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Datasheet
Product characteristics
| Type of light |
infrared light |
| Image resolution 3D [px] |
176 x 132 |
| Angle of aperture 3D [°] |
60 x 45; (nominal value without lens distortion correction) |
| Image repetition frequency 3D [Hz] |
10 |
Application
| Application |
obstacle detection |
Electrical data
| Operating voltage [V] |
20.4…28.8 DC; (EN 61131-2) |
| Current consumption [mA] |
420; (maximum mean value: < 1600 mA) |
| Max. current consumption [mA] |
2400; (peak current pulsed) |
| Power consumption [W] |
10 |
| Protection class |
III |
| Type of light |
infrared light |
| Image sensor |
PMD 3D ToF-Chip |
| Internal lighting |
yes; (infrared: 850 nm invisible radiation LED) |
| Switch-on peak current [mA] |
2400 |
Detection zone
| Operating distance [mm] |
200…4000 |
| Image resolution 3D [px] |
176 x 132 |
| Angle of aperture 3D [°] |
60 x 45; (nominal value without lens distortion correction) |
| Image repetition frequency 3D [Hz] |
10 |
Interfaces
| Communication interface |
Ethernet |
Ethernet
| Number of Ethernet interfaces |
1 |
| Transmission standard |
10Base-T; 100Base-TX |
| Transmission rate |
10; 100 |
| Protocol |
TCP/IP |
| Factory settings |
|
IP address: 192.168.0.69 |
|
subnet mask: 255.255.255.0 |
|
gateway IP address: 192.168.0.201 |
|
Operating conditions
| Ambient temperature [°C] |
-10…50 |
| Storage temperature [°C] |
-40…85 |
| Protection |
IP 65; IP 67 |
| Max. immunity to extraneous light [klx] |
8 |
Tests / approvals
| EMC |
|
DIN EN 61000-6-4 |
radiation of interference / industrial environments |
|
DIN EN 61000-6-2 |
immunity / industrial environments |
|
| Shock resistance |
|
DIN EN 60068-2-27 |
50 g / (11 ms) not repetitive |
|
DIN EN 60068-2-27 |
40 g / (6 ms) repetitive |
|
| Vibration resistance |
|
DIN EN 60068-2-6 |
2 g / (10…150 Hz) |
|
DIN EN 60068-2-64 |
2.3 g RMS / (10…500 Hz) |
|
| Photobiological safety |
exempt group; (DIN EN 62471) |
| Electrical protection |
|
DIN EN 61010-2-201 |
electrical supply only via PELV circuits |
|
Mechanical data
| Weight [g] |
770 |
| Dimensions [mm] |
72 x 65 x 82.6 |
| Materials |
housing: diecast aluminium; front pane: Gorilla Glass; function display: PA |
Displays / operating elements
| Display |
|
function |
2 x LED, green Ethernet operation |
|
Electrical connection – Ethernet
|
Connector: 1 x M12; coding: D |
Electrical connection – Process connection
|
Connector: 1 x M12; coding: A |
Other data
Field of view size
| measuring range / distance [m] |
Length [m] |
Breite [m] |
| 0.50 |
0.4 |
0.56 |
| 1.00 |
0.8 |
1.13 |
| 2.00 |
1.6 |
2.26 |
| 3.00 |
2.4 |
3.39 |
| 4.00 |
3.2 |
4.52 |
input/output parameters
| input parameters |
Information on own movement of the automated guided vehicle (AGV) |
|
NTP-server for time synchronisation |
| output parameters |
distance |
|
occupancy grid ± 5m in x and y direction of the vehicle coordinates |
|
occupation state of the warning zones |
setting parameters
| Parameter |
Setting range |
| warning zones |
three independent warning zones for obstacle detection |
| extrinsic calibration |
calibration of the camera position in vehicle coordinates |
| each warning zone is defined via a convex 2D polygon with max. 6 corners and a global height |
|
obstacle detection
| example obstacles |
latency [ms] |
|
|
typical value |
typical value |
|
object already in the field of view of the camera |
initial detection [ms] |
| forklift fork (lateral, 25cm above ground) |
200 |
700 |
| box or container (surface facing the sensor > 200x200mm) |
200 |
700 |
| bicycle (lateral & front) |
200 |
700 |
| The indications on the detection time of the obstacles are based on the following assumptions |
|
| speed of the automated guided vehicle |
< 1.7 m/s |
| medium reflectivity of the objects |
|
| minimum height of the objects 15cm above ground |
|
