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LMI Technologies Gocator 1300 Series User Manual

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Gocator 1300 Series
USER MANUAL
Document revision: A

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Summary of Contents for LMI Technologies Gocator 1300 Series

  • Page 1 Gocator 1300 Series USER MANUAL Document revision: A...

  • Page 2: Copyright

    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: Table Of Contents

    Operation Mode Panel Network Setup Trigger Panel Client Setup Trigger Examples Gocator Setup Trigger Settings Running a Standalone Sensor System Sensor Panel Running a Dual-Sensor System Active Area Next Steps Exposure Theory of Operation Single Exposure 3D Acquisition Gocator 1300 Series...
  • Page 4 Difference Buddy Communication Channels Position Z States Script Versions and Upgrades Script Measurement Data Types Built-in Functions Range Sources Output Status Codes Output Page Overview Command and Reply Formats Ethernet Output Result Format Digital Outputs Discovery Commands Gocator 1300 Series...
  • Page 5 Ping Custom Result Format Reset Control Commands Backup Start Restore Stop Restore Factory Trigger Get Connection Type Load Configuration Set Connection Type Stamp Clear Calibration Alignment Calibration Data Results Travel Calibration Video Clear Calibration Range Data Commands Gocator 1300 Series...
  • Page 6 Software Development Kit Limiting Flash Memory Write Operations Tools Sensor Recovery Tool Troubleshooting Specifications Gocator 1300 Series Gocator 1320 (Side Mount Package) Gocator 1340 (Side Mount Package) Gocator 1350 (Side Mount Package) Gocator 1350 (Top Mount Package) Gocator 1365 (Side Mount Package)

  • Page 7: Introduction

    Introduction The Gocator 1300 series of laser displacement sensors is 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 documentation describes how to connect, configure, and use a Gocator. It also contains reference information on the device's protocols and configuration files.

  • Page 8: 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 2M, Class 3R, or Class 3B, depending on the chosen laser option. Gocator sensors are referred to as components, indicating that they are sold only to qualified customers for...

  • Page 9: Laser Classes

    Laser Classes Class 2M laser components Class 2M laser components would not cause permanent damage to the eye under reasonably foreseeable conditions of operation, provided that any exposure can be terminated by the blink reflex (assumed to take 0.25 seconds). Because classification assumes the blink reflex, the wavelength of light must be in the visible range (400 nm to 700 nm).

  • Page 10: Class 3B Responsibilities

    Class 3B Responsibilities 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

    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 12: Environment And Lighting

    between Analog_out- and system ground. The maximum permissible voltage potential is 12 V but should be kept below 10 V to avoid damage to the serial and encoder connections. See Gocator 1300 I/O Connector (page 196) for a description of connector pins. Use a suitable power supply The +24 to +48 VDC power supply used with Gocator sensors should be an isolated supply with inrush current protection or be able to handle a high capacitive load.

  • Page 13: Sensor Maintenance

    Turn off lasers when not in use LMI Technologies uses semiconductor lasers in 3D measurement sensors. To maximize the lifespan of the sensor, turn off the laser when not in use. Avoid excessive modifications to files stored on the sensor Settings for Gocator sensors are stored in flash memory inside the sensor.

  • Page 14: Getting Started

    Getting Started The following sections provide system and hardware overviews, in addition to installation and setup procedures. 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.

  • Page 15: 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 16: Hardware Overview

    Hardware Overview The following sections describe Gocator and its associated hardware. Side Mount Package 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 17: Gocator Cordsets

    See Parts and Accessories (page 209) for cordset lengths and part numbers. Contact LMI for information on creating cordsets with customized lengths and connector orientations. Master 100 The Master 100 is used by the Gocator 1300 series for standalone system setup. Getting Started • Hardware Overview • 17...
  • Page 18 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 19: Master 1200/2400

    Item Description Sensor Ports Master connection for Gocator sensors (no specific order required). Ground Connection Earth ground connection point. Laser Safety Laser safety connection. Encoder Accepts encoder signal. Input Accepts digital input. See Master 400/800 (page 203) for pinout details. Master 1200/2400 The Master 1200 and the Master 2400 allow you to connect more than two sensors.

  • Page 20: Calibration Targets

    Item Description Sensor Ports Master connection for Gocator sensors (no specific order required). Ground Connection Earth ground connection point. Laser Safety Laser safety connection. Encoder Accepts encoder signal. Input Accepts digital input. See Master 1200/2400 (page 206) for pinout details. Calibration Targets Calibration targets are used for travel calibration.
  • Page 21 See Calibration (page 67) for more information on calibration procedures. Getting Started • Hardware Overview • 21...

  • Page 22: Installation

    Installation The following sections provide grounding, mounting, and orientation information. 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.

  • Page 23: Grounding - Master 400/800/1200/2400

    Install a 360-degree ground clamp. Grounding - Master 400/800/1200/2400 The mounting brackets of all Masters have been designed to provide adequate grounding through the use of star washers. Always check grounding with a multi-meter by ensuring electrical continuity between the mounting frame and RJ45 connectors on the front. The frame or electrical cabinet that the Master is mounted to must be connected to earth ground.

  • Page 24: Mounting - Top Mount Package

    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. The temperature of all of its components must be in equilibrium.

  • Page 25: Orientations

    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. The temperature of all of its components must be in equilibrium.
  • Page 26 Single sensor on robot arm Dual-Sensor System Orientations: Side-by-side for wide-area measurement (Wide) Main must be on the left side (when looking into the connector) of the Buddy (Wide) Getting Started • Installation • 26...
  • Page 27 Above/below for two-sided measurement (Opposite) Main must be on the top with Buddy at the bottom (Opposite) Getting Started • Installation • 27...

  • Page 28: Network Setup

    Network Setup The following sections provide procedures for client PC and Gocator 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 29 e. Enter IP Address "192.168.1.5" and Subnet Mask "255.255.255.0", then click OK. Mac OS X v10.6 a. Open the Network pane in System Preferences and select Ethernet. b. Set Configure to Manually. c. Enter IP Address "192.168.1.5" and Subnet Mask "255.255.255.0", then click Apply. See Troubleshooting (page 172) if you experience any problems while attempting to establish a connection to the sensor.

  • Page 30: Gocator Setup

    Gocator Setup The Gocator is shipped with a default configuration that will produce laser ranges on most targets. The following sections walk you through the steps required to set up a standalone sensor system and a dual-sensor system for operations. After you have completed the setup, you can perform laser ranging to verify basic sensor operation.

  • Page 31: Running A Dual-Sensor System

    Ensure that the Data Source selector is showing LIVE. Ensure that the Laser Safety Switch is enabled or the Laser Safety input is high. Select the Setup page. Master 400/800/1200/2400 Press the Start button to start the sensor. The Start button is used to run sensors continuously, whereas the Snapshot button is used to trigger a single capture.
  • Page 32 To configure a dual-sensor system: Turn off the sensors and unplug the Ethernet network connection of the Main sensor. All sensors are shipped with a default IP address 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 33 Turn off the sensors, re-connect the Main sensor's Ethernet connection and power-cycle the sensors. After changing network configuration, the sensors must be reset or power-cycled before the change will take effect. Enter the sensor's IP address 192.168.1.10 in a web browser.

  • Page 34: Next Steps

    13. Select the Buddy sensor. Click the Assign button. The Buddy sensor will be assigned to the Main sensor and its status will be updated in the System panel. The firmware on Main and Buddy sensors must be the same for Buddy assignment to be successful. If the firmware is different, connect the Main and Buddy sensor one at a time and follow the steps in Firmware Upgrade (page 53) to upgrade the sensors.
  • Page 35 Measurement (page 74) Programs measurements on sensors that are equipped with measurement tools. Output (page 86) Profile data, measurements, and Pass/Fail results can be transmitted to external devices for process control or data analysis. Dashboard (page 98) Provides real-time monitoring of its health and measurement results. Toolbar (page 41) Controls system operation, record and playback data, and manages sensor configurations.

  • Page 36: Theory Of Operation

    The following sections describe the theory of operation of Gocator sensors. 3D Acquisition Principle of 3D Acquisition The Gocator 1300 series sensors are displacement sensors, meaning that they capture a single 3D point for each camera exposure. The sensor projects a laser point onto the target.

  • Page 37: Resolution And Accuracy

    Resolution and Accuracy Z Resolution 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. Z resolution is better at the close range and worse at the far range.

  • Page 38: 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 alignment calibration state. The coordinate systems are described below.
  • Page 39 Theory of Operation • Range Output • 39...

  • Page 40: Gocator Web Interface

    Gocator Web Interface The following sections describe the 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 See Connection Contains settings for network configuration and maintenance.

  • Page 41: Common Elements

    Element Description Dashboard (page 98) Metrics panel See Metrics Panel (page 46) Summarizes important performance statistics. Help Provides online help resources (including user manual), firmware updates, and SDK. Toolbar Controls sensor operation, manages configurations, and replays recorded measurement data. See Toolbar (below) Configuration area Provides controls to configure ranging and measurement parameters.
  • Page 42 Setting Type Behavior the sensor is reset. Calibration Calibration files are saved automatically at the end of the calibration procedure; page 111 for a description of this type of file.) The sensor contains a global calibration file that is not visible in the file manager. This file is automatically loaded when the sensor is reset.

  • Page 43: Managing Multiple Settings

    To load a bundle of files: Select an existing file name in the File Name drop-down list. Click the Load button. The files are loaded from flash memory, and unsaved changes to current settings are overwritten. To delete a bundle of files: Select an existing file name in the File Name drop-down list.
  • Page 44 Recording and Playback commands when Data Source is Live Recording and Playback commands when Data Source is Replay To record live data: Toggle the Data Source to Live. Press the Record button. When the Data Source is set to Live and recording is enabled, the sensor will store the most recent data as it runs.

  • Page 45: Downloading, Exporting, And Uploading Recorded Data

    Use the Replay Slider, Step Forward, Step Back, or Play button to simulate measurements. 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;...

  • Page 46: Metrics Panel

    To export recorded data to CSV: Toggle the Data Source to Replay. Press the Export button. Select Export Ranges as CSV. data in the current replay location is exported. Use the Step button to move to a different replay location; see Recording, Playback, and Measurement Simulation (page 43). Select the directory and file name to export to the client computer.

  • Page 47: Connection And Maintenance

    Connection and Maintenance The following sections describe how to set up the sensor connections and networking, and how to perform maintenance tasks. Connection Page Overview Gocator's security, file management, and maintenance tasks are performed on the Connection page. Element Description System See System Panel 1 System panel...

  • Page 48: Sensor Autostart

    To configure the network settings: Navigate to the System panel. Click the arrow next to Networking to expand the panel. Specify the Connect To setting. The Connect To setting specifies whether the sensor system is standalone or connected to a Master. Specify the Type, IP, Subnet Mask, and Gateway settings.

  • Page 49: Available Sensors

    To enable/disable overheat temperature protection: Check/uncheck the Overheat Protection option box. Save configuration. Available Sensors The following section describes the Available Sensors panel. Buddy Assignment In a dual-sensor system, the Main sensor assumes control of the Buddy sensor after the Buddy sensor is assigned to the Main sensor.

  • Page 50: 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 setup procedures such as sensor calibration.

  • Page 51: Files Panel

    Files Panel The Files panel can be used to manage configuration and calibrationfiles. Element Description 1 File Type Specifies the type of files to manage (configuration or transformation). 2 File Name Field Used to provide a file name when saving files. 3 File List Displays the files that are currently saved in the sensor's flash storage.

  • Page 52: Sensor Backups And Factory Reset

    Sensor Backups and Factory Reset The Maintenance panel can be used to create sensor backups, restore from a backup, or restore to factory defaults. Backup files contain all of the information stored on a sensor, including configuration and calibration. An Administrator should create a backup file in the unlikely event that a sensor fails and a replacement sensor is needed.

  • Page 53: Firmware Upgrade

    Firmware Upgrade LMI recommends routinely updating firmware to ensure that Gocator sensors always have the latest features and fixes. In order for the Main and Buddy sensors to work together, they must be use the same firmware version.  This can be achieved by upgrading through the Main sensor or by upgrading each sensor individually.
  • Page 54 Gocator Web Interface • Connection and Maintenance • 54...

  • Page 55: Setup And Calibration

    Setup and Calibration The following sections describe 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. Calibration in the user interface and in this manual refers to aligning a sensor to system coordinates.

  • Page 56: Operation Mode Panel

    The following table provides quick references for specific goals that you can achieve from the panels in the Setup page. Goal Reference Trigger 1 Select a trigger source that is appropriate for the application. Panel (next page) Exposure 2 Ensure that camera exposure is appropriate for laser ranging . (page 63) 3 Find the right balance between range quality, speed, and CPU utilization.

  • Page 57: Trigger Panel

    Mode and Option Description produce laser ranges and measurements. Acquire Intensity When this option is enabled, an intensity value will be produced for each laser range. Trigger Panel A trigger is an event that causes a sensor to take a single picture. When a trigger is processed, the laser is strobed and the camera exposes to produce an image.
  • Page 58 Trigger Source Description 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 page can be used to check for this condition.

  • Page 59: Trigger Examples

    Trigger Examples Example: Encoder + Conveyor Encoder triggering is used to perform range measurements at a uniform spacing. The speed of the conveyor can vary while the object is being measured; an encoder ensures that the measurement spacing is consistent, independent of conveyor speed.

  • Page 60: Trigger Settings

    After specifying a trigger source, the Trigger panel will show the parameters that can be configured.  Gocator 1300 series sensors are limited to sending data at 10 kHz over the analog output channel. Therefore, if you configure a sensor so that it runs at a speed higher than 10 kHz in the Trigger panel on the Setup page, and configure a measurement to be sent on the analog channel under Analog on the Output page, you will get analog data drops.

  • Page 61: Sensor Panel

    Parameter Trigger Source Description Trigger Selects the trigger source (Time, Encoder, External Input, or Software). Max Frame Rate All Reports the maximum frame rate, which is a function of the current Active Area, Exposure, and Resolution settings. Frame Rate Time The Frame Rate setting can be used to control the frame rate.
  • Page 62 Active area is specified in sensor coordinates, rather than in system coordinates. As a result, if the sensor is already alignment calibrated, press the Acquire button to display uncalibrated data before configuring the active area. See Coordinate Systems (page 38) for more information on sensor and system coordinates.

  • Page 63: Exposure

    Define the active area. Enter the active area in the edit box or adjust it graphically in the data viewer. Click the Acquire button to see a scan while setting up the active area. Click the Save button. Laser ranging devices are usually more accurate at the near end of their measurement range. If your application requires a measurement range that is small compared to the maximum measurement range of the sensor, mount the sensor so that the active area can be defined at the near end of the measurement range.

  • Page 64: Dynamic Exposure

    To enable single exposure: Place a representative target in view of the sensor. The target surface should be similar to the material that will normally be measured. Select Range mode. Navigate to the Sensor panel. Click the arrow next to Exposure to expand the panel. Click the Main or Buddy sensor button to select the sensor.

  • Page 65: Transformations

    To enable dynamic exposure: Select Range mode. Navigate to the Sensor panel. Click the arrow next to Exposure to expand the panel. Click the Main or Buddy sensor button to select the sensor. Select Dynamic. Set the minimum and maximum exposure. The auto-set function can be used to automatically set the exposure.

  • Page 66: Layout Panel

    Element Description Z Offset Specifies the shift along the Z axis. A positive value shifts the toward the sensor. When applying the transformations, Angle is applied before the Z offset. To configure transformation settings: Select Range mode. Navigate to the Sensor panel. Click the arrow next to Transformation to expand the panel.

  • Page 67: Calibration

    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 .

  • Page 68: Calibration States

    Once calibration has been completed, the derived transformation values will be displayed under Transformations in the Sensor panel; see Transformations (page 65) for details. Calibration States A Gocator can be in one of three calibration states: None, Manual, or Auto. Calibration State State Explanation...

  • Page 69: Alignment Vs. Travel Calibration

    Alignment vs. Travel Calibration The table below summarizes the differences between alignment calibration and travel calibration. Alignment Calibration vs. Travel Calibration Alignment Calibration Travel Calibration Target Type Flat surface or calibration bar Calibration bar Target/Sensor Motion Stationary Linear motion Calibrates Z axis Offset Calibrates Encoder Calibrates Travel Speed See Coordinate Systems (page 38) for definitions of coordinate axes.

  • Page 70: Travel Calibration

    Bar to use a custom calibration bar. If using a calibration bar, specify the bar dimensions and reference hole layout. See Calibration Targets (page 20) for details. Place the target under the sensor. Press the Calibrate button. The sensors will start, and the alignment calibration process will take place. Calibration is performed simultaneously for all sensors.

  • Page 71: Clearing Calibration

    The sensors will start and then wait for the calibration target to pass through the laser plane. Travel calibration uses the exposure defined for single exposure mode, regardless of the current exposure mode. Engage the transport system. When the calibration target has passed completely through the laser plane, the calibration process will complete automatically.

  • Page 72: Region Definition

    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. To manually select the display view in the Setup page: Navigate to the Setup page.

  • Page 73: Data Viewer Controls

    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. Data Viewer Controls The data viewer is controlled by mouse clicks and by the buttons on the display toolbar.

  • Page 74: Measurement

    Measurement The following sections describe the Gocator's tools and measurements. Measurement Page Overview Tools and their measurements are added and 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.

  • Page 75: Tools Panel

    Tools Panel The following section describes the Tools panel. Adding and Removing Measurements To add a measurement: Select the desired measurement type. Click on the item in the drop-down list next to Add Measurements to select the measurement type. Press the Add button. A configuration panel for the new measurement will be added to the bottom of the stack.

  • Page 76: Measurement Id

    To change a measurement name: Click on the measurement name. Enter a new name. Press the Tab key. The name change will be completed when you press the Tab key or click outside of the name edit field. Measurement ID Measurement ID is used to uniquely identify a measurement in the Gocator protocol or in the SDK.

  • Page 77: Profile Sources

    Profile Sources For dual-sensor systems, measurements must specify a range source for tools. The range source determines which sensor provides data for the measurement. The following options are available: Profile Source Description Main Data is provided by the Main sensor. This is the only option for standalone systems. Buddy Data is provided by the Buddy sensor.

  • Page 78: Regions

    Along with measurement values, decisions can be sent to external programs and devices. In particular, decisions are often used with digital outputs to trigger an external event in response to a measurement. See Output (page 86) for more information on transmitting values and decisions. Regions The Region parameter is used to limit the region in which a measurement will occur.

  • Page 79: Range Measurement

    Filter Description Hold Last Valid Hold the last valid value when the measurement is invalid. Measurement is invalid if there is no valid value. Smoothing Apply moving window averaging to reduce random noise in a measurement output. The averaging window is configured in number of frames. If Hold Last Valid is enabled, smoothing uses the output of the Hold Last Valid filter.

  • Page 80: Position Z

    Measurements Measurement Illustration Difference Determines the difference along the Z axis between two laser ranges. Parameters Parameter Description Absolute Check the Absolute box to select absolute result Decision See Decisions (page 77). Region See Regions (page 78). Output See Output Filters (page 78). Position Z The Position Z tool finds the Z vaxis position of the laser range.

  • Page 81: 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 Adding and Removing Measurements (page 75) for instructions on adding measurements. See Script Measurement (below) for more information on the script syntax.

  • Page 82: Built-In Functions

    Supported Elements Elements Supported Control Operators if, while, do, for, switch and return. Data Types char, int, unsigned int, float, double, long long (64-bit integer). Arithmetic and Logical Standard C arithmetic operators, except ternary operator (i.e., "condition? trueValue: Operator falseValue"). Explicit casting (e.g., int a = (int) a_float) is not supported. Function Declarations Standard C function declarations with argument passed by values.
  • Page 83 Function Description name – name of a measurement Return: 0 – measurement does not exist 1 – measurement exists int Measurement_Id (char *name) Retrieves the measurement ID by the measurement name. Parameters: name – name of a measurement Returns: -1 – measurement does not exist Other –...
  • Page 84 Function Description long value) Parameters: id - ID of the value value - Value to store unsigned long long Memory_Get64u (int id) Retrieves a 64-bit unsigned integer from persistent memory. Parameters: id - ID of the value Returns: value - Value stored in persistent memory void Memory_Set64f (int id, double value) Stores a 64-bit double into persistent memory.
  • Page 85 Function Description float sin(float x) Calculates sin(x) (x in radians) float cos(float x) Calculates cos(x) (x in radians) float tan(float x) Calculates tan(x) (x in radians) float asin(float x) Calculates asin(x) (x in radians) float acos(float x) Calculates acos(x) (x in radians) float atan(float x) Calculates atan(x) (x in radians) float pow (float x, float y)

  • Page 86: Output

    Output The following sections describe the Output page. Output Page Overview Output configuration tasks are performed using the Output Page. Gocator sensors can transmit laser ranges and measurement results to various external devices using several output interface options. Element Description 1 Ethernet Panel Ethernet Use the...

  • Page 87: Ethernet Output

    Ethernet Output A sensor uses TCP messages (Gocator Protocol) to exchange commands, video, laser range, intensity, and measurement results with client computers. The sensor can also exchange commands and measurement results with a PLC using ASCII, Modbus TCP, or EtherNet/IP protocol. See Protocols (page 113) for the specification of these protocols.
  • Page 88 To exchange results using ASCII messages: Navigate to the Ethernet panel. Select ASCII in Protocol Option. 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. See Asynchronous and Polling Operation (page 155) for an explanation of the operation modes.
  • Page 89 To receive commands and send results using Modbus TCP messages: Navigate to the Ethernet panel. Select Buffering if desired. Buffering is needed, for example, in Whole Part mode if multiple objects are detected within a time frame shorter than the polling rate of the PLC. If buffering is enabled with the Modbus protocol, the PLC must read the Advance register to advance the queue before reading the measurement results.

  • Page 90: Digital Outputs

    To receive commands and send results using EtherNet/IP messages: Navigate to the Ethernet panel. Select Buffering if desired. Buffering is needed, for example, in Whole Part mode if multiple objects are detected within a time frame shorter than the polling rate of the PLC. If buffering is enabled with the EtherNet/IP protocol, the buffer is automatically advanced when the Sample State Assembly Object (see page 152) is read.
  • Page 91 A digital output can also act as a strobe signal to allow external devices to synchronize to the timing at which the sensor exposes. In this mode, the sensor outputs a digital pulse when the sensor exposes. Each sensor supports two digital output channels. See Digital Outputs (page 197) for information on wiring digital outputs to external devices.
  • Page 92 the sensor to the eject gates. The Delay setting specifies the distance from the sensor to the eject gates. An immediate output becomes active as soon as measurement results are available. The output activates after the sensor finishes processing the data. As a result, the time between the start of sensor exposure and output activates can vary and is dependent on the processing latency.

  • Page 93: Analog Output

    Gocator 1300 series sensors are limited to sending data at 10 kHz over the analog output channel. Therefore, if you configure a sensor so that it runs at a speed higher than 10 kHz in the Trigger panel on the Setup page, and configure a measurement to be sent on the analog channel under Analog on the Output page, you will get analog data drops.
  • Page 94 To output measurement value or decision: Navigate to the Analog panel. Set Event to Measurement. Select the value or decision source that should be used for output. Only one value or decision can be used for analog output. Measurements shown here correspond to measurements that have been programmed using the Measurements page.

  • Page 95: Serial Output

    Specify if the output is Immediate or Scheduled. An analog output value becomes active immediately or scheduled. Immediate output becomes active as soon as a Scheduled Analog Output command (see page 132) is received. Software scheduled command can schedule an analog value to output at a specified future time or encoder value, or changes its state immediately.
  • Page 96 explanation of the standard result mode. Select Custom to customize the output result. A data format box will appear in which users can type the format string. See Custom Result Format (page 157) for the supported format string syntax. Set the Special Characters. Select the delimiter, termination and invalid value characters.
  • Page 97 maximum current output. The Data Scale value is specified in (um) for dimensional measurement, (0.001 mm ) for area, (mm ) for volume and (0.001 degree) for angle results. The results are scaled according to the number of serial bits used to cover the data scale range. For example, the 12-bit output would break a 200 mm data scale range into 4096 increments (0.0488 mm/bit), and the 14-bit output would break a 200 mm data scale range into 16384 increments (0.0122 mm/bit).

  • Page 98: Dashboard

    Dashboard The following sections describe the dashboard. Dashboard Page Overview The Dashboard page summarizes logged events, sensor health information, and measurement statistics. Element Description 1 State and Health Information Displays sensor state and health information. See State and Health Information (below) 2 Measurement Statistics Displays measurement statistics.

  • Page 99: Measurement Statistics

    Speed Current laser/camera speed (Hz). Firmware Version Gocator firmware version. Interface Version Gocator interface version. Up Time Length of time since the sensor was power-cycled or reset. Encoder Value Current encoder value (ticks). Encoder Frequency Current encoder frequency (Hz). Trigger Drops Count of camera frames dropped due to excessive trigger speed.
  • Page 100 Dashboard Measurement Statistics Name Description Value The most recent measurement value. Minimum/Maximum Value The minimum and maximum measurement values that have been observed. Average The average of all measurement results collected since the sensor was started. Standard Deviation The standard deviation of all measurement results collected since the sensor was started.

  • Page 101: Gocator Device Files

    Gocator Device Files This section describes the Gocator's 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 102: Trigger

    The Trigger element contains settings related trigger source, speed, and encoder resolution. Gocator 1300 series sensors are limited to sending data at 10 kHz over the analog output channel. Therefore, if you configure a sensor so that it runs at a speed higher than 10 kHz, and configure a measurement to be sent on the analog channel, you will get analog data drops.

  • Page 103: Layout

    Element Type Description FrameRateMin Constraint for minimum frame rate (Hz). FrameRateMax Constraint for maximum frame rate (Hz). FrameRateMaxSource Source of maximum frame rate constraint: 0 – Imager 1 – Whole part memory usage EncoderPeriodMin Constraint for minimum encoder period (ticks). EncoderPeriodMax Constraint for maximum encoder period (ticks).

  • Page 104: Sensors / Sensor

    Sensors / Sensor Each Sensor element contains settings related to an individual sensor. A Sensor element has an attribute that defines the role (0 – Main, 1 – Buddy) of the sensor: <Sensor role="0"> Sensors / Sensor / Profiling Profiling Child Elements Element Type Description...

  • Page 105: Range

    Element Type Description 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). Range The Range element contains settings that affect range measurements. Simple child elements in Range are defined below: Range Child Elements Element...

  • Page 106: Measurements / Rangedifference

    Element Type Description 1 – Enable SourceOptions String Constraint for eligible range sources (comma-delimited list). SmoothingWindowMin Constraint for smoothing window minimum (frames). SmoothingWindowMax Constraint for smoothing window maximum (frames). LinkIds List of linkable measurements. Measurements / RangeDifference A RangeDifference element defines settings for a range difference measurement. RangeDifference Child Elements Element Type...

  • Page 107: Outputs

    Script Child Elements Element Type Description Name String Setting for measurement name. Code String Script code. Outputs The Outputs element has the following sub-element types: Ethernet, Serial, Analog, and Digital Output. Each of these sub-elements defines the output settings for a different type of Gocator output. The Source identifiers that are used with Video, profile, part and intensity outputs are profile source identifiers.

  • Page 108: Serial

    Element Type Description AsciiDelimiter String Setting for the ASCII protocol delimiter character. AsciiTerminator String Setting for the ASCII protocol terminator character. AsciiInvalidValue String Setting for the ASCII protocol invalid value string AsciiCustomFormatEnabled Setting for the ASCII custom format: 0 – Disable 1 –...

  • Page 109: Analog

    Only one Value or Decision source can be selected at a time. Gocator 1300 series sensors are limited to sending data at 10 kHz over the analog output channel. Therefore, if you configure a sensor so that it runs at a speed higher than 10 kHz, and configure a measurement to be sent on the analog channel, you will get analog data drops.

  • Page 110: Digitaloutput

    Element Type Description in software command, or a delay. 0 – Not scheduled 1 – Scheduled Delay Setting for output delay. The delay is measured from exposure (first exposure for multiple exposure) to when output is scheduled. Ignored when ScheduleEnable is 0. The units depends on SystemDomain. The delay specifies the time or position at which the analog output activates.

  • Page 111: 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 112: Entries

    SysCal Child Elements Element Type Description YResolution Encoder Resolution (mm/tick). YSpeed Travel Speed (mm/s). Entries An Entry element defines the transformation for a sensor. There is one entry element per sensor, identified by a unique id attribute (0 for main and 1 for buddy): <Entry id="0">...

  • Page 113: Protocols

    Protocols The following sections describe the protocols that Gocator sensors support. 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. Configure Main and Buddy sensors.

  • Page 114: Command Channels

    When a sensor accepts a discovery command, it will send a UDP broadcast response: Destination Address Destination Port 255.255.255.255 Port of command sender. 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.

  • Page 115: Buddy Communication Channels

    Buddy Communication Channels The peer-to-peer control channels are used by Gocator sensors to communicate between sensors. Channel Port Description Discovery 2002, 2005, Gocator peer discovery port. UDP broadcasts on the subnet are sent once 2008 every second. Command 2002 to 2015 Gocator request and response ports. Gocator uses UDP communications on these ports for configuration and reporting.

  • Page 116: Data Types

    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. Data Types The table below defines the data types and associated type identifiers used throughout this document. All values are transmitted in little endian format (least significant byte first) unless stated otherwise.

  • Page 117: Command And Reply Formats

    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 118: Discovery Commands

    Block Descriptor Field Type Description length0 Length of block dimension 0. length1 Length of block dimension 1. length2 Length of block dimension 2. type Type See Data Types (page 116) Data type of block elements. Each data block is an array of primitive values with 1, 2, or 3 dimensions and is described by an accompanying descriptor.

  • Page 119: Set Address

    Field Type Description reserved[4] byte Reserved. reserved[4] byte Reserved. Set Address The Set Address command modifies the network configuration of a Gocator sensor. On receiving the command, the Gocator will perform a reset. You should wait 30 seconds before re-connecting to the Gocator.

  • Page 120: Start Upgrade

    Command Field Type Description length Command size – in bytes. Command identifier (0x0100). Reply Field Type Description length Reply size – in bytes. Reply identifier. status Reply status. majorVersion Major version. minorVersion Minor version. Start Upgrade The Start Upgrade command begins a firmware upgrade for the Main sensor and any Buddy sensors. All sensors will automatically reset 3 seconds after the upgrade process is complete.

  • Page 121: Get Upgrade Log

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

  • Page 122: Get System Info

    Field Type Description majorVersion Major version. minorVersion Minor version. Get System Info The Get System Info command reports information for sensors that are visible in the system. Command Field Type Description length Command size – in bytes. Command identifier (0x4002). Reply Field Type...

  • Page 123: Log In/Out

    Buddy Info Field Type Description deviceId Buddy device id. state Sensor Buddy state: 0 – Connected 1 – Missing 2 – Error modelName[32] char Sensor model name. firmwareVersion Buddy firmware version. SensorInfo Field Type Description state Sensor state: 0 – Paired (not set for Main sensor) 1 –...

  • Page 124: Change Buddy

    Command Field Type Description Command identifier (0x4004). user type User account: 1 – Administrator 2 – Technician password[64] char New password (null-terminated). Reply Field Type Description length Reply size – in bytes. Reply identifier. status Reply status. Change Buddy The Change Buddy command is used to assign or unassign a Buddy sensor. Command Field Type...

  • Page 125: Copy File

    Field Type Description extension[64] char Null-terminated file extension filter, or empty: cfg – Configuration files rec – Record/Playback data filesxml – XML file Reply Field Type Description length Reply size – in bytes. Reply identifier. status Reply status. count Number of file names returned. name[count][64] char List of file names.

  • Page 126: Write File

    Reply Field Type Description length Reply size – in bytes. Reply identifier. status Reply status. fileSize File size – in bytes. file[fileSize] byte File content. Write File The Write File command uploads a file to the connected sensor. Write to "_live.cfg" to write the make the configuration files live.

  • Page 127: Get Default File

    Reply Field Type Description length Reply size – in bytes. Reply identifier. status Reply status. Get Default File The Get Default File command gets the name of a default file that will be loaded at boot time. Default files can be defined for configuration and calibration (with different extensions). Command Field Type...

  • Page 128: Get Loaded File

    Get Loaded File The Get Loaded File command returns the currently loaded (i.e., live) file name and modified status for a file type. Command Field Type Description length Command size – in bytes. Command identifier (0x4512). extension[64] char Extension for the file type: cfg –...

  • Page 129: Get Time

    Reply Field Type Description length Reply size – in bytes. Reply identifier. status Reply status. Get Time This command retrieves the system clock, in microseconds. 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.

  • Page 130: Scheduled Start

    Command Field Type Description length Command size – in bytes. Command identifier (0x100D). reserved Reserved field – set to 0. Reply Field Type Description length Reply size – in bytes. Reply identifier. status Reply status. Scheduled Start The scheduled start command starts the sensor system (system enters the Running state) at target time or encoder value (depending on the trigger mode).

  • Page 131: Trigger

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

  • Page 132: Scheduled Analog Output

    Reply Field Type Description length Reply size – in bytes. Reply identifier. status Reply status. Scheduled Analog Output The Scheduled 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. See Analog Output (page 93) for information on setting up the analog output.

  • Page 133: Reset

    Reply Field Type Description length Reply size – in bytes. Reply identifier. status Reply status. Reset 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...

  • Page 134: Restore Factory

    Command Field Type Description length Command size – in bytes. Command identifier (0x1014). fileSize Size of backup file – in bytes. file[fileSize] byte Backup file content. Reply Field Type Description length Reply size – in bytes. Reply identifier. status Reply status. Restore Factory The Restore Factory command restores the connected sensor to factory default settings.

  • Page 135: Set Connection Type

    Reply Field Type Description length Reply size – in bytes. Reply identifier. status Reply status. type see below Connection type ( Set Connection Type The Set Connection Type command save the type of the master to the sensor's non-volatile storage. Command Field Type...

  • Page 136: Data Results

    Data Results A Data Result message adheres to the general structure for result messages as defined in Result Format (see page 117). A Data Result contains a variable number of blocks depending on the sources selected for Ethernet output. Each selected source contributes two data blocks (and accompanying data block descriptors): one block for attributes and one block for content such as video pixels or measurement results.

  • Page 137: Range

    Range Range Attributes Field Type Description dataType Data type: 0xA – Range source Range source. zResolution Z resolution (nm). zOffset Z offset (nm). exposure Exposure (us). Set to zero if multiple exposure mode is used. reserved[N] A variable number of additional attributes may be included. Data Field Type...

  • Page 138: Travel Calibration

    Travel Calibration Travel Calibration Attributes Field Type Description dataType Data type (0x05). reserved{N] A variable number of additional attributes may be included. Travel Calibration Data Field Type Description status Calibration result. Exposure Calibration Exposure Calibration Attributes Field Type Description dataType Data type (0x06).

  • Page 139: Health Results

    Health Results A Health Result message adheres to the general structure for result messages as defined in Result Format (see page 117). A Health Result contains a single data block for health indicators. Each indicator reports the current status of some aspect of the sensor system, such as CPU usage or network throughput. Health Result Header Field Type...
  • Page 140 Indicator Instance Value CPU Used 2007 CPU usage (percentage of maximum). Net Out Used 2008 Current outbound network throughput (bytes/s). Net Out Capacity 2009 Total available outbound network throughput (bytes/s). State 2010 Current system state. Camera Errors 2011 Number of camera frame errors encountered. Camera Drops 2012 Number of camera frames dropped.
  • Page 141 Indicator Instance Value Replay Frame Count 20017 – Number of frames in buffer Measurement 30000 Measurement id Measurement value. Measurement Pass 30001 Measurement id Number of pass decisions. Measurement Fail 30002 Measurement id Number of fail decisions. Measurement Minimum 30003 Measurement id Minimum measurement value.

  • Page 142: Modbus Tcp Protocol

    Modbus TCP Protocol Modbus TCP is designed to allow industrial equipment such as Programmable Logic Controllers (PLC), sensors, and physical input/output devices to communicate over an Ethernet network. Modbus TCP embeds a Modbus frame into a TCP frame in a simple manner. This is a connection- oriented transaction, and every query expects a response.

  • Page 143: Registers

    Field Length (Bytes) Description and data fields. Unit ID Used for intra-system routing purpose. The Modbus Client sets the value and the Server (Gocator) copies the value into its responses. Modbus Application Protocol Specification describes the standard function codes in detail. Gocator supports the following function codes: Modbus Function Code Function Code...

  • Page 144: Control Registers

    command. Likewise, you can control the state of the sensor using a single Write Multiple Register command. Control registers are write-only, and output registers are read-only. Register Map Overview Register Address Name Read/Write Description See Control 0 - 124 Control Registers Registers for Modbus commands.

  • Page 145: Output Registers

    Register Name Read/Write Description Address associated with it by performing calibration using Current Configuration , and a template (if in profile mode and a template has been registered) will be loaded. The values used for the Command Register are described below. Command Register Values Value Name...

  • Page 146: Measurement Registers

    Register Name Data Size (bit) Description Address file name. 312 – 371 Live Configuration Name 16 bits for each Current Configuration Name. character Name of currently loaded config file. Does not include the extension. Each 16-bit register contains a single character. Stamps contain trigger timing information used for synchronizing a PLC's actions.
  • Page 147 Measurement Register Map Register Address Name Data Size (bits) Description 1000 – 1001 Measurement ID 0 Value Measurement ID 0 Value 1002 Measurement ID 0 Decision Measurement ID 0 Decision 1003 – 1004 Measurement ID 1 Value Measurement ID 1 Value 1005 Measurement ID 1 Decision Measurement ID 1 Decision...

  • Page 148: 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 to a different active configuration. Calibrate and run sensors.

  • Page 149: Tcp/Ip Object (Class 0Xf5)

    TCP/IP Object (Class 0xF5) The TCP/IP Object contains read-only network configuration attributes such as IP Address.  TCP/IP configuration via Ethernet/IP is not supported.  See Volume 2, Chapter 5-3 of the CIP Specification for a complete listing of TCP/IP object attributes. Attribut Name Type Value...

  • Page 150: Command Assembly

    All assembly object instances are static. Data in a data byte array in an assembly object are stored in the big endian format. Command Assembly The command assembly object is used to start, stop, calibrate, and switch configuration on the sensor. Command Assembly Information Value...

  • Page 151: Sensor State Assembly

    Value Name Description If you specify a file ending with the ".set" extension, a configuration, the transformations that were associated with it by performing calibration using Current Configuration, and a template (if in profile mode and a template has been registered) will be loaded. Sensor State Assembly The sensor state assembly object contains the sensor's states, such as the current sensor temperature, frame count, and encoder values.

  • Page 152: Sample State Assembly

    Byte Name Description 20-43 Current Name of currently loaded config file, does not include the ".cfg" Configuratio extension. Each byte contains a single character (valid when byte 1 = 0). n Filename 44 - 99 Reserved Reserved bytes Sample State Assembly The sample state object contains measurements and their associated stamp information.

  • Page 153: Extended Sample State Assembly

    Byte Name Description 85-88 Measurement 1 Measurement ID 1 Value Decision 1 Measurement ID 1 Decision 175-178 Measurement 19 Measurement ID 19 Value Decision 19 Measurement ID 19 Decision Measurement results are reported in pairs of values and decisions. Measurement values are 32 bits wide and decisions are 8 bits wide.
  • Page 154 Byte Name Description 44 - 79 Reserved Reserved bytes 80-83 Measurement 0 Measurement ID 0 Value Decision 0 Measurement ID 0 Decision 85-88 Measurement 1 Measurement ID 1 Value Decision 1 Measurement ID 1 Decision 375-378 Measurement 59 Measurement ID 59 Value Decision 59 Measurement ID 59 Decision Measurement results are reported in pairs of values and decisions.

  • Page 155: Ascii Protocol

    ASCII Protocol This section describes the ASCII protocol available over the Ethernet and serial outputs. The protocol communicates using ASCII strings. The output result format from the sensor is user-configurable. Ethernet Communication Gocator's Ethernet communication is bidirectional. Measurement results are sent on the Ethernet output in one of two modes: Polling or Asynchronous.

  • Page 156: Command And Reply Format

    Serial Connection Settings Parameter Value Start Bits Stop Bits Parity None Data Bits Baud Rate (b/s) 115200 Format ASCII Command and Reply Format Commands are sent from the client to the Gocator. Command strings are not case sensitive  The command format is: <COMMAND><DELIMITER><PARAMETER><TERMINATION>...

  • Page 157: Standard Result Format

    Standard Result Format Measurement results can either be sent in the standard format or in a custom format. In the standard format, you select in the web interface which measurement values and decisions to send. For each measurement the following message is transmitted: Field Shorthand Length...

  • Page 158: Control Commands

    Control Commands Optional parameters are shown in italic. The placeholder for data is surrounded by brackets (<>). In the examples, the delimiter is set to ','. Start The Start command starts the sensor system (causes it to enter the Running state). This command is only valid when the system is in the Ready state.

  • Page 159: Trigger

    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.  If a start target is specified, the sensor starts at the target time or encoder (depending on the unit setting in the Trigger panel;...

  • Page 160: Stamp

    OK,test.cfg loaded successfully LoadConfig OK,test.cfg LoadConfig,wrongname.cfg ERROR, failed to load wrongname.cfg Stamp The Stamp command retrieves the current time, encoder and/or the last frame count. Formats Message Format Command Stamp, time, encoder, frame If no parameters are given, time, encoder and frame will be returned.  There could be more than one selection.

  • Page 161: Travel Calibration

    Examples: AlignCalibrate AlignCalibrate ERROR,ALIGNMENT CALIBRATION FAILED Travel Calibration The Travel Calibration command performs a travel calibration based on the calibration settings in the sensor's live configuration. A reply to the command is sent when the calibration has completed or failed. The command is timed out if there has been no progress after one minute.

  • Page 162: Get Result

    Get Result The Get Result command retrieves measurement values and decisions. Formats Message Format Command Result, 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>...

  • Page 163: Get Decision

    Standard data string for measurements ID 0 and 1: Value,0,1 OK,M00,00,V151290,M01,01,V18520 Standard formatted measurement data with a non-existent measurement of ID 2: Value,2 ERROR,Specified measurement ID not found. Please verify your input Custom formatted data string (%time, %value[0]): Value OK, 1420266101, 151290 Get Decision The Get Decision command retrieves measurement decisions.

  • Page 164: Health Commands

    Health Commands Optional parameters are shown in italic. The placeholder for data is surrounded by brackets (<>). In the examples, the delimiter is set to ','. Get Health The Get Health command retrieves health indicators. See Health Results (page 139) for details on health indicators.

  • Page 165: 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). See Serial Output (page 199) for cable pinout information. Connection Settings Selcom Serial Protocol uses the following connection settings: Serial Connection Settings...
  • Page 166 Selcom serial 14-bit data format Protocols • Selcom Serial Protocol • 166...

  • Page 167: 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 168: Limiting Flash Memory Write Operations

    Sets the type of sensor connection (custom, master, etc.). Go2System_SetAddress Locates a Gocator sensor by id (serial number) and configures its network address settings. Go2System_ChangePassword Changes the password associated with the specified user account. Software Development Kit • 168 Gocator 1300 Series...
  • Page 169 Go2System_CopyFile function. Local calibration should be used as a means to attach previously conducted calibration results to a configuration file, eliminating the need to perform a new calibration. Software Development Kit • 169 Gocator 1300 Series...

  • Page 170: Tools

    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 the LMI Technologies website: http://www.lmi3D.com.
  • Page 171 The Sensor Discovery tool uses UDP broadcast messages to reach sensors on different subnets. This enables the Sensor Discovery tool to locate and re-configure sensors even when the sensor IP address or subnet configuration is unknown. Tools • Sensor Recovery Tool • 171...

  • Page 172: Troubleshooting

    Snapshot button, but not when you use the Start button, then the problem could be related to trig- gering. See Trigger Panel (page 57) for information on configuring the trigger source. The sensor emits laser light, but the Range Indicator LED does not illuminate and/or points are not displayed in the Data Viewer. Gocator 1300 Series...
  • Page 173 If you are using an external input or software trigger, consider redu- cing the rate at which you apply triggers. Review the measurements that you have programmed and eliminate any unnecessary measurements. Troubleshooting • 173 Gocator 1300 Series...

  • Page 174: Specifications

    Specifications The following sections describe the specifications of the Gocator and its associated hardware.

  • Page 175: Gocator 1300 Series

    Gocator 1300 Series The Gocator 1300 series consists of the sensor models defined below. MODEL 1320 1340 1350 1365 1370 1390 Clearance Distance (mm) 162.5 237.5 Measurement  412.5 2000 Range (MR) (mm) Linearity Z  (+/- % of MR) 0.05 0.05 0.05...

  • Page 176: Gocator 1320 (Side Mount Package)

    +24 to +48 VDC (13 Watts); Ripple +/- 10% Housing Gasketed Aluminum Enclosure, IP67 Operating Temp. 0 to 50° C Storage Temp. -30 to 70 ° C Gocator 1320 (Side Mount Package) Field of View / Measurement Range Specifications • Gocator 1300 Series • 176...
  • Page 177 Dimensions Envelope Specifications • Gocator 1300 Series • 177...

  • Page 178: Gocator 1340 (Side Mount Package)

    Gocator 1340 (Side Mount Package) Field of View / Measurement Range Dimensions Specifications • Gocator 1300 Series • 178...
  • Page 179 Envelope Specifications • Gocator 1300 Series • 179...

  • Page 180: Gocator 1350 (Side Mount Package)

    Gocator 1350 (Side Mount Package) Field of View / Measurement Range Specifications • Gocator 1300 Series • 180...
  • Page 181 Dimensions Specifications • Gocator 1300 Series • 181...
  • Page 182 Envelope Specifications • Gocator 1300 Series • 182...

  • Page 183: Gocator 1350 (Top Mount Package)

    Gocator 1350 (Top Mount Package) Field of View / Measurement Range Specifications • Gocator 1300 Series • 183...
  • Page 184 Dimensions Specifications • Gocator 1300 Series • 184...
  • Page 185 Envelope Specifications • Gocator 1300 Series • 185...

  • Page 186: Gocator 1365 (Side Mount Package)

    Gocator 1365 (Side Mount Package) Field of View / Measurement Range Specifications • Gocator 1300 Series • 186...
  • Page 187 Dimensions Specifications • Gocator 1300 Series • 187...
  • Page 188 Envelope Specifications • Gocator 1300 Series • 188...

  • Page 189: Gocator 1370 (Side Mount Package)

    Gocator 1370 (Side Mount Package) Field of View / Measurement Range Specifications • Gocator 1300 Series • 189...
  • Page 190 Dimensions Envelope Specifications • Gocator 1300 Series • 190...

  • Page 191: Gocator 1390 (Side Mount Package)

    Gocator 1390 (Side Mount Package) Field of View / Measurement Range Specifications • Gocator 1300 Series • 191...
  • Page 192 Dimensions Specifications • Gocator 1300 Series • 192...
  • Page 193 Envelope Specifications • Gocator 1300 Series • 193...

  • Page 194: Gocator Power/Lan Connector

    Gocator Power/LAN Connector The Gocator Power/LAN connector is a 14 pin, M16 style connector that provides power input, laser safety 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 195: Power

    Power Positive voltage is applied to DC_24-48V. See Gocator 1300 Series (page 175) for the sensor's power requirement. Ground is applied to GND_24-48VDC. 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+.

  • Page 196: Gocator 1300 I/O Connector

    Gocator 1300 I/O Connector The Gocator 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 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 197: 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 3 and Emitter – Pin 4) and Out_2 (Collector – Pin 5 and Emitter Pin 6) are independent and therefore V+ and GND are not required to be the same.

  • Page 198: Encoder Input

    Active High If the supplied voltage is greater than 24 V, connect an external resistor in series to Pin 1.  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 Trigger_In+.

  • Page 199: Serial Output

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

  • Page 200: Analog Output

    Analog Output The Sensor I/O Connector defines one analog output interface: Analog_out. Function Pins Current Range Analog_out 17, 18 4 – 20 mA 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 201: Master 100

    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 202: Master 100 Dimensions

    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 • Master 100 • 202...

  • Page 203: Master 400/800

    Master 400/800 The Master 400/800 provides sensor power and 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. Power and Safety (6 pin connector) Function +48VDC +48VDC GND(48VDC)

  • Page 204: Master 400/800 Electrical Specifications

    Function Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved This connector does not need to be wired up for proper operation. Encoder (8 pin connector) Function Encoder_A+ Encoder_A- Encoder_B+ Encoder_B- Encoder_Z+ Encoder_Z- +5VDC Master 400/800 Electrical Specifications Electrical Specifications for Master 400/800 Master 400 / 800 Power Supply Voltage...

  • Page 205: Master 400/800 Dimensions

    The +48VDC power supply must be isolated from AC ground. This means that AC ground and DC ground are not connected. The Power Draw specification is based on a Master with no sensors attached. Every sensor has its own power requirements which need to be considered when calculating total system power requirements.

  • Page 206: Master 1200/2400

    Master 1200/2400 The Master 1200/2400 provides sensor power and 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. Power and Safety (6 pin connector) Function +48VDC +48VDC GND(48VDC)

  • Page 207: Master 1200/2400 Electrical Specifications

    Function Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved This connector does not need to be wired up for proper operation. Encoder (8 pin connector) Function Encoder_A+ Encoder_A- Encoder_B+ Encoder_B- Encoder_Z+ Encoder_Z- +5VDC Master 1200/2400 Electrical Specifications Electrical Specifications for Master 1200/2400 Master 1200 / 2400 Power Supply Voltage +48VDC...

  • Page 208: Master 1200/2400 Dimensions

    The Power Draw specification is based on a Master with no sensors attached. Every sensor has its own power requirements which need to be considered when calculating total system power requirements. Master 1200/2400 Dimensions The dimensions of Master 1200 and Master 2400 are the same. Specifications •...

  • Page 209: Parts And Accessories

    Master 2400 - for networking up to 24 sensors 30650 Cordsets Description Part Number 2m I/O cordset, open wire end 30864-2m 5m I/O cordset, open wire end 30862 10m I/O cordset, open wire end 30863 15m I/O cordset, open wire end 30864-15m Gocator 1300 Series...
  • Page 210 30858-20m 25m Power and Ethernet to Master cordset, 2x RJ45 ends 30858-25m Contact LMI for information on creating cordsets with custom length or connector orientation. The maximum cordset length is 60 m. Parts and Accessories • 210 Gocator 1300 Series...

  • Page 211: 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 212: Software Licenses

    INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. Gocator 1300 Series...
  • Page 213 Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: Software Licenses • 213 Gocator 1300 Series...
  • Page 214 HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. Closure Library Website: http://code.google.com/closure/library/index.html License: Software Licenses • 214 Gocator 1300 Series...
  • Page 215 Modified by Lincoln Cooper to add Safari support and only call the callback once during initialization for msie when no initial hash supplied. API rewrite by Lauris Bukis-Haberkorns jQuery.mouseWheel Website: http://brandonaaron.net License: Copyright (c) 2010 Brandon Aaron Software Licenses • 215 Gocator 1300 Series...
  • Page 216 Software distributed under the License is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY KIND, either express or implied. See the License for the specific language governing rights and limitations under the License. Software Licenses • 216 Gocator 1300 Series...
  • Page 217 EtherNet/IP Communication Stack Website: sourceforge.net/projects/opener License: SOFTWARE DISTRIBUTION LICENSE FOR THE ETHERNET/IP(TM) COMMUNICATION STACK (ADAPTED BSD STYLE LICENSE) Copyright (c) 2009, Rockwell Automation, Inc. ALL RIGHTS RESERVED. EtherNet/IP is a trademark of ODVA, Inc. Software Licenses • 217 Gocator 1300 Series...

  • Page 218: 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 219: Contact

    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 Gocator 1300 Series...

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