Allied Vision Technologies F-100B/C fiber, F-032B/C fiber, F-145B/C fiber, F-145B/C-15fps, F-210B/C Technical Manual
...
AVT Pike
Allied Vision Technologies GmbH
Taschenweg 2a
D-07646 Stadtroda / Germany
Technical Manual
V5.0.0
07 May 2010
Legal notice
For customers in the U.S.A.
This equipment has been tested and found to comply with the limits for a Class B digital
device, pursuant to Part 15 of the FCC Rules. These limits are designed to provide reasonable
protection against harmful interference when the equipment is operated in a residential environment. This equipment generates, uses, and can radiate radio frequency energy and, if not
installed and used in accordance with the instruction manual, may cause harmful interference
to radio communications. However there is no guarantee that interferences will not occur in
a particular installation. If the equipment does cause harmful interference to radio or television reception, the user is encouraged to try to correct the interference by one or more of the
following measures:
• Reorient or relocate the receiving antenna.
• Increase the distance between the equipment and the receiver.
• Use a different line outlet for the receiver.
• Consult a radio or TV technician for help.
You are cautioned that any changes or modifications not expressly approved in this manual
could void your authority to operate this equipment. The shielded interface cable recommended in this manual must be used with this equipment in order to comply with the limits
for a computing device pursuant to Subpart B of Part 15 of FCC Rules.
For customers in Canada
This apparatus complies with the Class B limits for radio noise emissions set out in the Radio
Interference Regulations.
Pour utilisateurs au Canada
Cet appareil est conforme aux normes classe B pour bruits radioélectriques, spécifiées dans le
Règlement sur le brouillage radioélectrique.
Life support applications
These products are not designed for use in life support appliances, devices, or systems where
malfunction of these products can reasonably be expected to result in personal injury. Allied
customers using or selling these products for use in such applications do so at their own risk
and agree to fully indemnify Allied for any damages resulting from such improper use or sale.
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The information provided by Allied Vision Technologies is supplied without any guarantees or
warranty whatsoever, be it specific or implicit. Also excluded are all implicit warranties concerning the negotiability, the suitability for specific applications or the non-breaking of laws
and patents. Even if we assume that the information supplied to us is accurate, errors and
inaccuracy may still occur.
Copyright
All texts, pictures and graphics are protected by copyright and other laws protecting intellectual property. It is not permitted to copy or modify them for trade use or transfer, nor may
they be used on web sites.
Allied Vision Technologies GmbH 05/2010
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: info@alliedvisiontec.com
PIKE Technical Manual V5.0.0
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Contents
Contacting Allied Vision Technologies ..................................................11
Introduction ...........................................................................................................12
Document history ......................................................................................................... 12
Manual overview........................................................................................................... 22
Conventions used in this manual..................................................................................... 24
Styles ..................................................................................................................... 24
Symbols .................................................................................................................. 24
More information.......................................................................................................... 25
Before operation .......................................................................................................... 25
PIKE cameras .......................................................................................................27
Conformity ..............................................................................................................29
CE...................................................................................................................... 29
FCC – Class B Device ............................................................................................. 29
FireWire....................................................................................................................30
Overview ..................................................................................................................... 30
Definition ............................................................................................................... 30
IEEE 1394 standards ................................................................................................. 30
Why use FireWire? .................................................................................................... 31
FireWire in detail.......................................................................................................... 31
Serial bus................................................................................................................ 31
FireWire connection capabilities ................................................................................. 33
Capabilities of 1394a (FireWire 400)............................................................................ 33
IIDC V1.3 camera control standards ........................................................................ 33
Capabilities of 1394b (FireWire 800) ........................................................................... 34
IIDC V1.31 camera control standards ...................................................................... 34
Compatibility between 1394a and 1394b...................................................................... 35
Compatibility example .......................................................................................... 35
Image transfer via 1394a and 1394b ........................................................................... 36
1394b bandwidths.................................................................................................... 37
Requirements for PC and 1394b.............................................................................. 37
Requirements for laptop and 1394b ........................................................................ 38
Example1: 1394b bandwidth of PIKE cameras ........................................................... 40
Example 2: More than one PIKE camera at full speed ................................................. 41
FireWire Plug & play capabilities................................................................................. 42
FireWire hot-plug and screw-lock precautions ............................................................... 42
Screw-lock and power supply precautions..................................................................... 43
Operating system support .......................................................................................... 44
Filter and lenses .................................................................................................45
IR cut filter: spectral transmission .................................................................................. 45
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Camera lenses.......................................................................................................... 46
Camera dimensions ..........................................................................................48
Serial numbers for starting new front flange................................................................. 48
PIKE standard housing (2 x 1394b copper) ....................................................................... 49
PIKE (1394b: 1 x GOF, 1 x copper)................................................................................... 50
Tripod adapter ............................................................................................................. 51
Pike W90 (2 x 1394b copper).......................................................................................... 52
Pike W90 (1394b: 1 x GOF, 1 x copper) ............................................................................ 53
Pike W90 S90 (2 x 1394b copper).................................................................................... 54
Pike W90 S90 (1394b: 1 x GOF, 1 x copper) ...................................................................... 55
Pike W270 (2 x 1394b copper)........................................................................................ 56
Pike W270 (1394b: 1 x GOF, 1 x copper)........................................................................... 57
Pike W270 S90 (2 x 1394b copper) .................................................................................. 58
Pike W270 S90 (1394b: 1 x GOF, 1 x copper)..................................................................... 59
Cross section: CS-Mount (only PIKE F-032B/C) .................................................................. 60
Cross section: C-Mount (VGA size filter) ........................................................................... 61
Cross section: C-Mount (large filter) ................................................................................ 62
Adjustment of C-Mount.................................................................................................. 63
Adjustment of F-Mount for Pike F-1100 and Pike F-1600..................................................... 64
F-Mount ...................................................................................................................... 64
Pike F-Mount: standard housing
(2 x 1394b copper)................................................................................................... 65
Pike F-Mount: Tripod adapter ..................................................................................... 66
Pike F-Mount: W270 (2 x 1394b copper) ...................................................................... 67
Cross section: F-Mount .............................................................................................. 68
K-Mount, M39-Mount .................................................................................................... 69
Cross section: M39-Mount.......................................................................................... 69
M42-Mount .................................................................................................................. 70
Pike M42-Mount: standard housing
(2 x 1394b copper)................................................................................................... 70
Pike M42-Mount: Tripod adapter ................................................................................. 71
Pike M42-Mount: W270 (2 x 1394b copper) .................................................................. 72
Cross section: M42-Mount.......................................................................................... 73
M58-Mount .................................................................................................................. 74
Pike M58-Mount: standard housing
(2 x 1394b copper)................................................................................................... 74
Pike M58-Mount: Tripod adapter ................................................................................. 75
Pike M58-Mount: W270 (2 x 1394b copper) .................................................................. 76
Cross section: M58-Mount.......................................................................................... 77
Specifications .......................................................................................................78
PIKE F-032B/C (fiber).................................................................................................... 78
PIKE F-100B/C (fiber).................................................................................................... 80
PIKE F-145B/C (fiber) (-15fps*)...................................................................................... 82
PIKE F-210B/C (fiber).................................................................................................... 84
PIKE F-421B/C (fiber).................................................................................................... 86
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PIKE F-505B/C (fiber).................................................................................................... 88
PIKE F-1100B/C (fiber) .................................................................................................. 90
PIKE F-1600B/C (fiber) .................................................................................................. 92
Spectral sensitivity ....................................................................................................... 94
Camera interfaces ...........................................................................................103
IEEE 1394b port pin assignment ................................................................................... 103
Camera I/O connector pin assignment ........................................................................... 105
Status LEDs................................................................................................................ 106
On LED (green) ...................................................................................................... 106
Status LED............................................................................................................. 106
Control and video data signals...................................................................................... 108
Inputs .................................................................................................................. 108
Triggers............................................................................................................ 108
Input/output pin control......................................................................................... 109
IO_INP_CTRL 1-2 ............................................................................................... 110
Trigger delay ..................................................................................................... 111
Outputs ................................................................................................................ 113
IO_OUTP_CTRL 1-4 ............................................................................................. 114
Output modes.................................................................................................... 115
Pulse-width modulation .......................................................................................... 117
PWM: minimal and maximal periods and frequencies ............................................... 118
PWM: Examples in practice .................................................................................. 119
Pixel data.................................................................................................................. 120
Description of the data path...................................................................... 123
Block diagrams of the cameras ..................................................................................... 123
Black and white cameras ......................................................................................... 123
Color cameras ........................................................................................................ 124
Channel balance ......................................................................................................... 125
Channel adjustment with SmartView (>1.5)................................................................ 125
Dual-tap offset adjustment with SmartView (1.10 or greater).................................... 126
White balance ............................................................................................................ 128
One-push white balance .......................................................................................... 130
Auto white balance (AWB) ..................................................................................... 132
Auto shutter .............................................................................................................. 133
Auto gain .................................................................................................................. 135
Manual gain............................................................................................................... 138
Brightness (black level or offset) .................................................................................. 139
Horizontal mirror function ........................................................................................... 140
Shading correction...................................................................................................... 142
Building shading image in Format_7 modes ............................................................... 142
First example .................................................................................................... 142
Second example................................................................................................. 142
How to store shading image..................................................................................... 143
Automatic generation of correction data.................................................................... 144
Requirements .................................................................................................... 144
Algorithm ......................................................................................................... 144
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Loading a shading image out of the camera ............................................................... 147
Loading a shading image into the camera .................................................................. 148
Look-up table (LUT) and gamma function....................................................................... 149
Loading an LUT into the camera ............................................................................... 151
Binning (only Pike b/w models).................................................................................... 152
2 x / 4 x / 8 x binning ............................................................................................ 152
Vertical binning ..................................................................................................... 153
Horizontal binning ................................................................................................. 155
2 x full binning/4 x full binning/8 x full binning ........................................................ 156
Sub-sampling (PIKE b/w and color) ............................................................................... 157
What is sub-sampling? ............................................................................................ 157
Which PIKE models have sub-sampling? ..................................................................... 157
Description of sub-sampling..................................................................................... 157
Binning and sub-sampling access.................................................................................. 164
Quick parameter change timing modes....................................................................... 166
Why new timing modes?.......................................................................................... 166
Standard Parameter Update Timing .................................................................... 167
New: Quick Format Change Mode (QFCM) ............................................................. 167
How to transfer parameters to the camera.................................................................. 168
Encapsulated Update (begin/end)...................................................................... 168
Parameter-List Update ...................................................................................... 169
Standard Update (IIDC)..................................................................................... 170
Packed 12-Bit Mode................................................................................................... 171
High SNR mode (High Signal Noise Ratio) ...................................................................... 172
Frame memory and deferred image transport................................................................... 173
Deferred image transport......................................................................................... 173
HoldImg mode....................................................................................................... 174
FastCapture mode................................................................................................... 176
Color interpolation (BAYER demosaicing) ....................................................................... 177
Sharpness.................................................................................................................. 178
Hue and saturation ..................................................................................................... 179
Color correction.......................................................................................................... 180
Why color correction? ......................................................................................... 180
Color correction in AVT cameras ........................................................................... 180
Color correction: formula..................................................................................... 180
GretagMacbeth ColorChecker ................................................................................ 180
Changing color correction coefficients .................................................................. 181
Switch color correction on/off ............................................................................. 181
Color conversion (RGB YUV) ..................................................................................... 182
Bulk Trigger............................................................................................................... 182
Level Trigger.............................................................................................................. 182
Serial interface........................................................................................................... 183
Controlling image capture ..........................................................................188
Trigger modi .............................................................................................................. 188
Bulk Trigger (Trigger_Mode_15)................................................................................ 190
Trigger delay ......................................................................................................... 193
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Trigger delay advanced register............................................................................ 194
Debounce.............................................................................................................. 195
Debounce time....................................................................................................... 196
Exposure time (shutter) and offset ................................................................................ 197
Exposure time offset ............................................................................................... 197
Minimum exposure time .......................................................................................... 197
Extended shutter.................................................................................................... 198
One-shot ................................................................................................................... 200
One-shot command on the bus to start of exposure ..................................................... 201
End of exposure to first packet on the bus ................................................................. 202
Multi-shot ................................................................................................................. 203
ISO_Enable / free-run.................................................................................................. 203
Asynchronous broadcast .............................................................................................. 203
Jitter at start of exposure ............................................................................................ 204
Sequence mode .......................................................................................................... 206
How is sequence mode implemented?........................................................................ 207
Setup mode (new for 3.x).................................................................................... 208
Sequence step mode (new for 3.x)........................................................................ 208
SeqMode description .......................................................................................... 209
Sequence repeat counter (new for 3.x) .................................................................. 209
Manual stepping & reset (new for 3.x) .................................................................. 209
Which new sequence mode features are available?....................................................... 211
Setup mode....................................................................................................... 211
I/O controlled sequence stepping mode.............................................................. 211
I/O controlled sequence pointer reset ................................................................ 212
I/O controlled sequence stepping mode and I/O controlled sequence pointer reset via
software command ............................................................................................. 212
Points to pay attention to when working with a sequence ............................................ 212
Changing the parameters within a sequence ............................................................... 214
Points to pay attention to when changing the parameters............................................ 214
Secure image signature (SIS): definition and scenarios .................................................... 215
SIS: Definition....................................................................................................... 215
SIS: Scenarios........................................................................................................ 215
Smear reduction ......................................................................................................... 217
Smear reduction: definition ..................................................................................... 217
Smear reduction: how it works ................................................................................. 217
Smear reduction: switch on/off in register and SmartView ............................................ 217
Video formats, modes and bandwidth .................................................218
PIKE F-032B / PIKE F-032C........................................................................................... 219
PIKE F-100B / PIKE F-100C........................................................................................... 221
PIKE F-145B / PIKE F-145C (-15 fps**) .......................................................................... 223
PIKE F-210B / PIKE F-210C........................................................................................... 225
PIKE F-421B / PIKE F-421C........................................................................................... 227
PIKE F-505B / PIKE F-505C........................................................................................... 229
PIKE F-1100B / PIKE F-1100C ....................................................................................... 231
PIKE F-1600B / PIKE F-1600C ....................................................................................... 233
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Area of interest (AOI) ................................................................................................. 235
Autofunction AOI ................................................................................................... 237
Frame rates................................................................................................................ 238
Frame rates Format_7 ............................................................................................. 242
PIKE F-032: AOI frame rates..................................................................................... 243
PIKE F-100: AOI frame rates..................................................................................... 244
PIKE F-145: AOI frame rates (no sub-sampling)........................................................... 245
PIKE F-145: AOI frame rates (sub-sampling) ............................................................... 246
PIKE F-145-15fps: AOI frame rates (no sub-sampl.) ..................................................... 247
PIKE F-145-15fps: AOI frame rates (sub-sampl.).......................................................... 248
PIKE F-210: AOI frame rates (no sub-sampling)........................................................... 249
PIKE F-210: AOI frame rates (sub-sampling) ............................................................... 250
PIKE F-421: AOI frame rates..................................................................................... 251
PIKE F-505: AOI frame rates..................................................................................... 252
AOI frame rates with max. BPP = 8192 .................................................................. 252
AOI frame rates with max. BPP = 11000 ................................................................ 253
PIKE F-1100: AOI frame rates ................................................................................... 254
Pike F-1100: frame rate formula single-tap ............................................................ 254
AOI frame rates maxBPP=8192, single-tap, no sub-sampling..................................... 254
AOI frame rates maxBPP=8192, single-tap, sub-sampling ......................................... 255
Pike F-1100: frame rate formula dual-tap............................................................... 256
AOI frame rates maxBPP=8192, dual-tap, no sub-sampling ....................................... 256
AOI frame rates maxBPP=8192, dual-tap, sub-sampling ........................................... 257
AOI frame rates maxBPP=11000, single-tap, no sub-sampl. ...................................... 258
AOI frame rates maxBPP=11000, single-tap, sub-sampl............................................ 259
AOI frame rates maxBPP=11000, dual-tap, no sub-sampl.......................................... 260
AOI frame rates maxBPP=11000, dual-tap, sub-sampl. ............................................. 261
PIKE F-1600: AOI frame rates ................................................................................... 262
Pike F-1600: frame rate formula single-tap ............................................................ 262
AOI frame rates maxBPP=8192, single-tap, no sub-sampling..................................... 262
AOI frame rates maxBPP=8192, single-tap, sub-sampling ......................................... 263
Pike F-1600: frame rate formula dual-tap............................................................... 264
AOI frame rates maxBPP=8192, dual-tap, no sub-sampling ....................................... 264
AOI frame rates maxBPP=8192, dual-tap, sub-sampling ........................................... 265
AOI frame rates maxBPP=11000, single-tap, no sub-sampl. ...................................... 266
AOI frame rates maxBPP=11000, single-tap, sub-sampling ....................................... 267
AOI frame rates maxBPP=11000, dual-tap, no sub-sampling ..................................... 268
AOI frame rates maxBPP=11000, dual-tap, sub-sampling.......................................... 269
How does bandwidth affect the frame rate? ...................................270
Example formula for the b/w camera..................................................................... 271
Test images ............................................................................................................... 272
Loading test images ............................................................................................... 272
Test images for b/w cameras.................................................................................... 272
Test images for color cameras .................................................................................. 273
YUV4:2:2 mode.................................................................................................. 273
Mono8 (raw data) .............................................................................................. 273
Configuration of the camera......................................................................274
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Camera_Status_Register............................................................................................... 274
Example................................................................................................................ 275
Sample program ..................................................................................................... 278
Example FireGrab ............................................................................................... 278
Example FireStack API ........................................................................................ 279
Configuration ROM...................................................................................................... 280
Implemented registers................................................................................................. 283
Camera initialize register......................................................................................... 283
Inquiry register for video format............................................................................... 283
Inquiry register for video mode ................................................................................ 284
Inquiry register for video frame rate and base address ................................................. 285
Inquiry register for basic function............................................................................. 294
Inquiry register for feature presence ......................................................................... 295
Inquiry register for feature elements ......................................................................... 297
Inquiry register for absolute value CSR offset address .................................................. 300
Status and control register for feature....................................................................... 301
Feature control error status register .......................................................................... 305
Video mode control and status registers for Format_7.................................................. 305
Quadlet offset Format_7 Mode_0 .......................................................................... 305
Quadlet offset Format_7 Mode_1 .......................................................................... 305
Format_7 control and status register (CSR) ............................................................ 305
Advanced features ...................................................................................................... 307
Extended version information register ....................................................................... 311
Advanced feature inquiry......................................................................................... 313
Camera status ........................................................................................................ 315
Maximum resolution ............................................................................................... 316
Time base ............................................................................................................. 316
Extended shutter.................................................................................................... 318
Test images ........................................................................................................... 319
Look-up tables (LUT) .............................................................................................. 320
Loading a look-up table into the camera ............................................................... 321
Shading correction ................................................................................................. 322
Reading or writing shading image from/into the camera .......................................... 324
Automatic generation of a shading image.............................................................. 324
Non-volatile memory operations........................................................................... 324
Memory channel error codes ................................................................................ 325
Deferred image transport......................................................................................... 326
Frame information.................................................................................................. 327
Input/output pin control......................................................................................... 327
Delayed Integration enable...................................................................................... 328
Auto shutter control ............................................................................................... 329
Auto gain control................................................................................................... 330
Autofunction AOI ................................................................................................... 331
Color correction ..................................................................................................... 332
Trigger delay ......................................................................................................... 333
Mirror image.......................................................................................................... 333
AFE channel compensation (channel balance)............................................................. 334
Dual-tap offset adjustment ...................................................................................... 334
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Soft reset.............................................................................................................. 335
High SNR mode (High Signal Noise Ratio) .................................................................. 336
Maximum ISO packet size ........................................................................................ 337
Quick parameter change timing modes ...................................................................... 339
Standard Parameter Update Timing .................................................................... 339
Quick Format Change Mode................................................................................ 339
Automatic reset of the UpdActive flag................................................................... 340
Low-noise binning mode (only 2 x H-binning) ............................................................ 340
Software feature control (disable LEDs / switch single-tap and dual-tap) ........................ 341
Disable LEDs...................................................................................................... 341
Sensor digitization taps (Pike F-1100/1600 only)........................................................ 342
Parameter-List Update ............................................................................................ 343
Format_7 mode mapping ......................................................................................... 344
Example ........................................................................................................... 345
Secure image signature (SIS) ................................................................................... 346
Advanced register: SIS........................................................................................ 346
Advanced register: frame counter ......................................................................... 348
Advanced register: trigger counter........................................................................ 349
Where to find time stamp, frame counter and trigger counter in the image................. 350
Where to find all SIS values in the image .............................................................. 350
Smear reduction..................................................................................................... 351
User profiles.......................................................................................................... 352
Error codes ....................................................................................................... 353
Reset of error codes ........................................................................................... 353
Stored settings .................................................................................................. 354
Frame time control ................................................................................................. 355
GPDATA_BUFFER..................................................................................................... 357
Little endian vs. big endian byte order.................................................................. 357
User adjustable gain references ................................................................................ 358
Firmware update............................................................................................... 359
Extended version number (FPGA/µC).............................................................................. 359
Appendix................................................................................................................361
Sensor position accuracy of AVT cameras........................................................................ 361
Index......................................................................................................................... 362
PIKE Technical Manual V5.0.0
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Contacting Allied Vision Technologies
Contacting Allied Vision Technologies
Info
• Technical information:
http://www.alliedvisiontec.com
• Support:
support@alliedvisiontec.com
Allied Vision Technologies GmbH (Headquarters)
Taschenweg 2a
07646 Stadtroda, Germany
Tel.: +49.36428.677-0
Fax.: +49.36428.677-28
e-mail: info@alliedvisiontec.com
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: info@alliedvisiontec.com
Allied Vision Technologies Inc.
38 Washington Street
Newburyport, MA 01950, USA
Toll Free number +1-877-USA-1394
Tel.: +1.978.2252030
Fax: +1.978.2252029
e-mail: info@alliedvisiontec.com
PIKE Technical Manual V5.0.0
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Introduction
Introduction
Document history
Version Date Remarks
V2.0.0 07.07.2006 New Manual - RELEASE status
PRE_V3.0.0 22.09.2006 Minor corrections
Added Pike F-145
Pike F-210 AOI frame rates corrected: Chapter PIKE F-210: AOI
frame rates (no sub-sampling) on page 249
New advanced registers: Chapter Advanced features on page
307
V3.0.1 29.09.2006 Minor corrections
V3.1.0 13.02.2007 Changed camera status register (Table 146: Advanced register:
Camera status on page 315)
Added description for the following mode Output state follows
PinState bit (Table 32: Output routing on page 115)
Added M39-Mount for Pike F-201 and F-421 (Chapter F-Mount
on page 64)
to be continued on next page
Table 1: Document history
PIKE Technical Manual V5.0.0
12
Introduction
Version Date Remarks
continued from last page
V3.2.0 22.08.2007 Minor corrections
Added CE in Chapter Conformity on page 29.
Added Value field in Table 40: CSR: Shutter on page 134.
Added Chapter Cross section: CS-Mount (only PIKE F-032B/C)
on page 60.
Added detailed description of BRIGHTNESS (800h) in Table 139:
Feature control register on page 301
Added detailed description of WHITE-BALANCE (80Ch) in Table
139: Feature control register on page 301 et seq.
Added Appendix, Chapter Sensor position accuracy of AVT cam-
eras on page 361.
Added new frame rates in Chapter Specifications on page 78
Added new AOI frame rates and diagrams in Chapter Frame rates
Format_7 on page 242
New minimum shutter speeds for each of the Pike cameras in
Chapter Specifications on page 78 and the following
Added new features of PIKE update round:
• SIS: see Chapter Secure image signature (SIS): definition
and scenarios on page 215
• Sequence mode: see Chapter Sequence mode on page 206
• Smear reduction
see Chapter Smear reduction on page 217
• 4 x / 8 x binning and sub-sampling modes
see Chapter Binning (only Pike b/w models) on page 152
see Chapter Sub-sampling (PIKE b/w and color) on page
157
see Chapter Binning and sub-sampling access on page
164
• Quick mode for format changes
see Chapter Quick parameter change timing modes on
page 166
• Speed increase mode (Packed 12-bit Mode)
Chapter Packed 12-Bit Mode on page 171
• CS-Mount (only for PIKE F-032)
Chapter PIKE F-032B/C (fiber) on page 78 and Chapter
Cross section: CS-Mount (only PIKE F-032B/C) on page 60
to be continued on next page
Table 1: Document history
PIKE Technical Manual V5.0.0
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Introduction
Version Date Remarks
continued from last page
V4.0.0 15.01.2008 Added 15fps versions of PIKE F-145 at Table 144: Camera type
ID list on page 312
Added VERSION_INFO1_EX, VERSION_INFO3_EX and description
at Table 143: Advanced register: Extended version information
on page 311
Revised Chapter Secure image signature (SIS) on page 346
Added detailed description to register 0xF10000570
PARAMUPD_TIMING (how to switch on Quick Format Change
Mode) see Chapter Quick parameter change timing modes on
page 339
Added Chapter PIKE F-505B/C (fiber) on page 88.
Added Chapter PIKE F-505B / PIKE F-505C on page 229.
Revised description of C-Mount adjustment in Chapter Adjust-
ment of C-Mount on page 63.
Moved AVT Glossary from Appendix of PIKE Technical Manual to
AVT Website.
Revised PIKE F-505B/C data.
Corrected binning (only b/w cameras) and added Format_IDs
in Figure 96: Mapping of possible Format_7 modes to
F7M1...F7M7 on page 165.
to be continued on next page
Table 1: Document history
PIKE Technical Manual V5.0.0
14
Introduction
Version Date Remarks
continued from last page
V4.1.0 20.08.08 Added PIKE F-505 to Chapter Index on page 362
Revised formulas by adding some units in Chapter How does
bandwidth affect the frame rate? on page 270
Corrected Table 164: Advanced register: Channel balance on
page 334
Added Max IsoSize Bit [1] to register 0xF1000048 ADV_INQ_3
in Table 145: Advanced register: Advanced feature inquiry on
page 313f.
Added Chapter Maximum ISO packet size on page 337 (useful
for PIKE F-505 for higher frame rates)
Corrected Figure 97: Former standard timing on page 166
Added photos of 1394b locking connectors and 1394a Molex
clamp locking (aka Interlock) connectors in Chapter 1394a and
1394b cameras and compatibility on page 35.
Added recommendation to use PCI-X (64 bit) or PCI Express
adapter in Chapter Maximum ISO packet size on page 337.
Corrected frame rate formula in Chapter High SNR mode (High
Signal Noise Ratio) on page 172.
Corrected binning order in Chapter 2 x full binning/4 x full bin-
ning/8 x full binning on page 156.
Added block diagram of modern PC (X38 chipset by INTEL) in
Figure 5: Block diagram of modern PC (X38 chipset by INTEL)
on page 39
Revised FireWire hot-plug precautions and added screw-lock
precautions in Chapter FireWire hot-plug and screw-lock pre-
cautions on page 42
Added images of FireWire locking cables in Figure 4: 1394a and
1394b cameras and compatibility on page 35
Added list of available FireWire screw lock cables in Table 4:
1394 locking cables on page 35
Corrected CAD drawing in Figure 14: Pike W90 S90 (2 x 1394b
copper) on page 54
Changed provisions directive to 2004/108/EG in Chapter Con-
formity on page 29
Corrected diag. (16.3 mm) of KAI2093 in Table 18: Specifica-
tion PIKE F-210B/C (fiber) on page 84
to be continued on next page
Table 1: Document history
PIKE Technical Manual V5.0.0
15
Introduction
Version Date Remarks
continued from last page
V4.1.0
[continued]
20.08.08
[continued]
Restructuring of Pike Technical Manual:
Added Chapter Contacting Allied Vision Technologies on page
11
Added Chapter Manual overview on page 22
Restructured Chapter Pike types and highlights to Chapter PIKE
cameras on page 27.
Infos from Pike camera types table moved to Chapter Specifica-
tions on page 78
Safety instructions moved to Hardware Installation Guide, Chapter Safety instructions and AVT camera cleaning instructions
Environmental conditions moved to Pike Instruction Leaflet
Infos on CS-/C-Mounting moved to Hardware Installation
Guide, Chapter Changing filters safety instructions
Infos on System components and Environmental conditions
moved to Pike Instruction Leaflet
Infos on IR cut filter and Lenses moved to Chapter Filter and
lenses on page 45
Moved binning explanation from Chapter Specifications on
page 78 to Chapter Video formats, modes and bandwidth on
page 218
Binning / sub-sampling modes and color modes are only listed
in Chapter Video formats, modes and bandwidth on page 218
Moved detailed description of the camera interfaces (FireWire,
I/O connector), ordering numbers and operating instructions
to the Hardware Installation Guide.
Revised Chapter Description of the data path on page 123
Revised Chapter Controlling image capture on page 188; User
profiles are only described in Chapter User profiles on page 352
Revised Chapter Video formats, modes and bandwidth on page
218
Revised Chapter How does bandwidth affect the frame rate? on
page 270
[to be continued]
to be continued on next page
Table 1: Document history
PIKE Technical Manual V5.0.0
16
Introduction
Version Date Remarks
continued from last page
V4.1.0
[continued]
20.08.08
[continued]
[continued: Restructuring of Pike Technical Manual:]
Revised Chapter Configuration of the camera on page 274
Revised Chapter Firmware update on page 359
Added Chapter Sensor position accuracy of AVT cameras on
page 361
Revised Chapter Index on page 362
Corrected for all Pike cameras: 16 user-defined LUTs in Chapter
Specifications on page 78ff.
Added cross-reference from upload LUT to GPDATA_BUFFER in
Chapter Loading an LUT into the camera on page 151.
Added cross-reference from upload/download shading image
to GPDATA_BUFFER in:
Chapter Loading a shading image out of the camera on page
147
Chapter Loading a shading image into the camera on page 148
Added PIKE F-505 as it uses different BAYER pattern (first pixel
of the sensor is RED) in Chapter Color interpolation (BAYER
demosaicing) on page 177
Added detailed level values of I/Os in Chapter Camera I/O con-
nector pin assignment on page 105.
Added RoHS in Chapter Conformity on page 29
Added little endian vs. big endian byte order in Chapter
GPDATA_BUFFER on page 357
PIKE update firmware round:
Gain references: see Chapter User adjustable gain references on
page 358
Low-noise binning mode for 2 x horizontal binning: see Chapter
Low-noise binning mode (only 2 x H-binning) on page 340
New photo of LED positions in Figure 55: Position of status
LEDs on page 106
V4.2.0 01.09.08 New default gain references for Pike F-505B/C in Table 190:
Default gain references of Pike models on page 358
to be continued on next page
Table 1: Document history
PIKE Technical Manual V5.0.0
17
Introduction
Version Date Remarks
continued from last page
V4.3.0 23.04.09 Pike F-100B: new Quantum efficiency diagram in Figure 39:
Spectral sensitivity of Pike F-100B on page 96
All advanced registers in 8-digit format beginning with 0xF1...
in Chapter Advanced features on page 307ff. and in Table 173:
Advanced register: Parameter-List Update: parameter list on
page 343
Corrected Pike cameras with small (VGA size) and large filter in
Chapter Cross section: C-Mount (VGA size filter) on page 61 and
Chapter Cross section: C-Mount (large filter) on page 62
SEQUENCE_RESET register moved to SEQUENCE_STEP register
(0xF1000228) in SEQUENCE_STEP on page 208 and in
SEQUENCE_STEP on page 307.
Revised Chapter White balance on page 128ff.
New sensor for Pike F-421B/C in Table 3: PIKE camera types on
page 28 and in Table 19: Specification PIKE F-421B/C (fiber)
on page 86.
Calculated effective chip size for all sensors (with resolution
of Format_7 Mode_0) in Chapter Specifications on page 78ff.
Pike F-210B/C shows no speed increase using sub-sampling:
see Chapter PIKE F-210: AOI frame rates (sub-sampling) on
page 250
to be continued on next page
Table 1: Document history
PIKE Technical Manual V5.0.0
18
Introduction
Version Date Remarks
continued from last page
V4.4.0 28.09.09 Added notice to description of non-volatile storage of shading
image in Note on page 145.
Corrected drawing in Figure 144: Delayed integration timing on
page 328
Corrected Format_7 Mode_5 (640 x 240) in Table 76: Video
Format_7 default modes PIKE F-032B / PIKE F-032C on page
220.
Added Raw12 to Pike F-032C and corrected some frame rates in
Table 76: Video Format_7 default modes PIKE F-032B / PIKE F032C on page 220f.
New dual-tap offset adjustment for Pike F-032/210/421/505:
• See 0xF1000430 on page 309
• See Table 165: Advanced register: Dual-tap offset adjust-
ment on page 334
• See Chapter Dual-tap offset adjustment with SmartView
(1.10 or greater) on page 126
• Revised Chapter Conformity on page 29.
New Pike front flange:
• Title page: new photo and Figure 23: Back focus adjust-
ment on page 63: new Pike drawing
• New CAD drawings:
–Chapter Camera dimensions on page 48ff.
– Figure 23: Back focus adjustment on page 63 (adjust-
ing C-Mount via both screws on top (middle) and right
sight of the housing
Added PWM feature:
• Added PWM feature in IO_OUTP_CTRL 1-4 on page 114ff.
• Added PWMCapable in Register 0xF1000320 in Table 31:
Advanced register: Output control on page 114
• Added ID 0x09 in Table 32: Output routing on page 115
• Added Chapter Pulse-width modulation on page 117ff.
• Added Table 33: PWM configuration registers on page 117
• Added PWM in Table 145: Advanced register: Advanced
feature inquiry on page 313f.
• Added PWM in Table 142: Advanced registers summary on
page 307ff.
to be continued on next page
Table 1: Document history
PIKE Technical Manual V5.0.0
19
Introduction
Version Date Remarks
continued from last page
V4.4.0
[continued]
28.09.09
[continued]
• All Pike models: added input debounce feature:
– Advanced register summary 0xF1000840 on page 310
– Advanced register summary 0xF1000850 on page 310
– Advanced register summary 0xF1000860 on page 310
– Advanced register summary 0xF1000870 on page 310
–Chapter Debounce on page 195f.
–Chapter Debounce time on page 196
– Table 63: Advanced register: Debounce time for input
ports on page 196
• All Pike models: added Frame time control feature:
– Table 142: Advanced registers summary on page 307ff.
–Chapter Frame time control on page 355
V5.0.0 07.05.10 New Pike F-1100 and Pike F-1600 models:
• Figure 49: Spectral sensitivity of Pike F-1100B on page
101
• Figure 50: Spectral sensitivity of Pike F-1100C on page
101
• Figure 51: Spectral sensitivity of Pike F-1600B on page
102
• Figure 52: Spectral sensitivity of Pike F-1600C on page
102
•Chapter PIKE F-1100B/C (fiber) on page 90f.
•Chapter PIKE F-1600B/C (fiber) on page 92f.
•Chapter Dual-tap offset adjustment with SmartView (1.10
or greater) on page 126ff. and Chapter Dual-tap offset
adjustment on page 334
•Chapter Adjustment of F-Mount for Pike F-1100 and Pike
F-1600 on page 64
•Chapter F-Mount on page 64ff.
•Chapter Pike F-Mount: standard housing (2 x 1394b cop-
per) on page 65
•Chapter Pike F-Mount: Tripod adapter on page 66
•Chapter Pike F-Mount: W270 (2 x 1394b copper) on page
67
•Chapter Cross section: F-Mount on page 68
•Chapter Frame time control on page 355
•Chapter Sensor digitization taps (Pike F-1100/1600 only)
on page 342
to be continued on next page
Table 1: Document history
PIKE Technical Manual V5.0.0
20
Introduction
Version Date Remarks
continued from last page
V5.0.0
[continued]
07.05.10
[continued]
[continued]
New Pike F-1100 and Pike F-1600 models:
•Chapter F-Mount on page 64ff.
•Chapter M42-Mount on page 70ff.
•Chapter M58-Mount on page 74ff.
•Chapter Exposure time offset on page 197
•Chapter Minimum exposure time on page 197
• Figure 107: Data flow and timing after end of exposure on
page 202
• Table 70: Jitter at exposure start (no binning, no sub-
sampling) on page 205
• Table 190: Default gain references of Pike models on page
358
•Chapter Software feature control (disable LEDs / switch
single-tap and dual-tap) on page 341
•Chapter PIKE F-1100B / PIKE F-1100C on page 231
•Chapter PIKE F-1600B / PIKE F-1600C on page 233
•Chapter PIKE F-1100: AOI frame rates on page 254ff.
•Chapter PIKE F-1600: AOI frame rates on page 262ff.
New Pike front flange:
• Serial numbers for Pike camera models starting new front
flange: Chapter Serial numbers for starting new front
flange on page 48
• Added photo of Pike 11M/16M on title page
Minor corrections and improvements:
• Improved description on low noise binning: Chapter Low-
noise binning mode (only 2 x H-binning) on page 340
• Corrected MaxValue from [0..31] to [6..31] in Table 158:
Advanced register: Auto shutter control on page 329
• Corrected: Pike F-145C has Raw12 formats (F7M0, F7M4,
F7M5, F7M6) in Table 80: Video Format_7 default modes
Pike F-145B / F-145C on page 224
• Improved description of debounce feature in Chapter
Debounce on page 195
New storage temperature:
• 70 °C, see Chapter Specifications on page 78ff.
to be continued on next page
Table 1: Document history
PIKE Technical Manual V5.0.0
21
Introduction
Version Date Remarks
continued from last page
V5.0.0
[continued]
07.05.10
[continued]
New links to the new AVT website:
•Chapter Contacting Allied Vision Technologies on page 11
New measured sensitivity curves:
•Chapter Spectral sensitivity on page 94ff.
Added new CAD drawings for W90S90 and W270S90:
•Chapter Pike W90 S90 (2 x 1394b copper) on page 54
•Chapter Pike W270 S90 (2 x 1394b copper) on page 58
•Chapter Pike W90 S90 (1394b: 1 x GOF, 1 x copper) on
page 55
•Chapter Pike W270 S90 (1394b: 1 x GOF, 1 x copper) on
page 59
Added more information on operating system support
(Windows XP SP3, Vista SP2, Windows 7):
• Chapter Operating system support on page 44
Changed sensitivity curves for PIKE F-421B/C from Kodak
KAI 4021 to Kodak KAI 4022:
• Figure 45: Spectral sensitivity of Pike F-421B on page 99
• Figure 46: Spectral sensitivity of Pike F-421C on page 99
Manual overview
This manual overview describes each chapter of this manual shortly.
•Chapter Contacting Allied Vision Technologies on page 11 lists AVT con-
tact data for both:
– Technical information / ordering
– Commercial information
•Chapter Introduction on page 12 (this chapter) gives you the document
history, a manual overview and conventions used in this manual (styles
and symbols). Furthermore you learn how to get more information on
how to install hardware (Hardware Installation Guide), available AVT
software (incl. documentation) and where to get it.
•Chapter PIKE cameras on page 27 gives you a short introduction to the
STINGRAY cameras with their FireWire technology. Links are provided to
data sheets and brochures on AVT website.
•Chapter Conformity on page 29 gives you information about conformity
of AVT cameras.
Table 1: Document history
PIKE Technical Manual V5.0.0
22
Introduction
•Chapter FireWire on page 30 describes the FireWire standard in detail,
explains the compatibility between 1394a and 1394b and explains
bandwidth details (incl. Pike examples).
– Read and follow the FireWire hot-plug and screw-lock precau-
tions in Chapter FireWire hot-plug and screw-lock precautions on
page 42.
–Read Chapter Operating system support on page 44.
•Chapter Filter and lenses on page 45 describes the IR cut filter and suit-
able camera lenses.
•Chapter Specifications on page 78 lists camera details and spectral sen-
sitivity diagrams for each camera type.
•Chapter Camera dimensions on page 48 provides CAD drawings of stan-
dard housing (copper and GOF) models, tripod adapter, available angled
head models, cross sections of CS-Mount and C-Mount.
•Chapter Camera interfaces on page 103 describes in detail the inputs/
outputs of the cameras (incl. Trigger features). For a general description
of the interfaces (FireWire and I/O connector) see Hardware Installa-
tion Guide.
•Chapter Description of the data path on page 123 describes in detail
IIDC conform as well as AVT-specific camera features.
•Chapter Controlling image capture on page 188 describes trigger modi,
exposure time, one-shot/multi-shot/ISO_Enable features. Additionally
special AVT features are described: sequence mode and secure image
signature (SIS).
•Chapter Video formats, modes and bandwidth on page 218 lists all avail-
able fixed and Format_7 modes (incl. color modes, frame rates, binning/
sub-sampling, AOI=area of interest).
•Chapter How does bandwidth affect the frame rate? on page 270 gives
some considerations on bandwidth details.
•Chapter Configuration of the camera on page 274 lists standard and
advanced register descriptions of all camera features.
•Chapter Firmware update on page 359 explains where to get information
on firmware updates and explains the extended version number scheme
of FPGA/µC.
•Chapter Appendix on page 361 lists the sensor position accuracy of AVT
cameras.
•Chapter Index on page 362 gives you quick access to all relevant data in
this manual.
PIKE Technical Manual V5.0.0
23
Introduction
Conventions used in this manual
To give this manual an easily understood layout and to emphasize important
information, the following typographical styles and symbols are used:
Styles
Style Function Example
Bold Programs, inputs or highlighting
important things
Courier Code listings etc. Input
Upper case Register REGISTER
Italics Modes, fields Mode
Parentheses and/or blue Links (Link)
Table 2: Styles
bold
Symbols
Note
This symbol highlights important information.
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
PIKE Technical Manual V5.0.0
24
Introduction
More information
For more information on hardware and software read the following:
• Hardware Installation Guide describes the hardware installation procedures for all 1394 AVT cameras (Dolphin, Oscar, Marlin, Guppy, Pike,
Stingray). Additionally you get safety instructions and information
about camera interfaces (IEEE1394a/b copper and GOF, I/O connectors,
input and output).
www
You find the Hardware Installation Guide at:
http://www.alliedvisiontec.com/emea/support/downloads/
product-literature/hardware-installation-guide.html
All software packages (including documentation and
release notes) provided by AVT can be downloaded at:
http://www.alliedvisiontec.com/emea/products/
software.html
Before operation
We place the highest demands for quality on our cameras.
Target group This Technical Manual is the guide to detailed technical information of the
camera and is written for experts.
Getting started For a quick guide how to get started read Hardware Installation Guide first.
Note
Please read through this manual carefully before operating the camera.
For information on AVT accessories and AVT software read
Hardware Installation Guide.
Caution
Note
Before operating any AVT camera read safety instructions
and ESD warnings in Hardware Installation Guide.
To demonstrate the properties of the camera, all examples in
this manual are based on the FirePackage OHCI API software
and the SmartView application.
PIKE Technical Manual V5.0.0
25
Introduction
www
Note
These utilities can be obtained from Allied Vision
Technologies (AVT). FirePackage includes SmartView and is
available for download at:
http://www.alliedvisiontec.com/emea/products/software/
windows/avt-firepackage.html
The camera also works with all IIDC (formerly DCAM) compatible IEEE 1394 programs and image processing libraries.
PIKE Technical Manual V5.0.0
26
PIKE cameras
PIKE cameras
Pike The Pike is a fast IEEE 1394b camera for demanding applications. Numerous
pre-processing functions produce an outstanding image quality. Pike cameras operate with very high frame rates and offer much more real-time functions than specified in the IIDC standards.
They can even emulate traditional frame grabber functions.
IEEE 1394b IEEE 1394b provides a plug & play interface standard with high-speed, deter-
ministic data transmission. The camera communication protocol is standardized and can easily be integrated into your application
GOF Pike cameras are available both with two copper ports (for daisy-chaining)
and with copper/GOF (glass optical fiber) ports.
Advantages of GOF:
• 800 Mbit/s over 400 meters and more
• No additional repeaters required
• Transmission of light instead of electricity: No ground problems and no
interference with electromagnetic fields.
Image applications Allied Vision Technologies can provide users with a range of products that
meet almost all the requirements of a very wide range of image applications.
FireWire The industry standard IEEE 1394 (FireWire or i.Link) facilitates the simplest
computer compatibility and bidirectional data transfer using the plug & play
process. Further development of the IEEE 1394 standard has already made
800 Mbit/second possible. Investment in this standard is therefore secure for
the future; each further development takes into account compatibility with
the preceding standard, and vice versa, meaning that IEEE 1394b is reversecompatible with IEEE 1394a. Your applications will grow as technical
progress advances.
Note
For further information on FireWire read Chapter FireWire on
page 30.
www
For further information on the highlights of Pike types, the
Pike family and the whole range of AVT FireWire cameras
read the data sheets and brochures on the website of Allied
Vision Technologies:
www.alliedvisiontec.com
PIKE Technical Manual V5.0.0
27
PIKE cameras
Pike type Sensor Picture size (max.)
Format_7 Mode_0
PIKE F-032B/C
PIKE F-032B/C fiber
PIKE F-100B/C
PIKE F-100B/C fiber
PIKE F-145B/C
PIKE F-145B/C fiber
PIKE F-145B/C-15fps
PIKE F-145B/C-15fps fiber
PIKE F-210B/C
PIKE F-210B/C fiber
PIKE F-421B/C
PIKE F-421B/C fiber
PIKE F-505B/C
PIKE F-505B/C fiber
PIKE F-1100B/C
PIKE F-1100B/C fiber
PIKE F-1600B/C
PIKE F-1600B/C fiber
Type 1/3 KODAK KAI-340
Progressive Scan CCD imager
Type 2/3 KODAK KAI-1020
Progressive Scan CCD imager
Type 2/3 SONY ICX285
Progressive Scan CCD imager
Type 2/3 SONY ICX285
Progressive Scan CCD imager
Type 1 KODAK KAI-2093
Progressive Scan CCD imager
Type 1.2 KODAK KAI-4022
Progressive Scan CCD imager
Type 2/3 SONY ICX625
Progressive Scan CCD imager
Type 35 mm KODAK KAI-11002
Progressive Scan CCD imager
Type 35 mm KODAK KAI-16000
Progressive Scan CCD imager
640 (h) x 480 (v) Up to 208 fps
1000 (h) x 1000 (v) Up to 60 fps
1388 (h) x 1038 (v) Up to 30 fps
1388 (h) x 1038 (v) Up to 16 fps
1920 (h) x 1080 (v) Up to 31 fps
2048 (h) x 2048 (v) Up to 16 fps
2456 (h) x 2058 (v) Up to 15 fps
4008 (h) x 2672 (v) Single-tap: up to
4872 (h) x 3248 (v) Single-tap: up to
Frame rates,
full resolution
2.6 fps
Dual-tap: up to
4.9 fps
1.7 fps
Dual-tap: up to
3.1 fps
Table 3: PIKE camera types
PIKE Technical Manual V5.0.0
28
Conformity
Conformity
Allied Vision Technologies declares under its sole responsibility that all standard cameras of the AVT Pike family 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
• FCC Part 15 Class B
• RoHS (2002/95/EC)
CE
We declare, under our sole responsibility, that the previously described AVT
Pike cameras conform to the directives of the CE.
FCC – Class B Device
Note: This equipment has been tested and found to comply with the limits
for a Class B digital device, pursuant to part 15 of the FCC Rules. These limits
are designed to provide reasonable protection against harmful interference
in a residential environment. This equipment generates, uses, and can radiate radio frequency energy and, if not installed and used in accordance with
the instructions, may cause harmful interference to radio communications.
Operation of this equipment in a residential area is likely to cause harmful
interference in which case the user will be required to correct the interference at his own expense. You are cautioned that any changes or modifications not expressly approved in this manual could void your authority to
operate this equipment.
PIKE Technical Manual V5.0.0
29
FireWire
FireWire
Overview
FireWire provides one of the most comprehensive, high-performance, costeffective solutions platforms. FireWire offers very impressive throughput at
very affordable prices.
Definition
FireWire (also known as i.Link or IEEE 1394) is a personal computer and
digital video serial bus interface standard, offering high-speed communications and isochronous real-time data services. FireWire has low implementation costs and a simplified and adaptable cabling system.
Figure 1: FireWire Logo
IEEE 1394 standards
FireWire was developed by Apple Computer in the late 1990s, after work
defining a slower version of the interface by the IEEE 1394 working committee in the 1980s. Apple's development was completed in 1995. It is defined
in IEEE standard 1394 which is currently a composite of three documents:
• the original IEEE Std. 1394-1995
• the IEEE Std. 1394a-2000 amendment
• the IEEE Std. 1394b-2002 amendment
FireWire is used to connect digital cameras, especially in industrial systems
for machine vision.
Advantages Advantages over USB are:
• Faster effective speed
• Higher power distribution capabilities
• Multi-camera applications are easier to set up than in USB.
PIKE Technical Manual V5.0.0
30
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