Hardware User Manual

Safety Instructions

  • Before starting to use the product, please read this manual carefully to learn the correct, safe way to use it. Use and maintenance not in accordance with this manual may damage the product or cause other damage and injury. Mech-Mind shall not be liable for any damage and injury caused by improper operation.

  • Following the instructions and warnings in this manual can lower risks, but cannot eliminate risks. If the product is not used according to this manual, some features may not function normally, or the product may be damaged.

  • To ensure that the product operates properly and safely, it should be mounted, connected, used, and maintained properly by trained technicians only.

  • Laser is hazardous; please familiarize yourself with the content in Laser Safety before using the product.

  • Every step has been inspected during the drafting of this manual. Please do not hesitate to contact Mech-Mind if you find any mistakes in the manual or have any questions.

Operating Environment

  • Check if the environment satisfies the requirements of operating temperature, operating humidity, vibration resistance, and shock resistance in the technical specifications.

  • Do not use the product in locations with explosion hazards. It is PROHIBITED to place any explosive or flammable substances near the product.

  • Do not expose the product to open fire or high temperature. Do not place the product in fire or crush the product mechanically. Doing so may cause explosion.

  • The ambient temperature should be within the range of the product’s operating temperature and should not vary frequently or greatly. If long-term stability of accuracy is required, the ambient temperature should be maintained stable.

  • Please use the product indoors (except for LSR S).

  • Please use the product at elevations below 4000 meters.

  • Please install the product in a well-circulated, open place. Do not place the product in humid and dusty locations.

  • Do not install the product under direct sunlight or close to lighting devices. If inevitable, please use shading device to ensure that the product is protected from light interference.

  • Do not install the product in locations subjected to vibration or impact.

  • Do not install the product in locations where water, oil, or other substance may splash onto the product.

Mounting the Product

  • Install the product and cables away from high voltage lines.

  • To ensure that the heat from the product is well dissipated, guarantee adequate airflow around the product.

  • If mounting the product in an enclosed space, deploy additional measures for active cooling.

  • Do not supply power to the product until the product is securely mounted and the cables are correctly connected.

Using the Product

  • Before using the product for the first time, check the exterior of the product for any signs of collision such as scratches, dents, and deformations. If present, contact the local sales agent promptly.

  • Before using the product for the first time, remove the protective films on the product.

  • Before using the product, please check the product carefully for damage, signs of water entry, suspicious odor, smoke, loose or damaged bolts, etc., and make sure that the product is in proper working condition. If any of the above abnormalities occur, please disconnect the power immediately.

  • To ensure that the accuracy of the data acquired by the product reaches the values listed in the technical specifications, please warm up the product before using it. Refer to Use the Camera for the specific method or warming up the product.

  • When using the product to acquire 3D data, it is recommended to use an acquisition interval no shorter than 5 seconds. Otherwise, the data acquisition may fail, and the product’s life may be shortened.

  • While adjusting the parameters, do not disconnect the power. Doing so may lead to the loss of the parameter adjustments.

  • The product is a precision instrument. While using the product, do not subject it to strong shocks or vibrations, such as throwing the product or colliding it with other devices. Strong shocks or vibrations may significantly deteriorate performance of the product or prevent it from operating properly. Mech-Mind shall not be liable for strong shocks and vibrations caused by improper operation, as well as any issues arising therefrom.

  • The product is a precision instrument, and its accuracy is affected by factors such as temperature change and duration of use. It is recommended to check the intrinsic parameters and perform corrections (if needed) every 6 months.

  • High temperature will age the power cable. Please check the power cable regularly for signs of aging. If the power cable has aged, please contact Mech-Mind to acquire a replacement.

  • Do not allow any foreign object, such as metal pieces, dust, paper, and wood chips, to enter the product. Doing do so may lead to fire, electric shock, malfunction, etc.

  • Do not repair or disassemble the product by yourself. Mech-Mind shall not be liable for any damage caused by repair or disassembly not performed by Mech-Mind.

  • Do not stare into the light beam when using the product.

Usage of Adapter / DIN Rail Power Supply

  • Please install the adapter / DIN rail power supply inside a control cabinet. Do not install the adapter / DIN rail power supply in a place that is difficult to disconnect the power.

  • Do not use the product if the power port, adapter / DIN rail power supply, or power socket is wet.

  • Do not heat or put the adapter / DIN rail power supply and power cable in fire.

  • Please use the specified voltage. Failure to do so may lead to fire or electric shock. The adapter / DIN rail power supply and power cable should be properly grounded. It is recommended to use the isolated adapter / DIN rail power supply provided by Mech-Mind. If a replacement is required, please use an adapter / DIN rail power supply that satisfies relevant safety standards.

  • Use copper conductors only.

Laser Safety

  • Wear laser safety glasses while using the product.

  • The product emits laser beam. Please avoid direct eye exposure to the laser beam. Do not look into the laser beam or the reflected light directly. Do not direct the laser beam at persons. Observing the laser beam may cause visual disturbances such as dazzling and afterimages. Please strictly follow the operational and adjustment requirements in this manual.

  • Do not look into the laser beam with optical instruments (such as telescopes). Doing so may lead to eye injuries.

  • The laser beam must be lower or higher than and never at eye level.

  • Be cautious of the path of the laser beam. Do not enter the areas that the laser beam or reflected light reaches. Do not place reflective objects on the path of the laser beam. Specular or diffuse reflections of the laser beam may result in exposure to the reflected light. Please block the reflections by installing protective enclosure.

  • Failure to use the product according to this manual may lead to exposure to harmful laser radiation.

  • Do not disassemble the product. The product lacks a mechanism to cease laser emission when disassembled.

  • LASER ENERGY - EXPOSURE NEAR APERTURE MAY CAUSE BURNS.

Notice for Disposal

  • Please comply with local laws and regulations when disposing of the product to avoid polluting the environment. Do not dispose of the old battery in domestic waste. Do not dispose of the product irresponsibly. Improper disposal may pollute the environment.

Certifications

The product is compliant with the following standards and assessment requirements. Please note that the certification statuses may be updated. For more information, please contact the local sales agents.

Compliant with the following requirements and standards:

  • European Electromagnetic Compatibility Standards

  • U.S. ANSI C63.4, 47 CFR PART 15B, and UL 61010-1

  • Canada ICES-003

  • Japan VCCI-CISPR 32:2016

  • South Korea KS C 9832 and KS C 9835

Safety of Laser Products

The laser classification is implemented based on IEC 60825-1:2014 in accordance with the requirements of Laser Notice No. 56 of the FDA (CDRH).

CE

ce mark

The full text of the EU Declaration of Conformity is available at https://downloads.mech-mind.com/?tab=tab-eu-dec

European Electromagnetic Compatibility Standards:

  • EN 55032:2015+A11:2020+A1:2020

  • EN IEC 61000-3-2:2019+A1:2021

  • EN 61000-3-3:2013+A1:2019+A2:2021

  • EN 55035:2017+A11:2020

ashcan mark

All products bearing this symbol are waste electrical and electronic equipment (WEEE as in directive 2012/19/EU) which should not be mixed with unsorted household waste. Instead, you should protect human health and the environment by handing over your waste equipment to a designated collection point for the recycling of waste electrical and electronic equipment, appointed by the government or local authorities. Correct disposal and recycling will help prevent potential negative consequences to the environment and human health. Please contact the local authorities for more information about the location as well as terms and conditions of such collection points.

FCC

fcc mark

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 likely to cause harmful interference in which case the user will be required to correct the interference at his own expense.

This device complies with part 15 of the FCC Rules. Operation is subject to the following two conditions: (1) This device may not cause harmful interference, and (2) this device must accept any interference received, including interference that may cause undesired operation of the device.

“Le présent appareil est conforme aux CNR d’Industrie Canada applicables aux appareils radio exempts de licence. L’exploitation est autorisée aux deux conditions suivantes : (1) l’appareil ne doit pas produire de brouillage, et (2) l’utilisateur de l’appareil doit accepter tout brouillage radioélectrique subi, même si le brouillage est susceptible d’en compromettre le fonctionnement.”

VCCI

vcci mark

This is a Class A equipment. Operation of this equipment in a residential environment could cause radio interference. In such a case, the user may be required to take corrective actions.

VCCI-A

Package Contents

  • Camera

  • User manual
camera package content
user manual

  • DC power cable

  • Ethernet cable
dc power cable
ethernet cable

  • Accessory bag

M4 × 8 socket head cap screws (Qty: 8)

M5 × 8 socket head cap screws (Qty: 8)
screw m4 8
screw m5 8

M8 × 20 socket head cap screws (Qty: 2)

M8 × 20 T-bolts (Qty: 2)
bolt m8 20
bolt t

M8 nuts (Qty: 2)

M8 flange nuts (Qty: 2)
nut m8
nut flange

M8 washers (Qty: 2)

Ø6 × 10 dowel pins (Qty: 4)
washer
dowel pin

Cable tie mount (Qty: 1)

Zip ties (Qty: 50)
cable tie mount
zip tie

Hex key (Qty: 1)

Calibration board (UHP-140 only)
hex key
calibration board

  • For the precise list of included items, refer to the packing list in the package.

  • Before using, please make sure that the package is intact, the camera is not damaged, and no accessories are missing. Please contact Mech-Mind if any items are damaged or missing.

  • For the technical specifications of cables, refer to DC power cable and Ethernet cable.

  • The calibration board is an optional accessory for models other than UHP-140.

Optional Accessories

DIN rail power supply

Calibration board (except for UHP-140)

din rail power supply

calibration board

For the technical specifications of the DIN rail power supply or calibration board, please contact Mech-Mind.

Functional Diagrams

DEEP, LSR S, LSR L, LSR XL, PRO S, PRO M, and UHP-140

diagram general

No.

Name

Function

①

DC 24V port

1: GND

3: 24 VDC

2: GND

4: 24 VDC

②

ETH port

1: MD3_P

5: MD1_P

2: MD2_N

6: MD0_N

3: MD2_P

7: MD3_N

4: MD0_P

8: MD1_N

③

PWR indicator light

Off: not connected to power

Green: normal voltage

Solid yellow: voltage lower than 16 V or higher than 28 V

Solid red: voltage lower than 12 V

④

LINK indicator light

Off: not connected to network

Solid or blinking green: connected to network

⑤

SYS indicator light

Off: camera not started

Solid green: camera starting up

Blinking green: camera operating properly

Blinking yellow: unstable voltage or abnormal temperature

Blinking red: malfunctioning

⑥

SCAN indicator light

Solid green: acquiring and processing data

Not acquiring or processing data

NANO and NANO ULTRA

diagram special

The above figure uses NANO as an example.

No.

Name

Function

①

PWR indicator light

Off: not connected to power

Green: normal voltage

②

LINK indicator light

Off: not connected to network

Solid or blinking green: connected to network

③

ETH port

1: MD3_P

5: MD1_P

2: MD2_N

6: MD0_N

3: MD2_P

7: MD3_N

4: MD0_P

8: MD1_N

④

DC 24V port

1: GND

3: 24 VDC

2: GND

4: 24 VDC

Mount the Camera

The camera can be mounted in the following setups:

Setup Requirements

Mounted to the robot flange and moves with the robot.

mount to flange

  • The camera should remain stationary relative to the robot flange.

  • When fastening the camera cables, reserve a portion unfastened, so that the cables can move with the robot without being damaged by strain.

  • During data acquisition, the robot should stop moving, so that the camera remains stationary. Meanwhile, the robot tool should not block the camera.

Mounted to a stationary frame and does not move with the robot.

mount to stand

  • The frame should be stable without wobbling.

  • The camera should remain stationary relative to the frame.

  • During data acquisition, devices in the surroundings should not block the camera.

Mounted to a linear rail and moves with the linear rail.

mount to slide

  • The camera should remain stationary relative to the surface on the linear rail used to mount the camera.

  • The vibration and shock generated during the linear rail’s motion, as well as by the start and stop of its motion, should be within the range of the camera’s vibration and shock resistance.

  • During data acquisition, the linear rail should stop moving, so that the camera remains stationary. Meanwhile, devices in the surroundings should not block the camera.

  • Check if the environment satisfies the requirements of operating temperature, operating humidity, vibration resistance, and shock resistance in the technical specifications.

  • To ensure satisfactory data quality, make sure the distance between the camera and the surface of the target object is within the range of the recommended working distance while meeting the requirements for the field of view and the robot’s motion space. Refer to the technical specifications for the recommended working distance.

  • Avoid collisions between the camera and other devices by implementing measures such as planning an appropriate robot path.

  • Prepare the stationary frame or the frame that connects the camera and the robot / linear rail on your own. Refer to the technical specifications for the dimensions and positions of the mounting holes and dowel pin holes, as well as the requirement for the flatness of the mounting surface.

After determining the setup, refer to the following sections and secure the camera to the mounting surface through the camera bracket or threaded holes.

  • Prepare your own open-end wrench of the appropriate size.

  • If the mounting surface is too thick, prepare your own bolts or screws of the appropriate lengths.

  • If the mounting surface has dowel pin holes opened, you can use the dowel pins to help position the camera correctly.

Mount through the Camera Bracket

Using the camera bracket, you can mount the camera to the following types of surfaces:

  • T-slot aluminum extrusion

  • Surface with mounting holes opened

  • The camera bracket is attached to the back of the camera when packaged.

  • You can mount the cable tie mount to the camera bracket. For details, refer to Mount the Cable Tie Mount.

Mount to T-Slot Aluminum Extrusion

As shown below, place 2 M8 washers and 2 M8 × 20 T-bolts, and then use the open-end wrench to tighten 2 flange nuts. The recommended tightening torque is 12 to 13 N·m.

  • DEEP, LSR S, LSR L, LSR XL, PRO S, PRO M, and UHP-140:

    mount with bracket 1

  • NANO:

    mount with bracket 2

  • NANO ULTRA:

    mount with bracket 3

Mount to Surface with Mounting Holes Opened

As shown below, place 2 M8 washers and 2 M8 × 20 socket head cap screws, and then use the open-end wrench to tighten 2 nuts. The recommended tightening torque is 12 to 13 N·m.

  • DEEP, LSR S, LSR L, LSR XL, PRO S, PRO M, and UHP-140:

    mount with bracket 4

  • NANO:

    mount with bracket 5

  • NANO ULTRA:

    mount with bracket 6

Mount the Cable Tie Mount

After mounting the cable tie mount, you can secure the cables with zip ties to avoid damaging the cables by strain.

As shown below, use the hex key to tighten 2 M4 × 8 socket head cap screws. The recommended tightening torque is 1.4 to 1.6 N·m.

  • DEEP, LSR S, LSR L, LSR XL, PRO S, PRO M, and UHP-140: You can use the threaded holes at different positions (indicated by arrows) to mount the cable tie mount.

    mount cable tie mount 1

  • NANO:

    mount cable tie mount 2

  • NANO ULTRA:

    mount cable tie mount 3

Mount through Threaded Holes on the Back

When mounting LSR S and NANO ULTRA using this method, ensure that the back of the camera is in close contact with a metal surface for heat dissipation, so that the camera does not overheat and malfunction.

  1. Use the hex key to remove the camera bracket. For LSR S and NANO ULTRA, also remove the heat-dissipation panel.

  2. As shown below, place the socket head cap screws of the corresponding specification into the mounting holes. Then, use the hex key to loosely screw on the screws in the specified order, and then fully tighten all the bolts in the specified order.

    • NANO ULTRA: M4 × 8 socket head cap screws (recommended tightening torque: 1.4 to 1.6 N·m)

    • Other models: M5 × 8 socket head cap screws (Recommended tightening torque: 2.2 to 2.5 N·m)

    The number of screws required differs by model.

  • DEEP, LSR S, LSR L, LSR XL, PRO S, PRO M, and UHP-140:

    mount with threaded holes 1

  • NANO:

    mount with threaded holes 2

  • NANO ULTRA:

    mount with threaded holes 2 1

Mount through Threaded Holes at the Top

The following models provide threaded holes for mounting at the top: LSR S, LSR XL, NANO ULTRA, and UHP-140.

  1. Use the hex key to remove the camera bracket.

  2. As shown below, place the socket head cap screws of the corresponding specification into the mounting holes. Then, use the hex key to loosely screw on the screws in the specified order, and then fully tighten all the bolts in the specified order.

    • NANO ULTRA: M4 × 8 socket head cap screws (recommended tightening torque: 1.4 to 1.6 N·m)

    • Other models: M5 × 8 socket head cap screws (Recommended tightening torque: 2.2 to 2.5 N·m)

mount with threaded holes 3

Connect the Camera

connect the camera

Ethernet Cable and DC Power Cable

  • Ethernet cable: Insert the M12-A connector of the Ethernet cable into the ETH port on the camera, and insert the RJ45 connector into the Ethernet port on the IPC.

  • DC power cable: Insert the M12-A connector of the DC power cable into the DC 24V port on the camera.

When inserting the Ethernet cable and DC power cable:

  1. Align the bump in the connector with the notch in the port.

  2. Tighten the nut. The recommended tightening torque is 0.7 N·m. A gap of about 2 mm remains after the nut is fully tightened.

  • It is recommended to connect the IPC and camera directly to ensure the speed and stability of data transmission. If the IPC does not have enough Ethernet ports, please use an industrial network switch / router with a bandwidth of at least 1 Gbps.

  • Do not use network switches / routers with bandwidths below 1 Gbps or expansion hubs. Otherwise, the network connection may become unstable, and data transmission may fail.

  • Please use shielded Ethernet cable of the CAT5e or above specification.

  • When mounting the camera onto a robot arm or other mobile equipment, please fasten the DC power and Ethernet cables on the camera end properly to avoid damaging the cables or connectors due to strain.

DIN rail power supply

  • Please prepare the AC power cable.

  • The instructions below apply to the DIN rail power supply provided by Mech-Mind. If you use your own DIN rail power supply, please refer to its user manual for connection instructions.

  • Please use a single-phase, 3-prong power outlet with protective grounding for the AC power.
din rail connection

  1. Use a flat screwdriver to loosen the screws on the terminals of the DIN rail power supply.

  2. Connect the DC power cable: Insert the two wires with the +V labels into the two +V output terminals on the DIN rail power supply, the two wires with the -V labels into the two -V output terminals, and the wire with the PE label into the ground terminal (pe).

  3. Connect the AC power cable: Insert the live wire into the L input terminal on the DIN rail power supply, the neutral wire into the N input terminal, and the ground wire into the ground terminal (pe).

  4. Use the flat screwdriver to tighten the screws on the terminals.

  • The voltage input to the camera from the DIN rail power supply should reach 24 V.

  • Please mount the DIN rail power supply inside a control cabinet.

  • The DIN rail power supply or the DIN rail should be reliably grounded. If mounting multiple DIN rail power supplies on the same DIN rail, ensure enough distance in between.

  • Supply power after all cables are fully connected. After power is supplied, the PWR indicator light should be solid green. If not, please contact Mech-Mind.

Use the Camera

Warm Up

To ensure that the accuracy of the data acquired by the product reaches the values listed in the technical specifications, please warm up the product by performing continuous data acquisition before using it.

  • Recommended warm-up time: Refer to the technical specifications.

  • Recommended data acquisition interval: Warm up the product with the data acquisition interval in actual use. If the data acquisition interval in actual use is not fixed, it is recommended to warm up with the average data acquisition interval. For example, in actual use, data is acquired every 6 to 10 seconds, then during warm-up, data should be acquired every 8 seconds.

Download and Install Mech-Eye SDK

The product is controlled by the accompanying software Mech-Eye SDK. Visit Mech-Mind Download Center to download and install the latest version of Mech-Eye SDK.

Use Mech-Eye SDK

Through Mech-Eye SDK, you can connect to the product and control it to acquire image and point cloud data. It is recommended to check the accuracy of the product by checking the intrinsic parameters through Mech-Eye SDK before you use the product to acquire data for the first time.

When you connect to the product in Mech-Eye SDK for the first time, you may need to upgrade the firmware of the product.

Maintenance

Regular Inspections

The camera is a precision instrument. Please perform the following inspections regularly to make sure that the camera is in optimal working condition.

Check Enclosure

Inspection Issue-resolving measure Recommended frequency

Whether the enclosure is worn, scratched, or deformed.

  • Adjust the position or motion path of surrounding devices to avoid chafing or collision with the camera.

  • If collision occurred: Check the intrinsic parameters through Mech-Eye SDK. If the intrinsic parameters have changed, stop using the camera and contact Mech-Mind.

Once everyday

Check Cables

Inspection Issue-resolving measure Recommended frequency

Whether the cables are securely connected to devices.

Secure the connection.

Once everyday

Whether cables are bent or twisted.

Improve the cable routing to avoid bending or twisting the cables.

Whether cables are aged, worn, or torn.

Contact Mech-Mind to acquire a replacement.

Check Camera Bracket

Inspection Issue-resolving measure Recommended frequency

Whether the camera bracket wobbles and whether the screws are loose.

Tighten the screws.

Once everyday

Whether the camera bracket is deformed.

Check the intrinsic parameters through Mech-Eye SDK. If the intrinsic parameters have changed, stop using the camera and contact Mech-Mind.

Check Intrinsic Parameters

Inspection Issue-resolving measure Recommended frequency

Check if the errors in the intrinsic parameters are large through Mech-Eye SDK.

Correct the intrinsic parameters. If the errors are still large after the correction, please contact Mech-Mind.

Once every 6 months

Cleaning

Disconnect the product from power before cleaning. When cleaning the surface of the product, please use a clean soft cloth to gently wipe off the dust and debris. When cleaning the windows, to avoid scratching, you can use a clean, soft lint-free cloth with lens cleaner or glass cleaner to carefully wipe the windows. It is recommended to clean the product once everyday.

  • If the product is not disconnected from power during cleaning, electrical shock hazard may be present.

  • It is recommended to use wet wipes or cleaners with isopropanol as the main active ingredient. Do not use gasoline, kerosene, or other corrosive substances. These substances may damage the exterior and internal structure of the product.

  • Do not use a pressure washer gun or hose to spray and wash the product. Mech-Mind shall not be liable for any damage or loss caused by liquid damage to the product.

  • When using the product after an extended period of storage, please clean the product first.

Storage

  • LSR S: The product is rated as IP67. The enclosure of the product can prevent dust and water from entering and affecting the functions of the product. Please avoid soaking the product in water or placing it outdoors for an extended period of time. When not using, please store the product in an indoor, dry, cool, and well ventilated place. The storage temperature of the product is -20–60°C.

  • Models other than LSR S: The product is rated as IP65. The enclosure of the product can prevent dust from entering and affecting the functions of the product. Please avoid soaking the product in water, installing it in a highly humid environment, or placing it outdoors for an extended period of time. When not using, please store the product in an indoor, dry, cool, and well ventilated place. The storage temperature of the product is -20–60°C.

  • Disconnect the product from power when storing to avoid fire.

  • Do not point the lens directly at the sun or other intense light source. Intense light may cause the image sensor to deteriorate and produce white blur in images.

Transportation

When transporting the product, please use the original packaging to ensure enough protection for the product and avoid damages induced by the transportation process.

Repair

If the product is malfunctioning, you can return the product to Mech-Mind for repair. Before returning, please contact Technical Support or the local sales agent and provide the details of the malfunction.

Disclaimer

It is strongly recommended to use the power supply and cables provided by Mech-Mind to ensure compliance with the safety and EMC standards. Mech-Mind shall not be liable for any issues caused by using the power supply and cables provided by a third party.

Mech-Mind and Mech-Mind series logos including logo are registered trademarks of Mech-Mind Robotics Technologies Ltd. and other related entities.

© Copyright 2024, Mech-Mind Robotics Technologies Ltd.

Unless authorized in writing in advance by Mech-Mind Robotics Technologies Ltd. (“Mech-Mind”), no part of the trademarks shall be used, reproduced, modified, transmitted, transcribed, or used or sold with other products as a bundle by any entity or individual in any form for any reason.

Any infringement of Mech-Mind’s trademark rights will be punished in accordance with the law.

Mech-Mind reserves all rights regarding this user manual. According to copyright laws, unless authorized by Mech-Mind, this user manual shall not be reproduced, modified, or issued in part or in its entirety by any entity or individual. Users who purchased and use the product may download, print, or copy the user manual for personal use or use inside the belonging organization. Unless authorized by Mech-Mind, the contents of the user manual may not be used for any other purposes.

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