Ifm O3x16 series User manual

Operating instructions

3D camera

O3X120

O3X130

O3X16x

O3X18x

11489236 / 00 11 / 2022

UK

2

Content

1 Preliminary note��4

1�1 Explanation of symbols��4

1�2 Warnings used��4

1�3 Legal and copyright information ��4

1�4 Open source information ��5

2 Safety instructions ��7

2�1 Laser protection class��7

3 Functions and features ��8

4 Items supplied��8

5 Installation��9

5�1 Select installation location ��9

5�2 Additional device installation guidance ��10

5�2�1 Reduce surface temperature ��10

5�3 Install device��10

6 Electrical connection�� 11

6�1 Wiring�� 11

6�2 Use of several devices ��12

7 Set-up ��12

7�1 Set parameters of the device��12

7�2 Optimum object detection ��13

7�3 Install ifm Vision Assistant ��13

7�4 Connect O3X1xx to ifm Vision Assistant��14

7�4�1 Required Ports��14

7�4�2 Hardware ��14

7�4�3 Connect device automatically��14

7�4�4 Connect device manually ��15

7�5 Monitoring screen ��15

7�6 Application ��15

7�6�1 Set trigger source ��16

7�6�2 Set capture mode ��16

7�6�3 Set exposure time��17

7�6�4 Set image repetition rate ��18

7�6�5 Set the filter ��18

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7�7 Device configuration ��19

7�7�1 General��19

7�7�2 Export settings��20

7�7�3 Import settings ��20

7�7�4 Install firmware update ��21

7�7�5 Network ��22

7�7�6 NTP ��23

8 Programming example��24

8�1 ifm3Dlib��24

9 Maintenance, repair and disposal��25

9�1 Cleaning ��25

9�2 Replace device ��25

10 Approvals/standards ��25

11 Error messages��26

11�1 Error messages during firmware updates��26

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1 Preliminary note

This document is intended for specialists� These specialists are people who are

qualified by their appropriate training and their experience to see risks and to

avoid possible hazards that may be caused during operation or maintenance of

the device� The document contains information about the correct handling of the

device�

Read this document before use to familiarise yourself with operating conditions

and installation� Keep this document during the entire duration of use of the

device�

For a detailed description of the associated software please read the software

manual and the interface description�

1.1 Explanation of symbols

►Instructions

> Reaction, result

[…] Designation of keys, buttons or indications

→Cross-reference

Important note

Non-compliance may result in malfunction or interference�

Information

Supplementary note�

1.2 Warnings used

CAUTION

Warning of personal injury�

Slight reversible injuries may result�

NOTE

Warning of damage to property

1.3 Legal and copyright information

reproduced and used without the consent of ifm electronic gmbh�

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UK

All product names, pictures, companies or other brands used on our pages are the

property of the respective rights owners�

1.4 Open source information

This product can contain Free Software or Open Source Software from various

software developers which is subject to the following licenses: General Public

License version 1, version 2 and version 3 (General Public License version 3

in conjunction with the GNU Compiler Collection Runtime Library Exception

version 3�1), Lesser General Public License version 2�1, Lesser General Public

License version 3, Berkeley Software Distribution (BSD-2-Clause, BSD-3-Clause,

BSD-4-Clause), MIT-License (MIT), Python Software Foundation License 2�0,

Pearl Artistic License and Artistic License 2�0, Microsoft Public License, Apache

Software License Version 1�0, 1�1 und 2�0, ISC License, libpng License, zlib

Licence, the Academic Free License version 2�1� For the components subject to

the General Public License in their respective versions the following applies:

This program is free software: you can redistribute it and/or modify it under the

terms of the GNU General Public License as published by the Free Software

Foundation� If version 1 applies to the software: either version 1 of the License

or (at your option) any later version; if version 2 (or 2�1) applies to the software:

either version 2 (or 2�1) of the License or (at your option) any later version; if

version 3 applies to the software: either version 3 of the License or (at your option)

any later version� The following disclaimer of the software developers applies

to the software components that are subject to the General Public License or

the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR

PURPOSE� See the GNU General Public License and the GNU Lesser General

Public License for more details�

The responsibility of ifm electronic gmbh for ifm products, in the case of product-

specific software, remains unaffected by the above disclaimer� Please note that

the firmware for the ifm products is in some cases provided free of charge�

The price of the ifm products has then to be paid for the respective device itself

(hardware) and not for the firmware� For the latest information on the license

agreement for your product please visit www�ifm�com

For binaries that are licensed under any version of the GNU General Public

License (GPL) or the GNU LGPL you may obtain the complete corresponding

source code of the GPL software from us by sending a written request to:

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opensource@ifm�com or to ifm electronic gmbh, Friedrichstraße 1, 45128 Essen,

Germany�

We charge €30 for each request� Please write “source for product Y” in the memo

line of your payment� Your request should include (i) the name of the covered

binary, (ii) the name and the version number of the ifm product, (iii) your name and

(iv) your return address�

This offer is valid to anyone in receipt of this information� This offer is valid for at

least three years (from the date you received the GPL/LGPL covered code)�

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2 Safety instructions

These instructions are part of the device� They contain texts and figures

concerning the correct handling of the device and must be read before installation

or use�

Note the safety instructions� Use the device in accordance with its designated use�

The installation and connection must comply with the applicable national and

international standards� Responsibility lies with the person installing the device�

Only the signals indicated in the technical data or on the device label may be

supplied to the connections or wires�

The device may only be opened by the manufacturer or by a person authorised by

the manufacturer�

2.1 Laser protection class

CAUTION

Use of controls or adjustments or procedures other than those specified herein

may result in hazardous radiation exposure�

Invisible laser light; CLASS 1 LASER PRODUCT�

IEC 60825-1 : 2014

Explanatory label

8

3 Functions and features

The O3X1xx 3D camera is an optical camera which measures the distance

between the camera and the nearest surface point by point using the time-of-

flight principle� The device illuminates the scene with an infrared light source and

calculates the distance by means of the light reflected from the surface�

The device supplies data which describes the captured scene three-dimensionally�

This distance data can be output via Ethernet and evaluated by the user�

Parameter setting of the device is also done via Ethernet�

The device safety is rated for use under the following operating conditions:

• Indoor use

• Altitudes up to 2000 m

• Relative air humidity up to max� 90%, non condensing

• Pollution degree 3

Because of the requirements for electromagnetic interference emissions, the

device is intended for use in industrial environments� The device is not designed

for use in domestic areas�

The device may only be used under the operating conditions specified in

the data sheet�

4 Items supplied

• O3X1xx 3D camera

• Operating instructions

►In the event of incomplete or damaged items supplied please contact ifm

electronic�

The device is supplied without installation / connection accessories�

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5 Installation

1

2 3 4

5

(1):

(2):

(3):

(4):

(5):

Device, installed

horizontally

Angle of

aperture

Object

Field of view

Distance between

device and object

5.1 Select installation location

Observe the following instructions for the selection of the installation location:

►The object ③ must be in the field of view ④�

> The size of the field of view is indicated in the data sheet� The size of the

field of view depends on the distance of the device to the object ⑤: With

increasing distance the field of view becomes larger�

►Avoid direct reflections from the floor�

►Take tolerances into account when positioning the object�

►When determining the distance between device and object ⑤ take the measuring

range of the device into account�

> The measuring range is indicated in the data sheet of the sensor�

►Select a distance as small as possible between device and object ⑤�

> If the distance is as small as possible, the object is detected with the maximum

resolution�

►Avoid any strong ambient light and sunlight at the installation location�

> An extraneous light level of over 8 klx (with solar spectrum) causes

measurement errors� In fact, only the infrared component between 800 and 900

nm is of concern�

►Avoid transparent panes between the device ① and the object ③.

> Transparent panes reflect part of the light even if a very clean glass pane is used�

If the instructions are not observed, measurement errors may occur�

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5.2 Additional device installation guidance

NOTE

The device can heat up depending on the operating mode, the set parameters

and the heat dissipation to the environment�

The difference between the device's surface temperature and the ambient

temperature must not exceed 25 degrees (according to IEC61010-2-201)� Take

the following measures:

► Reduce surface temperature (→ 5.2.1).

►Adapt operating mode and parameters�

5.2.1 Reduce surface temperature

Reduce the surface temperature with the following measures:

►Mount the device on heat-conductive metal parts�

> A large-surface contact of the device with metal parts increases heat

dissipation (e�g� conventional aluminium heat sinks or profiles)�

►Reduce obstructions around the device� Reduce the density of objects

mounted near the device�

> Obstructions around the device and a high installation density may have a

negative impact on convection (air movement)�

►Reduce exposure time, frame rate or max� background distance�

> The surface temperature decreases if the parameters are reduced�

5.3 Install device

Observe the following instructions when installing the device:

►Install the device with 3 x M3 screws�

The hole dimensions are indicated in the scale drawing: www�ifm�com

►Use strain reliefs for all cables connected to the device�

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6 Electrical connection

Observe the following instructions before electrical installation�

NOTE

The device must be connected by a qualified electrician� Observe the electrical

data in the data sheet�

Device of protection class III (PC III)�

The electrical supply must only be made via PELV circuits�

For cable lengths > 30 m use an additional protection against surge voltages to

IEC 6100-4-5�

Disconnect power before connecting the device�

6.1 Wiring

12

(1) Power supply

2 cables, open ends

red U+ (24 V)

black GND

(2) Ethernet

RJ45 Ethernet connector

1

2

3

4

5

6

7

8

1 TD +

2 TD -

3 RD +

4 not connected

5 not connected

6 RD -

7 not connected

8 not connected

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6.2 Use of several devices

It is possible that the devices interfere if they are not optically separated and

expose simultaneously�

1

2

1

Fig� left: 2 devices installed on a

robot�

Fig� below: 2 robots with 1 device

each are opposite each other�

(1): Device, installed horizontally

(2): Object

2

1 1

Reduce the measurement error with the following measures:

►Trigger devices one after the other with software trigger via the process interface�

An internal process considerably reduces possible interference�

Nevertheless measurement errors and minor tolerances may occur�

7 Set-up

After power on the device is put into operation� After 15 seconds the device is in

the evaluation mode where saved applications are executed�

7.1 Set parameters of the device

The device parameters can be set in two ways:

• Software ifm Vision Assistant (→ see software manual)

• ifm3Dlib (third-party product, → https://github�com/ifm/ifm3d)

Programming example for ifm3Dlib: (→ "8 Programming example")

• ROS (third-party product, → https://github�com/ifm/ifm3d-ros)

The software ifm Vision Assistant and detailed information about the measuring

principle of the device are described in the software manual�

The software manual is available on our website: www�ifm�com

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The library ifm3Dlib and the wrapper ROS are programmed by

ifm electronic� Both packages are available for Linux under

Apache License Version 2�0�

7.2 Optimum object detection

The conditions which lead to a high detection rate of objects are described below�

1

3 4

2

(1):

(2):

(3):

(4):

Device, installed

horizontally

Unambiguous

range

Field of view

Object

Optimum detection of an object ④ is given if the following conditions are met:

• Object is positioned in the field of view ③�

• Object is the nearest visible object to the device ①�

• Unambiguous range ②is clear from objects (obstructions etc�)�

• Lens window of the device is free from soiling�

If the conditions are not met, measurement errors may occur�

7.3 Install ifm Vision Assistant

►Unzip the ifm Vision Assistant zip file on the hard disk�

> The unzipped ifm Vision Assistant folder contains all necessary files�

Installation is not necessary� Administrator rights are not necessary�

The ifm Vision Assistant software is available free of charge on our website:

www�ifm�com

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7.4 Connect O3X1xx to ifm Vision Assistant

7.4.1 Required Ports

To connect the ifm Vision Assistant, the following ports must be enabled:

• UDP: 3321

• TCP: 50010

• TCP / HTTP: 80 and 8080

Firewalls and routers available in the network must enable the ports for the

ifm Vision Assistant�

7.4.2 Hardware

►Connect device to the voltage supply�

►Connect device to the Ethernet interface of the PC using the Ethernet cable�

1 2 3 4

(1): Power supply

24 V

(2): Device

(3): Ethernet cable

(4): PC

7.4.3 Connect device automatically

1� Start the "ifmVisionAssistant" application.

2� Click on

Start the "ifmVisionAssistant" application.

�

> The ifm Vision Assistant searches for connected devices via Ethernet�

> All devices found are shown in a list for selection�

3� Click on the button of the device found�

> Connecting to device�

If ifm Vision Assistant does not find a device:

►Check hardware connection and current supply (→ "7.4.2 Hardware").

►For troubleshooting connect the Ethernet cable of the device directly to

the PC�

► Connect device manually (→ "7.4.4 Connect device manually").

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7.4.4 Connect device manually

1� Start the "ifmVisionAssistant" application.

2� Click on

Start the "ifmVisionAssistant" application.

�

3� Click on the button [Manual connection]�

4� In the list "Select type of sensor" select the device type [O3X1XX manual

connection]�

5� Enter the IP address of the device in the field "Enter IOP address".

The default IP address is "192.168.0.69".

6� Click on the button [Connect]�

7.5 Monitoring screen

When a connection to the device has been established, ifm Vision Assistant opens

the monitoring screen�

In the monitoring screen the device runs in the operating mode� The current

application can be monitored but not interrupted or changed�

7.6 Application

In the window "Application" the application of the connected device is shown and

the "Image Settings" are set.

►Click on �

>The window "Application" opens.

When you change from the monitoring screen to the window "Application", you

have to confirm that the evaluation (the operating mode) of the device stops�

The button saves the image settings in the application�

The button exits the application�

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7.6.1 Set trigger source

The trigger source is set in the list "Trigger"

The following trigger sources can be set:

Trigger

source Description

Continuous The trigger source "Continuous" displays the current image

repetition rate in the window "Image settings". The image

repetition rate is changed in the input box "Target Framerate".

The max� possible image repetition rate depends on the

exposure mode and the exposure time�

Process

interface

The device is controlled via the process interface

(e�g� PC)�

7.6.2 Set capture mode

The capture mode is set in the list "Image Setting Type". In the capture mode the

characteristics of an image capture are set�

The capture mode

"upTo30m_moderate" is preset:

• Unambiguous range

"30 m"

• 2 measurement

frequencies

• 2 exposure times

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The capture mode consists of:

• Length of the unambiguous range

• 1 measurement frequency: unambiguous range < "7m"

• 2 measurement frequencies: unambiguous range >= "7m"

• 2 exposure times

• 1 exposure time

7.6.3 Set exposure time

If an "Image Setting Type" is set for 1 exposure time, the following settings are

available:

The single exposure is intended for

scenes with low dynamics�

The exposure time is set in μs. The

value is changed with the slider bar

or entered in the box.

If an "Image Setting Type" is set with 2 exposure times, the following settings are

available:

The double exposure is intended for

scenes with high dynamics�

The exposure time is set in μs.

The longer exposure time is changed

with the slider bar "Exposure Time" or

entered in the box.

The shorter exposure time is changed

with the slider bar "Exposure Time

Ratio" or entered in the box.

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7.6.4 Set image repetition rate

The image repetition rate to be reached by the device is set in the field "Target

Framerate". The "Target Framerate" is set in fps.

The maximum image repetition

rate depends on the selected

capture mode and the exposure

time�

7.6.5 Set the filter

The filters "Spatial Filter" and "Temporal Filter" optimise the repeatability.

The list "Spatial Filter" contains the

following filters:

Filter Description Characteristics

Median

filter

Each pixel is replaced by the median

of the neighbouring pixels�

Good edge preservation

The list "Temporal Filter" contains the

following filters:

Filter Description

Adaptive

exponential

filter

A weighted average across successive images is calculated�

Newer images have more weight than older images�

The filter can only be used with the trigger source

"Continuous".

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7.7 Device configuration

The general settings of the connected device, the network and the NPT function

are set in the window "Device setup".

►Click on �

>The window "Device setup" opens.

When you change from the monitoring screen to the window "Device

configuration", you have to confirm that the evaluation (the operating mode) of

the device stops�

7.7.1 General

General settings of the connected device are set in the window "General".

Field Button Description

Name – Set the name of the device

Description – Set the description of the device

Password

protection

On

Off (standard)

Activate or deactivate the password

protection�

When the password protection is

activated, the windows "Application"

and "Device Configuration" can only be

accessed when the password has been

entered�

Input box Editable field to enter a password

Settings [Export] Exports a copy of the settings and

application on the PC

(→ "7.7.2 Export settings").

[Import] Imports a copy of the settings and

application from the PC to the device

(→ "7.7.3 Import settings").

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Field Button Description

Firmware update [Update] Installs a firmware update

(→ "7.7.4 Install firmware update").

The current version of the firmware is

shown next to the button�

Factory settings [Reset] Resets the factory settings and deletes

all current settings�

Reboot [Reboot] Reboots the device�

Save Saves the settings�

Cancel Rejects the settings�

7.7.2 Export settings

The settings of the ifm Vision Assistant can be exported for the firmware update or

the exchange of the device�

1� Click on the button [Export]�

>The "Save as" window appears.

2� Enter "File name" for the export.

The exported settings have the file extension ".o3x1xxcfg".

7.7.3 Import settings

The exported settings of the ifm Vision Assistant can be imported�

1� Click on the button [Import]�

> The file selection window is displayed�

2� Select file for the import�

The current settings are overwritten during the import� The settings have

the file extension ".o3x1xxcfg".

IFM O3X16 Series User manual

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