SICK Ranger E

Reference Manual
Ranger E/D
©SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved 3
Contents
Contents
1 Introduction ................................................................................................................................... 6
2 Overview......................................................................................................................................... 8
2.1 Measuring with the Ranger..................................................................................................... 8
2.2 Mounting the Ranger............................................................................................................... 9
2.3 Configuring the Ranger..........................................................................................................10
2.3.1 Ranger Studio ..........................................................................................................10
2.3.2 Measurement Methods ...........................................................................................11
2.4 Developing Applications ........................................................................................................17
2.5 Triggering ...............................................................................................................................18
3 Mounting Rangers and Lightings...............................................................................................19
3.1 Range (3D) Measurement..................................................................................................... 20
3.1.1 Occlusion..................................................................................................................21
3.1.2 Height Range and Resolution.................................................................................. 21
3.1.3 Main Geometries......................................................................................................22
3.2 Intensity and Scatter Measurements ...................................................................................23
3.3 MultiScan ...............................................................................................................................23
3.4 Color Measurements .............................................................................................................24
3.5 Light sources for Color and Gray Measurements ................................................................25
3.5.1 Incandescent lamps.................................................................................................25
3.5.2 Halogen lamps .........................................................................................................25
3.5.3 Fluorescent tubes ....................................................................................................26
3.5.4 White LEDs ...............................................................................................................26
3.5.5 Colored LEDs............................................................................................................27
4 Ranger Studio..............................................................................................................................28
4.1 Ranger Studio Main Window.................................................................................................28
4.1.1 Visualization Tabs .................................................................................................... 29
4.2 Zoom Windows ......................................................................................................................31
4.3 Parameter Editor ...................................................................................................................32
4.3.1 Flash retrieve and store of parameters ..................................................................33
4.4 Using Ranger Studio.............................................................................................................. 33
4.4.1 Connect and Get an Image......................................................................................33
4.4.2 Adjust Exposure Time ..............................................................................................35
4.4.3 Set Region-of-Interest ..............................................................................................35
4.4.4 Collection of 3D Data............................................................................................... 36
4.4.5 Getting a Complete Object in One Image................................................................37
4.4.6 White Balancing the Color Data ..............................................................................37
4.4.7 Visualizing Color Images..........................................................................................39
4.4.8 Save Visualization Windows ....................................................................................39
4.4.9 Save and Load Measurement Data ........................................................................40
5 Configuring Ranger E and D .......................................................................................................41
5.1 Selecting Configurations and Components.......................................................................... 41
5.2 Setting Region-of-Interest......................................................................................................42
5.3 Different Triggering Concepts ...............................................................................................43
5.4 Enable Triggering...................................................................................................................43
5.5 Pulse Triggering Using an Encoder ....................................................................................... 45
5.5.1 Triggering Scans.......................................................................................................45
5.5.2 Embedding Mark Data.............................................................................................46