Firmware documentation

Q: Where can I find the documentation for older firmware versions?

A: The website is always built on the latest FW version. To view previous versions of the documentation, please check Previous versions of the documentation

Hardware (connectivity)

Q: Why is the status LED blinking but not turning red for an under-voltage error?

A: In an under-voltage situation (not enough power supplied) the LED status is flashing only. A 5A and 24V power source is minimum requirement for the operation. Please double check the diagnostic information.

Q: What happens if I under-power the VPU?

A: Low power supply level can cause eye-safety errors to trigger or the VCSEL to shut-downs. This can happen for example when running 3 heads at 20 Hz with inadequate power supply.

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, that is [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 takes 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, that is 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. This means that they cannot be used the OEM user: TCP ports 8080,8888,50010-50025, 51010-51025, SSH on port 22.

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 fulfill?

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

Q: Does the O3R hardware system fulfill any additional robot specific norms, for example ESD / EMV?

A: We are in the process of testing additional robot typical hardware norms, for example 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 reception

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

A: In the firmware version < 1.0.14, 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, it will not work on the other VPU with a lower firmware version. Backward compatibility is neither supported nor recommended.

Q: Should I expect a delay in the reception of data after re-configuring the device?

A: Due to a couple frames being buffered internally, a worst case delay of up to six frames can occur. For more details, refer to the configuration delays documentation.


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.