SICK Ranger3

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
parameter 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.
TimerDuration
LineStart
LaserStrobeOut
SensorTrigger
t2
ExposureTime
t1
t0
Figure 18: Laser is on only during exposure
8.7
Range (3D) measurements
8.7.1 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
distribution from the laser line along a sensor column across the laser line can be
described as in the figure below.
Intensity 1
ROI start 4
ROI end 3
Sensor row 2
Figure 19: The impact position of the laser in one column
1
Intensity
2
Sensor row
3
ROI end
8 CONFIGURATION
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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 8020774/1D7Q/2022-03 | SICK
Subject to change without notice