Page 1 Gocator Line Profile Sensors Gocator 2100, 2300, 2400 Series; Gocator 2880 USER MANUAL Firmware version: 4.7.x.xx Document revision: D...
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 Rut-Scanning System Setup Layout System Setup Copyright Software Configuration Table of Contents System Operation Introduction Network Setup Gocator Overview Client Setup Safety and Maintenance Gocator Setup Laser Safety Running a Standalone Sensor System Laser Classes Running a Dual-Sensor System Precautions and Responsibilities Next Steps Class 3B Responsibilities...
Page 4 Recording, Playback, and Measurement Maximum Encoder Rate Simulation Sensor Recording Filtering Active Area Downloading, Uploading, and Exporting Tracking Window Replay Data Transformations Metrics Area Exposure Data Viewer Single Exposure Status Bar Dynamic Exposure Multiple Exposure Frame Information Spacing Interface Language Sub-Sampling Quick Edit Mode Spacing Interval...
Page 5 Region Definition Bounding Box Intensity Output Measurements, Features, and Settings Models Bridge Value Model Page Overview Understanding the Window and Skip Settings Part Matching Measurements and Settings Using Edge Detection Using Window and StdDev as Metrics Creating a Model Measurements Modifying a Model's Edge Points Circle Adjusting Target Sensitivity...
Page 6 Stud Remote Operation Measurements, Features, and Settings Gocator Accelerator Measurement Region System Requirements Volume Benefits Script Installation Feature Measurement Gocator Accelerator Utility Dimension Dashboard and Health Indicators Intersect SDK Application Integration Scripts Gocator Device Files Built-in Functions Live Files Output Log File Output Page Overview Job File Structure...
Page 7 ProfileGeneration ProfileStrip FixedLength Script VariableLength SurfaceBoundingBox Rotational SurfaceCsHole PartDetection SurfaceDimension EdgeFiltering Tool PartMatching SurfaceEllipse Edge SurfaceHole BoundingBox SurfaceOpening Ellipse SurfacePlane Replay SurfacePosition RecordingFiltering SurfaceStud Conditions/AnyMeasurement SurfaceVolume Conditions/AnyData Tool Conditions/Measurement Tool Streams/Stream (Read-only) Custom ToolOptions Output MeasurementOptions Ethernet FeatureOptions Ascii StreamOptions Tools Modbus Profile Types...
Page 8 Set Address Restore Get System Info V2 Restore Factory Get System Info Get Recording Enabled Get States Set Recording Enabled Log In/Out Clear Replay Data Change Password Get Playback Source Assign Buddies Set Playback Source Remove Buddies Simulate Set Buddy Seek Playback List Files Step Playback...
Page 9 Surface Section Start Surface Section Intensity Stop Measurement Trigger Operation Result LoadJob Exposure Calibration Result Stamp Edge Match Result Clear Alignment Bounding Box Match Result Moving Alignment Ellipse Match Result Stationary Alignment Event Set Runtime Variables Feature Point Get Runtime Variables Feature Line Data Channel Health Results...
Page 10 Sensors Required Tools Gocator 2100 & 2300 Series Getting Started with the Example Code Gocator 2320 Building the Sample Code Gocator 2130 and 2330 Tool Registration Gocator 2140 and 2340 Tool Definitions Gocator 2342 Entry Functions Gocator 2150 and 2350...
Page 11 Master Network Controllers Master 100 Master 100 Dimensions Master 400/800 Master 400/800 Electrical Specifications Master 400/800 Dimensions Master 810/2410 Electrical Specifications Encoder Input Master 810 Dimensions Master 2410 Dimensions Master 1200/2400 Master 1200/2400 Electrical Specifications 641 Master 1200/2400 Dimensions Accessories Return Policy Software Licenses Support...
Page 12: Introduction
Introduction This documentation describes how to connect, configure, and use a Gocator. It also contains reference information on the device's protocols and job files, as well as an overview of the development kits you can use with Gocator. Finally, the documentation describes the Gocator emulator and accelerator applications.
Page 13: Gocator Overview
Gocator Overview Gocator laser profile 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 Line Profile Sensors: User Manual...
Page 14: Safety And Maintenance
Safety and Maintenance The following sections describe the safe use and maintenance of Gocator sensors. Laser Safety Gocator sensors contain semiconductor lasers that emit visible or invisible light and are designated as Class 2M, Class 3R, or Class 3B, depending on the chosen laser option. For more information on the laser classes used in Gocator sensors, Laser Classes on the next page.
Page 15: Laser Classes
Laser Classes Class 3R laser components Class 3R laser products emit radiation where direct intrabeam viewing is potentially hazardous, but the risk is lower with 3R lasers than for 3B lasers. Fewer manufacturing requirements and control measures for 3R laser users apply than for 3B lasers. Eye protection and protective clothing are not required.
Page 16: Class 3B Responsibilities
For more information, see Class 3B Responsibilities below. Class 3B Responsibilities LMI Technologies has filed reports with the FDA to assist customers in achieving certification of laser products. These reports can be referenced by an accession number, provided upon request. Detailed descriptions of the safety items that must be added to the system design are listed below.
Page 17: Nominal Ocular Hazard Distance (Nohd)
warning indicators, it is important not to mount them in a location that would require human exposure to the laser emissions. User must ensure that the emission indicator, if supplied by OEM, is visible when viewed through protective eyewear. Warning Signs Laser warning signs must be located in the vicinity of the sensor such that they will be readily observed.
Page 18: Systems Sold Or Used In The Usa
Model Constant includes a consideration of the fan angle for the individual models. Systems Sold or Used in the USA Systems that incorporate laser components or laser products manufactured by LMI Technologies require certification by the FDA. Customers are responsible for achieving and maintaining this certification.
Page 19: Handling, Cleaning, And Maintenance
Turn off lasers when not in use LMI Technologies uses semiconductor lasers in Gocator sensors. To maximize the lifespan of the sensor, turn off the laser when not in use. Avoid excessive modifications to files stored on the sensor Settings for Gocator sensors are stored in flash memory inside the sensor.
Page 20 where water, oil, or chemicals may splash onto the unit; where static electricity is easily generated. Ensure that ambient conditions are within specifications Gocator sensors are suitable for operation between 0–50° C and 25–85% relative humidity (non- condensing). Measurement error due to temperature is limited to 0.015% of full scale per degree C. The storage temperature is -30–70°...
Page 21: Getting Started
Getting Started The following sections provide system and hardware overviews, in addition to installation and setup procedures. Gocator Line Profile Sensors: User Manual...
Page 22: Hardware Overview
Hardware Overview The following sections describe Gocator and its associated hardware. Gocator Sensor Gocator 2140 / 2340 Item Description Camera Observes laser light reflected from target surfaces. Laser Emitter Emits structured light for laser profiling. I/O Connector Accepts input and output signals. Power / LAN Connector Accepts power and laser safety signals and connects to 1000 Mbit/s Ethernet network.
Page 23: Master 400 / 800
The maximum cordset length is 60 m. See Gocator I/O Connector on page 620 and Gocator Power/LAN Connector on page 618 for pinout details. See Accessories on page 643 for cordset lengths and part numbers. Contact LMI for information on creating cordsets with customized lengths and connector orientations.
Page 24 See Master 100 on page 625 for pinout details. 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...
Page 25: 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 627. For pinout details for Master 1200 or 2400, see Master 1200/2400 on page 640.
Page 26 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 36.
Page 27: Calibration Targets
For dual- and multi-sensor systems, bars are required to match the length of the system by following the guidelines illustrated below. (LMI Technologies does not manufacture or sell bars.) See Aligning Sensors on page 126 for more information on alignment.
Page 28: Dual-Sensor System
Dual-Sensor System In a dual-sensor system, two Gocator sensors work together to perform profiling and output the combined results. The controlling sensor is referred to as the Main sensor, and the other sensor is referred to as the Buddy sensor. Gocator's software recognizes three installation orientations: Opposite, Wide, and Reverse.
Page 29: Multi-Sensor System
Multi-Sensor System Master network controller (excluding Master 100) can be used to connect two or more sensors into a multi-sensor system. Gocator Master cordsets are used to connect the sensors to a Master. The Master provides a single point of connection for power, safety, encoder, and digital inputs. A Master 400/800/1200/2400 can be used to ensure that the scan timing is precisely synchronized across sensors.
Page 30: 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 583 for the appropriate screw diameter, pitch, and length, and bolt hole diameter.
Page 31: Orientations
The sensor must be heat sunk through the frame it is mounted to. When a sensor is properly heat sunk, the difference between ambient temperature and the temperature reported in the sensor's health channel is less than 15° C. Gocator sensors are high-accuracy devices. The temperature of all of its components must be in equilibrium.
Page 32 Single sensor on robot arm Dual-Sensor System Orientations: Side-by-side for wide-area measurement (Wide) Main must be on the left side (when looking into the connector) of the Buddy (Wide) Getting Started • 32 Gocator Line Profile Sensors: User Manual...
Page 33: Grounding
Above/below for two-sided measurement (Opposite) Main must be on the top with Buddy on the bottom (Opposite) For more information on setting up a dual-sensor system, see http://lmi3d.com/sites/default/files/APPNOTE_Gocator_2300_Gocator_4.x_Dual_Sensor_Setup_ Guide.pdf. Grounding Components of a Gocator system should be properly grounded. Gocator Gocators should be grounded to the earth/chassis through their housings and through the grounding shield of the Power I/O cordset.
Page 34: Master Network Controllers
To terminate the cordset's shield: Expose the cordset's braided shield by cutting the plastic jacket before the point where the cordset splits. Install a 360-degree ground clamp. Master Network Controllers The rack mount brackets provided with all Masters are designed to provide adequate grounding through the use of star washers.
Page 35: Grounding When Using A Din Rail (Master 810/2410)
Grounding When Using a DIN Rail (Master 810/2410) If you are using DIN rail adapters instead of the rack mount brackets, you must ensure that the Master is properly grounded by connecting a ground cable to one of the holes indicated below. The holes accept M4x5 screws.
Page 36: Configuring Master 810
Master 2410: Attach each of the two DIN rail mount clips to the back of the Master using an M4x8 flat socket cap screw for each one. The following illustration shows the installation of clips on a Master 810 for horizontal mounting: Ensure that there is enough clearance around the Master for cabling.
Page 37: Setting The Divider
Switches 5 to 8 are reserved for future use. This section describes how to set the DIP switches on Master 810 to do the following: Set the divider so that the quadrature frequency of the connected encoder is compatible with the Master.
Page 38: Setting The Debounce Period
You must use a quadrature frequency when determining which divider to use (see Setting the Divider on the previous page). Consult the datasheet of the encoder you are using to determine its quadrature frequency. Some encoders may be specified in terms of encoder signal frequency (or period). In this case, convert the signal frequency to quadrature frequency by multiplying the signal frequency by 4.
Page 39: System Setup
The diagram above shows the clearance distance and measurement range required in a typical setup. Use the specification estimator (Gocator-2375_Specification_Estimator.xlsx) to calculate the X and Z resolution of the sensors with different combinations of clearance distance and measurement range. System Setup A typical Gocator 2375 system is set up as a multi-sensor system. ...
Page 40: Software Configuration
Connect the RJ45 jack labeled Power to an unused port on the Master. Connect the RJ45 jack labeled Ethernet to an unused port on the Master. Repeat the steps above for each sensor. See Master 400/800 on page 627 and Master 1200/2400 on page 640 for more information on how to install a Master.
Page 41: 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 42 To connect to a sensor for the first time: Connect cables and apply power. Sensor cabling is illustrated in System Overview on page 27. 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.
Page 43 Mac OS X v10.6 a. Open the Network pane in System Preferences and select Ethernet. b. Set Configure to Manually. c. Enter IP Address "192.168.1.5" and Subnet Mask "255.255.255.0", then click Apply. See Troubleshooting on page 581 if you experience any problems while attempting to establish a connection to the sensor.
Page 44: Gocator Setup
Gocator Setup The Gocator is shipped with a default configuration that will produce laser profiles for most targets. The following sections describe how to set up a standalone sensor system and a dual-sensor system for operations. After you have completed the setup, you can perform laser profiling to verify basic sensor operation.
Page 45: Running A Dual-Sensor System
Master 810/2410 Move a target into the laser plane. 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 profile is not displayed in the Data Viewer, see Troubleshooting on page 581.
Page 46 The Gocator interface loads. Go to the Manage Page. Modify the IP address to 192.168.1.11 in the Networking category and click the Save button. When you click the Save button, you will be prompted to confirm your selection. Turn off the sensors, re-connect the Main sensor's Ethernet connection and power-cycle the sensors.
Page 47 its status will be updated in the System panel. The firmware on Main and Buddy sensors must be the same for Buddy assignment to be successful. If the firmware is different, connect the Main and Buddy sensor one at a time and follow the steps in Firmware Upgrade on page 99 to upgrade the sensors.
Page 48: 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 81) Contains settings for sensor system layout, network, motion and alignment, handling jobs, and sensor maintenance.
Page 49: 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 50: Clearance Distance, Field Of View And Measurement Range
Target objects typically move on a conveyor belt or other transportation mechanism under a sensor mounted in a fixed position. Sensors can also be mounted on robot arms and moved over the target. In both cases, the sensor captures a series of 3D profiles, building up a full scan of the target. Sensor speed and required exposure time to measure the target are typically critical factors in applications with line profile sensors.
Page 51: Resolution And Accuracy
Resolution and Accuracy The following sections describe X Resolution, Z Resolution, and Z Linearity. These terms are used in the Gocator datasheets to describe the measurement capabilities of the sensors. X Resolution X resolution is the horizontal distance between each measurement point along the laser line. This specification is based on the number of camera columns used to cover the field of view (FOV) at a particular measurement range.
Page 52: Z Resolution
Z Resolution Z Resolution gives an indication of the smallest detectable height difference at each point, or how accurately height on a target can be measured. Variability of height measurements at any given moment, in each individual 3D point, with the target at a fixed position, limits Z resolution. This variability is caused by camera and sensor electronics.
Page 53 Z linearity is expressed in the Gocator data sheet as a percentage of the total measurement range. How Gocator Works • 53 Gocator Line Profile Sensors: User Manual...
Page 54: Profile Output
Profile Output Gocator represents a profile as a series of ranges, with each range representing the distance from the origin. Each range contains a height (on the Z axis) and a position (on the X axis) in the sensor's field of view.
Page 55: System Coordinates
The mounting direction, relative to the direction of travel, can be set in Gocator using either the Normal or Reverse layout. For more information, see Layout on page 84. System Coordinates Aligning sensors adjusts the coordinate system in relation to sensor coordinates using transformations (offsets along the axes and rotations around the axes).
Page 56 System coordinates are aligned so that the system X axis is parallel to the alignment target surface. The system Z origin is set to the base of the alignment target object. In both cases, alignment determines the offsets in X and Z. Offsets can also be determined along the Y axis.
Page 57 Y Angle Y angle is positive when rotating from positive X to positive Z axis. Finally, tilt can be determined around the X and the Z axis, which compensates for the angle in height measurements. These are sometimes called pitch correction and yaw correction, respectively. Rotation around the X axis often used for specular mounting.
Page 58: Part And Section Coordinates
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. For more information on transformations in the web interface, see Transformations on page 115.
Page 59: Spacing (Data Resampling)
For more information, see the Profile Bounding Box tool or the Surface Bounding Box tool, and the Script tool. Spacing (Data Resampling) Data produced in Profile mode is available in two formats: with and without uniform spacing. Uniform spacing is enabled in the Scan Mode panel, on the Scan page. When uniform spacing is enabled, the ranges that make up a profile are resampled so that the spacing is uniform along the laser line (X axis).
Page 60: Data Generation And Processing
Data Generation and Processing After scanning a target, Gocator can process the scan data to allow the use of more sophisticated measurement tools. This section describes the following concepts: Surface generation Part detection Sectioning Surface Generation Gocator laser profile sensors create a single profile with each exposure. These sensors can combine a series of profiles gathered as a target moves under the sensor to generate a height map, or surface, of the entire target.
Page 61: Sectioning
Part detection is useful when measurements on individual parts are needed and for robotic pick and place applications. For more information on part detection, see Part Detection on page 137. 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 62: Measurement And Anchoring
Measurement and Anchoring After Gocator scans a target and, optionally, further processes the data, the sensor is ready to take measurements on the scan data. Gocator provides several measurement tools, each of which provides a set of individual measurements, giving you dozens of measurements ideal for a wide variety of applications to choose from. The configured measurements start returning pass/fail decisions, as well as the actual measured values, which are then sent over the enabled output...
Page 63 also involve making decisions on good, but different, parts. This is described as “output” in Gocator. Gocator supports the following output types: Ethernet (which provides industry-standard protocols such as Modbus, EtherNet/IP, and ASCII, in addition to the Gocator protocol) Digital Analog Serial interfaces An important concept is digital output tracking.
Page 64: 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 65: 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 66: 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 67: 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 68 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 • 68 Gocator Line Profile Sensors: User Manual...
Page 69: 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 • 69 Gocator Line Profile Sensors: User Manual...
Page 70: 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 81. Scan page Contains settings for scan mode, trigger source, detailed sensor configuration, and performing alignment. See Scan Setup and Alignment on page 103.
Page 71: 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 72: 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 73 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 74: 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 75: 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 frame is above the value you specify in Range Count Threshold Below Threshold : Gocator records a frame if the number of valid points is below the threshold you specify.
Page 76 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 77 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. In Profile mode, all data in the record buffer is exported. In Surface mode, only data at the current replay location is exported.
Page 78: 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 72. Click the Export button and select Video data as BMP.
Page 79: 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 80: 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 81: 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 82: Sensor System
Element Description Support Lets you open an HTML version or download a PDF version of the manual, download the SDK, or save a support file. Also provides device information. See Support on page 100 Sensor System The following sections describe the Sensor System category on the Manage page. This category provides sensor information and the autostart setting.
Page 83: Buddy Assignment
Buddy Assignment In a dual- or multi-sensor system, the Main sensor controls a second sensor, called the Buddy sensor, after the Buddy sensor is assigned to the Main sensor. You configure both sensors through the Main sensor's interface. Main and Buddy sensors must be assigned unique IP addresses before they can be used on the same network.
Page 84: Over Temperature Protection
Over Temperature Protection Sensors equipped with a 3B-N laser by default will turn off the laser if the temperature exceeds the safe operating range. You can override the setting by disabling the overheat protection. Disabling the setting is not recommended. Disabling the overheat protection feature could lead to premature laser failure if the sensor operates outside the specified temperature range.
Page 85 Mounting orientations must be specified for a dual- or multi-sensor system. This information allows the alignment procedure to determine the correct system-wide coordinates for laser profiling and measurements. For more information on sensor and system coordinates, see Coordinate Systems on page 54.
Page 86 Layout Type Example Wide Sensors are mounted in Left (Main) and Right (Buddy) positions. This allows for a larger combined field of view. Sensors may be angled around the Y axis to avoid occlusions. Reverse Sensors are mounted in a left-right layout as with the Wide layout, but the Buddy sensor is mounted such that it is rotated 180 degrees around the Z axis to prevent...
Page 87 Layout Type Example Grid For systems composed of three or more sensors. Sensors can be mounted in a 2- dimensional grid using the settings in the Layout Grid area below. Side-by-side and top-bottom configurations are supported, as well as combinations of these and reversed orientations.
Page 88 To specify a standalone layout: Go to the Manage page and click on the Layout category. Under Layout Types, choose Normal or Reverse layout by clicking one of the layout buttons. See the table above for information on layouts. Before you can select a dual-sensor layout, you must assign a second sensor as the Buddy sensor.
Page 89 The Main sensor is automatically assigned to the first cell. You can however assign the Main sensor to any cell. Choose a sensor from the drop-down in each cell you want to populate. The following shows the layout of a four-sensor Wide system: Gocator Web Interface •...
Page 90 The following shows the layout of a four-sensor system, with two sensors on the top and two sensors on the bottom: See the table above for more information on layouts. (Optional) For each sensor mounted in a reversed orientation in relation to the Main sensor (rotated 180 degrees around the Z axis to avoid occlusions), check the Reversed option.
Page 91: Device Exposure Multiplexing
You can configure dual- and multi-sensor systems so that there is a slight delay between the exposures of sensors or groups of sensors to eliminate laser interference, using the Device Exposure Multiplexing setting. For more information, see Device Exposure Multiplexing below. Device Exposure Multiplexing If the sensors in a dual- or multi-sensor system are mounted such that the camera from one sensor can detect the laser from the other sensor, the Device Exposure Multiplexing option can be used to...
Page 92: Networking
Networking The Networking category on the Manage page provides network settings. Settings must be configured to match the network to which the Gocator sensors are connected. To configure the network settings: Go to the Manage page. In the Networking category, specify the Type, IP, Subnet Mask, and Gateway settings. The Gocator sensor can be configured to use DHCP or assigned a static IP address.
Page 93: Motion And Alignment
Motion and Alignment The Motion and Alignment category on the Manage page lets you configure alignment reference, encoder resolution, and travel speed, and confirm that encoder signals are being received by the sensor. Alignment Reference The Alignment Reference setting can have one of two values: Fixed or Dynamic. Setting Description Fixed...
Page 94: Encoder Resolution
Encoder Resolution You can manually enter the encoder resolution in the Resolution setting , or it can be automatically set by performing an alignment with Type set to Moving. Establishing the correct encoder resolution is required for correct scaling of the scan of the target object in the direction of travel. Encoder resolution is expressed in millimeters per tick, where one tick corresponds to one of the four encoder quadrature signals (A+ / A- / B+ / B-).
Page 95: Jobs
Travel speed can also be set automatically by performing an alignment with Type set to Moving (see Aligning Sensors on page 126). Jobs The Jobs category on the Manage page lets you manage the jobs stored on a sensor. Element Description Name field Used to provide a job name when saving files.
Page 96: Security
Unsaved jobs are indicated by "[unsaved]". 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 97: Maintenance
Gocator Account Types Account Description Administrator The Administrator account has privileges to use the toolbar (loading and saving jobs, recording and 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...
Page 98: 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 99: 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 100: Support
If a new version of the firmware is available, follow the instructions to download it to the client computer. 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.
Page 101: Support Files
Support Files You can download a support file from a sensor and save it on your computer. You can then use the support file to create a scenario in the Gocator emulator (for more information on the emulator, see Gocator Emulator on page 334). LMI's support staff may also request a support file to help in troubleshooting.
Page 102: Software Development Kit
Open HTML: Opens the HTML version of the manual in your default browser. Download PDF: Downloads the PDF version of the manual to the client computer. Software Development Kit You can download the Gocator SDK from within the Web interface. 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.
Page 103: Scan Setup And Alignment
Scan Setup and Alignment The following sections describe the steps to configure Gocator sensors for laser profiling 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 104: 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 105) Ensure that camera exposure is appropriate for scan data acquisition. Exposure (page 117) Find the right balance between data quality, speed, and CPU utilization.
Page 105: Triggers
Mode and Option Description Uniform Spacing When this option is enabled, ranges are resampled to a uniform spacing along the X axis Spacing (Data Resampling) on page 59 for more information). The size of the spacing can be set Spacing Spacing Interval in the tab (see...
Page 106 Trigger Source Description Time Sensors have an internal clock that can be used to generate fixed-frequency triggers. The external input can be used to enable or disable the time triggers. Gocator Web Interface • 106 Gocator Line Profile Sensors: User Manual...
Page 107 Trigger Source Description Encoder An encoder can be connected to provide triggers in response to motion. Three encoder triggering behaviors are supported. These behaviors are set using the Behavior setting. Track Backward A scan is triggered when the target object moves forward. If the target object moves backward, it must move forward by at least the distance that the target travelled backward (this distance backward is "tracked"), plus one encoder spacing, to trigger the next scan.
Page 108 Trigger Source Description When triggers are received at a frequency higher than the maximum frame rate, some triggers may not be accepted. The Trigger Drops Indicator in the Dashboard can be used to check for this condition. The external input can be used to enable or disable the encoder triggers. For information on the maximum encoder rate, see Maximum Encoder Rate on page 112.
Page 109: Trigger Examples
Trigger Examples Example: Encoder + Conveyor Encoder triggering is used to perform profile measurements at a uniform spacing. The speed of the conveyor can vary while the object is being measured; an encoder ensures that the measurement spacing is consistent, independent of conveyor speed.
Page 110: Trigger Settings
Example: Software Trigger + Robot Arm Software triggering can be used to produce a snapshot for profile measurement. A software trigger can be used in systems that use external software to control the activities of system components. 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. ...
Page 111 Parameter Trigger Source Description Surface Generation This setting is not displayed when is set Fixed Length Variable Length , or Rotational Surface Generation on page 134). See See Digital Input on page 621 for more information on connecting external input to Gocator sensors. Behavior Encoder Specifies how the Gocator sensor is triggered when the target...
Page 112: Maximum Input Trigger Rate
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 113 Active area is specified in sensor coordinates, rather than in system coordinates. As a result, if the sensor is already alignment calibrated, press the Acquire button to display uncalibrated data before configuring the active area. See Coordinate Systems on page 54 for more information on sensor and system coordinates.
Page 114: Tracking Window
Set the active area. Adjust the active area graphically in the data viewer or enter the values manually in the fields. Click the Save button in the Sensor panel. Click the Cancel button to cancel setting the active area. 10. Save the job in the Toolbar by clicking the Save button Laser profiling devices are usually more accurate at the near end of their measurement range.
Page 115: Transformations
The tracking window is defined in the Active Area tab, beneath the settings for the active area. To enable the tracking window: Go to the Scan page. Choose Profile or Surface mode in the Scan Mode panel. If one of these modes is not selected, you will not be able to set the tracking window. Expand the Sensor panel by clicking on the panel header.
Page 116 Parameter Description X Offset Specifies the shift along the X axis. With Normal orientation, a positive value shifts the data to the right. With Reverse orientation, a positive value shifts the data to the left. Y Offset Specifies the shift along the Y axis. Z Offset Specifies the shift along the Z axis.
Page 117: 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 118: 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. To enable single exposure: Place a representative target in view of the sensor. The target surface should be similar to the material that will normally be measured.
Page 119: Multiple Exposure
You can tune settings that control the exposure that is chosen by dynamic exposure in the Material tab. To enable dynamic exposure: Go to the Scan page. Expand the Sensor panel by clicking on the panel header or the button. Click the button corresponding to the sensor you want to configure.
Page 120 Up to five 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. For example, if two exposures are selected, then the speed will be half of the single exposure frame rate. The sensor will perform a complete multi-exposure scan for each external input or encoder trigger.
Page 121: Spacing
Set the exposure level for each exposure to make the Gocator's camera less or more sensitive, as required. If Acquire Intensity is enabled in Scan Mode, select the exposure that is used to capture the intensity output. Run the sensor and check that laser profiling is satisfactory. If laser profiling is not satisfactory, adjust the exposure values manually.
Page 122: Spacing Interval
To configure X or Z sub-sampling: Go to the Scan page. Expand the Sensor panel by clicking on the panel header or the button. Click the button corresponding to the sensor you want to configure. The button is labeled Top, Bottom, Top-Left, or Top-Right, depending on the system. X and Z sub-sampling is configured separately for each sensor.
Page 123: Advanced
Resolution: Uses the highest X resolution within the active area as the spacing interval. This setting maximizes resolution but has higher CPU load and has the highest data output rate (i.e., greatest detail). Choose Custom and move the slider to a precise value. Select a spacing interval level.
Page 124: Material
The button is labeled Top, Bottom, Top-Left, or Top-Right, depending on the system. Settings can be configured separately for each sensor. Click on the Advanced tab. Configure material characteristics, camera gain, or dynamic exposure. For more information, see Material below and Camera Gain and Dynamic Exposure on the next page. Save the job in the Toolbar by clicking the Save button Check that scan data is satisfactory.
Page 125: Camera Gain And Dynamic Exposure
Various settings can affect how the Material settings behave. See Spots and Dropouts on page 149 for more information. Camera Gain and Dynamic Exposure You can set camera gain and dynamic exposure to improve data acquisition. Setting Description Camera Gain Analog camera gain can be used when the application is severely exposure limited, yet dynamic range is not a critical factor.
Page 126: Alignment Types
An indicator on the Alignment panel display ALIGNED or UNALIGNED, depending on the Gocator's state. Alignment Types Gocator sensors support two types of alignment: stationary or moving. Type Description Stationary Stationary is 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 127 To prepare for alignment: Choose an alignment reference in the Manage page if you have not already done so. See Alignment Reference on page 93 for more information. Go to the Scan page. Choose a mode other than Video mode in the Scan Mode panel. If Video mode is selected, tools will not be available in the Measure panel.
Page 128 Degrees of Freedom: In stationary bar alignment, only one option is provided, namely, X, Z, Y Angle. This setting aligns X and Z offsets, as well as rotation around the Y axis. Place the target under the sensor Click the Align button. The sensors will start, and the alignment process will take place.
Page 129 Configure the characteristics of the target. Degrees of Freedom: In moving bar alignment, three options are available, which are combinations of different types of alignments. X, Y, and Z compensate for offsets on the X, Y, and Z axes, respectively. Y Angle and Z Angle compensate for rotation around the Y and Z axes, respectively.
Page 130: Clearing Alignment
When the calibration target has passed completely through the laser plane, the calibration process will complete automatically. To properly calibrate the travel speed, the transport system must be running at the production operating speed before the target passes through the laser plane. Inspect alignment results.
Page 131: Gap Filling
Filter Description Median Substitutes the value of a data point with the median within a specified window around the data point. Smoothing Applies moving window averaging to reduce random noise. Decimation Reduces the number of data points. Filters are applied in the order displayed in the table above. The filters are configured in the Filters panel on the Scan page.
Page 132: Median
Median The Median filter substitutes the value of a data point with the median calculated within a specified window around the data point. Missing data points will not be filled with the median value calculated from data points in the neighbourhood.
Page 133: Decimation
To configure X or Y smoothing: Go to the Scan page. Choose Profile or Surface mode in the Scan Mode panel. If one of these modes is not selected, you will not be able to configure smoothing. Expand the Filters panel by clicking on the panel header or the button.
Page 134: Surface Generation
Enable the X or Y setting and select the decimation window value. Save the job in the Toolbar by clicking the Save button Check that the laser profiling is satisfactory. Surface Generation The sensor can generate a surface by combining a series of profiles gathered along the direction of travel.
Page 135 Fixed Length: The sensor generates surfaces of a fixed length (in mm) using the value in the Length setting. Like Continuous mode, Fixed Length mode is used when material or parts continuously pass under the sensor. Unlike Continuous mode, parts/material do not have distinguishable start and stop edge.
Page 136 Variable Length: The sensor generates surfaces of variable length. Profiles collected while the external digital input is held high are combined to form a surface. If the value of the Max Length setting is reached while external input is still high, the next surface starts immediately with the next profile.
Page 137: Part Detection
tread inspection, or label positioning on bottles. To scan exactly one revolution of a circular target without knowing the circumference, manually set the encoder resolution (page 94) to 1, the encoder trigger spacing (page 105) to (number of encoder ticks per revolution) / (number of desired profiles per revolution), and Encoder Resolution in the...
Page 138 Part detection can be performed when Source in the Trigger panel is set to Time or Encoder. To use the Time trigger source, the travel speed must be calibrated. To use the Encoder trigger source, the encoder resolution must be calibrated. See Aligning Sensors on page 126 for more information. Multiple parts can pass through the laser at the same time and will be individually tracked.
Page 139 Setting Description where only one of either top or bottom is detected. Height Threshold To separate parts by gated external input, set the to the active area Z Source Time offset (i.e., minimum Z position of the current active area), set Encoder and check the Gate Using External Input...
Page 140 Setting Description In general, you should leave this setting enabled. Threshold Direction Determines if parts should be detected above or below the height threshold. Gap Width Determines the minimum separation between objects on the X axis. If parts are closer than the gap interval, they will be merged into a single part.
Page 141: Part Detection Status
Setting Description way the sensor's frame of reference is defined changes depending on the surface generation Type setting ( and Surface Generation on page 134 for more information): Type When parts are segmented from a continuous surface (the surface generation setting is set to Continuous ), measurement values are relative to a Y origin at the...
Page 142 The following part detection status information is available: Part Detection Diagnostics Status Indicator Description Tracking State Part detection state for largest currently tracking part. One of the following: Not In Part In Part, Min area not achieved In Part, Min area achieved In Gap, Min area not achieved In Gap, Min area achieved Parts Being Tracked...
Page 143: Edge Filtering
Edge Filtering Part scans sometimes contain noise around the edges of the target. This noise is usually caused by the sensor’s light being reflected off almost vertical sides, rounded corners, etc. Edge filtering helps reduce edge noise in order to produce more accurate and repeatable volume and area measurements, as well as to improve positioning of relative measurement regions.
Page 144: 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 145 For more information on the kinds of data displayed in Surface mode, see Surface Mode on page 152. 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.
Page 146 Also, when multiple exposures have been defined, you can use the Multiple Exposures button ( ) to toggle between showing a single-color profile made up of data from all exposures, and a profile in which the source exposure of the data points is identified by a different color. Gocator Web Interface •...
Page 147: Video Mode
Video Mode In Video mode, the data viewer displays a camera image. In a dual- or multi-sensor system, camera images from any camera can be displayed. In this mode, you can configure the data viewer to display exposure, spot, and dropout information that can be useful in properly setting up the system for scanning.
Page 148: Overexposure And Underexposure
For details on setting exposure in the Exposure tab in the Sensor panel, see Exposure on page 117. 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 149: Spots And Dropouts
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, but often a good starting point is to set the exposure so that there are 2 to 3 red pixels in the center of the laser line.
Page 150: Profile Mode
To show data dropouts: Go to the Scan page and choose Video mode in the Scan Mode panel. check the Show Dropouts option at the top of the data viewer. For more information on the material settings, see Advanced on page 123. Profile Mode When the Gocator is in Profile scan mode, the data viewer displays profile plots.
Page 151 In a dual-sensor system, profiles from individual sensors or from a combined view can be displayed. Similarly, in a multi-sensor system, profiles from individual sensors or from combined views can be displayed. When in the Scan page, selecting a panel (e.g., Sensor or Alignment panel) automatically sets the display to the most appropriate display view.
Page 152: Surface Mode
To manually select the display view in the Scan page: Go to the Scan page. Choose Profile mode in the Scan Mode panel. Select the view. Top: View from a single sensor, from the top sensor in an opposite-layout dual-sensor system, or the combined view of sensors in the top position.
Page 153 Data Type Option or Description Button Intensity button In 2D view, displays the intensity. In 3D view, overlays the intensity map on the 3D model. Acquire Intensity Scan Mode must be checked in the panel for this button to be visible.) 2D viewer with height map overlay 2D viewer with grayscale overlay 2D viewer with intensity overlay...
Page 154 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. 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...
Page 155: Height Map Color Scale
Select the View options in the data viewer. Profile, Heightmap, Grayscale, Uniform, or Intensity can be selected from the left drop-down list. The view from an individual sensor or the combined view of two sensors can be selected from the right drop-down list.
Page 156 In a dual-sensor system, profiles from individual sensors or from a combined view can be displayed. 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.
Page 157: Region Definition
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. The view from an individual sensor or the combined view of two sensors can be selected from the drop- down list at the top of the data viewer.
Page 158: Intensity Output
To set up a region of interest: Move the mouse cursor to the rectangle. The rectangle is automatically displayed when a setup or measurement requires an area to be specified. Drag the rectangle to move it, and use the handles on the rectangle's border to resize it. Intensity Output Gocator sensors can produce intensity images that measure the amount of light reflected by an object.
Page 159: 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 160: 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 161) or to the dimensions of a fitted bounding box or ellipse that encapsulate...
Page 161: 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 162 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 163 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 164: 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 165 Locate some previously recorded replay data and load it. See Recording, Playback, and Measurement Sim- ulation on page 72 and Downloading, Uploading, and Exporting Replay Data on page 75 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 166: 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 167 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 168 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 169: 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 170: 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 171 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 172: Configuring A Bounding Box Or An Ellipse172
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 173: 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 103 for more information on setting up and aligning Gocator. See Running a Standalone Sensor System on page 44 or Running a Dual-Sensor System on page 45 for more information on running a system to scan a part.
Page 174: 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 175 Part in data viewer (3D view) Section defined on top of part (2D view) Gocator Web Interface • 175 Gocator Line Profile Sensors: User Manual...
Page 176 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 177: 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 178 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 179: 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 202. 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 180: 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 Profile mode, the Measure page displays tools for profile measurement.
Page 181: Data Viewer
Element Description Data Viewer Displays video and scan data, sets up tools, and displays result calipers related to the selected measurement. Parts are displayed using a height map, which is a top-down view of the XY plane, where color represents height. See Data Viewer below.
Page 182: Source
To add and configure a tool: Go to the Scan page by clicking on the Scan icon. Choose Profile or Surface mode in the Scan Mode panel. If one of these modes is not selected, tools will not be available in the Measure panel. Go to the Measure page by clicking on the Measure icon.
Page 183: Streams (Sections)
data for a measurement tool. The Source setting applies to all of a tool's measurements. Depending on the layout you have selected, the Source drop-down will display one of the following (or a combination). For more information on layouts, see Layout on page 84. Setting Description The Main sensor in a standalone system.
Page 184: Regions
If it is not already selected, click the Parameter tab in the tool configuration area. Select the section in the Stream drop-down list. Regions Many measurement tools use user-defined regions to limit the area in which measurements occur or to help in the identification of a feature (Feature Points on page 187), a fit line (Fit Lines on page 189), or left or right side of the Panel tool ( see Panel on page 229).
Page 185 The measurement region of some tools can be rotated by setting the region's Z Angle to better accommodate features that are on an angle on a target. By rotating the measurement region, data not related to the feature can often be excluded, improving accuracy of measurements. To rotate measurement regions: Determine the length and width of the region that will be required once it is rotated.
Page 186: 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 187 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 188: 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 189: 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 190: 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 191: Filters
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 318 for more information on transmitting values and decisions.
Page 192 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 193: Measurement Anchoring
To select a measurement, it must be enabled. See Enabling and Disabling Measurements on page 199 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 194 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 • 194 Gocator Line Profile Sensors: User Manual...
Page 195 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 196 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 197 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 198: Enabling And Disabling Measurements
To remove an anchor from a tool: Click on the anchored tool's Anchoring tab. Select Disabled in the X, Y, or Z drop-down. 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.
Page 199: Editing A Tool Or Measurement Name
To disable a measurement: Go to the Scan page by clicking on the Scan icon. Choose Profile or 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 200: Duplicating A Tool
To select a measurement, it must be enabled. See Enabling and Disabling Measurements on page 199 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 201: 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 202 See Adding and Configuring a Measurement Tool on page 182 for instructions on how to add measurement tools. 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 •...
Page 203: 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 204 For more information on geometric features, see Geometric Features on page 190. Parameters Parameter Description Source The sensor, or combination of sensors, that provides data for the tool's measurements. For more information, see Source on page 183. 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 205: Bounding Box
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 206: Measurements, Features, And Settings
Measurement Panel 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 207 Measurement Illustration Height Determines the height (thickness) of the bounding box that contains the profile. Global X Determines the X position of the center of the bounding box that contains the profile relative to the surface from which the profile is extracted. Global Y Determines the Y position of the center of the bounding box that contains the profile relative to the surface from...
Page 208: Bridge Value
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 174. Region The region to which the tool's measurements will apply.
Page 209: Understanding The Window And Skip Settings
Understanding the Window and Skip Settings The Bridge Value tool measurements use a histogram of the ranges that make up the profile. The Window and Skip parameters together determine what segment of the heights in the histogram is used to calculate the bridge value. The following diagram illustrates what points of a histogram would be included for calculating the bridge value where Window is roughly 85% and Skip is roughly 15% of the histogram.
Page 210: Measurements And Settings
Measurements and Settings Measurements Measurement Illustration Bridge Value Determines the bridge value of the profile. Angle Determines the angle of the line fitted to the profile. When Normalize Tilt is unchecked, the measurement always returns 0. Gocator Web Interface • 210 Gocator Line Profile Sensors: User Manual...
Page 211 Measurement Illustration Window Returns the height of the area on the profile resulting from the Window and Skip settings. If you are using this measurement on a Gocator 2342 sensor, see Using Window and StdDev as Metrics Measurements on the next page for more information. StdDev Returns the standard deviation of the data in the area on the profile resulting from the Window and Skip settings.
Page 212: Using Window And Stddev As Metrics Measurements
Parameter Description Skip A percentage of the profile point heights in the histogram, starting from the highest points, to exclude from the average. The Skip setting basically sets the upper limit of the profile point heights in the histogram to be used in the average. Use the setting to exclude higher parts of a profile that you do not want to include in the measurement.
Page 213: Circle
the noise instead of switching to search mode to find the actual profile. As a result, the Bridge Value tool receives bad data and returns incorrect or invalid measurements. On Gocator 2342 sensors, the Bridge Value tool’s Window and StdDev measurements can be used as metrics to determine how valid the Bridge Value measurement is.
Page 214: Measurements, Features, And Settings
Measurements, Features, and Settings Measurements Measurement Illustration Radius Measures the radius of the circle. Finds the circle center position in the X axis. Finds the circle center position in the Z axis. Features Type Description Center Point The center point of the fitted circle. For more information on geometric features, see Geometric Features on page 190.
Page 215: Dimension
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 216 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. The difference is calculated by: Width = Feature 2 – Feature 1 X position X position Height Determines the difference along the Z axis between two...
Page 217 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 174. Feature 1 The Feature 1 and Feature 2 settings represent the two features the tool uses to perform measurements.
Page 218: Groove
Groove The Groove tool provides measurements of V-shape, U-shape, or open-shape grooves. 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 191. See Adding and Configuring a Measurement Tool on page 182 for instructions on how to add measurement tools.
Page 219 Measurements Measurement Illustration Width Measures the width of a groove. Depth Measures the depth of a groove as the maximum perpendicular distance from a line connecting the edge points of the groove. Gocator Web Interface • 219 Gocator Line Profile Sensors: User Manual...
Page 220 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, or combination of sensors, that provides data for the tool's measurements. For more information, see Source on page 183.
Page 221 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 222: 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 191. 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 223 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 224: 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 225: 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 226 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 227 Parameters Parameter Description Source The sensor, or combination of sensors, that provides data for the tool's measurements. For more information, see Source on page 183. 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 228: 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 194. Panel The Panel tool provides Gap and Flush measurements.
Page 229 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 230 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 231: 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 232: Measurements, Features, And Settings
See Adding and Configuring a Measurement Tool on page 182 for instructions on how to add measurement tools. 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...
Page 233 Parameters Parameter Description Source The sensor, or combination of sensors, that provides data for the tool's measurements. For more information, see Source on page 183. 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 234: 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 191.
Page 235 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 236 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 237: 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 238 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 239 Parameters Parameter Description Source The sensor, or combination of sensors, that provides data for the tool's measurements. For more information, see Source on page 183. 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 174.
Page 240 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 241: 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 184. Location Specifies the strip position from which the measurements are performed.
Page 242 See Adding and Configuring a Measurement Tool on page 182 for instructions on how to add measurement tools. See Scripts on page 313 for more information on scripts. Gocator Web Interface • 242 Gocator Line Profile Sensors: User Manual...
Page 243: Surface Measurement
See Scripts on page 313 for more information on the script syntax. 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 244: Bounding Box
the region of interest for a measurement is positioned in, as well as the coordinate reference used to output measurement values. For example, if you need to measure the average height in a certain location relative to the sensor's field of view regardless of the objects passing under the sensor, the frame of reference should be set to Sensor.
Page 245: Measurements, Features, And Settings
Measurement Panel 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 246 Measurement Illustration Determines the Z position of the center of the bounding box that contains the part. The value returned is relative to the part. Width Determines the width of the bounding box that contains the part. When the Rotation setting is disabled, the bounding box is the smallest rectangle whose sides are parallel to the X and Y axes.
Page 247 Measurement Illustration 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. In order to use this measurement for angle anchoring, you must enable Rotation;...
Page 248: Countersunk Hole
Parameter Description 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. Check the Rotation setting to select rotated bounding box. Asymmetry Detection Resolves the orientation of an object over 360 degrees. The possible values are: 0 –...
Page 249 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 182 for instructions on how to add measurement tools. 2D View 3D View Gocator Web Interface • 249 Gocator Line Profile Sensors: User Manual...
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Page 251: 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 252 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 253 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 254 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 255 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 190. Parameters Parameter Description...
Page 256 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 257: 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 258 Measurement Panel Measurements Measurement Illustration Width Determines the distance between the selected features along the X axis. Gocator Web Interface • 258 Gocator Line Profile Sensors: User Manual...
Page 259 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 • 259 Gocator Line Profile Sensors: User Manual...
Page 260 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 261: Edge
Parameter Description Filters The filters that are applied to measurement values before they are output. For more information, see Filters on page 192. Decision The Max and Min settings define the range that determines whether the measurement tool sends a pass or fail decision to the output.
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Page 263 Measurement Panel Gocator Web Interface • 263 Gocator Line Profile Sensors: User Manual...
Page 264: 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 • 264 Gocator Line Profile Sensors: User Manual...
Page 265: 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 266 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 267 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 104.) 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 268 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 269 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 270 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 271 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 272 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 273 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 274 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 275: 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 276: 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 277 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 278: 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 194. Hole The Hole tool measures a circular opening within a region of interest on the surface and returns its position and...
Page 279 Measurement Panel Gocator Web Interface • 279 Gocator Line Profile Sensors: User Manual...
Page 280: 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 281 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 282: 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 283: 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 284 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.
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Page 286: 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 287 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 190.
Page 288 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 289 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 290: 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 291 See Adding and Configuring a Measurement Tool on page 182 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 293: 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 294: Position
Features Type Description Plane The fitted plane. For more information on geometric features, see Geometric Features on page 190. Parameters Parameter Description Source The sensor, or combination of sensors, that provides data for the tool's measurements. For more information, see Source on page 183.
Page 295: 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 • 295 Gocator Line Profile Sensors: User Manual...
Page 296 Features Type Description Center Point The returned position. For more information on geometric features, see Geometric Features on page 190. Parameters Parameter Description Source The sensor, or combination of sensors, that provides data for the tool's measurements. For more information, see Source on page 183.
Page 297: 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.
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Page 299: 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 300 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 190. Parameters Parameter Description Source The sensor, or combination of sensors, that provides data for the tool's measurements.
Page 301: 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 194. Measurement Region The tip and the side of the stud must be within the measurement region.
Page 302 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, or combination of sensors, that provides data for the tool's measurements. For more information, see Source on page 183.
Page 303: 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 304: 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"...
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Page 306 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. 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.
Page 307 Measurement Illustration Height Point-point: The difference on the Z axis between the points. Point-line: The difference on the Z axis between the point and, for profiles, a point on the line at the same X position as the first point. For surface data, the point on the line is the one nearest to the first point.
Page 308: Intersect
Parameter Description Point A point geometric feature generated by another tool. Reference Feature A point or line geometric feature generated by another tool. Dimensional measurements are calculated from the reference feature to the point in the Point setting. Filters The filters that are applied to measurement values before they are output.
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Page 310 Measurement Panel 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.
Page 311 Measurement Illustration Angle Line-Line: The angle between the lines, as measured from the line selected in Reference Feature to the line selected in Line. Line-line angles can range over 360 degrees, expressed either as an angle from -180 to 180 or as an angle from 0 to 360 degrees.
Page 312: Scripts
Scripts Scripts use outputs from other measurement tools to produce custom measurements. Similar to other measurement tools, a script measurement can output multiple measurement values and decisions. Scripts are added, configured, and removed much like other measurement tools; for more information on this, see Script under Profile Measurement on page 202 or Surface Measurement on page 244.
Page 313 Function Description Value of the measurement 0 – if measurement does not exist 1 – if measurement exists int Measurement_Decision (int id) Gets the decision of a measurement by its ID. Parameters: ID - Measurement ID Returns: Decision of the measurement 0 –...
Page 314 Function Description index – Script output index value – value output by the script decision – decision value output by the script. Can only be 0 or 1 void Output_SetId(int id, double value, int Sets the output value and decision at the specified script output ID. To decision) output an invalid value, the constant INVALID_VALUE can be used (e.g., Output_SetId(0, INVALID_VALUE, 0))
Page 315 Function Description value - Value stored in persistent memory int Memory_Exists (int id) Tests for the existence of a value by ID. Parameters: id – Value ID Returns: 0 – value does not exist 1 – value exists void Memory_Clear (int id) Erases a value associated with an ID.
Page 316 Function Description float cos(float x) Calculates cos(x) (x in radians) float tan(float x) Calculates tan(x) (x in radians) float asin(float x) Calculates asin(x) (x in radians) float acos(float x) Calculates acos(x) (x in radians) float atan(float x) Calculates atan(x) (x in radians) float pow (float x, float y) Calculates the exponential value.
Page 317: 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 laser profiles 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 318: Ethernet Output
Ethernet Output A sensor uses TCP messages (Gocator protocol) to receive commands from client computers, and to send video, laser profile, 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 319 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 320 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 321 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 322: 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 323 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 324 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 325: 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. See Analog Output on page 623 for information on wiring analog output to an external device. To output measurement value or decision: Go to the Output page.
Page 326: 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 327 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.
Page 328 To configure Selcom output: Go to the Output page. Click on Serial in the Output panel. Select Selcom in the Protocol option. Select the measurements to send. To select an item for transmission, place a check in the corresponding check box. Measurements shown here correspond to measurements that have been programmed using the Measurements page.
Page 329: 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 330 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 331: 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 332 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 333: 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 334: 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 335: 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 336: 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 337: 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 338: 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 339: 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 340: 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 341: 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 342 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 343 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. In Profile mode, all data in the record buffer is exported. In Surface mode, only data at the current replay location is exported.
Page 344: Downloading And Uploading Jobs
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 Playback and Measurement Simulation on page 341. Click the Export button and select Video data as BMP.
Page 345: Scan, Model, And Measurement Settings
Unsaved jobs are indicated by "[unsaved]". Changes to job files in the emulator are not persistent (they are lost when you close or restart the emulator). However, you can keep modified jobs by first saving them and then downloading them to a client computer. To save a job: Go to the Manage page and click on the Jobs category.
Page 346: Protocol Output
would be available in a physical Gocator sensor. (See Active Area on page 112 for more information on active area.) Similarly, you can adjust exposure on the Exposure tab on the Sensor panel to see how this affects the maximum frame rate. (See Exposure on page 117 for more information on exposure.) To adjust active area in the emulator, Replay Protection must be turned off.
Page 347 In the command prompt, type GoEmulator.exe /ip, followed by an IPV4 address, for example: 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 337. 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...
Page 348: 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 349: 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 350 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 351 (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 352: 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 330.
Page 353 After, the SDK application can control an accelerated sensor in the same way as an unaccelerated sensor. Gocator Accelerator • 354 Gocator Line Profile Sensors: User Manual...
Page 354: 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 355: 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 356: Job File 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 models One or more part model files. Part models are created using and part matching Elements in the components contain three types of values: settings, constraints, and properties.
Page 357: Setup
Element Type Description @versionMinor Configuration minor version (9). Setup Setup Section For a description of the Setup elements, see below. Replay Section Replay Contains settings related to recording filtering (see on page 378). Streams Section Streams/Stream Read-only collection of available data streams (see (Read-only) on page 379).
Page 358: 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 359: 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 360: 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 361: 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 1 – Encoder 2 – Digital Input 3 – Software Source.options 32s (CSV) List of available source options. Units Sensor triggering units when source is not clock or encoder: 0 –...
Page 362: Layout
Element Type Description BurstEnabled Bool Enables burst triggering. BurstEnabled.Used Bool Whether or not this parameter is configurable. 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.
Page 363: Alignment
Element Type Description MultiplexBuddyEnabled Bool Enables multiplexing for buddies. MultiplexSingleEnabled Bool Enables multiplexing for a single sensor configuration. MultiplexSingleExposureDur Exposure duration in µs (currently rounded to integer when read by the ation sensor) MultiplexSingleDelay Delay in µs. (Currently gets rounded up when read by the sensor.) MultiplexSinglePeriod Period in µs.
Page 364: Disk
Element Type Description 1 – Disk 2 – Bar 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.
Page 365: 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 366 Element Type Description 0 – Single exposure 1 – Multiple exposures 2 – Dynamic exposure ExposureMode.options 32s (CSV) List of available exposure modes. Exposure Single exposure (µs). 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).
Page 367 Element Type Description Material Material Section on the next page. Section IndependentExposures IndependentExposures on page 371 Custom Custom Used by specialized sensors. Region3D Child Elements Element Type Description X start (mm). Y start (mm). Z start (mm). Width X extent (mm). Length Y extent (mm).
Page 368: Tracking
Tracking Tracking is only available on Gocator 2300 and 2400 series sensors. 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).
Page 369 Element Type Description in some configurations. 4 – Continuity. Picks the most continuous spot. 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.
Page 370: Independentexposures
Element Type Description GammaType Gamma type. GammaType used Bool Determines if the setting’s value is currently used. GammaType value Value in use by the sensor. Useful for determining value when used is false. SpotContinuitySorting Section See SpotContinuitySorting Child Elements below. SurfaceEncoding Surface encoding type: 0 –...
Page 371: 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 372: 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 373: 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 374 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 375: 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 376 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 377: Recordingfiltering
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 378: 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 379: 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 380: 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 MeasurementOptions Collection below FeatureOptions Collection FeatureOptions below. StreamOptions Collection StreamOptions on the next page.
Page 381: 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 382: 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 383: 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 384 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 385: 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 386 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 387: 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 388: Profilebridgevalue
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 389 Element Type Description 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. Anchor\Z.options String (CSV) The Z measurements (IDs) available for anchoring. StreamOptions Collection A collection of...
Page 390: Profilecircle
Element Type Description 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 –...
Page 391: Profiledimension
Element Type Description 4 – Section Stream\Id The stream source ID. RegionEnabled Bool Whether or not to use the region. If the region is disabled, all available data is used. Region ProfileRegion2d Measurement region. Measurements\X Circle tool X measurement. measurement Measurements\Z Circle tool Z measurement.
Page 392 ProfileDimension 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 393: Profilegroove
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 394 Element Type Description 0 – U-shape 1 – V-shape 2 – Open MinDepth Minimum depth. MinWidth Minimum width. MaxWidth Maximum width. RegionEnabled Bool Whether or not to use the region. If the region is disabled, all available data is used. Region ProfileRegion2d Measurement region.
Page 395: Profileintersect
Element Type Description DecisionMin Minimum decision threshold. DecisionMax Maximum decision threshold. SelectType Method of selecting a groove when multiple grooves are found: 0 – Max depth 1 – Ordinal, from left 2 – Ordinal, from right SelectIndex Index when SelectType is set to 1 or 2. Location Setting for groove location to return from: (X and Z measurements only)
Page 396: Profileline
Element Type Description ProfileLine Line Definition of line. Measurements\X Intersect tool X measurement. measurement Measurements\Z Intersect tool Z measurement. measurement Measurements\Angle Intersect tool Angle measurement. measurement GeometricFeature Features\IntersectPoint IntersectPoint PointFeature. Features\Line GeometricFeature Line LineFeature. Features\BaseLine GeometricFeature BaseLine LineFeature. Intersect Tool Measurement Element Type Description...
Page 397 ProfileLine Child Elements Element Type Description Name String Tool name. Features Collection Collection of geometric feature outputs available in the tool. ProfileLine on the previous page. 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.
Page 398: Profilepanel
Element Type Description Measurements\MaxErrorZ Line tool Maximum Error in Z measurement. measurement Features\Line GeometricFeature Line LineFeature. Features\ErrorMinPoint GeometricFeature ErrorMinPoint PointFeature. Features\ErrorMaxPoint GeometricFeature ErrorMaxPoint PointFeature. Line Tool Measurement Element Type Description Measurement ID. Optional (measurement disabled if not set). Name String Measurement name.
Page 399 Element Type Description 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. Anchor\Z.options String (CSV) The Z measurements (IDs) available for anchoring. StreamOptions Collection StreamOptions...
Page 400 ProfilePanelEdge Element Type Description EdgeType Edge type: 0 – Tangent 1 – Corner MinDepth Minimum depth. MaxVoidWidth Maximum void width. SurfaceWidth Surface width. SurfaceOffset Surface offset. NominalRadius Nominal radius. EdgeAngle Edge angle. RegionEnabled Bool Whether or not to use the region. If the region is disabled, all available data is used.
Page 401: Profileposition
Element Type Description 1 – Surface 2 – Distance Boolean Absolute Setting for selecting absolute or signed result: (Flush measurement only) 0 – Signed 1 – Absolute ProfilePosition A ProfilePosition element defines settings for a profile position tool and one or more of its measurements.
Page 402: Profileroundcorner
Element Type Description 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: 0 – Disable 1 – Enable PreserveInvalidsEnabled Boolean Preserve invalid measurements enable state...
Page 403 Element Type Description Stream\Id The stream source ID. RefDirection Setting for reference side to use: 0 – Left 1 – Right Edge ProfilePanelEdge Element for edge configuration Measurements\X Round Corner tool X measurement. measurement Measurements\Z Round Corner tool Z measurement. measurement Measurements\Angle Round Corner tool...
Page 404: Profilestrip
Element Type Description 0 – Disable 1 – Enable SmoothingEnabled Boolean Smoothing 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. ProfileStrip A ProfileStrip element defines settings for a profile strip tool and one or more of its measurements.
Page 405 Element Type Description 2 – Falling 4 – Data End 8 – Void RightEdge Bitmask Setting for the right edge conditions: 1 – Raising 2 – Falling 4 – Data End 8 – Void TiltEnabled Boolean Setting for tilt compensation: 0 –...
Page 406: Script
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 407 SurfaceBoundingBox Child Elements Element Type Description Name String Tool name. Features Collection Collection of geometric feature outputs available in the tool. SurfaceBoundingBox on the previous page. 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 408: Surfacecshole
Element Type Description ment Measurements\Height Bounding Box tool Height measurement. measurement Measurements\ZAngle Bounding Box tool ZAngle measurement. measurement Measurements\GlobalX Bounding Box tool Global X measurement. measurement Measurements\GlobalY Bounding Box tool Global Y measurement. measurement Measurements\GlobalZAngle Bounding Box tool Global Z Angle measurement. measurement Features\CenterPoint GeometricFeature...
Page 409 SurfaceCsHole Child Elements Element Type Description Name String Tool name. Features Collection Collection of geometric feature outputs available in the tool. SurfaceCsHole on the previous page. 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 410 Element Type Description 1 – Enable RefRegionCount Count of the reference regions which are to be used RefRegions (Collection) SurfaceRegion2D Reference regions. Contains 2 elements. AutoTiltEnabled Boolean Setting to enable/disable tilt correction: 0 – Disable 1 – Enable TiltXAngle Setting for manual tilt correction angle X. TiltYAngle Setting for manual tilt correction angle Y.
Page 411: Surfacedimension
Countersunk Hole Tool Measurement Element Type Description id (attribute) Measurement ID. Optional (measurement disabled if not set). Name String Measurement name. Features Collection Collection of geometric feature outputs available in the SurfaceCsHole tool. See on page 409. Enabled Boolean Measurement enable state: 0 –...
Page 412 Element Type Description 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. StreamOptions Collection A collection of StreamOptions on page 382 elements.
Page 413: Tool
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. Absolute Boolean Setting for selecting absolute or signed result.
Page 414 Element Type Description Parameters\Region3 GdkParamSurfaceRegi Fourth edge region parameter. on3d Parameters\SearchDirection GdkParamInt Direction of search. Parameters\FixedAngleValue GdkParamFloat Fixed angle value Parameters\FixedAngleValue.u String Units of fixed angle (e.g.: deg) nits Parameters\UseFixedAngle GdkParamBool Use fixed angle boolean. Parameters\PathSpacing GdkParamFloat Path spacing value Parameters\PathSpacing.units String Units of path spacing (eg: mm) Parameters\PathWidth...
Page 415 Element Type Description Parameters\FillValue GdkParamFloat Fill value value. Parameters\FillValue.units String Units of fill value (e.g.: mm). Parameters\IntensityFillValue GdkParamFloat Intensity fill value value. Parameters\IntensityFillValue. Intensity fill value minimum value. Parameters\IntensityFillValue. Intensity fill value maximum value. Parameters\RenderDetail Render detail Boolean. GdkParamBool Measurements\Measurement Edge Measurement Base X measurement.
Page 416: Surfaceellipse
1 – Enable SmoothingWindow Smoothing window. Scale Output scaling factor. Offset Output offset factor. DecisionMin Minimum decision threshold. DecisionMax Maximum decision threshold. SurfaceEllipse A SurfaceEllipse element defines settings for a surface ellipse tool and one or more of its measurements. SurfaceEllipse Child Elements Element Type...
Page 417: Surfacehole
Element Type Description Measurements\Major Ellipse tool Major measurement. measurement Measurements\Minor Ellipse tool Minor measurement. measurement Measurements\Ratio Ellipse tool Ratio measurement. measurement Measurements\ZAngle Ellipse tool ZAngle measurement. measurement Features\CenterPoint GeometricFeature CenterPoint PointFeature Features\MajorAxisLine GeometricFeature MajorAxisLine LineFeature Features\MinroAxisLine GeometricFeature MinorAxisLine LineFeature Ellipse Tool Measurement Element Type Description...
Page 418 SurfaceHole Child Elements Element Type Description Name String Tool name. Features Collection Collection of geometric feature outputs available in the tool. SurfaceHole on the previous page. 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 419 Element Type Description 1 – Enable RefRegionCount Count of the reference regions that are to be used. Advanced tab.) RefRegions (Collection) Reference regions. Contains up to two RefRegion elements SurfaceRegion2D. (Advanced tab.) of type AutoTiltEnabled Boolean Setting to enable/disable tilt correction: 0 –...
Page 420: Surfaceopening
Element Type Description Scale Output scaling factor. Offset Output offset factor. DecisionMin Minimum decision threshold. DecisionMax Maximum decision threshold. SurfaceOpening A SurfaceOpening element defines settings for a surface opening tool and one or more of its measurements. SurfaceOpening Child Elements Element Type Description...
Page 421 Element Type Description LengthTolerance Length tolerance (mm). AngleTolerance Angle tolerance (degrees). PartialDetectionEnabled Boolean Setting to enable/disable partial detection: 0 – Disable 1 – Enable DepthLimitEnabled Boolean Setting to enable/disable depth limit: 0 – Disable 1 – Enable DepthLimit The depth limit relative to the surface. Data below this limit is ignored.
Page 422: Surfaceplane
Opening 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 – Enable HoldEnabled Boolean Output hold enable state: 0 – Disable 1 –...
Page 423 Element Type Description StreamOptions Collection StreamOptions A collection of on page 382 elements. Stream\Step The stream source step. Possible values are: 1 – Video 2 – Range 3 – Surface 4 – Section Stream\Id The stream source ID. RegionsEnabled Boolean Setting to enable/disable regions: 0 –...
Page 424: Surfaceposition
Element Type Description Enabled Boolean Measurement enable state: 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 –...
Page 425: Surfacestud
Element Type Description 1 – Video 2 – Range 3 – Surface 4 – Section Stream\Id The stream source ID. SurfaceFeature Feature Measurement feature. Measurements\X Position tool X measurement. measurement Measurements\Y Position tool Y measurement. measurement Measurements\Z Position tool Z measurement. measurement Features\Point GeometricFeature...
Page 426 SurfaceStud Child Elements Element Type Description Name String Tool name. Features Collection Collection of geometric feature outputs available in the tool. Feature Child Elements on page 429. 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 427 Element Type Description TiltXAngle Setting for custom tilt correction angle X. TiltYAngle Setting for custom tilt correction angle Y. Measurements\BaseX Stud tool BaseX measurement. measurement Measurements\BaseY Stud tool BaseY measurement. measurement Measurements\BaseZ Stud tool BaseZ measurement. measurement Measurements\TipX Stud tool TipX measurement.
Page 428: Surfacevolume
Element Type Description DecisionMin Minimum decision threshold. DecisionMax Maximum decision threshold. Radius offset of the stud. RadiusOffset (Radius measurement only) Feature Child Elements Element Type Description The identifier of the geometric feature. -1 if unassigned. @dataType String The data type of the feature. One of: –...
Page 429 Element Type Description RegionEnabled Boolean Setting to enable/disable region. Region3D Region Measurement region. Measurements\Volume Volume tool Volume measurement. measurement Measurements\Area Volume tool Area measurement. measurement Measurements\Thickness Volume tool Thickness measurement. measurement Volume Tool Measurement Element Type Description id (attribute) Measurement ID. Optional (measurement disabled if not set).
Page 430: Tool
Tool A Tool element of type FeatureDimension defines settings for a feature dimension tool and one or more of its measurements. Tool Child Elements Element Type Description @type String Type name of the tool. @version String Version string for custom tool. Name String Tool name.
Page 431: Tool
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. GdkParamBool Absolute width enabled boolean. Parameters\WidthAbsolute (Width measurement only) GdkParamBool...
Page 432: Custom
Element Type Description Measurements\Measurement Intersect Measurement Z measurement. @type=Z Measurements\Measurement Intersect Measurement Angle measurement. @type=Angle Features\IntersectPoint Intersect point feature. GDK Feature Intersect Measurement Child Elements Measurement ID. Optional (measurement disabled if not set). @type String Type name of measurement. Name String Measurement name.
Page 433: Output
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 434 <Output> <Ethernet> <Ranges options=""/> <Profiles options="0,1">0</Profiles> <Surfaces options=""/> Ethernet Child Elements Element Type Description Protocol Ethernet protocol: 0 – Gocator 1 – Modbus 2 – EtherNet/IP 3 – ASCII TimeoutEnabled Boolean Enable or disable auto-disconnection timeout. Applies only to the Gocator protocol.
Page 435 Element Type Description Profiles.options 32s (CSV) List of available profile sources (see above). Surfaces 32s (CSV) Selected surface sources: 0 – Top 1 – Bottom 2 – Top left 3 – Top right Surfaces.options 32s (CSV) List of available surface sources (see above). SurfaceSections 32s (CSV) Selected surface section sources.
Page 436: Ascii
Element Type Description ToolData 32u (CSV) Selected tool data sources. ToolData.options 32u (CSV) List of available tool data sources. Ascii Ascii Child Elements Element Type Description Operation Operation mode: 0 – Asynchronous 1 – Polled ControlPort Control service port number. HealthPort Health service port number.
Page 437: Digital0 And Digital1
Digital0 and Digital1 The Digital0 and Digital1 elements define settings for the Gocator's two digital outputs. Digital0 and Digital1 Child Elements Element Type Description Event Triggering event: 0 – None (disabled) 1 – Measurements 2 – Software 3 – Alignment state 4 –...
Page 438: Serial
Analog Child Elements Element Type Description Event Triggering event: 0 – None (disabled) 1 – Measurements 2 – Software ScheduleEnabled Bool Enables scheduling. CurrentMin Minimum current (mA). CurrentMin.min Minimum value of minimum current (mA). CurrentMin.max Maximum value of minimum current (mA). CurrentMax Maximum current (mA).
Page 439: Selcom
Element Type Description Measurements 32u (CSV) Selected measurement sources. Measurements.options 32u (CSV) List of available measurement sources. Selcom Selcom Child Elements Element Type Description Rate Output bit rate. Rate.options 32u (CSV) List of available rates. Format Output format: 0 – 12-bit 1 –...
Page 440: Device
You can access the Transform component in user-created job files in non-volatile storage, for example, "productionRun01.job/transform.xml". You can only access transformations in user-created job files using path notation. See the following sections for the elements contained in this component. Transformation Example: <?xml version="1.0"...
Page 441: Part Models
Device Child Elements Element Type Description @role Role of device described by this section: 0 – Main 1 – Buddy Translation on the X axis (mm). Translation on the Y axis (mm). Translation on the Z axis (mm). XAngle Rotation around the X axis (degrees). YAngle Rotation around the Y axis (degrees).
Page 442: Edge Points
Edge Points Edge Points Data Field Type Offset Description Sender ID -1 – Part matching source Source 0 – Model 1 – Target imageType Image type 0 – Height map 1 – Intensity map imageSource Image source 0 – Top 1 –...
Page 443 Element Type Description 1 – Intensity map ImageType.options 32s (CSV) List of available image types. Gocator Device Files • 444 Gocator Line Profile Sensors: User Manual...
Page 444: 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 Selcom Gocator Protocol...
Page 445: Data Types
For information on job file structures (for example, if you wish to create job files programmatically), see Job File Structure on page 356. 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.
Page 446: Discovery Commands
Status Codes Label Value Description Command succeeded. Failed Command failed. 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.
Page 447: Set Address
Field Type Offset Description signature Message signature (0x0000504455494D4C) deviceId Serial number of the device whose address information is queried. 0 selects all devices. Reply Field Type Offset Description length Reply length. type Reply type (0x1001). status Operation status. signature Message signature (0x0000504455494D4C) deviceId Serial number.
Page 448: Get Info
Field Type Offset Description gateway[4] byte The gateway address in left to right order. reserved[4] byte Reserved. reserved[4] byte Reserved. Reply Field Type Offset Description length Reply length. type Reply type (0x1002). Commands status Operation status. For a list of status codes, see page 446.
Page 449: Control Commands
Field Type Offset Description addressVersion byte IP address version (always 4). address[4] byte IP address. reserved[12] byte Reserved. prefixLength Subnet prefix length (in number of bits). gatewayVersion byte Gateway address version (always 4). gatewayAddress[4] byte Gateway address. reserved[12] byte Reserved. controlPort Control channel port.
Page 450: Protocol Version
Progressive Reply Some commands send replies progressively, as multiple messages. This allows the sensor to stream data without buffering it first, and allows the client to obtain progress information on the stream. A progressive reply begins with an initial, standard reply message. If the status field of the reply indicates success, the reply is followed by a series of “continue”...
Page 451: Set Address
Field Type Offset Description address[4] byte IP address (most significant byte first). subnetMask[4] byte Subnet mask. gateway[4] byte Gateway address. Set Address The Set Address command modifies the network configuration of a Gocator sensor. On receiving the command, the Gocator will perform a reset. You should wait 30 seconds before re-connecting to the Gocator.
Page 452 Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x4010) Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4010). status Commands Reply status. For a list of status codes, see on page 446.
Page 453 Field Type Offset Description address[4] byte IP address (most significant byte first). modelName[32] char Model name. firmwareVersion[4] byte Firmware version (most significant byte first). state Sensor state -1 – Conflict 0 – Ready 1 – Running Control Commands For more information on states, see on page 450.
Page 454: Get System Info
Get System Info This version of the Get System Info command is deprecated. Use Get System Info (v2) instead. The Get System Info command reports information for sensors that are visible in the system. Firmware version refers to the version of the Gocator's firmware installed on each individual sensor. The client can upgrade the Gocator's firmware by sending the Start Upgrade command (see Start Upgrade on page 487).
Page 455: Get States
Field Type Offset Description For more information on states, see Control Commands on page 450. role Sensor role 0 – Main 1 – Buddy buddyId Serial number of paired device (main or buddy). 0 if unpaired. Get States The Get States command returns various system states. Command Field Type...
Page 456: Log In/Out
Field Type Offset Description 0 – Disabled 1 – Enabled playbackSource Playback source 0 – Live data 1 – Recorded data uptimeSec Uptime (whole seconds component) uptimeMicrosec Uptime (remaining microseconds component) playbackPos Playback position playbackCount Playback frame count autoStartEnabled Auto-start enable (boolean) Log In/Out The Log In/Out command is used to log in or out of a sensor.
Page 457: Assign Buddies
Field Type Offset Description 0 – None (log out) 1 – Administrator 2 – Technician password[64] char New password. Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4004). Commands status Reply status. For a list of status codes, see on page 446.
Page 458: Remove Buddies
Remove Buddies The Remove Buddies command is used to remove one or more buddies using 0-based buddy indices. Use this command to remove a buddy devices along with its associated configuration resources. If the system starts with 3 devices: [A, B, C], and this command is called to remove B, the configuration items for A and C remain unchanged.
Page 459: Copy File
Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x101A). extension[64] char Specifies the extension used to filter the list of files (does not include the "."). If an empty string is used, then no filtering is performed.
Page 460: Write File
To download the live configuration, pass "_live.job" in the name field. To read the configuration of the live configuration only, pass "_live.job/config.xml" in the name field. Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x1007). name[64] char Source file name.
Page 461: Delete File
Delete File The Delete File command removes a file from the connected sensor (a .job file, a component of a job file, or another type of file; for more information, see Job File Structure on page 356). Command Field Type Offset Description length...
Page 462: Get Default Job
Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x1022). status Reply status. spaceFree The free storage space in bytes. Get Default Job The Get Default Job command gets the name of the job the sensor loads when it powers up. Command Field Type...
Page 463: Get Alignment Reference
Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x4512). Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4512). status Commands Reply status. For a list of status codes, see on page 446.
Page 464: Clear Alignment
Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4103). status Reply status. For a list of status codes, see Commands on page 446. Clear Alignment The Clear Alignment command clears sensor alignment. Command Field Type Offset...
Page 465: Reset Encoder
Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x101C). Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x101C). status Commands Reply status. For a list of status codes, see on page 446.
Page 466: Scheduled Start
Field Type Offset Description Reply identifier (0x100D). status Commands Reply status. For a list of status codes, see on page 446. Scheduled Start The scheduled start command starts the sensor system (system enters the Running state) at target time or encoder value (depending on the trigger mode). For more information on states, see Control Commands on page 450.
Page 467: Set Auto Start Enabled
Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x452C). Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x452C). status Commands Reply status. For a list of status codes, see on page 446.
Page 468: Set Voltage Settings
Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4539). Voltage k16u 0: 48 Volts; 1: 24 Volts. Cable Length k16u 0 – 100: Meters Set Voltage Settings The Set Voltage Settings command sets the sensor’s voltage and cable length settings. Command Field Type...
Page 469: Start Alignment
Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x4540). enable 0: disabled; 1: enabled. Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4540). status Commands Reply status. For a list of status codes, see on page 446.
Page 470: Software Trigger
Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4601). status Reply status. For a list of status codes, see Commands on page 446. opId Operation ID. Use this ID to correlate the command/reply on the Command channel with the correct Exposure Calibration Result message on the Data channel.
Page 471: Schedule Analog Output
Field Type Offset Description 1 – Set to high (continuous) Ignored if output type is pulsed. Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4518). status Reply status. For a list of status codes, see Commands on page 446.
Page 472: Reset
Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x100E). timeout Timeout value (microseconds). Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x100E). Commands status Reply status. For a list of status codes, see on page 446.
Page 473: Restore
Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x1013). status Reply status. For a list of status codes, see Commands on page 446. length Data length. data[length] byte Data content. Restore The Restore command uploads a backup file to the connected sensor and then restores all sensor files from the backup.
Page 474: Get Recording Enabled
Field Type Offset Description resetIp Specifies whether IP address should be restored to default: 0 – Do not reset IP 1 – Reset IP Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4301). Commands status Reply status.
Page 475: Clear Replay Data
Clear Replay Data The Clear Replay Data command clears the sensors replay data.. Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x4513). Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4513).
Page 476: Simulate
Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4523). status Reply status. For a list of status codes, see Commands on page 446. Simulate The Simulate command simulates the last frame if playback source is live, or the current frame if playback source is the replay buffer.
Page 477: Step Playback
Field Type Offset Description Reply identifier (0x4503). status Commands Reply status. For a list of status codes, see on page 446. Step Playback The Step Playback command advances playback by one frame. Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x4501).
Page 478: Clear Measurement Stats
Clear Measurement Stats The Clear Measurement Stats command clears the sensor's measurement statistics. Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x4526). Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4526).
Page 479: Simulate Unaligned
Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x101D). status Reply status. For a list of status codes, see Commands on page 446. Simulate Unaligned The Simulate Unaligned command simulates data before alignment transformation. Command Field Type...
Page 480: Create Model
Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x4527). Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4527). status Commands Reply status. For a list of status codes, see on page 446.
Page 481: 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 446. Add Tool The Add Tool command adds a tool to the live job. Command Field Type...
Page 482: 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 483: 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 446.
Page 484: 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 446. progressTotal Progress indicating completion (100%). progress Current progress. Continue Reply Field Type Offset...
Page 485 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 486: 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 487: 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 446. state Upgrade state: -1 – Failed 0 – Completed 1 – Running 2 –...
Page 488 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 489: 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 490: Resampled Profile
Field Type Offset Description Bits 0-14: Message type identifier. For this message, set to 5. attributeSize Size of attributes, in bytes (min: 32, current: 32). count (C) Number of profile arrays. width (W) Number of points per profile array. xScale X scale (nm).
Page 491: Profile Intensity
Field Type Offset Description exposure Exposure (ns). reserved[3] Reserved. streamStep Data stream step number. For a profile, values are: 2 – profile stream step 8 – tool data stream step streamStepId Data stream step identifier within the stream step. Profile Intensity Field Type Offset...
Page 492: Surface
Field Type Offset Description width (W) Number of points per profile intensity array. xScale X scale (nm). xOffset X offset (µm). source Source 0 – Top 1 – Bottom 2 – Top Left 3 – Top Right exposure Exposure (ns). reserved[3] Reserved.
Page 493: Surface Intensity
Field Type Offset Description streamStepId Data stream step identifier within the stream step. ranges[L][W] Surface ranges. Surface 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 9. attributeSize Size of attributes, in bytes (min: 32, current: 32).
Page 494: Surface Section Intensity
Field Type Offset Description zOffset Z offset (µm). source Source 0 – Top 1 – Bottom 2 – Top Left 3 – Top Right sectionId Section Id exposure Exposure (ns). poseAngle Z angle of the pose (microdegrees). poseX X offset of the pose (µm) poseY Y offset of the pose (µm) ranges[C][W]...
Page 495: Measurement
Measurement 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 10. count (C) Count of measurements in this message. reserved[2] Reserved.
Page 496: Exposure Calibration Result
Field Type Offset Description - Calibration disk diameter too small. - Calibration disk touches both sides of the field of view. - Too few valid data points after outlier rejection. -4 – Target detected in an unexpected position. -5 – No reference hole detected in bar alignment. -6 –...
Page 497: Bounding Box Match Result
Bounding Box 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 17. decision Overall match decision. xOffset Target x offset in model space (µm). yOffset Target y offset in model space (µm).
Page 498: Feature Point
Field Type Offset Description length The number of bytes containing additional data. data[length] Additional data. Feature Point 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 24. Feature Id Point.x X Coordinate of Point (Scaled by 10^6)
Page 499 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. The Last Message flag in the control field is used to indicate the final message in a group.
Page 500 Indicator Instance Value Encoder Frequency 1005 Current system encoder frequency (ticks/s). App Version 2000 Firmware application version. Uptime 2017 Time elapsed since node boot-up or reset (seconds). Laser safety status 1010 0 if laser is disabled; 1 if enabled. Internal Temperature 2002 Internal temperature (centidegrees Celsius).
Page 501 Indicator Instance Value Sensor State* 20000 Gocator sensor state. -1 – Conflict 0 – Ready 1 – Running Current Sensor Speed* 20001 Current sensor speed. (Hz) Maximum Speed* 20002 The sensor’s maximum speed. Spot Count* 20003 Number of found spots in the last profile. Max Spot Count* 20004 Maximum number of spots that can be found.
Page 502 Indicator Instance Value Digital Output Fail 21007 Output Index Number of fail digital output pulse. Trigger Drops** 21010 Number of dropped triggers. The sum of various triggering-related drop indicators. Output Drops** 21011 Number of dropped output data. The sum of all output drops (analog, digital, serial, host server, and ASCII server).
Page 503 Indicator Instance Value -Value exceeds bit representation available for given protocol -Analog output (mA) falls outside of acceptable range (0-20 mA) When a measurement value overflow occurs, the value is set to the null value appropriate for the given protocol's measurement value output type. The Overflow health indicator increments.
Page 504: 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 505: 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 506: 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 507: Output Registers
Command Register Values Value Name Description Stop Running Stops the sensor. No effect if sensor is already stopped. 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).
Page 508: Stamp
Register Name Type Description Address (Valid when register 301 = 0.) 312 – 371 Live Job Name Name of currently loaded job file. Does not include 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.
Page 509: Measurement Registers
Register Name Type Description Address Temperature High Sensor temperature in degrees Celcius * 100 (centidegrees). 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.
Page 510 Register Address Name Type Description 1 - Invalid value 2 - Invalid anchor 1003 Measurement 1 High Measurement 1 Low 1004 1005 Decision 1 1006 Measurement 2 High 1007 Measurement 2 Low 1008 Decision 2 1057 Measurement 19 High Measurement 19 Low 1058 1059 Decision 19...
Page 511: 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 512: 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 513: 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 514: 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 515: 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 516: 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 517: Implicit Messaging Command Assembly
Byte Name Type Description 1 - Pass 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...
Page 518: Implicit Messaging Output Assembly
Implicit Messaging Command Assembly Information Byte Name Type Description Command A bit mask where setting the following bits will only perform the action with highest priority*: 1 – Stop sensor 2 – Start sensor 4 – Perform stationary alignment 8 – Perform moving alignment 16 –...
Page 519 Implicit Messaging Output Assembly Information Byte Name Type Description Sensor State Sensor state is a bit mask where: Bit 0: 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 –...
Page 520: Ascii Protocol
Byte Name Type Description 0 – Fail Bits [1-7]: 0 – Measurement value OK 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.
Page 521: Serial Communication
Ethernet Ports for ASCII Name Description Default Port To send commands to control the Control 8190 sensor. To retrieve measurement output. Data 8190 To retrieve specific health indicator Health 8190 values. 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.
Page 522: Command And Reply Format
The Data channel is used to receive and poll for measurement results. When the sensor receives a Result command, it will send the latest measurement results on the same data channel that the request is received on. See Data Channel on page 527 for more information. The Health channel is used to receive health indicators (see Health Channel on page 529).
Page 523: Start
Optional parameters are shown in italic. The placeholder for data is surrounded by brackets (<>). In the examples, the delimiter is set to ','. Start The Start command starts the sensor system (causes it to enter the Running state). This command is only valid when the system is in the Ready state.
Page 524: Loadjob
Formats Message Format Command Trigger Reply OK or ERROR, <Error Message> Examples: Command: Trigger Reply: OK 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.
Page 525: Clear Alignment
Command: Stamp,frame Reply: OK,6 Clear Alignment The Clear Alignment command clears the alignment record generated by the alignment process. Formats Message Format Command ClearAlignment Reply OK or ERROR, <Error Message> Examples: Command: ClearAlignment Reply: OK Moving Alignment The Moving Alignment command performs an alignment based on the settings in the sensor's live job file.
Page 526: Set Runtime Variables
Command: StationaryAlignment Reply: OK Command: StationaryAlignment Reply: ERROR,ALIGNMENT FAILED Set Runtime Variables The Set Runtime Variables command sets the runtime variables, using the specified index, length, and data. Values are integers. Formats Message Format Command setvars,index,length,data Where data is the delimited integer values to be set. Reply OK or ERROR Examples:...
Page 527: Value
Formats Message Format Command Result,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> ERROR, <Error Message> Examples: Standard data string for measurements ID 0 and 1: Result,0,1...
Page 528: Decision
OK,M00,00,V151290,M01,01,V18520 Standard formatted measurement data with a non-existent measurement of ID 2: Value,2 ERROR,Specified measurement ID not found. Please verify your input Custom formatted data string (%time, %value[0]): Value OK, 1420266101, 151290 Decision The Decision command retrieves measurement decisions. Formats Message Format Command...
Page 529: Health
Optional parameters are shown in italic. The placeholder for data is surrounded by brackets (<>). In the examples, the delimiter is set to ','. Health The Health command retrieves health indicators. See Health Results on page 499 for details on health indicators.
Page 530: Custom Result Format
Field Shorthand Length Description Decision Measurement decision, a bit mask where: Bit 0: 1 – Pass 0 – Fail Bits 1-7: 0 – Measurement value OK 1 – Invalid value 2 - Invalid anchor Custom Result Format In the custom format, you enter a format string with place holders to create a custom message. The default format string is "%time, %value[0], %decision[0]".
Page 531: Selcom Protocol
Selcom Protocol This section describes the Selcom serial protocol settings and message formats supported by Gocator sensors. To use the Selcom protocol, it must be enabled and configured in the active job. For information on configuring the protocol using the Web interface, see Serial Output on page 327. Units for data scales use the standard units (mm, mm , mm , and degrees).
Page 532 12-bit data format (SLS mode; "SLS" in Gocator web interface) 12-bit data format with Search/Track bit 14-bit data format 14-bit data format with Search/Track bit Protocols • 533 Gocator Line Profile Sensors: User Manual...
Page 533: 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 534: 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_2x00\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 535: 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 536: 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 537: 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 538: 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 539: Initialize Gosdk Api Object
See Setup and Locations on page 535 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 540: 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 541 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 542: 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 543: 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 544: 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. Debug the measurement tools using the emulator on a PC.
Page 545: 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 546: 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 547: 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 545 for information on installing the documentation). Parameter Configurations Each tool has two levels of parameters: tool parameters and measurement parameters.
Page 548: Graphics Visualization
For full descriptions of these functions, see the GDK class reference documentation (see Installation and Class Reference on page 545 for information on installing the documentation). Graphics Visualization The GdkGraphic function supports points and lines. Point graphics • 549 Gocator Line Profile Sensors: User Manual...
Page 549 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 550: 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 551: 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 552 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 553: 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 554: 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 555: 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 556: 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 557: 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, Profile (with Uniform Spacing disabled) and Surface modesin real-time.
Page 558 Click Advanced System Settings. In the System Properties dialog, on the Advanced tab, click Environment Variables... Tools and Native Drivers • 559 Gocator Line Profile Sensors: User Manual...
Page 559 In the Environment Variables dialog, under the System variables list, click New. Tools and Native Drivers • 560 Gocator Line Profile Sensors: User Manual...
Page 560 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 • 561 Gocator Line Profile Sensors: User Manual...
Page 561: 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 562: 16-Bit Grey Scale Image
Channel Details pixel channel Data Results on page 488 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 563 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 564: 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 565: 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 566: 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 567 For more information on configuring Ethernet output, see Ethernet Output on page 319. 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 568 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 569: 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 570 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 571 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 572 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 573: Generating Halcon Acquisition Code
Procedures Description sensor To schedule a 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 574: 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 575 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 576: 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 577: 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 578 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 579 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 578. (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 580: 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 645. Mechanical/Environmental The sensor is warm. It is normal for a sensor to be warm when powered on.
Page 581 Check that the exposure time is set to a reasonable level.See Exposure on page 117 for more information on configuring exposure time. Performance The sensor CPU level is near 100%. Consider reducing the speed. If you are using a time or encoder trigger source, see Triggers on page 105 for information on reducing the speed.
Page 582: Sensors
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 2100 & 2300 Series The Gocator 2100 and 2300 series consists of the following models: MODEL 2320 2x30...
Page 583 MODEL 2320 2x30 2x40 2342 2x50 2x70 2375 2x80 Other Laser 3R / 3B Classes (2300 series 3B (2300 3B (2300 only) series only) series only) Input Voltage +24 to +48 VDC (13 W); Ripple +/- 10% +24 to +48 +48 VDC (Power) VDC (13 W);...
Page 584 Repeatability Z is measured with a flat target at the middle of the measurement range. It is the 95% confidence variation of the average height over 4096 frames. Height values are averaged over the full FOV. See Resolution and Accuracy on page 51 for more information. ALL 2x00 SERIES MODELS Approx.
Page 585: Gocator 2320
Gocator 2320 Field of View / Measurement Range / Coordinate System Orientation Specifications • 586 Gocator Line Profile Sensors: User Manual...
Page 586 Dimensions Envelope Specifications • 587 Gocator Line Profile Sensors: User Manual...
Page 587: Gocator 2130 And 2330
Gocator 2130 and 2330 Field of View / Measurement Range / Coordinate System Orientation Dimensions Specifications • 588 Gocator Line Profile Sensors: User Manual...
Page 588 Envelope Specifications • 589 Gocator Line Profile Sensors: User Manual...
Page 589: Gocator 2140 And 2340
Gocator 2140 and 2340 Field of View / Measurement Range / Coordinate System Orientation Specifications • 590 Gocator Line Profile Sensors: User Manual...
Page 590 Dimensions Envelope Specifications • 591 Gocator Line Profile Sensors: User Manual...
Page 591: Gocator 2342
Gocator 2342 Field of View / Measurement Range / Coordinate System Orientation Specifications • 592 Gocator Line Profile Sensors: User Manual...
Page 592 Dimensions Envelope Specifications • 593 Gocator Line Profile Sensors: User Manual...
Page 593: Gocator 2150 And 2350
Gocator 2150 and 2350 Field of View / Measurement Range / Coordinate System Orientation Specifications • 594 Gocator Line Profile Sensors: User Manual...
Page 594 Dimensions Specifications • 595 Gocator Line Profile Sensors: User Manual...
Page 595 Envelope Specifications • 596 Gocator Line Profile Sensors: User Manual...
Page 596: Gocator 2170 And 2370
Gocator 2170 and 2370 Field of View / Measurement Range / Coordinate System Orientation Specifications • 597 Gocator Line Profile Sensors: User Manual...
Page 597 Dimensions Specifications • 598 Gocator Line Profile Sensors: User Manual...
Page 598 Envelope Specifications • 599 Gocator Line Profile Sensors: User Manual...
Page 599: Gocator 2375
Gocator 2375 Field of View / Measurement Range / Coordinate System Orientation Specifications • 600 Gocator Line Profile Sensors: User Manual...
Page 600 Dimensions Specifications • 601 Gocator Line Profile Sensors: User Manual...
Page 601 Envelope Specifications • 602 Gocator Line Profile Sensors: User Manual...
Page 602: Gocator 2180 And 2380
Gocator 2180 and 2380 Field of View / Measurement Range / Coordinate System Orientation Specifications • 603 Gocator Line Profile Sensors: User Manual...
Page 603 Dimensions Specifications • 604 Gocator Line Profile Sensors: User Manual...
Page 604 Envelope Specifications • 605 Gocator Line Profile Sensors: User Manual...
Page 605: Gocator 2400 Series
Gocator 2400 Series The Gocator 2400 series consists of the following models: MODEL 2410 2420 1710 1940 Data Points / Profile 0.015 0.006 Linearity Z (+/- % of MR) Resolution Z (µm) 1.8 - 3.0 5.8 - 6.2 14.0 - 16.5 Resolution X (µm) (Profile Data Interval) Repeatability Z (µm)
Page 606 All specification measurements are performed on LMI’s standard calibration target (a diffuse, painted white surface). Linearity Z is the worst case difference in average height measured, compared to the actual position over the measurement range. Resolution Z is the maximum variability of height measurements across multiple frames, with 95% confidence.
Page 607: Gocator 2410
Gocator 2410 Field of View / Measurement Range / Coordinate System Orientation Specifications • 608 Gocator Line Profile Sensors: User Manual...
Page 608 Dimensions Specifications • 609 Gocator Line Profile Sensors: User Manual...
Page 609 Envelope Specifications • 610 Gocator Line Profile Sensors: User Manual...
Page 610: Gocator 2420
Gocator 2420 Field of View / Measurement Range / Coordinate System Orientation Specifications • 611 Gocator Line Profile Sensors: User Manual...
Page 611 Dimensions Specifications • 612 Gocator Line Profile Sensors: User Manual...
Page 612 Envelope Specifications • 613 Gocator Line Profile Sensors: User Manual...
Page 613: Gocator 2880 Sensor
Gocator 2880 Sensor The Gocator 2880 is defined below. MODEL 2880 Data Points / Profile 1280 0.04 Linearity Z (+/- % of MR) Resolution Z (mm) 0.092 - 0.488 Resolution X (mm) 0.375 - 1.1 Clearance Distance (CD) (mm) Measurement Range (MR) (mm) Field of View (FOV) (mm) 390 - 1260...
Page 614: Gocator 2880
Gocator 2880 Field of View / Measurement Range / Coordinate System Orientation Specifications • 615 Gocator Line Profile Sensors: User Manual...
Page 615 Dimensions Specifications • 616 Gocator Line Profile Sensors: User Manual...
Page 616 Envelope Specifications • 617 Gocator Line Profile Sensors: User Manual...
Page 617: 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, laser safety 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 618: Power
Power Apply positive voltage to DC_24-48V. See Gocator 2100 & 2300 Series on page 583 or Gocator 2400 Series on page 606 Power requirements Function Pins DC_24-48V 24 V 48 V GND_24-48VDC Laser 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 619: 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 620: 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 621: 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 622: Serial Output
Serial Output Serial RS-485 output is connected to Serial_out as shown below. Function Pins Serial_out B, C Selcom Serial Output Serial RS-485 output is connected to Serial_out and Serial_out2 as shown below. Function Pins Serial_out (data) B, C Serial_out2 (clock) E, G Analog Output The Sensor I/O Connector defines one analog output interface: Analog_out.
Page 623 Current Mode Voltage Mode To configure for voltage output, connect a 500 Ohm ¼ Watt resistor between Analog_out+ and Analog_ out- and measure the voltage across the resistor. To reduce the noise in the output, we recommend using an RC filter as shown below. Specifications •...
Page 624: 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 112. Master 100 The Master 100 accepts connections for power, safety, and encoder, and provides digital output. *Contact LMI for information regarding this type of power supply.
Page 625 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 Encoder_5V Master 100 Dimensions Specifications • 626 Gocator Line Profile Sensors: User Manual...
Page 626: 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. The Phoenix connectors on Master 400/800/1200/2400 are not compatible with the connectors on Master 810/2410.
Page 627: 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 628 Specification Value Power Draw (Min.) 5.76 W Safety Input Voltage Range +24 VDC to +48 VDC 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 629: Master 400/800 Dimensions
Master 400/800 Dimensions The dimensions of Master 400 and Master 800 are the same. Specifications • 630 Gocator Line Profile Sensors: User Manual...
Page 630: 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. Master 810 and 2410 can be mounted to DIN rails using the appropriate adapters (not included; for more information, see Installing DIN Rail Clips: Master 810 or 2410 on page 35).
Page 631 For information on configuring the DIP switches, see Configuring Master 810 on page 36. Power and Safety (6 pin connector) Function Power In+ Power In+ Power In- Power In- Safety Control+ Safety Control– The power supply must be isolated from AC ground. This means that AC ground and DC ground are not connected.
Page 632: Electrical Specifications
Function Reserved Reserved 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 636. Encoder (11 pin connector) Function Encoder_A_Pin_1...
Page 633: Encoder
Specification Value Single-Ended (5 VDC, 12 VDC) Encoder For more information, see below. Digital Input Voltage Range Single-Ended Active LOW: 0 to +0.8 VDC 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 636.
Page 634 To determine how to wire a Master to an encoder, see the illustrations below. Single-Ended 5 VDC Single-Ended 12 VDC Specifications • 635 Gocator Line Profile Sensors: User Manual...
Page 635: 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 • 636 Gocator Line Profile Sensors: User Manual...
Page 636 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 637: 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 35. The CAD model of the DIN rail clip is available at https://www.winford.com/products/cad/dinm12-rc.igs. Specifications •...
Page 638: 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 35. The CAD model of the DIN rail clip is available at https://www.winford.com/products/cad/dinm12-rc.igs. Specifications •...
Page 639: 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. The Phoenix connectors on Master 400/800/1200/2400 are not compatible with the connectors on Master 810/2410.
Page 640: 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 641: 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 642: 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 643 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 644: 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 645: 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 646 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 647 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 648 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 649 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 650 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 • 651 Gocator Line Profile Sensors: User Manual...
Page 651: 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 652: 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 Line Profile Sensors: User Manual...

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LMI Technologies Gocator 2130 User Manual

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