Pepperl+Fuchs SmartRunner 3-D Stereo User manual

SmartRunner 3-D Stereo
3-D Stereo Sensor
Manual

With regard to the supply of products, the current issue of the following document is applicable:
The General Terms of Delivery for Products and Services of the Electrical ndustry, published
by the Central Association of the Electrical ndustry (Zentralverband Elektrotechnik und Elek-
troindustrie (ZVE ) e.V.) in its most recent version as well as the supplementary clause:
"Expanded reservation of proprietorship"
Worldwide
Pepperl+Fuchs Group
Lilienthalstr. 200
68307 Mannheim
Germany
Phone: [phone] - 0
E-mail: [email protected]
North American Headquarters
Pepperl+Fuchs nc.
1600 Enterprise Parkway
Twinsburg, Ohio 44087
USA
Phone: [phone]
E-mail: sal[email protected]
Asia Headquarters
Pepperl+Fuchs Pte. Ltd.
P+F Building
18 Ayer Rajah Crescent
Singapore 139942
Phone: [phone]
E-mail: sal[email protected]fuchs.com
https://www.pepperl-fuchs.com

SmartRunner 3-D Stereo
Contents
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1 Introduction................................................................................................................ 5
1.1 ontent of this Document............................................................................. 5
1.2 Target Group, Personnel ............................................................................... 5
1.3 Symbols Used ................................................................................................ 6
2 Product Specifications.............................................................................................. 7
2.1 Use and Application ...................................................................................... 7
2.2 GenI am ......................................................................................................... 8
2.3 Symbols on the Sensor................................................................................. 8
2.4 Dimension Drawing ..................................................................................... 11
2.5 Display Elements ......................................................................................... 12
2.6 Accessories.................................................................................................. 13
3 Installation................................................................................................................ 14
3.1 Storage and Disposal.................................................................................. 14
3.2 Preparation................................................................................................... 14
3.3 Sensing Range............................................................................................. 15
3.4 Mounting ...................................................................................................... 17
3.5 Electrical onnection .................................................................................. 18
3.6 Setting up Windows Network ommunication between the Sensor
and a P /Laptop .......................................................................................... 19
4 ommissioning........................................................................................................ 22
5 onfiguration ........................................................................................................... 23
5.1 Parameters (Features)................................................................................. 23
5.2 VsxProtocolDriver........................................................................................ 24

SmartRunner 3-D Stereo
Contents
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6 Operation with ViSolution .......................................................................................33
6.1 Establishing a onnection to the Sensor..................................................33
6.2 ViSolution Main Screen ...............................................................................36
6.2.1 User nterface ................................................................................................................... 37
6.2.2 Set up ............................................................................................................................... 42
6.2.2.1 Device nformation................................................................................................................. 43
6.2.2.2 Set Trigger ............................................................................................................................. 44
6.2.2.3 mprove Data......................................................................................................................... 46
6.2.2.4 Check Results ....................................................................................................................... 49
6.2.3 Monitor.............................................................................................................................. 49
6.2.4 Maintain ............................................................................................................................ 50
6.2.4.1 Developer .............................................................................................................................. 51
6.2.4.2 dentification .......................................................................................................................... 53
6.2.4.3 Firmware Update ................................................................................................................... 53
6.2.5 Explore Device.................................................................................................................. 53
6.2.6 Transfer Configuration....................................................................................................... 53
6.2.7 Check Connectivity........................................................................................................... 54
6.2.7.1 Network Settings ................................................................................................................... 55
6.2.8 Logout............................................................................................................................... 56
7 Maintenance and Repair .........................................................................................57
7.1 Servicing.......................................................................................................57
7.2 Repair ............................................................................................................57
8 Troubleshooting .......................................................................................................58
8.1 What to Do in ase of a Fault......................................................................58

SmartRunner 3-D Stereo
ntroduction
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1 Introduction
1.1 ontent of this Document
This document contains information required to use the product in the relevant phases of the
product life cycle. This may include information on the following:
•Product identification
•Delivery, transport, and storage
•Mounting and installation
•Commissioning and operation
•Maintenance and repair
•Troubleshooting
•Dismounting
•Disposal
The documentation comprises the following parts:
•This document
•Datasheet
n addition, the documentation may comprise the following parts, if applicable:
•EU-type examination certificate
•EU declaration of conformity
•Attestation of conformity
•Certificates
•Control drawings
•nstruction manual
•Other documents
1.2 Target Group, Personnel
Responsibility for planning, assembly, commissioning, operation, maintenance, and dismount-
ing lies with the plant operator.
Only appropriately trained and qualified personnel may carry out mounting, installation, com-
missioning, operation, maintenance, and dismounting of the product. The personnel must have
read and understood the instruction manual and the further documentation.
Prior to using the product make yourself familiar with it. Read the document carefully.
Note
For full information on the product, refer to the further documentation on the nternet at
www.pepperl-fuchs.com.

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SmartRunner 3-D Stereo
ntroduction
1.3 Symbols Used
This document contains symbols for the identification of warning messages and of informative
messages.
Warning Messages
You will find warning messages, whenever dangers may arise from your actions. t is mandatory
that you observe these warning messages for your personal safety and in order to avoid prop-
erty damage.
Depending on the risk level, the warning messages are displayed in descending order as fol-
lows:
Informative Symbols
Action
This symbol indicates a paragraph with instructions. You are prompted to perform an action or
a sequence of actions.
Danger!
This symbol indicates an imminent danger.
Non-observance will result in personal injury or death.
Warning!
This symbol indicates a possible fault or danger.
Non-observance may cause personal injury or serious property damage.
aution!
This symbol indicates a possible fault.
Non-observance could interrupt the device and any connected systems and plants, or result in
their complete failure.
Note
This symbol brings important information to your attention.

SmartRunner 3-D Stereo
Product Specifications
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2 Product Specifications
2.1 Use and Application
This manual describes the "SmartRunner Explorer 3-D" 3-D stereo sensor (referred to as the
sensor below). The sensor combines two 2-D images taken from different positions and finds
matches between the acquired images to create a depth image.
A bright projector, which sits between the two cameras, projects a structured light onto the
object to be imaged. The auxiliary structures of the structured light enable a higher number of
pixels and their changes in position to be detected on the surface of the object so that com-
plete, homogeneous depth information of the scene can be generated from it.
How It Works
Figure 2.1 A sketch of how it works
The two single cameras, which are offset, take pictures of the same situation at the same time.
n both images, the corresponding distance to a point is measured. The disparity, or offset,
between the two images is calculated. The disparity (d), the focal length (f), and the base
length (b) are used to create a depth in the image based on the geometric principle of triangula-
tion. These measurements are transferred as raw data to a PC, which produces the depth
image of the captured scene.
1st step: Two images taken from different positions.
2nd step: Matches found between the two images.
3rd step: Depth image created.
PEPPERL+FUCHS
r
ff
b
dl dr

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SmartRunner 3-D Stereo
Product Specifications
The sensor is connected to a PC via a Gigabit Ethernet network. The sensor sends the mea-
surement results to the computer, which is running a custom application that retrieves the mea-
surement results and processes the data contained in them.
2.2 GenI am
The SmartRunner Explorer 3-D sensors are Gen Cam-compatible devices.
Gen Cam (generic interface for cameras) is a common programming interface for different
types of cameras.
Gen Cam simplifies configuration when connecting proprietary cameras. n industrial vision,
when connecting a camera, the respective camera type and its parameters must be config-
ured. Gen Cam makes this configuration easier. The camera communicates its configuration
data to the computer. During operation, the computer asks the camera whether a particular
function is supported.
Gen Cam provides the user with a graphical user interface that displays the features of different
digital cameras in the same way, regardless of the manufacturer and camera type. This applies
both to the designation, which is standardized by the SFNC (Standard Feature Naming Con-
vention), and to certain camera-specific functions.
2.3 Symbols on the Sensor
Figure 2.2 Overview of labeling
Note
Further details can be found in the current SFNC, which can be obtained via the website of the
EMVA (European Machine Vision Association):
https://www.emva.org/standards-technology/genicam/genicam-downloads/
Overview of Labeling

SmartRunner 3-D Stereo
Product Specifications
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Figure 2.3 Nameplate
The nameplate provides the following information:
•Part number
•CE marking
•UKCA marking
•MAC D: 00-0D-81-0B-66-A8
•Standard P: 192.168.2.4
•Serial number: 40000049969849
•Manufactured 02/2020 Mannheim
•UL marking
•Class 2 power source
•UB = 24 V ±10 %
•B = 500 mA
•P0 = 12 W
•Made in Germany 07
•68307 Mannheim, Germany
•www.pepperl-fuchs.com
•Crossed-out garbage can symbol
Nameplate

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SmartRunner 3-D Stereo
Product Specifications
Figure 2.4 Disposal
Devices marked with this symbol must not be disposed of with household waste. These
devices must only be disposed of by specialist companies approved at the operating location.
Figure 2.5 Hot surface
This label indicates a possible risk of burns from hot surfaces. Exercise the necessary caution
when touching the sensor in this area.
Disposal
Hot Surface

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Product Specifications
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2.4 Dimension Drawing
The housing of the SmartRunner 3-D Stereo has the following dimensions.
Figure 2.6 Aligning the sensor
All dimensions in mm.
GOOD
BAD
OUT1 OUT2 BUS PWR
LINK/ACT
SPEED
MAIN
PORT
PEPPERL+FUCHS
165 15
56
67
M5 5 (4x)
6H7
4
6H7
60
30
59
2
X
+
X
-
Y
+
Y
-
Note
Further technical data can be found on the datasheet for the sensor. You will find the datasheets
on our website.

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SmartRunner 3-D Stereo
Product Specifications
2.5 Display Elements
The sensor has eight LEDs that signal various operating states or events.
Figure 2.7 Display elements
Designation LED color Description
MA N Green Reserved
Red Reserved
PORT Yellow The LED flashes at
short intervals when
bus data is being
exchanged.
Green/yellow
•No connection or 10
MBit connec-
tion—LED off
•100 MBit connec-
tion—LED lights up
yellow
•1 Gbit connec-
tion—LED lights up
green
Operating mode OUT1 Green/yellow Reserved
OUT2 Yellow The OUT2 LED
flashes once briefly
when a new evalua-
tion starts.
BUS - No function
PWR Red
•The LED lights up
red when the sensor
restarts or is in
update mode.
•The LED lights up
red in the event of a
system-related mal-
function.
GOOD
BAD
OUT1 OUT2 BUS PWR
LINK/ACT
SPEED
MAIN
PORT
GOOD
BAD
LINK/ACT
SPEED

SmartRunner 3-D Stereo
Product Specifications
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2.6 Accessories
Additional accessories can be found online at www.pepperl-fuchs.com.
Model number Description
LTGLÜT 24V 2xM12 Xm 8pol ROB M12 plug, 8-pin, straight, to M12 socket, 8-pin, straight,
A-coded, 360° shielding, self-locking screw connection,
PUR cable, torsion-proof, shielded, halogen-free
V19SX-G-GN5M-PUR-ABG-V45-G Bus cable, Ethernet, M12 plug, X-coded, 8-pin to RJ45,
Ethernet-coded, 8-pin, PUR cable, green, Cat6A,
shielded
V19-G-BK1.5M-PUR-U/ABG Single-ended female cordset, M12, straight, A-coded, 8-
pin, PUR cable, black, shielded, UL-approved

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SmartRunner 3-D Stereo
nstallation
3 Installation
3.1 Storage and Disposal
Keep the original packaging. Always store and transport the device in the original packaging.
Store the device in a clean and dry environment. The permitted ambient conditions must be
considered, see datasheet.
The device, built-in components, packaging, and any batteries contained within must be dis-
posed in compliance with the applicable laws and guidelines of the respective country.
3.2 Preparation
Unpacking the Device
1. Check the packaging and contents for damage.
n the event of damage, inform the shipping company and notify the supplier.
2. Check the package contents against your order and the shipping documents to ensure that all
items are present and correct.
Should you have any questions, direct them to Pepperl+Fuchs.
3. Retain the original packaging in case the device is to be stored or shipped again at a later date.

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nstallation
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3.3 Sensing Range
Figure 3.1 Sensing range
Position Description
Distance z
[mm]
Measuring range Resolution
x [mm] y [mm] x [mm] y [mm] z [mm]
1 Minimum
operating
distance
600 350 400 0.35 0.35 0.6
2 Operating
distance 900 530 560 0.5 0.5 1.2
3 Maximum
operating
distance
1000 590 610 0.6 0.6 1.4
y
x z
PEPPERL+FUCHS
1
2
3

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SmartRunner 3-D Stereo
nstallation
Figure 3.2 Resolution z and xy
Figure 3.3 Measuring range x and y
Resolution
Measuring range
0,00
0,10
0,20
0,30
0,40
0,50
0,60
0,70
600 700 800 900 1000
z/mm
± xy=f(z)
0
0,25
0,5
0,75
1,00
1,25
1,50
1,75
2,00
600 700 800 900 1000
± z/mm
z/mm
± z=f(z)
± xy/mm
0
100
200
300
400
500
600
700
600 700 800 900 1000 1100
±x/mm
z/mm
x=f(z)
0
100
200
300
400
500
600
700
600 700 800 900 1000 1100
±y/mm
z/mm
y=f(z)

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nstallation
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3.4 Mounting
The operating distance differs depending on the sensor. The correct operating distance can be
found in the datasheet for the sensor to be installed.
The surface must be level to prevent the housing from becoming misaligned when the fittings
are tightened. Ensure that there is still sufficient space to connect the connection cable to the
sensor once the sensor is mounted.
Mounting the Housing
The device has four M5 threads on the base and on the side of the housing for mounting the
sensor in your system. This means there are two different ways to mount the sensor in your sys-
tem.
•Side mounting on one side with M5 screws: You can use the four M5 threaded sleeves to
mount the housing on the side. The maximum screw-in depth for the M5 screws is 5 mm.
•Mounting on the underside of the device with M5 screws: You can use the four M5
threaded sleeves to mount the housing on the underside of the device. The maximum
screw-in depth for the M5 screws is 5 mm.
•One of the four mounting screws is not anodized, so it can be used to ground the device.
Positioning the Sensor
The sensor has two reference holes on the bottom of the housing with a diameter of 6 mm and
a depth of 3.5 mm. One of these holes is located exactly in the center of the sensor. The other
hole is designed as a slot to prevent over-specification.
Note
Mounting an optical device
•Do not aim the sensor at the sun.
•Protect the sensor from direct long-term exposure to sun.
•Prevent condensation from forming by not exposing the sensor to any major fluctuations
in temperature.
•Do not expose the sensor to the effects of any aggressive chemicals.
•Keep the lenses and reflector of the device clean. Clean with a soft cloth, using standard
commercial glass cleaner if necessary.
We recommend to clean the optical surface and to check screw fittings and electrical
connections at regular intervals.
aution!
Device damage caused by improper mounting!
Device components can be damaged if the permissible screw-in depth and the maximum per-
missible tightening torque are exceeded.
Note that the threads on the bottom of the housing are not thru–holes.
Observe the maximum permissible screw-in depth to avoid damaging the device or mounting
incorrectly.
Never exceed the maximum permissible tightening speed for the fixing screws. The maximum
tightening torque for the mounting screws must not exceed 2 Nm.

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SmartRunner 3-D Stereo
nstallation
3.5 Electrical onnection
onnection Assignment
onnecting the Supply Voltage
The sensor is connected electrically via an 8-pin M12 MAIN connector plug on the front of the
housing. The power is supplied via this connection. To connect the sensor, proceed as follows:
1. Plug the M12 8-pin socket into the plug on the front of the housing.
2. Screw the union nut onto the connector until it reaches the end stop. This ensures that the
power cable cannot be pulled out inadvertently.
MAIN
M12 plug, A-coded, 8-pin
1. N trigger
2. + UB
3. nc
4. nc
5. nc
6. nc
7. GND
8. nc
PORT
M12 socket, X-coded, 8-pin
1. MDX0+
2. MDX0-
3. MDX1+
4. MDX1-
5. MDX3+
6. MDX3-
7. MDX2+
8. MDX2-
GOOD
BAD
OUT1 OUT2 BUS PWR
LINK/ACT
SPEED
MAIN
PORT
1
4
6
7
8
53
2
2
6
4
3
1
5
7
8

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nstallation
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3.6 Setting up Windows Network ommunication between the Sensor
and a P /Laptop
When the sensor is delivered, it has a fixed P address: 192.168.2.4. To enable communication
within the network, the network settings of your PC/laptop must be synchronized with the sen-
sor and may need to be adjusted. To do so, proceed as follows:
Setting the IP Address
The following section describes how to check the network connection settings of your Windows
PC and adapt them accordingly. The illustrations in this description were created using
Windows 7. The description below also applies to later versions of Windows.
1. Click the Windows "Start" button.
2. Select " ontrol Panel > Network and Sharing enter."
3. Click " hange adapter settings."
4. Select the required connection and right-click on your selection. n the selection window, select
Properties.
Note
Due to the large amount of data supplied by the sensor per second, the sensor(s) must be
connected to the PC via a Gigabit Ethernet network without any other interfering data traffic.

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SmartRunner 3-D Stereo
nstallation
5. Double-click "Internet Protocol Version 4 (T P/IPv4)."
The Properties window for the TCP/ P protocol opens.
6. Select the "General" tab.
7. Select the input function "Use the following IP address."
8. Enter the P address of the sensor, but only the first three segments of the P address. The last
segment must be different from the P address of the sensor.
9. n this example, enter the following P address and subnet mask:
•IP address: 192.168.2.27
•Subnet mask: 255.255.255.0
10. Click OK and click ancel in the next dialog.
This completes the network configuration so that the device can be used.