IFM Electronic Efector 250 O3M151 Owner's manual

Programming Manual
Mobile 3D Smart Sensor
O3M151
Object Detection
706381/00 11/2014
UK

O3M151 3D Smart Sensor Object Detection
2
Contents
1 About these instructions � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �3
1�1 Symbols used � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �3
1�2 Safety instructions � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �3
1�3 Other applicable documents� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �3
2 Smart Sensor � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �4
2�1 Functions � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �4
2�2 Measuring principle � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �5
2�3 Operating check � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �6
2�4 Installation position � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �6
3 Object Detection � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �7
3�1 Functions � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �7
3�2 Possible applications � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �7
4 Commissioning � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �8
5 Application examples � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �9
5�1 Area monitoring � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �9
5�1�1 Introduction� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �9
5�1�2 Attachment options� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �9
5�1�3 Parametrisation � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � 11
5�1�4 Relevant output � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �12
5�1�5 Operating property/performance � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �12
5�2 Reflector tracking of marked driverless vehicles � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �13
5�2�1 Introduction� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �13
5�2�2 Attachment options� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �13
5�2�3 Parametrisation � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �13
5�2�4 Relevant output � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �13
5�2�5 Operating property/performance � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �14
6 Parameters � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �15
7 Interface � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �20
7�1 CANopen � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �20
7�2 SAE J1939 � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � �48
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�

3
O3M151 3D Smart Sensor Basic Function
UK
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
►Instruction
> Reaction, result
→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 Item No.
Device manual Operating Instructions of O3M15x Sensors 706383
Programming manual
Operation instruction of the PC operating program
ifm Vision Assistant for carrying out a program update
and changing parameters
706384
Quick guide Quick guide on operating the O3M15x sensor 80222723
The software and documents are available on the ifm homepage in the
Downloadarea.→www.ifm.com→myifm→Download

O3M151 3D Smart Sensor Object Detection
4
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�
The 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 PMD 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 auto-
mation 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 programming manual
The pre-processed functional data are output via the CAN bus, with via CANopen or SAE J 1939�
→Chapter"7 Interface" on Page 20
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�

5
O3M151 3D Smart Sensor Basic Function
UK
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:
●Clean sensor window
– Cleanliness is a basis for the reliable operation of optical sensors� Dirt or liquids reduce the light
transmission and cause light scatter� This effect can affect the resolution and the measuring range
of the sensor system�
– Water droplets on the sensor glass can lead to unclear detection of the scene� The objects are de-
tected as 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 illumi-
nation unit� The emitted infrared light makes the sensor virtually independent of the ambient lighting
conditions� In case of bright sunlight, restrictions in the system range can result 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 the illuminated area of the illumination unit in the immediate vicinity (up to 50 cm) of attached
parts clear�
Sensor
O3M15x
Illumination
unit
O3M950
Sensor
O3M15x
Illumination
unit
O3M950

O3M151 3D Smart Sensor Object Detection
6
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�
●the "Blockage Detection" function actively detects relevant soiling, condensation on or icing-up of the
sensor;
(This function is not yet available with the SW Version OD 2�2�4 and OD 2�2�5� It will be possible to
activate this function later in a firmware update�)
●The "Diffuse Scene" function actively detects diffuse faults, such as dense fog or clouds of dust in the
sensor area�
Internal diagnosis of the hardware for faults → Operating instructions
●Application-specific solutions can result simply and especially conveniently with a controller (e�g�
CR040X) or display (e�g CR108X) based on the functional output�
There are special CODESYS libraries for receiving and interpreting the CAN signals of the O3M151
Smart Sensor� In addition, various application examples on a CODESYS basis are also available�
→www.ifm.com→myifm→Download
2.4 Installation position
The following aids are available for positioning the 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 →Datasheet

7
O3M151 3D Smart Sensor Basic Function
UK
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� A broad
range of information is available for each object:
●Position and orientation in the space (x, y, z)
●Size of the object
●Relative speed of the object
●Qualitative evaluation (quality) of this information
Reflector detection
Reflectors can be used for marking and individual tracking of interesting objects� These are detected
separately and with a greater range� Depending on the reflectivity, it is possible, for example, to use warn-
ing vests as reflectors�
Collision prediction
The Smart Sensor can predict potential collisions very accurately by evaluating the vehicle's own speed
and its yaw rate�
This function offers a major advantage compared to collision warnings based purely on a distance meas-
urement� In addition, the speed and direction of the own vehicle and objects are also taken into account�
(This function is not yet available with the SW Version OD 2�2�4 and OD 2�2�5� It will be possible to acti-
vate this function later in a firmware update�)
3.2 Possible applications
●Area monitoring with static attachment and with attachment to a vehicle (from several user-definable
areas simultaneously)
●Marking, identification and specific tracking of reflected objects
●Vehicle automation (AGV: automated guided vehicle)
●Collision prediction

O3M151 3D Smart Sensor Object Detection
8
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

9
O3M151 3D Smart Sensor Basic Function
UK
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
●Control and/or signalling of opening via the controller based on the CAN sensor signals�
●Attachment to a vehicle and monitoring of areas in the driving path
●Selective distinction between normal and reflective objects
●Evaluation of the presence of the object in the sensor's field of vision
●Filtering of the objects by size and speed
●Monitoring of access to tunnel boring machines or to other accessible machines
When using an ifm controller or display, the included CODESYS module can be used to receive and inter-
pret the CAN signals� CODESYS program examples of various applications are available in the Download
area�
→www.ifm.com→myifm→Download
5.1.2 Attachment options
Static attachment
The Smart Sensor can be attached opposite or above the area to be monitored�

O3M151 3D Smart Sensor Object Detection
10
A
B
z
x
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�
●Pos� B: Height between 50 cm and 1�50 m
> Advantage: The visible area is only limited by the system range�
> Disadvantage: The visible area can be blocked by a person�

11
O3M151 3D Smart Sensor Basic Function
UK
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�
The Object Detection function enables area monitoring by attaching the Smart Sensor to a vehicle�
►Mount the Smart Sensor tilted downward on the vehicle�
►Mounting position values in the ifm Vision Assistant operating software�
5.1.3 Parametrisation
There is a separate template/wizard for area monitoring
→ Ifm Vision Assistant programming manual
Object detection range (height)
A minimal and a maximal object detection height can be defined�
●The minimal height provides for a clear separation between the floor and the objects�
●The maximal height limits the object recognition in the height (height-adjustable objects)�
> The minimal height (Zmin) should be set to 0,5 m and the maximal height (Zmax) should correspond
to the vehicle height less a tolerance (~20 cm)�
Frame rate
►Set the frame rate to 33 Hz�
Object detection type
►Set the Object Detection parameter to "Standard Mode"� (Parameter ObjectListCust_objectDetection-
Variant=0)
If a distinction is to be made between normal objects and objects with retro reflectors, the parameter
ObjectListCust_objectDetectionVariant=1 can be set�
►Set noise suppression filter to "Level 2"�
If the load on the CAN bus is too great, it can be reduced with the setting
CANoutputcycleModulo.→Operatinginstructions

O3M151 3D Smart Sensor Object Detection
12
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� 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)�
SeeOutput→Chapter"7 Interface" on Page 20�
5.1.5 Operating property/performance
●The detection performance is dependent on the distance, size and reflectivity of an object�
●For attachment from above:
The minimum detectable object height is dependent on the system parametrisation� Under the poorest
conditions, this is 50 cm�
●For frontal attachment:
The minimum range for the detection of persons in the monitoring area is 1 m to 15 m with normal
ambient conditions�

13
O3M151 3D Smart Sensor Basic Function
UK
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� The distance between the DTSs can be defined depending on the speed difference�
In addition, it is possible to define areas in front of the vehicle and to monitor them for any desired objects�
5.2.2 Attachment options
►Attach Smart Sensor horizontally on vehicle at a height between 50 cm and 1�50 m�
►Mark vehicles with reflectors�
►Mounting position values in the ifm Vision Assistant operating software�
5.2.3 Parametrisation
If the load on the CAN bus is too great, it can be reduced with the setting
CANoutputcycleModulo.→Operatinginstructions
Frame rate
►Set the frame rate to 33 Hz�
Object detection type
►Set parameter (ObjectListCust_objectDetectionVariant=1) to "Reflector Detection"�
►Set noise suppression filter to "Level 2"�
►Recommended number of objects which are transmitted via CAN: 12
5.2.4 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�

O3M151 3D Smart Sensor Object Detection
14
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)�
SeeOutput→Chapter"7 Interface" on Page 20�
5.2.5 Operating property/performance
●The detection performance is dependent on the distance, size and reflectivity of an object�
> Detection performance with reflectors: min� 1 m/max� 60 m
●The minimum range under typical conditions for the detection of persons in the monitoring area is 1 m
to 15 m with normal ambient conditions�
> The relevant speed for this application is typically in the range of +/- 2 km/h

15
O3M151 3D Smart Sensor Basic Function
UK
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 �
Parameter Name Parameter Value Param. Type Param. Array Length Min. Max. Param. Description Vision Assi- stant
CycleTime 40 uint8 1 20 40 Internal cycle ti-
me of the camera
(20ms/30ms/40ms)� Every
cycle time a new 3D image
is captured and processed�
Application→ImageSet-
tings→FrameRate(value
as frequency instead of
cycle time)
BeginHeatingTemperature 5 sint8 1 -128 127 Temperature at which the
sensor window heating is
turned on (in °C)
DeviceSettings→Window
Heating On Temperature
StopHeatingTemperature 8 sint8 1 -128 127 Temperature at which the
sensor window heating is
turned off (in °C)� Should
be higher than turn on with
hysteresis�
Is set by the system auto-
matically as Begin Heating
Temperature + 3 °C
CANBaudrate 250000 uint32 1 125000 1000000 CAN Baudrate of the
sensor� Possible values
125kbs 250kbs 500kbs
1000kbs
CAN→Baudrate
MasterSlaveConfiguration 0 uint8 1 0 8 If multiple sensor are used
with overlapping viewing
areas and on the same
CAN network they can
be synchronized with this
parameter� Not supported
in firmware at SOP� Will
be made available by
firmware update�
DeviceSettings→Syn-
chronisation of multiple
sensors
CANMaxNumberOfOb-
jects
8 uint8 1 0 20 Configuration of maximum
number of objects in Ob-
ject List available on CAN
(J1939 only, CANOpen is
configured with CANOpen
Master)
CAN→MaxNumberof
Objects
CANProtocol 0 uint8 1 0 1 CAN protocol: 0 = J1939, 1
= CANopen
CAN→CANProtocol
CANopenNodeAddress 10 uint8 1 1 127 CANopen Node value (on-
ly in case of CANOpen)
CAN→NodeID
CANOutputCycleModulo 1 uint8 1 1 3 Defines the cycletime of
can messages: every n-th
camera cycle can mes-
sages are sent� With this
setting the CAN bus load
can be limited�
CAN→OutputCycle
Modulo
J1939SourceAddress 239 uint8 1 1 253 J1939 source address
(only in case of J1939)
CAN→SourceAddress
Ipv4AddressCamera 192 168 1 1 uint8 4 0 255 Ipv4 address of sensor Ethernet→IPaddress
SubnetMask 255 255 255 0 uint8 4 0 255 Subnet mask of camera Ethernet→SubnetMask
Ipv4AddressDestination 255 255 255 255 uint8 4 0 255 Ipc4AddressDestination of
the UDP packets
Ethernet→IPDestination
destinationUDPPort 42000 uint16 1 0 65535 Destination UDP port for
the UDP packets
Ethernet→UDPPort

O3M151 3D Smart Sensor Object Detection
16
Parameter Name Parameter Value Param. Type Param. Array Length Min. Max. Param. Description Vision Assi- stant
EthernetOutputConfigu-
ration
0 uint8 1 0 1 0 is customer output (up to
6MBit/s),
1 is ifm development de-
bug output (up to 60MBit/s)
Only changeable if used
for recording of sequen-
ces.Monitor→Record
Options→DebugData
On/Off
EthernetLoadConfigu-
ration
1 uint8 1 1 4 EthernetOutput only every
n-th system cycle
–
DistanceImageOnSwitch 1 uint8 1 0 1 Distace data over ether-
net can be de-activated
with this parameter� 0 is
DistanceImage off, 1 is
DistanceImage on� (If de-
activated only functional
results will be transmitted
over ethernet)
EthernetSettings→Di-
stance Image On Switch
VehicleDim_xMin -1 float32 1 -20 20 Vehicle dimension descrip-
tion (in world coordinates),
axis-parallel box on the
ground plane� (Only
necessary for intelligent
crash prediction)
Template in Vision Assi-
stant SW will be available
with later update�
VehicleDim_xMax 1 float32 1 -20 20 Vehicle dimension descrip-
tion (in world coordinates),
axis-parallel box on the
ground plane� (Only
necessary for intelligent
crash prediction)
Template in Vision Assi-
stant SW will be available
with later update�
VehicleDim_yMin -1 float32 1 -20 20 Vehicle dimension descrip-
tion (in world coordinates),
axis-parallel box on the
ground plane� (Only
necessary for intelligent
crash prediction)
Template in Vision Assi-
stant SW will be available
with later update�
VehicleDim_yMax 1 float32 1 -20 20 Vehicle dimension descrip-
tion (in world coordinates),
axis-parallel box on the
ground plane� (Only
necessary for intelligent
crash prediction)
Template in Vision Assi-
stant SW will be available
with later update�
VehicleDim_zMax 2 float32 1 0 10 Vehicle dimension descrip-
tion (in world coordinates),
axis-parallel box on the
ground plane� (Only
necessary for intelligent
crash prediction)
Template in Vision Assi-
stant SW will be available
with later update�
PMDExtrCalib_cam-
Cal_transX
0 float32 1 -10 10 Position of sensor in world:
X translation [m]� Please
refer to Manual O3M15x
for details�
Calibration→follow
instructions
PMDExtrCalib_cam-
Cal_transY
0 float32 1 -10 10 Position of sensor in world:
Y translation [m]� Please
refer to Manual O3M15x
for details�
Calibration→follow
instructions
PMDExtrCalib_cam-
Cal_transZ
1 float32 1 -10 10 Position of sensor in world:
Z translation [m]� Please
refer to Manual O3M15x
for details�
Calibration→follow
instructions
PMDExtrCalib_cam-
Cal_rotX
-1�57E+00 float32 1 -3�14 3�14 Orientation of sensor in
world: X rotation [rad]
Calibration→follow
instructions
PMDExtrCalib_cam-
Cal_rotY
1�57E+00 float32 1 -3�14 3�14 Orientation of sensor in
world: Y rotation [rad]
Calibration→follow
instructions
PMDExtrCalib_cam-
Cal_rotZ
0 float32 1 -3�14 3�14 Orientation of sensor in
world: Z rotation [rad]
Calibration→follow
instructions

17
O3M151 3D Smart Sensor Basic Function
UK
Parameter Name Parameter Value Param. Type Param. Array Length Min. Max. Param. Description Vision Assi- stant
PMDExtrCalib_IlluCal_
transX
0�047 float32 1 -10 10 Position of illumination in
world: X translation [m]�
Please refer to Manual
O3M15x for details�
Calibration→follow
instructions
PMDExtrCalib_IlluCal_
transY
0�085 float32 1 -10 10 Position of illumination in
world: Y translation [m]�
Please refer to Manual
O3M15x for details�
Calibration→follow
instructions
PMDExtrCalib_IlluCal_
transZ
0�948 float32 1 -10 10 Position of illumination in
world: Z translation [m]�
Please refer to Manual
O3M15x for details�
Calibration→follow
instructions
ObjectListCust_sprayRe-
movalSensitivity
0 uint8 1 0 3 Filters pixels for diffuse
optical disturbances�
0=off; 1=weak; 2=medium;
3=strong
Application→ImageSet-
tings→Sprayremoval
ObjectListCust_pixelPlau-
sibilizationThresholds
2 uint8 1 0 2 Filters pixels for distance
noise� 0=off; 1=weak;
2=medium; 3=strong
Application→ImageSet-
tings→Noisereduction
filter
ObjectListCust_blockage-
Sensitivity
0 uint8 1 0 3 Sensor can actively scan
for blockage of screen
(with e�g� ice, condensa-
tion, dirt)� Not supported
in firmware at SOP� Will
be made available by
firmware update�
Application→Image
Settings→Blockage
detection
ObjectListCust_spatialFil-
terXMin
-100 float32 1 -100 100 Spatial filter on the cartesi-
an coordinates� Only pixels
within this range will be ta-
ken into account� Minimum
value in x-direction�
Application→ImageSet-
tings→ExpertMode
ObjectListCust_spatialFil-
terXMax
100 float32 1 -100 100 Spatial filter on the cartesi-
an coordinates� Only pixels
within this range will be
taken into account� Maxi-
mum value in x-direction�
Application→ImageSet-
tings→ExpertMode
ObjectListCust_spatialFil-
terYMin
-100 float32 1 -100 100 Spatial filter on the cartesi-
an coordinates� Only pixels
within this range will be ta-
ken into account� Minimum
value in y-direction�
Application→ImageSet-
tings→ExpertMode
ObjectListCust_spatialFil-
terYMax
100 float32 1 -100 100 Spatial filter on the cartesi-
an coordinates� Only pixels
within this range will be
taken into account� Maxi-
mum value in y-direction�
Application→ImageSet-
tings→ExpertMode
ObjectListCust_spatialFil-
terZMin
-100 float32 1 -100 100 Spatial filter on the cartesi-
an coordinates� Only pixels
within this range will be ta-
ken into account� Minimum
value in z-direction�
Application→ImageSet-
tings→ExpertMode
ObjectListCust_spatialFil-
terZMax
100 float32 1 -100 100 Spatial filter on the cartesi-
an coordinates� Only pixels
within this range will be
taken into account� Maxi-
mum value in z-direction�
Application→ImageSet-
tings→ExpertMode

O3M151 3D Smart Sensor Object Detection
18
Parameter Name Parameter Value Param. Type Param. Array Length Min. Max. Param. Description Vision Assi- stant
ObjectListCust_reflector-
ThresholdValue
0 float32 1 0 1 Value for setting the reflec-
tivity threshold to detect
retroreflectors� The default
setting 0 means high sen-
sitivity for reflectors with
possible detection of non-
reflectors� The maximum
setting of 1 means low
sensitivity for reflectors�
Application→Image
Settings→Reflector
Threshold Value (4 pos-
sible values: Max, Med,
Low, Min)
ObjectListCust_autocali-
brationMode
0 uint8 1 0 42 Autocalibration Mode (0:
disabled, 1: enabled); if
ground is visible, small
changes in rotation angles
are corrected automatically
Application→ObjectDe-
tection→AutoCalibration
Mode
ObjectListCust_object-
DetectionVariant
1 uint8 1 0 1 Object detection variant
selection (0: standard
object list (all objects
are detected, no special
tracking of reflectors, crash
predictor can be used,
1: Retroreflector mode
(all objects are detected,
reflectors are specially
tracked and priorized in
output))
Application→ObjectDe-
tection→ObjectDetection
Type
ObjectListCust_Object-
DetectionZMin
0,5 float32 1 -10 10 Minimum z coordinate
(height) for normal object
detection� All objects below
this threshhold are ignored
("can be driven over")�
Application→Object
Detection→MinHeightof
Detection
ObjectListCust_Object-
DetectionZMax
2 float32 1 -10 10 Maximum z coordinate
(height) for normal object
detection� All objects below
this threshhold are ignored
("can be driven under",
e�g� bridge)�
Application→Object
Detection→MaxHeightof
Detection
ObjectListCust_CrashPre-
dictorSensitivity
0 uint8 1 0 3 Customization of crash
predictor (0: low sensitivity,
1: low sensitivity without
"driver active" filter, 2: low
sensitivity without filter
heuristics, 3: high sensi-
tivity (Only necessary for
intelligent crash prediction)
Template in Vision Assi-
stant SW will be available
with later update�
ObjectListCust_EgoMoti-
onDynamics
2 uint8 1 0 2 Characterization of ego
motion dynamics for crash
predictor (0: low dynamics,
e�g� AGVs, 1: medium dy-
namics, e�g� construction
vehicles, 2: high dynamics,
e�g� cars) (Only neces-
sary for intelligent crash
prediction)
Template in Vision Assi-
stant SW will be available
with later update�
ObjectListCust_UseCase-
Approach
1 uint8 1 0 1 Customization of UseCase
approach for crash
predictor (0: disabled, 1:
enabled) (Only neces-
sary for intelligent crash
prediction)
Template in Vision Assi-
stant SW will be available
with later update�

19
O3M151 3D Smart Sensor Basic Function
UK
Parameter Name Parameter Value Param. Type Param. Array Length Min. Max. Param. Description Vision Assi- stant
ObjectListCust_accBrake 10 float32 1 0 30 Definition of brake accele-
ration for crash predictor
(Only necessary for intelli-
gent crash prediction)
Template in Vision Assi-
stant SW will be available
with later update�
ObjectListCust_delay-
Brake
0�2 float32 1 0 2 Definition of brake delay
for crash predictor (Only
necessary for intelligent
crash prediction)
Template in Vision Assi-
stant SW will be available
with later update�
ObjectListCust_egoVMin 0 float32 1 -200 200 Definition of minimal ego
velocity for calculating
crash events (Only neces-
sary for intelligent crash
prediction)
Template in Vision Assi-
stant SW will be available
with later update�
ObjectListCust_egoVMax 0 float32 1 -200 200 Definition of maximal ego
velocity for calculating
crash events (Only neces-
sary for intelligent crash
prediction)
Template in Vision Assi-
stant SW will be available
with later update�
ObjectListCust_EgoDa-
taMode
2 uint8 1 0 2 "Enables ego velocity
calculation and yaw rate
input
0: ego velocity and Yaw
Rate are taken into ac-
count; 1: only ego velocity;
2: no data used� (Only
necessary for intelligent
crash prediction)"
Template in Vision Assi-
stant SW will be available
with later update�
AutoCalibParam_
numberOfPatterns
0 uint8 1 0 8 Number of patterns to be
used for autocalibration
(0,1 : autocalibration dis-
abled)� Specialautocalibra-
tion mode for measuring
the rotational angles based
on reflector targets at
defined positions� Number
of reflectors used� Should
be at least 3�
Template in Vision Assi-
stant SW will be available
with later update�
AutoCalibParam_xPattern 0 float32 8 -30 30 x coordinates [m] of the
autocalibration patterns
in relation to the defined
world coordinate system�
Template in Vision Assi-
stant SW will be available
with later update�
AutoCalibParam_yPattern 0 float32 8 -30 30 y coordinates [m] of the
autocalibration patterns
in relation to the defined
world coordinate system�
Template in Vision Assi-
stant SW will be available
with later update�
AutoCalibParam_zPattern 0 float32 8 -30 30 z coordinates [m] of the
autocalibration patterns
in relation to the defined
world coordinate system�
Template in Vision Assi-
stant SW will be available
with later update�
AutoCalibParam_pattern-
Type
0 uint8 8 0 10 Type of the autocalibration
patterns
Template in Vision Assi-
stant SW will be available
with later update�

O3M151 3D Smart Sensor Object Detection
20
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
Object No. Object Name Sub Index No. Parameter Name Object Type Access Type Default Value Low Limit High Limit Comment
1000 DeviceType 0x7 ro 0
Fixed to "0"
(Zero) until there
is an adequate
CANopen profile
available
1001 Error Register 0x7 ro
1003 Predefined Error
Field 0x8
Index 0: Number
of Errors is defined
according to the
size of the error
memory in the
diagnosis�
1003 0 Number of Errors 0x7 rw 0 1 4
1003 1 Standard Error
Field 0x7 ro 0 1 4
1003 2 Standard Error
Field_2 0x7 ro 0 1 4
1003 3 Standard Error
Field_3 0x7 ro 0 1 4
1003 4 Standard Error
Field_4 0x7 ro 0 1 4
1003 5 Standard Error
Field_5 0x7 ro 0 1 4
1003 6 Standard Error
Field_6 0x7 ro 0 1 4
1003 7 Standard Error
Field_7 0x7 ro 0 1 4
1003 8 Standard Error
Field_8 0x7 ro 0 1 4
1003 9 Standard Error
Field_9 0x7 ro 0 1 4
1003 A Standard Error
Field_a 0x7 ro 0 1 4
1003 B Standard Error
Field_b 0x7 ro 0 1 4
1003 C Standard Error
Field_c 0x7 ro 0 1 4
1003 D Standard Error
Field_d 0x7 ro 0 1 4
1003 E Standard Error
Field_e 0x7 ro 0 1 4
1003 F Standard Error
Field_f 0x7 ro 0 1 4
1003 10 Standard Error
Field_10 0x7 ro 0 1 4
1003 11 Standard Error
Field_11 0x7 ro 0 1 4
1003 12 Standard Error
Field_12 0x7 ro 0 1 4
1003 13 Standard Error
Field_13 0x7 ro 0 1 4
1005 COB ID SYNC 0x7 rw 0x00000080 0x00000080 –