LMI Technologies Gocator 3210 User Manual

Snapshot sensors

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Gocator Snapshot Sensors

Gocator 3210 & 3506

USER MANUAL

Firmware version: 4.7.x.xx

Document revision: C

Table of Contents

Summary of Contents for LMI Technologies Gocator 3210

Page 1 Gocator Snapshot Sensors Gocator 3210 & 3506 USER MANUAL Firmware version: 4.7.x.xx Document revision: C...
Page 2: Copyright
LMI Technologies, Inc. Trademarks and Restrictions Gocator™ is a registered trademark of LMI Technologies, Inc. Any other company or product names mentioned herein may be trademarks of their respective owners. Information contained within this manual is subject to change.
Page 3: Table Of Contents
Table of Contents Measurement Range Stereo Correlation vs. Independent Triangulation Copyright 3D Data Output Table of Contents Coordinate Systems Introduction Sensor Coordinates Gocator Overview System Coordinates Safety and Maintenance Resampling Electrical Safety Data Generation and Processing Handling, Cleaning, and Maintenance Part Detection Environment and Lighting Sectioning Getting Started...
Page 4 Security Video Mode Maintenance Exposure Information Sensor Backups and Factory Reset Exposures Firmware Upgrade Overexposure and Underexposure Support Surface Mode Support Files Height Map Color Scale Manual Access Sections Software Development Kit Region Definition Scan Setup and Alignment Intensity Output Scan Page Overview Models Scan Modes...
Page 5 Changing a Measurement ID Position Duplicating a Tool Measurements, Features, and Settingss 240 Removing a Tool Stud Reordering Tools Measurements, Features, and Settings Profile Measurement Measurement Region Area Volume Measurements, Features, and Settings Script Bounding Box Feature Measurement Measurements, Features, and Settings Dimension Circle Intersect...
Page 6 Calculating Potential Maximum Frame Rate Rotational Protocol Output SurfaceSections Remote Operation ProfileGeneration Gocator Accelerator FixedLength System Requirements VariableLength Benefits Rotational Installation PartDetection Gocator Accelerator Utility EdgeFiltering Dashboard and Health Indicators PartMatching SDK Application Integration Edge Gocator Device Files BoundingBox Live Files Ellipse Log File Replay...
Page 7 ProfileRoundCorner Get Address ProfileStrip Set Address Script Get System Info V2 SurfaceBoundingBox Get System Info SurfaceCsHole Get States SurfaceDimension Log In/Out Tool Change Password SurfaceEllipse Set Buddy SurfaceHole List Files SurfaceOpening Copy File SurfacePlane Read File SurfacePosition Write File SurfaceStud Delete File SurfaceVolume User Storage Used...
Page 8 Restore Factory Edge Match Result Get Recording Enabled Bounding Box Match Result Set Recording Enabled Ellipse Match Result Clear Replay Data Event Get Playback Source Feature Point Set Playback Source Feature Line Simulate Health Results Seek Playback Modbus Protocol Step Playback Concepts Playback Position Messages...
Page 9 Clear Alignment Supported Sensors Stationary Alignment Typical Workflow Set Runtime Variables Installation and Class Reference Get Runtime Variables Required Tools Data Channel Getting Started with the Example Code Result Building the Sample Code Value Tool Registration Decision Tool Definitions Health Channel Entry Functions Health Parameter Configurations...
Page 10 Using the Mountains Map Transfer Tool Troubleshooting Specifications Sensors Gocator 3210 Sensor Gocator 3210 Gocator 3506 Sensor Gocator 3506 Estimated Scan Rates Sensor Connectors Gocator Power/LAN Connector Grounding Shield Power Safety Input Gocator I/O Connector Grounding Shield Digital Outputs Inverting Outputs...
Page 11: Introduction
Gocator. Finally, the documentation describes the Gocator emulator and accelerator applications. The documentation applies to the following sensors: Gocator 3210 Gocator 3506 Notational Conventions This documentation uses the following notational conventions: Follow these safety guidelines to avoid potential injury or property damage.
Page 12: Gocator Overview
Gocator Overview Gocator snapshot LED projection sensors are designed for 3D measurement and control applications. Gocator sensors are configured using a web browser and can be connected to a variety of input and output devices. Gocator sensors can also be configured using the provided development kits. Gocator Snapshot Sensors: User Manual...
Page 13: Safety And Maintenance
Safety and Maintenance The following sections describe the safe use and maintenance of Gocator sensors. Electrical Safety Failure to follow the guidelines described in this section may result in electrical shock or equipment damage. Sensors should be connected to earth ground All sensors should be connected to earth ground through their housing.
Page 14: Environment And Lighting
operations. Environment and Lighting Avoid strong ambient light sources The imager used in this product is highly sensitive to ambient light hence stray light may have adverse effects on measurement. Do not operate this device near windows or lighting fixtures that could influence measurement.
Page 15: Getting Started
Getting Started The following sections provide system and hardware overviews, in addition to installation and setup procedures. Gocator Snapshot Sensors: User Manual...
Page 16: Hardware Overview
Hardware Overview The following sections describe Gocator and its associated hardware. Gocator Sensor Gocator 3110 Item Description Camera Observes light reflected from target surfaces. Light Emitter Emits structured light for 3D data acquisition. I/O Connector Accepts input/output signals. Power/LAN Connector Connects to 1000 Mbit/s Ethernet network. Power Indicator Illuminates when power is applied (blue).
Page 17: Master 400 / 800
The maximum cordset length is 60 m. For pinout details, Gocator I/O Connector on page 532 and Gocator Power/LAN Connector on page 530. See Accessories on page 553 for cordset lengths and part numbers. Contact LMI for information on creating cordsets with customized lengths and connector orientations. Master 100 Item Description...
Page 18 Master 400 / 800 / 1200 / 2400 The Master 400, 800, 1200, and 2400 network controllers let you connect more than two sensors: Master 400: accepts four sensors Master 800 accepts eight sensors Master 1200: accepts twelve sensors Master 2400: accepts twenty-four sensors Master 400 and 800 Getting Started •...
Page 19: Master 810 / 2410
Master 1200 and 2400 Item Description Sensor Ports Master connection for Gocator sensors (no specific order required). Ground Connection Earth ground connection point. Power and Safety Power and laser safety connection. Encoder Accepts encoder signal. Input Accepts digital input. For pinout details for Master 400 or 800, see Master 400/800 on page 538. For pinout details for Master 1200 or 2400, see Master 1200/2400 on page 550.
Page 20 Master 810 Master 2410 Item Description Sensor Ports Master connection for Gocator sensors (no specific order required). Power and Safety Power and laser safety connection. Encoder Accepts encoder signal. Input Accepts digital input. DIP Switches Configures the Master (for example, allowing the device to work with faster encoders). For information on configuring Master 810 and 2410 using the DIP switches, see Configuring Master 810 on page 27.
Page 21: System Overview
System Overview Gocator sensors can be installed and used in scenarios where the target to be scanned is static in position relative to the sensor for the short duration of camera exposure. Sensors can be connected as standalone devices or in a multi-sensor system. Standalone System Standalone systems are typically used when only a single Gocator sensorscanner is required.
Page 22 Getting Started • 22 Gocator Snapshot Sensors: User Manual...
Page 23: Installation
Installation The following sections provide grounding, mounting, and orientation information. Mounting Sensors should be mounted using a model-dependent number of screws. Some models also provide the option to mount using bolts in through-body holes. Refer to the dimension drawings of the sensors in Specifications on page 519 for the appropriate screw diameter, pitch, and length, and bolt hole diameter.
Page 24: Gocator
Gocator Gocators should be grounded to the earth/chassis through their housings and through the grounding shield of the Power I/O cordset. Gocator sensors have been designed to provide adequate grounding through the use of M5 x 0.8 pitch mounting screws. Always check grounding with a multi-meter to ensure electrical continuity between the mounting frame and the Gocator's connectors.
Page 25: Master Network Controllers
Master Network Controllers The rack mount brackets provided with all Masters are designed to provide adequate grounding through the use of star washers. Always check grounding with a multi-meter by ensuring electrical continuity between the mounting frame and RJ45 connectors on the front. When using the rack mount brackets, you must connect the frame or electrical cabinet to which the Master is mounted to earth ground.
Page 26: Installing Din Rail Clips: Master 810 Or 2410
Installing DIN Rail Clips: Master 810 or 2410 You can mount the Master 810 and 2410 using the included DIN rail mounting clips with M4x8 flat socket cap screws. The following DIN rail clips (DINM12-RC) are included: To install the DIN rail clips: Remove the 1U rack mount brackets.
Page 27: Configuring Master 810
Ensure that there is enough clearance around the Master for cabling. Configuring Master 810 If you are using Master 810 with an encoder that runs at a quadrature frequency higher than 300 kHz, you must use the device's divider DIP switches to limit the incoming frequency to 300 kHz. Master 810 supports up to a maximum incoming encoder quadrature frequency of 6.5 MHz.
Page 28: Encoder Quadrature Frequency
Divider Switch 1 Switch 2 Switch 3 The divider works on debounced encoder signals. For more information, see Setting the Debounce Period below. Encoder Quadrature Frequency Encoder quadrature frequency is defined as illustrated in the following diagram. It is the frequency of encoder ticks.
Page 29 Debounce period Switch 4 short debounce long debounce Getting Started • 29 Gocator Snapshot Sensors: User Manual...
Page 30: Network Setup
Network Setup The following sections provide procedures for client PC and Gocator network setup. DHCP is not recommended for Gocator sensors. If you choose to use DHCP, the DHCP server should try to preserve IP addresses. Ideally, you should use static IP address assignment (by MAC address) to do this.
Page 31 Change the client PC's network settings. Windows 7 a. Open the Control Panel, select Network and Sharing Center, and then click Change Adapter Settings. b. Right-click the network connection you want to modify, and then click Properties. c. On the Networking tab, click Internet Protocol Version 4 (TCP/IPv4), and then click Properties.
Page 32: Gocator Setup
Gocator Setup The Gocator is shipped with a default configuration that will produce 3D data for most targets. The following sections describe how to set up a standalone sensor system and a multi-sensor system for operations. After you have completed the setup, 3D data can be acquired to verify basic sensor operation.
Page 33: Running A Multi-Sensor System
Move a target into the LED light pattern. If a target object is within the sensor's measurement range, the data viewer will display the shape of the target, and the sensor's range indicator will illuminate. If you cannot see the laser, or if a 3D heightmap is not displayed in the Data Viewer, see Troubleshooting on page 517.
Page 34 Power up the new sensor. The power LED (blue) of the new sensor should turn on immediately. Enter the new sensor's default IP address (192.168.1.10) in a web browser. The Gocator interface loads. Go to the Manage page. Modify the IP address in the Networking category and click the Save button.
Page 35: Next Steps
Next Steps After you complete the steps in this section, the Gocator measurement system is ready to be configured for an application using the software interface. The interface is explained in the following sections: Management and Maintenance (page 62) Contains settings for sensor system layout, network, motion and alignment, handling jobs, and sensor maintenance.
Page 36: How Gocator Works
How Gocator Works The following sections provide an overview of how Gocator acquires and produces data, detects and measures parts, and controls devices such as PLCs. Some of these concepts are important for understanding how you should mount sensors and configure settings such as active area. You can use the Gocator Accelerator to speed up processing of data.
Page 37 These are the steps of the acquisition of a 3D point cloud: Step 1: Light pattern projected on target Step 2: Reflected light captured by two cameras How Gocator Works • 37 Gocator Snapshot Sensors: User Manual...
Page 38: Clearance Distance, Field Of View And
Step 3: Use stereo correlation or independent triangulation to generate 3D point cloud Gocator sensors are always pre-calibrated to deliver 3D data in engineering units throughout their measurement range. Clearance Distance, Field of View and Measurement Range Clearance distance (CD), field of view (FOV), and measurement range (MR) are important concepts for understanding the setup of a Gocator sensor and for understanding results.
Page 39 cameras in order to generate a 3D point. Independent triangulation may improve performance on targets with complicated shapes that can cause occlusion, but it relies on the sensor's internal components being fully stable. The Reduce Occlusion setting determines whether 3D data is acquired by using stereo correlation or both stereo correlation and independent triangulation.
Page 40: 3D Data Output
3D Data Output Gocator measures the shape of the object calculated from either dual triangulation or stereo correlation. The Gocator reports a series of 3D coordinates from the surface of the target in the sensor's field of view. Coordinate Systems Gocator 3x00 sensors use Cartesian left-hand notation for defining 3D coordinates. The Z axis represents the sensor's measurement range (MR), where the values increase toward the sensor.
Page 41: System Coordinates
System Coordinates Aligning sensors adjusts the coordinate system in relation to sensor coordinates using transformations (offsets along the axes and rotations around the axes). Alignment is used with a single sensor to compensate for mounting misalignment and to set a zero reference, such as a conveyor belt surface.
Page 42: Resampling
Target Alignment Explanation Angle Y Angle Z When applying the transformations, the object is first rotated around X, then Y, and then Z, and then the offsets are applied. The adjustments resulting from alignment are called transformations and are displayed in Sensor panel on the Scan page.
Page 43: Part Detection
Part detection Sectioning Part Detection Gocator can isolate discrete parts on a generated surface into separate scans representing parts. Gocator can then perform measurements on these isolated parts. For more information on part detection, see Part Detection on page 98. Sectioning In Surface mode, Gocator can also extract a profile from a surface or part using a line you define on that surface or part.
Page 44: Output And Digital Tracking
which are then sent over the enabled output channels to control devices such as PLCs, which can in turn control ejection or sorting mechanisms. (For more information on measurements and configuring measurements, see Measurement on page 133.) You can create custom measurement tools that run your own algorithms. For more information, see GDK on page 480.
Page 45: Gocator Web Interface
Gocator Web Interface The following sections describe the Gocator web interface. Unblocking Flash The current version of the Gocator web interface uses the Adobe Flash software platform. Many browsers currently block Adobe Flash by default due to new web standards and security concerns. If you have issues running the Gocator web interface in your browser, the instructions provided below should help you get up and running.
Page 46: Internet Explorer
As the Gocator interface is loading, click the Plugins Blocked icon ( ) to the right of the address bar and click "Allow Flash content this time." You must perform this step each time you launch the Gocator interface in Google Chrome. Internet Explorer Use the following steps to unblock Flash in Internet Explorer 11.
Page 47: Firefox
If you don't see Shockwave Flash Object in the list, you may need to choose All add-ons in the Show drop- down. In the dialog, click Enable. Firefox Use the following steps to unblock Flash in Firefox. To unblock Flash in Firefox: In Firefox, click the menu icon ( ) and then click the Add-ons icon from the drop-down menu.
Page 48: Microsoft Edge
In the Add-ons Manager, click the Plugins category to the left and choose Always Activate next to Shockwave Flash. Microsoft Edge Use the following steps to unblock Flash in Microsoft Edge. To unblock Flash in Microsoft Edge: In Microsoft Edge, click the menu icon ( ) and then choose the Settings item from the drop-down menu. Gocator Web Interface •...
Page 49 In the Settings drop-down, scroll down and click View advanced settings. Under Advanced settings, set Use Adobe Flash Player to On. Gocator Web Interface • 49 Gocator Snapshot Sensors: User Manual...
Page 50: User Interface Overview
User Interface Overview Gocator sensors are configured by connecting to the Main sensor with a web browser. The Gocator web interface is shown below. Gocator Web Interface • 50 Gocator Snapshot Sensors: User Manual...
Page 51: Toolbar
Element Description Manage page Contains settings for sensor system layout, network, motion and alignment, handling jobs, and sensor maintenance. See Management and Maintenance on page 62. Scan page Contains settings for scan mode, trigger source, detailed sensor configuration, and performing alignment. See Scan Setup and Alignment on page 74.
Page 52: Creating, Saving And Loading Jobs (Settings)
Creating, Saving and Loading Jobs (Settings) A Gocator can store several hundred jobs. Being able to switch between jobs is useful when a Gocator is used with different constraints during separate production runs. For example, width decision minimum and maximum values might allow greater variation during one production run of a part, but might allow less variation during another production run, depending on the desired grade of the part.
Page 53: Recording, Playback, And Measurement Simulation
The job is saved to sensor storage. Saving a job automatically sets it as the default, that is, the job loaded when then sensor is restarted. To load (switch) jobs: Select an existing file name in the job drop-down list. The job is activated.
Page 54 again to disable recording). Press the Snapshot button or Start button. The Snapshot button records a single frame. The Start button will run the sensor continuously and all frames will be recorded, up to available memory. When the memory limit is reached, the oldest data will be discarded.
Page 55: Recording Filtering
Use the Replay Slider, Step Forward, Step Back, or Play button to simulate measurements. Step or play through recorded data to execute the measurement tools on the recording. Individual measurement values can be viewed directly in the data viewer. Statistics on the measurements that have been simulated can be viewed in the Dashboard page;...
Page 56: Downloading, Uploading, And Exporting Replay Data
Setting Description Any Data At/Above Threshold : Gocator records a frame if the number of valid points in the Range Count Threshold frame is above the value you specify in Below Threshold : Gocator records a frame if the number of valid points is below the threshold you specify.
Page 57 In the Save As... dialog, choose a location, optionally change the name (keeping the .rec extension), and click Save. To upload replay data: Click the Upload button The Upload menu appears. In the Upload menu, choose one of the following: Upload: Unloads the current job and creates a new unsaved and untitled job from the content of the replay data file.
Page 58 To export replay data in the CSV format: In the Scan Mode panel, switch to Profile or Surface. Click the Export button and select All Data as CSV. Only data at the current replay location is exported. Use the playback control buttons to move to a different replay location; for information on playback, see To replay data in Recording, Playback, and Measurement Simulation on page 53.
Page 59: Metrics Area
To export video data to a BMP file: In the Scan Mode panel, switch to Video mode. Use the playback control buttons to move to a different replay location; for information on playback, see To replay data in Recording, Playback, and Measurement Simulation on page 53. Click the Export button and select Video data as BMP.
Page 60: Log
See sensor messages in the log. frame information. Change the interface language. Switch to Quick Edit mode. The log, located at the bottom of the web interface, is a centralized location for all messages that the Gocator displays, including warnings and errors. A number indicates the number of unread messages: To use the log: Click on the Log open button...
Page 61: Interface Language
To switch between types of frame information: Click the frame information area to switch to the next available type of information. Interface Language The language button on the right side of the status bar lets you change the language of the Gocator interface.
Page 62: Management And Maintenance
Management and Maintenance The following sections describe how to set up the sensor connections and networking, how to calibrate encoders and choose the alignment reference, and how to perform maintenance tasks. Manage Page Overview Gocator's system and maintenance tasks are performed on the Manage page. Element Description Sensor System...
Page 63: Sensor System
Sensor System The following sections describe the Sensor System category on the Manage page. This category provides sensor information and the autostart setting. Sensor Autostart With the Autostart setting enabled, laser ranging profiling and measurement functions will begin automatically when the sensor is powered on. Autostart must be enabled if the sensor will be used without being connected to a computer.
Page 64: Motion And Alignment
For Gocator 3210, configure Voltage and Cordset Length. When Gocator 3210 is run at 24 volts and with a longer cordset, the sensor must lower the projector's intensity to limit the current going to the sensor. As a result, you may need to increase the sensor's exposure to compensate for the lower projector intensity compared to running at 48 volts.
Page 65: Alignment Reference
Alignment Reference The Alignment Reference setting can have one of two values: Fixed or Dynamic. Setting Description Fixed A single, global alignment is used for all jobs. This is typically used when the sensor mounting is constant over time and between scans, for example, when the sensor is mounted in a permanent position over a conveyor belt.
Page 66 Element Description Name field Used to provide a job name when saving files. Jobs list Displays the jobs that are currently saved in the sensor's flash storage. Save button Name Saves current settings to the job using the name in the field.
Page 67: Security
To save a job: Go to the Manage page and click on the Jobs category. Provide a name in the Name field. To save an existing job under a different name, click on it in the Jobs list and then modify it in the Name field.
Page 68: Maintenance
Account Description viewing replay data), to view all pages and edit all settings, and to perform setup procedures such as sensor alignment. Technician The Technician account has privileges to use the toolbar (loading and saving jobs, recording and viewing replay data), to view the Dashboard page, and to start or stop the sensor.
Page 69: Sensor Backups And Factory Reset
Sensor Backups and Factory Reset You can create sensor backups, restore from a backup, and restore to factory defaults in the Maintenance category. Backup files contain all of the information stored on a sensor, including jobs and alignment. An Administrator should create a backup file in the unlikely event that a sensor fails and a replacement sensor is needed.
Page 70: Firmware Upgrade
To restore from a backup: Go to the Manage page and click on the Maintenance category. Click the Restore... button under Backup and Restore. When you are prompted, select a backup file to restore. The backup file is uploaded and then used to restore the sensor. Any files that were on the sensor before the restore operation will be lost.
Page 71: Support
If the client computer is not connected to the Internet, firmware can be downloaded and transferred to the client computer by using another computer to download the firmware from LMI's website: http://www.lmi3D.com/support/downloads. To upgrade the firmware: Go to the Manage page and click on the Maintenance category. Click the Upgrade...
Page 72: Manual Access
To download a support file: Go to the Manage page and click on the Support category. In Filename, type the name you want to use for the support file. When you create a scenario from a support file in the emulator, the filename you provide here is displayed in the emulator's scenario list.
Page 73 To download the SDK: Go to the Manage page and click on the Support category Next to Software Development Kit (SDK), click Download Choose the location for the SDK on the client computer. For more information on the SDK, see GoSDK on page 470. Gocator Web Interface •...
Page 74: Scan Setup And Alignment
Scan Setup and Alignment The following sections describe the steps to configure Gocator sensors for 3D data acquisition using the Scan page. Setup and alignment should be performed before adding and configuring measurements or outputs. Scan Page Overview The Scan page lets you configure sensors and perform alignment. Element Description Scan Mode panel...
Page 75: Scan Modes
The following table provides quick references for specific goals that you can achieve from the panels in the Scan page. Goal Reference Select a trigger source that is appropriate for the application. Triggers (page 75) Ensure that camera exposure is appropriate for scan data acquisition. Exposure (page 83) Find the right balance between data quality, speed, and CPU utilization.
Page 76 The top-right of the Trigger panel displays the maximum speed at which an object could be captured at, calculated based on the exposure values, active area and the number of projection patterns required. The sensor can be triggered by one of the sources described in the table below. If the sensor is connected to a Master 400 or higher, encoder and digital (external) input signals over the IO cordset are ignored.
Page 77: Trigger Examples
Trigger Examples Example: External Input + Conveyor External input triggering can be used to produce a snapshot for 3D measurement. For example, a photocell can be connected as an external input to generate a trigger pulse when a target object has moved into position. An external input can also be used to gate the trigger signals when time or encoder triggering is used.
Page 78: Trigger Settings
Trigger Settings The trigger source is selected using the Trigger panel in the Scan page. After specifying a trigger source, the Trigger panel shows the parameters that can be configured. Parameter Trigger Source Description Time Encoder External Input Source Selects the trigger source ( , or Software Frame Rate...
Page 79: Maximum Input Trigger Rate
To configure the trigger source: Go to the Scan page. Expand the Trigger panel by clicking on the panel header. Select the trigger source from the drop-down. Configure the settings. See the trigger parameters above for more information. Save the job in the Toolbar by clicking the Save button Maximum Input Trigger Rate The maximum external input trigger rate in a system including Master 400 or higher is 20 kHz.
Page 80: Active Area
produce a 3D data point. When this option is enabled (default), in addition to stereo correlation, each camera independently triangulates off the LED light pattern, which may improve performance on targets with complicated shapes that can cause occlusions. For more information, see Stereo Correlation vs. Independent Triangulation on page 38. To enable or disable the Reduce Occlusion option: Go to the Scan page.
Page 81 To set the active area: Go to the Scan page. Choose Surface mode in the Scan Mode panel. If this mode is not selected, tools will not be available in the Measure panel. Expand the Sensor panel by clicking on the panel header or the button.
Page 82: Transformations
Transformations The transformation settings determine how data is converted from sensor coordinates to system coordinates. Typically, transformations are set when you align a sensor. However, you can also manually set values. For more information on coordinate systems, see Coordinate Systems on page 40. Parameter Description X Offset...
Page 83: Exposure
Set the parameter values. See the table above for more information. The Y offset, X angle, and Z angle transformations cannot be non-zero when Uniform Spacing is unchecked. Therefore, when aligning a sensor using a bar alignment target with Uniform Spacing unchecked, set the Degrees of Freedom setting to X, Z, Y Angle, which prevents these transformations from being non-zero.
Page 84: Single Exposure
Single Exposure The sensor uses a fixed exposure in every scan. Single exposure is used when the target surface is uniform and is the same for all targets. When the exposure mode is set to Single, you can optionally configure the sensor to allow setting exposure individually for each camera.
Page 85 You can automatically tune the exposure by pressing the Auto Set button, which causes the sensor to turn on and tune the exposure time. Auto Set is not available when Independent Exposure is enabled. (Optional) Choose the source for intensity in Intensity Source. Auto: The default value.
Page 86 After focusing, the lines are more sharply defined: Gocator Web Interface • 86 Gocator Snapshot Sensors: User Manual...
Page 87: Multiple Exposure
Multiple Exposure The sensor combines data from multiple exposures to create a single 3D point cloud. Multiple exposures can be used to increase the ability to detect light and dark materials that are in the field of view simultaneously. Up to three exposures can be defined with each set to a different exposure level. For each exposure, the sensor will perform a complete scan at the current frame rate making the effective frame rate slower.
Page 88 Click the Exposure tab. Select Multiple from the Exposure Mode drop-down. Click the button to add an exposure step. Up to a maximum of three exposure settings can be added. To remove an exposure, select it in the exposure list and click the button Set the exposure level for each exposure to make the Gocator's camera less or more sensitive, as required.
Page 89 After focusing, the lines are more sharply defined: Gocator Web Interface • 89 Gocator Snapshot Sensors: User Manual...
Page 90: Spacing
Spacing The Spacing tab lets you configure the spacing interval. Spacing Interval Spacing interval is the spacing between data points in resampled data. A larger interval creates scans with lower X/Y resolution, reduces CPU usage, and potentially increases the maximum frame rate. A larger interval also reduces the data output rate.
Page 91: Material
To configure advanced settings: Go to the Scan page. Switch to Video mode. Using Video mode while configuring the settings lets you evaluate their impact. Expand the Sensor panel by clicking on the panel header or the button. Click on the Advanced tab. Configure material characteristics and camera gain.
Page 92: Camera Gain
Countersunk holes with Material set to Diffuse Countersunk holes with Material set to Interreflective Currently, choosing Custom under the Material setting displays options identical to the Interreflective and Diffuse options under Material. Further customizations will be provided in the future. Camera Gain You can set camera gain to improve data acquisition.
Page 93: Alignment States
Alignment States A Gocator can be in one of two alignment states: Unaligned and Aligned. Alignment State State Explanation Unaligned The sensor or sensor system is not aligned. 3D point clouds are reported in sensor coordinates. Aligned Aligning Sensors The sensor is aligned using the alignment procedure (see below) or by manually modifying the values under Transformation...
Page 94: Clearing Alignment
If Video mode is selected, tools will not be available in the Measure panel. Expand the Alignment panel by clicking on the panel header or the button. Ensure that all sensors have a clear view of the target surface. Remove any irregular objects from the sensor's field of view that might interfere with alignment. To perform stationary alignment: In the Alignment panel, select Stationary as the Type.
Page 95: Filters
If this mode is not selected, tools will not be available in the Measure panel. Expand the Alignment panel by clicking on the panel header or the button. Click the Clear Alignment button. The alignment will be erased and sensors will revert to using sensor coordinates. Filters Filters are used to post-process scan data along the X or Y axis to remove noise or clean it up before it is output or is used by measurement tools.
Page 96: Median
To configure X or Y gap filling: Go to the Scan page. Choose Surface mode in the Scan Mode panel. If this mode is not selected, you will not be able to configure gap filling. Expand the Filters panel by clicking on the panel header or the button.
Page 97: Smoothing
Smoothing Smoothing works by substituting a data point value with the average value of that data point and its nearest neighbors within a specified window. Smoothing can be applied along the X axis or the Y axis. X smoothing works by calculating a moving average across samples along the X axis. Y smoothing works by calculating a moving average along the X axis.
Page 98: Part Detection
To configure X or Y decimation: Go to the Scan page. Choose Surface mode in the Scan Mode panel. If this mode is not selected, you will not be able to configure the decimation filter. Expand the Filters panel by clicking on the panel header or the button.
Page 99 The following settings can be tuned to improve the accuracy and reliability of part detection. Setting Description Height Threshold Determines the height threshold for part detection. The setting for Threshold Direction determines if parts should be detected above or below the threshold. Above is typically used to prevent the belt surface from being detected as a part when scanning objects on a conveyor.
Page 100: Edge Filtering
Setting Description maximum length, it is automatically separated into two parts. This is useful to break a long object into multiple sections and perform measurements on each section. Frame of Reference Determines the coordinate reference for surface measurements. Sensor Frame of Reference Sensor When is set to...
Page 101 Edge Filtering disabled (scan shows reflection noise) Edge Filtering enabled (reflection noise eliminated or reduced) Edge Filtering enabled, Preserve Interior Feature enabled Gocator Web Interface • 101 Gocator Snapshot Sensors: User Manual...
Page 102: Data Viewer
To configure edge filtering: Go to the Scan page and choose Surface in the Scan Mode panel. If this mode is not selected, you will not be able to configure part detection. Expand the Part Detection panel by clicking on the panel header or the button and enable part detection if necessary.
Page 103: Video Mode
When the sensor is in Profile mode, or in Surface mode when a section is displayed, a safety goggle mode button ( ) is available in the data viewer. Enabling this mode changes some colors to ensure that profiles are visible in the data viewer when wearing laser safety goggles. Video Mode In Video mode, the data viewer displays a camera image from either of the two cameras in the sensor.
Page 104: Overexposure And Underexposure
For details on setting exposure in the Exposure tab in the Sensor panel, see Exposure on page 83. To select the exposure view of the display: Go to the Scan page and choose Video mode in the Scan Mode panel. Select the camera view in the data viewer.
Page 105 The Exposure setting uses the following colors: Blue: Indicates background pixels ignored by the sensor. Red: Indicates saturated pixels. Correct tuning of exposure depends on the reflective properties of the target material and on the requirements of the application. Settings should be carefully evaluated for each application. The Gocator 3x00 cannot generate 3D points in over-saturated (areas indicated with red) or in under- exposed areas (indicated with blue).
Page 106: Surface Mode
Surface Mode When the Gocator is in Surface scan mode, the data viewer can display height maps, profiles, sections, and intensity images. You can select the data to display from the View drop-down. Data Type Option or Description Button Section If any sections have been defined, displays the section selected in the Sections drop-down.
Page 107 2D viewer with height map overlay 2D viewer with grayscale overlay 2D viewer with intensity overlay Clicking the 3D button toggles between the 2D and 3D viewer. The 3D model is overlaid with the information that corresponds to the selected View option. Gocator Web Interface •...
Page 108: Height Map Color Scale
3D viewer with height map overlay 3D viewer with grayscale overlay 3D viewer with uniform overlay 3D viewer with uniform overlay In 3D mode, you can choose how the data viewer renders the model: Rendering Mode Description Point Cloud (default) Renders 3D models using point clouds.
Page 109: Sections
To change the scaling of the height map: Select Heightmap from the View drop-down in the data viewer. Click the Scaling button. To automatically set the scale, choose Auto in the Range drop-down. To automatically set the scale based on a user-selected sub-region of the heightmap, choose Auto - Region in the Range drop-down and adjust the yellow region box in the data viewer to the desired location and size.
Page 110 When in the Scan page, selecting a panel (e.g., Sensor or Alignment panel) automatically sets the display to the most appropriate display view. To manually select the display view in the Scan page: Go to the Scan page. Choose Surface mode in the Scan Mode panel. Just above the data viewer, choose Section in the View drop-down.
Page 111: Region Definition
Region Definition Regions, such as an active area or a measurement region, can be graphically set up using the data viewer in the 2D or in the 3D view. When the Scan page is active, the data viewer can be used to graphically configure the active area. The Active Area setting can also be configured manually by entering values into its fields and is found in the Sensor panel (see Sensor on page 79.
Page 112: Models
Models The following sections describe how to set up part matching using a model, a bounding box, or an ellipse. It also describes how to configure sections. Model Page Overview The Model page lets you set up part matching and sections. Gocator Web Interface •...
Page 113: Part Matching
Element Description Part Matching Contains settings for configuring models and for part matching. panel Sections panel Contains settings for configuring sections, which let you extract profiles from surfaces. Data Viewer Displays sensor data and lets you add and remove model edge points. Part Matching Gocator can match scanned parts to the edges of a model based on a previously scanned part (see Using Edge Detection on page 114) or to the dimensions of a fitted bounding box or ellipse that encapsulate...
Page 114: Using Edge Detection
Using Edge Detection When using edge detection for part matching, the Gocator compares a model that you must create from a previous scan to a "target" (one of the parts you want to match to the model). In the data viewer, a model is represented as a yellow outline. The target is represented as a blue outline. If the part match quality above a minimum user-defined level, any measurements configured on the Measure page are applied.
Page 115 1. Scan a reference part (you can also use replay data that you have previously saved). 2. Create a model based on the scan (using either heightmap or intensity data). 3. Adjust the model (edge detection algorithm sensitivity and selective removal of edge points). 4.
Page 116 Setting Description Match Algorithm Determines which algorithm the sensor will use to attempt a match. Set this to Edge for edge detection. Image Type Determines what kind of data the Gocator will use to detect edges and therefore for part matching. Choose this setting based on the kinds of features that will be used for part matching: Heightmap : Surface elevation information of the scanned part will be used to...
Page 117: Creating A Model
page will be applied to parts if a part match is accepted, regardless of the part's orientation (a successfully matched part is rotated to match orientation of the model), returning a value and decision (as long as the part is in range, etc.). If a part match is rejected, measurements will return an Invalid value.
Page 118 Locate some previously recorded replay data and load it. See Recording, Playback, and Measurement Sim- ulation on page 53 and Downloading, Uploading, and Exporting Replay Data on page 56 for more inform- ation on replay data. Go to the Model page. Make sure the Enabled option is checked in the Part Matching panel.
Page 119: Modifying A Model's Edge Points
To rename a model: In the Models list, double-click on a model name. Type a new name in the model name field. Press Enter or click outside the model name field. Save the job by clicking the Save button To delete a model, click the button.
Page 120 Edge points along top of model removed. Part is accepted. (Min set to 85%.) Removing edge points does not cause the edge detection algorithm to run again. To change model senstivity: In the Models list, select the model you want to configure by clicking on its selection control. Click the Model Editing tab.
Page 121 To manually remove model edge points: In the Models list, select the model you want to configure by clicking on its selection control. In the Model Editing tab, click on the Edit button. On the toolbar above the data viewer, make sure the Select tool is active. Click in the data viewer and hold the mouse button while moving the pointer over the edge points you want to remove.
Page 122: Adjusting Target Sensitivity
Points within the circular Select tool are removed from the model. Removed edge points turn red in the data viewer. You can zoom in to see individual edge points by using the mouse wheel or by using the Zoom mode ( If you have removed too many edge points, use Ctrl + Click in the data viewer to add the edge points back.
Page 123: Setting The Match Acceptance Criteria
You can also set the sensitivity value manually in the provided text box. Setting the Match Acceptance Criteria In order for a part to match a model, the match quality must reach the minimum set in the Min field in Acceptance Criteria section of the Part Matching panel.
Page 124 In the data viewer, a bounding box or ellipse is displayed with a blue outline. If a part fits in the bounding box or ellipse, any measurements configured on the Measure page are applied. Blue bounding box around a part. (Yellow lines show currently selected dimension in Part Matching panel.) Typically, setting up a bounding box or an ellipse to perform part matching involves the following steps:...
Page 125: Configuring A Bounding Box Or An Ellipse125
Setting Description Bounding Box Ellipse Z Angle Corrects the orientation of the bounding box or ellipse to accurately match typical orientation and simplify measurements. Asymmetry Detection Rotates scans based on the asymmetry of the scanned part. Gocator calculates the number of points on each side of the part's centroid in the bounding box or ellipse.
Page 126: Running Part Matching
Part matching is only available when Part has been selected. Do one of the following: Scan a reference part. See Scan Setup and Alignment on page 74 for more information on setting up and aligning Gocator. See Running a Standalone Sensor System on page 32 for more information on running a system to scan a part.
Page 127: Using Part Matching To Accept Or Reject A Part
Using Part Matching to Accept or Reject a Part Part matching results only determine whether a measurement is applied to a part. Whether the measurement returns a pass or fail value—its decision—depends on whether the measurement's value is between the Min and Max values set for the measurement. This decision, in addition to the actual value, can in turn be used to control a PLC for example.
Page 128 Part in data viewer (3D view) Section defined on top of part (2D view) Gocator Web Interface • 128 Gocator Snapshot Sensors: User Manual...
Page 129 Circle Radius measurement running on profile extracted from surface using defined section You can configure the sampling distance between points along the section. Reducing the sampling distance reduces the resolution of the profile, but increases the sensor’s performance and results in less data being sent over the output.
Page 130: Creating A Section
Maximum spacing interval: lowest profile resolution, lower sensor CPU usage and data output Using a higher spacing interval can produce different measurement results compared to using a smaller spacing interval. You should therefore compare results using different spacing intervals before using sections in production. The sections you add to a surface are directional, and their start and end points are defined using X and Y coordinates.
Page 131 After creating a section, the following settings are available: Setting Description Spacing Interval Determines the space between the points of the extracted profile. Auto : The highest resolution, calculated using the X and Y resolution of the scan. Custom : Lets you set the spacing interval by using a slider or setting the value manually.
Page 132: Deleting A Section
After you create a section, Gocator lists the profile measurement tools in the Tools panel on the Measure page. If you have created more than one section, you must select it in the tool. For more information on profile measurement tools, see Profile Measurement on page 153. Gocator also adds a Section option to the View drop-down above the data viewer, which lets you view an extracted profile, as well as a section selector drop-down for cases where multiple sections are defined.
Page 133: Measurement
Measurement The following sections describe Gocator's tools and measurements. Measure Page Overview Measurement tools are added and configured in the Measure page. The content of the Tools panel in the Measure page depends on the current scan mode. In Surface mode, the Measure page displays tools for surface measurement.
Page 134: Data Viewer
Data Viewer When the Measure page is active, the data viewer can be used to graphically configure measurement regions in the 2D or in the 3D views. Measurement regions can also be configured manually in measurements by entering values into the provided fields (see Regions on page 136). For information on controls in the data viewer, see Data Viewer Controls on page 102.
Page 135: Source
In the Tools panel, select the tool you want to add from the drop-down list of tools. Click on the Add button in the Tools panel. The tool and its available measurements are added to the tool list. The tool parameters are listed in the area below the tool list.
Page 136: Regions
Regions Many measurement tools use user-defined regions to limit the area in which measurements occur . Unlike reducing the active area, reducing the measurement region does not increase the maximum frame rate of the sensor. You can disable regions entirely and cause the measurement tool uses the entire active area unchecking the checkbox next to the Regions setting.
Page 137 To rotate measurement regions: Determine the length and width of the region that will be required once it is rotated. Expand the Region setting and then set a value in Z Angle. Gocator Web Interface • 137 Gocator Snapshot Sensors: User Manual...
Page 138: Feature Points
The region rotates clockwise around the Z axis relative to the X axis. Once the region has been rotated, you cannot modify it in the data viewer using the mouse. You can however modify its dimensions and its location manually by changing the region's values in the Region setting.
Page 139 Point Type Examples Max Z Finds the point with the maximum Z value in the region of interest. Min Z Finds the point with the minimum Z value in the region of interest. Min X Finds the point with the minimum X value in the region of interest.
Page 140: Fit Lines
Point Type Examples Left Corner Finds the left-most corner in the region of interest, where corner is defined as a change in profile shape. Right Corner Finds the right-most corner in the region of interest, where corner is defined as a change in profile shape. Rising Edge Finds a rising edge in the region of interest (moving from left to right).
Page 141: Geometric Features
A line can be defined using one or two areas. Two areas can be used to bypass discontinuity in a line segment. Geometric Features Most Surface tools, and many Profile tools, can output features that Feature tools can take as input to produce measurements.
Page 142: Decisions
Geometric features generated by Profile tools Point Line Center Point Intersect Corner Error Min Error Max Point Line Base Point Tool Area Bounding Circle Dimension Groove Intersect Line Panel Position Round Corner Strip Feature Intersect tool can also produce an intersect point. Script tools do not currently take geometric features as input.
Page 143: Filters
Value (-2.150) within decision thresholds (Min: -3, Max: -2). Decision: Pass Value (1604.250) outside decision thresholds (Min: 1500, Max: 1600). Decision: Fail Along with measurement values, decisions can be sent to external programs and devices. In particular, decisions are often used with digital outputs to trigger an external event in response to a measurement. See Output on page 262 for more information on transmitting values and decisions.
Page 144 All measurements provide filter settings under the Output tab. The following settings are available. Filter Description Scale and Offset The Scale and Offset settings are applied to a measurement value according to the following formula: Scale * Value + Offset Scale and Offset can be used to transform the output without the need to write a script.
Page 145: Measurement Anchoring
To select a measurement, it must be enabled. See Enabling and Disabling Measurements on page 150 for instructions on how to enable a measurement. Click on the Output tab. For some measurements, only the Output tab is displayed. Expand the Filters panel by clicking on the panel header or the button.
Page 146 In the following scan, the part has shifted, but the measurement regions remain where they were originally configured, in relation to the sensor or system coordinate system, so the measurement returned is incorrect: Gocator Web Interface • 146 Gocator Snapshot Sensors: User Manual...
Page 147 When you set a tool's anchor source, an offset is calculated between the anchored tool and the anchor source. This offset is used for each frame of scanned data: the anchored tool's measurement region placed in relation to the anchor source, at the calculated offset. In the following image, after the Surface Dimension tool is anchored to the X and Y measurements from Surface Hole tool (placed over the hole to the lower left), Gocator compensates for the shift—mostly...
Page 148 If Z Angle anchoring is used with both X and Y anchoring, the X and Y anchors should come from the same tool. If Z Angle anchoring is used without X or Y anchoring, the tool's measurement region rotates around its center. If only one of X or Y is used ,the region is rotated around its center and then shifted by the X or Y offset.
Page 149 Adjust the anchoring tool's settings and measurement region, and choose a feature type (if applicable). You can adjust the measurement region graphically in the data viewer or manually by expanding the Regions area. The position and size of the anchoring tool’s measurement regions define the zone within which movement will be tracked.
Page 150: Enabling And Disabling Measurements
Enabling and Disabling Measurements All of the measurements available in a tool are listed in the measurement list in the Tools panel after a tool has been added. To configure a measurement, you must enable it. To enable a measurement: Go to the Scan page by clicking on the Scan icon.
Page 151: Editing A Tool Or Measurement Name
To disable a measurement: Go to the Scan page by clicking on the Scan icon. Choose Surface mode in the Scan Mode panel. Go to the Measure page by clicking on the Measure icon. In the measurement list, uncheck the box of the measurement you want to disable. The measurement will be disabled and the Output tab (and the Parameters tab if it was available) will be hidden.
Page 152: Duplicating A Tool
To select a measurement, it must be enabled. See Enabling and Disabling Measurements on page 150 for instructions on how to enable a measurement. Click in the ID field. Type a new ID number. The value must be unique among all measurements. Press the Tab or Enter key, or click outside the ID field.
Page 153: Reordering Tools
Go to the Measure page by clicking on the Measure icon. In the tool list, click on the Duplicate button ( ) of the tool you want to duplicate. A copy of the tool appears below the original. Reordering Tools When you duplicate a tool, the tool is added to the bottom of the list in the Tools panel.
Page 154 Areas are positive in regions where the profile is above the X axis. In contrast, areas are negative in regions where the profile is below the X axis. Gocator Web Interface • 154 Gocator Snapshot Sensors: User Manual...
Page 155: Measurements, Features, And Settings
Measurements, Features, and Settings Measurements Measurement Illustration Area Measures the cross-sectional area within a region that is above or below a fitted baseline. Centroid X Determines the X position of the centroid of the area. Centroid Z Determines the Z position of the centroid of the area. Features Type Description...
Page 156 For more information on geometric features, see Geometric Features on page 141. Parameters Parameter Description Source The sensor that provides data for the tool's measurements. For more information, see Source on page 135. Stream The data that the tool will apply measurements to. In Surface mode, this setting is only displayed when a section is defined on the surface data.
Page 157: Bounding Box
A measurement must be enabled in the other tool for it to be available as an anchor. The anchor measurement should also be properly configured before using it as an anchor. For more information on anchoring, see Measurement Anchoring on page 145. Bounding Box The Bounding Box tool provides measurements related to the smallest box that contains the profile (for example, X position, Z position, width, etc.).
Page 158: Measurements, Features, And Settings
Measurements, Features, and Settings Measurements Measurement Illustration Determines the X position of the center of the bounding box that contains the profile. The value returned is relative to the profile. Determines the Z position of the center of the bounding box that contains the profile.
Page 159: Circle
When used with profiles not generated from a section, the Global X measurement returns the same value as the X measurement, and the Global Y and Global Angle measurements return 0.000. Features Type Description Center Point The center point of the bounding box. Corner Point The lower left corner of the bounding box.
Page 160: Measurements, Features, And Settings
See Adding and Configuring a Measurement Tool on page 134 for instructions on how to add measurement tools. The tool may be unable to fit a circle to the profile when attempting the fit on a small number of relatively collinear data points. Measurements, Features, and Settings Measurements Measurement...
Page 161: Dimension
Parameters Parameter Description Source The sensor that provides data for the tool's measurements. For more information, see Source on page 135. Stream The data that the tool will apply measurements to. In Surface mode, this setting is only displayed when a section is defined on the surface data.
Page 162 The tool's measurements require two feature points. See Feature Points on page 138 for information on point types and how to configure them. Measurements Measurement Illustration Width Determines the difference along the X axis between two feature points. The difference can be calculated as an absolute or signed result.
Page 163 Measurement Illustration Center X Finds the average location of two features and measures the X axis position of the average location Center Z Finds the average location of two features and measures the Z axis position of the average location. Parameters Parameter Description...
Page 164: Groove
Parameter Description Filters The filters that are applied to measurement values before they are output. For more information, see Filters on page 143. Decision The Max and Min settings define the range that determines whether the measurement tool sends a pass or fail decision to the output.
Page 165 The Groove tool uses a complex feature-locating algorithm to find a groove and then return measurements. See "Groove Algorithm" in the Gocator Measurement Tool Technical Manual for a detailed explanation of the algorithm. The behavior of the algorithm can be adjusted by changing the parameters in the measurement panel.
Page 166 Measurement Illustration Measures the X position of the bottom of a groove. Measures the Z position of the bottom of a groove. Parameters Parameter Description Source The sensor that provides data for the tool's measurements. For more information, see Source on page 135.
Page 167 Parameter Description Max Width Maximum width of a groove to be considered valid. If set to 0, the maximum is set to the width of the measurement area. Region The measurement region defines the region in which to search for the groove. For a stable measurement, the measurement region should be made large enough to cover some laser data on the left and right sides of the groove.
Page 168: Intersect
Intersect The Intersect tool determines intersect points and angles. Gocator compares the measurement value with the values in Min and Max to yield a decision. For more information on decisions, see Decisions on page 142. The Intersect tool's measurements require two fit lines, one of which is a reference line set to the X axis (z = 0), the Z axis (x = 0), or a user-defined line.
Page 169 Measurement Illustration Finds the intersection between two fitted lines and measures the Z axis position of the intersection point. Angle Finds the angle subtended by two fitted lines. Features Type Description Intersect Point The point of intersection. Line The intersect line. Base Line The base line.
Page 170: Line
Parameter Description Ref Line Used to define the reference line when Line is selected in the Reference Type parameter. To set the region (or regions) of the reference line, adjust it graphically in the data viewer, or expand the feature using the expand button ( ) and enter the values in the fields.
Page 171: Measurements, Features, And Settings
Measurements, Features, and Settings Measurements Measurement Illustration Standard Deviation Finds the best-fitted line and measures the standard deviation of the laser points from the line. Min Error Finds the best-fitted line and measures the minimum error from the line (the maximum distance below the line). Gocator Web Interface •...
Page 172 Measurement Illustration Max Error Finds the best-fitted line and measures the maximum error from the line (the maximum distance above the line). Percentile Finds the best-fitted line and measures the range (in Z) that covers a percentage of points around the line. Offset Finds the best-fitted line and returns the intersection point between that line and the Z axis.
Page 173 Parameters Parameter Description Source The sensor that provides data for the tool's measurements. For more information, see Source on page 135. Stream The data that the tool will apply measurements to. In Surface mode, this setting is only displayed when a section is defined on the surface data.
Page 174: Panel
A measurement must be enabled in the other tool for it to be available as an anchor. The anchor measurement should also be properly configured before using it as an anchor. For more information on anchoring, see Measurement Anchoring on page 145. Panel The Panel tool provides Gap and Flush measurements.
Page 175 Measurements Measurement Illustration Measures the distance between two surfaces. The surface edges can be curved or sharp. Flush Measures the flushness between two surfaces. The surface edges can be curved or sharp. Left Gap X Returns the X position of the edge feature on the left side used to measure the gap.
Page 176 Measurement Illustration Right Gap X Returns the X position of the edge feature on the right side used to measure the gap. Right Gap Z Returns the Z position of the edge feature on the right side used to measure the gap. Right Flush X Returns the X position of the feature on the right side used to measure flushness.
Page 177: Position
Left/Right SideEdge Parameters Parameter Description Max Void Width The maximum allowed width of missing data caused by occlusion or data dropout. Min Depth Defines the minimum depth before an opening could be considered to have a potential edge. The depth is the perpendicular distance from the fitted surface line. Surface Width The width of the surface area in which laser data is used to form the fitted surface line.
Page 178: Measurements, Features, And Settings
Measurements, Features, and Settings Measurements Measurement Illustration Finds the position of a feature on the X axis. Finds the position of a feature on the Z axis. Features Type Description Point The returned position. For more information on geometric features, see Geometric Features on page 141. Parameters Parameter Description...
Page 179 Parameter Description Stream The data that the tool will apply measurements to. In Surface mode, this setting is only displayed when a section is defined on the surface data. For more information on sections, see Sections on page 127. Feature The feature the tool uses for its measurements.
Page 180: Round Corner
Round Corner The Round Corner tool measures corners with a radius, returning the position of the edge of the corner and the angle of adjacent surface with respect to the X axis. Gocator compares the measurement value with the values in Min and Max to yield a decision. For more information on decisions, see Decisions on page 142.
Page 181 Measurements Measurement Illustration Measures the X position of the location where the tangent touches the edge, or intersect of the tangent and the line fitted to the surface used by the measurement (see Reference Side, below). Measures the Z position of the location where the tangent touches the edge, or intersect of the tangent and the line fitted to the surface used by the measurement (see Reference Side, below).
Page 182 Parameter Description Reference SideDirection Defines the side used to calculate the measurement axis (see below) rounded corner. Max Gap Width The maximum width of the gap. Allows the tool to filter gaps greater than the expected width. This can be used to single out the correct gap when there are multiple gaps in the field of view.
Page 183: Strip
Anchoring Anchor Description X or Z Lets you choose the X or Z measurement of another tool to use as a positional anchor for this tool. A measurement must be enabled in the other tool for it to be available as an anchor. The anchor measurement should also be properly configured before using it as an anchor.
Page 184 the algorithm. The behavior of the algorithm can be adjusted by changing the parameters in the measurement panel. The Strip tool lets you add multiple measurements of the same type to receive measurements and set decisions for multiple strips. Multiple measurements are added by using the drop-down above the list of measurements and clicking on the Add button.
Page 185 Parameters Parameter Description Source The sensor that provides data for the tool's measurements. For more information, see Source on page 135. Stream The data that the tool will apply measurements to. In Surface mode, this setting is only displayed when a section is defined on the surface data. For more information on sections, see Sections on page 127.
Page 186 Parameter Description Tilt Enabled Enables/disables tilt correction. The strip may be tilted with respect to the sensor's coordinate X axis. This can be caused by conveyor vibration. If the Tilt option is enabled, the tool will report the width and height measurements following the tilt angle of the strip.
Page 187: Script
Parameter Description Region The measurement region defines the region in which to search for the strip. If possible, the region should be made large enough to cover the base on the left and right sides of the strip. For more information, see Regions on page 136. Location Specifies the strip position from which the measurements are performed.
Page 188 See Scripts on page 256 for more information on the script syntax. Gocator Web Interface • 188 Gocator Snapshot Sensors: User Manual...
Page 189: Surface Measurement
To create or edit a Script measurement: Add a new Script tool or select an existing Script measurement. Edit the script code. Add script outputs using the Add button. For each script output that is added, an index will be added to the Output drop-down and a unique ID will be generated.
Page 190 See Adding and Configuring a Measurement Tool on page 134 for instructions on how to add measurement tools. A bounding box can be vertical or rotated. A vertical bounding box provides the absolute position from which the Position centroids tools are referenced. 2D View 3D View Measurement Panel...
Page 191: Measurements, Features, And Settings
Measurements, Features, and Settings Measurements Measurement Illustration Determines the X position of the center of the bounding box that contains the part. The value returned is relative to the part. Determines the Y position of the center of the bounding box that contains the part.
Page 192 Measurement Illustration Height Determines the height of the bounding box that contains the part. Z Angle Determines the rotation around the Z axis and the angle of the longer side of the bounding box relative to the X axis. If Rotation is not enabled, the measurement returns 90.000 degrees.
Page 193: Countersunk Hole
Parameters Parameter Description Source The sensor that provides data for the tool's measurements. For more information, see Source on page 135. Rotation A bounding box can be vertical or rotated. A vertical bounding box provides the absolute position from which the part's Position centroid measurements are referenced.
Page 194 The Countersunk Hole tool does not search for or detect a hole. The tool expects that a hole conforming reasonably well to the defined parameters is present and that it is on a sufficiently uniform background. See Adding and Configuring a Measurement Tool on page 134 for instructions on how to add measurement tools.
Page 195 Gocator Web Interface • 195 Gocator Snapshot Sensors: User Manual...
Page 196: Measurements, Features, And Settings
Measurement Panel Measurements, Features, and Settings Measurements Measurement Illustration Determines the X position of the center of the countersunk hole. Determines the Y position of the center of the countersunk hole. Determines the Z position of the center of the countersunk hole. Gocator Web Interface •...
Page 197 Measurement Illustration Outer Radius Determines the outer radius of the countersunk hole. When a hole is cut at an angle relative to the surrounding surface, the outer radius is calculated as if the hole were not cut at an angle. To convert the radius to a diameter, set the Scale setting in the Output panel (displayed after expanding the Filters section) to 2.
Page 198 Measurement Illustration Bevel Radius Determines the radius at a user-defined offset (Offset setting) relative to the surface that the countersunk hole is on. To convert the radius to a diameter, set the Scale setting in the Output panel (displayed after expanding the Filters section) to 2.
Page 199 Measurement Illustration X Angle Determines the angle the hole relative to the X axis. Cone Y Angle Determines the angle of the hole relative to the Y axis. Counterbore Counterbore Depth Determines the depth of a counterbore. Axis Tilt Measures the tilt of the axis of the hole relative to the surface surrounding the hole.
Page 200 Features Type Description Center Point The center point of the countersunk hole. The Z position of the center point is at the Z position of the surrounding surface. For more information on geometric features, see Geometric Features on page 141. Parameters Parameter Description...
Page 201 Parameter Description Reference Regions The tool uses the reference regions to calculate the Z position of the hole. It is typically used in cases where the surface around the hole is not flat. When this option is set to Autoset, the algorithm automatically determines the reference region.
Page 202: Dimension
Anchoring Anchor Description X, Y, or Z Lets you choose the X, Y, or Z measurement of another tool to use as a positional anchor for this tool. A measurement must be enabled in the other tool for it to be available as an anchor. The anchor measurement should also be properly configured before using it as an anchor.
Page 203 Measurement Panel Measurements Measurement Illustration Width Determines the distance between the selected features along the X axis. Gocator Web Interface • 203 Gocator Snapshot Sensors: User Manual...
Page 204 Measurement Illustration Length Determines the distance between the selected features along the Y axis. Height Determines the distance between the selected features along the Z axis. Distance Determines the direct, Euclidean distance between the selected features. Gocator Web Interface • 204 Gocator Snapshot Sensors: User Manual...
Page 205 Measurement Illustration Plane Distance Determines the distance between the selected features. The position of the lowest feature point is projected onto the XY plane of the highest feature point. Center X Determines the X position of the center point between the selected features.
Page 206: Edge
Parameter Description Filters The filters that are applied to measurement values before they are output. For more information, see Filters on page 143. Decision The Max and Min settings define the range that determines whether the measurement tool sends a pass or fail decision to the output.
Page 207 2D View 3D View Gocator Web Interface • 207 Gocator Snapshot Sensors: User Manual...
Page 208 Measurement Panel Gocator Web Interface • 208 Gocator Snapshot Sensors: User Manual...
Page 209: Paths And Path Profiles
Paths and Path Profiles To fit an edge line to the scan data, the Surface Edge tool overlays evenly spaced, parallel paths (light blue lines in the interface; see below) in the defined region of interest. Gocator Web Interface • 209 Gocator Snapshot Sensors: User Manual...
Page 210: Measurements, Features, And Settings
For each path, a profile is generated internally from the height map’s data points that fall under or, optionally, near the path. The tool then examines each path profile for steps (changes in height) that meet the criteria set by the tool’s settings, such as minimum height, direction (whether it is rising or falling), and so on.
Page 211 Measurement Illustration Z Angle Returns the rotation, around the Z axis, of the fitted edge line. Rotating the measurement region has no impact on the angle that is returned unless a different edge is detected. Useful for using minor variations in the rotation of an edge on target as an anchor for other measurements.
Page 212 Parameter Description Use Intensity (This setting is only available when Acquire Intensity is enabled in the Scan Mode panel; for more information, see Scan Modes on page 75.) Uses intensity data rather than height data to find an edge. Useful when color differences on a flat area of a target, which would not be detected using height map data, are distinct, letting you use the detected "line" as an anchor source...
Page 213 Parameter Description Use Intensity disabled (heightmap view of the same area): Surface Edge tool unable to find edge using height data. Number of Regions The number of regions the tool will use to fit the line. You must configure each region (see Region {n} below).
Page 214 Parameter Description Search Direction The search direction for steps, specified as an orientation around the Z axis, relative to the X axis. Can be 0, 90, 180, or 270 degrees. Choose a value that is roughly perpendicular to the edge on the target. The direction is indicated by a light blue arrow in the data viewer.
Page 215 Parameter Description Selection Type Determines which step the tool uses on each path profile when there are multiple steps in the profile. An edge point is placed on each chosen step. Steps must pass the criteria of the tool's Step Threshold and Step Direction settings. Best: Selects the greatest step on each path profile.
Page 216 Parameter Description Absolute Threshold When Use Intensity is disabled, the setting specifies the minimum height difference between points on a path profile for that step to be considered for an edge point. The setting can be used to exclude smaller steps on a part that should not be considered for an edge, or to exclude height differences caused by noise.
Page 217 Parameter Description 2 mm) are excluded. Only steps from the blue to pink regions (roughly 3 mm) are included. When Use Intensity is enabled, the setting specifies the minimum difference in intensity. (Acquire Intensity must enabled in the Scan Mode panel.) Use Relative Threshold When this option is enabled, the Relative Threshold field is displayed.
Page 218 Parameter Description Step Smoothing The size of the windows along the path used to calculate an average for each data point on a path profile. The setting is useful for averaging out noise. If Step Smoothing is set to 0, no averaging is performed (only the data point under the path is used).
Page 219 Parameter Description Max Gap Fills in regions of missing data caused by an occlusion near the desired edge. Use this setting when continuity on the target is expected. When Max Gap is set to a non-zero value, the tool holds and extends the last data point on the low side next to an edge across a gap of null points, up to the distance specified in Max Gap.
Page 220: Ellipse
Anchoring Anchor Description X, Y, or Z Lets you choose the X, Y, or Z measurement of another tool to use as a positional anchor for this tool. Z angle Lets you choose the Z Angle measurement of another tool to use as an angle anchor for this tool.
Page 221: Measurements, Features, And Settings
Measurement Panel Measurements, Features, and Settings Measurements Measurement Illustration Major Determines the major axis length of an ellipse fitted to the part's area in the XY plane. Minor Determines the minor axis length of an ellipse fitted to the part's area in the XY plane. Ratio Determines the minor/major axis ratio of an ellipse fitted to the part's area in the XY plane.
Page 222 Measurement Illustration Z Angle Determines the orientation angle of an ellipse fitted to the part's area in the XY plane. Features Type Description Center Point The center point of the fitted ellipse. Major Axis A line representing the major axis of the fitted ellipse. Minor Axis A line representing the minor axis of the fitted ellipse.
Page 223: Hole
A measurement must be enabled in the other tool for it to be available as an anchor. The anchor measurement should also be properly configured before using it as an anchor. For more information on anchoring, see Measurement Anchoring on page 145. Hole The Hole tool measures a circular opening within a region of interest on the surface and returns its position and...
Page 224 Measurement Panel Gocator Web Interface • 224 Gocator Snapshot Sensors: User Manual...
Page 225: Measurements, Features, And Settings
Measurements, Features, and Settings Measurements Measurement Illustration Determines the X position of the hole center. Determines the Y position of the hole center. Determines the Z position of the hole center. Radius Determines the radius of the hole. Features Type Description Center Point The center point of the hole.
Page 226 Parameter Description Partial Detection Enable if only part of the hole is within the measurement region. If disabled, the hole must be completely in the region of interest for results to be valid. Depth Limit Data below this limit (relative to the surface) is excluded from the hole calculations. Region The region to which the tool's measurements will apply.
Page 227: Measurement Region
Parameter Description Tilt Correction Tilt of the target with respect to the alignment plane. Autoset: The tool automatically detects the tilt. The measurement region to cover more areas on the surface plane than other planes. Custom: You must enter the X and Y angles manually in the X Angle and Y Angle parameters (see below).
Page 228: Opening
Opening The Opening tool locates rounded, rectangular, and rounded corner openings. The opening can be on a surface at an angle to the sensor. The Opening tool does not search for or detect an opening. The tool expects that an opening conforming reasonably well to the defined parameters is present and that it is on a sufficiently uniform...
Page 229 appear. The algorithm can separate out background information that appears inside the opening. It can also detect a slot that only partially appears in the data. The shape of the opening is defined by its type and its nominal width, length, and radius. The orientation defines the rotation around the normal of the alignment plane.
Page 230 Gocator Web Interface • 230 Gocator Snapshot Sensors: User Manual...
Page 231: Measurements, Features, And Settings
Measurement Panel Measurements, Features, and Settings Measurements Measurement Illustration Determines the X position of the opening's center. Determines the Y position of the opening's center. Determines the Z position of the opening's center. Width Determines the width of the opening. Gocator Web Interface •...
Page 232 Measurement Illustration Length Determines the length of the opening. Angle Determines the angle (rotation) around the normal of the alignment plane. Features Type Description Center Point The center point of the opening. The Z position of the center point is at the Z position of the surrounding surface. For more information on geometric features, see Geometric Features on page 141.
Page 233 Parameter Description Nominal Angle Nominal angle of the opening. The default orientation is the length of the opening along the X axis. The diagram above illustrates the case where the surface is not tilted. When the surface is tilted, the orientation is defined with respect to the normal of the surface, not with respect to the X-Y plane Nominal Radius Nominal radius of the opening ends.
Page 234 Parameter Description Reference Regions The tool uses the reference regions to calculate the Z position of the opening. Reference regions are relative to the center location of the feature. This option is typically used in cases where the surface around the opening is not flat. When the Reference Regions setting is disabled, the tool measures the opening's Z position using the all data in the measurement region, except for a bounding rectangular region around the opening.
Page 235: Measurement Region
Parameter Description X Angle The X and Y angles you must specify when Tilt Correction is set to Custom. Y Angle You can use the Surface Plane tool's X Angle and Y Angle measurements to get the angle of the surrounding surface, and then copy those measurement's values to the X Angle and Y Angle parameters of this tool.
Page 236 See Adding and Configuring a Measurement Tool on page 134 for instructions on how to add measurement tools. The Z offset reported is the Z position at zero position on the X axis and the Y axis. The results of the Angle X and Angle Y measurements can be used to manually customize the tilt angle in the Hole, Opening, and Stud tools.
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Page 238: Measurements, Features, And Settingss
Measurements, Features, and Settingss Measurements Measurement Illustration Angle X Determines the X angle of the surface with respect to the alignment target. Angle Y Determines the Y angle of the surface with respect to the alignment target. Offset Z Determines the Z value of intersection of the plane and the Z axis.
Page 239: Position
Features Type Description Plane The fitted plane. For more information on geometric features, see Geometric Features on page 141. Parameters Parameter Description Source The sensor that provides data for the tool's measurements. For more information, see Source on page 135. Regions The region to which the tool's measurements will apply.
Page 240: Measurements, Features, And Settingss
2D View 3D View Measurement Panel Measurements, Features, and Settingss Measurements Measurement Illustration Determines the X position of the selected feature type. Determines the Y position of the selected feature type. Determines the Z position of the selected feature type. Gocator Web Interface • 240 Gocator Snapshot Sensors: User Manual...
Page 241 Features Type Description Center Point The returned position. For more information on geometric features, see Geometric Features on page 141. Parameters Parameter Description Source The sensor that provides data for the tool's measurements. For more information, see Source on page 135. Feature The feature the tool uses for its measurements.
Page 242: Stud
Stud The Stud tool measures the location and radius of a stud. The Stud tool does not search for or detect a stud. The tool expects that a stud conforming reasonably well to the defined parameters is present and that it is on a sufficiently uniform background.
Page 243 3D View 2D View Gocator Web Interface • 243 Gocator Snapshot Sensors: User Manual...
Page 244: Measurements, Features, And Settings
Measurement Panel Measurements, Features, and Settings Measurements Measurement Illustration Tip X Determines the X position of the stud tip. Tip Y Determines the Y position of the stud tip. Tip Z Determines the Z position of the stud tip. Base X Determines the X position of the stud base.
Page 245 Features Type Description Tip Point The center point of the tip of the stud. Base Point The center point of the base of the stud. For more information on geometric features, see Geometric Features on page 141. Parameters Parameter Description Source The sensor that provides data for the tool's measurements.
Page 246: Measurement Region
A measurement must be enabled in the other tool for it to be available as an anchor. The anchor measurement should also be properly configured before using it as an anchor. For more information on anchoring, see Measurement Anchoring on page 145. Measurement Region The tip and the side of the stud must be within the measurement region.
Page 247 Measurements Measurement Illustration Volume Measures volume in XYZ space. Area Measures area in the XY plane. Thickness Measures thickness (height) of a part. Parameters Parameter Description Source The sensor that provides data for the tool's measurements. For more information, see Source on page 135. Region The region to which the tool's measurements will apply.
Page 248: Script
Anchoring Anchor Description X, Y, or Z Lets you choose the X, Y, or Z measurement of another tool to use as a positional anchor for this tool. Z angle Lets you choose the Z Angle measurement of another tool to use as an angle anchor for this tool.
Page 249: Feature Measurement
For each script output that is added, an index will be added to the Output drop-down and a unique ID will be generated. To remove a script output, click on the button next to it. Click the Save button to save the script code. If there is a mistake in the script syntax, the result will be shown as a "Invalid"...
Page 250 2D View 3D View Measurement Panel In the following measurement descriptions, the first geometric feature is set in the Point drop- down. The second geometric feature is set in the Reference Feature drop-down. Gocator Web Interface • 250 Gocator Snapshot Sensors: User Manual...
Page 251 Measurements Measurement Illustration Width Point-point: The difference on the X axis between the points. Point-line: The difference on the X axis between the point and a point on the line. For profiles, the point on the line is at the same Z position as the first point. For surface data, the point on the line is at the same Y position.
Page 252: Intersect
Measurement Illustration Plane Distance Point-point: The distance between two point geometric features. For profile data, the points are projected onto the XZ plane (always the same as the Distance measurement). For surface data, the points are projected onto the XY plane. Point-line: The distance between a point and a line.
Page 253 The Feature Intersect tool saves you from having to write complicated calculations in script tools to find intersect point between lines. Previously, calculating the intercept point of two lines was difficult and prone to bugs, involving finding lines in indirect ways. The Feature Intersect tool's positional measurements are particularly useful as anchor sources.
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Page 255 Measurements Measurement Illustration Line-Line: The X position of the intersect point between the lines. Line-Plane: The X position of the intersect point between the line and the plane. Line-Line: The Y position of the intersect point between the lines. Line-Plane: The Y position of the intersect point between the line and the plane.
Page 256: Scripts
Parameters Parameter Description Stream The data that the tool will apply measurements to. In Surface mode, this setting is only displayed when a section is defined on the surface data. If you switch from one type of data to another (for example, from section profile data to surface data), currently set input features will become invalid, and you will need to choose features of the correct data type.
Page 257: Built-In Functions
Built-in Functions Measurement Functions Function Description int Measurement_Exists(int id) Determines if a measurement exists by ID. Parameters: id – Measurement ID Returns: 0 – measurement does not exist 1 – measurement exists int Measurement_Valid(int id) Determines if a measurement value is valid by its ID. Parameters: id - Measurement ID Returns...
Page 258 Function Description Parameters: toolName – Tool name measurementName – Measurement name Returns: -1 – measurement does not exist Other value – Measurement ID Output Functions Function Description void Output_Set (double value, int Sets the output value and decision on Output index 0. Only the last decision) output value / decision in a script run is kept and passed to the Gocator output.
Page 259 Function Description value - Value stored in persistent memory void Memory_Set64u (int id, unsigned long Stores a 64-bit unsigned integer in the persistent memory long value) Parameters: id - ID of the value value - Value to store unsigned long long Memory_Get64u (int id) Loads a 64-bit unsigned integer from persistent memory. Parameters: id - ID of the value Returns:...
Page 260 Function Description int RuntimeVariable_Get32s(int id) Returns the value of the runtime variable at the given index. Parameters: Id – ID of the runtime variable Returns: Runtime variable value Stamp Functions Function Description long long Stamp_Frame() Gets the frame index of the current frame. long long Stamp_Time() Gets the time stamp of the current frame.
Page 261 double HoleZ = Measurement_Value(2); /* Retrieve 3D coordinate from StudBase X, Y and Z tools (assumes these tools have been configured as ID 3, ID 4 and ID 5 respectively) */ double StudX = Measurement_Value(3); double StudY = Measurement_Value(4); double StudZ = Measurement_Value(5); /* Calculate distance between points in 3D space */ double Distance = sqrt((HoleX - StudX)*(HoleX - StudX) + (HoleY - StudY)*(HoleY - StudY) + (HoleZ - StudZ)*(HoleZ - StudZ));...
Page 262: Output
Output The following sections describe the Output page. Output Page Overview Output configuration tasks are performed using the Output page. Gocator sensors can transmit 3D point cloud data and measurement results to various external devices using several output interface options. Up to two outputs can have scheduling enabled with ASCII as the Serial output protocol. When Selcom is the current Serial output protocol, only one other output can have scheduling enabled.
Page 263: Ethernet Output
Ethernet Output A sensor uses TCP messages (Gocator protocol) to receive commands from client computers, and to send video, 3D point clouds, intensity, and measurement results to client computers. The sensor can also receive commands from and send measurement results to a PLC using ASCII, Modbus TCP, or EtherNet/IP protocol.
Page 264 To receive commands and send results using Modbus TCP messages: Go to the Output page. Click on Ethernet in the Output panel. Select Modbus as the protocol in the Protocol drop-down. Unlike the Gocator Protocol, you do not select which measurement items to output. The Ethernet panel will list the register addresses that are used for Modbus TCP communication.
Page 265 To receive commands and send results using EtherNet/IP messages: Go to the Output page. Click on Ethernet in the Output panel. Select EtherNet/IP in the Protocol option. Unlike using the Gocator Protocol, you don't select which measurement items to output. The Ethernet panel will list the register addresses that are used for EtherNet/IP messages communication.
Page 266 To receive commands and send results using ASCII messages: Go to the Output page. Click on Ethernet in the Output panel. Select ASCII as the protocol in the Protocol drop-down. Set the operation mode in the Operation drop-down. In asynchronous mode, the data results are transmitted when they are available. In polling mode, users send commands on the data channel to request the latest result.
Page 267: Digital Output
Digital Output Gocator sensors can convert measurement decisions or software commands to digital output pulses, which can then be used to output to a PLC or to control external devices, such as indicator lights or air ejectors. A digital output can act as a measurement valid signal to allow external devices to synchronize to the timing at which measurement results are output.
Page 268 Set the Signal option. The signal type specifies whether the digital output is a continuous signal or a pulsed signal. If Signal is set to Continuous, the signal state is maintained until the next transition occurs. If Signal is set to is Pulsed, you must specify the pulse width and how it is scheduled.
Page 269 Set Trigger Event to Software. Specify a Signal type. The signal type specifies whether the digital output is a continuous signal or a pulsed signal. If the signal is continuous, its state is maintained until the next transition occurs. If the signal is pulsed, user specifies the pulse width and the delay.
Page 270: Analog Output
Analog Output Gocator sensors can convert a measurement result or software request to an analog output. Each sensor supports one analog output channel. For information on wiring analog output to an external device, see Analog Output on page 535 To output measurement value or decision: Go to the Output page.
Page 271: Serial Output
output needs to be scheduled. A scheduled output becomes active after a specified delay from the start of Gocator exposure. A scheduled output can be used to track the decisions for multiple objects as these objects travel from the sensor to the eject gates. The delay specifies the distance from the sensor to the eject gates. An Immediate output becomes active as soon as the measurement results are available.
Page 272 To configure ASCII output: Go to the Output page. Click on Serial in the Output panel. Select ASCII in the Protocol option. Select the Data Format. Select Standard to use the default result format of the ASCII protocol. Select value and decision to send by placing a check in the corresponding check box.
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Page 274: Dashboard
Dashboard The following sections describe the Dashboard page. Dashboard Page Overview The Dashboard page summarizes sensor health information and provides measurement statistics. It also provides tool performance statistics. Use this information to troubleshoot your system. Element Description System Displays sensor state and health information. See State and Health Information below.
Page 275 Name Description Memory Usage Sensor memory utilization (MB used / MB total available). Storage Usage Sensor flash storage utilization (MB used / MB total available). Ethernet Link Speed Speed of the Ethernet link (Mbps). Ethernet Traffic Network output utilization (MB/sec). Internal Temperature Internal sensor temperature.
Page 276: Statistics
Statistics In the Tool Stats pane, you can examine measurement and tool statistics in two tabs: Measurements and Performance. To reset statistics in both tabs, use the Reset Stats button. Measurements The Measurements tab displays statistics for each measurement enabled in the Measure page, grouped by the tool that contains the measurement.
Page 277 Performance Statistics Name Description Last (ms) The last execution time of the tool. Min (ms) The minimum execution time of the tool. Max (ms) The maximum execution time of the tool. Avg (ms) The average execution time of the tool. Avg (%) The average percentage the CPU the tool uses.
Page 278: Gocator Emulator
Gocator Emulator The Gocator emulator is a stand-alone application that lets you run a "virtual" sensor. In a virtual sensor, you can test jobs, evaluate data, and even learn more about new features, rather than take a physical device off the production line to do this. You can also use a virtual sensor to familiarize yourself with the overall interface if you are new to Gocator.
Page 279: Limitations
Limitations In most ways, the emulator behaves like a real sensor, especially when visualizing data, setting up models and part matching, and adding and configuring measurement tools. The following are some of the limitations of the emulator: Changes to job files in the emulator are not persistent (they are lost when you close or restart the emulator).
Page 280: Running The Emulator
When you create a scenario from a support file in the emulator, the filename you provide here is displayed in the emulator's scenario list. Support files end with the .gs extension, but you do not need to type the extension in Filename. (Optional) In Description, type a description of the support file.
Page 281: Adding A Scenario To The Emulator
Selecting the emulator interface language Adding a Scenario to the Emulator To simulate a physical sensor using a support file downloaded from a sensor, you must add it as a scenario in the emulator. You can add support files downloaded from any series of Gocator sensors to the emulator. To add a scenario: Launch the emulator if it isn't running already.
Page 282: Removing A Scenario From The Emulator
To run a scenario: If you want to filter the scenarios listed in Available Scenarios, do one or both of the following: Choose a model family in the Model drop-down. Choose Standalone or Buddy to limit the scenarios to single-sensor or dual-/multi-sensor scenarios, respectively.
Page 283: Using Replay Protection
Click the button next to the scenario you want to remove. The scenario is removed from the emulator. Using Replay Protection Making changes to certain settings on the Scan page causes the emulator to flush replay data. The Replay Protection option protects replay data by preventing changes to settings that affect replay data.
Page 284: Working With Jobs And Data
Press and hold Shift, right-click the win64 folder containing the emulator, and choose Open command window here. In the command prompt, type GoEmulator.exe /browser, followed by an IPV4 address. After the emulator application starts, the emulator also launches in your default browser. Working with Jobs and Data The following topics describe how to work with jobs and replay data (data recorded from a physical sensor) in the emulator.
Page 285: Playback And Measurement Simulation
To save a job: Click the Save button The job is saved to the emulator. To load (switch) jobs: Select an existing file name in the job drop-down list. The job is activated. If there are any unsaved changes in the current job, you will be asked whether you want to discard those changes.
Page 286: Downloading, Uploading, And Exporting Replay Data
The Play button advances the replay location continuously, animating the playback until the end of the replay data. The Stop button (replaces the Play button while playing) can be used to pause the replay at a particular location. The Replay slider (or Replay Position box) can be used to go to a specific replay frame. To simulate measurements on replay data: Toggle Replay mode on by setting the slider to the right in the Toolbar.
Page 287 To upload replay data: Click the Upload button The Upload menu appears. In the Upload menu, choose one of the following: Upload: Unloads the current job and creates a new unsaved and untitled job from the content of the replay data file. Upload and merge: Uploads the replay data and merges the data's associated job with the current job.
Page 288: Downloading And Uploading Jobs
To export replay data in the CSV format: In the Scan Mode panel, switch to Profile or Surface. Click the Export button and select All Data as CSV. Only data at the current replay location is exported. Use the playback control buttons to move to a different replay location; for information on playback, see To replay data in Playback and Measurement Simulation on page 285.
Page 289 Element Description Name field Used to provide a job name when saving files. Jobs list Displays the jobs that are currently saved in the emulator. Save button Name Saves current settings to the job using the name in the field. Changes to job files are not persistent in the emulator.
Page 290: Scan, Model, And Measurement Settings
To save a job: Go to the Manage page and click on the Jobs category. Provide a name in the Name field. To save an existing job under a different name, click on it in the Jobs list and then modify it in the Name field.
Page 291: Protocol Output
Protocol Output The emulator simulates output for all of Gocator's Ethernet-based protocols. Gocator ASCII Modbus EtherNet/IP Clients (such as PLCs) can connect to the emulator to access the simulated output and use the protocols as they would with a physical sensor. The emulator allows connections to emulated sensors on localhost (127.0.0.1).
Page 292 The emulator application starts. The emulator does not check that the IP address is valid. From the emulator launch page, start a scenario. For more information, see Running a Scenario on page 281. Provide the IP address you used with the /ip parameter, followed by port number 3191, to users who want to connect to the emulated sensor, for example: 192.168.1.42:3191 Gocator Emulator •...
Page 293: Gocator Accelerator
Gocator Accelerator The Gocator Accelerator improves a Gocator system's processing capability by transferring the processing to a PC in the system. It can accelerate one or more standalone sensors or multi-sensor systems. You can implement acceleration capabilities in client applications that you create using the Gocator SDK.
Page 294: System Requirements
Once a system is accelerated, an SDK application can interface to the accelerator application the same way as is possible with a physical sensor, although the IP of the accelerating PC must be used for the connection. System Requirements The following are the system requirements for the software: Processor: Intel Core i3 or equivalent (32- or 64-bit) RAM: 4 GB Hard drive: 500 GB...
Page 295 To accelerate a sensor using the Gocator Accelerator utility: Power up the sensor system you want to accelerate. Launch the Gocator Accelerator utility. If a Windows Security alert asks whether you want to allow GoAccelerator.exe to communicate on networks, make sure Public and Private are checked, and then click Allow Access. In the Sensors list, click the sensor you want to accelerate.
Page 296 (Optional) If you are accelerating multiple systems, click on another sensor in the Sensors list, and repeat the steps above. The application uses Base Port as an offset for several communication port numbers. To avoid port conflicts, you should increment the base port number by at least 10 for each accelerated sensor.
Page 297: Dashboard And Health Indicators
Clicking the X icon in the application only minimizes the application. Choose Exit. Dashboard and Health Indicators After a sensor is accelerated, the values of some health indicators come from the accelerating PC instead of the sensor. Others come from a combination of the accelerated sensor and the accelerating PC. For information on which indicators are affected in the Dashboard in the web interface, see State and Health Information on page 274.
Page 298 After, the SDK application can control an accelerated sensor in the same way as an unaccelerated sensor. Gocator Accelerator • 298 Gocator Snapshot Sensors: User Manual...
Page 299: Gocator Device Files
Gocator Device Files This section describes the user-accessible device files stored on a Gocator. Live Files Various "live" files stored on a Gocator sensor represent the sensor's active settings and transformations (represented together as "job" files), the active replay data (if any), and the sensor log. By changing the live job file, you can change how the sensor behaves.
Page 300: Job File Structure
To access the log file, use the Read File command, passing "_live.log" to the command. The log file is read- only. Log Child Elements Element Type Description @idStart Identifier of the first log. @idEnd Identifier of the final log. List of (Info | Warning | List An ordered list of log entries.
Page 301: Accessing Files And Components
Job File Components Component Path Description Configuration config.xml The job's configurations. This component is always present. Transform transform.xml Alignment Reference Transformation values. Present only if is set to Dynamic. Part model <name>.mdl One or more part model files. Part models are created using models and part matching Elements in the components contain three types of values: settings, constraints, and properties.
Page 302: Setup
Element Type Description @versionMinor Configuration minor version (9). Setup Section Setup For a description of the Setup elements, see below. Replay Section Contains settings related to recording filtering (see Replay on page 322). Streams Section Streams/Stream Read-only collection of available data streams (see (Read-only) on page 323).
Page 303: Filters
Element Type Description IntensityEnabled.used Bool Whether or not property is used. IntensityEnabled.value Bool Actual value used if not configurable. FlickerFreeModeEnabled Bool Enables flicker-free operation. FlickerFreeModeEnabled.use Bool Whether flicker-free operation can be used on this sensor. ExternalInputZPulseEnabled Bool Enables the External Input based encoder Z Pulse feature. Filters Section Filters...
Page 304: Xgapfilling
Element Type Description Window Window size (mm). Window.min Minimum window size (mm). Window.max Maximum window size (mm). XGapFilling XGapFilling Child Elements Element Type Description @used Bool Whether or not this field is used Enabled Bool Enables filtering. Window Window size (mm). Window.min Minimum window size (mm).
Page 305: Xdecimation
XDecimation XDecimation Child Elements Element Type Description @used Bool Whether or not this field is used Enabled Bool Enables filtering. Window Window size (mm). Window.min Minimum window size (mm). Window.max Maximum window size (mm). YDecimation YDecimation Child Elements Element Type Description @used Bool...
Page 306: Trigger
Trigger The Trigger element contains settings related to trigger source, speed, and encoder resolution. Trigger Child Elements Element Type Description Source Trigger source: 0 – Time 3 – Software Source.options 32s (CSV) List of available source options. Units Sensor triggering units when source is not clock or encoder: 0 –...
Page 307: Layout
Element Type Description BurstCount Number of scans to take during burst triggering. BurstCount.used Bool Whether or not this parameter is configurable. BurstCount.max Maximum burst count. ReversalDistanceAutoEnabled Bool Whether or not to use auto-calculated value. ReversalDistanceAutoEnabled.u Bool Whether or not this parameter can be configured. ReversalDistance Encoder reversal threshold (for jitter handling) ReversalDistance.used...
Page 308: Alignment
Element Type Description ation sensor) MultiplexSingleDelay Delay in µs. (Currently gets rounded up when read by the sensor.) MultiplexSinglePeriod Period in µs. (Currently gets rounded up when read by the sensor.) MultiplexSinglePeriod.min Minimum period in µs. Region3D Child Elements Element Type Description X start (mm).
Page 309: Disk
Element Type Description 3 – Plate StationaryTarget.options 32s (CSV) List of available stationary alignment targets. MovingTarget Moving alignment target: 1 – Disk 2 – Bar MovingTarget.options 32s (CSV) List of available moving alignment targets. EncoderCalibrateEnabled Bool Enables encoder resolution calibration. Disk Disk Section...
Page 310: Plate
Plate Plate Child Elements Element Type Description Height Plate height (mm). HoleCount Number of holes. RefHoleDiameter Diameter of reference hole (mm). SecHoleDiameter Diameter of secondary hole(s) (mm). Devices / Device Devices / Device Child Elements Element Type Description @index Ordered index of devices in device list. @role Sensor role: 0 –...
Page 311 Element Type Description Exposure.min Minimum exposure (µs). Exposure.max Maximum exposure (µs). Exposure.used Bool Whether or not this field is used. DynamicExposureMin Dynamic exposure range minimum (µs). DynamicExposureMax Dynamic exposure range maximum (µs). ExposureSteps 64f (CSV) Mutiple exposure list (µs). ExposureSteps.countMin Minimum number of exposure steps.
Page 312: Tracking
Region3D Child Elements Element Type Description X start (mm). Y start (mm). Z start (mm). Width X extent (mm). Length Y extent (mm). Height Z extent (mm). ZAngle Z Angle start (degrees). ZAngle.used Bool Whether or not this property is used. Window Child Elements Element Type...
Page 313: Material
Tracking Child Elements Element Type Description Enabled Bool Enables tracking. Enabled.used Bool Whether or not this field is used. SearchThreshold Percentage of spots that must be found to remain in track. Height Tracking window height (mm). Height.min Minimum tracking window height (mm). Height.max Maximum tracking window height (mm).
Page 314 Element Type Description SpotSelectionType.used Bool Determines if the setting’s value is currently used. SpotSelectionType.value Value in use by the sensor, useful for determining value when used is false. SpotSelectionType.options List of available spot selection types. (CSV) CameraGainAnalog Analog camera gain factor. CameraGainAnalog.used Bool Determines if the setting’s value is currently used.
Page 315: Independentexposures
Element Type Description GammaType value Value in use by the sensor. Useful for determining value when used is false. SpotContinuitySorting Child Elements SpotContinuitySorting Section See below. SurfaceEncoding Surface encoding type: 0 – Standard 1 – Interreflection (advanced users only) SurfaceEncoding.used Bool Determines if the setting’s value is currently used.
Page 316: Fixedlength
SurfaceGeneration Child Elements Element Type Description Type Surface generation type: 0 – Continuous 1 – Fixed length 2 – Variable length 3 – Rotational FixedLength Section FixedLength below. VariableLength Section VariableLength below. Rotational Section Rotational below. FixedLength FixedLength Child Elements Element Type Description...
Page 317: Surfacesections
SurfaceSections SurfaceSections Child Elements Element Type Description @xMin The minimum valid X value to be used for section definition. @xMax The maximum valid X value to be used for section definition. @yMin The minimum valid Y value to be used for section definition. @yMax The maximum valid Y value to be used for section definition.
Page 318: Fixedlength
FixedLength FixedLength Child Elements Element Type Description StartTrigger Start trigger condition: 0 – Sequential 1 – Digital input Length Profile length (mm). Length.min Minimum profile length (mm). Length.max Maximum profile length (mm). VariableLength VariableLength Child Elements Element Type Description MaxLength Maximum surface length (mm).
Page 319 Element Type Description GapLength Gap length (mm). GapLength.min Minimum gap length (mm). GapLength.max Maximum gap length (mm). GapLength.used Bool Whether or not this field is used. PaddingWidth Padding width (mm). PaddingWidth.min Minimum padding width (mm). PaddingWidth.max Maximum padding width (mm). PaddingWidth.used Bool Whether or not this field is used.
Page 320: Edgefiltering
EdgeFiltering EdgeFiltering Child Elements Element Type Description @used Bool Whether or not this section is used. Enabled Bool Enables edge filtering. PreserveInteriorEnabled Bool Enables preservation of interior. ElementWidth Element width (mm). ElementWidth.min Minimum element width (mm). ElementWidth.max Maximum element width (mm). ElementLength Element length (mm).
Page 321: Ellipse
Element Type Description 0 – None 1 – Length 2 - Width Acceptance/Width/Min Minimum width (mm). Acceptance/Width/Max Maximum width (mm). Acceptance/Width/Tolerance Width acceptance tolerance value Acceptance/Width/Tolerance.dep Bool Whether this tolerance field is deprecated recated Acceptance/Length/Min Minimum length (mm). Acceptance/Length/Max Maximum length (mm). Acceptance/Length/Tolerance Length acceptance tolerance value Acceptance/Length/Tolerance.de...
Page 322: Replay
Element Type Description Acceptance/Minor/Max Maximum minor length (mm). Acceptance/Minor/Tolerance Minor acceptance tolerance value Acceptance/Minor/Tolerance.dep Bool Whether this tolerance field is deprecated recated X value X.deprecated Bool Whether this X field is deprecated Y value Y.deprecated Bool Whether this Y field is deprecated Width Width value Width.deprecated...
Page 323: Conditions/Anydata
Conditions/AnyData Conditions/AnyData Elements Element Type Description Enabled Bool Indicates whether the condition is enabled. RangeCountCase The case under which to record data: 0 – Range count at or above threshold of valid data points. 1 – Range count below threshold. RangeCountThreshold The threshold for the number of range points that are valid.
Page 324: Tooloptions
Element Type Description 16 – Uniform Surface ColorEncoding The color encoding type. Only appears for Video stream steps (1). 0 – None 1 – Bayer BGGR 2 – Bayer GBRG 3 – Bayer RGGB 4 – Bayer GRBG IntensityEnabled Bool Whether the stream includes intensity data Sources Collection...
Page 325: Measurementoptions
Element Type Description @isCustom Bool Reserved for future use. @format Format type of the tool: 0 – Standard built-in tool 1 – GDK user-defined tool 2 – Internal GDK tool MeasurementOptions Collection MeasurementOptions below FeatureOptions Collection FeatureOptions below. StreamOptions Collection StreamOptions on the next page.
Page 326: Streamoptions
StreamOptions StreamOptions Child Elements Element Type Description @step The data step of the stream being described. Possible values are: 1 – Video 2 – Range 3 – Surface 4 – Section @ids A list representing the available IDs associated with the given step.
Page 327: Profileline
Element Type Description 13 – Median RegionEnabled Bool Indicates whether feature detection applies to the defined Region or to the entire active area. Region ProfileRegion2D Element for feature detection area. ProfileLine An element of type ProfileLine defines measurement areas used to calculate a line. ProfileLine Child Elements Element Type...
Page 328: Surfaceregion2D
SurfaceFeature Child Elements Element Type Description Type Setting to determine how the feature is detected within the area: 0 – Average (formerly Centroid 2d) 1 – Centroid (formerly Centroid 3d) 2 – X Max 3 – X Min 4 – Y Max 5 –...
Page 329 GDK Parameter Child Elements Element Type Description @label String Parameter label. @type String Type of parameter. It is one of the following (see tables below for elements found in each type): - Bool - Int - Float - ProfileRegion - SurfaceRegion2d - SurfaceRegion3d - GeometricFeature @options...
Page 330: Profilearea
Element Type Description Y value of region. Width Width value of region. Length Length value of region. GDK Parameter Surface Region 3D Type Element Type Description X value of region. Y value of region. Z value of region. Width Width value of region. Length Length value of region.
Page 331 Element Type Description 0 – Object (convex shape above the baseline) 1 – Clearance (concave shape below the baseline) Type.used Boolean Whether or not field is used. Baseline Boolean Baseline type: 0 – X-axis 1 – Line Baseline.used Boolean Whether or not field is used. RegionEnabled Boolean If enabled, the defined region is used for measurements.
Page 332: Profileboundingbox
Element Type Description Offset Output offset factor. DecisionMin Minimum decision threshold. DecisionMax Maximum decision threshold. ProfileBoundingBox A ProfileBoundingBox element defines settings for a profile bounding box tool and one or more of its measurements. ProfileBoundingBox Child Elements Element Type Description Name String Tool name.
Page 333: Profilecircle
Element Type Description Measurements\GlobalAngle Bounding Box tool GlobalAngle measurement measurement GeometricFeature Features\CenterPoint CenterPoint PointFeature. Features\CornerPoint GeometricFeature CornerPoint PointFeature. Bounding Box Tool Measurement Element Type Description Measurement ID. Optional (measurement disabled if not set). Name String Measurement name. Enabled Boolean Measurement enable state: 0 –...
Page 334 Element Type Description Anchor\Z String (CSV) The Z measurements (IDs) used for anchoring. Anchor\Z.options String (CSV) The Z measurements (IDs) available for anchoring. StreamOptions Collection StreamOptions A collection of on page 326 elements. Stream\Step The stream source step. Possible values are: 1 –...
Page 335: Profiledimension
Element Type Description Scale Output scaling factor. Offset Output offset factor. DecisionMin Minimum decision threshold. DecisionMax Maximum decision threshold. ProfileDimension A ProfileDimension element defines settings for a profile dimension tool and one or more of its measurements. ProfileDimension Child Elements Element Type Description...
Page 336: Profilegroove
Dimension Tool Measurement Element Type Description Measurement ID. Optional (measurement disabled if not set). Name String Measurement name. Enabled Boolean Measurement enable state: 0 – Disable 1 – Enable HoldEnabled Boolean Output hold enable state: 0 – Disable 1 – Enable SmoothingEnabled Boolean Smoothing enable state:...
Page 337 Element Type Description Anchor\Z.options String (CSV) The Z measurements (IDs) available for anchoring. StreamOptions Collection StreamOptions A collection of on page 326 elements. Stream\Step The stream source step. Possible values are: 1 – Video 2 – Range 3 – Surface 4 –...
Page 338: Profileintersect
Element Type Description 0 – Disable 1 – Enable PreserveInvalidsEnabled Boolean Preserve invalid measurements enable state 0 – Disable 1 – Enable SmoothingWindow Smoothing window. Scale Output scaling factor. Offset Output offset factor. DecisionMin Minimum decision threshold. DecisionMax Maximum decision threshold. SelectType Method of selecting a groove when multiple grooves are found:...
Page 339 Element Type Description StreamOptions Collection StreamOptions A collection of on page 326 elements. Stream\Step The stream source step. Possible values are: 1 – Video 2 – Range 3 – Surface 4 – Section Stream\Id The stream source ID. RefLine ProfileLine Definition of reference line.
Page 340: Profileline
Element Type Description Offset Output offset factor. DecisionMin Minimum decision threshold. DecisionMax Maximum decision threshold. Boolean Absolute Setting for selecting the angle range: (Angle measurement only) 0 – A range of -90 to 90 degrees is used. 1 – A range of 0 to 180 degrees is used. ProfileLine A ProfileLine element defines settings for a profile line tool and one or more of its measurements.
Page 341 Element Type Description measurement Measurements\Offset Line tool Offset measurement. measurement Measurements\Angle Line tool Angle measurement. measurement Measurements\MinErrorX Line tool Minimum Error in Z measurement. measurement Measurements\MinErrorZ Line tool Minimum Error in Z measurement. measurement Measurements\MaxErrorX Line tool Maximum Error in X measurement. measurement Measurements\MaxErrorZ Line tool...
Page 342: Profilepanel
Element Type Description DecisionMax Maximum decision threshold. Percent Error percentile. (Percentile measurement only) ProfilePanel A ProfilePanel element defines settings for a profile panel tool and one or more of its measurements. ProfilePanel Child Elements Element Type Description Name String Tool name. Features Collection Not used.
Page 343 Element Type Description Measurements\LeftSurfaceAngl Gap/Flush Left Surface Angle measurement. measurement Measurements\RightGapX Gap/Flush Right Gap X measurement. measurement Measurements\RightGapZ Gap/Flush Right Gap Z measurement. measurement Measurements\RightFlushX Gap/Flush Right Flush X measurement. measurement Measurements\RightFlushZ Gap/Flush Right Flush Z measurement. measurement Measurements\RightSurfaceAn Gap/Flush Right Surface Angle measurement.
Page 344: Profileposition
Element Type Description 0 – Disable 1 – Enable PreserveInvalidsEnabled Boolean Preserve invalid measurements enable state 0 – Disable 1 – Enable SmoothingWindow Smoothing window. Scale Output scaling factor. Offset Output offset factor. DecisionMin Minimum decision threshold. DecisionMax Maximum decision threshold. Axis Measurement axis: (Gap measurement only)
Page 345: Profileroundcorner
Element Type Description Stream\Id The stream source ID. Feature ProfileFeature Element for feature detection. Measurements\X Position tool X measurement. measurement Measurements\Z Position tool Z measurement. measurement Features\Point GeometricF Point PointFeature FeatureTypes.htm eature Position Tool Measurement Element Type Description id (attribute) Measurement ID.
Page 346 ProfileRoundCorner Child Elements Element Type Description Name String Tool name. Features Collection Not used. Source Profile source. Anchor\X String (CSV) The X measurements (IDs) used for anchoring. Anchor\X.options String (CSV) The X measurements (IDs) available for anchoring. Anchor\Z String (CSV) The Z measurements (IDs) used for anchoring.
Page 347: Profilestrip
Element Type Description all available data is used. Region ProfileRegion2d Edge region. Round Corner Tool Measurement Element Type Description id (attribute) Measurement ID. Optional (measurement disabled if not set). Name String Measurement name. Enabled Boolean Measurement enable state: 0 – Disable 1 –...
Page 348 Element Type Description Anchor\Z String (CSV) The Z measurements (IDs) used for anchoring. Anchor\Z.options String (CSV) The Z measurements (IDs) available for anchoring. StreamOptions Collection StreamOptions A collection of on page 326 elements. Stream\Step The stream source step. Possible values are: 1 –...
Page 349: Script
Element Type Description Measurements\Height Strip tool Width measurement. measurement Strip Tool Measurement Element Type Description Measurement ID. Optional (measurement disabled if not set). Name String Measurement name. Enabled Boolean Measurement enable state: 0 – Disable 1 – Enable HoldEnabled Boolean Output hold enable state: 0 –...
Page 350: Surfaceboundingbox
Script Child Elements Element Type Description Name String Tool name. Code String Script code. Measurements\Output (Collection) Dynamic list of Output elements. Output Element Type Description Measurement ID. Optional (measurement disabled if not set). Name String Measurement name. SurfaceBoundingBox A SurfaceBoundingBox element defines settings for a surface bounding box tool and one or more of its measurements.
Page 351 Element Type Description 0 – None 1 – Length 2 – Width RegionEnabled Boolean Setting to enable/disable region. Region Region3D Measurement region. Measurements\X Bounding Box tool X measurement. measurement Measurements\Y Bounding Box tool Y measurement. measurement Measurements\Z Bounding Box tool Z measurement.
Page 352: Surfacecshole
Element Type Description 1 – Enable PreserveInvalidsEnabled Boolean Preserve invalid measurements enable state 0 – Disable 1 – Enable SmoothingWindow Smoothing window. Scale Output scaling factor. Offset Output offset factor. DecisionMin Minimum decision threshold. DecisionMax Maximum decision threshold. SurfaceCsHole A SurfaceCsHole element defines settings for a surface countersunk hole tool and one or more of its measurements.
Page 353 Element Type Description BevelRadiusOffset Bevel radus offset (mm). Shape The shape of the countersunk hole: 0 – Cone 1 – Counterbore PartialDetectionEnabled Boolean Setting to enable/disable partial detection: 0 – Disable 1 – Enable RegionEnabled Boolean Setting to enable/disable region: 0 –...
Page 354 Element Type Description Measurements\BevelRadius Countersunk Hole tool Bevel Radius measurement. measurement Measurements\BevelAngle Countersunk Hole tool Bevel Angle measurement. measurement Measurements\XAngle Countersunk Hole tool X Angle measurement. measurement Measurements\YAngle Countersunk Hole tool Y Angle measurement. measurement Measurements\CounterboreDe Countersunk Hole tool CounterboreDepth measurement. measurement Measurements\AxisTilt CsHoleMeasurement...
Page 355: Surfacedimension
SurfaceDimension A SurfaceDimension element defines settings for a surface dimension tool and one or more of its measurements. SurfaceDimension Child Elements Element Type Description Name String Tool name. Features Collection Not used. Source Surface source. Anchor\X String (CSV) The X measurements (IDs) used for anchoring. Anchor\X.options String (CSV) The X measurements (IDs) available for anchoring.
Page 356: Tool
Dimension Tool Measurement Element Type Description Measurement ID. Optional (measurement disabled if not set). Name String Measurement name. Enabled Boolean Measurement enable state: 0 – Disable 1 – Enable HoldEnabled Boolean Output hold enable state: 0 – Disable 1 – Enable SmoothingEnabled Boolean Smoothing enable state:...
Page 357 Element Type Description Anchor\Y.options String (CSV) The Y measurements (IDs) available for anchoring. Anchor\Z String (CSV) The Z measurements (IDs) used for anchoring. Anchor\Z.options String (CSV) The Z measurements (IDs) available for anchoring. Parameters\UseIntensity Use intensity data. GdkParamBool Parameters\RegionCount GdkParamInt Count of regions.
Page 358 Element Type Description Parameters\RelativeThreshold GdkParamFloat Relative threshold value. Parameters\RelativeThreshold. String Units of relative threshold (e.g.: %) units Parameters\EdgeSmoothing Edge smoothing value. GdkParamFloat Parameters\EdgeSmoothing.u String Units of edge smoothing (e.g.: mm). nits Parameters\EdgeWidth GdkParamFloat The step width. Parameters\EdgeWidth.units String Units of edge (e.g.: mm). Parameters\EdgeMaxGap Edge max gap value.
Page 359: Surfaceellipse
0 – Disable 1 – Enable HoldEnabled Boolean Output hold enable state: 0 – Disable 1 – Enable SmoothingEnabled Boolean Smoothing enable state: 0 – Disable 1 – Enable PreserveInvalidsEnabled Boolean Preserve invalid measurements enable state 0 – Disable 1 – Enable SmoothingWindow Smoothing window.
Page 360 Element Type Description 4 – Section Stream\Id The stream source ID. RegionEnabled Boolean Setting to enable/disable region. Region Region3D Measurement region. AsymmetryDetectionType Determine whether to use asymmetry detection and if enabled, which dimension would be the basis of detection. The possible values are: 0 –...
Page 361: Surfacehole
Element Type Description SmoothingWindow Smoothing window. Scale Output scaling factor. Offset Output offset factor. DecisionMin Minimum decision threshold. DecisionMax Maximum decision threshold. SurfaceHole A SurfaceHole element defines settings for a surface hole tool and one or more of its measurements. SurfaceHole Child Elements Element Type Description...
Page 362 Element Type Description DepthLimit The depth limit relative to the surface. Data below this limit is ignored. RegionEnabled Boolean Setting to enable/disable region: 0 – Disable 1 – Enable Region Region3D Measurement region. RefRegionsEnabled Boolean Setting to enable/disable reference regions: 0 –...
Page 363: Surfaceopening
Element Type Description SmoothingEnabled Boolean Smoothing enable state: 0 – Disable 1 – Enable PreserveInvalidsEnabled Boolean Preserve invalid measurements enable state 0 – Disable 1 – Enable SmoothingWindow Smoothing window. Scale Output scaling factor. Offset Output offset factor. DecisionMin Minimum decision threshold. DecisionMax Maximum decision threshold.
Page 364 Element Type Description 0 – Rounded 1 – Slot NominalWidth Nominal width (mm). NominalLength Nominal length (mm). NominalAngle Nominal angle (degrees). NominalRadius Nominal radius (mm). WidthTolerance Radius tolerance (mm). LengthTolerance Length tolerance (mm). AngleTolerance Angle tolerance (degrees). PartialDetectionEnabled Boolean Setting to enable/disable partial detection: 0 –...
Page 365: Surfaceplane
Element Type Description Measurements\Z Opening tool Z measurement. measurement Measurements\Width Opening tool Width measurement. measurement Measurements\Length Opening tool Length measurement. measurement Measurements\Angle Opening tool Angle measurement. measurement Features\CenterPoint GeometricFeature CenterPoint PointFeature Opening Tool Measurement Element Type Description id (attribute) Measurement ID. Optional (measurement disabled if not set).
Page 366 Element Type Description Features Collection Not used. Source Surface source. Anchor\X String (CSV) The X measurements (IDs) used for anchoring. Anchor\X.options String (CSV) The X measurements (IDs) available for anchoring. Anchor\Y String (CSV) The Y measurements (IDs) used for anchoring. Anchor\Y.options String (CSV) The Y measurements (IDs) available for anchoring.
Page 367: Surfaceposition
Element Type Description Measurements\ZNormal PlaneMeasurement ZNormal measurement Measurements\Distance PlaneMeasurement Distance from normal measurement Features\Plane GeometricFeature Resulting plane PlaneFeature. Plane Tool Measurement Element Type Description id (attribute) Measurement ID. Optional (measurement disabled if not set). Name String Measurement name. Enabled Boolean Measurement enable state: 0 –...
Page 368 Element Type Description Source Surface source. Anchor\X String (CSV) The X measurements (IDs) used for anchoring. Anchor\X.options String (CSV) The X measurements (IDs) available for anchoring. Anchor\Y String (CSV) The Y measurements (IDs) used for anchoring. Anchor\Y.options String (CSV) The Y measurements (IDs) available for anchoring. Anchor\Z String (CSV) The Z measurements (IDs) used for anchoring.
Page 369: Surfacestud
Element Type Description 1 – Enable PreserveInvalidsEnabled Boolean Preserve invalid measurements enable state 0 – Disable 1 – Enable SmoothingWindow Smoothing window. Scale Output scaling factor. Offset Output offset factor. DecisionMin Minimum decision threshold. DecisionMax Maximum decision threshold. SurfaceStud A SurfaceStud element defines settings for a surface stud tool and one or more of its measurements. SurfaceStud Child Elements Element Type...
Page 370 Element Type Description TipHeight Height of stud’s tip. RegionEnabled Boolean Setting to enable/disable region. Region3D Region Measurement region. RefRegionsEnabled Boolean Setting to enable/disable reference regions: 0 – Disable 1 – Enable RefRegionCount Count of the reference regions that are to be used. Advanced tab.) RefRegions...
Page 371: Surfacevolume
Element Type Description HoldEnabled Boolean Output hold enable state: 0 – Disable 1 – Enable SmoothingEnabled Boolean Smoothing enable state: 0 – Disable 1 – Enable PreserveInvalidsEnabled Boolean Preserve invalid measurements enable state 0 – Disable 1 – Enable SmoothingWindow Smoothing window.
Page 372 Element Type Description Anchor\Y.options String (CSV) The Y measurements (IDs) available for anchoring. Anchor\Z String (CSV) The Z measurements (IDs) used for anchoring. Anchor\Z.options String (CSV) The Z measurements (IDs) available for anchoring. Anchor\ZAngle String (CSV) The Z Angle measurements (IDs) used for anchoring. Anchor\ZAngle.options String (CSV) The Z measurements (IDs) available for anchoring.
Page 373: Tool
Element Type Description SmoothingWindow Smoothing window. Scale Output scaling factor. Offset Output offset factor. DecisionMin Minimum decision threshold. DecisionMax Maximum decision threshold. Location Measurement type: (Thickness measurement only) 0 – Maximum 1 – Minimum 2 – 2D Centroid 3 – 3D Centroid 4 –...
Page 374: Tool
Element Type Description Measurements\Measurement Dimension Measurement Plane distance measurement. @type=PlaneDistance Dimension Measurement Child Elements Measurement ID. Optional (measurement disabled if not set). @type String Type name of measurement. Name String Measurement name. Enabled Boolean Measurement enable state: 0 – Disable 1 –...
Page 375 Element Type Description @version String Version string for custom tool. Name String Tool name. Source Surface source. Anchor\X String (CSV) The X measurements (IDs) used for anchoring. Anchor\X.options String (CSV) The X measurements (IDs) available for anchoring. Anchor\Y String (CSV) The Y measurements (IDs) used for anchoring.
Page 376: Custom
SmoothingWindow Smoothing window. Scale Output scaling factor. Offset Output offset factor. DecisionMin Minimum decision threshold. DecisionMax Maximum decision threshold. Parameters\AngleRange GdkParamInt Angle range option choice. Is one of: 0 – -180 To 180 1 – 0 To 360 Custom A Custom element defines settings for a user-created GDK-based tool and one or more of its measurements.
Page 377: Ethernet
<X id="2"> ... <Y id="3"> ... <Output> <Ethernet> ... <Measurements options="2,3">2</Measurements> Ethernet The Ethernet element defines settings for Ethernet output. In the Ethernet element, the source identifiers used for video, range, profile, and surface output, as well as range, profile, and surface intensity outputs, correspond to the sensor that provides the data. For example, in the XML below, the options attribute of the Surfaces element shows that only two sources are available (see the table below for the meanings of these values).
Page 378 Element Type Description 3 – Top right Videos.options 32s (CSV) List of available video sources (see above). Ranges 32s (CSV) Selected range sources: 0 – Top 1 – Bottom 2 – Top left 3 – Top right Ranges.options 32s (CSV) List of available range sources (see above).
Page 379: Ascii
Element Type Description SurfaceSectionIntensities 32s (CSV) Selected surface section intensity sources SurfaceSectionIntensities.opti 32s (CSV) List of available surface section intensity sources. Tracheids 32s (CSV) Selected tracheid sources Tracheids.options 32s (CSV) List of available tracheid sources. Measurements 32u (CSV) Selected measurement sources. Measurements.options 32u (CSV) List of available measurement sources.
Page 380: Eip
EIP Child Elements Element Type Description BufferEnabled Bool Enables EtherNet/IP output buffering. EndianOutputType Endian output type: 0 – Big endian 1 – Little endian ImplicitOutputEnabled Bool Enables Implict (I/O) Messaging. ImplicitTriggerOverride Override requested trigger type by client: 0 – No override 1 –...
Page 381: Analog
Element Type Description 1 – AND of measurements is false 2 – Always assert Delay Output delay (µs or mm, depending on delay domain defined below). DelayDomain Output delay domain: 0 – Time (µs) 1 – Encoder (mm) Inverted Bool Whether the sent bits are flipped.
Page 382: Serial
Element Type Description 0 – Time (µs) 1 – Encoder (mm) Measurement Selected measurement source. Measurement.options 32u (CSV) List of available measurement sources. The delay specifies the time or position at which the analog output activates. Upon activation, there is an additional delay before the analog output settles at the correct value. Serial The Serial element defines settings for Serial output.
Page 383: Ascii
Ascii Ascii Child Elements Element Type Description Delimiter String Field delimiter. Terminator String Line terminator. InvalidValue String String for invalid output. CustomDataFormat String Custom data format. CustomFormatEnabled Bool Enables custom data format. StandardFormatMode The formatting mode used if not a custom format: 0 –...
Page 384: Device
<X>0</X> <Y>0.0</Y> <Z>123.4966803469</Z> <XAngle>5.7478302588</XAngle> <YAngle>3.7078302555</XAngle> <ZAngle>2.7078302556</XAngle> </Device> </Devices> </Transform> The Transform element contains the alignment record for the sensor. Transform Child Elements Element Type Description @version Major transform version (100). @versionMinor Minor transform version (0). EncoderResolution Encoder Resolution (mm/tick). Speed Travel Speed (mm/s).
Page 385: Edge Points
You can access part models in user-created job files in non-volatile storage, for example, "productionRun01.job/model1.mdl". You can only access part models in user-created job files using path notation. See the following sections for the elements contained in a model. Part models contain the following subcomponents. You can access the subcomponents using path notation, for example, "productionRun01.job/myModel.mdl/config.xml".
Page 386: Configuration
Field Type Offset Description yScale Y scale (nm) xOffset X offset (µm) yOffset Y offset µm zAngle Z rotation (microdegrees) pointCount Number of edge points points[pointCount] (32u, 32u) Edge points collection. Each point is a tuple of x and y values, in units of xScale and yScale, respectively.
Page 387: Protocols
Protocols Gocator supports protocols for communicating with sensors over Ethernet (TCP/IP) and serial output. For a protocol to output data, it must be enabled and configured in the active job. Protocols Available over Ethernet Gocator Modbus EtherNet/IP ASCII Protocols Available over Serial ASCII Gocator Protocol This section describes the TCP and UDP commands and data formats used by a client computer to...
Page 388: Data Types
Data Types The table below defines the data types and associated type identifiers used in this section. All values except for IP addresses are transmitted in little endian format (least significant byte first) unless stated otherwise. The bytes in an IP address "a.b.c.d" will always be transmitted in the order a, b, c, d (big endian).
Page 389: Discovery Commands
Label Value Description Invalid State -1000 Command is not valid in the current state. Item Not Found -999 A required item (e.g., file) was not found. Invalid Command -998 Command is not recognized. Invalid Parameter -997 One or more command parameters are incorrect. Not Supported -996 The operation is not supported.
Page 390: Set Address
Reply Field Type Offset Description length Reply length. type Reply type (0x1001). status Operation status. signature Message signature (0x0000504455494D4C) deviceId Serial number. dhcpEnabled 0 – Disabled 1 – Enabled reserved[4] byte Reserved. address[4] byte The IP address in left to right order. reserved[4] byte Reserved.
Page 391: Get Info
Reply Field Type Offset Description length Reply length. type Reply type (0x1002). status Operation status. For a list of status codes, see Commands page 388. signature Message signature (0x0000504455494D4C). deviceId Serial number. Get Info The Get Info command is used to retrieve sensor information. Command Field Type...
Page 392: Control Commands
Field Type Offset Description gatewayAddress[4] byte Gateway address. reserved[12] byte Reserved. controlPort Control channel port. upgradePort Upgrade channel port. healthPort Health channel port. dataPort Data channel port. webPort Web server port. propertyCount Number of sensor ID properties. properties Property List of sensor ID properties. [propertyCount] Property Field...
Page 393: Protocol Version
Protocol Version The Protocol Version command returns the protocol version of the connected sensor. Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x4511) Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4511).
Page 394: Get System Info V2
Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x3013) dhcpEnabled byte 0 – DHCP not used 1 – DHCP used address[4] byte IP address (most significant byte first). subnetMask[4] byte Subnet mask. gateway[4] byte Gateway address.
Page 395 Field Type Offset Description localInfoSize Size of localInfo structure. Current: 52. localInfo Device Info 12 Info for this device. remoteCount Number of discovered sensors. remoteInfoSize Size of remoteInfo structure. Current 60. remoteInfo Remote List of info for discovered sensors. [remoteCount] Info buddyInfoCount Number of buddies assigned (can be 0).
Page 396: Get System Info
Field Type Offset Description buddyableStatus Whether or not the device can be buddied: 1 – Can be buddied Errors: 0 – Unbuddiable (General Error) -100 – Already buddied -99 – Invalid State (e.g. running) -98 – Version Mismatch -97 – Model Mismatch Buddy Info Field Type...
Page 397: Get States
Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x4002) Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4002). status Commands Reply status. For a list of status codes, see on page 388.
Page 398: Log In/Out
Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4525). status Reply status. For a list of status codes, see Commands on page 388. count Number of state variables. sensorState Sensor state 0 – Ready 1 –...
Page 399: Change Password
Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x4003). userType Defines the user type 0 – None (log out) 1 – Administrator 2 – Technician password[64] char Password (required for log-in only). Reply Field Type Offset...
Page 400: List Files
Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x4005). buddyId Id of the sensor to acquire as buddy. Set to 0 to remove buddy. Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4005).
Page 401: Read File
Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x101B). source[64] char Source file name. destination[64] char Destination file name. Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x101B). status Reply status.
Page 402: Delete File
Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x1006). name[64] char Source file name. length File length. data[length] byte File contents. Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x1006).
Page 403: User Storage Free
Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x1021). status Reply status. spaceUsed The used storage space in bytes. User Storage Free The User Storage Free command returns the amount of user storage that is free. Command Field Type...
Page 404: Get Loaded Job
Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x4101). fileName[64] char File name (null-terminated) of the job the sensor loads when it powers up. Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4101).
Page 405: Set Alignment Reference
Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4104). status Reply status. For a list of status codes, see Commands on page 388. reference Alignment reference 0 – Fixed 1 – Dynamic Set Alignment Reference The Set Alignment Reference command is used to set the sensor's alignment reference.
Page 406: Get Timestamp
Get Timestamp The Get Timestamp command retrieves the sensor's timestamp, in clock ticks. All devices in a system are synchronized with the system clock; this value can be used for diagnostic purposes, or used to synchronize the start time of the system. Command Field Type...
Page 407: Start
Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x101E). status Reply status. For a list of status codes, see Commands on page 388. Start The Start command starts the sensor system (system enters the Running state). For more information on states, see Control Commands on page 392.
Page 408: Stop
Stop The Stop command stops the sensor system (system enters the Ready state). For more information on states, see Control Commands on page 392. Command Field Type Type Description length Command size including this field, in bytes. Command identifier (0x1001). Reply Field Type...
Page 409: Get Voltage Settings
Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x452B). status Reply status. For a list of status codes, see Commands on page 388. Get Voltage Settings The Get Voltage Settings command returns the sensor’s voltage and cable length settings. Command Field Type...
Page 410: Set Quick Edit Enabled
Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x4541). Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4541). status Commands Reply status. For a list of status codes, see on page 388.
Page 411: Start Exposure Auto-Set
Field Type Offset Description 388. opId Operation ID. Use this ID to correlate the command/reply on the Alignment Result Command channel with the correct message on the Data channel. A unique ID is returned each time the client uses this command. Start Exposure Auto-set The Start Exposure Auto-set command is used to start the exposure auto-set procedure on a sensor.
Page 412: Schedule Digital Output
Schedule Digital Output The Schedule Digital Output command schedules a digital output event. The digital output must be configured to accept software-scheduled commands and be in the Running state. Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x4518).
Page 413: Ping
Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4519). status Reply status. For a list of status codes, see Commands on page 388. The analog output takes about 75 us to reach 90% of the target value for a maximum change, then roughly another 40 us to settle completely.
Page 414: Backup
Backup The Backup command creates a backup of all files stored on the connected sensor and downloads the backup to the client. Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x1013). Reply Field Type Offset Description...
Page 415: Get Recording Enabled
Note that the sensor must be reset or power-cycled before the factory restore operation can be completed. Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x4301). resetIp Specifies whether IP address should be restored to default: 0 –...
Page 416: Clear Replay Data
Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4516). status Reply status. For a list of status codes, see Commands on page 388. Clear Replay Data The Clear Replay Data command clears the sensors replay data.. Command Field Type...
Page 417: Simulate
Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x4523). source Source 0 – Live 1 – Replay buffer Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4523). status Commands Reply status.
Page 418: Step Playback
Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x4503). frame Frame index. Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4503). status Reply status. For a list of status codes, see Commands on page 388.
Page 419: Clear Measurement Stats
Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4502). status Reply status. For a list of status codes, see Commands on page 388. Frame Index Current frame index (starts from 0). Frame Count Total number of available frames/objects.
Page 420: Clear Log
Clear Log The Clear Log command clears the sensor's log. Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x101D). Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x101D). status Reply status.
Page 421: Acquire Unaligned
The command returns after the scan has been captured and transmitted. Acquire Unaligned The Acquire Unaligned command acquires a new scan without performing alignment transformation. Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x4527). Reply Field Type...
Page 422: Add Tool
Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4604). status Reply status. For a list of status codes, see Commands on page 388. Add Tool The Add Tool command adds a tool to the live job. Command Field Type...
Page 423: Read File (Progressive)
This command can only be used with dynamic tools (tools with a dynamic list of measurements). The maximum number of instances for a given measurement type can be found in the ToolOptions node. For dynamic tools, the maximum count is greater than one, while for static tools it is one.
Page 424: Export Bitmap (Progressive)
Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x4507). Initial Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4507). status Commands Reply status. For a list of status codes, see on page 388.
Page 425: Get Runtime Variable Count
Initial Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4508). status Reply status. For a list of status codes, see Commands on page 388. progressTotal Progress indicating completion (100%). progress Current progress. Continue Reply Field Type Offset...
Page 426: Get Runtime Variables
Field Type Offset Description Command identifier (0x4536). index The starting index of the variables to set. length The number of values to set from the starting index. values[length] The runtime variable values to set. Reply Field Type Offset Description length Reply size including this field, in bytes.
Page 427: Start Upgrade
Start Upgrade The Start Upgrade command begins a firmware upgrade for the sensors in a system. All sensors automatically reset 3 seconds after the upgrade process is complete. Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x0000).
Page 428: Get Upgrade Log
Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x1). status Reply status. For a list of status codes, see Commands on page 388. state Upgrade state: -1 – Failed 0 – Completed 1 – Running 2 –...
Page 429: Stamp
followed by a variable-length, message-specific content section. The structure of the GDP message is defined below. Gocator Data Protocol Field Type Offset Description size Count of bytes in message (including this field). control Bit 15: Last Message flag Bits 0-14: Message type identifier. (See individual data result sections.) GDP messages are always sent in groups.
Page 430: Video
Video Field Type Offset Description size Count of bytes in message (including this field). control Bit 15: Last message flag. Bits 0-14: Message type identifier. For this message, set to 2. attributesSize Size of attributes, in bytes (min: 20, current: 20). height (H) Image height, in pixels.
Page 431: Surface Intensity
Field Type Offset Description Bits 0-14: Message type identifier. For this message, set to 8. attributeSize Size of attributes, in bytes (min: 40, current: 48). length (L) Surface length (rows). length (W) Surface width (columns). xScale X scale (nm). yScale Y scale (nm).
Page 432: Surface Section
Field Type Offset Description source Source 0 – Top 1 – Bottom 2 – Top Left 3 – Top Right exposure Exposure (ns). reserved[3] intensities[H][W] Surface intensities. Surface Section Field Type Offset Description size Count of bytes in message (including this field). control Bit 15: Last message flag.
Page 433: Surface Section Intensity
Surface Section Intensity Field Type Offset Description size Count of bytes in message (including this field). control Bit 15: Last message flag. Bits 0-14: Message type identifier. For this message, set to 21. attributesSize Size of attributes, in bytes (min: 37, current: 37). count (C) Number of profile intensity arrays width (W)
Page 434: Operation Result
Field Type Offset Description 1 – Pass 0 – Fail Bits 1-7: 0 – Measurement value OK 1 – Invalid value 2 – Invalid anchor reserved[3] Reserved. Operation Result Field Type Offset Description size Count of bytes in message (including this field). control Bit 15: Last message flag.
Page 435: Edge Match Result
Field Type Offset Description Bits 0-14: Message type identifier. For this message, set to 12. attributesSize Size of attributes, in bytes (min: 8, current: 8). Operation ID. opId status Operation status. exposure Exposure result (ns). Edge Match Result Field Type Offset Description size...
Page 436: Ellipse Match Result
Ellipse Match Result Field Type Offset Description size Count of bytes in message (including this field). control Bit 15: Last message flag. Bits 0-14: Message type identifier. For this message, set to 18. decision Overall match decision. xOffset Target x offset in model space (µm). yOffset Target y offset in model space (µm).
Page 437: Feature Line
Feature Line Field Type Offset Description size Count of bytes in message (including this field). control Bit 15: Last message flag. Bits 0-14: Message type identifier. For this message, set to 25. Feature Id Point.x X Coordinate of Point (Scaled by 10^6) Point.y Y Coordinate of Point (Scaled by 10^6) Point.z...
Page 438 Field Type Offset Description Bits 0-14: Message type identifier. Always 0. count (C) Count of indicators in this message. source Source (0 – Main, 1 – Buddy). reserved[3] Reserved indicators[C] Indicator Array of indicators (see format below). The health indicators block contains a 2-dimensional array of indicator data. Each row in the array has the following format: Indicator Format Field...
Page 439 Indicator Instance Value Storage Usage 2005 Amount of non-volatile storage used (bytes). Storage Capacity 2006 Total amount of non-volatile storage available (bytes). CPU Usage 2007 CPU usage (percentage of maximum). Net Out Capacity 2009 Total available outbound network throughput (bytes/s). Net Out Link Status 2034 Current Ethernet link status.
Page 440 Indicator Instance Value available on XLine capable licensed devices) Laser Overheat* 20020 Indicates whether laser overheat has occurred. 0 – Has not overheated 1 – Has overheated Only available on certain 3B laser devices. Laser Overheat Duration* 20021 The length of time in which the laser overheating state occurred.
Page 441 Indicator Instance Value Range Invalid Count** 21101 Number of invalid ranges. Anchor Invalid Count** 21200 Number of frames with anchoring invalid. First Log Id 21301 ID of the first available log entry. Last Log Id 21300 ID of the last available log entry. It is inclusive: for example, if first = 3 and last = 5, the available log IDs are 3, 4, 5.
Page 442 Indicator Instance Value Part Length 22011 Length of largest active part. Part Start Y 22012 Start Y position of the largest active part. Part Tracking State 22013 Tracking state of the largest active part. Part Capacity Exceeded 22014 Part detection part or run capacity has been exceeded.
Page 443: Modbus Protocol
Modbus Protocol Modbus is designed to allow industrial equipment such as Programmable Logic Controllers (PLCs), sensors, and physical input/output devices to communicate over an Ethernet network. Modbus embeds a Modbus frame into a TCP frame in a simple manner. This is a connection-oriented transaction, and every query expects a response.
Page 444: Registers
Modbus Application Protocol Header Field Length (Bytes) Description Transaction ID Used for transaction pairing. The Modbus Client sets the value and the Server (Gocator) copies the value into its responses. Protocol ID Always set to 0. Length Byte count of the rest of the message, including the Unit identifier and data fields.
Page 445: Control Registers
The output registers report the sensor states, stamps, and measurement values and decisions. You can read multiple output registers using a single Read Holding Registers or a single Read Input Registers command. Likewise, you can control the state of the sensor using a single Write Multiple Register command.
Page 446: Output Registers
Value Name Description Start Running Starts the sensor. No effect if sensor is already started. Align (stationary target) Starts the stationary alignment process. State register 301 will be set to 1 (busy). When the alignment process is complete, the register is set back to zero.
Page 447: Stamp
Register Name Type Description Address the extension. Each 16-bit register contains a single character. (Valid when register 301 = 0.) Runtime Variable 0 High Runtime variable value stored in two register locations. Runtime Variable 0 Low Runtime Variable 3 High Runtime variable value stored in two register locations.
Page 448: Measurement Registers
Register Name Type Description Address Temperature Low Position High Encoder position Position Position Position Low Time Low Timestamp (µs). Time Time Time Low Frame Index High Frame counter. Each new sample is assigned a frame number. Frame Index Frame Index Fame Index Low Measurement Registers Measurement results are reported in pairs of values and decisions.
Page 449 Register Address Name Type Description 1003 Measurement 1 High Measurement 1 Low 1004 1005 Decision 1 1006 Measurement 2 High Measurement 2 Low 1007 1008 Decision 2 1057 Measurement 19 High 1058 Measurement 19 Low 1059 Decision 19 Protocols • 449 Gocator Snapshot Sensors: User Manual...
Page 450: Ethernet/Ip Protocol
EtherNet/IP Protocol EtherNet/IP is an industrial protocol that allows bidirectional data transfer with PLCs. It encapsulates the object-oriented Common Industrial Protocol (CIP). This section describes the EtherNet/IP messages and data formats. EtherNet/IP communication enables the client to: Switch jobs. Align and run sensors. Receive sensor states, stamps, and measurement results.
Page 451: Basic Object
Basic Object Identity Object (Class 0x01) Attribute Name Type Value Description Access Vendor ID UINT 1256 ODVA-provided vendor ID Device Type UINT Device type Product Code UINT 2000 Product code Revision USINT Byte 0 - Major revision USINT Byte 1 - Minor revision Serial number UDINT 32-bit value Sensor serial number...
Page 452: Assembly Object (Class 0X04)
Attribute Name Type Value Description Access Interface UDINT 1000 Ethernet interface data rate (mbps) Speed Interface Flags UDINT See 5.4.3.2.1 of CIP Specification Volume 2: Bit 0: Link Status 0 – Inactive 1 - Active Bit 1: Duplex 0 – Half Duplex 1 –...
Page 453: Runtime Variable Configuration Assembly
Command Definitions Value Name Description Stop running Stop the sensor. No action if the sensor is already stopped Start Running Start the sensor. No action if the sensor is already started. Stationary Alignment Start the stationary alignment process. Byte 1 of the sensor state assembly will be set to 1 (busy) until the alignment process is complete, then back to zero.
Page 454: Sensor State Assembly
Sensor State Assembly The sensor state assembly object contains the sensor's states, such as the current sensor temperature, frame count, and encoder values. Sensor State Assembly Information Value Class 0x04 Instance 0x320 Attribute Number Length 100 bytes Supported Service 0x0E (GetAttributeSingle) Attributes 1 and 2 are not implemented, as they are not required for the static assembly object.
Page 455: Sample State Assembly
Byte Name Type Description … … 96-99 Runtime Runtime variable value at index 3 Variable 3 Sample State Assembly The sample state object contains measurements and their associated stamp information. Sample State Assembly Information Value Class 0x04 Instance 0x321 Attribute Number Length 380 bytes Supported Service...
Page 456: Implicit Messaging Command Assembly
Byte Name Type Description 0 - Fail Bits 1-7: 0 - Measurement value OK 1 - Invalid value 2 - Invalid anchor Measurement value in µm (0x80000000 if 375-378 Measurement 59 invalid). Decision 59 Measurement decision. A bit mask, where: Bit 0: 1 - Pass 0 - Fail Bits 1-7:...
Page 457: Implicit Messaging Output Assembly
Byte Name Type Description priority*: 1 – Stop sensor 2 – Start sensor 4 – Perform stationary alignment 8 – Perform moving alignment 16 – Clear alignment 32 – Set runtime variables 64 – Load job file *The priority of commands is currently as follows: 1.
Page 458 Byte Name Type Description 1 – Running 0 – Stopped Bits [1-7]: 0 – No state issue Non-zero – Conflict Alignment and A bit mask where: Command state Bit 0: 1 – Explicit or Implicit Command in progress 0 – No Explicit or Implicit command is in progress Bit 1 1 –...
Page 459: Ascii Protocol
Byte Name Type Description 1 – Invalid Value 2 – Invalid Anchor 120-123 Measurement 0 Measurement value in µm. (0x80000000 if invalid) … … 372-375 Measurement 63 Measurement value in µm. (0x80000000 if invalid) ASCII Protocol This section describes the ASCII protocol. The ASCII protocol is available over either serial output or Ethernet output.
Page 460: Serial Communication
Channels can share the same port or operate on individual ports. The following port numbers are reserved for Gocator internal use: 2016, 2017, 2018, and 2019. Each port can accept multiple connections, up to a total of 16 connections for all ports. Serial Communication Over serial, Gocator ASCII communication uses the following connection settings: Serial Connection Settings for...
Page 461: Command And Reply Format
Command and Reply Format Commands are sent from the client to the Gocator. Command strings are not case sensitive. The command format is: <COMMAND><DELIMITER><PARAMETER><TERMINATION> If a command has more than one parameter, each parameter is separated by the delimiter. Similarly, the reply has the following format: <STATUS><DELIMITER><OPTIONAL RESULTS><DELIMITER>...
Page 462: Stop
Formats Message Format Command Start,start target The start target (optional) is the time or encoder position at which the sensor will be started. The time and encoder target value should be set by adding a delay to the time or encoder position returned by the Stamp command. The delay should be set such that it covers the command response time of the Start command.
Page 463: Loadjob
LoadJob The Load Job command switches the active sensor configuration. Formats Message Format Command LoadJob,job file name If the job file name is not specified, the command returns the current job name. An error message is generated if no job is loaded. ".job" is appended if the filename does not have an extension.
Page 464: Stationary Alignment
Examples: Command: ClearAlignment Reply: OK Stationary Alignment The Stationary Alignment command performs an alignment based on the settings in the sensor's live job file. A reply to the command is sent when the alignment has completed or failed. The command is timed out if there has been no progress after one minute.
Page 465: Data Channel
Message Format Where data is the delimited data for the passed length. Examples: Command: getvars,0,4 Reply: OK,1,2,3,4 Data Channel The following sections list the actions available on the data channel. Optional parameters are shown in italic. The placeholder for data is surrounded by brackets (<>). In the examples, the delimiter is set to ','.
Page 466: Value
Value The Value command retrieves measurement values. Formats Message Format Command Value,measurement ID,measurement ID... Reply If no arguments are specified, the custom format data string is used. OK, <custom data string> ERROR, <Error Message> If arguments are specified, OK, <data string in standard format, except that the decisions are not sent> ERROR, <Error Message>...
Page 467: Health Channel
Standard data string for measurements ID 0 and 1: Decision,0,1 OK,M00,00,D0,M01,01,D0 Standard formatted measurement data with a non-existent measurement of ID 2: Decision,2 ERROR,Specified measurement ID not found. Please verify your input Custom formatted data string (%time, %decision[0]): Decision OK,1420266101, 0 Health Channel The following sections list the actions available on the health channel.
Page 468: Custom Result Format
each measurement the following message is transmitted: Field Shorthand Length Description MeasurementStart Start of measurement frame. Type Hexadecimal value that identifies the type of measurement. The measurement type is the same as Data Results defined elsewhere (see on page 428). Decimal value that represents the unique identifier of the measurement.
Page 469 Format Value Explanation Measurement decision is a bit mask where: Bit 0: 1 – Pass 0 – Fail Bits 1-7: 0 – Measurement value OK 1 – Invalid value 2 - Invalid anchor Protocols • 469 Gocator Snapshot Sensors: User Manual...
Page 470: Development Kits
Development Kits These sections describe the following development kits Software Development Kit (GoSDK) Gocator Development Kit (GDK) GoSDK The Gocator Software Development Kit (GoSDK) includes open-source software libraries and documentation that can be used to programmatically access and control Gocator sensors. To get the latest version of the SDK, go to http://lmi3d.com/support, choose your product from the Product Downloads section, and download it from the Download Center.
Page 471: Setup And Locations
For more information about programming with the Gocator SDK, refer to the class reference and sample programs included in the Gocator SDK. Setup and Locations Class Reference The full SDK class reference is found by accessing 14400-4.x.x.xx_SOFTWARE_GO_SDK\GO_ SDK\doc\GoSdk\Gocator_3x00\GoSdk.html. Examples Examples showing how to perform various operations are provided, each one targeting a specific area. All of the examples can be found in GoSdkSamples.sln.
Page 472: Gosystem
GoSystem The GoSystem class is the top-level class in Gocator 4.x. Multiple sensors can be enabled and connected in one GoSystem. Only one GoSystem object is required for multi-sensor control. Refer to the How To Use The Open Source SDK To Fully Control A Gocator Multi-sensor System how-to guide http://lmi3d.com/sites/default/files/APPNOTE_Gocator_4.x_Multi_Sensor_Guide.zip for details on how to control and operate a multi-sensor system using the SDK.
Page 473: Gotools
GoTools The GoTools class is the base class of the measurement tools. The class provides functions for getting and setting names, retrieving measurement counts, etc. GoTransform The GoTransform class represents a sensor transformation and provides functions to get and set transformation information, as well as encoder-related information.
Page 474: Godataset Type
Data Type Description GoBoundingBoxMatchMsg Represents a message containing bounding box based part matching results. GoDataSet Type GoDataMsg Represents a base message sourced from the data channel. See below for more information. GoEdgeMatchMsg Represents a message containing edge based part matching results. GoEllipseMatchMsg Represents a message containing ellipse based part matching results.
Page 475: Measurement Values And Decisions
After receiving the GoDataSet object, you should call GoDestroy to dispose the GoDataSet object. You do not need to dispose objects within the GoDataSet object individually. All objects that are explicitly created by the user or passed via callbacks should be destroyed by using the GoDestroy function.
Page 476: Initialize Gosdk Api Object
See Setup and Locations on page 471 for more information on the code samples referenced below. Sensors must be connected before the system can enable the data channel. All data functions are named Go<Object>_<Function>, for example, GoSensor_Connect. For property access functions, the convention is Go<Object>_<Property Name> for reading the property and Go<Object>_Set<Property Name>...
Page 477: Discover Sensors
Discover Sensors Sensors are discovered when GoSystem is created, using GoSystem_Construct. You can use GoSystem_ SensorCount and GoSystem_SensorAt to iterate all the sensors that are on the network. GoSystem_SensorCount returns the number of sensors physically in the network. Alternatively, use GoSystem_FindSensorById or GoSystem_FindSensorByIpAddress to get the sensor by ID or by IP address.
Page 478 kIpAddress ipAddress; GoSystem system = kNULL; GoSensor sensor = kNULL; GoSetup setup = kNULL; //Construct the GoSdk library. GoSdk_Construct(&api); //Construct a Gocator system object. GoSystem_Construct(&system, kNULL); //Parse IP address into address data structure kIpAddress_Parse(&ipAddress, SENSOR_IP); //Obtain GoSensor object by sensor IP address GoSystem_FindSensorByIpAddress(system, &ipAddress, &sensor) //Connect sensor object and enable control channel GoSensor_Connect(sensor);...
Page 479: Limiting Flash Memory Write Operations
Limiting Flash Memory Write Operations Several operations and Gocator SDK functions write to the Gocator's flash memory. The lifetime of the flash memory is limited by the number of write cycles. Therefore it is important to avoid frequent write operation to the Gocator's flash memory when you design your system with the Gocator SDK. Power loss during flash memory write operation will also cause Gocators to enter rescue mode.
Page 480: Gdk
The Gocator Development Kit (GDK) is a framework for developing and testing custom Gocator measurement tools containing your own algorithms, and then deploying them to Gocator sensors. Custom tools created with the GDK act much like native Gocator measurement tools, running at native speeds and taking advantage of features such as anchoring.
Page 481: Typical Workflow
Gocator 2400 series Gocator 3210 and 3506 Typical Workflow The following is the typical workflow for creating and deploying custom measurement tools: Develop and build measurement tools using the GDK project files and libraries in Microsoft Visual Stu- dio, targeting Win32.
Page 482: Getting Started With The Example Code
Getting Started with the Example Code The best way to get started is with the GDK sample code. You can find the sample projects under Gocator\GDKSampleApp. This project is ready for you to build and use as a template for new projects. Start by opening GDK.sln in Visual Studio 2013.
Page 483: Tool Definitions
You can add multiple tools in a GDK project. As seen above, TestProfileSelect, TestSurfaceSelect, TestSurfaceConfiguration , etc. will be available for users from the drop- down menu in the Tools panel in sensor's web interface. Tool Definitions You must add standard entry functions (methods) for each tool. The class table declares the entry functions: kBeginClass(Tool, TestTool, GdkTool) kAddVMethod(TestTool, kObject, VRelease)
Page 484: Parameter Configurations
The TestSurfaceConfiguration example shows how to create and modify parameters based on other user settings. For full descriptions of these functions, see the GDK class reference documentation (see Installation and Class Reference on page 481 for information on installing the documentation). Parameter Configurations Each tool has two levels of parameters: tool parameters and measurement parameters.
Page 485: Graphics Visualization
For full descriptions of these functions, see the GDK class reference documentation (see Installation and Class Reference on page 481 for information on installing the documentation). Graphics Visualization The GdkGraphic function supports points and lines. Point graphics • 485 Gocator Snapshot Sensors: User Manual...
Page 486 Line graphics To create graphics: Use GdkGraphic_Construct to create a graphic object. Use GdkGraphicPointSet_Construct to create points or GdkGraphicLineSet_Construct to create lines. Add the points and lines to the graphic object using GdkGraphic_AddPointSet and GdkGraphic_ AddLineSet. Output using GdkToolOutput_SetRendering. The following illustrates the process: kTest(GdkGraphic_Construct(&graphic, kObject_Alloc(tool)));...
Page 487: Debugging Your Measurement Tools
Debugging Your Measurement Tools We highly recommend using the emulator to debug measurement tools you create with the GDK. By using a Gocator support file and previously recorded scan data, downloaded from a physical sensor, you can completely simulate standalone and dual-sensor configurations on a PC to test your tools. To debug your tools in the emulator: Compile your code using the Win32 target (Debug or Release).
Page 488: Debugging Entry Functions
kFramework.exe is only loaded after a user selects a scenario and starts the emulator session. Debugging Entry Functions VStart, VProcess, and VStop are called whenever a data record is played back in the emulator (that is, when a user clicks on the Next button or types the frame number in the frame field) with at least one tool instance.
Page 489 measurements—are captured by GDKToolVersionInfo objects. By default, a tool has just one version (GdkToolInfo_FirstVersion), but more versions may be added using GdkToolInfo_AddVersion. Whenever the interface of a tool has changed, a new version can be registered so that the new interface can be correctly parsed by the framework. When the configuration of a tool instance is saved, the version used at the time is also saved.
Page 490: Version
Adding a new measurement does not require special handling. The new measurement is just not instantiated in a previous configuration. Version You can define the version number of your tools in Asm.x.h. #define TOOL_VERSION kVersion_Stringify_(1, 0, 0, 23) The version is displayed on the Manage page, in the Support category. Common Programming Operations The following sections describe common programming operations.
Page 491: Setup And Region Info During Tool Initialization
const kPoint3d64f* scale = GdkDataInfo_Scale(GtInputItem_Info(item)); const kPoint3d64f* offset = GdkInputItem_Offset(item); Retrieving a pointer to surface and intensity surface data const k16s* rangeSrc = GdkSurfaceInput_RangeRowAt(item, 0); const k8u* intensitySrc = GdkSurfaceInput_IntensityRowAt(item, 0); Similar functions are available for retrieving information from range and profile data. Computing actual height information using a offset and scales k64f height = rangeSrc[index] * scale->z + offset->z;...
Page 492: Part Matching
Part Matching When part matching is enabled, the tool receives translated and corrected surface data. If part matching fails for the current scan (for example, the quality score is too low), the tools will not be invoked. For more information on part matching, see Part Matching in the Gocator user manual. Accessing Sensor Local Storage You can access a sensor's local storage by using the kFile API.
Page 493: Tools And Native Drivers
Sensor Discovery software tool. This tool can be obtained from the downloads area of the LMI Technologies website: http://www.lmi3D.com. After downloading the tool package [14405-x.x.x.x_SOFTWARE_GO_Tools.zip], unzip the file and run the Sensor Discovery Tool [>Discovery>kDiscovery.exe].
Page 494: Gentl Driver
GenTL Driver GenTL is an industry standard method of controlling and acquiring data from an imaging device. The GenTL driver included with Gocator allows GenTL-compliant third-party software applications such as Halcon and Common Vision Blox to acquire and process 3D point clouds and intensity generated from the Gocator's Video, Surface modein real-time.
Page 495 Click Advanced System Settings. In the System Properties dialog, on the Advanced tab, click Environment Variables... Tools and Native Drivers • 495 Gocator Snapshot Sensors: User Manual...
Page 496 In the Environment Variables dialog, under the System variables list, click New. Tools and Native Drivers • 496 Gocator Snapshot Sensors: User Manual...
Page 497 In the New System Variable dialog, enter the following information, depending on your system: Variable name Variable value 32-bit system GENICAM_GENTL32_PATH The full path to the GenTL\x86 folder. 64-bit system GENICAM_GENTL64_PATH The full path to the GenTL\x64 folder. Tools and Native Drivers • 497 Gocator Snapshot Sensors: User Manual...
Page 498: 16-Bit Rgb Image
Click OK in the dialogs until they are all closed. To work with the Gocator GenTL driver, the Gocator must operate in Surface or Video mode with its the appropriate output enabled in the Ethernet panel in the Output page. Check Acquire Intensity in the Scan Mode panel on the Scan page and enable intensity output in the Ethernet panel if intensity data is required.
Page 499: 16-Bit Grey Scale Image
Channel Details pixel channel Data Results on page 428 for an explanation of the stamp information. The following table shows how the stamp information is packed into the blue channel. A stamp is a 64- bit value packed into four consecutive 16-bit blue pixels, with the first byte position storing the most significant ...
Page 500 Rows Details Y = Y offset + Py * Y resolution Z = Z offset + Pz * Z resolution Refer to the blue channel on how to retrieve the offset and resolution values. If Pz is 0 if the data is invalid. The Z offset is fixed to -32768 * Z Resolution. Z is zero if Pz is 32768. (max part height) ..
Page 501: Registers
Stamp Index Column Position Details 36..39 Y resolution (nm) 40..43 Z offset (nm) 44..47 Z resolution (nm) 48..51 Height map Width (in pixels) 52..55 Height map length (in pixels) 56..59 Specify if intensity is enabled or not Registers GenTL registers are multiples of 32 bits. The registers are used to control the operation of the GenTL driver, send commands to the sensors, or to report the current sensor information.
Page 502: Xml Settings File
Register Name Read/Write Length (bytes) Description Address Transformatio Return the sensor transformation X offset n X offset Transformatio Return the sensor transformation Z offset n Z offset Transformatio Return the sensor transformation angle n Angle Transformatio Return the sensor transformation orientation n Orientation Clearance Return the sensor clearance distance...
Page 503: Setting Up Halcon
Requirements Sensor Gocator laser profile sensor Firmware Firmware 4.0.9.136 or later Halcon Version 10.0 or later Setting Up Halcon Before using Halcon with Gocator, you must set up Halcon. To set up Halcon: Connect a Gocator sensor to the PC running Halcon. You will need a Master hub to connect the sensor to the PC.
Page 504 For more information on configuring Ethernet output, see Ethernet Output on page 263. Make sure the Gocator is running. On the PC, launch Halcon. 10. In Halcon, in the Assistants menu, click Open New Image Acquisition. 11. In the dialog that opens, in the Source tab, check the Image Acquisition Interface option and choose GenICamTL in the drop-down.
Page 505 13. In the Connection tab, set Color Space to RGB and Bit Depth to 16. 14. In the Gocator web interface, click the Snapshot button to trigger the output of a surface. The output displays in the Halcon Graphics Window. Tools and Native Drivers •...
Page 506: Halcon Procedures
Halcon is now configured for use with Gocator. Halcon Procedures The Halcon example code contains internal procedures that you can use to decompose the RGB image and to control registers that the GenTL driver opens. You can import the procedures into your own code by selecting File > Insert Program > Insert Procedures and then choosing the example code Continuous_Acq.hdev under the Examples/Halcon directory.
Page 507 Procedures Description Parameters (Output) HeightMap : The height map image. Intensity : The intensity image. FrameCount : The number of frames. Timestamp : The timestamp. Encoder : The encoder position. EncoderIndex : The last index of the encoder. Inputs : The digital input states. xOffset : The X offset in millimeters.
Page 508 Procedures Description Parameters (Output) ConfigFile : The name of the job file. The file name includes the extension .job. Example Go2GenTL_ConfigFileName (AcqHandle, ConfigFile) Go2GenTL_ Sets the sensor live configuration. SetConfigFileNa Parameters (Input) AcqHandle : Acquisition handle created by open_framegrabber ConfigFile : The name of the job file.
Page 509 Procedures Description zResolution : The Z resolution in millimeters. Parameters (Output) coordinateXYZ : The real-world coordinates. Go2GenTL_ Returns the current exposure. Exposure Parameters (Input) AcqHandle : Acquisition handle created by open_framegrabber Parameters (Output) Exposure : The current exposure value (in µs). The value is returned as an integer. Decimals are truncated.
Page 510: Generating Halcon Acquisition Code
Procedures Description To schedule a sensor to start after a delay (ticks or microseconds), pass GenTL/Sensor the first call to , followed by the remaining calls to the set_framegrabber_param function as described in the previous example: set_framegrabber_param( AcqHandle, ‘XMLSettings’, ‘GenTL/Sensor’) To clear data buffers:: set_framegrabber_param(AcqHandle,'XmlCommand','GenTL/ClearData\n') Generating Halcon Acquisition Code Halcon lets you insert acquisition code into your code in the IDE.
Page 511: Csv Converter Tool
An example, Continuous_Acq.hdev, is included in the Examples/Halcon directory and is shown below: * This example illustrates how to do the following: * 1. Acquire data from the Gocator (16-bit RGB or gray image) * 2. Decompose the returned image into three separate image for height map, intensity and stamps.
Page 512 The tool supports data exported from Profile or Surface mode. To get the tool package (14405-x.x.x.x_SOFTWARE_GO_Tools.zip), go to http://lmi3d.com/support, choose your product from the Product Downloads section, and download it from the Download Center. After downloading the tool package, unzip the file and run the Gocator CSV Converter tool [CsvConverter>kCsvConverter.exe].
Page 513: Mountainsmap Transfer Tool
With some formats, one or more of the following options are available: Output options Option Description Scale Z Resamples the Z values to use the full value range. Swap X/Y Swaps the X and Y axes to obtain a right-handed coordinate system.
Page 514: Configuring Gocator To Work With The Transfer Tool
The MountainsMap transfer tool is available in the GO Tools package (14405-x.x.x.x_SOFTWARE_GO_ Tools.zip). To get the package, go to http://lmi3d.com/support, choose your product from the Product Downloads section, and download it from the Download Center. Configuring Gocator to Work with the Transfer Tool In order for scan data to be available for transfer, you must first configure the Gocator sensor.
Page 515 Element Description Sensor selector Lets you choose among connected sensors. Receiving timeout The number of seconds the transfer tool will wait to receive data from the sensor before timing out. MountainsMap component After the data transfers from the sensor to the tool, you can edit it directly in the transfer tool.
Page 516 To use the transfer tool: Make sure the sensor you wish to work with is configured properly. See Configuring Gocator to Work with the Transfer Tool on page 514. (Optional) Modify the timeout or check the Use accelerator option. See the table above for more information. Click the Snapshot button or press F2.
Page 517: Troubleshooting
Troubleshooting Review the guidance in this chapter if you are experiencing difficulty with a Gocator sensor system. If the problem that you are experiencing is not described in this section, see Return Policy on page 555. Mechanical/Environmental The sensor is warm. It is normal for a sensor to be warm when powered on.
Page 518 Troubleshooting • 518 Gocator Snapshot Sensors: User Manual...
Page 519: Specifications
Specifications The following sections describe the specifications of Gocator sensors and connectors, as well as Master hubs. Sensors The following sections provide the specifications of Gocator sensors. Gocator Snapshot Sensors: User Manual...
Page 520: Gocator 3210 Sensor
Gocator 3210 Sensor The Gocator 3210 is defined below: MODEL 3210 Scan Rate (Hz) Imagers (megapixels) Clearance Distance (CD) (mm) 164.0 Measurement Range (MR) (mm) 110.0 Field of View (mm) 71.0 x 98.0 - 100.0 x 154.0 Repeatability Z (µm) Resolution XY (mm) 0.060 - 0.090...
Page 521 Mechanical dimensions, CD/FOV/MR, and the envelope for each sensor model are illustrated on the following pages. Specifications • 521 Gocator Snapshot Sensors: User Manual...
Page 522: Gocator 3210
Gocator 3210 Field of View / Measurement Range / Coordinate System Orientation Dimensions The following drawings include the optional shop air heat sink. For more information, see APPNOTE_Gocator_3210_Heatsink.pdf, available on LMI's website. Specifications • 522 Gocator Snapshot Sensors: User Manual...
Page 523 Specifications • 523 Gocator Snapshot Sensors: User Manual...
Page 524 Envelope Specifications • 524 Gocator Snapshot Sensors: User Manual...
Page 525: Gocator 3506 Sensor
Gocator 3506 Sensor The Gocator 3506 sensor is defined below: MODEL 3506 Scan Rate (Hz) Imagers (megapixels) Clearance Distance (CD) (mm) 87.0 Measurement Range (MR) (mm) 25.0 Field of View (mm) 27.0 x 45.0 - 30.0 x 45.0 Repeatability Z (µm) Resolution XY (mm) 0.020 - 0.025 VDI/VDE Accuracy (mm)*...
Page 526: Gocator 3506
Mechanical dimensions, CD/FOV/MR, and the envelope for each sensor model are illustrated on the following pages. Gocator 3506 Field of View / Measurement Range / Coordinate System Orientation Specifications • 526 Gocator Snapshot Sensors: User Manual...
Page 527 Dimensions Specifications • 527 Gocator Snapshot Sensors: User Manual...
Page 528: Estimated Scan Rates
Envelope Estimated Scan Rates The following tables provide estimates of the scan rates (Hz) of Gocator 3210 and 3506 under different field-of-view and resolution settings. The exposure was set to 4 milliseconds with no measurement tools added. Acquire Intensity and Reduce Occlusion were both disabled.
Page 529 Gocator 3506 Estimated Scan Rates Field of View Scan Rate without Accelerator Scan Rate with Resolution (mm) (X x Y x MR) (Hz) Accelerator (Hz) 30x45x25 30x45x25 30x45x25 0.02 Specifications • 529 Gocator Snapshot Sensors: User Manual...
Page 530: Sensor Connectors
Sensor Connectors The following sections provide the specifications of the connectors on Gocator sensors. Gocator Power/LAN Connector The Gocator Power/LAN connector is a 14 pin, M16 style connector that provides power input and Ethernet. This connector is rated IP67 only when a cable is connected or when a protective cap is used. This section defines the electrical specifications for Gocator Power/LAN Connector pins, organized by function.
Page 531: Power
Power Apply positive voltage to DC_24-48V. See Sensors on page 519 Power requirements Function Pins DC_24-48V 24 V 48 V GND_24-48VDC Safety Input The Safety_in+ signal should be connected to a voltage source in the range listed below. The Safety_in- signal should be connected to the ground/common of the source supplying the Safety_in+.
Page 532: Gocator I/O Connector
Gocator I/O Connector The Gocator I/O connector is a 19 pin, M16 style connector that provides encoder, digital input, digital outputs, serial output, and analog output signals. This connector is rated IP67 only when a cable is connected or when a protective cap is used. This section defines the electrical specifications for Gocator I/O connector pins, organized by function.
Page 533: Inverting Outputs
Max Collector Max Collector–Emitter Function Pins Min Pulse Width Current Voltage Out_1 N, O 40 mA 70 V 20 µs Out_2 S, T 40 mA 70 V 20 µs The resistors shown above are calculated by R = (V+) / 2.5 mA. The size of the resistors is determined by power = (V+)^2 / R.
Page 534: Encoder Input
Active Low To assert the signal, the digital input voltage should be set to draw a current of 3 mA to 40 mA from the positive pin. The current that passes through the positive pin is I = (Vin – 1.2 – Vdata) / 680. To reduce noise sensitivity, we recommend leaving a 20% margin for current variation (i.e., uses a digital input voltage that draws 4mA to 25mA). ...
Page 535: Serial Output
Serial Output Serial RS-485 output is connected to Serial_out as shown below. Function Pins Serial_out B, C Analog Output The Sensor I/O Connector defines one analog output interface: Analog_out. Function Pins Current Range Analog_out P, F 4 – 20 mA Current Mode Voltage Mode To configure for voltage output, connect a 500 Ohm ¼...
Page 536: Master Network Controllers
Master Network Controllers The following sections provide the specifications of Master network controllers. For information on maximum external input trigger rates, see Maximum Input Trigger Rate on page 79. Master 100 The Master 100 accepts connections for power, safety (not supported by Gocator snapshot sensors), and encoder, and provides digital output.
Page 537: Master 100 Dimensions
Gocator I/O Pin Master Pin Conductor Color Encoder_B+ Black Encoder_B- Violet The rest of the wires in the Gocator I/O cordset are not used. Encoder/Output Port Pins Function Output_1+ (Digital Output 0) Output_1- (Digital Output 0) Encoder_Z+ Encoder_Z- Encoder_A+ Encoder_A- Encoder_B+ Encoder_B- Encoder_GND...
Page 538: Master 400/800
Master 400/800 Master network controllers provide sensor power and safety interlock, and broadcast system-wide synchronization information (i.e., time, encoder count, encoder index, and digital I/O states) to all devices on a sensor network. Safety interlock is not supported by Gocator snapshot sensors. The Phoenix connectors on Master 400/800/1200/2400 are not compatible with the connectors on Master 810/2410.
Page 539: Master 400/800 Electrical Specifications
Input (16 pin connector) Function Input 1 Input 1 GND Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved The Input connector does not need to be wired up for proper operation. Encoder (8 pin connector) Function Encoder_A+ Encoder_A-...
Page 540: Master 400/800 Dimensions
Specification Value Power Draw (Min.) 5.76 W Encoder Signal Voltage Differential (5 VDC) Digital Input Voltage Range Logical LOW: 0 to +0.1 VDC Logical HIGH: +3.3 to +24 VDC When using a Master hub, the chassis must be well grounded. The power supply must be isolated from AC ground.
Page 541: Master 810/2410
Master 810/2410 Master network controllers provide sensor power and safety interlock, and broadcast system-wide synchronization information (i.e., time, encoder count, encoder index, and digital I/O states) to all devices on a sensor network. Safety interlock is not supported by Gocator snapshot sensors. Master 810 and 2410 can be mounted to DIN rails using the appropriate adapters (not included;...
Page 542 For information on configuring the DIP switches, see Configuring Master 810 on page 27. Power and Safety (6 pin connector) Function Power In+ Power In+ Power In- Power In- Reserved Reserved The power supply must be isolated from AC ground. This means that AC ground and DC ground are not connected.
Page 543: Electrical Specifications
Function Reserved GND (output for powering other devices) +5VDC (output for powering other devices) 10 The Input connector does not need to be wired up for proper operation. For Input connection wiring options, see Input on page 546. Encoder (11 pin connector) Function Encoder_A_Pin_1 Encoder_A_Pin_2...
Page 544: Encoder
Specification Value Single-Ended Active HIGH: +3.3 to +24 VDC Differential LOW: 0.8 to -24 VDC Differential HIGH: +3.3 to +24 VDC For more information, see Input on page 546. If the input voltage is above 24 V, use an external resistor, using the following formula: R = [(Vin - 1.2V) / 10mA] - 680 When using a Master hub, the chassis must be well grounded.
Page 545 To determine how to wire a Master to an encoder, see the illustrations below. Single-Ended 5 VDC Single-Ended 12 VDC Specifications • 545 Gocator Snapshot Sensors: User Manual...
Page 546: Input
Differential 5 VDC Differential 12 VDC Input Master 810 and 2410 support the following types of input: Differential, Single-Ended High, and Single- Ended Low. Currently, Gocator only supports Input 0. Specifications • 546 Gocator Snapshot Sensors: User Manual...
Page 547 For digital input voltage ranges, see the table below. Differential Single-Ended Active High Single-Ended Active Low Digital Input Voltage Ranges Input Status Min (VDC) Max (VDC) Single-ended Active High +0.8 +3.3 Single-ended Active Low - 0.8) - 3.3) Differential +0.8 +3.3 Specifications •...
Page 548: Master 810 Dimensions
Master 810 Dimensions With 1U rack mount brackets: With DIN rail mount clips: For information on installing DIN rail clips, see Installing DIN Rail Clips: Master 810 or 2410 on page 26. The CAD model of the DIN rail clip is available at https://www.winford.com/products/cad/dinm12-rc.igs. Specifications •...
Page 549: Master 2410 Dimensions
Master 2410 Dimensions With 1U rack mount brackets: With DIN rail mount clips: For information on installing DIN rail clips, see Installing DIN Rail Clips: Master 810 or 2410 on page 26. The CAD model of the DIN rail clip is available at https://www.winford.com/products/cad/dinm12-rc.igs. Specifications •...
Page 550: Master 1200/2400
Master 1200/2400 Master network controllers provide sensor power and safety interlock, and broadcast system-wide synchronization information (i.e., time, encoder count, encoder index, and digital I/O states) to all devices on a sensor network. Safety interlock is not supported by Gocator snapshot sensors. The Phoenix connectors on Master 400/800/1200/2400 are not compatible with the connectors on Master 810/2410.
Page 551: Master 1200/2400 Electrical Specifications
Input (12 pin connector) Function Input 1 Input 1 GND Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved The Input connector does not need to be wired up for proper operation. Encoder (8 pin connector) Function Encoder_A+ Encoder_A- Encoder_B+ Encoder_B- Encoder_Z+...
Page 552: Master 1200/2400 Dimensions
The power supply must be isolated from AC ground. This means that AC ground and DC ground are not connected. The Power Draw specification is based on a Master with no sensors attached. Every sensor has its own power requirements that need to be considered when calculating total system power requirements..
Page 553: Accessories
Accessories Masters Description Part Number Master 100 - for single sensor (development only) 30705 Master 810 - for networking up to 8 sensors 301114 Master 2410 - for networking up to 24 sensors 301115 Cordsets Description Part Number 1.2m I/O cordset, open wire end 30864-1.2m 2m I/O cordset, open wire end 30864-2m...
Page 554 Description Part Number 10m I/O cordset, 90-deg, open wire end 30883-10m 15m I/O cordset, 90-deg, open wire end 30883-15m 20m I/O cordset, 90-deg, open wire end 30883-20m 25m I/O cordset, 90-deg, open wire end 30883-25m 2m Power and Ethernet cordset, 90-deg, 1x open wire end, 1x RJ45 end 30880-2m 5m Power and Ethernet cordset, 90-deg, 1x open wire end, 1x RJ45 end 30880-5m...
Page 555: Return Policy
For non-warranty repairs, a purchase order for the repair charges must accompany the returning sensor. LMI Technologies Inc. is not responsible for damages to a sensor that are the result of improper packaging or damage during transit by the courier.
Page 556: Software Licenses
Software Licenses Pico-C Website: http://code.google.com/p/picoc/ License: picoc is published under the "New BSD License". http://www.opensource.org/licenses/bsd-license.php Copyright (c) 2009-2011, Zik Saleeba All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Page 557 BlowFish Website: http://www.chiark.greenend.org.uk/~sgtatham/putty/licence.html License: PuTTY is copyright 1997-2011 Simon Tatham. Portions copyright Robert de Bath, Joris van Rantwijk, Delian Delchev, Andreas Schultz, Jeroen Massar, Wez Furlong, Nicolas Barry, Justin Bradford, Ben Harris, Malcolm Smith, Ahmad Khalifa, Markus Kuhn, Colin Watson, and CORE SDI S.A. Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell...
Page 558 The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANT ABILITY,FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
Page 559 Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS-IS"...
Page 560 jQuery.scaling Website: http://eric.garside.name License: Scaling 1.0 - Scale any page element Copyright (c) 2009 Eric Garside Licensed under the MIT License (http://www.opensource.org/licenses/mit-license.php) jQuery.scrollFollow Website: http://kitchen.net-perspective.com/ License: Copyright (c) 2008 Net Perspective Licensed under the MIT License (http://www.opensource.org/licenses/mit-license.php) Flex SDK Website: http://opensource.adobe.com/wiki/display/flexsdk/Flex+SDK License: Copyright (c) 2010 Adobe Systems Incorporated...
Page 561 Website: sourceforge.net/projects/opener License: SOFTWARE DISTRIBUTION LICENSE FOR THE ETHERNET/IP(TM) COMMUNICATION STACK (ADAPTED BSD STYLE LICENSE) Copyright (c) 2009, Rockwell Automation, Inc. ALL RIGHTS RESERVED. EtherNet/IP is a trademark of ODVA, Inc. Software Licenses • 561 Gocator Snapshot Sensors: User Manual...
Page 562: Support
Support For help with a component or product, please submit an online support ticket using LMI's Help Desk http://support.lmi3d.com/newticket.php. If you are unable to use the Help Desk or prefer to contact LMI by phone or email, use the contact information below.
Page 563: Contact
LMI (Shanghai) Trading Co., Ltd. Burnaby, Canada Berlin, Germany Shanghai, China +1 604 636 1011 +49 (0)3328 9360 0 +86 21 5441 0711 LMI Technologies has sales offices and distributors worldwide. All contact information is listed at lmi3D.com/contact/locations. Gocator Snapshot Sensors: User Manual...

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