O3D310 - 3D Printer IFM - Free user manual and instructions

USER MANUAL O3D310 IFM

Abstract geometric pattern with nested rounded rectangles and rectangular cutouts (no text or symbols)

Contenu

13.1.1 Sending Commands....46
13.1.2 Receiving Images 48
13.1.3 Image data 48
13.1.4 Additional Information for CONFIDENCE_IMAGE 52
13.1.5 Configuration of PCIC Output....53

13.2 Process Interface Command Reference....63

13.2.1 a Command (activate application) 63
13.2.2 A? Command (occupancy of application list)....63
13.2.3 c Command (upload PCIC output configuration) 64
13.2.4 C? Command (retrieve current PCIC configuration)....64
13.2.5 E? Command (request current error state)....64
13.2.6 f Command (set temporary application parameter) 65
13.2.7 G? Command (request device information) 66
13.2.8 H? Command (return a list of available commands).67
13.2.9 I? Command (request last image taken)....68
13.2.10 o Command (set logic state of a ID)....68
13.2.11 O? Command (request state of a ID) 69
13.2.12 p Command (turn PCIC output on or off) 69
13.2.13 S? Command (request current decoding statistics) 70
13.2.14 t Command (execute asynchronous trigger). 70
13.2.15 T? Command (execute synchronous trigger)....71
13.2.16 v Command (set current protocol version)....71
13.2.17 V? Command (request current protocol version) 71

13.3 Error codes....72

13.4 EtherNet/IP 73

13.4.1 Data structures for consuming and producing assemblies....73
13.4.2 Functionality of the Ethernet/IP application 74
13.4.3 Extended commands 78
13.4.4 Signal sequence with synchronous trigger....79
13.4.5 Signal sequence with failed trigger....79

13.5 PROFINET IO....80

13.5.1 Data structures for output and input frame....80
13.5.2 Functionality of PROFINET IO application....80
13.5.3 Extended commands 85
13.5.4 Signal sequence with synchronous trigger....85
13.5.5 Signal sequence with failed trigger....86

Copyright

This product can contain Free Software or Open Source Software from various software developers which is subject to the following licenses: General Public License version 1, version 2 and version 3 (General Public License version 3 in conjunction with the GNU Compiler Collection Runtime Library Exception version 3.1), Lesser General Public License version 2.1, Lesser General Public License version 3, Berkeley Software Distribution ("This product includes software developed by the University of California, Berkeley and its contributors"), The Academic Free License version 2.1. For the components subject to the General Public License in their respective versions the following applies:

This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation. If version 1 applies to the software: either version 1 of the License or (at your option) any later version; if version 2 (or 2.1) applies to the software: either version 2 (or 2.1) of the License or (at your option) any later version; if version 3 applies to the software: either version 3 of the License or (at your option) any later version. The following disclaimer of the software developers applies to the software components that are subject to the General Public License or the Lesser General Public License in their respective versions: The Free Software is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License and the GNU Lesser General Public License for more details.

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① ② ③ ④ ⑤

Diagram of a two-segment display system with labeled components ①, ②, and ③, showing structural connections.

Exemple : Sélection application 1 → application 2 → application 3

LED 1 LED 2 LED 4 LED 3

Diagram of a mechanical device with numbered components, likely illustrating a physics or engineering setup.

The process interface is used during the normal operation mode to get operational data (e.g. 3D images, process values) from the O3D3xx.

13.1.1 Sending Commands

For sending commands via the process interface the commands have to be sent with a special protocol and as ASCII character strings. This protocol conforms to the version 3 of the O2V/O2D products.

Structure of the protocol:

CR LF CR LF

Abbreviation Description ASCII code (dec) ASCII code (hex)
CR Carriage	Return 13 D
LF Linefeed	10 A
< > Marking of a placeholder(e.g.is a placeholder for code)
[ ] Optional argument(possible but not required)

Command Description
	It is the command to the device (e.g. trigger the unit).
	It is a character string of 4 digits between 0-9. If a message with a specific ticket is sent to the device, it will reply with the same ticket.A ticket number must be > 0999.Use a ticket number from the range 1000 - 9999.
	It is a character string beginning with the letter 'L' followed by 9 digits. It indicates the length of the following data (<content>CR LF) in bytes.

They are different protocol versions available:

Version	Input format	Output format
V1		As input
V2		As input
V3		As input
V4

The default protocol version is "V3". It is recommended to use protocol version 3 for machine to machine communication. This is due to the fact that only version 3 supports asynchronous messages and provides length information.

Ticket numbers for asynchronous messages:

Ticket number	Description
0000	Asynchronous results
0001	Asynchronous error messages / codes
0010	Asynchronous notifications / message codes

Format of asynchronous notifications

The format of the asynchronous notifications is a combination of the unique message ID and a JSON formatted string containing the notification details: :

Example for protocol version 3:

LCR+LF:CR LF

Result:

0010L000000045\r\n0010000500000:{"ID": 1034160761,"Index":1,"Name": "Pos 1"}\r\n

Explanation of the result:

Command Result
L	L000000045
CR+LF \r\n
0010
{"ID": 1034160761,"Index":1,"Name": "Pos 1"}
CR+LF \r\n

Asynchronous message IDs

Asynchronous message ID	Description Example Description
000500000 Application changed	{"ID": 1034160761,"Index":1,"Name":"Pos 1","valid":true}
000500001 Application is not valid	{"ID": 1034160761,"Index":1,"Name":"Pos 1","valid":false}	If a application exists on given index but it is invalid, the ID and Name are filled accoring to the application. If there is no application on given index, the application ID will contain 0 and the name an empty string """.
000500002 image acquisition finished	{} This message signals the	reciever, that the device has finished the image acquisition. This can be used for cascading multiple devices with a software trigger.

13.1.2 Receiving Images

For receiving the image data a TCP/IP socket communication is established. The default port number is 50010. The port number may differ based on the configuration. After opening the socket communication, the O3D3XX device will automatically (if the device is in free run mode) send the data through this socket to the TCP/IP client (PC).

PCIC output per frame. The following data is submitted in this sequence:

Component Content
Ticket and length information (→ 13.2.15)
Ticket "0000"
Start sequence String "star" (4 bytes)
Normalised amplitude imageOutput format: 16-bit unsigned integer	1 image
Distance imageOutput format: 16-bit unsigned integer.Unit: mm	1 image
X imageOutput format: 16-bit signed integer.Unit: mm	1 image
Y imageOutput format: 16-bit signed integer.Unit: mm	1 image
Z imageOutput format: 16-bit signed integer.Unit: mm	1 image
Confidence imageOutput format: 8-bit unsigned integer	1 image
Diagnostic data
Stop sequence String "stop" (4 bytes)
Ticket signature

13.1.3 Image data

For every image there will be a separate chunk. The chunk is part of the response frame data of the process interface.

The header of each chunk contains different kinds of information. This information is separated into bytes. The information contains e.g. the kind of image which will be in the "PIXEL_DATA" and the size of the chunk.

Offset Name	Description Size [byte]
0x0000 CHUNK_TYPE Defines the type of the chunk. For each distinct chunk an own type is defined.			4
0x0004 CHUNK_SIZE Size of the whole image chunk in bytes. After this count of bytes the next chunk starts.			4
0x0008 HEADER_SIZE Number of bytes starting from 0x0000 until PIXEL_DATA.			4
0x000C HEADER_VERSION Version number of the header			4
0x0010 IMAGE_WIDTH Image width in pixel 4
0x0014 IMAGE_HEIGHT Image height in pixel 4
0x0018	PIXEL_FORMAT Pixel format 4
0x001C	TIME_STAMP Time stamp in microseconds (deprecated) 4
0x0020	FRAME_COUNT Frame counter 4
0x0024	STATUS_CODE Errors of the device 4
0x0028	TIME_STAMP_SEC Time stamp in seconds	4
0x002C	TIME_STAMP_NSEC Time stamp in nanoseconds	4
0x0030	PIXEL_DATA The pixel data in the given type and dimension of the image. Padded to 4-byte boundary.		4

Available chunk types:

Constant	Value	Description
RADIAL_DISTANCE_IMAGE	100	Each pixel of the distance matrix denotes the ToF distance measured by the corresponding pixel or group of pixels of the imager. The distance value is corrected by the camera's calibration, excluding effects caused by multipath and multiple objects contributions (e.g. "flying pixels"). Reference point is the optical centre of the camera inside the camera housing.Invalid PMD pixels (e.g. due to saturation) have a value of zero.Data type: 16-bit unsigned integer (little endian)Unit: millimetres
NORM_AMPLITUDE_IMAGE	101	Each pixel of the normalized amplitude image denotes the raw amplitude (see amplitude image below for further explanation), normalized to exposure time. Furthermore, vignetting effects are compensated, ie the darkening of pixels at the image border is corrected. The visual impression of this grayscale image is comparable to that of a common 2D camera.Invalid PMD pixels (e.g. due to saturation) have an amplitude value of 0.Data type: 16-bit unsigned integer
AMPLITUDE_IMAGE	103	Each pixel of the amplitude matrix denotes the amount of modulated light (i.e. the light from the camera's active illumination) which is reflected by the appropriate object. Higher values indicate higher PMD signal strengths and thus a lower amount of noise on the corresponding distance measurements. The amplitude value is directly derived from the PMD phase measurements without normalisation to exposure time. In multiple exposure mode, the lack of normalisation may lead (depending on the chosen exposure times) to inhomogeneous amplitude image impression, if a certain pixel is taken from the short exposure time and some of its neighbours are not.Invalid PMD pixels (e.g. due to saturation) have an amplitude value of 0.Data type: 16-bit unsigned integer
GRAYSCALE_IMAGE	104	Each pixel of the amplitude matrix denotes the amount of modulated light which is reflected by the appropriate object (i.e. the light from the camera's active illumination). Higher values indicate higher PMD signal strengths and thus a lower amount of noise on the corresponding distance measurements. The amplitude value is directly derived from the PMD phase measurements without normalisation to exposure time.
Constant Value Description
CARTESIAN_X_COMPONENT	200 The X matrix denotes the X component of the Cartesian coordinate of a PMD 3D measurement. The origin of the camera's coordinate system is in the middle of the lens' front glass, if the extrinsic parameters are all set to 0.Data type: 16-bit signed integerUnit: millimetres
CARTESIAN_Y_COMPONENT	201 The Y matrix denotes the Y component of the Cartesian coordinate of a PMD 3D measurement. The origin of the camera's coordinate system is in the middle of the lens' front glass, if the extrinsic parameters are all set to 0.Data type: 16-bit signed integerUnit: millimetres
CARTESIAN_Z_COMPONENT	202 The Z matrix denotes the Z component of the Cartesian coordinate of a PMD 3D measurement. The origin of the camera's coordinate system is in the middle of the lens' front glass, if the extrinsic parameters are all set to 0.Data type: 16-bit signed integerUnit: millimetres
CARTESIAN_ALL 203 CARTESIAN_X_COMPONENT,CARTESIAN_Y_COMPONENT,CARTESIAN_Z_COMPONENT
UNIT_VECTOR_ALL 223 The unit vector matrix contains 3 values [ex, ey, ez] for each PMD pixel, i.e. the data layout is [ex_1,ey_1,ez_1, ... ex_N, ey_N, ez_N], where N is the number of PMD pixels.Data type: 32-bit floating point number (3x per pixel)
CONFIDENCE_IMAGE 300 See Additional Information for Image Data (→ 13.1.4)
DIAGNOSTIC 302 See Receiving Images (→ 13.1.2)
JSON_DIAGNOSTIC 305 Items with JSON formatted diagnostic data is formed like this:{"AcquisitionDuration": 20.391,"EvaluationDuration": 37.728,"FrameDuration": 37.728,"FrameRate": 15.202,"TemperatureIllu": 52.9}Unit for durations: millimetresUnit for framerates: HzUnit for temperature: °C
EXTRINSIC_CALIB 400	The transformation from one cartesian coordinate system to another is defined by a 6 degrees of freedom vector (DOF): [trans_x, trans_y, trans_z, rot_x, rot_y, rot_z]. Let R be the product of the common "clockwise" 3D-rotation matrices: R = Rx*Ry*Rz The transformation of a point P is specified by P_t = R*P + [trans_x, trans_y, trans_z] .The device extrinsic calibration can be set by the user, but it may be changed by an automatic calibration feature of the device.Data type: 32-bit floating point number (little endian)Unit for trans_x, trans_y, trans_z: millimetresUnit for rot_x, rot_y, rot_z: °
JSON_MODEL 500 Model data in JSON
MODEL_ROIMASK 501 ROI mask for internal debugging purposes
SNAPSHOT_IMAGE 600	Snapshot image

Pixel format:

Constant Value Description
FORMAT_8U 0 8-bit unsigned integer
FORMAT_8S 1 8-bit signed integer
FORMAT_16U 2 16-bit unsigned integer
FORMAT_16S 3 16-bit signed integer
FORMAT_32U 4 32-bit unsigned integer
FORMAT_32S 5 32-bit signed integer
FORMAT_32F 6 32-bit floating point number
FORMAT_64U 7 64-bit unsigned integer
FORMAT_64F 8 64-bit floating point number
Reserved	9 N/A
FORMAT_32F_3 10	Vector with 3x32-bit floating point number

13.1.4 Additional Information for CONFIDENCE\_IMAGE

Further information for the confidence image:

Bit Value	Description
0 1 = pixel invalid Pixel invalid		The pixel is invalid. To determine whether a pixel is valid or not only this bit needs to be checked. The reason why the bit is invalid is recorded in the other confidence bits.
1 1 = pixel saturated Pixel is saturated		Contributes to pixel validity: yes
2 1 = bad A-B symmetry A-B pixel symmetry		The A-B symmetry value of the four phase measurements is above threshold.Remark: This symmetry value is used to detect motion artefacts. Noise (e.g. due to strong ambient light or very short integration times) or PMD interference may also contribute.Contributes to pixel validity: yes
3 1 = amplitude below minimum amplitude threshold		Amplitude limitsThe amplitude value is below minimum amplitude threshold.Contributes to pixel validity: yes
4+5 Bit 5, bit 40 0 = unused0 1 = shortest exposure time (only used in 3 exposure mode)1 0 = middle exposure time in 3 exposure mode, short exposure in double exposure mode1 1 = longest exposure time (always 1 in single exposure mode)		Exposure time indicatorThe two bits indicate which exposure time was used in a multiple exposure measurement.Contributes to pixel validity: no
6 1 = pixel is clipped Clipping box on 3D data		If clipping is active this bit indicates that the pixel coordinates are outside the defined volume.Contributes to pixel validity: yes
7 1 = suspect/defective pixel Suspect pixel		This pixel has been marked as "suspect" or "defective" and values have been replaced by interpolated values from the surroundings.Contributes to pixel validity: no

13.1.5 Configuration of PCIC Output

The user has the possibility to define his own PCIC output. This configuration is only valid for the current PCIC connection. It does not affect any other connection and will get lost after disconnecting.

For configuring the PCIC output a "flexible" layouter concept is used, represented by a JSON string. The format of the default configuration is as follows:

{
    "layouter": "flexible",
    "format": { "dataencoding": "ascii" },
    "elements": [
    { "type": "string", "value": "star", "id": "start_string" },
    { "type": "blob", "id": "normalized_amplitude_image" },
    { "type": "blob", "id": "x_image" },
    { "type": "blob", "id": "y_image" },
    { "type": "blob", "id": "z_image" },
    { "type": "blob", "id": "confidence_image" },
    { "type": "blob", "id": "diagnostic_data" },
    { "type": "string", "value": "stop", "id": "end_string" }
]
} 

This string can be retrieved by the C? command, altered and sent back using the c command.

The layout software has the following main object properties:

Name Description Details
layouter Defines the basic data output format.So far only “flexible” is supported	Type: string
format Defines format details, the definitions in the main object are the defaults for any of the following data elements (e.g. if it says dataencoding=binary, all data elements should be binary encoded instead of ASCII).	Type: object
elements List of data elements which must be written. Type: array of objects

The actual data is defined within the “elements” properties and may consist of these settings:

Name Description Details
type Defines the type of data which must be written.The data might be stored in a different type (e.g. stored as integer but should be output as Float32)The type "records" will need some special handling.	Type: string
id Defines an identifier for this data element.If there is no fixed value (property "value"), the data should be retrieved via id.	Type: string
value Optional property for defining a fixed output value. Type: any JSON value
format Type-depending option for fine-tuning the output format.E.g. cut an integer to less than 4 bytes.	Type: object

Available values for the type property:

Type Description	on
records Defines that this element represents a list of records.
string Data is written as string.
float32 Data is written as floating point number.
uint32 Data is written as integer.
int32 Data is written as integer.
uint16 Limits the output to two bytes in binary encoding, besides the binary limitation it acts like uint32.
int16 Limits the output to two bytes in binary encoding, besides the binary limitation it acts like int32.
uint8 Limits the output to one byte in binary encoding, besides the binary limitation it acts like uint32.
int8 Limits the output to one byte in binary encoding, besides the binary limitation it acts like int32.
blob Data is written as a BLOB (byte by byte as if it came from the data provider).

Depending on the desired data format the user may tune his output data with further "format" properties.

Common format properties:

Format properties	Allowed values Default
dataencoding "ascii" or "binary" can be defined in top-level-object and overwritten by element objects.		"ascii"
scale "float value with decimal separator" to scale the results for output byte width		1.0
offset "float value with decimal separator" 0.0

Binary format properties:

Format properties Allowed values Default
order	Little, big and network	Little

ASCII format properties:

Format properties Allowed values Default
width Output width.	If the resulting value exceeds the width field the result will not be truncated.	0
fill Fill character " "
precision Precision	is the number of digits behind the decimal separator. 6
displayformat Fixed, scientific Fixed
alignment Left, right Right
decimalseparator 7	-bit characters for e.g. "." "."
base Defines if the output should be:binary (2)octal (8)decimal (10)hexadecimal (16)		10

Example of a format configuration of the temperature (id: temp_illu) element.

1. Illumination temperature like this "33,5_":

c000000226{ "layouter": "flexible", "format": { "dataencoding": "ascii" }, "elements": [ { "type": "float32", "id": "temp_illu", "format": { "width": 7, "precision": 1, "fill": "_", "alignment": "left", "decimalseparator": ","} ] } 

1. Illumination temperature as binary (16-bit integer, 1/10 °C):

c000000194{ "layouter": "flexible", "format": { "dataencoding": "ascii" }, "elements": [ { "type": "int16", "id": "temp_illu", "format": { "dataencoding": "binary", "order": "network", "scale": 10 } } ] } 

1. Illumination temperature in °F (e.g. "92.3 Fahrenheit"):

c000000227{ "layouter": "flexible", "format": { "dataencoding": "ascii" }, "elements": [ { "type": "float32", "id": "temp_illu", "format": { "precision": 1, "scale": 1.8, "offset": 32 } }, { "type": "string", "value": "Fahrenheit" } ] } 

The following element IDs are available:

ID Description Native data type
activeapp_id Active application, shows which of the 32 application-configurations is currently active		32-bit unsigned integer
all_cartesian_vector_matrices	All Cartesian images (X+Y+Z) concatenated to one package	16-bit signed integer
all_unit_vector_matrices	Matrix of unit vectors. Each element consists of a 3 component vector [e_x, e_y, e_z]	Float32
amplitude_image PMD raw amplitude image 16-bit unsigned		integer
confidence_image Confidence image 8-bit unsigned		integer
distance_image Radial distance image 16-bit unsigned		integerunit: millimetres
evaltime Evaluation time for current frame in milliseconds 32-bit unsigned		integer
extrinsic_calibration Extrinsic calibration, consisting of 3 translation parameters (unit: millimeters) and 3 angles(unit: degree): [t_x, t_y, t_z, alpha_x, alpha_y, alpha_z]		Float32
framerate Current frame rate in Hz Float32
normalized_amplitude_image	Normalized amplitude image	16-bit unsigned integer
temp_front1	Invalid temperature, the output is 3276.7	Float32, unit: °C
temp_illu	Temperature measured in the device while capturing this resultMeasured on the illumination board	Float32, unit: °C
x_imagey_imagez_image	Cartesian coordinates for each pixelEach dimension is a separate image	16-bit signed integer

For completeness, level, distance and dimensioning application the following IDs are available:

ID Description Native data type
id ID of the model int32
rois.count Number of records in "roi" int32
rois List of all ROIs (ROIgroup) of this model records
SP1	SwitchingPoint1 and 2 if the model is a Level- or Distance-type. If it is not a Level-/Distance-type, it shall output a null-value.	float32
boxFound	These results are available for a dimensioning application. If the model is not oft the type dimensioning, the IDs shall output a null-value.	int8
length		float
width		float
height		float
qualityLength		float
qualityWidth		float
qualityHeight		float
xMidTop		float
yMidTop		float
zMidTop		float
yawAngle		float
backgroundPlaneDistance		float
numGood	These results are available for a completeness, level and distance applications. If the model is not oft one of these types, the IDs shall output a null-value.	int
numUnderSP1		int
numOverSP2		int
numInvalid		int
allROIsGood		bool
anchorFound		bool
hasAnchorTracking		bool

For ROIs of completeness, level or distance application the following IDs are available:

ID Description	Native data type
id unique	ID of the ROI within the Model int32
procval per	ROI process value float 32Bit
state per	ROI state ( if ROI procval is valid or not)ROI_PROCESS_VALUE_VALID = 0ROI_PROCESS_VALUE_REFIMAGE_SET_NOT_TEACHED = 1ROI_PROCESS_VALUE_TEACHING_FAILED = 2ROI_PROCESS_VALUE_REFIMAGE_INVALID = 3ROI_PROCESS_VALUE_NO_VALID_PIXEL = 4ROI_PROCESS_VALUE_REFIMAGE_NO_VALID_PIXEL = 5ROI_PROCESS_VALUE_OVERFILL = 6ROI_PROCESS_VALUE_UNDERFILL = 7	uint32
quality	0..1	float32

For the main object on devices with statistics feature the following IDs are available:

ID Description Native data type
statistics_overall_count Allows the	user to output the statistics value with the result of the frame, maps to ModelResults: adv_statistics.number_of_frames	uint32
statistics_passed_count Allows the	user to output the statistics value with the result of the frame, maps to ModelResults: adv_statistics.number_of_passed_frames	uint32
statistics_failed_count Allows the user	user to output the statistics value with the result of the frame, maps to ModelResults: adv_statistics.number_of_failed_frames	uint32
statistics_aborted_count Allows the	user to output the statistics value with the result of the frame, maps to ModelResults: adv_statistics.number_of_aborted_frames	uint32
statistics_acquisition_time_min Allows the user to output the statistics value with the result of the frame,maps to ModelResults: adv_statistics.frame_acquisition.min		float32
statistics_acquisition_time_mean Allows the user to output the statistics value with the result of the frame,maps to ModelResults: adv_statistics.frame_acquisition.mean		float32
statistics_acquisition_time_max Allows the user to output the statistics value with the result of the frame,maps to ModelResults: adv_statistics.frame_acquisition.max		float32
statistics_evaluation_time_min Allows the user to output the statistics value with the result of the frame,maps to ModelResults: adv_statistics.frame_evaluation.min		float32
statistics_evaluation_time_mean Allows the user to output the statistics value with the result of the frame,maps to ModelResults: adv_statistics.frame_evaluation.mean		float32
statistics_evaluation_time_max Allows the user to output the statistics value with the result of the frame,maps to ModelResults: adv_statistics.frame_evaluation.max		float32
statistics_frame_duration_min Allows the user to output the statistics value with the result of the frame,maps to ModelResults: adv_statistics.frame_duration.min		float32
statistics_frame_duration_mean Allows the user to output the statistics value with the result of the frame,maps to ModelResults: adv_statistics.frame_duration.mean		float32
statistics_frame_duration_max Allows the user to output the statistics value with the result of the frame,maps to ModelResults: adv_statistics.frame_duration.max		float32

For model records of type "DimensioningV2" (Robot Pick & Place) the following IDs are available:

Length values are given in unit [m].

Rotation values are given in unit [°].

ID Description Native		data type
numberOfObjects Number of found objects. uint32
numberOfObjectCandidates Number of found object candidates that have been inspected.		uint32
error Dimensioning error:	0: no error1: undefined error2: no object found	uint32
maximumNumberOfObjectsTo Measure	Maximum number of objects to measure. uint32
objectGeometry Geometry type of object:0: Box1: Circle2: Ellipse		uint32
objects[maximumNumberOfObjectsToMeasure]{ objectFound length width height xMidTop yMidTop zMidTop yawAngle circleThickness centerPointX centerPointY centerPointZ rotationX rotationY rotationZ}	This structure is provided for each object defined by maximumNumberOfObjectsToMeasure. If not all objects have been found, the values are also provided for the number of missing objects.Object can be successfully measured (0 if false, 1 if true).Object length is the longest dimension of the object.Object width is the shortest dimension of the object.Object height is the object height relative to the ground plane.Cartesian X coordinates of middle point on the top surface of the detected object.Cartesian Y coordinates of middle point on the top surface of the detected object.Cartesian Z coordinates of middle point on the top surface of the detected object.Yaw angle is defined as the angle between the world coordinate x-axis and the vector along the object "length".The thickness of the circle.X coordinate of the top center point from the detected object (user frame coordinate system)Y coordinate of the top center point from the detected object (user frame coordinate system)Z coordinate of the top center point from the detected object (user frame coordinate system).X rotation of the detected object (user frame coordinate system).Y rotation of the detected object (user frame coordinate system).Z rotation of the detected object (user frame coordinate system).	uint32 float32 float32 float32 float32 float32 float32 float32 float32 float32 float32 float32 float32 float32 float32 float32 float32 float32 float32 float32 float32 float32 float32 float32 float32 float32 float32 float32 float32 float32 float32 float32 float32 float32 float 32 float32 float32 float32 float32 float32 float32 float32 float32 float32 float32 float32 float32 float32 float32 float32 float32 float32 float32 float32 float32 float32 float32 float32 float32 float32 float32 float32 float32 float32 float32 float32 float32 float
	For compatibility reasons the following values are provided for the first detected object.
boxFound	Object can be successfully measured (0 if false, 1 if true).	uint32
length	Object length is the longest dimension of the object.	float32
width	Object width is the shortest dimension of the object.	float32
height	Object height is the object height relative to the ground plane.	float32
xMidTop	Cartesian X coordinates of middle point on the top surface of the detected object.	float32
yMidTop	Cartesian Y coordinates of middle point on the top surface of the detected object.	float32
zMidTop	Cartesian Z coordinates of middle point on the top surface of the detected object.	float32
yawAngle	Yaw angle is defined as the angle between the world coordinate x-axis and the vector along the object "length".	float32
circleThickness	The thickness of the circle.	float32
centerPointX	X coordinate of the top center point from the detected object (user frame coordinate system).	float32
centerPointY	Y coordinate of the top center point from the detected object (user frame coordinate system).	float32
centerPointZ	Z coordinate of the top center point from the detected object (user frame coordinate system).	float32
rotationX	X rotation of the detected object (user frame coordinate system).	float32
rotationY	Y rotation of the detected object (user frame coordinate system).	float32
rotationZ	Z rotation of the detected object (user frame coordinate system).	float32
backgroundPlaneDistance	Distance of the background at background teach.	float32
objectType	Type of the detected object:1: box2: true bounding box3: circle4: enclosing circle5: ellipse6: enclosing ellipse	uint32
UFCThreeMarkerTeach["A"..."C"]{xy}	Coordinates of the available UFC markers.	float32float32

For model records of type "Depalletizing" the following IDs are available:

Length values are given in unit [m].

Rotation values are given in unit [°].

ID Description Native			data type
error Errors in	the algorithm:		uint32
	Value	Name Description
	0 Depalletizing_Error_None No error detected.
	1 Depalletizing_Error_Unknown Unknown error detected.
	2 Depalletizing_Error_UnexpectedObject	Unexpected object detected.
	3 Depalletizing_Error_StackEmpty Stack is empty.
	4 Depalletizing_Error_NoObjectSizes No box dimensions provided on the input.
	5 Depalletizing_Error_NoObjectMatch No matching object found.
	6 Depalletizing_Error_DataInvalid Too many pixels are invalid.
	7 Depalletizing_Error_Background TeachingStatus_ErrorNot EnoughValidPixels	Background estimation only: not enough valid pixels.
	8 Depalletizing_Error_Background TeachingStatus_ErrorStdTooHigh	Background estimation only: standard deviation too high.
	9 Depalletizing_Error_Background TeachingStatus_ErrorPlaneFitFailed	Background estimation only: estimation of the plane failed.
	10 Depalletizing_Error_Background TeachingStatus_ErrorPlane AngleTooHigh	Background estimation only: plane angle too high.
	11 Depalletizing_Error_Background TeachingStatus_ErrorRotation CalculationFailed	Background estimation only: internal numerical error in calculation of rotation.
	12 Depalletizing_Error_InvalidReferenceTeach	Invalid background teach.
	13 Depalletizing_Error_InvalidVOITeach	Invalid VOI teach.
	14 Depalletizing_Error_Insufficient MarginTolmageBorder	Not enough space between segmented layer and image border.
	15 Depalletizing_Error_IncorrectObjectSizes	Provided box dimensions are invalid.
	16 Depalletizing_Error_Underfill Measurements are below the background level.
objectFound	Object can be successfully measured (0 if false, 1 if true).		uint32
objectQuality	Quality of the object detection between 0 and 100.		float32
objectLength	Object length is the longest dimension of the top surface of the object.		float32
objectWidth	Object width is the shortest dimension of the top surface of the object.		float32
objectHeight	Object height is the object height relative to the ground plane.		float32
centerPointX	X coordinate of the top center point from the detected object (user frame coordinate system).		float32
centerPointY	Y coordinate of the top center point from the detected object (user frame coordinate system).		float32
centerPointZ	Z coordinate of the top center point from the detected object (user frame coordinate system).		float32
rotationX	X rotation of the detected object (user frame coordinate system).		float32
rotationY	Y rotation of the detected object (user frame coordinate system).		float32

ID Description Native		data type
rotationZ Z rotation of the detected object (user frame coordinate system). float32
layerLevel	Current pallet layer for depalletization, starting with "0". An empty stack is indicated by "0".	uint32
sensorMountingHeight	Recommended height of the sensor above the palette.Values "<=0": invalid input parameters (e.g. invalid palette dimensions).	float32
isSlipSheet A	slipsheet is on top of the stack:0: no1: yes	uint32
background Plane Distance	Distance of the background plane in positive direction of the z-axis. float32
isCollision Free	Collision free depalletization:0: false1: true	uint32
centerPoint 2DX	The top center X coordinate of the detected box object (projected into the 2D image).	float32
centerPoint 2DY	The top center Y coordinate of the detected box object (projected into the 2D image).	float32

The following IDs can be changed with the f command ( 13.2.6):

ID Name Description Values
0000000001	DepalSlipSheetDetection	Depalletizing: slip sheet detection on/off	1/0
0000000002	DepalSlipObjectType	Depalletizing: type of the object to be detected	0: box1: bag
0000000003	DepalWidth	Depalletizing: width of the objects to be detected	mm
0000000004	DepalHeight	Depalletizing: length of the objects to be detected	mm
0000000005	DepalLength	Depalletizing: height of the objects to be detected	mm

13.2 Process Interface Command Reference

All received messages which are sent because of the following commands will be sent without "start"/"stop" at the beginning or ending of the string.

13.2.1 a Command (activate application)

Command	a
Description Activates the selected	application
Type Action
Reply *
	! • Application not available	•contains wrong value• External application switching activated• Device is in an invalid state for this command, e.g. configuration mode
	? Invalid command length
Note	2 digits for the application number as decimal value

13.2.2 A? Command (occupancy of application list)

Command	A?
Description Requests the occupancy of the application list
Type Request
Replyapplication...? Invalid command length
	? Invalid command length
	! Invalid state (e.g. no application	active)
Notechar string with 3 digits for the amount of applications saved on the device as decimal numbertabulator (0x09)2 digits for the active application2 digits for the application numberThe active application is repeated within the application list.		The active application is repeated within the application list.

13.2.3 c Command (upload PCIC output configuration)

Command	c
Description Uploads a PCIC output	configuration lasting this session
Type Action
Reply *
	! • Error in configuration	• Wrong data length
	? Invalid command length
Note	9 digits as decimal value for the data lengthconfiguration data

13.2.4 C? Command (retrieve current PCIC configuration)

Command	C?
Description Retrieves the current PCIC configuration
Type Request
Reply
	? Invalid command length
Note	9 digits as decimal value for the data lengthconfiguration data

13.2.5 E? Command (request current error state)

Command	E?
Description Requests the current error state
Type Request
Reply
	! Invalid state (e.g. configuration mode)
	? Invalid command length
Note •	Error code with 8 digits as a decimal value. It contains leading zeros.

13.2.6 f Command (set temporary application parameter)

Command	f<reserved><value>
Description Set temporary application parameter
	<Parameter-id> Id of parameter to	be setFixed 5 bytes decimal ASCII padded with "0", e.g. "00003".
	<reserved> Fixed to "#00000"
	<value> Fixed 5 bytes signed decimal ASCII padded with "0" and sign, e.g. "+00777"
Type Action
Reply * Parameter successfully set
	! Parameter-id invalid or syntax error
	? Invalid command length
Note Example:	f00003#00000+00777

13.2.7 G? Command (request device information)

Command	G?
Description Requests device information
Type Request
Reply
Note •IFM ELECTRONIC•Tabulator (0x09)e.g. O3D300•UTF8 Unicode string•UTF8 Unicode string•UTF8 Unicode string•IP address of the device as ASCII character stinge.g. 192.168.0.96•port number of the XML-RPC•subnet mask of the device as ASCIIe.g. 192.168.0.96•gateway of the device as ASCIIe.g 192.168.0.96•MAC adress of the device as ASCIIe.g. AA:AA:AA:AA:AA•ASCII string "0" for off and "1" for on

13.2.8 H? Command (return a list of available commands)

Command	H?
Description Returns a list of available commands
Type Request
Reply H? - show this list	t - execute TriggerT? - execute Trigger and wait for datao- sets IO stateO?- get IO stateI?- get last image of defined typeA? - get application listp- activate / deactivate data outputa-set active applicationE? - get last errorV? - get current protocol versionv- sets protocol versionc- configures process date formattingC? - show current configurationG? - show device informationS? - show statisticsL? - retrieves the connection IDf- set parameter value

13.2.9 I? Command (request last image taken)

Command	I?
Description Request last image taken
Type Request
Reply
	! • No image available	• Wrong ID
	? • Invalid command length
Note	2 digits for the image typechar string with exactly 9 digits as decimal number for the image data size in bytesimage data	Valid image ID:01 - amplitude image02 - normalised amplitude image03 - distance image04 - X image (distance information)05 - Y image (distance information)06 - Z image (distance information)07 - confidence image (status information)08 - extrinsic calibration09 - unit_vector_matrix_ex, ey,ez10 - last result output as formatted for this connection11 - all distance images: X, Y, and Z

13.2.10 o Command (set logic state of a ID)

Command	o
Description Sets the logic state of a specific ID
Type Action
Reply *
	! Invalid state (e.g. configuration mode)
	?	Invalid command length
Note	●2 digits for digital output:"01" for IO1"02" for IO2"03" for IO3●1 digit for the state:"0" for logic state low"1" for logic state high

13.2.11 O? Command (request state of a ID)

Command	O?
Description Requests the state of a specific ID
Type Request
Reply
	! • Invalid state (e.g. configuration mode)• Wrong ID
	? Invalid command length
Note •2 digits for digital output:"01" for IO1"02" for IO2"03" for IO3•1 digit for the state:"0" for logic state low"1" for logic state high		The camera supports ID 1 and ID 2.The sensor supports ID 1, ID 2 and ID 3.

13.2.12 p Command (turn PCIC output on or off)

Command	p
Description Turns the PCIC	output on or off
Type Action
Reply *
	!contains wrong value
	? Invalid command length
Note	1 digit0: deactivates all asynchronous output1: activates asynchronous result output2: activates asynchronous error output3: activates asynchronous error and data output4: activates asynchronous notifications5: activates asynchronous notifications and asynchronous result6: activates asynchronous notifications and asynchronous error output7: activates all outputs	On device restart the value configured within the application is essential for the output of data.This command can be executed in any device state.By default the error codes will not be provided by the device.

13.2.13 S? Command (request current decoding statistics)

Command	S?
Description Requests current decoding statistics
Type Request
Replyresults><t><number of positive decodings><t><number of false decodings>
	! No application active
Note

13.2.14 t Command (execute asynchronous trigger)

Command	t
Description	Executes trigger. The result data is send asynchronously
Type Action
Reply * Trigger	ger was executed, the	device captures an image and evaluates the result.
	! • Device is busy with an	evaluationDevice is in an invalid state for this command, e.g. configuration modeDevice is set to a different trigger sourceNo active application

13.2.15 T? Command (execute synchronous trigger)

Command	T?
Description	Executes trigger. The result data is send synchronously
Type Request
Reply Process	data within the configured layout Trigger was executed, the	device captures an image, evaluates the result and sends the process data.
	! • Device is busy with an	evaluation• Device is in an invalid state for this command, e.g. configuration mode• Device is set to a different trigger source• No active application
Note Result	data can be sent via EtherNet/IP, PROFINET or TCP/IP (→9.3).

13.2.16 v Command (set current protocol version)

Command	v
Description Sets the current protocol version. The device configuration is not affected
Type Action
Reply *
	! Invalid version
	? Invalid command length
Note	2 digits for the protocol version	(→ 13.1.1)

The default protocol version is „V3“.

13.2.17 V? Command (request current protocol version)

Command	V?
Description Requests current protocol version
Type Request
Reply	minversion>
Note	2 digits for the currently set versionspace sign: 0x202 digits for the available min and max version that can be set

13.3 Error codes

By default the error codes will not be provided by the device. The p command can activate their provision ( 13.2.12).

Error code ID Description

100000001 Maximum number of connections exceeded

110001001 Boot timeout

110001002 Fatal software error

110001003 Unknown hardware

110001006 Trigger overrun

110002000 Short circuit on Ready for Trigger

110002001 Short circuit on OUT1

110002002 Short circuit on OUT2

110002003 Reverse feeding

110003000 Vled overvoltage

110003001 Vled undervoltage

110003002 Vmod overvoltage

110003003 Vmod undervoltage

110003004 Mainboard overvoltage

110003005 Mainboard undervoltage

110003006 Supply overvoltage

110003007 Supply undervoltage

110003008 VFEMon alarm

110003009 PMIC supply alarm

110004000 Illumination overtemperature

13.4 EtherNet/IP

13.4.1 Data structures for consuming and producing assemblies

Assemblies

Instance Bytes Type
100 8 Consuming (from device point of view: databuffer for receiving from PLC)
101 450 Producing (from device point of view: databuffer for sending to PLC)

Consuming assembly data layout

Byte 0-1 2-7
Description Command word	Command data

Layout of producing assembly

Byte 0-1 2-3 4-5 6-7 8-15 16-449
Description	Command word for mirroring	Synchronous / asynchronous message identifier	Message counter	Reserved	Mandatory message data (e.g. error code)	Non mandatory data fields

Layout of command word

Bit	0	1-15
Description	Error bitThis bit has no meaning in the consuming assembly. It is used for signaling anoccured error to the PLC	Command bitsEach bit represents a specific command

Command word

Bit	0	1	2	3	4	5	6	7	8	9	10	11	12	13	14	15
Description	Error bit	N.a.	N.a.	N.a.	N.a.	N.a.	Get last error	Get connection ID	Get statistics	Activate application	Get application list	Get IO state	Set IO state	Execute synchronous trigger	Activate asynchronous PCIC output	Use extended command

Synchronous / asynchronous message identifier

Bit	0	1-15
Description	Asynchronous message bit	Bits for asynchronous message identifier

Data to send exceeds processing assembly data section size

If the size of the data exceeds the size of the configured processing assembly data section size, the data is truncated. No error is risen.

13.4.2 Functionality of the Ethernet/IP application

The chapter describes the initialization of assembly buffers.

On initialization all buffers are set to 0.

State change 0 -> 1 of a command bit in consuming assembly

If the state of one command bit switches from 0 to 1, the according command is executed passing the information within the command data section.

Multiple state changes

If multiple bits have a transition from 0 -> 1 the event is handled as an error.

Reset of command bit state by PLC

The PLC has to reset the command bit from 1 -> 0 before it can execute a new command again. The device has to reset the command word and increase the message counter within the producing assembly.

Blocking of asynchronous messages

As long as the command handshake procedure has not been finished, no asynchronous message is allowed to be sent via the Ethernet/IP interface.

Client disconnect

If the client is disconnecting before finishing the handshake procedure, the handshake procedure is canceled and all buffers are reset.

General reply to an implemented command

If the command is implemented, the data in the data section is applicable and the execution of the command does not lead to an error. The producing assembly is filled as follows:

• Error bit = 0
• Command bits = mirror of the command within the consuming assembly
  • Asynchronous message bit = 0
• Asynchronous message identifier = 0
• Message counter increased by 1
• Message data set to 0

Reply to an implemented command - reply contains specific data

If the command is implemented, the data in the data section is applicable and the execution of the command does not lead to an error. The producing assembly is filled as follows:

• Error bit = 0
• Command bits = mirror of the command within the consuming assembly
  • Asynchronous message bit = 0
• Asynchronous message identifier = 0
• Message counter increased by 1
• Message data set according to the command definition

Reply to an implemented command with error in data section

If the content of the data section is not suitable to the command, the message is handled as an error. The producing assembly contains the following data:

• Error bit = 1
• Command bits = mirror of the command within the consuming assembly
  • Asynchronous message bit = 0
• Asynchronous message identifier = 0
• Message counter increased by 1

No error code is sent in the data section. The error code is polled with the "get last error" command.

Reply to an implemented command that leads to an error

If the execution of the command leads to an error, the producing assembly contains the following data:

• Error bit = 1
• Command bits = mirror of the command within the consuming assembly
• Asynchronous message bit = 0
• Asynchronous message identifier = 0
• Message counter increased by 1

No error code is sent in the data section. The error code is polled with the "get last error" command.

Reply to a not implemented command

If a command bit with no functionality is received, it undergoes a transition from 0 -> 1 and the message is handled as an error. The producing assembly contains the following data:

• Error bit = 1
• Command bits = mirror of the command within the consuming assembly
  • Asynchronous message bit = 0
• Asynchronous message identifier = 0
• Message counter increased by 1

No error code is sent in the data section. The error code is polled with the "get last error" command.

Reset of error bit

The error bit will be resetted to 0, if

• the error code caused by an command is retrieved from the client
• a system error is not present anymore.

Functionality of asynchronous message bit

If the message contain asynchronous data (frame results, system errors, etc.), the asynchronous message bit must be set to 1.

Bits for asynchronous message identifier

If the message contains asynchronous data, the identifier represents the asynchronous message type.

The ticket number for asynchronous results is 0.

The ticket number for asynchronous error codes is 1.

Message counter

For each message sent via the producing assembly, the message counter is increased. The counter starts with the value 1. If the maximum counter is reached, it starts with 1 again.

Get last error

This command is used to reset the error bit.

Get connection ID

This command retrieves the connection ID of the current Ethernet/IP connection. The content of the producing assembly mandatory data section is:

- Bytes 0-3: connection ID, 32 bit unsigned integer

Get statistics

This command retrieves the current statistics. The content of the producing assembly mandatory data section is:

• Bytes 0-3: total readings since application start
• Bytes 4-7: passed readings
• Bytes 8-11: failed readings

All values are 32 bit unsigned integers.

Default endianness

The default endianness is in little-endian format.

Activate application

This command activates the application defined by the bytes 6 and 7 of the consuming assembly data section. The bytes 2-5 have to be set to 0. An error is risen if bytes 2-5 are not set to 0.

The data content of the processing assembly is set to 0.

Get application list

This command retrieves the current configuration list. The content of the producing assembly mandatory data section is:

• Bytes 0-3: total number of saved applications, 32 bit unsigned integer
• Bytes 4-7: number of active application, 32 bit unsigned integer
• Bytes 8-n: always a 32 bit unsigned integer for an application number in use

Get IO state

Retrieves the logic state of the given IO identifier. Bytes 4 and 5 of the consuming assembly data section defines the IO ID as a 16 bit unsigned integer value:

• 1 -> IO1
• 2 -> 102
• 3 -> 103

The bytes 2-3 and 6-7 have to be set to 0. An error is risen if bytes 2-3 or 6-7 are not set to 0.

The data content of the processing assembly is:

- Bytes 0-3: logic state of the IO, 1 for high, 0 for low, 32 bit unsigned integer

Set IO state

This command sets the given state of the given IO. Bytes 4 and 5 of the consuming assembly data section defines the IO ID as a 16 bit unsigned integer value:

• 1 -> IO1
- 2 -> 102
- 3 -> IO3

The bytes 6 and 7 define the logic state of the IO as 16 bit unsigned integer value.

The bytes 2-3 have to be set to 0. An error is risen if bytes 2-3 are not set to 0.

The data content of the processing assembly is set to 0.

Execute synchronous trigger

This command executes a synchronous trigger. The content of the producing assembly data section depends on the user defined PCIC output for Ethernet/IP.

Activate asynchronous PCIC output

This command activates or deactivates the asynchronous PCIC output for this connection. The bytes 6 and 7 of the consuming assembly data section define the on/off state as a 16 bit unsigned integer value:

• 0 = off
• 1 = on

The bytes 2-5 have to be set to 0. An error is risen if bytes 2-5 are not set to 0.

The data content of the processing assembly is set to 0.

For the Ethernet/IP interface the user shall only be able to select the binary representation of result data.

13.4.3 Extended commands

Use of extended command

The following command executes an extended command. The ID of the extended command is stored as 16 bit integer in bytes 2-3. The remaining data depends on the extended command.

ID Description
1 Set temporary	application parameterThe ID of the parameter to be changed is stored as unsigned 16 bit integer in bytes 4-5.The value of the parameter is stored as signed 16 bit integer in bytes 6-7.

Use of extended command with the depalletising application

Byte 1 (Bit 7) 2-3 4-5 6-7
Description Use extended command high / low	Extended command ID1 = set temporary application parameter	Parameter ID1 = DepalSlipSheetDetection2 = Type of the object to detect3 = DepalWidth4 = DepalHeight5 = DepalLength	Parameter value1 = on / 0 = off1 = bag / 0 = boxvalue [mm]value [mm]value [mm]

13.4.4 Signal sequence with synchronous trigger

FR

13.4.5 Signal sequence with failed trigger

Message counter	n n+1 n+2		n+3 n+4
Data 0x0000 Error Code 0x0000

13.5 PROFINET IO

13.5.1 Data structures for output and input frame

Size of output frame

Every output frame sent by the controller contains 8 bytes of data, which consists of command word and command data.

Size of input frame

Every Input frame contains 16 - 450 bytes of data, which are generated by the device in response to the commands received in the output frames. The size of non mandatory data is adjustable by changing the size of the input data in the GSDML file.

Byte 0-1 2-3 4-5 6-7 8-15 16-49
Description	Command word for mirroring	Synchronous / asynchronous message identifier	Message counter	Reserved	Mandatory data	Non mandatory data

Layout of command word

Bit 0 1-15
Description Error bitThis bit has no meaning in the consuming assembly. It is used for signaling anoccured error to the PLC		Command bitsEach bit represents a specific command

Command word

Bit 0 1

2 3 4 5

6 7 8 9

10 11

12 13 14 15

Description

Error bit

N.a.

N.a.

N.a.

N.a.

N.a.

N.a.

Get last error

Get connection ID

Get statistics

Activate application

Get application list

Get IO state

Set IO state

Execute synchronous trigger

Activate asynchronous PCIC output

Use extended command

Synchronous / asynchronous identifier

Bit 0 1-15
Description Asynchronous message bit	Bits for asynchronous message identifier

13.5.2 Functionality of PROFINET IO application

This section describes how to handle the commands sent by the controller. The PLC sends the commands to the device in the output frames by setting the appropriate bit in the command word. The current value of the command word and command data is obtained from the output module by the application.

After detecting that one of the command bits changed the state from 0 to 1, the PROFINET application executes the corresponding command and sets the response in the input frames.

Number of supported PROFINET connections

The O3D3xx running a PROFINET application supports one connection with a single controller.

Initialisation of input and output buffers

After the connection is established, the input and output buffers are initialised with 0 s.

Command execution triggering

As soon as the command bit in the output frame changes from 0 to 1, the corresponding command will be executed.

Handling of multiple command bits

If more than one command bit is set to 1, an error will be reported.

Command execution completion

The PLC has to reset the command bit from 1 to 0 before a new command can be executed. The device has to reset the command word and increase the message counter within the input frame. Mandatory and non mandatory data in the response frame is set to 0x0.

Blocking of asynchronous messages

As long as the command handshake procedure has not been finished, no asynchronous message will be sent by the device.

Client disconnect

If the client is disconnecting before finishing the handshake procedure, the handshake procedure is canceled and all buffers are reset.

General reply to an implemented command

If the command is implemented, the data in the data section is applicable and the execution of the command does not lead to an error. The input frame contains the following data:

• Error bit = 0
• Command bits = mirror of the command within the output frame
• Asynchronous message bit = 0
• Asynchronous message identifier = 0
• Message counter increased by 1
• Message data set to 0

Reply to an implemented command - reply contains specific data

If the command is implemented, the data in the data section is applicable and the execution of the command does not lead to an error. The input frame contains the following data:

• Error bit = 0
• Command bits = mirror of the command within the output frame
• Asynchronous message bit = 0
• Asynchronous message identifier = 0
• Message counter increased by 1
• Message data set according to the command definition

Reply to an implemented command with error in data section

If the content of the data section is not suitable to the command, the message is handled as an error. The input frame contains the following data:

• Error bit = 1
• Command bits = mirror of the command within the output frame
  • Asynchronous message bit = 0
• Asynchronous message identifier = 0
• Message counter increased by 1

No error code is sent in the data section. The error code is polled with the "get last error" command. Mandatory and non mandatory data in the response frame will be set to 0x0.

Reply to an implemented command that leads to an error

If the execution of the command leads to an error, the input frame contains the following data:

• Error bit = 1
• Command bits = mirror of the command within the output frame
  • Asynchronous message bit = 0
• Asynchronous message identifier = 0
• Message counter increased by 1

No error code is sent in the data section. The error code is polled with the "get last error" command. Mandatory and non mandatory data in the response frame will be set to 0x0.

Reply to a not implemented command

If a command bit with no functionality is received, it undergoes a transition from 0 -> 1 and the message is handled as an error. The input frame contains the following data:

• Error bit = 1
• Command bits = mirror of the command within the output frame
  • Asynchronous message bit = 0
• Asynchronous message identifier = 0
• Message counter increased by 1

No error code is sent in the data section. The error code is polled with the "get last error" command. Mandatory and non mandatory data in the response frame will be set to 0x0.

Reset of error bit

The error bit will be resetted to 0, if

• the error code caused by an command is sent to the controller
• a system error is not present anymore

Queuing of error codes

The Profinet application is able to buffer one system error (the last one) and one command error (also the last one). The buffered system error and PCIC command error will be cleared, after they are read by the PLC with the "get last error" command.

Functionality of asynchronous message bit

If the message contain asynchronous data (frame results, system errors, etc.), the asynchronous message bit must be set to 1.

Bits for asynchronous message identifier

If the message contains asynchronous data, the identifier represents the asynchronous message type:

• The ticket number for asynchronous results is 0
• The ticket number for asynchronous error codes is 1
• The reserved ticket numbers for asynchronous messages are in the range 0-99

Message counter

For each command response sent in the input frame the message counter is increased. The counter starts with value 1. If the maximum counter is reached, it starts with 1 again.

Get last error

This command retrieves the current command and system error. The content of the mandatory data section sent in the input frame is:

• Bytes 0-3 : command error code, 32 bit unsigned integer
• Bytes 4-7: system error code, 32 bit unsigned integer

Get connection ID

This command retrieves the connection ID of the current Profinet connection. The response sent in the input frame contains 16 Bytes of the AR UUID.

Get statistics

This command retrieves the current statistics. The content of the mandatory data section sent in the input frame is:

• Bytes 0-3: total readings since application start
• Bytes 4-7: passed readings
• Bytes 8-11: failed readings

All values are 32 bit unsigned integers.

Default endianness

The default endianness is in little-endian format.

Activate application

This command activates the application defined by the bytes 6 and 7 of the output frame data section. The bytes 2-5 have to be set to 0. An error is risen if bytes 2-5 are not set to 0.

The data content of the input frame is set to 0, after receiving the "Activate application" command.

Get application list

This command retrieves the current configuration list. The content of the response sent in the input frame mandatory data section is:

• Byte 0-3: total number of saved applications, 32 bit unsigned integer
• Bytes 4-7: number of active application, 32 bit unsigned integer
• Bytes 8-n: always a 32 bit unsigned integer for an application number in use

Get IO state

Retrieves the logic state of the given IO identifier. Bytes 4 and 5 of the output frame data section defines the IO ID as a 16 bit unsigned integer value:

• 1 -> IO1
• 2 -> 102
• 3 -> IO3

The bytes 2-3 and 6-7 have to be set to 0. An error is risen if bytes 2-3 or 6-7 are not set to 0.

The data sent in the input frame is:

- Byte 0-3: logic state of the requested IO, 1 for high, 0 for low, 32 bit unsigned integer

Set IO state

This command sets the given state of the given IO. Bytes 4 and 5 of the output frame data section defines the IO ID as a 16 bit unsigned integer value:

• 1 -> IO1
• 2 -> 102
• 3 -> IO3

The bytes 6 and 7 define the logic state of the IO as 16 bit unsigned integer value.

The bytes 2-3 have to be set to 0. An error is risen if bytes 2-3 are not set to 0.

The data content of the input frame is set to 0, after receiving the "Set IO state" command.

Execute synchronous trigger

This command executes a synchronous trigger. The content of the input frame data section depends on the user defined PCIC output for PROFINET.

Activate asynchronous PCIC output

This command activates or deactivates the asynchronous PCIC output for this connection. The bytes 6 and 7 of the output frame data section define the on/off state as a 16 bit unsigned integer value:

• 0 = off
- 1 = on

The bytes 2-5 have to be set to 0. An error is risen if bytes 2-5 are not set to 0.

The data content of the input frame is set to 0, after receiving the "Activate asynchronous PCIC output" command.

13.5.3 Extended commands

Use of extended command

The following command executes an extended command. The ID of the extended command is stored as 16 bit integer in bytes 2-3. The remaining data depends on the extended command.

ID Description
1 Set temporary application parameterThe ID of the parameter to be changed is stored as unsigned 16 bit integer in bytes 4-5.The value of the parameter is stored as signed 16 bit integer in bytes 6-7.

Use of extended command with the depalletising application

Byte 0 (Bit 7) 2-3 4-5 6-7
Description Use extended command high / low	Extended command ID1 = set temporary application parameter	Parameter ID1 = DepalSlipSheetDetection2 = Type of the object to detect3 = DepalWidth4 = DepalHeight5 = DepalLength	Parameter value1 = on / 0 = off1 = bag / 0 = boxvalue [mm]value [mm]value [mm]

13.5.4 Signal sequence with synchronous trigger

13.5.5 Signal sequence with failed trigger

Message counter	n n+1 n+2		n+3 n+4
Data 0x0000 Error Code 0x0000