Basler aviator Camera Link Owner's manual

Brand: Basler

Model: aviator Camera Link

Type: Owner's manual

Basler aviator

CAMERA LINK INFORMATION FOR FRAME

GRABBER DESIGNERS

Document Number: AW000831

Version: 08 Language: 000 (English)

Release Date: 23 October 2013

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. Basler

customers using or selling these products for use in such applications do so at their own risk and

agree to fully indemnify Basler for any damages resulting from such improper use or sale.

Warranty Note

Do not open the housing of the camera. The warranty becomes void if the housing is opened.

All material in this publication is subject to change without notice and is copyright Basler

AG.

Contacting Basler Support Worldwide

Europe:

Basler AG

An der Strusbek 60-62

22926 Ahrensburg

Germany

Tel.: +49-4102-463-515

Fax.: +49-4102-463-599

[email protected]

Americas:

Basler, Inc.

855 Springdale Drive, Suite 203

Exton, PA 19341

U.S.A.

Tel.: +1-610-280-0171

Fax.: +1-610-280-7608

[email protected]

Asia:

Basler Asia Pte. Ltd.

35 Marsiling Industrial Road 3

# 05 - 06

Singapore 739257

Tel.: +65 6367 1355

Fax.: +65 6367 1255

www.baslerweb.com

AW00083108000 Table of Contents

Basler aviator Camera Link i

Table of Contents

1 Camera Link Implementation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

1.1 Pin Assignments and Numbering for the MDR Connector . . . . . . . . . . . . . . . . . . . . . . . 2

1.2 Camera Link Input Signals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

1.2.1 Serial to Camera . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

1.2.2 External Acquisition Start Trigger (ExASTrig) . . . . . . . . . . . . . . . . . . . . . . . . . . 4

1.2.3 External Frame Start Trigger (ExFSTrig) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

1.3 Camera Link Output Signals. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

1.3.1 Pixel Clock . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

1.3.2 Frame Valid Bit. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

1.3.3 Line Valid Bit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

1.3.4 Data Valid Bit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

1.3.5 Pixel Data Bits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

2 Pixel Data Output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

2.1 Data Depth . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

2.2 Pixel Data Output Timing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

2.3 Camera Link Tap Geometry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

2.3.1 1X-1Y Tap Geometry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

2.3.2 1X2-1Y Tap Geometry . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

2.3.3 1X-2YE Tap Geometry. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

Revision History. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

Table of Contents AW00083108000

ii Basler aviator Camera Link

AW00083108000 Camera Link Implementation

Basler aviator Camera Link 1

1 Camera Link Implementation

The Basler aviator Camera Link camera transmits Camera Link data in a fashion similar to a

National Semiconductor DS90CR287 device. For Camera Link receivers on your frame grabber, we

recommend that you use a National Semiconductor DS90CR288, a National Semiconductor

DS90CR288A or an equivalent.

The camera uses a National Semiconductor DS90LV048A differential line receiver to receive the

RS-644 camera control input signals and the serial communication input signal defined in the

Camera Link specification. A DS90LV011A differential line transmitter is used to transmit the serial

communication output signal defined in the specification.

Detailed data sheets for these components are available at the National Semiconductor web site

(www.national.com). The data sheets contain all of the information, including application notes, that

you need to implement Camera Link,

All camera models have a single MDR connector and implement the "base configuration" as defined

in the Camera Link specification. The cameras include a differential line transmitter circuit

designated as transmitter circuit X. When a camera is set for a 2 tap video data output mode, it uses

the base Camera Link configuration.

Table 1 on page 2 shows the pin assignments for the MDR connector.

The schematic in Figure 1 on page 3 shows the base configuration Camera Link implementation for

the camera and a typical implementation for a base configuration frame grabber

Camera Link Implementation AW00083108000

2 Basler aviator Camera Link

1.1 Pin Assignments and Numbering for the

MDR Connector

The pin assignments and numbering for the MDR connector on the camera are as shown in Table 1.

Pins 1, 13, 14, and 26 are all tied to ground inside of the camera.

Pin Number Signal Name Direction Level Function

1, 13, 14, 26

Gnd Input Ground Ground for the inner shield of the cable

2 X0- Output Camera Link

LVDS

Data from transmitter circuit X

15 X0+

3 X1- Output Camera Link

LVDS

Data from transmitter circuit X

16 X1+

4 X2- Output Camera Link

LVDS

Data from transmitter circuit X

17 X2+

6 X3- Output Camera Link

LVDS

Data from transmitter circuit X

19 X3+

5 XClk- Output Camera Link

LVDS

Pixel clock from transmitter circuit X

18 XClk+

7 SerTC+ Input RS-644

LVDS

Serial communication data receive

(SerTC = "serial to camera")

20 SerTC-

8 SerTFG- Output RS-644

LVDS

Serial communication data transmit

(SerTFG = "serial to frame grabber")

21 SerTFG+

9 CC1- Input RS-644

LVDS

ExFrameStTrig (external frame start trigger)

22 CC1+

10 CC2+ Input RS-644

LVDS

Not assigned

23 CC2-

11 None None None None

24 None

12 CC4+ Input RS-644

LVDS

Not assigned

25 CC4-

Table 1: Pin Assignments for MDR Connector One

AW00083108000 Camera Link Implementation

Basler aviator Camera Link 3

Fig. 1: Camera / Frame Grabber Interface

Camera Link Implementation AW00083108000

4 Basler aviator Camera Link

1.2 Camera Link Input Signals

The input signals that the camera can accept via the Camera Link interface include a Serial to

Camera signal and an External Frame Start Trigger signal as described below.

1.2.1 Serial to Camera

The Serial To Camera (SerTC) input signal is an RS-644 LVDS signal as specified in the Camera

Link standard. The signal is input to the camera on pins 7 and 20 of MDR connector one as specified

in the standard and as shown in Figure 1 on page 3. The camera is equipped for RS-644 serial

communication via a serial port integrated into the frame grabber as specified in the Camera Link

standard.

The RS-644 serial connection in the Camera Link interface is used to issue commands to the

camera that change parameter values. The serial link can also be used to query the camera about

its current setup.

1.2.2 External Acquisition Start Trigger (ExASTrig)

The camera can be set to accept an External Acquisition Start Trigger (ExASTrig) input signal,

which is used as an enabler for the frame start trigger. When the camera receives a proper

ExASTrig signal, its acquisition status will change from "waiting for acquisition start trigger" to

"waiting for frame start trigger". For details about using an acquisition start trigger with aviator

cameras, refer to the aviator User’s Manual (AW000830xx000).

When the ExASTrig signal is applied to the camera via the Camera Link interface, it must be an

LVDS signal as specified for RS-644. The camera can be programmed to accept an ExASTrig

signal on the CC1, CC2, or CC4 inputs in the Camera Link interface.

Note that ExASTrig is edge sensitive and therefore must toggle. The minimum high time for the

ExASTrig signal is 1 µs and the minimum low time is also 1 µs.

1.2.3 External Frame Start Trigger (ExFSTrig)

The camera can be set to accept an External Frame Start Trigger (ExFSTrig) input signal to control

exposure and readout of the camera’s sensor. When the ExFSTrig signal is applied to the camera

via the Camera Link interface, it is an LVDS signal as specified for RS-644. By default, the camera

will accept an ExFSTrig signal on the CC1 input in the Camera Link interface (pins 9 and 22 of the

MDR connector) as specified in the Camera Link standard. The camera can also be programmed

to accept the ExFSTrig signal on CC2 or CC4.

AW00083108000 Camera Link Implementation

Basler aviator Camera Link 5

When the camera is under the control of an ExFSTrig signal, it can be programmed to function in

two exposure time control modes: timed or trigger width. ExFSTrig can be a periodic or non-periodic

function. The frequency of the ExFSTrig signal determines the camera’s frame rate in these modes.

Note that ExFSTrig is edge sensitive and therefore must toggle. The minimum high time for the

ExFSTrig signal is 1 µs and the minimum low time is also 1 µs.

The ExFSTrig signal is typically supplied to the camera by the frame grabber board.

For details about using a frame start trigger with aviator cameras, refer to the aviator User’s Manual

(AW000830xx000).

Camera Link Implementation AW00083108000

6 Basler aviator Camera Link

1.3 Camera Link Output Signals

1.3.1 Pixel Clock

The pixel clock is assigned to the strobe port (TxClk pin) on transmitter circuit X as defined in the

Camera Link standard and as shown in Table 1 on page 2. The pixel clock is used to time the

sampling and transmission of pixel data. The frequency of the pixel clock is selectable, see the

aviator user’s manual for details.

On each rising edge of the pixel clock signal, the data for two pixels are transmitted at 12 bit, 10 bit,

or 8 bit depth depending on the camera’s current pixel format setting.

1.3.2 Frame Valid Bit

As shown in Figure 3 on page 12, the frame valid bit indicates that a valid frame is being

transmitted. The frame valid bit is assigned to the frame valid port on transmitter circuit X as defined

in the Camera Link standard. Pixel data is only valid when the frame valid, line valid, and data valid

bits are all high.

1.3.3 Line Valid Bit

As shown in Figure 3 on page 12, the line valid bit indicates that a valid line is being transmitted.

The line valid bit is assigned to the line valid port on transmitter circuit X as defined in the Camera

Link standard. Pixel data is only valid when the frame valid, line valid, and data valid bits are all high.

1.3.4 Data Valid Bit

As shown in Figure 3 on page 12, the data valid bit indicates that valid pixel data is being

transmitted. The data valid bit is assigned to the data valid port on transmitter circuit X as defined

in the Camera Link standard. Pixel data is only valid when the frame valid, line valid, and data valid

bits are all high.

1.3.5 Pixel Data Bits

Pixel data bits are transmitted via output ports on transmitter circuit X. The ports as defined in the

Camera Link standard are shown in Figure 1 on page 3. The assignment of pixel data bits to output

ports varies depending on the current pixel format setting of the camera. The available pixel formats

and the bit assignments are shown in detail in Table 2. The bit assignments comply with the Camera

Link standard.

AW00083108000 Camera Link Implementation

Basler aviator Camera Link 7

MDR Conn. 1, Transmitter Circuit X

Port Camera Frame

Grabber

Bit Assignments

2 Tap - 12 Bit 2 Tap - 10 Bit 2 Tap - 8 Bit

Port A0 TxIN0 RxOut0 D0 Bit 0 D0 Bit 0 D0 Bit 0

Port A1 TxIN1 RxOut1 D0 Bit 1 D0 Bit 1 D0 Bit 1

Port A2 TxIN2 RxOut2 D0 Bit 2 D0 Bit 2 D0 Bit 2

Port A3 TxIN3 RxOut3 D0 Bit 3 D0 Bit 3 D0 Bit 3

Port A4 TxIN4 RxOut4 D0 Bit 4 D0 Bit 4 D0 Bit 4

Port A5 TxIN6 RxOut6 D0 Bit 5 D0 Bit 5 D0 Bit 5

Port A6 TxIN27 RxOut27 D0 Bit 6 D0 Bit 6 D0 Bit 6

Port A7 TxIN5 RxOut5 D0 Bit 7 D0 Bit 7 D0 Bit 7 (MSB)

Port B0 TxIN7 RxOut7 D0 Bit 8 D0 Bit 8 D1 Bit 0

Port B1 TxIN8 RxOut8 D0 Bit 9 D0 Bit 9 (MSB) D1 Bit 1

Port B2 TxIN9 RxOut9 D0 Bit 10 Not Used D1 Bit 2

Port B3 TxIN12 RxOut12 D0 Bit 11 (MSB) Not Used D1 Bit 3

Port B4 TxIN13 RxOut13 D1 Bit 8 D1 Bit 8 D1 Bit 4

Port B5 TxIN14 RxOut14 D1 Bit 9 D1 Bit 9 (MSB) D1 Bit 5

Port B6 TxIN10 RxOut10 D1 Bit 10 Not Used D1 Bit 6

Port B7 TxIN11 RxOut11 D1 Bit 11(MSB) Not Used D1 Bit 7 (MSB)

Port C0 TxIN15 RxOut15 D1 Bit 0 D1 Bit 0 Not Used

Port C1 TxIN18 RxOut18 D1 Bit 1 D1 Bit 1 Not Used

Port C2 TxIN19 RxOut19 D1 Bit 2 D1 Bit 2 Not Used

Port C3 TxIN20 RxOut20 D1 Bit 3 D1 Bit 3 Not Used

Port C4 TxIN21 RxOut21‘ D1 Bit 4 D1 Bit 4 Not Used

Port C5 TxIN22 RxOut22 D1 Bit 5 D1 Bit 5 Not Used

Port C6 TxIN16 RxOut16 D1 Bit 6 D1 Bit 6 Not Used

Port C7 TxIN17 RxOut17 D1 Bit 7 D1 Bit 7 Not Used

LVAL TxIN24 RxOut24 Line Valid Line Valid Line Valid

FVAL TxIN25 RxOut25 Frame Valid Frame Valid Frame Valid

DVAL TxIN26 RxOut26 Data Valid Data Valid Data Valid

Spare TxIN23 RxOut23 Not Used Not Used Not Used

Strobe TxINCLK RxOutClk Pixel Clock Pixel Clock Pixel Clock

Table 2: Bit Assignments for Two Tap Output Modes (Transmitter Circuit X)

Camera Link Implementation AW00083108000

8 Basler aviator Camera Link

AW00083108000 Pixel Data Output

Basler aviator Camera Link 9

2 Pixel Data Output

2.1 Data Depth

The camera’s Pixel Format parameter setting determines the data depth of the pixels transmitted

from the camera.

On mono cameras, the pixel format can be set to Mono 12 (12 bit depth), Mono 10 (10 bit depth),

or Mono 8 (8 bit depth).

On color cameras, the pixel format can be set to Bayer GR 12 (12 bit depth), Bayer GR 10 (10 bit

depth), or Bayer GR 8 (8 bit depth).

When the camera is set for

 12 bit depth, all 12 bits of pixel data output from the camera’s ADCs are transmitted.

 10 bit depth, the 2 least significant bits output from each ADC are dropped and the 10 most

significant bits of data per pixel are transmitted.

 8 bit depth, the 4 least significant bits output from each ADC are dropped and the 8 most

significant bits of data per pixel are transmitted.

2.2 Pixel Data Output Timing

The Camera Link pixel clock speed on all aviator Camera Link models is selectable. The available

pixel clock speeds are shown in Table 3.

Camera Link Pixel Clock Setting pclk

20 MHz 50.000 ns

32.5 MHz 30.769 ns

40 MHz 25.000 ns

48 MHZ 20.083 ns

65 MHz 15.385 ns

Table 3: Pixel Clock Speeds and Periods

Pixel Data Output AW00083108000

10 Basler aviator Camera Link

2.3 Camera Link Tap Geometry

All aviator cameras have a settable Camera Link Tap Geometry parameter. The Camera Link tap

geometry setting determines how pixel data will be read out of the camera’s image buffer and

transmitted via the Camera link interface.

On all Basler aviator cameras, the Camera Link tap geometry can be set to

1X-1Y, 1X2-1Y or to 1X-2YE.

AW00083108000 Pixel Data Output

Basler aviator Camera Link 11

2.3.1 1X-1Y Tap Geometry

After an image has been captured, the image is read out of the camera’s imaging sensor and into

an image buffer. As pixel data is read out of the sensor and into the buffer, it is reordered so that the

pixel data for each line is in sequential ascending order from pixel 1 through the last pixel in the line.

When a camera is set for the 1X-1Y tap geometry, transmission of the pixel data from the camera’s

image buffer to the frame grabber in the host PC will not begin until the entire image has been read

out of the sensor and buffered.

The 1X-1Y geometry

 is a "one tap Camera Link configuration"

 can be used, if the camera is set for either one tap sensor digitization or four tap sensor

digitization.

Figure 2 provides a graphical illustration of how the pixel data is transmitted from the image buffer

for 1X-1Y tap geometry. The text following Figure 2 provides a word description of how the pixel

data is transmitted.

The pixel clock is used to time data transmission. As shown in Figure 3 on page 12, the camera

transmits data on each rising edge of the pixel clock.

Fig. 2: 1X-1Y Tap Geometry

Tap 1

H-1

W-1

H-1

W-1

H-1

W = width

H = height

Pixel Data Output AW00083108000

12 Basler aviator Camera Link

Pixel Data Transmission Sequence with the 1X-1Y Tap Geometry

When the camera is not transmitting valid data, the frame valid, line valid, and data valid bits sent

on each cycle of the pixel clock will be low. Once the camera has acquired an image and has read

the pixel data out of the imaging sensor, it will begin transmitting the data (see Figure 3):

 (1) - (2):

On the pixel clock cycle where frame data transmission begins, the frame valid bit will become

high.

Fig. 3: Pixel Data Output Timing for the 1X-1Y Tap Geometry

(2) - (3):

 Two pixel clock cycles later, the line valid and data valid bits will become high and data

transmission for line one begins.

One data stream, D0, is transmitted during this clock cycle. On this clock cycle, data stream D0

will transmit data for pixel 1 in line 1. Depending on the pixel format selected, the pixel data

will be at 12, 10, or 8 bit depth.

 On the next pixel clock cycle, the line valid and data valid bits will still be high. On this clock

cycle, data stream D0 will transmit data for pixel 2 in line 1.

 On the next pixel clock cycle, the line valid and data valid bits will still be high. On this clock

cycle, data stream D0 will transmit data for pixel 3 in line 1.

 This pattern will continue until all of the pixel data for line 1 have been transmitted.

End of

Exposure

Frame

Valid

Line

Valid

Line 1 Line 2 Line H

Pixel

Clock

Pixel Data

(12, 10,or 8 bits)

W-1 W12 1 122

Data

Valid

W-1 W W-1 W

TIMING DIAGRAMS ARE NOT DRAWN TO SCALE.

H = height = the last line in the image (e.g., line 1024 on a camera with the AOI set to 1024 x 1024)

W = width = the last pixel in the line (e.g., pixel 1024 on a camera with the AOI set to 1024 x 1024)

A - F: see next page

(1) (2) (3)

(4)

AW00083108000 Pixel Data Output

Basler aviator Camera Link 13

(3) - (4):

 The line valid and data valid bits become low for 8 pixel clock cycles.

 On the pixel clock cycle where data transmission for line 2 begins, the line valid and data valid

bits will become high. On this clock cycle, data stream D0 will transmit data for pixel 1 in

line 2.

 On the next pixel clock cycle, the line valid and data valid bits will still be high. On this clock

cycle, data stream D0 will transmit data for pixel 2 in line 2.

 On the next pixel clock cycle, the line valid and data valid bits will still be high. On this clock

cycle, data stream D0 will transmit data for pixel 3 in line 2.

 This pattern will continue until all of the pixel data for line 2 have been transmitted.

Further steps:

 The line valid and data valid bits become low for 8 pixel clocks.

 The camera will continue to transmit pixel data for each line as described above until all of the

lines in the frame have been transmitted. After all of the lines have been transmitted, the frame

valid, line valid, and data valid bits will all become low indicating that a valid frame is no longer

being transmitted.

A --> varies depending on the camera model as shown in the table below.

B = 2 x pclk E = 6 x pclk

C = CL Inter-line delay value (*) F = [ (AOI Height) x (D + C) ] x pclk

D = [ (AOI Width) ] x pclk

(*) The inter-line delay parameter determines the delay between the end of transmission of a line

and the start of transmission of the next line (within a frame).

Per default the inter-line delay value is set to 4. You can adapt the inter-line delay value to your

requirements.

For information about how to configure the inter-line parameter, see the aviator Camera Link User’s

Manual (AW000830xx000).

avA1000-120km/kc

(at 1024 x 1024)

avA1600-65km/kc

(at 1600 x 1200)

avA1900-60km/kc

(at 1920 x 1080)

avA2300-30km/kc

(at 2330 x 1750)

8.28 ms 14.47 ms 15.30 ms 29.41ms

Pixel Data Output AW00083108000

14 Basler aviator Camera Link

2.3.2 1X2-1Y Tap Geometry

After an image has been captured, the image is read out of the camera’s imaging sensor and into

an image buffer. As pixel data is read out of the sensor and into the buffer, it is reordered so that the

pixel data for each line is in sequential ascending order from pixel 1 through the last pixel in the line.

When a camera is set for the 1X2-1Y tap geometry, transmission of the pixel data from the camera’s

image buffer to the frame grabber in the host PC will not begin until the entire image has been read

out of the sensor and buffered.

The 1X2-1Y tap geometry

 is a "two tap Camera Link configuration"

Figure 4 provides a graphical illustration of how the pixel data is transmitted from the image

buffer when the 1X2-1Y tap geometry is selected.

The text following Figure 4 provides a word description of how the pixel data is transmitted.

 can be used, if the camera is set for either one tap sensor digitization or four tap sensor

digitization.

The pixel clock is used to time data transmission. As shown in Figure 5 on page 15, the camera

transmits data on each rising edge of the pixel clock. The pixel clock frequency depends on the

current setting of the camera’s Camera Link Clock Speed parameter.

Fig. 4: 1X2-1Y Tap Geometry

Tap 1

Tap 2

H-1

W-1

H-1

W-1

H-1

W = width

H = height

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Basler aviator Camera Link Owner's manual

Basler aviator Camera Link Owner's manual

Basler aviator Camera Link Owner's manual

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