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Position

1

2

3

4

5

Artifact Orientation

Vertical

Vertical

Horizontal

Horizontal

Horizontal with 0.5m vertical offset

Tracker Azimuth

0 °

90 °

90 °

0 °

0 °

Position 1

Position 3

Position 5

Position 2

Position 4

Table 1. NIST Interim Field Test orientations.

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Summary of Contents for KinAiry

Page 1: ...LASER TRACKER EVALUATION SYSTEM User Manual Part Number 18692 Rev G U S Pat No 9 575 163 ...

Page 2: ...ht 2019 Brunson Instrument Company Brunson Instrument Company 8000 E 23rd Street Kansas City MO 64129 www brunson us info brunson us Tel 816 483 3187 Fax 816 241 1945 LASER TRACKER EVALUATION SYSTEM User Manual ...

Page 3: ...Default MPE Coefficients Edit Default Uncertainty Values User Preferences Test Validity Conditions Report Pre test Setup Geometry Check Save Open Evaluation Data File Export Error Graph Image The Four Data Tabs Define Tab Evaluation Tab Values Tab Results Tab Chapter 3 Software Test Modes Test Mode Guided Walkthrough Test Mode Manual Data Entry Test Mode Create Data Template Test Mode Import Data ...

Page 4: ... Points from SpatialAnalyzer Appendix F How to Export Data Points from Verisurf X8 Appendix G Explanation of the Calibration Process Pre Calibration Alignment Taking the Calibration Measurements Appendix H NIST Interim Field Test Results Traceability Appendix I Uncertainty Budget Uncertainty Budget Components Summary Warranty References CE Declaration pg 27 pg 28 pg 30 pg 31 pg 32 pg 33 pg 34 pg 3...

Page 5: ...tations have been carefully selected and justified to be sensitive to known error parameters but the test is sufficiently brief to be accomplished in less than one hour generally 30 minutes or less KinAiry s innovative 2 3m long reference length artifact was designed to minimize sensitivity to gravity fixturing forces and other factors which affect stability of a calibrated length And it s portabl...

Page 6: ...6 SYSTEM COMPONENTS Positioner Mirror and Holder KinAiry Software Flashdrive Spanner Wrench EasyConnect Base Two Retroreflector Counterweights 1 2 3 4 5 6 ...

Page 7: ...RTIFACT DETAIL Carry Handles Target Nests Counterweight Nests Mirror Mount Mirror Adjustment Screws Ring Mount on back Hand Wheel on back Back of Artifact Bar Side view of Positioner 1 2 3 4 5 6 7 1 1 2 3 5 6 4 7 ...

Page 8: ...3 1 kg As part of its function the length artifact rotates between horizontal and vertical orientations Ensure the stand is at sufficient height 4 ft to allow clearance of the length artifact from the floor when rotated into the vertical orientation Confirm that in the vertical orientation the artifact will not contact the ceiling or fixtures on the ceiling lighting HVAC etc height of tracker 4 ft...

Page 9: ... on your computer Open the KinAiry folder and double click on the executable file Setup_x xx exe where x xx indicates the software revision When you double click the installation file a security dialog may pop up depending on the user account control settings on your computer Click the Yes button to allow the changes The following items are required to run the NIST Interim Field Test with KinAiry ...

Page 10: ...ware This license is provided in the form of a key file One type of key file ties KinAiry to a particular computer for a fixed period of time Another type of key file ties KinAiry to a USB hardware lock dongle for a fixed period of time A dongle allows the use of KinAiry on any number of machines as long as the dongle is present A dongle is shipped with its own key file so if you purchased a dongl...

Page 11: ...alidate and store the key Once a valid key is registered KinAiry will be ready to use Hardware Assembly To set up KinAiry you ll need the 2 3m carbon composite length artifact EasyConnect spanner wrench positioner and a suitable metrology stand When setting up the system ensure that all stand joints are securely locked in place Give consideration to the floor surface avoiding carpet vinyl wood or ...

Page 12: ...act to the positioner by engaging and tightening the hand wheel 6 8 full rotations The hand wheel must be pushed toward the front of the system to engage the ring brake Arrange the tracker according to the NIST Interim Field Test approximately 1m from and centered on directly in front of the length artifact At one point in the test the tracker must be at the same height as the artifact At another ...

Page 13: ...n KinAiry to view test results Import Data File Use this test mode to import a data file exported by your laser tracker software These test modes do not handle data and do not create an error graph To add a tracker click Add Select a Manufacturer and Model from the dropdown menus Enter a Serial Number required and an ID or Nickname optional for the laser tracker For traceability entries are availa...

Page 14: ...in the software for many tracker models You are free to edit any of them as desired based on your own information from the tracker manufacturer This function is available from the main menu by selecting Tracker then Edit Default Tracker MPEs Editing default values will alter the MPE coefficients that are loaded whenever a new test is initialized Editing default values will not change the values fo...

Page 15: ...tected which would trigger a validity condition violation KinAiry s ability to test for certain validity conditions depends upon the origin of the coordinate system being located inside the tracker at or near the intersection of the horizontal and vertical axes KinAiry software checks for the conditions below Distance The distance of the laser tracker from target B should be 1 0m 0 5m Yaw Angle Th...

Page 16: ...unction is available in the Tools menu Pre test Setup Geometry Check A new function added in version 1 09 allows you to gain confidence that you have positioned the tracker and length artifact properly prior to taking any test points This function is available by clicking Tools Pre test Setup Geometry Check This may be done before any other step i e before buck in or calibration Simply shoot and e...

Page 17: ...re an interim test begins Here you can define the test mode and select parameters relevant to the chosen test mode The Start button begins the test and takes you on to the next steps While a test is underway all options on this tab are switched to read only mode except for Job Notes Job Notes is an edit field that you can use to keep any information relevant to the evaluation that s underway ...

Page 18: ...Next buttons can be used to walk through setup alignment calibration and the full volumetric check In some test modes and when viewing an existing KinAiry test file coordinate data is available and the Evaluation tab may be used as a viewer or editor when it is useful to see the numbers alongside the procedural guidance ...

Page 19: ...its rather than use default values if you desire As an example you might alter the uncertainty budget value for the retroreflector when using targets of various grades Alternatively you may wish to verify your laser tracker to a different standard than that reported by the manufacturer Changes to MPE coefficients or uncertainty budget items on the Values tab will be reflected in the error graph on...

Page 20: ...sing the actual coordinates for that particular error On the left hand portion of the plot measured error points are displayed as dots with vertical uncertainty bars The uncertainty bars refer to the combined expanded uncertainty of the reference length See Appendix I for more detail regarding uncertainty Error values on the right hand portion of the plot do not have uncertainty error bars They re...

Page 21: ...es in calibration by using the average of multiple measurements as the best estimate of the true value A short discussion of each test mode follows CHAPTER THREE SOFT WARE TEST MODES Test Mode Guided Walkthrough Using the Guided Walkthrough mode can be useful for familiarizing yourself with the procedure or guiding a test where another application is used to collect the data In this mode you are r...

Page 22: ...u wish to test is not shown in the tracker used in test box add it to the list by clicking on the My Tracker List icon on the toolbar or selecting My Tracker List from the Tracker menu To begin the routine click the Start button KinAiry then brings the Evaluation tab forward Follow the instructions and enter the data for each step Navigate through the procedure using the Next and Back buttons Modi...

Page 23: ... the file may be re opened in KinAiry to view results check or modify data and be saved again In this mode you are responsible for Determining the number of calibration target repetitions Verifying the measurement units in or mm Verifying the temperature units F or C Selecting the tracker to be evaluated If the tracker you wish to test is not shown in the tracker used in test box add it to the lis...

Page 24: ...ces A F In this mode you are responsible for Determining the number of calibration target repetitions Selecting the tracker to be evaluated After selections are made click the Start button A dialog will open Navigate to the data file exported from your tracker software and open it After importing the data file KinAiry will display the results of the test on the Results tab Point coordinates are vi...

Page 25: ...ts home position If this happens it must be reseated This is easy to do Do this learning exercise once or twice to get the feel of the mounts The process is different for each mount Once the length artifact is mounted securely to the positioner do the following Do not attach targets to the artifact other than 1 5 inch spherical retroreflectors used with laser trackers or the supplied counterweight...

Page 26: ...now that the AB kinematic mount will always be in its home position unless the mount itself fails The BC mount is the one susceptible to being moved out of home position through rough handling or shipping Generally all you need to do is hold the end of the carbon bar at the C end and wiggle or twist it gently If it is not in its home position you will be able to feel some motion indicating that it...

Page 27: ...o select the points to export Select All and Sort A Z The default label and measurement info is all that needs to be selected Press the green check mark to create a data file Save the file in a location convenient to access from KinAiry software APPENDIX A HOW TO EXPORT DATA POINTS FROM BUILDIT Open the file and verify that the points are in the order they were taken Close the file and import it u...

Page 28: ...olumn Data MUST be in order left to right as stated below 1 Feature 2 X 3 Y 4 Z 5 Temperature 6 Time Stamp The point order MUST remain in the same chronological order as taken in the KinAiry guided walkthrough After formatting click the Report button A new Print Preview window will open APPENDIX B HOW TO EXPORT DATA POINTS FROM CAM2 In the upper right hand corner of the print preview use the drop ...

Page 29: ...ch appears to contain a time value but having digits to the right of a decimal point it can default to a mm ss ddd format for that cell This will unceremoniously lop off the hh hours value Saving the file back again will result in corrupted time data and KinAiry will object If you do open a csv file with Excel you can overcome this challenge by reformatting the time column as hh mm ss rather than ...

Page 30: ...rough mode From the menu select Working Session Export In the Export Results dialog choose ASCII RAW DATA txt as the Format Click OK name the data file and save it in a location convenient to access later from KinAiry Import the text data file using KinAiry software Import Data File function APPENDIX C HOW TO EXPORT DATA POINTS FROM METROLOG X4 ...

Page 31: ...tially log point data in a text file The macro does not assist with the KinAiry test or allow for custom naming of each point or point set It is important for the user to take the points in the same order as presented in the KinAiry Guided Walkthrough Do not stop the macro until the test is complete only use the Execute Steps Take Point Home and Change Face buttons After completing the test the ma...

Page 32: ...will open a dialog with Options for what data to be exported For Target Name any option may be selected The names are ignored because the point data is assumed to be in a known order Select the Cartesian X Y Z coordinate system For Target Data to Include select Time stamps and Measurement Details Under Formatting choose Comma as the separator Decimal Precision defaults at 6 which is sufficient in ...

Page 33: ... the appropriate boxes in the feature tree on the left hand side Right click on one of the points and select Export To Excel Save the XLS file in a location convenient to access from KinAiry software The Verisurf XLS file will contain many columns of information for each data point Close the file and import it using KinAiry software Import Data File function APPENDIX F HOW TO EXPORT DATA POINTS FR...

Page 34: ...taking the calibration shots the same retroreflector should be used in all three measurement locations A B and C in order to eliminate depth errors Additionally to eliminate runout error of the retroreflector it should be placed in each nest in the same orientation Use the engraving on the body of the retroreflector or other indicator on the bezel to maintain a consistent orientation Alternatively...

Page 35: ... sitting in target nest A Break the beam again and then remove the retroreflector from target nest A Break the beam path and remove the retroreflector to end tracking The laser beam should now reflect off of the mirror Place the retroreflector near target A in the path of the reflected beam and allow the tracker to re acquire the retroreflector Once the tracker locks on place the target in target ...

Page 36: ...imuth and elevation angles Note both angles while the laser tracker is aiming at the retroreflector in target nest C Carefully remove the retroreflector from target nest C and place it in target nest A Note the horizontal and vertical angles again Calculate the difference in horizontal angles from nest C to nest A as well as the difference in vertical angles from nest C to nest A If both differenc...

Page 37: ...hot order to be A B C C B A A B C etc Note that the KinAiry software expects points to be recorded in this same sequence when importing data The first calibration point group moves from A to B to C After taking point data in target nest C you should remove the retroreflector from nest C and then reseat it directly back into nest C again in preparation for the next point group from C to B to A This...

Page 38: ...antify volumetric laser tracker performance following a calibration which is accomplished by isolating the ranging element of the tracker The positions and orientations have been carefully selected and justified to be sensitive to known error parameters but the test is sufficiently brief to be accomplished in less than 30 minutes After calibration of the length artifact has been established the NI...

Page 39: ...rtifact Orientation Vertical Vertical Horizontal Horizontal Horizontal with 0 5m vertical offset Tracker Azimuth 0 90 90 0 0 Position 1 Position 3 Position 5 Position 2 Position 4 Table 1 NIST Interim Field Test orientations ...

Page 40: ...e error is taken as the difference between the measured lengths in front face only and the calibrated lengths The error values summarize the volumetric measurement performance of the laser tracker They describe the measurement error of the tracker in the conditions which it s operating and can be compared against other results taken over time results taken at the time the tracker is factory calibr...

Page 41: ...ure Ltracker Lrepeat Lgravity Lretro Ltemp Uk 2 7 9 5 7 0 6 1 5 2 5 1 4 2 2 0 4 1 5 1 6 1 4 1 1 This component of uncertainty describes the effectiveness of the laser tracker in measuring the distance between points There are three components to consider the accuracy of the interferometer the performance of the angular encoders and the optical alignment The mirror used in the alignment is flat to ...

Page 42: ...2 3m length due to temperature variation is 2 0µm The uncertainty of the coefficient of thermal expansion is conservatively estimated to be a uniform distribution up to 50 of its nominal value 0 75x10 6 C which gives a standard uncertainty of 1 0µm Combining these two components Ltemp 1σ 2 2µm Testing at NIST was conducted to determine uncertainty in the length due to dimensional stability of the ...

Page 43: ...replacement of the defective products as provided above is the sole remedy of the purchaser of products covered by this warranty and is the complete statement of Brunson Instrument Company s liability with respect to such products Brunson Instrument Company shall have no other or further liability with respect to such products whether in tort negligence contract theory of strict tort liability or ...

Page 44: ... International Standards Organization 2013 3 ASME B89 4 19 2006 Performance Evaluation of Laser Based Spherical Coordinate Measurement Systems New York American Society of Mechanical Engineers 2006 4 VDI VDI VDE 2617 Blatt 10 Accuracy of Coordinate Measuring Machines Characteristics and their Checking Acceptance and Reverification Tests of Laser Trackers Berlin Verein Deutcher Ingenieure 2011 5 V ...

Page 45: ...oad Lea Green St Helens WA9 4YU United Kingdom Harmonised Standards Referenced or Applied EN ISO 12100 2010 BS EN 349 1993 A1 2008 ISO TR 14121 2 2012 Specifications with which Conformity is Declared Essential Health and Safety Requirements of Annex 1 of the Machinery Directive We hereby certify that the machinery described above conforms with the essential health and safety requirements of Counci...

Page 46: ...5 28 19 Copyright 2019 Brunson Instrument Company Brunson Instrument Company 8000 E 23rd Street Kansas City MO 64129 www brunson us info brunson us Tel 816 483 3187 Fax 816 241 1945 ...

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