SICK Ranger3 Operation Instructions Manual

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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.

Original document

This document is an original document of SICK AG.

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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

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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

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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

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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

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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.

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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.

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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

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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

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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.

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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.

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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.

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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.

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.

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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.

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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

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.

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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.

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MOUNTING

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

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.

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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.

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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:

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.

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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

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Electrical connections

There are two connectors and four LEDs on the back plate of Ranger3.

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

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14 LASER STROBE OUT2

5 V trigger output for Laser or Strobe

Subject to change without notice

ELECTRICAL INSTALLATION 6

Pin Signal Description

15 LINE TRIGGER IN

16 I/O 3

17 I/O 4

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:

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

Green Power ON

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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

upgrade (fast flashing)

Yellow Idle (or acquiring single frames)

Green Continuous acquisition

Red Thermal warning (risk of overheating)

Red The device is in rescue mode, due to

software problems or overheating. For more information, see "Rescue

mode", page 68.

Green Connection established, 1 gigabit/s

Green Ethernet frames are being transmit‐

ted or received

Green Laser output active (Not imple‐

mented)

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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.

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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.

According to GenICam™ SFNC version 2.4.

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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

(0, 0)

Width[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

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formatting conditions of the generated 3D linescan output data.

3D extraction

processing

module

Height[Scan3dExtraction1]

Width[Scan3dExtraction1]

Height[Region1]

Width[Region1]

7 CONFIGURATION

Figure 7: 3D image

3D extraction processing module

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

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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.

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TimerDuration

LineStart

LaserStrobeOut

SensorTrigger

ExposureTime

Intensity 1

ROI start 4

ROI end 3

Sensor row 2

7 CONFIGURATION

In the figure below, the laser is turned on slightly before the sensor exposure time starts. The reason for this is to allow turn-on time. When the exposure is finished, the laser is turned off.

The LineStart trigger signal from the encoder is used as a reference. The TimerDelay para‐ meter sets the delay time (t1-t0) from the LineStart signal (t0) until the laser is turned on. The TimerDuration parameter defines for how long the laser is on. When TriggerSelector is set to ExposureStart, the TriggerDelay parameter sets the delay time (t2-t0) from the LineStart signal until the exposure starts.

The maximum time (in seconds) between two LineStart signals is 1/(maximum Acquisi‐ tionLineRate). The higher the line rate, the shorter the cycle time.

Figure 10: Laser is on only during exposure

7.7

3D profiling

7.7.1 Laser impact position on the sensor

The basic function of the 3D measurements is to compute the impact position of the laser line for all columns of the selected region of interest (ROI). The light intensity dis‐ tribution from the laser line along a sensor column across the laser line can be described as in the figure below.

Figure 11: The impact position of the laser in one column

Intensity

Sensor row

ROI end

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ROI start

Intensity 1

ROI start 4 ROI end 3

Sensor row 2

DetectionThreshold

The laser line will produce a distinct light peak distributed over a number of pixels along the sensor column. The center of this peak will be defined as the impact position of the laser line on that sensor column, which is the range value.

7.7.2 Measurement method

The default algorithm in Ranger3 is called Hi3D. It measures the impact position using a high-resolution peak fitting algorithm based on the pixels in a window around the extracted intensity peak position. The size of the window is set by the WAMSize parame‐ ter.

This method measures range with a resolution of 1/16th pixel.

7.7.3 Detection threshold

The parameter DetectionThreshold defines the minimum reflectance signal that can be detected as a peak position. Ideally, this parameter is set to a value that is higher than the amplitude of the noise, but still low enough to detect the laser signal, see the figure below. If DetectionThreshold is too low, noise will be registered as laser peaks. This will result in bad image quality. If DetectionThreshold is too high, not all laser peaks will be registered. This will result in an image where some parts are missing.

CONFIGURATION 7

Figure 12: Analog signal with noise

Intensity

Sensor row

ROI end

ROI start

Detected peak

Not detected peaks

7.8 3D data formats

The 3D data is delivered with 4 subpixel bits resolution. The data can be represented with 12 or 16 bits. 12 bits allows a higher scan rate given the limitations of the Gigabit Ethernet link. For 12 bits a maximum region height of 256 rows can be represented. Any data outside of this is clipped/limited to the maximum value.

The pixel value 0 is dedicated to represent missing data, i.e. that no valid peak was

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found. This means that the lowest value possible is 0.0625 (1/16th).

The coordinate system of the data is independent of the region position. That is, the value 0.0625 always represents a position 1/16th of a pixel from the start of the region. If a buffer is saved to file, the offsetY information is stored in the XML descrip‐ tion so that the actual position on the sensor can be calculated.

Light intensity 2

Pixel value 1

Maximum pixel value

7 CONFIGURATION

According to the GenICam™ and GigE Vision® standards, 3D data should be repre‐ sented using coordinate pixel formats. For Ranger3, these formats are Coord3d_C12p and Coord3d_16. To allow a receiver that is not compatible with those new formats, the binary compatible grayscale formats mono_12p and mono_16 can be used.

7.9 Reflectance data

The reflectance values along the laser line can be collected in parallel to the 3D data. The reflectance values are saved as an 8-bit grayscale image, with one value corre‐ sponding to each point in the range dataset.

For information about how to enable reflectance measurements, see "Enabling

reflectance measurements", page 58.

7.10 High dynamic range (HDR) imaging

Ranger3 supports high dynamic range (HDR) imaging, which increases the sensor's ability to adequately reproduce both bright and dark areas in a scene. HDR is suitable for improving the localization of the laser line when acquiring images containing both dark and bright materials, such as bright objects towards a dark background or dark objects with bright prints.

Figure 13: Acquisition of profiles

Figure 14: Resulting profile, linear (non-HDR) mode

Figure 15: Resulting profile, HDR mode

Ranger3 uses an HDR principle called multiple-slope with one knee-point, which means that the normal linear relationship between the received light and the resulting pixel value (reflectance) is broken into two linear segments. The result is a compressed lightto-pixel value characteristic for high light intensities, according to figure 16.

Figure 16: HDR multiple-slope principle

Pixel value

Light intensity

Maximum pixel value

Linear (non-HDR) mode

HDR mode

Knee-point

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0 500 1000 1500 2000 2500 3000 3500

Light intensity 2

Pixel value 1

100

150

200

250

5 6

CONFIGURATION 7

The knee-point position and the slope after the knee-point are controllable by the Multi‐ SlopeMode parameter in the camera. There are three pre-defined parameter settings (soft, medium and aggressive) which correspond to different amounts of compression. These settings result in a dynamic range increase of approximately 2, 6 and 15, respec‐ tively. See figure 17.

Figure 17: HDR settings for Ranger3

Pixel value

Light intensity

Linear (non-HDR) mode

Soft pre-set

Medium pre-set

Aggressive pre-set

In HDR mode, the sensor readout must be finished before a new exposure can start. The minimum cycle time is the sum of the exposure time and the readout time. In linear mode, the sensor readout and a new exposure can be done in parallel.

For example: If the readout time is 33 μs and the exposure time is 30 μ, the total cycle time is 33 μs for linear mode and 63 μs for HDR.

For information about how to enable HDR imaging for Ranger3, see "Enabling HDR

imaging", page 59.

7.11

Triggering

Triggering is used to control the initiation and rate of data acquisition. Different trigger‐ ing concepts and modes are presented below.

See "Setting triggering parameters", page 60 for information about how to activate triggering and set the parameters in the user interface.

7.11.1 3D triggering concepts

Different application types require different triggering concepts. Below is a table of the most common triggering situations.

Continuous flow No photoelectric switch is used.

Profiles are sent continuously to the PC, typically arranged in frames of at least a few hundred pro‐ files. Examples: Crushed stone, grain, sawdust.

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7 CONFIGURATION

7.11.2 Triggering modes

There are different ways to trigger the camera to acquire frames and profiles. You can use an external signal to trigger each frame or each single profile. The camera can also be configured to acquire frames or profiles with regular time intervals, without an exter‐ nal trigger signal.

Continuous flow of discrete objects

Shorter objects of equal length

Longer objects of variable size

No photoelectric switch is used. Profiles are sent continuously to the PC, typically arranged in frames of at least a few hundred lines. The resulting image buffers in the PC can be ana‐ lyzed in a rolling buffer fashion, ensuring that all objects are analyzed completely. Example: Cookies.

A photoelectric switch is used. One image per object. Examples: Bottles, automotive parts, mobile phones.

A photoelectric switch is used. Acquire profiles as long as the object remains in front of the camera. Several sub-images can be stitched together in the PC. Examples: Logs, fish, postal packages.

Note that when the camera acquires 2D images, a frame is the same thing as a com‐ plete 2D image. When the camera acquires 3D images, each frame is a set of profiles. This means that the acquisition of profiles and the Line triggering concept are only applicable for 3D images, while the 2D image triggering concept is only relevant for 2D images.

Frame triggering The camera will acquire frames based on an external input signal,

for example from a photoelectric switch. The acquisition of profiles can either be free-running or triggered by an input signal, as described in the sections Free-running and

Line triggering below.

Line triggering The camera will acquire each profile based on an external input

signal. There are two possibilities:

Connect an external input signal to the line trigger input of the

•

device. Use an encoder for line triggering. In that case, pulses are

•

received on the encoder inputs. The distance between two profiles is determined by the number of pulses received.

Triggering each profile from an encoder will keep the object pro‐ portions if the object motion, tracked by the encoder, changes. Four-phase encoders also allow tracking different motion pat‐ terns, see "Triggering using an encoder", page 33. The motion pattern is defined by the EncoderOutputMode parameter. When you use the line trigger input, each pulse on the line trigger input triggers one profile. Profiles are triggered when the object is moving either backward or forward. The EncoderOutputMode para‐ meter is not used.

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Free-running The camera will acquire 2D images (in Areascan mode) or profiles

1 3

2D image triggering The camera will acquire 2D images based on external pulses on

7.11.3 Triggering using an encoder

When you use an encoder for triggering, the camera counts the number of pulses received on the encoder inputs using an internal counter. When the specified number of pulses have been received, a profile or a 2D image is triggered and the camera resets the triggering condition counter.

CONFIGURATION 7

(in Linescan3D mode) with a regular time interval. In Areascan mode the time interval is controlled by the AcquisitionFrameRate parameter and in Linescan3D mode by the AcquisitionLineRate parameter. When the acquisition of profiles is free-running, the distance between two profiles varies if the speed of the object is not con‐ stant. This may distort the image. To avoid distortion, you can use an encoder and record the counter value for each profile. This information makes it possible to calculate a correct image.

the encoder inputs. The use of a four-phase encoder allows tracking of different motion patterns. The principles for motion tracking during 2D image triggering are the same as for line triggering, see "Trigger‐

ing using an encoder", page 33.

Four-phase (dual-channel) encoder

The default definition of a pulse is a full four-phase cycle on the encoder inputs. This gives a pulse counter that is robust to jitter and noise on the inputs.

A four-phase encoder can handle movements in both directions (forward and back‐ ward). The camera can be configured to react to the pulses in different ways, resulting in different ways to trigger profiles. The different line triggering modes are illustrated below.

Mode Parameter Description

Position EncoderOut‐

putMode =

PositionUp or Position‐ Down

Direction EncoderOut‐

putMode = DirectionUp or Direction‐ Down

Motion EncoderOut‐

putMode = Motion

Table 6: Triggering modes

The encoder triggers a profile for each object position. If the object has moved backward, no profiles are triggered until the object has moved (at least) an equal distance forward. PositionUp: "Forward" is defined as the positive direction. PositionDown: "Forward" is defined as the negative direction.

The encoder triggers profiles when the object is moving forward. If the object has moved backward, new profiles will be triggered as soon as the object moves forward again. DirectionUp: "Forward" is defined as the positive direction. DirectionDown: "Forward" is defined as the negative direction.

The encoder triggers profiles when the object is moving either backward or forward.

Position

Direction

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0 V

24 V

Height Height Height

Frame trigger signal

Profile acquisition (level sensitive) 2

7 CONFIGURATION

Motion

Single-channel encoder

A single-channel encoder uses only one encoder channel. The input from the encoder to the camera is a differential signal, and a profile is triggered each time the signal goes high.

When a single-channel encoder is used, the camera cannot differentiate between for‐ ward and backward movement. The single-channel encoder mode (EncoderMode = Sin‐ gleChannel) is therefore only visible and selecteable when the EncoderOutputMode (see

table 6) is set to Motion.

7.11.4 Frame triggering

The Frame trigger input is used to trigger the camera to start to acquire profiles when the object passes a photoelectric switch. If the same photoelectric switch is connected to several cameras then synchronization at the microsecond level can be achieved.

When using the Frame trigger input, the Height[Scan3dExtraction1] parameter specifies the number of profiles that the camera acquires after the Frame trigger signal goes high. After the specified number of profiles, the camera will either idle or continue to acquire another series of profiles, depending on the state of the Frame trigger signal and the settings of the acquisition control parameters. See the table and the figure below.

1 Moving forward 2 Moving backward 3 Moving forward again

Parameter settings

TriggerSelector = FrameStart TriggerMode[TriggerSelector] = Off

TriggerSelector = FrameStart TriggerMode[TriggerSelector] = On

The camera acquires profiles continuously.

•

The acquisition of a new series of profiles (that is, captur‐

•

ing of a new frame) starts each time the Frame trigger input has a high level as input. Multiple Frame trigger signals are ignored until all profiles

•

(as specified by Height[Scan3dExtraction1]) have been acquired. Note that for the very first profile the camera requires not

•

only a high level but also a rising edge.

The system adapts the buffer height for the frame grabber and the camera to the Height[Scan3dExtraction1] parameter to keep the image synchronized and receive a full image after the image capture is completed. To avoid unnecessary CPU load, set the Height[Scan3dExtraction1] parameter to no less than 100 pixels.

Figure 18: Timing diagram for Frame trigger signal

Frame trigger signal

Profile acquisition (level sensitive)

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7.12 Chunk data

CONFIGURATION 7

Frame trigger signal rising edge. Acquisition of profiles starts.

Frame trigger signal rising edge. Ignored.

Acquisition complete. Interpretation of Frame trigger signal.

Chunk data are tagged blocks of data, that are sent together with the image data. In Ranger3, chunk data are used to add encoder data to the image data. Each buffer con‐ tains, in addition to the image data, a chunk of meta data. The following meta data are available for each buffer:

The value of the encoder counter for each line in the buffer.

•

The timestamp for each line in the buffer.

•

The height of the buffer.

•

The width of the buffer.

•

7.13

Features

The features that are used for Ranger3 are listed in the following sections (see "Con‐

cepts", page 23 for a definition of a feature). Most of the features comply with GenI‐

Cam™ SFNC. There are also some custom features that are described in separate tables.

The "Type" column defines the data type for a feature. GenICam defines a number of interface classes for SFNC features, where each interface class corresponds to a data type. For example, the interface class "IBoolean" corresponds to the data type "boolean".

The "Visibility" column defines which user that sees a feature in the parameter editor,

see "Parameter editor", page 47. Note that the visibility level of some standard fea‐

tures has been adjusted compared to the recommended setting.

The "Access" column defines if the feature is readable ("R"), writeable ("W"), or both ("RW"). "R(W)" means that for some selector values the feature is both read- and write‐ able, but for other selector values it is just readable. In some cases, the read- and write‐ ability of a certain parameter depends on the model and version of the device.

For further information, including detailed descriptions of the standard parameters, see

www.emva.org/standards-technology/genicam/.

NOTE

There are parameter dependencies both within and between the feature groups, which means that changing the value of one parameter might also change the value of others.

Examples:

The maximum AcquisitionLineRate value depends on the Height value (a larger num‐

•

ber of rows gives a lower maximum speed). The maximum ExposureTime value depends on the AcquisitionLineRate value (see

•

"Exposure time and measurement speed", page 27)

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7 CONFIGURATION

7.13.1 Device control

Table 7: Device control standard SFNC selector

Selector Type Description Visibility

DeviceTemperatureSelector enum Selects the location within the device, where the tem‐

perature will be measured.

Values:

Sensor, SensorBoard, MainBoard, ZpmSoc, Zpm1, Zpm2, Zpm3, Zpm4, Filter

Table 8: Device control standard SFNC parameters

Parameter Type Description Visibility Access

DeviceScanType enum Scan type of the sensor of the device.

Ranger3 uses this parameter to control if 2D images (Areascan) or 3D profiles (Linescan3D) are acquired. Changing the DeviceScanType automatically sets the rele‐ vant device features for the selected mode. see "Device

scan type", page 26 for details.

Values:

Areascan Linescan3d

DeviceVendorName string Name of the manufacturer of the device. Expert R

DeviceModelName string Model of the device. Expert R

DeviceVersion string Version of the device.

Used to note hardware version.

DeviceFirmwareVersion string Version of the firmware in the device. Expert R

DeviceManufacturerInfo string Manufacturer information about the device. Expert R

DeviceSerialNumber string Device's serial number. Expert R

DeviceUserID string User-programmable device identifier. Beginner RW

DeviceSFNCVersionMajor int Major version of the Standard Features Naming Con‐

vention that was used to create the device's GenICam XML.

DeviceSFNCVersionMinor int Minor version of the Standard Features Naming Con‐

vention that was used to create the device's GenICam XML.

DeviceSFNCVersionSubMinor int Sub minor version of Standard Features Naming Con‐

vention that was used to create the device's GenICam XML.

DeviceTLType enum Transport Layer type of the device.

Values:

GigEVision

DeviceTLVersionMajor int Major version of the Transport Layer of the device. Expert R

DeviceTLVersionMinor int Minor version of the Transport Layer of the device. Expert R

DeviceTLVersionSubMinor int Sub minor version of the Transport Layer of the device. Expert R

DeviceLinkThroughputLimit int Limits the maximum bandwidth of the data that will be

streamed out by the device on the selected Link.

DeviceLinkHeartbeatTimeout int Controls the current heartbeat timeout of the specific

link. A high link heartbeat timeout can be useful when debugging PC application code. The time (in ms) is the timeout before the device returns the Access Status to "Open" and disconnects from the current host.

Beginner

Expert R(W)

Expert R

Guru RW

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CONFIGURATION 7

Parameter Type Description Visibility Access

DeviceRegistersValid bool Returns if the current register set is valid and consis‐

tent. Updated after the DeviceRegistersStreamingEnd com‐ mand.

DeviceTemperature[DeviceTem‐

float Device temperature in degrees Celsius (C). Beginner R

peratureSelector]

Table 9: Device control custom parameters

Parameter Type Description Visibility Access

DeviceRegistersStreamingActive bool True if a registers streaming session is active. Guru R

DeviceTemperatureMin int The minimum temperature ever in degrees Celsius (C)

measured at the location selected by DeviceTempera‐ tureSelector.

DeviceTemperatureMax int The maximum temperature ever in degrees Celsius (C)

measured at the location selected by DeviceTempera‐ tureSelector.

DeviceCurrentBootPath enum The booted software path, i.e., bootloader, kernel, appli‐

cation etc. Primary is the normal path and Secondary is used for rescue purposes if the primary path fails.

Values:

Primary Secondary

DeviceNextBootPath enum The boot path that will be used after the next soft

reset1. This is normally set to secondary to boot the res‐ cue version of the system if an unexpected reset occurs.

Values:

Unknown Primary Secondary

DeviceBootCount int Accumulated number of times the device has been

booted.

DeviceOperationTime int Accumulated operation time of the device, in seconds. Beginner RO

A soft reset is an unwanted re-boot of the device.

Table 10: Device control standard SFNC commands

Command Description Visibility Access

DeviceReset Resets the device to its power up state. Guru RW

DeviceRegistersStreamingStart Prepare the device for registers streaming without

checking for consistency. DeviceRegistersStreaming is used when loading and saving a device's configuration to/from file on the host.

DeviceRegistersStreamingEnd Announce the end of registers streaming.

After this command DeviceRegistersValid is updated to reflect the status of the device settings.

Expert R

Beginner RO

Expert R

Guru R

Beginner RO

Guru W

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7 CONFIGURATION

7.13.2 Image format control

Table 11: Image format control standard SFNC selectors

Selector Type Description Visibility

RegionSelector enum Selects the Region of interest to control.

Values:

Region0 Region1 Scan3dExtraction1

ComponentSelector enum Selects a component to activate/deactivate its data

streaming.

Values:

Intensity, Range, Reflectance, Scatter

Table 12: Image format control standard SFNC parameters

Parameter Type Description Visibility Access

ExposureTime[RegionSelector]1float Sets the Exposure time (in μs). Beginner R(W)

Width[RegionSelector] int Width of the image provided by the device (in pixels). Beginner R(W)

Height[RegionSelector] int Height of the image provided by the device (in pixels). Beginner R(W)

OffsetX[RegionSelector] int Horizontal offset from the origin to the region of interest

(in pixels).

OffsetY[RegionSelector] int Vertical offset from the origin to the region of interest

(in pixels).

RegionMode[RegionSelector] enum Controls if the selected region of interest is active and

streaming.

Values:

Off On

ComponentEnable[RegionSelec‐

bool Controls if the selected component streaming is active. Expert RW

tor][ComponentSelector]

PixelFormat[RegionSelector][Com‐ ponentSelector]

enum Format of the pixels provided by the device.

Values:

Mono8, Coord3D_C8, Mono12p, Mono16, Coord3d_C16

TestPattern[RegionSelector][Com‐ ponentSelector]

enum Selects the type of test pattern that is generated by the

device as image source.

Values:

Off GreyHorizontalRampMoving

RegionIDValue[RegionSelector] int The unique identifier value corresponding to the

Region.

ComponentIDValue[ComponentS‐ elector]

According to GeniCam™ SFNC, the ExposureTime parameter belongs to the AcquisitionControl category. Here it is moved to the ImageFormat‐ Control category because it is selected by the RegionSelector parameter.

int The unique identifier value corresponding to the

selected Component type.

Beginner

Expert

Beginner R(W)

Expert R

Expert R(W)

Expert R

Table 13: Image format control custom parameter

Parameter Description Visibility Access

RegionDescription[RegionSelector] Describes the usage of a specific region in the device. Beginner R

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CONFIGURATION 7

7.13.3 Scan 3D control

Table 14: Scan 3D control standard SFNC selector

Selector Type Description Visibility

Scan3dExtractionSelector enum Selects the 3DExtraction processing module to control

(if multiple ones are present).

Value:

Scan3dExtraction1

Table 15: Scan 3D control standard SFNC parameters

Parameter Type Description Visibility Access

Scan3dExtraction‐ Source[Scan3dExtractionSelector]

enum Selects the sensor’s data source region for 3D Extrac‐

tion module. This is hardcoded to a specific sensor region for each extraction module.

Value:

Region1

Scan3dExtraction‐ Method[Scan3dExtractionSelec‐ tor]

enum Selects the method for extracting 3D from the input

sensor data.

Values:

Hi3D

Beginner

Expert R

Expert R(W)

Table 16: Scan 3D control custom parameters

Parameter Type Description Visibility Access

WAMSize[Scan3dExtractionSelec‐ tor]

enum Size of Window Around Maximum (WAM) for high-reso‐

lution peak fitting. Adapt to the laser peak width on the

Beginner RW

sensor.

Values:

Small: size 7 pixels, peak width 2-4 pixels Normal: size 15 pixels, peak width 3-8 pixels (default) Large: size 31 pixels, peak width 7-15 pixels

DetectionThreshold[Scan3dEx‐ tractionSelector]

int Minium reflectance signal that can be detected as a

peak position.

Beginner RW

A higher value reduces detectability of weak peaks (reflections on dark material) and a lower value increases the risk of detected noise peaks. Values 0-255. Default value 20.

SearchMode3D[Scan3dExtrac‐ tionSelector]

enum What peak type(s) to search for.

Values:

Expert RW

GlobalMax FirstLocalMax

SearchDirection[Scan3dExtrac‐ tionSelector]

enum In FirstLocalMax this defines "first" or "last" peak in

Region.

Expert RW

Values:

Standard (increasing rows) Reverse

RangeAxis[Scan3dExtractionSe‐ lector]

enum Defines the direction of the Z-axis when visualizing 3D

data.

Expert RW

Values:

Standard Reverse

ReflectanceFilter bool Speckle reduction smoothing of reflectance. Guru RW

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7 CONFIGURATION

7.13.4 Acquisition control

Table 17: Acquisition control standard SFNC selector

Selector Type Description Visibility

TriggerSelector enum Selects the type of trigger to configure.

Value:

LineStart FrameStart ExposureStart AreaScanFrameStart

Table 18: Acquisition control standard SFNC parameters

Parameter Type Description Visibility Access

AcquisitionMode enum Sets the acquisition mode of the device.

Values:

SingleFrame Continuous

AcquisitionFrameRate float Controls the acquisition rate (in Hertz) at which the

frames are captured. Valid if DeviceScanType is Areascan.

AcquisitionLineRate float Controls the rate (in Hertz) at which the lines in a frame

are captured. Valid if DeviceScanType is Linescan3D and no external line trigger is active.

TriggerMode[TriggerSelector] enum Controls if the selected trigger is active.

Values:

On Off

TriggerSource[TriggerSelector] enum Specifies the internal signal or physical input line to use

as the trigger source. The selected trigger must have its TriggerMode set to On.

Values:

Encoder, FrameTriggerInput, LineStart, LineTrigger‐ Input

TriggerActivation[TriggerSelector] enum Specifies the activation mode of the trigger.

Values:

RisingEdge LevelHigh

TriggerDelay float Specifies the delay (in microseconds) to apply after the

trigger reception before activating it.

MultiSlopeMode[TriggerSelector] enum Increases the dynamic range

Values:

Off, PresetSoft, PresetMedium, PresetAggressive

MultiSlopeKneePointCount int The number of knee-points as well as the number of

additional exposure slopes used for multi-slope expo‐ sure.

Beginner

Beginner RW

Beginner R(W)

Beginner RW

Beginner R

Beginner R(W)

Beginner RW

Expert RW

Table 19: Acquisition control standard SFNC commands

Command

Description Visibility Access

AcquisitionStart Starts the acquisition of the device. Beginner R(W)

AcquisitionStop Stops the acquisition of the device at the end of the

Beginner RW

current frame.

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CONFIGURATION 7

7.13.5 Digital I/O control

Table 20: Digital I/O control standard SFNC selector

Selector Type Description Visibility

LineSelector enum Selects the physical line (or pin) of the external device

connector or the virtual line of the transport layer to configure.

Values:

FrameTriggerInput, LaserStrobe1Output, Laser‐ Strobe2Output

Table 21: Digital I/O control standard SFNC parameter

Parameter Type Description Visibility Access

LineStatus[LineSelector] bool Returns the current status of the selected input or out‐

put line.

LineMode[LineSelector] enum Controls if the physical Line is used to Input or Output a

signal.

Values:

Input Output

LineSource[LineSelector] enum Selects which internal acquisition or I/O source signal

to output on the selected Line. LineMode must be Out‐ put.

Values:

Off LaserStrobe1Timer LaserStrobe2Timer

LineInverter[LineSelector] bool Controls the inversion of the selected input or output

line. The line signal is inverted if checked (i.e. set to true).

Expert

Expert R

Expert RW

7.13.6 Timer control

Table 22: Test control standard SFNC selector

Selector Type Description Visibility

TimerSelector enum Select the laser or sensor trigger output to configure.

Values:

LaserStrobe1Timer LaserStrobe2Timer

Table 23: Test control standard SFNC parameters

Parameter Type Description Visibility Access

TimerDuration[TimerSelector] float Sets the duration (in microseconds) of the Timer pulse. Expert RW

TimerDelay[TimerSelector] float Sets the duration (in microseconds) of the delay to

apply at the reception of an internal trigger before start‐ ing the Timer. The maximum value depends on Acquisi‐

tionLineRate.

TimerTriggerSource[TimerSelector] enum Selects the source of the trigger to start the Timer.

Values:

Off, LineTrigger, GPIO, PulseGenerator

Expert

Expert RW

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7 CONFIGURATION

7.13.7 Encoder control

Table 24: Encoder control standard SFNC parameters

Parameter Type Description Visibility Access

EncoderMode enum FourPhase mode is the standard encoder mode where

the EncoderValue increments on each full four phase sequence which supresses jitter.

Values:

FourPhase SingleChannel

EncoderDivider int Sets how many encoder increment/decrements that

are needed to generate an encoder output pulse signal.

EncoderOutputMode enum Selects the conditions for the encoder interface to gen‐

erate a valid encoder output signal.

Values:

PositionUp, PositionDown, DirectionUp, Direction‐ Down, Motion

EncoderValue int Reads or writes the current value of the position

counter of the selected encoder.

EncoderResetSource enum Selects the signals that will be the source to reset the

Encoder.

Value:

Off

Expert RW

Beginner RW

Expert RW

Expert R

Expert RW

Table 25: Encoder control standard SFNC command

Command Description Visibility Access

EncoderReset Does a software reset of the selected encoder and

starts it. The encoder starts counting events immedi‐ ately after the reset.

Expert W

7.13.8 Event control

Table 26: Event control standard SFNC selector

Selector Type Description Visibility

EventSelector enum Selects which Event to signal to the host application.

Value:

LogMessage

Table 27: Event control standard SFNC parameter

Parameter Type Description Visibility Access

EventNotification[EventSelector] enum Activate or deactivate the notification to the host appli‐

cation of the occurrence of the selected Event.

Values:

Off: The selected Event notification is disabled. On: The selected Event notification is enabled.

Expert

Expert RW

7.13.9 File access control

Normally, the user must not edit these features. They are only used for firmware update.

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CONFIGURATION 7

Table 28: File access control standard SFNC selectors

Selector Type Description Visibility

FileSelector enum Selects the target file in the device.

Values:

Testfile, Update, CurrentLog, AllCrashLogs, FirmwareUpdateLog

FileOperationSelector enum Selects the target operation for the selected file in the

device.

Values:

Open, Close, Write, Read, Delete

Table 29: File access control standard SFNC parameters

Parameter Type Description Visibility Access

FileAccessOffset[FileSelector] [FileOperationSelector]

FileAccessLength[FileSelector] [FileOperationSelector]

FileOperationStatus[FileSelector] [FileOperationSelector]

FileOperationResult[FileSelector] [FileOperationSelector]

FileOpenMode[FileSelector] enum Selects the access mode in which a file is opened in

FileSize[FileSelector] int The size of the selected file, in bytes. Guru RW

int Controls the Offset of the mapping between the device

file storage and the FileAccessBuffer.

int Controls the Length of the mapping between the device

file storage and the FileAccessBuffer.

enum File operation execution status.

Values:

Success Failure

int File operation result.

For Read or Write operations, the number of success‐ fully read/written bytes is returned.

the device.

Values:

Read Write ReadWrite

Guru

Guru RW

Guru R

Guru RW

Table 30: File access control standard SFNC commands

Command Description Visibility Access

FileOperationExecute[FileSelector][FileOpera‐ tionSelector]

Executes the operation selected by FileOperationSelec‐ tor on the selected file.

Guru RW

7.13.10 Chunk data control

Table 31: Chunk data control standard SFNC parameter

Parameter Type Description Visibility Access

ChunkModeActive bool Activates the inclusion of Chunk data in the payload of

the image.

Beginner RW

7.13.11 Test control

Normally, the user must not edit this feature. It is only intended for standard compli‐ ance testing.

Table 32: Test control standard SFNC command

Command Description Visibility Access

TestEventGenerate Generates a Test Event.

Used for GenICam standard compliance event testing.

Guru RW

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7 CONFIGURATION

Command Description Visibility Access

TestPayloadFormatMode This feature allows setting a device in test mode and to

output a specific payload formatting for validation of data streaming.

TestPayloadType This feature selects the payload type the device will use

for streaming when the TestPayloadFormatMode fea‐ ture is active.

7.13.12 Transport layer control

Normally, the user must not edit these features. Changing them can cause errors.

Table 33: Transport layer control standard SFNC parameters

Parameter Type Description Visibility Access

PayloadSize int Provides the number of bytes transferred for each

image or chunk on the stream channel.

7.13.12.1 GigEVision

Normally, the user do not edit these parameters. Changing them can cause errors.

Table 34: GigEVision control standard SFNC parameters

Parameter Type Description Visibility Access

GevMCPHostPort int Controls the port to which the device must send mes‐

sages.

GevMCDA int Controls the destination IP address for the message

channel.

GevMCTT int Provides the transmission timeout value in millisec‐

onds.

GevMCRC int Controls the number of retransmissions allowed when

a message channel message times out.

GevMC SP int Indicates the source port for the message channel. Guru R

GevSCPHostPort int Controls the port of the selected channel to which a

GVSP transmitter must send data stream or the port fromwhich a GVSP receiver may receive data stream.

GevSCPSPacketSize int Specifies the stream packet size, in bytes, to send on

the selected channel for a GVSPtransmitter (set by negotiation between the device and PC during connec‐ tion) or specifies the maximum packet size supported by a GVSP receiver.

GevSCPD int Controls the delay (in GEV timestamp counter unit) to

insert between each packet for this stream channel. This feature can be used as a crude flow-control mech‐ anism if the application or the network infrastructure cannot keep up with the packets coming from the device.

GevSCDA int Controls the destination IP address of the selected

stream channel to which a GVSP transmitter must send data stream or the destination IP address from which a GVSP receiver may receive data stream.

GevSCSP int Indicates the source port of the stream channel. Guru R

MultiPartSupport bool Manual Enable/Disable of multipart-configuration bit

(25) in SCCFGx register for testing.

GevMACAddress int MAC address of the logical link. Expert R

GevCurrentIPConfigurationPersis‐ tent IP

bool Controls whether the PersistentIP configuration scheme

is activated on the given logical link.

Guru R

Expert R

Guru R

Expert R

Expert RW

Guru R

Guru RW

Expert R

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CONFIGURATION 7

Parameter Type Description Visibility Access

GevCurrentIPConfigurationDHCP bool Controls whether the DHCP IP configuration scheme is

activated on the given logical link. The device falls back to Link Local Address in case no DHCP response is received after several timed out requests.

GevCurrentIPConfigurationLLA bool Controls whether the Link Local Address IP configura‐

tion scheme is activated on the given logical link.

GevCurrentIPAddress int Reports the IP address for the given logical link. Expert R

GevCurrentSubnetMask int Reports the subnet mask of the given logical link. Expert R

GevCurrentDefaultGateway int Reports the default gateway IP address to be used on

the given logical link.

GevPersistentIPAddress int Controls the Persistent IP address for this logical link. It

is only used when the device boots with the Persistent IP configuration scheme.

GevPersistentSubnetMask int Controls the Persistent subnet mask associated with

the Persistent IP address on this logical link. It is only used when the device boots with the Persistent IP con‐ figuration scheme.

GevPersistentDefaultGateway int Controls the persistent default gateway for this logical

link. It is only used when the device boots with the Per‐ sistent IP configuration scheme.

GevTimestampTickFrequency int The timestamp tick frequency in Hz. Used for time‐

stamping frames, chunks and events.

GevDiscoveryAckDelay int Indicates the maximum randomized delay the device

will wait to acknowledge a discovery command.

Expert RW

Expert R

Expert RW

Expert R

Table 35: GigEVision control custom commands

Command Description Visibility Access

GevNetworkInterfaceReconfigure Reconfigures the network interface according to the

Expert RW settings made. If the settings have changed the con‐ nection will be lost to the device and it may get a new IP address.

7.13.13 Firmware update

Table 36: Firmware update custom parameters

Parameter Type Description Visibility Access

FirmwareUpdateProgress enum The current state of the firmware update process. Guru R

FirmwareUpdateScriptProgress float Estimated progress of update script. 0.00 means not

started, 1.00 means finished.

FirmwareUpdateScriptRemaining‐

int Estimated time left of the firmware update script. Guru R

Time

Guru R

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8 OPERATION

8 Operation

8.1 Description of the graphical user interface

8.1.1 Menus

Figure 19: Graphical user interface

The Ranger3 Studio application is part of the Ranger3 SDK (see "Installing PC soft‐

ware", page 23). You use its graphical user interface (GUI) to configure camera parame‐

ters and evaluate the measurement results. It is also useful when you mount the cam‐ era and laser, and adjust focus and aperture.

The GUI offers different ways to visualize the data. You can also store data to file for later use. You can change the settings for the camera and instantly see how the changes affect the measurement result. The GUI is therefore useful for finding the best parameter settings for a certain application.

Once the camera has been set up to deliver measurement data that meets the require‐ ments, the settings can be saved in a parameter file on the PC.

Figure 20: Menus

Four menus are available.

The File menu includes the following alternatives:

Import configuration

•

Export configuration

•

Load buffer from file

•

Save buffer to file

•

Exit

•

The Device menu includes the following alternatives:

Parameter editor

•

Save device log

•

Save crash logs

•

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•

The Settings menu includes the following alternative:

•

The Help menu includes the following alternative:

•

8.1.2 Parameter editor

Figure 21: Parameter editor button

Click the Parameter editor button in the user interface to open the Parameter editor. The Parameter editor contains all the features that are available in the camera, sorted by category (see "Features", page 35 for a full list of categories and features). To search for a feature in the Parameter editor, use the search field in the upper left corner.

OPERATION 8

Save firmware update log Firmware update

Show partial images

About

Figure 22: Parameter editor

Visibility options

The visibility options Beginner, Expert, and Guru defines which features that are shown in the Parameter editor. They are described in the table below.

Table 37: Visibility options

Beginner Basic features that are enough to operate the camera.

Expert In addition to the basic features, also features that require a more in-depth

knowledge of the camera functionality.

Guru All features that are available in the camera. This includes advanced fea‐

tures that can bring the camera into a state where it will not work properly anymore.

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8 OPERATION

Starting and stopping the image acquisition

The Start and Stop buttons in the Parameter editor are used to start and stop the image acquisition, as an option to the corresponding buttons in the main user interface. Use these buttons to control the image acquisition directly from the Parameter editor during parameter adjustment.

Editing parameter values

Editable parameters have white input fields. Click an input field to edit its value. For non-editable parameters, the input fields are inactivated and displayed in gray.

Most input fields are locked during image acquisition, which means that the parameter values cannot be changed. When hovering over a locked input field, a warning message appears. Click a locked input field to unlock it and stop the image acquisition.

8.1.2.1 Visibility options

The visibility options Beginner, Expert, and Guru defines which features that are shown in the Parameter editor. They are described in the table below.

Table 38: Visibility options

Beginner Basic features that are enough to operate the camera.

Expert In addition to the basic features, also features that require a more in-depth

Guru All features that are available in the camera. This includes advanced fea‐

knowledge of the camera functionality.

tures that can bring the camera into a state where it will not work properly anymore.

8.1.3 Workflow steps

Figure 23: Workflow steps

The following workflow steps are available:

Start

In this step, you see the last connected device and reconnect to it.

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Figure 24: Workflow step Start

Cameras

OPERATION 8

In this step, you search the network and see a list of all devices that are available. You can select a device and connect or disconnect to it.

It is also possible to reconfigure the camera IP settings. This is useful for example when you want to connect to a camera that is not on the same subnet as the NIC, see "Rec‐

ommended network card settings", page 83. Then you have to reconfigure the cam‐

era to the same subnet, before you can connect to it.

Figure 25: Workflow step Cameras

Image

Here you view the 2D image data. This is what the camera sees when it is used as an ordinary camera.

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8 OPERATION

Figure 26: Workflow step Image

Data collection

Here you view the 3D image that is the result of using the laser triangulation (linescan3D) mode.

Figure 27: Workflow step Data collection

8.1.4 Image handling controls

Use the image handling controls to manipulate regions and perspective when viewing images. As an alternative to the buttons, you can use a mouse with a scroll wheel, as described below.

Button Name Description

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Select Click and drag to change the size and position of the image.

Shortcut command: Ctrl+Q.

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OPERATION 8

Button Name Description

Move Click and drag to move the image.

Shortcut command: Ctrl+W. Shift+ press and hold the mouse scroll wheel.

Rotate Click and drag to rotate the image.

Shortcut command: Ctrl+E. Press and hold the mouse scroll wheel.

Zoom Click and drag upwards to zoom in and downwards to zoom out.

Shortcut command: Ctrl+R. Rotate the mouse scroll wheel.

3D navigation control

Use the 3D navigation control in the lower left corner of the image viewer to switch between different viewing angles:

Click an arrowhead (X, Y or Z) to view a 2D projection of the object.

•

Click the same arrowhead twice to flip the 2D projection (for example, to switch

•

between the top and bottom view for the Z-axis). Press Home to restore the original viewing position.

•

Figure 28: 3D navigation control

8.1.4.1 Pointer information

If you use the Select image handling control and move the mouse pointer over the image area, some information is shown. For a 2D image, the coordinates and the inten‐ sity value of each point are displayed. This information is useful for example when you set the height of a region, see "Setting sensor region", page 57. For a 3D image, the coordinates, the sensor row, and the encoder counter value of each point are displayed.

Figure 29: Pointer information (2D image)

8.1.5 Image view options

Button Name Description

Color View image in color (various options) or grayscale.

Options Contains options for Color Range, Surface and Points, as described in this

manual.

Home Restore default settings for position and zoom.

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8 OPERATION

8.1.6 Log and statistics tabs

Figure 30: Log and statistics tabs

At the bottom of the main window, there are three tabs where log messages and statis‐ tics are available.

Log and Device log

The Log tab contains messages from the GUI, and the Device log tab contains messages from the device.

The system assigns each log message a level, either SEVERE, WARNING, INFO or FINE.

Figure 31: Log tab

Statistics

The Statistics tab contains network statistics, such as lost data.

Figure 32: Statistics tab

8.1.7 General information

At the bottom of the screen, the following information is shown:

•

NOTE

The frame ID is reset each time the camera is re-started.

Model of the device Name of the device (DeviceUserID) IP address of the device MAC address of the device Serial number of the device Software version Frame ID of the image that is currently displayed.

8.2 Using the interface

8.2.1 Connecting and getting a 2D image

Workflow step: Start

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OPERATION 8

The last connected device is displayed in the 'Quick connect' list together with a bar indicating the device status:

Device is available (or already connected).

Device is available, but the IP settings need to be modified.

Device is already in use.

1. If the suggested device is correct and available, click Connect.

2. If the suggested device is not correct or if the IP settings need to be modified,

a) Click More devices to go to the Cameras workflow step. b) Click Scan to see all devices that are available on the network. c) Select the correct device. d) If needed, click IP settings and edit the non-persistent IP settings of the

device, see "Editing IP settings", page 53.

e) Click Connect.

✓

When the device is connected, the Image workflow step is displayed and the Para‐ meter editor opens.

3. In the Image workflow step, click Start to view the 2D images and the laser line.

8.2.1.1 Editing IP settings

Before you connect to the camera, you can set non-persistent IP address, subnet mask, and gateway. These settings will be lost if the camera is restarted.

When you have connected to the camera, you can edit the corresponding parameters to make the settings persistent, that is, save them in the camera's flash memory.

Non-persistent IP settings

Workflow step: Cameras

1. Select the correct camera and click IP settings.

✓

A new window opens.

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8 OPERATION

2. To get suggested IP settings from the system, click GevDeviceProposeIP.

3. If needed, edit the suggested settings.

4. To save the IP settings, click GevDeviceForceIP.

5. Close the window.

6. To update the IP settings and the device status, click Scan.

Persistent IP-settings

Workflow step: Image, Data collection

1. Open the Parameter editor and go to the TransportLayerControl category.

2. In the GigE vision sub-category, select the GevCurrentIPConfigurationPersistent IP check

3. Re-start the camera to apply the updated parameters.

8.2.2 Adjusting focus

Workflow step: Image

When the camera is connected, look at the 2D image and the laser line and do the fol‐ lowing adjustments:

1. If needed, adjust the tilt of the camera so that the laser line is horisontal in the

2. Turn the focus ring of the camera until the image is focused.

3. If needed, adjust the focus of the laser according to the instructions of the laser

Figure 33: IP settings

box and then edit the GevPersistentIPAddress, GevPersistentSubnetMask, and GevPersis‐ tentDefaultGateway parameters.

image. This is to make sure that the laser line appears along the sensor in the camera.

manufacturer.

8.2.3 Recording images

Workflow step: Image, Data collection

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Use the Record function in the user interface to record 2D or 3D buffers. When record‐ ing is active, each acquired buffer is streamed to the connected PC and saved in a selected target folder.

NOTE

The Record button is automatically released when the image acquisition stops.

1. Click the correct workflow step: Image for recording of 2D buffers, Data collection for

recording of 3D buffers.

2. Click File.

3. In the dialog box that appears, select a target folder and a file name. The file name will be used as a prefix for each saved file.

4. Click Save to close the dialog box.

5. Click Record to activate image recording.

6. Click Start to start the image acquisition.

✓

Each acquired buffer is saved in the selected target folder on the PC.

8.2.4 Loading and saving parameter files

Workflow step: Start, Cameras, Image, Data collection

OPERATION 8

To load a .csv file with pre-defined parameter settings, do as follows:

1. In the File menu, select Import configuration.

2. Find and select the parameter file and click Open.

✓

Saving

To save the current parameter settings, do as follows:

1. In the File menu, select Export configuration.

2. Find a place to store the file, name it, and click Save.

✓

8.2.5 Editing parameters

Workflow step: Image, Data collection

When you adjust the parameters, you look at the 2D or 3D image to see the result. You can take a snapshot after each adjustment and compare the images to find the best configuration. You cannot edit the parameters while the camera is acquiring data.

1. Click Stop to stop the acquiring of data.

2. If the parameter editor is not already open, click Parameter editor to open it.

3. In the left part of the Parameter editor window, select the category that the parame‐

✓

4. If the parameter you want to edit is not shown, select Expert or Guru to make more

The parameter settings are loaded.

The parameter settings are saved as a .csv file.

ter belongs to. The parameters of the selected category are displayed in the right part of the win‐ dow.

parameters visible, see "Visibility options", page 48.

NOTICE

If you edit parameters that have visibility Expert or Guru, you can make the system work incorrectly. Always make sure that you have the right knowledge before you make any changes.

5. Select the parameter.

✓

A description of the parameter is shown in the lower part of the window.

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8 OPERATION

6. Depending on type of parameter, type or select the new value.

✓

The new value is saved automatically when you leave the input field or press Enter on your keyboard.

7. Click Start to start the data collection.

8. To take a snapshot of the currently displayed image and display it in a separate window, click Snapshot.

8.2.5.1 Setting exposure time

Workflow step: Image

1. In the Parameter editor, set RegionSelector to Region0.

2. Look at the 2D image and the laser line and adjust the ExposureTime parameter until the laser line is imaged as a narrow bright stripe and the background is not visible, see the figure in the middle below.

Figure 34: Too short exposure time: Laser line hardly visible.

Figure 35: Normal exposure time: Laser line bright but not saturated. No background visi‐ ble.

Figure 36: Too long exposure time: Laser line wide and saturated. The background is visi‐ ble.

3. Set

RegionSelector to Region1.

4. Set the ExposureTime parameter to the same value as for Region0.

✓

This will give the 3D acquisition the same exposure time as the 2D image.

NOTE

If reflectance measurements are enabled, the exposure time can also be adjusted using a reflectance image as reference. For details, see "Setting exposure time

using reflectance", page 59.

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8.2.5.2 Setting the DetectionThreshold parameter

Workflow step: Data collection

Prerequisites: Focus and exposure time have been adjusted for best image quality.

1. Turn the laser off.

2. Click Start to start the collection of 3D image data.

✓

Since the laser is turned off, only noise will be visible in the image.

3. Open the Parameter editor and select the Scan3dControl category.

4. Take a snapshot of the 3D image and adjust the DetectionThreshold parameter in the following way:

If there is much noise in the image, increase the DetectionThreshold value.

If there is no noise in the image, decrease the DetectionThreshold value.

5. Repeat the previous step until DetectionThreshold has a low value without excessive visible noise.

6. Turn the laser on.

8.2.5.3 Setting sensor region

Workflow step: Image

To adjust the height and position of the sensor region that is used to generate the 3D image data (Region1, see "Extraction regions", page 25), follow the steps below.

OPERATION 8

NOTE

For best image quality, make sure that the whole width of the laser line is within the region.

NOTE

The values of the Height and OffsetY parameters must be multiples of 4.

The value of the OffsetX parameter must be a multiple of 8.

The value of the Width parameter must be a multiple of 16.

1. In the Parameter editor, go to the ImageFormatControl category and set RegionSelector to Region1.

2. Select the 3D extraction area check box in the upper right part of the GUI.

✓

A blue region corresponding to Region1 appears in the 2D image.

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8 OPERATION

Figure 37: 2D image with Region1 displayed as overlay

NOTE

If the 3D extraction area check box is disabled, it means that no 2D image has been acquired. Press the Start button followed by the Stop button to acquire a 2D image and enable the checkbox.

3. In the Parameter editor, edit the Height, Width, OffsetY and OffsetX parameters.

✓

The height, width, vertical position and horizontal position of the blue region changes accordingly.

Increasing the number of rows

The camera acquires 12-bits data as default, which means that the maximum height of Region1 is 256 rows. To increase the maximum number of rows, you must switch to 16bits data, according to the steps below:

1. In the Parameter editor, set RegionSelector to Scan3dExtraction1.

2. Set ComponentSelector to Range.

3. Set PixelFormat to Coord3D_C16.

8.2.5.4 Enabling reflectance measurements

Workflow step: Data collection

To enable collection of laser reflectance values in addition to the range data, follow the steps below.

1. Open the Parameter editor and select the ImageFormatControl category.

2. Set RegionSelector to Scan3dExtraction1.

3. Set ComponentSelector to Reflectance.

4. Select the Component Enable checkbox.

To view the image with laser reflectance, select Reflectance or Reflectance (Hybrid) from the View list. see "View modes", page 61 for details.

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OPERATION 8

Figure 38: 3D image, no laser reflectance

8.2.5.4.1 Setting exposure time using reflectance

Use the reflectance image as an indicator when adjusting the exposure time:

If the exposure time is too low, the objects in the reflectance image contain dark

•

regions or regions with missing data. See figure 40. If the exposure time is too high, the objects contain bright saturated areas and

•

artefacts. See figure 42.

Figure 40: Low exposure time

Figure 41: Normal exposure time

8.2.5.5 Enabling HDR imaging

Figure 39: 3D image with laser reflectance

Figure 42: High exposure time

Workflow step: Image, Data collection

To enable HDR imaging:

1. Open the Parameter editor and select the AcquisitionControl category.

2. Set MultiSlopeMode to PresetSoft, PresetMedium or PresetAggressive.

PresetSoft increases the dynamic range by a factor ~2.

PresetMedium increases the dynamic range by a factor ~6.

PresetAggressive increases the dynamic range by a factor ~15.

NOTE

Using HDR affects the maximum exposure time:

In Areascan (2D) mode, the maximum exposure time for PresetSoft, Pre‐

•

setMedium and PresetAggressive is about 16, 40 and 100 ms, respectively. In Linescan (3D) mode, the maximum exposure time for PresetSoft, PresetMedium

•

and PresetAggressive is about 4,10 and 26 ms, respectively.

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8 OPERATION

8.2.5.6 Setting triggering parameters

Workflow step: Image, Data collection

Open the Parameter editor and go to the AcquisitionControl category to adjust the triggering settings. For information about the triggering concepts, see "Triggering modes",

page 32.

Enabling frame triggering:

1. Set the TriggerSelector parameter to FrameStart.

2. Set the TriggerMode parameter to On.

✓

The camera will acquire frames based on the triggering source specified by the TriggerActivation parameter.

3. Follow the steps in the Enabling line triggering section below to acquire profiles based on encoder input or line trigger signal input, or in the Enabling free-running section to acquire profiles with a regular time interval.

Enabling line triggering:

1. Set the TriggerSelector parameter to LineStart.

2. Set the TriggerMode parameter to On.

3. Set the TriggerSource parameter:

To acquire profiles based on encoder input, select Encoder.

To acquire profiles based on the line trigger input signal, select LineTriggerIn‐

put.

Enabling free-running:

1. Set the TriggerSelector parameter to LineStart.

2. Set the TriggerMode parameter to Off to acquire profiles with a regular time interval.

3. To set the acquisition rate:

Enabling 2D image triggering:

1. Set the TriggerSelector parameter to AreascanFrameStar t.

2. Set the TriggerMode parameter to On.

For 2D image triggering, the encoder input is always used as trigger source (Trigger‐ Source = Encoder).

8.2.6 Collecting 3D data

Workflow step: Data collection

1. Click Start to start the collection of 3D image data.

2. To adjust the number of profiles in each grabbed 3D image, set RegionSelector to

3. To take a snapshot of the 3D image, click Snapshot.

✓

For 3D images, adjust the AcquisitionLineRate parameter.

For 2D images, adjust the AcquisitionFrameRate parameter.

Scan3dExtraction1 and edit the Height parameter.

The Evaluation view window opens and shows a 3D view of the image.

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OPERATION 8

Figure 43: Evaluation view window

4. Use the image handling controls to move, rotate, and zoom while you inspect the image, see "Image handling controls", page 50.

5. Use the View drop-down menu to select view mode, see "View modes", page 61.

6. To change the color range, click the Options button and select Color range, see

"Color range", page 62.

7. To select data presentation, click the Options button and select Surface or Points,

see "Data presentation", page 63.

8. To adjust the proportions of the data, use the sliders in the GUI, see "Height map

scaling", page 64

9. To adjust the scene lighting, use the menus and sliders in the GUI, see "Light con‐

trol", page 64.

8.2.7 View modes

View mode for 2D images

For 2D images, Intensity is the only available view mode. In this mode, color is propor‐ tional to the intensity values of the pixels.

View modes for 3D images

When you view a 3D image, you can select different ways to color it. The following view modes are available:

View mode

Intensity Color is proportional to the

Description Example

reflectance values along the laser line. Suitable to show the surface details of an object, such as a print.

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8 OPERATION

View mode

Hybrid Color hue is proportional to depth (z-

Normals Color is proportional to the orienta‐

X Color is proportional to x-coordinate.

Description Example

coordinate), color brightness is pro‐ portional to the laser reflectance. Suitable to show large variations in depth together with surface details.

tion of the surface normal vector. Suitable to show small variations in depth.

8.2.8 Color range

Y Color is proportional to y-coordinate.

Z Color is proportional to depth (z-coor‐

dinate). Suitable to show large variations in depth.

When you adjust the color range, you adjust the interval that will be colored in the image. As default, the available color spectrum covers the whole range between the minimum and the maximum value of the data. If your object is small, or if you want to

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OPERATION 8

study a part of the object in detail, you can make the interval smaller. This means that the whole color spectrum is spread over a smaller interval, and it will be easier to see small variations in depth.

Figure 44: Narrow color range

1. To adjust the color range, either type the new values or use the slider at the bot‐

2. To select color or black and white, click the Settings symbol.

8.2.9 Data presentation

Using the Options button, you can select different ways to present the image data.

1. To view the data as a continuous surface, select Surface.

2. To view the data as a point cloud, select Points and use the slider to set the size of

tom of the window.

Figure 45: Data presentation Surface

the points.

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8 OPERATION

Figure 46: Data presentation Points, small points

8.2.10 Height map scaling

In the Height map scaling section, you can change the proportions of your data by scaling the different axes. The default value is 1 for the X and Y axes, and 0.0625 (correspond‐ ing to 1/16th) for the Z axis.

Figure 48: No scaling Figure 49: Scaling of X-axis Figure 50: Scaling of Z-axis

8.2.11 Light control

In the Scene lighting section, you can select lighting effects for the dataset.

•

Figure 47: Data presentation Points, larger points

Use the Light color list to change the lighting color. All colors in the RGB spectrum are available. Use the Light direction graph to adjust the position of the scene lighting effect. Use the Shininess slider to adjust the shining effect.

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OPERATION 8

Figure 51: Bright light, cen‐ tered

8.2.12 Loading and saving image buffers

Workflow step: Image, Data collection

When you save a 2D or 3D buffer, two separate files are created:

A binary file that contains the image data.

•

An XML file that describes the binary file.

•

In the Image workflow step, the currently displayed 2D image is saved. In the Data collec‐ tion workflow step, the complete buffer of the currently displayed image is saved. This

applies also if you have zoomed in so that only a part of the image is shown in the win‐ dow.

Save buffer when the data collection is stopped

1. In the File menu, select Save buffer to file.

Save buffer while still collecting data

1. Click Snapshot.

2. Click Save buffer to file.

Record buffers during the data collection

Figure 52: Bright light from right side

Figure 53: Brown light, cen‐ tered

When recording is active, each acquired buffer is streamed to the connected PC and saved in a selected target folder.

NOTE

The recording is automatically stopped when the image acquisition stops.

1. Click the correct workflow step: Image for recording of 2D buffers, Data collection for recording of 3D buffers.

2. Click File.

3. In the dialog box that appears, select a target folder and a file name. The file name will be used as a prefix for each saved file.

4. Click Save to close the dialog box.

5. Click Record to activate recording.

6. Click Start to start the image acquisition.

✓

Each acquired buffer is saved in the selected target folder on the PC.

Loading image data

To load saved image data:

1. In the File menu, select Load buffer from file.

2. Click the XML file describing the image data.

✓

The Evaluation view window opens and the image data is displayed.

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OPERATION

8.2.13 Handling log messages

1. Select which log you want to study: a) To handle log messages from the GUI, click Log. b) To handle log messages from the device, click Device log.

2. In the Log level drop-down list, select which type of log messages you want to see. You see log messages on the selected level and the levels above it. For example, if you select WARNING, only log messages on level SEVERE and WARNING will be shown.

3. To manually save the data as a log file, click Save to file.

✓

All log messages are saved, also the messages that have a lower log level than the one selected above.

4. To delete all log messages, click Clear.

The log messages are always automatically saved as a java log, but when you use the Save to file button, the saved log will have a different format and you can select the file location.

8.2.14 Updating firmware

To update the camera's firmware, you load an .aes file in the following way:

1. In the Device menu, select Firmware update.

2. Find and select the firmware file and click Open.

✓

The Firmware updater window opens and the firmware update starts automatically.

Figure 54: Firmware updater window

✓

When the update is finished, the device re-starts automatically.

3. Click Close.

4. Reconnect to the device, see "Connecting and getting a 2D image", page 52.

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9 Maintenance

WARNING Risk of injury due to optical radiation in connection with external laser devices

■

The risk of injury depends on the laser used: Observe warning signs and operating instructions of the laser device!

■

Before doing cleaning or maintenance work: Switch off device laser and take suit‐ able protective measures.

9.1 Maintenance plan

NOTE

No maintenance is required to ensure compliance with the LED risk group.

Table 39: Maintenance plan

Maintenance work Interval To be carried out

Cleaning the housing Cleaning interval depends on ambi‐

Check screw connections and plug connectors

Check that the unused connections are sealed with protective caps or plugs

MAINTENANCE 9

ent conditions and climate.

Interval depends on the place of use, ambient conditions, or operational regulations. Recommended: At least every 6 months.

Interval depends on ambient condi‐ tions and climate. Recommended: At least every 6 months.

Specialist

9.2 Cleaning

NOTICE Equipment damage due to improper cleaning.

Improper cleaning may result in equipment damage.

■

Only use recommended cleaning agents.

■

Never use sharp objects for cleaning.

Clean the housing with a soft cloth, dry or dampened with a mild water-diluted

cleaning agent without powder additives.

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10 TROUBLESHOOTING

10 Troubleshooting

10.1 Over triggering

When you use Ranger3 with an external line trigger source it is possible to overtrig the camera. This means that a new trigger arrives before the sensor can acquire new data. When configuring Ranger3, the max value of the AcquisitionLineRate parameter indicates how fast the camera can be triggered. If the trig rate exceeds this, an overtrig occurs.

When a single overtrig occurs, the triggering of the profile is delayed until the sensor is ready. If several overtrigs occur before the sensor is ready, only the first overtrig will cause a trig, and the others will be discarded. The camera will signal an error of class SEVERE with the text "IRQ 9 Sensor overtrig or Internal Scheduling error". This is also followed later by INFO messages giving details of the error. The details can be logged for further error analysis by technical support but contain no further user information.

If overtrig occurs when it is not expected there might be noise on the trigger inputs.

10.2 Encoder line trigger setup tips

In the DigitalIOControl section the LineStatus parameter can be used to pull the status of the digital inputs for the encoder and the frame trigger. This makes it possible to see if the inputs are switching as expected.

In the EncoderControl section the EncoderValue parameter can be used to see how the encoder input signals are counted by the camera. The EncoderReset command will reset the counter to 0.

10.3 Network card settings

For problems related to the network card settings, see "Recommended network card

settings", page 83.

10.4 Rescue mode

If the State LED on the device turns red, it means that the device has entered rescue mode and does not allow any data acquisition. There are two possible reasons:

The device has discovered a problem with the installed application firmware.

•

The device is overheated.

•

In Ranger3 Studio, select Save last crash log from the Device menu to export a log file with details about the error that put the device into rescue mode.

To exit rescue mode, try one of the following options:

Disconnect and then re-connect the power to the device.

•

In the Parameter editor, select the DeviceControl category and click DeviceReset. The

•

button is only visible if the visibility is set to Guru. Upload a new valid firmware, see "Updating firmware", page 66.

•

NOTICE

If the device enters rescue mode at multiple occasions and the reason is unknown, please contact the SICK support.

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10.5 Repairs

10.6 Returns

TROUBLESHOOTING 10

Repair work on the device may only be performed by qualified and authorized person‐ nel from SICK AG. Interruptions or modifications to the device by the customer will inval‐ idate any warranty claims against SICK AG.

Do not dispatch devices to the SICK Service department without consultation.

The device must be sent in the original packaging or an equivalent padded pack‐

aging.

NOTE

To enable efficient processing and allow us to determine the cause quickly, please include the following when making a return:

■

Details of the contact person

■

Description of the application

■

Description of the fault that occurred

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11 DECOMMISSIONING

11 Decommissioning

11.1 Disposal

Any device which can no longer be used must be disposed of in an environmentally friendly manner in accordance with the applicable country-specific waste disposal regu‐ lations. Do not dispose of the product along with household waste.

NOTICE Danger to the environment due to improper disposal of the device.

Disposing of devices improperly may cause damage to the environment.

Therefore, observe the following information:

■

Always observe the valid regulations on environmental protection.

■

Separate the recyclable materials by type and place them in recycling containers.

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12 Technical data

NOTE

The relevant online data sheet for your product, including technical data, dimensional drawing, and connection diagrams can be downloaded, saved, and printed from the Internet:

www.sick.com/Ranger3

•

12.1 Product data

Device type code V3DR3-60NE31111 V3DR3-60NE21111S01

Part number 1091560 1083672

12.2 Features

Task Positioning, Inspection, Measuring

Technology 3D by Laser triangulation

Example field of view Free of choice by lens selection

Data synchronization Free running / Encoder triggered / Externally triggered

3D measurements Yes

Reflectance measure‐ ments

Scatter measurements Yes

Exposure modes Linear / HDR

ProFlex-Front Yes

TECHNICAL DATA 12

Yes

12.3 Performance

12.3.1 Light sensitivity

The peak sensitivity is located in the interval from 600 to 650 nm.

Image sensor SICK CMOS with ROCC technology

Active imager size 15360 μm (H) × 4992 μm (V)

Sensor resolution 2560 px x 832 px

Pixel size 6 μm x 6 μm

Scan/frame rate 46000 3D profiles/s

Scan/frame rate full frame 7000 3D profiles/s

3D height resolution 16 bits, 1/16 subpixel

SNR

max

Dynamic range 50 dB

Shutter type Global

Spectral range 400 nm ... 950 nm

39.5 dB

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Wavelength [nm] 2

1000950900850800750700650600550500450400

16000

14000

12000

10000

8000

6000

4000

2000

Responsivity [DN

8bits

/(µJ/cm

)] 1

0 100 200 300 400 500 600 700 800 900 1000 1100

Number of rows

Line rate (kHz)

12 TECHNICAL DATA

Figure 55: Spectral response for the M30 sensor

Responsivity [DN

Wavelength [nm]

/(μJ/cm2)]

8bits

12.3.2 Maximum line rate

The maximum line rate as a function of the number of used sensor rows for Ranger3 is shown in figure 56.

Figure 56: The maximum line rate as a function of the number of sensor rows used

Line rate (kHz)

Number of rows

Ranger3, 2560 columns

Bandwidth limitation for 2560 columns

12.4 Interfaces

Configuration software Ranger3 Studio

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Communication interfaces Gigabit Ethernet/GigE Vision

Operating system Windows 7 or Windows 10

Programming interface GenAPI, GenTL

Digital inputs 4 x HIGH = 10 V ... 28.8 V

Digital outputs 2 x TTL level for laser strobe

Encoder interface RS-422 (5V level)

External illumination con‐ trol

12.5 Ambient data

Shock load 15 g, 3 x 6 directions

Vibration load 5 g, 58 Hz ... 150 Hz

Ambient operating temperature 0 °C ... +50 °C

Ambient storage temperature –20 °C ... +70 °C

Non-condensing

12.6 Mechanics and electronics

TECHNICAL DATA 12

2 x 5 V TTL

Connections Power I/O: M12, 17-pin male

Gigabit Ethernet: M12 female

Connector material Nickel-plated brass

Supply voltage 24 V DC +/-20%

Power consumption 12 W

Current consumption Imax = 1.5 A

Enclosure rating IP 20

Enclosure rating with lens

IP 65/67 (by ProFlex-Front)

hood

Scheimpflug adapter Yes (by ProFlex-Front)

Interchangeable optical fil‐

Yes (by ProFlex-Front)

ter

Housing material Aluminium

Housing color Blue, varnished

Weight 330 g

Dimensions (L x W x H) 77 mm x 55 mm x 55 mm

Optics C-Mount, 1"

Only housing without lens and protective hood

To be ordered separately as accessory (see "Optics")

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TECHNICAL DATA

12.7 Dimensional drawings

Figure 57: Ranger3 dimensions

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13 Accessories

NOTE

Accessories and where applicable mounting information can be found online at:

•

ACCESSORIES 13

www.sick.com/Ranger3

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14 GLOSSARY

14 Glossary

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14.1 Terms and abbreviations

3D image A point cloud where the object shape is represented by three coor‐

block In the GigE Vision transport protocol a frame is named block.

buffer Each frame will be received in the PC as one buffer.

frame In Areascan mode: One 2D image.

frame rate The rate at which the frames are captured (Hz) in Areascan mode.

GUI Graphical User Interface

height map, depth map A frame where the values represent height or depth and not inten‐

intensity The intensity value of the pixels in a 2D sensor image.

line Contains one value for each measured point along a cross-section

line rate The rate at which the lines in a frame are captured (Hz).

NIC Network Interface Card

profile Contains one value for each measured point along a cross-section

reflectance The reflected peak intensity of the laser line when measuring 3D

ROI Region Of Interest

scan (verb) To collect measurements made by the 3D camera at one point in

SoC System on Chip

GLOSSARY 14

dinates.

In Linescan3D mode: A set of 3D profiles. Each line in the frame is created from one 2D image.

sity.

of the object. Same thing as profile.

of the object. Same thing as line.

profiles.

time. That is the same thing as to capture one single profile.

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ANNEX

15 Annex

15.1 Range (3D) measurement

The 3D camera measures range by using triangulation. This means that the object is illuminated with a line light from one direction, and the camera is measuring the object from another direction. The most common lighting used when measuring range is a line projecting laser.

The camera analyzes the sensor images to locate the laser line in them. The higher up the laser line is found for a point along the x-axis (the width of the object), the higher up is that point on the object.

Figure 58: Coordinate system when measuring range

Width

Transport

Range

When measuring range, there are two angles that are interesting:

The angle at which the camera is mounted.

•

The angle of the incoming light (incidence).

•

Both angles are measured from the normal of the transport direction. The angle of the camera is measured to the optical axis of the camera – that is, the axis through the center of the lens.

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ANNEX

Figure 59: Angles and optical axis

Optical axis

Incidence angle

The following is important to get correct measurement results:

The laser line is orthogonal to the movement direction of the object and, if possi‐

•

ble, also aligned with the sensor rows in the camera. The lens is focused so that the images contain a sharp laser line.

•

The laser is focused so that there is a sharp line on the objects, and the laser line

•

cross section covers a few rows on the sensor.

15.1.1 Occlusion

Occlusion occurs when there is no laser line for the 3D camera to detect in the sensor image. Occlusion will result in missing data for the affected points in the measurement result.

There are two types of occlusion:

Camera occlusion When the laser line is hidden from the camera by the object. Laser occlusion When the laser cannot properly illuminate parts of the object.

Figure 60: Different types of occlusion

Camera occlusion

Laser occlusion

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Adjusting the angles of the camera and the laser can reduce the effects of occlusion.

15 ANNEX

If adjusting the angle is not suitable or sufficient, you can avoid laser occlusion by using multiple lasers that illuminate the objects from different angles. Camera occlusion can be avoided by using multiple cameras that view the objects from different angles.

15.1.2 Width resolution and resolution in the motion direction

In a laser triangulation system the camera placement and optics determine the width of the field-of-view (FOV). The resolution across the object (ΔX) is the FOV width divided with the number of pixels.

The resolution along the motion direction (ΔY) is a direct function of the measurement frequency and the object speed.

15.1.3 Height-range and height resolution

The height-range of the measurement is the distance between the highest and the low‐ est point that can be measured within a ROI. A large height-range means that objects that vary much in height can be measured.

The height resolution (ΔZ) is the smallest height variation that can be measured. High resolution means that small variations can be measured. But a high resolution also means that the height-range will be smaller, compared with using a lower resolution in the same ROI.

In general, the height-range and the resolution depend on the angle between the laser and the camera. If the angle is very small, the location of the laser line will not vary much in the sensor images even if the object varies a lot in height. This results in a large height-range, but low resolution.

On the other hand if the angle is large, even a small variation in height would be enough to move the laser line some pixels up or down in the sensor image. This results in high resolution, but small height-range. See the figures below.

Small angle

Large angle

Measured height-

range in pixels

Measured height-

range in pixels

15.1.4 Main geometries

There are four main principles for mounting the camera and the laser, see below. Note that the measurements are always done in the laser plane. This means that if the laser plane and the z-axis are not parallel, the y-coordinate of each range value in a profile depends on the height. This is the case for Ordinary, Specular, and Look-away. When you use the Reversed ordinary setup, all range values in a profile correspond to the same y-coordinate.

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View from the camera Sensor image

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ANNEX 15

Ordinary The camera is mounted right above the object – perpendicular to

the direction of movement – and the laser is illuminating the object from the side. This geometry gives the highest resolution when measuring range.

Reversed ordinary As the Ordinary setup, but the placement of the laser and the

camera has been switched so that the lighting is placed above the object. When measuring range, the reversed ordinary geometry gives slightly lower resolution than the ordinary geometry. It gives the least distorted depth map representation because the measure‐ ments are made in the Z plane. This is the most common geome‐ try.

Specular The camera and the lighting are mounted on opposite sides of

the surface normal of the object. Specular geometries are useful for measuring dark or matte objects, since it requires less light than the other geometries.

Look-away The camera and the lighting are mounted on the same side of the

surface normal of the object. This geometry can be useful for avoiding unwanted reflexes but requires more light than the other methods and gives lower reso‐ lution.

Ordinary Reversed ordinary

Specular Look-away

As a rule of thumb, the height resolution increases with the angle between the camera and the laser, but the resolution also depends on the angle between the camera and the height direction (z-axis).

The relationship between the measured locations on the sensor and their real-world positions is typically non-linear, and only known after a calibration procedure. As a starting point, the following formulas can be used for approximating the resolution for

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the different geometries, in for example mm/pixel:

Geometry

Ordinary ΔZ ≈ ΔX / tan(β)

Reversed ordinary ΔZ ≈ ΔX / sin(α)

Approximate range resolution

(0,0)

(u1,v1)

(u2,v2)

15 ANNEX

Geometry Approximate range resolution

Specular ΔZ ≈ ΔX ⋅ cos(β) / sin(α+β), If α = β: ΔZ ≈ ΔX / 2 ⋅ sin(α)

Look-away ΔZ ≈ ΔX ⋅ cos(β) / sin(|α–β|)

where:

ΔZ = Height resolution (mm/pixel)

ΔX = Width resolution (mm/pixel)

α = Angle between camera and vertical axis (see the figures above)

β = Angle between laser and vertical axis (see the figures above)

Note that these approximations give the resolution for whole pixels. If the measurement is made with sub-pixel resolution, the resolution in the measurement is the approxi‐ mated resolution divided by the sub-pixel factor. For example, if the measurement is made with the Hi3D component that has a resolution of 1/16th pixel, the approximate resolution is ΔZ/16.

15.1.5 Sensor coordinate system

Typically, the camera views the object and the laser line from above, with a certain angle between the camera and the laser, as described in this document. The sensor image has its origo in the top left corner when you view the image on screen, see the figure below. This means that the v-coordinate of a point that is close to the bottom of the screen (v1) is greater than the v-coordinate of a point that is higher up on the screen

(v2).

Figure 61: Sensor image and coordinate system

When the coordinates from the sensor image are used as 3D data, a high value of the v-coordinate will give a high range value.

In the coordinate system above, parts of the object that are far away from the camera will get a high range value, and parts that are close to the camera will get a low range value. That is, the range value represents distance from the camera. If you view the 3D image in a coordinate system that has its origo in the lower left corner, the 3D image will appear upside down.

NOTE

If you want the range value to represent height from a surface, rather than distance from the camera, you set the RangeAxis parameter to Reverse. see "Extraction regions",

page 25. Then parts of the object that are close to the camera will get a high range

value and parts that are far away from the camera will get a low range value.

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15.2 Recommended network card settings

Due to the large amount of data that Ranger3 delivers per second, it is required to con‐ nect the camera(s) to the PC using a separate Gigabit Ethernet network, without other interfering traffic.

The Network interface card (NIC) must support Gigabit Ethernet, and it is recommended that the NIC supports Ethernet Jumbo frames. Ethernet Jumbo frames are frames with more than 1500 bytes of Ethernet payload. Sending and receiving Ethernet Jumbo Frames can give a performance increase due to lower PC CPU usage.

The Ranger3 camera has mainly been tested using network interface cards from Intel. See the tables below for recommended network settings. Note that the names of the settings may differ depending on NIC or driver version.

Receive buffers

Recommended setting 512 or more

Default setting 256

Maximum setting 2048

Jumbo frames

Recommended setting >4200

Default setting disabled

Maximum setting 16128

ANNEX 15

When using Jumbo frames the camera can support up to 4096 bytes of image data in each data package, which corresponds to 4200 bytes per Ethernet frame.

Camera IP settings

The GigE Vision® standard dictates that the factory default setting for devices is IP con‐ figuration using DHCP. If no DHCP server is found, the default for devices is to assign a Link-Local Address (LLA), also called a Zero Configuration IP, on the format 169.254.x.y.

It is recommended to define a persistent IP address which can be used when a device boots. Which IP configuration option that is used when a device boots is dictated by the TransportLayerControl parameters, see "Editing IP settings", page 53.

Ranger3 also supports setting a static IP using the GigE Vision® forceIP method. This IP address is not persistent, which means it is lost at power-off, see "Editing IP settings",

page 53.

Symptoms of possible problem

Receive buffers Symptoms of too low setting: Multiple consecutive packets are lost,

e.g. 31 consecutive packets are lost. Symptoms of too high setting: Use of memory increases.

Jumbo frames Symptoms of too low setting: The camera will use a smaller frame

size, which implies higher CPU load on the PC. Symptoms of too high setting: If you use a switch that is unable to support Jumbo Frames connected between the camera and the PC, it is impossible to receive streaming data from the camera.

IP settings If the device and the NIC is not connected to the same DHCP server,

or only one end is connected to a DHCP server, the device can not assign a correct IP, see "Editing IP settings", page 53.

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192.168.1.51

192.168.1.52

192.168.1.5

192.168.0.5

192.168.2.5

192.168.0.51

NIC2

NIC3

NIC1

15 ANNEX

15.2.1 Connecting multiple cameras

When you connect multiple cameras to the PC, you get the best performance if each camera is connected to a separate NIC. The camera and the NIC must be on the same subnet. You can also connect multiple cameras to the same NIC, using a switch. In that case, both the NIC and all the cameras that are connected to it must be on the same subnet.

If the PC has multiple NICs, all the NICs must be on different subnets. The subnet is indicated by the third section of the IP address, see an example in the figure below. This figure also shows that other equipment, such as network printers, should be connected to a separate NIC.

15.3

Figure 62: PC conncted to three cameras and external network, using three separate NICs and one switch

Connecting encoders

The RS-422 inputs on the camera have internal termination, which makes it possible to connect an RS-422 encoder to the camera without requiring any external termination. With this termination it is possible to directly connect up to two cameras to the same encoder.

Use an incremental encoder with two channels (A+/A- and B+/B-) and connect all four outputs. It is not possible to connect an index channel (Z) to the camera.

The example below shows a wire diagram for connecting one SICK Stegmann RS-422 encoder (DRS-60 with TTL output levels) to two cameras.

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InA+

InB+

InB–

InA–

B–

A+

InA+

InB+

InB–

A–

B+

InA–

Camera #1 1

Camera #2 3

SICK Stegmann encoder (RS-422) 2

Figure 63: Wiring example

Camera #1

SICK Stegmann encoder (RS-422)

Camera #2

Phase2 RS-422-

Phase1 RS-422+

Phase1 RS-422-

Phase2 RS-422+

ANNEX 15

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Lens plane 3

Image plane 2

Plane of focus 4

Scheimpflug intersection 1

15 ANNEX

15.4 EU declaration of conformity / Certificates

The EU declaration of conformity and other certificates can be downloaded from the Internet at:

www.sick.com/Ranger3

•

SICK uses open-source software. This software is licensed by the rights holders using the following licenses among others: the free licenses GNU General Public License (GPL Version2, GPL Version3) and GNU Lesser General Public License (LGPL), the MIT license, zLib license, and the licenses derived from the BSD license.

This program is provided for general use, but WITHOUT ANY WARRANTY OF ANY KIND. This warranty disclaimer also extends to the implicit assurance of marketability or suit‐ ability of the program for a particular purpose.

More details can be found in the GNU General Public License. View the complete license texts here: www.sick.com/licensetexts. Printed copies of the license texts are also available on request.

15.5 Scheimpflug adapters

The Scheimpflug adapters for Ranger3 make it possible to create a camera setup where the plane of focus is parallel to the laser line. This means that a subject that is not parallel to the image plane can be rendered sharply. Adapters with three different tilt angles are available, see "Accessories", page 75.

Scheimpflug adapters are based on the Scheimpflug principle, which decribes a situa‐ tion where the lens plane is not parallel to the image plane of the sensor. When a line is extended from the image plane, and another is extended from the lens plane, they meet at a point through which the plane of focus also passes.

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Figure 64: Using a Scheimpflug adapter (adapter shown in gray)

Scheimpflug intersection

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ANNEX 15

Image plane

Lens plane

Plane of focus

figure 64 shows how a Scheimpflug adapter can be used to change the angle between

the image plane and the lens plane so that the plane of focus is parallel to the laser line. The setup can be described with the following formula:

where a is the distance between the lens plane and the plane of focus, f is the focal distance (between the lens and the camera), Ø is the tilt angle between the image plane and the lens plane and γ is the angle between the lens plane and the plane of focus.

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8020774/14IM/2019-07/en

SICK AG | Waldkirch | Germany | www.sick.com

SICK Ranger3 Operation Instructions Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

O P E R A T I N G I N S T R U C T I O N S

Contents

1 About this document

1.1 Information on the operating instructions

1.2 Explanation of symbols

2 SAFETY INFORMATION

2.1 Correct use

2.2 Improper use

2.3 Limitation of liability

2.4 Modifications and conversions

2.5 Requirements for skilled persons and operating personnel

2.6 Operational safety and particular hazards

2.7 Laser safety

3 Product description

3.1 Introduction

3.2 Measuring with a 3D camera

Hardware description

3.3.1 Sensor

3.4 Standards

3.4.2 GigE Vision®

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:

4 TRANSPORT AND STORAGE

4.1 Transport

Unpacking

4.3 Transport inspection

4.4 Storage

5 Mounting

5.1 Mounting instructions

5.2 Required parts

Mounting the camera

5.3.1 Mounting an optical filter or a Scheimpflug adapter

6 ELECTRICAL INSTALLATION

6.1 Wiring notes

6.2 Security

6.3 Connecting the camera

Electrical connections

7 Configuration

7.1 Software installation

7.1.1 System recommendations

7.1.2 Network preparations

7.1.3 Installing PC software

7.2 Concepts

7.2.1 Selectors

7.3 Configuring Ranger3

7.4 Regions

7.4.1 Sensor regions

7.4.2 Extraction regions

7.4.3 Device scan type

7.4.4 Maximum buffer size

7.5 Exposure time and measurement speed

7.6 Laser strobe output signals

3D profiling

7.7.1 Laser impact position on the sensor

7.7.2 Measurement method

7.7.3 Detection threshold

7.8 3D data formats

7.9 Reflectance data

7.10 High dynamic range (HDR) imaging

Triggering

7.11.1 3D triggering concepts

7.11.2 Triggering modes

7.11.3 Triggering using an encoder

7.11.4 Frame triggering

7.12 Chunk data

Features

7.13.1 Device control

7.13.2 Image format control

7.13.3 Scan 3D control

7.13.4 Acquisition control

7.13.5 Digital I/O control

7.13.6 Timer control

7.13.7 Encoder control

7.13.8 Event control

7.13.9 File access control

7.13.10 Chunk data control

7.13.11 Test control