SICK IVP Ranger E/D Manual de usuario

Ranger E/D

Operating Instructions

OPERATING INSTRUCTIONS

8011731

Subject to change without prior notice.

Please read the complete manual before attempting to operate your Ranger.

WARNING

Turn off power before connecting

Never connect any signals while the Ranger unit is powered.

Never connect a powered Ranger E/D Connection terminal or powered I/O signals to a

Ranger.

Do not open the Ranger

The Ranger unit should not be opened. The Ranger contains no user serviceable parts

inside.

Safety Hints if used with laser equipment

Ranger is often supposed to be used in combination with laser products.

The user is responsible to comply with all laser safety requirements according to the laser

safety standards IEC 60825 – 1 (2001-08) and 21 CFR 1040.10/11 (CDRH) respectively.

Please read the chapter “Laser Safety” in Appendix B carefully.

Turn off the laser power before maintenance

If the Ranger is used with a laser (accessory), the power to the laser must be turned off

before any maintenance is performed. Failure to turn this power off when maintaining the

unit may result in hazardous radiation exposure.

ISM Radio Frequency Classification - EN55011 - Group1, Class A

Class A equipment 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 disturbances.

Explanations:

Group1 – ISM equipment (ISM = Industrial, Scientific and Medical)

Group 1 contains all ISM equipment in which there is intentionally generated and/or used

conductively coupled radio-frequency energy which is necessary for the internal function-

ing of the equipment itself.

Class A equipment is equipment suitable for use in all establishments other than domestic

and those directly connected to a low voltage power supply network which supplies build-

ings used for domestic purposes.

Class A equipment shall meet class A limits.

Note: Although class A limits have been derived for industrial and commercial establish-

ments, administrations may allow, with whatever additional measures are necessary, the

installation and use of class A ISM equipment in a domestic establishment or in an estab-

lishment connected directly to domestic electricity power supplies.

Please read and follow ALL Warning statements throughout this manual.

Windows and Visual Studio are registered trademarks of Microsoft Corporation.

All other mentioned trademarks or registered trademarks are the trademarks or registered trademarks of their

respective owner.

Operating Instructions

Ranger E/D

Contents

1Introduction ................................................................................................................................... 4

2Installation Guide .......................................................................................................................... 6

2.1 Preparations ............................................................................................................................ 6

2.1.1 PC Hardware Requirements ...................................................................................... 7

2.1.2 Preparing the Network............................................................................................... 7

2.2 Mounting the Ranger............................................................................................................... 8

2.3 Connecting the Ranger............................................................................................................ 9

2.4 Installing Ranger Software ....................................................................................................10

2.5 Getting an Image from the Ranger .......................................................................................11

2.6 Maintenance..........................................................................................................................12

2.7 Service ..................................................................................................................................12

3Overview.......................................................................................................................................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

3.5 Triggering ...............................................................................................................................21

4Hardware Description .................................................................................................................22

4.1 Sensor ..................................................................................................................................22

4.1.1 Light Sensitivity ........................................................................................................22

4.2 Electrical Connections........................................................................................................... 23

4.3 Technical Data ....................................................................................................................... 25

4.4 Dimensional Drawing ............................................................................................................26

Appendix ............................................................................................................................................27

ARanger E and D Models.........................................................................................................27

BLaser Safety ...........................................................................................................................28

CRecommended Network Cards .............................................................................................29

DRecommended Switches....................................................................................................... 30

EiCon Device Configuration.....................................................................................................30

FConnecting Encoders.............................................................................................................31

GRanger E/D Power-I/O terminal ............................................................................................33

HLaser Safety Key Box (ICT-B) ................................................................................................. 35

Chapter 1Operating Instructions

Ranger E/D

Introduction

1Introduction

The Ranger is a high-speed 3D camera intended to be the vision component in a machine

vision system. The Ranger makes measurements on the objects that passes in front of the

camera, and sends the measurement results to a PC for further processing. The meas-

urements can be started and stopped from the PC, and triggered by encoders and photo-

electric switches in the vision system.

Figure 1.1 – The Ranger as the vision component in a machine vision system

The main function of the 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 intensity and scatter:

Range measures the 3D shape of the object by the use of laser triangulation. This can

be used for example for generating 3D images of the object, for size rejection

or volume measurement, or for finding defects on the object if it has a well-

known shape.

Intensity measures the light that is reflected by the object. This can be used for example

for inspecting print on objects or detecting defects in the objects’ surface.

Scatter measures how the incoming light is distributed beneath the object’s surface.

This is useful for example for finding the fiber direction in wood or detecting

delamination defects.

Operating Instructions Chapter 1

Ranger E/D

Introduction

Figure 1.2 – 3D (left), intensity (top right), and scatter (bottom right) images of a blister

pack with one damaged blister and two empty blisters.

There are three different models of the Ranger available:

Ranger C Connects to the PC via CameraLink.

Ranger E Connects to the PC through a Gigabit Ethernet network.

Ranger D A low-cost, mid-performance version of the Ranger E, suitable for 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 make

several types of measurements on the object in parallel. This is achieved by applying

different measurement methods to different parts of the sensor.

By selecting appropriate illuminations for the different areas of the measurement scene,

the Ranger can be used for measuring several features of the objects at the very same

time.

Figure 1.3 – Measuring several properties of the objects at once with MultiScan, using

multiple light sources.

Field-of-vie

Scatte

3D measurement

Grayscale

White light

Lasers

Chapter 2Operating Instructions

Ranger E/D

Installation Guide

2Installation Guide

2.1 Preparations

The following parts are recommended for getting started with the Ranger:

The Ranger E or D camera

A PC with a network interface card (NIC) that supports Gigabit Ethernet (for information

on requirements, see Appendix)

A Ranger E/D accessory kit:

– A Ranger E/D Power-I/O terminal

– An Ethernet cable for Gigabit Ethernet (5 m)

– A Power IO–Encoder Y-cable (2xM12 female – D-SUB male, 2 m)

– A 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)

Ranger E/D Development software CD (including Ranger Studio)

Line-projecting laser, 660 nm

Laser triangulation parts

Figure 2.1 – Ranger E accessory kit

Some of parts listed above are recommended but not required for a working Ranger

system. For a minimal Ranger system the following parts are required:

A Ranger E or D camera

A 24 V DC power supply

A C-mount lens

A laser or other suitable light source

A PC with an Ethernet network interface

An Ethernet cable for camera control and data streaming

A PC application that communicates with the Ranger

Operating Instructions Chapter 2

Ranger E/D

Installation Guide

Warning:

Where ever Ranger is used in combination with a laser, all requirements for laser products

and laser systems according to the laser safety standards IEC 60825 – 1 (2001-08) and

21 CFR 1040.10/11 must be fulfilled. Please read chapter ”Laser Safety” in Appendix B

carefully.

To handle class IIIb/ 3B lasers in an easy way, a laser safety box which provides a key-

actuated master control, a remote interlock connection, a connection for an external

warning lamp and a delayed power-on, is available as accessory.

Figure 2.2 – ICT-B Laser safety box

2.1.1 PC Hardware Requirements

Recommended PC requirements for a Vision system:

AMD Athlon XP 2000+ or Intel P4 2.0 GHz

1024 MB RAM

800 MHz bus 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 the large amount of data that the Ranger delivers, it is required to connect them to

the PC using a dedicated Gigabit Ethernet network, without other interfering traffic. If the

PC must be connected to other equipment, for example network printers, the PC should be

equipped with two network interface cards (NIC).

Many PCs today are delivered with a standard NIC for connection to an office network. This

NIC may not support Gigabit Ethernet, and even if it does it may cause performance prob-

lems when used with Rangers. Therefore the PC should always use one of the recom-

mended NIC for Ranger related traffic.

A single Ranger can be connected with or without using a switch. Multiple Rangers are

preferably connected using a switch.

Information about recommended network interface cards and switches can be found in

Appendix C.

Chapter 2Operating Instructions

Ranger E/D

Installation Guide

Figure 2.3 – Recommended ways of connecting one or more Rangers to a PC

The recommended IP settings:

Device IP address within the range Net mask

PC 192.168.0.1 – 192.168.0.10 255.255.255.0

Camera 192.168.0.11 – 192.168.0.254 255.255.255.0

Each Ranger needs a unique IP address when connected in a network. The Rangers are

delivered with IP addresses, which by default will work in most cases. If necessary, the IP

address of the Ranger can be changed by using the iCon Device Configuration utility.

Information on using iCon Device Configuration 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 measured. The Ranger and the laser

should be mounted so that the laser illuminates the object from one direction, and the

Ranger views the object from another direction.

The Ranger and the laser line should be oriented so that the laser line will appear along

the sensor in the Ranger. The Laser line mark on the back of the Ranger indicates in which

direction the Ranger will expect the laser line to be.

Exactly how to mount the Ranger and the laser depends on a whole number of factors. For

more information, see “Mounting Rangers and Lightings” in the Reference manual.

Figure 2.4 – Mounting the Ranger and a laser for measuring range.

Switch

PCPC

Switch

Other network

Operating Instructions Chapter 2

Ranger E/D

Installation Guide

For best result it is also important to shield out direct sun light and other disturbing light

from the field of view.

It is also important to select a lens that is suitable for the field-of-view in which the Ranger

should measure. Select a high-quality lens that gives sharp images and low distortion, as

this can be essential for achieving a successful vision application.

The Ranger E has four mounting holes on each side, and two additional holes on the

bottom side near the front. The accuracy in location relative to the sensor is higher for the

two front holes than for the other holes. For drilling instructions, dimensions and further

information, see the Hardware Description on page 22.

2.3 Connecting the Ranger

The following figure shows the position of the connectors on the back of the Ranger. For

more information on wiring and signals on the connectors, see the Hardware Description

on page 22.

encoder

Gigabit Ethernet

data

laser line

link

function on

power

encoder

Gigabit Ethernet

data

link

function on

power

laser line

Figure 2.5 – Connectors on the Ranger E and D respectively.

Warning!

Never connect any signals while the Ranger unit is powered.

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 is powered on. Do not look into the laser beam. Avoid looking at the

laser reflection.

Follow the following steps to prepare the Ranger for operation.

1. Ensure that all laser safety requirements are fulfilled for the applicable laser system

according to the standards IEC 60825-1 (2001-08) and 21 CFR 1040.10 / 11

(CDRH). See ”Laser Safety” in Appendix B for details.

2. Remove the protection caps covering the connections for Gigabit Ethernet, Power I/O,

and Encoder connectors.

3. Connect the Ethernet cable to the Gigabit Ethernet connector on the Ranger. Connect

the other end of the Ethernet cable to the Network Interface Card (NIC) in the PC, or to

a Gigabit Ethernet switch.

4. Connect any I/O signals to be used to the Power I/O and the Encoder connector on the

Ranger.

The Ranger E/D Power-I/O terminal is useful for connecting I/O signals to the Ranger.

It offers screw terminals for connecting the signals, and connects to the Ranger with a

Ranger E/D PowerIO-Encoder Y-cable.

5. Connect the unpowered power supply to the Power I/O connector on the Ranger, or to

the power plug on the Ranger E/D Power-I/O terminal.

6. Connect the laser to its power supply. If a stronger laser (class IIIb/3B or higher) is

used, the laser power must be connected through a laser safety box.

7. Switch on the power to the system.

Chapter 2Operating Instructions

Ranger E/D

Installation Guide

The LEDs on the back of the Ranger will indicate that the Ranger is switched on (on),

connected to the network (link) and possibly sending data over the network (data).

For more information on how to connect I/O signals to the Ranger, see the following

sections:

Hardware Description on page 22

Connecting Encoder on page 31

Ranger E/D Power-I/O terminal on page 33

Figure 2.6 – Connecting the Ranger E and Ranger D

2.4 Installing Ranger Software

The installation program on the Ranger E/D Development software 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 at high data rates

To install the Ranger E/D Development software (including Ranger Studio), insert the CD in

the PC and go through the Setup Wizard. The wizard starts automatically when the CD is

inserted. If the installation does not start automatically, double-click on setup.exe on

the CD.

For more detailed information on the installation, see the file releasenotes.txt on

the CD.

Note: You must have administrator privileges on the PC to install the Ranger E/D devel-

opment software.

24 V DC

Ranger E/D

PowerIO-Encoder

Y-cable

I/O signals

24 V DC

Power supply

Gigabit Ethernet

cable

Ranger E/D

Power-I/O terminal

ICT-B Laser

afety bo

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