706380UK

Software manual
Mobile 3D Smart Sensor

O3M151 UK
O3M251
O3M161
O3M261
Basic Function
12 / 2016
706380 / 02
3D Smart Sensor Basic Function
Contents
1 About these instructions��3
1.1 Symbols used ��3
1.2 Safety instructions��3
1.3 Other applicable documents��3
2 3D Smart Sensor��4
2.1 Functions��4
2.2 Measuring principle��5
2.3 Operating check ��6
2.4 Installation position ��6
3 Basic Function��7
3.1 Functions��7
3.1.1 Dimensionality of the ROI��7
3.1.2 Size, number and grouping of the ROI ��8
3.1.3 Output��8
3.1.4 Examples��8
3.1.5 Averaging over time��9
3.2 Possible applications��9
4 Mobile 3D Smart Camera ��10
4.1 2D/3D overlay functions ��10
4.1.1 Icons/Graphics��10
4.1.2 Polygons/Polylines/Ellipses��10
4.1.3 Texts ��10
4.2 Variant-specific overlays �� 11
4.3 Use of logical outputs for representation of graphical objects��12
4.4 Setting up the event-based display��12
4.5 Use of diagnostics within the sensor for representation of graphical objects ��13
5 Commissioning ��14
6 Application examples��15
6.1 Access monitoring��15
6.1.1 Introduction��15
6.1.2 Installation options��15
6.1.3 Parametrisation��17
6.1.4 Data output ��18
6.1.5 Operating property/performance��18
6.2 Approaching aircraft with supply vehicle��19
6.2.2 Attachment options ��19
6.2.3 Parametrisation��20
6.2.4 Relevant output��20
6.2.5 Operating property/performance��20
6.3 Level monitoring in a silo��21
6.3.2 Installation options��21
6.3.3 Parameterisation��21
6.3.4 Relevant output��22
6.3.5 Operating characteristic / performance��22
7 Parameters ��23
8 Interface��24
8.1 CANopen��24
8.2 SAE J1939��54
This document is the original manual.
Licences and Registered Trademarks

Microsoft®, 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.
2
1 About these instructions

These 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 UK
→ Cross-reference
Important note
Failure to observe can result in malfunctions or faults.
Information
Additional note
1.2 Safety instructions

Read 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
Operation instructions of the operating software
Software manual
ifm Vision Assistant
Quick guide Quick guide on operating the 3D Smart Sensor
The documents can be downloaded at: www.ifm.com
3
2 3D Smart Sensor
2.1 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.
4
2.2 Measuring principle

The 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. UK
–– 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 Smart Illumination 3D Smart Illumination

Sensor unit Sensor unit
5
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 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 position

The 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
6
3 Basic Function
3.1 Functions
Distance monitoring with minimum distance
Positioning aid UK
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 ROI

An 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.
ROI ROI
2D 3D
7
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 Output
The 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
z
x5 = 3
y5 = 12
z5 = 5
A5 = 4 y
x4 = 5 x6 = 7
y4 = 9 y6 = 12
z4 = 1 z6 = 3
x1 = 1 A4 = 10 A6 = 6
x2 = 4
y1 = 3
y2 = 8
z1 = 5 x3 = 6
z2 = 3
A1 = 2 y3 = 5
A2 = 3
z3 = 2
A3 = 1
x
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
8
Output value Reference value Output Description

Avg – (x, y, z, A) The average values can only be determined
independently for all dimensions
Percentile = A (x5, y5, z5, A5) 30% of the values (A1, A2 and A3) have an
30% 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 time

For averaging over time the average value of the valid pixels is calculated.
UK
●● 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 applications

The 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
9
4 Mobile 3D Smart Camera

In 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 functions

The 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/Graphics
Icons/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/Ellipses
Simple 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 Texts
Texts 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.
10
UK
Example of the use of a company logo, fixed displayed texts and simple graphics elements
4.2 Variant-specific overlays

In 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
11
4.3 Use of logical outputs for representation of graphical objects

Defined 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 display

Event-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.
12
4.5 Use of diagnostics within the sensor for representation of graphical objects
Texts 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.
UK
13
5 Commissioning
The 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
14
6 Application examples
6.1 Access monitoring
6.1.1 Introduction
The 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.
UK
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
15
z
A
x
Attachment position of sensor for access monitoring, side view
A: Attachment from above

B: 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.
C D
24° 70°
x
Attachment direction of sensor, view from above
C: Vertical attachment
D: Horizontal attachment
For attachment planning → Chapter "2.4 Installation position" on Page 6
Enter mounting position values in the ifm Vision Assistant operating software.
16
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. UK
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.
ROI ROI
max max
Passage monitoring from above with an ROI
Passage monitoring with and without an ROI (ifm Vision Assistant)

A: Monitoring region without an ROI
B: 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.
17
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 output

The 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.
18
6.2 Approaching aircraft with supply vehicle
6.2.1 Introduction
The Basic Function enables distance monitoring when a supply vehicle is approaching an aircraft.
UK
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.
19
6.2.3 Parametrisation
Frame rate
>> 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.

►► With larger areas, more than one ROI is used.
Time averaging
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.
modulo (→ Operating Instructions).
6.2.4 Relevant output

The 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)
20
6.3 Level monitoring in a silo
6.3.1 Introduction
The Basic Function permits the monitoring of the level of cohesive or adhesive material in a silo.
6.3.2 Installation options

For 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.
UK
6.3.3 Parameterisation
Frame rate
>> 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.

►► 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.
ROI Group 2 ROI ROI ROI

ROI2 Group 2 Group 1 Group 2
ROI9 ROI3
ROI1 ROI8 ROI1 ROI4

ROI4
ROI8
ROI7 ROI5
ROI6
min
Fill level monitoring with a central ROI1 (ROI group 1) and a ROI group 2 consisting of ROI2 to ROI9 arranged in a circle
21
Averaging over time

responses and more false detections;
Modulo (→ Operating Instructions).
6.3.4 Relevant output

The 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).
22
7 Parameters
The 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.
UK
23
8 Interface
The 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
Sub Index No.
Default Value
Object Name
Access Type
Object Type
Object No.
Parameter
High Limit
Low Limit
Comment
Name
Fixed to "0"
(Zero) until there
1000 DeviceType 0x7 ro 0 is an adequate
CANopen profile
1001 Error Register 0x7 ro

ly available
on
Predefined
1003 0x8
Error Field
1003 0 Number of Errors 0x7 rw 0 1 4
e
Standard Error
1003 1 0x7 ro 0 1 4
Field
pl
Standard Error
1003 2 0x7 ro 0 1 4
Field_2
m
Standard Error
1003 3 0x7 ro 0 1 4
Field_3
Standard Error
a
1003 4 0x7 ro 0 1 4
Field_4
Ex
Standard Error
1003 5 0x7 ro 0 1 4
Field_5
Standard Error Index 0: Number
1003 6 0x7 ro 0 1 4 of Errors is defined
Field_6
according to the
Standard Error size of the error
1003 7 0x7 ro 0 1 4
Field_7 memory in the
Standard Error diagnosis.
1003 8 0x7 ro 0 1 4
Field_8
Standard Error
1003 9 0x7 ro 0 1 4
Field_9
Standard Error
1003 A 0x7 ro 0 1 4
Field_a
Standard Error
1003 B 0x7 ro 0 1 4
Field_b
Standard Error
1003 C 0x7 ro 0 1 4
Field_c
Standard Error
1003 D 0x7 ro 0 1 4
Field_d
Standard Error
1003 E 0x7 ro 0 1 4
Field_e
24
Sub Index No.
Default Value
Object Name
Access Type
Object Type
Object No.
Parameter
High Limit
Low Limit
Comment
Name
Standard Error
1003 F 0x7 ro 0 1 4
Field_f
Standard Error
1003 10 0x7 ro 0 1 4 Index 0: Number
Field_10
of Errors is defined
Standard Error according to the
1003 11
Field_11
0x7 ro 0 1 4
size of the error
memory in the
UK
Standard Error diagnosis.
1003 12 0x7 ro 0 1 4
Field_12
Standard Error
1003 13 0x7 ro 0 1 4
Field_13
1005 COB ID SYNC 0x7 rw 0x00000080 0x00000080 –
Communication
1006 0x7 rw 0x00000000 –
Cycle Period
(No Index) should
be filled at runtime
with the article
number of the
camera.
Manufacturer Device is Sensor:
ly
1008 0x7 const O3D150
Device Name O3M150
Device is Smart-
on
Sensor: O3M151
(Distance Image
with Basic
Function output)
(No Index) should
e
Manufacturer be filled at runtime

1009 Hardware 0x7 const with the HW
pl
Version Version of the

camera
m
(No Index) should

with the Software
Manufacturer version number
a
100A Software 0x7 const and variant of

Version the camera
Ex
<Major> <Minor>
<Patchlevel>
<Variant>
Store Index 01: Save
1010 Parameter 0x8 all Parameters.
Field This is the list of
parameters to be
1010 0 Number of entries 0x7 ro 1 1 4 stored to Flash
Save all memory:
1010 1 0x7 rw 1 1 4
Parameters - TBD
Restore Default
1011 0x8
Parameters
1011 0 Number of entries 0x7 ro 1 1 4 –
Restore all Default
1011 1 0x7 rw 1 1 4
Parameters
$NODEID
1014 COB ID EMCY 0x7 ro 0x00000080 0x00000100 –
+0x80
Consumer
1016 0x8
Heartbeat Time
1016 0 Number of entries 0x7 ro 1 1 4 –
Consumer
1016 1 0x7 rw 0 1 4
Heartbeat Time
25
Sub Index No.
Default Value
Object Name
Access Type
Object Type
Object No.
Parameter
High Limit
Low Limit
Comment
Name
Producer
1017 0x7 rw 0 –
Heartbeat Time
1018 Identity Object 0x9 Index 01: Vendor
ID is 0x0069666D,
1018 0 Number of entries 0x7 ro 4 1 4 this is the fixed ID
1018 1 Vendor Id 0x7 ro 0x0069666D 1 4 for ifm electronic
Index 02: Product
1018 2 Product Code 0x7 ro 0 1 4
Code :
1018 3 Revision number 0x7 ro 0 1 4 O3M150: 0x0020
0010
O3M151: 0x0020
0011
Index 03: Revision
Number: should
with 0x00 <Major
number> <Minor
1018 4 Serial number 0x7 ro 0 1 4 number> <Patch
Level> of the SW
Version.
Index 04: Serial
ly number: should
with the serial
on
number of the
camera
Transmit PDO Index 02
Communication Transmission
1800 0x9
Parameter Type: 254
e
x_output 0 (manufacturer
defined):
pl
1800 0 Number of entries 0x7 ro 3 0x03 0x03

The mobile
$NODEID camera is typically
1800 1 COB ID 0x7 rw 0x00000080 0xFFFFFFFF
m
+0x40000180 running with

internally defined
Transmission
1800 2 0x7 rw 254 0x00000080 0xFFFFFFFF time/frequency.
Type
a
Thus it will send

1800 3 Inhibit Time 0x7 rw 0x0000 0x00000080 0xFFFFFFFF out the data
Ex
Transmit PDO (TPDOs) as

Communication available, typically
1801 0x9 with cycle time of
Parameter
y_output 0 20ms, 30ms, 40ms
or multiple time:
1801 0 Number of entries 0x7 ro 3 0x03 0x03 two or three times
the cycle time.
$NODEID
1801 1 COB ID 0x7 rw 0x00000080 0xFFFFFFFF Predefinition of
+0x40000280
the TPDOs is in
Transmission such a way, that
1801 2 0x7 rw 254 0x00000080 0xFFFFFFFF
Type all available data
for the Distance
Image variant will
1801 3 Inhibit Time 0x7 rw 0x0000 0x00000080 0xFFFFFFFF be sent out from
the start.
Transmit PDO
Communication
1802 0x9
Parameter
z_output 0
–
$NODEID
+0x40000380
Transmission
1802 2 0x7 rw 254 0x00000080 0xFFFFFFFF
Type
1802 3 Inhibit Time 0x7 rw 0x0000 0x00000080 0xFFFFFFFF
26
Sub Index No.
Default Value
Object Name
Access Type
Object Type
Object No.
Parameter
High Limit
Low Limit
Comment
Name
Transmit PDO
Communication
1803 0x9
Parameter –
ampl_output 0
1803 1 COB ID 0x7 rw

$NODEID
+0x40000480
0x00000080 0xFFFFFFFF UK
Transmission –
1803 2 0x7 rw 254 0x00000080 0xFFFFFFFF
Type
Transmit PDO
Communication
1804 0x9
Parameter
x_output 1
–
$NODEID
+0xC0000000
Transmission
1804 2 0x7 rw 254 0x00000080 0xFFFFFFFF
Type
1804 3 Inhibit Time 0x7 rw 0x0000
ly 0x00000080 0xFFFFFFFF
on
Transmit PDO
Communication
1805 0x9
Parameter
y_output 1
e
–
$NODEID
pl
+0xC0000000
Transmission
1805 2 0x7 rw 254 0x00000080 0xFFFFFFFF
Type
m

Transmit PDO
a
Communication
1806 0x9
Parameter
Ex
z_output 1
–
$NODEID
+0xC0000000
Transmission
1806 2 0x7 rw 254 0x00000080 0xFFFFFFFF
Type
Transmit PDO
Communication
1807 0x9
Parameter
ampl_output 1
–
$NODEID
+0xC0000000
Transmission
1807 2 0x7 rw 254 0x00000080 0xFFFFFFFF
Type
27
Sub Index No.
Default Value
Object Name
Access Type
Object Type
Object No.
Parameter
High Limit
Low Limit
Comment
Name
Transmit PDO
Communication
1808 0x9
Parameter
x_output 2
–
$NODEID
+0xC0000000
Transmission
1808 2 0x7 rw 254 0x00000080 0xFFFFFFFF
Type
Transmit PDO
Communication
1809 0x9
Parameter –
y_output 2
$NODEID
+0xC0000000
Transmission –
1809 2 0x7 rw 254 0x00000080 0xFFFFFFFF
Type
1809 3 Inhibit Time 0x7 rw 0x0000ly 0x00000080 0xFFFFFFFF
on
Transmit PDO
Communication
180A 0x9
Parameter
z_output 2
180A 0 Number of entries 0x7 ro 3 0x03 0x03
e
–
$NODEID
180A 1 COB ID 0x7 rw 0x00000080 0xFFFFFFFF
pl
+0xC0000000
Transmission
180A 2 0x7 rw 254 0x00000080 0xFFFFFFFF
Type
m
180A 3 Inhibit Time 0x7 rw 0x0000 0x00000080 0xFFFFFFFF

Transmit PDO
a
Communication
180B 0x9
Parameter
Ex
ampl_output 2
180B 0 Number of entries 0x7 ro 3 0x03 0x03
–
$NODEID
180B 1 COB ID 0x7 rw 0x00000080 0xFFFFFFFF
+0xC0000000
Transmission
180B 2 0x7 rw 254 0x00000080 0xFFFFFFFF
Type
180B 3 Inhibit Time 0x7 rw 0x0000 0x00000080 0xFFFFFFFF
Transmit PDO
Communication
180C 0x9
Parameter
x_output 3
180C 0 Number of entries 0x7 ro 3 0x03 0x03
–
$NODEID
180C 1 COB ID 0x7 rw 0x00000080 0xFFFFFFFF
+0xC0000000
Transmission
180C 2 0x7 rw 254 0x00000080 0xFFFFFFFF
Type
180C 3 Inhibit Time 0x7 rw 0x0000 0x00000080 0xFFFFFFFF
28
Sub Index No.
Default Value
Object Name
Access Type
Object Type
Object No.
Parameter
High Limit
Low Limit
Comment
Name
Transmit PDO
Communication
180D 0x9
Parameter
y_output 3
180D 0 Number of entries 0x7 ro 3 0x03 0x03
180D 1 COB ID 0x7 rw

$NODEID
+0xC0000000
0x00000080 0xFFFFFFFF
–
UK
Transmission
180D 2 0x7 rw 254 0x00000080 0xFFFFFFFF
Type
180D 3 Inhibit Time 0x7 rw 0x0000 0x00000080 0xFFFFFFFF
Transmit PDO
Communication
180E 0x9
Parameter
z_output 3
180E 0 Number of entries 0x7 ro 3 0x03 0x03
–
$NODEID
180E 1 COB ID 0x7 rw 0x00000080 0xFFFFFFFF
+0xC0000000
Transmission
180E 2 0x7 rw 254 0x00000080 0xFFFFFFFF
Type
180E 3 Inhibit Time 0x7 rw 0x0000
on
Transmit PDO
Communication
180F 0x9
Parameter –
ampl_output 3
180F 0 Number of entries 0x7 ro 3 0x03 0x03
e
$NODEID
180F 1 COB ID 0x7 rw 0x00000080 0xFFFFFFFF
pl
+0xC0000000
Transmission –
180F 2 0x7 rw 254 0x00000080 0xFFFFFFFF
Type
m
180F 3 Inhibit Time 0x7 rw 0x0000 0x00000080 0xFFFFFFFF

Transmit PDO
a
Communication
1810 0x9
Parameter
Ex
x_output 4
–
$NODEID
+0xC0000000
Transmission
1810 2 0x7 rw 254 0x00000080 0xFFFFFFFF
Type
Transmit PDO
Communication
1811 0x9
Parameter
y_output 4
$NODEID –
+0xC0000000
Transmission
1811 2 0x7 rw 254 0x00000080 0xFFFFFFFF
Type
29
Sub Index No.
Default Value
Object Name
Access Type
Object Type
Object No.
Parameter
High Limit
Low Limit
Comment
Name
Transmit PDO
Communication
1812 0x9
Parameter
z_output 4
$NODEID –
+0xC0000000
Transmission
1812 2 0x7 rw 254 0x00000080 0xFFFFFFFF
Type
Transmit PDO
Communication
1813 0x9
Parameter
ampl_output 4
$NODEID –
+0xC0000000
Transmission
1813 2 0x7 rw 254 0x00000080 0xFFFFFFFF
1813 3
Type
Inhibit Time 0x7 rw 0x0000
on
Transmit PDO
Communication
1814 0x9
Parameter
x_output 5
e

$NODEID –
pl

+0xC0000000
Transmission
m
1814 2 0x7 rw 254 0x00000080 0xFFFFFFFF

Type
a
Transmit PDO
Communication
Ex
1815 0x9 –
Parameter
y_output 5
$NODEID
+0xC0000000
–
Transmission
1815 2 0x7 rw 254 0x00000080 0xFFFFFFFF
Type
Transmit PDO
Communication
1816 0x9
Parameter
z_output 5
$NODEID –
+0xC0000000
Transmission
1816 2 0x7 rw 254 0x00000080 0xFFFFFFFF
Type
30
Sub Index No.
Default Value
Object Name
Access Type
Object Type
Object No.
Parameter
High Limit
Low Limit
Comment
Name
Transmit PDO
Communication
1817 0x9
Parameter
ampl_output 5

$NODEID
–
UK
+0xC0000000
Transmission
1817 2 0x7 rw 254 0x00000080 0xFFFFFFFF
Type
Transmit PDO
Communication
1818 0x9
Parameter
x_output 6
$NODEID –
+0xC0000000
Transmission
1818 2 0x7 rw 254 0x00000080 0xFFFFFFFF
1818 3
Type
on
Transmit PDO
Communication
1819 0x9
Parameter
y_output 6
e

$NODEID –
pl

+0xC0000000
Transmission
m
1819 2 0x7 rw 254 0x00000080 0xFFFFFFFF

Type
a
Transmit PDO
Communication
Ex
181A 0x9
Parameter
z_output 6
$NODEID –
+0xC0000000
Transmission
181A 2 0x7 rw 254 0x00000080 0xFFFFFFFF
Type
Transmit PDO
Communication
181B 0x9
Parameter
ampl_output 6
$NODEID –
+0xC0000000
Transmission
181B 2 0x7 rw 254 0x00000080 0xFFFFFFFF
Type
31
Sub Index No.
Default Value
Object Name
Access Type
Object Type
Object No.
Parameter
High Limit
Low Limit
Comment
Name
Transmit PDO
Communication
181C 0x9
Parameter
x_output 7
$NODEID –
+0xC0000000
Transmission
181C 2 0x7 rw 254 0x00000080 0xFFFFFFFF
Type
Transmit PDO
Communication
181D 0x9
Parameter
y_output 7
$NODEID –
181D 1 COB ID 0x7 rw 0x00000080 0xFFFFFFFF
+0xC0000000
Transmission
181D 2 0x7 rw 254 0x00000080 0xFFFFFFFF
181D 3
Type
on
Transmit PDO
Communication
181E 0x9
Parameter
z_output 7
e

$NODEID –
pl

+0xC0000000
Transmission
m
181E 2 0x7 rw 254 0x00000080 0xFFFFFFFF

Type
181E 3 Inhibit Time 0x7 rw 0x0000 0x00000080 0xFFFFFFFF
a
Transmit PDO
Communication
Ex
181F 0x9
Parameter
ampl_output 7
$NODEID –
+0xC0000000
Transmission
181F 2 0x7 rw 254 0x00000080 0xFFFFFFFF
Type
Transmit PDO
Communication
1820 0x9
Parameter
x_output 8
–
$NODEID
+0xC0000000
Transmission
1820 2 0x7 rw 254 0x00000080 0xFFFFFFFF
Type
1820 3 Inhibit Time 0x7 rw 0x0000 0x00000080 0xFFFFFFFF –
32
Sub Index No.
Default Value
Object Name
Access Type
Object Type
Object No.
Parameter
High Limit
Low Limit
Comment
Name
Transmit PDO
Communication
1821 0x9
Parameter
y_output 8

$NODEID
–
UK
+0xC0000000
Transmission
1821 2 0x7 rw 254 0x00000080 0xFFFFFFFF
Type
Transmit PDO
Communication
1822 0x9
Parameter
z_output 8
$NODEID –
+0xC0000000
Transmission
1822 2 0x7 rw 254 0x00000080 0xFFFFFFFF
1822 3
Type
on
Transmit PDO
Communication
1823 0x9
Parameter
ampl_output 8
e

$NODEID –
pl

+0xC0000000
Transmission
m
1823 2 0x7 rw 254 0x00000080 0xFFFFFFFF

Type
a
Transmit PDO
Communication
Ex
1824 0x9
Parameter
x_output 9
$NODEID –
+0xC0000000
Transmission
1824 2 0x7 rw 254 0x00000080 0xFFFFFFFF
Type
Transmit PDO
Communication
1825 0x9
Parameter
y_output 9
$NODEID –
+0xC0000000
Transmission
1825 2 0x7 rw 254 0x00000080 0xFFFFFFFF
Type
33
Sub Index No.
Default Value
Object Name
Access Type
Object Type
Object No.
Parameter
High Limit
Low Limit
Comment
Name
Transmit PDO
Communication
1826 0x9
Parameter
z_output 9
–
$NODEID
+0xC0000000
Transmission
1826 2 0x7 rw 254 0x00000080 0xFFFFFFFF
Type –
Transmit PDO
Communication
1827 0x9
Parameter
ampl_output 9
$NODEID –
+0xC0000000
Transmission
1827 2 0x7 rw 254 0x00000080 0xFFFFFFFF
1827 3
Type
on
Transmit PDO
Communication
1828 0x9
Parameter
x_output 10
e

$NODEID –
pl

+0xC0000000
Transmission
m
1828 2 0x7 rw 254 0x00000080 0xFFFFFFFF

Type
a
Transmit PDO
Communication
Ex
1829 0x9
Parameter
y_output 10
$NODEID –
+0xC0000000
Transmission
1829 2 0x7 rw 254 0x00000080 0xFFFFFFFF
Type
Transmit PDO
Communication
182A 0x9
Parameter
z_output 10
$NODEID –
+0xC0000000
Transmission
182A 2 0x7 rw 254 0x00000080 0xFFFFFFFF
Type
34
Sub Index No.
Default Value
Object Name
Access Type
Object Type
Object No.
Parameter
High Limit
Low Limit
Comment
Name
Transmit PDO
Communication
182B 0x9
Parameter
ampl_output 10
182B 1 COB ID 0x7 rw

$NODEID
–
UK
+0xC0000000
Transmission
182B 2 0x7 rw 254 0x00000080 0xFFFFFFFF
Type
Transmit PDO
Communication
182C 0x9
Parameter –
x_output 11
$NODEID
+0xC0000000
Transmission –
182C 2 0x7 rw 254 0x00000080 0xFFFFFFFF
182C 3
Type
on
Transmit PDO
Communication
182D 0x9
Parameter
y_output 11
e

–
$NODEID
pl

+0xC0000000
Transmission
182D 2 0x7 rw 254 0x00000080 0xFFFFFFFF
m
Type
a
Transmit PDO
Communication
182E 0x9
Ex
Parameter
z_output 11
$NODEID –
+0xC0000000
Transmission
182E 2 0x7 rw 254 0x00000080 0xFFFFFFFF
Type
Transmit PDO
Communication
182F 0x9
Parameter
ampl_output 11
$NODEID –
+0xC0000000
Transmission
182F 2 0x7 rw 254 0x00000080 0xFFFFFFFF
Type
35
Sub Index No.
Default Value
Object Name
Access Type
Object Type
Object No.
Parameter
High Limit
Low Limit
Comment
Name
Transmit PDO
Communication
1830 0x9
Parameter
x_output 12
$NODEID –
+0xC0000000
Transmission
1830 2 0x7 rw 254 0x00000080 0xFFFFFFFF
Type
Transmit PDO
Communication
1831 0x9
Parameter
y_output 12
$NODEID –
+0xC0000000
Transmission
1831 2 0x7 rw 254 0x00000080 0xFFFFFFFF
1831 3
Type
on
Transmit PDO
Communication
1832 0x9 –
Parameter
z_output 12
e

$NODEID
pl

+0xC0000000
–
Transmission
m
1832 2 0x7 rw 254 0x00000080 0xFFFFFFFF

Type
a
Transmit PDO
Communication
Ex
1833 0x9
Parameter
ampl_output 12
$NODEID –
+0xC0000000
Transmission
1833 2 0x7 rw 254 0x00000080 0xFFFFFFFF
Type
Transmit PDO
Communication
1834 0x9
Parameter
x_output 13
$NODEID –
+0xC0000000
Transmission
1834 2 0x7 rw 254 0x00000080 0xFFFFFFFF
Type
36
Sub Index No.
Default Value
Object Name
Access Type
Object Type
Object No.
Parameter
High Limit
Low Limit
Comment
Name
Transmit PDO
Communication
1835 0x9
Parameter
y_output 13

$NODEID
–
UK
+0xC0000000
Transmission
1835 2 0x7 rw 254 0x00000080 0xFFFFFFFF
Type
Transmit PDO
Communication
1836 0x9
Parameter
z_output 13
$NODEID –
+0xC0000000
Transmission
1836 2 0x7 rw 254 0x00000080 0xFFFFFFFF
1836 3
Type
on
Transmit PDO
Communication
1837 0x9
Parameter
ampl_output 13
e

$NODEID –
pl

+0xC0000000
Transmission
m
1837 2 0x7 rw 254 0x00000080 0xFFFFFFFF

Type
a
Transmit PDO
Communication
Ex
1838 0x9
Parameter –
x_output 14
$NODEID
+0xC0000000
Transmission –
1838 2 0x7 rw 254 0x00000080 0xFFFFFFFF
Type
Transmit PDO
Communication
1839 0x9
Parameter
y_output 14
$NODEID –
+0xC0000000
Transmission
1839 2 0x7 rw 254 0x00000080 0xFFFFFFFF
Type
37
Sub Index No.
Default Value
Object Name
Access Type
Object Type
Object No.
Parameter
High Limit
Low Limit
Comment
Name
Transmit PDO
Communication
183A 0x9
Parameter
z_output 14
$NODEID –
+0xC0000000
Transmission
183A 2 0x7 rw 254 0x00000080 0xFFFFFFFF
Type
Transmit PDO
Communication
183B 0x9
Parameter
ampl_output 14
$NODEID –
+0xC0000000
Transmission
183B 2 0x7 rw 254 0x00000080 0xFFFFFFFF
183B 3
Type
on
Transmit PDO
Communication
183C 0x9
Parameter
x_output 15
e

$NODEID –
pl

+0xC0000000
Transmission
m
183C 2 0x7 rw 254 0x00000080 0xFFFFFFFF

Type
a
Transmit PDO
Communication
Ex
183D 0x9
Parameter
y_output 15
$NODEID –
+0xC0000000
Transmission
183D 2 0x7 rw 254 0x00000080 0xFFFFFFFF
Type
Transmit PDO
Communication
183E 0x9 –
Parameter
z_output 15
$NODEID
+0xC0000000
–
Transmission
183E 2 0x7 rw 254 0x00000080 0xFFFFFFFF
Type
38
Sub Index No.
Default Value
Object Name
Access Type
Object Type
Object No.
Parameter
High Limit
Low Limit
Comment
Name
Transmit PDO
Communication
183F 0x9
Parameter
ampl_output 15
183F 1 COB ID 0x7 rw

$NODEID
+0xC0000000
–
UK
Transmission
183F 2 0x7 rw 254 0x00000080 0xFFFFFFFF
Type
Transmit PDO
Communication
1840 Parameter 0x9
- Global_
Information
–
$NODEID
+0xC0000000
Transmission
1840
1840
2
3
Type
Inhibit Time
0x7
0x7
rw
rw
254
0x0000ly 0x00000080
0x00000080
0xFFFFFFFF
0xFFFFFFFF
on
Transmit PDO
Communication
1841 0x9
Parameter -
SyncMsg
e

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

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

Transmit PDO
a
Communication
1842 Parameter 0x9
Ex
- BF Global
Parameters
–
$NODEID
+0xC0000000
Transmission
1842 2 0x7 rw 254 0x00000080 0xFFFFFFFF
Type
Transmit PDO
Communication
1843 0x9
Parameter -
ROI Definition
–
$NODEID
+0xC0000000
Transmission
1843 2 0x7 rw 254 0x00000080 0xFFFFFFFF
Type
Transmit
PDO Mapping
1A00 0x9 –
Parameter
x_output 0
39
Sub Index No.
Default Value
Object Name
Access Type
Object Type
Object No.
Parameter
High Limit
Low Limit
Comment
Name
1A00 0 Number of entries 0x7 rw 1 0 1
PDO Mapping –
1A00 1 0x7 rw 0x21000140 0 1
Entry
Transmit
PDO Mapping
1A01 0x9
Parameter
y_output 0
–
PDO Mapping
1A01 1 0x7 rw 0x21010140 0 1
Entry
Transmit
PDO Mapping
1A02 0x9
Parameter
z_output 0
–
PDO Mapping
1A02 1 0x7 rw 0x21020140 0 1
Entry
Transmit
PDO Mapping
1A03
Parameter
ampl_output 0
0x9
ly –
on
PDO Mapping
1A03 1 0x7 rw 0x21030140 0 1
Entry
Transmit
e
PDO Mapping
1A04 0x9
Parameter
pl
x_output 1
–
m
PDO Mapping
1A04 1 0x7 rw 0x21040140 0 1
Entry
a
Transmit
PDO Mapping
1A05 0x9
Ex
Parameter
y_output 1
–
PDO Mapping
1A05 1 0x7 rw 0x21050140 0 1
Entry
Transmit
PDO Mapping
1A06 0x9
Parameter
z_output 1
–
PDO Mapping
1A06 1 0x7 rw 0x21060140 0 1
Entry
Transmit
PDO Mapping
1A07 0x9
Parameter
ampl_output 1
–
PDO Mapping
1A07 1 0x7 rw 0x21070140 0 1
Entry
40
Sub Index No.
Default Value
Object Name
Access Type
Object Type
Object No.
Parameter
High Limit
Low Limit
Comment
Name
Transmit
PDO Mapping
1A08 0x9
Parameter
x_output 2
–
1A08 1
PDO Mapping
Entry
0x7 rw 0x21080140 0 1 UK
Transmit
PDO Mapping
1A09 0x9 –
Parameter
y_output 2
PDO Mapping –
1A09 1 0x7 rw 0x21090140 0 1
Entry
Transmit
PDO Mapping
1A0A 0x9
Parameter
z_output 2
–
1A0A 0 Number of entries 0x7 rw 1 0 1
1A0A 1
PDO Mapping
Entry
0x7 rw
ly
0x210A0140 0 1
on
Transmit
PDO Mapping
1A0B 0x9
Parameter
ampl_output 2
–
e
1A0B 0 Number of entries 0x7 rw 1 0 1

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

Entry
Transmit
m
PDO Mapping
1A0C 0x9
Parameter
x_output 3
–
a
1A0C 0 Number of entries 0x7 rw 1 0 1

Ex
PDO Mapping
1A0C 1 0x7 rw 0x210C0140 0 1
Entry
Transmit
PDO Mapping
1A0D 0x9
Parameter
y_output 3
–
1A0D 0 Number of entries 0x7 rw 1 0 1
PDO Mapping
1A0D 1 0x7 rw 0x210D0140 0 1
Entry
Transmit
PDO Mapping
1A0E 0x9
Parameter
z_output 3
–
1A0E 0 Number of entries 0x7 rw 1 0 1
PDO Mapping
1A0E 1 0x7 rw 0x210E0140 0 1
Entry
Transmit
PDO Mapping
1A0F 0x9
Parameter
ampl_output 3
–
1A0F 0 Number of entries 0x7 rw 1 0 1
PDO Mapping
1A0F 1 0x7 rw 0x210F0140 0 1
Entry
41
Sub Index No.
Default Value
Object Name
Access Type
Object Type
Object No.
Parameter
High Limit
Low Limit
Comment
Name
Transmit
PDO Mapping
1A10 0x9
Parameter
x_output 4
–
PDO Mapping
1A10 1 0x7 rw 0x21100140 0 1
Entry
Transmit
PDO Mapping
1A11 0x9
Parameter
y_output 4
–
PDO Mapping
1A11 1 0x7 rw 0x21110140 0 1
Entry
Transmit
PDO Mapping
1A12 0x9 –
Parameter
z_output 4
1A12 1
PDO Mapping
Entry
0x7 rw ly
0x21120140 0 1
–
on
Transmit
PDO Mapping
1A13 0x9
Parameter
ampl_output 4
–
e

PDO Mapping
pl
1A13 1 0x7 rw 0x21130140 0 1

Entry
Transmit
m
PDO Mapping
1A14 0x9
Parameter
x_output 5
–
a

Ex
PDO Mapping
1A14 1 0x7 rw 0x21140140 0 1
Entry
Transmit
PDO Mapping
1A15 0x9
Parameter
y_output 5
–
PDO Mapping
1A15 1 0x7 rw 0x21150140 0 1
Entry
Transmit
PDO Mapping
1A16 0x9
Parameter
z_output 5
–
PDO Mapping
1A16 1 0x7 rw 0x21160140 0 1
Entry
Transmit
PDO Mapping
1A17 0x9
Parameter
ampl_output 5
–
PDO Mapping
1A17 1 0x7 rw 0x21170140 0 1
Entry
42
Sub Index No.
Default Value
Object Name
Access Type
Object Type
Object No.
Parameter
High Limit
Low Limit
Comment
Name
Transmit
PDO Mapping
1A18 0x9
Parameter
x_output 6
–
1A18 1
PDO Mapping
Entry
0x7 rw 0x21180140 0 1 UK
Transmit
PDO Mapping
1A19 0x9
Parameter
y_output 6
–
PDO Mapping
1A19 1 0x7 rw 0x21190140 0 1
Entry
Transmit
PDO Mapping
1A1A 0x9
Parameter
z_output 6
–
1A1A 1
PDO Mapping
Entry
0x7 rw
ly
0x211A0140 0 1
on
Transmit
PDO Mapping
1A1B 0x9
Parameter
ampl_output 6
–
e

PDO Mapping
pl
1A1B 1 0x7 rw 0x211B0140 0 1

Entry
Transmit
m
PDO Mapping
1A1C 0x9
Parameter
x_output 7
–
a

Ex
PDO Mapping
1A1C 1 0x7 rw 0x211C0140 0 1
Entry
Transmit
PDO Mapping
1A1D 0x9
Parameter
y_output 7
–
PDO Mapping
1A1D 1 0x7 rw 0x211D0140 0 1
Entry
Transmit
PDO Mapping
1A1E 0x9
Parameter
z_output 7
–
PDO Mapping
1A1E 1 0x7 rw 0x211E0140 0 1
Entry
Transmit
PDO Mapping
1A1F 0x9
Parameter
ampl_output 7
–
PDO Mapping
1A1F 1 0x7 rw 0x211F0140 0 1
Entry
43
Sub Index No.
Default Value
Object Name
Access Type
Object Type
Object No.
Parameter
High Limit
Low Limit
Comment
Name
Transmit
PDO Mapping
1A20 0x9
Parameter
x_output 8
–
PDO Mapping
1A20 1 0x7 rw 0x21200140 0 1
Entry
Transmit
PDO Mapping
1A21 0x9
Parameter
y_output 8
–
PDO Mapping
1A21 1 0x7 rw 0x21210140 0 1
Entry
Transmit
PDO Mapping
1A22 0x9
Parameter
z_output 8
–
1A22 1
PDO Mapping
Entry
0x7 rw ly
0x21220140 0 1
on
Transmit
PDO Mapping
1A23 0x9
Parameter –
ampl_output 8
e

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

Entry
Transmit
m
PDO Mapping
1A24 0x9
Parameter
x_output 9
–
a

Ex
PDO Mapping
1A24 1 0x7 rw 0x21240140 0 1
Entry
Transmit
PDO Mapping
1A25 0x9
Parameter
y_output 9
–
PDO Mapping
1A25 1 0x7 rw 0x21250140 0 1
Entry
Transmit
PDO Mapping
1A26 0x9
Parameter
z_output 9
–
PDO Mapping
1A26 1 0x7 rw 0x21260140 0 1
Entry
Transmit
PDO Mapping
1A27 0x9
Parameter
ampl_output 9
–
PDO Mapping
1A27 1 0x7 rw 0x21270140 0 1
Entry
44
Sub Index No.
Default Value
Object Name
Access Type
Object Type
Object No.
Parameter
High Limit
Low Limit
Comment
Name
Transmit
PDO Mapping
1A28 0x9
Parameter
x_output 10
–
1A28 1
PDO Mapping
Entry
0x7 rw 0x21280140 0 1 UK
Transmit
PDO Mapping
1A29 0x9
Parameter
y_output 10
–
PDO Mapping
1A29 1 0x7 rw 0x21290140 0 1
Entry
Transmit
PDO Mapping
1A2A 0x9
Parameter
z_output 10
–
1A2A 1
PDO Mapping
Entry
0x7 rw
ly
0x212A0140 0 1
on
Transmit
PDO Mapping
1A2B 0x9
Parameter
ampl_output 10
–
e

PDO Mapping
pl
1A2B 1 0x7 rw 0x212B0140 0 1

Entry
Transmit
m
PDO Mapping
1A2C 0x9
Parameter
x_output 11
–
a

Ex
PDO Mapping
1A2C 1 0x7 rw 0x212C0140 0 1
Entry
Transmit
PDO Mapping
1A2D 0x9
Parameter
y_output 11
–
PDO Mapping
1A2D 1 0x7 rw 0x212D0140 0 1
Entry
Transmit
PDO Mapping
1A2E 0x9
Parameter
z_output 11
–
PDO Mapping
1A2E 1 0x7 rw 0x212E0140 0 1
Entry
Transmit
PDO Mapping
1A2F 0x9
Parameter
ampl_output 11
–
PDO Mapping
1A2F 1 0x7 rw 0x212F0140 0 1
Entry
45
Sub Index No.
Default Value
Object Name
Access Type
Object Type
Object No.
Parameter
High Limit
Low Limit
Comment
Name
Transmit
PDO Mapping
1A30 0x9
Parameter
x_output 12
–
PDO Mapping
1A30 1 0x7 rw 0x21300140 0 1
Entry
Transmit
PDO Mapping
1A31 0x9
Parameter
y_output 12
–
PDO Mapping
1A31 1 0x7 rw 0x21310140 0 1
Entry
Transmit
PDO Mapping
1A32 0x9
Parameter
z_output 12
–
1A32 1
PDO Mapping
Entry
0x7 rw ly
0x21320140 0 1
on
Transmit
PDO Mapping
1A33 0x9
Parameter
ampl_output 12
–
e

PDO Mapping
pl
1A33 1 0x7 rw 0x21330140 0 1

Entry
Transmit
m
PDO Mapping
1A34 0x9
Parameter
x_output 13
–
a

Ex
PDO Mapping
1A34 1 0x7 rw 0x21340140 0 1
Entry
Transmit
PDO Mapping
1A35 0x9
Parameter
y_output 13
–
PDO Mapping
1A35 1 0x7 rw 0x21350140 0 1
Entry
Transmit
PDO Mapping
1A36 0x9
Parameter
z_output 13
–
PDO Mapping
1A36 1 0x7 rw 0x21360140 0 1
Entry
Transmit
PDO Mapping
1A37 0x9
Parameter
ampl_output 13
–
PDO Mapping
1A37 1 0x7 rw 0x21370140 0 1
Entry
46
Sub Index No.
Default Value
Object Name
Access Type
Object Type
Object No.
Parameter
High Limit
Low Limit
Comment
Name
Transmit
PDO Mapping
1A38 0x9
Parameter
x_output 14
–
1A38 1
PDO Mapping
Entry
0x7 rw 0x21380140 0 1 UK
Transmit
PDO Mapping
1A39 0x9
Parameter
y_output 14
–
PDO Mapping
1A39 1 0x7 rw 0x21390140 0 1
Entry
Transmit
PDO Mapping
1A3A 0x9
Parameter
z_output 14
–
1A3A 1
PDO Mapping
Entry
0x7 rw
ly
0x213A0140 0 1
on
Transmit
PDO Mapping
1A3B 0x9
Parameter
ampl_output 14
–
e

PDO Mapping
pl
1A3B 1 0x7 rw 0x213B0140 0 1

Entry
Transmit
m
PDO Mapping
1A3C 0x9
Parameter
x_output 15
–
a

Ex
PDO Mapping
1A3C 1 0x7 rw 0x213C0140 0 1
Entry
Transmit
PDO Mapping
1A3D 0x9
Parameter
y_output 15
–
PDO Mapping
1A3D 1 0x7 rw 0x213D0140 0 1
Entry
Transmit
PDO Mapping
1A3E 0x9
Parameter
z_output 15
–
PDO Mapping
1A3E 1 0x7 rw 0x213E0140 0 1
Entry
Transmit
PDO Mapping
1A3F 0x9
Parameter
ampl_output 15
–
PDO Mapping
1A3F 1 0x7 rw 0x213F0140 0 1
Entry
47
Sub Index No.
Default Value
Object Name
Access Type
Object Type
Object No.
Parameter
High Limit
Low Limit
Comment
Name
Transmit
PDO Mapping
1A40 Parameter 0x9
- Global_
Information
PDO Mapping
1A40 1 Entry - GLOB_ 0x7 rw 0x22010120 0 8
master_time
–
PDO Mapping
1A40 2 Entry - GLOB_ 0x7 rw 0x22010208 0 8
Sensor_Available
PDO Mapping
1A40 3 Entry - SwCtrl_ 0x7 rw 0x22010308 0 8
OpMode
PDO Mapping
1A40 4 Entry - Global_ 0x7 rw 0x22010408 0 8
Information_cnt
Transmit
PDO Mapping
1A41
Parameter -
SyncMsg
0x9
ly
on
1A41 0 Number of entries 0x7 rw 1 0 8 –
PDO Mapping
Entry - KP_
1A41 1 0x7 rw 0x22010308 0 8
MasterTime_
LastTxTimeStamp
e
Transmit
pl
PDO Mapping
1A42 Parameter 0x9
- BF Global –
m
Parameters
a
PDO Mapping
1A42 1 Entry - Number of 0x7 rw 0x22020108 0 8
Ex
groups
PDO Mapping
1A42 2 Entry - Number of 0x7 rw 0x22020208 0 8
ROIs
PDO Mapping –
1A42 3 Entry - 0x7 rw 0x22020308 0 8
OutputMode
PDO Mapping
Entry -
1A42 4 0x7 rw 0x22020408 0 8
BF_Global_
Parameters_cnt
48
Sub Index No.
Default Value
Object Name
Access Type
Object Type
Object No.
Parameter
High Limit
Low Limit
Comment
Name
Transmit
PDO Mapping
1A43 0x9
Parameter -
ROI Definition
1A43 1
PDO Mapping
Entry - ROI_cnt
0x7 rw 0x22030108 0 8 UK
PDO Mapping
1A43 2 0x7 rw 0x22030208 0 8
Entry - ROI_group
PDO Mapping
1A43 3 Entry - ROI_ 0x7 rw 0x22030308 0 8
lower_right_x
PDO Mapping
1A43 4 Entry - ROI_ 0x7 rw 0x22030408 0 8 –
lower_right_y
PDO Mapping
1A43 5 Entry - ROI_ 0x7 rw 0x22030508 0 8
number
PDO Mapping
1A43 6 Entry - ROI_
value_type
0x7 rw
ly
0x22030608 0 8
on
PDO Mapping
1A43 7 Entry - ROI_ 0x7 rw 0x22030708 0 8
upper_left_x
PDO Mapping
1A43 8 Entry - ROI_ 0x7 rw 0x22030808 0 8
e
upper_left_y
2100 x_output 0 0x9
pl
2100 0 NrOfObjects 0x7 ro 1 0 8 –

m
2100 1 x_output 0 0x7 ro 1 0 8

2101 y_output 0 0x9
a

2101 1 y_output 0 0x7 ro 1 0 8
Ex
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
49
Sub Index No.
Default Value
Object Name
Access Type
Object Type
Object No.
Parameter
High Limit
Low Limit
Comment
Name
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
210D
y_output 3
0 NrOfObjects
0x9
0x7 ro 1
ly 0 8 –
on
210D 1 y_output 3 0x7 ro 1 0 8
210E z_output 3 0x9
210E 0 NrOfObjects 0x7 ro 1 0 8 –
e
210E 1 z_output 3 0x7 ro 1 0 8

pl
210F ampl_output 3 0x9

210F 0 NrOfObjects 0x7 ro 1 0 8 –
m
210F 1 ampl_output 3 0x7 ro 1 0 8

2110 x_output 4 0x9
a

Ex
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 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
50
Sub Index No.
Default Value
Object Name
Access Type
Object Type
Object No.
Parameter
High Limit
Low Limit
Comment
Name
2117 1 ampl_output 5 0x7 ro 1 0 8
2118 x_output 6 0x9
2118 0 NrOfObjects 0x7 ro 1 0 8 – UK
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
211C
x_output 7
0 NrOfObjects
0x9
0x7 ro 1 ly 0 8 –
on
211C 1 x_output 7 0x7 ro 1 0 8
211D y_output 7 0x9
211D 0 NrOfObjects 0x7 ro 1 0 8 –
e
211D 1 y_output 7 0x7 ro 1 0 8

pl
211E z_output 7 0x9

m
211E 1 z_output 7 0x7 ro 1 0 8

a

Ex

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
51
Sub Index No.
Default Value
Object Name
Access Type
Object Type
Object No.
Parameter
High Limit
Low Limit
Comment
Name
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
212B
212B
ampl_output 10
0 NrOfObjects
0x9
0x7 ro 1
ly 0 8 –
on
212C x_output 11 0x9
e
212C 1 x_output 11 0x7 ro 1 0 8

pl
212D y_output 11 0x9

m
212D 1 y_output 11 0x7 ro 1 0 8

212E z_output 11 0x9
a

Ex
212E 1 z_output 11 0x7 ro 1 0 8

2130 1 x_output 12 0x7 ro 1 0 8
–
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
52
Sub Index No.
Default Value
Object Name
Access Type
Object Type
Object No.
Parameter
High Limit
Low Limit
Comment
Name
2135 1 y_output 13 0x7 ro 1 0 8
2136 z_output 13 0x9
2136 0 NrOfObjects 0x7 ro 1 0 8 – UK
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
213A
z_output 14
0 NrOfObjects
0x9
0x7 ro 1 ly 0 8 –
on
213A 1 z_output 14 0x7 ro 1 0 8
e

pl
213C x_output 15 0x9

m
213C 1 x_output 15 0x7 ro 1 0 8

213D y_output 15 0x9
a

Ex
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
Global_
2201 0x9 –
Information
GLOB_master_
2201 1 0x7 ro 4 0 8
time
GLOB_sensor_
2201 2 0x7 ro 4 0 8 –
available
2201 3 SwCtrl_OpMode 0x7 ro 4 0 65
Global_
2201 4 0x7 ro 4 0 3
Information_cnt
53
Sub Index No.
Default Value
Object Name
Access Type
Object Type
Object No.
Parameter
High Limit
Low Limit
Comment
Name
BF Global
2202 0x9
Parameters
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
BF_Global_
2202 4 0x7 ro 4 0 3
Parameters_cnt
2203 ROI Definition 0x9
ROI_Definition_
2203 1 0x7 ro 8 0 3
cnt
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
2203
6
7
ROI_value_type
ROI_upper_left_x
0x7
0x7
ro
ro
8
8
ly 0
0
3
3
on
2203 8 ROI_upper_left_y 0x7 ro 8 0 3
2210 SyncMsg 0x9
–
e
MasterTime_
2210 1 0x7 ro 1 0 3
LastTxTimeStamp
pl
8.2 SAE J1939

m Length [bit]
Value table
Value type
Maximum
Comment
a
Minimum
Message
Start bit
Factor
Offset
Name
Ex
Unit
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 –
54
Length [bit]
Value table
Value type
Maximum
Comment
Minimum
Message
Start bit
Factor
Offset
Name
Unit
ampl_output_50 BF_ampl_output_12 15 15 Unsigned 2 0 0 65534 – VtSig_ampl_output_50 – UK
ampl_output_59 BF_ampl_output_14 32 15 Unsigned 2 0
ly
0 65534 – VtSig_ampl_output_59 –
on
e

pl

m

a

Ex

55
Length [bit]
Value table
Value type
Maximum
Comment
Minimum
Message
Start bit
Factor
Offset
Name
Unit
ampl_output_40 BF_ampl_output_9 47 15 Unsigned 2 0 ly
0 65534 – VtSig_ampl_output_40 –
on
BF_Global_
BF_Global_ BF_Global_
22 2 Unsigned 1 0 0 3 – <none> Parameters
Parameters_cnt Parameters
message counter
Number_of_ BF_Global_ VtSig_Number_of_ Number of
0 7 Unsigned 1 0 0 64 –
groups Parameters groups defined groups
e
BF_Global_ Number of
Number_of_rois 8 7 Unsigned 1 0 0 64 – VtSig_Number_of_rois
pl
Parameters defined ROIs

BF_Global_ The output
outputMode 16 3 Unsigned 1 0 0 5 – VtSig_outputMode
Parameters configuration
m
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 –
a

Ex

56
Length [bit]
Value table
Value type
Maximum
Comment
Minimum
Message
Start bit
Factor
Offset
Name
Unit
x_output_53 BF_x_output_13 0 15 Unsigned 0.01 -100 -100 100 m VtSig_x_output_53 – UK
x_output_62 BF_x_output_15 15 15 Unsigned 0.01 -100
ly
-100 100 m VtSig_x_output_62 –
on
e

pl

m

a

Ex

57
Length [bit]
Value table
Value type
Maximum
Comment
Minimum
Message
Start bit
Factor
Offset
Name
Unit
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 –
y_output_3 BF_y_output_0 32 15 Unsigned 0.01 -100 ly
-100 100 m VtSig_y_output_3 –
on
e

pl

m

a

Ex

58
Length [bit]
Value table
Value type
Maximum
Comment
Minimum
Message
Start bit
Factor
Offset
Name
Unit
y_output_63 BF_y_output_15 32 15 Unsigned 0.01 -100 -100 100 m VtSig_y_output_63 – UK
y_output_16 BF_y_output_3 47 15 Unsigned 0.01 -100
ly
-100 100 m VtSig_y_output_16 –
on
e

pl

m

a

Ex

59
Length [bit]
Value table
Value type
Maximum
Comment
Minimum
Message
Start bit
Factor
Offset
Name
Unit
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 –
z_11_cnt BF_z_output_11 62 2 Unsigned 1 0 ly
0 3 n/a <none> –
on
e

pl

m

a

Ex

60
Length [bit]
Value table
Value type
Maximum
Comment
Minimum
Message
Start bit
Factor
Offset
Name
Unit
z_4_cnt BF_z_output_4 62 2 Unsigned 1 0 0 3 n/a <none> – UK
z_output_25 BF_z_output_6 0 15 Unsigned 0.01 -100
ly
-100 100 m VtSig_z_output_25 –
on
e

pl

m

a

Ex

z_9_cnt BF_z_output_9 62 2 Unsigned 1 0 0 3 n/a <none>
GLOB_master_
Global_Information 0 32 Unsigned 1 0 0 4,29E+14 µs <none> –
time
BIT_
GLOB_sensor_
Global_Information 32 8 Unsigned 1 0 0 255 enum <none> INTERFERENCE_
available
DETECTED (1u)
Global_
Global_Information 46 2 Unsigned 1 0 0 3 – <none> –
Information_cnt
VtSig_SwCtrl_
SwCtrl_OpMode Global_Information 40 6 Unsigned 1 0 0 63 – –
OpMode
61
Length [bit]
Value table
Value type
Maximum
Comment
Minimum
Message
Start bit
Factor
Offset
Name
Unit
2 Bit counter,
same all ROI
messages,
ROI_cnt ROI_Definition 38 2 Unsigned 1 0 0 3 n/a <none> at next ROI
message cycle,
counter shall be
incremented
Index of group
ROI_group ROI_Definition 16 7 Unsigned 1 0 0 64 n/a <none> the ROI belongs
to
Lower right
ROI_lower_
ROI_Definition 8 6 Unsigned 1 0 0 63 n/a <none> corner coordinate
right_x
in x-direction
Lower right
ROI_lower_
ROI_Definition 24 4 Unsigned 1 0 0 15 n/a <none> corner coordinate
right_y
in y-direction
Id of the ROI,
ROI_number ROI_Definition 32 6 Unsigned 1 1 1 64 n/a <none> equals the index
in the array
The type of
ROI_output_ VtSig_ROI_output_
ROI_Definition 6 2 Unsigned 1 0 0 2 n/a output (min/max/
value_type value_type
mean)
ROI_upper_left_x ROI_Definition 0 6 Unsigned 1 0

ly
0 63 n/a <none>
Upper left corner
coordinate in
on
x-direction
Upper left corner
ROI_upper_left_y ROI_Definition 28 4 Unsigned 1 0 0 15 n/a <none> coordinate in
y-direction
e
Measured time
value of last sent
pl
Mastertime_
SyncMsg 0 32 Unsigned 1 0 0 4,29E+14 us <none> transmission of
LastTxTimeStamp
this signal on
CAN
a m
Ex
62

706380UK

Загружено:

Сведения о документе

Авторское право

Доступные форматы

Поделиться этим документом

Поделиться или встроить документ

Параметры публикации

Этот документ был вам полезен?

Это неприемлемый материал?

Авторское право:

Доступные форматы

706380UK

Загружено:

Авторское право:

Доступные форматы

Software manual

Mobile 3D Smart Sensor

This document is the original manual.

Licences and Registered Trademarks

1 About these instructions

1.1 Symbols used

1.2 Safety instructions

1.3 Other applicable documents

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

2.2 Measuring principle

●● Clean sensor window

●● Clear in immediate vicinity

3D Smart Illumination 3D Smart Illumination

2.3 Operating check

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

2.4 Installation position

Distance monitoring with minimum distance

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

3.1.1 Dimensionality of the ROI

3.1.2 Size, number and grouping of the ROI

Output value Reference value Output Description

3.1.5 Averaging over time

3.2 Possible applications

4 Mobile 3D Smart Camera

4.1 2D/3D overlay functions

4.2 Variant-specific overlays

4.3 Use of logical outputs for representation of graphical objects

4.4 Setting up the event-based display

6.1.2 Installation options

Attachment position of sensor for access monitoring, side view

A: Attachment from above

For attachment planning → Chapter "2.4 Installation position" on Page 6

ROI (Region of Interest)

Passage monitoring from above with an ROI

Passage monitoring with and without an ROI (ifm Vision Assistant)

For installation from above:

Averaging over time

6.1.4 Data output

6.1.5 Operating property/performance

6.2 Approaching aircraft with supply vehicle

6.2.2 Attachment options

Avoid angled attachment to prevent poor vision and reflection.

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

ROI (Region of Interest)

6.2.4 Relevant output

6.2.5 Operating property/performance

6.3 Level monitoring in a silo

6.3.2 Installation options

ROI (Region of Interest)

ROI Group 2 ROI ROI ROI

ROI1 ROI8 ROI1 ROI4

Averaging over time

6.3.4 Relevant output

6.3.5 Operating characteristic / performance

1001 Error Register 0x7 ro

Sub Index No.

Manufacturer be filled at runtime

Version Version of the

(No Index) should

100A Software 0x7 const and variant of

Sub Index No.

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

+0x40000180 running with

Thus it will send