SICK Ranger E

Chapter 7 Reference Manual
Ranger E/D
72 ©SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved
Ranger E Parameters
7.5 Measurement Components
The Ranger E has ten built-in measurement methods – or measurement components. Two
of these are only available for the ColorRanger E – Color and Hi-Res Color:
Component Name Measures Note
HorThr Horizontal threshold Range Fast – up to 35 000 profiles/s.
Resolution ½ or ¼ pixel.
HorMax Horizontal max Range, intensity Resolution 1 or ½ pixel.
HorThrMax Horizontal max and
threshold
Range, intensity Resolution ½ pixel.
Hi3D High-resolution 3D Range, intensity High range resolution –
1
/16
th
pixel.
Hi3D COG High-resolution 3D Range, intensity True Center of gravity method
Gray Grayscale Intensity
HiRes gray High-resolution
grayscale
Intensity High resolution – 3072 pixels.
Scatter Scatter Intensity, scatter
Color RGB Color Color Three sub components: Red,
Green, Blue (ColorRanger E
only)
HiRes color High-resolution RGB
color
Color High resolution – 3072 pixels.
Sub-components as in Color
component. (ColorRanger E55
only)
Note: Performance graphs for the different measurement components below are
measured with the native data channel activated, not the high performance
data channel solution.
7.5.1 Horizontal Threshold (HorThr)
The Horizontal threshold component measures range by using one or two fixed thresholds.
Pixels on the sensor image where the intensity value is above the thresholds are consid-
ered containing the laser line.
This component is used when high speed is needed. If a smaller sensor region is used up
to 35 000 profiles can be acquired per second.
When using one threshold the range resolution is ½-pixel, with two thresholds it is ¼-pixel.
Using two thresholds will increase the execution time of the component, hence decreasing
the maximum speed performance.
Figure 7.2 – Using two thresholds
Threshold 2
Threshold 1
A
veraged location
of the laser
Intensity