DuncanTech DT4000 User manual

DT4000and DT4100
High Resolution Digital Camera
User Manual
DuncanTech
11824 Kemper Rd.
Auburn, CA 95603
Phone: [phone]
Fax: [phone]
Web: www.duncantech.com
Email: [email protected]
Document Number: 9000-0005-04

DuncanTech
DT4000 User Manual - 9000-0005-04
DT4000 and DT4100 Camera User’s Manual Document Number: 9000-
0005-02
Copyright 2002 Duncan Technologies, Inc. The information provided in this document
is believed to be accurate and reliable. However, no responsibility is assumed by
Duncan Technologies for its use; nor for any infringement of patents or other rights of
third parties which may result from its use. No license is granted by implication or
otherwise under the patent rights of Duncan Technologies. No parts of this manual may
be reproduced or transmitted in any form, or translated into any language for purposes
other than the purchaser’s personal use without the written permission of Duncan
Technologies. Duncan Technologies reserves the right to modify the present publication
without prior notice.
Reaching DuncanTech
Thank you for your purchase of a DuncanTech product. It is our priority to see that you
have the highest quality product possible and the information and support necessary to
get the optimum return on your investment. For further information not included in this
manual, or for information on DuncanTech’s other imaging products, please call:
DuncanTech
11824 Kemper Rd.
Auburn, CA 95603
Phone: [phone]
Fax: [phone]
Web: www.duncantech.com
Email: [email protected]

DuncanTech
DT4000 User Manual - 9000-0005-04
Table of Contents
Introduction to the DT4000 and DT4100 Cameras............................................................... 4
Camera Operation................................................................................................................... 5
Physical Characteristics.......................................................................................................... 7
Camera Electrical Interface .................................................................................................... 9
Overview............................................................................................................................... 9
Digital Video Data Output..................................................................................................10
CameraLink Interface........................................................................................................11
CameraLink Pixel Clock Rate...........................................................................................12
Serial Port Communication Interface...............................................................................16
Trigger Input.......................................................................................................................17
Electrical Power Requirements.........................................................................................19
DirectView Video Output...................................................................................................20
Camera Specifications ..........................................................................................................22
Camera Control and Configuration via RS-232 Communications.....................................23
RS-232 Command Set......................................................................................................23
Host Message Format.......................................................................................................23
Echo Message Format......................................................................................................24
Camera Command Set......................................................................................................25
Definition of Channel Number.......................................................................................25
SetChannelGain( ChannelNumber, Gain ) ..................................................................26
GetChannelGain( ChannelNumber )............................................................................27
SetChannelOffset( ChannelNumber, Offset )..............................................................28
GetChannelOffset( ChannelNumber )..........................................................................29
SetIntegrationTime( ChannelNumber, IntegrationTime )............................................30
SetTriggerMode()...........................................................................................................32
GetTriggerMode()...........................................................................................................33
SetOutputMux( Three Byte Value ) ..............................................................................34
GetOutputMux()..............................................................................................................35
SetVideoMode(Value)....................................................................................................36
GetVideoMode().............................................................................................................37
GetGainCorrectionResult(ChannelNumber)................................................................39
SetPixelClockRate(Frequency).....................................................................................40
GetPixelClockRate()......................................................................................................40
SetAnalogColorBalance()..............................................................................................41
GetAnalogColorBalance().............................................................................................42
SetZoomFactor()............................................................................................................43
SetVideoMux()................................................................................................................44
GetVideoMux()...............................................................................................................45
SetCrosshairs() ..............................................................................................................46
GetCrosshairs ().............................................................................................................46
SetZoomFactor()............................................................................................................47
GetZoom Factor() ..........................................................................................................47
GetAllAverages()............................................................................................................48
GetRemoteHeadConfiguration()...................................................................................49
SetBayerMux() ...............................................................................................................50
GetBayerMux()...............................................................................................................50

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DT4000 User Manual - 9000-0005-04
Introduction to the DT4000 and DT4100 Cameras
DuncanTech’s DT4000and DT4100 cameras are high-resolution, digital, progressive
scan, area cameras for monochrome and color imaging in a variety of applications. The
image sensor is a charge coupled device (CCD) array sensor. Primary features of the
camera are:
nAdvanced optical, mechanical, and electronic design to produce high quality images
without distortion.
nProgressive scan operation for clear acquisition of images of moving targets
nDigital Image Output in CameraLink, EIA-644, or RS-422 format.
n“Smart” camera features for advanced control and processing
nRS-232 interface for configuration and control input
nCompact, rugged, package for harsh environments
nControl of gain and exposure time for the array
nAnalog scaler gain of individual colors for good color balance
nOptional analog video image output via NTSC/PAL or progressive scan
nExternal trigger inputs with three operating modes
nSupport for C-mount or F-mount camera lens
For detailed specifications, please see “Camera Specifications” on page 22.

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DT4000 User Manual - 9000-0005-04
Camera Operation
A functional diagram of DuncanTech’s DT4000 or DT4100 camera is shown in Figure 1
below. The camera utilizes a single CCD sensor to acquire the image. In color
configurations, the sensor has gel filters placed over the individual pixels that filter the
incoming light for red, green, and blue colors. Monochrome configurations use a single,
monochrome sensor.
Figure 1. Functional diagram – DT4000 and DT4100 camera
The output signal of the array is conditioned and digitized to a 10 bit digital value. Analog
gain and offset of the array circuitry can be used to optimize the signal levels. The
remainder of the camera electronics performs further image processing on the digital
image data and outputs the data for digital transmission and/or display. For color
configurations, the processing electronics converts the matrix of filtered RBG pixel
values to full resolution 24 or 30 bit RGB image data in a process known as “Color Filter
Array (CFA) Interpolation” or "Bayer Pattern Demultiplexing".
The camera includes an RS-232 communications interface to receive operational
commands and configuration data from an external control source. An embedded
microprocessor manages the communications and uses the operating parameters to
configure the other camera processing units. These parameters are stored in on-board
flash memory and are used to restore the camera to its proper operating configuration at
power-up.
Camera configuration and control options include the ability to set gain, and integration
time for the CCD and to set individual analog gains for each color in order to achieve
white balance. An internal multiplexer can be programmatically controlled to modify the
mapping of image data to the digital output ports. This enables the output of any
combination of color planes. External trigger inputs can be used to precisely control the
start of image acquisition. Three different triggering modes are available.
Note: IR Cut Filter not
included in Monochrome
models.

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DT4000 User Manual - 9000-0005-04
Image data is output as digital pixel values at the digital output connector on the rear of
the camera. The camera’s digital image data output can be configured for the
CameraLink standard or parallel digital data in either EIA-644 or RS-422 differential
format. The CameraLink output is configured for a “Medium” implementation. Up to 32
pixels of data can be output in parallel. This output data can be programmatically
configured for either 8-bit or 10-bit resolution. When 8-bit resolution is selected, the
lower two bits of data are dropped. When configured for 8-bit operation, the camera can
output up to four “sets” or “taps” of image data for a total of 32 bits. In 10-bit mode, the
camera can output up to three “sets” or “taps” of data for a total of 30 bits. The on-board
multiplexer controls which data appears at each tap. This can be any combination of
processed or unprocessed image data.
The optional DirectView analog video output module adds the capability to convert the
digital image data to a standard analog video format, which can be output in addition to
the digital data. The analog video output mode can be selected with a camera control
command via the RS-232 port. Options for output format include NTSC or PAL
interlaced video or progressive scan RGB at 640x480, 800x600, 1024x768, or
1280x1024.

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DT4000 User Manual - 9000-0005-04
Physical Characteristics
The DT4000 and DT4100 cameras are housed in a compact, rugged case. Physical
dimensions are shown in Figure 2below. The maximum dimension is 89 x 97 x 107 mm
without lens and cable.
NOTE: All dimensions are metric
SIDE VIEW
117
96.5
13.4 14
79.420.6
88
25.4
25.4
150
BOTTOM VIEW
Figure 2. Camera Dimensions

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DT4000 User Manual - 9000-0005-04
Lens adapter:
The DT4000 and DT4100 can support either F-Mount or C-Mount lenses. Your unit is
shipped with an adapter ring attached to the front panel that interfaces to F-Mount SLR-
type lenses. In order to use the camera with C-Mount lenses this adapter ring must be
removed. To remove the F-Mount adapter, look inside of the adapter ring on the front of
the camera. There are four retaining screws located inside of this ring (see Figure 4)at
the base of the ring. These mount the adapter to the camera body. Use a 5/64” Allan
Wrench to remove these four screws. Now a C-Mount lens can be mounted to the lens
retaining ring on the front panel of the camera. It should be noted that many C-Mount
lenses are not designed for use with high-resolution arrays and therefore do not have
the small optical spot size necessary to achieve a high quality image with these arrays.
For optimal image quality, you should utilize high quality, high-resolution lenses.
The lens mount also includes a Lens Lock mechanism which locks the lens in place
when it is screwed into the mount. To release the lock, press down on the lock
mechanism tab and then unscrew the lens.
Mounting:
For optimal stability and best heat sinking the camera should be mounted using
the four threaded holes in the camera base plate (see Figure 2). The base plate
is a heat sink for the camera electronics. For best performance, mount the
camera to a material that provides good thermal contact and heat sinking
capability.
For convenience the cameras are configured with a standard
¼-20UNC tripod mount. This is the least stable mount and is recommended only
for temporary placement.
Weight without lens: .98 kg
Operating Temperature: 0-65 C
Power Supply: 12VDC, 8 Watts
Figure 3. Lens Mount and Locking Mechanism

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Camera Electrical Interface
Overview
All electrical connectors are on the camera rear plate as shown in Figure 3. The
connectors on your unit will be depend on whether you purchased the camera with a
CameraLink interface or parallel digital interface, i.e. LVDS (EIA-644) or RS-422. An
overview of the connectors and their function is presented below followed by detailed
information for each connector.
Image Data Output
The electrical interface for image data varies depending on the configuration of the
camera as shown in Figure 4below.
Digital Video (Parallel Digital Framegrabber Interface – LVDS or RS-422) - Cameras
configured for use with a standard parallel digital framegrabber interface in either LVDS
(EIA-644) or RS-422 versions will appear as shown at the left of Figure 4below. The
Digital Video connector is the interface between the camera and the framegrabber in the
computer. This connector provides access to the digital pixel data and synchronization
signals from the camera. The specific connector used will vary depending on which
framegrabber the camera is configured for. A different output connector is provided for
each supported frame grabber in order to facilitate the use of standard cables.
DIGITAL VIDEO
ANALOG VIDEO
TRIGGER
POWER
SERIAL PORT
TRIGGER
IN
TRIGGER
OUT
SERIAL PORT
MEDIUM (PORT D, E, F) BASE (PORT A, B, C)
ANALOG VIDEOPOWER
Figure 4. Camera Rear Panel
Std Framegrabber (left) and CameraLink (right) Configurations
Base and Medium Connections (CameraLink Interface) - Cameras configured for use
with the CameraLink standard digital interface will appear as shown at the right of Figure
4. The CameraLink rear panel interface supports both the Base and Medium

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DT4000 User Manual - 9000-0005-04
Configurations as described in Section 3 of the CameraLink specification. Note that
CameraLink PortA, PortB and PortC are serviced by a single connector/cable marked
“BASE (PORT A,B,C)”. The Base configuration will support any three-tap configuration
running at 8 bits per color plane (i.e. 24bit RGB). Adding a fourth 8 bit tap or outputting
10 bits per color plane will require the additional use of the CameraLink connector
marked “MEDIUM (PORT D,E,F).
Serial Port - The RS-232 interface is provided via a standard DB-9 type connector. This
provides a communications interface to send and receive configuration and control
parameters.
Trigger - The external trigger input initiates the acquisition and transfer of a single frame
of data. Several triggering modes are available and are configured via the RS-232
control interface.
Power - The power connector consist of a standard, DB-9 type connector. Use the
power supply module provided with your camera.
Analog Video - This connector is used only in those systems that are configured with
the optional DirectView analog video output board. Video output is provided on a
standard DB15 connector. When the progressive scan RGB modes are selected,
(640x480, 800x600, 1024x768, and 1280x1024), a standard multisync type monitor can
be plugged directly into this DB15 connector. In order to drive NTSC or PAL monitors, a
special DB15 to coax converter cable is included with the camera.
Digital Video Data Output
The DT4000 and DT4100 camera outputs up to 32 bits of pixel data along with control
signals for synchronization. This output can be configured as four, 8-bit parallel data
channels (or “taps”) or three, 10-bit parallel data channels (or “taps”). These are referred
to as the camera output ports – Port 0, 1, 2, and 3 for 8-bit output mode and Port 0, 1,
and 2 for 10-bit output mode. For monochrome cameras, you can choose to use only
one output, or to route the image data to more than one output tap. Output configuration
is controlled via the RS-232 command interface.
The control signals PIXCLK, LVAL, and FVAL are used to clock the image data into the
frame grabber. LVAL and FVAL are positive true and are coincident with the falling edge
of PIXCLK. The pixel data may be latched by the rising edge of PIXCLK. This conforms
to the Monochrome Digital Interface Specification AIA A15.08/3. The CameraLink
interface adds some additional signals that are detailed in the CameraLink interface
description below.
Control Signals
PIXCLK: Pixel clock output.
This signal is used to synchronously clock the digital video data and control signals.
LVAL: Line valid.
Asserted when a valid video line of data is being transferred.
FVAL: Frame valid.
Asserted when a valid video frame of data is being transferred.

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The control signals are characterized by the following parameters and exhibit the
behavior shown in the timing diagram below.
DT4000
(10 fps) DT4100 (10 fps)
Pixel Clock Rate 22.6 Mhz 22.6 MHZ
Horizontal Total Count 1892 pixels 2232 pixels
Horizontal Active Count 1600 pixels 1920 pixels
Horizontal Blank Count 292 pixels 312 pixels
Vertical Total Count 1214 lines 1094 lines
Vertical Active Count 1200 lines 1080 lines
Vertical Blank Count 14 lines 14 lines
Note that the CameraLink interface additionally requires the use of the DVAL
signal.
Figure 5. Timing Diagram for Digital Video Output
CameraLink Interface
The Duncan Technologies CameraLink interface supports both the Base and Medium
Configurations described in Section 3 of the CameraLink specification. Please refer to
this specification for information regarding pin assignments and connector information.
The DT camera Ports are mapped to the CameraLink ports in the following manner
depending on whether the camera is operating in 8 bit/pixel or 10 bit/pixel mode. Note
that CameraLink PortA, PortB and PortC are serviced by a single connector/cable. The
addition of PortD requires the use of a second connector/cable.
8 bit/pixel Mode
In this mode the 8 bit Ports from the DT camera are mapped into the 8 bit CameraLink
Ports in the following manner.
DT Camera Ports (8 bit) CameraLink Ports (8 bit)
Port0 PortA
Port1 PortB
Port2 PortC
Port3 PortD

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Note that in the case of a 24 bit RGB image, only Ports A, B and C are used and a single
cable (Base) to the CameraLink frame grabber suffices to transfer all of the data. The
addition of a fourth 8 bit port (Camera Port 3 mapped to CameraLink PortD) requires the
use of a second cable (Medium configuration) to the frame grabber.
10 bit/pixel Mode
In this mode the 10 bit Ports from the DT camera are mapped into the 8 bit CameraLink
Ports in the following manner. This configuration requires the use of both the Base and
Medium CameraLink connections.
DT Camera Ports (10 bit) CameraLink Ports (8 bit)
Port0 PortA (A0 - A7), PortB (B0-B1)
Port1 PortB (B2-B7), PortC (C0-C3)
Port2 PortC (C4-C7), PortD (D0-D5)
CameraLink Pixel Clock Rate
The CameraLink specification requires a minimum pixel clock rate of 20 MHz. Some
DuncanTech camera models operate with a pixel clock rate of less than 20 MHz. In this
case, for the CameraLink transmission the pixel clock is doubled. The DVAL (DataValid)
signal is used to indicate valid pixel values in the data stream. The receiving
CameraLink framegrabber must utilize the DataValid function in order to correctly
interpret the incoming data stream.
Digital Video Connector: Framegrabber Options
The pin assignments for various Digital Video Connectors follow.

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National Instruments PCI-1424 Framegrabber
Connector: AMP786577-9 100 pin D-type subminiature
Digital Video Connector Pinout for
National Instruments PCI-1424
Pin Signal Pin Signal
1Out10+ 51 Out26+
2Out10- 52 Out26-
3Out11+ 53 Out27+
4Out11- 54 Out27-
5Out12+ 55 Out28+
6Out12- 56 Out28-
7Out13+ 57 Out29+
8Out13- 58 Out29-
9Out14+ 59 Out30+
10 Out14- 60 Out30-
11 Out15+ 61 Out31+
12 Out15- 62 Out31-
13 Out16+ 63 Out32+
14 Out16- 64 Out32-
15 Out17+ 65 Out33+
16 Out17- 66 Out33-
17 Out18+ 67 Out34+
18 Out18- 68 Out34-
19 Out19+ 69 Out35+
20 Out19- 70 Out35-
21 Out20+ 71 Out36+
22 Out20- 72 Out36-
23 Out21+ 73 Out37+
24 Out21- 74 Out37-
25 Out22+ 75 Out38+
26 Out22- 76 Out38-
27 Out23+ 77 Out39+
28 Out23- 78 Out39-
29 Out24+ 79 Out40+
30 Out24- 80 Out40-
31 Out25+ 81 Out41+
32 Out25- 82 Out41-
33 Trig1+ 83
34 Trig1- 84
35 85
36 86
37 87
38 88
39 89
40 90
41 Fval+ 91
42 Fval- 92
43 Lval+ 93 RS232out
44 Lval- 94 RS232in
45 Ctrl+ 95
46 Ctrl- 96
47 97
48 98
49 Pixclk+ 99 Ground
50 Pixclk- 100 Ground

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Imaging Technologies PC-DIG Framegrabber
Connector: AMP175925-9 100 pin D-type subminiature
Digital Video Connector Pinout for
Imaging Technology PC-DIG
Pin Signal Pin Signal
1Out10+ 51 Out26+
2Out10- 52 Out26-
3Out11+ 53 Out27+
4Out11- 54 Out27-
5Out12+ 55 Out28+
6Out12- 56 Out28-
7Out13+ 57 Out29+
8Out13- 58 Out29-
9Out14+ 59 Out30+
10 Out14- 60 Out30-
11 Out15+ 61 Out31+
12 Out15- 62 Out31-
13 Out16+ 63 Out32+
14 Out16- 64 Out32-
15 Out17+ 65 Out33+
16 Out17- 66 Out33-
17 Out18+ 67 Out34+
18 Out18- 68 Out34-
19 Out19+ 69 Out35+
20 Out19- 70 Out35-
21 Out20+ 71 Out36+
22 Out20- 72 Out36-
23 Out21+ 73 Out37+
24 Out21- 74 Out37-
25 Out22+ 75 Out38+
26 Out22- 76 Out38-
27 Out23+ 77 Out39+
28 Out23- 78 Out39-
29 Out24+ 79 Out40+
30 Out24- 80 Out40-
31 Out25+ 81 Out41+
32 Out25- 82 Out41-
33 Lval+ 83
34 Lval- 84
35 Fval+ 85
36 Fval- 86
37 Ground 87
38 Ground 88
39 Pixclk+ 89
40 Pixclk- 90
41 91
42 92
43 93
44 94
45 95
46 96
47 Ctrl+ 97
48 Ctrl- 98
49 99
50 100

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Matrox Corona
Connector: AMP175925-0 80 pin D-type subminiature
Digital Video Connector Pinout for
Matrox Corona
Pin Signal Pin Signal
1Out10+ 41 Out11+
2Out10- 42 Out11-
3Out12+ 43 Out13+
4Out12- 44 Out13-
5Out14+ 45 Out15+
6Out14- 46 Out15-
7Out16+ 47 Out17+
8Out16- 48 Out17-
9Out18+ 49 Out19+
10 Out18- 50 Out19-
11 Out20+ 51 Out21+
12 Out20- 52 Out21-
13 Out22+ 53 Out23+
14 Out22- 54 Out23-
15 Out24+ 55 Out25+
16 Out24- 56 Out25-
17 Out26+ 57 Out27+
18 Out26- 58 Out27-
19 Out28+ 59 Out29+
20 Out28- 60 Out29-
21 Out30+ 61 Out31+
22 Out30- 62 Out31-
23 Out32+ 63 Out33+
24 Out32- 64 Out33-
25 Ground 65 Ground
26 66
27 67 Lval+
28 68 Lval-
29 69 Fval+
30 70 Fval-
31 Trig1+ 71
32 Trig1- 72
33 73 Ctrl+
34 74 Ctrl-
35 75
36 76
37 77
38 78
39 79 Pixclk+
40 80 Pixclk-

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Serial Port Communication Interface
The RS-232 interface to the camera is provided via a standard, DB-9 type connector on
the rear panel with the following connections. The data character format is 8N1 (8 data
bits + no parity + 1 stop bit). Baud rate is 9600 bps. No handshaking signals are
supported. For detailed information on the command protocol, see "Camera Control and
Configuration via RS-232 Communications".
RS-232 Connector Pin Assignments
Pin Connection Notes
2Transmit Host PC output
3Receive Host PC input
5Ground

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Trigger Input
The external trigger signal initiates the acquisition and transfer of a single frame of data
in one of several possible ways. The polarity of the External Trigger signal is user
programmable. The external trigger signal input may be derived from one of two
sources: 1) the Trigger BNC connector on the rear panel or 2) the trigger signal pins on
the Digital Video Connector. The source of the trigger input is selected via an RS-232
command. The optically coupled, rear panel BNC input requires a trigger voltage from 4
to 10 volts in amplitude and capable of sourcing at least 10 mA.
Trigger Modes
Image acquisition occurs in four different modes. Three of these modes require an
external trigger signal to initiate a new acquisition. These triggered modes provide
different methods of controlling the start of image acquisition and the duration of the
integration time. The triggering mode is selected with via an RS-232 command. The
triggering modes are described in detail below.
Free Run Mode (Internal Sync)
This mode requires no external control signals and provides high frame rates by
overlapping the readout time with the exposure time. An internally generated, fixed
frequency trigger signal initiates the readout of the current frame and starts the exposure
time for the next frame. The frame rate is controlled internally. Integration time is
programmable.
Figure 6. Free Run Mode - No External Trigger

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Edge Controlled (External Trig)
This mode provides high frame rates by overlapping the readout time with the integration
time. The active edge of EXT TRIG initiates the readout of the last frame of data and
starts the exposure time for the next frame. The exposure time is defined by the time
between two successive leading edges of the trigger signal. The minimum time between
trigger pulses must be at least one frame readout period.
Figure 7. Edge Controlled Trigger Mode
Integrate and Dump (External Trig, programmable)
In this mode the active edge of EXT TRIG initiates the start of a programmable
integration time. At the end of the integration time the readout takes place. After the
readout, the system is ready for another EXT TRIG signal. The integration time
programmed via RS-232 commands and can be set with CameraLink, DuncanTech’s
camera control program.
Figure 8. Integrate & Dump - Edge Controlled Trigger Mode

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Integrate and Dump (External Trig, level controlled)
In this mode both edges of EXT TRIG are active. The leading edge initiates the start of
the integration time and the falling edge defines the end of the integration time. The
falling edge also initiates the readout period. The minimum time between two
successive leading edges of the trigger signal is the exposure time plus one frame
readout period.
Figure 9. Integrate & Dump - Level Controlled Trigger Mode
Electrical Power Requirements
The DT4000 and DT4100 series cameras have built-in power conditioning. The camera
requires 12Volts +/- 5% at 1 amps.
Maximum power dissipation for the DT4000 or DT4100 camera is 12 Watts.
The power connector consists of a standard, DB-9 type connector on the rear panel of
the camera with the following connections.
Power Connector Pinout
Pin Connection
1Ground
2+12V

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DirectView Video Output
For those cameras purchased with the analog video output options, the analog video is
available on a DB15 connector located on the camera rear panel. Video output is
provided in NTSC or PAL formats (Composite or S-Video) as well as non-interlaced
video for multisync (PC type) monitors. The format of the video output signal is selected
via the RS232 interface. A standard DB15 to coax cable can be used to interface with
NTSC/PAL monitors.
Analog Video Connector Pinout
Progressive Scan NTSC/PAL
PIN Output Output
1Red S-Video (C)
2Green CompositeVideo
3Blue S-Video (Y)
4N/C
5N/C
6Red Ground Video Gnd
7Green Ground Video Gnd
8Blue Ground Video Gnd
9N/C
10 Ground
11 N/C
12 N/C
13 Horiz. Sync
14 Vert. Sync
15 N/C
DB15 to Coax Cable
NTSC/PAL Interlaced RGB
Coax Output Output
Red S-Video (C) Red
Green CompositeVideo Green
Blue S-Video (Y) Blue
White or Gray CompositeSync