Manta G-145B/C

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May 23, 2012 ... MANTA Technical Manual V5.0.1. 2. Legal notice. For customers in the U.S.A.. This equipment has been tested and found to comply with the ...
AVT Manta

Technical Manual AVT GigE Vision Cameras V5.0.1 23 May 2012 Allied Vision Technologies GmbH Taschenweg 2a D-07646 Stadtroda / Germany

Legal notice For customers in the U.S.A. This equipment has been tested and found to comply with the limits for a Class B digital device, pursuant to Part 15 of the FCC Rules. These limits are designed to provide reasonable protection against harmful interference when the equipment is operated in a residential environment. This equipment generates, uses, and can radiate radio frequency energy and, if not installed and used in accordance with the instruction manual, may cause harmful interference to radio communications. However there is no guarantee that interferences will not occur in a particular installation. If the equipment does cause harmful interference to radio or television reception, the user is encouraged to try to correct the interference by one or more of the following measures: • • • •

Reorient or relocate the receiving antenna. Increase the distance between the equipment and the receiver. Use a different line outlet for the receiver. Consult a radio or TV technician for help.

You are cautioned that any changes or modifications not expressly approved in this manual could void your authority to operate this equipment. The shielded interface cable recommended in this manual must be used with this equipment in order to comply with the limits for a computing device pursuant to Subpart B of Part 15 of FCC Rules. For customers in Canada This apparatus complies with the Class B limits for radio noise emissions set out in the Radio Interference Regulations. Pour utilisateurs au Canada Cet appareil est conforme aux normes classe B pour bruits radioélectriques, spécifiées dans le Règlement sur le brouillage radioélectrique. Life support applications These products are not designed for use in life support appliances, devices, or systems where malfunction of these products can reasonably be expected to result in personal injury. Allied Vision Technologies customers using or selling these products for use in such applications do so at their own risk and agree to fully indemnify Allied for any damages resulting from such improper use or sale. Trademarks Unless stated otherwise, all trademarks appearing in this document of Allied Vision Technologies are brands protected by law. Warranty The information provided by Allied Vision Technologies is supplied without any guarantees or warranty whatsoever, be it specific or implicit. Also excluded are all implicit warranties concerning the negotiability, the suitability for specific applications or the non-breaking of laws and patents. Even if we assume that the information supplied to us is accurate, errors and inaccuracy may still occur. Copyright All texts, pictures and graphics are protected by copyright and other laws protecting intellectual property. It is not permitted to copy or modify them for trade use or transfer, nor may they be used on web sites.

Allied Vision Technologies GmbH 05/2012 All rights reserved. Managing Director: Mr. Frank Grube Tax ID: DE 184383113 Headquarters: Taschenweg 2A D-07646 Stadtroda, Germany Tel.: +49 (0)36428 6770 Fax: +49 (0)36428 677-28 e-mail: [email protected]

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Contents Contacting Allied Vision Technologies ................................................... 6 Introduction ............................................................................................................ 7 Document history............................................................................................................ 7 Manual overview ........................................................................................................... 14 Conventions used in this manual ...................................................................................... 15 Styles ..................................................................................................................... 15 Symbols .................................................................................................................. 16 More information .......................................................................................................... 16 Before operation........................................................................................................... 17

MANTA GigE cameras ......................................................................................18 Conformity ..............................................................................................................20 CE .......................................................................................................................... 20 FCC – Class B Device................................................................................................... 20

Specifications .......................................................................................................21 Manta G-031B/C ........................................................................................................... 21 Manta G-032B/C ........................................................................................................... 24 Manta G-033B/C ........................................................................................................... 26 Manta G-046B/C ........................................................................................................... 28 Manta G-095C............................................................................................................... 30 Manta G-125B/C ........................................................................................................... 33 Manta G-145B/C (-30fps*) .............................................................................................. 35 Manta G-145B NIR ......................................................................................................... 37 Manta G-146B/C ........................................................................................................... 39 Manta G-201B/C (-30fps*) .............................................................................................. 41 Manta G-504B/C ........................................................................................................... 43 Spectral sensitivity ........................................................................................................ 45

Filter and lenses .................................................................................................57 IR cut filter: spectral transmission .................................................................................... 57 Camera lenses .............................................................................................................. 58

Camera dimensions ..........................................................................................61 MANTA standard housing ................................................................................................ 61 Tripod adapter .............................................................................................................. 62 Manta W90 (1 x GigE) ..................................................................................................... 63 Manta W90 S90 (1 x GigE) ............................................................................................... 64 Manta W270 (1 x GigE) ................................................................................................... 65 Manta W270 S90 (1 x GigE).............................................................................................. 66 Cross section: C-Mount ................................................................................................... 67 MANTA Technical Manual V5.0.1

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Adjustment of C-Mount................................................................................................... 67 Cross section: CS-Mount ................................................................................................. 68 Adjustment of CS-Mount ................................................................................................. 68 Manta board level (non-PoE): dimensions .......................................................................... 69 Manta board level (PoE): dimensions ................................................................................ 70 Manta board level (non-PoE): C-Mount .............................................................................. 71 Manta board level (PoE): C-Mount .................................................................................... 72 Manta board level (non-PoE): CS-Mount ............................................................................ 73 Manta board level (PoE): CS-Mount................................................................................... 74 Manta board level (non-PoE): M12-Mount .......................................................................... 75 Manta board level (PoE): M12-Mount ................................................................................ 76

Camera interfaces .............................................................................................77 Gigabit Ethernet port ..................................................................................................... 78 Camera I/O connector pin assignment ............................................................................... 79 Control signals ............................................................................................................. 81 Inputs .................................................................................................................... 81 Input/output pin control............................................................................................ 81 Outputs .................................................................................................................. 81 Trigger timing diagram .............................................................................................. 83 Notes on triggering ................................................................................................... 83

Description of the data path ........................................................................86 Block diagrams of the cameras......................................................................................... 86 Black and white cameras ............................................................................................ 86 Color cameras .......................................................................................................... 86 Available Manta camera controls ...................................................................................... 87 Frame memory.............................................................................................................. 95 Color interpolation (BAYER demosaicing)........................................................................... 96

Resolution and ROI frame rates ................................................................98 Manta G-031B/C: ROI frame rates ..................................................................................... 98 Manta G-032B/C: ROI frame rates ..................................................................................... 99 Manta G-033B/C: ROI frame rates ................................................................................... 100 Manta G-046B/C: ROI frame rates ................................................................................... 101 Manta G-095C: ROI frame rates....................................................................................... 102 Manta G-125B/C: ROI frame rates ................................................................................... 103 Manta G-145B/C: ROI frame rates ................................................................................... 104 Manta G-145B/C-30fps: ROI frame rates........................................................................... 105 Manta G-145B NIR: ROI frame rates................................................................................. 106 Manta G-146B/C: ROI frame rates ................................................................................... 108 Manta G-201B/C: ROI frame rates ................................................................................... 109 Manta G-201B/C-30fps: ROI frame rates........................................................................... 110 Manta G-504B/C: ROI frame rates ................................................................................... 111 Manta cameras: frame rate comparison ....................................................................... 112

Appendix ................................................................................................................113 MANTA Technical Manual V5.0.1

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Sensor position accuracy of AVT Manta cameras ................................................................. 113

Index.........................................................................................................................114

MANTA Technical Manual V5.0.1

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Contacting Allied Vision Technologies

Contacting Allied Vision Technologies Info





Technical information: http://www.alliedvisiontec.com



Support: [email protected]

Allied Vision Technologies GmbH (Headquarters) Taschenweg 2a 07646 Stadtroda, Germany Tel.: +49 36428-677-0 Fax.: +49 36428-677-28 e-mail: [email protected] Allied Vision Technologies Canada Inc. 101-3750 North Fraser Way Burnaby, BC, V5J 5E9, Canada Tel: +1 604-875-8855 Fax: +1 604-875-8856 e-mail: [email protected] Allied Vision Technologies Inc. 38 Washington Street Newburyport, MA 01950, USA Toll Free number +1 877-USA-1394 Tel.: +1 978-225-2030 Fax: +1 978-225-2029 e-mail: [email protected] Allied Vision Technologies Asia Pte. Ltd. 82 Playfair Road #07-02 D’Lithium Singapore 368001 Tel: +65 6634-9027 Fax: +65 6634-902 e-mail: [email protected]

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Introduction

Introduction This MANTA Technical Manual describes in depth the technical specifications, dimensions, all pixel formats, bandwidth and frame rate related subjects. For information on hardware installation, safety warnings, pin assignments on I/O connectors and GigE port connectors read the Manta Hardware Installation Guide. For information on camera features (camera controls) read the AVT Manta Camera Controls document. Note

Please read through this manual carefully.



We assume that you have read already the Manta Hardware Installation Guide and that you have installed the hardware and software on your PC or laptop (Gigabit Ethernet network card, cables). http://www.alliedvisiontec.com/emea/support/downloads/ product-literature/hardware-installation-guide.html

Document history Version

Date

Remarks

V2.0.3

15.04.10

New Manual - RELEASE status

V3.0.0

09.06.10

Added Manta G-046, G-145, G-201, G-146: • • • • • • • • • •

Chapter Manta G-046B/C on page 28f. Chapter Manta G-145B/C (-30fps*) on page 35f. Chapter Manta G-146B/C on page 39f. Chapter Manta G-201B/C (-30fps*) on page 41f. Chapter Spectral sensitivity on page 45ff. Table 22: Image memory size (typical; see note above) on page 95 Chapter Manta G-046B/C: ROI frame rates on page 101 Chapter Manta G-145B/C: ROI frame rates on page 104 Chapter Manta G-146B/C: ROI frame rates on page 108 Chapter Manta G-201B/C: ROI frame rates on page 109

to be continued on next page Table 1: Document history

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Introduction

Version

Date

Remarks continued from last page

V3.0.0

09.06.10

[continued]

[continued]

[continued]





• •

• V4.0.0

25.10.10





With the new firmware 1.40 due to a bug all Manta models have only 12 bit in the data path (even if the ADC delivers 14 bit): See Figure 43: Block diagram b/w camera on page 86 and Figure 44: Block diagram color camera on page 86. Due to a repaired bug in FPGA and microcontroller, the StreamHoldCapacity changed: Manta G-032 from 49 frames to 99 frames, Manta G-125 from 12 frames to 25 frames: see Chapter Manta G-032B/C on page 24 and Chapter Manta G125B/C on page 33 RGBA24 and BGRA24 are not supported, see Chapter Specifications on page 21ff. Manta board level cameras have now a cooling plate: see – Chapter Manta board level (PoE): dimensions on page 70 – Chapter Manta board level (PoE): C-Mount on page 72 – Chapter Manta board level (PoE): CS-Mount on page 74 – Chapter Manta board level (PoE): M12-Mount on page 76 Added Chapter Firmware update on page 87 Added the information, that description of status LEDs can be found in Manta Hardware Installation Guide, see Note on page 77 Changed file format from FM7 to FM9

Added Manta G-033B/C (sensor: Sony ICX 414) and Manta G-504B/C (sensor: Sony ICX 655): • • • • • • •

Chapter Manta G-033B/C on page 26 Chapter Manta G-504B/C on page 43 Chapter Spectral sensitivity on page 45ff. Chapter Camera lenses on page 58 Table 22: Image memory size (typical; see note above) on page 95 Chapter Resolution and ROI frame rates on page 98 Manta angled head models: Chapter Manta W90 (1 x GigE) on page 63ff.

to be continued on next page Table 1: Document history

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Introduction

Version

Date

Remarks continued from last page

V4.0.1

05.01.11





• V4.1.0

24.06.11

Changed tripod drawing: added dimensions of three big holes (M6 and UNC 1/4-20) in Figure 24: Tripod dimensions on page 62. In specifications tables color pixel formats: inserted Mono8. Added Note, that Raw 8, Raw16 displayed in some viewers means the same as Bayer8, Bayer16: see Chapter Specifications on page 21ff. Changed GigE Vision V1.0 to V1.2 in all specification tables in Chapter Specifications on page 21ff.

Added PoE: •





Added power requirements, power consumption and regulations for Manta PoE models: see Chapter Specifications on page 21ff. Added note about PoE capable cameras in Chapter Specifications on page 21 and Chapter Gigabit Ethernet port on page 78 PoE cameras 12

12->12

12->12

Red Green Blue Luminance

Red Green Blue Luminance

Red Green Blue Luminance Gamma

12 bit

Horizontal decimation

* If the ADC can deliver 14 bit, only 12 bit are used. Figure 44: Block diagram color camera

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Description of the data path

Available Manta camera controls Some camera controls are not always available (Example: Color interpolation is implemented in Manta cameras, but is not available in RAW mode). Note



For a detailed description of the camera controls see the manual: AVT Manta Camera Controls http://www.alliedvisiontec.com/emea/support/downloads/ product-literature.html

The following camera controls are available: Hierarchy level 1

Hierarchy level 2

Hierarchy level 3

Hierarchy level 4

Info CameraName DeviceFirmwareVersion DeviceModelName DevicePartNumber DeviceScanType DeviceSerialNumber DeviceVendorName Firmware FirmwareVerBuild FirmwareVerMajor FirmwareVerMinor Part PartClass PartNumber PartRevision PartVersion SerialNumber Sensor SensorBits SensorHeight SensorType SensorWidth UniqueId Table 21: Available Manta camera controls

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Description of the data path

Hierarchy level 1

Hierarchy level 2

Hierarchy level 3

Hierarchy level 4

ImageMode BinningX BinningY DecimationHorizontal DecimationVertical Acquisition Trigger AcqEnd AcqEndTriggerEvent AcqEndTriggerMode

AcqRec AcqRecTriggerEvent AcqRecTriggerMode

AcqStart AcqStartTriggerEvent AcqStartTriggerMode

FrameRate FrameStart FrameStartTriggerDelay FrameStartTriggerEvent FrameStartTriggerMode FrameStartTriggerOverlap FrameStartTriggerSoftware

AcquisitionAbort AcquisitionFrameCount AcquisitionMode AcquisitionStart AcquisitionStop RecorderPreEventCount Table 21: Available Manta camera controls

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Description of the data path

Hierarchy level 1

Hierarchy level 2

Hierarchy level 3

Hierarchy level 4

ImageFormat ROI Height RegionX RegionY Width PixelFormat TotalBytesPerFrame Table 21: Available Manta camera controls

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Description of the data path

Hierarchy level 1

Hierarchy level 2

Hierarchy level 3

Hierarchy level 4

Controls ColorTransformationControl ColorTransformationMode ColorTransformationValueBB ColorTransformationValueBG ColorTransformationValueBR ColorTransformationValueGB ColorTransformationValueGG ColorTransformationValueGR ColorTransformationValueRB ColorTransformationValueRG ColorTransformationValueRR DSP DSPSubregionBottom DSPSubregionLeft DSPSubregionRight DSPSubregionTop EdgeFilter Gamma Exposure Auto ExposureAutoAdjustTol ExposureAutoAlg ExposureAutoMax ExposureAutoMin ExposureAutoOutliers ExposureAutorRate ExposureAutoTarget ExposureMode ExposureValue Gain Auto GainAutoAdjustTol GainAutoMax GainAutoMin GainAutoOutliers GainAutoRate GainAutoTarget GainMode GainValue Hue

Table 21: Available Manta camera controls

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Description of the data path

Hierarchy level 1

Hierarchy level 2

Controls

Iris

Hierarchy level 3

Hierarchy level 4

IrisAutoTarget IrisMode IrisVideoLevel IrisVideoLevelMax IrisVideoLevelMin LUTControl LUTSelector LUTMode LUTEnable LUTIndex LUTValue LUTLoad LUTSave LUTInfo LUTAddress LUTSizeBytes LUTBitDepthIn LUTBitDepthOut NirMode Offset OffsetValue Saturation WhiteBalance WhitebalMode Auto WhitebalAutoAdjustTol WhitebalAutoAlg WhitebalAutoRate WhitebalValueBlue WhitebalValueRed Table 21: Available Manta camera controls

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Description of the data path

Hierarchy level 1

Hierarchy level 2

Hierarchy level 3

Hierarchy level 4

EventControls EventID EventAcquisitionStart EventAcquisitionEnd EventFrameTrigger EventExposureEnd EventAcquisitionRecordTrigger

EventSyncIn1Rise EventSyncIn1Fall EventSyncIn2Rise EventSyncIn2Fall EventSyncIn3Rise EventSyncIn3Fall EventSyncIn4Rise EventSyncIn4Fall EventOverflow EventError EventNotification EventSelector EventsEnable1 ConfigFile ConfigFileIndex ConfigFileLoad ConfigFilePowerUp ConfigFileSave Table 21: Available Manta camera controls

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Description of the data path

Hierarchy level 1

Hierarchy level 2

Hierarchy level 3

Hierarchy level 4

GigE BandwidthCtrlMode ChunkModeActive NonImagePayloadSize PayloadSize StreamFrameRateConstrain

Ethernet DeviceEthAddress HostEthAddress IP DeviceIPAddress HostIPAddress GvcpRetries Gvsp GvspLookbackWindow GvspResendPercent GvspRetries GvspSocketBuffersCount GvspTimeout HeartbeatInterval HeartbeatTimeout Multicast MulticastEnable MulticastIPAddress PacketSize StreamBytesPerSecond StreamHold StreamHoldCapacity StreamHoldEnable Timestamp TimeStampFrequency TimeStampReset TimeStampValueHi TimeStampValueLatch TimeStampValueLo Table 21: Available Manta camera controls

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Description of the data path

Hierarchy level 1

Hierarchy level 2

Hierarchy level 3

Hierarchy level 4

IO Strobe 1 Strobe1ControlledDuration Strobe1Delay Strobe1Duration Strobe1Mode

SyncIn1 SyncInGlitchFilter SyncIn2 SyncInGlitchFilter SyncInLevels SyncOut1 SyncOut1Invert SyncOut1Mode SyncOut2 SyncOut2Invert SyncOut2Mode SyncOutGpoLevels Stats StatDriverType StatFilterVersion StatFrameRate StatFramesCompleted StatFramesDropped StatPacketsErroneous StatPacketsMissed StatPacketsReceived StatPacketsRequested StatPacketsResent Table 21: Available Manta camera controls

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Description of the data path

Frame memory An image is normally captured and transported in consecutive steps. The image is taken, read out from the sensor, digitized and sent over the Gigabit Ethernet network. Manta cameras are equipped with 32 MByte of RAM. The table below shows how many frames can be stored by each model. Note

The number of frames (StreamHoldCapacity) depends on resolution and pixel format. Listed number of frames is typical for full resolution and Mono8/Bayer8.



The memory operates according to the FIFO (first in, first out) principle. This makes addressing for individual images unnecessary. Model

Memory size

Pixel format/ resolution

Manta G-031B/C

32 MB memory:

99 frames

Manta G-032B/C

32 MB memory:

99 frames

Manta G-033B/C

32 MB memory:

99 frames

Manta G-046B/C

32 MB memory:

70 frames

Manta G-095C

32 MB memory:

34 frames

Manta G-125B/C

32 MB memory:

25 frames

Manta G-145B/C

32 MB memory:

22 frames

Manta G-145B/C-30fps

32 MB memory:

22 frames

Manta G-145B NIR

32 MB memory:

22 frames

Manta G-146B/C

32 MB memory:

22 frames

Manta G-201B/C

32 MB memory:

16 frames

Manta G-201B/C-30fps

32 MB memory:

16 frames

Manta G-504B/C

32 MB memory:

6 frames

Mono8/ full resolution

Table 22: Image memory size (typical; see note above)

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Description of the data path

Color interpolation (BAYER demosaicing) The color sensors capture the color information via so-called primary color (RG-B) filters placed over the individual pixels in a BAYER mosaic layout. An effective BAYER  RGB color interpolation already takes place in all Manta color version cameras. In color interpolation a red, green or blue value is determined for each pixel. An AVT proprietary BAYER demosaicing algorithm is used for this interpolation (2x2), optimized for both sharpness of contours as well as reduction of false edge coloring.

x

Figure 45: BAYER demosaicing (example of 2x2 matrix) Color processing can be bypassed by using so-called RAW image transfer. RAW mode is primarily used to • save bandwidths on the Gigabit Ethernet network • achieve higher frame rates • use different BAYER demosaicing algorithms on the PC – for Manta the first pixel of the sensor is RED Note



If the PC does not perform BAYER to RGB post-processing, the b/w image will be superimposed with a checkerboard pattern.

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Description of the data path

In color interpolation a red, green or blue value is determined for each pixel (P1= first pixel; P2= second pixel; etc). Only two lines are needed for this interpolation:

R1

G1

R2

G2

G3

B1

G4

B2

Input

Output

P1

P2

P3

Figure 46: BAYER demosaicing (interpolation)

P1 red = R1 G1 + G3 P1 green = -----------------2 P1 blue = B1

P2 red = R2 G1 + G4 P2 green = -----------------2 P2 blue = B1

P3 red = R2 G2 + G4 P3 green = -----------------2 P3 blue = B2

Formula 1: BAYER demosaicing Note



 •

Please note that on the color camera, a wrongly colored border of one or two pixel wide forms on the left and right image borders. This is also a consequence of BAYER demosaicing as the image width displayed on the color camera is not scaled down. Using ROI, x and y resolutions must be even-numbered.

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Resolution and ROI frame rates

Resolution and ROI frame rates Manta G-031B/C: ROI frame rates 1 max. frame rate of CCD = ------------------------------------------------------------------------------------------------------------------------------------------------15.75μs  ROI height + 2.53μs   492 – ROI height  + 252.74μs Formula 2: Manta G-031: theoretical max. frame rate of CCD Max. frame rate at full resolution according formula: 125.23 fps Frame rate = f(ROI height) *MANTA G-031* CCD

700 600 500 400 300 200 100 0 0

20

40

60

80

100 120 140 160 180 200 220 240 260 280 300 320 340 360 380 400 420 440 460 480 500 ROI height / pixel

Table 23: Frame rates Manta G-031 as function of ROI height[width=656]

ROI height 492 480 320 240 120 60 30 10 2

CCD* 125.23 127.76 174.89 214.45 324.58 436.71 527.90 613.27 655.68

Table 24: Frame rates (fps) of Manta G-031 as function of ROI height (pixel) [width=656] * CCD = theoretical max. frame rate (in fps) of CCD according to given formula

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Resolution and ROI frame rates

Manta G-032B/C: ROI frame rates 1 max. frame rate of CCD = ------------------------------------------------------------------------------------------------------------------------------------------------24.34μs  ROI height + 3.01μs   492 – ROI height  + 495.50μs Formula 3: Manta G-032: theoretical max. frame rate of CCD Max. frame rate at full resolution according formula: 80.71 fps Frame rate = f(ROI height) *MANTA G-032* CCD

500 450 400

Frrame rate / fps

350 300 250 200 150 100 50 0 0

20

40

60

80

100 120 140 160 180 200 220 240 260 280 300 320 340 360 380 400 420 440 460 480 500 ROI height / pixel

Table 25: Frame rates Manta G-032 as function of ROI height[width=656]

ROI height 492 480 320 240 120 60 30 10 2

CCD* 80.17 81.87 113.61 140.93 220.46 307.10 382.22 456.68 495.28

Table 26: Frame rates (fps) of Manta G-032 as function of ROI height (pixel) [width=656] * CCD = theoretical max. frame rate (in fps) of CCD according to given formula

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Resolution and ROI frame rates

Manta G-033B/C: ROI frame rates 1 max. frame rate of CCD = ---------------------------------------------------------------------------------------------------------------------------------------------22.49μs  ROI height + 1.51μs   492 – ROI height  + 198.4μs Formula 4: Manta G-033: theoretical max. frame rate of CCD Max. frame rate at full resolution according formula: 88.78 fps Frame rate = f(ROI height) *MANTA G-033* CCD

1200 1100 1000 900 Frrame rate / fps

800 700 600 500 400 300 200 100 0 0

20

40

60

80

100 120 140 160 180 200 220 240 260 280 300 320 340 360 380 400 420 440 460 480 500 ROI height / pixel

Table 27: Frame rates Manta G-033 as function of ROI height[width=656]

ROI height CCD* 492 88.78 480 90.81 320 130.63 240 167.32 120 289.11 60 454.52 30 636.65 10 868.72 2 1017.00 Table 28: Frame rates (fps) of Manta G-033 as function of ROI height (pixel) [width=656] * CCD = theoretical max. frame rate (in fps) of CCD according to given formula

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Resolution and ROI frame rates

Manta G-046B/C: ROI frame rates 1 max. frame rate of CCD = ------------------------------------------------------------------------------------------------------------------------------------------------25.14μs  ROI height + 1.75μs   580 – ROI height  + 224.03μs Formula 5: Manta G-046: theoretical max. frame rate of CCD Max. frame rate at full resolution according formula: 67.54 fps Frame rate = f(ROI height) *MANTA G-046* CCD

800 700

Frrame rate / fps

600 500 400 300 200 100 0 0

50

100

150

200

250

300

350

400

450

500

550

600

ROI height / pixel

Table 29: Frame rates Manta G-046 as function of ROI height[width=780]

ROI height 580 492 480 320 240 120 60 30 10 2

CCD* 67.54 78.45 80.22 114.63 145.63 247.17 378.44 515.27 678.92 777.72

Table 30: Frame rates (fps) of Manta G-046 as function of ROI height (pixel) [width=780] * CCD = theoretical max. frame rate (in fps) of CCD according to given formula

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Resolution and ROI frame rates

Manta G-095C: ROI frame rates 1 max. frame rate of CCD = ------------------------------------------------------------------------------------------------------------------------------------------------33.52μs  ROI height + 4.87μs   734 – ROI height  + 327.80μs Formula 6: Manta G-095: theoretical max. frame rate of CCD Max. frame rate at full resolution according formula: 40.11 fps Frame rate = f(ROI height) *MANTA G-095* CCD

300

250

200

150

100

50

0 0

50

100

150

200

250

300

350

400

450

500

550

600

650

700

750

800

ROI height / pixel

Table 31: Frame rates Manta G-095 as function of ROI height[width=1292]

ROI height 734 720 600 480 320 240 120 60 30 10 2

CCD* 40.11 40.77 47.41 56.65 76.51 92.77 136.21 177.48 209.92 238.61 252.41

Table 32: Frame rates (fps) of Manta G-095 as function of ROI height (pixel) [width=1292] * CCD = theoretical max. frame rate (in fps) of CCD according to given formula

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Resolution and ROI frame rates

Manta G-125B/C: ROI frame rates 1 max. frame rate of CCD = -------------------------------------------------------------------------------------------------------------------------------------------------33.21μs  ROI height + 5.04μs   964 – ROI height  + 226.52μs Formula 7: Manta G-125: theoretical max. frame rate of CCD Max. frame rate at full resolution according formula: 31.02 fps Frame rate = f(ROI height) *MANTA G-125* CCD

200 180 160

Frame rate / fps

140 120 100 80 60 40 20 0 0

50

100

150

200

250

300

350

400

450

500

550

600

650

700

750

800

850

900

950

1000

ROI height / pixel

Table 33: Frame rates Manta G-125 as function of ROI height[width=1292] ROI height 964 768 720 600 480 320 240 120 60 30 10 2

CCD* 31.02 37.43 39.42 45.48 53.74 70.92 84.42 118.13 147.60 168.63 186.33 194.50

Table 34: Frame rates (fps) of Manta G-125 as function of ROI height (pixel) [width=1292] * CCD = theoretical max. frame rate (in fps) of CCD according to given formula

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Resolution and ROI frame rates

Manta G-145B/C: ROI frame rates 1 max. frame rate of CCD = ----------------------------------------------------------------------------------------------------------------------------------------------------57.79μs  ROI height + 5.86μs   1038 – ROI height  + 345.14μs Formula 8: Manta G-145: theoretical max. frame rate of CCD Max. frame rate at full resolution according formula: 16.57 fps Frame rate = f(ROI height) *MANTA G-145* CCD

160 150 140 130 120 Frrame rate / fps

110 100 90 80 70 60 50 40 30 20 10 0 0

50

100

150

200

250

300

350

400

450

500

550

600

650

700

750

800

850

900

950 1000 1050 1100

ROI height / pixel

Table 35: Frame rates Manta G-145 as function of ROI height[width=1388]

ROI height 1038 960 768 640 480 320 240 120 60 30 10 2

CCD* 16.57 17.76 21.59 25.21 31.89 43.39 52.93 78.99 104.78 125.22 143.94 153.10

Table 36: Frame rates (fps) of Manta G-145 as function of ROI height (pixel) [width=1388] * CCD = theoretical max. frame rate (in fps) of CCD according to given formula

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Resolution and ROI frame rates

Manta G-145B/C-30fps: ROI frame rates 1 max. frame rate of CCD = ---------------------------------------------------------------------------------------------------------------------------------------------------30.68μs  ROI height + 4.71μs   1038 – ROI height  + 230.61μs Formula 9: Manta G-145-30fps: theoretical max. frame rate of CCD Max. frame rate at full resolution according formula: 31.17 fps Frame rate = f(ROI height) *MANTA G-145-30fps*

Frrame rate / fps

CCD

200 190 180 170 160 150 140 130 120 110 100 90 80 70 60 50 40 30 20 10 0 0

50

100

150

200

250

300

350

400

450

500

550

600

650

700

750

800

850

900

950 1000 1050 1100

ROI height / pixel

Table 37: Frame rates Manta G-145-30fps as function of ROI height[width=1388]

ROI height 1038 960 768 640 480 320 240 120 60 30 10 2

CCD* 31.17 33.27 39.89 45.99 56.86 74.46 88.08 121.41 149.75 169.52 185.89 193.36

Table 38: Frame rates (fps) of Manta G-145-30fps as function of ROI height (pixel) [width=1388] * CCD = theoretical max. frame rate (in fps) of CCD according to given formula

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Resolution and ROI frame rates

Manta G-145B NIR: ROI frame rates 1 max. frame rate of CCD = ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------MAX(11.46μs  ROI height + 63.39μs   1038 – ROI height  + 644μs + MIN(4300;Expotime);Expotime + 142.86μs)

Formula 10: Manta G-145B NIR: theoretical max. frame rate of CCD [NirMode=Off/On_Fast]

1 max. frame rate of CCD = ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------11.46μs  ROI height + 63.39μs   1038 – ROI height  + (5653.89+Expotime)μs

Formula 11: Manta G-145B NIR: theoretical max. frame rate of CCD [NirMode=On_HighQuality] Max. frame rate at full resolution according formula: 15.05 fps for NirMode=Off/On_Fast 13.99 fps for NirMode=On_HighQuality

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Resolution and ROI frame rates

Frame rate = f(ROI height) *MANTA G-145B NIR* Off/On_Fast 20

Off/On_Fast 4300

Off/On_Fast 33000

On_HighQuality 20

On_HighQuality 4300

On_HighQuality 33000

80 75 70 65 60

Frame rate / fps

55 50 45 40 35 30 25 20 15 10 5 0 0

50

100 150 200 250 300 350 400 450 500 550 600 650 700 750 800 850 900 950 1000 1050 ROI height / pixel

Formula 12: Frame rates* Manta G-145B NIR as function of ROI height[width=1388], NirMode and exposure time / µs * All values: CCD = theoretical max. frame rate (in fps) of CCD according to given formula

NirMode

Off/On_Fast

Off/On_Fast

Off/On_Fast On_HighQuality On_HighQuality On_HighQuality

Exp. time/μs

20

4300

33000

ROI height 1038 960 768 640 480 320 240 120 60 30 10 2

15.05 16.02 19.07 21.83 26.67 34.27 39.96 53.20 63.78 70.81 76.43 78.94

14.14 14.99 17.63 19.97 23.94 29.89 34.12 43.34 50.10 54.34 57.59 59.00

14.13 14.99 17.63 19.96 23.93 29.88 30.17 30.17 30.17 30.17 30.17 30.17

20

13.99 14.83 17.40 19.68 23.53 29.25 33.29 42.01 48.33 52.27 55.27 56.57

4300

33000

13.20 13.95 16.20 18.15 21.38 25.99 29.14 35.61 40.05 42.71 44.70 45.54

9.57 9.96 11.06 11.93 13.25 14.89 15.87 17.61 18.63 19.19 19.58 19.74

Formula 13: Frame rates* (fps) of Manta G-145B NIR as function of ROI height (pixel) [width=1388], NirMode and exposure time /µs * All values: CCD = theoretical max. frame rate (in fps) of CCD according to given formula

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Resolution and ROI frame rates

Manta G-146B/C: ROI frame rates 1 max. frame rate of CCD = -----------------------------------------------------------------------------------------------------------------------------------------------53.54μs  ROI height + 10.46μs   1038 – ROI height  + 352μs Formula 14: Manta G-146: theoretical max. frame rate of CCD Max. frame rate at full resolution according formula: 17.88 fps Frame rate = f(ROI height) *MANTA G-146*

Frrame rate / fps

CCD

90 85 80 75 70 65 60 55 50 45 40 35 30 25 20 15 10 5 0 0

50

100

150

200

250

300

350

400

450

500

550

600

650

700

750

800

850

900

950 1000 1050 1100

ROI height / pixel

Table 39: Frame rates Manta G-146 as function of ROI height[width=1388]

ROI height 1038 960 768 640 480 320 240 120 60 30 10 2

CCD* 17.88 19.02 22.57 25.78 31.36 40.00 46.40 61.05 72.49 79.98 85.90 88.53

Table 40: Frame rates (fps) of Manta G-146 as function of ROI height (pixel) [width=1388] * CCD = theoretical max. frame rate (in fps) of CCD according to given formula

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Resolution and ROI frame rates

Manta G-201B/C: ROI frame rates 1 max. frame rate of CCD = ----------------------------------------------------------------------------------------------------------------------------------------------------54.81μs  ROI height + 7.14μs   1234 – ROI height  + 340.03μs Formula 15: Manta G-201: theoretical max. frame rate of CCD Max. frame rate at full resolution according formula: 14.71 fps Frame rate = f(ROI height) *MANTA G-201*

Frrame rate / fps

CCD

110 105 100 95 90 85 80 75 70 65 60 55 50 45 40 35 30 25 20 15 10 5 0 0

50

100 150 200 250 300 350 400 450 500 550 600 650 700 750 800 850 900 950 1000 1050 1100 1150 1200 1250 1300 ROI height / pixel

Table 41: Frame rates Manta G-201 as function of ROI height[width=1624]

ROI height 1234 1200 960 768 640 480 320 240 120 60 30 10 2

CCD* 14.71 15.07 18.21 21.84 25.21 31.21 40.97 48.56 67.24 83.25 94.51 103.86 108.15

Table 42: Frame rates (fps) of Manta G-201 as function of ROI height (pixel) [width=1624] * CCD = theoretical max. frame rate (in fps) of CCD according to given formula

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Resolution and ROI frame rates

Manta G-201B/C-30fps: ROI frame rates 1 max. frame rate of CCD = ---------------------------------------------------------------------------------------------------------------------------------------------------26.87μs  ROI height + 2.84μs   1234 – ROI height  + 178.72μs Formula 16: Manta G-201-30fps: theoretical max. frame rate of CCD Max. frame rate at full resolution according formula: 30.0 fps Max. frame rate at 1600 x 1200 (measured): 31.02 fps Frame rate = f(ROI height) *MANTA G-201-30fps* CCD

300 275 250 225 Frrame rate / fps

200 175 150 125 100 75 50 25 0 0

50

100 150 200 250 300 350 400 450 500 550 600 650 700 750 800 850 900 950 1000 1050 1100 1150 1200 1250 1300 ROI height / pixel

Table 43: Frame rates Manta G-201-30fps as function of ROI height[width=1624] ROI height 1234 1200 960 768 640 480 320 240 120 60 30 10 2

CCD* 30.00 30.75 37.38 45.17 52.45 65.71 87.92 105.81 152.28 195.11 227.05 254.86 268.00

Table 44: Frame rates (fps) of Manta G-201 as function of ROI height (pixel) [width=1624] * CCD = theoretical max. frame rate (in fps) of CCD according to given formula

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Resolution and ROI frame rates

Manta G-504B/C: ROI frame rates 1 max. frame rate of CCD = ------------------------------------------------------------------------------------------------------------------------------------------------------52.55μs  ROI height + 10.27μs   2056 – ROI height  + 295.62μs Formula 17: Manta G-504: theoretical max. frame rate of CCD Max. frame rate at full resolution according formula: 9.23 fps Frame rate = f(ROI height) *MANTA G-504* CCD

50 45 40

Frrame rate / fps

35 30 25 20 15 10 5 0 0

100

200

300

400

500

600

700

800

900

1000 1100 1200 1300 1400 1500 1600 1700 1800 1900 2000 2100

ROI height / pixel

Table 45: Frame rates Manta G-504 as function of ROI height[width=2452] ROI height 2056 1600 1200 960 768 640 480 320 240 120 60 30 10 2

CCD* 9.23 11.22 13.86 16.12 18.55 20.63 23.97 28.62 31.68 37.75 41.75 44.09 45.80 46.52

Table 46: Frame rates (fps) of Manta G-504 as function of ROI height (pixel) [width=2452] * CCD = theoretical max. frame rate (in fps) of CCD according to given formula

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Resolution and ROI frame rates

Manta cameras: frame rate comparison

Frame rate = f(ROI height) *MANTA cameras comparison*

Frame rate / fps

031

032

033

046

095

1100 1050 1000 950 900 850 800 750 700 650 600 550 500 450 400 350 300 250 200 150 100 50 0 0

50

100

150

200

250

300

350

400

450

500

550

600

650

700

750

ROI height / pixel

Table 47: Frame rate comparison of Manta G-031/032/033/046/095

Frame rate = f(ROI height) MANTA cameras comparison 125

145

145-30fps

145B NIR*

146

201

201-30fps

504

280 260 240 220

Frame rate / fps

200 180 160 140 120 100 80 60 40 20 0 0

100

200

300

400

500

600

700

800

900

1000

1100

1200

1300

1400

1500

1600

1700

1800

1900

2000

2100

ROI height / pixel

Table 48: Frame rate comparison of Manta G-125/145/145-30/145B NIR/146/201/201-30/504 * Manta G-145B NIR: NirMode=On_Fast/Off with 20 μs

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Appendix

Appendix Sensor position accuracy of AVT Manta cameras

D

camera body

pixel area

pixel area

y

camera body

sensor case

sensor case

x

AVT Manta series Method of Positioning:

Optical alignment of photo sensitive sensor area into camera front module. (lens mount front flange)

Reference points:

Sensor: Center of pixel area (photo sensitive cells). Camera: Center of camera front flange (outer case edges).

Accuracy:

x/y: z: D:

+/- 150 μm +0 / -150 μm +/- 0.5°

Note:

L

(Sensor shift) (Optical back focal length) (Sensor rotation)

x/y - tolerances between C-Mount hole and pixel area may be higher.

Figure 47: AVT sensor position accuracy

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Index

Index A

D

accuracy sensor position..................................113 acquiring (signal)..................................... 82 acquisition stream .................................... 82 AcquisitionTriggerReady (signal)................. 82 AVT sensor position accuracy......................113

data path ................................................ 86 declaration of conformity........................... 20 document history ....................................... 7 duration of sensor exposure ....................... 82

B

EMVA ..................................................... 18 European Machine Vision Association (EMVA). 18 exposing (signal) ..................................... 82 exposing (trigger) .................................... 84 exposure cycle (trigger)............................. 84 exposure start delay (signal) ...................... 84 exposure time value (trigger) ..................... 84 exposure (definition) ................................ 84 external GND ........................................... 79 external trigger........................................ 82 external trigger at SyncIn1......................... 82 external trigger at SyncIn2......................... 82

bandwidth save in RAW-mode............................... 96 BAYER demosaicing................................... 96 BAYER mosaic .......................................... 96 BAYER to RGB color interpretation............................. 96 black/white camera block diagram .................................... 86 block diagram b/w camera........................................ 86 color camera ...................................... 86 block diagrams cameras ............................................ 86

C camera dimensions ................................... 61 1 x GigE............................................. 61 camera interfaces ..................................... 77 camera lenses .......................................... 58 cameras block diagram .................................... 86 CE.......................................................... 20 color camera block diagram .................................... 86 color information ..................................... 96 color interpolation ................................... 96 common GND inputs............................................... 79 common vcc outputs ............................................. 79 consequence BAYER demosaicing ............................. 97

E

F FCC Class B .............................................. 20 focal length............................................. 58 frame readout.......................................... 82 frame trigger ........................................... 82 FrameReadout (signal) .............................. 82 FrameTrigger (signal)................................ 82 FrameTriggerReady (signal)........................ 82

G general purpose output (GPO)..................... 82 GenICam................................................. 18 Gigabit Ethernet....................................... 18 Gigabit Ethernet interface .......................... 18 GigE....................................................... 18 GigE cameras Manta............................................... 18 GigE Vision .............................................. 18 GND for ext. power.................................... 79 GPO (general purpose output)..................... 82

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Index

I

P

idle (signal) ............................................ 84 imaging (signal) ................................. 82, 84 input block diagram .................................... 81 inputs common GND ..................................... 79 general ............................................. 81 in detail ............................................ 81 integrating light (trigger) .......................... 84 interline boundary.................................... 85 interline time (signal) ............................... 84 interpolation BAYER demosaicing ........................ 96, 97 BAYER to RGB ..................................... 96 color ................................................ 96

PoE.....................................13, 16, 21, 78, 79 power GND ................................................. 79 propagation delay (trigger) ........................ 84

L

sensor position accuracy ...........................113 sensor row readout cycles .......................... 84 software trigger ....................................... 82 specifications .......................................... 21 spectral sensitivity Manta G-031B .................................... 46 Manta G-031C .................................... 46 Manta G-032B .................................... 47 Manta G-032C .................................... 47 Manta G-033B .................................... 48 Manta G-033C .................................... 48 Manta G-046B .................................... 49 Manta G-046C .................................... 49 Manta G-095C .................................... 50 Manta G-125B .................................... 51 Manta G-125C .................................... 51 Manta G-145B .................................... 52 Manta G-145B NIR............................... 53 Manta G-145C .................................... 52 Manta G-146B .................................... 54 Manta G-146C .................................... 54 Manta G-201B .................................... 55 Manta G-201C .................................... 55 Manta G-504B .................................... 56 Manta G-504C .................................... 56 spectral transmission IR cut filter ........................................ 57 type Hoya C5000................................. 57 standard housing ..................................... 61 start acquisition ....................................... 82 Strobe1 (signal)....................................... 82

legal notice ............................................... 2 logic trigger ............................................ 82 logic trigger (definition) ............................ 83 LUTControl .............................................. 91

M Manta board level (non-PoE) C-Mount ............................................ 71 CS-Mount .......................................... 73 M12-Mount ........................................ 75 Manta board level (PoE) C-Mount ............................................ 72 CS-Mount .......................................... 74 M12-Mount ........................................ 76 Manta GigE cameras .................................. 18

N NirMode.................................................. 91

O output block diagram .................................... 82 signals.............................................. 82 outputs .................................................. 81 common vcc ....................................... 79 general ............................................. 81 OutVCC ................................................... 79

R reading out data (trigger) .......................... 84 readout data (trigger) ............................... 84 readout (definition).................................. 84 registered exposure time (signal) ................ 84 RoHS (2002/95/EC) .................................. 20 RS232 .................................................... 79 RxD_RS232 ............................................. 79

S

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Index

styles ..................................................... 15 symbols ............................................. 15, 16 SyncIn1 (signal)....................................... 82 SyncIn2 (signal)....................................... 82 SyncOutGpoLevels .................................... 82 system components .................................. 57

T time delay (trigger) .................................. 84 timing diagram trigger .............................................. 83 Tpd (definition)........................................ 84 trigger timing diagram................................... 83 trigger definitions .................................... 83 trigger jitter (definition)............................ 84 trigger latency time .................................. 84 trigger latency (definition)......................... 84 trigger ready (signal) ................................ 84 trigger rules ............................................ 84 tripod adapter ......................................... 62 tripod dimensions..................................... 62 types Manta GigE cameras............................. 18

U user trigger (definition)............................. 83

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