SmartRay 9600 User Manual
Contents
1. From the software the laser can be deactivated at any time regardless of the input signal Not suitable for laser deactivation for safety purposes Available for custom use Unused Inputs must be connected to GND 5 3 Quadrature Encoder For line lengths ranging over 2 meters you should use a twisted pair electrical connection The conductor colors refer to a standard 5 pin lead Pin 1 White A Input A Pin2 Brown A Input A Pin3 Black B Input B Pin4 Blue B Input A Pin5 Grey GND 100kQ connected to GND 17 SmartRay X 5 Commissioning Inputs conform to RS422 standard The maximum idle voltage between A A respectively B B must not exceed 5 Volts Between A A and B B there is a terminating resistor of 120 Ohm 5 4 Alive LED The sensor s LED A flashes alternating red green as soon as the operating voltage is present On successful network connection the LED flashes more slowly In the event of a fault the LED lights up red continuously 5 5 Cable Strain Relief bending Radius The minimum permissible bend radius must be strictly observed A bend radius that does not meet the minimum bend radius may result in damage to the cable and errors in the exchange of signals and data Damaged cables must be replaced Please consult the table below for the typical bend radius to be observed Minimum bend radius d diameter Type Formula Minimum2. Other Laser Specific Regulations In addition to DIN EN 60825 1 the following standards and the employer s liability insurance association BG rules also provide laser specific regulations Personal eye protection equipment Filters and eye protectors against laser radiation laser eye protectors Personal eye protection Eye protectors for adjustment work on lasers and laser systems laser adjustment eye protectors DIN EN 12 254 Screens for laser working places Safety requirements and testing DIN EN 60 825 2 Safety of laser products Part 2 Safety of optical fibre VDE 0837 Part 2 communication systems OFCS DIN EN 60 825 4 Safety of laser products Part 4 Laser guards Vocabulary and symbols Einsatz von Augen und Gesichtsschutz Use of eye and vision protection BGR 192 10 SmartRay X 3 Electrostatic Discharge ESD Protection Electrostatic Discharge ESD Protection The 3D Sensors are manufactured and tested in house by SmartRay for the most stringent ESD protective measures as per IEC 61340 5 1 The protective measures have already been communicated to and implemented by our suppliers In order to guarantee an even higher degree of protection we also inform our customers here that the 3D Sensors are delicate electronic components and should only be installed if all applicable ESD protection measures have been taken The 3D Sensors are shipped in proper ESD packaging This protects the content
3. bend radius for SmartRay cables d 7 8 mm freely movable continuously in 12 xq 94 8 mm motion If the cable is in motion continuously use on robots shafts ensure that it is installed with adequate strain relief to prevent transverse and tensile strain on the sensor s connector or socket 18 SmartRay W 5 Commissioning Cable Strain Relief an Radius Figure 1 Cable Strain Relief and Bend Radius 5 6 Prepare for Operation Test for Operational Readiness 1 Connect power and Ethernet cable to the provided sockets on the installed Sensor NB Power cable should not yet be connected to a power supply Ensure adequate strain relief 2 Connect Ethernet cable to the provided computer 3 Connect power cable to a power supply The Alive LED provides information on whether the sensor is receiving power If the LED is flashing then the sensor is receiving power 19 SmartRay X 6 Options Accessoires 6 Options Accessoires 6 1 Calibration Maximum measurement accuracy thanks to a calibration procedure developed in house at SmartRay All devices are calibrated individually with an array of reference points in the field of view This corrects all manner of distortions and other discrepancies such as e Perspective distortion e Object distortion e Laser unevenness distortion of the laser line e Fabrication tolerances This enables a high degree of precision in single points of
4. SmartRay X SmartRay 9600 User Manual SmartRay X Table of Content 1 SORE Tra TORE at ON a E vases nencraaastarnacuenscesaumonemucaneeaecsuesnaaianiaes 6 1 1 Symbol Terminology and their Meaning ccccccsssccccesseccccessecceeesececeuseceeeeeceeeess 6 1 2 DUOC ee ee re 6 2 Laser Sale Ve ee ee ren 7 2 1 Laser Class 27 2Min 8 2 2 Laser Class 3R JB een 8 2 3 L ser Specifice RER AL ONE ee nee ee 9 2 3 1 Laser Class Labelling Laser Warning Label ccccccccccsesssecceseeeeeceseeeeeeseeeeneees 9 2 3 2 Measures to be taken for Laser Class 3B sssssccccecccsssssssseececccessseeeseeecessaeeeaeses 9 23 3 Other Laser Specitie RESWLALIONS essansstcctscesenssanatesnsasnnenssanieseranartandanneeessancesarebosmaaaens 10 3 Electrostatic Discharge ESD Protection ccccccccccssseecceeeeesseecceeeeeeeececeeeueeeeesseeneeeeseeeeees 11 4 SRI G00 TSCA Da ee 12 5 COMMISSIONE een 15 5 1 Sensor Installation and MOUNTING cscccccesscceceeseccceeeeccceeesececseeceeeugeceeeeneeetes 16 5 2 POWER ana Eene C DIE een E E EEA E 16 5 3 Quadrature Encoder sss ssssseersssssserssssrrresssseressssrrressessrrressserressseereesssrressseeresesene 17 5 4 Nive LED ee ee ee 18 5 5 Cable Strain Relief bending Radius cccsessssecceccccccsccceseeseeeeeeeeeeeeeeeeeceseeeess 18 5 6 Prepare for Operation Test for Operational Readiness uuuueesnnnenneneneeneeeeennnn 19 6 TIONS Access
5. age and the profile section trom the height image along the red line 10625 50 100 150 200 250 20 350 400 450 500 550 600 650 700 750 900 859 900 950 1000 1050 1100 1152 26 SmartRay X 8 Image Data Output 8 3 Calibrated Profile Image Z map In contrast to the non calibrated profile image the Z map consists of metric coordinates The world coordinates point cloud are mapped in a matrix image The height resolution and lateral resolution are defined over the API sensor s Remapper function The 2D image processing methods can be applied to the matrix image A standard BV library can be used It can also be used for actual measurement tasks The point cloud is based on sensor calibration which is available in various accuracy variations 27 SmartRay X 8 Image Data Output 8 4 Intensity Image The intensity image is obtained from the brightness information of the laser line It is similar to recording with a line scan camera the difference being that the intensity along the object contour is recorded The pixels correspond to the scanner s 3D coordinates without requiring special matching Important information for the image processor Together with the remapper functionality the scanner creates an image that corresponds to a telecentric line scan camera with high depth focus The impact of both the perspective and the lens distortion is eliminated by the camera calibration The following ima
6. evice s laser class by checking the imprint on the 3D Sensor or the accompanying documentation The laser classes mentioned under 2 1 and 2 2 correspond to the standard DIN EN 60 825 1 VDE 0837 Part 1 October 2003 version Due to the intense concentration and the associated high power density of the laser beam beams from powerful laser devices may be hazardous to your health This also applies to reflections from glass surfaces metal and polished surfaces wz N Hazard by direct beam Hazard by transmission ET With ir F j p r i Hazard by reflection Hazard by diffuse reflection Klasse 2 Klasse 2M Klasse 3 SmartRay X 2 Laser Safety 2 1 Laser Class 2 2M The available laser beams from Class 2 and 2M lasers fall within the visible spectrum 400nm to 700nm Class 2 lasers may be used without any additional protective measures If it has been determined with certainty that it will not be necessary to look into the laser beam or its reflection during use intentionally for longer than 0 25 s eyelid closure reflex or repeatedly NB In the event that a Class 2 laser comes into contact with your eye close your eyes and turn away immediately Laser devices of Class 2M involve a level of risk that is comparable to Class 2 laser devices except when using optical instruments e g magnifying glass or microscope which reduce the beam s cross section 2 2 Laser Class 3R 3B The available laser radiation is in t
7. g components are required to setup installation and consequently the proper functioning of the system 3D Sensor by SmartRay GmbH Power Cable 24 Volts Ethernet Cable 15 SmartRay X 5 Commissioning Description of Connectors and Sockets e Ethernet Connector e 5 pin Encoder Input e Connector for 8 pin plug power amp inputs outputs 3 pin connector customized use Alive Signal LED 5 1 Sensor Installation and Mounting Install the sensor as follows e Use two dowel pins DIN 6325 on the top side E e Use four M5 screws on the top side D The dowel pins serve to secure the head of the 3D Sensor For the dimensions of the attachments please see the figure in chapter 4 5 2 Power and Ethernet Cable The connectors for power A and Ethernet B cables should be plugged into the provided sockets 16 SmartRay X 5 Commissioning Power amp I O 8 pin Plug type Binder 712 No 99 0413 00 05 OV 24V return Operating Voltage Operating Voltage Out O Maximum 40mA 24V Maximum 40mA 24V 5 24V max 10mA 5 24V max 10mA 5 24V max 10mA Ping Red n3 5 24V max 10mA Indications for inputs and outputs Usable for freely definable signals Usable for freely definable signals Switches the Laser On Off High On Low Off Input 0 Caution When powering up the device the laser is activated briefly at the low level setting
8. ges show the image intensity and grey tone development along a line from the intensity image i il Hn aa HL E a Immer um al A A H A A TFA BETRAG BT Th N ER EN a E S THA 10 N A s sssi SSS 0 50 100 150 200 250 300 350 400 450 500 550 600 650 700 750 800 850 900 950 1000 1050 1100 1164 28 SmartRay X 8 Image Data Output Laser Line Width 8 5 The laser line width can also be displayed in image form Every pixel value represents the width of the laser line at that particular point This method results in contrasts where the laser line scatters as a result of e g transparent corresponding surface treatment or applications to the surface adhesive iis imi OL 1000 1050 11001132 900 950 Note The average or standardised brightness may be calculated by setting the intensity image against the laser line width 29 SmartRay WW 8 Image Data Output 8 6 Live Image The live image shows the actual image of the scene currently being viewed by the scanner and from which the most recent profile section has been obtained The live image Is a useful tool for setting up or assembling the system In addition seeing a live image of what the sensor is seeing is a great benefit for arranging a robot path It also helps trained image process
9. he wavelength range of 302 5 nm to 10 nm and is hazardous to the eyes and often for the skin as well class 3B CAUTION Looking directly into the beam of a Class 3R or 3B laser is dangerous Measures and regulations applicable to Class 3B lasers can be found under section 2 3 2 Measures for Laser Class 3B SmartRay X 2 Laser Safety 2 3 Laser Specific Regulations 2 3 1 Laser Class Labelling Laser Warning Label Laser devices ranging within Class 2 and 4 must have a warning label as per section 5 8 of DIN EN 60825 1 indicating the maximum output power of the laser beam the output wavelength and where applicable the pulse duration Sample Labels Class 2M Laser Class 3B Laser 2 3 2 Measures to be taken for Laser Class 3B A system with a Class 3B laser must meet the following requirements as per DIN EN 60825 1 All directives for the preceding laser classes apply Appointment of a laser safety officer is required SmartRay X 2 Laser Safety An indicator light must be installed for the operating status of the laser Remote Control lock w Key Switch w Beam Attenuator w Eye protection where structural and organisational measures are not practical NB During installation please do avoid using reflective tools and do not wear or carry any other reflective objects e g jewellery You must also comply with any applicable national regulations and measures not cited here 2 3 3
10. iled information on the construction of the image data 24 SmartRay WW 8 Image Data Output 8 1 3D Point Cloud Image Near the sensor Further from the sensor The scanner provides 3D coordinates in x y z The coordinates are metric and relate to the sensor s point of origin The point of origin is the nominal clearance to the sensor and is centred to the sensor and the laser line midview e X Coordinates in the direction of travel obtained by forward motion stroke synchronised to movements e Y Coordinates along the laser line e Z Distance to the sensor the higher this is the nearer the sensor The point cloud is based on sensor calibration which is available in various accuracy variations 25 SmartRay X 8 Image Data Output 8 2 Profile Image The intensity values represent the height information in 14bit 16384 height levels in camera coordinates These are not calibrated and are subject to the optical features of the scanner perspective and distortion Higher values are contour points that lie closer to the sensor O is the minimum value far field visual range and 16383 is the maximum value near field visual range Please note that this refers to the description of the values range The actual measurement range of the sensor depends primarily on the depth of focus of the laser line and can be obtained from the data sheet of the respective sensor type The following images show the height im
11. ngth in metres Ethernet network cable 21 SmartRay X 6 Options Accessoires Standard model Order number 6 300 0XX XX is the cable length in metres Suitable for robots cable handlers silicon free and halogen free Order number 6 305 0XX XX is the cable length in metres 6 7 Application Programming Interface API The API interface makes it possible to link SmartRay 3D Sensors with Windows based and Linux based programs Only a few basic API functions are needed for the main functionality For a detailed description of the functions please see the additional documentation on the SmartRay API NB If working with customized image processing libraries please contact your SmartRay representative 22 SmartRay X 7 3D Sensor Working Principle 3D Sensor Working Principle SmartRay 3D Sensors are based on the principle of aser triangulation In laser triangulation a aser point or a aser line is projected onto the object from one direction while the object will be observed from another direction As the distance between the camera and laser and the angle between laser beam and direction of observation is known the distance to the illuminated point line on the object can be calculated CCD PSD Sensor objeclive oz UZ measuring object Figure 2 laser triangulation Due to the recording procedure the surface effects colour reflection ratio etc will have a minimal impact on
12. on daw EE 20 6 1 CANOGA TION ea ea eier 20 6 2 Customer specific Working Distance ccccccescccccesecceeesececceesececeeeceeeeneceeeeaeeeeas 21 6 3 Purging Air Blend with Interchangeable LeEnses cccccccssecceceesseceteeseceeeeeeeeeeees 21 6 4 ACHVE AI COONS ee ee an een ren 21 6 5 Band Pass Filter increased extraneous light SUDPreSSION ccccsseeeeeeeeeeeeeeeeees 21 6 6 Cable Sets 5 10 15 20m robot Cables ccccccccsssssseccccseessecscseeeeeseeeeeues 21 6 7 Application Programming Interface API cssccccccesssecceceeeeeseecceseeeeeeeeeseeeesess 22 7 3D Sensor WOKING Principles nein 23 8 Image Data OULU ee er ay ernneercastanientaersrbeecenusen 24 8 1 SD POE CE ISUA Se ee beein 25 10 SmartRay X 8 2 BPO In Beeren nee er ee ee een 26 8 3 Calibrated Profile Image Z MaD unnsusenneeneunenaarn 27 8 4 PESTS ICY WN ASS rrscotecerstorsyccauhreraeebyeren ence ver a 28 8 5 Laser LIS Wae E 29 8 6 EE E e een 30 Maintenance and Care u a 31 DECOMMISSIONING amp Disposal ccccccessecccessccccesececeesececeesecceseesecessusececsunececsseeessesecetsgness 32 SmartRay WW Abbildungsverzeichnis Figure 1 Outer Dimensions 1 Boba ade S seu snacteaa ete soem S aasmacassasdeceasnene 14 FIeUrE 27 Outer DIMENSIONS 2 eiserne een ee 14 Figure 3 Outer DIMERSIONS 3er ee area are er eh 15 SmartRay WW General Information The figures in this document are for illu
13. ors to assess recorded scenes with regard to reflections see image shading or differences in intensity 30 SmartRay X 9 Maintenance and Care Maintenance and Care Deposits such as dirt dust etc on the viewing window of the 3D Sensor may affect the quality of the measurements For this reason regular cleaning is recommended The glasses should be cleaned using a microfiber cloth and if applicable with alcohol WARNING Before beginning maintenance work disconnect the sensor from the power supply SmartRay X 10 Decommissioning amp Disposal 10 Decommissioning amp Disposal Before demounting or uninstalling the 3D Sensor disconnect it from the power supply Unattach all connected cables from the 3D sensor Dispose the components properly or send them to Shipping Address SmartRay GmbH Buergermeister Finsterwalder Ring 14 D 82515 Wolfratshausen Germany Service amp Repairs In cases of defects related to the 3D Sensor body cables please return the defective product for replacement or repairs Before demounting or uninstalling the 3D Sensor disconnect it from the power supply CAUTION The original packaging should be used to return the sensor Shipping Address SmartRay GmbH Buergermeister Finsterwalder Ring 14 D 82515 Wolfratshausen Germany Phone 49 0 8171 9683400xFax 49 0 81719683 401 info smartray de www smartray de
14. s from static electricity CAUTION The original packaging should be used in the case that the 3D Sensor needs to be returned Recommendations for proper handling Employee zones and work zones should be earthed during installation and or repair work gt Do not disturb the plug contacts 11 SmartRay WW 4 SR9600 Technical Data 4 SR9600 Technical Data 3D Profile Rate tpy 15KHz max 75 kHz scan rate depends on ROI and exposure time Optimal Vertical Field of View Ethernet 100Mbit Gigabit Interfaces 4 x inputs 5 24 V Galvanically Isolated 2 x outputs 24 V PNP Galvanically Isolated Controllable by Software Controllable over 24 V Input Daylight Filter Ambient Light 10 000 lux Laser Control 12 SmartRay X 4 SR9600 Technical Data SR9600 Field of View in mm 180 mm r SmartRay 9600 160 mm F 40 mm f 120 mm 100 mm 80 mm Im 199 120 140 160 180 200 220 240 Lateral Resolution in um M laterale Aufl sung Lateral Resolution 30mm 120 pm 110 ym f 100 pm f 90 pm 80 pm f gt 100 120 140 160 180 200 220 240 Vertical Resolution in um Omm 13 SmartRay X 4 SR9600 Technical Data 7 5 mm 15 pm 12 5 um 10 pm 75 pm 5pm Omm 00 120 140 160 180 200 220 240 Figure 1 Outer Dimensions 1 Figure 2 Outer Dimensions 2 14 SmartRay X 5 Commissioning Figure 3 Outer Dimensions 3 Commissioning The followin
15. stration purpose only WARNING Never dismantle SmartRay GmbH 3D Sensors Opening the housing will void the warranty SmartRay WW 1 General Information 1 General Information Knowledge of the operating instructions is required for the proper safe and correct operation of the 3D Sensor 1 1 Symbol Terminology and their Meaning CAUTION Indicates a potentially hazardous situation Failure to observe safety instructions may result in damage to materials or body injury Laser Warning Indicates a potential danger due to laser radiation Failure to observe safety instructions may result in serious injury especially damage to eyesight NB Additional Indication INFO Additional Information 1 2 Storage Store the components in a dry dust free environment Ensure the following ambient conditions during storage Allowed Temperature Range 20 Co IT oO SmartRay X 2 Laser Safety 2 Laser Safety Due to the intense concentration of the laser beam the total energy of the beam Is focused onto a small cross section Coming into contact with this beam may result in damage to health Depending on the laser s wavelength the beam could even reach and damage the retina According to the potential danger lasers and devices containing lasers are arranged into classes in EN 60 825 Safety of Devices Containing Lasers SmartRay 3D Sensor devices belong to classes 2 2M 3R or 3B NB You can determine your d
16. topographic identification reference Internet Wikipedia Abstandsmessung optisch http de wikipedia org wiki Abstandsmessung_ optisch 23 SmartRay X 8 Image Data Output 8 Image Data Output The 3D Sensors are synonymous to laser scanners or profile sensors and record scenes similar to a line scan camera or a flatbed scanner rather than full surface scenes For a full surface recording some relative movement between the scanner and object robot axis or assembly line is required 3D Sensors from SmartRay provide the following image information 3D Profile Point Cloud Laser Line Intensity Laser Line Thickness Live Image For setup amp debug The various image types allow for different approaches 3D images contain height information while 2D images can be consulted for texture analysis It Is also possible to work in Mixed Mode if the 3D information provides insufficient contrast because for example the height differences are not provided the necessary information can be extracted from the 2D intensity image or the image with the line widths Imprints or surface information can also be revealed by the intensity image This is illustrated by the following figures Laser Line Intensity Map Point Cloud All image types are created simultaneously The 2D intensity image and line widths correspond to the 3D data and further matching is not required See SR Studio API documentation for more deta
17. up to 20 um depending on the sensor type The transformation of the points is carried out in real time which ensures a high frequency of world coordinate points World coordinates can be transformed into a Z map matrix using a special function This enables processing of the images with the standard methods of 2D image processing SmartRay X 6 Options Accessoires 6 2 Customer specific Working Distance The working distance can be adjusted to the conditions specific to the customer or application onsite This makes it possible to cover different measurement ranges For further information please see the diagrams in section 4 0 6 3 Purging Air Blend with Interchangeable Lenses The purging air blend with additional interchangeable lenses enables applications in heavily contaminated industrial environments In addition to this the device Is also protected from particles by an air curtain 6 4 Active Air Cooling Enables use of the device in ambient temperatures exceeding 40 C 6 5 Band Pass Filter increased extraneous light suppression The band pass filter increases the sensor s sensitivity to extraneous light compared to the daylight filter standardly built in 6 6 Cable Sets 5 10 15 20m robot cables Power I O cable Standard model Order number 6 310 0XX XX is the cable length in metres Suitable for robots cable handlers silicon free and halogen free Order number 6 304 0XX XX is the cable le
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