IFM O3D300 Notice D'utilisation page 62

Capteur 3D
ID Description
rotationZ Z rotation of the detected object (user frame coordinate system).
layerLevel Current pallet layer for depalletization, starting with "0". An empty stack is
indicated by "0".
sensorMount Recommended height of the sensor above the palette.
ingHeight Values "<=0": invalid input parameters (e.g. invalid palette dimensions).
isSlipSheet A slipsheet is on top of the stack:
0: no
1: yes
background Distance of the background plane in positive direction of the z-axis.
Plane
Distance
isCollision Collision free depalletization:
Free 0: false
1: true
centerPoint The top center X coordinate of the detected box object (projected into the 2D
2DX image).
centerPoint The top center Y coordinate of the detected box object (projected into the 2D
2DY image).
The following IDs can be changed with the f command (→ 13.2.6):
ID Name
0000000001 DepalSlipSheetDetection
0000000002 DepalSlipObjectType
0000000003 DepalWidth
0000000004 DepalHeight
0000000005 DepalLength
62
Description
Depalletizing:
slip sheet detection on/off
Depalletizing:
type of the object to be detected
Depalletizing:
width of the objects to be detected
Depalletizing:
length of the objects to be detected
Depalletizing:
heigth of the objects to be detected
Native
data type
float32
uint32
float32
uint32
float32
uint32
float32
float32
Values
1/0
0: box
1: bag
mm
mm
mm