Allied Vision Technologies F-201B AVT Dolphin User manual

F-201B / F-201C
AVT Dolphin
Allied Vision Technologies GmbH
Taschenweg 2a
D-07646 Stadtroda / Germany
Manual

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Contents
1Safety instructions................................................................................................. 6
1.1 Environmental conditions ...........................................................................6
2Device type and range of application....................................................................... 7
2.1 System components ...................................................................................7
3Specifications........................................................................................................ 9
3.1 F-201B.....................................................................................................9
3.2 F-201C ...................................................................................................10
3.3 Spectral sensitivity ..................................................................................11
4Quick start .......................................................................................................... 12
5Camera dimensions .............................................................................................. 13
6Camera interfaces ................................................................................................ 14
6.1 IEEE-1394 port pin assignment..................................................................15
6.2 HiRose jack pin assignment.......................................................................15
6.3 Status LEDs.............................................................................................15
6.3.1 On LED...................................................................................................15
6.3.2 LEDs 1 and 2...........................................................................................16
6.4 Operating the camera...............................................................................16
6.5 Control and video data signals .................................................................. 17
6.5.1 Inputs ...................................................................................................17
6.5.2 Outputs.................................................................................................. 19
6.5.3 Pixel Data...............................................................................................21
6.6 Time response .........................................................................................23
6.6.1 OneShot command on the bus to start of exposure ....................................... 23
6.6.2 End of exposure to first packet on the bus .................................................. 23
6.6.3 Exposure time .........................................................................................24
7Block diagrams of the camera ............................................................................... 24
7.1 Description of the data path ..................................................................... 24
7.2 White balance .........................................................................................25
7.2.1 Automatic white balance ..........................................................................25
7.3 Manually setting gain...............................................................................26
7.4 Setting the offsets (black value)................................................................26
7.5 Lookup tables (LUT)................................................................................. 27
7.6 Shading correction ..................................................................................29
7.6.1 Automatic generation of correction data.....................................................29
7.7 Color interpolation and correction..............................................................32
7.7.1 RGB ÆYUV conversion ............................................................................33
7.8 Controlling image capture.........................................................................34
7.8.1 OneShot................................................................................................. 34
7.8.2 Multi-Shot .............................................................................................. 34
7.8.3 ISO_Enable / Free-Run .............................................................................34
7.8.4 Asynchronous broadcast ...........................................................................34
7.8.5 Jitter at start of exposure.........................................................................34
7.9 Sequence mode .......................................................................................35
7.9.1 How is sequence mode implemented? ......................................................... 35
7.9.2 Reading in the sequence........................................................................... 37
7.9.3 Changing the parameters within a sequence ................................................ 37
7.10 Deferred image transport ..........................................................................38
7.10.1 HoldImg mode ........................................................................................38
7.10.2 FastCapture ............................................................................................38
8Video formats, video modes and IEEE 1394 bandwidth............................................ 39
8.1 Area of interest (AOI) ..............................................................................41

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8.2 Binning..................................................................................................42
8.2.1 Vertical binning ......................................................................................43
8.2.2 Horizontal binning...................................................................................43
8.2.3 Full binning ............................................................................................ 43
8.3 Frame rates.............................................................................................44
8.4 How does bandwidth affect the frame rate?................................................. 47
8.5 Test images ............................................................................................48
9Configuration of the camera ................................................................................. 50
9.1 Implemented registers ............................................................................. 54
9.1.1 Camera initialize register ..........................................................................54
9.1.2 Inquiry register for video format................................................................54
9.1.3 Inquiry Register for video mode................................................................. 54
9.1.4 Inquiry register for video frame rate and base address ..................................55
9.1.5 Inquiry register for basic function..............................................................56
9.1.6 Inquiry register for feature presence ..........................................................56
9.1.7 Inquiry register for feature elements ..........................................................56
9.1.8 Inquiry register for absolute value CSR offset address ...................................57
9.1.9 Status and control register for feature ........................................................ 58
9.1.10 Feature control error status register ...........................................................58
9.1.11 Video mode control and status registers for Format_7................................... 59
9.2 Advanced features ...................................................................................59
9.2.1 Advanced Feature Inquiry .........................................................................60
9.2.2 MaxResolution ........................................................................................60
9.2.3 Timebase................................................................................................60
9.2.4 Extended shutter ..................................................................................... 61
9.2.5 Test images ............................................................................................61
9.2.6 Sequence control..................................................................................... 62
9.2.7 Lookup tables (LUT)................................................................................. 63
9.2.8 Shading correction ..................................................................................63
9.2.9 Deferred Image Transport .........................................................................64
9.2.10 Input/Output pin control.......................................................................... 65
9.2.11 Delayed Integration enable....................................................................... 67
9.2.12 Incremental decoder (SW from 0.84, FW from 0.14) ...................................... 67
9.2.13 GPDATA_BUFFER......................................................................................68
10 Firmware- Update ................................................................................................ 68

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Before operation
We place the highest demands for quality on our cameras.
This manual should help you with the installation and setting up the camera for use.
Please read through the manual carefully before operating the camera.
Legal notice
For customers in the U.S.A.
This equipment has been tested and found to comply with the limits for a Class A
digital device, pursuant to Part 15 of the FCC Rules. These limits are designed to
provide reasonable protection against harmful interference when the equipment is
operated in a commercial environment. This equipment generates, uses, and can radiate
radio frequency energy and, if not installed and used in accordance with the instruction
manual, may cause harmful interference to radio communications. Operation of this
equipment in a residential area is likely to cause harmful interference in which case the
user will be required to correct the interference at his own expense. You are cautioned
that any changes or modifications not expressly approved in this manual could void
your authority to operate this equipment. The shielded interface cable recommended in
this manual must be used with this equipment in order to comply with the limits for a
computing device pursuant to Subpart J of Part 15 of FCC Rules.
For customers in Canada
This apparatus complies with the Class A limits for radio noise emissions set out in
Radio Interference Regulations.
Pour utilisateurs au Canada
Cet appareil est conforme aux normes classe A pour bruits radioélectriques, spécifiées
dans le Règlement sur le brouillage radioélectrique.
Life support Applications
These products are not designed for use in life support appliances, devices, or systems
where malfunction of these products can reasonably be expected to result in personal
injury. Allied customers using or selling these products for use in such applications do
so at their own risk und agree to fully indemnify Allied for any damages resulting from
such improper use or sale.

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Allied Vision Technologies GmbH 2003
All rights reserved.
Version: 1.0
Managing Director: Mr. Frank Grube
Tax-ID: DE 184383113
Support:
Taschenweg 2A
D-07646 Stadtroda, Germany
Telefon: [phone] - 6770
Telefax: [phone] - 677 28
email: [email protected]
Copyright
All texts, pictures, graphics, are protected by copyright and other laws protecting
intellectual property. They are not permitted to be copied or modified for trade use or
transfer nor may they be used on web sites.
Trademarks
Unless stated otherwise, all trademarks appearing in this document of Allied Vision
Technologies are brands protected by law.
Warranty
The information supplied by Allied Vision Technologies is supplied without any
guarantees or warranty whatsoever, be it specific or implicit. Also excluded are all
implicit warranties concerning the negotiability, the suitability for specific applications
or the non-breaking of laws and patents. Even if we assume that the information
supplied to us is accurate, errors and inaccuracy may still occur.

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Conventions used in this manual
In order to give this manual in an easily understood layout and to emphasize important
information, the following typographical styles and symbols are used:
Styles
Style Function Example
Courier Programs, inputs,
etc.
“Input”
upper case Register REGISTER
italics Modes, fields Mode
parentheses
and/or blue
Links (Link)
Write register
Read register
Symbols
LThis symbol highlights important instructions that you should make sure to follow
if you want to avoid malfunctions.
1Safety instructions
There are no switches or parts inside of the camera that require adjustment. The
guarantee becomes invalid upon opening the camera casing.
1.1 Environmental conditions
Ambient temperature:
when camera in use - 5° C ... + 45° C
when being stored - 10° C ... + 60° C
relative humidity 20% … 80%
no condensed water

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2Device type and range of application
The AVT F-201 is an IEEE 1394 UXGA+ camera. Equipped with a 2 megapixel 1,8”
progressive CCD sensor, it features a modular concept, large internal storage and a
variety of intelligent preprocessing options.
Among these are real time shading correction and up to 63 user-defined lookup tables.
The AVT DOLPHIN F-201 is also suitable for all imaginable image processing tasks,
especially due to its high full frame speed of up to 12,75 fps.
It can be easily integrated into any existing system environment through a flexible and
high-performance API. The API is available as an option.
The camera is available in both a B/W (F-201B) and color (F-201C) models. The
operation of both models is described in this documentation.
2.1 System components
The following system components are included with delivery:
AVT Dolphin
4.5m 1394 industrial cable
Optional:
AT – ST tripod adaptor
BG39 IR cut filter (650 nm)
Driver and documentation
To demonstrate the properties of the camera, all examples in this manual are based on
the “FirePackage” OHCI API software and the “FireView” application.

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This can be obtained from Allied Vision Technologies. A free demo version of “FireView”
is available for download at www.alliedvisiontec.com.
Of course the camera also works with all IIDC (formerly DCAM) compatible IEEE 1394
programs and image processing libraries.
AVT offers different lenses from a variety of manufacturers. The following table lists
selected image formats depending on distance and the focal width of the lens.
Focal Width F-201 Distance = 0,5m Distance = 1m
4.8mm 0,5m x 0,67m 1,0m x 1,33m
8mm 0,3m x 0,4m 0,6m x 0,8m
12mm 0,195m x 0,39m 0,39m x 0,78m
16mm 0,145m x 0,19m 0,29m x 0,38m
25mm 9,1cm x 12,1cm 18,2cm x 24,2cm
35mm 6,4cm x 8,51cm 12,8cm x 17,02cm
50mm 4,4cm x 5,85cm 8,8cm x 11,7cm

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3Specifications
3.1 F-201B
Spezifikation
Image Device 1/1,8” Type progressive scan b/w SONY IT CCD
Effective Picture Elements 1628 (H) x 1236 (V)
Lens Mount C-Mount
Picture Sizes 640 x 480 Pixel (Format_0; Mode_5 )
800 x 600 Pixel (Format_1; Mode_2)
1024 x 768 ((Format_1; Mode_5)
1280 x 960 (Format_2; Mode_2)
1600 x 1200 (Format_2; Mode_5)
1628 x 1236 (Format_7; Mode_0)
814 x 1236 (Format_7 ; Mode_1), horizontal binning
1628 x 618 (Format_7; Mode_2), vertical binning
814 x 618 (Format_7; Mode_5), h + v binning
Cell Size 4,4 µm x 4,4 µm; (8,8 µm x 8,8 µm in h + v binning)
ADC 12 Bit
Data Path 8 Bit
Frame-Rates 1,875 Hz; 3,75 Hz; 7,5 Hz; 15 Hz; External Trigger Shutter
Gain Control Manual 0 – 24 dB (0,035 dB/step)
Shutter Speed 1-4095 x Timebase
Timebase: 1, 2, 5, 20, 50, 100, 200, 500, 1000µs
External Trigger
Shutter
Trigger Mode_0
Advanced feature: Image Transfer by command
Internal Memory 15 frames
# Look Up Tables Up to 63, user programmable (12Bit -> 8 Bit); Gamma (0,45)
Smart Functions 2 x 2 Binning; Real Time Shading-Correction; Image
Sequencing, three configurable inputs, three configurable
outputs
Transfer Rate 400 Mb/s
Digital Interface IEEE 1394 IIDC v1.3
Power Requirements DC 8V – 36V via IEEE 1394 cable or 12-pin HIROSE
Power Consumption Less than 3,5 Watt (at 12V DC)
Dimensions 115mm x 45mm x 45mm (L x W x H); w/o tripod and lens
Mass 230 gr (without lens)
Operating Temperature + 5 - 45 ° Celsius
Storage Temperature -10 - 60 ° Celsius
Regulations EN 55022; EN 61000-6-2;FCC Class A
Options Removable IR-Cut-Filter, Host Adapter Card, API
(FirePackage)
The design and specifications for the product described may change without notice.

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3.2 F-201C
Spezifikation
Image Device 1/1,8” Type progressive scan b/w SONY IT CCD
Effective Picture Elements 1628 (H) x 1236 (V)
Lens Mount C-Mount
Picture Sizes 320 x 240 Pixel (Format_0; Mode_1)
640 x 480 Pixel (Format_0; Mode_2,3,5)
800 x 600 Pixel (Format_1; Mode_0,2)
1024 x 768 ((Format_1; Mode_3,5)
1280 x 960 (Format_2; Mode_0,2)
1600 x 1200 (Format_2; Mode_3,5)
1628 x 1234 (Format_7; Mode_0)
814 x 1234 (Format_7 ; Mode_1), horizontal binning
1628 x 616 (Format_7; Mode_2), vertical binning
814 x 616 (Format_7; Mode_3), h + v binning
1628 x 1236 (Format_7; Mode_4)
Cell Size 4,4 µm x 4,4 µm; (8,8 µm x 8,8 µm in h + v binning)
ADC 12 Bit
Data Path 8 Bit
Frame-Rates 1,875 Hz;3,75 Hz; 7,5 Hz; 15 Hz; 30 Hz; External Trigger
Shutter
Gain Control Manual 0 – 20 dB (0,035 dB/step)
Shutter Speed 1-4095 x Timebase
Timebase: 1, 2, 5, 20, 50, 100, 200, 500, 1000µs
External Trigger
Shutter
Trigger Mode_0
Advanced feature: Image Transfer by command
Internal Memory Up to 15 frames
# Look Up Tables Up to 63, user programmable (12Bit -> 8 Bit); Gamma (0,45)
Smart Functions 2 x 2 Binning; Image Sequencing, Color Conversion, Color
Correction, three configurable inputs, three configurable
outputs
Transfer Rate 400 Mb/s
Digital Interface IEEE 1394 IIDC v1.3
Power Requirements DC 8V – 36V via IEEE 1394 cable or 12-pin HIROSE
Power Consumption Less than 3,5 Watt (at 12V DC)
Dimensions 115mm x 45mm x 45mm (L x W x H); w/o tripod and lens
Mass 230 gr (without lens)
Operating Temperature + 5 - 45 ° Celsius
Storage Temperature -10 - 60 ° Celsius
Regulations EN 55022; EN 61000-6-2; FCC Class A
Options Host Adapter Card, API (FirePackage)
The design and specifications for the product described may change without notice.

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3.3 Spectral sensitivity
Figure 1 Spectral sensitivity F-201B without cut filter and without optics.
Figure 2 Spectral sensitivity F-201C without cut filter and without optics.

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4Quick start
To hook up an IEEE-1394 camera you need a PC with an IEEE-1394 port and appropriate
software. The port is already present in many PCs and laptops. Should this not be the
case, you can upgrade by installing one or more IEEE-1394 ports in the form of a card
for the PCI slot or as a PC card (PCMCIA) for the PC card slot. AVT offers a range of
adaptors for different requirements.
After starting the operating system the plug and play mechanism on the PC should
recognize the new hardware and prompt you to install the IEEE-1394 driver from
Microsoft. We nevertheless recommend installing the driver from Intek. This requires a
FireWire adapter with a Texas Instruments PCI Lynx chip or a compatible OHCI chip.
The exact description for installation routines can be found in the “FireView” software
manual.
The driver works in conjunction with the “Viewer” program. This enables quick and easy
access to all integrated IEEE-1394 ports and all attached IEEE-1394 cameras.
After using the drop down list to choose a matching card, all available cameras for this
card are displayed in the list below.
Select a camera and connect to this camera by clicking on the Connect button. The
subsequent dialog offers the option of setting all available video formats and displays
the frame in a corresponding window.
Figure 3 “FireView” program
In the Live Control dialog box you can make the settings for the standard registers
according to the IIDC specification, e.g. exposure time or gain.
Direct access to the register level, e.g. to activate the advanced features of the camera,
(see Advanced Feature Inquiry) is done via the Directcontrol dialog box.

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Figure 4 Directcontrol
5Camera dimensions
Body size (normal model) 115 x 45 x 45
(offset lens) 140 x 62 x 45
Weight 225g
Figure 5 normal body Figure 6 body with offset lens

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Figure 7 Optional tripod adapter
6Camera interfaces
In addition to the status LEDs, both jacks are located on the back of the camera. The
HiRose jack provides different control inputs and outputs The IEEE-1394 jack with lock-
in mechanism provides access to the IEEE-1394 bus and thus makes it possible to
control the camera and output frames.
Figure 8 Camera interfaces

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6.1 IEEE-1394 port pin assignment
The IEEE-1394 plug is suitable for industrial use and has the following pin assignment
as per specification:
Figure 9 IEEE 1394 plug (view of plug)
6.2 HiRose jack pin assignment
The HiRose plug is also suitable for industrial use and in addition to providing access to
the inputs and outputs on the camera, connects the camera to a power supply.
Figure 10 HiRose plug (view of contacts)
6.3 Status LEDs
6.3.1 On LED
The power LED indicates that the camera is being supplied with sufficient voltage and is
generally ready for operation.
Pin Signal Use Pin Signal Use
1 External
GND
7 GPInput
GND
2 External
Power
8-36 V
DC
8 RS232
RxD
3 GPInput 3 TTL 9 RS232
TxD
4 GPInput 1
(default
Trigger)
TTL,
Edge,
progr.
10 GPOutput
GND
5 GPOutput
3
Open
collector
11 GPInput 2 TTL
6 GP Output
1 (default
IntEna)
Open
collector
12 GPOutput
2
Open
collector
Pin Signal Pin Signal
1 Cable
Power
4 TPB+
2 Cable GND 5 TPA-
3 TPB- 6 TPA+

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6.3.2 LEDs 1 and 2
The following states are displayed via the LEDs:
Com/S1 asynchronous and isochronous data transmission active (indicated
asynchronously to transmission over the 1394 bus)
Trg/S2 LED on – waiting for external trigger
LED off – receiving external trigger
Blink codes are used to signal warnings or error states:
Class S1
Error code S2
Warning
1 blink
DCAM
2 blinks
MISC
3 blinks
FPGA
4 blinks
Stack
5 blinks
FPGA Boot error 1-5 blinks
Stack setup 1 blink
Stack start 2 blinks
No FLASH object 1 blink
No DCAM object 1 blink
Register mapping 2 blinks
VMode_ERROR_STATUS 1 blink
FORMAT_7_ERROR_1 2 blinks
FORMAT_7_ERROR_2 3 blinks
The following sketch illustrates the series of blinks for a Format_7_error_1:
Figure 11 Warning and error states
You should wait for at least 2 full cycles because the display of blinking codes starts
asynchronously – e.g. on the second blink from S2.
6.4 Operating the camera
Power for the camera is supplied either via the FireWire™ bus or via the HiRose plug.
The input with the highest voltage provides power to the camera.
The input voltage must lie within the following range:
Vcc min.: + 8V
Vcc max.: +36V

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LInput voltage of 12V is recommended to make most efficient use of the camera.
The camera does not supply voltage to the FireWire™ bus if it is being receiving power
via the HiRose plug.
6.5 Control and video data signals
The camera has 3 inputs and 3 outputs. These can be configured via matching registers
(see section 9.2.10 Input/Output pin control). The different modes are described below.
6.5.1 Inputs
All inputs have been implemented as shown on the diagram. IO_INP_CTRL1Polarity is
controlled via the IO_INP_CTRL1..3 register (see section IO_INP_CTRL1)
Figure 12 Diagram
Flux voltage from LED type 1.2V at 20 mA Cycle delay of the optical coupler
min. on-current: 5 mA tpdHL: 38 µs
max. off-current: 1 mA tpdLH: 780 ns
max. current: 50 mA
max. input frequency: 2 kHz
min. pulse width: 50 µs
The inputs can be connected directly to +5V. If higher voltage is used an external
resistor will have to be placed in series.
+12 V 470 Ω
+24 V 1.2 kΩ
LWarning: Voltage above +45V may damage the optical coupler.
All input signals (Input 1...3) are inverted by the optical coupler.

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All functions are listed in the following table
Function Input 1 Input 2 Input 3
Trigger x x x
Incremental decoder INC0 INC1 INC Rst
Input Signal Trigger
Input
Polarity
Inc. In
Input
Funktion
Input
Input State
Opto-
koppler
Figure 13 Block diagram of the inputs
Triggers
All inputs configured as triggers are linked by AND. If several inputs are being used as
triggers, a high signal must be present on all inputs in order to generate a trigger
signal. The polarity for each signal can be set separately via the inverting inputs.
The camera must be set to „external triggering“ to trigger image capture by the trigger
signal.
Input 1
ExTriggerEna
Input 2
Input 3
Inc. Trigger
Trigger
Polarity
ExTrigger
Figure 14 Trigger inputs

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Incremental decoder
The decoder consists of a 12 bit counter. The counter uses the 3 hardware inputs.
INC0
Trigger
Value
INC1
INC Rst
IncTrigger
Counter w.
Direction
Detection
Comparator
Figure 15 Incremental decoder
Input 1 is used for counting, input 2 for detecting the direction of rotation and input 3
for the reset signal. It counts upwards, if INC1 is "high" and during a rising edge for
INC0. It counts downwards, if INC1 is "low" and during a rising edge for INC0. The
counter can also be reset by command. The counter status can be read out.
When the counter reaches the comparator value, that can also be set by register, the
output of the comparator is set, an internal trigger signal is generated and image
capture activated. The camera must be configured for „external triggering“ for this to
work.
The trigger signal is generated once the counter status reaches the comparator value.
A detailed register description can be found in Advanced features
6.5.2 Outputs
The camera has 3 inverting outputs with open collectors. These are shown with external
wiring in the following diagram:
1
2
4
3Q1
BC817
2k7
Camera internal
Rextern
2k2 / 1k / 470
+24V / +12V / +5V
GND
Camera external
GPOutput_GND GPOutput
Figure 16 Camera outputs diagram

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Max. collector voltage 500 mA
Max. collector emitter voltage 45 V
LDepending on the voltage applied a resistor may have to be switched in series
(see diagram). Voltage above 45 V can damage the circuit.
Output features are configured by software.
Any signal can be placed on any output.
The main features of output signals are described below:
IntEna Signal
This signal displays the time the exposure was made. By using a register this output can
be delayed by up to 1.05 seconds (see Enabling delayed integration).
Fval Signal
This feature signals readout from the sensor. This signal Fval follows IntEna.
Busy Signal
This indicator appears when the exposure is being made, the sensor is being read from
or data transmission is active. The camera is busy.
Please refer to the following impulse diagram for information on how the individual
signals are dependent on one another:
Figure 17 Impulse diagram
It is possible to use the IO_OUTP_CTRL1...3 register (see IO_OUTP_CTRL1) to assign a
function to each output.
IntEna
Output
Polarity
FVal
Output Signal
Ouput
Function
Busy
Ouput
State
Opto-
koppler
Figure 18 Camera outputs