IFM Electronic O3D301, O3D303, O3D313, O3D311 Operating Instructions Manual
Operating instructions
3D camera
O3D301
O3D303
O3D311
O3D313
706397 / 03 10/2015
UK
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Inhalt
1. Preliminary note...................................................................4
1.1 Symbols used .................................................................4
1.2 Warnings used ................................................................4
2. Safety instructions .................................................................4
2.1 General ......................................................................4
2.2 Target group ..................................................................4
2.3 Electrical connection............................................................4
2.4 Tampering with the device .......................................................4
3. Functions and features .............................................................5
4. Items supplied ....................................................................5
5. Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5
6. Installation ......................................................................6
6.1 Select installation location .......................................................6
6.2 Additional camera installation guidance .............................................7
6.2.1 Typical warning limits for O3D301 / O3D303 .....................................7
6.2.2 Typical warning limits for O3D311 / O3D313 .....................................8
6.2.3 Reduce surface temperature .................................................8
6.3 Install camera .................................................................9
6.4 Mounting accessories ...........................................................9
7. Electrical connection ..............................................................10
7.1 Wiring .....................................................................10
7.1.1 Pin 1 / 3 (24 V / GND)......................................................11
7.1.2 Pin 2 (trigger input) ........................................................11
7.1.3 Pin 4 / 5 (ready / cascading).................................................11
7.2 Wiring examples ..............................................................12
7.2.1 Trigger image capture with proximity sensor ....................................12
7.2.2 Install several cameras next to each other .....................................13
8. Indicators .....................................................................14
9. Set-up .....................................................................15
9.1 Set parameters of the camera ...................................................15
9.2 Detect object.................................................................15
10. Maintenance, repair and disposal ...................................................16
10.1 Clean .....................................................................16
10.2 Update firmware .............................................................16
10.3 Replace camera .............................................................16
11. Approvals/standards .............................................................16
12. Scale drawings..................................................................17
12.1 O3D303 / O3D313 ...........................................................17
12.2 O3D301 / O3D311 ...........................................................17
13. Appendix .....................................................................18
13.1 Required Ports ..............................................................18
13.2 XML-RPC Interface...........................................................18
13.2.1 Sample XML-RPC command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .18
13.2.2 XML-RPC Objects .......................................................19
13.3 Process Interface ............................................................22
13.3.1 Sending Commands ......................................................22
13.3.2 Receiving Images ........................................................22
13.3.3 Image data .............................................................23
13.3.4 Additional Information for CONFIDENCE_IMAGE ...............................26
13.3.5 Configuration of PCIC Output...............................................27
13.4 Process Interface Command Reference...........................................31
13.4.1 t Command (Asynchronous Trigger)..........................................31
13.4.2 T? Command (Synchronous Trigger) .........................................31
13.4.3 I? Command ............................................................31
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13.4.4 p Command ............................................................32
13.4.5 a Command ............................................................33
13.4.6 A? Command ...........................................................33
13.4.7 v Command ............................................................34
13.4.8 V? Command ...........................................................34
13.4.9 c Command ............................................................34
13.4.10 C? Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .35
13.4.11 S? Command ..........................................................35
13.4.12 G? Command ..........................................................36
13.4.13 H? Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .37
13.5 XML-RPC Command Reference ................................................38
13.5.1 Parameter API ..........................................................38
13.5.2 Main Object.............................................................39
13.5.3 Session Object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .42
13.5.4 Edit Mode Object ........................................................44
13.5.5 Device Config Object .....................................................45
13.5.6 Device/Network Config Object ..............................................49
13.5.7 Application Config Object ..................................................49
13.5.8 Application/Imager Config Object ............................................51
13.5.9 Image Settings and Filter Parameters ........................................56
Licences and trademarks
Microsoft®, Windows®, Windows XP®, Windows Vista®, Windows 7®, Windows 8® and Windows 8.1®
are registered trademarks of Microsoft Corporation.
Adobe® and Acrobat® are registered trademarks of Adobe Systems Inc.
All trademarks and company names are subject to the copyright of the respective companies.
This device contains (maybe modified) open source software which is subject to special licensing terms.
For copyright information and licensing terms please refer to:
www.ifm.com/int/GNU
For software subject to the GNU General Public License or the GNU Lesser General Public License the
source code can be requested against payment of the copying and shipping costs.
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1. Preliminary note
This document is intended for specialists. These specialists are people who are qualified by their
appropriate training and their experience to see risks and to avoid possible hazards that may be caused
during operation or maintenance of the device. The document contains information about the correct
handling of the device.
Read this document before use to familiarise yourself with operating conditions, installation and operation.
Keep this document during the entire duration of use of the device.
1.1 Symbols used
► Instructions
> Reaction, result
[…] Designation of keys, buttons or indications
→ Cross-reference
Important note
Non-compliance may result in malfunction or interference.
Information
Supplementary note
1.2 Warnings used
NOTICE
Warning of damage to property.
2. Safety instructions
2.1 General
These instructions are an integral part of the device. They contain 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 is not in
accordance with use as prescribed below, wrong installation or incorrect handling can seriously affect the
safety of operators and machinery.
2.2 Target group
These instructions are intended for authorised persons according to the EMC and low-voltage directives.
The device must be installed, connected and put into operation by a qualified electrician.
2.3 Electrical connection
Disconnect the device externally before handling it.
The connection pins may only be supplied with the signals indicated in the technical data and on the
device label and only the approved accessories of ifm may be connected.
2.4 Tampering with the device
In case of malfunctions or uncertainties please contact the manufacturer. Any tampering with the
device can seriously affect the safety of operators and machinery. This is not permitted and leads to the
exclusion of any liability and warranty claims.
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3. Functions and features
The O3D3xx 3D camera is an optical camera which measures the distance between the camera and the
nearest surface point by point using the time-of-flight principle. The camera illuminates the scene with an
infrared light source and calculates the distance by means of the light reflected from the surface.
The camera supplies data which describes the captured scene three-dimensionally. This distance data
can be output via Ethernet and evaluated by the user. Parameter setting of the camera is also done via
Ethernet.
The camera may only be used under the operating conditions specified in the data sheet.
The camera safety is rated for use under the following operating conditions:
• Indoor use
• Altitudes up to 2000 m
• Relative air humidity up to max. 90 %, non condensing
• Degree of soiling 3
4. Items supplied
The following items are supplied:
● O3D3xx 3D camera
● USB memory stick with software and documentation
● Brief instructions, ident no. 80227244
The data sheet and other documentation (software manual, etc.) are available on our website:
www.ifm.com
→ Data sheet search → e.g. O3D303 → Operating instructions
5. Accessories
The following accessories are needed for the operation of the camera:
Article number Description
E11950 Power supply cable for camera
E11898 M12 industrial Ethernet connection cable
The ifm Vision Assistant software is available free of charge on our website:
www.ifm.com
→ Service → Download → Industrial imaging
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6. Installation
The chapter describes what has to be observed before installation and how to install the camera.
②
①
③
④
⑤
①: Camera
②: Angle of aperture
③: Object
④: Field of view
⑤: Distance between camera and object
6.1 Select installation location
Observe the following instructions for the selection of the installation location:
► The object ③ must be completely in the field of view ④.
> The size of the field of view depends on the camera type and is indicated in the data sheet. The size
of the field of view also depends on the distance of the camera to the object ⑤: With increasing
distance the field of view becomes larger.
► Take tolerances into account when positioning the object.
► When determining the distance between camera and object ⑤ take the measuring range of the camera
into account.
> The measuring range is indicated in the data sheet of the camera.
► Select a distance as small as possible between camera and object ⑤.
> If the distance is as small as possible, the object is detected with the maximum resolution.
► Avoid any strong ambient light and sunlight at the installation location.
> An extraneous light level of over 8 klx (with solar spectrum) causes measurement errors. In fact, only
the infrared component between 800 and 900 nm is of concern.
► Avoid installation in heavily polluted environments.
> In heavily polluted environments the camera lense will get dirty despite downwards orientation ①.
► Avoid transparent panes between the camera ① and the object ③.
> Transparent panes reflect part of the light even if a very clean glass pane is used.
If the instructions are not observed, measurement errors may occur.
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6.2 Additional camera installation guidance
The surface temperature of the camera depends on the operating mode, the parameter selection and the
thermal exposure of the camera to the environment.
Make sure that the camera complies with the following requirement:
The surface temperature for easily accessible surfaces may be max. 25 °C higher than the ambient
temperature (to IEC 61010-2-201).
The following diagrams contain typical warning limits as a reference for the installer.
The diagrams are valid for the following operating modes:
● Low [1 exposure]
● Moderate [2 exposures]
● High [3 exposures]
In the event of moderate and high exposures the typical warning limits must be determined via the
sum of the exposure times. The exposure times are indicated in the software ifm Vision Assistant.
Follow one of the instructions if the warning limits are exceeded:
► Reduce the surface temperature (→ 6.2.3).
► Mount the camera in a location or housing that provides protection from the heat source but maintains
air circulation around the camera.
> An increase in the surface temperature of the camera should be prevented.
The parameter "Max. background distance" is set in the ifm Vision Assistant. In the diagrams the
warning limits of the parameter are shown with dashed and continuous lines.
If the camera is in one of the dotted areas, the surface temperature must be reduced, (→ 6.2.3).
If the warning limit is exceeded despite a heat-dissipating installation, it is possible to additionally
mount the contact protection.
If you stay below the typical warning limits in case of normal installation, no measures need to be taken.
6.2.1 Typical warning limits for O3D301 / O3D303
0
5
10
15
0 2 4 6 8 10
x
y
20
25
Parameter "Max. background distance"
Installation on heat-conductive metal parts
with heat conductor (→ 6.2.3)
Warning limit Parameter
< 5 m
< 30 m
> 30 m
Normal installation
Warning limit Parameter
< 5 m
< 30 m
> 30 m
x = exposure time [ms]
y = frame rate [fps]
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6.2.2 Typical warning limits for O3D311 / O3D313
0
5
10
15
0 2 4 6 8 10
x
y
20
25
Parameter "Max. background distance"
Installation on heat-conductive metal parts
with heat conductor (→ 6.2.3)
Warning limit Parameter
< 5 m
< 30 m
> 30 m
Normal installation
Warning limit Parameter
< 5 m
< 30 m
> 30 m
x = exposure time [ms]
y = frame rate [fps]
6.2.3 Reduce surface temperature
With the following measures the surface temperature can be reduced:
► Mount the camera on heat-conductive metal parts.
> A large-surface contact of the camera with metal parts increases heat dissipation (e.g. aluminium).
► Use a heat conductor when mounting the camera on metal parts.
> The heat-conductive effect is increased by means of the heat conductor. The heat conductor is
available as accessories (→ 6.4).
► Reduce obstructions around the camera. Reduce the density of objects mounted near to the camera.
> Obstructions around the camera and a high installation density may have a negative impact on
convection (air movement).
► Mount one or two heat sinks on the camera.
> The heat sinks increase the surface of the camera, reducing the surface temperature. The heat sinks
are available as accessories (→ 6.4).
► Reduce exposure time, frame rate or max. background distance.
> The operating mode used and the parameters can increase the surface temperature.
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6.3 Install camera
Observe the following instructions when installing the camera:
► Mount the camera using 2x M5 screws or mounting set.
> The bore dimensions for the M5 screws are indicated in the data sheet.
> The mounting set is available as accessories (→ 6.4).
► Use strain reliefs for all cables connected to the camera.
Observe the following instructions when installing an O3D301 and O3D311:
► Mount the camera so that the focus adjustment screw can be accessed 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. E11898) may corrode. Use a cable with a high-grade stainless steel nut for permanent use in
wet areas.
6.4 Mounting accessories
Depending on the location and type of installation, you can use the following mounting accessories:
Article number Description
E3D301 Mounting set Smart Camera
E3D302 Cooling Element Smart Camera
E3D303 Heat conductor Smart Camera
E3D304 2x Cooling Element Smart Camera
You can find more information about the accessories at:
www.ifm.com
→ Data sheet search → e.g. O3D303 → Accessories
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7. Electrical connection
Observe the following instructions before electrical installation.
NOTICE
The camera must be connected by a qualified electrician. Observe the electrical data in the data sheet.
Camera of protection class III (PC III)
The electric supply must only be made via PELV circuits.
Electric supply must correspond to UL61010-1, chapter 9.4 - Limited Energy:
The overcurrent protection device must switch off a current of 6.6 A in 120 s. For the correct rating of the
overcurrent protection device take the technical data of the camera and wiring into account.
The separation of external circuits must comply with UL61010-2-201, fig. 102.
For cable lengths > 30 m use an additional protection against surge voltages to IEC 6100-4-5.
Disconnect power before connecting the camera.
7.1 Wiring
① Ethernet
M12 socket, D-coded, 4 poles
1 TD +
2 RD +
3 TD 4 RD S Shield
② Power supply
M12 connector, A-coded, 5 poles
4
2 1
3
5
1 U+
2 trigger input
3 GND
4 switching output 1 - ready
5 switching output 2 - cascading
The behaviour of the switching inputs and outputs can be set with the software ifm Vision Assistant.
The setting PNP or NPN always applies to all switching inputs and outputs.
When installing actuators and sensors make sure that the setting is correct (e.g. photoelectric
sensors for triggering).
The switching outputs can also be operated as pulse outputs which reset their switching signal
after an adjustable time.
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7.1.1 Pin 1 / 3 (24 V / GND)
The permissible voltage range is indicated in the data sheet of the camera.
7.1.2 Pin 2 (trigger input)
The image capture of the camera can be triggered with a switching signal via the trigger input.
The following trigger edges can be used:
● Falling edge triggers image capture
● Rising edge triggers image capture
● Falling and rising edges trigger image capture
Further possibilities to trigger the camera:
● Process interface commands (→ 13.3)
● Continuous image capture with fixed frame rate
The trigger input is internally debounced. Depending on the electrical installation debouncing of the
trigger wire is not necessary.
Internal debouncing prevents several short pulses from triggering. The pulse must be at least 2 ms
long to be recognised as a trigger.
7.1.3 Pin 4 / 5 (ready / cascading)
The electrical data of the switching outputs 1 and 2 (ready / cascading) is indicated in the data sheet.
The switching outputs provide the following camera status set as default:
● Switching output 1: "Ready for trigger"
● Switching output 2: "Image capture finished"
"Switching output switched" means that the respective camera status has occurred.
Depending on the setting the camera status can have one of the following values:
● "Ready for trigger"
The camera signals that a new image can be captured. Only with this camera status trigger operations
are processed. For the continuous image capture the camera status "Ready for trigger" is not output.
● "Image capture finished"
The camera signals that the image capture is finished. The camera status can be used for cascading
cameras.
● "Evaluation finished"
The camera signals that image processing is finished. At that moment the switching outputs are
already updated. The image data is transmitted via Ethernet.
● "Error"
The camera signals an internal error. Detailed information about errors can be requested via Ethernet.
image capture
Trigger input
Time [ms]
1 2 3 4 5 6 7 8 9 10 11
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7.2 Wiring examples
Wiring examples of the camera are given below.
7.2.1 Trigger image capture with proximity sensor
The camera can be triggered externally:
● via Ethernet
● via a proximity sensor connected to the trigger input
The following illustration shows the wiring of the camera with a proximity sensor.
3 1 2 4 5
1 2
34
4
2 1
3
5
DC 24 V
+
-
IN IN
①
② ③
①: Notebook (parameter setting)
②: Proximity sensor
③: Industrial PC (evaluate / trigger)
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7.2.2 Install several cameras next to each other
Cameras installed next to each other can cause measurement errors due to simultaneous exposure.
①: 1st camera
②: 2nd camera
③: Object
The measurement errors can be avoided in two ways:
● Cascade cameras via HW trigger
During cascading a controller triggers the image capture of the 1st camera. After completion of the
image capture the 1st camera automatically triggers the 2nd camera. The 2nd camera signals the end
of the sequence to the controller.
3 1 2 4 5
4
2 1
3
5
DC 24 V
+
-
IN IN
3 1 2 4 5
①
①: Industrial PC
(evaluate /
trigger)
● Use different frequency channels
With the software ifm Vision Assistant each camera can be assigned its own frequency channel. The
different frequency channels reduce the occurrence of measurement errors.
The ifm Vision Assistant software is available free of charge on our website:
www.ifm.com
→ Service → Download → Industrial imaging
①
②
③
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8. Indicators
Via the LED indicators 1 - 4 the camera signals the current operating state.
LED 4
(Ethernet)
LED 1
(Power)
LED 2
(Out 1)
LED 3
(Out 2)
Description
Lights Camera is ready for operation, supply voltage applied
Flashes
at 0.5 Hz
No parameters set or parameter setting was not
loaded into the camera
On
Off
Flashes
2x at 0.5
Hz
Camera is in the parameter setting mode
On
On
Off
Off
Lights Switching output 1 switched
Flashes
at 8 Hz
Switching output 1 shorted
Lights Switching output 2 switched
Flashes
at 8 Hz
Switching output 2 shorted
Lights Ethernet connected
Flashes Ethernet transmitting data
Off Ethernet not connected
Flashes
at 8 Hz
Flashes
at 8 Hz
Camera signals internal error
Flashes
at 2 Hz
Flashes
at 2 Hz
Camera signals correctable error. The error information
can be read via Ethernet
Running light ⇒
Camera booting
Running light ⇐
Camera carrying out firmware update
LED 4 LED 3
LED 1 LED 2
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9. Set-up
After power on the camera is put into operation. After 15 seconds the camera is in the evaluation mode
where saved applications are executed. The indicators signal the current operating state (→ 8).
Up to 32 applications can be saved on the camera. Typically, an application contains the following
parameters:
● Image capture: e.g. triggering of the image capture, exposure time, image processing filter
● Interface: Ethernet, switching outputs
The respective application can be activated with the software ifm Vision Assistant or via process
interface commands.
9.1 Set parameters of the camera
The camera parameters can be set in two ways:
● Software ifm Vision Assistant (→ see software manual)
● XML-RPC command (→ 13.5)
The software ifm Vision Assistant and detailed information about the measuring principle of the
camera are described in the software manual.
The software manual is available on our website:
www.ifm.com
→ Data sheet search → e.g.
O3D303 → Operating instructions
9.2 Detect object
The conditions which lead to a high detection rate of objects are described below.
①: Camera
②: Zone of influence
③: Field of view
④: Object
Optimum detection of an object ④ is given if the following conditions are met:
● Object is positioned in the field of view ③
● Object is the nearest visible object to the camera ①
● Zone of influence ② is clear from objects (obstructions etc.)
● Lens window of the camera is free from soiling.
If the conditions are not met, measurement errors may occur.
③
②
④
②
①
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10. Maintenance, repair and disposal
Observe the following instructions:
► Do not open the housing as the camera does not contain any components which can be maintained by
the user. The camera must only be repaired by the manufacturer.
► Dispose of the camera in accordance with the national environmental regulations.
10.1 Clean
Observe the following instructions before cleaning the camera:
► Use clean and lint-free cloth.
► Use glass cleaner as cleaning agent.
If the instructions are not observed, scratches on the lens window may cause measurement errors.
10.2 Update firmware
With the software ifm Vision Assistant the firmware of the camera can be updated.
Parameters saved in the camera get lost by the firmware update. Create a backup copy of the
parameters before updating the firmware:
► Before updating the firmware export parameters.
► After updating the firmware import parameters.
Firmware updates are available on our website:
www.ifm.com
→ Service → Download → Industrial imaging
10.3 Replace camera
When a camera is replaced the parameters get lost. Before replacing the camera create a backup copy of
the parameters:
► Before replacement export the parameters of the old camera.
► After replacement import the parameters into the new camera.
With the export and import of parameters several cameras can be quickly provided with the same
parameters.
11. Approvals/standards
The CE declaration of conformity is available at:
www.ifm.com
→ Data sheet search → e.g. O3D303 → Approvals
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12. Scale drawings
12.1 O3D303 / O3D313
①: Lens
②: Illumination unit
③: LED 2 colours (yellow/green)
12.2 O3D301 / O3D311
①: Lens
②: Illumination unit
③: LED 2 colours (yellow/green)
④: Focal setter
Original Scale Drawing (MTD)
33
3
5,7
M12x1
4014
95
82,6
73,3
71,6
72
65
32,5
21
33
2
M12x1
Original Scale Drawing (MTD)
33
3
5,7
M12x1
4014
95
82,6
73,3
71,6
49
17,1
28,7
4
M12x1
72
65
32,5
2
21
33
67,1
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