LMI Technologies Gocator 1100 Series User Manual Download

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Theory of Operation • 43

Gocator 1100 & 1300 Series

Range Output

Gocator measures the height of the object calculated from laser triangulation. The measurement is

referred to as ranges and is reported as the distance from the sensor origin.

Coordinate Systems

Range data is reported in sensor or system coordinates depending on the calibration state. The

coordinate systems are described below.

Sensor Coordinates

Before calibration, individual sensors use the

coordinate system shown here.
The

z-axis

represents the sensor’s measurement

range (MR), with the values increasing towards the

sensor.
The origin is at the center of the MR.

CLEARANCE

DISTANCE (CD)

MEASUREMENT

RANGE (MR)

Summary of Contents for Gocator 1100 Series

Page 1: ...USER MANUAL Gocator 1100 1300 Series Version 3 6 5 15 Revision C...

Page 2: ...ne readable form without prior written consent of LMI Technologies Inc Trademarks and Restrictions Gocator is a registered trademark of LMI Technologies Inc Any other company or product names mentione...

Page 3: ...gured using a web browser and can be connected to a variety of input and output devices This guide describes the installation and use of Gocator sensors Notational Conventions This guide uses the foll...

Page 4: ...tion 41 3D Acquisition 41 Principle of 3D Acquisition 41 Resolution and Accuracy 42 Table of Contents Z Resolution 42 Z Linearity 42 Range Output 43 Coordinate Systems 43 Gocator Web Interface 45 User...

Page 5: ...oncepts 129 Discovery 129 Command Channels 130 Result Channels 130 Modes 130 Buddy Communication Channels 130 States 131 Versions and Upgrades 131 Data Types 131 Range Sources 132 Status Codes 132 Com...

Page 6: ...e Format 178 Software Development Kit 179 Tools 180 Sensor Recovery Tool 180 Troubleshooting 181 Mechanical Environmental 181 Connection 181 Laser Ranging 181 Performance 182 Specifications 183 Gocato...

Page 7: ...00 Series Master 1200 2400 Electrical Specifications 238 Master 1200 2400 Dimensions 239 Parts and Accessories 240 Warranty and Return Policy 244 Warranty Policy 244 Return Policy 244 Software License...

Page 8: ...ces for detail information As such these sensors do not fully comply with the standards relating to laser products specified in IEC 60825 1 and FDA CFR Title 21 Part 1040 Use of controls or adjustment...

Page 9: ...ss 3R laser components Class 3R laser products emit radiation where direct intrabeam viewing is potentially hazardous but the risk is lower with 3R lasers than for 3B lasers Fewer manufacturing requir...

Page 10: ...eir system design Class 3B Responsibilities LMI Technologies has filed reports with the FDA to assist customers in achieving certification of laser products These reports can be referenced by an acces...

Page 11: ...nity of the sensor such that they will be readily observed Examples of laser warning signs are as follows PEAK POWER WAVELENGTH 100mW 600 780nm CLASS IIIb LASER PRODUCT INVISIBLE AND OR VISIBLE LASER...

Page 12: ...nd sensor ground This voltage potential can be determined by measuring the voltage between Analog_out and system ground The maximum permissible voltage potential is 12 V but should be kept below 10 V...

Page 13: ...temperature is limited to 0 015 of full scale per degree C The Master 100 400 800 1200 2400 is similarly rated for operation between 0 50 C The storage temperature is 30 70 C It is critical that the...

Page 14: ...excessive modifications to files stored on the sensor Settings for Gocator sensors are stored in flash memory inside the sensor Flash memory has an expected lifetime of 100 000 writes To maximize lif...

Page 15: ...alone System Standalone systems are typically used when only a single Gocator sensor is required The sensor can be connected to a computer s Ethernet port for setup and can also be connected to device...

Page 16: ...ferred to as the Buddy sensor Gocator s software recognizes three installation orientations None Isolated Opposite and Wide A Master 400 800 1200 2400 must be used to connect two sensors in a Dual Sen...

Page 17: ...ster provides a single point of connection for power safety encoder and digital inputs A Master 400 800 1200 2400 can be used to ensure that the scan timing is precisely synchronized across sensors Se...

Page 18: ...NGE AND LASER INDICATOR Item Description Camera Observes laser light reflected from target surfaces Laser Emitter Emits structured light for laser ranging I O Connector Accepts input and output signal...

Page 19: ...tter Emits structured light for laser ranging I O Connector Accepts input and output signals Power LAN Connector Accepts power and laser safety signals and connects to 1000 Mbit s Ethernet network Pow...

Page 20: ...Power Port Connects to the RJ45 connector labeled Power Sync on the Power LAN to Master cordset Provides power and laser safety to the Gocator Sensor I O Port Connects to the Gocator I O cordset Mast...

Page 21: ...R PORTS 1 4 LED INDICATORS MASTER 400 FRONT MASTER 800 FRONT MASTER 400 800 REAR POWER AND SAFETY ENCODER INPUT SENSOR PORTS 1 4 LED INDICATORS Item Description Sensor Ports Master connection for Goca...

Page 22: ...PORTS 1 12 LED INDICATORS MASTER 1200 FRONT MASTER 2400 FRONT MASTER 1200 2400 REAR Item Description Sensor Ports Master connection for Gocator sensors no specific order required Ground Connection Ea...

Page 23: ...O CONNECTOR 8 PIN FEMALE PIGTAILED LEADS CORDSET GOCATOR POWER Xm M12 I O CONNECTOR 8 PIN FEMALE CORDSET GOCATOR POWER TO MASTER Xm RJ45 8 PIN PLUG CORDSET ETHERNET Xm RJ45 8 PIN PLUG M12 ETHERNET CO...

Page 24: ...sed for travel calibration It provides a step change of known dimensions in the Y axis which allows sensor to calculate the Z offset and encoder resolution of the system Calibration bar with known hei...

Page 25: ...continuity between the mounting frame and the Gocator s connectors It is imperative that the frame or electrical cabinet that the Gocator is mounted to is connected to earth ground Grounding Master 40...

Page 26: ...d engagement into the housing is 8 10 mm Proper care should be taken in order to ensure that the internal threads are not damaged from cross threading or improper insertion of screws Sensors should no...

Page 27: ...en ambient temperature and the temperature reported in the sensor s health channel is less than 15 C Gocator sensors are high accuracy devices It is critical that the temperature of all of its compone...

Page 28: ...ot damaged from cross threading or improper insertion of screws Sensors should not be installed near objects that might occlude a camera s view of the laser Sensors should not be installed near surfac...

Page 29: ...rs are high accuracy devices It is critical that the temperature of all of its components are in equilibrium When the sensor is powered up a warm up time of at least one hour is required in order to r...

Page 30: ...ntations The examples below illustrate the possible mounting orientations for standalone and dual sensor system For more information on orientations refer to page 87 Single Sensor Orientations Single...

Page 31: ...Z 0 CLEARANCE DISTANCE CD MEASUREMENT RANGE MR MAIN BUDDY Main must be on the left side when looking into the connector of the Buddy Wide Above below for two sided measurement Opposite Z 0 MAIN BUDDY...

Page 32: ...ps on page 35 to assign each sensor a unique address To connect to a sensor for the first time 1 Connect cables and apply power Sensor cabling is illustrated in System Overview page 15 GOCATOR POWER A...

Page 33: ...rk Pane in System Preferences and select Ethernet Set Configure to Manually Enter IP Address 192 168 1 5 and Subnet Mask 255 255 255 0 then click Apply Refer to Troubleshooting page 181 if you experie...

Page 34: ...up the sensor The power LED blue should turn on immediately POWER LED 2 Enter the sensor s IP address 192 168 1 10 in a web browser http 192 168 1 10 3 Login as Administrator with no password The int...

Page 35: ...400 Safety_in 5V 48VDC Safety_in Standalone 10 Move a target into the laser plane If a target object is within the sensor s measurement range the Data Viewer will display the distance to the target an...

Page 36: ...r each device Skip step 1 to 3 if the Buddy sensor s IP address is already set up with an unique address GOCATOR POWER I O CORDSET ETHERNET CORDSET MAIN 2 Power up the Buddy sensor The power LED blue...

Page 37: ...ing network configuration the sensors must be reset or power cycled before the change will take effect GOCATOR POWER I O CORDSET ETHERNET CORDSET MAIN 8 Enter the sensor s IP address 192 168 1 10 in a...

Page 38: ...and its status will be updated in the System panel The firmware on Main and Buddy sensors must be the same for Buddy assignment to be successful If the firmware is different connect the Main and Buddy...

Page 39: ...to the target and the sensor s Range Indicator LED will illuminate Click the Main and Buddy button under the Setup Page to view the range data from the main and buddy sensor If you cannot see the las...

Page 40: ...ing and performs maintenance tasks Gocator Web Interface page 45 Fine tunes laser ranging for an application Measurement page 88 Programs measurements on sensors that are equipped with measurement too...

Page 41: ...exposure The sensor projects a laser point onto the target A camera viewing the laser from an angle captures the reflection of the light off the target Due to this triangulation angle the laser point...

Page 42: ...s reflected in the Gocator data sheet as the two numbers quoted for Z Resolution Z Resolution gives an indication of the smallest detectable height difference Z Linearity Z Linearity is the difference...

Page 43: ...Coordinate Systems Range data is reported in sensor or system coordinates depending on the calibration state The coordinate systems are described below Sensor Coordinates Before calibration individua...

Page 44: ...at the system Z origin is set to the base of the calibration target object For Wide and Opposite layouts ranges and measurements from the Main and Buddy sensors are expressed in a unified coordinate s...

Page 45: ...ource and exposure and to perform calibration steps 3 Measurement Page For configuring measurements 4 Output Page For configuring measurement result outputs to external devices 5 Dashboard Page For vi...

Page 46: ...age the sensor configurations and to operate the sensor 2 3 4 1 Element Description 1 Configuration Controls Use the configuration controls to manage sensor settings 2 Recorded Data Controls Use the r...

Page 47: ...Gocator page 77 These files are visible in the file manager and can be handled manually there Associated files have the same file name but a different extension If there is a configuration file that...

Page 48: ...ults to be loaded automatically when the sensor is reset To load a bundle of files 1 Select an existing file name in the File Name drop list 2 Click the Load button The configuration and the template...

Page 49: ...ettings for the first target object Use the Setup Measurement and Output Pages to configure settings for the first target 2 Save the first configuration Enter a file name and use the Save button to sa...

Page 50: ...o record live data press the Record button again to disable 3 Press the Snapshot button or Start button Snapshot will cause a single frame to be recorded The Start button will run the sensor continuou...

Page 51: ...Forward Step Back or Play button to simulate measurements Step or Play through recorded data to execute the measurement tools on the recording Individual measurement values can be viewed directly in t...

Page 52: ...OK To upload recorded data 1 Toggle the Data Source to Live 2 Press the Upload button 3 Select the directory and the file name to load from the client computer Press OK Recorded range and measurement...

Page 53: ...Viewer The Data Viewer is visible in both the Setup and the Measurement pages but displays different information depending on which page is active When the Setup page is active the Data Viewer display...

Page 54: ...ion 1 System Panel Use the System panel to configure sensor network and boot up settings 2 Available Sensor Panel Use the Available Sensor panel to assign or unassign Buddy sensors 3 Security Panel Us...

Page 55: ...setting specifies whether the sensor system is standalone or connected to a Master 3 Specify the Type IP Subnet Mask and Gateway settings The Gocator sensor can be configured to use DHCP or assigned...

Page 56: ...box 2 Save configuration Overheat Temperature Protection Sensors with 3B N laser by default will turn off the laser if the temperature exceeds the safe operating range Users can override this behavio...

Page 57: ...same network Before proceeding connect the Main and Buddy sensors one at a time to avoid an address conflict and use the steps outline in Running a Dual Sensor System page 35 to assign each sensor a u...

Page 58: ...or account 1 Navigate to the Security panel Click the arrow next to Administrator to expand the panel 2 Enter the new Administrator account password and password confirmation 3 Click Save The new pass...

Page 59: ...File List 7 Set as Default Button Sets the selected file as the default to be loaded at boot time 8 Download Button Downloads the selected file to the client computer 9 Upload Button Uploads a file f...

Page 60: ...up will be saved to the specified location on the client computer Backups are saved as a single archive that contains all of the files from the sensor To restore from a backup 1 Navigate to the Mainte...

Page 61: ...mware 1 Click on the Help Link Ensure that the client computer is connected to the Internet 2 Determine if an update is required The Help panel will check the LMI website to determine if the sensor s...

Page 62: ...panel 2 Click the Update Firmware button 3 Provide the location of the firmware file in the File dialog 4 Wait for the upgrade to complete After the firmware upgrade is complete the sensor will self r...

Page 63: ...Trigger Panel Use the Trigger panel to specify the trigger source and trigger related settings 3 Sensor Panel Use the Sensor panel to specify settings for an individual sensor such as active area or e...

Page 64: ...er ranging Exposure page 72 3 Find the right balance between range quality speed and CPU utilization Active Area page 71 Exposure page 72 4 Specify mounting orientations for dual sensor systems page 8...

Page 65: ...and measurements Acquire Intensity When this option enabled an intensity value will be produced for each laser range Trigger Panel A trigger is an event that causes a sensor to take a single picture...

Page 66: ...d A scan is triggered only when the target object moves forward If the target object moves backward it must move forward by at least the distance of one encoder spacing to trigger a scan 2 Track Backw...

Page 67: ...encoder triggers Refer to Encoder Input page 228 for more information on connecting the encoder to Gocator sensors External Input A digital input can provide triggers in response to external events e...

Page 68: ...e non uniform if the speed of the conveyor varies while the object is being measured It is strongly recommended to use an encoder with transport based systems due to the difficulty in maintaining cons...

Page 69: ...Series Example Software Trigger Robot Arm Software triggering can be used to produce a snapshot for range measurement A software trigger can be used in systems that employ external software to orches...

Page 70: ...put to a Gocator senor Encoder Behavior Encoder Encoder Behavior setting is used to specify how the Gocator sensor is triggered when the target moves Encoder Resolution Encoder Encoder Resolution mill...

Page 71: ...uire button to display uncalibrated data before configuring the active area Refer to Coordinate Systems page 43 for more information on sensor and system coordinates CLEARANCE DISTANCE CD MEASUREMENT...

Page 72: ...for the flexibility needed to scan different types of target surfaces Exposure Mode Description Single Exposure Uses single exposure for all objects Used when the surface is uniform and is the same f...

Page 73: ...ured 2 Select Range Mode 3 Navigate to the Sensor panel Click the arrow next to Exposure to expand the panel Click the Main or Buddy sensor button to select the sensor 4 Select Single 5 Edit the Expos...

Page 74: ...e panel Click the Main or Buddy button to select the sensor 3 Select Dynamic 4 Set the minimum and maximum exposure The auto set function can be used to automatically set the exposure First place the...

Page 75: ...ettings 1 Select the Range Mode 2 Navigate to the Sensor panel Click the arrow next to Transformation to expand the panel Click the Main or Buddy button to select the sensor Transformations can be con...

Page 76: ...operates as an isolated device Measurements are reported in a separate coordinate system for each sensor Wide Sensors are mounted in Left Main and Right Buddy positions for measuring the height of th...

Page 77: ...determine the resolution with encoder and speed of the transport system Gocator sensors support two types of calibration procedures Alignment Calibration and Travel Calibration Travel calibration per...

Page 78: ...ensor is reset or powered off Global transformation is typically used when the sensor mounting is constant over time and between scans e g when the sensor is mounted in a permanent position over a con...

Page 79: ...on States State Explanation None Sensor has no calibration Ranges are reported in default sensor coordinates Manual User has manually edited transformations or encoder resolution Auto Sensor is calibr...

Page 80: ...t Surface or Cal Bar Cal Bar Target Sensor Motion Stationary Linear Motion Calibrates z axis Offset Yes Yes Calibrates Encoder No Yes Refer to Coordinate Systems page 43 for definitions of coordinate...

Page 81: ...e conveyor surface or other flat surface as the calibration reference or Bar to use a custom calibration bar If using a calibration bar specify the bar dimensions Refer to Installation page 25 for mor...

Page 82: ...ecify the bar dimensions Refer to Installation page 25 for more information 5 Press the Calibrate button The sensors will start and then wait for the calibration target to pass through the laser plane...

Page 83: ...the Calibration panel on the Setup page 2 Select whether to clear the Global or the Current Configuration transformation source 3 Click the Calibration or Clear Calibration button If the Clear Calibra...

Page 84: ...anges depending on the current operation mode and the panel that has been selected Video Mode In Video operation mode the Data Viewer displays camera images In a dual sensor system camera images from...

Page 85: ...Sensor or Layout panel automatically sets the display to the most appropriate display view To manually select the display view in the Setup Page 1 Navigate to the Setup Page 2 Select the View The vie...

Page 86: ...splayed when a setup or measurement requires an area to be specified 2 Drag the rectangle to move it and use the handles on the rectangle s border to resize it Data Viewer Controls The data viewer is...

Page 87: ...87 Gocator 1100 1300 Series Intensity Output Gocator sensors can produce intensity data that measure the amount of light reflected by an object An 8 bit intensity value is output for each range value...

Page 88: ...Page displays tools for range measurement The Measurement page is disabled in Video mode 3 1 2 Element Description 1 Tools Panel Use the Tools panel to add new measurements 2 Measurement Panel For ea...

Page 89: ...rop down list next to Add Measurements to select the measurement type 2 Press the Add button A configuration panel for the new measurement will be added to the bottom of the stack To remove a new rang...

Page 90: ...name This allows multiple measurements of the same type to be distinguished in the web interface The name is also referenced by the Script tool To edit a measurement name 1 Click on the measurement n...

Page 91: ...ey or click outside of the measurement ID edit field Range Sources For dual sensor systems measurements must specify a range source The range source determines the data that will be used for the measu...

Page 92: ...hreshold otherwise the decision state is fail value displayed in red Value 13 880 is within the decision thresholds Min 14 Max 13 Decision Pass Value 30 200 is outside the decision thresholds Min 32 M...

Page 93: ...nvert the measurement value from millimeters to thousands of an inch set Scale to 39 37 Hold Last Valid Hold the last valid value when the measurement is invalid Measurement is invalid if there is no...

Page 94: ...es Range Measurement This section describes the range measurement tools available in sensors that are equipped with Measurement Tools Measurement values are compared against minimum and maximum thresh...

Page 95: ...nstraints to yield a decision The difference can be expressed as an absolute or signed result The difference is calculated by Difference Rangemain RangeBuddy Measurements Difference Determines the dif...

Page 96: ...the laser range The measurement value can be compared with minimum and maximum constraints to yield a decision Measurements Position Z Determines the difference along the z axis between two feature p...

Page 97: ...surement tools can be used as inputs to the script A typical script would take results from other measurement tools using the value and decision function and output the result using the output functio...

Page 98: ...rieves the value of a measurement by its ID Parameters id Measurement ID Returns Value of the measurement 0 if measurement does not exist A measurement value is received as a fixed point integer with...

Page 99: ...e the constant INVALID_VALUE can be used e g Output_SetId 0 INVALID_VALUE 0 Parameters id Script output ID Memory Functions Memory Functions Descriptions void Memory_Set64s int id long long value Stor...

Page 100: ...ieves the encoder position of the current frame long long Stamp_EncoderZ Retrieves the encoder index position of the current frame unsigned int Stamp_Inputs Retrieves the digital input state of the cu...

Page 101: ...t using a series of position Z measurement tool values Measurement ID 1 Calculate the length of an object by accumulating the encoder spacing measurements Encoder Spacing is 0 5mm Z position measureme...

Page 102: ...to produce a digital output pulse on Output 0 3 Digital Output 1 Panel Use the Digital Output 1 panel to select the data sources that will be combined to produce a digital output pulse on Output 1 4...

Page 103: ...ue or decision items to send To select an item for transmission place a check in the corresponding check box Measurements shown here correspond to measurements that have been programmed using the Meas...

Page 104: ...I protocol Select value and decision to send by placing a check in the corresponding check box Refer to Standard Result Format page 171 for an explanation of the standard result mode Select Custom to...

Page 105: ...ng the Gocator Protocol there is no need to select which measurement items to output The Ethernet panel will list the register addresses that are used for Modbus TCP communication The Modbus TCP Proto...

Page 106: ...167 is read 3 Select EtherNet IP in the Protocol Option Unlike using the Gocator Protocol there is no need to select which measurement items to output The Ethernet panel will list the register addres...

Page 107: ...ut In this mode the sensor outputs a digital pulse when a measurement result is ready A digital output can also act as a strobe signal to allow external devices to synchronize to the timing at which t...

Page 108: ...tes The delay specifies the distance from the sensor to the eject gates An Immediate output becomes active as soon as measurement results are available The output activates after the sensor finishes p...

Page 109: ...Scheduled A pulsed signal can become active immediately or scheduled Continuous signal always becomes active immediately Immediate output becomes active as soon as a Scheduled Digital Output command...

Page 110: ...or analog output Measurements shown here correspond to measurements that have been programmed using the Measurements Page 4 Specify Data Scale values The values specified here determine how measuremen...

Page 111: ...nd the output becomes active The delay should be larger than the time needed to process the data inside the Gocator It should be set to a value that is larger than the processing latency reported in t...

Page 112: ...Output page 229 for information on wiring serial output to an external device To exchange results using ASCII messages 1 Navigate to the Ethernet panel 2 Select ASCII in the Protocol Option 3 Select t...

Page 113: ...values The values specified here determine how measurement values are scaled to the minimum and maximum current output The Data Scale is specified in um for dimensional measurement 0 001 mm2 for area...

Page 114: ...ents sensor health information and measurement statistics 1 3 2 4 Element Description 1 State and Health Information Displays sensor state and health information 2 Measurement Statistics Displays meas...

Page 115: ...ty Sensor flash storage capacity MB Temperature Sensor internal temperature C Laser Tempearture Laser temperature C Available only on sensors equipped with 3B N lasers Ethernet Traffic Network output...

Page 116: ...me Description Value The most recent measurement value Minimum Maximum Value The minimum and maximum measurement values that have been observed Average The average of all measurement results collected...

Page 117: ...and properties After uploading a configuration file the configuration file can be downloaded again to access updated values All Gocator sensors share a common configuration XML structure This section...

Page 118: ...ble the use of digital input to gate the time or encoder trigger source 0 Disable 1 Enable BatchCount 32u Number of frames to batch into one bundle FrameRateMin 64f Constraint for minimum frame rate H...

Page 119: ...sure ExposureDelay 32u Setting for an optional delay us between triggering event and the actual start of the exposure This is used for time multiplexing the sensors in a multi sensor system Exposure 6...

Page 120: ...or y position of image ROI pixels FrontCameraWidth 32u Property for width of image ROI pixels FrontCameraHeight 32u Property for height of image ROI pixels CalibratedZ 64f Property for sensor calibrat...

Page 121: ...ting for range source DecisionMin 64f Setting for decision threshold minimum mm DecisionMax 64f Setting for decision threshold maximum mm LinkEnabled 32u Setting to enable disable linking 0 Disable 1...

Page 122: ...offset to apply to measurement value SmoothingEnabled 32u Setting to enable or disable the smoothing filter 0 Disable 1 Enable SmoothingWindow 32u Setting for the smoothing window frames HoldEnabled...

Page 123: ...urces comma delimited list Range String Setting for selected range sources comma delimited list RangeIntensity String Setting for selected range intensity sources comma delimited list Value String Set...

Page 124: ...t with search track information AsciiDelimiter String Setting for the ASCII protocol delimiter character AsciiTerminator String Setting for the ASCII protocol terminator character AsciiInvalidValue St...

Page 125: ...output updates according to a target value in software command or a delay 0 Not scheduled 1 Scheduled Delay 64f Setting for output delay The delay is measured from exposure first exposure for multiple...

Page 126: ...for scheduled output mode When unscheduled output updates immediately When scheduled output updates according to a target value in software command or a delay 0 Not scheduled 1 Scheduled Delay 64f Se...

Page 127: ...2588 XAngle YAngle 3 7078302555 XAngle ZAngle 2 7078302556 XAngle Orientation 0 Orientation Entry Entry id 1 X 0 X Y 0 0 Y Z 123 4966803469 Z XAngle 5 7478302588 XAngle YAngle 3 7078302555 XAngle ZAng...

Page 128: ...ut X axis degrees ZAngle 64f Rotation about Z axis degrees Orientation 32s Direction of X axis 0 Normal 1 Reverse The rotation counter clockwise in the X Z plane is performed before the translation If...

Page 129: ...s Subsequent sections provide details about network commands and data formats The Gocator SDK provides open source C language libraries that implement the network commands and data formats defined in...

Page 130: ...to the Data or Health TCP channels Result Channels Channel Port Description Data 3196 Sensor sends data messages Health 3194 Sensor sends health messages The above ports can be connected simultaneousl...

Page 131: ...consists of major and minor parts The minor part is updated when backward compatible additions are made to the Gocator Protocol The major part will be updated in the event that breaking changes are ma...

Page 132: ...or serial number Status Codes Each reply on the Discovery Control and Upgrade channels contains a status code indicating the result of the command The following status codes are defined Status Codes L...

Page 133: ...64s Reply status Length fields prepended to the beginning of each message refer to the size of the entire message including the length field itself For example the value of the length field for a comm...

Page 134: ...mension 2 type Type Data type of block elements refer to Data Types page 131 Each data block is an array of primitive values with 1 2 or 3 dimensions and is described by an accompanying descriptor The...

Page 135: ...ion useDhcp 64s 1 if network interface uses DHCP 0 otherwise reserved 4 byte Reserved address 4 byte IP address reserved 4 byte Reserved mask 4 byte Subnet mask reserved 4 byte Reserved gateway 4 byte...

Page 136: ...ved 4 byte Reserved Set to 0 mask 4 byte Subnet mask reserved 4 byte Reserved Set to 0 gateway 4 byte Gateway reserved 4 byte Reserved Set to 0 reserved 4 byte Reserved Set to 0 Reply Field Type Descr...

Page 137: ...Status command determines the progress of a firmware upgrade Command Field Type Description length 64s Command size in bytes id 64s Command identifier 0x0001 Reply Field Type Description length 64s Re...

Page 138: ...Major version minorVersion 64s Minor version Get System Info The Get System Info command reports information for sensors that are visible in the system Command Field Type Description length 64s Comman...

Page 139: ...ription deviceId 64s Buddy device id state 64s Sensor Buddy state 0 Connected 1 Missing 2 Error modelName 32 char Sensor model name firmwareVersion 64s Buddy firmware version SensorInfo Field Type Des...

Page 140: ...Type Description length 64s Reply size in bytes id 64s Reply identifier status 64s Reply status Change Buddy The Change Buddy command is used to assign or unassign a Buddy sensor Command Field Type De...

Page 141: ...e cfg to make the configuration live Copy a saved template to _live prof to make the template live Command Field Type Description length 64s Command size in bytes id 64s Command identifier 0x101B sour...

Page 142: ...eld Type Description length 64s Reply size in bytes id 64s Reply identifier status 64s Reply status Delete File The Delete File command removes a file from the connected sensor Command Field Type Desc...

Page 143: ...fier 0x4101 fileName 64 char File name null terminated including the extension cfg Configuration files rec Record Playback data files Reply Field Type Description length 64s Reply size in bytes id 64s...

Page 144: ...and size in bytes id 64s Command identifier 0x1004 mode 16 char Mode name null terminated Reply Field Type Description length 64s Reply size in bytes id 64s Reply identifier status 64s Reply status Ge...

Page 145: ...th 64s Reply size in bytes id 64s Reply identifier status 64s Reply status Scheduled Start The scheduled start command starts the sensor system system enters the Running state at target time or encode...

Page 146: ...tifier status 64s Reply status Scheduled Digital Output The Scheduled Digital Output command schedules a digital output event The digital output must be configured to accept software scheduled command...

Page 147: ...d happen The target value is ignored if the Signal type in the Analog Output panel is not set to scheduled The output will be triggered immediately Refer to Analog Output page 231 for how to set the S...

Page 148: ...length 64s Command size in bytes id 64s Command identifier 0x1013 Reply Field Type Description length 64s Reply size in bytes id 64s Reply identifier status 64s Reply status fileSize 64s Size of back...

Page 149: ...y Field Type Description length 64s Reply size in bytes id 64s Reply identifier status 64s Reply status Set Connection Type The Set Connection Type command save the type of the master to the sensor s...

Page 150: ...r Ethernet output Each selected source contributes two data blocks and accompanying data block descriptors one block for attributes and one block for content such as video pixels or measurement result...

Page 151: ...rce zResolution 64s Z resolution nm zOffset 64s Z offset nm exposure 64s Exposure us Set to zero if multiple exposure mode is used reserved N 64s A variable number of additional attributes may be incl...

Page 152: ...vel Calibration Attributes Field Type Description dataType 64s Data type 0x05 reserved N 64s A variable number of additional attributes may be included Travel Calibration Data Field Type Description s...

Page 153: ...utilization or network throughput Health Result Header Field Type Description length 64s Message length in bytes id 64s Message id 1000 attributeCount 64s Count of attributes in this message header 1...

Page 154: ...Output index Number of dropped serial outputs Laser Temperature 2023 Laser temperature degrees Celsius Only available on sensors equipped with 3B N laser Digital Inputs 2024 Current status of digital...

Page 155: ...er This is a connection oriented transaction and every query expects a response This chapter describes the Modbus TCP commands and data formats Modbus TCP communication enables the client to Switch to...

Page 156: ...message including the Unit identifier and data fields Unit ID 1 Used for intra system routing purpose The Modbus Client sets the value and the Server Gocator copies the value into its responses Modbu...

Page 157: ...ptions and describes the data payload format for each function code The Gocator data includes 16 bit 32 bit and 64 bit data All data are sent in big endian format with the 32 bit and 64 bit data sprea...

Page 158: ...operate the sensor Register 0 stores the command to be executed Register 1 21 contain parameters for the commands The Gocator executes a command when the value in Register 0 is changed To set the par...

Page 159: ...0 Stopped 1 Running 301 Busy 16 Busy State 0 Not busy 1 busy Registers 302 363 below are only valid when the Busy State is not busy 302 Calibration State 16 Current Calibration State 0 Not calibrated...

Page 160: ...Buffer Overflow 16 Buffer Overflow Indicator 0 No overflow 1 Overflow 979 Inputs 8 Digital input state 980 983 Encoder Index 64 Encoder value when the index is last triggered 984 985 Exposure 32 Expos...

Page 161: ...LCs It encapsulates the object oriented Common Industrial Protocol CIP This chapter describes the EtherNet IP messages and data formats EtherNet IP communication enables the client to Switch to a diff...

Page 162: ...ocols 162 Gocator 1100 1300 Series The default EtherNet IP ports are used Port 44818 is used for TCP connections and UDP queries e g listIdentity requests Port 2222 for UDP I O Messaging is not suppor...

Page 163: ...rk configuration attributes such as IP Address TCP IP Configuration via Ethernet IP is not supported See Volume 2 Chapter 5 3 of the CIP Specification for a complete listing of TCP IP object attribute...

Page 164: ...or a complete listing of Ethernet Link object attributes Attribute Name Type Value Description Access 1 Interface Speed UDINT 1000g Ethernet interface data rate mbps Get 2 Interface Flags UDINT See 5...

Page 165: ...Running Start the sensor No action if the sensor is already started 2 Alignment Calibrate Start the calibration process Byte 1 of the Sensor State Assembly will be set to 1 busy until the calibration...

Page 166: ...ate Information Byte Name Description 0 Sensor s state Sensor state 0 Ready 1 Running 1 Command in progress Command busy status 0 Not busy 1 Busy performing the last command 2 Calibration state Calibr...

Page 167: ...13 Exposure Laser exposure in us 14 17 Temperature Sensor temperature in degrees celsius 1000 18 25 Position Encoder position 64 bit signed integer 26 33 Time Time 64 bit unsigned integer 34 41 Frame...

Page 168: ...Description Access 3 Command Byte Array Sample state information See below for more details Get Sample State Information Byte Name Description 0 1 Inputs Digital input state 2 9 Z Index Position Enco...

Page 169: ...t active configuration Calibrate run and trigger sensors Receive sensor states health indicators stamps and measurement results As with the Gocator Protocol there are separate channels for Control Dat...

Page 170: ...ach parameter is separated by the delimiter Similarly the reply has the following format STATUS DELIMITER OPTIONAL RESULTS DELIMITER The status can either be OK or ERROR The optional results can be re...

Page 171: ...ueStart V 1 Start of measurement value This field and the following Value field are optional they will only be present if the measurement value has been selected for transmission Value vn n Measuremen...

Page 172: ...set by adding a delay to the time or encoder position returned by the Stamp command The delay should be set such that it covers the command response time of the Start command Reply OK or ERROR Error M...

Page 173: ...ot have an extension If you specify a file ending with the cfg extension only a configuration will be loaded unless you are switching from a configuration whose calibration was performed with Source s...

Page 174: ...d is timed out if there has been no progress after one minute Formats Message Format Command AlignCalibrate Reply OK or ERROR Error Message Examples AlignCalibrate OK AlignCalibrate ERROR ALIGNMENT CA...

Page 175: ...ments are specified the custom format data string is used OK custom data string ERROR Error Message If arguments are specified OK data string in standard format ERROR Error Message Examples Standard d...

Page 176: ...rmatted data string time value 0 Value OK 1420266101 151290 Get Decision The Get Decision command retrieves measurement decisions Formats Message Format Command Decision measurement ID measurement ID...

Page 177: ...ealth indicators Formats Message Format Command Health health indicator ID health indicator instance More than one health indicator can be specified Note that the health indicator instance is optional...

Page 178: ...t with the most significant bit first followed by control bits for a total of 16 bit of information per frame The time between the start of the camera exposure and the delivery of the corresponding ra...

Page 179: ...pre built DLL is provided to support 32 bit Windows XP SP3 and 32 bit Windows 7 Projects and makefiles are included to support other editions of Windows and Linux Example Configuring and starting a s...

Page 180: ...32 kDiscovery exe Any sensors that are discovered on the network will be displayed in the Devices list To change the network address of a sensor 1 Select the sensor serial number in the Devices list 2...

Page 181: ...sor Recovery Tool page 180 for steps to reset the password Laser Ranging When the Start button or the Snapshot button is pressed the sensor does not emit laser light Ensure that the sticker covering t...

Page 182: ...If you are using a time or encoder trigger source refer to Trigger page 117 for information on reducing the speed If you are using an external input or software trigger consider reducing the rate at...

Page 183: ...30x120x149 Side Mount 30x120x149 Side Mount 30x120x220 Side Mount 30x120x149 Side Mount 30x120x277 Available Package Dimensions mm Top Mount 49x75x162 Top Mount 49x75x162 Top Mount 49x75x162 Top Mount...

Page 184: ...0x149 Side Mount 30x120x149 Side Mount 30x120x149 Side Mount 30x120x220 Side Mount 30x120x149 Side Mount 30x120x277 Available Package Dimensions mm Top Mount 49x75x162 Top Mount 49x75x162 Top Mount 49...

Page 185: ...Specifications 185 Gocator 1100 1300 Series Z 0 CLEARANCE DISTANCE CD MEASUREMENT RANGE MR Mechanical dimensions for each sensor model are illustrated on the following pages...

Page 186: ...300 Series Gocator 1120 1320 Side Mount Package Field of View Measurement Range 50 0 10 10 21 Dimensions THRU MOUNTING HOLE OPTION 3X 5 THRU ALL 149 120 98 30 15 24 49 THREADED MOUNTING HOLE OPTION 3X...

Page 187: ...Specifications 187 Gocator 1100 1300 Series Envelope 21 0 40 0 20 0 71 0 2 1 19 3 101 4...

Page 188: ...ons 188 Gocator 1100 1300 Series Gocator 1120 1320 Top Mount Package Field of View Measurement Range 50 0 10 10 39 Dimensions 75 61 5 162 THREADED MOUNTING HOLES 4X M5X0 8 6H 10 153 40 24 5 39 30 6 49...

Page 189: ...Specifications 189 Gocator 1100 1300 Series Envelope 0 39 0 87 5 120 7 0 1 2 11 4 40 0 60 0...

Page 190: ...300 Series Gocator 1125 1325 Side Mount Package Field of View Measurement Range 200 0 18 18 21 Dimensions THRU MOUNTING HOLE OPTION 3X 5 THRU ALL 149 120 98 30 15 24 49 THREADED MOUNTING HOLE OPTION 3...

Page 191: ...Specifications 191 Gocator 1100 1300 Series Envelope 21 0 182 5 35 0 72 2 102 8 2 8 19 6...

Page 192: ...ons 192 Gocator 1100 1300 Series Gocator 1125 1325 Top Mount Package Field of View Measurement Range 50 0 10 10 39 Dimensions 75 61 5 162 THREADED MOUNTING HOLES 4X M5X0 8 6H 10 153 40 24 5 39 30 6 49...

Page 193: ...Specifications 193 Gocator 1100 1300 Series Envelope 0 39 0 88 9 122 2 0 11 8 1 6 182 5 217 5...

Page 194: ...Specifications 194 Gocator 1100 1300 Series Gocator 1150 1350 Side Mount Package Field of View Measurement Range 300 0 100 100 21...

Page 195: ...Specifications 195 Gocator 1100 1300 Series Dimensions THRU MOUNTING HOLE OPTION 3X 5 THRU ALL 149 120 98 30 15 24 49 THREADED MOUNTING HOLE OPTION 3X M6X1 0 6H THRU ALL 135 84 21 15...

Page 196: ...Specifications 196 Gocator 1100 1300 Series Envelope 21 0 200 0 200 0 72 3 103 1 2 8 19 7...

Page 197: ...Specifications 197 Gocator 1100 1300 Series Gocator 1150 1350 Top Mount Package Field of View Measurement Range 300 0 100 100 39...

Page 198: ...Specifications 198 Gocator 1100 1300 Series Dimensions 75 61 5 162 THREADED MOUNTING HOLES 4X M5X0 8 6H 10 153 40 24 5 39 30 6 49 16 3 38 8...

Page 199: ...Specifications 199 Gocator 1100 1300 Series Envelope 0 39 0 88 9 122 6 0 12 0 1 6 200 0 400 0...

Page 200: ...Specifications 200 Gocator 1100 1300 Series Gocator 1160 1360 Side Mount Package Field of View Measurement Range 400 0 163 163 21...

Page 201: ...Specifications 201 Gocator 1100 1300 Series Dimensions THRU MOUNTING HOLE OPTION 3X 5 THRU ALL 149 120 98 30 15 24 49 THREADED MOUNTING HOLE OPTION 3X M6X1 0 6H THRU ALL 135 84 21 15...

Page 202: ...Specifications 202 Gocator 1100 1300 Series Envelope 21 0 237 5 325 0 72 3 103 2 2 8 19 8...

Page 203: ...Specifications 203 Gocator 1100 1300 Series Gocator 1160 1360 Top Mount Package Field of View Measurement Range 400 0 162 5 162 5 39...

Page 204: ...Specifications 204 Gocator 1100 1300 Series Dimensions 75 61 5 162 THREADED MOUNTING HOLES 4X M5X0 8 6H 10 153 40 24 5 39 30 6 49 16 3 38 8...

Page 205: ...Specifications 205 Gocator 1100 1300 Series Envelope 0 39 0 89 0 122 7 0 12 0 1 7 237 5 562 5...

Page 206: ...Specifications 206 Gocator 1100 1300 Series Gocator 1165 1365 Side Mount Package Field of View Measurement Range 750 0 188 188 21...

Page 207: ...Specifications 207 Gocator 1100 1300 Series Dimensions 220 120 98 THRU MOUNTING HOLE OPTION 3X 5 THRU ALL 30 15 24 49 206 84 THREADED MOUNTING HOLE OPTION 3X M6X1 0 6H THRU HOLE 21 15...

Page 208: ...Specifications 208 Gocator 1100 1300 Series Envelope 21 0 375 0 562 5 72 6 103 3 3 0 19 9...

Page 209: ...Specifications 209 Gocator 1100 1300 Series Gocator 1165 1365 Top Mount Package Field of View Measurement Range 750 0 187 5 187 5 39...

Page 210: ...Specifications 210 Gocator 1100 1300 Series Dimensions 61 5 75 232 THREADED MOUNTING HOLES 4X M5X0 8 6H 10 223 40 39 24 5 30 6 49 16 3 38 8...

Page 211: ...Specifications 211 Gocator 1100 1300 Series Envelope 0 39 0 89 0 122 7 0 12 0 1 7 237 5 562 5...

Page 212: ...Specifications 212 Gocator 1100 1300 Series Gocator 1170 1370 Side Mount Package Field of View Measurement Range 450 0 200 200 21...

Page 213: ...Specifications 213 Gocator 1100 1300 Series Dimensions THRU MOUNTING HOLE OPTION 3X 5 THRU ALL 149 120 98 30 15 24 49 THREADED MOUNTING HOLE OPTION 3X M6X1 0 6H THRU ALL 135 84 21 15...

Page 214: ...Specifications 214 Gocator 1100 1300 Series Envelope 400 0 21 0 250 0 72 4 103 3 2 8 19 8...

Page 215: ...Specifications 215 Gocator 1100 1300 Series Gocator 1170 1370 Top Mount Package Field of View Measurement Range 450 0 200 200 39...

Page 216: ...Specifications 216 Gocator 1100 1300 Series Dimensions 75 61 5 162 THREADED MOUNTING HOLES 4X M5X0 8 6H 10 153 40 24 5 39 30 6 49 16 3 38 8...

Page 217: ...Specifications 217 Gocator 1100 1300 Series Envelope 0 39 0 89 0 122 7 0 12 0 1 7 250 0 650 0...

Page 218: ...Specifications 218 Gocator 1100 1300 Series Gocator 1190 1390 Side Mount Package Field of View Measurement Range 1500 0 1000 1000 21...

Page 219: ...Specifications 219 Gocator 1100 1300 Series Dimensions THRU MOUNTING HOLE OPTION 3X 5 THRU ALL 277 120 98 30 15 24 49 THREADED MOUNTING HOLE OPTION 3X M6X1 0 6H THRU HOLE 263 84 21 15...

Page 220: ...Specifications 220 Gocator 1100 1300 Series Envelope 21 0 500 0 2000 0 200 1 231 4 2 7 19 9...

Page 221: ...Specifications 221 Gocator 1100 1300 Series Gocator 1190 1390 Top Mount Package Field of View Measurement Range 0 1000 1000 1500 39...

Page 222: ...Specifications 222 Gocator 1100 1300 Series Dimensions 61 5 75 289 THREADED MOUNTING HOLES 4X M5X0 8 6H 10 280 40 24 5 39 30 6 49 16 3 38 8...

Page 223: ...Specifications 223 Gocator 1100 1300 Series Envelope 0 12 0 1 6 500 0 2500 0 0 39 0 215 8 249 8...

Page 224: ...12 11 3 9 5 View Looking into the connector on the sensor GND_24 48V 1 Orange Black DC_24 48V 2 White Green Black DC_24 48V 2 Green Black Safety 3 White Blue Black Safety 4 Blue Black Sync 5 White Br...

Page 225: ...should be connected to a voltage source in the range listed below The Safety_in signal should be connected to the ground common of the source supplying the Safety_in Laser safety requirements Functio...

Page 226: ...9 14 13 3 7 11 10 8 12 6 19 17 4 1 15 18 5 16 2 View Looking into the connector on the sensor Trigger_in 2 Pink Out_1 Digital Output 0 3 Red Out_1 Digital Output 0 4 Blue Out_2 Digital Output 1 5 Tan...

Page 227: ...Collector Emitter Voltage Min Pulse Width Out_1 3 4 40 mA 70 V 20 us Out_2 5 6 40 mA 70 V 20 us Out_1 Out_1 Out_2 Out_2 Out1 V USER_GND Out2 USER_GND V R R 9 14 13 3 7 11 10 8 12 6 19 17 4 1 15 18 5...

Page 228: ...2 Trigger_in Digital Input Vdata To assert the signal the digital input voltage should be set to draw a current of 3 mA to 40 mA from Trigger_In The current that passes through Trigger_In is I Vin 1...

Page 229: ...ncoder_B 9 10 7 V 12 V 200 mV 125 mV 50 mV 1 MHz Ecnoder_Z 11 12 7 V 12 V 200 mV 125 mV 50 mV 1 MHz Gocator only supports differential RS485 signalling Both and signals must be connected Serial Output...

Page 230: ...connected to Serial_out and Serial_out2 as shown below Function Pins Serial_out data 13 14 Serial_out2 clock 15 16 Serial_out Serial_out SELCOM_SERIAL_DATA_OUTPUT SERIAL SERIAL 9 14 13 3 7 11 10 8 12...

Page 231: ...11 10 8 12 6 19 17 4 1 15 18 5 16 2 Current Mode R Analog_out Analog_out1 ANALOG_OUTPUT ANALOG ANALOG 9 14 13 3 7 11 10 8 12 6 19 17 4 1 15 18 5 16 2 Voltage Mode To configure for voltage output conne...

Page 232: ...cted directly to the Ethernet switch or connect to the Master Ethernet port If the Master Ethernet port is used connect the Master Host port to the Ethernet switch with a CAT5E Ethernet cable To use e...

Page 233: ...cifications 233 Gocator 1100 1300 Series Function Pin Encoder_Z 3 Encoder_Z 4 Encoder_A 5 Encoder_A 6 Encoder_B 7 Encoder_B 8 Encoder_GND 9 Encoder_5V 10 Master 100 Dimensions B C D D C B 84 8 77 58 3...

Page 234: ...and broadcasts system wide synchronization information i e time encoder count encoder index and digital I O states to all devices on a sensor network SENSOR PORTS 5 8 SENSOR PORTS 1 4 LED INDICATORS...

Page 235: ...er operation Encoder 8 pin connector Function Pin Encoder_A 1 Encoder_A 2 Encoder_B 3 Encoder_B 4 Encoder_Z 5 Encoder_Z 6 GND 7 5VDC 8 Master 400 800 Electrical Specifications Electrical specification...

Page 236: ...Specifications 236 Gocator 1100 1300 Series Master 400 800 Dimensions Dimensions of Master 400 and Master 800 are the same Master 400 466 7 31 8 44 483 9 44 36 89 7 99 2 295...

Page 237: ...system wide synchronization information i e time encoder count encoder index and digital I O states to all devices on a sensor network SENSOR PORTS 13 24 2400 ONLY SENSOR PORTS 1 12 LED INDICATORS GRO...

Page 238: ...onnector Function Pin Encoder_A 1 Encoder_A 2 Encoder_B 3 Encoder_B 4 Encoder_Z 5 Encoder_Z 6 GND 7 5VDC 8 Master 1200 2400 Electrical Specifications Electrical specifications for Master 1200 2400 Mas...

Page 239: ...Specifications 239 Gocator 1100 1300 Series Master 1200 2400 Dimensions Dimensions of Master 1200 and Master 2400 are the same 3 4 5 6 6 4 44 482 6 448 6 121 130 5...

Page 240: ...311165A 3R 01 T with Class 3B laser Top Mount Package 311165A 3B 01 T Gocator 1170 with Class 2M laser Top Mount Package 311170A 2M 01 T with Class 3R laser Top Mount Package 311170A 3R 01 T with Clas...

Page 241: ...Package 311165A 3R 01 S with Class 3B laser Side Mount Package 311165A 3B 01 S Gocator 1170 with Class 2M laser Side Mount Package 311170A 2M 01 S with Class 3R laser Side Mount Package 311170A 3R 01...

Page 242: ...01 T with Class 3B laser Top Mount Package 311370A 3B 01 T Gocator 1390 with Class 3B laser Top Mount Package 311390A 3B 01 T Side Mount Package Description Part Number Gocator 1320 with Class 2M lase...

Page 243: ...Number 5m shielded Gocator I O cordset open wire end 30862 10m shielded Gocator I O cordset open wire end 30863 5m shielded Gocator power and Ethernet cordset 1x open wire end 1x RJ45 end 30859 10m s...

Page 244: ...olicy Before returning the product for repair warranty or non warranty a Return Material Authorization RMA number must be obtained from LMI Please call LMI to obtain this RMA number Carefully package...

Page 245: ...to endorse or promote products derived from this software without specific prior written permission THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS AS IS AND ANY EXPRESS OR IMPLIE...

Page 246: ...OR OTHER DEALINGS IN THE SOFTWARE CodeMirror Website http codemirror net License Copyright C 2011 by Marijn Haverbeke marijnh gmail com Permission is hereby granted free of charge to any person obtain...

Page 247: ...License Copyright 2006 The Closure Library Authors All Rights Reserved Licensed under the Apache License Version 2 0 the License you may not use this file except in compliance with the License You may...

Page 248: ...com wiki display flexsdk Flex SDK License Copyright c 2010 Adobe Systems Incorporated The contents of this file are subject to the Mozilla Public License Version 1 1 the License you may not use this...

Page 249: ...om Web http www lmi3D com North America Phone 1 604 636 1011 Fax 1 604 516 8368 Europe Phone 31 45 850 7000 Fax 31 45 574 2500 For more information on safety and laser classifications please contact U...

Page 250: ...1673 Cliveden Avenue Delta BC V3M 6V5 Canada Phone 1 604 636 1011 Fax 1 604 516 8368 LMI Technologies BV Valkenburgerweg 223 NL 6419AT Heerlen The Netherlands Phone 31 45 850 7000 Fax 31 45 574 2500...

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