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Ascension laserBIRD Installation And Operation Manual

Motion trackers for computer graphics applications
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  • Page 1 sales@artisantg.com artisantg.com (217) 352-9330 | Visit our website - Click HERE...
  • Page 2 ASCENSION TECHNOLOGY CORPORATION _______________________________________________________________________________________________________________ Motion Trackers for Computer Graphics Applications laserBIRD Installation and Operation Guide www.ascension-tech.com...
  • Page 4 Microsoft Corporation. All other products mentioned in this manual are trademarks or registered trademarks of their respective companies. laserBIRD is a trademark of Ascension Technology Corporation  2002 Ascension Technology Corporation. All rights reserved. P.O. Box 527 Burlington, VT 05402 Phone (802) 893-6657 •...

  • Page 6: Table Of Contents

    STREAM STOP........76 Changing Your Settings......23 Error Reporting........77 Mounting the Hardware......24 Error Code Listing ......78 laserBIRD Alignment Procedure ..... 26 Sample Program........79 Setting the Reference Frame ....27 Setting the Angle Align......31 Troubleshooting, Maintenance, and Basic Operation ........33 Repair ..........80...

  • Page 8: Introduction

    Our company is proud of the quality of all our motion tracking products. The laserBIRD is an optical scanning system that tracks the position and orientation of a sensor in six degrees of freedom. Fan-shaped laser beams are scanned throughout a conical-like motion region, and are detected by photodiodes mounted in the laserBIRD sensor.

  • Page 9: Manual Conventions

    Notes Throughout the manual, notes describe hardware or software features you should be aware of. Tips: This Tips Tips provide valuable suggestions for getting the most out of your laserBIRD call-out provides advice for Names of files, directories and programs...

  • Page 10: Getting Assistance

    If you are experiencing a problem with the installation, set up, or operation of your laserBIRD tracking system, please consult the troubleshooting table in Chapter 5 of this manual. It provides many common setup problems and their solutions. If you continue to experience problems after following the recommended actions, contact Ascension Technology Corporation for technical support.

  • Page 12: Preparing For Setup

    ATC Flock of Birds protocol. Hardware Requirements See Chapter 4. COM port(s): The laserBIRD reports data serially to a host computer, via an RS232 cable. An unused COM port is required per laserBIRD system. Note: The data format you...

  • Page 13: Unpacking The System

    Installation and Operation Guide Unpacking the System Package Checklist Your laserBIRD system is packaged in an extremely durable shipping case. Inside it you will find the following items. Please make sure that you have everything listed before proceeding to the Tip: If your setup and checkout section.

  • Page 14: Additional Items You'll Need

    The two mounting holes in the sensor housing are countersunk for 3mm flat head socket screws. Handling Precautions The laserBIRD scanner and sensor, along with their attached cables and connectors are sensitive " CAUTION! electronic components. To obtain consistent and reliable performance and maintain your warranty, The laserBIRD is a treat them carefully.
  • Page 15 Installation and Operation Guide Never carry, throw or swing the sensor or scanner by the cables. !" Never over-bend the cable at the sensor or scanner housing. Repeated over-bending !" may lead to sensor failure. Never add your own sensor cable extensions or connectors. Our sensor cable is !"...

  • Page 16: Quick Start: Setup And Checkout

    Cable Connections The laserBIRD hardware can be setup and ready to run in four easy steps: 1. Connect the Sensor : 2. Connect the DC Power Cable :...

  • Page 17: Installing The Utilities

    Installation and Operation Guide 3. Connect the RS232 cable to the laserBIRD and the COM port on the Host PC : 4. Connect the AC Power cord to the laserBIRD power supply and the AC source (wall outlet) Note: When...

  • Page 18: System Checkout: Running The Demo

    Dual Scanner by selecting Operation section of Chapter 3. winBIRD from the Ascension Technology program group in the Windows® Start menu. This will open the winBIRD window. The top of the screen contains the menu bar and toolbars, providing links to main winBIRD functions. At the beginning of a session most of these will be disabled, each becoming available as procedures are fulfilled.
  • Page 19 Installation and Operation Guide Change the 'Baud Rate' to setup your COM port for the laserBIRD's default setting: 38400 and enter the correct Com Port for the laserBIRD: Note: The laserBIRD always runs in Standalone mode. 'Not Standalone' or...
  • Page 20 Use the demo utility to become familiar with the sensor's motion region, and the tracker's capabilities. If the utility does not run, or the laserBIRD does not operate as described, please consult the troubleshooting table in Chapter 5 of this manual for assistance.

  • Page 22: Configuration And Basic Operation

    When the laserBIRD is configured at the factory, settings are optimized to meet the needs of most applications. However, users may find that it is helpful to customize the power-up behavior of the laserBIRD to better meet specific application requirements.

  • Page 23: Configurable Power-Up Settings

    Scale Sets the scale factor used by the laserBIRD to report the position of the sensor 'laserBIRD ID'. Dual Scanner with respect to the scanner. Valid values of 36 and 72, represent the full scale Operation below.
  • Page 24 The +Y axis is also flipped 180 degrees from its historical setting. below for details. Default Reference Frame Reset on CTS If enabled, this setting allows the user to reset the laserBIRD by holding the CTS line (RTS on HOST side) high. See the RS232 Signal Description for details.
  • Page 25 Installation and Operation Guide Adaptive Filter When set to ON, an adaptive lowpass filter is applied to the sensor data to eliminate high frequency noise. Always enable the AVG filter if you plan to use this Adaptive filter. Generally, this filter is always required in the system unless your application can work with noisy outputs.

  • Page 26: Default Reference Frame

    3: Configuration and Basic Operation Default Reference Frame Figure 3.1a: Default Scanner/Sensor Coordinate Frames (Flip Sensor Axes setting enabled) Figure 3.1b: Alternate Scanner/Sensor Coordinate Frames (Flip Sensor Axes setting NOT enabled)
  • Page 27 Installation and Operation Guide NOTE: The origin of the scanner's default Reference Frame is defined as the location inside the Scanner which is: At the midpoint of a line which connects the centers of the two !" windows. Is one inch (1") from the bottom of the Scanner !"...

  • Page 28: Dual Scanner Operation

    3: Configuration and Basic Operation Dual Scanner Operation An important characteristic of the laserBIRD scanner is that its laser beams are modulated at a high frequency. This makes the system less sensitive to interfering light sources, thereby improving performance. When two scanners are installed such that their operating regions overlap, this modulation frequency must be changed for both units.
  • Page 29 Installation and Operation Guide The laserBIRD ID setting indicates to the system which modulation frequency to use as the power-up default. Valid settings include: laserBIRD ID Mod. Frequency 9.25 MHz -Default -Single configuration 12.3 MHz -Scanner #1 - Dual Configuration 6.2 MHz...

  • Page 30: Changing Your Settings

    3: Configuration and Basic Operation Changing Your Settings The power-up settings are easily configured through use of the laserBIRD Utility. Make sure the laserBIRD is running, and connected to the host PC where the utility has been installed. Tip: you...

  • Page 31: Mounting The Hardware

    Installation and Operation Guide Mounting the Hardware Figure 3.2 Scanner Mounting Dimensions (inches)
  • Page 32 3: Configuration and Basic Operation Figure 3.3 Sensor Mounting Dimensions (inches)

  • Page 33: Laserbird Alignment Procedure

    The Reference Frame and Angle Align settings allow you to customize the laserBIRD for your specific tracking requirements. If you're familiar with a procedure for determining these values, enter them as...

  • Page 34: Setting The Reference Frame

    3: Configuration and Basic Operation Setting the Reference Frame This section of the procedure begins by establishing how your laserBIRD Scanner is mounted, relative to a six-sided cube representing your desired Reference Frame. Note: This procedure assumes that the 'Flip Sensor Axes' setting is enabled.
  • Page 35 Installation and Operation Guide Back: Angles: 0.0, 0.0, 0.0 Left Angles: 90.0, 0.0, 0.0 Front Angles: 180.0, 0.0, 0.0...
  • Page 36 3: Configuration and Basic Operation Right Angles: -90.0, 0.0, 0.0 Angles: 0.0, -90.0, 0.0 Bottom Angles: 0.0, 90.0, 0.0...
  • Page 37 Now go back to the 'Data' tab. Read and record the sensor orientation angles Azimuth (AZ1), Elevation (EL1), and Roll (RL1) being returned from the laserBIRD. These angles describe the orientation of the Scanner relative to your desired reference frame.

  • Page 38: Setting The Angle Align

    3: Configuration and Basic Operation Setting the Angle Align Note: If you prefer to have the 'Flip Sensor Axes' setting disabled, and you enabled it to Note: Prior follow Steps 1-9, return to the 'Settings' tab and disable it before beginning this section of to setting the the procedure.
  • Page 39 Installation and Operation Guide Now go back to the 'Data' tab. Read and record the new sensor Note: If the orientation angles. Azimuth (AZ2), Elevation (EL2), and Roll value of EL2 is (RL2). These angles describe the current orientation of the sensor below -80°...

  • Page 40: Basic Operation

    CFR-1040.10-11) This means that the unit cannot emit laser radiation at known hazard levels and is eye safe when used as designed. An interlock is designed into the laserBIRD Scanner which disables the lasers if the scanner shaft is not rotating appropriately. This is a safety feature, and cannot be disabled.

  • Page 41: Sensor

    ±85° with respect to the Scanner. Operating Region The effective operating region (valid sensor tracking) for the laserBIRD is shown below. Note: Due Note that the field of view diagrams depict a conical-like motion region, which begins ~6 to decreasing laser inches in the +X direction from the Scanner origin.
  • Page 42 3: Configuration and Basic Operation Figure 3.6: Horizontal Field of View...
  • Page 43 Installation and Operation Guide Figure 3.7: Vertical Field of View...

  • Page 44: Performance Motion Box

    3: Configuration and Basic Operation Performance Motion Box While each component of the laserBIRD is manufactured within very tight tolerances, it is almost impossible to construct a system that matches the theoretical model perfectly. For this reason, all systems are subjected to a...

  • Page 46: Software Operation - Tools For Successful Tracking

    RS232 interface protocol and command set. Software Overview The laserBIRD communicates with the host via RS232, using the Ascension Technology Flock of Birds® protocol. Using the Flock of Birds protocol gives instant access to a wide range of motion capture, virtual reality and biomechanics applications.

  • Page 47: Rs232 Signal Description

    Using the 'reset on CTS' feature The laserBIRD can be configured to perform a system reset when pin 7, its CTS line (RTS on HOST side) is held high. This provides an alternative to issuing the RESET command, if the state of the firmware is unknown.

  • Page 48: Command Summary

    Each RS232 command consists of a single command byte followed by N command data bytes, where N depends upon the command. A command is an 8-bit value which the host transmits to the Bird (laserBIRD). The RS232 command format is as follows:...
  • Page 49 SLEEP Turns transmitter OFF and suspends system operation. STREAM Data records are transmitted continuously from the selected laserBIRD unit. If GROUP mode is enabled then data records are output continuously from all running laserBIRD units. STREAM STOP Stops any data output that was started with the STREAM.

  • Page 50: Command Utilization

    4: Software Operation: Tools for Successful Tracking Command Utilization The host may tell The Bird what type of data to send when a data request is issued. The desired type of data is indicated by sending one of the following data record commands: ANGLES, MATRIX, POSITION, QUATERNION, POSITION/ANGLES, POSITION/MATRIX or POSITION/QUATERNION.
  • Page 51 Installation and Operation Guide Position/Orientation Data Format The Position/Orientation information generated by The Bird is sent in a form called a data record. The number of bytes in each record is dependent on the output format selected by the user. Each 2-byte word is in a binary format dependent on the word type (i.e.

  • Page 52: Rs232 Command Reference

    4: Software Operation: Tools for Successful Tracking bit (Marks with "1" if first byte) MS BIT LS BIT 7 6 5 4 3 2 1 0 WORD # 1 1 0 0 1 0 0 0 #1 LSByte 0 0 0 0 1 0 0 0 #1 MSByte 0 1 0 1 0 0 0 1 #2 LSByte...

  • Page 53: Angles

    Installation and Operation Guide ANGLES ASCII DECIMAL BINARY Command Byte 01010111 In the ANGLES mode, The Bird outputs the orientation angles of the sensor with respect to the transmitter. The orientation angles are defined as rotations about the Z, Y, and X axes of the sensor.

  • Page 54: Angle Align

    A, E, R assistance with the 'Angle Align' settings, check out 'laserBIRD Alignment By default, the angle outputs from The Bird are measured in the coordinate frame defined by the Procedure' in Scanner's X, Y and Z axes, as shown in Figure 3.1, and are measured with respect to rotations Chapter 3.

  • Page 55: Boresight

    Command Byte 01110101 Sending the single byte BORESIGHT command to the laserBIRD causes the sensor to be aligned to the Bird’s REFERENCE FRAME. In other words, when you send the command, the sensor’s orientation outputs will go to zero, making it appear as if it was physically aligned with the Bird’s REFERENCE FRAME.

  • Page 56: Boresight Remove

    Command Byte 01110110 Sending the single byte BORESIGHT REMOVE command to the laserBIRD causes the sensor’s orientation outputs to revert to their values before you sent the BORESIGHT command. That is, if there were no ANGLE ALIGN values preset, the sensor’s orientation outputs will now be with respect to the sensor’s physical orientation.

  • Page 57: Change Value

    Installation and Operation Guide CHANGE VALUE ASCII DECIMAL BINARY CHANGE VALUE Command Byte 01010000 CHANGE VALUE Command Byte PARAMETERnumber PARAMETERvalue The CHANGE VALUE command allows you to change the value of The Bird system parameter defined by the PARAMETERnumber byte and the PARAMETERvalue byte(s) sent with the command.
  • Page 58 4: Software Operation: Tools for Successful Tracking System Model Identification Change/Examine Angle Align2 Change/Examine Reference Frame2 Bird (Scanner) Serial Number Disable/Enable Run Time Status Prediction The CHANGE VALUE command must be issued to The Bird in the following N-byte sequence: BYTE # #1 Command Byte, 'P' #2 PARAMETERnumber...

  • Page 59: Bird Status

    When PARAMETERnumber = 0 during EXAMINE, The Bird returns a status word to tell the user in what mode the unit is operating. The bit assignments for the two byte response are: 1 if Bird is a Master Bird -Only setting possible for laserBIRD - Not used with laserBIRD...

  • Page 60: Bird Computer Crystal Speed

    (MHz). The most significant byte of the speed word is equal to zero, and the base 10 value of the least significant byte represents the speed of the crystal. For example, if the least significant byte = 19 Hex, the crystal speed is 25 MHz. The laserBIRD always reports 37MHz. POSITION SCALING When PARAMETERnumber = 3 during EXAMINE, The Bird returns a code that describes the scale factor used to compute the position of the sensor with respect to the transmitter.

  • Page 61: Dc Filter Constant Table Alpha_Min

    Installation and Operation Guide DC FILTER CONSTANT TABLE ALPHA_MIN When PARAMETERnumber = 5 during EXAMINE, The Bird returns 7 words (14 bytes) which define the lower end of the adaptive range that filter constant ALPHA_MIN can assume in the DC filter as a function of sensor to Scanner separation.

  • Page 62: Error Code

    4: Software Operation: Tools for Successful Tracking ERROR CODE When PARAMETERnumber = 10 during EXAMINE, The Bird will output a one byte Error code, indicating a particular system condition was detected. The byte returned represents the earliest error code sent to the SYSTEM ERROR register. See the Error Reporting section below, for details.

  • Page 63: System Model Identification

    Installation and Operation Guide adaptive filter reduces the amount of filtering by increasing the ALPHA used in the filter. It will increase ALPHA only up to the limiting ALPHA_MAX value. By doing this, the lag in the filter is reduced during fast movements.

  • Page 64: Change/Examine Angle Align

    4: Software Operation: Tools for Successful Tracking CHANGE/EXAMINE ANGLE ALIGN When PARAMETERnumber = 23 during EXAMINE, The Bird will return 3 words (6 bytes) of data corresponding to the Azimuth, Elevation, and Roll angles used in the ANGLE ALIGN command. This command differs from the ANGLE ALIGN command only in that it allows both reading and writing of the angles.

  • Page 65: Prediction

    PREDICTION The laserBIRD can predict positional and angular motion from 0 to 50 mSec into the future. Kalman Filtering and linear extrapolation are combined in a technique that forecasts the selected coordinates and angles by the desired prediction interval.
  • Page 66 19 Hex Prediction interval for enabled parameters =25 mSec. To CHANGE the Prediction settings send the laserBIRD two bytes of PARAMETERdata with the most significant byte set to the desired Prediction Interval, and the least significant set using the code in the table above.

  • Page 67: Matrix

    Installation and Operation Guide MATRIX ASCII DECIMAL BINARY Command Byte 01011000 The MATRIX mode outputs the 9 elements of the rotation matrix that define the orientation of the sensor's X, Y, and Z axes with respect to the Scanner's X, Y, and Z axes. If you want a three- dimensional image to follow the rotation of the sensor, you must multiply your image coordinates by this output matrix.
  • Page 68 4: Software Operation: Tools for Successful Tracking Or in Euler angle notation, where R = Roll, E = Elevation, A = Azimuth:    COS(E)*COS(A)  COS(E)*SIN(A) -SIN(E)     -COS(R)*SIN(A)  COS(R)*COS(A) +SIN(R)*SIN(E)*COS(A)  +SIN(R)*SIN(E)*SIN(A) SIN(R)*COS(E) ...

  • Page 69: Offset

    X, Y, Z OFFSET DISTANCES FROM SENSOR Normally the position outputs from the laserBIRD represent the x, y, z position of the centroid of the sensor with respect to the origin of the Scanner. The OFFSET command allows the user to specify a location that is offset from the centroid of the sensor.
  • Page 70 4: Software Operation: Tools for Successful Tracking Figure 4.1: Using the OFFSET command...

  • Page 71: Point

    Installation and Operation Guide POINT ASCII DECIMAL BINARY Command Byte 01000010 In the POINT mode, The Bird sends one data record each time it receives the B Command Byte.
  • Page 72 4: Software Operation: Tools for Successful Tracking POSITION ASCII DECIMAL BINARY Command Byte 01010110 In the POSITION mode, The Bird outputs the X, Y, and Z positional coordinates of the sensor with respect to the Scanner. The output record is in the following format for the six transmitted bytes: BYTE # #1 LSbyte X #2 MSbyte X...

  • Page 73: Position/Angles

    Installation and Operation Guide POSITION/ANGLES ASCII DECIMAL BINARY Command Byte 01011001 In the POSITION/ANGLES mode, the outputs from the POSITION and ANGLES modes are combined into one record containing the following twelve bytes: BYTE # LSbyte X MSbyte X...

  • Page 74: Position/Matrix

    4: Software Operation: Tools for Successful Tracking POSITION/MATRIX ASCII DECIMAL BINARY Command Byte 01011010 In the POSITION/MATRIX mode, the outputs from the POSITION and MATRIX modes are combined into one record containing the following twenty four bytes: BYTE # LSbyte X MSbyte X LSbyte Y MSbyte Y...

  • Page 75: Position/Quaternion

    Installation and Operation Guide POSITION/QUATERNION ASCII DECIMAL BINARY Command Byte 01011101 In the POSITION/QUATERNION mode, The Bird outputs the X, Y, and Z position and the four quaternion parameters, q , and q which describe the orientation of the sensor with respect to the Scanner.

  • Page 76: Quaternion

    4: Software Operation: Tools for Successful Tracking QUATERNION ASCII DECIMAL BINARY Command Byte 01011100 In the QUATERNION mode, The Bird outputs the four quaternion parameters that describe the orientation of the sensor with respect to the Scanner. The quaternions, q , and q where q is the scaler component, have been extracted from the MATRIX output using the algorithm...

  • Page 77: Reference Frame

    Installation and Operation Guide REFERENCE FRAME ASCII DECIMAL BINARY Command Byte 01110010 Command Data A, E, R By default, The Bird's reference frame is defined by the Scanner's physical X, Y, and Z axes.(see Figure 3.1) In some applications, it may be desirable to have the orientation measured with respect Tip: For to another reference frame.

  • Page 78: Report Rate

    4: Software Operation: Tools for Successful Tracking REPORT RATE Measurement ASCII DECIMAL BINARY Rate Divisor Command 01010001 01010010 01010011 01010100 If you do not want a Bird data record output to your host computer every Bird measurement cycle when in STREAM mode then use the REPORT RATE command to change the output rate to every other cycle (R), every eight cycles (S) or every thirty-two cycles (T).

  • Page 79: Reset

    Installation and Operation Guide RESET ASCII DECIMAL BINARY Command Byte 01100010 The RESET command is issued to the standalone Bird to restart the entire system. RESET does reinitialize the system from the flash memory, so any configuration or alignment data entered...

  • Page 80: Run

    4: Software Operation: Tools for Successful Tracking ASCII DECIMAL BINARY Command Byte 01000110 The RUN command is issued to the standalone Bird to restart normal system operation after The Bird has been put to sleep with the SLEEP command. RUN does not reinitialize the system RAM memory, so any configuration or alignment data entered before the system went to SLEEP will be retained.

  • Page 81: Sleep

    Installation and Operation Guide SLEEP Tip: To ASCII DECIMAL BINARY help maximize the life of your Command Byte 01000111 system's lasers and other internal Scanner components, issue the The SLEEP command turns the tracking lasers in the Scanner off, and halts the system. (Scanner SLEEP shaft stops rotating).

  • Page 82: Stream

    4: Software Operation: Tools for Successful Tracking STREAM ASCII DECIMAL BINARY Command Byte 01000000 In the STREAM mode, The Bird starts sending continuous data records to the host computer as soon as new data is available -240 times per second. Data records will continue to be sent until the host sends the STREAM STOP command or the POINT command, or any format command such as POSITION to stop the stream.

  • Page 83: Stream Stop

    This is an alternative to stopping the stream using a POINT command. NOTE: The record in progress when the laserBIRD receives the command will still be output in its entirety to the host computer. To ensure that you have cleared your input port before executing any new commands,...

  • Page 84: Error Reporting

    4: Software Operation: Tools for Successful Tracking Error Reporting The laserBIRD is designed to continuously monitor system activities, and to report particular conditions to the user through error codes. These codes may be generated as a result of the power- up diagnostics, or from regular error detection during normal operation.

  • Page 85: Error Code Listing

    Installation and Operation Guide Additional queries will return and clear the next Error code in the buffer, until the buffer. is empty. When the buffer is empty, the query will return '0'. Note: If the query returns '45', then the 16-byte(16 error codes) buffer has overflowed, and the newest codes generated will be lost.

  • Page 86: Sample Program

    An example of the basic structure that applications should follow to communicate with the laserBIRD can be found in the sample program Terminal . This program utilizes the basic elements (RS232 commands) required to establish communication, configure the data format, and output data to the HOST screen display.

  • Page 87: Troubleshooting, Maintenance, And Repair

    Software Updates As new features or updates become available for the laserBIRD system, you may find it necessary to update the firmware stored in the Scanner's memory. The laserBIRD Utility included on your CD-ROM allows you to do this without opening the Scanner, or returning it to Ascension.

  • Page 88: Troubleshooting

    5: Troubleshooting, Maintenance, and Repair Troubleshooting Most installation and tracking problems are easy to fix. Consult the troubleshooting table for common problems and their solutions. If you continue to experience problems, contact Ascension for technical support. Symptom Possible Causes Solution...
  • Page 89 Scanner mounting to minimize effect. Interference from another laserBIRD -If running dual Scanners, check the configuration of the 'laserBIRD ID' setting. Configure as detailed in the DUAL SCANNER OPERATION section in Chapter 3 -If configured correctly, adjust Scanner mounting such that the 'Performance Motion Boxes' do not overlap.

  • Page 90: Using The Utility For Troubleshooting

    5: Troubleshooting, Maintenance, and Repair Using the Utility for Troubleshooting The laserBIRD Utility provides a fast and easy way to evaluate how each individual detector in your Sensor is performing throughout the operating region. For example, if you were experiencing interruptions (static or noisy data) during your tracking application, you could run the utility and determine which of the detectors were returning invalid data.

  • Page 91: Repair: Contacting Ascension Technology Corporation

    If any Ascension products fail due to no fault of the buyer, Ascension will (at its option) either repair the defective product and restore it to normal operation without charge for parts and labor or provide a replacement in exchange for the defective product.

  • Page 92: Replacement Parts

    5: Troubleshooting, Maintenance, and Repair Replacement Parts Part Number Description Assembly, laserBIRD Scanner 600333 Assembly, laserBIRD Sensor 600326 Power Supply, laserBIRD 106045 laserBIRD CD-ROM 940019 laserBIRD Installation and Operation 940020 Guide...

  • Page 93: Regulatory Information And Product Specifications

    Installation and Operation Guide Chapter Regulatory Information and Product Specifications FCC Regulations Warning: Changes or modifications to this unit not expressly approved by the party responsible for compliance could void the user's authority to operate the equipment. NOTE: This equipment has been tested and found to comply with the limits for a Class A digital device, pursuant to Part 15 of the FCC Rules.

  • Page 94: Ce Specifications

    6: Regulatory Information and Product Specifications CE Specifications Equipment Classification In Accordance with EN60825-1 (Safety of Laser Products), this equipment is classified as follows: CLASS 1 LASER PRODUCT A CLASS 1 laser product is defined as any laser product which does not permit human access to laser radiation in excess of the accessible emission limits of Class 1 for applicable wavelengths and emission durations.
  • Page 95 Steady-state power into the measurement acceptance angle: the Scanner = 0.95μW unit. beam An interlock is designed into the laserBIRD Scanner which disables the lasers if the scanner shaft is not rotating appropriately. This is a safety feature, and can not be disabled.

  • Page 96: Ec Declaration Of Conformity

    Equipment description: laserBIRD Model laserBIRD Tracking System +12V @ 1.0 A , 5V @ 2.0 A Tested with: The laserBIRD passed all CE standards when using a ThinkPad Type 9549 IBM Laptop PC S.N. 78-NA276. Applicable directive: 73/23/EEC, Low Voltage Directive...

  • Page 97: Specifications

    Specifications Performance The performance of the laserBIRD is specified below. Performance is based on measurements taken from one scanner unit to one sensor. Position and angle accuracy assumes the sensor is within the angular range or field-of-view of the scanner laser beams (approximately ±60°...

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