O3D355 - Video camera IFM - Free user manual and instructions

USER MANUAL O3D355 IFM

13.2.8 H? Command (return a list of available commands)..............................67

13.4.1 Data structures for consuming and producing assemblies.........................73

13.4.5 Signal sequence with failed trigger...........................................79

13.5.5 Signal sequence with failed trigger...........................................86

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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: <Ticket><length>CR LF <Ticket><content>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. <code> is a placeholder for code) [ ] Optional argument (possible but not required) Command Description <content> It is the command to the device (e.g. trigger the unit). <ticket> 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. <length> It is a character string beginning with the letter 'L' followed by 9 digits. It indicates the length of the following data (<ticket><content>CR LF) in bytes. They are different protocol versions available: Version Input format Output format V1 <Content>CR LF As input V2 <Ticket><Content>CR LF As input V3 <Ticket><Length>CR LF<Ticket><Content>CR LF As input V4 <Content>CR LF <length>CR LF<Content>CR LF 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 codes47 Capteur 3D

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: <unique message ID>:<JSON content> Example for protocol version 3: <ticket=0010>L<length>CR+LF<ticket=0010><unique message ID>:<JSON content>CR LF Result: 0010L000000045\r\n0010000500000:{"ID": 1034160761,"Index":1,"Name": "Pos 1"}\r\n Explanation of the result: Command Result <ticket=0010> 0010 L<length> L000000045 CR+LF \r\n <ticket=0010> 0010 <unique message ID> 000500000 <JSON content> {"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 acquistion. This can be used for cascading multiple devices with a software trigger.Capteur 3D

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 image Output format: 16-bit unsigned integer 1 image Distance image Output format: 16-bit unsigned integer. Unit: mm 1 image X image Output format: 16-bit signed integer. Unit: mm 1 image Y image Output format: 16-bit signed integer. Unit: mm 1 image Z image Output format: 16-bit signed integer. Unit: mm 1 image Confidence image Output format: 8-bit unsigned integer 1 image Diagnostic data Stop sequence String "stop" (4 bytes) Ticket signature <CR><LF>

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.

0x0004 CHUNK_SIZE Size of the whole image chunk in bytes. After this count of bytes the next chunk starts.

0x0008 HEADER_SIZE Number of bytes starting from 0x0000 until PIXEL_DATA.

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.Capteur 3D

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 integer Unit: 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 integer Unit: 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 integer Unit: 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 formated like this:

Constant Value Description 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 extrinisic 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: millimetres Unit 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 numberCapteur 3D

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 limits The amplitude value is below minimum amplitude threshold. Contributes to pixel validity: yes 4+5 Bit 5, bit 4 0 0 = unused 0 1 = shortest exposure time (only used in 3 exposure mode) 1 0 = middle exposure time in 3 exposure mode, short exposure in double exposure mode 1 1 = longest exposure time (always 1 in single exposure mode) Exposure time indicator The 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: no53 Capteur 3D

13.1.5 Conguration 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:

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: objectCapteur 3D

Available values for the type property: Type Description records Defines that this element represents a list of records. If type is set to "records", there must be an "elements" property. The "elements" property defines which data should be written per record. string Data is written as string. Most of the time this will be used with "value" property to write fixed start, end or delimiter text. Text encoding should be UTF8 if there is nothing else specified in format properties. float32 Data is written as floating point number. This has a lot of formatting options (at least with "flexible" layout software) See following section about format properties. uint32 Data is written as integer. This has a lot of formatting options (at least with "flexible" layout software) See following section about format properties. int32 Data is written as integer. This has a lot of formatting options (at least with "flexible" layout software) See following section about format properties. 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). (Binary Large Object) 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. Illumination temperature like this "33,5___":

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

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 integer unit: millimetres evaltime Evaluation time for current frame in milliseconds 32-bit unsigned integer extrinsic_calibration Extrinsic calibration, constisting 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 result Measured on the illumination board Float32, unit: °C x_image y_image z_image Cartesian coordinates for each pixel Each dimension is a separate image 16-bit signed integer57 Capteur 3D

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 SP2 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 length width height qualityLength qualityWidth qualityHeight xMidTop yMidTop zMidTop yawAngle backgroundPlaneDistance 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 float float float float float float float float float float float numGood numUnderSP1 numOverSP2 numInvalid allROIsGood anchorFound hasAnchorTracking 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 int int int bool bool 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)

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 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 float3259 Capteur 3D

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 error 1: undefined error 2: no object found uint32 maximumNumberOfObjectsTo Measure Maximum number of objects to measure. uint32 objectGeometry Geometry type of object: 0: Box 1: Circle 2: Ellipse uint32 objects[maximumNumberOfObj ectsToMeasure]

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).

ID Description Native data type boxFound length width height xMidTop yMidTop zMidTop yawAngle circleThickness centerPointX centerPointY centerPointZ rotationX rotationY rotationZ For compatibility reasons the following values are provided for the first detected object. 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 backgroundPlaneDistance objectType

Distance of the background at background teach. Type of the detected object: 1: box 2: true bounding box 3: circle 4: enclosing circle 5: ellipse 6: enclosing ellipse float32 uint32

0000000004 DepalHeight Depalletizing: length of the objects to be detected

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

13.2.2 A? Command (occupancy of application list)

Description Requests the occupancy of the application list Type Request Reply <amount><t><number active application><t>

<number><t><number> ? Invalid command length ! Invalid state (e.g. no application active) Note <amount> char string with 3 digits for the amount of applications saved on the device as decimal number <t> tabulator (0x09) <number active application> 2 digits for the active application <number> 2 digits for the application number The active application is repeated within the application list.Capteur 3D

13.2.3 c Command (upload PCIC output conguration)

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

13.2.4 C? Command (retrieve current PCIC conguration)

13.2.5 E? Command (request current error state)

13.2.7 G? Command (request device information)

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

13.2.9 I? Command (request last image taken)

07 - confidence image (status

10 - last result output as formatted

11 - all distance images: X, Y, and Z

13.2.10 o Command (set logic state of a ID)

13.2.11 O? Command (request state of a ID)

Command O<IO-ID>? Description Requests the state of a specific ID Type Request Reply <IO-ID><IO-state> ! ● Invalid state (e.g. configuration mode) ● Wrong ID ? Invalid command length Note ● <IO-ID> 2 digits for digital output: "01" for IO1 "02" for IO2 "03" for IO3 ● <IO-state> 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 o󰀨)

Command p<state> Description Turns the PCIC output on or off Type Action Reply * ! <state> contains wrong value ? Invalid command length Note <state> 1 digit 0: deactivates all asynchronous output 1: activates asynchronous result output 2: activates asynchronous error output 3: activates asynchronous error and data output 4: activates asynchronous notifications 5: activates asynchronous notifications and asynchronous result 6: activates asynchronous notifications and asynchronous error output 7: 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.Capteur 3D

13.2.13 S? Command (request current decoding statistics)

Description Requests current decoding statistics Type Request Reply <number of results><t><number of positive decodings><t><number of false decodings> ! No application active Note <t> tabulator (0x09) <number of results> Images taken since application start. 10 digits decimal value with leading 0s <number of positive decodings> Number of decodings leading to a positive result. 10 digits decimal value with leading 0s <number of false decodings> Number of decodings leading to a negative result. 10 digits decimal value with leading 0s

13.2.14 t Command (execute asynchronous trigger)

Description Executes trigger. The result data is send asynchronously Type Action Reply * Trigger was executed, the device captures an image and evaluates the result. ! ● 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 application71 Capteur 3D

13.2.15 T? Command (execute synchronous trigger)

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<version> Description Sets the current protocol version. The device configuration is not affected Type Action Reply * ! Invalid version ? Invalid command length Note <version> 2 digits for the protocol version (→ 13.1.1) The default protocol version is „V3“.

13.2.17 V? Command (request current protocol version)

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 bit This bit has no meaning in the consuming assembly. It is used for signaling an occured error to the PLC Command bits Each 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 asynchrounous 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.Capteur 3D

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 075 Capteur 3D

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.Capteur 3D

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 integer77 Capteur 3D

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 -> IO2 ● 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 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 -> IO2 ● 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.Capteur 3D

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 parameter The 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 ID 1 = set temporary application parameter Parameter ID 1 = DepalSlipSheetDetection 2 = Type of the object to detect 3 = DepalWidth 4 = DepalHeight 5 = DepalLength Parameter value 1 = on / 0 = off 1 = bag / 0 = box value [mm] value [mm] value [mm]79 Capteur 3D

13.4.4 Signal sequence with synchronous trigger

Mirror Bit „Exec. sync. trigger“ Command Bit „Exec. sync. trigger“ Mirror Bit „Error“ Message counter n n+1 n+2 Data 0x0000 Result Data 0x0000 Processing time

13.4.5 Signal sequence with failed trigger

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 16-449 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 bit This bit has no meaning in the consuming assembly. It is used for signaling an occured error to the PLC Command bits Each 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 identifier Bit 0 1-15 Description Asynchronous message bit Bits for asynchrounous 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.81 Capteur 3D

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 definitionCapteur 3D

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.83 Capteur 3D

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.Capteur 3D

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 -> IO2 ● 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 -> IO2 ● 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.85 Capteur 3D

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 parameter The 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 ID 1 = set temporary application parameter Parameter ID 1 = DepalSlipSheetDetection 2 = Type of the object to detect 3 = DepalWidth 4 = DepalHeight 5 = DepalLength Parameter value 1 = on / 0 = off 1 = bag / 0 = box value [mm] value [mm] value [mm]

13.5.4 Signal sequence with synchronous trigger

13.5.5 Signal sequence with failed trigger