SICK Ranger E

Chapter 7 Reference Manual
Ranger E/D
80 ©SICK AG • Advanced Industrial Sensors • www.sick.com • All rights reserved
Ranger E Parameters
Parameter Description
Edit while
measuring
Scatter
gain
Factor to amplify the scatter values.
Values: 0-7, Default value: 1.
x
Binning Specifies whether or not sensor rows should be binned before AD
conversion. Binning increases the profile rate, but decreases the
3D resolution.
1 = No binning
2 = Bin 2 rows
The acquisition speed of a configuration using the Hi3D component depends mainly on the
setting for the ROI and the number of AD bits. The maximum speed at 5–7 bit AD conver-
sion, no scatter and, no binning is shown in the following figure.
Hi3D Maximum Profile Speed
0
1000
2000
3000
4000
5000
6000
0 100 200 300 400 500
Number of rows
Profiles per second
5 AD bits
6 AD bits
7 AD bits
7.5.5 High-resolution 3D (Hi3D COG)
The High-resolution 3D component measures range using the center-of-gravity algorithm.
This component measures range with a resolution of 1/16
th
pixel, which is the best resolu-
tion of the available range components.
The Hi3D component in Ranger E doesn’t calculate the range values, but instead delivers
two values for each column that can be used for calculating the range in the region-of-
interest:
Xsum The sum of (row number * intensity value for that row) in the column.
Sum The sum of the intensity values in the column.
The range value can be calculated by dividing the Xsum value with the Sum value:
Range = Xsum / Sum
Note that the PC application must make this calculation to get the range value. Also note
the following differences from the HorThr component:
 The calculated range value is a fractional value, and not an integer representing the
number of sub-pixels, as are the range values from the HorThr component.
 By default, the calculated range value is a measurement from the top of the ROI in-
stead of from the bottom. This is because the Hi3D component start counting the rows
from the top of the ROI when determining the Xsum values.