise. This reduces image quality. For this reason,
try to increase the brightness first, using the aperture of the camera optics and shutter
settings.
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Description of the data path
8.5
Setting the offset (black level)
It is possible to set the black value in the camera within the following ranges:
CCD-models: 0...+16 gray values (@ 8 bit). Increments are in 1/16 LSB (@ 8 bit).
CMOS-model: 0 … +127 (@ 8 bit)
The formula for gain and offset setting is: Y`= GxY+0
8.6
Lookup tables (LUT)
The camera provides one user-defined LUT. This is also used for the gamma correction. The
lookup table converts the 10 bits from the digitizer to 8 bits.
The use of a LUT allows you to store any function in the form Output = F(Input) in the RAM of
the camera and to use it on the individual pixels of the frame at run-time.
The values of functions are calculated within a specific range and the input value is used as an
index in the table.
The AVT Marlin can temporarily store 1 LUT in the camera. One example of such an LUT is the
Gamma LUT: Output = (Input)
0.45
1024
896
768
640
512
384
256
128
0
0
128
256
384
512
Figure 28: Gamma LUT
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640
768
896
Description of the data path
The input value is the 10-bit value from the digitizer. The LUT outputs the most significant
8 Bit.
Because gamma correction is also implemented via the lookup table, it is not possible to
use a different LUT when gamma correction is switched on.
8.6.1
Loading a LUT into the camera
Loading the LUT is carried out through the data exchange buffer called GPDATA_BUFFER. Because
the buffer can hold a maximum of 2 kB and a complete LUT at 1024 x 8 bit (1 kB), programming
can take place in a one block write step. The flow diagram on the next page shows the few steps
required to load data into the camera.
Figure 29: Loading a LUT
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Description of the data path
The table below describes the registers required.
Offset
0xF1000240
0xF1000244
0xF1000248
Name
LUT_CTRL
LUT_MEM_CTRL
LUT_INFO
Field
Presence_Inq
Bit
[0]
--ON_OFF
[1..5]
[6]
--LutNo
[7..25]
[26..31]
Presence_Inq
[0]
--EnableMemWR
[1..4]
[5]
--AccessLutNo
AddrOffset
Presence_Inq
[6..7]
[8..15]
[16..31]
[0]
--NumOfLuts
[1..7]
[8..15]
MaxLutSize
[16..31]
Table 26: LUT configuration register
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Description
Indicates presence of
this feature (read
only)
Enable/Disable this
feature
Use Lookup table with
number LutNo
Indicates presence of
this feature (read
only)
Enable write access
Indicates presence of
this feature (read
only)
Max. # of Lookup
tables
Max. Lookup Table size
Description of the data path
8.7
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.
The following pictures describe the process of automatic generation of correction data. The line
profiles were created using MVTEC’s “ActivVision Tools”.
Figure 30: Shading correction: Source image with non-uniform illumination
On the left you see the source image with non-uniform illumination. The graph on the right
clearly shows the brightness level falling off to the right.
The correction sequence controlled via “Directcontrol” uses the average of 16 frames (10H) to
calculate the correction frame. By unfocussing the lens, high-frequency image data are removed
from the source image, therefore its not included in the shading image.
8.7.1
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 4, 8 or 16. An arithmetic mean value is
calculated from them (to reduce noise).
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Description of the data path
After this, a search is made for the brightest pixel in the mean value frame. 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.
Correction alone can compensate for shading by up to 50 % and relies on 10 bit pixel data to
avoid the generation of missing codes.
How to proceed:
Figure 31: Automatic generation of a shading image
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Description of the data path
The table below describes the registers required.
Offset
0xF1000250
0xF1000254
0xF1000258
Name
SHDG_CTRL
SHDG_MEM_CTRL
SHDG_INFO
Field
Presence_Inq
Bit
[0]
BuildError
--ShowImage
[1]
[2..3]
[4]
BuildImage
[5]
ON_OFF
Busy
--GrabCount
[6]
[7]
[8..23]
[24..31]
Presence_Inq
[0]
--EnableMemWR
[1..4]
[5]
EnableMemRD
[6]
--AddrOffset
Presence_Inq
[7]
[8..31]
[0]
--MaxImageSize
[1..7]
[8..31]
Description
Indicates
presence of this
feature (read
only)
tbd
Show shading
data as image
Build a new
ShadingImage
Shading On/Off
Build in progress
Number
of
images
Indicates
presence of this
feature (read
only)
Enable write
access
Enable read
access
Indicates
presence of this
feature (read
only)
Max shading
Image size
Table 27: Shading control register
The maximum value of GRAB_COUNT depends on the type of camera and the number of
existing frame buffers. GRAB_COUNT is also automatically corrected to the power of two.
The SHDG_CTRL register should not be queried at very short intervals, because each query
delays the generation of the shading image. A good interval time is 500 ms.
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Description of the data path
The following pictures illustrate the sequence of commands for the generation of the shading
image. Shading corrected output image (unfocused lens):
Figure 32: Generation of shading image
The calculation of shading data is always carried out at the current resolution set. If the Area of
Interest (AOI) is bigger than the window in which correction data was being calculated, none of
the pixels lying outside are corrected.
For Format_7 it is advisable to generate the shading image in the largest displayable frame
format. This ensures that any smaller AOIs are completely shading corrected. The automatic
generation of shading data can also be started when image capture is running. The camera then
pauses the running image capture for the time needed for generation and resumes after
generation is completed.
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Description of the data path
After the lens has been focused again you see the previous image, but now with a considerably
more uniform gradient. This is also made apparent in the graph.
Figure 33: Example of shaded image
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Description of the data path
8.7.2
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:
Figure 34: Loading the shading reference image
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Description of the data path
8.8
Color interpolation and correction
In the sensors, used color information is captured via the primary color filters placed over the
individual pixels in a ”BAYER mosaic” layout. An effective Bayer -> RGB color interpolation
already takes place in all Marlin color version cameras. Before converting to the YUV format, color
correction is done after Bayer demosaicing.
8.8.1
Interpolation (BAYER demosaicing)
In interpolation a red, green or blue value is determined for each pixel. Only two lines are
needed for this interpolation:
R1
G1
R2
G2
G3
B1
G4
B2
P1
P2
Input:
Output:
P3
Figure 35: Bayer demosaicing (interpolation)
P1red = R1
P 2 red = R 2
G1 + G3
P1green =
2
P1blue = B1
G1 + G 4
P 2 green =
2
P 2 blue = B1
P3 red = R 2
G2 + G4
2
= B2
P3 green =
P3blue
Color cameras begin outputting the image in line two and finish in line Y (maximum image
height minus two). This is a side effect of BAYER demosaicing. The adjustable maximum image
height is also two lines less than in the b/w variant.
Please note that on the color camera, a black border one pixel wide forms on the left and
right image borders. This is also a consequence of BAYER demosaicing as the image width
displayed on the color camera is not scaled down.
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Description of the data path
8.8.2
Color correction
Color correction is calculated before YUV conversion and mapped 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
Sensor specific coefficients Cxy are scientifically generated to ensure that GretagMacbeth™
ColorChecker® colors are displayed with highest color fidelity and color balance.
On the color camera color correction is also deactivated in Mono8 or Mono16 mode (raw
image transport).
8.8.3
RGB
YUV conversion
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
V = 0.498 ⋅ R − 0.420 ⋅ G − 0.082 ⋅ B + 128
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9
Controlling image capture
The cameras support the SHUTTER_MODES specified in IIDC V1.3. For all CCD-models this shutter
is a global shutter; meaning that all pixels are exposed to the light at the same moment and for
the same time span.
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 minimal image blur.
The external trigger is fed as a TTL signal through Pin 4 of the HiRose connector.
For CMOS sensors, a global shutter is not common. Therefore a rolling curtain shutter is used to
shorten the exposure or integration time. The curtain’s width defines the integration time and
the curtain sweeps with the frame readout time over the image. Although this is appropriate for
still images, image distortion will be created with moving objects, because the upper image part
is scanned earlier than the lower image part.
The MF-131 features both rolling curtain and global shutter. By default, global shutter is used.
A side effect of global shutter is that the integration or shutter time is added to the readout
time, thus affecting the frame rates to be achieved.
The cameras support Trigger_Mode_0 and Trigger_Mode_1.
Trigger_Mode_0 sets the shutter time according to the value set in the shutter (or extended
shutter) register. Trigger_Mode_1 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).
Figure 36: Trigger_modes
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9.1
Exposure time
The exposure (shutter) time for continuous mode and Trigger_Mode_0 is based on the following
formula:
Shutter register value x timebase + offset
The register value is the value set in the corresponding IIDC 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 TIMEBASE). The
default value here is set to 20 µs.
A camera-specific offset of 24 to 43 µs is also added to this value.
Example
Camera:
MF-033
Register value: 100
Timebase:
20 µs
100 x 20 µs + 24 µs = 2024 µs exposure time.
The minimum adjustable exposure time set by register is 10 µs. => the real minimum exposure
time of an MF-033 is then 10 µs + 24 µs = 34 µs.
9.1.1
Extended shutter
The exposure time for long-term integration of up to 67 sec can be extended via the
EXTENDED_SHUTTER register.
Offset
0xF100020C
Name
EXTD_SHUTTER
Field
Presence_Inq
Bit
[0]
--ExpTime
[1.. 5]
[6..31]
Description
Indicates presence
of this feature
(read only)
Exposure time in
µs
Table 28: Extended shutter configuration
The longest exposure time, 3FFFFFFh, corresponds to 67.11 sec.
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 also may increase some
unwanted effects such as noise and pixel-to-pixel nonuniformity. Depending on the
application, these effects may limit the longest useable 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/framerate register.
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9.2
One-Shot
The camera can record an image by setting “OneShot” in the 61Ch register. This bit is
automatically cleared after the image is captured. If the camera is placed in Iso_Enable mode
(see ISO_Enable / Free-Run), this flag is ignored.
If OneShot mode is combined with the external trigger, the “OneShot” 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, OneShot can be cancelled by
clearing the bit.
Figure 37: One_shot control
9.2.1
OneShot command on the bus to start of exposure
The following sections describe the time response of the camera using a single frame (OneShot)
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 under the condition that the camera is in idle and ready for use.
Full resolution must also be set.
OneShot->Microcontroller-Sync:
<=500 µs (processing time in the microcontroller)
µC-Sync/ExSync->Integration-Start
8 µs
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 triggered
externally.
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9.2.2
End of exposure to first packet on the bus
After the exposure, the CCD or CMOSsensor 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:
500µs ± 62.5µs
This time jitters with the cycle time of the
bus (125µs).
Figure 38: Data flow and timing after end of exposure
9.3
Multi-Shot
Setting “MultiShot” 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 (ISO_Enable
/ Free-Run), this flag is ignored and deleted automatically once all the images have been
recorded.
If MultiShot mode is activated and the images have not yet all been captured, it can be quit by
resetting the flag. The same can be achieved by setting the number of images to “0”.
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Controlling image capture
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 socalled
Deferred_Mode to limit the amount of grabbed images to the FIFO size.
9.4
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.
9.5
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 7.6.
The following screenshot shows an example of broadcast commands sent with the Firedemo
example of FirePackage (version 1V42):
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.
Figure 39: Broadcast One_Shot
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Controlling image capture
9.6
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.
This is different to the way the CMOS- sensor of the MF-131 works: the image sensitive area is
also the storage area, which means that it cannot be used for the integration of the new frame
until it has been read out.
Continuous image flow is thus only possible with the so-called rolling shutter.
Asynchronous image aqquisition only makes sense with the global shutter; leading to a noninterleaving exposure – readout – exposure sequence. For every exposure cycle the sensor is
completely reset so that the camera needs to be idle.
For the CCD’s 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, 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
frommodel to model.
FVal is inactive
the sensor is ready, the camera is idle
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
MF-033
MF-046
MF-080
MF-131
MF-145
Camera idle
33,33 ns
33,33 ns
50 ns
25 ns
50 ns
Camera busy
27,03 µs
32,17 µs
63,50 µs
Not possible
92,25 µs
Table 29: Jitter at exposure start
Jitter at the beginning of an exposure has no effect on the length of exposure, i.e. it is
always constant.
By default, the MF-131, the CMOS sensor uses global shutter, so it cannot be re-triggered
until the previous image has been read out.
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Controlling image capture
9.7
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.
As all Marlin cameras are equipped with builtin image memory, this order of events can be paused
or delayed by using the deferred image transport feature.
Marlin cameras are equipped with 8 MB of RAM. The table below shows how many frames can be
stored by each model. The memory is arranged in a FiFo (First in First out) manner. This makes
addressing for individual images unnecessary.
Model
MF-033
MF-046
MF-080
MF-131
MF-145
Memory Size
13 frames
13 frames
7 frames
4 frames
3 frames
Table 30: FiFo memory size
Deferred image transport is especially useful for multi camera applications where a multitude of
cameras grab a certain number of images without having to take available bus bandwidth,DMAand ISO-channels into account. Image transfer is controlled from the host computer by
addressing individual cameras and reading out the desired number of images. Functionality is
controlled by the following register:
Offset
0xF1000260
Name
Field
DEFERRED_TRANS Presence_Inq
Bit
[0]
Description
Indicates presence of
this feature (read only)
--SendImage
[1..4]
[5]
HoldImg
[6]
FastCapture
[7]
--FiFoSize
[8..15]
[16..23] Size of FiFo in number of
images (read only)
[24..31] W: Number of images to
send
R: Number of images in
buffer
NumOfImages
Send NumOfImages now
(auto reset)
Enable/Disable deferred
transport mode
Enable/disable fast
capture mode
Table 31: Deferred mode configuration register
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Controlling image capture
9.7.1
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.
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 that are entered in the NumOfImages parameter.
If NumOfImages is “0” all images stored in FIFO are sent.
If NumOfImages is not “0”, the corresponding number of images is sent.
If the HoldImg field is set to “false”, all images in ImageFIFO are deleted. No images are
sent.
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The following screenshot displays the sequence of commands needed to work with deferred mode.
……………………….Stop continuous mode of camera
…………………….Check pres. of deferred mode and FiFo size (Dh= 13 fr.)
…………………….Switch deferred mode on
…………………….Do first One_shot
…………………….Do second One_shot
…………………….Check that two images are in FiFo
…………………….Read out the first image of FiFo
…………………….Check how many images are left in FiFo
…………………….Read out the second image of FiFo
……………………….Check how many images are left in FiFo
Figure 40: Example of controlling deferred mode
9.7.2
FastCapture
This mode can be activated only in Format_7.
When FastCapture is set 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. 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.
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Controlling image capture
9.8
Sequence mode
This mode enables certain image settings to be adjusted differently for every image, e.g. gain
and shutter can be changed on the fly by the host computer by writing into the gain and shutter
register even while the camera is running. An uncertainty of one image remains because normally
the host does not know (especially with external trigger) when the next image will arrive. In this
concept the host needs to take control over the timing and in deciding when to change a
setting.
Sequence mode is a concept where the camera holds a set of different image parameters for a
sequence of images. The parameter set is stored 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.
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.
All modes
Cur_V_Mode, Cur_V_Format, ISO_Channel, ISO_Speed, Brightness,
White_Balance (color cameras only), Shutter, Gain, LookupTable, TestImage
Fixed modes only Cur_V_Frm_Rate
Format_7 only
Image_Position, Image_Size, Color_Coding_ID, Byte_Per_Packet
Table 32: Registers to be modified within a sequence
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9.8.1
How is sequence mode implemented?
There is a FIFO (first in first out) memory for each of the IIDC v. 1.3 registers listed above. The
depth of each FIFO is determined by the maximum number of images contained in the sequence.
Functionality is controlled by the following advanced registers.
Offset
0xF1000220
0xF1000224
Name
SEQUENCE_CTRL
SEQUENCE_PARAM
Field
Presence_Inq
Bit
[0]
Description
Indicates presence
of this feature
(read only)
--AutoRewind
ON_OFF
[1..4]
[5]
[6]
--MaxLength
[7..15]
[16..23]
SeqLength
[24..31]
--ApplyParameters
[0..4]
[5]
IncImageNo
[6]
--ImageNo
[7..23]
[24..31]
Enable/Disable this
feature
Max possible length
of a sequence (read
only)
Length of the
sequence
Apply settings to
selected image of
sequence; autoreset
Increment ImageNo
after
ApplyParameters
has finished
Number of image
within a sequence
Table 33: Sequence configuration register
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The following flow diagram shows how to set up a sequence.
Figure 41: 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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What to pay attention to when working with a sequence:
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 “MultiShot” 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 “MultiShot” or “ISO_Enable” 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 program AVTFiretool as graphical representation. Please note the changes in the
shutter time, which create descending image brightness, and the change in the image position,
which creates a panning effect.
Figure 42: Example of sequence mode settings
9.8.2
Changing the parameters within a sequence
To change the parameter set for one image, it is not necessary to make 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 v. 1.3 registers.
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Controlling image capture
What to pay attention to when changing the parameters:
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 v. 1.3 registers for
the image specified in ImageNo take immediate effect.
Changes in the image size and the BytePacket settings need to be mirrored in the host
computer when using e.g. FirePackage, as they affect the amount of data, and the number
of packets to be sent for one image, and thus the creation of new image-events.
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Video formats, modes and bandwidth
10
Video formats, modes and bandwidth
The different Marlin 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.
10.1 MF-033B/ MF-033C
Format
0
7
Mode
Resolution
0
1
2
3
4
5
6
160 x 120
320 x 240
640 x 480
640 x 480
640 x 480
640 x 480
640 x 480
0
656x 494 MONO8
656 x 492 YUV
YUV444
YUV422
YUV411
YUV422
RGB
MONO 8
MONO 16
60
fps
30
fps
15
fps
7.5
fps
3.75
fps
x
x
x
x
x
x
x
x
x
x
x
x
x
x
1.875
1
fps
@74 fps
@51(YUV:4:2:2)/68(YUV:4:1:1) fps
Table 34: Video formats MF-033
10.2 MF-046B/ MF-046C
Format
0
7
Mode
Resolution
60
fps
0
1
2
3
4
5
6
160 x 120
320 x 240
640 x 480
640 x 480
640 x 480
640 x 480
640 x 480
0
780 x 582 MONO8
780 x 580 YUV
YUV444
YUV422
YUV411
YUV422
RGB
MONO 8
MONO 16
30
fps
15
fps
7.5
fps
3.75
fps
x
x
x
x
x
x
x
x
x
x
x
x
1.875
1
fps
@53 fps
@36(YUV:4:2:2)/49(YUV:4:1:1) fps
Table 35: Video formats MF-046
Owing to color interpolation, the maximum height is two lines less than b/w and the first and
last pixel columns contain no image information.
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Video formats, modes and bandwidth
10.3 MF-080B/ MF-080C
Format
0
1
7
Mode
Resolution
60
fps
0
1
2
3
4
5
6
160 x 120
320 x 240
640 x 480
640 x 480
640 x 480
640 x 480
640 x 480
YUV444
YUV422
YUV411
YUV422
RGB
MONO8
MONO16
0
1
2
800 x 600
800 x 600
800 x 600
3
4
5
6
7
1024 x 768
1024 x 768
1024 x 768
800 x 600
1024 x 768
0
1032 x 778 MONO8
1032 x 776 YUV
30
fps
15
fps
7.5
fps
3.75
fps
x
x
x
x
x
x
x
x
x
YUV422
RGB
MONO8
x
x
x
x
x
x
YUV422
RGB
MONO8
MONO16
MONO16
x
x
x
x
x
x
1.875
1
fps
-
@ 20 fps
Table 36: Video formats MF-080
Owing to color interpolation, the maximum height is 1038 pixels and the first and last pixel
columns contain no image information.
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Video formats, modes and bandwidth
10.4 MF-145B/ MF-145C
Format
0
1
2
Mode
Resolution
60
fps
0
1
2
3
4
5
6
160 x 120
320 x 240
640 x 480
640 x 480
640 x 480
640 x 480
640 x 480
0
1
2
3
4
5
6
7
800 x 600
800 x 600
800 x 600
1024 x 768
1024 x 768
1024 x 768
800 x 600
1024 x 768
YUV422
RGB
MONO8
YUV422
RGB
MONO 8
MONO16
MONO16
0
1
2
3
4
5
6
7
1280 x 960
1280 x 960
1280 x 960
1600 x 1200
1600 x 1200
1600 x 1200
1280 x 960
1600 x 1200
YUV422
RGB
MONO 8
YUV422
RGB
MONO
MONO16
MONO16
0
1392 x 1038
YUV411/422
1392 x 1040 MONO8
7
1
30
fps
YUV444
YUV422
YUV411
YUV422
RGB
MONO 8
MONO 16
15
fps
7.5
fps
3.75
fps
1.875
fps
x
x
x
x
x
x
x
x
x
x
x
x
x
x
x
x
x
x
x
x
x
x
x
x
x
x
x
@10 fps
Raw Bayer pattern @10 fps
Table 37: Video formats MF-145
Owing to color interpolation, the maximum height is 1038 pixels and the first and last pixel
columns contain no image information.
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Video formats, modes and bandwidth
10.5 MF-131B
Format
Mode
Resolution
60
fps
0
1
2
3
4
5
6
160 x 120
320 x 240
640 x 480
640 x 480
640 x 480
640 x 480
640 x 480
0
1
2
3
4
5
6
7
800 x 600
800 x 600
800 x 600
1024 x 768
1024 x 768
1024 x 768
800 x 600
1024 x 768
YUV422
RGB
MONO8
YUV422
RGB
MONO 8
MONO16
MONO16
2
0
1
2
3
4
5
6
7
1280 x 960
1280 x 960
1280 x 960
1600 x 1200
1600 x 1200
1600 x 1200
1280 x 960
1600 x 1200
YUV422
RGB
MONO 8
YUV422
RGB
MONO
MONO16
MONO16
7
0
1280 x 1024 MONO8
0
1
YUV444
YUV422
YUV411
YUV422
RGB
MONO 8
MONO 16
30
fps
15
fps
7.5
fps
x
x
x
x
x
x
x
x
x
x
x
x
x
x
Table 38: Video formats MF-131
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@25 fps
3.75
fps
1.875
fps
x
Video formats, modes and bandwidth
10.6 Area of interest (AOI)
The image sensor on the camera 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.
The setting of AOIs is supported only in video Format_7.
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) 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
UNIT_POSITION_INQ registers when configuring IMAGE_POSITION and IMAGE_SIZE.
and
IMAGE_POSITION and IMAGE_SIZE contain in the respective bits values for the column and line of
the upper left corner and values for the width and height.
Figure 43: Area of Interest
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Video formats, modes and bandwidth
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 Area of Interest, 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
10.7 Frame rates
An IEEE-1394 camera requires bandwidth to transport images.
The IEEE-1394a bus has very large bandwidth of at least 32 MB/s for transferring (isochronously)
image data. Per cycle up to 4096 bytes (or around 1000 quadlets = 4 bytes) can thus be
transmitted.
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, there is more data to be transmitted.
The following tables indicate the volume of data in various formats and modes to be sent within
one cycle (125µs) at 400 Mb/s of bandwidth.
The tables are divided into three formats; F_0 up to VGA, F_1 up to XGA, and F_2 up to UXGA.
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.
Format
0
Mode
Resolution
60
fps
0
160 x 120 YUV (4:4:4)
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
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
640 x 480 Y (MONO16)
Reserved
4H
2560p
640q
30
fps
15
fps
7.5
fps
3.75
fps
1/2H
80p
60q
1H
320p
160q
2H
1280p
480q
2H
1280p
640q
2H
1280p
960q
2H
1280p
320q
2H
1280p
640q
1/4H
40p
30q
1/2H
160p
80q
1H
640p
240q
1H
640p
320q
1H
640p
480q
1H
640p
160q
1H
640p
320q
1/8H
20p
15q
1/4H
80p
40q
1/2H
320p
120q
1/2H
320p
160q
1/2H
320p
240q
1/2H
320p
80q
1/2H
320p
160q
1/8H
40p
20q
1/4H
160p
60q
1/4H
160p
80q
1/4H
160p
120q
1/4H
160p
40q
1/4H
160p
80q
Table 39: 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 is used.
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Video formats, modes and bandwidth
Format
Mode Resolution
30
fps
15
fps
7.5
fps
3.75
fps
5/2H
2000p
1000q
5/4H
1000p
500q
5/8H
500p
250q
6/16H
250p
125q
1
800 x 600 YUV
(4:2:2)
16 bit/pixel
800 x 600 RGB
24 Bit/pixel
2
800 x 600 Y (MONO8) 5H
4000p
8 bit/pixel
5/2H
2000p
500q
5/4H
1000p
750q
5/4H
1000p
250q
3/2H
1536p
768q
5/8H
500p
375q
5/8H
500p
125q
3/4H
768p
384q
3/8H
384p
192q
3/16H
192p
96q
3/2H
1536p
384q
5/4H
1000p
500q
3/2H
1536p
768q
3/4H
768p
576q
3/4H
768p
192q
5/8H
500p
250q
3/4H
768p
384q
3/8H
384p
288q
3/8H
384p
96q
5/16H
250p
125q
3/8H
384p
192q
3/16H
192p
144q
3/16H
192p
48q
0
60
fps
1000q
4
1024 x 768 YUV
(4:2:2)
16 bit/pixel
1024 x 768 RGB
24 bit/pixel
5
1024 x 768 Y (MONO)
8 bit/pixel
6
800 x 600 (MONO16)
16 bit/pixel
3
1
7
3H
3072p
768q
5/2H
2000p
1000q
1024 x 768 Y
(MONO16)
16 bit/pixel
Table 40: Format_1
MARLIN Technical Manual
Page 76
1.875
fps
3/16H
192p
96q
Video formats, modes and bandwidth
Format
Mode Resolution
60
fps
1
1280 x 960 YUV
(4:2:2)
16 bit/pixel
1280 x 960 RGB
24 bit/pixel
2
1280 x 960 Y (MONO8)
8 bit/pixel
0
4
1600 x 1200
YUV(4:2:2)
16 bit/pixel
1600 x 1200 RGB
24 bit/pixel
5
1600 x 1200 Y (MONO)
8 bit/pixel
3
2
6
7
30
fps
1280 x 960 Y
(MONO16)
16 bit/pixel
1600 x
1200Y(MONO16) 16
bit/pixel
15
fps
2H
2560p
640q
5/2H
4000p
1000q
7.5
fps
3.75
fps
1.875
fps
1H
1280p
640q
1/2H
640p
320q
1/4H
320p
160q
1H
1280p
960q
1H
1280p
320q
5/4H
2000p
1000q
1/2H
640p
480q
1/2H
640p
160q
5/8H
1000p
500q
1/4H
320p
240q
1/4H
320p
80q
5/16H
500p
250q
5/4H
2000p
500q
1H
1280p
640q
5/8H
1000p
750q
5/8H
1000p
250q
1/2H
640p
320q
5/16
500p
375q
5/16H
500p
125q
1/4H
320p
160q
5/4H
2000p
1000q
5/8H
1000p
500q
5/16H
500p
250q
Table 41: Format_2
As already mentioned, the recommended limit for transferring isochronous image data is 1000q
(quadlets) per cycle or 4096 bytes (with 400 Mb/s of bandwidth).
The third table shows that a MF-145B2 @ 7.5 fps has to send 1280 pixels or 1 line of video per
cycle. The camera thus uses 32 % of available bandwidth. This allows up to three cameras with
these settings to be operated independently on the same bus.
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.
The frame rates in video modes 0 to 2 are specified and set fixed by IIDC V. 1.3.
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Video formats, modes and bandwidth
In video Format_7 frame rates are no longer fixed but can be varied dynamically by the
parameters described below.
The following formula is used to calculate for the CCD models the highest frame rate in Format_7:
FPS In = FPSCCD =
1
TCh arg eTrans + TDummy + TDump + TScan
Formula 1: Frame rate calculation
It assumes that the maximum frame rate is the inverse of the sum of all events in a CCD, which
take time such as:
•
•
•
•
The time to transfer the storage to the vertical shift register (Charge transfer time)
The time to shift out the dummy lines
The time to dump the lines outside the AOI
The time to shift out the lines of the AOI. (Scanning time)
For the different sensors, different values apply.
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Video formats, modes and bandwidth
10.7.1 MF-033
Different parameters apply for the different models.
fps =
fps =
1
TCh arg eTrans + TDummy + TDump + TScan
1
30 µs + 68.5µs + (494 − AOI _ HEIGHT ) ⋅ 3.45µs + AOI _ HEIGHT ⋅ 27.1µs
Formula 2: Frame rate calculation MF-033
600,00
AOI_HEIGHT
494
480
400
320
240
120
20
500,00
400,00
300,00
fps
200,00
100,00
fps
74,15
76,02
88,79
106,71
133,71
215,48
439,41
Tf/ms
13,49
13,15
11,26
9,37
7,48
4,64
2,28
0,00
0
100
200
300
400
500
600
Table 42: Frame rates MF-033
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Video formats, modes and bandwidth
10.7.2 MF-046
fps =
fps =
1
TCh arg eTrans + TDummy + TDump + TScan
1
31µs + 88µs + (582 − AOI _ HEIGHT ) ⋅ 4.15µs + AOI _ HEIGHT ⋅ 32.2 µs
Formula 3: Frame rate calculation MF-046
450,00
400,00
350,00
300,00
250,00
200,00
150,00
fps
100,00
50,00
0,00
0
100
200
AOI_HEIGHT
582
480
400
320
300
240
120
20
300
400
fps
53,02
62,51
72,70
86,88
91,33
107,92
169,48
323,07
Table 43: Frame rates MF-046
MARLIN Technical Manual
Page 80
500
Tf/ms
18,86
16,00
13,75
11,51
10,95
9,27
5,90
3,10
600
700
Video formats, modes and bandwidth
10.7.3 MF-080
fps =
fps =
1
TCh arg eTrans + TDummy + TDump + TScan
1
71.93µs + 129.48µs + (779 − AOI _ HEIGHT ) ⋅ 8.24 µs + AOI _ HEIGHT ⋅ 63.48µs
Formula 4: Frame rate calculation MF-080
160,00
140,00
120,00
FPS
100,00
80,00
60,00
fps
40,00
20,00
0,00
0
100
200
300
400
500
600
700
800
900
AOI_HEIGHT
AOI_HEIGHT
778
770
fps
20,16
20,34
Tf/ms
49,60
49,16
768
20,39
760
500
20,57
29,21
49,04
48,60
34,24
490
29,68
33,69
480
30,18
470
460
450
30,69
31,22
31,77
33,14
32,58
32,03
31,48
240
50,31
120
110
100
90
80
75,48
78,76
82,34
86,27
90,58
19,88
13,25
12,70
12,14
11,59
11,04
Table 44: Frame rates MF-080
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Video formats, modes and bandwidth
10.7.4 MF-145B2
1
fps =
fps =
TCh arg eTrans + T Dummy + T Dump + TScan
1
105µs + 288µs + (1040 − AOI _ HEIGHT ) ⋅19.6 µs + AOI _ HEIGHT ⋅ 92.3µs
Formula 5: Frame rate calculation MF-145
60,00
50,00
40,00
30,00
fps
20,00
10,00
0,00
0
200
400
AOI_HEIGHT
1040
960
600
480
240
120
60
600
800
fps
10,38
11,04
15,53
17,96
26,16
33,90
39,78
Tf/ms
96,39
90,57
64,40
55,67
38,23
29,50
25,14
Table 45: Frame rates MF-145
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1000
1200
Video formats, modes and bandwidth
10.7.5 MF-131
This model uses a CMOS sensor with global as well as rolling shutter. As mentioned earlier for the
most useful global shutter, the integration time must be added to the readout time to define the
maximum frame rate. The next table gives an example: (it assues an integration time of 1 ms)
AOI_HEIGHT
1024
960
600
480
240
120
60
fps
24,42
26,01
40,97
50,69
96,46
175,84
298,78
format7, glob al-shutter
1ms integration-time
Table 46: Frame rates MF-131
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Video formats, modes and bandwidth
10.8 How does bandwidth affect the frame rate?
In some modes the IEEE-1394a bus limits the attainable frame rate. According to the 1394a
specification on isochronous transfer, the largest data payload size of 4096 bytes per 125 µs
cycle is possible with bandwidth of 400 Mb/s. In addition, because of a limitation in an IEEE1394 module (GP2Lynx), only a maximum number of 4095 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 = fps * AoiWidth* AoiHeight* ByteDepth*125µs
Formula 6: Byte_per_Packet calculation
If the value for “BYTE_PER_PACKET” is greater than 4096 (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):
fps ≈
AoiWidth
BYTE _ PER _ PACKET
⋅ AoiHeight ⋅ ByteDepth
⋅ 125 µ s
Formula 7: Max. fps Calculation
ByteDepth based on the following values:
Mono8
Mono16
YUV4:2:2
YUV4:1:1
=> 8 bits/pixel
=> 16 bits/pixel
=> 16 bits/pixel
=> 12 bits/pixel
=1
=2
=2
= 1.5
byte per pixel
bytes per pixel
bytes per pixel
bytes per pixel
Example formula for the b/w camera:
Mono16, 1392 x 1040 – 15 fps desired
BYTE _ PER _ PACKET = 15 ⋅ 1392 ⋅ 1040 ⋅ 2 ⋅ 125µs = 5428 > 4096
⇒ fps reachable ≈
4096
= 11,32
1392 ⋅ 1040 ⋅ 2 ⋅ 125µs
Formula 8: Example max. fps calculation
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Video formats, modes and bandwidth
10.9 Test images
The b/w cameras have two test images that look the same. Both images show a gray bar running
diagonally. One test image is static, the other moves upwards by 1 pixel/frame.
Figure 44: Gray bar test image
Formula for calculating the gray value:
Gray value = (x+y) MOD256 (8-bit mode)
The color cameras have the following test image :
YUV4:2:2 mode
Figure 45: Color test image
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Video formats, modes and bandwidth
Mono8 (raw data):
Figure 46: Bayer-coded test image
The color camera outputs Bayer-coded raw data in Mono8 instead of – as described in IIDC v. 1.3
– a real Y signal. The first pixel of the image is always the red pixel from the sensor.
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Configuration of the camera
11
Configuration of the camera
All camera settings are made by writing specific values into the corresponding registers. This
applies to both values for general operating states such as video formats and modes, exposure
times, etc. and to all extended features of the camera that are turned on and off and controlled
via corresponding registers.
11.1 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 are is 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 that are developed using an API library(e.g. FirePackage).
Every register is 32 bit (Big Endian) and implemented as follows:
Bit
0
MSB
Bit
1
Bit
2
...
Most Left
Bit
30
Bit
31
LSB
Figure 47: 32-bit register
This requires, for example, that to enable ISO_Enabled mode (ISO_Enable / Free-Run), (bit 0 in
register 614h), the value 80000000 h must be written in the corresponding register.
MARLIN Technical Manual
Page 87
Configuration of the camera
Figure 48: Configuration of the camera
Sample program:
The following sample code in C shows how the register is set for frame rate, video mode/format
and trigger mode using the FireCtrl DLL from the FirePackage API. Also shown is how the camera
is switched into ISO_Enabled mode:
…
WriteQuad(m_cmdRegBase + CCR_FRAME-RATE, Frame-Rate << 29);
WriteQuad(m_cmdRegBase + CCR_VMODE, mode << 29);
WriteQuad(m_cmdRegBase + CCR_VFORMAT, format << 29);
WriteQuad(m_cmdRegBase + CCR_TRGMODE, extTrigger ? 0x82000000 : 0);
Sleep(100);
WriteQuad(m_cmdRegBase + CCR_ISOENABLE, 0x80000000);
…
MARLIN Technical Manual
Page 88
Configuration of the camera
11.2 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.
The ConfigRom is divided into the
•
•
Bus info block: providing critical information about the bus-related capabilities,
Root directory: specifying the rest of the content and organization, such as:
o Node unique ID leaf
o Unit directory and
o Unit dependant info
The base address of the camera control register is calculated as follows based on the cameraspecific base address:
Offset 0-7 8-15 16-23 24-31
Bus info block
Root directory
400h
04
24
45
EE
404h
31
33
39
34
…. ASCII for 1394
20
00
A0
00
…. Bus capabilities
40Ch
00
0A
47
01
…. Node_Vendor_Id, Chip_id_hi
410h
00
00
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
408h
Serial number
…. Chip_id_lo
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 47: Config Rom
MARLIN Technical Manual
Page 89
Configuration of the camera
The entry with key 8D in the root directory (420h in this case) provides the offset for the unique
ID leaf node as follows:
420h + 000002 * 4 = 428h
Offset 0-7 8-15 16-23 24-31
Node unique ID
leaf
428h
00
02
CA
71
42Ch
00
0A
47
01
430h
00
00
Serial number
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 0-7 8-15
Unit directory
16-23
24-31
434h
00
03
93
7D
438h
12
00
A0
2D
43Ch
13
00
01
02
440h
D4
00
00
01
The entry with key D4 in the unit directory (440h in this case) provides the offset for unit
dependent info:
440h + 000001 * 4 = 444h
Offset 0-7 8-15 16-23
444h
MARLIN Technical Manual
Page 90
00
03
7F
24-31
89
Configuration of the camera
448h
40
3C
00
00
44Ch
81
00
00
02
450h
82
00
00
06
Unit dependent
info
Table 48: ConfigRom cont.
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.
This means that if you want to use the “DirectControl” program to read or write to a
register, the following value must be entered in the Address field:
“F0F00000h + Offset”
MARLIN Technical Manual
Page 91
Configuration of the camera
11.3 Implemented registers
The following tables show how standard registers from IIDC v. 1.3 are implemented in the
camera. Differences and explanations can be found in the third column.
11.3.1
Camera initialize register
Offset
000h
Name
INITIALIZE
Notes
Table 49: Camera initialize register
11.3.2
Inquiry register for video format
Offset
100h
Name
V_FORMAT_INQ
Notes
Table 50: Format inquiry register
11.3.3
Inquiry register for video mode
Offset
180h
184h
188h
18Ch
…
197h
198h
19Ch
Name
Notes
V_MODE_INQ_0 (Format_0)
V_MODE_INQ_1 (Format _1)
V_MODE_INQ_2 (Format_2)
Reserved for other V_MODE_INQ_x for always 0
Format_x.
V_MODE_INQ_6 (Format_6)
V_MODE_INQ_7 (Format_7)
Table 51: Video mode inquiry register
MARLIN Technical Manual
Page 92
always 0
Configuration of the camera
11.3.4
Inquiry register for video frame rate and base address
Offset
200h
204h
208h
20Ch
210h
214h
218h
21Ch
…
21Fh
220h
224h
228h
22Ch
230h
234h
238h
23Ch
240h
244h
248h
24Ch
250h
254h
258h
25Ch
260h
…
2BFh
2C0h
2C4h
..
2DFh
2E0h
2E4h
2E8h
2Ech
2F0h
2F4h
2F8h
2FCh
Name
Notes
V_RATE_INQ_0_0 (Format_0, Mode_0)
V_RATE_INQ_0_1 (Format_0, Mode_1)
V_RATE_INQ_0_2 (Format_0, Mode_2)
V_RATE_INQ_0_3 (Format_0, Mode_3)
V_RATE_INQ_0_4 (Format_0, Mode_4)
V_RATE_INQ_0_5 (Format_0, Mode_5)
V_RATE_INQ_0_6 (Format_0, Mode_6)
Reserved V_RATE_INQ_0_x (for other always 0
Mode_x of Format_0)
V_RATE_INQ_1_0 (Format_1, Mode_0)
V_RATE_INQ_1_1 (Format_1, Mode_1)
V_RATE_INQ_1_2 (Format_1, Mode_2)
V_RATE_INQ_1_3 (Format_1, Mode_3)
V_RATE_INQ_1_4 (Format_1, Mode_4)
V_RATE_INQ_1_5 (Format_1, Mode_5)
V_RATE_INQ_1_6 (Format_1, Mode_6)
V_RATE_INQ_1_7 (Format_1, Mode_7)
V_RATE_INQ_2_0 (Format_2, Mode_0)
V_RATE_INQ_2_1 (Format_2, Mode_1)
V_RATE_INQ_2_2 (Format_2, Mode_2)
V_RATE_INQ_2_3 (Format_2, Mode_3)
V_RATE_INQ_2_4 (Format_2, Mode_4)
V_RATE_INQ_2_5 (Format_2, Mode_5)
V_RATE_INQ_2_6 (Format_2, Mode_6)
V_RATE_INQ_2_7 (Format_2, Mode_7)
Reserved V_RATE_INQ_y_x (for other
Format_y, Mode_x)
V_REV_INQ_6_0 (Format_6, Mode0)
always 0
Reserved V_REV_INQ_6_x (for other always 0
Mode_x of Format_6)
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
Table 52: Frame rate inquiry register
MARLIN Technical Manual
Page 93
Configuration of the camera
11.3.5
Inquiry register for basic function
Offset
400h
Name
BASIC_FUNC_INQ
Notes
Table 53: Basic function inquiry register
11.3.6
Inquiry register for feature presence
Offset
404h
408h
40Ch
..
47Fh
480h
Name
Feature_Hi_Inq
Feature_Lo_Inq
Reserved
Notes
Advanced_Feature_Inq
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.
Table 54: Feature presence inquiry register
MARLIN Technical Manual
Page 94
Address error on access
Configuration of the camera
11.3.7
Inquiry register for feature elements
Offset
500h
504h
508h
50Ch
510h
514h
518h
51Ch
520h
524h
528h
52Ch
530h
534
..
57Ch
580h
584h
588h
58Ch
590
..
5BCh
5C0h
5C4h
5C8h
..
5FCh
600h
604h
608h
60Ch
610h
614h
618h
61Ch
620h
624
628h
Name
BRIGHTNESS_INQ
AUTO_EXPOSURE_INQ
SHARPNESS_INQ
WHITE_BAL_INQ
HUE_INQ
SATURATION_INQ
GAMMA_INQ
SHUTTER_INQ
GAIN_INQ
IRIS_INQ
FOCUS_INQ
TEMPERATURE_INQ
TRIGGER_INQ
Reserved for other FEATURE_HI_INQ
Notes
always 0
always 0
Mono: always 0
always 0
always 0
always 0
always 0
always 0
ZOOM_INQ
PAN_INQ
TILT_INQ
OPTICAL_FILTER_INQ
always 0
always 0
always 0
always 0
always 0
CAPTURE_SIZE_INQ
CAPTURE_QUALITY_INQ
Reserved for other FEATURE_LO_INQ
always 0
always 0
always 0
CUR-V-Frm_RATE/Revision
CUR-V-MODE
CUR-V-FORMAT
ISO-Channel
Camera_Power
ISO_EN/Continuous_Shot
Memory_Save
One_Shot
Multi_Shot
Count Number
Mem_Save_Ch
Cur_Mem_Ch
Vmode_Error_Status
See above
See above
See above
always 0
always 0
always 0
always 0
See above
Table 55: Feature elements inquiry register
MARLIN Technical Manual
Page 95
Configuration of the camera
11.3.8
Inquiry register for absolute value CSR offset address
Offset
700h
704h
708h
70Ch
710h
714h
718h
71Ch
720h
724h
728h
72Ch
730h
734
..
77Fh
780h
784h
788h
78Ch
790h
..
7BFh
7C0h
7C4h
7C8h
..
7FFh
Name
ABS_CSR_HI_INQ_0
ABS_CSR_HI_INQ_1
ABS_CSR_HI_INQ_2
ABS_CSR_HI_INQ_3
ABS_CSR_HI_INQ_4
ABS_CSR_HI_INQ_5
ABS_CSR_HI_INQ_6
ABS_CSR_HI_INQ_7
ABS_CSR_HI_INQ_8
ABS_CSR_HI_INQ_9
ABS_CSR_HI_INQ_10
ABS_CSR_HI_INQ_11
ABS_CSR_HI_INQ_12
Reserved
Notes
always 0
always 0
always 0
always 0
always 0
always 0
always 0
always 0
always 0
always 0
always 0
always 0
always 0
always 0
ABS_CSR_LO_INQ_0
ABS_CSR_LO_INQ_1
ABS_CSR_LO_INQ_2
ABS_CSR_LO_INQ_3
Reserved
always 0
always 0
always 0
always 0
always 0
ABS_CSR_LO_INQ_16
ABS_CSR_LO_INQ_17
Reserved
always 0
always 0
always 0
Table 56: Absolute value inquiry register
MARLIN Technical Manual
Page 96
Configuration of the camera
11.3.9
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 Automatic white balance).
Offset
800h
804h
808h
80Ch
Name
BRIGHTNESS
AUTO-EXPOSURE
SHARPNESS
WHITE-BALANCE
Notes
880h
814h
818h
81Ch
HUE
SATURATION
GAMMA
SHUTTER
820h
824h
828h
82Ch
830h
GAIN
IRIS
FOCUS
TEMPERATURE
TRIGGER-MODE
834h
..
87C
880h
884h
888h
88Ch
890
..
8BCh
8C0h
8C4h
8C8h
..
8FCh
Reserved for other FEATURE_HI
always 0
always 0
always 0
Can be effected via
Advanced Feature
IO_INP_CTRLx.
always 0
Zoom
PAN
TILT
OPTICAL_FILTER
Reserved for other FEATURE_LO
always 0
always 0
always 0
always 0
always 0
CAPTURE-SIZE
CAPTURE-QUALITY
Reserved for other FEATURE_LO
always 0
always 0
always 0
always 0
always 0
See above
always 0 for Mono
always 0
always 0
see Advanced Feature
Timebase
Table 57: Feature control register
MARLIN Technical Manual
Page 97
Configuration of the camera
11.3.10 Feature control error status register
Offset
640h
644h
Name
Feature_Control_Error_Status_HI
Feature_Control_Error_Status_LO
Notes
always 0
always 0
Table 58: Feature control error register
11.3.11 Video mode control and status registers for Format_7
The offset to the base address is in V_CSR_INQ_7_x. The offset 100h must be added for Mode 1,
200h for Mode 2 200h and 300h for Mode 3.
Offset
000h
004h
008h
00Ch
010h
014h
034h
038h
03Ch
040h
044h
Name
MAX_IMAGE_SIZE_INQ
UNIT_SIZE_INQ
IMAGE_POSITION
IMAGE_SIZE
COLOR_CODING_ID
COLOR_CODING_INQ
PIXEL_NUMER_INQ
TOTAL_BYTES_HI_INQ
TOTAL_BYTES_LO_INQ
PACKET_PARA_INQ
BYTE_PER_PACKET
Notes
See above
See above
See above
See above
See above
Table 59: Format_7 control and status register
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 v. 1.3, 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 is set and Format_7 is configured, no image capture is
started.
Contrary to IIDC v.1.3, COLOR_CODING_ID is set to a default value after an INITIALIZE or
“reset”.
Contrary to IIDC DCAM v.1.3, the UnitBytePerPacket field is already filled in with a fixed
value in the PACKET_PARA_INQ register.
MARLIN Technical Manual
Page 98
Configuration of the camera
11.4 Advanced features
The camera has a variety of extended features going beyond the possibilities described in IIDC v.
1.3. The following chapter summarizes all available advanced features in ascending register order.
Advanced features should always be activated before accessing them.
The color and B/W models of the camera vary in their availability in some of the advanced
features.
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.
11.4.1
Version information inquiry
The presence of each of the following features can be queried by the “0” bit of the corresponding
register.
Offset
0xF1000010
0xF1000014
0xF1000018
Name
Field
VERSION_INFO1 µC type ID
µC version
Bit
[0..15]
[16..31]
[0..31]
[0..15]
[16..31]
[0..31]
VERSION_INFO3 FPGA type ID
0xF100001C
Description
Always 0
Bcd-coded vers.#
reserved
See below
Bcd-coded vers.#
reserved
Table 60: Version information register
This register holds information about the node_hw_version, the node_sw_version and the
node_spec_ID (camera type). µC version and FPGA version are bcd-coded, which means that e.g.
firmware version 0.85 is read as 0x0085. The FPGA type ID identifies the camera type with the
help of the following list:
ID Camera
type
1 DF-145B
2 DF-145C
3 DF-201B
4 DF-201C
5 DF-145B-1
6 DF-145C-1
7 DF-201B-1
8 DF-201C-1
9 MF-033B
ID
10
11
12
13
14
15
16
17
18
Camera
type
MF-033C
MF-046B
MF-046C
MF-080B
MF-080C
MF-131B
MF-131C
MF-145B2
MF-145C2
Table 61: Camera type ID list
MARLIN Technical Manual
Page 99
Configuration of the camera
11.4.2
Advanced feature inquiry
Offset
0xF1000040
Name
ADV_INQ_1
0xF1000044
ADV_INQ_2
0xF1000048
0xF100004C
ADV_INQ_3
ADV_INQ_4
Field
MaxResolution
TimeBase
ExtdShutter
TestImage
--Sequences
-Lookup Tables
Shading
DeferredTrans
HDR mode
--GP_Buffer
Input_1
Input_2
Input_3
--Output_1
Output_2
Output_3
--IntEnaDelay
IncDecoder
-------
Bit
[0]
[1]
[2]
[3]
[4]
[5]
[6..7]
[8]
[9]
[10]
[11]
[12..30]
[31]
[0]
[1]
[2]
[3..7]
[8]
[9]
[10]
[11..15]
[16]
[17]
[18..31]
[0..31]
[0..31]
Description
MF-131B/C only
Table 62: Advanced feature inquiry register
11.4.3
MaxResolution
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.
Offset
0xF1000200
Name
Field
MAX_RESOLUTION MaxHeight
MaxWidth
Bit
[0..15]
Description
Sensor height
only)
[16..31] Sensor width
only)
Table 63: Max. resolution inquiry register
MARLIN Technical Manual
Page 100
(rd
(rd
Configuration of the camera
11.4.4
Timebase
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.
Marlin 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.
Offset
0xF1000208
Name
TIMEBASE
Field
Presence_Inq
Bit
[0]
Description
Indicates presence
of this feature
(read only)
--Timebase_ID
[1..27]
[28..31]
Table 64: Timebase configuration register
IDs 0-9 are in bits 28 to 31. Refer to the following table for code. Default time-base is 20µs.
This means that the integration time can be changed in 20 µs increments with the shutter
control.
Time-base can only be changed when the camera is in idle state and becomes active only after
setting the shutter value.
ID
0
1
2
3
4
Timebase
1
2
5
10
20
µs
µs
µs
µs
µs
ID
5
6
7
8
9
Timebase
50
100
200
500
1000
µs
µs
µs
µs
µs
Table 65: Timbease ID
The ABSOLUTE VALUE CSR register, introduced in IIDC v. 1.3, is not implemented.
MARLIN Technical Manual
Page 101
Configuration of the camera
11.4.5
Extended shutter
The exposure time for long-term integration of up to 67 sec can be entered with µs- precision via
the EXTENDED_SHUTTER register.
Offset
0xF100020C
Name
EXTD_SHUTTER
Field
Presence_Inq
Bit
[0]
--ExpTime
[1.. 5]
[6..31]
Description
Indicates presence
of this feature
(read only)
Exposure time in
µs
Table 66: Extended shutter configuration register
The longest exposure time, 3FFFFFFh, corresponds to 67.11 sec.
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/framerate register.
Extended shutter setting will thus be overwritten by the normal timebase/shutter setting
after Stop/Start of FireView or FireDemo.
MARLIN Technical Manual
Page 102
Configuration of the camera
11.4.6
Test images
Bits 8-14 indicate which test images are saved. Setting bits “28-31” activates or deactivates
existing test images.
Offset
0xF1000210
Name
TEST_IMAGE
Field
Presence_Inq
Bit
[0]
--Image_Inq_1
[1..7
[8]
Image_Inq_2
[9]
Image_Inq_3
[10]
Image_Inq_4
[11]
Image_Inq_5
[12]
Image_Inq_6
[13]
Image_Inq_7
[14]
--TestImage_ID
[15..27]
[28..31]
Description
Indicates presence of this
feature (read only)
Presence of test image 1
0: N/A 1: Available
Presence of test image 2
0: N/A 1: Available
Presence of test image 3
0: N/A 1: Available
Presence of test image 4
0: N/A 1: Available
Presence of test image 5
0: N/A 1: Available
Presence of test image 6
0: N/A 1: Available
Presence of test image 7
0: N/A 1: Available
0: No test image active
1: Image 1 active
2: Image 2 active
…
Table 67: Test image configuration register
MARLIN Technical Manual
Page 103
Configuration of the camera
11.4.7
Sequence control
It is possible to make certain settings for a sequence of images beforehand by using this register.
Offset
0xF1000220
0xF1000224
Name
SEQUENCE_CTRL
SEQUENCE_PARAM
Field
Presence_Inq
Bit
[0]
--AutoRewind
ON_OFF
[1..4]
[5]
[6]
--MaxLength
[7..15]
[16..23]
SeqLength
[24..31]
--ApplyParameters
[0..4]
[5]
IncImageNo
[6]
--ImageNo
[7..23]
[24..31]
Table 68: Sequence control register
MARLIN Technical Manual
Page 104
Description
Indicates presence
of this feature
(read only)
Enable/Disable this
feature
Max. possible
length of a
sequence (read
only)
Length of the
sequence
Apply settings to
selected image of
sequence; autoreset
Increment ImageNo
after
ApplyParameters
has finished
Number of image
within a sequence
Configuration of the camera
11.4.8
Lookup tables (LUT) (FW > 0.90)
The LUT_CTRL register activates this feature and enables certain LUTs. The LUT_INFO register
indicates how many LUTs the camera can store and the maximum size of the individual LUTs.
Offset
0xF1000240
0xF1000244
0xF1000248
Name
LUT_CTRL
LUT_MEM_CTRL
LUT_INFO
Field
Presence_Inq
Bit
[0]
--ON_OFF
[1..5]
[6]
--LutNo
[7..25]
[26..31]
Presence_Inq
[0]
--EnableMemWR
[1..4]
[5]
--AccessLutNo
AddrOffset
Presence_Inq
[6..7]
[8..15]
[16..31]
[0]
--NumOfLuts
[1..7]
[8..15]
MaxLutSize
[16..31]
Description
Indicates presence
of this feature
(read only)
Enable/Disable this
feature
Use lookup table
with number LutNo
Indicates presence
of this feature
(read only)
Enable write access
Indicates presence
of this feature
(read only)
Max. # of lookup
tables
Max. lookup table
size
Table 69: LUT control register
MARLIN Technical Manual
Page 105
Configuration of the camera
11.4.9
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.
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.
MARLIN Technical Manual
Page 106
Configuration of the camera
Offset
0xF1000250
0xF1000254
0xF1000258
Name
SHDG_CTRL
SHDG_MEM_CTRL
SHDG_INFO
Field
Presence_Inq
Bit
[0]
BuildError
--ShowImage
[1]
[2..3]
[4]
BuildImage
[5]
ON_OFF
Busy
[6]
[7]
--GrabCount
[8..23]
[24..31]
Presence_Inq
[0]
--EnableMemWR
[1..4]
[5]
EnableMemRD
[6]
--AddrOffset
Presence_Inq
[7]
[8..31]
[0]
--MaxImageSize
[1..7]
[8..31]
Description
Indicates
presence of this
feature (read
only)
tbd
Show shading
data as image
Build a new
ShadingImage
Shading On/Off
Build
in
progress
Number
of
images
Indicates
presence of this
feature (read
only)
Enable write
access
Enable read
access
Indicates
presence of this
feature (read
only)
Max
ShadingImage
size
Table 70: Shading control register
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Configuration of the camera
11.4.10 Deferred image transport
Using the 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.
Offset
0xF1000260
Name
Field
DEFERRED_TRANS Presence_Inq
Bit
[0]
Description
Indicates presence of
this feature (read only)
--SendImage
[1..4]
[5]
HoldImg
[6]
FastCapture
[7]
--FiFoSize
[8..15]
[16..23] Size of FiFo in number of
images (read only)
[24..31] W: Number of images to
send
R: Number of images in
buffer
NumOfImages
Send NumOfImages now
(auto reset)
Enable/Disable deferred
transport mode
Enable/disable fast
capture mode
Table 71: Deferred image configuration register
11.4.11 Frame information
This register can be used to double check the number of images received by the host computer
against the number of images which were transmitted by the camera. The camera increments this
counter with every FrameValid signal.
Offset
0xF1000270
0xF1000274
Name
FRAMEINFO
FRAMECOUNTER
Field
Presence_Inq
Bit
[0]
ResetFrameCnt
[1]
--FrameCounter
[2..31]
[0..31]
Table 72: Frame information register
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Description
Indicates presence
of this feature
(read only)
Reset frame
counter
Number of
captured frames
since last reset
Configuration of the camera
11.4.12 High dynamic range mode (MF-131B/C only)
The CMOS sensor of the MF-131 offers a special mode by which various nonlinearity points, the
so-called knee-points, can be freely adjusted. This enables the high dynamic range of the sensor
to be compressed into 8 Bit, preserving interesting details of the image. This mode is also known
as multiple slope (dual slope).
Offset
0xF1000280
0xF1000284
0xF1000284
0xF1000288
0xF1000288
0xF100028C
0xF100028C
Name
HDR_CONTROL
KNEEPOINT_1
KNEEPOINT_2
KNEEPOINT_3
Field
Presence_Inq
Bit
[0]
--ON_OFF
[1..5]
[6]
Description
Indicates presence of
this feature (read only)
Enable/disable HDR
mode
--[7..19]
MaxKneePoints [20…23] Number of knee-points
possible in this mode
--[24..27]
KneePoints
[28..31] Number of active kneepoints
--[0..15]
Kneepoint1
[16..31] Time in µs
--[0..15]
Kneepoint2
[16..31] Time in µs
--[0..15]
Kneepoint3
[16..31] Time in µs
Table 73: High dynamic range configuration register
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Configuration of the camera
11.4.13 Input/output pin control
All input and output signals running over the HiRose plug are controlled by this register.
Offset
0xF1000300
0xF1000304
Name
IO_INP_CTRL1
IO_INP_CTRL2
Field
Presence_Inq
Bit
[0]
--Polarity
[1..6]
[7]
--InputMode
--PinState
[8..10]
[11..15]
[16..30]
[31]
Description
Indicates presence
of this feature
(read only)
0: low active, 1:
high active
Mode
RD: Current state
of pin
Same as
IO_INP_CTRL1
Table 74: Input control configuration register
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.
For inputs, the PinState bit refers to the inverted output side of the optical coupler. This means
that an open input sets the PinState bit to “1”.
Default
ID
Mode
0x00
0x01
0x02
0x03
0x04
0x05
0x06..0x0F
0x10..0x1F
Off
reserved
Trigger input
Incremental decoder input
reserved
tbd (SPI external DCLK)
reserved
reserved
Input 1
Table 75: Input routing
Trigger
If more than one input is being operated in trigger mode, these inputs are logically linked by
AND.
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Configuration of the camera
IO_OUTP_CTRL 1-2
The Polarity flag determines whether the output is low active (0) or high active (1). The output
mode can be seen in the following table. The current status of the output and be queried and set
via the PinState flag.
Offset
Name
Field
0xF1000320 IO_OUTP_CTRL1 Presence_Inq
Bit
[0]
Description
Indicates presence of
this feature (read
only)
0: low active, 1: high
active
--Polarity
[1..6]
[7]
--Output mode
--PinState
[8..10]
[11..15] Mode
[16..30]
[31]
RD: Current state of
pin
WR: New state of pin
0xF1000324 IO_OUTP_CTRL2 Same as
IO_OUTP_CTRL1
Table 76: Output control configuration register
Output mode
ID
0x00
0x01
0x02
0x03
0x04
0x05
0x06
0x07
0x08
0x09..0x0F
0x10..0x1F
Mode
Default
Off
Output state follows ‘PinState’
bit
Integration enable
Output 1
Incremental decoder compare
tbd (SPI internal DCLK)
tbd (SPI external DCLK)
FrameValid
Busy
Follow corresponding input Output 2
(Inp1 → Out1, Inp2 → Out2, …)
reserved
reserved
Table 77: Output ID
The “Polarity“ setting refers to the input side of the inverting optical coupler output, “PinState
0” switches off the output transistor and produces high level over the resistor.
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Configuration of the camera
11.4.14 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.
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 49: Delayed integration timing
Offset
0xF1000340
Name
IO_INTENA_DELAY
Field
Presence_Inq
Bit
[0]
--ON_OFF
[1..5]
[6]
--DELAY_TIME
[7..11]
[12..31]
Table 78: Delayed integration configuration register
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Description
Indicates
presence of this
feature (read
only)
Enable/Disable
integration
enable delay
Delay time in µs
Firmware update
11.4.15 GPDATA_BUFFER
GPDATA_BUFFER is a register that regulates the exchange of data between camera and host for
programming the LUTs and the upload/download of the shading image.
GPDATA_INFO
GPDATA_BUFFER
Buffer size query
indicates the actual storage range
Offset
Name
0xF1000FFC GPDATA_INFO
Field
--BufferSize
Bit
Description
[0..15]
[16..31] Size
GPDATA_BUFFER
of
0xF1001000 GPDATA_BUFFER
…
0xF10017FF
Table 79: GPData buffer register
GPDATA_BUFFER can be used by only one function at a time.
12
Firmware update
Firmware updates are possible without opening the camera.
You need:
•
•
•
•
Programming cable E 1000666
Software “Bootprog”
PC or laptop with serial Interface (RS 232)
Documentation for firmware update
Please contact your local dealer for further information.
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Declarations of conformity
13
Declarations of conformity
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Declarations of conformity
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Declarations of conformity
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Declarations of conformity
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Declarations of conformity
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Declarations of conformity
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Declarations of conformity
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Declarations of conformity
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Declarations of conformity
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Index
14
Index
Advanced Feature Inquiry ............... 99, 100
Advanced features ......................94, 97, 99
Area of Interest .........................64, 73, 74
Asynchronous broadcast ........................ 59
Bandwidth........................... 69, 75, 77, 84
BAYER demosaicing .............................. 53
Black value..................................... 43, 44
Bus_Id................................................ 87
Busy Signal ......................................... 30
Color correction .............................. 53, 54
Color information ................................. 53
Corrected image ................................... 48
Correction data ............................... 47, 50
Cycle delay .......................................... 27
Data packets........................................ 34
Data path............................................ 36
Data payload size ................................. 84
Deferred image transport ....................... 61
Deferred Image Transport .....................108
Environmental conditions ........................ 1
Error states.......................................... 26
Exposure time ...19, 56, 60, 66, 74, 101, 102
Extended Shutter........................... 56, 102
FastCapture ................ 41, 61, 63, 108, 109
FireView .............................................. 19
Flux voltage......................................... 27
focal width ............................................ 4
Format_7 .......... 5, 6, 50, 63, 64, 73, 92, 98
Frame rates 5, 6, 7, 8, 9, 10, 11, 12, 13, 75,
77
Free-Run ............................................. 59
Fval Signal .......................................... 30
Gain ..............................19, 42, 43, 44, 64
HiRose jack ......................................... 24
HiRose jack pin assignment ................... 25
HiRose plug ............................. 25, 29, 110
HoldImg .................... 41, 61, 62, 108, 109
HoldImg mode ..................................... 62
IEEE 1394 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 69
IEEE-1394 plug .................................... 24
IIDC . 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 19, 34,
35, 42, 55, 56, 57, 65, 67, 68, 73, 77, 86,
87, 92, 98, 99, 101
Incremental decoder ............................110
Input mode ...................................29, 110
Input voltage .......................................27
Input/Output pin control ... 29, 31, 110, 111
Inputs ... iv, 5, 6, 7, 8, 9, 10, 11, 12, 13, 24,
25, 27, 28, 29, 42, 110
IntEna signal.................................30, 112
Interpolation........................................53
ISO_Enable .................... 57, 58, 59, 67, 87
Jitter ..................................................60
LEDs.............................................. 24, 26
Lookup tables (LUTs) ....44, 45, 46, 105, 113
MaxResolution .................................... 100
Multi-Shot ...........................................58
Node_Id ..............................................87
Offset............................ 43, 44, 56, 91, 98
OneShot ..............................................57
Output mode............................ 31, 32, 111
Outputs 5, 6, 7, 8, 9, 10, 11, 12, 13, 24, 25,
27, 30
Power..................................................27
RBG to YUV ..........................................54
rolling shutter ......................................60
Sequence .............................64, 65, 67, 68
Sequence control ................................ 104
Sequence mode............... 64, 65, 66, 67, 68
Shading correction . 5, 6, 7, 8, 9, 10, 11, 12,
13, 47, 106
Shading images .... 47, 49, 50, 52, 106, 107,
113
Spectral sensitivity.......... 14, 15, 16, 17, 18
Status LEDs ..........................................26
System components.................................3
Test images...................................85, 103
Time response ......................................57
Timebase ....5, 6, 7, 8, 9, 10, 11, 12, 13, 56,
99, 100, 101
Triggers 5, 6, 7, 8, 9, 10, 11, 12, 13, 26, 29,
42, 55, 57, 77, 88, 110
TWAIN VIA ...........................................19
Video data format .................................34
Video formats ............................ 19, 69, 73
Video modes.........................69, 70, 71, 72
19
White balance................................. 42, 43
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