LMI Technologies Gocator 5500 Series User Manual

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GoPxL for G5 Sensors

Gocator 5500 Series Sensors

USER MANUAL

Firmware version: 1.0.x.x

Document revision: B

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Summary of Contents for LMI Technologies Gocator 5500 Series

Page 1 GoPxL for G5 Sensors Gocator 5500 Series Sensors USER MANUAL Firmware version: 1.0.x.x Document revision: B...
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 Multilayer Output Profile Output Coordinate Systems Copyright Unaligned Coordinates Table of Contents Aligned Coordinates Introduction Uniform Data and Point Cloud Data Safety and Maintenance Data Generation and Processing Electrical Safety Surface Generation Handling, Cleaning, and Maintenance Part Detection Environment and Lighting Sectioning Using the Manual...
Page 4 Jobs Exposure and Light Intensity Maintenance Single Exposure Software Upgrade Dynamic Exposure Backup and Restore Multiple Exposure Factory Restore Layer Settings Support Advanced Settings Creating a Sensor System Material Type and Spot Detection Adding Sensors and Configuring Multi-sensor Spot Detection Systems Camera Gain Changing Sensor Orientation...
Page 5 Profile Measurement Inputs Profile Advanced Height Parameters Inputs Outputs Parameters Profile Intersect Master Comparison Inputs X Correction Parameters Reference Line Outputs Outputs Profile Line Profile Area Inputs Inputs Parameters Parameters Outputs Outputs Profile Mask Profile Bounding Box Inputs Inputs Parameters Parameters Outputs Outputs...
Page 6 Outputs Surface Curvature Correction Raw Profile Matching Inputs Inputs Parameters Parameters Outputs Outputs Surface Cylinder Profile Thickness Inputs Inputs Parameters Parameters Outputs Outputs Surface Dimension Profile Transform Inputs Inputs Parameters Parameters Outputs Outputs Surface Direction Filter Surface Measurement Inputs Isolating Parts from Surface Data Parameters Surface Align Ring Outputs...
Page 7 Measurement Region Parameters Hole Algorithm Outputs Inputs Surface Segmentation Parameters Inputs Outputs Parameters Surface Mask Outputs Inputs Surface Sphere Parameters Inputs Outputs Parameters Surface Merge Wide Outputs Surface Mesh Surface Stitch Surface Opening Inputs Measurement Region Parameters Opening Algorithm Outputs Inputs Surface Stud Parameters...
Page 8 Outputs Plane from a Point and Line Surface Vibration Correction Plane from Three Points Inputs Plane from Circle Parameters Parallel Plane from Point and Plane Outputs Perpendicular Plane from Point and Plane Surface Volume Perpendicular Plane from Line and Inputs Plane Parameters Bisect Plane from Two Planes...
Page 9 Outputs Adding a Data Viewer to an HMI Mesh Plane Limiting Flash Memory Write Operations Inputs GoPxL SDK and REST API Parameters Setup and Location of GoPxL SDK and REST API References Outputs Visual Studio Solution Files and Linux Makefile Mesh Projection Building the SDK Inputs Header Files Parameters...
Page 10 Feature Selection Stamp Saving and Discarding Changes Measurement Miscellaneous PROFINET Protocol Specifications Connections Map Sensors Assembly Objects Gocator 5500 Series Supported Block Types Gocator 5504 Control Input Gocator 5512 Control Output Gocator 5516 System State Sensor Connectors Sensor Group State...
Page 11 Master 2410 Dimensions Accessories Troubleshooting Return Policy Software Licenses Support Contact Gocator Line Confocal Sensors: User Manual...
Page 12: Introduction
Introduction This documentation describes how to connect, configure, and use a Gocator 5500 series line confocal sensor ("G5 sensor" for short) using the GoPxL software. Although you can run the software on-sensor, with G5 sensors, LMI strongly recommends running sensors through a PC instance of GoPxL.
Page 13: Safety And Maintenance
Safety and Maintenance The following sections describe the safe use and maintenance of Gocator sensors. Electrical Safety Failure to follow the guidelines described in this section may result in electrical shock or equipment damage. Sensors should be connected to earth ground All sensors should be connected to earth ground through their housing.
Page 14: Environment And Lighting
Avoid excessive modifications to files stored on the sensor Sensor settings are stored in flash memory inside the sensor. Flash memory has an expected lifetime of 100,000 writes. To maximize lifetime, avoid frequent or unnecessary file save operations. Environment and Lighting Avoid strong ambient light sources The imager used in this product is highly sensitive to ambient light.
Page 15: Using The Manual
Using the Manual Use the following to help decide which part of this manual you need. Manual breakdown Category Description Safety and Maintenance Important safety and maintenance information (see Sensor Management and Maintenance on page 80). Getting Started Hardware overview and installation information (see Getting Started on page 17). Key Concepts Fundamental Gocator sensor concepts (see Key Concepts on page 35).
Page 16: Gocator Overview
Gocator Overview Gocator 5500 series sensors (also called G5 sensors) are 3D smart line confocal imaging (LCI) sensors. These sensors simultaneously produce 3D topography, 3D tomography, and 2D intensity data. The sensors can scan a wide variety of material types, including multi-layered, transparent/translucent, curved edge, shiny/specular, high-contrast textured, or mixed materials.
Page 17: Getting Started
Getting Started The following sections provide hardware and system overviews and describe installation and initial networking setup procedures. Sensor Part Numbers Use the following to understand sensor part numbers: Upgrading from Gocator Firmware If you are upgrading your sensor from Gocator firmware 6.2 or earlier to GoPxL, and you have created pattern files using Surface Pattern Matching or track files using Surface Track in the Gocator firmware, be sure to add instances of those tools and remove those files manually.
Page 18: Hardware Overview
Hardware Overview The following sections describe Gocator and its associated hardware. Gocator Cordsets Gocator sensors use two types of cordsets: the Power & Ethernet cordset and the I/O cordset. When connecting cordset connectors to the sensor's connectors, do not exceed a torque of 2 Nm (18 in-lbs).
Page 19: Gocator Sensor
Gocator Sensor Gocator 5512 Item Description Light Emitter Emits light for profiling. Camera The camera observe the light reflected from target surfaces. I/O Connector Accepts input and output signals. For more information on cordsets, see Gocator Cordsets on the previous page. For information on the connector's pinout, see Gocator I/O Connector on page 813.
Page 20 Item Description Master Ethernet Port Connects to the RJ45 connector labeled Ethernet on the Power/LAN to Master cordset. Master Power Port Connects to the RJ45 connector labeled Power/Sync on the Power/LAN to Master cordset. Sensor I/O Port Connects to the I/O cordset. Master Host Port Connects to the host PC's Ethernet port.
Page 21 Master 810 Master 2410 Item Description Sensor Ports Master connection for sensors (no specific order required). Power and Safety Power and safety connections. Encoder Accepts encoder signal. Input Accepts digital input. DIP Switches Configures the Master (for example, allowing the device to work with faster encoders). For information on configuring Master 810 and 2410 using the DIP switches, see Configuring Master 810 on page 27.
Page 22: System Overview
Gocator 5500 series are only installed as standalone devices. Standalone System Standalone systems include only a single sensor. Gocator 5500 series sensors are typically only used in a standalone system, mounted above a stage. However, dual-sensor systems are possible. The sensor is typically connected to a computer's Ethernet port for initial setup and during acquisition and inspection.
Page 23: Installation And Network And Sensor Setup
Installation and Network and Sensor Setup For installation and network and sensor setup information, see the Gocator 5500 Series Quick Start Guide. 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 799 for the appropriate screw diameter, pitch, and length, and bolt...
Page 24: Master Network Controllers
To terminate the cordset's shield: Expose the cordset's braided shield by cutting the plastic jacket before the point where the cordset splits. Install a 360-degree ground clamp. Master Network Controllers The rack mount brackets provided with all Masters are designed to provide adequate grounding through the use of star washers.
Page 25: Grounding When Using A Din Rail (Master 810/2410)
Grounding When Using a DIN Rail (Master 810/2410) If you are using DIN rail adapters instead of the rack mount brackets, you must ensure that the Master is properly grounded by connecting a ground cable to one of the holes indicated below. The holes on the bottom of the unit accept M4 screws.
Page 26: Installing Din Rail Clips: Master 810 Or 2410
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. The following DIN rail clips (DINM12-RC) are included: Older revisions of Master 810 and 2410 network controllers use a different configuration for the DIN rail clip holes.
Page 27: Configuring Master 810
Current revision Older revision Attach the two DIN rail mount clips to the back of the Master using two M4x8 flat socket cap screws for each one. The following illustration shows the installation of clips on a Master 810 (current revision) for horizontal mounting: Ensure that there is enough clearance around the Master for cabling.
Page 28: Setting The Divider
Switches 5 to 8 are reserved for future use. This section describes how to set the DIP switches on Master 810 to do the following: Set the divider so that the quadrature frequency of the connected encoder is compatible with the Master.
Page 29: Setting The Debounce Period
You must use a quadrature frequency when determining which divider to use (see Setting the Divider on the previous page). Consult the datasheet of the encoder you are using to determine its quadrature frequency. Some encoders may be specified in terms of encoder signal frequency (or period). In this case, convert the signal frequency to quadrature frequency by multiplying the signal frequency by 4.
Page 30 Custom cordsets between 25 and 60 meters (the maximum length available) have a static bend radius limit of 45 mm and a dynamic limit of 140 mm. Standard cordset bend radius limits High flex cordsets are rated for a minimum of 2 million 90° Tick Tock bends and 7 million U-shaped bends, both at the dynamic bend radius limit of 40 mm.
Page 31: Required Ports
U-shape test setup (L = 500 mm). For cordset part numbers, see Accessories on page 831. Standard (non high flex) cordsets, which are no longer available, have a static bend radius limit of 45 mm and a dynamic limit of 140 mm. Standard cordsets are rated for a minimum of 2 million 90°...
Page 32: Warm-Up Procedure
Port Data Packet Protocol Description example, 3600, 3620, and so on). You can set custom values in GoPxL Manager. For more information, see Running GoPxL on a Windows PC on page 678. 3601 Gocator Data Protocol (GDP) port. Physical sensors and GoMax NX: All devices use this port. GoPxL running on a PC: This port is offset from the control port by +1 (for example, 3601, 3621, and so on).
Page 33 Under Sensor Properties, expand Exposure and set Exposure mode to Single and Exposure to 1000 µs. Start the sensor. The sensor starts running. Getting Started • 33 Gocator Line Confocal Sensors: User Manual...
Page 34 In general, it is recommended to use relative Z coordinate for measuring rather than absolute. In relative measuring the used Z height value is the difference to the reference, not an absolute Z value. This way the set up is less sensitive to any variation over time like vibration or ambient condition changes.
Page 35: Key Concepts
Sensors and sensor groups also have an associated "scan engine." For example, when designing a sensor system containing one or more Gocator 5500 series sensors, the associated scan engine is "Gocator Confocal Profiler," with acquisition settings specific to that family of sensors.
Page 36 For more information on the Profile Thickness tool, see Profile Thickness on page 324. Key Concepts • 36 Gocator Line Confocal Sensors: User Manual...
Page 37: Profile Output
Profile Output Gocator sensors represent 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. Coordinate Systems Data points are reported in one of two coordinate systems, which depends on the alignment state of the sensor.
Page 38: Uniform Data And Point Cloud Data
Uniform Data and Point Cloud Data The data that a sensor produces in Profile mode is available in two formats: as uniform (resampled) data and as point cloud data (previously called "raw"). The sensor produces uniform data when the Enable uniform spacing (resampling) option is enabled. The sensor produces point cloud data when the option is disabled.
Page 39: Surface Generation
Surface Generation Profile sensors create a single profile with each exposure. GoPxL can combine the series of profiles gathered as a target moves under the sensor to generate Surface data of the entire target. For more information, see Surface Generation on page 114. Part Detection After a sensor has generated surface data by combining single exposures, GoPxL can isolate discrete parts on the generated surface into separate scans representing parts using the Profile Part...
Page 40: Measurement And Anchoring
page 477) or to the dimensions of a fitted bounding box that encapsulates the part data (for more information see Surface Bounding Box on page 354). When parts match, the sensor can rotate scans so that they are all oriented in the same way, using Surface Transform (for more information, see Surface Transform on page 554).
Page 41 The height of a small PCB component (Feature 2) relative to nearby surface (Feature 1), anchored to positional (X and Y) measurements of the hole (lower right) and to the Z angle of the edge of a larger component to the left. In the following, the part has rotated, but the tool's measurement regions follow the features, ensuring correct measurement.
Page 42 You enable anchoring in the expandable Inputs section of a tool: Key Concepts • 42 Gocator Line Confocal Sensors: User Manual...
Page 43: Geometric Features
Geometric Features Many of GoPxL’s measurement tools can output data structures such as points, lines, planes, and circles. These structures are called geometric features and contain the components you would expect: a point geometric feature contains X, Y, and Z components (representing the location of the point in 3D space).
Page 44 Point geometric feature (a hole's Center Point) rendered on a tool's input as a small yellow circle Gocator’s “Feature” tools (such as Feature Dimension and Feature Intersect) use geometric features as inputs. For example, because the point geometric feature representing the center of a hole has X, Y, and Z components, you can perform dimensional measurements between it and another geometric feature, such as another hole or an edge.
Page 45 Center Point geometric feature of a Surface Hole tool enabled on Features tab You enable geometric feature inputs in a tool’s expandable Inputs section: Setting the Line inputs to two different lines to compute their intersection Geometric features are distinct from the “feature points” used by certain tools to determine which data point in a region should be used in a measurement, for example, the maximum versus the minimum on the Z axis of a data point in a region of interest: Key Concepts •...
Page 46: Tool Data
For more information on feature points, see Feature Points on page 189. Tool Data Some measurement and processing tools can output more complex data, which can be used as input by other tools or SDK applications. The following types of data are available: Profile, Surface, and Generic.
Page 47 Each item, or element, in the array can be processed by other tools in one of two ways: Batching: Tools in batching mode process each array element in an array input separately. Aggregating: Aggregating tools combine each element in an array output and process it as a single piece of data.
Page 48: Accelerating Sensors
Accelerating Sensors For performance-critical applications, you can run a sensor through a PC instance of GoPxL. LMI STRONGLY recommends running G5 sensors through a PC instance of GoPxL. For more information, see Running GoPxL on a Windows PC on page 678. Accelerating Sensors • 48 Gocator Line Confocal Sensors: User Manual...
Page 49: User Interface Overview
User Interface Overview You configure sensors using GoPxL by connecting to an IP address with a web browser. If you are running GoPxL on-sensor, in the browser, you connect to the IP address of the sensor. By default, the IP address of Gocator sensors is 192.168.1.10. If you are running the Windows-based GoPxL application (to accelerate the sensor on a PC or view previously recorded scans), in the browser, by default you connect to the localhost address (127.0.0.1).
Page 50 Element Description Navigation bar The navigation bar (sometimes called the "nav" bar) along the far left of the user interface displays categories (for example, from the top, Manage, System, Inspect, and so on), which contain one or more configuration pages (for example, the Manage category contains the Settings and Jobs pages, among others).
Page 51: Status Bar
Element Description providing several tools in its toolbar to control how data is visualized (such as top view, front view, or perspective view). The data viewer is available on all pages. You can split it horizontally and vertically, and create pop-out windows. For more information, see Data Viewer on page 53.
Page 52: System Messages
System Messages The System Messages panel displays current problems and a system log containing errors, warnings, and general information, in two tabs. The Problems tab lists the current problems. Once you fix a problem, it is removed from the Problems tab. Problems tab showing a current problem with the system.
Page 53: Data Viewer
Data Viewer You use a data viewer to observe scan data (such as Profile and Surface data), as well as video images and intensity images. You can also use it to configure measurement tools (see Configuring Inspection and Processing Tools on page 144) and a sensor's active area (see Active Area on page 128). GoPxL supports multiple data viewers (via both splitting and pop-out buttons).
Page 54 Element Description Profile / Front Profile / Front mode ( ) displays profiles in a 2D representation when Profile data is available. Surface / Top Surface / Top mode ( ) lets you display surface data in a 2D representation when Surface data is available. For information on controlling how the data viewer displays Surface data in Perspective mode, see Surface and Perspective Display Options on page 62.
Page 55 Element Description Image Image mode ( ) lets you view pixel data that the system has acquired in Image mode. Useful for adjusting exposure and diagnostics. Pan, zoom, and orbit Use these buttons ( ) to move scan data in the data viewer with your mouse.
Page 56: Image Mode
Element Description Use the Pop-out button ( ) to create a new window with a single data viewer. For more information, see Using Multiple Data Viewer Windows on page 68. Use the Zoom to fit button ( ) to zoom the scan data so that it fits in the data viewer window.
Page 57 Gocator sensors can't generate 3D points in over-saturated areas (indicated with red) or in under- exposed areas (indicated with blue). If it's not possible to set a single exposure to capture the entire object target without red areas appearing in the image, the Multiple exposure feature should be enabled.
Page 58: Exposure Information
Image data. Red dots are the "spots" found by the sensor, which become the data points in scan data. The grayscale squares represent the intensity value of a camera pixel. Blue squares (pixels) are underexposed. On some sensors, red squares represent pixels that are overexposed. Yellow dots along the top represent spots. The yellow outline indicates the boundaries of the sensor camera.
Page 59: Spots And Dropouts
Also make sure the Image output is not disabled ( ) in the Displayed Outputs pane. Then click the Show Exposure button at the top left of the data viewer. Spots and Dropouts Various material settings can affect how the Material settings behave. In Image mode, you can examine how the Material settings are affected.
Page 60: Profile Mode
In the image below, the white and gray squares represent the light as it appears on the camera sensor. Spots that GoPxL selects (which represent the center of the line of light on the camera sensor for each column) are displayed as red dots. Dropouts (where no spot is detected on the camera sensor in a given column) are depicted at the upper edge of the data viewer as yellow dots.
Page 61: Surface Mode
To set the data viewer to Profile mode, click the Profile mode button above the data viewer window: Surface Mode When the data viewer is in Surface / Top mode ( ) and Surface data is available, the data viewer can display Surface data.
Page 62: Surface And Perspective Display Options
To set the data viewer to Surface / Top mode, click the mode button above the data viewer window: You can control how Surface data is displayed. For more information, see Surface and Perspective Display Options below. Surface and Perspective Display Options You control how Surface data displays when the data viewer is in Surface or Perspective mode using the display options available in the Display Outputs panel.
Page 63 Surface display options. Display options Option Description Display options The output display modes let you choose how GoPxL shades the Surface data when the data viewer is in Surface mode or in Perspective mode. The following output display modes are available: Heightmap Heightmap mode ( ) displays a color heightmap over the Surface data.
Page 64 Option Description Uniform Uniform mode ( ) displays a uniform gray color over the Surface data. This mode is mostly useful when you want to focus on shape or geometry. Intensity Intensity mode ( ) displays intensity data over the Surface data if it is available. When intensity data is enabled on the Acquire > Scan page, sensors produce intensity images that measure the amount of light reflected by an object.
Page 65 Option Description Heightmap + Intensity Heightmap + Intensity mode ( ) displays a color heightmap combined with intensity data on the Surface data. You must enable intensity data before scanning for this mode to be available. For more information, see Scan Modes and Intensity on page 110.
Page 66 Option Description Points mode displays the data as discrete data points. This mode is useful in scan data that contains noise around edges, and can show hidden structure. Mesh mode displays Surface data by connecting the data points with polygons. Sidewall mode You can toggle the data viewer between hiding and showing polygons which are vertical or nearly vertically oriented.
Page 67 Option Description For example, in the following, the sidewalls are enabled, resulting in the lines shown at the edges of the PCB components. Note that this setting only affects the appearance of scan data in the data viewer. It does not change the scan data and therefore does not affect measurements. Heightmap scaling The data viewer displays heightmap information in pseudo-color or grayscale.
Page 68: Using Multiple Data Viewer Windows
Option Description Do one of the following: To automatically set the scale, choose Automatic in the Range drop-down. To automatically set the scale based on a user-selected sub-region of the heightmap, choose Region in the Range drop-down and adjust the yellow region box in the data viewer to the desired location and size.
Page 69: Pinning Outputs
Main view in original browser window showing surface data and a defined section, and a second window showing a Profile tool running on the section. External data viewer windows provide the same functions as the main data viewer via the toolbar above the viewer (except for the ability to open a new window).
Page 70 Displayed Outputs panel or in the Tools Diagram. When no tool outputs are pinned, only the currently selected tool output is displayed in the data viewer. Pin information (for the main data viewer) is stored in job files. Pinning outputs is useful if you want to monitor multiple, independent measurements while the Gocator is running in production.
Page 71 Pinning an output in a data viewer's Displayed Outputs panel. You can also choose an output from the Pin an output dropdown. If you have created multiple data viewers, either by splitting a data viewer in the main browser window, or by popping out a new data viewer, you can choose which data viewer to pin an output to. Data Viewer •...
Page 72: Intensity Output
Intensity Output Sensors can produce intensity images that measure the amount of light reflected by an object. An 8- bit intensity value is output for each data point in the scan data. GoPxL uses the same coordinate system as the data points. To display intensity data, choose either of the last two display options in the data viewer display options.
Page 73: File Formats
File Formats The following formats are used with GoPxL, or can be converted using the replay converter. File formats Gocator firmware Format GoPxL extension Content Description 6.x and earlier .gpjob .job Scan settings Quickly change a set of settings Tool settings by switching from one job to Control/output another.
Page 74 File formats Gocator firmware Format GoPxL extension Content Description 6.x and earlier .csv Scan data in First download replay data in GoPxL, CSV format and then use the Replay Converter tool to convert to the CSV format, for use with third-party tools. .pcd / .sur Scan data in First download replay data in GoPxL, / .srf...
Page 75: Working With Scan Data
Working with Scan Data You use the buttons in the right half of the global toolbar, at the top of the interface, to do the following: start and stop scanning record replay data enable replay mode and play data upload, download, and clear replay data When switching between scan modes, if you have previously recorded data, you must clear it before recording replay data of a different type.
Page 76: Starting, Stopping, And Recording
Element Description For information on starting and stopping scans, see Starting, Stopping, and Recording below. For information on data playback, see Playing Back Recorded Data below. Replay actions Lets you upload, download, and clear recorded data. Note that replay data contains The file type of replay data is .gprec.
Page 77 Element Description Start playback Starts playing back frames of the recorded data. Go to next / last frame Displays the next frame or jumps to the last frame of the recorded data. Working with Scan Data • 77 Gocator Line Confocal Sensors: User Manual...
Page 78: Creating, Saving And Loading Jobs
Creating, Saving and Loading Jobs Jobs contain sensor, tool, and control configurations for a particular inspection or quality control application. (For more information, see Configuring Systems on page 79.) A sensor can store many jobs, subject to sensor storage limitations. Running GoPxL on a PC or using GoMax NX provides more storage.
Page 79: Configuring Systems
Configuring Systems The following sections describe how to configure systems using the GoPxL web interface. GoPxL can run on a sensor, or you can run GoPxL on a Windows PC and connect to a sensor from the application (in order to increase performance, for example). When GoPxL runs on a PC, we call this a local or PC instance of GoPxL.
Page 80: Sensor Management And Maintenance
Sensor Management and Maintenance You use the pages in the Manage category to perform networking, management, and maintenance tasks (such as software updates and sensor factory restores). Settings page selected, displaying the panels available on that page. The selected page is highlighted. Manage Page Name Description Settings...
Page 81: Jobs
To configure the network settings: Go to the Manage > Settings page. Specify the type (Manual or DHCP), IP, subnet mask, and gateway settings. The sensor can be configured to use DHCP or assigned a static IP address by selecting the appropriate option in the Type drop-down.
Page 82 Element Description Job-related operations These controls let you work with jobs, for example, creating and saving jobs. For explanations of the job related operations, see Job-related operations below. Job list The list of available jobs. Default job indicator Clicking on the default job indicator ( ) sets the job as the default.
Page 83: Maintenance
Maintenance You use the Maintenance page in the Manage category to perform basic maintenance. The Maintenance panel lets you do the following: Upgrade the device's software. Note that you can't upgrade a sensor if you are running it through a PC instance of GoPxL. For more information on upgrading a sensor's software, see Software Upgrade on the next page.
Page 84: Software Upgrade
Back up and restore all saved jobs and recorded data. Note that backing up and restoring on a PC instance of GoPxL only affects the PC instance, not the sensor. For more information, see Backup and Restore below. Restore the sensor to factory defaults. This erases all saved jobs and settings, as well as files cre- ated by Surface Pattern Matching and Surface Track.
Page 85: Factory Restore
You should always create a sensor backup file in the unlikely event that a sensor fails and a replacement sensor is needed. If this happens, the new sensor can be restored with the backup file. If you are running a sensor through a PC instance of GoPxL, performing backup, restore, and factory restore operations only affects the PC instance of GoPxL: jobs and recorded data saved on the sensor are not backed up and are not overwritten by a restore.
Page 86: Creating A Sensor System
Support files contain everything in backup files, but contain additional diagnostic information: All jobs Layout and transformation Current recorded data Global settings Additional diagnostic information Support files are useful for supporting development and diagnosing issues. Creating a Sensor System You use the Design page in the System category to create a sensor system containing two or more sensors.
Page 87: Adding Sensors And Configuring Multi-Sensor Systems
The System > Discover page lets you see all sensors, including those that are unavailable (either because the on-sensor version of GoPxL doesn't match the version of GoPxL running on a PC, or because a sensor is already running through another PC instance of GoPxL). For information on running a sensor through a PC instance of GoPxL, see Running GoPxL on a Windows PC on page 678.
Page 88 If you don't see sensors that you expect to see, go to the System > Discover page to see all sensors on the network, or use the Discovery tool (for more information, see GoPxL Discovery Tool on page 772). In the Add and Manage Sensor dialog, from the list of available sensors at the top, click the Top or Bottom button next to a sensor to add it to the sensor group in the top or bottom row, respectively.
Page 89 Use drag and drop mouse operations to move a sensor, by clicking on a sensor's grabber and moving it to another cell. You can also hover over a cell and click the sensor's Show more icon and choose a "Move" command. (Optional) If necessary, change the orientation of sensors.
Page 90: Changing Sensor Orientation
Changing Sensor Orientation If a sensor's orientation in the layout is such that the sensor's positive Y axis is opposite to the motion of the target, relative to the sensor, you need to change the sensor's orientation. To determine the positive Y axis of your sensor, see the Coordinate System Orientation diagram for your sensor in the Sensors on page 800.
Page 91: Enabling Exposure Multiplexing
Enabling Exposure Multiplexing If the sensors in a dual- or multi-sensor system are mounted in a way that allows the camera from one sensor to detect the light from another sensor, you should enable the Exposure Multiplexing option in the Add & Manage Sensor Group dialog. When the setting is enabled, you assign sensors in the sensor group to different "banks." GoPxL creates a time offset for exposures between the banks, ensuring that they are not triggered at the same time.
Page 92: Removing A Sensor From A System
Removing a Sensor from a System To remove a sensor from a multi-sensor system, in the Add and Manage Sensor dialog, click the three dots menu and choose Clear Cell. You can also drag a sensor from a layout cell to the sensor list above the layout grid.
Page 93: Configuring Motion
Configuring Motion If your sensor system includes a transport system such as a conveyor, to produce accurate scans, you should configure the settings in the Motion section on the System > Alignment page. Although GoPxL lets you automatically configure motion settings during the sensor alignment routine (for more information, see Aligning Sensors on the next page), it's more accurate to manually enter the encoder resolution or travel speed values provided by the manufacturer of your transport system or its components.
Page 94: Setting Encoder Resolution
If your transport system includes an encoder, you should configure Encoder Resolution. If your transport system does not include an encoder (or if it does and you need to temporarily use time- based triggering for testing purposes), you should configure Speed. Setting Encoder Resolution Encoder resolution is expressed in millimeters per tick, where one tick corresponds to one of the four encoder quadrature signals (A+ / A- / B+ / B-).
Page 95 Once you click the Align Sensors button, an alignment "wizard" goes through the steps required. Configuring Systems • 95 Gocator Line Confocal Sensors: User Manual...
Page 96: Aligning Sensors With Up To 5 Degrees Of Freedom
Sensors are pre-calibrated and ready to deliver data in engineering units (mm) out of the box. Alignment procedures do not affect sensor calibration. Aligning Sensors with up to 5 Degrees of Freedom Currently, GoPxL only supports up to 5 degrees of freedom using the alignment routines on the System > Alignment page.
Page 97 State Explanation more information, see Transformations on page 107). Data points are reported in system coordinates. Once you have performed the alignment procedure on the Alignment page, the calculated transformation values are displayed under Transformations in the Sensor Transforms panel on the Alignment page.
Page 98: Performing Stationary Alignment
Doing this will help ensure that the alignment process succeeds. In the next step, adjust the settings based on the scan data of the alignment target. If necessary, on the Inspect > Scan page, adjust the sensor settings to get the best data possible from the scans of the alignment target.
Page 99 The Alignment dialog appears. Set Alignment type to Stationary. Choose an alignment type in Alignment type. Flat Surface: For more information, see Stationary Flat Surface on page 101. Bar: Use this to align to a bar alignment target. For information on alignment target requirements, bar- specific settings, and general setup tips, see Aligning Sensors with up to 5 Degrees of Freedom on page 96.
Page 100: Master
The alignment process starts. Alignment is performed simultaneously for all sensors. If the alignment fails, check the settings described in To prepare for alignment on page 97 and repeat the steps described here. Inspect alignment results. Data points from all sensors should now be aligned to the alignment target surface. Check the alignment results under Sensor Transforms.
Page 101: Stationary Flat Surface
If you do not use the built-in encoder or speed calibration functionality, make sure you have done one of the following: If the transport system includes an encoder, make sure you have configured the encoder resolution. If the transport system does not use an encoder (it is a time-based system), make sure you have con- figured travel speed.
Page 102 The bar must extend beyond the outer ends of any laser line: sensors must not "see" the left or right end of the bar (relative to the direction of travel of the transport system). Alternatively, you can set the active area of sensors that can "see" the ends of the bar to exclude the ends from the scan data;...
Page 103 performed if a sensor sees more than one hole (for example, if the laser lines overlap enough), but only the hole nearest to the center of a sensor's FOV is used for that sensor's alignment. If the sensor system contains two or more sensors side by side that are angled toward each other around the Y axis, a single hole should be used.
Page 104: Configuring Gopxl For Bar Alignment
angles in the transformations. The recommended flatness of bar targets for accurate Y angle is roughly the Z resolution rating of the sensor. If the bar target is curved, it will introduce an apparent Y angle in the sensor align- ment. For sensor Z resolution, see the specifications for your sensor in Sensors on page 800. It is not necessary to machine the bar height to a high tolerance.
Page 105 For an illustration of the various settings, see above. Height: The alignment procedure determines the average Z height of the alignment bar's top sur- face and uses the value specified in Height to offset the coordinate system from that average Z height.
Page 106: Encoder Calibration
and Z Angle) are available. Encoder Calibration For systems that use an encoder, encoder calibration can be performed while aligning sensors. The table below summarizes the differences between performing alignment with and without encoder calibration. With encoder calibration Without encoder calibration Target Type Calibration bar Flat surface or calibration bar...
Page 107: Transformations
To clear alignment: Go to the Scan > Alignment page. Click the Clear Alignment button. GoPxL clears the alignment. Sensors revert to using sensor coordinates instead of aligned system coordinates. Transformations The transformation values determine how data is converted from unaligned coordinates to aligned coordinates (for an overview on coordinate systems, see Coordinate Systems on page 37).
Page 108 Parameter Description X Offset Specifies the shift along the X axis. Z Offset Specifies the shift along the Z axis. A positive value shifts the data toward the sensor. Y Angle Specifies the tilt around the Y axis. Configuring Systems • 108 Gocator Line Confocal Sensors: User Manual...
Page 109: Configuring Acquisition
Configuring Acquisition You configure acquisition in the Scan page under the Inspect category. With multi-sensor systems, some settings, such as the scan mode, X spacing intervals, and triggering, apply to all of the sensors in the sensor group. These settings are in the Sensor Group Properties section.
Page 110: Scan Modes And Intensity
Scan Modes and Intensity Sensors supports one or more data acquisition modes, in addition to an image mode. You choose the scan mode on the Acquire > Scan page > Scan Mode section. Configuring Systems • 110 Gocator Line Confocal Sensors: User Manual...
Page 111 If you have previously recorded scan data and have configured the input of measurement tools, changing the scan mode will display an error, saying the tools inputs are no longer available. For example, if you have scanned and recorded some Surface data, and added and configured a Surface Position measurement tool, but then switch to the Image scan mode to diagnose exposure issues, GoPxL warns you that the measurement tool's input (its data source) is Configuring Systems •...
Page 112: Uniform Spacing
missing. GoPxL also indicates this in the interface: Scan Mode Description Outputs video images from the sensor. This mode is useful for configuring exposure Image time and troubleshooting stray light or ambient light problems. Profile Outputs profiles. Video images are processed internally to produce laser profiles and cross-sectional measurements.
Page 113 The Y offset, X angle, and Z angle transformations cannot be non-zero when Uniform Spacing is unchecked. Therefore, when aligning a sensor using a bar alignment target with Uniform Spacing unchecked, set the Degrees of Freedom setting to X, Z, Y Angle, which prevents these transformations from being non-zero.
Page 114: Surface Generation
Surface Generation GoPxL provides different ways to generate Surface data, depending on the needs of your application. You configure these Surface generation methods in the Scan Mode section in the Inspect > Scan page. Four modes are available: Continuous Fixed Length Variable Length Rotational Configuring Systems •...
Page 115: Continuous Surface Generation And Part Detection
Continuous Surface Generation and Part Detection Use this method of surface generation with a transport system such as a conveyor that continuously feeds parts or material under a sensor. The parts or material must have a distinguishable start and stop edge. The sensor continuously generates surfaces of parts that are detected under the sensor. When a sensor is set to continuous Surface generation, you must configure parameters related to part detection.
Page 116 Parameters Parameter Description Height Threshold Determines the height threshold for part detection. The setting for Threshold Type (see above) determines if parts should be detected above or below the value in Threshold. Above is typically used to prevent the belt surface from being detected as a part when scanning objects on a conveyor.
Page 117 Parameter Description Padding Length These parameters are useful when processing part data with third-party software such as HexSight, Halcon, etc. Padding Width and Padding Length control the amount of additional scan data output in the X and Y directions, respectively. The padding can contain data points that were outside the height threshold and excluded from the initial part detection.
Page 118: Fixed Length
Parameter Description Edge Filter enabled (reflection noise eliminated or reduced) Edge Filter enabled, Keep Interior enabled Keep Interior The Keep Interior setting limits filtering to the outside edges of the target. Edge Width The Edge Width and Edge Length settings represent the size of the filter on the X axis and the Y axis, respectively.
Page 119: Variable Length
When you set the Surface generation type to Fixed Length, the sensor generates surfaces of a user- configurable fixed length. Like the Profile Part Detection tool, Fixed Length mode is used when material or parts continuously pass under the sensor, typically on a conveyor. Unlike the tool-based method, parts and material do not have distinguishable start and stop edge.
Page 120: Rotational
typically used in robot-mounted applications, for example, measuring the dimensions of different parts on an engine block. For correct length measurement, you should ensure that motion is calibrated (i.e., encoder resolution for encoder triggers or travel speed for time triggers). For more information on connecting external input to a sensor, see Digital Input on page 814.
Page 121: Triggers
Triggers A trigger is an event that causes a sensor to take a single image. You configure triggers on the Acquire > Scan page. Configuring Systems • 121 Gocator Line Confocal Sensors: User Manual...
Page 122 When a trigger is processed, the sensor's laser or LED light strobes and the camera exposes to produce an image. The resulting image is processed inside the sensor to yield scan data. The data can then be used for measurement. The sensor can be triggered by one of the sources described below. G2 and G5 When using encoder triggering (G2 and G5), the current encoder resolution is displayed under the Source drop-down as a reference when setting trigger spacing.
Page 123 To set the encoder resolution, go to the System > Alignment page and set the value in Encoder Resolution. Trigger source descriptions Trigger Source Description Time Sensors have an internal clock that can be used to generate fixed-frequency triggers. The external input can be used to enable or disable the time triggers.
Page 124 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 125: Trigger Settings
Trigger Source Description When triggers are received at a frequency higher than the maximum frame rate, some triggers may not be accepted. Use the Trigger Drops indicator in the Health panel on the Reports page to check for this condition; for more information, see Reporting on page 671. The external input can be used to enable or disable the encoder triggers.
Page 126: Maximum Input Trigger Rate
Parameter Trigger Source Description Internally the sensor rounds the spacing to a multiple of the encoder resolution. Encoder trigger mode Encoder Specifies how the sensor is triggered when the target moves. Can be Track Backward, Ignore Backward, or Bi-Directional. For more information, see Encoder in Trigger source descriptions on page 123.
Page 127: Maximum Encoder Rate
When using a standalone sensor or a sensor connected to a Master 100, the maximum trigger rate is 32 kHz. This rate is limited by the fall time of the signal, which depends on the Vin and duty cycles. To achieve the maximum trigger rate, the Vin and duty cycles must be adjusted as follows: Maximum Speed Maximum Duty Cycle...
Page 128: Active Area
For more information on tool-based filters, see Surface Filter on page 440 (Surface-based) and Profile Filter on page 244 (Profile-based). Active Area Active area refers to the region within the sensor's maximum field of view that is used for data acquisition. By default, the active area covers the sensor's entire field of view. By reducing the active area, the sensor can operate at higher speeds.
Page 129 Active area in an unaligned G5 sensor's scan area, set to smaller than the maximum and shifted upward. You set the active area in the Inspect > Scan page, in the Active area section under Sensor Properties. Two active area configuration methods are available in the Configuration Method parameter: Maximum / Minimum and Point / Size (for the parameters related to each method, see the tables below).
Page 130 To set a sensor's active area Go to Inspect > Scan page. Configuring Systems • 130 Gocator Line Confocal Sensors: User Manual...
Page 131: Subsampling
(Optional) If you are configuring the active area of a sensor in a multi-sensor system, select the correct sensor. (Optional) Place a sample target in the sensor's scan area, and in the Active Area section, click the Acquire button to get some scan data. Getting a scan while setting the active area can help you determine the necessary size and position of the active area.
Page 132: Exposure And Light Intensity
the sensor's field of view. Subsampling can be set independently for the X axis and Z axis. You set subsampling on the Inspect > Scan page, in the Sensor Properties section. The X subsampling setting is used to decrease the profile's X resolution to decrease sensor CPU usage.
Page 133 When exposure is set to Dynamic or Multiple, additional parameters are displayed. Exposure Mode Description Single Uses a single exposure duration for each frame. Use this when the surface is uniform and is the same for all targets. For more information, see Single Exposure on the next page. Dynamic Automatically adjusts the exposure after each frame based on an analysis of the preceding frame.
Page 134: Single Exposure
Single Exposure The sensor uses a fixed exposure in every scan. Single exposure is used when the target surface is uniform and is the same for all targets. Setting Description Exposure Mode Single, Multiple, or Dynamic. Exposure The length of the lighter emitter's on-time. Limits the minimum and maximum exposures.
Page 135: Multiple Exposure
Setting Description Exposure Mode Single, Multiple, or Dynamic. Set to Dynamic. Limits the sensor's exposure values to the provided minimum and maximum. Exposure Min Exposure Max Target Intensity Exposure is continually adjusted so that the average intensity of the brightest profile layer matches the provided target intensity.
Page 136: Layer Settings
Layer Settings You configure layers on the Inspect > Scan page. Parameters Name Description Layer count Determines the maximum number of layers the sensor should detect. For each layer, a Layer {n} in the Layer parameters section is displayed. For information on the parameter-specific parameters, see Layer-specific parameters on the next page.
Page 137: Advanced Settings
Layer-specific parameters Name Description Effective refractive index The effective refractive index of the material. Intensity filter type The intensity filter type. Only available if you have enabled Acquire intensity in the Scan mode section (see Scan Modes and Intensity on page 110). One of the following: Average Intensity Signal Detection...
Page 138: Material Type And Spot Detection
Material Type and Spot Detection You can configure data acquisition to suit different types of target materials. This helps maximize the number of useful profile points produced. For many targets, changing the setting is not necessary, but it can make a great difference with others. You can select preset material types in the Material type setting in the Advanced panel on the Inspect > Scan page.
Page 139 parameters when Material type is set to Custom. Spot settings Setting Description Edge window Sets the height of the window, in pixels, used to calculate the spot’s exact peak Z position. The value range is even numbers from 2 to 16. A value of 16 is usually good for all non-transparent materials, producing the most accurate Z measurement.
Page 140: Camera Gain
Setting Description layer's Intensity filter type parameter to Signal detection (for more information, see Layer-specific parameters on page 137). This may be useful in some thin film applications. A high average window value is useful when the image is noisy, for example, due to strong reflections.
Page 141: Other Advanced Settings
Other Advanced Settings Setting Description Use intensity calibration If this parameter is enabled, uneven illumination is corrected for intensity values. Only available if you have enabled Acquire intensity in the Scan mode section (see Scan Modes and Intensity on page 110). Enable per layer intensity When this parameter is enabled, you can set the Intensity filter type for each layer individually.
Page 142 Setting Description Short cluster removal These parameters connect points to clusters and remove small clusters. When short cluster removal is enabled, you must set Clustering X distance, Clustering Z distance, and Minimum cluster width. GoPxL performs this filtering before sorting the layers. Clustering X distance Maximum X distance (µm) to the nearest point in a cluster.
Page 143 Setting Description Maximum Z distance (µm) to the nearest point in a cluster. Minimum cluster width Minimum cluster width (µm) which is not removed. Configuring Systems • 143 Gocator Line Confocal Sensors: User Manual...
Page 144: Configuring Inspection And Processing Tools
Configuring Inspection and Processing Tools You add and configure measurement and processing tools on the Tools page, in the Inspect category. Element Description Tool list Lists all of the available tools. To add a tool, double-click it or drag and drop it in the Tools Diagram panel to the right of the list.
Page 145 Element Description You can filter tools using the filter at the top of the Tool list. You can also search for tools by typing in the search field. Tools are listed as you type. Configuring Systems • 145 Gocator Line Confocal Sensors: User Manual...
Page 146: Adding A Tool
Element Description Tools Diagram Lists the tools that you have added. The Tools Diagram lets you better visualize the workflow in complex tools chains. For more information, see Working with Tool Chains on page 151. Tool configuration You configure a tool using the Inputs, Parameters, and Outputs sections in the Tool Configuration panel.
Page 147: Tool Connection Logic
GoPxL automatically sets the added tool's input to an appropriate output. The output GoPxL selects is either directly from a sensor or sensor group, or from the output of another tool, depending on various factors (see Tool Connection Logic below). When dragging and dropping a tool, a line in the Tools Diagram shows where the tool will be added when you drop it.
Page 148 When a preceding tool has multiple enabled outputs, GoPxL goes through them in the order they are defined in the tool (that is, from the top down). If no outputs from the preceding tools are compatible with the tool's inputs, GoPxL searches through the sensor or sensor group outputs.
Page 149: Removing A Tool
For information on other operations you can perform in the Tools Diagram, see Working with Tool Chains on page 151. Removing a Tool If you no longer need a tool, you can remove it in the Tools Diagram. Removing an unused tool can increase performance, as it is no longer takes up processing time.
Page 150: Duplicating A Tool
For information on other operations you can perform in the Tools Diagram, see Working with Tool Chains on the next page. Duplicating a Tool You can quickly create a copy of a tool you have previously added in GoPxL in the Tools Diagram panel.
Page 151: Renaming A Tool
Renaming a Tool In the Tools Diagram panel, you rename a tool using the action menu of an individual tool. To rename a tool in the Tools Diagram panel Click the action menu icon ( A context menu containing various actions appears. In the context menu, choose Rename.
Page 152 Geometric features Tool data (some data outputs are intended to be consumed only by SDK applications and can’t be used as part of a tool chain) For details on how the Tools Diagram panel displays information, see Understanding the Data Flow in Tool Chains on page 157.
Page 153: Changing Tool Display Options
At the top of a tool, an action menu provides functions to rename, duplicate, and delete the current tool. Action menu (collapsed tool) Changing Tool Display Options The buttons at the top of the Tools Diagram panel let you control how the panel displays sensor groups, tools, and the data flow (tool chain).
Page 154 3. Compact View: Hides the list of small input and output icons that indicate the types of the inputs and outputs the sensor or a tool has. Configuring Systems • 154 Gocator Line Confocal Sensors: User Manual...
Page 155: Reordering Tools
4. Standard View: Shows small icons that indicate the types of the inputs and outputs the sensor group or a tool has. For a list of inputs and outputs, see Data Types on the next page. Reordering Tools You can reorder tools in the Tools Diagram to organize them more logically or to better represent the data flow.
Page 156: Data Types
You can reorder tools you have added by dragging and dropping them to the position you want in the list of tools, or by using the up and down arrows. Moving the Surface Filter tool to the top of the tool chain. If you hover the mouse pointer over a tool in the Tools Diagram panel, you can use the up / down buttons next to the action menu to move the tool up or down in the panel.
Page 157: Understanding The Data Flow In Tool Chains
Surface data Profile data Measurement Geometric feature Tool data Understanding the Data Flow in Tool Chains The rectangular elements displayed in the Tools Diagram represent a sensor group at the top and any tools you have added below that. Sensor groups display output connection nodes, whereas tools display both input and output connection nodes.
Page 158 The appearance of nodes changes depending on whether they are connected and whether they are selected. Connections that are used are filled. Connections that are not used are empty. When a sensor or tool is expanded, you can see which specific inputs or outputs are used and part of the tool chain.
Page 159 Configuring Systems • 159 Gocator Line Confocal Sensors: User Manual...
Page 160 When a tool is collapsed, however, you only know that at least one input or output is used (or none at all). For example, looking at the collapsed Feature Dimension tool at the bottom, we know that at least one input (the connection node at the top) is used, and that none of the tool’s outputs are used. Also, we know that inputs and outputs of the three collapsed tools at the top are used, but not exactly which ones.
Page 161 If you hover the mouse pointer over a blue connected node, a part of the blue connection line is highlighted to indicate what it is connected to. In the image below, you can see that by hovering over an output (the Y measurement of the Feature Intersect tool at the top) is used as an input (the Y anchor) of the Surface Circular Edge at the bottom.
Page 162 If a tool's input is missing, that input is displayed in red in the Tools Diagram panel to show that you must connect it to something. You can also consult the Problems tab in the System Messages panel at the bottom of the interface to see which tools are missing inputs. Collapsed tool with a missing input Expanded tool with a missing input In the Tool Configuration panel, a tool whose input is no longer available (for example, you have...
Page 163: Connecting Tools
Connecting Tools The Tools Diagram panel lets you quickly connect tools using drag-and-drop operations. In the following, we connect a geometric feature output from one tool to the input of another tool. However, the same procedure applies when connecting other kinds of outputs to inputs, such as connecting a measurement from one tool to one of the anchors available in another tool, or when connecting Surface output (such as the output from the Surface Filter tool) to the input of another tool (which is initially set to the direct output of a sensor).
Page 164 From a collapsed tool Click the small output types at the bottom of the tool to expand the list of Configuring Systems • 164 Gocator Line Confocal Sensors: User Manual...
Page 165 A list of enabled outputs is displayed in a pop-up list. In the pop-up list, click and hold the output you want to connect to the other tool’s input and drag it to the input. Configuring Systems • 165 Gocator Line Confocal Sensors: User Manual...
Page 166 A list of enabled outputs is displayed in a pop-up list. Tools with compatible inputs are highlighted with a dark color. Here, the two Feature Dimension tools have compatible inputs. Drop the output on the desired input. Configuring Systems • 166 Gocator Line Confocal Sensors: User Manual...
Page 167 A new connection appears between the first tool’s output and the second tool’s input (below, between the Surface Hole tool’s Center Point output and the Point input in the Feature Dimension tool). You can also drag-and-drop outputs when one or both tool blocks is expanded. Configuring Systems •...
Page 168: Disconnecting Tools
Disconnecting Tools You can quickly disconnect an input in the Tools Diagram panel, but only if the tool containing the input is expanded. To disconnect an input in a tool: If the tool isn’t expanded, click the Expand button at the top of the tool. In the expanded tool, move the mouse pointer over the input you want to disconnect and move it to the right until the pointer is over the Disconnect icon.
Page 169 Click the Disconnect icon. The input is disconnected from the other tool’s output. Configuring Systems • 169 Gocator Line Confocal Sensors: User Manual...
Page 170: Tool Configuration
Tool Configuration You configure a tool's inputs, parameters, and outputs in the tool configuration area to the right of the Tools Diagram. Element Description Tools Diagram Lists the tools that you have added. The Tools Diagram lets you better visualize the workflow in complex tools chains.
Page 171: Inputs And Outputs
Element Description Tool configuration You configure a tool using the Inputs, Parameters, and Outputs sections in this area. You can select which tool you want to configure from the tool selector drop- down, in addition to selecting the tool in the Tools Diagram. The following sections describe the parameters common to most tools.
Page 172: Arrays, Batching, And Aggregation
The simplest case is a tool taking a single input, such as a profile (G2 or G5 sensors only) or surface data. In these cases, the tool performs measurements on the data it receives, or processes it, and makes the them available as outputs. Most measurement tools can also take "arrays" as inputs.
Page 173: Arrays From Multi-Instance Tools
Array data can come from various sources: Outputs from tools like Surface Blob, Surface Segmentation, and Surface Pattern Matching. For more information, see Arrays from Multi-instance Tools below. G5 (single- and multi-sensor) multi-layer output. For more information, see Arrays from Multi-layer Output on the next page.
Page 174: Arrays From Multi-Layer Output
When Enable Array Output is checked, the Surface Blob tool outputs an array containing all of the blobs it identifies. An array containing the blobs identified above could be represented in the following way. Other tools can then take this array as input. For more information, see Batching on page 176 or Aggregating on page 178.
Page 175: G2 Multi-Sensor Output
The structure of an array containing these profiles could be represented as follows: Other tools can then take this array as input. For more information, see Batching on the next page or Aggregating on page 178. G2 Multi-sensor Output In G2 multi-sensor systems where sensors are in a top-bottom layout, Profile and Surface data can optionally be output as an array, where top data (from one or more sensors) is one array element, and bottom data (from one or more sensors) is another array element.
Page 176: Batching
Batching When a tool is in batching mode, it takes an array as input and processes each item in the input array individually. A tool in batching mode also outputs one or more arrays (such as measurements, Profile or Surface data, geometric features, and so on), where each element of the output arrays corresponds to an element in the input array.
Page 177 Hovering over batched outputs in the Tools Diagram or in the Tools Configuration panel displays a list of the elements in the array. Configuring Systems • 177 Gocator Line Confocal Sensors: User Manual...
Page 178: Aggregating
When at least one result in the array is a fail, the output is considered a fail and the "Array[n]" label is red. Otherwise, it's green. Outputs within the pop-up list are displayed in green or red, depending on whether they represent pass or fail. Aggregating Some tools can take arrays as an input and combine (or "aggregate") the data in the array elements and treat it as a single input (see below for an example).
Page 179 Number of array elements supported for aggregation Profile Circle ✔ Profile Dimension ✔ Profile Ellipse ✔ Profile Groove ✔ Profile Intersect ✔ Profile Line ✔ Profile Line Intersect ✔ Profile Panel ✔ Profile Position ✔ Profile Round Corner ✔ Profile Strip ✔...
Page 180: Regions
Regions Some tools provide "flexible" regions, which in addition to rectangular regions let you create circular and elliptical regions (which can optionally be annular), and in some tools, polygon regions. Some tools also let you use Surface and Surface Intensity data as masks. For information on setting flexible regions, see Flexible Regions on the next page.
Page 181: Flexible Regions
Flexible Regions Many tools provide "flexible" regions, which let you choose region types such as circle and ellipse, in addition to rectangle regions. For a complete list and information on the related settings, see Flexible Region Parameters on the next page. Configuring Systems •...
Page 182 The following parameters are available in tools that support flexible regions. Flexible Region Parameters Parameter Description Mask Mode One of the following: Include Data in Region: The tool uses only the data inside the region or regions. Exclude Data in Region: The tool ignores the data inside the region or regions, using only the data outside.
Page 183 Parameter Description Rectangle Extracts a rectangular region from the surface data. Circle Extracts a circular region from the surface data, constrained by a square region. Set the region's inner circle using the Inner Diameter parameter to extract annular data. Use the Sector Start Angle and Sector Angle Range parameters to extract a partial circular or elliptical region.
Page 184 Parameter Description Ellipse Extracts an elliptical region from the surface data, constrained by a square or rectangular region. Set the region's inner ellipse (inner cyan ellipse below) using the Inner Major Axis and Inner Minor Axis parameters to extract annular data. Use the Sector Start Angle and Sector Angle Range settings to extract a partial circular or elliptical region.
Page 185: Working With Circular And Elliptical Regions
Parameter Description Surface Intensity Uses the intensity data you select in Mask Source {n}, in the Inputs panel, to create a mask. Set the Low Threshold and High Threshold parameters as required. X, Y, Z These parameters define the size, location (center of the region), and orientation of the region.
Page 186 Sector Start Angle starts at the 0-degree point around Z. Note that the angles defining a partial circular/elliptical region are relative to the region, and not the sensor's coordinate system. So a region rotated 30 degrees using its Z Angle setting rotates the start angle and angle range by 30 degrees.
Page 187: Region Rotation
Region Rotation The measurement region of some tools can be rotated by setting the region's Z Angle to better accommodate features that are on an angle on a target. By rotating the measurement region, data not related to the feature can often be excluded, improving accuracy of measurements. You can modify the size and position of a rotated region.
Page 188 To rotate measurement regions: Determine the length and width of the region that will be required once it is rotated. Expand the region section in the Tools Configuration panel and set a value in Z Angle. Configuring Systems • 188 Gocator Line Confocal Sensors: User Manual...
Page 189: Feature Points
The region rotates clockwise around the Z axis relative to the X axis. Once the region has been rotated, you can modify its size and location in the data viewer using the mouse. You can also modify its dimensions and its location manually by changing the region's values in the Tools Configuration panel.
Page 190 It is important to note that the feature points described here are distinct from the geometric features generated by some tools, and which can be taken as inputs by other tools. Feature points are simply the location in the scan data at which a measurement tool performs a measurement. So, for example, if you set a Profile Position tool's Feature parameter to Max Z, it will return the X and Z positions of the point that is at the highest Z value.
Page 191 Point Type Examples Corner Finds a dominant corner in the region of interest, where corner is defined as a change in profile slope. Top Corner Finds the top-most corner in the region of interest, where corner is defined as a change in profile shape. Bottom Corner Finds the bottom-most corner in the region of interest, where corner is defined as a change in profile shape.
Page 192: Geometric Features
Point Type Examples Any Edge Finds a rising or falling edge in the region of interest. Median Determines the median location of points in the region of interest. Geometric Features Most Surface tools, and many Profile tools, can output features that Feature tools can take as input to produce measurements.
Page 193: Decisions
A line can be defined using one or two areas. Two areas can be used to bypass discontinuity in a line segment. Decisions Results from a measurement can be compared against minimum and maximum thresholds you set in a tool's Outputs panel to generate pass / fail decisions. The decision state is pass if a measurement value is within the minimum / maximum range;...
Page 194 You set a tool's anchors in its Inputs section, by setting Anchor X, Anchor Y, Anchor Z, or Anchor Z Angle to the appropriate measurement from another tool: For example, the following shows a surface scan of a PCB. A Surface Dimension height measurement returns the height of a surface-mount capacitor in the measurement region relative to a nearby reference region.
Page 195 In the following scan, the part has shifted, but the measurement regions remain where they were originally configured, in relation to the sensor or system coordinate system, so the measurement returned is incorrect: When you set a tool's anchor source, an offset is calculated between the anchored tool and the anchor source.
Page 196 In the following image, after the Surface Dimension tool is anchored to the X and Y measurements from a Surface Hole tool (placed over the hole to the lower left), GoPxL compensates for the shift— mostly along the Y axis in this case—and returns a correct measurement, despite the shift. You can combine the positional anchors (X, Y, or Z measurements) with an angle anchor (a Z Angle measurement) for optimum measurement placement.
Page 197 If Z Angle anchoring is used with both X and Y anchoring, the X and Y anchors should come from the same tool. If Z Angle anchoring is used without X or Y anchoring, the tool's measurement region rotates around its center. If only one of X or Y is used, the region is rotated around its center and then shifted by the X or Y offset.
Page 198: Profile Measurement
Profile Measurement This section describes the profile measurement tools available in Gocator sensors. Profile measurement tools can be used on sections extracted from Surface data. For more information on sections, see Surface Section on page 504. Profile Advanced Height The Advanced Height tool provides highly accurate and repeatable master (template) comparison and step height measurements (up to 16 in a tool instance).
Page 199: Parameters
Inputs Name Description Profile Input The data the tool applies measurements to or processes. Anchor X or Anchor Z The X or Z measurement of another tool that this tool uses as a positional anchor. Positional anchors are optional. Parameters You configure the tool's parameters in the expandable Parameters section.
Page 200: Master Comparison
Parameters Parameter Description Master Toggles a set of settings related to master comparison. For more information, see Master Comparison below. Reference Line Toggles a set of settings related to the reference line. For more information, see Reference Line on the next page. Number of Regions Sets the number of height region measurements the tool returns.
Page 201: Correction
Parameter Description Save: Saves the current profile as the master. If the file already exists, the master is overwritten with the new data. Delete: Deletes the master file selected in File. Refresh: Refreshes the list of files in File. Display Master Overlays the master profile, in white, on the current profile.
Page 202 Outputs section with a measurement expanded to show user-configurable decision min/max fields and an external ID You configure the Min and Max parameters by expanding the measurement in the Outputs section. In order for a measurement to return a Pass decision, the measurement must be between maximum and minimum values;...
Page 203 Measurement Master Correction X Master Correction Z Master Correction Y Angle The amount of correction applied to the profile with respect to the master. Max Height Difference The maximum height difference. Max Difference Position X Max Difference Position Z The X and Z positions of the maximum height difference. Data Type Description...
Page 204: Profile Area
Profile Area The Area tool determines the cross-sectional area within a region. Profile Area tool with baseline set to the best-fitted line in Region 1 For information on adding, managing, and removing tools, as well as detailed descriptions of settings common to most tools, see Tool Configuration on page 170.
Page 205: Parameters
providing the anchor. For more information on anchoring, see Measurement Anchoring on page 193. Inputs Name Description Enable Batching When Enable Batching is checked, the tool takes an array as input and processes each profile in the array individually. There is no limit to the size of the array, other than processing limitations of the sensor.
Page 206: Outputs
Parameter Description 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. When this parameter is set to Line, you must define a line in the Line parameter.
Page 207 Outputs section with a measurement expanded to show user-configurable decision min/max fields and an external ID You configure the Min and Max parameters by expanding the measurement in the Outputs section. In order for a measurement to return a Pass decision, the measurement must be between maximum and minimum values;...
Page 208 Measurement Illustration Centroid X Determines the X position of the centroid of the area. Centroid Z Determines the Z position of the centroid of the area. Features Type Description Center Point The center point of the area. For more information on geometric features, see Geometric Features on page 192. Configuring Systems •...
Page 209: Profile Bounding Box
Profile Bounding Box The Bounding Box tool provides measurements related to the smallest box that contains the profile (for example, X position, Z position, width, etc.). The bounding box provides the absolute position from which the Position centroids tools are referenced.
Page 210: Parameters
To use a measurement as an anchor, it must be enabled and properly configured in the tool providing the anchor. For more information on anchoring, see Measurement Anchoring on page 193. Inputs Name Description Enable Batching When Enable Batching is checked, the tool takes an array as input and processes each profile in the array individually.
Page 211: Outputs
Parameters Parameter Description Use Region When enabled, displays Region parameters (see below). When disabled, the tool uses all data. Region The region to which the tool's measurements will apply. For more information, see Regions on page 180. Rotation A bounding box can be vertical or rotated. A vertical bounding box provides the absolute position from which the part's Position centroid measurements are referenced.
Page 212 Outputs section with a measurement expanded to show user-configurable decision min/max fields and an external ID You configure the Min and Max parameters by expanding the measurement in the Outputs section. In order for a measurement to return a Pass decision, the measurement must be between maximum and minimum values;...
Page 213 Measurement Illustration The value returned is relative to the profile. Width Determines the width of the bounding box that contains the profile. The width reports the dimension of the box in the direction of the minor axis. Height Determines the height (thickness) of the bounding box that contains the profile.
Page 214: Profile Circle
Profile Circle The Circle tool provides measurements that find the best-fitted circle to a profile and measure various characteristics of the circle. The tool may be unable to fit a circle to the profile when attempting the fit on a small number of relatively collinear data points.
Page 215: Parameters
To use a measurement as an anchor, it must be enabled and properly configured in the tool providing the anchor. For more information on anchoring, see Measurement Anchoring on page 193. Inputs Name Description Enable Batching When Enable Batching is checked, the tool takes an array as input and processes each profile in the array individually.
Page 216 Parameters Parameter Description Use Region When enabled, displays Region parameters (see below). When disabled, the tool uses all data. Region {n} The region to which the tool's measurements will apply. For more information, see Regions on page 180. Fitting Method The tool supports two fitting methods: Iterative Robust Least Squares: Set the Outlier Fraction parameter when you choose this method.
Page 217: Outputs
Outputs All tools provide measurements, geometric features, or data as outputs. Outputs section with a measurement expanded to show user-configurable decision min/max fields and an external ID You configure the Min and Max parameters by expanding the measurement in the Outputs section. In order for a measurement to return a Pass decision, the measurement must be between maximum and minimum values;...
Page 218 Measurement Illustration Radius Measures the radius of the circle. Standard Deviation Returns the standard deviation of the data points with respect to the fitted circle. Min Error Max Error The minimum and maximum error among the data points with respect to the fitted circle. Min Error X Min Error Z The X and Z position of the minimum error.
Page 219: Profile Circle Radii
Profile Circle Radii The Profile Circle Radii tool lets you measure radii and diameters at specified angle steps, given a specified center point. The tool draws rays from the center point and returns radii or diameter measurements for each ray. The center point comes from either the center of a bounding box or a point geometric feature from another tool.
Page 220: Parameters
To use a measurement as an anchor, it must be enabled and properly configured in the tool providing the anchor. For more information on anchoring, see Measurement Anchoring on page 193. Inputs Name Description Profile Input The data the tool applies measurements to or processes. Anchor X or Anchor Z The X or Z measurement of another tool that this tool uses as a positional anchor.
Page 221 Parameters Parameter Description Regions When expanded, displays the region- and mask-related settings. Enable Enables regions and displays the region- and mask-related settings (see below). Mask Mode When you enable regions (see above), the tool displays additional settings related to the region type. For details on the regions supported by this tool and their Number of Regions settings, see Flexible Regions on page 181.
Page 222 Parameter Description center point from a Circle tool. Angle Start Angle Start: The angle at which ray steps start. Angle Step Angle Step: The angle step in degrees. The following shows how these settings work together: The tool searches for a data point at each angle step and returns the radius from the center point or the diameter.
Page 223: Outputs
Parameter Description The graphic above shows how the tool averages the data point at the angle step with the number of data points specified in Averaging to each side of the angle step, replacing the original data point with the average (circled and in yellow). Output Selects whether to output the radius, diameter, or both for each step.
Page 224 Outputs section with a measurement expanded to show user-configurable decision min/max fields and an external ID You configure the Min and Max parameters by expanding the measurement in the Outputs section. In order for a measurement to return a Pass decision, the measurement must be between maximum and minimum values;...
Page 225 Measurements Measurement Illustration Radius at {angle} Returns the radius at {angle}. Diameter at {angle} Returns the diameter at {angle}. Data Type Description Points An array of the points at the end of the rays. Configuring Systems • 225 Gocator Line Confocal Sensors: User Manual...
Page 226: Profile Closed Area
Profile Closed Area The Closed Area tool determines the cross-sectional area within a region using point cloud data (that is, with Enable uniform spacing disabled in the Acquire > Scan page > Scan Mode panel) from a dual- or multi-sensor system. The tool renders a polygon corresponding to the profile in the data viewer. Use this polygon to decide whether the tool can correctly calculate an acceptable representation of the profile.
Page 227: Parameters
Name Description and Aggregation on page 172. Profile Input The data the tool applies measurements to or processes. This tool can optionally take an array as input. For more information, see Arrays, Batching, and Aggregation on page 172. Anchor X or Anchor Z The X or Z measurement of another tool that this tool uses as a positional anchor.
Page 228: Outputs
Parameter Description External ID The external ID of the tool that appears in GoHMI Designer. For more information, see GoHMI and GoHMI Designer on page 688. Outputs All tools provide measurements, geometric features, or data as outputs. Outputs section with a measurement expanded to show user-configurable decision min/max fields and an external ID You configure the Min and Max parameters by expanding the measurement in the Outputs section.
Page 229 All outputs provide an external ID (available by expanding the output in the Outputs panel) for optional use in GoHMI Designer. For more information, see GoHMI and GoHMI Designer on page 688. Measurements Measurement Illustration Area Measures the cross-sectional area within a region using data from a dual- or multi-sensor system.
Page 230: Profile Dimension
Profile Dimension The Dimension tool provides Width, Height, Distance, Center X, and Center Z measurements. For information on adding, managing, and removing tools, as well as detailed descriptions of settings common to most tools, see Tool Configuration on page 170. Inputs You configure the tool's inputs in the expandable Inputs section. To use a measurement as an anchor, it must be enabled and properly configured in the tool providing the anchor.
Page 231: Parameters
Inputs Name Description Enable Batching When Enable Batching is checked, the tool takes an array as input and processes each profile in the array individually. There is no limit to the size of the array, other than processing limitations of the sensor. When Enable Batching is unchecked, the tool takes either a single profile, or an array of profiles with a maximum of two elements.
Page 232: Outputs
Parameters Parameter Description Feature 1 The Feature 1 and Feature 2 settings represent the two features the tool uses to perform measurements. For each, one of the following: Feature 2 Max Z Min Z Max X Min X Corner Average Rising Edge Falling Edge Any Edge...
Page 233 Outputs section with a measurement expanded to show user-configurable decision min/max fields and an external ID You configure the Min and Max parameters by expanding the measurement in the Outputs section. In order for a measurement to return a Pass decision, the measurement must be between maximum and minimum values;...
Page 234 Measurement Illustration Height Determines the difference along the Z axis between two feature points. The difference can be expressed as an absolute or signed result. The difference is calculated by: Height = Feature 2 – Feature 1 Z position Z position Distance Determines the direct, Euclidean distance between two feature points.
Page 235: Profile Edge
Profile Edge The Profile Edge tool finds an edge on a profile, searching from left to right. The tool's settings help fit the edge point when multiple potential edges are in the profile. You can configure the tool to locate a step or a corner (that is, for cases where there is no clear step in the profile but instead a smooth slope), as well as rising or falling steps.
Page 236: Parameters
To use a measurement as an anchor, it must be enabled and properly configured in the tool providing the anchor. For more information on anchoring, see Measurement Anchoring on page 193. Inputs Name Description Enable Batching When Enable Batching is checked, the tool takes an array as input and processes each profile in the array individually.
Page 237 Parameters Parameter Description Enable Batching When Enable Batching is checked, the tool takes an array as input and processes each profile in the array individually. There is no limit to the size of the array, other than processing limitations of the sensor. For more information on arrays, batching, and aggregating, see Arrays, Batching, and Aggregation on page 172.
Page 238 Parameter Description Corner: Searches for slopes on each path profile. When the edge detection mode is set to Corner, you must set the Corner Type parameter. For more information, see Corner Edge Detection Mode Parameters on page 241. Show Detail When the parameter is enable, the tool displays a line joining the points used to calculate the edge.
Page 239 Parameter Description In the following, when Step Threshold is increased to 2.7, the tool excludes the rising step to the left, because it is no longer above the step threshold, and instead uses the step to the right. Step Smoothing The size of the (moving) window along the profile used to calculate averages for the data points used to calculate the step.
Page 240 Parameter Description The setting is useful when you must detect a slope as an edge, rather than a sharply defined edge: setting Step Width to a value greater than the width of the slope ensures that the tool measures the height difference between the flat regions on either side of the slope.
Page 241: Outputs
Parameter Description dropouts or regions outside of the measurement range) are filled with the value in Null Fill Value as a general “background level.” To find an edges next null points, you must use either this option and an appropriate value in Null Fill Value or Max Gap. Otherwise, only edges within areas of contiguous data will be detected.
Page 242 Outputs section with a measurement expanded to show user-configurable decision min/max fields and an external ID You configure the Min and Max parameters by expanding the measurement in the Outputs section. In order for a measurement to return a Pass decision, the measurement must be between maximum and minimum values;...
Page 243 For more information on geometric features, see Geometric Features on page 192. Configuring Systems • 243 Gocator Line Confocal Sensors: User Manual...
Page 244: Profile Filter
Profile Filter The Profile Filter tool provides processing filters that you can apply to a uniform profile (not point cloud profiles), letting you process scan data to get more repeatable measurements. You can enable up to seven of the filters at once, in any order. Filters in the tool are chained together. Any Profile tool can use the resulting filtered profile as input.
Page 245: Parameters
To use a measurement as an anchor, it must be enabled and properly configured in the tool providing the anchor. For more information on anchoring, see Measurement Anchoring on page 193. Inputs Name Description Enable Batching When Enable Batching is checked, the tool takes an array as input and processes each profile in the array individually.
Page 246 Parameters Parameter Description Use Region When enabled, displays Region parameters (see below). When disabled, the tool uses all data. Number of Regions Lets you set the number of regions, and for each region, the position and dimension. Region {n} For more information on regions, see Regions on page 180. Filter Type The type of filter.
Page 247: Outputs
Filters Name Description Gap Filling Fills in missing data caused by occlusions using information from the nearest neighbors. Gap filling also fills gaps where no data is detected, which can be due to the surface reflectivity, for example dark or specular surface areas, or to actual gaps in the surface.
Page 248 Data Type Description Uniform Profile The filtered uniform profile. Configuring Systems • 248 Gocator Line Confocal Sensors: User Manual...
Page 249: Profile Groove
Profile Groove The Groove tool provides measurements of V-shape, U-shape, or open-shape grooves. The tool lets you optionally set an index to return the measurements of a specific groove when more than one groove is visible in the region of interest. If you need to return multiple grooves from a profile, add a Profile Groove tool for each groove, configure it to represent the desired groove, and set its Selection Index parameter to the desired groove (0-based index).
Page 250 The algorithm derives search parameters from the user settings to prevent noise from triggering false detections. When detecting multiple grooves, an adaptive algorithm is used to ensure that candidate grooves are approximately the same scale. The valley points of open grooves may not be visible or may fall outside of the measurement region. Voids in the data (regions with no profile data) between pairs of valid points are detected.
Page 251: Inputs
Groove candidates that do not meet the minimum and maximum width and depth settings are rejected. The width and depth measurements are invariant to the groove rotation. The width is the distance between the groove corners and the depth is perpendicular distance of the groove bottom from the groove width.
Page 252: Parameters
Name Description When Enable Batching is unchecked, the tool takes either a single profile, or an array of profiles with a maximum of two elements. If the input is an array, the tool will aggregate the data in the array, and process that data as a whole. For more information on arrays, batching, and aggregating, see Arrays, Batching, and Aggregation on page 172.
Page 253 Parameters Parameter Description Shape One of the following: U-Shape, V-shape, or Open. Min Depth Minimum depth for a groove to be considered valid. When set to 0, any groove depth is accepted. Min Width Minimum width for a groove to be considered valid. The width is the distance between the groove corners.
Page 254: Outputs
Parameter Description Selection Type Specifies how a groove is selected when there are multiple grooves the profile data. One of the following: Maximum Depth: The groove with the maximum depth. Index from The Left: A 0-based groove index, counting from left to right. Index from the Right: A 0-based groove index, counting from right to left.
Page 255 Outputs section with a measurement expanded to show user-configurable decision min/max fields and an external ID You configure the Min and Max parameters by expanding the measurement in the Outputs section. In order for a measurement to return a Pass decision, the measurement must be between maximum and minimum values;...
Page 256 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. Configuring Systems • 256 Gocator Line Confocal Sensors: User Manual...
Page 257: Profile Intersect
Profile Intersect The Intersect tool determines intersect points and angles. The Intersect tool's measurements require two fit lines, one of which is a reference line set to one of the following: the X axis (z = 0) the Z axis (x = 0) a user-defined line For information on adding, managing, and removing tools, as well as detailed descriptions of settings common to most tools, see Tool Configuration on page 170.
Page 258: Parameters
To use a measurement as an anchor, it must be enabled and properly configured in the tool providing the anchor. For more information on anchoring, see Measurement Anchoring on page 193. Inputs Name Description Enable Batching When Enable Batching is checked, the tool takes an array as input and processes each profile in the array individually.
Page 259 Parameters Parameter Description Reference Type Determines the type of the reference line. One of the following: X Axis, Z Axis, or Line. X-AxisThe reference line is set to the X axis. Z-Axis: The reference line is set to the Z axis. Line: You define the reference line manually using the parameters in the Base Line section.
Page 260: Outputs
Outputs All tools provide measurements, geometric features, or data as outputs. Outputs section with a measurement expanded to show user-configurable decision min/max fields and an external ID You configure the Min and Max parameters by expanding the measurement in the Outputs section. In order for a measurement to return a Pass decision, the measurement must be between maximum and minimum values;...
Page 261 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. Features Type Description...
Page 262: Profile Line
Profile Line The Line tool fits a line to the profile and measures the deviations from the best-fitted line. The tool also provides two “roughness parameter” measurements: Arithmetic Average and Rz. For a complete list of the measurements the tool provides, see Measurements on page 266. For information on adding, managing, and removing tools, as well as detailed descriptions of settings common to most tools, see Tool Configuration on page 170.
Page 263: Parameters
Inputs Name Description Enable Batching When Enable Batching is checked, the tool takes an array as input and processes each profile in the array individually. There is no limit to the size of the array, other than processing limitations of the sensor. When Enable Batching is unchecked, the tool takes either a single profile, or an array of profiles with any number of elements.
Page 264 Name Description None The tool uses the entire profile both to fit the line and to perform measurements. Combined The tool uses a single, user-defined region to fit the line, in which it also performs measurements. Separated The tool uses one or two regions to fit the line (selected using the Number of Regions parameter), and a single, separate region in which it performs measurements.
Page 265: Outputs
Name Description Number of Regions When Region Mode is set to Separated, lets you choose the number of regions. Region {n} Use these expandable region sections to define the position and size of the fitting and measurement regions precisely. (Use the mouse to position and size them Measurement Region more roughly.) The number of region parameters displayed depends on the mode selected in...
Page 266 Outputs section with a measurement expanded to show user-configurable decision min/max fields and an external ID You configure the Min and Max parameters by expanding the measurement in the Outputs section. In order for a measurement to return a Pass decision, the measurement must be between maximum and minimum values;...
Page 267 Measurement Illustration Max Error Finds the best-fitted line and measures the maximum error from the line (the maximum distance above the line). Percentile Finds the best-fitted line and measures the range (in Z) that covers a percentage of points around the line. Offset Finds the best-fitted line and returns the intersection point between that line and the Z axis.
Page 268: Profile Mask
Measurement Illustration Returns the maximum height of the profile data. Rz = abs(smallest distance) + abs(biggest distance) The distance is from each non-outlier point to the fitted line. Features Type Description Line The fitted line. Min Error Point The point of minimum error. Max Error Point The point of maximum error.
Page 269: Inputs
For information on adding, managing, and removing tools, as well as detailed descriptions of settings common to most tools, see Tool Configuration on page 170. Inputs You configure the tool's inputs in the expandable Inputs section. To use a measurement as an anchor, it must be enabled and properly configured in the tool providing the anchor.
Page 270: Parameters
Name Description than processing limitations of the sensor. For more information on arrays, batching, and aggregating, see Arrays, Batching, and Aggregation on page 172. Profile Input The data the tool applies measurements to or processes. Anchor X or Anchor Z The X or Z measurement of another tool that this tool uses as a positional anchor. Positional anchors are optional.
Page 271: Outputs
Parameter Description External ID The external ID of the tool that appears in GoHMI Designer. For more information, see GoHMI and GoHMI Designer on page 688. Outputs All tools provide measurements, geometric features, or data as outputs. Data Type Description Uniform Profile The profile containing the extracted region or regions. Point Cloud Profile Configuring Systems •...
Page 272: Profile Panel
Profile Panel The Panel tool provides Gap and Flush measurements. 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 tool's parameters.
Page 273: Parameters
Name Description Profile Input The data the tool applies measurements to or processes. This tool can optionally take an array as input. If Enable Batching is disabled and the passed array contains more than two elements, GoPxL displays an error. For more information, see Arrays, Batching, and Aggregation on page 172.
Page 274 Parameters Parameter Description Reference Side Defines the side used to calculate the measurement axis (see below) rounded corner. Gap Measurement Axis Defines the direction that the gap is calculated, in relation to the reference side (see above). Gap measurement only Surface: In the direction of the fitted surface line of the reference surface.
Page 275 Parameter Description Distance: The Cartesian distance between the two feature locations. 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 276 Left and Right Parameters Parameter Description Min Depth Defines the minimum depth before an opening can 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 data is used to form the fitted surface line. This value should be as large as the surface allows.
Page 277: Outputs
Parameter Description edge region. The angle is measured from the axis perpendicular to the fitted surface line. Edge Type Defines the type of feature point to use for the edge (Corner or Tangent). A tangent edge point is the point selected based on the defined Edge Angle. A corner edge point is the intersect point between the fitted surface line and an edge line formed by interpolating the points at and after the tangent within the edge region.
Page 278 Outputs section with a measurement expanded to show user-configurable decision min/max fields and an external ID Configuring Systems • 278 Gocator Line Confocal Sensors: User Manual...
Page 279 You configure the Min and Max parameters by expanding the measurement in the Outputs section. In order for a measurement to return a Pass decision, the measurement must be between maximum and minimum values; the range is inclusive. Measurements Measurement Illustration Measures the distance between two surfaces.
Page 280: Gap And Flush Algorithms
Measurement Illustration Right Gap X Right Gap Z Returns the X and Z position of the edge feature on the right side used to measure the gap. Right Flush X Right Flush Z Returns the X and Z position of the feature on the right side used to measure flushness.
Page 281 2. If a surface region is found, fit a line, called the surface line, using the data within the area. 3. Search for a valid edge region that is located at least the distance specified in the Surface Offset setting from the end of the surface region. If a surface region is not found, move along the search direction and repeat step 1.
Page 282: Profile Part Detection
Profile Part Detection Profile sensors can produce Surface data for applications where a transport system such as a conveyor continuously feeds discrete parts or material under a sensor. Typically, you will set a sensor to Surface mode on the Scan page, set Surface generation type to Continuous, and then configure the part detection parameters on the Scan page.
Page 283: Inputs
When working with previously recorded Profile scan data, you can set the FPS replay setting to a value high enough that parts are displayed in a reasonable amount of time. You can also optionally enable the Continuous Loop to loop through parts continuously. In order to see a detected part's Surface data when the Profile Part Detection tool is selected in the list of added tools, the Part Surface must be selected in the list of outputs or pinned below the data viewer.
Page 284 Parameters Parameter Description Height threshold Determines the height threshold for part detection. The setting for Threshold Type (see above) determines if parts should be detected above or below the value in Threshold. Above is typically used to prevent the belt surface from being detected as a part when scanning objects on a conveyor.
Page 285 Parameter Description Padding Length These parameters are useful when processing part data with third-party software such as HexSight, Halcon, etc. Padding Width and Padding Length control the amount of additional scan data output in the X and Y directions, respectively. The padding can contain data points that were outside the height threshold and excluded from the initial part detection.
Page 286: Outputs
Parameter Description Edge Filter enabled (reflection noise eliminated or reduced) Edge Filter enabled, Keep Interior enabled Keep Interior The Keep Interior setting limits filtering to the outside edges of the target. Edge Width The Edge Width and Edge Length settings represent the size of the filter on the X axis and the Y axis, respectively.
Page 287 You configure the Min and Max parameters by expanding the measurement in the Outputs section. In order for a measurement to return a Pass decision, the measurement must be between maximum and minimum values; the range is inclusive. Measurements Measurement Tracking State Part detection state for largest currently tracking part.
Page 288 Measurement 4: In Gap, Min area achieved Parts Being Tracked The number of parts the engine is currently tracking. Part Center X The center of the partial part, midway between the minimum X and maximum X detected for the part. Part Length The length of the part.
Page 289: Profile Position
Profile Position The Position tool finds the X or Z axis position of a feature point. The feature type must be specified (see below). For information on adding, managing, and removing tools, as well as detailed descriptions of settings common to most tools, see Tool Configuration on page 170. Inputs You configure the tool's inputs in the expandable Inputs section.
Page 290: Parameters
Inputs Name Description Enable Batching When Enable Batching is checked, the tool takes an array as input and processes each profile in the array individually. There is no limit to the size of the array, other than processing limitations of the sensor. When Enable Batching is unchecked, the tool takes either a single profile, or an array of profiles with a maximum of two elements.
Page 291: Outputs
Parameter Description Feature The feature the tool uses for its measurements. One of the following: Max Z Min Z Max X Min X Corner Average Rising Edge Falling Edge Any Edge Top Corner Bottom Corner Left Corner Right Corner Median To set the region of a feature, adjust it graphically in the data viewer, or expand the feature in the Parameters section and enter the values in the fields.
Page 292 Outputs section with a measurement expanded to show user-configurable decision min/max fields and an external ID You configure the Min and Max parameters by expanding the measurement in the Outputs section. In order for a measurement to return a Pass decision, the measurement must be between maximum and minimum values;...
Page 293: Profile Round Corner
Profile Round Corner The Round Corner tool measures corners with a radius, returning the position of the edge of the corner and the angle of adjacent surface with respect to the X axis. For information on adding, managing, and removing tools, as well as detailed descriptions of settings common to most tools, see Tool Configuration on page 170.
Page 294: Parameters
To use a measurement as an anchor, it must be enabled and properly configured in the tool providing the anchor. For more information on anchoring, see Measurement Anchoring on page 193. Inputs Name Description Enable Batching When Enable Batching is checked, the tool takes an array as input and processes each profile in the array individually.
Page 295 Parameters Parameter Description Reference Direction Defines the side used to calculate the rounded corner. Edge When expanded, displays the parameters for defining the edge (see below). Max Void Width The maximum allowed width of missing data caused by occlusion or data dropout. A larger value prevents the algorithm from registering a section of missing data as an edge.
Page 296 Parameter Description 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 data is used to form the fitted surface line. This value should be as large as the surface allows.
Page 297 Parameter Description Edge Angle A point on the best fit circle to be used to calculate the feature point. The selected point is on the circumference at the specified angle from the start of the edge region. The angle is measured from the axis perpendicular to the fitted surface line. Edge Type Defines the type of feature point to use for the edge (Corner or Tangent).
Page 298: Outputs
Parameter Description Use Region When enabled, displays Region parameters (see below). When disabled, the tool uses all data. Region The region to which the tool's measurements will apply. For more information, see Regions on page 180. External ID The external ID of the tool that appears in GoHMI Designer. For more information, see GoHMI and GoHMI Designer on page 688.
Page 299 Outputs section with a measurement expanded to show user-configurable decision min/max fields and an external ID You configure the Min and Max parameters by expanding the measurement in the Outputs section. In order for a measurement to return a Pass decision, the measurement must be between maximum and minimum values;...
Page 300 Measurement Illustration measurement (see Reference Side, below). Angle Measures the angle of the line fitted to the surface next to the corner (see Reference Side, above), with respect to the X axis. Left edge angles are from -90 to 90. Right edge angles are from 90 to 270. Features Type Description...
Page 301: Profile Strip
Profile Strip The Strip tool returns various measurements related to a strip, such as its X and Z positions, width, and height. The tool lets you optionally set an index to return the measurements of a specific strip when more than one is visible in the region of interest.
Page 302: Parameters
To use a measurement as an anchor, it must be enabled and properly configured in the tool providing the anchor. For more information on anchoring, see Measurement Anchoring on page 193. Inputs Name Description Profile Input The data the tool applies measurements to or processes. Anchor X or Anchor Z The X or Z measurement of another tool that this tool uses as a positional anchor.
Page 303 Parameters Parameter Description Base Type Affects detection of rising and falling edges. Configuring Systems • 303 Gocator Line Confocal Sensors: User Manual...
Page 304 Parameter Description 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. Left Edge Specifies the features that will be considered as the strip's left and right edges.
Page 305 Parameter Description strip. For information on how this parameter is used by different base types, see Strip Step Edge Definitions on page 310. Min Width Specifies the minimum width for a strip to be considered valid. Min Height Specifies the minimum deviation from the strip base. For information on how this parameter is used by different base types, see Strip Step Edge Definitions on page 310.
Page 306: Outputs
Outputs All tools provide measurements, geometric features, or data as outputs. Outputs section with a measurement expanded to show user-configurable decision min/max fields and an external ID You configure the Min and Max parameters by expanding the measurement in the Outputs section. In order for a measurement to return a Pass decision, the measurement must be between maximum and minimum values;...
Page 307: Strip Algorithm
Measurement Illustration X, Z Measures the X and Z position, respectively, of a strip. Width Measures the width of a strip. Height Measures the height of a strip. Features Type Description Left Edges Arrays of Point geometric features representing the left edges, right edges, and centers of all strips, from left to right.
Page 308: Strip Start And Terminate Conditions
When the target is sitting on the surface, the base is lower than the strip (as shown above). Alternatively for a groove the base is above the strip surface. The base could be missing when the target is hanging in the air or the surface holding the target falls outside the sensor's active area. You can control the base type in the measurement panel.
Page 309 Condition Description Gaps at the ends of the measurement region's boundary are not considered as a void. The following examples show how the parameters affect the strip detection in different scenarios. Left and Right Edge conditions Condition Example Left: Rising, data end, void Right: Falling, data end, void Left: Rising, void Right: Falling, void...
Page 310: Strip Step Edge Definitions
Condition Example Left: Falling Right: Rising Strip Step Edge Definitions The Strip tool detects step edges based on the parameters Base Type, Edge Transition Width, Edge Support Width, and Minimum Edge Height. When Base Type is set to Flat, the regions around the edges are visible and the edge positions are between the base and the strip surface.
Page 311 The algorithm then backs off by the value of the Edge Transition Width parameter and uses the data up to the back-off point to create the fitted line and projects the edge point on the line. This step prevents the points near the end of a rounded strip from affecting the height of the strip. Configuring Systems •...
Page 312: Profile Template Matching
Profile Template Matching The Profile Template Matching tool lets you align a profile to a "master" template profile you create in the tool (a "golden template"), compensating for movement of the target from frame to frame. As a result, you can perform measurements on a "stabilized" profile. The tool returns measurements that represent differences between the profile and the master, letting you perform simple defect detection and location from within the tool.
Page 313 To use a measurement as an anchor, it must be enabled and properly configured in the tool providing the anchor. For more information on anchoring, see Measurement Anchoring on page 193. Inputs Name Description Enable Batching When Enable Batching is checked, the tool takes an array as input and processes each profile in the array individually.
Page 314: Parameters
Standard Deviation Difference Average Difference Sum Variance Matching Score Also, for these “master compare” measurements, if the profile has been aligned to the master (either Coarse Align or Fine Align is enabled), the measurements compare the aligned profile and the master.
Page 315 Parameters Parameter Description Template When expanded, displays File and Operation parameters. File A list of templates available to the tool. The template containing the profile the tool uses as a master profile for alignment and comparisons. Use the Operation parameter to add and remove templates to this list. Operation Provides operations related to profile template files (masters).
Page 316: Outputs
Parameter Description rotation). Otherwise, when combined with Fine Align, it provides a good initial start position for fine alignment. X Shift Window The maximum distance on the X axis the tool can move the current profile in order to align it. Should be set to the maximum amount the part is expected to shift left or right.
Page 317 Outputs section with a measurement expanded to show user-configurable decision min/max fields and an external ID You configure the Min and Max parameters by expanding the measurement in the Outputs section. In order for a measurement to return a Pass decision, the measurement must be between maximum and minimum values;...
Page 318 Measurements Measurement Transform X Transform Z The distance the profile has shifted on the X and Z axis after alignment to the master, respectively. Transform Y Angle The rotation of the profile around the Y axis after alignment. Max Height Difference The maximum height difference between the profile and the master.
Page 319: Raw Profile Matching
Raw Profile Matching The Raw Profile Matching tool takes unresampled profile data as input (the Enable uniform spacing setting is disabled on Acquire > Scanners). The Raw Profile Matching tool lets you align a profile to a "master" template profile you create in the tool (a "golden template"), compensating for movement of the target from frame to frame.
Page 320: Parameters
To use a measurement as an anchor, it must be enabled and properly configured in the tool providing the anchor. For more information on anchoring, see Measurement Anchoring on page 193. Inputs Name Description Enable Batching When Enable Batching is checked, the tool takes an array as input and processes each profile in the array individually.
Page 321 Parameters Parameter Description Template When expanded, displays File and Operation parameters. File A list of templates available to the tool to use as a master profile for alignment and comparisons. Use the Operation parameter to add and remove templates. Operation Provides operations related to profile template files (masters).
Page 322: Outputs
Parameter Description If this option is not checked, the tool performs matching using data from the entire active area. For more information on regions, see Regions on page 180. Match Region When Use Region is enabled, provides settings for the size and position of the region in which the matching (alignment) is performed..
Page 323 Outputs section with a measurement expanded to show user-configurable decision min/max fields and an external ID You configure the Min and Max parameters by expanding the measurement in the Outputs section. In order for a measurement to return a Pass decision, the measurement must be between maximum and minimum values;...
Page 324: Profile Thickness
Profile Thickness The Thickness tool lets you perform thickness measurements between the two profiles you specify. The tool also lets you specify an angle measurement relative to which the tool performs the thickness measurements, up to a maximum of 20 degrees, to compensate for minor tilt of the target. To get the compensation angle, you could first fit a straight line to the top profile using the Profile Line tool, and pass that tool's Angle measurement to Profile Thickness.
Page 325 To use a measurement as an anchor, it must be enabled and properly configured in the tool providing the anchor. For more information on anchoring, see Measurement Anchoring on page 193. Inputs Name Description Enable Batching When Enable Batching is checked, the tool takes an array as input and processes each profile in the array individually.
Page 326: Parameters
Name Description Bottom Profile Input Anchor X or Anchor Z The X or Z measurement of another tool that this tool uses as a positional anchor. Positional anchors are optional. Thickness Angle An angle measurement from another tool that the Thickness tool uses for the angle of the thickness measurement.
Page 327: Outputs
Parameter Description Region The region to which the tool's measurements will apply. For more information, see Regions on page 180. External ID The external ID of the tool that appears in GoHMI Designer. For more information, see GoHMI and GoHMI Designer on page 688. Outputs All tools provide measurements, geometric features, or data as outputs.
Page 328: Profile Transform
Profile Transform The Profile Transform creates a new profile based on the coordinate system of geometric features the tool uses as input and/or fixed input values. The tool accepts a Line geometric feature (rotating the profile so that the line is parallel to the X axis) and/or a Point geometric feature (using it as the X and Z origin).
Page 329: Inputs
For information on adding, managing, and removing tools, as well as detailed descriptions of settings common to most tools, see Tool Configuration on page 170. Inputs You configure the tool's inputs in the expandable Inputs section. To use a measurement as an anchor, it must be enabled and properly configured in the tool providing the anchor.
Page 330: Parameters
Inputs Name Description Enable Batching When Enable Batching is checked, the tool takes an array as input and processes each profile in the array individually. There is no limit to the size of the array, other than processing limitations of the sensor. For more information on arrays, batching, and aggregating, see Arrays, Batching, and Aggregation on page 172.
Page 331: Outputs
Parameter Description transformation. Useful if you know the profiles in the scan data will always be in a certain position or orientation. External ID The external ID of the tool that appears in GoHMI Designer. For more information, see GoHMI and GoHMI Designer on page 688. Outputs All tools provide measurements, geometric features, or data as outputs.
Page 332: Surface Measurement
Surface Measurement Surface measurement involves capturing scan data, optionally identifying discrete objects, and measuring properties of the surface or the objects, such as the volume of the object or the height at a certain position of the object. All volumetric tools have the ability to operate either on the entire surface or the full object, or within a region of interest at a certain position in relation to the surface or an object.
Page 333 Part Detection Surface Blob Surface Segmentation with Surface Segmentation. Supports background present Height threshold must be Height threshold must be set above or below the set above or below the background background Supports background with significant tilt or intensity Fixed height threshold is Fixed height threshold is Adaptive threshold is used gradient...
Page 334: Surface Align Ring
Surface Align Ring This tool is only intended for performing high-accuracy alignment of multi-sensor ring and partial ring layouts with G2 (line profile) sensors, using recorded scan data. Configuring Systems • 334 Gocator Line Confocal Sensors: User Manual...
Page 335: Surface Align Wide
Surface Align Wide This tool is only intended for trouble-shooting high-accuracy alignment of multi-sensor wide layouts with G2 (line profile) sensors, using recorded scan data. Configuring Systems • 335 Gocator Line Confocal Sensors: User Manual...
Page 336: Surface Arithmetic
Surface Arithmetic The Surface Arithmetic tool lets you perform various operations on a pair of surfaces. For example, you can use the tool to perform dynamic masking from frame to frame. The tool performs bitwise operations (AND or OR) on the corresponding data points in the source surfaces, and also combines height and intensity data with add, subtract, average, and mask operations.
Page 337: Parameters
Name Description Anchor Y Anchor Z Anchor Z Angle The Z Angle measurement of another tool to use as a rotational anchor for this tool. Rotational anchors are optional. Parameters The following parameters are in the expandable Parameters section in the tool's configuration. Parameters Parameter Description...
Page 338: Outputs
Parameter Description Region {n} "flexible" regions, see Regions on page 180. Operator One of the following: Add: Adds the height values of the corresponding data points in the two sources. Subtract: Subtracts the height values of the corresponding data points in the two sources.
Page 339: Surface Ball Bar
Surface Ball Bar The Surface Ball Bar tool returns measurements useful for calibrating systems using a ball bar, particularly systems that include a robot. Inputs You configure the tool's inputs in the expandable Inputs section. Inputs Name Description Enable Batching Leave this setting unchecked.
Page 340 Parameters Parameter Description Use Nominal Distance When enabled, displays Nominal Distance and Distance Tolerance settings. Set these to the distance between the balls of the ball bar (refer to the specifications of the ball bar) and the tolerance you need. This can be useful to ensure invalid results due to false or inaccurate detection are rejected.
Page 341: Outputs
Outputs Measurements Measurement Normal X / Y / Z These measurements return the X, Y, and Z components of the normal vector of the surface surrounding the calibration target. Radius1 Radius2 These measurements return the radius of each ball. Center X1 / Y1 / Z1 Center X2 / Y2 / Z2 These measurements return the X, Y, and Z positions of the centers of the spheres fitted to the balls.
Page 342 Data Type Description Difference Surface The difference between the scan data and the provided nominal dimensions. Used for diagnostics. Configuring Systems • 342 Gocator Line Confocal Sensors: User Manual...
Page 343: Surface Blob
Surface Blob The Surface Blob tool lets you detect surface defects, such as uneven or excess material, gouges, or blemishes, on a relatively uniform or flat background, in either 3D height map data or intensity data. It can also extract targets from the surface. The tool optionally lets you set its height threshold relative to a user-defined reference region.
Page 344 Several dents outlined by the tool on a surface in cyan. The currently selected blob is outlined in red. (Grayscale heightmap mode is used to better see the outlines.) Note that knowing the rough size and shape of the kinds of detects you expect is important when you are configuring the open and close kernels and the tool's filters.
Page 345: Inputs
Inputs To use a measurement as an anchor, it must be enabled and properly configured in the tool providing the anchor. For more information on anchoring, see Measurement Anchoring on page 193. Inputs Name Description Enable Batching When Enable Batching is checked, the tool takes an array as input and processes each surface in the array individually.
Page 346 Configuring Systems • 346 Gocator Line Confocal Sensors: User Manual...
Page 347 Parameters Parameter Description Use Intensity If enabled, the tool uses intensity data instead of heightmap data. Only available if Acquire intensity is enabled on the Inspect > Scan page during scanning; for more information, see Scan Modes and Intensity on page 110. Measurement Regions When expanded, displays the region- and mask-related settings.
Page 348 Parameter Description Reference Plane If you set Reference Type (see above) to Reference Plane, the tool uses the specified plane geometric feature to correct for a tilt of the target. Note however that using a reference plane to correct the tilt distorts the scan data: it sheers the data by the same angle as the tilt.
Page 349 Parameter Description blob. Below: The Height Threshold value is the maximum that will be considered as part of a blob (for example, a dent below the surrounding surface). Above: The Height Threshold value is the minimum that will be considered as part of a blob (so a raised feature).
Page 350 Parameter Description In the following, the same dent is excluded if Min Aspect is set to a value greater than 0.354. Use Circularity Filter If Use Circularity Filter is enabled, the tool applies a circularity filter to potential blobs to measure how close to a circle the blob is, using the values in Max Circularity and Min Circularity .
Page 351: Outputs
Parameter Description Use Convexity Filter If Use Convexity Filter is enabled, the tool applies a convexity filter to potential blobs, using the values in Max Convexity and Min Convexity . Convexity is defined as the (Area of the Blob / Area of its convex hull), and "convex hull" of a shape is the tightest convex shape that completely encloses the shape.
Page 352 and minimum values; the range is inclusive. All outputs provide an external ID (available by expanding the output in the Outputs panel) for optional use in GoHMI Designer. For more information, see GoHMI and GoHMI Designer on page 688. If Enable Array Output is checked, the tool outputs arrays for the center position, length, width, and area measurements, as well as the Center Point output.
Page 353 Data Type Description Diagnostic Surface Surface data you can use to evaluate the impact of the tool's parameters, after filters are applied, to properly separate the areas corresponding to the defects or targets you need to detect. Surface {n} / Blob Surface Surface data corresponding to each blob.
Page 354: Surface Bounding Box
Surface Bounding Box The Bounding Box tool provides measurements related to the smallest box that contains the scan data from a part (for example, X position, Y position, width, length, etc.). The tool also lets you get the height of bounding box relative to the Z origin (typically the conveyor on which the target is sitting). This lets you determine, for example, the height of a box or other container on the conveyor as part of a product packaging process.
Page 355: Parameters
Name Description other than processing limitations of the sensor. When Enable Batching is unchecked, the tool takes either a single surface, or an array of surfaces with any number of elements. If the input is an array, the tool will aggregate the data in the array, and process that data as a whole.
Page 356 Parameters Parameter Description Regions When expanded, displays the region- and mask-related settings. Enable Enables regions and displays the region- and mask-related settings (see below). Mask Mode When you enable regions (see above), the tool displays additional settings related to the region type. For details on the regions supported by this tool and their Region Type 1 settings, see Flexible Regions on page 181.
Page 357 Parameter Description When High Percentile is set to 99%, the highest 1 percent of data points is excluded from the placement of the bounding box, and an accurate height of the target box of 270.477 mm is returned. Configuring Systems • 357 Gocator Line Confocal Sensors: User Manual...
Page 358 Parameter Description High Percentile See Use Percentile Filter above. Low Percentile Use Opening Filter When enabled, this setting lets you set the value of Kernel Size for an opening morphological operation applied to the scan data on the XY plane, letting you achieve "robust" width and length measurements.
Page 359 Parameter Description When the filter is set to an appropriately sized kernel (here, 11 points), the noise is excluded from the calculation of the bounding box, and an accurate length is returned. Configuring Systems • 359 Gocator Line Confocal Sensors: User Manual...
Page 360: Outputs
Parameter Description Use the Diagnostics Surface on the Data tab to evaluate the impact of the open filter, to avoid removing too much data. Kernel Size See Use Opening Filter above. Show Corners When this setting is enabled, the tool outputs a Point geometric feature for each corner of the box.
Page 361 Outputs section with a measurement expanded to show user-configurable decision min/max fields and an external ID You configure the Min and Max parameters by expanding the measurement in the Outputs section. In order for a measurement to return a Pass decision, the measurement must be between maximum and minimum values;...
Page 362 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 363 Measurement Illustration Height from 0 Determines the distance from the top of the bounding box to the Z origin (Z = 0). 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.
Page 364: Surface Circular Edge
Surface Circular Edge The Circular Edge tool fits a circle to a circular edge in the scan data, using either height map or intensity data. The edge can be the outer edge of a disc-like feature or the inner edge of a hole. The tool can optionally work with partial data, as little as 1/4 of a circle, letting it work with rounded corners.
Page 365: Inputs
The circular path can optionally be partial, and starts at a defined orientation around the Z axis. The circular path can be as short as 1/4 of a circle, letting it work with rounded corners. Calipers extend vertically to fill the entire region of interest. Internally, the tool extracts profiles from the data within each caliper, running from the end of the caliper closest to the center of the tool's region of interest to the end farthest from the center.
Page 366: Parameters
Name Description For more information on arrays, batching, and aggregating, see Arrays, Batching, and Aggregation on page 172. Surface Input The data the tool applies measurements to or processes. Anchor X The X, Y, or Z measurement of another tool that this tool uses as a positional anchor.
Page 367 Parameters Parameter Description Use Region When enabled, displays Region parameters (see below). When disabled, the tool uses all data. Region The region to which the tool's measurements will apply. For more information, see Regions on page 180. Caliper Count The number of calipers the tool places along the circular path. Using a higher number of calipers increases the amount of data available to the tool, but also increases the amount of time the tool takes to run.
Page 368 Parameter Description Caliper Length Caliper Length is the length of the calipers (extending perpendicular to a tangent on the circular caliper path, centered on the path). The length of the calipers determines the Caliper Width length of the extracted profiles the tool examines for steps. Longer calipers increase the amount of data the tool must analyze and therefore the time the tool takes to run;...
Page 369 Parameter Description Edge Selection Type Determines which step the tool uses on each of the profiles internally extracted from the calipers when there are multiple steps. An edge point is placed on each chosen step, and is used to fit the circle. Steps must pass the criteria of the tool's settings, such as threshold and outlier exclusion.
Page 370 Parameter Description Show Advanced Parameters When enabled, displays advanced settings. Note that most of these settings are applied even when they are hidden. For information on these settings, see Advanced Parameters below. Show Detail When disabled, hides the calipers and caliper path, as well as the edge points. External ID The external ID of the tool that appears in GoHMI Designer.
Page 371 Parameter Description Path Width The size of the windows perpendicular to the path used to calculate an average for each data point on a path profile. Useful to average out noise along the path caused by reflections, and so on. If Path Width is set to 0, no averaging is performed (only the data point under the path is used).
Page 372 Parameter Description Relative Threshold The value for the relative threshold. The tool calculates a relative threshold by scaling the greatest height or intensity difference found on the path profiles by the percentage in Relative Threshold. This lets you configure the tool without knowing the actual step height in advance, and is useful for edges with varying step height.
Page 373 Parameter Description Max Gap Fills in regions of missing data caused by an occlusion near the desired edge. Use this setting when continuity on the target is expected. When Max Gap is set to a non-zero value, the tool holds and extends the last data point on the low side next to an edge across a gap of null points, up to the distance specified in Max Gap.
Page 374: Outputs
Parameter Description Mask Regions Lets you enable up to five regions that you can use to mask data you want the tool to ignore. You can resize and reposition the mask regions using the mouse in the data viewer, or by configuring values manually in the Mask Region sections the tool displays in the tool settings for each region.
Page 375 Outputs section with a measurement expanded to show user-configurable decision min/max fields and an external ID You configure the Min and Max parameters by expanding the measurement in the Outputs section. In order for a measurement to return a Pass decision, the measurement must be between maximum and minimum values;...
Page 376 Measurement Illustration Radius Returns the radius of the fitted circle. Roundness Returns the roundness or circularity of the edge points with respect to the reference circle of the selected roundness error method set in Fit Type. Min Error Max Error These measurements return information on the points Configuring Systems •...
Page 377 Measurement Illustration furthest inside and outside the fitted circle, respectively. Features Type Description Center Point The center of the fitted circle. Circle The fitted circle. Min Error Point The point of minimum error which is furthest inside of the circle. Max Error Point The point of maximum error which is furthest outside of the circle.
Page 378: Surface Countersunk Hole
Surface Countersunk Hole The Countersunk Hole tool locates a countersunk circular opening within a region of interest on the surface and provides measurements to evaluate characteristics of countersunk holes, including the position (X, Y, and Z) of the center of the hole, outside radius of the hole, hole bevel angle, and the depth of the hole.
Page 379: Parameters
Name Description For more information on arrays, batching, and aggregating, see Arrays, Batching, and Aggregation on page 172. Surface Input The data the tool applies measurements to or processes. Anchor X The X, Y, or Z measurement of another tool that this tool uses as a positional anchor.
Page 380 Parameters Parameter Description Use Region When enabled, displays Region parameters (see below). When disabled, the tool uses all data. Region The region to which the tool's measurements will apply. For more information, see Regions on page 180. Shape The shape of the countersunk hole. (See illustrations below.) 0 –...
Page 381: Outputs
Parameter Description When this option is set to Autoset, the algorithm automatically determines the reference region. You can also set this option to one or two regions, which you manually set. Note that the location of manual reference regions is relative to the detected center of the hole and positioned on the nominal surface plane.
Page 382 Outputs section with a measurement expanded to show user-configurable decision min/max fields and an external ID You configure the Min and Max parameters by expanding the measurement in the Outputs section. In order for a measurement to return a Pass decision, the measurement must be between maximum and minimum values;...
Page 383 Measurement Illustration Determines the Y position of the center of the countersunk hole. Determines the Z position of the center of the countersunk hole. 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.
Page 384 Measurement Illustration Bevel Radius Determines the radius at a user-defined offset (Bevel Radius Offset setting) relative to the surface that the countersunk hole is on. To convert the radius to a diameter, use an instance of the Measurement Formula too with the Formula field set to M1*2, for example.
Page 385 Measurement Illustration 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 386: Surface Curvature Correction
Surface Curvature Correction The Surface Curvature Correction tool removes curvature from curved surfaces while preserving surface features or defects, using a configurable polynomial order (the tool performs a 2D polynomial fit on X and Y to process surfaces). You can then use the tool's output as input to other measurement tools to apply measurements to the "flattened" surface.
Page 387 The "flattened" surface data (the tool's Difference Surface data output). In the following image, a Surface Dimension tool's height measurement runs on the "flattened" output (the Surface Curvature tool's Difference Surface output) to determine the height of one of the raised areas: Height of a raised feature relative to the flattened surface.
Page 388: Inputs
For information on adding, managing, and removing tools, as well as detailed descriptions of settings common to most tools, see Tool Configuration on page 170. Inputs You configure the tool's inputs in the expandable Inputs section. Inputs Name Description Enable Batching When Enable Batching is checked, the tool takes an array as input and processes each surface in the array individually.
Page 389 Parameters Parameter Description Show Advanced Enables a set of advanced parameters. (See Advanced Parameters below.) Parameters External ID The external ID of the tool that appears in GoHMI Designer. For more information, see GoHMI and GoHMI Designer on page 688. Advanced Parameters Parameter Description Number of Regions Lets you specify and configure one or more regions the tool will process.
Page 390 Parameter Description If the large feature to the left is not excluded for the polynomial fit, the measurements on the smaller features will be inaccurate. In the following "flattened" scan data, without excluding the larger feature, the smaller features would be difficult to accurately measure: When the larger feature is excluded from the polynomial fitting, the surrounding surface and the smaller features are more properly "flattened."...
Page 391: Outputs
Parameter Description Polynomial Order Selects the order (or degree) of the polynomial to be fit to the surface. A higher order results in a better fit but increases processing time. Sampling Step The step in data points in both directions with which the surface is sampled. Choosing a higher sampling step reduces the processing time the tool requires, but reduces fit accuracy.
Page 392 Data Type Description Fit Surface The fitted polynomial the tool uses to flatten the original surface. Use this as a diagnostic to better fit the polynomial. Difference Surface The “flattened” surface: this is the original surface with the fitted polynomial removed. Configuring Systems •...
Page 393: Surface Cylinder
Surface Cylinder The Surface Cylinder fits a cylinder to scan data and returns measurements and geometric features related to the fitted cylinder. Unlike the Surface Stud tool, the Surface Cylinder tool does not rely on a flat surface perpendicular to the cylindrical object. Examples uses of the tool include fitting to the outside of a cylinder and fitting inside a drilled hole.
Page 394: Parameters
Name Description other than processing limitations of the sensor. For more information on arrays, batching, and aggregating, see Arrays, Batching, and Aggregation on page 172. Surface Input The data the tool applies measurements to or processes. Parameters You configure the tool's parameters in the expandable Parameters section. Parameters Parameter Description...
Page 395 Parameter Description mode. Resolution Mode On G3 sensors, leave this set to the default Original Resolution. Determines whether the tool scales the X or Y resolution so that they are the same (a 1:1 ratio), or leaves the X and Y resolutions as the original. One of the following. Optimal (uniform) Brings the X/Y resolution ratio to 1:1 while preserving the pixel area.
Page 396: Outputs
Outputs Outputs section with a measurement expanded to show user-configurable decision min/max fields and an external ID You configure the Min and Max parameters by expanding the measurement in the Outputs section. In order for a measurement to return a Pass decision, the measurement must be between maximum and minimum values;...
Page 397 Measurement Normal Y Normal Z These measurements return the X, Y, and Z components of the direction vector of the cylindrical target. Features Type Description Point A point representing the center of a circle at the midpoint of the fitted cylinder Line A line representing the axis of the fitted cylinder.
Page 398: Surface Dimension
Surface Dimension The Dimension tool returns various dimensional measurements of a part. You must specify two feature types (see below). For information on adding, managing, and removing tools, as well as detailed descriptions of settings common to most tools, see Tool Configuration on page 170. Inputs You configure the tool's inputs in the expandable Inputs section.
Page 399: Parameters
Name Description Anchor Z Anchor Z Angle The Z Angle measurement of another tool to use as a rotational anchor for this tool. Rotational anchors are optional. Parameters You configure the tool's parameters in the expandable Parameters section. Parameters Parameter Description Feature 1 Type The feature point types the tool uses.
Page 400: Outputs
Parameter Description Min Z When more than one point is at minimum Y or maximum Y (and the feature is set to Min Y or Max Y, respectively), the rightmost point (the one at greater positive X) is selected by the tool. When more than one point is at minimum X or maximum X (and the feature is set to Min X or Max X, respectively), the bottom point (the one at greater positive Y) is selected by the tool.
Page 401 Outputs section with a measurement expanded to show user-configurable decision min/max fields and an external ID You configure the Min and Max parameters by expanding the measurement in the Outputs section. In order for a measurement to return a Pass decision, the measurement must be between maximum and minimum values;...
Page 402 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. Configuring Systems • 402 Gocator Line Confocal Sensors: User Manual...
Page 403: Surface Direction Filter
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 Center Y Center Z These measurements determine the X, Y, or Z position, respectively, of the center point between the selected features.
Page 404 Surface before direction filtering. In the following scan data, the tool has removed the noise. Surface after direction filtering. Configuring Systems • 404 Gocator Line Confocal Sensors: User Manual...
Page 405: Inputs
Note that the tool's filtering parameters apply to all enabled regions. To apply different filtering parameters, you can add additional instances of the tool and chain them together, setting the input of subsequent instances to the output of the preceding instance. For information on adding, managing, and removing tools, as well as detailed descriptions of settings common to most tools, see Tool Configuration on page 170.
Page 406: Parameters
Name Description Anchor Z Anchor Z Angle The Z Angle measurement of another tool to use as a rotational anchor for this tool. Rotational anchors are optional. Parameters You configure the tool's parameters in the expandable Parameters section. The following illustrates the angle parameters that control which data points are excluded in scan data: Configuring Systems •...
Page 407 The number of neighboring points shown above is for illustrative purposes only. Parameters Parameter Description Regions When expanded, displays the region- and mask-related settings. Enable Enables regions and displays the region- and mask-related settings (see below). Mask Mode When you enable regions (see above), the tool displays additional settings related to the region type.
Page 408: Outputs
Parameter Description Max Polar Angle surrounding a data point with respect to the Z axis. Smooth Size A mean filter applied to the surface data before calculating the normals in order to avoid abrupt normal changes due to noise. Noise Removal Eliminates noise that can be introduced by the tool's normal calculation.
Page 409: Surface Edge
Surface Edge The Edge tool fits a line to a straight edge in the scan data, using either height map or intensity data. The tool can search for an edge using either a step (an abrupt change in the data) or a corner (a contiguous change in the shape of surface).
Page 410: Paths And Path Profiles
Paths and Path Profiles To fit an edge line to the scan data, the Surface Edge tool overlays evenly spaced, parallel paths (light blue lines in the interface; see below) in the defined region of interest. (Note that the paths are only displayed if Path Spacing is greater than 0.) Configuring Systems •...
Page 411: Inputs
For each path, a profile is generated internally from the height map’s data points that fall under or, optionally, near the path. The tool then examines each path profile for steps (changes in height) that meet the criteria set by the tool’s settings, such as minimum height, direction (whether it is rising or falling), and so on.
Page 412: Parameters
To use a measurement as an anchor, it must be enabled and properly configured in the tool providing the anchor. For more information on anchoring, see Measurement Anchoring on page 193. Inputs Name Description Enable Batching When Enable Batching is checked, the tool takes an array as input and processes each surface in the array individually.
Page 413 Configuring Systems • 413 Gocator Line Confocal Sensors: User Manual...
Page 414 Parameters Parameter Description Use Intensity Uses intensity data rather than height data to find an edge. Useful when color differences on a flat area of a target, which would not be detected using height map data, are distinct, letting you use the detected "line" as an anchor source perform geometric feature...
Page 415 Parameter Description Use Intensity disabled (heightmap view of the same area): Surface Edge tool unable to find edge using height data. Number of Regions The number of regions the tool will use to fit the line. You must configure each region (see Region {n} below).
Page 416 Parameter Description roughly perpendicular to the edge on the target. The direction is indicated by a light blue arrow in the data viewer. Fixed Angle When this option is enabled, the value in Fixed Angle Value replaces the value the Z Angle measurement returns. Useful when the angle of the feature is known and noise in the scan data could Dependent settings otherwise cause the measurement to return an incorrect angle.
Page 417 Parameter Description Selection Type Determines which step (when Edge Detection Mode is set to Step) or corner (when Edge Detection Mode is set to Corner) the tool uses on each path profile Corner Type when there are multiple steps or corners in the profile. An edge point is placed on each chosen step or corner.
Page 418 Use Relative Threshold When this option is enabled, the Relative Threshold field is displayed. Relative Threshold The value for the relative threshold. The tool calculates a relative threshold by scaling the greatest height or intensity difference found on the path profiles by the percentage in Relative Threshold. This lets you configure the tool without knowing the actual step height in advance, and is useful for edges with varying step height.
Page 419 edge ensures that the tool measures the height difference between the flat regions on either side of the edge. As a result, the height of the step is accurately measured, and the edge is correctly located. Setting Step Width wider than necessary can reduce the precision of edge location.
Page 420: Outputs
3D: The line fitted to the edge follows the slope of the edge. This mode is typically used with a sloped edge. Outputs All tools provide measurements, geometric features, or data as outputs. You configure the Min and Max parameters by expanding the measurement in the Outputs section. In order for a measurement to return a Pass decision, the measurement must be between maximum and minimum values;...
Page 421 Measurement Illustration Z Angle Returns the rotation, around the Z axis, of the fitted edge line. Rotating the measurement region has no impact on the angle that is returned unless a different edge is detected. Useful for using minor variations in the rotation of an edge on target as an anchor for other measurements.
Page 422 Measurement Illustration Features Type Description Edge Line The fitted edge line. Center Point The intersection point of the fitted edge line and the line representing the search direction through the center of the region of interest. Edge Plane A plane on the XZ axes at the fitted edge line. For more information on geometric features, see Geometric Features on page 192.
Page 423 Type Description The profile is mirrored vertically when compared to the edge: Note how the single edge point toward the top of Region 1 in the surface data above is at the bottom of the extracted profile (below). Configuring Systems • 423 Gocator Line Confocal Sensors: User Manual...
Page 424: Surface Ellipse
Surface Ellipse The Ellipse tool provides measurements for the major and minor axis lengths of an ellipse roughly aligned to the part's shape in the XY plane, and also for the ratio of the major and minor axis lengths and for the orientation angle of the ellipse. The tool is typically used to find the general orientation of a part, for example, potatoes on a conveyor that are longer in one dimension than the other.
Page 425: Parameters
To use a measurement as an anchor, it must be enabled and properly configured in the tool providing the anchor. For more information on anchoring, see Measurement Anchoring on page 193. Inputs Name Description Enable Batching When Enable Batching is checked, the tool takes an array as input and processes each surface in the array individually.
Page 426: Outputs
Parameters Parameter Description Asymmetry Resolves the orientation of an object over 360 degrees. The possible values are: 0 – None 1 – Along Major Axis 2 – Along Minor Axis Use Region When enabled, displays Region parameters (see below). When disabled, the tool uses all data.
Page 427 Outputs section with a measurement expanded to show user-configurable decision min/max fields and an external ID You configure the Min and Max parameters by expanding the measurement in the Outputs section. In order for a measurement to return a Pass decision, the measurement must be between maximum and minimum values;...
Page 428 Measurement Illustration 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. Z Angle Determines the orientation angle of an ellipse fitted to the part's area in the XY plane.
Page 429: Surface Extend
Surface Extend The Extend tool creates a new surface by appending part of the previous frame's data to the current frame's data. The tool outputs the new surface data, which can be used as input by other tools. The following shows how the tool combines data: Data is only appended in one direction.
Page 430: Parameters
To use a measurement as an anchor, it must be enabled and properly configured in the tool providing the anchor. For more information on anchoring, see Measurement Anchoring on page 193. Inputs Name Description Enable Batching When Enable Batching is checked, the tool takes an array as input and processes each surface in the array individually.
Page 431 Parameters Parameter Description Direction Determines whether the previous frame's data is appended above or below the current frame's data. One of the following. Note that these settings depend on whether the trigger source has been set to Encoder (see Triggers on page 121) and the orientation of the sensor. Auto: Choose this when Encoder is selected as the trigger source, in which case the tool will detect the direction of travel relative to encoder increase / decrease.
Page 432: Outputs
Parameter Description Mode Determines the mode of the tool. One of the following: Normal: The tool's output is unlocked and functions normally. Lock: Lets you lock the current processing and outputs of the tool. Useful when you need to add another tool that will use this tool's output (for example, a Surface Section tool). If you do not lock the tool, as soon as you add the other tool, the output is cleared, which means you must re-execute the combined output again to configure the additional tool.
Page 433: Surface Feature Mask
Surface Feature Mask The Surface Feature Mask dynamically defines a polygon or circle mask using multiple Point geometric features produced by other tools to crop a uniform surface and output it. You can use this tool in void fill applications with bins of varying sizes and varying orientations. The following is a possible tool chain for calculating the fill volume of rectangular bin using Surface Feature Mask: Surface Bounding Box tool: Finds the orientation and position of the center of a box that must be...
Page 434: Parameters
Inputs Name Description Enable Batching When Enable Batching is checked, the tool takes an array as input and processes each surface in the array individually. There is no limit to the size of the array, other than processing limitations of the sensor. For more information on arrays, batching, and aggregating, see Arrays, Batching, and Aggregation on page 172.
Page 435 Parameters Parameter Description Type The shape type of the mask. It supports two options: Polygon - The tool needs at least 3 Point geometric features. Circle - The tool needs 2 or 3 point geometric features. Point Count The count of the input point features. For the Polygon Type option, the tool supports integers in the range of 3 to 10.
Page 436 Parameter Description In the following, padding has been set to -3, which moves the mask "inward," excluding the bin. Configuring Systems • 436 Gocator Line Confocal Sensors: User Manual...
Page 437 Parameter Description The resulting Uniform Extracted Region outpu contains only the content of the bin. Configuring Systems • 437 Gocator Line Confocal Sensors: User Manual...
Page 438: Outputs
Parameter Description Show Detail Toggles whether to display the graphics of the mask region. External ID The external ID of the tool that appears in GoHMI Designer. For more information, see GoHMI and GoHMI Designer on page 688. Outputs All tools provide measurements, geometric features, or data as outputs. You configure the Min and Max parameters by expanding the measurement in the Outputs section.
Page 439 and minimum values; the range is inclusive. All outputs provide an external ID (available by expanding the output in the Outputs panel) for optional use in GoHMI Designer. For more information, see GoHMI and GoHMI Designer on page 688. Data Type Description Uniform Extracted Region The cropped Surface data.
Page 440: Surface Filter
Surface Filter The Filter tool provides several common vision processing filters that you can apply to surface data, as well as a two "cropping" filters that output a subset of the surface data, letting you pre-process scan data to get more repeatable measurements. Any Surface or Feature tool can use the resulting filtered surface data as input.
Page 441: Parameters
Inputs Name Description Enable Batching When Enable Batching is checked, the tool takes an array as input and processes each surface in the array individually. There is no limit to the size of the array, other than processing limitations of the sensor. For more information on arrays, batching, and aggregating, see Arrays, Batching, and Aggregation on page 172.
Page 442 Parameter Description the standard filters (Gap Filling, Median, Averaging, and Decimation). Regions When expanded, displays the region- and mask-related settings. Enable Enables regions and displays the region- and mask-related settings (see below). Mask Mode When you enable regions (see above), the tool displays additional settings related to the region type.
Page 443 Name Description gaps in the surface. The values in Filter in X and Filter in Y represent the maximum gaps the sensor will fill. Wider than gaps will not be filled. Gap filling works by filling in missing data points using either the lowest values from the nearest neighbors or linear interpolation between neighboring values (depending on the Z difference between neighboring values), in the specified window.
Page 444: Outputs
Name Description Equalize (advanced) Normalizes the norm or value range of an array. Binarize (advanced) Sets height values to a fixed value for each point that is present in the data. Can be used with a region Z offset to threshold points above/below a Z value. When Use Intensity is enabled, the tool sets data points with an intensity value over Percentile (advanced)
Page 445: Surface Flatness
Surface Flatness The Flatness tool returns various measurements related to the flatness of one or more regions on the surface of your target. The tool is ideal for general fit and finish inspection. The tool lets you set a grid with user-defined cell sizes over a region, or more flexibly with multiple individual regions manually.
Page 446: Parameters
Name Description Anchor X The X, Y, or Z measurement of another tool that this tool uses as a positional anchor. Positional anchors are optional. Anchor Y Anchor Z Anchor Z Angle The Z Angle measurement of another tool to use as a rotational anchor for this tool.
Page 447 Parameter Description following: Grid Pattern: The tool determines flatness in a grid you define on the target. This option enables settings that let you set the size and location of a region that contains the grid (Grid Region setting), as well as the width and length of the grid cells (Grid Width and Grid Length).
Page 448: Outputs
Parameter Description filter to the global mask. Unit Lets you choose which units the tool uses for measurement results. One of the following: um (micrometers) mm (millimeters) Enable Median Detection When enabled, Point geometric features for the global median and the local median are output.
Page 449 Measurement Global Flatness The maximum distance, minimum distance, and flatness (maximum - minimum) calculated using the valid data points from all the cells in the grid (when Region Mode is set to Grid Pattern), or all the individual regions (when Region Mode is set to Flexible). Local Max Local Min Local Flatness...
Page 450: Surface Hole
Surface Hole The Hole tool measures a circular opening within a region of interest on the surface and returns its position and radius. The tool does not search for or detect the feature. The tool expects that the feature, conforming reasonably well to the defined parameters, is present and that it is on a sufficiently uniform background.
Page 451: Hole Algorithm
Hole Algorithm The Hole tool processes the data in three phases: Search, Measure, and Filter. The algorithm can separate out background information that appears inside the hole. It can also detect holes that only partially appear in the data. See the tool's parameters for an explanation of the options that affect the tool's algorithm. Search phase - The tool searches for coarse data transitions (edge data) and performs a coarse fitting of the hole model (specified by the orientation angles and the nominal value) to determine the most likely candidate.
Page 452: Inputs
Filter phase - The detected location and dimensions are then compared to the nominal and tolerance settings. If the refined feature falls within the measurement region and its measurements fit within the specified tolerance, the results are reported. If not, an invalid result is returned. Inputs You configure the tool's inputs in the expandable Inputs section.
Page 453 Parameters Parameter Description Nominal Radius Expected radius of the hole. Radius Tolerance The maximum variation from the nominal radius (+/- from the nominal radius). Partial Detection Enable if only part of the hole is within the measurement region; the centre of the hole must be in the measurement region to be located.
Page 454 Parameter Description Use Depth Limit When Use Depth Limit is enabled, data below the value set in Depth Limit (relative to the surface) is excluded from the hole calculations. Use Region When enabled, displays Region parameters (see below). When disabled, the tool uses all data.
Page 455: Outputs
Parameter Description reference region. When the option is set to 1 Region or 2 Regions, you must manually define the reference regions. The location of the reference region is relative to the detected center of the hole and positioned on the nominal surface plane.
Page 456: Surface Mask
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. Features Type Description Center Point The center point of the hole. The Z position of the center point is at the Z position of the surrounding surface.
Page 457 A circle region box containing a partial ring (cyan) The image below shows the extracted data. The extracted surface data can then be further processed by other tools, or measurements can be applied to the surface data. Configuring Systems • 457 Gocator Line Confocal Sensors: User Manual...
Page 458: Inputs
For information on adding, managing, and removing tools, as well as detailed descriptions of settings common to most tools, see Tool Configuration on page 170. Inputs You configure the tool's inputs in the expandable Inputs section. Configuring Systems • 458 Gocator Line Confocal Sensors: User Manual...
Page 459: Parameters
To use a measurement as an anchor, it must be enabled and properly configured in the tool providing the anchor. For more information on anchoring, see Measurement Anchoring on page 193. Inputs Name Description Enable Batching When Enable Batching is checked, the tool takes an array as input and processes each surface in the array individually.
Page 460: Outputs
Parameters Parameter Description Regions When expanded, displays the region- and mask-related settings. Enable Enables regions and displays the region- and mask-related settings (see below). Mask Mode When you enable regions (see above), the tool displays additional settings related to the region type. For details on the regions supported by this tool and their Number of Regions settings, see Flexible Regions on page 181.
Page 461 Data Type Description Uniform Extracted Region The surface containing the extracted region or regions. (Uniform and point cloud data, respectively.) Point Cloud Extracted Region Configuring Systems • 461 Gocator Line Confocal Sensors: User Manual...
Page 462: Surface Merge Wide
Surface Merge Wide This tool is only intended for use with a multi-sensor G2 (line profile) system. Configuring Systems • 462 Gocator Line Confocal Sensors: User Manual...
Page 463: Surface Mesh
Surface Mesh This tool is only intended for use with a multi-sensor G2 (line profile) system. Configuring Systems • 463 Gocator Line Confocal Sensors: User Manual...
Page 464: Surface Opening
Surface 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 tool does not search for or detect the feature. The tool expects that the feature, conforming reasonably well to the defined parameters, is present and that it is on a sufficiently uniform background.
Page 465: Opening Algorithm
Opening Algorithm The Opening tool processes the data in three phases: Search, Measure, and Filter. See the tool's parameters for an explanation of the options that affect the tool's algorithm. Search phase - The tool searches for coarse data transitions (edge data) and performs a coarse fitting of the opening shape (specified by the orientation angles and the nominal dimensions) to determine the most likely candidate.
Page 466: Parameters
To use a measurement as an anchor, it must be enabled and properly configured in the tool providing the anchor. For more information on anchoring, see Measurement Anchoring on page 193. Inputs Name Description Enable Batching When Enable Batching is checked, the tool takes an array as input and processes each surface in the array individually.
Page 467 Parameters Parameter Description Type One of the following: 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 468 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 of the width.
Page 469 Parameter Description surface around the opening is not flat. When the Reference Regions setting is disabled, the tool measures the opening's Z position using all data in the measurement region, except for a bounding rectangular region around the opening. With one or more reference regions, the algorithm calculates the Z positions as the average values of the data within the regions.
Page 470: Outputs
Parameter Description the X Angle and Y Angle parameters of this tool. For more information, see Plane. External ID The external ID of the tool that appears in GoHMI Designer. For more information, see GoHMI and GoHMI Designer on page 688. Outputs Outputs section with a measurement expanded to show user-configurable decision min/max fields and an external ID You configure the Min and Max parameters by expanding the measurement in the Outputs section.
Page 471 Measurement Illustration Width Determines the width of the opening. Length Determines the length of the opening. Z Angle Determines the angle (rotation) around the normal of the alignment plane. Features Type Description Center Point The center point of the opening. The Z position of the center point is at the Z position of the surrounding surface.
Page 472: Surface Part Detection
Surface Part Detection The Surface Part Detection tool identifies discrete objects in Surface data and then outputs them as Surface data. Surface measurements can then be performed on each object. Part detection can be performed when Source on the Acquire > Scan page in the Trigger panel is set to Time or Encoder.
Page 473 Parameters Parameter Description Frame of Reference Determines the coordinate reference for surface measurements. Sensor When Frame of Reference is set to Sensor, the sensor's frame of reference is used. Part When Frame of Reference is set to Part, all measurements are relative to the center of the bounding box of the part.
Page 474 Parameter Description detected as a part when scanning objects on a conveyor. Gap Width Gap Width and Gap Length determine the minimum separation between objects on the X and the Y axis, respectively. If parts are closer than the gap interval, they Gap Length will be merged into a single Surface output.
Page 475: Outputs
Parameter Description Edge Filter enabled (reflection noise eliminated or reduced) Edge Filter enabled, Keep Interior enabled External ID The external ID of the tool that appears in GoHMI Designer. For more information, see GoHMI and GoHMI Designer on page 688. Outputs All tools provide measurements, geometric features, or data as outputs. Configuring Systems •...
Page 476 Measurements Measurement Part Count The number of parts the engine detects. Data Type Description Part Count The number of parts detected. Part Surface The Surface data of the detected part. Configuring Systems • 476 Gocator Line Confocal Sensors: User Manual...
Page 477: Surface Pattern Matching
Surface Pattern Matching The Surface Pattern Matching tool locates parts and features by comparing 2D contours (on the XY plane) found in scan data to pattern models you have defined; note that the tool does not use height data in its algorithms. Models represent contour-based “golden parts” or “golden features.” The tool can process multiple occurrences of a part or feature in a frame of scan data.
Page 478 following frames of scan data, in which a PCB shifts from frame to frame, a Surface Pattern Matching tool successfully locates the entire PCB using its outer contours and the contours of various components on the PCB, as indicated by a dark blue outline. Note the “missing” data in the second and fourth frames, on the lower right and left edges, respectively: the tool still locates the PCB, despite the occlusions.
Page 479: Creating A Template
By adding multiple Surface Pattern Matching tools to a job and defining different templates for each, you can match multiple types of features or parts, for example, matching different parts moving on a conveyor, or different types of features on a single target. Creating a Template To create a template: Scan a part that is representative of a "good" part (no damage, all features are present, and so on).
Page 480: Inputs
The tool creates a model and saves it either to the PC (to C:\GoTools\SurfacePatternMatching) or to the sensor. The tool also "matches" the pattern. Disable, resize, or reposition the region as necessary to match the pattern in parts you will be scanning in production.
Page 481: Parameters
To use a measurement as an anchor, it must be enabled and properly configured in the tool providing the anchor. For more information on anchoring, see Measurement Anchoring on page 193. Inputs Name Description Enable Batching When Enable Batching is checked, the tool takes an array as input and processes each surface in the array individually.
Page 482 Parameters Parameter Description Use Region Determines whether the tool uses a user-defined region to search for matching instances, or, when first creating a template, whether the tool limits establishing template contours to the data in the ROI. Region Settings related to the region. For more information, see Regions on page 180. Use Intensity Determines whether the tool uses intensity instead of heightmap data to locate instances or create templates.
Page 483 Parameter Description Nominal Scale The scale factor the tool requires to recognize an instance. Displayed when Nominal Scale Enabled is enabled. Minimum Scale The minimum and maximum scale factors set the acceptable scaling range of an instance. Maximum Scale Displayed when Nominal Scale Enabled is disabled. Nominal Angle Enabled If enabled, displays the Nominal Angle setting and the tool uses the user-defined nominal angle.
Page 484 Parameter Description Show Advanced When enabled, the tool displays the following additional advanced parameters. Parameters Sorting The sort order of instances the tool uses. One of the following: Evidence: The instances are ordered according to their hypothesis strength. Quality: The instances are ordered according to their match quality. This setting can significantly increase the tool's search time because it can't output instance results until it has found and compared all instances to determine their order.
Page 485: Outputs
Parameter Description Considers a drop to NULL, outside the region, as an edge. Use this when performing part detection or when there is no data around the part. If there is nothing in the region, then there will be nothing in the template either. Enable Array Output When Enable Array Output is disabled, the tool produces individual outputs for each instance.
Page 486 and minimum values; the range is inclusive. Measurements Measurement Instance Count Returns the number of parts or features matching the loaded template up to the value set in the Instance Count parameter. X {n} Y {n} The X and Y position of the center of matched instance {n}. Z Angle {n} The angle of matched instance {n} relative to the sensor’s coordinate system.
Page 487: Surface Plane
Surface Plane The Plane tool provides measurements that report a plane's position and orientation (X Angle, Y Angle, Z Offset, Normal, Distance), as well as the maximum and average deviations from the plane. The Z offset reported is the Z position at zero position on the X axis and the Y axis. The results of the Angle X and Angle Y measurements can be used to manually customize the tilt angle in the Hole, Opening, and Stud tools.
Page 488 To use a measurement as an anchor, it must be enabled and properly configured in the tool providing the anchor. For more information on anchoring, see Measurement Anchoring on page 193. Inputs Name Description Enable Batching When Enable Batching is checked, the tool takes an array as input and processes each surface in the array individually.
Page 489: Parameters
Parameters The following parameters are in the expandable Parameters section in the tool's configuration. Parameters Parameter Description Regions When expanded, displays the region- and mask-related settings. Enable Enables regions and displays the region- and mask-related settings (see below). Mask Mode When you enable regions (see above), the tool displays additional settings related to the region type.
Page 490: Outputs
Outputs Outputs section with a measurement expanded to show user-configurable decision min/max fields and an external ID You configure the Min and Max parameters by expanding the measurement in the Outputs section. In order for a measurement to return a Pass decision, the measurement must be between maximum and minimum values;...
Page 491 Measurements Measurement Illustration X Angle Determines the X angle of the surface with respect to the alignment target. Y Angle Determines the Y angle of the surface with respect to the alignment target. Z Offset Determines the Z value of intersection of the plane and the Z axis.
Page 492 Measurement Illustration Distance Distance from the origin to the plane. Features Type Description Plane The fitted plane. For more information on geometric features, see Geometric Features on page 192. Configuring Systems • 492 Gocator Line Confocal Sensors: User Manual...
Page 493: Surface Position
Surface Position The Position tool reports the X, Y, or Z position of a part. You must specify the feature type specified and is one of the following: Average (the mean X, Y, and Z of the data points), Median (median X, Y, and Z of the data points), Centroid (the centroid of the data considered as a volume with respect to the z = 0 plane), Min X, Max X, Min Y, Max Y, Min Z, or Max Z.
Page 494: Inputs
Inputs To use a measurement as an anchor, it must be enabled and properly configured in the tool providing the anchor. For more information on anchoring, see Measurement Anchoring on page 193. Inputs Name Description Enable Batching When Enable Batching is checked, the tool takes an array as input and processes each surface in the array individually.
Page 495: Parameters
Parameters The following parameters are in the expandable Parameters section in the tool's configuration. Parameters Parameter Description Regions When expanded, displays the region- and mask-related settings. Enable Enables regions and displays the region- and mask-related settings (see below). Mask Mode When you enable regions (see above), the tool displays additional settings related to the region type.
Page 496: Outputs
Parameter Description Max Y Min Y Max Z Min Z When more than one point is at minimum Y or maximum Y (and the feature is set to Min Y or Max Y, respectively), the rightmost point (the one at greater positive X) is selected by the tool.
Page 497 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. Features Type Description Point A Point geometric feature representing the returned position. For more information on geometric features, see Geometric Features on page 192.
Page 498: Surface Roughness
Surface Roughness The Surface Roughness tool generates measurements of surface roughness. The following measurements are available: The tool offers five filter operations that can be enabled or disabled individually as required. The following filters are available: Filling Gaps: Designed to fill any holes in the surface and on the edge while trying to keep the surface as natural as possible.
Page 499: Inputs
Inputs To use a measurement as an anchor, it must be enabled and properly configured in the tool providing the anchor. For more information on anchoring, see Measurement Anchoring on page 193. Inputs Name Description Enable Batching When Enable Batching is checked, the tool takes an array as input and processes each surface in the array individually.
Page 500 Parameters Parameter Description Enable Processing When enabled, the tool starts performing measurements. Working Mode The tool's working mode. One of the following: Measurement Check Parameters: Use this to check the calibration parameters. When you set the tool to this mode, an expandable Calibration section displays, containing additional parameters.
Page 501 Parameter Description The mean scaling value and the number of measurements are returned. Configuration Lets you choose which region to configure in the expandable Region {n} section. Regions are independent. The two regions for mirror and roughness calibration targets are suspended after the specified number of evaluation regions, that is, after changing the number of evaluation regions, the settings for “Mirror”...
Page 502: Outputs
Outputs Outputs section with a measurement expanded to show user-configurable decision min/max fields and an external ID You configure the Min and Max parameters by expanding the measurement in the Outputs section. In order for a measurement to return a Pass decision, the measurement must be between maximum and minimum values;...
Page 503: Calibration Procedure
Measurement Formula Sv {n} Maximum pit Height, which is the absolute value of the height of the largest pit within the defined area. Sp {n} Height of the highest peak within the defined area. Sku {n} Kurtosis, which is a measure of the sharpness of the roughness profile.
Page 504: Roughness Calculation Procedure
12. Editing position and size of the region and other settings. 13. Use the input data measured with a roughness calibration target. 14. Activate "Enabled Processing" to start the roughness calibration. 15. Repeat the measurement as necessary. The tool gives the summed up mean value of correction factor and the recorded sample number after each measurement.
Page 505: Inputs
The resulting profile. The leftmost point of the profile is at the X origin. The region is positioned showing the X and Z position of the center of the region on the surface. You can anchor the tool to some other easily identifiable feature on the scan target, which "shifts" the section in relation to that feature in case the target moves.
Page 506 To use a measurement as an anchor, it must be enabled and properly configured in the tool providing the anchor. For more information on anchoring, see Measurement Anchoring on page 193. Inputs Name Description Enable Batching When Enable Batching is checked, the tool takes an array as input and processes each surface in the array individually.
Page 507: Parameters
Name Description Point 1 The Point geometric features the tool uses to define the end points of the section. Only displayed if Point Mode is set to Feature Points. Point 2 Parameters You configure the tool's parameters in the expandable Parameters section. Parameters Parameter Description...
Page 508 Parameter Description region. For more information, see Regions on page 180. Average Profiles When enabled, averages the profiles in the region to produce the section profile. Otherwise, the tool only uses the data points under the line running parallel to the X axis in the middle of the region.
Page 509: Outputs
Parameter Description Show Details disabled: External ID The external ID of the tool that appears in GoHMI Designer. For more information, see GoHMI and GoHMI Designer on page 688. Outputs All tools provide measurements, geometric features, or data as outputs. Configuring Systems • 509 Gocator Line Confocal Sensors: User Manual...
Page 510 You configure the Min and Max parameters by expanding the measurement in the Outputs section. In order for a measurement to return a Pass decision, the measurement must be between maximum and minimum values; the range is inclusive. Measurements Measurement X Start Y Start These measurements return the X and Y position of the start of the section, respectively.
Page 511: Surface Segmentation
Surface Segmentation The Segmentation tool separates surface data into "segments," based on the tool's parameters. Segments can be touching and overlapping to a certain degree. The Segmentation tool is especially useful in the food industry, for example to identify food items that are too small or too big, or items that are damaged.
Page 512: Parameters
To use a measurement as an anchor, it must be enabled and properly configured in the tool providing the anchor. For more information on anchoring, see Measurement Anchoring on page 193. Inputs Name Description Enable Batching When Enable Batching is checked, the tool takes an array as input and processes each surface in the array individually.
Page 513 Parameters Parameter Description Use Intensity Causes the tool to use intensity. Acquire intensity must be enabled on the Scan Configuring Systems • 513 Gocator Line Confocal Sensors: User Manual...
Page 514 Parameter Description page; otherwise, the tool will display an error. Regions When expanded, displays the region- and mask-related settings. Enable Enables regions and displays the region- and mask-related settings (see below). Mask Mode When you enable regions (see above), the tool displays additional settings related to the region type.
Page 515 Parameter Description surrounding background. It is treated as part of a large segment that includes all of the scan data. Use Margins When Use Margins is enabled, the tool discards parts whose center point is within the margins defined in the expandable Margins section. Margins extend inwards Margins from the outer edges of the sensor's FOV (XY scan area) and are positive.
Page 516 Parameter Description Ordering Orders the measurements, features, and surface data of the individual parts output by the tool. Choose one of the following: Area - Large to small Area - Small to large Position - X increasing Position - X decreasing Position - Y increasing Position - Y decreasing Position - Z increasing...
Page 517: Outputs
Parameter Description Array Output is checked, this parameter is hidden and all parts are output in arrays. External ID The external ID of the tool that appears in GoHMI Designer. For more information, see GoHMI and GoHMI Designer on page 688. Outputs All tools provide measurements, geometric features, or data as outputs. You configure the Min and Max parameters by expanding the measurement in the Outputs section.
Page 518 Measurement Max Area The minimum and maximum area among all of the identified segments, respectively. Sum Area The sum of the areas of the segments. Mean Area The mean area of the segments. Min Height Max Height Mean Height The minimum, maximum, and mean heights among all of the identified segments, respecitvely. X Center {n} Y Center {n} The X and Y positions of the center of a part segmented from the surface.
Page 519: Surface Sphere
Surface Sphere The Sphere tool lets you compute characteristics of a scanned sphere by specifying a region to inspect. For the tool to work properly, the tool's region must usually be enabled and properly placed to include only the sphere's scan data. For information on adding, managing, and removing tools, as well as detailed descriptions of settings common to most tools, see Tool Configuration on page 170.
Page 520 To use a measurement as an anchor, it must be enabled and properly configured in the tool providing the anchor. For more information on anchoring, see Measurement Anchoring on page 193. Inputs Name Description Enable Batching When Enable Batching is checked, the tool takes an array as input and processes each surface in the array individually.
Page 521: Parameters
Parameters You configure the tool's parameters in the expandable Parameters section. Parameters Parameter Description Regions When expanded, displays the region- and mask-related settings. Enable Enables regions and displays the region- and mask-related settings (see below). Mask Mode When you enable regions (see above), the tool displays additional settings related to the region type.
Page 522: Outputs
Parameter Description Outlier Fraction The percentage of outlier points to exclude. Setting this to a small value can help the tool fit a better sphere when noise is present. External ID The external ID of the tool that appears in GoHMI Designer. For more information, see GoHMI and GoHMI Designer on page 688.
Page 523 Outputs section with a measurement expanded to show user-configurable decision min/max fields and an external ID You configure the Min and Max parameters by expanding the measurement in the Outputs section. In order for a measurement to return a Pass decision, the measurement must be between maximum and minimum values;...
Page 524 Measurements Measurement Illustration Center X, Center Y, Center Z These measurements determine the X, Y, Z position of the center of the sphere, respectively. Radius Determines the radius of the sphere. Standard Deviation Determines the error of the points compared to the computed sphere.
Page 525 Type Description Configuring Systems • 525 Gocator Line Confocal Sensors: User Manual...
Page 526: Surface Stitch
Surface Stitch The Stitch tool lets you combine up to 24 frames of scans into a single Surface scan. This lets you get a much larger scan volume with fewer sensors (either in a single sensor system or a multi-sensor system).
Page 527: Inputs
Inputs Inputs Name Description Enable Batching When Enable Batching is checked, the tool takes an array as input and processes each surface in the array individually. There is no limit to the size of the array, other than processing limitations of the sensor. For more information on arrays, batching, and aggregating, see Arrays, Batching, and Aggregation on page 172.
Page 528 Parameters Parameter Description Surface Count The number of scans to combine into a single surface. For each, a "Surface Parameters" section is added. The tool accepts setting the number of scans to one: in this case it, behaves like a transform tool. Enforce Frame Order Restricts the stitching for specific frame indexes, starting at the frame indicated in Start Frame Index.
Page 529: Outputs
Parameter Description a Surface Section tool). If you do not lock the tool, as soon as you add the other tool, the output is cleared, which means you must re-execute the combined output again to configure the additional tool. Be sure to unlock the tool after you have configured any other tools.
Page 530 Only one of the following data types will contain data, depending on whether Uniform Spacing is enabled. For more information, see Scan Modes and Intensity on page 110. Data Type Description Stitched Surface The stitched surface scan. Stitched Raw Surface Configuring Systems • 530 Gocator Line Confocal Sensors: User Manual...
Page 531: Surface Stud
Surface Stud The Stud tool measures the location and radius of a stud. The tool does not search for or detect the feature. The tool expects that the feature, conforming reasonably well to the defined parameters, is present and that it is on a sufficiently uniform background.
Page 532: Stud Algorithm
Stud Algorithm The Stud algorithm measures the stud in three steps: searching for the tip, finding the reference plane, and shaft fitting. Note that the tip and the side of the stud must be within the measurement region. See the tool's parameters for an explanation of the options that affect the tool's algorithm. Searching for the tip - The algorithm looks for the approximate location of the tip.
Page 533: Parameters
To use a measurement as an anchor, it must be enabled and properly configured in the tool providing the anchor. For more information on anchoring, see Measurement Anchoring on page 193. Inputs Name Description Enable Batching When Enable Batching is checked, the tool takes an array as input and processes each surface in the array individually.
Page 534 Parameters Parameter Description Stud Radius Expected radius of the stud. Stud Height Expected height/length of the stud. Base Height The height above the base surface that will be ignored when the (truncated) cone is fitted to the stud data. Tip Height The height from the top of the surface that will be ignored when the (truncated) cone is fitted to the stud data.
Page 535: Outputs
Outputs Outputs section with a measurement expanded to show user-configurable decision min/max fields and an external ID You configure the Min and Max parameters by expanding the measurement in the Outputs section. In order for a measurement to return a Pass decision, the measurement must be between maximum and minimum values;...
Page 536 Measurement Illustration Determines the Z position of the stud shaft. The position is defined with the parameter Radius Offset. Base X Determines the X position of the stud base. Base Y Determines the Y position of the stud base. Base Z Determines the Z position of the stud base.
Page 537: Surface Track
Surface Track The Track tool lets you perform quality control and inspection along a path you define on representative scan data. The Track tool is especially useful for inspecting materials such as glue / sealant beads. The tool returns width and height measurements of the material, as well as OK and NG ("no good") counts, which let you monitor material overflow and breaks.
Page 538: Key Concepts
For information on adding, managing, and removing tools, as well as detailed descriptions of settings common to most tools, see Tool Configuration on page 170. Key Concepts The following are important concepts for using both the track editor (see Using the Track Editor on page 551) and the Track tool itself: Track: The material being measured, for example glue or sealant.
Page 539 Track tool in data viewer, showing a track (lighter grey horizontal strip in the middle), rulers running perpendicular to the track (white lines centered on light blue dots). Dots of other colors provide additional information (see below). When you enable Show Measurement Results, the Track tool displays dots on the rulers to provide the following information (see also the images below): Light blue dots: The data points in the ruler profile.
Page 540: Track Location
Three "OK" rulers, indicated by green center points. In the bottom two, the peak point (orange) is slightly to the left of the center point (green). A "NG" ruler, indicated by the red center point. Track Location The tool attempts to locate the track using the profile data it extracts under each ruler, and does this by first locating the "peak" (the highest point on the ruler profile, based on certain criteria) and then locating the side points representing the "sides" of the track.
Page 541: Peak Detection
Peak Detection The tool determines the peak point on a ruler profile by moving two windows—one to each side of the point being examined—and comparing the average height in those windows with the height of the point being examined. (The size of these windows is specified in Center Window Size.) If the height of the point being examined is greater than both the left and right average height by the value specified in Center Threshold, that point is considered a candidate peak point.
Page 542: Center Point Detection
Height Threshold Side Detection Parameters Side Height Threshold The minimum height that the average calculated in the fixed-width height threshold windows must be below. Center Point Detection The Track tool calculates the center point as the mid point between the left and right side points. This means that the center point may be different from the peak point.
Page 543: Parameters
Inputs Name Description Surface Input The data the tool applies measurements to or processes. Point Point and line geometric features (produced by another tool) that you can select as anchors for translation and rotation transformations, respectively. Currently, you Line must select both in order for anchoring to work. For more information on geometric features, see Geometric Features on page 192.
Page 544 Configuring Systems • 544 Gocator Line Confocal Sensors: User Manual...
Page 545 Main Parameters Parameter Description Track When expanded, displays file-related operations. File The track file that contains scan and path data. You add path data to the file using the track editor. For more information on the track editor, see Using the Track Editor on page 551.
Page 546 Parameter Description It may be necessary to use a negative number in some cases. It may be necessary to use a negative value under some circumstances. For example, when the top point slightly dips below its surroundings. Side Detection Method The method the tool uses to detect the two sides of the track.
Page 547 Parameter Description Nominal Height The expected height of the track. The expected height is the absolute height in the scan data, not relative to the surrounding area. This setting applies to the peak point, not the center point. Height Tolerance The tolerance applied to the nominal height.
Page 548: Outputs
Parameter Description from the path. The track is lighter grey than the surrounding surface. Include Null Edges When enabled, displays a Null Fill Value parameter you can set to replace null values with the value. Dependent settings Null Fill Value External ID The external ID of the tool that appears in GoHMI Designer.
Page 549 Outputs section with a measurement expanded to show user-configurable decision min/max fields and an external ID You configure the Min and Max parameters by expanding the measurement in the Outputs section. In order for a measurement to return a Pass decision, the measurement must be between maximum and minimum values;...
Page 550 Measurement Illustration Min Width Max Width Mean Width These measurements return the minimum, maximum, and mean width of the track. Width measurements on a ruler profile. The Track tool's settings determine the locations of the "sides" of the track. Min Height Max Height Mean Height These measurements return the minimum, maximum,...
Page 551: Using The Track Editor
Data Type Description Diagnostic Surface Surface data created by combining the extracted profiles. Use for diagnostics. Using the Track Editor You use the track editor to configure "path" and "ruler" information on a frame of scan data from a sensor, a PC instance of GoPxL, or a GoPxL backup file. The Surface Track tool uses this information to inspect targets along the defined path.
Page 552 Closeup of the track editor window, showing a track of material on a surface (yellow on green), a path (blue segments; red segment for the currently selected segment), path points (green dots), and rulers (white rectangles). The following assumes that you have already scanned a representative target and created a track file from within the Track tool.
Page 553 Note that previous versions of this tool created and placed files in a "C:\LMI" folder. Files are still read from both locations but only written to C:\GoTools. Rename the existing C:\LMI folder to C:\GoTools for seamless transition. Do one or more of the following: Move the slider to the left or right to zoom in or out in the editor's viewer.
Page 554: Surface Transform
(Optional) You can add other paths if necessary by clicking somewhere in the scan data after you have saved the track data. After you have finished adding a path, you must configure the rulers on the path (the dimensions and the spacing of the rulers). You can choose to apply dimensions/spacing to all rulers in all segments at the same time by checking Batch Setting.
Page 555 A Surface Plane tool, with the region set to a small left-facing angled surface A Surface Edge tool, with the region set to the left edge of a raised surface (upper left of data viewer). A Surface Position tool (maximum Z), with the region set to the raised point near the top of the data viewer. Configuring Systems •...
Page 556 Furthermore, in the sections below, two types of data are shown: the original (input) scan data and the transformed data. When the tool displays the original data, it overlays indicators of the new, transformed coordinate system on the data. A Surface Transform tool using all three types of geometric feature inputs. The data viewer is set to display the input surface data with an overlay of the transformed coordinate system.
Page 557: Inputs
Inputs Inputs Name Description Enable Batching When Enable Batching is checked, the tool takes an array as input and processes each surface in the array individually. There is no limit to the size of the array, other than processing limitations of the sensor. For more information on arrays, batching, and aggregating, see Arrays, Batching, and Aggregation on page 172.
Page 558: Line
Original data with overlay Transformed data Line New Z=0 XY Plane New X Axis New Origin The new plane contains the line. The intersection of the new Matches the line. Old origin projected onto the plane and the old plane is perpendicular to the input line. line.
Page 559: Point
Original data with overlay Transformed data The direction of the X axis depends on the tool generating the line that Surface Transform takes as input. You may need to adjust the direction using the Add Fixed Transform settings. Point New Z=0 XY Plane New X Axis New Origin Through the input point, parallel to old Z=0 plane.
Page 560: Plane + Line
Original data with overlay Transformed data Plane + Line New Z=0 XY Plane New X Axis New Origin Matches the input plane. Line projected onto the plane. Old origin projected onto the projected line. Configuring Systems • 560 Gocator Line Confocal Sensors: User Manual...
Page 561: Plane + Point
Original data with overlay Transformed data Plane + Point New Z=0 XY Plane New X Axis New Origin Matches the input plane. Parallel to the old X axis. At the input point, projected onto the plane. Configuring Systems • 561 Gocator Line Confocal Sensors: User Manual...
Page 562: Line + Point
Original data with overlay Transformed data Line + Point New Z=0 XY Plane New X Axis New Origin The new plane contains the line. The intersection of the Matches the line. The input point projected onto new plane and the old plane is perpendicular to the input the line.
Page 563: Plane + Line + Point
Original data with overlay Transformed data Plane + Line + Point New Z=0 XY Plane New X Axis New Origin Matches the input plane. The input line projected onto the plane. The input point projected onto the input line. Configuring Systems • 563 Gocator Line Confocal Sensors: User Manual...
Page 564: Parameters
Original data with overlay Transformed data For information on adding, managing, and removing tools, as well as detailed descriptions of settings common to most tools, see Tool Configuration on page 170. Parameters The following parameters are in the expandable Parameters section in the tool's configuration. Configuring Systems •...
Page 565 Parameters Parameter Description Use Region When enabled, displays Region parameters (see below). When disabled, the tool uses all data. Region The region to which the tool's measurements will apply. For more information, see Regions on page 180. Add Fixed Transform When enabled, displays X, Y, and Z offset and angle fields you can use to set additional transformations, which are applied after any transformations supplied by the input geometric features.
Page 566: Outputs
Outputs Data Type Description Transformed Surface The transformed surface. Configuring Systems • 566 Gocator Line Confocal Sensors: User Manual...
Page 567: Surface Vibration Correction
Surface Vibration Correction The Vibration Correction tool analyzes variation in surface data to remove high frequency noise in the data. The tool is useful for improving repeatability and accuracy of measurements when subtle vibrations in your transport system introduce height variations. The tool's intended use is to send corrected surface data to other tools.
Page 568: Outputs
Parameters Parameter Description Correct Region Only If enabled, only the area under the region is corrected for vibration in the Surface data the tool outputs. This setting can be useful if vibration regularly occurs in a specific area of the scan data. When disabled, the tool applies correction to all of the scan data.
Page 569 Data Type Description Processed Surface Surface data corrected for vibration, available for use as input in other tools. Difference Surface Diagnostic Surface data showing the difference between the corrected surface and the original. Configuring Systems • 569 Gocator Line Confocal Sensors: User Manual...
Page 570: Surface Volume
Surface Volume The Volume tool returns the volume, area, and thickness of a part. For information on adding, managing, and removing tools, as well as detailed descriptions of settings common to most tools, see Tool Configuration on page 170. Inputs To use a measurement as an anchor, it must be enabled and properly configured in the tool providing the anchor.
Page 571: Parameters
Name Description Anchor Y anchor. Positional anchors are optional. Anchor Z Anchor Z Angle The Z Angle measurement of another tool to use as a rotational anchor for this tool. Rotational anchors are optional. Parameters The following parameters are in the expandable Parameters section in the tool's configuration. Parameters Parameter Description...
Page 572: Outputs
Parameter Description Below means the volume calculated using Surface data that is below the Z = 0 plane. Note that Above and Below can’t be negative, but Above - Below can be negative if Below > Above. Thickness Type Determines which feature in the Surface data the tool uses to calculate thickness. One of the following: (Thickness measurement only)
Page 573 You configure the Min and Max parameters by expanding the measurement in the Outputs section. In order for a measurement to return a Pass decision, the measurement must be between maximum and minimum values; the range is inclusive. Measurements Measurement Illustration Volume Measures volume in XYZ space.
Page 574: Feature Measurement
Feature Measurement The following sections describe the Feature tools. Feature tools generate or measure geometric features; for more information on geometric features, see Geometric Features on page 192. The tools let you work with more complex geometry, letting you implement applications more quickly by reducing dependence on scripts and GDK tools to perform these kinds of measurements.
Page 575: Feature Circle Create
Feature Circle Create The Feature Circle Create tool lets you generate a Circle geometric features from geometric features generated by other tools. You can also generate a circle from an arbitrary position and radius. The following outputs are available (for more information, see Output Types on the next page): Constant circle Circle from points Circle from point and plane...
Page 576: Output Types
Parameters Parameter Description Output The type of output the tool generates. Switching between the options changes the input types displayed in Input section and the parameters displayed in the Parameters section. For information on the output types and the required inputs and related parameters, see Output Types below.
Page 577: Circle From Points
tool displays the following parameters you can manually fill in to create a constant circle. Disable Project To 2D to input an arbitrary normal vector (using the Normal parameters) to get a tilted 3D circle. Constant Circle Output Type - Inputs and Parameters Inputs Type-Related Parameters Input...
Page 578: Circle From Point And Plane
The X, Y, and Z measurements return the center of the circle. The X, Y, and Z Angle measurements return arbitrary values. Circle from points Output Type - Inputs and Parameters Inputs Type-Related Parameters Input None. The Surface or Profile input. Anchor X, Anchor Y, Anchor Z The X, Y, and Z offsets the tool will apply to the generated circle.
Page 579 Outputs section with a measurement expanded to show user-configurable decision min/max fields and an external ID You configure the Min and Max parameters by expanding the measurement in the Outputs section. In order for a measurement to return a Pass decision, the measurement must be between maximum and minimum values;...
Page 580: Feature Dimension
Feature Dimension The Feature Dimension tool returns dimensional measurements from a point geometric feature to a reference point, line, or plane geometric feature. Geometric features are available as outputs from many tools, for example a Point geometric feature from Surface Position, or a line from Surface Edge.
Page 581: Parameters
Inputs Name Description Enable Batching When Enable Batching is checked, the tool takes an array as input and processes each element in the array individually. For more information on arrays, batching, and aggregating, see Arrays, Batching, and Aggregation on page 172. Input The data the tool applies measurements to.
Page 582: Outputs
Parameters Parameter Description Width Absolute The tools returns measurements as absolute values. Length Absolute Height Absolute External ID The external ID of the tool that appears in GoHMI Designer. For more information, see GoHMI and GoHMI Designer on page 688. Outputs All tools provide measurements, geometric features, or data as outputs. Configuring Systems •...
Page 583 Outputs section with a measurement expanded to show user-configurable decision min/max fields and an external ID You configure the Min and Max parameters by expanding the measurement in the Outputs section. In order for a measurement to return a Pass decision, the measurement must be between maximum and minimum values;...
Page 584 Measurement Illustration Height Point-point: The difference on the Z axis between the points. Point-line: The difference on the Z axis between the point and, for profiles, a point on the line at the same X position as the first point. Distance Point-point: The direct, Euclidean distance between two point geometric features.
Page 585: Feature Line Create
Feature Line Create The Feature Line Create tool lets you generate a Line geometric features from geometric features generated by other tools. You can also generate a line from arbitrary positions you provide. The following outputs are available (for more information, see Output Types on the next page): Line Constant line Line from two points...
Page 586: Parameters
Parameters You configure the tool's parameters in the expandable Parameters section. Parameters Parameter Description Output The type of output the tool generates. Switching between the options changes the input types displayed in Input section and the parameters displayed in the Parameters section.
Page 587: Line
Line The Line output type takes a Line geometric feature as input. This output is useful if the tool takes a feature generated by another Feature Create tool as input, on which you want to perform measurements in a second Feature Create tool. This tool can also be useful if you have developed GDK tools that only generate geometric features (no measurements): you can use this tool to extract those measurements.
Page 588: Perpendicular Or Parallel Line From Point And Line
A line between the center point of a hole and the corner of the chip. (The corner is the intersect point resulting from the Feature Intersect tool, taking the left vertical and lower horizontal line edges of the chip as input.) The X, Y, and Z measurements return the midpoint of the line.
Page 589 In the following, the tool generates a roughly horizontal line (yellow) parallel to the input line (cyan line along the bottom edge of the large integrated circuit), passing through the input point (cyan dot at the center of the hole). For both of these types of line output, the X, Y, and Z measurements return the position of the point.
Page 590: Perpendicular Line From Point To Plane
Line from Point and Line Output Types - Inputs and Parameters Inputs Parameters Input None. The Surface or Profile input. Anchor X, Anchor Y, Anchor Z, Anchor Z Angle The X, Y, and Z position measurements and the Z Angle measurement the tool uses as anchors. Point The Point geometric feature the tool uses to create the line.
Page 591: Projected Line On Plane
The X, Y, and Z measurements return the midpoint. The X, Y, and Z Angle measurements return the angle of the line. Intersect line of two planes Output Type - Inputs and Parameters Inputs Parameters Input None. The Surface or Profile input. Anchor X, Anchor Y, Anchor Z, Anchor Z Angle The X, Y, and Z position measurements and the Z Angle measurement the tool uses as anchors.
Page 592: Outputs
Bisect projected lines on plane Output Type - Inputs and Parameters Inputs Parameters Input None. The Surface or Profile input. Anchor X, Anchor Y, Anchor Z, Anchor Z Angle The X, Y, and Z position measurements and the Z Angle measurement the tool uses as anchors. Line The Line geometric feature the tool uses to create the line.
Page 593 You configure the Min and Max parameters by expanding the measurement in the Outputs section. In order for a measurement to return a Pass decision, the measurement must be between maximum and minimum values; the range is inclusive. For information specific to the different output types, see Output Types on page 586. Measurements Measurement X, Y, Z...
Page 594: Feature Plane Create
Feature Plane Create The Feature Plane Create tool lets you generate a Plane geometric features from geometric features generated by other tools. You can also generate a plane from arbitrary values you provide. The following outputs are available (for more information, see Output Types on the next page): Constant plane Plane from point and normal Plane from point and line...
Page 595: Output Types
Parameters Parameter Description Output The type of output the tool generates. Switching between the options changes the input types displayed in Input section and the parameters displayed in the Parameters section. For information on the output types and the related parameters, see Output Types below.
Page 596: Plane From A Point And Normal
Constant Plane Output Type - Inputs and Parameters Inputs Type-Related Parameters Input Point X, Point Y, Point Z The Surface or Profile input. The X, Y, and Z points that define the plane. Normal X, Normal Y, Normal Z The X, Y, and Z normals, respectively, of the constant plane.
Page 597: Plane From Three Points
Plane from Three Points The Plane from three points output type creates a plane that intersects the three Point geometric features passed to the tool as input. Plane from Three Points Output Type - Inputs and Parameters Inputs Type-Related Parameters Input None.
Page 598: Perpendicular Plane From Point And Plane
Perpendicular Plane from Point and Plane The Perpendicular plane from point and plane output type creates a plane perpendicular to the provided Plane geometric feature that intersects the two provided Point geometric features. Perpendicular Plane from Point and Plane Output Type - Inputs and Parameters Inputs Type-Related Parameters Input...
Page 599: Outputs
Inputs Type-Related Parameters Plane 1, Plane 2 The Plane geometric features the tool uses to create a bisecting plane See Adding a Tool on page 146 for instructions on how to add measurement tools. Outputs All tools provide measurements, geometric features, or data as outputs. Outputs section with a measurement expanded to show user-configurable decision min/max fields and an external ID You configure the Min and Max parameters by expanding the measurement in the Outputs section.
Page 600 Measurements Measurement X Angle, Y Angle Rotation angles of the plane, that is, angles such that rotating (0,0,1) around the Y axis by the Y Angle, and then around X axis by X Angle produces the normal. Z Offset The Z value of intersection of the plane and the Z axis. Normal X, Normal Y, Normal Z The normal X, Y, and Z vectors of the plane.
Page 601: Feature Point Create
Feature Point Create The Feature Point Create tool lets you generate a Point geometric features from geometric features generated by other tools. You can also generate a point from an arbitrary position you provide. The following outputs are available (for more information, see Output Types on the next page): Point Constant point Point from offset...
Page 602: Output Types
Parameters Parameter Description Output The type of output the tool generates. Switching between the options changes the input types displayed in Input section and the parameters displayed in the Parameters section. For information on the output types and the related parameters, see Output Types below.
Page 603: Constant Point
Point Output Type - Inputs and Parameters Inputs Parameters Input None. The Surface or Profile input. Anchor X, Anchor Y, Anchor Z The X, Y, and Z position measurements the tool uses as anchors. Point The Point geometric feature the tool uses to create another Point geometric feature.
Page 604: Point From Three Planes
Inputs Parameters another Point geometric feature. The distance along the line running through the Point geometric features that the point is offset. Point from Three Planes The Point from three planes output type takes three Plane geometric features as input and generates a Point geometric feature at the intersection of those planes.
Page 605: Point From Line And Line
Inputs Parameters the Point geometric feature. Point from Line and Line When the Output parameter is set to Point from line and line, the tool takes two Line geometric feature as input and generates a Point geometric feature where the lines intersect. The tool also returns an angle measurement for the angle between the lines.
Page 606: Projected Point On Line
Projected Point on Line The Projected point on line output type takes a Point and a Line geometric feature as input and generates a Point geometric feature. Projected Point on Line Output Type - Inputs and Parameters Inputs Parameters Input None.
Page 607: Outputs
Outputs All tools provide measurements, geometric features, or data as outputs. Outputs section with a measurement expanded to show user-configurable decision min/max fields and an external ID You configure the Min and Max parameters by expanding the measurement in the Outputs section. In order for a measurement to return a Pass decision, the measurement must be between maximum and minimum values;...
Page 608: Feature Intersect
Feature Intersect The Feature Intersect tool returns the intersection of a line or plane geometric feature and a second line or plane geometric feature. For line-line intersections, the lines are projected onto the Z = reference Z line plane for features extracted from a surface, and the intersection of the lines projected onto the Y = 0 plane for features extracted from a profile.
Page 609: Parameters
Parameters You configure the tool's parameters in the expandable Parameters section. Parameters Parameter Description Intersection Type One of the following: Line and Line Line and Plane Plane and Plane The intersection type determines which inputs are available in the Inputs. Project to 2D Only shows when Intersection Type is “Line and Line”.
Page 610: Outputs
Outputs Outputs section with a measurement expanded to show user-configurable decision min/max fields and an external ID You configure the Min and Max parameters by expanding the measurement in the Outputs section. In order for a measurement to return a Pass decision, the measurement must be between maximum and minimum values;...
Page 611 Measurement Line-Line: The Z position of the intersect point between the lines. Line-Plane: The Z position of the intersect point between the line and the plane. Plane-Plane: The Z position of the center of the line intersecting the planes. Angle or Projected Angle Line-Line: The angle between the lines, as measured from the line selected in Reference Feature to the line selected in Line.
Page 612: Feature Robot Pose
Feature Robot Pose Gocator line confocal sensors are not typically used with robots. Configuring Systems • 612 Gocator Line Confocal Sensors: User Manual...
Page 613: Array Tools
Array Tools Array tools let you create arrays from individual pieces of scan data (such as profiles or surfaces), or extract data from an array. Arrays can contain any type of data supported in GoPxL. For more information on this and on arrays in general, see Arrays, Batching, and Aggregation on page 172.
Page 614: Array Create
Array Create The Array Create tool combines individual pieces of data (Profile, Surface, measurements, and so on) into an array. For example, a number of Surface scans could be combined into an array made up of those pieces of Surface data. Compatible measurement and processing tools can then take the array as input and perform batch operations on the elements in the array, such as measurements on each element's data or processing each element's data.
Page 615: Outputs
Parameters Parameter Description Item Count The number of items expected in the array. External ID The external ID of the tool that appears in GoHMI Designer. For more information, see GoHMI and GoHMI Designer on page 688. Outputs The type of the output depends on the type of the inputs. Configuring Systems •...
Page 616: Array Index
A common use of the Array Index tool is to extract individual layers from the multilayer data produced by Gocator 5500 series sensors for measurement or processing. If you have configured a G5 sensor to output only a single layer, you do not need to use the Array Index tool to extract the layer's profile.
Page 617: Inputs
Inputs Inputs Name Description Enable Batching When Enable Batching is checked, the tool takes an array as input and processes each element in the array individually. For more information on arrays, batching, and aggregating, see Arrays, Batching, and Aggregation on page 172. Array Input The data the tool applies measurements to or processes.
Page 618: Outputs
Parameters Parameter Description Index The position (the index) in the array at which the tool extracts and outputs. External ID The external ID of the tool that appears in GoHMI Designer. For more information, see GoHMI and GoHMI Designer on page 688. Outputs The type of the output depends on the type of the input array. Configuring Systems •...
Page 619: Mesh Measurement
Mesh Measurement The Mesh tools are only intended for use with G2 sensors. Configuring Systems • 619 Gocator Line Confocal Sensors: User Manual...
Page 620: Mesh Bounding Box
Mesh Bounding Box This tool is only intended for use with G2 sensors. The Mesh Bounding Box tool takes in Mesh scan data (produced by the Surface Mesh tool and some other Mesh tools) and returns measurements related to the bounding box encapsulating the scan data in the region of interest, such as the rotation of the bounding box, the dimensions of the bounding box, and its location.
Page 621: Parameters
Inputs Name Description Enable Batching When Enable Batching is checked, the tool takes an array as input and processes each mesh in the array individually. There is no limit to the size of the array, other than processing limitations of the sensor. For more information on arrays, batching, and aggregating, see Arrays, Batching, and Aggregation on page 172.
Page 622: Outputs
Parameters Parameter Description Enable Processing Causes the tool to start processing scan data from individual sensors. Make sure to properly configure the tool before enabling this option. Use Region Determines whether the tool limits the bounding box fit to Mesh data in a user- defined region to fit a bounding box.
Page 623 All outputs provide an external ID (available by expanding the output in the Outputs panel) for optional use in GoHMI Designer. For more information, see GoHMI and GoHMI Designer on page 688. Measurements Measurement X Origin Y Origin Z Origin These measurements return the X, Y, and Z position of the center of the fitted bounding box, respectively. X Angle Y Angle Z Angle...
Page 624: Mesh Plane
Mesh Plane This tool is only intended for use with G2 sensors. The Mesh Plane tool takes in Mesh scan data (produced by the Surface Mesh tool and some other Mesh tools) and returns measurements on the plane fitted within the region of interest, such as deviations of the data points relative to the plane.
Page 625: Inputs
The Front Surface data output is rotated by the plane's X, Y, and Z rotation. Inputs You configure the tool's inputs in the expandable Inputs section. Configuring Systems • 625 Gocator Line Confocal Sensors: User Manual...
Page 626: Parameters
Inputs Name Description Enable Batching When Enable Batching is checked, the tool takes an array as input and processes each mesh in the array individually. There is no limit to the size of the array, other than processing limitations of the sensor. For more information on arrays, batching, and aggregating, see Arrays, Batching, and Aggregation on page 172.
Page 627: Outputs
Parameter Description Using all points Uses all data points of the scan data in the region. Search Direction The search direction the tool will use to fit a plane. For example, when Search Direction is set to +Z, the tool starts searching from origin Z = 0 and moves along the positive Z axis.
Page 628 Measurements Measurement Standard Deviation The standard deviation of the data points from the fitted plane. Minimum Maximum The minimum and maximum error of the data points from the fitted plane, respectively. Deviation (x%) Deviations of the data points from the fitted plane, sorted into stepped percentiles. You set number of steps using the Output Deviation parameter.
Page 629: Mesh Projection
Mesh Projection This tool is only intended for use with G2 sensors. The Mesh Projection tool takes in Mesh scan data (produced by the Surface Mesh tool) and extracts Surface data. The tool can optionally take plane, line, or point geometric features produced by other Mesh tools to perform transformations on the output surface data (if no geometric features are used as inputs, the surface parallel to the XY plane is output), or you can manually apply fixed transformation.
Page 630 Inputs Name Description Enable Batching When Enable Batching is checked, the tool takes an array as input and processes each mesh in the array individually. There is no limit to the size of the array, other than processing limitations of the sensor. When Enable Batching is unchecked, the tool takes either a single profile, or an array of profiles with a maximum of two elements.
Page 631: Parameters
Parameters You configure the tool's parameters in the expandable Parameters section. Parameters Parameter Description Add Fixed Transform When this parameter is enabled, you can provided fixed X, Y, and Z offsets, as well as X, Y, and Z angles, which the tool uses in the output Surface data. External ID The external ID of the tool that appears in GoHMI Designer.
Page 632 Data Type Description Front Surface Surface data representing the front of the meshed target. Back Surface Surface data representing the back of the meshed target. Configuring Systems • 632 Gocator Line Confocal Sensors: User Manual...
Page 633: Mesh Template Matching
Mesh Template Matching This tool is only intended for use with G2 sensors. This tool is not supported on A and B revision Gocator 2100 and 2300 sensors that are not accelerated (either by a PC-based application or by GoMax). The tool is supported in emulator scenarios.
Page 634: Parameters
Inputs Name Description Enable Batching When Enable Batching is checked, the tool takes an array as input and processes each mesh in the array individually. There is no limit to the size of the array, other than processing limitations of the sensor. For more information on arrays, batching, and aggregating, see Arrays, Batching, and Aggregation on page 172.
Page 635 Parameters Parameter Description Enable Processing When this option is enabled, the tool compares the Mesh data to the loaded template. Template File Expanding section containing template-related parameters. Operation The tool's operation mode. One of the following: Template Name Normal: When Enable Processing is enabled, the tool compares the Mesh scan data and the loaded template.
Page 636: Outputs
Parameter Description OBJ: A format for defining the 3D geometry for the surface of one or more objects. STL: A file format commonly used for 3D printing and computer-aided design (CAD). Save: Saves the current frame of Mesh scan data as a template (in C:\GoTools\Mesh Template Matching\) in BCD format.
Page 637 You configure the Min and Max parameters by expanding the measurement in the Outputs section. In order for a measurement to return a Pass decision, the measurement must be between maximum and minimum values; the range is inclusive. All outputs provide an external ID (available by expanding the output in the Outputs panel) for optional use in GoHMI Designer.
Page 638 Data Type Description Mesh The transformed Mesh. Only listed if the Output Mesh parameter is enabled. Mesh Template A template Mesh. Only listed if the Output Template Mesh parameter is enabled. Configuring Systems • 638 Gocator Line Confocal Sensors: User Manual...
Page 639: Measurement Formula Tool
Measurement Formula Tool The Measurement Formula tool lets you create a mathematical expression containing one or more measurements from other measurement tools, up to a maximum of 20. The result of the calculation is returned in the tool's Result measurement. The tool's default timeout is 5 seconds: if the tool fails to complete the calculation after 5 seconds, the result is set to Invalid.
Page 640: Parameters
Name Description Variable {n} A measurement from another tool. The Measurement Count parameter controls the number of variable inputs. Parameters The following parameters are in the expandable Parameters section in the tool's configuration. Parameters Parameter Description Measurement Count Sets the number of variable inputs in the Inputs section. For each, a Variable {n} input and a Variable {n} Alias parameter is added, and for use in the expression.
Page 641: Outputs
Parameter Description can be produced using this: sqrt((1-a*exp(2t)+w^(pi))/(sin(2x/pi)+cos(pi/y))) The following shows how to perform a while loop: y:=0; while(x<10){y:=y+x;x+=1;};y Note that ":=" is the assignment operator, and "=" is the equality operator. The following shows how to use an if-else structure: if(x>2){x:=x+2;}else{x:=x-2;};x Variable {n} Alias The alias of Variable {n}.
Page 642 Measurements Measurement Result The result of the calculation in Formula. Configuring Systems • 642 Gocator Line Confocal Sensors: User Manual...
Page 643: Configuring Control
Configuring Control External devices such as PLCs (programmable logic controllers) can control Gocator sensors using various communication protocols and hardware interfaces. Sensors can also send scan data, measurement results, and measurement decisions to these devices. PLCs can in turn control other devices such as ejection chutes.
Page 644 Element Description Protocol selector Displays the available industrial protocols and whether a protocol is enabled. Click a protocol in the table and toggle Enable Service to Running. Settings Lets you enable, disable, and configure protocols. To enable a service, click the Enable Service toggle to Running.
Page 645 Interface Description For information on configuring the Gocator communication protocol in GoPxL, see Gocator Communication Protocol on page 647. For information on the SDK and REST API, see GoPxL SDK and REST API on page 714. Industrial The Industrial pages lets you enable and configure the following protocols over an Ethernet connection: Modbus EtherNet/IP...
Page 646 Interface Description Modbus The Modbus protocol lets you operate a sensor from a PLC that supports Modbus. For more information on configuring the Modbus protocol in GoPxL, see Modbus Protocol on page 649. For the Modbus protocol specification, see Modbus Protocol on page 726. EtherNet/IP The EtherNet/IP protocol lets you operate a sensor from a PLC that supports EtherNet/IP.
Page 647: Gocator Communication Protocol
Interface Description or a mobile device. For more information, see GoHMI and GoHMI Designer on page 688. Gocator Communication Protocol The Gocator communication protocol uses TCP messages to control sensors and to transmit data and measurement results to a client computer. You can select which measurements and what type of scan data to send (image;...
Page 648 Element Description Protocol settings Lets you enable the protocol and configure automatic disconnect. For information on the settings available here, see Configuration area parameters on the next page. Added outputs Outputs that have been added from the output selection list. Output selection list You use the output selection list to choose the outputs you want to send over Configuring Systems •...
Page 649: Modbus Protocol
Element Description the protocol. The list also provides shortcut commands to add or remove outputs. For example, the Add all measurement outputs shortcut adds all available measurement outputs. Configuration area parameters Parameter Description Enable Service Toggles whether the Gocator communication protocol is enabled. Enable Disconnect When enabled, automatically disconnects from the client after the timeout value in Timeout if the sensor is unable to send data.
Page 650 Element Description Enable Service Toggle this to enable and disable the selected protocol. Buffering Used to enable/disable buffering of scan outputs. On G2 and G3 sensors, buffering should be enabled in Surface mode when Surface Generation Type is set to Continuous mode and if multiple objects may be detected within a time frame shorter than the polling rate of the PLC.
Page 651 Element Description Add Connections Adds one or more connections to the connection map. If Type is set to All Types, all available sources are added. If Type is set to a specific type, the source selected in Source is added (or all sources of that type if All is selected). By default, connections are added directly after the last source in the connections map.
Page 652 Element Description Removes all user-added connections. Connection map Lists the added connections. In the following, two measurements have been added. You can change the address of a source by editing it and pressing Tab or clicking elsewhere in the interface. The sources are resorted after you change an address.
Page 653: Ethernet/Ip Protocol
Element Description EtherNet/IP Protocol You can use an EtherNet/IP programmable logic controller (PLC) over Ethernet to operate a sensor and receive measurement values. EtherNet/IP only supports a subset of the tasks that can be accomplished in the web interface (for example, starting and stopping sensors, and switching jobs). Scan data can't be sent to the PLC.
Page 654 Element Description Settings Lets you enable and configure the EtherNet/IP protocol. Enable Service Toggle this to enable and disable the selected protocol. EDS File Click Download to save an EDS file to the client computer for later installation on the PLC. Byte Order One of the following: Big Endian Byte Order: The most significant byte (the "big end") of the data is placed at the byte with the lowest address.
Page 655 Element Description the connection map. Added connections appear in the connection map at the bottom of the panel. Table When GoPxL is running on a sensor, Table only contains one value (Scan Output) that represents a register assembly. When GoPxL is running on a PC or GoMax NX, Table contains an additional entry (Sensor Group State).
Page 656 Element Description Add Connections Adds one or more connections to the connection map. If Type is set to All Types, all available sources are added. If Type is set to a specific type, the source selected in Source is added (or all sources of that type if All is selected). By default, connections are added directly after the last source in the connections map.
Page 657 Element Description You can change the address of a source by editing it and pressing Tab or clicking elsewhere in the interface. The sources are resorted after you change an address. To remove a source from the connections map, hover over the source and click the source's trashcan icon.
Page 658: Ethernet Ascii Protocol
Ethernet ASCII Protocol You can use a Programmable Logic Controller (PLC) that supports the Ethernet ASCII protocol to operate a sensor and receive values and decisions (together called results). Two modes are available: asynchronous and polling. When the sensor is in asynchronous mode, results are sent automatically, as soon as they are available.
Page 659 Element Description For descriptions of the parameters, see Configuration parameters on page 662. Manage Connections Lets you add, insert, and delete sources (such as stamps or measurements) in the connection map. Added connections appear in the connection map at the bottom of the panel. Type Use Type to optionally filter the connection types available to be added or inserted.
Page 660 Element Description By default, connections are added directly after the last source in the connections map. You can optionally set the address at which a source is added using the Address parameter. Insert Connections Set Address to the address of a previously added source and click Insert Connection to insert the selected source into the connection map at that address and shift others down.
Page 661 Element Description You can change the ID of a source by editing it and pressing Tab or clicking elsewhere in the interface. The sources are resorted after you change an address. To remove a source from the connections map, hover over the source and click the source's trashcan icon.
Page 662 Configuration parameters Parameter Description Enable Service Toggles whether the protocol is enabled. Enable Asynchronous Toggles asynchronous operation. In asynchronous mode, the data results are transmitted when they are available. Set the Async Format Mode and Async Data Format parameters as required. (These parameters are only displayed when asynchronous mode is enabled.) When this option is disabled, the protocol runs in polling (or synchronous) mode, and you must send commands on the data channel to request the latest result.
Page 663: Profinet Protocol
Parameter Description Delimiter Termination Sets the command termination character. Invalid Value Sets the invalid value characters. Control Port Sets the control port. This is the port to which you must connect. PROFINET Protocol You can use a PROFINET Programmable Logic Controller (PLC) over Ethernet to operate a sensor and receive measurement values and decisions.
Page 664 Element Description Settings Lets you enable and configure the PROFINET protocol. Enable Service Toggle this to enable and disable the selected protocol. GSD File Click Download to save a GSD file to the client computer for later installation on the PLC. Manage Connections Lets you add, insert, and delete sources (such as stamps or measurements) in the connection map.
Page 665 Element Description Add Connections Adds one or more connections to the connection map. If Type is set to All Types, all available sources are added. If Type is set to a specific type, the source selected in Source is added (or all sources of that type if All is selected). By default, connections are added directly after the last source in the connections map.
Page 666 Element Description Delete Connections Removes all user-added connections. Connection map Lists the added connections. In the following, two measurements have been added. You can change the address of a source by editing it and pressing Tab or clicking elsewhere in the interface. The sources are resorted after you change an address.
Page 667: Hmi
Element Description The HMI panel lets you enable GoHMI, choose which outputs you want to send to an HMI application, and start communication with the HMI. For details, see GoHMI and GoHMI Designer on page 688. Configuring Systems • 667 Gocator Line Confocal Sensors: User Manual...
Page 668 Element Description Lets you enable the HMI service. After you have enabled the service, the following functions are available: Start / Stop Configuring Systems • 668 Gocator Line Confocal Sensors: User Manual...
Page 669 Element Description Starts / stops the HMI application. After starting the application, a View live button is available, which lets you open the HMI in a browser tab. View live Opens the HMI in a browser tab. Import / Export Lets you import and export HMIs so that you can transfer them to a different platform, for example, going from a PC to a GoMax device.
Page 670 Element Description Configuring Systems • 670 Gocator Line Confocal Sensors: User Manual...
Page 671: Reporting
Reporting Available report pages Report Description Health The Health page lets you monitor system and sensor health indicators, as well as various counters, such as processing drops. For more information, see Health below. Measurements The Measurements page provides statistics for each enabled measurement. For more information, see Measurements on page 673.
Page 672 Name Description CPU usage average Average system CPU usage for the system. CPU usage max Maximum system CPU usage for the system. Memory usage Sensor memory (MB used / MB total available). When a sensor is accelerated, this displays N/A. User storage usage Sensor flash storage (MB used / MB total available).
Page 673: Measurements
Name Description Total exposure time Total exposure time of laser light (G2), projector (G3), or light source (G5) Internal temperature Internal sensor temperature (degrees Celsius). Laser driver temperature Laser driver control temperature (degrees Celcius). (G2) Light driver temperature Light driver control temperature (degrees Celcius). (G5) LED PCB temperature LED PCB temperature (degrees Celcius).
Page 674 For each measurement, the following information is available: Measurement statistics Name Description Value The most recent measurement value. Minimum The minimum measurement value that has been observed. Maximum The maximum measurement value that has been observed. Average The average of all measurement values collected since the sensor was started. Range The difference between Max and Min.
Page 675: Performance
Name Description Pass Count The number of pass decisions the measurement has generated. Fail Count The number of fail decisions the measurement has generated. Invalid Count The number of frames that returned no valid measurement value. Performance The Report > Performance page displays performance statistics (execution time in milliseconds) for each tool added in the Inspect page.
Page 676 Performance Statistics Name Description Last The latest execution time of the tool. Minimum The minimum execution time of the tool. Maximum The maximum execution time of the tool. Average The average execution time of the tool. Average % The average percentage of the execution time of the tool. Configuring Systems •...
Page 677: Accelerating Sensors
Accelerating Sensors For performance-critical applications, you can run a sensor through a PC instance of GoPxL. LMI STRONGLY recommends running G5 sensors through a PC instance of GoPxL. For more information, see Running GoPxL on a Windows PC on page 678. Accelerating Sensors • 677 Gocator Line Confocal Sensors: User Manual...
Page 678: Running Gopxl On A Windows Pc
Load previously recorded scan data to examine it or to configure measurement tools offline, without a sensor, using that data. For more information, see Loading Scan Data on page 685. LMI STRONGLY recommends running Gocator 5500 series sensors through the PC version of GoPxL.
Page 679: System Requirements
The user interface of GoPxL running on a sensor and GoPxL running on a PC is largely the same, with the exception of the following: When you connect directly to a sensor, a sensor group containing the sensor is already created. When you launch GoPxL on a PC, no sensor group is created. You must do this yourself by adding a sensor to the PC instance.
Page 680 The GoPxL Manager application. An instance is automatically added the first time you launch GoPxL. To launch a PC instance of GoPxL On the PC connected to the sensor, download and unzip the GoPxL Utilities package (14631-x.x.x.x_ SOFTWARE_GoPxL_Utilities.zip). The version of the package must match the version of GoPxL on the sensor. From the GoPxl folder, launch GoPxL x64.
Page 681: Accelerating A Sensor
Additionally, your firewall may ask if you want to allow the GoPxL Service Application to communicate over your network. The Windows firewall default is to only allow communications over Private networks. To avoid issues, LMI recommends allowing communication over both Public and Private networks. At this point, you can do one of the following: Add one or more sensors to the PC instance to accelerate it.
Page 682 In Add New Sensor, choose the scan engine appropriate for your device Check the Add checkbox next to the device in the table, and click Add Sensor. Running GoPxL on a Windows PC • 682 Gocator Line Confocal Sensors: User Manual...
Page 683: Stopping Acceleration
The physical sensor is now connected to the PC instance of GoPxL, and you control and configure it through the PC instance. The sensor is automatically accelerated. For information on enabling and configuring GoHMI, see GoHMI and GoHMI Designer on page 688. Stopping Acceleration To stop accelerating a sensor, you remove it from the PC instance of GoPxL it's connected to.
Page 684 Remove: Choose this to remove the sensor and the sensor group containing it. If you have started configuring settings on the Inspect > Scan page, choose the next option instead. Remove sensor from the group: Choose this if you have started configuring settings on the Inspect > Scan page and just need to add a different sensor to the sensor group.
Page 685: Loading Scan Data
Loading Scan Data To examine previously recorded scan data offline, you load a .gprec file into the PC instance of GoPxL. To load recorded data (.gprec) In the GoPxL interface above the data viewer, click the Recording File Actions button. In the drop-down that appears, click In the Open dialog, locate and select the recording (.gprec) you want to load, and click Open.
Page 686 The recording loads in GoPxL, and GoPxL automatically switches to Replay mode. You can now examine the recordings and configure tools using the data. Use the replay controls above the data viewer to move through the frames, go to a specific frame, set continuous loop speed (FPS), and so on.
Page 687 Using continuous loop with a slow frame speed is useful for adjusting measurement tool settings and seeing the impact on scan data, without having to click Start or step through the frames of scan data manually. Continuous loop is also useful for demos. Running GoPxL on a Windows PC •...
Page 688: Gohmi And Gohmi Designer
GoHMI and GoHMI Designer GoHMI lets you create flexible human-machine interfaces (HMIs), which lets you provide a custom GUI containing system and inspection metrics. Your HMI can be touch-enabled. You edit HMIs in GoHMI Designer. GoHMI and GoHMI Designer only support a single HMI app, called "GoHMI." GoHMI Designer requires the Microsoft Visual C++ Redistributable package.
Page 689: Enabling And Configuring Gohmi In Gopxl
For more information, see Enabling and Configuring GoHMI in GoPxL below. Launch GoHMI Designer. For more information, see Launching GoHMI Designer on page 694. Enabling and Configuring GoHMI in GoPxL This section describes how to enable and configure GoHMI in the GoPxL interface. Before continuing, make sure you have created a sensor system, configured acquisition, added and enabled at least one measurement tool, and configured at least one measurement output.
Page 690 If you are running GoPxL on a PC, a Windows Security Alert referring to WebIQ (the service on which GoHMI Designer runs) may appear. Enable both networks. The HMI service launches, and the HMI panel displays the following: GoHMI and GoHMI Designer • 690 Gocator Line Confocal Sensors: User Manual...
Page 691 The HMI panel provides three buttons. Start lets you start the GoHMI application. When the application is running, GoPxL displays a View live button that launches the application, in a new tab. Note that when the application is running, you can't add or remove outputs in the Data to Send panel. GoHMI and GoHMI Designer •...
Page 692 Import lets you import an HMI application. Export lets you export the HMI application currently available on the sensor (or in the PC instance). If the HMI app is already running, click Stop to stop it. If you see In edit mode as the HMI status instead of Ready, you must clear the workspace in GoHMI Designer.
Page 693 The status In edit mode means that someone has previously worked on the HMI app, and has not cleared it from the workspace in GoHMI Designer. Do the following: Launch GoHMI Designer. For more information, see Launching GoHMI Designer on the next page. In GoHMI Designer, in the main screen, clear the workspace.
Page 694: Launching Gohmi Designer
After a few seconds, the output appears in the list of outputs that GoPxL will send to the HMI. You can toggle between showing HMI item aliases and HMI item paths of the outputs. If you don't see the output you want to add, check that you have enabled it in the measurement tool, on the Inspect > Tools page.
Page 695 (Optional) If a Windows Security Alert opens, enable both networks and click Allow access. GoHMI Designer Launcher opens and lists the available instances of GoPxL. The launcher lists sensors running GoPxL and any PC instances you have previously launched. In the following, we see a Gocator 2520 running GoPxL and a PC instance of GoPxL called "GoPxL 1."...
Page 696 In the designer, select the row of the GoPxL instance for which you want to launch GoHMI Designer and click Launch. You may need to refresh the table to get the most up-to-date list by clicking Refresh Table. You can toggle Auto Refresh to have the table refresh automatically. Note that you can only launch one instance of GoHMI Designer on a PC at a time.
Page 697 The launcher closes and the GoHMI Designer login screen appears. GoHMI and GoHMI Designer • 697 Gocator Line Confocal Sensors: User Manual...
Page 698: Opening, Editing, And Saving A Project
Log in to the designer. By default, use "gohmi" for the user name and "gohmi" for the password. Opening, Editing, and Saving a Project This section describes how to open the a GoHMI project (called GoHMI), modify it, and save it. GoHMI Designer only supports a single HMI application at a time. To open a project In the Project Information tab, hover the mouse over the GoHMI project and click Load.
Page 699 The designer loads the HMI into the workspace and switches to the Project Dashboard tab. When you click a manager in this tab, the HMI project opens in that manager. GoHMI and GoHMI Designer • 699 Gocator Line Confocal Sensors: User Manual...
Page 700 Note that in the GoPxL interface, the HMI app status becomes "In edit mode." Click Layout Manager in the Project Dashboard tab. GoHMI and GoHMI Designer • 700 Gocator Line Confocal Sensors: User Manual...
Page 701 The project opens in the Layout Manager. After you have loaded the HMI in the Layout Manager, we will add a label widget. Before modifying the demo HMI, you should export it for safe-keeping. For more information, see Importing and Exporting an HMI on page 707. The following uses an old version of the default app.
Page 702 While still hovering over the side bar, move down to Widget List. In the Widget List panel that opens, drag the Label widget toward the HMI in the Layout Manager. Drag the widget until you see a pink line, which shows where you can insert the widget. Drop the widget.
Page 703 Click the widget so that it is highlighted in blue. Switch from the Hierarchy tab to the Config tab. In the Config tab, in the Data Attributes section, click the Select Item icon ( ) next to Item. GoHMI and GoHMI Designer • 703 Gocator Line Confocal Sensors: User Manual...
Page 704 In the dialog that opens, choose the measurement tool output you want and click Apply. The widget shows the value it receives from the measurement you chose. (The sensor must be actively scanning for a value to appear.) GoHMI and GoHMI Designer • 704 Gocator Line Confocal Sensors: User Manual...
Page 705: Publishing Changes
Now you can preview the HMI to test it by clicking the preview icon above the Layout Manger's editor ). Doing this opens the HMI in the preview window. You can interact with it to test it. You should save your work regularly by pressing Ctrl-S. Previewing an HMI also saves it. Publishing Changes After you have finished working on an HMI in GoHMI Designer, you should publish it.
Page 706: Changing Outputs In Gopxl
PC instance of GoPxL, the runtime is the PC instance. Publishing also makes the HMI available in the GoPxL interface so that you can back it up or send it to someone (by exporting it). Two publish options are available: Publish: Copies the project from the workspace to the runtime. The project remains in the workspace.
Page 707: Importing And Exporting An Hmi
Importing and Exporting an HMI You can import an HMI app from the GoPxL interface. After importing an HMI app, you can then edit in GoHMI Designer. After you have imported an HMI you can also start it from the GoPxL interface by clicking Start and then View live. Importing an HMI app overwrites the HMI app currently in GoHMI Designer.
Page 708 GoPxL imports the HMI app. The app is now available for editing in GoHMI Designer (see See Opening, Editing, and Saving a Project on page 698). You can also start the app, and then view it live. If you want to back up or send your HMI app to someone, you export it in GoPxL interface. To export an HMI app In the GoPxL interface, click Export.
Page 709: Adding A Data Viewer To An Hmi
GoPxL downloads the HMI app and saves it as a zip file (GoHMI.zip). Adding a Data Viewer to an HMI You add a data viewer to an HMI by copying a link in the GoPxL web interface and pasting it into an IFrame widget in GoHMI Designer. The link tells the HMI the IP address of the sensor, as well as which sensor output and measurements it should display.
Page 710 Click the link icon ( ) in the lower right of the Displayed Outputs pane to copy the path for the data viewer. Make sure GoHMI is enabled, configured, and started in the Control > HMI page. GoHMI and GoHMI Designer • 710 Gocator Line Confocal Sensors: User Manual...
Page 711 For more information, see HMI on page 667. Launch GoHMI Designer. For information on launching GoHMI Designer, see Launching GoHMI Designer on page 694. In GoHMI Designer, load the HMI project and open the Layout Manager. In the Layout Manager, expand the widget list. From the widget list, drag an IFrame widget into the HMI. GoHMI and GoHMI Designer •...
Page 712 Resize the IFrame widget if necessary. In the Config tab, paste the URL you copied in Data Attributes > Source URL in step 1. GoHMI and GoHMI Designer • 712 Gocator Line Confocal Sensors: User Manual...
Page 713: Limiting Flash Memory Write Operations
The URL will look something like this: http://192.168.1.11/?host=192.168.1.11&controlPort=80&visualizerOnly=true&displayed Outputs=Surface.Top,tools%3ASurfaceHole-1%3Aoutputs%3ARadius,tools%3ASurfaceEdge- 4%3Aoutputs%3AZAngle, You must leave the comma at the end of the URL you paste. After a few seconds, the data viewer from the connected instance of GoPxL appears in the IFrame widget. Limiting Flash Memory Write Operations Several operations and REST API / SDK functions write to the sensor's flash memory.
Page 714: Gopxl Sdk And Rest Api
GoPxL SDK and REST API The GoPxL Software Development Kit (GoPxL SDK) includes open-source software libraries and documentation that you can use to programmatically access and control GoPxL devices. The GoPxL SDK and REST API use the term "scanner" instead of "sensor group." The two are interchangeable.
Page 715: Building The Sdk
Building the SDK To compile in Visual Studio, you may need to retarget the solution to the installed Windows SDK version. To retarget a solution, open the solution in Visual Studio, right-click the solution in the Solution Explorer, choose Retarget solution in the context menu, and click OK. The compiled Linux output libraries can be found in the GoPxL_SDK/lib/linux_x64 directory.
Page 716 // Constructs GoPxL API core framework. GoApiLib_Construct(&goApiLib) You must call GoApiLib_Construct before any API functions are used. Connect to the device at its known IP address #define SENSOR_IP "192.168.1.10" kIpAddress ipAddress; kIpAddress_Parse(&ipAddress, SENSOR_IP); system = GoSystem(ipAddress); system.Connect(); Instantiate GoGdpClient to handle data received from the device. The following demonstrates an asynchronous data retrieval procedure.
Page 717: Discover Devices
If required, you can configure the device settings, such as changing exposure value, using system.Client(). For more information, see Configure Device Settings below. Discover Devices If a device IP address is not known (for example, because it is assigned through DHCP), you can discover the devices available on the network using the GoPxL SDK discovery function by instantiating a GoDiscoveryClient class and calling the BlockingDiscover function.
Page 718: Accessing Sensor Resources
Accessing Sensor Resources The most common use case is modifying settings that apply to individual sensors, such as exposure or active area. If you know a device's serial number, you can access the corresponding resource using the SensorPath function. std::string sensorPath = system.SensorPath(sensorSerialNumber);...
Page 719: Accessing An Array Element
If you know the engine ID and scanner ID (available in the REST API reference documentation), you can use the following to access the scanner and modify the trigger setting: SCANNER_PATH = "/scan/engines/g2xxx/scanners/scanner-0"; system = GoSystem(ipAddress); payload GoJson("{\"parameters\" : {\"triggerSettings\" : {\"source\" : 0} }}");...
Page 720: Receive Device Data
The following returns an array of sensors under the /scan/visibleSensors resource path. sensors system.Client().Read(VISIBLE_SENSORS_PATH).GetResponse().Content().At ("sensors"); You can then access elements of the returned array: sensor = sensors.Begin(); std::string sensorSerialNumber = sensor.Value().At("/serialNumber").Get<std::string> Instantiate a GoPxL Data Protocol Client (GoGdpClient) and connect it to the discovered device. gdpClient = std::make_unique<GoGdpClient>();...
Page 721: Receive Health And Metrics Information
associated stamp information. Stamps contain encoder, trigger timing information, current time, and the frame index, and are grouped into a dataset with their corresponding data. auto gdpClient = std::make_unique<GoGdpClient>(); auto ipAddress = instance.GetIpAddress(); ((status = gdpClient->Connect(ipAddress)) != kOK) std::cout << "Error: "...
Page 722: Accelerated Devices
GoJson content = notification->Payload(); cout << "\nApplication Uptime: " << content.Get<int>("/appUpTime") << endl; cout << "CPU Cores Usage Average: " << content.Get<int>("/cpuCoresUsedAvg") << endl; cout << "Memory Capacity: " << content.Get<double>("/memCapacity") << endl; // Running callback function to receive metrics system.Client().SetStreamHandler(onMetrics);...
Page 723: Output Types
Output Types Data outputs are encapsulated as data messages in the GoPxL SDK. The following message types are available in the SDK. Output Types Type Description GoGdpBoundingBox Bounding Box results output based on part matching results GoGdpFeaturePoint Feature point output GoGdpFeaturePlane Feature plane output GoGdpFeatureLine...
Page 724: Measurement Values And Decisions
Measurement Values and Decisions There are two outputs for each measurement; value and decision. A measurement value is returned as a 64-bit number. The measurement decision specifies the state of the measurement value as follows: Measurement Decisions Decision Description The measurement value is between the maximum and minimum decision values. This is a pass decision.
Page 725: Integrations
Integrations GoPxL currently provides three types of integrations: Gocator (for use with the GoPxL SDK and API), industrial protocols, and GoHMI. For information on the Gocator protocol, see Gocator Protocol below. For information on the protocols supported by GoPxL, see Protocols (PLCs and other hardware) below. For information on GoHMI, see GoHMI and GoHMI Designer on page 688.
Page 726: Modbus Protocol
Modbus Protocol GoPxL supports the Modbus TCP communication to provide system, sensor group, and scan output data to a PLC, as well as accept incoming commands. After enabling Modbus in the GoPxL web interface (for more information, see Modbus Protocol on page 649), the sensor starts listening on port 502 for one or more Modbus clients.
Page 727: Connections Map
Modbus Function Code Function Code Name Data Size (bits) Description Read Holding Read multiple data values from the sensor. Registers Read Input Registers Read multiple data values from the sensor. Write Single Register Send a command or parameter to the sensor. Write Multiple Send a command and parameters to the sensor.
Page 728: Supported Block Types
Supported Block Types The block types supported by the Modbus protocol are listed in the table below. The size field indicates the number of registers that each block type requires. Supported Block Types Size (number of Read or Supported Block Description Modbus Description Block Type...
Page 729: Control Output
Field Type Address offset Description will contain the NULL terminated job file name. The job file name must not include the job file extension. The job extension is automatically appended by the Modbus server. This field takes up a maximum of 64 registers. Reserved Not used.
Page 730: Sensor Group State
Field Type Address offset Description A value of 1 indicates that overflow occurred and data is being lost. This field takes up 1 register. Sensor Group State The output of the Sensor Group State block contains the fields described below: Sensor Group State Fields Field Type...
Page 731: Ethernet Ascii Protocol
Measurement Fields Field Type Address offset Description Value Measurement value. This value is the actual measurement value multiplied by 1000. If the measurement value is invalid, the first register of the measurement value is set to 0x80000000. This means the first register of the measurement value is set to 0x8000 and the second register value is 0x0000.
Page 732: Commands And Formats
Commands and Formats Commands are sent from the client to the sensor. The commands are not case sensitive. However, the readprop command's metrics path argument is 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 733 Command Arguments Description measurement ids, Example: value,0,1 separated by Output: OK,M0,V-5000,M1,V5000 command delimiter. decision One or more Return the measurement decision for each measurement id in the measurement ids, following format string: M[ID],D[DECISION],... separated by Example: decision,0,1 command Output: OK,M0,D0,M1,D1 delimiter. stamp Return the time, encoder and frame index stamp values for the first stamp id found.
Page 734 Command Arguments Description clearalign Clears sensor alignment. readprop One or more string Return the resource JSON object specified by the resource path. representing a It is possible to use JSON pointer to retrieve a specific value within resource whose the JSON document. property to return, separated by Example #1: readprop,/system...
Page 735 Command Arguments Description measurement ID not found. Please verify your input ERROR,The custom Custom format string is invalid. format string is not valid. Please verify your input measurement ERROR,One or more Measurement ID has to be provided as an argument. measurement id must be provided ERROR,There is no...
Page 736 Command Arguments Description ERROR,One or more Stamp ID must be provided as an argument. stamp id must be provided ERROR,Invalid Provided stamp ID was invalid. It must be a number. parameter. Please verify your input ERROR,Stamp with ID Could not find a stamp data for specified ID. not found time ERROR,One or more...
Page 737: Data Output Format Mode
Command Arguments Description property Data Output Format Mode Polling Mode Polled data output is displayed using the custom format. You can modify this format in the GoPxL interface. For more information, see Ethernet ASCII Protocol on page 658. Because polling mode is always available, even when asynchronous output is enabled, you can always modify the custom format.
Page 738: Ethernet/Ip Protocol
EtherNet/IP Protocol EtherNet/IP is an industrial protocol that allows bidirectional data transfer with PLCs that support the protocol. It encapsulates the object-oriented Common Industrial Protocol (CIP). EtherNet/IP communication enables the client to: Start and stop sensors Load job files Align sensors Receive sensor states, stamps, and measurement results Implicit messaging is always enabled.
Page 739: Supported Block Types
A register assembly contains register blocks. This is a one-to-one mapping, which means each EtherNet/IP assembly object will have a corresponding control framework register assembly. These objects are added to GoPxL irrespective of the selection of register assembly, but the data is added to this EtherNet/IP object based on the selection of register assembly.
Page 740: Control Input
Control Input The input of the Control Input block contains the fields described below: Control Input Fields Field Type Address offset Description Command Sequence The command sequence number is set by the external Number client to uniquely identify a command request. This number is sent back in the Control Output.
Page 741: System State
Field Type Address offset Description 3 = Fail System State The output of the System State block contains the fields described below: System State Fields Field Type Address offset Description System Uptime Amount of time the application has been running, in seconds.
Page 742: Stamp
Field Type Address offset Description 0 = All devices' lasers are disabled and cannot turn on 1 = One or more devices' lasers can be turned on Stamp The output of the Stamp Block contains the fields described below: Stamp Fields Field Type Address offset...
Page 743: Profinet Protocol
PROFINET Protocol PROFINET is an Industrial Ethernet network protocol that allows controllers such as PLCs to communicate with sensors. Sensors are PROFINET IO devices with Conformance Class A. GoPxL supports PROFINET communication to provide system state, sensor group state, stamp, and measurement output data to a PLC, as well as accept incoming commands.
Page 744: Supported Block Types
are used to store various types information, such as control, system, and sensor group state data as well as scan output data (stamp and measurements). Supported Block Types The block types supported by the PROFINET protocol are listed in the table below. The size field indicates the number of registers that each block type requires.
Page 745: Control Output
Field Type Address offset Description For the Load Job File command, the command arguments will contain the null terminated job file name. The job file name must not include the job file extension. The job extension is automatically appended by the PROFINET IO- Device.
Page 746: Sensor Group State
Field Type Address offset Description A value of 1 indicates that overflow occurred and data is being lost. Sensor Group State The output of the Scanner (Sensor Group) Block contains the fields described below: Sensor Group State Fields Field Type Address offset Description Current Encoder...
Page 747 Measurement Fields Field Type Address offset Description Value Measurement value. This value is the actual measurement value multiplied by 1000. If the measurement value is invalid, the 32-bit value is set to 0x80000000. Decision Measurement decision. Bit 0: 0 = Fail 1 = Pass Bit 1: 0 = Decision value is valid...
Page 748: Genicam Gentl Driver
GenICam GenTL Driver For known issues when using GoPxL with GenTL, see the GoPxL release notes. GenICam is an industry standard for controlling and acquiring data from an imaging device. Gocator sensors support GenICam through a GenTL Producer driver. The included GenTL driver allows GenICam-compliant third-party software applications such as Halcon and Common Vision Blox to acquire and process 3D data and intensity generated from the sensor.
Page 749 In the Settings application search field, type "environment". The Environment Variables dialog opens. In the Environment Variables dialog, under the System variables list, click New. Integrations • 749 Gocator Line Confocal Sensors: User Manual...
Page 750 In the New System Variable dialog, enter the following information, depending on your system: Variable name Variable value GENICAM_GENTL64_PATH The full path to the GenTL\x64 folder. Click OK in the dialogs until they are all closed. Integrations • 750 Gocator Line Confocal Sensors: User Manual...
Page 751: 16-Bit Rgb Image
To work with the GenTL driver, you must enable the Gocator protocol and the desired outputs on the Gocator page. For more information on configuring the Gocator protocol, see Gocator Communication Protocol on page 647. If you need intensity data, check Acquire Intensity in the Scan Mode panel on the Scan page and enable the intensity output on the Gocator page.
Page 752: 16-Bit Grey Scale Image
Channel Details Refer to the blue channel on how to retrieve the offset and resolution values. Blue Stamp information. Stamps are 64-bit auxiliary information related to the height map and intensity content. The next table explains how the stamps are packed into the blue pixel channel The following table shows how the stamp information is packed into the blue channel.
Page 753 Rows Details X = X offset + Px * X resolution 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.
Page 754: Registers
Stamp Index Column Position Details 32..35 Y offset (nm) 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.
Page 755: Xml Settings File
Register Name Read/Write Length (bytes) Description Address register causes the sensor to switch to the specified configuration. Transformation X Return the sensor transformation X offset offset Transformation Z Return the sensor transformation Z offset offset Transformation Return the sensor transformation angle Angle Transformation Return the sensor transformation orientation...
Page 756: Interfacing With Halcon
Element Type Description no data points are above this threshold, the driver stops concatenating profiles. RawPartDetectionMaxLength: The maximum length of a part. Either condition (data points going back below the threshold or maximum length reached) will stop profile concatenation for the part.
Page 757 On the Scan page, click the Surface icon to switch to Surface mode. (Optional) If you need intensity data, enable Acquire Intensity. Configure the sensor to produce the desired surface data. For more information on configuring sensors, see Configuring Acquisition on page 109. Click the Gocator page icon in the navigation bar.
Page 758 On the Gocator page, enable the Gocator protocol. 10. In the Data to Send section, choose the surface you want to send to Halcon. For more information on configuring Gocator output, Gocator Communication Protocol on page 647. 11. Make sure the sensor is running. Integrations •...
Page 759 12. On the PC, launch Halcon. 13. In Halcon, in the Assistants menu, click Open New Image Acquisition. 14. In the dialog that opens, in the Source tab, check the Image Acquisition Interface option and choose GenICamTL in the drop-down. The driver uses the Gocator protocol discovery messages to search for available Gocator sensors.
Page 760 16. In the Connection tab, set Color Space to RGB and Bit Depth to 16. 17. In the sensor's web interface, click the Snapshot button to trigger the output of a surface. The output displays in the Halcon Graphics Window. Integrations •...
Page 761: Halcon Procedures
Halcon is now configured for use with the sensor. Halcon Procedures In Halcon, you can use various internal procedures (functions) 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 762 Procedures Description For full details on using this function, see XmlSetting and XmlCommand Parameters on page 765. get_ Generic Halcon function to get parameters on the sensor. Used in conjunction with set_ framegrabber_ framegrabber_param to set the path to the setting, after which the setting's value is retrieved param with get_framegrabber_param.
Page 763 Procedures Description 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. xResolution: The X resolution in millimeters. yOffset: The Y offset in millimeters. yResolution: The Y resolution in millimeters. zOffset: The Z offset in millimeters.
Page 764 Procedures Description Parameters ResampleMode: No - Resample is disabled. (Output) Yes - Resample is enabled. When resampling is enabled, the GenTL driver resamples the height map so that the pixel spacing is the same on the X and Y axis. Example Go2GenTL_ResampleMode (AcqHandle, ResampleMode) To set the resample mode, you must directly modify Go2GenTL.xml, which...
Page 765: Xmlsetting And Xmlcommand Parameters765
Procedures Description To set the image size, you must directly modify Go2GenTL.xml, which is in the same directory as the sensor GenTL driver (Go2GenTL.cti). Go2GenTL_ Returns the real-world coordinates (X, Y, Z) of the part given the row and column position in the CoordinateXYZ height map.
Page 766: Gentl Driver Settings And Commands
Set an attribute of a setting. When you set the second parameter of set_framegrabber_param to "XmlCommand", you can send commands and change driver-level settings at the driver level. Finally, when you retrieve the value of a sensor setting, you set the second parameter of get_ framegrabber_param to "XmlSettingReturn".
Page 767 set_framegrabber_param(AcqHandle, 'XmlCommand', 'GenTL/StopGocator') set_framegrabber_param(AcqHandle, 'XmlCommand', '') You can also optionally add the "\n" character to the end of the last line of the set operation: set_framegrabber_param(AcqHandle, 'XmlCommand', 'GenTL/StopGocator\n') The following driver-level settings are available: Driver-level settings Setting Comment "GenTL/Buffers" Read-Write. Gets/Sets the number of buffers to use in the acquisition pipeline.
Page 768: Gentl Settings
Setting Comment "GenTL/Main" Read-only. Returns the serial number of the main sensor. "GenTL/AlignResult" Read-only. Returns the alignment result of the last "GenTL/Align" command (see See Driver-level commands below). "GenTL/LastResult" Read-only. Returns the last result for any GenTL XmlCommand. "GenTL/TransformX(id)" Read-Write. Gets or sets the transformation value for a given transform of "GenTL/TransformY(id)"...
Page 769 Example calls configuring the sensor Go2GenTL_ResampleMode (AcqHandle, ResampleMode) Go2GenTL_ImageSize (AcqHandle, ImageWidth, ImageHeight) Go2GenTL_Encoder (AcqHandle, EncoderValue) Go2GenTL_Exposure (AcqHandle, currentExposure) Go2GenTL_SetExposure (AcqHandle, currentExposure + 20) set_framegrabber_param (AcqHandle, 'grab_timeout', 100000) set_framegrabber_param (AcqHandle, 'XmlCommand', 'GenTL/ClearData\n') Note: Configuration name has to be less than characters Go2GenTL_SetConfigFileName (AcqHandle, 'newExposure.job') Go2GenTL_ConfigFileName...
Page 770: Generating Halcon Acquisition Code
State set_framegrabber_param(AcqHandle, 'XmlSetting', 'GenTL/Refresh\n') set_framegrabber_param(AcqHandle, 'XmlSetting', 'GenTL/State') get_framegrabber_param(AcqHandle, 'XmlSettingReturn', state0) set_framegrabber_param(AcqHandle, 'XmlSetting', 'GenTL/State(1)') get_framegrabber_param(AcqHandle, 'XmlSettingReturn', state1) set_framegrabber_param(AcqHandle, 'XmlSetting', 'GenTL/BuddyState') get_framegrabber_param(AcqHandle, 'XmlSettingReturn', bstate0) set_framegrabber_param(AcqHandle, 'XmlSetting', 'GenTL/BuddyState(1)') get_framegrabber_param(AcqHandle, 'XmlSettingReturn', bstate1) Alignment set_framegrabber_param(AcqHandle, 'XmlSetting', 'GenTL/ClearAlignment') set_framegrabber_param(AcqHandle, 'XmlSetting', '') set_framegrabber_param(AcqHandle, 'XmlSetting', 'GenTL/AlignResult') get_framegrabber_param(AcqHandle, 'XmlSettingReturn', alignResult) set_framegrabber_param(AcqHandle, 'XmlSetting', 'GenTL/Align(5)') set_framegrabber_param(AcqHandle, 'XmlSetting', '') set_framegrabber_param(AcqHandle, 'XmlSetting', 'GenTL/AlignResult')
Page 771 Under Acquisition, click Insert Code to generate the code that will open the acquisition device. To handle cases when the grab_image function times out while waiting for data, add a try-catch statement around the grab_image function code. After the example code is generated, you should add a catch instruction to bypass the acquisition timeout event, and use the Go2GenTL_ParseData function to extract information from the returned...
Page 772: Utilities
Integrations on page 725. You can get the tools in the utilities package (14631-x.x.x.x_SOFTWARE_GoPxL_Utilities.zip) from the downloads area of the LMI Technologies website: https://lmi3d.com/product-downloads/. Alignment CAD (G2): CAD files for pyramid plate and double-sided pyramid alignment targets. For use with Surface Align Wide and Surface Align Ring on multi-sensor G2 systems, respectively. You should only use these if your application requires a high degree of accuracy.
Page 773 Find a sensor if you have forgotten its IP address. View port information. Set the network configuration (IP address, mask, and so on) of a sensor, and also restore these values to the default. Launch the GUI of a sensor in your browser. Restart the sensor.
Page 774 The GoPxL Discovery tool opens. When the GoPxL Discovery tool opens, it lists the sensors running GoPxL and the PC instances of GoPxL that are currently visible on the network. Sensors are identified in the Device/Application Name column by their serial number, and in the Device Type column by their model. If a sensor is running through a PC instance of GoPxL, its status (at the bottom of the tool) is "Device is remotely connected", and you can't perform any operations on it from the tool.
Page 775: Replay Converter Tool
.sur format. You can get the tool in the utilities package (14631-x.x.x.x_SOFTWARE_GoPxL_Utilities.zip) from the downloads area of the LMI Technologies website: https://lmi3d.com/product-downloads/. After downloading the utility package, unzip the file and run ReplayConverter.exe (under Tools\ReplayConverter).
Page 776 The tool manager is available in the 14632-x.x.x.x_SOFTWARE_GoPxL_Tools_AddOn_Beta.zip package, available on the LMI Product Downloads page (https://lmi3d.com/product-downloads/), under the Beta Software Releases section. To get the package: Go to https://lmi3d.com/product-downloads/ and log in to your account. Select Gocator in the brand drop-down. Choose the package that corresponds to the firmware you wish to run the tool manager on and download Remember that the tools available in the package are beta tools.
Page 777: Adding Beta Tools To A Firmware
At any point before creating the new firmware with the tool manager, you can click Reset to remove the loaded firmware and tool packages, and start over. Adding Beta Tools to a Firmware To add beta tools to a firmware: If you haven’t already done so, download and unzip the package containing the Gocator Add-on Tool Manager to a convenient location on your computer.
Page 778 Choosing a folder containing GoPxL for Windows: The tool manager loads the firmware. If the firmware was previously created using the tool manager, the tools will be listed in the tool window. For information on removing tools, see Beta Add-on Tool Manager on page 775. Click the Add Tool Packages...
Page 779 In the Open dialog, navigate to the folder containing the \GoAddOn folder, select a .tar tool package, and click Open. The tool manager adds the package to the tool list. Note that you can add multiple packages at once from the Open dialog. The version of a tool package must match the version of the loaded firmware or folder.
Page 780 If you are adding tools to a firmware, in the Output File Prefix field, change the default “NewCustom” to something that will help you remember what the new firmware is for. This field is hidden when you are adding tools to GoPxL for Windows folder. 10.
Page 781 After you have successfully created the new firmware, you can upload it to any compatible sensor; for more information, see Software Upgrade on page 84. Utilities • 781 Gocator Line Confocal Sensors: User Manual...
Page 782: Pattern Editor
Pattern Editor The pattern editor lets you modify patterns created in the Surface Pattern Matching tool (for more information on the tool, see Surface Pattern Matching on page 477). Although the patterns created in the Surface Pattern Matching tool will often result in good matches with your targets, you can use the pattern editor to improve the models, specifically by doing the following: Add or remove contours the Surface Pattern Matching tool has detected on edges in the scan data.
Page 783: Launching The Pattern Editor
Launching the Pattern Editor The first time you run the pattern editor, it may take longer to launch, as it will register certain DLLs required by the application. The pattern editor can work with model files that come from a sensor (accelerated or unaccelerated) or from the emulator.
Page 784: Overview Of The Editor
Copy All Patterns To Sensor Work Directory / Copy all files to the sensor work directory: The name of this button depends on whether Source is set to PC (for an accelerated sensor) or Sensor (for an unaccelerated sensor). When set to PC, this button copies models to the unaccelerated sensor's work folder;...
Page 785: Models
Element Description Model Creation pane Settings related to contour detection and feature selection. After configuring these settings, or resizing the model's bounding box (green dotted line), you must rebuild the model using the Build Model button. Model Contents The list of the features in a model (contours used in recognition and location of an instance).
Page 786 Contours, and the features selected from the contours for use in recognizing and locating an instance, work on two “coarseness” levels: the Outline level and the Detail level. Outline: Used to quickly identify potential instances of a pattern in scan data. The Outline level is the "coarse" level of contours / features.
Page 787: Adding And Removing Features Manually
Dark blue unused contours and green features at the Detail level. In the Surface Pattern Matching tool, only the Detail level of features is displayed. Adding and Removing Features Manually You can manually add features to a model from the source contours, or remove features currently in a model, at both the Outline and Detail levels.
Page 788 Dark blue unused contour (contours already added as features in the model are magenta). Contour selected by double-clicking it. Utilities • 788 Gocator Line Confocal Sensors: User Manual...
Page 789 Contour added as a feature in the model (magenta). If you single-click a dark blue unused contour, it turns cyan and lets you select segments of the contour. Contour highlighted in cyan with a selected segment (red). Utilities • 789 Gocator Line Confocal Sensors: User Manual...
Page 790 Pressing the Ctrl key on your keyboard and clicking another segment selects a portion of the cyan path. Clicking Add or pressing the Insert key on your keyboard adds the segment of the contour as a feature to the model. Utilities •...
Page 791 After adding a feature, it is added to the list of features on the Feature tab in the Model Contents panel. Do not press the build button after adding or removing features, or you will lose the modifications that were just made. You must however save the changes; for more information, see Saving and Discarding Changes on page 797.
Page 792: Setting Required And Locating Features
No error messages after clicking Analyze Model. Setting Required and Locating Features In the list of features in the Model Contents pane, you can indicate that a feature is “required” or that it is used to calculate the location of an instance by checking the appropriate checkbox next to the feature.
Page 793: Model Creation Settings And Rebuilding
When Required is checked for a feature, it must be found by the Surface Pattern Matching tool in order for an instance to be identified. When Location is checked for a feature, the Surface Pattern Matching tool uses the feature to calculate the location of instances.
Page 794: Coarseness Levels
After making changes to any of these settings, you must rebuild the model by clicking Build Model, and then save the changes. You should also click Analyze Model after rebuilding a model. Pay special attention to messages in the Messages pane at the bottom of the editor to make sure there are no errors.
Page 795: Thresholds
resolution version of the image based on the scan data: the resolution is reduced by the setting’s value, which results in fewer contours being detected. Note that Detail Level must be less than or equal to Outline Level. Thresholds You can adjust the level of sensitivity the pattern editor uses to detect contours in the scan data image.
Page 796: Feature Selection
Feature Selection This setting ranges from none to all, which determines which features the pattern editor selects from the detected contours and adds to the model when you rebuild it. You should use none (which adds no features to the model) if you want to manually add features to the model from the detected contours.
Page 797: Saving And Discarding Changes
Saving and Discarding Changes After making changes to a model (either adding or removing features, or re-detecting contours by clicking Build Model), you must do the following: In the model editor, at the bottom of the window, click Apply or OK. Clicking Apply leaves the model editor open.
Page 798: Miscellaneous
Miscellaneous Reference points, which you can create in the pattern editor on the Reference Points tab in the Model Contents panel, are not currently supported by the Surface Pattern Matching tool. The Surface Pattern Matching tool does not currently support the custom shading area (on the Parameters tab in the Model Contents panel).
Page 799: Specifications
Specifications The following sections describe the specifications of Gocator sensors and connectors, as well as Master hubs. Sensors Gocator 5500 Series Gocator 5504 Gocator 5512 Gocator 5516 Sensor Connectors Gocator Power/LAN Connector Grounding Shield Power Gocator I/O Connector Grounding Shield...
Page 800: Sensors
Master 2410 Dimensions Sensors The following sections provide the specifications of Gocator sensors. Specifications • 800 Gocator Line Confocal Sensors: User Manual...
Page 801: Gocator 5500 Series
Gocator 5500 Series The Gocator 5500 series consists of the following models: MODEL 5504 5512 5516 Data Points / Profile 1792 1792 1792 Resolution X (µm) (Profile Data Interval) Repeatability Z (µm) 0.05 0.25 Clearance Distance (CD) 19.1 61.3 (mm)
Page 802: Gocator 5504
Gocator 5504 Field of View / Measurement Range / Coordinate System Orientation Dimensions Specifications • 802 Gocator Line Confocal Sensors: User Manual...
Page 803 Specifications • 803 Gocator Line Confocal Sensors: User Manual...
Page 804 Envelope Specifications • 804 Gocator Line Confocal Sensors: User Manual...
Page 805: Gocator 5512
Gocator 5512 Field of View / Measurement Range / Coordinate System Orientation Specifications • 805 Gocator Line Confocal Sensors: User Manual...
Page 806 Dimensions Specifications • 806 Gocator Line Confocal Sensors: User Manual...
Page 807 Envelope Specifications • 807 Gocator Line Confocal Sensors: User Manual...
Page 808: Gocator 5516
Gocator 5516 Field of View / Measurement Range / Coordinate System Orientation Dimensions Specifications • 808 Gocator Line Confocal Sensors: User Manual...
Page 809 Specifications • 809 Gocator Line Confocal Sensors: User Manual...
Page 810: Master
Envelope Specifications • 810 Gocator Line Confocal Sensors: User Manual...
Page 811: 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 16-pin, M16 style connector that provides power input, sync, and Ethernet. This connector is rated IP67 only when a cable is connected or when a protective cap is used. G5 sensors require a minimum input voltage of 24 VDC.
Page 812: Grounding Shield
*All 24-48V wires (MAIN and AUX) are soldered together. **All GND_24-48V (MAIN and AUX) wires are soldered together. Grounding Shield The grounding shield should be mounted to the earth ground. Power Apply positive voltage to DC_24-48V. Power requirements Function Pins DC 24-48V* L, A, and B 24 V 48 V GND_24-48V (MAIN)**...
Page 813: 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 I/O connector pins, organized by function.
Page 814: Digital Outputs
Digital Outputs Each sensor has two optically isolated outputs. Both outputs are open collector and open emitter, which allows a variety of power sources to be connected and a variety of signal configurations. Digital outputs cannot be used when taking scans using the Snapshot button, which takes a single scan and is typically used to test measurement tool settings.
Page 815: Encoder Input
Active High If the supplied voltage is greater than 24 V, connect an external resistor in series to the positive. The resistor value should be R = [(Vin-1.2V)/10mA]-680. Active Low To assert the signal, the digital input voltage should be set to draw a current of 3 mA to 40 mA from the positive pin.
Page 816: Serial Output
Common Mode Voltage Differential Threshold Voltage Function Pins Max Data Rate Encoder_A M, U -7 V 12 V -200 mV -125 mV -50 mV 1 MHz Encoder_B I, K -7 V 12 V -200 mV -125 mV -50 mV 1 MHz Encoder_Z A, L -7 V...
Page 817 Current Mode Voltage Mode To configure for voltage output, connect a 500 Ohm ¼ Watt resistor between Analog_out+ and Analog_ out- and measure the voltage across the resistor. To reduce the noise in the output, we recommend using an RC filter as shown below. Specifications •...
Page 818: Master Network Controllers
Master Network Controllers The following sections provide the specifications of Master network controllers. Master 100 The Master 100 accepts connections for power, safety, and encoder, and provides digital output. *Contact LMI for information regarding this type of power supply. Connect the Master Power port to the Gocator's Power/LAN connector using the Gocator Power/LAN to Master cordset.
Page 819: Master 100 Dimensions
Encoder/Output Port Pins Function Output_1+ (Digital Output 0) Output_1- (Digital Output 0) Encoder_Z+ Encoder_Z- Encoder_A+ Encoder_A- Encoder_B+ Encoder_B- Encoder_GND Encoder_5V Master 100 Dimensions Specifications • 819 Gocator Line Confocal Sensors: User Manual...
Page 820: Master 810/2410
Master 810/2410 Master network controllers provide sensor power and laser safety, 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. It is not necessary to power down a sensor's power source such as a Master before unplugging the sensor from the Master.
Page 821 The following table describes the meanings of the encoder and sensor port LED indicators: LED Indicators Indicator Description Power Device is on. Safety Indicates the status of the Laser Safety circuitry. The “On” state indicates that all sensor light sources are active. Encoder A Reserved Encoder F...
Page 822: Power And Safety
Power and Safety Power and Safety (6 pin connector) Function Power In+ Power In+ Power In- Power In- The 6-pin Power and Safety connector's specifications are as follows: CONNECTOR, 6 Position Terminal Block Plug, Female Sockets 0.200" (5.08mm) 180° Free Hanging (In-Line) Manufacturer PN: 1912223 Supplier Part Number 277-11017-ND...
Page 823: Input
Function Encoder_A_Pin_3 Encoder_B_Pin_1 Encoder_B_Pin_2 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) For Encoder connection wiring options, see Encoder on page 825. The 11-pin Encoder connector's specifications are as follows: CONNECTOR, 11 Position Terminal Block Plug, Female Sockets 0.138" (3.50mm) 180° Free Hanging (In-Line) Manufacturer PN: 1847217 Supplier Part Number 277-8897-ND...
Page 824: Electrical Specifications
CONNECTOR, 10 Position Terminal Block Plug, Female Sockets 0.138" (3.50mm) 180° Free Hanging (In-Line) Manufacturer PN: 1847204 Supplier Part Number 277-6350-ND Manufacturer: Phoenix Contact The Input connector does not need to be wired up for proper operation. Electrical Specifications Some sensors require a minimum input voltage of 48 VDC. Verify the accepted input voltage for your sensor in the sensor's specifications;...
Page 825: 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 to 12 VDC, 12 to 24 VDC) and Differential (5 to 12 VDC, 12 to 24 VDC).
Page 826 Single-Ended 12 VDC Differential 5 VDC Specifications • 826 Gocator Line Confocal Sensors: User Manual...
Page 827: Input
Differential 12 VDC Input Master 810 and 2410 support the following types of input: Differential, Single-Ended High, and Single-Ended Low. Currently, Gocator only supports Input 0. For digital input voltage ranges, see the table below. Differential Single-Ended Active High Specifications • 827 Gocator Line Confocal Sensors: User Manual...
Page 828: Master 810 Dimensions
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 Master 810 Dimensions With 1U rack mount brackets: Specifications • 828 Gocator Line Confocal Sensors: User Manual...
Page 829: Master 2410 Dimensions
With DIN rail mount clips: Older revisions of Master 810 and 2410 network controllers use a different configuration for the DIN rail clip holes. Master 2410 Dimensions With 1U rack mount brackets: Specifications • 829 Gocator Line Confocal Sensors: User Manual...
Page 830 With DIN rail mount clips: Older revisions of Master 810 and 2410 network controllers use a different configuration for the DIN rail clip holes. Specifications • 830 Gocator Line Confocal Sensors: User Manual...
Page 831: Accessories
Accessories High Flex Gocator Cordsets Description Part Number 5m I/O cordset, open wire end 301175-5m 5m High Power and Ethernet cordset, 1x open wire end, 1x RJ45 end 301203-5m 10m High Power and Ethernet cordset, 1x open wire end, 1x RJ45 end 301203-10m 5m High Power and Ethernet to Master cordset, 90-deg, 2 x RJ45 ends (48V only) 301237-5m...
Page 832: Troubleshooting
Troubleshooting Review the guidance in this chapter if you are experiencing difficulty with a sensor system. If the problem that you are experiencing is not described in this section, see Return Policy on page 833. Mechanical/Environmental The sensor is warm. It is normal for a sensor to be warm when powered on. A sensor is typically 15° C warmer than the ambient temperature.
Page 833: 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 834: Software Licenses
Software Licenses CLI11 Website: https://github.com/CLIUtils/CLI11 License: CLI11 1.8 Copyright (c) 2017-2019 University of Cincinnati, developed by Henry Schreiner under NSF AWARD 1414736. All rights reserved. Redistribution and use in source and binary forms of CLI11, with or without modification, are permitted provided that the following conditions are met: 1.
Page 835 Copyright (c) 2012-present, Yann Collet All rights reserved. BSD 2-Clause License (http://www.opensource.org/licenses/bsd-license.php) 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 836 https://github.com/nlohmann/json License: MIT License Copyright (c) 2013-2019 Niels Lohmann Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: The above copyright notice and this permission notice shall be included in all copies or substantial...
Page 837 Neither the name of Rockwell Automation, ODVA, nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission from the respective owners. The Communications Stack Software for EtherNet/IP, or any portion thereof, with or without modifications, may be incorporated into products for sale.
Page 838 * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
Page 839 An interactive user interface displays “Appropriate Legal Notices” to the extent that it includes a convenient and prominently visible feature that (1) displays an appropriate copyright notice, and (2) tells the user that there is no warranty for the work (except to the extent that warranties are provided), that licensees may convey the work under this License, and how to view a copy of this License.
Page 840 running those works, provided that you comply with the terms of this License in conveying all material for which you do not control copyright. Those thus making or running the covered works for you must do so exclusively on your behalf, under your direction and control, on terms that prohibit them from making any copies of your copyrighted material outside their relationship with you.
Page 841 ◾d) If the work has interactive user interfaces, each must displayAppropriate Legal Notices; however, if the Program has interactiveinterfaces that do not display Appropriate Legal Notices, yourwork need not make them do so. A compilation of a covered work with other separate and independent works, which are not by their nature extensions of the covered work, and which are not combined with it such as to form a larger program, in or on a volume of a storage or distribution medium, is called an “aggregate”...
Page 842 A “User Product” is either (1) a “consumer product”, which means any tangible personal property which is normally used for personal, family, or household purposes, or (2) anything designed or sold for incorporation into a dwelling. In determining whether a product is a consumer product, doubtful cases shall be resolved in favor of coverage.
Page 843 Notwithstanding any other provision of this License, for material you add to a covered work, you may (if authorized by the copyright holders of that material) supplement the terms of this License with terms: ◾a) Disclaiming warranty or limiting liability differently from theterms of sections 15 and 16 of this License;...
Page 844 Termination of your rights under this section does not terminate the licenses of parties who have received copies or rights from you under this License. If your rights have been terminated and not permanently reinstated, you do not qualify to receive new licenses for the same material under section 10.
Page 845 In the following three paragraphs, a “patent license” is any express agreement or commitment, however denominated, not to enforce a patent (such as an express permission to practice a patent or covenant not to sue for patent infringement). To “grant” such a patent license to a party means to make such an agreement or commitment not to enforce a patent against the party.
Page 846 apply to the part which is the covered work, but the special requirements of the GNU Affero General Public License, section 13, concerning interaction through a network will apply to the combination as such. 14. Revised Versions of this License. The Free Software Foundation may publish revised and/or new versions of the GNU General Public License from time to time.
Page 847 an absolute waiver of all civil liability in connection with the Program, unless a warranty or assumption of liability accompanies a copy of the Program in return for a fee. ant-design Website: https://ant.design/ array-move Website: https://github.com/sindresorhus/array-move License: MIT License Copyright (c) Sindre Sorhus <sindresorhus@gmail.com> (sindresorhus.com) Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell...
Page 848 This software consists of voluntary contributions made by many individuals. For exact contribution history, see the revision history available at https://github.com/lodash/lodash The following license applies to all parts of this software except as documented below: ==== Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to...
Page 849 Copyright (c) 2013-2019 Scott Sauyet and Michael Hurley Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: The above copyright notice and this permission notice shall be included in all copies or substantial...
Page 850 https://reactjs.org/ License: MIT License Copyright (c) Facebook, Inc. and its affiliates. Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:...
Page 851 CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. react-router Website: https://github.com/ReactTraining/react-router License: MIT License Copyright (c) React Training 2016-2018 Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to...
Page 852 "License" shall mean the terms and conditions for use, reproduction, and distribution as defined by Sections 1 through 9 of this document. "Licensor" shall mean the copyright owner or entity authorized by the copyright owner that is granting the License. "Legal Entity"...
Page 853 3. Grant of Patent License. Subject to the terms and conditions of this License, each Contributor hereby grants to You a perpetual, worldwide, non-exclusive, no-charge, royalty-free, irrevocable (except as stated in this section) patent license to make, have made, use, offer to sell, sell, import, and otherwise transfer the Work, where such license applies only to those patent claims licensable by such Contributor that are necessarily infringed by their Contribution(s) alone or by combination of their Contribution(s) with the Work to which such Contribution(s) was submitted.
Page 854 7. Disclaimer of Warranty. Unless required by applicable law or agreed to in writing, Licensor provides the Work (and each Contributor provides its Contributions) on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied, including, without limitation, any warranties or conditions of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A PARTICULAR PURPOSE.
Page 855: Support
Support For help with a component or product, please submit a technical support request at http://support.lmi3d.com/. If you are unable to submit a support request or prefer to contact LMI by phone or email, use the contact information below. Response times for phone or email support requests are longer than requests submitted through LMI's support request system.
Page 856: 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 Confocal Sensors: User Manual...

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