SmartRunner 3-D ToF Contents Introduction........................ 5 Content of this Document ................5 Target Group, Personnel ................5 Symbols Used ....................5 Product Specifications....................7 Function Principle..................7 Symbols on the Sensor ................. 9 Dimension Drawing ..................11 Display Elements ..................12 Accessories....................
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SmartRunner 3-D ToF Contents Operation with ViSolution ..................35 Establishing a Connection to the Sensor..........35 ViSolution Main Screen ................38 6.2.1 User Interface ........................39 6.2.2 Setup Wizard (Set up) ....................... 44 6.2.2.1 Introduction..........................44 6.2.2.2 Device Information......................... 45 6.2.2.3 Set Trigger ..........................45 6.2.2.4...
SmartRunner 3-D ToF 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 •...
SmartRunner 3-D ToF 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.
SmartRunner 3-D ToF Product Specifications Product Specifications Function Principle This manual describes the SmartRunner Explorer 3-D with time-of-flight technology (hereinaf- ter referred to as sensor). The object in the field of view is illuminated by a modulated, invisible infrared light (1). The object reflects the light (2) on the sensor through the lens.
SmartRunner 3-D ToF Product Specifications Symbols on the Sensor Overview of labeling Figure 2.3 Overview of labeling...
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SmartRunner 3-D ToF Product Specifications Nameplate Figure 2.4 Nameplate The nameplate provides the following information: • Part number • CE marking • UKCA marking • MAC ID: 00-0D-81-0C-5E-5B • Default IP: 192.168.2.4 • Serial number: 40000049970886 • Manufactured 37/2021 Mannheim •...
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SmartRunner 3-D ToF Product Specifications Disposal Figure 2.5 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 2.6 Hot surface This label indicates a possible risk of burns from hot surfaces.
SmartRunner 3-D ToF Product Specifications Dimension Drawing The sensor housing has the following dimensions. PEPPERL+FUCHS GOOD LINK/ACT SPEED OUT1 OUT2 Figure 2.7 Dimension Drawing All dimensions in mm. Note Further technical data can be found on the datasheet for the sensor. You will find the datasheets...
SmartRunner 3-D ToF Product Specifications Display Elements The sensor has eight LEDs that signal various operating states or events. GOOD LINK/ACT SPEED OUT1 OUT2 Figure 2.8 Display elements Designation LED color Description MAIN green Reserved GOOD Reserved PORT yellow The LED flashes at short intervals when LINK/ACT bus data is being exchanged.
SmartRunner 3-D ToF Installation Installation Storage and Disposal Keep the original packaging. Always store and transport the device in the original packaging. Store the device in a clean and dry environment. The permitted ambient conditions must be considered, see datasheet.
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.
SmartRunner 3-D ToF Installation Sensing Range The figures below show fields of view at different measuring distances. The values serve as a point of reference. The maximum measuring distance of sensor VTE7500-F400-B12-A1500 is 7.5 m. A: ± 2,5 mm A: ± 12,5 mm A: ±...
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SmartRunner 3-D ToF Installation Opening Angle The opening angle of the 3-D measuring range on the vertical axis is 35°. 35° Figure 3.2 Vertical axis - VTE7500-F400-B12-A1500 The opening angle of the 3-D measuring range on the horizontal axis is 47°.
SmartRunner 3-D ToF Installation Error Factors There are some influencing factors that can affect the measurement of the sensor and limit the measurement accuracy. You should consider these when planning your application. Temperature The temperature has a significant influence on the measurement behavior of the sensor.
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SmartRunner 3-D ToF Installation Multiple reflections Accurate measurement data is only supplied reliably by light that is reflected once. Any light that is reflected several times by other objects in the field of view of the sensor or the surround- ing area can distort the measurement.
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SmartRunner 3-D ToF Installation Reflectance of measurement objects The reflectance of the measurement object affects the accuracy of the measurement. The sur- face structure and the color of the measurement object play an important role in this. With surface structure, a distinction is made between two types of reflection, diffuse reflection and mirroring reflection.
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SmartRunner 3-D ToF Installation Sensor Configuration The sensor has several parameters. The parameters are used to optimally set the sensor for its application. In addition to exposure time and frame rate, various filters influence the measure- ment result. The Setup Wizard is available to set the sensor to your application. This will guide...
SmartRunner 3-D ToF Installation Sensor Coordinate System A coordinate system is located on the rear for orienting the sensor. The sensor operates in a right-handed coordinate system with the down y-axis. Figure 3.7 Sensor coordinate system As shown on the back of the sensor, the origin of the coordinate system is defined by the follow- ing positions: •...
SmartRunner 3-D ToF Installation Mounting Note Mounting the Sensor To obtain reliable measurements, follow these instructions when mounting: • Protect the sensor against direct and prolonged sunlight. • Do not point the sensor into the sun. • Prevent condensation from forming by ensuring that the sensor is not subjected to any major temperature fluctuations.
SmartRunner 3-D ToF Installation Setting up Windows Network Communication Between the Sensor and a PC/Laptop When delivered, the sensor has a fixed IP address 192.168.2.4 and subnet mask 255.255.255.0. To enable communication within the network, the network settings of your PC/laptop must be synchronized with the sensor and may need to be adjusted.
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SmartRunner 3-D ToF Installation 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.
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SmartRunner 3-D ToF Installation Quick Overview—Assign a Fixed IP Address Note Changes to the network settings of the PC/laptop require advanced user rights. If necessary, consult with your administrator.
SmartRunner 3-D ToF Commissioning Commissioning Overview of the commissioning steps: 1. Set offset to object, see chapter 3.3. 2. Note the influencing factors that can affect the measurement, see chapter 3.4. 3. Optimize the orientation, see chapter 3.5. 4. Mount the sensor, see chapter 3.6.
SmartRunner 3-D ToF Configuration Configuration Parameters Before the sensor can be used in the system, it must be parameterized. The parameters used for the sensor are listed below. Refer to the ViSolution operating software see chapter 6.2.3.1for additional parameters. AcquisitionControl Provides parameters associated with image capture, trigger control, and exposure time control.
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SmartRunner 3-D ToF Configuration Proprietary Parameters Contains parameters relating 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.
SmartRunner 3-D ToF Configuration VsxProtocolDriver General VsxProtocolDriver is the driver used to support the creation of a graphical user interface for sensors that use the VSX protocol. The driver connects to the sensor and handles the commu- nication in accordance with the communication protocol. The user can access functions for set- ting parameters on the sensor, retrieving parameter values from the sensor, and saving and loading entire parameter sets both locally and on the sensor.
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SmartRunner 3-D ToF Configuration New Driver Instance, Serial public static VsxProtocolDriver Init(string serialPort, int bau- drate, string sensorType, TheSensor.ConnectionType connectionType, string pluginName = "") public static VsxProtocolDriverSync Init(string serialPort, int bau- drate, string sensorType, TheSensor.ConnectionType connectionType, string pluginName = "") Initializes a new driver instance that allows serial communication with the device.
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SmartRunner 3-D ToF Configuration Re-establish a Connection public async Task<(bool Succ, Error ErrorDesc)> ReConnect(string ipAddress, int port = VSXPORT) public (bool Succ, Error ErrorDesc) ReConnect(string ipAddress, int port = VSXPORT) public async Task<(bool Succ, Error ErrorDesc)> ReConnect(string serialPort, int baudrate, TheSensor.ConnectionType connectionType) public (bool Succ, Error ErrorDesc) ReConnect(string serialPort, int baudrate, TheSensor.ConnectionType connectionType)
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SmartRunner 3-D ToF Configuration Return 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)>...
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SmartRunner 3-D ToF Configuration Read and Save 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.
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SmartRunner 3-D ToF Configuration Grabbing of Sensor Data public void ResetDynamicContainerGrabber(int bufferSize, int start- Condition = -1, Strategy strategy = Strategy.DROP_OLDEST) public void ResetDynamicContainerGrabber(int numberOfItems, int startCondition = -1, Strategy strategy = Strategy.DROP_OLDEST) Restarts the grabbing of sensor data. The sensor data for each trigger is packaged in VsxDy- namicContainer.
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SmartRunner 3-D ToF Configuration Properties Connection Status public bool Connected { get; } Indicates the connection status. Timeout public int WaitTimeout { get; set; } Timeout in ms. This indicates how long the device will wait for a response to its request.
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SmartRunner 3-D ToF Configuration Error public ErrorId Id; public string Tag; public string Message; Contains information about an error that has occurred. Possible Error IDs VSX_DRIVER_NO_ERROR = 0x0, VSX_DRIVER_INIT_ERROR = -0x1, VSX_DRIVER_TIMEOUT_ERROR = -0x2, VSX_DRIVER_SAVE_FILE_ERROR = -0x3, VSX_DRIVER_DATA_ERROR = -0x4,...
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SmartRunner 3-D ToF Configuration VsxImageData2Message : IVsxMessage public ImageData2Format; public int Width; public int Height; public int LinePitch; public long FrameCounter; public double CoordinateScale; public double CoordinateOffset; public double AxisMin; public double AxisMax; public double InvalidDataValue; public byte[] ImageData; public float[] ImageDataFloats;...
SmartRunner 3-D ToF 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.
SmartRunner 3-D ToF Operation with ViSolution Establishing a Connection to the Sensor After starting the ViSolution software, the following "Device overview" window is displayed: Device Overview Figure 6.1 Device overview Item Designation Function Device overview All identified sensors are displayed here. You will also receive information about the sensor.
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SmartRunner 3-D ToF Operation with ViSolution Selecting a Sensor Click the button highlighted in green for the sensor that has been found. A connection to the sensor is established. The main screen of the software opens. If your sensor is not recognized in the device overview, connect your sensor as follows: Figure 6.2...
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SmartRunner 3-D ToF Operation with ViSolution Finding a Sensor This function can be used to search for connected sensors or to establish a connection to a connected device. To do so, proceed as follows: Ensure that the sensor and the PC/laptop are ready for operation and that there is an Ethernet connection.
SmartRunner 3-D ToF 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 The Setup Wizard will guide you through all the steps necessary to set up the sensor step by step.
SmartRunner 3-D ToF Operation with ViSolution 6.2.1 User Interface The ViSolution user interface is structured as follows: Figure 6.5 Structure of the user interface Item Designation Function Menu bar Use the menu bar to access the sensor settings. Display window The running application can be displayed and moni- tored in the display window.
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SmartRunner 3-D ToF Operation with ViSolution Navigation bar Figure 6.6 Navigation bar Controls Control Designation Function 2-D view In the display window, the sensor data is displayed as a 2-D visualization and is displayed in color or in grayscale according to the distance values.
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SmartRunner 3-D ToF Operation with ViSolution Control Designation Function Top view 3-D view settings: Top view Side view 3-D view settings: Side view Note Zoom in 3-D View Right-click and drag up to zoom in and drag down to zoom out.
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SmartRunner 3-D ToF Operation with ViSolution Information Bar + Controls Timeline Figure 6.7 Control Designation Function Frame counter Image counter Displays all captured images Timestamp Timestamp Counts all captured images from a spe- cific time Start Previously recorded process data can...
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SmartRunner 3-D ToF Operation with ViSolution Cursor Info Figure 6.8 Control Designation Function Coordinates [mm] x coordinate Spatial coordinates of the cursor (x, y, z coordinates) x coordinate y coordinate y coordinate z coordinate z coordinate/distance Image coordinates x image coordinate The "Image coordinates"...
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SmartRunner 3-D ToF Operation with ViSolution Basic Functions of the Setup Wizard The basic functions are available in the Setup Wizard, in the menu bar to the right under the display window. Control Designation Function Next Proceed to the next step.
SmartRunner 3-D ToF Operation with ViSolution 6.2.2 Setup Wizard (Set up) The Setup Wizard will guide you through all the steps necessary to set up the sensor step by step. Figure 6.10 Set up Link to chapter Area Function Link Introduction See chapter 6.2.2.1...
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SmartRunner 3-D ToF Operation with ViSolution 6.2.2.1 Introduction Use "Set up" > "Introduction" to access the "Wizard introduction" window. From this page, a Setup Wizard can be started that guides you through all the necessary steps to set all required sensor parameters step by step.
SmartRunner 3-D ToF Operation with ViSolution 6.2.2.2 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 6.12 Device information Enter the following information to identify your sensor at a later time.
SmartRunner 3-D ToF Operation with ViSolution 6.2.2.3 Set Trigger Use "Set up" > "Set Trigger" to access "Set Trigger." The trigger source starts an event. It trig- gers the capture and evaluation of scenes. There are a number of ways to trigger object detection by the camera. An external signal can be used to trigger the individual objects.
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SmartRunner 3-D ToF Operation with ViSolution Trigger Activation The "Trigger Activation" parameter has only one effect in the line 1—trigger (see "Trigger Source" on page 46). Figure 6.15 Trigger Activation Option Description Trigger Activation Rising Edge The sensor is triggered by hardware via the rising edge of an input signal.
SmartRunner 3-D ToF Operation with ViSolution 6.2.2.4 Measurement Use "Set up" > "Measurement" to access the "Measurement" window. Default Settings Figure 6.16 Option Description Range Mode 1.5 m Distance setting in m For static objects, set the "Range Mode" according to the 3.75 m...
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SmartRunner 3-D ToF Operation with ViSolution Advanced Settings Figure 6.17 Option Description Camera Mode FastMovement Camera mode for scenes with very fast movements. HighDynamic Exposure mode for scenes with high dynamics. In this case, the image quality can be increased by two expo- sures with different exposure times.
SmartRunner 3-D ToF Operation with ViSolution 6.2.2.5 Filter Use "Set up" > "Filter" to access the "Filter" window. Filter Settings Figure 6.18 Option Description Flying Pixel Filter Flying pixels occur in spatial regions with uneven depth. Here, superim- posed phase shifts result in mixed signals, which lead to incorrect dis- tance values.
SmartRunner 3-D ToF Operation with ViSolution 6.2.2.6 Output Data Format Use "Set up" > "Output format" to access the "Output data format" window. Figure 6.19 Output data format Output data format Description Calibrated ABC Grid The result of the measuring cycle is a 3-D point cloud.
SmartRunner 3-D ToF Operation with ViSolution 6.2.2.7 Check Result Use "Set up" > "Check result" to access the "Check Result" window. The results display a summary of the application features. The results depend on the features you have previously set in the Setup Wizard.
SmartRunner 3-D ToF Operation with ViSolution 6.2.3 Advanced Configuration Mode (Expert) In advanced configuration mode, all configuration parameters are presented in an overview. Here you can adjust the sensor to the optimal level for your application. Figure 6.20 Expert Link to Chapter...
SmartRunner 3-D ToF Operation with ViSolution 6.2.3.1 Advanced Configuration Mode (Expert) Use "Expert" > "Developer" to access the advanced configuration mode window. The display window shows live images while parameters are being edited. Figure 6.21 Expert...
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SmartRunner 3-D ToF Operation with ViSolution Trigger Source Option Description Auto Trigger The sensor continuously captures images at a preset frame rate. Line 1 The sensor is triggered by hardware via the rising or falling edge of an input signal.
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SmartRunner 3-D ToF Operation with ViSolution Range Mode Option Description Range Mode 1.5 m Distance setting in m For static objects, set the "Range Mode" according to the distance 3.75 m from the object to be measured. For example, if the object is 1.4 m away, set the Range Mode to 1.5 m.
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SmartRunner 3-D ToF Operation with ViSolution Trigger Activation Option Description Trigger Activation Rising Edge The sensor is triggered by hardware via the rising edge of an input signal. Falling Edge The sensor is triggered by hardware via the falling edge of an input signal.
SmartRunner 3-D ToF 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 6.22 Maintain Link to Chapter Area Function Link Identification See chapter 6.2.4.1.
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SmartRunner 3-D ToF Operation with ViSolution 6.2.4.1 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...
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SmartRunner 3-D ToF Operation with ViSolution 6.2.4.2 Firmware Update Use "Maintain" > "Firmware Update" to access the "Firmware Update." Updating Firmware To update the firmware on your device, proceed as follows: Select a valid update file. Start the update process.
SmartRunner 3-D ToF Operation with ViSolution 6.2.4.3 Resetting to the Factory Settings (Reset) Use "Maintain" > "Reset" to access the "Reset to factory settings" window. To erase all the data on the device (configuration, applications, etc.), the sensor can be reset to the factory settings.
SmartRunner 3-D ToF Operation with ViSolution 6.2.6 Transfer Configuration You can use the "Transfer Configuration" menu to save your current sensor parameters to a file or to load such a file onto the sensor. Link to Chapter Area Function Link...
SmartRunner 3-D ToF Operation with ViSolution 6.2.6.1 Export Configuration The "Export configuration" function is used to export all settings and applications from the sen- sor to the PC. Export configuration Click the "Export configuration" button to start the export of the settings.
SmartRunner 3-D ToF Operation with ViSolution 6.2.6.2 Import Configuration During imports, parameter settings can be loaded from the selected file. Note Importing the new parameter settings will overwrite the current parameter settings for the sensor. If necessary, export the existing settings beforehand.
SmartRunner 3-D ToF Operation with ViSolution 6.2.7 Check Connectivity Manage connections to the network. Figure 6.23 Check connectivity Link to Chapter Function Link Network Settings See chapter 6.2.7.1.
SmartRunner 3-D ToF 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 35). Figure 6.25 Logout...
SmartRunner 3-D ToF 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.
SmartRunner 3-D ToF Troubleshooting Troubleshooting What to Do in the Event 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 localize the problem.
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SmartRunner 3-D ToF Troubleshooting Fault Cause Fault Repair No connec- Alternating-current voltage or Connect sensor to direct-current voltage (DC) tion to the sen- supply voltage too high only. Ensure that the supply voltage level is within the specified sensor range.
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