SICK Ruler3000 Operating Instructions Manual
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SICK Ruler3000 Operating Instructions Manual

3d machine vision
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O P E R A T I N G I N S T R U C T I O N S
Ruler3000
3D machine vision

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  • Page 1 O P E R A T I N G I N S T R U C T I O N S Ruler3000 3D machine vision...
  • Page 2 This document is an original document of SICK AG. Depends on type O P E R A T I N G I N S T R U C T I O N S | Ruler3000 8026049/1M3O/2023-12 | SICK Subject to change without notice...

  • Page 3: Table Of Contents

    SICK AppSpace................ Transport and storage............... 30 Transport....................Unpacking....................Transport inspection................. 8026049/1M3O/2023-12 | SICK O P E R A T I N G I N S T R U C T I O N S | Ruler3000 Subject to change without notice...
  • Page 4 12.2.2 Light sensitivity................ 12.2.3 Maximum profile rate.............. 12.3 Interfaces....................O P E R A T I N G I N S T R U C T I O N S | Ruler3000 8026049/1M3O/2023-12 | SICK Subject to change without notice...
  • Page 5 15.5 Declarations of conformity and certificates..........101 15.6 Licenses....................101 8026049/1M3O/2023-12 | SICK O P E R A T I N G I N S T R U C T I O N S | Ruler3000 Subject to change without notice...

  • Page 6: About This Document

    … highlights useful tips and recommendations as well as information for efficient and trouble-free operation. O P E R A T I N G I N S T R U C T I O N S | Ruler3000 8026049/1M3O/2023-12 | SICK...

  • Page 7: Further Information

    Certificates (e.g., declaration of conformity) • Other publications • Software • Accessories 8026049/1M3O/2023-12 | SICK O P E R A T I N G I N S T R U C T I O N S | Ruler3000 Subject to change without notice...

  • Page 8: Safety Information

    SICK AG. This applies in particular to opening the housing, even as part of mounting and electrical installation. O P E R A T I N G I N S T R U C T I O N S | Ruler3000 8026049/1M3O/2023-12 | SICK...

  • Page 9: Cybersecurity

    Knowledge of the programming of image-processing systems ■ and network components 8026049/1M3O/2023-12 | SICK O P E R A T I N G I N S T R U C T I O N S | Ruler3000 Subject to change without notice...

  • Page 10: Operational Safety And Specific Hazards

    • Applicable national regulations regarding laser protection must be observed. O P E R A T I N G I N S T R U C T I O N S | Ruler3000 8026049/1M3O/2023-12 | SICK Subject to change without notice...
  • Page 11 8026049/1M3O/2023-12 | SICK O P E R A T I N G I N S T R U C T I O N S | Ruler3000 Subject to change without notice...

  • Page 12: Warning Signs On The Device

    IEC 60825-1 Ed.3., as described in Laser Notice 56 dated May 8, 2019. Ptotal depends on the variant. O P E R A T I N G I N S T R U C T I O N S | Ruler3000 8026049/1M3O/2023-12 | SICK...

  • Page 13: Note On Laser Radiation

    Please observe the national regula‐ tions in relation to this. 8026049/1M3O/2023-12 | SICK O P E R A T I N G I N S T R U C T I O N S | Ruler3000 Subject to change without notice...

  • Page 14: Getting Started

    The encoder, photoelectric sensor and connection module are optional accessories. O P E R A T I N G I N S T R U C T I O N S | Ruler3000 8026049/1M3O/2023-12 | SICK...

  • Page 15: Installing Computer Software

    Stream Setup software until the image result is satisfactory. 8026049/1M3O/2023-12 | SICK O P E R A T I N G I N S T R U C T I O N S | Ruler3000 Subject to change without notice...

  • Page 16: Finding And Connecting The Camera

    Select Internet Protocol Version 4 and open Properties. The computer must be set up using a static IP Address. O P E R A T I N G I N S T R U C T I O N S | Ruler3000 8026049/1M3O/2023-12 | SICK...

  • Page 17: Getting A 2D Image

    8026049/1M3O/2023-12 | SICK O P E R A T I N G I N S T R U C T I O N S | Ruler3000 Subject to change without notice...

  • Page 18: Getting A 3D Image

    Figure 12: Getting the 3D image O P E R A T I N G I N S T R U C T I O N S | Ruler3000 8026049/1M3O/2023-12 | SICK Subject to change without notice...

  • Page 19: Product Description

    8026049/1M3O/2023-12 | SICK O P E R A T I N G I N S T R U C T I O N S | Ruler3000 Subject to change without notice...
  • Page 20 3D image of the object. O P E R A T I N G I N S T R U C T I O N S | Ruler3000 8026049/1M3O/2023-12 | SICK...
  • Page 21 The reflectance values are saved as a grayscale image, with 8-bit resolution corresponding to each point in the range dataset 8026049/1M3O/2023-12 | SICK O P E R A T I N G I N S T R U C T I O N S | Ruler3000 Subject to change without notice...

  • Page 22: Product Id

    Type label The type label contains information for identifying the product. O P E R A T I N G I N S T R U C T I O N S | Ruler3000 8026049/1M3O/2023-12 | SICK Subject to change without notice...
  • Page 23 QR code with a link to the product and more information 8026049/1M3O/2023-12 | SICK O P E R A T I N G I N S T R U C T I O N S | Ruler3000 Subject to change without notice...

  • Page 24: Type Code

    Model U3: Ruler3020, Ruler3060, Ruler3120 X3: Ruler3002, Ruler3004, Ruler3010 O P E R A T I N G I N S T R U C T I O N S | Ruler3000 8026049/1M3O/2023-12 | SICK Subject to change without notice...

  • Page 25: Hardware Description

    On-Chip Calculation. For technical details, see "Technical data", page 4.4.2 LED indicators 8026049/1M3O/2023-12 | SICK O P E R A T I N G I N S T R U C T I O N S | Ruler3000 Subject to change without notice...
  • Page 26 Ethernet frames are being transmit‐ Ö ted or received O P E R A T I N G I N S T R U C T I O N S | Ruler3000 8026049/1M3O/2023-12 | SICK Subject to change without notice...

  • Page 27: Interface And Communication Standards

    C++ and C#. 8026049/1M3O/2023-12 | SICK O P E R A T I N G I N S T R U C T I O N S | Ruler3000 Subject to change without notice...

  • Page 28: Sick Appspace

    This is due to that Ruler3000 is a streaming device and not a processing unit. O P E R A T I N G I N S T R U C T I O N S | Ruler3000 8026049/1M3O/2023-12 | SICK...
  • Page 29 Stream Setup and easily switch over to your SICK AppSpace app. 8026049/1M3O/2023-12 | SICK O P E R A T I N G I N S T R U C T I O N S | Ruler3000 Subject to change without notice...

  • Page 30: Transport And Storage

    For storage periods of longer than 3 months, check the general condition of all components and packaging on a regular basis. O P E R A T I N G I N S T R U C T I O N S | Ruler3000 8026049/1M3O/2023-12 | SICK...

  • Page 31: Mounting

    8026049/1M3O/2023-12 | SICK O P E R A T I N G I N S T R U C T I O N S | Ruler3000 Subject to change without notice...
  • Page 32 O P E R A T I N G I N S T R U C T I O N S | Ruler3000 8026049/1M3O/2023-12 | SICK Subject to change without notice...
  • Page 33 Y direction. 8026049/1M3O/2023-12 | SICK O P E R A T I N G I N S T R U C T I O N S | Ruler3000 Subject to change without notice...

  • Page 34: Field Of View Diagram

    Ruler3002/3004/3010: Blue band pass filter. Ruler3020/3060/3120: Red band pass filter. O P E R A T I N G I N S T R U C T I O N S | Ruler3000 8026049/1M3O/2023-12 | SICK...
  • Page 35 450 nm, +/- 10 nm 450 nm, +/- 10 nm 450 nm, +/- 10 nm 8026049/1M3O/2023-12 | SICK O P E R A T I N G I N S T R U C T I O N S | Ruler3000 Subject to change without notice...
  • Page 36 660 nm, +/- 7 nm 660 nm, +/- 7 nm 660 nm, +/- 7 nm O P E R A T I N G I N S T R U C T I O N S | Ruler3000 8026049/1M3O/2023-12 | SICK Subject to change without notice...
  • Page 37 3120 Figure 28: Guaranteed field of view in relation 8026049/1M3O/2023-12 | SICK O P E R A T I N G I N S T R U C T I O N S | Ruler3000 Subject to change without notice...

  • Page 38: Electrical Installation

    O P E R A T I N G I N S T R U C T I O N S | Ruler3000 8026049/1M3O/2023-12 | SICK...

  • Page 39: Prerequisites For Safe Operation Of The Device

    If necessary: low-impedance and current-carrying equipotential bonding between ■ areas with different ground potentials 8026049/1M3O/2023-12 | SICK O P E R A T I N G I N S T R U C T I O N S | Ruler3000 Subject to change without notice...
  • Page 40 This measure achieves a high degree of resistance to electromagnetic interference. O P E R A T I N G I N S T R U C T I O N S | Ruler3000 8026049/1M3O/2023-12 | SICK...
  • Page 41 8026049/1M3O/2023-12 | SICK O P E R A T I N G I N S T R U C T I O N S | Ruler3000 Subject to change without notice...

  • Page 42: Connecting The Camera

    Failure to follow these rules can damage the camera. O P E R A T I N G I N S T R U C T I O N S | Ruler3000 8026049/1M3O/2023-12 | SICK Subject to change without notice...

  • Page 43: Electrical Connections

    There are two connectors and four LEDs on the backplate of the device. 8026049/1M3O/2023-12 | SICK O P E R A T I N G I N S T R U C T I O N S | Ruler3000 Subject to change without notice...

  • Page 44: Power I/O Connector

    Encoder Input B (24 V) Configurable: RS-422 TTL or HTL Default: RS-422 TTL O P E R A T I N G I N S T R U C T I O N S | Ruler3000 8026049/1M3O/2023-12 | SICK Subject to change without notice...

  • Page 45: Gige Connector

    5 V outputs Output type: Push-pull. 7.5.2 GigE connector 8026049/1M3O/2023-12 | SICK O P E R A T I N G I N S T R U C T I O N S | Ruler3000 Subject to change without notice...

  • Page 46: Connecting A Cdb650-204

    Cable gland, 5 x 17-pin M12 female connector, A-coded O P E R A T I N G I N S T R U C T I O N S | Ruler3000 8026049/1M3O/2023-12 | SICK Subject to change without notice...
  • Page 47 5/24 V input ß Power supply 24 V input à 8026049/1M3O/2023-12 | SICK O P E R A T I N G I N S T R U C T I O N S | Ruler3000 Subject to change without notice...

  • Page 48: Commissioning

    StreamSetupInstaller.exe file. Follow the instructions in the setup wizard to install Stream Setup. O P E R A T I N G I N S T R U C T I O N S | Ruler3000 8026049/1M3O/2023-12 | SICK Subject to change without notice...
  • Page 49 COMMISSIONING Figure 36: Setup wizard, Stream Setup 8026049/1M3O/2023-12 | SICK O P E R A T I N G I N S T R U C T I O N S | Ruler3000 Subject to change without notice...

  • Page 50: Maintenance

    Use a mild cleaning agent if needed. O P E R A T I N G I N S T R U C T I O N S | Ruler3000 8026049/1M3O/2023-12 | SICK...

  • Page 51: Laser Lifetime

    8026049/1M3O/2023-12 | SICK O P E R A T I N G I N S T R U C T I O N S | Ruler3000 Subject to change without notice...
  • Page 52 At higher ambient temperatures the expected lifetime for the laser diode will decrease according to the Arrhenius equation. O P E R A T I N G I N S T R U C T I O N S | Ruler3000 8026049/1M3O/2023-12 | SICK...

  • Page 53: Troubleshooting

    The device must be sent in the original packaging or an equivalent padded pack‐ ► aging. 8026049/1M3O/2023-12 | SICK O P E R A T I N G I N S T R U C T I O N S | Ruler3000 Subject to change without notice...
  • Page 54 Description of the application • Description of the fault that occurred O P E R A T I N G I N S T R U C T I O N S | Ruler3000 8026049/1M3O/2023-12 | SICK Subject to change without notice...

  • Page 55: Decommissioning

    Separate the recyclable materials by type and place them in recycling containers. ■ 8026049/1M3O/2023-12 | SICK O P E R A T I N G I N S T R U C T I O N S | Ruler3000 Subject to change without notice...

  • Page 56: Technical Data

    1 > class 1 > 1100 mm 1500 mm 800 mm O P E R A T I N G I N S T R U C T I O N S | Ruler3000 8026049/1M3O/2023-12 | SICK Subject to change without notice...

  • Page 57: Performance

    240 AD units. 8026049/1M3O/2023-12 | SICK O P E R A T I N G I N S T R U C T I O N S | Ruler3000 Subject to change without notice...

  • Page 58: Light Sensitivity

    38. Due to the camera's network interface of 1 Gbit/s, a limitation in bandwidth is reached when data transfer reach 1 Gbit/s. O P E R A T I N G I N S T R U C T I O N S | Ruler3000 8026049/1M3O/2023-12 | SICK...

  • Page 59: Interfaces

    External illumination control RS-422 5 V TTL or HTL 24V 8026049/1M3O/2023-12 | SICK O P E R A T I N G I N S T R U C T I O N S | Ruler3000 Subject to change without notice...

  • Page 60: Ambient Data

    107 mm 128 mm 138 mm Without connectors 65 mm without lens cap O P E R A T I N G I N S T R U C T I O N S | Ruler3000 8026049/1M3O/2023-12 | SICK Subject to change without notice...

  • Page 61: Dimensional Drawings Ruler3000

    Fastening threads (M5) Fastening threads (M5 x 10 mm deep) 8026049/1M3O/2023-12 | SICK O P E R A T I N G I N S T R U C T I O N S | Ruler3000 Subject to change without notice...
  • Page 62 Fastening threads (M5) Fastening threads (M5 x 10 mm deep) O P E R A T I N G I N S T R U C T I O N S | Ruler3000 8026049/1M3O/2023-12 | SICK Subject to change without notice...
  • Page 63 Fastening threads (M5) Fastening threads (M5 x 10 mm deep) 8026049/1M3O/2023-12 | SICK O P E R A T I N G I N S T R U C T I O N S | Ruler3000 Subject to change without notice...
  • Page 64 Fastening threads (M5 x 9 mm deep) Position and alignment hole for dowel pins (Ø 5 mm) O P E R A T I N G I N S T R U C T I O N S | Ruler3000 8026049/1M3O/2023-12 | SICK...
  • Page 65 Position and alignment hole for dowel pins (Ø 5 mm) 8026049/1M3O/2023-12 | SICK O P E R A T I N G I N S T R U C T I O N S | Ruler3000 Subject to change without notice...
  • Page 66 Fastening threads (M5 x 9 mm deep) Position and alignment hole for dowel pins (Ø 5 mm) O P E R A T I N G I N S T R U C T I O N S | Ruler3000 8026049/1M3O/2023-12 | SICK...

  • Page 67: Accessories

    {S/N} corresponds to the serial number of the product, see type label (if indicated). 8026049/1M3O/2023-12 | SICK O P E R A T I N G I N S T R U C T I O N S | Ruler3000 Subject to change without notice...

  • Page 68: Glossary

    O P E R A T I N G I N S T R U C T I O N S | Ruler3000 8026049/1M3O/2023-12 | SICK...

  • Page 69: Annex

    When the laser cannot properly illuminate parts of the object. 8026049/1M3O/2023-12 | SICK O P E R A T I N G I N S T R U C T I O N S | Ruler3000 Subject to change without notice...

  • Page 70: Width Resolution And Resolution In The Motion Direction

    O P E R A T I N G I N S T R U C T I O N S | Ruler3000 8026049/1M3O/2023-12 | SICK Subject to change without notice...
  • Page 71 X-resolution (pixel column 200) Start and end of guaranteed field of view 8026049/1M3O/2023-12 | SICK O P E R A T I N G I N S T R U C T I O N S | Ruler3000 Subject to change without notice...
  • Page 72 X-resolution (pixel column 200) Start and end of guaranteed field of view O P E R A T I N G I N S T R U C T I O N S | Ruler3000 8026049/1M3O/2023-12 | SICK Subject to change without notice...
  • Page 73 X-resolution (pixel column 200) Start and end of guaranteed field of view 8026049/1M3O/2023-12 | SICK O P E R A T I N G I N S T R U C T I O N S | Ruler3000 Subject to change without notice...
  • Page 74 X-resolution (pixel column 200) Start and end of guaranteed field of view O P E R A T I N G I N S T R U C T I O N S | Ruler3000 8026049/1M3O/2023-12 | SICK Subject to change without notice...
  • Page 75 X-resolution (pixel column 200) Start and end of guaranteed field of view 8026049/1M3O/2023-12 | SICK O P E R A T I N G I N S T R U C T I O N S | Ruler3000 Subject to change without notice...
  • Page 76 Z-resolution with 16 subpixels Start and end of guaranteed field of view O P E R A T I N G I N S T R U C T I O N S | Ruler3000 8026049/1M3O/2023-12 | SICK Subject to change without notice...
  • Page 77 The Z-position is measured from the laser window. 8026049/1M3O/2023-12 | SICK O P E R A T I N G I N S T R U C T I O N S | Ruler3000 Subject to change without notice...
  • Page 78 Lens FOV width (mm) Z (mm) Guaranteed FOV (width min) Full FOV O P E R A T I N G I N S T R U C T I O N S | Ruler3000 8026049/1M3O/2023-12 | SICK Subject to change without notice...
  • Page 79 Lens FOV width (mm) Z (mm) Guaranteed FOV (width min) Full FOV 8026049/1M3O/2023-12 | SICK O P E R A T I N G I N S T R U C T I O N S | Ruler3000 Subject to change without notice...
  • Page 80 Lens FOV width (mm) Z (mm) Guaranteed FOV (width min) Full FOV O P E R A T I N G I N S T R U C T I O N S | Ruler3000 8026049/1M3O/2023-12 | SICK Subject to change without notice...

  • Page 81: Sensor Coordinate System

    For further information, including detailed descriptions of the standard parameters, see www.emva.org/standards-technology/genicam/. 8026049/1M3O/2023-12 | SICK O P E R A T I N G I N S T R U C T I O N S | Ruler3000 Subject to change without notice...

  • Page 82: Setting Parameters In Genicam

    Set the LineSource to Region1Exposure. Region1Exposure means that the laser strobe output will automatically follow the exposure time of Region1. O P E R A T I N G I N S T R U C T I O N S | Ruler3000 8026049/1M3O/2023-12 | SICK...

  • Page 83: Device Control

    GenICam XML. 8026049/1M3O/2023-12 | SICK O P E R A T I N G I N S T R U C T I O N S | Ruler3000 Subject to change without notice...
  • Page 84 After this command DeviceRegistersValid is updated to reflect the status of the device settings. O P E R A T I N G I N S T R U C T I O N S | Ruler3000 8026049/1M3O/2023-12 | SICK...

  • Page 85: Image Format Control

    Control category because it is selected by the RegionSelector parameter. 8026049/1M3O/2023-12 | SICK O P E R A T I N G I N S T R U C T I O N S | Ruler3000 Subject to change without notice...

  • Page 86: Scan 3D Control

    Scale factor when transforming a pixel from relative coordi‐ tionSelector][Scan3dCoordinateSelector] nates to world coordinates. O P E R A T I N G I N S T R U C T I O N S | Ruler3000 8026049/1M3O/2023-12 | SICK Subject to change without notice...
  • Page 87 Defines how the rectification output in a bin is created from tractionSelector] (potentially) multiple calibrated entries. 8026049/1M3O/2023-12 | SICK O P E R A T I N G I N S T R U C T I O N S | Ruler3000 Subject to change without notice...

  • Page 88: Acquisition Control

    Sets the acquisition mode of the device. Values: SingleFrame Continuous O P E R A T I N G I N S T R U C T I O N S | Ruler3000 8026049/1M3O/2023-12 | SICK Subject to change without notice...
  • Page 89 Stops the acquisition of the device at the end of the current frame. 8026049/1M3O/2023-12 | SICK O P E R A T I N G I N S T R U C T I O N S | Ruler3000 Subject to change without notice...

  • Page 90: Digital I/O Control

    Values: RS422 Line24V O P E R A T I N G I N S T R U C T I O N S | Ruler3000 8026049/1M3O/2023-12 | SICK Subject to change without notice...

  • Page 91: Counter And Timer Control

    Sets how many encoder increment/decrements that are needed to generate an encoder output pulse signal. 8026049/1M3O/2023-12 | SICK O P E R A T I N G I N S T R U C T I O N S | Ruler3000 Subject to change without notice...

  • Page 92: Event Control

    Off: The selected Event notification is disabled. On: The selected Event notification is enabled. O P E R A T I N G I N S T R U C T I O N S | Ruler3000 8026049/1M3O/2023-12 | SICK...

  • Page 93: User Set Control

    Testfile Update CurrentLog AllCrashLogs FirmwareUpdateLog Calibration CalibrationCurved UserFile UserSet1-5 8026049/1M3O/2023-12 | SICK O P E R A T I N G I N S T R U C T I O N S | Ruler3000 Subject to change without notice...
  • Page 94 Executes the operation selected by FileOperationSelector on tor] the selected file. O P E R A T I N G I N S T R U C T I O N S | Ruler3000 8026049/1M3O/2023-12 | SICK Subject to change without notice...

  • Page 95: Chunk Data Control

    Returns the Calibrated Mode of the payload image. Values: UncalibratedC CalibratedC CalibratedAC CalibratedC_Linescan CalibratedAC_Linescan RectifiedC RectifiedC_Linescan 8026049/1M3O/2023-12 | SICK O P E R A T I N G I N S T R U C T I O N S | Ruler3000 Subject to change without notice...

  • Page 96: Test Control

    Tests the device's pending acknowledge feature. Values: MultiPart TestPendingAck O P E R A T I N G I N S T R U C T I O N S | Ruler3000 8026049/1M3O/2023-12 | SICK Subject to change without notice...

  • Page 97: Transport Layer Control

    Controls whether the Link Local Address IP configuration scheme is activated on the given logical link. 8026049/1M3O/2023-12 | SICK O P E R A T I N G I N S T R U C T I O N S | Ruler3000 Subject to change without notice...

  • Page 98: Recommended Network Card Settings

    Link-Local Address (LLA), also called a Zero Configuration IP, on the format 169.254.x.y. O P E R A T I N G I N S T R U C T I O N S | Ruler3000 8026049/1M3O/2023-12 | SICK...

  • Page 99: Connecting Multiple Cameras

    Figure 66: Computer conncted to three cameras and external network, using three separate NICs and one switch 8026049/1M3O/2023-12 | SICK O P E R A T I N G I N S T R U C T I O N S | Ruler3000 Subject to change without notice...

  • Page 100: Connecting Encoders

    Camera #2 Phase2 RS-422- Phase1 RS-422+ Phase1 RS-422- Phase2 RS-422+ O P E R A T I N G I N S T R U C T I O N S | Ruler3000 8026049/1M3O/2023-12 | SICK Subject to change without notice...

  • Page 101: Declarations Of Conformity And Certificates

    Printed copies of the license texts are also available on request. 8026049/1M3O/2023-12 | SICK O P E R A T I N G I N S T R U C T I O N S | Ruler3000 Subject to change without notice...
  • Page 102 Phone +65 6744 3732 Phone +30 210 6825100 Phone +65 6744 3732 E-Mail sales.gsg@sick.com E-Mail office@sick.com.gr E-Mail sales.gsg@sick.com Hong Kong Slovakia Phone +852 2153 6300 Phone +421 482 901 201 E-Mail ghk@sick.com.hk E-Mail mail@sick-sk.sk Detailed addresses and further locations at www.sick.com SICK AG  |  Waldkirch  |  Germany  |  www.sick.com...

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