Roboception rc viscore User instructions

Roboception GmbH | April 2022
rc_viscore 3D Stereo Sensor
ASSEMBLY AND OPERATING MANUAL

Revisions
This product may be modified without notice, when necessary, due to product improvements, modifications, or
changes in specifications. If such modification is made, the manual will also be revised; see revision information.
DOCUMENTATION REVISION Rev 1.0, Apr 27, 2022
Manufacturer
Roboception GmbH
Kaflerstrasse 2
81241 Munich
Germany
CUSTOMER SUPPORT:support roboception.de | [phone] (09:00-17:00 CET)
Please read the operating manual in full and keep it with the product.
COPYRIGHT
This manual and the product it describes are protected by copyright. Unless permitted by German intellectual
property and related rights legislation, any use and circulation of this content requires the prior consent of the
individual owner of the rights. This manual and the product it describes, therefore, may not be reproduced in
whole or in part, whether for sale or not, without prior written consent.
Information provided in this document is believed to be accurate and reliable. However, no responsibility is as-
sumed.
Differences may exist between the manual and the product if the product has been modified after the manual’s
edition date. The information contained in this document is subject to change without notice.
Roboception GmbH
Manual: rc_viscore
1 Rev: 1.0
Status: Apr 27, 2022

Contents
Contents
1Introduction 3
1.1 Overview ............................................... 4
1.2 Warranty ............................................... 5
1.3 Applicable standards ........................................ 6
1.4 Electronical and safety standards ................................. 6
1.5 Environmental regulation ..................................... 6
1.6 Available certificates ........................................ 7
1.7 Information on disposal ...................................... 7
2 Safety 8
2.1 General warnings .......................................... 8
2.2 Intended use ............................................. 9
3 Hardware specification 10
3.1 Scope of delivery .......................................... 10
3.2 Technical specification ....................................... 11
3.3 Environmental and operating conditions ............................. 13
3.4 Power-supply specifications .................................... 13
3.5 Wiring ................................................. 14
3.6 Coordinate frames ......................................... 15
4Installation 16
4.1 Mounting ............................................... 16
4.2 Power-up ............................................... 17
4.3 Connecting .............................................. 17
4.4 Adjust focus ............................................. 18
4.5 Calibration .............................................. 20
5 Maintenance 21
5.1 Lens cleaning ............................................ 21
5.2 Change of Working Range ..................................... 21
6 Accessories 22
6.1 Power connections ......................................... 22
6.2 Power supplies ........................................... 22
6.3 Spare parts .............................................. 22
6.4 SGM®Producer and rc_cube .................................... 22
7 Troubleshooting 24
7.1 Hardware issues ........................................... 24
7.2 Sparse depth images ........................................ 24
8 Contact 26
8.1 Support ................................................ 26
8.2 Address ................................................ 26
Index 27
Roboception GmbH
Manual: rc_viscore
2 Rev: 1.0
Status: Apr 27, 2022

1Introduction
Indications in the manual
To prevent damage to the equipment and ensure the user’s safety, this manual indicates each precau-
tion related to safety with Warning. Supplementary information is provided as a Note.
Warning: Warnings in this manual indicate procedures and actions that must be observed to avoid
danger of injury to the operator/user, or damage to the equipment. Software-related warnings in-
dicate procedures that must be observed to avoid malfunctions or unexpected behavior of the soft-
ware.
Note: Notes are used in this manual to indicate supplementary relevant information.
Roboception GmbH
Manual: rc_viscore
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Status: Apr 27, 2022

1.1. Overview
1.1 Overview
The rc_viscore is a high-resolution IP54-protected 3D stereo sensor with an integrated rc_randomdot
pattern projector. The rc_viscore provides 12MP camera images and –in combination with an rc_cube or
the SGM®producer –depth, confidence and error images. The integrated rc_randomdot projector allows
for dense depth images even in weakly textured scenes and the high resolution permits the detection
of small parts with high accuracy.
In combination with the rc_cube, the rc_viscore provides the data for object detection and grasp compu-
tation applications, e.g. in industrial automation and logistics applications.
Supplementary information is provided in
•rc_cube:https://doc.rc-cube.com
•rc_randomdot:https://doc.rc-randomdot.com
•SGM®producer: https://roboception.com/product/sgmproducer
Fig. 1.1: The Roboception rc_viscore
The terms “sensor”,“camera”and “rc_viscore”used throughout the manual all refer to the Roboception
rc_viscore stereo camera.
Roboception GmbH
Manual: rc_viscore
4 Rev: 1.0
Status: Apr 27, 2022

1.2. Warranty
1.2 Warranty
Any changes or modifications to the hard- and software not expressly approved by Roboception could
void the user’s warranty and guarantee rights.
Warning: The rc_viscore utilizes complex hardware technology that may behave in a way not in-
tended by the user. The purchaser must design its application to ensure that any failure of the
rc_viscore does not cause personal injury, property damage, or other losses.
Warning: Do not attempt to take apart, open, service, or modify the rc_viscore. Doing so could
present the risk of electric shock or other hazard. Any evidence of any attempt to open and/or
modify the device, including any peeling, puncturing, or removal of any of the labels, will void the
Limited Warranty.
Warning: CAUTION: to comply with the European CE requirement, all signal cables used to connect
this device must be shielded and the device must be grounded. Operation with incorrect cables may
result in interference with other devices or undesired effects of the product.
Note: This product may not be treated as household waste. By ensuring this product is disposed
of correctly, you will help to protect the environment. For more detailed information about the
recycling of this product, please contact your local authority, your waste disposal service provider,
or the product’s supplier.
Roboception GmbH
Manual: rc_viscore
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Status: Apr 27, 2022

1.3. Applicable standards
1.3 Applicable standards
1.3.1 Approvals
The rc_viscore has received the following approvals:
EC Declaration of Conformity
IP54 ingress protection according IEC standard 60529
ROHS compliant according to EU directive 2011/65/EU
WEEE compliant according to EU directive 2012/19/EC
1.4 Electronical and safety standards
The rc_viscore has been designed to be in compliance with 2014/30/EU and 2011/65/EU. The rc_viscore
consists of the rc_randomdot and two industrial vision cameras.
The rc_randomdot has been tested based on the following harmonized standards:
•EN 61000-6-4:2007 + A1:2011 : Interference Emission
•EN 61000-6-2:2005 : Interference Immunity
•EN 62471:2008 / IEC 62471:2008 : Photobiological safety of lamps and lamp systems
The industrial cameras have been tested based on the following harmonized standards:
•EN 61000-6-4:2007 + A1:2011 : Interference Emission
•EN 61000-6-2:2005 : Interference Immunity
1.5 Environmental regulation
1.5.1 EU RoHS Directive
All components of the rc_viscore, including the rc_randomdot, the industrial cameras, cabling, and struc-
ture comply with the provisions in EU RoHS 2 Directive 2011/65/EU on the restriction of the use of
certain hazardous substances in electrical and electronic equipment. Items that are exempted in the
RoHS Directive are excluded from these standards.
Roboception GmbH
Manual: rc_viscore
6 Rev: 1.0
Status: Apr 27, 2022

1.6. Available certificates
1.5.2 REACH Regulation
All components of the rc_viscore, including the rc_randomdot, the industrial cameras, cabling, and struc-
ture comply with REACH Regulation 1907/2006/CE. These products are not classified as hazardous.
We hereby certify that these products do not contain any Substance of Very High Concern (SVHC) in
amounts >0.1% (w/w).
1.6 Available certificates
Copies of the various certificates can be downloaded from https://roboception.com/support/.
1.7 Information on disposal
1. Disposal of Waste Electrical & Electronic Equipment
This symbol on the product(s) and / or accompanying documents means that used electrical and
electronic products should not be mixed with general household waste. For proper treatment, re-
covery and recycling, please contact your supplier or the manufacturer. Disposing of this product
correctly will help save valuable resources and prevent any potential negative effects on human
health and the environment, which could otherwise arise from inappropriate waste handling.
2. Removal of batteries
If the products contain batteries and accumulators that can be removed from the product without
destruction, these must be removed before disposal and disposed of separately as batteries.
The following batteries or accumulators are contained in the rc_viscore: None
3. Options for returning old equipment
Owners of old devices can return them to the manufacturer to ensure proper disposal.
Please contact support (Section 8) about returning the device for disposal.
4. Data protection
End users of Electrical & Electronic Equipment are responsible for deleting personal data on the
waste equipment to be disposed of.
5. WEEE registration number
Roboception is registered under the registration number DE 33323989 at the stiftung elektro-
altgeräte register, Nordostpark 72, 90411 Nuremberg, Germany, as a producer of electrical and/or
electronic equipment.
6. Collection and recovery quotas
According to the WEEE Directive, EU member states are obliged to collect data on waste electrical
and electronic equipment and to transmit this data to the European Commission. Further infor-
mation can be found on the German Ministry for the Environment website.
Information on Disposal outside the European Union
This symbol is valid only in the European Union. If you wish to discard this product please contact your
local authorities or dealer and ask for the correct method of disposal.
Roboception GmbH
Manual: rc_viscore
7 Rev: 1.0
Status: Apr 27, 2022

2 Safety
Warning: The operator must have read and understood all of the instructions in this manual before
handling the rc_viscore product.
Warning: If operating the rc_viscore with the rc_cube product, the operator must have read and
understood all of the safety, installation, and maintenance instructions given in the rc_cube manual.
Note: The term “operator”refers to anyone responsible for any of the following tasks performed in
conjunction with the rc_viscore:
•Installation
•Maintenance
•Inspection
•Calibration
•Programming
•Decommissioning
This manual explains the rc_viscore’s various components and general operations regarding the prod-
uct’s whole life-cycle, from installation through operation to decommissioning.
The drawings and photos in this documentation are representative examples; differences may exist
between them and the delivered product.
2.1 General warnings
Note: Any use of the rc_viscore in noncompliance with these warnings is inappropriate and may
cause injury or damage as well as void the warranty.
Warning:
•The rc_viscore is protected according to IP54. High humidity or temperature can damage the
device. Do not operate in an environment where combustible or explosive fumes may occur.
•The rc_viscore needs to be properly mounted before use.
•All cable sets need to be secured to the rc_viscore and the mount.
•Cables must not be longer than 30 m. The 8-Pin power supply cable must not be longer than
15 m.
•Power to the rc_viscore must be supplied through an appropriate, separate DC power source.
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Manual: rc_viscore
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Status: Apr 27, 2022

2.2. Intended use
•An appropriate power supply, which conforms to the EN 62368-1 standard must be used to
supply power to the rc_viscore.
•Check polarity and connections.
•The rc_viscore’s housing must be grounded.
Warning:
•The rc_viscore’s and any related equipment’s safety guidelines must always be satisfied.
•The rc_viscore does not fall under the purview of the machinery or medical directives.
Risk assessment and final application: The rc_viscore may be used with a robot together with an
rc_cube. Robot, rc_viscore,rc_cube, and any other equipment used in the final application must be
evaluated with a risk assessment. The system integrator’s duty is to ensure respect for all local
safety measures and regulations. Depending on the application, there may be risks that need
additional protection/safety measures.
2.2 Intended use
The rc_viscore is intended to be used in combination with a Roboception rc_cube or SGM®Producer. The
rc_viscore together with a Roboception rc_cube are intended for installation with automated machin-
ery, a mobile platform, or stationary equipment. They can also be used for data acquisition in other
applications.
Warning: The rc_viscore is NOT intended for safety critical applications.
Warning: The rc_viscore is NOT to be used in dynamic environments or mounted to a robot end-
effector.
The rc_viscore may be used only within the scope of its technical specification. Any other use of the
product is deemed unintended use. Roboception will not be liable for any damages resulting from any
improper or unintended use.
Warning: Always comply with local and/or national laws, regulations and directives on automation
safety and general machine safety.
Roboception GmbH
Manual: rc_viscore
9 Rev: 1.0
Status: Apr 27, 2022