LMI Technologies Gocator Series User Manual

Profile sensors

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Gocator Line Profile Sensors

Gocator 2100, 2300, 2400 Series; Gocator 2880

USER MANUAL

Firmware version: 4.5.x.xx

Document revision: D

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Summary of Contents for LMI Technologies Gocator Series

Page 1 Gocator Line Profile Sensors Gocator 2100, 2300, 2400 Series; Gocator 2880 USER MANUAL Firmware version: 4.5.x.xx Document revision: D...
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
Table of Contents Network Setup Client Setup Gocator Setup Copyright Running a Standalone Sensor System Table of Contents Running a Dual-Sensor System Introduction Next Steps Safety and Maintenance How Gocator Works Laser Safety 3D Acquisition Laser Classes Clearance Distance, Field of View and Precautions and Responsibilities Measurement Range Class 3B Responsibilities...
Page 4 System Management and Maintenance Material Manage Page Overview Alignment Sensor System Alignment States Sensor Autostart Alignment Types System Layout Alignment: With and Without Encoder Calibration Buddy Assignment Aligning Sensors Exposure Multiplexing Clearing Alignment Over Temperature Protection Filters Networking Gap Filling Motion and Alignment Median Alignment Reference...
Page 5 Sections Hole Creating a Section Measurement Region Deleting a Section Opening Measurement Measurement Region Measure Page Overview Plane Data Viewer Position Tools Panel Stud Adding and Configuring a Tool Measurement Region Source Volume Streams (Sections) Script Regions Script Measurement Decisions Built-in Functions Filters Output...
Page 6 Benefits Rotational Installation PartDetection Gocator Accelerator Application EdgeFiltering Dashboard and Health Indicators PartMatching SDK Application Integration Edge Limitations BoundingBox Ellipse Gocator Device Files Live Files Replay Log File RecordingFiltering Job Files Conditions/AnyMeasurement Job File Components Conditions/AnyData Accessing Files and Components Conditions/Measurement Configuration Streams/Stream (Read-only)
Page 7 SurfaceHole Delete File SurfaceOpening User Storage Used SurfacePlane User Storage Free SurfacePosition Get Default Job SurfaceStud Set Default Job SurfaceVolume Get Loaded Job Output Get Alignment Reference Ethernet Set Alignment Reference Ascii Clear Alignment Get Timestamp Modbus Get Encoder Digital0 and Digital1 Reset Encoder Analog Start...
Page 8 Create Model EtherNet/IP Protocol Detect Edges Concepts Add Tool Basic Object Add Measurement Identity Object (Class 0x01) Read File (Progressive) TCP/IP Object (Class 0xF5) Export CSV (Progressive) Ethernet Link Object (Class 0xF6) Export Bitmap (Progressive) Assembly Object (Class 0x04) Get Runtime Variable Count Command Assembly Set Runtime Variables Runtime Variable Configuration Assembly 411...
Page 9 CSV Converter Tool Setup and Locations Troubleshooting Class Reference Specifications Examples Sensors Sample Project Environment Variable Gocator 2100 & 2300 Series Header Files Gocator 2320 Class Hierarchy Gocator 2130 and 2330 GoSystem Gocator 2140 and 2340 GoSensor Gocator 2342 GoSetup Gocator 2150 and 2350 GoLayout Gocator 2170 and 2370...
Page 10 Master 2410 Dimensions Master 1200/2400 Master 1200/2400 Electrical Specifications 521 Master 1200/2400 Dimensions Accessories Return Policy Software Licenses Support Contact Gocator Line Profile Sensors: User Manual...
Page 11: Introduction
Introduction Gocator laser profile 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 documentation describes how to connect, configure, and use a Gocator. It also contains reference information on the device's protocols and job files.
Page 12: 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. See Laser Classes on the next page for more information on the laser classes used in Gocator sensors.
Page 13: Laser Classes
Laser Classes Class 2M laser components Class 2M laser components should not cause permanent damage to the eye under reasonably foreseeable conditions of operation, provided that: No optical aids are used (these could focus the beam). The user’s blink reflex can terminate exposure (in under 0.25 seconds).
Page 14: Precautions And Responsibilities
For more information, see Class 3B Responsibilities below. Class 3B Responsibilities LMI Technologies has filed reports with the FDA to assist customers in achieving certification of laser products. 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 15: Nominal Ocular Hazard Distance (Nohd)
Power-On Delays A delay circuit is required that illuminates warning indicators for a short period of time before supplying power to the lasers. Beam Attenuators A permanently attached method of preventing human access to laser radiation other than switches, power connectors or key control must be employed. Emission Indicator It is required that the controls that operate the sensors incorporate a visible or audible indicator when power is applied and the lasers are operating.
Page 16: Systems Sold Or Used In The Usa
Model Constant includes a consideration of the fan angle for the individual models. 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 17: Handling, Cleaning, And Maintenance
Turn off lasers when not in use LMI Technologies uses semiconductor lasers in Gocator sensors. To maximize the lifespan of the sensor, turn off the laser when not in use. Avoid excessive modifications to files stored on the sensor Settings for Gocator sensors are stored in flash memory inside the sensor.
Page 18 Avoid installing sensors in hazardous environments To ensure reliable operation and to prevent damage to Gocator sensors, avoid installing the sensor in locations that are humid, dusty, or poorly ventilated; with a high temperature, such as places exposed to direct sunlight; where there are flammable or corrosive gases;...
Page 19: 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 20: Dual-Sensor System
Dual-Sensor System In a dual-sensor system, two Gocator sensors work together to perform profiling and output the combined results. The controlling sensor is referred to as the Main sensor, and the other sensor is referred to as the Buddy sensor. Gocator's software recognizes three installation orientations: Opposite, Wide, and Reverse.
Page 21: Multi-Sensor System
Multi-Sensor System Master network controller (excluding Master 100) can be used to connect two or more sensors into a multi-sensor system. Gocator Master cordsets are used to connect the sensors to a Master. The Master provides a single point of connection for power, safety, encoder, and digital inputs. A Master 400/800/1200/2400 can be used to ensure that the scan timing is precisely synchronized across sensors.
Page 22: Hardware Overview
Hardware Overview The following sections describe Gocator and its associated hardware. Gocator Sensor Gocator 2140 / 2340 Item Description Camera Observes laser light reflected from target surfaces. Laser Emitter Emits structured light for laser profiling. 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 23: Master 400 / 800
The maximum cordset length is 60 m. See Gocator I/O Connector on page 502 and Gocator Power/LAN Connector on page 500 for pinout details. See Accessories on page 523 for cordset lengths and part numbers. Contact LMI for information on creating cordsets with customized lengths and connector orientations.
Page 24 See Master 100 on page 506 for pinout details. Master 400 / 800 / 1200 / 2400 The Master 400, 800, 1200, and 2400 network controllers let you connect more than two sensors: Master 400: accepts four sensors Master 800 accepts eight sensors Master 1200: accepts twelve sensors Master 2400: accepts twenty-four sensors Master 400 and 800...
Page 25: Master 810 / 2410
Master 1200 and 2400 Item Description Sensor Ports Master connection for Gocator sensors (no specific order required). Ground Connection Earth ground connection point. Power and Safety Power and laser safety connection. Encoder Accepts encoder signal. Input Accepts digital input. For pinout details for Master 400 or 800, see Master 400/800 on page 508. For pinout details for Master 1200 or 2400, see Master 1200/2400 on page 520.
Page 26: Calibration Targets
Master 810 Master 2410 Item Description Sensor Ports Master connection for Gocator sensors (no specific order required). Power and Safety Power and laser safety connection. Encoder Accepts encoder signal. Input Accepts digital input. For pinout details, see Master 810/2410 on page 512. Calibration Targets Targets are used for alignment and calibrating encoder systems.
Page 27 See Accessories on page 523 for disk part numbers. For wide, multi-sensor systems, bars are required to match the length of the system by following the guidelines illustrated below. (LMI Technologies does not manufacture or sell bars.) See Aligning Sensors on page 107 for more information on alignment.
Page 28: Installation
Installation The following sections provide grounding, mounting, and orientation information. Mounting Sensors should be mounted using a model-dependent number of screws. Some models also provide the option to mount using bolts in through-body holes. Refer to the Dimension drawings of the sensors in Specifications on page 465 for the appropriate screw diameter, pitch, and length, and bolt hole diameter.
Page 29: 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 30 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 • 30 Gocator Line Profile Sensors: User Manual...
Page 31: Grounding: Gocator
Above/below for two-sided measurement (Opposite) Main must be on the top with Buddy on the bottom (Opposite) For more information on setting up a dual-sensor system, see http://lmi3d.com/sites/default/files/APPNOTE_Gocator_2300_Gocator_4.x_Dual_Sensor_Setup_ Guide.pdf. Grounding: Gocator Gocators should be grounded to the earth/chassis through their housings and through the grounding shield of the Power I/O cordset.
Page 32: Installing Din Rail Clips: Master 810 Or
To terminate the cordset's shield: Expose the cordset's braided shield by cutting the plastic jacket before the point where the cordset splits. Install a 360-degree ground clamp. Installing DIN Rail Clips: Master 810 or 2410 You can mount the Master 810 and 2410 using the included DIN rail mounting clips with M4x8 flat socket cap screws.
Page 33: Grounding: Master Network Controllers
Attach each of the two DIN rail mount clips to the back of the Master using an M4x8 flat socket cap screw for each one. The following illustration shows the installation of clips on a Master 810 for horizontal mounting: Ensure that there is enough clearance around the Master for cabling. Grounding: Master Network Controllers The rack mount brackets provided with all Masters are designed to provide adequate grounding through the use of star washers.
Page 34: Rut-Scanning System Setup
Rut-Scanning System Setup The following sections describe how to set up a Gocator 2375 rut-scanning system. Layout The Gocator 2375 sensor is designed to cover a scan width of up to 4.2 m by using 8 sensors mounted in parallel. Getting Started •...
Page 35: System Setup
The diagram above shows the clearance distance and measurement range required in a typical setup. Use the specification estimator (Gocator-2375_Specification_Estimator.xlsx) to calculate the X and Z resolution of the sensors with different combinations of clearance distance and measurement range. System Setup A typical Gocator 2375 system is set up as a multi-sensor system. ...
Page 36: Software Configuration
Connect the RJ45 jack labeled Power to an unused port on the Master. Connect the RJ45 jack labeled Ethernet to an unused port on the Master. Repeat the steps above for each sensor. See Master 400/800 on page 508 and Master 1200/2400 on page 520 for more information on how to install a Master.
Page 37: Network Setup
Network Setup The following sections provide procedures for client PC and Gocator network setup. DHCP is not recommended for Gocator sensors. If you choose to use DHCP, the DHCP server should try to preserve IP addresses. Ideally, you should use static IP address assignment (by MAC address) to do this.
Page 38 Change the client PC's network settings. Windows 7 a. Open the Control Panel, select Network and Sharing Center, and then click Change Adapter Settings. b. Right-click the network connection you want to modify, and then click Properties. c. On the Networking tab, click Internet Protocol Version 4 (TCP/IPv4), and then click Properties.
Page 39: Gocator Setup
Gocator Setup The Gocator is shipped with a default configuration that will produce laser profiles for most targets. The following sections describe how to set up a standalone sensor system and a dual-sensor system for operations. After you have completed the setup, you can perform laser profiling to verify basic sensor operation.
Page 40: Running A Dual-Sensor System
Master 810/2410 Move a target into the laser plane. If a target object is within the sensor's measurement range, the data viewer will display the shape of the target, and the sensor's range indicator will illuminate. If you cannot see the laser, or if a profile is not displayed in the Data Viewer, see Troubleshooting on page 463.
Page 41 The Gocator interface loads. Go to the Manage Page. Modify the IP address to 192.168.1.11 in the Networking category and click the Save button. When you click the Save button, you will be prompted to confirm your selection. Turn off the sensors, re-connect the Main sensor's Ethernet connection and power-cycle the sensors.
Page 42 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 on page 82 to upgrade the sensors.
Page 43: Next Steps
Next Steps After you complete the steps in this section, the Gocator measurement system is ready to be configured for an application using the software interface. The interface is explained in the following sections: System Management and Maintenance (page 70) Contains settings for sensor system layout, network, motion and alignment, handling jobs, and sensor maintenance.
Page 44: How Gocator Works
How Gocator Works The following sections provide an overview of how Gocator acquires and produces data, detects and measures parts, and controls devices such as PLCs. Some of these concepts are important for understanding how you should mount sensors and configure settings such as active area. You can use the Gocator Accelerator to speed up processing of data.
Page 45: Clearance Distance, Field Of View And Measurement Range
Target objects are typically moved under the sensor on a transportation mechanism, such as a conveyor belt. Sensors can also be mounted on robot arms and moved over the target. In both cases, the sensor captures a series of 3D profiles, building up a full scan of the object. Sensor speed and required exposure time to measure the target are typically critical factors in applications with line profiler sensors.
Page 46: Resolution And Accuracy
Resolution and Accuracy The following sections describe X Resolution, Z Resolution, and Z Linearity. These terms are used in the Gocator datasheets to describe the measurement capabilities of the sensors. X Resolution X resolution is the horizontal distance between each measurement point along the laser line. This specification is based on the number of camera columns used to cover the field of view (FOV) at a particular measurement range.
Page 47: Z Resolution
Z Resolution Z Resolution gives an indication of the smallest detectable height difference at each point, or how accurately height on a target can be measured. Variability of height measurements at any given moment, in each individual 3D point, with the target at a fixed position, limits Z resolution. This variability is caused by camera and sensor electronics.
Page 48 Z linearity is expressed in the Gocator data sheet as a percentage of the total measurement range. How Gocator Works • 48 Gocator Line Profile Sensors: User Manual...
Page 49: Profile Output
Profile Output Gocator represents a profile as a series of ranges, with each range representing the distance from the origin. Each range contains a height (on the Z axis) and a position (on the X axis) in the sensor's field of view.
Page 50: System Coordinates
The mounting direction, relative to the direction of travel, can be set in Gocator using either the Normal or Reverse layout. For more information, see System Layout on page 71. System Coordinates Aligning sensors adjusts the coordinate system in relation to sensor coordinates. Alignment is used with a single sensor to compensate for mounting misalignment and to set a zero reference, such as a conveyor belt surface.
Page 51 Alignment is also used to set a common coordinate system for dual-sensor systems. That is, profiles and measurements from the sensors are expressed in a unified coordinate system. How Gocator Works • 51 Gocator Line Profile Sensors: User Manual...
Page 52: Part And Section Coordinates
In both cases, alignment determines the offsets in X and Z. Alignment also determines the tilt (angle on the X–Z plane, around the Y axis) needed to align sensor data. The adjustments resulting from alignment are called transformations and are displayed in Sensor panel on the Scan page.
Page 53: Switching Between Coordinate Systems
data and measurement results are in a coordinate system that places the X and Y origins at the center of the part. The Z origin is at the bottom of the alignment target (or in the center of the measurement range if the sensor is unaligned). The Frame of Reference setting, in the Part Detection panel on the Scan page, controls whether part data is recorded using sensor/system coordinates or part coordinates.
Page 54: Data Generation And Processing
Resampling to uniform spacing reduces the complexity for downstream algorithms to process the profile data from the Gocator, but places a higher processing load on the sensor's CPU. When uniform spacing is not enabled, no processing is required on the sensor. This frees up processing resources in the Gocator, but usually requires more complicated processing on the client side.
Page 55: Part Detection
For more information, see Surface Generation on page 113. Part Detection After Gocator has generated a surface by combining single exposures into larger pieces of data, the firmware can isolate discrete parts on a generated surface into separate scans representing parts. Gocator can then perform measurements on these isolated parts.
Page 56: Part Matching
You can use most of Gocator's profile measurement tools on a section, letting you perform measurements that are not possible with surface measurement tools. For more information on sections, see Sections on page 149. Part Matching Gocator can match scanned parts to the edges of a model based on a previously scanned part (see Using Edge Detection on page 136) or to the dimensions of a fitted bounding box or ellipse that encapsulate the model (see Using Bounding Box and Ellipse on page 145).
Page 57: Output And Digital Tracking
Gocator provides several measurement tools, each of which provides a set of individual measurements, giving you dozens of measurements ideal for a wide variety of applications to chose from. The configured measurements start returning pass/fail decisions, as well as the actual measured values, which are then sent over the enabled output channels to control devices such as PLCs, which can in turn...
Page 58: 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 Manage page Contains settings for sensor system layout, network, motion and alignment, handling jobs, and sensor maintenance.
Page 59: Toolbar
Element Description Measure page Contains built-in measurement tools and their settings. See Measurement on page 155. Output page Contains settings for configuring output protocols used to communicate measurements to external devices. See Output on page 243. Dashboard page Provides monitoring of measurement statistics and sensor health. See Dashboard on page 255.
Page 60 multiple job files. If there is a job file that is designated as the default, it will be loaded automatically when the sensor is reset. When you change sensor settings using the Gocator web interface in the emulator, some changes are saved automatically, while other changes are temporary until you save them manually.
Page 61: Recording, Playback, And Measurement Simulation
You can perform other job management tasks—such as downloading job files from a sensor to a computer, uploading job files to a sensor from a computer, and so on—in the Jobs panel in the Manage page. See Jobs on page 77 for more information. Recording, Playback, and Measurement Simulation Gocator sensors can record and replay recorded scan data, and also simulate measurement tools on recorded data.
Page 62 Playback controls when replay is on To replay data: Toggle Replay mode on by setting the slider to the right in the Toolbar. The slider's background turns blue and a Replay Mode Enabled message is displayed. Use the Replay slider or the Step Forward, Step Back, or Play buttons to review data. The Step Forward and Step Back buttons move and the current replay location backward and forward by a single frame, respectively.
Page 63: Recording Filtering
Recording Filtering Replay data is often used for troubleshooting. But replay data can contain thousands of frames, which makes finding a specific frame to troubleshoot difficult. Recording filtering lets you choose which frames Gocator records, based on one or more conditions, which makes it easier to find problems. How Gocator treats conditions Setting Description...
Page 64: Downloading, Uploading, And Exporting Replay Data
Click the Recording Filtering button In the Recording Filtering dialog, choose how Gocator treats conditions: For information on the available setting, see How Gocator treats conditions on the previous page. Configure the conditions that will cause Gocator to record a frame: For information on the available setting, see Conditions on the previous page.
Page 65 In the Upload menu, choose one of the following: Upload: Unloads the current job and creates a new unsaved and untitled job from the content of the replay data file. Upload and merge: Uploads the replay data and merges the data's associated job with the current job.
Page 66: Metrics Area
In Profile mode, all data in the record buffer is exported. In Surface mode, only data at the current replay location is exported. Use the playback control buttons to move to a different replay location; for information on playback, see To replay data in Recording, Playback, and Measurement Simulation on page 61. Optionally, convert exported data to another format using the CSV Converter Tool.
Page 67: Data Viewer
Open the log for details on the warning. For more information on logs, see Log below. When a sensor is accelerated a "rocket" icon appears in the metrics area. Data Viewer The data viewer is displayed in both the Scan and the Measure pages, but displays different information depending on which page is active.
Page 68: Frame Information
To use the log: Click on the Log open button at the bottom of the web interface. Click on the appropriate tab for the information you need. Frame Information The area to the right of the status bar displays useful frame information, both when the sensor is running and when viewing recorded data.
Page 69 The Gocator interface reloads on the page you were working in, displaying the page using the language you chose. The sensor state is preserved. Gocator Web Interface • 69 Gocator Line Profile Sensors: User Manual...
Page 70: System Management And Maintenance
System Management and Maintenance The following sections describe how to set up the sensor connections and networking, how to calibrate encoders and choose alignment reference, and how to perform maintenance tasks. Manage Page Overview Gocator's system and maintenance tasks are performed on the Manage page. Element Description Sensor System...
Page 71: Sensor System
Sensor System The following sections describe the Sensor System category on the Manage page. This category lets you choose the layout for standalone or dual-sensor systems, and provides other system settings. Dual-sensor layouts are only displayed when a Buddy sensor has been assigned. Sensor Autostart With the Autostart setting enabled, laser ranging profiling and measurement functions will begin automatically when the sensor is powered on.
Page 72 Supported Layouts Orientation Example Normal The sensor operates as an isolated device. Reverse The sensor operates as an isolated device, but in a reverse orientation. You can use this layout to change the handedness of the data. Wide Sensors are mounted in Left (Main) and Right (Buddy) positions for a larger combined field of view.
Page 73: Buddy Assignment
To specify the layout: Go to the Manage page and click on the Sensor System category. If you are configuring the layout of a dual-sensor system, select an assigned Buddy sensor in the Visible Sensors list. For information on assigning a Buddy sensor, see Buddy Assignment below. Select a layout by clicking one of the layout buttons.
Page 74: Exposure Multiplexing
Select a sensor in the Visible Sensors list. Click the Assign button. A sensor can only be assigned as a Buddy if its firmware and model number match the firmware and model number of the Main sensor. The Assign button will be greyed out if a sensor cannot be assigned as a Buddy.
Page 75: Networking
To enable/disable overheat temperature protection: Check/uncheck the Over Temperature Protection option. Save the job file. Networking The Networking category on the Manage page provides network settings. Settings must be configured to match the network to which the Gocator sensors are connected. To configure the network settings: Go to the Manage page.
Page 76: Alignment Reference
Alignment Reference The Alignment Reference setting can have one of two values: Fixed or Dynamic. Setting Description Fixed A single, global alignment is used for all jobs. This is typically used when the sensor mounting is constant over time and between scans, for example, when the sensor is mounted in a permanent position over a conveyor belt.
Page 77: Encoder Value And Frequency
Encoder resolution is expressed in millimeters per tick, where one tick corresponds to one of the four encoder quadrature signals (A+ / A- / B+ / B-). Encoders are normally specified in pulses per revolution, where each pulse is made up of the four quadrature signals (A+ / A- / B+ / B-).
Page 78 Element Description Name field Used to provide a job name when saving files. Jobs list Displays the jobs that are currently saved in the sensor's flash storage. Name Save button Saves current settings to the job using the name in the field.
Page 79: Security
To save a job: Go to the Manage page and click on the Jobs category. Provide a name in the Name field. To save an existing job under a different name, click on it in the Jobs list and then modify it in the Name field.
Page 80: Maintenance
Account Description viewing replay data), to view all pages and edit all settings, and to perform setup procedures such as sensor alignment. Technician The Technician account has privileges to use the toolbar (loading and saving jobs, recording and Dashboard viewing replay data), to view the page, and to start or stop the sensor.
Page 81: Sensor Backups And Factory Reset
Sensor Backups and Factory Reset You can create sensor backups, restore from a backup, and restore to factory defaults in the Maintenance category. Backup files contain all of the information stored on a sensor, including jobs and alignment. An Administrator should create a backup file in the unlikely event that a sensor fails and a replacement sensor is needed.
Page 82: Firmware Upgrade
To restore from a backup: Go to the Manage page and click on the Maintenance category. Click the Restore... button under Backup and Restore. When you are prompted, select a backup file to restore. The backup file is uploaded and then used to restore the sensor. Any files that were on the sensor before the restore operation will be lost.
Page 83: Support
If a new version of the firmware is available, follow the instructions to download it to the client computer. 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 LMI's website: http://www.lmi3D.com/support/downloads.
Page 84: Support Files
Support Files You can download a support file from a sensor and save it on your computer. You can then use the support file to create a scenario in the Gocator emulator (for more information on the emulator, see Gocator Emulator on page 258). LMI's support staff may also request a support file to help in troubleshooting.
Page 85: Software Development Kit
Open HTML: Opens the HTML version of the manual in your default browser. Download PDF: Downloads the PDF version of the manual to the client computer. Software Development Kit You can download the Gocator SDK from within the Web interface. To download the SDK: Go to the Manage page and click on the Support category Next to Software Development Kit (SDK), click Download Choose the location for the SDK on the client computer.
Page 86: Scan Setup And Alignment
Scan Setup and Alignment The following sections describe the steps to configure Gocator sensors for laser profiling using the Scan page. Setup and alignment should be performed before adding and configuring measurements or outputs. Scan Page Overview The Scan page lets you configure sensors and perform alignment. Element Description Scan Mode panel...
Page 87: Scan Modes
Element Description Data Viewer Displays sensor data and adjusts regions of interest. Depending on the current operation mode, the data viewer can display video images , profile plots, or surface views . See Data Viewer on page 121. The following table provides quick references for specific goals that you can achieve from the panels in the Scan page.
Page 88: Triggers
Mode and Option Description Video images are processed internally to produce laser profiles and cross-sectional measurements. Surface Outputs 3D point clouds made up of many laser profiles combined together and performs surface measurements. The sensor uses various methods to generate a surface (see on page 113).
Page 89 Trigger Source Description Encoder An encoder can be connected to provide triggers in response to motion. Three encoder triggering behaviors are supported. These behaviors are set using the Behavior setting. Track Backward A scan is triggered when the target object moves forward. If the target object moves backward, it must move forward by at least the distance that the target travelled backward (this distance backward is "tracked"), plus one encoder spacing, to trigger the next scan.
Page 90 Trigger Source Description 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. The external input can be used to enable or disable the encoder triggers. For information on the maximum encoder rate, see Maximum Encoder Rate on page 94.
Page 91: Trigger Examples
Trigger Examples Example: Encoder + Conveyor Encoder triggering is used to perform profile 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 92: Trigger Settings
Example: Software Trigger + Robot Arm Software triggering can be used to produce a snapshot for profile measurement. A software trigger can be used in systems that use external software to control the activities of system components. Trigger Settings The trigger source is selected using the Trigger panel in the Scan page. After specifying a trigger source, the Trigger panel shows the parameters that can be configured. ...
Page 93: Maximum Input Trigger Rate
Parameter Trigger Source Description Fixed Length Variable Length Rotational , or (see on page 113). Digital Input See See on page 503 for more information on connecting external input to Gocator sensors. Behavior Encoder Specifies how the Gocator sensor is triggered when the target moves.
Page 94: Maximum Encoder Rate
Maximum Speed Maximum Duty Cycle 32 kHz 3.3 V 32 kHz 32 kHz 32 kHz 10 V At 50% duty cycle, the maximum trigger rates are as follows: Maximum Speed 3.3 V 34 kHz 34 kHz 10 V 22 kHz Maximum Encoder Rate On a standalone sensor, with the encoder directly wired into the I/O port or through a Master 100, the maximum encoder rate is about 1 MHz.
Page 95: Tracking Window
To set the active area: Go to the Scan page. Choose Profile or Surface mode in the Scan Mode panel, depending on the type of measurement whose decision you need to configure. If one of these modes is not selected, tools will not be available in the Measure panel. Expand the Sensor panel by clicking on the panel header or the button.
Page 96 The Gocator can track a relatively flat object in real-time to achieve very high scan rates. This feature tracks the object height using a small window that moves dynamically to cover a larger measurement range. You can balance the gain in speed and the tracking ability by configuring the size of the tracking area.
Page 97: Transformations
The panel below the checkbox expands and shows the settings for the window used to track the object height. Click the tracking window's Select button. Resize the tracking window shown in the data viewer. Only the height of the window is required. You can move the position of the tracking window to cover a live profile to help adjust the window height.
Page 98: Exposure
whose decision you need to configure. If one of these modes is not selected, tools will not be available in the Measure panel. Expand the Sensor panel by clicking on the panel header. Click the button corresponding to the sensor you want to configure. The button is labeled Top, Bottom, Top-Left, or Top-Right, depending on the system.
Page 99: Single Exposure
When the Gocator is in Multiple exposure mode, select which exposure to view using the drop-down box next to "View" in the data viewer. This drop-down is only visible in Video scan mode when the Multiple option is selected in the Exposure section in the Sensor panel. Single Exposure The sensor uses a fixed exposure in every scan.
Page 100: Dynamic Exposure
You can automatically tune the exposure by pressing the Auto Set button, which causes the sensor to turn on and tune the exposure time. Run the sensor and check that laser profiling is satisfactory. If laser profiling is not satisfactory, adjust the exposure values manually. Switch to Video mode to use video to help tune the exposure;...
Page 101: Multiple Exposure
If laser profiling is not satisfactory, adjust the exposure values manually. Switch to Video mode to use video to help tune the exposure; see Exposure on page 98 for details. Multiple Exposure The sensor combines data from multiple exposures to create a single laser profile . Multiple exposures can be used to increase the ability to detect light and dark materials that are in the field of view simultaneously.
Page 102: Spacing
Up to a maximum of five exposure settings can be added. To remove an exposure, select it in the exposure list and click the button Set the exposure level for each exposure to make the Gocator's camera less or more sensitive, as required. If Acquire Intensity is enabled, select the exposure step that is used to capture the intensity output.
Page 103: Spacing Interval
Both the X and the Z sub-sampling settings must be decreased to increase speed. To configure X or Z sub-sampling: Go to the Scan page. Expand the Sensor panel by clicking on the panel header or the button. Click the button corresponding to the sensor you want to configure. The button is labeled Top, Bottom, Top-Left, or Top-Right, depending on the system.
Page 104: Material
Balanced: Uses the X resolution at the middle of the active area as the spacing interval. This setting balances CPU load, data output rate, and X resolution. Resolution: Uses the highest X resolution within the active area as the spacing interval. This setting maximizes resolution but has higher CPU load and has the highest data output rate (i.e., greatest detail).
Page 105 Setting Description Spot Threshold The minimum increase in intensity level between neighbouring pixels for a pixel to be considered the start of a potential spot. This setting is important for filtering false profile spots generated by sunlight reflection. Spot Width Max The maximum number of pixels a spot is allowed to span.
Page 106: Alignment
Save the job in the Toolbar by clicking the Save button Check that laser profiling is satisfactory. After adjusting the setting, confirm that laser profiling is satisfactory. Various settings can affect how the Material settings behave. You can use Video mode to examine how the settings interact.
Page 107: Aligning Sensors
With encoder calibration Without encoder calibration Calibration disk or calibration bar Target Type Flat surface or calibration bar Target/Sensor Motion Linear motion Stationary Calibrates Tilt Calibrates Z axis Offset Calibrates X axis Offset Yes (Calibration bar required) Calibrates Encoder Calibrates Travel Speed See Coordinate Systems on page 49 for definitions of coordinate axes.
Page 108 To perform alignment for stationary targets: In the Alignment panel, select Stationary as the Type. Clear the previous alignment if present. Press the Clear Alignment button to remove an existing alignment.s Select an alignment Target. Select Flat Surface to use the conveyor surface (or other flat surface) as the alignment reference Select Bar to use a custom calibration bar.
Page 109 In the Alignment panel, select Moving as the Type. Clear the previous alignment if present. Press the Clear Alignment button to remove an existing alignment. Select an alignment Target. Select one of the disk Disk options to use a disk as the alignment reference. Select Bar to use a custom calibration bar.
Page 110: Clearing Alignment
Clearing Alignment Alignment can be cleared to revert the sensor to sensor coordinates. To clear alignment: Go to the Scan page. Choose Profile or Surface mode in the Scan Mode panel, depending on the type of measurement whose decision you need to configure. If one of these modes is not selected, tools will not be available in the Measure panel.
Page 111: Median
axis. X gap filling works by filling in the gaps within the same profile. Y gap filling works by filling in gaps in the direction of travel at each X location. If both X and Y gap filling are enabled, missing data is filled along the X and Y axes at the same time, using the available neighboring data.
Page 112: Smoothing
To configure X or Y median: Go to the Scan page. Choose Profile or Surface mode in the Scan Mode panel. If one of these modes is not selected, you will not be able to configure the median filter. Expand the Filters panel by clicking on the panel header or the button.
Page 113: Decimation
Choose Profile or Surface mode in the Scan Mode panel. If one of these modes is not selected, you will not be able to configure smoothing. Expand the Filters panel by clicking on the panel header or the button. Click on the Smoothing tab. Enable the X or Y setting and select the averaging window value.
Page 114 The types in the table below correspond to the Type setting in the panel. When Type is set to Continuous, part detection is automatically enabled. When Type is set to any of the other settings, part detection can be enabled and disabled in the Part Detection panel.
Page 115 available: Sequential: Continuously generates back-to-back fixed length surfaces. External Input: A pulse on the digital input triggers the generation of a single surface of fixed length. For more information on connecting external input to a Gocator sensor, see on page 503. You can optionally enable part detection to process the profilesurface after it has been...
Page 116 on the detection logic. To do this, check Enabled in the Part Detection panel. Rotational: The sensor reorders profiles within a surface to be aligned with the encoder’s index pulse. That is, regardless of the radial position the sensor is started at, the generated surface always starts at the position of the index pulse.
Page 117: Part Detection
after it has been generated, but the generation itself does not depend on the detection logic. To do this, check Enabled in the Part Detection panel. To configure surface generation: Go to the Scan page and choose Surface in the Scan Mode panel. If this mode is not selected, you will not be able to configure surface generation.
Page 118 The following settings can be tuned to improve the accuracy and reliability of part detection. Setting Description Threshold Height Threshold Determines the profile height threshold for part detection. The setting for Direction determines if parts should be detected above or below the threshold. Above is typically used to prevent the belt surface from being detected as a part when scanning objects on a conveyor.
Page 119 Setting Description third-party software such as HexSight, Halcon, etc. Padding Length Determines the amount of extra data on the Y axis from the surface surrounding the detected part that will be included. This is mostly useful when processing part data with third-party software such as HexSight, Halcon, etc.
Page 120: Edge Filtering
Expand the Part Detection panel by clicking on the panel header or the button. If necessary, check the Enabled option. When Surface Generation is set to Continuous, part detection is always enabled. Adjust the settings. See the part detection parameters above for more information. Edge Filtering Part scans sometimes contain noise around the edges of the target.
Page 121: Data Viewer
Edge Filtering enabled, Preserve Interior Feature enabled To configure edge filtering: Go to the Scan page and choose Surface in the Scan Mode panel. If this mode is not selected, you will not be able to configure part detection. Expand the Part Detection panel by clicking on the panel header or the button and enable part detection if necessary.
Page 122: Data Viewer Controls
Data Viewer Controls The data viewer is controlled by mouse clicks and by the buttons on the display toolbar. The mouse wheel can also be used for zooming in and out. Press 'F' when the cursor is in the data viewer to switch to full screen. Video Mode In Video mode, the data viewer displays a camera image.
Page 123: Overexposure And Underexposure
To select the exposure view of the display: Go to the Scan page and choose Video mode in the Scan Mode panel. Select the camera view in the data viewer. Use the first drop-down list next to View at the top of the data viewer to select Main or Buddy. Select the exposure.
Page 124: Spots And Dropouts
The Exposure setting uses the following colors: Blue: Indicates background pixels ignored by the sensor. Red: Indicates saturated pixels. Correct tuning of exposure depends on the reflective properties of the target material and on the requirements of the application. Settings should be carefully evaluated for each application, but often a good starting point is to set the exposure so that there are 2 to 3 red pixels in the center of the laser line.
Page 125: Profile Mode
To show data dropouts: Go to the Scan page and choose Video mode in the Scan Mode panel. check the Show Dropouts option at the top of the data viewer. For more information on the material settings, see Material on page 104. Profile Mode When the Gocator is in Profile scan mode, the data viewer displays profile plots.
Page 126 In a dual-sensor system, profiles from individual sensors or from a combined view can be displayed. When in the Scan page, selecting a panel (e.g., Sensor or Alignment panel) automatically sets the display to the most appropriate display view. To manually select the display view in the Scan page: Go to the Scan page.
Page 127: Section Mode
Left: View from the left sensor in a dual-sensor system. Right: View from the right sensor in a dual-sensor system. Left & Right: Views from both sensors, displayed at the same time in the data viewer, using the coordinate systems of each sensor. In the Measure page, the view of the display is set to the profile source of the selected measurement tool.
Page 128: Surface Mode
To manually select the display view in the Scan page: Go to the Scan page. Choose Surface mode in the Scan Mode panel. Just above the data viewer, choose Section in the View drop-down. The view from an individual sensor or the combined view of two sensors can be selected from the drop- down list at the top of the data viewer.
Page 129 View Option Description Profile Plots the last collected profile. (Only available in 2D view.) Surface - Heightmap In 2D view, displays the pseudo color height map. In 3D view, overlays the 2D pseudo color height map on the 3D model. Surface - Grayscale In 2D view, displays the grayscale height map.
Page 130 2D viewer with intensity overlay Choosing the Profile view option will switch the data viewer out of the 3D viewer and display the profile plot. If you have defined any sections, a Sections option will display. Clicking the 3D button toggles between the 2D and 3D viewer. The 3D model is overlaid with the information that corresponds to the selected View option.
Page 131: Height Map Color Scale
3D viewer with uniform overlay 3D viewer with uniform overlay In 3D mode, you can choose how the data viewer renders the model: Rendering Mode Description Point Cloud (default) Renders 3D models using point clouds. Useful in scan data that contains noise around edges, and shows hidden structure.
Page 132: Region Definition
To change the scaling of the height map: Select Heightmap from the drop-down in the data viewer. Click the Scaling button. To automatically set the scale, choose Auto in the Range drop-down. To automatically set the scale based on a user-selected sub-region of the heightmap, choose Auto - Region in the Range drop-down and adjust the yellow region box in the data viewer to the desired location and size.
Page 133: Intensity Output
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. Intensity Output Gocator sensors can produce intensity images that measure the amount of light reflected by an object.
Page 134: Models
Models The following sections describe how to set up part matching using a model, a bounding box, or an ellipse. It also describes how to configure sections. Model Page Overview The Model page lets you set up part matching and sections. Gocator Web Interface •...
Page 135: Part Matching
Element Description Part Matching Contains settings for configuring models and for part matching. panel Sections panel Contains settings for configuring sections, which let you extract profiles from surfaces. Data Viewer Displays sensor data and lets you add and remove model edge points. Part Matching Gocator can match scanned parts to the edges of a model based on a previously scanned part (see Using Edge Detection on page 136) or to the dimensions of a fitted bounding box or ellipse that encapsulate...
Page 136: Using Edge Detection
Using Edge Detection When using edge detection for part matching, the Gocator compares a model that you must create from a previous scan to a "target" (one of the parts you want to match to the model). In the data viewer, a model is represented as a yellow outline. The target is represented as a blue outline. If the part match quality above a minimum user-defined level, any measurements configured on the Measure page are applied.
Page 137 1. Scan a reference part (you can also use replay data that you have previously saved). 2. Create a model based on the scan (using either heightmap or intensity data). 3. Adjust the model (edge detection algorithm sensitivity and selective removal of edge points). 4.
Page 138 Setting Description Determines which algorithm the sensor will use to attempt a match. Set this to Match Algorithm Edge for edge detection. Image Type Determines what kind of data the Gocator will use to detect edges and therefore for part matching. Choose this setting based on the kinds of features that will be used for part matching: Heightmap : Surface elevation information of the scanned part will be used to...
Page 139: Creating A Model
page will be applied to parts if a part match is accepted, regardless of the part's orientation (a successfully matched part is rotated to match orientation of the model), returning a value and decision (as long as the part is in range, etc.). If a part match is rejected, measurements will return an Invalid value.
Page 140 Locate some previously recorded replay data and load it. See Recording, Playback, and Measurement Sim- ulation on page 61 and Downloading, Uploading, and Exporting Replay Data on page 64 for more inform- ation on replay data. Go to the Model page. Make sure the Enabled option is checked in the Part Matching panel.
Page 141: Modifying A Model's Edge Points
To rename a model: In the Models list, double-click on a model name. Type a new name in the model name field. Press Enter or click outside the model name field. Save the job by clicking the Save button To delete a model, click the button.
Page 142 Edge points along top of model removed. Part is accepted. (Min set to 85%.) Removing edge points does not cause the edge detection algorithm to run again. To change model senstivity: In the Models list, select the model you want to configure by clicking on its selection control. Click the Model Editing tab.
Page 143 To manually remove model edge points: In the Models list, select the model you want to configure by clicking on its selection control. In the Model Editing tab, click on the Edit button. On the toolbar above the data viewer, make sure the Select tool is active. Click in the data viewer and hold the mouse button while moving the pointer over the edge points you want to remove.
Page 144: Adjusting Target Sensitivity
Points within the circular Select tool are removed from the model. Removed edge points turn red in the data viewer. You can zoom in to see individual edge points by using the mouse wheel or by using the Zoom mode ( If you have removed too many edge points, use Ctrl + Click in the data viewer to add the edge points back.
Page 145: Setting The Match Acceptance Criteria
You can also set the sensitivity value manually in the provided text box. Setting the Match Acceptance Criteria In order for a part to match a model, the match quality must reach the minimum set in the Min field in Acceptance Criteria section of the Part Matching panel.
Page 146 In the data viewer, a bounding box or ellipse is displayed with a blue outline. If a part fits in the bounding box or ellipse, any measurements configured on the Measure page are applied. Blue bounding box around a part. (Yellow lines show currently selected dimension in Part Matching panel.) Typically, setting up a bounding box or an ellipse to perform part matching involves the following steps:...
Page 147: Configuring A Bounding Box Or An Ellipse147
Setting Description Bounding Box Ellipse Corrects the orientation of the bounding box or ellipse to accurately match Z Angle typical orientation and simplify measurements. Asymmetry Detection Rotates scans based on the asymmetry of the scanned part. Gocator calculates the number of points on each side of the part's centroid in the bounding box or ellipse.
Page 148: Running Part Matching
Part matching is only available when Part has been selected. Do one of the following: Scan a reference part. See Scan Setup and Alignment on page 86 for more information on setting up and aligning Gocator. See Running a Standalone Sensor System on page 39 or Running a Dual-Sensor System on page 40 for more information on running a system to scan a part.
Page 149: Using Part Matching To Accept Or Reject A Part
Using Part Matching to Accept or Reject a Part Part matching results only determine whether a measurement is applied to a part. Whether the measurement returns a pass or fail value—its decision—depends on whether the measurement's value is between the Min and Max values set for the measurement. This decision, in addition to the actual value, can in turn be used to control a PLC for example.
Page 150 Part in data viewer (3D view) Section defined on top of part (2D view) Gocator Web Interface • 150 Gocator Line Profile Sensors: User Manual...
Page 151 Circle Radius measurement running on profile extracted from surface using defined section You can configure the sampling distance between points along the section. Reducing the sampling distance reduces the resolution of the profile, but increases the sensor’s performance and results in less data being sent over the output.
Page 152: Creating A Section
Maximum spacing interval: lowest profile resolution, lower sensor CPU usage and data output Using a higher spacing interval can produce different measurement results compared to using a smaller spacing interval. You should therefore compare results before using sections in production. The sections you add to a surface are directional, and their start and end points are defined using X and Y coordinates.
Page 153 After creating a section, the following settings are available: Setting Description Spacing Interval Determines the space between the points of the extracted profile. Auto - The highest resolution, calculated using the X and Y resolution of the scan. Custom - Lets you set the spacing interval by using a slider or setting the value manually.
Page 154: Deleting A Section
After you create a section, Gocator lists the profile measurement tools in the Tools panel on the Measure page. If you have created more than one section, you must select it in the tool. For more information on profile measurement tools, see Profile Measurement on page 166. Gocator also adds a Section option to the View drop-down above the data viewer, which lets you view an extracted profile.
Page 155: Measurement
Measurement The following sections describe the Gocator's tools and measurements. Measure Page Overview Measurement tools are added and configured using the Measure page. The content of the Tools panel in the Measure page depends on the current scan mode. In Profile mode, the Measure page displays tools for profile measurement.In Surface mode, the Measure page displays tools for surface measurement.
Page 156: Data Viewer
Element Description Data Viewer Displays profile or surface data, sets up tools, and displays result calipers related to the selected measurement. Parts are displayed using a height map, which is a top-down view of the XY plane, where color represents height. See Data Viewer below.
Page 157: Source
To add and configure a tool: Go to the Scan page by clicking on the Scan icon. Choose Profile or Surface mode in the Scan Mode panel. If one of these modes is not selected, tools will not be available in the Measure panel. Go to the Measure page by clicking on the Measure icon.
Page 158: Streams (Sections)
Setting Description Refers to the Main sensor in a standalone or dual-sensor system, the Main sensor in Opposite layout, or the combined data from both Main and Buddy sensors. Bottom Refers to a Buddy sensor in a dual-sensor system position in Opposite layout. Top Left Refers to a Main sensor in Wide layout or to a Buddy sensor in Reverse layout in a dual- sensor system position.
Page 159: Decisions
You can turn regions off by unchecking the checkbox next to the Regions setting. When you do this, the measurement tool uses the entire active area. All tools provide region settings under the Parameters tab. Region settings are often found within expandable feature sections in the tool's panel.
Page 160 Value (14.786) within decision thresholds (Min: 14, Max: 15). Decision: Pass Value (1604.250) outside decision thresholds (Min: 1500, Max: 1600). Decision: Fail 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 on page 243 for more information on transmitting values and decisions.
Page 161: Filters
Click on the Output tab. For some measurements, only the Output tab is displayed. Enter values in the Min and Max fields. Filters Filters can be applied to measurement values before they are output from the Gocator sensors. All measurements provide filter settings under the Output tab. The following settings are available. Filter Description Scale and Offset...
Page 162: Measurement Anchoring
Click on the Output tab. For some measurements, only the Output tab is displayed. Expand the Filters panel by clicking on the panel header or the button. Configure the filters. Refer to the table above for a list of the filters. Measurement Anchoring Measurement anchoring is used to track the movement of parts within the field of view of the sensor, compensating for variations in the height and position of parts.
Page 163: Enabling And Disabling Measurements
a. Use the Start or Snapshot button to view live profile data to help position the target. In Surface mode a. Select a Surface Generation type (see on page 113) and adjust Part Detection settings (see on page 117) if applicable. b.
Page 164 To enable a measurement: Go to the Scan page by clicking on the Scan icon. Choose Profile or Surface mode in the Scan Mode panel. If one of these modes is not selected, tools will not be available in the Measure panel. Go to the Measure page by clicking on the Measure icon.
Page 165: Editing A Tool Or Measurement Name
Editing a Tool or Measurement Name You can change the names of tools you add in Gocator. You can also change the names of their measurements. This allows multiple instances of tools and measurements of the same type to be more easily distinguished in the Gocator web interface.
Page 166: Removing A Tool
Removing a Tool Removing a tool removes all of its associated measurements. To remove a tool: Go to the Scan page by clicking on the Scan icon. Choose Profile or Surface mode in the Scan Mode panel. If is not selected, tools will not be available in the Measure panel. Go to the Measure page by clicking on the Measure icon.
Page 167 Point Type Examples Min Z Finds the point with the minimum Z value in the region of interest. Min X Finds the point with the minimum X value in the region of interest. Max X Finds the point with the maximum X value in the region of interest.
Page 168: Fit Lines
Point Type Examples Right Corner Finds the right-most corner in the region of interest, where corner is defined as a change in profile shape. Rising Edge Finds a rising edge in the region of interest. Falling Edge Finds a falling edge in the region of interest. Any Edge Finds a rising or falling edge in the region of interest.
Page 169: Measurement Tools
A line can be defined using one or two areas. Two areas can be used to bypass discontinuity in a line segment. Measurement Tools Area The Area tool determines the cross-sectional area within a region. Gocator compares the measurement value with the values in Min and Max to yield a decision. For more information on decisions, see Decisions on page 159.
Page 170 Measurements Measurement Illustration Area Measures the cross-sectional area within a region that is above or below a fitted baseline. Centroid X Determines the X position of the centroid of the area. Centroid Z Determines the Z position of the centroid of the area. Gocator Web Interface •...
Page 171: Bounding Box
Parameters Parameter Description Type Object area type is for convex shapes above the baseline. Regions below the baseline are ignored. Clearance area type is for concave shapes below the baseline. Regions above the baseline are ignored. Baseline Baseline is the fit line that represents the line above which (Object clearance type) or below which (Clearance area type) the cross-sectional area is measured.
Page 172 Measurement Panel Measurements Measurement Illustration Determines the X position of the center of the bounding box that contains the profile. The value returned is relative to the profile. Determines the Z position of the center of the bounding box that contains the profile. The value returned is relative to the profile.
Page 173: Bridge Value
Measurement Illustration Height Determines the height (thickness) of the bounding box that contains the profile. Global X Determines the X position of the center of the bounding box that contains the profile relative to the surface from which the profile is extracted. Global Y Determines the Y position of the center of the bounding box that contains the profile relative to the surface from...
Page 174 The Bridge Value tool measurements use a histogram of the ranges that make up the profile, in which the ranges are ordered from lowest to highest. The Window and Skip parameters together determine what segment of the heights in the histogram is used to calculate the bridge value. The following diagram illustrates what points of the histogram would be included for calculating the bridge value where Window is roughly 50% and Skip is roughly 15% of the histogram.
Page 175 Measurement Panel Measurements Measurement Illustration Bridge Value Determines the bridge value of the profile. Angle Determines the angle of the line fitted to the profile. When Normalize Tilt is unchecked, the measurement always returns 0. Gocator Web Interface • 175 Gocator Line Profile Sensors: User Manual...
Page 176: Circle
Parameters Parameter Description Window A percentage of the profile point heights in the histogram, starting from the highest point, to include in the average. For example, a setting of 50% would include the highest 50% of the heights. The Skip parameter then determines the actual portion of the profile point heights used to calculate the average.
Page 177: Dimension
Measurements Measurement Illustration Radius Measures the radius of the circle. Finds the circle center position in the X axis. Finds the circle center position in the Z axis. Parameters Parameter Description Decision See Decisions on page 159. Region See Regions on page 158. Filters See Filters on page 161.
Page 178 The tool's measurements require two feature points. See Feature Points on page 166 for information on point types and how to configure them. Measurements Measurement Illustration Width Determines the difference along the X axis between two feature points. The difference can be calculated as an absolute or signed result.
Page 179: Groove
Measurement Illustration Center X Finds the average location of two features and measures the X axis position of the average location Center Z Finds the average location of two features and measures the Z axis position of the average location. Parameters Parameter Description...
Page 180 The Groove tool uses a complex feature-locating algorithm to find a groove and then return measurements. See "Groove Algorithm" in the Gocator Measurement Tool Technical Manual for a detailed explanation of the algorithm. The behavior of the algorithm can be adjusted by changing the parameters in the measurement panel.
Page 181 Measurements Measurement Illustration Width Measures the width of a groove. Depth Measures the depth of a groove as the maximum perpendicular distance from a line connecting the edge points of the groove. Gocator Web Interface • 181 Gocator Line Profile Sensors: User Manual...
Page 182 Measurement Illustration Measures the X position of the bottom of a groove. Measures the Z position of the bottom of a groove. Parameters Parameter Description Shape Shape of the groove Location Specifies the location type to return (Groove X and Groove Z Bottom - Groove bottom.
Page 183: Intersect
Parameter Description Select Type Specifies how a groove is selected when there are multiple grooves within the measurement area. Maximum Depth - Groove with maximum depth. Index from The Left - 0-based groove index, counting from left to right Index from the Right - 0-based groove index, counting from right to left. Index 0-based groove index.
Page 184 Measurements Measurement Illustration Finds the intersection between two fitted lines and measures the X axis position of the intersection point. Finds the intersection between two fitted lines and measures the Z axis position of the intersection point. Angle Finds the angle subtended by two fitted lines. Gocator Web Interface •...
Page 185: Line
Parameters Parameter Description Reference Type Determines the type of the reference line. X-Axis: The reference line is set to the X axis. Z-Axis: The reference line is set to the Z axis Line: The reference line is defined manually using the Ref Line parameter. One or two regions can be used to define the line.
Page 186: Panel
Measurements Measurement Illustration Std Dev Finds the best-fitted line and measures the standard deviation of the laser points from the line. Min Error Finds the best-fitted line and measures the minimum error from the line (the maximum distance below the line). Max Error Finds the best-fitted line and measures the maximum error from the line (the maximum distance above the line).
Page 187 The Panel tool uses a complex feature-locating algorithm to find the gap or calculate flushness and return measurements. The behavior of the algorithm can be adjusted by changing the parameters in the measurement panel. See "Gap and Flush Algorithm" in the Gocator Measurement Tool Technical Manual for a detailed explanation of the algorithm.
Page 188 Measurement Illustration Flush Measures the flushness between two surfaces. The surface edges can be curved or sharp. Parameters Parameter Description Max Gap Width The maximum width of the gap. Allows the tool to filter gaps greater than the expected width. This can be used to single out the correct gap when there are multiple gaps in the field of view.
Page 189: Position
Parameter Description Surface Offset The distance between the edge region and the surface region. Setting a small value allows the edge within a tighter region to be detected. However, the measurement repeatability could be affected if the data from the edge are considered as part of the surface region (or vice versa).
Page 190: Round Corner
Measurements Measurement Illustration Finds the position of a feature on the X axis. Finds the position of a feature on the Z axis. Parameters Parameter Description Feature Type Choose Max Z, Min Z, Max X, Min X, Corner, Average, Rising Edge, Falling Edge, Any Edge, Top Corner, Bottom Corner, Left Corner, Right Corner, or Median.
Page 191 The Round Corner tool uses a complex feature-locating algorithm to find the edge and return measurements. The behavior of the algorithm can be adjusted by changing the parameters in the measurement panel. See "Gap and Flush Algorithm" in the Gocator Measurement Tool Technical Manual for a detailed explanation of the algorithm.
Page 192 Measurements Measurement Illustration Measures the X position of the location where the tangent touches the edge, or intersect of the tangent and the line fitted to the surface used by the measurement (see Reference Side, below). Measures the Z position of the location where the tangent touches the edge, or intersect of the tangent and the line fitted to the surface used by the measurement (see Reference Side, below).
Page 193: Strip
Edge Parameters Parameter Description Max Void Width The maximum allowed width of missing data caused by occlusion or data dropout. Min Depth Defines the minimum depth before an opening could be considered to have a potential edge. The depth is the perpendicular distance from the fitted surface line. Surface Width The width of the surface area in which laser data is used to form the fitted surface line.
Page 194 The Strip tool uses a complex feature-locating algorithm to find a strip and then return measurements. See "Strip Algorithm" in the Gocator Measurement Tool Technical Manual for a detailed explanation of the algorithm. The behavior of the algorithm can be adjusted by changing the parameters in the measurement panel.
Page 195 Measurement Illustration Height Measures the height of a strip. Measures the X position of a strip. Measures the Z position of a strip. Gocator Web Interface • 195 Gocator Line Profile Sensors: User Manual...
Page 196 Parameters Parameter Description Base Type Affects detection of rising and falling edges. When Base Type is set to Flat, both strip (raised area) and base support regions are needed. When set to None, only a point that deviates from a smooth strip support region is needed to find a rising or falling edge.
Page 197: Tilt
Parameter Description Support Width Specifies the width of the region around the edges from which the data is used to calculate the step change. See "Strip Step Edge Definitions" in the Gocator Measurement Tool Technical Manual on how this parameter is used by different base types. Transition Width Specifies the nominal width needed to make the transition from the base to the strip.
Page 198: 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. The Script tool can be used whether Uniform Spacing is enabled or not, that is, with either resampled or unresampled data.
Page 199: Surface Measurement
For each script output that is added, an index will be added to the Output drop-down and a unique ID will be generated. To remove a script output, click on the button next to it. Click the Save button to save the script code. If there is a mistake in the script syntax, the result will be shown as a "Invalid"...
Page 200: Measurement Tools
Measurement Tools Bounding Box The Bounding Box tool provides measurements related to the smallest box that contains the part (for example, X position, Y position, width, length, etc.). Gocator compares the measurement value with the values in Min and Max to yield a decision. For more information on decisions, see Decisions on page 159.
Page 201 Measurement Panel Measurements Measurement Illustration Determines the X position of the center of the bounding box that contains the part. The value returned is relative to the part. Determines the Y position of the center of the bounding box that contains the part. The value returned is relative to the part.
Page 202 Measurement Illustration Determines the Z position of the center of the bounding box that contains the part. The value returned is relative to the part. Width Determines the width of the bounding box that contains the part. When the Rotation setting is disabled, the bounding box is the smallest rectangle whose sides are parallel to the X and Y axes.
Page 203 Measurement Illustration Z Angle Determines the rotation around the Z axis and the angle of the longer side of the bounding box relative to the X axis. If Rotation is not enabled, the measurement returns 90.000 degrees. Global X Determines the X position of the center of the bounding box that contains the part on the surface from which the part was extracted.
Page 204: Countersunk Hole
Parameter Description Asymmetry Detection Resolves the orientation of an object over 360 degrees. The possible values are: 0 – None 1 – Along Major Axis 2 – Along Minor Axis This setting is only visible if Rotation is checked. Decision See Decisions on page 159.
Page 205 Gocator Web Interface • 205 Gocator Line Profile Sensors: User Manual...
Page 206 Measurement Panel Measurements Measurement Illustration Determines the X position of the center of the countersunk hole. Determines the Y position of the center of the countersunk hole. Determines the Z position of the center of the countersunk hole. Gocator Web Interface • 206 Gocator Line Profile Sensors: User Manual...
Page 207 Measurement Illustration Outer Radius Determines the outer radius of the countersunk hole. When a hole is cut at an angle relative to the surrounding surface, the outer radius is calculated as if the hole were not cut at an angle. To convert the radius to a diameter, set the Scale setting in the Output panel (displayed after expanding the Filters section) to 2.
Page 208 Measurement Illustration Bevel Radius Determines the radius at a user-defined offset (Offset setting) relative to the surface that the countersunk hole is on. To convert the radius to a diameter, set the Scale setting in the Output panel (displayed after expanding the Filters section) to 2. Bevel Angle Determines the angle of the hole's bevel.
Page 209 Measurement Illustration X Angle Determines the angle the hole relative to the X axis. Cone Y Angle Determines the angle of the hole relative to the Y axis. Counterbore Counterbore Depth Determines the depth of a counterbore. Axis Tilt Measures the tilt of the axis of the hole relative to the surface surrounding the hole. This measurement is not supported when Shape is set to Counterbore.
Page 210 Parameters Parameter Description Shape The shape of the countersunk hole. (See illustrations above.) 0 – Cone 1 – Counterbore The expected bevel angle of the countersunk hole. Nominal Bevel Angle Nominal Outer Radius The expected outer radius of the countersunk hole. Nominal Inner Radius The expected inner radius of the countersunk hole.
Page 211: Dimension
Parameter Description Tilt Correction Tilt of the target with respect to the alignment plane. When this option is set to Autoset, the tool automatically detects the tilt. Otherwise, the user must enter the angles manually. Autoset requires the measurement region to cover more areas on the surface plane than other planes.
Page 212 Measurement Panel Measurements Measurement Illustration Width Determines the distance between the selected features along the X axis. Gocator Web Interface • 212 Gocator Line Profile Sensors: User Manual...
Page 213 Measurement Illustration Length Determines the distance between the selected features along the Y axis. Height Determines the distance between the selected features along the Z axis. Distance Determines the direct, Euclidean distance between the selected features. Gocator Web Interface • 213 Gocator Line Profile Sensors: User Manual...
Page 214: Ellipse
Measurement Illustration Plane Distance Determines the distance between the selected features. The position of the lowest feature point is projected onto the XY plane of the highest feature point. Center X Determines the X position of the center point between the selected features.
Page 215 orientation angle of the ellipse. Gocator compares the measurement value with the values in Min and Max to yield a decision. For more information on decisions, see Decisions on page 159. See Adding and Configuring a Tool on page 156 for instructions on how to add measurement tools. 3D View 2D View Measurement Panel...
Page 216 Measurements Measurement Illustration Major Determines the major axis length of an ellipse fitted to the part's area in the XY plane. Minor Determines the minor axis length of an ellipse fitted to the part's area in the XY plane. Ratio Determines the minor/major axis ratio of an ellipse fitted to the part's area in the XY plane.
Page 217: Hole
Hole The Hole tool measures a circular opening within a region of interest on the surface and returns its position and radius. The Hole tool does not search for or detect a hole. The tool expects that a hole conforming reasonably well to the defined parameters is present and that it is on a sufficiently uniform background.
Page 218 Measurement Panel Gocator Web Interface • 218 Gocator Line Profile Sensors: User Manual...
Page 219 Measurements Measurement Illustration Determines the X position of the hole center. Determines the Y position of the hole center. Determines the Z position of the hole center. Radius Determines the radius of the hole. Parameters Parameter Description Nominal Radius Expected radius of the hole. Radius Tolerance The maximum variation from the nominal radius (+/- from the nominal radius).
Page 220: Measurement Region
Parameter Description Reference Regions The algorithm uses the Reference Regions option to calculate the Z position of the hole. It is typically used in cases where the surface around the hole is not flat. When this option is set to Autoset, the algorithm automatically determines the reference region.
Page 221: Opening
Opening The Opening tool locates rounded, rectangular, and rounded corner openings. The opening can be on a surface at an angle to the sensor. The Opening tool does not search for or detect an opening. The tool expects that an opening conforming reasonably well to the defined parameters is present and that it is on a sufficiently...
Page 222 expected to appear. The algorithm can separate out background information that appears inside the opening. It can also detect a slot that only partially appears in the data. The shape of the opening is defined by its type and its nominal width, length, and radius. The orientation defines the rotation around the normal of the alignment plane.
Page 223 Gocator Web Interface • 223 Gocator Line Profile Sensors: User Manual...
Page 224 Measurement Panel Measurements Measurement Illustration Determines the X position of the opening's center. Determines the Y position of the opening's center. Determines the Z position of the opening's center. Width Determines the width of the opening. Length Determines the length of the opening. Gocator Web Interface •...
Page 225 Measurement Illustration Angle Determines the angle (rotation) around the normal of the alignment plane. Parameters Parameter Description Type Rounded Slot, Rectangle. Nominal Width Nominal width of the opening. Nominal length Nominal length of the opening. Nominal Angle Nominal angle of the opening. The default orientation is the length of the opening along the X axis.
Page 226 Parameter Description Nominal Radius Nominal radius of the opening ends. If the opening type is set to rectangular, the radius setting is disabled. The opening has an oval shape if the radius is equal to ½ of the width. The opening is a rounded rectangle when the radius is less than ½...
Page 227 Parameter Description Reference Regions The algorithm uses reference regions to calculate the Z position of the opening. Reference regions are relative to the center location of the feature. This option is typically used in cases where the surface around the opening is not flat. When the Reference Regions setting is disabled, the tool measures the opening's Z position using the all data in the measurement region, except for a bounding rectangular region around the opening.
Page 228: Measurement Region
Measurement Region The center and the two sides and ends of the opening must be within the measurement region, even if Partial Detection is enabled. Plane The Plane tool provides measurements that report angle X, angle Y, and offset Z of the surface with respect to the alignment target.
Page 229 3D View 2D View Measurement Panel Gocator Web Interface • 229 Gocator Line Profile Sensors: User Manual...
Page 230: Position
Measurements Measurement Illustration Angle X Determines the X angle of the surface with respect to the alignment target. Angle Y Determines the Y angle of the surface with respect to the alignment target. Offset Z Determines the Z offset of the surface with respect to the alignment target.
Page 231 See Adding and Configuring a Tool on page 156 for instructions on how to add measurement tools. 2D View 3D View Measurement Panel Measurements Measurement Illustration Determines the X position of the selected feature type. Determines the Y position of the selected feature type. Determines the Z position of the selected feature type.
Page 232: Stud
Parameters Parameter Description Feature Type One of the following: Average, Centroid, Min X, Max X, Min Y, Max Y, Min Z, Max Z, Median. Decision See Decisions on page 159. Region See Regions on page 158. Output See Filters on page 161. Stud The Stud tool measures the location and radius of a stud.
Page 233 3D View 2D View Gocator Web Interface • 233 Gocator Line Profile Sensors: User Manual...
Page 234 Measurement Panel Measurements Measurement Illustration Tip X Determines the X position of the stud tip. Tip Y Determines the Y position of the stud tip. Tip Z Determines the Z position of the stud tip. Base X Determines the X position of the stud base. Base Y Determines the Y position of the stud base.
Page 235: Measurement Region
Parameters Parameter Description Nominal Stud Radius Expected radius of the stud. Nominal Stud Length Expected length of the stud. Base Height The height above the base surface that will be ignored when the (truncated) cone is fit to the stud data. Tip Height The height from the top of the surface that will be ignored when the (truncated) cone is fit to the stud data.
Page 236 Measurement Panel Measurements Measurement Illustration Volume Measures volume in XYZ space. Area Measures area in the XY plane. Thickness Measures thickness (height) of a part. Gocator Web Interface • 236 Gocator Line Profile Sensors: User Manual...
Page 237: Script
Parameters Parameter Description One of the following: maximum height, minimum Location height, average height, median height, the height at (Thickness measurement only) the 2D centroid in the XY plane, or the height at the 3D centroid in XYZ space. Decision See Decisions on page 159. Region See Regions on page 158.
Page 238: Script Measurement
To remove a script output, click on the button next to it. Click the Save button to save the script code. If there is a mistake in the script syntax, the result will be shown as a "Invalid" with a red border in the data viewer when you run the sensor.
Page 239 Function Description Returns 0 - Measurement is invalid 1 - Measurement is valid double Measurement_Value (int id) Gets the value of a measurement by its ID. Parameters: id - Measurement ID Returns: Value of the measurement 0 – if measurement does not exist 1 –...
Page 240 Function Description Parameters: value - value output by the script decision - decision value output by the script. Can only be 0 or 1 void Output_SetAt(unsigned int index, Sets the output value and decision at the specified output index. To double value, int decision) output an invalid value, the constant INVALID_VALUE can be used (e.g., Output_SetAt(0, INVALID_VALUE, 0))
Page 241 Function Description id - ID of the value value - Value to store double Memory_Get64f (int id) Loads a 64-bit double from persistent memory. All persistent memory values are set to 0 when the sensor starts. Parameters: id - ID of the value Returns: value - Value stored in persistent memory int Memory_Exists (int id)
Page 242 Function Description long long Stamp_EncoderZ() Gets the encoder index position of the current frame. unsigned int Stamp_Inputs() Gets the digital input state of the current frame. Math Functions Function Description float sqrt(float x) Calculates square root of x float sin(float x) Calculates sin(x) (x in radians) float cos(float x) Calculates cos(x) (x in radians)
Page 243: 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 profiles and measurement results to various external devices using several output interface options. Up to two outputs can have scheduling enabled with ASCII as the Serial output protocol. When Selcom is the current Serial output protocol, only one other output can have scheduling enabled.
Page 244: Ethernet Output
Ethernet Output A sensor uses TCP messages (Gocator protocol) to receive commands from client computers, and to send video, laser profile, intensity, and measurement results to client computers. The sensor can also receive commands from and send measurement results to a PLC using ASCII, Modbus TCP, or EtherNet/IP protocol.
Page 245 To receive commands and send results using Modbus TCP messages: Go to the Output page. Click on Ethernet in the Output panel. Select Modbus as the protocol in the Protocol drop-down. Unlike the Gocator Protocol, you do not select which measurement items to output. The Ethernet panel will list the register addresses that are used for Modbus TCP communication.
Page 246 To receive commands and send results using EtherNet/IP messages: Go to the Output page. Click on Ethernet in the Output panel. Select EtherNet/IP in the Protocol option. Unlike using the Gocator Protocol, you don't select which measurement items to output. The Ethernet panel will list the register addresses that are used for EtherNet/IP messages communication.
Page 247 To receive commands and send results using ASCII messages: Go to the Output page. Click on Ethernet in the Output panel. Select ASCII as the protocol in the Protocol drop-down. Set the operation mode in the Operation drop-down. In asynchronous mode, the data results are transmitted when they are available. In polling mode, users send commands on the data channel to request the latest result.
Page 248: Digital Output
Digital Output Gocator sensors can convert measurement decisions or software commands to digital output pulses, which can then be used to output to a PLC or to control external devices, such as indicator lights or air ejectors. A digital output can act as a measurement valid signal to allow external devices to synchronize to the timing at which measurement results are output.
Page 249 Set the Signal option. The signal type specifies whether the digital output is a continuous signal or a pulsed signal. If Signal is set to Continuous, the signal state is maintained until the next transition occurs. If Signal is set to is Pulsed, you must specify the pulse width and how it is scheduled.
Page 250: Analog Output
Set Trigger Event to Software. 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. If the signal is pulsed, user specifies the pulse width and the delay.
Page 251 See Analog Output on page 505 for information on wiring analog output to an external device. To output measurement value or decision: Go to the Output page. Click on Analog in the Output panel. Set Trigger Event to Measurement. Select the measurement that should be used for output. Only one measurement can be used for analog output.
Page 252: Serial Output
An Immediate output becomes active as soon as the measurement results are available. The output activates after the Gocator finishes processing the data. As a result, the time between the start of Gocator exposure and output activates depends on the processing latency. The latency is reported in the dashboard and in the health messages.
Page 253 To configure ASCII output: Go to the Output page. Click on Serial in the Output panel. Select ASCII in the Protocol option. Select the Data Format. Select Standard to use the default result format of the ASCII protocol. Select value and decision to send by placing a check in the corresponding check box.
Page 254 To configure Selcom output: Go to the Output page. Click on Serial in the Output panel. Select Selcom in the Protocol option. Select the measurements 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 255: Dashboard
Dashboard The following sections describe the Dashboard page. Dashboard Page Overview The Dashboard page summarizes sensor health information, and measurement statistics. Element Description System Displays sensor state and health information. See State and Health Information below. Measurements Displays measurement statistics. See Measurements on page 257. State and Health Information The following state and health information is available in the System panel on the Dashboard page: Dashboard General System Values...
Page 256 Name Description Laser Safety Whether Laser Safety is enabled. Uptime Length of time since the sensor was power-cycled or reset. CPU Usage Sensor CPU utilization (%). Current Speed * Current speed of the sensor. Encoder Value Current encoder value (ticks). Encoder Frequency Current encoder frequency (Hz).
Page 257: Measurements
** When the sensor is accelerated, the indicator's value is the sum of the values reported from the sensor and the accelerating PC. Measurements Measurement statistics are displayed for each measurement that has been configured on the Measure page. Use the Reset button to reset the statistics. The following information is available for each measurement: Dashboard Measurement Statistics Name...
Page 258: Gocator Emulator
Gocator Emulator The Gocator emulator is a stand-alone application that lets you run a "virtual" sensor. In a virtual sensor, you can test jobs, evaluate data, and even learn more about new features, rather than take a physical device off the production line to do this. You can also use a virtual sensor to familiarize yourself with the overall interface if you are new to Gocator.
Page 259: Downloading A Support File
Jobs list on the Manage page to a client computer. The job file can then be loaded into the emulator at a later time or even onto a physical sensor for final testing. Performing alignment in the emulator has no effect and will never complete. Only one instance can be run at a time.
Page 260: Running The Emulator
When you create a scenario from a support file in the emulator, the description is displayed below the emulator's scenario list. Click Download, and then when prompted, click Save. Downloading a support file stops the sensor. Running the Emulator The emulator is contained in the Gocator tools package (14405-x.x.x.x_SOFTWARE_GO_Tools.zip). You can download the package by going to http://lmi3d.com/support/downloads/, selecting a product type, and clicking on the Product User Area link.
Page 261: Adding A Scenario To The Emulator
Selecting the emulator interface language Adding a Scenario to the Emulator To simulate a physical sensor using a support file downloaded from a sensor, you must add it as a scenario in the emulator. You can add support files downloaded from any series of Gocator sensors to the emulator. To add a scenario: Launch the emulator if it isn't running already.
Page 262: Removing A Scenario From The Emulator
To run a scenario: If you want to filter the scenarios listed in Available Scenarios, do one or both of the following: Choose a model family in the Model drop-down. Choose Standalone or Buddy to limit the scenarios to single-sensor or dual-sensor scenarios, respect- ively.
Page 263: Using Replay Protection
Click the button next to the scenario you want to remove. The scenario is removed from the emulator. Using Replay Protection Making changes to certain settings on the Scan page causes the emulator to flush replay data. The Replay Protection option protects replay data by preventing changes to settings that affect replay data.
Page 264: Playback And Measurement Simulation
information on downloading and uploading jobs between the emulator and a computer, see Downloading and Uploading Jobs on page 268. The job drop-down list in the toolbar shows the jobs available in the emulator. The job that is currently active is listed at the top. The job name will be marked with "[unsaved]" to indicate any unsaved changes. To create a job: Choose [New] in the job drop-down list and type a name for the job.
Page 265 Playback controls when replay is on To replay data: Toggle Replay mode on by setting the slider to the right in the Toolbar. The slider's background turns blue. To change the mode, you must uncheck Replay Protection. Use the Replay slider or the Step Forward, Step Back, or Play buttons to review data. The Step Forward and Step Back buttons move and the current replay location backward and forward by a single frame, respectively.
Page 266: Downloading, Uploading, And Exporting Replay Data
To clear replay data: Click the Clear Replay Data button Downloading, Uploading, and Exporting Replay Data Replay data (recorded scan data) can be downloaded from the emulator to a client computer, or uploaded from a client computer to the emulator. Data can also be exported from the emulator to a client computer in order to process the data using third-party tools.
Page 267 Do one of the following: Click Discard to discard any unsaved changes. Click Cancel to return to the main window to save your changes. If you clicked Discard, navigate to the replay data to upload from the client computer and click OK. The replay data is loaded, and a new unsaved, untitled job is created.
Page 268: Downloading And Uploading Jobs
To export recorded intensity data to the BMP format: Click the Export button and select Intensity data as BMP. Only the intensity data in the current replay location is exported. Use the playback control buttons to move to a different replay location; for information on playback, see To replay data in Playback and Measurement Simulation on page 264.
Page 269: Scan, Model, And Measurement Settings
Element Description Set as Default Setting a different job as the default is not persistent in the emulator. The job set as default when the button support file (used to create a virtual sensor) was downloaded is used as the default whenever the emulator is started.
Page 270: Calculating Potential Maximum Frame Rate
For information on creating models and setting up part matching, see Models on page 134. For information on adding and configuring measurement tools, see Measurement on page 155. Calculating Potential Maximum Frame Rate You can use the emulator to calculate the potential maximum frame rate you can achieve with different settings.
Page 271 In the command prompt, type GoEmulator.exe /ip, followed by an IPV4 address. The emulator does not check that the IP address is valid. The emulator launches. Clients can now connect to the IP address you specified in the command prompt. Gocator Emulator • 271 Gocator Line Profile Sensors: User Manual...
Page 272: Gocator Accelerator
Health Results on page 396. For installation and usage instructions, as well as information on implementing acceleration in an application, download the technical user manual (15201-4.5.x.xxx_MANUAL_Technical_Gocator_ Measurement_Tool.pdf) by going to http://lmi3d.com/support/downloads/, selecting a Gocator series, Gocator Line Profile Sensors: User Manual...
Page 273: Benefits
Accelerated sensors can therefore handle large 3D point clouds more effectively. Installation To install the Accelerator, go to http://lmi3d.com/support/downloads/, select a Gocator series, and click the Product User Area link. You can find the GoAccelerator application in the 14405-X.X.X.X_SOFTWARE_ GO_Tools.zip package. The libraries and DLL for integrating GoAccelerator into a SDK application are included in the 14400-X.X.X.X_SOFTWARE_GO_SDK.zip, available at the same location.
Page 274 An SDK application can interface to the Accelerator application the same way as a physical sensor. For more information on SDK application integration, see SDK Application Integration on the next page. To accelerate a sensor using the Gocator Accelerator application: Start the sensor you want to accelerate. Launch the Gocator Accelerator application.
Page 275: Dashboard And Health Indicators
Select the sensor in the Sensors list. Click Stop. To exit the Gocator Accelerator application: Right-click the icon Gocator Accelerator icon ( ) in the notification tray. Clicking the X icon in the application only minimizes the application. Choose Exit. Dashboard and Health Indicators After a sensor is accelerated, the values of some health indicators come from the accelerating PC instead of the sensor.
Page 276: Limitations
printf("Error: GoAccelerator_Attach:%d\n", status); return; // create connection to GoSensor object if ((status = GoSensor_Connect(sensor)) != kOK) printf("Error: GoSensor_Connect:%d\n", status); return; After, the SDK application is the same as controlling and acquiring data from a standalone sensor. Limitations The Gocator Accelerator currently has the following limitations: 1.
Page 277: Gocator Device Files
Gocator Device Files This section describes the user-accessible device files stored on a Gocator. Live Files Various "live" files stored on a Gocator sensor represent the sensor's active settings and transformations (represented together as "job" files), the active replay data (if any), and the sensor log. By changing the live job file, you can change how the sensor behaves.
Page 278: Job Files
To access the log file, use the Read File command, passing "_live.log" to the command. The log file is read- only. Log Child Elements Element Type Description @idStart Identifier of the first log. @idEnd Identifier of the final log. List of (Info | Warning | List An ordered list of log entries.
Page 279: Accessing Files And Components
Job File Components Component Path Description Configuration config.xml The job's configurations. This component is always present. Transform transform.xml Alignment Reference Transformation values. Present only if is set to Dynamic. Part model <name>.mdl models One or more part model files. Part models are created using and part matching Elements in the components contain three types of values: settings, constraints, and properties.
Page 280: Setup
Element Type Description @versionMinor Configuration minor version (5). Setup Setup Section For a description of the Setup elements, see below. Replay Section Replay Contains settings related to recording filtering (see on page 296). Streams Section Streams/Stream Read-only collection of available data streams (see (Read-only) on page 298).
Page 281: Filters
Element Type Description IntensityEnabled.used Bool Whether or not property is used. IntensityEnabled.value Bool Actual value used if not configurable. ExternalInputZPulseEnabled Bool Enables the External Input based encoder Z Pulse feature. Filters Section Filters below. Trigger Trigger Section on page 284. Layout Section Layout...
Page 282: Xgapfilling
XGapFilling XGapFilling Child Elements Element Type Description @used Bool Whether or not this field is used Enabled Bool Enables filtering. Window Window size (mm). Window.min Minimum window size (mm). Window.max Maximum window size (mm). YGapFilling YGapFilling Child Elements Element Type Description @used Bool...
Page 283: Xdecimation
XDecimation XDecimation Child Elements Element Type Description @used Bool Whether or not this field is used Enabled Bool Enables filtering. Window Window size (mm). Window.min Minimum window size (mm). Window.max Maximum window size (mm). YDecimation YDecimation Child Elements Element Type Description @used Bool...
Page 284: Trigger
Trigger The Trigger element contains settings related to trigger source, speed, and encoder resolution. Trigger Child Elements Element Type Description Source Trigger source: 0 – Time 1 – Encoder 2 – Digital Input 3 – Software Source.options 32s (CSV) List of available source options. Units Sensor triggering units when source is not clock or encoder: 0 –...
Page 285: Layout
Layout Layout Child Elements Element Type Description DataSource Data source of the layout output (read-only): 0 – Top 1 – Bottom 2 – Top left 3 – Top right 4 – Top Bottom 5 – Left Right XSpacingCount Number of points along X when data is resampled. YSpacingCount Number of points along Y when data is resampled.
Page 286: Disk
Alignment Child Elements Element Type Description @used Bool Whether or not this field is used InputTriggerEnabled Bool Enables digital input-triggered alignment operation. InputTriggerEnabled.used Bool Whether or not this feature can be enabled. This feature is available only on some sensor models. InputTriggerEnabled.value Bool Actual feature status.
Page 287: Plate
Element Type Description Height Bar height (mm). HoleCount Number of holes. HoleDistance Distance between holes (mm). HoleDiameter Diameter of holes (mm). Plate Plate Child Elements Element Type Description Height Plate height (mm). HoleCount Number of holes. RefHoleDiameter Diameter of reference hole (mm). SecHoleDiameter Diameter of secondary hole(s) (mm).
Page 288 Element Type Description PatternSequenceType.used Bool Whether or not this field is used. PatternSequenceCount Number of frames in the active sequence (read-only). ExposureMode Exposure mode: 0 – Single exposure 1 – Multiple exposures 2 – Dynamic exposure ExposureMode.options 32s (CSV) List of available exposure modes. Exposure Single exposure (µs).
Page 289: Tracking
Region3D Child Elements Element Type Description X start (mm). Y start (mm). Z start (mm). Width X extent (mm). Length Y extent (mm). Height Z extent (mm). Window Child Elements Element Type Description X start (pixels). Y start (pixels). Width X extent (pixels). Height Y extent (pixels).
Page 290 Element Type Description used is false. SpotWidthMax Spot detection maximum width. SpotWidthMax.used Bool Determines if the setting’s value is currently used. SpotWidthMax.value Value in use by the sensor, useful for determining value when used is false. SpotWidthMax.min Minimum allowed spot detection maximum value. SpotWidthMax.max Maximum allowed spot detection maximum value.
Page 291: Surfacegeneration
Element Type Description DynamicThreshold Dynamic exposure control threshold. If the detected number of spots is fewer than this number, the exposure will be increased. DynamicThreshold.used Bool Determines if the setting’s value is currently used. DynamicThreshold.value Value in use by the sensor, useful for determining value when used is false.
Page 292: Variablelength
VariableLength VariableLength Child Elements Element Type Description MaxLength Maximum surface length (mm). MaxLength.min Minimum value for maximum surface length (mm). MaxLength.max Maximum value for maximum surface length (mm). Rotational Rotational Child Elements Element Type Description Circumference Circumference (mm). Circumference.min Minimum circumference (mm). Circumference.max Maximum circumference (mm).
Page 293: Fixedlength
ProfileGeneration Child Elements Element Type Description Type Profile generation type: 0 – Continuous 1 – Fixed length 2 – Variable length 3 – Rotational FixedLength Section FixedLength below. VariableLength Section VariableLength below. Rotational Section Rotational below. FixedLength FixedLength Child Elements Element Type Description...
Page 294: Partdetection
PartDetection PartDetection Child Elements Element Type Description Enabled Bool Enables part detection. Enabled.used Bool Whether or not this field is used. Enabled value Bool Actual value used if not configurable. Threshold Height threshold (mm). Threshold.min Minimum height threshold (mm). Threshold.max Maximum height threshold (mm).
Page 295: Edgefiltering
Element Type Description MaxLength.min Minimum value of maximum length (mm). MaxLength.max Maximum value of maximum length (mm). MaxLength.used Bool Whether or not this field is used. FrameOfReference Part frame of reference: 0 – Sensor 1 – Scan 2 – Part FrameOfReference.used Bool Whether or not this field is used.
Page 296: Edge
Edge Edge Child Elements Element Type Description ModelName String Name of the part model to use. Does not include the .mdl extension. Acceptance/Quality/Min Minimum quality value for a match. BoundingBox BoundingBox Child Elements Element Type Description ZAngle Z rotation to apply to bounding box (degrees). AsymmetryDetectionType Determine whether to use asymmetry detection and, if enabled, which dimension is the basis of detection.
Page 297: Recordingfiltering
RecordingFiltering RecordingFiltering Child Elements Element Type Description ConditionCombineType 0 – Any: If any enabled condition is satisfied, the current frame is recorded. 1 – All: All enabled conditions must be satisfied for the current frame to be recorded. Conditions Collection AnyMeasurement AnyData Measurement...
Page 298: Streams/Stream (Read-Only)
Streams/Stream (Read-only) Streams/Stream Child Elements Element Type Description Step The data step of the stream being described. Possible values are: 1 – Video 2 – Range 3 – Surface 4 – Section The stream ID. TempoGroup Represents a stage in the data processing pipeline. The greater the number, the farther removed from the initial acquisition stage.
Page 299: Measurementoptions
Element Type Description @isCustom Bool Reserved for future use. MeasurementOptions MeasurementOptions Collection below StreamOptions Collection StreamOption A collection of below elements. MeasurementOptions MeasurementOptions Child Elements Element Type Description <Measurement Names> Collection A collection of measurement name elements. An element for each measurement is present. <Measurement Name>...
Page 300: Profilefeature
ProfileFeature An element of type ProfileFeature defines the settings for detecting a feature within an area of interest. ProfileFeature Child Elements Element Type Description Type Determine how the feature is detected within the area: 0 – Max Z 1 – Min Z 2 –...
Page 301: Region3D
Region3D An element of type Region3D defines a rectangular area of interest in 3D. Region3D Child Elements Element Type Description Volume X position (mm). Volume Y position (mm). Volume Z position (mm). Width Volume width (mm). Length Volume length (mm). Height Volume height (mm).
Page 302 ProfileArea Child Elements Element Type Description Name String Tool name. Source Profile source. Anchor\X String (CSV) The X measurements (IDs) used for anchoring. Anchor\X.options String (CSV) The X measurements (IDs) available for anchoring. Anchor\Z String (CSV) The Z measurements (IDs) used for anchoring. Anchor\Z.options String (CSV) The Z measurements (IDs) available for anchoring.
Page 303: Profileboundingbox
Element Type Description 0 – Disable 1 – Enable HoldEnabled Boolean Output hold enable state: 0 – Disable 1 – Enable SmoothingEnabled Boolean Smoothing enable state: 0 – Disable 1 – Enable SmoothingWindow Smoothing window. Scale Output scaling factor. Offset Output offset factor.
Page 304: Profilebridgevalue
Element Type Description ProfileRegion2d Region Measurement region. Measurements\X Bounding Box tool X measurement. measurement Measurements\Z Bounding Box tool Z measurement. measurement Measurements\Width Bounding Box tool Width measurement. measurement Measurements\Height Bounding Box tool Height measurement. measurement Measurements\GlobalX Bounding Box tool GlobalX measurement measurement Measurements\GlobalY Bounding Box tool...
Page 305 This measurement is only available on Gocator 2342 sensors. ProfileBridgeValue Child Elements Element Type Description Name String Tool name. Source Profile source. Anchor\X String (CSV) The X measurements (IDs) used for anchoring. Anchor\X.options String (CSV) The X measurements (IDs) available for anchoring. Anchor\Z String (CSV) The Z measurements (IDs) used for anchoring.
Page 306: Profilecircle
BridgeValue Tool Measurement Element Type Description Measurement ID. Optional (measurement disabled if not set). Name String Measurement name. Enabled Boolean Measurement enable state: 0 – Disable 1 – Enable HoldEnabled Boolean Output hold enable state: 0 – Disable 1 – Enable SmoothingEnabled Boolean Smoothing enable state:...
Page 307: Profiledimension
Element Type Description Stream\Id The stream source ID. RegionEnabled Bool Whether or not to use the region. If the region is disabled, all available data is used. Region ProfileRegion2d Measurement region. Measurements\X Circle tool X measurement. measurement Measurements\Z Circle tool Z measurement.
Page 308 Element Type Description Anchor\X String (CSV) The X measurements (IDs) used for anchoring. Anchor\X.options String (CSV) The X measurements (IDs) available for anchoring. Anchor\Z String (CSV) The Z measurements (IDs) used for anchoring. Anchor\Z.options String (CSV) The Z measurements (IDs) available for anchoring. StreamOptions Collection A collection of...
Page 309: Profilegroove
Element Type Description SmoothingWindow Smoothing window. Scale Output scaling factor. Offset Output offset factor. DecisionMin Minimum decision threshold. DecisionMax Maximum decision threshold. Absolute Boolean Setting for selecting absolute or signed result: (Width and Height 0 – Signed measurements only) 1 – Absolute ProfileGroove A ProfileGroove element defines settings for a profile groove tool and one or more of its measurements.
Page 310 Element Type Description ProfileRegion2d Region Measurement region. Measurements\X Groove tool X measurement. measurement Measurements\Z Groove tool Z measurement. measurement Measurements\Width Groove tool Width measurement. measurement Measurements\Depth Groove tool Depth measurement. measurement Groove Tool Measurement Element Type Description Measurement ID. Optional (measurement disabled if not set).
Page 311: Profileintersect
ProfileIntersect A ProfileIntersect element defines settings for a profile intersect tool and one or more of its measurements. ProfileIntersect Child Elements Element Type Description Name String Tool name. Source Profile source. Anchor\X String (CSV) The X measurements (IDs) used for anchoring. Anchor\X.options String (CSV) The X measurements (IDs) available for anchoring.
Page 312: Profileline
Element Type Description 0 – Disable 1 – Enable SmoothingEnabled Boolean Smoothing enable state: 0 – Disable 1 – Enable SmoothingWindow Smoothing window. Scale Output scaling factor. Offset Output offset factor. DecisionMin Minimum decision threshold. DecisionMax Maximum decision threshold. Boolean Absolute Setting for selecting the angle range: (Angle measurement only)
Page 313: Profilepanel
Element Type Description measurement Measurements\MinError Line tool MinError measurement. measurement Measurements\Percentile Line tool Percentile measurement. measurement Line Tool Measurement Element Type Description Measurement ID. Optional (measurement disabled if not set). Name String Measurement name. Enabled Boolean Measurement enable state: 0 – Disable 1 –...
Page 314 Element Type Description StreamOptions Collection StreamOption A collection of on page 299 elements. Stream\Step The stream source step. Possible values are: 1 – Video 2 – Range 3 – Surface 4 – Section Stream\Id The stream source ID. RefSide Setting for reference side to use. MaxGapWidth Setting for maximum gap width (mm).
Page 315 Element Type Description 0 – Disable 1 – Enable SmoothingEnabled Boolean Smoothing enable state: 0 – Disable 1 – Enable SmoothingWindow Smoothing window. Scale Output scaling factor. Offset Output offset factor. DecisionMin Minimum decision threshold. DecisionMax Maximum decision threshold. Axis Measurement axis: 0 –...
Page 316: Profileposition
ProfilePosition A ProfilePosition element defines settings for a profile position tool and one or more of its measurements. ProfilePosition Child Elements Element Type Description Name String Tool name. Source Profile source. Anchor\X String (CSV) The X measurements (IDs) used for anchoring. Anchor\X.options String (CSV) The X measurements (IDs) available for anchoring.
Page 317: Profileroundcorner
Element Type Description Scale Output scaling factor. Offset Output offset factor. DecisionMin Minimum decision threshold. DecisionMax Maximum decision threshold. ProfileRoundCorner A ProfileRoundCorner element defines settings for a profile round corner tool and one or more of its measurements. ProfileRoundCorner Child Elements Element Type Description...
Page 318: Profilestrip
Element Type Description 1 – Corner MinDepth Minimum depth. MaxVoidWidth Maximum void width. SurfaceWidth Surface width. SurfaceOffset Surface offset. NominalRadius Nominal radius. EdgeAngle Edge angle. RegionEnabled Bool Whether or not to use the region. If the region is disabled, all available data is used. Region ProfileRegion2d Edge region.
Page 319 ProfileStrip Child Elements Element Type Description Name String Tool name. Source Profile source. Anchor\X String (CSV) The X measurements (IDs) used for anchoring. Anchor\X.options String (CSV) The X measurements (IDs) available for anchoring. Anchor\Z String (CSV) The Z measurements (IDs) used for anchoring. Anchor\Z.options String (CSV) The Z measurements (IDs) available for anchoring.
Page 320 Element Type Description Measurements\X Strip tool X measurement. measurement Measurements\Z Strip tool Z measurement. measurement Measurements\Width Strip tool Width measurement. measurement Measurements\Height Strip tool Width measurement. measurement Strip Tool Measurement Element Type Description Measurement ID. Optional (measurement disabled if not set).
Page 321: Script
Script A Script element defines settings for a script measurement. Script Child Elements Element Type Description Name String Tool name. Code String Script code. Measurements\Output (Collection) Dynamic list of Output elements. Output Element Type Description Measurement ID. Optional (measurement disabled if not set).
Page 322 Element Type Description 1 – Length 2 – Width RegionEnabled Boolean Setting to enable/disable region. Region Region3D Measurement region. Measurements\X Bounding Box tool X measurement. measurement Measurements\Y Bounding Box tool Y measurement. measurement Measurements\Z Bounding Box tool Z measurement. measurement Measurements\Width Bounding Box tool Width measurement.
Page 323: Surfacecshole
Element Type Description SmoothingWindow Smoothing window. Scale Output scaling factor. Offset Output offset factor. DecisionMin Minimum decision threshold. DecisionMax Maximum decision threshold. SurfaceCsHole A SurfaceCsHole element defines settings for a surface countersunk hole tool and one or more of its measurements. SurfaceCsHole Child Elements Element Type...
Page 324 Element Type Description 0 – Disable 1 – Enable Region Region3D Measurement region. RefRegionsEnabled Boolean Setting to enable/disable reference regions: 0 – Disable 1 – Enable RefRegionCount Count of the reference regions which are to be used SurfaceRegion2D RefRegions (Collection) Reference regions.
Page 325: Surfacedimension
Countersunk Hole Tool Measurement Element Type Description id (attribute) Measurement ID. Optional (measurement disabled if not set). Name String Measurement name. Enabled Boolean Measurement enable state: 0 – Disable 1 – Enable HoldEnabled Boolean Output hold enable state: 0 – Disable 1 –...
Page 326 Element Type Description Stream\Id The stream source ID. Measurements\CenterX Dimension tool Center X measurement measurement Measurements\CenterY Dimension tool Center Y measurement measurement Measurements\CenterZ Dimension tool Center Z measurement measurement Measurements\Distance Dimension tool Distance measurement measurement Measurements\PlaneDistance Dimension tool Plane Distance measurement measurement Measurements\Height Dimension tool...
Page 327: Surfaceellipse
SurfaceEllipse A SurfaceEllipse element defines settings for a surface ellipse tool and one or more of its measurements. SurfaceEllipse Child Elements Element Type Description Name String Tool name. Source Surface source. Anchor\X String (CSV) The X measurements (IDs) used for anchoring. Anchor\X.options String (CSV) The X measurements (IDs) available for anchoring.
Page 328: Surfacehole
Element Type Description Name String Measurement name. Enabled Boolean Measurement enable state: 0 – Disable 1 – Enable HoldEnabled Boolean Output hold enable state: 0 – Disable 1 – Enable SmoothingEnabled Boolean Smoothing enable state: 0 – Disable 1 – Enable SmoothingWindow Smoothing window.
Page 329 Element Type Description Stream\Id The stream source ID. NominalRadius Nominal radius (mm). RadiusTolerance Radius tolerance (mm). PartialDetectionEnabled Boolean Setting to enable/disable partial detection: 0 – Disable 1 – Enable DepthLimitEnabled Boolean Setting to enable/disable depth limit: 0 – Disable 1 – Enable DepthLimit The depth limit relative to the surface.
Page 330: Surfaceopening
Element Type Description Name String Measurement name. Enabled Boolean Measurement enable state: 0 – Disable 1 – Enable HoldEnabled Boolean Output hold enable state: 0 – Disable 1 – Enable SmoothingEnabled Boolean Smoothing enable state: 0 – Disable 1 – Enable SmoothingWindow Smoothing window.
Page 331 Element Type Description 0 – Rounded 1 – Slot NominalWidth Nominal width (mm). NominalLength Nominal length (mm). NominalAngle Nominal angle (degrees). NominalRadius Nominal radius (mm). WidthTolerance Radius tolerance (mm). LengthTolerance Length tolerance (mm). AngleTolerance Angle tolerance (degrees). PartialDetectionEnabled Boolean Setting to enable/disable partial detection: 0 –...
Page 332: Surfaceplane
Element Type Description measurement Measurements\Width Opening tool Width measurement. measurement Measurements\Length Opening tool Length measurement. measurement Measurements\Angle Opening tool Angle measurement. measurement Opening Tool Measurement Element Type Description id (attribute) Measurement ID. Optional (measurement disabled if not set). Name String Measurement name.
Page 333 Element Type Description Anchor\Z.options String (CSV) The Z measurements (IDs) available for anchoring. StreamOptions Collection StreamOption A collection of on page 299 elements. Stream\Step The stream source step. Possible values are: 1 – Video 2 – Range 3 – Surface 4 –...
Page 334: Surfaceposition
Element Type Description 0 – Disable 1 – Enable SmoothingWindow Smoothing window. Scale Output scaling factor. Offset Output offset factor. DecisionMin Minimum decision threshold. DecisionMax Maximum decision threshold. SurfacePosition A SurfacePosition element defines settings for a surface position tool and one or more of its measurements.
Page 335: Surfacestud
Position Tool Measurement Element Type Description id (attribute) Measurement ID. Optional (measurement disabled if not set). Name String Measurement name. Enabled Boolean Measurement enable state: 0 – Disable 1 – Enable HoldEnabled Boolean Output hold enable state: 0 – Disable 1 –...
Page 336 Element Type Description Stream\Id The stream source ID. StudRadius Radius of stud (mm). StudHeight Height of stud (mm). BaseHeight Height of stud’s base. TipHeight Height of stud’s tip. RegionEnabled Boolean Setting to enable/disable region. Region Region3D Measurement region. RefRegionsEnabled Boolean Setting to enable/disable reference regions: 0 –...
Page 337: Surfacevolume
Element Type Description 0 – Disable 1 – Enable HoldEnabled Boolean Output hold enable state: 0 – Disable 1 – Enable SmoothingEnabled Boolean Smoothing enable state: 0 – Disable 1 – Enable SmoothingWindow Smoothing window. Scale Output scaling factor. Offset Output offset factor.
Page 338: Output
Element Type Description RegionEnabled Boolean Setting to enable/disable region. Region3D Region Measurement region. Measurements\Volume Volume tool Volume measurement. measurement Measurements\Area Volume tool Area measurement. measurement Measurements\Thickness Volume tool Thickness measurement. measurement Volume Tool Measurement Element Type Description id (attribute) Measurement ID. Optional (measurement disabled if not set).
Page 339: Ethernet
For all sub-elements, the source identifiers used for measurement outputs correspond to the measurement identifiers defined in each tool's Measurements element. For example, in the following XML, in the options attribute of the Measurements element, 2 and 3 are the identifiers of measurements that are enabled and available for output.
Page 340 Element Type Description Ascii Ascii Section on the next page. Section on page 342. Modbus Modbus Section on page 342. Videos 32s (CSV) Selected video sources: 0 – Top 1 – Bottom 2 – Top left 3 – Top right Videos.options 32s (CSV) List of available video sources (see above).
Page 341: Ascii
Element Type Description 2 – Top left 3 – Top right ProfileIntensities.options 32s (CSV) List of available profile intensity sources (see above). SurfaceIntensities 32s (CSV) Selected surface intensity sources: 0 – Top 1 – Bottom 2 – Top left 3 – Top right SurfaceIntensities.options 32s (CSV) List of available surface intensity sources (see above).
Page 342: Eip
EIP Child Elements Element Type Description BufferEnabled Bool Enables EtherNet/IP output buffering. EndianOutputType Endian output type: 0 – Big endian 1 – Little endian ImplicitOutputEnabled Bool Enables Implict (I/O) Messaging. ImplicitTriggerOverride Override requested trigger type by client: 0 – No override 1 –...
Page 343: Analog
Element Type Description 1 – AND of measurements is false 2 – Always assert Delay Output delay (µs or mm, depending on delay domain defined below). DelayDomain Output delay domain: 0 – Time (µs) 1 – Encoder (mm) Inverted Bool Whether the sent bits are flipped.
Page 344: Serial
Element Type Description 0 – Time (µs) 1 – Encoder (mm) Measurement Selected measurement source. Measurement.options 32u (CSV) List of available measurement sources. The delay specifies the time or position at which the analog output activates. Upon activation, there is an additional delay before the analog output settles at the correct value. Serial The Serial element defines settings for Serial output.
Page 345: Ascii
Ascii Ascii Child Elements Element Type Description Delimiter String Field delimiter. Terminator String Line terminator. InvalidValue String String for invalid output. CustomDataFormat String Custom data format. CustomFormatEnabled Bool Enables custom data format. StandardFormatMode The formatting mode used if not a custom format: 0 –...
Page 346: Device
<X>0</X> <Y>0.0</Y> <Z>123.4966803469</Z> <XAngle>5.7478302588</XAngle> <YAngle>3.7078302555</XAngle> <ZAngle>2.7078302556</XAngle> </Device> </Devices> </Transform> The Transform element contains the alignment record for both the Main and the Buddy sensor. Transform Child Elements Element Type Description @version Major transform version (100). @versionMinor Minor transform version (0). EncoderResolution Encoder Resolution (mm/tick).
Page 347: Edge Points
You can access part models in user-created job files in non-volatile storage, for example, "productionRun01.job/model1.mdl". You can only access part models in user-created job files using path notation. See the following sections for the elements contained in a model. Part models contain the following subcomponents. You can access the subcomponents using path notation, for example, "productionRun01.job/myModel.mdl/config.xml".
Page 348: Configuration
Field Type Offset Description yScale Y scale (nm) xOffset X offset (µm) yOffset Y offset µm zAngle Z rotation (microdegrees) pointCount Number of edge points points[pointCount] (32u, 32u) Edge points collection. Each point is a tuple of x and y values, in units of xScale and yScale, respectively.
Page 349: Protocols
Protocols Gocator supports protocols for communicating with sensors over Ethernet (TCP/IP) and serial output. For a protocol to output data, it must be enabled and configured in the active job. Protocols Available over Ethernet Gocator Modbus EtherNet/IP ASCII Protocols Available over Serial ASCII Selcom Gocator Protocol...
Page 350: Data Types
For information on configuring the protocol using the Web interface, see Ethernet Output on page 244. For information on job file structures (for example, if you wish to create job files programmatically), see Job Files on page 278. Data Types The table below defines the data types and associated type identifiers used in this section.
Page 351: Discovery Commands
Status Codes Label Value Description Command succeeded. Failed Command failed. Invalid State -1000 Command is not valid in the current state. Item Not Found -999 A required item (e.g., file) was not found. Invalid Command -998 Command is not recognized. Invalid Parameter -997 One or more command parameters are incorrect.
Page 352: Set Address
Field Type Offset Description signature Message signature (0x0000504455494D4C) deviceId Serial number of the device whose address information is queried. 0 selects all devices. Reply Field Type Offset Description length Reply length. type Reply type (0x1001). status Operation status. signature Message signature (0x0000504455494D4C) deviceId Serial number.
Page 353: Get Info
Field Type Offset Description gateway[4] byte The gateway address in left to right order. reserved[4] byte Reserved. reserved[4] byte Reserved. Reply Field Type Offset Description length Reply length. type Reply type (0x1002). Commands status Operation status. For a list of status codes, see page 350.
Page 354: Control Commands
Field Type Offset Description addressVersion byte IP address version (always 4). address[4] byte IP address. reserved[12] byte Reserved. prefixLength Subnet prefix length (in number of bits). gatewayVersion byte Gateway address version (always 4). gatewayAddress[4] byte Gateway address. reserved[12] byte Reserved. controlPort Control channel port.
Page 355: Protocol Version
Progressive Reply Some commands send replies progressively, as multiple messages. This allows the sensor to stream data without buffering it first, and allows the client to obtain progress information on the stream. A progressive reply begins with an initial, standard reply message. If the status field of the reply indicates success, the reply is followed by a series of “continue”...
Page 356: Set Address
Field Type Offset Description address[4] byte IP address (most significant byte first). subnetMask[4] byte Subnet mask. gateway[4] byte Gateway address. 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 357: Get States
Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4002). status Reply status. For a list of status codes, see Commands on page 350. Sensor localInfo Info for this device. Info remoteCount Number of discovered sensors. remoteInfo Sensor List of info for discovered sensors.
Page 358: Log In/Out
Field Type Offset Description Reply identifier (0x4525). status Commands Reply status. For a list of status codes, see on page 350. count Number of state variables. sensorState Sensor state -1 – Conflict 0 – Ready 1 – Running For more information on states, see Control Commands on page 354.
Page 359: Change Password
Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x4003). userType Defines the user type 0 – None (log out) 1 – Administrator 2 – Technician Password (required for log-in only). password[64] char Reply Field Type Offset...
Page 360: List Files
Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x4005). buddyId Id of the sensor to acquire as buddy. Set to 0 to remove buddy. Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4005).
Page 361: Read File
Field Type Offset Description Command identifier (0x101B). source[64] char Source file name. destination[64] char Destination file name. Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x101B). Commands status Reply status. For a list of status codes, see on page 350.
Page 362: Delete File
Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x1006). name[64] char Source file name. length File length. data[length] byte File contents. Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x1006).
Page 363: User Storage Free
Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x1021). status Reply status. spaceUsed The used storage space in bytes. User Storage Free The User Storage Free command returns the amount of user storage that is free. Command Field Type...
Page 364: Get Loaded Job
Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x4101). fileName[64] char File name (null-terminated) of the job the sensor loads when it powers up. Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4101).
Page 365: Set Alignment Reference
Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4104). status Reply status. For a list of status codes, see Commands on page 350. reference Alignment reference 0 – Fixed 1 – Dynamic Set Alignment Reference The Set Alignment Reference command is used to set the sensor's alignment reference.
Page 366: Get Timestamp
Get Timestamp The Get Timestamp command retrieves the sensor's timestamp, in clock ticks. All devices in a system are synchronized with the system clock; this value can be used for diagnostic purposes, or used to synchronize the start time of the system. Command Field Type...
Page 367: Start
Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x101E). status Reply status. For a list of status codes, see Commands on page 350. Start The Start command starts the sensor system (system enters the Running state). For more information on states, see Control Commands on page 354.
Page 368: Stop
Stop The Stop command stops the sensor system (system enters the Ready state). For more information on states, see Control Commands on page 354. Command Field Type Type Description length Command size including this field, in bytes. Command identifier (0x1001). Reply Field Type...
Page 369: Start Alignment
Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x452B). status Reply status. For a list of status codes, see Commands on page 350. Start Alignment The Start Alignment command is used to start the alignment procedure on a sensor. Command Field Type...
Page 370: Software Trigger
Field Type Offset Description 350. opId Operation ID. Use this ID to correlate the command/reply on the Exposure Calibration Result Command channel with the correct message on the Data channel. A unique ID is returned each time the client uses this command. Software Trigger The Software Trigger command causes the sensor to take a snapshot while in software mode and in the Running state.
Page 371: Schedule Analog Output
Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4518). status Reply status. For a list of status codes, see Commands on page 350. Schedule Analog Output The Schedule Analog Output command schedules an analog output event. The analog output must be configured to accept software-scheduled commands and be in the Running state.
Page 372: Reset
Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x100E). status Reply status. For a list of status codes, see Commands on page 350. If a non-zero value is specified for timeout, the client must send another ping command before the timeout elapses;...
Page 373: Restore
Restore The Restore command uploads a backup file to the connected sensor and then restores all sensor files from the backup. The sensor must be reset or power-cycled before the restore operation can be completed. Command Field Type Offset Description length Command size including this field, in bytes.
Page 374: Get Recording Enabled
Get Recording Enabled The Get Recording Enabled command retrieves whether recording is enabled. Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x4517). Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4517).
Page 375: Get Playback Source
Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4513). status Reply status. For a list of status codes, see Commands on page 350. Get Playback Source The Get Playback Source command gets the data source for data playback. Command Field Type...
Page 376: Simulate
Simulate The Simulate command simulates the last frame if playback source is live, or the current frame if playback source is the replay buffer. Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x4522). Reply Field Type...
Page 377: Playback Position
Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x4501). direction Define step direction 0 – Forward 1 – Reverse Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4501). status Commands Reply status.
Page 378: Read Live Log
Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4526). status Reply status. For a list of status codes, see Commands on page 350. Read Live Log The Read Live Log command returns an XML file containing the log messages between the passed start and end indexes.
Page 379: Acquire
Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x452A). Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x452A). status Commands Reply status. For a list of status codes, see on page 350.
Page 380: Create Model
The command returns after the scan has been captured and transmitted. Create Model The Create Model command creates a new part model from the active simulation scan. Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x4602).
Page 381: Add Measurement
Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4530). status Reply status. For a list of status codes, see Commands on page 350. Add Measurement The Add Measurement command adds a measurement to a tool instance. Command Field Type...
Page 382: Export Csv (Progressive)
Initial Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4529). status Reply status. For a list of status codes, see Commands on page 350. progressTotal Progress indicating completion (100%). progress Current progress. Continue Reply Field Type Offset...
Page 383: Export Bitmap (Progressive)
Continue Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x5000). status Reply status. For a list of status codes, see Commands on page 350. progressTotal Progress indicating completion (100%). progress Current progress. size Size of the chunk in byes.
Page 384: Get Runtime Variable Count
Field Type Offset Description Reply identifier (0x5000). status Commands Reply status. For a list of status codes, see on page 350. progressTotal Progress indicating completion (100%). progress Current progress. size Size of the chunk in byes. data[size] byte Chunk data. Get Runtime Variable Count The Get Runtime Variable Count command gets the number of runtime variables that can be accessed.
Page 385: Get Runtime Variables
Get Runtime Variables The Get Runtime Variables command gets the runtime variables for the given index and length. Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x4535). index The starting index of the variables to retrieve. length The number of values to retrieve from the starting index.
Page 386: Start Upgrade Extended
Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x0000). status Reply status. For a list of status codes, see Commands on page 350. Start Upgrade Extended The Start Upgrade Extended command begins a firmware upgrade for the sensors in a system. All sensors automatically reset 3 seconds after the upgrade process is complete.
Page 387: Get Upgrade Log
Field Type Offset Description 0 – Completed 1 – Running 2 – Completed, but should run again Upgrade progress (valid when in the Running state) progress Get Upgrade Log The Get Upgrade Log command can retrieve an upgrade log in the event of upgrade problems. Command Field Type...
Page 388: Stamp
GDP messages are always sent in groups. The Last Message flag in the control field is used to indicate the final message in a group. If there is only one message per group, this bit will be set in each message. Stamp Field Type...
Page 389: Profile
Field Type Offset Description width (W) Image width, in pixels. pixelSize Pixel size, in bytes. pixelFormat Pixel format: 1 – 8-bit greyscale 2 – 8-bit color filter 3 – 8-bits-per-channel color (B, G, R, X) colorFilter Color filter array alignment: 0 –...
Page 390: Resampled Profile
Field Type Offset Description xOffset X offset (µm). zOffset Z offset (µm). source Source 0 – Top 1 – Bottom 2 – Top Left 3 – Top Right exposure Exposure (ns). Camera index. cameraIndex reserved[2] Reserved. ranges[C][W] Point16s Profile ranges. Resampled Profile Field Type...
Page 391: Profile Intensity
Profile Intensity Field Type Offset Description size Count of bytes in message (including this field). control Bit 15: Last message flag. Bits 0-14: Message type identifier. For this message, set to 7. attributesSize Size of attributes, in bytes (min: 24, current: 24). count (C) Number of profile intensity arrays.
Page 392: Surface Intensity
Field Type Offset Description 2 – Top Left 3 – Top Right exposure Exposure (ns). rotation Rotation (microdegrees). reserved[3] Reserved. ranges[L][W] Surface ranges. Surface Intensity Field Type Offset Description size Count of bytes in message (including this field). control Bit 15: Last message flag. Bits 0-14: Message type identifier.
Page 393: Surface Section Intensity
Field Type Offset Description width (W) Number of points per profile array. xScale X scale (nm). zScale Z scale (nm). xOffset X offset (µm). zOffset Z offset (µm). source Source 0 – Top 1 – Bottom 2 – Top Left 3 –...
Page 394: Measurement
Field Type Offset Description poseAngle Z angle of the pose (microdegrees). poseX X offset of the pose (µm). poseY Y offset of the pose (µm). points[C][W] Intensity arrays. Measurement Field Type Offset Description size Count of bytes in message (including this field). control Bit 15: Last message flag.
Page 395: Exposure Calibration Result
Field Type Offset Description 0 – General failure -1 – No data in the field of view for stationary alignment -2 – No profiles with sufficient data for line fitting for travel alignment -3 – Invalid target detected. Examples include: - Calibration disk diameter too small.
Page 396: Bounding Box Match Result
Bounding Box Match Result Field Type Offset Description size Count of bytes in message (including this field). control Bit 15: Last message flag. Bits 0-14: Message type identifier. For this message, set to 17. decision byte Overall match decision. xOffset Target x offset in model space (µm).
Page 397 Gocator Data Protocol Field Type Offset Description size Count of bytes in message (including this field). control Bit 15: Last Message flag Bits 0-14: Message type identifier. (See individual data result sections.) GDP messages are always sent in groups. The Last Message flag in the control field is used to indicate the final message in a group.
Page 398 Indicator Instance Value Encoder Frequency 1005 Current system encoder frequency (ticks/s). App Version 2000 Firmware application version. Uptime 2017 Time elapsed since node boot-up or reset (seconds). Laser safety status 1010 0 if laser is disabled; 1 if enabled. Internal Temperature 2002 Internal temperature (centidegrees Celsius).
Page 399 Indicator Instance Value Sensor State* 20000 Gocator sensor state. -1 – Conflict 0 – Ready 1 – Running Current Sensor Speed* 20001 Current sensor speed. (Hz) Maximum Speed* 20002 The sensor’s maximum speed. Spot Count* 20003 Number of found spots in the last profile. Max Spot Count* 20004 Maximum number of spots that can be found.
Page 400 Indicator Instance Value Ethernet Drops 21005 Number of dropped Ethernet packets. Digital Output Pass 21006 Output Index Number of pass digital output pulse. Digital Output Fail 21007 Output Index Number of fail digital output pulse. Trigger Drops** 21010 Number of dropped triggers. The sum of various triggering-related drop indicators.
Page 401 ** When the sensor is accelerated, the indicator's value is the sum of the values reported from the sensor and the accelerating PC. Protocols • 401 Gocator Line Profile Sensors: User Manual...
Page 402: Modbus Protocol
Modbus Protocol Modbus is designed to allow industrial equipment such as Programmable Logic Controllers (PLCs), sensors, and physical input/output devices to communicate over an Ethernet network. Modbus embeds a Modbus frame into a TCP frame in a simple manner. This is a connection-oriented transaction, and every query expects a response.
Page 403: Registers
Modbus Application Protocol Header Field Length (Bytes) Description Transaction ID Used for transaction pairing. The Modbus Client sets the value and the Server (Gocator) copies the value into its responses. Protocol ID Always set to 0. Length Byte count of the rest of the message, including the Unit identifier and data fields.
Page 404: Control Registers
The output registers report the sensor states, stamps, and measurement values and decisions. You can read multiple output registers using a single Read Holding Registers or a single Read Input Registers command. Likewise, you can control the state of the sensor using a single Write Multiple Register command.
Page 405: Output Registers
Value Name Description until the alignment process is complete. Align (moving target) Start alignment process and also calibrate encoder resolution. State register 301 will be set to 1 (busy) until the motion calibration process is complete. Clear Alignment Clear the alignment. Load Job Activate a job file.
Page 406: Stamp
Stamp Stamps contain trigger timing information used for synchronizing a PLC's actions. A PLC can also use this information to match up data from multiple Gocator sensors. In Profile mode, the stamps are updated after each profile is processed. In Surface mode, the stamps are updated after each surface has been processed.
Page 407: Measurement Registers
Register Name Type Description Address Frame Index Fame Index Low Measurement Registers Measurement results are reported in pairs of values and decisions. Measurement values are 32 bits wide and decisions are 8 bits 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 408: Ethernet/Ip Protocol
EtherNet/IP Protocol EtherNet/IP is an industrial protocol that allows bidirectional data transfer with PLCs. It encapsulates the object-oriented Common Industrial Protocol (CIP). This section describes the EtherNet/IP messages and data formats. EtherNet/IP communication enables the client to: Switch jobs. Align and run sensors. Receive sensor states, stamps, and measurement results.
Page 409: Basic Object
Basic Object Identity Object (Class 0x01) Attribute Name Type Value Description Access Vendor ID UINT 1256 ODVA-provided vendor ID Device Type UINT Device type Product Code UINT 2000 Product code Revision USINT Byte 0 - Major revision USINT Byte 1 - Minor revision Serial number UDINT 32-bit value Sensor serial number...
Page 410: Assembly Object (Class 0X04)
Attribute Name Type Value Description Access Interface UDINT 1000 Ethernet interface data rate (mbps) Speed Interface Flags UDINT See 5.4.3.2.1 of CIP Specification Volume 2: Bit 0: Link Status 0 – Inactive 1 - Active Bit 1: Duplex 0 – Half Duplex 1 –...
Page 411: Runtime Variable Configuration Assembly
Value Name Description Start Running Start the sensor. No action if the sensor is already started. Stationary Alignment Start the stationary alignment process. Byte 1 of the sensor state assembly will be set to 1 (busy) until the alignment process is complete, then back to zero.
Page 412: Sensor State Assembly
Sensor State Assembly The sensor state assembly object contains the sensor's states, such as the current sensor temperature, frame count, and encoder values. Sensor State Assembly Information Value Class 0x04 Instance 0x320 Attribute Number Length 100 bytes Supported Service 0x0E (GetAttributeSingle) Attributes 1 and 2 are not implemented, as they are not required for the static assembly object.
Page 413: Sample State Assembly
Byte Name Type Description Variable 0 … … 96-99 Runtime Runtime variable value at index 3 Variable 3 Sample State Assembly The sample state object contains measurements and their associated stamp information. Sample State Assembly Information Value Class 0x04 Instance 0x321 Attribute Number Length...
Page 414: Implicit Messaging Command Assembly
Byte Name Type Description Bit 0: 1 - Pass 0 - Fail Bits 1-7: 0 - Measurement value OK 1 - Invalid value 2 - Invalid anchor Measurement value in µm (0x80000000 if 375-378 Measurement 59 invalid). Decision 59 Measurement decision. A bit mask, where: Bit 0: 1 - Pass 0 - Fail...
Page 415: Implicit Messaging Output Assembly
Implicit Messaging Command Assembly Information Byte Name Type Description Command A bit mask where setting the following bits will only perform the action with highest priority*: 8 – Set Runtime Variables 7 – Stop sensor 6 – Start sensor 5 – Perform Stationary Alignment 4 –...
Page 416 Byte Name Type Description 0 – No state issue 1 – Conflict Alignment and A bit mask where: Command state Bit 0: 1 – Explicit or Implicit Command in progress 0 – No Explicit or Implicit command is in progress Bit 1 1 –...
Page 417: Ascii Protocol
Byte Name Type Description 120-123 Measurement 0 Measurement value in µm. (0x80000000 if invalid) … … 372-375 Measurement 63 Measurement value in µm. (0x80000000 if invalid) ASCII Protocol This section describes the ASCII protocol. The ASCII protocol is available over either serial output or Ethernet output. Over serial output, communication is asynchronous (measurement results are automatically sent on the Data channel when the sensor is in the running state and results become available).
Page 418: Serial Communication
Channels can share the same port or operate on individual ports. The following port numbers are reserved for Gocator internal use: 2016, 2017, 2018, and 2019. Each port can accept multiple connections, up to a total of 16 connections for all ports. Serial Communication Over serial, Gocator ASCII communication uses the following connection settings: Serial Connection Settings for...
Page 419: Command And Reply Format
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> If a command has more than one parameter, each parameter is separated by the delimiter. Similarly, the reply has the following format: <STATUS><DELIMITER><OPTIONAL RESULTS><DELIMITER>...
Page 420: Stop
Formats Message Format Command Start,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 421: Loadjob
Examples: Command: Trigger Reply: OK Command: Trigger,1000000 Reply: OK LoadJob The Load Job command switches the active sensor configuration. Formats Message Format Command LoadJob,job file name If the job file name is not specified, the command returns the current job name. An error message is generated if no job is loaded. ".job" is appended if the filename does not have an extension.
Page 422: Stationary Alignment
Stationary Alignment The Stationary Alignment command performs an alignment based on the settings in the sensor's live job file. A reply to the command is sent when the alignment has completed or failed. The command is timed out if there has been no progress after one minute. Formats Message Format...
Page 423: Data Commands
Reply: OK Data Commands Optional parameters are shown in italic. The placeholder for data is surrounded by brackets (<>). In the examples, the delimiter is set to ','. Result The Result command retrieves measurement values and decisions. Formats Message Format Command Result,measurement ID,measurement ID...
Page 424: Decision
Message Format 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 OK,M00,00,V151290,M01,01,V18520 Standard formatted measurement data with a non-existent measurement of ID 2: Value,2...
Page 425: Health Commands
Decision,2 ERROR,Specified measurement ID not found. Please verify your input Custom formatted data string (%time, %decision[0]): Decision OK,1420266101, 0 Health Commands Optional parameters are shown in italic. The placeholder for data is surrounded by brackets (<>). In the examples, the delimiter is set to ','. Health The Health command retrieves health indicators.
Page 426: Custom Result Format
Field Shorthand Length Description measurement. The measurement type is the same as defined elsewhere (see on page 387). Decimal value that represents the unique identifier of the measurement. ValueStart Start of measurement value. Value Measurement value, in decimal. The unit of the value is measurement-specific.
Page 427 Format Value Explanation Bits 1-7: 0 – Measurement value OK 1 – Invalid value 2 - Invalid anchor Protocols • 427 Gocator Line Profile Sensors: User Manual...
Page 428: Selcom Protocol
Selcom Protocol This section describes the Selcom serial protocol settings and message formats supported by Gocator sensors. To use the Selcom protocol, it must be enabled and configured in the active job. For information on configuring the protocol using the Web interface, see Serial Output on page 252. Units for data scales use the standard units (mm, mm , mm , and degrees).
Page 429 12-bit data format (SLS mode; "SLS" in Gocator web interface) 12-bit data format with Search/Track bit 14-bit data format 14-bit data format with Search/Track bit Protocols • 429 Gocator Line Profile Sensors: User Manual...
Page 430: Development Kits
Gocator sensors. The latest version of the SDK can be downloaded by going to http://lmi3d.com/support/downloads/, selecting a Gocator series, and clicking on the Product User Area link. You can download the Gocator SDK from within the Web interface.
Page 431: Setup And Locations
Setup and Locations Class Reference The full SDK class reference is found by accessing 14400-4.x.x.xx_SOFTWARE_GO_SDK\GO_ SDK\doc\GoSdk\Gocator_2x00\GoSdk.html. Examples Examples showing how to perform various operations are provided, each one targeting a specific area. All of the examples can be found in GoSdkSamples.sln. To run the SDK samples, make sure GoSdk.dll and kApi.dll (or GoSdkd.dll and kApid.dll in debug configuration) are copied to the executable directory.
Page 432: Gosystem
GoSystem The GoSystem class is the top-level class in Gocator 4.x. Multiple sensors can be enabled and connected in one GoSystem. Only one GoSystem object is required for multi-sensor control. Refer to the How To Use The Open Source SDK To Fully Control A Gocator Multi-sensor System how-to guide http://lmi3d.com/sites/default/files/APPNOTE_Gocator_4.x_Multi_Sensor_Guide.zip for details on how to control and operate a multi-sensor system using the SDK.
Page 433: Gotools
GoTools The GoTools class is the base class of the measurement tools. The class provides functions for getting and setting names, retrieving measurement counts, etc. GoTransform The GoTransform class represents a sensor transformation and provides functions to get and set transformation information, as well as encoder-related information.
Page 434: Godataset Type
Data Type Description GoBoundingBoxMatchMsg Represents a message containing bounding box based part matching results. GoDataSet Type GoDataMsg Represents a base message sourced from the data channel. See below for more information. GoEdgeMatchMsg Represents a message containing edge based part matching results. GoEllipseMatchMsg Represents a message containing ellipse based part matching results.
Page 435: Measurement Values And Decisions
After receiving the GoDataSet object, you should call GoDestroy to dispose the GoDataSet object. You do not need to dispose objects within the GoDataSet object individually. All objects that are explicitly created by the user or passed via callbacks should be destroyed by using the GoDestroy function.
Page 436: Initialize Gosdk Api Object
See Setup and Locations on page 431 for more information on the code samples referenced below. Sensors must be connected before the system can enable the data channel. All data functions are named Go<Object>_<Function>, for example, GoSensor_Connect. For property access functions, the convention is Go<Object>_<Property Name> for reading the property and Go<Object>_Set<Property Name>...
Page 437: Discover Sensors
Discover Sensors Sensors are discovered when GoSystem is created, using GoSystem_Construct. You can use GoSystem_ SensorCount and GoSystem_SensorAt to iterate all the sensors that are on the network. GoSystem_SensorCount returns the number of sensors physically in the network. Alternatively, use GoSystem_FindSensorById or GoSystem_FindSensorByIpAddress to get the sensor by ID or by IP address.
Page 438 kIpAddress ipAddress; GoSystem system = kNULL; GoSensor sensor = kNULL; GoSetup setup = kNULL; //Construct the GoSdk library. GoSdk_Construct(&api); //Construct a Gocator system object. GoSystem_Construct(&system, kNULL); //Parse IP address into address data structure kIpAddress_Parse(&ipAddress, SENSOR_IP); //Obtain GoSensor object by sensor IP address GoSystem_FindSensorByIpAddress(system, &ipAddress, &sensor) //Connect sensor object and enable control channel GoSensor_Connect(sensor);...
Page 439: Limiting Flash Memory Write Operations
Limiting Flash Memory Write Operations Several operations and Gocator SDK functions write to the Gocator's flash memory. The lifetime of the flash memory is limited by the number of write cycles. Therefore it is important to avoid frequent write operation to the Gocator's flash memory when you design your system with the Gocator SDK. Power loss during flash memory write operation will also cause Gocators to enter rescue mode.
Page 440: Benefits
For more information on the GDK, download the technical user manual (15201-4.x.x.xxx_MANUAL_ Technical_Gocator-Measurement-Tool.pdf) by going to http://lmi3d.com/support/downloads/, selecting a Gocator series, and clicking on the Product User Area link. You can download the GDK package (14524- 4.5.4.102_SOFTWARE_GDK.zip) and the prerequisite tools package (14525_1.0.0.0_SOFTWARE_GDK_ Prerequisites.zip) from the same location.
Page 441: Typical Workflow
Gocator 2400 series Gocator 3100 series Typical Workflow The following is the typical workflow for creating and deploying custom measurement tools: Develop and build measurement tools using the GDK project files and libraries in Microsoft Visual Stu- dio, targeting Win32. Debug the measurement tools using the emulator on a PC.
Page 442: Tools And Native Drivers
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 443 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 and Native Drivers • 443 Gocator Line Profile Sensors: User Manual...
Page 444: Gentl Driver
GenTL driver. For instructions, see To configure system variables to use the driver in Windows 7, below. You can download the toolset package containing the driver from the LMI Technologies website at http://lmi3d.com/support/downloads/. Click the link for your product, click the Product User Area link at the top of the page, and log in.
Page 445 Click Advanced System Settings. In the System Properties dialog, on the Advanced tab, click Environment Variables... Tools and Native Drivers • 445 Gocator Line Profile Sensors: User Manual...
Page 446 In the Environment Variables dialog, under the System variables list, click New. Tools and Native Drivers • 446 Gocator Line Profile Sensors: User Manual...
Page 447 In the New System Variable dialog, enter the following information, depending on your system: Variable name Variable value 32-bit system GENICAM_GENTL32_PATH The full path to the GenTL\x86 folder. 64-bit system GENICAM_GENTL64_PATH The full path to the GenTL\x64 folder. Tools and Native Drivers • 447 Gocator Line Profile Sensors: User Manual...
Page 448: 16-Bit Rgb Image
Click OK in the dialogs until they are all closed. To work with the Gocator GenTL driver, the Gocator must operate in Surface or Video mode with its the appropriate output enabled in the Ethernet panel in the Output page. Check Acquire Intensity in the Scan Mode panel on the Scan page and enable intensity output in the Ethernet panel if intensity data is required.
Page 449: 16-Bit Grey Scale Image
Channel Details pixel channel Data Results on page 387 for an explanation of the stamp information. The following table shows how the stamp information is packed into the blue channel. A stamp is a 64- bit value packed into four consecutive 16-bit blue pixels, with the first byte position storing the most significant ...
Page 450 Rows Details Y = Y offset + Py * Y resolution Z = Z offset + Pz * Z resolution Refer to the blue channel on how to retrieve the offset and resolution values. If Pz is 0 if the data is invalid. The Z offset is fixed to -32768 * Z Resolution. Z is zero if Pz is 32768. (max part height) ..
Page 451: Registers
Stamp Index Column Position Details 36..39 Y resolution (nm) 40..43 Z offset (nm) 44..47 Z resolution (nm) 48..51 Height map Width (in pixels) 52..55 Height map length (in pixels) 56..59 Specify if intensity is enabled or not Registers GenTL registers are multiples of 32 bits. The registers are used to control the operation of the GenTL driver, send commands to the sensors, or to report the current sensor information.
Page 452: Xml Settings File
Register Name Read/Write Length (bytes) Description Address Transformatio Return the sensor transformation X offset n X offset Transformatio Return the sensor transformation Z offset n Z offset Transformatio Return the sensor transformation angle n Angle Transformatio Return the sensor transformation orientation n Orientation Clearance Return the sensor clearance distance...
Page 453: Setting Up Halcon
Requirements Sensor Gocator laser profile sensor Firmware Firmware 4.0.9.136 or later Halcon Version 10.0 or later Setting Up Halcon Before using Halcon with Gocator, you must set up Halcon. To set up Halcon: Connect a Gocator sensor to the PC running Halcon. You will need a Master hub to connect the sensor to the PC.
Page 454 For more information on configuring Ethernet output, see Ethernet Output on page 244. Make sure the Gocator is running. On the PC, launch Halcon. 10. In Halcon, in the Assistants menu, click Open New Image Acquisition. 11. In the dialog that opens, in the Source tab, check the Image Acquisition Interface option and choose GenICamTL in the drop-down.
Page 455 13. In the Connection tab, set Color Space to RGB and Bit Depth to 16. 14. In the Gocator web interface, click the Snapshot button to trigger the output of a surface. The output displays in the Halcon Graphics Window. Tools and Native Drivers •...
Page 456: Halcon Procedures
Halcon is now configured for use with Gocator. Halcon Procedures The Halcon example code contains internal procedures that you can use to decompose the RGB image and to control registers that the GenTL driver opens. You can import the procedures into your own code by selecting File > Insert Program > Insert Procedures and then choosing the example code Continuous_Acq.hdev under the Examples/Halcon directory.
Page 457 Procedures Description Parameters (Output) HeightMap : The height map image. Intensity : The intensity image. FrameCount : The number of frames. Timestamp : The timestamp. Encoder : The encoder position. EncoderIndex : The last index of the encoder. Inputs : The digital input states. xOffset : The X offset in millimeters.
Page 458 Procedures Description Parameters (Output) ConfigFile : The name of the job file. The file name includes the extension .job. Example Go2GenTL_ConfigFileName (AcqHandle, ConfigFile) Go2GenTL_ Sets the sensor live configuration. SetConfigFileNa Parameters (Input) AcqHandle : Acquisition handle created by open_framegrabber ConfigFile : The name of the job file.
Page 459 Procedures Description zResolution : The Z resolution in millimeters. Parameters (Output) coordinateXYZ : The real-world coordinates. Go2GenTL_ Returns the current exposure. Exposure Parameters (Input) AcqHandle : Acquisition handle created by open_framegrabber Parameters (Output) Exposure : The current exposure value (in µs). The value is returned as an integer. Decimals are truncated.
Page 460: Generating Halcon Acquisition Code
Procedures Description sensor To schedule a to start after a delay (ticks or microseconds), pass GenTL/Sensor the first call to , followed by the remaining calls to the set_framegrabber_param function as described in the previous example: set_framegrabber_param( AcqHandle, ‘XMLSettings’, ‘GenTL/Sensor’) Generating Halcon Acquisition Code Halcon lets you insert acquisition code into your code in the IDE.
Page 461: Csv Converter Tool
* This example illustrates how to do the following: * 1. Acquire data from the Gocator (16-bit RGB or gray image) * 2. Decompose the returned image into three separate image for height map, intensity and stamps. * 3. Extract some stamp values from the stamp image. * Connect to the Gocator device.
Page 462 You can get the tool package (14405-x.x.x.x_SOFTWARE_GO_Tools.zip) from the LMI Technologies website at http://lmi3d.com/support/downloads/. Click on the link for your sensor, click on Product User Area, and log in. For more information on exporting recorded data, see see Downloading, Uploading, and Exporting Replay Data on page 64.
Page 463: 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 section, see Return Policy on page 525. Mechanical/Environmental The sensor is warm. It is normal for a sensor to be warm when powered on.
Page 464 Check that the exposure time is set to a reasonable level.See Exposure on page 98 for more information on configuring exposure time. Performance The sensor CPU level is near 100%. Consider reducing the speed. If you are using a time or encoder trigger source, see Triggers on page 88 for information on reducing the speed.
Page 465: Specifications
Specifications The following sections describe the specifications of Gocator sensors and connectors, as well as Master hubs. Sensors The following sections provide the specifications of Gocator sensors. Gocator 2100 & 2300 Series The Gocator 2100 and 230 series consists of the following models: MODEL 2320 2x30...
Page 466 MODEL 2320 2x30 2x40 2342 2x50 2x70 2375 2x80 Other Laser 3R / 3B Classes (2300 series 3B (2300 3B (2300 only) series only) series only) Input Voltage +24 to +48 VDC (13 W); Ripple +/- 10% +24 to +48 +48 VDC (Power) VDC (13 W);...
Page 467 Repeatability Z is measured with a flat target at the middle of the measurement range. It is the 95% confidence variation of the average height over 4096 frames. Height values are averaged over the full FOV. See Resolution and Accuracy on page 46 for more information. ALL 2x00 SERIES MODELS Approx.
Page 468 Gocator 2320 Field of View / Measurement Range / Coordinate System Orientation Specifications • 468 Gocator Line Profile Sensors: User Manual...
Page 469 Dimensions Envelope Specifications • 469 Gocator Line Profile Sensors: User Manual...
Page 470: Gocator 2130 And
Gocator 2130 and 2330 Field of View / Measurement Range / Coordinate System Orientation Dimensions Specifications • 470 Gocator Line Profile Sensors: User Manual...
Page 471 Envelope Specifications • 471 Gocator Line Profile Sensors: User Manual...
Page 472: Gocator 2140 And
Gocator 2140 and 2340 Field of View / Measurement Range / Coordinate System Orientation Specifications • 472 Gocator Line Profile Sensors: User Manual...
Page 473 Dimensions Envelope Specifications • 473 Gocator Line Profile Sensors: User Manual...
Page 474 Gocator 2342 Field of View / Measurement Range / Coordinate System Orientation Specifications • 474 Gocator Line Profile Sensors: User Manual...
Page 475 Dimensions Envelope Specifications • 475 Gocator Line Profile Sensors: User Manual...
Page 476: Gocator 2150 And
Gocator 2150 and 2350 Field of View / Measurement Range / Coordinate System Orientation Specifications • 476 Gocator Line Profile Sensors: User Manual...
Page 477 Dimensions Specifications • 477 Gocator Line Profile Sensors: User Manual...
Page 478 Envelope Specifications • 478 Gocator Line Profile Sensors: User Manual...
Page 479: Gocator 2170 And
Gocator 2170 and 2370 Field of View / Measurement Range / Coordinate System Orientation Specifications • 479 Gocator Line Profile Sensors: User Manual...
Page 480 Dimensions Specifications • 480 Gocator Line Profile Sensors: User Manual...
Page 481 Envelope Specifications • 481 Gocator Line Profile Sensors: User Manual...
Page 482 Gocator 2375 Field of View / Measurement Range / Coordinate System Orientation Specifications • 482 Gocator Line Profile Sensors: User Manual...
Page 483 Dimensions Specifications • 483 Gocator Line Profile Sensors: User Manual...
Page 484 Envelope Specifications • 484 Gocator Line Profile Sensors: User Manual...
Page 485 Gocator 2180 and 2380 Field of View / Measurement Range / Coordinate System Orientation Specifications • 485 Gocator Line Profile Sensors: User Manual...
Page 486 Dimensions Specifications • 486 Gocator Line Profile Sensors: User Manual...
Page 487 Envelope Specifications • 487 Gocator Line Profile Sensors: User Manual...
Page 488: Gocator 2400 Series
Gocator 2400 Series The Gocator 2400 series consists of the following models: MODEL 2410 2420 1710 1940 Data Points / Profile 0.015 0.006 Linearity Z (+/- % of MR) Resolution Z (µm) 1.8 - 3.0 5.8 - 6.2 14.0 - 16.5 Resolution X (µm) (Profile Data Interval) Repeatability Z (µm)
Page 489 All specification measurements are performed on LMI’s standard calibration target (a diffuse, painted white surface). Linearity Z is the worst case difference in average height measured, compared to the actual position over the measurement range. Resolution Z is the maximum variability of height measurements across multiple frames, with 95% confidence.
Page 490 Gocator 2410 Field of View / Measurement Range / Coordinate System Orientation Specifications • 490 Gocator Line Profile Sensors: User Manual...
Page 491 Dimensions Specifications • 491 Gocator Line Profile Sensors: User Manual...
Page 492 Envelope Specifications • 492 Gocator Line Profile Sensors: User Manual...
Page 493 Gocator 2420 Field of View / Measurement Range / Coordinate System Orientation Specifications • 493 Gocator Line Profile Sensors: User Manual...
Page 494 Dimensions Specifications • 494 Gocator Line Profile Sensors: User Manual...
Page 495 Envelope Specifications • 495 Gocator Line Profile Sensors: User Manual...
Page 496: Gocator 2880 Sensor
Gocator 2880 Sensor The Gocator 2880 is defined below. MODEL 2880 Data Points / Profile 1280 0.04 Linearity Z (+/- % of MR) Resolution Z (mm) 0.092 - 0.488 Resolution X (mm) 0.375 - 1.1 Clearance Distance (CD) (mm) Measurement Range (MR) (mm) Field of View (FOV) (mm) 390 - 1260...
Page 497 Gocator 2880 Field of View / Measurement Range / Coordinate System Orientation Specifications • 497 Gocator Line Profile Sensors: User Manual...
Page 498 Dimensions Specifications • 498 Gocator Line Profile Sensors: User Manual...
Page 499 Envelope Specifications • 499 Gocator Line Profile Sensors: User Manual...
Page 500: Sensor Connectors
Sensor Connectors The following sections provide the specifications of the connectors on Gocator sensors. Gocator Power/LAN Connector The Gocator Power/LAN connector is a 14 pin, M16 style connector that provides power input, 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 501: Power
Power Apply positive voltage to DC_24-48V. See Gocator 2100 & 2300 Series on page 465 or Gocator 2400 Series on page 488 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 502: Gocator I/O Connector
Gocator I/O Connector The Gocator I/O connector is a 19 pin, M16 style connector that provides encoder, digital input, digital outputs, serial output, and analog output signals. This connector is rated IP67 only when a cable is connected or when a protective cap is used. This section defines the electrical specifications for Gocator I/O connector pins, organized by function.
Page 503: Inverting Outputs
Max Collector Max Collector–Emitter Function Pins Min Pulse Width Current Voltage Out_1 N, O 40 mA 70 V 20 µs Out_2 S, T 40 mA 70 V 20 µs The resistors shown above are calculated by R = (V+) / 2.5 mA. The size of the resistors is determined by power = (V+)^2 / R.
Page 504: Encoder Input
Active Low To assert the signal, the digital input voltage should be set to draw a current of 3 mA to 40 mA from the positive pin. The current that passes through the positive pin is I = (Vin – 1.2 – Vdata) / 680. To reduce noise sensitivity, we recommend leaving a 20% margin for current variation (i.e., uses a digital input voltage that draws 4mA to 25mA). ...
Page 505: Serial Output
Serial Output Serial RS-485 output is connected to Serial_out as shown below. Function Pins Serial_out B, C Analog Output The Sensor I/O Connector defines one analog output interface: Analog_out. Function Pins Current Range Analog_out P, F 4 – 20 mA Current Mode Voltage Mode To configure for voltage output, connect a 500 Ohm ¼...
Page 506: Master Network Controllers
Master Network Controllers The following sections provide the specifications of Master network controllers. For information on maximum external input trigger rates, see Maximum Input Trigger Rate on page 93. 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.
Page 507: Master 100 Dimensions
The rest of the wires in the Gocator I/O cordset are not used. Encoder/Output Port Pins Function Output_1+ (Digital Output 0) Output_1- (Digital Output 0) Encoder_Z+ Encoder_Z- Encoder_A+ Encoder_A- Encoder_B+ Encoder_B- Encoder_GND Encoder_5V Master 100 Dimensions Specifications • 507 Gocator Line Profile Sensors: User Manual...
Page 508 Master 400/800 Master 400 and 800 network controllers provide sensor power and safety interlock, and broadcast system-wide synchronization information (i.e., time, encoder count, encoder index, and digital I/O states) to all devices on a sensor network. The Phoenix connectors on Master 400/800/1200/2400 are not compatible with the connectors on Master 810/2410.
Page 509: Master 400/800 Electrical Specifications
Input (16 pin connector) Function Input 1 Input 1 GND Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved The Input connector does not need to be wired up for proper operation. Encoder (8 pin connector) Function Encoder_A+ Encoder_A-...
Page 510 Specification Value Power Draw (Min.) 5.76 W Safety Input Voltage Range +24 VDC to +48 VDC Encoder Signal Voltage Differential (12 VDC) Digital Input Voltage Range Logical LOW: 0 to +0.1 VDC Logical HIGH: +3.3 to +24 VDC When using a Master hub, the chassis must be well grounded. The power supply must be isolated from AC ground.
Page 511: Master 400/800 Dimensions
Master 400/800 Dimensions The dimensions of Master 400 and Master 800 are the same. Specifications • 511 Gocator Line Profile Sensors: User Manual...
Page 512: Master
Master 810/2410 Master 810 and 2410 network controllers provide sensor power and safety interlock, and broadcast system-wide synchronization information (i.e., time, encoder count, encoder index, and digital I/O states) to all devices on a sensor network. Master 810 and 2410 can be mounted to DIN rails using the appropriate adapters (not included; for more information, see Installing DIN Rail Clips: Master 810 or 2410 on page 32).
Page 513 Power and Safety (6 pin connector) Function Power In+ Power In+ Power In- Power In- Safety Control+ Safety Control– The +24-48VDC power supply must be isolated from AC ground. This means that AC ground and DC ground are not connected. The Safety Control requires a voltage differential of 24 VDC to 48 VDC across the pin to enable the laser.
Page 514: Electrical Specifications
Function Encoder_B_Pin_3 Encoder_Z_Pin_1 Encoder_Z_Pin_2 Encoder_Z_Pin_3 GND (output for powering external devices) +5VDC (output for powering external devices) 11 For Encoder connection wiring options, see Encoder on the next page. Electrical Specifications Electrical Specifications Specification Value Power Supply Voltage +24 VDC to +48 VDC Power Supply Current (Max.)* Master 810: 9 A Master 2410: 25 A...
Page 515: Encoder
The Power Draw specification is based on a Master with no sensors attached. Every sensor has its own power requirements that need to be considered when calculating total system power requirements. Encoder Master 810 and 2410 support the following types of encoder signals: Single-Ended (5 VDC, 12 VDC) and Differential (5 VDC, 12 VDC).
Page 516: Input
Differential 5 VDC Differential 12 VDC Input Master 810 and 2410 support the following types of input: Differential and Single-Ended. Currently, only Input 0 is supported by Gocator. Specifications • 516 Gocator Line Profile Sensors: User Manual...
Page 517 For digital input voltage ranges, see the table below. Differential Single-Ended Active High Single-Ended Active Low Digital Input Voltage Ranges Input Status Min (VDC) Max (VDC) Single-ended Active High +0.8 +3.3 Single-ended Active Low - 0.8) - 3.3) Differential +0.8 +3.3 Specifications •...
Page 518: Master 810 Dimensions
Master 810 Dimensions With 1U rack mount brackets: With DIN rail mount clips: For information on installing DIN rail clips, see Installing DIN Rail Clips: Master 810 or 2410 on page 32. The CAD model of the DIN rail clip is available at https://www.winford.com/products/cad/dinm12-rc.igs. Specifications •...
Page 519: Master 2410 Dimensions
Master 2410 Dimensions With 1U rack mount brackets: With DIN rail mount clips: For information on installing DIN rail clips, see Installing DIN Rail Clips: Master 810 or 2410 on page 32. The CAD model of the DIN rail clip is available at https://www.winford.com/products/cad/dinm12-rc.igs. Specifications •...
Page 520: Master 1200/2400
Master 1200/2400 Master 1200 and 2400 network controllers provide sensor power and safety interlock, and broadcast system-wide synchronization information (i.e., time, encoder count, encoder index, and digital I/O states) to all devices on a sensor network. The Phoenix connectors on Master 400/800/1200/2400 are not compatible with the connectors on Master 810/2410.
Page 521: Master 1200/2400 Electrical Specifications
Input (12 pin connector) Function Input 1 Input 1 GND Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved The Input 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+...
Page 522: Master 1200/2400 Dimensions
The 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 that need to be considered when calculating total system power requirements.
Page 523: Accessories
Accessories Masters Description Part Number Master 100 - for single sensor (development only) 30705 Master 810 - for networking up to 8 sensors 301114 Master 2410 - for networking up to 24 sensors 301115 Cordsets Description Part Number 1.2m I/O cordset, open wire end 30864-1.2m 2m I/O cordset, open wire end 30864-2m...
Page 524 Description Part Number 10m I/O cordset, 90-deg, open wire end 30883-10m 15m I/O cordset, 90-deg, open wire end 30883-15m 20m I/O cordset, 90-deg, open wire end 30883-20m 25m I/O cordset, 90-deg, open wire end 30883-25m 2m Power and Ethernet cordset, 90-deg, 1x open wire end, 1x RJ45 end 30880-2m 5m Power and Ethernet cordset, 90-deg, 1x open wire end, 1x RJ45 end 30880-5m...
Page 525: 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 526: Software Licenses
Software Licenses Pico-C Website: http://code.google.com/p/picoc/ License: picoc is published under the "New BSD License". http://www.opensource.org/licenses/bsd-license.php Copyright (c) 2009-2011, Zik Saleeba All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Page 527 BlowFish Website: http://www.chiark.greenend.org.uk/~sgtatham/putty/licence.html License: PuTTY is copyright 1997-2011 Simon Tatham. Portions copyright Robert de Bath, Joris van Rantwijk, Delian Delchev, Andreas Schultz, Jeroen Massar, Wez Furlong, Nicolas Barry, Justin Bradford, Ben Harris, Malcolm Smith, Ahmad Khalifa, Markus Kuhn, Colin Watson, and CORE SDI S.A. Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell...
Page 528 The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANT ABILITY,FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
Page 529 Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS-IS"...
Page 530 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: http://opensource.adobe.com/wiki/display/flexsdk/Flex+SDK License: Copyright (c) 2010 Adobe Systems Incorporated...
Page 531 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 • 531 Gocator Line Profile Sensors: User Manual...
Page 532: Support
Support For help with a component or product, please submit an online support ticket using LMI's Help Desk http://support.lmi3d.com/newticket.php. If you are unable to use the Help Desk or prefer to contact LMI by phone or email, use the contact information below.
Page 533: Contact
LMI (Shanghai) Trading Co., Ltd. Burnaby, Canada Berlin, Germany Shanghai, China +1 604 636 1011 +49 (0)3328 9360 0 +86 21 5441 0711 LMI Technologies has sales offices and distributors worldwide. All contact information is listed at lmi3D.com/contact/locations. Gocator Line Profile Sensors: User Manual...

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