Programming Manual
Mobile 3D Smart Sensor
O3M151
706380/00
11/2014
Basic Function
DE
O3M151 3D Smart Sensor Basic Function
Contents
1 About these instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3
1.1 Symbols used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3
1.2 Safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3
1.3 Other applicable documents. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3
2 Smart Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4
2.1 Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .4
2.2 Measuring principle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .5
2.3 Operating check . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6
2.4 Installation position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .6
3 Basic Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7
3.1 Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7
3.2 Possible applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .7
4 Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .8
5 Application examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9
5.1 Access monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9
5.1.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9
5.1.2 Attachment options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .9
5.1.3 Parametrisation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
5.1.4 Data output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
5.1.5 Operating property/performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
5.2 Approaching aircraft with supply vehicle. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13
5.2.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13
5.2.2 Attachment options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13
5.2.3 Parametrisation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14
5.2.4 Relevant output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14
5.2.5 Operating property/performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14
6 Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15
7 Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .20
7.1 CANopen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .20
7.2 SAE J1939 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .48
This document is the original manual.
Licences and Registered Trademarks
Microsoft®, Windows®, Windows XP®, Windows Vista® and Windows 7® are registered trademarks of the Microsoft Corporation. All trademarks and
company names are subject to the copyright of the respective companies.
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O3M151 3D Smart Sensor Basic Function
1 About these instructions
These instructions explain the 3D O3M151 Smart Sensors Basic Function.
For a detailed description of the device, please read the Operating instructions of the O3M151 sensor and
the Programming manual of the ifm Vision Assistant. → "1.3 Other applicable documents"
UK
1.1 Symbols used
►
>
→
Instruction
Reaction, result
Cross-reference
Important note
Failure to observe can result in malfunctions or faults.
Information
Additional note
1.2 Safety instructions
Read the Operating instructions before putting the device into operation. Make sure that the device is
suitable for the applications concerned without restriction.
Disregarding operating instructions or technical information can result in injuries and/or damage.
1.3 Other applicable documents
Document
Description
Item No.
Device manual
Operating Instructions of O3M15x Sensors
706383
Programming manual
Operation instruction of the PC operating program
ifm Vision Assistant for carrying out a program update
and changing parameters
706384
Quick guide
Quick guide on operating the O3M15x sensor
80222723
The software and documents are available on the ifm homepage in the
Download area. → www.ifm.com → my ifm → Download
3
O3M151 3D Smart Sensor Basic Function
2 Smart Sensor
2.1 Functions
The O3M151 Smart Sensor is an optical system which measures the distance between the sensor and
the next surface. An additional illumination unit illuminates the scene and the sensor process the light
reflected by the surface.
The Smart Sensor is optimised and matched to requirements and needs on mobile driven machines. It is
intended for use in outdoors and for difficult ambient light situations.
The principle is based on pdm technology for outputting 3D image data. In addition to new options for vehicle automation (AGV, automated guided vehicle), it also provides new assistance functions for automation tasks.
Communication is possible via Ethernet or CAN. System parametrisation and monitoring of the 3D data
are carried out via the ifm Vision Assistant. → Ifm Vision Assistant programming manual
The pre-processed functional data are output via the CAN bus, with via CANopen or SAE J 1939.
→ Chapter "7 Interface" on Page 20
The Basic Function with functions such as measurement of minimum, maximum and average distance
are available for simple distance tasks.
The Object Detection function provides for automatic object detection of up to 20 objects. This function
can, for example, be used as a collision warning.
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O3M151 3D Smart Sensor Basic Function
2.2 Measuring principle
The device measures according to the light runtime method based on a phase measurement with modulated light.
Based on this principle, the following points must be taken into account during the measurements:
UK
● Clean sensor window
– Cleanliness is a basis for the reliable operation of optical sensors. Dirt or liquids reduce the light
transmission and cause light scatter. This effect can affect the resolution and the measuring range
of the sensor system.
– Water droplets on the sensor glass can lead to unclear detection of the scene. The objects are detected as larger than they are in reality.
► Installation in areas of the system which become heavily soiled must be avoided.
► Keep sensor window clean.
● Illumination/Range
– The measurement of objects is carried out based on the active illumination by the additional illumination unit. The emitted infrared light makes the sensor virtually independent of the ambient lighting
conditions. In case of bright sunlight, restrictions in the system range can result due to increased
signal noise.
– The measurement range is dependent on the reflectivity of the object to be detected.
– Due to the optical measuring principle the system performance can be considerably increased by
using reflective materials (Factor 3).
● Clear in immediate vicinity
– Objects in the immediate vicinity (1 m distance) can falsify the measured values of the sensor.
– The wall on which the sensor is mounted should not be within the sensor area.
► Keep the illuminated area of the illumination unit in the immediate vicinity (up to 50 cm) of attached
parts clear.
Sensor
O3M15x
Illumination
unit
O3M950
Sensor
O3M15x
Illumination
unit
O3M950
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O3M151 3D Smart Sensor Basic Function
2.3 Operating check
With an optical system, detection faults can occur in case of poor visibility (e.g. under very dense fog, a
great deal of dust, very heavy snowfall, etc.). The O3M151 Smart Sensor is equipped with sensory fault
detection in the system and generates a message when faults occur. The "Diffuse Scene" function actively detects diffuse faults, such as dense fog or clouds of dust in the sensor area.
Internal diagnosis of the hardware for faults → Operating instructions
● Application-specific solutions can result simply and especially conveniently with a controller (e.g.
CRO4OX series) or display (e.g CR108X) based on the functional output.
There are special CODESYS libraries for receiving and interpreting the CAN signals of the O3M151
Smart Sensor. In addition, various application examples on a CODESYS basis are also available. →
www.ifm.com → my ifm → Download
2.4 Installation position
The following aids are available for positioning the Smart Sensor in dependence on the application:
● Calculation tool for calculating the detection range
● ifm Vision Assistant operating software
● Technical data with performance and values of detection range→ Date sheet
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O3M151 3D Smart Sensor Basic Function
3 Basic Function
3.1 Functions
Object detection
UK
Distance monitoring with
Minimum Distance
The Basic Function is the default firmware of the O3M151 Smart Sensor.
This application enables the use of 3D data via a CAN interface.
A Region of Interest (ROI) is defined for the measurements which is intended to monitor the sensor; the
machine control system is always provided with the distance to the next object as information.
● An ROI has 1 to 1024 pixels.
● 64 ROI can be defined via the CAN interface. Each ROI is assigned to a ROI group.
● The output can be defined separately for each ROI group:
– Minimum value in ROI
– Maximum value in ROI
– Average value in ROI
● Uniform output values are selected for all ROI groups:
– Individual value: only x, only y, only z or only amplitude
– Local coordinates: x, y and z
– All values: x, y, z and amplitude
3.2 Possible applications
The basic function of distance measurement can be used in many applications:
● Fill level measurement in large silos or tanks
● Height determination of, for example, plant height
● Area monitoring for change
● Access monitoring (e.g. open spaces and doors, position determination, lorry positioning on a loading
ramp)
● Distance check, approach (automatically guided or assisted) of supply vehicles for aircraft, loading and
refuelling, e.g. in harbours and at airports.
● Driverless transport vehicles
Use in combination with an additional ifm controller (e.g. ifm CRO4OX). When using an ifm controller or
display, the included CODESYS module can be used to receive and interpret the CAN signals.
Program examples in CODESYS are provided for various applications in the Download area.
→ www.ifm.com → my ifm → Download
7
O3M151 3D Smart Sensor Basic Function
4 Commissioning
The Smart Sensor can be operated with various functions.
For information on flashing the firmware → Ifm Vision Assistant programming manual
► Make sure that the correct firmware is loaded on the sensor.
► Carry out commissioning with the menu-guided ifm Vision Assistant PC operating program.
For additional instructions on the sensor update with the ifm Vision Assistant → Ifm Vision Assistant programming manual
8
O3M151 3D Smart Sensor Basic Function
5 Application examples
5.1 Access monitoring
5.1.1 Introduction
The Basic Function enables monitoring an an area in front of a door/access and the control and/or signalling of opening with the controller based on CAN sensor signals.
Solutions for similar applications can be provided in the same way, e.g. monitoring of access to tunnel
boring machines or of accessible machines.
5.1.2 Attachment options
When using several O3M151 Smart Sensors with overlapping visible
areas, mutual interference can occur in these areas. These are apparent
due to large distance deviations.
> For counter-measures → Operating instructions
Make sure the mounting wall is not in the visible area.
When used for access monitoring, the sensor is statically attached. Two different attachment positions are
possible, depending on the area to be monitored:
● Attachment from above (A): the sensor faces downward
– Sensor is attached over a door and monitors a surface from above downward.
– Sensor is mounted as high as possible, increasing the size of the image field (→ Data sheet)
● Frontal attachment (B): the sensor faces straight ahead (not directly at the floor)
– Next to the door
– Opposite the door
9
UK
O3M151 3D Smart Sensor Basic Function
z
A
x
B
Attachment position of sensor for access monitoring, side view
A: Attachment from above
B: Frontal attachment
It is possible to attach the sensor rotated (horizontal) together with the illumination unit in order to adjust
the visible area to the area to be monitored.
D
C
24°
70°
y
x
Attachment direction of sensor, view from above
C: Vertical attachment
D: Horizontal attachment
For attachment planning → Chapter "2.4 Installation position" on Page 6
► Mounting position values in the ifm Vision Assistant operating software.
10
O3M151 3D Smart Sensor Basic Function
5.1.3 Parametrisation
For detailed documentation of the settings and parametrisation of the
device → Ifm Vision Assistant programming manual
UK
Frame rate
► Set the frame rate to 50 Hz.
> When using the recommended 50 Hz mode and a rotated attachment, the system temperature range
is limited to -40 °C/+70 °C. The system has an integrated temperature monitoring function and switches into a pure communication mode in case of an overtemperature.
ROI (Region of Interest)
► The area to be monitored in an ROI group consisting of one or more ROI(s).
> With larger areas, more than one ROI is used.
For attachment from above:
► Set output (output mode) to "z" and output value (output value type) to Maximum.
In this case the ground level will result in z-values (height) of ~0 m. Objects that enter this area will
generate accordingly higher z-values (height over ground), to which can be reacted by a threshold
value.
For frontal attachment:
► Set output (output mode) to "x" and output value (output value type) to Minimum or Maximum. In this
case the x-value provides the distance. It is recommended to use the minimum setting so that a reaction can be triggered on approaching the sensor.
Time averaging
► The time averaging must be selected depending on the required system reaction time:
– short averaging (≤3 frames) results in increased signal noise, a wider threshold value, faster reaction and greater sensitivity;
– long averaging (≥3 frames) results in reduced signal noise, a narrower threshold value, slower reaction and reduced faulty detection.
If the load on the CAN bus is too great, it can be reduced with the setting
CAN output cycle Modulo. → Operating instructions
5.1.4 Data output
The CAN messages with the result value (e.g. Max z or Min/Max x) can be received on the controller
used and compared with a stored threshold value (setpoint + (for max. setting) or - (for min. setting) tolerance). A reaction (e.g. door control or warning signal) can result based on this.
See Output → Chapter "7 Interface" on Page 20.
5.1.5 Operating property/performance
● The detection performance is dependent on the distance, size and reflectivity of an object.
● For attachment from above:
The minimum detectable object height is dependent on the system parametrisation. Under the poorest
conditions, this is 50 cm.
11
O3M151 3D Smart Sensor Basic Function
● For frontal attachment:
The minimum range under typical conditions for the detection of persons in the monitoring area is 1 m
to 15 m.
12
O3M151 3D Smart Sensor Basic Function
5.2 Approaching aircraft with supply vehicle
5.2.1 Introduction
The Basic Function enables distance monitoring when a supply vehicle is approaching an aircraft.
UK
The operator can move the vehicle very close to the aircraft without visual contact. The same applies to
transportable stairways at airports etc.
5.2.2 Attachment options
► Attach Smart Sensor horizontally with a small pitch angle so that it faces the aircraft vertically.
► Position the Smart Sensor as far back as possible on the vehicle to view the relevant area.
Avoid angled attachment to prevent poor vision and reflection.
► Mounting position values in the ifm Vision Assistant operating software.
13
O3M151 3D Smart Sensor Basic Function
5.2.3 Parametrisation
Frame rate
► Set the frame rate to 50 Hz.
> When using the recommended 50 Hz mode and a rotated attachment, the system temperature range
is limited to -40 °C/+70 °C. The system has an integrated temperature monitoring function and switches into a pure communication mode in case of an overtemperature.
ROI (Region of Interest)
► With larger areas, more than one ROI is used.
Time averaging
► Due to the low speed at which the vehicle is approached (<10 km/h), set a large averaging of 5
frames:
> a long averaging (≥3 frames) results in reduced signal noise, narrower threshold values, a slower
reaction and reduced faulty detection.
If the load on the CAN bus is too great, it can be reduced with the setting
CAN output cycle Modulo. → Operating instructions
5.2.4 Relevant output
The CAN messages with the resulting value min. x can be received on the controller used and compared
with one or more stored threshold values (setpoint+tolerance). As a result, the driver can be informed
optically or acoustically about the approach.
See Output → Chapter "7 Interface" on Page 20
5.2.5 Operating property/performance
● The detection performance is dependent on the distance, size and reflectivity of an object.
● Limits for the monitoring area (Min. range/monitoring area): at least 0.5 m
● Measuring accuracy: typically 5 to 10 cm in immediate vicinity (<5 m)
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O3M151 3D Smart Sensor Basic Function
6 Parameters
The parameters can be changed and adjusted in function of the use of the sensor.
For details on the settings and parameters of the device
→ ifm Vision Assistant programming manual.
Param. Type
Param. Array
Length
Min.
Max.
40
uint8
1
20
40
Internal cycle time of the camera
(20ms/30ms/40ms). Every
cycle time a new 3D image
is captured and processed.
Application → Image Settings → Frame Rate (value
as frequency instead of
cycle time)
BeginHeatingTemperature
5
sint8
1
-128
127
Temperature at which the
sensor window heating is
turned on (in °C)
Device Settings → Window
Heating On Temperature
StopHeatingTemperature
8
sint8
1
-128
127
Temperature at which the
sensor window heating is
turned off (in °C). Should
be higher than turn on with
hysteresis.
Is set by the system automatically as Begin Heating
Temperature + 3 °C
CANBaudrate
250000
uint32
1
125000
1000000
CAN Baudrate of the
sensor. Possible values
125kbs 250kbs 500kbs
1000kbs
CAN → Baudrate
MasterSlaveConfiguration
0
uint8
1
0
8
If multiple sensor are used
with overlapping viewing
areas and on the same
CAN network they can
be synchronized with this
parameter. Not supported
in firmware at SOP. Will
be made available by
firmware update.
Device Settings → Synchronisation of multiple
sensors
CANProtocol
0
uint8
1
0
1
CAN protocol: 0 = J1939, 1
= CANopen
CAN → CAN Protocol
CANopenNodeAddress
10
uint8
1
1
127
CANopen Node value
CAN → Node ID
CANOutputCycleModulo
1
uint8
1
1
3
Defines the the cycletime
of can messages: every
n-th camera cycle can
messages are sent. With
this setting the CAN bus
load can be limited.
CAN → Output Cycle
Modulo
J1939SourceAddress
239
uint8
1
1
253
J1939 source address
CAN → Source Address
Ipv4AddressCamera
192 168 1 1
uint8
4
0
255
Ipv4 address of sensor
Ethernet → IP address
SubnetMask
255 255 255 0
uint8
4
0
255
Subnet mask of camera
Ethernet → Subnet Mask
Ipv4AddressDestination
255 255 255 255
uint8
4
0
255
Ipc4AddressDestination of
the UDP packets
Ethernet → IP Destination
destinationUDPPort
42000
uint16
1
0
65535
Destination UDP port for
the UDP packets
Ethernet → UDP Port
EthernetOutputConfiguration
0
uint8
1
0
1
0 is customer output (up to
6MBit/s), 1 is ifm development debug output (up to
60MBit/s)
Only changeable if used
for recording of sequences. Monitor → Record
Options → Debug Data
On/Off
EthernetLoadConfiguration
1
uint8
1
1
4
EthernetOutput only every
n-th system cycle
PMDExtrCalib_camCal_transX
0
float32
1
-10
10
Position of sensor in world:
X translation [m]. Please
refer to Manual O3M15x
for details.
Vision Assistant
Parameter
Value
CycleTime
Comment
Parameter
Name
UK
–
Calibration → follow
instructions
15
Param. Type
Param. Array
Length
Min.
Max.
0
float32
1
-10
10
Position of sensor in world:
Y translation [m]. Please
refer to Manual O3M15x
for details.
Calibration → follow
instructions
PMDExtrCalib_camCal_transZ
1
float32
1
-10
10
Position of sensor in world:
Z translation [m]. Please
refer to Manual O3M15x
for details.
Calibration → follow
instructions
PMDExtrCalib_camCal_rotX
-1,57
float32
1,00
-3,14
3,14
Orientation of sensor in
world: X rotation [rad]
Calibration → follow
instructions
PMDExtrCalib_camCal_rotY
1,57
float32
1,00
-3,14
3,14
Orientation of sensor in
world: Y rotation [rad]
Calibration → follow
instructions
PMDExtrCalib_camCal_rotZ
0,00
float32
1,00
-3,14
3,14
Orientation of sensor in
world: Z rotation [rad]
Calibration → follow
instructions
PMDExtrCalib_IlluCal_
transX
0,047
float32
1
-10
10
Position of illumination in
world: X translation [m].
Please refer to Manual
O3M15x for details.
Calibration → follow
instructions
PMDExtrCalib_IlluCal_
transY
0,085
float32
1
-10
10
Position of illumination in
world: Y translation [m].
Please refer to Manual
O3M15x for details.
Calibration → follow
instructions
PMDExtrCalib_IlluCal_
transZ
0,948
float32
1
-10
10
Position of illumination in
world: Z translation [m].
Please refer to Manual
O3M15x for details.
Calibration → follow
instructions
DistImageCust_sprayRemovalSensitivity
0
uint8
1
0
3
Filters pixels for diffuse
optical disturbances.
0=off; 1=weak; 2=medium;
3=strong
Application → Image Settings → Spray removal
DistImageCust_pixelPlausibilizationThresholds
2
uint8
1
0
3
Filters pixels for distance
noise. 0=off; 1=weak;
2=medium; 3=strong
Application → Image Settings → Noise reduction
filter
DistImageCust_blockageSensitivity
0
uint8
1
0
3
Sensor can actively scan
for blockage of screen
(with e.g. ice, condensation, dirt). Not supported
in firmware at SOP. Will
be made available by
firmware update.
Application → Image
Settings → Blockage
detection
DistImageCust_spatialFilterXMin
-100
float32
1
-100
100
Spatial filter on the cartesian coordinates. Only pixels
within this range will be taken into account. Minimum
value in x-direction.
Application → Image Settings → Expert Mode
DistImageCust_spatialFilterXMax
100
float32
1
-100
100
Spatial filter on the cartesian coordinates. Only pixels
within this range will be
taken into account. Maximum value in x-direction.
Application → Image Settings → Expert Mode
DistImageCust_spatialFilterYMin
-100
float32
1
-100
100
Spatial filter on the cartesian coordinates. Only pixels
within this range will be taken into account. Minimum
value in y-direction.
Application → Image Settings → Expert Mode
DistImageCust_spatialFilterYMax
100
float32
1
-100
100
Spatial filter on the cartesian coordinates. Only pixels
within this range will be
taken into account. Maximum value in y-direction.
Application → Image Settings → Expert Mode
16
Vision Assistant
Parameter
Value
PMDExtrCalib_camCal_transY
Comment
Parameter
Name
O3M151 3D Smart Sensor Basic Function
Param. Type
Param. Array
Length
Min.
Max.
-100
float32
1
-100
100
Vision Assistant
Parameter
Value
DistImageCust_spatialFilterZMin
Comment
Parameter
Name
O3M151 3D Smart Sensor Basic Function
Spatial filter on the cartesian coordinates. Only pixels
within this range will be taken into account. Minimum
value in z-direction.
Application → Image Settings → Expert Mode
UK
DistImageCust_spatialFilterZMax
100
float32
1
-100
100
Spatial filter on the cartesian coordinates. Only pixels
within this range will be
taken into account. Maximum value in z-direction.
Application → Image Settings → Expert Mode
DistImageCust_reflectorThresholdValue
0
float32
1
0
1
Value for setting the reflectivity threshold to detect
retroreflectors. The default
setting 0 means high sensitivity for reflectors with
possible detection of nonreflectors. The maximum
setting of 1 means low
sensitivity for reflectors.
Application → Image
Settings → Reflector
Threshold Value (4 possible values: Max, Med,
Low, Min)
DistImageCust_reflectorCloseRange
1
uint8
1
0
1
The system internally
changes the illumination
times. For reflectors in
close range (<3m) a very
short illumination time is
necessary. 0 = close reflectors are not expected;
1 = close reflectors are of
importance.
Application → Image
Settings → Reflectors
close range
DistImageCust_bfActive
1
sint32
1
0
1
Flag for switching BF function on/off, default: on
Set indirectly if no regions
of interest are defined.
DistImageCust_bfROIs_
group
1,00E+63
sint8
64
0
63
Array of 64 group
numbers. One group
number per region of interest. Has to be filled from
beginning. Not defined
ROIs to be set to 0.
Is set by Vision Assistat
software based on the
graphically defined ROI
groups under Application
→ Basic Functions
DistImageCust_bfROIs_
upperLeftX
0
sint8
64
0
63
Array of 64 upper left
corner x-coordinates (pixel
column) of the ROIs. One
value per ROI. Has to be
filled from beginning. Not
defined ROIs to be set
to 0.
Is set by Vision Assistant
software based on the
graphically defined ROI
groups under Application
→ Basic Functions
DistImageCust_bfROIs_
upperLeftY
0
sint8
64
0
15
Array of 64 upper left
corner y-coordinates (pixel
row) of the ROIs. One
value per ROI. Has to be
filled from beginning. Not
defined ROIs to be set
to 0.
Is set by Vision Assistant
software based on the
graphically defined ROI
groups under Application
→ Basic Functions
DistImageCust_bfROIs_
lowerRightX
6,3E+64
sint8
64
0
63
Array of 64 lower right
corner x-coordinates (pixel
column) of the ROIs. One
value per ROI. Has to be
filled from beginning. Not
defined ROIs to be set
to 0.
Is set by Vision Assistant
software based on the
graphically defined ROI
groups under Application
→ Basic Functions
DistImageCust_bfROIs_
lowerRightY
1,50E+64
sint8
64
0
15
Array of 64 lower right
corner y-coordinates (pixel
row) of the ROIs. One
value per ROI. Has to be
filled from beginning. Not
defined ROIs to be set
to 0.
Is set by Vision Assistant
software based on the
graphically defined ROI
groups under Application
→ Basic Functions
17
Parameter
Value
Param. Type
Param. Array
Length
Min.
Max.
Comment
DistImageCust_bfROIs_
numberOfROIs
1
sint8
1
1
64
Number of defined ROIs.
Is set by Vision Assistant
Software based on the
graphically defined ROI
groups under Application
→ Basic Functions
DistImageCust_bfVOI_xMin
-100
float32
1
-100
100
min x-boundary for volume
of interest
Application → Basic Functions → Expert Mode
DistImageCust_bfVOI_
xMax
100
float32
1
-100
100
max x-boundary for volume of interest
Application → Basic Functions → Expert Mode
DistImageCust_bfVOI_yMin
-100
float32
1
-100
100
min y-boundary for volume
of interest
Application → Basic Functions → Expert Mode
DistImageCust_bfVOI_
yMax
100
float32
1
-100
100
max y-boundary for volume of interest
Application → Basic Functions → Expert Mode
DistImageCust_bfVOI_zMin
-100
float32
1
-100
100
min z-boundary for volume
of interest
Application → Basic Functions → Expert Mode
DistImageCust_bfVOI_
zMax
100
float32
1
-100
100
max z-boundary for volume of interest
Application → Basic Functions → Expert Mode
DistImageCust_bfResultTypes
0
sint32
64
0
2
Array of 64 result types.
One type for every
defined group. Possible
result types: 0=minimum;
1=maximum; 2=mean. Not
defined ROI groups to be
set to 0. Will filter all valid
pixels within the ROI group
for minimum or maximum
or average value.
Application → Basic
Functions → can be set for
every group by using the
pen symbol
DistImageCust_bfTemporalWindowSize
5
sint32
1
1
50
Parameter for averaging
values over multiple
frames. Higher values will
result in lower distance
noise, but will be slower
to change (low pass filter).
Setting is global for all ROI
group outputs.
Application → Basic
Functions → # of frames
for averaging
DistImageCust_bfOutputMode
5
sint32
1
0
5
Output mode for J1939
CAN setting. Only the chosen values will be set out
per ROI group cyclically
over J1939 CAN output.
In case of CANOpen the
messages can be chosen
by the CANOpen Master.
0: x only; 1: y only; 2: z
only; 3: xyz only; 4: ampl
only; 5: xyz+ampl. Setting
is global for all ROI group
outputs.
Application → Basic Functions → Output Mode
18
Vision Assistant
Parameter
Name
O3M151 3D Smart Sensor Basic Function
Param. Type
Param. Array
Length
Min.
Max.
1
uint8
1
0
4
Reference domain for
output. If minimum or
maximum is choosen it
is possible to reference
all values to the defined
minimum or maximum
value. E.g. if reference x is
chosen, the correspondig
y, z and amplitude of the
pixel with the minimum x
value are send out by the
sensor.
0:independent (no
reference: minimum /
maximum values for x, y,
z and amplitude without
relation); 1:x (y, z and
amplitude of minimum /
maximum x pixel); 2:y (x,
z and amplitude of minimum / maximum y pixel);
3:z (x, y and amplitude of
minimum / maximum z pixel); 4:amplitude (x, y and
z of minimum / maximum
amplitude pixel)
AutoCalibParam_
numberOfPatterns
0
uint8
1
0
8
Number of patterns to be
used for autocalibration
(0,1 : autocalibration disabled). Specialautocalibration mode for measuring
the rotational angles based
on reflector targets at
defined positions. Number
of reflectors used. Should
be at least 3.
AutoCalibParam_xPattern
0
float32
8
-30
30
x coordinates [m] of the
autocalibration patterns
in relation to the defined
world coordinate system.
AutoCalibParam_yPattern
0
float32
8
-30
30
y coordinates [m] of the
autocalibration patterns
in relation to the defined
world coordinate system.
AutoCalibParam_zPattern
0
float32
8
-30
30
z coordinates [m] of the
autocalibration patterns
in relation to the defined
world coordinate system.
AutoCalibParam_patternType
0
uint8
8
0
10
Type of the autocalibration
patterns
Vision Assistant
Parameter
Value
DistImageCust_bfReferenceDomain
Comment
Parameter
Name
O3M151 3D Smart Sensor Basic Function
Application → Basic Functions → Reference Value
for Min / Max
Template in Vision Assistant SW will be available
with later update.
19
UK
O3M151 3D Smart Sensor Basic Function
7 Interface
The output of the preprocessed function data occurs via CAN-Bus, either with the protocol CANopen or
the protocol SAE J 1939.
1000
DeviceType
0x7
ro
1001
Error Register
0x7
ro
1003
Predefined Error
Field
0x8
1003
Fixed to "0"
(Zero) until there
is an adequate
CANopen profile
available
0
0
Number of Errors
0x7
rw
0
1
4
1003
1
Standard Error
Field
0x7
ro
0
1
4
1003
2
Standard Error
Field_2
0x7
ro
0
1
4
1003
3
Standard Error
Field_3
0x7
ro
0
1
4
1003
4
Standard Error
Field_4
0x7
ro
0
1
4
1003
5
Standard Error
Field_5
0x7
ro
0
1
4
1003
6
Standard Error
Field_6
0x7
ro
0
1
4
1003
7
Standard Error
Field_7
0x7
ro
0
1
4
1003
8
Standard Error
Field_8
0x7
ro
0
1
4
1003
9
Standard Error
Field_9
0x7
ro
0
1
4
1003
A
Standard Error
Field_a
0x7
ro
0
1
4
1003
B
Standard Error
Field_b
0x7
ro
0
1
4
1003
C
Standard Error
Field_c
0x7
ro
0
1
4
1003
D
Standard Error
Field_d
0x7
ro
0
1
4
1003
E
Standard Error
Field_e
0x7
ro
0
1
4
1003
F
Standard Error
Field_f
0x7
ro
0
1
4
1003
10
Standard Error
Field_10
0x7
ro
0
1
4
1003
11
Standard Error
Field_11
0x7
ro
0
1
4
1003
12
Standard Error
Field_12
0x7
ro
0
1
4
1003
13
Standard Error
Field_13
0x7
ro
0
1
4
0x7
rw
0x00000080
0x00000080
1005
20
COB ID SYNC
Comment
High Limit
Low Limit
Default Value
Access Type
Object Type
Parameter
Name
Sub Index No.
Object Name
Object No.
7.1 CANopen
Index 0: Number
of Errors is defined
according to the
size of the error
memory in the
diagnosis.
–
1006
Communication
Cycle Period
1008
Manufacturer
Device Name
1009
Manufacturer
Hardware Version
0x7
0x7
0x7
100A
Manufacturer
Software Version
0x7
1010
Store Parameter
Field
0x8
rw
const
0x00000000
–
(No Index) should
be filled at runtime
with the article
number of the
camera.
Device is Sensor:
O3M150
Device is SmartSensor: O3M151
(Distance Image
with Basic Function
output)
O3D150
const
(No Index) should
be filled at runtime
with the HW Version of the camera
const
(No Index) should
be filled at runtime
with the Software
version number
and variant of the
camera <Major>
<Minor> <Patchlevel> <Variant>
Index 01: Save all
Parameters. This is
the list of parameters to be stored to
Flash memory:
- TBD
1010
0
Number of entries
0x7
ro
1
1
4
1010
1
Save all Parameters
0x7
rw
1
1
4
1011
Restore Default
Parameters
Comment
High Limit
Low Limit
Default Value
Access Type
Object Type
Parameter
Name
Sub Index No.
Object Name
Object No.
O3M151 3D Smart Sensor Basic Function
0x8
1011
0
Number of entries
0x7
ro
1
1
4
1011
1
Restore all Default
Parameters
0x7
rw
1
1
4
ro
$NODEID
+0x80
0x00000080
0x00000100
–
–
1014
COB ID EMCY
0x7
1016
Consumer Heartbeat Time
0x8
1016
0
Number of entries
0x7
ro
1
1
4
1016
1
Consumer Heartbeat Time
0x7
rw
0
1
4
0x7
rw
0
1017
Producer Heartbeat Time
–
–
21
UK
1018
Identity Object
0x9
1018
0
Number of entries
0x7
ro
4
1
4
1018
1
Vendor Id
0x7
ro
0x0069666D
1
4
1018
2
Product Code
0x7
ro
0
1
4
1018
3
Revision number
0x7
ro
0
1
4
1018
4
Serial number
0x7
ro
0
1
4
1800
Transmit PDO
Communication Parameter
x_output 0
0x9
1800
0
Number of entries
0x7
ro
3
0x03
0x03
1800
1
COB ID
0x7
rw
$NODEID
+0x40000180
0x00000080
0xFFFFFFFF
1800
2
Transmission Type
0x7
rw
254
0x00000080
0xFFFFFFFF
1800
3
Inhibit Time
0x7
rw
0x0000
0x00000080
0xFFFFFFFF
1801
Transmit PDO
Communication Parameter
y_output 0
0x9
1801
0
Number of entries
0x7
ro
3
0x03
0x03
1801
1
COB ID
0x7
rw
$NODEID
+0x40000280
0x00000080
0xFFFFFFFF
1801
2
Transmission Type
0x7
rw
254
0x00000080
0xFFFFFFFF
1801
3
Inhibit Time
0x7
rw
0x0000
0x00000080
0xFFFFFFFF
ro
3
0x03
0x03
0x00000080
0xFFFFFFFF
1802
Transmit PDO
Communication Parameter
z_output 0
1802
Number of entries
0x7
1802
1
COB ID
0x7
rw
$NODEID
+0x40000380
1802
2
Transmission Type
0x7
rw
254
0x00000080
0xFFFFFFFF
3
Inhibit Time
0x7
rw
0x0000
0x00000080
0xFFFFFFFF
1803
1803
22
Index 01: Vendor
ID is 0x0069666D,
this is the fixed ID
for ifm electronic
Index 02: Product
Code :
O3M150: 0x0020
0010
O3M151: 0x0020
0011
Index 03: Revision
Number: should
be filled at runtime
with 0x00 <Major
number> <Minor
number> <Patch
Level> of the SW
Version.
Index 04: Serial
number: should
be filled at runtime
with the serial
number of the
camera
Index 02 Transmission Type: 254
(manufacturer
defined):
The mobile camera
is typically running
with internally
defined time/frequency.
Thus it will send
out the data (TPDOs) as available,
typically with
cycle time of 20ms,
30ms, 40ms or
multiple time: two
or three times the
cycle time.
Predefinition of
the TPDOs is in
such a way, that all
available data for
the Distance Image
variant will be sent
out from the start.
0x9
0
1802
Comment
High Limit
Low Limit
Default Value
Access Type
Object Type
Parameter
Name
Sub Index No.
Object Name
Object No.
O3M151 3D Smart Sensor Basic Function
Transmit PDO
Communication
Parameter ampl_
output 0
0x9
0
Number of entries
0x7
–
–
ro
3
0x03
0x03
Low Limit
High Limit
1803
1
COB ID
0x7
rw
$NODEID
+0x40000480
0x00000080
0xFFFFFFFF
1803
2
Transmission Type
0x7
rw
254
0x00000080
0xFFFFFFFF
1803
3
Inhibit Time
0x7
rw
0x0000
0x00000080
0xFFFFFFFF
1804
Transmit PDO
Communication Parameter
x_output 1
0
Number of entries
0x7
ro
3
0x03
0x03
1804
1
COB ID
0x7
rw
$NODEID
+0xC0000000
0x00000080
0xFFFFFFFF
1804
2
Transmission Type
0x7
rw
254
0x00000080
0xFFFFFFFF
1804
3
Inhibit Time
0x7
rw
0x0000
0x00000080
0xFFFFFFFF
ro
3
0x03
0x03
0x00000080
0xFFFFFFFF
Transmit PDO
Communication Parameter
y_output 1
1805
0
Number of entries
0x7
1805
1
COB ID
0x7
rw
1805
2
Transmission Type
0x7
rw
254
0x00000080
0xFFFFFFFF
1805
3
Inhibit Time
0x7
rw
0x0000
0x00000080
0xFFFFFFFF
ro
3
0x03
0x03
0x00000080
0xFFFFFFFF
Transmit PDO
Communication Parameter
z_output 1
1806
0
Number of entries
0x7
1806
1
COB ID
0x7
rw
1806
2
Transmission Type
0x7
rw
254
0x00000080
0xFFFFFFFF
1806
3
Inhibit Time
0x7
rw
0x0000
0x00000080
0xFFFFFFFF
ro
3
0x03
0x03
0x00000080
0xFFFFFFFF
Transmit PDO
Communication
Parameter ampl_
output 1
1807
0
Number of entries
0x7
1807
1
COB ID
0x7
rw
1807
2
Transmission Type
0x7
rw
254
0x00000080
0xFFFFFFFF
1807
3
Inhibit Time
0x7
rw
0x0000
0x00000080
0xFFFFFFFF
ro
3
0x03
0x03
0x00000080
0xFFFFFFFF
Transmit PDO
Communication Parameter
x_output 2
1808
Number of entries
0x7
1808
1
COB ID
0x7
rw
$NODEID
+0xC0000000
1808
2
Transmission Type
0x7
rw
254
0x00000080
0xFFFFFFFF
3
Inhibit Time
0x7
rw
0x0000
0x00000080
0xFFFFFFFF
1809
1809
–
0x9
0
1808
–
0x9
$NODEID
+0xC0000000
1808
–
0x9
$NODEID
+0xC0000000
1807
–
0x9
$NODEID
+0xC0000000
1806
UK
–
0x9
1804
1805
Comment
Default Value
Access Type
Object Type
Parameter
Name
Sub Index No.
Object Name
Object No.
O3M151 3D Smart Sensor Basic Function
Transmit PDO
Communication Parameter
y_output 2
0x9
0
Number of entries
0x7
–
–
ro
3
0x03
0x03
23
Low Limit
High Limit
1809
1
COB ID
0x7
rw
$NODEID
+0xC0000000
0x00000080
0xFFFFFFFF
1809
2
Transmission Type
0x7
rw
254
0x00000080
0xFFFFFFFF
1809
3
Inhibit Time
0x7
rw
0x0000
0x00000080
0xFFFFFFFF
180A
Transmit PDO
Communication Parameter
z_output 2
0
Number of entries
0x7
ro
3
0x03
0x03
180A
1
COB ID
0x7
rw
$NODEID
+0xC0000000
0x00000080
0xFFFFFFFF
180A
2
Transmission Type
0x7
rw
254
0x00000080
0xFFFFFFFF
180A
3
Inhibit Time
0x7
rw
0x0000
0x00000080
0xFFFFFFFF
ro
3
0x03
0x03
0x00000080
0xFFFFFFFF
Transmit PDO
Communication
Parameter ampl_
output 2
180B
0
Number of entries
0x7
180B
1
COB ID
0x7
rw
180B
2
Transmission Type
0x7
rw
254
0x00000080
0xFFFFFFFF
180B
3
Inhibit Time
0x7
rw
0x0000
0x00000080
0xFFFFFFFF
ro
3
0x03
0x03
0x00000080
0xFFFFFFFF
Transmit PDO
Communication Parameter
x_output 3
180C
0
Number of entries
0x7
180C
1
COB ID
0x7
rw
180C
2
Transmission Type
0x7
rw
254
0x00000080
0xFFFFFFFF
180C
3
Inhibit Time
0x7
rw
0x0000
0x00000080
0xFFFFFFFF
ro
3
0x03
0x03
0x00000080
0xFFFFFFFF
Transmit PDO
Communication Parameter
y_output 3
180D
0
Number of entries
0x7
180D
1
COB ID
0x7
rw
180D
2
Transmission Type
0x7
rw
254
0x00000080
0xFFFFFFFF
180D
3
Inhibit Time
0x7
rw
0x0000
0x00000080
0xFFFFFFFF
ro
3
0x03
0x03
0x00000080
0xFFFFFFFF
Transmit PDO
Communication Parameter
z_output 3
180E
Number of entries
0x7
180E
1
COB ID
0x7
rw
$NODEID
+0xC0000000
180E
2
Transmission Type
0x7
rw
254
0x00000080
0xFFFFFFFF
3
Inhibit Time
0x7
rw
0x0000
0x00000080
0xFFFFFFFF
180F
180F
24
–
0x9
0
180E
–
0x9
$NODEID
+0xC0000000
180E
–
0x9
$NODEID
+0xC0000000
180D
–
0x9
$NODEID
+0xC0000000
180C
–
0x9
180A
180B
Comment
Default Value
Access Type
Object Type
Parameter
Name
Sub Index No.
Object Name
Object No.
O3M151 3D Smart Sensor Basic Function
Transmit PDO
Communication
Parameter ampl_
output 3
0x9
0
Number of entries
0x7
–
–
ro
3
0x03
0x03
Low Limit
High Limit
180F
1
COB ID
0x7
rw
$NODEID
+0xC0000000
0x00000080
0xFFFFFFFF
180F
2
Transmission Type
0x7
rw
254
0x00000080
0xFFFFFFFF
180F
3
Inhibit Time
0x7
rw
0x0000
0x00000080
0xFFFFFFFF
1810
Transmit PDO
Communication Parameter
x_output 4
0
Number of entries
0x7
ro
3
0x03
0x03
1810
1
COB ID
0x7
rw
$NODEID
+0xC0000000
0x00000080
0xFFFFFFFF
1810
2
Transmission Type
0x7
rw
254
0x00000080
0xFFFFFFFF
1810
3
Inhibit Time
0x7
rw
0x0000
0x00000080
0xFFFFFFFF
Transmit PDO
Communication Parameter
y_output 4
0
Number of entries
0x7
ro
3
0x03
0x03
1811
1
COB ID
0x7
rw
$NODEID
+0xC0000000
0x00000080
0xFFFFFFFF
1811
2
Transmission Type
0x7
rw
254
0x00000080
0xFFFFFFFF
3
Inhibit Time
0x7
rw
0x0000
0x00000080
0xFFFFFFFF
ro
3
0x03
0x03
0x00000080
0xFFFFFFFF
1812
Transmit PDO
Communication Parameter
z_output 4
1812
0
Number of entries
0x7
1812
1
COB ID
0x7
rw
1812
2
Transmission Type
0x7
rw
254
0x00000080
0xFFFFFFFF
1812
3
Inhibit Time
0x7
rw
0x0000
0x00000080
0xFFFFFFFF
Transmit PDO
Communication
Parameter ampl_
output 4
0
Number of entries
0x7
ro
3
0x03
0x03
1813
1
COB ID
0x7
rw
$NODEID
+0xC0000000
0x00000080
0xFFFFFFFF
1813
2
Transmission Type
0x7
rw
254
0x00000080
0xFFFFFFFF
1813
3
Inhibit Time
0x7
rw
0x0000
0x00000080
0xFFFFFFFF
Transmit PDO
Communication Parameter
x_output 5
0
Number of entries
0x7
ro
3
0x03
0x03
1814
1
COB ID
0x7
rw
$NODEID
+0xC0000000
0x00000080
0xFFFFFFFF
1814
2
Transmission Type
0x7
rw
254
0x00000080
0xFFFFFFFF
3
Inhibit Time
0x7
rw
0x0000
0x00000080
0xFFFFFFFF
1815
Transmit PDO
Communication Parameter
y_output 5
–
0x9
1814
1814
–
0x9
1813
1814
–
0x9
$NODEID
+0xC0000000
1813
–
0x9
1811
1811
UK
–
0x9
1810
1811
Comment
Default Value
Access Type
Object Type
Parameter
Name
Sub Index No.
Object Name
Object No.
O3M151 3D Smart Sensor Basic Function
0x9
–
–
25
1815
0
Number of entries
0x7
ro
3
0x03
0x03
0x00000080
0xFFFFFFFF
1815
1
COB ID
0x7
rw
$NODEID
+0xC0000000
1815
2
Transmission Type
0x7
rw
254
0x00000080
0xFFFFFFFF
3
Inhibit Time
0x7
rw
0x0000
0x00000080
0xFFFFFFFF
ro
3
0x03
0x03
0x00000080
0xFFFFFFFF
1815
1816
Transmit PDO
Communication Parameter
z_output 5
1816
0
Number of entries
0x7
1816
1
COB ID
0x7
rw
1816
2
Transmission Type
0x7
rw
254
0x00000080
0xFFFFFFFF
1816
3
Inhibit Time
0x7
rw
0x0000
0x00000080
0xFFFFFFFF
Transmit PDO
Communication
Parameter ampl_
output 5
0
Number of entries
0x7
ro
3
0x03
0x03
1817
1
COB ID
0x7
rw
$NODEID
+0xC0000000
0x00000080
0xFFFFFFFF
1817
2
Transmission Type
0x7
rw
254
0x00000080
0xFFFFFFFF
3
Inhibit Time
0x7
rw
0x0000
0x00000080
0xFFFFFFFF
ro
3
0x03
0x03
0x00000080
0xFFFFFFFF
1818
Transmit PDO
Communication Parameter
x_output 6
1818
0
Number of entries
0x7
1818
1
COB ID
0x7
rw
1818
2
Transmission Type
0x7
rw
254
0x00000080
0xFFFFFFFF
1818
3
Inhibit Time
0x7
rw
0x0000
0x00000080
0xFFFFFFFF
Transmit PDO
Communication Parameter
y_output 6
0
Number of entries
0x7
ro
3
0x03
0x03
1819
1
COB ID
0x7
rw
$NODEID
+0xC0000000
0x00000080
0xFFFFFFFF
1819
2
Transmission Type
0x7
rw
254
0x00000080
0xFFFFFFFF
1819
3
Inhibit Time
0x7
rw
0x0000
0x00000080
0xFFFFFFFF
Transmit PDO
Communication Parameter
z_output 6
–
0x9
181A
0
Number of entries
0x7
ro
3
0x03
0x03
181A
1
COB ID
0x7
rw
$NODEID
+0xC0000000
0x00000080
0xFFFFFFFF
181A
2
Transmission Type
0x7
rw
254
0x00000080
0xFFFFFFFF
181A
3
Inhibit Time
0x7
rw
0x0000
0x00000080
0xFFFFFFFF
26
–
0x9
1819
181A
–
0x9
$NODEID
+0xC0000000
1819
–
0x9
1817
1817
–
0x9
$NODEID
+0xC0000000
1817
Comment
High Limit
Low Limit
Default Value
Access Type
Object Type
Parameter
Name
Sub Index No.
Object Name
Object No.
O3M151 3D Smart Sensor Basic Function
–
181B
Transmit PDO
Communication
Parameter ampl_
output 6
0x9
UK
181B
0
Number of entries
0x7
ro
3
0x03
0x03
181B
1
COB ID
0x7
rw
$NODEID
+0xC0000000
0x00000080
0xFFFFFFFF
181B
2
Transmission Type
0x7
rw
254
0x00000080
0xFFFFFFFF
3
Inhibit Time
0x7
rw
0x0000
0x00000080
0xFFFFFFFF
ro
3
0x03
0x03
0x00000080
0xFFFFFFFF
181B
181C
Transmit PDO
Communication Parameter
x_output 7
181C
0
Number of entries
0x7
181C
1
COB ID
0x7
rw
181C
2
Transmission Type
0x7
rw
254
0x00000080
0xFFFFFFFF
181C
3
Inhibit Time
0x7
rw
0x0000
0x00000080
0xFFFFFFFF
Transmit PDO
Communication Parameter
y_output 7
0
Number of entries
0x7
ro
3
0x03
0x03
181D
1
COB ID
0x7
rw
$NODEID
+0xC0000000
0x00000080
0xFFFFFFFF
181D
2
Transmission Type
0x7
rw
254
0x00000080
0xFFFFFFFF
181D
3
Inhibit Time
0x7
rw
0x0000
0x00000080
0xFFFFFFFF
Transmit PDO
Communication Parameter
z_output 7
0
Number of entries
0x7
ro
3
0x03
0x03
181E
1
COB ID
0x7
rw
$NODEID
+0xC0000000
0x00000080
0xFFFFFFFF
181E
2
Transmission Type
0x7
rw
254
0x00000080
0xFFFFFFFF
3
Inhibit Time
0x7
rw
0x0000
0x00000080
0xFFFFFFFF
ro
3
0x03
0x03
0x00000080
0xFFFFFFFF
181F
Transmit PDO
Communication
Parameter ampl_
output 7
181F
–
0x9
0
Number of entries
0x7
181F
1
COB ID
0x7
rw
$NODEID
+0xC0000000
181F
2
Transmission Type
0x7
rw
254
0x00000080
0xFFFFFFFF
181F
3
Inhibit Time
0x7
rw
0x0000
0x00000080
0xFFFFFFFF
1820
–
0x9
181E
181E
–
0x9
181D
181E
–
0x9
$NODEID
+0xC0000000
181D
Comment
High Limit
Low Limit
Default Value
Access Type
Object Type
Parameter
Name
Sub Index No.
Object Name
Object No.
O3M151 3D Smart Sensor Basic Function
Transmit PDO
Communication Parameter
x_output 8
–
0x9
1820
0
Number of entries
0x7
ro
3
0x03
0x03
1820
1
COB ID
0x7
rw
$NODEID
+0xC0000000
0x00000080
0xFFFFFFFF
1820
2
Transmission Type
0x7
rw
254
0x00000080
0xFFFFFFFF
–
27
0x7
Default Value
Access Type
Comment
1821
Object Type
Parameter
Name
Inhibit Time
High Limit
1821
3
Transmit PDO
Communication Parameter
y_output 8
Low Limit
1820
Sub Index No.
Object Name
Object No.
O3M151 3D Smart Sensor Basic Function
rw
0x0000
0x00000080
0xFFFFFFFF
–
ro
3
0x03
0x03
0x00000080
0xFFFFFFFF
0x9
0
Number of entries
0x7
1821
1
COB ID
0x7
rw
$NODEID
+0xC0000000
1821
2
Transmission Type
0x7
rw
254
0x00000080
0xFFFFFFFF
1821
3
Inhibit Time
0x7
rw
0x0000
0x00000080
0xFFFFFFFF
1822
Transmit PDO
Communication Parameter
z_output 8
0x9
1822
0
Number of entries
0x7
ro
3
0x03
0x03
1822
1
COB ID
0x7
rw
$NODEID
+0xC0000000
0x00000080
0xFFFFFFFF
1822
2
Transmission Type
0x7
rw
254
0x00000080
0xFFFFFFFF
1822
3
Inhibit Time
0x7
rw
0x0000
0x00000080
0xFFFFFFFF
1823
Transmit PDO
Communication
Parameter ampl_
output 8
0
Number of entries
0x7
ro
3
0x03
0x03
1823
1
COB ID
0x7
rw
$NODEID
+0xC0000000
0x00000080
0xFFFFFFFF
1823
2
Transmission Type
0x7
rw
254
0x00000080
0xFFFFFFFF
3
Inhibit Time
0x7
rw
0x0000
0x00000080
0xFFFFFFFF
ro
3
0x03
0x03
0x00000080
0xFFFFFFFF
1824
Transmit PDO
Communication Parameter
x_output 9
1824
0
Number of entries
0x7
1824
1
COB ID
0x7
rw
1824
2
Transmission Type
0x7
rw
254
0x00000080
0xFFFFFFFF
1824
3
Inhibit Time
0x7
rw
0x0000
0x00000080
0xFFFFFFFF
Transmit PDO
Communication Parameter
y_output 9
0
Number of entries
0x7
ro
3
0x03
0x03
1825
1
COB ID
0x7
rw
$NODEID
+0xC0000000
0x00000080
0xFFFFFFFF
1825
2
Transmission Type
0x7
rw
254
0x00000080
0xFFFFFFFF
1825
3
Inhibit Time
0x7
rw
0x0000
0x00000080
0xFFFFFFFF
Transmit PDO
Communication Parameter
z_output 9
–
0x9
1826
0
Number of entries
0x7
ro
3
0x03
0x03
1826
1
COB ID
0x7
rw
$NODEID
+0xC0000000
0x00000080
0xFFFFFFFF
28
–
0x9
1825
1826
–
0x9
$NODEID
+0xC0000000
1825
–
0x9
1823
1823
–
–
Low Limit
High Limit
1826
2
Transmission Type
0x7
rw
254
0x00000080
0xFFFFFFFF
1826
3
Inhibit Time
0x7
rw
0x0000
0x00000080
0xFFFFFFFF
1827
Transmit PDO
Communication
Parameter ampl_
output 9
0
Number of entries
0x7
ro
3
0x03
0x03
1827
1
COB ID
0x7
rw
$NODEID
+0xC0000000
0x00000080
0xFFFFFFFF
1827
2
Transmission Type
0x7
rw
254
0x00000080
0xFFFFFFFF
1827
3
Inhibit Time
0x7
rw
0x0000
0x00000080
0xFFFFFFFF
Transmit PDO
Communication Parameter
x_output 10
0
Number of entries
0x7
ro
3
0x03
0x03
1828
1
COB ID
0x7
rw
$NODEID
+0xC0000000
0x00000080
0xFFFFFFFF
1828
2
Transmission Type
0x7
rw
254
0x00000080
0xFFFFFFFF
3
Inhibit Time
0x7
rw
0x0000
0x00000080
0xFFFFFFFF
ro
3
0x03
0x03
0x00000080
0xFFFFFFFF
1829
Transmit PDO
Communication Parameter
y_output 10
1829
0
Number of entries
0x7
1829
1
COB ID
0x7
rw
1829
2
Transmission Type
0x7
rw
254
0x00000080
0xFFFFFFFF
1829
3
Inhibit Time
0x7
rw
0x0000
0x00000080
0xFFFFFFFF
Transmit PDO
Communication Parameter
z_output 10
0
Number of entries
0x7
ro
3
0x03
0x03
182A
1
COB ID
0x7
rw
$NODEID
+0xC0000000
0x00000080
0xFFFFFFFF
182A
2
Transmission Type
0x7
rw
254
0x00000080
0xFFFFFFFF
182A
3
Inhibit Time
0x7
rw
0x0000
0x00000080
0xFFFFFFFF
ro
3
0x03
0x03
0x00000080
0xFFFFFFFF
Transmit PDO
Communication
Parameter ampl_
output 10
182B
Number of entries
0x7
182B
1
COB ID
0x7
rw
$NODEID
+0xC0000000
182B
2
Transmission Type
0x7
rw
254
0x00000080
0xFFFFFFFF
3
Inhibit Time
0x7
rw
0x0000
0x00000080
0xFFFFFFFF
182C
182C
–
–
0x9
0
182B
–
0x9
182A
182B
–
0x9
$NODEID
+0xC0000000
182A
UK
0x9
1828
1828
–
0x9
1827
1828
Comment
Default Value
Access Type
Object Type
Parameter
Name
Sub Index No.
Object Name
Object No.
O3M151 3D Smart Sensor Basic Function
Transmit PDO
Communication Parameter
x_output 11
0x9
0
Number of entries
0x7
–
–
ro
3
0x03
0x03
29
Low Limit
High Limit
182C
1
COB ID
0x7
rw
$NODEID
+0xC0000000
0x00000080
0xFFFFFFFF
182C
2
Transmission Type
0x7
rw
254
0x00000080
0xFFFFFFFF
182C
3
Inhibit Time
0x7
rw
0x0000
0x00000080
0xFFFFFFFF
ro
3
0x03
0x03
0x00000080
0xFFFFFFFF
182D
Transmit PDO
Communication Parameter
y_output 11
182D
Number of entries
0x7
182D
1
COB ID
0x7
rw
$NODEID
+0xC0000000
182D
2
Transmission Type
0x7
rw
254
0x00000080
0xFFFFFFFF
3
Inhibit Time
0x7
rw
0x0000
0x00000080
0xFFFFFFFF
ro
3
0x03
0x03
0x00000080
0xFFFFFFFF
182E
Transmit PDO
Communication Parameter
z_output 11
182E
Number of entries
0x7
182E
1
COB ID
0x7
rw
$NODEID
+0xC0000000
182E
2
Transmission Type
0x7
rw
254
0x00000080
0xFFFFFFFF
3
Inhibit Time
0x7
rw
0x0000
0x00000080
0xFFFFFFFF
ro
3
0x03
0x03
0x00000080
0xFFFFFFFF
182F
Transmit PDO
Communication
Parameter ampl_
output 11
182F
0
Number of entries
0x7
182F
1
COB ID
0x7
rw
182F
2
Transmission Type
0x7
rw
254
0x00000080
0xFFFFFFFF
182F
3
Inhibit Time
0x7
rw
0x0000
0x00000080
0xFFFFFFFF
Transmit PDO
Communication Parameter
x_output 12
0
Number of entries
0x7
ro
3
0x03
0x03
1830
1
COB ID
0x7
rw
$NODEID
+0xC0000000
0x00000080
0xFFFFFFFF
1830
2
Transmission Type
0x7
rw
254
0x00000080
0xFFFFFFFF
3
Inhibit Time
0x7
rw
0x0000
0x00000080
0xFFFFFFFF
ro
3
0x03
0x03
0x00000080
0xFFFFFFFF
1831
Transmit PDO
Communication Parameter
y_output 12
1831
0
Number of entries
0x7
1831
1
COB ID
0x7
rw
1831
2
Transmission Type
0x7
rw
254
0x00000080
0xFFFFFFFF
1831
3
Inhibit Time
0x7
rw
0x0000
0x00000080
0xFFFFFFFF
30
Transmit PDO
Communication Parameter
z_output 12
–
0x9
$NODEID
+0xC0000000
1832
–
0x9
1830
1830
–
0x9
$NODEID
+0xC0000000
1830
–
0x9
0
182E
–
0x9
0
182D
Comment
Default Value
Access Type
Object Type
Parameter
Name
Sub Index No.
Object Name
Object No.
O3M151 3D Smart Sensor Basic Function
0x9
–
–
1832
0
Number of entries
0x7
ro
3
0x03
0x03
0x00000080
0xFFFFFFFF
1832
1
COB ID
0x7
rw
$NODEID
+0xC0000000
1832
2
Transmission Type
0x7
rw
254
0x00000080
0xFFFFFFFF
3
Inhibit Time
0x7
rw
0x0000
0x00000080
0xFFFFFFFF
ro
3
0x03
0x03
0x00000080
0xFFFFFFFF
1832
1833
Transmit PDO
Communication
Parameter ampl_
output 12
1833
0
Number of entries
0x7
1833
1
COB ID
0x7
rw
1833
2
Transmission Type
0x7
rw
254
0x00000080
0xFFFFFFFF
1833
3
Inhibit Time
0x7
rw
0x0000
0x00000080
0xFFFFFFFF
Transmit PDO
Communication Parameter
x_output 13
0
Number of entries
0x7
ro
3
0x03
0x03
1834
1
COB ID
0x7
rw
$NODEID
+0xC0000000
0x00000080
0xFFFFFFFF
1834
2
Transmission Type
0x7
rw
254
0x00000080
0xFFFFFFFF
3
Inhibit Time
0x7
rw
0x0000
0x00000080
0xFFFFFFFF
ro
3
0x03
0x03
0x00000080
0xFFFFFFFF
1835
Transmit PDO
Communication Parameter
y_output 13
1835
0
Number of entries
0x7
1835
1
COB ID
0x7
rw
1835
2
Transmission Type
0x7
rw
254
0x00000080
0xFFFFFFFF
1835
3
Inhibit Time
0x7
rw
0x0000
0x00000080
0xFFFFFFFF
Transmit PDO
Communication Parameter
z_output 13
–
0x9
1836
0
Number of entries
0x7
ro
3
0x03
0x03
1836
1
COB ID
0x7
rw
$NODEID
+0xC0000000
0x00000080
0xFFFFFFFF
1836
2
Transmission Type
0x7
rw
254
0x00000080
0xFFFFFFFF
1836
3
Inhibit Time
0x7
rw
0x0000
0x00000080
0xFFFFFFFF
1837
–
0x9
$NODEID
+0xC0000000
1836
–
0x9
1834
1834
UK
–
0x9
$NODEID
+0xC0000000
1834
Comment
High Limit
Low Limit
Default Value
Access Type
Object Type
Parameter
Name
Sub Index No.
Object Name
Object No.
O3M151 3D Smart Sensor Basic Function
Transmit PDO
Communication
Parameter ampl_
output 13
–
0x9
1837
0
Number of entries
0x7
ro
3
0x03
0x03
1837
1
COB ID
0x7
rw
$NODEID
+0xC0000000
0x00000080
0xFFFFFFFF
1837
2
Transmission Type
0x7
rw
254
0x00000080
0xFFFFFFFF
1837
3
Inhibit Time
0x7
rw
0x0000
0x00000080
0xFFFFFFFF
–
31
1838
Transmit PDO
Communication Parameter
x_output 14
0x9
–
1838
0
Number of entries
0x7
ro
3
0x03
0x03
1838
1
COB ID
0x7
rw
$NODEID
+0xC0000000
0x00000080
0xFFFFFFFF
1838
2
Transmission Type
0x7
rw
254
0x00000080
0xFFFFFFFF
3
Inhibit Time
0x7
rw
0x0000
0x00000080
0xFFFFFFFF
ro
3
0x03
0x03
0x00000080
0xFFFFFFFF
1838
1839
Transmit PDO
Communication Parameter
y_output 14
1839
0
Number of entries
0x7
1839
1
COB ID
0x7
rw
1839
2
Transmission Type
0x7
rw
254
0x00000080
0xFFFFFFFF
1839
3
Inhibit Time
0x7
rw
0x0000
0x00000080
0xFFFFFFFF
Transmit PDO
Communication Parameter
z_output 14
0
Number of entries
0x7
ro
3
0x03
0x03
183A
1
COB ID
0x7
rw
$NODEID
+0xC0000000
0x00000080
0xFFFFFFFF
183A
2
Transmission Type
0x7
rw
254
0x00000080
0xFFFFFFFF
183A
3
Inhibit Time
0x7
rw
0x0000
0x00000080
0xFFFFFFFF
Transmit PDO
Communication
Parameter ampl_
output 14
0
Number of entries
0x7
ro
3
0x03
0x03
183B
1
COB ID
0x7
rw
$NODEID
+0xC0000000
0x00000080
0xFFFFFFFF
183B
2
Transmission Type
0x7
rw
254
0x00000080
0xFFFFFFFF
3
Inhibit Time
0x7
rw
0x0000
0x00000080
0xFFFFFFFF
ro
3
0x03
0x03
0x00000080
0xFFFFFFFF
183C
183C
Transmit PDO
Communication Parameter
x_output 15
–
0x9
0
Number of entries
0x7
183C
1
COB ID
0x7
rw
$NODEID
+0xC0000000
183C
2
Transmission Type
0x7
rw
254
0x00000080
0xFFFFFFFF
183C
3
Inhibit Time
0x7
rw
0x0000
0x00000080
0xFFFFFFFF
32
–
0x9
183B
183B
–
0x9
183A
183B
–
0x9
$NODEID
+0xC0000000
183A
Comment
High Limit
Low Limit
Default Value
Access Type
Object Type
Parameter
Name
Sub Index No.
Object Name
Object No.
O3M151 3D Smart Sensor Basic Function
–
183D
Transmit PDO
Communication Parameter
y_output 15
0x9
UK
183D
0
Number of entries
0x7
ro
3
0x03
0x03
183D
1
COB ID
0x7
rw
$NODEID
+0xC0000000
0x00000080
0xFFFFFFFF
183D
2
Transmission Type
0x7
rw
254
0x00000080
0xFFFFFFFF
3
Inhibit Time
0x7
rw
0x0000
0x00000080
0xFFFFFFFF
183D
183E
Transmit PDO
Communication Parameter
z_output 15
183E
0
Number of entries
0x7
ro
3
0x03
0x03
0x00000080
0xFFFFFFFF
183E
1
COB ID
0x7
rw
183E
2
Transmission Type
0x7
rw
254
0x00000080
0xFFFFFFFF
183E
3
Inhibit Time
0x7
rw
0x0000
0x00000080
0xFFFFFFFF
Transmit PDO
Communication
Parameter ampl_
output 15
0
Number of entries
0x7
ro
3
0x03
0x03
183F
1
COB ID
0x7
rw
$NODEID
+0xC0000000
0x00000080
0xFFFFFFFF
183F
2
Transmission Type
0x7
rw
254
0x00000080
0xFFFFFFFF
183F
3
Inhibit Time
0x7
rw
0x0000
0x00000080
0xFFFFFFFF
Transmit PDO
Communication
Parameter - Global_Information
–
0x9
1840
0
Number of entries
0x7
ro
3
0x02
0x06
1840
1
COB ID
0x7
rw
$NODEID
+0xC0000000
0x00000080
0xFFFFFFFF
1840
2
Transmission Type
0x7
rw
254
0x00000080
0xFFFFFFFF
1840
3
Inhibit Time
0x7
rw
0x0000
0x00000080
0xFFFFFFFF
ro
3
0x02
0x06
1841
–
0x9
183F
1840
–
–
0x9
$NODEID
+0xC0000000
183F
Comment
High Limit
Low Limit
Default Value
Access Type
Object Type
Parameter
Name
Sub Index No.
Object Name
Object No.
O3M151 3D Smart Sensor Basic Function
Transmit PDO
Communication
Parameter SyncMsg
–
0x9
1841
0
Number of entries
0x7
1841
1
COB ID
0x7
rw
0x80000000
0x00000080
0xFFFFFFFF
1841
2
Transmission Type
0x7
rw
0x80000000
0x00000080
0xFFFFFFFF
1841
3
Inhibit Time
0x7
rw
0x0000
0x00000080
0xFFFFFFFF
–
33
1842
Transmit PDO
Communication
Parameter - BF
Global Parameters
1842
0x9
0
Number of entries
0x7
ro
3
0x02
0x06
0x00000080
0xFFFFFFFF
1842
1
COB ID
0x7
rw
$NODEID
+0xC0000000
1842
2
Transmission Type
0x7
rw
254
0x00000080
0xFFFFFFFF
1842
3
Inhibit Time
0x7
rw
0x0000
0x00000080
0xFFFFFFFF
1843
Transmit PDO
Communication
Parameter - ROI
Definition
0
Number of entries
0x7
ro
3
0x02
0x06
1843
1
COB ID
0x7
rw
$NODEID
+0xC0000000
0x00000080
0xFFFFFFFF
1843
2
Transmission Type
0x7
rw
254
0x00000080
0xFFFFFFFF
1843
3
Inhibit Time
0x7
rw
0x0000
0x00000080
0xFFFFFFFF
Transmit PDO
Mapping Parameter x_output 0
0x9
0
Number of entries
0x7
rw
1
0
1
1A00
1
PDO Mapping
Entry
0x7
rw
0x21000140
0
1
Transmit PDO
Mapping Parameter y_output 0
0
Number of entries
0x7
rw
1
0
1
1A01
1
PDO Mapping
Entry
0x7
rw
0x21010140
0
1
Transmit PDO
Mapping Parameter z_output 0
0
Number of entries
0x7
rw
1
0
1
1A02
1
PDO Mapping
Entry
0x7
rw
0x21020140
0
1
Transmit PDO
Mapping Parameter ampl_output 0
–
0
Number of entries
0x7
rw
1
0
1
1A03
1
PDO Mapping
Entry
0x7
rw
0x21030140
0
1
Transmit PDO
Mapping Parameter x_output 1
0x9
1A04
0
Number of entries
0x7
rw
1
0
1
1A04
1
PDO Mapping
Entry
0x7
rw
0x21040140
0
1
34
–
0x9
1A03
1A04
–
0x9
1A02
1A03
–
0x9
1A01
1A02
–
–
1A00
1A01
–
0x9
1843
1A00
Comment
High Limit
Low Limit
Default Value
Access Type
Object Type
Parameter
Name
Sub Index No.
Object Name
Object No.
O3M151 3D Smart Sensor Basic Function
–
1A05
1A05
0x9
0
Number of entries
0x7
rw
1
0
1
1
PDO Mapping
Entry
0x7
rw
0x21050140
0
1
Transmit PDO
Mapping Parameter z_output 1
0
Number of entries
0x7
rw
1
0
1
1A06
1
PDO Mapping
Entry
0x7
rw
0x21060140
0
1
Transmit PDO
Mapping Parameter ampl_output 1
–
0
Number of entries
0x7
rw
1
0
1
1A07
1
PDO Mapping
Entry
0x7
rw
0x21070140
0
1
Transmit PDO
Mapping Parameter x_output 2
0x9
1A08
0
Number of entries
0x7
rw
1
0
1
1A08
1
PDO Mapping
Entry
0x7
rw
0x21080140
0
1
1A09
Transmit PDO
Mapping Parameter y_output 2
0x9
0
Number of entries
0x7
rw
1
0
1
1A09
1
PDO Mapping
Entry
0x7
rw
0x21090140
0
1
Transmit PDO
Mapping Parameter z_output 2
0
Number of entries
0x7
rw
1
0
1
1A0A
1
PDO Mapping
Entry
0x7
rw
0x210A0140
0
1
Transmit PDO
Mapping Parameter ampl_output 2
–
0
Number of entries
0x7
rw
1
0
1
1A0B
1
PDO Mapping
Entry
0x7
rw
0x210B0140
0
1
Transmit PDO
Mapping Parameter x_output 3
0x9
1A0C
0
Number of entries
0x7
rw
1
0
1
1A0C
1
PDO Mapping
Entry
0x7
rw
0x210C0140
0
1
1A0D
–
0x9
1A0B
1A0C
–
0x9
1A0A
1A0B
–
–
1A09
1A0A
–
0x9
1A07
1A08
UK
–
0x9
1A06
1A07
Comment
High Limit
Low Limit
Default Value
Access Type
Object Type
Parameter
Name
Transmit PDO
Mapping Parameter y_output 1
1A05
1A06
Sub Index No.
Object Name
Object No.
O3M151 3D Smart Sensor Basic Function
Transmit PDO
Mapping Parameter y_output 3
–
0x9
1A0D
0
Number of entries
0x7
rw
1
0
1
1A0D
1
PDO Mapping
Entry
0x7
rw
0x210D0140
0
1
–
35
1A0E
Transmit PDO
Mapping Parameter z_output 3
0x9
1A0E
0
Number of entries
0x7
rw
1
0
1
1A0E
1
PDO Mapping
Entry
0x7
rw
0x210E0140
0
1
1A0F
Transmit PDO
Mapping Parameter ampl_output 3
–
0
Number of entries
0x7
rw
1
0
1
1A0F
1
PDO Mapping
Entry
0x7
rw
0x210F0140
0
1
Transmit PDO
Mapping Parameter x_output 4
0x9
1A10
0
Number of entries
0x7
rw
1
0
1
1A10
1
PDO Mapping
Entry
0x7
rw
0x21100140
0
1
1A11
Transmit PDO
Mapping Parameter y_output 4
0
Number of entries
0x7
rw
1
0
1
1A11
1
PDO Mapping
Entry
0x7
rw
0x21110140
0
1
Transmit PDO
Mapping Parameter z_output 4
0x9
0
Number of entries
0x7
rw
1
0
1
1A12
1
PDO Mapping
Entry
0x7
rw
0x21120140
0
1
Transmit PDO
Mapping Parameter ampl_output 4
–
0
Number of entries
0x7
rw
1
0
1
1A13
1
PDO Mapping
Entry
0x7
rw
0x21130140
0
1
Transmit PDO
Mapping Parameter x_output 5
0x9
1A14
0
Number of entries
0x7
rw
1
0
1
1A14
1
PDO Mapping
Entry
0x7
rw
0x21140140
0
1
1A15
Transmit PDO
Mapping Parameter y_output 5
0
Number of entries
0x7
rw
1
0
1
1A15
1
PDO Mapping
Entry
0x7
rw
0x21150140
0
1
Transmit PDO
Mapping Parameter z_output 5
–
0x9
1A16
0
Number of entries
0x7
rw
1
0
1
1A16
1
PDO Mapping
Entry
0x7
rw
0x21160140
0
1
36
–
0x9
1A15
1A16
–
0x9
1A13
1A14
–
–
1A12
1A13
–
0x9
1A11
1A12
–
0x9
1A0F
1A10
Comment
High Limit
Low Limit
Default Value
Access Type
Object Type
Parameter
Name
Sub Index No.
Object Name
Object No.
O3M151 3D Smart Sensor Basic Function
–
1A17
Transmit PDO
Mapping Parameter ampl_output 5
0x9
UK
–
1A17
0
Number of entries
0x7
rw
1
0
1
1A17
1
PDO Mapping
Entry
0x7
rw
0x21170140
0
1
1A18
Transmit PDO
Mapping Parameter x_output 6
0x9
1A18
0
Number of entries
0x7
rw
1
0
1
1A18
1
PDO Mapping
Entry
0x7
rw
0x21180140
0
1
1A19
Transmit PDO
Mapping Parameter y_output 6
0
Number of entries
0x7
rw
1
0
1
1A19
1
PDO Mapping
Entry
0x7
rw
0x21190140
0
1
Transmit PDO
Mapping Parameter z_output 6
0
Number of entries
0x7
rw
1
0
1
1A1A
1
PDO Mapping
Entry
0x7
rw
0x211A0140
0
1
Transmit PDO
Mapping Parameter ampl_output 6
–
0
Number of entries
0x7
rw
1
0
1
1A1B
1
PDO Mapping
Entry
0x7
rw
0x211B0140
0
1
Transmit PDO
Mapping Parameter x_output 7
0x9
1A1C
0
Number of entries
0x7
rw
1
0
1
1A1C
1
PDO Mapping
Entry
0x7
rw
0x211C0140
0
1
1A1D
Transmit PDO
Mapping Parameter y_output 7
–
0x9
1A1D
0
Number of entries
0x7
rw
1
0
1
1A1D
1
PDO Mapping
Entry
0x7
rw
0x211D0140
0
1
1A1E
–
0x9
1A1B
1A1C
–
0x9
1A1A
1A1B
–
0x9
1A19
1A1A
Comment
High Limit
Low Limit
Default Value
Access Type
Object Type
Parameter
Name
Sub Index No.
Object Name
Object No.
O3M151 3D Smart Sensor Basic Function
Transmit PDO
Mapping Parameter z_output 7
–
0x9
1A1E
0
Number of entries
0x7
rw
1
0
1
1A1E
1
PDO Mapping
Entry
0x7
rw
0x211E0140
0
1
–
37
1A1F
Transmit PDO
Mapping Parameter ampl_output 7
0x9
–
1A1F
0
Number of entries
0x7
rw
1
0
1
1A1F
1
PDO Mapping
Entry
0x7
rw
0x211F0140
0
1
1A20
Transmit PDO
Mapping Parameter x_output 8
0x9
1A20
0
Number of entries
0x7
rw
1
0
1
1A20
1
PDO Mapping
Entry
0x7
rw
0x21200140
0
1
1A21
Transmit PDO
Mapping Parameter y_output 8
0
Number of entries
0x7
rw
1
0
1
1A21
1
PDO Mapping
Entry
0x7
rw
0x21210140
0
1
Transmit PDO
Mapping Parameter z_output 8
0
Number of entries
0x7
rw
1
0
1
1A22
1
PDO Mapping
Entry
0x7
rw
0x21220140
0
1
Transmit PDO
Mapping Parameter ampl_output 8
0x9
0
Number of entries
0x7
rw
1
0
1
1A23
1
PDO Mapping
Entry
0x7
rw
0x21230140
0
1
Transmit PDO
Mapping Parameter x_output 9
0
Number of entries
0x7
rw
1
0
1
1A24
1
PDO Mapping
Entry
0x7
rw
0x21240140
0
1
Transmit PDO
Mapping Parameter y_output 9
0
Number of entries
0x7
rw
1
0
1
1A25
1
PDO Mapping
Entry
0x7
rw
0x21250140
0
1
Transmit PDO
Mapping Parameter z_output 9
–
0x9
1A26
0
Number of entries
0x7
rw
1
0
1
1A26
1
PDO Mapping
Entry
0x7
rw
0x21260140
0
1
38
–
0x9
1A25
1A26
–
0x9
1A24
1A25
–
–
1A23
1A24
–
0x9
1A22
1A23
–
0x9
1A21
1A22
Comment
High Limit
Low Limit
Default Value
Access Type
Object Type
Parameter
Name
Sub Index No.
Object Name
Object No.
O3M151 3D Smart Sensor Basic Function
–
1A27
Transmit PDO
Mapping Parameter ampl_output 9
0x9
UK
–
1A27
0
Number of entries
0x7
rw
1
0
1
1A27
1
PDO Mapping
Entry
0x7
rw
0x21270140
0
1
1A28
Transmit PDO
Mapping Parameter x_output
10
0x9
–
1A28
0
Number of entries
0x7
rw
1
0
1
1A28
1
PDO Mapping
Entry
0x7
rw
0x21280140
0
1
1A29
Transmit PDO
Mapping Parameter y_output
10
0x9
–
1A29
0
Number of entries
0x7
rw
1
0
1
1A29
1
PDO Mapping
Entry
0x7
rw
0x21290140
0
1
1A2A
Transmit PDO
Mapping Parameter z_output
10
0x9
–
1A2A
0
Number of entries
0x7
rw
1
0
1
1A2A
1
PDO Mapping
Entry
0x7
rw
0x212A0140
0
1
1A2B
Transmit PDO
Mapping Parameter ampl_output 10
0x9
–
1A2B
0
Number of entries
0x7
rw
1
0
1
1A2B
1
PDO Mapping
Entry
0x7
rw
0x212B0140
0
1
1A2C
Transmit PDO
Mapping Parameter x_output
11
0x9
–
1A2C
0
Number of entries
0x7
rw
1
0
1
1A2C
1
PDO Mapping
Entry
0x7
rw
0x212C0140
0
1
1A2D
Transmit PDO
Mapping Parameter y_output
11
0x9
–
1A2D
0
Number of entries
0x7
rw
1
0
1
1A2D
1
PDO Mapping
Entry
0x7
rw
0x212D0140
0
1
1A2E
Comment
High Limit
Low Limit
Default Value
Access Type
Object Type
Parameter
Name
Sub Index No.
Object Name
Object No.
O3M151 3D Smart Sensor Basic Function
Transmit PDO
Mapping Parameter z_output
11
0x9
–
1A2E
0
Number of entries
0x7
rw
1
0
1
1A2E
1
PDO Mapping
Entry
0x7
rw
0x212E0140
0
1
39
1A2F
Transmit PDO
Mapping Parameter ampl_output 11
0x9
–
1A2F
0
Number of entries
0x7
rw
1
0
1
1A2F
1
PDO Mapping
Entry
0x7
rw
0x212F0140
0
1
1A30
Transmit PDO
Mapping Parameter x_output
12
0x9
–
1A30
0
Number of entries
0x7
rw
1
0
1
1A30
1
PDO Mapping
Entry
0x7
rw
0x21300140
0
1
1A31
Transmit PDO
Mapping Parameter y_output
12
0x9
–
1A31
0
Number of entries
0x7
rw
1
0
1
1A31
1
PDO Mapping
Entry
0x7
rw
0x21310140
0
1
1A32
Transmit PDO
Mapping Parameter z_output
12
0x9
–
1A32
0
Number of entries
0x7
rw
1
0
1
1A32
1
PDO Mapping
Entry
0x7
rw
0x21320140
0
1
1A33
Transmit PDO
Mapping Parameter ampl_output 12
0x9
–
1A33
0
Number of entries
0x7
rw
1
0
1
1A33
1
PDO Mapping
Entry
0x7
rw
0x21330140
0
1
1A34
Transmit PDO
Mapping Parameter x_output
13
0x9
–
1A34
0
Number of entries
0x7
rw
1
0
1
1A34
1
PDO Mapping
Entry
0x7
rw
0x21340140
0
1
1A35
Transmit PDO
Mapping Parameter y_output
13
0x9
–
1A35
0
Number of entries
0x7
rw
1
0
1
1A35
1
PDO Mapping
Entry
0x7
rw
0x21350140
0
1
1A36
Transmit PDO
Mapping Parameter z_output
13
0x9
–
1A36
0
Number of entries
0x7
rw
1
0
1
1A36
1
PDO Mapping
Entry
0x7
rw
0x21360140
0
1
40
Comment
High Limit
Low Limit
Default Value
Access Type
Object Type
Parameter
Name
Sub Index No.
Object Name
Object No.
O3M151 3D Smart Sensor Basic Function
1A37
Transmit PDO
Mapping Parameter ampl_output 13
0x9
UK
–
1A37
0
Number of entries
0x7
rw
1
0
1
1A37
1
PDO Mapping
Entry
0x7
rw
0x21370140
0
1
1A38
Transmit PDO
Mapping Parameter x_output
14
0x9
–
1A38
0
Number of entries
0x7
rw
1
0
1
1A38
1
PDO Mapping
Entry
0x7
rw
0x21380140
0
1
1A39
Transmit PDO
Mapping Parameter y_output
14
0x9
–
1A39
0
Number of entries
0x7
rw
1
0
1
1A39
1
PDO Mapping
Entry
0x7
rw
0x21390140
0
1
1A3A
Transmit PDO
Mapping Parameter z_output
14
0x9
–
1A3A
0
Number of entries
0x7
rw
1
0
1
1A3A
1
PDO Mapping
Entry
0x7
rw
0x213A0140
0
1
1A3B
Transmit PDO
Mapping Parameter ampl_output 14
0x9
–
1A3B
0
Number of entries
0x7
rw
1
0
1
1A3B
1
PDO Mapping
Entry
0x7
rw
0x213B0140
0
1
1A3C
Transmit PDO
Mapping Parameter x_output
15
0x9
–
1A3C
0
Number of entries
0x7
rw
1
0
1
1A3C
1
PDO Mapping
Entry
0x7
rw
0x213C0140
0
1
1A3D
Transmit PDO
Mapping Parameter y_output
15
0x9
–
1A3D
0
Number of entries
0x7
rw
1
0
1
1A3D
1
PDO Mapping
Entry
0x7
rw
0x213D0140
0
1
1A3E
Comment
High Limit
Low Limit
Default Value
Access Type
Object Type
Parameter
Name
Sub Index No.
Object Name
Object No.
O3M151 3D Smart Sensor Basic Function
Transmit PDO
Mapping Parameter z_output
15
0x9
–
1A3E
0
Number of entries
0x7
rw
1
0
1
1A3E
1
PDO Mapping
Entry
0x7
rw
0x213E0140
0
1
41
1A3F
Transmit PDO
Mapping Parameter ampl_output 15
0x9
–
1A3F
0
Number of entries
0x7
rw
1
0
1
1A3F
1
PDO Mapping
Entry
0x7
rw
0x213F0140
0
1
1A40
Transmit PDO
Mapping Parameter - Global_
Information
1A40
0x9
0
Number of entries
0x7
rw
4
0
8
1A40
1
PDO Mapping
Entry - GLOB_master_time
0x7
rw
0x22010120
0
8
1A40
2
PDO Mapping
Entry - GLOB_
Sensor_Available
0x7
rw
0x22010208
0
8
1A40
3
PDO Mapping
Entry - SwCtrl_OpMode
0x7
rw
0x22010308
0
8
1A40
4
PDO Mapping
Entry - Global_Information_cnt
0x7
rw
0x22010408
0
8
1A41
Transmit PDO
Mapping Parameter - SyncMsg
1A41
1A41
1A42
–
0x9
0
Number of entries
0x7
rw
1
0
8
1
PDO Mapping
Entry - KP_MasterTime_LastTxTimeStamp
0x7
rw
0x22010308
0
8
Transmit PDO
Mapping Parameter - BF Global Parameters
0x9
–
–
1A42
0
Number of entries
0x7
rw
4
0
8
1A42
1
PDO Mapping
Entry - Number of
groups
0x7
rw
0x22020108
0
8
1A42
2
PDO Mapping
Entry - Number of
ROIs
0x7
rw
0x22020208
0
8
1A42
3
PDO Mapping
Entry - OutputMode
0x7
rw
0x22020308
0
8
1A42
4
PDO Mapping
Entry - BF_Global_Parameters_cnt
0x7
rw
0x22020408
0
8
42
Comment
High Limit
Low Limit
Default Value
Access Type
Object Type
Parameter
Name
Sub Index No.
Object Name
Object No.
O3M151 3D Smart Sensor Basic Function
–
1A43
Transmit PDO
Mapping Parameter - ROI
Definition
0x9
UK
1A43
0
Number of entries
0x7
rw
8
0
8
1A43
1
PDO Mapping
Entry - ROI_cnt
0x7
rw
0x22030108
0
8
1A43
2
PDO Mapping
Entry - ROI_group
0x7
rw
0x22030208
0
8
1A43
3
PDO Mapping
Entry - ROI_lower_right_x
0x7
rw
0x22030308
0
8
1A43
4
PDO Mapping
Entry - ROI_lower_right_y
0x7
rw
0x22030408
0
8
1A43
5
PDO Mapping
Entry - ROI_
number
0x7
rw
0x22030508
0
8
1A43
6
PDO Mapping
Entry - ROI_value_type
0x7
rw
0x22030608
0
8
1A43
7
PDO Mapping
Entry - ROI_upper_left_x
0x7
rw
0x22030708
0
8
1A43
8
PDO Mapping
Entry - ROI_upper_left_y
0x7
rw
0x22030808
0
8
2100
0
NrOfObjects
0x7
ro
1
0
8
2100
1
x_output 0
0x7
ro
1
0
8
0
NrOfObjects
0x7
ro
1
0
8
1
y_output 0
0x7
ro
1
0
8
0x7
ro
1
0
8
0x7
ro
1
0
8
2100
2101
x_output 0
2101
2102
2102
2103
–
0x9
z_output 0
2102
–
0x9
y_output 0
2101
Comment
High Limit
Low Limit
Default Value
Access Type
Object Type
Parameter
Name
Sub Index No.
Object Name
Object No.
O3M151 3D Smart Sensor Basic Function
–
0x9
0
NrOfObjects
1
z_output 0
ampl_output 0
–
0x9
2103
0
NrOfObjects
0x7
ro
1
0
8
2103
1
ampl_output 0
0x7
ro
1
0
8
2104
0
NrOfObjects
0x7
ro
1
0
8
2104
1
x_output 1
0x7
ro
1
0
8
–
0
NrOfObjects
0x7
ro
1
0
8
–
1
y_output 1
0x7
ro
1
0
8
0x7
ro
1
0
8
0x7
ro
1
0
8
2104
2105
x_output 1
y_output 1
2105
2105
2106
2106
–
0x9
z_output 1
2106
2107
0x9
–
0x9
0
NrOfObjects
1
z_output 1
ampl_output 1
–
0x9
2107
0
NrOfObjects
0x7
ro
1
0
8
2107
1
ampl_output 1
0x7
ro
1
0
8
–
43
2108
x_output 2
0x9
2108
0
NrOfObjects
0x7
ro
1
0
8
2108
1
x_output 2
0x7
ro
1
0
8
0
NrOfObjects
0x7
ro
1
0
8
1
y_output 2
0x7
ro
1
0
8
2109
y_output 2
2109
2109
210A
z_output 2
0
NrOfObjects
0x7
ro
1
0
8
1
z_output 2
0x7
ro
1
0
8
ampl_output 2
0
NrOfObjects
0x7
ro
1
0
8
210B
1
ampl_output 2
0x7
ro
1
0
8
210C
0
NrOfObjects
0x7
ro
1
0
8
210C
1
x_output 3
0x7
ro
1
0
8
0
NrOfObjects
0x7
ro
1
0
8
1
y_output 3
0x7
ro
1
0
8
210D
x_output 3
210E
z_output 3
0
NrOfObjects
0x7
ro
1
0
8
1
z_output 3
0x7
ro
1
0
8
ampl_output 3
0
NrOfObjects
0x7
ro
1
0
8
210F
1
ampl_output 3
0x7
ro
1
0
8
2110
0
NrOfObjects
0x7
ro
1
0
8
2110
1
x_output 4
0x7
ro
1
0
8
0
NrOfObjects
0x7
ro
1
0
8
1
y_output 4
0x7
ro
1
0
8
2111
x_output 4
2112
–
0x9
z_output 4
–
0x9
2112
0
NrOfObjects
0x7
ro
1
0
8
2112
1
z_output 4
0x7
ro
1
0
8
2113
–
0x9
y_output 4
2111
–
0x9
210F
2111
–
0x9
210E
2110
–
0x9
210E
210F
–
0x9
y_output 3
210D
–
0x9
210B
210D
–
0x9
210A
210C
–
0x9
210A
210B
Comment
High Limit
Low Limit
Default Value
Access Type
Object Type
Parameter
Name
Sub Index No.
Object Name
Object No.
O3M151 3D Smart Sensor Basic Function
ampl_output 4
0x9
–
–
2113
0
NrOfObjects
0x7
ro
1
0
8
2113
1
ampl_output 4
0x7
ro
1
0
8
–
2114
0
NrOfObjects
0x7
ro
1
0
8
–
2114
1
x_output 5
0x7
ro
1
0
8
0
NrOfObjects
0x7
ro
1
0
8
1
y_output 5
0x7
ro
1
0
8
2114
2115
x_output 5
y_output 5
2115
2115
2116
0x9
0x9
z_output 5
0x9
2116
0
NrOfObjects
0x7
ro
1
0
8
2116
1
z_output 5
0x7
ro
1
0
8
44
–
–
2117
ampl_output 5
0x9
2117
0
NrOfObjects
0x7
ro
1
0
8
2117
1
ampl_output 5
0x7
ro
1
0
8
0
NrOfObjects
0x7
ro
1
0
8
1
x_output 6
0x7
ro
1
0
8
2118
x_output 6
2118
2118
2119
y_output 6
0
NrOfObjects
0x7
ro
1
0
8
1
y_output 6
0x7
ro
1
0
8
z_output 6
0
NrOfObjects
0x7
ro
1
0
8
211A
1
z_output 6
0x7
ro
1
0
8
211B
0
NrOfObjects
0x7
ro
1
0
8
211B
1
ampl_output 6
0x7
ro
1
0
8
0
NrOfObjects
0x7
ro
1
0
8
1
x_output 7
0x7
ro
1
0
8
ampl_output 6
211C
211D
y_output 7
0
NrOfObjects
0x7
ro
1
0
8
1
y_output 7
0x7
ro
1
0
8
z_output 7
0
NrOfObjects
0x7
ro
1
0
8
211E
1
z_output 7
0x7
ro
1
0
8
211F
0
NrOfObjects
0x7
ro
1
0
8
211F
1
ampl_output 7
0x7
ro
1
0
8
0
NrOfObjects
0x7
ro
1
0
8
1
x_output 8
0x7
ro
1
0
8
ampl_output 7
2120
2121
–
–
0x9
y_output 8
–
0x9
2121
0
NrOfObjects
0x7
ro
1
0
8
2121
1
y_output 8
0x7
ro
1
0
8
2122
–
0x9
x_output 8
2120
–
0x9
211E
2120
–
0x9
211D
211F
–
0x9
211D
211E
–
0x9
x_output 7
211C
–
0x9
211A
211C
z_output 8
0x9
–
–
2122
0
NrOfObjects
0x7
ro
1
0
8
2122
1
z_output 8
0x7
ro
1
0
8
–
2123
0
NrOfObjects
0x7
ro
1
0
8
–
2123
1
ampl_output 8
0x7
ro
1
0
8
0
NrOfObjects
0x7
ro
1
0
8
1
x_output 9
0x7
ro
1
0
8
2123
2124
ampl_output 8
2124
2125
0x9
x_output 9
2124
UK
0x9
2119
211B
–
0x9
2119
211A
Comment
High Limit
Low Limit
Default Value
Access Type
Object Type
Parameter
Name
Sub Index No.
Object Name
Object No.
O3M151 3D Smart Sensor Basic Function
0x9
y_output 9
–
0x9
2125
0
NrOfObjects
0x7
ro
1
0
8
2125
1
y_output 9
0x7
ro
1
0
8
–
45
2126
z_output 9
0x9
2126
0
NrOfObjects
0x7
ro
1
0
8
2126
1
z_output 9
0x7
ro
1
0
8
0
NrOfObjects
0x7
ro
1
0
8
1
ampl_output 9
0x7
ro
1
0
8
2127
ampl_output 9
2127
2127
2128
x_output 10
0
NrOfObjects
0x7
ro
1
0
8
1
x_output 10
0x7
ro
1
0
8
y_output 10
0
NrOfObjects
0x7
ro
1
0
8
2129
1
y_output 10
0x7
ro
1
0
8
212A
0
NrOfObjects
0x7
ro
1
0
8
212A
1
z_output 10
0x7
ro
1
0
8
0
NrOfObjects
0x7
ro
1
0
8
1
ampl_output 10
0x7
ro
1
0
8
212B
z_output 10
212C
x_output 11
0
NrOfObjects
0x7
ro
1
0
8
1
x_output 11
0x7
ro
1
0
8
y_output 11
0
NrOfObjects
0x7
ro
1
0
8
212D
1
y_output 11
0x7
ro
1
0
8
212E
0
NrOfObjects
0x7
ro
1
0
8
212E
1
z_output 11
0x7
ro
1
0
8
0
NrOfObjects
0x7
ro
1
0
8
1
ampl_output 11
0x7
ro
1
0
8
212F
z_output 11
2130
–
0x9
x_output 12
–
0x9
2130
0
NrOfObjects
0x7
ro
1
0
8
2130
1
x_output 12
0x7
ro
1
0
8
2131
–
0x9
ampl_output 11
212F
–
0x9
212D
212F
–
0x9
212C
212E
–
0x9
212C
212D
–
0x9
ampl_output 10
212B
–
0x9
2129
212B
–
0x9
2128
212A
–
0x9
2128
2129
Comment
High Limit
Low Limit
Default Value
Access Type
Object Type
Parameter
Name
Sub Index No.
Object Name
Object No.
O3M151 3D Smart Sensor Basic Function
y_output 12
0x9
–
–
2131
0
NrOfObjects
0x7
ro
1
0
8
2131
1
y_output 12
0x7
ro
1
0
8
–
2132
0
NrOfObjects
0x7
ro
1
0
8
–
2132
1
z_output 12
0x7
ro
1
0
8
0
NrOfObjects
0x7
ro
1
0
8
1
ampl_output 12
0x7
ro
1
0
8
2132
2133
z_output 12
ampl_output 12
2133
2133
2134
0x9
0x9
x_output 13
0x9
2134
0
NrOfObjects
0x7
ro
1
0
8
2134
1
x_output 13
0x7
ro
1
0
8
46
–
–
2135
y_output 13
0x9
2135
0
NrOfObjects
0x7
ro
1
0
8
2135
1
y_output 13
0x7
ro
1
0
8
0
NrOfObjects
0x7
ro
1
0
8
1
z_output 13
0x7
ro
1
0
8
2136
z_output 13
2136
2136
2137
ampl_output 13
0
NrOfObjects
0x7
ro
1
0
8
1
ampl_output 13
0x7
ro
1
0
8
x_output 14
0
NrOfObjects
0x7
ro
1
0
8
2138
1
x_output 14
0x7
ro
1
0
8
2139
0
NrOfObjects
0x7
ro
1
0
8
2139
1
y_output 14
0x7
ro
1
0
8
0
NrOfObjects
0x7
ro
1
0
8
1
z_output 14
0x7
ro
1
0
8
y_output 14
213A
213B
ampl_output 14
0
NrOfObjects
0x7
ro
1
0
8
1
ampl_output 14
0x7
ro
1
0
8
x_output 15
0
NrOfObjects
0x7
ro
1
0
8
213C
1
x_output 15
0x7
ro
1
0
8
213D
0
NrOfObjects
0x7
ro
1
0
8
213D
1
y_output 15
0x7
ro
1
0
8
0
NrOfObjects
0x7
ro
1
0
8
1
z_output 15
0x7
ro
1
0
8
y_output 15
213E
213F
ampl_output 15
–
–
0x9
0
NrOfObjects
0x7
ro
1
0
8
213F
1
ampl_output 15
0x7
ro
1
0
8
2201
–
0x9
213F
2201
–
0x9
z_output 15
213E
–
0x9
213C
213E
–
0x9
213B
213D
–
0x9
213B
213C
–
0x9
z_output 14
213A
–
0x9
2138
213A
UK
0x9
2137
2139
–
0x9
2137
2138
Comment
High Limit
Low Limit
Default Value
Access Type
Object Type
Parameter
Name
Sub Index No.
Object Name
Object No.
O3M151 3D Smart Sensor Basic Function
Global_Information
0x9
–
–
0
NrOfObjects
0x7
ro
4
0
8
2201
1
GLOB_master_time
0x7
ro
4
0
8
2201
2
GLOB_sensor_
available
0x7
ro
4
0
8
2201
3
SwCtrl_OpMode
0x7
ro
4
0
65
2201
4
Global_Information_cnt
0x7
ro
4
0
3
–
47
BF Global Parameters
0x9
2202
0
NrOfObjects
0x7
ro
4
0
3
2202
1
Number of groups
0x7
ro
4
0
3
2202
2
Number of ROIs
0x7
ro
4
0
3
2202
3
OutputMode
0x7
ro
4
0
3
2202
4
BF_Global_Parameters_cnt
0x7
ro
4
0
3
2203
0
NrOfObjects
0x7
ro
8
0
3
2203
1
ROI_Definition_cnt
0x7
ro
8
0
3
2203
2
ROI_group
0x7
ro
8
0
3
2203
3
ROI_lower_right_x
0x7
ro
8
0
3
2203
4
ROI_lower_right_y
0x7
ro
8
0
3
2203
5
ROI_number
0x7
ro
8
0
3
2203
6
ROI_value_type
0x7
ro
8
0
3
2203
7
ROI_upper_left_x
0x7
ro
8
0
3
2203
8
ROI_upper_left_y
0x7
ro
8
0
3
0
NrOfObjects
0x7
ro
1
0
3
1
MasterTime_LastTxTimeStamp
0x7
ro
1
0
3
2203
2210
Comment
High Limit
Low Limit
Default Value
Access Type
Object Type
Parameter
Name
Object Name
Object No.
2202
Sub Index No.
O3M151 3D Smart Sensor Basic Function
ROI Definition
–
0x9
SyncMsg
–
0x9
2210
2210
–
1
0
0
3
n/a
<none>
–
ampl_output_1
BF_ampl_output_0
0
15
Unsigned
2
0
0
65534
–
VtSig_ampl_output_1
–
ampl_output_2
BF_ampl_output_0
15
15
Unsigned
2
0
0
65534
–
VtSig_ampl_output_2
–
ampl_output_3
BF_ampl_output_0
32
15
Unsigned
2
0
0
65534
–
VtSig_ampl_output_3
–
ampl_output_4
BF_ampl_output_0
47
15
Unsigned
2
0
0
65534
–
VtSig_ampl_output_4
–
ampl_1_cnt
BF_ampl_output_1
62
2
Unsigned
1
0
0
3
n/a
<none>
–
ampl_output_5
BF_ampl_output_1
0
15
Unsigned
2
0
0
65534
–
VtSig_ampl_output_5
–
ampl_output_6
BF_ampl_output_1
15
15
Unsigned
2
0
0
65534
–
VtSig_ampl_output_6
–
ampl_output_7
BF_ampl_output_1
32
15
Unsigned
2
0
0
65534
–
VtSig_ampl_output_7
–
ampl_output_8
BF_ampl_output_1
47
15
Unsigned
2
0
0
65534
–
VtSig_ampl_output_8
–
ampl_10_cnt
BF_ampl_output_10
62
2
Unsigned
1
0
0
3
n/a
<none>
–
ampl_output_41
BF_ampl_output_10
0
15
Unsigned
2
0
0
65534
–
VtSig_ampl_output_41
–
ampl_output_42
BF_ampl_output_10
15
15
Unsigned
2
0
0
65534
–
VtSig_ampl_output_42
–
ampl_output_43
BF_ampl_output_10
32
15
Unsigned
2
0
0
65534
–
VtSig_ampl_output_43
–
ampl_output_44
BF_ampl_output_10
47
15
Unsigned
2
0
0
65534
–
VtSig_ampl_output_44
–
ampl_11_cnt
BF_ampl_output_11
62
2
Unsigned
1
0
0
3
n/a
<none>
–
ampl_output_45
BF_ampl_output_11
0
15
Unsigned
2
0
0
65534
–
VtSig_ampl_output_45
–
48
Unit
Minimum
Offset
Factor
Comment
Unsigned
Value table
2
Maximum
62
Value type
Length [bit]
BF_ampl_output_0
Message
ampl_0_cnt
Name
Start bit
7.2 SAE J1939
Value type
Value table
Comment
15
15
Unsigned
2
0
0
65534
–
VtSig_ampl_output_46
–
ampl_output_47
BF_ampl_output_11
32
15
Unsigned
2
0
0
65534
–
VtSig_ampl_output_47
–
ampl_output_48
BF_ampl_output_11
47
15
Unsigned
2
0
0
65534
–
VtSig_ampl_output_48
–
ampl_12_cnt
BF_ampl_output_12
62
2
Unsigned
1
0
0
3
n/a
<none>
–
ampl_output_49
BF_ampl_output_12
0
15
Unsigned
2
0
0
65534
–
VtSig_ampl_output_49
–
ampl_output_50
BF_ampl_output_12
15
15
Unsigned
2
0
0
65534
–
VtSig_ampl_output_50
–
ampl_output_51
BF_ampl_output_12
32
15
Unsigned
2
0
0
65534
–
VtSig_ampl_output_51
–
ampl_output_52
BF_ampl_output_12
47
15
Unsigned
2
0
0
65534
–
VtSig_ampl_output_52
–
ampl_12_cnt
BF_ampl_output_13
62
2
Unsigned
1
0
0
3
n/a
<none>
–
ampl_output_49
BF_ampl_output_13
0
15
Unsigned
2
0
0
65534
–
VtSig_ampl_output_53
–
ampl_output_50
BF_ampl_output_13
15
15
Unsigned
2
0
0
65534
–
VtSig_ampl_output_54
–
ampl_output_51
BF_ampl_output_13
32
15
Unsigned
2
0
0
65534
–
VtSig_ampl_output_55
–
ampl_output_52
BF_ampl_output_13
47
15
Unsigned
2
0
0
65534
–
VtSig_ampl_output_56
–
ampl_14_cnt
BF_ampl_output_14
62
2
Unsigned
1
0
0
3
n/a
<none>
–
ampl_output_57
BF_ampl_output_14
0
15
Unsigned
2
0
0
65534
–
VtSig_ampl_output_57
–
ampl_output_58
BF_ampl_output_14
15
15
Unsigned
2
0
0
65534
–
VtSig_ampl_output_58
–
ampl_output_59
BF_ampl_output_14
32
15
Unsigned
2
0
0
65534
–
VtSig_ampl_output_59
–
ampl_output_60
BF_ampl_output_14
47
15
Unsigned
2
0
0
65534
–
VtSig_ampl_output_60
–
Unit
Offset
Minimum
Maximum
Length [bit]
BF_ampl_output_11
Factor
Start bit
ampl_output_46
Name
Message
O3M151 3D Smart Sensor Basic Function
ampl_15_cnt
BF_ampl_output_15
62
2
Unsigned
1
0
0
3
n/a
<none>
–
ampl_output_61
BF_ampl_output_15
0
15
Unsigned
2
0
0
65534
–
VtSig_ampl_output_61
–
ampl_output_62
BF_ampl_output_15
15
15
Unsigned
2
0
0
65534
–
VtSig_ampl_output_62
–
ampl_output_63
BF_ampl_output_15
32
15
Unsigned
2
0
0
65534
–
VtSig_ampl_output_63
–
ampl_output_64
BF_ampl_output_15
47
15
Unsigned
2
0
0
65534
–
VtSig_ampl_output_64
–
ampl_2_cnt
BF_ampl_output_2
62
2
Unsigned
1
0
0
3
n/a
<none>
–
ampl_output_10
BF_ampl_output_2
15
15
Unsigned
2
0
0
65534
–
VtSig_ampl_output_10
–
ampl_output_11
BF_ampl_output_2
32
15
Unsigned
2
0
0
65534
–
VtSig_ampl_output_11
–
ampl_output_12
BF_ampl_output_2
47
15
Unsigned
2
0
0
65534
–
VtSig_ampl_output_12
–
ampl_output_9
BF_ampl_output_2
0
15
Unsigned
2
0
0
65534
–
VtSig_ampl_output_9
–
ampl_3_cnt
BF_ampl_output_3
62
2
Unsigned
1
0
0
3
n/a
<none>
–
ampl_output_13
BF_ampl_output_3
0
15
Unsigned
2
0
0
65534
–
VtSig_ampl_output_13
–
ampl_output_14
BF_ampl_output_3
15
15
Unsigned
2
0
0
65534
–
VtSig_ampl_output_14
–
ampl_output_15
BF_ampl_output_3
32
15
Unsigned
2
0
0
65534
–
VtSig_ampl_output_15
–
ampl_output_16
BF_ampl_output_3
47
15
Unsigned
2
0
0
65534
–
VtSig_ampl_output_16
–
ampl_4_cnt
BF_ampl_output_4
62
2
Unsigned
1
0
0
3
n/a
<none>
–
ampl_output_17
BF_ampl_output_4
0
15
Unsigned
2
0
0
65534
–
VtSig_ampl_output_17
–
ampl_output_18
BF_ampl_output_4
15
15
Unsigned
2
0
0
65534
–
VtSig_ampl_output_18
–
ampl_output_19
BF_ampl_output_4
32
15
Unsigned
2
0
0
65534
–
VtSig_ampl_output_19
–
ampl_output_20
BF_ampl_output_4
47
15
Unsigned
2
0
0
65534
–
VtSig_ampl_output_20
–
ampl_5_cnt
BF_ampl_output_5
62
2
Unsigned
1
0
0
3
n/a
<none>
–
ampl_output_21
BF_ampl_output_5
0
15
Unsigned
2
0
0
65534
–
VtSig_ampl_output_21
–
ampl_output_22
BF_ampl_output_5
15
15
Unsigned
2
0
0
65534
–
VtSig_ampl_output_22
–
ampl_output_23
BF_ampl_output_5
32
15
Unsigned
2
0
0
65534
–
VtSig_ampl_output_23
–
ampl_output_24
BF_ampl_output_5
47
15
Unsigned
2
0
0
65534
–
VtSig_ampl_output_24
–
ampl_6_cnt
BF_ampl_output_6
62
2
Unsigned
1
0
0
3
n/a
<none>
–
ampl_output_25
BF_ampl_output_6
0
15
Unsigned
2
0
0
65534
–
VtSig_ampl_output_25
–
ampl_output_26
BF_ampl_output_6
15
15
Unsigned
2
0
0
65534
–
VtSig_ampl_output_26
–
UK
49
Value table
Comment
15
Unsigned
2
0
0
65534
–
VtSig_ampl_output_27
–
ampl_output_28
BF_ampl_output_6
47
15
Unsigned
2
0
0
65534
–
VtSig_ampl_output_28
–
Unit
Offset
Minimum
Maximum
Value type
32
Factor
Length [bit]
BF_ampl_output_6
Message
ampl_output_27
Name
Start bit
O3M151 3D Smart Sensor Basic Function
ampl_7_cnt
BF_ampl_output_7
62
2
Unsigned
1
0
0
3
n/a
<none>
–
ampl_output_29
BF_ampl_output_7
0
15
Unsigned
2
0
0
65534
–
VtSig_ampl_output_29
–
ampl_output_30
BF_ampl_output_7
15
15
Unsigned
2
0
0
65534
–
VtSig_ampl_output_30
–
ampl_output_31
BF_ampl_output_7
32
15
Unsigned
2
0
0
65534
–
VtSig_ampl_output_31
–
ampl_output_32
BF_ampl_output_7
47
15
Unsigned
2
0
0
65534
–
VtSig_ampl_output_32
–
ampl_8_cnt
BF_ampl_output_8
62
2
Unsigned
1
0
0
3
n/a
<none>
–
ampl_output_33
BF_ampl_output_8
0
15
Unsigned
2
0
0
65534
–
VtSig_ampl_output_33
–
ampl_output_34
BF_ampl_output_8
15
15
Unsigned
2
0
0
65534
–
VtSig_ampl_output_34
–
ampl_output_35
BF_ampl_output_8
32
15
Unsigned
2
0
0
65534
–
VtSig_ampl_output_35
–
ampl_output_36
BF_ampl_output_8
47
15
Unsigned
2
0
0
65534
–
VtSig_ampl_output_36
–
ampl_9_cnt
BF_ampl_output_9
62
2
Unsigned
1
0
0
3
n/a
<none>
–
ampl_output_37
BF_ampl_output_9
0
15
Unsigned
2
0
0
65534
–
VtSig_ampl_output_37
–
ampl_output_38
BF_ampl_output_9
15
15
Unsigned
2
0
0
65534
–
VtSig_ampl_output_38
–
ampl_output_39
BF_ampl_output_9
32
15
Unsigned
2
0
0
65534
–
VtSig_ampl_output_39
–
ampl_output_40
BF_ampl_output_9
47
15
Unsigned
2
0
0
65534
–
VtSig_ampl_output_40
–
BF_Global_Parameters_cnt
BF_Global_Parameters
22
2
Unsigned
1
0
0
3
–
<none>
BF_Global_Parameters message
counter
Number_of_
groups
BF_Global_Parameters
0
7
Unsigned
1
0
0
64
–
VtSig_Number_of_
groups
Number of defined groups
Number_of_rois
BF_Global_Parameters
8
7
Unsigned
1
0
0
64
–
VtSig_Number_of_rois
Number of defined ROIs
outputMode
BF_Global_Parameters
16
3
Unsigned
1
0
0
5
–
VtSig_outputMode
The output configuration
x_0_cnt
BF_x_output_0
62
2
Unsigned
1
0
0
3
n/a
<none>
–
x_output_1
BF_x_output_0
0
15
Unsigned
0.01
-100
-100
100
m
VtSig_x_output_1
–
x_output_2
BF_x_output_0
15
15
Unsigned
0.01
-100
-100
100
m
VtSig_x_output_2
–
x_output_3
BF_x_output_0
32
15
Unsigned
0.01
-100
-100
100
m
VtSig_x_output_3
–
x_output_4
BF_x_output_0
47
15
Unsigned
0.01
-100
-100
100
m
VtSig_x_output_4
–
x_1_cnt
BF_x_output_1
62
2
Unsigned
1
0
0
3
n/a
<none>
–
x_output_5
BF_x_output_1
0
15
Unsigned
0.01
-100
-100
100
m
VtSig_x_output_5
–
x_output_6
BF_x_output_1
15
15
Unsigned
0.01
-100
-100
100
m
VtSig_x_output_6
–
x_output_7
BF_x_output_1
32
15
Unsigned
0.01
-100
-100
100
m
VtSig_x_output_7
–
x_output_8
BF_x_output_1
47
15
Unsigned
0.01
-100
-100
100
m
VtSig_x_output_8
–
x_10_cnt
BF_x_output_10
62
2
Unsigned
1
0
0
3
n/a
<none>
–
x_output_41
BF_x_output_10
0
15
Unsigned
0.01
-100
-100
100
m
VtSig_x_output_41
–
x_output_42
BF_x_output_10
15
15
Unsigned
0.01
-100
-100
100
m
VtSig_x_output_42
–
x_output_43
BF_x_output_10
32
15
Unsigned
0.01
-100
-100
100
m
VtSig_x_output_43
–
x_output_44
BF_x_output_10
47
15
Unsigned
0.01
-100
-100
100
m
VtSig_x_output_44
–
x_11_cnt
BF_x_output_11
62
2
Unsigned
1
0
0
3
n/a
<none>
–
x_output_45
BF_x_output_11
0
15
Unsigned
0.01
-100
-100
100
m
VtSig_x_output_45
–
x_output_46
BF_x_output_11
15
15
Unsigned
0.01
-100
-100
100
m
VtSig_x_output_46
–
x_output_47
BF_x_output_11
32
15
Unsigned
0.01
-100
-100
100
m
VtSig_x_output_47
–
x_output_48
BF_x_output_11
47
15
Unsigned
0.01
-100
-100
100
m
VtSig_x_output_48
–
x_12_cnt
BF_x_output_12
62
2
Unsigned
1
0
0
3
n/a
<none>
–
50
Offset
Minimum
Unsigned
0.01
-100
-100
100
m
VtSig_x_output_49
–
x_output_50
BF_x_output_12
15
15
Unsigned
0.01
-100
-100
100
m
VtSig_x_output_50
–
x_output_51
BF_x_output_12
32
15
Unsigned
0.01
-100
-100
100
m
VtSig_x_output_51
–
x_output_52
BF_x_output_12
47
15
Unsigned
0.01
-100
-100
100
m
VtSig_x_output_52
–
Unit
Comment
Factor
15
Value table
Value type
0
Maximum
Length [bit]
BF_x_output_12
Message
x_output_49
Name
Start bit
O3M151 3D Smart Sensor Basic Function
x_13_cnt
BF_x_output_13
62
2
Unsigned
1
0
0
3
n/a
<none>
–
x_output_53
BF_x_output_13
0
15
Unsigned
0.01
-100
-100
100
m
VtSig_x_output_53
–
x_output_54
BF_x_output_13
15
15
Unsigned
0.01
-100
-100
100
m
VtSig_x_output_54
–
x_output_55
BF_x_output_13
32
15
Unsigned
0.01
-100
-100
100
m
VtSig_x_output_55
–
x_output_56
BF_x_output_13
47
15
Unsigned
0.01
-100
-100
100
m
VtSig_x_output_56
–
x_14_cnt
BF_x_output_14
62
2
Unsigned
1
0
0
3
n/a
<none>
–
x_output_57
BF_x_output_14
0
15
Unsigned
0.01
-100
-100
100
m
VtSig_x_output_57
–
x_output_58
BF_x_output_14
15
15
Unsigned
0.01
-100
-100
100
m
VtSig_x_output_58
–
x_output_59
BF_x_output_14
32
15
Unsigned
0.01
-100
-100
100
m
VtSig_x_output_59
–
x_output_60
BF_x_output_14
47
15
Unsigned
0.01
-100
-100
100
m
VtSig_x_output_60
–
x_15_cnt
BF_x_output_15
62
2
Unsigned
1
0
0
3
n/a
<none>
–
x_output_61
BF_x_output_15
0
15
Unsigned
0.01
-100
-100
100
m
VtSig_x_output_61
–
x_output_62
BF_x_output_15
15
15
Unsigned
0.01
-100
-100
100
m
VtSig_x_output_62
–
x_output_63
BF_x_output_15
32
15
Unsigned
0.01
-100
-100
100
m
VtSig_x_output_63
–
x_output_64
BF_x_output_15
47
15
Unsigned
0.01
-100
-100
100
m
VtSig_x_output_64
–
x_2_cnt
BF_x_output_2
62
2
Unsigned
1
0
0
3
n/a
<none>
–
x_output_10
BF_x_output_2
15
15
Unsigned
0.01
-100
-100
100
m
VtSig_x_output_10
–
x_output_11
BF_x_output_2
32
15
Unsigned
0.01
-100
-100
100
m
VtSig_x_output_11
–
x_output_12
BF_x_output_2
47
15
Unsigned
0.01
-100
-100
100
m
VtSig_x_output_12
–
x_output_9
BF_x_output_2
0
15
Unsigned
0.01
-100
-100
100
m
VtSig_x_output_9
–
x_3_cnt
BF_x_output_3
62
2
Unsigned
1
0
0
3
n/a
<none>
–
x_output_13
BF_x_output_3
0
15
Unsigned
0.01
-100
-100
100
m
VtSig_x_output_13
–
x_output_14
BF_x_output_3
15
15
Unsigned
0.01
-100
-100
100
m
VtSig_x_output_14
–
x_output_15
BF_x_output_3
32
15
Unsigned
0.01
-100
-100
100
m
VtSig_x_output_15
–
x_output_16
BF_x_output_3
47
15
Unsigned
0.01
-100
-100
100
m
VtSig_x_output_16
–
x_4_cnt
BF_x_output_4
62
2
Unsigned
1
0
0
3
n/a
<none>
–
x_output_17
BF_x_output_4
0
15
Unsigned
0.01
-100
-100
100
m
VtSig_x_output_17
–
x_output_18
BF_x_output_4
15
15
Unsigned
0.01
-100
-100
100
m
VtSig_x_output_18
–
x_output_19
BF_x_output_4
32
15
Unsigned
0.01
-100
-100
100
m
VtSig_x_output_19
–
x_output_20
BF_x_output_4
47
15
Unsigned
0.01
-100
-100
100
m
VtSig_x_output_20
–
x_5_cnt
BF_x_output_5
62
2
Unsigned
1
0
0
3
n/a
<none>
–
x_output_21
BF_x_output_5
0
15
Unsigned
0.01
-100
-100
100
m
VtSig_x_output_21
–
x_output_22
BF_x_output_5
15
15
Unsigned
0.01
-100
-100
100
m
VtSig_x_output_22
–
x_output_23
BF_x_output_5
32
15
Unsigned
0.01
-100
-100
100
m
VtSig_x_output_23
–
x_output_24
BF_x_output_5
47
15
Unsigned
0.01
-100
-100
100
m
VtSig_x_output_24
–
x_6_cnt
BF_x_output_6
62
2
Unsigned
1
0
0
3
n/a
<none>
–
x_output_25
BF_x_output_6
0
15
Unsigned
0.01
-100
-100
100
m
VtSig_x_output_25
–
x_output_26
BF_x_output_6
15
15
Unsigned
0.01
-100
-100
100
m
VtSig_x_output_26
–
x_output_27
BF_x_output_6
32
15
Unsigned
0.01
-100
-100
100
m
VtSig_x_output_27
–
x_output_28
BF_x_output_6
47
15
Unsigned
0.01
-100
-100
100
m
VtSig_x_output_28
–
x_7_cnt
BF_x_output_7
62
2
Unsigned
1
0
0
3
n/a
<none>
–
x_output_29
BF_x_output_7
0
15
Unsigned
0.01
-100
-100
100
m
VtSig_x_output_29
–
UK
51
Offset
Minimum
Unsigned
0.01
-100
-100
100
m
VtSig_x_output_30
–
x_output_31
BF_x_output_7
32
15
Unsigned
0.01
-100
-100
100
m
VtSig_x_output_31
–
x_output_32
BF_x_output_7
47
15
Unsigned
0.01
-100
-100
100
m
VtSig_x_output_32
–
x_8_cnt
BF_x_output_8
62
2
Unsigned
1
0
0
3
n/a
<none>
–
x_output_33
BF_x_output_8
0
15
Unsigned
0.01
-100
-100
100
m
VtSig_x_output_33
–
x_output_34
BF_x_output_8
15
15
Unsigned
0.01
-100
-100
100
m
VtSig_x_output_34
–
x_output_35
BF_x_output_8
32
15
Unsigned
0.01
-100
-100
100
m
VtSig_x_output_35
–
x_output_36
BF_x_output_8
47
15
Unsigned
0.01
-100
-100
100
m
VtSig_x_output_36
–
x_9_cnt
BF_x_output_9
62
2
Unsigned
1
0
0
3
n/a
<none>
–
x_output_37
BF_x_output_9
0
15
Unsigned
0.01
-100
-100
100
m
VtSig_x_output_37
–
x_output_38
BF_x_output_9
15
15
Unsigned
0.01
-100
-100
100
m
VtSig_x_output_38
–
x_output_39
BF_x_output_9
32
15
Unsigned
0.01
-100
-100
100
m
VtSig_x_output_39
–
x_output_40
BF_x_output_9
47
15
Unsigned
0.01
-100
-100
100
m
VtSig_x_output_40
–
y_0_cnt
BF_y_output_0
62
2
Unsigned
1
0
0
3
n/a
<none>
–
y_output_1
BF_y_output_0
0
15
Unsigned
0.01
-100
-100
100
m
VtSig_y_output_1
–
y_output_2
BF_y_output_0
15
15
Unsigned
0.01
-100
-100
100
m
VtSig_y_output_2
–
y_output_3
BF_y_output_0
32
15
Unsigned
0.01
-100
-100
100
m
VtSig_y_output_3
–
y_output_4
BF_y_output_0
47
15
Unsigned
0.01
-100
-100
100
m
VtSig_y_output_4
–
Unit
Comment
Factor
15
Value table
Value type
15
Maximum
Length [bit]
BF_x_output_7
Message
x_output_30
Name
Start bit
O3M151 3D Smart Sensor Basic Function
y_1_cnt
BF_y_output_1
62
2
Unsigned
1
0
0
3
n/a
<none>
–
y_output_5
BF_y_output_1
0
15
Unsigned
0.01
-100
-100
100
m
VtSig_y_output_5
–
y_output_6
BF_y_output_1
15
15
Unsigned
0.01
-100
-100
100
m
VtSig_y_output_6
–
y_output_7
BF_y_output_1
32
15
Unsigned
0.01
-100
-100
100
m
VtSig_y_output_7
–
y_output_8
BF_y_output_1
47
15
Unsigned
0.01
-100
-100
100
m
VtSig_y_output_8
–
y_10_cnt
BF_y_output_10
62
2
Unsigned
1
0
0
3
n/a
<none>
–
y_output_41
BF_y_output_10
0
15
Unsigned
0.01
-100
-100
100
m
VtSig_y_output_41
–
y_output_42
BF_y_output_10
15
15
Unsigned
0.01
-100
-100
100
m
VtSig_y_output_42
–
y_output_43
BF_y_output_10
32
15
Unsigned
0.01
-100
-100
100
m
VtSig_y_output_43
–
y_output_44
BF_y_output_10
47
15
Unsigned
0.01
-100
-100
100
m
VtSig_y_output_44
–
y_11_cnt
BF_y_output_11
62
2
Unsigned
1
0
0
3
n/a
<none>
–
y_output_45
BF_y_output_11
0
15
Unsigned
0.01
-100
-100
100
m
VtSig_y_output_45
–
y_output_46
BF_y_output_11
15
15
Unsigned
0.01
-100
-100
100
m
VtSig_y_output_46
–
y_output_47
BF_y_output_11
32
15
Unsigned
0.01
-100
-100
100
m
VtSig_y_output_47
–
y_output_48
BF_y_output_11
47
15
Unsigned
0.01
-100
-100
100
m
VtSig_y_output_48
–
y_12_cnt
BF_y_output_12
62
2
Unsigned
1
0
0
3
n/a
<none>
–
y_output_49
BF_y_output_12
0
15
Unsigned
0.01
-100
-100
100
m
VtSig_y_output_49
–
y_output_50
BF_y_output_12
15
15
Unsigned
0.01
-100
-100
100
m
VtSig_y_output_50
–
y_output_51
BF_y_output_12
32
15
Unsigned
0.01
-100
-100
100
m
VtSig_y_output_51
–
y_output_52
BF_y_output_12
47
15
Unsigned
0.01
-100
-100
100
m
VtSig_y_output_52
–
y_13_cnt
BF_y_output_13
62
2
Unsigned
1
0
0
3
n/a
<none>
–
y_output_53
BF_y_output_13
0
15
Unsigned
0.01
-100
-100
100
m
VtSig_y_output_53
–
y_output_54
BF_y_output_13
15
15
Unsigned
0.01
-100
-100
100
m
VtSig_y_output_54
–
y_output_55
BF_y_output_13
32
15
Unsigned
0.01
-100
-100
100
m
VtSig_y_output_55
–
y_output_56
BF_y_output_13
47
15
Unsigned
0.01
-100
-100
100
m
VtSig_y_output_56
–
y_14_cnt
BF_y_output_14
62
2
Unsigned
1
0
0
3
n/a
<none>
–
y_output_57
BF_y_output_14
0
15
Unsigned
0.01
-100
-100
100
m
VtSig_y_output_57
–
y_output_58
BF_y_output_14
15
15
Unsigned
0.01
-100
-100
100
m
VtSig_y_output_58
–
52
Offset
Minimum
Unsigned
0.01
-100
-100
100
m
VtSig_y_output_59
–
y_output_60
BF_y_output_14
47
15
Unsigned
0.01
-100
-100
100
m
VtSig_y_output_60
–
y_15_cnt
BF_y_output_15
62
2
Unsigned
1
0
0
3
n/a
<none>
–
y_output_61
BF_y_output_15
0
15
Unsigned
0.01
-100
-100
100
m
VtSig_y_output_61
–
y_output_62
BF_y_output_15
15
15
Unsigned
0.01
-100
-100
100
m
VtSig_y_output_62
–
y_output_63
BF_y_output_15
32
15
Unsigned
0.01
-100
-100
100
m
VtSig_y_output_63
–
y_output_64
BF_y_output_15
47
15
Unsigned
0.01
-100
-100
100
m
VtSig_y_output_64
–
y_2_cnt
BF_y_output_2
62
2
Unsigned
1
0
0
3
n/a
<none>
–
y_output_10
BF_y_output_2
15
15
Unsigned
0.01
-100
-100
100
m
VtSig_y_output_10
–
y_output_11
BF_y_output_2
32
15
Unsigned
0.01
-100
-100
100
m
VtSig_y_output_11
–
y_output_12
BF_y_output_2
47
15
Unsigned
0.01
-100
-100
100
m
VtSig_y_output_12
–
y_output_9
BF_y_output_2
0
15
Unsigned
0.01
-100
-100
100
m
VtSig_y_output_9
–
y_3_cnt
BF_y_output_3
62
2
Unsigned
1
0
0
3
n/a
<none>
–
y_output_13
BF_y_output_3
0
15
Unsigned
0.01
-100
-100
100
m
VtSig_y_output_13
–
y_output_14
BF_y_output_3
15
15
Unsigned
0.01
-100
-100
100
m
VtSig_y_output_14
–
y_output_15
BF_y_output_3
32
15
Unsigned
0.01
-100
-100
100
m
VtSig_y_output_15
–
y_output_16
BF_y_output_3
47
15
Unsigned
0.01
-100
-100
100
m
VtSig_y_output_16
–
y_4_cnt
BF_y_output_4
62
2
Unsigned
1
0
0
3
n/a
<none>
–
y_output_17
BF_y_output_4
0
15
Unsigned
0.01
-100
-100
100
m
VtSig_y_output_17
–
y_output_18
BF_y_output_4
15
15
Unsigned
0.01
-100
-100
100
m
VtSig_y_output_18
–
y_output_19
BF_y_output_4
32
15
Unsigned
0.01
-100
-100
100
m
VtSig_y_output_19
–
y_output_20
BF_y_output_4
47
15
Unsigned
0.01
-100
-100
100
m
VtSig_y_output_20
–
y_5_cnt
BF_y_output_5
62
2
Unsigned
1
0
0
3
n/a
<none>
–
y_output_21
BF_y_output_5
0
15
Unsigned
0.01
-100
-100
100
m
VtSig_y_output_21
–
y_output_22
BF_y_output_5
15
15
Unsigned
0.01
-100
-100
100
m
VtSig_y_output_22
–
y_output_23
BF_y_output_5
32
15
Unsigned
0.01
-100
-100
100
m
VtSig_y_output_23
–
y_output_24
BF_y_output_5
47
15
Unsigned
0.01
-100
-100
100
m
VtSig_y_output_24
–
y_6_cnt
BF_y_output_6
62
2
Unsigned
1
0
0
3
n/a
<none>
–
y_output_25
BF_y_output_6
0
15
Unsigned
0.01
-100
-100
100
m
VtSig_y_output_25
–
y_output_26
BF_y_output_6
15
15
Unsigned
0.01
-100
-100
100
m
VtSig_y_output_26
–
y_output_27
BF_y_output_6
32
15
Unsigned
0.01
-100
-100
100
m
VtSig_y_output_27
–
y_output_28
BF_y_output_6
47
15
Unsigned
0.01
-100
-100
100
m
VtSig_y_output_28
–
y_7_cnt
BF_y_output_7
62
2
Unsigned
1
0
0
3
n/a
<none>
–
y_output_29
BF_y_output_7
0
15
Unsigned
0.01
-100
-100
100
m
VtSig_y_output_29
–
y_output_30
BF_y_output_7
15
15
Unsigned
0.01
-100
-100
100
m
VtSig_y_output_30
–
y_output_31
BF_y_output_7
32
15
Unsigned
0.01
-100
-100
100
m
VtSig_y_output_31
–
y_output_32
BF_y_output_7
47
15
Unsigned
0.01
-100
-100
100
m
VtSig_y_output_32
–
Unit
Comment
Factor
15
Value table
Value type
32
Maximum
Length [bit]
BF_y_output_14
Message
y_output_59
Name
Start bit
O3M151 3D Smart Sensor Basic Function
y_8_cnt
BF_y_output_8
62
2
Unsigned
1
0
0
3
n/a
<none>
–
y_output_33
BF_y_output_8
0
15
Unsigned
0.01
-100
-100
100
m
VtSig_y_output_33
–
y_output_34
BF_y_output_8
15
15
Unsigned
0.01
-100
-100
100
m
VtSig_y_output_34
–
y_output_35
BF_y_output_8
32
15
Unsigned
0.01
-100
-100
100
m
VtSig_y_output_35
–
y_output_36
BF_y_output_8
47
15
Unsigned
0.01
-100
-100
100
m
VtSig_y_output_36
–
y_9_cnt
BF_y_output_9
62
2
Unsigned
1
0
0
3
n/a
<none>
–
y_output_37
BF_y_output_9
0
15
Unsigned
0.01
-100
-100
100
m
VtSig_y_output_37
–
y_output_38
BF_y_output_9
15
15
Unsigned
0.01
-100
-100
100
m
VtSig_y_output_38
–
y_output_39
BF_y_output_9
32
15
Unsigned
0.01
-100
-100
100
m
VtSig_y_output_39
–
UK
53
Offset
Minimum
Unsigned
0.01
-100
-100
100
m
VtSig_y_output_40
–
z_0_cnt
BF_z_output_0
62
2
Unsigned
1
0
0
3
n/a
<none>
–
z_output_1
BF_z_output_0
0
15
Unsigned
0.01
-100
-100
100
m
VtSig_z_output_1
–
z_output_2
BF_z_output_0
15
15
Unsigned
0.01
-100
-100
100
m
VtSig_z_output_2
–
z_output_3
BF_z_output_0
32
15
Unsigned
0.01
-100
-100
100
m
VtSig_z_output_3
–
z_output_4
BF_z_output_0
47
15
Unsigned
0.01
-100
-100
100
m
VtSig_z_output_4
–
Unit
Comment
Factor
15
Value table
Value type
47
Maximum
Length [bit]
BF_y_output_9
Message
y_output_40
Name
Start bit
O3M151 3D Smart Sensor Basic Function
z_1_cnt
BF_z_output_1
62
2
Unsigned
1
0
0
3
n/a
<none>
–
z_output_5
BF_z_output_1
0
15
Unsigned
0.01
-100
-100
100
m
VtSig_z_output_5
–
z_output_6
BF_z_output_1
15
15
Unsigned
0.01
-100
-100
100
m
VtSig_z_output_6
–
z_output_7
BF_z_output_1
32
15
Unsigned
0.01
-100
-100
100
m
VtSig_z_output_7
–
z_output_8
BF_z_output_1
47
15
Unsigned
0.01
-100
-100
100
m
VtSig_z_output_8
–
z_10_cnt
BF_z_output_10
62
2
Unsigned
1
0
0
3
n/a
<none>
–
z_output_41
BF_z_output_10
0
15
Unsigned
0.01
-100
-100
100
m
VtSig_z_output_41
–
z_output_42
BF_z_output_10
15
15
Unsigned
0.01
-100
-100
100
m
VtSig_z_output_42
–
z_output_43
BF_z_output_10
32
15
Unsigned
0.01
-100
-100
100
m
VtSig_z_output_43
–
z_output_44
BF_z_output_10
47
15
Unsigned
0.01
-100
-100
100
m
VtSig_z_output_44
–
z_11_cnt
BF_z_output_11
62
2
Unsigned
1
0
0
3
n/a
<none>
–
z_output_45
BF_z_output_11
0
15
Unsigned
0.01
-100
-100
100
m
VtSig_z_output_45
–
z_output_46
BF_z_output_11
15
15
Unsigned
0.01
-100
-100
100
m
VtSig_z_output_46
–
z_output_47
BF_z_output_11
32
15
Unsigned
0.01
-100
-100
100
m
VtSig_z_output_47
–
z_output_48
BF_z_output_11
47
15
Unsigned
0.01
-100
-100
100
m
VtSig_z_output_48
–
z_12_cnt
BF_z_output_12
62
2
Unsigned
1
0
0
3
n/a
<none>
–
z_output_49
BF_z_output_12
0
15
Unsigned
0.01
-100
-100
100
m
VtSig_z_output_49
–
z_output_50
BF_z_output_12
15
15
Unsigned
0.01
-100
-100
100
m
VtSig_z_output_50
–
z_output_51
BF_z_output_12
32
15
Unsigned
0.01
-100
-100
100
m
VtSig_z_output_51
–
z_output_52
BF_z_output_12
47
15
Unsigned
0.01
-100
-100
100
m
VtSig_z_output_52
–
z_13_cnt
BF_z_output_13
62
2
Unsigned
1
0
0
3
n/a
<none>
–
z_output_53
BF_z_output_13
0
15
Unsigned
0.01
-100
-100
100
m
VtSig_z_output_53
–
z_output_54
BF_z_output_13
15
15
Unsigned
0.01
-100
-100
100
m
VtSig_z_output_54
–
z_output_55
BF_z_output_13
32
15
Unsigned
0.01
-100
-100
100
m
VtSig_z_output_55
–
z_output_56
BF_z_output_13
47
15
Unsigned
0.01
-100
-100
100
m
VtSig_z_output_56
–
z_14_cnt
BF_z_output_14
62
2
Unsigned
1
0
0
3
n/a
<none>
–
z_output_57
BF_z_output_14
0
15
Unsigned
0.01
-100
-100
100
m
VtSig_z_output_57
–
z_output_58
BF_z_output_14
15
15
Unsigned
0.01
-100
-100
100
m
VtSig_z_output_58
–
z_output_59
BF_z_output_14
32
15
Unsigned
0.01
-100
-100
100
m
VtSig_z_output_59
–
z_output_60
BF_z_output_14
47
15
Unsigned
0.01
-100
-100
100
m
VtSig_z_output_60
–
z_15_cnt
BF_z_output_15
62
2
Unsigned
1
0
0
3
n/a
<none>
–
z_output_61
BF_z_output_15
0
15
Unsigned
0.01
-100
-100
100
m
VtSig_z_output_61
–
z_output_62
BF_z_output_15
15
15
Unsigned
0.01
-100
-100
100
m
VtSig_z_output_62
–
z_output_63
BF_z_output_15
32
15
Unsigned
0.01
-100
-100
100
m
VtSig_z_output_63
–
z_output_64
BF_z_output_15
47
15
Unsigned
0.01
-100
-100
100
m
VtSig_z_output_64
–
z_2_cnt
BF_z_output_2
62
2
Unsigned
1
0
0
3
n/a
<none>
–
z_output_10
BF_z_output_2
15
15
Unsigned
0.01
-100
-100
100
m
VtSig_z_output_10
–
z_output_11
BF_z_output_2
32
15
Unsigned
0.01
-100
-100
100
m
VtSig_z_output_11
–
z_output_12
BF_z_output_2
47
15
Unsigned
0.01
-100
-100
100
m
VtSig_z_output_12
–
z_output_9
BF_z_output_2
0
15
Unsigned
0.01
-100
-100
100
m
VtSig_z_output_9
–
54
1
0
0
3
n/a
<none>
–
z_output_13
BF_z_output_3
0
15
Unsigned
0.01
-100
-100
100
m
VtSig_z_output_13
–
z_output_14
BF_z_output_3
15
15
Unsigned
0.01
-100
-100
100
m
VtSig_z_output_14
–
z_output_15
BF_z_output_3
32
15
Unsigned
0.01
-100
-100
100
m
VtSig_z_output_15
–
z_output_16
BF_z_output_3
47
15
Unsigned
0.01
-100
-100
100
m
VtSig_z_output_16
–
z_4_cnt
BF_z_output_4
62
2
Unsigned
1
0
0
3
n/a
<none>
–
z_output_17
BF_z_output_4
0
15
Unsigned
0.01
-100
-100
100
m
VtSig_z_output_17
–
z_output_18
BF_z_output_4
15
15
Unsigned
0.01
-100
-100
100
m
VtSig_z_output_18
–
z_output_19
BF_z_output_4
32
15
Unsigned
0.01
-100
-100
100
m
VtSig_z_output_19
–
z_output_20
BF_z_output_4
47
15
Unsigned
0.01
-100
-100
100
m
VtSig_z_output_20
–
z_5_cnt
BF_z_output_5
62
2
Unsigned
1
0
0
3
n/a
<none>
–
z_output_21
BF_z_output_5
0
15
Unsigned
0.01
-100
-100
100
m
VtSig_z_output_21
–
z_output_22
BF_z_output_5
15
15
Unsigned
0.01
-100
-100
100
m
VtSig_z_output_22
–
z_output_23
BF_z_output_5
32
15
Unsigned
0.01
-100
-100
100
m
VtSig_z_output_23
–
z_output_24
BF_z_output_5
47
15
Unsigned
0.01
-100
-100
100
m
VtSig_z_output_24
–
z_6_cnt
BF_z_output_6
62
2
Unsigned
1
0
0
3
n/a
<none>
–
z_output_25
BF_z_output_6
0
15
Unsigned
0.01
-100
-100
100
m
VtSig_z_output_25
–
z_output_26
BF_z_output_6
15
15
Unsigned
0.01
-100
-100
100
m
VtSig_z_output_26
–
z_output_27
BF_z_output_6
32
15
Unsigned
0.01
-100
-100
100
m
VtSig_z_output_27
–
z_output_28
BF_z_output_6
47
15
Unsigned
0.01
-100
-100
100
m
VtSig_z_output_28
–
z_7_cnt
BF_z_output_7
62
2
Unsigned
1
0
0
3
n/a
<none>
–
z_output_29
BF_z_output_7
0
15
Unsigned
0.01
-100
-100
100
m
VtSig_z_output_29
–
z_output_30
BF_z_output_7
15
15
Unsigned
0.01
-100
-100
100
m
VtSig_z_output_30
–
z_output_31
BF_z_output_7
32
15
Unsigned
0.01
-100
-100
100
m
VtSig_z_output_31
–
z_output_32
BF_z_output_7
47
15
Unsigned
0.01
-100
-100
100
m
VtSig_z_output_32
–
Unit
Minimum
Offset
Factor
Comment
Unsigned
Value table
2
Maximum
62
Value type
Length [bit]
BF_z_output_3
Message
z_3_cnt
Name
Start bit
O3M151 3D Smart Sensor Basic Function
z_8_cnt
BF_z_output_8
62
2
Unsigned
1
0
0
3
n/a
<none>
–
z_output_33
BF_z_output_8
0
15
Unsigned
0.01
-100
-100
100
m
VtSig_z_output_33
–
z_output_34
BF_z_output_8
15
15
Unsigned
0.01
-100
-100
100
m
VtSig_z_output_34
–
z_output_35
BF_z_output_8
32
15
Unsigned
0.01
-100
-100
100
m
VtSig_z_output_35
–
z_output_36
BF_z_output_8
47
15
Unsigned
0.01
-100
-100
100
m
VtSig_z_output_36
–
z_9_cnt
BF_z_output_9
62
2
Unsigned
1
0
0
3
n/a
<none>
z_output_37
BF_z_output_9
0
15
Unsigned
0.01
-100
-100
100
m
VtSig_z_output_37
–
z_output_38
BF_z_output_9
15
15
Unsigned
0.01
-100
-100
100
m
VtSig_z_output_38
–
z_output_39
BF_z_output_9
32
15
Unsigned
0.01
-100
-100
100
m
VtSig_z_output_39
–
z_output_40
BF_z_output_9
47
15
Unsigned
0.01
-100
-100
100
m
VtSig_z_output_40
–
GLOB_master_time
Global_Information
0
32
Unsigned
1
0
0
4,29E+14
μs
<none>
–
GLOB_sensor_
available
Global_Information
32
8
Unsigned
1
0
0
255
enum
<none>
Global_Information_cnt
Global_Information
46
2
Unsigned
1
0
0
3
–
<none>
–
SwCtrl_OpMode
Global_Information
40
6
Unsigned
1
0
0
63
–
VtSig_SwCtrl_OpMode
–
UK
BIT_INTERFERENCE_DETECTED (1u)
55
Comment
Value table
Unit
Maximum
Minimum
Offset
Factor
Value type
Length [bit]
Start bit
Name
Message
O3M151 3D Smart Sensor Basic Function
ROI_cnt
ROI_Definition
38
2
Unsigned
1
0
0
3
n/a
<none>
2 Bit counter,
same all ROI
messages,
at next ROI
message cycle,
counter shall be
incremented
ROI_group
ROI_Definition
16
7
Unsigned
1
0
0
64
n/a
<none>
Index of group
the ROI belongs
to
ROI_lower_
right_x
ROI_Definition
8
6
Unsigned
1
0
0
63
n/a
<none>
Lower right
corner coordinate
in x-direction
ROI_lower_
right_y
ROI_Definition
24
4
Unsigned
1
0
0
15
n/a
<none>
Lower right
corner coordinate
in y-direction
ROI_number
ROI_Definition
32
6
Unsigned
1
1
1
64
n/a
<none>
Id of the ROI,
equals the index
in the array
ROI_output_value_type
ROI_Definition
6
2
Unsigned
1
0
0
2
n/a
VtSig_ROI_output_value_type
The type of
output (min/max/
mean)
ROI_upper_left_x
ROI_Definition
0
6
Unsigned
1
0
0
63
n/a
<none>
Upper left corner
coordinate in
x-direction
ROI_upper_left_y
ROI_Definition
28
4
Unsigned
1
0
0
15
n/a
<none>
Upper left corner
coordinate in
y-direction
<none>
Measured time
value of last sent
transmission of
this signal on
CAN
Mastertime_LastTxTimeStamp
56
SyncMsg
0
32
Unsigned
1
0
0
4,29E+14
us
O3M151 3D Smart Sensor Basic Function
UK
57
O3M151 3D Smart Sensor Basic Function
58