Hardware manual

H-5914-8501-01-A

Void Scanner 150 (VS150) Mk3

 2014 Renishaw plc. All rights reserved.

Disclaimer

This document may not be copied or reproduced

in whole or in part, or transferred to any other
media or language, by any means, without the
prior written permission of Renishaw plc.

RENISHAW HAS MADE CONSIDERABLE

EFFORTS TO ENSURE THE CONTENT OF
THIS DOCUMENT IS CORRECT AT THE
DATE OF PUBLICATION BUT MAKES NO
WARRANTIES OR REPRESENTATIONS
REGARDING THE CONTENT. RENISHAW
EXCLUDES LIABILITY, HOWEVER ARISING,
FOR ANY INACCURACIES IN THIS
DOCUMENT.

The publication of material within this document

does not imply freedom from the patent rights of
Renishaw plc.
Trade marks
RENISHAW and the probe symbol used in the
RENISHAW logo are registered trade marks of
Renishaw plc in the United Kingdom and other
countries. apply innovation and names and
designations of other Renishaw products and
technologies are trade marks of Renishaw plc or
its subsidiaries.
All other brand names and product names used
in this document are trade names, trade marks,
or registered trade marks of their respective
owners.
Care of equipment
Renishaws VS150 laser system and associated
accessory products are precision products and
must therefore be treated with care.
Changes to Renishaw products
Renishaw plc reserves the right to improve,
change or modify its products and
documentation without incurring any obligation
to make changes to equipment previously sold
or distributed.

Renishaw part no: H-5914-8501-01-A

Issued:

August 2014

Safety
The VS150 is a ruggedised field instrument
designed to provide fast, efficient 3D laser
scans of underground voids where access is
limited, dangerous or prohibitive. The VS150
portable battery and wireless box is designed as
an optional product that complements the Void
Scanner Mk3 unit. It is essential that the unit
and all accessories are operated in accordance
with the instructions in this user manual and
it is the responsibility of the user to ensure
that, in the event of a failure on any part of the
Renishaw system, the motion system remains
safe.
In the case of motion systems with powers or
speeds capable of causing injury, it is essential
that appropriate safety protection measures
are included in the machine usage. Further
guidance can be found in the European
Standard EN292 Safety of machinery General
principles of design Risk assessment and risk
reduction.

Laser safety

FCC (USA only)

DO NOT STARE DIRECTLY

INTO THE BEAM

In accordance with BS EN 60825-1: 2007 and

US standards 21CFR 1040.10 and 1040.11
except for deviations pursuant to Laser Notice
no. 50, dated June 24, 2007, Void Scanner
(VS150) laser probes are Class 2M combined
visible and invisible laser products and safety
goggles are not required, since the blink
reaction of a human will protect the eye from
damage. Do not stare into the beam or shine
it into the eyes of others. It is safe to view a
diffuse-reflected beam. Do not dismantle the
unit in any way; doing so may expose laser
radiation in excess of Class 2M combined limits.
CAUTION LASER LIGHT IS BRIGHT AND
BLINDING DO NOT SHINE AT AIRCRAFT
OR VEHICLES AT ANY DISTANCE.
Safety information
The following symbol is used in this manual
wherever important safety information is
present.

Before proceeding with any electrical connection

or operation of the laser system, refer to the
general safety information throughout this
manual.

Information to the user (47CFR section

15.19)
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.

Information to user (47CFR section 15.21)

The user is cautioned that any changes or
modifications not expressly approved by
Renishaw plc or authorised representative
could void the users authority or operate the
equipment.
Information to the user (47CFR section
15.105)
This equipment has been tested and found
to comply with the limits of 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. The equipment generates, uses
and can radiate radio frequency energy and, if
not installed and used in accordance with this
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.

EC compliance

Renishaw plc declares that the VS150 system

and associated accessories comply with the
applicable directives, standards and regulations.
WEEE

The use of this symbol on Renishaw products

and/or accompanying documentation indicates
that the product should not be mixed with
general household waste upon disposal. It is
the responsibility of the end user to dispose
of this product at a designated collection point
for waste electrical and electronic equipment
(WEEE) to enable reuse or recycling. Correct
disposal of this product will help to save valuable
resources and prevent potential negative effects
on the environment. For more information,
please contact your local waste disposal service
or Renishaw distributor.

Contents
Customer information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1
1.1

Dear customer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1

1.2

Product warranty . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1

1.3

User manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2

2 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1
2.1

The VS150 Mk3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1

2.2 Applications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2

3

Laser safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1

3.1

VS150 laser module with red-dot pointer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1

Equipment description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1

4.1

VS150 probe . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-1

4.2

Interface box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-4

4.3

Data cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-5

4.4

Battery pack . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-6

4.5

Alternative external power connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-7

4.6

Main VS150 cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-8

4.7

Boom adaptor and spigot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-9

4.8 Prisms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-10

4.9

Transit case . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-11

4.10

WiFi box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-11

4.11 Boom . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-12

Contents

Hardware manual VS150

Maintenance and care of the VS150 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1

Contents

5.1 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1

5.2

ii

Preventative maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1

5.2.1

In use . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-1

5.2.2

In storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2

5.2.3

In transportation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2

5.2.4 General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5-2

6

Cavity Profiler VS software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-1

Operational guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1

7.1

System limitations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1

7.2

Quick-start guide for boom deployment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1

7.2.1 Preparation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-1
7.2.2

Connecting equipment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-2

7.2.3 Configuring Cavity Profiler VS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4

7.2.4

During the scan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4

7.2.5

After the scan . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-4

Troubleshooting guide . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8-1

9 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9-1
10

Declaration of conformity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10-1

Customer information

1.1

Dear customer

We congratulate you on the purchase of a VS150 system. You are now the owner of a high-quality
laser measurement system. The system is designed to be easy to operate, however, we would
ask you to take the time to carefully work through these operating instructions before using the
instrument and to keep the manual with the instrument at all times.
If your system requires servicing or calibration, or if there are questions arising beyond the scope of
this manual, contact Renishaws Service and Support Centre. Contact details can be found on the
back page of this manual.
Alternatively, for information on your local Renishaw-approved service centre, visit our website
www.renishaw.com.
To ensure best service, please make a note of the serial number, which can be found on the
instrument.

1.2

Product warranty

Unless otherwise specified, Renishaw plc warrants the equipment for a period of 12 months from
the date of delivery. This warranty is given subject to the following conditions:

Renishaw plc shall be under no liability in respect of any defects in the equipment arising from
any drawing, design or specification supplied or modification requested by the customer.

Renishaw plc shall be under no liability in respect of defects arising from wilful damage,
negligence, abnormal working conditions, failure to follow Renishaws instructions (whether oral
or in writing), misuse or alteration or repair of the equipment without Renishaws approval.

Software is not covered by this warranty.

Claims in respect of defective equipment must be intimated by notice in writing to Renishawplc

and the equipment must be retained by the customer pending written instructions from
Renishaw.

Following authorised return of the equipment, which must be made by the customer on freight
prepaid basis, Renishaw will examine the equipment and, if the claim is justified in Renishaws
opinion, will repair the defective equipment or will make replacement without charge. Renishaw
will have no further liability to the customer.

Customer
information

1-1

Hardware manual VS150

1.3

User manual

Customer
information

It is important that you read this manual carefully before using the instrument.

1-2

There are three manuals available with the VS150 system:

1.

This VS150 hardware manual;

2.

A Cavity Profiler VS software manual;

3.

A manual for the WiFi box which is an optional accessory.

This hardware manual describes the VS150 probe and all accessories supplied with a standard
system.
Section 7.2 gives a brief overview of a typical deployment. Some troubleshooting tips are also
offered in Section 8, which address some of the most common problems and questions that arise
from users of the VS150.
This manual has been compiled with care, however, should you discover any errors we would be
grateful if you could contact Renishaw directly.
Reproduction in whole or in part, including utilisation in machines capable of reproduction or
retrieval, without the express written permission of Renishaw plc is prohibited. Reverse engineering
is also prohibited.
The information in this document is subject to change without notice.

2 Introduction
The VS150 Mk3

Introduction

2.1

2-1

Figure 1: VS150 unit

The Void Scanner 150 (VS150) Mk3 is a ruggedised field instrument designed to produce fast,
efficient 3D laser scans of underground voids where access is limited, dangerous or prohibited.
The instrument can be mounted on booms, tripods or user-customised deployment devices. The
small, lightweight size of the VS150 gives flexibility in the nature of the deployment and means
that volumes and dimensions which have previously been guessed or estimated can be accurately
quantified.
The VS150s laser employs the time of flight technique to measure ranges to rock faces and other
objects without the need to place reflectors on the target. This allows measurements to be taken
from a safe distance. Two hundred such measurements are made every second, up to a range of
150 m.
Data from the internal pitch and roll sensors are collected in addition to the scan data. This means
that all points collected can be accurately geo-referenced and multiple scans can be stitched
together. The output data can then be plotted against design drawings or as-built data to help build
an invaluable picture of the project site.

Introduction

Hardware manual VS150

2-2

The VS150 is controlled remotely from a PC or handheld device running Renishaws

Cavity Profiler VS software which plots the data on-screen in real time. Cavity Profiler VS
allows the finished scan to be analysed, edited, transformed, combined with other datasets and
exported to third-party software.
The VS150 is just one of many laser systems that have been designed by Renishaw. Other
products such as the C-ALS (Cavity Scanner), Quarryman and Boretrak have all been proved
over many years of demanding use around the world. These products complement the VS150
and provide a wide range of advanced measurement solutions within the mining, quarrying and
geotechnical industries.

2.2 Applications
This unique instrument is suitable for a large number of surveying and measuring functions, some
of which are listed below:

Stope surveys

Quantifying levels in silos

Ground modelling for volumes and casting

Ore pass monitoring

Tunnel profiling

Underground volumetric surveys

Laser safety

The VS150 is supplied with the standard laser module described below which has an integrated
red-dot laser pointer.

3.1

VS150 laser module with red-dot pointer

The laser classification of the VS150 is a Class 2M laser product in compliance with the British and
European standards for the safety of laser products BS EN 60825-1: 2007.
Wavelength 650 nm
Peak power < 1mW CW

VISIBLE/INVISIBLE LASER
RADIATION. DO NOT STARE
INTO BEAM OR VIEW DIRECTLY
WITH OPTICAL INSTRUMENTS.
CLASS 2M LASER PRODUCT

Wavelength 905nm (typ)

Max pulse energy 1.06J
Pulse length 16ns (typ)
BS EN 60825-1: 2007

WARNING: Visible and invisible laser radiation. Do not stare into the beam.

CAUTION: Use of controls or adjustments or performance of procedures other than those

specified herein may result in hazardous radiation exposure.

WARNING: Opening the protective housing may result in

exposure to Class 3B radiation.

All the laser safety labels are located upon the laser module head.
Only qualified and trained persons should be assigned to operate the VS150 with red-dot laser
pointer. When not in use, the laser should be stored in a location where unauthorised personnel
cannot gain access.
We recommend that the instrument is not directly pointed at peoples eyes, especially if they are
using binoculars. Do not unnecessarily look into the transmitter lens of the VS150 laser module.

Laser safety

3-1

Laser safety

Hardware manual VS150

3-2

This page is intentionally left blank.

Equipment description

The sections below describe each individual element of a standard VS150 system.

4.1

VS150 probe

The VS150 instrument consists of a laser module held between two pivots within a yoke. The yoke
itself is held on the end of the horizontal mount.

Laser module

Vertical pivot

Yoke
Horizontal
pivot

Collar

Horizontal
housing
Main cable
connector

Figure 2: Component parts of the VS150 with bracket

The laser module houses the optical and electronic components that allow distance measurements
to be recorded to reflectorless targets up to 150 m from the instrument. The laser rotates vertically
within the yoke.
The two large (18 mm) windows within the laser module protect the transmitting and receiving
optics. The infrared measuring laser is fired through these optics. Its reflected light is then received
back into the instrument. A third, smaller window protects the visible red-dot laser pointer which can
be turned on to assist aiming of the VS150 distance measurement laser. The pathway of the visible
and infrared lasers is co-linear, but not co-axial.
The yoke which holds the laser module contains the vertical motor which drives the movement
of the laser module between the pillars of the yoke. It also houses the vertical encoder which
measures the angle through which the laser is rotated.
The horizontal housing contains the horizontal motor which drives the rotational movement of the
yoke. It also houses the horizontal encoder which measures the angle through which the yoke is
rotated.

Equipment
description

4-1

Equipment
description

Hardware manual VS150

4-2

Red-dot
pointer

Transmitting
optics

Receiving
optics

Figure 3: The VS150 optical head

The combination of the two axes of rotation gives the VS150 a view encompassing 360 horizontal
and 270 vertical rotations respectively. The yoke itself prevents the laser from viewing a 90 sector
of the vertical rotational sweep.
Both motors are protected with clutches. This means that if the unit is rotated
by hand or prevented from moving by an obstruction, the motors will not
be damaged. It is advisable, however, to minimise any manual movement of
the unit and to keep the instrument away from potential obstructions so the
motors may turn freely. Nevertheless, the possibility of finger or clothing
entrapment exists. Users should not obstruct the operation of the motors or
allow clothing to come into contact with the device.
The horizontal housing incorporates four threads which provide flexibility in the method of
deployment used and the mounting position of the prism. Two 5/8 in threads one on the base of
the unit and one on the underside of the collar allow the boom adaptor bracket to be attached to
the unit.
One other 5/8 in thread, together with an M6 1 thread, are located along the topside of the
horizontal housing and allow two alternative positions to mount a prism during horizontal boom
deployment. See Section 4.8, Prisms.
Power and data communications with the VS150 are via a 13 m VS150 data/power cable. The cable
connects to a 6-pin connector on the side of the probes horizontal housing. A 4-pin connector on
the other end of the cable connects directly to either an interface box or a WiFi box.

Equipment
description

Main cable
connected
in probe

4-3

Boom
adaptor
Figure 4: Connector port location with boom adaptor

5/8 in
thread for
prism or
adaptor
M6 1
thread for
prism

Figure 5: Threaded hole locations for choice of prism mounting location

Hardware manual VS150

Equipment
description

5/8 in
thread for
spigot

4-4

5/8 in
thread for
prism or
adaptor

Figure 6: Threaded hole locations on the underside of the VS150

used for the supplied adaptor or other mounting device

4.2

Interface box

The VS150 unit is supplied with an interface box. This box acts as a power/data splitter.

Connection
with VS150

Power input

Serial data
cable to PC

Figure 7: VS150 interface box

A 4-pin connector labelled Scanner which connects to the VS150 data/power cable. This cable
delivers power to the VS150 and also enables two-way data communications between the
VS150 and the controlling PC.

A 6-pin connector labelled Power which accepts power, either from the dc power cable with
crocodile clip battery connectors, or from an ac source with the power supply unit (PSU). See
Section 4.5, Alternative external power connections.

A 3-pin connector labelled Data which connects to the supplied serial data cable, which in turn
connects to the operating PC serial port to establish serial-based communications. See Section
4.3, Data cable.

The interface box is not required if you operate the VS150 with the supplied battery pack (see
Section 4.4, Battery pack) or if the optional WiFi box is used (see Section 4.10, WiFi box).

4.3

Data cable

The VS150 is operated and controlled via a PC or handheld device operating Cavity Profiler VS
software. A cable is supplied to connect the PC to the interface box or to the battery pack.

Figure 8: PC to interface box RS232 data cable

A 9-pin D-type connector interfaces with the serial communications port on the PC. A 3-pin bayonet
connector then fits to either the interface box Data port or the battery pack Data port.
A USB-serial adaptor is also supplied in case no serial port is available on the PC. If this adaptor
is used, the accompanying driver should be loaded before it is used: see the Cavity Profiler VS
software manual for details.
If using the optional WiFi box, data communications occur wirelessly, so the data cable is not
required.

Equipment
description

The interface box has three bayonet lock connectors as follows:

4-5

Hardware manual VS150

Equipment
description

4.4

Battery pack

The VS150 requires a 12 V dc power source to operate. A dedicated 12 V dc battery pack is

supplied with the system. The sealed lead acid battery pack is rated to 7 Ah, and will allow
continuous operation for up to 7 hours before recharging, depending upon the type of operations
conducted.

4-6

Figure 9: Battery pack and battery pack charger

The battery pack is supplied with two bayonet connectors: one with three pins and one with four
pins. The 4-pin connector is labelled Power/Scanner. This will accept the main VS150 cable which
runs from the VS150 probe. It is also the port to which the mains battery charger is attached when
recharging the battery. The 3-pin connector is labelled Data. This will accept the supplied serial
data cable which runs from the PC.
When the battery pack is used to operate the VS150, the interface box is not required (see
Figure10).
Cable to
VS150
Serial cable
to controlling
PC

Figure 10: Power and data connections using the battery pack

All batteries contain highly reactive, poisonous and corrosive chemicals,

which are hazardous if released due to physical damage. Should the battery
or battery charger approach end-of-life, become non-functional or damaged,
stop using it and procure a replacement unit from a Renishaw-approved
source.

4.5

Alternative external power connections

As well as the supplied battery pack, the VS150 may be powered from any 12 V dc battery using
the blue cable supplied. This cable incorporates two crocodile clips with which to connect to the
positive (red) and negative (black) terminals of the battery.
A mains power supply unit (PSU) is also supplied which is rated for use at 110 V ac 240 V ac. A
standard kettle cable connects the PSU to the mains socket.
Both the dc and mains cables are supplied with 6-pin connectors that connect to the Power port on
the interface box, or the Power/Scanner port on the battery pack.

Figure 11: Blue dc power cable and black mains PSU

Any voltage source connected to the VS150 and/or any accessory must be
from a regulated supply, and must be within the specified voltage range.
This includes car batteries as an acceptable stand-alone power source but
does not include a car battery connected to a powered vehicle, or a dc power
generator.

Equipment
description

A separate battery charger is supplied, which plugs directly into the mains and connects to the
battery pack through the 4-pin Power/Scanner connection. A fully discharged battery requires 12
to 16 hours to fully recharge from the mains supply. The battery charger is supplied with a selection
of plug types to fit mains sockets around the world. An LED on the charger will show an amber light
while charging and a green light when the battery is fully charged.

4-7

Hardware manual VS150

Equipment
description

4.6

Main VS150 cable

The VS150 is supplied with 13.5 m of toughened power/data cable. The cable incorporates a rightangled 6-pin bayonet connector which attaches to the VS150 probe.
At the other end of the cable is a 4-pin bayonet connector which attaches to the interface box, the
battery pack, or the WiFi box, depending on how the unit is being used.

4-8

Figure 12: Main cable

Boom adaptor and spigot

A boom adaptor is supplied to allow the VS150 probe to be deployed on various platforms, e.g. a
boom or standard survey tripod. The boom adaptor is in two parts: the main bracket and a separate
cylindrical spigot. See Figure 13.
The main bracket incorporates a brass screw which connects to the 5/8 in thread on the underside
of the VS150 probe. The accompanying spigot screws into the back of the boom adaptor and then
into the 5/8 in thread on the base of the VS150 horizontal housing.
To attach the boom adaptor to the VS150 probe, locate the probe on the bracket and screw the
spigot into the 5/8 in thread located on the base of the probe. Then screw the single brass screw on
the bracket into the 5/8 in thread on the underside of the probe.
The boom adaptor itself has a single standard 5/8 in female thread to enable the probe to be
mounted horizontally on a survey tripod or boom.
The spigot can be used to mount the VS150 on a number of third-party booms and customised
deployment devices.

Brass screw
for mounting
on VS150
Spigot
5/8-in thread
for mounting

Figure 13: Boom adaptor with spigot

Equipment
description

4.7

4-9

Hardware manual VS150

Equipment
description

4.8 Prisms

4-10

The VS150 is supplied with a 360 mini prism. This prism can be used to position and orientate the
scanner when the instrument is deployed on a boom or tripod. The prism has a 5/8 in thread at one
end and an M6 1 thread on the other end. These match with a 5/8 in thread on the collar of the
probe and an M6 thread on the end of the horizontal housing.
A surveyor can target the prism on the VS150 to establish the position of the unit. A second prism
may be attached to the far end of the deployment boom. Shooting to both prisms will then give the
azimuth of the deployment. Functionality in Cavity Profiler VS software can assist with these
calculations.
The position where the prism is mounted on the VS150 is configured in Cavity Profiler VS
software to ensure the coordinates of the instrument are correctly calculated. The origin of all angle
and range information from the unit is a position in the centre of the vertical axis of rotation inside
the laser module.
The prism constant of the supplied prism is 30 mm.

Figure 14: Choice of prism locations on the VS150

Transit case

The VS150 system is supplied in a rugged transit case designed to transport the instrument,
surface unit, boom adaptor, battery and cables. The case helps to protect the instrument from minor
shocks and from the environment. It is recommended that the transit case be used at all times
when transporting and storing the equipment.
Take care to dry the VS150 probe and accessories before packing them into the transit case.

Figure 15: System transit case

4.10

WiFi box

The WiFi box is an optional accessory that houses a rechargeable battery and wireless module.
The WiFi box negates the need for a separate battery pack, power cable, data cable and interface
box.
The WiFi box can be used with the VS150 to allow personnel to retreat further from the scanner.
The unit may also be attached to the probe boom that is extended into the unsafe area, or placed
on an unmanned vehicle that is remotely driven into the unsafe area. You can then carry out
scanning operations without having to route a data cable or power cable to the scan site. You can
be situated in a safe area nearby, receiving scan data wirelessly, directly to your laptop.
The WiFi box connects to the VS150 probe via the standard 13.5 m power/data cable, or via the
1.5 m power/data cable supplied with the box. Connection to the PC is then via wireless data
communications.
A separate WiFi box manual is available which contains set-up and operational instructions
together with full hardware specifications.

Equipment
description

4.9

4-11

Hardware manual VS150

Equipment
description

4.11 Boom

4-12

The VS150 is designed to be deployed on a boom for surveys of stopes and inaccessible areas.
Renishaw can offer a standard boom as an optional accessory with the unit. Alternatively, many
users design their own boom or other deployment device to suit their specific operational and site
requirements.
To assist the design and customisation of such a boom, the relevant drawings and dimensions
of the probe and the boom adaptor are reproduced opposite. Further information is available on
request.

Equipment
description
4-13

Figure 16: VS150 probe and boom adaptor dimensions

Equipment
description

Hardware manual VS150

4-14

This page is intentionally left blank.

Maintenance and care of the VS150

5.1 General
Any attempt to dismantle or repair a VS150 system and accessories by unauthorised personnel can
be hazardous and costly. Maintenance carried out by the operator, therefore, should be restricted to
the cleaning and inspection of external surfaces, lenses and operating controls.

5.2

Preventative maintenance

Preventative maintenance to be carried out by the operator should include the following:
5.2.1

In use

Avoid directing the VS150 probe towards the sun or other high-power infrared light sources.
Avoid mechanical shock.
Avoid manually moving the scan head, either horizontally or vertically, as this can strain the
mechanics within the probe.
Clean and dry the equipment before, during and after use.
The battery pack supplied will benefit from being kept fully charged and maintaining steady use.
Recharging the battery after a short period of use will not affect its performance or life expectancy.
Ensure the tripod, boom or other deployment system is securely set up and on stable ground
to avoid the instrument being knocked over or tipped by strong winds. When moving from one
instrument set-up to another, always detach the VS150 probe from the tripod or boom and carry the
two items separately.
Do not use paint solvents to clean the instrument. You may use HPLC-grade
(>99.8%) acetone in combination with lint-free cotton wool buds or wipes to
clean the lenses and RDP window of the laser module. You may apply a mild
detergent using a cloth to clean the metalwork.
Repeated exposure to acetone may cause skin dryness or cracking. It is
recommended that personal protective equipment (PPE) such as eye-shields
and/or face-shields as well as protective gloves is used when dispensing and
using HPLC-grade acetone.

Maintenance and
care of the VS150

5-1

Hardware manual VS150

Maintenance and
care of the VS150

5.2.2

5-2

In storage

Dry the system thoroughly before storing.

Correctly pack the equipment in the protective containers and wraps provided.
If the instrument remains unused for several weeks, it is advisable to remove power sources from
the instrument. Store within the environmental temperature limits of 25 C to +70 C.
5.2.3

In transportation

Correctly pack the equipment in the supplied transit case for transportation. Do not allow the
equipment to slide around inside transport vehicles or containers.
5.2.4 General
Carry out regular functional testing of the system. Detect and report damage, malfunctions or poor
performance to a Renishaw-approved service centre.
Arrange a yearly calibration. Contact Renishaw or your local service and support centre for details.

Cavity Profiler VS software

The control and processing software for the VS150 is known as Cavity Profiler VS.
Cavity Profiler VS enables the VS150 to be controlled remotely during field operations. It allows
real-time viewing of collected data, analysis and editing of all datasets, the integration of further
scans and the exporting of data to third-party packages.
Full details of the software are outlined in the accompanying Cavity Profiler VS manual.

Cavity Profiler VS
software

6-1

Cavity Profiler VS
software

Hardware manual VS150

6-2

This page is intentionally left blank.

Operational guidelines

7.1

System limitations

The VS150 is water-resistant (IP65) but should not be submerged.

The pitch and roll sensors are incorporated into the VS150 to monitor the position of the instrument
during its deployment and to correct the data when the unit is inclined during a scan. The internal
sensors measure the inclination and roll of the VS150. When the instrument is within 1 of being
vertical, the roll value becomes impossible to calculate due to the sensors position in relation to
gravity. In this case, the roll value will be forced to 0. Scans will still be accurately levelled, but the
orientation of the scan will be difficult to measure correctly. For this reason, we recommend that,
where possible, the instrument should be used at inclinations of greater than 1.
Readings should not be taken if the probe itself is moving, swinging or unstable in any way. If
the probe does move during a scan, no account of this is taken in the collected data. A warning
message will appear once the scan is complete, noting that the VS150 has moved. You should then
make a judgement as to whether the scan needs to be restarted.
The laser ranges up to a limit of 150 m to 90% reflective material. However, the maximum
achievable range at any given time or location will depend on a number of factors. The following
factors will limit the range to some degree and in some circumstances may prevent any readings
from being taken:

Dark, light-absorbent surfaces such as coal

Very dusty environments

Wet, slick, shiny or very smooth surfaces

An acute angle between the laser and the surface

The minimum calibrated range of the laser is 0.5 m. At shorter distances, readings may still be
recorded, but their precision will be severely diminished.

7.2

Quick-start guide for boom deployment

The VS150 can be used for a wide variety of jobs in a variety of applications. However, the following
section gives the step-by-step routine for a simple stope survey with a boom-mounted VS150 and
should be regarded as a template for any simple operations with the unit.
7.2.1 Preparation
Prior to deployment of the VS150, check the area from which the deployment will take place.
Consider the following:

Accessibility for personnel and vehicles

Operational
guidelines

7-1

Operational
guidelines

Hardware manual VS150

7-2

Available space to unfold the boom and lay out the cable

Potential interference from passing traffic that may disturb the equipment mid-scan

Suitable location for setting up the PC

Power supply: supplied battery pack, other 12 V battery, WiFi box or ac power

Size of void: can this be scanned from one location? Are all areas of interest visible and in
range from the proposed instrument location?

Atmospheric conditions: thick dust clouds, mist or high humidity, very bright lights pointing
straight at the proposed laser location

Convenient point to act as a rest for the boom

Convenient way of stabilising and securing the boom

Suitable location to operate the controlling PC

7.2.2

Connecting equipment

If necessary, attach the boom adaptor and spigot to the VS150.

Assemble the boom.
Attach the VS150 securely to the boom. Attach the prism to one of the prism mount locations on the
instrument.
Connect the main cable to the VS150.
Deploy the boom into the void, ensuring that the instruments sight-lines within the void are
optimised and that the instrument is as far clear of the sidewalls as possible. Unspool the cable
along the boom.
Attach a second prism to the length of the boom. The azimuth that defines the orientation of the
survey will be that from the prism on the boom to the prism on the instrument.
Use a total station to shoot in both prisms using the working mine coordinate system.
Note that the prism on the boom should be aligned with the prism on the probe. Ideally, the probe
will be upright so that the attached prism is pointing directly upwards. The prism held on the end
of the boom should then also be directly on top of the boom. Any misalignment will cause the
calculation of azimuth to be incorrect.

Azimuth of boom taken

from observations to
prisms

Operational
guidelines

Boom

7-3

Prism on VS150

Prism on boom

Void

Tunnel

Figure 17: VS150 on boom viewed from above

Prism on boom

Boom

Prism on VS150

Tunnel

Void

Figure 18: VS150 on boom viewed from the side

If using the supplied battery pack, connect the main cable to the Power/Scanner port on the
battery. Connect the data cable to the Data port on the battery.
If using an alternative battery, connect the main cable to the Scanner port on the junction box.
Connect the data cable to the Data port on the junction box. Connect the power source to the
Power port on the junction box.
Connect the data cable to the serial port or USB-serial adaptor on the PC.
If using the WiFi box, connect the main cable to the Scanner port and turn the unit on. Establish a
connection between the WiFi box and the PC.
When powered up, the VS150s horizontal and vertical motors will turn and the laser head will park
in its home position.
Start the Cavity Profiler VS software.

Hardware manual VS150

Operational
guidelines

7.2.3

7-4

Configuring Cavity Profiler VS

In Cavity Profiler VS, create a new project. Enter a name for the project, then open the Site
manager window and add a station position.
If known at this stage, enter the prism coordinates, azimuth and prism position (if they are not
known at this stage, they can be entered once the scan is complete). Click Accept to connect to
the VS150 and enter Scanning mode.
Select the density of scan required by entering an increment. Give the scan a name as required,
then select the pattern of scan to be used most commonly Horizontal or Vertical.
7.2.4

During the scan

The scan will now progress without further user intervention. During the scan, the Scanning mode
window will display an update of the amount of scan time remaining and the status of the power
supply.
In the graphics window, the scan can be monitored in real time. Any obstructions or problems will
be immediately apparent.
The operator should take care to ensure that the boom and the VS150 are not moved during the
scan. Any movement will cause the scan to be distorted and inaccurate.
7.2.5

After the scan

On completion of the scan, the VS150 will park and the Cavity Profiler VS software will display
the text report.
A warning message will indicate if any movement was detected during the scan. If so, the operator
will need to judge whether another scan will be required.
The scan data displayed in the graphics window will allow a quick assessment of the quality of
the scan and of the amount of data collected. If required, further scans can now be begun using a
different scan increment or pattern.
If the coordinates of the prism and azimuth of the deployment were not entered prior to the scan,
these can be entered now. In the project tree, click the station and then the Display details button
to open the Edit Station position window. Edit the information as required.
If further scans are required to fill in gaps in the point cloud, these can be carried out in another
Cavity Profiler VS project. Ensure that the prism positions and azimuth that are used for each
scan are accurately located on the same coordinate system. The scans should then fit together
when exported to a third-party package.
It is recommended that the Cavity Profiler VS project be backed up onto a USB drive before the
PC is closed down.

Troubleshooting guide

The following list provides a guide to basic faults or problems which may occur during day-to-day
operation of the VS150, along with their possible causes and a recommended course of action
to take. It is strongly advised that, should any fault occur which is not listed, or the recommended
action not rectify the fault, contact should be made with Renishaw plc, or the nearest agent or
service centre.
Instrument does not power up when connected to power
Cause

Remedy

Reference in manual

Cables not connected

Ensure all connections are in

good condition and plugged in.

Section 4, Equipment
description

Battery not charged

Ensure the battery is charged

prior to scanning operations.

Section 4.4, Battery pack

Main cable or power cables

damaged

Check all pins, connectors and

cables for signs of damage.

Cannot connect to PC
Cause

Remedy

Reference in manual

Data cable not connected

Ensure all connections are in

good condition and plugged in.

Section 4, Equipment
description

USB-serial adaptor not

configured

Load the appropriate driver as

supplied with the VS150 system.

See Cavity Profiler VS

software manual

Wrong COM port selected

Ensure the correct PC COM port

is selected when attempting to
connect to the probe.

See Cavity Profiler VS

software manual

No points being displayed during a scan

Cause

Remedy

Reference in manual

Zoomed in or out too far in

graphics window

Use the mouse wheel or shortcut

keys to zoom in or out.

See Cavity Profiler VS

software manual

Laser windows are dirty

Clean the laser windows

carefully.

Section 5.2, Preventative

maintenance

Laser electronics faulty

Contact Renishaw or your local

service centre to arrange for
service or repair.

Section 1, Customer
information

Troubleshooting
guide

8-1

Hardware manual VS150

Troubleshooting
guide

Scan incorrectly tilted

8-2

Cause

Remedy

Reference in manual

Pitch-and-roll sensors out of

calibration

Check the unit by scanning a flat,

square room. Check the floor is level.
If not, contact Renishaw or your local
service centre to arrange recalibration.

Section 1, Customer
information

VS150 moved during scan

Check the text report for any indication

that pitch and roll have changed during
the scan. Try rescanning the same
location. Ensure the unit is stable
throughout the scan.

See Cavity Profiler VS

software manual

Mk2 VS150 unit has

limitations with its pitch and
roll sensors

With Mk2 VS150 units, try to keep

the roll of the unit to a minimum,
especially when deployed at
inclinations close to 45.

Scan incorrectly orientated

Cause

Remedy

Reference in manual

Azimuth calculated
incorrectly

Measure the azimuth from a target on

the rear of the boom towards the target
on the VS150.

Section 7.2.2,
Connecting equipment

Boom moved between scan

and azimuth observations

The boom and the VS150 must be

stationary while the scan is taking
place and observations are made to
prisms.

Holes in the point cloud

Cause

Remedy

Reference in manual

Standing water or very

unreflective surfaces such
as coal are present.

None. Laser ranging to wet or very

dark surfaces is unpredictable.

Section 7.1, System

limitations

Some surfaces in the void

are beyond the range of the
laser

Redeploy the VS150 from another

location if possible and combine the
scans to overcome range limitations.

Section 7.1, System

limitations

Line-of-sight blocked by
rocks, pillars, debris etc.

Redeploy the VS150 from another

location if possible and combine the
scans to overcome shadowing.

Section 7, Operational
guidelines

Cause

Remedy

Reference in manual

Dust or moisture in the void

is interfering with the laser

Switch on the last-hit option.

See Cavity Profiler VS

software manual

Standing water, running

water or wet surfaces
present in the void.

None. Laser ranging to wet surfaces

is unpredictable.

Section 7.1, System

limitations

Point cloud spherical either wholly or in part

Cause

Remedy

Reference in manual

Thick dust or moisture

clouds in the void are
interfering with the laser

Switch on the last-hit option. If the

problem persists, wait for dust or
moisture to clear, if feasible.

See Cavity Profiler VS

software manual

Troubleshooting
guide

Point cloud is ill-defined and fuzzy

8-3

Troubleshooting
guide

Hardware manual VS150

8-4

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Information contained here is believed to be accurate. However, no responsibility is assumed by

Renishaw for its use. Technical information is subject to change without notice.
Laser module
Laser classification
(BS EN 60825-1: 2007) (21 CFR 1040.10 and
1040.11 except for deviations pursuant to Laser
No. 50, dated 24 June 2007)
Infrared laser module
Type
Wavelength (typ)
Maximum energy per pulse
Beam divergence
Resolution
Minimum range
Maximum range to a passive target**
Lens aperture
Visible laser module
Type
Wavelength (typ)
Maximum power
Lens aperture size and location
Angle measurement
Type
Accuracy
Resolution
Range

Class 2M*

InGaAs laser diode

905 nm
1.06 J
2.76 0.18 mrads
1 cm
0.5 m
Up to 150 m
18 mm location at front of module
InGaAs laser diode
650 nm
<0.6 mW
3 mm location at front of module
Opto-electronic encoder
0.2
0.1

Vertical
Horizontal

Motion
Pitch-and-roll sensors
Type
Pitch-and-roll accuracy
Pitch-and-roll range
Physical data
Construction
Water and dust resistant
Operational temperature range
Transit case dimensions

+135 to 135
0 to 360
Servo-driven gear systems with manual
clutches
Accelerometer based
0.2
360
Machined aluminium and stainless steel
IP65
10 C to 45 C
620 mm 480 mm 240 mm

Specifications

9 Specifications

9-1

Specifications

Hardware manual VS150

9-2

Probe weight
System in transit case weight
External power input
Power consumption during scan

5 kg
23 kg
10 to 15 V dc and 110 to 240V ac
Approx 0.8 A

* Viewing laser output with optical instruments designed for use at a distance (e.g. binoculars)
may pose an eye hazard.
** Max measuring ranges are recorded against Kodak white card (90% reflectivity).

Declaration of conformity

The Void Scanner 150 (VS150) Mk3 system shall meet or exceed the requirements of the following
technical standards:
BS EN 61326-1: 2013

Electrical equipment for measurement, control and laboratory use

EMC requirements Part 1: General requirements

Immunity to Table 2 industrial locations

Emissions to Class A industrial locations

BS EN 60825-1: 2007

Safety of laser products Part 1: Equipment classification and requirements

BS EN ISO 12100: 2010

Safety of machinery. General principles of design. Risk assessment and risk reduction

BS EN 60068-2-64: 2008

Environmental testing. Test methods. Test Fh. Vibration, broadband random (digital control) and
guidance

BS EN 60068-2-31: 2008

Environmental testing. Tests Test Ec: Rough handling shocks, primarily for equipment-type
specimens

The Void Scanner 150 (VS150) Mk 3 Portable Battery and WiFi Unit shall meet or exceed the
requirements of the following technical standards:
BS EN 61326-1: 2013

Electrical equipment for measurement, control and laboratory use

EMC requirements Part 1: General requirements

Immunity to Table 2 industrial locations

Emissions to Class A industrial locations

BS EN 61010: 2010

Safety requirements for electrical equipment for measurement, control and laboratory use
Part 1: General requirements

Declaration of
Troubleshooting
guide
conformity

10

10-1

Declaration of
Troubleshooting
guide
conformity

Hardware manual VS150

10-2

This page is intentionally left blank.

Renishaw plc
Redwood House, Northminster
Business Park, York, North
Yorkshire, YO26 6QR, UK

T +44 (0)1904 736736

F +44 (0)1904 736701
E spatialmeasurement@renishaw.com
www.renishaw.com

For worldwide contact details,

please visit our main website at
www.renishaw.com/contact

*H-5914-8501-01*