Pepperl+Fuchs SmartRunner 3-D ToF User manual

SmartRunner 3-D ToF
3-D Time-of-Flight 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: [email protected]
Asia Headquarters
Pepperl+Fuchs Pte. Ltd.
P+F Building
18 Ayer Rajah Crescent
Singapore 139942
Phone: [phone]
E-mail: [email protected]rl-fuchs.com
https://www.pepperl-fuchs.com

SmartRunner 3-D ToF
Contents
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Introduction................................................................................................................ 5
. Content of this Document............................................................................. 5
.2 Target Group, Personnel ............................................................................... 5
.3 Symbols Used ................................................................................................ 5
2 Product Specifications.............................................................................................. 7
2. Function Principle.......................................................................................... 7
2.2 Symbols on the Sensor................................................................................. 9
2.3 Dimension Drawing .....................................................................................
2.4 Display Elements ......................................................................................... 2
2.5 Accessories.................................................................................................. 3
3 Installation................................................................................................................ 4
3. Storage and Disposal.................................................................................. 4
3.2 Preparation................................................................................................... 4
3.3 Sensing Range............................................................................................. 4
3.4 Error Factors ................................................................................................ 5
3.5 Sensor Coordinate System......................................................................... 8
3.6 Mounting ...................................................................................................... 9
3.7 Power Source ............................................................................................... 20
3.8 Setting up Windows Network Communication
between the Sensor and a PC/Laptop ....................................................... 2
4 Commissioning........................................................................................................ 24
5 Configuration ........................................................................................................... 25
5. Parameters ................................................................................................... 25
5.2 VsxProtocolDriver........................................................................................ 26

SmartRunner 3-D ToF
Contents
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6 Operation with ViSolution .......................................................................................35
6. Establishing a Connection to the Sensor..................................................35
6.2 ViSolution Main Screen ...............................................................................38
6.2. User nterface ................................................................................................................... 39
6.2.2 Setup Wizard (Set up)....................................................................................................... 44
6.2.2.1 ntroduction............................................................................................................................ 44
6.2.2.2 Device nformation................................................................................................................. 45
6.2.2.3 Set Trigger ............................................................................................................................. 45
6.2.2.4 Measurement ........................................................................................................................ 47
6.2.2.5 Filter ...................................................................................................................................... 49
6.2.2.6 Output Data Format............................................................................................................... 50
6.2.2.7 Check Result ......................................................................................................................... 51
6.2.3 Advanced Configuration Mode (Expert)............................................................................ 53
6.2.3.1 Advanced Configuration Mode (Expert)................................................................................. 53
6.2.4 Maintain ............................................................................................................................ 58
6.2.4.1 dentification .......................................................................................................................... 59
6.2.4.2 Firmware Update................................................................................................................... 60
6.2.4.3 Resetting to the Factory Settings (Reset) .............................................................................. 60
6.2.5 Explore Device.................................................................................................................. 60
6.2.6 Transfer Configuration....................................................................................................... 61
6.2.6.1 Export Configuration.............................................................................................................. 61
6.2.6.2 mport Configuration.............................................................................................................. 62
6.2.7 Check Connectivity........................................................................................................... 62
6.2.7.1 Network Settings ................................................................................................................... 63
6.2.8 Logout............................................................................................................................... 64
7 Maintenance and Repair .........................................................................................66
7. Servicing.......................................................................................................66
7.2 Repair............................................................................................................66
8 Troubleshooting .......................................................................................................67
8. What to Do in the Event of a Fault ..............................................................67

SmartRunner 3-D ToF
ntroduction
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Introduction
. Content 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
.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 ToF
ntroduction
.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.
Caution!
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.

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Product Specifications
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2 Product Specifications
2. Function Principle
This manual describes the SmartRunner Explorer 3-D with time-of-flight technology (hereinaf-
ter referred to as sensor).
The object in the field of view is illuminated by a modulated, invisible infrared light (1). The
object reflects the light (2) on the sensor through the lens. The reflected light is detected with a
spatial resolution of 640 x 480 pixels. The distance data to the object is determined inde-
pendently for each pixel by measuring the phase shift. The phase position of the brightness-
modulated light source is measured using the "continuous-wave time-of-flight procedure." Four
measurements with different phases are performed. The phase shift of the reflected light is the
equivalent of the distance "d." The result of the measuring cycle is a 3-D point cloud that con-
tains intensity data for each pixel.
Figure 2.1 Function Principle
An example of how the measurement results can be displayed is a 3-D point cloud in the "ViSo-
lution" application software (see chapter 6.2.1).
2
1
d

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SmartRunner 3-D ToF
Product Specifications
Figure 2.2 ViSolution

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Product Specifications
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2.2 Symbols on the Sensor
Figure 2.3 Overview of labeling
Overview of labeling

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SmartRunner 3-D ToF
Product Specifications
Figure 2.4 Nameplate
The nameplate provides the following information:
•Part number
•CE marking
•UKCA marking
•MAC D: 00-0D-81-0C-5E-5B
•Default P: 192.168.2.4
•Serial number: 40000049970886
•Manufactured 37/2021 Mannheim
•UL marking
•Class 2 power source
•U
B
= 24 V ±10 %
•
B
= 520 mA
•P
0
= 12.5 W
•Made in Germany 07
•68307 Mannheim, Germany
•www.pepperl-fuchs.com
•Crossed-out garbage can symbol
•Laser information
Nameplate

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Product Specifications
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Figure 2.5 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 2.6 Hot surface
This label indicates a possible risk of burns from hot surfaces. Exercise the necessary caution
when touching the sensor in this area.
This sensor is certified according to laser protection class 1.
Note the information on the sensor that laser radiation near the aperture can cause burns.
nstall the device so that the warning is clearly visible and readable.
Disposal
Hot surface
Information on Laser Class
LASER 1
LASER ENERGY EXPOSURE NEAR
APERTURE MAY CAUSE BURNS
Complies with 21 CFR 1040.10 and 1040.11
except for conformance with IEC 60825-1 Ed. 3.,
as described in Laser Notice No. 56,
dated May 8, 2019.

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SmartRunner 3-D ToF
Product Specifications
2.3 Dimension Drawing
The sensor housing has the following dimensions.
Figure 2.7 Dimension Drawing
All dimensions in mm.
GOOD
BAD
OUT1 OUT2 BUS PWR
LINK/ACT
SPEED
MAIN
PORT
PEPPERL+FUCHS
165 15
56
67,5
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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Product Specifications
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2.4 Display Elements
The sensor has eight LEDs that signal various operating states or events.
Figure 2.8 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 connection—LED lights up yel-
low
•1 Gbit connection—LED lights up green
Operating mode OUT1 green/yellow Reserved
OUT2 Yellow The OUT2 LED flashes once briefly when
the image capture 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 sys-
tem-related malfunction.
GOOD
BAD
OUT1 OUT2 BUS PWR
LINK/ACT
SPEED
MAIN
PORT
GOOD
BAD
LINK/ACT
SPEED

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SmartRunner 3-D ToF
Product Specifications
2.5 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, Ether- net-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 ToF
nstallation
3 Installation
3. 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.

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nstallation
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3.2 Preparation
Unpacking the Device
. 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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SmartRunner 3-D ToF
nstallation
3.3 Sensing Range
The figures below show fields of view at different measuring distances. The values serve as a
point of reference.
The maximum measuring distance of sensor VTE7500-F400-B12-A1500 is 7.5 m.
Figure 3.1 Sensing range - VTE7500-F400-B12-A1500
ADepth resolution
Bmage window size x,y
CResolution x,y
DMin. object size
500 mm 2500 mm
5000 mm
7500 mm
10000 mm
1000 mm
A: ± 2,5 mm
B: 440 x 330 mm
C: 0,7 mm
D: 2 mm
A: ± 12,5 mm
B: 2200 x 1650 mm
C: 3,5 mm
D: 10 mm
A: ± 40 mm
B: 6600 x 4950 mm
C: 10,5 mm
D: 31 mm
A: ± 10 mm
B: 880 x 660 mm
C: 1,5 mm
D: 4 mm
A: ± 25 mm
B: 4400 x 3300 mm
C: 7 mm
D: 20 mm

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nstallation
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Opening Angle
The opening angle of the 3-D measuring range on the vertical axis is 35°.
Figure 3.2 Vertical axis - VTE7500-F400-B12-A1500
The opening angle of the 3-D measuring range on the horizontal axis is 47°.
Figure 3.3 Horizontal axis - VTE7500-F400-B12-A1500
35°
x
y
z
47°
x
y
z

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SmartRunner 3-D ToF
nstallation
3.4 Error Factors
There are some influencing factors that can affect the measurement of the sensor and limit the
measurement accuracy. You should consider these when planning your application.
Temperature
The temperature has a significant influence on the measurement behavior of the sensor.
•Noise in the sensor increases as the temperature increases.
•The sensor requires a stable temperature. Measurement accuracy varies with tempera-
ture fluctuations even if the total temperature is within the permissible range.
•The sensor requires a warm-up time to reach a stable operating temperature.
•Note the operating temperature range of -20 °C ... 45 °C. Reliable operation of the camera
can no longer be guaranteed in temperatures outside the operating temperature range.
•f the maximum permissible sensor temperature is exceeded, the frame rate is reduced.
Optimal heat sink must be ensured for proper functioning. Mount the sensor over as wide an
area as possible on thermally conductive surfaces.
Ambient light
The measurement is based on the reflection of the light emitted by the sensor, so any addi-
tional light, such as artificial light sources and sunlight, may affect the measurement results.
Avoid using the sensor in bright sunlight. Ensure that the sensor is protected from overexpo-
sure to ensure that the correct reflection is measured.
Scattered light
Reflections inside or behind the camera lens can produce scattered light. Scattered light is
easily produced by bright surfaces in the immediate vicinity of the light source. Avoid placing
objects in the scene that are not part of the planned shot. n particular, mirrors or other shiny
surfaces/objects should be avoided in the capture area. Avoid placing the sensor flat in the
middle of an area.
Figure 3.4 Shiny surfaces in the capture area

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nstallation
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Multiple reflections
Accurate measurement data is only supplied reliably by light that is reflected once. Any light
that is reflected several times by other objects in the field of view of the sensor or the surround-
ing area can distort the measurement. Square shapes (e.g., room corners) are especially prob-
lematic, because the light pulse can jump between the different surfaces. Mirrors and highly
reflective surfaces, such as painted table tops, can cause multiple reflections or completely dis-
tract the light pulse.
Figure 3.5 Multiple reflections (Multipath)
Light source
2Light reflected once
3Measurement object
4Multiple reflections (Multipath)
5Lens
1
5
3
4
2