SICK Ranger3 User manual

OPERATING INSTRUCTIONS
Ranger3
3D machine vision

Described product
Ranger3
Manufacturer
SICK AG
Erwin-Sick-Str. 1
79183 Waldkirch
Germany
Legal information
This work is protected by copyright. Any rights derived from the copyright shall be
reserved for SICK AG. Reproduction of this document or parts of this document is
only permissible within the limits of the legal determination of Copyright Law. Any modi‐
fication, abridgment or translation of this document is prohibited without the express
written permission of SICK AG.
The trademarks stated in this document are the property of their respective owner.
© SICK AG. All rights reserved.
Original document
This document is an original document of SICK AG.
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Contents
1 About this document........................................................................ 7
1.1 Information on the operating instructions.............................................. 7
1.2 Explanation of symbols............................................................................ 7
2 Safety information............................................................................ 8
2.1 Intended use............................................................................................. 8
2.2 Improper use............................................................................................. 8
2.3 Limitation of liability................................................................................. 8
2.4 Modifications and conversions................................................................ 8
2.5 Cybersecurity............................................................................................ 9
2.6 Requirements for skilled persons and operating personnel.................. 9
2.7 Operational safety and particular hazards.............................................. 10
2.8 Laser safety............................................................................................... 10
3 Getting started................................................................................... 11
4 Product description........................................................................... 13
4.1 Introduction............................................................................................... 13
4.2 Measuring with a 3D camera................................................................... 13
4.3 Hardware description............................................................................... 15
4.3.1 Sensor...................................................................................... 15
4.3.2 LED indicators.......................................................................... 15
4.4 Interface and communication standards................................................ 16
4.4.1 GenICam™............................................................................... 16
4.4.2 GigE Vision®............................................................................ 16
4.4.3 GenIStream API........................................................................ 16
5 Transport and storage....................................................................... 18
5.1 Transport................................................................................................... 18
5.2 Unpacking.................................................................................................. 18
5.3 Transport inspection................................................................................. 18
5.4 Storage...................................................................................................... 18
6 Mounting............................................................................................. 20
6.1 Mounting instructions............................................................................... 20
6.2 Required parts.......................................................................................... 20
6.3 Mounting the camera............................................................................... 20
6.3.1 Mounting an optical filter or a Scheimpflug adapter............. 21
7 Electrical installation........................................................................ 22
7.1 Conditions for specified enclosure rating............................................... 22
7.2 Wiring instructions.................................................................................... 22
7.3 Prerequisites for safe operation of the device........................................ 23
7.4 Connecting the camera............................................................................ 25
7.5 Electrical connections.............................................................................. 26
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7.5.1 Power I/O connector................................................................ 27
7.5.2 GigE connector......................................................................... 28
7.6 Connecting a CDB650-204...................................................................... 29
8 Configuration..................................................................................... 31
8.1 Software installation................................................................................. 31
8.1.1 System recommendations...................................................... 31
8.1.2 Network preparations.............................................................. 31
8.1.3 Installing PC software.............................................................. 31
8.2 Concepts................................................................................................... 31
8.2.1 Selectors.................................................................................. 31
8.3 Configuring Ranger3................................................................................. 32
8.4 Regions...................................................................................................... 32
8.4.1 Sensor regions......................................................................... 33
8.4.2 Extraction regions.................................................................... 33
8.4.3 Device scan type...................................................................... 34
8.4.4 Maximum buffer size............................................................... 35
8.5 Exposure time and measurement speed................................................ 35
8.6 Laser strobe output signals..................................................................... 35
8.7 Range (3D) measurements...................................................................... 36
8.7.1 Laser impact position on the sensor...................................... 36
8.7.2 Measurement method............................................................. 37
8.7.3 Detection threshold................................................................. 38
8.7.4 3D image format...................................................................... 39
8.8 Additional components............................................................................ 40
8.8.1 Reflectance.............................................................................. 40
8.8.2 Scatter...................................................................................... 40
8.9 High dynamic range (HDR) imaging......................................................... 43
8.10 Triggering................................................................................................... 45
8.10.1 3D triggering concepts............................................................ 45
8.10.2 Triggering modes..................................................................... 45
8.10.3 Triggering using an encoder.................................................... 46
8.10.4 Frame triggering....................................................................... 48
8.11 Profile meta data...................................................................................... 49
9 Operation............................................................................................ 50
9.1 Description of the graphical user interface............................................ 50
9.1.1 Menus....................................................................................... 50
9.1.2 Parameter editor...................................................................... 51
9.1.3 Workflow steps......................................................................... 52
9.1.4 Image handling controls.......................................................... 54
9.1.5 Image view options.................................................................. 55
9.1.6 Log and statistics tabs............................................................ 55
9.1.7 General information................................................................. 56
9.2 Using the interface................................................................................... 56
9.2.1 Connecting and getting a 2D image....................................... 56
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9.2.2 Adjusting focus......................................................................... 57
9.2.3 Recording images.................................................................... 58
9.2.4 Loading and saving parameter files....................................... 58
9.2.5 Saving and loading a User File................................................ 58
9.2.6 Booting the device using a User Set....................................... 59
9.2.7 Editing parameters.................................................................. 60
9.2.8 Visualizing 2D data.................................................................. 66
9.2.9 Collecting 3D data................................................................... 67
9.2.10 Visualizing 3D data.................................................................. 68
9.2.11 Loading and saving image buffers......................................... 72
9.2.12 Handling log messages........................................................... 73
9.2.13 Device files............................................................................... 73
9.2.14 User calibration........................................................................ 73
9.2.15 Updating firmware................................................................... 74
10 Maintenance...................................................................................... 76
10.1 Maintenance plan..................................................................................... 76
10.2 Cleaning..................................................................................................... 76
11 Troubleshooting................................................................................. 77
11.1 Triggering the camera too fast................................................................. 77
11.2 Encoder line trigger setup tips................................................................. 77
11.3 Network card settings.............................................................................. 77
11.4 Rescue mode............................................................................................ 77
11.5 Repairs...................................................................................................... 77
11.6 Returns...................................................................................................... 78
12 Decommissioning............................................................................. 79
12.1 Disposal..................................................................................................... 79
13 Technical data.................................................................................... 80
13.1 Product data.............................................................................................. 80
13.2 Features.................................................................................................... 80
13.3 Performance............................................................................................. 80
13.3.1 Signal dynamic range.............................................................. 81
13.3.2 Light sensitivity........................................................................ 81
13.3.3 Maximum line rate................................................................... 81
13.4 Interfaces.................................................................................................. 82
13.5 Ambient data............................................................................................. 82
13.6 Mechanics and electronics...................................................................... 83
13.7 Dimensional drawings.............................................................................. 84
14 Accessories........................................................................................ 85
15 Glossary.............................................................................................. 86
15.1 Terms and abbreviations.......................................................................... 86
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16 Annex.................................................................................................. 87
16.1 Range (3D) measurement........................................................................ 87
16.1.1 Occlusion.................................................................................. 88
16.1.2 Width resolution and resolution in the motion direction....... 89
16.1.3 Height-range and height resolution........................................ 89
16.1.4 Main geometries...................................................................... 89
16.1.5 Sensor coordinate system....................................................... 91
16.2 Features.................................................................................................... 92
16.2.1 Device control.......................................................................... 92
16.2.2 Image format control............................................................... 95
16.2.3 Scan 3D control....................................................................... 96
16.2.4 Acquisition control................................................................... 100
16.2.5 Digital I/O control..................................................................... 101
16.2.6 Counter and timer control....................................................... 102
16.2.7 Encoder control........................................................................ 103
16.2.8 Event control............................................................................ 104
16.2.9 User Set control....................................................................... 104
16.2.10 File access control................................................................... 105
16.2.11 Root.......................................................................................... 106
16.2.12 Chunk data control.................................................................. 106
16.2.13 Test control............................................................................... 108
16.2.14 Transport layer control............................................................. 108
16.2.15 Laser control............................................................................ 110
16.2.16 Firmware update...................................................................... 110
16.3 Recommended network card settings.................................................... 110
16.3.1 Connecting multiple cameras................................................. 111
16.4 Connecting encoders................................................................................ 112
16.5 EU declaration of conformity / Certificates............................................. 114
16.6 Scheimpflug adapters.............................................................................. 114
CONTENTS
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1 About this document
1.1 Information on the operating instructions
These operating instructions provide important information on how to use devices from
SICK AG.
Prerequisites for safe work are:
•Compliance with all safety notes and handling instructions supplied.
•Compliance with local work safety regulations and general safety regulations for
device applications
The operating instructions are intended to be used by qualified personnel and electrical
specialists.
NOTE
Read these operating instructions carefully to familiarize yourself with the device and its
functions before commencing any work.
The operating instructions are an integral part of the product. Store the instructions
in the immediate vicinity of the device so they remain accessible to staff at all times.
Should the device be passed on to a third party, these operating instructions should be
handed over with it.
These operating instructions do not provide information on operating the machine or
system in which the device is integrated. Information on this can be found in the
operating instructions for the machine or system.
1.2 Explanation of symbols
Warnings and important information in this document are labeled with symbols. Sig‐
nal words introduce the instructions and indicate the extent of the hazard. To avoid
accidents, damage, and personal injury, always comply with the instructions and act
carefully.
DANGER
… indicates a situation of imminent danger, which will lead to a fatality or serious
injuries if not prevented.
WARNING
… indicates a potentially dangerous situation, which may lead to a fatality or serious
injuries if not prevented.
CAUTION
… indicates a potentially dangerous situation, which may lead to minor/slight injuries if
not prevented.
NOTICE
… indicates a potentially harmful situation, which may lead to material damage if not
prevented.
NOTE
… highlights useful tips and recommendations as well as information for efficient and
trouble-free operation.
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2 Safety information
2.1 Intended use
Streaming cameras are the vision image acquisition component in a machine vision
system. They make measurements on the objects that pass in front of the camera, and
send the measurement results to an external processing unit for further processing.
Comply with the data on the type label.
Misuse
Different or additional use is considered to be improper use. SICK AG shall not be held
liable for personal injury and damage to property resulting from this.
2.2 Improper use
Any use outside of the stated areas, in particular use outside of the technical specifica‐
tions and the requirements for intended use, will be deemed to be incorrect use.
•The device does not constitute a safety component in accordance with the respec‐
tive applicable safety standards for machines.
•The device must not be used in explosion-hazardous areas, in corrosive environ‐
ments or under extreme environmental conditions.
•Any use of accessories not specifically approved by SICK AG is at your own risk.
WARNING
Danger due to improper use!
Any improper use can result in dangerous situations.
Therefore, observe the following information:
■Product should be used only in accordance with its intended use.
■All information in these operating instructions must be strictly observed.
■Shut down the product immediately in case of damage.
2.3 Limitation of liability
Relevant standards and regulations, the latest technological developments, and our
many years of knowledge and experience have all been taken into account when
compiling the data and information contained in these operating instructions. The
manufacturer accepts no liability for damage caused by:
■Non-adherence to the product documentation (e.g., operating instructions)
■Incorrect use
■Use of untrained staff
■Unauthorized conversions or repair
■Technical modifications
■Use of unauthorized spare parts, consumables, and accessories
2.4 Modifications and conversions
NOTICE
Modifications and conversions to the device may result in unforeseeable dangers.
Interrupting or modifying the device or SICK software will invalidate any warranty claims
against SICK AG. This applies in particular to opening the housing, even as part of
mounting and electrical installation.
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2.5 Cybersecurity
To protect against cybersecurity threats, it is necessary to continuously monitor and
maintain a comprehensive and holistic cybersecurity concept. A suitable concept com‐
prises organizational, technical, procedural, electronic, and physical levels of defense
and provides suitable measures for different types of risks. SICK's products and solu‐
tions must be viewed as a component of this concept.
Information on Cybersecurity can be found at: www.sick.com/psirt .
As the device complies with the GigE Vision®/GenICam™ standard, please note the
following:
•The device does not support operating entity authentication. Anyone who can
connect to the device over Ethernet can perform all operations (firmware update,
reboot and configuration), without entering credentials such as passwords.
•All communication (images, configuration, logs) between the device and the PC is
transmitted unencrypted using the UDP protocol.
•The device must be upgraded to the most recent firmware to get security updates.
•The GigE Vision® device discovery is done using UDP port 3956 and further
communication is done using dynamic UDP ports.
•When connecting a device, it must be placed on a private network where access
control is handled by, e.g., separate firewalls.
2.6 Requirements for skilled persons and operating personnel
WARNING
Risk of injury due to insufficient training.
Improper handling of the device may result in considerable personal injury and material
damage.
■All work must only ever be carried out by the stipulated persons.
The following qualifications are required for various activities:
Table 1: Activities and technical requirements
Activities Qualification
Mounting, maintenance ■Basic practical technical training
■Knowledge of the current safety regulations in the workplace
Electrical installation,
device replacement
■Practical electrical training
■Knowledge of current electrical safety regulations
■Knowledge of the operation and control of the devices in their
particular application
Commissioning, configura‐
tion
■Basic knowledge of the computer operating system used
■Basic knowledge of the design and setup of the described
connections and interfaces
■Basic knowledge of data transmission
■Knowledge of the programming of image-processing systems
and network components
Operation of the device for
the particular application
■Knowledge of the operation and control of the devices in their
particular application
■Knowledge of the software and hardware environment for the
particular application
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2.7 Operational safety and particular hazards
Please observe the safety notes and the warnings listed here and in other sections
of this production documentation to reduce the possibility of risks to health and avoid
dangerous situations.
The product is fitted with LEDs in risk group 0. The accessible radiation from these
LEDs does not pose a danger to the eyes or skin.
Operating the product in conjunction with external illumination systems may result in
hazardous radiation exposure. Please note the accompanying production documenta‐
tion.
WARNING
Electrical voltage!
Electrical voltage can cause severe injury or death.
■Work on electrical systems must only be performed by qualified electricians.
■The power supply must be disconnected when attaching and detaching electrical
connections.
■The product must only be connected to a voltage supply as set out in the require‐
ments in the operating instructions.
■National and regional regulations must be complied with.
■Safety requirements relating to work on electrical systems must be complied with.
WARNING
Risk of injury and damage caused by potential equalization currents!
Improper grounding can lead to dangerous equipotential bonding currents, which may
in turn lead to dangerous voltages on metallic surfaces, such as the housing. Electrical
voltage can cause severe injury or death.
■Work on electrical systems must only be performed by qualified electricians.
■Follow the notes in the operating instructions.
■Install the grounding for the product and the system in accordance with national
and regional regulations.
2.8 Laser safety
Whenever a laser module is used in combination with a 3D camera, the camera is
considered to be a part of a laser system. This system has to incorporate additional
safety features, depending on the applicable laser class. Refer to the safety instructions
of the manufacturer of the used laser module.
WARNING
When a SICK device is used in combination with a laser, all requirements for laser
products and laser systems according to the laser safety standards EN/IEC 60825–1
and 21 CFR 1040.10/11 must be fulfilled.
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3 Getting started
The purpose of this chapter is to quickly and easily connect the camera and capture
initial 2D and 3D images. A connection module, e.g. CDB650-204, can be used to
simplify the connection procedure.
NOTE
Before using the product in a production environment, the complete operating instruc‐
tions must have been read and understood.
PC installation
Download the latest version of the Ranger3 Software Deployment Kit (SDK) from the
SICK Support Portal, supportportal.sick.com. The SDK contains the configuration soft‐
ware, Ranger3 Studio.
For further information about the PC software and installation, see "Installing PC soft‐
ware", page 31.
Mounting the camera and the laser
Use the camera together with a line-projecting laser that illuminates the object to be
measured.
•Mount the camera and the laser so that the laser illuminates the object from one
direction, and the camera views the object from another direction.
•The laser line must be orthogonal to the movement direction of the object. Mount
the camera so that the camera does not tilt sideways compared to the laser line.
•Make sure that the camera is properly cooled.
For further information about how to mount the camera and the laser, see "Mounting",
page 20.
Connecting the camera
See figure 1 for an overview of the electrical connections for the installation.
Ranger3
Connection module
CDB650-204 5
Power supply
24 V DC 4
Encoder 6
Photoelectric
sensor 7
Ethernet cable
M12, 8-pin, X-coded 1
Power I/O cable
M12, 17-pin, A-coded 2
PC with Gigabit
Ethernet interface 3
Figure 1: Electrical connections for Ranger3
1Ethernet cable, M12, 8-pin, X-coded
2Power I/O cable M12, 17-pin, A-coded
3PC with Gigabit Ethernet interface
4Power supply 24 V DC
5Connection module CDB650-204
6Encoder
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7Photoelectric sensor
For further information about the electrical installation, see "Electrical installation",
page 22. The pin assignment is described in "Electrical connections", page 26.
Configuration
Before the camera can be used in a machine vision system, it must be configured. This
is done by adjusting parameters in the Ranger3 Studio software until the image result
is satisfactory.
See "Features", page 92 for a list of available parameters. For detailed information
about how to edit the parameters in the user interface, see "Using the interface",
page 56.
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4 Product description
4.1 Introduction
Ranger3 is a high-speed 3D camera intended to be the vision component in a machine
vision system. Ranger3 makes measurements on the objects that pass in front of
the camera and sends the measurement results to a PC for further processing. The
measurements can be started and stopped from the PC, and triggered by encoders and
photoelectric sensors in the system.
The main function of Ranger3 is to measure the 3D shape of objects by the use of laser
line triangulation. This can be used for example for generating 3D images of the object,
for size rejection or volume measurement, or for finding shape defects. figure 2 below
illustrates a captured 3D image, where the colors represent height.
Figure 2: Example of 3D image
4.2 Measuring with a 3D camera
Each time the 3D camera makes a measurement, it measures along a cross-section of
the object in front of it. The result of a measurement is a profile, containing one value
for each measured point along the cross-section – for example the height of the object
along its width.
For the camera to measure an entire object, the object (or the camera and lighting)
must be moved so that the camera can make a series of measurements along the
object. The result of such a measurement is a collection of profiles, where each profile
contains the measurement of a cross-section at a certain location along the transporta‐
tion direction.
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Figure 3: Measuring the range of a cross-section of an object.
1Transportation direction
2X (width)
3Y (negative transport direction)
4Z (range)
5Profiles
By default, the range measurement values from the camera are not calibrated – that is:
•X and Z (range) coordinates are represented by column and row positions on the
sensor, instead of real world positions and distances.
•Y coordinates are represented for example by the sequence number of the meas‐
urement, or by the encoder value for when the profile was captured.
Figure 4: Profiles are sent from the Ranger3 to a PC, where they are analyzed.
In a machine vision system, the Ranger3 camera acts as a data streamer. It is con‐
nected to a PC through a Gigabit Ethernet network. The camera sends the profiles to
the computer, and the computer runs a custom application that retrieves the profiles
and processes the measurement data in them.
Before the camera can be used in a machine vision system, the following needs to be
done:
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•Find the right way to mount the camera and lighting.
•Configure (and optionally calibrate) the camera to make the proper measure‐
ments.
•Write the application that retrieves and processes the profiles sent from the
camera.
For more information about 3D measurements, see "Range (3D) measurement",
page 87.
4.3 Hardware description
4.3.1 Sensor
The Ranger3 camera is based on a unique SICK CMOS sensor which has a 2D pixel
matrix, row-parallel AD-converters, and a processor architecture that enables image
processing directly on the sensor. The technology is called ROCC, which means Rapid
On-Chip Calculation. For technical details, see "Technical data", page 80.
4.3.2 LED indicators
4
32
1
Figure 5: LED indicators, Ranger3
1LED: On
2LED: State
3LED: Link/Data
4LED: Laser
Indicator LED Color Function
Laser OGreen Digital outputs "LASER STROBE OUT"
active1
Link/Data Off No Ethernet connection
OGreen Connection established, 1 gigabit/s
ÖGreen (flashing) Ethernet frames are being transmit‐
ted or received
State ÖYellow (flashing) Booting (slow flashing) or firmware
upgrade (fast flashing)
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Indicator LED Color Function
OYellow Idle
OGreen Continuous or single frame acquisi‐
tion
ÖRed (flashing) Thermal warning (risk of overheating)
ORed The device is in rescue mode, due to
software problems or overheating
For more information, see "Rescue
mode", page 77
On OGreen Power ON
O= illuminated, Ö= flashing
1The Laser LED mirrors the behavior of the laser signal. If two lasers are connected, the Laser LED mirrors
both laser illuminations using OR logic.
4.4 Interface and communication standards
Ranger3 complies with the GenICam™ and the GigE Vision® standards. For detail on
supported versions see the Device Control feature.
4.4.1 GenICam™
GenICam™ is a standard that provides a generic programming interface for different
kinds of cameras and devices. The standard is owned by EMVA (European Machine
Vision Association) and consists of multiple modules. Ranger3 complies with the follow‐
ing modules:
GenAPI Application programming interface (API) for configuring the cam‐
era.
Standard Features Naming
Convention (SFNC)
Standardized names and types for common device features.
GenTL Common transport layer interface features.
GenTL SFNC Standardized names and types for features.
For further information, see www.emva.org/standards-technology/genicam/.
4.4.2 GigE Vision®
GigE Vision® is a camera interface standard that is based on the Gigabit Ethernet
communication protocol. The GigE Vision® standard is owned by A3 (Association for
Advancing Automation). GigE Vision® cameras must support GenICam™.
For further information, see https://www.automate.org/a3-content/vision-standards.
4.4.3 GenIStream API
The GenIStream API is SICKs camera control and frame grabbing API. It is tailor-made for
the Ranger3 and Ruler3000 camera families.
It includes functions for camera discovery and connection, parameter handling, grab‐
bing/loading/saving images, etc., and is provided for C++ and C#.
GenIStream is included in the 3D Stream SDK, which also contains example programs
written with GenIStream, documentation of GenIStream, parameter configuration files,
and camera firmware. For information about installation, see "Software installation",
page 31.
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4.4.3.1 GenIStream API Examples
Grabbing an image
The most basic C++ code to grab an image:
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5 Transport and storage
5.1 Transport
For your own safety, please read and observe the following notes:
NOTICE
Damage to the product due to improper transport.
■The device must be packaged for transport with protection against shock and
damp.
■Recommendation: Use the original packaging as it provides the best protection.
■Transport should be performed by trained specialist staff only.
■The utmost care and attention is required at all times during unloading and
transportation on company premises.
■Note the symbols on the packaging.
■Do not remove packaging until immediately before you start mounting.
5.2 Unpacking
•To protect the device against condensation, allow it to equilibrate with the ambient
temperature before unpacking if necessary.
•Handle the device with care and protect it from mechanical damage.
•To avoid ingress of dust and water, only remove the protective elements, e.g.
protective caps of the electrical connections just before attaching the connecting
cable.
5.3 Transport inspection
Immediately upon receipt in Goods-in, check the delivery for completeness and for any
damage that may have occurred in transit. In the case of transit damage that is visible
externally, proceed as follows:
•Do not accept the delivery or only do so conditionally.
•Note the scope of damage on the transport documents or on the transport compa‐
ny's delivery note.
•File a complaint.
NOTE
Complaints regarding defects should be filed as soon as these are detected. Damage
claims are only valid before the applicable complaint deadlines.
5.4 Storage
Store the device under the following conditions:
•Recommendation: Use the original packaging.
•Electrical connections are provided with a protective cap (as in the delivery condi‐
tion).
•Do not store outdoors.
•Store in a dry area that is protected from dust.
•To allow any residual dampness to evaporate, do not package in airtight contain‐
ers.
•Do not expose to any aggressive substances.
•Protect from sunlight.
•Avoid mechanical shocks.
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•Storage temperature: see "Technical data", page 80.
•Relative humidity: see "Technical data", page 80.
•For storage periods of longer than 3 months, check the general condition of all
components and packaging on a regular basis.
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6 Mounting
6.1 Mounting instructions
•Observe the technical data.
•To prevent condensation, avoid exposing the device to rapid changes in tempera‐
ture.
•The mounting site has to be designed for the weight of the device.
•It should be mounted so that it is exposed to as little shock and vibration as possi‐
ble. Optional mounting accessories are available, see "Accessories", page 85.
•Protect the device from moisture, contamination, and damage.
•Ensure a sufficient level of cooling using ambient air/convection and/or heat
dissipation through mechanical mounting. Observe the permitted operating tem‐
perature, see "Technical data", page 80.
6.2 Required parts
You need the following parts to get started with Ranger3:
•Ranger3 camera.
•PC with a network interface card (NIC) that supports Gigabit Ethernet. For informa‐
tion about requirements, see "Recommended network card settings", page 110.
•Ethernet cable for Gigabit Ethernet, with M12 connector for the camera.
•Voltage supply.
•Line-projecting laser.
6.3 Mounting the camera
When measuring range, the camera is used together with a line-projecting laser that
illuminates the cross-section of the object to be measured. The camera and the laser
are mounted so that the laser illuminates the object from one direction, and the
camera views the object from another direction.
The laser line must be orthogonal to the movement direction of the object. Also mount
the camera so that the camera does not tilt sideways compared to the laser line, see
the figure below. This makes the laser line appear along the rows of the sensor in the
camera.
1
Figure 6: Correct (left) and incorrect (right) mounting of the camera
1Laser line
For best result it is important to shield out direct sunlight and other disturbing light
from the field of view. It is recommended to use an optical band-pass filter to reduce
ambient light.
6 MOUNTING
20 O P E R A T I N G I N S T R U C T I O N S | Ranger3 8020774/1D7Q/2022-03 | SICK
Subject to change without notice