3D Kamera 1. Vorbemerkung Das Dokument richtet sich an Fachkräfte. Dabei handelt es sich um Personen, die aufgrund ihrer einschlägigen Ausbildung und ihrer Erfahrung befähigt sind, Risiken zu erkennen und mögliche Gefährdungen zu vermeiden, die der Betrieb oder die Instandhaltung des Gerätes verursachen kann. Das Dokument enthält Angaben zum korrekten Umgang mit dem Gerät.
3D Kamera 3. Bestimmungsgemäße Verwendung Die O3D3xx 3D-Kamera ist eine optische Kamera, die punktweise den Abstand zwischen Kamera und der nächsten Oberfläche per Lichtlaufzeitverfahren misst. Die O3D3xx 3D-Kamera beleuchtet die Szene mit einer internen Infrarot-Lichtquelle und berechnet die Entfernung anhand des von der Oberfläche reflektierten Lichts.
3D Kamera 6. Montage Das Kapitel beschreibt, was vor der Montage beachtet werden muss und wie das Gerät montiert wird. ① ① : Gerät ② : Öffnungswinkel ③ : Objekt ④ : Bildfeld ⑤ : Abstand zwischen Gerät und Objekt ②...
(→ 6.2.3). Wird die Warngrenze trotz wärmeableitender Montage überschritten, kann zusätzlich der Berührschutz montiert werden. Werden die typischen Warngrenzen bei normaler Montage unterschritten, sind keine Maßnahmen notwendig. 6.2.1 Typische Warngrenzen für O3D301 / O3D303 Parameter "Maximal sichtbare Entfernung" Montage an wärmeleitenden Metallteilen mit Wärmeleitplatte (→...
3D Kamera 6.2.2 Typische Warngrenzen für O3D311 / O3D313 Parameter "Maximal sichtbare Entfernung" Montage an wärmeleitenden Metallteilen mit Wärmeleitplatte (→ 6.2.3) Warngrenze Parameter < 5 m < 30 m > 30 m Normale Montage Warngrenze Parameter < 5 m < 30 m >...
> Das Montageset ist als Zubehör erhältlich (→ 6.4). ► Zugentlastungen für alle am Gerät verbundene Leitungen verwenden. Beachten Sie die folgenden Hinweise bei der Montage eines O3D301 und O3D311: ► Gerät so montieren, dass der Fokuseinsteller mit einem Schraubendreher erreichbar ist.
3D Kamera 7. Elektrischer Anschluss Beachten Sie die folgenden Hinweise vor der elektrischen Installation. ACHTUNG Das Gerät darf nur von einer Elektrofachkraft installiert werden. Elektrische Daten im Datenblatt beachten. Gerät der Schutzklasse III (SK III) Die elektrische Versorgung darf nur über PELV-Stromkreise erfolgen. Die elektrische Versorgung muss der UL61010-1, Kap.
3D Kamera 7.1.1 Pin 1 / 3 (24 V / GND) Der zulässige Spannungsbereich ist im Datenblatt des Gerätes angegeben. 7.1.2 Pin 2 (Triggereingang) Die Bildaufnahme des Gerätes kann über den Triggereingang mit einem Schaltsignal getriggert werden. Die folgenden Triggerflanken können verwendet werden: ●...
3D Kamera 7.2 Verdrahtungsbeispiele Im folgenden sind Verdrahtungsbeispiele des Gerätes abgebildet. 7.2.1 Bildaufnahme mit Nährungsschalter triggern Das Gerät kann extern getriggert werden: ● über Ethernet ● über einen Nährungsschalter, verbunden mit dem Triggereingang Die folgende Abbildung zeigt die Verdrahtung des Gerätes mit einem Nährungsschalter. ①...
3D Kamera 7.2.2 Mehrere Geräte nebeneinander verwenden Nebeneinander montierte Geräte können Messfehler verursachen durch das zeitgleiche Belichten. ① ② ① : 1. Gerät ② : 2. Gerät ③ : Objekt ③ Die Messfehler können auf zwei Arten vermieden werden: ● Geräte über HW-Trigger kaskadieren Beim Kaskadieren triggert eine Steuerung die Bildaufnahme des 1.
3D Kamera 8. Anzeigeelemente Das Gerät signalisiert über die Anzeigeelemente LED 1 - 4 den aktuellen Betriebszustand. LED 1 LED 2 LED 4 LED 3 LED 4 LED 1 LED 2 LED 3 Beschreibung (Ethernet) (Power) (Out 1) (Out 2) leuchtet Gerät ist betriebsbereit, Versorgungsspannung liegt an blinkt mit...
3D Kamera 9. Inbetriebnahme Durch Einschalten der Versorgungsspannung wird das Gerät in Betrieb genommen. Nach 15 Sekunden befindet sich das Gerät im Auswertebetrieb, in dem gespeicherte Anwendungen ausgeführt werden. Die Anzeigeelemente signalisieren den aktuellen Betriebszustand (→ 8). Auf dem Gerät können bis zu 32 Anwendungen gespeichert werden. Eine Anwendung enthält typischerweise die folgenden Parameter: ●...
3D Kamera 10. Wartung, Instandsetzung und Entsorgung Beachten Sie die folgenden Anweisungen: ► Das Gerät nicht öffnen. Innerhalb des Gerätes befinden sich keine vom Anwender zu wartenden Bauteile. Die Instandsetzung des Gerätes darf nur durch den Hersteller erfolgen. ► Das Gerät gemäß den nationalen Umweltvorschriften entsorgen. 10.1 Reinigung Beachten Sie die folgenden Anweisungen vor dem Reinigen des Gerätes: ►...
3D Kamera 13. Appendix 13.1 Required Ports The following ports are required for the camera configuration using XML-RPC and for receiving data on the process interface. They must not be blocked by a firewall or router. ● TCP/HTTP: 80 ● TCP: 50010 If the ifm Vision Assistant is used, the following additional ports must also be available: ●...
3D Kamera The following example contains one O3D3xx command: POST /api/rpc/v1/com.ifm.efector/ HTTP/1.1 <CR><LF> User-Agent: Frontier/5.1.2 (WinNT)<CR><LF> Host: 192.168.0.69<CR><LF> Content-Type: text/xml<CR><LF> Content-length: 94<CR><LF> <CR><LF> <?xml version="1.0"?><CR><LF> <methodCall><CR><LF> <methodName>getParameter</methodName><CR><LF> </methodCall><CR><LF> 13.2.2 XML-RPC Objects To communicate and to configure the device via XML-RPC the XML-RPC commands have to use different XML-RPC objects.
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3D Kamera Main API cancelSession(...) removes itself from RPC. Session will also be removed, if heartbeat(...) is not called at the right time Session setOperatingMode(0) will remove EditMode from RPC EditMode stopEditApplication() will remove ApplicationConfig from RPC ApplicationConfig Main Object Object-URI: /api/rpc/v1/com.ifm.efector/ This is the main object of RPC.
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3D Kamera Application/Imager Config Object (O3D3xx) Object URI e.g.: /api/rpc/v1/com.ifm.efector/session_d21c80db5bc1069932fbb9a3bd841d0b/edit/application/imager_001/ As there is only one imager config on O3D3xx, the ID must be fixed to "001". Data of this object is persistently saved when calling "save" on the application config object. The imager config RPC object has multiple sub-types.
3D Kamera 13.3 Process Interface The process interface is used during the normal operation mode to get operational data (e.g. 3D images, process values) from the O3D3xx. 13.3.1 Sending Commands For sending commands via the process interface the commands have to be sent with a special protocol and as ASCII character strings.
3D Kamera 13.3.2 Receiving Images For receiving the image data a TCP/IP socket communication is established. The default port number is 50010. The port number may differ based on the configuration. After opening the socket communication, the O3D3XX device will automatically (if the device is in free run mode) send the data through this socket to the TCP/IP client (PC).
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3D Kamera Offset Name Description Size [byte] 0x0018 PIXEL_FORMAT Pixel format 0x001C TIME_STAMP Time stamp in microseconds 0x0020 FRAME_COUNT Frame counter 0x0024 PIXEL_DATA The pixel data in the given type and dimension of the image. Padded to 4-byte boundary. Available chunk types: Constant Value Description...
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3D Kamera Constant Value Description CARTESIAN_Y_ The Y matrix denotes the Y component of the Cartesian coordinate COMPONENT of a PMD 3D measurement. The origin of the camera's coordinate system is in the middle of the lens' front glass, if the extrinsic parameters are all set to 0.
3D Kamera 13.3.4 Additional Information for CONFIDENCE_IMAGE Further information for the confidence image: Value Description 1 = pixel invalid Pixel invalid The pixel is invalid. To determine whether a pixel is valid or not only this bit needs to be checked. The reason why the bit is invalid is recorded in the other confidence bits.
3D Kamera 13.3.5 Configuration of PCIC Output The user has the possibility to define his own PCIC output. This configuration is only valid for the current PCIC connection. It does not affect any other connection and will get lost after disconnecting. For configuring the PCIC output a “flexible”...
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3D Kamera Available values for the type property: Type Description records Defines that this element represents a list of records. If type is set to "records", there must be an "elements" property. The "elements" property defines which data should be written per record. string Data is written as string.
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3D Kamera ASCII format properties: Format properties Allowed values Default width Output width. If the resulting value exceeds the width field the result will not be truncated. fill Fill character " " precision Precision is the number of digits behind the decimalseparator. displayformat Fixed, scientific Fixed...
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3D Kamera The following element IDs are available: Description Native data type activeapp_id Active application, shows which of the 32 application- 32-bit unsigned configurations is currently active integer all_cartesian_vector_ All Cartesian images (X+Y+Z) concatenated to one 16-bit signed matrices package integer all_unit_vector_matrices Matrix of unit vectors.
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3D Kamera For the main object on devices with statistics feature the following IDs are available: Description Native data type statistics_overall_count Allows the user to output the statistics value with uint32 the result of the frame, maps to ModelResults: adv_statistics.number_of_frames statistics_passed_count Allows the user to output the statistics value with uint32...
3D Kamera 13.4 Process Interface Command Reference All received messages which are sent because of the following commands will be sent without “start”/”stop” at the beginning or ending of the string. 13.4.1 t Command (Asynchronous Trigger) Command Description Executes trigger. The result data is send asynchronously Type Action...
3D Kamera Note <image-ID> Valid image ID: 2 digits for the image type 01 - amplitude image <length> 02 - normalised amplitude image char string with exactly 9 digits 03 - distance image as decimal number for the image 04 - X image (distance data size in bytes information) <image data>...
3D Kamera 13.4.5 a Command a<application number> Command Description Activates the selected application Type Action Reply ● Application not available ● <application number> contains wrong value ● External application switching activated ● Device is in an invalid state for this command, e.g. configuration mode Invalid command length Note...
3D Kamera 13.4.7 v Command v<version> Command Description Sets the current protocol version. The device configuration is not affected Type Action Reply Invalid version Invalid command length Note <version> (→ 13.3.1) 2 digits for the protocol version The default protocol version is „V3“. 13.4.8 V? Command Command Description...
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3D Kamera 13.4.10 C? Command Command Description Retrieves the current PCIC configuration Type Request Reply <length><configuration> Invalid command length Note <length> 9 digits as decimal value for the data length <configuration> configuration data 13.4.11 S? Command Command Description Requests current decoding statistics Type Request...
3D Kamera 13.4.13 H? Command Command Description Returns a list with available commands Type Request Reply H? - show this list t - execute Trigger T? - execute Trigger and wait for data o<io-id><io-state> - sets IO state O<io-id>? - get IO state I<image-id>? - get last image of defined type A? - get application list...
3D Kamera 13.4.15 O? Command O<IO-ID>? Command Description Requests the state of a specific ID Type Request Reply <IO-ID><IO-state> ● Invalid state (e.g. configuration mode) ● Wrong ID Invalid command length Note ● <IO-ID> The camera supports ID 1 and ID 2. 2 digits for digital output: The sensor supports ID 1, ID 2 and "01"...
3D Kamera 13.5 Error codes By default the error codes will not be provided by the device. The p command can activate their provision (→ 13.4.4). Error code ID Description 100000001 Maximum number of connections exceeded 110001001 Boot timeout 110001002 Fatal software error 110001003 Unknown hardware...
3D Kamera 13.6 XML-RPC Command Reference 13.6.1 Parameter API The parameters setParameter, getParameter, getAllParameters and getAllParameterLimits are implemented in the following RPC objects: ● Device ● Network ● Application ● ImagerConfig ● Filter ● Model setParameter setParameter Method name Description Sets a parameter to a specific value Input parameters 1.
3D Kamera Parameter string encoding Non-string parameters must be encoded in the following format. Type Stringified bool "true" / "false" setParameter method also accepts "1"/"0", getter methods must always return "true"/"false" decimal ( e.g "-1234" / "1234" ) Values should be in the range of int32 (-2^31 .. 2^31) double English floating point notation (optional with exponent) E.g.
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3D Kamera getSWVersion getSWVersion Method name Description Returns version information of all software components Input parameters none Output parameters Struct of strings (e.g. { "IFM_Software": "0.01.07", "Frontend": "01.05.02", ... } ) *mandatory keys: "IFM_Software" "Linux" "Main_Application" "Diagnostic_Controller" "Algorithm_Version" "Calibration_Version" "Calibration_Device" getHWInfo getHWInfo Method name...
3D Kamera requestSession requestSession Method name Description Requests a session object for access to the configuration and for changing the device operating mode. This blocks parallel editing and allows protection of editing with a password. The ID could optionally be defined by the external system but it must be the defined format (32char "hex").
3D Kamera 13.6.3 Session Object heartbeat heartbeat Method name Description Extends the life time of the edit session. If the given value is outside the range of "SessionTimeout", the saved default timeout will be used. Input parameters Requested timeout interval till next heartbeat, in seconds: int Output parameters The used timeout interval, in seconds: int cancelSession...
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3D Kamera importApplication importApplication Method name Description Imports an application config and creates a new application with it. The device will put the new application on the first free index. Input parameters Application config as one data BLOB: binary/base64 Output parameters Index of new application setOperatingMode setOperatingMode...
3D Kamera 13.6.4 Edit Mode Object factoryReset factoryReset Method name Description Resets all configurations to factory settings Input parameters none Output parameters Empty string (compatibility with classic XmlRPC-client) A factory reset will delete all applications which are saved on the camera. editApplication editApplication Method name...
3D Kamera copyApplication copyApplication Method name Description Creates a new application by copying the configuration of another application. The device will generate an ID for the new application and put it on a free index. Input parameters Index of the application which should be copied: int Output parameters Index of new application: int deleteApplication...
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3D Kamera disablePassword disablePassword Method name Description Disables the password protection. Making this change persistently requires to call "save" on device config. Input parameters none Output parameters Empty string (compatibility with classic XmlRPC-client) save save Method name Description Stores current configuration in persistent memory. If this is not called after changing device parameters (via setParameter), changes will get lost on reboot.
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3D Kamera Parameter name Data type Description SessionTimeout Number of seconds which a session stays before a call to "heartbeat" method is needed *has limits ServiceReportFailedBuffer Number of buffers reserved for failed results *has limits ServiceReportPassedBuffer Int Number of buffers reserved for passed results *has limits ExtrinsicCalibTransX Double...
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3D Kamera Parameter name Data type Description TemperatureFront2 Double Invalid temperature, the output is 3276.7 Unit: celsius TemperatureIllu Double readonly: Temperature measured in the device. Unit: celsius Measured on the illumination board. *has limits: parameters with this marker are listed in the reply of getAllParameterLimits method. Default values of device config parameters The default values of the device configuration parameters are: Parameter name...
3D Kamera Minimum and maximum values of device config parameters The minimum and maximum values of the device configuration parameters are: Parameter name Minimum value Maximum value ActiveApplication PcicProtocolVersion IOLogicType IOExternApplicationSwitch SessionTimeout 13.6.6 Device/Network Config Object saveAndActivateConfig saveAndActivateConfig Method name Description Reinitialise the network interface so that it uses the configuration which was set by the other RPC methods.
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3D Kamera Parameters of application Methods for parameter access are defined here: Parameter name Data type Description Name String (utf8) User-defined name of the application (max. 64 characters). Description String (utf8) User-defined description of the application (max. 500 characters). TriggerMode Allowed values: *has limits 1: free run...
3D Kamera Minimum and maximum values of application parameters The minimum and maximum values of application parameters are: Parameter name Minimum value Maximum value TriggerMode 13.6.8 Application/Imager Config Object changeType changeType Method name Description Changes the type of imager configuration. This changes setting of available parameters and might also change available RPC methods.
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3D Kamera Parameter name Data type Description SpatialFilterType Allowed values: *has limits 0: off 1: median filter 2: mean filter 3: bilateral filter TemporalFilterType Allowed values: *has limits 0: off 1: temporal mean filter 2: adaptive exponential filter EnableFilterDistanceImage Bool Activates the filter for the distance image EnableFilterAmplitudeImage Bool...
3D Kamera Minimum and maximum values of common imager config parameters The minimum and maximum values of the common imager configuration parameters are: Parameter name Minimum value Maximum value FrameRate 0.0167 30.0 SpatialFilterType AverageFilterNumPictures TemporalFilterType Parameters only in "under5m_low"-type of application imager config Parameter name Data type Description...
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3D Kamera Default values of the "under5m_moderate" mode parameters Parameter name Data type Default value ExposureTime 1000 ExposureTimeRatio Channel Minimum and maximum values of the "under5m_moderate" mode parameters Parameter name Minimum value Maximum value ExposureTime 10000 ExposureTimeRatio Channel Parameters only in "under5m_high"-type of application imager config Parameter name Data type Description...
3D Kamera Default values of the "upto30m_low" mode parameters Parameter name Data type Default value ExposureTime 1000 Channel Minimum and maximum values of the "upto30m_low" mode parameters Parameter name Minimum value Maximum value ExposureTime 10000 Channel Parameters only in "upto30m_moderate"-type of application imager config Parameter name Data type Description...
3D Kamera Parameters only in "upto30m_high"-type of application imager config Parameter name Data type Description Channel Allowed values: *has limits 0: non-group use (like channel1 but additional GUI option) 1: channel1 2: channel2 3: channel3 Default values of the "upto30m_high" mode parameters Parameter name Data type Default value...