Page 1 Gocator Line Profile Sensors Gocator 2100, 2300, 2400, 2500 Series; Gocator 2880 USER MANUAL Firmware version: 5.2.x.xx Document revision: A...
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 Setting the Divider Encoder Quadrature Frequency Setting the Debounce Period Copyright Rut-Scanning System Setup Table of Contents Layout Introduction System Setup Gocator Overview Software Configuration Safety and Maintenance System Operation Laser Safety Network Setup Laser Classes Client Setup Precautions and Responsibilities Gocator Setup Class 3B Responsibilities...
Page 4 Internet Explorer 11 Issues Scan Setup and Alignment Internet Explorer Switches to Software Scan Page Overview Rendering Scan Modes Internet Explorer Displays "Out of Memory" 79 Triggers User Interface Overview Trigger Examples Toolbar Trigger Settings Creating, Saving and Loading Jobs (Settings) 82 Maximum Input Trigger Rate Recording, Playback, and Measurement Maximum Encoder Rate...
Page 5 Spots and Dropouts Removing a Tool Profile Mode Reordering Tools Surface Mode Profile Measurement Height Map Color Scale Advanced Height Sections Measurements, Data, and Settings Region Definition Master Comparison Intensity Output X Correction Models Reference Line Model Page Overview Anchoring Part Matching Area Using Edge Detection...
Page 6 Dimension Using the Track Editor Edge Transform Paths and Path Profiles Combinations of geometric feature inputs and results Measurements, Features, and Settings Plane Ellipse Line Measurements, Features, and Settings Point Extend Plane + Line Data and Settings Plane + Point Filter Line + Point Settings and Available Filters Plane + Line + Point Flatness...
Page 7: Gocator Line Profile Sensors: User Manual
Gocator Acceleration Filters Benefits XSmoothing Dashboard and Health Indicators YSmoothing Hardware Acceleration: GoMax XGapFilling Software-Based Acceleration YGapFilling System Requirements and Recommendations 452 XMedian Minimum System Requirements YMedian Recommendations XDecimation Installation YDecimation Gocator Accelerator Utility XSlope SDK Application Integration YSlope Estimated Performance Trigger Gocator Emulator Layout...
Page 8 MeasurementOptions Ethernet FeatureOptions Ascii StreamOptions Tools Modbus Profile Types Profinet ProfileFeature Digital0 and Digital1 ProfileLine Analog ProfileRegion2d Serial Surface Types Selcom Region3D Ascii SurfaceFeature Transform SurfaceRegion2d Device Geometric Feature Types Part Models Parameter Types Edge Points ProfileArea Configuration ProfileBoundingBox Protocols ProfileBridgeValue Gocator Protocol ProfileCircle Data Types...
Page 9 Get Default Job Acquire Unaligned Set Default Job Create Model Get Loaded Job Detect Edges Get Alignment Reference Add Tool Set Alignment Reference Add Measurement Clear Alignment Read File (Progressive) Get Timestamp Export CSV (Progressive) Get Encoder Export Bitmap (Progressive) Reset Encoder Get Flag Start...
Page 10 Modbus Protocol Stamp Concepts Clear Alignment Messages Moving Alignment Registers Stationary Alignment Control Registers Set Runtime Variables Output Registers Get Runtime Variables State Data Channel Stamp Result Measurement Registers Value EtherNet/IP Protocol Decision Explicit Messaging Health Channel Identity Object (Class 0x01) Health TCP/IP Object (Class 0xF5) Standard Result Format...
Page 11 Configure Sensors Halcon Procedures Enable Data Channels Generating Halcon Acquisition Code Perform Operations CSV Converter Tool Limiting Flash Memory Write Operations CSV File Format Info Benefits DeviceInfo Supported Sensors RecordingFilter Typical Workflow Ranges Installation and Class Reference Profile Required Tools RawProfile Getting Started with the Example Code Part...
Page 12 Power Laser Safety Input Gocator I/O Connector Grounding Shield Digital Outputs Inverting Outputs Digital Input Encoder Input Serial Output Selcom Serial Output Analog Output 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...
Page 13: Introduction
Gocator. Finally, the documentation describes the Gocator emulator and accelerator applications. The documentation applies to the following: Gocator 2100 series Gocator 2300 series Gocator 2400 series Gocator 2500 series Gocator 2880 B series Gocator sensors are only supported by firmware version 4.3 or later.
Page 14: 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 15: 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 2, 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 16: Laser Classes
Laser Classes Class 2 laser components Class 2 laser components are considered to be safe, provided that: The user’s blink reflex can terminate exposure (in under 0.25 seconds). Users do not need to look repeatedly at the beam or reflected light. Exposure is only accidental.
Page 17: Precautions And 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 18: Nominal Ocular Hazard Distance (Nohd)
Key Control A key operated master control to the lasers is required that prevents any power from being supplied to the lasers while in the OFF position. The key can be removed in the OFF position but the switch must not allow the key to be removed from the lock while in the ON position.
Page 19: Systems Sold Or Used In The Usa
2645 1052 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. Safety and Maintenance • 19...
Page 20: Electrical Safety
Customers are advised to obtain the information booklet Regulations for the Administration and Enforcement of the Radiation Control for Health and Safety Act of 1968: HHS Publication FDA 88-8035. This publication, containing the full details of laser safety requirements, can be obtained directly from the FDA, or downloaded from their web site at https://www.fda.gov/Radiation- EmittingProducts/ElectronicProductRadiationControlProgram/default.htm.
Page 21: Environment And Lighting
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 22: Getting Started
Getting Started The following sections provide system and hardware overviews, in addition to installation and setup procedures. Hardware and Firmware Capabilities The following table lists the hardware and firmware capabilities of the different hardware versions of G2 sensors. New tools and Runs firmware Enhanced Enhanced...
Page 23: 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 24: Master 100
The Gocator I/O cordset provides digital I/O connections, an encoder interface, RS-485 serial connection, and an analog output. The maximum cordset length is 60 m. See Gocator I/O Connector on page 768 and Gocator Power/LAN Connector on page 766 for pinout details.
Page 25: Master 400 / 800 / 1200 / 2400
Item Description Safety Switch Toggles safety signal provided to the sensors [O= off, I= on]. This switch must be set to on in order to scan with laser-based sensors. Trigger Signals a digital input trigger to the Gocator. Encoder Accepts encoder A, B and Z signals. Digital Output Provides digital output.
Page 26: 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 safety connections. Safety input must be high in order to scan with laser- based Gocators.
Page 27 Master 810 Master 2410 Item Description Sensor Ports Master connection for Gocator sensors (no specific order required). Power and Safety Power and safety connections. Safety input must be high in order to scan with laser- based Gocators. Encoder Accepts encoder signal. Input Accepts digital input.
Page 28: Alignment Targets
See Accessories on page 791 for disk part numbers. For dual- and multi-sensor systems, where sensor laser planes are roughly coplanar, bars are required to match the length of the system by following the guidelines illustrated below. (LMI Technologies does not manufacture or sell bars.) For multi-sensor systems in a ring layout, use a polygon-shaped alignment target.
Page 29: System Overview
For more information on alignment, see Aligning Sensors on page 139. System Overview Gocator sensors can be installed and used in a variety of scenarios. Sensors can be connected as standalone devices, dual-sensor systems, or multi-sensor systems. Standalone System Standalone systems are typically used when only a single Gocator is required. The device can be connected to a computer's Ethernet port for setup and can also be connected to devices such as encoders, photocells, or PLCs.
Page 30: 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 31: 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 400/800/810/1200/2400/2410 can be used to ensure that the scan timing is precisely synchronized across sensors.
Page 32 Getting Started • 32 Gocator Line Profile Sensors: User Manual...
Page 33: 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 720 for the appropriate screw diameter, pitch, and length, and bolt hole diameter.
Page 34: 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 35 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 • 35 Gocator Line Profile Sensors: User Manual...
Page 36: 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 37: 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 38: 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 39 Older revisions of Master 810 and 2410 network controllers use a different configuration for the DIN rail clip holes. To install the DIN rail clips: Remove the 1U rack mount brackets. Locate the DIN rail mounting holes on the back of the Master (see below). Master 810: Current revision Older revision...
Page 40: Configuring Master 810
Older revision Attach the two DIN rail mount clips to the back of the Master using two M4x8 flat socket cap screws for each one. The following illustration shows the installation of clips on a Master 810 (current revision) for horizontal mounting: Ensure that there is enough clearance around the Master for cabling.
Page 41: Setting The Divider
Set the divider so that the quadrature frequency of the connected encoder is compatible with the Master. Set the debounce period to accommodate faster encoders. Setting the Divider To set the divider, you use switches 1 to 3. To determine which divider to use, use the following formula: Output Quadrature Frequency = Input Quadrature Frequency / Divider In the formula, use the quadrature frequency of the encoder (for more information, see Encoder Quadrature Frequency below) and a divider from the following table so that the Output Quadrature...
Page 42: 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 43: System Setup
System Setup A typical Gocator 2375 system is set up as a multi-sensor system. The sensors are powered using a Master network controller (excluding Master 100). To connect a Gocator 2375: Connect the Power and Ethernet to Master cordset to the Power/LAN connector on the sensor. Connect the RJ45 jack labeled Power to an unused port on the Master.
Page 44: System Operation
a. Follow the steps in Scan Setup and Alignment on page 115 to set up profiling parameters. Typically, trigger, active area, and exposure will need to be adjusted. System Operation An isolated layout should be used. Under this layout, each sensor can be independently controlled by the SDK.
Page 45: 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 46 To connect to a sensor for the first time: Connect cables and apply power. Sensor cabling is illustrated in System Overview on page 29. 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 47 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 719 if you experience any problems while attempting to establish a connection to the sensor.
Page 48: 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 49: 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 scan data, and the sensor's range indicator will illuminate. If no scan data is displayed in the data viewer, see Troubleshooting on page 719.
Page 50 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. After changing network configuration, the sensors must be reset or power-cycled before the change will take effect.
Page 51: Next Steps
one at a time and follow the steps in Firmware Upgrade on page 111 to upgrade the sensors. 11. Ensure that the Laser Safety Switch is enabled or the Laser Safety input is high. Master 400/800/1200/2400 Master 810/2410 12. Ensure that Replay mode is off (the slider is set to the left).
Page 52 Contains settings for sensor system layout, network, motion and alignment, handling jobs, and sensor maintenance. Scan Setup and Alignment (page 115) Contains settings for scan mode, trigger source, detailed sensor configuration, and performing alignment. Models (page 176) Contains settings for creating part matching models and sections. Measurement and Processing (page 196) Contains built-in measurement tools and their settings.
Page 53: 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.For more information, see Gocator Acceleration on page 450.
Page 54: 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 55: 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 56: 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 57 Z linearity is expressed in the Gocator data sheet as a percentage of the total measurement range. How Gocator Works • 57 Gocator Line Profile Sensors: User Manual...
Page 58: 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 59: System Coordinates
The Y axis represents the relative position of the part in the direction of travel. Y position increases as the object moves forward (increasing encoder position). The image below represents a left-handed coordinate system. Gocator 2130/2330 sensor The mounting direction, relative to the direction of travel, can be set in Gocator using either the Normal or Reverse layout.
Page 60 Gocator 2130/2330 sensor Additionally, in multi-sensor systems, alignment sets a common coordinate system. That is, scan data and measurements from the sensors are expressed in a unified coordinate system. Gocator 2130/2330 sensors Alignment can also determine offsets along the Y axis. This allows setting up a staggered layout in multi- sensor systems.
Page 61 Gocator 2130/2330: Y Angle Y angle is positive when rotating from positive X to positive Z axis. Similarly, 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 62: Part And Section Coordinates
Gocator 2130/2330 sensor: Z Angle X angle is positive when rotating from positive Y to positive Z. Z angle is positive when rotating from positive X to positive Y. When applying the transformations, the object is first rotated around X, then Y, and then Z, and then the offsets are applied.
Page 63: Switching Between Coordinate Systems
Sections are always represented in a coordinate system similar to part coordinates: the X origin is always at the center of the extracted profile, and the Z origin is at the bottom of the alignment target (or in the center of the measurement range if the sensor is unaligned). Switching between Coordinate Systems In many situations, when working with part or section data that has been recorded with Frame of Reference set to Part, it is useful to have access to the "real-world" coordinates, rather than part- or...
Page 64 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). The resampling divides the X axis into fixed size "bins." Profile points that fall into the same bin are combined into a single range value (Z). The size of the spacing interval is set under the Spacing tab in the Sensor panel on Scan page.
Page 65: Data Generation And Processing
When uniform spacing is enabled, in the Ethernet output, only the range values (Z) are reported. The X positions can be reconstructed through the array index at the receiving end (the client). For more information on Ethernet output, see Ethernet Output on page 434. For information on enabling uniform spacing, see Scan Modes on page 116.
Page 66: Sectioning
Gocator can then perform measurements on these isolated parts. 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 153. 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 67: Measurement
Measurement 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 channels to control devices such as PLCs, which can in turn control ejection or sorting mechanisms.
Page 68: Anchoring Measurements
Gocator tool outputs Supported Output Visualization in Data Input for Other Data Type Protocol Viewer Tools Measurement Single 64-bit value SDK, PLC protocols Rendered on tool's input Not supported as data input, positional and Z angle measurements can be used by some tools for anchoring Geometric Structured data...
Page 69 Height measurements rendered a tool's input: a small PCB component (F2) relative to nearby surface (F1), anchored to positional (X and Y) measurements of the hole (lower right) and to the Z angle of a larger component to the left (white arrow) You enable anchoring on the Anchoring tab on the Tools panel: Note that anchoring is visualized on the anchored tool’s input.
Page 70: Geometric Features
Geometric Features Many of Gocator’s measurement tools can output data structures such as points, lines, planes, and circles. These structures are called geometric features and contain the components you would expect: a point geometric feature contains X, Y, and Z components (representing the location of the point in 3D space).
Page 71 geometric features (for example, creating a line from two point geometric features). You can then perform measurements on those features directly in the tool or in other Feature measurement tools. You can also use angle measurements on the newly created features for anchoring. You enable geometric feature output on a tool’s Features tab: Center Point geometric feature of a Surface Hole tool enabled on Features tab You enable geometric feature inputs on a Feature tool’s Parameters tab:...
Page 72 Setting the Point and Reference Feature to the Center Point geometric features of two different holes Geometric features are distinct from the “feature points” used by certain tools to determine which data point in a region should be used in a measurement, for example, the maximum versus the minimum on the Z axis of a data point in a region of interest: How Gocator Works •...
Page 73: Tool Data
For more information on feature points, see Feature Points on page 204. Tool Data Some measurement and processing tools can output more complex data, which can be used as input by other tools or SDK applications. The following types of data are available: Profile, Surface, and Generic. Profile and Surface tool data are identical in nature to the data produced by a sensor scan, except that they are the processed result from a tool.
Page 74 The following shows the scan data coming directly from the sensor's scan engine. Note that the first drop-down is set to Surface, rather than Tool. How Gocator Works • 74 Gocator Line Profile Sensors: User Manual...
Page 75 You enable this processed output in a tool’s Data tab: How Gocator Works • 75 Gocator Line Profile Sensors: User Manual...
Page 76 Stitched Surface tool enabled in Surface Stitch tool You enable tool data input on a tool’s Parameters tab, using the Stream drop-down: How Gocator Works • 76 Gocator Line Profile Sensors: User Manual...
Page 77: Output And Digital Tracking
Setting a Surface Flatness tool's input to a Surface Stitch tool's data output Generic tool data can’t be visualized. It can however be accessed from GDK tools or SDK applications you create. Examples of Generic tool data are the Segments Array data produced by the Surface Segmentation tool, or the Output Measurement data produced by the Surface Flatness.
Page 78 One of the main functions of Gocator sensors is to produce pass/fail decisions, and then control something based on that decision. Typically, this involves rejecting a part through an eject gate, but it can 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)
Page 79: Gocator Web Interface
Gocator Web Interface The following sections describe the Gocator web interface. Browser Compatibility LMI recommends Chrome, Firefox, or Edge for use with the Gocator web interface. Internet Explorer 11 is supported with limitations; for more information, see below. Internet Explorer 11 Issues If you use Gocator with large datasets on Internet Explorer 11, you may encounter the following issues.
Page 80: User Interface Overview
In the dialog, check both "Enable 64-bit processes for Enhanced Protected Mode" and "Enable Enhanced Protected Mode". Click OK and then restart your computer for the changes to take effect. User Interface Overview Gocator sensors are configured by connecting to the IP address of a sensor with a web browser. The Gocator web interface is shown below.
Page 81 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 93. Scan page Contains settings for scan mode, trigger source, detailed sensor configuration, and performing alignment. See Scan Setup and Alignment on page 115.
Page 82: Toolbar
Element Description Data viewer Displays sensor data, tool setup controls, and measurements. See Data Viewer on page 160 for its use when the Scan page is active and on page 197 for its use when the Measure page is active. Status bar Displays log messages...
Page 83: Recording, Playback, And Measurement Simulation
Setting Type Behavior Motion and Alignment Manage setting in in the page. Alignment is saved automatically at the end of the alignment procedure when Alignment Reference Fixed Alignment Reference is set to . When is set to Dynamic , however, you must manually save the job to save alignment. Network Address Network address changes are saved when you click the Save...
Page 84 Recording and playback controls when replay is off To record live data: Toggle Replay mode off by setting the slider to the left in the Toolbar. Replay mode disables measurements. (Optional) Configure recording filtering. For more information on recording filtering, see Recording Filtering on the next page. Click the Record button to enable recording.
Page 85: Recording Filtering
Playback controls when replay is on To replay data: Toggle Replay mode on by setting the slider to the right in the Toolbar. The slider's background turns blue and a Replay Mode Enabled message is displayed. Use the Replay slider or the Step Forward, Step Back, or Play buttons to review data. The Step Forward and Step Back buttons move the current replay location forward and backward by a single frame, respectively.
Page 86 How Gocator treats conditions Setting Description Any Condition Gocator records a frame when any condition is true. All Conditions Gocator only records a frame if all conditions are true. Conditions Setting Description Any Measurement Gocator records a frame when measurement is in the state you select. The following states are supported: pass fail or invalid...
Page 87: Downloading, Uploading, And Exporting Replay Data
Configure the conditions that will cause Gocator to record a frame: For information on the available settings, see Conditions on the previous page. Click the "x" button or outside of the Recording Filtering dialog to close the dialog. The recording filter icon turns green to show that recording filters have been set. When you run the sensor, Gocator only records the frames that satisfy the conditions you have set.
Page 88 If you have unsaved changes in the current job, the firmware asks whether you want to discard the changes. Do one of the following: Click Discard to discard any unsaved changes. Click Cancel to return to the main window to save your changes. If you clicked Discard, navigate to the replay data to upload from the client computer and click OK.
Page 89: Metrics Area
during recording. For example, if you record data when a measurment returns a pass decision, change the measurement's settings so that a fail decision is returned, and then export to CSV, you will see a fail decision in the exported data. Recorded intensity data can be exported to a bitmap (.BMP format).
Page 90: Data Viewer
The Speed bar displays the frame rate of the sensor. A warning symbol ( ) will appear next to it if triggers (external input or encoder) are dropped because the external rate exceeds the maximum frame rate. Open the log for details on the warning. For more information on logs, see Log below. When a sensor is accelerated a "rocket" icon appears in the metrics area.
Page 91: Frame Information
To use the log: Click on the Log open button at the bottom of the web interface. Click on the appropriate tab for the information you need. Frame Information The area to the right of the status bar displays useful frame information, both when the sensor is running and when viewing recorded data.
Page 92: Interface Language
Interface Language The language button on the right side of the status bar at the bottom of the interface lets you change the language of the interface. To change the language: Click the language button at the bottom of the web interface. Choose a language from the list.
Page 93: 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 94: Sensor System
Element Description Maintenance Lets you upgrade firmware, create/restore backups, and reset sensors. See Maintenance on page 109. 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 112 Sensor System The following sections describe the Sensor System category on the Manage page.
Page 95: Buddy Assignment
2. Choosing the layout of the dual- or multi-sensor system. For more information, see Layout on the next page. 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.
Page 96: Over Temperature Protection
To remove a Buddy, click the "minus" icon next to the sensor you want to remove. To remove all Buddies, click Remove All Buddies. 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.
Page 97 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 58.
Page 98 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 99 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 100 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 101 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 102 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 103: Device Exposure Multiplexing
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 eliminate laser interference.
Page 104: 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 by selecting the appropriate option in the Type drop-down.
Page 105: 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 106: 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 107: Jobs
Travel speed can also be set automatically by performing an alignment with Type set to Moving (see Aligning Sensors on page 139). 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 108: 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 109: 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 110: 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 111: 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 112: 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 113: 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 457). LMI's support staff may also request a support file to help in troubleshooting.
Page 114: 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 115: 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 116: 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 117) Ensure that camera exposure is appropriate for scan data acquisition. Exposure (page 129) Find the right balance between data quality, speed, and CPU utilization.
Page 117: Triggers
Mode and Option Description Uniform Spacing When this option is enabled, data points are resampled to a uniform spacing Resampled Data and Point Cloud Data on page 63 for more information). Set the size Spacing Spacing Interval of the spacing in the tab (see on page 135).
Page 118 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 • 118 Gocator Line Profile Sensors: User Manual...
Page 119 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 120 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 124.
Page 121: 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 122: 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 123 Parameter Trigger Source Description Surface Generation This setting is not displayed when is set Fixed Length Variable Length , or Rotational Surface Generation on page 149). Digital Input on page 769 for more information on connecting external input to Gocator sensors. Behavior Encoder Specifies how the Gocator sensor is triggered when the target...
Page 124: 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 125 By default, the active area covers the sensor's entire field of view. By reducing the active area, the sensor can operate at higher speeds. You can also reduce the active area to exclude areas that are affected by ambient light. Active area is specified in sensor coordinates, rather than in system coordinates.
Page 126: Tracking Window
Tracking Window Gocator 2100 series sensors do not support tracking window. Gocator can follow a relatively flat target as it moves up and down beneath the sensor, using a “tracking window.” When you define a tracking window, the sensor effectively reduces the...
Page 127 You should adjust the lighting and the active area to remove all background objects, such as the conveyor belt surface. On Gocator 2342 sensors, the Bridge Value tool's Window and StdDev measurements can force the tracking engine to switch to search mode in some situations. For more information, see Bridge Value on page 232.
Page 128: Transformations
height. Click the tracking window's Select button. Resize the tracking window shown in the data viewer. Only the height of the window is required. You can move the position of the tracking window to cover a live profile to help adjust the window height. Edit the Search Threshold setting.
Page 129: Exposure
Setting Angle X or Angle Z, and to a lesser extent Y Offset, to a non-zero value increases CPU usage when scanning, which reduces the maximum scan speed. Artifacts may appear in scan data when Angle Z or Angle X is set to a non-zero value if encoder trigger spacing is set too high (resulting in a low sampling rate).
Page 130: Single Exposure
Video mode lets you see how the light appears on the camera and identify any stray light or ambient light problems. When exposure is tuned correctly, the projected light should be clearly visible along the entire length of the viewer. If it is too dim, increase the exposure value; if it is too bright decrease exposure value.
Page 131: Dynamic Exposure
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. Go to the Scan page. Expand the Sensor panel by clicking on the panel header or the button.
Page 132: Multiple Exposure
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. The button is labeled Top, Bottom, Top-Left, or Top-Right, depending on the system. Exposure is configured separately for each sensor.
Page 133 If you have enabled intensity in the Scan Mode tab, you can use the Intensity setting to choose which of the exposures Gocator uses for acquiring intensity data. This lets you choose the exposure that produces the best image for intensity data. To enable multiple exposure: Go to the Scan page.
Page 134: Spacing
The X setting works by reducing the number of image columns used for laser profiling. The 1/4 sub-sampling setting is not available on Gocator 2100 series sensors. The Z sub-sampling setting is used to decrease the profile's Z resolution to increase speed. The Z setting works by reducing the number of image rows used for laser profiling.
Page 135: Spacing Interval
X and Z sub-sampling is configured separately for each sensor. Click the Spacing tab. Select an X or Z sub-sampling value. Save the job in the Toolbar by clicking the Save button Check that laser profiling is satisfactory. Spacing Interval Spacing interval is the spacing between data points in resampled data.
Page 136: Advanced
Advanced The Advanced tab contains settings to configure material characteristics, camera gain, and dynamic exposure. To configure advanced settings: Go to the Scan page. Switch to Video mode. Using Video mode while configuring the settings lets you evaluate their impact. Expand the Sensor panel by clicking on the panel header or the button.
Page 137: Material
Save the job in the Toolbar by clicking the Save button Check that scan data is satisfactory. Material Data acquisition can be configured to suit different types of target materials. This helps maximize the number of useful profile points produced. For many targets, changing the setting is not necessary, but it can make a great difference with others.
Page 138: Alignment
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. Digital camera gain can be used when the application is severely exposure limited, yet dynamic range is not a critical factor. Dynamic Exposure Sensitivity controls the exposure that dynamic exposure converges to.
Page 139: Aligning Sensors
Type Description Stationary Stationary is used when the alignment target does not move. This type of alignment can only compensate for mounting inaccuracies in the laser plane (Z offsets, and optionally X offsets and Y angle rotation). It is typically used when the sensor will run in Profile mode.
Page 140 Press the Clear Alignment button to remove an existing alignment. Select an alignment Target. Flat Surface: Use this to align to a surface such as a conveyor. Bar: Use this to align to a custom calibration bar. Configure the characteristics of the target (bar dimensions and reference hole layout). For details on alignment targets, see Alignment Targets on page 28.
Page 141 To perform polygon target alignment, you must set the X and Z coordinates of each corner of the alignment target. The coordinates are relative to the target itself, and you typically set them such that the X and Z origins are at the center of the target. To properly configure the X and Z values of each corner of the alignment target (and assign sensors to the corners), you must view the sensors and alignment target so that Y increases toward Gocator Web Interface •...
Page 142 you. To determine how to view the sensors and target, refer to the coordinate system orientation information for your sensor model in Sensors on page 720. (If any sensors are defined as Reversed in the layout grid, use only the non-reversed sensors to determine how to view the sensors; for more information, see Layout on page 96.) For each corner, define the X and Z coordinates and assign the sensor that is viewing that corner, proceeding in a clockwise order.
Page 143 You are not required to assign a sensor to every corner. For details on alignment targets, see Alignment Targets on page 28. Click the Align button. The sensors will start, and the alignment process will take place. Alignment is performed simultaneously for all sensors.
Page 144 In the Alignment panel, select Moving as the Type. Clear the previous alignment if present. Press the Clear Alignment button to remove an existing alignment. Select an alignment Target. Select one of the disk Disk options to use a disk as the alignment reference. Select Bar to use a custom calibration bar.
Page 145: Encoder Calibration
When aligning using X, Y, Z, Y Angle or X, Y, Z, Y Angle, Z Angle, you can improve alignment accuracy by reducing the motion speed of the target. Repeat alignment at lower speeds and observe the transformation values in the Sensor panel to achieve maximum accuracy.
Page 146: Clearing Alignment
Clearing Alignment Alignment can be cleared to revert the sensor to sensor coordinates. To clear alignment: Go to the Scan page. Choose Profile or Surface mode in the Scan Mode panel, depending on the type of measurement whose decision you need to configure. If one of these modes is not selected, tools will not be available in the Measure panel.
Page 147: Gap Filling
Gap Filling Gap filling works by filling in missing data points using either the lowest values from the nearest neighbors or linear interpolation between neighboring values (depending on the Z difference between neighboring values), in a specified X or Y window. The sensor can fill gaps along both the X axis and the Y axis.
Page 148: Smoothing
To configure X or Y median: 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 the median filter. Expand the Filters panel by clicking on the panel header or the button.
Page 149: Decimation
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. Click on the Smoothing tab. Enable the X or Y setting and select the averaging window value.
Page 150 The types in the table below correspond to the Type setting in the panel. When Type is set to Continuous, part detection is automatically enabled. When Type is set to any of the other settings, part detection can be enabled and disabled in the Part Detection panel.
Page 151 available: Sequential: Continuously generates back-to-back fixed length surfaces. External Input: A pulse on the digital input triggers the generation of a single surface of fixed length. For more information on connecting external input to a Gocator sensor, see Digital Input on page 769.
Page 152 after it has been generated, but the generation itself does not depend on the detection logic. To do this, check Enabled in the Part Detection panel. Rotational: The sensor reorders profiles within a surface to be aligned with the encoder’s index pulse.
Page 153: Part Detection
on the detection logic. To do this, check Enabled in the Part Detection panel. To configure surface generation: 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 surface generation. Expand the Surface Generation panel by clicking on the panel header or the button.
Page 154 The following settings can be tuned to improve the accuracy and reliability of part detection. Setting Description Height Threshold Threshold Determines the profile height threshold for part detection. The setting for Direction determines if parts should be detected above or below the threshold. Above is typically used to prevent the belt surface from being detected as a part when scanning objects on a conveyor.
Page 155 Setting Description Include one-sided data are mounted facing each other. In this case, is disabled. The data on the upper left is missing, due to the shape of the target: getting data from this area is difficult or impossible, due to occlusions or simply because this part of the upper surface is beyond the top sensor's measurement range.
Page 156 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 157: 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 149 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 158 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 159: 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 160: 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 161 For more information on the kinds of data displayed in Surface mode, see Surface Mode on page 168. When the sensor displays profiles, a safety goggle mode button ( ) is available above the data viewer. Enabling this mode changes some colors to ensure that profiles are visible in the data viewer when wearing laser safety goggles.
Page 162 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 163: Video Mode
Video Mode In Video mode, the data viewer displays images directly from the sensor's camera or cameras. 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 164: Overexposure And Underexposure
For details on setting exposure in the Exposure tab in the Sensor panel, see Exposure on page 129. 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 165: 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 166: 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 136. Profile Mode When the Gocator is in Profile scan mode, the data viewer displays profile plots.
Page 167 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 168: 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 169 Data Type Option or Description Button For more information on tool data output, see Tool Data on page 73. Heightmap button In 2D view, displays the pseudo color height map. In 3D view, overlays the 2D pseudo color height map on the 3D model. Grayscale button In 2D view, displays the grayscale height map.
Page 170 2D viewer with intensity overlay Choosing the Profile view option will switch the data viewer out of the 3D viewer and display a profile. 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.
Page 171: Height Map Color Scale
3D viewer with uniform overlay 3D viewer with uniform overlay In 3D mode, you can choose how the data viewer renders the model: Rendering Mode Description Point Cloud (default) Renders 3D models using point clouds. Useful in scan data that contains noise around edges, and shows hidden structure.
Page 172: Sections
To change the scaling of the height map: Select Heightmap from the View drop-down in the data viewer. Click the Scaling button. To automatically set the scale, choose Auto in the Range drop-down. To automatically set the scale based on a user-selected sub-region of the heightmap, choose Auto - Region in the Range drop-down and adjust the yellow region box in the data viewer to the desired location and size.
Page 173: Region Definition
When in the Scan page, selecting a panel (e.g., Sensor or Alignment panel) automatically sets the display to the most appropriate display view. To manually select the display view in the Scan page: Go to the Scan page. Choose Surface mode in the Scan Mode panel. Just above the data viewer, choose Section in the View drop-down.
Page 174: Intensity Output
When the Scan page is active, the data viewer can be used to graphically configure the active area. The Active Area setting can also be configured manually by entering values into its fields and is found in the Sensor panel (see Sensor on page 124). To set up a region of interest: Move the mouse cursor to the rectangle.
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Page 176: 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. Element Description Part Matching...
Page 177: Using Edge Detection
scans so that they are all oriented in the same way. This allows measurement tools to be applied consistently to parts, regardless of the orientation of the part you are trying to match. When the match quality between a model and a part reaches a minimum value (a percentage), or the bounding box or ellipse that encapsulates the part is between minimum and maximum dimension values, the part is "accepted" and any measurements that are added in the Measure page will return valid values, as long as the target is in range, etc.
Page 178 After the model has been created, you optionally modify the model by adjusting the sensitivity (how many edge points are detected), or selectively remove edge points from the model, to improve matching. Models are saved as part of a job. Once you have finished modifying the model, you can also modify target sensitivity, which controls how many edge points are detected on the subsequently scanned targets that will be compared to the model;...
Page 179 Model Editing tab on Part Matching panel The following settings are used to configure part matching using edge detection. 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.
Page 180: Creating A Model
Setting Description threshold. If you have edited edge points manually (removing them selectively), those changes will be lost. See Using Edge Detection on page 177 for more information. Edit Edge Points button lets you selectively remove edge point that are detected by the Model Sensitivity Using edge detection algorithm at the current...
Page 181 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 115 for more information on setting up and aligning Gocator. See Running a Standalone Sensor System on page 48 or Running a Dual-Sensor System on page 49 for more information on running a system to scan a part.
Page 182: Modifying A Model's Edge Points
If you need to correct the orientation of the model, provide a value in the Z Angle field. Correcting the Z angle is useful if the orientation of the model is not close to the typical angle of target parts on the production line.
Page 183 Edge points along top of model not removed. Part is rejected. (Min set to 85%.) 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.
Page 184 Click the Model Editing tab. Adjust the Model Sensitivity slider to exclude noise and to properly detect the distinguishing features that will match parts. You can also set the sensitivity value manually in the provided text box. Save the job by clicking the Save button To manually remove model edge points: In the Models list, select the model you want to configure by clicking on its selection control.
Page 185: 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 186: 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 187 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 188 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 189: 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 115 for more information on setting up and aligning Gocator. See Running a Standalone Sensor System on page 48 or Running a Dual-Sensor System on page 49 for more information on running a system to scan a part.
Page 190: 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 191 Part in data viewer (3D view) Section defined on top of part (2D view) Gocator Web Interface • 191 Gocator Line Profile Sensors: User Manual...
Page 192 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 193: 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 194 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 195: 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 220. 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 196: Measurement And Processing
Measurement and Processing The following sections describe Gocator's measurement and processing tools. 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 197: Data Viewer
Element Description Tools panel Used to add, manage, and configure tools and measurements (see Tools Panel on the next page) and to choose anchors (Measurement Anchoring on page 211). Data Viewer Displays video and scan data, sets up tools, and displays result calipers related to the selected measurement.
Page 198: Tools Panel
Tools Panel The Tools panel lets you add, configure, and manage measurement tools. Tools contain related measurements. For example, the Dimension tool provides Height, Width, and other measurements. Some settings apply to tools, and therefore to all measurements; these settings are found in the Parameters tab below the list of tools.
Page 199: Stream
For more information on sources, see Source on page 201. (Optional) If the measurement is a profile measurement running on a section, and you have created more than one section, choose the section that will provide data to the measurement in Stream. For more information on streams, see Stream below.
Page 200 Sections are also listed in the Stream setting. To choose a stream: Go to the Measure page by clicking on the Measure icon. scan mode must be set to the type of measurement you need to configure. Otherwise, the wrong tools, or no tools, will be listed on the Measure page. In the Tools panel, click on a tool in the tool list.
Page 201: Source
Source For dual- or multi-sensor systems, you must specify which sensor, or combination of sensors, provides 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).
Page 202 Region settings are often found within expandable feature sections in the tool's panel. In 2D mode, the tool region defaults to the center of the current data view, not the global field of view. In 3D mode, the region defaults to the global field of view. Use the region reset button ( ) to set the size of a region to its default.
Page 203 To rotate measurement regions: Determine the length and width of the region that will be required once it is rotated. Expand the Region setting and then set a value in Z Angle. Gocator Web Interface • 203 Gocator Line Profile Sensors: User Manual...
Page 204: 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 205 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 206: Geometric Features
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 207 Gocator’s measurement tools can currently generate the following kinds of geometric features: Points: A 2D or 3D point. Can be used for point-to-point or point-to-line measurements. Lines: A straight line that is infinitely long. Useful for locating the orientation of an enclosure or part, or to intersect with another line to form a reference point that can be consumed by a Feature tool.
Page 208: Fit Lines
Fit Lines Some measurements involve estimating lines in order to measure angles or intersection points. A fit line can be calculated using data from either one or two fit areas. A line can be defined using one or two areas. Two areas can be used to bypass discontinuity in a line segment.
Page 209: 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 433 for more information on transmitting values and decisions.
Page 210 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 211: Measurement Anchoring
To select a measurement, it must be enabled. See Enabling and Disabling Measurements on page 216 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 212 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: When you set a tool's anchor source, an offset is calculated between the anchored tool and the anchor source.
Page 213 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 along the Y axis in this case—and returns a correct measurement, despite the shift. You can combine the positional anchors (X, Y, or Z measurements) with an angle anchor (a Z Angle measurement) for optimum measurement placement.
Page 214 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 215 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 216: 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 217: Editing Tool, Input, Or Output Names
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 218: Duplicating A Tool
To select a measurement, it must be enabled. See Enabling and Disabling Measurements on page 216 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 219: 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 220: Profile Measurement
Profile Measurement This section describes the profile measurement tools available in Gocator sensors. When Gocator is in Surface mode and you have defined a section, a Stream option displays in Profile tools. Choosing a section in the Stream option lets you apply profile measurements to the section. A subset of the Profile tools is available when Uniform Spacing is disabled, that is, when tools are applied to point cloud data.
Page 221 Measurement Panel Gocator Web Interface • 221 Gocator Line Profile Sensors: User Manual...
Page 222: Measurements, Data, And Settings
For information on adding, managing, and removing tools and measurements, as well as detailed descriptions of settings common to most tools, see Tools Panel on page 198. Measurements, Data, and Settings Measurements Measurement Height {n} The height measured in height region {n}. Height is measured perpendicular Will be Invalid if the appropriate number of height regions has not been set in Height Region.
Page 223: Master Comparison
Parameter Description Base Height Use base height to "set" the Z axis: when enabled height values are offset from the base. This is useful if you need to measure between two features, rather than between a feature and the reference line. When enabled, the tool displays settings related to the base height: size and position of the base height's region (Base Height section) and the base height's feature.
Page 224: Correction
X Correction When you check the Master option and enable X Correction, the tool displays several additional settings. X Correction Parameters Parameter Description Edit Edge Region Enables an edge region section letting you configure the region. You can also edit this region in the data viewer. Edge Direction Determines the direction of the edge.
Page 225: Area
Area The Area tool determines the cross-sectional area within a region. 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. For information on adding, managing, and removing tools and measurements, as well as detailed descriptions of settings common to most tools, see Tools Panel on page 198.
Page 226: 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 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 201. 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 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 211. Gocator Web Interface •...
Page 229: Bounding Box
Bounding Box The Bounding Box tool provides measurements related to the smallest box that contains the profile (for example, X position, Z position, width, etc.). The bounding box provides the absolute position from which the Position centroids tools are referenced. When you use measurement tools on parts or sections, the coordinates returned are relative to the part or section.
Page 230: Measurements, Features, And Settings
Measurements, Features, and Settings Measurements Measurement Illustration Determines the X position of the center of the bounding box that contains the profile. The value returned is relative to the profile. Determines the Z position of the center of the bounding box that contains the profile.
Page 231 When used with profiles not generated from a section, the Global X measurement returns the same value as the X measurement, and the Global Y and Global Angle measurements return 0.000. Features Type Description Center Point The center point of the bounding box. Corner Point The lower left corner of the bounding box.
Page 232: Bridge Value
Bridge Value The Bridge Value tool calculates the "bridge value" and angle of a scanned surface. A bridge value is a single, processed range that is an average of a laser line profile that has been filtered to exclude user- definable portions of highs and lows in the profile.
Page 233: Measurements And Settings
For information on adding, managing, and removing tools and measurements, as well as detailed descriptions of settings common to most tools, see Tools Panel on page 198. Measurements and Settings Measurements Measurement Illustration Bridge Value Determines the bridge value of the profile. Gocator Web Interface •...
Page 234 Measurement Illustration Angle Determines the angle of the line fitted to the profile. When Normalize Tilt is unchecked, the measurement always returns 0. 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.
Page 235: 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 236 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 237: Circle
Circle The Circle tool provides measurements that find the best-fitted circle to a profile and measure various characteristics of the circle. The tool may be unable to fit a circle to the profile when attempting the fit on a small number of relatively collinear data points.
Page 238 Measurement Illustration Standard Deviation Returns the standard deviation of the data points with respect to the fitted circle. Min Error Max Error The minimum and maximum error among the data points with respect to the fitted circle. Min Error X Min Error Z The X and Z position of the minimum error.
Page 239 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 240: Closed Area
Closed Area The Closed Area tool determines the cross-sectional area within a region using point cloud data from a dual- or multi-sensor system. The tool is intended for use with roughly circular shaped profiles, or profiles that do not contain excessive concavity.
Page 241 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 201. For this tool, you should set this parameter to Top and Bottom. Use Region Indicates whether the tool uses a user-defined region. If this option is not checked, the tool uses data from the entire active area.
Page 242 Parameter Description Sample Spacing The angle interval around the center of the profile the tool uses to calculate area. Enabling this setting and setting a value can increase the tool's performance. In the following image, the spacing is set to 1 degree. The polygon calculated from the profile points, which is then used to calculate the area, is simplified, increasing performance but reducing accuracy.
Page 243 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 244: Dimension
Dimension The Dimension tool provides Width, Height, Distance, Center X, and Center Z measurements. For information on adding, managing, and removing tools and measurements, as well as detailed descriptions of settings common to most tools, see Tools Panel on page 198. Measurements and Settings Measurements Measurement...
Page 245 Measurement Illustration Distance Determines the direct, Euclidean distance between two feature points. Center X Finds the average location of two features and measures the X axis position of the average location Center Z Finds the average location of two features and measures the Z axis position of the average location.
Page 246 Parameter Description Feature 1 The Feature 1 and Feature 2 settings represent the two features the tool uses to perform measurements. For each, Feature 2 one of the following: Max Z Min Z Max X Min X Corner Average Rising Edge Falling Edge Any Edge Top Corner...
Page 247: Groove
Groove The Groove tool provides measurements of V-shape, U-shape, or open-shape grooves. The Groove tool uses a complex feature-locating algorithm to find a groove and then return measurements. See "Groove Algorithm" in the Gocator Measurement Tool Technical Manual for a detailed explanation of the algorithm.
Page 248: Measurements, Features, And Settings
Measurements, Features, and Settings 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 • 248 Gocator Line Profile Sensors: User Manual...
Page 249 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 201.
Page 250 Parameter Description Shape Shape of the groove Min Depth Minimum depth for a groove to be considered valid. Min Width Minimum width for a groove to be considered valid. The width is the distance between the groove corners. Max Width Maximum width of a groove to be considered valid.
Page 251 Parameter Description Location Specifies the location type to return (Groove X and Groove Z Bottom - Groove bottom. For a U-shape and open-shape groove, the X position is at the centroid measurements only) of the groove. For a V-shape groove, the X position is at the intersection of lines fitted to the left and right sides of the groove.
Page 252: Intersect
Intersect The Intersect tool determines intersect points and angles. 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. For information on adding, managing, and removing tools and measurements, as well as detailed descriptions of settings common to most tools, see Tools Panel on page 198.
Page 253 Measurement Illustration 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. For more information on geometric features, see Geometric Features on page 206. Parameters Parameter Description...
Page 254 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 255: Line
Line The Line tool fits a line to the profile and measures the deviations from the best-fitted line. 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 208. For information on adding, managing, and removing tools and measurements, as well as detailed descriptions of settings common to most tools, see Tools Panel on page 198.
Page 256: 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 data 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). Max Error Finds the best-fitted line and measures the maximum error from the line (the maximum distance above the line).
Page 257 Measurement Illustration Max Error X Max Error Z Finds the best-fitted line and returns the X or Z position of the maximum error from the line (the maximum distance above the line). Features Type Description Line The fitted line. Error Min Point The point of minimum error.
Page 258 Parameter Description Fitting Regions Determines which data Gocator uses to fit the line over the profile. When Fitting Regions is enabled, Gocator uses the data indicated by one of the following options: All Data: All of the data in the profile is used to fit the line.
Page 259: Panel
Panel The Panel tool provides Gap and Flush measurements. The Panel tool uses a complex feature-locating algorithm to find the gap or calculate flushness and return measurements. The behavior of the algorithm can be adjusted by changing the parameters in the measurement panel.
Page 260 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 261 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 262 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 data is used to form the fitted surface line.
Page 263: Position
Position The Position tool finds the X or Z axis position of a feature point. The feature type must be specified and is one of the following: Max Z, Min Z, Max X, Min X, Corner, Average (the mean X and Z of the data points), Rising Edge, Falling Edge, Any Edge, Top Corner, Bottom Corner, Left Corner, Right Corner, or Median (median X and Z of the data points).
Page 264 Parameter Description Feature The feature the tool uses for its measurements. One of the following: Max Z Min Z Max X Min X Corner Average Rising Edge Falling Edge Any Edge Top Corner Bottom Corner Left Corner Right Corner Median To set the region of a feature, adjust it graphically in the data viewer, or expand the feature using the expand button (...
Page 265: 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. For information on adding, managing, and removing tools and measurements, as well as detailed descriptions of settings common to most tools, see Tools Panel on page 198.
Page 266 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 267 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 201. 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 268 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 269: Strip
Strip The Strip tool measures the width of a strip. The Strip tool uses a complex feature-locating algorithm to find a strip and then return measurements. See "Strip Algorithm" in the Gocator Measurement Tool Technical Manual for a detailed explanation of the algorithm.
Page 270 Measurements Measurement Illustration Width Measures the width of a strip. Height Measures the height of a strip. Measures the X position of a strip. Measures the Z position of a strip. 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 201.
Page 271 Parameter Description Base Type Affects detection of rising and falling edges. When Base Type is set to Flat, both strip (raised area) and base support regions are needed. When set to None, only a point that deviates from a smooth strip support region is needed to find a rising or falling edge.
Page 272 Parameter Description Transition Width Specifies the nominal width needed to make the transition from the base to the strip. See "Strip Step Edge Definitions" in the Gocator Measurement Tool Technical Manual on how this parameter is used by different base types. Min Width Specifies the minimum width for a strip to be considered valid.
Page 273 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 274: Script
Script A Script measurement can be used to program a custom measurement using a simplified C-based syntax. A script measurement can produce multiple measurement values and decisions for the output. Gocator Web Interface • 274 Gocator Line Profile Sensors: User Manual...
Page 275 See Scripts on page 427 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 276: Surface Measurement
Surface Measurement Surface measurement involves capturing a sequence of laser profiles, optionally identifying discrete objects, and measuring properties of the surface or the objects, such as the volume of the object or the height at a certain position of the object. All volumetric tools have the ability to operate either on the entire surface or the full object, or within a region of interest at a certain position in relation to the surface or an object.
Page 277: Ball Bar
Ball Bar This tool is not supported on A and B revision Gocator 2100 and 2300 sensors. It will however appear in emulator scenarios created using these sensors. The Surface Ball Bar tool returns measurements useful for calibrating systems using a ball bar, particularly systems that include a robot.
Page 278 Measurement Position X1 / Y1 / Z1 Position X2 / Y2 / Z2 These measurements return the X, Y, and Z positions of the centers of the spheres fitted to the balls. Normal X / Y / Z These measurements return the X, Y, and Z components of the normal vector of the surface surrounding the calibration target.
Page 279 Parameter Description Filters The filters that are applied to measurement values before they are output. For more information, see Filters on page 209. Decision The Max and Min settings define the range that determines whether the measurement tool sends a pass or fail decision to the output.
Page 280: Bounding Box
Bounding Box The Bounding Box tool provides measurements related to the smallest box that contains the part (for example, X position, Y position, width, length, etc.). A bounding box can be vertical or rotated. A vertical bounding box provides the absolute position from which the Position centroids tools are referenced.
Page 281: Measurements, Features, And Settings
Measurement Panel For information on adding, managing, and removing tools and measurements, as well as detailed descriptions of settings common to most tools, see Tools Panel on page 198. Measurements, Features, and Settings Measurements Measurement Illustration Determines the X position of the center of the bounding box that contains the part.
Page 282 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 283 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 284 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 201. Rotation A bounding box can be vertical or rotated. A vertical bounding box provides the absolute position from which the part's Position centroid measurements are referenced.
Page 285: Countersunk Hole
Countersunk Hole The Countersunk Hole tool locates a countersunk circular opening within a region of interest on the surface and provides measurements to evaluate characteristics of countersunk holes, including the position (X, Y, and Z) of the center of the hole, outside radius of the hole, hole bevel angle, and the depth of the hole.
Page 286 Gocator Web Interface • 286 Gocator Line Profile Sensors: User Manual...
Page 287: Measurements, Features, And Settings
Measurement Panel For information on adding, managing, and removing tools and measurements, as well as detailed descriptions of settings common to most tools, see Tools Panel on page 198. 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.
Page 288 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 289 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 290 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 291 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 206. Parameters Parameter Description...
Page 292 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 293 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 294: Dimension
Dimension The Dimension tool returns various dimensional measurements of a part. You must specify two feature types (see below). 2D View 3D View Measurement Panel For information on adding, managing, and removing tools and measurements, as well as detailed descriptions of settings common to most tools, see Tools Panel on page 198. Gocator Web Interface •...
Page 295 Measurements Measurement Illustration Width Determines the distance between the selected features along the X axis. Length Determines the distance between the selected features along the Y axis. Height Determines the distance between the selected features along the Z axis. Gocator Web Interface • 295 Gocator Line Profile Sensors: User Manual...
Page 296 Measurement Illustration Distance Determines the direct, Euclidean distance between the selected features. 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 297 Parameter Description Feature 1 The Feature 1 and Feature 2 settings represent the two features the tool uses to perform measurements. For each, Feature 2 one of the following: Average Median Centroid Max X Min X Max Y Min Y Max Z Min Z To set the region of a feature, adjust it graphically in the...
Page 298: Edge
Edge The Edge tool fits a line to a straight edge in the scan data, using either height map or intensity data. The tool's settings help fit the line when multiple potential edges are in the region of interest. After the tool locates an edge, the position (X, Y, and Z) of the center of the edge line in the region of interest, as well as its angle around the Z axis and the step height between the upper and lower surfaces adjacent to the edge, can be returned as measurements.
Page 299 Measurement Panel For information on adding, managing, and removing tools and measurements, as well as detailed descriptions of settings common to most tools, see Tools Panel on page 198. Gocator Web Interface • 299 Gocator Line Profile Sensors: User Manual...
Page 300: 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 • 300 Gocator Line Profile Sensors: User Manual...
Page 301: 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 302 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 303 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 116.) 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 304 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 305 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 306 Parameter Description Outlier Fraction The percentage of outlier points to exclude. Setting this to a small value can help the tool fit the line better to the edge. Outlier Fraction set to a low value: rejected outlier edge points are dark blue. Selection Type Determines which step the tool uses on each path profile when there are multiple steps in the profile.
Page 307 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 308 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 309 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 310 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 311 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 312: Ellipse
Ellipse The Ellipse tool provides measurements for the major and minor axis lengths of an ellipse fitted to the part's shape in the XY plane, and also for the ratio of the major and minor axis lengths and for the orientation angle of the ellipse.
Page 313: Measurements, Features, And Settings
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 314 Parameter Description Asymmetry Detection Resolves the orientation of an object over 360 degrees. The possible values are: 0 – None 1 – Along Major Axis 2 – Along Minor Axis Region The region to which the tool's measurements will apply. For more information, see Regions on page 201.
Page 315: Extend
Extend This tool is not supported on A and B revision Gocator 2100 and 2300 sensors. It will however appear in emulator scenarios created using these sensors. The Extend tool creates a new surface by appending part of the previous frame's data to the current frame's data.
Page 316: Data And Settings
Measurement Panel For information on adding, managing, and removing tools and measurements, as well as detailed descriptions of settings common to most tools, see Tools Panel on page 198. Data and Settings Data Type Description Extended Surface Data containing an extended surface, available for use as input in the Stream drop-down in other tools.
Page 317 Parameter Description Overlap Length The amount, in millimeters, of the previous frame's data to append to the current frame's data. The combination will be output as tool data. Choose the overlap length to accommodate the size of your scan targets. Gocator Web Interface •...
Page 318: Filter
Filter This tool is not supported on A and B revision Gocator 2100 and 2300 sensors. It will however appear in emulator scenarios created using these sensors. The Filter tool provides several common vision processing filters that you can apply to surface data, as well as a two "cropping" filters that output a subset of the surface data, letting you pre-process scan data to get more repeatable measurements.
Page 319: Settings And Available Filters
Settings and Available Filters 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 201. Can only accept Surface scan data (that is, cannot accept data from other tools). Use Region When enabled, lets you set a region.
Page 320 Name Description Laplacian Applies a Laplacian filter. Useful for detecting areas of distinct edges. Uses the following kernel: Negative Inverts the height values in the scan data. Equalize Normalizes the norm or value range of an array. Binarize Sets height values to a fixed value for each point that is present in the data. Can be used with a region Z offset to threshold points above/below a Z value.
Page 321: Flatness
Flatness This tool is not supported on A and B revision Gocator 2100 and 2300 sensors. It will however appear in emulator scenarios created using these sensors. The Flatness tool returns various measurements related to the flatness of one or more regions on the surface of your target.
Page 322: Measurements, Data, And Settings
Measurement Panel For information on adding, managing, and removing tools and measurements, as well as detailed descriptions of settings common to most tools, see Tools Panel on page 198. Measurements, Data, and Settings Measurements Measurement Global Max Global Min Global Flatness The maximum distance, minimum distance, and flatness (maximum - minimum) calculated using the valid data from all the cells in the grid (when Region Mode is set to Grid Pattern), or all the individual regions (when Region Mode is set to Flexible).
Page 323 Measurement Local Max {n} Local Min {n} Local Flatness {n} The maximum distance, minimum distance, and flatness (maximum - minimum) calculated using the valid data points from a specific grid cell (when Region Mode is set to Grid Pattern), or an individual regions (when Region Mode is set to Flexible).
Page 324 Parameter Description Region Mode Determines how flatness measurement areas are set up on the target. One of the following: Grid Pattern: The tool determines flatness in a grid you define on the target. This option enables settings that let you set a region that will contain the grid, as well as the width and length of the grid cells.
Page 325 Parameter Description Global Flatness Mode Chooses which points the tool uses to calculate global flatness. One of the following: All Points: The tool uses all points in the measurement area (all flexible regions or the grid pattern in the region). Single Average Point: The tool uses an average of the points in the measurement area. When you choose this option, the global measurements require at least four data points to calculate the plane and statistics.
Page 326 Parameter Description Grid Cell to Display When the Global Flatness measurement is selected, displays data points in the specified cell. Display Points in Region must be enabled for this to work. (When a local measurement is (used with Grid Pattern selected, changing this value has no effect.) region mode) Unit...
Page 327: Hole
Hole The Hole tool measures a circular opening within a region of interest on the surface and returns its position and radius. The Hole tool does not search for or detect a hole. The tool expects that a hole conforming reasonably well to the defined parameters is present and that it is on a sufficiently uniform background.
Page 328 Measurement Panel For information on adding, managing, and removing tools and measurements, as well as detailed descriptions of settings common to most tools, see Tools Panel on page 198. Gocator Web Interface • 328 Gocator Line Profile Sensors: User Manual...
Page 329: 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 330 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 331: 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 332 Gocator Web Interface • 332 Gocator Line Profile Sensors: User Manual...
Page 333: 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 334 3D View 2D View Gocator Web Interface • 334 Gocator Line Profile Sensors: User Manual...
Page 335 Gocator Web Interface • 335 Gocator Line Profile Sensors: User Manual...
Page 336: Measurements, Features, And Settings
Measurement Panel For information on adding, managing, and removing tools and measurements, as well as detailed descriptions of settings common to most tools, see Tools Panel on page 198. 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.
Page 337 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 206.
Page 338 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 339 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 340: 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 341: Plane
Plane The Plane tool provides measurements that report a plane's position and orientation (X Angle, Y Angle, Z Offset, Normal, Distance), as well as the maximum and average deviations from the plane. 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.
Page 342 Measurement Panel For information on adding, managing, and removing tools and measurements, as well as detailed descriptions of settings common to most tools, see Tools Panel on page 198. Gocator Web Interface • 342 Gocator Line Profile Sensors: User Manual...
Page 343: Measurements, Features, And Settings
Measurements, Features, and Settings 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 344 Features Type Description Plane The fitted plane. For more information on geometric features, see Geometric Features on page 206. 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 201.
Page 345: Position
Position The Position tool reports the X, Y, or Z position of a part. The feature type must be specified and is one of the following: Average (the mean X, Y, and Z of the data points), Median (median X, Y, and Z of the data points), Centroid (the centroid of the data considered as a volume with respect to the z = 0 plane), Min X, Max X, Min Y, Max Y, Min Z, or Max Z.
Page 346: Measurements, Features, And Settingss
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. Features Type Description Center Point The returned position. For more information on geometric features, see Geometric Features on page 206.
Page 347 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 348 A section over a row of components The resulting profile Note that profiles extracted from surfaces start at the point defined as the X/Y Start of the section. Profiles are always displayed horizontally, with X increasing to the right. The origin of extracted profiles is the beginning of the section, and not relative to the surface from which they are extracted.
Page 349 The Surface Section tool provides functionality similar to sections you can define on the Models page (see Models on page 176). However, the Surface Section tool has a few advantages. One advantage of the Surface Section tool is that you can anchor the tool to some other easily identifiable feature on the scan target, which "shifts" the section in relation to that feature: this increases repeatability.
Page 350: Measurements, Data, And Settings
Measurement Panel For information on adding, managing, and removing tools and measurements, as well as detailed descriptions of settings common to most tools, see Tools Panel on page 198. Measurements, Data, and Settings Measurements Measurement X Start Y Start These measurements return the X and Y position of the start of the section, respectively. X End Y End These measurements return the X and Y position of the end of the section, respectively.
Page 351 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 201. Section Contains the coordinates of the two points that define the section. Point The point to configure (1 or 2). X, Y, Z The coordinates of the point selected in Point.
Page 352 Parameter Description Averaging Width The width, in millimeters, of a window in which averaging of data points occurs. Use this to compensate for noise around the section. In the following, Averaging Width is set to 1. When set to 0, only data points directly under that section are used in the profile. Gocator Web Interface •...
Page 353 Parameter Description Gocator Web Interface • 353 Gocator Line Profile Sensors: User Manual...
Page 354 Parameter Description Show Detail Determines whether data points (in red) are displayed under the section in the data viewer. If this setting is disabled, only the yellow line representing the defined section is displayed. Filters The filters that are applied to measurement values before they are output. For more information, see Filters on page 209.
Page 355 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 211. Gocator Web Interface •...
Page 356: Segmentation
Segmentation This tool is not supported on A and B revision Gocator 2100 and 2300 sensors. It will however appear in emulator scenarios created using these sensors. The Segmentation tool separates surface data into "segments," based on the tool's parameters. Segments can be touching and overlapping to a certain degree. The Segmentation tool is especially useful in the food industry, for example to identify food items that are too small or too big, or items that are damaged.
Page 357 Measurement Panel For information on adding, managing, and removing tools and measurements, as well as detailed descriptions of settings common to most tools, see Tools Panel on page 198. Gocator Web Interface • 357 Gocator Line Profile Sensors: User Manual...
Page 358: Measurements, Data, And Settings
Measurements, Data, and Settings Measurements Measurement Count Returns the number of found segments identified, based on the tool's parameters. Min Dimension Max Dimension The minimum and maximum dimensions among all of the identified segments. Mean Width Mean Length The mean width and length of the segments, respectively. Min Area Max Area The minimum and maximum area among all of the identified segments.
Page 359 Data Type Description Segments Array An array containing the segments. For an example of how to access this data from an SDK application or a GDK tool, see the appropriate sample in the SDK samples; for more information, see Setup and Locations on page 666. Diagnostics Surface Surface data you can use to evaluate the impact of the tool's kern size and iteration settings, which the tool uses to...
Page 360 Parameter Description Use Margins When enabled, discards parts that are too close to the edge of the scanning area or the region, based on the left, right, top, and bottom values. The tool filters the parts using the center point. In the following, a part is close to the edge of the XY scan area;...
Page 361 Parameter Description Ordering Orders the measurements, features, and surface data of the individual parts output by the tool. Choose one of the following: Area - Large to small Area - Small to large Position - X increasing Position - X decreasing Position - Y increasing Position - Y decreasing Position - Z increasing...
Page 362 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 363: Sphere
Sphere The Sphere tool lets you compute characteristics of a scanned sphere by specifying a region to inspect. For example, you can use the tool to align a robot-mounted sensor to a ball-bar as shown in the images below. For the tool to work properly, the tool's region typically must be enabled and set, and properly placed.
Page 364: Measurements, Features, And Settings
Measurements, Features, and Settings Measurements Measurement Illustration Center X Determines the X position of the center of the sphere. Center Y Determines the Y position of the center of the sphere. Center Z Determines the Z position of the center of the sphere. Radius Determines the radius of the sphere.
Page 365 Parameter Description Region The region to which the tool's measurements will apply. For more information, see Regions on page 201. In order for the tool to correctly fit a sphere to the scan data, you must set the region so that it only contains data from the sphere on the target.
Page 366: Stitch
Stitch This tool is not supported on A and B revision Gocator 2100 and 2300 sensors. It will however appear in emulator scenarios created using these sensors. The Stitch tool lets you combine up to 6 frames of scans into a single Surface scan. This lets you get a much larger scan volume with fewer sensors (either in a single sensor system or a multi-sensor system).
Page 367: Measurements, Data, And Settings
2D view Measurement Panel For information on adding, managing, and removing tools and measurements, as well as detailed descriptions of settings common to most tools, see Tools Panel on page 198. Measurements, Data, and Settings Measurements Measurement Captured Indicates the number of scans successfully added to the combined surface scan. Data Type Description...
Page 368 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 201. Surface Count The number of scans to combine into a single surface. For each, a "Surface Parameters" section is added. The tool accepts setting the number of scans to one: in this case it, behaves like a transform tool.
Page 369 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 211. Gocator Web Interface •...
Page 370: Stud
Stud The Stud tool measures the location and radius of a stud. The Stud tool does not search for or detect a stud. The tool expects that a stud conforming reasonably well to the defined parameters is present and that it is on a sufficiently uniform background.
Page 371 Measurement Panel For information on adding, managing, and removing tools and measurements, as well as detailed descriptions of settings common to most tools, see Tools Panel on page 198. Gocator Web Interface • 371 Gocator Line Profile Sensors: User Manual...
Page 372: Measurements, Features, And Settings
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. Base Y Determines the Y position of the stud base.
Page 373: Measurement Region
Parameter Description Region The region to which the tool's measurements will apply. For more information, see Regions on page 201. Reference Regions The tool uses the reference regions to calculate the base plane of the stud. Reference regions are relative to the base of the stud. Tilt Correction Tilt of the target with respect to the alignment plane.
Page 374: Track
Track This tool is not supported on A and B revision Gocator 2100 and 2300 sensors. It will however appear in emulator scenarios created using these sensors. The Track tool lets you perform quality control and inspection along a path you define on representative scan data.
Page 375 Measurement Panel You define the path along which the tool performs its internal measurements using a separate, PC-based utility (the "track editor"). The following shows the relationship between the Track tool and the track editor. Gocator Web Interface • 375 Gocator Line Profile Sensors: User Manual...
Page 376: Key Concepts
For more information on the track editor, see Using the Track Editor on page 386 All instances of the Track tool share the same path file set in File (ending in .user). For this reason, you must be careful when editing or removing path files shared by another instance of the tool.
Page 377 Track tool in data viewer, showing a track (lighter grey), path (dark blue line), rulers running perpendicular to the track (white lines centered on light blue dots). Dots of other colors provide additional information (see below). When you enable Show Measurement Results, the Track tool displays dots on the rulers to provide the following information (see also the images below): Light blue dots: The data points in the ruler profile.
Page 378: Track Location
Three "OK" rulers, indicated by green center points. In the bottom two, the peak point (orange) is slightly to the left of the center point (green). A "NG" ruler, indicated by the red center point. Track Location The tool attempts to locate the track using the profile data it extracts under each ruler, and does this by first locating the "peak" (the highest point on the ruler profile, based on certain criteria) and then locating the side points representing the "sides" of the track.
Page 379: Peak Detection
Peak Detection The tool determines the peak point on a ruler profile by moving two windows—one to each side of the point being examined—and comparing the average height in those windows with the height of the point being examined. (The size of these windows is specified in Center Window Size.) If the height of the point being examined is greater than both the left and right average height by the value specified in Center Threshold, that point is considered a candidate peak point.
Page 380: Center Point Detection
Center Point Detection The Track tool calculates the center point as the mid point between the left and right side points. This means that the center point may be different from the peak point. Configuring the Track Tool To configure the tool, you must first acquire scan data of a representative target; preferably, the material on the target will fall within the expected tolerances. Next, you save the scan data from within the Track tool, and then load the scan data into the track editor. Then, after adding a path or paths, and configuring rulers to the data, you load the track data back into the Track tool.
Page 381: Measurements, Data, And Settings
Measurements, Data, and Settings Measurements Measurement Illustration OK Count Returns the number of rulers along the path that pass all of the criteria set in the tool's parameters. NG Count Returns the number of rulers along the track path that fail the criteria set in the tool's parameters.
Page 382 Data Type Description Output Measurement Data containing the results from each ruler, namely: track ID segment ID track width track height track offset X position of the center point Y position of the center point A sample included in the SDK package shows how you can use this output data in an application.
Page 383 Parameter Description Center Window Size The size of the left and right windows the tool moves along the ruler profile to detect whether the point centered between the two is the highest point along a ruler (the center point). Set this to roughly 50% of the typical width of the track as a starting point. Center Threshold The center point is determined by moving two side-by-side windows (left and right, Center Window Size setting) over each ruler profile.
Page 384 Parameter Description Width Tolerance The tolerance applied to the nominal width. In the following, the distance between the blue dots indicating the width of the track under the ruler to the right (white vertical line) is greater than the width tolerance; this is indicated by the red center point dot, and counts as a NG measurement.
Page 385: Anchoring
Parameter Description Nominal Area The expected cross-sectional area under the rulers on the track. Area Tolerance The tolerance applied to the nominal area. Offset Tolerance The maximum allowed distance between the center (highest) point on a ruler and the path. This setting applies to the center point. In the following, the top and bottom center points (green) are at an acceptable distance from the blue path.
Page 386: Using The Track Editor
Using the Track Editor You use the track editor to configure "path" and "ruler" information on a frame of scan data from a sensor. The Track tool uses this information to inspect targets along the defined path. The track editor In the track editor, you can define one or more paths, and configure rulers along these paths. Gocator Web Interface •...
Page 387 Closeup of the track editor window, showing a track of material on a surface (yellow on green), a path (blue segments; red segment for the currently selected segment), path points (green dots), and rulers (white rectangles). The following assumes that you have already scanned a representative target and created a CSV file from within the Track tool.
Page 388 Do one or more of the following: Move the slider to the left or right to zoom in or out in the editor's viewer. Move the data in the track editor's window using the scrollbars or the mouse wheel. Set MinH and MaxH and then reload the track data to assign a narrower height range to the height map colors.
Page 389: Transform
same time by checking Batch Setting. The settings also apply to all paths if you have defined more than one path. Otherwise, you must move through the individual path segments by clicking the spinner control in the Segment field and set the ruler dimensions for each segment. If you have defined multiple paths, you will have to click through the paths too, using the Track spinner.
Page 390 2D View 3D View Measurement Panel In Combinations of geometric feature inputs and results on page 392the following geometric features are used by a Surface Transform tool in various combinations (a plane, a line, and a point). A Surface Plane tool, with the region set to a small left-facing angled surface Gocator Web Interface •...
Page 391 A Surface Edge tool, with the region set to the left edge of a raised surface (upper left of data viewer). A Surface Position tool (maximum Z), with the region set to the raised point near the top of the data viewer. Furthermore, in the sections below, two types of data are shown: the original (input) scan data and the transformed data.
Page 392: Combinations Of Geometric Feature Inputs And Results
A Surface Transform tool using all three types of geometric feature inputs. The data viewer is set to display the input surface data with an overlay of the transformed coordinate system. In the data viewer, the following is displayed: X, Y, and Z axes The transformed axes are represented above by the red, green, and blue lines intersecting on the surface data above.
Page 393: Line
Original data with overlay Transformed data Line New Z=0 XY Plane New X Axis New Origin The new plane contains the line. The intersection of the new Matches the line. Old origin projected onto the plane and the old plane is perpendicular to the input line. line.
Page 394: Point
Original data with overlay Transformed data The direction of the X axis depends on the tool generating the line that Surface Transform takes as input. You may need to adjust the direction using the Add Fixed Transform settings. Point New Z=0 XY Plane New X Axis New Origin Through the input point, parallel to old Z=0 plane.
Page 395: Plane + Line
Original data with overlay Transformed data Plane + Line New Z=0 XY Plane New X Axis New Origin Matches the input plane. Line projected onto the plane. Old origin projected onto the projected line. Gocator Web Interface • 395 Gocator Line Profile Sensors: User Manual...
Page 396: Plane + Point
Original data with overlay Transformed data Plane + Point New Z=0 XY Plane New X Axis New Origin Matches the input plane. Parallel to the old X axis. At the input point, projected onto the plane. Gocator Web Interface • 396 Gocator Line Profile Sensors: User Manual...
Page 397: Line + Point
Original data with overlay Transformed data Line + Point New Z=0 XY Plane New X Axis New Origin The new plane contains the line. The intersection of the Matches the line. The input point projected onto new plane and the old plane is perpendicular to the input the line.
Page 398: Plane + Line + Point
Original data with overlay Transformed data Plane + Line + Point New Z=0 XY Plane New X Axis New Origin Matches the input plane. The input line projected onto the plane. The input point projected onto the input line. Gocator Web Interface • 398 Gocator Line Profile Sensors: User Manual...
Page 399 Original data with overlay Transformed data For information on adding, managing, and removing tools and measurements, as well as detailed descriptions of settings common to most tools, see Tools Panel on page 198. Gocator Web Interface • 399 Gocator Line Profile Sensors: User Manual...
Page 400: Measurements, Data, And Settings
Measurements, Data, and Settings Measurements Measurement Running Time (ms) The amount of time required for tool execution. Used for diagnostic purposes. Data Type Description Transformed Surface The transformed surface. Available via the Stream drop- down in other tools. Parameters Parameter Description Source The sensor, or combination of sensors, that provides data for the tool's...
Page 401 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 211. Gocator Web Interface •...
Page 402: Vibration Correction
Vibration Correction This tool is not supported on A and B revision Gocator 2100 and 2300 sensors. It will however appear in emulator scenarios created using these sensors. The Vibration Correction tool analyzes variation in surface data to remove high frequency noise in the data.
Page 403: Data And Settings
Data and Settings Data Type Description Corrected Surface Surface data corrected for vibration, available for use as input in the Stream drop-down in other tools. Diagnostic Surface data showing the difference Difference Surface between the corrected surface and the original. Available for use as input in the Stream drop-down in other tools Parameters...
Page 404: Volume
Volume The Volume tool determines the volume, area, and thickness of a part. 3D View 2D View Measurement Panel For information on adding, managing, and removing tools and measurements, as well as detailed descriptions of settings common to most tools, see Tools Panel on page 198. Gocator Web Interface •...
Page 405 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 201.
Page 406 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 407: Script
Script A Script measurement can be used to program a custom measurement using a simplified C-based syntax. A script measurement can produce multiple measurement values and decisions for the output. See Scripts on page 427 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.
Page 408: Feature Measurement
Feature Measurement The following sections describe Gocator's Feature tools. Feature tools produce measurements based on more complex geometry, letting you implement applications more quickly by reducing dependence on writing scripts to accomplish these kinds of measurements. Feature tools take geometric features generated by other tools as input and perform measurements on those features.
Page 409: Create
Create The Feature Create tool lets you generate geometric features from other geometric features. For example, you can create a line from two points, or create a plane from a point and a line. The tool can generate points, lines, circles, or planes. You can also extract measurement values from the geometric features generated by other tools;...
Page 410: Line From Two Points
Measurement Panel The following sections describe the output types available in the Output drop-down, the inputs required by each output, and the resulting output. Line from Two Points The Line from two points type of output takes two point geometric features as input. The resulting output is a line geometric feature connecting the two points.
Page 411: Perpendicular Or Parallel Line From Point And Line
A line between the center point of a hole and the corner of the chip. (The corner is the intersect point resulting from the Feature Intersect tool, taking the left vertical and lower horizontal line edges of the chip as input.) The X, Y, and Z measurements return the midpoint of the line.
Page 412: Circle From Points
In the following, the tool generates a roughly horizontal line (yellow) parallel to the input line (cyan line along the bottom edge of the large integrated circuit), passing through the input point (cyan dot at the center of the hole). Circle from Points The Circle from points output type takes three point geometric features and fits a circle to those points.
Page 413: Line From Two Planes
Circle generated from the center points of the two holes and the corner of the chip (cyan points). (The corner is the intersect point resulting from the Feature Intersect tool, taking the left vertical and lower horizontal line edges of the chip as input.) Line from Two Planes The Line from two planes output type takes two plane geometric features as input and creates a line at their intersection.
Page 414: Point From Three Planes
Point from Three Planes The Point from three planes output type takes three plane geometric features as input and creates a point at their intersection. The X, Y, and Z measurements return the position of the intersect point. The X, Y, and Z Angle measurements return 0.000 values.
Page 415 Positional measurements of a point For line output, the X, Y, and Z measurements return the midpoint of the line. The Z Angle measurement returns the angle of the line around the Z axis. The X angle is always 0.000, and the Y angle is always 180.000.
Page 416 Measurements Measurement Illustration X, Y, Z The X, Y, and Z positions of some aspect of the geometric feature. For more information, see the sections above. X Angle, Y Angle, Z Angle The X, Y, and Z angles of some aspect of the geometric feature. For more information, see the sections above. Note that even when enabled on the Features tab, not all features are generated.
Page 417: Dimension
Dimension The Feature Dimension tool provides dimensional measurements from a point geometric feature to a reference point, line, or plane geometric feature. Some examples: Measuring the distance between the center of a hole and an edge. Measuring the distance between the centers of two holes. Measuring the distance between a point and a plane.
Page 418 2D View 3D View Measurement Panel In the following measurement descriptions, the first geometric feature is set in the Point drop- down. The second geometric feature is set in the Reference Feature drop-down. Gocator Web Interface • 418 Gocator Line Profile Sensors: User Manual...
Page 419 Measurements Measurement Illustration Width Point-point: The difference on the X axis between the points. Point-line: The difference on the X axis between the point and a point on the line. For profiles, the point on the line is at the same Z position as the first point. For surface data, the point on the line is at the same Y position.
Page 420 Measurement Illustration Plane Distance Point-point: The distance between two point geometric features. For profile data, the points are projected onto the XZ plane (always the same as the Distance measurement). For surface data, the points are projected onto the XY plane. Point-line: The distance between a point and a line.
Page 421: Intersect
Intersect The Feature Intersect tool returns the intersection of a line geometric features and a reference line or plane geometric feature. For line-line intersections, the lines are projected onto the Z = reference Z line plane for features extracted from a surface, and the intersection of the lines projected onto the Y = 0 plane for features extracted from a profile.
Page 422 2D View 3D View Gocator Web Interface • 422 Gocator Line Profile Sensors: User Manual...
Page 423 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 424 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 425: Robot Pose
Robot Pose This tool is not supported on A and B revision Gocator 2100 and 2300 sensors. It will however appear in emulator scenarios created using these sensors. The Feature Robot Pose tool takes geometric features as input and outputs positional and rotational values.
Page 426 Including a Line geometric feature lets the tool also return yaw (Z rotational information). For example, to get pose information for the part shown below, you could first configure a Surface Bounding Box tool and a Surface Plane tool. Bounding Box tool. The tool is configured to rotate to accommodate the orientation of the part. Surface Plane tool on flat area of part.
Page 427: Measurements And Settings
For information on adding, managing, and removing tools and measurements, as well as detailed descriptions of settings common to most tools, see Tools Panel on page 198. Measurements and Settings Measurements Measurement Illustration X, Y, Z The X, Y, and Z positions of the Point geometric feature. Roll, Pitch, Yaw The rotational angles of the Plane and Line geometric feature.
Page 428: Built-In Script Functions
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 220 or Surface Measurement on page 276.
Page 429 Function Description double Measurement_Value (int id) Gets the value of a measurement by its ID. Parameters: id - Measurement ID Returns: 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.
Page 430 Function Description void Output_SetAt(unsigned int index, Sets the output value and decision at the specified output index. To double value, int decision) output an invalid value, the constant INVALID_VALUE can be used (e.g., Output_SetAt(0, INVALID_VALUE, 0)) Parameters: index – Script output index value –...
Page 431 Function Description values are set to 0 when the sensor starts. Parameters: id - ID of the value Returns: value - Value stored in persistent memory int Memory_Exists (int id) Tests for the existence of a value by ID. Parameters: id –...
Page 432 Math Functions Function Description float sqrt(float x) Calculates square root of x float sin(float x) Calculates sin(x) (x in radians) 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)
Page 433: 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 data and measurement results to various external devices using several output interface options. Up to two outputs can have scheduling enabled with ASCII as the Serial output protocol. When Selcom is the current Serial output protocol, only one other output can have scheduling enabled.
Page 434: 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 435 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 436 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 437 PROFINET is not supported on A and B revision Gocator 2100 and 2300 sensors. To receive commands and send results using PROFINET messages: Go to the Output page. Click on Ethernet in the Output panel. Select PROFINET in the Protocol option. Click the Download GSD File button to download a GSD file for use with your IDE. Gocator Web Interface •...
Page 438: Digital Output
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 439 Trigger conditions and pulse width are then configured within the panel. To output measurement decisions: Go to the Output page. Click Digital 1 or Digital 2 in the Output panel. Set Trigger Event to Measurement. In Configuration, set Assert On and select the measurements that should be combined to determine the output.
Page 440 activates after the sensor finishes processing the data. As a result, the time between the start of sensor exposure and output activates can vary and is dependent on the processing latency. The latency is reported in the dashboard and in the health messages. If you checked Scheduled, specify a delay and a delay domain.
Page 441: Analog Output
Output command. Commands that schedule an event in the past will be ignored. An encoder value is in the future if the value will be reached by moving in the forward direction (the direction that encoder calibration was performed in). To output an exposure signal: Go to the Output page.
Page 442 To output measurement value or decision: Go to the Output page. Click on Analog in the Output panel. Set Trigger Event to Measurement. Select the measurement that should be used for output. Only one measurement can be used for analog output. Measurements shown here correspond to measurements that have been programmed using the Measurements page.
Page 443: Serial Output
Gocator exposure and output activates depends on the processing latency. The latency is reported in the dashboard and in the health messages. Specify a delay. The delay specifies the time or spatial location between the start of Gocator exposure and the output becomes active.
Page 444 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 445 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 446: 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 447 Name Description Encoder Frequency Current encoder frequency (Hz). 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).
Page 448: 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 449 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 450: Gocator Acceleration
Gocator Acceleration Gocator sensors are all-in-one devices, combining scanning, measurement, and control capabilities in a single housing. However, to achieve higher scan rates and measurement performance in very high density data scenarios, you may wish to use one of two acceleration methods. Gocator acceleration improves a Gocator system's processing capability by transferring the processing to a dedicated processing device in the system.
Page 451: Benefits
applications can interface to the accelerator in the same way as is possible with a physical sensor, although the IP of the accelerating device must be used for the connection. Benefits Accelerated sensors provide several benefits. Acceleration is completely transparent: because the output protocols of an accelerated sensor are identical to those of an unaccelerated sensor, SDK and PLC applications require no changes whatsoever for controlling accelerated sensors and receiving health information and data.
Page 452: System Requirements And Recommendations
System Requirements and Recommendations Minimum System Requirements The following are the minimum system requirements for accelerating a single sensor with the Gocator accelerator PC application: Processor: Intel Core i3 or equivalent (32- or 64-bit) RAM: 4 GB Hard drive: 128 GB Operating system: Windows 7 or higher (32- or 64-bit) To accelerate more sensors or run the system at higher speeds, use a computer with greater system resources.
Page 453 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 454 (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 455: Sdk Application Integration
Clicking the X icon in the application only minimizes the application. Choose Exit. SDK Application Integration Gocator acceleration can be fully integrated into an SDK application. Users simply need to instantiate the GoAccelerator object and connect it to a sensor object. GoAccelerator accelerator = kNULL;...
Page 456 Gocator 2510 Performance Increase Factors Running Time Running Time with GoMax Measurement Tool Performance Increase Factor on Sensor (ms) (ms) Surface Hole Surface Bounding Box Surface Plane Profile Dimension 0.054 0.037 Profile Intersect 0.075 0.028 Gocator Acceleration • 456 Gocator Line Profile Sensors: User Manual...
Page 457: Gocator Emulator
Gocator Emulator The Gocator emulator is a stand-alone application that lets you run a "virtual" sensor, encapsulated in a "scenario." When running a scenario, 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 scenario to familiarize yourself with the overall interface if you are new to Gocator.
Page 458: Limitations
Processor: Intel Core i3 or equivalent (64-bit) RAM: 4 GB Hard drive: 500 GB Operating system: Windows 7 or higher (64-bit) Limitations In most ways, a scenario 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: Changes to job files in the emulator are not persistent (they are lost when you close or restart the emulator).
Page 459: Running The Emulator
To download a support file: Go to the Manage page and click on the Support category. In Filename, type the name you want to use for the support file. When you create a scenario from a support file in the emulator, the filename you provide here is displayed in the emulator's scenario list.
Page 460: Adding A Scenario To The Emulator
Emulator launch screen You can change the language of the emulator's interface from the launch screen. To change the language, choose a language option from the top drop-down: 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.
Page 461: Running A Scenario
To add a scenario: Launch the emulator if it isn't running already. Click the Add button and choose a previously saved support file (.gs extension) in the Choose File to Upload dialog. (Optional) In Description, type a description. You can only add descriptions for user-added scenarios. Running a Scenario After you have added a virtual sensor by uploading a support file to the emulator, you can run it from the Available Scenarios list on the emulator launch screen.
Page 462: 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 463: Stopping And Restarting The Emulator
If you try to uncheck Replay Protection, you must confirm that you want to disable it. Replay Protection is on by default. Stopping and Restarting the Emulator To stop the emulator: Click Stop Emulation. Stopping the emulator returns you to the launch screen. To restart the emulator when it is running: Click Restart Emulation.
Page 464: Working With Jobs And Data
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 a scenario running on the emulator. Creating, Saving, and Loading Jobs Changes saved to job files in the emulator are not persistent (they are lost when you close or restart the emulator).
Page 465 Playback is controlled using the toolbar controls. Recording is not functional in the emulator. Playback controls when replay is on To replay data: Toggle Replay mode on by setting the slider to the right in the Toolbar. The slider's background turns blue. To change the mode, you must uncheck Replay Protection.
Page 466: Downloading, Uploading, And Exporting Replay Data
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 467 Upload and merge: Uploads the replay data and merges the data's associated job with the current job. Specifically, the settings on the Scan page are overwritten, but all other settings of the current job are preserved, including any measurements or models. If you have unsaved changes in the current job, the firmware asks whether you want to discard the changes.
Page 468: Downloading And Uploading Jobs
The decision values in the exported data depend on the current state of the job, not the state during recording. For example, if you record data when a measurment returns a pass decision, change the measurement's settings so that a fail decision is returned, and then export to CSV, you will see a fail decision in the exported data.
Page 469 Element Description Name field Used to provide a job name when saving files. Jobs list Displays the jobs that are currently saved in the emulator. Name Save button Saves current settings to the job using the name in the field. Changes to job files are not persistent in the emulator.
Page 470: Scan, Model, And Measurement Settings
To save a job: Go to the Manage page and click on the Jobs category. Provide a name in the Name field. To save an existing job under a different name, click on it in the Jobs list and then modify it in the Name field.
Page 471: Protocol Output
Protocol Output The emulator simulates output for all of Gocator's Ethernet-based protocols, with the exception of PROFINET. Gocator ASCII Modbus EtherNet/IP Clients (such as PLCs) can connect to the emulator to access the simulated output and use the protocols as they would with a physical sensor. The emulator allows connections to emulated sensors on localhost (127.0.0.1).
Page 472 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 461. Provide the IP address you used with the /ip parameter, followed by port number 3191, to users who want to connect to the emulated sensor, for example: 192.168.1.42:3191 Gocator Emulator •...
Page 473: 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 474: 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 475: Accessing Files And Components
Component Path Description information, see Configuration below. Transform transform.xml Alignment Reference Transformation values. Present only if is set to Transform Dynamic. For more information, see on page 566. Part model <name>.mdl models One or more part model files. Part models are created using and part matching Part Models .
Page 476: Setup
Configuration Child Elements Element Type Description @version Configuration version (101). @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 498). Streams Section Streams/Stream...
Page 477: Backgroundsuppression
Element Type Description donly UniformSpacingEnabled.valu Bool Actual value used if not configurable. IntensityEnabled Bool Enables intensity data collection. 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.
Page 478: Xsmoothing
XSmoothing XSmoothing 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). YSmoothing YSmoothing Child Elements Element Type Description @used Bool...
Page 479: Xmedian
XMedian XMedian 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). YMedian YMedian Child Elements Element Type Description @used Bool...
Page 480: Yslope
XSlope 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). YSlope This filter is only available on displacement sensors. YSlope Child Elements Element Type...
Page 481 Element Type Description 1 – Encoder FrameRate Frame rate for time trigger (Hz). FrameRate.min Minimum frame rate (Hz). FrameRate.max Maximum frame rate (Hz). FrameRate.maxSource Source of maximum frame rate limit: 0 – Imager 1 – Surface generation TracheidRate The frame rate of Tracheid data (Read Only) TracheidRate.used Bool Whether the sensor has a Tracheid data rate.
Page 482: Layout
Element Type Description ReversalDistance.used Bool Whether or not this parameter is used. ReversalDistance.value Actual value. LaserSleepMode.used Bool Whether or not this feature can be configured. LaserSleepMode/Enabled Bool Enables or disables the feature. LaserSleepMode/IdleTime Idle time before laser is turned off (µs). LaserSleepMode/WakupEncode Minimum amount of encoder movement before laser turns on (mm).
Page 483: Alignment
Region3D Child Elements Element Type Description X start (mm). Y start (mm). Z start (mm). Width X extent (mm). Length Y extent (mm). Height Z extent (mm). ZAngle Z Angle start (degrees). ZAngle.used Bool Whether or not this property is used. Grid Elements Element Type...
Page 484: Disk
Element Type Description EncoderCalibrateEnabled Bool Enables encoder resolution calibration. Disk Disk Section below. Section below. Plate Plate Section below. Polygon Section Polygon on the next page. Disk Disk Child Elements Element Type Description Diameter Disk diameter (mm). Height Disk height (mm). Bar Child Elements Element Type...
Page 485: Polygon
Polygon Polygon Child Elements Element Type Description Corners List Contains a list of Corners (described below). Corners.minCount Minimum number of corners. Polygon/Corner Corner Child Elements Element Type Description X Position Y Position Devices List of 32u List of devices this corner is assigned to. Devices.options List of 32u List of valid options for this field.
Page 486 Element Type Description 0 – Default 100 – Nine Lines PatternSequenceType.optio List of available pattern sequence types. PatternSequenceType.used Bool Whether or not this field is used. PatternSequenceCount Number of frames in the active sequence (read-only). ExposureMode Exposure mode: 0 – Single exposure 1 –...
Page 487 Element Type Description SpacingIntervalType Spacing interval type: 0 – Maximum resolution 1 – Balanced 2 – Maximum speed 3 – Custom SpacingIntervalType.used Bool Whether or not this field is used. Tracking Section Tracking Child Elements on the next page. Material Child Elements Material Section on the next page.
Page 488 Grid Child Elements Element Type Description @used Bool Whether or not this section is used. Device row position in grid layout. Row.value Value in use by the sensor, useful for determining value when used is false. Column Device column position in grid layout. Column.value Value in use by the sensor, useful for determining value when used is false.
Page 489 Element Type Description SpotWidthMax.value Value in use by the sensor, useful for determining value when used is false. SpotWidthMax.min Minimum allowed spot detection maximum value. SpotWidthMax.max Maximum allowed spot detection maximum value. SpotSelectionType Spot selection type 0 – Best. Picks the strongest spot in a given column. 1 –...
Page 490 Element Type Description DynamicThreshold.used Bool Determines if the setting’s value is currently used. DynamicThreshold.value Value in use by the sensor, useful for determining value when used is false. DynamicThreshold.min Minimum value. DynamicThreshold.max Maximum value. SensitivityCompensationEnabled Bool Sensitivity compensation toggle. Used in determining analog and digital gain, along with exposure scale.
Page 491: Surfacegeneration
IndependentExposures Child Elements Element Type Description @used Bool Whether this field is used Enabled Bool Whether to allow using separate exposure values for each camera FrontCameraExposure The exposure value to use for the front camera FrontCameraExposure.min The minimum exposure value possible for front camera FrontCameraExposure.max The maximum exposure value possible for back camera BackCameraExposure...
Page 492: Fixedlength
FixedLength FixedLength Child Elements Element Type Description StartTrigger Start trigger condition: 0 – Sequential 1 – Digital input ExternalInputIndex Index of external input when trigger source is set to 1 – Digital Input and connected to a Master. 0 – first digital input 1 –...
Page 493: Profilegeneration
Element Type Description @yMin The minimum valid Y value to be used for section definition. @yMax The maximum valid Y value to be used for section definition. Section Collection A series of Section elements. Section Child Elements Element Type Description The ID assigned to the surface section.
Page 494: Variablelength
Element Type Description 1 – Digital input ExternalInputIndex Index of external input when trigger source is set to 1 – Digital Input and connected to a Master. 0 – first digital input 1 – second digital input 2 – third digital input 3 –...
Page 495 Element Type Description GapWidth Gap width (mm). GapWidth.min Minimum gap width (mm). GapWidth.max Maximum gap width (mm). GapWidth.used Bool Whether or not this field is used. 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.
Page 496: Edgefiltering
Element Type Description IncludeSinglePointsEnabled Bool Enables preservation of single data points in Top+Bottom layout IncludeSinglePointsEnabled. Bool Whether or nto this field is available to be modified used EdgeFiltering Section EdgeFiltering below. EdgeFiltering EdgeFiltering Child Elements Element Type Description @used Bool Whether or not this section is used.
Page 497: Boundingbox
BoundingBox BoundingBox Child Elements Element Type Description ZAngle Z rotation to apply to bounding box (degrees). AsymmetryDetectionType Determine whether to use asymmetry detection and, if enabled, which dimension is the basis of detection. The possible values are: 0 – None 1 –...
Page 498: Replay
Element Type Description Acceptance/Major/Max Maximum major length (mm). Acceptance/Major/Tolerance Major acceptance tolerance value Acceptance/Major/Tolerance.dep Bool Whether this tolerance field is deprecated recated Acceptance/Minor/Min Minimum minor length (mm). 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...
Page 499: Conditions/Anydata
Element Type Description 2 – Valid 3 – Invalid 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 –...
Page 500: Tooloptions
Element Type Description 10 - Diagnostic DataType The stream data type 0 – None 4 – Uniform Profile 16 – Uniform Surface ColorEncoding The color encoding type. Only appears for Video stream steps (1). 0 – None 1 – Bayer BGGR 2 –...
Page 501: Measurementoptions
Tool Name Child Elements Element Type Description @displayName String Display name of the tool. @isCustom Bool Reserved for future use. @format Format type of the tool: 0 – Standard built-in tool 1 – GDK user-defined tool 2 – Internal GDK tool MeasurementOptions Collection MeasurementOptions...
Page 502: 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 503: 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 504: 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 505 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 506: 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 507 Element Type Description 1 – Video 2 – Range 3 – Surface 4 – Section Stream\Id The stream source ID. Type Boolean Area to measure: 0 – Object (convex shape above the baseline) 1 – Clearance (concave shape below the baseline) Type.used Boolean Whether or not field is used.
Page 508: Profileboundingbox
Element Type Description 1 – Enable PreserveInvalidsEnabled Boolean Preserve invalid measurements enable state 0 – Disable 1 – Enable SmoothingWindow Smoothing window. Scale Output scaling factor. Offset Output offset factor. DecisionMin Minimum decision threshold. DecisionMax Maximum decision threshold. ProfileBoundingBox A ProfileBoundingBox element defines settings for a profile bounding box tool and one or more of its measurements.
Page 509 Element Type Description all available data is used. ProfileRegion2d Region Measurement region. Measurements\X Bounding Box tool X measurement. measurement Measurements\Z Bounding Box tool Z measurement. measurement Measurements\Width Bounding Box tool Width measurement. measurement Measurements\Height Bounding Box tool Height measurement. measurement Measurements\GlobalX Bounding Box tool GlobalX measurement...
Page 510: Profilebridgevalue
Element Type Description DecisionMin Minimum decision threshold. DecisionMax Maximum decision threshold. ProfileBridgeValue A ProfileBridgeValue element defines settings for a profile bridge value tool and one or more of its measurements. ProfileBridgeValue Child Elements Element Type Description @isCustom Bool Reserved for future use. @format Format type of the tool: 0 –...
Page 511: Profilecircle
Element Type Description the profile points are used in the bridge value calculation. MaxInvalid The maximum percentage of invalid points. NormalizeEnabled Boolean Whether tilt normalization is enabled. MaxDifferential Maximum differential between the lowest and highest profile points (mm). MaxDifferential.min Maximum differential limit min (mm). MaxDifferential.max Maximum differential limit max (mm).
Page 512 ProfileCircle Child Elements 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 The tool's ID. Name String Tool name. Features Collection Collection of geometric feature outputs available in the tool.
Page 513: Profiledimension
Element Type Description Measurements\MaxErrorZ CircleMeasurement Maximum error Z measurement GeometricFeature Features\CenterPoint CenterPoint PointFeature. Circle Tool Measurement Element Type Description Measurement ID. Optional (measurement disabled if not set). Name String Measurement name. Enabled Boolean Measurement enable state: 0 – Disable 1 – Enable HoldEnabled Boolean Output hold enable state:...
Page 514 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. Anchor\Z.options String (CSV) The Z measurements (IDs) available for anchoring.
Page 515: 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 516 Element Type Description 1 – Video 2 – Range 3 – Surface 4 – Section Stream\Id The stream source ID. Shape Shape: 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.
Page 517: Profileintersect
Element Type Description 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: 0 – Max depth 1 –...
Page 518 Element Type Description RefType Reference line type: 0 – Fit 1 – X Axis StreamOptions Collection StreamOptions A collection of elements. Stream\Step The stream source step. Possible values are: 1 – Video 2 – Range 3 – Surface 4 – Section Stream\Id The stream source ID.
Page 519: Profileline
Element Type Description 1 – Enable SmoothingWindow Smoothing window. Scale Output scaling factor. Offset Output offset factor. DecisionMin Minimum decision threshold. DecisionMax Maximum decision threshold. Boolean Absolute Setting for selecting the angle range: (Angle measurement only) 0 – A range of -90 to 90 degrees is used. 1 –...
Page 520 Element Type Description ProfileRegion2d Region Measurement region. FittingRegions ProfileLine describing up to 2 regions to fit to. ProfileLine FittingRegionsEnabled Bool Whether the fitting regions are enabled. Measurements\StdDev Line tool StdDev measurement. measurement Measurements\MaxError Line tool MaxError measurement. measurement Measurements\MinError Line tool MinError measurement.
Page 521: Profilepanel
Element Type Description 1 – Enable PreserveInvalidsEnabled Boolean Preserve invalid measurements enable state 0 – Disable 1 – Enable SmoothingWindow Smoothing window. Scale Output scaling factor. Offset Output offset factor. DecisionMin Minimum decision threshold. DecisionMax Maximum decision threshold. Error percentile. Percent (Percentile measurement only) ProfilePanel...
Page 522 Element Type Description RefSide Setting for reference side to use. MaxGapWidth Setting for maximum gap width (mm). LeftEdge ProfilePanelEdge Element for left edge configuration. RightEdge ProfilePanelEdge Element for right edge configuration. Gap/Flush Measurements\Gap Gap measurement. measurement Measurements\Flush Gap/Flush Flush measurement. measurement Measurements\LeftGapX Gap/Flush...
Page 523: Profileposition
Element Type Description EdgeAngle Edge angle. RegionEnabled Bool Whether or not to use the region. If the region is disabled, all available data is used. Region ProfileRegion2d Edge region. Gap/Flush Measurement Element Type Description Measurement ID. Optional (measurement disabled if not set).
Page 524 ProfilePosition Child Elements 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 The tool's ID. Name String Tool name. Features Collection Collection of geometric feature outputs available in the tool.
Page 525: Profileroundcorner
Element Type Description 0 – Disable 1 – Enable SmoothingEnabled Boolean Smoothing enable state: 0 – Disable 1 – Enable PreserveInvalidsEnabled Boolean Preserve invalid measurements enable state 0 – Disable 1 – Enable SmoothingWindow Smoothing window. Scale Output scaling factor. Offset Output offset factor.
Page 526 Element Type Description 4 – Section 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.
Page 527: Profilestrip
Element Type Description 0 – Disable 1 – Enable PreserveInvalidsEnabled Boolean Preserve invalid measurements enable state 0 – Disable 1 – Enable SmoothingEnabled Boolean Smoothing enable state: 0 – Disable 1 – Enable SmoothingWindow Smoothing window. Scale Output scaling factor. Offset Output offset factor.
Page 528 Element Type Description 2 – Range 3 – Surface 4 – Section Stream\Id The stream source ID. BaseType Setting for the strip type: 0 – None 1 – Flat LeftEdge Bitmask Setting for the left edge conditions: 1 – Raising 2 –...
Page 529: Script
Element Type Description set). Name String Measurement name. Enabled Boolean Measurement enable state: 0 – Disable 1 – Enable HoldEnabled Boolean Output hold enable state: 0 – Disable 1 – Enable SmoothingEnabled Boolean Smoothing enable state: 0 – Disable 1 – Enable PreserveInvalidsEnabled Boolean Preserve invalid measurements enable state...
Page 530: Surfaceboundingbox
Element Type Description 1 – GDK user-defined tool 2 – Internal GDK tool The tool's ID. Name String Tool name. Code String Script code. Measurements\Output (Collection) Dynamic list of Output elements. Output Element Type Description Measurement ID. Optional (measurement disabled if not set).
Page 531 Element Type Description 1 – Video 2 – Range 3 – Surface 4 – Section Stream\Id The stream source ID. ZRotationEnabled Boolean Setting to enable/disable rotation of bounding box AsymmetryDetectionType Determine whether to use asymmetry detection and if enabled, which dimension would be the basis of detection. The possible values are: 0 –...
Page 532: Surfacecshole
Element Type Description set). Name String Measurement name. Enabled Boolean Measurement enable state: 0 – Disable 1 – Enable HoldEnabled Boolean Output hold enable state: 0 – Disable 1 – Enable SmoothingEnabled Boolean Smoothing enable state: 0 – Disable 1 – Enable PreserveInvalidsEnabled Boolean Preserve invalid measurements enable state...
Page 533 Element Type Description Anchor\Y String (CSV) The Y measurements (IDs) used for anchoring. Anchor\Y.options String (CSV) The Y measurements (IDs) available for anchoring. Anchor\Z String (CSV) The Z measurements (IDs) used for anchoring. Anchor\Z.options String (CSV) The Z measurements (IDs) available for anchoring. Anchor\ZAngle String (CSV) The Z Angle measurements (IDs) used for anchoring.
Page 534 Element Type Description TiltXAngle Setting for manual tilt correction angle X. TiltYAngle Setting for manual tilt correction angle Y. CurveFitEnabled Boolean Setting to enable/disable curve fitting: 0 – Disable 1 – Enable CurveOrientation The orientation of the curvature, in degrees. PlaneFitRangeEnabled Boolean Setting to enable/disable the use of the plane fit range...
Page 535: Surfacedimension
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 536 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 elements.
Page 537: Tool (Type Surfaceedge)
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 538 Element Type Description Parameters\RegionCount GdkParamInt Count of regions. Parameters\Region Edge region parameters. GdkParamSurfaceRegi on3d Parameters\Region1 Second edge region parameters. GdkParamSurfaceRegi on3d Parameters\Region2 GdkParamSurfaceRegi Third eddge region parameters. on3d Parameters\Region3 GdkParamSurfaceRegi Fourth edge region parameter. on3d Parameters\SearchDirection GdkParamInt Direction of search. Parameters\FixedAngleValue GdkParamFloat Fixed angle value...
Page 539 Element Type Description Parameters\EdgeSmoothing.u String Units of edge smoothing (e.g.: mm). nits Parameters\EdgeWidth GdkParamFloat The step width. Parameters\EdgeWidth.units String Units of edge (e.g.: mm). Parameters\EdgeMaxGap GdkParamFloat Edge max gap value. Parameters\EdgeMaxGap.units String Units of edge max gap (eg: mm). Parameters\FillBackground Fill background boolean GdkParamBool Parameters\FillValue GdkParamFloat...
Page 540: Surfaceellipse
Element Type Description 0 – Disable 1 – Enable SmoothingEnabled Boolean Smoothing enable state: 0 – Disable 1 – Enable PreserveInvalidsEnabled Boolean Preserve invalid measurements enable state 0 – Disable 1 – Enable SmoothingWindow Smoothing window. Scale Output scaling factor. Offset Output offset factor.
Page 541 Element Type Description Stream\Step The stream source step. Possible values are: 1 – Video 2 – Range 3 – Surface 4 – Section Stream\Id The stream source ID. RegionEnabled Boolean Setting to enable/disable region. Region3D Region Measurement region. AsymmetryDetectionType Determine whether to use asymmetry detection and if enabled, which dimension would be the basis of detection.
Page 542: Surfacehole
Element Type Description 1 – Enable PreserveInvalidsEnabled Boolean Preserve invalid measurements enable state 0 – Disable 1 – Enable SmoothingWindow Smoothing window. Scale Output scaling factor. Offset Output offset factor. DecisionMin Minimum decision threshold. DecisionMax Maximum decision threshold. SurfaceHole A SurfaceHole element defines settings for a surface hole tool and one or more of its measurements. SurfaceHole Child Elements Element Type...
Page 543 Element Type Description 4 – Section Stream\Id The stream source ID. NominalRadius Nominal radius (mm). RadiusTolerance Radius tolerance (mm). PartialDetectionEnabled Boolean Setting to enable/disable partial detection: 0 – Disable 1 – Enable DepthLimitEnabled Boolean Setting to enable/disable depth limit: 0 – Disable 1 –...
Page 544: Surfaceopening
Hole Tool Measurement Element Type Description Measurement ID. Optional (measurement disabled if not set). Name String Measurement name. Enabled Boolean Measurement enable state: 0 – Disable 1 – Enable HoldEnabled Boolean Output hold enable state: 0 – Disable 1 – Enable SmoothingEnabled Boolean Smoothing enable state:...
Page 545 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\Y String (CSV) The Y measurements (IDs) used for anchoring. Anchor\Y.options String (CSV) The Y measurements (IDs) available for anchoring. Anchor\Z String (CSV) The Z measurements (IDs) used for anchoring.
Page 546 Element Type Description Region3D Region Measurement region. RefRegionsEnabled Boolean Setting to enable/disable reference regions ( Advanced tab): 0 – Disable 1 – Enable RefRegionCount Count of the reference regions that are to be used. Advanced tab.) RefRegions (Collection) Reference regions. Contains two RefRegion elements of type SurfaceRegion2D AutoTiltEnabled Boolean...
Page 547: Surfaceplane
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. SurfacePlane A SurfacePlane element defines settings for a surface plane tool and one or more of its measurements.
Page 548 Element Type Description 4 – Section Stream\Id The stream source ID. RegionsEnabled Boolean Setting to enable/disable regions: 0 – Disable 1 – Enable RegionCount Count of the regions. Regions (Collection) Measurement regions. Contains up to four Region elements Region3D of type Measurements\XAngle Plane tool XAngle measurement.
Page 549: Surfaceposition
Element Type Description 1 – Enable SmoothingEnabled Boolean Smoothing enable state: 0 – Disable 1 – Enable PreserveInvalidsEnabled Boolean Preserve invalid measurements enable state 0 – Disable 1 – Enable SmoothingWindow Smoothing window. Scale Output scaling factor. Offset Output offset factor. DecisionMin Minimum decision threshold.
Page 550 Element Type Description Stream\Step The stream source step. Possible values are: 1 – Video 2 – Range 3 – Surface 4 – Section Stream\Id The stream source ID. Feature SurfaceFeature Measurement feature. Measurements\X Position tool X measurement. measurement Measurements\Y Position tool Y measurement.
Page 551: Surfacestud
SurfaceStud A SurfaceStud element defines settings for a surface stud tool and one or more of its measurements. SurfaceStud Child Elements 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 –...
Page 552 Element Type Description 1 – Enable RefRegionCount Count of the reference regions that are to be used. tab.) Advanced RefRegions (Collection) Reference regions. Contains up to four RefRegion elements of type SurfaceRegion2D Advanced tab.) AutoTiltEnabled Boolean Advanced Setting to enable/disable tilt correction ( tab): 0 –...
Page 553: Surfacevolume
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. Radius offset of the stud.
Page 554 Element Type Description Anchor\X.options String (CSV) The X measurements (IDs) available for anchoring. Anchor\Y String (CSV) The Y measurements (IDs) used for anchoring. Anchor\Y.options String (CSV) The Y measurements (IDs) available for anchoring. Anchor\Z String (CSV) The Z measurements (IDs) used for anchoring. Anchor\Z.options String (CSV) The Z measurements (IDs) available for anchoring.
Page 555: Tool (Type Featuredimension)
Element Type Description 0 – Disable 1 – Enable SmoothingWindow Smoothing window. Scale Output scaling factor. Offset Output offset factor. DecisionMin Minimum decision threshold. DecisionMax Maximum decision threshold. Location Measurement type: (Thickness measurement only) 0 – Maximum 1 – Minimum 2 –...
Page 556 Element Type Description Parameters\RefPoint GdkParamGeometricFeature Reference point feature. Parameters\Feature GdkParamGeometricFeature Reference feature. Measurements\Measurement Dimension Measurement Width measurement. @type=Width Measurements\Measurement Dimension Measurement Length measurement. @type=Length Measurements\Measurement Dimension Measurement Width measurement. @type=Height Measurements\Measurement Dimension Measurement Distance measurement. @type=Distance Measurements\Measurement Dimension Measurement Plane distance measurement. @type=PlaneDistance Dimension Measurement Child Elements Measurement ID.
Page 557: Tool (Type Featureintersect)
GdkParamBool Absolute height enabled boolean. Parameters\HeightAbsolute (Height measurement only) Tool (type FeatureIntersect) A Tool element of type FeatureIntersect defines settings for a feature intersection tool and one or more of its measurements. Tool Child Elements Element Type Description @isCustom Bool Reserved for future use.
Page 558: Custom
@type String Type name of measurement. 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 –...
Page 559: Output
Element Type Description Anchor\Z.options String (CSV) The Z measurements (IDs) available for anchoring. GDK Parameter parameters Parameters Collection of . The element name in the job file is the name of the parameter. measurements Measurements GDK Measurement Collection of Features GDK Feature Collection of features Output...
Page 560 Ethernet Child Elements Element Type Description Ethernet.used Boolean Indicates if the output is available on the sensor. Protocol Ethernet protocol: 0 – Gocator 1 – Modbus 2 – EtherNet/IP 3 – ASCII 4 – PROFINET Protocol.options 32s (CSV) List of available protocol options. TimeoutEnabled Boolean Enable or disable auto-disconnection timeout.
Page 561 Element Type Description 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. SurfaceSections.options 32s (CSV) List of available surface section sources. RangeIntensities 32s (CSV) Selected range intensity sources.
Page 562: Ascii
Ascii Ascii Child Elements Element Type Description Operation Operation mode: 0 – Asynchronous 1 – Polled ControlPort Control service port number. HealthPort Health service port number. DataPort Data service port number. Delimiter String Field delimiter. Terminator String Line terminator. InvalidValue String String for invalid output.
Page 563: Digital0 And Digital1
Profinet Child Elements Element Type Description IpAddress String Address in dotted notation (e.g. 1.1.1.1). PrefixLength Length of prefix for the subnet. SubnetMask String Address in dotted notation (e.g. 1.1.1.1). Gateway String Address in dotted notation (e.g. 1.1.1.1). DeviceName String Profinet name for the device. Digital0 and Digital1 The Digital0 and Digital1 elements define settings for the Gocator's two digital outputs.
Page 564: Analog
Analog The Analog element defines settings for analog output. Gocator 2500 series sensors do not support analog output. The range of valid measurement values [DataScaleMin, DataScaleMax] is scaled linearly to the specified current range [CurrentMin, CurrentMax]. Only one Value or Decision source can be selected at a time. Analog Child Elements Element Type...
Page 565: Selcom
Gocator 2500 series sensors do not support the Selcom Serial Protocol. Serial Child Elements Element Type Description Serial.used Boolean Indicates if the output is available on the sensor. Protocol Serial protocol: 0 – ASCII 1 – Selcom Protocol.options 32s (CSV) List of available protocols.
Page 566: Transform
Element Type Description CustomFormatEnabled Bool Enables custom data format. StandardFormatMode The formatting mode used if not a custom format: 0 – Standard 1 – Standard with Stamp Transform The transformation component contains information about the physical system setup that is used to: Transform data from sensor coordinate system to another coordinate system (e.g., world) Define encoder resolution for encoder-based triggering Define the travel offset (Y offset) between sensors for staggered operation...
Page 567: Device
</Devices> </Transform> The Transform element contains the alignment record for both the Main and the Buddy sensor. Transform Child Elements Element Type Description @version Major transform version (100). @versionMinor Minor transform version (0). EncoderResolution Encoder Resolution (mm/tick). Speed Travel Speed (mm/s). Devices (Collection) Contains two...
Page 568: Edge Points
Part models contain the following subcomponents. You can access the subcomponents using path notation, for example, "productionRun01.job/myModel.mdl/config.xml". Part Model Child Elements Element Type Description Configuration config.xml Model configuration XML. It is always present. (See Configuration on the next page.) Edge Points edge-height- Edge points for the top heightmap.
Page 569: Configuration
Field Type Offset Description pointCount Number of edge points points[pointCount] (32u, 32u) Edge points collection. Each point is a tuple of x and y values, in units of xScale and yScale, respectively. Configuration Configuration Child Elements Element Type Description @version Major version (1).
Page 570: 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. If you switch jobs or make changes to a job using the SDK or a protocol (from a PLC), the switch or changes are not automatically displayed in the web interface: you must refresh the browser to see these.
Page 571: Data Types
The Gocator SDK provides open source C language libraries that implement the network commands and data formats defined in this section. For more information, see GoSDK on page 665. For information on configuring the protocol using the Web interface, see Ethernet Output on page 434. For information on job file structures (for example, if you wish to create job files programmatically), see Job File Structure on page 474.
Page 572: Discovery Commands
Status Codes Each reply on the Discovery, Control, and Upgrade channels contains a status field containing a status code indicating the result of the command. The following status codes are defined: Status Codes Label Value Description Command succeeded. Failed Command failed. Invalid State -1000 Command is not valid in the current state.
Page 573: Set Address
Command Field Type Offset Description length Command length. type Command type (0x1). 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).
Page 574: Get Info
Field Type Offset Description reserved[4] byte Reserved. subnetMask[4] byte The subnet mask in left to right order. reserved[4] byte Reserved. 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.
Page 575: Control Commands
Field Type Offset Description 0 – Static 1 – DHCP 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.
Page 576: Protocol Version
The Conflict state indicates that a sensor has been configured with a Buddy sensor but the Buddy sensor is not present on the network. The sensor will not accept some commands until the Set Buddy command is used to remove the configured Buddy. Progressive Reply Some commands send replies progressively, as multiple messages.
Page 577: Set Address
Field Type Offset Description 571. dhcpEnabled byte 0 – DHCP not used 1 – DHCP used address[4] byte IP address (most significant byte first). subnetMask[4] byte Subnet mask. gateway[4] byte Gateway address. Set Address The Set Address command modifies the network configuration of a Gocator sensor. On receiving the command, the Gocator will perform a reset.
Page 578 cycled. In this case, the sensors will fall back to the factory default IP address. To avoid IP address conflicts in a multi-sensor system, connect to one sensor at a time and re-attempt the firmware upgrade. Command Field Type Offset Description length Command size including this field, in bytes.
Page 579 Remote Info Field Type Offset Description deviceId Serial number of the device. 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 –...
Page 580: 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 612).
Page 581: Get States
Field Type Offset Description For more information on states, see Control Commands on page 575. 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 582: 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 583: 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 571.
Page 584: 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 585: 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 586: 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 587: 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 474). Command Field Type Offset Description length...
Page 588: 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 589: 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 571.
Page 590: 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 571. Clear Alignment The Clear Alignment command clears sensor alignment. Command Field Type Offset...
Page 591: 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 571.
Page 592: Scheduled Start
Field Type Offset Description Reply identifier (0x100D). status Commands Reply status. For a list of status codes, see on page 571. 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 575.
Page 593: 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 571.
Page 594: Set Voltage Settings
Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4539). Voltage 0: 48 Volts; 1: 24 Volts. Cable Length 0 – 100: Meters Set Voltage Settings The Set Voltage Settings command sets the sensor’s voltage and cable length settings. Command Field Type...
Page 595: 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 571.
Page 596: 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 571. 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 597: 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 571.
Page 598: 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 571.
Page 599: 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 571. 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 600: 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 601: 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 602: 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 571. 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 603: Step Playback
Field Type Offset Description Reply identifier (0x4503). status Commands Reply status. For a list of status codes, see on page 571. 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 604: 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 605: 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 571. Simulate Unaligned The Simulate Unaligned command simulates data before alignment transformation. Command Field Type...
Page 606: 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 571.
Page 607: 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 571. Add Tool The Add Tool command adds a tool to the live job. Command Field Type...
Page 608: 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 609: 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 571.
Page 610: Get Flag
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 571. progressTotal Progress indicating completion (100%). progress Current progress. Continue Reply Field Type Offset...
Page 611: Get Runtime Variable Count
Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x4534). Variablename[256] Char A string representing the flag name whose value is to be retrieved. valueLength The length of the flag's value string. value[valueLength] Char The string representing the flag's value.
Page 612: Get Runtime Variables
Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4536). status Reply status. Get Runtime Variables The Get Runtime Variables command gets the runtime variables for the given index and length. Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x4535).
Page 613: Start Upgrade Extended
Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x0000). length Length of the upgrade package (bytes). data[length] byte Upgrade package data. Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x0000).
Page 614: 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 571. state Upgrade state: -1 – Failed 0 – Completed 1 – Running 2 –...
Page 615: Stamp
followed by a variable-length, message-specific content section. The structure of the GDP message is defined below. Gocator Data Protocol Field Type Offset Description size Count of bytes in message (including this field). control Bit 15: Last Message flag Bits 0-14: Message type identifier. (See individual data result sections.) GDP messages are always sent in groups.
Page 616: 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 617: Profile Point Cloud
Profile Point Cloud 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 5. attributeSize Size of attributes, in bytes (min: 32, current: 32). count (C) Number of profile arrays.
Page 618: Profile Intensity
Field Type Offset Description source Source 0 – Top 1 – Bottom 2 – Top Left 3 – Top Right exposure Exposure (ns). reserved[3] Reserved. streamStep Data stream step number. For a profile, values are: 2 – profile stream step 8 –...
Page 619: Uniform Surface
Uniform Surface 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 8. attributeSize Size of attributes, in bytes (min: 40, current: 48). length (L) Surface length (rows).
Page 620: Surface Section
Field Type Offset Description yScale Y scale (nm). xOffset X offset (µm). yOffset Y offset (µm). source Source 0 – Top 1 – Bottom 2 – Top Left 3 – Top Right exposure Exposure (ns). reserved[3] streamStep Data stream step number. For surface, values are: 3 –...
Page 621: Surface Section Intensity
Field Type Offset Description poseX X offset of the pose (µm) poseY Y offset of the pose (µm) streamStep Stream step. streamStepId Stream step ID. ranges[C][W] Profile ranges. The pose can be used to transform the section data into the surface frame of reference, via a rotation and then a translation.
Page 622: Alignment Result
Field Type Offset Description Bits 0-14: Message type identifier. For this message, set to 10. count (C) Count of measurements in this message. reserved[2] Reserved. Measurement identifier. measurements[C] Measurement Array of measurements (see below). Measurement Field Type Offset Description value Measurement value.
Page 623: Exposure Calibration Result
Field Type Offset Description -5 – No reference hole detected in bar alignment. -6 – No change in encoder value during travel calibration -7 – Too few profiles in target during travel calibration -988 – User aborted -993 – Timed out -997 –...
Page 624: Ellipse Match Result
Field Type Offset Description decision Overall match decision. xOffset Target x offset in model space (µm). yOffset Target y offset in model space (µm). zAngle Target z rotation in model space (microdegrees). width Width axis length (µm) widthDecision Width axis decision. length Length axis length (µm) lengthDecision...
Page 625: Feature Point
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) Point.y Y Coordinate of Point (Scaled by 10^6) Point.z...
Page 626: Feature Circle
Feature Circle 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 27. Feature Id Point.x X Coordinate of Point (Scaled by 10^6) Point.y Y Coordinate of Point (Scaled by 10^6) Point.z...
Page 627 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 628 Indicator identifiers Indicator Instance Value Encoder Value 1003 Current system encoder tick. Encoder Frequency 1005 Current system encoder frequency (ticks/s). Laser Safety 1010 Laser safety status. 0: laser is disabled 1: laser is enabled App Version 2000 Firmware application version. Internal Temperature 2002 Internal temperature (centidegrees Celsius).
Page 629 Indicator Instance Value 2501) Digital Output Drops 21015 Output Index Number of dropped outputs. (previously 2601) Serial Output Drops 21016 Output Index Number of dropped outputs. (previously 2701) Sensor State* 20000 Gocator sensor state. -1 – Conflict 0 – Ready 1 –...
Page 630 Indicator Instance Value Processing Drops** 21000 Number of dropped frames. The sum of various processing drop related indicators. Last Processing Latency 21001 Last delay from camera exposure to availability of all results. Max Processing Latency 21002 Maximum value of processing latency. Ethernet Output 21003 Number of bytes transmitted.
Page 631 Indicator Instance Value Part Backtrack Drops 22009 Number of parts dropped due to backtracking. Parts Currently Active 22010 Number of parts currently being tracked. Part Length 22011 Length of largest active part. Part Start Y 22012 Start Y position of the largest active part. Part Tracking State 22013 Tracking state of the largest active part.
Page 632: 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 633: 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 634: 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 635: 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 636: Stamp
Register Name Type Description Address 307 – 310 Time Current time (µs). Job File Name Length Number of characters in the current job file name. (Valid when register 301 = 0.) 312 – 371 Live Job Name Name of currently loaded job file. Does not include the extension.
Page 637: Measurement Registers
Register Name Type Description Address Exposure High Exposure (µs). Exposure Low 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.
Page 638 Register Address Name Type Description Bits 1-7: 0 - Measurement value OK 1 - Invalid value 2 - Invalid anchor 1003 Measurement 1 High 1004 Measurement 1 Low 1005 Decision 1 1006 Measurement 2 High Measurement 2 Low 1007 1008 Decision 2 1996 Measurement 332 High...
Page 639: 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). EtherNet/IP communication enables the client to: Switch jobs. Align and run sensors. Receive sensor states, stamps, and measurement results. Set and retrieve runtime variables.
Page 640: Identity Object (Class 0X01)
and the sample state assembly object (380 bytes). The data attribute (0x03) of the assembly objects is a byte array containing information about the sensor. The data attribute can be accessed with the Get Attribute and Set Attribute commands. The PLC sends a command to start a Gocator. The PLC then periodically queries the attributes of the assembly objects for its latest measurement results.
Page 641: Ethernet Link Object (Class 0Xf6)
Attribute Name Type Value Description Access Name server (UDINT) Secondary name (UDINT) Domain name (UDINT) Ethernet Link Object (Class 0xF6) The Ethernet Link Object contains read-only attributes such as MAC Address (Attribute 3). See Volume 2, Chapter 5-4 of the CIP Specification for a complete listing of Ethernet Link object attributes. Attribute Name Type...
Page 642: Runtime Variable Configuration Assembly
Attribute 3 Attribute Name Type Value Description Access Command Byte See Below Command parameters Get, Set Array Byte 0 - Command. See table below for specification of the values. Command Definitions Value Name Description Stop running Stop the sensor. No action if the sensor is already stopped Start Running Start the sensor.
Page 643: Sensor State Assembly
Byte Name Type Description Runtime Stores the intended value of the Runtime Variable at index 1. Variable 1 8-11 Runtime Stores the intended value of the Runtime Variable at index 2. Variable 2 12-15 Runtime Stores the intended value of the Runtime Variable at index 3. Variable 3 16-63 Reserved...
Page 644: Sample State Assembly
Byte Name Type Description 3-10 Encoder Current encoder position 11-18 Time Current timestamp Current Job Number of characters in the current job filename. (e.g., 11 for Filename "current.job"). The length includes the .job extension. Valid Length when byte 1 = 0. 20-83 Current Job Name of currently loaded job, including the ".job"...
Page 645 Byte Name Type Description the queue. Buffer Overflowing Buffer overflow indicator: 0 - No overflow 1 - Overflow 44 - 79 Reserved Reserved bytes. 80-83 Measurement 0 Measurement value in µm (0x80000000 if invalid). Decision 0 Measurement decision. A bit mask, where: Bit 0: 1 - Pass 0 - Fail...
Page 646: Implicit Messaging
Implicit Messaging Implicit messaging uses UDP and is faster than explicit messaging, and is ideal for time-critical applications. However, implicit messaging is layered on top of UDP. UDP is connectionless and data delivery is not guaranteed. For this reason, implicit messaging is only suitable for applications where occasional data loss is acceptable.
Page 647: Implicit Messaging Output Assembly
Byte Name Type Description 2. Start sensor 3. Perform stationary alignment 4. Perform moving alignment 5. Clear alignment 6. Set runtime variables 7. Load job file 1-31 Reserved (except for If you are setting the runtime variables, use configuring runtime bytes 4-19 to define the values of each of the variables and loading job four runtime variables in little endian format.
Page 648 Byte Name Type Description 0 – Not aligned Inputs Digital input state 4-11 Z Index Position Encoder position at time of last index pulse 12-15 Exposure Exposure in µs. 16-19 Temperature Sensor temperature in degrees celsius * 100 (centidegrees) 20-27 Encoder Position Encoder position 28-35...
Page 649: Profinet Protocol
PROFINET Protocol PROFINET is an Industrial Ethernet network protocol that allows controllers such as PLCs to communicate with Gocator sensors. Gocator sensors are PROFINET IO devices with Conformance Class The Gocator emulator and accelerator do not support the PROFINET protocol. PROFINET is not supported on A and B revision Gocator 2100 and 2300 sensors. This section describes the PROFINET modules that let a controller do the following: Switch jobs.
Page 650: Runtime Variables Module
Value Name Description Load Job Set bytes 1 - 64 for the null terminated file name, one file name character per 16-bit register, including the null terminator character. The “.job” extension is optional. If the extension is missing, it is automatically appended to the file name.
Page 651: Stamp Module
Data Byte Index Name Description Type filename single character. Max 64 bytes. (valid when byte 1 = 0) 84-87 Runtime Runtime variable value at index 0 Variable 0 … … 96-99 Runtime Runtime variable value at index 3 Variable 3 Stamp Module The length of the Stamp module is 45 bytes.
Page 652: Ascii Protocol
Data Byte Index Name Description Type Measurement Decision 1 795-798 Measurement Decision 159 The byte mapping of each measurement/decision pair depends on its ID as specified in the Gocator measurement interface. Each measurement will begin at byte (0 + 5*ID). For example, a measurement with ID set to 4 can be read from bytes 20 (high byte) to 23 (low byte) and the decision at 24.
Page 653: 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 654: 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 658 for more information. The Health channel is used to receive health indicators (see Health Channel on page 660).
Page 655: 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 656: 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 657: 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 658: 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 659: 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 660: 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 661: 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 626 for details on health indicators.
Page 662: 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 663: Selcom Protocol
Selcom Protocol This section describes the Selcom serial protocol settings and message formats supported by Gocator sensors. Gocator 2500 series sensors do not support the Selcom Serial Protocol. 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 443.
Page 664 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 • 664 Gocator Line Profile Sensors: User Manual...
Page 665: 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 Gocator SDK package, go to http://lmi3d.com/support, choose your product from the Product Downloads section, and download it from the Download Center.
Page 666: Setup And Locations
For Windows users, code examples for C, C#, and VB.NET are provided in the SDK package. 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 GoSDK class reference is found by accessing the following file: 14400-4.x.x.xx_SOFTWARE_GO_SDK\GO_SDK\doc\GoSdk\Gocator_2x00\GoSdk.html...
Page 667: 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 668: 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 669: 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 670: 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 671: Initialize Gosdk Api Object
See Setup and Locations on page 666 for more information on the code samples referenced below. Sensors must be connected before the system can enable the data channel. All GoSDK 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 672: 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 673 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 674: 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 675: Gdk
The Gocator Development Kit (GDK) is a framework for developing and testing custom Gocator tools containing your own algorithms, and then deploying them to Gocator sensors. Custom tools created with the GDK act much like native Gocator data output tools (providing measurements, geometric features, data and generic outputs) with support for multiple input parameters), running at native speeds and taking advantage of features such as anchoring.
Page 676: Typical Workflow
Gocator 1300 series Gocator 2100 series Gocator 2300 series Gocator 2400 series Gocator 2500 series Gocator 2880 Gocator 3210 and Gocator 3500 series Typical Workflow The following is the typical workflow for creating and deploying custom measurement tools: Develop and build tools using the GDK project files and libraries in Microsoft Visual Studio, targeting Win32.
Page 677: Tool Registration
Building the Sample Code You can build the sample code for working with either the emulator or a sensor. To do this, choose the target and then build the solution. The following targets are available: Win32/x64 for debugging code and emulating a sensor to test tools (on a PC) Arm7 for building for Gocator 2300C and 2400 series sensors C64x for Gocator 1300, 2300A, 2300B, 3210, and 3506 series sensors The Win32 target supports Debug and Release builds.
Page 678: Tool Definitions
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) kAddVMethod(TestTool, GdkTool, VInit) kAddVMethod(TestTool, GdkTool, VName) kAddVMethod(TestTool, GdkTool, VDescribe) kAddVMethod(TestTool, GdkTool, VNewToolConfigInstanced) kAddVMethod(TestTool, GdkTool, VNewMeasurementConfigInstanced) kAddVMethod(TestTool, GdkTool, VUpdateConfigInstanced) kAddVMethod(TestTool, GdkTool, VNewFeatureConfigInstanced) kAddVMethod(TestTool, GdkTool, VNewToolDataOutputConfigInstanced)
Page 679: 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 676 for information on installing the documentation). Parameter Configurations Each tool has two levels of parameters: tool parameters and measurement parameters.
Page 680: Graphics Visualization
For full descriptions of these functions, see the GDK class reference documentation (see Installation and Class Reference on page 676 for information on installing the documentation). Graphics Visualization The GdkGraphic function supports points and lines. Point graphics • 680 Gocator Line Profile Sensors: User Manual...
Page 681 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 682: Debugging Your Tools
Debugging Your Tools We highly recommend using the emulator to debug 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 multi-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 683: 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 684 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 685: 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 686: Setup And Region Info During Tool Initialization
k64f height = rangeSrc[index] * scale->z + offset->z; Extracting height information from profiles and surfaces. The TestProfileSelect and TestSurfaceSelect examples show how to perform these operations. Setup and Region Info during Tool Initialization Memory allocation is often done in the VInit or VStart function. To retrieve sensor and data information such as active area settings and data scale outside of VProcess, you can use the following function: GdkDataInfo info = GdkSensorInfo_DataSource(GdkTool_SensorInfo(tool), GDK_DATA_SOURCE_...
Page 687: Print Output
#include <kApi/Io/kFile.h> … ToolFx(kStatus) TestTool_VStart(TestTool tool) … kFile_Save("test.txt", stringBuf, (kSize) 1024); kFile_Load("test.txt", stringBuf, &bufLen, kNULL); Print Output In the emulator, you can send output to Visual Studio or to programs such as DebugView by using the OutputDebugString function. GtsFx(kStatus) TestTool_Trace(const kChar* format, ...) kStatus status = kOK;...
Page 688: 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 689: Genicam Gentl Driver
GenICam GenTL Driver GenICam is an industry standard for controlling and acquiring data from an imaging device. Gocator sensors support GenICam through a GenTL Producer driver. The GenTL driver included with Gocator allows GenICam-compliant third-party software applications such as Halcon and Common Vision Blox to acquire and process 3D data and intensity generated from the sensor.
Page 690 Click System. Click Advanced System Settings. Tools and Native Drivers • 690 Gocator Line Profile Sensors: User Manual...
Page 691 In the System Properties dialog, on the Advanced tab, click Environment Variables... In the Environment Variables dialog, under the System variables list, click New. Tools and Native Drivers • 691 Gocator Line Profile Sensors: User Manual...
Page 692 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 • 692 Gocator Line Profile Sensors: User Manual...
Page 693: 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 694: 16-Bit Grey Scale Image
Channel Details pixel channel Data Results on page 614 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 695 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 696: 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 697: 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 698: 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 699: Gocator Line Profile Sensors: User Manual
For more information on configuring Ethernet output, see Ethernet Output on page 434. 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 700 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 701: 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 702 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 703 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 704 Procedures Description xResolution : The X resolution in millimeters. yOffset : The Y offset in millimeters. yResoluion : The Y resolution in millimeters. zOffset : The Z offset in millimeters. zResolution : The Z resolution in millimeters. Parameters (Output) coordinateXYZ : The real-world coordinates.
Page 705: Generating Halcon Acquisition Code
Procedures Description set_framegrabber_param( AcqHandle, ‘XMLSetting’, ‘GenTL/System’) set_framegrabber_param( AcqHandle, ‘XMLSetting’, ‘ScheduledStart=1’) set_framegrabber_param( AcqHandle, ‘XMLSetting’, ‘000000’) set_framegrabber_param( AcqHandle, ‘XMLSetting’, ‘’) 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, ‘XMLSetting’, ‘GenTL/Sensor’)
Page 706: Csv Converter Tool
After the example code is generated, you should add a catch instruction to bypass the acquisition timeout event, and use the Go2GenTL_ParseData function to extract information from the returned image. 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.
Page 707 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 708: Csv File Format
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 709: Info
Example: Info CSV Version,Sensor Count,Trigger Mode,... 2,1,0,32000.00000,... DeviceInfo ID,Model,Version,... 13434,311320-2M-01,4.8.2.29,... Ranges Usually all available data in the recording buffer is exported. The exceptions are Surface and SurfacePointCloud. For these sections, only the currently selected frame is exported. Info This section contains basic system information. It has one header row and one value row. The fields are described below: Info Fields Field...
Page 710: Deviceinfo
Field Description 0 – Normal (single-sensor system) / Wide (dual-sensor system) 1 – Opposite 2 – Reverse 3 – Grid DeviceInfo This section contains information about each device in the system. There is one header row, and one value row per device. DeviceInfo Fields Field Description...
Page 711: Ranges
RecordingFilter Section1 Param 1, Section1 Param2 value, value Section2 Param 1 value Section3 Param1, Section3 Param2 value Each section will be described by a separate table below. They appear in the same order as documented. RecordingFilter Fields Field Description Condition Combination Type Any or All "Any Measurement"...
Page 712: Profile
The data section has one or more rows of data per frame (for example, range and intensity). Data Section Fields Field Description Frame Frame index Source Source (for example, 0 for Top) Time Stamp time Encoder Stamp encoder Z Encoder Stamp encoder Z Inputs Stamp inputs...
Page 713: Rawprofile
Field Description (x values) Each column in header is a resampled X position Each column in data is the range (mm) or intensity (count) RawProfile This section describes point cloud profile data (or unresampled / raw data), which is produced when the sensor is in Profile mode and uniform spacing is disabled.
Page 714: Surface Section
Attribute Section Fields Field Description Frame Frame index Source Source (for example, 0 for Top) Time Stamp time Encoder Stamp encoder Z Encoder Stamp encoder Z Inputs Stamp inputs Row Count Number of rows Column Count Number of columns X Offset X offset (mm) Y Offset Y offset (mm)
Page 715: Mountainsmap Transfer Tool
Field Description X Offset X Offset Y Offset Y Offset Z Offset Z Offset XResolution X Resolution ZResolution Y Resolution Axis Axis: Z (range) or I (Intensity) (x values) Each column in header is a resampled X position Each column in data is the range (mm) or intensity (count) MountainsMap Transfer Tool The MountainsMap transfer tool (MMTransfer.exe) lets you trigger scans on a connected sensor.
Page 716: Using The Mountains Map Transfer Tool
(Optional) If you want to transfer intensity data, check a source for intensity data under Surface Intensities. For intensity to be available, you must also check Acquire Intensity on the Scan page. Using the Mountains Map Transfer Tool The following graphic and table show the functionalities available in the tool: Tools and Native Drivers •...
Page 717 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 718 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 715. (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 719: 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 793. Mechanical/Environmental The sensor is warm. It is normal for a sensor to be warm when powered on.
Page 720: Specifications
Specifications The following sections describe the specifications of Gocator sensors and connectors, as well as Master hubs. Sensors The following sections provide the specifications of Gocator sensors. Gocator 2100 & 2300 Series The Gocator 2100 and 2300 series consists of the following models: MODEL 2x20 2x30...
Page 721 Optical models, laser classes, and packages can be customized. Contact LMI for more details. Gocator 2300 series sensors provide 1280 data points per profile. Gocator 2100 series sensors provide 640 data points per profile; additionally, Gocator 2100 series sensors do not support the tracking window capability (for more information, see Tracking Window on page 126).
Page 722 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 55 for more information. ALL 2x00 SERIES MODELS Approx.
Page 723: Gocator 2120 And 2320
Gocator 2120 and 2320 Field of View / Measurement Range / Coordinate System Orientation Specifications • 723 Gocator Line Profile Sensors: User Manual...
Page 724 Dimensions Envelope Specifications • 724 Gocator Line Profile Sensors: User Manual...
Page 725: Gocator 2130 And 2330
Gocator 2130 and 2330 Field of View / Measurement Range / Coordinate System Orientation Dimensions Specifications • 725 Gocator Line Profile Sensors: User Manual...
Page 726 Envelope Specifications • 726 Gocator Line Profile Sensors: User Manual...
Page 727: Gocator 2140 And 2340
Gocator 2140 and 2340 Field of View / Measurement Range / Coordinate System Orientation Specifications • 727 Gocator Line Profile Sensors: User Manual...
Page 728 Dimensions Envelope Specifications • 728 Gocator Line Profile Sensors: User Manual...
Page 729: Gocator 2342
Gocator 2342 Field of View / Measurement Range / Coordinate System Orientation Specifications • 729 Gocator Line Profile Sensors: User Manual...
Page 730 Dimensions Envelope Specifications • 730 Gocator Line Profile Sensors: User Manual...
Page 731: Gocator 2150 And 2350
Gocator 2150 and 2350 Field of View / Measurement Range / Coordinate System Orientation Specifications • 731 Gocator Line Profile Sensors: User Manual...
Page 732 Dimensions Specifications • 732 Gocator Line Profile Sensors: User Manual...
Page 733 Envelope Specifications • 733 Gocator Line Profile Sensors: User Manual...
Page 734: Gocator 2170 And 2370
Gocator 2170 and 2370 Field of View / Measurement Range / Coordinate System Orientation Specifications • 734 Gocator Line Profile Sensors: User Manual...
Page 735 Dimensions Specifications • 735 Gocator Line Profile Sensors: User Manual...
Page 736 Envelope Specifications • 736 Gocator Line Profile Sensors: User Manual...
Page 737: Gocator 2375
Gocator 2375 Field of View / Measurement Range / Coordinate System Orientation Specifications • 737 Gocator Line Profile Sensors: User Manual...
Page 738 Dimensions Specifications • 738 Gocator Line Profile Sensors: User Manual...
Page 739 Envelope Specifications • 739 Gocator Line Profile Sensors: User Manual...
Page 740: Gocator 2180 And 2380
Gocator 2180 and 2380 Field of View / Measurement Range / Coordinate System Orientation Specifications • 740 Gocator Line Profile Sensors: User Manual...
Page 741 Dimensions Specifications • 741 Gocator Line Profile Sensors: User Manual...
Page 742 Envelope Specifications • 742 Gocator Line Profile Sensors: User Manual...
Page 743: Gocator 2400 Series
Gocator 2400 Series The Gocator 2400 series consists of the following models: MODEL 2410 2420 2430 2440 1710 1940 1500 1500 Data Points / Profile 0.015 0.006 0.01 0.01 Linearity Z (+/- % of MR) Resolution Z (µm) 1.8 - 3.0 6 - 14 13 - 37 5.8 - 6.2...
Page 744 Specifications stated are based on standard laser classes. Linearity Z, Resolution Z, and Repeatability Z may vary for other laser classes. 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.
Page 745: Gocator 2410
Gocator 2410 Field of View / Measurement Range / Coordinate System Orientation Specifications • 745 Gocator Line Profile Sensors: User Manual...
Page 746 Dimensions Specifications • 746 Gocator Line Profile Sensors: User Manual...
Page 747 Envelope Specifications • 747 Gocator Line Profile Sensors: User Manual...
Page 748: Gocator 2420
Gocator 2420 Field of View / Measurement Range / Coordinate System Orientation Specifications • 748 Gocator Line Profile Sensors: User Manual...
Page 749 Dimensions Specifications • 749 Gocator Line Profile Sensors: User Manual...
Page 750 Envelope Specifications • 750 Gocator Line Profile Sensors: User Manual...
Page 751: Gocator 2430
Gocator 2430 Field of View / Measurement Range / Coordinate System Orientation Specifications • 751 Gocator Line Profile Sensors: User Manual...
Page 752 Dimensions Envelope Specifications • 752 Gocator Line Profile Sensors: User Manual...
Page 753: Gocator 2440
Gocator 2440 Field of View / Measurement Range / Coordinate System Orientation Specifications • 753 Gocator Line Profile Sensors: User Manual...
Page 754 Dimensions Envelope Specifications • 754 Gocator Line Profile Sensors: User Manual...
Page 755: Gocator 2500 Series
Gocator 2500 Series The Gocator 2500 series consists of the following models: MODEL 2510 2520 1920 1920 Data Points / Profile 13.0 - 17.0 Resolution X (µm) (Profile Data Interval) Linearity Z (+/- % of MR) 0.015% 0.006% Repeatability Z (µm) 17.0 47.5 Clearance...
Page 756: Gocator 2510
Linearity Z is the worst case difference in average height measured, compared to the actual position over the measurement range. Resolution X is the distance between data points along the laser line. 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.
Page 757 Dimensions Envelope Specifications • 757 Gocator Line Profile Sensors: User Manual...
Page 758: Gocator 2520
Gocator 2520 Field of View / Measurement Range / Coordinate System Orientation Specifications • 758 Gocator Line Profile Sensors: User Manual...
Page 759 Dimensions Specifications • 759 Gocator Line Profile Sensors: User Manual...
Page 760: Estimated Performance
Envelope Estimated Performance This section provides estimated measurement tool performance. The following hardware was used to produce the estimates: Intel i7 5960X 16 GB RAM Windows 8.1 Pro Graphics Card NVIDIA GeForce GTX 970 12 GB DDR5 RAM The following table lists the running time of various measurement tools, with and without GoMax, as well as the performance increase factor when running with GoMax.
Page 761 Note that although sensor models and job file configurations will affect running times, the performance increase factor for tools should be consistent across models and configurations. Gocator 2510 Performance Increase Factors Running Time Running Time with GoMax Measurement Tool Performance Increase Factor on Sensor (ms) (ms) Surface Hole...
Page 762: 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 763: Gocator 2880
Gocator 2880 Field of View / Measurement Range / Coordinate System Orientation Specifications • 763 Gocator Line Profile Sensors: User Manual...
Page 764 Dimensions Specifications • 764 Gocator Line Profile Sensors: User Manual...
Page 765 Envelope Specifications • 765 Gocator Line Profile Sensors: User Manual...
Page 766: 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 767: Power
Power Apply positive voltage to DC_24-48V. See Gocator 2100 & 2300 Series on page 720 or Gocator 2400 Series on page 743 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 768: 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 769: Inverting Outputs
Digital outputs cannot be used when taking scans using the Snapshot button, which takes a single scan and is typically used to test measurement tool settings. Digital outputs can only be used when a sensor is running, taking a continuous series of scans. Out_1 (Collector –...
Page 770: Encoder Input
Active High If the supplied voltage is greater than 24 V, connect an external resistor in series to the positive. The resistor value should be R = [(Vin-1.2V)/10mA]-680. 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.
Page 771: Serial Output
four quadrature signals (A+ / A- / B+ / B-). Because Gocator reads each of the four quadrature signals, you should choose an encoder accordingly, given the resolution required for your application. Serial Output Serial RS-485 output is connected to Serial_out as shown below. Function Pins Serial_out...
Page 772 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 773: 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 124. 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 774: Master 100 Dimensions
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 • 774 Gocator Line Profile Sensors: User Manual...
Page 775: 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 776: 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 777 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 778: Master 400/800 Dimensions
Master 400/800 Dimensions The dimensions of Master 400 and Master 800 are the same. Specifications • 778 Gocator Line Profile Sensors: User Manual...
Page 779: 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 provided adapters (for more information, see Installing DIN Rail Clips: Master 810 or 2410 on page 38).
Page 780 For information on configuring the DIP switches, see Configuring Master 810 on page 40. 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 781: 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 784. Encoder (11 pin connector) Function Encoder_A_Pin_1...
Page 782: 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 784.
Page 783 To determine how to wire a Master to an encoder, see the illustrations below. Single-Ended 5 VDC Single-Ended 12 VDC Specifications • 783 Gocator Line Profile Sensors: User Manual...
Page 784: 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 • 784 Gocator Line Profile Sensors: User Manual...
Page 785 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 786: Master 810 Dimensions
Master 810 Dimensions With 1U rack mount brackets: With DIN rail mount clips: Older revisions of Master 810 and 2410 network controllers use a different configuration for the DIN rail clip holes. For information on installing DIN rail clips, see Installing DIN Rail Clips: Master 810 or 2410 on page 38. The CAD model of the DIN rail clip is available at https://www.winford.com/products/cad/dinm12-rc.igs.
Page 787: Master 2410 Dimensions
Master 2410 Dimensions With 1U rack mount brackets: With DIN rail mount clips: Older revisions of Master 810 and 2410 network controllers use a different configuration for the DIN rail clip holes. For information on installing DIN rail clips, see Installing DIN Rail Clips: Master 810 or 2410 on page 38. The CAD model of the DIN rail clip is available at https://www.winford.com/products/cad/dinm12-rc.igs.
Page 788: 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 789: 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 790: 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 791: 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 792 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 793: 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 794: 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 795 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 796 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 797 copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: 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 MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
Page 798 Licensed under the MIT License (http://www.opensource.org/licenses/mit-license.php) 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) EtherNet/IP Communication Stack Website: sourceforge.net/projects/opener...
Page 799: 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 800: 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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