Allied Vision Technologies MF-145B2 Manuel d'instructions Page 1

AVT Marlin Allied Vision Technologies GmbH Taschenweg 2a D-07646 Stadtroda / Germany Technical Manu

Safety instructions 1.1 Environmental conditions Ambient temperature: when camera in use: + 5° C ... + 45° C when being stored : - 10° C ... +

Controlling image capture 9.7 Jitter at start of exposure e following chapter discusses the latency time which exists for all CCD-models when eith

Controlling image capture 9.8 Frame memory and deferred image transport using the deferred image transport feature. eras a ped with 8 MB . The

Controlling image capture 9.8.1 HoldImg mode By setting the HoldImg flag, transport of the image over the 1394 bus is stopped completely. All pture

Controlling image capture The following screenshot displays the sequence of commands nMARLIN Technical ManualPage 103eeded to work with deferred m

Controlling image capture 9.9 Sequence mode Gen ally all AVT Marlin cameras enable certain image settings to be modified on the fly, e.g. gain and

Controlling image capture How is sequence mode implemented? There is a FIFO (first in first out) memory for each of the IIDC v. 1.3 registers list

Controlling image capture The following flow diagram shows how to set up a sequence. Figure 61: Sequence mode flow diagram During sequencing,

Controlling image capture Points to pay attention to when working with a sequence: If more images are recorded than defined in gt se fo la rem

Controlling image capture P oints to pay attention to when changing the parameters:  If the Apply whe tti pare t to d ging seq ence normall

Video formats, modes and bandwidth 10 Video formats, modes and bandwidth for m d ra the IIDC (formerly DCAM) specification. smalle nsor esoluti

Marlin types and highlights 2 Marlin types and highlights With Marlin cameras, entry into the world of digital image processing is simpler and mo

Video formats, modes and bandwidth 10.2 MF-046B/ MF-046C For-mat Mode Resolution 60 fps 30 fps 15 fps 7.5 fps 3.75 fps 1.875 fps 0

Video formats, modes and bandwidth 10.3 MF-080B/ MF-080C (-30 fps) For-mat Mode Resolution 60 fps 30 fps 15 fps 7.5 fps 3.75 fps 1.8

Video formats, modes and bandwidth 10.4 MF-145B/ MF-145C For-mat Mode Resolution 60 fps 30 fps 15 fps 7.5 fps 3.75 fps 1.875 fps 0

Video formats, modes and bandwidth 10.5 MF-131B/ MF-131C For-mat Mode Resolution 60 fps 30 fps 15 fps 7.5 fps 3.75 fps 1.875 fps 0

Video formats, modes and bandwidth 10.6 Area of interest (AOI) The image se as a define lu his indica e u er of lines and pixels per line that th

Video formats, modes and bandwidth  The left position + width and the upper position + height may not exceed the maximum resolution of the sensor

Video formats, modes and bandwidth 10.7 Frame rates e IEEE-1394a bus has very large bandwidth of at least 32 MB/s for transferring (isochronously)

Video formats, modes and bandwidth For-mat Mode Resolution 60 fps 30 fps 15 fps 7.5 fps 3.75 fps 1.875 fps 0 800 x 600 YUV (4:2:2)

Video formats, modes and bandwidth For-mat Mode Resolution 60 fps 30 fps 15 fps 7.5 fps 3.75 fps 1.875 fps 0 1280 x 960 YUV (4:2:2)

Video formats, modes and bandwidth In video Format_7 frame rates are no longer fixed but can be varied dynamically by the parameters described belo

System components 3 System components The following system components are included with each camera:: AVT Marlin 4.5m 1394 standard ca

Video formats, modes and bandwidth 10.7.1 MF-033 Different parameters apply for the different models. µsHEIGHTAOIµHEIGHTAOI 45.3)_ ⋅− sµsµsfpsTTTT

Video formats, modes and bandwidth 10.7.2 MF-046 µsHEIGHTAOIµsHEIGHTAOITTTTfpsScanDumpDummyeTransCh1arg+++=µsµsfps88311++=2.32_15.4)_582( ⋅+⋅−Form

Video formats, modes and bandwidth 10.7.3 MF-080 µsHEIGHTAOIµsHEIGHTAOIµsµsfps48.63_24.8)_779(48.12993.711⋅+⋅−++= Formula 4: Frame rate calculatio

Video formats, modes and bandwidth 10.7.4 MF-080-30 fps µsHEIGHTAOIµsHEIGHTAOIµsµsfpsfpsTTTTScanDumpDummyeTransCh1arg+++=32.42_5.5)_779(32.8696.471

Video formats, modes and bandwidth 10.7.5 MF-145 µsHEIGHTAOIµsHEIGHTAOIµsµsfpsTTTTfpsScanDumpDummyeTransCh3.92_6.19)_1040(28810511arg⋅+⋅−++=+++= F

Video formats, modes and bandwidth 10.7.6 MF-131 This model uses a CMOS sensor with global shutter. As mentioned earlier for the global shutter,

How does bandwidth affect the frame rate? 11 How does bandwidth affect the frame rate? In some modes the IEEE-1394a bus limits the attainable fra

How does bandwidth affect the frame rate? 11.1 Test images The b/w cameras have two test images that look the same. Both images show a gray bar ru

How does bandwidth affect the frame rate? Mono8 (raw data): Figure 66: Bayer-coded test image e color camera outputs Bayer-coded raw data in M

Configuration of the camera 12 Configuration of the camera All camera settings are made by writing specific values into the corresponding registe

System components To demonstrate the properties of the camera, all examples in this manual are based on the “FirePackage” OHCI API software and the

Configuration of the camera Figure 68: Configuration of the camera rogram: T lowing sample code in C shows how ter is for fra format and trigger

Configuration of the camera 12.2 Configuration ROM information in the Configuration ROM d to tify th ies and e address f ration ROM regis s FFFFThe

Configuration of the camera for the unique leaf node as follows: 420h + 000002 * 4 = 428h 8-15 16-23The entry with key 8D in the root directo

Configuration of the camera 448h 40 3C 00 00 info 44Ch 81 00 00 Unit dependent 02 00 00 450h 82 06 Table 69: ConfigRom cont. ally, the e

Configuration of the camera 12.3 Implemented registers T win stanc . Base h. D explanation ound in the third column. 12.3.1 Camera in ialize r

Configuration of the camera Mode _5 ONO8 [5] 1024 x 768 M 00 MONO16 Mode _6 [6] 800 x 6 768 MONO16 Mode _7 [7] 1024 x 1] d (zero

Configuration of the camera 12.3.4 Inquiry register for video fr e rate s am and ba e address Offset Name Field Bit Description 200h V_RATE_I

Configuration of the camera Offset Name Field Bit Description 210h V_RATE_INQ (Format_0, Mode_4) s FrameRate_0 [0] 1.875 fp FrameRate _1

Configuration of the camera Offset Name Field Bit Description 224h V_RA (Format_1, Mode_1) FrameRate_0 [0] TE_INQ Reserved FrameRate _1 [

Configuration of the camera Offset Name Field Bit Description FrameRate _3 [3] 5 f1 ps FrameRate _4 [4] 30 fps FrameRate _5 [5

Specifications 4 Specifications 4.1 MF-033B Specification Image device 1/2 " (diag. 8 mm) type progressive scan SONY IT CCD Effective Pic

Configuration of the camera FrameRate _7 [7] Reserved ] e - [8..31 Reserv d (zero) Offset Name Field Bit Description 248h V_RATE_INQ (Forma

Configuration of the camera FrameRate _2 [2] 7.5 fps FrameRate _3 [3] 15 fps FrameRate _4 [4] 30 fps FrameRate _5 [5] 60 fp

Configuration of the camera 12.3.5 Inquiry register for basic function Offset Name Field Bit Description 400h BASIC_FUNC_INQ Advanced_Feature_

Configuration of the camera White_Shading [14] White_Shading Control Frame_Rate [15] Frame_Rate Control 6..[1 31] Reserved 408h FEAT

Configuration of the camera PIO_C ontrol_Q t offset of e PIO_Control CSR’s from the base address of initial gister space (Vendor unique) 484h ont

Configuration of the camera 12.3.7 Inquiry register for feature elements Register Name Field Bit Description 0xF0F00500 BRIGHTNESS_INQUIRY Pr

Configuration of the camera Offset Name Field Bit Description 530h TRIGGER_INQ Presence_Inq [0] Indicates presence of this feature (read onl

Configuration of the camera value - [2] Reserved One_Push_Inq [3] One Push auto mode Controlled automatically by the camera once) Readout_

Configuration of the camera 610h Cam always 0 era_Power 614h ISO_EN/Continuous_Shot Bit 0: 1 for Cont. Shot; 0 for stop 618h Memory_Save always

Configuration of the camera 12.3.9 Status and control register for feature ntly implemented. If this flag is set, the feature The OnePush feature,

Specifications 4.2 MF-033C Specification Image device 1/2 " (diag. 8 mm) type progressive scan SONY IT CCD Effective Picture Elements 656

Configuration of the camera 12.3.10 Feature control error statu s register Offset Name Notes 640h Feat Erro alwaysure_Control_ r_Status_HI 0

Configuration of the camera 12.4 Advanced res The camera has a variety of extended features goi3. The following chapter ummarizes all ava ced fe

Configuration of the camera 0XF1000400 TRIGGER_DELAY 0XF1000410 MIRROR_IMAGE Marlin/Oscar series only 0XF1000414 MNR 0XF1000510 SOFT_RESET

Configuration of the camera 12.4.1 Version information inquiry The presence of each of the following features can be queried by the “0” bit of the

Configuration of the camera 12.4.2 Advanced feature inquiry Register Name Field Bit Description 0xF1000040 DV_INQ_1 M olution [0] A axRes

Configuration of the camera Register Name Field Bit Description 0xF10002 0 MAX_RESOLU0 TION MaxHeight [0..15] Sensor height (rd only) MaxWi

Configuration of the camera 12.4.5 Extended shutter The exposure time for long-term integration of up to 67 sec can be entered with µs- precision v

Configuration of the camera 12.4.6 Test images icate images are bits “ 1” activa ctivates existing test images. Bits 8-14 ind which test saved

Configuration of the camera 12.4.7 Sequence control It is possible to make certain settings for a sequence of images beforehand by using this regis

Configuration of the camera 12.4.8 Lookup tables (LUT) The LUT_CTRL register activates this feature and enables certain LUTs. The LUT_INFO registe

Specifications 4.3 MF-046B Specification Image device 1/2 " (diag. 8 mm) type progressive scan SONY IT CCD Effective Picture Elements 780

Configuration of the camera 12.4.9 Shading correction Owing to technical circumstances, the interaction of recorded objects with one another, optic

Configuration of the camera Register Name Field Bit Description 0xF1000250 SHDG_CTRL Presence_Inq [0] Indicates presence of this ead featur

Configuration of the camera 12.4.10 Deferred image transport e images indicated by NumOfImages are sent by setting the “SendImage” bit. When “Fas

Configuration of the camera 12.4.12 High dynamic range mode (MF-131B/C only) mode by which various nonlinearity points, the to be compressed into

Configuration of the camera --- [8] LoadData [9] load factory DSNU correction data ta [10] SNU ZeroDa zero Dcorrection data --- [

Configuration of the camera 12.4.14 Input/output pin control All input and output signals running over the HiRose plug are controlled by this regis

Configuration of the camera IO_OUTP_CTRL 1-2 ut and be queried and set a the PinState flag. The Polarity flag determines whether the output is low

Configuration of the camera  Please note that only one edge is delayed.  If IntEna_Out is used to control an exposure, it is possible to have

Configuration of the camera 12.4.1 Auto gain The table below illustrates the advanced auto gain control register. 7 Register Name Field Bit D

Configuration of the camera 12.4.19 Color correction Color correction can also be switched off in YUV mode with the help of the following register.

Specifications 4.4 MF-046C Specification Image device 1/2 " (diag. 8 mm) Type progressive scan SONY IT CCD Effective Picture Elements 780

Configuration of the camera 12.4.22 GPDATA_BUFFER GPDATA_BUFFER is a register that regulates the exchange of data between camera and host for progr

Firmware update 13 Firmware update Firmware updates are possible without opening the camera. You need: • Programming cable E 1000666 • Softwar

Declarations of conformity MARLIN Technical Manual Page 172 14 Declarations of conformity

Declarations of conformity MARLIN Technical ManualPage 173

Declarations of conformity MARLIN Technical Manual Page 174

Declarations of conformity MARLIN Technical ManualPage 175

Declarations of conformity MARLIN Technical Manual Page 176

Declarations of conformity MARLIN Technical ManualPage 177

Declarations of conformity MARLIN Technical Manual Page 178

Declarations of conformity MARLIN Technical ManualPage 179

Specifications 4.5 MF-080B (-30 fps*) Specification Image device 1/3 " (diag. 6 mm) type progressive scan SONY IT CCD Effective Picture El

Declarations of conformity MARLIN Technical Manual Page 180

Declarations of conformity MARLIN Technical ManualPage 181

Index MARLIN Technical Manual Page 182 15 Index Advanced Feature Inquiry 153, 154 Advanced features 143, 149, 151 Area of Interest 104, 114, 1

Index MARLIN Technical ManualPage 183Input/Output pin control 41, 45, 165, 166 Inputs 8, 36, 37, 39, 40, 41, 59, 165 IntEna signal 44, 166 Inte

Specifications 4.6 MF-080C (-30 fps*) Specification Image device 1/3 " (diag. 6 mm) type progressive scan SONY IT CCD Effective Picture El

Before operation We place the highest demands for quality on our cameras. This technical manual is the guide to the installation and setting up of t

Specifications 4.7 MF-145B2 Specification Image device 1/2 " (diag. 8 mm) type progressive scan SONY IT CCD Effective Picture Elements 13

Specifications 4.8 MF-145C2 Specification Image device 1/2 " (diag. 8 mm) Type progressive scan SONY IT CCD Effective Picture Elements 13

Specifications 4.9 F-131B Specification Image device 2/3 " (diag. 11 mm) Type global shutter CMOS sensor Effective Picture Elements 1280

Specifications 4.10 F-131C Specification Image device 2/3 " (diag. 11 mm) Type global shutter CMOS sensor Effective Picture Elements 1280

Specifications 4.11 Spectral sensitivity Figure 2: Spectral sensitivity of MF-033B without cut filter and optics. Figure 3: Spectral sensitivi

Specifications Figure 4: Spectral sensitivity of MF-046B without cut filter and optics. Figure 5: Spectral sensitivity of MF-046C without cut f

Specifications Figure 6: Spectral sensitivity of MF-080B without cut filter and optics Figure 7: Spectral sensitivity of MF-080C without cut f

Specifications Figure 8: Spectral sensitivity of MF-145B2 without cut filter and optics Figure 9: Spectral sensitivity of MF-145C2 without cu

Specifications Figure 10: Spectral sensitivity of MF-131B without cut filter and optics Figure 11: Spectral sensitivity of MF-131C without

Quick start 5 Quick start To attach an IEEE-1394 camera to a PC or laptop, the target machine must be equipped with an EE-1394 port and have the

Safety instructions Allied Vision Technologies GmbH 02/2005 All rights reserved. Managing Director: Mr. Frank Grube Tax-ID: DE 184383113 Copyr

Camera dimensions 6 Camera dimensions 6.1 Marlin standard housing ☺ Figure 13: Camera dimensions Body size: 58 mm x 44 mm x 29 mm

Camera dimensions 6.2 Marlin W90 This version has the sensor tilted by 90 degrees clockwise, so that it views upwards. Figure 14: Marlin W90 M

Camera dimensions 6.3 Marlin W90 S90 This version has the sensor tilted by 90 deg es clockwise, so that it views upwards and additionally rotated

Camera dimensions 6.4 Marlin W270 This version has the sensor tilted by 270 degrees clockwise, so that it views downwards. Consult your dealer, if

Camera dimensions 6.5 Marlin W270 S90 is version has the sensor tilted by 270 degrees clockwise, so that it views downwards. ThAdditionally the s

Camera dimensions 6.6 Tripod adapter Figure 18: Tripod dimensions MARLIN Technical ManualPage 35

Camera interfaces 7 Camera interfaces In addition to the two status LEDs, there are two jacks located at the rear of the camera. The 12-pin HiRos

Camera interfaces 7.2 HiRose jack pin assignment d in addition to providing access to the puts and outputs on the camera, it also provides a seri

Camera interfaces 7.3 Status LEDs On LED ates are displayed via the LED: The green power LED indicates that the camera is being supplied with suffi

Camera interfaces 7.4 Operating the camera: Pow for the camera is supplied either via the FireWire™ CCD models only). er bus or the HiRose cone

Safety instructions Contents 1 Safety instructions ... 9 1.1

Camera interfaces The inputs can be connected directly to +5 V. If a higher voltage is used, an external resistor se @+12 V a 820 Ω and @+24 V a 2

Camera interfaces 7.5.1.1 Triggers All inputs configured as triggers are linked by AND. If several inputs are being used as triggers, a high signa

Camera interfaces 7.5.1.2 Trigger delay Since firmware version 2.03, the cameras feature various ways to delay image capture based on external trig

Camera interfaces Register Name Field Bit Description 0xF0F00834 TRIGGER_DELAY Presence_Inq [0] Presence of this feature: 0:N/A; 1:Availab

Camera interfaces 7.5.2 Outputs n-inverting outputs with open emitters. These are shown in the following oltage 45 V ferent to the AVT Dolphin seri

Camera interfaces IntEna Output polarity FVal Output signalOutput function Busy Outpstateut Opto- coupler iagram e outputs are controlled via tw

Camera interfaces Output mode ID Mode Default 0x00 Off 0x01 Output state follows ‘PinState’ bit 0x02 Integration enable Output 1 0x04

Camera interfaces The following diagram illustrates the dependencies of the various output signals. Figure 26: Output Impulse Diagram  Not

Camera interfaces 7.6 Pixel data Pixel data are transmitted as isochronous data packets in accordance with the 1394 interface described in IIDC v.

Camera interfaces Table 26: Y8 and Y16 format: Source: IIDC v. 1.3 specification Table 27: Da cification ta structure: Source: IIDC v. 1.3 spe M

Safety instructions 8.5 Auto gain ...62

Description of the data path 8 Description of the data path .1 lock diagrams of the cameras The following diagrams illustrate the data flow and t

Description of the data path 8.1.1 Black and white cameras: Figure 27: Block diagram b/w camera MARLIN Technical ManualPage 51

Description of the data path 8.1.2 Color cameras: Figure 28: Bloc iagram color camerak d MARLIN Technical Manual Page 52

Description of the data path 8.2 Sensor The Marlin family is equipped with various sensor types and resolutions. Both CCD and CMOS types are avail

Description of the data path 8.2.1 IBIS5A multiple slope (High Dynamic Range mode) ity. The MF-131 sensor has a high dynamic range of about 60 dB

Description of the data path It is important to notice that pixel signals above the dual slope reset level will be left unaffected The Marlin F131

Description of the data path The figure below, taken from the sensor’s data sheet, illustrates the nonlinear behavior of the Figure 30: IBIS5A nonl

Description of the data path 8.3 White balance color cameras have both manual and automatic white balance. White balance is applied so at non-color

Description of the data path Register Name Field Bit Description 0xF0F0080C WHITE_BALANCE Presence_Inq [0] Presence of this feature: 0: N/A

Description of the data path 8.3.1 One Push automatic white balance is activated by setting the “One Push” bit in the WHITE_BALANCE register (see

Safety instructions 10.7 Frame rates...116 10

Description of the data path Finally, the calculated correction values can be read from the WHITE_BALA8.3.2 Automatic white balance There is also

Description of the data path  If the adjustment fails and the work area siz posit ecome is automatically switched off – make sure to read back the

Description of the data path 8.4 Manual gain As shown in figure 29, all cameras are equipped with a gain setting, allowing the gain to be anually”

Description of the data path value in the value field has to be ignored - [2..4] Reserved One_Push [5] igh to the low: Ready Write: Set B

Description of the data path ON_OFF [6] Write ON or OFF this feature, ON=1 Read: Status of the feature; OFF=0 A_M_MODE [7] Set bit high

Description of the data path 8.6 Setting the brightness (black level or offset) p-m s (@ 8 bit). Increments are in 1/16 LSB (@ 8 bit). MOS-model:

Description of the data path Read: Status of the feature: Bit high: WIP, Bit low: Ready ON_OFF ] OFF this e e; OFF=0 [6 Write ON or feature,

Description of the data path 8.8 Lookup table (LUT) and Gamma function apply it on e individual pixels of an image at run-time. adsheet program. a

Description of the data path  With all CCD models, the user LUT will be overridden when Gamma is enabled.  CMOS models have the gamma function

Description of the data path The table below describes the registers required. Register Name Field Bit Description 0xF1000240 L Pres [0] In

Safety instructions 12.4.23 Soft Reset ... 170 13 Firmwa

Description of the data path 8.9 Shading correction Shading correction is used to compensate for non-homogeneities caused by lighting or optical fo

Description of the data path After this, a search is made for the brightest pixel in the mean value frame. A factor is then lue of the brightest p

Description of the data path The table below describes the registers required. Register Name Field Bit Description 0xF1000250 SHDG_CTRL Pre

Description of the data path The following pictures illustrate the sequence of commands for generating the shading image. The correction sequence

Description of the data path  Shading correction can be combined with the Image mirror, binning and gamma functionality odels on ing shading corre

Description of the data path 8.9.2 Loading a shading image into the camera GPDATA_BUFFER is used to load a shading image into the camera. Because

Description of the data path 8.9.3 Loading a shading image out of the camera GPDATA_BUFFER is used to load a shading image out of the camera. Bec

Description of the data path 8.10 DSNU & blemish correction (MF-131B only) s with a special DSNU reduction function, xtending the shading cor

Description of the data path progress --- [8] LoadData [9] load factory DSNU correction data ZeroData [10] zero DSNU correction data

Description of the data path The effect of the additional blemish correction can be demonstrated with the next screenshot. ot only is the spread no

Safety instructions Conventions used in this manual To give this manual an easily understood layout and to emphasize important information, the f

Description of the data path 8.11 Horizontal mirror function All Marlin cameras are equipped with an electronic mirror functio , which mirrors pi

Description of the data path 8.12 Binning (CCD b/w models) Binning is the process of combining neighboring pixels while being read out from the C

Description of the data path This reduces vertical resolution, depending on the model. _2 to activate vertical binning.  The image appears vertica

Description of the data path 8.13 Sub-sampling (CMOS) A reduction in the number of pixels and thus the amount of data while retaining the origina

Description of the data path Use Format_7 Mode_3 to activate h+v sub-sampling. The different sub-sampling patterns are shown below. Figure 51: H

Description of the data path 8.15 Color interpolation and correction The color sensors capture the color information via so called primary color

Description of the data path 8.15.2 Color correction Color correction is performed on all color CCD models before YUV conversion and mapped via a

Description of the data path 8.16 Serial interface With FW > 2.03, all Marlin cameras are equipped with the SIO (serial input/output) feature as

Description of the data path RD: Get stop bit setting 0: 1; 1: 1.5; 2: 2 - [20..23] Reserved Buffer_Size_Inq [24..31] Buffer Size (RD only)

Description of the data path Read: current status (1: Ignored) 0: no error WR: 0 to clear status [15..31] Reserved - 008h RECEIVE_BUFFER_STATUS

Safety instructions 1 Safety instructions  There are no switches or parts inside the camera that require adjustment. The guarantee becomes void u

Description of the data path Reading data requires the following series of actions: • Query RDRD f g (buffer ready?) and writ f s the RBUF_CNT.

Controlling image capture 9 Controlling image capture The cameras support the SHUTTER_MODES specified in IIDC V1.3. For all models this shutter is

Controlling image capture Trigger_Mode_15 is a bulk trigger, combining one external trigger event with continuous or neshot or multishot internal t

Controlling image capture Trigger_Polarity [7] If Polarity_Inq = 1: W: 0 for low active input; 1 for high active input If Polarity_Inq = 0: R

Controlling image capture 9.1.1 Trigger delay meras feature various ways to elay image capture based on external trigger. CSR at Register F0F00534

Controlling image capture 1: Control with value in the absolute value CSR If this bit= 1 the value in the value field has to be ignored - [2..5]

Controlling image capture 9.2 Exposure time The exposure (shutter) time for continuous mode and Trigger_Mode_0 is based on the following is multip

Controlling image capture 9.3 One-Shot The camera can record an image by setting the “OneShot bit” in the 61Ch register. This bit is e image with

Controlling image capture 9.3.2 End of exposure to first packet on the bus After the exposure, the CCD or CMOS-sensor is read out; some data is w

Controlling image capture Multi-Shot can also be combined with the external trigger in order to grab a certain number of images based on an externa