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SICK Ranger3 User Manual

SICK Ranger3
116 pages
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O P E R A T I N G I N S T R U C T I O N S
Ranger3
3D machine vision

Table of Contents

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SICK Ranger3 Specifications

General IconGeneral
BrandSICK
ModelRanger3
Category3D camera
LanguageEnglish

Summary

About this document

Information on the operating instructions

Provides important information on how to use SICK AG devices.

Explanation of symbols

Explains symbols used in the document to indicate hazards and provide information.

Safety information

Intended use

Describes the vision image acquisition component's purpose and how to use it.

Improper use

Details incorrect uses of the device and SICK AG's non-liability for resulting damage.

Limitation of liability

States manufacturer's disclaimer for damages caused by non-adherence to documentation or incorrect use.

Modifications and conversions

Warns that modifications can cause dangers and invalidate warranty claims.

Cybersecurity

Discusses cybersecurity threats and essential measures for protecting the device and data.

Requirements for skilled persons and operating personnel

Outlines necessary qualifications for mounting, electrical installation, commissioning, and operation.

Operational safety and particular hazards

Highlights safety notes and warnings to reduce risks and avoid dangerous situations.

Laser safety

Defines requirements for using the camera with laser modules according to safety standards.

Getting started

PC installation

Guides on downloading and installing the Ranger3 Software Deployment Kit (SDK) from the SICK Support Portal.

Mounting the camera and the laser

Provides instructions on how to mount the camera and laser for optimal illumination and viewing.

Connecting the camera

Explains the electrical connections for installing the Ranger3 camera with diagrams.

Product description

Introduction

Introduces Ranger3 as a high-speed 3D camera for machine vision systems using laser line triangulation.

Measuring with a 3D camera

Explains how the camera measures object cross-sections and builds 3D profiles.

Hardware description

Details the Ranger3 camera's sensor technology, ROCC (Rapid On-Chip Calculation), and LED indicators.

Interface and communication standards

Explains GenICam™, GigE Vision®, and GenIStream API as interface and communication standards.

Transport and storage

Transport

Provides safety notes and instructions for transporting the device to prevent damage.

Unpacking

Gives guidelines for unpacking the device, handling with care, and avoiding dust ingress.

Transport inspection

Instructs on checking the delivery for completeness and damage upon receipt.

Storage

Details recommended conditions for storing the device to maintain its integrity.

Mounting

Mounting instructions

Provides guidelines for mounting the device, considering temperature, shock, vibration, and cooling.

Required parts

Lists the necessary components and parts for getting started with the Ranger3 camera.

Mounting the camera

Explains how to mount the camera and laser for optimal measurement, including orthogonal alignment.

Mounting an optical filter or a Scheimpflug adapter

Details the procedure for removing the dummy filter and mounting optical filters or adapters.

Electrical installation

Conditions for specified enclosure rating

Lists requirements to maintain IP65 and IP67 enclosure ratings during operation.

Wiring instructions

Provides safety measures and wiring notes for electrical connections to avoid faults.

Prerequisites for safe operation of the device

Discusses electrical safety, grounding, and equipotential bonding to prevent injury and damage.

Connecting the camera

Gives critical notices for connecting the camera safely while it is powered or unpowered.

Electrical connections

Describes the connectors and LEDs on the back plate of the Ranger3 device and the connection steps.

Power I/O connector

Details the pin assignment and signals for the 17-pin Power I/O connector.

GigE connector

Explains the pin assignment for the 8-pin GigE connector.

Connecting a CDB650-204

Describes how to connect the CDB650-204 for sensor connection and IP65 rating.

Configuration

Software installation

Covers system recommendations, network preparations, and PC software installation.

Concepts

Introduces GenICam™ concepts like features, parameters, commands, and selectors.

Selectors

Explains how selectors are used in GenICam™ devices to access parameters organized in arrays.

Configuring Ranger3

Guides on setting parameters for regions, exposure time, and triggering.

Regions

Describes two types of regions: Sensor regions and Extraction regions.

Sensor regions

Defines sensor regions for image output and 3D data calculation, specifying parameters like OffsetX and Width.

Extraction regions

Explains extraction regions for defining 3D linescan output data processing and formatting.

Device scan type

Details how to configure the camera for raw sensor data (Image) or 3D profile data (Data collection).

Maximum buffer size

Discusses the maximum image buffer size and its limitations due to GigE Vision retransmission buffers.

Exposure time and measurement speed

Explains how exposure time and line rate interact to affect camera speed.

Laser strobe output signals

Describes the two laser strobe output signals for controlling separate lasers.

Range (3D) measurements

Explains how the impact position of the laser line is computed for all columns in a selected ROI.

Laser impact position on the sensor

Explains how the impact position of the laser line is computed for all columns in a selected ROI.

Measurement method

Details the Hi3D algorithm for peak fitting and range measurement, including profiling close to ROI edges.

WAM size

Describes the Window Around Maximum (WAM) size for high-resolution peak fitting.

Detection threshold

Explains the DetectionThreshold parameter for setting the minimum signal to detect a peak position.

3D image format

Covers range pixel format, resolution, and coordinate system for 3D data delivery.

Additional components

Explains how reflectance values can be collected in parallel to 3D data.

Reflectance

Explains how reflectance values can be collected in parallel to 3D data.

Scatter

Describes the scatter component measuring laser signal intensity in defined parts of the WAM window.

High dynamic range (HDR) imaging

Details HDR imaging for improved reproduction of bright and dark areas in scenes.

Triggering

Presents common triggering concepts for different application types like continuous flow and discrete objects.

3D triggering concepts

Presents common triggering concepts for different application types like continuous flow and discrete objects.

Triggering modes

Explains different ways to trigger the camera, including external signals or time intervals.

Triggering using an encoder

Details how to use encoders for triggering, counting pulses to trigger profiles or images.

Frame triggering

Describes using the Frame trigger input to start acquiring profiles based on external signals like photoelectric sensors.

Profile meta data

Explains how profile meta data (encoder counter, timestamp) can be added to 3D image data.

Operation

Description of the graphical user interface

Introduces the Ranger3 Studio GUI for camera configuration and evaluation.

Menus

Lists the four available menus in the Ranger3 Studio application: File, Device, Settings, Help.

Parameter editor

Explains how to use the Parameter editor to configure camera parameters, with visibility options.

Workflow steps

Outlines the workflow steps for starting, connecting cameras, viewing images, and data collection.

Image handling controls

Details controls for manipulating regions and perspective when viewing images using buttons or mouse.

3D navigation control

Explains how to use the 3D navigation controls to switch viewing angles and manipulate the 3D image.

Pointer information

Describes how pointer information (coordinates, intensity) is displayed for 2D and 3D images.

Image view options

Lists options for viewing images, such as color, grayscale, and surface/point displays.

Log and statistics tabs

Describes the Log and Statistics tabs for viewing system messages and network statistics.

General information

Shows general device information like model, IP address, serial number, and software version.

Connecting and getting a 2D image

Guides on connecting to the camera and obtaining a 2D image via the 'Quick connect' or 'Cameras' workflow.

Editing IP settings

Explains how to edit non-persistent and persistent IP settings for camera connection.

Adjusting focus

Guides on adjusting the camera's focus for optimal image clarity and laser line visualization.

Recording images

Details how to use the Record function to save 2D or 3D buffers to a PC.

Loading and saving parameter files

Explains how to load and save configuration settings as .csv files.

Saving and loading a User File

Describes how to save and download arbitrary files called User Files to/from the device.

Booting the device using a User Set

Guides on saving, loading, and booting the device with pre-defined parameter sets.

Editing parameters

Explains how to adjust camera parameters while observing results in the GUI.

Setting exposure time

Details how to set the exposure time for optimal laser line visibility and background suppression.

Setting the DetectionThreshold parameter

Guides on adjusting the DetectionThreshold to manage image noise and detect weak peaks.

Setting sensor region

Explains how to adjust the sensor region (Region1) for generating 3D image data.

Enabling or disabling range measurements

Describes how to enable or disable range measurements by setting Component Enable.

Enabling reflectance measurements

Guides on enabling reflectance data collection alongside range data.

Setting exposure time using reflectance

Uses reflectance images as an indicator for adjusting exposure time.

Enabling scatter measurements

Explains how to enable scatter measurements in addition to range data.

Enabling HDR imaging

Details how to enable High Dynamic Range (HDR) imaging and its effect on exposure time.

Setting triggering parameters

Guides on adjusting triggering settings for frame, line, and free-running acquisition.

Setting the encoder type and encoder mode

Explains how to set encoder types (RS-422/HTL) and modes (FourPhase/HighResolution).

Visualizing 2D data

Describes visualization options for 2D image data within the Settings section of the GUI.

Collecting 3D data

Guides on collecting 3D image data, adjusting profile count, and taking snapshots.

Visualizing 3D data

Explains different view modes for 3D images like Intensity, Hybrid, Normals, X, Y, Z for data visualization.

View modes

Explains different view modes for 3D images like Intensity, Hybrid, Normals, X, Y, Z for data visualization.

Color range

Details how to adjust the color range to visualize specific parts of the object in more detail.

Data presentation

Describes different ways to present image data, such as continuous surface or point cloud.

Height map scaling

Explains how to change data proportions by scaling different axes in the Height map scaling section.

Light control

Guides on selecting lighting effects, color, direction, and shininess for the dataset.

Loading and saving image buffers

Explains how to save 2D/3D buffers as binary and XML files, and how to load saved data.

Handling log messages

Guides on studying GUI and device log messages, saving, and deleting them.

Device files

Explains how to access files stored on the device, like current log or firmware update files.

User calibration

Details the steps to use a calibration file to get calibrated and rectified data from the device.

Updating firmware

Provides steps to update the camera's firmware using the Device menu.

Maintenance

Maintenance plan

Outlines a maintenance plan including checking cables, housing, and connections at regular intervals.

Cleaning

Provides guidelines on proper cleaning procedures for the device to avoid equipment damage.

Troubleshooting

Triggering the camera too fast

Discusses issues with fast triggering, missed triggers, and potential noise on trigger inputs.

Encoder line trigger setup tips

Offers tips for setting up encoder line triggers using LineStatus and EncoderValue parameters.

Network card settings

Refers to recommended network card settings for troubleshooting network-related problems.

Rescue mode

Explains how to exit rescue mode if the device enters it due to firmware issues or overheating.

Repairs

States that repairs must be performed by qualified SICK AG personnel to maintain warranty.

Returns

Provides instructions for returning devices, including consultation and necessary documentation.

Decommissioning

Disposal

Guides on environmentally friendly disposal of the device in accordance with regulations.

Technical data

Product data

Lists product codes and part numbers for different Ranger3 variants.

Features

Summarizes key features of the Ranger3 camera, including technology, measurements, and exposure modes.

Performance

Details performance specifications like image sensor, resolution, scan rates, and SNRmax.

Signal dynamic range

Explains the 8-bit signal range of the M30 imager and the effect of FPN correction.

Light sensitivity

Shows the spectral response of the M30 sensor, indicating peak sensitivity in the 600-650 nm range.

Maximum line rate

Presents a graph showing the maximum line rate as a function of used sensor rows.

Interfaces

Lists interfaces and communication standards supported by the Ranger3 camera.

Ambient data

Provides environmental specifications like operating and storage temperature, and shock/vibration loads.

Mechanics and electronics

Details mechanical and electrical specifications including connections, power, enclosure rating, and dimensions.

Dimensional drawings

Provides detailed dimensional drawings of the Ranger3 camera.

Accessories

Glossary

Terms and abbreviations

Defines key terms and abbreviations used throughout the manual for clarity.

Annex

Range (3D) measurement

Explains the triangulation principle used for 3D range measurement.

Occlusion

Discusses occlusion types (camera, laser) and their impact on measurement results.

Width resolution and resolution in the motion direction

Explains how camera placement and optics determine FOV and resolution.

Height-range and height resolution

Details height-range and resolution, and how they are affected by camera/laser angles.

Main geometries

Describes four main principles for mounting the camera and laser for measurements.

Sensor coordinate system

Explains the sensor image coordinate system and how it relates to 3D data interpretation.

Features

Lists features used for Ranger3, explaining data types, visibility, and access.

Device control

Details standard SFNC selectors and parameters related to device control, including temperature and scan type.

Image format control

Covers SFNC selectors and parameters for controlling image format, regions, and pixel data.

Scan 3D control

Details SFNC selectors and parameters for controlling 3D scan data, including extraction modules and methods.

Acquisition control

Explains SFNC parameters for acquisition modes, stop modes, frame rates, and triggers.

Digital I/O control

Details SFNC selectors and parameters for controlling digital inputs and outputs, including line configuration.

Counter and timer control

Explains SFNC selectors and parameters for configuring counters and timers, like laser strobe and frame triggers.

Encoder control

Details SFNC parameters for encoder settings, including resolution, mode, divider, output mode, and reset.

Event control

Covers SFNC selectors and parameters for signaling events to the host application.

User Set control

Explains SFNC selectors and parameters for managing user sets, including saving, loading, and default settings.

File access control

Details SFNC selectors and parameters for accessing files on the device, used for firmware updates.

Root

Lists SFNC parameters related to root access and value array candidates.

Chunk data control

Explains SFNC selectors and parameters for controlling chunk metadata features like width, height, and timestamp.

Test control

Covers SFNC parameters and commands for standard compliance testing.

Transport layer control

Details SFNC parameters for managing the transport layer, including payload size and GigEVision settings.

GigEVision

Lists GigEVision control parameters for network interface configuration and data streaming.

Laser control

Details SFNC parameters for controlling laser delay and power.

Firmware update

Covers SFNC parameters related to firmware update progress and timing.

Recommended network card settings

Provides recommendations for network card settings like receive buffers and jumbo frames for optimal performance.

Connecting multiple cameras

Guides on connecting multiple cameras to the PC for best performance, considering NICs and subnets.

Connecting encoders

Explains how to connect SICK Stegmann RS-422 encoders to the Ranger3 camera.

EU declaration of conformity / Certificates

Provides information on downloading EU declarations of conformity and certificates from the SICK website.

Scheimpflug adapters

Describes Scheimpflug adapters for creating camera setups where the focus plane is parallel to the laser line.

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