R a n g e r E / D
O p e r a t i n g I n s t r u c t i o n s
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Page 1: ...R a n g e r E D O p e r a t i n g I n s t r u c t i o n s O P E R A T I N G I N S T R U C T I O N S...
Page 2: ...quipment is intended for use in an industrial environment There may be potential difficulties in ensuring electromagnetic compatibility in other environments due to con ducted as well as radiated dist...
Page 3: ...Service 12 3 Overview 13 3 1 Measuring with the Ranger 13 3 2 Mounting the Ranger 14 3 3 Configuring the Ranger 15 3 3 1 Ranger Studio 15 3 3 2 Measurement Methods 16 3 4 Developing Applications 20 3...
Page 4: ...Ranger is to measure 3D shape of objects Depending on model and configuration the Ranger can measure up to 35 000 profiles per second In addition to measure 3D or range the Ranger can also measure int...
Page 5: ...r measuring 3D only in applications without high speed requirements The Ranger D can measure up to 1000 profiles per second The Ranger C and E models are MultiScan cameras which mean that they can mak...
Page 6: ...lens 25 mm F1 4 C mount 1 optics Camera mounting parts A power supply 24 V DC wide range power supply with 1m cable and a standard power input to support US Europe cord Operating Instructions printed...
Page 7: ...s speed 1024 768 24 bits of color Windows XP Pro A Gigabit Ethernet network interface card For evaluation purposes a PC with lower specifications may be sufficient 2 1 2 Preparing the Network Due to t...
Page 8: ...guration can be found in Appendix E 2 2 Mounting the Ranger When measuring range the Ranger is used together with a line projecting laser line that illuminates the cross section of the object to be me...
Page 9: ...Never connect a powered Ranger E D Power I O terminal or powered I O signals to a Ranger If the laser trigger signal is used for lighting the laser the laser may become activated as soon as the Ranger...
Page 10: ...oftware CD will install the following items on the PC Ranger Studio Ranger SDK including the iCon APIs Example programs Reference Manual Optional high performance Ethernet drivers for lower CPU load a...
Page 11: ...llation is correct follow these steps to receive an image from the Ranger 6 Make sure the PC is connected to the Ranger and Ranger Studio is installed on the PC 7 Start Ranger Studio 8 Choose Options...
Page 12: ...to adjusting the exposure time and to decide the region of interest More information on how to use the visualization window can be found in Ranger Studio chapter 13 When you are ready click Stop to st...
Page 13: ...ile and one intensity profile where the intensity profile contains the reflected intensity at each measured point In addition the Ranger C and E models being MultiScan cameras can also make parallel m...
Page 14: ...a lever that pushes faulty objects to the side Before the Ranger can be used in a machine vision system the following needs to be done Find the right way to mount the Ranger and illuminations Configur...
Page 15: ...ore the Ranger can be used in a machine vision application the Ranger has to be configured to make the proper measurements and to deliver the profiles with sufficient quality and speed This is usually...
Page 16: ...ng 3D measurement of objects The Ranger uses laser triangulation when measuring range which means that the object is illuminated with a laser line from one direction and the Ranger is viewing the obje...
Page 17: ...e range by analyzing the light intensity in each column of the sensor image Threshold determines the range by locating intensities above a certain level while Max locates the maximum intensity in each...
Page 18: ...uring how objects respond to light of different wavelength by using for example colored or IR lightings There are two different intensity components Gray Measures reflected light along one or several...
Page 19: ...in the scatter image The scatter component measures the intensity along two rows on the sensor and the result is two intensity profiles one that should be the center of the laser line direct and one...
Page 20: ...st of these functions are encapsulated in two classes Camera Used for controlling the Ranger FrameGrabber Collects the measurement data from the Ranger Your application establishes contact with the Ra...
Page 21: ...t Figure 3 11 Triggering the Ranger with Enable and Pulse triggering signals If pulse triggering is not used for triggering profiles the Ranger will measure in free running mode that is make measureme...
Page 22: ...sensor unique 4 1 1 Light Sensitivity The collected light charge in the Ranger camera can be AD converted to 8 bits digital data that represent a gray scale value from 0 to 255 One AD unit represents...
Page 23: ...ital gray value in AD units Example A laser light source with a maximum incident power of 0 05 W m2 on the sensor area at 725 nm The integration time is 10 ms The laser will at 725 nm give a sensitivi...
Page 24: ...S485 7 Blue GND Ground 8 Red Out 2 Laser trigger TTL Color is valid for cable type DOL 1208 Encoder connector female Pin Color Signal Description 1 White In_A Phase 1 RS422 TTL signal level terminated...
Page 25: ...227 256 227 768 227 768 1 227 256 227 768 Optics C mount 1 2 inch 1 inch 1 inch 1 1 2 inch 1 inch Optional IR filter 2 x x MultiScan x x x Max profile rate profiles s 35 000 35 000 35 000 1 000 1 000...
Page 26: ...ckivp com All rights reserved 8011731 Hardware Description 4 4 Dimensional Drawing Figure 4 3 Ranger E and D not to scale Fastening threads M3 x 3 mm depth Fastening threads M5 x 9 mm depth 50 19 5 7...
Page 27: ...odes Version 512 x 512 pixels 512 x 1536 pixels Hi res gray 3072 pixels IR filter MultiScan High speed 3D Type Code Part no Ranger E40 X X X RANGER E40414 1 040 378 Ranger E50 X X X RANGER E50414 1 04...
Page 28: ...ased on the laser power measured according to the methods defined by the IEC and CDRH standards The classification refers to the visible wavelength range between 400 nm and 700 nm This corresponds to...
Page 29: ...set not to use Jumbo frames Without using jumbo frames the maximum Ethernet frame size is 1518 bytes which includes 46 bytes used for headers This means that the maximum size for the data packages tha...
Page 30: ...h These switches are capable of handling Ethernet Jumbo frames E iCon Device Configuration The iCon Device Configuration is a utility for finding the IP addresses of connected devices and for changing...
Page 31: ...nputs on the Ranger E and D have internal termination which makes it possi ble to connect an RS422 encoder to the Ranger without requiring any external termination With this termination it is possible...
Page 32: ...lor Signal Screw terminal 1 White In_A 5 White A 3 2 Brown In_B 8 Pink B 4 3 Green In_B 1 Black B 7 4 Yellow In_A 6 Brown A 6 5 Gray GND 10 Blue GND 15 Color is valid for cable type STL 1208 Wiring ex...
Page 33: ...nectors on the Ranger E or D by using a Ranger E D PowerIO Encoder Y cable with M12 connectors The other end of the cable is connected to a DSUB connector on the Ranger E D Power I O terminal The Powe...
Page 34: ...ase 2 RS422 in TTL level Encoder pin 2 5 Enable Measurement Enable in 24 V Power I O pin 1 6 In_A Phase 1 RS422 in TTL level Encoder pin 4 7 In_B Phase 2 RS422 in TTL level Encoder pin 3 8 Laser trig...
Page 35: ...on of the laser trigger pulse to a laser The ICT B box provides a key actuated master control a remote interlock connection a connection for an external warning lamp and a delayed power on supply to t...
Page 36: ...ICT B Laser safety box ICT B Laser safety box Supply voltage Vs 24 V DC 20 Ripple 5Vpp Current consumption Laser safety box only 50 mA Laser Supply Voltage 5 3 V DC 2 Max current consumption for laser...
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Page 38: ...8011731 SICK IVP 2006 11 16 All rights reserved Subject to change without prior notice...
