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LMI Technologies Gocator 1100 Series User Manual

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Gocator 1100 & 1300 Series
USER MANUAL
Version 3.6.5.15 Revision: C

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Summary of Contents for LMI Technologies Gocator 1100 Series

  • Page 1 Gocator 1100 & 1300 Series USER MANUAL Version 3.6.5.15 Revision: C...
  • Page 2 LMI Technologies, Inc. Trademarks and Restrictions Gocator™ is a registered trademark of LMI Technologies, Inc. Any other company or product names mentioned herein may be trademarks of their respective owners. Information contained within this manual is subject to change.

  • Page 3: Introduction

    Introduction The Gocator 1100 and 1300 series of laser displacement sensors are designed for 3D measurement and control applications. Gocator sensors are configured using a web browser and can be connected to a variety of input and output devices. This guide describes the installation and use of Gocator sensors. Notational Conventions This guide uses the following notational conventions: Warning...

  • Page 4: Table Of Contents

    Table of Contents Introduction Z Resolution Table of Contents Z Linearity Range Output Coordinate Systems Safety and Maintenance Laser Safety Gocator Web Interface Laser Classes Precautions and Responsibilities User Interface Overview Class 3B Responsibilities Common Elements Systems Sold or Used in the USA Toolbar Electrical Safety Metrics Panel...
  • Page 5 Changing the Measurement Name Buddy Communication Channels Measurement ID States Range Sources Versions and Upgrades Common Measurement Parameters Data Types Decisions Range Sources Output Filters Status Codes Range Measurement Command and Reply Formats Tools and Measurements Result Format Script Measurement Discovery Commands Built-in Functions Get Address...
  • Page 6 Ethernet Link Object (Class 0xF6) Assembly Object (Class 0x04) Command Object Specifications Sensor State Assembly Object Sample State Assembly Gocator 1100 Series Extended Sample State Assembly Gocator 1300 Series ASCII Protocol Gocator 1120/1320 (Side Mount Package) 186 Ethernet Communication Gocator 1120/1320 (Top Mount Package) 188...
  • Page 7 Master 1200/2400 Electrical Specifications 238 Master 1200/2400 Dimensions Parts and Accessories Warranty and Return Policy Warranty Policy Return Policy Software Licenses Support Gocator 1100 & 1300 Series...

  • Page 8: Safety And Maintenance

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

  • Page 9: Laser Classes

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

  • Page 10: Precautions And Responsibilities

    Class3BResponsibilities LMI Technologies has filed reports with the FDA to assist customers in achieving certification of laser products. These reports can be referenced by an accession number, provided upon request. Detailed descriptions of the safety items that must be added to the system design are listed below.

  • Page 11: Systems Sold Or Used In The Usa

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

  • Page 12: Electrical Safety

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

  • Page 13: Environment And Lighting

    Ensure that no residue is left on the windows after cleaning. Turnofflaserswhennotinuse LMI Technologies uses semiconductor lasers in 3D measurement sensors. To maximize the lifespan of the sensor, turn off the laser when not in use. Gocator 1100 & 1300 Series...
  • Page 14 Avoidexcessivemodificationstofilesstoredonthesensor Settings for Gocator sensors are stored in flash memory inside the sensor. Flash memory has an expected lifetime of 100,000 writes. To maximize lifetime, avoid frequent or unnecessary file save operations. Gocator 1100 & 1300 Series Safety and Maintenance • 14...

  • Page 15: Getting Started

    Getting Started System Overview Gocator sensors can be installed and used in a variety of scenarios. Sensors can be connected as standalone devices, dual-sensor systems, or multi-sensor systems. Standalone System Standalone systems are typically used when only a single Gocator sensor is required. The sensor can be connected to a computer’s Ethernet port for setup and can also be connected to devices such as encoders, photocells, or PLCs.

  • Page 16: Dual-Sensor System

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

  • Page 17: Multi-Sensor System

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

  • Page 18: Hardware Overview

    Hardware Overview The Gocator 1100 and 1300 sensors are available in either the Top Mount Package or the Side Mount Package. Side Mount Package is designed for side mounting and the Top Mount Package is designed for top mounting. Side Mount Package CAMERA LASER EMITTER SERIAL NUMBER...

  • Page 19: Top Mount Package

    Top Mount Package CAMERA LASER EMITTER I/O CONNECTOR POWER/LAN CONNECTOR POWER, RANGE, LASER INDICATORS SERIAL NUMBER LAN CONNECTOR Item Description Camera Observes laser light reflected from target surfaces. Laser Emitter Emits structured light for laser ranging. I/O Connector Accepts input and output signals. Power / LAN Connector Accepts power and laser safety signals and connects to 1000 Mbit/s Ethernet network.

  • Page 20: Master 100

    Master 100 The Master 100 is used by the Gocator 1100 and 1300 series for standalone system setup. Master Ethernet Port Master Host Port Master Power Port 48V Power Supply* (Pin 1) Sensor IO Port (Pin 1) Encoder/Output Port Item Description Master Ethernet Port Connects to the RJ45 connector labeled Ethernet on the Power/LAN to Master cordset.
  • Page 21 Master 400/800 The Master 400 and the Master 800 allow you to connect more than two sensors. The Master 400 accepts four sensors, and the Master 800 accepts eight sensors. SENSOR PORTS 1-4 LED INDICATORS MASTER 400 FRONT SENSOR PORTS 5-8 SENSOR PORTS 1-4 LED INDICATORS MASTER 800 FRONT...

  • Page 22: Master 1200/2400

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

  • Page 23: Gocator Cordsets

    Gocator Cordsets Gocator sensors use two types of cordsets. The Power & Ethernet cordset provides power, laser safety interlock to the sensor. It is also used for sensor communication via 1000 Mbit/s Ethernet with a standard RJ45 connector. The Gocator I/O cordset provides digital I/O connections, an encoder interface, RS-485 serial connection, and an analog output.

  • Page 24: Calibration Targets

    Calibration Targets Calibration targets are used for travel calibration. It provides a step change of known dimensions (in the Y-axis) which allows sensor to calculate the Z-offset and encoder resolution of the system. Calibration bar with known height and width Refer to Calibration (page 77) for more information on calibration procedures.

  • Page 25: Installation

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

  • Page 26: Mounting (Side Mount Package)

    Mounting (Side Mount Package) Sensors should be mounted using four M6 x 1.0 pitch screws of suitable length. The recommended thread engagement into the housing is 8 - 10 mm. Proper care should be taken in order to ensure that the internal threads are not damaged from cross-threading or improper insertion of screws.
  • Page 27 It is critical that the sensor is 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 °C health channel is less than 15 Gocator sensors are high accuracy devices.

  • Page 28: Mounting (Top Mount Package)

    Mounting (Top Mount Package) Sensors should be mounted using four M5 x 0.8 pitch screws of suitable length. The recommended thread engagement into the housing is 8 - 10 mm. Proper care should be taken in order to ensure that the internal threads are not damaged from cross-threading or improper insertion of screws.
  • Page 29 Gocator sensors are high accuracy devices. It is critical that the temperature of all of its components are in equilibrium. When the sensor is powered up, a warm-up time of at least one hour is required in order to reach a consistent spread of temperature within the sensor. Gocator 1100 &...

  • Page 30: Orientations

    Orientations The examples below illustrate the possible mounting orientations for standalone and dual sensor system. For more information on orientations, refer to (page 87). Single Sensor Orientations: Single sensor above conveyor Single sensor on robot arm Gocator 1100 & 1300 Series Getting Started •...
  • Page 31 Dual Sensor System Orientations: MAIN BUDDY CLEARANCE DISTANCE (CD) MEASUREMENT RANGE (MR) Side-by-side for wide-area measurement (Wide) Main must be on the left side (when looking into the connector) of the Buddy (Wide) MAIN CLEARANCE DISTANCE (CD) MEASUREMENT RANGE (MR) CLEARANCE DISTANCE (CD) BUDDY...

  • Page 32: Network Setup

    Network Setup Client Setup Sensors are shipped with the following default network configuration: Setting Default DHCP Disabled IP Address 192.168.1.10 Subnet Mask 255.255.255.0 Gateway 0.0.0.0 All Gocator sensors are configured to 192.168.1.10 as the default IP address. For a dual sensor system, the Main and Buddy sensors must be assigned unique addresses before they can be used on the same network.
  • Page 33 Mac OS X v.10.6: » Open the Network Pane in System Preferences and select Ethernet. » Set Configure to “Manually”. » Enter IP Address “192.168.1.5” and Subnet Mask “255.255.255.0”, then click Apply. Refer to Troubleshooting (page 181) if you experience any problems while attempting to establish a connection to the sensor.

  • Page 34: Gocator Setup

    Gocator Setup The Gocator is shipped with a default configuration that will produce laser ranges on most targets. The following sections walk through the steps required to set up sensor to produce laser ranges. After you have completed the setup, you can perform laser ranging to verify basic sensor operation u n n i n g a t a n d a l o n e e n S o R...

  • Page 35: Running A Dual Sensor System

    6 Ensure that the Data Source selector is showing LIVE. RECORD START SNAPSHOT DATA SOURCE 7 Ensure that the Laser Safety Switch is Safety_in+ enabled or the Laser Safety input is high. 5V - 48VDC Safety_in- 8 Select the Setup Page. 9 Press the Start button to start the sensor.
  • Page 36 1 TurnoffthesensorsandunplugtheEthernet network connection of the Main sensor. All sensors are shipped with a default IP address MAIN of 192.168.1.10. Ethernet networks require a unique IP address for each device. Skip step 1 to 3 if the Buddy sensor's IP address is already set up with an unique address.
  • Page 37 6 Modify the IP address to 192.168.1.11 in the Network settings and click the Save button. When you click the Save button, you will be prompted to confirm your selection. 7 Turnoffthesensors,re-connecttheMain sensor's Ethernet connection and power- cycle the sensors. MAIN After changing network configuration, the sensors must be reset or power-cycled before the change...
  • Page 38 11 Specify the Connect To setting. The Connect To setting specifies whether the sensor system is standalone, or connected to a Master 400/800/1200/2400. For dual sensor operation select Master 400/800/1200/2400. 12 Go to Connection Page > Available Sensors panel. The serial number of the Buddy sensor is listed in the Available Sensors panel.
  • Page 39 18 Move a target into the laser plane. If a target object is within the sensor’s measurement range, the Data Viewer will display the distance to the target and the sensor’s Range Indicator LED will illuminate. Click the Main and Buddy button under the Setup Page to view the range data from the main and buddy sensor If you cannot see the laser, or if a range is...

  • Page 40: Next Steps

    Next Steps After completing the steps in this chapter, the Gocator measurement system is ready to be configured for an application using the software interface. The interface is explained in the following chapters: Connection and Maintenance (page 54) Sets up the sensor connections, networking and performs maintenance tasks. Gocator Web Interface (page 45) Fine tunes laser ranging for an application.

  • Page 41: Theory Of Operation

    Theory of Operation 3D Acquisition Principleof3DAcquisition The Gocator 1100 and 1300 series are displacement sensors, meaning that they capture a single 3D point for each camera exposure. The sensor projects a laser point onto the target. A camera viewing the laser from an angle captures the reflection of the light off the target.

  • Page 42: Resolution And Accuracy

    Resolution and Accuracy e S o l u t i o n Z Resolution is the variability of the height measurement with the target at a fixed position. This variability is caused by camera imager and sensor electronics. The Z Resolution is better at the close range and worse at the far range.

  • Page 43: Range Output

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

  • Page 45: Gocator Web Interface

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

  • Page 46: Common Elements

    Element Description Data Viewer Displays sensor data, tool setup controls, and measurements. Common Elements o o l b a R The toolbar is the central place for performing common operations. This chapter explains how to use the toolbar to manage the sensor configurations and to operate the sensor. Element Description Configuration Controls...
  • Page 47 a v i n g a n d o a d i n g e t t i n g S When you change sensor settings using the Gocator web interface, some changes are saved automatically, while other changes are temporary until you take action to save them. The following table summarizes the types of information that can be saved in a sensor.
  • Page 48 To overwrite an existing bundle of files: 1 SelectanexistingfilenameintheFileNamedroplist. 2 Click the Save button. A dialog will be prompted to confirm overwriting the existing files. The configuration and the template will be saved to flash memory using the selected name. The saved files will be set as the defaults to be loaded automatically when the sensor is reset.
  • Page 49 a n a g i n g u L t i p L e e t t i n g S A Gocator can store multiple bundles of configurations, calibrations, and templates. This can be used when one set of equipment is used for different purposes or with different constraints during separate production runs.
  • Page 50 e c o R d i n g L a y b a c k a n d e a S u R e M e n t i M u L a t i o n Gocator sensors have the ability to record and replay data, and also to simulate measurement tools on recorded data.
  • Page 51 2 Go to the Measurement page. Modify settings for existing measurements, add new measurement tools, or delete measurement tools as desired. 3 UsetheReplaySlider,StepForward,StepBackorPlaybuttontosimulatemeasurements Step or Play through recorded data to execute the measurement tools on the recording. Individual measurement values can be viewed directly in the data viewer. Statistics on measurement results across the entire recording can be viewed in the Dashboard page (see page 114) To clear recorded data: 1 Toggle the Data Source to Replay.

  • Page 52: Metrics Panel

    o w n L o a d i n g x p o R t i n g a n d p L o a d i n g e c o R d e d a t a Recorded data can be downloaded or exported to the client computer or uploaded to the Gocator. Export is often used for processing the recorded data using 3rd party tools.

  • Page 53: Data Viewer

    The Speed bar displays the frame rate of the sensor. A warning symbol will appear if triggers (external input or encoder) are dropped because the external rate exceeds the maximum frame rate. Click on a warning sign to reveal notifications that display more detailed information. a t a i e w e R The Data Viewer is visible in both the Setup and the Measurement pages, but displays different...

  • Page 54: Connection And Maintenance

    Connection and Maintenance o n n e c t i o n a g e V e R V i e w Gocator’s security, file management and maintenance tasks are performed on the Connection Page. Element Description System Panel Use the System panel to configure sensor network and boot-up settings. Available Sensor Panel Use the Available Sensor panel to assign or unassign Buddy sensors.

  • Page 55: System Panel

    System Panel e t w o R k e t t i n g S The network settings need to be configured to match the network to which the Gocator sensors are connected. To configure the network settings: 1 Navigate to the System panel. Click the arrow next to Networking to expand the panel.

  • Page 56: Sensor Autostart

    e n S o R u t o S t a R t With the Autostart setting enabled, laser ranging and measurement functions will begin automatically when the sensor is powered on. This setting is necessary when the sensor will be used without a computer connected.

  • Page 57: Available Sensor Panel

    Available Sensor Panel u d d y S S i g n m e n t In a dual sensor system, the Main sensor assumes control of the Buddy sensor after the Buddy sensor is assigned to the Main sensor. Configuration for both sensors can be performed through the Main sensor’s interface.

  • Page 58: Security Panel

    Security Panel Gocator sensors can be secured with passwords to prevent unauthorized access. Each sensor has two accounts: Administrator and Technician. Gocator Account Types Account Description Administrator The Administrator account has privileges to view and edit all settings, and to perform set up procedures such as sensor calibration. Technician The Technician account has privileges to view the Dashboard Page and to Start or Stop the sensor.
  • Page 59 Element Description File Type Specifies the type of files to manage (Configuration or Transformation). File Name Field Used to provide a file name when saving files. File List Displays the files that are currently saved in the sensor’s flash storage. Save Button Saves currently loaded data to file using the name in the File Name Field.

  • Page 60: Maintenance Panel

    Maintenance Panel e n S o R a c k u P S a n d a c t o R y e S e t The Maintenance panel can be used to create sensor backups, restore from a backup, or restore to factory defaults.

  • Page 61: Firmware Upgrade

    If the client computer is not connected to the Internet, firmware can be downloaded and transferred to the client computer by using another computer to download the firmware from the LMI Technologies website: http://www.lmi3D.com/support/downloads Gocator 1100 & 1300 Series...
  • Page 62 To upgrade the firmware 1 Navigate to the Maintenance panel. 2 Click the Update Firmware button. 3 ProvidethelocationofthefirmwarefileintheFiledialog. 4 Wait for the upgrade to complete. After the firmware upgrade is complete, the sensor will self-reset. If a buddy has been assigned, it will be automatically upgraded and reset along with the Main sensor.

  • Page 63: Setup And Calibration

    Setup and Calibration This section describes the steps to configure Gocator sensors for laser ranging using the Setup Page. Setup and calibration steps should be performed before programming measurements or outputs. Setup Page Overview Element Description Operation Mode Panel Use the Operation Mode panel to set the current operation mode (Video or Range) and other options.
  • Page 64 Goal References Select a trigger source that is appropriate for the application. Trigger (page 117) Ensure that camera exposure is appropriate for laser ranging. Exposure (page 72) Find the right balance between range quality, speed, and CPU Active Area (page 71) utilization.

  • Page 65: Operation Mode Panel

    Operation Mode Panel The Gocator web interface supports two operation modes: Video and Range. The operation mode can be selected in the Operation Mode panel. Mode and Option Description Video Output video images from the Gocator. This mode is useful for configuring exposure time and troubleshooting stray light or ambient light problems.
  • Page 66 Trigger Source Description Encoder An encoder can be connected to provide triggers in response to motion. Three encoder triggering behaviors are supported: 1. Ignore Backward A scan is triggered only when the target object moves forward. If the target object moves backward, it must move forward by at least the distance of one encoder spacing to trigger a scan.
  • Page 67 Trigger Source Description Encoder 3. Bi-directional A scan is triggered when the target object moves forward or backward. When triggers are received at a frequency higher than the maximum frame rate, some triggers may not be accepted. The Trigger Drops Indicator in the Dashboard can be used to check for this condition.
  • Page 68 x a m P l e S Example: Encoder + Conveyor Encoder triggering is used to perform range measurements at a uniform spacing. The speed of the conveyor can vary while the object is being measured; an encoder ensures that the measurement spacing is consistent, independent of conveyor speed.

  • Page 69: Examples

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

  • Page 70: Settings

    e t t i n g S The trigger source is selected using the Trigger panel in the Setup page. After specifying a trigger source, the Trigger Panel will show the parameters that can be configured. Parameters Trigger Source Description Trigger Selects the trigger source.

  • Page 71: Sensor Panel

    Sensor Panel c t i V e R e a Active area refers to the region within the sensor’s maximum field of view that is used for laser ranging. By default, the active area covers the sensor’s entire field of view. Users can reduce the active area.

  • Page 72: Exposure

    Laser ranging devices are usually more accurate at the near end of the measurement range. If your application requires a measurement range that is small relative to the maximum measurement range of the sensor, mount the sensor such that the active area can be specified at the near end of the measurement range.
  • Page 73 i n g L e x p o S u R e The sensor uses a fixed exposure in every scan. This mode used when the target surface is uniform and is the same for all targets. To enable single exposure: 1 Place a representative target in view of the sensor.
  • Page 74 y n a M i c x p o S u R e The sensor automatically uses past range information to adjust the exposure to yield the best range. This is used when the target surface changes from scan to scan. To enable dynamic exposure: 1 Select Range Mode.

  • Page 75: Transformations

    R a n S F o R m a t i o n S The transformation settings are used to control how ranges are converted from sensor coordinates to system coordinates. The system coordinate transformation is normally set through the Gocator's automatic calibration procedure (see page 119) and are locked by default.
  • Page 76 Supported Orientations Orientation Example None (Isolated) Each sensor operates as an isolated device. Measurements are reported in a separate coordinate system for each sensor. Wide Sensors are mounted in Left (Main) and Right (Buddy) positions for measuring the height of the object at multiple points. Opposite Sensors are mounted in Top (Main) or Bottom (Buddy) positions for measuring thickness.

  • Page 77: Calibration

    a l i b R a t i o n Although Gocator sensors are pre-calibrated and ready to deliver ranges out of the box, calibration procedures are required to compensate for sensor mounting inaccuracies, to align multiple sensors into a common coordinate system, and to determine the resolution (with encoder) and speed of the transport system.
  • Page 78 R a n S f o R M a t i o n o u R c e S Gocator sensors support two types of transformation sources: Global or Current Configuration. The choice for the transformation source depends on how the sensor will be used. You can switch between these transformation sources at any time.
  • Page 79 a L i b R a t i o n t a t e S A Gocator can be in one of three calibration states: None, Manual, or Auto. Calibration States State Explanation None Sensor has no calibration. Ranges are reported in default sensor coordinates.
  • Page 80 L i g n M e n t v S R a v e L a L i b R a t i o n The table below summarizes the differences between alignment calibration and travel calibration. Alignment Calibration vs. Travel Calibration Alignment Calibration Travel Calibration Target Type...
  • Page 81 L i g n M e n t a L i b R a t i o n Alignment calibration can be used to compensate for mounting inaccuracies by aligning sensor data to a common reference surface (often a conveyor belt). To perform alignment calibration: 1 Ensure that all sensors have a clear view of the target surface.
  • Page 82 R a v e L a L i b R a t i o n Travel calibration can be used to achieve alignment calibration and motion calibration in a single procedure. To perform travel calibration: 1 Place the calibration target beyond the laser plane. Remove extraneous objects from the transport system such that the calibration target will be the only object that is scanned.
  • Page 83 L e a R i n g a L i b R a t i o n To clear calibration: 1 Navigate to the Calibration panel on the Setup page. 2 SelectwhethertocleartheGlobalortheCurrentConfigurationtransformationsource. 3 Click the Calibration or Clear Calibration button. If the Clear Calibration button is pressed, the calibration will be erased and sensors will revert to using Sensor Coordinates.

  • Page 84: Data Viewer

    Data Viewer The Data Viewer can display video images, range plots and intensity images. It is also used to configure active area and measurement tools. The Data Viewer changes depending on the current operation mode and the panel that has been selected. i d e o o d e In Video operation mode, the Data Viewer displays camera images.

  • Page 85: Range Mode

    a n g e o d e In range mode, the Data Viewer displays ranges. In a dual sensor system, ranges from individual sensors or from a combined view can be displayed. When in the Setup Page, selecting a panel (e.g. Sensor or Layout panel) automatically sets the display to the most appropriate display view.

  • Page 86: Region Definition

    e g i o n e F i n i t i o n The Data Viewer can also be used to define a region of interest. To set up a region of interest: 1 Move the mouse cursor to the rectangle. The rectangle is automatically displayed when a setup or measurement requires an area to be specified.

  • Page 87: Intensity Output

    n t e n S i t y u t P u t Gocator sensors can produce intensity data that measure the amount of light reflected by an object. An 8-bit intensity value is output for each range value along the laser line. Gocator 1100 &...

  • Page 88: Measurement

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

  • Page 89: Tools Panel

    Tools Panel d d i n g a n d e m o V i n g e a S u R e m e n t S To add a new range measurement: 1 Select the desired measurement type. Click on the item in the drop-down list next to Add Measurements to select the measurement type.

  • Page 90: Measurement Management

    Measurement Management h a n g i n g t h e e a S u R e m e n t a m e Each measurement can be assigned a unique name. This allows multiple measurements of the same type to be distinguished in the web interface.

  • Page 91: Measurement Id

    e a S u R e m e n t Measurement ID is used to uniquely identify a measurement in the Gocator protocol or in the SDK. The value must be unique amongst all range measurements. To edit a measurement ID: 1 Select a measurement.

  • Page 92: Common Measurement Parameters

    Common Measurement Parameters e c i S i o n S Results from a measurement tool can be compared against minimum and maximum thresholds to generate pass / fail decisions. The decision state is pass (value displayed in green) if a measurement value is between the minimum and maximum threshold, otherwise the decision state is fail (value displayed in red).

  • Page 93: Output Filters

    u t P u t i l t e R S Filters can be applied to measurement values before they are output from the Gocator sensors. Two filters are supported. Operation Description Scale and Offset The Scale and Offset settings are applied to the measurement value according to the following formula: Scale*Value + Offset Scale and Offset can be used to transform the output without the need to write...

  • Page 94: Range Measurement

    Range Measurement This section describes the range measurement tools available in sensors that are equipped with Measurement Tools. Measurement values are compared against minimum and maximum thresholds to yield decisions. o o l S a n d e a S u R e m e n t S Gocator 1100 &...
  • Page 95 i f f e R e n c e A Difference measurement determines the difference along the z-axis between two laser ranges. The measurement value can be compared with minimum and maximum constraints to yield a decision. The difference can be expressed as an absolute or signed result. The difference is calculated by Difference = Range –...
  • Page 96 o S i t i o n A Position Z measurement finds the z-axis position of the laser range. The measurement value can be compared with minimum and maximum constraints to yield a decision. Measurements Position Z Position Z Determines the difference along the z-axis between two feature points.

  • Page 97: Script Measurement

    c R i p t 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. Refer to Script Measurement (page 97) for more information on the script syntax. To create or edit a Script measurement: 1 Add a new Script measurement or select an existing Script measurement.

  • Page 98: Built-In Functions

    Elements Supported Function Declarations Standard C function declarations with argument passed by values. Pointers are not supported. u i l t u n c t i o n S Measurement Functions Measurement Functions Descriptions int Measurement_Exists(int id) Tests for the existence of a measurement by ID. Parameters: id –...
  • Page 99 void Output_Set (long long value, int Output a value and decision on Output Index 0. Only the last output decision) value / decision in a script run is kept and passed to the Gocator output. To output an invalid value, the constant INVALID_VALUE can be used (e.g. Output_SetAt(0, INVALID_VALUE, 0)) Parameters: value - value output by the script...
  • Page 100 int Memory_Exists (int id) Tests for the existence of a value by ID. Parameters: id – Value ID Returns: 0 – value does not exist 1 – value exists void Memory_Clear (int id) Erases a value associated with a ID. Parameters: id –...
  • Page 101 Example: Accumulated Length The following example demonstrates how to create a custom measurement that is based on the values from other measurements and persistent values. The example calculates the length of the target using a series of position Z measurement tool values (Measurement ID 1) /* Calculate the length of an object by accumulating the encoder spacing measurements*/ /* Encoder Spacing is 0.5mm */ /* Z position measurement ID is set to 1 */...

  • Page 102: Output

    Output Ouput Page Overview Output configuration tasks are performed using the Output Page. Gocator sensors can transmit laser ranges and measurement results to a variety of external devices using a variety of output interface options. Element Description Ethernet Panel Use the Ethernet panel to select the data sources that will be transmitted via Ethernet.
  • Page 103 (page 129), ASCII Protocol (page 169), ModBus TCP Protocol (page 155) and EtherNet/IP Protocol for the specification of these protocols. To exchange results using Gocator Protocol messages: 5 Navigate to the Ethernet panel. 6 Select Gocator in the Protocol Option. 7 Selectthevideo,ranges,intensity,decisionvalue,ordecisionitemstosend.
  • Page 104 To exchange results using ASCII messages: 1 Navigate to the Ethernet panel. 2 Select ASCII in the Protocol Option. 3 Select the Operation Mode. 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. Refer to Asynchronous and Polling Operation (page 169) for an explanation of the operation modes.
  • Page 105 To receive commands and send results using Modbus TCP messages: 1 Navigate to the Ethernet panel. 2 SelectBufferingifdesired. 3 Select Modbus in the Protocol Option. Unlike using the Gocator Protocol, there is no need to select which measurement items to output. The Ethernet panel will list the register addresses that are used for Modbus TCP communication.
  • Page 106 To receive commands and send results using EtherNet/IP messages: 1 Navigate to the Ethernet panel. 2 SelectBufferingifdesired. If buffering is enabled with the EtherNet/IP protocol, the buffer is automatically advanced when the Sample State Assembly Object (page 167) is read. 3 Select EtherNet/IP in the Protocol Option.

  • Page 107: Digital Outputs

    i g i t a l u t P u t S 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.
  • Page 108 If multiple decision sources are selected and assert mode is set to pass, the output is activated when all selected measurement decisions pass. Conversely, if assert mode is set to false, the output is activated when any one of the selected measurement decisions is false. 4 Specify a Signal type.
  • Page 109 To respond to software scheduled commands: 1 Navigate to the Digital Output 0 or Digital 1 panel. 2 Set Event to Software. 3 Specify a Signal type. The signal type specifies whether the digital output is a continuous signal or a pulsed signal. If the signal is continuous, its state is maintained until the next transition occurs.

  • Page 110: Analog Output

    n a l o g u t P u t Gocator sensors can convert a measurement result or software request to an analog output. Each sensor supports one analog output channel. Refer to Analog Output (page 231) for information on wiring analog output to an external devices. To output measurement value or decision: 1 Navigate to the Analog panel.
  • Page 111 6 Specify if the output is Immediate or Scheduled. An analog output can become active immediately or scheduled. Check the Scheduled option if the output needs to be scheduled. A scheduled output becomes active after a specified delay from the start of Gocator exposure. A scheduled output can be used to track the decisions for multiple objects as these objects travel from the sensor to the eject gates.

  • Page 112: Serial Output

    e R i a l u t P u t The Gocator’s web interface can be used to select measurement values and decisions to be transmitted via RS-485 serial output. Each sensor has one serial output channel. Two protocols are supported: ASCII Protocol and Selcom Serial Protocol. The ASCII protocol outputs data asynchronously using a single serial port.
  • Page 113 To configure Selcom serial output: 1 Navigate to the Serial panel. 2 Select Selcom in the Protocol Option. 3 Select the measurement value and decision items to send. To select an item for transmission, place a check in the corresponding check box. Measurements shown here correspond to measurements that have been programmed using the Measurements Page.

  • Page 114: Dashboard

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

  • Page 115: State And Health Information

    t a t e a n d e a l t h n F o R m a t i o n The following state and health information is available on the Dashboard: Dashboard Health Values Name Description System State Current system state (Ready or Running).

  • Page 116: Measurement Statistics

    Measurement Statistics Statistics are displayed for each measurement that has been configured on the Measurement Page. Use the Reset button to reset the statistics. The following information is available for each measurement: Dashboard Measurement Statistics Name Description Value The most recent measurement value. Minimum/Maximum Value The minimum and maximum measurement values that have been observed.

  • Page 117: Gocator Device Files

    Gocator Device Files Configuration Files Configuration files contain settings that govern system behavior in the Running state. Configurations are saved in XML format. Elements contain three types of values: settings, constraints, and properties. Settings are input values that can be edited. Constraints are read-only limits that define the valid values for settings.

  • Page 118: Trigger

    Trigger Child Elements Element Type Description TriggerSource Setting for trigger source: 0 – Time 1 – Encoder 2 – Input 3 – Software SystemDomain Setting for units for trigger delay and output scheduling (Ignored when TriggerSource is Time or Encoder): 0 –...

  • Page 119: Calibration

    a l i b R a t i o n The Calibration element contains settings related to alignment and travel calibration. Calibration Child Elements Element Type Description CalibrationSource Setting for calibration source: 0 – Global 1 – Current Configuration AlignmentTarget Setting for alignment calibration target type: 0 –...
  • Page 120 Element Type Description FrontCameraY Property for y position of image ROI (pixels). FrontCameraWidth Property for width of image ROI (pixels). FrontCameraHeight Property for height of image ROI (pixels). CalibratedZ Property for sensor calibrated active area Z position (mm). CalibratedHeight Property for sensor calibrated active area height (mm). Gocator 1100 &...

  • Page 121: Range

    Range The Range element contains settings that affect range measurements. Simple child elements in Range are defined below: Range Child Elements Element Type Description MeasurementOptions String Constraint for available measurement types - comma delimited list (e.g. “RangePositionZ, RangeDifference”). The Range element also contains the Measurement sub-element. The Measurements element contains one sub-element for each requested range measurement.

  • Page 122: Measurements / Script

    Element Type Description Source Setting for range source. DecisionMin Setting for decision threshold minimum (mm). DecisionMax Setting for decision threshold maximum (mm). AbsoluteResult Setting for selecting absolute or signed result: 0 – Signed result 1 – Absolute result LinkEnabled Setting to enable/disable linking: 0 –...

  • Page 123: Measurements / Rangepositionz

    Output The Outputs element has the following sub-element types: Ethernet, Serial, Analog, and Digital Output. Each of these subelements defines the output settings for a different type of Gocator output. The Source identifiers that are used with Video, range and intensity outputs are range source identifiers. Refer to the Range Sources (page 132) for more information.

  • Page 124: Serial

    Element Type Description ModbusBuferEnabled Setting for enable/dissable Modbus buffering 0 – Disable 1 – Enable RangeOptions String Constraint for eligible range sources (comma-delimited list). RangeIntensityOptions String Constraint for eligible range intensity sources (comma-delimited list). ValueOptions String Constraint for eligible value sources (comma-delimited list). DecisionOptions String Constraint for eligible decision sources (comma-delimited list).

  • Page 125: Digitaloutput

    Element Type Description CurrentMax Setting for maximum output current (mA). CurrentInvalid Setting for invalid output current (mA). CurrentInvalidEnable 0 – Output keeps currently value if measurement is invalid. 1 – Outputs CurrentInvalid if measurement is invalid. DataScaleMin Setting for measurement value associated with the minimum current. DataScaleMax Setting for measurement value associated with the maximum current.
  • Page 126 Element Type Description Event Setting for which event control the output: 1 – Measurement 2 – Software 4 – Exposure ScheduleEnable Setting for scheduled output mode. When unscheduled, output updates immediately. When scheduled, output updates according to a target value in software command, or a delay. 0 - Not scheduled 1 - Scheduled Delay...

  • Page 127: Calibration File

    Calibration File The sensor calibration file contains information about the physical system setup that is used to: • Transform data from sensor coordinate system to another coordinate system (e.g. world) • Define encoder resolution for encoder-based triggering • Define the travel offset (Y offset) between sensors for staggered operation Use Read and Write File command to modify the transformation file.
  • Page 128 Element Type Description Translation in the Y axis (mm). Translation in the Z axis (mm). XAngle Rotation about Y axis (degrees). YAngle Rotation about X axis (degrees). ZAngle Rotation about Z axis (degrees). Orientation Direction of X-axis: 0 – Normal 1 –...

  • Page 129: Protocols

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

  • Page 130: Discovery

    The use of UDP broadcasts for discovery enables a client computer to locate a sensor when the senor and client are configured for different subnets. All you need to know is the serial number of the sensor in order to locate it on an IP network. o m m a n d h a n n e l S A client can send commands and receive responses over the Control and Upgrade TCP channels.

  • Page 131: States

    t a t e S A Gocator system can be in one of three states: Conflict, Ready, or Running. The Start and Stop commands are sent by the client to change the current state. The sensor can be configured to boot in either the Ready or Running state.

  • Page 132: Range Sources

    Type Description byte 1 Byte. char 8-bit ASCII-encoded character. 64-bit floating point value. 32-bit floating point value. IP addresses are a notable exception to the little endian rule – the bytes in the address “a.b.c.d” will always be transmitted in the order a, b, c, d (big endian).. a n g e o u R c e S Range data is always associated with a range source.
  • Page 133 Field Type Description status Reply status. Length fields prepended to the beginning of each message refer to the size of the entire message including the length field itself. For example, the value of the length field for a command that consists of only the header (no additional fields) would be 16.

  • Page 134: Result Format

    e S u l t o R m a t Result messages that are received on the Data and Health channels have a common structure. Each result message has a flexible number of attributes in its header followed by a variable number of data blocks after the header.
  • Page 135 Field Type Description useDhcp 1 if network interface uses DHCP, 0 otherwise. reserved[4] byte Reserved. address[4] byte IP address. reserved[4] byte Reserved. mask[4] byte Subnet mask. reserved[4] byte Reserved. gateway[4] byte Gateway. reserved[4] byte Reserved. reserved[4] byte Reserved. Gocator 1100 & 1300 Series Protocols •...

  • Page 136: Set Address

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

  • Page 137: Start Upgrade

    t a R t P g R a d e The Start Upgrade command begins a firmware upgrade for the main sensor and any Buddy sensors. All sensors will automatically reset 3 seconds after upgrade process is complete. Command Field Type Description length...

  • Page 138: Control Commands

    Field Type Description fileSize Log file size – in bytes. file[fileSize] byte Log file. Control Commands R o t o c o l e R S i o n The Get Protocol Version command reports the Control protocol version of the connected sensor. Command Field Type...

  • Page 139: Log In/Out

    Field Type Description systemState Current system state: 1 – Conflict 2 – Ready 3 – Running calibrationType Current calibration state: 0 – Not calibrated 1 – Auto calibrated 2 – Manual calibrated hasBuddy Current buddy assingment state: 0 – No Buddy assigned 1 –...

  • Page 140: Change Password

    Reply Field Type Description length Reply size – in bytes. Reply identifier. status Reply status. h a n g e a S S w o R d The Change Password command is used to change log-in credentials for a user. Command Field Type...

  • Page 141: Copy File

    Command Field Type Description length Command size - in bytes. Command identifier (0x101A). extension[64] char Null-terminated file extension filter, or empty: cfg – Configuration files rec – Record/Playback data files xml – XML file Reply Field Type Description length Reply size – in bytes. Reply identifier.

  • Page 142: Write File

    Field Type Description fileSize File size – in bytes. file[fileSize] byte File content. R i t e i l e The Write File command uploads a file to the connected sensor. Write to "_live.cfg" and "_live.prof" to write the make the configuration and template files live. Except for writing to the live files, the file is permanently stored on the sensor.

  • Page 143: Set Default File

    Field Type Description extension[64] char Null-terminated file extension: cfg – Configuration files rec – Record/Playback data files Reply Field Type Description length Reply size – in bytes. Reply identifier. status Reply status. fileName[64] char File name (null-terminated). e F a u l t i l e The Set Default File command sets the name of a default file that will be loaded at boot time.

  • Page 144: Get Mode

    o d e The Get Mode command reports the name of the current system mode. Command Field Type Description length Command size – in bytes. Command identifier (0x1005). Reply Field Type Description length Reply size – in bytes. Reply identifier. status Reply status.

  • Page 145: Get Encoder

    n c o d e R This command retrieves the current system encoder value. Command Field Type Description length Command size – in bytes. Command identifier (0x101C). Reply Field Type Description length Reply size – in bytes. Reply identifier (0x101C). status Reply status.

  • Page 146: Stop

    t o P The Stop command stops the sensor system (system enters the Ready state). Command Field Type Description length Command size – in bytes. Command identifier (0x1001). Reply Field Type Description length Reply size – in bytes. Reply identifier. status Reply status.

  • Page 147: Scheduled Analog Output

    Reply Field Type Description length Reply size – in bytes. Reply identifier. status Reply status. c h e d u l e d n a l o g u t P u t Scheduled Analog Output command schedules a analog output event. The analog output must be configured to accept software scheduled command and is in the Running State.

  • Page 148: Reset

    e S e t The Reset command reboots the main sensor and any Buddy sensors. All sensors will automatically reset 3 seconds after the reply to this command is transmitted. Command Field Type Description length Command size – in bytes. Command identifier (0x4300).

  • Page 149: Restore Factory

    e S t o R e a c t o R y The Restore Factory command restores the connected sensor to factory default settings. This command has no effect on connected Buddy sensors. Note that the sensor must be reset or power-cycled before the factory restore operation can be completed.

  • Page 150: Clear Calibration

    Reply Field Type Description length Reply size – in bytes. Reply identifier. status Reply status. type Connection type (see Set Connection Type above). l e a R a l i b R a t i o n The Clear calibration command deletes the calibration results. Command Field Type...

  • Page 151: Video

    i d e o Video Attributes Field Type Description dataType Data type (0x00). source Video source. camera index Camera index 0 – Front 1 – Back exposure index Exposure step index exposure Exposure (ns). reserved{N] A variable number of additional attributes may be included. Video Data Field Type...

  • Page 152: Alignment Calibration

    l i g n m e n t a l i b R a t i o n Alignment Calibration Attributes Field Type Description dataType Data type (0x04). reserved{N] A variable number of additional attributes may be included. Alignment Calibration Data Field Type Description...

  • Page 153: Measurement

    e a S u R e m e n t Measurement Attributes Field Type Description dataType Data type (0x21). measurementType Measurement type: 0x80 – Position Z 0x81 – Difference 0x82 – Script Unique id of the measurement – as defined in the configuration. reserved{N] A variable number of additional attributes may be included.
  • Page 154 Indicator Instance Value Firmware Version 2000 Firmware application version. FireSync Version 2001 Firmware FireSync version. Temperature 2002 Internal temperature (degrees Celsius). Memory Used 2003 Amount of memory currently used (bytes). Memory Capacity 2004 Total amount of memory available (bytes). Storage Used 2005 Amount of non-volatile storage used (bytes).

  • Page 155: Modbus Tcp Protocol

    Indicator Instance Value Measurement Minimum 30003 Measurement id Minimum measurement value. Measurement Maximum 30004 Measurement id Maximum measurement value. Measurement Average 30005 Measurement id Average measurement value. Measurement Stddev 30006 Measurement id Standard deviation of measurement value. Measurement Invalid Count 30007 Measurement id Number of invalid values...

  • Page 156: Messages

    Messages All Modbus TCP messages consist of an MBAP header (Modbus Application Protocol), a function code and a data payload. The MBAP header contains the following fields: 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.
  • Page 157 The data payload contains the registers that can be accessed by Modbus TCP messages. If a message accesses registers that are invalid, a reply with an exception is returned. Modbus Application Protocol Specification defines the exceptions and describes the data payload format for each function code. The Gocator data includes 16-bit, 32-bit and 64-bit data.

  • Page 158: Registers

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

  • Page 159: Output Registers

    Command Register Values Value Name Description Stop running Stop the sensor. No effect if sensor is already stopped. Start Running Start the sensor. No effect if sensor is already started. Alignment Calibrate Start the alignment calibration process. State register 301 will be set to 1 (busy) until the calibration process is complete.
  • Page 160 Register Name Data Size (bit) Description Address Buffer Counter Number of buffered messages currently in the queue. Buffer Overflow Buffer Overflow Indicator: 0 - No overflow 1 - Overflow Inputs Digital input state. 980 – 983 Encoder Index Encoder value when the index is last triggered. 984 –...

  • Page 161: Measurement Registers

    e a S u R e m e n t e g i S t e R S Measurement results are reported in pairs of value and decision. Measurement values are 32-bit wide and decisions are 8-bit wide. The measurement ID defines the register address of each pair. The register address of the first word can be calculated as (1000 + 3 * ID).
  • Page 162 The default EtherNet/IP ports are used. Port 44818 is used for TCP connections and UDP queries (e.g. listIdentity requests). Port 2222 for UDP I/O Messaging is not supported Gocator 1100 & 1300 Series Protocols • 162...

  • Page 163: Basic Object

    BasicObject d e n t i t y b j e c t l a S S 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...

  • Page 164: Ethernet Link Object (Class 0Xf6)

    t h e R n e t i n k b j e c t l a S S The Ethernet Link Object contains read-only attributes such as MAC Address (Attr.3). See Volume 2, Chapter 5-4 of the CIP Specification for a complete listing of Ethernet Link object attributes. Attribute Name Type...

  • Page 165: Assembly Object (Class 0X04)

    AssemblyObject(Class0x04) The Gocator Ethernet/IP object model includes 3 different assembly objects: Command, State and Sample. All assembly object instances are static. Data in a data byte array in an assembly object are stored in the Big Endian format. o m m a n d b j e c t The command object is used to start, stop, calibrate and switch configuration on the sensor.

  • Page 166: Sensor State Assembly Object

    e n S o R t a t e S S e m b l y b j e c t The sensor state assembly object contains sensor's states such as the current sensor temperature, frame count and encoder values. Sensor State Assembly Information Value...

  • Page 167: Sample State Assembly

    a m P l e t a t e S S e m b l y The sample state object contains measurements and their associated stamp information. Sample State Assembly Information Value Class Instance 0x321 Number of Attributes Length 180 bytes Supported Service 0x0E (Get Single Attribute) Attribute 3...

  • Page 168: Extended Sample State Assembly

    The measurement ID defines the byte position of each pair within the state information. The position of the first word can be calculated as (80 + 5 * ID). For example, a measurement with ID set to 4 can be read from byte 100 (high word) to 103 (low word) and the decision at 104.

  • Page 169: Ascii Protocol

    Byte Name Description Decision 119 Measurement ID 119 Decision Measurement results are reported in pairs of value and decision. Measurement values are 32-bit wide and decisions are 8-bit wide. The measurement ID defines the byte position of each pair within the state information. The position of the first word can be calculated as (80 + 5 * ID).

  • Page 170: Serial Communication

    Serial Communication Gocator’s serial communication is unidirectional (output only). Measurement results are sent on the Serial output in Asynchronous mode. While measurement values and decisions can be transmitted to an RS-485 receiver, configuration and control operations must be performed through the Gocator’s web interface or through communications on the Ethernet output.

  • Page 171: Standard Result Format

    Format Value Explanation New line Carriage return Percentage (%) symbol Standard Result Format Measurement results can either be sent in the standard format, or in a custom format. In the standard format, the users select in the web interface which measurement values and decisions to send. For each measurement the following message is transmitted: Standard Result Format: Field...

  • Page 172: Control Commands

    Control Commands Optional parameters are shown in italic. Placeholder for data is surrounded by brackets (<>). In the examples, the delimiter is set to ','. t a R t The Start command starts the sensor system (enters the Running state). This command is only valid when the system is in the Ready state.

  • Page 173: Trigger

    Formats Message Format Command Trigger, start target The start target (optional) is the time or encoder position at which the sensor will be started. The time and encoder target value should be set by adding a delay to the time or encoder position returned by the Stamp command. The delay should be set such that it covers the command response time of the Start command.

  • Page 174: Alignment Calibration

    Message Format Reply If no arguments are specified OK, time, <time value>, encoder, <encoder position>, frame, <frame count> ERROR, <Error Message> If arguments are specified, only the selected stamps will be returned. Examples: Stamp OK,Time, 9226989840, Encoder, 0, Frame 6 Stamp frame OK, 6 OK,test.cfg...

  • Page 175: Data Commands

    Formats Message Format Command ClearCalibration Reply OK or ERROR, <Error Message> Examples: ClearCalibration Data Commands Optional parameters are shown in italic. Placeholder for data is surrounded by brackets (<>). In the examples, the delimiter is set to ','. e S u l t The Get Result command retrieves measurement values and decisions.

  • Page 176: Get Decision

    Message Format 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 decisions are not sent> ERROR, <Error Message> Examples: Standard data string for measurements ID 0 and 1: Value,0,1...

  • Page 177: Health Commands

    Health Commands Optional parameters are shown in italic. Placeholder for data is surrounded by brackets (<>). In the examples, the delimiter is set to ','. e a l t h The Get Health command retrieves health indicators. Refer to (page 176) for details on health indicators Formats Message...

  • Page 178: Selcom Serial Protocol

    Selcom Serial Protocol This section describes the Selcom Serial Protocol settings and message formats supported by Gocator sensors. Data communication is synchronous using two unidirectional (output only) RS-485 serial channels: data (Serial_Out0) and clock (Serial_Out1). Refer to Serial Output (page 229) for cable pinout information. Connection Settings Selcom Serial Protocol uses the following connection settings: Serial Connection Settings...

  • Page 179: Software Development Kit

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

  • Page 180: Tools

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

  • Page 181: Troubleshooting

    Troubleshooting Review the guidance in this chapter if you are experiencing difficulty with a Gocator sensor system. If the problem that you are experiencing is not described in this chapter, please refer to Warranty and Return Policy (page 244) for further assistance. Mechanical/Environmental The sensor is warm.

  • Page 182: Performance

    Performance The sensor CPU level is near 100%. • Consider reducing the speed. If you are using a time or encoder trigger source, refer to Trigger (page 117) for information on reducing the speed. If you are using an external input or software trigger, consider reducing the rate at which you apply triggers.

  • Page 183: Specifications

    Specifications Gocator 1100 Series The Gocator 1100 series consists of the sensor models defined below. MODEL 1120 1125 1150 1160 1165 1170 1190 Clearance Distance Measurement Range (MR) 2000 (mm) Linearity Z 0.05 0.05 0.05 0.05 0.05 0.05 0.10 (+/- % of MR) Linearity Z (+/- mm) 0.010...

  • Page 184: Gocator 1300 Series

    Gocator 1300 Series The Gocator 1300 series consists of the sensor models defined below. MODEL 1320 1325 1350 1360 1365 1370 1390 Clearance Distance Measurement Range (MR) 2000 (mm) Linearity Z 0.05 0.05 0.05 0.05 0.05 0.05 0.05 (% of MR) Linearity Z (+/- mm) 0.010 0.018...
  • Page 185 CLEARANCE DISTANCE (CD) MEASUREMENT RANGE (MR) Mechanical dimensions for each sensor model are illustrated on the following pages. Gocator 1100 & 1300 Series Specifications • 185...

  • Page 186: Gocator 1120/1320 (Side Mount Package)

    Gocator1120/1320(SideMountPackage) Field of View / Measurement Range Dimensions THREADED MOUNTING HOLE OPTION THRU MOUNTING HOLE OPTION 3X M6X1.0 - 6H THRU ALL 3X Ø 5 THRU ALL Gocator 1100 & 1300 Series Specifications • 186...
  • Page 187 Envelope 101.4 71.0 40.0 19.3 20.0 21.0 Gocator 1100 & 1300 Series Specifications • 187...

  • Page 188: Gocator 1120/1320 (Top Mount Package)

    Gocator1120/1320(TopMountPackage) Field of View / Measurement Range Dimensions 24.5 61.5 38.8 16.3 30.6 THREADED MOUNTING HOLES 4X M5X0.8 - 6H Gocator 1100 & 1300 Series Specifications • 188...
  • Page 189 Envelope 11.4 40.0 60.0 Gocator 1100 & 1300 Series Specifications • 189...

  • Page 190: Gocator 1125/1325 (Side Mount Package)

    Gocator1125/1325(SideMountPackage) Field of View / Measurement Range Dimensions THREADED MOUNTING HOLE OPTION THRU MOUNTING HOLE OPTION 3X M6X1.0 - 6H THRU ALL 3X Ø 5 THRU ALL Gocator 1100 & 1300 Series Specifications • 190...
  • Page 191 Envelope 102.8 72.2 19.6 182.5 35.0 21.0 Gocator 1100 & 1300 Series Specifications • 191...

  • Page 192: Gocator 1125/1325 (Top Mount Package)

    Gocator1125/1325(TopMountPackage) Field of View / Measurement Range Dimensions 24.5 61.5 38.8 16.3 30.6 THREADED MOUNTING HOLES 4X M5X0.8 - 6H Gocator 1100 & 1300 Series Specifications • 192...
  • Page 193 Envelope 11.8 182.5 217.5 Gocator 1100 & 1300 Series Specifications • 193...

  • Page 194: Gocator 1150/1350 (Side Mount Package)

    Gocator1150/1350(SideMountPackage) Field of View / Measurement Range -100 Gocator 1100 & 1300 Series Specifications • 194...
  • Page 195 Dimensions THREADED MOUNTING HOLE OPTION THRU MOUNTING HOLE OPTION 3X M6X1.0 - 6H THRU ALL 3X Ø 5 THRU ALL Gocator 1100 & 1300 Series Specifications • 195...
  • Page 196 Envelope 103.1 72.3 19.7 200.0 200.0 21.0 Gocator 1100 & 1300 Series Specifications • 196...

  • Page 197: Gocator 1150/1350 (Top Mount Package)

    Gocator1150/1350(TopMountPackage) Field of View / Measurement Range Gocator 1100 & 1300 Series Specifications • 197...
  • Page 198 Dimensions 24.5 61.5 38.8 16.3 30.6 THREADED MOUNTING HOLES 4X M5X0.8 - 6H Gocator 1100 & 1300 Series Specifications • 198...
  • Page 199 Envelope 12.0 200.0 400.0 Gocator 1100 & 1300 Series Specifications • 199...

  • Page 200: Gocator 1160/1360 (Side Mount Package)

    Gocator1160/1360(SideMountPackage) Field of View / Measurement Range -163 Gocator 1100 & 1300 Series Specifications • 200...
  • Page 201 Dimensions THREADED MOUNTING HOLE OPTION THRU MOUNTING HOLE OPTION 3X M6X1.0 - 6H THRU ALL 3X Ø 5 THRU ALL Gocator 1100 & 1300 Series Specifications • 201...
  • Page 202 Envelope 103.2 72.3 19.8 237.5 325.0 21.0 Gocator 1100 & 1300 Series Specifications • 202...

  • Page 203: Gocator 1160/1360 (Top Mount Package)

    Gocator1160/1360(TopMountPackage) Field of View / Measurement Range 162.5 -162.5 Gocator 1100 & 1300 Series Specifications • 203...
  • Page 204 Dimensions 24.5 61.5 38.8 16.3 30.6 THREADED MOUNTING HOLES 4X M5X0.8 - 6H Gocator 1100 & 1300 Series Specifications • 204...
  • Page 205 Envelope 12.0 237.5 562.5 Gocator 1100 & 1300 Series Specifications • 205...

  • Page 206: Gocator 1165/1365 (Side Mount Package)

    Gocator1165/1365(SideMountPackage) Field of View / Measurement Range -188 Gocator 1100 & 1300 Series Specifications • 206...
  • Page 207 Dimensions THREADED MOUNTING HOLE OPTION 3X M6X1.0 - 6H THRU HOLE THRU MOUNTING HOLE OPTION 3X Ø 5 THRU ALL Gocator 1100 & 1300 Series Specifications • 207...
  • Page 208 Envelope 103.3 72.6 19.9 562.5 375.0 21.0 Gocator 1100 & 1300 Series Specifications • 208...

  • Page 209: Gocator 1165/1365 (Top Mount Package)

    Gocator1165/1365(TopMountPackage) Field of View / Measurement Range 187.5 -187.5 Gocator 1100 & 1300 Series Specifications • 209...
  • Page 210 Dimensions 24.5 61.5 38.8 16.3 30.6 THREADED MOUNTING HOLES 4X M5X0.8 - 6H Gocator 1100 & 1300 Series Specifications • 210...
  • Page 211 Envelope 12.0 237.5 562.5 Gocator 1100 & 1300 Series Specifications • 211...

  • Page 212: Gocator 1170/1370 (Side Mount Package)

    Gocator1170/1370(SideMountPackage) Field of View / Measurement Range -200 Gocator 1100 & 1300 Series Specifications • 212...
  • Page 213 Dimensions THREADED MOUNTING HOLE OPTION THRU MOUNTING HOLE OPTION 3X M6X1.0 - 6H THRU ALL 3X Ø 5 THRU ALL Gocator 1100 & 1300 Series Specifications • 213...
  • Page 214 Envelope 103.3 72.4 19.8 250.0 400.0 21.0 Gocator 1100 & 1300 Series Specifications • 214...

  • Page 215: Gocator 1170/1370 (Top Mount Package)

    Gocator1170/1370(TopMountPackage) Field of View / Measurement Range Gocator 1100 & 1300 Series Specifications • 215...
  • Page 216 Dimensions 24.5 61.5 38.8 16.3 30.6 THREADED MOUNTING HOLES 4X M5X0.8 - 6H Gocator 1100 & 1300 Series Specifications • 216...
  • Page 217 Envelope 12.0 250.0 650.0 Gocator 1100 & 1300 Series Specifications • 217...

  • Page 218: Gocator 1190/1390 (Side Mount Package)

    Gocator1190/1390(SideMountPackage) Field of View / Measurement Range 1000 1500 -1000 Gocator 1100 & 1300 Series Specifications • 218...
  • Page 219 Dimensions THREADED MOUNTING HOLE OPTION THRU MOUNTING HOLE OPTION 3X M6X1.0 - 6H THRU HOLE 3X Ø 5 THRU ALL Gocator 1100 & 1300 Series Specifications • 219...
  • Page 220 Envelope 231.4 200.1 19.9 500.0 2000.0 21.0 Gocator 1100 & 1300 Series Specifications • 220...

  • Page 221: Gocator 1190/1390 (Top Mount Package)

    Gocator1190/1390(TopMountPackage) Field of View / Measurement Range 1000 1500 1000 Gocator 1100 & 1300 Series Specifications • 221...
  • Page 222 Dimensions 24.5 61.5 38.8 16.3 30.6 THREADED MOUNTING HOLES 4X M5X0.8 - 6H Gocator 1100 & 1300 Series Specifications • 222...
  • Page 223 Envelope 12.0 500.0 2500.0 Gocator 1100 & 1300 Series Specifications • 223...

  • Page 224: Gocator 1100/1300 Power/Lan Connector

    Gocator 1100/1300 Power/LAN Connector The Gocator 1100 and 1300 Power/LAN connector is a 14 pin, M16 style connector that provides power input, laser safety input and Ethernet. This section defines the electrical specifications for Gocator Power/LAN Connector pins, organized by function.

  • Page 225: Laser Safety Input

    Power requirements Function Pins DC_24-48V 24 V 48 V GND_24-48VDC Laser Safety Input The Safety_in+ signal should be connected to a voltage source in the range listed below. The Safety_in- signal should be connected to the ground/common of the source supplying the Safety_in+. Laser safety requirements Function Pins...

  • Page 226: Gocator 1100 And 1300 I/O Connector

    Gocator 1100 and 1300 I/O Connector The Gocator 1100 and 1300 I/O connector is a 19 pin, M16 style connector that provides encoder, digital input, digital outputs, serial output, and analog output signals. This section defines the electrical specifications for Gocator I/O Connector pins, organized by function. Gocator I/O Connector Pins Lead Color Function...

  • Page 227: Digital Outputs

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

  • Page 228: Digital Inputs

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

  • Page 229: Serial Output

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

  • Page 230: Selcom Serial Output

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

  • Page 231: Analog Output

    Analog Output The Sensor I/O Connector defines one analog output interfaces: Analog_out. Function Pins Current Range Analog_out 17, 18 4 – 20 mA ANALOG_OUTPUT ANALOG_OUTPUT Analog_out- ANALOG- Analog_out- ANALOG- Analog_out1+ ANALOG+ Analog_out1+ ANALOG+ Current Mode Voltage Mode To configure for voltage output, connect a 500 Ohm ¼ Watt resistor between Analog_out+ and Analog_ out- and measure the voltage across the resistor.

  • Page 232: Master 100

    Master 100 The Master 100 accepts connections for power, safety, encoder, and provides digital output. Master Ethernet Port Master Host Port Master Power Port 48V Power Supply* (Pin 1) Sensor IO Port (Pin 1) Encoder/Output Port *Contact LMI for information regarding this type of power supply Connect the Master Power port to the Gocator's Power/LAN connector using the Gocator Power/LAN to Master cordset.

  • Page 233: Master 100 Dimensions

    Function Encoder_Z+ Encoder_Z- Encoder_A+ Encoder_A- Encoder_B+ Encoder_B- Encoder_GND Encoder_5V Master 100 Dimensions 84.8 32.6 Gocator 1100 & 1300 Series Specifications • 233...

  • Page 234: Master 400/800

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

  • Page 235: Master 400/800 Electrical Specifications

    Power and Safety (6 pin connector) Digital Input (16 pin connector) Function Function +48VDC Input 1 +48VDC Input 1 GND GND(48VDC) Reserved GND(48VDC) Reserved Safety Control+ Reserved Safety Control– Reserved Reserved The +48VDC power supply must be isolated from Reserved AC ground.

  • Page 236: Master 400/800 Dimensions

    Master 400/800 Dimensions Dimensions of Master 400 and Master 800 are the same. 483.9 466.7 31.8 99.2 89.7 44 36 Master 400 Gocator 1100 & 1300 Series Specifications • 236...

  • Page 237: Master 1200/2400

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

  • Page 238: Master 1200/2400 Electrical Specifications

    Power and Safety (6 pin connector) Digital Input (16 pin connector) Function Function +48VDC Input 1 +48VDC Input 1 GND GND(48VDC) Reserved GND(48VDC) Reserved Safety Control+ Reserved Safety Control– Reserved Reserved The +48VDC power supply must be isolated from Reserved AC ground.

  • Page 239: Master 1200/2400 Dimensions

    Master 1200/2400 Dimensions Dimensions of Master 1200 and Master 2400 are the same. 482.6 448.6 121 130.5 Gocator 1100 & 1300 Series Specifications • 239...

  • Page 240: Parts And Accessories

    Parts and Accessories Gocator Part Number Legend 31xxxxA-yy-zz-P Package S = Side Mount Tools T = Top Mount Model Laser class: 01 = Measurement 2M or 3R or 3B Tools Gocator 1100 Sensors Top Mount Package Description Part Number Gocator 1120 with Class 2M laser, Top Mount Package 311120A-2M-01-T with Class 3R laser, Top Mount Package 311120A-3R-01-T...
  • Page 241 Side Mount Package Description Part Number with Class 3R laser, Side Mount Package 311165A-3R-01-S with Class 3B laser, Side Mount Package 311165A-3B-01-S Gocator 1170 with Class 2M laser, Side Mount Package 311170A-2M-01-S with Class 3R laser, Side Mount Package 311170A-3R-01-S with Class 3B laser, Side Mount Package 311170A-3B-01-S Gocator 1190 with Class 3B laser, Side Mount Package...
  • Page 242 Gocator 1300 Sensors Top Mount Package Description Part Number Gocator 1320 with Class 2M laser, Top Mount Package 311320A-2M-01-T with Class 3R laser, Top Mount Package 311320A-3R-01-T with Class 3B laser, Top Mount Package 311320A-3B-01-T Gocator 1325 with Class 2M laser, Top Mount Package 311325A-2M-01-T with Class 3R laser, Top Mount Package 311325A-3R-01-T...
  • Page 243 Masters Description Part Number Master 100 - for single sensor (development only) 30705 Master 400 - for networking up to 4 sensors 30680 Master 800 - for networking up to 8 sensors 30681 Master 1200 - for networking up to 12 sensors 30649 Master 2400 - for networking up to 24 sensors 30650...

  • Page 244: Warranty And Return Policy

    For non-warranty repairs, a purchase order for the repair charges must accompany the returning sensor. LMI Technologies Inc. is not responsible for damages to a sensor that are the result of improper packaging or damage during transit by the courier.

  • Page 245: 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 following disclaimer.
  • Page 246 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 copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to...
  • Page 247 without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
  • Page 248 http://brandonaaron.net License: Copyright (c) 2010 Brandon Aaron Licensed under the MIT License (http://www.opensource.org/licenses/mit-license.php) jQuery.scaling Website: http://eric.garside.name License: Scaling 1.0 - Scale any page element Copyright (c) 2009 Eric Garside Licensed under the MIT License (http://www.opensource.org/licenses/mit-license.php) jQuery.scrollFollow Website: http://kitchen.net-perspective.com/ License: Copyright (c) 2008 Net Perspective Licensed under the MIT License (http://www.opensource.org/licenses/mit-license.php) Flex SDK Website:...

  • Page 249: Support

    Support For assistance regarding a component or product, please contact LMI Technologies. World Email support@lmi3D.com http://www.lmi3D.com North America Phone +1 604 636 1011 +1 604 516 8368 Europe Phone +31 45 850 7000 +31 45 574 2500 For more information on safety and laser classifications, please contact: U.S.
  • Page 250 North America Europe LMI Technologies Inc. LMI Technologies BV 1673 Cliveden Avenue Valkenburgerweg 223 Delta BC V3M 6V5 NL-6419AT Heerlen Canada The Netherlands Phone: +1 604 636 1011 Phone: +31 45 850 7000 Fax: +1 604 516 8368 Fax: +31 45 574 2500...

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