SICK IVP Ruler E Reference Manual
  1. Manuals
  2. Brands
  3. SICK IVP Manuals
  4. Scanner
  5. Ruler E
  6. Reference manual

SICK IVP Ruler E Reference Manual

Hide thumbs
Table of Contents

Advertisement

Quick Links

R u l e r E
R e f e r e n c e M a n u a l

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the Ruler E and is the answer not in the manual?

Questions and answers

Summary of Contents for SICK IVP Ruler E

  • Page 1 R u l e r E R e f e r e n c e M a n u a l...
  • Page 2 Windows and Visual Studio are registered trademarks of Microsoft Corporation. All other mentioned trademarks or registered trademarks are the trademarks or registered trademarks of their respective owner. © SICK IVP 2005-11-22 All rights reserved Subject to change without prior notice.

  • Page 3: Table Of Contents

    4.4.7 Save and Load 3D Data...................39 Ruler API ............................40 Connecting to the Camera ....................40 Retrieving Measurement Data....................41 Changing Camera Configuration...................44 Transforming Measurement Values ..................44 Field-of-View...........................46 Rectifying Measurement Values ...................47 SICK IVP • Industrial Sensors • www.sickivp.com • All rights reserved...
  • Page 4 Technical Data ........................56 Dimensional Drawings......................57 Appendix ............................58 Ruler E Models and Type Codes ...................58 Recommended Network Cards .....................59 Recommended Switches.......................60 iCon Device Configuration.....................60 Encoder Wire Diagram......................61 Laser Safety Box ........................64 SICK IVP • Industrial Sensors • www.sickivp.com • All rights reserved...

  • Page 5: Overview

    This is useful for example for finding the orientation of fibers in wood. (Only available for Ruler with the scatter option.) Profile Figure 1.1 – Measuring a cross-section of an object in 3D SICK IVP • Industrial Sensors • www.sickivp.com • All rights reserved...
  • Page 6 If desired, these measurements can be visualized as a profile plot showing the shape of the cross section, or – by combining several profiles – as a complete 3D image of the object. SICK IVP • Industrial Sensors • www.sickivp.com • All rights reserved...

  • Page 7: Configuration Using Ranger Studio

    Ranger Studio. This parame- ter file is later used when connecting to the Ruler from the application to be developed. Figure 1.3 – Configuring the Ruler with Ranger Studio. SICK IVP • Industrial Sensors • www.sickivp.com • All rights reserved...

  • Page 8: Measurement Methods

    These parame- ters specifies for example exposure time and in which area of the image to search for the laser line. SICK IVP • Industrial Sensors • www.sickivp.com • All rights reserved...

  • Page 9: Range Resolution

    Ruler (world) Columns Rows Sensor image Range (mm) Resulting Profile Width (mm) Figure 1.5 – The laser line seen from a perspective, on the sensor, and the resulting profile SICK IVP • Industrial Sensors • www.sickivp.com • All rights reserved...

  • Page 10: Performance

    Figure 1.6 – A small image may be faster to analyze than a high Note that the maximum usable profile rate is usually limited by the characteristics of the object’s surface and conditions in the environment. SICK IVP • Industrial Sensors • www.sickivp.com • All rights reserved...

  • Page 11: Developing Applications

    By setting transformations for each Ruler, your application will receive all measurements given in a common coordinate system, relieving your application from having to recalculate each value itself. SICK IVP • Industrial Sensors • www.sickivp.com • All rights reserved...

  • Page 12: Triggering

    Ruler. The encoder information can then be embedded in the profiles sent to the PC, where your application can use this information to calculate the distance. SICK IVP • Industrial Sensors • www.sickivp.com • All rights reserved...

  • Page 13: Laser Safety

    Class II / 2M laser products must bear warning and certification labels. Class IIIb / 3B – "Danger" This applies to the Ruler E 600/1200 B (IIIb / 3B laser) Considered dangerous to your retina if exposed. This includes looking directly into a reflection from a specular (mirror-like) surface.

  • Page 14: Installation Considerations

    Eye protection – during installation and alignment operations appropriate eye protec- tion should be used. The eye protection should be designed to reduce the laser power in the wavelength region 600-700 nm. If uncertain, contact SICK IVP for information regarding acquisition of such eye protection.

  • Page 15: Configuring The Ruler

    The ROI-height is defining which rows to use for a specific component. It is set by a start row and number of rows. Using a smaller region on the sensor enables measurements at a higher rate. SICK IVP • Industrial Sensors • www.sickivp.com • All rights reserved...
  • Page 16 Ruler and set the Mark parameter. This will make the Ruler embed the encoder information in the profiles sent to the PC. SICK IVP • Industrial Sensors • www.sickivp.com • All rights reserved...
  • Page 17 Read-out Cycle time Used exposure time Read-out Cycle time Reset Exposure time Figure 3.3 - Exposure time when set to longer and shorter than the cycle time. SICK IVP • Industrial Sensors • www.sickivp.com • All rights reserved...

  • Page 18: Configuration Hierarchy

    The System settings are used for switching the laser off in order to increase the laser’s life time. Input parameters Laser On Laser Off/On. 0 – 1. Default value 1. 0 = Laser Off. 1 = Laser On. SICK IVP • Industrial Sensors • www.sickivp.com • All rights reserved...

  • Page 19: Image Configuration

    0 – 768 (for Ruler E 1200) Number of columns The number of columns to acquire (a multiple of 8). 256 – 1536 (for Ruler E 600). Default value 1536. 256 – 1024 (for Ruler E 1200). Default value 1024. Trig mode...

  • Page 20: Measurement Configuration

    0 – 768 (for Ruler E 1200). Number of columns The number of columns to acquire (a multiple of 8). 256 – 1536 (for Ruler E 600). Default value 1536. 256 – 1024 (for Ruler E 1200). Default value 1024. Trig mode...

  • Page 21: Measurement Components

    Distance from Ruler (mm) 1100 1300 1500 A very short and simplified description of the differences between horizontal threshold and horizontal max algorithms is illustrated in the following figure. SICK IVP • Industrial Sensors • www.sickivp.com • All rights reserved...

  • Page 22: Horizontal Threshold (Horthr)

    Morphology Morphology filter on sensor image enabled or not. 0 = filter disabled 1 = expand mode 2 = shrink mode Morphology size Filter size 3 – 5 rows. SICK IVP • Industrial Sensors • www.sickivp.com • All rights reserved...
  • Page 23 HorThr Maximum Profile Speed Profiles per second 1 threshold 1 threshold 2 thresholds 10000 2 thresholds 9000 8000 7000 6000 5000 4000 3000 2000 1000 Number of rows SICK IVP • Industrial Sensors • www.sickivp.com • All rights reserved...

  • Page 24: Horizontal Max (Hormax)

    5 AD bits, no subpix 5 AD bits, no subpix 6000 6 AD bits, no subpix 6 AD bits, no subpix 5000 4000 3000 2000 1000 Number of rows SICK IVP • Industrial Sensors • www.sickivp.com • All rights reserved...

  • Page 25: Horizontal Max And Threshold (Hormaxthr)

    6 AD bits 6 AD bits 10000 7 AD bits 7 AD bits 8 AD bits 8 AD bits 9000 8000 7000 6000 5000 4000 3000 2000 1000 Number of rows SICK IVP • Industrial Sensors • www.sickivp.com • All rights reserved...

  • Page 26: Hi-Res 3D (Hi3D)

    6 AD bits 6 AD bits 4500 7 AD bits 7 AD bits 8 AD bits 8 AD bits 4000 3500 3000 2500 2000 1500 1000 Number of rows SICK IVP • Industrial Sensors • www.sickivp.com • All rights reserved...

  • Page 27: Details On 3D Profiling Algorithms

    Figure 3.6 – Digitalizing one column of the sensor image using a binary threshold The width of the laser light peak is defined as the number of pixels representing the peak with intensity above the threshold. SICK IVP • Industrial Sensors • www.sickivp.com • All rights reserved...
  • Page 28 Figure 3.8 – Altering the threshold to remove false peaks In the case that the true light peak (the laser) is the first along the search order the correct range value will be computed. SICK IVP • Industrial Sensors • www.sickivp.com • All rights reserved...
  • Page 29 There are two basic binary morphology filters, shrink (erode) and expand (dilate), and both those are implemented. SICK IVP • Industrial Sensors • www.sickivp.com • All rights reserved...
  • Page 30 Consider the binary images in the figure again. In the first example, the noise peak re- mains, and the profile result is not improved, but in the second example the result is improved. SICK IVP • Industrial Sensors • www.sickivp.com • All rights reserved...

  • Page 31: Ranger Studio

    Measurement mode is used for collection measurement data. Parameters – to handle parameter files and to start the parameter editor. All these tools are also available in the menus. SICK IVP • Industrial Sensors • www.sickivp.com • All rights reserved...

  • Page 32: Visualization Windows

    Corresponding row in the Original range profile visualization window Figure 4.4 – The original measurement values in a range profile and corresponding row in the image displayed in the visualization window. SICK IVP • Industrial Sensors • www.sickivp.com • All rights reserved...

  • Page 33: Zoom In Visualization Windows

    Hold down the right mouse button and move it up or down in the image to remap the coloring of the surface. This can be used to emphasize different parts of the current data. SICK IVP • Industrial Sensors • www.sickivp.com • All rights reserved...

  • Page 34: Parameter Editor

    When you are satisfied with the parameter settings in the camera, use the button Save parameters in Ranger Studio main window to save it as a parameter file. For detailed information about parameters, see Configuring the Ruler on page 15. SICK IVP • Industrial Sensors • www.sickivp.com • All rights reserved...

  • Page 35: Using Ranger Studio

    4. Select Exposure time and change the value until the laser line is visible in the Visuali- zation window, but not much else of the scene is. This means that the area not hit by laser light should not be visible. SICK IVP • Industrial Sensors • www.sickivp.com • All rights reserved...

  • Page 36: Set Region-Of-Interest

    1 2. Click Start to start the Ruler again. In many cases it is a good idea to not include data from the background, for example the conveyor belt. SICK IVP • Industrial Sensors • www.sickivp.com • All rights reserved...

  • Page 37: Collection Of 3D Data

    14. If you want to save the configuration from the Ruler, click Stop to stop the acquisition. 15. Click Save parameters and give the file a name. 1 6. Click Disconnect. SICK IVP • Industrial Sensors • www.sickivp.com • All rights reserved...

  • Page 38: Getting A Complete Object In One Image

    This will save the visible visualization windows (not zoom windows) as BMP files The contents of the Combined window <filename>.BMP The contents of the Range window <filename>_R.BMP The contents of the Intensity window <filename>_I.BMP The contents of the Scatter window <filename>_S.BMP SICK IVP • Industrial Sensors • www.sickivp.com • All rights reserved...

  • Page 39: Save And Load 3D Data

    3. Select the .xml file to load in the dialog box and click Open. Note: the corresponding .dat file must be found in the same folder as the .xml file. SICK IVP • Industrial Sensors • www.sickivp.com • All rights reserved...

  • Page 40: Ruler Api

    = "192.168.0.43" ' Set the path to the parameter file to use. myRuler.ParameterFile = "parameterFile.prm" ' Initialize the Ruler unit with the above settings. ErrorCodes res = myRuler.InitRuler() SICK IVP • Industrial Sensors • www.sickivp.com • All rights reserved...

  • Page 41: Retrieving Measurement Data

    For example, the x value for the 3:rd point in the second profile is stored in item number (3 + PointsPerProfile) in the x array, etc. SICK IVP • Industrial Sensors • www.sickivp.com • All rights reserved...
  • Page 42 To retrieve measurement data from the Ruler, declare arrays to be filled with the meas- urement data, and call the Ruler object’s RequestDataSeparate() method, and pass the arrays as arguments: res = ruler.RequestDataSeparate(id, status, scatter, x, range, intensity, mark) SICK IVP • Industrial Sensors • www.sickivp.com • All rights reserved...
  • Page 43 Please note that context switching and other operating system activities will interrupt your process/thread at random intervals, which can cause the memory buffers to overflow if you do not have enough processing margin to allow for this overhead. SICK IVP • Industrial Sensors • www.sickivp.com • All rights reserved...

  • Page 44: Changing Camera Configuration

    Ruler, and located at a fixed distance from the camera. Range (mm) Ruler 600 Ruler 1200 1000 1000 2000 Origo X position (mm) (0,0) Figure 5.3 – Location of the Ruler in the local coordinate system. SICK IVP • Industrial Sensors • www.sickivp.com • All rights reserved...
  • Page 45 If you always want to use the same transformation with the Ruler, your application should save the transforma- tion parameters in order to be able to retrieve them when re-initializing the Ruler. SICK IVP • Industrial Sensors • www.sickivp.com • All rights reserved...

  • Page 46: Fieldofview

    If the Ruler object has a transformation set, the field-of-view rectangle in the API is a rectangle in the global coordinate system – that is, a rectangle that encloses the rotated FOV. SICK IVP • Industrial Sensors • www.sickivp.com • All rights reserved...

  • Page 47: Rectifying Measurement Values

    Please note that re-sampling the measurement values will add extra load on the CPU. Not enough values FOV top FOV bottom Missing data left right Figure 5.6 – Rectifying profiles. SICK IVP • Industrial Sensors • www.sickivp.com • All rights reserved...

  • Page 48: Examples

    /// Connect to the ruler and transfer all settings. ret = ruler->init(); if(ret != 0) cout << "Ruler init() failed: " << ret << endl; delete ruler; exit(1); SICK IVP • Industrial Sensors • www.sickivp.com • All rights reserved...
  • Page 49 << ":" << count*profiles/10 << "Hz (total)" << endl; count = 0; if(ret == Ruler::Ruler::ErrorCodes::E_ALL_OK) count++; ruler->stop(); if(ret != 0) cout << "Ruler stop() failed: " << ret << endl; delete ruler; exit(1); ruler->close(); SICK IVP • Industrial Sensors • www.sickivp.com • All rights reserved...

  • Page 50: Rulernetconsoleexample

    * profiles - 1) As Byte scatter(points * profiles - 1) As Byte id(profiles - 1) As Integer status(profiles - 1) As Integer mark(profiles - 1) As Integer SICK IVP • Industrial Sensors • www.sickivp.com • All rights reserved...
  • Page 51 ' ..(Do data processing here) ElseIf res = ErrorCodes.E_TIMEOUT Then ' ... Timeout occured. Else Console.WriteLine("Error requesting data: " & res.ToString()) End If End If End While End Sub End Module SICK IVP • Industrial Sensors • www.sickivp.com • All rights reserved...

  • Page 52: Hardware Description

    The selected profile rate defines the resolution in the length (moving) direction. SICK IVP • Industrial Sensors • www.sickivp.com • All rights reserved...
  • Page 53 Ruler E 1200 280 mm 415 mm 500 mm 450 mm 450 mm 1000 mm 820 mm 1550 mm Figure 7.2 – Maximum field-of-views for Ruler E 600 and E 1200 SICK IVP • Industrial Sensors • www.sickivp.com • All rights reserved...

  • Page 54: Electrical Connections

    Out 1 Reserved (B-type) Yellow In 2 Reset (24V) Gray TRA, RS485 Pink TRB, RS485 Blue Ground In 3 Laser Power Supply (24V) *Color is valid for cable type DOL-1208- SICK IVP • Industrial Sensors • www.sickivp.com • All rights reserved...
  • Page 55 Only valid for Rulers with the Heating option (H) Color Signal Description Brown Power 24V Power Supply White Ground Blue Ground Black Power 24V Power Supply Green/yellow Out A Temperature Control SICK IVP • Industrial Sensors • www.sickivp.com • All rights reserved...

  • Page 56: Technical Data

    15 g, 3 x 6 directions Vibration 5 g, 58 ... 150 Hz Enclosure rating IP 65 Aluminium: surface grey varnished Housing material Connectors: nickel plated brass Windows: float glass, AR coated SICK IVP • Industrial Sensors • www.sickivp.com • All rights reserved...

  • Page 57: Dimensional Drawings

    Hardware Description Reference Manual Chapter 7 Ruler E Dimensional Drawings Figure 7.4 – Ruler E 600 and E 1200 (not to scale) SICK IVP • Industrial Sensors • www.sickivp.com • All rights reserved...

  • Page 58: Appendix

    1 029 233 1 029 232 Ruler E1200 SH RULER-E1212 Ruler E1200 SB 1 029 234 RULER-E1122 1 029 235 Ruler E1200 HB RULER-E1221 Ruler E1200 SHB 1 029 236 RULER-E1222 SICK IVP • Industrial Sensors • www.sickivp.com • All rights reserved...

  • Page 59: B Recommended Network Cards

    IP Address In the recommended configuration the PC uses IP address 192.168.1.x, where x is 1 – 10. Net mask In the recommended configuration the PC uses net mask 255.255.255.0 SICK IVP • Industrial Sensors • www.sickivp.com • All rights reserved...

  • Page 60: Recommended Switches

    Configure camera Displays a dialog box in which you can change the IP adress of the Ruler selected in the list. The Ruler will be updated and restarted when you click OK in the dialog box. SICK IVP • Industrial Sensors • www.sickivp.com • All rights reserved...

  • Page 61: Encoder Wire Diagram

    WARNING ailure to follow these rules may damage the Ruler unit. Each Ruler E is delivered with an Encoder cable. This cable has a M12 plug in one end and is open in the other. Table E.3 – Ruler E to SICK Stegman Encoder wire diagram...
  • Page 62 Phase1 RS422+ Phase2 RS422+ Phase2 RS422- Phase1 RS422- Ruler #2 Figure E.2 – Wiring example Do not connect more than two Rulers to one Encoder unit without additional driver circuit. SICK IVP • Industrial Sensors • www.sickivp.com • All rights reserved...
  • Page 63 Phase1 RS422+ Phase1 RS422- Ruler #2 Figure E.3 – Wiring example – forward signals Do not connect more than two Rulers to one Encoder unit without additional driver circuit SICK IVP • Industrial Sensors • www.sickivp.com • All rights reserved...

  • Page 64: Laser Safety Box

    Input from external power supply and I/O Key switch for Output to Ruler laser power Power I/O connector Figure F.5 – Laser Safety box connectors and LEDs SICK IVP • Industrial Sensors • www.sickivp.com • All rights reserved...
  • Page 65 Ripple < 5V Current consumption <50 mA (Laser safety box only) Enclosure Rating IP65 Weight approx. 350gr. Operating temperature -10 ... +48 °C Storage temperature -20 ... +70 °C: SICK IVP • Industrial Sensors • www.sickivp.com • All rights reserved...

Table of Contents