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 Housing rectangular 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 Integrated lighting yes; (infrared: 850 nm invisible radiation LED) Switch-on peak current [mA] 2400 Monitoring range 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 noise 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 safety DIN EN 61010-2-201 electrical supply only via PELV circuits Mechanical data Weight [g] 770 Housing rectangular Dimensions [mm] 72 x 65 x 82.6 Material housing: diecast aluminium; front lens: Gorilla Glass; Function display: PA Displays / operating elements Display Function 2 x LED, green Ethernet Power Accessories Items supplied spring washers Remarks Pack quantity 1 pcs. 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 synchronization 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
