IFM O3X1 Series Programmer's Manual
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IFM O3X1 Series Programmer's Manual

IFM O3X1 Series Programmer's Manual

Interface description
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Programmers Guide
Interface description
3D Camera
UK
O3X100

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Summary of Contents for IFM O3X1 Series

  • Page 1 Programmers Guide Interface description 3D Camera O3X100...

  • Page 2: Table Of Contents

    3D camera O3X1xx Contents 1. Preliminary note ..............4 1.1 Symbols used .
  • Page 3 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...

  • Page 4: Preliminary Note

    1.3 Further documents ● Operating instructions ● Interface description The documents can be downloaded at: www.ifm.com 2. System requirements 2.1 Software Windows 7 (32/64 bit), Windows 8.1 (32/64 bit), Windows 10 (32/64 bit) 2.2 Hardware and accessories Hardware: –...

  • Page 5: Required Ports

    ● UDP: 3321 ● TCP/HTTP: 8080 4. XML-RPC Interface In case the device should not be configured by the ifm Vision Assistant, the XML-RPC interface can be used instead. General information about XML-RPC is found on the website http://xmlrpc.scripting.com/spec To send a command via the XML-RPC interface the command is in a special layout. In this command, linefeeds and carriage returns are essential.

  • Page 6: Xml-Rpc Objects

    3D camera O3X1xx The following example contains one O3X1xx command: POST /api/rpc/v1/com.ifm.efector/ HTTP/1.1<CR><LF> Host: 192.168.0.69<CR><LF> Content-Type: text/xml<CR><LF> User-Agent: Python-xmlrpc/3.4<CR><LF> Content-Length: 160<CR><LF> <CR><LF> <?xml version='1.0'?> <CR><LF> <methodCall><CR><LF> <methodName>getParameter</methodName><CR><LF> <params><CR><LF> <param><CR><LF> <value><string>Name</string></value><CR><LF> </param><CR><LF> </params><CR><LF> </methodCall><CR><LF> 4.2 XML-RPC Objects To communicate and to configure the device via XML-RPC the XML-RPC commands have to use different XML-RPC objects.

  • Page 7: Main Object

    4.2.2 Session Object Object URI e.g.: /api/rpc/v1/com.ifm.efector/session_d21c80db5bc1069932fbb9a3bd841d0b/ The URL part “d21c80db5bc1069932fbb9a3bd841d0b” is the session ID. It is returned by the command "requestSession" of the main object. If the command "requestSession" is called without a user-defined session ID, which can be passed as a parameter, a random session ID is generated automatically.

  • Page 8: Application/Imager Config Object

    Only parameters relevant for a specific type are available while it is active. They are based on frequency (extending the distance) and integration intervals (extending the measurement details). Type names, based on ifm Vision Assistant draft: ● upTo02m_low ● upTo02m_moderate ●...

  • Page 9: Process Interface

    3D camera O3X1xx 5. Process Interface The process interface is used during the normal operation mode to get operational data (e.g. 3D images, process values) from the O3X1xx. 5.1 Protocol structure This protocol conforms to the version 3 of the O2V/O2D products. Structure of the protocol: <Ticket><length>CR LF <Ticket><content>CR LF Abbreviation...

  • Page 10: Receiving Images

    3D camera O3X1xx 5.2 Receiving Images For receiving the image data a TCP/IP socket communication is established. The default port number is 50010. After opening the socket communication, the O3X1xx device will automatically (if the device is in free run mode) send the data through this socket to the TCP/IP client (PC). PCIC output per frame.

  • Page 11: Available Chunk Types

    3D camera O3X1xx Offset Name Description Size [byte] 0x0028 TIME_STAMP_SEC Timestamp seconds 0x002C TIME_STAMP_NSEC Timestamp nanoseconds 0x0030 PIXEL_DATA The pixel data in the given type and dimension of the image. Padded to 4-byte boundary. 5.3.2 Available chunk types Constant Value Description USERDATA Undefined user data with arbitrary content...

  • Page 12: Pixel Format

    3D camera O3X1xx 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.

  • Page 13: Additional Information For Confidence_Image

    3D camera O3X1xx 5.4 Additional Information for 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.

  • Page 14: Xml-Rpc Command Reference

    3D camera O3X1xx 6. XML-RPC Command Reference 6.1 Parameter API The parameters setParameter, getParameter, getAllParameters and getAllParameterLimits are implemented in the following RPC objects: ● Device ● Network ● Application ● ImagerConfig ● Filter setParameter Method name setParameter Description Sets a parameter to a specific value. Input parameters 1.

  • Page 15: Main Object

    3D camera O3X1xx 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.
  • Page 16 3D camera O3X1xx 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" "Algorithm_Version" "Calibration_Version" "Calibration_Device" getHWInfo getHWInfo Method name...
  • Page 17 3D camera O3X1xx 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").
  • Page 18 3D camera O3X1xx getClientCompatibilityList getClientCompatibilityList Method name Description The device must be able to define which type and version of operating program is compatible. Input parameters none Output parameters Array of strings: ● Each string contains: "[VendorID]-[OperatingProgramID],[major]. [minor]" (IDs are 4 digit-hex, version dec). ●...

  • Page 19: Session Object

    3D camera O3X1xx 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...
  • Page 20 The device will not distinguish between edit and run mode. The application will always behave as in run mode. As soon as a session is opened the application can immediately be edited. After successfully calling "requestSession" the application object at URL "/api/rpc/v1/com.ifm.efector/session_d21c80db5bc1069932fbb9a3bd841d0b/edit/application/" is immediately available.

  • Page 21: Edit Mode Object

    3D camera O3X1xx 6.4 Edit Mode Object The device will not distinguish between edit and run mode. The application will always behave as in run mode. As soon as a session is opened the application can immediately be edited. factoryReset Method name factoryReset Description...
  • Page 22 "heartbeat" method is needed. *has limits IPAddressConfig readonly: The ifm Vision Assistant requires to know if the device is on a discovery IP address for multiple use cases. This information was extended to reflect all kinds of IP-address situations.

  • Page 23: Device/Network Config Object

    3D camera O3X1xx Default values of Device Config parameters The default values of the device configuration parameters are: Parameter name Data type Default value Name String (utf8) "New sensor" Description String (utf8) "" SessionTimeout *has limits IPAddressConfig PasswordActivated Bool false OperatingMode For all other device config parameters there are no defined default values, because they are either device-dependent (DeviceType, ArticleNumber, ArticleStatus) or volatile (UpTime,...

  • Page 24: Time Config Object

    3D camera O3X1xx Parameter name Data type Description MACAddress String Read only: MAC-Address of the device (format: "xx:xx:xx:xx:xx:xx"). Default values of Device/Network Config parameters The default values of the Device/Network configuration parameters are: Parameter name Data type Default value StaticIPv4Address String (utf8) 192.168.0.69 StaticIPv4SubNetMask...

  • Page 25: Application Config Object

    3D camera O3X1xx Parameter name Data type Description Syncing Bool Read only: Returns "true" if the system time is synchronized to a NTP server (i.e. if at least one of the three most recent synchronization attempts was successful). CurrentTime Read only: Returns the current system time (UTC, seconds since 1.1.1970).
  • Page 26 3D camera O3X1xx Output parameters Empty string (compatibility with classic XmlRPC-client) discardUnsavedChanges discardUnsavedChanges Method name Description Resets all changed parameters of the application object and all child objects to their persistent values, i.e. the values at the time when "save" has been called last or when the session has been opened. Input parameters none Output parameters...

  • Page 27: Application/Imager Config Object

    3D camera O3X1xx Minimum and maximum values of application parameters The minimum and maximum values of application parameters are: Parameter name Minimum value Maximum value TriggerMode 6.9 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.
  • Page 28 3D camera O3X1xx Default values of common imager config parameters The default values of the common imager configuration parameters are: Parameter name Data type Default value FrameRate Double ExposureTime 1000 SpatialFilterType TemporalFilterType MinimumAmplitude Double SymmetryThreshold Double Minimum and maximum values of common imager config parameters The minimum and maximum values of common imager configuration parameters are: Parameter name Minimum value...

  • Page 29: Exposure Modes

    3D camera O3X1xx 6.10 Exposure modes The following exposure modes are available: ● upTo02m_low ● upTo02m_moderate ● upTo03m_low ● upTo03m_moderate ● upTo07m_low ● upTo07m_moderate ● upTo15m_low ● upTo15m_moderate ● upTo30m_low ● upTo30m_moderate The capture mode consists of: Section Description upTo30m_ ●...

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