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Table of Contents

3D TOF Sensor Module B5L User's Manual (No. E596)

Table of Contents

Introduction .................................................................................................................... 3

Table of Contents ........................................................................................................... 4

Warranty and Limited Warranty ...................................................................................... 6

Safety Precautions ......................................................................................................... 8

Definition of Terms ....................................................................................................... 13

Chapter 1 Overview ...................................................................................................... 14

1-1 Overview .......................................................................................................... 14

1-2 Model and System Configuration .................................................................... 14

1-3 Specifications .................................................................................................. 15

1-4 Part Names and Functions .............................................................................. 16

1-5 Dimensions ...................................................................................................... 17

1-6 How to Measure 3D Distance by This Product ............................................... 18

1-7 Procedures ...................................................................................................... 21

Chapter 2 Installation & Wiring ..................................................................................... 22

2-1 Installation ....................................................................................................... 22

2-2 Wiring

...........................................................................................................

Chapter 3 Communications from Host ......................................................................... 28

3-1 Overview .......................................................................................................... 28

3-2 Basic Process on Host .................................................................................... 29

3-3 Command Specifications ................................................................................. 33

3-4 Command List and Response List .................................................................. 34

Chapter 4 Command Description ................................................................................. 36

4-1 Get Version (00Hex) ........................................................................................ 36

4-2 Start Distance Measurement (80Hex) ............................................................. 36

4-3 Stop Distance Measurement (81Hex) ............................................................. 37

4-4 Get Result (82Hex) .......................................................................................... 38

4-5 Set Result Acquisition Format (84Hex) ........................................................... 41

4-6 Get Result Acquisition Format (85Hex) ........................................................... 43

4-7 Set Operation Mode (86Hex) .......................................................................... 44

4-8 Get Operation Mode (87Hex) .......................................................................... 45

4-9 Set Exposure Time (88Hex) ............................................................................ 46

4-10 Get Exposure Time (89Hex) .......................................................................... 47

4-11 Set T3D Rotation Angle (8AHex) .................................................................. 48

4-12 Get T3D Rotation Angle (8BHex) .................................................................. 49

4-13 Set LED Emission Frequency ID (8EHex) .................................................... 50

4-14 Get LED Emission Frequency ID (8FHex) .................................................... 50

4-15 Set MIN_AMP (for all range)(90Hex) ............................................................ 51

4-16 Get MIN_AMP (for all range)(91Hex) ............................................................ 52

4-17 Set MIN_AMP (for close distance)(92Hex) ................................................... 53

4-18 Get MIN_AMP (for close distance)(93Hex) ................................................... 54

4-19 Get

θφ

Table (94Hex) .................................................................................... 55

Содержание B5L

Страница 1: ...3D TOF Sensor Module B5L E596 E1 01 3D TOF Sensor Module User s Manual ...

Страница 2: ...es representative listed at the end of this manual Please notify the manual number described at the end of this manual as well Trademark Unauthorized copy replication and or reprint of a part or all of this manual is prohibited Microsoft Windows Windows Vista Excel and Visual Basic are registered trademarks of Microsoft Corporation in the United States and other countries Other company names and p...

Страница 3: ...ve knowledge of electrical systems and software Applicable Product This manual covers the following product 3D TOF sensor module B5L hereinafter called this product Definition in this document This product Indicates B5L A2S U01 010 which consists of the main body and SDK Description of this product refers to the whole or part of the configuration Main body Indicates the 3D TOF sensor module SDK In...

Страница 4: ...ications 33 3 4 Command List and Response List 34 Chapter 4 Command Description 36 4 1 Get Version 00Hex 36 4 2 Start Distance Measurement 80Hex 36 4 3 Stop Distance Measurement 81Hex 37 4 4 Get Result 82Hex 38 4 5 Set Result Acquisition Format 84Hex 41 4 6 Get Result Acquisition Format 85Hex 43 4 7 Set Operation Mode 86Hex 44 4 8 Get Operation Mode 87Hex 45 4 9 Set Exposure Time 88Hex 46 4 10 Get...

Страница 5: ...peration Check LED 96Hex 58 4 22 Set Response Speed 97Hex 59 4 23 Get Response Speed 98Hex 60 4 24 Set ENR Threshold 99Hex 61 4 25 Get ENR Threshold 9AHex 62 4 26 Get Imager Temperature 9BHex 63 4 27 Get LED Temperature 9CHex 64 4 28 Initialize Parameters 9EHex 65 4 29 Reset Software 9FHex 66 Chapter 5 Troubleshooting 67 5 1 Troubleshooting List 67 5 ...

Страница 6: ...y Omron does NOT warrant the fitness of Omron products under such application 4 Omron may discontinue the production of Omron products or change the specifications of them for the purpose of improving such products or other reasons entirely at its own discretion 3 Precautions Please be aware of and accept the following when you introduce or use Omron products 1 Please use Omron products in complia...

Страница 7: ...he malfunctioning Omron products with the same number of replacement alternative products 3 Exceptions Omron will not cover Omron products under its warranty if the cause of the malfunction falls under any of the following a Usage in a manner other than the original intended use for the Omron products b Usage outside of the usage conditions c Modification or repair made to the Omron products by ot...

Страница 8: ...icles including bikes as it may result in accidents Regarding the prevention of fire electric shock etc The following will result in fire electric shock injury or damage if ignored Do not touch the Device or any connected cable during a lightning storm Do not use the Device if it is cracked or damaged Do not insert foreign objects in the connector or in the holes on the various parts of the Device...

Страница 9: ...en using the Product Regarding installation The following will result in accident injury or damage if ignored Do not install the Device in an unstable location Install the cables in a safe way out of the way of hands or feet Regarding heating The following will result in burns if ignored The Device may produce heat Do not touch it during power on or shortly after powering it off Caution ...

Страница 10: ...pply terminal to AC power Do not connect the Product to DC voltage above the rated capacity Do not reverse connect the DC power supply Make sure to turn the Device off before removing cables Make sure to check the Device and the connector pins for distortion or physical damage before connecting the Device to the Connector Check the cables for physical damage 3 Others Treat the Product as industria...

Страница 11: ...USB cable after fully validating their applicability Do not strongly pull the cable connected to the Device Do not reversely insert the Connector Do not forcibly insert any non standard connector Do not touch the light projecting part or the light receiving part Clean the light projecting part or the light receiving part if fouled Clean with a soft and dry cloth avoiding damage to the light projec...

Страница 12: ...privacy portrait right copyright or any other rights of people 4 The Product cannot be used for purposes that cause hazard or damage to people s life body and asset Protection of Intellectual Property Do not do or allow any third party to do the following to the Firmware contained in the Product built in software for operating the Device and SDK a Withdrawal of the Firmware from the Device b Rever...

Страница 13: ... make multiple measurements by changing the shutter speed Start up period Time from powering up the B5L to the point where communication becomes available Warm up period Time from powering up the B5L to the point where its performance becomes stable Distance data The three dimensional distance from the coordinate origin of B5L to the object Cartesian coordinate system A coordinate system defined b...

Страница 14: ... the host and return the results of execution 1 2 Model and System Configuration Model Operating range NIR transmission filter 1 Model 0 5m to 4m Yes built in B5L A2S U01 010 1 NIR transmission filter transmits infrared rays and absorbs visible light Model configuration Series Light source Angle of view Communications NIR transmission filter B5L A 01 0 2 LED near infrared ray of 940nm S 90 U01 USB...

Страница 15: ...plitude of 0 7mm max 8 min 3 sweeps each in X Y and Z directions Shock resistance 300m s2 for 3 times each in X Y and Z directions Dimensions 103 64 3 43 1 mm Approx 108 6 x 64 3 x 43 1mm connector included Degree of protection IEC60529 IP10 Weight Approx 305 g Material Frame Aluminum die cast Cover Polycarbonate PC Filter Acrylic resin PMMA Heat sink Aluminum Communications USB2 0 CDC class Start...

Страница 16: ...er Receiver Operation check LED is located inside 1 NIR transmission filter Top Side Side Heat sink side 1 Internal LED for operation check No command operation initial state On startup Under normal operation Solid ON On error occurrence Flashing With command operation On startup Solid ON Under normal operation On error occurrence Can be turned off by a command 16 ...

Страница 17: ...5 Dimensions 3D TOF Sensor Module B5L User s Manual No E596 1 5 Dimensions Unit mm Tolerance class IT 取付穴 J S T Mfg Co Ltd Model Mounting hole 2 M4 effective depth 8 Coordinate origin Coordinate origin Coordinate origin 17 ...

Страница 18: ... coordinate origin of this product to the object Distance data in Cartesian coordinate system Xo Yo Zo X Y and Z coordinates based on the origin coordinate as its origin Distance data in rotated Cartesian coordinate system Xr Yr Zr Cartesian coordinate system rotated around Xo Yo and Zo axes by the angle specified by the command Distance data in polar coordinate system r θ φ Polar coordinate syste...

Страница 19: ... output range total pixels Lens image circle Valid range Software Visit the following site for the evaluation software and sample code Japanese https www omron co jp ecb product detail partNumber B5L English https www components omron com product detail partNumber B5L Note 1 The sample code is for evaluation only OMRON shall not guarantee operation of the code Note 2 OMRON is under no obligation t...

Страница 20: ...urement distance 2m Illuminance 10 000lx min with sunlight Distance precision Conditions Target 70 reflectivity white paper Angle 0 Distance precision in angle direction Conditions Target 70 reflectivity white paper 15 reflectivity gray paper Angle 43 5 0 43 5 Measurement distance 0 5m 2m 4m With sunlight Without sunlight Distance m Power connector Emitter Receiver Angle Measured value m Measured ...

Страница 21: ...on command to check Ch 4 Command Description Initial setting Setting by communications Setting of operation mode Setting of result acquisition format Setting of parameters measurement parameters operation check LED setting communication response speed settings Ch 3 Communications from Host Ch 4 Command Description Operations Start of distance measurement acquisition of result stop of measurement b...

Страница 22: ...stacle Check the impact of objects other than the measurement target If there is an object obstacle other than the measurement target is in the vicinity of the target the distance to the target cannot be measured accurately due to the reflected light from the obstacle Floors walls and ceilings may have the same impact as obstacles If a transparent object such as glass and plastic is placed between...

Страница 23: ...e bottom using M4 screws Screw clamping allowance is 3 to 7mm and tightening torque is 0 91 to 1 37N m Two M4 x 8 screws Aperture Design the aperture of the enclosure based on the following dimensions Aperture size of customer s enclosure by thickness mm Thickness A B C t 1 28 44 34 t 2 30 46 36 t 3 32 48 38 Customer s enclosure 23 ...

Страница 24: ...or measurement target is exposed to strong ambient light of the same wavelength band the distance to the target cannot be measured accurately due to the effect of the ambient light Impact of cover Before installing a cover you must take into account the followings Separately install a cover so that the emitted light should not be reflected by the inside surface of the cover and enter the receiver ...

Страница 25: ...roduct in which this product is incorporated Noise countermeasures for the connection lines can be expected to reduce the level of radiated noise Please evaluate the cable and GND connection e g FG connection before making your decision Note 2 Pay attention to creepage distance and other factors to prevent static electricity from being applied to any part of the enclosure other than the emitter an...

Страница 26: ...ON sequence It takes 30 seconds from when the lower limit of the power supply voltage 21 6V is reached until the command is accepted After 30 seconds use the Get version command to check the response Refer to 3 2 Basic Process on Host for details If the power supply voltage momentarily falls below the lower limit of 21 6V After turning on the power again or when it is restored when the voltage exc...

Страница 27: ...or details Note If the power supply voltage is dropped to 0V do not perform the start up sequence immediately but wait for 5 seconds or more before turning the power back on USB connection This product is a USB device connected to the host via a USB cable The USB connector of this product is micro USB as shown below Micro USB compliant Vbus rating 0 5A max Vbus power supply must be provided from t...

Страница 28: ...mmand to the host Host receives the command execution result Until the host receives the execution result of the previous command it must not send the next command This product discards any command received while processing a command When a command is ended with an error setting values are retained as they were before executing the command Caution A command execution result may not be received eve...

Страница 29: ...d 4 10 Get Exposure Time 89Hex for details T3D rotation angle It is an angle for converting the coordinate system as seen from the camera Cartesian coordinate system into a coordinate system rotated to a desired angle rotated Cartesian coordinate system Refer to 4 11 T3D Rotation Angle Setting 8AHex and 4 12 Get T3D Rotation Angle 8BHex for details LED emission frequency ID Mutual interference can...

Страница 30: ...e output at the boundary between the measurement target and the background may become unstable This setting eliminates the problem If the difference in distance between adjacent pixels is greater than the set value the farther pixel value is output as the lower amplitude value Refer to 4 24 ENR Threshold Setting 99Hex and 4 25 Get ENR Threshold 9AHex for details Specify the operation mode Use the ...

Страница 31: ...of exposure times A and B The area of exposure time B is used Distance erspective field of view Area that causes saturation Low amplitude area High speed mode allows detection of this area in case of close distance measurement The frame rate is about 20fps Set the result acquisition format Use the Set result acquisition format command to set the desired format for results to acquire Start measurin...

Страница 32: ...application If the execution result is not returned yet you may apply the following exception handlings e g Resetting this product Restarting the host device When the power is turned off the distance measurement is stopped After starting up the product next time start from the step of starting distance measurement Even if the power is turned off the following settings are retained Operation mode R...

Страница 33: ...e format Synchronizati on code Response code Data length 4 bytes Data H MSB H LSB L MSB L LSB H MSB Most Significant Byte High Word H LSB Least Significant Byte High Word L MSB Most Significant Byte Low Word L LSB Least Significant Byte Low Word Data is sent starting from H MSB e g If the data length is 300 0000012CHex it is sent in the order of 00Hex 00Hex 01Hex 2CHex As exceptions the following ...

Страница 34: ...ration mode 85Hex Get result acquisition format Acquires result acquisition format 89Hex Get exposure time Acquires exposure time frame rate 8BHex Get T3D rotation angle Acquires rotation angle for rotated Cartesian coordinate system 8FHex Get LED emission frequency ID Acquires LED emission frequency ID against interference 91Hex Get MIN_AMP for all range Acquires minimum amplitude for all range 9...

Страница 35: ...you need to configure the value again 3 F9Hex device error power supply The supply voltage to this product may be too low Check the supply voltage and perform the followings Restart this product by turning off the power Restart the host device 4 F7Hex device error abnormal heat generation Abnormal heat generation occurred due to an internal failure Immediately turn off the power and do not turn on...

Страница 36: ...ersion 1 byte hexadecimal To be updated on a minor change Release version 1 byte hexadecimal To be updated on a slight modification Revision number 4 byte hexadecimal Used for internal management Serial No character string 11 characters Identification character string for each unit 4 2 Start Distance Measurement 80Hex Emits LED and starts distance measurement Command from host to this product Sync...

Страница 37: ...curred during the initialization of this product this command causes an error If an error has occurred that makes distance measurement impossible during distance measurement the measurement is immediately stopped 4 3 Stop Distance Measurement 81Hex Stops LED emission and stops distance measurement Command from host to this product Synchroni zation code Command No Data length FEHex 81Hex 00Hex 00He...

Страница 38: ...fixed Response from this product to host Synchroniz ation code Response code Data length Data FEHex Normal end 00Hex See below for details Error FFHex to F0Hex 00Hex 00Hex 00Hex 00Hex Data details Returns the latest distance measurement results at the time the command is issued in the format specified in the Set result acquisition format command The data is output in the order of 76799 to 0 from t...

Страница 39: ...x Data block Distance data 76799 76798 76797 0 LSB MSB LSB MSB LSB MSB LSB MSB If the result acquisition format is either of the followings returned is the PCD file format data of 320 pixels wide and 240 pixels high with 2 bytes of coordinate values x y and z respectively 0001Hex Distance data Cartesian coordinate system 0002Hex Distance data rotated Cartesian coordinate system The PCD header of 1...

Страница 40: ...xels wide and 240 pixels high with 2 bytes per pixel 0101Hex Distance data Cartesian coordinate system Amplitude data 0102Hex Distance data rotated Cartesian coordinate system Amplitude data The PCD header of 170 bytes is prefixed to the distance data Data length Data block 00Hex 09Hex 60Hex AAHex Data block PCD header Distance data x76799 y76799 z76799 x0 y0 z0 LSB MSB LSB MSB LSB MSB LSB MSB LSB...

Страница 41: ...2Hex Distance data rotated Cartesian coordinate system 0100Hex Distance data polar coordinate system Amplitude data 0101Hex Distance data Cartesian coordinate system Amplitude data 0102Hex Distance data rotated Cartesian coordinate system Amplitude data 01FFHex Amplitude data Specify the output information and coordinate system Output information Distance data only Distance data Amplitude data Amp...

Страница 42: ...put is a value ranging from 0 to 255 The abnormal values are as shown below All of X Y and Z values are abnormal ones as shown below in Cartesian and rotated Cartesian coordinate systems Error status Distance value Amplitude value Saturation 31000 511 Overflow 32000 510 Low amplitude less than MIN_AMP 30000 Logical OR of amplitude value and 0100Hex Saturation The receiving light level exceeds the ...

Страница 43: ...FFHex to F0Hex 00Hex 00Hex 00Hex 00Hex Data details Setting value Data name 0000Hex Distance data polar coordinate system 0001Hex Distance data Cartesian coordinate system 0002Hex Distance data rotated Cartesian coordinate system 0100Hex Distance data polar coordinate system Amplitude data 0101Hex Distance data Cartesian coordinate system Amplitude data 0102Hex Distance data rotated Cartesian coor...

Страница 44: ...Synchroniz ation code Command No Data length Data FEHex 86Hex 00Hex 01Hex See below for details Response from this product to host Synchroni zation code Response code Data length Data FEHex Normal end 00Hex 00Hex 00Hex 00Hex 00Hex Error FFHex to F0Hex 00Hex 00Hex 00Hex 00Hex Data details Setting value Data name 00Hex Normal mode 01Hex High speed mode The default value is 00Hex Normal mode 44 ...

Страница 45: ...Command from host to this product Synchroniz ation code Command No Data length FEHex 87Hex 00Hex 00Hex Response from this product to host Synchroniz ation code Response code Data length Data FEHex Normal end 00Hex 00Hex 00Hex 00Hex 01Hex See below for details Error FFHex to F0Hex 00Hex 00Hex 00Hex 00Hex Data details Setting value Data name 00Hex Normal mode 01Hex High speed mode 45 ...

Страница 46: ...d Frame rate 1 byte Specify 00Hex x 4 for Reserved Byte position Data name 0 Exposure time MSB 1 LSB 2 5 Reserved 00 x 4 fixed 6 Frame rate Specify the exposure time within the range shown below Normal mode 170 to 5312 High speed mode 20 to 10000 Specify the frame rate within the range from 1 to 20 If 0 is set to the frame rate the product runs at the maximum frame rate for the specified exposure ...

Страница 47: ... length FEHex 89Hex 00Hex 00Hex Response from this product to host Synchroniz ation code Response code Data length Data FEHex Normal end 00Hex 00Hex 00Hex 00Hex 07Hex See below for details Error FFHex to F0Hex 00Hex 00Hex 00Hex 00Hex Data details Data is returned in the order from Exposure time 2 bytes Reserved 4 bytes and Frame rate 1 byte Skip the data in the Reserved block Byte position Data na...

Страница 48: ...hroniz ation code Response code Data length Data FEHex Normal end 00Hex 00Hex 00Hex 00Hex 00Hex Error FFHex to F0Hex 00Hex 00Hex 00Hex 00Hex Data details Specify the rotation angles in the order of x y and z as integers 2 bytes ranging from 0 to 359 degree The angles must be specified counterclockwise Rotation is processed in the order from z y to x Byte position Data name 0 Rotation angle around ...

Страница 49: ...mand No Data length FEHex 8BHex 00Hex 00Hex Response from this product to host Synchroniz ation code Response code Data length Data FEHex Normal end 00Hex 00Hex 00Hex 00Hex 06Hex See below for details Error FFHex to F0Hex 00Hex 00Hex 00Hex 00Hex Data details The rotation angles are acquired in the order of x y and z as integers 2 bytes Byte position Data name 0 Rotation angle around x axis MSB 1 L...

Страница 50: ... to 16 The default value is 8 If multiple units of this product with the same LED projection frequency are operated at the same time their emission may interfere with each other resulting in incorrect distance measurement results Specifying unique LED emission frequency IDs for the units can relieve mutual interference between them 4 14 Get LED Emission Frequency ID 8FHex Acquires the LED emission...

Страница 51: ... Data FEHex 90Hex 00Hex 01Hex See below for details Response from this product to host Synchroniz ation code Response code Data length Data FEHex Normal end 00Hex 00Hex 00Hex 00Hex 00Hex Error FFHex to F0Hex 00Hex 00Hex 00Hex 00Hex Data details Specify the minimum amplitude to judge as a valid pixel for all range in 1 byte If a pixel has an amplitude value smaller than the set value it is judged a...

Страница 52: ...ed Command from host to this product Synchroniz ation code Command No Data length FEHex 91Hex 00Hex 00Hex Response from this product to host Synchroniz ation code Response code Data length Data FEHex Normal end 00Hex 00Hex 00Hex 00Hex 01Hex See below for details Error FFHex to F0Hex 00Hex 00Hex 00Hex 00Hex Data details The minimum amplitude value for all range currently specified is returned in 1 ...

Страница 53: ...t to host Synchroniz ation code Response code Data length Data FEHex Normal end 00Hex 00Hex 00Hex 00Hex 00Hex Error FFHex to F0Hex 00Hex 00Hex 00Hex 00Hex Data details Specify the minimum amplitude to judge as a valid pixel for close distance within 1 5m in 1 byte If a pixel has an amplitude value smaller than the set value it is judged as low amplitude Even if you set a value smaller than the min...

Страница 54: ...fied Command from host to this product Synchroniz ation code Command No Data length FEHex 93Hex 00Hex 00Hex Response from this product to host Synchroniz ation code Response code Data length Data FEHex Normal end 00Hex 00Hex 00Hex 00Hex 01Hex See below for details Error FFHex to F0Hex 00Hex 00Hex 00Hex 00Hex Data details The minimum amplitude value for close distance currently specified is returne...

Страница 55: ... 00Hex Response from this product to host Synchroniz ation code Response code Data length Data FEHex Normal end 00Hex 00Hex 04Hex B0Hex 00Hex See below for details Error FFHex to F0Hex 00Hex 00Hex 00Hex 00Hex Data details Table data are returned in the order of θ and φ in 2 bytes per pixel As with distance and amplitude data the data is output in the order of 76799 to 0 from the bottom right to th...

Страница 56: ...Hex The value is FABEHex which indicates Upper 4 bits FHex Outside the angle of view AOV Lower 12 bits ABEHex 2750 90 x 2750 4096 60 degrees 76799 LSB MSB BHex EHex FHex AHex 1 0 1 1 1 1 1 0 1 1 1 1 1 0 1 0 θ value lower 8 bits Judgement of outside or inside the AOV θ value upper 4 bits The available φ table angle range is 0 φ 360 degrees The value stored in the φ table consists of the upper 2 bit...

Страница 57: ...nse from this product to host Synchroniz ation code Response code Data length Data FEHex Normal end 00Hex 00Hex 00Hex 00Hex 00Hex Error FFHex to F0Hex 00Hex 00Hex 00Hex 00Hex Data details Specify 0 to enable the operation check LED or 1 to disable it The default value is 0 enable This product s status Operation check LED status Enabled Disabled When power is turned ON Solid ON Solid ON Under norma...

Страница 58: ...ck LED currently specified Command from host to this product Synchroniz ation code Command No Data length FEHex 96Hex 00Hex 00Hex Response from this product to host Synchroniz ation code Response code Data length Data FEHex Normal end 00Hex 00Hex 00Hex 00Hex 01Hex See below for details Error FFHex to F0Hex 00Hex 00Hex 00Hex 00Hex Data details The enabled or disabled status of the operation check L...

Страница 59: ... data in the order of transmission size 1 byte and transmission interval 2 bytes of the response data Specify the transmission size as either of 1 2 4 8 or 16 kilobytes and the transmission interval within the range from 0 to 10000 microseconds The default values are Transmission size 16 kilobytes Transmission interval 0 microseconds Byte position Data name 0 Transmission size 1 Transmission inter...

Страница 60: ...uct Synchroni zation code Comman d No Data length FEHex 98Hex 00Hex 00Hex Response from this product to host Synchroni zation code Response code Data length Data FEHex Normal end 00Hex 00Hex 00Hex 00Hex 03Hex See below for details Error FFHex to F0Hex 00Hex 00Hex 00Hex 00Hex Data details Acquires the command response speed currently specified Byte position Data name 0 Transmission size 1 Transmiss...

Страница 61: ...rror FFHex to F0Hex 00Hex 00Hex 00Hex 00Hex Data details Specify the edge detection threshold 0 to 12499 mm in 2 bytes Specifying 0 disables the ENR The default value is 0 ENR edge noise reduction When the distance difference between pixels is large for example when the distance between the measurement target and the background is far away this function judges the pixel with a distance difference ...

Страница 62: ...tly specified Command from host to this product Synchroni zation code Command No Data length Data FEHex 9AHex 00Hex 00Hex Response from this product to host Synchroni zation code Response code Data length Data FEHex Normal end 00Hex 00Hex 00Hex 00Hex 02Hex See below for details Error FFHex to F0Hex 00Hex 00Hex 00Hex 00Hex Data details Acquires the edge detection threshold 0 to 12499 in 2 bytes 62 ...

Страница 63: ...eset software command to restart the unit Command from host to this product Synchroniz ation code Command No Data length Data FEHex 9BHex 00Hex 00Hex Response from this product to host Synchroniz ation code Response code Data length Data FEHex Normal end 00Hex 00Hex 00Hex 00Hex 08Hex See below for details Error FFHex to F0Hex 00Hex 00Hex 00Hex 00Hex Data details Current imager temperature is retur...

Страница 64: ...be started If this happens turn the unit power back on or use the Reset software command to restart the unit Command from host to this product Synchroni zation code Command No Data length Data FEHex 9CHex 00Hex 00Hex Response from this product to host Synchroni zation code Response code Data length Data FEHex Normal end 00Hex 00Hex 00Hex 00Hex 02Hex See below for details Error FFHex to F0Hex 00Hex...

Страница 65: ...ormal end 00Hex 00Hex 00Hex 00Hex 00Hex Error FFHex to F0Hex 00Hex 00Hex 00Hex 00Hex Data details The following parameters are initialized Operation mode normal high speed Exposure time frame rate Exposure time frame rate T3D rotation angle LED emission frequency ID MIN_AMP for all range MIN_AMP for close distance Enabling disabling operation check LED Responder speed setting transmission size int...

Страница 66: ...Hex Data details Stops the distance measurement and goes back to the status after power ON The following parameter settings are retained Result acquisition format output information coordinate system Operation mode normal high speed Exposure time frame rate T3D rotation angle LED emission frequency ID MIN_AMP for all range MIN_AMP for close distance Enabling disabling operation check LED Responder...

Страница 67: ... executed after startup Flashing 1 FFHex Undefined command Execution of a command not listed in the command list was attempted Check the command number and data length and run the proper command FDHex Illegal command A value configured for the command data is out of the specifications Check the available range for the value and run the proper command F5Hex or FEHex Device error flash write or inte...

Страница 68: ... the power back on please wait for 5 seconds or longer after powering off Restart the host F7Hex Device error abnormal heat generation Abnormal heat generation occurred in a component in this product Immediately turn off the power and do not turn on the power again Note that if the Get imager temperature command or Get LED temperature command is issued before the distance measurement has been star...

Страница 69: ...t command execute the Get result command after executing the Start distance measurement command Flashing 1 F9Hex Device error power supply The 24VDC supply voltage to this product may be too low Check the supply voltage Turn the unit power off and back on or restart the unit Before turning the power back on please wait for 5 seconds or longer after powering off Restart the host The distance values...

Страница 70: ... Temperature 9BHex 63 Get LED Emission Frequency ID 8FHex 50 Get LED Temperature 9CHex 64 Get MIN_AMP for all range 91Hex 52 Get MIN_AMP for close distance 93Hex 54 Get Operation Mode 87Hex 45 Get Response Speed 98Hex 60 Get Result 82Hex 38 Get Result Acquisition Format 85Hex 43 Get T3D Rotation Angle 8BHex 49 Get Version 00Hex 36 Get θφ Table 94Hex 55 Ｈ HDR function 18 High speed mode 30 How to i...

Страница 71: ... 95Hex 57 Set ENR Threshold 99Hex 61 Set Exposure Time 88Hex 46 Set LED Emission Frequency ID 8EHex 50 Set MIN_AMP for all range 90Hex 51 Set MIN_AMP for close distance 92Hex 53 Set Operation Mode 86Hex 44 Set Response Speed 97Hex 59 Set Result Acquisition Format 84Hex 41 Set result acquisition format 31 Set T3D Rotation Angle 8AHex 48 Start Distance Measurement 80Hex 36 Start up period 13 Stop Di...

Страница 72: ...Index 5 1 Troubleshooting List E596 E1 01 2020 0820 0820 O ...

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