SICK Ranger3 Operation Instructions Manual
Ranger3
3D vision
O P E R A T I N G I N S T R U C T I O N S
Described product
2011/65/EU
Ranger3
Manufacturer
SICK AG
Erwin-Sick-Str. 1
79183 Waldkirch
Germany
Legal information
This work is protected by copyright. Any rights derived from the copyright shall be
reserved for SICK AG. Reproduction of this document or parts of this document is only
permissible within the limits of the legal determination of Copyright Law. Any modifica‐
tion, abridgment or translation of this document is prohibited without the express writ‐
ten permission of SICK AG.
The trademarks stated in this document are the property of their respective owner.
© SICK AG. All rights reserved.
Original document
This document is an original document of SICK AG.
2
O PE R AT I NG IN S TR U CT I ON S | Ranger3 8020774/14IM/2019-07 | SICK
Subject to change without notice
Contents
CONTENTS
1 About this document........................................................................ 7
1.1 Information on the operating instructions.............................................. 7
1.2 Explanation of symbols............................................................................ 7
2 Safety information............................................................................ 8
2.1 Correct use................................................................................................ 8
2.2 Improper use............................................................................................. 8
2.3 Limitation of liability................................................................................. 8
2.4 Modifications and conversions................................................................ 8
2.5 Requirements for skilled persons and operating personnel.................. 9
2.6 Operational safety and particular hazards.............................................. 9
2.7 Laser safety............................................................................................... 10
3 Product description........................................................................... 11
3.1 Introduction............................................................................................... 11
3.2 Measuring with a 3D camera................................................................... 11
3.3 Hardware description............................................................................... 12
3.3.1 Sensor...................................................................................... 12
3.4 Standards.................................................................................................. 13
3.4.1 GenICam™............................................................................... 13
3.4.2 GigE Vision®............................................................................ 13
4 Transport and storage....................................................................... 14
4.1 Transport................................................................................................... 14
4.2 Unpacking.................................................................................................. 14
4.3 Transport inspection................................................................................. 14
4.4 Storage...................................................................................................... 14
5 Mounting............................................................................................. 16
5.1 Mounting instructions............................................................................... 16
5.2 Required parts.......................................................................................... 16
5.3 Mounting the camera............................................................................... 16
5.3.1 Mounting an optical filter or a Scheimpflug adapter............. 17
6 Electrical installation........................................................................ 18
6.1 Wiring notes.............................................................................................. 18
6.2 Security...................................................................................................... 18
6.3 Connecting the camera............................................................................ 19
6.4 Electrical connections.............................................................................. 19
7 Configuration..................................................................................... 23
7.1 Software installation................................................................................. 23
7.1.1 System recommendations...................................................... 23
7.1.2 Network preparations.............................................................. 23
7.1.3 Installing PC software.............................................................. 23
8020774/14IM/2019-07 | SICK O P ER A TI N G I NS T RU C TI O NS | Ranger3
Subject to change without notice
3
CONTENTS
7.2 Concepts................................................................................................... 23
7.2.1 Selectors.................................................................................. 23
7.3 Configuring Ranger3................................................................................. 24
7.4 Regions...................................................................................................... 24
7.4.1 Sensor regions......................................................................... 25
7.4.2 Extraction regions.................................................................... 25
7.4.3 Device scan type...................................................................... 26
7.4.4 Maximum buffer size............................................................... 27
7.5 Exposure time and measurement speed................................................ 27
7.6 Laser strobe output signals..................................................................... 27
7.7 3D profiling................................................................................................ 28
7.7.1 Laser impact position on the sensor...................................... 28
7.7.2 Measurement method............................................................. 29
7.7.3 Detection threshold................................................................. 29
7.8 3D data formats........................................................................................ 29
7.9 Reflectance data....................................................................................... 30
7.10 High dynamic range (HDR) imaging......................................................... 30
7.11 Triggering................................................................................................... 31
7.11.1 3D triggering concepts............................................................ 31
7.11.2 Triggering modes..................................................................... 32
7.11.3 Triggering using an encoder.................................................... 33
7.11.4 Frame triggering....................................................................... 34
7.12 Chunk data................................................................................................ 35
7.13 Features.................................................................................................... 35
7.13.1 Device control.......................................................................... 36
7.13.2 Image format control............................................................... 38
7.13.3 Scan 3D control....................................................................... 39
7.13.4 Acquisition control................................................................... 40
7.13.5 Digital I/O control..................................................................... 41
7.13.6 Timer control............................................................................ 41
7.13.7 Encoder control........................................................................ 42
7.13.8 Event control............................................................................ 42
7.13.9 File access control................................................................... 42
7.13.10 Chunk data control.................................................................. 43
7.13.11 Test control............................................................................... 43
7.13.12 Transport layer control............................................................. 44
7.13.13 Firmware update...................................................................... 45
8 Operation............................................................................................ 46
8.1 Description of the graphical user interface............................................ 46
8.1.1 Menus....................................................................................... 46
8.1.2 Parameter editor...................................................................... 47
8.1.3 Workflow steps......................................................................... 48
8.1.4 Image handling controls.......................................................... 50
8.1.5 Image view options.................................................................. 51
8.1.6 Log and statistics tabs............................................................ 52
4
O PE R AT I NG IN S TR U CT I ON S | Ranger3 8020774/14IM/2019-07 | SICK
Subject to change without notice
CONTENTS
8.1.7 General information................................................................. 52
8.2 Using the interface................................................................................... 52
8.2.1 Connecting and getting a 2D image....................................... 52
8.2.2 Adjusting focus......................................................................... 54
8.2.3 Recording images.................................................................... 54
8.2.4 Loading and saving parameter files....................................... 55
8.2.5 Editing parameters.................................................................. 55
8.2.6 Collecting 3D data................................................................... 60
8.2.7 View modes.............................................................................. 61
8.2.8 Color range............................................................................... 62
8.2.9 Data presentation.................................................................... 63
8.2.10 Height map scaling.................................................................. 64
8.2.11 Light control............................................................................. 64
8.2.12 Loading and saving image buffers......................................... 65
8.2.13 Handling log messages........................................................... 66
8.2.14 Updating firmware................................................................... 66
9 Maintenance...................................................................................... 67
9.1 Maintenance plan..................................................................................... 67
9.2 Cleaning..................................................................................................... 67
10 Troubleshooting................................................................................. 68
10.1 Over triggering........................................................................................... 68
10.2 Encoder line trigger setup tips................................................................. 68
10.3 Network card settings.............................................................................. 68
10.4 Rescue mode............................................................................................ 68
10.5 Repairs...................................................................................................... 69
10.6 Returns...................................................................................................... 69
11 Decommissioning............................................................................. 70
11.1 Disposal..................................................................................................... 70
12 Technical data.................................................................................... 71
12.1 Product data.............................................................................................. 71
12.2 Features.................................................................................................... 71
12.3 Performance............................................................................................. 71
12.3.1 Light sensitivity........................................................................ 71
12.3.2 Maximum line rate................................................................... 72
12.4 Interfaces.................................................................................................. 72
12.5 Ambient data............................................................................................. 73
12.6 Mechanics and electronics...................................................................... 73
12.7 Dimensional drawings.............................................................................. 74
13 Accessories........................................................................................ 75
14 Glossary.............................................................................................. 76
14.1 Terms and abbreviations.......................................................................... 77
8020774/14IM/2019-07 | SICK O P ER A TI N G I NS T RU C TI O NS | Ranger3
Subject to change without notice
5
CONTENTS
15 Annex.................................................................................................. 78
15.1 Range (3D) measurement........................................................................ 78
15.1.1 Occlusion.................................................................................. 79
15.1.2 Width resolution and resolution in the motion direction....... 80
15.1.3 Height-range and height resolution........................................ 80
15.1.4 Main geometries...................................................................... 80
15.1.5 Sensor coordinate system....................................................... 82
15.2 Recommended network card settings.................................................... 83
15.2.1 Connecting multiple cameras................................................. 84
15.3 Connecting encoders................................................................................ 84
15.4 EU declaration of conformity / Certificates............................................. 86
15.5 Scheimpflug adapters.............................................................................. 86
6
O PE R AT I NG IN S TR U CT I ON S | Ranger3 8020774/14IM/2019-07 | SICK
Subject to change without notice
1 About this document
1.1 Information on the operating instructions
These operating instructions provide important information on how to use devices from
SICK AG.
Prerequisites for safe work are:
Compliance with all safety notes and handling instructions supplied.
•
Compliance with local work safety regulations and general safety regulations for
•
device applications
The operating instructions are intended to be used by qualified personnel and electrical
specialists.
NOTE
Read these operating instructions carefully before starting any work on the device, in
order to familiarize yourself with the device and its functions.
The instructions constitute an integral part of the product and are to be stored in the
immediate vicinity of the device so they remain accessible to staff at all times. Should
the device be passed on to a third party, these operating instructions should be handed
over with it.
ABOUT THIS DOCUMENT 1
These operating instructions do not provide information on operating the machine or
system in which the device is integrated. For information about this, refer to the operat‐
ing instructions of the specific machine.
1.2 Explanation of symbols
Warnings and important information in this document are labeled with symbols. The
warnings are introduced by signal words that indicate the extent of the danger. These
warnings must be observed at all times and care must be taken to avoid accidents, per‐
sonal injury, and material damage.
DANGER
… indicates a situation of imminent danger, which will lead to a fatality or serious
injuries if not prevented.
WARNING
… indicates a potentially dangerous situation, which may lead to a fatality or serious
injuries if not prevented.
CAUTION
… indicates a potentially dangerous situation, which may lead to minor/slight injuries if
not prevented.
NOTICE
… indicates a potentially harmful situation, which may lead to material damage if not
prevented.
NOTE
… highlights useful tips and recommendations as well as information for efficient and
trouble-free operation.
8020774/14IM/2019-07 | SICK O P ER A TI N G I NS T RU C TI O NS | Ranger3
Subject to change without notice
7
2 SAFETY INFORMATION
2 Safety information
2.1 Correct use
Streaming cameras are the vision image acquisition component in a machine vision
system. They make measurements on the objects that pass in front of the camera, and
send the measurement results to an external processing unit for further processing.
Comply with the data on the type label.
Misuse
Different or additional use is considered to be improper use. SICK AG shall not be held
liable for personal injury and damage to property resulting from this.
2.2 Improper use
Any use outside of the stated areas, in particular use outside of the technical specifica‐
tions and the requirements for intended use, will be deemed to be incorrect use.
The device does not constitute a safety component in accordance with the respec‐
•
tive applicable safety standards for machines.
The device must not be used in explosion-hazardous areas, in corrosive environ‐
•
ments or under extreme environmental conditions.
Any use of accessories not specifically approved by SICK AG is at your own risk.
•
WARNING
Danger due to improper use!
Any improper use can result in dangerous situations.
Therefore, observe the following information:
■
Device should be used only in accordance with its intended use.
■
All information in these operating instructions must be strictly observed.
2.3 Limitation of liability
Applicable standards and regulations, the latest state of technological development,
and our many years of knowledge and experience have all been taken into account
when assembling the data and information contained in these operating instructions.
The manufacturer accepts no liability for damage caused by:
■
Failing to observe the operating instructions
■
Incorrect use
■
Use by untrained personnel
■
Unauthorized conversions
■
Technical modifications
■
Use of unauthorized spare parts, consumables, and accessories
With special variants, where optional extras have been ordered, or owing to the latest
technical changes, the actual scope of delivery may vary from the features and illustra‐
tions shown here.
2.4 Modifications and conversions
NOTICE
Modifications and conversions to the device may result in unforeseeable dangers.
8
O PE R AT I NG IN S TR U CT I ON S | Ranger3 8020774/14IM/2019-07 | SICK
Subject to change without notice
Interrupting or modifying the device or SICK software will invalidate any warranty claims
against SICK AG. This applies in particular to opening the housing, even as part of
mounting and electrical installation.
2.5 Requirements for skilled persons and operating personnel
WARNING
Risk of injury due to insufficient training.
Improper handling of the device may result in considerable personal injury and material
damage.
■
All work must only ever be carried out by the stipulated persons.
The operating instructions state the following qualification requirements for the various
areas of work:
■
Instructed personnel have been briefed by the operator about the tasks assigned
to them and about potential dangers arising from improper action.
■
Skilled personnel have the specialist training, skills, and experience, as well as
knowledge of the relevant regulations, to be able to perform tasks delegated to
them and to detect and avoid any potential dangers independently.
■
Electricians have the specialist training, skills, and experience, as well as knowl‐
edge of the relevant standards and provisions to be able to carry out work on elec‐
trical systems and to detect and avoid any potential dangers independently. In Ger‐
many, electricians must meet the specifications of the BGV A3 Work Safety Regu‐
lations (e.g. Master Electrician). Other relevant regulations applicable in other
countries must be observed.
SAFETY INFORMATION 2
The following qualifications are required for various activities:
Table 1: Activities and technical requirements
Activities Qualification
Mounting, maintenance
Electrical installation,
device replacement
Basic practical technical training
■
Knowledge of the current safety regulations in the workplace
■
Practical electrical training
■
Knowledge of current electrical safety regulations
■
Knowledge of the operation and control of the devices in their
■
particular application
Commissioning, configura‐
tion
Basic knowledge of the WindowsTM operating system in use
■
Basic knowledge of the design and setup of the described con‐
■
nections and interfaces
Basic knowledge of data transmission
■
Knowledge of the programming of image-processing systems
■
and network components
Operation of the device for
the particular application
Knowledge of the operation and control of the devices in their
■
particular application
Knowledge of the software and hardware environment for the
■
particular application
2.6 Operational safety and particular hazards
Please observe the safety notes and the warnings listed here and in other chapters of
these operating instructions to reduce the possibility of risks to health and avoid dan‐
gerous situations.
8020774/14IM/2019-07 | SICK O P ER A TI N G I NS T RU C TI O NS | Ranger3
Subject to change without notice
9
2 SAFETY INFORMATION
The product is fitted with LEDs of the risk group 0. The accessible radiation from these
LEDs does not pose a danger to the eyes or skin.
WARNING
Electrical voltage!
Electrical voltage can cause severe injury or death.
■
■
■
■
■
WARNING
Dangerous equipotential bonding currents!
Improper grounding can lead to dangerous equipotential bonding currents, which may
in turn lead to dangerous voltages on metallic surfaces, such as the housing. Electrical
voltage can cause severe injury or death.
■
■
■
Work on electrical systems must only be performed by qualified electricians.
The power supply must be disconnected when attaching and detaching electrical
connections.
The product must only be connected to a voltage supply as set out in the require‐
ments in the operating instructions.
National and regional regulations must be complied with.
Safety requirements relating to work on electrical systems must be complied with.
Work on electrical systems must only be performed by qualified electricians.
Follow the notes in the operating instructions.
Install the grounding for the product and the system in accordance with national
and regional regulations.
2.7 Laser safety
Whenever a laser module is used in combination with a 3D camera, the camera is con‐
sidered to be a part of a laser system. This system has to incorporate additional safety
features, depending on the applicable laser class. Refer to the safety instructions of the
manufacturer of the used laser module.
WARNING
When a SICK device is used in combination with a laser, all requirements for laser prod‐
ucts and laser systems according to the laser safety standards EN/IEC 60825–1 and
21 CFR 1040.10/11 must be fulfilled.
10
O PE R AT I NG IN S TR U CT I ON S | Ranger3 8020774/14IM/2019-07 | SICK
Subject to change without notice
3 Product description
3.1 Introduction
Ranger3 is a high-speed 3D camera intended to be the vision component in a machine
vision system. Ranger3 makes measurements on the objects that pass in front of the
camera, and sends the measurement results to a PC for further processing. The mea‐
surements can be started and stopped from the PC, and triggered by encoders and
photoelectric switches in the vision system.
The main function of Ranger3 is to measure 3D shape of objects by the use of laser
line triangulation. This can be used for example for generating 3D images of the object,
for size rejection or volume measurement, or for finding shape defects. In the image
below, the colors represent depth.
PRODUCT DESCRIPTION 3
Figure 1: Example of 3D image
3.2 Measuring with a 3D camera
Each time the 3D camera makes a measurement, it measures along a cross-section of
the object in front of it. The result of a measurement is a profile, containing one value
for each measured point along the cross-section – for example the height of the object
along its width.
For the camera to measure an entire object, the object (or the camera and lighting)
must be moved so that the camera can make a series of measurements along the
object. The result of such a measurement is a collection of profiles, where each profile
contains the measurement of a cross-section at a certain location along the transporta‐
tion direction.
8020774/14IM/2019-07 | SICK O P ER A TI N G I NS T RU C TI O NS | Ranger3
Subject to change without notice
11
3 PRODUCT DESCRIPTION
Figure 2: Measuring the range of a cross-section of an object
1
2
3
4
5
Transportation direction
X (width)
Y (negative transport direction)
Z (range)
Profiles
3.3
Hardware description
3.3.1 Sensor
By default, the range measurement values from the camera are not calibrated – that is:
X and Z (range) coordinates are represented by column and row positions on the
•
sensor, instead of real world positions and distances.
Y coordinates are represented for example by the sequence number of the mea‐
•
surement, or by the encoder value for when the profile was captured.
In a machine vision system, the Ranger3 camera acts as a data streamer. It is con‐
nected to a PC through a Gigabit Ethernet network. The camera sends the profiles to
the computer, and the computer runs a custom application that retrieves the profiles
and processes the measurement data in them.
Before the camera can be used in a machine vision system, the following needs to be
done:
Find the right way to mount the camera and lighting.
•
Configure (and optionally calibrate) the camera to make the proper measure‐
•
ments.
Write the application that retrieves and processes the profiles sent from the cam‐
•
era.
For more information about 3D measurements, see "Range (3D) measurement",
page 78.
12
The Ranger3 camera is based on a unique SICK CMOS sensor which has a 2D pixel
matrix, row-parallel AD-converters, and a processor architecture that enables image
processing directly on the sensor. The technology is called ROCC, which means Rapid
On-Chip Calculation. For technical details, see "Technical data", page 71.
O PE R AT I NG IN S TR U CT I ON S | Ranger3 8020774/14IM/2019-07 | SICK
Subject to change without notice
3.4 Standards
3.4.1 GenICam™
3.4.2 GigE Vision®
PRODUCT DESCRIPTION 3
Ranger3 complies with the GenICam™ and the GigE Vision® standards.
GenICam™ is a standard that provides a generic programming interface for different kinds of cameras and devices. The standard is owned by EMVA (European Machine Vision Association) and consists of multiple modules. Ranger3 complies with the follow‐ ing modules:
GenApi Application programming interface (API) for configuring the cam‐
era.
Standard Feature Naming
Convention (SFNC)
GenTL Transport layer interface for grabbing images.
GenTL SFNC Standardized names and types for transport layer interface.
For further information, see www.emva.org/standards-technology/genicam/.
GigE Vision® is a camera interface standard that is based on the Gigabit Ethernet com‐
munication protocol. The GigE Vision® standard is owned by AIA (Automated Imaging
Association).
Standardized names and types for common device features.
For further information, see https://www.visiononline.org/vision-standards.cfm.
8020774/14IM/2019-07 | SICK O P ER A TI N G I NS T RU C TI O NS | Ranger3
Subject to change without notice
13
4 TRANSPORT AND STORAGE
4 Transport and storage
4.1 Transport
For your own safety, please read and observe the following notes:
NOTICE
Damage to the product due to improper transport.
■
The device must be packaged for transport with protection against shock and
damp.
■
Recommendation: Use the original packaging as it provides the best protection.
■
Transport should be performed by trained specialist staff only.
■
The utmost care and attention is required at all times during unloading and trans‐
portation on company premises.
■
Note the symbols on the packaging.
■
Do not remove packaging until immediately before you start mounting.
4.2
Unpacking
■
Before unpacking, it may be necessary to equalize the temperature to protect the
device from condensation.
■
Handle the device with care and protect it from mechanical damage.
■
Remove the protective caps on the electrical connections immediately before con‐
necting the connecting cable to prevent dirt and water from entering.
4.3 Transport inspection
Immediately upon receipt in Goods-in, check the delivery for completeness and for any
damage that may have occurred in transit. In the case of transit damage that is visible
externally, proceed as follows:
■
Do not accept the delivery or only do so conditionally.
■
Note the scope of damage on the transport documents or on the transport com‐
pany's delivery note.
■
File a complaint.
NOTE
Complaints regarding defects should be filed as soon as these are detected. Damage
claims are only valid before the applicable complaint deadlines.
4.4 Storage
14
Store the device under the following conditions:
■
Recommendation: Use the original packaging.
■
Electrical connections are provided with protective caps and plugs (as they are on
delivery).
■
Do not store outdoors.
■
Store in a dry area that is protected from dust.
■
So that any residual damp can evaporate, do not package in airtight containers.
■
Do not expose to any aggressive substances.
■
Protect from sunlight.
■
Avoid mechanical shocks.
O PE R AT I NG IN S TR U CT I ON S | Ranger3 8020774/14IM/2019-07 | SICK
Subject to change without notice
TRANSPORT AND STORAGE 4
■
Storage temperature: see "Technical data", page 71.
■
For storage periods of longer than 3 months, check the general condition of all
components and packaging on a regular basis.
8020774/14IM/2019-07 | SICK O P ER A TI N G I NS T RU C TI O NS | Ranger3
Subject to change without notice
15
1
MOUNTING
5
5 Mounting
5.1 Mounting instructions
Observe the technical data.
•
To prevent condensation, avoid exposing the device to rapid changes in tempera‐
•
ture.
The mounting site has to be designed for the weight of the device.
•
It should be mounted so that it is exposed to as little shock and vibration as possi‐
•
ble. Optional mounting accessories are available, see "Accessories", page 75.
Protect the device from moisture, contamination, and damage.
•
A sufficient level of cooling using ambient air/convection and/or heat dissipation
•
through mechanical mounting must be ensured. Observe the permitted operating
temperature, see "Technical data", page 71.
5.2 Required parts
You need the following parts to get started with Ranger3:
Ranger3 camera.
•
PC with a network interface card (NIC) that supports Gigabit Ethernet. For informa‐
•
tion about requirements, see "Recommended network card settings", page 83.
Ethernet cable for Gigabit Ethernet, with M12 connector for the camera.
•
Power supply.
•
Line-projecting laser.
•
5.3
Mounting the camera
When measuring range, the camera is used together with a line-projecting laser that
illuminates the cross-section of the object to be measured. The camera and the laser
are mounted so that the laser illuminates the object from one direction, and the cam‐
era views the object from another direction.
The laser line must be orthogonal to the movement direction of the object. Also mount
the camera so that the camera does not tilt sideways compared to the laser line, see
the figure below. This makes the laser line appear along the rows of the sensor in the
camera.
Figure 3: Correct (left) and incorrect (right) mounting of the camera
Laser line
1
16
For best result it is important to shield out direct sunlight and other disturbing light from
the field of view. It is recommended to use an optical band-pass filter to reduce ambi‐
ent light.
O PE R AT I NG IN S TR U CT I ON S | Ranger3 8020774/14IM/2019-07 | SICK
Subject to change without notice
It is also important to select a lens that is suitable for the field-of-view in which the cam‐
era should measure. Select a high-quality 1" C-mount lens that gives sharp images and
low distortion, as this can be essential for achieving a successful vision application.
If needed, you can mount a protective cover that makes the camera compliant with
IP65 and IP67. For available brackets, filters, lenses, and protective cover, see "Acces‐
sories", page 75.
Exactly how to mount the camera and the laser depends on a whole number of factors.
For more information, see "Range (3D) measurement", page 78.
5.3.1 Mounting an optical filter or a Scheimpflug adapter
On delivery, there is a dummy filter in the camera to protect the sensor. When you
mount an optical filter or a Scheimpflug adapter, you remove the dummy filter so that
the sensor is unprotected. Make sure to be in a dust-free environment and pay special
attention to cleanliness.
Mounting an optical filter
1. Use the provided tool and remove the dummy filter.
2. Mount the optical filter.
NOTICE
Do not remove the dummy filter without mounting another filter.
MOUNTING 5
Using the camera without a filter can damage the sensor.
•
The distance from the lens to the image sensor is adapted to the thickness of
•
the optical filter. Without a filter, the focusing of the lens may not work prop‐
erly.
8020774/14IM/2019-07 | SICK O P ER A TI N G I NS T RU C TI O NS | Ranger3
Subject to change without notice
17
6 ELECTRICAL INSTALLATION
6 Electrical installation
6.1 Wiring notes
NOTE
Preassembled cables can be found online at:
www.sick.com/Ranger3
•
NOTICE
Faults due to incorrect wiring.
Incorrect wiring may result in operational faults.
■
Follow the wiring notes precisely.
We recommend using shielded cables.
Connect the connecting cables in a de-energized state. Switch on the supply voltage
only after complete installation/connection of all connecting cables to the device and
control system.
6.2 Security
WARNING
Risk of injury and damage caused by electrical current!
As a result of equipotential bonding currents between the device and other grounded
devices in the system, faulty grounding of the device can give rise to the following dan‐
gers and faults:
■
Dangerous voltages are applied to the metal housings.
■
Devices will behave incorrectly or be destroyed.
■
Cable shielding will be damaged by overheating and cause cable fires.
Remedial measures
■
Only skilled electricians should be permitted to carry out work on the electrical sys‐
tem.
■
If the cable insulation is damaged, disconnect the voltage supply immediately and
have the damage repaired.
■
Ensure that the ground potential is the same at all grounding points.
■
Where local conditions do not meet the requirements for a safe earthing method,
take appropriate measures (e.g., ensuring low-impedance and current-carrying
equipotential bonding).
Only skilled electricians with appropriate training and qualifications are permitted to
perform electrical installation. Observe the following safety measures:
18
Standard safety requirements must be met when working in electrical systems.
•
Only connect and disconnect electrical connections when there is no power to the
•
system. Otherwise, the devices may be damaged.
Use only shielded cables. The shield has to be terminated at both ends of the
•
cable.
Ensure that loose cable ends are isolated.
•
Connect unused pins to GND.
•
Wire cross sections of the supply cable from the customer's power system should
•
be designed and protected in accordance with the applicable standards.
O PE R AT I NG IN S TR U CT I ON S | Ranger3 8020774/14IM/2019-07 | SICK
Subject to change without notice
Make sure that the Power-I/O cable is protected by a separate slow-blow fuse with
•
a maximum rating of 2.0 A. This fuse must be located at the start of the supply
circuit.
The 24 V power supply must meet the requirements of SELV+LPS relating to "UL/
•
EN60950-1:2014-08", or ES1 according to "EN/UL62368", or "CAN/CSA-C22.2
No 223-M91(R2008)-Power supplies with Extra-Low-Voltage class 2 outputs", or
"UL1310 (6th Edition)-standard for class 2 power units".
All circuits connected to the device must be designed as ES1 circuits (according to
•
EN/UL62368) or as SELV (Safety Extra Low Voltage) circuits (according to EN/
UL60950).
6.3 Connecting the camera
NOTICE
Never connect any signals while the camera is powered.
•
Never connect a powered Power-I/O terminal or powered I/O signals to a camera.
•
NOTICE
Never connect a powered encoder interface unit to a camera.
•
Never connect signal levels that exceed the input specification to the encoder
•
inputs.
ELECTRICAL INSTALLATION 6
Failure to follow these rules can damage the camera.
NOTE
The function of the camera is not tested and guaranteed for Power I/O cables longer
than 10 meters.
NOTE
Use only shielded cables. The shield has to be terminated at both ends of the cable.
There are two connectors on the back of the camera: Gigabit Ethernet (GigE) and Power
I/O (see figure 4, page 20).
To prepare the camera for operation, do as follows:
1. Remove the protection caps that cover the connections for Gigabit Ethernet (GigE)
and Power I/O.
2. Connect the Ethernet cable to the GigE connector on the camera. Connect the
other end of the Ethernet cable to the Network Interface Card (NIC) in the PC.
3. Connect the connecting module to the Power I/O connector on the camera.
4. Connect the unpowered power supply to the connecting module.
5. Connect the laser to its power supply.
6. Switch on the power to the system.
For more information on how to connect I/O signals to the camera, see the following
sections:
Electrical connections
•
Connecting encoders
•
6.4
8020774/14IM/2019-07 | SICK O P ER A TI N G I NS T RU C TI O NS | Ranger3
Subject to change without notice
Electrical connections
There are two connectors and four LEDs on the back plate of Ranger3.
19
3
1
7
2
6
5
4
8
13
14
17
15
9
10
12
16
11
6 ELECTRICAL INSTALLATION
Figure 4: Back plate of the Ranger3 device
Power I/O connector
Table 2: Power I/O connector, 17 pin
Pin Signal Description
1 GND Power/signal ground
2 POWER SUPPLY Power supply DC 24 V +/-20%
3 - Not connected
4 - Not connected
5 ENC IN A+ Encoder Input A+
Default: RS422 TTL
6 ENC IN A- Encoder Input A-
Default: RS422 TTL
7 - Reserved
8 - Reserved
9 - Not connected
10 FRAME TRIGGER IN 24 V Frame trigger input or configurable 24 V Input/Output
Default: Frame trigger input
11 ENC IN B+ Encoder Input B+
Default: RS422 TTL
12 ENC IN B- Encoder Input B-
Default: RS422 TTL
13 LASER STROBE OUT1
20
O PE R AT I NG IN S TR U CT I ON S | Ranger3 8020774/14IM/2019-07 | SICK
14 LASER STROBE OUT2
1
5 V trigger output for Laser or Strobe
1
5 V trigger output for Laser or Strobe
Subject to change without notice
1
7
2
6
54
3
8
ELECTRICAL INSTALLATION 6
Pin Signal Description
15 LINE TRIGGER IN
16 I/O 3
17 I/O 4
1
1
1
Not connected for article number 1083672
Notes
Make sure, that at all times, the voltage at the I/O pins is lower or equal to the
•
voltage at the supply pins. If not, you risk to power on the camera through the I/O
pins although it is turned off (V supply = 0 V), which is strictly forbidden.
When using a single-channel encoder, connect it to Encoder Input A+/A- (pin 5
•
and 6)
Table 3: Signal levels for Power I/O connector
Signal Pins Low High Remark
24 V inputs 10, 15, 16,170... 9 V 12.5... V_Supply Pulldown: 22.5
TTL 5, 6, 11, 12 0... +0.8 V +2 V... V_Supply RC-termination,
24 V outputs 16, 17 Output type:
5 V outputs 13, 14 Output type:
1
24 V Line trigger input or configurable 24 V Input/Output
Default: Line trigger input
Encoder reset input or configurable 24 V Input/Output
Default: Encoder reset
Configurable 24 V Input/Output
kΩ
112 Ω / 340 pF
Push-pull.
Max output cur‐
rent: 100 mA
Push-pull.
GigE connector
Table 4: GigE connector, 8 pin
Pin Signal
1 GETH L1+
2 GETH L1-
3 GETH L2+
4 GETH L2-
5 GETH L4+
6 GETH L4-
7 GETH L3-
8 GETH L3+
LED definitions
Table 5: LED definitions
Indicator LED Color Function
On
Green Power ON
O
8020774/14IM/2019-07 | SICK O P ER A TI N G I NS T RU C TI O NS | Ranger3
Subject to change without notice
21
6 ELECTRICAL INSTALLATION
Indicator LED Color Function
State
Link/Data Off No Ethernet connection
Laser
O= illuminated, Ö= flashing
Yellow Booting (slow flashing) or firmware
Ö
upgrade (fast flashing)
Yellow Idle (or acquiring single frames)
O
Green Continuous acquisition
O
Red Thermal warning (risk of overheating)
Ö
Red The device is in rescue mode, due to
O
software problems or overheating.
For more information, see "Rescue
mode", page 68.
Green Connection established, 1 gigabit/s
O
Green Ethernet frames are being transmit‐
Ö
ted or received
Green Laser output active (Not imple‐
O
mented)
22
O PE R AT I NG IN S TR U CT I ON S | Ranger3 8020774/14IM/2019-07 | SICK
Subject to change without notice
7 Configuration
7.1 Software installation
7.1.1 System recommendations
The PC requirements for the vision system will depend on your application, but as a
general guideline the following is recommended for minimal operation:
Windows 7 or Windows 10, 64 bit.
•
Gigabit Ethernet adapter that supports Jumbo Frames and is dedicated for camera
•
communication, see "Recommended network card settings", page 83.
7.1.2 Network preparations
Due to the large amount of data that the camera delivers per second, it is required to
connect it to the PC using a dedicated Gigabit Ethernet network, without other interfer‐
ing traffic. If the PC must be connected to other equipment, for example network print‐
ers, the PC should be equipped with (at least) two network interface cards (NIC).
Multiple cameras can be connected using a NIC with multiple ports, or multiple NICs. To
connect multiple cameras to a single NIC limits the maximum speed of the cameras.
For best performance, connect each camera to a separate NIC.
CONFIGURATION 7
For recommended network settings, see "Recommended network card settings",
page 83.
7.1.3 Installing PC software
The latest version of the Ranger3 software deployment kit (SDK) can be downloaded
from the SICK Support Portal, supportportal.sick.com.
1. Log in to the SICK Support Portal.
2. Navigate to the Ranger3 product page.
3. Under Releases, click the link corresponding to the latest version of the Ranger3
SDK.
4. Download the SDK zip file.
5. Unzip the SDK and follow the instructions in the README.txt file.
The SDK contains the Ranger3 Studio software application, which is used for the con‐
figuration and operation procedures described in this manual. To start the application,
open the Ranger3 Studio sub-folder and click the Ranger3 Studio.exe file.
7.2 Concepts
The GenICam™ standard uses "feature" as a common word for parameters, com‐
mands, and selectors.
7.2.1 Selectors
In a GenICam™ device, such as Ranger3, selectors are used to access parameters that
are organized in arrays. That is, the selector acts as the index for the affected parame‐
ters. Changing the selector does not change any parameter. A parameter indexed by a
selector is notated ParameterA[SelectorX].
Example: The parameter Width[RegionSelector] sets the width of a region. The value of
RegionSelector decides which region that is manipulated. This means that Width[Region1]
is the width of the region named Region1.
8020774/14IM/2019-07 | SICK O P ER A TI N G I NS T RU C TI O NS | Ranger3
Subject to change without notice
23
7 CONFIGURATION
7.3 Configuring Ranger3
Before the camera can be used in a machine vision system, it has to be configured.
This is usually done by setting up the camera in a production-like environment and eval‐
uate different parameter settings until the result is satisfactory, see "Editing parame‐
ters", page 55.
The following can be specified when configuring the Ranger3:
Regions Where on the sensor to measure and dimensions of the
Exposure time For how long to expose the sensor.
Triggering settings When to make a measurement.
Component-specific settings How to process the measurement result before sending
All this is specified by setting parameters in Ranger3. The parameters, as well as the
selectors and commands, are organized in hierarchical groups. Each group belongs to
one of the following categories1):
DeviceControl Contains the features related to the control and informa‐
ImageFormatControl Contains the features related to the format of the
AcquisitionControl Contains the features related to image acquisition,
DigitalIOControl Contains the digital input and output control features.
TimerControl Contains the Timer control features.
EncoderControl Contains the features related to the usage of quadrature
EventControl Contains the features related to the generation of Event
FileAccessControl Contains the File Access control features.
Scan3dControl Contains the features related to the control of the 3D
ChunkDataControl Contains the features related to the Chunk Data Control.
TestControl Contains the features related to the control of the test
TransportLayerControl Contains the features related to the Transport Layer Con‐
3D output frame.
it to the PC.
tion of the device.
acquired and transmitted images.
including trigger control.
encoders.
notifications by the device.
scan features.
features.
trol (Gigabit Ethernet).
7.4 Regions
There are two types of regions:
It is possible to define multiple regions for both 2D and 3D. In different device versions
different number of sensor and extraction regions are possible. Typically, you use at
least one sensor region for imaging and one sensor and extraction region pair for 3D
profiling purposes. You use the selector RegionSelector to select the region you want to
view and manipulate parameters from, see "Selectors", page 23.
1)
According to GenICam™ SFNC version 2.4.
24
O PE R AT I NG IN S TR U CT I ON S | Ranger3 8020774/14IM/2019-07 | SICK
Sensor regions
RegionSelector = Region0, Region1
Extraction regions
RegionSelector = Scan3dExtraction1
Defines the sensor image dimensions and
readout conditions, see "Sensor regions",
page 25.
Defines the processing and formatting condi‐
tions of the generated 3D linescan output
data, see "Extraction regions", page 25.
Subject to change without notice
7.4.1 Sensor regions
OffsetY
OffsetX
Width
Height
Y
X
(0, 0)
Width[Region0]
Height[Region0]
Height[Region0]
Width[Region0]
CONFIGURATION 7
Data from the sensor is used as standard 2D image output and as input to the calcula‐
tion of the 3D data. The sensor region that is used when viewing the 2D intensity image
(Region0) and the sensor region used as input to the processing module (Region1) are
defined independently of each other.
The sensor region defines which area of the sensor to use. Using a smaller region on
the sensor enables measurements at a higher rate. The region is specified by the para‐
meters OffsetX, OffsetY, Width, and Height as shown in the figure below. The resulting
image generated by the device will have Width times Height pixels. OffsetX and OffsetY are
given with respect to the upper left corner of the image area. This corner has the coordi‐
nates (0,0) in the imager (x, y) coordinate system. All measures are given in pixels.
NOTE
In GenICamTM devices, such as Ranger3, imager coordinates are defined as (x,y). In
more general terms, image sensor coordinates are usually defined as (u,v), see "Sensor
coordinate system", page 82.
Figure 5: Image area and 2D region
The 2D intensity image is based on the sensor region Region0, see the figure below.
Figure 6: 2D image
7.4.2 Extraction regions
The extraction region (Scan3dExtraction1) uses input from a sensor region (Region1).
Together with a processing module, the extraction region defines the processing and
8020774/14IM/2019-07 | SICK O P ER A TI N G I NS T RU C TI O NS | Ranger3
Subject to change without notice
formatting conditions of the generated 3D linescan output data.
25
3D extraction
processing
module
1
Height[Scan3dExtraction1]
Width[Scan3dExtraction1]
Height[Region1]
Width[Region1]
7 CONFIGURATION
Figure 7: 3D image
3D extraction processing module
1
In Linescan 3D mode, the Height and Width parameters of the region Scan3dExtraction1
define the dimensions of the 3D extraction output frame. Typically, the Width parameter
of an extraction region is locked to the same value as the Width of the source region on
the sensor.
To get a 3D image, several 2D images are required. Each 2D image corresponds to one
profile, see "Measuring with a 3D camera", page 11. The 2D sensor images are trans‐
formed into lines in the 3D extraction output frame. Each line in the frame corresponds
to one 2D image. This means that the Height value of the frame tells how many 2D
images that are used to generate the resulting 3D image. The 3D image has Width times
Height pixels.
The RangeAxis parameter defines how the lines in the 3D extraction output frame are
visualized. The parameter is set to Reversed by default, which means that high values in
the range data correspond to low values on the imager Y axis. If the parameter is set to
Standard, high range values correspond to high values on the imager Y axis and the visu‐
alized 3D object appears upside down. See figure 8 and figure 9 for examples.
Figure 8: RangeAxis set to Reversed
7.4.3 Device scan type
The camera can be configured to output either the raw data from the image sensor or
the 3D profile data. In the user interface, you select Image to see the raw sensor data as
a 2D image or Data collection to get the 3D profile data, see "Workflow steps", page 48.
The camera uses the parameter DeviceScanType to control if 2D images or 3D profiles
are acquired. This parameter is set when you select Image or Data collection. Setting the
DeviceScanType automatically sets the relevant features for the correct mode, as
described below.
Image
Figure 9: RangeAxis set to Standard
26
O PE R AT I NG IN S TR U CT I ON S | Ranger3 8020774/14IM/2019-07 | SICK
DeviceScanType is set to Areascan.
The following settings are done automatically:
RegionMode[Region0] = On
RegionMode[Region1] = Off
RegionMode[Scan3dExtraction] = Off
Subject to change without notice
Data collection
DeviceScanType is set to Linescan3d.
The following settings are done automatically:
RegionMode[Region0] = Off
RegionMode[Region1] = On
RegionMode[Scan3dExtraction] = On
7.4.4 Maximum buffer size
The maximum size for an image buffer to be sent from Ranger3 to the host PC is
around 40 MB, and the maximum supported buffer height is 16383 profiles. The limit
is due to the limited GigE Vision retransmission buffer memory in the device.
The maximum buffer height (Height[Scan3dExtraction1]) depends on the data format, the
region width (Width[Region1]) and the number of enabled components (e.g. reflectance,
see "Reflectance data", page 30). For example: With default settings, the maximum
Height is about 11000 profiles. When reflectance is enabled, the maximum Height
decreases to about 7000 profiles.
If the buffer size is maximized, the camera may block user actions that further increase
the size. Examles of such actions are:
CONFIGURATION 7
Enabling another component, such as reflectance
•
Increasing the bit-depth of a pixel format
•
Increasing the region width
•
The user must decrease the buffer size to make the blocked actions available again.
This is done by changing the data format, decreasing the region width or decreasing the
number of enabled components.
7.5 Exposure time and measurement speed
Once the height of the sensor region is set, there are two other parameters that affect
the line rate of the camera:
AcquisitionLineRate The rate at which the lines in a frame are captured (Hz). Only
applicable when the camera is in free-running mode.
ExposureTime The time (μs) during which the sensor region is exposed.
The exposure time and the line rate are inter-dependent. The maximum exposure time
cannot be longer than the time between two profiles, minus about three microseconds
that are needed for readout and reset.
NOTE
The maximum exposure time and the maximum line rate are stored as floating point
values and rounding-off effects may make it impossible to set the exact value returned
by the GUI. The maximum deviation is 0.01 μs for the exposure time and 0.01 Hz for
the line rate.
7.6 Laser strobe output signals
The camera has two laser strobe output signals, LASER STROBE OUT1 and LASER STROBE
OUT2, see "Electrical connections", page 19. These signals are individually controlled
and can be used to control two separate lasers. You can use the signal to turn the laser
on only when it is needed, for example when two separate cameras and lasers are used
at the same time.
8020774/14IM/2019-07 | SICK O P ER A TI N G I NS T RU C TI O NS | Ranger3
Subject to change without notice
27
Loading...