schmersal AM-T100 User manual

Manual
AM-T100
3D INDUSTRIAL CAMERA

2

3
This document is valid for the device
Type designation: AM-T100
Version: as of 1.3.0.0
Document status
Version: 0.00
Date: 28/06/2023
Article number: 103052115

4 Table of contents
Table of contents
1 About this document ............................. 6
1.1 Function ..................................................6
1.2 Targetgroupoftheoperatinginstructions:authorisedqualiedpersonnel 6
1.3 Explanation of the symbols used ...............................6
1.4 Appropriate use ............................................6
1.5 General safety instructions....................................6
1.6 Warning about misuse .......................................7
1.7 Exclusion of liability .........................................7
1.8 Supporting documents .......................................7
1.9 Abbreviations used..........................................7
2 Product description .............................. 8
2.1 Performance features........................................8
2.1.1 CONSAM-T application software.........................8
2.1.2 AM-T100 OS operating system ..........................8
2.1.3 System requirements..................................8
2.2 Mode of operation ..........................................8
2.3 Technical data ............................................10
3 Assembly. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
3.1 General mounting instructions ................................12
3.2 Dimensions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
4 Electrical connection ............................ 16
4.1 General information for electrical connection.....................16
4.1.1 Wiringconguration ..................................16
4.1.2 Connector accessories ...............................17
5 Commissioning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
5.1 Tips for using the camera....................................18
5.2 Download ................................................24
5.3 Uninstalling the software ....................................24
5.4 Updating the software ......................................24
5.5 Functional testing..........................................25
5.6 Connecting the camera .....................................25
5.7 Establishing the connect to the camera .........................26
5.8 Conguringthecamera .....................................27
5.9 Implementing settings ......................................28
5.10 Loading settings on the camera...............................28
5.11 Readingoutlogandpointcloudles ...........................29

Table of contents 5
6 CONSAM-T application software user interface ...... 30
6.1 Overview ................................................30
6.2 Devices. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
6.2.1 Device Connection...................................31
6.2.2 Device Settings .....................................32
6.2.3 Data Logging .......................................35
6.2.4 Diagnosis..........................................37
6.2.5 AM-T100 OS Update .................................38
6.2.6 Virtual Camera......................................39
6.3 ZoneConguration.........................................40
6.3.1 Deningzones ......................................43
6.3.2 Setting ............................................46
6.4 Acquisition & Validation .....................................48
6.5 Upload & Download ........................................50
6.5.1 Managing projects on the PC...........................51
6.5.2 Manage projects on the camera ........................51
6.6 Start Running .............................................52
7 AM-T100 OS operating system user interface........ 53
7.1 Overview ................................................53
7.1.1 Homepage .........................................54
7.1.2 Project ............................................55
7.1.3 Platform ...........................................56
7.1.4 More..............................................58
7.1.5 EN (Language)......................................59
7.1.6 Login .............................................59
8 Diagnosis and troubleshooting. . . . . . . . . . . . . . . . . . . . 60
8.1 Diagnostic. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
8.2 Troubleshooting ...........................................61
9 Maintenance and cleaning........................ 63
10 Disassembly and disposal. . . . . . . . . . . . . . . . . . . . . . . . 63
10.1 Disassembly..............................................63
10.2 Disposal .................................................63

6 About this document
1 About this document
1.1 Function
This manual contains essential information on the assembly, installation and
commissioningoftheAM-T100ToFcameraandthecongurationofthecamera
with the aid of the CONSAM-T application software and for operation of the
AM-T100 OS internal camera operating system.
1.2 Target group of the operating instructions: authorised qualied personnel
All operations described in this manual must be carried out by trained specialist
personnel, authorised by the plant operator only.
Please make sure that you have read and understood these operating
instructions and that you know all applicable legislations regarding occupational
safety and accident prevention prior to installation and putting the component
into operation.
The machine builder must carefully select the harmonised standards to be
compliedwithaswellasothertechnicalspecicationsfortheselection,
mounting and integration of the components.
1.3 Explanation of the symbols used
Information, hint, note:
This symbol indicates useful additional information.
Caution: Failure to comply with this warning notice could lead to failures or
malfunctions.
Warning: Failure to comply with this warning notice could lead to physical
injury and/or damage to the machine.
1.4 Appropriate use
The Schmersal range of products is not intended for private consumers.
The camera must be exclusively used in accordance with the versions listed
below or for the applications authorised by the manufacturer. Detailed informa-
tion regarding the range of applications can be found in the chapter "Product
description".
1.5 General safety instructions
The user must observe the safety instructions in this operating instructions
manual,thecountryspecicinstallationstandardsaswellasallprevailing
safety regulations and accident prevention rules.
Further technical information can be found in the Schmersal catalogues or in
the online catalogue on the Internet: products.schmersal.com.

About this document 7
The information contained in this operating instructions manual is provided
withoutliabilityandissubjecttotechnicalmodications.
There are no residual risks, provided that the safety instructions as well as the
instructions regarding mounting, commissioning, operation and maintenance
are observed.
1.6 Warning about misuse
In case of inadequate or improper use or manipulations of the camera, personal
hazardsordamagetomachineryorplantcomponentscannotbeexcluded.
1.7 Exclusion of liability
We shall accept no liability for damages and malfunctions resulting from
defectivemounting,installationorcongurationorfailuretocomplywiththis
operating instructions manual. The manufacturer shall accept no liability for
damages resulting from the use of unauthorised spare parts or accessories.
For safety reasons, invasive work on the device as well as arbitrary repairs,
conversionsandmodicationstothedevicearestrictlyforbidden,the
manufacturer shall accept no liability for damages resulting from such invasive
work,arbitraryrepairs,conversionsand/ormodicationstothedevice.
1.8 Supporting documents
The following documents are supporting documents:
– AM-T100 operating instructions (included or available for download at prod-
ucts.schmersal.com)
– Software Licence Contact (on the internet at products.schmersal.com)
– Declaration of conformity
1.9 Abbreviations used
Designation Meaning
iToF Indirect Time of Flight
PoE Power over Ethernet
FPGA Field-Programmable Gate Array
FPGA PL FPGA Programmable Logic
FPGA PS FPGA Processing System

8 Product description
2 Product description
2.1 Performance features
The AM-T100 is a ToF camera with an image rate of up to 60 fps and a
resolutionof640x480pixels.Withaeldofvisionof67"x51"andhigh-
performance IR illumination, it can detect objects within a range of up to 6
metres1).
ThecameraisconguredusingtheCONSAM-Tapplicationsoftware,which
allowsforcreationandmonitoringofthecomplex3Dzones.Ifthecamera
detectsobjectswithinthesezones,digitaloutputsareswitched.Inaddition,
digitalinputscanbeusedtoswitchbackandforthbetweendi󰀨erent3Dzones.
The AM-T100 can also supply image data for common image processing
software via the standardised GigE Vision and GeniCam interfaces. The
integratedSDKallowssoftwaredevelopersandintegratorstocongurethe
cameraandcreatecustomer-specicsoftwareapplications.
1) Depending on the remission properties of the target objects, a range of up to 30 m can be
achieved.
2.1.1 CONSAM-T application software
The CONSAM-T application software for Windows is used for camera
conguration.Thesettingsaresavedinaprojectleandtransferredto
the camera. A detailed description can be found in chapter 6 “CONSAM-T
application software user interface” from page 30.
2.1.2 AM-T100 OS operating system
The AM-T100 OS is the operating system that is pre-installed on the camera,
that runs on the camera autonomously and that can be called via a browser.
A detailed description can be found in chapter 7 “AM-T100 OS operating system
user interface” from page 53.
2.1.3 System requirements
The following system requirements apply to operation of the AM-T100 camera
and the CONSAM-T application software:
– 2 GB free disc space
– 1 x Ethernet 100/1000 MBit/s – RJ45
– Windows 10 as of version 21H1
– Optional: PoE-capable switch or PoE injector, standard IEEE 802.3bt
2.2 Mode of operation
TheAM-T100ToFcameraworksaccordingtotheindirecttimeofight
measurement principle, whereby the camera emits a continuous beam of
modulated light and measures the phase shift between the emitted and
reectedlight.Thisphaseshiftisusedtodeterminethedistancebetweenthe
sensorandthereectingobject.Thegreaterthephaseshift,thefartheraway
the object. The camera can then calculate the distance travelled by the light and
thus determine the distance between the camera and the object. The phase
shift is determined for each individual pixel in the image.

Product description 9
Fig. 1: The greater the phase shift, the greater the distance to the object
The results can be depicted in several ways:
A 2D greyscale image, a 2D image in which the depth information of an object
is shown through greyscales, and a point cloud, in which each measured point
contains depth information. The depth information can be visualised by user-
denedcolourscales.
Fig. 2: Image acquisition Fig. 3: Depth depiction Fig. 4: Point cloud depiction
The camera can be used for various applications, especially where rapid,
accurate, non-contact and continuous distance measurements are required.
Some applications include:
– Logistics and packaging: in logistics and packaging, the camera can be used
forpackagingsupport,boxlling,stacking,volumerecordingorlabellingin
ordertoboostthee󰀩ciencyandaccuracyofprocesses.
– Production monitoring: by monitoring a production process, the camera
canidentifybottlenecks,improvee󰀩ciencyandreducerejects.Thisallows
problemstoidentiedpromptlyandrectied.
– Autonomous vehicles: on autonomous vehicles, the camera can be used
to monitor the surroundings and detect obstacles so as to ensure fail-safe
navigation.
– Image processing: the camera can be used in image processing to create
3D models, Augmented Reality applications or to detect objects in real time.
– Robotics: in robotics, the camera can be used for object detection and
distance measurement in order to ensure safe and accurate robot
movements.
Phase shift
Emitted light
Reectedlight

10 Product description
2.3 Technical data
Designation Description
Standards EN 61326-1, EN IEC 60825-1
Working principle iToF (indirect Time-of-Flight)
Material of the housings Die-Cast Aluminum
Mechanical data
Dimensions (H x W x D) 70x70x72 mm
Mounting holes 2x Ø5.3 mm x 70 mm
Tightening torque,
xingscrews
1.4 Nm
Mechanical data – Termination
Termination
I/O connector M12, 8-pole, A-coded
Ethernet connector M12, 8-pole, X-coded
Ambient conditions
Degree of protection IP67 1)
Ambient temperature 0 ... +45 °C 2) 3)
0 ... +40 °C 2) 4)
Storage and transport temperature -20 ... +85 °C
Relative humidity, max. 93%, non condensing, non icing
Permissible installation altitude above
MSL, max. 2,000 m
Image acquisition
Resolution 640x480 px
Frame rate, max. 60 fps
Wave length of the laser diode 850 nm
Field of view (H x V) 67°x51°
Range, max. 6 m 5)
Recommendedtargetreectivity 20 ... 90 %
Measurement precision <1 %
Depth resolution 1 mm
Laser class Laser class 1
Data interface GenICam
1) If both plug connections are closed.
2) The camera can be operated at an ambient temperature from -20°C after a
warm-up period of 30 minutes.
3) Maximum temperature with ACC-AM-MS-F mounting bracket.
4) Maximum temperature without mounting bracket.
5) Higher ranges according to the remission properties of the target object.

Product description 11
Designation Description
Electrical data
Operating voltage 24 VDC ±10 % or
PoE IEEE 802.3bt
Electrical power consumption,
typically / max. 15 W / 40 W
Electrical data - Digital inputs/outputs
Inputs/outputs 2x opto-isolated, potential-free input
2x opto-isolated, potential-free output
Interface
Ethernet 10/100/1000 Mbps Ethernet,
GigE Vision 2.0 Compliant
Status indication
Switching condition: green, red, orange LED
Supply voltage: green LED

12 Assembly
3 Assembly
3.1 General mounting instructions
Fitting is only authorised in a de-energised condition
• Do not install the camera near high-voltage equipment and power
consumers.
Topreventadditionalreectionsurfaces,theeldofviewandtheinstallation
level must not intersect.
Correct

Assembly 13
False
In order to optimally dissipate the heat generated during operation and to
guarantee the performance data of the camera over the entire operating
temperature range, the camera must be mounted in such a way that the heat
is dissipated. This is done via a suitable holder or via contact surfaces between
the housing and the environment.
Please note that the IP degree of protection can only be guaranteed if the
cables are properly connected to the two sockets at the rear of the camera or
the sockets are sealed with protective caps.
Iftheuserdoesnotrequireprecisealignmentsetting,thecameracanbetted
directlytoametalliccomponentofamachine,suchasanaluminiumprole.
M5 clearance holes are provided for camera mounting. The bolts and plain
washers are not included in the delivery and must be chosen according to the
desired mounting type.

14 Assembly
ACC-AM-MS-F, 103049934
mounting bracket
Thefollowingmountingbracketisavailabletoenableexibleassemblyand
adjustmentofthecameratoverticalsurfacesoronhorizontallevels.Thebolts
are included in the delivery.Align the heat transmission pad to the square
marking on the inside of the mounting bracket. The heat transmission pad is
optional and is used to improve contact between the camera and the bracket.
The user can decide whether or not the heat transmission pad is needed for
heat dissipation.
• Insert the camera into the hollow space in the bracket.
• Tightenthexingboltsonthecamera.
• Adjusttheazimuthandelevationangles.
3.2 Dimensions
Camera AM-T100
70
21.5 21.5
16
35
16 38
35
70
35
72
6
11.9
51.5
18.5
¤5.3
C
AB
D
C
Fig. 5: Dimensions of camera AM-T100 (measurements in mm)
Pos. Designation
A I/O connection
B Ethernet connection
C Laser diode
D Lens
Azimuthangle
Elevation angle

Assembly 15
Mounting bracket ACC-AM-MS-F
70.15
62.5
50
25
6.25
94.3
50
25
22.15
¤6.1
¤4.3 4x¤5.3
R20
90°
90°
176
106.3
94.3
Fig. 6: Dimensions of mounting bracket ACC-AM-MS-F (measurements in mm)

16 Electrical connection
4 Electrical connection
4.1 General information for electrical connection
The electrical connection may only be carried out by
authorised personnel in a de-energised condition.
• Provide the requisite electrical cable fuse for the installation.
• Before switching on, ensure that all signal connections and the power supply
are correctly connected to prevent damage.
The connection is made via an I/O connector and/or an Ethernet connector.
4.1.1 Wiring conguration
Ethernet connector plug
M12, X-coded I/O connector plug M12, 8-pole, A-coded
1
45
8
2
7
36
1
2
3
4
5
6
7
8

Electrical connection 17
4.1.2 Connector accessories
Ethernet connecting cable M12, X-coded
ACC-AM-CON-VIE-SS8P-M12-RJ45-G-5M-S, 103048465
8
54
1
72
63
1
8
M12, X-coded
PIN Signal RJ45, 8P8C PIN
1 BI_DA+ 1
2 BI_DA- 2
3 BI_DB+ 3
4 BI_DB- 6
5 BI_DC+ 7
6 BI_DC- 8
7 BI_DD+ 5
8 BI_DD- 4
I/O connecting cable M12, 8-pole, A-coded
ACC-AM-CON-A-K8P-M12-G-5M-S, 103048464
5
8
4
3
21
7
6
PIN Function Colour code of the Schmersal
connector plug to DIN 47100
1 Input 1 WH
2 Output 1 (Warning) BN
3 Input 2 GN
4 Output 2 (Alarm) YE
5 24 VDC power supply GY
6 GND outputs PK
7 GND power supply BU
8 GND inputs RD

18 Commissioning
5 Commissioning
5.1 Tips for using the camera
When acquiring images, the following must be taken into consideration in order
to obtain accurate distance measurements:
Assembly
The camera must be installed so that there are no unnecessary objects or
reectionsintheeldofview.Largesurfacesintheforegroundoftheeldofview
must be removed in particular in order to avoid over-exposure of the sensor.
Camerasinstalledadjacenttooneanothercaninuenceoneanotherand
cause measurement errors. When using multiple cameras, it is important that
theinstallationpositionsbechosensothatthecamerascannotinuenceone
another. If this isn't possible, the anti-interference function for multiple devices
can be activated with the "Interoperability" function (chap. 6.2.2, p. 32). This
function creates random modulation changes to the signals, which enable
device-specicsignaldi󰀨erentiationandpreventinterferencewithotherdevices.
Inuence of di󰀨erent material properties on image acquisition
Measuredvaluesarealsoinuencedbymaterialpropertiessuchasreection,
transparency,scatterandabsorption.Materialsthatarehighlyreectiveare
highlysuitableastheyreecttheemittedlightbackwell.Metalsandshiny
surfacescan,however,causeexcessivereectionwithover-exposure.
Transparent materials, such as glass and perspex, can allow the light through
and falsify the depth information. To ensure good signal strength, objects with
light-penetratingmaterialsandsu󰀩cientremissionmustbeused.
Multiple reections
The illumination of a scene may cause the modulated light from an object or from
surfacessuchasconcrete,wallsandceilingstobereectedbacktothesensor
indirectly rather than directly. This can cause artifacts (unwanted, additional
data not created by real objects). The light beam that covers the theoretical
directpathmixeswiththeindirectlyreectedlightbeam.Inthatcase,di󰀨erent
phaseinformationbecomesoverlaidandfalsiesthemeasurementdata.This
means that the phase shift can no longer be reliably detected and there will be a
discrepancybetweenthecalculatedandactualdistance.Multiplereectionscan
also be caused by dust, droplets of water and transparent objects.

Commissioning 19
Fig. 7: Unwantedreections
Flying pixel
Whenthelightbeamshitcornersandedgesofobjects,"yingpixels"become
visible. At these points, multiple measurement points come together, which may
beatdi󰀨erentdepths.Themeasureddistanceisbetweentheforegroundand
the background.
Fig. 8: Flying pixel
Multiple
reections
Transparent
objects

20 Commissioning
Inuence of the distance on accuracy
The accuracy of image acquisition decreases as distance increases, as the
intensityofthereectedlightfalls,leadingtoreducedsignalquality.Withthis
in mind, it's important to take the distance between the object and the camera
into consideration when planning ToF acquisition and, if necessary, to adjust the
position of the camera or the exposure.
Guideline value for an exposure of 1000 µs and range mode of 7500 mm:
Objects with high reection (80 %),
at 6 m distance
Accuracy ± 50 mm
Accuracy < 16 mm
Precision < 23 mm
Objects with low reection (10%) at max. 3 m distance
Accuracy ± 50 mm
Accuracy < 13 mm
Precision < 23 mm
Inuence of ambient illumination
The camera operates in the visible, near infrared wave length range of 850 nm.
When choosing the ambient illumination, it must be ensured that this is not in
thesamewavelengthrangeandcaninuencethecamera.Avoidsourcesof
light, such as direct sunlight or halogen bulbs, as these are in a range that could
interfere with the acquisition.
Intensity
400350 450 500 550 600 650 700 750 800 850 900
Wavelength (nm)
0
20
40
60
80
100 Direct sunlight
Intensity
400350 450 500 550 600 650 700 750 800 850 900
Wavelength (nm)
0
20
40
60
80
100 Halogen
Intensity
400350 450 500 550 600 650 700 750 800 850 900
Wavelength (nm)
0
20
40
60
80
100 LED
Intensity
400350 450 500 550 600 650 700 750 800 850 900
Wavelength (nm)
0
20
40
60
80
100 Fluorescent
Fig. 9: Spectrumsofdi󰀨erentsourcesoflight
Fluorescent lamp Direct sunlight
LED Halogen bulb