LMI Gocator 200 Series User Manual

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Gocator Multi-Point Scanners

Gocator 205, 210, 230 & 250

USER MANUAL

Firmware version: 5.1.x.xx

Document revision: A

Table of Contents

Summary of Contents for LMI Gocator 200 Series

Page 1 Gocator Multi-Point Scanners Gocator 205, 210, 230 & 250 USER MANUAL Firmware version: 5.1.x.xx Document revision: A...
Page 2: Copyright
LMI Technologies Inc. No part of this publication may be copied, photocopied, reproduced, transmitted, transcribed, or reduced to any electronic medium or machine readable form without prior written consent of LMI Technologies, Inc.
Page 3: Table Of Contents
Grounding When Using a DIN Rail (Master Copyright 810/2410) Table of Contents Additional Grounding Schemes Introduction Installing DIN Rail Clips: Master 810 or 2410 Gocator 200 Series Overview Configuring Master 810 True Differential Measurement Setting the Divider High Scan Rates Encoder Quadrature Frequency Temperature-Compensated Ranges...
Page 4 Data Viewer Frame Information Data Viewer Controls Quick Edit Mode Video Mode Interface Language Exposure Information Management and Maintenance Overexposure and Underexposure Manage Page Overview Profile Mode Sensor System Region Definition Sensor Autostart Measurement and Processing Layout Measure Page Overview Networking Data Viewer Motion and Alignment...
Page 5 Gocator Emulator Alignment System Requirements Disk Limitations Downloading a Support File from a Sensor Plate Running the Emulator Polygon Adding a Scenario to the Emulator Polygon/Corner Running a Scenario Devices / Device Removing a Scenario from the Emulator SurfaceGeneration Using Replay Protection FixedLength Stopping and Restarting the Emulator VariableLength...
Page 6 ProfileDimension List Files ProfileGroove Copy File ProfileIntersect Read File ProfileLine Write File ProfilePanel Delete File ProfilePosition User Storage Used ProfileRoundCorner User Storage Free ProfileStrip Get Default Job Script Set Default Job Tool (type FeatureDimension) Get Loaded Job Tool (type FeatureIntersect) Get Alignment Reference Custom Set Alignment Reference...
Page 7 Clear Log Explicit Messaging Simulate Unaligned Identity Object (Class 0x01) Acquire TCP/IP Object (Class 0xF5) Acquire Unaligned Ethernet Link Object (Class 0xF6) Create Model Assembly Object (Class 0x04) Detect Edges Command Assembly Add Tool Runtime Variable Configuration Assembly Add Measurement Sensor State Assembly Read File (Progressive) Sample State Assembly...
Page 8 Setup and Locations CSV Converter Tool Class Reference Troubleshooting Examples Specifications Header Files Scanners Data Types Gocator 200 Series Value Types Gocator 205 (Color Vision Module) Output Types Gocator 210 GoDataSet Type Gocator 230 / 250 Measurement Values and Decisions Sensor Connectors...
Page 9: Introduction
Gocator. Finally, the documentation describes the Gocator emulator. The documentation applies to the following: Gocator 200 series Notational Conventions This documentation uses the following notational conventions: Follow these safety guidelines to avoid potential injury or property damage.
Page 10: Gocator 200 Series Overview
The Gocator 200 series of scanners lets you build scanning systems using a modular design that allows you to mix 3D profiles, tracheid detection, and color vision. Gocator 200 series systems can be used to perform automatic wood-grading in machine centers found in saw and planer mills. The Gocator 200 series is designed for transverse board scanning.
Page 11: True Differential Measurement
True Differential Measurement Gocator 200 series scanners can be aligned co-planar top-to-bottom and side-to-side down the length of the system to provide large-scale differential measurement. This prevents profile measurement errors that could be introduced by hard-to-control mechanical issues such as chain vibration and material bouncing as it is transported through the scanner system.
Page 12: High Scan Rates
Gocator 200 series system scanning board - Top and bottom system High Scan Rates Gocator 200 series multi-point scanners provide high profile scan rates yet at the same time maintain excellent dark wood performance (equivalent to level 19 on the Kodak gray scale chart), insensitivity to laser saturation, and immunity to ambient light.
Page 13: Tracheids
Area of the ellipse Length of the major axis of the ellipse Length of the minor axis of the ellipse Scatter, defined as the ratio of the major and minor axis Gocator 200 Series Overview • 13 Gocator Multi-Point Scanners: User Manual...
Page 14: Migrating From Chroma+Scan
Station PCs, which ran Station services. The functionality provided by the closed source Station services is now accessed in GoWebScanSDK, which, along with the base GoSDK, is used to write a client application to control and run a system based on Gocator 200 series scanners. Source code is provided for both SDKs.
Page 15 Gocator Web GoSDK GoWebScanSDK Task Interface Initial test setup of individual sensors Troubleshooting and monitoring of live laser profile data from a single sensor chroma+scan client Sensor enumeration and assignment Modes of operation Sensor upgrade logic Sensor and system health System, group, sensor setup Start/stop...
Page 16 Gocator Web GoSDK GoWebScanSDK Task Interface Vision & Profile merging (between Gocator 205 and Gocator 210/230/250) Board state machine Board / target detection logic Edge filtering White balance Bayer decoding X and Y resampling Resampling color pixel to match height of board Event channel Board post-processing (spike filtering, gap filling...
Page 17: Safety And Maintenance
Safety and Maintenance The following sections describe the safe use and maintenance of Gocator sensors. Laser Safety Gocator sensors contain semiconductor lasers that emit visible or invisible light and are designated as Class 2, 2M, Class 3R, or Class 3B, depending on the chosen laser option. For more information on the laser classes used in Gocator sensors, Laser Classes on the next page.
Page 18: Laser Classes
3. Laser Notice No. 50, FDA and CDRH (https://www.fda.gov/Radiation-Emit- tingProducts/ElectronicProductRadiationControlProgram/default.htm) Laser Classes Class 3B laser components Class 3B components are unsafe for eye exposure. Usually only eye protection is required. Protective gloves may also be used. Diffuse reflections are safe if viewed for less than 10 seconds at a minimum distance of 13 cm. There is a risk of fire if the beam encounters flammable materials.
Page 19: Class 3B Responsibilities
Required for operator and maintenance personnel *LMI Class 3B laser components do not incorporate these laser safety items. These items must be added and completed by customers in their system design. For more information, see Class 3B Responsibilities below. Class 3B Responsibilities LMI Technologies has filed reports with the FDA to assist customers in achieving certification of laser products.
Page 20: Systems Sold Or Used In The Usa
FDA warning sign example IEC 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 21: Handling, Cleaning, And Maintenance
Turn off lasers when not in use LMI Technologies uses semiconductor lasers in Gocator sensors. To maximize the lifespan of the sensor, turn off the laser when not in use. Avoid excessive modifications to files stored on the sensor Settings for Gocator sensors are stored in flash memory inside the sensor.
Page 22 The sensor must be heat-sunk through the frame it is mounted to. When a sensor is properly heat sunk, the difference between ambient temperature and the temperature reported in the sensor's health channel is less than 15° C. Gocator sensors are high-accuracy devices, and the temperature of all of its components must therefore be in equilibrium.
Page 23: Getting Started
Getting Started The following sections provide system and hardware overviews, in addition to installation and setup procedures. Gocator Multi-Point Scanners: User Manual...
Page 24: Hardware Overview
LMI provides a 0.5 meter cordset for use when the light bar is mounted directly to the Gocator 205 scanner using the optional mounting hardware kit. When the light bar is mounted in another location,...
Page 25: Gocator Sensor
See Accessories on page 345 for cordset lengths and part numbers. Contact LMI for information on creating cordsets with customized lengths and connector orientations. Gocator Sensor Gocator 200 series sensors are transverse scanning devices. Gocator 210/230/250 (top) Gocator 210/230/250 (bottom) Item...
Page 26: Gocator Color Vision Module
Item Description Laser Indicator Illuminates when laser safety input is active (amber). Serial Number Unique serial number. Gocator Color Vision Module Gocator 205 (top) Gocator 205 (bottom) Item Description Cameras Observes LED light reflected from target surfaces. Power / LAN Connector Accepts power and connects to 1000 Mbit/s Ethernet network.
Page 27: Master 100
Gocator 200 series light bar (rear) Gocator 200 series light bar (front) Master 100 Getting Started • 27 Gocator Multi-Point Scanners: User Manual...
Page 28: Master 810 / 2410
Item Description Master Ethernet Port Connects to the RJ45 connector labeled Ethernet on the Power/LAN to Master cordset. Master Power Port Connects to the RJ45 connector labeled Power/Sync on the Power/LAN to Master cordset. Provides power and laser safety to the Gocator. Sensor I/O Port Connects to the Gocator I/O cordset.
Page 29: System Overview
Master 2410 Item Description Sensor Ports Master connection for Gocator sensors (no specific order required). Power and Safety Power and safety connections. Safety input must be high in order to scan with laser- based Gocators. Encoder Accepts encoder signal. Input Accepts digital input.
Page 30: Multi-Sensor System
Multi-Sensor System Master network controller (excluding Master 100) can be used to connect two or more sensors into a multi-sensor system. Gocator Master cordsets are used to connect the sensors to a Master. The Master provides a single point of connection for power, safety, encoder, and digital inputs. A Master 400/800/810/1200/2400/2410 can be used to ensure that the scan timing is precisely synchronized across sensors.
Page 31 Getting Started • 31 Gocator Multi-Point Scanners: User Manual...
Page 32: Installation
Installation The following sections provide grounding, mounting, and orientation information. Mounting Scanners A Gocator multi-point scanner is mounted through three holes on the device's back plate. Refer to the dimension drawings of the sensors in Specifications on page 315 for the appropriate screw diameter, pitch, and length, and bolt hole diameter.
Page 33: Camera Module And Light Bars
Assembling a Sensor + Camera + Light Bar System The following shows how a Gocator 205 and a light bar mount to a Gocator 200 series sensor. Light bar to Gocator 205 mounting hardware is optional.
Page 34: Frame Design
To prevent accidental laser light exposure, in multi-sensor systems, attach light shields between scanners. For light shield hole positions and specifications, see the scanner specification drawings. (LMI does not supply light shields.) Light bar to Gocator 205 mounting hardware is optional. Frame Design The scan frame supports the scanners above and below the transport mechanism to the maximum size of the targets to be scanned.
Page 35 The configuration above provides a full 6-inch overlapped scan zone starting from 1 inch below the chainways and extends to 5 inches above the chainways. The extended range of these scanners provides an additional 2 inches of coverage from the top sensors above this overlapped zone, as well as an additional 2 inches below the overlapped zone from the bottom sensors.
Page 36: Grounding
Grounding Components of a Gocator system should be properly grounded. Gocator Gocators should be grounded to the earth/chassis through their housings and through the grounding shield of the Power I/O cordset. Gocator sensors have been designed to provide adequate grounding through the use of pitch mounting screws.
Page 37: Master Network Controllers
To terminate the cordset's shield: Expose the cordset's braided shield by cutting the plastic jacket before the point where the cordset splits. Install a 360-degree ground clamp. Master Network Controllers The rack mount brackets provided with all Masters are designed to provide adequate grounding through the use of star washers.
Page 38: Grounding When Using A Din Rail (Master 810/2410)
The holes accept M4x5 screws. You can use any of the ground holes shown below. However, LMI recommends using the holes indicated on the housing by a ground symbol.
Page 39 Older revisions of Master 810 and 2410 network controllers use a different configuration for the DIN rail clip holes. To install the DIN rail clips: Remove the 1U rack mount brackets. Locate the DIN rail mounting holes on the back of the Master (see below). Master 810: Current revision Older revision...
Page 40: Configuring Master 810
Older revision Attach the two DIN rail mount clips to the back of the Master using two M4x8 flat socket cap screws for each one. The following illustration shows the installation of clips on a Master 810 (current revision) for horizontal mounting: Ensure that there is enough clearance around the Master for cabling.
Page 41: Setting The Divider
Set the divider so that the quadrature frequency of the connected encoder is compatible with the Master. Set the debounce period to accommodate faster encoders. Setting the Divider To set the divider, you use switches 1 to 3. To determine which divider to use, use the following formula: Output Quadrature Frequency = Input Quadrature Frequency / Divider In the formula, use the quadrature frequency of the encoder (for more information, see Encoder Quadrature Frequency below) and a divider from the following table so that the Output Quadrature...
Page 42: Setting The Debounce Period
Preparing the Alignment Bar A special alignment target is required to align a Gocator 200 series system. Alignment locates each sensor with respect to a global coordinate system defined relative to the target. The specifications of the target are provided below.
Page 43 Getting Started • 43 Gocator Multi-Point Scanners: User Manual...
Page 44: Network Setup
Network Setup The following sections provide procedures for client PC and Gocator network setup. DHCP is not recommended for Gocator sensors. If you choose to use DHCP, the DHCP server should try to preserve IP addresses. Ideally, you should use static IP address assignment (by MAC address) to do this.
Page 45 Change the client PC's network settings. Windows 7 a. Open the Control Panel, select Network and Sharing Center, and then click Change Adapter Settings. b. Right-click the network connection you want to modify, and then click Properties. c. On the Networking tab, click Internet Protocol Version 4 (TCP/IPv4), and then click Properties.
Page 46: Gocator Setup
Gocator Setup The Gocator is shipped with a default configuration that will produce for most targets. The following sections describe how to set up a standalone sensor system for operations. After you have completed the setup, to verify basic sensor operation. Running a Standalone Sensor System To configure a standalone sensor system: Power up the sensor.
Page 47: Running A Multi-Sensor System
Running a Multi-Sensor System All sensors are shipped with a default IP address of 192.168.1.10. Ethernet networks require a unique IP address for each device, so you must set up a unique address for each sensor. To configure a multi-sensor system: Configure the first sensor in the system as described in Running a Standalone Sensor System on the previous page.
Page 48: How Gocator Works
How Gocator Works The following sections provide an overview of how Gocator acquires and produces data, detects and measures parts, and controls devices such as PLCs. Some of these concepts are important for understanding how you should mount sensors and configure settings such as active area. 3D Acquisition After a Gocator system has been set up and is running, it is ready to start capturing 3D data.
Page 49: Resolution And Accuracy
Gocator 210: clearance distance, measurement range, and field of view Gocator 230/250: clearance distance, measurement range, and field of view Resolution and Accuracy The following sections describe Z Resolution and Z Linearity. These terms are used in the Gocator datasheets to describe the measurement capabilities of the sensors. How Gocator Works •...
Page 50: Resolution
X Resolution X resolution is the horizontal distance between each measurement point along the laser line. This specification is based on the number of camera columns used to cover the field of view (FOV) at a particular measurement range. Because the FOV is trapezoidal (shown in red, below), the distance between points is closer at the near range than at the far range.
Page 51: Profile Output
Profile Output Gocator represents a profile as a series of ranges, with each range representing the distance from the origin. Each range contains a height (on the Z axis) and a position (on the X axis) in the sensor's field of view.
Page 52: Gocator Web Interface
GoSDK. The following sections describe the Gocator web interface. Browser Compatibility LMI recommends Chrome, Firefox, or Edge for use with the Gocator web interface. Internet Explorer 11 is supported with limitations; for more information, see below. Internet Explorer 11 Issues If you use Gocator with large datasets on Internet Explorer 11, you may encounter the following issues.
Page 53 In the dialog that opens, click the Advanced tab, and scroll down to the Security section. In the dialog, check both "Enable 64-bit processes for Enhanced Protected Mode" and "Enable Enhanced Protected Mode". Gocator Web Interface • 53 Gocator Multi-Point Scanners: User Manual...
Page 54: User Interface Overview
Contains settings for scan mode, trigger source, detailed sensor configuration, and performing alignment. See Scan Setup and Alignment on page 80. Measure page Currently, Gocator 200 series sensors do not provide built-in measurement tools. Gocator Web Interface • 54 Gocator Multi-Point Scanners: User Manual...
Page 55: Toolbar
Element Description Output page Contains settings for configuring output protocols used to communicate measurements to external devices. See Output on page 120. Dashboard page Provides monitoring of measurement statistics and sensor health. See Dashboard on page 130. CPU Load and Speed Provides important sensor performance metrics. See Metrics Area on page 62.
Page 56 When you change sensor settings using the Gocator web interface in the emulator, some changes are saved automatically, while other changes are temporary until you save them manually. The following table lists the types of information that can be saved in a sensor. Setting Type Behavior Most of the settings that can be changed in the Gocator's web interface, such as the ones...
Page 57: Recording, Playback, And Measurement Simulation
You can perform other job management tasks—such as downloading job files from a sensor to a computer, uploading job files to a sensor from a computer, and so on—in the Jobs panel in the Manage page. See Jobs on page 71 for more information. Recording, Playback, and Measurement Simulation Gocator sensors can record and replay recorded scan data, and also simulate measurement tools on recorded data.
Page 58 Playback controls when replay is on To replay data: Toggle Replay mode on by setting the slider to the right in the Toolbar. The slider's background turns blue and a Replay Mode Enabled message is displayed. Use the Replay slider or the Step Forward, Step Back, or Play buttons to review data. The Step Forward and Step Back buttons move the current replay location forward and backward by a single frame, respectively.
Page 59: Recording Filtering
To clear replay data: Stop the sensor if it is running by clicking the Stop button. Click the Clear Replay Data button Recording Filtering Replay data is often used for troubleshooting. But replay data can contain thousands of frames, which makes finding a specific frame to troubleshoot difficult.
Page 60: Downloading, Uploading, And Exporting Replay Data
Click the Recording Filtering button In the Recording Filtering dialog, choose how Gocator treats conditions: For information on the available settings, see How Gocator treats conditions on the previous page. Configure the conditions that will cause Gocator to record a frame: For information on the available settings, see Conditions on the previous page.
Page 61 In the Upload menu, choose one of the following: Upload: Unloads the current job and creates a new unsaved and untitled job from the content of the replay data file. Upload and merge: Uploads the replay data and merges the data's associated job with the current job.
Page 62: Metrics Area
Click the Export button and select All Data as CSV. data at the current replay location is exported. Use the playback control buttons to move to a different replay location; for information on playback, see To replay data in Recording, Playback, and Measurement Simulation on page 57. (Optional) Convert exported data to another format using the CSV Converter Tool.
Page 63: Data Viewer
Data Viewer The data viewer is displayed in both the Scan and the Measure pages, but displays different information depending on which page is active. When the Scan page is active, the data viewer displays sensor data and can be used to adjust the active area and other settings.
Page 64: Quick Edit Mode
Quick Edit mode is mostly useful on sensors that support measurement tools and GDK tools. Currently, Gocator 200 series sensors do not support these features. When a sensor is running, Quick Edit mode is ignored: all changes to settings are reflected immediately in the data viewer.
Page 65 The Gocator interface reloads on the page you were working in, displaying the page using the language you chose. The sensor state is preserved. Gocator Web Interface • 65 Gocator Multi-Point Scanners: User Manual...
Page 66: Management And Maintenance
Management and Maintenance The following sections describe how to set up the sensor connections and networking, how to calibrate encoders and choose the alignment reference, and how to perform maintenance tasks. Manage Page Overview Gocator's system and maintenance tasks are performed on the Manage page. Element Description Sensor System...
Page 67: Sensor System
Element Description Support Lets you open an HTML version or download a PDF version of the manual, download the SDK, or save a support file. Also provides device information. See Support on page 77 Sensor System The following sections describe the Sensor System category on the Manage page. Sensor Autostart With the Autostart setting enabled, scanning and measurements begin automatically when the sensor is powered on.
Page 68: Networking
Mounting orientations must be specified for a dual- or multi-sensor system. This information allows the alignment procedure to determine the correct system-wide coordinates for and measurements. For more information on sensor and system coordinates, see Coordinate Systems on page 51. Dual layouts are only displayed when a Buddy sensor has been assigned. Supported Layouts Layout Type Example...
Page 69: Motion And Alignment
To configure the network settings: Go to the Manage page. In the Networking category, specify the Type, IP, Subnet Mask, and Gateway settings. The Gocator sensor can be configured to use DHCP or assigned a static IP address by selecting the appropriate option in the Type drop-down.
Page 70: Alignment Reference
Alignment Reference The Alignment Reference setting can have one of two values: Fixed or Dynamic. Setting Description Fixed A single, global alignment is used for all jobs. This is typically used when the sensor mounting is constant over time and between scans, for example, when the sensor is mounted in a permanent position over a conveyor belt.
Page 71: Encoder Value And Frequency
Encoder resolution is expressed in millimeters per tick, where one tick corresponds to one of the four encoder quadrature signals (A+ / A- / B+ / B-). Encoders are normally specified in pulses per revolution, where each pulse is made up of the four quadrature signals (A+ / A- / B+ / B-).
Page 72 Element Description Name field Used to provide a job name when saving files. Jobs list Displays the jobs that are currently saved in the sensor's flash storage. Save button Saves current settings to the job using the name in the Name field.
Page 73: Security
To save a job: Go to the Manage page and click on the Jobs category. Provide a name in the Name field. To save an existing job under a different name, click on it in the Jobs list and then modify it in the Name field.
Page 74: Maintenance
Account Description Administrator The Administrator account has privileges to use the toolbar (loading and saving jobs, recording and viewing replay data), to view all pages and edit all settings, and to perform setup procedures such as sensor alignment. Technician The Technician account has privileges to use the toolbar (loading and saving jobs, recording and viewing replay data), to view the Dashboard page, and to start or stop the sensor.
Page 75: Sensor Backups And Factory Reset
Sensor Backups and Factory Reset You can create sensor backups, restore from a backup, and restore to factory defaults in the Maintenance category. Backup files contain all of the information stored on a sensor, including jobs and alignment. An Administrator should create a backup file in the unlikely event that a sensor fails and a replacement sensor is needed.
Page 76: Firmware Upgrade
Click the Factory Restore... button under Factory Restore. You will be prompted whether you want to proceed. Firmware Upgrade LMI recommends routinely updating firmware to ensure that Gocator sensors always have the latest features and fixes. To download the latest firmware: Go to the Manage page and click on the Maintenance category.
Page 77: Support
You can download a support file from a sensor and save it on your computer. You can then use the support file to create a scenario in the Gocator emulator (for more information on the emulator, see Gocator Emulator on page 132). LMI's support staff may also request a support file to help in troubleshooting.
Page 78: Manual Access
To download a support file: Go to the Manage page and click on the Support category. In Filename, type the name you want to use for the support file. When you create a scenario from a support file in the emulator, the filename you provide here is displayed in the emulator's scenario list.
Page 79 To download the SDK: Go to the Manage page and click on the Support category Next to Software Development Kit (SDK), click Download Choose the location for the SDK on the client computer. For more information on the SDK, see Development Kits on page 293. Gocator Web Interface •...
Page 80: Scan Setup And Alignment
Scan Setup and Alignment The following sections describe the steps to configure Gocator sensors for using the Scan page. Setup and alignment should be performed before adding and configuring measurements or outputs. Scan Page Overview The Scan page lets you configure sensors. Element Description Scan Mode panel...
Page 81: Scan Modes
Goal Reference Ensure that camera exposure is appropriate for scan data acquisition. Exposure (page 87) Find the right balance between data quality, speed, and CPU utilization. Active Area (page 85) Exposure (page 87) Job File Structure (page 147) Specify mounting orientations. Layout (page 67) Scan Modes The Gocator web interface supports a video mode and one or more data acquisition modes.
Page 82: Trigger Examples
Trigger Source Description Time Sensors have an internal clock that can be used to generate fixed-frequency triggers. The external input can be used to enable or disable the time triggers. External Input A digital input can provide triggers in response to external events (e.g., photocell). The external input triggers on the rising edge of the signal.
Page 83: Trigger Settings
signals when time or encoder triggering is used. For example, a photocell could generate a series of trigger pulses as long as there is a target in position. Example: Software Trigger + Robot Arm Software triggering can be used to produce a snapshot for measurement.
Page 84: Maximum Encoder Rate
Parameter Trigger Source Description Digital Input on page 329 for more information on connecting external input to Gocator sensors. Units External Input, Software Specifies whether the trigger delay, output delay, and output scheduled command operate in the time or the encoder domain.
Page 85: Active Area
Active Area Active area refers to the region within the sensor's maximum field of view that is used for data acquisition. Active area cannot be configured on Gocator 205. Currently, applications created with GoWebScanSDK, ignore active area settings on individual sensors.
Page 86: Transformations
The transformation settings determine how data is converted from sensor coordinates to system coordinates (for an overview on coordinate systems, see Coordinate Systems on page 51). Gocator 200 series multi-point sensors only support X Offset, Z Offset, and Angle Y transformations. Setting the other transformations has no effect.
Page 87: Exposure
Exposure determines the duration of camera and light-source on-time. Longer exposures can be helpful to detect light on dark or distant surfaces, but increasing exposure time decreases the maximum speed. Gocator 200 series sensors only support single exposure mode. GoWebScanSDK overrides this setting.
Page 88: Single Exposure
Video mode lets you see how the light appears on the camera and identify any stray light or ambient light problems. When exposure is tuned correctly, the projected light should be clearly visible along the entire length of the viewer. If it is too dim, increase the exposure value; if it is too bright decrease exposure value.
Page 89: Sub-Sampling
Sub-Sampling Sub-sampling reduces the number of camera columns or rows that are used for laser profiling, reducing the resolution. Reducing the resolution can increase speed or reduce CPU usage while maintaining the sensor's field of view. Sub-sampling can be set independently for the X axis and Z axis. For typical wood applications, leave the values at the default of 1.
Page 90: Material
To configure advanced settings: Go to the Scan page. Switch to Video mode. Using Video mode while configuring the settings lets you evaluate their impact. Expand the Sensor panel by clicking on the panel header or the button. Click on the Advanced tab. Configure material characteristics and camera gain.
Page 91: Tracheid
Tracheid The tracheid settings are used when measuring tracheid cells. Tracheid is only available on Gocator 250 sensors. If you wish to configure tracheid threshold settings, you must set them on each sensor, ideally using GoSDK. By default—when no separate tracheid exposure is set—tracheid data is captured at the same time as the profile data.
Page 92: Data Viewer
Setting Description Currently, tracheid thresholds must be set on individual sensors via the web interface, GoSDK, or the Write File Gocator protocol command, rather than GoWebScanSDK or its Settings.xml file. To configure tracheid settings: Go to the Scan page. Expand the Sensor panel by clicking on the panel header or the button.
Page 93: Video Mode
Video Mode In Video mode, the data viewer displays images directly from the sensor's camera or cameras. In this mode, you can configure the data viewer to display exposure information that can be useful in properly setting up the system for scanning. On Gocator 205, you can also toggle between displaying color or black and white images.
Page 94 Exposure information on a Gocator multi-point sensor Gocator Web Interface • 94 Gocator Multi-Point Scanners: User Manual...
Page 95: Profile Mode
Exposure information on a Gocator multi-point sensor The Exposure setting uses the following colors: Blue: Indicates background pixels ignored by the sensor. Red: Indicates saturated pixels. Correct tuning of exposure depends on the reflective properties of the target material and on the requirements of the application.
Page 96: Region Definition
Region Definition Regions, such as an active area or a measurement region, can be graphically set up using the data viewer. When the Scan page is active, the data viewer can be used to graphically configure the active area. The Active Area setting can also be configured manually by entering values into its fields and is found in the Sensor panel (see Sensor on page 84).
Page 97 To set up a region of interest: Move the mouse cursor to the rectangle. The rectangle is automatically displayed when a setup or measurement requires an area to be specified. Drag the rectangle to move it, and use the handles on the rectangle's border to resize it. Gocator Web Interface •...
Page 98: Measurement And Processing
Measurement and Processing Measure Page Overview Measurement tools are added and configured in the Measure page. The content of the Tools panel in the Measure page depends on the current scan mode. In Video mode, tools are not available. Element Description Tools panel Used to add, manage, and configure tools and measurements (see Tools Panel on the...
Page 99: Data Viewer
Data Viewer When the Measure page is active, the data viewer can be used to graphically configure measurement regions. Measurement regions can also be configured manually in measurements by entering values into the provided fields (see Regions on the next page). For information on controls in the data viewer, see Data Viewer Controls on page 92.
Page 100: Source
(Optional) Set up anchoring. For more information on anchoring, see Measurement Anchoring on page 105. Source This setting is always Top with G200 scanners. Regions Many measurement tools use user-defined regions to limit the area in which measurements occur . Unlike reducing the active area, reducing the measurement region does not increase the maximum frame rate of the sensor.
Page 101 The following types of points can be identified in a measurement region. Point Type Examples Max Z Finds the point with the maximum Z value in the region of interest. Min Z Finds the point with the minimum Z value in the region of interest.
Page 102 Point Type Examples Bottom Corner Finds the bottom-most corner in the region of interest, where corner is defined as a change in profile shape. Left Corner Finds the left-most corner in the region of interest, where corner is defined as a change in profile shape. Right Corner Finds the right-most corner in the region of interest, where corner is defined as a change in profile shape.
Page 103: Fit Lines
Point Type Examples Median Determines the median location of points in the region of interest. Fit Lines Some measurements involve estimating lines in order to measure angles or intersection points. A fit line can be calculated using data from either one or two fit areas. A line can be defined using one or two areas.
Page 104: Filters
For some measurements, only the Output tab is displayed. Enter values in the Min and Max fields. Filters Filters can be applied to measurement values before they are output from the Gocator sensors. All measurements provide filter settings under the Output tab. The following settings are available. Filter Description Scale and Offset...
Page 105: Measurement Anchoring
To configure the filters: Go to the Measure page by clicking on the Measure icon. scan mode must be set to the type of measurement you need to configure. Otherwise, the wrong tools, or no tools, will be listed on the Measure page. In the Tools panel, click on a tool in the tool list.
Page 106: Enabling And Disabling Measurements
anchored tool will not show the measurement regions at all and an “Invalid-Anchor” message will be displayed in the tool panel. Verify that the anchored tool works correctly on other scans of targets in which the part has moved slightly. To remove an anchor from a tool: Click on the anchored tool's Anchoring tab.
Page 107: Changing A Measurement Id
Choose mode in the Scan Mode panel. If is not selected, tools will not be available in the Measure panel. Go to the Measure page by clicking on the Measure icon. Do one of the following: Tool: In the tool list, double-click the tool name you want to change Measurement: In a tool's measurement list, double-click the measurement name you want to change.
Page 108: Removing A Tool
In the tool list, click the Duplicate button ( ) of the tool you want to duplicate. A copy of the tool appears below the original. Configure the copy as desired and rename it if necessary. For information on renaming a tool, see Editing Tool, Input, or Output Names on page 106. Removing a Tool Removing a tool removes all of its associated measurements.
Page 109: Dimension
Dimension The Dimension tool provides Width, Height, Distance, Center X, and Center Z measurements. For information on adding, managing, and removing tools and measurements, as well as detailed descriptions of settings common to most tools, see Tools Panel on page 99. Measurements Measurement Illustration Width...
Page 110 Measurement Illustration Distance Determines the direct, Euclidean distance between two feature points. Center X Finds the average location of two features and measures the X axis position of the average location Center Z Finds the average location of two features and measures the Z axis position of the average location.
Page 111 Parameter Description Absolute Determines if the result will be expressed as an absolute or a signed value. (Width and Height measurements only) Filters The filters that are applied to measurement values before they are output. For more information, see Filters on page 104.
Page 112: Position
Position The Position tool finds the X or Z axis position of a feature point. The feature type must be specified and is one of the following: Max Z, Min Z, Max X, Min X, Corner, Average (the mean X and Z of the data points), Rising Edge, Falling Edge, Any Edge, Top Corner, Bottom Corner, Left Corner, Right Corner, or Median (median X and Z of the data points).
Page 113: Measurements And Settings
Measurements and Settings Measurements Measurement Illustration Finds the position of a feature on the X axis. Finds the position of a feature on the Z axis. Parameters Parameter Description Source The sensor that provides data for the tool's measurements. For more information, see Source on page 100. Feature The feature the tool uses for its measurements.
Page 114 Anchoring Anchor Description X or Z Lets you choose the X or Z measurement of another tool to use as a positional anchor for this tool. A measurement must be enabled in the other tool for it to be available as an anchor. The anchor measurement should also be properly configured before using it as an anchor.
Page 115: Script
Script A Script measurement can be used to program a custom measurement using a simplified C-based syntax. A script measurement can produce multiple measurement values and decisions for the output. See Scripts below for more information on the script syntax. To create or edit a Script measurement: Add a new Script tool or select an existing Script measurement.
Page 116: Built-In Script Functions
Built-in Script Functions The script engine provides the following types of functions: Measurement Output Memory Runtime variable Stamp Math Measurement Functions Function Description int Measurement_Exists(int id) Determines if a measurement exists by ID. Parameters: id – Measurement ID Returns: 0 – measurement does not exist 1 –...
Page 117 Function Description toolName – Tool name measurementName – Measurement name Returns: 0 – measurement does not exist 1 – measurement exists int Measurement_Id (char* toolName, char* Gets the measurement ID by the measurement name. measurementName) Parameters: toolName – Tool name measurementName –...
Page 118 Function Description id - ID of the value value - Value to store long long Memory_Get64s (int id) Loads a 64-bit signed integer from persistent memory. Parameters: id - ID of the value Returns: value - Value stored in persistent memory void Memory_Set64u (int id, unsigned long Stores a 64-bit unsigned integer in the persistent memory long value)
Page 119 Runtime Variable Functions Function Description int RuntimeVariable_Count() Returns the number of runtime variables that can be accessed. Returns: The count of runtime variables. int RuntimeVariable_Get32s(int id) Returns the value of the runtime variable at the given index. Parameters: Id – ID of the runtime variable Returns: Runtime variable value Stamp Functions...
Page 120: Output
Output The following sections describe the Output page. Currently, output for Gocator 200 series sensors is automatically configured using GoWebScanSDK (for more information, see GoWebScanSDK on page 302). Output Page Overview Output configuration tasks are performed using the Output page. Gocator sensors can transmit data to various external devices using several output interface options.
Page 121: Ethernet Output
Category Description Analog Panel Used to convert a measurement value or decision into an analog output signal. See Analog Output on page 127. Serial Panel Used to select the measurements that will be transmitted via RS-485 serial output. See Serial Output on page 128. Ethernet Output A sensor uses TCP messages (Gocator protocol) to receive commands from client computers, and to send video, , intensity, and measurement results to client computers.
Page 122 All of the tasks that can be accomplished with the Gocator's web interface (creating jobs, performing alignment, sending data and health information, and software triggering, etc.) can be accomplished programmatically by sending Gocator protocol control commands. To receive commands and send results using Modbus TCP messages: Go to the Output page.
Page 123 To receive commands and send results using EtherNet/IP messages: Go to the Output page. Click on Ethernet in the Output panel. Select EtherNet/IP in the Protocol option. Unlike using the Gocator Protocol, you don't select which measurement items to output. The Ethernet panel will list the register addresses that are used for EtherNet/IP messages communication.
Page 124 To receive commands and send results using ASCII messages: Go to the Output page. Click on Ethernet in the Output panel. Select ASCII as the protocol in the Protocol drop-down. Set the operation mode in the Operation drop-down. In asynchronous mode, the data results are transmitted when they are available. In polling mode, users send commands on the data channel to request the latest result.
Page 125: Digital Output
Digital Output 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. Digital outputs cannot be used when taking scans using the Snapshot button, which takes a single scan and is typically used to test measurement tool settings.
Page 126 exposure and output activates can vary and is dependent on the processing latency. The latency is reported in the dashboard and in the health messages. If you checked Scheduled, specify a delay and a delay domain. The Delay specifies the time or encoder distance between the start of sensor exposure and when the output becomes active.
Page 127: Analog Output
the future if the value will be reached by moving in the forward direction (the direction that encoder calibration was performed in). To output an exposure signal: Go to the Output page. Click Digital 1 or Digital 2 in the Output panel. Set Trigger Event to Exposure Begin or Exposure End.
Page 128: Serial Output
measurements such as distance, square millimeters for areas, cubic millimeters for volumes, and degrees for angle results. Specify Current Range and Invalid current values. The values specified here determine the minimum and maximum current values in milliamperes. If Invalid is checked, the current value specified with the slider is used when a measurement value is not valid.
Page 129 The ASCII protocol outputs data asynchronously using a single serial port. For information on the ASCII Protocol parameters and data formats, see ASCII Protocol on page 280. For information on wiring serial output to an external device, see Serial Output on page 331. To configure ASCII output: Go to the Output page.
Page 130: Dashboard
Displays sensor state and health information. See State and Health Information below. Tool Stats Not currently used by Gocator 200 series sensors. State and Health Information The following state and health information is available in the System panel on the Dashboard page:...
Page 131 Name Description Storage Usage Sensor flash storage utilization (MB used / MB total available). Ethernet Link Speed Speed of the Ethernet link (Mbps). Ethernet Traffic Network output utilization (MB/sec). Internal Temperature Internal sensor temperature. Processing Latency Last delay from camera exposure to when results can be scheduled to. Processing Latency Peak Peak latency delay from camera exposure to when results can be scheduled to rich I/O.
Page 132: Gocator Emulator
Gocator Emulator The Gocator emulator is a stand-alone application that lets you run a "virtual" sensor, encapsulated in a "scenario." When running a scenario, you can test jobs, evaluate data, and even learn more about new features, rather than take a physical device off the production line to do this. You can also use a scenario to familiarize yourself with the overall interface if you are new to Gocator.
Page 133: Running The Emulator
Support files can contain jobs, letting you configure systems and add measurements in an emulated sensor. Support files can also contain replay data, letting you test measurements and some configurations on real data. Dual-sensor systems are supported. To download a support file: Go to the Manage page and click on the Support category.
Page 134: Adding A Scenario To The Emulator
Selecting the emulator interface language Adding a Scenario to the Emulator To simulate a physical sensor using a support file downloaded from a sensor, you must add it as a scenario in the emulator. You can add support files downloaded from any series of Gocator sensors to the emulator. To add a scenario: Launch the emulator if it isn't running already.
Page 135: Running A Scenario
Running a Scenario After you have added a virtual sensor by uploading a support file to the emulator, you can run it from the Available Scenarios list on the emulator launch screen. You can also run any of the scenarios included in the installation.
Page 136: Stopping And Restarting The Emulator
If you try to uncheck Replay Protection, you must confirm that you want to disable it. Replay Protection is on by default. Stopping and Restarting the Emulator To stop the emulator: Click Stop Emulation. Stopping the emulator returns you to the launch screen. To restart the emulator when it is running: Click Restart Emulation.
Page 137: Working With Jobs And Data
In the command prompt, type GoEmulator.exe /browser (or .\GoEmulator.exe /browser for PowerShell). After the emulator application starts, the emulator also launches in your default browser. Working with Jobs and Data The following topics describe how to work with jobs and replay data (data recorded from a physical sensor) in a scenario running on the emulator.
Page 138: Playback And Measurement Simulation
The job is saved to the emulator using the name you provided. To save a job: Click the Save button The job is saved to the emulator. To load (switch) jobs: Select an existing file name in the job drop-down list. The job is activated.
Page 139: Downloading, Uploading, And Exporting Replay Data
The Step Forward and Step Back buttons move the current replay location forward and backward by a single frame, respectively. The Play button advances the replay location continuously, animating the playback until the end of the replay data. The Stop button (replaces the Play button while playing) can be used to pause the replay at a particular location.
Page 140 In the File Download dialog, click Save. In the Save As... dialog, choose a location, optionally change the name, and click Save. To upload replay data: Click the Upload button The Upload menu appears. In the Upload menu, choose one of the following: Upload: Unloads the current job and creates a new unsaved and untitled job from the content of the replay data file.
Page 141: Downloading And Uploading Jobs
To export replay data in the CSV format: In the Scan Mode panel, switch to . Switch to Replay mode. Click the Export button and select All Data as CSV. data at the current replay location is exported. Use the playback control buttons to move to a different replay location; for information on playback, see To replay data in Playback and Measurement Simulation on page 138.
Page 142 Element Description Name field Used to provide a job name when saving files. Jobs list Displays the jobs that are currently saved in the emulator. Save button Saves current settings to the job using the name in the Name field. Changes to job files are not persistent in the emulator.
Page 143: Scan, Model, And Measurement Settings
To save a job: Go to the Manage page and click on the Jobs category. Provide a name in the Name field. To save an existing job under a different name, click on it in the Jobs list and then modify it in the Name field.
Page 144: Protocol Output
Protocol Output The emulator simulates output for all of Gocator's Ethernet-based protocols. Gocator ASCII Modbus EtherNet/IP Clients (such as PLCs) can connect to the emulator to access the simulated output and use the protocols as they would with a physical sensor. The emulator allows connections to emulated sensors on localhost (127.0.0.1).
Page 145 The emulator application starts. The emulator does not check that the IP address is valid. From the emulator launch page, start a scenario. For more information, see Running a Scenario on page 135. Provide the IP address you used with the /ip parameter, followed by port number 3191, to users who want to connect to the emulated sensor, for example: 192.168.1.42:3191 Gocator Emulator •...
Page 146: Gocator Device Files
Gocator Device Files This section describes the user-accessible device files stored on a Gocator. With the exception of tracheid threshold settings, any changes you make through the Gocator interface or through GoSDK are overridden or ignored by GoWebScanSDK. You must set tracheid threshold settings on each sensor, ideally using GoSDK.
Page 147: Log File
Name Read/Write Description _live.rec Read/Write The active replay simulation data. ExtendedId.xml Read Sensor identification. Log File The log file contains log messages generated by the sensor. The root element is Log. To access the log file, use the Read File command, passing "_live.log"...
Page 148: Job File Components
Job File Components A job file contains components that can be loaded and saved as independent files. The following table lists the components of a job file: Job File Components Component Path Description Configuration config.xml The job's configurations. This component is always present. For more Configuration information, see below.
Page 149: Setup
Configuration Child Elements Element Type Description @version Configuration version (101). @versionMinor Configuration minor version (9). Setup Setup Section For a description of the Setup elements, see below. Replay Section Replay Contains settings related to recording filtering (see on page 170). Streams Section Streams/Stream Read-only collection of available data streams (see...
Page 150: Filters
Element Type Description IntensityEnabled.value Bool Actual value used if not configurable. FlickerFreeModeEnabled Bool Enables flicker-free operation. FlickerFreeModeEnabled.used Bool Whether flicker-free operation can be used on this sensor. ExternalInputZPulseEnabled Bool Enables the External Input based encoder Z Pulse feature. ExternalInputZPulseIndex Input index to use for the input triggered z pulse feature. ExternalInputZPulseEnabled.used Bool Whether the index can be set.
Page 151: Xgapfilling
Element Type Description Window Window size (mm). Window.min Minimum window size (mm). Window.max Maximum window size (mm). XGapFilling XGapFilling Child Elements Element Type Description @used Bool Whether or not this field is used Enabled Bool Enables filtering. Window Window size (mm). Window.min Minimum window size (mm).
Page 152: Xdecimation
Element Type Description Window.min Minimum window size (mm). Window.max Maximum window size (mm). XDecimation XDecimation Child Elements Element Type Description @used Bool Whether or not this field is used Enabled Bool Enables filtering. Window Window size (mm). Window.min Minimum window size (mm). Window.max Maximum window size (mm).
Page 153: Trigger
Element Type Description Enabled Bool Enables filtering. Window Window size (mm). Window.min Minimum window size (mm). Window.max Maximum window size (mm). Trigger The Trigger element contains settings related to trigger source, speed, and encoder resolution. Trigger Child Elements Element Type Description Source Trigger source:...
Page 154: Layout
Element Type Description 0 – Resolution 1 – Surface generation EncoderSpacing.used Bool Whether or not this parameter is configurable. EncoderTriggerMode Encoder triggering mode: 0 – Tracking backward 1 – Bidirectional 2 – Ignore backward Delay Trigger delay (µs or mm). Delay.min Minimum trigger delay (µs or mm).
Page 155: Alignment
Element Type Description 5 – Left Right XSpacingCount Number of points along X when data is resampled. YSpacingCount Number of points along Y when data is resampled. TransformedDataRegion Region3D Transformed data region of the layout output. Orientation Sensor orientation: 0 – Normal (single-sensor system) / Wide (dual-sensor system) 1 –...
Page 156: Disk
Alignment Child Elements Element Type Description @used Bool Whether or not this field is used InputTriggerEnabled Bool Enables digital input-triggered alignment operation. InputTriggerEnabled.used Bool Whether or not this feature can be enabled. This feature is available only on some sensor models. InputTriggerEnabled.value Bool Actual feature status.
Page 157: Plate
Element Type Description HoleCount Number of holes. HoleCount.value Actual number of holes expected by system. HoleCount.used Bool Whether the hole count with be used in the bar alignment proceudure. HoleDistance Distance between holes (mm). HoleDistance.used Bool Whether the hole distance will be used in the bar alignment procedure. HoleDiameter Diameter of holes (mm).
Page 158: Devices / Device
Devices / Device Devices / Device Child Elements Element Type Description @index Ordered index of devices in device list. @role Sensor role: 0 – Main Layout Layout Multiplexing bank settings. DataSource Data source of device output (read-only): 0 – Top XSpacingCount Number of resampled points along X (read-only).
Page 159 Element Type Description 0 – Both cameras 1 – Front camera 2 – Back camera IntensitySource.options 32s (CSV) List of available intensity sources. IntensityMode Intensity Mode: 0 – Auto 1 - Preserve IntensityMode.used Bool Whether intensity mode is used ZSubsampling Subsampling factor in Z.
Page 160 Window Child Elements Element Type Description X start (pixels). Y start (pixels). Width X extent (pixels). Height Y extent (pixels). Layout Child Elements Element Type Description Grid Grid Layout grid information. MultiplexingBank Multiplexing bank ID MultiplexingBank.used Whether or not this field can be specified MultiplexingBank.value Actual value used by system Grid Child Elements...
Page 161 Element Type Description 1 – Diffuse 3 – Reflective Type.used Bool Determines if the setting’s value is currently used. Type.value Value in use by the sensor, useful for determining value when used is false. Type.options 32u (CSV) List of available material types. SpotThreshold Spot detection threshold.
Page 162 Element Type Description when used is false. CameraGainDigital.min Minimum value. CameraGainDigital.max Maximum value. DynamicSensitivity Dynamic exposure control sensitivity factor. This can be used to scale the control setpoint. DynamicSensitivity.used Bool Determines if the setting’s value is currently used. DynamicSensitivity.value Value in use by the sensor, useful for determining value when used is false.
Page 163: Surfacegeneration
The exposure value to use for the front camera BackCameraExposure.min The minimum exposure value possible for front camera BackCameraExposure.max The maximum exposure value possible for back camera Tracheid settings are only supported by Gocator 200 series multi-point sensors. Tracheid Child Elements Element Type Description...
Page 164: Fixedlength
SurfaceGeneration Child Elements Element Type Description Type Surface generation type: 0 – Continuous 1 – Fixed length 2 – Variable length 3 – Rotational FixedLength Section FixedLength below. VariableLength Section VariableLength below. Rotational Section Rotational below. FixedLength FixedLength Child Elements Element Type Description...
Page 165: Surfacesections
SurfaceSections SurfaceSections Child Elements Element Type Description @used Bool Whether surface sectioning is enabled. @xMin The minimum valid X value to be used for section definition. @xMax The maximum valid X value to be used for section definition. @yMin The minimum valid Y value to be used for section definition. @yMax The maximum valid Y value to be used for section definition.
Page 166: Fixedlength
FixedLength FixedLength Child Elements Element Type Description StartTrigger Start trigger condition: 0 – Sequential 1 – Digital input Length Profile length (mm). Length.min Minimum profile length (mm). Length.max Maximum profile length (mm). VariableLength VariableLength Child Elements Element Type Description MaxLength Maximum surface length (mm).
Page 167 Element Type Description GapLength Gap length (mm). GapLength.min Minimum gap length (mm). GapLength.max Maximum gap length (mm). GapLength.used Bool Whether or not this field is used. PaddingWidth Padding width (mm). PaddingWidth.min Minimum padding width (mm). PaddingWidth.max Maximum padding width (mm). PaddingWidth.used Bool Whether or not this field is used.
Page 168: Edgefiltering
EdgeFiltering EdgeFiltering Child Elements Element Type Description @used Bool Whether or not this section is used. Enabled Bool Enables edge filtering. PreserveInteriorEnabled Bool Enables preservation of interior. ElementWidth Element width (mm). ElementWidth.min Minimum element width (mm). ElementWidth.max Maximum element width (mm). ElementLength Element length (mm).
Page 169 Element Type Description possible values are: 0 – None 1 – Length 2 - Width Acceptance/Width/Min Minimum width (mm). Acceptance/Width/Max Maximum width (mm). Acceptance/Width/Tolerance Width acceptance tolerance value Acceptance/Width/Tolerance.deprecated Bool Whether this tolerance field is deprecated Acceptance/Length/Min Minimum length (mm). Acceptance/Length/Max Maximum length (mm).
Page 170: Recordingfiltering
Element Type Description Acceptance/Minor/Tolerance Minor acceptance tolerance value Acceptance/Minor/Tolerance.deprecated Bool Whether this tolerance field is deprecated X value X.deprecated Bool Whether this X field is deprecated Y value Y.deprecated Bool Whether this Y field is deprecated Width Width value Width.deprecated Bool Whether this width field is deprecated Length...
Page 171: Conditions/Anydata
Conditions/AnyData Conditions/AnyData Elements Element Type Description Enabled Bool Indicates whether the condition is enabled. RangeCountCase The case under which to record data: 0 – Range count at or above threshold of valid data points. 1 – Range count below threshold. RangeCountThreshold The threshold for the number of range points that are valid.
Page 172: Tooloptions
Element Type Description 16 – Uniform Surface ColorEncoding The color encoding type. Only appears for Video stream steps (1). 0 – None 1 – Bayer BGGR 2 – Bayer GBRG 3 – Bayer RGGB 4 – Bayer GRBG IntensityEnabled Bool Whether the stream includes intensity data Sources Collection...
Page 173: Measurementoptions
Element Type Description @isCustom Bool Reserved for future use. @format Format type of the tool: 0 – Standard built-in tool 1 – GDK user-defined tool 2 – Internal GDK tool MeasurementOptions MeasurementOptions Collection below FeatureOptions Collection FeatureOptions below. StreamOptions Collection StreamOptions on the next page.
Page 174: Streamoptions
StreamOptions StreamOptions Child Elements Element Type Description @step The data step of the stream being described. Possible values are: 1 – Video 2 – Range 3 – Surface 4 – Section @ids A list representing the available IDs associated with the given step.
Page 175: Profileline
Element Type Description 13 – Median RegionEnabled Bool Indicates whether feature detection applies to the defined Region or to the entire active area. Region ProfileRegion2D Element for feature detection area. ProfileLine An element of type ProfileLine defines measurement areas used to calculate a line. ProfileLine Child Elements Element Type...
Page 176 GDK Parameter Child Elements Element Type Description @label String Parameter label. @type String Type of parameter. It is one of the following (see tables below for elements found in each type): - Bool - Int - Float - ProfileRegion - SurfaceRegion2d - SurfaceRegion3d - GeometricFeature @options...
Page 177: Profilearea
Element Type Description Y value of region. Width Width value of region. Length Length value of region. GDK Parameter Surface Region 3D Type Element Type Description X value of region. Y value of region. Z value of region. Width Width value of region. Length Length value of region.
Page 178 Element Type Description 1 – Video 2 – Range 3 – Surface 4 – Section Stream\Id The stream source ID. Type Boolean Area to measure: 0 – Object (convex shape above the baseline) 1 – Clearance (concave shape below the baseline) Type.used Boolean Whether or not field is used.
Page 179: Profileboundingbox
Element Type Description 1 – Enable SmoothingWindow Smoothing window. Scale Output scaling factor. Offset Output offset factor. DecisionMin Minimum decision threshold. DecisionMax Maximum decision threshold. ProfileBoundingBox A ProfileBoundingBox element defines settings for a profile bounding box tool and one or more of its measurements.
Page 180 Element Type Description measurement Measurements\Z Bounding Box tool Z measurement. measurement Measurements\Width Bounding Box tool Width measurement. measurement Measurements\Height Bounding Box tool Height measurement. measurement Measurements\GlobalX Bounding Box tool GlobalX measurement measurement Measurements\GlobalY Bounding Box tool GlobalY measurement measurement Measurements\GlobalAngle Bounding Box tool GlobalAngle measurement measurement...
Page 181: Profilecircle
ProfileCircle A ProfileCircle element defines settings for a profile circle tool and one or more of its measurements. ProfileCircle Child Elements Element Type Description @isCustom Bool Reserved for future use. @format Format type of the tool: 0 – Standard built-in tool 1 –...
Page 182: Profiledimension
Element Type Description Measurements\MaxErrorZ CircleMeasurement Maximum error Z measurement GeometricFeature Features\CenterPoint CenterPoint PointFeature. Circle Tool Measurement Element Type Description Measurement ID. Optional (measurement disabled if not set). Name String Measurement name. Enabled Boolean Measurement enable state: 0 – Disable 1 – Enable HoldEnabled Boolean Output hold enable state:...
Page 183 Element Type Description Name String Tool name. Features Collection Not used. Source Profile source. Anchor\X String (CSV) The X measurements (IDs) used for anchoring. Anchor\X.options String (CSV) The X measurements (IDs) available for anchoring. Anchor\Z String (CSV) The Z measurements (IDs) used for anchoring. Anchor\Z.options String (CSV) The Z measurements (IDs) available for anchoring.
Page 184: Profilegroove
Element Type Description SmoothingEnabled Boolean Smoothing enable state: 0 – Disable 1 – Enable PreserveInvalidsEnabled Boolean Preserve invalid measurements enable state 0 – Disable 1 – Enable SmoothingWindow Smoothing window. Scale Output scaling factor. Offset Output offset factor. DecisionMin Minimum decision threshold. DecisionMax Maximum decision threshold.
Page 185 Element Type Description 1 – Video 2 – Range 3 – Surface 4 – Section Stream\Id The stream source ID. Shape Shape: 0 – U-shape 1 – V-shape 2 – Open MinDepth Minimum depth. MinWidth Minimum width. MaxWidth Maximum width. RegionEnabled Bool Whether or not to use the region.
Page 186: Profileintersect
Element Type Description 0 – Disable 1 – Enable SmoothingWindow Smoothing window. Scale Output scaling factor. Offset Output offset factor. DecisionMin Minimum decision threshold. DecisionMax Maximum decision threshold. SelectType Method of selecting a groove when multiple grooves are found: 0 – Max depth 1 –...
Page 187 Element Type Description RefType Reference line type: 0 – Fit 1 – X Axis StreamOptions Collection StreamOptions A collection of elements. Stream\Step The stream source step. Possible values are: 1 – Video 2 – Range 3 – Surface 4 – Section Stream\Id The stream source ID.
Page 188: Profileline
Element Type Description 1 – Enable SmoothingWindow Smoothing window. Scale Output scaling factor. Offset Output offset factor. DecisionMin Minimum decision threshold. DecisionMax Maximum decision threshold. Boolean Absolute Setting for selecting the angle range: (Angle measurement only) 0 – A range of -90 to 90 degrees is used. 1 –...
Page 189 Element Type Description ProfileRegion2d Region Measurement region. FittingRegions ProfileLine describing up to 2 regions to fit to. ProfileLine FittingRegionsEnabled Bool Whether the fitting regions are enabled. Measurements\StdDev Line tool measurement StdDev measurement. Measurements\MaxError Line tool measurement MaxError measurement. Measurements\MinError Line tool measurement MinError measurement.
Page 190: Profilepanel
Element Type Description DecisionMin Minimum decision threshold. DecisionMax Maximum decision threshold. Error percentile. Percent (Percentile measurement only) ProfilePanel A ProfilePanel element defines settings for a profile panel tool and one or more of its measurements. ProfilePanel Child Elements Element Type Description @isCustom Bool Reserved for future use.
Page 191 Element Type Description Measurements\LeftGapX Gap/Flush Left Gap X measurement. measurement Measurements\LeftGapZ Gap/Flush Left Gap Z measurement. measurement Measurements\LeftFlushX Gap/Flush Left Flush X measurement. measurement Measurements\LeftFlushZ Gap/Flush Left Flush Z measurement. measurement Measurements\LeftSurfaceAngle Gap/Flush Left Surface Angle measurement. measurement Measurements\RightGapX Gap/Flush Right Gap X measurement.
Page 192: Profileposition
Element Type Description Name String Measurement name. Enabled Boolean Measurement enable state: 0 – Disable 1 – Enable HoldEnabled Boolean Output hold enable state: 0 – Disable 1 – Enable SmoothingEnabled Boolean Smoothing enable state: 0 – Disable 1 – Enable PreserveInvalidsEnabled Boolean Preserve invalid measurements enable state...
Page 193 Element Type Description The tool's ID. Name String Tool name. Features Collection Collection of geometric feature outputs available in the tool. See ProfilePosition on the previous page. Source Profile source. Anchor\X String (CSV) The X measurements (IDs) used for anchoring. Anchor\X.options String (CSV) The X measurements (IDs) available for anchoring.
Page 194: Profileroundcorner
Element Type Description 0 – Disable 1 – Enable SmoothingWindow Smoothing window. Scale Output scaling factor. Offset Output offset factor. DecisionMin Minimum decision threshold. DecisionMax Maximum decision threshold. ProfileRoundCorner A ProfileRoundCorner element defines settings for a profile round corner tool and one or more of its measurements.
Page 195 Element Type Description Edge ProfilePanelEdge Element for edge configuration Measurements\X Round Corner tool X measurement. measurement Measurements\Z Round Corner tool Z measurement. measurement Measurements\Angle Round Corner tool Angle measurement. measurement Features\CenterPoint Geometric Feature Circle Center PointFeature. Features\EdgePoint Geometric Feature Edge PointFeature. ProfilePanelEdge Element Type...
Page 196: Profilestrip
Element Type Description SmoothingEnabled Boolean Smoothing enable state: 0 – Disable 1 – Enable SmoothingWindow Smoothing window. Scale Output scaling factor. Offset Output offset factor. DecisionMin Minimum decision threshold. DecisionMax Maximum decision threshold. ProfileStrip A ProfileStrip element defines settings for a profile strip tool and one or more of its measurements. The profile strip tool is dynamic, meaning that it can contain multiple measurements of the same type in the Measurements element.
Page 197 Element Type Description 0 – None 1 – Flat LeftEdge Bitmask Setting for the left edge conditions: 1 – Raising 2 – Falling 4 – Data End 8 – Void RightEdge Bitmask Setting for the right edge conditions: 1 – Raising 2 –...
Page 198: Script
Element Type Description SmoothingEnabled Boolean Smoothing enable state: 0 – Disable 1 – Enable PreserveInvalidsEnabled Boolean Preserve invalid measurements enable state 0 – Disable 1 – Enable SmoothingWindow Smoothing window. Scale Output scaling factor. Offset Output offset factor. DecisionMin Minimum decision threshold. DecisionMax Maximum decision threshold.
Page 199: Tool (Type Featuredimension)
Output Element Type Description Measurement ID. Optional (measurement disabled if not set). Name String Measurement name. Tool (type FeatureDimension) A Tool element of type FeatureDimension defines settings for a feature dimension tool and one or more of its measurements. Tool Child Elements Element Type Description...
Page 200: Tool (Type Featureintersect)
Element Type Description Measurements\Measurement Dimension Measurement Distance measurement. @type=Distance Measurements\Measurement Dimension Measurement Plane distance measurement. @type=PlaneDistance Dimension Measurement Child Elements Measurement ID. Optional (measurement disabled if not set). @type String Type name of measurement. Name String Measurement name. Enabled Boolean Measurement enable state: 0 –...
Page 201 Tool Child Elements Element Type Description @isCustom Bool Reserved for future use. @format Format type of the tool: 0 – Standard built-in tool 1 – GDK user-defined tool 2 – Internal GDK tool The tool's ID. @type String Type name of the tool. @version String Version string for custom tool.
Page 202: Custom
Enabled Boolean Measurement enable state: 0 – Disable 1 – Enable HoldEnabled Boolean Output hold enable state: 0 – Disable 1 – Enable SmoothingEnabled Boolean Smoothing enable state: 0 – Disable 1 – Enable PreserveInvalidsEnabled Boolean Preserve invalid measurements enable state 0 –...
Page 203: Output
Element Type Description measurements Measurements GDK Measurement Collection of Features GDK Feature Collection of features Output The Output element contains the following sub-elements: Ethernet, Serial, Analog, Digital0, and Digital1. Each of these sub-elements defines the output settings for a different type of Gocator output. For all sub-elements, the source identifiers used for measurement outputs correspond to the measurement identifiers defined in each tool's Measurements element.
Page 204 Element Type Description true and the Gocator protocol is selected. Ascii Ascii Section on the next page. Section on page 206. Modbus Modbus Section on page 206. Profinet Section Ethernet on the previous page. Videos 32s (CSV) Selected video sources: 0 – Top 1 –...
Page 205: Ascii
Element Type Description RangeIntensities.options 32s (CSV) List of available range intensity sources (see above). ProfileIntensities 32s (CSV) Selected profile intensity sources. 0 – Top 1 – Bottom 2 – Top left 3 – Top right ProfileIntensities.options 32s (CSV) List of available profile intensity sources (see above). SurfaceIntensities 32s (CSV) Selected surface intensity sources.
Page 206: Eip
Element Type Description CustomDataFormat String Custom data format. CustomFormatEnabled Bool Enables custom data format. StandardFormatMode The formatting mode used if not a custom format: 0 – Standard 1 – Standard with Stamp EIP Child Elements Element Type Description BufferEnabled Bool Enables EtherNet/IP output buffering.
Page 207: Analog
Element Type Description 0 – Pulse 1 – Continuous ScheduleEnabled Bool Enables scheduling. PulseWidth Pulse width (µs). PulseWidth.min Minimum pulse width (µs). PulseWidth.max Maximum pulse width (µs). PassMode Measurement pass condition: 0 – AND of measurements is true 1 – AND of measurements is false 2 –...
Page 208: Serial
Element Type Description CurrentMax.max Maximum value of maximum current (mA). CurrentInvalidEnabled Bool Enables special current value for invalid measurement value. CurrentInvalid Current value for invalid measurement value (mA). CurrentInvalid.min Minimum value for invalid current (mA). CurrentInvalid.max Maximum value for invalid current (mA). DataScaleMax Measurement value corresponding to maximum current.
Page 209: Ascii
Element Type Description 1 – 12-bit with search 2 – 14-bit 3 – 14-bit with search Format.options 32s (CSV) List of available formats. DataScaleMin Measurement value corresponding to minimum word value. DataScaleMax Measurement value corresponding to maximum word value. Delay Output delay in µs.
Page 210: Gocator
<EncoderResolution>1</EncoderResolution> <Speed>100</Speed> <Devices> <Device role="0"> <X>-2.3650924829</X> <Y>0.0</Y> <Z>123.4966803469</Z> <XAngle>5.7478302588</XAngle> <YAngle>3.7078302555</XAngle> <ZAngle>2.7078302556</XAngle> </Device> <Device id="1"> <X>0</X> <Y>0.0</Y> <Z>123.4966803469</Z> <XAngle>5.7478302588</XAngle> <YAngle>3.7078302555</XAngle> <ZAngle>2.7078302556</XAngle> </Device> </Devices> </Transform> The Transform element contains the alignment record for sensor. Transform Child Elements Element Type Description @version Major transform version (100). @versionMinor Minor transform version (0).
Page 211 Element Type Description Translation on the Y axis (mm). Translation on the Z axis (mm). XAngle Rotation around the X axis (degrees). YAngle Rotation around the Y axis (degrees). ZAngle Rotation around the Z axis (degrees). The rotation (counter-clockwise in the X-Z plane) is performed before the translation. Gocator Device Files •...
Page 212: Protocols
Protocols Gocator supports protocols for communicating with sensors over Ethernet (TCP/IP) and serial output. For a protocol to output data, it must be enabled and configured in the active job. If you switch jobs or make changes to a job using the SDK or a protocol (from a PLC), the switch or changes are not automatically displayed in the web interface: you must refresh the browser to see these.
Page 213: Data Types
For information on job file structures (for example, if you wish to create job files programmatically), see Job File Structure on page 147. Data Types The table below defines the data types and associated type identifiers used in this section. All values except for IP addresses are transmitted in little endian format (least significant byte first) unless stated otherwise.
Page 214: Discovery Commands
Status Codes Label Value Description Command succeeded. 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.
Page 215: Set Address
Field Type Offset Description signature Message signature (0x0000504455494D4C) deviceId Serial number of the device whose address information is queried. 0 selects all devices. Reply Field Type Offset Description length Reply length. type Reply type (0x1001). status Operation status. signature Message signature (0x0000504455494D4C) deviceId Serial number.
Page 216: Get Info
Field Type Offset Description gateway[4] byte The gateway address in left to right order. reserved[4] byte Reserved. reserved[4] byte Reserved. Reply Field Type Offset Description length Reply length. type Reply type (0x1002). Commands status Operation status. For a list of status codes, see page 213.
Page 217: Control Commands
Field Type Offset Description addressVersion byte IP address version (always 4). address[4] byte IP address. reserved[12] byte Reserved. prefixLength Subnet prefix length (in number of bits). gatewayVersion byte Gateway address version (always 4). gatewayAddress[4] byte Gateway address. reserved[12] byte Reserved. controlPort Control channel port.
Page 218: Protocol Version
A progressive reply begins with an initial, standard reply message. If the status field of the reply indicates success, the reply is followed by a series of “continue” reply messages. A continue reply message contains a block of data of variable size, as well as status and progress information.
Page 219: Set Address
Gocator's firmware by sending the Start Upgrade command (see Start Upgrade on page 250). Firmware upgrade files are available from the downloads section under the support tab on the LMI web site. For more information on getting the latest firmware, see Firmware Upgrade on page 76.
Page 220 Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4010). status Reply status. For a list of status codes, see Commands page 213. localInfoSize Size of localInfo structure. Current: 52. localInfo Device Info Info for this device. remoteCount Number of discovered sensors.
Page 221: Get System Info
Gocator's firmware by sending the Start Upgrade command (see Start Upgrade on page 250). Firmware upgrade files are available from the downloads section under the support tab on the LMI web site. For more information on getting the latest firmware, see Firmware Upgrade on page 76.
Page 222: Get States
Every Gocator sensor contains factory backup firmware. If a firmware upgrade command fails (e.g., power is interrupted), the factory backup firmware will be loaded when the sensor is reset or power cycled. In this case, the sensors will fall back to the factory default IP address. To avoid IP address conflicts in a multi-sensor system, connect to one sensor at a time and re-attempt the firmware upgrade.
Page 223: Log In/Out
Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4525). status Reply status. For a list of status codes, see Commands page 213. count Number of state variables. sensorState Sensor state 0 – Ready 1 – Running Control Commands For more information on states, see page 217.
Page 224: Change Password
Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x4003). userType Defines the user type 0 – None (log out) 1 – Administrator 2 – Technician Password (required for log-in only). password[64] char Reply Field Type Offset...
Page 225: List Files
Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x4005). buddyId Id of the sensor to acquire as buddy. Set to 0 to remove buddy. Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4005).
Page 226: Read File
Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x101B). source[64] char Source file name. destination[64] char Destination file name. Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x101B). status Reply status.
Page 227: Delete File
Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x1006). name[64] char Source file name. length File length. data[length] byte File contents. Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x1006).
Page 228: User Storage Free
Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x1021). status Reply status. spaceUsed The used storage space in bytes. User Storage Free The User Storage Free command returns the amount of user storage that is free. Command Field Type...
Page 229: Get Loaded Job
Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x4101). fileName[64] char File name (null-terminated) of the job the sensor loads when it powers up. Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4101).
Page 230: Gocator
Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4104). status Reply status. For a list of status codes, see Commands page 213. reference Alignment reference 0 – Fixed 1 – Dynamic Set Alignment Reference The Set Alignment Reference command is used to set the sensor's alignment reference.
Page 231: Get Timestamp
Get Timestamp The Get Timestamp command retrieves the sensor's timestamp, in clock ticks. All devices in a system are synchronized with the system clock; this value can be used for diagnostic purposes, or used to synchronize the start time of the system. Command Field Type...
Page 232: Start
Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x101E). status Reply status. For a list of status codes, see Commands page 213. Start The Start command starts the sensor system (system enters the Running state). For more information on states, see Control Commands on page 217.
Page 233: Stop
Stop The Stop command stops the sensor system (system enters the Ready state). For more information on states, see Control Commands on page 217. Command Field Type Type Description length Command size including this field, in bytes. Command identifier (0x1001). Reply Field Type Offset...
Page 234: Start Alignment
Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x452B). status Reply status. For a list of status codes, see Commands page 213. Start Alignment The Start Alignment command is used to start the alignment procedure on a sensor. Command Field Type...
Page 235: Software Trigger
Field Type Offset Description page 213. opId Operation ID. Use this ID to correlate the command/reply on the Exposure Calibration Command channel with the correct Result message on the Data channel. A unique ID is returned each time the client uses this command. Software Trigger The Software Trigger command causes the sensor to take a snapshot while in software mode and in the Running state.
Page 236: Schedule Analog Output
Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4518). status Reply status. For a list of status codes, see Commands page 213. Schedule Analog Output The Schedule Analog Output command schedules an analog output event. The analog output must be configured to accept software-scheduled commands and be in the Running state.
Page 237: Reset
Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x100E). status Reply status. For a list of status codes, see Commands page 213. If a non-zero value is specified for timeout, the client must send another ping command before the timeout elapses;...
Page 238: Restore
Restore The Restore command uploads a backup file to the connected sensor and then restores all sensor files from the backup. The sensor must be reset or power-cycled before the restore operation can be completed. Command Field Type Offset Description length Command size including this field, in bytes.
Page 239: Get Recording Enabled
Get Recording Enabled The Get Recording Enabled command retrieves whether recording is enabled. Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x4517). Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4517).
Page 240: Get Playback Source
Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4513). status Reply status. For a list of status codes, see Commands page 213. Get Playback Source The Get Playback Source command gets the data source for data playback. Command Field Type...
Page 241: Simulate
Simulate The Simulate command simulates the last frame if playback source is live, or the current frame if playback source is the replay buffer. Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x4522). Reply Field Type...
Page 242: Playback Position
Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x4501). direction Define step direction 0 – Forward 1 – Reverse Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4501). status Commands Reply status.
Page 243: Read Live Log
Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4526). status Reply status. For a list of status codes, see Commands page 213. Read Live Log The Read Live Log command returns an XML file containing the log messages between the passed start and end indexes.
Page 244: Acquire
Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x452A). Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x452A). status Commands Reply status. For a list of status codes, see page 213.
Page 245: Create Model
The command returns after the scan has been captured and transmitted. Create Model The Create Model command creates a new part model from the active simulation scan. Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x4602).
Page 246: Add Measurement
Field Type Offset Description typeName[64] char Type name of the tool (e.g., ProfilePosition) name[64] char User-specified name for tool instance Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4530). Commands status Reply status. For a list of status codes, see page 213.
Page 247: Export Csv (Progressive)
Field Type Offset Description Command identifier (0x4529). name[64] char Source file name. Initial Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4529). status Commands Reply status. For a list of status codes, see page 213.
Page 248: Export Bitmap (Progressive)
Field Type Offset Description progressTotal Progress indicating completion (100%). progress Current progress. Continue Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x5000). status Commands Reply status. For a list of status codes, see page 213.
Page 249: Get Runtime Variable Count
Continue Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x5000). status Reply status. For a list of status codes, see Commands page 213. progressTotal Progress indicating completion (100%). progress Current progress. size Size of the chunk in byes. data[size] byte Chunk data.
Page 250: Get Runtime Variables
Get Runtime Variables The Get Runtime Variables command gets the runtime variables for the given index and length. Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x4535). index The starting index of the variables to retrieve. length The number of values to retrieve from the starting index.
Page 251: Start Upgrade Extended
Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x0000). status Reply status. For a list of status codes, see Commands page 213. Start Upgrade Extended The Start Upgrade Extended command begins a firmware upgrade for the sensors in a system. All sensors automatically reset 3 seconds after the upgrade process is complete.
Page 252: Get Upgrade Log
Field Type Offset Description 0 – Completed 1 – Running 2 – Completed, but should run again Upgrade progress (valid when in the Running state) progress Get Upgrade Log The Get Upgrade Log command can retrieve an upgrade log in the event of upgrade problems. Command Field Type...
Page 253 Field Type Offset Description Bits 0-14: Message type identifier. (See individual data result sections.) GDP messages are always sent in groups. The Last Message flag in the control field is used to indicate the final message in a group. If there is only one message per group, this bit will be set in each message. A Health Result contains a single data block for health indicators.
Page 254 Indicator Instance Value 1: laser is enabled App Version 2000 Firmware application version. Internal Temperature 2002 Internal temperature (centidegrees Celsius). Uptime 2017 Time elapsed since node boot-up or reset (seconds). Projector Temperature 2404 Projector module temperature (centidegrees Celsius). Only available on projector based devices. Control Temperature 2028 Control module temperature (centidegrees...
Page 255 Indicator Instance Value 2701) Sensor State* 20000 Gocator sensor state. -1 – Conflict 0 – Ready 1 – Running Current Sensor Speed* 20001 Current sensor speed. (Hz) Maximum Speed* 20002 The sensor’s maximum speed. Spot Count* 20003 Number of spots found in the last unresampled profile/surface.
Page 256 Indicator Instance Value Number of bytes transmitted. Ethernet Output 21003 Ethernet Rate 21004 The average number of bytes per second being transmitted. Ethernet Drops 21005 Number of dropped Ethernet packets. Trigger Drops** 21010 Number of dropped triggers. The sum of various triggering-related drop indicators.
Page 257: Data Results
Indicator Instance Value Part X Position 22015 Center X position of the largest active part. Tool Runtime Minimum 22016 Minimum time spent for tool to process a sample Tool Runtime Maximum 22017 Maximum time spent for tool to process a sample Tool Runtime Average 22018...
Page 258: Stamp
Messages that are received on the Data and Health channels use a common structure, called Gocator Data Protocol (GDP). Each GDP message consists of a 6-byte header, containing size and control fields, followed by a variable-length, message-specific content section. The structure of the GDP message is defined below.
Page 259: Video
Video Field Type Offset Description size Count of bytes in message (including this field). control Bit 15: Last message flag. Bits 0-14: Message type identifier. For this message, set to 2. attributesSize Size of attributes, in bytes (min: 20, current: 20). height (H) Image height, in pixels.
Page 260: Alignment Result
Field Type Offset Description Bits 0-14: Message type identifier. For this message, set to count (C) Count of measurements in this message. reserved[2] Reserved. Measurement identifier. measurements[C] Measurement Array of measurements (see below). Measurement Field Type Offset Description value Measurement value. decision Measurement decision bitmask.
Page 261: Exposure Calibration Result
Field Type Offset Description -4 – Target detected in an unexpected position. -5 – No reference hole detected in bar alignment. -6 – No change in encoder value during travel calibration -988 – User aborted -993 – Timed out -997 – Invalid parameter Exposure Calibration Result Field Type...
Page 262: Feature Point
Field Type Offset Description frameCount The number of data frames. pointCount The number of spots. source Source: 0 – Top 1 – Bottom 2 – Top Left 3 – Top Right cameraIndex The camera the data came from. momentData[frameCount, Tracheid moments for each point. pointCount * 6] Feature Point Field...
Page 263: Feature Plane
Feature Plane Field Type Offset Description size Count of bytes in message (including this field). control Bit 15: Last message flag. Bits 0-14: Message type identifier. For this message, set to 26. Feature Id Normal.x X Component of Normal Vector (Scaled by 10^6) Normal.y Y Component of Normal Vector (Scaled by 10^6) Normal.z...
Page 264: Modbus Protocol
Modbus Protocol Modbus is designed to allow industrial equipment such as Programmable Logic Controllers (PLCs), sensors, and physical input/output devices to communicate over an Ethernet network. Modbus embeds a Modbus frame into a TCP frame in a simple manner. This is a connection-oriented transaction, and every query expects a response.
Page 265: Registers
Modbus Application Protocol Header Field Length (Bytes) Description Transaction ID Used for transaction pairing. The Modbus Client sets the value and the Server (Gocator) copies the value into its responses. Protocol ID Always set to 0. Length Byte count of the rest of the message, including the Unit identifier and data fields.
Page 266: Control Registers
The output registers report the sensor states, stamps, and measurement values and decisions. You can read multiple output registers using a single Read Holding Registers or a single Read Input Registers command. Likewise, you can control the state of the sensor using a single Write Multiple Register command.
Page 267: Output Registers
Command Register Values Value Name Description Stop Running Stops the sensor. No effect if sensor is already stopped. Start Running Starts the sensor. No effect if sensor is already started. Align (stationary target) Starts the stationary alignment process. State register 301 will be set to 1 (busy).
Page 268: Stamp
Register Name Type Description Address 307 – 310 Time Current time (µs). Job File Name Length Number of characters in the current job file name. (Valid when register 301 = 0.) 312 – 371 Live Job Name Name of currently loaded job file. Does not include the extension.
Page 269: Measurement Registers
Register Name Type Description Address Temperature High Sensor temperature in degrees Celcius * 100 (centidegrees). Temperature Low Position High Encoder position Position Position Position Low Time Low Timestamp (µs). Time Time Time Low Frame Index High Frame counter. Each new sample is assigned a frame number.
Page 270 Register Address Name Type Description 1003 Measurement 1 High 1004 Measurement 1 Low 1005 Decision 1 1006 Measurement 2 High Measurement 2 Low 1007 1008 Decision 2 1996 Measurement 332 High Measurement 332 Low 1997 1998 Decision 332 Protocols • 270 Gocator Multi-Point Scanners: User Manual...
Page 271: Ethernet/Ip Protocol
EtherNet/IP Protocol EtherNet/IP is an industrial protocol that allows bidirectional data transfer with PLCs. It encapsulates the object-oriented Common Industrial Protocol (CIP). This section describes the EtherNet/IP messages and data formats. EtherNet/IP communication enables the client to: Switch jobs. Align and run sensors. Receive sensor states, stamps, and measurement results.
Page 272: Identity Object (Class 0X01)
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 Sensor serial number...
Page 273: Assembly Object (Class 0X04)
Attribute Name Type Value Description Access Interface Flags UDINT See 5.4.3.2.1 of CIP Specification Volume 2: Bit 0: Link Status 0 – Inactive 1 - Active Bit 1: Duplex 0 – Half Duplex 1 – Full Duplex Physical Array of MAC address (for example: 00 16 20 00 2E 42) Address 6 USINTs...
Page 274: Runtime Variable Configuration Assembly
Value Name Description then back to zero. Clear Alignment Clear the alignment. Load Job Load the job. Set bytes 1-31 to the file name (one character per byte. File name must be null-terminated. The job name and extension are case- sensitive.
Page 275 Sensor State Assembly Information Value Class 0x04 Instance 0x320 Attribute Number Length 100 bytes Supported Service 0x0E (GetAttributeSingle) Attributes 1 and 2 are not implemented, as they are not required for the static assembly object. Attribute 3 Attribute Name Type Value Description Access...
Page 276: Sample State Assembly
Sample State Assembly The sample state object contains measurements and their associated stamp information. Sample State Assembly Information Value Class 0x04 Instance 0x321 Attribute Number Length 380 bytes Supported Service 0x0E (GetAttributeSingle) Attribute 3 Attribute Name Type Value Description Access Command Byte See below...
Page 277: Implicit Messaging
Byte Name Type Description 2 - Invalid anchor Measurement value in µm (0x80000000 if 375-378 Measurement 59 invalid). Decision 59 Measurement decision. A bit mask, where: Bit 0: 1 - Pass 0 - Fail Bits 1-7: 0 - Measurement value OK 1 = Invalid value 2 = Invalid anchor Measurement results are reported in pairs of values and decisions.
Page 278: Implicit Messaging Command Assembly
Implicit Messaging Command Assembly Implicit Messaging Command Assembly Information Value Class 0x04 Instance 0x64 Attribute Number Length 32 bytes Implicit Messaging Command Assembly Information Byte Name Type Description Command A bit mask where setting the following bits will only perform the action with highest priority*: 1 –...
Page 279: Implicit Messaging Output Assembly
Implicit Messaging Output Assembly Implicit Messaging Output Assembly Information Value Class 0x04 Instance 0x322 Attribute Number Length 376 bytes Implicit Messaging Output Assembly Information Byte Name Type Description Sensor State Sensor state is a bit mask where: Bit 0: 1 – Running 0 –...
Page 280: Ascii Protocol
Byte Name Type Description 0 – Measurement value OK 1 – Invalid Value 2 – Invalid Anchor … … Decision 63 Measurement decision is a bit mask where: Bit 0: 1 – Pass 0 – Fail Bits [1-7]: 0 – Measurement value OK 1 –...
Page 281: Connection Settings
Connection Settings Ethernet Communication With Ethernet ASCII output, you can set the connection port numbers of the three channels used for communication (Control, Data, and Health): Ethernet Ports for ASCII Name Description Default Port Control To send commands to control the 8190 sensor.
Page 282: Command And Reply Format
Switch to a different job. Align, run, and trigger sensors. Receive sensor states, health indicators, stamps, and measurement results Gocator sends Control, Data, and Health messages over separate channels. The Control channel is used for commands such as starting and stopping the sensor, loading jobs, and performing alignment (see Command Channel on the next page).
Page 283: Command Channel
Format Value Explanation New line Carriage return Percentage (%) symbol Command Channel The following sections list the actions available on the command channel. Optional parameters are shown in italic. The placeholder for data is surrounded by brackets (<>). In the examples, the delimiter is set to ','.
Page 284: Trigger
Reply: OK Trigger The Trigger command triggers a single frame capture. This command is only valid if the sensor is configured in the Software trigger mode and the sensor is in the Running state. Formats Message Format Command Trigger Reply OK or ERROR, <Error Message> Examples: Command: Trigger Reply: OK...
Page 285: Stationary Alignment
Message Format <Error Message> If arguments are specified, only the selected stamps will be returned. Examples: Command: Stamp Reply: OK,Time,9226989840,Encoder,0,Frame,6 Command: Stamp,frame Reply: OK,6 Stationary Alignment The Stationary Alignment command performs an alignment based on the settings in the sensor's live job file. A reply to the command is sent when the alignment has completed or failed. The command is timed out if there has been no progress after one minute.
Page 286: Get Runtime Variables
Formats Message Format Command setvars,index,length,data data Where is the delimited integer values to be set. Reply OK or ERROR Examples: Command: setvars,0,4,1,2,3,4 Reply: OK Get Runtime Variables The Get Runtime Variables command gets the runtime variables, using the specified index and length. Formats Message Format...
Page 287: Value
Standard data string for measurements ID 0 and 1: Result,0,1 OK,M00,00,V151290,D0,M01,01,V18520,D0 Standard formatted measurement data with a non-existent measurement of ID 2: Result,2 ERROR,Specified measurement ID not found. Please verify your input Custom formatted data string (%time, %value[0], %decision[0]): Result OK,1420266101,151290,0 Value The Value command retrieves measurement values.
Page 288: Decision
Value OK, 1420266101, 151290 Decision The Decision command retrieves measurement decisions. Formats Message Format Command Decision,measurement ID,measurement ID... Reply If no arguments are specified, the custom format data string is used. OK, <custom data string> ERROR, <Error Message> If arguments are specified, OK, <data string in standard format, except that the values are not sent>...
Page 289: Standard Result Format
Message Format More than one health indicator can be specified. Note that the health indicator instance is optionally attached to the indicator ID with a '.'. If the health indicator instance field is used the delimiter cannot be set to '.'. Reply OK, <health indicator of first ID>, <health indicator of second ID>...
Page 290: Custom Result Format
Field Shorthand Length Description 1 – Invalid value 2 - Invalid anchor Custom Result Format In the custom format, you enter a format string with place holders to create a custom message. The default format string is "%time, %value[0], %decision[0]". Result Placeholders Format Value Explanation...
Page 291: Selcom Protocol
Selcom Protocol This section describes the Selcom serial protocol settings and message formats supported by Gocator sensors. To use the Selcom protocol, it must be enabled and configured in the active job. For information on configuring the protocol using the Web interface, see Serial Output on page 128. Units for data scales use the standard units (mm, mm , mm , and degrees).
Page 292 12-bit data format (SLS mode; "SLS" in Gocator web interface) 12-bit data format with Search/Track bit 14-bit data format 14-bit data format with Search/Track bit Protocols • 292 Gocator Multi-Point Scanners: User Manual...
Page 293: Development Kits
Development Kits These sections describe the following development kits: Software Development Kit (GoSDK) Web Scanning Software Development Kit (GoWebScanSDK) GoSDK and GoWebScanSDK The following sections describe GoSDK and GoWebScanSDK. Setup and Locations Class Reference The full GoSDK class reference is found by accessing the following file: 14400-4.x.x.xx_SOFTWARE_GO_SDK\GO_SDK\doc\GoSdk\Gocator_2x0\GoSdk.html Examples Examples showing how to perform various operations are provided, each one targeting a specific area.
Page 294: Value Types
Value Types GoSDK is built on a set of basic data structures, utilities, and functions, which are contained in the kApi library. The following basic value types are used by the kApi library. Value Data Types Type Description 8-bit unsigned integer k16u 16-bit unsigned integer k16s...
Page 295: Godataset Type
Data Type Description GoStampMsg Represents a message containing a set of acquisition stamps. GoSurfaceIntensityMsg Represents a data message containing a surface intensity array. GoSurfaceMsg Represents a data message containing a surface array. GoVideoMsg Represents a data message containing a video image. Refer to the GoSdkSamples sample code for examples of acquiring data using these data types.
Page 296: Limiting Flash Memory Write Operations
Limiting Flash Memory Write Operations Several operations and Gocator SDK functions write to the Gocator's flash memory. The lifetime of the flash memory is limited by the number of write cycles. Therefore it is important to avoid frequent write operation to the Gocator's flash memory when you design your system with the Gocator SDK. Power loss during flash memory write operation will also cause Gocators to enter rescue mode.
Page 297: Functional Hierarchy Of Classes
You can download the Gocator SDK from within the Web interface. To download the SDK: Go to the Manage page and click on the Support category Next to Software Development Kit (SDK), click Download Choose the location for the SDK on the client computer. Applications compiled with previous versions of the SDK are compatible with Gocator firmware if the major version numbers of the protocols match.
Page 298: Gosystem
GoSystem The GoSystem class is the top-level class in Gocator 4.x. Multiple sensors can be enabled and connected in one GoSystem. Only one GoSystem object is required for multi-sensor control. Refer to the How To Use The Open Source SDK To Fully Control A Gocator Multi-sensor System how-to guide http://lmi3d.com/sites/default/files/APPNOTE_Gocator_4.x_Multi_Sensor_Guide.zip for details on how to control and operate a multi-sensor system using the SDK.
Page 299: Gotools
GoTools The GoTools class is the base class of the measurement tools. The class provides functions for getting and setting names, retrieving measurement counts, etc. GoTransform The GoTransform class represents a sensor transformation and provides functions to get and set transformation information, as well as encoder-related information.
Page 300: Initialize Gosdk Api Object
See Setup and Locations on page 293 for more information on the code samples referenced below. Sensors must be connected before the system can enable the data channel. All GoSDK data functions are named Go<Object>_<Function>, for example, GoSensor_Connect. For property access functions, the convention is Go<Object>_<Property Name> for reading the property and Go<Object>_Set<Property Name>...
Page 301: Enable Data Channels
Refer to the Configure example for details on how to change settings and to switch, save, or load jobs. Refer to the BackupRestore example for details on how to back up and restore settings. Enable Data Channels Use GoSystem_EnableData to enable the data channels of all connected sensors. Perform Operations Operations are started by calling GoSystem_Start, GoSystem_StartAlignment, and GoSystem_ StartExposureAutoSet.
Page 302: Gowebscansdk
The library's source code is provided for users to modify and incorporate into their programs as per their licensing agreement with LMI Technologies. The SDK provides optimized performance to support full 22-sensor profile and tracheid systems and 10- sensor vision-capable systems (lower due to the higher bandwidth requirements).
Page 303: Main Classes
For full details on GoWebScanSDK, see the API documentation included with the package and the example source code provided with the SDK. The following diagram shows how a typical application interacts with GoSDK and GoWebScanSDK. As the diagram shows, in order to develop an application using GoWebScanSDK, you must also be familiar with GoSDK.
Page 304: Gowebscanprocess
One of the primary functions of the class is to perform X axis layout. This process consists of using the values in Settings.xml and sensor Geocal.xml files to map the profile, vision, and tracheid data from each node into system X coordinates. After the X center of each node is determined, the start and end boundaries of each node are determined.
Page 305: Setup
GoWebScanSettings Elements Element Type Description @schemaVersion SensorGroup settings version (1). Setup Section Contains system-level settings. For a description of the Setup elements, Setup on page 149. Sampling Section Contains sampling settings. For a description of the Sampling elements, Sampling on page 307. Detection Section Contains board detection settings.
Page 306 Element Type Description 1 – Left-to-right. In a left-to-right system (as viewed from the front), the zero reference is on the left and sensor indices (defined by the sensor "Name" property) increase left-to-right. In a right-to-left system, the zero reference is on the right and sensor indices increase right-to-left.
Page 307: Sampling
Sampling Sampling Elements Element Type Description ProfileXResolution The X resolution (mils per profile value, along board length) of the profile data that is sent. The following values are supported: 200, 250, 500, and 1000. ProfileYResolution The Y resolution (mils per profile value, across board width) of the profile data that is sent.
Page 308: Detection
Element Type Description 1 – Remove profile points contained within obstruction regions from output data Detection Detection Elements Element Type Description TriggerStyle Determines the type of object detection trigger. 0 – Global 1 – Local An object is detected when the amount of visible target material (measured along the x-axis) exceeds the TriggerLength threshold.
Page 309: Calibration
Calibration Calibration Elements Element Type Description DetectLocators Bool Should the server attempt to detect calibration reference holes (1), or assume that sensors are mounted at their nominal locations along the X axis (0)? This setting applies to vision-enabled systems only (systems with Gocator 205 sensors).
Page 310 Element Type Description Members Sensor Lists the individual sensors that are contained in this group. Section Elements Element Type Description A user-defined identifier for this section. Type The type of the section. 0 – Profile 1 – Vision 2 – Tracheid The start of the section along the X axis (length), in system coordinates (mils).
Page 311: Tools And Native Drivers
Sensor Discovery software tool. This tool can be obtained from the downloads area of the LMI Technologies website: http://www.lmi3D.com. After downloading the tool package [14405-x.x.x.x_SOFTWARE_GO_Tools.zip], unzip the file and run the Sensor Discovery Tool [>Discovery>kDiscovery.exe].
Page 312: Csv Converter Tool
Not intended for use with this sensor family. GenTL Mono Not intended for use with this sensor family. Raw CSV LMI Gocator CSV format for a single frame. HexSight HIG LMI HexSight heightmap. STL ASCII Mesh in standard STL text format (can become very large).
Page 313 Format Description format. ODSCAD OMC GFM ODSCAD heightmap. MountainsMap SUR DigitalSurf MountainsMap heightmap. 24-bit Spectrum Color spectrum bitmap for visualization of heightmap. Does not contain height values. With some formats, one or more of the following options are available: Output options Option Description Scale Z...
Page 314: 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 Sensor Recovery tool to verify that the sensor has the correct network settings. See Sensor Dis- covery Tool on page 311 for more information.
Page 315: Specifications
The following sections describe the specifications of Gocator sensors and connectors, as well as Master hubs. Scanners The following sections provide the specifications of Gocator scanners. Gocator 200 Series The Gocator 200 series consists of the following models: MODEL 20" / 508.0 mm Clearance 17" / 431.8 mm 20"...
Page 316: Gocator 205 (Color Vision Module)
Optical models, laser classes, and packages can be customized. Contact LMI for more details. Resolution Z is the maximum variability of height measurements across multiple frames, with 95% confidence. Resolution X is the distance between data points along the laser line.
Page 317 Field of View / Measurement Range Dimensions Specifications • 317 Gocator Multi-Point Scanners: User Manual...
Page 318 Gocator 210 Field of View / Measurement Range / Coordinate System Orientation Specifications • 318 Gocator Multi-Point Scanners: User Manual...
Page 319 Dimensions Dimensions: Scanner + Camera Module + Light Bar Specifications • 319 Gocator Multi-Point Scanners: User Manual...
Page 320 Light Shield Hole Specifications Specifications • 320 Gocator Multi-Point Scanners: User Manual...
Page 321 Envelope: Scanner + Camera Module + Light Bar Specifications • 321 Gocator Multi-Point Scanners: User Manual...
Page 322: Gocator 230 / 250
Gocator 230 / 250 Field of View / Measurement Range / Coordinate System Orientation Specifications • 322 Gocator Multi-Point Scanners: User Manual...
Page 323 Dimensions: Scanner Dimensions: Scanner + Camera Module + Light Bar Specifications • 323 Gocator Multi-Point Scanners: User Manual...
Page 324 Light Shield Hole Specifications Specifications • 324 Gocator Multi-Point Scanners: User Manual...
Page 325 Envelope: Scanner + Camera Module + Light Bar Specifications • 325 Gocator Multi-Point Scanners: User Manual...
Page 326: Sensor Connectors
Sensor Connectors The following sections provide the specifications of the connectors on Gocator sensors. Gocator Power/LAN Connector The Gocator Power/LAN connector is a 14 pin, M16 style connector that provides power input and Ethernet. This connector is rated IP67 only when a cable is connected or when a protective cap is used. This section defines the electrical specifications for Gocator Power/LAN Connector pins, organized by function.
Page 327: Grounding Shield
Two wires are connected to the ground and power pins. Grounding Shield The grounding shield should be mounted to the earth ground. Power Apply positive voltage to DC_24-48V. Gocator 200 series scanners require a minimum input voltage of 48 VDC. Power requirements Function Pins DC_24-48V...
Page 328: Gocator I/O Connector
Gocator I/O Connector The Gocator I/O connector is a 19 pin, M16 style connector that provides encoder, digital input, digital outputs, serial output, and analog output signals. This connector is rated IP67 only when a cable is connected or when a protective cap is used. This section defines the electrical specifications for Gocator I/O connector pins, organized by function.
Page 329: Inverting Outputs
Out_1 (Collector – Pin N and Emitter – Pin O) and Out_2 (Collector – Pin S and Emitter – Pin T) are independent and therefore V+ and GND are not required to be the same. Max Collector Max Collector–Emitter Function Pins Min Pulse Width Current...
Page 330: Encoder Input
If the supplied voltage is greater than 24 V, connect an external resistor in series to the positive. The resistor value should be R = [(Vin-1.2V)/10mA]-680. Active Low To assert the signal, the digital input voltage should be set to draw a current of 3 mA to 40 mA from the positive pin.
Page 331: Serial Output
signals, you should choose an encoder accordingly, given the resolution required for your application. Serial Output Serial RS-485 output is connected to Serial_out as shown below. Function Pins Serial_out B, C Analog Output The Sensor I/O Connector defines one analog output interface: Analog_out. Function Pins Current Range...
Page 332: Light Bars
Light Bars The following sections provide the specifications of Gocator light bars, which are intended for use with Gocator 200 series multi-point sensors. MODEL LB200 LB210 17" / 431.8 mm Clearance 17" / 431.8 mm Distance (CD) (mm) 14" / 355.6 mm Measurement 14"...
Page 333 Dimensions (LB200 & LB210) Specifications • 333 Gocator Multi-Point Scanners: User Manual...
Page 334: Master Network Controllers
Master 100 The Master 100 accepts connections for power, safety, and encoder, and provides digital output. *Contact LMI for information regarding this type of power supply. Connect the Master Power port to the Gocator's Power/LAN connector using the Gocator Power/LAN to Master cordset.
Page 335: Master 100 Dimensions
The rest of the wires in the Gocator I/O cordset are not used. Encoder/Output Port Pins Function Output_1+ (Digital Output 0) Output_1- (Digital Output 0) Encoder_Z+ Encoder_Z- Encoder_A+ Encoder_A- Encoder_B+ Encoder_B- Encoder_GND Encoder_5V Master 100 Dimensions Specifications • 335 Gocator Multi-Point Scanners: User Manual...
Page 336: Master 810/2410
Master 810/2410 Master network controllers provide sensor power and safety interlock, and broadcast system-wide synchronization information (i.e., time, encoder count, encoder index, and digital I/O states) to all devices on a sensor network. Some sensors require a minimum input voltage of 48 VDC. Verify the accepted input voltage for your sensor in the sensor's specifications;...
Page 337 For information on configuring the DIP switches, see Configuring Master 810 on page 40. Power and Safety (6 pin connector) Function Power In+ Power In+ Power In- Power In- The power supply must be isolated from AC ground. This means that AC ground and DC ground are not connected.
Page 338: Electrical Specifications
GND (output for powering external devices) +5VDC (output for powering external devices) 11 For Encoder connection wiring options, see Encoder on the next page. Electrical Specifications Gocator 200 series scanners require a minimum input voltage of 48 VDC. Electrical Specifications Specification Value Power Supply Voltage +24 VDC to +48 VDC...
Page 339: Encoder
Specification Value Digital Input Voltage Range Single-Ended Active LOW: 0 to +0.8 VDC Single-Ended Active HIGH: +3.3 to +24 VDC Differential LOW: 0.8 to -24 VDC Differential HIGH: +3.3 to +24 VDC For more information, see Input on page 341. If the input voltage is above 24 V, use an external resistor, using the following formula: R = [(Vin - 1.2V) / 10mA] - 680 When using a Master hub, the chassis must be well grounded.
Page 340 To determine how to wire a Master to an encoder, see the illustrations below. Single-Ended 5 VDC Single-Ended 12 VDC Specifications • 340 Gocator Multi-Point Scanners: User Manual...
Page 341: Input
Differential 5 VDC Differential 12 VDC Input Master 810 and 2410 support the following types of input: Differential, Single-Ended High, and Single- Ended Low. Currently, Gocator only supports Input 0. Specifications • 341 Gocator Multi-Point Scanners: User Manual...
Page 342 For digital input voltage ranges, see the table below. Differential Single-Ended Active High Single-Ended Active Low Digital Input Voltage Ranges Input Status Min (VDC) Max (VDC) Single-ended Active High +0.8 +3.3 Single-ended Active Low - 0.8) - 3.3) Differential +0.8 +3.3 Specifications •...
Page 343: Master 810 Dimensions
Master 810 Dimensions With 1U rack mount brackets: With DIN rail mount clips: Older revisions of Master 810 and 2410 network controllers use a different configuration for the DIN rail clip holes. For information on installing DIN rail clips, see Installing DIN Rail Clips: Master 810 or 2410 on page 38. The CAD model of the DIN rail clip is available at https://www.winford.com/products/cad/dinm12-rc.igs.
Page 344: Master 2410 Dimensions
Master 2410 Dimensions With 1U rack mount brackets: With DIN rail mount clips: Older revisions of Master 810 and 2410 network controllers use a different configuration for the DIN rail clip holes. For information on installing DIN rail clips, see Installing DIN Rail Clips: Master 810 or 2410 on page 38. The CAD model of the DIN rail clip is available at https://www.winford.com/products/cad/dinm12-rc.igs.
Page 345: Accessories
Accessories Masters Description Part Number Master 100 - for single sensor (development only) 30705 Master 810 - for networking up to 8 sensors 301114 Master 2410 - for networking up to 24 sensors 301115 Cordsets Description Part Number 0.5m Light Bar to Gocator 205 cordset 301160 1.2m I/O cordset, open wire end 30864-1.2m...
Page 346 30877-25m Light Bars Description Part Number LB200, Light Bar, 12 degrees 30803 Contact LMI for information on creating cordsets with custom length or connector orientation. The maximum cordset length is 60 m. Accessories • 346 Gocator Multi-Point Scanners: User Manual...
Page 347: Return Policy
Carefully package the sensor in its original shipping materials (or equivalent) and ship the sensor prepaid to your designated LMI location. Please ensure that the RMA number is clearly written on the outside of the package. Inside the return shipment, include the address you wish the shipment returned to, the name, email and telephone number of a technical contact (should we need to discuss this repair), and details of the nature of the malfunction.
Page 348: Software Licenses
Software Licenses Pico-C Website: http://code.google.com/p/picoc/ License: picoc is published under the "New BSD License". http://www.opensource.org/licenses/bsd-license.php Copyright (c) 2009-2011, Zik Saleeba All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Page 349 BlowFish Website: http://www.chiark.greenend.org.uk/~sgtatham/putty/licence.html License: PuTTY is copyright 1997-2011 Simon Tatham. Portions copyright Robert de Bath, Joris van Rantwijk, Delian Delchev, Andreas Schultz, Jeroen Massar, Wez Furlong, Nicolas Barry, Justin Bradford, Ben Harris, Malcolm Smith, Ahmad Khalifa, Markus Kuhn, Colin Watson, and CORE SDI S.A. Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell...
Page 350 The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANT ABILITY,FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
Page 351 copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
Page 352 Licensed under the MIT License (http://www.opensource.org/licenses/mit-license.php) jQuery.scaling Website: http://eric.garside.name License: Scaling 1.0 - Scale any page element Copyright (c) 2009 Eric Garside Licensed under the MIT License (http://www.opensource.org/licenses/mit-license.php) jQuery.scrollFollow Website: http://kitchen.net-perspective.com/ License: Copyright (c) 2008 Net Perspective Licensed under the MIT License (http://www.opensource.org/licenses/mit-license.php) EtherNet/IP Communication Stack Website: sourceforge.net/projects/opener...
Page 353: Support
For help with a component or product, please submit an online support ticket using LMI's Help Desk http://support.lmi3d.com/newticket.php. If you are unable to use the Help Desk or prefer to contact LMI by phone or email, use the contact information below. Response times for phone or email support requests are longer than requests submitted through the Help Desk.
Page 354: Contact
LMI (Shanghai) Trading Co., Ltd. Burnaby, Canada Berlin, Germany Shanghai, China +1 604 636 1011 +49 (0)3328 9360 0 +86 21 5441 0711 LMI Technologies has sales offices and distributors worldwide. All contact information is listed at lmi3D.com/contact/locations. Gocator Multi-Point Scanners: User Manual...

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