IFM O3D300 User manual

Operating instructions
3D sensor
O3D300
O3D302
O3D310
O3D312
706398 / 06 12 / 2017
UK

3D sensor
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Contents
1. Preliminary note...................................................................4
1.1 Symbols used .................................................................4
1.2 Warnings used ................................................................4
2. Safety instructions .................................................................4
2.1 General ......................................................................4
2.2 Target group ..................................................................4
2.3 Electrical connection............................................................4
2.4 Tampering with the device .......................................................4
3. Functions and features .............................................................5
4. Items supplied ....................................................................5
5. Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5
6. Installation ......................................................................6
6.1 Select installation location .......................................................6
6.2 Additional sensor installation guidance..............................................7
6.2.1 Typical warning limits for O3D300 / O3D302 .....................................7
6.2.2 Typical warning limits for O3D310 / O3D312 .....................................8
6.2.3 Reduce surface temperature .................................................8
6.3 Install sensor..................................................................9
6.4 Mounting accessories ...........................................................9
7. Electrical connection ..............................................................10
7.1 Wiring .....................................................................10
7.1.1 Pin 1 / 3 (24 V / GND)......................................................11
7.1.2 Pin 2 (trigger input) ........................................................11
7.1.3 Pin 4 / 5 / 6 (switching outputs)...............................................11
7.1.4 Pin 4 (analogue output) ....................................................12
7.1.5 Pin 7 / 8 (switching inputs) ..................................................12
7.2 Wiring examples ..............................................................13
7.2.1 Trigger image capture with proximity sensor ....................................13
7.2.2 Install several sensors next to each other ......................................14
7.3 Static selection of the application .................................................15
7.4 Pulse-controlled selection of the application.........................................16
8. Indicators .....................................................................17
9. Set-up .....................................................................18
9.1 Set parameters of the device ....................................................18
9.2 Detect object.................................................................18
9.3 Transmit process values ........................................................19
9.3.1 Transmit process values of the completeness monitoring via EtherNet/IP..............19
9.3.2 Transmit process values of the completeness monitoring via PROFINET ..............21
9.3.3 Transmit process values of the completeness monitoring via TCP/IP .................23
9.3.4 Transmit process values of the dimensioning of the object via EtherNet/IP.............24
9.3.5 Transmit process values of the dimensioning of the object via PROFINET .............26
9.3.6 Transmit process values of the dimensioning of the object via TCP/IP ................28
9.3.7 Transmit process values of the level measurement via EtherNet/IP ..................29
9.3.8 Transmit process values of the level measurement via PROFINET...................30

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9.3.9 Transmit process values of the level measurement via TCP/IP ......................31
10. Maintenance, repair and disposal ...................................................32
10.1 Clean .....................................................................32
10.2 Update firmware .............................................................32
10.3 Replace device ..............................................................32
11. Approvals/standards .............................................................32
12. Scale drawings..................................................................33
12.1 O3D302 / O3D312 ...........................................................33
12.2 O3D300 / O3D310 ...........................................................33
13. Appendix .....................................................................34
13.1 Process Interface ............................................................34
13.1.1 Sending Commands ......................................................34
13.1.2 Receiving Images ........................................................36
13.1.3 Image data .............................................................36
13.1.4 Additional Information for CONFIDENCE_IMAGE ...............................39
13.1.5 Configuration of PCIC Output...............................................40
13.2 Process Interface Command Reference...........................................46
13.2.1 t Command (Asynchronous Trigger)..........................................46
13.2.2 T? Command (Synchronous Trigger) .........................................46
13.2.3 I? Command ............................................................47
13.2.4 p Command ............................................................47
13.2.5 a Command ............................................................48
13.2.6 A? Command ...........................................................48
13.2.7 v Command ............................................................49
13.2.8 V? Command ...........................................................49
13.2.9 c Command ............................................................49
13.2.10 C? Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .50
13.2.11 S? Command ..........................................................50
13.2.12 G? Command ..........................................................51
13.2.13 H? Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .52
13.2.14 o Command ...........................................................52
13.2.15 O? Command ..........................................................53
13.2.16 E? Command ..........................................................53
13.3 Error codes .................................................................54
13.4 EtherNet/IP .................................................................55
13.4.1 Data structures for consuming and producing assemblies.........................55
13.4.2 Functionality of the Ethernet/IP application ....................................56
13.4.3 Signal sequence with synchronous trigger .....................................60
13.4.4 Signal sequence with failed trigger...........................................60
13.5 PROFINET IO...............................................................61
13.5.1 Data structures for output and input frame .....................................61
13.5.2 Functionality of PROFINET IO application .....................................61
13.5.3 Signal sequence with synchronous trigger .....................................66
13.5.4 Signal sequence with failed trigger...........................................66
Licences and trademarks
Microsoft®, Windows®, Windows XP®, Windows Vista®, Windows 7®, Windows 8® and Windows 8.1®
are registered trademarks of Microsoft Corporation.
Adobe® and Acrobat® are registered trademarks of Adobe Systems Inc.
All trademarks and company names used are subject to the copyright of the respective companies.
This device contains (maybe modified) open source software which is subject to special licensing terms.
For copyright information and licensing terms please refer to:
www.ifm.com/int/GNU
For software subject to the GNU General Public License or the GNU Lesser General Public License the
source code can be requested against payment of the copying and shipping costs.

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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, installation and operation.
Keep this document during the entire duration of use of the device.
1.1 Symbols used
►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
NOTE
Warning of damage to property.
2. Safety instructions
2.1 General
These instructions are an integral part of the device. They contain texts and figures concerning the correct
handling of the device and must be read before installation or use.
Observe the operating instructions. Non-observance of the instructions, operation which is not in
accordance with use as prescribed below, wrong installation or incorrect handling can seriously affect the
safety of operators and machinery.
2.2 Target group
These instructions are intended for authorised persons according to the EMC and low-voltage directives.
The device must be installed, connected and put into operation by a qualified electrician.
2.3 Electrical connection
Disconnect the device externally before handling it.
The connection pins may only be supplied with the signals indicated in the technical data and on the
device label and only the approved accessories of ifm may be connected.
2.4 Tampering with the device
In case of malfunctions or uncertainties please contact the manufacturer. Any tampering with the
device can seriously affect the safety of operators and machinery. This is not permitted and leads to the
exclusion of any liability and warranty claims.

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3. Functions and features
The O3D3xx 3D sensor is a photoelectric sensor measuring the distance between the sensor and the nearest
surface point by point using the time-of-flight principle. The O3D3xx 3D sensor illuminates the scene with an
infrared light source and calculates the distance by means of the light reflected from the surface.
From the image data, process values are generated via internal image processing and compared to
threshold values. The comparative and process values are linked to the digital outputs. This allows to
solve the following applications:
●Completeness monitoring
●Level measurement
●Distance monitoring
●Dimensioning of rectangular objects
●Sorting of rectangular objects
The measured data and process values can be provided via Ethernet and evaluated by the user.
Parameter setting of the O3D3xx 3D sensor is also done via Ethernet.
The O3D3xx 3D sensor may only be used under the operating conditions specified in the data sheet.
The device safety is rated for use under the following environmental 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
●O3D3xx 3D sensor
●Brief instructions
The data sheet and other documentation (software manual, etc.) are available on our website:
www.ifm.com
5. Accessories
The following accessories are needed for the operation of the device:
Article number Description
E11950 Power supply cable for camera/sensor
E11898 M12 industrial Ethernet connection cable
The ifm Vision Assistant software is available free of charge on our website:
www.ifm.com

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6. Installation
The chapter describes what has to be observed before installation and how to install the sensor.
②
①
③
④
⑤
①Device
②Angle of aperture
③Object
④Field of view
⑤Distance between device and object
6.1 Select installation location
Observe the following instructions for the selection of the installation location:
►The object ③ must be completely in the field of view ④.
> The size of the field of view depends on the sensor type and is indicated in the data sheet. The size of
the field of view also depends on the distance of the sensor to the object ⑤: With increasing distance
the field of view becomes larger.
►Take tolerances into account when positioning the object.
►When determining the distance between sensor and object ⑤ take the measuring range of the sensor into
account.
> The measuring range is indicated in the data sheet of the sensor.
►Select a distance as small as possible between sensor 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 installation in heavily polluted environments.
> In heavily polluted environments the sensor lens will get dirty despite downwards orientation ①.
►Avoid transparent panes between the sensor 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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6.2 Additional sensor installation guidance
The surface temperature of the sensor depends on the operating mode, the parameter selection and the
thermal exposure of the sensor to the environment.
Make sure that the sensor complies with the following requirement:
The surface temperature for easily accessible surfaces may be max. 25 °C higher than the ambient
temperature (to IEC 61010-2-201).
The following diagrams contain typical warning limits as a reference for the installer.
The diagrams are valid for the following operating modes:
●Low [1 exposure]
●Moderate [2 exposures]
●High [3 exposures]
In the event of moderate and high exposures the typical warning limits must be determined via the
sum of the exposure times. The exposure times are indicated in the software ifm Vision Assistant.
Follow one of the instructions if the warning limits are exceeded:
►Reduce surface temperature (→ 6.2.3).
►Mount the sensor in a location or housing that provides protection from the heat source but maintains
air circulation around the sensor.
> An increase in the surface temperature of the sensor should be prevented.
The parameter "Max. background distance" is set in the ifm Vision Assistant. In the diagrams the
warning limits of the parameter are shown with dashed and continuous lines.
If the sensor is in one of the dotted areas, the surface temperature must be reduced (→ 6.2.3). If
the warning limit is exceeded despite a heat-dissipating installation, it is possible to additionally
mount the contact protection.
If you stay below the typical warning limits in case of normal installation, no measures need to be taken.
6.2.1 Typical warning limits for O3D300 / O3D302
0
5
10
15
0 2 4 6 8 10
x
y
20
25
Parameter "Max. background distance"
Installation on heat-conductive metal parts
with heat conductor (→ 6.2.3)
Warning limit Parameter
< 5 m
< 30 m
> 30 m
Normal installation
Warning limit Parameter
< 5 m
< 30 m
> 30 m
x = exposure time [ms]
y = frame rate [fps]

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6.2.2 Typical warning limits for O3D310 / O3D312
0
5
10
15
0 2 4 6 8 10
x
y
20
25
Parameter "Max. background distance"
Installation on heat-conductive metal parts
with heat conductor (→ 6.2.3)
Warning limit Parameter
< 5 m
< 30 m
> 30 m
Normal installation
Warning limit Parameter
< 5 m
< 30 m
> 30 m
x = exposure time [ms]
y = frame rate [fps]
6.2.3 Reduce surface temperature
With the following measures the surface temperature can be reduced:
►Mount the sensor on heat-conductive metal parts.
> A large-surface contact of the sensor with metal parts increases heat dissipation (e.g. aluminium).
►Use a heat conductor when mounting the sensor on metal parts.
> The heat-conductive effect is increased by means of the heat conductor. The heat conductor is
available as accessories (→ 6.4).
►Reduce obstructions around the device. Reduce the density of objects mounted near the device.
> Obstructions around the sensor and a high installation density may have a negative impact on
convection (air movement).
►Mount one or two heat sinks on the sensor.
> The heat sinks increase the surface of the sensor, reducing the surface temperature. The heat sinks
are available as accessories (→ 6.4).
►Reduce exposure time, frame rate or max. background distance.
> The operating mode used and the parameters can increase the surface temperature.

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6.3 Install sensor
Observe the following instructions when installing the sensor:
►Mount the sensor using 2x M5 screws or mounting set.
> The bore dimensions for the M5 screws are indicated in the data sheet.
> The mounting set is available as accessories (→ 6.4).
►Use strain reliefs for all cables connected to the device.
Observe the following instructions when installing an O3D300 and O3D310:
►Mount the sensor so that the focal setter can be accessed with a screw driver.
> The position of the focus adjustment screw is indicated in the scale drawing (→ 12).
If the device is permanently used in wet areas, the nut of the M12 Industrial Ethernet cable (e.g.
E11898) may corrode. Use a cable with a high-grade stainless steel nut for permanent use in wet
areas.
6.4 Mounting accessories
Depending on the location and type of installation, you can use the following mounting accessories:
Article number Description
E3D301 Smart Camera mounting set
E3D302 Smart Camera cooling element
E3D303 Smart Camera heat conductor
E3D304 2x Smart Camera cooling element
You can find more information about the accessories at:
www.ifm.com

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7. 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.
Electric supply must correspond to UL61010-1, chapter 9.4 - Limited Energy:
The overcurrent protection device must switch off a current of 6.6 A in 120 s. For the correct rating of
the overcurrent protection device take the technical data of the sensor and wiring into account.
The separation of external circuits must comply with UL61010-2-201, fig. 102.
For cable lengths > 30 m use an additional protection against surge voltages to IEC 6100-4-5.
Disconnect power before connecting the device.
For the scope of validity cULus:
Minimum temperature rating of the cable to be connected to the field wiring terminals: 70 °C.
7.1 Wiring
①Ethernet
M12 socket, D-coded, 4 poles






















1 TD +
2 RD +
3 TD -
4 RD -
S Shield
②Power supply
M12 connector, A-coded, 8 poles
6
21
4
5
7
3
81 U+
2 Trigger input
3 GND
4 Switching output 1 - (digital or analogue)
5 Switching output 3 - ready
6 Switching output 2 - (digital)
7 Switching input 1
8 Switching input 2
Cover unused Ethernet connection with the protective cap (E73004).
Tightening torque 0.6...0.8 Nm.
The behaviour of the switching inputs and outputs can be set with the software ifm Vision Assistant.
The setting PNP or NPN always applies to all switching inputs and outputs.
When installing actuators and sensors make sure that the setting is correct
(e.g. photoelectric sensors for triggering).
The switching outputs can also be operated as pulse outputs which reset their switching signal
after an adjustable time.
The analogue output provides current / voltage against GND.

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7.1.1 Pin 1 / 3 (24 V / GND)
The permissible voltage range is indicated in the data sheet of the sensor.
7.1.2 Pin 2 (trigger input)
The image capture of the sensor can be triggered with a switching signal via the trigger input.
The following trigger edges can be used:
●Falling edge triggers image capture
●Rising edge triggers image capture
●Falling and rising edges trigger image capture
Further possibilities to trigger the sensor:
●Process interface command (→ 13.2)
●Continuous image capture with fixed frame rate
The trigger input is internally debounced. Depending on the electrical installation debouncing of the
trigger wire is not necessary.
Internal debouncing prevents several short pulses from triggering. The pulse must be at least 2 ms
long to be recognised as a trigger.
7.1.3 Pin 4 / 5 / 6 (switching outputs)
The switching outputs 1 to 3 provide the different sensor statuses. Besides the sensor status the
switching outputs can also provide the reference values necessary to solve the application.
The electrical specifications of the switching outputs 1 to 3 are indicated in the data sheet.
Switching output 3 provides the sensor status "Ready for trigger" as default setting.
"Switching output switched" means that the respective sensor status has occurred.
Depending on the setting the sensor status can have one of the following values:
●"Ready for trigger"
The sensor signals that a new image can be captured. Only with this sensor status trigger operations
are processed. For the continuous image capture the status "Ready for trigger" is not output.
●"Image capture finished"
The sensor signals that the image capture is finished. The sensor status can be used for cascading
sensors.
●"Evaluation finished"
The sensor signals that image processing is finished. At that moment the switching outputs are already
updated. The image data is transmitted via Ethernet.
●"Error"
The sensor signals an internal error. Detailed information about errors can be requested via Ethernet.
Image capture
Trigger input
Time [ms]
1 2 3 4 5 6 7 8 9 10 11

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7.1.4 Pin 4 (analogue output)
The switching output 1 / analogue output can be used as switching output or analogue current output (4-
20 mA) / analogue voltage output (0-10 V).
The analogue current output offers more transmission reliability than the analogue voltage output. The
analogue current output is independent of the cable length and ensures better signal quality towards the
industrial controller.
In the industrial controller the analogue current is converted into analogue voltage via a load resistor
against GND. The load resistor is selected according to the indications in the data sheet. High-resistance
load resistors are to be preferred over low-resistance load resistors due to the lower heat development in
the device.
314 5 6 7 8
1 2
34
6
21
45
7
3
8
PLC
DC 24 V+ -
IN IN IN OUT OUT
①
②
③
Analog
①Notebook (parameter setting)
②Industrial controller (evaluate /
trigger)
③Load resistor
Using the ifm Vision Assistant software it is possible to assign one process value each to the start value
(4 mA / 0 V) and the end value (20 mA / 10 V) of the analogue output.
7.1.5 Pin 7 / 8 (switching inputs)
The switching inputs provide the following functions:
●Select active application (→ 7.3)
The different parameter settings of the functions are indicated in the software manual.
The electrical data of the switching outputs 1 and 2 is indicated in the data sheet of the sensor.

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7.2 Wiring examples
Wiring examples of the sensor are given below.
7.2.1 Trigger image capture with proximity sensor
The sensor can be triggered externally:
●via Ethernet
●via a proximity sensor connected to the trigger input
The following illustration shows the wiring with a proximity sensor.
3 1 2 4 5 6 7 8
1 2
34
6
21
45
7
3
8
PLC
DC 24 V+ -
IN IN IN OUT OUT
①
② ③
①Notebook (parameter setting)
②Proximity sensor
③Industrial controller (evaluate /
trigger)

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7.2.2 Install several sensors next to each other
Sensors installed next to each other can cause measurement errors due to simultaneous exposure.
①②
③
①Device
②Device
③Object
The measurement errors can be avoided in two ways:
●Cascade sensors via HW trigger
During cascading a controller triggers the image capture of sensor ①(see figure below). After
completion of the image capture, sensor ①automatically triggers sensor ②. At the same time, pin
4 of sensor ①provides the sensor status "Image capture finished". Sensor ②signals the end of the
sequence to the industrial controller ③.
3 1 2 4 5
DC 24 V
+-
3 1 2 5
③
6
21
45
7
3
8
PLC
IN IN IN OUT OUT
6 7
① ②
①Device
② Device
③ Industrial
controller
(evaluate /
trigger)
●Use different frequency channels
With the software ifm Vision Assistant each sensor can be assigned its own frequency channel. The
different frequency channels reduce the occurrence of measurement errors.
The ifm Vision Assistant software is available free of charge on our website:
www.ifm.com

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7.3 Static selection of the application
Up to 32 different inspection tasks can be stored in the sensor. With the corresponding configuration the
first four applications can be selected via the two switching inputs.
Input 2 Input 1 Application no.
0 0 1
0 1 2
1 0 3
1 1 4
0
1
0
1
0
1
t
123
--
RR
Example: Selection application 1 → application 2 → application 3
①Switching input 1 = 0 → 1 → 0
②Switching input 2 = 0 → 0 → 1
③READY output
④Trigger input
A: trigger enabled
B: trigger disabled
⑤ID number of the active application
For the selection of the applications the monitoring time tRand the trigger disable time tPhave to be taken
into consideration.
Monitoring time tR: After a change in edges the external selection of the application does not start before
the state of both switching inputs remains stable for 20 ms.
Trigger disable time tP: The trigger input is disabled during the selection of the application. The disable
time depends on:
●the number of applications on the device
●the number of models in the application to be activated
The figure above shows the PNP output logic (factory setting). The behaviour of the NPN output
logic is the opposite of that of the PNP output logic:
●PNP output logic: In case of a high signal (1), voltage is applied.
●NPN output logic: In case of a low signal (0), voltage is applied.
For more detailed information about the configuration of the selection of the application we refer you to
the software manual of the device.
www.ifm.com

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7.4 Pulse-controlled selection of the application
As an alternative to the static selection the selection of the application can also be pulse-controlled.
12345
①Gate signal, switching input 1 = 0 → 1 → 0 (tG= signal active)
②Pulse signal, switching input 2 or trigger input = 0 → 5 pulses → 0
③READY output
While there is an active signal on switching input 1 (gate signal), the device counts incoming pulses and
activates the respective application.
Number of pulses = ID number of the application
Either switching input 2 or the trigger input of the device can be used as pulse input.
The figure above shows the PNP output logic (factory setting). The behaviour of the NPN output
logic is the opposite of that of the PNP output logic:
●PNP output logic: In case of a high signal (1), voltage is applied.
●NPN output logic: In case of a low signal (0), voltage is applied.
For more detailed information about the configuration of the selection of the application we refer you to
the software manual of the device.
www.ifm.com

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8. Indicators
Via the LED indicators 1 - 4 the sensor signals the current operating state.
LED 4 LED 3
LED 1 LED 2
LED 4
(Ethernet)
LED 1
(Power)
LED 2
(Out 1)
LED 3
(Out 2)
Description
On Sensor is ready for operation, supply voltage applied
Flashes
at 0.5 Hz
No parameters set or parameter setting was not
loaded into the sensor
On
On
Off
Off
Flashes
2x at 0.5
Hz
Sensor is in the parameter setting mode
On
On
Off
Off
On Switching output 1 switched
Flashes
at 8 Hz
Switching output 1 shorted
On Switching output 2 switched
Flashes
at 8 Hz
Switching output 2 shorted
On Ethernet connected
Flashes Ethernet transmitting data
Off Ethernet not connected
Flashes
at 8 Hz
Flashes
at 8 Hz
Sensor signals internal error
Flashes
at 2 Hz
Flashes
at 2 Hz
Sensor signals correctable error. The error information
can be read via Ethernet
Running light ⇒Device booting
Running light ⇐Sensor carrying out firmware update

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9. Set-up
After power on the device is put into operation. After 15 seconds the sensor is in the evaluation mode
where saved applications are executed. The indicators signal the current operating state (→ 8).
Up to 32 applications can be saved on the sensor. An application can be activated in different ways:
●ifm Vision Assistant software
●Process interface command
●Switching input 1 and 2
●Switching input 1 and trigger input
9.1 Set parameters of the device
The sensor is set using the ifm Vision Assistant software (→ see software manual).
The software ifm Vision Assistant and detailed information about the measuring principle of the
device are described in the software manual.
The ifm Vision Assistant software is available free of charge on our website:
www.ifm.com
The software manual is available on our website:
www.ifm.com
9.2 Detect object
The conditions which lead to a high detection rate of objects are described below.
③
②
④
②
①
①Device
②Zone of influence
③Field of view
④Object
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 sensor ①
●Zone of influence ②is clear from objects (obstructions etc.)
●Lens window of the sensor is free from soiling.
If the conditions are not met, measurement errors may occur.

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9.3 Transmit process values
9.3.1 Transmit process values of the completeness monitoring via EtherNet/IP
The device can transmit the process values to a PLC via the EtherNet/IP fieldbus. The process values are
displayed in the ifm Vision Assistant as output string as below:
Only one fieldbus can be active at a time. The fieldbus is adjustable (→ software manual).
In the output string the process values are separated by a semicolon. The output string is transferred to a
PLC in the displayed sequence.
Observe the following remarks for the transmission of the output string to a PLC:
●Bytes 0 to 7 are part of the output string. They are not displayed in the ifm Vision Assistant (see
screenshot above).
●Semicolons ";" in the output string are not transferred.
●Float values are converted into 16-bit integers before the transmission.
●All numerical values are converted into 16-bit integers before the transmission.
The output string is composed of the following:
star;0;00;0;+0.000;01;7;-0.068;02;6;+0.013;03;0;+0.001;stop
Byte no. Data Coding Process
value Unit Description Comments
0 2#0000_0000 Binary 1.5 Duplicated
command word
●Bit 1.5 shows a successful
trigger command
1 2#0010_0000 Binary
2 2#0000_0000 Decimal Synchronous /
asynchronous
message identification
3 2#0000_0000 Decimal
4 30 Decimal
30 Message counter
●The device has received
30 messages
●Increments by 1 with each
action (trigger, message
sent etc.).
5 0 Decimal
6 0 Decimal Reserved
7 0 Decimal
8 s ASCII
star Start string
9 t ASCII
10 a ASCII
11 r ASCII
12 0 Decimal 0Status of all ROIs
(0 = bad, 1 = good)
Shows the status of the
completeness monitoring
13 0 Decimal
14 0 Decimal
0ROI ID
With activated position
adjustment bytes 14 and 15
are used by it.
0 = position is not adjusted
1 = position is adjusted
All following data is shifted
by 2 bytes; i.e. the first ROI
ID starts with bytes 16 and
17.
15 0 Decimal

3D sensor
20
Byte no. Data Coding Process
value Unit Description Comments
16 0 Decimal 0ROI status
ROI status:
0 = good
1 = reference level not
taught
2 = teaching failed
3 = reference level invalid
4 = no valid pixels
5 = reference level does not
contain any valid pixels
6 = overfill
7 = underfill
17 0 Decimal
18 0 Decimal 0 mm ROI value
19 0 Decimal
20 1 Decimal 1ROI ID
21 0 Decimal
22 7 Decimal 7ROI status
23 0 Decimal
24 -67 Decimal -67 mm ROI value
25 -1 Decimal
26 2 Decimal 2ROI ID
27 0 Decimal
28 6 Decimal 6ROI status
29 0 Decimal
30 14 Decimal 14 mm ROI value
31 0 Decimal
32 3 Decimal 3ROI ID
33 0 Decimal
34 0 Decimal 0ROI status
35 0 Decimal
36 0 Decimal 0 mm ROI value
37 0 Decimal
38 s ASCII
stop Stop string
39 t ASCII
40 o ASCII
41 p ASCII
Faulty execution of a command leads to the following status:
●Error bit = 1
●Duplicated command word is displayed
●Asynchronous message bit = 0
●Asynchronous message identification = 0
●Message counter increments by 1