Pepperl+Fuchs SmartRunner 3-D Stereo Manual
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Pepperl+Fuchs SmartRunner 3-D Stereo Manual

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SmartRunner 3-D Stereo
3-D Stereo Sensor
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Summary of Contents for Pepperl+Fuchs SmartRunner 3-D Stereo

  • Page 1 SmartRunner 3-D Stereo 3-D Stereo Sensor Manual...
  • Page 2 Phone: +49 621 776 - 0 E-mail: info@de.pepperl-fuchs.com North American Headquarters Pepperl+Fuchs Inc. 1600 Enterprise Parkway Twinsburg, Ohio 44087 Phone: +1 330 425-3555 E-mail: sales@us.pepperl-fuchs.com Asia Headquarters Pepperl+Fuchs Pte. Ltd. P+F Building 18 Ayer Rajah Crescent Singapore 139942 Phone: +65 6779-9091 E-mail: sales@sg.pepperl-fuchs.com https://www.pepperl-fuchs.com...

  • Page 3: Table Of Contents

    SmartRunner 3-D Stereo Contents Introduction........................ 5 Content of this Document ................5 Target Group, Personnel ................5 Symbols Used ....................6 Product Specifications....................7 Use and Application ..................7 GenICam ......................8 Symbols on the Sensor ................. 8 Dimension Drawing ..................11 Display Elements ..................
  • Page 4 SmartRunner 3-D Stereo Contents Operation with ViSolution ..................33 Establishing a Connection to the Sensor..........33 ViSolution Main Screen ................36 6.2.1 User Interface ........................37 6.2.2 Set up ..........................42 6.2.2.1 Device Information......................... 43 6.2.2.2 Set Trigger ..........................44 6.2.2.3 Improve Data ......................... 46 6.2.2.4...

  • Page 5: Introduction

    SmartRunner 3-D Stereo Introduction Introduction Content of this Document This document contains information required to use the product in the relevant phases of the product life cycle. This may include information on the following: • Product identification • Delivery, transport, and storage •...

  • Page 6: Symbols Used

    SmartRunner 3-D Stereo Introduction Symbols Used This document contains symbols for the identification of warning messages and of informative messages. Warning Messages You will find warning messages, whenever dangers may arise from your actions. It is mandatory that you observe these warning messages for your personal safety and in order to avoid prop- erty damage.

  • Page 7: Product Specifications

    SmartRunner 3-D Stereo Product Specifications Product Specifications Use and Application This manual describes the "SmartRunner Explorer 3-D" 3-D stereo sensor (referred to as the sensor below). The sensor combines two 2-D images taken from different positions and finds matches between the acquired images to create a depth image.

  • Page 8: Genicam

    SmartRunner 3-D Stereo Product Specifications The sensor is connected to a PC via a Gigabit Ethernet network. The sensor sends the mea- surement results to the computer, which is running a custom application that retrieves the mea- surement results and processes the data contained in them.
  • Page 9 SmartRunner 3-D Stereo Product Specifications Nameplate Figure 2.3 Nameplate The nameplate provides the following information: • Part number • CE marking • UKCA marking • MAC ID: 00-0D-81-0B-66-A8 • Standard IP: 192.168.2.4 • Serial number: 40000049969849 • Manufactured 02/2020 Mannheim •...
  • Page 10 SmartRunner 3-D Stereo Product Specifications Disposal Figure 2.4 Disposal Devices marked with this symbol must not be disposed of with household waste. These devices must only be disposed of by specialist companies approved at the operating location. Hot Surface Figure 2.5 Hot surface This label indicates a possible risk of burns from hot surfaces.

  • Page 11: Dimension Drawing

    SmartRunner 3-D Stereo Product Specifications Dimension Drawing The housing of the SmartRunner 3-D Stereo has the following dimensions. PEPPERL+FUCHS GOOD LINK/ACT SPEED OUT1 OUT2 Figure 2.6 Aligning the sensor All dimensions in mm. Note Further technical data can be found on the datasheet for the sensor. You will find the datasheets...

  • Page 12: Display Elements

    SmartRunner 3-D Stereo Product Specifications Display Elements The sensor has eight LEDs that signal various operating states or events. GOOD LINK/ACT SPEED OUT1 OUT2 Figure 2.7 Display elements Designation LED color Description MAIN Green Reserved GOOD Reserved PORT Yellow The LED flashes at...

  • Page 13: Accessories

    SmartRunner 3-D Stereo Product Specifications Accessories Model number Description LTGLÜT 24V 2xM12 Xm 8pol ROB M12 plug, 8-pin, straight, to M12 socket, 8-pin, straight, A-coded, 360° shielding, self-locking screw connection, PUR cable, torsion-proof, shielded, halogen-free V19SX-G-GN5M-PUR-ABG-V45-G Bus cable, Ethernet, M12 plug, X-coded, 8-pin to RJ45,...

  • Page 14: Installation

    Check the package contents against your order and the shipping documents to ensure that all items are present and correct. Should you have any questions, direct them to Pepperl+Fuchs. Retain the original packaging in case the device is to be stored or shipped again at a later date.

  • Page 15: Sensing Range

    SmartRunner 3-D Stereo Installation Sensing Range PEPPERL+FUCHS Figure 3.1 Sensing range Measuring range Resolution Distance z Position Description [mm] x [mm] y [mm] x [mm] y [mm] z [mm] Minimum 0.35 0.35 operating distance Operating distance Maximum 1000 operating distance...
  • Page 16 SmartRunner 3-D Stereo Installation Resolution ±Δz=f(z) ±Δxy=f(z) 0,70 2,00 0,60 1,75 0,50 1,50 0,40 1,25 1,00 0,30 0,75 0,20 0,10 0,25 0,00 1000 1000 z/mm z/mm Figure 3.2 Resolution z and xy Measuring range x=f(z) y=f(z) 1000 1100 1000 1100...

  • Page 17: Mounting

    SmartRunner 3-D Stereo Installation Mounting Note Mounting an optical device • Do not aim the sensor at the sun. • Protect the sensor from direct long-term exposure to sun. • Prevent condensation from forming by not exposing the sensor to any major fluctuations in temperature.

  • Page 18: Electrical Connection

    SmartRunner 3-D Stereo Installation Electrical Connection Connection Assignment MAIN M12 plug, A-coded, 8-pin 1. IN trigger 2. + UB 3. nc 4. nc 5. nc 6. nc 7. GND GOOD 8. nc PORT LINK/ACT M12 socket, X-coded, 8-pin SPEED 1. MDX0+...

  • Page 19: Setting Up Windows Network Communication Between The Sensor And A Pc/Laptop

    SmartRunner 3-D Stereo Installation Setting up Windows Network Communication between the Sensor and a PC/Laptop When the sensor is delivered, it has a fixed IP address: 192.168.2.4. To enable communication within the network, the network settings of your PC/laptop must be synchronized with the sen- sor and may need to be adjusted.
  • Page 20 SmartRunner 3-D Stereo Installation Double-click "Internet Protocol Version 4 (TCP/IPv4)." The Properties window for the TCP/IP protocol opens. Select the "General" tab. Select the input function "Use the following IP address." Enter the IP address of the sensor, but only the first three segments of the IP address. The last segment must be different from the IP address of the sensor.
  • Page 21 SmartRunner 3-D Stereo Installation Note Changes to the network settings of the PC/laptop require advanced user rights. If necessary, consult with your administrator.

  • Page 22: Commissioning

    SmartRunner 3-D Stereo Commissioning Commissioning Overview of the commissioning steps: 1. Setting the operating distance, see chapter 3.3 2. Mounting the sensor, see chapter 3.4 3. Making the electrical connection, see chapter 3.5 4. Setting up Windows network communication between the sensor and a PC/laptop, see chapter 3.6...

  • Page 23: Configuration

    SmartRunner 3-D Stereo Configuration Configuration Parameters (Features) Before the sensor can be used in the system, it must be parameterized. The features (parame- ters) used for the sensor are listed below. The GenICam™ standard uses the term "feature" as the common term for parameters. Most of the features correspond to GenICam™ SFNC. "I40 parameters"...

  • Page 24: Vsxprotocoldriver

    SmartRunner 3-D Stereo Configuration Stereo Proprietary Parameters Contains features related to control and to general information about the sensor. These are used to identify the sensor during the enumeration process and to obtain information about the sensor resolution. Additional information and controls that affect the general status of the sen- sor are also included in this category.
  • Page 25 SmartRunner 3-D Stereo Configuration Static Functions UDP Broadcast public static async Task<(bool Succ, List<Device> DeviceList, Error ErrorDesc)> UdpDeviceList() public static (bool Succ, List<Device> DeviceList, Error ErrorDesc) UdpDeviceList() The function returns a list of the Vsx devices that are found on the network via UDP broadcast.
  • Page 26 SmartRunner 3-D Stereo Configuration Non-Static Functions Establishing a Connection public async Task<(bool Succ, Error ErrorDesc)> Connect(int timeout = CONNECTION_TIMEOUT_MS) public (bool Succ, Error ErrorDesc) Connect(int timeout = VsxProto- colDriver.CONNECTION_TIMEOUT_MS) Establishes a connection to the device using the parameters set using Init. CONNECTION_- TIMEOUT_MS = 1000 can be used as the timeout for opening the connection.
  • Page 27 SmartRunner 3-D Stereo Configuration Returning the Value of a Single Device Parameter public async Task<(bool Succ, object parameterValue, Error Error- Desc)> GetSingleParameterValue(Parameter parameter) public async Task<(bool Succ, object parameterValue, Error Error- Desc)> GetSingleParameterValue(string parameterId) public async Task<(bool Succ, object parameterValue, Error Error- Desc)>...
  • Page 28 SmartRunner 3-D Stereo Configuration Reading and Saving the Parameter Set public async Task<(bool Succ, Error ErrorDesc)> DownloadParameter- Set(string destinationFileName) public (bool Succ, Error ErrorDesc) DownloadParameterSet(string des- tinationFileName) Reads the current parameter set from the device and saves it under the specified path and file name.
  • Page 29 SmartRunner 3-D Stereo Configuration Output of the Oldest Buffered "DynamicContainer" public async Task<(bool Succ, IVsxDynamicContainer Container, int NumberOfDiscardedItems, Error ErrorDesc)> GetDynamicContainer(int timeoutMs = Timeout.Infinite) public (bool Succ, IVsxDynamicContainer Container, int NumberOfDis- cardedItems, Error ErrorDesc) GetDynamicContainer(int timeoutMs = Timeout.Infinite) Returns the oldest buffered "DynamicContainer" (see "ResetDynamicContainerGrabber").
  • Page 30 SmartRunner 3-D Stereo Configuration Number of Discarded "DynamicContainer" or "LogMessages" public int MissingContainerFramesCounter { get; } public int MissingLogMessagesCounter { get; } Specifies the number of "DynamicContainer" or "LogMessages" discarded since the last reset grabber, once there was no more space in the buffer.
  • Page 31 SmartRunner 3-D Stereo Configuration Parameter ushort settingsVersion; ushort configVersion; string configId; string parameterId; string name; Vsx.ParameterTypes type; Vsx.ValueTypes valueType; bool enable; bool visible; object min; object max; string userLevel; object value; object defaultValue; string unit; List<ItemTuple> items; Contains information about a device parameter. Important properties here are the details of the version and IDs, which are required for setting a parameter.
  • Page 32 SmartRunner 3-D Stereo Configuration VsxTransformationMessage: IVsxMessage public double TranslationTX; public double TranslationTY; public double TranslationTZ; public double QuaternionQ0; public double QuaternionQ1; public double QuaternionQ2; public double QuaternionQ3; SmartRunner 3-D A "DynamicContainer" received by the SmartRunner 3-D can contain the following messages:...

  • Page 33: Operation With Visolution

    SmartRunner 3-D Stereo Operation with ViSolution Operation with ViSolution The "ViSolution" software can be used to configure sensor parameters and evaluate measure- ment results. The software is also very helpful when mounting the sensor, for adjusting camera parameters such as the exposure time.
  • Page 34 SmartRunner 3-D Stereo Operation with ViSolution Position Designation Function Grid You can use the "Grid" button to change the way the sen- sors found are displayed. If you select "Grid," the sensors found are displayed as tiles. List You can use the "List" button to change the way the sen- sors found are displayed.
  • Page 35 SmartRunner 3-D Stereo Operation with ViSolution Figure 6.3 Entering the IP address Enter the IP address of your sensor in the "Target IP address" input field (1). The default IP address of the sensor can be found on the device.

  • Page 36: Visolution Main Screen

    SmartRunner 3-D Stereo Operation with ViSolution ViSolution Main Screen The basic ViSolution functions can be selected on the main screen. Figure 6.4 Main screen Basic functions on the main screen: Designation Description Set Up Manage and configure the sensor and applications. See chapter 6.2.2.

  • Page 37: User Interface

    SmartRunner 3-D Stereo Operation with ViSolution 6.2.1 User Interface The ViSolution user interface is structured as follows: Figure 6.5 Structure of the user interface Position Designation Function Menu bar Use the menu bar to access the sensing modes. Main area You can display the image data in the main area.
  • Page 38 SmartRunner 3-D Stereo Operation with ViSolution Controls in the Navigation Bar Different controls are displayed in the navigation bar depending on whether "Camera" or "Data" is selected. Figure 6.6 Navigation bar Controls Control Designation Function Camera Switch to camera. Raw images, disparity images, or cam- era images illuminated with surface lighting can be dis- played here.
  • Page 39 SmartRunner 3-D Stereo Operation with ViSolution Control Designation Function Left Left image Right Right image Color Switch from grayscale to color image.
  • Page 40 SmartRunner 3-D Stereo Operation with ViSolution Control Designation Function Gray Switch from color image to grayscale. Move You can move the 3-D view freely. Front 3-D view settings: front view...
  • Page 41 SmartRunner 3-D Stereo Operation with ViSolution Control Designation Function 3-D view settings: top view Side 3-D view settings: side view Play Click to start a recording. Pause Click to stop the recording. Snapshot Single image capture when the sensor is in the "Pause"...

  • Page 42: Set Up

    SmartRunner 3-D Stereo Operation with ViSolution 6.2.2 Set up The "Set up" menu allows you to set up and manage the sensor and its tasks. Figure 6.7 Set up Link to chapter Area Function Link DEVICE Device Information See chapter 6.2.2.1...

  • Page 43: Device Information

    SmartRunner 3-D Stereo Operation with ViSolution 6.2.2.1 Device Information Use "Set up" > "Device information" to access the "Device information" window. A preview image of the camera shot and basic information about the sensor are displayed. Figure 6.8 Device information Enter the following information to identify your sensor at a later time.

  • Page 44: Set Trigger

    SmartRunner 3-D Stereo Operation with ViSolution 6.2.2.2 Set Trigger Use "Set up" > "Set Trigger" to access "Set Trigger." The trigger signal starts an event. It trig- gers the capture and evaluation of images. You can set the trigger mode and trigger frequency in the user interface, under "Set Trigger"...
  • Page 45 SmartRunner 3-D Stereo Operation with ViSolution Additional options are available via the advanced settings: Figure 6.10 Advanced settings Advanced settings Option Description Auto trigger frequency [Hz] If you select "Auto Trigger" as the trigger source, you can set the frame rate in Hz.

  • Page 46: Improve Data

    SmartRunner 3-D Stereo Operation with ViSolution 6.2.2.3 Improve Data Use "Set up" > "Improve Data" to access the "Improve Data" window. Default Settings Option Description Exposure Time in µs Exposure times are displayed in s. The value for the exposure time can be changed with the slider or entered in the display window.
  • Page 47 SmartRunner 3-D Stereo Operation with ViSolution Advanced Settings Option Description Penalty 1 Tuning parameter (effort to smooth a disparity jump of 1 in the output) Penalty 2 Tuning parameter (effort to smooth a disparity jump of more than 1 in the output)
  • Page 48 SmartRunner 3-D Stereo Operation with ViSolution Option Description Illumination None Onboard Projector...

  • Page 49: Check Results

    SmartRunner 3-D Stereo Operation with ViSolution 6.2.2.4 Check Results Use "Set up" > "Improve Data" to access the "Check Results" window. Output data format Output data format Description Point Cloud Point cloud Disparity Map Disparity map Disparity map and raw images...

  • Page 50: Maintain

    SmartRunner 3-D Stereo Operation with ViSolution 6.2.4 Maintain You can use the Maintain function to check the status of the sensor and keep it up to date. Figure 6.11 Maintain Link to chapter Area Function Link OPERATION Developer See chapter 6.2.4.1.

  • Page 51: Developer

    SmartRunner 3-D Stereo Operation with ViSolution 6.2.4.1 Developer Use "Maintain" > "Developer" to access the "Parameters" overview. This area is specifically designed for developers whose specialist knowledge makes them sufficiently qualified to work on information technology systems. Figure 6.12 Parameter overview...
  • Page 52 SmartRunner 3-D Stereo Operation with ViSolution Parameter Description Application specific tag Application-specific tag Auto trigger frequency [Hz] If you select "Auto Trigger" as the trigger source, you can set the frame rate in Hz. The "Auto trigger frequency" slider can be used to change the frame rate or enter it in the display window.

  • Page 53: Identification

    SmartRunner 3-D Stereo Operation with ViSolution 6.2.4.2 Identification Use "Maintain" > "Identification" to access the "Identification" window. Information Description Application specific tag Application-specific tag Function specific tag Function-specific tag Location tag Location tag Identification parameters ID card Description VendorName Manufacturer...

  • Page 54: Check Connectivity

    SmartRunner 3-D Stereo Operation with ViSolution 6.2.7 Check Connectivity Manage connections to the network. Figure 6.13 Check Connectivity Link to chapter Function Link Network Settings See chapter 6.2.7.1.

  • Page 55: Network Settings

    SmartRunner 3-D Stereo Operation with ViSolution 6.2.7.1 Network Settings Use "Check Connectivity" > "Network Settings" to access the "Network Settings" window. Figure 6.14 Network settings Information Description IP address IP address setting Subnet mask Subnet mask setting Gateway Gateway setting...

  • Page 56: Logout

    SmartRunner 3-D Stereo Operation with ViSolution 6.2.8 Logout Use "Logout" to exit the user interface and access the device overview screen (see "Device Overview" on page 33). Figure 6.15 Logout...

  • Page 57: Maintenance And Repair

    SmartRunner 3-D Stereo Maintenance and Repair Maintenance and Repair Servicing Danger! Danger to life due to electrical current! Contact with live parts causes immediate danger to life. • Allow only qualified electricians to carry out work on the electrical installation.

  • Page 58: Troubleshooting

    SmartRunner 3-D Stereo Troubleshooting Troubleshooting What to Do in Case of a Fault Before you have the device repaired, perform the following actions: • Test the system according to the checklist below. • Contact our service center to pinpoint the problem.
  • Page 59 Pepperl+Fuchs Quality Download our latest policy here: www.pepperl-fuchs.com/quality www.pepperl-fuchs.com © Pepperl+Fuchs · Subject to modifications Printed in Germany / DOCT-7095...

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