dim320 handheld dimensioner - sick

O PE R AT I N G I N S T R UC T IO N S

DIM320 Handheld Dimensioner

8022121/2018-09-24|SICK OP ERA T ING INS T RU C T IO NS | DIM320 Handheld Dimensioner

Subject to change without notice

Described Product Product name: DIM320 Handheld Dimensioner

Document-Identification Identification no.: 8022121 Publication: 9284962 Revision: 00 Date: 2018-09-24

Manufacturer SICK AG Erwin-Sick-Str. 1 · 79183 Waldkirch - Germany

Manufacturing Location SICK GUS 8633 Eagle Creek Pkwy, Savage, MN USA 55378

Your Address

Legal Information This work is protected by copyright. Any rights derived from the copyright shall be reserved for SICK AG. Reproduction of this document or parts of this document is only permissible within the limits of the legal determination of Copyright Law. Any modification, reduction or translation of this document is prohibited without the express written permission of SICK AG. FARO, FARO® Scanner and FARO® Scanner Freestyle X are registered trademarks or trademarks of FARO Technologies Inc. Other trademarks stated in this document are the property of their respective owner. © SICK AG. All rights reserved

Original-Documents This document is based on the User Manual of Faro Freestyle 3D; all software contents are SICK’s original.

CONTENT

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OP ERA T ING INS T RU C T IO NS | DIM320 Handheld Dimensioner

Content

1 About this Document ......................................................................... 5

1.1 Limitation of Liability............................................................................................... 5

1.2 Purpose of this Document ..................................................................................... 5

1.3 Target Group ............................................................................................................ 5

1.4 Further Information................................................................................................. 6

2 Important Safety Information ............................................................ 7

2.1 Safety Conventions ................................................................................................. 7

2.2 Intended Use............................................................................................................ 7

2.3 Improper Use ........................................................................................................... 7

2.4 Qualified Personnel................................................................................................. 8

2.5 Environmental Safety.............................................................................................. 8

2.6 Laser Safety ............................................................................................................. 8

2.7 Electrical Safety ....................................................................................................... 8

2.8 Mechanical Safety................................................................................................... 9

2.9 Safety during Work.................................................................................................. 9

2.10 Transport .................................................................................................................. 9

2.11 Storage .................................................................................................................. 10

2.12 Servicing ................................................................................................................ 10

3 System Description .......................................................................... 11

3.1 DIM320 Kit............................................................................................................ 11

3.2 Freestyle Sensor................................................................................................... 11

3.3 How DIM320 Works ............................................................................................. 12

3.3.1 Technical Details ................................................................................ 13

3.3.2 Tracking Terminology ......................................................................... 14

3.4 DIM320 Software ................................................................................................. 14

3.4.1 System Requirements........................................................................ 15

3.4.2 Software Licensing ............................................................................. 15

3.4.3 Installing DIM320 Software .............................................................. 15

4 Commissioning ................................................................................ 17

4.1 Connecting Freestyle Sensor .............................................................................. 17

4.2 Acoustic Signals ................................................................................................... 17

4.3 Freestyle Sensor Status LEDs ............................................................................ 17

5 Navigation........................................................................................ 19

5.1 Creator Screen...................................................................................................... 19

5.2 Capture Point Cloud ............................................................................................. 19

5.3 Capture Barcode .................................................................................................. 20

CONTENT

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5.4 Capture Image ...................................................................................................... 22

5.5 Viewer Screen ....................................................................................................... 24

5.6 Library Screen....................................................................................................... 25

5.7 Select Scans ......................................................................................................... 25

5.8 Scan Operations ................................................................................................... 25

5.9 Setting Screen ...................................................................................................... 27

5.10 Sending Queue Screen........................................................................................ 27

5.11 Information Screen .............................................................................................. 28

6 Operation .........................................................................................29

6.1 Environmental Conditions ................................................................................... 29

6.2 Capture Scans ...................................................................................................... 29

6.3 Start Capturing ..................................................................................................... 30

6.4 Tracking Lost: Resume Tracking ........................................................................ 31

6.5 Stop Capturing ...................................................................................................... 32

6.6 Scan Folder Structure.......................................................................................... 32

6.7 First Result ............................................................................................................ 33

7 On-site Calibration............................................................................35

7.1 Calibration Status................................................................................................. 36

7.2 Calibration ............................................................................................................. 36

7.2.1 Procedure ............................................................................................ 36

7.2.2 Vertical Calibration ............................................................................. 39

7.3 Calibration Data and Report ............................................................................... 40

8 Maintenance ....................................................................................41

8.1 Cleaning Instructions for Optics ......................................................................... 41

8.2 What to do When Tablet PC Does Not Work Properly ..................................... 42

9 Disposal ...........................................................................................43

9.1 Product Environmental Information................................................................... 43

10 Technical Specification ....................................................................45

10.1 Technical Data ...................................................................................................... 45

10.1.1 DIM320 Performance ........................................................................ 45

10.1.2 Freestyle Sensor Details .................................................................... 45

10.1.3 Freestyle Sensor Performance ......................................................... 45

10.1.4 Laser (Optical Transmitter)................................................................ 46

10.1.5 Cameras............................................................................................... 46

10.3 Freestyle Sensor Dimensions ............................................................................. 47

10.4 Support and Customer Care ............................................................................... 48

CONTENT

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11 Appendix A: List of Error Messages.................................................. 49

11.1 DIM320 Status Messages .................................................................................. 49

11.2 Dimensioning Errors ............................................................................................ 50

12 Appendix B: Conformity ................................................................... 53

12.1 CE Conformity ....................................................................................................... 53

12.2 FCC Equipment Authorization............................................................................. 54

13 Appendix C: Software License Agreement....................................... 55

CONTENT



ABOUT THIS DOCUMENT 1

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1 About this Document

Note

This document regarding DIM320 Handheld Dimensioner:

contains information required during the life cycle of DIM320.

is available to all those people who work with DIM320.

Please read this document carefully and make sure that you understand the content fully before working with DIM320.

1.1 Limitation of Liability

Note

Applicable standards and regulations, the latest state of technological development and many years of knowledge and experience have taken into account, when assembling the data and information contained in this document.

The manufacturer accepts no liability by:

Failing to observe this document.

Non-compliance of notices and regulations.

Unauthorized mounting and installations.

Arbitrary technical and other modifications.

Use or unauthorized spare parts, consumables and accessories.

Unauthorized modifications, adjustments and/or manipulation of software.

With special variants, where optional extras are ordered, or owing to the latest technical changes, the actual scope of delivery may vary from the features and illustrations shown here.

1.2 Purpose of this Document

This document provides:

details of operational aspects, and

best practices in operations of DIM320.

1.3 Target Group

Primary audiences of this document will be operators who will be using DIM320 in the field and their supervisors or trainers who will be helping operators in following best practices in using DIM320.

ABOUT THIS DOCUMENT 1



1.4 Further Information

Please reach out to SICK technical support for further information on this system.

IMPORTANT SAFETY INFORMATION 2

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2 Important Safety Information

Note

Read and follow all safety instructions in this document.

2.1 Safety Conventions

Symbols on system and system components labels, safety labels and in safety messages inside this document are according to the current standards.

The following conventions for signal words used in this document, are complying with ANSI Z535:

DANGER indicates a hazardous situation with a high-risk level, which if not avoided, will result in death or serious injury.

WARNING indicates a hazardous situation with a middle risk level, which if not avoided, will result in death or serious injury.

CAUTION indicates a potentially dangerous situation with a low risk level, which if not avoided may lead to minor or moderates injuries.

Note

Indicates important information and useful hints.

2.2 Intended Use

DIM320 System is designed to scan objects in a distance range between 1m and approx. 5m depending on the size of the object. Recommended range is within 2m.

2.3 Improper Use

Improper use means using the product other than described in this “Operating Instructions”, or under operating conditions, which differ from those, described herein.

Improper use of the product may impair the protection provided by the product, and product damage or serious personal injury may be caused.




2.4 Qualified Personnel

Qualified personnel have the specialist training, skills, and experience, as well as knowledge of the relevant regulations and standards, to be able to perform tasks delegated to them and to detect and to avoid any potential dangers independently.

Electricians have the specialist training, skills, and experience, as well as knowledge of the relevant standards and provisions to be able to carry out work on electrical systems and to detect and avoid any potential dangers independently.

2.5 Environmental Safety

Do not expose DIM320 and its accessories to

Extreme temperatures. The ambient temperature should not be lower or higher than given in the specifications found in Technical Data page.

Dust, sand or other abrasive materials that will damage the glass covers of the cameras.

Such exposure can potentially cause material damage or bad measuring accuracy.

2.6 Laser Safety

CAUTION DIM320 is classified as laser class 1 in accordance with IEC 60825-1:2007: Safety of laser products. Part 1: Equipment classification and requirements; Edition 2.0.

DIM320 is safe under reasonably foreseeable conditions of operation. The maximum permissible exposure (MPE) cannot be exceeded. It is harmless to the eyes if it is used and maintained in accordance with the instructions in this User Manual.

2.7 Electrical Safety

Avoid the following in order to avoid damage to electric or electronic components:

Do not immerse Freestyle or the tablet computer into water or other liquids.

Do not use Freestyle near strong magnetic or electrical fields.

Do not touch the metal rings around the glass covers on the lower side of Freestyle.

Do not expose the tablet computer to dust or sand, which may get insides the device and cause, short-circuits.


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When Freestyle sensor and the tablet computer are transferred from a cold to a significantly warmer environment, water may condense on some of the components inside the devices. To avoid this, place Freestyle and the tablet computer in an airtight plastic bag before bringing it from a cold to a significantly warmer environment. This allows the condensation to form on the bag and not inside the device.

2.8 Mechanical Safety

Do not open the housing, or:

You can damage the device, which will affect the device's warranty.

The calibration will be lost. Each device passed an initial calibration before shipping. The calibration process described in later chapter cannot replace it.

2.9 Safety during Work

DANGER

Danger of explosion or fire

Do not use DIM320:

In an explosive atmosphere.

In the presence of flammable gases or fumes.

Before operating DIM320 in hazardous areas, contact the local safety authorities and safety experts.

Damage to electric or electronic components:

Do not use DIM320 in vicinity of strong magnetic or electrical fields.

When scanning outdoors or in dirty surroundings, protect DIM320 from liquids and humidity, but also from dust and dirt, which may damage the electronic components.

Do not use DIM320 near heat sources such as radiators, heat registers, or other products (including amplifiers) that produce heat.

2.10 Transport

When carrying DIM320, take care not to drop it. Strong impact may damage the Freestyle sensor and render it incapable of proper operation.

When shipping and transporting the System by rail, sea, air, or in a road vehicle, make sure to use its original transport case and a suitable outer cardboard box for best protection against shock and vibration.




2.11 Storage

Pack DIM320 System in its transport case to protect it from environmental hazards. Store in an environment with

Low humidity level,

Relatively stable temperature,

No extreme temperatures,

No extreme environmental conditions (dust, dirt, etc.)

No heavy vibrations.

2.12 Servicing

Servicing and repair must only be done by qualified service personnel authorized by SICK.

Refer servicing to qualified service personnel under the following conditions:

The USB cable or plug is damaged.

The System has been exposed to rain, water, or other liquids.

The System has been dropped or damaged in any way.

Objects have fallen onto the System.

The System does not operate normally when following the standard operating instructions.

SYSTEM DESCRIPTION 3

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3 System Description

This section details the components of DIM320.

3.1 DIM320 Kit

DIM320 is shipped with the following components.

Fig. 3.1: System components

1. Transport and carry case

2. Tablet PC along with charger

3. Freestyle sensor

4. Calibration plate

5. USB card reader

6. Green micro SD card with the calibration plate data

7. Optical cleaning kit

3.2 Freestyle Sensor

Freestyle sensor scans a pallet or package, captures the point cloud data and transmits to the tablet PC. The sensor has 5 major parts as described below.

1. Start/Stop button and Status LED lights

2. USB cable and plug




Fig. 3.2: Freestyle sensor button view

3. Infrared cameras

4. Color camera and LED flash unit

5. Infrared projector with class 1 laser

Fig. 3.3: Freestyle sensor camera view

3.3 How DIM320 Works

DIM320 enables anyone to capture pallets, objects and environments in a 3D view. To accomplish this, Freestyle sensor has to be moved along or around the object of interest. While Freestyle sensor is moved, three integrated sensors track what they capture, and send this data to a tablet computer or notebook running DIM320 software via a USB connection.


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The pixels or points are then used to build up the colored 3D model of the captured object or environment.

Once 3D data has been captured, SICK algorithm calculates the smallest fitting cube around the points and provides the dimensions of this cube as length, width and height. The largest of length and width is reported as length.

Using SICK DIM320 software and the PC camera, the operator can further capture the images of barcodes and the object itself and associate them with the dimensions data captured before.

The main features are:

High and specified accuracy.

High resolution: scan thin cables, ribs of small skeletons, etc.

Scanning range – Freestyle sensor: 0.5 m to 3m, up to 10m indoors. Minimum recommended range 2m for full pallets.

Power supply via USB: no extra battery/power supply required in the sensor.

Intuitive handling: no need for long-winded preparation - just scan!

High mobility due to its small size and lightweight.

Photorealistic 3D color scans due to the integrated color camera.

3.3.1 Technical Details

The projector in Freestyle sensor projects a pattern of small infrared dots on the surface of the object (as shown in figure below). The two infrared cameras take photos of this pattern. The 3D coordinates are then calculated using a mathematical method called triangulation.

Fig. 3.4: Light pattern, made visible by a special camera.




3.3.2 Tracking Terminology

As the two infrared cameras take photos of this pattern, a color camera integrated in the sensor takes a color photo.

This photo is enriched with the 3D coordinates of the points in the pattern, which were detected in parallel, and is hereafter referred to as a frame.

While the Freestyle sensor is capturing, this procedure is repeated in high speed.

The data generated while capturing is transferred directly on a tablet or PC via cable and USB port. Depending on the object or the scene, a laptop or tablet PC may be needed and carried around while capturing.

DIM320 software detects clearly identifiable elements such as corners in the color picture. Those elements are called features.

Following the features from frame to frame is called tracking. With tracking, it is possible to reconstruct the movement of the sensor in space, and thereby putting all 3D points of the individual frames in a common 3D context.

A set of frames resulting from one capturing sequence is called a scan.

Loop closing is necessary because small errors from frame to frame may accumulate over time, resulting in gaps if you return to the same position.

Capturing an object or a scene several times will generate several scans. These scans have to be spatially arranged to receive a coherent overall picture. This is called Place Scans, or Registration. DIM320 software manages the conversion from frames to scans automatically.

The vast number of points generated in one or several scans of a scene can be arranged to a so-called point cloud. A point cloud - out of one or of several registered scans - is more or less a complete 3D picture of what was scanned with Freestyle sensor.

3.4 DIM320 Software

DIM320 system ships out with the tablet and required software:

to create and manage point cloud, named DIM320 Creator or simply DIM320, and

to calibrate the device in the field, named as Calibrate

Both program icons are available on the main screen. Clicking these icons executes the respective pieces of software.


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Fig. 3.5: Main or home screen on tablet with program icons

3.4.1 System Requirements

The following table describes the minimum system requirement for the DIM320 software.

Minimum Specification Recommended Specification

Processor 64-bit (x64) with at least 2-gigahertz (GHz)

(Example: Intel Core i5)

Quad-core x64 (Intel Core i7/Xeon, 8 physi -cal

cores)

Graphics Card OpenGL 4.1, or higher At least 2GB Memory

Dedicated card; at least 4 GB memory OpenGL

4.1; Nvidia Quadro for stereo

Main Memory 8GB 16GB

Hard Disk 256 GB Solid State Drive 512GB Solid State Drive + Regular HDD

Operating System 64-bit Windows 7 64-bit Windows 10; 64-bit Windows 8; 8.1 or

higher

Display 1280 x 960 1920x1080

3.4.2 Software Licensing

The software is included in the system price.

3.4.3 Installing DIM320 Software

Note

DIM320 Creator and Calibrate are already installed on the tablet computer that came with the system. Please contact system administrator or SICK customer




support for any issues with the installed software.

For making any changes, ensure that:

▸ Freestyle sensor is disconnected from tablet computer, and ▸ Administrator rights are available.

COMMISSIONING 4

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4 Commissioning

This chapter describes some important aspects of commissioning of DIM320.

4.1 Connecting Freestyle Sensor

Use the following steps to connect Freestyle sensor with tablet PC:

1. Start DIM320, which will start on Creator screen by default.

2. Plug sensor‘s USB cable into a USB3 port of tablet PC. The red status LED will light up. An acoustic signal will be played if speakers of tablet PC are switched on.

3. Wait until the software detects the sensor. A loading message will be shown. Red status light will turn into blue when sensor is ready to operate.

4.2 Acoustic Signals

If speakers of tablet PC are turned on, an acoustic signal will be played when

Sensor is connected to tablet PC

Sensor button is pressed

Tracking is lost

Sensor is disconnected from tablet PC.

Type of signal depends on signal settings of Windows®.

Sensor connect and disconnect signals correspond to the DEVICE CONNECT and DEVICE DISCONNECT signals.

TRACKING IS LOST signal corresponds to the WARNING SIGNAL.

4.3 Freestyle Sensor Status LEDs

A blue and a red status LED are integrated in the Start/Stop button in Freestyle sensor. They indicate the following statuses:

Status LED Color Description

Initializing Scanner Red Scanner plugged in and software

starting up.

Acquiring Tracking Blinking Blue Scanner needs to acquire tracking.

Point at the object and hold it steady

until tracking is acquired.

Scanning Blinking Blue Tracking is acquired and point data is

displayed.

Lost Tracking Red Scanner loses tracking when moved too

fast. Hold it steady pointed at object.

COMMISSIONING 4



Tracking Acquired Blinking Blue Scanner reacquires tracking.

Scan Complete Same as at the end of

previous scan

Ready to scan.

Not Ready to Scan Same as at the end of

previous scan

Start button pressed before scan is

closed out.

NAVIGATION 5

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5 Navigation

This chapter goes through the details of different screens of DIM320 software.

5.1 Creator Screen

This is the default screen of DIM320 software.

Fig. 5.1: Default Creator screen of DIM320 software

5.2 Capture Point Cloud

On clicking sensor button as described in previous chapter, the following screen displays point cloud being captured. The left part of the screen displays point cloud as it is captured and the right side displays the video.

Initial few scans are changed to red color points, which in the overall point cloud appear as a red dot as shown in the image below. With some training, an operator can point the sensor precisely to the object using this red dot and help the system identify the object being scanned.

Note that the point cloud viewer on the left can be rotated as desired using finger swiping to inspect the object just captured, for example.

NAVIGATION 5



Fig. 5.2: Real time point cloud capture screen with an arrow pointing to red dot

5.3 Capture Barcode

Clicking “+ Add New” under Barcode section of Creator screen brings barcode capture screen.

Fig. 5.3: “+ Add New” barcode dialog

NAVIGATION 5

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Fig. 5.4: Barcode capture screen

Clicking “Capture” produces more options including “Recapture” and “Done”. Automatic attempt is made to decode the captured pictures of all barcodes. Clicking red X will remove a decoded barcode. Clicking “Done” will save the barcode.

Fig. 5.5: Barcode recapture/done screen

NAVIGATION 5



Clicking an already captured image of barcode on the Creator screen brings up barcode view/delete screen. This screen allows viewing and deleting each barcode. Note that pressing the red “x” removes the barcode, while pressing “Delete” button removes the whole image.

Fig. 5.6: Barcode view/delete screen

5.4 Capture Image

On clicking “+ Add New” under Photos section brings up image capture screen.

NAVIGATION 5

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Fig. 5.7: Image capture screen

Clicking “Capture” produces more options including “Recapture” and “Done”.

Fig. 5.8: Image recapture screen

Clicking an already captured image brings up image view/delete screen. Clicking “Delete” button will remove currently displayed image.

Fig. 5.9: Image view/delete screen

NAVIGATION 5



5.5 Viewer Screen

The viewer screen is displayed by clicking the point cloud section on the Creator screen and allows inspecting the point cloud just captured.

Fig. 5.10: 3D image point cloud on the Creator screen

Fig. 5.11: Viewer screen

NAVIGATION 5

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5.6 Library Screen

Fig. 5.12: Library screen

Library section of DIM320 software:

maintains a history of scans, and

provides a way to interact with them.

An operator can:

filter these scans on attributes such as recent, unsent, incomplete or all, and

run operations such as select, view details, edit, delete, or send (to remote server).

5.7 Select Scans

Clicking on one or more scans selects them for further operations as shown in the screen above. The last one-selected stays in the right most window and a drop down menu allows further operations as described in the next section.

5.8 Scan Operations

A single-selected scan can be edited, sent or deleted using a side drop down menu:

NAVIGATION 5



Fig. 5.13: Single-selected scan operations

For multiple selected scans, an operator can send or delete using bottom bar as shown below.

Fig. 5.14: Multiple-selected scan operations

NAVIGATION 5

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5.9 Setting Screen

Clicking on Settings button on top allows updating application configuration details. However, update functions maybe limited to an administrator user depending the preference of organization. Note that some of the settings will not be available for a Legal for Trade (LFT) certified system.

There are four major categories of such settings:

General: provides customizing name, location (of the DIM320 system), unit of measurements (mm or inches), minimum and maximum object size, and rounding information.

Connection: provides settings for FTP host including server and user names

Pallet: provides settings for pallet including naming convention and number of barcodes and images to capture.

Advanced: provides data storage location on the tablet PC and some options for maintenance as to when and how to delete older scans.

Fig. 5.15: Settings screen

5.10 Sending Queue Screen

Clicking the cloud icon in the top bar brings up Sending Queue screen. This screen displays the items waiting to be sent to the remote server. The count next to this icon provides count of scans waiting to be sent.

NAVIGATION 5



Fig. 5.16: Sending queue screen

5.11 Information Screen

Clicking on “i” icon on top-right corner provides application information including details of any certification, such as NTEP.

Fig. 5.17: Application information screen

OPERATION 6

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6 Operation

This chapter provides guidance to help capture initial scans.

6.1 Environmental Conditions

For applications requiring the highest degree of accuracy, use DIM320 within the specified temperature range of 0°C to 40°C.

In colder areas, turn DIM320 on and warm it up until the internal temperature stabilizes.

Strong dust formation, fog, rain or snowfall will result in bad measurements. Avoid scanning under these conditions.

Avoid capturing scans against direct sunlight. This will result in limited scan data in this area. Objects or surfaces may have an increased noise if they are directly illuminated by bright sunshine.

Objects or surfaces may have an increased noise if they contain parts with shiny reflecting metallic surfaces.

When capturing outdoors or in dirty surroundings, protect DIM320 from liquids and humidity, dust and dirt, which may damage electronic components and seals.

6.2 Capture Scans

Make sure that the object of interest is within the specified maximum range and that it is no closer than the minimum range of Freestyle sensor.

Start with pointing Freestyle sensor to the object in an isometric view covering top and two other sides as much as possible.

Click (press and release) Freestyle sensor button and hold the sensor steady until tracking is acquired (the status messages on the tablet PC will say so).

Once tracking is acquired, move Freestyle sensor slowly and constantly avoiding any jerky movements. Fast and jerky movements may lead to inaccurate data or tracking will be lost.

Avoid

o Capturing objects in direct sunlight. This will result in limited scan data in this area.

o Having only plain-colored surfaces in the device field of view.

o Having only shiny surfaces in the device field of view, for example metal rails, or high-gloss lacquer.

o Having only highly absorbing surfaces in the device field of view, for example black furniture.

Move Freestyle sensor in circles or loops. This helps to proceed loop-closing.

Try to finish a scan at the place it was started. This helps to proceed loop-closing.

Do not move objects during scanning.

If the number of features is low or badly distributed, try to move the field of vision of Freestyle sensor to areas with more structures.

OPERATION 6



Watch the display during capturing. Keep the areas being scanned centered as much as possible.

To make scanning shiny areas easier, treat with anti-glare spray wherever possible.

6.3 Start Capturing

WARNING

Eye injuries caused by laser beams.

Although Freestyle sensor is classified as a laser class 1 device, it might be dangerous if the laser beams point to someone‘s eyes.

Note

Be careful when scanning people or animals.

Do not aim Freestyle sensor to anyone‘s eyes from a close-up distance.

Note

Static charge can damage electric or electronic components.

Be aware of static charge that can potentially discharge high voltage to the device and cause serious damages.

Always hold Freestyle by its handle. Do not touch the metal rings around the glass covers on the lower side of Freestyle

Note

Inaccurate scans.

Always hold Freestyle by its handle. Do not grab the device by one of its arms. Since Freestyle is a high-precision measuring device, even the slightest bending of the device will result in inaccuracies or even errors.

Start capturing by pressing the button on top of Freestyle sensor. After a few seconds, a split window shows up with the 3D point cloud view on the left and the 2D video view on the right, as well as a progress dialog.

Point Cloud View: Shows captured points in a 3D View. It will build up in real-time.

Video View: Shows the video camera's view, which is supplemented by several, colored attributes to provide support while capturing.

OPERATION 6

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Fig. 6.1: Point cloud and video views

6.4 Tracking Lost: Resume Tracking

If tracking is lost, the scanning status will move to Lost Tracking. An acoustic signal will also be played if it is configured.

Fig. 6.2: Lost tracking status

OPERATION 6



At this point, operator can stop the scan manually by clicking Freestyle sensor button. DIM320 will attempt to provide dimensions based on the point cloud data already captured.

Operator can also discard the previously collected data and restart a new scan by pressing the button again.

Note

System cannot resume lost tracking.

DIM320 is not able to resume lost tracking and will automatically stop capturing and start a new scan in about 20 seconds.

6.5 Stop Capturing

Stop capturing by pressing the button on top of Freestyle sensor.

Fig. 6.3: Button on top of Freestyle sensor

6.6 Scan Folder Structure

Once a scan is completed, it is stored on the tablet PC under C:/PalletData folder. This folder has the following structure:

C:/PalletData/Year/Month/Date/PalletCreateTimestamp.

The following files store the results under PalletCreateTimestamp folder:

Pallet JPG: the main jpeg file captured from the final point cloud

PCD: the point cloud file is viewable using CloudCompare open source software

XML: stores all the results including status, dimensions, corners of a bounding box, barcode file names and barcode, pallet_image file names etc.

Barcode image JPG’s: with “barcode_image” in the file name

OPERATION 6

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Pallet image JPG’s: with “pallet_image” in the file name

To download results, simply download C:/PalletData folder and inspect the files of interest as per the description above.

6.7 First Result

Single-click the point cloud view of the captured scan. 3D View will be shown.

Rotate the scan using finger-swiping.

Zoom the scan by pinching and expanding or contracting.

Automatic leveling: DIM320 uses build in sensors to level scans automatically. The z- direction is “up” for all scans.

OPERATION 6



ON-SITE CALIBRATION 7

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7 On-site Calibration

DIM320 is calibrated before delivery. The calibration may have been affected under certain transport conditions. If so, recalibrate it so that it is ready to capture accurately. The best time to recalibrate DIM320 is on-site preferably daily right before starting to capture new scans.

DIM320 is shipped with Calibrate software installed on the tablet PC. Double click on icon on the home screen to start calibration.

Fig. 7.1: Calibrate software icon

Each DIM320 kit includes a calibration plate and a corresponding calibration file, which can be found on the micro SD card that is contained in the transport and carry case. (See “DIM320 kit” in the third chapter.)

Fig. 7.2: Calibration plate




Note

DIM320 software must be stopped.

Ensure any other software, especially DIM320, is stopped before starting calibration. Only one software can connect to Freestyle sensor at one time.

Note

The calibration plate can be scratched.

Handle calibration plate with care; store it in Freestyle transport case.

7.1 Calibration Status

DIM320 comes pre-calibrated and does not need any calibration to start capturing dimensions.

When one of the Freestyle sensors seems to have some measurement deviation. Recalibration should be done.

No Freestyle sensor connected, or the computer was not able to detect it. If Freestyle sensor is connected, try the following:

Unplug and plug the USB plug.

Use another USB3 port (if available).

Unplug the USB plug, restart the software, and try again.

The Calibration button is shown in red color when the calibration data is missing or is corrupt. It is not possible to correct this by performing a recalibration. Contact SICK customer service.

7.2 Calibration

Calibration involves capturing the calibration plate from different angles and at different heights. This sections provide detailed steps for this.

7.2.1 Procedure

Use the following procedure to calibrate DIM320:

1. Get the calibration plate and note the number written on the backside. This number will be needed in later steps.

2. Place the calibration plate on a flat, stable surface.

3. The markers must face upwards. Each marker must be visible.

4. Keep the calibration plate well illuminated with intensity at least 250 lux (25 fc).


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5. Avoid any hard shadows on the plate. It is easy to cover the plate with a body part, the Freestyle sensor itself, or something in the vicinity.

Fig. 7.3: An example of hard shadow

6. After Freestyle sensor has been connected to tablet PC and is initialized by the software, the calibration dialog is shown. Click or tap Yes to start calibration.

7. Enter the calibration plate‘s number (found on the back of calibration plate provided in the transport or carry case). Enter all preceding digits (may be more than 3) of the alphanumeric number. Click OK button.

Fig. 7.4: Plate number dialog

8. If this calibration is the first one with this Freestyle sensor, or if you enter a wrong number, a dialog is shown in which you can browse for the calibration number file. It is saved on the green micro SD card, which came with DIM320 kit. Select the file and click or tap the OK button.

9. The start window of the calibration is displayed. Start calibration by pressing the button on Freestyle sensor.




Fig. 7.5: Start window of calibration

10. Freestyle sensor now starts to capture and the video view is shown. A curved bar (1) with Freestyle icons is shown at the left; two red, concentric rings (2) are show in the middle.

Fig. 7.6: Curved bar and two concentric rings


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Note

Rotational calibration may not be available.

Rotational calibration depends on the version of software and Freestyle sensor. Skip to Vertical Calibration below if the screen looks different from what is shown above.

11. Hold Freestyle sensor above the calibration plate, which is represented as a blue plane in the Video View

12. Follow the instructions on screen to help position Freestyle sensor for the calibration steps. Move Freestyle sensor to four separate calibration points indicated by the icons in the curved bar. Use the feedback provided on screen to move Freestyle sensor to the correct position. Red rings turn green and a short countdown begins when Freestyle sensor is positioned correctly. Hold Freestyle sensor in position until the countdown ends and the Freestyle icon in the curved bar turns green for that calibration position.

7.2.2 Vertical Calibration

13. A vertical bar with Freestyle icons is shown at the left, and a cone and two nested rings are shown in the middle.

Fig. 7.7: Vertical bar and a cone with two nested rings

14. Hold Freestyle directly and horizontally over the calibration plate, and slowly move the device until the rings around the cone are shown as concentric circles.




Fig. 7.8: Cone turning into concentric circles

15. As soon as the position is correct, the indicator rings are shown in green color and a countdown starts. As long as the position is not okay, the rings are shown in red color, and the reason is shown:

a. Wrong distance

b. View is not horizontal

c. Both

The position of the cone may slightly vary while calibrating. This is normal and does not influence the quality of calibration.

16. Move Freestyle sensor slowly downwards until the lowest Freestyle icons changes to a green color.

17. Now, move Freestyle sensor slowly upwards. Each of the Freestyle icons must change to a green color. An arrow shows which icon comes next.

As soon as all Freestyle icons are shown in green color, the status of the device is checked, and, if necessary, adjusted. After that, on-site calibration is finished.

7.3 Calibration Data and Report

Calibration Data: The calibration data can be found in the following directory on tablet PC: C:\ProgramData\FARO\Freestyle.

Calibration report: The Calibration report is saved as a PDF file in C:\Documents\FARO\Projects under CALIBRATIONREPORTS. The Calibration report states whether the On-site calibration was successful or not, and it shows some important data which may be necessary for verification.

MAINTENANCE 8

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8 Maintenance

It is recommended to check DIM320 at least once a month to spot troubles before it stops providing you with an efficient measuring system.

DIM320 is a precision instrument that contains many sensitive components, and it must be handled with care. Follow these procedures to prevent problems with your system:

Check the cable for damage to outside insulation, connectors, and pins.

Check the housing of the scanner for damage.

Store the sensor in its transport case when it is not in use.

Freestyle sensor only: To ensure a complete manufacturing recalibration of Freestyle sensor, it is recommended to have an annual maintenance and certification service offered by SICK. Please contact your local SICK Customer Service team for more information.

8.1 Cleaning Instructions for Optics

Note

Unnecessary damage and wear.

▸ To avoid unnecessary damage or wear, only clean the optics when the degree of contamination has an impact on the scan quality (that is, an increase in range noise or a decrease in scan range) and requires cleaning for proper functioning.

▸ Major contamination and improper handling to clean optics may affect the scanning quality. Self-caused damages can result in a complete replacement of the part at the expense of the customer.

▸ Do not use cleaning fluid with alcohol or acetone. The sealing could be dissolved. Use alcohol-free lens cleaner that can be found in most optical supply stores.

What is required?

Tissues (if those in the transport case are no longer usable, find tissues that can be found in optical supply stores).

Additionally for greatly contaminated lenses use:

o Mild neutral soap (optical supply store).

o Alcohol free cleaning fluid in spray bottle / dropping bottle.

Slightly contaminated optics

Wipe contaminated optics with the tissue.

Greatly contaminated optics

Mist a tissue with the cleaning fluid (do not soak).

Carefully wipe the contaminated optics with the tissue.

MAINTENANCE 8



8.2 What to do When Tablet PC Does Not Work Properly

The Panasonic Windows tablet PC included with DIM320 has a one-year manufacturer's warranty. Please contact the Manufacturer Support to register tablet or get registration information.

DISPOSAL 9

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9 Disposal

Note

Note the relevant currently valid local and legal environment regulations and directives for the disposal of industrial electronic waste.

At the end of its lifecycle, the sensor must not be disposed with normal waste, but instead must be returned to a recycling facility for electric and electronic devices.

In case of doubt, please contact the local government or local waste disposal operators.

Ensuring the correct disposal of this product at the end of its useful working life will help safeguard the environment and people’s health.

Note

DISPOSAL OF BATTERIES, AND ELECTRIC OR ELECTRONIC DEVICES

▸ According to country/state/city directives, batteries, accumulators and electrical or electronic devices are not be disposed of in general waste.

▸ The owner obliged by law to return devices at the end of their life to the respective public collection point.

▸ This symbol on the product, its package or in this document indicates that a product is subject to these regulations.

The following assemblies may contain substances which must be disposed of separately:

Electronic:

Capacitors, accumulators, batteries.

Displays:

Liquid in the LC-Displays.

9.1 Product Environmental Information

This is applicable in the European Union and other European countries with separate collection systems.

The European Directive 2012/19/EU on Waste Electrical and Electronic Equipment (the WEEE Directive) stipulates that WEEE is now subject to regulations designed to prevent the disposal of such waste and to encourage design and treatment measures to minimize the amount of waste that is placed into the waste stream. The objective of the WEEE Directive is to preserve, protect and improve the quality of the environment, protect human health, and

DISPOSAL 9



stimulate the practical use of natural resources. Specifically, the WEEE Directive requires that producers of electrical and electronic equipment be responsible for the collection, reuse, recycling and treatment of WEEE, which the Producer places on the EU market after August 13, 2005.

SICK and its partner FARO, as a producer of electrical and electronic equipment (WEEE), have endeavored to meet these environmental responsibilities for managing WEEE. In so doing, FARO is providing the following to inform its customers about the WEEE collection process:

In order to avoid any potential dissemination of hazardous substances into the environment, FARO has labeled this product with the WEEE symbol (see below) in order to alert the end-user that it should be disposed of within the proper waste management system. That system will recycle, reuse, and dispose of materials from this product in an environmentally sound way.

The symbol represented below, and found on this FARO Technologies product, indicates that this product meets the European Directive 2012/19/EU on Waste Electrical and Electronic Equipment. This symbol, only applicable in European Union countries, indicates that when this product reaches the end of its useful life it should not be disposed of with normal household or municipal waste, but in an established waste stream for WEEE.

Each EU Member State country has established a system for the collection, disposal, and recycling of WEEE. End-users in the EU should contact their local waste administration system for collection instructions concerning this product.

TECHNICAL SPECIFICATION 10

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10 Technical Specification

This section provides the technical specification of DIM320 and Freestyle handheld sensor.

10.1 Technical Data

10.1.1 DIM320 Performance

Minimum Pallet or Object: 6 inch length, 6 inch width, 6 inch height

Maximum Pallet or Object: 118 inch length, 118 inch width, 96 inch height

D-minimum: 0.5 inch length, 0.5 inch width, 0.5 inch height

10.1.2 Freestyle Sensor Details

Type of device: Hand-operated 3D laser scanner

Power supply voltage: 5V (supplied via USB3.0)

Power consumption: Max. 5W, USB3.0 powered

Operating temperature: 0°C - 40°C

IP Rating: IP 52*

USB3.0 cable connector: 1.5m, not withdrawable from the scanner

Weight: 0.98kg

Dimensions: 260 x 310 x 105mm

10.1.3 Freestyle Sensor Performance

Resolution at 0.5m: Lateral: 0.2mm-1mm distance

Depth: 0.2mm

3D point accuracy/whole scan accuracy (1): Freestyle: = 1.5mm Freestyle X: = 1mm

Freestyle: 0.5mm at 0.3-0.5m distance 1mm at >0.5m-0.8m distance

Typical lateral accuracy (2): < 1mm

Single image point density:

Up to 45.0000 points/m2 in 0.5m distance

Up to 10.500 points/m2 in 1m distance

Range: 0.5m – 10m

Typical noise (rms): 0.7mm at 0.5m distance 0.75mm at 1m distance

2.5mm at 2m distance




5mm at 3m distance

Typical field of view (H x W):

45° x 56° at 0.5m distance

45° x 59° at 1m distance 49° x 54° at 2m distance

49° x 52° at 3m distance

Calibration: Optional user calibration with supplied calibration plate

Light source: In-built LED flash

10.1.4 Laser (Optical Transmitter)

Eye safety: Laser class 1

Laser power: Max. 800mW total

Pulse duration: <= 10ms

Wavelength: 798-821nm

10.1.5 Cameras

Recorded 3D points (3): Up to 88,000 points/s, point cloud density increases with time

Best points filter (4): Noise reduction of typically 40% when scanning the same object from different distances

Exposure time: 0.02ms - 10ms (auto-exposure)

Texture color: 24bit

Lighting conditions (5): Up to 10.000 Lux

* Dust protection 5; Water protection 2: Protection against dripping water whilst device in standard idle position with sensor side facing downward

(1) Measured on a 1m reference scale, in 1m distance, for a lateral scanner movement of 1m, using targets for distance measurement

(2) Measured in 0.5m-3m distance

(3) Point density depends on scanned surface and lighting conditions

(4) Noise reduction for same scan times at 0.5m, 1m, 2m & 3m distance from object

(5) Limited range and point density in sunlight


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10.3 Freestyle Sensor Dimensions




10.4 Support and Customer Care

During business hours from 8 a.m. - 5 p.m. Central Time, call 1-800-325-7425 and follow the prompts.

For emergency and critical care outside of normal business hours (5 p.m. - 8 a.m. Central Time), call 1-800-325-7425 and follow the prompts. A call center will forward to the appropriate department for follow up on a next available basis.

APPENDIX A: LIST OF ERROR MESSAGES 11

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11 Appendix A: List of Error Messages

This section provides a list of messages that show up in prompts on the tablet PC.

11.1 DIM320 Status Messages

These messages are displayed on the Creator tab right above “New” or “Discard” button and relate to DIM320 operations.

Fig. 11.1: Location of DIM320 status messages

Table 11.1: List of DIM320 status messages

Message Description

Initializing scanner ... please wait The software is initializing Freestyle sensor and

connecting. If this doesn’t clear you might not have the

sensor plugged in to the USB port.

Ready to scan Freestyle sensor has completed the last operation(s) and

is now ready to scan an object by pressing the button.

Starting scan ... This shows initially when pressing the sensor button but

before the sensor has actually started scanning.

Scan Started. Acquiring tracking ...

Scanner should soon be acquiring point cloud and video

data.

Not ready to scan This will be displayed in response to trying to scan when

Freestyle sensor not ready to scan. Wait 2 to 5 seconds

before scanning again.




Message Description

Tracking Acquired Freestyle sensor knows its initial position and should begin

(or be) acquiring new point data automatically with respect

to this location. Note that when a scan begins there may

be some delay before this displays and the point cloud

data comes up.

Tracking Lost Freestyle sensor was moved too fast and has lost track of

position. The LED will turn red and no new point data will

be acquired. Tracking will need to be reacuired. Point the

handheld where scanning started and hold it steady for

several seconds, and tracking may come back. Repeat in

other scanned areas if tracking doesn’t come back within

6 seconds or so. Restart scan by ending and starting

again.

Scan Complete Scan ended and the point cloud is being processed to

determine dimension data. Note that this does not mean

the handheld is ready to scan again immediately – it may

take several seconds even after dimensions are displayed.

11.2 Dimensioning Errors

These are displayed under the area where dimension results are shown. If the text is black and there are no errors, the dimensions should be displayed. If the text is red then the results are not Legal for Trade (LFT), and if there were errors with the point data it will display a status from below.

Fig. 11.2: Location of dimensioning error messages


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Table 11.2: List of dimensioning error messages

Message Description

Not enough points captured Some point data was acquired but not enough to work

with.

Too much noise in data Cluster tolerance setting is too high and needs to be

lowered. This is the maximum distance between two points

for them to be considered as belonging to the same

cluster.

Not dimensioned General error

Cannot find corners The bounding box for the object dimensioned has less

than 8 corners.

Filter size too small The point cloud for the object dimensioned is less than the

min_plane_cloud_points setting in

SickDim320Configuration.xml. Note that this error is

generally not seen because the cluster would be filtered

out.

Two or more floors found Usually this is caused by a stitching issue and the point

cloud will show an extra floor below the actual floor.

Cannot find floor The algorithm needs to determine where the floor is and

remove it from the point cloud or all of the clusters remain

connected. But in this case the minimum number of points

to the floor cluster was not met.

Cluster tolerance too small The final cluster for the object dimensioned is less than

the min_plane_cloud_points setting in

SickDim320Configuration.xml. Note that this error is

generally not seen because the cluster would be filtered

out.

Cannot detect the object After eliminating the floor and any small clusters there

were no clusters left to dimension. This error will occur

when scanning objects that are so small and the clusters

are filtered out.

No points captured There was no point cloud data acquired.

APPENDIX B: CONFORMITY 12

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12 Appendix B: Conformity

12.1 CE Conformity

APPENDIX B: CONFORMITY 12



12.2 FCC Equipment Authorization

FCC Equipment Authorization

Trade Name: FARO Product Name: Freestyle, Freestyle X

These devices comply with Part 15 of the FCC Rules

Operation is subject to the following conditions:

1. The devices may not cause harmful interference

2. The devices must accept any interference received, including interference that may cause undesired operation.

Note:

This equipment has been tested and found to comply with the limits for a Class A digital device, pursuant to part 15 of the FCC Rules. These limits are designed to provide reasonable protection against harmful interference when the

equipment is operated in a commercial environment. This equipment generates, uses, and can radiate radio frequency energy and, if not installed and used in

accordance with the instruction manual, may cause harmful interference to radio communications. Operation of this equipment in a residential area is not likely to cause harmful interference.

APPENDIX C: SOFTWARE LICENSE AGREEMENT 13

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13 Appendix C: Software License Agreement

This Software License Agreement is part of the Operating Manual for the product and software System, which you have purchased from SICK, INC (collectively, the

“Licenser”). By your use of the software, you are agreeing to the terms and conditions of this Software License Agreement. Throughout this Software

License Agreement, the term “Licensee” means the owner of the System.

I. The Licenser hereby grants the Licensee the non-exclusive right to use the computer software described in this Operating Manual (the “software”). The Licensee shall have no right to sell, assign, sub-license,

rent or lease the software to any third party without the Licenser’s prior written consent.

II. The Licenser further grants the Licensee the right to make a backup copy of the software media. The Licensee agrees that it will not decompile, disassemble, reverse engineer, copy, transfer, or otherwise use the software except as permitted by this section. The Licensee

further agrees not to copy any written materials accompanying the software.

III. The Licensee is licensed to use the Software only in the manner described in the Operating Manual. Use of the Software in a manner other than that described in the Operating Manual or use of the software in conjunction with any non-Licenser product which

decompiles or recompiles the software or in any other way modifies the structure, sequence or function of the software code, is not an authorized use, and further, such use voids the Licenser’s set forth

below.

IV. The only warranty with respect to the software and the accompanying written materials is the warranty, if any, set forth in the

Quotation/Purchase Order pursuant to which the software was purchased from the Licenser.

V. THIS WARRANTY IS IN LIEU OF OTHER WARRANTIES, EXPRESS OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES

OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE WITH RESPECT TO THE SOFTWARE AND WRITTEN MATERIALS. IN NO

EVENT WILL THE LICENSER BE LIABLE FOR DAMAGES, INCLUDING ANY LOST PROFITS OR OTHER INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE USE OR INABILITY TO USE THE SOFTWARE,

NOTWITHSTANDING THAT THE LICENSER HAVE BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES, THE LICENSER WILL NOT BE LIABLE FOR ANY SUCH CLAIM BY ANY OTHER PARTY.

VI. In the event of any breach by the Licensee of this Agreement, the license granted hereby shall immediately terminate and the Licensee shall return the software media and all written materials, together with

APPENDIX C: SOFTWARE LICENSE AGREEMENT 13



any copy of such media or materials, and the Licensee shall keep no copies of such items.

VII . The interpretation of this Agreement shall be governed by the following provisions:

a. This Agreement shall be construed pursuant to and governed by the substantive laws of the State of Minnesota (and any provision of Minnesota law shall not apply if the law of a state or jurisdiction other than Minnesota would otherwise apply).

b. If any provision of this Agreement is determined by a court of competent jurisdiction to be void and non-enforceable, such

determination shall not affect any other provision of this Agreement, and the remaining provisions of this Agreement shall remain in full force and effect. If any provision or term of

this Agreement is susceptible to two or more constructions or interpretations, one or more of which would render the

provision or term void or non-enforceable, the parties agree that a construction or interpretation, which renders the term of provision valid shall be favored.

c. This Agreement constitutes the entire Agreement, and supersedes all prior agreements and understandings, oral and

written, among the parties to this Agreement with respect to the subject matter hereof.

If a party engages the services of an attorney or any other third party or in any way initiates legal action to enforce its rights under this Agreement, the prevailing party shall be entitled to recover all reasonable costs and expenses (including

reasonable attorney’s fees before trial and in appellate proceedings).