LMI Gocator 2000 Family User Manual
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LMI Gocator 2000 Family User Manual

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Gocator 2000 Family
User's ManUal
Version 2.2.1.0 Revision: A

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Summary of Contents for LMI Gocator 2000 Family

  • Page 1 Gocator 2000 Family User’s ManUal Version 2.2.1.0 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 2000 Family of laser profiling 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.

  • Page 4: Table Of Contents

    Assigning a Buddy Center X Updating Firmware Center Z Next Steps Angle X Intersect X Intersect Z Setup Intersect Angle Intersect Area Setup Page Box Area Saving and Loading Settings Difference Area Recording and Playback Difference Peak Gocator 2000 Family...
  • Page 5 Status Codes Health Results Command and Reply Formats Result Format Configuration Files Setup Serial Protocol ProfileMeasurement Outputs Connection Settings Calibration File Message Format SysCal Discovery Commands Get Address Set Address Upgrade Commands Get Protocol Version Start Upgrade Gocator 2000 Family...
  • Page 6 Digital Inputs Encoder Input Serial Output Analog Output Master 200 Master 400/800 Master 400/800 Electrical Specifications Master 1200/2400 Master 1200/2400 Electrical Specifications 185 Parts and Accessories Warranty and Return Policy Warranty Policy Return Policy Software Licenses Software Licenses Gocator 2000 Family...

  • Page 7: Safety And Maintenance

    International standard IEC 60825-1 (2001-08) consolidated edition, Safety of laser products – Part 1: Equipment classification, requirements and user’s guide. 2. Technical report 60825-10, Safety of laser products – Part 10. Application guidelines and explanatory notes to IEC 60825-1. 3. Laser Notice No. 50, FDA and CDRH http://www.fda.gov/cdrh/rad-health.html Gocator 2000 Family...

  • Page 8: Laser Classes

    U.S. FDA CFR Title 21 part 1040 and IEC 60825-1 Labels reprinted here are examples only. For accurate specifications, refer to the label on your sensor. Gocator 2000 Family Safety and Maintenance •...

  • Page 9: 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 10: 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 11: Electrical Safety

    Wires connecting to the sensor should not be handled while the sensor is powered. Doing so may cause electrical shock to the user or damage to the equipment. Failure to adhere to the guidelines described in this section may result in electrical shock or equipment damage. Gocator 2000 Family Safety and Maintenance •...

  • Page 12: 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 13: Getting Started

    PLCs. GOCATOR CONNECT POWER AND I/O AS REQUIRED BY APPLICATION IN - ENCODER / TRIGGER / SAFETY OUT - SERIAL / ANALOG / DIGITAL ETHERNET CORDSET GOCATOR I/O CORDSET USER PC (can be disconnected after setup) Gocator 2000 Family...

  • Page 14: Dual Sensor (Buddy) System

    (BY LMI) CAT5E ETHERNET CABLE GOCATOR I/O CORDSET ETHERNET MASTER 200 CORDSET CONNECT I/O AS REQUIRED BY APPLICATION USER PC IN - ENCODER / TRIGGER / SAFETY OUT - SERIAL / ANALOG / DIGITAL Gocator 2000 Family Getting Started •...

  • Page 15: Multi-Sensor System

    The Master 400/800/1200/2400 are designed to be connected to a control system and unlike the Master 200 does not support digital, serial or analog output. MASTER 2400 USER PC ETHERNET CORDSET GIGABIT ETHERNET SWITCH CAT5E ETHERNET CABLE GOCATOR MASTER CORDSET Gocator 2000 Family Getting Started •...

  • Page 16: Hardware

    Serial Number Unique sensor serial number. Sensor Models and Options The table below summarizes the sensor models in the Gocator 2000 Family. Refer to the Specifications section (page 162) or detailed model specifications. CLEARANCE DISTANCE Each individual sensor can be customized by...

  • Page 17: Master 200

    Accepts encoder for Buddy sensor operation (Main and Buddy sensors connected). Power and Laser Safety Accepts power (+24 to +48 V at 10 Watts) and laser safety inputs. Refer to the Master 200 section (page 180) for pinout details. Gocator 2000 Family Getting Started •...
  • Page 18 Master connection for Gocators (no specific order required). Ground Connection Earth ground connection point. Laser Safety Laser safety connection Encoder Accepts encoder signal. Input Accepts digital input. Refer to the Master 400/800 section (page 182) for pinout details. Gocator 2000 Family Getting Started •...

  • Page 19: Master 1200/2400

    Master connection for Gocators (no specific order required). Ground Connection Earth ground connection point. Laser Safety Laser safety connection Encoder Accepts Encoder Signal. Input Accepts digital input. Refer to the Master 1200/2400 section (page 184) for pinout details. Gocator 2000 Family Getting Started •...

  • Page 20: Cordsets

    4 PIN, D-CODE, MALE 19 PIN, MALE 19 PIN, MALE Refer to the Gocator I/O Connector section (page 175) pinout details. Refer to Parts and Accessories (page 186) for cordset lengths and part numbers. Gocator 2000 Family Getting Started •...

  • Page 21: Calibration Targets

    Calibration disks are typically used with systems containing a single sensor and can be ordered from LMI Technologies. When choosing a disk for your application, select the largest disk that fits entirely within the required field of view. Refer to the Parts and Accessories (page 186) in this guide for calibration disk part numbers.

  • Page 22: Installation

    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. Gocator 2000 Family Getting Started •...
  • Page 23 Sensors should not be installed near surfaces that might create unanticipated laser reflections. Gocator 2000 Family Getting Started •...

  • Page 24: Installation Orientations

    The examples below illustrate a few of the potential uses and orientations. For more information on orientations, refer to the Dual Sensor Layout section (page 57). Single Sensor Orientations: Single sensor above conveyor Single sensor on robot arm Gocator 2000 Family Getting Started •...
  • Page 25 Main must be before Buddy in the axis of Offset for before/after measurement (Staggered) motion. (Staggered) Main Buddy Above/below for two-sided measurement (Opposite) Main must be on the top with Buddy on the bottom (Opposite) Gocator 2000 Family Getting Started •...

  • Page 26: Software

    Position the mouse over any toolbar control to see a description of its function. Configuration Area Provides controls to select video or measurement. Data Viewer Displays sensor data or video, tool setup, and measurements. Gocator 2000 Family Getting Started •...

  • Page 27: Connecting To A New Sensor

    » On the Networking tab, click Internet Protocol Version 4 (TCP/IPv4), and then click Properties. » Select “Use the following IP address” option. » Enter IP Address “192.168.1.5” and Subnet Mask “255.255.255.0”, then click OK. Gocator 2000 Family Getting Started •...
  • Page 28 10.0+, must be installed. 4 Press the Login Button. The Administrator password is initially blank. Refer to the Troubleshooting chapter (page 160) if you experience any problems while attempting to establish a connection to the sensor. Gocator 2000 Family Getting Started •...

  • Page 29: Running A Sensor For The First Time

    Data Viewer, refer to the Troubleshooting section (page 160) in this guide. 8 Press the Stop Button. You should now see the laser turn off. RECORD STOP SNAPSHOT DATA SOURCE Gocator 2000 Family Getting Started •...

  • Page 30: Customizing Network Settings

    Remember to change the network settings of the client computer to match the changes made to the sensors before attempting to reconnect. In cases where the changes to the IP address or subnet mask are forgotten, please use the Sensor Discovery tool. Refer to Recovering Sensors (page 107) for more information. Gocator 2000 Family Getting Started •...

  • Page 31: Assigning A Buddy

    The firmware on Main and Buddy sensors must be the same for Buddy assignment to be successful. If the firmware is different, connect the Main and Buddy sensor one at a time and use the steps in the section on Updating Firmware (page 32). Gocator 2000 Family Getting Started •...

  • Page 32: Updating Firmware

    To update firmware using a PC other than the host PC: If the client computer is not connected to the Internet, firmware can be downloaded and transferred to the computer hosting the Gocator using another computer by visiting the downloads area of the LMI Technologies website: http://www.lmi3D.com/support/downloads...

  • Page 33: Next Steps

    Measurement (page 62) for more information. Output Configuration Profile data, measurements, and Pass/Fail results can be transmitted to external devices for process control or data analysis. Refer to Output (page 94) for more information. Gocator 2000 Family Getting Started •...

  • Page 34: Setup

    Dual Sensor Layout (page 57) Calibrate the system, so that laser profile data can be aligned to a Alignment Calibration (page 59) common reference and values can be correctly scaled in the axis of Travel Calibration (page 60) motion. Gocator 2000 Family...

  • Page 35: Setup Page

    Used to configure the dual sensor setup and to perform alignment or travel calibration Data Viewer Used to view sensor data and adjust regions of interest. Depending on the current operation mode, the data viewer can display video images or profile plots. Gocator 2000 Family Setup •...

  • Page 36: Saving And Loading Settings

    3 Press the Enter Key or click the Save Button. The files will be saved to flash memory using the name provided. The saved files will be set as the defaults to be loaded automatically when the sensor is reset. Gocator 2000 Family Setup •...
  • Page 37 Commands for managing individual files are provided in the Files Panel on the Connection Page. Refer to the Management and Recovery section (page 103) in this guide for more information. An asterisk will appear next to the filename if the live configuration is different from the loaded version. Gocator 2000 Family Setup •...

  • Page 38: Recording And Playback

    The Pause Button (replaces the Play Button while playing) can be used to pause the replay at a particular location. The Replay Slider (or Replay Position Box) can be used to navigate to a specific replay frame. Gocator 2000 Family Setup •...
  • Page 39 Gocator toolbar while in replay mode. To export recorded data: 1 Toggle the Data Source to Replay. 2 Press the Export Button 3 Select the directory and file name to store on the local computer. Press OK. Gocator 2000 Family Setup •...

  • Page 40: Coordinate Systems

    The Y-axis value will increase for each encoder pulse as a detected object travels though the sensor’s area of interest. Travel Calibration (page 60) can be used to calibrate distances along the Y-axis. BUDDY Gocator 2000 Family Setup •...

  • Page 41: Metrics Panel

    The Speed bar in the metrics panel (at the top of the interface) displays the frame rate of the sensor. A warning will show up if the triggers (external input or encoder) are dropped because the external rate exceeds the maximum. Gocator 2000 Family Setup •...

  • Page 42: Operation Modes And Data Viewers

    In Raw Mode, video images are processed internally by the sensor in order to produce laser profiles. This mode is intended for users who want to extract unprocessed ranges from the Gocator at the highest possible rate. Post-profiling processing and measurements are disabled. Gocator 2000 Family Setup •...
  • Page 43 If the laser line (in either profile or video mode) is not showing in the viewer, ensure the object is within the field of view. If the object is within the field of view and is not showing in the viewer adjust the sensor’s exposure. Refer to the Exposure section (page 50) for more information. Gocator 2000 Family Setup •...

  • Page 44: Profile Output In Profile And Raw Mode

    In contrast, in Raw Mode, the profile data is not processed in any way. The data is reported in (X,Z) co-ordinate pairs, freeing up processing resources in the Gocator, but typically requiring more complicated processing on the client side. All built-in measurement tools in the Gocator operate on re-sampled data in Profile Mode. Gocator 2000 Family Setup •...

  • Page 45: Connection Type

    Master 400/800/1200/2400 These models are provided to Gocator customers for applications where two or more sensors are required. If the connection type is not correctly specified, sensor measurement and communication functions may fail to operate correctly. Gocator 2000 Family Setup •...

  • Page 46: Trigger

    After specifying a trigger source, the Start Button can be used to start the sensor. When the sensor is started, it will accept triggers and generate a laser profile each time that a trigger is received. The Stop Gocator 2000 Family Setup...
  • Page 47 External Input triggering can be used to produce a snapshot for profile measurement. For example, a photocell can be connected as an External Input to generate a trigger pulse when a target object has moved into position. Gocator 2000 Family Setup •...
  • Page 48 When external input or software trigger source is selected, the Domain specifies whether the offset, output delay and output scheduled command operates as time or encoder. The domain is implicitly set to microsecond with Time trigger source, and mm with Encoder trigger source. Gocator 2000 Family Setup •...

  • Page 49: Active Area

    Gocator 2000 Family Setup •...

  • Page 50: Single Exposure

    Click the arrow to expand the Sensor Panel, if it is collapsed. 3 Select Single. 4 Select Video Mode. Video mode enables you to see how the laser appears on the camera and to identify any stray light or ambient light problems. Gocator 2000 Family Setup •...
  • Page 51 Under exposure Over exposure Laser line is not detected. Laser line is too bright. Increase the exposure value. Decrease the exposure value. 8 Select Profile Mode and check that laser profiling is satisfactory. Gocator 2000 Family Setup •...

  • Page 52: Multiple Exposure

    When combining the data, the sensor will use profile data that is available from the lowest exposure step. It is recommended to use larger exposure for higher numbered step. 6 Run the sensor and check that laser profiling is satisfactory. If not satisfactory, adjust the exposure values. Gocator 2000 Family Setup •...

  • Page 53: Dynamic Exposure

    Auto Set Max button to set the maximum exposure. Run the sensor and check that laser profiling is satisfactory. If not satisfactory, adjust the exposure values. Gocator 2000 Family Setup •...

  • Page 54: Resolutions

    3 Select Profile Mode and check that laser profiling is satisfactory. Decreasing z resolution can reduce laser profiling accuracy. After adjusting the resolution, confirm that laser profiling characteristics are satisfactory. If not satisfactory, adjust the exposure values. Gocator 2000 Family Setup •...

  • Page 55: Filtering

    The window value represents the number of neighbor samples from scan line to scan line at the same pixel index used for smoothing and includes the pixel on the current profile itself. 4 Check that the laser profiling is satisfactory. Gocator 2000 Family Setup •...

  • Page 56: Transformations

    All settings can be configured separately for each sensor (click the ►on the Transformations panel to expand). 3 Click the unlock button to make the fields editable. 4 Set the parameter values. 5 Check that the transformations is applied correctly after profiling is restarted. Gocator 2000 Family Setup •...

  • Page 57: Dual Sensor Layout

    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 reduces the maximum camera speed. Gocator 2000 Family Setup •...

  • Page 58: Calibration

    Calibration Targets (page 21). The procedures to perform alignment calibration and travel calibration are described in the next sections. After calibration, the coordinate system for laser profiles will change from Sensor Coordinates to System Coordinates. Gocator 2000 Family Setup •...

  • Page 59: Alignment Calibration

    (or target surface) provides the origin for the system Z-axis. Alignment calibration does not automatically calibrate the resolution of the encoder (if present). However, the encoder resolution can be manually entered if desired. Refer to the Trigger section (page 46) for more information. Gocator 2000 Family Setup •...

  • Page 60: Travel Calibration

    8 Use Profile Mode to inspect calibration results. The base of Laser profiles from all sensors should now be aligned to the calibration target surface. the calibration target (or target surface) provides the origin for the system Z-axis. Gocator 2000 Family Setup •...

  • Page 61: Clearing Calibration

    1 Navigate to the Calibration Panel on the Setup page. 2 Click the Calibration or Clear Calibration Button. If Clear Calibration button is press calibration will be erased and sensors will revert to using Sensor Coordinates. Gocator 2000 Family Setup •...

  • Page 62: Measurement

    Finds the average x-axis position of a feature. Refer to the Position X section (page 80). Position X Position Z Position Z Finds the average z-axis position of a feature. Refer to the Position Z section (page 81). Gocator 2000 Family...
  • Page 63 Refer to the Intersect Z section (page 86). Intersect Angle Finds the angle subtended by two fitted lines. Refer to the Intersect Angle section (page 87). Intersect Angle Gocator 2000 Family Measurement •...
  • Page 64 Refer to the Difference Area section (page 90). Template Difference Area Difference Peak Measures the maximum difference in height between the live profile and the template. Refer to the Difference Peak section (page 91). Difference Peak Gocator 2000 Family Measurement •...

  • Page 65: Measurement Page

    For each measurement that is added, a configuration panel will appear below the Measurements Panel. Use this area to adjust settings for the measurement. Data Viewer Displays laser profile data, setup tools and result calipers related to the selected measurement. Gocator 2000 Family Measurement •...

  • Page 66: Adding And Removing Measurements

    The measurement will be removed from the list of measurements. If the Add Measurement list contains only the Distance measurement, then the sensor is not equipped with profile tools. The Distance measurement is provided in all sensors to demonstrate measurement functions. Gocator 2000 Family Measurement •...

  • Page 67: Changing A Measurement's Name

    1 Double-click on the measurement’s name. 2 Enter a new name. 3 Press the Tab Key. The name change will be completed when you press the Tab Key or click outside of the name edit field. Gocator 2000 Family Measurement •...

  • Page 68: Measurement Id

    1 Double-click on the measurement ID. 2 Enter a new number 3 Press the Tab Key. The name change will be completed when you press the Tab Key or click outside of the measurement ID edit field. Gocator 2000 Family Measurement •...

  • Page 69: Profile Sources

    Profile data is provided by the Main sensor. This is the only option for single sensor systems. Buddy Profile data is provided by the Buddy sensor. Both Profile data is provided by the Main and the Buddy sensor. Gocator 2000 Family Measurement •...

  • Page 70: Feature Points

    Finds a dominant corner within the region interest, where Corner corner is defined as a change in profile slope. Top Corner Finds the top corner within the region interest, where corner Top Corner is defined as a change in profile shape. Gocator 2000 Family Measurement •...
  • Page 71 Finds a rising edge within the region of interest. Rising Edge Falling Edge Finds a falling edge within the region of interest. Falling Edge Any Edge Finds a rising or falling edge within the region of interest. Edge Edge Gocator 2000 Family Measurement •...

  • Page 72: Fit Lines

    Refer to the following diagrams: LINE LINE AREA A AREA A AREA B A line can be defined using one or two area. Two areas can be used to bypass discontinuity in the line segment. Gocator 2000 Family Measurement •...

  • Page 73: Compare Profile

    Top Golden Profile Top Golden Profile Top Live Profile Top Live Profile Buddy sensor in opposite orientation Bottom Golden Profile Bottom Golden Profile Bottom Live Profile Bottom Live Profile Gocator 2000 Family Measurement •...

  • Page 74: Decisions

    Along with measurement values, decisions can be sent to external programs and devices. In particular, decisions are often used in conjunction with Digital Outputs to trigger an external event in response to a measurement. Refer to the Output (page 94) for more information on transmitting values and decisions. Gocator 2000 Family Measurement •...

  • Page 75: Profile Fixturing

    Profile data within the anchor rectangle will be used to calculate the anchor point for fixturing. 5 Select an anchor point type. The point type determines how the anchor point is calculated from the profile data within the anchor rectangle. Gocator 2000 Family Measurement •...
  • Page 76 When profile fixturing is used, it is more convenient to set up measurement regions while viewing the profile template than viewing the live data. When the sensor is stopped and the user is under the measurement page, the profile template will be automatically reloaded to the data viewer. Gocator 2000 Family Measurement •...

  • Page 77: Measurement Types

    The difference can be expressed as an absolute or signed result (Feature 2 [F2] X value – Feature 1 [F1] X value). To select absolute or signed result 1 Check the Absolute box to select absolute difference. Gocator 2000 Family Measurement •...

  • Page 78: Height

    The difference can be expressed as an absolute or signed result (Feature 2 [F2] Z value – Feature 1 [F1] Z value). To select absolute or signed result 1 Check the Absolute box to select absolute difference. Gocator 2000 Family Measurement •...

  • Page 79: Distance

    Refer to the Feature Points section (page 70) in this chapter for information on point types. 4 Provide minimum and maximum constraints for a decision. Refer to the Decisions section (page 74) in this chapter for more information on decisions. Gocator 2000 Family Measurement •...

  • Page 80: Position X

    Refer to the Feature Points section (page 70) in this chapter for information on point types. 4 Provide minimum and maximum constraints for a decision. Refer to the Decisions section (page 74) in this chapter for more information on decisions. Gocator 2000 Family Measurement •...

  • Page 81: Position Z

    Refer to the Feature Points section (page 70) in this chapter for information on point types. 4 Provide minimum and maximum constraints for a decision. Refer to the Decisions (page 74) in this chapter for more information on decisions. Gocator 2000 Family Measurement •...

  • Page 82: Center X

    Refer to the Feature Points section (page 70) in this chapter for information on point types. 4 Provide minimum and maximum constraints for a decision. Refer to the Decisions section (page 74) in this chapter for more information on decisions. Gocator 2000 Family Measurement •...

  • Page 83: Center Z

    Refer to the Feature Points (page 70) in this chapter for information on point types. 4 Provide minimum and maximum constraints for a decision. Refer to the Decisions section (page 74) in this chapter for more information on decisions. Gocator 2000 Family Measurement •...

  • Page 84: Angle X

    2 Adjust the fit line area(s). An Angle X measurement requires one fit line. 3 Provide minimum and maximum constraints for a decision. Refer to the Decisions section (page 74) in this guide for more information on decisions. Gocator 2000 Family Measurement •...

  • Page 85: Intersect X

    2 Adjust the fit line areas. An Intersect X measurement requires two fit lines. 3 Provide minimum and maximum constraints for a decision. Refer to the Decisions section (page 74) in this chapter for more information on decisions. Gocator 2000 Family Measurement •...

  • Page 86: Intersect Z

    2 Adjust the fit line areas. An Intersect Z measurement requires two fit lines. 3 Provide minimum and maximum constraints for a decision. Refer to the Decisions section (page 74) in this chapter for more information on decisions. Gocator 2000 Family Measurement •...

  • Page 87: Intersect Angle

    2 Adjust the fit line areas. An Intersect Angle measurement requires two fit lines. 3 Provide minimum and maximum constraints for a decision. Refer to the Decisions section (page 74) in this chapter for more information on decisions. Gocator 2000 Family Measurement •...

  • Page 88: Intersect Area

    An Intersect Area measurement uses a fit line to provide a baseline for the measurement region. 4 Provide minimum and maximum constraints for a decision. Refer to the Decisions section (page 74) in this chapter for more information on decisions. Gocator 2000 Family Measurement •...

  • Page 89: Box Area

    The measurement region defines the zone in which cross-sectional area will be determined. 3 Provide minimum and maximum constraints for a decision. Refer to the Decisions section (page 74) in this chapter for more information on decisions. Gocator 2000 Family Measurement •...

  • Page 90: Difference Area

    The difference can be calculated as an absolute or signed. The result is the sum of all the areas within the measurement region. To select absolute or signed result: 1 Check the Absolute box to select absolute difference. Gocator 2000 Family Measurement •...

  • Page 91: Difference Peak

    The difference can be calculated as an absolute or signed. The result is the peak with the largest absolute value within region. To select absolute or signed result: 1 Check the Absolute box to select absolute difference. Gocator 2000 Family Measurement •...

  • Page 92: Script

    (64-bit integer) Arithmetic and Logical Operator Standard C arithmetic operators, except tertiary operator (i.e. “condition? trueValue: falseValue”) Function Declarations Standard C function declarations with argument passed by values. Pointers are not supported Gocator 2000 Family Measurement •...
  • Page 93 // Calculate Manhattan Distance value and decision signed long long manhattan = abs(width) + abs(height); int result = (manhattan > decisionMin) && (manhattan < decisionMax); // Emit final value and decision using the ‘output’ function output(manhattan, result); Gocator 2000 Family Measurement •...

  • Page 94: Output

    Output 2. Analog Panel Use the Analog Panel to convert a measurement value or decision into an analog output signal. Serial Panel Use the Serial Panel to select the measurements that will be transmitted via RS-485 serial output. Gocator 2000 Family...

  • Page 95: Ethernet Input/Output

    Refer to the Ethernet Protocol section (page 109) of this guide for more information on sending and receiving messages via Ethernet. Gocator 2000 Family Output •...

  • Page 96: Digital Outputs

    The signal type specifies whether the digital output is a continuous signal or a pulsed signal. If the signal is continuous its state is maintained until the next transition occurs. If the signal is pulsed, user specifies the pulse width and the delay. Gocator 2000 Family Output •...
  • Page 97 Commands that schedule event in the past will be ignored. An encoder value is in future if the value will be reached by moving in the direction at which travel calibration is performed. Gocator 2000 Family Output •...

  • Page 98: Analog Output

    4 Specify minimum, maximum and invalid current values. 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. 5 Specify if the output is scheduled. Gocator 2000 Family Output •...
  • Page 99 Commands that schedule event in the past will be ignored. An encoder value is in future if the value will be reached by moving in the direction at which travel calibration is performed Gocator 2000 Family Output •...
  • Page 100 Measurements Page. Refer to the Serial Protocol section(page 157) for serial connection parameters and data formats. Refer to the Specifications section (page 162) for information on wiring serial output to an external device. Gocator 2000 Family Output •...

  • Page 101: Dashboard

    Current encoder value (ticks). Encoder Frequency Current encoder frequency (Hz). Trigger Drops Count of camera frames dropped due to excessive trigger speed. CPU Usage Sensor CPU utilization (%). Memory Usage Sensor memory utilization (MB). Memory Capacity Sensor memory capacity (MB). Gocator 2000 Family...

  • Page 102: Measurement Statistics

    Minimum/Maximum Value The minimum and maximum measurement values that have been observed. Pass/Fail Count The count of pass or fail decisions that have been generated. Max Spot Count Maximum number of spots that can be detected. Gocator 2000 Family Dashboard •...

  • Page 103: Management And Recovery

    Security Panel Use the Security Panel to change passwords. Files Panel Use the Files Panel to manage files stored on the main sensor. Maintenance Panel Use the Maintenance Panel to upgrade firmware, create/restore backups or reset sensors. Gocator 2000 Family...

  • Page 104: Security

    The new password will be required the next time that a technician logs in to the sensor. If the administrator password is misplaced, the sensor can be recovered using a special software tool. Refer to the Recovering Sensors section (page 107) in this guide for more information. Gocator 2000 Family Management and Recovery •...

  • Page 105: Managing Files

    4 Save the second configuration. 5 When production changes, load the desired configuration. Select the desired configuration and click the Load Button. The configuration will be loaded and the sensors will ready for production. Gocator 2000 Family Management and Recovery •...

  • Page 106: Working With Backups

    3 Reset the sensor. After restoring factory defaults, it is necessary to reset the sensor before the changes will take effect. Use the Reset Sensor Button or cycle the power to affect a reset. Gocator 2000 Family Management and Recovery •...

  • Page 107: Recovering Sensors

    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 downloaded from the downloads area of LMI’s website at www.lmi3D.com: After downloading the tool package [14405-x.x.x.x_software_go2_tools.zip], upzip the file and run the...

  • Page 108: Auto Starting Of Sensors

    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. Gocator 2000 Family Management and Recovery •...

  • Page 109: Ethernet Protocol

    The Gocator 2000 SDK provides open-source C language libraries that implement the network commands and data formats defined in this chapter. For more information, refer to the Software Development Kit (page 159) in this guide. Gocator 2000 Family...

  • Page 110: Concepts

    Port Description Data 3196 Sensor sends data messages. Health 3194 Sensor sends health messages. Each of the above ports can be connected simultaneously and the sensor will also accept multiple connections on each port. Gocator 2000 Family Ethernet Protocol •...

  • Page 111: Modes

    Sensor firmware version (major, minor, release, build). The protocol version refers to the version of Gocator’s protocol supported by the connected sensor (the sensor to which a command connection is established), and consists of major and minor parts. The Gocator 2000 Family Ethernet Protocol •...

  • Page 112: Data Types

    Gocator’s firmware by sending the Upgrade command. Firmware upgrade files are available from the downloads section under the support tab on the LMI web site. Refer to the Updating Firmware section (page 32) in this guide for more information on obtaining the latest firmware.

  • Page 113: Command And Reply Formats

    List of data blocks specific to a particular message type. Block Descriptor Field Type Description length0 Length of block dimension 0. length1 Length of block dimension 1. length2 Length of block dimension 2. Gocator 2000 Family Ethernet Protocol •...
  • Page 114 . For example, the length 2 field will contain zero for a 2 dimensional block. Items in the highest numbered dimension are transmitted sequentially. Specific result messages, described later in this chapter, are defined by identifying the attributes and data block formats necessary to express the message content. Gocator 2000 Family Ethernet Protocol •...

  • Page 115: Configuration Files

    </Trigger> <Layout> <CalibratedHeight>210</CalibratedHeight> <CalibratedZ>-105</CalibratedZ> <CalibratedWidth>249.872</CalibratedWidth> <CalibratedX>-124.936</CalibratedX> <Orientation>0</Orientation> <Overlap>0</Overlap> </Layout> <Calibration> <TravelSpeed>0</TravelSpeed> <TravelResolution>0</TravelResolution> <AlignmentTarget>0</AlignmentTarget> <TravelTarget>1</TravelTarget> <Disk> <Diameter>0</Diameter> <Height>0</Height> </Disk> <Bar> <Width>100</Width> <Height>10</Height> <Holes>2</Holes> <HoleDistance>10</HoleDistance> <HoleDiameter>5</HoleDiameter> </Bar> </Calibration> <Sensors> <Sensor role="0"> <Profiling> <ExposureMax>600000</ExposureMax> <ExposureMin>30</ExposureMin> <ActiveAreaHeightMax>210</ActiveAreaHeightMax> <ActiveAreaZMax>104</ActiveAreaZMax> Gocator 2000 Family Ethernet Protocol •...
  • Page 116 </YSmoothing> </Filters> </Profiling> </Sensor> </Sensors> </Setup> <ProfileMeasurement> <MeasurementOptions>Width,Height,Distance,CenterX,CenterZ,IntersectAngle,AngleX,BoxArea,I ntersectArea,IntersectX,IntersectZ,PositionX,PositionZ,Script,DifferencePeak,DifferenceArea</ MeasurementOptions> <Anchor> <Enable>0</Enable> <Type>3</Type> <Area> <Height>26.25</Height> <Z>-26.25</Z> <Width>31.25</Width> <X>-93.75</X> </Area> </Anchor> <Measurements> <Width id="1"> <Name>Width #1</Name> <Source>0</Source> <SourceOptions>0</SourceOptions> <DecisionMax>0</DecisionMax> <DecisionMin>0</DecisionMin> <AbsoluteResult>0</AbsoluteResult> <Feature> <Type>0</Type> <Area> <Height>26.25</Height> Gocator 2000 Family Ethernet Protocol •...
  • Page 117 <DecisionMax>0</DecisionMax> <DecisionMin>0</DecisionMin> <Feature> <Type>0</Type> <Area> <Height>26.25</Height> <Z>-13.125</Z> <Width>31.25</Width> <X>-78.125</X> </Area> </Feature> <Feature> <Type>0</Type> <Area> <Height>26.25</Height> <Z>-13.125</Z> <Width>31.25</Width> <X>46.875</X> </Area> </Feature> </Distance> <CenterX id="4"> <Name>Center X #4</Name> <Source>0</Source> <SourceOptions>0</SourceOptions> <DecisionMax>0</DecisionMax> <DecisionMin>0</DecisionMin> <Feature> <Type>0</Type> <Area> <Height>26.25</Height> Gocator 2000 Family Ethernet Protocol •...
  • Page 118 <DecisionMin>0</DecisionMin> <Line> <Area> <Height>26.25</Height> <Z>-13.125</Z> <Width>15.625</Width> <X>-101.5625</X> </Area> </Line> <Line> <Area> <Height>26.25</Height> <Z>-13.125</Z> <Width>15.625</Width> <X>23.4375</X> </Area> </Line> </IntersectAngle> <AngleX id="7"> <Name>Angle X #7</Name> <Source>0</Source> <SourceOptions>0</SourceOptions> <DecisionMax>0</DecisionMax> <DecisionMin>0</DecisionMin> <Line> <Area> <Height>26.25</Height> <Z>-13.125</Z> <Width>15.625</Width> <X>-70.3125</X> </Area> Gocator 2000 Family Ethernet Protocol •...
  • Page 119 <Height>26.25</Height> <Z>-13.125</Z> <Width>15.625</Width> <X>-101.5625</X> </Area> </Line> <Line> <Area> <Height>26.25</Height> <Z>-13.125</Z> <Width>15.625</Width> <X>23.4375</X> </Area> </Line> </IntersectX> <IntersectZ id="11"> <Name>Intersect Z #11</Name> <Source>0</Source> <SourceOptions>0</SourceOptions> <DecisionMax>0</DecisionMax> <DecisionMin>0</DecisionMin> <Line> <Area> <Height>26.25</Height> <Z>-13.125</Z> <Width>15.625</Width> <X>-101.5625</X> </Area> </Line> <Line> <Area> Gocator 2000 Family Ethernet Protocol •...
  • Page 120 <Name>Difference Peak #15</Name> <Source>0</Source> <SourceOptions>0</SourceOptions> <DecisionMax>0</DecisionMax> <DecisionMin>0</DecisionMin> <AbsoluteResult>0</AbsoluteResult> <Area> <Height>26.25</Height> <Z>-13.125</Z> <Width>31.25</Width> <X>-15.625</X> </Area> </DifferencePeak> <DifferenceArea id="16"> <Name>Difference Area #16</Name> <Source>0</Source> <SourceOptions>0</SourceOptions> <DecisionMax>0</DecisionMax> <DecisionMin>0</DecisionMin> <AbsoluteResult>0</AbsoluteResult> <Area> <Height>26.25</Height> <Z>-13.125</Z> <Width>31.25</Width> <X>-15.625</X> </Area> </DifferenceArea> </Measurements> </ProfileMeasurement> <Outputs> <Ethernet> Gocator 2000 Family Ethernet Protocol •...
  • Page 121 <PulseWidthMin>10</PulseWidthMin> <PulseWidth>100</PulseWidth> <PassMode>0</PassMode> <DecisionOptions>1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16</DecisionOptions> <Decision>1</Decision> <Delay>0</Delay> </DigitalOutput> <Analog> <Event>1</Event> <ScheduleEnable>0</ScheduleEnable> <CurrentLimitMax>22</CurrentLimitMax> <CurrentLimitMin>0</CurrentLimitMin> <CurrentMax>20</CurrentMax> <CurrentMin>4</CurrentMin> <CurrentInvalidEnable>1</CurrentInvalidEnable> <CurrentInvalid>0</CurrentInvalid> <DataScaleMax>10000</DataScaleMax> <DataScaleMin>0</DataScaleMin> <ValueOptions>1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16</ValueOptions> <DecisionOptions>1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16</DecisionOptions> <Value>1</Value> <Decision /> <Delay>0</Delay> </Analog> <Serial> <ValueOptions>1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16</ValueOptions> <DecisionOptions>1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16</DecisionOptions> <Value>1</Value> <Decision /> </Serial> </Outputs> </Configuration> Gocator 2000 Family Ethernet Protocol •...

  • Page 122: Setup

    Layout Child Elements Element Type Description Orientation Setting for orientation type: 0 – Isolated 1 – Wide 2 – Staggered 3 – Opposite Overlap Setting for overlap: 0 – No overlap 1 – Overlap Gocator 2000 Family Ethernet Protocol •...
  • Page 123 Setting for exposure (µs). DynamicExposureMax Setting for maximum exposure (for dynamic exposure) DynamicExposureMin Setting for minimum exposure (for dynamic exposure) ActiveAreaX Setting for active area X position (mm). ActiveAreaZ Setting for active area clearance distance (mm). Gocator 2000 Family Ethernet Protocol •...
  • Page 124 Constraint for Maximum window size (points) YSmoothing\Enable Setting for enable or disable YSmoothing filter 0 – Enable 1 – Disable YSmoothing\Window Setting for YSmoothing filter window (samples) YSmoothing\WindowMin Minimum window size (samples) YSmoothing\WindowMax Maximum window size (samples) Gocator 2000 Family Ethernet Protocol •...

  • Page 125: Profilemeasurement

    6 – Rising Edge 7 – Falling Edge 8 – Any Edge 9 – Top Corner 10 – Bottom Corner 11 – Left Corner 12 – Right Corner Area Area Element for feature detection area. Gocator 2000 Family Ethernet Protocol •...
  • Page 126 SourceOptions String Constraint for eligible profile sources (comma-delimited list). e aS u r e M e n T S e i g h T A Height element defines settings for a profile height measurement. Gocator 2000 Family Ethernet Protocol •...
  • Page 127 Source Setting for profile source. DecisionMin Setting for decision threshold minimum (mm). DecisionMax Setting for decision threshold maximum (mm). Feature Feature Element for feature detection. SourceOptions String Constraint for eligible profile sources (comma-delimited list). Gocator 2000 Family Ethernet Protocol •...
  • Page 128 Source Setting for profile source. DecisionMin Setting for decision threshold minimum (mm). DecisionMax Setting for decision threshold maximum (mm). Line[2] Line Elements for fit lines. SourceOptions String Constraint for eligible profile sources (comma-delimited list). Gocator 2000 Family Ethernet Protocol •...
  • Page 129 Element Type Description Name String Setting for measurement name. Source Setting for profile source. DecisionMin Setting for decision threshold minimum (mm). DecisionMax Setting for decision threshold maximum (mm). Area Area Element for measurement area. Gocator 2000 Family Ethernet Protocol •...
  • Page 130 M e n T S C r i P T A Script element defines settings for a script measurement. Script Child Elements Element Type Description Name String Setting for measurement name. Code String Script code. Gocator 2000 Family Ethernet Protocol •...

  • Page 131: Outputs

    Constraint for eligible decision sources (comma-delimited list). n a Lo g The Analog element defines settings for Analog output. The range of valid measurement values [DataScaleMin, DataScaleMax] is scaled linearly to the specified current range [CurrentMin, CurrentMax]. Gocator 2000 Family Ethernet Protocol •...
  • Page 132 Constraint for minimum pulse width (us). PulseWidthMax Constraint for maximum pulse width (us). DecisionOptions String Constraint for eligible decision sources (comma-delimited list). SignalType Setting for signal type. 0 – Pulsed output 1 – Continuous output Gocator 2000 Family Ethernet Protocol •...
  • Page 133 1 - Scheduled Delay Setting for output delay. The delay is measured from exposure (first exposure for multiple exposure) to when output is scheduled. Ignored when ScheduleEnable is 0. The units depends on SystemDomain. Gocator 2000 Family Ethernet Protocol •...

  • Page 134: Calibration File

    User can use Read and Write File command to modify the calibration file. Calibration Example: <?xml version="1.0" ?> <SysCal version="1"> <YDomain>0</YDomain> <YResolution>0</YResolution> <Entries> <Entry id="0"> <X>-2.3650924829</X> <Y>0</Y> <Z>123.4966803469</Z> <Angle>5.7478302588</Angle> <Orientation>0</Orientation> </Entry> <Entry id="1"> <X>0</X> <Y>0</Y> <Z>123.4966803469</Z> <Angle>0</Angle> <Orientation>0</Orientation> </Entry> </Entries> </SysCal> Gocator 2000 Family Ethernet Protocol •...

  • Page 135: Syscal

    Distance between main and buddy sensor (mm) in stagger orientation. Must be zero for main sensor Translation in the Z axis (mm) Angle Rotation about Y axis (degrees) Orientation Direction of X-axis . 0 – Normal. 1 – Reverse Gocator 2000 Family Ethernet Protocol •...

  • Page 136: Discovery Commands

    1 if network interface uses DHCP, 0 otherwise. reserved[4] byte Reserved. address[4] byte IP address. reserved[4] byte Reserved. mask[4] byte Subnet mask. reserved[4] byte Reserved. gateway[4] byte Gateway. reserved[4] byte Reserved. reserved[4] byte Reserved. Gocator 2000 Family Ethernet Protocol •...

  • Page 137: Set Address

    Reserved. Set to 0. reserved[4] byte Reserved. Set to 0. Reply Field Type Description length Reply size – in bytes. Reply identifier (0x1002). status Reply status. signature Magic number (0x0000504455494D4C). deviceId Device identifier. Gocator 2000 Family Ethernet Protocol •...

  • Page 138: Upgrade Commands

    The Get Upgrade Status command determines the progress of a firmware upgrade. Command Field Type Description length Command size – in bytes. Command identifier (0x0001). Reply Field Type Description length Reply size – in bytes. Reply identifier. status Reply status. Gocator 2000 Family Ethernet Protocol •...

  • Page 139: Get Upgrade Log

    Command size – in bytes. Command identifier (0x0002). Reply Field Type Description length Reply size – in bytes. Reply identifier. status Reply status. fileSize Log file size – in bytes. file[fileSize] byte Log file. Gocator 2000 Family Ethernet Protocol •...

  • Page 140: Control Commands

    1 – Main (in a Buddy setup) 2 – Buddy loginState Authenticated user: 0 – None 1 – Administrator 2 – Technician systemState Current system state: 1 – Conflict 2 – Ready 3 – Running Gocator 2000 Family Ethernet Protocol •...

  • Page 141: Log In/Out

    0 – None (log out) 1 – Administrator 2 – Technician password[64] char Password (null-terminated; required for log-in only). Reply Field Type Description length Reply size – in bytes. Reply identifier. status Reply status. Gocator 2000 Family Ethernet Protocol •...

  • Page 142: Change Password

    Command size - in bytes. Command identifier (0x101A). extension[64] char Null-terminated file extension filter, or empty: cfg – Configuration files rec – Record/Playback data files prof – Profile template files xml – XML file Gocator 2000 Family Ethernet Protocol •...

  • Page 143: Copy File

    File size – in bytes. file[fileSize] byte File content. Write File The Write File command uploads a file to the connected sensor. Command Field Type Description length Command size – in bytes. Command identifier (0x1006). Gocator 2000 Family Ethernet Protocol •...

  • Page 144: Delete File

    – Configuration files rec – Record/Playback data files prof – Profile template files Reply Field Type Description length Reply size – in bytes. Reply identifier. status Reply status. fileName[64] char File name (null-terminated). Gocator 2000 Family Ethernet Protocol •...

  • Page 145: Set Default File

    The Get Mode command reports the name of the current system mode. Command Field Type Description length Command size – in bytes. Command identifier (0x1005). Reply Field Type Description length Reply size – in bytes. Reply identifier. status Reply status. mode[16] char Mode name (null-terminated). Gocator 2000 Family Ethernet Protocol •...

  • Page 146: Set Mode

    Field Type Description length Command size – in bytes. Command identifier (0x101C). Reply Field Type Description length Reply size – in bytes. Reply identifier (0x101C). status Reply status. encoder Current encoder value, in ticks. Gocator 2000 Family Ethernet Protocol •...

  • Page 147: Start

    The Stop command stops the sensor system (system enters the Ready state). Command Field Type Description length Command size – in bytes. Command identifier (0x1001). Reply Field Type Description length Reply size – in bytes. Reply identifier. status Reply status. Gocator 2000 Family Ethernet Protocol •...

  • Page 148: Trigger

    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) Gocator 2000 Family Ethernet Protocol •...

  • Page 149: Ping

    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). Gocator 2000 Family Ethernet Protocol •...

  • Page 150: Restore

    Specifies whether network address should be restored to default: 0 – Do not reset address 1 – Reset address Reply Field Type Description length Reply size – in bytes. Reply identifier. status Reply status. Gocator 2000 Family Ethernet Protocol •...

  • Page 151: Set Connection Type

    Type Description length Command size – in bytes. Command identifier (0x4515). Reply Field Type Description length Reply size – in bytes. Reply identifier. status Reply status. type Connection type (see Set Connection Type above). Gocator 2000 Family Ethernet Protocol •...

  • Page 152: Data Results

    Video Data Field Type Description pixels[height][width] Byte Image pixels (dimensions and data type given by block descriptor). Profile Profile Attributes Field Type Description dataType Data type (0x01). source Profile source. xResolution X resolution (nm). Gocator 2000 Family Ethernet Protocol •...

  • Page 153: Alignment Calibration

    Calibration result. 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. Gocator 2000 Family Ethernet Protocol •...

  • Page 154: Measurement

    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 Description value Result value. decision Result decision: 0 – Fail 1 – Pass Gocator 2000 Family Ethernet Protocol •...

  • Page 155: Health Results

    Number of messages generated but not sent. Uptime 2017 Time elapsed since boot-up or reset (seconds). Speed 2018 Current speed (Hz). Trigger Drops 2019 Number of dropped triggers. Valid Measurements 20000 Number of valid measurements. Gocator 2000 Family Ethernet Protocol •...
  • Page 156 Number of fail decisions. Measurement Minimum 30003 Measurement id Minimum measurement value. Measurement Maximum 30004 Measurement id Maximum measurement value. Additional undocumented indicator values may be included in addition to the indicators defined above. Gocator 2000 Family Ethernet Protocol •...

  • Page 157: Serial Protocol

    Refer to the Specifications section (page 162) in this guide for cable pinout information. Connection Settings Gocator serial communication uses the following connection settings: Serial Connection Settings Parameter Value Start Bits Stop Bits Parity None Data Bits Baud Rate (b/s) 115200 Format ASCII Delimiter CR (0xD) Gocator 2000 Family...

  • Page 158: Message Format

    Additional message types may be added in future releases. Each message type will begin with a unique letter. For future compatibility, software written to receive serial messages should ignore any messages not beginning with a recognized letter up to the trailing end of frame character (CR). Gocator 2000 Family Serial Protocol •...
  • Page 159 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 160 • 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 the Recovering Sensors section (page 107) in this guide for more information.
  • Page 161 • Consider reducing the laser profile resolution. Refer to the Multiple Exposures section (page 52) in this guide for more information on configuring laser profile resolution. • Review the measurements that you have programmed and eliminate any unnecessary measurements. Gocator 2000 Family Troubleshooting •...
  • Page 162 65 x 75 x 272 Weight (kg) 1.00 1.00 1.15 1.45 1.45 1.45 Housing Gasketed aluminum enclosure, IP 67 CLEARANCE DISTANCE NEAR FOV FAR FOV MEASUREMENT RANGE Mechanical dimensions for each sensor model are illustrated on the following pages. Gocator 2000 Family...
  • Page 163 Gocator 2020 Field of View / Measurement Range -12.6 12.6 52.6 Dimensions MOUNTING HOLES 4XM5X0.8 27.5 Gocator 2000 Family Specifications •...
  • Page 164 Envelope 82.9 95.7 Gocator 2000 Family Specifications •...
  • Page 165 Gocator 2030 Field of View / Measurement Range Dimensions MOUNTING HOLES 4X M5X0.8 61.5 Gocator 2000 Family Specifications •...
  • Page 166 Envelope 10.6 84.3 99.7 Gocator 2000 Family Specifications •...
  • Page 167 Gocator 2040 Field of View / Measurement Range -105 Dimensions MOUNTING HOLES 4X M5X0.8 61.5 Gocator 2000 Family Specifications •...
  • Page 168 Envelope 141.3 155.7 Gocator 2000 Family Specifications •...
  • Page 169 Gocator 2050 Field of View / Measurement Range -200 Dimensions MOUNTING HOLES 4X M5X0.8 61.5 Gocator 2000 Family Specifications •...
  • Page 170 Envelope 10.3 214.9 229.2 Gocator 2000 Family Specifications •...
  • Page 171 Gocator 2070 Field of View / Measurement Range -250 Dimensions MOUNTING HOLES 4X M5X0.8 61.5 Gocator 2000 Family Specifications •...
  • Page 172 Envelope 216.2 230.6 Gocator 2000 Family Specifications •...
  • Page 173 Gocator 2080 Field of View / Measurement Range -400 Dimensions MOUNTING HOLES 4X M5X0.8 61.5 Gocator 2000 Family Specifications •...
  • Page 174 Envelope 10.8 215.8 230.3 DETAIL A SCALE 1 : 2 Gocator 2000 Family Specifications •...
  • Page 175 The grounding shield should be mounted to the earth ground. Power Positive voltage is applied to DC_24-48V @ 10 Watts and Ground is applied to GND_0VDC. Power requirements Function Pins DC_24-48V 24 V 48 V GND_0VDC Gocator 2000 Family Specifications •...
  • Page 176 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- Gocator 2000 Family Specifications •...
  • Page 177 To invert an output, connect a resistor between ground and Out_1- or Out_2- and connect Out_1+ or Out_2+ to the supply voltage. Take the output at Out_1- or Out_2-. The resistor selection is the same as what is shown above. Out1 USER_GND Out_1- Out_2+ Out_1+ Out_2- Out2 USER_GND Gocator 2000 Family Specifications •...
  • Page 178 -200 mV -125 mV -50 mV 1 MHz Encoder_B I, K -7 V 12 V -200 mV -125 mV -50 mV 1MHz Gocator only supports differential RS485 signalling. Both + and - signals must be connected. Gocator 2000 Family Specifications •...
  • Page 179 ANALOG+ ANALOG- ANALOG- Analog_out- Analog_out- Analog_out1+ Analog_out1+ Current Mode Voltage Mode To configure for voltage output, connect a 500 Ohm ¼ Watt resistor between Analog_out- and Analog_ out1+ and measure the voltage across the resistor. Gocator 2000 Family Specifications •...
  • Page 180 (PORT 1&2) LASER SAFETY *Contact LMI for information regarding this type of power supply When using the Master 200 with a single sensor, connect the sensor to Sensor Port 1 and connect the encoder to Encoder (Port 1 Only). When using the Master 200 with two sensors, connect the sensors to Sensor Port 1 and Sensor Port 2, and connect the encoder to Encoder (Port 1&2).
  • Page 181 Output_2+ (Digital Output 1) Output_2- (Digital Output 1) Analog+ Unused Analog- Serial+ Serial- Encoder (Port 1 Only) Pins Encoder (Port 1&2) Pins Function Function Encoder_A+ Encoder_A+ Encoder_A- Encoder_A- Encoder_B+ Encoder_B+ Encoder_B- Encoder_B- Encoder_0V Encoder_0V Encoder_5V Encoder_5V Gocator 2000 Family Specifications •...
  • Page 182 12VDC to 48VDC across the bin to enable the Reserved laser. Reserved Encoder (8 pin connector) Reserved Function Reserved Encoder_A+ Reserved Encoder_A- Encoder_B+ This connector does not need to be wired up for proper operation. Encoder_B- Encoder_Z+ Encoder_Z- +5VDC Gocator 2000 Family Specifications •...
  • Page 183 The +48VDC power supply must be isolated from AC ground. This means that AC ground and DC ground are not connected. The Power Draw specification is based on a Master with no sensors attached. Every sensor has it’s own power requirements which need to be considered when calculating total system power requirements. Gocator 2000 Family Specifications •...
  • Page 184 12VDC to 48VDC across the bin to enable the Reserved laser. This connector does not need to be wired up for Encoder (8 pin connector) proper operation. Function Encoder_A+ Encoder_A- Encoder_B+ Encoder_B- Encoder_Z+ Encoder_Z- +5VDC Gocator 2000 Family Specifications •...
  • Page 185 The +48VDC power supply must be isolated from AC ground. This means that AC ground and DC ground are not connected. The Power Draw specification is based on a Master with no sensors attached. Every sensor has it’s own power requirements which need to be considered when calculating total system power requirements. Gocator 2000 Family Specifications •...
  • Page 186 Master 2400 - for networking up to 24 sensors 30650 Cordsets Description Part Number 5m Gocator Power/IO cordset 30737 10m Gocator Power/IO cordset 30738 5m Gocator Ethernet cordset 30741 10m Gocator Ethernet cordset 30742 5m Gocator Master cordset 30739 10m Gocator Master cordset 30740 Gocator 2000 Family...
  • Page 187 Accessories Description Part Number Calibration Disk, 40mm 30727 Calibration Disk, 100mm 30728 Calibration Disk, 250mm 30729 Calibration Disk, 375mm 30730 Gocator 2000 Family Parts and Accessories •...
  • Page 188 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 189 ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. BlowFish Website: http://www.chiark.greenend.org.uk/~sgtatham/putty/licence.html License: PuTTY is copyright 1997-2011 Simon Tatham. Gocator 2000 Family...
  • Page 190 Copyright (c) 2011 John Resig, http://jquery.com/ 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 Gocator 2000 Family Warranty and Support •...
  • Page 191 Licensed under the MIT License (http://www.opensource.org/licenses/mit-license.php) Modified by Lincoln Cooper to add Safari support and only call the callback once during initialization for msie when no initial hash supplied. API rewrite by Lauris Bukis-Haberkorns jQuery.mouseWheel Website: Gocator 2000 Family Warranty and Support •...
  • Page 192 Software distributed under the License is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY KIND, either express or implied. See the License for the specific language governing rights and limitations under the License. Gocator 2000 Family Warranty and Support •...
  • Page 193 Support 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 194 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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