SICK 1106166 Operating Instructions Manual Download Page 1

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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

Ruler3000

3D vision

Summary of Contents for 1106166

Page 1: ...O P E R A T I N G I N S T R U C T I O N S Ruler3000 3D vision...

Page 2: ...issible within the limits of the legal determination of Copyright Law Any modi fication abridgment or translation of this document is prohibited without the express written permission of SICK AG The t...

Page 3: ...talling PC software 13 3 4 Capturing the first images 13 3 4 1 Finding and connecting the camera 14 3 4 2 Getting a 2D image 14 3 4 3 Getting a 3D image 14 4 Product description 16 4 1 Introduction 16...

Page 4: ...3 1 Editing parameters 41 8 4 Extraction region 42 8 4 1 Setting extraction region 45 8 4 2 Measurement mode 46 8 4 3 Maximum buffer size 46 8 5 Laser profile extraction 46 8 5 1 Exposure time 47 8 5...

Page 5: ...lifetime 83 11 Troubleshooting 85 11 1 Over triggering 85 11 2 Encoder line trigger setup tips 85 11 3 Network card settings 85 11 4 Rescue mode 85 11 5 Repairs 85 11 6 Returns 86 12 Decommissioning 8...

Page 6: ...I O control 105 16 2 7 Counter and timer control 106 16 2 8 Encoder control 107 16 2 9 Event control 108 16 2 10 User Set control 108 16 2 11 File access control 109 16 2 12 Chunk data control 110 16...

Page 7: ...ion on operating the machine or system in which the device is integrated For more information refer to the operating instructions of the specific machine or system 1 2 Explanation of symbols Warnings...

Page 8: ...can result in dangerous situations Therefore observe the following information Product should be used only in accordance with its intended use All information in these operating instructions must be s...

Page 9: ...t regulations to be able to perform tasks delegated to them and to detect and avoid any potential dangers independently Electricians have the specialist training skills and experience as well as knowl...

Page 10: ...ing may increase the level of risk Current national regulations regarding laser protection must be observed Caution Use of controls or adjustments or performance of procedures other than those specifi...

Page 11: ...660 15nm P C6 1mW within 7mm aperture If the device itself is installed in a way that obscures the attached warning labels additional clearly visible labels must be attached 2 9 Note on laser radiatio...

Page 12: ...Make sure that the camera is properly cooled 1 2 Figure 2 Mounting position stand off from device bottom laser side is 245 5 mm 1 Stand off from device bottom 245 5 mm 2 Measuring range 125 mm For det...

Page 13: ...on the camera using the power I O cable 4 Connect a 24V DC power supply to the connection module 24V on terminal 1 and GND on terminal 2 5 Switch on the power to the system For further information abo...

Page 14: ...d as an ordinary camera You can edit parameter values related to the image acquisition and evaluate the result directly in the image viewer until the result is satisfactory Figure 5 Getting the 2D ima...

Page 15: ...Figure 6 Getting the 3D image GETTING STARTED 3 8026049 2021 04 SICK O P E R A T I N G I N S T R U C T I O N S Ruler3000 15 Subject to change without notice...

Page 16: ...n retrieve its position x y z in millimeters in a coordinate system relative to the Ruler3000 and the reflectance i e the amount of light that is reflected by the object 3D image data can also be retr...

Page 17: ...g laser light is distributed beneath the surface of the object This is useful for example for find ing the orientation of fibers in wood Note that the output from the camera is not images of the objec...

Page 18: ...s the profiles sent from the camera More information about 3D measurements see Range 3D measurement page 95 Range By default the range measurement values from the camera are calibrated and rectified t...

Page 19: ...d scatter right The knots and the blue stained right edge of the board outlined in blue appear dark in the scatter image 4 3 Hardware description 4 3 1 Sensor The Ruler3000 camera is based on a unique...

Page 20: ...re upgrade fast flashing O Yellow Idle O Green Continuous or single frame acquisi tion Red flashing Thermal warning risk of overheating O Red The device is in rescue mode due to software problems or o...

Page 21: ...tive names For the same reason there are only a few parameters available in the GUI It is still possible to reach all of the available GenICam parameters via the API see Features page 97 For informati...

Page 22: ...Space with a Ruler3000 is to connect the device to either a SIM or an IPC running SICK AppEngine This extra hardware in turn runs an AppSpace app This is due to that Ruler3000 is a streaming device an...

Page 23: ...No details about the images are coming with the callback You need to find out if it is range reflectance scatter etc Rectified image needs to be scaled and off seted to get wanted mm values Details a...

Page 24: ...ort inspection Immediately upon receipt in Goods in check the delivery for completeness and for any damage that may have occurred in transit In the case of transit damage that is visible externally pr...

Page 25: ...torage periods of longer than 3 months check the general condition of all components and packaging on a regular basis TRANSPORT AND STORAGE 5 8026049 2021 04 SICK O P E R A T I N G I N S T R U C T I O...

Page 26: ...th a network interface card NIC that supports Gigabit Ethernet For informa tion about requirements Recommended network card settings page 113 Power I O cable Ethernet cable for Gigabit Ethernet with M...

Page 27: ...rapezoid shaped area in the laser plane The maximum height and the maximum width of the object to be inspected define a rectangle that must be entirely inside the trapezoid total FOV For correct measu...

Page 28: ...s fitted with an optical red band pass filter to reduce ambient light but some shielding might still be needed 6 4 Field of view diagram Each device is uniquely calibrated which means different device...

Page 29: ...Width at maximum working distance Table 2 Preliminary measurement details Ruler3020 Field of view height 125 mm Field of view width 155 220 mm Stand off from device bot tom laser side 245 5 mm Stand o...

Page 30: ...to be connected at both ends of the cable Ensure that loose cable ends are isolated Connect unused pins to GND and leave unused output pins floating Wire cross sections of the supply cable from the cu...

Page 31: ...cal trigger sen sor s system controller via shielded cables The cable shield for the data cable for example rests against the metal housing of the device The device can be grounded through the cable s...

Page 32: ...llations On widely distributed system installations with correspondingly large potential differen ces the setting up of local islands and connecting them using commercially available electro optical s...

Page 33: ...n the event of large differences in the ground potential ground loops are effec tively prevented As a result equalizing currents can no longer flow via the cable shields and metal housing NOTICE The v...

Page 34: ...rnet GigE and Power I O 2 Connect the Ethernet cable to the GigE connector on the camera Connect the other end of the Ethernet cable to the Network Interface Card NIC in the PC 3 Connect the connectin...

Page 35: ...er type Encoder Input B or Do not connect Configurable RS 422 TTL or HTL Default RS 422 TTL 13 Reserved 14 LASER STROBE OUT22 5 V trigger output for Laser or Strobe 15 I O 2 24 V Line trigger input3 1...

Page 36: ...ull Max output cur rent 100 mA 5 V outputs 14 Output type Push pull 7 5 2 GigE connector 1 7 2 6 5 4 3 8 Pin assignment Table 5 GigE connector 8 pin Pin Signal 1 GETH L1 2 GETH L1 3 GETH L2 4 GETH L2...

Page 37: ...n ports for CDB650 204 Terminal in CDB650 Signal in Ruler3000 Voltage 1 50 I O 3 24 V input 2 51 I O 4 24 V output 3 10 I O 1 24 V input 4 13 I O 2 24 V input 5 21 Laser trigger 2 5 V output 6 34 Enco...

Page 38: ...inal in CDB650 Signal in Ruler3000 Voltage 1 Power supply 24 V input 7 ELECTRICAL INSTALLATION 38 O P E R A T I N G I N S T R U C T I O N S Ruler3000 8026049 2021 04 SICK Subject to change without not...

Page 39: ...the cameras For best performance connect each camera to a separate NIC For recommended network settings see Recommended network card settings page 113 8 1 3 Installing PC software The latest version o...

Page 40: ...ded click the three dots to the right and select IP settings to edit the IP settings of the device see Editing IP settings page 65 d Click Connect When the device is connected select 2D Image to conti...

Page 41: ...he Evaluation tab after each adjustment and compare the images to find the best configuration You cannot edit the parameters while the camera is acquiring data 1 Click the stop button to stop acquirin...

Page 42: ...utput either the raw data i e a standard 2D image or the 3D profile data The region of interest ROI is the area within the laser plane in which the device will look for a profile to capture The parts...

Page 43: ...erest height 4 Region of interest width Using a smaller region on the sensor enables measurements at a higher rate The region is specified by the parameters OffsetX OffsetY Width and Height as shown i...

Page 44: ...res are given in sensor pixel or world mm coordinates 3D extraction processing module Profiles per image Width Height Width 3D extraction Extraction region 1 2 3 Figure 27 A 3D processing module defin...

Page 45: ...adjust the height and position of the region that is used to generate the 3D image data follow the steps below NOTE For best image quality make sure that the whole width of the laser line is within th...

Page 46: ...due to the limited GigE Vision retransmission buffer memory in the device The maximum buffer height i e Profiles per image depends on the data format the region width or rectification width if using...

Page 47: ...by clicking on the Timed profile rate field The maximum profile rate is shown in the information field at the bottom NOTE The maximum exposure time and the maximum profile rate are stored as floating...

Page 48: ...his will result in bad image quality If Detection threshold is too high not all laser peaks will be registered This will result in an image where some parts are missing Missing data will be registered...

Page 49: ...nd 1 Raw profile 2 Reflections 3 Intensity along a b 4 First peak 5 Maximum peak 6 Last peak 7 Intensity 8 Threshold 8 5 3 2 WAM size The size of Window Around Maximum WAM is used for high resolution...

Page 50: ...localization of the laser line when acquiring images containing both dark and bright materials such as bright objects towards a dark background or dark objects with bright prints The HDR function is o...

Page 51: ...inear mode the sensor readout and a new exposure can be done in parallel For example If the readout time is 33 s and the exposure time is 30 the total cycle time is 33 s for linear mode and 63 s for H...

Page 52: ...cted in parallel to the 3D data The reflectance values are saved as an 8 bit grayscale image with one value corresponding to each point in the range dataset The Reflectance checkbox enables collection...

Page 53: ...denoted in blue appear dark in the scatter image Scatter measurements can distinguish material effects which is useful for organic mat ters such as wood wood fibers transmit light along their growth d...

Page 54: ...own in gray 1 Laser peak position 2 WAM window You can set additional scatter parameters using GenICam or GenIStream see GenI Stream API page 21 8 6 1 3 Profile meta data Profile meta data are tagged...

Page 55: ...and profiles Triggering is used to control the initiation and rate of data acquisition You can use an external signal to trigger each image or every single profile The camera can also be configured to...

Page 56: ...ger input of the device Activating this mode is only possible using GenICam or GenIStream see GenIStream API page 21 Use an encoder for profile triggering In that case pulses are received on the encod...

Page 57: ...r input is always used as trigger source 8 7 2 2 Encoder triggering When you use an encoder for triggering the camera counts the number of pulses received on the encoder inputs using an internal count...

Page 58: ...l encoder is used the camera cannot differentiate between forward and backward movement The single channel encoder mode is therefore only visible and selectable when the Encoder mode see table 6 is se...

Page 59: ...he desired mode The Encoder value is an informational field and can be reset to 0 by clicking the Encoder reset button Encoder type Ruler3000 supports the encoder type RS 422 It is only possible to ch...

Page 60: ...apture is completed To avoid unnecessary CPU load set the Profiles per image parameter to no less than 100 pixels 0 V 24 V Height Height Height Image trigger signal Profile acquisition level sensitive...

Page 61: ...m u v z x Figure 56 Sensor image and corresponding calibrated x z points The camera can operate both Calibrated and Uncalibrated The default setting is Calibrated Camera Figure 57 Calibration GUI refe...

Page 62: ...ane and the camera the number of holes in the image depends on the range value with typically no holes in the image at one end of the range scale and maximum number of holes at the other Hence the spr...

Page 63: ...to change the parameters while the image acquisition is started 1 2 3 4 5 8 6 7 Figure 59 Graphical user interface 1 Image viewer 2 Menu bar 3 Tab section 4 Control bar 5 Parameter settings pane 6 Pa...

Page 64: ...Description Pan image Click and drag to pan image Zoom Rotate the mouse scroll wheel 3D Image handling controls Action Description Rotate around center point Click and drag to rotate the image around...

Page 65: ...useful for example when you want to connect to a camera that is not on the same subnet as the NIC see Recommended network card settings page 113 Then you have to reconfigure the camera to the same sub...

Page 66: ...5 Tab 2D Image This view shows a grayscale 2D image which can be useful when adjusting the expo sure time or deciding the region of interest 9 1 2 4 3D Image Here you view the 3D image that is the res...

Page 67: ...processing tools that can be applied to the currently selected image In the Select processing tool list box you can choose between three different evaluation methods as described below Image filterin...

Page 68: ...and the center point in another plane You can define which pixels to include in the plane estimation for both planes 9 1 3 Control bar Depending on the currently active tab different options are avai...

Page 69: ...field of view in the 2D viewer This feature is only available for Ruler3000 cameras Boost expo sure Brighten up the region of interest by temporarily increase the exposure time for the 2D image Specif...

Page 70: ...the parameters while the camera is acquiring data The parameter settings pane is located to the right of the image viewer showing different parameter categories It also holds a text box showing a desc...

Page 71: ...is assumed that the Ruler3000 and Stream Setup are installed and working properly How to install the Ruler3000 and Stream Setup is briefly described in Getting started page 12 When capturing 3D image...

Page 72: ...selected the Default configuration is used The Default configuration is read only and cannot be modified NOTE A Camera configuration is only valid for the firmware version that was used when the confi...

Page 73: ...of the guaranteed field of view Show extraction region Select the Show area in 2D image checkbox to visualize the selected extraction region When the checkbox is selected a blue overlay appears in the...

Page 74: ...tional settings button and select Surface or Points see Data rendering mode page 77 8 To adjust the scene lighting use the menus and sliders in the GUI see Light settings page 78 9 2 5 Image component...

Page 75: ...lor is proportional to depth z coordinate Suitable to show large variations in depth Hybrid Color hue is proportional to depth z coordinate color brightness is proportional to the laser reflectance Th...

Page 76: ...when showing the 3D image Subsampling reduces the amount of data and gives a more responsive 3D display especially for large data sets and a slow PC Parameter Description Sub sampling X Defines how m...

Page 77: ...s displayed as a crosshair which can be disabled The Reset button resets the rendered view to default Figure 76 3D image Settings options Table 8 Rendering modes Rendering mode Description Example Sha...

Page 78: ...y file that contains the image data dat An XML file that describes the binary file xml In the 2D Image tab the currently displayed 2D image is saved In the 3D Image tab the complete buffer of the curr...

Page 79: ...en saved to disk either by a recording or saved as a single image Figure 79 Loading and selecting an image GUI reference To load a single 2D or 3D image do as follows 1 Open the Evaluation window The...

Page 80: ...dots to the right You can also access the Camera action menu from the 2D Image and 3D Image tabs The Camera files window opens and different files and actions are displayed in a list Figure 80 Camera...

Page 81: ...update is finished the device restarts automatically 3 Click Close 4 Reconnect to the device see Connecting the camera page 40 OPERATION 9 8026049 2021 04 SICK O P E R A T I N G I N S T R U C T I O N...

Page 82: ...nt conditions and climate Recommended At least every 6 months Specialist 10 2 Cleaning NOTICE Equipment damage due to improper cleaning Improper cleaning may result in equipment damage Only use recomm...

Page 83: ...ons stated in this document 10 3 1 About laser lifetime The total lifetime of a laser module is dependent on the time the laser is lit By reducing the time the laser is lit the total lifetime will inc...

Page 84: ...t data page 90 Avoid temperature peaks caused by direct sunlight or electrical heaters that may heat up the housing At higher ambient temperatures the expected lifetime for the laser diode will decrea...

Page 85: ...s are counted by the camera The Encoder reset button will reset the counter to 0 11 3 Network card settings For problems related to the network card settings see Recommended network card settings page...

Page 86: ...ack aging NOTE To enable efficient processing and allow us to determine the cause quickly please include the following when making a return Details of the contact person Description of the application...

Page 87: ...ICE Danger to the environment due to improper disposal of the device Disposing of devices improperly may cause damage to the environment Therefore observe the following information Always observe the...

Page 88: ...m Width at maximum work ing distance 220 mm Maximum height range 125 mm Factory calibrated Yes Light source Visible red light laser 660 nm Divergence fan angle 40 Output power 22 mW Can be pulsed or c...

Page 89: ...FPN correction causes a small reduction of the resulting signal range and the expected useful signal range is around 240 AD units When the imager is saturated residual FPN may appear 13 3 2 Light sens...

Page 90: ...e and Reflectance 13 4 Interfaces Product Ruler3020 Ethernet UDP IP 1 Gbit s data transmission rate Configuration software Stream Setup Communication interfaces Gigabit Ethernet GigE Vision Operating...

Page 91: ...t M12 8 pin female X coded Connector material Nickel plated brass Supply voltage 24 V DC 10 Ripple 5 Vpp Power consumption 12 W maximum Current consumption 1 5 A maximum Enclosure rating IP65 IP67 Pro...

Page 92: ...20 117 5 4 63 25 70 2 76 Figure 84 Ruler3020 dimensions 1 Optical receiver 2 Optical sender 3 Fastening threads M5 x 12 mm deep with through hole 4 2 mm 4 Connector Power I O 5 Connector Gigabit Ether...

Page 93: ...cessories and where applicable mounting information can be found online at www sick com Ruler3000 ACCESSORIES 14 8026049 2021 04 SICK O P E R A T I N G I N S T R U C T I O N S Ruler3000 93 Subject to...

Page 94: ...e line Contains one value for each measured point along a cross section of the object of each aquired type Same thing as profile line rate The rate at which the profiles in an image are captured Hz MT...

Page 95: ...rt direction 2 Range Z 3 Negative transport direction Y 4 Width X The following is important to get correct measurement results The laser line is orthogonal to the movement direction of the object 16...

Page 96: ...ata as rectified Z data with Z pointing towards the device i e inverse to the sensor v axis The camera views the object and the laser line from above with a certain angle between the camera and the la...

Page 97: ...he device For further information including detailed descriptions of the standard parameters see www emva org standards technology genicam NOTE There are parameter dependencies both within and between...

Page 98: ...robe1Output This setting selects the laser strobe output for configuration 2 Set the LineSource to Region1Exposure Region1Exposure means that the laser strobe output will automatically follow the expo...

Page 99: ...ures Naming Convention that was used to create the device s GenICam XML R DeviceTLType enum Transport Layer type of the device Values GigEVision R DeviceTLVersionMajor int Major version of the Transpo...

Page 100: ...W DeviceRegistersStreamingStart Prepare the device for registers streaming without checking for consistency DeviceRegistersStreaming is used when loading and saving a device s configuration to from f...

Page 101: ...e RegionSelector int The unique identifier value corresponding to the Region R ComponentIDValue ComponentSelector int The unique identifier value corresponding to the selected Component type R 1 Accor...

Page 102: ...ratedAC CalibratedAC_Linescan RW Scan3dCoordinateSystem Scan3dExtrac tionSelector enum Value Cartesian R Scan3dDistanceUnit Scan3dExtraction Selector enum Value Pixel Millimeter R Scan3dCoordinateScal...

Page 103: ...verse RW ReflectanceFilter Scan3dExtractionSelec tor bool Speckle reduction smoothing of reflectance RW Scan3dRectificationWidth Scan3dExtrac tionSelector int Rectification can be made to a higher or...

Page 104: ...20 Acquisition control standard SFNC selector Selector Type Description TriggerSelector enum Selects the type of trigger to configure Value LineStart FrameStart ExposureStart AreaScanFrameStart Table...

Page 105: ...rSelector enum Increases the dynamic range Values Off PresetSoft PresetMedium PresetAggressive RW MultiSlopeKneePointCount int The number of knee points as well as the number of addi tional exposure s...

Page 106: ...ntrols the current electrical format of the selected physical input or output Line For encoder Lines RS422 corresponds to differential 5V TTL logic mode Line24V corresponds to single ended 24V HTL log...

Page 107: ...arameter Type Description Access EncoderResolution float Defines the resolution of one encoder tick in the used coordi nate system RW EncoderMode enum FourPhase mode is the standard encoder mode where...

Page 108: ...ble 32 User Set control standard SFNC selector Selector Type Description UserSetSelector enum Selects the feature User Set to load save or configure Default User Set is read only and cannot be modifie...

Page 109: ...ce Values Open Close Write Read Delete Table 37 File access control standard SFNC parameters Parameter Type Description Access FileAccessOffset FileSelector FileOpera tionSelector int Controls the Off...

Page 110: ...eTriggerCounter Height ChunkScan3dCoordinateSelector enum Selects which Coordinate to retrieve data from Values CoordinateA CoordinateB CoordinateC ChunkScan3dCoordinateReferenceSelec tor enum Selecto...

Page 111: ...in the payload 1 GHz clock R ChunkEncoderValue LineSelector int The encoder counter s value when the profile exposure is triggered for each scan line included in the payload R ChunkHeight int The hei...

Page 112: ...t R GevMCSP int Indicates the source port for the message channel R GevSCPHostPort int Controls the port of the selected channel to which a GVSP transmitter must send data stream or the port fromwhich...

Page 113: ...the device boots with the Persistent IP configuration scheme RW GevDiscoveryAckDelay int Indicates the maximum randomized delay the device will wait to acknowledge a discovery command R Table 46 GigE...

Page 114: ...er frame size which implies higher CPU load on the PC Symptoms of too high setting If you use a switch that is unable to support Jumbo Frames connected between the camera and the PC it is impossible t...

Page 115: ...up to two cameras to the same encoder Use an incremental encoder with two channels A A and B B and connect all four outputs It is not possible to connect an index channel Z to the camera The drawing b...

Page 116: ...4 Phase2 RS 422 5 Phase1 RS 422 6 Phase1 RS 422 7 Phase2 RS 422 16 ANNEX 116 O P E R A T I N G I N S T R U C T I O N S Ruler3000 8026049 2021 04 SICK Subject to change without notice...

Page 117: ...cense LGPL MIT license zlib license and licenses derived from the BSD license This program is provided for general use without warranty of any kind This warranty disclaimer also extends to the implici...

Page 118: ...Mexico Phone 52 472 748 9451 E Mail mario garcia sick com Netherlands Phone 31 0 30 229 25 44 E Mail info sick nl New Zealand Phone 64 9 415 0459 0800 222 278 tollfree E Mail sales sick co nz Norway...

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