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MIKROELEKTRONIK GMBH
Intelligente Sensoren & Mess-Systeme
M2-iLAN
Laser-Scanner
M2D Laser Scanner
with integrated Ethernet-Interface
TCP/UDP
User Manual
MEL Mikroelektronik GmbH
Breslauer Str. 2
D-85386 Eching
Tel. +49 89 / 327 150-0
Fax +49 89 / 319 20 23
www.MELsensor.de
March 2010
©
Copyright MEL Mikroelektronik GmbH, 2006 ... 2010
HB-M2-iLAN-UDP-E.doc
page 1 of 44
MEL Mikroelektronik GmbH, Breslauer Str. 2, 85386 Eching / Germany
www.MELSensor.de
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Summary of Contents for MEL M2-iLAN Series
- Page 1 Tel. +49 89 / 327 150-0 Fax +49 89 / 319 20 23 www.MELsensor.de March 2010 © Copyright MEL Mikroelektronik GmbH, 2006 ... 2010 HB-M2-iLAN-UDP-E.doc page 1 of 44 MEL Mikroelektronik GmbH, Breslauer Str. 2, 85386 Eching / Germany www.MELSensor.de...
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Page 2: Table Of Contents
Register 0x1B: Profile peak recognition threshold ...................... 21 HDR-shutter control, Register 0x24 (36)........................22 M2DF/LAN-Structure of Image Data........................... 22 Read out complete image ............................23 HB-M2-iLAN-UDP-E.doc page 2 of 44 MEL Mikroelektronik GmbH, Breslauer Str. 2, 85386 Eching / Germany www.MELSensor.de... -
Page 3: Firmware-Version
Controller Firmware Revision 2.0.59 This manual describes the installation of the scanner hardware and the use of MEL demo and calibration software. The manual has been changed to the new version of hardware. With the transit to the revision 4 hardware, the electronic system has been equipped with M12 connectors. -
Page 4: System Description
Scanner to the PC use a cross-wired cable. Picture at the right side: Connecting a scanner with switch and PC. HB-M2-iLAN-UDP-E.doc page 4 of 44 MEL Mikroelektronik GmbH, Breslauer Str. 2, 85386 Eching / Germany www.MELSensor.de... -
Page 5: Multi-Scanner Arrays
The connector for the control cable is male. The controls & power cable has a female connector and at the other end is either with open leads for clamps or with a male connector. HB-M2-iLAN-UDP-E.doc page 5 of 44 MEL Mikroelektronik GmbH, Breslauer Str. 2, 85386 Eching / Germany www.MELSensor.de... -
Page 6: Connectors
IEEE 802.3af standard. Details are given in the TE-M2-iLAN-connection-E.pdf. Cables following this definition are available from MEL on request. * single cable attachment: connection with a single cable specified for use with robots. -
Page 7: Special Accessories
Connecting cable M12-4pin crossed Ethernet cable with RJ-45 EthRJ45-X-Cbl-M12-custom i.550.043 Cable length customer specific ↑ M2-RS232-ProgBox M2-W-iLAN-80/40/55 → Scanner head with air / water cooling option HB-M2-iLAN-UDP-E.doc page 7 of 44 MEL Mikroelektronik GmbH, Breslauer Str. 2, 85386 Eching / Germany www.MELSensor.de... -
Page 8: Technical Data
57.600 Baud The RS 232 interface does not carry profile data or scanner control information. Software: the current release of the MEL „EthernerScanner.exe“ Demo- and configuration software is available as download from MEL FTP-Server: ftp://melsensor.de. Call MEL hotline for further details. -
Page 9: Communication Between Electronic System And Pc
The Web Browser will then display a message to make you aware of the change. When you receive this message connect to the scanner with the new IP address. HB-M2-iLAN-UDP-E.doc page 9 of 44 MEL Mikroelektronik GmbH, Breslauer Str. 2, 85386 Eching / Germany www.MELSensor.de... -
Page 10: Resolve Ip Address Conflicts
This means, the scanner can communicate only with one PC at a time. Besides the communication over TCP at any time, from any other PC a http request (Web browser) could be made. HB-M2-iLAN-UDP-E.doc page 10 of 44 MEL Mikroelektronik GmbH, Breslauer Str. 2, 85386 Eching / Germany www.MELSensor.de... -
Page 11: Mel Configuration Software „Ethernetscanner-2008
After the Start of the Scanner (switch on power), the configuration of the scanner is loaded from the internal EPROM to the micro controllers memory. The MEL demo software then shows the following information: TCP/IP Address, Port and MAC Address... -
Page 12: Temperature Monitoring
The effect of erasing reflections and unwanted profile noise is due to removing these data before creating the profile. This is a function of the FPGA processing inside the scanner head. HB-M2-iLAN-UDP-E.doc page 12 of 44 MEL Mikroelektronik GmbH, Breslauer Str. 2, 85386 Eching / Germany www.MELSensor.de... -
Page 13: Scanner Controls
HB-M2-iLAN-UDP-E.doc page 13 of 44 MEL Mikroelektronik GmbH, Breslauer Str. 2, 85386 Eching / Germany www.MELSensor.de... -
Page 14: Udp Transmission Mode
UDP mode and then click the command bar button below “activate new IP”. The system will reload and connect to the designated values and mode. HB-M2-iLAN-UDP-E.doc page 14 of 44 MEL Mikroelektronik GmbH, Breslauer Str. 2, 85386 Eching / Germany www.MELSensor.de... -
Page 15: Data Format And Interface Description
The last 3 Bytes before the end of the transmission block is the FiFO fill status data. Tipp: the protocol-Version is given in the Header, Byte 60. HB-M2-iLAN-UDP-E.doc page 15 of 44 MEL Mikroelektronik GmbH, Breslauer Str. 2, 85386 Eching / Germany www.MELSensor.de... -
Page 16: 0X21: Info Telegram: Scanner Status Information
0xxxxxxx 1xxxxxxx Tipp: if not otherwise stated: for registers Bit 7 is not used and always 0. for data, Bit 7 is always high. HB-M2-iLAN-UDP-E.doc page 16 of 44 MEL Mikroelektronik GmbH, Breslauer Str. 2, 85386 Eching / Germany www.MELSensor.de... -
Page 17: Scanner Controls
Not used Do not use! 0x28 Not used Do not use! 0x29 Eprom command Register MEL internal register – do not use! 0 = deactivated HB-M2-iLAN-UDP-E.doc page 17 of 44 MEL Mikroelektronik GmbH, Breslauer Str. 2, 85386 Eching / Germany www.MELSensor.de... -
Page 18: Data Format
2045..47 FiFO 3 Bytes FiFO-fill status The Data packet has always the length of 2048 Bytes. * iLAN Scanner supports only data format 3. HB-M2-iLAN-UDP-E.doc page 18 of 44 MEL Mikroelektronik GmbH, Breslauer Str. 2, 85386 Eching / Germany www.MELSensor.de... -
Page 19: Meaning Of The Status Byte 2 Depending From Register 0X11
Bit Nr. Meaning Digital input 1 Digital input 2 Bit for Sensor with a mirror ; „1“ = with mirror 7...3 NC always 0 HB-M2-iLAN-UDP-E.doc page 19 of 44 MEL Mikroelektronik GmbH, Breslauer Str. 2, 85386 Eching / Germany www.MELSensor.de... -
Page 20: Value = [13]: Laser Control Bit 2
// Version x 10 = 3.6; Integer Status Register 14 2 // natural number = 1, 2, 3 … Integer Reg. value Bit Nr. Meaning 7 ... 0 always 0 HB-M2-iLAN-UDP-E.doc page 20 of 44 MEL Mikroelektronik GmbH, Breslauer Str. 2, 85386 Eching / Germany www.MELSensor.de... -
Page 21: Value = [32
When no improvement is achieved, you should immediately set back default value = see page 17. HB-M2-iLAN-UDP-E.doc page 21 of 44 MEL Mikroelektronik GmbH, Breslauer Str. 2, 85386 Eching / Germany www.MELSensor.de... -
Page 22: Hdr-Shutter Control, Register 0X24 (36)
The combination of both pictures in software will give a picture representing as well high light and shadows in the best way. MEL now offers a HDR option for the M2-iLAN scanners. Linearized and not linearized Each field has the number of pixels = lines / 2 of the CCD. -
Page 23: Read Out Complete Image
Status, Serial number, Version of Hardware, Version of Software Version of Firmware, Version of Eproms MAC-address, Gateway Address Default IP-Address, working IP-Address, Subnet mask HB-M2-iLAN-UDP-E.doc page 23 of 44 MEL Mikroelektronik GmbH, Breslauer Str. 2, 85386 Eching / Germany www.MELSensor.de... - Page 24 ClientIP:192.168.123.129:1378 FiFo:0 0 0 The scanner continues sending “connection status messages” like in the last lines every second. These messages may show that the scanner is “alive”. HB-M2-iLAN-UDP-E.doc page 24 of 44 MEL Mikroelektronik GmbH, Breslauer Str. 2, 85386 Eching / Germany www.MELSensor.de...
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Page 25: Web-Server
IP address. Tipp: the Web-Server provides a profile snapshot, when you click on the link Scan-Profile-View: see picture next page! HB-M2-iLAN-UDP-E.doc page 25 of 44 MEL Mikroelektronik GmbH, Breslauer Str. 2, 85386 Eching / Germany www.MELSensor.de... -
Page 26: Requirements For Connection To Scanner
When the ping does not respond and the scanner is unreachable for the PC, check your network settings. Tipp: IP address set up can not be accessed while the scanner is in flashing operation mode. HB-M2-iLAN-UDP-E.doc page 26 of 44 MEL Mikroelektronik GmbH, Breslauer Str. 2, 85386 Eching / Germany www.MELSensor.de... -
Page 27: Updating (Flashing) Firmware
Before you rewrite the firmware, optionally you may use the startBackup.bat to read out the memory contents for diagnosis. StartBackup.bat creates a text file. Send this text file to MEL for diagnosis in case of problems! The Flash-Tool “Flashm16.exe” will be delivered from MEL on request together with the binary data file of the firmware. -
Page 28: Updating (Flashing) Over The Ethernet
Close Flash Tool Normal operation * The Prog. switch connects Sync-Out to Digital Input 1 A service adapter is available as special accessory from MEL, see page 7: M2-RS-232 ProgBox. The Controller-Firmware of the Scanners can be uploaded through the Ethernet connection. -
Page 29: Trouble Shooting
Message: can not load programming mode switch, the correct firmware file firmware file then power up again holding the Prog switch for a second HB-M2-iLAN-UDP-E.doc page 29 of 44 MEL Mikroelektronik GmbH, Breslauer Str. 2, 85386 Eching / Germany www.MELSensor.de... -
Page 30: Example Code For Software Engineers
Disclaimer: MEL does not make warranty for correct function and completeness of the example code nor does MEL assume that code fragments are bug free. The use of the example code is at customers risk and with the sole responsibility of the customer’s software engineers. MEL can not take any responsibility, that the code provided is free from third party rights, pending software patents or bug free. -
Page 31: Command: 0X21 (Dump)
These examples have been taken from the M2Dmini.c. For use as a complete package, download M2Dmini.c and header file M2Dmini.h from the MEL FTP-Server. Please consider updates and bug fixes, when you have earlier versions of M2Dmini. [version = as of 2006-08-10]... - Page 32 1: ByteToM2 (inf, registerNr); M2DWait (inf,fio_Wait); ByteToM2(inf, (value & 0x7F) | 0x80); M2DWait(inf,fio_Wait), break; case 0: ByteToM2 (inf, registerNr); M2DWait (inf,fio_Wait); break; HB-M2-iLAN-UDP-E.doc page 32 of 44 MEL Mikroelektronik GmbH, Breslauer Str. 2, 85386 Eching / Germany www.MELSensor.de...
- Page 33 = ByteFromM2(inf); if(val == -1) return -1; return (tryCnt-8); // OK else{ synCnt = 0; tryCnt++; if(tryCnt == 8192){ return -2; // snyc not found HB-M2-iLAN-UDP-E.doc page 33 of 44 MEL Mikroelektronik GmbH, Breslauer Str. 2, 85386 Eching / Germany www.MELSensor.de...
- Page 34 == -1) return -1; v3=ByteFromM2(inf); if(v3 == -1) return -1; v4=ByteFromM2(inf); if(v4 == -1) return -1; x[i]=v0+(v1<<7); z[i]=v2+((v3<<7); intensity[i]=v4; break; default: return -3 return 0; HB-M2-iLAN-UDP-E.doc page 34 of 44 MEL Mikroelektronik GmbH, Breslauer Str. 2, 85386 Eching / Germany www.MELSensor.de...
- Page 35 M2DStatusInt(M2DInfo *inf, int start, int count, long *value) int i, res; int dat[8]; res=-1 ; if(count>8) count=8; for(i=0;i<count;i++){ res= M2DStatus(inf,i+start); if(res<0) break; dat[i] = inf->sync[3]; *value = DatToInt(dat,count); return res; HB-M2-iLAN-UDP-E.doc page 35 of 44 MEL Mikroelektronik GmbH, Breslauer Str. 2, 85386 Eching / Germany www.MELSensor.de...
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Page 36: Example: // Read Out Fifo Status And Sensor Temperature
*fanz = cnt; *scanner = 0x18; *scanner = 1 | 0x80; For (y = 0; y < 31 ; y++) *scanner = y |0x80 ; HB-M2-iLAN-UDP-E.doc page 36 of 44 MEL Mikroelektronik GmbH, Breslauer Str. 2, 85386 Eching / Germany www.MELSensor.de... - Page 37 *scanner = 127 | 0x80; … Approximately 15 µsec of wait are necessary to make sure, that data is valid. This timing depends on the CPU. HB-M2-iLAN-UDP-E.doc page 37 of 44 MEL Mikroelektronik GmbH, Breslauer Str. 2, 85386 Eching / Germany www.MELSensor.de...
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Page 38: Syntax Of Hdr Shutter Control
Ports are a part of the IP-address definition. When setting the working IP address, the port is defined accordingly. As a factory default setting at MEL, we always use port: 3000. You can use “any” port. Please consider, that some services use ports: Internet (http) = port : 80. -
Page 39: Ethernet Winsock Implementation
= TRUE; // get Socket for TCP=SOCK_STREAM sTCP = socket(AF_INET, SOCK_STREAM, 0); // socket-Error? if (sTCP == INVALID_SOCKET) sTCP = 0; bRunConnect = FALSE; TRACE("SocketError\n"); HB-M2-iLAN-UDP-E.doc page 39 of 44 MEL Mikroelektronik GmbH, Breslauer Str. 2, 85386 Eching / Germany www.MELSensor.de... - Page 40 Windows Socket functions and network programming can be found in the documentation of the Windows operating–system. the Scanner commands are listed in the register tables of this manual. HB-M2-iLAN-UDP-E.doc page 40 of 44 MEL Mikroelektronik GmbH, Breslauer Str. 2, 85386 Eching / Germany www.MELSensor.de...
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Page 41: Udp Implementation
= (atoi("3000") & 0xFF00) >> 8; //RechnerPort (port of the PC) chTemp[29] = atoi("3000") & 0x00FF; chTemp[30] = (atoi("3000") & 0xFF00) >> 8; chTemp[31] = m_bTCPUDPFlag; m_pCEthernetScannerDlg->SendToCurrentSelectedIP((unsigned char*)chTemp, 32); HB-M2-iLAN-UDP-E.doc page 41 of 44 MEL Mikroelektronik GmbH, Breslauer Str. 2, 85386 Eching / Germany www.MELSensor.de... - Page 42 M2i-LAN Laser-Scanner manual Note: the UDP transmission protocol has been implemented in a new project of the MEL EthernetScanner demo software. Typical TCP functions have been dropped as for example TCPClientThread (global)and EthTCPClientXReceivedData (global). This function receives the raw data from the Scanner and checks if it is correct:...
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Page 43: Maintenance
The Laser output is marked with an arrow on the case. The yellow label indicates laser power and wavelength. The table on the following page lists the typical laser parameters. HB-M2-iLAN-UDP-E.doc page 43 of 44 MEL Mikroelektronik GmbH, Breslauer Str. 2, 85386 Eching / Germany www.MELSensor.de... -
Page 44: Laser Power
– less sensitive to odd reflections Mar 2009 Flashing Controller Firmware over the network Dec 2009 Firmware Rev.2.0.59 / java applet Beta – current Beta rev. 2.0.64 HB-M2-iLAN-UDP-E.doc page 44 of 44 MEL Mikroelektronik GmbH, Breslauer Str. 2, 85386 Eching / Germany www.MELSensor.de...
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