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Summary of Contents for Roboception rc viscore
- Page 1 Roboception GmbH | April 2022 rc_viscore 3D Stereo Sensor ASSEMBLY AND OPERATING MANUAL...
- Page 2 This product may be modi ed without notice, when necessary, due to product improvements, modi cations, or changes in speci cations. If such modi cation is made, the manual will also be revised; see revision information. DOCUMENTATION REVISION Rev 1.0, Apr 27, 2022 Manufacturer Roboception GmbH Ka erstrasse 2 81241 Munich Germany CUSTOMER SUPPORT: support@roboception.de...
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Page 3: Table Of Contents
..........26 Index Roboception GmbH Rev: 1.0... -
Page 4: Introduction
Software-related warnings in- dicate procedures that must be observed to avoid malfunctions or unexpected behavior of the soft- ware. Note: Notes are used in this manual to indicate supplementary relevant information. Roboception GmbH Rev: 1.0 Manual: rc_viscore Status: Apr 27, 2022... -
Page 5: Overview
• rc_randomdot: https://doc.rc-randomdot.com • SGM®producer: https://roboception.com/product/sgmproducer Fig. 1.1: The Roboception rc_viscore The terms “sensor”, “camera” and “rc_viscore” used throughout the manual all refer to the Roboception rc_viscore stereo camera. Roboception GmbH Rev: 1.0 Manual: rc_viscore Status: Apr 27, 2022... -
Page 6: Warranty
1.2. Warranty 1.2 Warranty Any changes or modi cations to the hard- and software not expressly approved by Roboception could void the user’s warranty and guarantee rights. Warning: The rc_viscore utilizes complex hardware technology that may behave in a way not in- tended by the user. -
Page 7: Applicable Standards
EU RoHS 2 Directive 2011/65/EU on the restriction of the use of certain hazardous substances in electrical and electronic equipment. Items that are exempted in the RoHS Directive are excluded from these standards. Roboception GmbH Rev: 1.0 Manual: rc_viscore... -
Page 8: Available Certi Cates
End users of Electrical & Electronic Equipment are responsible for deleting personal data on the waste equipment to be disposed of. 5. WEEE registration number Roboception is registered under the registration number DE 33323989 at the stiftung elektro- altgeräte register, Nordostpark 72, 90411 Nuremberg, Germany, as a producer of electrical and/or electronic equipment. -
Page 9: Safety
• Cables must not be longer than 30 m. The 8-Pin power supply cable must not be longer than 15 m. • Power to the rc_viscore must be supplied through an appropriate, separate DC power source. Roboception GmbH Rev: 1.0 Manual: rc_viscore... -
Page 10: Intended Use
2.2 Intended use The rc_viscore is intended to be used in combination with a Roboception rc_cube or SGM®Producer. The rc_viscore together with a Roboception rc_cube are intended for installation with automated machin- ery, a mobile platform, or stationary equipment. They can also be used for data acquisition in other applications. -
Page 11: Hardware Speci Cation
(Section 6) for suggested third-party cable vendors. The following picture shows the important parts of the rc_viscore which are referenced later in the doc- umentation. Right camera rc_randomdot Left camera Projector Fig. 3.1: Parts description Roboception GmbH Rev: 1.0 Manual: rc_viscore Status: Apr 27, 2022... -
Page 12: Technical Speci Cation
0.66 m to 2.00 m 0.75 m to 3.00 m 0.80 m to 4.00 m 1.00 m to in nity Medium and low depth quality 0.52 m to in nity Roboception GmbH Rev: 1.0 Manual: rc_viscore Status: Apr 27, 2022... - Page 13 2.0 mm Average depth accuracy 1.0 m 0.5 mm 2.0 m 2.0 mm 3.0 m 4.6 mm 4.0 m 8.2 mm Fig. 3.2: Overall dimensions of the rc_viscore in millimeters Roboception GmbH Rev: 1.0 Manual: rc_viscore Status: Apr 27, 2022...
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Page 14: Environmental And Operating Conditions
3.3. Environmental and operating conditions CAD models of the rc_viscore can be downloaded from http://www.roboception.com/download. The CAD models are provided as-is, with no guarantee of correctness. 3.3 Environmental and operating conditions The rc_viscore is designed for industrial applications. Always respect the storage, transport, and operat-... -
Page 15: Wiring
GPIOs are decoupled by photocouplers. GPIO Out 1 by default provides an exposure sync signal with a logic high level for the duration of the image exposure. Pins of unused GPIOs should be left oating. GPIO circuitry and speci cations are shown in Fig. 3.4. Roboception GmbH Rev: 1.0 Manual: rc_viscore Status: Apr 27, 2022... -
Page 16: Coordinate Frames
Fig. 3.5: Camera coordinate frame location and orientation Note: The correct offset between the sensor/camera frame and a robot coordinate frame can be calibrated through hand-eye calibration. See https://doc.rc-cube.com/latest/en/handeye_calibration. html. Roboception GmbH Rev: 1.0 Manual: rc_viscore Status: Apr 27, 2022... -
Page 17: Installation
Only the surface containing the thread pattern must be in contact with the mounting bracket, all other surfaces must remain free. At least 10 cm clearance must be provided behind the rc_viscore to facilitate adequate air ow for cooling. Roboception GmbH Rev: 1.0 Manual: rc_viscore... -
Page 18: Power-Up
Dashboard of the Web GUI. 4.3.2 Connecting to the SGM®Producer For using the rc_viscore as high-resolution RGBD camera, Roboception offers the SGM®Producer, which is a GenICam compatible transport layer (see https://roboception.com/product/sgmproducer). -
Page 19: Adjust Focus
• temporarily changing the network con guration via Roboception’s rcdiscover-gui tool. The indi- vidual cameras can be seen in the list after unchecking the Only Roboception devices check box. gc _ config Note: The command-line tool is part of Roboception’s open-source convenience layer... - Page 20 Please be aware that this increases exposure time and potentially gain, which increases noise in the image. The optimal tradeoff is application dependent. Roboception GmbH Rev: 1.0 Manual: rc_viscore...
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Page 21: Calibration
Warning: It is mandatory to always check calibration after mounting the rc_viscore, changing the focus or aperture. After calibration, also a new hand-eye calibration is required. Note: Roboception will deliver the rc_viscore with pre-adjusted focus to make sure it works in the contact support desired depth range. -
Page 22: Maintenance
In case a change of working range is desired, an adjustment of the focus as well as the depth range is required. Please note the limitations in the measurement range in Table 3.2. Roboception GmbH Rev: 1.0 Manual: rc_viscore Status: Apr 27, 2022... -
Page 23: Accessories
Only one rc_viscore shall be connected to a power supply at any time, and the total length of cables must be less than 15 m. 6.3 Spare parts Roboception can provide calibration grids, power cables and network cables as spare parts for rc_viscore upon request. 6.4 SGM®Producer and rc_cube The rc_viscore provides 12MP camera images and –... - Page 24 The SGM®Producer can be downloaded from http://www.roboception.com/download. In combination with the rc_cube, the rc_viscore provides the data for object detection and grasp compu- tation applications, e.g.
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Page 25: Troubleshooting
Single+Out1 mode should be selected on the depth image page of the rc_cube’s Web GUI. For con- tinuously computing depth images, the projector should be turned on for every second image by setting Out1 to ExposureAlternateActive in Pipeline X Con guration IOControl. Roboception GmbH Rev: 1.0 Manual: rc_viscore Status: Apr 27, 2022... - Page 26 • The focus may be inadequate for the working range. Please check the focus using a calibration Adjust focus grid as described in (Section 4.4). • The calibration of the rc_viscore may be inaccurate. Please check the calibration as described in Calibration (Section 4.5). Roboception GmbH Rev: 1.0 Manual: rc_viscore Status: Apr 27, 2022...
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Page 27: Contact
8 Contact 8.1 Support support issues, please http://www.roboception.com/support contact sup- port@roboception.de. 8.2 Address Roboception GmbH Ka erstrasse 2 81241 Munich Germany Web: http://www.roboception.com Email: info@roboception.de Phone: +49 89 889 50 79-0 Roboception GmbH Rev: 1.0 Manual: rc_viscore Status: Apr 27, 2022... -
Page 28: Index
IP54 lens cleaning maintenance mounting operating conditions pin assignments power cable , 13, power supply power-up protection class rc _ cube connecting Roboception GmbH Rev: 1.0 Manual: rc_viscore Status: Apr 27, 2022... - Page 29 3D Stereo Sensor ASSEMBLY AND OPERATING MANUAL Roboception GmbH Ka erstrasse 2 81241 Munich info@roboception.de Germany www.roboception.com Tutorials: http://tutorials.roboception.com GitHub: https://github.com/roboception Documentation: http://doc.rc-visard.com http://doc.rc-viscore.com http://doc.rc-cube.com http://doc.rc-randomdot.com Shop: https://roboception.com/shop For customer support, contact +49 89 889 50 790 (09:00-17:00 CET)
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