SICK TriSpectorP1000 User manual

OPERATING INSTRUCTIONS
TriSpectorP1000
3D vision

Described product
TriSpectorP1000
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.
2011/65/EU
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Contents
1 About this document........................................................................ 6
1.1 Information on the operating instructions.............................................. 6
1.2 Explanation of symbols............................................................................ 6
1.3 Further information................................................................................... 7
2 Safety information............................................................................ 8
2.1 Intended use............................................................................................. 8
2.1.1 Operating restrictions.............................................................. 8
2.2 Improper use............................................................................................. 8
2.3 Internet protocol (IP) technology.............................................................. 9
2.4 Limitation of liability................................................................................. 9
2.4.1 Programmable product........................................................... 9
2.5 Modifications and conversions................................................................ 9
2.5.1 Exception: temporarily opening the cover on the device....... 9
2.6 Cybersecurity............................................................................................ 10
2.7 Requirements for skilled persons and operating personnel.................. 10
2.8 Operational safety and particular hazards.............................................. 11
3 Product description........................................................................... 13
3.1 System overview....................................................................................... 13
3.2 Scope of delivery....................................................................................... 13
3.3 Device variants......................................................................................... 14
3.4 System requirements............................................................................... 14
3.5 SICK AppSpace......................................................................................... 14
3.6 Dimensional drawings.............................................................................. 15
3.7 LED indicators........................................................................................... 17
3.8 TriSpectorP1000 variants........................................................................ 18
3.9 Mounting a microSD memory card.......................................................... 18
3.9.1 Conditions for specified enclosure rating.............................. 18
4 Transport and storage....................................................................... 20
4.1 Transport................................................................................................... 20
4.2 Unpacking.................................................................................................. 20
4.3 Transport inspection................................................................................. 20
4.4 Storage...................................................................................................... 20
5 Mounting............................................................................................. 22
5.1 Mounting instructions............................................................................... 22
5.2 Mounting the device................................................................................. 22
5.3 Field of view diagrams.............................................................................. 22
5.4 Replacing the windows............................................................................. 23
5.5 Mounting an external trigger sensor (optional)...................................... 24
6 Electrical installation........................................................................ 25
6.1 Wiring instructions.................................................................................... 25
CONTENTS
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6.2 Prerequisites for safe operation of the device........................................ 27
6.3 Connection diagram................................................................................. 30
6.4 Encoder..................................................................................................... 30
6.4.1 Encoder modes........................................................................ 31
6.5 Pin assignment......................................................................................... 31
7 Commissioning.................................................................................. 34
7.1 PC Software............................................................................................... 34
7.2 Network communication settings............................................................ 34
7.3 Default SensorApp: ImageAcquisition..................................................... 35
7.3.1 Views......................................................................................... 35
7.3.2 Field of view............................................................................. 35
7.3.3 Configuration............................................................................ 35
7.3.4 Image handling controls.......................................................... 37
7.3.5 Menus....................................................................................... 38
7.4 Installing SensorApps............................................................................... 38
7.4.1 Available SensorApps.............................................................. 38
7.4.2 Installing or updating a SensorApp on the device................. 39
7.4.3 Opening the web user interface.............................................. 39
7.5 Programming the device.......................................................................... 39
7.5.1 Starting SICK AppStudio......................................................... 39
7.5.2 Lua scripting............................................................................. 39
7.5.3 Programming API..................................................................... 40
7.5.4 Tutorials and code samples.................................................... 40
8 Maintenance...................................................................................... 41
8.1 Maintenance plan..................................................................................... 41
8.2 Cleaning..................................................................................................... 41
8.3 Upgrading the firmware............................................................................ 42
9 Troubleshooting................................................................................. 43
9.1 Repairs...................................................................................................... 43
9.2 Returns...................................................................................................... 43
9.3 Disposal..................................................................................................... 43
10 Technical data.................................................................................... 44
10.1 Features.................................................................................................... 44
10.2 Ambient data............................................................................................. 44
10.3 Interfaces.................................................................................................. 45
10.4 Mechanics and electronics...................................................................... 45
10.5 Input switching levels............................................................................... 46
10.6 Output switching levels............................................................................. 46
10.7 Performance............................................................................................. 46
11 Accessories........................................................................................ 47
12 Annex.................................................................................................. 48
CONTENTS
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12.1 EU declaration of conformity/Certificates............................................... 48
12.2 Licenses.................................................................................................... 48
12.3 Connecting the TriSpectorP1000 to CDF600-22xx................................ 48
12.4 TriSpectorP1000 Result Output function block for Siemens Simatic
S7 PLC....................................................................................................... 50
12.4.1 About this document............................................................... 50
12.4.2 PLC Configuration.................................................................... 50
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 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
operating 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,
personal 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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1.3 Further information
NOTE
Further documentation for the device can be found on the online product page at:
•www.sick.com/TriSpectorP1000
There, additional information has been provided depending on the product, such as:
•Model-specific online data sheets for device types, containing technical data,
dimensional drawing, and specification diagrams
•EU declarations of conformity for the product family
•Dimensional drawings and 3D CAD dimension models of the device types in
various electronic formats
•Other publications related to the devices described here
•Publications dealing with accessories
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2 Safety information
2.1 Intended use
The TriSpectorP1000 is a programmable industrial 3D sensor that uses laser triangula‐
tion on objects to produce 3D images. The results are sent to a control system via
external interfaces.
The device is programmed on a PC by using the development environment software
SICK AppSpace. Depending on the application, a browser-based, graphical user inter‐
face (HMI) can be created, which provides opportunities defined by the application
developer to influence an application at operator level. The device offers various inter‐
faces for controlling, programming, and operating purposes, which can be activated
as necessary via development environments, control systems (programmable logic
controllers), or applications. However, configuration, programming, and control requires
various technical skills, depending on how the device is connected and used.
The TriSpectorP1000 series is primarily designed for use in industrial and logistics
areas, and it meets the requirements for industrial ruggedness, interfaces and data
processing.
2.1.1 Operating restrictions
NOTICE
Radio interference may occur when the device is used in residential areas!
■Only use the device in industrial environments (EN 61000-6-4).
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.
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2.3 Internet protocol (IP) technology
NOTE
SICK uses standard IP technology in its products. The emphasis is placed on availability
of products and services.
SICK always assumes the following prerequisites:
•The customer ensures the integrity and confidentiality of the data and rights
affected by its own use of the aforementioned products.
•In all cases, the customer implements the appropriate security measures, such as
network separation, firewalls, virus protection, and patch management.
2.4 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
■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.
2.4.1 Programmable product
For programmable products, the respective programmer is responsible for his/her pro‐
gramming performance and the resulting working principle of the product.
The liability and warranty of SICK AG is limited to the product specification (functionality
and any programming interfaces) according to the agreed conditions.
Therefore, SICK AG is not liable, among other things, for damages that are caused by
programming of the customer or third parties.
2.5 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.
2.5.1 Exception: temporarily opening the cover on the device
The user may open the housing only in order to obtain temporary access to the slot for
the optional memory card. For this purpose, the corresponding card slot cover can be
opened temporarily.
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In open state, the device does not conform to a specified enclosure rating. The device
must be protected appropriately against moisture and dust. To ensure compliance
with the specified IP67 enclosure rating, see see "Mounting a microSD memory card",
page 18
For further warranty provisions, see the General Terms and Conditions of SICK AG, e.g.
on the delivery note of the device.
2.6 Cybersecurity
Protection against cybersecurity threats requires a comprehensive and holistic cyberse‐
curity concept that must be continuously monitored and maintained. Such a concept
consists of organizational, technical, process-related, electronic and physical defense
levels and sets up appropriate measures for the different types of risk. SICK's products
and solutions must be regarded as an integral part of this concept.
Information on Cybersecurity can be found at: www.sick.com/psirt .
2.7 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.
This product documentation refers to the following qualification requirements for the
various activities associated with the device:
■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
electrical systems and to detect and avoid any potential dangers independently.
The electrician must comply with the provisions of the locally applicable work
safety regulation.
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
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Activities Qualification
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
2.8 Operational safety and particular hazards
Please observe the safety notes and the warnings listed here and in other chapters
of this product 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.
If the product is operated in conjunction with external illumination systems, the risks
described here may be exceeded. This must be taken into consideration by users on a
case-by-case basis.
CAUTION
Optical radiation: Laser class 2
The human eye is not at risk when briefly exposed to the radiation for up to 0.25
seconds. Exposure to the laser beam for longer periods of time may cause damage to
the retina. The laser radiation is harmless to human skin.
■Do not look into the laser beam intentionally.
■Never point the laser beam at people's eyes.
■If it is not possible to avoid looking directly into the laser beam, e.g., during
commissioning and maintenance work, suitable eye protection must be worn.
■Avoid laser beam reflections caused by reflective surfaces. Be particularly careful
during mounting and alignment work.
■Do not open the housing. Opening the housing may increase the level of risk.
■Current national regulations regarding laser protection must be observed.
Caution – Use of controls or adjustments or performance of procedures other than
those specified herein may result in hazardous radiation exposure.
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.
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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.
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3 Product description
3.1 System overview
The TriSpectorP1000 creates 3D images of objects by laser triangulation. This means
that the object is illuminated with a laser from one direction, and the camera acquires
an image of the laser line from another direction.
Each acquired image contains a height profile, which corresponds to a cross-section of
the object. By making a scan, which means collecting height profiles across the object
while it moves, a complete 3D image can be acquired.
21
Figure 1: Laser triangulation principle
1Field of view
2Laser
Figure 2: Height profile Figure 3: 3D image
Definitions
The 3D image, which is also called heightmap or range data, contains all the acquired
height profiles.
The reflectance is the reflected intensity along the laser line. The reflectance and the
heightmap are acquired in parallel.
3.2 Scope of delivery
The delivery of the device includes the following components:
Table 2: Scope of delivery
Item Component Comments
1 Device in the version ordered Depending on version
1 Set of class 2 laser warning
labels in German/US English
and French/US English
Self-adhesive to be applied over the warning label
on the housing of the device (if necessary)
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Item Component Comments
1 Printed safety notes, multilin‐
gual
Short information and general safety notes
Accessories
Accessories, such as brackets and connecting cables, are only supplied if ordered
separately (see "Accessories", page 47).
3.3 Device variants
The device is available with three different field of view (FoV) sizes and two different
window materials. PMMA is a plastic material used as an alternative material to glass in
food processing environments.
Table 3: TriSpectorP1008 (Small FoV)
Window material No.
Glass 1091322
PMMA 1091318
Table 4: TriSpectorP1030 (Medium FoV)
Window material No.
Glass 1091321
PMMA 1091319
Table 5: TriSpectorP1060 (Large FoV)
Window material No.
Glass 1091323
PMMA 1091320
3.4 System requirements
•Operating system: Windows 10
•Intel Core I5 540M, 2.53 GHz
•4GB RAM
•1024x768 resolution
•Graphics card: Intel® HD Graphics Video Card (or NVIDIA® NVS 3100M 512MB
gDDR3)
•450 MB free hard disk space
•Ethernet: 100 Mbit/s or better
•Hard drive: Minimum 550 MB
•Support for OpenGL 2.0 or higher
•Supported web browsers: Google Chrome (recommended due to advanced sup‐
port of WebGL and WebSockets)
•SD memory card (optional): SICK microSD memory card (part no 4051366 and
4077575) or any SDHC card
•A mouse with at least three buttons (or a scroll wheel) is recommended
3.5 SICK AppSpace
The TriSpectorP1000 product family is part of the SICK AppSpace ecosystem, which
consists of software tools and programmable sensors or devices. See figure 4 for an
overview of SICK AppSpace.
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Support
Portal
PROGRAMMABLE DEVICES
TOOLS
APP DEVELOPERS
Sensor
AppPool
SensorApps
AM
AppManagerAppStudio
AS
Conference Sensor Integration
Machine
Figure 4: SICK AppSpace
SICK AppSpace includes the following components and resources:
•SICK AppManager: A software tool used for the installation and management of
SensorApps and device firmware updates.
•SICK AppPool: A cloud-based repository for storing and sharing SensorApps. SICK
AppPool can be accessed directly from SICK AppManager, SICK AppStudio and
from the web.
•SICK AppStudio: A Software Deployment Kit (SDK) for developing SensorApps
on programmable SICK devices. Its user interface for machine operators can be
created individually as a web GUI.
•The SICK Support Portal (supportportal.sick.com) contains tutorials and instruc‐
tions for programming the TriSpectorP1000 in SICK AppStudio.
For more information about downloading SensorApps and programming the device, see
"Commissioning", page 34.
For more information about SICK AppSpace, see www.sick.com/SICK_AppSpace.
3.6 Dimensional drawings
NOTE
The dimensional drawings can also be downloaded as CAD files from the online product
page:
www.sick.com/TriSpectorP1000
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TriSpectorP1008
61.9 (1.26)
27.9
(1.10)
2
(0.08)
34
(1.34)
38
(1.50)
18.5
(0.73)
136 (5.35)
145.9 (5.74)
9.9
(0.39)
5.6
(0.22)
24 (0.94)
24 (0.94)
18
(0.71)
82 (3.23)
83.3 (3.28)
45
(1.77)
7.4
(0.29)
47
(1.85)
94 (3.70)
21
(0.83)
á ß à
4 5 6 7 8
9
32
1
M12 x 1
M12 x 1
M12 x 1
1Connector Encoder (thread inside)
2Connector Gigabit Ethernet (Gig E)
3Connector Power I/O (thread outside)
4LED: On
5LED: State
6LED: Link/Data
7LED: Result
8LED: Laser
9Fastening threads (M5x8.5 length)
ßOptical receiver (center)
àOptical sender (center)
áSD-card
TriSpectorP1030
1
2
4
á ß à
5 6 7 8
9
3
61.9 (2.44)
27.9
(1.10)
114.5 (4.51)
217 (8.54)
226.9 (8.93)
18.5
(0.72)
2
(0.08)
34
(1.34)
M12 x 1
M12 x 1
M12 x 1
45
(1.77)
7.4
(0.29)
61.5 (2.42)94 (3.70)
9.9
(0.39)
5.6
(0.22)
83.3 (3.28)
47 (1.85)
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1Connector Encoder (thread inside)
2Connector Gigabit Ethernet (Gig E)
3Connector Power I/O (thread outside)
4LED: On
5LED: State
6LED: Link/Data
7LED: Result
8LED: Laser
9Fastening threads (M5x8.5 length)
ßOptical receiver (center)
àOptical sender (center)
áSD-card
TriSpectorP1060
61.9 (1.26)
27.9
(1.10)
205.5 (8.09)
307 (12.09)
316.9 (12.48)
2
(0.08) 34
(1.34)
18.5
(0.73)
45
(1.77)
7.4
(0.29)
47
(1.85)
94 (3.70)
106.5
(4.19)
9.9
(0.39)
5.6
(0.22)
24 (0.94)
24 (0.94)
18
(0.71)
82 (3.23)
83.3 (3.28)
á ß à
1
2
4 5 6 7 8
3
9
M12 x 1
M12 x 1
M12 x 1
1Connector Encoder (thread inside)
2Connector Gigabit Ethernet (Gig E)
3Connector Power I/O (thread outside)
4LED: On
5LED: State
6LED: Link/Data
7LED: Result
8LED: Laser
9Fastening threads (M5x8.5 length)
ßOptical receiver (center)
àOptical sender (center)
áSD-card
3.7 LED indicators
Name Color Function
On Green Power on
State Green Ready for trig input and image acquisition
Link/Data Green Gigabit Ethernet (Gig E)
Link: LED on
Activity: LED blink
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Name Color Function
Result Green Programmable
Red Programmable
Blue Programmable
No light Programmable
Laser Green Laser on
3.8 TriSpectorP1000 variants
TriSpectorP1000 is available with three different field of view (FoV) sizes and two
different window materials: glass and PMMA plastics. See the table below for part
numbers.
Table 6: TriSpector1008 (Small FoV)
Variant Glass PMMA
TriSpectorP1008 (Small FoV) 1091322 1091318
TriSpectorP1030 (Medium FoV) 1091321 1091319
TriSpectorP1060 (Large FoV) 1091323 1091320
3.9 Mounting a microSD memory card
The TriSpectorP1000 has a card slot integrated in the housing. This slot accommodates
a memory card in microSD format.
NOTICE
The screws for the microSD memory card lid must be tightened with a torque of 0.3 Nm
to keep the IP67 classification.
Follow the steps below to insert or remove a microSD memory card. The microSD
memory card slot is located next to the camera window.
1. Release the two screws to remove the lid.
2. Insert or remove the microSD memory card.
3. Re-mount the lid and tighten the screws with a torque of 0.3 Nm.
For a specification of supported microSD memory cards, see "System requirements",
page 14.
3.9.1 Conditions for specified enclosure rating
To ensure compliance with the specified IP67 enclosure rating of the device during
operation, the following requirements must be met: If these requirements are not met,
the device does not fulfill any specified enclosure rating.
•The cables plugged into the two electrical M12 connections must be screwed on
tightly.
•Any electrical M12 connections (Ethernet connection) that are not being used
must be sealed with a tightly-fastened protective cap (as in the delivery condition).
•The black cover (flap) on the rear of the device must be flush with the device and
screwed tight.
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NOTICE
Operate the device with open card slot cover only for a short time for the following
tasks as required:
•Inserting or removing the optional memory card
During this time, protect the device against moisture and dust.
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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
transportation on company premises.
■Note the symbols on the packaging.
■Do not remove packaging until immediately before you start mounting.
4.2 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 caps of the electri‐
cal connections just before attaching the connecting cable.
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 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.
■Storage temperature: see "Technical data", page 44.
4 TRANSPORT AND STORAGE
20 O P E R A T I N G I N S T R U C T I O N S | TriSpectorP1000 8022395/19OK/2020-12 | SICK
Subject to change without notice