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3D sensor

The following element IDs are available:

Description

Native data type

activeapp_id

Active application, shows which of the 32 application-

configurations is currently active

32-bit unsigned

integer

all_cartesian_vector_

matrices

All Cartesian images (X+Y+Z) concatenated to one

package

16-bit signed

integer

all_unit_vector_matrices Matrix of unit vectors. Each element consists of a

3 component vector [e_x, e_y, e_z]

Float32

amplitude_image

PMD raw amplitude image

16-bit unsigned

integer

confidence_image

Confidence image

8-bit unsigned

integer

distance_image

Radial distance image

16-bit unsigned

integer

unit: millimetres

evaltime

Evaluation time for current frame in milliseconds

32-bit unsigned

integer

extrinsic_calibration

Extrinsic calibration, constisting of 3 translation

parameters (unit: millimeters) and 3 angles

(unit: degree): [t_x, t_y, t_z, alpha_x, alpha_y, alpha_z]

Float32

framerate

Current frame rate in Hz

Float32

normalized_amplitude_

image

Normalized amplitude image

16-bit unsigned

integer

temp_front1

Invalid temperature, the output is 3276.7

Float32, unit: °C

temp_illu

Temperature measured in the device while capturing this

result
Measured on the illumination board

Float32, unit: °C

x_image

y_image

z_image

Cartesian coordinates for each pixel

Each dimension is a separate image

16-bit signed

integer

Содержание O3D300

Страница 1: ...Operating instructions 3D sensor O3D300 O3D302 O3D310 O3D312 706398 06 12 2017 UK...

Страница 2: ...examples 13 7 2 1 Trigger image capture with proximity sensor 13 7 2 2 Install several sensors next to each other 14 7 3 Static selection of the application 15 7 4 Pulse controlled selection of the a...

Страница 3: ...rNet IP 55 13 4 1 Data structures for consuming and producing assemblies 55 13 4 2 Functionality of the Ethernet IP application 56 13 4 3 Signal sequence with synchronous trigger 60 13 4 4 Signal sequ...

Страница 4: ...tain texts and figures concerning the correct handling of the device and must be read before installation or use Observe the operating instructions Non observance of the instructions operation which i...

Страница 5: ...xx 3D sensor is also done via Ethernet The O3D3xx 3D sensor may only be used under the operating conditions specified in the data sheet The device safety is rated for use under the following environme...

Страница 6: ...ance between sensor and object take the measuring range of the sensor into account The measuring range is indicated in the data sheet of the sensor Select a distance as small as possible between senso...

Страница 7: ...d Reduce surface temperature 6 2 3 Mount the sensor in a location or housing that provides protection from the heat source but maintains air circulation around the sensor An increase in the surface te...

Страница 8: ...es heat dissipation e g aluminium Use a heat conductor when mounting the sensor on metal parts The heat conductive effect is increased by means of the heat conductor The heat conductor is available as...

Страница 9: ...with a screw driver The position of the focus adjustment screw is indicated in the scale drawing 12 If the device is permanently used in wet areas the nut of the M12 Industrial Ethernet cable e g E118...

Страница 10: ...ice For the scope of validity cULus Minimum temperature rating of the cable to be connected to the field wiring terminals 70 C 7 1 Wiring Ethernet M12 socket D coded 4 poles 1 TD 2 RD 3 TD 4 RD S Shie...

Страница 11: ...he switching outputs can also provide the reference values necessary to solve the application The electrical specifications of the switching outputs 1 to 3 are indicated in the data sheet Switching ou...

Страница 12: ...ions in the data sheet High resistance load resistors are to be preferred over low resistance load resistors due to the lower heat development in the device 3 1 4 5 6 7 8 1 2 3 4 6 2 1 4 5 7 3 8 PLC D...

Страница 13: ...or The sensor can be triggered externally via Ethernet via a proximity sensor connected to the trigger input The following illustration shows the wiring with a proximity sensor 3 1 2 4 5 6 7 8 1 2 3 4...

Страница 14: ...tomatically triggers sensor At the same time pin 4 of sensor provides the sensor status Image capture finished Sensor signals the end of the sequence to the industrial controller 3 1 2 4 5 DC 24 V 3 1...

Страница 15: ...into consideration Monitoring time tR After a change in edges the external selection of the application does not start before the state of both switching inputs remains stable for 20 ms Trigger disabl...

Страница 16: ...es and activates the respective application Number of pulses ID number of the application Either switching input 2 or the trigger input of the device can be used as pulse input The figure above shows...

Страница 17: ...s 2x at 0 5 Hz Sensor is in the parameter setting mode On On Off Off On Switching output 1 switched Flashes at 8 Hz Switching output 1 shorted On Switching output 2 switched Flashes at 8 Hz Switching...

Страница 18: ...ifm Vision Assistant and detailed information about the measuring principle of the device are described in the software manual The ifm Vision Assistant software is available free of charge on our webs...

Страница 19: ...n All numerical values are converted into 16 bit integers before the transmission The output string is composed of the following star 0 00 0 0 000 01 7 0 068 02 6 0 013 03 0 0 001 stop Byte no Data Co...

Страница 20: ...Decimal 7 ROI status 23 0 Decimal 24 67 Decimal 67 mm ROI value 25 1 Decimal 26 2 Decimal 2 ROI ID 27 0 Decimal 28 6 Decimal 6 ROI status 29 0 Decimal 30 14 Decimal 14 mm ROI value 31 0 Decimal 32 3...

Страница 21: ...s are converted into binary 16 bit integers before the transmission The output string is composed of the following star 0 00 0 0 000 01 7 0 068 02 6 0 013 03 0 0 001 stop Byte no Data Coding Process v...

Страница 22: ...Decimal 7 ROI status 23 7 Decimal 24 1 Decimal 67 mm ROI value 25 67 Decimal 26 0 Decimal 2 ROI ID 27 2 Decimal 28 0 Decimal 6 ROI status 29 6 Decimal 30 0 Decimal 14 mm ROI value 31 14 Decimal 32 0...

Страница 23: ...output string are not transferred All numerical values are converted into binary 16 bit integers before the transmission The output string is composed of the following data type ASCII star 0 00 0 0 00...

Страница 24: ...t values are converted into 16 bit integers before the transmission All numerical values are converted into binary 16 bit integers before the transmission The output string is composed of the followin...

Страница 25: ...ecimal 28 97 Decimal 97 Quality width 29 0 Decimal 30 93 Decimal 94 Quality height 31 0 Decimal 32 97 Decimal 97 Quality length 33 0 Decimal 34 s ASCII stop Stop string 35 t ASCII 36 o ASCII 37 p ASCI...

Страница 26: ...alues are converted into 16 bit integers before the transmission All numerical values are converted into binary 16 bit integers before the transmission The output string is composed of the following s...

Страница 27: ...ecimal 28 0 Decimal 97 Quality width 29 97 Decimal 30 0 Decimal 94 Quality height 31 94 Decimal 32 0 Decimal 97 Quality length 33 97 Decimal 34 s ASCII stop Stop string 35 t ASCII 36 o ASCII 37 p ASCI...

Страница 28: ...in the displayed sequence Observe the following remarks for the transmission of the output string to a PLC Semicolons in the output string are not transferred All numerical values are converted into...

Страница 29: ...integers before the transmission The output string is composed of the following 0070 Byte no Data Coding Process value Unit Description Comments 0 2 0000_0000 Binary 1 5 Duplicated command word Bit 1...

Страница 30: ...ers before the transmission The output string is composed of the following 0070 Byte no Data Coding Process value Unit Description Comments 0 2 0010_0000 Binary 0 5 Duplicated command word Bit 0 5 sho...

Страница 31: ...transferred to a PLC in the displayed sequence Observe the following remarks for the transmission of the output string to a PLC Semicolons in the output string are not transferred All numerical values...

Страница 32: ...m Vision Assistant the firmware of the sensor can be updated Parameters saved in the sensor get lost by the firmware update Create a backup copy of the parameters before updating the firmware Before u...

Страница 33: ...5 2 1 33 2 M12x1 33 3 5 7 M12x1 40 14 95 82 6 73 3 71 6 72 65 32 5 2 1 33 2 M12x1 Lens Illumination unit LED 2 colours yellow green 12 2 O3D300 O3D310 Original Scale Drawing MTD EPS Source Product Sc...

Страница 34: ...digits between 0 9 If a message with a specific ticket is sent to the device it will reply with the same ticket A ticket number must be 0999 Use a ticket number from the range 1000 9999 length It is...

Страница 35: ...of the result Command Result ticket 0010 0010 L length L000000045 CR LF r n ticket 0010 0010 unique message ID 000500000 JSON content ID 1034160761 Index 1 Name Pos 1 CR LF r n Asynchronous message I...

Страница 36: ...ger Unit mm 1 image Z image Output format 16 bit signed integer Unit mm 1 image Confidence image Output format 8 bit unsigned integer 1 image Diagnostic data Stop sequence String stop 4 bytes Ticket s...

Страница 37: ...ts are compensated ie the darkening of pixels at the image border is corrected The visual impression of this grayscale image is comparable to that of a common 2D camera Invalid PMD pixels e g due to s...

Страница 38: ...SIAN_X_COMPONENT CARTESIAN_Y_COMPONENT CARTESIAN_Z_COMPONENT UNIT_VECTOR_ALL 223 The unit vector matrix contains 3 values ex ey ez for each PMD pixel i e the data layout is ex_1 ey_1 ez_1 ex_N ey_N ez...

Страница 39: ...l validity yes 3 1 amplitude below minimum amplitude threshold Amplitude limits The amplitude value is below minimum amplitude threshold Contributes to pixel validity yes 4 5 Bit 5 bit 4 0 0 unused 0...

Страница 40: ...etails layouter Defines the basic data output format So far only flexible is supported Type string format Defines format details the definitions in the main object are the defaults for any of the foll...

Страница 41: ...ible layout software See following section about format properties uint16 Limits the output to two bytes in binary encoding besides the binary limitation it acts like uint32 int16 Limits the output to...

Страница 42: ...a format configuration of the temperature id temp_illu element 1 Illumination temperature like this 33 5___ c000000226 layouter flexible format dataencoding ascii elements type float32 id temp_illu f...

Страница 43: ...tance_image Radial distance image 16 bit unsigned integer unit millimetres evaltime Evaluation time for current frame in milliseconds 32 bit unsigned integer extrinsic_calibration Extrinsic calibratio...

Страница 44: ...t float float float float float float float float numGood numUnderSP1 numOverSP2 numInvalid allROIsGood anchorFound hasAnchorTracking These results are available for a completeness level and distance...

Страница 45: ...frame maps to ModelResults adv_statistics frame_acquisition mean float32 statistics_acquisition_time_max Allows the user to output the statistics value with the result of the frame maps to ModelResul...

Страница 46: ...ice is in an invalid state for this command e g configuration mode Device is set to a different trigger source No active application 13 2 2 T Command Synchronous Trigger Command T Description Executes...

Страница 47: ...t result output as formatted for this connection 11 all distance images X Y and Z 13 2 4 p Command Command p state Description Turns the PCIC output on or off Type Action Reply state contains wrong va...

Страница 48: ...for the application number as decimal value 13 2 6 A Command Command A Description Requests the occupancy of the application list Type Request Reply amount t number active application t number t numbe...

Страница 49: ...protocol version Type Request Reply current version empty min version empty max version Note current version 2 digits for the currently set version empty space sign 0x20 min max version 2 digits for...

Страница 50: ...current decoding statistics Type Request Reply number of results t number of positive decodings t number of false decodings No application active Note t tabulator 0x09 number of results Images taken...

Страница 51: ...or 0x09 article number e g O3D300 name UTF8 Unicode string location UTF8 Unicode string description UTF8 Unicode string ip IP address of the device as ASCII character sting e g 192 168 0 96 port numbe...

Страница 52: ...cation V get current protocol version v version sets protocol version c length of configuration file configuration file configures process date formatting C show current configuration G show device in...

Страница 53: ...tal output 01 for IO1 02 for IO2 03 for IO3 IO state 1 digit for the state 0 for logic state low 1 for logic state high The camera supports ID 1 and ID 2 The sensor supports ID 1 ID 2 and ID 3 13 2 16...

Страница 54: ...rdware 110001006 Trigger overrun 110002000 Short circuit on Ready for Trigger 110002001 Short circuit on OUT1 110002002 Short circuit on OUT2 110002003 Reverse feeding 110003000 Vled overvoltage 11000...

Страница 55: ...and word Bit 0 1 15 Description Error bit This bit has no meaning in the consuming assembly It is used for signaling an occured error to the PLC Command bits Each bit represents a specific command Com...

Страница 56: ...the command word and increase the message counter within the producing assembly Blocking of asynchronous messages As long as the command handshake procedure has not been finished no asynchronous messa...

Страница 57: ...age counter increased by 1 No error code is sent in the data section The error code is polled with the get last error command Reply to an implemented command that leads to an error If the execution of...

Страница 58: ...starts with the value 1 If the maximum counter is reached it starts with 1 again Get last error This command is used to reset the error bit Get connection ID This command retrieves the connection ID...

Страница 59: ...ming assembly data section defines the IO ID as a 16 bit unsigned integer value 1 IO1 2 IO2 3 IO3 The bytes 6 and 7 define the logic state of the IO as 16 bit unsigned integer value The bytes 2 3 have...

Страница 60: ...Error Message counter n n 1 n 2 Data 0x0000 Result Data 0x0000 Processing time 13 4 4 Signal sequence with failed trigger Mirror Bit Exec sync trigger Command Bit Exec sync trigger Mirror Bit Error Me...

Страница 61: ...mand Command word Bit 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 Description Error bit N a N a N a N a N a Get last error Get connection ID Get statistics Activate application Get application list Get IO s...

Страница 62: ...evice Client disconnect If the client is disconnecting before finishing the handshake procedure the handshake procedure is canceled and all buffers are reset General reply to an implemented command If...

Страница 63: ...section The error code is polled with the get last error command Mandatory and non mandatory data in the response frame will be set to 0x0 Reply to a not implemented command If a command bit with no...

Страница 64: ...signed integer Get connection ID This command retrieves the connection ID of the current Profinet connection The response sent in the input frame contains 16 Bytes of the AR UUID Get statistics This c...

Страница 65: ...signed integer value The bytes 2 3 have to be set to 0 An error is risen if bytes 2 3 are not set to 0 The data content of the input frame is set to 0 after receiving the Set IO state command Execute...

Страница 66: ...Error Message counter n n 1 n 2 Data 0x0000 Result Data 0x0000 Processing time 13 5 4 Signal sequence with failed trigger Mirror Bit Exec sync trigger Command Bit Exec sync trigger Mirror Bit Error Me...

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