Lookup Table for Firmware Version Compatibility

Firmware Version

Supported VPU

Supported Camera Heads




OVP800, M04239

O3R222, O3R225AB, 03R225AC




OVP800, M03975, MO4239

O3R222, O3R225, M03933, M03969



Lookup Table for ifm3d-ROS Version Compatibility

For ROS2 distributions Software Compatibility Matrix please refer ifm3d-ros2 github page and for the ROS distributions please refer this ifm3d-ros github page

Changelog for different packages can seen here for ifm3d-ros and here for ifm3d-ros2.

Hardware (Connectivity)

Q: Why is the Status LED blinking but not turning RED for an undervoltage error?

A: In an undervoltage situation (not enough power supplied) the LED status is flashing only. A 2.5A and 24V power source is minimum requirement for the operation. Please double check the diagnostic information.

Q: Why is the PORT LED not turning green after camera head is connected?

A: This can happen for different scenarios:

  • If the camera is plugged in during runtime: no hot-plug capabilities are enabled.

  • If different imager types are connected to the same pair of ports, i.e. [PORT0,PORT1]; [PORT2,PORT3]; [PORT4,PORT5]: only a same imager type is supported per port pair.

  • When the camera is connected for the first time, the calibration download will take up to 2 minutes. The respective LED turn green after the download process is completed. Please check the diagnosis information.

Q: I am not able to receive data from the camera heads?

A: The default state for each camera head is CONF in Firmware Version <= 0.16.23. Change the state to RUN to receive data. If you don’t receive after the state change, double check the PCIC port number mapping, i.e. the port that framegrabber is listening to.

Hardware Port


Port 0


Port 1


Port 2


Port 3


Port 4


Port 5


Please be aware that the system also uses these ports, i.e. they can not be used the oem user: TCP ports 8080,8888,50010-50025, 51010-51025.

Q: I connected Port0 to receive RGB Data and Port1 to receive 3D Data, but I am not receiving data.

A: The ports must be connected pairwise. If Port0 is used to received 2D/3D Data then Port1 can only receive the same data respectively. Pairs –> |Port0, Port1| Port2, Port3| Port4, Port5|

Q: What kind of hardware certificates does the O3R fullfil?

A: Generally we try to fullfil all standard certificates: see product description on ifm.com for further details.

Q: Does the O3R hardware system fullfil any additional robot specific norms: e.g. ESD / EMV?

A: We are in the process of testing additional robot typical hardware norms: e.g. EN 12895.

Camera Configuration

Q: Is it necessary to shut down the camera before switching off the power?

A: No, the O3R system can be switched off at anytime (except during firmware update).

Q: Do I have to perform the Intrinsic calibration on the O3R camera heads?

A: No, the O3R camera heads were calibrated in the production state and don’t need an additional intrinsic calibration performed by the user.

Q: Do I have to repeat the extrinsic calibration procedure every time I reconnect the camera?

A: No, once the extrinsic calibration parameters are saved to the VPU (via a save_init function) and will be available even after the reboot. However, if the camera’s position is changed then extrinsic calibration has to be redone.

Q: Is it essential to connect the calibrated camera head to the same port to maintain the extrinsic calibration parameters?

A: Yes. The VPU stores the extrinsic calibration parameters information for the respective port. So, it is important to connect the calibrated camera to the same port.

Data Receiving

Q: I am unable to receive the data after connecting the camera head?

A: The camera’s default state is in “CONF” and to be able to receive data it has to be changed to “RUN”.

Q: I am unable able to receive the data from camera head after connecting to a different VPU

A: Once a camera head is connected to the VPU with firmware Version>=0.16.23 then it will no longer work on the other VPU with lower firmware version. The backward compatibility is nether supported nor recommended.


Q. How can I query the VPU log information?

A. The diagnostic information can be acquired via ifmVisionAssistant. To get the more detailed information about the diagnostic information please refer this page

Additionally the system is constantly logging information in the background. You can receive this trace with our ifm3d-library. Please include this information when contacting us.