o3m151 uk o3m251 o3m161 o3m261 basic function

Software manual Mobile 3D Smart Sensor

O3M151 O3M251 O3M161 O3M261

Basic Function

7063

80 /

02

12 /

2016

UK

3D Smart Sensor Basic Function

2

Contents1 About these instructions � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �3

1�1 Symbols used � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �31�2 Safety instructions � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �31�3 Other applicable documents� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �3

2 3D Smart Sensor � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �42�1 Functions � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �42�2 Measuring principle � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �52�3 Operating check � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �62�4 Installation position � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �6

3 Basic Function � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �73�1 Functions � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �7

3�1�1 Dimensionality of the ROI� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �73�1�2 Size, number and grouping of the ROI� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �83�1�3 Output� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �83�1�4 Examples � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �83�1�5 Averaging over time � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �9

3�2 Possible applications � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �9

4 Mobile 3D Smart Camera � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �104�1 2D/3D overlay functions � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �10

4�1�1 Icons/Graphics � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �104�1�2 Polygons/Polylines/Ellipses � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �104�1�3 Texts � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �10

4�2 Variant-specific overlays� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 114�3 Use of logical outputs for representation of graphical objects � � � � � � � � � � � � � � � � � � � � � � � � � � � �124�4 Setting up the event-based display � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �124�5 Use of diagnostics within the sensor for representation of graphical objects � � � � � � � � � � � � � � � � �13

5 Commissioning � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �14

6 Application examples � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �156�1 Access monitoring � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �15

6�1�1 Introduction� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �156�1�2 Installation options � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �156�1�3 Parametrisation � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �176�1�4 Data output � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �186�1�5 Operating property/performance � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �18

6�2 Approaching aircraft with supply vehicle� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �196�2�1 Introduction� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �196�2�2 Attachment options� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �196�2�3 Parametrisation � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �206�2�4 Relevant output � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �206�2�5 Operating property/performance � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �20

6�3 Level monitoring in a silo � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �216�3�1 Introduction� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �216�3�2 Installation options � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �216�3�3 Parameterisation � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �216�3�4 Relevant output � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �226�3�5 Operating characteristic / performance � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �22

7 Parameters � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �23

8 Interface � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �248�1 CANopen � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �248�2 SAE J1939 � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �54

This document is the original manual�

Licences and Registered TrademarksMicrosoft®, Windows®, Windows XP®, Windows Vista® and Windows 7® are registered trademarks of the Microsoft Corporation� All trademarks and company names are subject to the copyright of the respective companies�

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1 About these instructionsThese instructions explain the 3D Smart Sensors Basic Function�

For a detailed description of the device, please read the Operating instructions of the sensor and the Software manual of the ifm Vision Assistant� → "1�3 Other applicable documents"

1.1 Symbols used

► Instruction> Reaction, result→ Cross-reference

Important note Failure to observe can result in malfunctions or faults�Information Additional note

1.2 Safety instructionsRead the Operating instructions before putting the device into operation� Make sure that the device is suitable for the applications concerned without restriction�

Disregarding operating instructions or technical information can result in injuries and/or damage�

1.3 Other applicable documents

Document Description

Device manual Operating Instructions of 3D Smart Sensor

Software manual Operation instructions of the operating software ifm Vision Assistant

Quick guide Quick guide on operating the 3D Smart Sensor

The documents can be downloaded at: www�ifm�com


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2 3D Smart Sensor2.1 Functions

The 3D Smart Sensor is an optical system which measures the distance between the sensor and the next surface� An additional illumination unit illuminates the scene and the sensor processes the light reflected by the surface�

The 3D Smart Sensor is optimised and matched to requirements and needs on mobile driven machines� It is intended for use in outdoors and for difficult ambient light situations�

The principle is based on pdm technology for outputting 3D image data� In addition to new options for vehicle automation (AGV, automated guided vehicle), it also provides new assistance functions for automation tasks�

Communication is possible via Ethernet or CAN� System parametrisation and monitoring of the 3D data are carried out via the ifm Vision Assistant. → ifm Vision Assistant Software manual

The pre-processed functional data are output via the CAN bus, with via CANopen or SAE J 1939� → Chapter "8 Interface" on Page 24

The Basic Function with functions such as measurement of minimum, maximum and average distance are available for simple distance tasks�

The Object Detection function provides for automatic object detection of up to 20 objects� This function can, for example, be used as a collision warning�

The 3D Smart Sensor O3M2xx is equipped with an additional 2D camera� The camera image can be transmitted to a suitable video display via an S-Video output�

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2.2 Measuring principleThe device measures according to the light runtime method based on a phase measurement with modulated light�

Based on this principle, the following points must be taken into account during the measurements:

● Clean sensor window

– Cleanliness is a basis for the reliable operation of optical sensors� Dirt or liquids reduce the light transmission and cause light scatter� This effect can affect the resolution and the measuring range of the sensor system�

– Water droplets on the sensor glass can lead to unclear detection of the scene� The objects are recognised to be larger than they are in reality�

► Installation in areas of the system which become heavily soiled must be avoided�

► Keep sensor window clean�

● Illumination/Range

– The measurement of objects is carried out based on the active illumination by the additional illumination unit� The emitted infrared light makes the sensor virtually independent of the ambient lighting conditions� Strong sunlight can result in restrictions in the system range due to increased signal noise�

– The measurement range is dependent on the reflectivity of the object to be detected�

– Due to the optical measuring principle the system performance can be considerably increased by using reflective materials (Factor 3)�

● Clear in immediate vicinity

– Objects in the immediate vicinity (1 m distance) can falsify the measured values of the sensor�

– The wall on which the sensor is mounted should not be within the sensor area�

► Keep clear the illuminated area of the illumination unit in the immediate vicinity (up to 50 cm) of attached parts�

3D SmartSensor

Illuminationunit

3D SmartSensor

Illuminationunit


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2.3 Operating checkWith an optical system, detection faults can occur in case of poor visibility (e�g� under very dense fog, a great deal of dust, very heavy snowfall, etc�)� The 3D Smart Sensor is equipped with sensory fault detection in the system and generates a message when faults occur:

● The "Blockage Detection" function actively detects relevant soiling, condensation on or icing-up of the sensor� (This function is not yet available in SW versions OD 2�2�4 and OD 2�2�5� This function will be offered for activation in a later firmware update�)

● The "Diffuse Scene" function actively detects diffuse faults, such as dense fog or clouds of dust in the sensor area�

For internal diagnosis of the hardware, refer to the Operating Instructions�

● Application-specific solutions can be achieved simply and especially conveniently with a controller (e�g� CRO4OX series) or display (e�g CR108X) based on the functional output� There are special CODESYS libraries for receiving and interpreting the CAN signals of the 3D Smart Sensor� In addition, various application examples on a CODESYS basis are also available� → www.ifm.com → Downloads

2.4 Installation positionThe following aids are available for positioning the 3D Smart Sensor in dependence on the application:

● Calculation tool for calculating the detection range

● ifm Vision Assistant operating software

● Technical data with performance and values of detection range in data sheet

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3 Basic Function

3.1 Functions

Distance monitoring with minimum distance

Positioning aid

Monitoring region

The Basic Function is the standard firmware of the 3D Smart Sensor�

This application permits the use of 3D data via a CAN interface�

A Region of Interest (ROI) is defined for the measurements which the sensor is to monitor; within this region the distance to the nearest object is always output as information to the machine controller�

3.1.1 Dimensionality of the ROIAn ROI can be defined as two-dimensional or three-dimensional:

● A 2D ROI can be set up quickly and easily, but is subject to the effects of perspective:

– Objects that are very close in the ROI are not fully sensed�

– As the range increases the ROI becomes larger�

– The angle of view of the ROI cannot be restricted� Depending on the application very close or very distant objects can distort the result�

● Setting up a 3D ROI is more complex but offers the following advantages:

– The monitoring region can be spatially restricted by inputting dimensional limits into the region�

– The effects of perspective can be eliminated by suitable definition of the 3D ROI�

2D 3D

ROI ROI


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3.1.2 Size, number and grouping of the ROI ● An ROI has 1 to 1024 pixels�

● 64 ROIs can be defined via the CAN interface� The definition process allows the assignment of each ROI to its own ROI group�

● The group assignment can be changed so that several (even isolated) ROIs can be associated in a common ROI group�

● ROIs and ROI groups can be defined so that they overlap (→ "6�3 Level monitoring in a silo")�

3.1.3 OutputThe output is specified by the output value and the reference value�

● Output value: The output value can be defined separately for each ROI group:

– nth minimum value in the ROI group (1st min up to the 5th min)

– nth maximum value in the ROI group (1st max up to the 5th max)

– Average value in the ROI group (Avg)

– Median value in the ROI group (Median)

– Percentile value in the ROI group (Percentile)

● Reference value: For all ROI groups, the reference values can be specified as dependent on each other or independent of each other�

– Dependent: Every spatial coordinate (x, y, z) and the amplitude (A) can be specified as a reference value� For each pixel to which the reference value and output value are applicable (e�g� reference value: x, output value: min), all other data of the pixel (e�g� y, z, A) are output�

– Independent: All spatial coordinates and the amplitude are processed independently of each other� If for instance the minimum value is specified as the output value, the minimum values are output independently of the pixel to which they relate� No other spatial coordinates or amplitudes are output�

3.1.4 Examples

x = 7

y = 12

z = 3

A = 6

6

6

6

6

x

y

z

x = 1

y = 3

z = 5

A = 2

1

1

1

1

x = 4

y = 8

z = 3

A = 3

2

2

2

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x = 6

y = 5

z = 2

A = 1

3

3

3

3

x = 3

y = 12

z = 5

A = 4

5

5

5

5

x = 5

y = 9

z = 1

A = 10

4

4

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Example with 7 pixels in an ROI group, each with the spatial coordinates x, y, z and amplitude A (units freely selectable)�

Output value Reference value Output Description

1st min x (x1, y1, z1, A1) x1 = 1 is the smallest value in the x direction

2nd min x (x5, y5, z5, A5) x5 = 3 is the second smallest value in the x direction

1st max z (x1, y1, z1, A1) and (x5, y5, z5, A5) z1 = z5 = 5 is the largest value in the z direction

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Output value Reference value Output Description

Avg – (x, y, z, A) The average values can only be determined independently for all dimensions

Percentile = 30%

A (x5, y5, z5, A5) 30% of the values (A1, A2 and A3) have an amplitude < 4 = A5

min Independent (x1, y1, z4, A3) Irrespective of the ROI to which the pixels relate, these values are the minimum values across all pixels

3.1.5 Averaging over timeFor averaging over time the average value of the valid pixels is calculated�

● If in the course of time pixels become invalid they are no longer included in the calculation of the average value�

● If in the course of time other pixels become valid they are included from that point in time in the calculation of the average value�

The use of averaging over time reduces noise� This does not affect the status of pixels (valid/invalid)�

The pixel status can be improved with intelligent averaging� Intelligent averaging should be used unless there is a compelling reason to the contrary (→ Operating Instructions).

3.2 Possible applicationsThe basic function of distance measurement can be used in many applications:

● Fill level measurement in large silos or tanks

● Height determination of, for example, plant height

● Area monitoring for change

● Access monitoring (e�g� open spaces and doors, position determination, lorry positioning on a loading ramp)

● Distance check, approach (automatically guided or assisted) of supply vehicles for aircraft, loading and refuelling, e�g� in harbours and at airports�

● Driverless transport vehicles

When an ifm controller or ifm display is used, the CODESYS module supplied can be used for reception and interpretation of the CAN signals�

Program examples in CODESYS can be downloaded at: www�ifm�com → Downloads


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4 Mobile 3D Smart CameraIn addition to their 3D sensor functionality, variants O3M251 and O3M261 contain a 2D camera with analogue PAL video output and integral graphics processor� This permits an integrated overlay functionality of the 3D results directly in the 2D image, and in addition permits the display of (warning) instructions or customer-specific texts based on events sensed by the 3D sensor�

The ifm Vision Assistant is available for setting up the overlay� The ifm Vision Assistant Software manual describes the set-up steps in detail (→ ifm Vision Assistant Software manual).

4.1 2D/3D overlay functionsThe mobile 3D Smart Camera offers various functions for generation of an overlay� The ifm Vision Assistant operating software offers a convenient means of setting up of these overlays�

The following general functions are available in all the software variants of the mobile 3D Smart Camera:

4.1.1 Icons/GraphicsIcons/graphics can be displayed at a pre-determined position in the 2D image either continuously (e�g� company logos) or in response to an event triggered by the sensor� In response to an event means that the sensor displays an icon such as a warning symbol depending on a specific distance from an obstruction�

The icons or graphics must have been saved at the sensor at a prior time� This can be done using the ifm Vision Assistant operating software� The formats supported are �PNG (recommended), �JPG, �GIF and �ICO�

In addition the display and hiding of icons can be activated via the CAN bus� This is done by a controller (such as the machine controller) sending a CAN message directly to the sensor� The positions of the graphics for this are freely selectable and can be changed at any time, more or less in real time�

4.1.2 Polygons/Polylines/EllipsesSimple graphical elements can be defined in various colours, line widths and transparencies� These elements can also be displayed by the sensor at a predetermined position in the 2D display, continuously or in response to events� Alternatively these elements can also the created and positioned via the CAN bus�

4.1.3 TextsTexts can be defined as required in various colours, transparencies, sizes and with a coloured background� These can be displayed by the sensor at a predetermined position or on a dynamic 3D visualisation in the 2D image, either continuously or in response to events�

Wild cards can be included in the texts and replaced with the actual measured results when in productive operation� This may for instance be a distance value or a position value�

Texts can in addition be sent via CAN messages to the sensor for display in real time� If necessary wild cards can also be used here for the actual measurement results�

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Example of the use of a company logo, fixed displayed texts and simple graphics elements

4.2 Variant-specific overlaysIn addition to the general functions, variant-specific overlays can be set up� In the Basic Function variant this is the display of the defined ROI� For all ROI groups, the live-results (x, y, z, amplitude) can be used as wild cards in the text fields�

3D ROIs can be displayed as a frame box in the overlay� The actual measured x-value (distance) can be displayed as a transparent “wall” which moves with the distance value� The distance value is displayed live on this moving “wall”�

Display of four 3D ROIs in the 2D/3D overlay with live distance values


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4.3 Use of logical outputs for representation of graphical objectsDefined logical outputs of the 3D function can be used to draw graphical objects or colour them� In the following example the ROI overlays are coloured red because in this example the object is within the parameterised minimum distance of 2 m for switching the logical function� In addition the warning symbol and the warning text are displayed�

Use of the logical output for dynamic changes to the colour, a symbol and a text

4.4 Setting up the event-based displayEvent-based display can easily be set up using the ifm Vision Assistant� The following figure provides an example� The exact parameterisation steps are described in the ifm Vision Assistant Software manual�

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4.5 Use of diagnostics within the sensor for representation of graphical objectsTexts or icons can be displayed on the basis of diagnostics within the sensor� This may for instance be appropriate if the view of the sensor is obstructed or the sensor has diagnosed an internal fault� The following figures show examples for visualisation�


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5 CommissioningThe 3D Smart Sensor can be operated with various functions� For information on updating the firmware → ifm Vision Assistant Software manual

► Make sure that the correct firmware is loaded on the sensor�

► Carry out commissioning with ifm Vision Assistant operating software�

For additional instructions on the sensor update with the ifm Vision Assistant → ifm Vision Assistant Software manual

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6 Application examples6.1 Access monitoring

6.1.1 IntroductionThe Basic Function permits the monitoring of an area in front of a door/entry, and permits control or signalling of the opening of that door by the controller on the basis of CAN sensor signals�

Similar applications, such as the monitoring of the access to machines that can be stepped on, can be solved analogously�

6.1.2 Installation options

If multiple 3D Smart Sensors are used with overlapping fields of view, these can interfere with each other in those areas� This is particularly evident at greater variations of distance� Countermeasures are described in the Operating Instructions�

Install 3D Smart Sensors so that the wall on which they are mounted does not come within the field of view�

For an access control application the sensor is installed in a static position� Depending on the area to be monitored, two different installation positions are possible:

● Installation from above (A): The sensor is looking downwards�

– The sensor is installed above the door and looks down on the area it is monitoring�

– The sensor should be installed as high as possible so that the field of view will be a wide as possible (→ data sheet).

● Frontal installation (B): The sensor is looking straight ahead (not directly at the ground)�

– Alongside the door

– Opposite the door


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A

B

z

x

Attachment position of sensor for access monitoring, side view

A: Attachment from aboveB: Frontal attachment

The sensor with illumination unit can be rotated (to the horizontal) in order to match the field of view to the area to be monitored�

DC

y

x

24° 70°

Attachment direction of sensor, view from above

C: Vertical attachmentD: Horizontal attachment

For attachment planning → Chapter "2�4 Installation position" on Page 6

Enter mounting position values in the ifm Vision Assistant operating software�

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6.1.3 Parametrisation

For detailed documentation of the settings and parametrisation of the device → ifm Vision Assistant Software manual

Frame rate ► Set the frame rate to 50 Hz�

> When using the recommended 50 Hz mode and a rotated attachment, the system temperature range is limited to -40 °C/+70 °C� The system has an integrated temperature monitoring function and switches into a pure communication mode in case of an overtemperature�

ROI (Region of Interest) ► Measure the region to be monitored within an ROI group, consisting of one or more ROI(s)�

> More than one ROI is used for large regions�

max max

ROI ROI

Passage monitoring from above with an ROI

Passage monitoring with and without an ROI (ifm Vision Assistant)A: Monitoring region without an ROIB: Monitoring region with multiple ROIs

For installation from above: ► Set the output (output mode) to “z”, and output value (output value type) to “maximum”�

> Objects which enter into the ROI generate respective values (heights above the ROI floor), to which the ROI can respond based on the threshold value�


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Averaging over time ► Depending on the response time of the system, choose the type of averaging over time:

– short averaging (≤3 frames) generates more noise, slack adherence to the threshold value, quick responses and a higher sensitivity;

– long averaging (≥3 frames) generates less noise, close adherence to the threshold value, slow responses and fewer false detections�

Excessive load on the CAN bus can lead to a reduction in the setting of the CAN output cycle Modulo (→ Operating Instructions).

6.1.4 Data outputThe CAN messages with the result value (e�g� Max z or Min/Max x) can be received on the controller used and compared with a stored threshold value (setpoint + (for max� setting) or - (for min� setting) tolerance)� A reaction (e�g� door control or warning signal) can result based on this�

See Output → Chapter "8 Interface" on Page 24�

6.1.5 Operating property/performance ● The detection performance is dependent on the distance, size and reflectivity of an object�

● For installation from above: The minimum detectable object height depends on the system parameterisation� Under the worst conditions this is 50 cm� The typical detectable object height is approx� 10 cm�

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6.2 Approaching aircraft with supply vehicle

6.2.1 IntroductionThe Basic Function enables distance monitoring when a supply vehicle is approaching an aircraft�

The operator can move the vehicle very close to the aircraft without visual contact� The same applies to transportable stairways at airports etc�

6.2.2 Attachment options ► Attach 3D Smart Sensor horizontally with a small pitch angle so that it faces the aircraft vertically�

► Position the 3D Smart Sensor as far back as possible on the vehicle to view the relevant area�

Avoid angled attachment to prevent poor vision and reflection�

► Mounting position values in the ifm Vision Assistant operating software�


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6.2.3 ParametrisationFrame rate

► Set the frame rate to 50 Hz�

> When using the recommended 50 Hz mode and a rotated attachment, the system temperature range is limited to -40 °C/+70 °C� The system has an integrated temperature monitoring function and switches into a pure communication mode in case of an overtemperature�

ROI (Region of Interest) ► With larger areas, more than one ROI is used�

Time averaging ► Depending on the response time of the system, choose the type of averaging over time:

– short averaging (≤3 frames) generates more noise, slack adherence to the threshold value, quick responses and a higher sensitivity;


► Because of the slow speed of approach to the aircraft (<10 km/h) a long period of 5 frames should be set�


Excessive load on the CAN bus can lead to a reduction in the setting of the CAN output cycle modulo (→ Operating Instructions).

6.2.4 Relevant outputThe CAN messages with the resulting value min� x can be received on the controller used and compared with one or more stored threshold values (setpoint+tolerance)� As a result, the driver can be informed optically or acoustically about the approach�

See Output → Chapter "8 Interface" on Page 24

6.2.5 Operating property/performance ● The detection performance is dependent on the distance, size and reflectivity of an object�

● Limits for the monitoring area (Min� range/monitoring area): at least 0�5 m

● Measuring accuracy: typically 5 to 10 cm in immediate vicinity (<5 m)

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6.3 Level monitoring in a silo

6.3.1 IntroductionThe Basic Function permits the monitoring of the level of cohesive or adhesive material in a silo�

6.3.2 Installation optionsFor a level control application the sensor is installed in a static position�

► Install the 3D Smart Sensor on the cover of the silo so that it faces towards the floor of the silo�

► Enter the installation position values in the ifm Vision Assistant operating software�

6.3.3 ParameterisationFrame rate

► Set the frame rate to 50 Hz�

> When the recommended 50 Hz mode and a rotated installation is used, the temperature range of the system is restricted to -40 °C / +70 °C� The system has an integrated temperature monitoring capability, and in the event of an ambient temperature higher than the operating range it switches into pure communications mode�

ROI (Region of Interest) ► Since the fill level changes differently depending on the flow properties of the material from the centre to the outside, several ROIs are set up; these monitor separately the region along the silo axis�

► One ROI is used along the silo axis�

► The ROIs in the outer regions are assigned to a single ROI group�

ROI1 ROI1

ROI Group 2

min

ROI2

ROI5

ROI6

ROI7

ROI8

ROI9

ROI4

ROI3

ROI8 ROI4

ROI

Group 2

ROI

Group 2

ROI

Group 1

Fill level monitoring with a central ROI1 (ROI group 1) and a ROI group 2 consisting of ROI2 to ROI9 arranged in a circle


22

Averaging over time ► Depending on the response time of the system, choose the type of averaging over time:

– short averaging (≤3 frames) generates more noise, slack adherence to the threshold value, quick responses and more false detections;



Excessive load on the CAN bus can lead to a reduction in the setting of the CAN output cycle Modulo (→ Operating Instructions).

6.3.4 Relevant outputThe CAN messages with the value of the results (e�g� min z) are received by the active controller which compares them with the saved threshold value (target value + (at minimum setting) or - (at maximum setting) tolerance)� Based on this a reaction (such as performing an automatic refill or outputting a warning signal) can be initiated (→ "8 Interface")�

6.3.5 Operating characteristic / performance ● The detection performance depends on the distance, size and reflectivity of an object�

● Boundaries of the monitoring region (min� range/monitoring region): min� 0�5 m�

● Measurement accuracy: typically 5 to 10 cm in the immediate vicinity (<5 m)�

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7 ParametersThe parameters can be changed and adjusted in function of the use of the 3D Smart Sensor�

Details on the setting and parameterisation of the unit can be found in the ifm Vision Assistant Software manual�


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8 InterfaceThe output of the preprocessed function data occurs via CAN-Bus, either with the protocol CANopen or the protocol SAE J 1939�

The description of the CANopen and J1939 signals relevant to your firmware version can be found in the respective files:

● *�eds for CANopen

● *�dbc for J1939

These files can be downloaded as a package together with the firmware from the ifm homepage� The following tables should be taken as examples only� They describe the firmware version DI2�2�6�

8.1 CANopen

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1000 DeviceType 0x7 ro 0

Fixed to "0" (Zero) until there is an adequate CANopen profile available

1001 Error Register 0x7 ro

1003 Predefined Error Field 0x8

Index 0: Number of Errors is defined according to the size of the error memory in the diagnosis�

1003 0 Number of Errors 0x7 rw 0 1 4

1003 1 Standard Error Field 0x7 ro 0 1 4

1003 2 Standard Error Field_2 0x7 ro 0 1 4








1003 A Standard Error Field_a 0x7 ro 0 1 4

1003 B Standard Error Field_b 0x7 ro 0 1 4

1003 C Standard Error Field_c 0x7 ro 0 1 4

1003 D Standard Error Field_d 0x7 ro 0 1 4

1003 E Standard Error Field_e 0x7 ro 0 1 4

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1003 F Standard Error Field_f 0x7 ro 0 1 4

Index 0: Number of Errors is defined according to the size of the error memory in the diagnosis�





1005 COB ID SYNC 0x7 rw 0x00000080 0x00000080 –

1006 Communication Cycle Period 0x7 rw 0x00000000 –

1008 Manufacturer Device Name 0x7 const O3D150

(No Index) should be filled at runtime with the article number of the camera�Device is Sensor: O3M150Device is Smart-Sensor: O3M151 (Distance Image with Basic Function output)

1009Manufacturer Hardware Version

0x7 const

(No Index) should be filled at runtime with the HW Version of the camera

100AManufacturer Software Version

0x7 const

(No Index) should be filled at runtime with the Software version number and variant of the camera <Major> <Minor> <Patchlevel> <Variant>

1010Store Parameter Field

0x8Index 01: Save all Parameters� This is the list of parameters to be stored to Flash memory:- TBD

1010 0 Number of entries 0x7 ro 1 1 4

1010 1 Save all Parameters 0x7 rw 1 1 4

1011 Restore Default Parameters 0x8

–1011 0 Number of entries 0x7 ro 1 1 4

1011 1 Restore all Default Parameters 0x7 rw 1 1 4

1014 COB ID EMCY 0x7 ro$NODEID+0x80

0x00000080 0x00000100 –

1016 Consumer Heartbeat Time 0x8

–1016 0 Number of entries 0x7 ro 1 1 4

1016 1 Consumer Heartbeat Time 0x7 rw 0 1 4


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1017 Producer Heartbeat Time 0x7 rw 0 –

1018 Identity Object 0x9 Index 01: Vendor ID is 0x0069666D, this is the fixed ID for ifm electronicIndex 02: Product Code :O3M150: 0x0020 0010O3M151: 0x0020 0011Index 03: Revision Number: should be filled at runtime with 0x00 <Major number> <Minor number> <Patch Level> of the SW Version�Index 04: Serial number: should be filled at runtime with the serial number of the camera

1018 0 Number of entries 0x7 ro 4 1 4

1018 1 Vendor Id 0x7 ro 0x0069666D 1 4

1018 2 Product Code 0x7 ro 0 1 4

1018 3 Revision number 0x7 ro 0 1 4

1018 4 Serial number 0x7 ro 0 1 4

1800

Transmit PDO Communication Parameter x_output 0

0x9

Index 02 Transmission Type: 254 (manufacturer defined): The mobile camera is typically running with internally defined time/frequency�Thus it will send out the data (TPDOs) as available, typically with cycle time of 20ms, 30ms, 40ms or multiple time: two or three times the cycle time�Predefinition of the TPDOs is in such a way, that all available data for the Distance Image variant will be sent out from the start�

1800 0 Number of entries 0x7 ro 3 0x03 0x03

1800 1 COB ID 0x7 rw $NODEID +0x40000180 0x00000080 0xFFFFFFFF

1800 2 Transmission Type 0x7 rw 254 0x00000080 0xFFFFFFFF

1800 3 Inhibit Time 0x7 rw 0x0000 0x00000080 0xFFFFFFFF

1801

Transmit PDO Communication Parameter y_output 0

0x9





1802

Transmit PDO Communication Parameter z_output 0

0x9

–1802 0 Number of entries 0x7 ro 3 0x03 0x03




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1803

Transmit PDO Communication Parameter ampl_output 0

0x9–



–1803 2 Transmission Type 0x7 rw 254 0x00000080 0xFFFFFFFF


1804


0x9


1804 1 COB ID 0x7 rw $NODEID +0xC0000000 0x00000080 0xFFFFFFFF



1805


0x9





1806


0x9





1807


0x9






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1808


0x9





1809


0x9–



–1809 2 Transmission Type 0x7 rw 254 0x00000080 0xFFFFFFFF


180A


0x9

–180A 0 Number of entries 0x7 ro 3 0x03 0x03

180A 1 COB ID 0x7 rw $NODEID +0xC0000000 0x00000080 0xFFFFFFFF

180A 2 Transmission Type 0x7 rw 254 0x00000080 0xFFFFFFFF

180A 3 Inhibit Time 0x7 rw 0x0000 0x00000080 0xFFFFFFFF

180B


0x9

–180B 0 Number of entries 0x7 ro 3 0x03 0x03

180B 1 COB ID 0x7 rw $NODEID +0xC0000000 0x00000080 0xFFFFFFFF

180B 2 Transmission Type 0x7 rw 254 0x00000080 0xFFFFFFFF

180B 3 Inhibit Time 0x7 rw 0x0000 0x00000080 0xFFFFFFFF

180C


0x9

–180C 0 Number of entries 0x7 ro 3 0x03 0x03

180C 1 COB ID 0x7 rw $NODEID +0xC0000000 0x00000080 0xFFFFFFFF

180C 2 Transmission Type 0x7 rw 254 0x00000080 0xFFFFFFFF

180C 3 Inhibit Time 0x7 rw 0x0000 0x00000080 0xFFFFFFFF

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180D


0x9

–180D 0 Number of entries 0x7 ro 3 0x03 0x03

180D 1 COB ID 0x7 rw $NODEID +0xC0000000 0x00000080 0xFFFFFFFF

180D 2 Transmission Type 0x7 rw 254 0x00000080 0xFFFFFFFF

180D 3 Inhibit Time 0x7 rw 0x0000 0x00000080 0xFFFFFFFF

180E


0x9

–180E 0 Number of entries 0x7 ro 3 0x03 0x03

180E 1 COB ID 0x7 rw $NODEID +0xC0000000 0x00000080 0xFFFFFFFF

180E 2 Transmission Type 0x7 rw 254 0x00000080 0xFFFFFFFF

180E 3 Inhibit Time 0x7 rw 0x0000 0x00000080 0xFFFFFFFF

180F


0x9–

180F 0 Number of entries 0x7 ro 3 0x03 0x03

180F 1 COB ID 0x7 rw $NODEID +0xC0000000 0x00000080 0xFFFFFFFF

–180F 2 Transmission Type 0x7 rw 254 0x00000080 0xFFFFFFFF

180F 3 Inhibit Time 0x7 rw 0x0000 0x00000080 0xFFFFFFFF

1810


0x9





1811


0x9


1811 1 COB ID 0x7 rw$NODEID+0xC0000000

0x00000080 0xFFFFFFFF




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1812


0x9






1813


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1814


0x9






1815


0x9 –


–1815 1 COB ID 0x7 rw

$NODEID+0xC0000000




1816


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1817


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181A 1 COB ID 0x7 rw$NODEID+0xC0000000




181B


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181B 1 COB ID 0x7 rw$NODEID+0xC0000000





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181C


0x9


181C 1 COB ID 0x7 rw$NODEID+0xC0000000




181D


0x9


181D 1 COB ID 0x7 rw$NODEID+0xC0000000




181E


0x9


181E 1 COB ID 0x7 rw$NODEID+0xC0000000




181F


0x9

–181F 0 Number of entries 0x7 ro 3 0x03 0x03

181F 1 COB ID 0x7 rw$NODEID+0xC0000000


181F 2 Transmission Type 0x7 rw 254 0x00000080 0xFFFFFFFF


1820


0x9





1820 3 Inhibit Time 0x7 rw 0x0000 0x00000080 0xFFFFFFFF –

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–1826 3 Inhibit Time 0x7 rw 0x0000 0x00000080 0xFFFFFFFF

1827


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0x9






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182A


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e

Low

Lim

it

Hig

h Li

mit

Com

men

t

182B


0x9






182C


0x9–

182C 0 Number of entries 0x7 ro 3 0x03 0x03



–182C 2 Transmission

Type 0x7 rw 254 0x00000080 0xFFFFFFFF


182D


0x9


182D 1 COB ID 0x7 rw $NODEID +0xC0000000 0x00000080 0xFFFFFFFF



182E


0x9


182E 1 COB ID 0x7 rw$NODEID+0xC0000000




182F


0x9


182F 1 COB ID 0x7 rw$NODEID+0xC0000000





36

Example

only

Obj

ect N

o.

Obj

ect N

ame

Sub

Inde

x N

o.

Para

met

er

Nam

e

Obj

ect T

ype

Acc

ess

Type

Def

ault

Valu

e

Low

Lim

it

Hig

h Li

mit

Com

men

t

1830


0x9






1831


0x9






1832


0x9 –


–1832 1 COB ID 0x7 rw

$NODEID+0xC0000000




1833


0x9






1834


0x9






37


UK

Example

only

Obj

ect N

o.

Obj

ect N

ame

Sub

Inde

x N

o.

Para

met

er

Nam

e

Obj

ect T

ype

Acc

ess

Type

Def

ault

Valu

e

Low

Lim

it

Hig

h Li

mit

Com

men

t

1835


0x9






1836


0x9






1837


0x9






1838


0x9–




–1838 2 Transmission

Type 0x7 rw 254 0x00000080 0xFFFFFFFF


1839


0x9







38

Example

only

Obj

ect N

o.

Obj

ect N

ame

Sub

Inde

x N

o.

Para

met

er

Nam

e

Obj

ect T

ype

Acc

ess

Type

Def

ault

Valu

e

Low

Lim

it

Hig

h Li

mit

Com

men

t

183A


0x9






183B


0x9






183C


0x9






183D


0x9


183D 1 COB ID 0x7 rw$NODEID+0xC0000000




183E


0x9 –

183E 0 Number of entries 0x7 ro 3 0x03 0x03

–183E 1 COB ID 0x7 rw

$NODEID+0xC0000000




39


UK

Example

only

Obj

ect N

o.

Obj

ect N

ame

Sub

Inde

x N

o.

Para

met

er

Nam

e

Obj

ect T

ype

Acc

ess

Type

Def

ault

Valu

e

Low

Lim

it

Hig

h Li

mit

Com

men

t

183F


0x9


183F 1 COB ID 0x7 rw $NODEID +0xC0000000 0x00000080 0xFFFFFFFF



1840

Transmit PDO Communication Parameter - Global_Information

0x9





1841

Transmit PDO Communication Parameter - SyncMsg

0x9


1841 1 COB ID 0x7 rw 0x80000000 0x00000080 0xFFFFFFFF

1841 2 Transmission Type 0x7 rw 0x80000000 0x00000080 0xFFFFFFFF


1842

Transmit PDO Communication Parameter - BF Global Parameters

0x9





1843

Transmit PDO Communication Parameter - ROI Definition

0x9





1A00

Transmit PDO Mapping Parameter x_output 0

0x9 –


40

Example

only

Obj

ect N

o.

Obj

ect N

ame

Sub

Inde

x N

o.

Para

met

er

Nam

e

Obj

ect T

ype

Acc

ess

Type

Def

ault

Valu

e

Low

Lim

it

Hig

h Li

mit

Com

men

t

1A00 0 Number of entries 0x7 rw 1 0 1–

1A00 1 PDO Mapping Entry 0x7 rw 0x21000140 0 1

1A01

Transmit PDO Mapping Parameter y_output 0

0x9

–1A01 0 Number of entries 0x7 rw 1 0 1


1A02

Transmit PDO Mapping Parameter z_output 0

0x9



1A03

Transmit PDO Mapping Parameter ampl_output 0

0x9



1A04


0x9



1A05


0x9



1A06


0x9



1A07


0x9



41


UK

Example

only

Obj

ect N

o.

Obj

ect N

ame

Sub

Inde

x N

o.

Para

met

er

Nam

e

Obj

ect T

ype

Acc

ess

Type

Def

ault

Valu

e

Low

Lim

it

Hig

h Li

mit

Com

men

t

1A08


0x9



1A09


0x9 –



1A0A


0x9

–1A0A 0 Number of entries 0x7 rw 1 0 1

1A0A 1 PDO Mapping Entry 0x7 rw 0x210A0140 0 1

1A0B


0x9

–1A0B 0 Number of entries 0x7 rw 1 0 1

1A0B 1 PDO Mapping Entry 0x7 rw 0x210B0140 0 1

1A0C


0x9

–1A0C 0 Number of entries 0x7 rw 1 0 1

1A0C 1 PDO Mapping Entry 0x7 rw 0x210C0140 0 1

1A0D


0x9

–1A0D 0 Number of entries 0x7 rw 1 0 1

1A0D 1 PDO Mapping Entry 0x7 rw 0x210D0140 0 1

1A0E


0x9

–1A0E 0 Number of entries 0x7 rw 1 0 1

1A0E 1 PDO Mapping Entry 0x7 rw 0x210E0140 0 1

1A0F


0x9

–1A0F 0 Number of entries 0x7 rw 1 0 1

1A0F 1 PDO Mapping Entry 0x7 rw 0x210F0140 0 1


42

Example

only

Obj

ect N

o.

Obj

ect N

ame

Sub

Inde

x N

o.

Para

met

er

Nam

e

Obj

ect T

ype

Acc

ess

Type

Def

ault

Valu

e

Low

Lim

it

Hig

h Li

mit

Com

men

t

1A10


0x9



1A11


0x9



1A12


0x9 –



1A13


0x9



1A14


0x9



1A15


0x9



1A16


0x9



1A17


0x9



43


UK

Example

only

Obj

ect N

o.

Obj

ect N

ame

Sub

Inde

x N

o.

Para

met

er

Nam

e

Obj

ect T

ype

Acc

ess

Type

Def

ault

Valu

e

Low

Lim

it

Hig

h Li

mit

Com

men

t

1A18


0x9



1A19


0x9



1A1A


0x9



1A1B


0x9



1A1C


0x9



1A1D


0x9



1A1E


0x9



1A1F


0x9




44

Example

only

Obj

ect N

o.

Obj

ect N

ame

Sub

Inde

x N

o.

Para

met

er

Nam

e

Obj

ect T

ype

Acc

ess

Type

Def

ault

Valu

e

Low

Lim

it

Hig

h Li

mit

Com

men

t

1A20


0x9



1A21


0x9



1A22


0x9



1A23


0x9–

1A23 0 Number of entries 0x7 rw 1 0 1

1A23 1 PDO Mapping Entry 0x7 rw 0x21230140 0 1 –

1A24


0x9



1A25


0x9



1A26


0x9



1A27


0x9



45


UK

Example

only

Obj

ect N

o.

Obj

ect N

ame

Sub

Inde

x N

o.

Para

met

er

Nam

e

Obj

ect T

ype

Acc

ess

Type

Def

ault

Valu

e

Low

Lim

it

Hig

h Li

mit

Com

men

t

1A28


0x9



1A29


0x9



1A2A


0x9



1A2B


0x9



1A2C


0x9



1A2D


0x9



1A2E


0x9



1A2F


0x9




46

Example

only

Obj

ect N

o.

Obj

ect N

ame

Sub

Inde

x N

o.

Para

met

er

Nam

e

Obj

ect T

ype

Acc

ess

Type

Def

ault

Valu

e

Low

Lim

it

Hig

h Li

mit

Com

men

t

1A30


0x9



1A31


0x9



1A32


0x9



1A33


0x9



1A34


0x9



1A35


0x9



1A36


0x9



1A37


0x9



47


UK

Example

only

Obj

ect N

o.

Obj

ect N

ame

Sub

Inde

x N

o.

Para

met

er

Nam

e

Obj

ect T

ype

Acc

ess

Type

Def

ault

Valu

e

Low

Lim

it

Hig

h Li

mit

Com

men

t

1A38


0x9



1A39


0x9



1A3A


0x9



1A3B


0x9



1A3C


0x9



1A3D


0x9



1A3E


0x9



1A3F


0x9




48

Example

only

Obj

ect N

o.

Obj

ect N

ame

Sub

Inde

x N

o.

Para

met

er

Nam

e

Obj

ect T

ype

Acc

ess

Type

Def

ault

Valu

e

Low

Lim

it

Hig

h Li

mit

Com

men

t

1A40

Transmit PDO Mapping Parameter - Global_Information

0x9

–


1A40 1PDO Mapping Entry - GLOB_master_time

0x7 rw 0x22010120 0 8

1A40 2PDO Mapping Entry - GLOB_Sensor_Available

0x7 rw 0x22010208 0 8

1A40 3PDO Mapping Entry - SwCtrl_OpMode

0x7 rw 0x22010308 0 8

1A40 4PDO Mapping Entry - Global_Information_cnt

0x7 rw 0x22010408 0 8

1A41

Transmit PDO Mapping Parameter - SyncMsg

0x9


1A41 1

PDO Mapping Entry - KP_MasterTime_LastTxTimeStamp

0x7 rw 0x22010308 0 8

1A42

Transmit PDO Mapping Parameter - BF Global Parameters

0x9–


1A42 1PDO Mapping Entry - Number of groups

0x7 rw 0x22020108 0 8

–

1A42 2PDO Mapping Entry - Number of ROIs

0x7 rw 0x22020208 0 8

1A42 3PDO Mapping Entry - OutputMode

0x7 rw 0x22020308 0 8

1A42 4

PDO Mapping Entry - BF_Global_Parameters_cnt

0x7 rw 0x22020408 0 8

49


UK

Example

only

Obj

ect N

o.

Obj

ect N

ame

Sub

Inde

x N

o.

Para

met

er

Nam

e

Obj

ect T

ype

Acc

ess

Type

Def

ault

Valu

e

Low

Lim

it

Hig

h Li

mit

Com

men

t

1A43

Transmit PDO Mapping Parameter - ROI Definition

0x9

–


1A43 1 PDO Mapping Entry - ROI_cnt 0x7 rw 0x22030108 0 8

1A43 2 PDO Mapping Entry - ROI_group 0x7 rw 0x22030208 0 8

1A43 3PDO Mapping Entry - ROI_lower_right_x

0x7 rw 0x22030308 0 8

1A43 4PDO Mapping Entry - ROI_lower_right_y

0x7 rw 0x22030408 0 8

1A43 5PDO Mapping Entry - ROI_number

0x7 rw 0x22030508 0 8

1A43 6PDO Mapping Entry - ROI_value_type

0x7 rw 0x22030608 0 8

1A43 7PDO Mapping Entry - ROI_upper_left_x

0x7 rw 0x22030708 0 8

1A43 8PDO Mapping Entry - ROI_upper_left_y

0x7 rw 0x22030808 0 8

2100 x_output 0 0x9

–2100 0 NrOfObjects 0x7 ro 1 0 8

2100 1 x_output 0 0x7 ro 1 0 8

2101 y_output 0 0x9


2101 1 y_output 0 0x7 ro 1 0 8

2102 z_output 0 0x9


2102 1 z_output 0 0x7 ro 1 0 8

2103 ampl_output 0 0x9


2103 1 ampl_output 0 0x7 ro 1 0 8

2104 x_output 1 0x9–

2104 0 NrOfObjects 0x7 ro 1 0 8

2104 1 x_output 1 0x7 ro 1 0 8 –

2105 y_output 1 0x9


2105 1 y_output 1 0x7 ro 1 0 8

2106 z_output 1 0x9


2106 1 z_output 1 0x7 ro 1 0 8



2107 1 ampl_output 1 0x7 ro 1 0 8


50

Example

only

Obj

ect N

o.

Obj

ect N

ame

Sub

Inde

x N

o.

Para

met

er

Nam

e

Obj

ect T

ype

Acc

ess

Type

Def

ault

Valu

e

Low

Lim

it

Hig

h Li

mit

Com

men

t

2108 x_output 2 0x9


2108 1 x_output 2 0x7 ro 1 0 8

2109 y_output 2 0x9


2109 1 y_output 2 0x7 ro 1 0 8

210A z_output 2 0x9

–210A 0 NrOfObjects 0x7 ro 1 0 8

210A 1 z_output 2 0x7 ro 1 0 8

210B ampl_output 2 0x9

–210B 0 NrOfObjects 0x7 ro 1 0 8

210B 1 ampl_output 2 0x7 ro 1 0 8

210C x_output 3 0x9

–210C 0 NrOfObjects 0x7 ro 1 0 8

210C 1 x_output 3 0x7 ro 1 0 8

210D y_output 3 0x9

–210D 0 NrOfObjects 0x7 ro 1 0 8

210D 1 y_output 3 0x7 ro 1 0 8

210E z_output 3 0x9

–210E 0 NrOfObjects 0x7 ro 1 0 8

210E 1 z_output 3 0x7 ro 1 0 8

210F ampl_output 3 0x9

–210F 0 NrOfObjects 0x7 ro 1 0 8

210F 1 ampl_output 3 0x7 ro 1 0 8

2110 x_output 4 0x9


2110 1 x_output 4 0x7 ro 1 0 8

2111 y_output 4 0x9


2111 1 y_output 4 0x7 ro 1 0 8

2112 z_output 4 0x9


2112 1 z_output 4 0x7 ro 1 0 8

2113 ampl_output 4 0x9–


2113 1 ampl_output 4 0x7 ro 1 0 8 –

2114 x_output 5 0x9


2114 1 x_output 5 0x7 ro 1 0 8

2115 y_output 5 0x9


2115 1 y_output 5 0x7 ro 1 0 8

2116 z_output 5 0x9


2116 1 z_output 5 0x7 ro 1 0 8

51


UK

Example

only

Obj

ect N

o.

Obj

ect N

ame

Sub

Inde

x N

o.

Para

met

er

Nam

e

Obj

ect T

ype

Acc

ess

Type

Def

ault

Valu

e

Low

Lim

it

Hig

h Li

mit

Com

men

t



2117 1 ampl_output 5 0x7 ro 1 0 8

2118 x_output 6 0x9


2118 1 x_output 6 0x7 ro 1 0 8

2119 y_output 6 0x9


2119 1 y_output 6 0x7 ro 1 0 8

211A z_output 6 0x9


211A 1 z_output 6 0x7 ro 1 0 8




211C x_output 7 0x9


211C 1 x_output 7 0x7 ro 1 0 8

211D y_output 7 0x9


211D 1 y_output 7 0x7 ro 1 0 8

211E z_output 7 0x9


211E 1 z_output 7 0x7 ro 1 0 8




2120 x_output 8 0x9


2120 1 x_output 8 0x7 ro 1 0 8

2121 y_output 8 0x9


2121 1 y_output 8 0x7 ro 1 0 8

2122 z_output 8 0x9–


2122 1 z_output 8 0x7 ro 1 0 8 –



2123 1 ampl_output 8 0x7 ro 1 0 8

2124 x_output 9 0x9


2124 1 x_output 9 0x7 ro 1 0 8

2125 y_output 9 0x9


2125 1 y_output 9 0x7 ro 1 0 8


52

Example

only

Obj

ect N

o.

Obj

ect N

ame

Sub

Inde

x N

o.

Para

met

er

Nam

e

Obj

ect T

ype

Acc

ess

Type

Def

ault

Valu

e

Low

Lim

it

Hig

h Li

mit

Com

men

t

2126 z_output 9 0x9


2126 1 z_output 9 0x7 ro 1 0 8



2127 1 ampl_output 9 0x7 ro 1 0 8

2128 x_output 10 0x9


2128 1 x_output 10 0x7 ro 1 0 8

2129 y_output 10 0x9


2129 1 y_output 10 0x7 ro 1 0 8

212A z_output 10 0x9


212A 1 z_output 10 0x7 ro 1 0 8




212C x_output 11 0x9


212C 1 x_output 11 0x7 ro 1 0 8

212D y_output 11 0x9


212D 1 y_output 11 0x7 ro 1 0 8

212E z_output 11 0x9


212E 1 z_output 11 0x7 ro 1 0 8






2130 1 x_output 12 0x7 ro 1 0 8

2131 y_output 12 0x9–


2131 1 y_output 12 0x7 ro 1 0 8 –

2132 z_output 12 0x9


2132 1 z_output 12 0x7 ro 1 0 8



2133 1 ampl_output 12 0x7 ro 1 0 8



2134 1 x_output 13 0x7 ro 1 0 8

53


UK

Example

only

Obj

ect N

o.

Obj

ect N

ame

Sub

Inde

x N

o.

Para

met

er

Nam

e

Obj

ect T

ype

Acc

ess

Type

Def

ault

Valu

e

Low

Lim

it

Hig

h Li

mit

Com

men

t



2135 1 y_output 13 0x7 ro 1 0 8

2136 z_output 13 0x9


2136 1 z_output 13 0x7 ro 1 0 8



2137 1 ampl_output 13 0x7 ro 1 0 8



2138 1 x_output 14 0x7 ro 1 0 8



2139 1 y_output 14 0x7 ro 1 0 8

213A z_output 14 0x9


213A 1 z_output 14 0x7 ro 1 0 8




213C x_output 15 0x9


213C 1 x_output 15 0x7 ro 1 0 8

213D y_output 15 0x9


213D 1 y_output 15 0x7 ro 1 0 8

213E z_output 15 0x9


213E 1 z_output 15 0x7 ro 1 0 8




2201 Global_Information 0x9 –


–

2201 1 GLOB_master_time 0x7 ro 4 0 8

2201 2 GLOB_sensor_available 0x7 ro 4 0 8

2201 3 SwCtrl_OpMode 0x7 ro 4 0 65

2201 4 Global_Information_cnt 0x7 ro 4 0 3


54

Example

only

Obj

ect N

o.

Obj

ect N

ame

Sub

Inde

x N

o.

Para

met

er

Nam

e

Obj

ect T

ype

Acc

ess

Type

Def

ault

Valu

e

Low

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it

Hig

h Li

mit

Com

men

t

2202 BF Global Parameters 0x9

–


2202 1 Number of groups 0x7 ro 4 0 3

2202 2 Number of ROIs 0x7 ro 4 0 3

2202 3 OutputMode 0x7 ro 4 0 3

2202 4 BF_Global_Parameters_cnt 0x7 ro 4 0 3

2203 ROI Definition 0x9

–


2203 1 ROI_Definition_cnt 0x7 ro 8 0 3

2203 2 ROI_group 0x7 ro 8 0 3

2203 3 ROI_lower_right_x 0x7 ro 8 0 3

2203 4 ROI_lower_right_y 0x7 ro 8 0 3

2203 5 ROI_number 0x7 ro 8 0 3

2203 6 ROI_value_type 0x7 ro 8 0 3

2203 7 ROI_upper_left_x 0x7 ro 8 0 3

2203 8 ROI_upper_left_y 0x7 ro 8 0 3

2210 SyncMsg 0x9


2210 1 MasterTime_LastTxTimeStamp 0x7 ro 1 0 3

8.2 SAE J1939

Nam

e

Mes

sage

Star

t bit

Leng

th [b

it]

Valu

e ty

pe

Fact

or

Offs

et

Min

imum

Max

imum

Uni

t

Valu

e ta

ble

Com

men

t

ampl_0_cnt BF_ampl_output_0 62 2 Unsigned 1 0 0 3 n/a <none> –

ampl_output_1 BF_ampl_output_0 0 15 Unsigned 2 0 0 65534 – VtSig_ampl_output_1 –
















55


UK

Example

only

Nam

e

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sage

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t bit

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th [b

it]

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pe

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or

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et

Min

imum

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imum

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e ta

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Com

men

t
















































56

Example

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Min

imum

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imum

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e ta

ble

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men

t


















BF_Global_Parameters_cnt

BF_Global_Parameters 22 2 Unsigned 1 0 0 3 – <none>

BF_Global_Parameters message counter

Number_of_groups

BF_Global_Parameters 0 7 Unsigned 1 0 0 64 – VtSig_Number_of_

groupsNumber of defined groups

Number_of_rois BF_Global_Parameters 8 7 Unsigned 1 0 0 64 – VtSig_Number_of_rois Number of

defined ROIs

outputMode BF_Global_Parameters 16 3 Unsigned 1 0 0 5 – VtSig_outputMode The output

configuration

x_0_cnt BF_x_output_0 62 2 Unsigned 1 0 0 3 n/a <none> –

x_output_1 BF_x_output_0 0 15 Unsigned 0�01 -100 -100 100 m VtSig_x_output_1 –




















57


UK

Example

only

Nam

e

Mes

sage

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t bit

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imum

Max

imum

Uni

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e ta

ble

Com

men

t
















































58

Example

only

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or

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et

Min

imum

Max

imum

Uni

t

Valu

e ta

ble

Com

men

t














y_0_cnt BF_y_output_0 62 2 Unsigned 1 0 0 3 n/a <none> –

y_output_1 BF_y_output_0 0 15 Unsigned 0�01 -100 -100 100 m VtSig_y_output_1 –
































59


UK

Example

only

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imum

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imum

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60

Example

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Min

imum

Max

imum

Uni

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e ta

ble

Com

men

t


z_0_cnt BF_z_output_0 62 2 Unsigned 1 0 0 3 n/a <none> –

z_output_1 BF_z_output_0 0 15 Unsigned 0�01 -100 -100 100 m VtSig_z_output_1 –












































61


UK

Example

only

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imum

Max

imum

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ble

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men

t































z_9_cnt BF_z_output_9 62 2 Unsigned 1 0 0 3 n/a <none>





GLOB_master_time Global_Information 0 32 Unsigned 1 0 0 4,29E+14 µs <none> –

GLOB_sensor_available Global_Information 32 8 Unsigned 1 0 0 255 enum <none>

BIT_INTERFERENCE_DETECTED (1u)

Global_Information_cnt Global_Information 46 2 Unsigned 1 0 0 3 – <none> –

SwCtrl_OpMode Global_Information 40 6 Unsigned 1 0 0 63 – VtSig_SwCtrl_OpMode –


62

Example

only

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t

ROI_cnt ROI_Definition 38 2 Unsigned 1 0 0 3 n/a <none>

2 Bit counter, same all ROI messages, at next ROI message cycle, counter shall be incremented

ROI_group ROI_Definition 16 7 Unsigned 1 0 0 64 n/a <none>Index of group the ROI belongs to

ROI_lower_right_x ROI_Definition 8 6 Unsigned 1 0 0 63 n/a <none>

Lower right corner coordinate in x-direction

ROI_lower_right_y ROI_Definition 24 4 Unsigned 1 0 0 15 n/a <none>

Lower right corner coordinate in y-direction

ROI_number ROI_Definition 32 6 Unsigned 1 1 1 64 n/a <none>Id of the ROI, equals the index in the array

ROI_output_value_type ROI_Definition 6 2 Unsigned 1 0 0 2 n/a VtSig_ROI_output_

value_type

The type of output (min/max/mean)

ROI_upper_left_x ROI_Definition 0 6 Unsigned 1 0 0 63 n/a <none>Upper left corner coordinate in x-direction

ROI_upper_left_y ROI_Definition 28 4 Unsigned 1 0 0 15 n/a <none>Upper left corner coordinate in y-direction

Mastertime_LastTxTimeStamp SyncMsg 0 32 Unsigned 1 0 0 4,29E+14 us <none>

Measured time value of last sent transmission of this signal on CAN

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