IFM Electronic Efector 250 O3M151 Programming Manual
  1. Manuals
  2. Brands
  3. IFM Electronic Manuals
  4. Accessories
  5. Efector 250 O3M151
  6. Programming manual
IFM Electronic Efector 250 O3M151 Programming Manual

IFM Electronic Efector 250 O3M151 Programming Manual

Mobile 3d smart sensor, object detection
Hide thumbs Also See for Efector 250 O3M151:
Table of Contents

Advertisement

Quick Links

Download this manual
Programming Manual
UK
Mobile 3D Smart Sensor
O3M151
Object Detection

Advertisement

Table of Contents
loading

Related Manuals for IFM Electronic Efector 250 O3M151

Summary of Contents for IFM Electronic Efector 250 O3M151

  • Page 1 Programming Manual Mobile 3D Smart Sensor O3M151 Object Detection...

  • Page 2: Table Of Contents

    O3M151 3D Smart Sensor Object Detection Contents 1 About these instructions � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �3 1�1 Symbols used �...

  • Page 3: About These Instructions

    O3M151 3D Smart Sensor Basic Function 1 About these instructions These instructions explain the 3D O3M151 Smart Sensor's function Object Detection� For a detailed description of the device, please read the Operating instructions of the O3M151 sensor and the Programming manual of the ifm Vision Assistant� → "1�3 Other applicable documents" 1.1 Symbols used ►...

  • Page 4: Smart Sensor

    O3M151 3D Smart Sensor Object Detection 2 Smart Sensor 2.1 Functions The O3M151 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 process the light reflected by the surface�...

  • Page 5: 2�2 Measuring Principle

    O3M151 3D Smart Sensor Basic Function 2.2 Measuring principle The device measures according to the light runtime method based on a phase measurement with modu- lated light� Based on this principle, the following points must be taken into account during the measurements: ●...

  • Page 6: 2�3 Operating Check

    O3M151 3D Smart Sensor Object Detection 2.3 Operating check With 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 O3M151 Smart Sensor is equipped with sensory fault detection in the system and generates a message when faults occur�...

  • Page 7: Object Detection

    O3M151 3D Smart Sensor Basic Function 3 Object Detection 3.1 Functions Object detection Reflector tracking Collision prediction Do not attach sensor at a height of under 50 cm� Object detection 3D data are used via a CAN interface for object detection� Up to 20 independent objects are detected and tracked from the measured distance values�...

  • Page 8: Commissioning

    O3M151 3D Smart Sensor Object Detection 4 Commissioning The Smart Sensor can be operated with various functions� For information on flashing the firmware → Ifm Vision Assistant programming manual ► Make sure that the correct firmware is loaded on the sensor� ► Carry out commissioning with the menu-guided ifm Vision Assistant PC operating program� For additional instructions on the sensor update with the ifm Vision Assistant → Ifm Vision Assistant pro- gramming manual...

  • Page 9: Application Examples

    O3M151 3D Smart Sensor Basic Function 5 Application examples 5.1 Area monitoring 5.1.1 Introduction With static attachment and with attachment on a vehicle, the Object Detection function enables area monitoring of several user-defined areas simultaneously� Functions: ● Monitoring of an area in front of a door or access point ●...
  • Page 10 O3M151 3D Smart Sensor Object Detection Attachment position of sensor for access monitoring, side view A: Attachment from above B: Frontal attachment ● Pos� A: Attachment a height of over 2 m > Advantage: The sensor is in an overview position and the visible area is limited by the angle� ●...

  • Page 11: 5�1�3 Parametrisation

    O3M151 3D Smart Sensor Basic Function Attachment on vehicle Automatic object tracking is also suitable for somewhat difficult and/or rough terrain� It recognises the next 20 objects (adjustable) next to the vehicle and passes on information such as the distance, size and posi- tion of each object to the machine controller�...

  • Page 12: 5�1�4 Relevant Output

    O3M151 3D Smart Sensor Object Detection 5.1.4 Relevant output The CAN messages with the result values of the detected objects (e�g� position or relevant speed) can be received and interpreted on the controller used� The objects are filtered via the object position for area monitoring� Objects which are located within a criti- cal area result in a reaction, e�g�...

  • Page 13: 5�2 Reflector Tracking Of Marked Driverless Vehicles

    O3M151 3D Smart Sensor Basic Function 5.2 Reflector tracking of marked driverless vehicles 5.2.1 Introduction The Object Detection function enables marking and identification of objects with reflectors and their specific tracking� Driverless transport systems (DTS) in harbour logistics can automatically detect and track other DTSs us- ing the sensor�...

  • Page 14: 5�2�5 Operating Property/Performance

    O3M151 3D Smart Sensor Object Detection The objects are filtered via the area position for area monitoring� Objects which are located within a criti- cal area result in a reaction, e�g� a warning signal or stopping of the vehicle� The vehicle's own data are expected on the CAN bus (if parameter egodatamode=2, the data are not expected)�...

  • Page 15: Parameters

    O3M151 3D Smart Sensor Basic Function 6 Parameters The parameters can be changed and adjusted in function of the use of the sensor� For details on the settings and parameters of the device → ifm Vision Assistant programming manual� CycleTime uint8 Internal cycle ti- Application → Image Set- me of the camera...
  • Page 16 O3M151 3D Smart Sensor Object Detection EthernetOutputConfigu- uint8 0 is customer output (up to Only changeable if used ration 6MBit/s), for recording of sequen- ces. Monitor → Record  1 is ifm development de- Options → Debug Data  bug output (up to 60MBit/s) On/Off – EthernetLoadConfigu- uint8 EthernetOutput only every ration n-th system cycle...
  • Page 17 O3M151 3D Smart Sensor Basic Function PMDExtrCalib_IlluCal_ 0�047 float32 Position of illumination in Calibration → follow  transX world: X translation [m]� instructions Please refer to Manual O3M15x for details� PMDExtrCalib_IlluCal_ 0�085 float32 Position of illumination in Calibration → follow  transY world: Y translation [m]� instructions Please refer to Manual O3M15x for details�...
  • Page 18 O3M151 3D Smart Sensor Object Detection ObjectListCust_reflector- float32 Value for setting the reflec- Application → Image  ThresholdValue tivity threshold to detect Settings → Reflector  retroreflectors� The default Threshold Value (4 pos- setting 0 means high sen- sible values: Max, Med, sitivity for reflectors with Low, Min) possible detection of non- reflectors�...
  • Page 19 O3M151 3D Smart Sensor Basic Function ObjectListCust_accBrake float32 Definition of brake accele- Template in Vision Assi- ration for crash predictor stant SW will be available (Only necessary for intelli- with later update� gent crash prediction) ObjectListCust_delay- 0�2 float32 Definition of brake delay Template in Vision Assi- Brake for crash predictor (Only...

  • Page 20: Interface

    O3M151 3D Smart Sensor Object Detection 7 Interface The output of the preprocessed function data occurs via CAN-Bus, either with the protocol CANopen or the protocol SAE J 1939� 7.1 CANopen Fixed to "0" (Zero) until there 1000 DeviceType is an adequate CANopen profile available 1001...
  • Page 21 O3M151 3D Smart Sensor Basic Function Communication 1006 0x00000000 – Cycle Period (No Index) should be filled at runtime with the article number of the camera� Manufacturer Device is Sensor: 1008 const O3D150 Device Name O3M150 Device is Smart- Sensor: O3M151 (Distance Image with Basic Function output)
  • Page 22 O3M151 3D Smart Sensor Object Detection 1018 Identity Object Index 01: Vendor ID is 0x0069666D, 1018 Number of entries this is the fixed ID for ifm electronic 1018 Vendor Id 0x0069666D Index 02: Product 1018 Product Code Code : 1018...
  • Page 23 O3M151 3D Smart Sensor Basic Function $NODEID 1803 COB ID 0x00000080 0xFFFFFFFF +0x40000480 – 1803 Transmission Type 0x00000080 0xFFFFFFFF 1803 Inhibit Time 0x0000 0x00000080 0xFFFFFFFF Transmit PDO Communica- 1804 tion Parameter x_output 1 1804 Number of entries 0x03 0x03 – $NODEID 1804 COB ID...
  • Page 24 O3M151 3D Smart Sensor Object Detection $NODEID 1809 COB ID 0x00000080 0xFFFFFFFF +0xC0000000 – 1809 Transmission Type 0x00000080 0xFFFFFFFF 1809 Inhibit Time 0x0000 0x00000080 0xFFFFFFFF Transmit PDO Communica- 180A tion Parameter z_output 2 180A Number of entries 0x03 0x03 – $NODEID 180A COB ID...
  • Page 25 O3M151 3D Smart Sensor Basic Function $NODEID 180F COB ID 0x00000080 0xFFFFFFFF +0xC0000000 – 180F Transmission Type 0x00000080 0xFFFFFFFF 180F Inhibit Time 0x0000 0x00000080 0xFFFFFFFF Transmit PDO Communica- 1810 tion Parameter x_output 4 1810 Number of entries 0x03 0x03 – $NODEID 1810 COB ID...
  • Page 26 O3M151 3D Smart Sensor Object Detection 1815 Number of entries 0x03 0x03 $NODEID 1815 COB ID 0x00000080 0xFFFFFFFF +0xC0000000 – 1815 Transmission Type 0x00000080 0xFFFFFFFF 1815 Inhibit Time 0x0000 0x00000080 0xFFFFFFFF Transmit PDO Communica- 1816 tion Parameter z_output 5 1816 Number of entries 0x03 0x03...
  • Page 27 O3M151 3D Smart Sensor Basic Function Transmit PDO Communication 181B Parameter ampl_ output 6 181B Number of entries 0x03 0x03 – $NODEID 181B COB ID 0x00000080 0xFFFFFFFF +0xC0000000 181B Transmission Type 0x00000080 0xFFFFFFFF 181B Inhibit Time 0x0000 0x00000080 0xFFFFFFFF Transmit PDO Communica- 181C tion Parameter...
  • Page 28 O3M151 3D Smart Sensor Object Detection 1820 Inhibit Time 0x0000 0x00000080 0xFFFFFFFF – Transmit PDO Communica- 1821 tion Parameter y_output 8 1821 Number of entries 0x03 0x03 – $NODEID 1821 COB ID 0x00000080 0xFFFFFFFF +0xC0000000 1821 Transmission Type 0x00000080 0xFFFFFFFF 1821 Inhibit Time 0x0000...
  • Page 29 O3M151 3D Smart Sensor Basic Function 1826 Transmission Type 0x00000080 0xFFFFFFFF – 1826 Inhibit Time 0x0000 0x00000080 0xFFFFFFFF Transmit PDO Communication 1827 Parameter ampl_ output 9 1827 Number of entries 0x03 0x03 – $NODEID 1827 COB ID 0x00000080 0xFFFFFFFF +0xC0000000 1827 Transmission Type 0x00000080...
  • Page 30 O3M151 3D Smart Sensor Object Detection $NODEID 182C COB ID 0x00000080 0xFFFFFFFF +0xC0000000 – 182C Transmission Type 0x00000080 0xFFFFFFFF 182C Inhibit Time 0x0000 0x00000080 0xFFFFFFFF Transmit PDO Communica- 182D tion Parameter y_output 11 182D Number of entries 0x03 0x03 – $NODEID 182D COB ID...
  • Page 31 O3M151 3D Smart Sensor Basic Function 1832 Number of entries 0x03 0x03 $NODEID 1832 COB ID 0x00000080 0xFFFFFFFF +0xC0000000 – 1832 Transmission Type 0x00000080 0xFFFFFFFF 1832 Inhibit Time 0x0000 0x00000080 0xFFFFFFFF Transmit PDO Communication 1833 Parameter ampl_ output 12 1833 Number of entries 0x03 0x03...
  • Page 32 O3M151 3D Smart Sensor Object Detection Transmit PDO Communica- 1838 tion Parameter – x_output 14 1838 Number of entries 0x03 0x03 $NODEID 1838 COB ID 0x00000080 0xFFFFFFFF +0xC0000000 – 1838 Transmission Type 0x00000080 0xFFFFFFFF 1838 Inhibit Time 0x0000 0x00000080 0xFFFFFFFF Transmit PDO Communica- 1839...
  • Page 33 O3M151 3D Smart Sensor Basic Function Transmit PDO Communica- 183D tion Parameter y_output 15 183D Number of entries 0x03 0x03 – $NODEID 183D COB ID 0x00000080 0xFFFFFFFF +0xC0000000 183D Transmission Type 0x00000080 0xFFFFFFFF 183D Inhibit Time 0x0000 0x00000080 0xFFFFFFFF Transmit PDO Communica- 183E –...
  • Page 34 O3M151 3D Smart Sensor Object Detection Transmit PDO Communication 1842 Parameter - BF Global Parame- ters 1842 Number of entries 0x02 0x06 – $NODEID 1842 COB ID 0x00000080 0xFFFFFFFF +0xC0000000 1842 Transmission Type 0x00000080 0xFFFFFFFF 1842 Inhibit Time 0x0000 0x00000080 0xFFFFFFFF Transmit PDO Communication...
  • Page 35 O3M151 3D Smart Sensor Basic Function Transmit PDO 1A05 Mapping Para- meter y_output 1 – 1A05 Number of entries PDO Mapping 1A05 0x21050140 Entry Transmit PDO 1A06 Mapping Para- meter z_output 1 – 1A06 Number of entries PDO Mapping 1A06 0x21060140 Entry Transmit PDO...
  • Page 36 O3M151 3D Smart Sensor Object Detection Transmit PDO 1A0E Mapping Para- meter z_output 3 – 1A0E Number of entries PDO Mapping 1A0E 0x210E0140 Entry Transmit PDO Mapping Para- 1A0F meter ampl_out- put 3 – 1A0F Number of entries PDO Mapping 1A0F 0x210F0140 Entry...
  • Page 37 O3M151 3D Smart Sensor Basic Function Transmit PDO Mapping Para- 1A17 meter ampl_out- put 5 – 1A17 Number of entries PDO Mapping 1A17 0x21170140 Entry Transmit PDO 1A18 Mapping Para- meter x_output 6 – 1A18 Number of entries PDO Mapping 1A18 0x21180140 Entry...
  • Page 38 O3M151 3D Smart Sensor Object Detection Transmit PDO Mapping Para- 1A1F meter ampl_out- put 7 – 1A1F Number of entries PDO Mapping 1A1F 0x211F0140 Entry Transmit PDO 1A20 Mapping Para- meter x_output 8 – 1A20 Number of entries PDO Mapping 1A20 0x21200140 Entry...
  • Page 39 O3M151 3D Smart Sensor Basic Function Transmit PDO Mapping Para- 1A27 meter ampl_out- put 9 – 1A27 Number of entries PDO Mapping 1A27 0x21270140 Entry Transmit PDO Mapping Para- 1A28 meter x_output – 1A28 Number of entries PDO Mapping 1A28 0x21280140 Entry Transmit PDO...
  • Page 40 O3M151 3D Smart Sensor Object Detection Transmit PDO Mapping Para- 1A2F meter ampl_out- put 11 – 1A2F Number of entries PDO Mapping 1A2F 0x212F0140 Entry Transmit PDO Mapping Para- 1A30 meter x_output – 1A30 Number of entries PDO Mapping 1A30 0x21300140 Entry Transmit PDO...
  • Page 41 O3M151 3D Smart Sensor Basic Function Transmit PDO Mapping Para- 1A37 meter ampl_out- put 13 – 1A37 Number of entries PDO Mapping 1A37 0x21370140 Entry Transmit PDO Mapping Para- 1A38 meter x_output – 1A38 Number of entries PDO Mapping 1A38 0x21380140 Entry Transmit PDO...
  • Page 42 O3M151 3D Smart Sensor Object Detection Transmit PDO Mapping Para- 1A3F meter ampl_out- put 15 – 1A3F Number of entries PDO Mapping 1A3F 0x213F0140 Entry Transmit PDO Mapping Para- 1A40 meter - Global_ Information 1A40 Number of entries PDO Mapping 1A40 Entry - GLOB_ma- 0x22010120...
  • Page 43 O3M151 3D Smart Sensor Basic Function Transmit PDO Mapping Pa- 1A43 rameter - ROI Definition 1A43 Number of entries PDO Mapping 1A43 0x22030108 Entry - ROI_cnt PDO Mapping 1A43 0x22030208 Entry - ROI_group PDO Mapping 1A43 Entry - ROI_low- 0x22030308 er_right_x PDO Mapping –...
  • Page 44 O3M151 3D Smart Sensor Object Detection 2108 x_output 2 2108 NrOfObjects – 2108 x_output 2 2109 y_output 2 2109 NrOfObjects – 2109 y_output 2 210A z_output 2 210A NrOfObjects – 210A z_output 2 210B ampl_output 2 210B NrOfObjects – 210B ampl_output 2 210C x_output 3...
  • Page 45 O3M151 3D Smart Sensor Basic Function 2117 ampl_output 5 2117 NrOfObjects – 2117 ampl_output 5 2118 x_output 6 2118 NrOfObjects – 2118 x_output 6 2119 y_output 6 2119 NrOfObjects – 2119 y_output 6 211A z_output 6 211A NrOfObjects – 211A z_output 6 211B ampl_output 6...
  • Page 46 O3M151 3D Smart Sensor Object Detection 2126 z_output 9 2126 NrOfObjects – 2126 z_output 9 2127 ampl_output 9 2127 NrOfObjects – 2127 ampl_output 9 2128 x_output 10 2128 NrOfObjects – 2128 x_output 10 2129 y_output 10 2129 NrOfObjects – 2129 y_output 10 212A z_output 10...
  • Page 47 O3M151 3D Smart Sensor Basic Function 2135 y_output 13 2135 NrOfObjects – 2135 y_output 13 2136 z_output 13 2136 NrOfObjects – 2136 z_output 13 2137 ampl_output 13 2137 NrOfObjects – 2137 ampl_output 13 2138 x_output 14 2138 NrOfObjects – 2138 x_output 14 2139 y_output 14...

  • Page 48: 7�2 Sae J1939

    O3M151 3D Smart Sensor Object Detection BF Global Para- 2202 meters 2202 NrOfObjects 2202 Number of groups – 2202 Number of ROIs 2202 OutputMode BF_Global_Para- 2202 meters_cnt 2203 ROI Definition 2203 NrOfObjects 2203 ROI_Definition_cnt 2203 ROI_group 2203 ROI_lower_right_x – 2203 ROI_lower_right_y 2203 ROI_number...
  • Page 49 O3M151 3D Smart Sensor Basic Function ampl_output_46 BF_ampl_output_11 Unsigned 65534 – VtSig_ampl_output_46 – ampl_output_47 BF_ampl_output_11 Unsigned 65534 – VtSig_ampl_output_47 – ampl_output_48 BF_ampl_output_11 Unsigned 65534 – VtSig_ampl_output_48 – ampl_12_cnt BF_ampl_output_12 Unsigned <none> – ampl_output_49 BF_ampl_output_12 Unsigned 65534 – VtSig_ampl_output_49 – ampl_output_50 BF_ampl_output_12 Unsigned 65534...
  • Page 50 O3M151 3D Smart Sensor Object Detection ampl_output_27 BF_ampl_output_6 Unsigned 65534 – VtSig_ampl_output_27 – ampl_output_28 BF_ampl_output_6 Unsigned 65534 – VtSig_ampl_output_28 – ampl_7_cnt BF_ampl_output_7 Unsigned <none> – ampl_output_29 BF_ampl_output_7 Unsigned 65534 – VtSig_ampl_output_29 – ampl_output_30 BF_ampl_output_7 Unsigned 65534 – VtSig_ampl_output_30 – ampl_output_31 BF_ampl_output_7 Unsigned 65534...
  • Page 51 O3M151 3D Smart Sensor Basic Function x_output_49 BF_x_output_12 Unsigned 0�01 -100 -100 VtSig_x_output_49 – x_output_50 BF_x_output_12 Unsigned 0�01 -100 -100 VtSig_x_output_50 – x_output_51 BF_x_output_12 Unsigned 0�01 -100 -100 VtSig_x_output_51 – x_output_52 BF_x_output_12 Unsigned 0�01 -100 -100 VtSig_x_output_52 – x_13_cnt BF_x_output_13 Unsigned <none>...
  • Page 52 O3M151 3D Smart Sensor Object Detection x_output_30 BF_x_output_7 Unsigned 0�01 -100 -100 VtSig_x_output_30 – x_output_31 BF_x_output_7 Unsigned 0�01 -100 -100 VtSig_x_output_31 – x_output_32 BF_x_output_7 Unsigned 0�01 -100 -100 VtSig_x_output_32 – x_8_cnt BF_x_output_8 Unsigned <none> – x_output_33 BF_x_output_8 Unsigned 0�01 -100 -100 VtSig_x_output_33 –...
  • Page 53 O3M151 3D Smart Sensor Basic Function y_output_59 BF_y_output_14 Unsigned 0�01 -100 -100 VtSig_y_output_59 – y_output_60 BF_y_output_14 Unsigned 0�01 -100 -100 VtSig_y_output_60 – y_15_cnt BF_y_output_15 Unsigned <none> – y_output_61 BF_y_output_15 Unsigned 0�01 -100 -100 VtSig_y_output_61 – y_output_62 BF_y_output_15 Unsigned 0�01 -100 -100 VtSig_y_output_62 –...
  • Page 54 O3M151 3D Smart Sensor Object Detection y_output_40 BF_y_output_9 Unsigned 0�01 -100 -100 VtSig_y_output_40 – z_0_cnt BF_z_output_0 Unsigned <none> – z_output_1 BF_z_output_0 Unsigned 0�01 -100 -100 VtSig_z_output_1 – z_output_2 BF_z_output_0 Unsigned 0�01 -100 -100 VtSig_z_output_2 – z_output_3 BF_z_output_0 Unsigned 0�01 -100 -100 VtSig_z_output_3 –...
  • Page 55 O3M151 3D Smart Sensor Basic Function z_3_cnt BF_z_output_3 Unsigned <none> – z_output_13 BF_z_output_3 Unsigned 0�01 -100 -100 VtSig_z_output_13 – z_output_14 BF_z_output_3 Unsigned 0�01 -100 -100 VtSig_z_output_14 – z_output_15 BF_z_output_3 Unsigned 0�01 -100 -100 VtSig_z_output_15 – z_output_16 BF_z_output_3 Unsigned 0�01 -100 -100 VtSig_z_output_16 –...
  • Page 56 O3M151 3D Smart Sensor Object Detection 2 Bit counter, same all ROI messages, ROI_cnt ROI_Definition Unsigned <none> at next ROI message cycle, counter shall be incremented Index of group ROI_group ROI_Definition Unsigned <none> the ROI belongs Lower right ROI_lower_ ROI_Definition Unsigned <none>...
  • Page 57 O3M151 3D Smart Sensor Basic Function...
  • Page 58 O3M151 3D Smart Sensor Object Detection...

Table of Contents