Omron B5L User manual

3D TOF Sensor Module
B5L
E596-E1-01
3D TOF Sensor Module
User's Manual

3D TOF Sensor Module B5L User's Manual (No. E596)
Note
Unauthorized copy, replication, and/or reprint of a part or all of this manual is prohibited.
- The content of this manual is subject to change without notice for the purpose of improvement.
- If you have any question or comments, please contact our sales representative listed at the end
of this manual.
Please notify the manual number described at the end of this manual as well.
Trademark
Unauthorized copy, replication, and/or reprint of a part or all of this manual is prohibited.
- Microsoft, Windows, Windows Vista, Excel, and Visual Basic are registered trademarks of
Microsoft Corporation in the United States and other countries.
Other company names and product names referenced in this document are trademarks or
registered trademarks of each company.
2

Introduction
3D TOF Sensor Module B5L User's Manual (No. E596)
Introduction
Thank you for purchasing a 3D TOF sensor module B5L.
This manual describes information necessary for using 3D TOF sensor module B5L.
Please read this manual and make sure you understand the functionality and performance
of the product before you attempt to use it in a control system.
Please keep this manual at hand and make it available at any time.
Intended Readers
This manual is intended for the those who must also have knowledge of electrical systems
and software.
Applicable Product
This manual covers the following product.
- 3D TOF sensor module B5L (hereinafter called "this product")
Definition in this document
"This
product":
Indicates "B5L-A2S-U01-010" which consists of the "main body" and "SDK".
Description of "this product" refers to the whole or part of the configuration
.
"Main
body":
Indicates the 3D TOF sensor module.
"SDK": Indicates the evaluation software, command specifications, sample code,
and/or documentation
.
"NIR":
Near-infrared
Datasheet
Can be downloaded from the following site.
Japanese:
https://www.omron.co.jp/ecb/product-detail?partNumber=B5L
English:
https://www.components.omron.com/product-detail?partNumber=B5L
3

Table of Contents
4
3D TOF Sensor Module B5L User's Manual (No. E596)
Table of Contents
Introduction ....................................................................................................................3
Table of Contents...........................................................................................................4
Warranty and Limited Warranty......................................................................................6
Safety Precautions .........................................................................................................8
Definition of Terms .......................................................................................................13
Chapter 1 Overview......................................................................................................14
1-1 Overview..........................................................................................................14
1-2 Model and System Configuration ....................................................................14
1-3 Specifications ..................................................................................................15
1-4 Part Names and Functions..............................................................................16
1-5 Dimensions......................................................................................................17
1-6 How to Measure 3D Distance by This Product ...............................................18
1-7 Procedures ......................................................................................................21
Chapter 2 Installation & Wiring.....................................................................................22
2-1 Installation .......................................................................................................22
2-2 Wiring ...........................................................................................................25
Chapter 3 Communications from Host .........................................................................28
3-1 Overview..........................................................................................................28
3-2 Basic Process on Host ....................................................................................29
3-3 Command Specifications.................................................................................33
3-4 Command List and Response List ..................................................................34
Chapter 4 Command Description .................................................................................36
4-1 Get Version (00Hex)........................................................................................36
4-2 Start Distance Measurement (80Hex).............................................................36
4-3 Stop Distance Measurement (81Hex) .............................................................37
4-4 Get Result (82Hex)..........................................................................................38
4-5 Set Result Acquisition Format (84Hex) ...........................................................41
4-6 Get Result Acquisition Format (85Hex)...........................................................43
4-7 Set Operation Mode (86Hex) ..........................................................................44
4-8 Get Operation Mode (87Hex)..........................................................................45
4-9 Set Exposure Time (88Hex)............................................................................46
4-10 Get Exposure Time (89Hex)..........................................................................47
4-11 Set T3D Rotation Angle (8AHex) ..................................................................48
4-12 Get T3D Rotation Angle (8BHex)..................................................................49
4-13 Set LED Emission Frequency ID (8EHex) ....................................................50
4-14 Get LED Emission Frequency ID (8FHex) ....................................................50
4-15 Set MIN_AMP (for all range)(90Hex) ............................................................51
4-16 Get MIN_AMP (for all range)(91Hex)............................................................52
4-17 Set MIN_AMP (for close distance)(92Hex) ...................................................53
4-18 Get MIN_AMP (for close distance)(93Hex)...................................................54
4-19 Get θφ Table (94Hex) ....................................................................................55

Table of Contents
3D TOF Sensor Module B5L User's Manual (No. E596)
4-20 Set Enabling/Disabling Operation Check LED (95Hex)................................57
4-21 Get Enabling/Disabling Operation Check LED (96Hex) ...............................58
4-22 Set Response Speed (97Hex) ......................................................................59
4-23 Get Response Speed (98Hex)......................................................................60
4-24 Set ENR Threshold (99Hex) .........................................................................61
4-25 Get ENR Threshold (9AHex).........................................................................62
4-26 Get Imager Temperature (9BHex) ................................................................63
4-27 Get LED Temperature (9CHex) ....................................................................64
4-28 Initialize Parameters (9EHex) .......................................................................65
4-29 Reset Software (9FHex)................................................................................66
Chapter 5 Troubleshooting ...........................................................................................67
5-1 Troubleshooting List........................................................................................67
5

Warranty and Limited Warranty
3D TOF Sensor Module B5L User's Manual (No. E596)
Warranty and Limited Warranty
Thank you for using Omron Corporation (“Omron”) products. The Terms and Conditions hereunder are applied to
Omron products regardless of where they are purchased. When you place an order, you are expected to agree to the
Terms and Conditions described below.
1. Definition
The definition of terms used in these Terms and Conditions are as follows:
(1) Omron products: FA system equipment, general-purpose control devices, sensors, and electronic/mechanism
components under Omron brand
(2) Catalogues: Omron general catalogue, FA system equipment general catalogue, safety component general
catalogue, electronic/mechanism components general catalogue and other catalogues, specifications, instructions
and manuals of Omron products, including electronically provided information available on the Omron electronic
components information website, etc.
(3) Usage conditions: Usage conditions, rating, performance, operating environment, handling instructions, cautions,
prohibited use, etc. of Omron products described in catalogues.
(4) Customer application: Application of Omron products by customers which include embedding and/or using Omron
products in their parts/components, electronic substrates, devices, equipment or systems manufactured by
customers.
(5) Fitness: (a) fitness, (b) performance, (c) non-infringement of third-party intellectual property, (d) compliance with
laws and regulations and (e) conformity to standards.
2. Caution on Descriptions
Attention is required to the following points on descriptions in catalogues.
(1) Rated values and performance values are the product of tests performed for separate single conditions, including
but not limited to temperature and humidity. It is not intended to warrant rated values and performance values for
multiple combined conditions.
(2) Reference data are provided for reference only. Omron does NOT warrant that Omron products work properly at all
time in the range of reference data.
(3) Application examples are provided for reference only. Omron does NOT warrant the fitness of Omron products
under such application.
(4) Omron may discontinue the production of Omron products or change the specifications of them for the purpose of
improving such products or other reasons entirely at its own discretion.
3. Precautions
Please be aware of and accept the following when you introduce or use Omron products:
(1) Please use Omron products in compliance with usage conditions including rating and performance.
(2) Please confirm fitness of Omron products in your application and use your own judgment to determine the
appropriateness of using them in such application. Omron shall not warrant the fitness of Omron products in
customer application.
(3) Please confirm that Omron products are properly wired and installed for their intended use in your overall system.
(4) When using Omron products, please make sure to (i) maintain a margin of safety vis-à-vis the published rated and
performance values, (ii) design to minimize risks to customer application in case of failure of Omron products, such
as introducing redundancy, (iii) introduce system-wide safety measures to notify risks to users, and (iv) conduct
regular maintenance on Omron products and customer application.
(5) Omron products are designed and manufactured as general-purpose products for use in general industrial
products. They are not intended to be used in the following applications. If you are using Omron products in the
following applications, Omron shall not provide any warranty for such Omron products. Even in the case of the
following applications to elevator/lift equipment and medical devices, etc, some case are likely applied to an usual
guarantee prescribed on next article as general-purpose products used for general industrial products. So, please
contact our sales person in charge.
(a) Applications with stringent safety requirements, including but not limited to nuclear power control equipment,
combustion equipment, aerospace equipment, railway equipment, elevator/lift equipment, amusement park
equipment, medical equipment, safety devices and other applications that could cause danger/harm to people’s
body and life.
(b) Applications that require high reliability, including but not limited to supply systems for gas, water and electricity,
6

Warranty and Limited Warranty
3D TOF Sensor Module B5L User's Manual (No. E596)
etc., 24 hour continuous operating systems, financial settlement systems and other applications that handle
rights and property.
(c) Applications under severe conditions or in severe environment, including but not limited to outdoor equipment,
equipment exposed to chemical contamination, equipment exposed to electromagnetic interference and
equipment exposed to vibration and shocks.
(d) Applications under conditions and environment not described in catalogues.
(6) In addition to the applications listed from (a) to (d) above, Omron products are not intended for use in automotive
applications (including two wheel vehicles). Please do NOT use Omron products for automotive applications.
Please contact Omron sales staff for products for automotive use.
4. Warranty Terms and Conditions
The terms and conditions for warranty of Omron products are as follows:
(1) Warranty period: One year after the purchase from Omron or Omron's agency.
(2) Coverage: Omron will provide either of the following two services for the malfunctioning Omron products at its own
discretion:
(a) Free repair of malfunctioning Omron products at an Omron maintenance service location (Repair service is not
available for electronic/mechanism parts.), or
(b) Free replacement of the malfunctioning Omron products with the same number of replacement/alternative
products.
(3) Exceptions: Omron will not cover Omron products under its warranty if the cause of the malfunction falls under any
of the following:
(a) Usage in a manner other than the original intended use for the Omron products.
(b) Usage outside of the usage conditions.
(c) Modification or repair made to the Omron products by other than Omron personnel.
(d) Software program embedded by other than Omron or usage of such software.
(e) Causes which could not have been foreseen with the level of science and technology at the time of shipping
from Omron.
(f) Causes originating from other than Omron or Omron products (including force majeure such as but not limited
to natural disasters).
5. Limitation of Liability
The warranty set out in these Terms and Conditions is the whole and sole liability for Omron products. There are no
other warranties, expressed or implied. Omron and the distributors of Omron products are not liable for any damages
which may arise from or be related to Omron products.
6. Export Controls
Customers of Omron products shall comply with all applicable laws and regulations of Japan and/or other relevant
countries with regard to security export control, when exporting Omron products and/or technical documents or
providing such products and/or documents to a non-resident. Omron may not provide customers with Omron products
and/or technical documents should they fail to comply with such laws and regulations.
7

Safety Precautions
8
3D TOF Sensor Module B5L User's Manual (No. E596)
Safety Precautions
Make sure to read these precautions for a safe use of the Product.
• The contents included are to ensure proper use of the Product and prevent harm and/or property
damage to the user or other people.
• Warnings and cautions are defined as follows.
Definition of Warning and Caution
Denotes a potentially hazardous situation which, if not avoided, may result in
minor, moderate or serious injury, or death. It may also result in serious damage.
Denotes a potentially hazardous situation which, if not avoided, may result in
minor or moderate injury, or damage.
"Damage" indicates property damage to a building, production line, household goods, other
products, livestock, pets, etc.
Examples of indications
Indicates forbidden actions.
Indicates required actions.
Regarding the use or handling of the Product
Do not use the Product for safety of life or crime prevention purposes.
Do not use the Device on automobiles or other vehicles, including bikes as it may
result in accidents.
Regarding the prevention of fire, electric shock, etc.
The following will result in fire, electric shock, injury or damage if ignored.
Do not touch the Device or any connected cable during a lightning storm.
Do not use the Device if it is cracked or damaged.
Do not insert foreign objects in the connector or in the holes on the various parts of
the Device.
Do not use the Device in bathrooms or any other place where it may get in contact
with water.
Do not touch the Device or any connected cable with wet hands.
Do not touch the electrode at the side opening of the Device during power-on.
Do not disassemble, repair, or modify the Device.
Turn the power off and stop using the Product if you notice any anomaly, including
foul odor, heating, distortion or discoloration to the Device during use.
Install the cables for connecting the Device in a way that would not put strong force
on them, including making sure they are not crushed in a door.
Regarding the prevention of accident or injury
The following will result in accident or injury if ignored.
Do not touch sharp parts or the exposed interior of the Device that was damaged.
Warning
Caution
Warning

Safety Precautions
9
3D TOF Sensor Module B5L User's Manual (No. E596)
Regarding the use or handling of the Product
Make sure to follow the warnings and cautions indicated in this document when
using the Product.
Regarding installation
The following will result in accident, injury or damage if ignored.
Do not install the Device in an unstable location.
Install the cables in a safe way, out of the way of hands or feet.
Regarding heating
The following will result in burns if ignored.
The Device may produce heat.
Do not touch it during power-on or shortly after powering it off
Caution

Safety Precautions
10
3D TOF Sensor Module B5L User's Manual (No. E596)
Precautions for Safe Use
Check the Product for physical damage upon opening its package.
It is recommended to wear gloves when opening the package.
Follow the indications listed below for a safe use of “the Product”.
(1) Installation Environment
There is potential internal deterioration and damage of internal parts of the Device.
• Do not use “the Product” in conditions exceeding the ratings for temperature and humidity.
• Do not use “the Product” in an environment where condensation occurs.
• Do not use “the Product” in an environment subjected to water, oil or chemicals spills.
• Do not use “the Product” in an environment subjected to corrosive, combustible or explosive gas.
• Do not use “the Product” in an environment where dust, salt or iron powder are present.
(2) Power Supply and Wiring
The following will result in fire if ignored.
• Make sure there is no faulty wiring of I/O terminals, etc.
• Do not connect the DC power supply terminal to AC power.
• Do not connect “the Product” to DC voltage above the rated capacity.
• Do not reverse-connect the DC power supply.
• Make sure to turn the Device off before removing cables.
• Make sure to check the Device and the connector pins for distortion or physical damage before
connecting the Device to the Connector.
• Check the cables for physical damage.
(3) Others
• Treat “the Product” as industrial waste when disposing of it.
• Use the M4 screws on the fixing holes on the Device when fixing it.
• Make sure not to twist, bend or break the Device when fastening the screws. The following will
result in accident or deterioration if ignored.
• Install “the Product” with attention being paid to dust prevention so that foreign objects will not
enter during use. The following will result in short circuit or long-term reliability decline due to
foreign objects if ignored.
• For safety’s sake, installation and wiring should be performed by professional technicians.
• Do not drop “the Product” during installation and use. The following will result in accident or
deterioration if ignored.
• Install “the Product” after confirming that there are no people around under the place of
installation.

Safety Precautions
11
3D TOF Sensor Module B5L User's Manual (No. E596)
Precautions for Correct Use
Observe the following precautions to prevent failure to operate and malfunctions, and to prevent
adversely affecting the performance and function of “the Product”.
• Store the Device at a temperature of -20°C to +60°C and a relative humidity level of 35% to 85%.
• Do not touch the board mounted parts with bare hands. Discharge any static electricity from the
user before use.
• Take proper measures against static electricity by using an antistatic wrist strap, etc. before
handling “the Product”.
• Make sure to properly ground the connector's earth terminal in order to prevent malfunction due to
noise.
• Do not use “the Product” in places where the surrounding temperature goes above the rating
range.
• Do not use “the Product” in a location where it would be subjected to direct sunlight.
• Do not use “the Product” in a location subject to excessive inductive or power supply noise, such
as in strong magnetic or electric fields.
• Do not use “the Product” in a location where it would be subjected to strong UV light.
• Do not use “the Product” in a location where it would be subjected to radiation.
• Sufficiently evaluate the electrical characteristics of any connection to the Device.
• If the Customer designs such structures as NIR transmission filter and installs them in front of the
light-projecting part or the light-receiving part, the detection performance will deteriorate due to
NIR light transmittance. Therefore, design with margins giving consideration to deviation and
other factors.
• The Customer should choose the power cable and USB cable after fully validating their
applicability.
• Do not strongly pull the cable connected to the Device.
• Do not reversely insert the Connector.
• Do not forcibly insert any non-standard connector.
• Do not touch the light-projecting part or the light-receiving part.
• Clean the light-projecting part or the light-receiving part if fouled. Clean with a soft and dry cloth,
avoiding damage to the light-projecting part or the light-receiving part. Never use volatile solvents
such as benzine and thinner or chemical wipers, etc.
• In order to improve long-term reliability of the Device, pay sufficient attention to heat emission
during installation.
• Install “the Product” at a sufficient distance from surrounding heat generating parts.
• When installing “the Product”, do not block the top surface, side surface and heat sink surface of
the Device. Otherwise, heat cannot be emitted.
• “The Product” generates heat during operation. Since the surrounding temperature rises due to
heating, sufficient consideration should be given to heat emission so that the surrounding
temperature will not go above the rating temperature range. In addition, do not fix “the Product”
upside down.
• In case of instantaneous stop or power outage, when power is restored, make sure to use “the
Product” after resetting.
• If abnormality occurs in received data, restart the power or reset.
• Do not peel off the QR code label. Otherwise, lot tracing of “the Product” will become impossible.
• Do not use “the Product” under conditions where it would be subjected to strong interfering light.
• If multiple units of “the Product” are used simultaneously, measurement may not be performed
correctly due to the influence of NIR light transmitted from sources other than the Device.
• Before using “the Product”, fully confirm if “the Product” can be used at the actual installation
location.

Safety Precautions
12
3D TOF Sensor Module B5L User's Manual (No. E596)
Caution on Usage
1) Since “the Product” is intended for assembly into other devices, single units of “the Product” are
not certified by various standards in each country.
2) “The Product” is not used for crime prevention and does not guarantee safety.
3) “The Product” has face detection function. As such, the Customer shall take proper care of
privacy, portrait right, copyright or any other rights of people.
4) “The Product” cannot be used for purposes that cause hazard or damage to people's life, body
and asset.
Protection of Intellectual Property
Do not do or allow any third party to do the following to the “Firmware” contained in “the Product”
(built-in software for operating the Device) and “SDK”.
(a) Withdrawal of the “Firmware” from the “Device”
(b) Reverse engineering of “Firmware” and “SDK”, including disassembling and decompiling, etc.
Technical information provided by OMRON is treated as OMRON’s confidential information. Do not
disclose to any third party.

Definition of Terms
13
3D TOF Sensor Module B5L User's Manual (No. E596)
Definition of Terms
This section provides definitions of terms related to "this product".
Term Description
TOF sensor A sensor that measures the distance from a sensor to an object using the TOF method.
TOF is an abbreviation for Time of Flight. The distance is measured by emitting light and
measuring the phase difference between the emitted and reflected light.
Distance precision Difference between the average measured value and the actual distance
Repeatability The extent to which the measured values vary
Operation mode - Normal mode: The HDR function is enabled and the distance is calculated based on two
measurement results.
- High-speed mode: The HDR function is disabled and the distance is calculated based on
one measurement result.
Note: HDR function: Function to make multiple measurements by changing the shutter
speed.
Start-up period Time from powering up the B5L to the point where communication becomes available
Warm-up period Time from powering up the B5L to the point where its performance becomes stable
Distance data The three-dimensional distance from the coordinate origin of B5L to the object.
Cartesian coordinate system A coordinate system defined by specifying mutually orthogonal coordinate axes
Rotated Cartesian coordinate
system
Cartesian coordinate system rotated around Xo, Yo, and Zo axes by the specified angle
Polar coordinate system A coordinate system that represents the position of a point in a solid using its distance r
and angle θas well as angle φfrom the origin
Amplitude data Photo sensitivity of each pixel when the LED is emitted
Revision History
A manual revision code appears as a suffix to the catalog number on the front and back
covers of the manual.
Revision code
E596-E1-01
Man.No.
Revision
Code
Revision Date Revision Details & Pages
A 2020 Aug. First edition

Chapter 1 Overview
1-1 Overview
3D TOF Sensor Module B5L User's Manual (No. E596)
Chapter 1 Overview
1-1 Overview
This product is a built-in 3D TOF sensor module with a light source and a TOF imager that
measures the distance to an object based on the phase difference between the emitted and
reflected light waves.
USB I/F is used to communicate with the host to receive commands from the host and
return the results of execution.
1-2 Model and System Configuration
Model
Operating range
NIR transmission filter
*1
Model
0.5m to 4m
Yes (built-in)
B5L-A2S-U01-010
*1 NIR transmission filter transmits infrared rays and absorbs visible light.
Model configuration
① ② ③ ④ ⑤
Series
Light source
Angle of view
Communications
NIR transmission filter
B5L-A
□
□
-□01
-□□0
2: LED, near-infrared
ray of 940nm
S: 90° -U01: USB2.0 Yes (built-in): -010
System configuration
Commercially available USB cable
3D TOF Sensor Module
B5L
Target
Command
Response
Setting & Operations: Communications Program
0.5m - 4m
DC 24V
14

Chapter 1 Overview
1-3 Specifications
3D TOF Sensor Module B5L User's Manual (No. E596)
1-3 Specifications
Ratings/Performance Specifications
Item
Specifications Note
Operating range 0.5m to 4m
Detection resolution
Approx. 0.3°
Horizontal detection
range (angle of view)
87° min.
Vertical detection
range (angle of view)
67° min.
Light source
LED, near-infrared ray of 940nm
Distance precision ±2%(±4cm) max.
at 2m, center block, 10 x 10 pixel
Notes 1 & 2
Repeatability ±1%(±2cm) max.
at 2m, center block, 10 x 10 pixel
Notes 1 & 2
Frame rate
10fps
Note 1
Supply voltage DC24V ±10% 3A
Power consumption
(current consumption)
Average at measurement: 7.2W 0.3A
Maximum: 72W 3A (informative)
Note 1
Ambient
temperature
In use: 0 to +50°C
Storage: -20 to +60°C (with no icing or condensation)
Ambient humidity In use & storage: 35 to 85 %RH max.
(no dew condensation)
Operating illumination
environment
500lx max.
Vibration resistance 10 to 150Hz: acceleration of 50m/s
2
, double amplitude of 0.7mm max.
8 min. 3 sweeps each in X, Y, and Z directions
Shock resistance
300m/s
2
for 3 times each in X, Y, and Z directions
Dimensions 103 × 64.3 × 43.1 mm
Approx. 108.6 x 64.3 x 43.1mm (connector included)
Degree of protection
IEC60529 IP10
Weight Approx. 305 g
Material Frame: Aluminum die-cast
Cover: Polycarbonate (PC)
Filter: Acrylic resin (PMMA)
Heat sink: Aluminum
Communications
USB2.0 CDC class
Start-up period 30 seconds max. Note 3
Warm-up period Approx. 30 minutes Note 4
Note 1:
- When stable in OMRON's measurement environment
- Ambient temperature: 25°C
- Operation mode: Normal mode (default)
- Exposure time setting: 850 (default)
- LED emission frequency ID: 8 (default)
Note 2:
- Target object: 70% reflectivity (white paper)
- Distance precision and repeatability are based on the following conditions:
Distance precision: Average of 100 measurements of 10 x 10 pixels in the center (10,000 data in
total)
Repeatability: Standard deviation of 100 measurements of 10 x 10 pixels in the center (10,000
data in total)
Note 3:
Time from power-on to when communications becomes available
Note 4:
Time from power-on to when the performance becomes stable
15

Chapter 1 Overview
1-4 Part Names and Functions
3D TOF Sensor Module B5L User's Manual (No. E596)
1-4 Part Names and Functions
Power connector
Micro USB connector
Emitter
Receiver
Operation check LED is located inside*1
NIR transmission filter
Top
Side
Side
Heat sink side
*1: Internal LED for operation check
- No command operation (initial state):
On startup/Under normal operation: Solid ON, On error occurrence: Flashing
- With command operation:
On startup: Solid ON, Under normal operation/On error occurrence: Can be turned off
by a command
16

Chapter 1 Overview
1-5 Dimensions
3D TOF Sensor Module B5L User's Manual (No. E596)
1-5 Dimensions
(Unit: mm) Tolerance class IT
取付穴
J.S.T. Mfg. Co., Ltd.
Model:
Mounting hole
2-M4 (effective depth 8)
(Coordinate origin)
(Coordinate origin)
(Coordinate origin)
17

Chapter 1 Overview
1-6 How to Measure 3D Distance by This Product
3D TOF Sensor Module B5L User's Manual (No. E596)
1-6 How to Measure 3D Distance by This Product
Distance data coordinate
As shown below, the X coordinate is rightward of the receiver, the Y coordinate is upward
of the receiver, and the Z coordinate is onward of the receiver.
The following three coordinate systems are available.
The origin of each coordinate system is the "coordinate origin" described in "1-6
Dimensions".
Zo
Yo
Xo
Polar
Rotated Cartesian
Cartesian
Xr
Yr
Zr
Output data
The following output data are available from this product.
You can specify which data to acquire by the result acquisition format setting.
Data name
Description
Distance data The three-dimensional distance from the coordinate origin of this product to
the object.
Distance data in Cartesian
coordinate system
Xo, Yo, Zo: X, Y, and Z coordinates based on the origin coordinate as its
origin
Distance data in rotated
Cartesian coordinate system
Xr, Yr, Zr: Cartesian coordinate system rotated around Xo, Yo, and Zo axes
by the angle specified by the command
Distance data in polar
coordinate system
r, θ, φ: Polar coordinate system based on the Cartesian coordinate
system
Amplitude data Photo sensitivity of each pixel when the LED is emitted
16 bits (256 scales)
Operation mode
This product has the following operation modes. You can specify a mode by the operation
mode setting.
Mode
Description
Normal
The HDR function is enabled and the distance is calculated based on two measurement results.
High-speed
The HDR function is disabled and the distance is calculated based on one measurement result.
Note. HDR function: Function to make multiple measurements by changing the shutter speed
18

Chapter 1 Overview
1-6 How to Measure 3D Distance by This Product
3D TOF Sensor Module B5L User's Manual (No. E596)
Data output sequence
The data is output in the order of 76799 to 0 from the bottom right to the top left of a 320 x
240 image. Refer to "4-4 Get Result (82Hex)" for details.
Pixel 76799
Pixel 76480
Pixel 0
Pixel 319
Field of View (FOV)
300pixel （87°以上）
320 pixels
240 pixels
300 pixels (87° min.)
: Data output range (total pixels)
: Lens image circle
: Valid range
Software
Visit the following site for the evaluation software and sample code:
Japanese
https://www.omron.co.jp/ecb/product-detail?partNumber=B5L
English
https://www.components.omron.com/product-detail?partNumber= B5L
Note 1. The sample code is for evaluation only. OMRON shall not guarantee operation of the code.
Note 2. OMRON is under no obligation to correct any errors or defects in the sample source code under any
circumstances, including, but not limited to, changes in the sample code.
Note 3. OMRON does not accept inquiries about the sample code.
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Chapter 1 Overview
1-6 How to Measure 3D Distance by This Product
3D TOF Sensor Module B5L User's Manual (No. E596)
Characteristics data (informative)
Impact of sunlight
Conditions:
Target: White PP film
Angle: 0°
Measurement distance: 2m
Illuminance: 10,000lx min. with sunlight
Distance precision
Conditions:
Target: 70% reflectivity (white paper)
Angle: 0°
Distance precision in angle direction
Conditions:
Target: 70% reflectivity (white paper), 15%
reflectivity (gray paper)
Angle: -43.5°, 0°, +43.5°
Measurement distance: 0.5m, 2m, 4m
With sunlight
Without sunlight
Distance (m)
Power connector
Emitter Receiver
Angle (°)
Measured value (m)
Measured value (m)
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