Allied Vision BONITO Technical Manual
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Bonito
Allied Vision Technologies GmbH
Taschenweg 2a
D-07646 Stadtroda / Germany
Technical Manual
High-speed high-resolution CMOS camera
V2.4.0
2014-Nov-03
Legal notice
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 Vision
Technologies 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.
Trademarks
Unless stated otherwise, all trademarks appearing in this document of Allied Vision Technologies are brands protected by law.
Warranty
The information provided by Allied Vision Technologies is supplied without any guarantees or warranty whatsoever, be it specific or implicit. Also excluded are all implicit warranties concerning the negotiability, the suitability for specific applications or the non-breaking of laws and patents.
Even if we assume that the information supplied to us is accurate, errors and inaccuracy may still occur.
Copyright
All texts, pictures and graphics are protected by copyright and other laws protecting intellectual property. It is not permitted to copy or modify them for trade use or transfer, nor may they be used on websites.
Allied Vision Technologies GmbH 10/2014
All rights reserved.
Managing Director: Mr. Frank Grube
Tax ID: DE 184383113
Headquarters:
Taschenweg 2a
D-07646 Stadtroda, Germany
Tel.: +49 (0)36428 6770
Fax: +49 (0)36428 677-28 e-mail: [email protected]
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Contents
Contacting Allied Vision Technologies
....................................................6
Introduction
.............................................................................................................7
Conformity
............................................................................................................. 13
Specifications
...................................................................................................... 14
Camera dimensions
.......................................................................................... 17
Camera interfaces
............................................................................................. 22
Camera I/O connector pin assignment
Camera Link interface (01-04 or CL1, CL2)
....................................... 30
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Parameters and commands
......................................................................... 39
Bayer filter mosaic pattern
.......................................................................... 71
Appendix
................................................................................................................. 72
Index
.......................................................................................................................... 81
Test chapter
.......................................................................................................... 83
H2 headline................................................................................................................. 84
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H3 headline ............................................................................................................ 84
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Contacting Allied Vision
Contacting Allied Vision Technologies
Info
•
Technical information:
http://www.alliedvisiontec.com
•
Support:
Allied Vision Technologies GmbH (Headquarters)
Taschenweg 2a
07646 Stadtroda, Germany
Tel: +49 36428-677-0
Fax: +49 36428-677-28 e-mail: [email protected]
Allied Vision Technologies Canada Inc.
101-3750 North Fraser Way
Burnaby, BC, V5J 5E9, Canada
Tel: +1 604-875-8855
Fax: +1 604-875-8856 e-mail: [email protected]
Allied Vision Technologies Inc.
38 Washington Street
Newburyport, MA 01950, USA
Tel: +1 978-225-2030
Fax: +1 978-225-2029 e-mail: [email protected]
Allied Vision Technologies Asia Pte. Ltd.
82 Playfair Road
#07-02 D’Lithium
Singapore 368001
Tel: +65 6634-9027
Fax: +65 6634-902 e-mail: [email protected]
Allied Vision Technologies (Shanghai) Co., Ltd.
2-2109 Hongwell International Plaza
1602# ZhongShanXi Road
Shanghai 200235, China
Tel: +86 (21) 64861133
Fax: +86 (21) 54233670 e-mail: [email protected]
Bonito Technical Manual
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Introduction
Introduction
This Bonito Technical Manual describes in depth the technical specifications, dimensions, all pixel formats, bandwidth and frame rate related subjects.
Please read through this manual carefully.
Note
Document history
Version
V2.0.0
V2.1.0
V2.2.0
Date
03.11.11
23.01.12
03.05.12
Remarks
New Bonito Technical Manual
•
Corrected power supply values and mass values in chapter
Bonito CL-400B/C, Bonito CL-400B/C 200fps on page 14
• Added F-Mount in legend of Figure 5: Bonito CL-400B/C C-/
EF-/F-Mount (back) on page 18
• Corrected power supply values in:
– chapter Accessories on page 23
– chapter Camera I/O connector pin assignment (15-pin Dsub connector) on page 26
– chapter Power supply (pin 1-4) on page 26
•
page 26 and changed description in chapter Reserve I/O
(pin 5, 9 and 14-15) on page 29
Some minor corrections in
•
chapter Fixed pattern noise (FPN) correction (C) on page 40
•
chapter Number of lines (N) on page 60
•
chapter Camera Link output mode setting (S) on page 61
Added description of new features in camera firmware V1.0.7
• Changed max. current from 0.36 A to 0.4 A:
– Description to power supply: see chapter Bonito CL-
400B/C, Bonito CL-400B/C 200fps on page 14
– chapter Accessories on page 23
to be continued on next page
Table 1: Document history
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Introduction
Version
V2.2.0
(continued)
V2.2.1
Date Remarks
03.05.12
(continued)
continued from previous page
•
chapter Power supply (pin 1-4) on page 26
• Pin 6 changed from Reserve to Sync:
see chapter Camera I/O connector pin assignment (15-pin
•
chapter Synchronization output (pin 6) on page 27
•
In chapter Exposure output (pin 12-13) on page 28: added
Note
This output is not recommended for new system designs.
•
Added chapter Synchronization output (J) on page 45
• Updated the following chapter to new bit field order:
chapter Exposure control mode (M) on page 46
•
Range from N=0 (not N=1) in chapter Number of lines (N) on page 60
•
Added values 5 and 7 in chapter Camera Link output mode setting (S) on page 61
•
In chapter Reset to factory defaults (Z) on page 66:
Corrected E=000006BE (not 000006C1),
F=000006BF (not 000006C2)
Inserted J=01 and S=00
•
Added new command reference description in chapter
• Added hyperlink to Allied Vision website for DeviceConfig in
• Changed AOI to ROI in the whole manual
11 May 2012 • Some minor corrections
• Added 80 bit to Camera Link Full+
– chapter Bonito CL-400B/C, Bonito CL-400B/C 200fps on page 14
• Added 80 bit to clearly describe the 10-tap configuration of the Camera Link standard:
– chapter Camera Link interface (01-04 or CL1, CL2) on page 30
– chapter Camera link connectors and 10-tap pin assignment on page 30
to be continued on next page
Table 1: Document history
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Introduction
Version
V2.2.1
(continued)
V2.3.0
V2.4.0
Date Remarks
continued from previous page
11 May 2012
(continued)
•
• Added information to use exact multiples oft the current line
duration: see chapter Timer prescaler value (K) on page 46
• Changed +/-2 t
L
to t
L
in Table 13: Exposure control modes:
Exposure timing mode (bit group: e) on page 42
• Added rising edge description (bit group e, value=2): see
Image on demand mode (IOD) with exposure timer on page
43
• Added more precise description of PIV mode: see PIV mode =
On on page 45
•
Added new chapter Product variant code (b) on page 67
•
Added new chapter Command reference on page 72
2013-Sep-30 • Updated RoHS (2002/95/EC) to RoHS (2011/65/EU)
• Added „Surge“ warning as requested for the EMC lab test
• Corrections derived from terminology alignment
• Change of font, necessary due to changes in typeface
• Redesigned the complete PIV mode description, added flow diagram and table
• Redesigned the biggest part of the Exposure Mode Control description, incl. new tables and flow diagrams
• Redesigned the Baud Rate description
• Introduced overview of value ranges, default values and
examples for each parameter described in the chapter Camera interfaces on page 22
• Replaced the drawings with new drawings that show all four
sides of the camera in chapter Camera dimensions on page
2014-Nov-03 • Added new Allied Vision brand name and brand logo
• Linguistic improvements
Table 1: Document history
Manual overview
This manual overview outlines the contents of each chapter of this manual.
•
chapter Contacting Allied Vision Technologies on page 6 lists Allied Vision
contact data (phone number and URL) for both:
– Technical information / ordering
– Commercial information
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Introduction
•
chapter Introduction on page 7 (this chapter) gives you the document his-
tory, a manual overview (short description of each chapter) and conventions used in this manual (styles and symbols).
•
chapter Conformity on page 13 gives you information about conformity of
Allied Vision cameras (CE, FCC, RoHS).
•
chapter Specifications on page 14 lists camera details and measured spec-
tral sensitivity diagrams for each camera type.
•
chapter Camera dimensions on page 17 provides CAD drawings of standard
housing models (2D drawings and 3D isometric drawings), tripod adapter and cross sections of CS-Mount and C-Mount. Furthermore, you find information on adjustment of C-Mount and CS-Mount.
•
chapter Camera interfaces on page 22 describes in general the inputs/out-
puts of the cameras (incl. trigger features).
•
chapter Index on page 81 gives you quick access to all relevant data in this
manual.
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
Bold
Courier
Courier bold
Upper case
Italics
Parentheses and/or blue
Function Example
Programs, inputs or highlighting important things
bold
Code listings, camera output etc.
Output
Commands sent to the camera
Command
Register REGISTER
Modes, fields
Mode
Internet links, cross references (www.link)
Table 2: Styles
Symbols
This symbol highlights important information.
Note
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Introduction
Caution
This symbol highlights important instructions. You have to follow these instructions to avoid malfunctions.
www
This symbol highlights URLs for further information. The URL itself is shown in blue.
Example: http://www.alliedvisiontec.com
Before operation
Target group
This Technical Manual is the guide to detailed technical information of the camera and is written for experts.
Note
Please read through this manual carefully before operating the camera.
Caution
Before operating any Allied Vision camera read the following
safety instructions and ESD warnings.
Safety warnings
Caution
Electrostatic discharge
The camera contains sensitive electronic components that can be destroyed by means of electrostatic discharge.
Use sufficient grounding to minimize the risk of damage.
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Introduction
Caution
Surge
To avoid damage caused by surge, connect the camera to an
AC/DC power supply. Use a certified industrial power supply that complies with common industrial standards. Make sure the polarization of the power supply is correct.
For the DC (direct current) signal, use cable lengths less than 30 m. Consider that the voltage drop increases with the cable length.
Allied Vision (or your local dealer) provides suitable power supplies: http://www.alliedvisiontec.com/emea/products/ accessories.html
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Conformity
Conformity
Allied Vision Technologies declares under its sole responsibility that all standard cameras of the Bonito to which this declaration relates, are in conformity with the following standard(s) or other normative document(s):
• CE, following the provisions of 2004/108/EG directive
• RoHS (2011/65/EU)
CE
We declare, under our sole responsibility, that the previously described Bonito cameras conform to the directives of the CE.
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Specifications
Specifications
Note
The correct polarity of the 12 V supply voltage must be assured.
The warranty becomes void in case of unauthorized tampering or any modifications not approved by Allied Vision Technologies.
Bonito CL-400B/C, Bonito CL-400B/C 200fps
Feature
Sensor
Effective chip size
Cell size
Resolution (max.)
Lens mount
Frame rate
ADC
Exposure time
Operating temperature
Storage temperature
Humidity
(operating and storage)
Power supply
Digital output
Specification
Type 4/3, CMOS progressive with global shutter
16.24 mm (H) x 12.08 mm (V)
7 μm x 7 μm
2320 (H) x 1726 (V)
C-Mount, Canon EF-Mount, Nikon F-Mount
Bonito CL-400B/C: up to 386 fps, higher rates with smaller ROI
Bonito CL-400B/C 200fps: with one Camera Link channel: up to 193 fps
10 bit
1.5 μs to approx. 1 s
0 °C to +45 °C
-30 °C to +70 °C max. 95% RH, non-condensing
Camera control
Serial control
Optocoupler inputs
Optocoupler outputs
12 V DC, -10% to +5%, 0.35 A (4.2 W), max. 0.4 A
Bonito CL-400B/C: 2 x 10-tap Camera Link Full+, 80 bits, 80 MHz, 8 bits per pixel
Bonito CL-400B/C 200fps: 1 x 10-tap Camera Link Full+, 80 bits,
80 MHz, 8 bits per pixel
CC1: trigger input, CC2: reserve
Serial via Camera Link or RS232 via control connector
1 external trigger input
1 exposure active signal
Table 3: Specification Bonito CL-400B/C, Bonito CL-400B/C 200fps
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Specifications
Feature
Smart features
Dimensions
Mass
Regulations
Specification
ROI (Region of Interest), fixed pattern noise (FPN) correction, digital gain (selects 8 of 10 bits for output), offset (brightness), continuous mode (image acquisition with maximum frame rate), image on demand mode (triggered image acquisition)
44.2 mm x 80 mm x 70 mm (C-Mount)
71 mm x 80 mm x 70 mm (EF-Mount)
73.5 mm x 80 mm x 70 mm (F-Mount)
Bonito CL-400B/C (C-Mount):
Bonito CL-400B/C (EF-Mount):
Bonito CL-400B/C (F-Mount):
~360 g
~410 g
~390 g
Bonito CL-400B/C 200fps (C-Mount): ~350 g
Bonito CL-400B/C 200fps (EF-Mount): ~400 g
Bonito CL-400B/C 200fps (F-Mount): ~380 g
CE, RoHS (2011/65/EU)
Table 3: Specification Bonito CL-400B/C, Bonito CL-400B/C 200fps
The design and specifications for the products described above may change without notice.
Note
Caution
The camera contains sensitive electronic components that may be destroyed by electrostatic discharge (ESD). When handling the camera ensure sufficient grounding to minimize the risk of damage.
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Spectral sensitivity
Specifications
Figure 1: Spectral sensitivity of Bonito CL-400B
Note
The spectral sensitivity curve for the color sensor is not available.
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Camera dimensions
Bonito CL-400B/C C-Mount
Camera dimensions
Figure 2: Camera dimensions: Bonito CL-400B/C C-Mount
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Bonito CL-400B/C EF-Mount
Camera dimensions
Figure 3: Camera dimensions: Bonito CL-400B/C EF-Mount
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Bonito CL-400B/C F-Mount
Camera dimensions
Figure 4: Camera dimensions: Bonito CL-400B/C F-Mount
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Camera dimensions
Back view of Bonito CL-400B/C C-/EF-/F-Mount
Figure 5: Bonito CL-400B/C back view (C-/EF-/F-Mount)
Connectors Description
Control
O1
O2
O3
O4
12 V DC power supply, RS-232, optocoupler inputs and outputs
Camera Link channel A (left) medium/full
Camera Link channel A (left) base
Camera Link channel B (right) medium/full
Camera Link channel B (right) base
Figure 6: Connectors
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Camera dimensions
Back view of Bonito CL-400B/C C-/EF-/F-Mount
200fps
Figure 7: Bonito CL-400B/C back view (C-/EF-/F-Mount 200fps)
Connectors Description
Control
CL1
CL2
12 V DC power supply, RS-232, optocoupler inputs and outputs
Camera Link Base
Camera Link Medium/Full
Figure 8: Connectors
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Camera interfaces
Camera interfaces
This chapter gives you information on the control interface, inputs and outputs and trigger features.
www
For accessories like cables or power supply see: http://www.alliedvisiontec.com/emea/products/accessories/camera-link.html
Requirements and serial I/O
Frame grabber requirements
Take special care in selecting the Camera Link frame grabbers. They should be able to process the 10 taps of each Bonito channel at 80 MHz clock frequency.
This stands for a mean data rate of approx. 2 x 737 MiB/s (= 2 x 773 MB/s) net and a burst rate of up to 2 x 763 MiB/s (= 2 x 800 MB/s) net.
Camera configuration files for several frame grabbers are available from Allied
Vision Technologies on request.
Note
For more information on frame grabbers see manuals from frame grabber manufacturer.
PC hardware requirements
A PC with high performance PCI Express (PCIe) system architecture is needed to cope with the high data rates. At least one free PCIe x4/x8/x16 slot is needed per frame grabber, depending on the specific frame grabber requirements.
Generally, a short PCIe card may be plugged into a longer PCIe slot (e.g. a PCIe x4 frame grabber into a PCIe x16 slot). Often main board manufacturers do not connect all lanes of a physical slot to the chipset. Therefore, ensure that at least the number of lanes needed by the frame grabber are electrically connected in the slot. Refer to the reference manual of the main board for details.
Currently, we recommend main boards with Intel X58 chipset or better specification regarding the PCIe architecture.
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Camera interfaces
Camera link cable length
The tested maximum Camera Link cable length for the Bonito is 7 m, depending on the cable quality and the frame grabber.
Accessories
The Bonito needs a DC power supply with 12 V at an average current of 0.35 A
(max. 0.4 A). The camera is delivered with suitable power supply without power cord.
The Bonito is available with C-Mount, F-Mount or EF-Mount lens adapter. Consider the CMOS sensor size for lens selection. The lens should fully illuminate an area of
16 mm x 12 mm (ø 20 mm, type 4/3).
The software depends on the frame grabber. A software development kit (SDK) and a demo software for first live preview is usually provided by the frame grabber manufacturer.
Serial I/O
To configure the Bonito camera, an asynchronous serial command interface is provided. By default this command interface is internally routed via the
Camera Link connector O2 (SerTC, SerTFG) or CL1 (Bonito CL-400B/C 200fps), but the RS232 signals at the 15-pin D-sub connector may also be used.
Allied Vision provides the DeviceConfig software to control the camera via standard PC RS232 COM ports. Beginning with version 1.2.1 camera control is also possible via the serial interface of the frame grabber. The frame grabber needs a
DLL provided by the frame grabber’s manufacturer (clser*.dll).
www
For more information on DeviceConfig see: http://www.alliedvisiontec.com/emea/products/software/ windows/deviceconfig.html
Note
For more information about serial communication via Camera
Link refer to the documentation of the particular frame grabber.
By default the serial interface uses the following parameters:
• 115200 baud
• 8 data bits
• 1 stop bit
• No parity
• No handshake
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Camera interfaces
The baud rate is factory-set to 115200 but can also be configured to other val-
ues: see chapter Serial control interface configuration (s) on page 67.
All command examples are formatted in the following styles:
•
Bold Courier font: characters sent to the camera
•
Courier font: the camera’s answer
At power-up the camera loads the stored parameter configuration from its nonvolatile memory and sends a start message after successful initialization to all activated serial interfaces.
The following is an example of the start message
Bonito CL / CMC-4000 CMOS High-Speed Camera
Version: CMC.040.xx.yy
>
The command prompt character
> indicates that the camera is ready to receive and process the next command. Each command consists of a command letter, followed by an equality sign and a parameter value in hexadecimal number representation. The command letter is case sensitive. Hexadecimal values are always upper case and are 1 to 8 hex digits long. The command is activated by a carriage return ([CR], ASCII character number 0D). Serial communication operates in echo mode by default. This means that each character received by the camera is echoed back to the sender.
For that reason, all serial commands (exceptions:
V
,
Y
, a
,
?) have the following general syntax:
>A=wxyz[CR]
Sign Description
A
Command or parameter letter
(observe upper and lower case printing!)
Equality sign (3D)
= wxyz
1-8 digits long value in hexadecimal number representation
(capital letters)
[CR]
Carriage Return (0D)
[LF]
Line Feed (0A)
Table 4: Syntax of serial commands
The following example sets the exposure time to 1000 = 3E8 time units:
1.
User sends the six characters
E=3E8[CR]
2.
Camera answers with nine characters (echo followed by new prompt)
E=3E8[CR][CR][LF]>
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Camera interfaces
3.
A terminal program without local echo displays
E=3E8
>
After the execution of the command has finished the command prompt character
> is displayed again. If any error occurred, a question mark character ? is sent previous to the prompt character.
To query a parameter value, send the corresponding command letter followed by the equality sign and a question mark character:
>s=?[CR]
If the intended action does not need any parameter it is also sufficient in most cases – as a shortcut – to send the command letter only, directly followed by
[CR].
At the beginning of a command sequence it is good practice to check the serial communication by sending a
[CR] only to the camera and verify that the command prompt
> is returned.
Note
There is an input buffer holding a few characters but no hardware handshake. For that reason, a sequence of commands should not be sent to the camera without awaiting the intermediate input prompts. This is especially important for serial command processing through user-developed software routines. Otherwise, the camera’s serial input buffer may overflow.
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Camera interfaces
Camera I/O connector pin assignment
(15-pin D-sub connector)
This connector is intended for supplying power as well as external input/output signals.
Pin Signal Direction Level Description RS232
9-pin
D-sub
1
2
External Power +12 V DC
(+5%, to 10%),
0.35 A (4.2 W), max. 0.36 A
Power supply
3 External GND
4
5 Reserve
6 Sync Out RS232 Synchronization signal
7 RXD
8 TXD
9 Reserve
10 Trigger input
11
12 Exposure output -
13 +
-
+
In
Out
RS232
RS232 Serial control
Optocoupler input, 5 V to 12 V, max. 15 mA
External trigger signal
Optocoupler output, open collector,
30 V, max. 150 mW
Active exposure signal
14 Reserve
15 Reserve
Figure 9: Camera I/O connector pin assignment
5 (GND)
3 (TXD)
2 (RXD)
Power supply (pin 1-4)
The camera requires 12 V DC (+5%, -10%) at a continuous maximum of 0.4 A.
We recommend to use all pins for power supply, 1 and 2 as well as 3 and 4).
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Camera interfaces
Synchronization output (pin 6)
Note
Only cameras with firmware CMC.040.01.07 or newer support this feature.
If you use a camera with an older firmware version: don‘t connect pin 6.
Use this signal for the following:
• Synchronize external devices to the effective exposure of Bonito. Examples of external devices are flash lights, flash strobes or timer circuits.
• Reduce the timing jitter of start and end point of exposure. Several modes
are available: for more information see chapter Synchronization output (J) on page 45
The output is a RS232 compatible driver, signaling at +/- 6 V levels typically. The output delivers a reliable, low-jitter transmission, even over relatively long cable runs. The driver adds a delay of 0.75 μs typically at rising or falling edge.
Caution
Do not directly connect this output to a TTL or CMOS logic input.
Input may be destroyed, because output delivers several 10 mA at voltage levels - 6 V to +6 V. These voltages may exceed the absolute limits of the input.
Figure 10: Example conversion circuit from +/- 6 V RS232 output to 5 V TTL input
Serial interface (pin 7-8)
The camera can be controlled externally via an RS232 COM Porty by using serial interface at pin 7 and 8. A simple terminal program (e.g. HyperTerminal) is sufficient for manually controlling the camera. Note that operating this serial interface and the available port(s) via Camera Link concurrently may lead to unexpected results. Both interfaces share the same receive buffer, so the characters of simultaneously sent commands may be randomly mixed up. For more informa-
tion on general command syntax: see chapter Serial I/O on page 23.
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Trigger input (pin 10-11)
Camera interfaces
Figure 11: Trigger input diagram
The current through the optocoupler’s LED should be in the range from 5 mA to
15 mA. This is the case if 5.0 V ≤ V in
≤ 12 V.
Note
If you use higher voltages, you have to connect externally an additional current limiting resistor.
A rising edge at this optocoupler input starts the exposure. It depends on the trigger input selection T and the current trigger mode M whether this input is enabled and how it controls the exposure time.
The optocoupler adds a typical delay of about 0.1 μs to the externally applied signal.
For more information on the various trigger and exposure modes: see chapter
Exposure control mode (M) on page 46.
Exposure output (pin 12-13)
Figure 12: Exposure output
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Camera interfaces
This is an open collector optocoupler output. The transistor is conductive during the active exposure time of the image sensor. The optocoupler adds an intrinsic delay to the signal.
The power dissipation through the optocoupler’s transistor must not exceed 150 mW.
A typical value for the external pull-up resistor is R = 4700
. This ensures riskfree operation to the upper Vcc limit.
Note
This output is not recommended for new system designs.
Use the synchronization output feature instead: see chapter
Synchronization output (pin 6) on page 27.
The start-of-exposure edge (falling edge at V out
) is delayed for about 3 μs typically, the end-of-exposure edge for about 20 – 50 μs. The latter is mainly caused by the storage time of the photo transistor and is strongly dependent on the external pull-up resistor value R. To safely toggle the output between high and low state use exposure times above 10 μs and also observe a gap of 50 μs or more between two exposures. Faster rates may also work, but should be tested individually. Consequently, in the default continuous mode (M=0) the output does not toggle because the inter-exposure gap is too short.
Active exposure is also displayed by the L3 indicator at the camera’s back side.
Reserve I/O (pin 5, 9 and 14-15)
Note
The pins 5, 9, 14 and 15 are reserved for future use. Do not connect. Currently they have no function, but this may change.
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Camera Link interface (01-04 or
Camera Link interface (01-04 or CL1,
CL2)
Camera Link is an interface for the transmission of digital video data. The standard defines data transfer on a physical base and determines connectors, cables and components for transmission and reception. Three different configurations
(base, medium and full) are available, distinguished by the number of transmitter–receiver pairs (one, two or three respectively). While the base configuration is able to operate with one cable, for the medium and the full configuration two cables between camera and grabber are necessary.
Each transmitter–receiver channel implements the so called Channel Link technology. One Channel Link transmitter serializes 28 parallel data bits in a ratio of
7:1 and transfers them via five differential signal pairs (four data pairs plus one for the clock). By using the LVDS (Low Voltage Differential Signaling) standard, net parallel clock rates up to 85 MHz (up to 595 Mbit/s on the wire pairs) can be achieved.
The Camera Link standard also defines non-serialized signals. There are four direct camera control lines (CC1 – CC4) from frame grabber to the camera, as well as a bi-directional asynchronous serial communication channel, all of them are transmitted using the LVDS standard.
Due to the high bandwidth requirements the Bonito makes use of an extension to the Camera Link Full standard.
Camera Link Full defines 8 ports with 8 bits each. It has a payload of 64 bits, that
– including synchronization signals – only occupy 76 of the 3 x 28 = 84 available transmitter bits. By incorporating the unused bits and some redundant synchronization signals, it is possible to transmit 10 x 8 = 80 bits net. This is also known as Camera Link 10-tap standard with 80 bits.
One Camera Link 80-bit channel provides enough bandwidth to achieve nearly
200 frames per second at four megapixels per frame. To reach the 400 frames per second the Bonito uses two Camera Link 80-bit channels in parallel.
Camera link connectors and 10-tap pin assignment
The Bonito implements two Camera Link 80-bit channels in 10-tap configuration grouped at the connector pairs O2/O1 and O4/O3 respectively. The Bonito CL-
400B/C 200fps cameras implement only one Camera Link 80-bit channel at the connector pair CL1/CL2.
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Camera Link interface (01-04 or
Each channel delivers ten Camera Link ports labelled A to J. Every port has eight bits and is assigned to a corresponding sensor tap that outputs specific pixel columns of the image. Consequently, up to 2 x 10 = 20 simultaneous pixels are transferred to the frame grabber(s) in parallel per Camera Link clock cycle.
The following illustrations depict the bit and wire assignments at the Camera
Link connectors:
Figure 13: Camera link connector: 10-tap pin assignment (O2/O4 or CL1 connector)
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Camera Link interface (01-04 or
Figure 14: Camera link connector: 10-tap pin assignment (O1/O3 or CL2 connector)
Serial interface (SerTC, SerTFG)
The Camera Link connectors O2 and O4 (Bonito CL-400B/C 200fps: connector
CL1 only) each provide the asynchronous serial control lines SerTC and SerTFG.
This is the preferred communication channel to control the various camera func-
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Camera Link interface (01-04 or tions. Both Camera Link serial interfaces (and also the third RS-232 interface at the 15-pin D-sub connector) are virtually equal. They all use one global baud rate setting. They also share the same receive buffer. Output characters (including echo) are always sent to all activated serial ports. The ports are not intended for concurrent activity, although it might be possible under particular circumstances.
However, the serial ports at O2 and O4 (or at CL1) may be deactivated.
Note
The Bonito CL-400B/C 200fps cameras provide only one Camera Link channel. The serial interface via Camera Link is only available at the CL1 connector.
Note
• For more information on serial interface configuration:
see chapter Serial control interface configuration (s) on page 67.
• Consult the documentation of the frame grabber for more information on how to operate its integrated serial ports.
Trigger inputs (CC1)
The two Camera Link connectors O2 and O4 (or connector CL1) each provide a camera control signal CC1. A rising edge at either input may start an exposure.
It depends on the trigger input selection
T
and the current trigger mode
M
, which of the two CC1 inputs is enabled and how it controls the exposure time.
Note
The Bonito CL-400B/C 200fps cameras provide only one
Camera Link channel. The serial interface via Camera Link is only available at the CL1 connector.
Note
For more information on the various trigger and exposure
modes: see chapter Exposure control mode (M) on page 46.
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Camera Link interface (01-04 or
Reserve control input (CC2)
The camera control signals CC2 at the Camera Link connectors O2 and O4 (or connector CL1) are reserved for future use.
Pixel order
Each frame in single channel mode (
S=0, max. 193 full frames per second) is transmitted from top left to bottom right, line per line. The diagram below shows how the image is reconstructed from the ten Camera Link taps A – J.
Because every tap directly corresponds to a Camera Link port, the port labels are reused as tap labels here. Each Camera Link clock cycle transmits one block of ten pixels. Note that the number of lines may vary depending on the value of parameter
N
.
Figure 15: Pixel order: full frame
In the high-speed dual channel modes (
S=1
or
S=3
, max. 386 full frames per second) the image is split up vertically into two equal sized halves. Each half uses its own Camera Link channel and the pixel data travels over the corresponding connector pair.
Note
This mode is not available for the Bonito CL-400B/C 200fps cameras.
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Camera Link interface (01-04 or
From the host’s point of view the Bonito behaves like two cameras with half of the possible image width. The host computer receives two images at the same time that are reconstructed in the order shown below. It is the duty of the system designer to allow for assembly of the two halves if the application demands it.
Figure 16: Pixel order: half frame
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Camera Link interface (01-04 or
Timing (FVAL, LVAL, PCLK)
The Camera Link pixel clock frequency of the Bonito is 80 MHz.
The 10-tap configuration transfers 10 pixels per clock cycle at once, or 20 pixels per clock cycle in the dual-channel mode). The synchronization signals LVAL
(line valid) and FVAL (frame valid) are used to designate valid data output.
Single channel mode
The charts below illustrate the Camera Link timing for single channel mode
(
S=0), in continuous mode (M=0). The frame gap may vary in other trigger modes. Additionally, the number of active lines per frame can be configured by the user (parameter
N).
Figure 17: Line timing for single channel mode (
S=0)
Figure 18: Frame timing for single channel mode (
S=0)
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Camera Link interface (01-04 or
Dual channel, full line length
The charts below illustrate the Camera Link timing for dual channel mode (full line length,
S=1), in continuous mode (M=0). The frame gap may vary in other trigger modes. Additionally, the number of active lines per frame can be configured by the user (parameter
N).
Note
The diagrams displayed are not applicable for the Bonito CL-
400B/C 200fps cameras.
Figure 19: Line timing for dual channel mode (full line length,
S=1)
Figure 20: Frame timing for dual channel mode (full line length,
S=1)
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Camera Link interface (01-04 or
Dual channel, reduced line length
The charts below illustrate the Camera Link timing for dual channel mode (compatibility mode with reduced line length,
S=3), in continuous mode (M=0). The frame gap may vary in other trigger modes. Additionally, the number of active lines per frame can be configured by the user (parameter
N).
Note
The diagrams displayed are not applicable for the Bonito CL-
400B/C 200fps cameras.
Figure 21: Line timing for dual channel mode (compatibility mode with reduced line length,
S=3)
Figure 22: Frame timing for dual channel mode (compatibility mode with reduced line length,
S=3)
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Parameters and commands
Parameters and commands
This section explains the basic Bonito configuration parameters and general commands available to the user. Parameters and commands are communicated
using the camera’s serial interface. For more information see chapter Serial I/O on page 23.
Note
In this section, all values and examples noted in
mono-
spaced font are denoted in the hexadecimal numbering system, if not otherwise noted.
In all cases, explicit base notation (e.g. 0x4711 or 045H) is omitted to be directly compatible to the camera's command interface syntax.
Example: to set
M to the value of M=0x21, use the command
M=21.
Primary starting address (A)
The parameter
A defines the line address of the image sensor that is the first line of the output image. The value of
A in conjunction with N and I is used to create a region of interest (ROI1).
Range
From
0 (topmost line) to 6BD (lowermost line)
Default
0
Related
Parameters
B, D, N and I
Example
A=35E
(0x35E = 862), first line at address 862, that is the 863 rd
line of the sensor
N=F
I=2 read 16 lines read every second line
Note
For more information on double ROI mode and a diagram dis-
playing the ROI parameters, see chapter Double region of interest mode (D) on page 41.
Each image sensor line can only be read once per exposure. Two
ROIs are only possible as long as they do not share the same line addresses.
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Parameters and commands
Secondary starting address (B)
The value of parameter
B is used to create the secondary region of interest
(ROI2).
If the double ROI mode is active,
B defines the line of the image sensor that is the first line of the second half of the output image.
Range
From
0 (topmost line) to 6BD (lowermost line)
Default
0
Related
Parameters
A, B, D, N and I
Example
A=F
start first AOI at the 16th line
B=1F
D=1
N=F
I=1
(0x1F = 31), starts second AOI at the 32nd line enable double ROI mode read 16 lines from each ROI, 32 lines in the output image read every line
Note
For more information on double ROI mode and a diagram dis-
playing the ROI parameters, see chapter Double region of interest mode (D) on page 41.
Each image sensor line can only be read once per exposure. Two
ROIs are only possible as long as they do not share the same line addresses.
Fixed pattern noise (FPN) correction (C)
The Bonito camera provides an FPN correction to improve image quality. Correction data has to be recorded under low-light conditions. For best correction quality new correction data should be acquired from time to time.
Range
0, 1, or 3 (value 3 is write-only, will be read as 1)
Default
0
Related
Parameter
M
Example
To acquire new FPN correction data follow this sequence:
• Try to eliminate bright light sources, e.g. switch them off if possible. For best correction quality, close the iris or use a lens cover.
• Ensure that the camera continuously outputs images at a constant frame rate, e.g. using the continuous mode:
>M=0[CR]
>
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• Send the following serial command to record and apply new correction data. The camera answers with a new prompt sign if the command has successfully completed. The execution lasts for the duration of some images.
>C=1[CR]
>
Use the command
C=3 to re-enable the FPN correction without acquiring new correction data. Instead, the correction data acquired by the last
C=1 call will be used. However, correction data is not stored beyond power loss.
Note
The correction data is volatile. So this command should be executed at least once after switching-on for best performance.
Double region of interest mode (D)
In double ROI mode (
D=1) the camera outputs two equally sized regions of interest. Both ROIs share the parameters
N and I and are output as two halves of one image. The top half contains the lines of the primary ROI (ROI1), the bottom half the lines of the secondary ROI (ROI2) accordingly.
The starting line address for ROI1 is configured using the parameter
A.
Parameter
B controls the starting line address of ROI2. Each ROI has the height of (N + 1) lines, the resulting image has (N + 1) * 2 lines.
Parameter
D also has an influence on the number of frames per second possible.
Use the following formula to calculate the exact number:
• Max fps = 1 / ((D + 1) * (N + 1) + 1 + IOD) * t
L
); he parameters are explained in the table below
Parameter
D
N
IOD t
L
Value
Parameter
D
Parameter
N
IOD=0 if Continuous mode (e.g.
M=0),
IOD=1 if not in Continuous mode t
L
= 3 μs in single CL channel mode (e.g.
S=0), t
L
= 1.5 μsin dual CL channel mode (e.g.
S=1)
Table 6: Parameters for fps calculation
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Figure 23: Parameters relevant in double ROI mode
The diagram illustrates the use of ROI parameters
A, B, I, and N, from the sensor’s point of view. The sensor’s first (topmost) line has the address
0, the last
(lowermost) line has the address
6BD.
Range
0 (=off)or 1 (=on)
Default
0
Related
Parameters
A, B, D, N and I
Example
A=0
start first AOI at the first line
B=5BD
(0x5BD = 1469), starts second AOI at the 1470 th
line
D=1
N=FF
enable double ROI mode
(0xFF = 255), reads 256 lines from each ROI, 512 lines in the output image
I=1
read every line
Result: lines no 0 to 255 and no 1469 to 1724 of each image are read.
Exposure time (E)
The exposure time is a 32-bit value. Its time resolution depends on the prescaler value
K. For detailed information see chapter
Timer prescaler value (K) on page
Technically, the value range is 32 bit, whereas the useful exposure times should be up to approx. 1 second.
Range
Useful from
1 to approx. 50000 at K=A7, but not limited to that maximum.
Default
6BE (=1726)
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Related
Parameters
D, F, K, M, N and S.
Frame duration must always be greater than exposure time.
Examples
K=53
(0x53 = 84), sets prescaler tick length to 84 clock cycles, which corresponds to 1.5 μs
E=6BE
(0x6BE = 1726), sets exposure time to 1726 prescaler ticks
F=FA0
(0xFA0 = 4000), sets frame duration to 4000 prescaler ticks
M=3
activate free-running exposure mode using
E and F
Result: exposure time = 1726 * 1.5 μs = 2589 μs frame duration = 4000 * 1.5 μs = 6000 μs
K=A7
(0xA7 = 167), sets prescaler tick length to 167 clock cycles, which corresponds to 3 μs
E=50000 (0x50000 = 327680), sets exposure time to 327680 prescaler ticks
F=50001 (0x50001 = 327681), sets frame duration to 327681 prescaler ticks
(greater than exposure time)
M=3
activate free-running exposure mode using
E and F
Result: exposure time = 327680 * 3 μs = 983040 μs = approx. 1 s frame duration = 327681 * 3 μs = 983043 μs
Note
The exposure time control using this value is only active if the trigger mode
M is set to the values of 2 or 3.
This parameter will be ignored if the Permanent Exposure mode, or PIV mode, or Enhanced Full Well mode, is activated.
However, even if one of the above mentioned modes are set, it may be necessary to set this parameter to get a correct internal timing sequence.
For more information see chapter Exposure control mode (M) on page 46.
Frame duration (F)
The frame duration is a 32-bit value. Its time resolution depends on the prescaler value
K. For detailed information see chapter
Timer prescaler value (K) on page 46.
Range
From
2 to FFFFFFFF, depending on K, M and N. Observe meeting the respective minimum
Default
6BF
Related
Parameters
D, E, K, M, N and S
Example
S=3
enable dual channel Camera Link with grabber compatibility
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M=7
N=6BD
K=53
activate PIV and free-running exposure mode using E and F
(0x6BD = 1725), readout 1726 lines
(0x53 = 83), sets prescaler tick length to 84 clock cycles, which corresponds to 1.5 μs
E=1
set small exposure time, although PIV has no exposure control, the exposure time is needed to create valid internal timing sequence
F=D7F
(0xD7F = 3455), sets frame duration to 3455 prescaler ticks,
Result: frame duration = 3455 * 1.5 μs = 5182.5 μs, the minimum that is valid for the above-mentioned example settings
Note
The frame duration control using this value is only active if the trigger mode
M is set accordingly. For more information see
chapter Exposure control mode (M) on page 46.
Digital gain (G)
The digital gain setting controls shifting of the pixel bits. It selects the eight of the ten digitizer bits that are output to Camera Link. Overflow is represented by saturation to maximum.
Range
0, 1, or 2
Default
0
Related
(none)
Example
G=0
G=1
G=2
1x digital gain
2x digital gain
4x digital gain
Line address increment (I)
The line address increment value I is added to the current address at the end of each line read out from the sensor. Setting values > 1 will skip lines accordingly.
In conjunction with a reduced N this is useful to gain higher frame rates without diminishing the field of view (also known as sub-sampling).
If the maximum line address has been reached before end of image readout, the address will wrap around and restart from the beginning.
Range
From
1 to FF
Default
1
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Related
Parameters
A, B, D, and N
Example
I=4
output every 4 th
line
N=1AF
(0x1AF = 431), sets number of lines to 431, which equals a quarter of the full image
Synchronization output (J)
Parameter
J sends an output synchronization signal to pin 6 of the camera control connector.
Valid values
Either one of the values
0, 1, 2, 3, 8, 9, A, B
Default
1
Related
Parameters
D, E, F, M, N and S
Setting
J=0
J=1
J=2
J=3
J=8
J=9
J=A
J=B
Output signal
Effective sensor exposure
Charge transfer pulse
Active for one line duration at the end of exposure. End of this pulse marks the end of exposure and at the same time start of sensor readout.
In PIV mode: this pulse occurs at the exposure end of only the first
image of each PIV pair. For more information see chapter PIV mode (bit group p) on page 52
Effective sensor readout
Exposure phase
Contrary to
J=0, this setting shows the exposure phase of the internal state machine and not the effective exposure of the sensor. This allows to synchronize external devices even if the sensor
is in permanent exposure mode. For more details see chapter
Exposure control mode (M) on page 46.
Same as
J=0, but with inverted logic on sync output
Same as
J=1, but with inverted logic on sync output
Same as
J=2, but with inverted logic on sync output
Same as
J=3, but with inverted logic on sync output
Table 7: Synchronization output
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Timer prescaler value (K)
The prescaler value is used to divide the basic timer clock frequency of 56 MHz by a value of (K + 1) down to a smaller clock frequency. The resulting frequency is utilized as the time base for exposure time
E and frame duration F. This parameter is 16 bit wide.
The implementation of this value provides flexibility between the maximum interval length, the smallest possible resolution, and the size of the numbers involved.
If the value K is increased while the values E and F stay the same, the real exposure time and frame duration will decrease.
Range
From
1 to FFFF (0xFFFF = 65535)
Default
A7, leading to 3 μs
Related
Parameters
E, F
Examples
K=A7
(0xA7 = 167, timer resolution of ((167 + 1) / 56 MHz) = 3 μs)
E=64
(0x64 = 100, sets exposure time to 100 prescaler ticks)
F=FA0
(0xFA0 = 4,000, set frame duration to 4,000 prescaler ticks)
Result: exposure time: 100 * 3 μs = 300 μs frame duration = 4,000 * 3 μs = 12,000 μs
K=53
E=64
(0x53 = 83, timer resolution of ((83 + 1) / 56 MHz) = 1.5 μs)
(0x64 = 100, sets exposure time to 100 prescaler ticks)
F=FA0
(0xFA0 = 4,000, set frame duration to 4,000 prescaler ticks)
Result: exposure time: 100 * 1.5 μs = 150 μs frame duration = 4,000 * 1.5 μs = 6,000 μs
Note
Use exact multiples of the current line duration to minimize exposure and frame-to-frame jitter. (
K=A7 for 3 μs, K=53 for
1.5 μs)
Exposure control mode (M)
Use parameter
M to setup the exposure control mode. The exposure control depends on a number of general timing parameters that are specified in the table below.
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Parameter
Line Duration (
S=0)
Line Duration (
S=1)
Line Duration (
S=3)
Frame Output Time (
D=0)
Frame Output Time (
D=1)
Minimum Frame Duration
Timer Resolution
Value
t
L
= 3 μs t
L
= 1.5 μs t
L
= 1.5 μs t
F
= (N + 1) * t
L t
F
= 2 * (N + 1) * t
L t
FDmin
= t
F
+ t
L t
TR
= (K + 1) / 56 MHz
Table 8: Exposure control parameters
Range
From
0 to 7, from 10 to 17, from 20 to 27, from 30 to 37
Default
0
Related
Parameters
D, E, F, J, N, and S
Three sub-fields are available to control the exposure time and frame duration of the Bonito CL-400B/C:
• Exposure timing mode
• PIV mode
• Exposure feature mode
All of these sub-fields are controlled by the parameter
M, each of them working independently from the other sub-fields. The sub-fields within the parameter
M are represented by differently sized bit groups.
Bit group Sub-field description e p f
Exposure timing mode
PIV mode
Exposure feature mode
Table 9: Exposure control mode: attribution of bit groups and sub-fields
7 6 5 4 3 2 1 0
f f p e e rw rw rw rw rw
Table 10: Exposure control mode: order of bit groups within parameter
M
To set a sub-field to a certain value, modify the associated bit group by allocating
M to the appropriate hexadecimal number.
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Since all of the sub-fields are set using the parameter
M, it is only possible to set all of them at the same time. The value of
M is calculated as the aggregate sum of the hexadecimal values that are set to each of the three sub-fields.
The table below shows the hexadecimal weights that can be set for each subfield. To work out the final value for
M, select a setting for each sub-field, then add up the corresponding hexadecimal values.
Bit values Setting Weight
(hexadecimal)
Exposure timing mode
--xx-x00 Continuous mode
--xx-x01 Image on demand mode (IOD)
--xx-x10 Image on demand mode (IOD) with exposure timer
--xx-x11 Image on demand mode (IOD) with exposure timer and frame duration timer
PIV mode
--xx-0xx PIV mode off
--xx-1xx PIV mode on
Exposure feature mode
--00-xxx Standard mode
--01-xxx Enhanced full well (3T) mode
--10-xxx Permanent exposure mode
--11-xxx Reserved value
3
0
10
20
30
0
4
0
1
2
Table 11: Exposure control mode: values for each setting
See the following pages for detailed explanation of each sub-field.
Examples
M=0 (Default)
Sets the bit field to „- - 0 0 - 0 0 0“
• Activates Continuous mode (weight =
0)
• Deactivates PIV mode (weight =
0)
• Activates Standard exposure feature mode (weight =
0)
M=21
(0x21 = 0b100001), sets the bit field to „- - 1 0 - 0 0 1“
• Activates Image on demand mode (IOD) (weight =
1)
• Deactivates PIV mode (weight =
0)
• Activates Permanent exposure mode (weight =
20)
M=22
(0x22 = 0b100010), sets the bit field to „- - 1 0 - 0 1 0“
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• Activates Image on demand mode (IOD) with exposure timer (weight =
2)
• Deactivates PIV mode (weight =
0)
• Activates Permanent exposure mode (weight =
20)
M=2A
(0x2A = 0b101010. This value is not recommended since bit #3 is set to
1 here, even though it is not used by the parameter.)
Sets the bit field to „- - 1 0 - 0 1 0“
• Activates Image on demand mode (IOD) with exposure timer (weight =
2)
• Deactivates PIV mode (weight =
0)
• Activates Permanent exposure mode (weight =
20)
Exposure timing mode (bit group e)
The exposure timing mode allows to switch between the continuous mode and three different IOD modes.
0
1
2
Weight
(hexadecimal)
Setting
3
Continuous mode
Image on demand mode (IOD)
Image on demand mode (IOD) with exposure timer
Image on demand mode (IOD) with exposure timer and frame duration timer
Table 12: Exposure timing mode - possible values
Continuous mode
Bit group: e
Value: 0
The camera outputs images as fast as possible in free-running mode.
The gap between two images is only one line, the total frame duration takes t
FDmin
. The exposure time is nearly equal to this inherent minimal frame duration.
Image on demand mode (IOD)
Bit group: e
Value: 1
The exposure is triggered by an external signal.
Use parameter
T to select the signal source. A rising edge starts exposure synchronizing to the line after the next line.
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The next falling edge stops the exposure and starts the output of the image synchronized to the next line.
Due to the line jitter the next rising edge of the trigger should not appear earlier than t
FDmin
+ t
L
after the previous rising edge.
Figure 24: Exposure timing mode, M=1, flow diagram
Parameter Value
Trigger Period t
TP
> t
FDmin
+ t
L
Trigger High Duration t
L
< t
TH
< t
TP
– t
L
Exposure Jitter 0 < t j
< t
L
Exposure Time t
Exp
= t
TH
– t
L
± t j
Table 13: Exposure timing mode,
M=1, timing parameters
Image on demand mode (IOD) with exposure timer
Bit group: e
Value: 2
The exposure time is controlled by the parameter
E.
Each rising edge of an externally applied signal starts one exposure. Use parameter
T to select the signal source.
A rising edge at the corresponding input starts exposure synchronized to the line after the next.
The next rising edge must not arrive earlier than or t
FDmin
+ t
L
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E * t
TR
+ t
L, whichever is the bigger, after the previous rising edge.
Figure 25: Exposure timing mode, M=2, flow diagram
Parameter Value
Trigger Period t
TP
> max (t
FDmin
, E * t
TR
) + t
L
Trigger High Duration t
L
< t
TH
< t
TP
– t
L
Exposure Jitter
Exposure Time
0 < t j
< t
L t
Exp
= E * t
TR
– t
L
± t j
Table 14: Exposure timing mode, M=2, timing parameters
Image on demand mode (IOD) with exposure timer and frame duration timer
Bit group: e
Value: 3
This mode is also free-running (like
M=0), but exposure time and frame duration is set accordingly, using the parameters
E and F. Furthermore, the start of the exposure may optionally be synchronized to the rising edge of an externally applied synchronization pulse. Use parameter
T to select the synchronization signal source. If any synchronization event takes place during exposure, the current frame may be exposed abnormally.
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Figure 26: Exposure timing mode, M=3, flow diagram
Parameter
Trigger High Duration
(Sync Pulse)
Exposure Jitter
Exposure Time
Frame Duration
Value
t
L
< t
TH
< F * t
TR
– t
L
0 < t j
< t
L t
Exp
= E * t
TR
– t
L
± t j
F * t
TR
≥ max (t
FDmin
+ t
L
, E * t
TR
+ t
L
)
Table 15: Exposure timing mode, M=3, timing parameters
PIV mode (bit group p)
Particle Image Velocimetry (PIV) is a contact-free method for tracking and visualizing the movement of particles that travel at high velocity within liquids or gases. At first, the position of identical particles in two subsequent images is determined. This allows to calculate the speed and direction of the particles in every part of the acquired images.
If the PIV mode is enabled, the camera outputs two images for each trigger event. This allows minimizing the time between the exposure of the two images to the possible minimum. This improves the measuring precision at high velocities.
Particle image velocimetry only evaluates images of the same pair.
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Basic working principle of the CMOS sensor
A basic familiarity with the CMOS sensor‘s working principle is required to recognize how the PIV mode of the Bonito camera operates. For that reason, a simplified short explanation is included below.
Figure 27: Simplified diagram of the CMOS pixel architecture
Each pixel of the sensor is a shutter pixel that includes a photo detector, a pixel memory, and a number of gates.
The photo detector accumulates the charge produced by light (exposure).
When the electronic shutter gate is open, the charge accumulated in the photo detector is removed, and the photo detector is reset. During exposure, the electronic shutter gate is closed.
When the transfer gate opens, the charge is transferred internally from the photo detector to the pixel memory. The photo detector keeps charging while the transfer takes place.
During the readout, the charge from the pixel memory is converted into a digital signal that is output to the Camera Link connection via the readout and control architecture.
When PIV mode is active, the electronic shutter gate is always closed. The transfer gate is opened regularly to transfer the accumulated charge to the pixel memory.
The PIV sequence - overview
Range
Either
0 (PIV mode off) or 4 (PIV mode on)
Default
0
Related
Parameter
J
Example
M=4
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(0x4 = bx100), sets the bit field to „- - 0 0 - 1 0 0“.
• Activates Image on Demand mode (IOD) (weight =
0)
• Activates PIV mode (weight =
4)
• Sets Exposure feature mode to Standard (weight =
0)
Exposure control is not available in PIV mode, the exposure is permanently active (the reset gate in every pixel is always closed). This has two practical implications:
• A synchronized pulsed light source is necessary in order to generate relevant images that can be evaluated. To generate contrast-rich images, ambient light has to be minimized.
• To change the exposure time, change the frame rate. Exposure time of each image is directly determined by the frame rate. End of exposure is defined by the end of the internal charge transfer.
Note
You cannot use the settings of the Exposure feature mode if the
PIV mode is active.
There are two ways to control the frame rate:
• use parameter
F to control the frame duration
• use an external trigger signal and apply parameter
T to select the trigger source
However, the camera outputs two images per trigger event, therefore the highest trigger rate is limited to approx. half the usual rate (in non PIV mode).
www
For practical applications of particle image velocimetry, refer to the Allied Vision application notes online: http://www.alliedvisiontec.com/fileadmin/content/PDF/
Support/Application_Notes/PIV_Particle_Image_Velocimetry_en.pdf
Start of the PIV sequence
Since the exposure is always active, the sensor‘s photo-sensitive pixels are always integrating charge. No shutter control is available; exposure time is only determined by the frame rate.
You start the PIV sequence by the usual trigger input and timing devices of the camera. Each rising edge of the selected input signal starts the PIV sequence.
The trigger high duration t
TH but should be at least 500 ns.
should be shorter than the duration of N+1 lines,
Time needed for one image pair
The minimum time t
T
between two rising trigger edges must exceed the time the camera needs to charge and readout two images. It depends on Continuous mode as shown in the table below.
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The camera needs at least one line duration of dead time before it is ready for the next trigger event, provided the camera is not configured to Continuous mode
(e.g.
M=4). If the camera is configured to Continuous mode, it needs one additional line of dead time.
Continuous mode Minimum time necessary
On
Off
2 * ((N+1) + 1) line durations t
(the camera is free-running)
L
2 * ((N+1) + 1) + 1 line durations t
L
Table 16: Minimum time necessary for one PIV image pair (N = number of lines)
After the second readout from one PIV sequence is complete, the trigger signal‘s rising edge for the following sequence can be placed only after the minimum dead time.
Also refer to figure 28 on page 58
and
Table 18: PIV mode timing parameters independent from other parameters on page 59.
Example 1
Calculation of the time needed to charge and readout one image pair when the camera is set to dual channel mode and full frame mode:
• t
L
= 1.5 μs (1 line duration in dual channel mode)
•
N=6BD (0x6BD = 1725; default) full frame height of 1726 lines
• Continuous mode = On
Result: time for one PIV image pair = 2 * ((1726 +1) + 1) * 1.5 μs = 5184 μs, allowing approx. 192 image pairs per second.
Example 2
Calculation of the time needed to charge and readout one image pair when the camera is set to single channel mode, but does not work in full frame mode:
• t
L
= 3.0 μs (1 line duration in single channel mode)
•
N=14A (0x14A = 330)
• Continuous mode = Off
Result: time for one PIV image pair = 2 * ((330 +1) + 1) + 1 * 3.0 μs = 1995 μs, allowing 500 image pairs per second.
Internal charge transfer and readout
The internal charge transfer of the first image starts with a certain fixed delay, and it takes the time of one line duration (t
L
). The end of the charge transfer terminates the exposure of the first PIV frame and automatically starts the exposure of the second PIV frame.
During each charge transfer, the sensor‘s photo detectors keep integrating the charge. Even the charge that is newly integrated during the transfer process is transferred to the sensor‘s pixel memory. A strobe or flash pulse that is fired during the charge transfer contributes to the image.
Once the charge transfer for the first frame is complete, the new charge, which integrates within the sensor‘s photo detectors, contributes to the next frame.
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The internal readout of the first PIV frame, from the sensor‘s pixel memory to the
Camera Link output ports, starts immediately after the end of the charge transfer, taking the time of (N+1) line durations.
At the same time, the sensor‘s photo detectors continue to integrate charge, even during the readout process. The charge accumulated during this phase contributes to the exposure of the second PIV frame.
The internal charge transfer of the second PIV frame automatically starts directly after the internal readout of the first PIV frame is complete. It takes the time of one line duration (t
L
), during which the sensor‘s photo detectors keep integrating charge for the second PIV frame.
When the charge transfer of the second PIV frame is complete, its internal readout starts automatically, which also takes the time of (N+1) line durations.
During this phase, the exposure of the next first PIV image has already started.
However, this image already belongs to the succeeding PIV image pair, which is not yet triggered at this stage.
After readout of the second PIV frame from the pixel memory is completed, the trigger may start the whole sequence anew.
Synchronization output
The synchronization output signal determines how the images are paired by externally communicating the start and end of each PIV sequence‘s first charge transfer. It allows to synchronize external devices, such as flashes, with the PIV sequence.
The falling edge at the synchronization output signals that the charge transfer
of the first PIV frame has begun (See Figure 28: PIV mode flow diagram on page
58). This requires the setting
J=1, which may be used to trigger the first flash pulse. The recommended guard interval t
G1
of the flash pulse should not be undercut.
The rising edge at the synchronization output signals externally that the exposure of the first PIV frame has ended. This requires setting
J=1, and may be used to trigger the second flash pulse. The recommended guard interval t
G2
will be kept automatically.
To move the second flash pulse closer to the first end of charge transfer, use an external timing device that is triggered by an external camera trigger or the previous falling edge of the synchronization output.
Depending on the synchronization output setting (parameter
J), the corresponding pin at the camera's control connector may directly output the first charge transfer pulse for each PIV pair. By default, the falling edge of the synchronization signal always coincides with the beginning of the charge transfer of the first image, plus some delay (t
S1
).
When the first charge transfer ends, the synchronization signal rises back to high level, again with a delay (t
S2
).
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The synchronization signal is accessible through pin 6 of the 15-pin D-sub con-
on page 27, and the chapter Synchronization output
Timing of the flash pulses
To ensure high quality image results, the flash pulses should contribute predominantly to the exposure of the images, also the ambient light should be minimized as much as possible.
The first strobe pulse should be placed shortly before the end of internal charge transfer of the first PIV frame.
The second strobe pulse should be placed after the end of internal charge transfer of the first PIV image.
To minimize the crosstalk between the first and the second image, do not shift the first strobe pulse position too close to the end of charge transfer. The guard interval time t
G1
(see
application it may be adjusted individually.
For the same reason, the recommended minimum guard interval time t
G2
(see
application it may be adjusted individually.
Synchronization of the flash pulses can be realized e.g. by an external timing generator that generates a pair of strobe pulses. Alternatively, the synchronization can be implemented by using the corresponding output signal of the camera. For information on synchronization output see
Synchronization output (J) on page 45.
Examples
M=5
(0x5 = 0b101), sets the bit field to „- - 0 0 - 1 0 1“.
• Activates Image on Demand mode (IOD) (weight =
1)
• Activates PIV mode (weight =
4)
• Sets the Exposure feature mode to Standard. (weight =
0)
M=7
Even though the Exposure feature mode is set to Standard, not to Permanent Exposure mode, the exposure is always active, due to activation of the
PIV mode.
(0x7 = 0b111), sets the bit field to „- - 0 0 - 1 1 1“.
• Activates Image on Demand mode (IOD) with exposure timer and frame duration timer mode (weight =
3)
• Activates PIV mode (weight =
4)
• Sets the Exposure feature mode to Standard. (weight =
0)
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Figure 28: PIV mode flow diagram
Parameter
Trigger rate requirement
(or equivalent frame duration setting F)
Trigger high duration requirement (or equivalent exposure time setting E) t t t
Value
T
> (2 * ((N + 1)+1)+1) * t
L
TH
< (N + 1) * t
TH
> 500 ns
L
Table 17: PIV mode timing parameters (settings E and F depend on exposure timing mode setting of parameter M)
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Parameter Value
First trigger to end-of-chargetransfer delay t
TD1 = t
L
+ 250 ns (@ T=2, typical)
First delay to end-of-chargetransfer t t
TD1 = t
L
+ 150 ns (@ T=3, typical)
TD2 =
(N + 2) * t
L
Trigger to end-of-charge-transfer
jitter
t
TJ
< 25 ns
End-of-charge-transfer to sync dalay t
S1
= 800 ns (@ T=2, typical) t
S1
= 700 ns (@ T=3, typical)
Readout start to sync
Guard interval 1
t
S2
= 700 ns typical t
G1
: t.b.d. (expected: t
G1
< 350 ns typical)
Guard interval 2 t
G2
: t.b.d. (expected: t
G2
< 350 ns typical)
Table 18: PIV mode timing parameters independent from other parameters
Exposure feature mode (bit group f)
The exposure feature mode allows to switch between Standard mode, Enhanced full well mode and Permanent exposure mode.
Weight
(hexadecimal)
Usage
0
16
32
48
Standard mode
Enhanced full well (3T) mode
Permanent exposure mode
(Reserved value)
Table 19: Exposure feature mode: possible values
Standard mode
Bit group: f
Weight: 0
Enhanced full well (3T) mode
Bit group: f
Weight: 10
The full image shutter is not available in this mode. Instead, the sensor operates in rolling shutter mode, the effective shutter time equals the image duration.
For that reason, a synchronized strobe light is recommended.
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Consequently, any exposure time setting controlled by Parameter
E or by external signal is ignored.
The light should flash between two image readouts, which may be the duration of one line at highest possible image rate.
Decrease the image rate accordingly, if longer exposure times are needed. Use the sync output (RS232 driver at pin 6) for synchronization.
Permanent exposure mode
Bit group: f
Weight: 20
Use this mode to maximize the exposure time.
If activated, the exposure time equals the image duration.
Consequently, any exposure time setting controlled by parameter
E or by external signal is ignored.
Number of lines (N)
The number of lines per frame is controlled with
N. The actual line count is N+1, the default of
N=6BD results into 1726 output lines. If the double ROI mode is active (
D=1) the actual line count is doubled: (N + 1) * 2.
Parameter
N also has an influence on the number of frames per second possible.
Use the following formula to calculate the exact number:
• Max fps = 1 / ((D + 1) * (N + 1) + 1 + IOD) * t
L
); he parameters are explained in the table below t
Parameter
D
N
IOD
L
Value
Parameter
D
Parameter
N
IOD=0 if Continuous mode (e.g.
M=0),
IOD=1 if not in Continuous mode t
L
= 3 μs in single CL channel mode (e.g.
S=0), t
L
= 1.5 μsin dual CL channel mode (e.g.
S=1)
Table 20: Parameters for fps calculation
Range
From
0 to 6BD
Default
6BD
Related
Parameters
A, B, D, I, and M
Example 1
M=0
S=0 [t
L
= 3 μs]
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D=0 (not for Bonito CL-400B/C 200fps cameras)
N (see table below)
Setting No. of lines Minimum frame duration t
FDmin
N=6BD
1726
N=681
1666
N=14B
332
N=1F
32
N=0
1
5.181 ms
5.001 ms
0.999 ms
0.099 ms
0.006 ms
Frame rate/fps
193.01
199.96
1001.0
10101
166667
Table 21: Timing examples (M=0, S=0, D=0)
Example 2
M=0
S=1 [t
L
= 1.5 μs]
D=0 (not for Bonito CL-400B/C 200fps cameras)
N (see table below)
Setting No. of lines Minimum frame duration t
FDmin
N=6BD
1726
N=681
1666
N=14B
332
N=1F
32
N=0
1
2.5905 ms
2.5005 ms
0.4995 ms
0.0495 ms
0.0030 ms
Frame rate/fps
386.03
399.92
2002.0
20202
333333
Table 22: Timing examples (M=0, S=1, D=0)
Note
• Consider the number of lines in minimum frame duration calculations for the image on demand (IOD) mode.
• For more information about calculation of the minimum frame duration and dependent IOD mode timing con-
straints, see chapter Exposure control mode (M) on page
Camera Link output mode setting (S)
The parameter
S controls how the camera outputs pixel data to the Camera Link interface.
• For more information about how the resulting image is reconstructed in
the various modes, see chapter Pixel order on page 34.
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•
For more information about pixel output timing, see chapter Timing (FVAL,
Valid values:
Either
0, 1, 3, 5, or 7
Default
0
Related
Parameters
s, T
Examples
(see settings table below.
Setting
S=0
S=0
S=1
S=3
Function
• Mode: Single channel mode
• Frame rate: 193 fps
• Line length: 2320 pixels
• The camera utilizes one Camera Link 80-bit channel in 10tap configuration. It allows only half of the maximum frame rate but also produces less noise in the image because the sensor clock frequency is reduced.
(To be continued on next page.)
(Continued from previous page.)
The preferred Camera Link connector pair for this mode is the left channel O2 / O1, but the other pair (O4 / O3) also outputs all pixel data. The CC signals and SerTC / SerTFG are handled separately per channel. That means for example the trigger source selection (
T) and serial port configuration (s) might need adjustments if O4 / O3 are used. The Bonito CL-400B/C 200fps provides only one channel at the connectors CL1/CL2.
• Mode: Dual channel mode (not for Bonito CL-400B/C
200fps)
• Frame rate: 386 fps
• Line length: 2 x 1160 = 2320 pixels
The image is split vertically into a left and a right half. Each half has a horizontal size of 1160 pixels and is output separately via its own Camera Link 80-bit channel. The left half travels via the left Camera Link channel at the connectors O2 / O1 and the right half travels via O4 /O3 respectively.
• Mode: Dual channel mode (not for Bonito CL-400B/C
200fps)
• Frame rate: 386 fps
• Line length: 2 x 1120 = 2240 pixels
This mode is the same as
S=1, with the difference of a shortened line length. For frame grabber compatibility reasons 40 pixel columns at the left and right side of the full image are dropped so that the line length of each image half is divisible by 16.
Table 23: Camera Link output settings.
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Setting
S=5
S=7
Function
Same as
S=1, but with right image half via O2/O1 and left image half via O4/O3 (if available).
Same as
S=3, but with right image half via O2/O1 and left image half via O4/O3 (if available).
(Others) Reserved for future use.
Table 23: Camera Link output settings.
Trigger source selection (T)
This parameter selects the signal source for triggering and exposure control.
Range
Either
0, 2, 3, or 4
Default
3
Related
Parameter
M
Example
T=2
Select the optocoupler input at pins 10 and 11 of the I/O connector as trigger source
Setting Function
T=0
T=2
T=3
T=4
No input selected.
Optocoupler OK1 at pins 10 and 11 of the control connector.
CC1 at the Camera Link connector O2 or CL1 (default).
CC1 at the Camera Link connector O4.
(Others) Reserved for future use.
Table 24: Trigger source selection (T)
Note
For more information:
see chapter Trigger input (pin 10-11) on page 28
and chapter Trigger inputs (CC1) on page 33.
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Metadata overlay and test image generator (U)
The Bonito can overlay the image’s first pixels with some bytes of metadata, such as a hardware frame counter. The frame counter increments for each image read out from the sensor. This helps to increase system reliability by detecting missing frames on the host system. In dual channel mode (
S=1 or S=3) it can also be used to join the two related image halves because they have the same counter value.
Furthermore, to test the Camera Link cabling and frame grabber operability, a test image generator is available. It forces the camera to output an almost fixed test image containing grey wedges, black and white stripes with various frequencies and edge markers.
Range
Either
0, 1, 10, or 11
Default
0
Related
Parameters
C, D, G, N, and M
Examples
(see settings table below.)
Setting
U=0
U=1
Function
Normal image output.
Enable metadata overlay
The overlay occupies the first (top left) 8 pixels of each frame.
Metadata format for the left Camera Link channel (connectors
O2/O1 or CL1/CL2):
• Pixel offset 0–3 (4 bytes): constant ASCII characters CM4L
• Pixel offset 4–7 (4 bytes): 32-bit frame counter, LSB first
(Intel format)
Metadata format for the right Camera Link channel (connectors
O4/O3):
• Pixel offset 0–3 (4 bytes): constant ASCII characters CM4R
• Pixel offset 4–7 (4 bytes): 32-bit frame counter, LSB first
(Intel format)
U=10
U=11
Enable test image generator. Full test image appears with
N=6BD, I=1, G=0 and D=0.
Enable metadata overlay and test image generator.
(Others) Reserved for future use
Table 25: Trigger source selection (T)
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Note
• The effective image size and also the frame rate depend on the corresponding camera settings such as e.g.
D, N or
M. Edge markers are only fully visible if all 1726 active lines are output.
• The digital gain setting
G also applies to the test image, but the FPN correction
C
is temporary disabled.
Dark value offset (W)
Dark value offset is an 8-bit parameter that is added to the pixel data. It adjusts the dark level and avoids clipping of pixels to black in low-light situations. The eight bits are aligned to the lowest significant bit of the 10-bit raw pixel data from the sensor.
If the digital gain is not active (
G=0), each increment of four increases the output grey level just by one count.
Version information (V)
The command
V displays information about the camera model and firmware version.
>V
Bonito CMOS High-Speed Camera
Version: CMC.040.xx.yy
>
Save parameters (X)
Use the command
X=1 to store all parameter values into the embedded flash memory. After a re-start they are automatically restored.
Note
Acquired FPN correction data is not stored and is, therefore, lost after switch-off.
See chapter Fixed pattern noise (FPN) correction (C) on page
Parameter summary (Y)
The command
Y shows a summary of all current parameter value settings.
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Reset to factory defaults (Z)
The command
Z=1 sets the camera into a factory default state. To save the new parameter configuration, the command
X=1 has to be executed afterwards.
The default settings are:
A=0000
B=0000
C=00
D=00
E=000006BE
F=000006BF
G=00
I=01
J=01
K=A7
M=00
N=06BD
S=00
T=03
U=00
W=18 s=2A
>
Note
The serial interfaces are not reinitialized by
Z=1. The baud rate does not change until re-start of the camera or explicitly writing a new value to the serial interface configuration parameter
s.
Serial number (a)
The camera’s serial number is stored as 16-bit value. Use the command
a to read it.
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Product variant code (b)
The product variant code is a 16-bit number unambiguously identifying the camera variant. Use command b to read it.
b
4001
4002
4010
4011
4012
4020
4021
4022
4030
4031
4032
4100
FFFF
0000
0001
0002
0010
0011
0012
4000
Article number Camera variant
1064000
1064001
1064002
1064010
1064011
1064012
4064000
4064001
4064002
4064010
4064011
4064012
4064020
4064021
4064022
4064030
4064031
4064032
4064100
-
CMC-4000 / C-Mount
CMC-4000 / F-Mount
CMC-4000 / EF-Mount
CMC-4000C / C-Mount
CMC-4000C / F-Mount
CMC-4000C / EF-Mount
Bonito CL-400B
Bonito CL-400B F-Mount
Bonito CL-400B EF-Mount
Bonito CL-400C
Bonito CL-400C F-Mount
Bonito CL-400C EF-Mount
Bonito CL-400B 200fps
Bonito CL-400B F-Mount 200fps
Bonito CL-400B EF-Mount 200fps
Bonito CL-400C 200fps
Bonito CL-400C F-Mount 200fps
Bonito CL-400C EF-Mount 200fps
Bonito CL-400BS
Unknown / test / prototype
Table 26: Product variant code (b)
Serial control interface configuration (s)
Use parameter
s to set up the serial control interface of the camera, such as baud rate, enable state, or echo mode.
Range
From
0 to FFFF.
Since the parameter
s is divided into three different sub-fields (see further below), the following ranges cover all possible uses of this parameter. It is recommended not to use parameters that are outside the defined ranges.
0 to A, 20 to 2A, 40 to 4A, 60 to 6A, 80 to 8A, A0 to AA, C0 to CA, E0 to EA.
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Default
2A (115,200 Baud, additionally activates second channel via Camera Link connector O2, each character received from the host is echoed back to it.)
Related
Three sub-fields are available to control the serial control interface, of the
Bonito CL-400B/C:
• Baud rate of the serial ports
• Echo mode
• Enable state of the serial ports
All of these sub-fields are controlled by the parameter
s, however, each of them works independently from the other sub-fields. The sub-fields are represented by bit groups of different size within the parameter
s.
Bit group Sub-field description x a e
Controls the baud rate of the serial ports.
Controls the enable state of the serial ports.
Controls the echo mode.
Table 27: Attribution of bit groups and sub-fields
F E D C B A 9 8 7 6 5 4 3 2 1 0
e a a x x x x
- rw rw rw rw rw rw rw
Table 28: Order of bit groups within parameter
s
To set a sub-field to a certain value, modify the associated bit group by allocating
s to the appropriate hexadecimal number.
Since all of the sub-fields are set using the parameter
s, it is only possible to set all of them at the same time. The value of
s is calculated as the aggregate sum of the hexadecimal values that are set to each of the three sub-fields.
The table below shows the hexadecimal values that can be set for each sub-field.
To work out the final value for
s, select the usage for each sub-field, then add the corresponding hexadecimal values.
Bit values Settings Weight
(hexadecimal)
Baud rate of the serial ports
xxx-0000 110 Baud *
xxx-0001 300 Baud *
xxx-0010 600 Baud *
0
1
2
Table 29: Baud rate: hexadecimal weights for each setting
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Bit values Settings Weight
(hexadecimal)
xxx-0011 1,200 Baud *
xxx-0100 2,400 Baud *
xxx-0101 4,800 Baud *
* Baud rates up to 4,800 Baud are not available via Camera Link.
3
4
5
xxx-0110 9,600 Baud
xxx-0111 19,200 Baud
xxx-1000 38,400 Baud
xxx-1001 57,600 Baud
xxx-1010 115,200 Baud
Enable state of the serial ports
8
9
6
7
A
0
20
x00-xxxx RS232 via 15-pin D-sub connector only.
x01-xxxx Additionally activates second channel via
Camera Link connector O2.
x10-xxxx Additionally activates second channel via
Camera Link connector O4.
x11-xxxx Additionally activates second channel via
Camera Link connector O2 and O4.
Echo mode
0xx-xxxx Each character received from the host is echoed back to it.
1xx-xxxx No echo
40
60
0
80
Table 29: Baud rate: hexadecimal weights for each setting
Example 1 s=29
(0x29 = bx101001), sets the bit field to „0 0 1 - 1 0 0 1“
• Sets the baud rate to 57,600 Baud (weight =
9)
• Activates second channel via Camera Link connector O2 (weight =
20)
• Each character received from the host is echoed back to it (weight =
0)
Example 2 s=16
(0x16 = bx10110), sets the bit field to „0 0 1 - 0 1 1 0“
• Sets the baud rate to 9,600 Baud (weight =
6)
• Activates second channel via Camera Link connector O2 (weight =
20)
• Each character received from the host is echoed back to it (weight =
0)
Example 3
s=AA
(0xAA = bx10101010), sets the bit field to „1 0 1 - 1 0 1 0“
• Sets the baud rate to 115,200 Baud (weight =
A)
• Activates second channel via Camera Link connector O2 (weight =
20)
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• No echo (weight =
80)
Show Help text (?)
The command
? shows an embedded command reference text at the serial terminal. It lists a short description for each command available in the firmware.
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Bayer filter mosaic pattern
Bayer filter mosaic pattern
The color variants of the Bonito are equipped with a Bayer filter mosaic on the image sensor that is aligned to the top left corner of the sensor as shown in the following pattern:
G R G R
...
B G B G
...
G R G R
...
B G B G
...
... ... ... ... ...
Changing the output mode (parameter
S) does not affect the pattern alignment in the output image. On the other hand, modifying the ROI settings (
A, B, D, I,
N) may lead to misalignments. Observe consistent mapping of even and odd sensor rows to even and odd rows in the output image when changing the ROI settings.
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Appendix
Appendix
Command reference
This chapter describes the general command reference of the
Bonito CL-400B/C firmware. It can be output to the camera’s serial interface by sending the command
?=1.
Bonito CL-400 and CMC-4000 Series Command Reference
===============================================================================
Referenced Firmware...: CMC.040.01.07
Document Version......: 06 / 02.02.2012
(C) Allied Vision Technologies GmbH
General Information
-------------------
Each command consists of a command letter, optionally followed by an equality sign and a parameter value in hexadecimal number representation. The command letter is case sensitive. Hexadecimal values are always upper case and are 1 to
8 digits long. The command is activated by sending a carriage return character
([CR], ASCII character number 0x0D). Serial communication operates in echo mode by default. This means that each character received by the module is echoed back to the PC.
Example (set Baudrate to 115200 Baud, RS-232 only): s=A[CR]
After successful execution of the command, the command prompt character ">" is output. If any error occurred, somewhere previous to the prompt a question mark character "?" is displayed.
To query a parameter value, send the corresponding command letter followed by the equality sign and a question mark character: s=?[CR]
If the intended action does not need any parameter, it is also sufficient - as a shortcut - to send the command letter only, directly followed by [CR].
At the beginning of a command sequence it is good practice to check the serial communication by sending just a [CR] to the camera and verify that the command prompt ">" is returned. There is an input buffer holding a few characters but no hardware handshake. a sequence of commands should not be send to the camera without awaiting the intermediate input prompts. Otherwise the camera’s serial input buffer may overflow.
How to use Help
---------------
To see this help text type the following command:
?[CR]
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Conventions
-----------
<p8> : 8 bits long parameter value (1 to 2 Hex characters)
<p16> : 16 bits long parameter value (1 to 4 Hex characters)
<p32> : 32 bits long parameter value (1 to 8 Hex characters)
<aa**_bcbb> : 8 bits long parameter (resulting in two hex chars)
consisting of bit fields. The function of each bit field is
described, like this:
"aa" : Lower case letters label the bits of interest.
"**" : Reserved, should be written as "0", read undefined.
"_" : Separation character for readability.
"bcbb" : Bit fields may have any length and can be split up.
(*) : Some commands are only accessible in a special password protected
service mode.
Command and Parameter Overview - Service Mode
--------------------------------------------a=<p16> : Set the serial number A and save it to flash. In user mode
read access to this value is available. (*) b=<p16> : Set the product variant code and save it to flash. In user
mode read access to this value is available. (*) c=<p8> : Configure the FPGA with data from the specified file
number. (*) d=<p8> : Delete the file with the specified file number. (*) e=<p8> : Erase the flash. (*)
e=0 : Erase used blocks only.
e=FF : Erase all blocks.
Other Values: Reserved / undefined.
f=<p16> : Write a data byte to an FPGA register. (*)
High Byte : Data value to write, 0 if omitted.
Low Byte : Address of the register.
g=<p16> : Read data bytes from FPGA registers at specified
address. (*)
High Byte : Number of sequential bytes to read. Set the
most significant bit in order to reverse the
byte output order. If high byte is omitted, a
default count value of 1 is assumed.
Low Byte : Base address to read from. On forward byte
order the address is incremented until it
reaches [base]+[count]-1. On reverse byte
order the output starts at [base]+[count]-1
and is decremented down to [base].
l=1 : List contents of the flash file directory. (*) v=<p8> : View contents of the specified file. (*)
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Appendix z=1 : Reload parameters from file. (*)
O=<p8> : File number of the file containing the FPGA configuration
data. (*)
P=1 : Upload a new FPGA configuration file via the serial
interface and store it in the flash memory. After issuing
<CR> a special transfer protocol is processed. A currently
existing file will be overwritten. (*)
Q=<p8> : Upload a general file via the serial interface and store
it in the flash memory using the specified file number.
After issuing <CR> a special transfer protocol is processed.
A currently existing file will be overwritten. (*)
Command and Parameter Overview - User Mode (Lower Case)
------------------------------------------------------p=<p16> : Internal system parameter. Change this setting only if you
know what you are doing!
<ssss_ssss_cccc_cccc>
\_______| \_______|
| +---c: Camera Link clock phase. Modify
| this byte value a few steps up or
| down to optimize the phase of the
| Camera Link clock. It may
| eventually improve data
| transmission reliability with
| long cable runs in some cases.
+-------------s: Internal system parameter. Do not
change this byte at all. To modify
the other bitfield "c" please first
read all bits of p=<p16> from the
camera, modify only the bits of "c"
and write back the complete value
including the "s"-bits unchanged.
s=<p8> : Configure the UART(s) for serial communications. Changes are
activated immediately.
<eaa*_bbbb>
|\| \__|
| | +---b: Baud rate of the main RS-232 UART available
| | at the 15-pin D-sub connector and the second
| | channel UART via Camera Link. The second
| | channel UART supports 9600 to 115200 Baud
| | only (x). Both channels share the same
| | receive buffer and output characters are
| | always sent to both. the two channels
| | are not intended for completely concurrent
| | use.
| | 0 -> 110 Baud.
| | 1 -> 300 Baud.
| | 2 -> 600 Baud.
| | 3 -> 1200 Baud.
| | 4 -> 2400 Baud.
| | 5 -> 4800 Baud.
| | 6 -> 9600 Baud. (x)
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| | 7 -> 19200 Baud. (x)
| | 8 -> 38400 Baud. (x)
| | 9 -> 57600 Baud. (x)
| | A -> 115200 Baud. (x)
| +---------a: Second channel UART port selection.
| 00 -> Second channel UART off.
| 01 -> Activate second channel via Camera
| Link connector O2 (or CL1).
| 10 -> Activate second channel via Camera
| Link connector O4 (if available).
| 11 -> Activate second channel via Camera
| Link connector O2 (or CL1) and O4.
+-----------e: Echo suppression.
0 -> Each character received from the host
is echoed back to it.
1 -> No echo.
Command and Parameter Overview - User Mode (Upper Case)
-------------------------------------------------------
A=<p16> : Start value for line address counter A. It sets the line
address of the image's first line read out from the
image sensor. After processing each line the address is
incremented by the amount specified by I=<p8>. See N=<p16>
for number of lines per image. Valid range 0...6BF (decimal:
0...1727).
B=<p16> : Start value for line address counter B. It sets the line
address of the second ROI's first line read out from the
image sensor. After processing each line the address is
incremented by the amount specified by I=<p8>. See N=<p16>
for number of lines per image. This parameter is only used
in double ROI mode. Please see command D=<p8> for
details. Range 0...6BF (decimal: 0...1727).
C=<p8> : Mode and control of the fixed pattern noise (FPN) correction.
Please note that correction data is volatile and has to
explicitly be acquired at least once after switching on the
camera.
<****_**sm>
||
|+-m: Mode of fixed pattern noise correction.
| 0: No correction is applied.
| 1: Acquire new fixed pattern noise correction
| data and apply it to the image. To
| successfully complete the procedure ensure
| continous image output by e.g. setting
| M=0. For optimum quality please totally
| darken the sensor during data acquisition.
| Avoiding bright light sources might also
| be sufficient, but a residual image may
| occur. Please note that saving the
| correction state with X=<p8> will activate
| the correction at start of the camera
| without correction data. This leads to an
| uncorrected image until new correction
| data has explicitly been reacquired.
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+--s: Suppression of new data acquisition. This bit
is write-only and reads always 0. Write C=3 to
reactivate the fixed pattern noise correction
from the state C=0 without the correction data
being reacquired as C=1 would do.
D=<p8> : Double ROI mode. Can be used to read out two independent
areas of the same size into one output image. This is useful
to gain speed due to dropping unneeded lines between two
areas of interest. Also field separation for interlaced mode
can be obtained. The top half of the output image consists
of the lines A, A+I, A+2*I, ..., A+N*I and the bottom half
consists of the lines B, B+I, B+2*I, ..., B+N*I. the
resulting image size is (N+1)*2. Please see parameters
A=<p16>, B=<p16>, I=<p8> and N=<p16> for more details.
0: Single ROI mode. Image size is (N+1) lines.
1: Double ROI mode. Image size is (N+1)*2 lines.
Parameter B=<p16> specifies the address of the first
line of the second half. Please note that due to the
increased image size (N+1)*2 also the minimum frame
duration increases from (N+1) + 1 to (N+1)*2 + 1.
E=<p32> : Exposure time. The time resolution depends on the prescale
value K=<p16>. Please note that the exposure time is only
active when the trigger mode M=<p8> is set accordingly.
F=<p32> : Frame duration. The time resolution depends on the prescale
value K=<p16>. Please note that the frame duration is only
active when the trigger mode M=<p8> is set accordingly.
G=<p8> : Digital gain.
0: Gain factor 1.
1: Gain factor 2.
2: Gain factor 4.
I=<p8> : Increment value of the line address counters A and B. After
processing each line this value is added to the current line
address. Valid range 1...FF (decimal: 1...255).
J=<p8> : Configuration of synchronization output at pin 6 of the
control connector. This pin delivers RS232 voltage levels
(+/- 6 volts) with a delay of less than 800 ns. The logic is
negative, meaning +6 V = LOW and -6 V = HIGH.
<****_n*ss>
| \|
| +-s: Signal source selection.
| 0: Effective sensor exposure.
| 1: Charge transfer pulse. Active for one line
| duration at the end of exposure, end of
| this pulse marks the end of exposure and
| at the same time start of sensor readout.
| In PIV mode (see M=<p8>) this pulse occurs
| at the exposure end of only the first
| image of each PIV pair.
| 2: Effective sensor readout.
| 3: Exposure phase. Contrary to 0 this setting
| shows the "exposure phase" of the state
| machine and not the effective exposure
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| of the sensor. This allows to synchronize
| external devices even if the sensor is in
| permanent exposure mode. See M=<p8> for
| details about permanent exposure.
+----n: Invert the logic levels of the sync output.
K=<p16> : Timer prescale value. The basic clock frequency of 56 MHz is
divided by the prescale value (K+1) to generate the time base
for exposure time E=<p32> and frame duration F=<p32>. A value
of K=37 (decimal: 55) leads to a timer resolution of 1µs, for
example. To minimize jitter effects it is recommended to set
this value to a multiple of the current line duration, which
is K=A7 for single channel mode (e. g. S=0) or K=53 for
dual channel mode (e. g. S=3).
M=<p8> : Exposure control.
<**ff_*pee>
\| |\|
+ | +-e: Exposure timing mode.
| | 0: Continuous mode. The camera outputs images
| | as fast as possible in a free running
| | mode. The gap between two images is only
| | one line, the total frame duration
| | takes N+2 lines (or (N+1)*2 + 1, if double
| | ROI mode is active). The exposure time is
| | nearly equal to the frame duration.
| | 1: Image on demand mode (IOD). The exposure
| | is directly controlled by an externally
| | applied signal. Use parameter T=<p8> to
| | select the signal source. A rising edge at
| | the corresponding input starts exposure
| | synchronized to the line after the next.
| | If the rising edge occurs during idle (the
| | camera is not transmitting an image), then
| | the jitter is reduced. In this case
| | exposure will start with a constant delay
| | of about two line durations. The following
| | falling edge stops exposure in any case
| | and starts output of the image
| | synchronized to the next line. The next
| | exposure must start later than
| | (N+1)+1 line periods after the previous
| | rising edge. To be safe consider one line
| | jitter reserve, i.e. (N+1)+2. With D=1
| | setting replace the term (N+1) by (N+1)*2.
| | 2: Image on demand mode (IOD) with exposure
| | timer. The exposure time is controlled by
| | the parameter E=<p32>. Each rising edge of
| | an externally applied signal starts the
| | exposure. Use
| | parameter T=<p8> to select the signal
| | source. The next rising edge must
| | arrive later than (N+1)+1 line periods
| | after the previous rising edge. To be safe
| | consider one line jitter reserve, i.e.
| | (N+1)+2. With D=1 setting replace the term
| | (N+1) by (N+1)*2.
| | 3: Image on demand mode (IOD) with exposure
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| | timer and frame duration timer. The
| | exposure time is controlled by the
| | parameter E=<p32>. The frame duration is
| | controlled by the parameter F=<p32>. Start
| | of the exposure can be synchronized to the
| | rising edge of an externally applied
| | signal. Use parameter T=<p8> to select the
| | signal source. Frame duration F=<p32> must
| | not be less than (N+1)+1 line periods
| | after the previous rising edge. To be safe
| | consider one line jitter reserve, i.e.
| | (N+1)+2. In the special case of K=A7 a
| | jitter reserve is not necessary, because
| | timer resolution is exactly one line
| | period. With D=1 setting replace the term
| | (N+1) by (N+1)*2.
| +---p: Particle Image Velocimetry (PIV) mode. If
| enabled, the camera outputs two images per
| trigger event. If not in continuous mode the
| time between two rising edges must exceed
| 1+2*((N+1)+1) line durations. The trigger
| high duration should be less than N+1 line
| durations, but at least 500 ns. After a delay
| of one line duration plus 150 ... 250 ns
| (depending on the used trigger input type) from
| rising edge of the trigger input, the exposure
| of the first PIV image ends and its readout
| process begins. The exposure is permanently
| active in this mode, for a usual PIV
| application the first light strobe can also
| start _before_ the trigger input event. In any
| case it should end a few 100 ns before start of
| readout. After a guard interval of a few 100 ns
| ... 1000 ns the second light strobe may begin.
| The exact position and length of the guard
| interval depends on the allowable crosstalk
| for the application and should be tested
| individually. See J=<p8> for synchronization
| output.
+------f: Exposure feature mode.
0: Standard mode.
1: Enhanced full well (3T) mode. The full
frame shutter is not available in this
mode. Instead, the sensor operates in
rolling shutter mode with an effective
shutter time equaling the frame duration.
a synchronized strobe light is
recommended. Consequently any exposure
time setting, controlled by E=<p32> or by
external signal, is ignored. The light
should flash between two
image readout operations, which may be the
duration of one line at highest possible
frame rate. Decrease the frame rate
accordingly, if longer exposure times are
needed. Use exposure output (opto coupler
at pins 12/13) or sync output (RS232
driver at pin 6) for synchronization.
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2: Permanent exposure mode. Used to maximize
the exposure time. If activated, the
exposure time equals the frame duration.
Consequently any exposure time setting,
controlled by E=<p32> or by external
signal, is ignored.
3: Reserved.
N=<p16> : This parameter sets the number of lines per frame. The
actual line count is N+1, the default of N=6BD results
into 1726 lines. If the double ROI mode is active (D=1)
the actual line count is (N+1)*2. Please consider this in
minimum frame duration calculations for the image on demand
(IOD) mode (see M=<p8>). See also parameters A=<p16>,
B=<p16>, D=<p8> and I=<p8> for more information regarding
sensor line addressing. Valid range 0...6BF (1 to 1728
lines).
S=<p8> : Sensor mode control.
<****_*ccc>
\_|
+-c: Channel mode configuration.
0: Single channel mode (half pixel clock
speed). Full line length of 2320 pixels is
output at the Camera Link connectors O2/O1
(or CL1/CL2). The data is mirrored at
O4/O3 (not available in all variants), but
note that the CC signals and SerTC/SerTFG
are handled separately. e.g. the
trigger source selection (T=<p8>) and
serial port configuration (s=<p8>) might
need adjustments if only the connectors
O4/O3 are connected to a frame grabber.
1: Dual channel mode (full pixel clock
speed). The image is split vertically into
a left and a right half. each half
has a horizontal size of 1160 pixels and
is output separately on its own Camera
Link 10-tap channel. The left half travels
via the left Camera Link channel at the
connectors O2/O1 (or CL1/CL2) and the
right half travels via O4/O3 (not
available in all variants) respectively.
3: Dual channel compatibility mode (full
pixel clock speed). This mode basically is
the same as S=1. For frame grabber
compatibility reasons 40 pixel columns at
the left and right side (of the full
image) are dropped so that the line length
of each half image is divisible by 16.
The effective line length in this mode is
2 x 1120 = 2240 pixels.
5: Same as mode 1, but with right image half
via O2/O1 (or CL1/CL2) and left image half
via O4/O3 (if available).
7: Same as mode 3, but with right image half
via O2/O1 (or CL1/CL2) and left image half
via O4/O3 (if available).
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All other values are reserved.
T=<p8> : Trigger source selection.
0: None.
2: OK1 at control connector.
3: CC1 at O2 connector (or CL1).
4: CC1 at O4 connector (if available).
All other values are reserved.
U=<p8> : Metadata overlay and test image.
<***t_***m>
| |
| +-m: Metadata overlay mode.
| 0: No overlay.
| 1: Show metadata in each frame starting at
| the first pixel of the first line.
+------t: Test image generator.
0: Normal image output.
1: Test image generator is active.
V=1 : Show model and firmware version information. Use V=2 for a
more detailed output.
W=<p8> : Dark value offset. This value is added to the pixel data. It
is used to adjust the dark level and avoid clipping of pixels
to black in low light situations. The eight bits are aligned
to the lowest significant bit of the 10-bit raw pixel data
from the sensor. if the digital gain is not active
(G=0), each increment of four increases the output grey level
just for one count.
X=1 : Store the current parameter configuration to the flash.
Y=1 : Show the current parameter configuration.
Z=1 : Load the factory default parameter configuration. The
saved configuration is only affected if you store the reset
parameter values with X=1 afterwards.
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Index
Index
B
Baud rate of the serial ports ........................ 67
Bayer filter .............................................. 71
C
camera dimensions.................................... 17
camera interfaces...................................... 22
camera I/O connector ................................ 26
Camera Link interface ................................ 30
Camera Link output mode setting ................. 61
CC2 ........................................................ 34
CE .......................................................... 13
CMOS sensor ............................................ 53
Conformity .............................................. 13
Contacting.................................................6
D
Dark value offset ....................................... 65
declaration of conformity ........................... 13
Digital gain.............................................. 44
document history ........................................7
double region of interest mode .................... 41
E
Echo mode............................................... 67
Enable state of the serial ports .................... 67
Exposure control mode............................... 46
Exposure feature mode............................... 59
Exposure output ....................................... 26
Exposure time .......................................... 42
Exposure timing mode................................ 49
External GND............................................ 26
External Power ......................................... 26
F
FCC Class B............................................... 13
Fixed Pattern Noise ................................... 40
FPN ........................................................ 40
Frame duration ......................................... 43
FVAL....................................................... 36
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H
Help text ................................................. 70
I
Image on demand mode (IOD) ..................... 49
I/O connector........................................... 26
L
Legal notice ...............................................2
Line address increment .............................. 44
LVAL....................................................... 36
M
Metadata overlay ...................................... 64
mosaic pattern ......................................... 71
N
Number of lines ........................................ 60
P
Parameter summary................................... 65
Particle Image Velocimetry ......................... 52
PCLK....................................................... 36
PIV mode................................................. 52
PIV mode (bit group p) ............................... 45
Power supply............................................ 26
Primary starting address............................. 39
product variant code.................................. 67
R
Requirements........................................... 22
Reserve control input................................. 34
Reset to factory defaults............................. 66
RoHS (2002/95/EC)................................... 13
S
Save parameters ....................................... 65
Serial interface ......................................... 32
serial I/O................................................. 22
Serial number........................................... 66
SerTC ...................................................... 32
SerTFG .................................................... 32
Show Help text ......................................... 70
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specifications........................................... 14
Spectral sensitivity.................................... 16
styles ..................................................... 10
Support.....................................................6
symbols .................................................. 10
Synchronization output.............................. 45
T
Technical information ..................................6
test image generator ................................. 64
Timer prescaler value ................................. 46
Timing .................................................... 36
Trigger input ............................................ 26
Trigger source selection ............................. 63
V
Version information................................... 65
Index
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