SICK Ranger3 User manual

OPERATING INSTRUCTIONS
Ranger3
3D 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 modifica‐
tion, abridgment or translation of this document is prohibited without the express writ‐
ten 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.
2011/65/EU
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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 Correct use................................................................................................ 8
2.2 Improper use............................................................................................. 8
2.3 Limitation of liability................................................................................. 8
2.4 Modifications and conversions................................................................ 8
2.5 Requirements for skilled persons and operating personnel.................. 9
2.6 Operational safety and particular hazards.............................................. 9
2.7 Laser safety............................................................................................... 10
3 Product description........................................................................... 11
3.1 Introduction............................................................................................... 11
3.2 Measuring with a 3D camera................................................................... 11
3.3 Hardware description............................................................................... 12
3.3.1 Sensor...................................................................................... 12
3.4 Standards.................................................................................................. 13
3.4.1 GenICam™............................................................................... 13
3.4.2 GigE Vision®............................................................................ 13
4 Transport and storage....................................................................... 14
4.1 Transport................................................................................................... 14
4.2 Unpacking.................................................................................................. 14
4.3 Transport inspection................................................................................. 14
4.4 Storage...................................................................................................... 14
5 Mounting............................................................................................. 16
5.1 Mounting instructions............................................................................... 16
5.2 Required parts.......................................................................................... 16
5.3 Mounting the camera............................................................................... 16
5.3.1 Mounting an optical filter or a Scheimpflug adapter............. 17
6 Electrical installation........................................................................ 18
6.1 Wiring notes.............................................................................................. 18
6.2 Security...................................................................................................... 18
6.3 Connecting the camera............................................................................ 19
6.4 Electrical connections.............................................................................. 19
7 Configuration..................................................................................... 23
7.1 Software installation................................................................................. 23
7.1.1 System recommendations...................................................... 23
7.1.2 Network preparations.............................................................. 23
7.1.3 Installing PC software.............................................................. 23
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7.2 Concepts................................................................................................... 23
7.2.1 Selectors.................................................................................. 23
7.3 Configuring Ranger3................................................................................. 24
7.4 Regions...................................................................................................... 24
7.4.1 Sensor regions......................................................................... 25
7.4.2 Extraction regions.................................................................... 25
7.4.3 Device scan type...................................................................... 26
7.4.4 Maximum buffer size............................................................... 27
7.5 Exposure time and measurement speed................................................ 27
7.6 Laser strobe output signals..................................................................... 27
7.7 3D profiling................................................................................................ 28
7.7.1 Laser impact position on the sensor...................................... 28
7.7.2 Measurement method............................................................. 29
7.7.3 Detection threshold................................................................. 29
7.8 3D data formats........................................................................................ 29
7.9 Reflectance data....................................................................................... 30
7.10 High dynamic range (HDR) imaging......................................................... 30
7.11 Triggering................................................................................................... 31
7.11.1 3D triggering concepts............................................................ 31
7.11.2 Triggering modes..................................................................... 32
7.11.3 Triggering using an encoder.................................................... 33
7.11.4 Frame triggering....................................................................... 34
7.12 Chunk data................................................................................................ 35
7.13 Features.................................................................................................... 35
7.13.1 Device control.......................................................................... 36
7.13.2 Image format control............................................................... 38
7.13.3 Scan 3D control....................................................................... 39
7.13.4 Acquisition control................................................................... 40
7.13.5 Digital I/O control..................................................................... 41
7.13.6 Timer control............................................................................ 41
7.13.7 Encoder control........................................................................ 42
7.13.8 Event control............................................................................ 42
7.13.9 File access control................................................................... 42
7.13.10 Chunk data control.................................................................. 43
7.13.11 Test control............................................................................... 43
7.13.12 Transport layer control............................................................. 44
7.13.13 Firmware update...................................................................... 45
8 Operation............................................................................................ 46
8.1 Description of the graphical user interface............................................ 46
8.1.1 Menus....................................................................................... 46
8.1.2 Parameter editor...................................................................... 47
8.1.3 Workflow steps......................................................................... 48
8.1.4 Image handling controls.......................................................... 50
8.1.5 Image view options.................................................................. 51
8.1.6 Log and statistics tabs............................................................ 52
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8.1.7 General information................................................................. 52
8.2 Using the interface................................................................................... 52
8.2.1 Connecting and getting a 2D image....................................... 52
8.2.2 Adjusting focus......................................................................... 54
8.2.3 Recording images.................................................................... 54
8.2.4 Loading and saving parameter files....................................... 55
8.2.5 Editing parameters.................................................................. 55
8.2.6 Collecting 3D data................................................................... 60
8.2.7 View modes.............................................................................. 61
8.2.8 Color range............................................................................... 62
8.2.9 Data presentation.................................................................... 63
8.2.10 Height map scaling.................................................................. 64
8.2.11 Light control............................................................................. 64
8.2.12 Loading and saving image buffers......................................... 65
8.2.13 Handling log messages........................................................... 66
8.2.14 Updating firmware................................................................... 66
9 Maintenance...................................................................................... 67
9.1 Maintenance plan..................................................................................... 67
9.2 Cleaning..................................................................................................... 67
10 Troubleshooting................................................................................. 68
10.1 Over triggering........................................................................................... 68
10.2 Encoder line trigger setup tips................................................................. 68
10.3 Network card settings.............................................................................. 68
10.4 Rescue mode............................................................................................ 68
10.5 Repairs...................................................................................................... 69
10.6 Returns...................................................................................................... 69
11 Decommissioning............................................................................. 70
11.1 Disposal..................................................................................................... 70
12 Technical data.................................................................................... 71
12.1 Product data.............................................................................................. 71
12.2 Features.................................................................................................... 71
12.3 Performance............................................................................................. 71
12.3.1 Light sensitivity........................................................................ 71
12.3.2 Maximum line rate................................................................... 72
12.4 Interfaces.................................................................................................. 72
12.5 Ambient data............................................................................................. 73
12.6 Mechanics and electronics...................................................................... 73
12.7 Dimensional drawings.............................................................................. 74
13 Accessories........................................................................................ 75
14 Glossary.............................................................................................. 76
14.1 Terms and abbreviations.......................................................................... 77
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15 Annex.................................................................................................. 78
15.1 Range (3D) measurement........................................................................ 78
15.1.1 Occlusion.................................................................................. 79
15.1.2 Width resolution and resolution in the motion direction....... 80
15.1.3 Height-range and height resolution........................................ 80
15.1.4 Main geometries...................................................................... 80
15.1.5 Sensor coordinate system....................................................... 82
15.2 Recommended network card settings.................................................... 83
15.2.1 Connecting multiple cameras................................................. 84
15.3 Connecting encoders................................................................................ 84
15.4 EU declaration of conformity / Certificates............................................. 86
15.5 Scheimpflug adapters.............................................................................. 86
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 before starting any work on the device, in
order to familiarize yourself with the device and its functions.
The instructions constitute an integral part of the product and are to be stored 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. For information about this, refer to the operat‐
ing instructions of the specific machine.
1.2 Explanation of symbols
Warnings and important information in this document are labeled with symbols. The
warnings are introduced by signal words that indicate the extent of the danger. These
warnings must be observed at all times and care must be taken to avoid accidents, per‐
sonal injury, and material damage.
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 Correct 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:
■Device should be used only in accordance with its intended use.
■All information in these operating instructions must be strictly observed.
2.3 Limitation of liability
Applicable standards and regulations, the latest state of technological development,
and our many years of knowledge and experience have all been taken into account
when assembling the data and information contained in these operating instructions.
The manufacturer accepts no liability for damage caused by:
■Failing to observe the operating instructions
■Incorrect use
■Use by untrained personnel
■Unauthorized conversions
■Technical modifications
■Use of unauthorized spare parts, consumables, and accessories
With special variants, where optional extras have been ordered, or owing to the latest
technical changes, the actual scope of delivery may vary from the features and illustra‐
tions shown here.
2.4 Modifications and conversions
NOTICE
Modifications and conversions to the device may result in unforeseeable dangers.
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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.
2.5 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 operating instructions state the following qualification requirements for the various
areas of work:
■Instructed personnel have been briefed by the operator about the tasks assigned
to them and about potential dangers arising from improper action.
■Skilled personnel have the specialist training, skills, and experience, as well as
knowledge of the relevant regulations, to be able to perform tasks delegated to
them and to detect and avoid any potential dangers independently.
■Electricians have the specialist training, skills, and experience, as well as knowl‐
edge of the relevant standards and provisions to be able to carry out work on elec‐
trical systems and to detect and avoid any potential dangers independently. In Ger‐
many, electricians must meet the specifications of the BGV A3 Work Safety Regu‐
lations (e.g. Master Electrician). Other relevant regulations applicable in other
countries must be observed.
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 WindowsTM operating system in use
■Basic knowledge of the design and setup of the described con‐
nections 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
2.6 Operational safety and particular hazards
Please observe the safety notes and the warnings listed here and in other chapters of
these operating instructions to reduce the possibility of risks to health and avoid dan‐
gerous situations.
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The product is fitted with LEDs of the risk group 0. The accessible radiation from these
LEDs does not pose a danger to the eyes or skin.
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
Dangerous equipotential bonding 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.
2.7 Laser safety
Whenever a laser module is used in combination with a 3D camera, the camera is con‐
sidered 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 prod‐
ucts 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 Product description
3.1 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 mea‐
surements can be started and stopped from the PC, and triggered by encoders and
photoelectric switches in the vision system.
The main function of Ranger3 is to measure 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. In the image
below, the colors represent depth.
Figure 1: Example of 3D image
3.2 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 2: 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 mea‐
surement, or by the encoder value for when the profile was captured.
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:
•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 cam‐
era.
For more information about 3D measurements, see "Range (3D) measurement",
page 78.
3.3 Hardware description
3.3.1 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 71.
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3.4 Standards
Ranger3 complies with the GenICam™ and the GigE Vision® standards.
3.4.1 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 Feature Naming
Convention (SFNC)
Standardized names and types for common device features.
GenTL Transport layer interface for grabbing images.
GenTL SFNC Standardized names and types for transport layer interface.
For further information, see www.emva.org/standards-technology/genicam/.
3.4.2 GigE Vision®
GigE Vision® is a camera interface standard that is based on the Gigabit Ethernet com‐
munication protocol. The GigE Vision® standard is owned by AIA (Automated Imaging
Association).
For further information, see https://www.visiononline.org/vision-standards.cfm.
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4 Transport and storage
4.1 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 trans‐
portation on company premises.
■Note the symbols on the packaging.
■Do not remove packaging until immediately before you start mounting.
4.2 Unpacking
■Before unpacking, it may be necessary to equalize the temperature to protect the
device from condensation.
■Handle the device with care and protect it from mechanical damage.
■Remove the protective caps on the electrical connections immediately before con‐
necting the connecting cable to prevent dirt and water from entering.
4.3 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 com‐
pany'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.
4.4 Storage
Store the device under the following conditions:
■Recommendation: Use the original packaging.
■Electrical connections are provided with protective caps and plugs (as they are on
delivery).
■Do not store outdoors.
■Store in a dry area that is protected from dust.
■So that any residual damp can evaporate, do not package in airtight containers.
■Do not expose to any aggressive substances.
■Protect from sunlight.
■Avoid mechanical shocks.
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■Storage temperature: see "Technical data", page 71.
■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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5 Mounting
5.1 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 75.
•Protect the device from moisture, contamination, and damage.
•A sufficient level of cooling using ambient air/convection and/or heat dissipation
through mechanical mounting must be ensured. Observe the permitted operating
temperature, see "Technical data", page 71.
5.2 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 83.
•Ethernet cable for Gigabit Ethernet, with M12 connector for the camera.
•Power supply.
•Line-projecting laser.
5.3 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 cam‐
era 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 3: 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 ambi‐
ent light.
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It is also important to select a lens that is suitable for the field-of-view in which the cam‐
era should measure. Select a high-quality 1" C-mount lens that gives sharp images and
low distortion, as this can be essential for achieving a successful vision application.
If needed, you can mount a protective cover that makes the camera compliant with
IP65 and IP67. For available brackets, filters, lenses, and protective cover, see "Acces‐
sories", page 75.
Exactly how to mount the camera and the laser depends on a whole number of factors.
For more information, see "Range (3D) measurement", page 78.
5.3.1 Mounting an optical filter or a Scheimpflug adapter
On delivery, there is a dummy filter in the camera to protect the sensor. When you
mount an optical filter or a Scheimpflug adapter, you remove the dummy filter so that
the sensor is unprotected. Make sure to be in a dust-free environment and pay special
attention to cleanliness.
Mounting an optical filter
1. Use the provided tool and remove the dummy filter.
2. Mount the optical filter.
NOTICE
Do not remove the dummy filter without mounting another filter.
•Using the camera without a filter can damage the sensor.
•The distance from the lens to the image sensor is adapted to the thickness of
the optical filter. Without a filter, the focusing of the lens may not work prop‐
erly.
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6 Electrical installation
6.1 Wiring notes
NOTE
Preassembled cables can be found online at:
•www.sick.com/Ranger3
NOTICE
Faults due to incorrect wiring.
Incorrect wiring may result in operational faults.
■Follow the wiring notes precisely.
We recommend using shielded cables.
Connect the connecting cables in a de-energized state. Switch on the supply voltage
only after complete installation/connection of all connecting cables to the device and
control system.
6.2 Security
WARNING
Risk of injury and damage caused by electrical current!
As a result of equipotential bonding currents between the device and other grounded
devices in the system, faulty grounding of the device can give rise to the following dan‐
gers and faults:
■Dangerous voltages are applied to the metal housings.
■Devices will behave incorrectly or be destroyed.
■Cable shielding will be damaged by overheating and cause cable fires.
Remedial measures
■Only skilled electricians should be permitted to carry out work on the electrical sys‐
tem.
■If the cable insulation is damaged, disconnect the voltage supply immediately and
have the damage repaired.
■Ensure that the ground potential is the same at all grounding points.
■Where local conditions do not meet the requirements for a safe earthing method,
take appropriate measures (e.g., ensuring low-impedance and current-carrying
equipotential bonding).
Only skilled electricians with appropriate training and qualifications are permitted to
perform electrical installation. Observe the following safety measures:
•Standard safety requirements must be met when working in electrical systems.
•Only connect and disconnect electrical connections when there is no power to the
system. Otherwise, the devices may be damaged.
•Use only shielded cables. The shield has to be terminated at both ends of the
cable.
•Ensure that loose cable ends are isolated.
•Connect unused pins to GND.
•Wire cross sections of the supply cable from the customer's power system should
be designed and protected in accordance with the applicable standards.
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•Make sure that the Power-I/O cable is protected by a separate slow-blow fuse with
a maximum rating of 2.0 A. This fuse must be located at the start of the supply
circuit.
•The 24 V power supply must meet the requirements of SELV+LPS relating to "UL/
EN60950-1:2014-08", or ES1 according to "EN/UL62368", or "CAN/CSA-C22.2
No 223-M91(R2008)-Power supplies with Extra-Low-Voltage class 2 outputs", or
"UL1310 (6th Edition)-standard for class 2 power units".
•All circuits connected to the device must be designed as ES1 circuits (according to
EN/UL62368) or as SELV (Safety Extra Low Voltage) circuits (according to EN/
UL60950).
6.3 Connecting the camera
NOTICE
•Never connect any signals while the camera is powered.
•Never connect a powered Power-I/O terminal or powered I/O signals to a camera.
NOTICE
•Never connect a powered encoder interface unit to a camera.
•Never connect signal levels that exceed the input specification to the encoder
inputs.
Failure to follow these rules can damage the camera.
NOTE
The function of the camera is not tested and guaranteed for Power I/O cables longer
than 10 meters.
NOTE
Use only shielded cables. The shield has to be terminated at both ends of the cable.
There are two connectors on the back of the camera: Gigabit Ethernet (GigE) and Power
I/O (see figure 4, page 20).
To prepare the camera for operation, do as follows:
1. Remove the protection caps that cover the connections for Gigabit Ethernet (GigE)
and Power I/O.
2. Connect the Ethernet cable to the GigE connector on the camera. Connect the
other end of the Ethernet cable to the Network Interface Card (NIC) in the PC.
3. Connect the connecting module to the Power I/O connector on the camera.
4. Connect the unpowered power supply to the connecting module.
5. Connect the laser to its power supply.
6. Switch on the power to the system.
For more information on how to connect I/O signals to the camera, see the following
sections:
•Electrical connections
•Connecting encoders
6.4 Electrical connections
There are two connectors and four LEDs on the back plate of Ranger3.
ELECTRICAL INSTALLATION 6
8020774/14IM/2019-07 | SICK O P E R A T I N G I N S T R U C T I O N S | Ranger3 19
Subject to change without notice

Figure 4: Back plate of the Ranger3 device
Power I/O connector
3
1
7
2
6
5
4
8
13
14
17
15 9
10
12
16
11
Table 2: Power I/O connector, 17 pin
Pin Signal Description
1 GND Power/signal ground
2 POWER SUPPLY Power supply DC 24 V +/-20%
3 - Not connected
4 - Not connected
5 ENC IN A+ Encoder Input A+
Default: RS422 TTL
6 ENC IN A- Encoder Input A-
Default: RS422 TTL
7 - Reserved
8 - Reserved
9 - Not connected
10 FRAME TRIGGER IN 24 V Frame trigger input or configurable 24 V Input/Output
Default: Frame trigger input
11 ENC IN B+ Encoder Input B+
Default: RS422 TTL
12 ENC IN B- Encoder Input B-
Default: RS422 TTL
13 LASER STROBE OUT115 V trigger output for Laser or Strobe
14 LASER STROBE OUT215 V trigger output for Laser or Strobe
6 ELECTRICAL INSTALLATION
20 O P E R A T I N G I N S T R U C T I O N S | Ranger3 8020774/14IM/2019-07 | SICK
Subject to change without notice