Operating instructions PMD 3D sensor O3D2xx
Contents
1. 19 TI Operation serere obec how Seabee da doe oe 19 20 19 Maintenance repair and 20 14 Approvals standardS cones tates tle Phen eee beeen 20 15 Not on th softWafe nee Saas 21 Licences and trademarks Microsoft Windows Windows XP and Windows Vista are registered trademarks of Microsoft Corporation Adobe and Acrobat are registered trademarks of Adobe Systems Inc All trademarks and company names are subject to the copyright of the respective companies PMD 3D sensor O3D2xx 1 Preliminary note Symbols used Instruction Reaction result Designation of pushbuttons buttons or indications Cross reference Important note Non compliance can result in malfunctions or interference Information Supplementary note 05 4 11 Warning signs used A WARNING Warning of serious personal injury Death or serious irreversible injuries may result 2 Safety instructions This manual is part of the device It contains information and illustrations about 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 handling can affect the safety of people and machinery2. 04 2015 704538 02 ifm electronic Operating instructions PMD 3D sensor efector 250 O3D2xx PMD 3D sensor O3D2xx Contents 1 Preliminary re br 4 1 1 Warning signs used 22522558 4 2 11 as ee ble eb 4 3 Items supplied doe ede 5 3 1 Accessories eRe 5 9 2 010206 5 4 Functions and Tealures ee a 9 6 OBS ede eee 6 5 2 Measuring PINGING 6 5 2 1 Unambiguous range 7 5 2 2 Extraneous NONE 7 5 29 Rang sr os ee doi eed ea 7 5 2 4 Mixed edges 8 5 2 5 Movement artefacts 8 5 2 6 Reflective surfaces nnn 9 5 2 7 Measured values with saturation underexposed pixels 9 E E 9 61 9 6 1 1 Sensor 8 een 10 6 1 2 Sensor program volume 10 6 1 3 Sensor program level da 10 6 2 dae
3. 10 ete S 10 6 4 Scaling of the measuring range 10 7 ernennen er aha PRR ee eee ee ae oe eed 10 Col Mo nting accessory 10 7 2 Mounting dimensions rn 11 7 3 Installation location Installation 5 11 7 3 1 Interference caused by adjacent units 12 2 8 CONNECHON ee ae ae 12 Ea NE EEE RS 13 8 2 External trigger Sorese eoe rear 13 9 Operating and display 13 SU View Shep oe ee et ee wae ee 13 92 LEEDS ates ee ena meee oe beter Ue 14 14 9 4 BUNONS 19 10 58 UND 19 10 1 Settings without PC operating software 16 PMD 3D sensor O3D2xx 10 2 Parameter setting oie ede wade 16 10 3 Parameter description 2204 00 au dues ems coed Bas ad 17 10 4 Menu structure en aa ern 18 10 5 External selection of the 18 10 6 Lock unlock operating keys 206 eee 19 10 7 Parameter setting via PC operating
4. 9 3 Display In the operating mode the process value is continuously displayed on output 1 mm inches or litres Display Description Connection operating program application administration Parm Connection via operating program processing an application Init Device initialisation immediately after power on nEAr Object too close to the sensor LOAd Loading a new application donE Loading a new application terminated indication 1 5 Lock Operating keys locked uLoc Operating keys unlocked rEdY Device ready for trigger DHCP No DHCP server found Both character strings are displayed alternately nolP WAIT No active valid configuration available Unit is busy Displyed immediately after power on Firmware version number is briefly displayed after power on Version number of the controller software is briefly displayed after power 14 PMD 3D sensor O3D2xx Error messages E004 Temperature of the device too high or too low E005 Hardware error Memory used E015 Data consistency error The current configuration is inconsistent This error can be acknowledged via the menu The previous parameter values are restored E016 Internal data error Error when reading the calibration values The device has to be returned to ifm Error messages of type EOxx e g E002 no communication with the image sensor indicate an internal fault gt Contact the ifm www ifm com 9 4 Buttons MO
5. M12 E20941 You can find more information about the available accessories at Data sheet direct gt e g 030200 Accessories 7 2 Mounting dimensions The device is mounted using 2 M4 screws nuts Hole dimensions Chapter 12 Scale drawing 7 3 Installation location Installation conditions 1 Sensor 2 Object Installation instructions Neither objects nor the mounting bracket nor other objects may be in the area shown in grey Place the objects completely within the visible range of the unit Avoid objects at short range of the light cone 50 Avoid back light or scattered light situations Keep a distance of min 10 cm between the unit and the object 11 PMD 3D sensor O3D2xx gt Avoid installation in heavily polluting areas of the machine gt Do not install behind glass gt Measurement inaccuracies gt The connected cables must be provided with a strain relief 7 3 1 Interference caused by adjacent units If several units are installed next to each other simultaneous exposure may cause interference gt Operate the units alternately Connect the ready output of unit 1 to the trigger input of unit 2 connect the ready output of unit 2 to the trigger input of unit 3 etc gt Avoidance of scattered light light overlapping caused by an adjacent unit E The illumination infrared can influence and disturb other units based on infrared lig
6. The installation and connection must comply with the applicable national and international standards Responsibility lies with the person installing the unit Only the signals indicated in the technical data or on the device label may be supplied to the connections or wires PMD 3D sensor O3D2xx 3 Items supplied PMD sensors 030200 030201 030222 030223 Operating instructions ident no 704538 The device is supplied without installation connection accessories and software 3 1 Accessories www ifm com Data sheet direct e g 030200 Accessories 3 2 Software The software is available at Data sheet direct E3D200 Download Software 4 Functions and features The PMD 3D sensor is an optical camera the pixels measure the distance between the camera and the closest surface The unit illuminates the scene using its own internal light source and processes the light reflected from the surface Then one or several process values can be generated via the image processing These values are transferred to the digital analogue outputs the states are made available at the outputs so that the level distance and volume applications can be evaluated PMD 3D sensor O3D2xx 5 Basics 5 1 General The distance measurement is based on the time of flight principle Each pixel measures the distance to the closest surface in the direction of view On the basis of the measurement a distance image is create
7. DE ENTER Changing to the parameter setting mode Selecting the subparameters Setting changing selecting the parameter values incremental by pressing briefly selection continuously by keeping the button pressed 5 s 15 PMD 3D sensor O3D2xx 10 Set up Set up is carried out via a menu guided PC operating software The device stores up to 32 applications parameter sets An application consists of e the image capture parameters e the program parameters the input or output application I O of the process value 10 1 Settings without PC operating software e Display mode e Trigger mode e Network IP address gateway subnet mask DHCP mode e Set the input parameters e Reset the device to factory setting The device parameters are set using the 2 buttons MODE ENTER and SET Basic principle 1 Activate a parameter with Mode Enter 2 Set select the parameter value with SET 3 Confirm the value with MODE ENTER 10 2 Parameter setting 1 Change to the parameter mode and activate parameters Press MODE ENTER for more than 1 s Activate subparameters e g DS with SET Set select the parameter value Press SET The current value or the current setting of the parameter is displayed Press SET again and keep it pressed Display starts flashing approx 5 s Display stops flashing Release SET Set select the value with SET by pressing the button once or continuousl
8. ained by the user The device must only be repaired by the manufacturer Dispose of the device in accordance with the national environmental regulations 14 Approvals standards The CE Declaration of Conformity is available at Data sheet direct e g 030200 Approvals 21 PMD 3D sensor O3D2xx 15 Note on the software This unit 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 22 PMD 3D sensor O3D2xx 23
9. d the unit detects the distances in the unambiguous range 1 Sensor 2 Object 3 Field of view A Distance measuring range 5 2 Measuring principle The unit measures using the time of flight principle on the basis of a phase measurement with modulated light Due to this principle the following has to be considered for the measurements PMD 3D sensor O3D2xx 5 2 1 Unambiguous range The unit detects distances in an unambiguous range E to be defined Each object beyond this range could be measured as if part of the original range E Unambiguous range L1 Distance to the object measured by the unit L2 Real distance to the object 5 2 2 Extraneous light Since modulated light is used for the measurement brighter ambient light can increase the noise of the measured values The accuracy of the distance measurement increases with higher light intensity of the modulated light Measured values of dark objects are noisier than those of brighter objects with the other conditions remaining identical Avoid any strong ambient light sunlight on the sensor and the object 5 2 3 Range The range of the measurement depends on the distance the exposure time and the reflectivity of the object to be detected Since the unit illuminates the scene the light intensity decreases quadratically with the distance The combination of the effects distance exposure time and reflectivity influences the received light intensity b
10. e process value is between the set point and the reset point the output is closed window function normally open or open window function normally closed The window functions also work with switching hysteresis 6 3 Hysteresis The hysteresis keeps the switching state of the output stable if the process value fluctuates around the set point When an object approaches the output switches when the set point is reached When the object is removed again the output does not switch back before the reset point is exceeded Set and reset points are symmetrically arranged around the selected switch point The hysteresis is the distance between the set and reset points 6 4 Scaling of the measuring range These two functions provide an analogue signal on the output which increases linearly depending on the size of the process value With the parameter analogue start point you define the process value at which the analogue signal is 4 mA 0 V With the parameter analogue end point you define the process value at which the analogue signal is 20 mA 10 V 7 Installation 7 1 Mounting accessory Depending on the intended location and type of mounting the following mounting accessories are for example available PMD 3D sensor O3D2xx Description Art no Mounting set for shaft 14 mm E3D103 clamp and bracket for types O2Dxxx O2Mxxx 21 Shaft straight 14 mm length 130 mm M12 E20939 Shaft angled 14 mm length 200 mm
11. ect beam path b is longer 1 Sensor 2 Reflective surface 3 Object Avoid reflective surfaces in the visible area of the unit 5 2 7 Measured values with saturation underexposed pixels Each pixel is assigned a measured value If the received signal is too strong saturation the pixel is assigned the distance 0 m If the received signal is too weak underexposure the pixel is assigned the distance 6 5 m Changing exposure setting Increasing dynamics Programming manual E3D200 Menu image quality 6 Function Detailed documentation of the settings and parameter setting of the unit described in this chapter programming manual 6 1 Range of functions The unit enables the evaluation of volume level or distance PMD 3D sensor O3D2xx 6 1 1 Sensor program distance This program provides the distance from an object to the sensor as a result unit of measurement mm or inches 6 1 2 Sensor program volume This program determines the respective volume unit of measurement litre on the basis of the surface structure and the distance from the object to the background 6 1 3 Sensor program level This program calculates a certain level on the basis of the distance value averaged across the total object surface and the distance of the object to the background unit of measurement mm or inches 6 2 Window function The window function enables the monitoring of a defined acceptable range If th
12. ht through beam sensors pushbuttons remote controls etc 8 Electrical connection The unit must be connected by a qualified electrician Device of protection class III PC The electric supply must only be made via PELV circuits Supply of the device to limited energy according to chapter 9 4 UL61010 1 Disconnect power before connecting the unit PMD 3D sensor O3D2xx 8 1 Wiring Process interface 1 M12 connector A coded 8 poles U 24 Trigger input OV Switching output 1 digital or analogue Ready Switching output 2 digital Switching input 1 Switching input 2 Ethernet TD Ethernet RD Ethernet TD Ethernet RD Shield For information about available sockets connectors see Data sheet direct 030200 Accessories 8 2 External trigger source Connect an external trigger source e g a diffuse reflection sensor to the trigger input of the device 9 Operating and display elements 9 1 View of the unit 1 LEDs Function display 2 Display Result display dialogue parameters 3 Buttons Parameter setting 13 PMD 3D sensor O3D2xx 9 2 LEDs Device ready for operation oe la Ethernet connection exists flashing Ethernet signal data transmission eS Connected with PC operating program flashing 6 Hz 6 Hz Short circuit switching output 1 yellow Switching output 2 switched flashing 6 Hz 6 2 Short circuit switching output 2
13. lack objects with a diffuse reflectivity of 5 are detected at distances of approx 2 m retroreflective objects travel through the unambiguous range several times and falsify the result Chapter 5 2 1 bright objects generate less distance noise than dark objects objects close to the unit generate less distance noise than objects farther away from the unit Reproducibility depends on the reflectivity and the distance of the object PMD 3D sensor O3D2xx 5 2 4 Mixed edges The visible surface of a pixel is approx 12 12 mm at a distance of 1 25 x 25 at a distance of 2 m If the distance across the pixel area is not constant an average distance is measured In order to detect an object at the right distance it requires a pixel surface of min twice its size 1 Sensor 2 Object a Measured distance a b Measured distance b c Averaged distance c 5 2 5 Movement artefacts In order to measure the distance four exposures are required internally They are taken rapidly one after the other If the object moves by more than half a pixel during this time measurement errors will occur gt Avoid movements of the object during exposure PMD 3D sensor O3D2xx 5 2 6 Reflective surfaces If the unit illuminates an object directly a and indirectly b via an adjacent reflective surface a measurement error will occur In that case the unit detects the object at a larger distance since the indir
14. oftware or for use in another network Enter or change IP address Enter or change gateway address Enter or change subnet mask Dynamic Host Configuration Protocol Ensures dynamic assignment of an IP address using a DHCP server If set to the device setting must be ted in a network with DHCP server Otherwise it cannot be accessed via the PC operating software E3D200 If set to off the fixed network settings IP nETm GWP are used Activate deactivate the external selection of the applicaton via pins 7 and 8 Display of the current firmware version Reset Reset the device to factory setting PMD 3D sensor O3D2xx 10 4 Menu structure START MODE ENTER SET MODE ENTER MODE ENTER back to RUN MODE MODE ENTER MODE ENTER GWA SNM back to nET InP MODE ENTER rES MODE ENTER back to 19 PMD 3D sensor O3D2xx 10 5 External selection of the application If this option is activated pins 7 and 8 of the process interface are used as inputs which can externally switch the first four applications Pin 7 is the least significant bit LSB pin 8 the most significant bit MSB the following switchings are possible Pin 7 0 pin 8 0 gt applicati
15. on on memory location 1 active Pin 7 1 pin 8 0 gt application on memory location 2 active Pin 7 0 pin 8 1 gt application on memory location 3 active Pin 7 1 pin 8 1 gt application on memory location 4 active 10 6 Lock unlock operating keys Press MODE ENTER and SET simultaneously for longer than 10 E When the sensor is connected with the PC operating software the MODE ENTER und SET buttons are locked Operation via software is of priority 10 7 Parameter setting via PC operating software The PC operating software is described a separate document Programming manual E3D200 www ifm com Data sheet direct E3D200 Additional data 11 Operation When the supply voltage has been applied the unit is automatically in the evaluation mode after approx 30 s The unit performs the stored and configured function and generates output signals according to the set parameters The display indicates the current evaluation result the yellow LEDs signal the switching status of the outputs or inputs 20 PMD 3D sensor O3D2xx 12 Scale drawing 1 Lens 2 Illumination unit 3 Display push buttons LEDs 4 Focal setter 13 Maintenance repair and disposal Keep the lens window free from soiling To clean the lens window do not use any detergents or solvents which might damage it Do not open the housing as the device does not contain any components which must be maint
16. y by keeping the button pressed Preset selection values are continuously passed through when the button is kept pressed e g off on off on gt When three digit numerical values are entered e g address the menu changes automatically to the next value to be set PMD 3D sensor O3D2xx 3 Confirm parameter value gt Confirm the displayed setting selection with MODE ENTER gt Display changes to the output parameter If no button is pressed for 15 s the device returns automatically to the respective output parameter e g IP evaluation mode Settings that were not confirmed with MODE ENTER are rejected Network parameters are accepted only after a restart Disconnect the sensor and connect it again gt Network parameters have been accepted PMD 3D sensor O3D2xx 10 3 Parameter description Parameter iS d d1 d3 rd1 18 Description Adjustable values Factory setting x Extended functions Display mode norm USd off Rotate display by 180 Abbreviations Display not rotated Display rotated by 180 1 3 repetition rate of the display 1250 ms 2 200 ms 3 600 ms Select trigger mode Sensor works without trigger Trigger positive edge Trigger negative edge Network Parameters for network operation IP GWA SNM DHCP These parameters are intended for setup using the PC operating s
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