Imperx Bobcat User Manual

BOBCAT Hardware User’s Manual

(CameraLink PoCL, GEV, CoaXPress, and HD-SDI Models)

INTELLIGENT, HIGH-RESOLUTION, FIELD

UPGRADEABLE, PROGRAMMABLE, 8/10/12/14 BIT

DIGITAL CAMERAS

CONFIDENTIAL NOTICE:

These products are not intended for use in life support appliances, devices, or systems where malfunction of these products can reasonably be expected to result in personal injury. Imperx customers using or selling these products for use in such applications do so at their own risk and agree to fully indemnify Imperx for any damages resulting from such improper use or sale.

Copyright © 2011, Imperx Inc. All rights reserved. All information provided in this manual is believed to be accurate and reliable. Imperx assumes no responsibility for its use. Imperx reserves the right to make changes to this information without notice. Redistribution of this manual in whole or in part, by any means, is prohibited without obtaining prior permission from Imperx.

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BOBCAT Hardware User’s Manual

Rev 0.2

03/23/09

P. Dinev

Initial Pre-Release – Old UART protocol

Rev 0.3

07/31/09

P. Dinev

Old UART removed, added new UART protocol and new register addresses.

Rev 0.4

08/25/09

P. Dinev

Image Enhancement section, AOI8 modes added.

Rev 0.5

08/27/09

P. Dinev

Figure 2.27a and related text changed.

Rev 0.6

01/15/10

P. Dinev

B0620, B2520 cameras added, all related tables and figures updated. Minor errors fixed.

Rev 0.7

03/02/10

P. Dinev

B1620, B1920 cameras added, all related tables and figures updated. Minor errors fixed.

Rev 0.8

03/12/10

P. Dinev

B2020, B4020 and B4820 cameras added, all related tables and figures updated. Minor errors fixed.

Rev 0.9

04/12/10

P. Dinev

GEV option added to all cameras, all related tables and figures updated. Minor errors fixed.

Rev 1.0

04/25/10

P. Dinev

Official Release

Rev 1.1

10/10/10

P. Dinev

Minor errors fixed.

Rev 1.2

12/30/10

P. Dinev

Minor errors fixed. 3x8 RGB out and WB feature added

Rev 2.0

01/10/12

B. Gisonni

Minor errors fixed. Added cameras in Bobcat series – B1310, B1411, B1020, B1320, B1621, B1921, B2320, B3320, B4821 and B6620. Major feature TRUESENSE.

Rev 2.0.1

04/02/12

B.Gisonni

Minor errors fixed.

Revision History

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TABLE OF CONTENTS

BOBCAT HARDWARE USER’S MANUAL 1

CHAPTER 1 – INTRODUCTION 18

1.1 BOBCAT FAMILY ............................................................................................................. 19

1.2 GENERAL DESCRIPTION .............................................................................................. 21

1.3 BOBCAT SPECIFICATIONS ........................................................................................... 23

1.3.1 General Information .......................................................................................................... 23

1.3.2 Spectral Response .............................................................................................................. 26

1.3.3 Bayer and TRUESENSE Pattern Information ................................................................... 29

1.3.4 Technical Specifications .................................................................................................... 30

1.4 CAMERA CONNECTIVITY ............................................................................................ 40

1.4.1 Camera Link Output ...................................................................................................... 40

1.4.2 GigE Output .................................................................................................................. 45

1.4.3 Power Supply ................................................................................................................ 46

1.5 MECHANICAL, OPTICAL and ENVIRONMENTAL .................................................. 47

1.5.1 Mechanical .................................................................................................................... 47

1.5.2 Optical ............................................................................................................................... 59

1.5.3 Environmental ................................................................................................................... 59

CHAPTER 2 – CAMERA FEATURES 65

2.1 IMAGE RESOLUTION ..................................................................................................... 66

2.1.1 Normal Mode – Single Output ...................................................................................... 66

2.1.2 Normal Mode – Dual Output ......................................................................................... 67

2.1.3 Center Mode .................................................................................................................. 67

2.2 FRAME TIME CONTROL ............................................................................................... 71

2.2.1 Internal Line and Frame Time Control .............................................................................. 71

2.2.2 Camera Speed Control ....................................................................................................... 71

2.2.3 External Line and Frame Time Control ............................................................................ 72

2.3 AREA OF INTEREST ........................................................................................................ 73

2.3.1 Horizontal and Vertical Window ...................................................................................... 73

2.3.2 Calculating the Frame Rate using Vertical Window ......................................................... 76

2.4 BINNING ............................................................................................................................. 96

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2.5 EXPOSURE CONTROL .................................................................................................. 101

2.5.1 Internal Exposure Control - Electronic Shutter ............................................................... 101

2.5.2 External exposure control ................................................................................................ 101

2.5.3 Variable Frame Time – Programmable Line and Frame Time ....................................... 101

2.5.4 Automatic Exposure Control (AEC) ............................................................................... 102

2.5.5 Automatic Iris Control (AIC) .......................................................................................... 103

2.6 EXTERNAL TRIGGER ................................................................................................... 104

2.6.1 Triggering Inputs ......................................................................................................... 104

2.6.2 Acquisition and Exposure Control .............................................................................. 104

2.6.3 Trigger Strobe Control ................................................................................................ 105

2.6.4 Triggering modes ........................................................................................................ 105

2.7 STROBE OUTPUT ........................................................................................................... 110

2.8 GAIN and OFFSET ........................................................................................................... 111

2.8.1 Analog Domain – manual control ................................................................................... 111

2.8.2 Digital Domain – manual control .................................................................................... 112

2.8.3 Automatic Gain Control (AGC) ...................................................................................... 112

2.9 DATA OUTPUT FORMAT ............................................................................................. 113

2.9.1 Bit Depth ..................................................................................................................... 113

2.9.2 Digital Data Shift ......................................................................................................... 114

2.9.3 Output Format ............................................................................................................. 114

2.10 PULSE GENERATOR ..................................................................................................... 117

2.11 I/O CONTROL .................................................................................................................. 118

2.11.1 I/O Mapping ................................................................................................................ 118

2.11.2 Electrical Connectivity ................................................................................................ 119

2.12 TEST IMAGE PATTERNS ............................................................................................. 121

2.12.1 Test Image patterns ..................................................................................................... 121

2.12.2 Image Superimposition ................................................................................................ 121

2.13 WHITE BALANCE AND COLOR CONVERSION ..................................................... 122

2.13.1 White Balance ............................................................................................................. 122

2.13.2 Color (Bayer to RGB) Conversion .............................................................................. 122

2.14 DYNAMIC BLACK LEVEL CORRECTION AND TAP BALANCING ................... 123

2.14.1 Black Level Correction ............................................................................................... 123

2.14.2 Tap Balancing .............................................................................................................. 123

2.15 TRANSFER FUNCTION CORRECTION – USER LUT ............................................. 124

2.15.1 Standard Gamma Correction ....................................................................................... 124

2.15.2 User Defined LUT ....................................................................................................... 125

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2.16 DEFECTIVE PIXEL CORRECTION ............................................................................ 126

2.16.1 Static Pixel Correction ................................................................................................. 126

2.16.1 Dynamic Pixel Correction ........................................................................................... 127

2.17 FLAT FIELD CORRECTION......................................................................................... 128

2.18 NEGATIVE IMAGE ......................................................................................................... 130

2.19 CAMERA INTERFACE .................................................................................................. 131

2.19.1 Status LED .................................................................................................................. 131

2.19.2 Temperature Monitor .................................................................................................. 131

2.19.3 Exposure Time Monitor .............................................................................................. 131

2.19.4 Frame Time Monitor ................................................................................................... 132

2.19.5 Current image size ....................................................................................................... 132

CHAPTER 3 – DIGITAL IMAGE PROCESSING 133

3.1 OVERVIEW ...................................................................................................................... 134

3.2 IMAGE ENHANCEMENT .............................................................................................. 134

3.2.1 Threshold Operation ........................................................................................................ 134

3.2.2 Multi Point Correction ..................................................................................................... 136

CHAPTER 4 – CAMERA CONFIGURATION 140

4.1 OVERVIEW ...................................................................................................................... 141

4.2 CAMERA CONFIGURATION ....................................................................................... 141

4.2.1 Configuration Memory – parameter FLASH .................................................................. 141

4.2.3 Camera Serial Protocol .................................................................................................... 142

4.3 CAMERA CONFIGURATION REGISTER DESCRIPTION ..................................... 146

4.3.1 Startup Procedure ............................................................................................................ 146

4.3.2 Saving and Restoring Settings ......................................................................................... 146

4.3.3 Retrieving Manufacturing Data ....................................................................................... 148

4.3.4 Camera Information Registers ......................................................................................... 150

4.3.5 Image Size (AOI) Workspace Registers ......................................................................... 152

4.3.6 Exposure Control Workspace Registers .......................................................................... 159

4.3.7 AEC, AGC, AIC Workspace Registers ........................................................................... 160

4.3.8 Video Amp, Gain and Offset Workspace Registers ........................................................ 163

4.3.9 Triggering Workspace Registers ..................................................................................... 165

4.3.10 Pulse Generator Workspace Registers ........................................................................ 168

4.3.11 Test Pattern Workspace Registers ............................................................................... 169

4.3.12 Input/output Workspace Registers .............................................................................. 170

4.3.13 Output Data Format ..................................................................................................... 175

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4.3.14 White Balance Workspace Registers .......................................................................... 177

4.3.15 Color Conversion Workspace Registers ...................................................................... 178

4.3.16 Data Correction Workspace Registers ........................................................................ 179

4.4 DATA PROCESSING REGISTER DESCRIPTION .................................................... 180

4.4.1 Image Enhancement Workspace Registers ..................................................................... 180

CHAPTER 5 - CONFIGURATOR FOR CAMERALINK 182

5.1 OVERVIEW ...................................................................................................................... 183

5.2 DISCOVERY PROCEDURE ........................................................................................... 183

5.3 GRAPHICAL USER INTERFACE ................................................................................ 184

5.4 MAIN GUI MENU ............................................................................................................ 185

5.5 VIEW GUI WINDOWS .................................................................................................... 189

5.6 GUI HELP .......................................................................................................................... 190

5.7 PARAMETER WINDOWS .............................................................................................. 191

5.7.1 Video Amp .................................................................................................................. 191

5.7.2 I/O Control .................................................................................................................. 192

5.7.3 Trigger ......................................................................................................................... 194

5.7.4 Pulse Generator ........................................................................................................... 196

5.7.5 Exposure ...................................................................................................................... 197

5.7.6 Test Image ................................................................................................................... 199

5.7.7 Area of Interest (AOI) ................................................................................................. 200

5.7.8 Strobe Control ................................................................................................................. 202

5.7.9 Color ................................................................................................................................ 203

5.7.10 Processing .................................................................................................................... 204

5.7.10 Data Output ................................................................................................................. 206

CHAPTER 6 – GEN<I>CAM REFERENCE MANUAL 209

6.1 INTRODUCTION ............................................................................................................. 210

6.2 NODE TREE ...................................................................................................................... 211

6.2.1 Device Information .......................................................................................................... 211

6.2.2 IP Engine ......................................................................................................................... 211

6.2.3 GigE Vision Transport Layer .......................................................................................... 211

6.2.5 Acquisition and Trigger Controls .................................................................................... 213

6.2.6 Counters and Timers Controls ......................................................................................... 213

6.2.7 Analog Controls .............................................................................................................. 214

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6.2.8 Test Mode ........................................................................................................................ 214

6.2.9 User Sets .......................................................................................................................... 214

6.2.10 Custom Features .......................................................................................................... 215

CHAPTER 7 – BOBCAT WARRANTY AND SUPPORT 218

7.1 ORDERING INFORMATION ........................................................................................ 219

7.2 TECHNICAL SUPPORT ................................................................................................. 220

7.3 WARRANTY ..................................................................................................................... 221

APPENDIX A – CAMERA CONFIGURATION REFERENCE 222

A.0 ABBREVIATIONS ........................................................................................................... 223

A.1 SAVING AND RESTORING REGISTERS ................................................................... 223

A.2 CAMERA INFORMATION REGISTERS .................................................................... 223

A.3 IMAGE SIZE (AOI) REGISTERS .................................................................................. 224

A.4 EXPOSURE CONTROL REGISTERS .......................................................................... 225

A.5 VIDEO REGISTERS ........................................................................................................ 225

A.6 AEC, AGC, AIC REGISTERS ........................................................................................ 226

A.7 TRIGGER REGISTERS .................................................................................................. 226

A.8 PULSE GENERATOR REGISTERS ............................................................................. 227

A.9 TEST PATTERN REGISTERS ....................................................................................... 227

A.10 STROBE REGISTERS ..................................................................................................... 227

A.11 INPUT AND OUTPUT REGISTERS ............................................................................. 227

A.12 OUTPUT DATA FORMAT REGISTERS ..................................................................... 228

A.13 WB AND COLOR CORRECTION REGISTERS......................................................... 228

A.14 DATA CORRECTION REGISTERS ............................................................................. 229

A.15 PROCESSING REGISTERS ........................................................................................... 229

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A.16 MANUFACTURING DATA REGISTERS .................................................................... 229

APPENDIX B – CREATING LOOK UP TABLES 230

B.1 OVERVIEW ...................................................................................................................... 231

B.2 USING AN ASCII TEXT EDITOR ................................................................................. 231

B.3 USING MICROSOFT EXCEL ........................................................................................ 232

APPENDIX C – CREATING DPC AND HPC TABLES 233

C.1 OVERVIEW ...................................................................................................................... 234

C.2 USING AN ASCII TEXT EDITOR ................................................................................. 234

APPENDIX D – SOFTWARE INSTALLATION - CL 235

APPENDIX E – FIRMWARE UPGRADE - CL 237

E.1 OVERVIEW ...................................................................................................................... 238

E.2 BOBCAT UPGRADE ....................................................................................................... 238

APPENDIX F – GIGE VISION FIRMWARE UPGRADE 242

F-1 Overview: .............................................................................................................................. 243

F-2 RGS Upgrade ........................................................................................................................ 246

F-3 IP Engine Install .................................................................................................................... 247

APPENDIX G – POWER SUPPLIES 249

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FIGURES

FIGURE 1.0A – INTERLINE CCD PIXEL STRUCTURE. 24

FIGURE 1.0B – KODAK TRUESENSE COLOR FILTER INTERLINE CCD PIXEL STRUCTURE. 24

FIGURE 1.1A – KAI (KODAK) CCD TYPICAL MONO SPECTRAL RESPONSE. 26

FIGURE 1.1B – KAI (KODAK) CCD TYPICAL UV SPECTRAL RESPONSE. 26

FIGURE 1.1C – KAI (KODAK) CCD TYPICAL COLOR SPECTRAL RESPONSE. 27

FIGURE 1.1D – KODAK TRUESENSE CCD TYPICAL SPECTRAL RESPONSE WITH AR COATED COVER GLASS. 27

FIGURE 1.2A – ICX (SONY) CCD TYPICAL MONO SPECTRAL RESPONSE. 28

FIGURE 1.2B – ICX (SONY) CCD TYPICAL COLOR SPECTRAL RESPONSE. 28

FIGURE 1.3 – BAYER PATTERN ARRANGEMENT. 29

FIGURE 1.3A – KODAK TRUESENSE PATTERN ARRANGEMENT. 29

FIGURE 1.4 – CAMERA BACK PANEL – CAMERA LINK OUTPUT 40

FIGURE 1.5A – CAMERA OUTPUT CONNECTOR 41

FIGURE 1.4A – CAMERA POWER CONNECTOR 43

FIGURE 1.6 – CAMERA BACK PANEL –GIGE OUTPUT 45

FIGURE 1.7A – C-MOUNT CAMERA LINK CAMERAS. 47

FIGURE 1.7B – C-MOUNT GEV CAMERAS. 47

FIGURE 1.8A – C-MOUNT CAMERA LINK OUTPUT – DIMENSIONAL DRAWINGS FOR ICL-B0610, B0620, B1310, B1410, B1411, B1610 AND ICL-B2520. 48

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FIGURE 1.8B – C-MOUNT CAMERA LINK OUTPUT – DIMENSIONAL DRAWINGS FOR ICL-B1620 AND ICL-B1920. 49

FIGURE 1.8BA – C-MOUNT CAMERA LINK OUTPUT – DIMENSIONAL DRAWINGS FOR ICL-B1020, B1320, B1621, B1921 AND ICL-B2320. 50

FIGURE 1.8C – F-MOUNT CAMERA LINK OUTPUT – DIMENSIONAL DRAWINGS FOR ICL-B2020, ICL-B4020 AND ICL-B4820. 51

FIGURE 1.8CA – F-MOUNT CAMERA LINK OUTPUT – DIMENSIONAL DRAWINGS FOR ICL-B3320, ICL-B4821 AND ICL-B6620. 52

FIGURE 1.8D – C-MOUNT GIGE VISION OUTPUT – DIMENSIONAL DRAWINGS FOR IGV-B0610, IGV-B0620, IGV-B1410, IGV-B1610 AND IGV-B2520. 53

FIGURE 1.8E – C-MOUNT GIGE VISION OUTPUT – DIMENSIONAL DRAWINGS FOR IGV-B1620 AND IGV-B1920. 54

FIGURE 1.8EA – C-MOUNT GIGE VISION OUTPUT – DIMENSIONAL DRAWINGS FOR IGV-B1020, B1320, B1621, B1921 AND IGV-B2320. 55

FIGURE 1.8F – F-MOUNT GIGE VISION OUTPUT – DIMENSIONAL DRAWINGS FOR IGV-B2020, IGV-B4020 AND IGV-B4820. 56

FIGURE 1.8FA – F-MOUNT GIGE VISION OUTPUT – DIMENSIONAL DRAWINGS FOR IGV-B3320, IGV-B4821 AND IGV-B6620. 57

FIGURE 1.8G – SMALL BOBCAT MOUNTING PLATE USING ¼ IN 20 THREAD. 58

FIGURE 1.8GA – BIG BOBCAT MOUNTING PLATE USING ¼ IN 20 THREAD. 58

FIGURE 1.9A – OPTICAL PLANE POSITION FOR B0610 (KAI-0340), B0620 (KAI-0340), B1410 (ICX-285), B1610 (ICX-274) AND B2520 (ICX-625) CAMERAS. 60

FIGURE 1.9B – OPTICAL PLANE POSITION FOR B1620 (KAI-2020) AND B1920 (KAI-

2093) CAMERAS. 61

FIGURE 1.9C – OPTICAL PLANE POSITION FOR B2020 (KAI-04022), B4020 (KAI-

11002), AND B4820 (KAI-16000) CAMERAS. 62

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FIGURE 1.9D – OPTICAL PLANE POSITION FOR B1020 (KAI-01050, B1621 (02050), B1921 (02150) AND B2320 (04050) CAMERAS. 63

FIGURE 1.9E – OPTICAL PLANE POSITION (IN MM) FOR B3320 (KAI- 08050). 64

FIGURE 1.9F – OPTICAL PLANE POSITION (MM) FOR B4821(KAI-16050) AND B6620 (KAI-29050). 64

FIGURE 2.1 – SINGLE OUTPUT MODE OF OPERATION. 66

FIGURE 2.2 – DUAL OUTPUT MODE OF OPERATION. 67

FIGURE 2.3 – CENTER COLUMNS OUTPUT MODE OF OPERATION. 68

FIGURE 2.4 – CENTER COLUMNS OUTPUT IN DUAL MODE OF OPERATION. 69

FIGURE 2.5 – CENTER COLUMNS OUTPUT IN DUAL TAP MODE. 69

FIGURE 2.6 – SUB-SAMPLED CCD OUTPUT. 70

FIGURE 2.7 – HORIZONTAL AND VERTICAL WINDOW POSITIONING. 73

FIGURE 2.8 – SLAVE AOIS. 74

FIGURE 2.9 – PAOI ENABLED AS PROCESSING ROI. 75

FIGURE 2.10A – FRAME RATE VS. VERTICAL WINDOW SIZE FOR B0610 76

FIGURE 2.10B – FRAME RATE VS. VERTICAL WINDOW SIZE FOR B0620 77

FIGURE 2.10BA – FRAME RATE VS. VERTICAL WINDOW SIZE FOR B1020 78

FIGURE 2.10BB – FRAME RATE VS. VERTICAL WINDOW SIZE FOR B1310 79

FIGURE 2.10BC – FRAME RATE VS. VERTICAL WINDOW SIZE FOR B1320 80

FIGURE 2.10C – FRAME RATE VS. VERTICAL WINDOW SIZE FOR B1410 81

FIGURE 2.10CA – FRAME RATE VS. VERTICAL WINDOW SIZE FOR B1411 82

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FIGURE 2.10D – FRAME RATE VS. VERTICAL WINDOW SIZE FOR B1610 83

FIGURE 2.10E – FRAME RATE VS. VERTICAL WINDOW SIZE FOR B1620 84

FIGURE 2.10EA – FRAME RATE VS. VERTICAL WINDOW SIZE FOR B1621 85

FIGURE 2.10F – FRAME RATE VS. VERTICAL WINDOW SIZE FOR B1920 86

FIGURE 2.10G – FRAME RATE VS. VERTICAL WINDOW SIZE FOR B1921 87

FIGURE 2.10GA – FRAME RATE VS. VERTICAL WINDOW SIZE FOR B2520 88

FIGURE 2.10H – FRAME RATE VS. VERTICAL WINDOW SIZE FOR B2020 89

FIGURE 2.10I – FRAME RATE VS. VERTICAL WINDOW SIZE FOR B2320 90

FIGURE 2.10J – FRAME RATE VS. VERTICAL WINDOW SIZE FOR B3320 91

FIGURE 2.10K – FRAME RATE VS. VERTICAL WINDOW SIZE FOR B4020. 92

FIGURE 2.10L – FRAME RATE VS. VERTICAL WINDOW SIZE FOR B4820. 93

FIGURE 2.10M – FRAME RATE VS. VERTICAL WINDOW SIZE FOR B4821. 94

FIGURE 2.10M – FRAME RATE VS. VERTICAL WINDOW SIZE FOR B6620. 95

FIGURE 2.11 – 2:2 HORIZONTAL AND VERTICAL BINNING 96

FIGURE 2.11A – AOI WITHIN HORIZONTAL AND VERTICAL BINNED IMAGE. 100

FIGURE 2.12 – ELECTRONIC SHUTTER POSITION 101

FIGURE 2.13 – PROGRAMMABLE FRAME TIME 102

FIGURE 2.14 – STANDARD TRIGGERING TIMING 106

FIGURE 2.15 – FAST SYNCHRONIZED TRIGGERING - RAPID CAPTURE 107

FIGURE 2.16 – DOUBLE EXPOSURE TRIGGERING 108

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FIGURE 2.17 – FRAME ACCUMULATION TRIGGERING 109

FIGURE 2.18 – ASYNCHRONOUS TRIGGERING 109

FIGURE 2.19 – STROBE PULSE POSITIONING 110

FIGURE 2.20 – AFE GAIN AND OFFSET 111

FIGURE 2.21 – DATA OUTPUT FORMAT 113

FIGURE 2.22 – OUTPUT DATA USING 4 BITS DIGITAL RIGHT SHIFT 114

FIGURE 2.24A – 2 TAP SEQUENTIAL OUTPUT 115

FIGURE 2.24B – 2 TAP INTERLEAVED OUTPUT 116

FIGURE 2.25 – INTERNAL PULSE GENERATOR 117

FIGURE 2.26 – IN1, IN2 ELECTRICAL CONNECTION. 119

FIGURE 2.27 – OUT1, OUT2 ELECTRICAL CONNECTION. 119

FIGURE 2.30 – LOOK UP TABLE 124

FIGURE 2.31 – GAMMA CORRECTED VIDEO SIGNAL 125

FIGURE 2.32 – CUSTOM LUT 125

FIGURE 2.33A – ORIGINAL IMAGE SHOWING ‘SHADING’ EFFECT 129

FIGURE 2.33B – FLAT FIELD CORRECTED IMAGE 129

FIGURE 2.34 – NORMAL AND NEGATIVE IMAGE 130

FIGURE 3.1 – ORIGINAL AND PROCESSED IMAGE WITH SINGLE THRESHOLD. 135

FIGURE 3.2 – ORIGINAL AND PROCESSED IMAGE WITH DOUBLE THRESHOLD. 135

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FIGURE 3.3 – ORIGINAL AND PROCESSED IMAGE WITH THRESHOLD AND GRAY SCALE STRETCH. 136

FIGURE 3.4 – SINGLE POINT TF CORRECTION. 137

FIGURE 3.5 – MULTI POINT TF CORRECTION. 138

FIGURE 3.6 – MULTI POINT IMAGE CORRECTION (A – ORIGINAL, B – PROCESSED). 139

FIGURE 4.1 – SERIAL PROTOCOL FORMAT 142

FIGURE 4.2 – NORMAL WRITE CYCLE 143

FIGURE 4.3A – INVALID COMMAND ERROR 143

FIGURE 4.3B – RX TIMEOUT ERROR 143

FIGURE 4.4 – NORMAL READ CYCLE 144

FIGURE 5.1 – DISCOVERY PROCEDURE – SELECT PORT 183

FIGURE 5.2 – CAMCONFIG GUI 184

FIGURE 5.3 – MAIN MENU 185

FIGURE 5.5 – COMMAND TERMINAL 187

FIGURE 5.6 – DOWNLOAD TERMINAL 188

FIGURE 5.7 – VIEW GUI WINDOWS 189

FIGURE 5.8 – HELP MENU 190

FIGURE 5.9 – ABOUT CAMCONFIG. 190

FIGURE 5.10 – VIDEO AMP PARAMETER WINDOW 191

FIGURE 5.11 – I/O CONTROL PARAMETER WINDOW 193

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FIGURE 5.13 – PULSE GENERATOR WINDOW 196

FIGURE 5.16 – AOI WINDOW. 201

FIGURE 5.17 – STROBE CONTROL WINDOW 202

FIGURE 5.18 – COLOR WINDOW 204

FIGURE 5.20 – DATA OUTPUT WINDOW 207

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TABLES AND CAPTIONS

TABLE 1.0 – PIXEL STRUCTURE FOR DIFFERENT BOBCAT CAMERAS 25

TABLE 1.1A – B0610, B0620 CAMERA SPECIFICATIONS. 32

TABLE 1.1B – B1020, B1310 AND B1320 CAMERA SPECIFICATIONS 33

TABLE 1.1C – B1410 AND B1411 CAMERA SPECIFICATIONS 34

TABLE 1.1D – B1610, B1620 AND B1621 CAMERA SPECIFICATIONS 35

TABLE 1.1E – B1920 AND B1921 CAMERA SPECIFICATIONS 36

TABLE 1.1F – B2020 AND B2320 CAMERA SPECIFICATIONS 37

TABLE 1.1G – B2520, B3320 AND B4020 CAMERA SPECIFICATIONS 38

TABLE 1.1H – B4820, B4821 AND B6620 CAMERA SPECIFICATIONS 39

TABLE 1.2 – CAMERA OUTPUT CONNECTOR – SIGNAL MAPPING 41

TABLE 1.3 – BASE CAMERA LINK BIT ASSIGNMENT 42

TABLE 1.4B – CAMERA POWER CONNECTOR PIN MAPPING 43

TABLE 1.5A – BNC CONNECTORS PIN MAPPING 44

TABLE 2.1 – IMAGE RESOLUTIONS FOR DIFFERENT MODES 70

TABLE 2.2 – FRAME RATES FOR DIFFERENT MODES 72

TABLE 2.3A – IMAGE SIZES AND FRAME RATES FOR DIFFERENT H BINNING MODES 97

TABLE 2.3B – IMAGE SIZES AND FRAME RATES FOR DIFFERENT V BINNING MODES 98

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TABLE 2.3C – B0620 CENTER MODE IMAGE SIZES AND FRAME RATES DURING V BINNING 98

TABLE 2.4A – BOBCAT INPUT MAPPING 118

TABLE 2.4B – BOBCAT OUTPUT MAPPING 118

TABLE 3.1 – CURRENT CAMERA TEMPERATURE VALUES 152

TABLE 4.0 – AUTO IRIS 4 PIN MINI PLUG E4-191J 252

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Chapter 1 – Introduction

Introduction

This chapter outlines the key features of the BOBCAT camera.

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Model

Resolution

Speed

Type

Optics

CCD

CCD model

ICL-B0610M

648/640 x 488/480

110/138 fps

Mono

1/3"

Kodak

KAI-0340SM

ICL-B0610C

648/640 x 488/480

110/138 fps

Color

1/3"

Kodak

KAI-0340SC

ICL-B0620M

648/640 x 488/480

210/260 fps

Mono

1/3"

Kodak

KAI-0340DM

ICL-B0620C

648/640 x 488/480

210/260 fps

Color

1/3"

Kodak

KAI-0340DC

ICL-B1020M

1032/1024 x 1032/1024

60/74 fps

Mono

1/2'”

Kodak

KAI-01050M

ICL-B1020C

1032/1024 x 1032/1024

60/74 fps

Color

1/2'”

Kodak

KAI-01050C

ICL-B1310M

1296/1280 x 966/960

26/39 fps

Mono

1/3”

Sony

ICX-445AL

ICL-B1310C

1296/1280 x 966/960

26/39 fps

Color

1/3”

Sony

ICX-445AQ

ICL-B1320M

1320/1280 x 736/720

68/85 fps

Mono

1/2'”

Kodak

KAI-01150M

ICL-B1320C

1320/1280 x 736/720

68/85 fps

Color

1/2'”

Kodak

KAI-01150C

ICL-B1410M

1392/1360 x 1040/1024

23/30 fps

Mono

2/3"

Sony

ICX-285AL

ICL-B1410C

1392/1360 x 1040/1024

23/30 fps

Color

2/3"

Sony

ICX-285AQ

ICL-B1411M

1392/1360 x 1040/1024

24/31 fps

Mono

1/2'”

Sony

ICX-267AL

ICL-B1411C

1392/1360 x 1040/1024

24/31 fps

Color

1/2'”

Sony

ICX-267AK

ICL-B1610M

1628/1620 x 1236/1220

16/25 fps

Mono

1/1.8"

Sony

ICX-274ALM

ICL-B1610C

1628/1620 x 1236/1220

16/25 fps

Color

1/1.8"

Sony

ICX-274AQC

ICL-B1620M

1608/1600 x 1208/1200

35/44 fps

Mono

1.0"

Kodak

KAI-2020M

ICL-B1620C

1608/1600 x 1208/1200

35/44 fps

Color

1.0"

Kodak

KAI-2020C

ICL-B1621M

1632/1600 x 1232/1200

34/42 fps

Mono

2/3”

Kodak

KAI-02050M

ICL-B1621C

1632/1600 x 1232/1200

34/42fps

Color

2/3”

Kodak

KAI-02050C

ICL-B1920M

1920 x 1080

33/41 fps

Mono

1.0"

Kodak

KAI-2093M

ICL-B1920C

1928/1920 x 1084/1080

33/41 fps

Color

1.0"

Kodak

KAI-2093C

ICL-B1921M

1951/1920 x 1112/1080

32/40 fps

Mono

2/3”

Kodak

KAI-02150M

ICL-B1921C

1951/1920 x 1112/1080

32/40 fps

Color

2/3”

Kodak

KAI-02150C

ICL-B2020M

2056/2048 x 2060/2048

16/20 fps

Mono

1.3"

Kodak

KAI-04022M

ICL-B2020C

2056/2048 x 2060/2048

16/20 fps

Color

1.3"

Kodak

KAI-04022C

ICL-B2320M

2352/2336 x 1768/1752

16/21 fps

Mono

1”

Kodak

KAI-04050M

ICL-B2320C

2352/2336 x 1768/1752

16/21 fps

Color

1”

Kodak

KAI-04050C

ICL-B2520M

2456/2448 x 2058/2050

11/16 fps

Mono

2/3"

Sony

ICX-625AL

ICL-B2520C

2456/2448 x 2058/2050

11/16 fps

Color

2/3"

Sony

ICX-625AQ

ICL-B3320M

3340/3296 x 2496/2472

9/11 fps

Mono

4/3”

Kodak

KAI-08050M

ICL-B3320C

3340/3296 x 2496/2472

9/11 fps

Color

4/3”

Kodak

KAI-08050C

ICL-B4020M

4032/4008 x 2688/2672

5/7 fps

Mono

43.3 mm

Kodak

KAI-11002M

ICL-B4020C

4032/4008 x 2688/2672

5/7 fps

Color

43.3 mm

Kodak

KAI-11002C

1.1 BOBCAT FAMILY

The BOBCAT series of cameras are built around a robust imaging platform utilizing the latest digital technology and components. BOBCAT camera series is designed around 20 different CCD imaging sensors, featuring different resolutions and frame rates. Each base model is available in monochrome and color. Each base model is also available with Base CameraLink PoCL output and GEV. The first three letters in the camera model name shows the output interface – ICL for Camera Link, and IGV – for GigE Vision.

The BOBCAT family list is shown below:

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Model

Resolution

Speed

Type

Optics

CCD

CCD model

ICL-B4820M

4904/4872 x 3280/3248

3.2/4.2fps

Mono

43.3 mm

Kodak

KAI-16000M

ICL-B4820C

4904/4872 x 3280/3248

3.2/4.2 fps

Color

43.3 mm

Kodak

KAI-16000C

ICL-B4821M

4920/4896 x 3280/3264

3.1/4.2 fps

Mono

32.36 mm

Kodak

KAI-16050M

ICL-B4821C

4920/4896 x 3280/3264

3.1/4.2 fps

Color

32.36 mm

Kodak

KAI-16050C

ICL-B6620M

6600/6576 x 4400/4384

1.8/2.5 fps

Mono

43.3 mm

Kodak

KAI-29050M

ICL-B6620C

6600/6576 x 4400/4384

1.8/2.5 fps

Color

43.3 mm

Kodak

KAI-29050C

NOTE:

1. Since the camera features and performance are output invariant, when describing the

cameras we will use only the model number without the first three letters.

2. B1920 supports only 1920 x 1080 image size.

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1.2 GENERAL DESCRIPTION

The BOBCAT cameras are advanced, intelligent, high-resolution, progressive scan, fully

programmable and field upgradeable CCD cameras. They are built around SONY’s and

KODAK’s line of interline transfer CCD imagers. BOBCAT cameras are feature rich with

built in image processing engine (based on a 2 million gates FPGA), have small size, very low power consumption, low noise, and efficient and optimized internal thermal distribution. The BOBCAT cameras feature programmable image resolution, frame rates, gain, offset, asynchronous external triggering with programmable exposure, fast triggering, double exposure and capture duration, electronic shutter, long time integration, strobe output, transfer function correction, temperature monitoring and user programmable and uploadable LUT. A square pixel provides for a superior image in any orientation. The interline transfer CCD permits full vertical and horizontal resolution of high-speed shutter images. The combination of electronic shutter and long time integration enables the cameras capturing speed to be from 1/500,000 second to more than 16 seconds. A built-in Gamma

correction and user LUT optimizes the CCD‘s dynamic range. The cameras have a standard

GEV or Camera Link™ interface that includes 8/10/12/14 bits data transmission with one or two output taps as well as camera control and asynchronous RS232 serial communication interface, all on a single cable. The cameras are fully programmable via the serial interface using a GUI based configuration utility. The adaptability and flexibility of the camera allows it to be used in a wide and diverse range of applications including machine vision, metrology high-definition imaging and surveillance, medical and scientific imaging, intelligent transportation systems, character recognition, document processing and many more and with a MTBF of > 660,000 hrs. It the most feature packed versatile camera line produced.

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MAIN BOBCAT FEATURES

 Mono and color - 8/10/12/14-bit data  Color - 3x8-bit (RGB) data, auto white balance  TRUESENSE color filter pattern from Kodak  Normal and over-clock operation  Base camera link, PoCL support or GigE Vision  Rs232 serial communication  Analog and digital gain and offset control  1x, 2x, 3x, 4x, 8x horizontal and vertical binning  Eight (7 + 1) independent horizontal and vertical AOIs  Programmable horizontal and vertical resolution  Programmable line time, frame time and speed.  Programmable external trigger:

 3 triggering sources  5 triggering modes

 Automatic gain, exposure and iris control  Internal/External exposure control  Internal/External H and V sync input/output  Left/right digital bit shift  Test image with image superimposition  Built in pulse generator  Programmable I/O mapping

 4 programmable inputs  3 programmable outputs

 Dynamic transfer function correction  Dynamic black level correction  Two dimensional Flat field correction  Defective and hot pixel correction  Temperature monitor  Field upgradeable firmware, LUT, DPC, HPC, FFT

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1.3 BOBCAT SPECIFICATIONS

1.3.1 General Information

A CCD camera is an electronic device for converting light into an electrical signal. The camera contains a light sensitive element CCD (Charge Coupled Device) where an electronic representation of the image is formed. The CCD consists of a two dimensional array of sensitive elements – silicon photodiodes, also known as pixels. The photons falling on the CCD surface create photoelectrons within the pixels, where the number of photoelectrons is linearly proportional to the light level. Although the number of electrons collected in each pixel is linearly proportional to the light level and exposure time, the amount of electrons varies with the wavelength of the incident light. When the desired exposure is reached, the charges from each pixel are shifted onto a vertical register, VCCD, and then one row downwards in a vertical direction towards a horizontal register, HCCD. After that the electrons contained in the HCCD are shifted in a horizontal direction, one pixel at a time, onto a floating diffusion output node where the transformation from charge to voltage takes place. The resultant voltage signal is buffered by a video amplifier and sent to the corresponding video output. There are two floating diffusions and two video amplifiers at each end of the HCCD, and the charges can be transferred towards any of the outputs (depending on the mode of operation). The time interval required for all the pixels, from the entire imager, to be clocked out of the HCCD is called a frame. To generate a color image a

set of color filters (Red, Green, and Blue) arranged in a “Bayer” pattern, are placed

over the pixels. The starting color is typically Green for Kodak CCDs and Red for SONY CCDs, but it varies from CCD to CCD. Figure 1.0a shows the CCD pixel structure. Table 1.1 shows the individual pixel structure for different BOBCAT cameras. Effective pixels image consists of Active and Buffer pixels. Figures 1.1a, b, c and 1.2a, b show the camera’s spectral response. Figure 1.3 shows the Bayer pattern arrangement.

A new innovation to the Bayer pattern is the TRUESENSE color filter pattern from Kodak. The KODAK TRUESENSE Color Filter pattern uses a technology which provides a 2x improvement in light sensitivity as compared to a standard color Bayer pattern. This technology utilizes panchromatic filters (filters that are sensitive to all colors of light) in addition to the standard green, red, blue filters. Figure 1.1d shows the typical spectral response of the TRUESENCE CCD. Figure 1.3a shows the TRUESENSE pattern arrangement. Figure 1.0b shows CCD pixel structure.

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Figure 1.0a – Interline CCD pixel structure.

Figure 1.0b – Kodak TRUESENSE color filter interline CCD pixel structure.

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Camera

Type

Effective

Pixels

Active

Pixels

Effective

Lines

Active

Lines

CCD Sensor

Pixel Size

B0610

648

640

488

480

KAI-0340S

7.40 μm sq.

B0620

648

640

488

480

KAI-0340D

7.40 μm sq.

B1020

1032

1024

1032

1024

KAI-01050

5.50 μm sq.

B1310

1296

1280

966

960

ICX-445

3.75 μm sq.

B1320

1320

1280

736

720

KAI-01150

5.50 μm sq.

B1410

1392

1360

1040

1024

ICX-285

6.45 μm sq.

B1411

1392

1360

1040

1024

ICX-267

4.65 μm sq.

B1610

1628

1620

1236

1220

ICX-274

4.40 μm sq.

B1620

1608

1600

1208

1200

KAI-2020

7.40 μm sq.

B1621

1632

1600

1232

1200

KAI-2050

5.50 μm sq.

B1920

1928

1920

1084

1080

KAI-2093

7.40 μm sq.

B1921

N/A

1920

N/A

1080

KAI-2150

5.50 μm sq.

B2020

2056

2048

2060

2048

KAI-4022

7.40 μm sq.

B2320

2352

2336

1768

1752

KAI-04050

5.50 μm sq.

B2520

2456

2448

2058

2050

ICX-625

3.45 μm sq.

B3320

3340

3296

2496

2472

KAI-08050

5.50 μm sq.

B4020

4032

4008

2688

2672

KAI-11002

9.00 μm sq.

B4820

4904

4872

3280

3248

KAI-16000

7.40 μm sq.

B4821

4920

4896

3280

3264

KAI-16050

5.50 μm sq.

B6620

6600

6576

4408

4384

KAI-29050

5.50 μm sq.

Table 1.0 – Pixel structure for different BOBCAT cameras

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1.3.2 Spectral Response

Figure 1.1a – KAI (Kodak) CCD typical mono spectral response.

(Monochrome with the cover glass)

Figure 1.1b – KAI (Kodak) CCD typical UV spectral response.

(UV quantum efficiency measured without cover glass and micro-lenses)

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Figure 1.1c – KAI (Kodak) CCD typical color spectral response.

(Color with the cover glass)

Figure 1.1d – KODAK TRUESENSE CCD typical spectral response with AR coated cover

glass.

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Figure 1.2a – ICX (SONY) CCD typical mono spectral response.

(Monochrome with the cover glass)

Figure 1.2b – ICX (Sony) CCD typical color spectral response.

(Color with the cover glass)

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Pixel 1,1 

1.3.3 Bayer and TRUESENSE Pattern Information

Bobcat is available with Monochrome or Color CCD imager. To generate a color image a set of color filters (Red, Green, and Blue) arranged in a “Bayer” pattern, are placed over the pixels. The starting color is typically GREEN for Kodak CCDs and

RED for SONY CCDs – Figure 1.3.

TRUESENSE Panchromatic (“clear”) pixels (Pixel 1,1) added to standard Red, Green, and Blue array. Pan pixels provide increased sensitivity by detecting all visible wavelengths. This provides a 2x – 4x increase in light sensitivity - Figure 1.3a.

Figure 1.3 – Bayer Pattern arrangement.

Figure 1.3a – Kodak TRUESENSE Pattern arrangement.

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Features / Specifications

Common to all CL and GEV cameras

RS 232 interface

Yes

Frame Time (Long int.)

up to 16 sec

Auto White balance

Yes

Auto iris

Yes

Binning

2x2, 3x3, 4x4, 8x8

Test image

Yes, Image superimposition

Mirror image (H Mirror)

Yes

Defective pixel correction

Static, Dynamic, User DPM,

Hot pixel correction

Static, Dynamic, User HPM

Negative Image

Yes

I/O Control

4 inputs, 3 outputs

Strobe output

Two strobes, Active HIGH

Pulse Generator

Yes

In-camera Image Processing

Yes, User

Camera housing

Aluminum

Supply voltage range

10 V to 15 V DC

Upgradeable firmware

Yes

Upgradeable LUT,DPM, FFC

Yes

Operating

- 30.0 to + 80.0 deg C

Environmental - Storage

- 40.0 to + 90.0 deg C

Vibration, Shock

10G (20-200) Hz XYZ, 70G

Relative humidity

90% non-condensing

1.3.4 Technical Specifications

The tables below illustrate and describe features and specification of the individual Bobcat models. The Table below describes features and specifications that relate to all Bobcat cameras.

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