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LMI Gocator 1100 Series Manual

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Gocator 1100 & 1300 Series
USER'S MANUAL
Version 3.4.1.145 Revision: A

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Summary of Contents for LMI Gocator 1100 Series

  • Page 1 Gocator 1100 & 1300 Series USER’S MANUAL Version 3.4.1.145 Revision: A...
  • Page 2 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: Introduction

    Introduction The Gocator 1100 and 1300 series of laser displacement 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. This guide describes the installation and use of Gocator sensors. Notational Conventions This guide uses the following notational conventions: Warning...

  • Page 4: Table Of Contents

    Table of Contents Introduction Range Mode Table of Contents Region Definition View Options Range Output Coordinate Systems Safety and Maintenance Intensity Output Trigger Laser Safety Examples Laser Classes Settings Precautions and Responsibilities Active Area Class 3B Responsibilities Exposure Systems Sold or Used in the USA Single Exposure Electrical Safety Dynamic Exposure...
  • Page 5 Analog Output Configuration Files Serial Output Setup Range Output Calibration File Toolbar SysCal Discovery Commands Saving and Loading Settings Get Address Managing Multiple Settings Set Address Recording and Playback Upgrade Commands Downloading, Exporting and Uploading Get Protocol Version Recorded Data Start Upgrade Get Upgrade Status Get Upgrade Log...
  • Page 6 Specification Health Results Gocator 1100 Series Gocator 1120 Gocator 1125 Modbus TCP Protocol Gocator 1150 Concepts Gocator 1160 Messages Gocator 1165 Registers Gocator 1170 Control Registers Gocator 1190 Output Registers Gocator 1000 Power/LAN Connector Measurement Registers Grounding Shield Power Laser Safety Input...
  • Page 7 Software Licenses Support Gocator 1100 & 1300 Series...

  • Page 8: Safety And Maintenance

    Safety and Maintenance Laser Safety Gocator sensors contain semiconductor lasers that emit visible light and are designated as Class 2M, Class 3R, or Class 3B, LASER depending on the chosen laser option. Gocator sensors are referred to as components, indicating that SENSOR they are sold only to qualified customers for incorporation into their own equipment.

  • Page 9: Laser Classes

    Laser Classes Class 2M laser components Class 2M laser components would not cause permanent LASER RADIATION damage to the eye under reasonably foreseeable DO NOT STARE INTO THE BEAM OR VIEW DIRECTLY WITH OPTICAL conditions of operation, provided that any exposure INSTRUMENTS OR MAGNIFIERS CLASS 2M LASER PRODUCT can be terminated by the blink reflex (assumed to take...

  • Page 10: Precautions And Responsibilities

    Required for operator and maintenance personnel maintenance personnel *LMI Class 3B laser components do not incorporate these laser safety items. These items must be added and completed by the customer in their system design. Class 3B Responsibilities LMI Technologies has filed reports with the FDA to assist customers in achieving certification of laser products.

  • Page 11: Systems Sold Or Used In The Usa

    IEC warning sign example FDA warning sign example Systems Sold or Used in the USA Systems that incorporate laser components or laser products manufactured by LMI Technologies require certification by the FDA. Customers are responsible for achieving and maintaining this certification.

  • Page 12: Electrical Safety

    Electrical Safety Sensors should be connected to earth ground All sensors should be connected to earth ground through their housing. All sensors should be mounted on an earth grounded frame using electrically conductive hardware to ensure the housing of the sensor is connected to earth ground.

  • Page 13: Environment And Lighting

    Turn off lasers when not in use LMI Technologies uses semiconductor lasers in 3D measurement 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 14: Getting Started

    Getting Started System Overview Gocator sensors can be installed and used in a variety of scenarios. Sensors can be connected as standalone devices, dual sensor (Main and Buddy) system, or multi-sensor system. Standalone System Standalone systems are typically used when only a single Gocator sensor is required. The sensor 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 15: Dual Sensor System

    Dual Sensor System In a dual sensor system, two Gocator sensors work together to perform ranging and output the combined results. The controlling sensor is referred to as the Main sensor, and the helper is referred to as the Buddy sensor. Gocator’s software recognizes three installation orientations – None, Opposite and Wide.

  • Page 16: Multi-Sensor System

    Multi-Sensor System Master 400/800/1200/2400 networking hardware can be used to connect two or more sensors into a Multi-sensor system. Gocator Master cordsets are used to connect the sensors to a Master. The Master provides a single point of connection for power, safety, encoder and digital inputs. A Master 400/800/1200/2400 can be used to ensure that the scan timing is precisely synchronized across sensors.

  • Page 17: Hardware

    Hardware Gocator 1100 Sensor CAMERA LASER EMITTER SERIAL NUMBER POWER, RANGE AND LASER INDICATOR I/O CONNECTOR POWER/LAN CONNECTOR Item Description Camera Observes laser light reflected from target surfaces. Laser Emitter Emits structured light for laser ranging. 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 18: Master 100

    Master 100 The Master 100 is used by the Gocator 1100 and 1300 series for standalone system setup. The Master 100 is designed for development use only. Master Ethernet Port Master Host Port Master Power Port 48V Power Supply* (Pin 1) Sensor IO Port (Pin 1) Encoder/Output Port...
  • Page 19 Master 400/800 SENSOR PORTS 1-4 LED INDICATORS MASTER 400 FRONT SENSOR PORTS 5-8 SENSOR PORTS 1-4 LED INDICATORS MASTER 400 FRONT MASTER 400/800 REAR POWER AND SAFETY ENCODER INPUT Item Description Sensor Ports Master connection for Gocator sensors (no specific order required). Ground Connection Earth ground connection point.

  • Page 20: Master 1200/2400

    Master 1200/2400 SENSOR PORTS 1-12 LED INDICATORS MASTER 1200 FRONT SENSOR PORTS 13-24 (2400 ONLY) SENSOR PORTS 1-12 LED INDICATORS MASTER 2400 FRONT MASTER 1200/2400 REAR GROUND CONNECTION POWER AND SAFETY ENCODER INPUT Item Description Sensor Ports Master connection for Gocator sensors (no specific order required). Ground Connection Earth ground connection point.

  • Page 21: Gocator Cordsets

    CORDSET, GOCATOR POWER TO MASTER, Xm for pinout details. Refer to Parts and Accessories (page 202) for cordset lengths and part numbers. Contact LMI for information on creating cordsets with customized length or connector orientation. The maximum cordset length is 60m.

  • Page 22: Calibration Targets

    Calibration Targets Calibration targets are used for travel calibration. It provides a step change of known dimensions (in the Y-axis) which allows sensor to calculate the Z-offset and encoder resolution of the system. Calibration bar with known height and width Refer to Calibration (page 69) for more information on calibration procedures.

  • Page 23: Installation

    Installation Grounding - Gocator Gocators should be grounded to the earth/chassis through their housings and through the grounding shield of the Power I/O cordset. Gocator sensors have been designed to provide adequate grounding through the use of M6 x 1.0 pitch mounting screws. Always check grounding with a multi-meter to ensure electrical continuity between the mounting frame and the Gocator's connectors.

  • Page 24: Mounting

    Mounting Sensors should be mounted using four M6 x 1.0 pitch screws of suitable length. The recommended thread engagement into the housing is 8 - 10 mm. Proper care should be taken in order to ensure that the internal threads are not damaged from cross-threading or improper insertion of screws. Sensors should not be installed near objects that might occlude a camera’s view of the laser.

  • Page 25: Orientations

    Orientations The examples below illustrate the possible mounting orientations for standalone and dual sensor system. For more information on orientations, refer to Dual Sensor System Layout (page 57). Single Sensor Orientations: Single sensor above conveyor Single sensor on robot arm Gocator 1100 &...
  • Page 26 Dual Sensor System Orientations: MAIN BUDDY CLEARANCE DISTANCE (CD) MEASUREMENT RANGE (MR) Side-by-side for wide-area measurement (Wide) Main must be on the left side (when looking into the connector) of the Buddy (Wide) MAIN CLEARANCE DISTANCE (CD) MEASUREMENT RANGE (MR) CLEARANCE DISTANCE (CD) BUDDY...

  • Page 27: Software

    Software User Interface Overview Gocator sensors are configured by connecting to a Main sensor with a web browser. The Gocator web interface is illustrated below. Element Description Connection Page For network configuration and maintenance. Setup Page For configuring settings such as trigger source and exposure, and to perform calibration steps.

  • Page 28: Connecting To A New Sensor

    Connecting to a New Sensor Sensors are shipped with the following default network configuration: Setting Default DHCP Disabled IP Address 192.168.1.10 Subnet Mask 255.255.255.0 Gateway 0.0.0.0 All Gocator sensors are configured to 192.168.1.10 as the default IP address. For a dual sensor system, the Main and Buddy sensors must be assigned unique addresses before they can be used on the same network.
  • Page 29 Mac OS X v.10.6: » Open the Network Pane in System Preferences and select Ethernet. » Set Configure to “Manually”. » Enter IP Address “192.168.1.5” and Subnet Mask “255.255.255.0”, then click Apply. 3 Enter the sensor's IP address 192.168.1.10 in a http://192.168.1.10 web browser.

  • Page 30: Running For The First Time

    Running for the First Time The Gocator is shipped with a default configuration that will produce laser ranges on most targets. The following sections walk through the steps required to setup the sensor(s) to produce laser ranges. Running a Standalone Sensor System After the sensor is installed, laser ranging can be exercised to verify basic sensor operation.
  • Page 31 5 Specify the Connect To setting. The Connect To setting specifies whether the sensor system is standalone, connected to a Master 100 or a Master 400/800/1200/2400. For single sensor operations select Standalone or Master 100. 6 Ensure that the Data Source selector is showing LIVE.

  • Page 32: Running A Dual Sensor System

    Running a Dual Sensor System After the sensors are installed, laser ranging can be exercised to verify basic sensor operation. To run a dual sensor setup for the first time: 1 Turn off the sensors and unplug the Ethernet network connection of the Main sensor. All sensors are shipped with a default IP address of MAIN 192.168.1.10.
  • Page 33 6 Modify the IP address to 192.168.1.11 in the Network settings and click the Save button. When you click the Save button, you will be prompted to confirm your selection. 7 Turn off the sensors, re-connect the Main sensor's Ethernet connection and power-cycle the sensors.
  • Page 34 11 Specify the Connect To setting. The Connect To setting specifies whether the sensor system is standalone or connected to a Master 400/800/1200/2400. For dual sensor operation select Master 400/800/1200/2400. 12 Go to Connection Page > Available Sensors panel. The serial number of the Buddy sensor is listed in the Available Sensors panel.
  • Page 35 18 Move a target into the laser plane. If a target object is within the sensor’s measurement range, the Data Viewer will display the distance to the target and the sensor’s Range Indicator LED will illuminate. Click the Main and Buddy button under the Setup Page to view the range data from the main and buddy sensor If you cannot see the laser, or if a range is...

  • Page 36: Next Steps

    Next Steps After completing the steps in this chapter, the Gocator measurement system is ready to be configured for an application using the software interface. The interface is explained in the following chapters: Setup and Calibration (page 37) Fine tunes laser ranging for an application. Measurement (page 63) Programs measurements on sensors that are equipped with measurement tools.

  • Page 37: Setup And Calibration

    Setup and Calibration Setup Page This chapter describes the steps to configure Gocator sensors for laser ranging using the Setup Page. Setup and calibration steps should be performed before programming measurements or outputs. Element Description Operation Mode Panel Use the Operation Mode panel to set the current operation mode (Video or Range) and other options.
  • Page 38 The following table provides quick references for specific goals that users could achieve from the panels in the setup page. Goal References Select a trigger source that is appropriate for the application. Trigger (page 46) Ensure that camera exposure is appropriate for laser ranging. Exposure (page 53) Find the right balance between range quality, speed, and CPU utilization.

  • Page 39: Operation Modes

    Operation Modes The Gocator web interface supports two operation modes: Video and Range. The operation mode can be selected in the Operation Mode panel. Mode and Option Description Video Output video images from the Gocator. This mode is useful for configuring exposure time and troubleshooting stray light or ambient light problems.

  • Page 40: Data Viewer

    Data Viewer The Data Viewer can display video images, range plots and intensity images. It is also used to configure active area and measurement tools. Its use is dependent on the current operation mode and the panel selection. Video Mode The Data Viewer displays camera images.

  • Page 41: Range Mode

    Range Mode In range mode, the Data Viewer displays ranges. In a dual sensor system, ranges from individual sensors or from a combined view can be displayed. While in the Setup Page, selecting a panel (e.g. Sensor Panel or Layout Panel) will automatically set the display to the most appropriate display view.

  • Page 42: Region Definition

    Region Definition The Data Viewer can also be used to define a region of interest. To setup a region of interest: 1 Move the mouse cursor to the rectangle. The rectangle is automatically displayed when a setup or measurement requires an area to be specified. 2 Drag the rectangle to move it, and use the handles on the rectangle’s border to resize it.

  • Page 43: Range Output

    Range Output Gocator measures the height of the object calculated from laser triangulation. The measurement is referred to as ranges and is reported as the distance from the sensor origin. Coordinate Systems Range data is reported in sensor or system coordinates depending on the calibration state. The coordinate systems are described below.
  • Page 44 System Coordinates MAIN BUDDY Alignment calibration or travel calibration can be used to establish a common coordinate system for the Main and Buddy sensors. System coordinates are aligned such that the system Z-origin is set to the base of the calibration target object.

  • Page 45: Intensity Output

    Intensity Output Gocator sensors can produce intensity data that measure the amount of light reflected by an object. An 8-bit intensity value is output for each range value along the laser line. Gocator 1100 & 1300 Series Setup •...

  • Page 46: Trigger

    Trigger A trigger is an event that causes a sensor to take a single picture. When a trigger is processed, the laser is strobed and the camera exposes to produce an image. The resulting image is processed inside the sensor to yield a laser range (distance information), which can then be used for measurement. The laser and camera inside a sensor can be triggered by one of four sources: Trigger Source Description...
  • Page 47 Trigger Source Description Encoder 3. Bi-directional A scan is triggered when the target object moves forward or backward. 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.

  • Page 48: Examples

    Examples Example: Encoder + Conveyor Encoder triggering is used to perform range 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 49 Example: Software Trigger + Robot Arm Software triggering can be used to produce a snapshot for range measurement. A software trigger can be used in systems that employ external software to orchestrate the activities of system components. Gocator 1100 & 1300 Series Setup •...

  • Page 50: Settings

    Settings The trigger source is selected using the Trigger panel in the Setup page. After specifying a trigger source, the Trigger Panel will show the parameters that can be configured. Parameters Trigger Source Description Trigger Selects the trigger source. (Time, Encoder, External Input, or Software) Max Frame Rate Reports the maximum frame rate, which is a function of the current Active Area, Exposure, and Resolution settings.

  • Page 51: Active Area

    Active Area Active area refers to the region within the sensor’s maximum field of view that is used for laser ranging. By default, the active area covers the sensor’s entire field of view. Users can reduce the active area. Active area is specified in sensor coordinates, rather than system coordinates.
  • Page 52 Laser ranging devices are usually more accurate at the near end of the measurement range. If your application requires a measurement range that is small relative to the maximum measurement range of the sensor, mount the sensor such that the active area can be specified at the near end of the measurement range.

  • Page 53: Exposure

    Exposure Exposure determines the duration of camera and laser on-time. Longer exposures can be helpful to detect laser signals on dark or distant surfaces, but increasing exposure time decreases the maximum speed. Different target surfaces could require different exposures for optimal results. Gocator sensors provide two exposure modes for the flexibility needed to scan different types of target surfaces.

  • Page 54: Single Exposure

    Single Exposure The sensor uses a fixed exposure in every scan. The is used when the target surface is uniform and is the same for all targets. To enable single exposure: 1 Place a representative target in view of the sensor. The target surface should be similar to the material that will normally be measured.

  • Page 55: Dynamic Exposure

    Dynamic Exposure The sensor automatically uses past range information to adjust the exposure to yield the best range. This is used when the target surface changes from scan to scan. To enable dynamic exposure: 1 Select Range Mode. 2 Navigate to the Sensor panel for the Main or Buddy sensor. Click the arrow next to Exposure to expand the panel.

  • Page 56: Transformations

    Transformations The transformation settings are used to control how ranges are converted from sensor coordinates to system coordinates. Element Description Z Offset Specifies the shift along the z-axis. A positive value shifts the range towards the sensor. Angle Specifies the angle of the sensor to the target. To configure transformation settings: 1 Select the Range Mode.

  • Page 57: Dual Sensor System Layout

    Dual Sensor System Layout Mounting orientations need to be specified for a dual sensor (Buddy) system. This information allows the Alignment or Travel Calibration procedures to determine the correct system-wide coordinates for laser ranging and measurements. Refer to Coordinate Systems (page 43) in this chapter for more information on sensor and system coordinates.

  • Page 58: Overlap

    Overlap If the Main and Buddy sensors are mounted such that the camera from one sensor can detect the laser from the other sensor, the Overlap feature can be used to eliminate laser interference. Overlap creates a time offset for laser exposures and ensures that interfering lasers are not strobed at the same time. Use of the overlap feature may reduce the maximum frame rate.

  • Page 59: Calibration

    Calibration Although Gocator sensors are pre-calibrated and ready to deliver ranges out of the box, calibration procedures are required to compensate for sensor mounting inaccuracies, to align multiple sensors into a common coordinate system, and to determine the resolution (with encoder) and speed of the transport system.

  • Page 60: Alignment Calibration

    Alignment Calibration Alignment calibration can be used to compensate for mounting inaccuracies by aligning sensor data to a common reference surface (often a conveyor belt). To perform alignment calibration: 1 Ensure that all sensors have a clear view of the target surface. Remove any irregular objects from the sensor's field of view that might interfere with alignment calibration.

  • Page 61: Travel Calibration

    Travel Calibration Travel calibration can be used to achieve alignment calibration and motion calibration in a single procedure. To perform travel calibration: 1 Place the calibration target prior to the laser plane. Remove extraneous objects from the transport system such that the calibration target will be the only object that is scanned.

  • Page 62: Clearing Calibration

    Clearing Calibration To clear calibration: 1 Navigate to the Calibration panel on the Setup page. 2 Click the Calibration or Clear Calibration button. If the Clear Calibration button is pressed, the calibration will be erased and sensors will revert to using Sensor Coordinates.

  • Page 63: Measurement

    Measurement Measurement Page Measurement tools are configured using the Measurement Page. The content of the Measurement Page is controlled by the current operation mode. In Range Mode, the Measurement Page displays tools for range measurement. The Measurement page is disabled in Video mode.

  • Page 64: Adding And Removing Measurements

    Adding and Removing Measurements To add a new range measurement: 1 Select the desired measurement type. Click on the item in the drop-down list next to Add Measurement to select the measurement type. 2 Press the Add button. A configuration panel for the new measurement will be added to the bottom of the stack. To remove a new range measurement: 1 Select the desired measurement.

  • Page 65: Changing The Measurement Name

    Changing the Measurement Name Each measurement can be assigned a unique name. This allows multiple measurements of the same type to be distinguished in the web interface. The name is also referenced by the Script tool. To edit a measurement name: 1 Click on the measurement name.
  • Page 66 Measurement ID Measurement ID is used to uniquely identify a measurement in the Gocator protocol or in the SDK. The value must be unique amongst all range measurements. To edit a measurement ID: 1 Select a measurement. Click on the + in a measurement panel to expand the panel. 2 Click on the measurement ID.

  • Page 67: Range Sources

    Range Sources For dual sensor systems, measurements must specify a range source. The range source determines the data that will be used for the measurement. The following options are available: Range Source Description Main Range data is provided by the Main sensor. This is the only option for standalone systems.

  • Page 68: Decisions

    Decisions Results from a measurement tool can be compared against minimum and maximum thresholds to generate pass / fail decisions. The decision state is pass (value displayed in green) if a measurement value is between the minimum and maximum threshold, otherwise the decision state is fail (value displayed in red).

  • Page 69: Output Filters

    Output Filters Filters can be applied to measurement values before they are output from the Gocator sensors. Two types of filters are supported. Operation Description Hold Last Valid Hold the last valid value when the measurement is invalid. Measurement is invalid if there is no valid value.

  • Page 70: Script Measurement

    Script Measurement A Script measurement can be used to program a custom measurement using a simplified C-based syntax. Similar to other measurement tools, a script measurement can produce a measurement value and a measurement decision. The following elements of the C language are supported: Supported Elements: Elements Supported...
  • Page 71 int Measurement_NameExists(char *name) Determines if a measurement exist by name. Parameter: name – name of a measurement Return: 0 – measurement does not exist 1 – measurement exists int Measurement_Id (char *name) Retrieves the measurement ID by the measurement name. Parameters: name –...
  • Page 72 int Memory_Exists (int id) Tests for the existence of a value by ID. Parameters: id – Value ID Returns: 0 – value does not exist 1 – value exists void Memory_Clear (int id) Erases a value associated with a ID. Parameters: id –...

  • Page 73: Range Measurement Tools

    Range Measurement Tools This chapter describes the range measurement tools available in sensors that are equipped with Measurement Tools. Measurement values are compared against minimum and maximum thresholds to yield decisions. Measurement Examples Difference Measures the differences between two features. Difference measurement can be used to calculate thickness or Difference warpage...

  • Page 74: Measurement Types

    Measurement Types Difference A difference measurement determines the difference along the z-axis between two laser ranges. The measurement value can be compared with minimum and maximum constraints to yield a decision. The difference can be expressed as an absolute or signed result. The difference is calculated by Difference = Range –...

  • Page 75: Position Z

    Position Z A Position Z measurement finds the z-axis position of the laser range. The measurement value can be compared with minimum and maximum constraints to yield a decision. To create or edit a Position Z measurement: 1 Add a new Position Z measurement or select an existing Position Z measurement. 2 Select the measurement Source.

  • Page 76: Script

    Script A Script measurement can be used to program a custom measurement using a simplified C based syntax. A script measurement can produce a measurement value and a measurement decision. Refer to Script Measurement (page 70) for more information on the script syntax. To create or edit a Script measurement: 1 Add a new Script measurement or select an existing Script measurement.

  • Page 77: Output

    Output Output Page Output configuration tasks are performed using the Output Page. Gocator sensors can transmit laser ranges and measurement results to a variety of external devices using a variety of output interface options. Element Description Ethernet Panel Use the Ethernet panel to select the data sources that will be transmitted via Ethernet. Digital Output 0 Panel Use the Digital Output 0 panel to select the data sources that will be combined to produce a digital output pulse on Output 0.

  • Page 78: Ethernet Control And Output

    Ethernet Control and Output A sensor uses TCP messages (Gocator Protocol) to exchange commands, video, laser range, intensity and measurement results with client computers. The sensor can also exchange commands and measurement results with a PLC using Modbus TCP or EtherNet/IP. Refer to Gocator Protocol (page 107), Modbus TCP Protocol (page 146) and EtherNet/IP Protocol for the specification of these protocols.
  • Page 79 To receive commands and send results using Modbus TCP messages: 1 Navigate to the Ethernet panel. 2 Select Modbus in the Protocol Option. Unlike using the Gocator Protocol, there is no need to select which measurement items to output. The Ethernet panel will list the register addresses that are used for Modbus TCP communication.
  • Page 80 To receive commands and send results using EtherNet/IP messages: 1 Navigate to the Ethernet panel. 2 Select EtherNet/IP in the Protocol Option. Unlike using the Gocator Protocol, there is no need to select which measurement items to output. The Ethernet panel will list the register addresses that are used for EtherNet/IP messages communication. The EtherNet/IP Protocol can be used to operate a sensor.

  • Page 81: Digital Outputs

    Digital Outputs Gocator sensors can convert measurement decisions or software commands to digital output pulses, which can then be used to output to a PLC or to control external devices, such as indicator lights or air ejectors. A digital output can act as a measurement valid signal to allow external devices to synchronize to the timing at which measurement results are output.
  • Page 82 If multiple decision sources are selected and assert mode is set to pass, the output is activated when all selected measurement decisions pass. Conversely, if assert mode is set to false, the output is activated when any one of the selected measurement decisions is false. 4 Specify a Signal type.
  • Page 83 To respond to software scheduled commands: 1 Navigate to the Digital Output 0 or Digital 1 panel. 2 Set Event to Software. 3 Specify a Signal type. The signal type specifies whether the digital output is a continuous signal or a pulsed signal. If the signal is continuous, its state is maintained until the next transition occurs.

  • Page 84: Analog Output

    Analog Output Gocator sensors can convert a measurement result or software request to an analog output. Each sensor supports one analog output channel. Refer to Analog Output (page 194) for information on wiring analog output to an external devices. To output measurement value or decision: 1 Navigate to the Analog panel.
  • Page 85 The values specified here determine the minimum and maximum current values in milliamperes. The invalid current value is used when a measurement value is not valid. If invalid is not checked, the output holds the last value when a measurement value is not valid. 6 Specify if the output is Immediate or Scheduled.

  • Page 86: Serial Output

    Serial Output The Gocator’s web interface can be used to select measurement values and decisions to be transmitted via RS-485 serial output. Each sensor has one serial output channel. Two protocols are supported: Gocator Serial Protocol and Selcom Serial Protocol. The Gocator serial protocol outputs data asynchronously using a single serial port.
  • Page 87 The values specified here determine how measurement values are scaled to the minimum and maximum current output. The Data Scale is specified in (um) for dimensional measurement, (0.001 mm ) for area, ) for volume and (0.001 degree) for angle results. The results are scaled according to the number of serial bits used to cover the data scale range.

  • Page 88: Toolbar

    Toolbar The tool bar is the central place for performing common operations. This chapter explains how to use the toolbar to manage the sensor configurations and to operate the sensor. Element Description Configuration Controls Use the configuration controls to manage sensor settings. Recorded Data Controls Use the recorded data controls to download, export and upload recorded data.

  • Page 89: Saving And Loading Settings

    Saving and Loading Settings When you change sensor settings using the Gocator web interface, some changes are saved automatically, while other changes are temporary until you take action to save them. The following table summarizes the types of information that can be saved in a sensor. Saved Information Information Type Behavior...
  • Page 90 To overwrite an existing configuration file: 1 Select an existing file name in the File Name drop list. 2 Click the Save button. A dialog will be prompted to confirm overwriting the existing files. The configuration will be saved to flash memory using the selected name.

  • Page 91: Managing Multiple Settings

    Managing Multiple Settings A Gocator can store multiple sets of configurations and templates. This can be used when one set of equipment is used for different purposes or with different constraints during separate production runs. For example, width decision constraints might be loose during one production run and tight during another depending on the desired grade of the part.

  • Page 92: Recording And Playback

    Recording and Playback Gocator sensors have the ability to record and replay data. This feature is most often used for troubleshooting measurements, but can also be helpful during setup. Recording and playback are controlled by using commands in the tool bar. RECORD START SNAPSHOT...

  • Page 93: Downloading, Exporting And Uploading Recorded Data

    Downloading, Exporting and Uploading Recorded Data Recorded data can be downloaded or exported to the client computer or uploaded to the Gocator. Export is often used for processing the recorded data using 3rd party tools. Recorded data can also be downloaded in a binary format.

  • Page 94: Dashboard

    Dashboard Dashboard Page The Dashboard Page summarizes logged events, sensor health information, and measurement statistics. Element Description State and Health Information Displays sensor state and health information. Measurement Statistics Displays measurement statistics. Metric Panel Summarizes important performance statistics. Event Log Displays log data from the sensor.

  • Page 95: State And Health Information

    State and Health Information The following state and health information is available on the Dashboard: Dashboard Health Values Name Description System State Current system state (Ready or Running). Speed Current laser/camera speed (Hz). Firmware Version Gocator firmware version. Interface Version Gocator interface version.
  • Page 96 Measurement Statistics Statistics are displayed for each measurement that has been configured on the Measurement Page. The following information is available for each measurement: Dashboard Measurement Statistics Name Description Value The most recent measurement value. Minimum/Maximum Value The minimum and maximum measurement values that have been observed. Average The average of all measurement results collected since the sensor was started.

  • Page 97: Metric Panel

    Metric Panel Metric panel displays two important performance statistics in real-time: CPU Load and Current Frame Rate (Speed). The CPU Load bar in the Metric panel (at the top of the interface) displays how much of the CPU is being utilized. A warning will appear if the sensor drops ranges because CPU is over utilized. The Speed bar displays the frame rate of the sensor.

  • Page 98: Connection And Maintenance

    Connection and Maintenance Connection Page Gocator’s security, file management and maintenance tasks are performed on the Connection Page. Element Description System Panel Use the System panel to configure sensor network and boot-up settings. Available Sensor Panel Use the Available Sensor panel to assign or unassign Buddy sensors. Security Panel Use the Security panel to change passwords.

  • Page 99: Network Settings

    Network Settings The network settings need to be configured to match the network to which the Gocator sensors are connected. To configure the network settings: 1 Navigate to the System panel. Click the arrow next to Networking to expand the panel. 2 Specify the Connect To setting.

  • Page 100: Auto Starting Sensors

    Auto Starting Sensors With the Autostart setting enabled, laser ranging and measurement functions will begin automatically when the sensor is powered on. This setting is necessary when the sensor will be used without a computer connected. To enable/disable Autostart: 1 Check/Uncheck Autostart option box. 2 Save configuration.

  • Page 101: Buddy Assignment

    Buddy Assignment In a dual sensor system, the Main sensor assumes control of the Buddy sensor after the Buddy sensor is assigned to the Main sensor. Configuration for both sensors can be performed through the Main sensor’s interface. Main and Buddy sensors must be assigned unique IP addresses before they can be used on the same network.

  • Page 102: Security

    Security Gocator sensors can be secured with passwords to prevent unauthorized access. Each sensor has two accounts: Administrator and Technician. Gocator Account Types Account Description Administrator The Administrator account has privileges to view and edit all settings, and to perform setup procedures such as sensor calibration. Technician The Technician account has privileges to view the Dashboard Page and to Start or Stop the sensor.

  • Page 103: File Management

    File Management The Files panel can be used to manage configurations and templates. Element Description File Type Specifies the type of files to manage (Configuration). File Name Field Used to provide a file name when saving files. File List Displays the files that are currently saved in the sensor’s flash storage. Save Button Saves currently loaded data to file using the name in the File Name Field.

  • Page 104: Maintenance

    Maintenance The Maintenance panel can be used to create sensor backups, restore from a backup, or restore to factory defaults. Backup files contain all of the information stored on board a sensor, including configuration and calibration. It is recommended that Administrators create a backup file in the unlikely event that a sensor fails and a replacement sensor is needed.

  • Page 105: Firmware Upgrade

    The Help panel will check the LMI website to determine if the sensor’s firmware is up to date. 3 Download the latest firmware. If sensor firmware is not up to date, click the Firmware Link to visit the LMI website and then download the latest firmware.

  • Page 106: Recovery

    If a sensor’s network address or administrator password is forgotten, the sensor can be discovered on the network and/or restored to factory defaults by using a special software tool called the Sensor Discovery tool. This software tool can be obtained from the downloads area of LMI’s website at http://www.lmi3D.com.

  • Page 107: Gocator Protocol

    Gocator Protocol This chapter describes TCP and UDP commands and data formats used by a client computer to communicate with Gocator sensors. Network communication enables the client to: • Discover Main and Buddy sensors on an IP network and re-configure their network addresses. •...

  • Page 108: Concepts

    Concepts Discovery Sensors ship with the following default network configuration: Setting Default DHCP 0 (disabled) IP Address 192.168.1.10 Subnet Mask 255.255.255.0 Gateway 0.0.0.0 (disabled) The Get Address and Set Address discovery commands can be used to modify a sensor’s network configuration.

  • Page 109: Modes

    Modes A Gocator system can operate in the following modes. System Modes Mode Description Video Sends raw video. AlignCalibrate Performs alignment calibration. TravelCalibrate Performs travel calibration. ExpCalibrate Performs automatic exposure adjustment. RangeMeasure Performs displacement measurements (default mode) Buddy Communication Channels The peer-to-peer control channels are used by Gocator sensors to communicate amongst each other.

  • Page 110: Data Types

    LMI web site. Refer to Firmware Upgrade (page 105) for more information on obtaining the latest firmware. Every Gocator sensor contains factory backup firmware. Should a firmware upgrade command fail (e.g.

  • Page 111: Command And Reply Formats

    Label Value Description Failed Command failed. Invalid State -1000 Command is not valid in the current state. Item Not Found -999 A required item (e.g. file) was not found. Invalid Command -998 Command is not recognized. Invalid Parameter -997 One or more command parameters are incorrect. Not Supported -996 The operation is not supported.

  • Page 112: Result Format

    Result Format Result messages that are received on the Data and Health channels have a common structure. Each result message has a flexible number of attributes in its header followed by a variable number of data blocks after the header. The structure of result messages is defined below. Result Field Type...

  • Page 113: Configuration Files

    Configuration Files Configuration XML files contain settings that govern system behavior in the Running state. Elements contain three types of values: settings, constraints, and properties. Settings are input values that can be edited. Constraints are read-only limits that define the valid values for settings. Properties are read-only values that provide supplemental information related to sensor setup.
  • Page 114 Element Type Description EncoderTriggerMode Setting for the encoder behavior: 0 – Track Reverse 1 – Ignore Reverse 2 – Bi-directional EncoderPeriod Setting for encoder period (mm). (Applicable for encoder-based triggering) TriggerDelay Setting for trigger delay (us or mm). GateEnable Setting to disable or enable the use of digital input to gate the time or encoder trigger source: 0 –...
  • Page 115 e n S o r S e n S o r Each Sensor element contains settings related to an individual sensor. A Sensor element has an attribute that defines the role (0 Main, 1 Buddy) of the sensor: – – <Sensor role=”0”>...

  • Page 116: Range

    Range The Range element contains settings that affect range measurements. Simple child elements in Range are defined below: Range Child Elements Element Type Description MeasurementOptions String Constraint for available measurement types - comma delimited list (e.g. “RangePositionZ, RangeDifference”). The Range element also contains the Measurement sub-element. The Measurements element contains one sub-element for each requested range measurement.
  • Page 117 Element Type Description SmoothingEnabled Setting to enable or disable the smoothing filter: 0 – Disable 1 – Enable SmoothingWindow Setting for the smoothing window (frames) HoldEnabled Setting to enable or disable the hold filter: 0 – Disable 1 – Enable SourceOptions String Constraint for eligible range sources (comma-delimited list).

  • Page 118: Output

    Output The Outputs element has the following sub-element types: Ethernet, Serial, Analog, and Digital Output. Each of these subelements defines the output settings for a different type of Gocator output. The Source identifiers that are used with Video, range and intensity outputs are range source identifiers. Refer to the Range Sources (page 110) for more information.
  • Page 119 Element Type Description SelcomFormat Setting for Selcom Serial output format: 0 – 14-bit 1 – 14-bit with search/track information 2 – 12-bit 3 – 12-bit with search/track information ValueOptions String Constraint for eligible value sources (comma-delimited list). DecisionOptions String Constraint for eligible decision sources (comma-delimited list). ProtocolOptions String Constraint for eligible protocol options (comma-delimited list)
  • Page 120 i g i Ta L u T P u T A DigitalOutput element defines settings for a digital output. There are two DigitalOutput elements, each identified by a unique id attribute (0 and 1): <DigitalOutput id=”0”> DigitalOutput Child Elements Element Type Description PassMode...

  • Page 121: Calibration File

    Calibration File The calibration file, transform.xml, contains settings that define the transformation from sensor coordinates to system coordinates, encoder resolution and distance (in direction of travel) between main and buddy sensor. Use Read and Write File command to modify the calibration file. Calibration Example: <?xml version="1.0"...

  • Page 122: Syscal

    SysCal The SysCal element contains the calibration record for both main and buddy sensor. The version attribute defines the version of the record format. <SysCal version="1"> SysCal Child Elements Element Type Description YResolution Encoder Resolution (mm/tick). YSpeed Travel Speed (mm/s). n T r i e S An Entry element defines the transformation for a sensor.

  • Page 123: Discovery Commands

    Discovery Commands Get Address The Get Address command is used to discover Gocator sensors across subnets. Command Field Type Description length Command size, in bytes. Command identifier (0x0001) signature Magic number (0x0000504455494D4C). identifier Device identifier (serial number) or zero to discover unknown devices. Reply Field Type...

  • Page 124: Set Address

    Set Address The Set Address command modifies the network configuration of a Gocator sensor. Upon receiving the command, the Gocator will perform a reset. User should wait for 30 seconds before re-connecting to the Gocator. Command Field Type Description length Command size, in bytes.

  • Page 125: Upgrade Commands

    Upgrade Commands Get Protocol Version The Get Protocol Version command reports the Upgrade protocol version of the connected sensor. Command Field Type Description length Command size – in bytes. Command identifier (0x0100). Reply Field Type Description length Reply size – in bytes. Reply identifier.

  • Page 126: Get Upgrade Log

    Field Type Description stage Current upgrade stage: -1 – Upgrade Failed 0 – Upgrade Completed 1 – Upgrade in Progress progress Percentage completed – valid when stage is Upgrade in Progress. Get Upgrade Log The Get Upgrade Log command can retrieve an upgrade log in the event of upgrade problems. Command Field Type...

  • Page 127: Control Commands

    Control Commands Get Protocol Version The Get Protocol Version command reports the Control protocol version of the connected sensor. Command Field Type Description length Command size – in bytes. Command identifier (0x4511). Reply Field Type Description length Reply size – in bytes. Reply identifier.

  • Page 128: Log In/Out

    Field Type Description calibrationType Current calibration state: 0 – Not calibrated 1 – Auto calibrated 2 – Manual calibrated hasBuddy Current buddy assingment state: 0 – No Buddy assigned 1 – Buddy assigned BuddyInfo BuddyInfo Assigned Buddy information (not present if hasBuddy is 0). sensorCount Count of visible sensors.

  • Page 129: Change Password

    Change Password The Change Password command is used to change log-in credentials for a user. Command Field Type Description length Command size – in bytes. Command identifier (0x4004). user type User account: 1 – Administrator 2 – Technician password[64] char New password (null-terminated).

  • Page 130: Copy File

    Reply Field Type Description length Reply size – in bytes. Reply identifier. status Reply status. count Number of file names returned. name[count][64] char List of file names. Copy File The Copy File command copies a file from a source to a destination within the connected sensor. Copy a saved configuration to "_live.cfg"...

  • Page 131: Delete File

    Command Field Type Description length Command size – in bytes. Command identifier (0x1006). fileName[64] char File name (null-terminated). fileSize File size – in bytes. file[fileSize] byte File content. Reply Field Type Description length Reply size – in bytes. Reply identifier. status Reply status.

  • Page 132: Set Default File

    Set Default File The Set Default File command sets the name of a default file that will be loaded at boot time. Default files can be defined for configuration and calibration. Command Field Type Description length Command size – in bytes. Command identifier (0x4101).

  • Page 133: Set Mode

    Field Type Description status Reply status. mode[16] char Mode name (null-terminated). Set Mode The Set Mode command sets the name of the current system mode. Command Field Type Description length Command size – in bytes. Command identifier (0x1004). mode[16] char Mode name (null-terminated).

  • Page 134: Start

    Field Type Description encoder Current encoder value, in ticks. Start The Start command starts the sensor system (system enters the Running state). Command Field Type Description length Command size – in bytes. Command identifier (0x100D). reserved Reserved field – set to 0. Reply Field Type...

  • Page 135: Trigger

    Reply Field Type Description length Reply size – in bytes. Reply identifier. status Reply status. Trigger The Trigger command applies a software trigger to the system. The system must be configured to accept software triggers and must be in the Running State. Command Field Type...

  • Page 136: Ping

    Command Field Type Description length Command size – in bytes. Command identifier (0x4519). index Index of the output. Must be 0. target Specifies the time (us) or position (encoder ticks) of when the event should happen. value Output current (nano amperes). Reply Field Type...

  • Page 137: Backup

    Backup The Backup command creates a backup of all files stored on the connected sensor and downloads the backup to the client. Command Field Type Description length Command size – in bytes. Command identifier (0x1013). Reply Field Type Description length Reply size –...

  • Page 138: Set Connection Type

    Reply Field Type Description length Reply size – in bytes. Reply identifier. status Reply status. Set Connection Type The Set Connection Type command save the type of the master to the sensor's non-volatile storage. Command Field Type Description length Command size – in bytes. Command identifier (0x4514).
  • Page 139 Field Type Description Command identifier (0x4102). Reply Field Type Description length Reply size – in bytes. Reply identifier. status Reply status. Gocator 1100 & 1300 Series Ethernet Protocol •...

  • Page 140: Data Results

    Data Results A Data Result message adheres to the general structure for result messages as defined in Result Format (page 112) A Data Result contains a variable number of blocks depending on the sources selected for Ethernet output. Each selected source contributes two data blocks (and accompanying data block descriptors): one block for attributes and one block for content such as video pixels or measurement results.

  • Page 141: Range Intensity

    Field Type Description zResolution Z resolution (nm). zOffset Z offset (nm). exposure Exposure (us). Set to zero if multiple exposure mode is used. reserved[N] A variable number of additional attributes may be included. Data Field Type Description range Range values (unit is z-resolution, 0x8000 represents null range). Dimensions and data type given by block descriptor Z system coordinate = zOffset + zResolution * range Range Intensity...

  • Page 142: Exposure Calibration

    Exposure Calibration Exposure Calibration Attributes Field Type Description dataType Data type (0x06). reserved{N] A variable number of additional attributes may be included. Exposure Calibration Data Field Type Description status Calibration result. exposure Calibrated exposure (us). Gocator 1100 & 1300 Series Ethernet Protocol •...

  • Page 143: Measurement

    Measurement Measurement Attributes Field Type Description dataType Data type (0x21). measurementType Measurement type: 0x80 – Position Z 0x81 – Difference 0x82 – Script Unique id of the measurement – as defined in the configuration. reserved{N] A variable number of additional attributes may be included. Measurement Data Field Type...

  • Page 144: Health Results

    Health Results A Health Result message adheres to the general structure for result messages as defined in Result Format (page 112) A Health Result contains a single data block for health indicators. Each indicator reports the current status of some aspect of the sensor system, such as CPU utilization or network throughput. Health Result Header Field Type...
  • Page 145 Indicator Instance Value Analog Output Drops 2021 Output Index Number of dropped analog outputs. Serial Output Drops 2022 Output index Number of dropped serial outputs. Digital Inputs 2024 Current status of digital input Camera Frame Count 2025 Number of camera frames Valid Frame Count 20000 Number of frames with valid range data.

  • Page 146: Modbus Tcp Protocol

    Modbus TCP Protocol Modbus TCP is designed to allow industrial equipment such as Programmable Logic Controllers (PLC), sensors and physical input/output devices to communicate over an Ethernet network. Modbus/TCP 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 147: Messages

    Messages All Modbus TCP messages consist of a MBAP header (Modbus Application Protocol), a function code and a data payload. The MBAP header contains the following field: Modbus Application Protocol Header Fields 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.
  • Page 148 The Data payload contains the registers that can be accessed by Modbus TCP messages. If a message access registers that are invalid, a reply with an exception is returned. Modbus Application Protocol Specification defines the exceptions and describes the data payload format for each function code. The Gocator data includes 16-bit, 32-bit and 64-bit data.

  • Page 149: Registers

    Registers Modbus registers are 16-bit wide and are either control registers or output registers. Control registers are used to control the sensor states(e.g. start, stop or calibrate a sensor), and the output registers report the sensor states, stamps measurement values and decisions. User can read multiple output registers using a single Read Holding Registers or a single Read Input Registers command.

  • Page 150: Output Registers

    Value Name Description Clear Calibration Clear the calibration. Load Configuration Activate a configuration file. Registers 1 - 21 specifies the filename. Output Registers Output registers are used to output states, stamps and measurements results. Each register address holds a 16-bit data value. State report the current sensor state.

  • Page 151: Measurement Registers

    Measurement Registers Measurement results are reported in pairs of value and decision. Measurement values are 32-bit wide and decisions are 8-bit wide. The measurement ID defines the register address of each pair. The register address of the first word can be calculated as (1000 + 3 * ID). For example, a measurement with ID set to 4 can be read from registers 1012 (high word), 1013 (low word) and the decision at 1015.

  • Page 152: Ethernet/Ip

    EtherNet/IP Ethernet/IP is an industrial protocol that allows bidirectional data transfer with PLCs. It encapsulates the object oriented Common Industrial Protocol (CIP). This chapter describes the EtherNet/IP messages and data formats. EtherNet/IP communication enables the client to: • Switch to a different active configuration. •...

  • Page 153: Basic Object

    Basic Object Identity Object (Class 0x01) Attribute Name Type Value Description Access Vendor ID UINT 1256 ODVA Provided Vendor ID Device Type UINT Device Type Product Code UINT 2000 Product Code Revision USINT Byte 0 - Major Revision USINT Byte 1 - Minor Revision Serial number UDINT 32-bit value...

  • Page 154: Ethernet Link Object (Class 0Xf6)

    Ethernet Link Object (Class 0xF6) The Ethernet Link Object contains read-only attributes such as MAC Address (Attr.3). See Volume 2, Chapter 5-4 of the CIP Specification for a complete listing of Ethernet Link object attributes. Attribute Name Type Value Description Access Interface UDINT...

  • Page 155: Assembly Object (Class 0X04)

    Assembly Object (Class 0x04) The Gocator Ethernet/IP object model includes 3 different assembly objects: Command, State and Sample. All assembly object instances are static. Data in a data byte array in an assembly object are stored in the Big Endian format. Command Object The command object is used to start, stop, calibrate and switch configuration on the sensor.

  • Page 156: Sensor State Assembly Object

    Sensor State Assembly Object The sensor state assembly object contains sensor's states such as the current sensor temperature, frame count and encoder values. Sensor State Assembly Information Value Class Instance 0x320 Number of Attributes Length 100 bytes Supported Service 0x0E (Get Single Attribute) Attributes 1 and 2 are not implemented.

  • Page 157: Sample State Assembly

    Sample State Assembly The sample state object contains measurements and their associated stamp information. Sample State Assembly Information Value Class Instance 0x321 Number of Attributes Length 180 bytes Supported Service 0x0E (Get Single Attribute) Attribute 3 Attribute Name Type Value Description Access Command...

  • Page 158: Gocator Serial Protocol

    Gocator Serial Protocol This chapter describes the Gocator Serial Protocol communication settings and message formats supported by Gocator sensors. Gocator’s serial communication is asynchronous using a unidirectional (output only) RS-485 serial channel (Serial_Out0). Refer to Serial Output (page 192) for cable pinout information. Connection Settings Gocator serial communication uses the following connection settings: Serial Connection Settings...

  • Page 159: Message Format

    Message Format Measurement information is transmitted in a series of ASCII frames each terminated by a special delimiter (CR – 0x0D). For each measurement message the following frame is transmitted: Field Shorthand Length Description MeasurementStart Start of measurement frame. Type Hexadecimal value that identifies the type of measurement: 0x80 –...
  • Page 160 Field Shorthand Length Description Hexadecimal value that represents the unique identifier of the measurement. ValueStart Start of measurement value. This field and the following Value field are optional – they will only be present if the measurement value has been selected for transmission. Value Measurement value, in hexadecimal.

  • Page 161: Selcom Serial Protocol

    Selcom Serial Protocol This chapter describes the Selcom Serial Protocol settings and message formats supported by Gocator sensors. Data communication is synchronous using two unidirectional (output only) RS-485 serial channels: clock (Serial_Out0) and data (Serial_Out1). Refer to Serial Output (page 192) for cable pinout information. Connection Settings Selcom Serial Protocol uses the following connection settings: Serial Connection Settings...
  • Page 162 DATA CLOCK SELCOM SERIAL 14-BIT DATA FORMAT The results are scaled according to the number of serial bits used to cover the data scale range. Refer to Serial Output (page 86) for information on how to configure the data scale range. Gocator 1100 &...

  • Page 163: Software Development Kit

    Gocator sensors. The latest version of the SDK can be downloaded from the downloads section, under the support tab, on the LMI Technologies website http://www.lmi3D.com. The following components are included in the SDK.

  • Page 164: Troubleshooting

    • Check that the client computer’s network settings are properly configured. • Ensure that the latest version of Flash is loaded on the client computer. • Use the LMI Discovery tool to verify that the sensor has the correct network settings. Refer to Recovery (page 106) for more information.

  • Page 165: Performance

    Performance The sensor CPU level is near 100%. • Consider reducing the speed. If you are using a time or encoder trigger source, refer to Trigger (page 46) for information on reducing the speed. If you are using an external input or software trigger, consider reducing the rate at which you apply triggers.

  • Page 166: Specification

    Specification Gocator 1100 Series The Gocator 1100 series consists of the sensor models defined below. MODEL 1120 1125 1150 1160 1165 1170 1190 Clearance Distance Measurement Range (MR) 2000 (mm) Linearity Z 0.05 0.05 0.05 0.05 0.05 0.05 0.05 (% of MR) Linearity Z (+/- mm) 0.010...
  • Page 167 CLEARANCE DISTANCE (CD) MEASUREMENT RANGE (MR) Mechanical dimensions for each sensor model are illustrated on the following pages. Gocator 1100 & 1300 Series Specifications •...

  • Page 168: Gocator 1120

    Gocator 1120 Field of View / Measurement Range Dimensions THREADED MOUNTING HOLE OPTION THRU MOUNTING HOLE OPTION 3X M6X1.0 - 6H THRU ALL 3X Ø 5 THRU ALL Gocator 1100 & 1300 Series Specifications •...
  • Page 169 Envelope 101.4 71.0 40.0 19.3 20.0 21.0 Gocator 1100 & 1300 Series Specifications •...

  • Page 170: Gocator 1125

    Gocator 1125 Field of View / Measurement Range Dimensions THREADED MOUNTING HOLE OPTION THRU MOUNTING HOLE OPTION 3X M6X1.0 - 6H THRU ALL 3X Ø 5 THRU ALL Gocator 1100 & 1300 Series Specifications •...
  • Page 171 Envelope 102.8 72.2 19.6 182.5 35.0 21.0 Gocator 1100 & 1300 Series Specifications •...

  • Page 172: Gocator 1150

    Gocator 1150 Field of View / Measurement Range -100 Gocator 1100 & 1300 Series Specifications •...
  • Page 173 Dimensions THREADED MOUNTING HOLE OPTION THRU MOUNTING HOLE OPTION 3X M6X1.0 - 6H THRU ALL 3X Ø 5 THRU ALL Gocator 1100 & 1300 Series Specifications •...
  • Page 174 Envelope 103.1 72.3 19.7 200.0 200.0 21.0 Gocator 1100 & 1300 Series Specifications •...

  • Page 175: Gocator 1160

    Gocator 1160 Field of View / Measurement Range -163 Gocator 1100 & 1300 Series Specifications •...
  • Page 176 Dimensions THREADED MOUNTING HOLE OPTION THRU MOUNTING HOLE OPTION 3X M6X1.0 - 6H THRU ALL 3X Ø 5 THRU ALL Gocator 1100 & 1300 Series Specifications •...
  • Page 177 Envelope 103.2 72.3 19.8 237.5 325.0 21.0 Gocator 1100 & 1300 Series Specifications •...

  • Page 178: Gocator 1165

    Gocator 1165 Field of View / Measurement Range -188 Gocator 1100 & 1300 Series Specifications •...
  • Page 179 Dimensions THREADED MOUNTING HOLE OPTION 3X M6X1.0 - 6H THRU HOLE THRU MOUNTING HOLE OPTION 3X Ø 5 THRU ALL Gocator 1100 & 1300 Series Specifications •...
  • Page 180 Envelope 103.3 72.6 19.9 562.5 375.0 21.0 Gocator 1100 & 1300 Series Specifications •...

  • Page 181: Gocator 1170

    Gocator 1170 Field of View / Measurement Range -200 Gocator 1100 & 1300 Series Specifications •...
  • Page 182 Dimensions THREADED MOUNTING HOLE OPTION THRU MOUNTING HOLE OPTION 3X M6X1.0 - 6H THRU ALL 3X Ø 5 THRU ALL Gocator 1100 & 1300 Series Specifications •...
  • Page 183 Envelope 103.3 72.4 19.8 250.0 400.0 21.0 Gocator 1100 & 1300 Series Specifications •...

  • Page 184: Gocator 1190

    Gocator 1190 Field of View / Measurement Range 1000 1500 -1000 Gocator 1100 & 1300 Series Specifications •...
  • Page 185 Dimensions THREADED MOUNTING HOLE OPTION THRU MOUNTING HOLE OPTION 3X M6X1.0 - 6H THRU HOLE 3X Ø 5 THRU ALL Gocator 1100 & 1300 Series Specifications •...
  • Page 186 Envelope 231.4 200.1 19.9 500.0 2000.0 21.0 Gocator 1100 & 1300 Series Specifications •...

  • Page 187: Gocator 1000 Power/Lan Connector

    Gocator 1000 Power/LAN Connector The Gocator 1000 Power/LAN connector is a 14 pin, M16 style connector that provides power input, laser safety input and Ethernet. This section defines the electrical specifications for Gocator Power/LAN Connector pins, organized by function. Gocator Power Connector Pins Function Color GND_24-48V...

  • Page 188: Laser Safety Input

    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+. Laser safety requirements Function Pins Safety_in+ 24 V 48 V Safety_in- Confirm the wiring of Safety_in- before starting the sensor.

  • Page 189: Gocator 1000 I/O Connector

    Gocator 1000 I/O Connector The Gocator 1000 I/O connector is a 19 pin, M16 style connector that provides encoder, digital input, digital outputs, serial output, and analog output signals. This section defines the electrical specifications for Gocator I/O Connector pins, organized by function. Gocator I/O Connector Pins Function Pins...

  • Page 190: Digital Outputs

    Digital Outputs Each Gocator sensor has two optically-isolated outputs. Both outputs are open collector and open emitter, this allows a variety of power sources to be connected and a variety of signal configurations. Out_1 (Collector – Pin 6 and Emitter – Pin 4) and Out_2 (Collector – Pin 5 and Emitter Pin 8) are independent and therefore V+ and GND are not required to be the same.

  • Page 191: Digital Inputs

    Digital Inputs Every Gocator sensor has a single optically-isolated input. To use this input without external resistor, supply 3.3 - 12 V to Pin 1 and GND to Pin 2. Active High Trigger_in- Trigger_in+ 3.3V to 12V Digital Input (Vdata) USER_GND If the supplied voltage is greater than 12 V, connect an external resistor in series to Pin 1.

  • Page 192: Serial Output

    Common Mode Voltage Differential Threshold Voltage Max Data Function Pins Rate Encoder_A 7, 8 -7 V 12 V -200 mV -125 mV -50 mV 1 MHz Encoder_B 9, 10 -7 V 12 V -200 mV -125 mV -50 mV 1 MHz Ecnoder_Z 11, 12 -7 V...

  • Page 193: Selcom Serial Output

    Selcom Serial Output Serial RS-485 output is connected to Serial_out and Serial_out2 as shown below. Function Pins Serial_out (clock) 13, 14 Serial_out2 (data) 15, 16 SELCOM_SERIAL_CLOCK_OUTPUT Serial_out- SERIAL- Serial_out+ SERIAL+ SELCOM_SERIAL_DATA_OUTPUT Serial_out- SERIAL- Serial_out+ SERIAL+ Gocator 1100 & 1300 Series Specifications •...

  • Page 194: Analog Output

    Analog Output The Sensor I/O Connector defines one analog output interfaces: Analog_out. Function Pins Current Range Analog_out 17, 18 4 – 20 mA ANALOG_OUTPUT ANALOG_OUTPUT Analog_out- ANALOG- Analog_out- ANALOG- Analog_out1+ ANALOG+ Analog_out1+ ANALOG+ 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.

  • Page 195: Master 100

    (Pin 1) Encoder/Output Port *Contact LMI for information regarding this type of power supply Connect the Master Power port to the Gocator's Power/LAN connector using the Gocator Power/LAN to Master cordset. Connect power RJ45 end of the cordset to the Master Power port. The Ethernet RJ45 end of the cordset can be connected directly to the Ethernet switch, or connect to the Master Ethernet port.

  • Page 196: Master 100 Dimensions

    Function Encoder_Z- Encoder_A+ Encoder_A- Encoder_B+ Encoder_B- Encoder_GND Encoder_5V Master 100 Dimensions 84.8 32.6 Gocator 1100 & 1300 Series Specifications •...

  • Page 197: Master 400/800

    Master 400/800 The Master 400/800 provides sensor power, safety interlock and broadcasts system-wide synchronization information (ie. time, encoder count, encoder index and digital I/O states) to all devices on a sensor network. SENSOR PORTS 1-4 LED INDICATORS MASTER 400 FRONT SENSOR PORTS 5-8 SENSOR PORTS 1-4 LED INDICATORS...

  • Page 198: Master 400/800 Electrical Specifications

    Master 400/800 Electrical Specifications Electrical specifications for Master 400/800: Master 400 Power Supply Voltage +48VDC Power Supply current (Max.) Power Draw (Min.) Safety Voltage +12 to +48VDC Encoder signal voltage range RS485 Differential Digital input voltage range Logical LOW: 0 VDC to +0.1VDC Logical HIGH: +11 VDC to +22.5VDC When using a Master 400/800 it is crucial that its chassis be well grounded.

  • Page 199: Master 400/800 Dimensions

    Master 400/800 Dimensions Dimensions of Master 400 and Master 800 are the same. 483.9 466.7 31.8 99.2 89.7 44 36 Master 400 Gocator 1100 & 1300 Series Specifications •...

  • Page 200: Master 1200/2400

    Master 1200/2400 The Master 1200/2400 provides sensor power, safety interlock and broadcasts system-wide synchronization information (i.e. time, encoder count, encoder index, and digital I/O states) to all devices on a sensor network. SENSOR PORTS 1-12 LED INDICATORS MASTER 1200 FRONT SENSOR PORTS 13-24 (2400 ONLY) SENSOR PORTS 1-12 LED INDICATORS...

  • Page 201: Master 1200/2400 Electrical Specifications

    Master 1200/2400 Electrical Specifications Electrical specifications for Master 1200/2400: Master 1200 2400 Power Supply Voltage +48VDC Power Supply current (Max.) Power Draw (Min.) Safety Voltage +12 to +48VDC Encoder signal voltage range RS485 Differential Digital input voltage range Logical LOW: 0 VDC to +0.1VDC Logical HIGH: +3.5 VDC to +6.5VDC When using a Master 1200/2400 it is crucial that its chassis be well grounded.

  • Page 202: Parts And Accessories

    Parts and Accessories Gocator Part Number Legend 31xxxxA-yy-zz Tools 01 = Measurement Tools Model Laser class: 2M or 3R or 3B Gocator 1100 Sensors Description Part Number Gocator 1120 with Class 2M laser 311120A-2M-01 with Class 3R laser 311120A-3R-01 with Class 3B laser 311120A-3B-01 Gocator 1125 with Class 2M laser 311125A-2M-01...

  • Page 203: Warranty And Return Policy

    LMI Technologies Inc. The shipper is responsible for covering all duties and freight for returning the sensor to LMI. It is at LMI’s discretion to repair or replace sensors that are returned for warranty work. LMI Technologies Inc.
  • Page 204 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 205 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 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...
  • Page 206 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 207 Copyright (c) 2010 Brandon Aaron 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) Flex SDK Website:...
  • Page 208 Support For assistance regarding a component or product, please contact LMI Technologies. World Email support@lmi3D.com http://www.lmi3D.com North America Phone +1 604 636 1011 +1 604 516 8368 Europe Phone +31 45 850 7000 +31 45 574 2500 For more information on safety and laser classifications, please contact: U.S.
  • Page 209 North America Europe LMI Technologies Inc. LMI Technologies BV 1673 Cliveden Avenue Valkenburgerweg 223 Delta BC V3M 6V5 NL-6419AT Heerlen Canada The Netherlands Phone: +1 604 636 1011 Phone: +31 45 850 7000 Fax: +1 604 516 8368 Fax: +31 45 574 2500...

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