Pepperl+Fuchs SmartRunner Detector User manual

SmartRunner Detector
Laser-line triangulation sensor
for high-precision
field monitoring
FACTORY AUTOMAT ON
MANUAL

With regard to the supply of products, the current issue of the following document is ap-
plicable: The General Terms of Delivery for Products and Services of the lectrical Indus-
try, published by the Central Association of the lectrical Industry (Zentralverband
lektrotechnik und lektroindustrie (ZV I) e.V.) in its most recent version as well as the
supplementary clause: " xpanded reservation of proprietorship"
SmartRunner Detector

SmartRunner Detector
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1 ntroduction................................................................................. 5
1.1 Content of this Document ................................................................... 5
1.2 Target Group, Personnel...................................................................... 5
1.3 Symbols Used ...................................................................................... 5
2 Product Specifications............................................................... 7
2.1 Use and Application............................................................................. 7
2.2 Dimensions......................................................................................... 10
2.3 Laser Class 1 ...................................................................................... 11
2.4 ndicators and Operating Elements ................................................. 12
2.5 nterfaces ............................................................................................ 13
2.6 Accessories ........................................................................................ 14
2.7 Storage and Disposal ........................................................................ 14
3 nstallation................................................................................. 15
3.1 Mounting ............................................................................................. 15
3.2 Detection Range................................................................................. 18
3.3 Electrical Connection ........................................................................ 18
4 Commissioning......................................................................... 21
4.1 Configuration Mode ........................................................................... 21
5 Operation................................................................................... 24
5.1 Communication via the RS-485 nterface ........................................ 24
5.1.1 Request Telegram............................................................................ 24
5.1.2 Response Telegram......................................................................... 25

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SmartRunner Detector
6 Vision Configurator Software .................................................. 27
6.1 Menu Bar .............................................................................................27
6.1.1 File Menu ......................................................................................... 27
6.1.2 View Menu .......................................................................................28
6.1.3 Sensor Menu....................................................................................28
6.1.4 Image Menu .....................................................................................29
6.1.5 Administration Menu ........................................................................29
6.1.6 Help Menu........................................................................................ 30
6.2 Connecting to Vision Configurator ...................................................30
6.3 Toolbar.................................................................................................31
6.4 mage Display .....................................................................................32
6.5 Sensor nformation.............................................................................34
6.6 Common ..............................................................................................35
6.7 Detection .............................................................................................36
6.8 Generating Control Codes .................................................................37
6.9 Setting Device Parameters via Control Code ..................................38
7 Maintenance.............................................................................. 39

SmartRunner Detector
Introduction
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1 Introduction
1.1 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 the following:
■ Product identification
■ Delivery, transport, and storage
■ Assembly and installation
■ Commissioning and operation
■ Maintenance and repair
■ Troubleshooting
■ Dismounting
■ Disposal
The documentation comprises the following parts:
■ Present document
■ Datasheet
In addition, the documentation may comprise the following parts, if applicable:
■ C-Type xamination Certificate
■ C Declaration of Conformity
■ Attestation of conformity
■ Certificates
■ Control drawings
■ Other documents
1.2 Target Group, Personnel
Responsibility for planning, assembly, commissioning, operation, maintenance, and
dismounting lies with the plant operator.
Only appropriately trained and qualified personnel may carry out mounting, installation,
commissioning, 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.

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SmartRunner Detector
Introduction
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. It is mandatory
that you observe these warning messages for your personal safety and in order to avoid
property damage.
Depending on the risk level, the warning messages are displayed in descending order as
follows:
nformative 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
2.1 Use and Application
The SmartRunner laser-line triangulation sensor creates a high-precision 2-D height profile of
an object at near range. For this purpose, a laser line is projected onto an object and is
detected by a camera at a specific angle. Height and width information are determined using
the triangulation principle.
Example
Figure 2.1
Figure 2.2
Raised Profile
Measurement Result

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SmartRunner Detector
Product Specifications
Figure 2.3
Figure 2.4
The SmartRunner has an optimized hardware and software platform. It is available in different
versions for specific applications. The device is certified according to laser protection class 1.
Flat Profile
Measurement Result

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Product Specifications
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SmartRunner Detector
The detector monitors a defined area. To do so, the laser projects a high-precision light grid
onto the previously configured area. Objects < 1 mm can be detected by the high resolution.
ven small projections can be detected precisely.
Example application:
High-precision monitoring of a work area.
Figure 2.5
In order to accurately consider the boundary conditions and local circumstances of an
application, the laser-line triangulation sensor must be taught-in for each individual application.
The evaluation of an environment can be either continual (independent) or initiated by a trigger
signal.

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SmartRunner Detector
Product Specifications
Parameterization and Operating Modes
The laser-line triangulation sensor can be configured or parameterized via 3 different methods.
■ Reading in code cards via the sensor camera
■ Processing configuration telegrams via the bus interface
■ Using the Vision Configurator software
The sensor has different operating modes, which can be activated for configuration,
presentation, or normal operation.
■ Normal mode: measurement mode, sensor works as configured
■ Configuration mode: mode for configuring the sensor via data telegrams and via the
Vision Configurator configuration program
■ Code card mode: mode for configuring the sensor via Data Matrix control codes without
the assistance of a PC
■ Presentation mode: mode for presentation or testing without the assistance of a PC
2.2 Dimensions
The devices in the SmartRunner series have the following identical housing dimensions.
Figure 2.6 Dimensions of the SmartRunner series
38 12 M4
55
85
99.1
32 48
5
8 15.35
M4
20
A
A
14

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Product Specifications
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2.3 Laser Class 1
This sensor is certified according to laser protection class 1.
2.4 Indicators and Operating lements
Warning!
Class 1 laser light
The laser light can be an irritant, especially in a dark environment. Do not point lasers at
people!
Maintenance and repairs must be carried out by authorized service personnel only!
Install the device so that the warning is clearly visible and readable.
Caution: Using controls or adjustments, or performing procedures other than those specified
herein may result in harmful laser beam exposure.
Laser unit (laser protection class 1)
Camera unit
L Ds
Function buttons:
Button 1
Button 2
1
3
4
2
1
2
3
4

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SmartRunner Detector
Product Specifications
Description of the Function Buttons
In presentation mode, the following applies:
■ Button 1: triggers an evaluation.
■ Button 2: when pressed and held for up to 2 seconds, activates the teach-in process.
When pressed and held for longer than 2 seconds, activates code card mode.
In normal mode, the following applies:
■ Button 1: no function
■ Button 2: when pressed and held for longer than 2 seconds, activates code card mode
Description of LEDs
Note!
The function buttons are only activated during a parameterizable time span after the sensor is
switched on, following which they are locked. The default value for this time span is 5 minutes.
The function buttons have different functions depending on the selected operating state.
Ready: (green/red)
■ Lights up red if there is a sensor fault.
■ Lights up green if the sensor is ready for operation.
■ Flashes green if the sensor is in configuration mode.
■ Flashes green rapidly if the sensor is in code card mode.
Teach-in: (yellow)
■ Lights up yellow during the teach-in process.
Result: (green/red)
■ Lights up red when an object has been detected and/or the background line has
been interrupted.
■ Lights up green when the background line is not interrupted; no object has been
detected.
When the sensor is in code card mode:
■ Lights up green when a correct code has been read.
■ Lights up red when an incorrect code has been read.
■ Off if no code has been read.
Trigger: (yellow)
■ Lights up yellow if the hardware trigger signal is activated.
Diagnosis: (red)
■ Lights up red if a bus error has occurred.
■ Lights up red if a system error has occurred on the interface controller.
■ Flashes red if the sensor is in update mode.
2
15
6
7
8
4
3
1
2
3
4
5

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Product Specifications
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During the boot process, all of the L Ds light up until the normal operating state has been
reached.
2.5 Interfaces
The RS-485 nterface
The reader is equipped with an RS-485 interface for communication purposes, i.e.,
parameterizing the reader functions or reading out current process data during operation. This
interface is operated in 8- -1 mode and fitted with a terminator that can be activated or
deactivated by parameterizing the sensor head accordingly.
The RS-485 interface supports the following transfer rates:
■ 38400 bit/s
■ 57600 bit/s
■ 76800 bit/s
■ 115200 bit/s (default value)
■ 230400 bit/s
Data structure of the RS-485 interface
2.6 Accessories
2.7 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.
Disposing of device, packaging, and possibly contained batteries must be in compliance with
the applicable laws and guidelines of the respective country.
POW R: (green)
■ Lights up green as soon as voltage is present
Background: (green)
■ Lights up green if output 1 is set.
Object: (yellow)
■ Lights up yellow if output 2 is set.
6
7
8
Data Structure of the RS-485 Interface
Bit 0 Bit 1 Bit 2 Bit 3 Bit 4 Bit 5 Bit 6 Bit 7 Parity
Start LSB StopMSB
Order designation Description
V19-G-5M-PUR-ABG Single-ended female cordset, M12, 8-pin, shielded, PUR cable

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Installation
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3 Installation
3.1 Mounting
Figure 3.1
Mounting the Housing
There are 3 different ways of installing the housing of the SmartRunner in your plant.
■ One-sided lateral mounting with M4 screws: You can mount the housing on its right-hand
or left-hand side using the 2x M4 threaded sleeves. The maximum screw-in depth of the
M4 screws is 8 mm.
■ Continuous lateral mounting with M3 screws: M4 threaded sleeves are designed in such a
manner so that M3 screws pass all the way through the housing. Use 2x sufficiently long
M3 screws with 2x lock nuts to mount the device in the plant.
■ Mounting the underside of the device with M4 screws: You can use the 2x threaded
sleeves to mount the underside of the housing. The maximum screw-in depth of the M4
screws is 5 mm.
38 12 M4
55
85
99.1
32 48
5
8 15.35
M4
20
A
A
14
Caution!
Damage to quipment
The threads in the bores at the side and on the underside of the housing are not thru-holes.
Observe the maximum permissible screw-in depth to avoid damaging the device or mounting
incorrectly. Do not overtighten the screws. The maximum torque of the mounting screws must
not exceed 2 Nm.

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SmartRunner Detector
Installation
Positioning
When positioning the SmartRunner, ensure that the camera's field of vision is not covered by
the objects being scanned.
Figure 3.2
If the monitored area is underneath the sensor, the camera must be aligned to the area from
above.
Figure 3.3
If the monitored area is above the sensor, the camera must be aligned to the area from
beneath.

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Installation
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Tip
The corner of the housing where the 8-pin M12 connector plug MA N is located can be rotated.
Depending on the mounting position, you can rotate the connector plug in a different direction
to ensure simple cabling.
Figure 3.4

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Installation
3.2 Detection Range
Note the detection range of the SmartRunner detector when planning your plant. The following
table contains information on the detection range and the resolution.
Field of view
Detection range
Detection range X Distance Y to the sensor Minimum object size
min 45 mm 55 mm 0.25 mm
max 350 mm 700 mm 1.0 mm
Y
Y
min
max
Xmin Xmax
1
2
1
2
Note!
The smallest possible object size increases linearly with the distance Y to the sensor.

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Installation
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3.3 lectrical Connection
The device is connected electrically via an 8-pin M12 connector plug MA N on the side of the
housing. The power supply and data transfer take place via this connection.
Figure 3.5
Pin Signal Description
1 IN trigger Trigger input. Triggers an evaluation, if the sensor is in continuous
evaluation mode (independent)
2 +UB + 24 V power supply
3 Data+ RS485 RS485 interface: Data +
4 Data- RS485 RS485 interface: Data -
5 Teach Control signal for teaching-in the background line and the
definition of the search area (ROI)
6 Background Output 1 is set if the background line is not interrupted
7 GND Ground for the + 24 V power supply
8 Object Output 2 is set if the object has been detected
1
4
6
7
8
5
3
2
Pin Signal
1 IN Trigger
2 +UB
3 Data+ RS-485
4 Data- RS-485
5 Teach
6 Background
7 GND
8 Object
Caution!
Damage to the device
Connecting an alternating current or excessive supply voltage can damage the device or cause
the device to malfunction.
lectrical connections with reversed polarity can damage the device or cause the device to
malfunction.
Connect the device to direct current (DC). nsure that the supply voltage rating is within the
specified device range. nsure that the connecting wires on the female cordset are connected
correctly.

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Installation
Shielding Cables
The shielding of connection lines is required to suppress electromagnetic interference.
stablishing a low resistance or low impedance connection with the conductor or equipotential
bonding circuit is a particularly important factor in ensuring that these interference currents do
not become a source of interference themselves. Always use connection lines with braided
shield; never use connection lines with a film shield. The shield is integrated at both ends, i.e.,
in the switch cabinet or on the controller and on the read head. The grounding terminal
available as an accessory allows easy integration in the equipotential bonding circuit.
In exceptional cases, the shielding of a connection at one end may be more favorable if
■ An equipotential bonding cable is not laid or cannot be laid.
■ A film shield is used.
The following points relating to shielding must also be noted:
■ Use metal cable clips that cover large areas of the shield.
■ After installing the cable shield in the control cabinet, place it directly on the equipotential
bonding rail.
■ Direct the protective grounding connections to a common point in a star configuration.
■ The cross-section of the cables used for grounding should be as large as possible.
Additional Ground Connection
Order designation Description
PCV-SC12 Clip for mounting an additional ground connection.
PCV-SC12A

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Commissioning
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4 Commissioning
4.1 Configuration Mode
To adjust the sensor, it must be in configuration mode.
The command to put the sensor in this mode is 0xA8 0x57. After successfully changing mode,
the sensor responds with an Acknowledge (0x81 0xAC 0x00 0x2D). After an error when
converting the configuration, the sensor responds with a No Acknowledge (0x81 0x53 0xXX
0xYY, where XX = error code and YY = checksum). To check whether the sensor is in
configuration mode, the command Is_In_Config_Mode (0x00 0xF 0xF ) can be sent. If the
sensor is in configuration mode, it responds with an Acknowledge, otherwise there is no
response.
rror codes with "No Acknowledge":
0x00 = everything OK
0x01 = checksum incorrect
0x04 = parameter has a different length than that transferred
0x05 = internal error
0x06 = parameter index is unknown
0x07 = read/write access, although not allowed
0x09 = parameter value range is violated
0x0B = other error
0x0 = configuration command too long/short
In configuration mode, messages are sent according to the extended protocol:
Description of Messages
Byte/
bit 8 7 6 5 4 3 2 1 0
1 Parity R/W Length6 Length5 Length4 Length3 Length2 Length1 Length0
2 Parity Index7 Index6 Index5 Index4 Index3 Index2 Index1 Index0
3 Parity Data 1.7 Data 1.6 Data 1.5 Data 1.4 Data 1.3 Data 1.2 Data 1.1 Data 1.0
... Parity ... ... ... ... ... ... ... ...
n Parity Data (n-2).7 Data (n-2).6 Data (n-2).5 Data (n-2).4 Data (n-2).3 Data (n-2).2 Data (n-2).1 Data (n-2).0
n+1 Parity xor
B1.7...B(n).7
xor
B1.6...B(n).6
xor
B1.5...B(n).5
xor
B1.4...B(n).4
xor
B1.3...B(n).3
xor
B1.2...B(n).2
xor
B1.1...B(n).1
xor
B1.0...B(n).0
Table 4.1 R/W:
0: write
1: read/command
Length: row data length (Data1 ... Data(n-2) )
Index Parameter name
Data
Length/bytes Read/write Description
0x01 VendorName Variable R String containing
"Pepperl+Fuchs"
0x02 VendorHomepage Variable R String containing the
Pepperl+Fuchs homepage
0x03 ProductName Variable R String containing the
product name
0x07 SoftwareVersionDSP Variable R String containing the
version information
0x64 Trigger - W Triggers an image capture
with evaluation
0x 0 GetImage - W Loads the current image
from the sensor