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Gocator Line Profile Sensors - User Manual

Protocols • Gocator Protocol • 343

For information on configuring the protocol using the Web interface, see

Ethernet Output

For information on job file structures (for example, if you wish to create job files programmatically), see

Data Types

The table below defines the data types and associated type identifiers used in this section.

All values except for IP addresses are transmitted in little endian format (least significant byte first)
unless stated otherwise. The bytes in an IP address "a.b.c.d" will always be transmitted in the order a, b,
c, d (big endian).

Type

Description

Null Value

char

Character (8-bit, ASCII encoding)

-

byte

Byte.

-

8s

8-bit signed integer.

-128

8u

8-bit unsigned integer.

255U

16s

16-bit signed integer.

-32768 (0x8000)

16u

16-bit unsigned integer.

65535 (0xFFFF)

32s

32-bit signed integer.

-2147483648 (0x80000000)

32u

32-bit unsigned integer.

4294967295 (0xFFFFFFFF)

64s

64-bit signed integer.

-9223372036854775808 (0x8000000000000000)

64u

64-bit unsigned integer.

18446744073709551615 (0xFFFFFFFFFFFFFFFF)

64f

64-bit floating point

-1.7976931348308

Point16s

Two 16-bit signed integers

-

Point64f

Two 64-bit floating point values

-

Point3d64f

Three 64-bit floating point values

-

Rect64f

Four 64-bit floating point values

-

Rect3d64f

Eight 64-bit floating point values

-

Data Types

Commands

The following sections describe the commands available on the Discovery (page 344), Control (page
347), and Upgrade (page 378) channels.

When a client sends a command over the Control or Upgrade channel, the sensor sends a reply whose
identifier is the same as the command's identifier. The identifiers are listed in the tables of each of the
commands.

Status Codes

Each reply on the Discovery, Control, and Upgrade channels contains a

status

field containing a status

code indicating the result of the command. The following status codes are defined:

«
...
341
342
343
344
345
...
»

Summary of Contents for Gocator 2100 Series

Page 1: ...USER MANUAL Gocator Line Profile Sensors 2100 2300 2400 2880 Series Firmware version 4 5 x xx Document revision A ...

Page 2: ...edium or machine 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 mentioned herein may be trademarks of their respective owners Information contained within this manual is subject to change This product is designated for use solely as a component and as such i...

Page 3: ...twork Setup 34 Client Setup 34 Gocator Setup 36 Running a Standalone Sensor System 36 Running a Dual Sensor System 37 Next Steps 39 How Gocator Works 41 3D Acquisition 41 Clearance Distance Field of View and Measurement Range 42 Resolution and Accuracy 43 X Resolution 43 Z Resolution 44 Z Linearity 44 Profile Output 46 Coordinate Systems 46 Sensor Coordinates 46 System Coordinates 47 Part and Sect...

Page 4: ...01 Alignment With and Without Encoder Calibration 101 Aligning Sensors 102 Clearing Alignment 105 Filters 105 Gap Filling 105 Median 106 Smoothing 107 Decimation 108 Surface Generation 108 Part Detection 112 Edge Filtering 115 Data Viewer 116 Data Viewer Controls 117 Video Mode 117 Exposure Information 117 Exposures 117 Overexposure and Underexposure 118 Spots and Dropouts 119 Profile Mode 120 Sec...

Page 5: ...t Region 227 Volume 227 Script 229 Script Measurement 230 Built in Functions 230 Output 235 Output Page Overview 235 Ethernet Output 236 Digital Output 240 Analog Output 242 Serial Output 244 Dashboard 247 Dashboard Page Overview 247 State and Health Information 247 Measurements 249 Gocator Emulator 250 Limitations 250 Downloading a Support File 251 Running the Emulator 252 Adding a Scenario to th...

Page 6: ...ection 286 EdgeFiltering 287 PartMatching 287 Edge 288 BoundingBox 288 Ellipse 288 Replay 289 RecordingFiltering 289 Conditions AnyMeasurement 289 Conditions AnyData 289 Conditions Measurement 290 Streams Stream Read only 290 ToolOptions 291 MeasurementOptions 291 StreamOption 291 Tools 292 Profile Types 292 ProfileFeature 292 ProfileLine 292 ProfileRegion2d 293 Surface Types 293 Region3D 293 Surf...

Page 7: ...et Default Job 356 Set Default Job 356 Get Loaded Job 357 Get Alignment Reference 357 Set Alignment Reference 358 Clear Alignment 358 Get Timestamp 359 Get Encoder 359 Reset Encoder 359 Start 360 Scheduled Start 360 Stop 361 Get Auto Start Enabled 361 Set Auto Start Enabled 361 Start Alignment 362 Start Exposure Auto set 362 Software Trigger 363 Schedule Digital Output 363 Schedule Analog Output 3...

Page 8: ...ic Object 402 Identity Object Class 0x01 402 TCP IP Object Class 0xF5 402 Ethernet Link Object Class 0xF6 402 Assembly Object Class 0x04 403 Command Assembly 403 Runtime Variable Configuration Assembly 404 Sensor State Assembly 405 Sample State Assembly 406 Implicit Messaging Command Assembly 407 Implicit Messaging Output Assembly 408 ASCII Protocol 410 Connection Settings 410 Ethernet Communicati...

Page 9: ...ting 456 Specifications 458 Sensors 458 Gocator 2100 2300 Series 458 Gocator 2320 461 Gocator 2130 and 2330 463 Gocator 2140 and 2340 465 Gocator 2342 467 Gocator 2150 and 2350 469 Gocator 2170 and 2370 472 Gocator 2375 475 Gocator 2180 and 2380 478 Gocator 2400 Series 481 Gocator 2410 483 Gocator 2420 486 Gocator 2880 Sensor 489 Gocator 2880 490 Sensor Connectors 493 Gocator Power LAN Connector 4...

Page 10: ...Gocator Line Profile Sensors User Manual 10 Return Policy 515 Software Licenses 516 Support 522 Contact 523 ...

Page 11: ...mation on the device s protocols and job files The documentation applies to the following sensors l Gocator 2100 series l Gocator 2300 series l Gocator 2400 series l Gocator 2880 B revision Gocator sensors are only supported by firmware version 4 3 or later C revision Gocator sensors are only supported by firmware version 4 5 or later Notational Conventions This documentation uses the following no...

Page 12: ...te safety items that the customer may be required to provide in their own equipment e g remote interlocks key control refer to the references below for detailed 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 adjustments or performance of procedures other than those specif...

Page 13: ...han for 3B lasers Eye protection and protective clothing are not required The laser beam must be terminated at the end of an appropriate path Avoid unintentional reflections Personnel must be trained in working with laser equipment Class 3B laser components Class 3B components are unsafe for eye exposure Usually only eye protection is required Protective gloves may also be used Diffuse reflections...

Page 14: ...quired for operator and maintenance personnel Required for operator and maintenance personnel LMI Class 3B laser components do not incorporate these laser safety items These items must be added and completed by customers in their system design For more information see Class 3B Responsibilities below Class 3B Responsibilities LMI Technologies has filed reports with the FDA to assist customers in ac...

Page 15: ...ugh protective eyewear Warning Signs Laser warning signs must be located in the vicinity of the sensor such that they will be readily observed Examples of laser warning signs are as follows FDA warning sign example IEC warning sign example Nominal Ocular Hazard Distance NOHD Nominal Ocular Hazard Distance NOHD is the distance from the source at which the intensity or the energy per surface unit be...

Page 16: ... a specific laser class use the following formula NOHD Model Constant MPE Model Constant includes a consideration of the fan angle for the individual models Systems Sold or Used in the USA Systems that incorporate laser components or laser products manufactured by LMI Technologies require certification by the FDA Customers are responsible for achieving and maintaining this certification Customers ...

Page 17: ... should not be handled while the sensor is powered Doing so may cause electrical shock to the user or damage to the equipment Handling Cleaning and Maintenance Dirty or damaged sensor windows emitter or camera can affect accuracy Use caution when handling the sensor or cleaning the sensor s windows Keep sensor windows clean Use dry clean air to remove dust or other dirt particles If dirt remains c...

Page 18: ...conditions are within specifications Gocator sensors are suitable for operation between 0 50 C and 25 85 relative humidity non condensing Measurement error due to temperature is limited to 0 015 of full scale per degree C The Master 400 800 1200 2400 is similarly rated for operation between 0 50 C The storage temperature is 30 70 C The sensor must be heat sunk through the frame it is mounted to Wh...

Page 19: ... sensors can be installed and used in a variety of scenarios Sensors can be connected as standalone devices dual sensor systems or multi sensor systems Standalone System Standalone systems are typically used when only a single Gocator sensor is required The sensor can be connected to a computer s Ethernet port for setup and can also be connected to devices such as encoders photocells or PLCs ...

Page 20: ...ombined results The controlling sensor is referred to as the Main sensor and the other sensor is referred to as the Buddy sensor Gocator s software recognizes three installation orientations Opposite Wide and Reverse A Master 400 800 1200 2400 must be used to connect two sensors in a dual sensor system Gocator Power and Ethernet to Master cordsets are used to connect sensors to the Master ...

Page 21: ...ets are used to connect the sensors to a Master The Master provides a single point of connection for power safety encoder and digital inputs A Master 400 800 1200 2400 can be used to ensure that the scan timing is precisely synchronized across sensors Sensors and client computers communicate via an Ethernet switch 1 Gigabit s recommended Master 400 800 1200 2400 networking hardware does not suppor...

Page 22: ... 1000 Mbit s Ethernet network Power Indicator Illuminates when power is applied blue Range Indicator Illuminates when camera detects laser light and is within the target range green Laser Indicator Illuminates when laser safety input is active amber Serial Number Unique sensor serial number Gocator Cordsets Gocator sensors use two types of cordsets The Power Ethernet cordset provides power laser s...

Page 23: ...tact LMI for information on creating cordsets with customized lengths and connector orientations Master 100 The Master 100 is used by Gocator sensors for standalone system setup that is a single sensor 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 Po...

Page 24: ... the Master 800 allow you to connect more than two sensors The Master 400 accepts four sensors and the Master 800 accepts eight sensors Item Description Sensor Ports Master connection for Gocator sensors no specific order required Ground Connection Earth ground connection point Laser Safety Laser safety connection Encoder Accepts encoder signal Input Accepts digital input See Master 400 800 on pag...

Page 25: ...r pinout details Calibration Targets Targets are used for alignment and calibrating encoder systems Disks are typically used with systems containing a single sensor and can be ordered from LMI Technologies When choosing a disk for your application select the largest disk that fits entirely within the required field of view See Accessories on page 513 for disk part numbers For wide multi sensor sys...

Page 26: ...Gocator Line Profile Sensors User Manual Getting Started Hardware Overview 26 See Aligning Sensors on page 102 for more information on alignment ...

Page 27: ...er to ensure electrical continuity between the mounting frame and the Gocator s connectors The frame or electrical cabinet that the Gocator is mounted to must be connected to earth ground Recommended Grounding Practices Cordsets If you need to minimize interference with other equipment you can ground the Power Ethernet or the Power Ethernet to Master cordset depending on which cordset you are usin...

Page 28: ...d 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 458 for the appropriate screw diameter pitch and length and bolt hole diameter Proper care should be taken in order to ensure that the internal threads are not damaged from cross threading or im...

Page 29: ...n 15 C Gocator sensors are high accuracy devices The temperature of all of its components must be in equilibrium When the sensor is powered up a warm up time of at least one hour is required to reach a consistent spread of temperature within the sensor Orientations The examples below illustrate the possible mounting orientations for standalone and dual sensor systems See System Layout on page 68 f...

Page 30: ...s User Manual Getting Started Installation 30 Single sensor on robot arm Dual Sensor System Orientations Side by side for wide area measurement Wide Main must be on the left side when looking into the connector of the Buddy Wide ...

Page 31: ...or more information on setting up a dual sensor system see http lmi3d com sites default files APPNOTE_Gocator_2300_Gocator_4 x_Dual_Sensor_Setup_ Guide pdf Rut Scanning System Setup The following sections describe how to set up a Gocator 2375 rut scanning system Layout The Gocator 2375 sensor is designed to cover a scan width of up to 4 2 m by using 8 sensors mounted in parallel ...

Page 32: ...r LAN connector on the sensor 2 Connect the RJ45 jack labeled Power to an unused port on the Master 3 Connect the RJ45 jack labeled Ethernet to an unused port on the Master 4 Repeat the steps above for each sensor See Master 400 800 on page 501 and Master 1200 2400 on page 507 for more information on how to install a Master Software Configuration Each sensor is shipped with a default IP address of...

Page 33: ...this layout each sensor can be independently controlled by the SDK The following application notes explain how to operate a multi sensor system using the SDK APPNOTE_Gocator_4 x_Multi_Sensor_Guide zip Explains how to use the SDK to create a multi sensor system and multiplex their timing Gocator 2000 2300_appnote_multi sensor alignment calibration zip Explains how to use the SDK to perform alignmen...

Page 34: ...uration Setting Default DHCP Disabled IP Address 192 168 1 10 Subnet Mask 255 255 255 0 Gateway 0 0 0 0 All Gocator sensors are configured to 192 168 1 10 as the default IP address For a dual sensor system the Main and Buddy sensors must be assigned unique addresses before they can be used on the same network Before proceeding connect the Main and Buddy sensors one at a time to avoid an address co...

Page 35: ... Networking tab click Internet Protocol Version 4 TCP IPv4 and then click Properties d Select the Use the following IP address option e Enter IP Address 192 168 1 5 and Subnet Mask 255 255 255 0 then click OK Mac OS X v10 6 a Open the Network pane in System Preferences and select Ethernet b Set Configure to Manually c Enter IP Address 192 168 1 5 and Subnet Mask 255 255 255 0 then click Apply See ...

Page 36: ...r The power indicator blue should turn on immediately 2 Enter the sensor s IP address 192 168 1 10 in a web browser The Gocator interface loads If you have set the Administrator password you will be prompted to provide it and then log in 3 Go to the Manage page 4 Ensure that Replay mode is off the slider is set to the left Replay mode disables measurements 5 Ensure that the Laser Safety Switch is ...

Page 37: ... default IP address of 192 168 1 10 Ethernet networks require a unique IP address for each device so you must set up a unique address for each sensor To configure a dual sensor system 1 Turn off the sensors and unplug the Ethernet network connection of the Main sensor All sensors are shipped with a default IP address of 192 168 1 10 Ethernet networks require a unique IP address for each device Ski...

Page 38: ...ycled before the change will take effect 7 Enter the sensor s IP address 192 168 1 10 in a web browser The Gocator interface loads 8 Select the Manage page 9 Go to Manage page Sensor System panel and select the Visible Sensors panel The serial number of the Buddy sensor is listed in the Available Sensors panel 10 Select the Buddy sensor and click the Assign button The Buddy sensor will be assigned...

Page 39: ...the shape of the target and the sensor s range indicator will illuminate If you cannot see the laser or if a profile is not displayed in the Data Viewer see Troubleshooting on page 456 16 Press the Stop button if you used the Start button to start the sensors The laser should turn off Next Steps After you complete the steps in this section the Gocator measurement system is ready to be configured f...

Page 40: ... their settings Output page 235 Contains settings for configuring output protocols used to communicate measurements to external devices Dashboard page 247 Provides monitoring of measurement statistics and sensor health Toolbar page 56 Controls sensor operation manages jobs and replays recorded measurement data ...

Page 41: ...turing 3D data The sensor s camera views the laser line on the target from an angle and captures the reflection of the laser light off the target The camera captures a single 3D profile a slice in a sense for each camera exposure The reflected laser light falls on the camera at different positions depending on the distance of the target from the sensor The sensor s laser emitter its camera and the...

Page 42: ...learance distance CD field of view FOV and measurement range MR are important concepts for understanding the setup of a Gocator sensor and for understanding results Clearance distance The minimum distance from the sensor that a target can be scanned and measured A target closer than this distance will result in invalid data Measurement range The vertical distance starting at the end of the clearan...

Page 43: ...r of camera columns used to cover the field of view FOV at a particular measurement range Because the FOV is trapezoidal shown in red below the distance between points is closer at the near range than at the far range This is reflected in the Gocator data sheet as the two numbers quoted for X resolution X Resolution is important for understanding how accurately width on a target can be measured Wh...

Page 44: ... point with the target at a fixed position limits Z resolution This variability is caused by camera and sensor electronics Like X resolution Z resolution is better closer to the sensor This is reflected in the Gocator data sheet as the two numbers quoted for Z resolution Z Linearity Z linearity is the difference between the actual distance to the target and the measured distance to the target thro...

Page 45: ...Gocator Line Profile Sensors User Manual How Gocator Works 3D Acquisition 45 Z linearity is expressed in the Gocator data sheet as a percentage of the total measurement range ...

Page 46: ...rdinates depending on the alignment state The coordinate systems are described below Sensor Coordinates Unaligned sensors use the coordinate system shown below The measurement range MR is along the Z axis Values increase toward the sensor The sensor s field of view FOV is along the X axis The origin is at the center of the MR and FOV In Surface data the Y axis represents the relative position of t...

Page 47: ...set in Gocator using either the Normal or Reverse layout For more information see System Layout on page 68 System Coordinates Aligning sensors adjusts the coordinate system in relation to sensor coordinates Alignment is used with a single sensor to compensate for mounting misalignment and to set a zero reference such as a conveyor belt surface ...

Page 48: ...rs User Manual How Gocator Works Profile Output 48 Alignment is also used to set a common coordinate system for dual sensor systems That is profiles and measurements from the sensors are expressed in a unified coordinate system ...

Page 49: ...is set to the base of the alignment target object The tilt angle is positive when rotating from the X to the Z axis As with sensor coordinates Y position increases as the object moves forward increasing encoder position The orientation of the Y axis is unaffected by alignment For more information on aligning sensors see Alignment on page 101 Part and Section Coordinates When you work with parts or...

Page 50: ...ther than part or section relative coordinates Gocator provides special global measurements in the Bounding Box tools that you can use in Gocator scripts to convert from part or section coordinates to sensor system coordinates For more information see the Profile Bounding Box tool or the Surface Bounding Box tool and the Script tool Uniform Spacing Data Resampling Data produced in Profile mode is ...

Page 51: ...acing For more information on the profile tools see Profile Measurement on page 161 When uniform spacing is enabled in the Ethernet output only the range values Z are reported and the X positions can be reconstructed through the array index at the receiving end the client For more information on Ethernet output see Ethernet Output on page 236 For information on enabling uniform spacing see Scan Mo...

Page 52: ...ans representing parts Gocator can then perform measurements on these isolated parts Part detection is useful when measurements on individual parts are needed and for robotic pick and place applications For more information on part detection see Part Detection on page 112 Sectioning In Surface mode Gocator can also extract a profile from a surface or part using a line you define on that surface or...

Page 53: ...eviously scanned part see Using Edge Detection on page 131 or to the dimensions of a fitted bounding box or ellipse that encapsulate the model see Using Bounding Box and Ellipse on page 140 When parts match Gocator can rotate scans so that they are all oriented in the same way This allows measurement tools to be applied consistently to parts regardless of the orientation of the part you are trying...

Page 54: ...d consequently avoids many measurement errors For more information on anchoring see Measurement Anchoring on page 157 Output and Digital Tracking After Gocator has scanned and measured parts the last step in the operation flow is to output the results and or measurements One of the main functions of Gocator sensors is to produce pass fail decisions and then control something based on that decision...

Page 55: ...scription 1 Manage page Contains settings for sensor system layout network motion and alignment handling jobs and sensor maintenance See System Management and Maintenance on page 67 2 Scan page Contains settings for scan mode trigger source detailed sensor configuration and performing alignment See Scan Setup and Alignment on page 82 3 Model page Lets you set up part matching See Models on page 12...

Page 56: ... other information and frame information and lets you switch the interface language For more information Toolbar The toolbar is used for performing operations such as managing jobs working with replay data and starting and stopping the sensor Element Description 1 Job controls For saving and loading jobs 2 Replay data controls For downloading uploading and exporting recorded data 3 Sensor operatio...

Page 57: ... the alignment procedure when Alignment Reference is set to Fixed When Alignment Reference is set to Dynamic however you must manually save the job to save alignment Network Address Network address changes are saved when you click the Save button in Networking on the Manage page The sensor must be reset before changes take effect The job drop down list in the toolbar shows the jobs stored in the s...

Page 58: ...off To record live data 1 Toggle Replay mode off by setting the slider to the left in the Toolbar Replay mode disables measurements 2 Optional Configure recording filtering For more information on recording filtering see Recording Filtering on page 60 3 Click the Record button to enable recording The center of the Record button turns red When recording is enabled and replay is off the sensor will ...

Page 59: ...cific replay frame To simulate measurements on replay data 1 Toggle Replay mode on by setting the slider to the right in the Toolbar The slider s background turns blue and a Replay Mode Enabled message is displayed To change the mode Replay Protection must be unchecked 2 Go to the Measure page Modify settings for existing measurements add new measurement tools or delete measurement tools as desire...

Page 60: ...ecords a frame when any measurement is in the state you select The following states are supported l pass l fail or invalid l fail and valid l valid l invalid Single Measurement Gocator records a frame if the measurement with the ID you specify in ID is in the state you select This setting supports the same states as the Any Measurement setting see above Any Data At Above Threshold Gocator records ...

Page 61: ...en you run the sensor Gocator only records the frames that satisfy the conditions you have set Downloading Uploading and Exporting Replay Data Replay data recorded scan data can be downloaded from a Gocator to a client computer or uploaded from a client computer to a Gocator Data can also be exported from a Gocator to a client computer in order to process the data using third party tools You can o...

Page 62: ...t job the firmware asks whether you want to discard the changes 3 Do one of the following l Click Discard to discard any unsaved changes l Click Cancel to return to the main window to save your changes 4 If you clicked Discard navigate to the replay data to upload from the client computer and click OK The replay data is loaded and a new unsaved untitled job is created Replay data can be exported u...

Page 63: ...d intensity data can be exported to a bitmap BMP format Acquire Intensity must be checked in the Scan Mode panel while data was being recorded in order to export intensity data To export recorded intensity data to the BMP format l Click the Export button and select Intensity data as BMP Only the intensity data in the current replay location is exported Use the playback control buttons to move to a...

Page 64: ...mode page 83 the data viewer can display video images profiles sections or surfaces For details see Data Viewer on page 116 When the Measure page is active the data viewer displays sensor data onto which representations of measurement tools and their measurements are superimposed For details see Data Viewer on page 151 Because Gocator 2880 has two cameras two profiles are displayed in the Gocator ...

Page 65: ...owing information is available Frame Index Displays the index in the data buffer of the current frame The value resets to 0 when the sensor is restarted or when recording is enabled Master Time Displays the recording time of the current frame with respect to when the sensor was started Encoder Index Displays the encoder index of the current frame Timestamp Displays the timestamp the current frame ...

Page 66: ...rofile Sensors User Manual Gocator Web Interface User Interface Overview 66 The Gocator interface reloads on the page you were working in displaying the page using the language you chose The sensor state is preserved ...

Page 67: ...g sensor system and layout and boot up See Sensor System on the next page 2 Networking Contains settings for configuring the network See Networking on page 72 3 Motion and Alignment Contains settings to configure the encoder See Motion and Alignment on page 72 4 Jobs Lets you manage jobs stored on the sensor See Jobs on page 74 5 Security Lets you change passwords See Security on page 76 6 Mainten...

Page 68: ...ser ranging profiling and measurement functions will begin automatically when the sensor is powered on Autostart must be enabled if the sensor will be used without being connected to a computer To enable disable Autostart 1 Go to the Manage page and click on the Sensor System category 2 Check uncheck the Autostart option in the Main section System Layout Mounting orientations must be specified for...

Page 69: ...t Buddy positions for a larger combined field of view Sensors may be angled to avoid occlusions Reverse Sensors are mounted in a left right layout as with the Wide layout but the Buddy sensor is mounted such that it is rotated 180 degrees around the Z axis to prevent occlusion along the Y axis Sensors should be shifted along the Y axis so that the laser lines align Opposite Sensors are mounted in ...

Page 70: ...In a dual sensor system the Main sensor controls a second sensor called the Buddy sensor after the Buddy sensor is assigned to the Main sensor You configure both sensors through the Main sensor s interface Main and Buddy sensors must be assigned unique IP addresses before they can be used on the same network Before proceeding connect the Main and Buddy sensors one at a time to avoid an address con...

Page 71: ... option can be used to eliminate laser interference This setting creates a time offset for laser exposures and ensures that interfering lasers are not strobed at the same time Using the Exposure Multiplexing option may reduce the maximum frame rate To enable disable exposure multiplexing 1 Go to the Manage page and click on the Sensor System category 2 In the Layout section check uncheck the Expos...

Page 72: ...be configured to match the network to which the Gocator sensors are connected To configure the network settings 1 Go to the Manage page 2 In the Networking category specify the Type IP Subnet Mask and Gateway settings The Gocator sensor can be configured to use DHCP or assigned a static IP address 3 Click on the Save button You will be prompted to confirm your selection Motion and Alignment The Mo...

Page 73: ...This is typically used when the sensor s position relative to the object scanned is always changing for example when the sensor is mounted on a robot arm moving to different scanning locations To configure alignment reference 1 Go to the Manage page and click on the Motion and Alignment category 2 In the Alignment section choose Fixed or Dynamic in the Alignment Reference drop down Encoder Resolut...

Page 74: ...e encoder is correctly wired to the Gocator and to manually calibrate encoder resolution that is by moving the conveyor system a known distance and making a note of the encoder value at the start and end of movement Travel Speed The Travel Speed setting is used to correctly scale scans in the direction of travel in systems that lack an encoder but have a conveyor system that is controlled to move ...

Page 75: ...any unsaved changes Delete button Deletes the job that is selected in the job list Set as Default button Sets the selected job as the default to be loaded when the sensor starts When the default job is selected this button is used to clear the default Download button Downloads the selected job to the client computer Upload button Uploads a job from the client computer Jobs can be loaded currently ...

Page 76: ...t 1 Go to the Manage page and click on the Jobs category 2 Select a job in the Jobs list 3 Click on the appropriate button for the operation Security You can prevent unauthorized access to a Gocator sensor by setting passwords Each sensor has two accounts Administrator and Technician Gocator Account Types Account Description Administrator The Administrator account has privileges to use the toolbar...

Page 77: ...e the password for the Technician account 1 Go to the Manage page and click on the Security category 2 In the Technician section enter the Technician account password and password confirmation 3 Click Change Password The new password will be required the next time that a technician logs in to the sensor If the administrator or technician password is lost the sensor can be recovered using a special...

Page 78: ...ckup button under Backup and Restore 3 When you are prompted save the backup Backups are saved as a single archive that contains all of the files from the sensor To restore from a backup 1 Go to the Manage page and click on the Maintenance category 2 Click the Restore button under Backup and Restore 3 When you are prompted select a backup file to restore The backup file is uploaded and then used t...

Page 79: ... the firmware is available follow the instructions to download it to the client computer If the client computer is not connected to the Internet firmware can be downloaded and transferred to the client computer by using another computer to download the firmware from LMI s website http www lmi3D com support downloads To upgrade the firmware 1 Go to the Manage page and click on the Maintenance categ...

Page 80: ...eate a scenario in the Gocator emulator for more information on the emulator see Gocator Emulator on page 250 LMI s support staff may also request a support file to help in troubleshooting To download a support file 1 Go to the Manage page and click on the Support category 2 In Filename type the name you want to use for the support file When you create a scenario from a support file in the emulato...

Page 81: ...thin the Web interface You may need to configure your browser to allow pop ups to open or download the manual To access the manuals 1 Go to the Manage page and click on the Support category 2 Next to User Manual click one of the following l Open HTML Opens the HTML version of the manual in your default browser l Download PDF Downloads the PDF version of the manual to the client computer Software D...

Page 82: ...de Video Profile or Surface and other options See Scan Modes on the next page 2 Trigger panel Contains trigger source and trigger related settings See Triggers on page 84 3 Sensor panel Contains settings for an individual sensor such as active area or exposure See Sensor on page 89 4 Alignment panel Used to perform alignment See Alignment on page 101 5 Filters panel Contains settings for post proc...

Page 83: ...lization Active Area page 89 Exposure page 93 Job Files page 270 Specify mounting orientations System Layout page 68 Calibrate the system so that laser profile data can be aligned to a common reference and values can be correctly scaled in the axis of motion Aligning Sensors page 102 Set up the part detection logic to create discrete objects from surfaces or profiles Part Detection page 112 Specif...

Page 84: ...option is not available Acquire Intensity When this option is enabled an intensity value will be produced for each laser profile point Triggers A trigger is an event that causes a sensor to take a single picture Triggers are configured in the Trigger panel on the Scan page When a trigger is processed the laser is strobed and the camera exposes to produce an image The resulting image is processed i...

Page 85: ...e Description Ignore Backward 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 the next scan Bi directional A scan is triggered when the target object moves forward or backward ...

Page 86: ... at a frequency higher than the maximum frame rate some triggers may not be accepted The Trigger Drops Indicator in the Dashboard page can be used to check for this condition See Digital Input on page 496 for more information on connecting external input to Gocator sensors Software A network command can be used to send a software trigger See Protocols on page 342 for more information For examples ...

Page 87: ...gering can be used to produce a snapshot for profile measurement For example a photocell can be connected as an external input to generate a trigger pulse when a target object has moved into position An external input can also be used to gate the trigger signals when time or encoder triggering is used For example a photocell could generate a series of trigger pulses as long as there is a target in...

Page 88: ...riggers only when the external input is asserted This setting is not displayed when Surface Generation is set to Fixed Length Variable Length or Rotational see on page 108 See See Digital Input on page 496 for more information on connecting external input to Gocator sensors Behavior Encoder Specifies how the Gocator sensor is triggered when the target moves Can be Track Backward Ignore Backward or...

Page 89: ...ng on the panel header 3 Select the trigger source from the drop down 4 Configure the settings See the trigger parameters above for more information 5 Save the job in the Toolbar by clicking the Save button Sensor The following sections describe the settings that are configured in the Sensor panel on the Scan page Active Area Active area refers to the region within the sensor s maximum field of vi...

Page 90: ...r each sensor 5 Click on the Active Area tab 6 Click the Select button 7 Click the Acquire button to see a scan while setting the active area 8 Set the active area Enter the active area values in the edit boxes or adjust the active area graphically in the data viewer 9 Click the Save button in the Sensor panel Click the Cancel button to cancel setting the active area 10 Save the job in the Toolbar...

Page 91: ...d in road or web scanning applications where the target is a continuous flat surface A laser line remains tracked as long as the percentage of detected laser points exceeds the user defined search threshold When the sensor loses track of the laser line the sensor will search for the laser line using the full active area To enable the tracking window 1 Go to the Scan page 2 Choose Profile or Surfac...

Page 92: ...the tracking window so that the area is centered around the average height of the entire visible laser profile You should adjust the lighting and the active area to remove all background objects such as the conveyor belt surface ambient lights etc Transformations The transformation settings are used to control how profiles are converted from sensor coordinates to system coordinates Parameter Descr...

Page 93: ...on dark or distant surfaces but increasing exposure time decreases the maximum speed Different target surfaces may require different exposures for optimal results Gocator sensors provide three exposure modes for the flexibility needed to scan different types of target surfaces Exposure Mode Description Single Uses a single exposure for all objects Used when the surface is uniform and is the same f...

Page 94: ...e is used when the target surface is uniform and is the same for all parts To enable single exposure 1 Place a representative target in view of the sensor The target surface should be similar to the material that will normally be measured 2 Go to the Scan page 3 Expand the Sensor panel by clicking on the panel header or the button 4 Click the button corresponding to the sensor you want to configur...

Page 95: ...changes from scan to scan To enable dynamic exposure 1 Go to the Scan page 2 Expand the Sensor panel by clicking on the panel header or the button 3 Click the button corresponding to the sensor you want to configure The button is labeled Top Bottom Top Left or Top Right depending on the system Exposure is configured separately for each sensor 4 Click the Exposure tab 5 Select Dynamic from the Expo...

Page 96: ...r For example if two exposures are selected then the speed will be half of the single exposure frame rate The sensor will perform a complete multi exposure scan for each external input or encoder trigger The resulting profile is a composite created by combing data collected with different exposures The sensor will choose profile data that is available from the lowest numbered exposure step It is r...

Page 97: ...ampling reduces the number of camera columns or rows that are used for laser profiling reducing the resolution Reducing the resolution increases speed or reduces CPU usage while maintaining the sensor s field of view Sub sampling can be set independently for the X axis and Z axis The X sub sampling setting is used to decrease the profile s X resolution to decrease sensor CPU usage The X setting wo...

Page 98: ...ally increases the maximum frame rate A larger interval also reduces the data output rate For more information on resampled data see Uniform Spacing Data Resampling on page 50 The Uniform Spacing option must be checked in the Scan Mode panel for the Spacing Interval option to be displayed You can set the spacing interval either to one of three presets or set a custom value To configure the spacing...

Page 99: ...e 7 Select a spacing interval level 8 Save the job in the Toolbar by clicking the Save button Material Profile data acquisition can be configured 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 For Gocator 2380 sensors revision B or late...

Page 100: ...they are left as is This option is only available if Uniform Spacing is disabled in the Scan Mode panel on the Scan page for more information on uniform spacing see Uniform Spacing Data Resampling on page 50 Analog Analog camera gain can be used when the application is severely exposure limited yet dynamic range is not a critical factor Digital Digital camera gain can be used when the application ...

Page 101: ...ent States A Gocator can be in one of three alignment states None Manual or Auto State Explanation None Sensor is not aligned Profiles are reported in default sensor coordinates Manual Transformations see on page 92 or encoder resolution see on page 87 have been manually edited Auto Sensor is aligned using the alignment procedure see on the next page Alignment State An indicator on the Alignment p...

Page 102: ...ensor coordinates to system coordinates Aligning Sensors Alignment can be used to compensate for mounting inaccuracies by aligning sensor data to a common reference surface often a conveyor belt To prepare for alignment 1 Choose an alignment reference in the Manage page if you have not already done so See Alignment Reference on page 73 for more information 2 Go to the Scan page 3 Choose Profile or...

Page 103: ...nsor 5 Click the Align button The sensors will start and the alignment process will take place Alignment is performed simultaneously for all sensors If the sensors do not align check and adjust the exposure settings page 93 Alignment uses the exposure defined for single exposure mode regardless of the current exposure mode 6 Use Profile mode to inspect alignment results Laser profiles from all sen...

Page 104: ...s will start and then wait for the calibration target to pass through the laser plane Alignment is performed simultaneously for all sensors If the sensors do not align check and adjust the exposure settings page 93 Alignment uses the exposure defined for single exposure mode regardless of the current exposure mode 8 Engage the transport system When the calibration target has passed completely thro...

Page 105: ...lowing types of filters are supported Filter 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 Median Substitutes the value of a data point with the median within ...

Page 106: ...rofile or Surface mode in the Scan Mode panel If one of these modes is not selected you will not be able to configure gap filling 3 Expand the Filters panel by clicking on the panel header or the button 4 Click on the Gap Filling tab 5 Enable the X or Y setting and select the maximum width value The value represents the maximum gap width that the Gocator will fill Gaps wider than the maximum width...

Page 107: ...n 7 Check that the laser profiling is satisfactory Smoothing Smoothing works by substituting a data point value with the average value of that data point and its nearest neighbors within a specified window Smoothing can be applied along the X axis or the Y axis X smoothing works by calculating a moving average across samples within the same profile Y smoothing works by calculating a moving average...

Page 108: ...t For example by setting X to 2 only points every 2 millimeters will be used To configure X or Y decimation 1 Go to the Scan page 2 Choose Profile or Surface mode in the Scan Mode panel If one of these modes is not selected you will not be able to configure the decimation filter 3 Expand the Filters panel by clicking on the panel header or the button 4 Click on the Decimation tab 5 Enable the X or...

Page 109: ...f the settings that control detection logic Continuous The sensor continuously generates surfaces of parts that are detected under the sensor Fixed Length The sensor generates surfaces of a fixed length in mm using the value in the Length setting For correct length measurement you should ensure that motion is calibrated that is encoder resolution for encoder triggers or travel speed time triggers ...

Page 110: ...length Profiles collected while the external digital input is held high are combined to form a surface If the value of the Max Length setting is reached while external input is still high the next surface starts immediately with the next profile For correct length measurement you should ensure that motion is calibrated i e encoder resolution for encoder triggers or travel speed for time triggers F...

Page 111: ...on of a circular target without knowing the circumference manually set the encoder resolution page 73 to 1 the encoder trigger spacing page 84 to number of encoder ticks per revolution number of desired profiles per revolution and Encoder Resolution in the Surface Generation panel to the number of encoder ticks per revolution You can optionally enable part detection to process the surface after it...

Page 112: ...the Part Detection panel on the Scan page Part detection must be manually enabled when Type is set to Fixed Length Variable Length or Rotational in the Surface Generation panel When Type is set to Continuous part detection is always enabled Part detection can be performed when Source in the Trigger panel is set to Time or Encoder To use the Time trigger source the travel speed must be calibrated T...

Page 113: ...ly one of either top or bottom is detected To separate parts by gated external input set the Height Threshold to the active area Z offset i e minimum Z position of the current active area set Source to Time or Encoder and check the Gate Using External Input checkbox in the Trigger panel page 84 Threshold Direction Determines if parts should be detected above or below the height threshold Gap Width...

Page 114: ... Continuous measurement values are relative to a Y origin at the center of the part the same as for Part frame of reference see below l When parts are segmented from other types of surfaces the surface generation Type setting is set to Fixed Length Variable Length or Rotational measurement values are relative to a Y origin at the center of the surface from which the part is segmented The Surface B...

Page 115: ...Part scans sometimes contain noise around the edges of the target This noise is usually caused by the sensor s light being reflected off almost vertical sides rounded corners etc Edge filtering helps reduce edge noise in order to produce more accurate and repeatable volume and area measurements as well as to improve positioning of relative measurement regions Optionally the Preserve Interior Featu...

Page 116: ...ength or Rotational Part detection is automatically enabled when Type is set to Continuous 3 Check the Edge Filtering checkbox to enable edge filtering 4 Configure the Width and Length settings The Width and Length settings represent the size of the filter on the X axis and the Y axis respectively 5 Set the Preserve Interior Feature setting if necessary The Preserve Interior Feature setting limits...

Page 117: ...es from the Main or the Buddy sensor can be displayed In this mode you can configure the data viewer to display additional information that can be useful in properly setting up the Gocator for scanning Exposure Information In Video mode you can display exposure related information Exposures If you have set Exposure Mode to Multiple and have set more than one exposure a drop down is displayed at th...

Page 118: ...Mode panel 2 Select the camera view in the data viewer Use the first drop down list next to View at the top of the data viewer to select Main or Buddy 3 Select the exposure Use the second drop down list next to View at the top of the data viewer to select the exposure Overexposure and Underexposure You can display a color exposure overlay on the video image to help set the correct exposure ...

Page 119: ...Go to the Scan page and choose Video mode in the Scan Mode panel 2 Check Exposure at the top of the data viewer Spots and Dropouts Various settings can affect how the Material settings behave In Video mode you can examine how the Material settings are affected To do this in Video mode check the Show Spots option at the top of the data viewer to overlay a representation of the spots in the data vie...

Page 120: ...ta dropouts 1 Go to the Scan page and choose Video mode in the Scan Mode panel 2 check the Show Dropouts option at the top of the data viewer For more information on the material settings see Material on page 99 Profile Mode When the Gocator is in Profile scan mode the data viewer displays profile plots ...

Page 121: ...automatically sets the display to the most appropriate display view To manually select the display view in the Scan page 1 Go to the Scan page 2 Choose Profile mode in the Scan Mode panel 3 Select the view Top View from a single sensor from the top sensor in an opposite layout dual sensor system or the combined view of sensors that have been aligned to use a common coordinate system Bottom View fr...

Page 122: ...oordinate systems of each sensor In the Measure page the view of the display is set to the profile source of the selected measurement tool Section Mode When the Gocator is in Surface scan mode the data viewer can display sections profiles extracted from surfaces In a dual sensor system profiles from individual sensors or from a combined view can be displayed When in the Scan page selecting a panel...

Page 123: ...coordinate systems of each sensor 1 Go to the Scan page 2 Choose Surface mode in the Scan Mode panel 3 Just above the data viewer choose Section in the View drop down The view from an individual sensor or the combined view of two sensors can be selected from the drop down list at the top of the data viewer Top View from a single sensor from the top sensor in an opposite layout dual sensor system o...

Page 124: ...do color height map on the 3D model Surface Grayscale In 2D view displays the grayscale height map In 3D view overlays the grayscale height map on the 3D model Surface Uniform Overlays a uniform shaded surface on the 3D model Only available in 3D view Surface Intensity In 2D view displays the intensity In 3D view overlays the intensity map on the 3D model Acquire Intensity must be checked in the S...

Page 125: ...will switch the data viewer out of the 3D viewer and display the profile plot If you have defined any sections a Sections option will display Clicking the 3D button toggles between the 2D and 3D viewer The 3D model is overlaid with the information that corresponds to the selected View option 3D viewer with height map overlay 3D viewer with grayscale overlay ...

Page 126: ...ensors or from a combined view can be selected While in the Scan page selecting a panel e g Sensor or Part Detection panel will automatically set the display to the most appropriate display type and display view To manually select the display type and the display view in the Scan page 1 Go to the Scan page 2 Select the View options in the data viewer Profile Heightmap Grayscale Uniform or Intensit...

Page 127: ...ge drop down and adjust the yellow region box in the data viewer to the desired location and size l To manually set the scale choose the Manual in the Range drop down and enter the minimum and maximum height to which the colors will be mapped Region Definition Regions such as an active area or a measurement region can be graphically set up using the data viewer When the Scan page is active the dat...

Page 128: ...the rectangle to move it and use the handles on the rectangle s border to resize it Intensity Output Gocator sensors can produce intensity images that measure the amount of light reflected by an object An 8 bit intensity value is output for each range value along the laser line Gocator applies the same coordinate system and resampling logic as the ranges to the intensity values Intensity output is...

Page 129: ... Interface Models 129 Models The following sections describe how to set up part matching using a model a bounding box or an ellipse It also describes how to configure sections Model Page Overview The Model page lets you set up part matching and sections ...

Page 130: ...e the model see Using Bounding Box and Ellipse on page 140 When parts match Gocator can rotate scans so that they are all oriented in the same way This allows measurement tools to be applied consistently to parts regardless of the orientation of the part you are trying to match When the match quality between a model and a part reaches a minimum value a percentage or the bounding box or ellipse tha...

Page 131: ...an edge detection algorithm on either the heightmap or intensity image of a scanned part The resulting model is made up of the detected edge points The scan used to create the model should be of a reference or golden part to which all other parts will be compared After the model has been created you optionally modify the model by adjusting the sensitivity how many edge points are detected or selec...

Page 132: ... or intensity data 3 Adjust the model edge detection algorithm sensitivity and selective removal of edge points 4 Scan another part typical of the parts that would need to match the model 5 Adjust the target sensitivity 6 Set match acceptance level Part Matching panel showing Target Matching tab Model Editing tab on Part Matching panel The following settings are used to configure part matching usi...

Page 133: ...n higher performance Use this setting to exclude noise from the detected edges and to make sure distinguishing features are properly detected The level of this setting should generally be similar to the level of Model Sensitivity Model Sensitivity Model Editing tab Controls the threshold at which an edge point is detected on the heightmap or intensity image used to create the model Setting Model S...

Page 134: ...d whenever the Model Sensitivity setting is changed To create a model 1 Go to the Scan page a In the Scan Mode panel choose Surface You must choose Surface in order to scan a part Furthermore the Model page is only displayed in Surface mode b If you want to use intensity data to create the model make sure Acquire Intensity is checked c In the Part Detection panel choose Part for the Frame of Refer...

Page 135: ...t comparing the model to the scan that was used to create the model This value can be ignored 6 In the Image Type drop down choose Heightmap or Intensity 7 If you need to correct the orientation of the model provide a value in the Z Angle field Correcting the Z angle is useful if the orientation of the model is not close to the typical angle of target parts on the production line 8 Save the job by...

Page 136: ...you can control the overall number of edge points that are detected by the edge detection algorithm by raising and lowering the edge detection threshold the Model Sensitivity setting Modifying Model Sensitivity causes the edge detection algorithm to run again Second you can fine tune the model s edge points by selectively removing edge points that are detected by the edge detection algorithm This ...

Page 137: ...to run again To change model senstivity 1 In the Models list select the model you want to configure by clicking on its selection control 2 Click the Model Editing tab 3 Adjust the Model Sensitivity slider to exclude noise and to properly detect the distinguishing features that will match parts You can also set the sensitivity value manually in the provided text box 4 Save the job by clicking the S...

Page 138: ...s list select the model you want to configure by clicking on its selection control 2 In the Model Editing tab click on the Edit button 3 On the toolbar above the data viewer make sure the Select tool is active 4 Click in the data viewer and hold the mouse button while moving the pointer over the edge points you want to remove ...

Page 139: ...on the toolbar Adjusting Target Sensitivity After you have added a model and optionally adjusted it you must scan a different part one that is typical of parts that must match the model Much in the same way that you can adjust a model s sensitivity you can adjust the target sensitivity that is the threshold at which edge points are detected on the heightmaps or intensity images of parts that you w...

Page 140: ...nabled option is checked on the Part Matching panel when the Gocator is running Any measurements that are added and configured on the Measure page will be applied to parts if a part match is accepted regardless of the part s orientation a successfully matched part is rotated to match orientation of the model returning a value and decision as long as the part is in range etc If a part match is reje...

Page 141: ...tching panel Typically setting up a bounding box or an ellipse to perform part matching involves the following steps 1 Scan a reference part you can also use replay data that you have previously saved 2 Set the characteristics of the bounding box width and length or ellipse major and minor axes Part Matching panel Bounding Box match algorithm The following settings are used to configure part match...

Page 142: ... Criteria Determines the minimum and maximum acceptable values of the selected dimension Width and Length for bounding box Major and Minor for ellipse in Match Result Configuring a Bounding Box or an Ellipse To use a bounding box or an ellipse to match a part you must set its dimensions taking into account expected acceptable variations when compared to a reference or golden part To configure a bo...

Page 143: ...atch algorithm shape taking into account expected acceptable variations l If you chose Bounding Box for the match algorithm select Width and then Length in Match Result set ting the minimum and maximum values acceptable for each dimension l If you chose Ellipse for the match algorithm select Minor and then Major in Match Result setting the minimum and maximum values acceptable for each dimension 5...

Page 144: ... will pass This measurement decision which is passed to the Gocator s output could in turn be used to control a PLC Sections In Surface mode Gocator can also extract a profile from a surface or part using a line you define on that surface or part The resulting profile is called a section A section can have any orientation on the surface but its profile is parallel to the Z axis You can use most pr...

Page 145: ...Gocator Line Profile Sensors User Manual Gocator Web Interface Models 145 Part in data viewer 3D view Section defined on top of part 2D view ...

Page 146: ...ing defined section You can configure the sampling distance between points along the section Reducing the sampling distance reduces the resolution of the profile but increases the sensor s performance and results in less data being sent over the output Mininum spacing interval highest profile resolution greater sensor CPU usage and data output ...

Page 147: ...ng X and Y coordinates The start point always corresponds to the leftmost point on the extracted profile whereas the end point always corresponds to the rightmost point on the extracted profile no matter the orientation of the section on the surface For more information on profile tools see Profile Measurement on page 161 Creating a Section In order to create a section you should first scan a targ...

Page 148: ...ontal or vertical For example to create a perfectly horizontal section copy the Y value of either the start or end point to the other point s Y field You can reverse the start and end points by clicking the button To reset the start and end points to their initial values click the button To create a section 1 On the Scan page in the Scan Mode panel click Surface 2 On the Model page in the Section ...

Page 149: ...l fall on the same area on each part You can also use anchoring to ensure that measurements are consistently placed on a part Only one section can be visualized and configured at a time Deleting a Section When you delete a section Gocator removes any associated measurements After you remove the last section Gocator no longer displays profile measurement tools in the Measure page To delete a sectio...

Page 150: ...ile measurement In Surface mode the Measure page displays tools for surface measurement If you have defined a section in Surface mode profile tools are also displayed In Video mode tools are not accessible Element Description 1 Tools panel Used to add manage and configure tools and measurements see on the next page and to choose anchors see on page 157 2 Data Viewer Displays profile or surface dat...

Page 151: ... lets you add configure and manage tools Tools contain related measurements For example the Dimension tool provides Height Width and other measurements Some settings apply to tools and therefore to all measurements these settings are found in the Parameters tab below the list of tools Other settings apply to specific measurements and are found in a Parameters tab below the list of measurements not...

Page 152: ... measurement specific settings For tool and measurement specific settings see the topics for the individual profile or surface tools 10 Set the Min and Max decision values For more information on decisions see Decisions on page 154 11 Optional Set one or more filters For more information on filters see Filters on page 156 12 Optional Set up anchoring For more information on anchoring see Measureme...

Page 153: ...ng the Stream setting in the measurement The Stream setting applies to all of a tool s measurements To choose a stream 1 Go to the Measure page by clicking on the Measure icon The scan mode must be set to the type of measurement you need to configure Otherwise the wrong tools or no tools will be listed on the Measure page 2 In the Tools panel click on a tool in the tool list 3 In the measurement l...

Page 154: ...an mode must be set to the type of measurement you need to configure Otherwise the wrong tools or no tools will be listed on the Measure page 2 In the Tools panel click on a tool in the tool list 3 Expand the region section by clicking on the expand button Some region settings are found within other settings in this area 4 Configure the region using the fields or graphically using the mouse in the...

Page 155: ...l event in response to a measurement See Output on page 235 for more information on transmitting values and decisions To configure decisions 1 Go to the Measure page by clicking on the Measure icon The scan mode must be set to the type of measurement you need to configure Otherwise the wrong tools or no tools will be listed on the Measure page 2 In the Tools panel click on a tool in the tool list ...

Page 156: ...set Scale to 39 37 To convert from radius to diameter set Scale to 2 Hold Last Valid Holds the last valid value when the measurement is invalid Measurement is invalid if there is no valid value Smoothing Applies moving window averaging to reduce random noise in a measurement output The averaging window is configured in number of frames If Hold Last Valid is enabled smoothing uses the output of the...

Page 157: ...asurement regions of other measurement tools This ensures that the regions used to measure features are correctly positioned for every part Anchoring is not required in order to use measurement tools This is an optional feature that helps make measurements more robust when the position and the height of the target varies from target to target Any X Y or Z measurement can be used as an anchor for a...

Page 158: ...dd the tool that will be anchored Any tool can be anchored 5 Adjust the tool and measurement settings as well as the measurement regions 6 Click on the tool s Anchoring tab 7 Choose an anchor from the X Y or Z drop down box When you choose an anchor a white bulls eye indicator shows the position of the anchor in the data viewer If the sensor is running the anchored tool s measurement regions are s...

Page 159: ...able The measurement will be enabled and selected The Output tab which contains output settings will be displayed below the measurements list For some measurements a Parameters tab which contains measurement specific parameters will also be displayed To disable a measurement 1 Go to the Scan page by clicking on the Scan icon 2 Choose Profile or Surface mode in the Scan Mode panel 3 Go to the Measu...

Page 160: ...t In a tool s measurement list double click the measurement name you want to change 5 Type a new name 6 Press the Tab or Enter key or click outside the field The name will be changed Changing a Measurement ID The measurement ID is used to uniquely identify a measurement in the Gocator protocol or in the SDK The value must be unique among all measurements To edit a measurement ID 1 Go to the Scan p...

Page 161: ...in Gocator sensors When Gocator is in Surface mode and you have defined a section a Stream option displays in Profile tools The following tools are available when Uniform Spacing is disabled l Bridge Value l Dimension l Position l Script For more information on the Uniform Spacing setting and resampled data see Uniform Spacing Data Resampling on page 50 Profile measurement tools can be used on sec...

Page 162: ...ermines the average location of points in the region of interest 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 p...

Page 163: ...ling Edge Finds a falling edge in the region of interest 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 Fit Lines Some measurements involve estimating lines in order to measure angles or intersection points A fit line can be calculated using data from either one or two fit areas A line can be defined using...

Page 164: ... a decision For more information on decisions see Decisions on page 154 See Adding and Configuring a Tool on page 151 for instructions on how to add measurement tools Areas are positive in regions where the profile is above the X axis In contrast areas are negative in regions where the profile is below the X axis Measurement Illustration Area Measures the cross sectional area within a region that ...

Page 165: ... 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 See Fit Lines on page 163 for more information...

Page 166: ...ion on decisions see Decisions on page 154 See Adding and Configuring a Tool on page 151 for instructions on how to add measurement tools The bounding box provides the absolute position from which the Position centroids tools are referenced When you use measurement tools on parts or sections the coordinates returned are relative to the part or section You can use the values returned by the Boundin...

Page 167: ...ains the profile relative to the surface from which the profile is extracted Global Y Determines the Y position of the center of the bounding box that contains the profile relative to the surface from which the profile is extracted Global Angle Determines the angle around Z of the section used to create the profile relative to the surface from which it is extracted where a line parallel to the X a...

Page 168: ...am of the ranges that make up the profile in which the ranges are ordered from lowest to highest The Window and Skip parameters together determine what segment of the heights in the histogram is used to calculate the bridge value The following diagram illustrates what points of the histogram would be included for calculating the bridge value where Window is roughly 50 and Skip is roughly 15 of the...

Page 169: ... a Tool on page 151 for instructions on how to add measurement tools Measurement Panel Measurement Illustration Bridge Value Determines the bridge value of the profile Angle Determines the angle of the line fitted to the profile When Normalize Tilt is unchecked the measurement always returns 0 Measurements ...

Page 170: ... in the average If Skip is greater than Window an invalid value is returned Max Invalid The maximum percentage of invalid points allowed before an invalid result is returned Max Differential The maximum difference between the maximum and minimum histogram values before an invalid measurement value is produced Normalize Tilt Fits a line to the profile and shears the points in the Z direction by the...

Page 171: ... 154 Region See Regions on page 153 Filters See Filters on page 156 Parameters Dimension The Dimension tool provides Width Height Distance Center X and Center Z measurements The Dimension tool can be used whether Uniform Spacing is enabled or not that is with either resampled or unresampled data For more information on the Uniform Spacing setting and resampled data see Uniform Spacing Data Resampl...

Page 172: ...axis between two feature points The difference can be calculated as an absolute or signed result The difference is calculated by Width Feature 2 X position Feature 1 X position 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 Z position Feature 1 Z position D...

Page 173: ...e Width and Height measurements only Determines if the result will be expressed as an absolute or a signed value Decision See Decisions on page 154 Region See Regions on page 153 Filters See Filters on page 156 Parameters Groove The Groove tool provides measurements of V shape U shape or open shape grooves Gocator compares the measurement value with the values in Min and Max to yield a decision Fo...

Page 174: ...u add multiple measurements of the same type to receive measurements and set decisions for multiple grooves Multiple measurements are added by using the drop down above the list of measurements and clicking on the Add button For example if a target has three grooves by adding two measurements choosing Index From The Left in the Select Type setting of those measurements and providing values of 0 an...

Page 175: ...tration Depth Measures the depth of a groove as the maximum perpendicular distance from a line connecting the edge points of the groove X Measures the X position of the bottom of a groove Z Measures the Z position of the bottom of a groove Parameter Description Shape Shape of the groove Parameters ...

Page 176: ...nt area Maximum Depth Groove with maximum depth Index from The Left 0 based groove index counting from left to right Index from the Right 0 based groove index counting from right to left Index 0 based groove index Minimum Depth Minimum depth for a groove to be considered valid Minimum Width Minimum width for a groove to be considered valid The width is the distance between the groove corners Maxim...

Page 177: ...gles Gocator compares the measurement value with the values in Min and Max to yield a decision For more information on decisions see Decisions on page 154 The Intersect tool s measurements require two fit lines one of which is a reference line set to the X axis z 0 the Z axis x 0 or a user defined line See Adding and Configuring a Tool on page 151 for instructions on how to add measurement tools ...

Page 178: ...ype of the reference line X Axis The reference line is set to the X axis Z Axis The reference line is set to the Z axis Line The reference line is defined manually using the Ref Line parameter One or two regions can be used to define the line Ref Line Used to define the reference line when Line is selected in the Reference Type parameter Line One or two fit areas can be used for each fit line See ...

Page 179: ...a Tool on page 151 for instructions on how to add measurement tools Measurement Illustration Std Dev Finds the best fitted line and measures the standard deviation of the laser points from the line Min Error Finds the best fitted line and measures the minimum error from the line the maximum distance below the line Max Error Finds the best fitted line and measures the maximum error from the line th...

Page 180: ...yield a decision For more information on decisions see Decisions on page 154 See Adding and Configuring a Tool on page 151 for instructions on how to add measurement tools The Panel tool uses a complex feature locating algorithm to find the gap or calculate flushness and return measurements The behavior of the algorithm can be adjusted by changing the parameters in the measurement panel See Gap an...

Page 181: ...there are multiple gaps in the field of view Reference Side Defines the side used to calculate the measurement axis see below Measurement Axis Gap measurement only Defines the direction that the gap is calculated in relation to the reference side see above Surface In the direction of the fitted surface line of the reference surface Edge In the direction perpendicular to the edge of the reference s...

Page 182: ... 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 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 a edge line formed by interpolating the points at and after t...

Page 183: ...n the Z axis Measurements Parameter Description Feature Type Choose Max Z Min Z Max X Min X Corner Average Rising Edge Falling Edge Any Edge Top Corner Bottom Corner Left Corner Right Corner or Median Decision See Decisions on page 154 Region See Regions on page 153 Output See Filters on page 156 Parameters Round Corner The Round Corner tool measures corners with a radius returning the position of...

Page 184: ...e and return measurements The behavior of the algorithm can be adjusted by changing the parameters in the measurement panel See Gap and Flush Algorithm in the Gocator Measurement Tool Technical Manual for a detailed explanation of the algorithm You must make sure that there are enough data points to define the edge proper exposure etc If not the algorithm will not function Measurement Illustration...

Page 185: ...eter Description Max Gap Width The maximum width of the gap Allows the tool to filter gaps greater than the expected width This can be used to single out the correct gap when there are multiple gaps in the field of view Reference Direction Defines the side used to calculate the rounded corner Decision See Decisions on page 154 Region See Regions on page 153 Output See Filters on page 156 Parameter...

Page 186: ...e region 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 A tangent edge point is the point selected based...

Page 187: ...tool lets you add multiple measurements of the same type to receive measurements and set decisions for multiple strips Multiple measurements are added by using the drop down above the list of measurements and clicking on the Add button For example if a target has three strips by adding two measurements choosing Index From The Left in the Select Type setting and providing values of 1 and 3 in the I...

Page 188: ...X position of a strip Z Measures the Z position of a strip Parameter Description Base Type Affects detection of rising and falling edges When Base Type is set to Flat both strip raised area and base support regions are needed When set to None only a point that deviates from a smooth strip support region is needed to find a rising or falling edge Parameters ...

Page 189: ...ent area Best The widest strip Index Left 0 based strip index counting from left to right Index Right 0 based strip index counting from right to left Index 0 based strip index Min Height Specifies the minimum deviation from the strip base See Strip Step Edge Definitions in the Gocator Measurement Tool Technical Manual on how this parameter is used for different base types Support Width Specifies t...

Page 190: ...s coordinate X axis This could be caused by conveyor vibration If the Tilt option is enabled the tool will report the width and height measurements following the tilt angle of the strip Script A Script measurement can be used to program a custom measurement using a simplified C based syntax A script measurement can produce multiple measurement values and decisions for the output The Script tool ca...

Page 191: ...puts from multiple measurement 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 function Stamp information such as time and encoder stamps are available in the script whereas the actual profile data is not The script engine is not powerful enough to process the dat...

Page 192: ...ight in a certain location of a scanned object the frame of reference should be set to Part This is typical in applications where discrete objects pass under the sensor and specific locations on the objects need to be inspected Measurement Tools Bounding Box The Bounding Box tool provides measurements related to the smallest box that contains the part for example X position Y position width length...

Page 193: ...Gocator Line Profile Sensors User Manual Gocator Web Interface Measurement 193 2D View 3D View Measurement Panel ...

Page 194: ... 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 Width is on the X axis When Rotation is enabled the width is the smaller side dimension Length Determines the length of the bounding box that contains ...

Page 195: ... from which the part was extracted If the part is extracted from a continuous surface the Y origin of that surface is at the encoder starting position Global Z Angle Determines the rotation of the longer side of the bounding box around the Z axis on the surface from which the part was extracted If part matching is enabled the returned value represents the rotation of the part before part matching ...

Page 196: ...ing 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 The countersunk hole can be on a surface at an angle to the sensor The tool also supports measuring holes drilled at an angle relative to the surroun...

Page 197: ...Gocator Line Profile Sensors User Manual Gocator Web Interface Measurement 197 ...

Page 198: ...f the countersunk hole Z 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 To convert the radius to a diameter set the Scale setting in the Output panel displayed after expanding the ...

Page 199: ...the countersunk hole relative to the surface that the countersunk hole is on Bevel Radius Determines the radius at a user defined offset Offset setting relative to the surface that the countersunk hole is on To convert the radius to a diameter set the Scale setting in the Output panel displayed after expanding the Filters section to 2 ...

Page 200: ...ement Illustration Bevel Angle Determines the angle of the hole s bevel Cone Counterbore X Angle Determines the angle the hole relative to the X axis Cone Counterbore Y Angle Determines the angle of the hole relative to the Y axis Counterbore Depth Determines the depth of a counterbore ...

Page 201: ... above 0 Cone 1 Counterbore Nominal Bevel Angle The expected bevel angle of the countersunk hole Nominal Outer Radius The expected outer radius of the countersunk hole Nominal Inner Radius The expected inner radius of the countersunk hole Bevel Radius Offset The offset relative to the surface that the countersunk hole is on at which the bevel radius will be measured Curved Surface Whether the surf...

Page 202: ...ent plane When this option is set to Autoset the tool automatically detects the tilt Otherwise the user must enter the angles manually Autoset requires the measurement region to cover more areas on the surface plane than other planes The results from the Plane X and Y tool can be used for angles X and Y parameters Partial Detection Enable if only part of the hole is within the measurement region I...

Page 203: ...urements of a part You must specify two feature types see below Gocator compares the measurement value with the values in Min and Max to yield a decision For more information on decisions see Decisions on page 154 See Adding and Configuring a Tool on page 151 for instructions on how to add measurement tools 2D View 3D View Measurement Panel ...

Page 204: ... 204 Measurement Illustration Width Determines the distance between the selected features along the X axis Length Determines the distance between the selected features along the Y axis Height Determines the distance between the selected features along the Z axis Measurements ...

Page 205: ...ture point Center X Determines the X position of the center point between the selected features Center Y Determines the Y position of the center point between the selected features Center Z Determines the Z position of the center point between the selected features Parameter Description Feature 1 Feature 2 One of the following l Average the mean X Y and Z of the data points l Median median X Y and...

Page 206: ...ments for the major and minor axis lengths of an ellipse fitted 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 Gocator compares the measurement value with the values in Min and Max to yield a decision For more information on decisions see Decisions on page 154 See Adding and Configuring a Tool on page 151 ...

Page 207: ... of an ellipse fitted to the part s area in the XY plane Minor Determines the minor axis length of an ellipse fitted to the part s area in the XY plane Ratio Determines the minor major axis ratio of an ellipse fitted to the part s area in the XY plane Z Angle Determines the orientation angle of an ellipse fitted to the part s area in the XY plane Measurements ...

Page 208: ...expects that a hole conforming reasonably well to the defined parameters is present and that it is on a sufficiently uniform background See Adding and Configuring a Tool on page 151 for instructions on how to add measurement tools The hole can be on a surface at an angle to the sensor The tool uses a complex feature locating algorithm to find a hold and then return measurements See Hole Algorithm ...

Page 209: ...Gocator Line Profile Sensors User Manual Gocator Web Interface Measurement 209 2D View 3D View ...

Page 210: ...X position of the hole center Y Determines the Y position of the hole center Z Determines the Z position of the hole center Radius Determines the radius of the hole Measurements Parameter Description Nominal Radius Expected radius of the hole Radius Tolerance The maximum variation from the nominal radius from the nominal radius Parameters ...

Page 211: ...thm uses the Reference Regions option to calculate the Z position of the hole It is typically used in cases where the surface around the hole is not flat When this option is set to Autoset the algorithm automatically determines the reference region When the option is not set to Autoset the user manually specifies the reference region The location of the reference region is relative to the detected...

Page 212: ...on the surface plane than other planes The results from the Plane X and Y tool can be used for angles X and Y parameters Decision See Decisions on page 154 Region See Regions on page 153 Output See Filters on page 156 Measurement Region The center of the hole must be inside the measurement region even if the Partial Detection option is enabled Opening The Opening tool locates rounded rectangular a...

Page 213: ... algorithm The behavior of the algorithm can be adjusted by changing the parameters in the measurement panel Gocator compares the measurement value with the values in Min and Max to yield a decision For more information on decisions see Decisions on page 154 You can select the measurement region in which the opening is expected to appear The algorithm can separate out background information that a...

Page 214: ...Gocator Line Profile Sensors User Manual Gocator Web Interface Measurement 214 2D View 3D View ...

Page 215: ...Gocator Line Profile Sensors User Manual Gocator Web Interface Measurement 215 ...

Page 216: ...ent Panel Measurement Illustration X Determines the X position of the opening s center Y Determines the Y position of the opening s center Z Determines the Z position of the opening s center Width Determines the width of the opening Length Determines the length of the opening Measurements ...

Page 217: ...pening The default orientation is the length of the opening along the X axis The diagram above illustrates the case where the surface is not tilted When the surface is tilted the orientation is defined with respect to the normal of the surface not with respect to the X Y plane Nominal Radius Nominal radius of the opening ends If the opening type is set to rectangular the radius setting is disabled...

Page 218: ...on If disabled the opening must be completely in the region of interest for results to be valid Depth Limit Data below this limit relative to the surface is excluded from the opening calculations Reference Regions The algorithm uses reference regions to calculate the Z position of the opening Reference regions are relative to the center location of the feature This option is typically used in case...

Page 219: ...the tool automatically detect the target s tilt or enter the angles manually Auto Set requires the measurement region to cover more areas on the surface plane than other planes The results from the Plane X and Y tool can be used for angles X and Y parameters Decision See Decisions on page 154 Region See Regions on page 153 Output See Filters on page 156 Measurement Region The center and the two si...

Page 220: ...ns on page 154 See Adding and Configuring a Tool on page 151 for instructions on how to add measurement tools The Z offset reported is the Z position at zero position on the X axis and the Y axis The results of the Plane Angle X and Plane Angle Y measurements can be used to customize the tilt angle in the Hole Opening and Stud tools 2D View 3D View ...

Page 221: ...ment target Angle Y Determines the Y angle of the surface with respect to the alignment target Offset Z Determines the Z offset of the surface with respect to the alignment target Standard Deviation Measures the standard deviation of the points of the surface from the detected plane Min Error Measures the minimum error from the detected plane the maximum distance below the plane Measurements ...

Page 222: ...he X Y or Z position of a part The feature type must be 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 Gocator compares the measurement value with the values in Min and Max to yield a decision F...

Page 223: ...d feature type Y Determines the Y position of the selected feature type Z Determines the Z position of the selected feature type Measurements Parameter Description Feature Type One of the following Average Centroid Min X Max X Min Y Max Y Min Z Max Z Median Decision See Decisions on page 154 Region See Regions on page 153 Output See Filters on page 156 Parameters ...

Page 224: ...s See Stud Algorithm in the Gocator Measurement Tool Technical Manual for a detailed explanation of the algorithm The behavior of the algorithm can be adjusted by changing the parameters in the measurement panel Gocator compares the measurement value with the values in Min and Max to yield a decision For more information on decisions see Decisions on page 154 The location of the stud is defined at...

Page 225: ...Gocator Line Profile Sensors User Manual Gocator Web Interface Measurement 225 2D View 3D View ...

Page 226: ...ines the X position of the stud tip Tip Y Determines the Y position of the stud tip Tip Z Determines the Z position of the stud tip Base X Determines the X position of the stud base Base Y Determines the Y position of the stud base Base Z Determines the Z position of the stud base Radius Determines the radius of the stud Measurements ...

Page 227: ...he stud Tilt Correction Tilt of the target with respect to the alignment plane Set to Auto Set to have the tool automatically detect the tilt or enter the angles manually Auto Set requires the measurement region to cover more areas on the surface plane than other planes The results from the Plane X and Y tool can be used for angles X and Y parameters Decision See Decisions on page 154 Region See R...

Page 228: ...rement 228 Measurement Panel Measurement Illustration Volume Measures volume in XYZ space Area Measures area in the XY plane Thickness Measures thickness height of a part Measurements Parameter Description Location One of the following maximum height minimum Parameters ...

Page 229: ...asurement can produce multiple measurement values and decisions for the output See Adding and Configuring a Tool on page 151 for instructions on how to add measurement tools See Script Measurement on the next page for more information on scripts See Script Measurement on the next page for more information on the script syntax To create or edit a Script measurement 1 Add a new Script tool or select...

Page 230: ...ilar to other measurement tools a script measurement can produce multiple measurement values and decisions for the output Scripts must be less than 27000 characters long The following elements of the C language are supported Elements Supported Control Operators if while do for switch and return Data Types char int unsigned int float double long long 64 bit integer Arithmetic and Logical Operator S...

Page 231: ...asurementName Determines if a measurement exist by name Parameter toolName Tool name measurementName Measurement name Returns 0 measurement does not exist 1 measurement exists int Measurement_Id char toolName char measurementName Gets the measurement ID by the measurement name Parameters toolName Tool name measurementName Measurement name Returns 1 measurement does not exist Other value Measuremen...

Page 232: ...VALUE can be used e g Output_SetId 0 INVALID_VALUE 0 Parameters id Script output ID Function Description void Memory_Set64s int id long long value Stores a 64 bit signed integer in persistent memory Parameters id ID of the value value Value to store long long Memory_Get64s int id Loads a 64 bit signed integer from persistent memory Parameters id ID of the value Returns value Value stored in persis...

Page 233: ...s all values from persistent memory Function Description int RuntimeVariable_Count Returns the number of runtime variables that can be accessed Returns The count of runtime variables int RuntimeVariable_Get32s int id Returns the value of the runtime variable at the given index Parameters Id ID of the runtime variable Returns Runtime variable value Runtime Variable Functions Function Description lo...

Page 234: ...culates the exponential value x is the base y is the exponent float fabs float x Calculates the absolute value of x Math Functions Example Accumulated Volume The following example shows how to create a custom measurement that is based on the values from other measurements and persistent values The example calculates the volume of the target using a series of box area measurement values Calculate t...

Page 235: ... have scheduling enabled Category Description 1 Ethernet Used to select the data sources that will transmit data via Ethernet See Ethernet Output on the next page 2 Digital Output 1 Used to select the data sources that will be combined to produce a digital output pulse on Output 1 See Digital Output on page 240 3 Digital Output 2 Used to select the data sources that will be combined to produce a d...

Page 236: ... receive commands and send results using Gocator Protocol messages 1 Go to the Output page 2 Click on the Ethernet category in the Output panel 3 Select Gocator as the protocol in the Protocol drop down 4 Check the video profile intensity or measurement items to send 5 Optional Uncheck the Auto Disconnect setting By default this setting is checked and the timeout is set to 10 seconds Measurements ...

Page 237: ...ed for Modbus TCP communication The Modbus TCP protocol can be used to operate a sensor Modbus TCP only supports a subset of the tasks that can be performed in the web interface A sensor can only process Modbus TCP commands when Modbus is selected in the Protocol drop down 4 Check the Buffering checkbox if needed Buffering is needed for example in Surface mode if multiple objects are detected with...

Page 238: ... Message Buffering option if needed Buffering is needed for example in Surface mode if multiple objects are detected within a time frame shorter than the polling rate of the PLC If buffering is enabled with the EtherNet IP protocol the buffer is automatically advanced when the Sample State Assembly Object see on page 406 is read 5 Check the Implicit Messaging option if needed Implicit messaging us...

Page 239: ...urement to send by placing a check in the corresponding checkbox See Standard Result Format on page 418 for an explanation of the standard result mode Standard with Stamp Select the measurement to send by placing a check in the corresponding checkbox See Standard Result Format on page 418 for an explanation of the standard result mode Custom Enables the custom format editor Use the replacement pat...

Page 240: ... the timing at which the sensor exposes In this mode the sensor outputs a digital pulse when the sensor exposes Each sensor supports two digital output channels See Gocator Power LAN Connector on page 493 for information on wiring digital outputs to external devices Trigger conditions and pulse width are then configured within the panel To output measurement decisions 1 Go to the Output page 2 Cli...

Page 241: ... start of sensor exposure and output activates can vary and is dependent on the processing latency The latency is reported in the dashboard and in the health messages 8 If you checked Scheduled specify a delay The delay specifies the time or spatial location between the start of sensor exposure and when the output becomes active The delay should be larger than the time needed to process the data i...

Page 242: ...mands that schedule event in the past will be ignored An encoder value is in the future if the value will be reached by moving in the forward direction the direction that encoder calibration was performed in To output an exposure signal 1 Go to the Output page 2 Click Digital 1 or Digital 2 in the Output panel 3 Set Trigger Event to Exposure Begin or Exposure End 4 Set the Pulse Width option The p...

Page 243: ...ements such as distance square millimeters for areas cubic millimeters for volumes and degrees for angle results 6 Specify Current Range and Invalid current values The values specified here determine the minimum and maximum current values in milliamperes If Invalid is checked the current value specified with the slider is used when a measurement value is not valid If Invalid is not checked the out...

Page 244: ...ent to Software 4 Specify if the output is immediate or scheduled An analog output value becomes active immediately or scheduled Immediate output becomes active as soon as a Scheduled Analog Output command see on page 364 is received Software scheduled command can schedule an analog value to output at a specified future time or encoder value or changes its state immediately The Delay setting in th...

Page 245: ...sponding check box See Standard Result Format on page 418 for an explanation of the standard result mode Select Custom to customize the output result A data format box will appear in which you can type the format string See Custom Result Format on page 419 for the supported format string syntax 5 Select the measurments to send Select measurements by placing a check in the corresponding check box 6...

Page 246: ... Selcom Protocol on page 421 for definitions of the formats 7 Specify Data Scale values The Data Scale values are specified in millimeters for dimensional measurements such as distance square millimeters for areas cubic millimeters for volumes and degrees for angle results The results are scaled according to the number of serial bits used to cover the data scale range For example the 12 bit output...

Page 247: ...ion below 2 Measurements Displays measurement statistics See Measurements on page 249 State and Health Information The following state and health information is available in the System panel on the Dashboard page Name Description Sensor State Current sensor state Conflict Ready or Running Application Version Gocator firmware version Master Connection Main Whether a Master is connected to the Main ...

Page 248: ...to excessive trigger speed Processing Drop Count of frame drops due to excessive CPU utilization Ethernet Output Drop Count of frame drops due to slow Ethernet link Analog Output Drop Count of analog output drops because last output has not been completed Serial Output Drop Count of serial output drops because last output has not been completed Digital Output 1 Drop Count of digital output drops b...

Page 249: ...ng information is available for each measurement Name Description Measurements The measurement ID and name Value The most recent measurement value Min Max The minimum and maximum measurement values that have been observed Avg The average of all measurement results collected since the sensor was started Std The standard deviation of all measurement results collected since the sensor was started Pas...

Page 250: ... Gocator The Gocator emulator is only supported on 64 bit versions of Windows 7 8 and 10 Emulator showing a part in recorded data A measurement is applied to the recorded data Limitations In most ways the emulator behaves like a real sensor especially when visualizing data setting up models and part matching and adding and configuring measurement tools The following are some of the limitations of ...

Page 251: ...ks see Downloading and Uploading Jobs on page 260 Downloading a Support File The emulator is provided with several virtual sensors preinstalled You can also create virtual sensors yourself by downloading a support file from a physical Gocator and then adding it to the emulator Support files can contain jobs letting you configure systems and add measurements in an emulated sensor Support files can ...

Page 252: ...g the Emulator The emulator is contained in the Gocator tools package 14405 x x x x_SOFTWARE_GO_Tools zip You can download the package by going to http lmi3d com support downloads selecting a product type and clicking on the Product User Area link To run the emulator unzip the package and double click on Emulator bin win32 GoEmulator exe Emulator launch screen You can change the language of the em...

Page 253: ...sors to the emulator To add a scenario 1 Launch the emulator if it isn t running already 2 Click the Add button and choose a previously saved support file gs extension in the Choose File to Upload dialog 3 Optional In Description type a description You can only add descriptions for user added scenarios Running a Scenario After you have added a virtual sensor by uploading a support file to the emul...

Page 254: ...ose Standalone or Buddy to limit the scenarios to single sensor or dual sensor scenarios respect ively 2 Select a scenario in the Available Scenarios list and click Start Removing a Scenario from the Emulator You can easily remove a scenario from the emulator You can only remove user added scenarios To remove a scenario 1 If the emulator is running a scenario click to stop it 2 In the Available Sc...

Page 255: ...s on by default Stopping and Restarting the Emulator To stop the emulator l Click Stop Emulation Stopping the emulator returns you to the launch screen To restart the emulator when it is running l Click Restart Emulation Restarting the emulator restarts the currently running simulation Working with Jobs and Data The following topics describe how to work with jobs and replay data data recorded from...

Page 256: ... Enter to save the job The job is saved to the emulator using the name you provided To save a job l Click the Save button The job is saved to the emulator To load switch jobs l Select an existing file name in the job drop down list The job is activated If there are any unsaved changes in the current job you will be asked whether you want to discard those changes Playback and Measurement Simulation...

Page 257: ...particular location The Replay slider or Replay Position box can be used to go to a specific replay frame To simulate measurements on replay data 1 Toggle Replay mode on by setting the slider to the right in the Toolbar The slider s background turns blue To change the mode Replay Protection must be unchecked 2 Go to the Measure page Modify settings for existing measurements add new measurement too...

Page 258: ...obs To download replay data 1 Click the Download button 2 In the File Download dialog click Save 3 In the Save As dialog choose a location optionally change the name keeping the rec extension and click Save To upload replay data 1 Click the Upload button The Upload menu appears 2 In the Upload menu choose one of the following l Upload Unloads the current job and creates a new unsaved and untitled ...

Page 259: ... Data as CSV In Profile mode all data in the record buffer is exported In Surface mode only data at the current replay location is exported Use the playback control buttons to move to a different replay location for information on playback see To replay data in Playback and Measurement Simulation on page 256 2 Optionally convert exported data to another format using the CSV Converter Tool For info...

Page 260: ...obs category on the Manage page lets you manage the jobs in the emulator Element Description Name field Used to provide a job name when saving files Jobs list Displays the jobs that are currently saved in the emulator Save button Saves current settings to the job using the name in the Name field Changes to job files are not persistent in the emulator To keep changes first save changes in the job f...

Page 261: ...ick on it in the Jobs list and then modify it in the Name field 3 Click on the Save button or press Enter To download load or delete a job or to set one as a default or clear a default 1 Go to the Manage page and click on the Jobs category 2 Select a job in the Jobs list 3 Click on the appropriate button for the operation Scan Model and Measurement Settings The settings on the Scan page related to...

Page 262: ...osure To adjust active area in the emulator Replay Protection must be turned off See Using Replay Protection on page 255 for more information Saving changes to active area causes replay data to be flushed Protocol Output The emulator simulates output for all of Gocator s Ethernet based protocols l Gocator l ASCII l Modbus l EtherNet IP Clients such as PLCs can connect to the emulator to access the...

Page 263: ...tor Protocol Output 263 3 In the command prompt type GoEmulator exe ip followed by an IPV4 address The emulator does not check that the IP address is valid The emulator launches Clients can now connect to the IP address you specified in the command prompt ...

Page 264: ...on into a client SDK based application When a sensor is accelerated it sends data directly to the Accelerator application or an accelerator enabled SDK application Users access the Gocator web interface using the IP address of the computer running the application Some health indicators behave differently when a sensor is accelerated For information on which indicators in the Dashboard that acceler...

Page 265: ...ver for controlling accelerated sensors and receiving health information and data Measurement latency is reduced on accelerated sensors which results in shorter cycle times This means a sensor can scan more targets in a given time period The memory of accelerated sensors is limited only by the memory of the PC on which the Accelerator is running Accelerated sensors can therefore handle large 3D po...

Page 266: ...s checked and then click Allow Access 3 Click the sensor you want to accelerate in the Sensors list If you do not see the sensor you may need to wait a few seconds and then click the Refresh button 4 Optional Choose an IP in the IP list or choose Any to let the application choose 5 Optional Change the port in Port If port 8080 is already in use set Port to another port 6 Click Start The sensor is ...

Page 267: ...SDK Application Integration When you integrate the Gocator accelerator into an SDK application the firmware version of the accelerator must match the firmware version of the sensor to guarantee proper operations Gocator Accelerator can be fully integrated into a SDK application Users simply need to instantiate the GoAccelerator object and connect it to a sensor object GoAccelerator accelerator kNU...

Page 268: ...cation is the same as controlling and acquiring data from a standalone sensor Limitations The Gocator Accelerator currently has the following limitations 1 Digital Serial and Analog I Os are not supported 2 Accelerator application must run on the same PC as the web browser 3 Only one instance of the Gocator Accelerator can run at a time Note that one instance can accelerate one standalone sensor o...

Page 269: ...te The active job This file contains a Configuration component containing the current settings If Alignment Reference in the active job is set to Dynamic it also contains a Transform component containing transformations For more information on job files live and user created accessing their components and their structure see Job Files on the next page _live cfg Read Write A standalone representati...

Page 270: ...guments IntArg Integer argument FloatArg Floating point argument Arg Generic argument Log Info Log Warning Log Error Elements The arguments are all sent as strings and should be applied in order to the format specifiers found in the content Job Files The following sections describe the structure of job files Job files which are stored in a Gocator s internal storage control system behavior when a ...

Page 271: ... sensors share a common job file structure Accessing Files and Components Job file components can be accessed individually as XML files using path notation For example the configurations in a user created job file called productionRun01 job can be read by passing productionRun01 job config xml to the Read File command In the same way the configurations in the active job could be read using _live j...

Page 272: ...t on page 331 Setup The Setup element contains settings related to system and sensor setup Element Type Description TemperatureSafetyEnabled Bool Enables laser temperature safety control TemperatureSafetyEnabled used Bool Whether or not this property is used ScanMode 32s The default scan mode ScanMode options String CSV List of available scan modes OcclusionReductionEnabled Bool Enables occlusion ...

Page 273: ...urfaceSections on page 284 ProfileGeneration Section See ProfileGeneration on page 285 Used by Gocator displacement sensors PartDetection Section See PartDetection on page 286 PartMatching Section See PartMatching on page 287 Custom Custom Used by specialized sensors OcclusionReductionAlg 32s The Algorithim to use for occlusion reduction 0 Standard 1 High Quality OcclusionReductionAlg used Bool Wh...

Page 274: ...es filtering Window 64f Window size mm Window min 64f Minimum window size mm Window max 64f Maximum window size mm XGapFilling Child Elements YGapFilling Element Type Description used Bool Whether or not this field is used Enabled Bool Enables filtering Window 64f Window size mm Window min 64f Minimum window size mm Window max 64f Maximum window size mm YGapFilling Child Elements XMedian Element T...

Page 275: ...um window size mm Window max 64f Maximum window size mm XDecimation Child Elements YDecimation Element Type Description used Bool Whether or not this field is used Enabled Bool Enables filtering Window 64f Window size mm Window min 64f Minimum window size mm Window max 64f Maximum window size mm YDecimation Child Elements XSlope This filter is only available on displacement sensors Element Type De...

Page 276: ...s Units 32s Sensor triggering units when source is not clock or encoder 0 Time 1 Encoder FrameRate 64f Frame rate for time trigger Hz FrameRate min 64f Minimum frame rate Hz FrameRate max 64f Maximum frame rate Hz FrameRate maxSource 32s Source of maximum frame rate limit 0 Imager 1 Surface generation MaxFrameRateEnabled Bool Enables maximum frame rate ignores FrameRate EncoderSpacing 64f Encoder ...

Page 277: ...s resampled TransformedDataRegion Region3D Transformed data region of the layout output Orientation 32s Sensor orientation 0 Wide 1 Opposite 2 Reverse Orientation options 32s CSV List of available orientation options Orientation value 32s Actual value used if not configurable MultiplexBuddyEnabled Bool Enables multiplexing for buddies MultiplexSingleEnabled Bool Enables multiplexing for a single s...

Page 278: ...able only on some sensor models InputTriggerEnabled value Bool Actual feature status Type 32s Type of alignment operation 0 Stationary 1 Moving Type options 32s CSV List of available alignment types StationaryTarget 32s Stationary alignment target 0 None 1 Disk 2 Bar 3 Plate StationaryTarget options 32s CSV List of available stationary alignment targets MovingTarget 32s Moving alignment target 0 N...

Page 279: ...eight mm HoleCount 32u Number of holes RefHoleDiameter 64f Diameter of reference hole mm SecHoleDiameter 64f Diameter of secondary hole s mm Plate Child Elements Devices Device Element Type Description role 32s Sensor role 0 Main 1 Buddy DataSource 32s Data source of device output read only 0 Top 1 Bottom 2 Top Left 3 Top Right XSpacingCount 32u Number of resampled points along X read only YSpacin...

Page 280: ...e 64f Single exposure µs Exposure min 64f Minimum exposure µs Exposure max 64f Maximum exposure µs DynamicExposureMin 64f Dynamic exposure range minimum µs DynamicExposureMax 64f Dynamic exposure range maximum µs ExposureSteps 64f CSV Mutiple exposure list µs ExposureSteps countMin 32u Minimum number of exposure steps ExposureSteps countMax 32u Maximum number of exposure steps IntensityStepIndex 3...

Page 281: ...mm Length 64f Y extent mm Height 64f Z extent mm Region3D Child Elements Element Type Description X 32u X start pixels Y 32u Y start pixels Width 32u X extent pixels Height 32u Y extent pixels Window Child Elements Tracking Tracking is not available on Gocator 1300 2100 and 3100 series sensors Element Type Description Enabled Bool Enables tracking Enabled used Bool Whether or not this field is use...

Page 282: ...mum allowed spot detection maximum value SpotSelectionType 32s Spot selection type 0 Best Picks the strongest spot in a given column 1 Top Picks the spot which is most Top Left on the imager 2 Bottom Picks the spot which is most Bottom Right on the imager 3 None All spots are available This option may not be available in some configurations SpotSelectionType used Bool Determines if the setting s v...

Page 283: ...lue 32s Value in use by the sensor useful for determining value when used is false DynamicThreshold min 32s Minimum value DynamicThreshold max 32s Maximum value SensitivityCompensationEnabled Bool Sensitivity compensation toggle Used in determining analog and digital gain along with exposure scale SensitivityCompensationEnabled used Bool Determines if the setting s value is currently used Sensitiv...

Page 284: ... 64f Circumference mm Circumference min 64f Minimum circumference mm Circumference max 64f Maximum circumference mm Rotational Child Elements SurfaceSections Element Type Description xMin 64f The minimum valid X value to be used for section definition xMax 64f The maximum valid X value to be used for section definition yMin 64f The minimum valid Y value to be used for section definition yMax 64f T...

Page 285: ...Gocator laser displacement sensors Element Type Description Type 32s Profile generation type 0 Continuous 1 Fixed length 2 Variable length 3 Rotational FixedLength Section See FixedLength below VariableLength Section See VariableLength below Rotational Section See Rotational on the next page ProfileGeneration Child Elements FixedLength Element Type Description StartTrigger 32s Start trigger condit...

Page 286: ...w MinArea 64f Minimum area mm 2 MinArea min 64f Minimum value of minimum area MinArea max 64f Maximum value of minimum area MinArea used Bool Whether or not this field is used GapWidth 64f Gap width mm GapWidth min 64f Minimum gap width mm GapWidth max 64f Maximum gap width mm GapWidth used Bool Whether or not this field is used GapLength 64f Gap length mm GapLength min 64f Minimum gap length mm G...

Page 287: ...Whether or not this field is used FrameOfReference value 32s Actual value EdgeFiltering Section See EdgeFiltering below EdgeFiltering Element Type Description used Bool Whether or not this section is used Enabled Bool Enables edge filtering PreserveInteriorEnabled Bool Enables preservation of interior ElementWidth 64f Element width mm ElementWidth min 64f Minimum element width mm ElementWidth max ...

Page 288: ...box degrees AsymmetryDetectionType 32s Determine whether to use asymmetry detection and if enabled which dimension is the basis of detection The possible values are 0 None 1 Length 2 Width Acceptance Width Min 64f Minimum width mm Acceptance Width Max 64f Maximum width mm Acceptance Length Min 64f Minimum length mm Acceptance Length Max 64f Maximum length mm BoundingBox Child Elements Ellipse Elem...

Page 289: ...tions Collection A collection of AnyMeasurement AnyData or Measurement conditions RecordingFiltering Child Elements Conditions AnyMeasurement Element Type Description Enabled Bool Indicates whether the condition is enabled Result 32s The measurement decision criteria to be included in the filter Possible values are 0 Pass 1 Fail 2 Valid 3 Invalid Conditions AnyMeasurement Elements Conditions AnyDa...

Page 290: ...f the stream being described Possible values are 1 Video 2 Range 3 Surface 4 Section Id 32u The stream ID TempoGroup 32u Represents a stage in the data processing pipeline The greater the number the farther removed from the initial acquisition stage Sources Collection A collection of Source elements as described below Streams Stream Child Elements Element Type Description Id 32s The ID of the data...

Page 291: ...ptions Collection A collection of StreamOption below elements Tool Name Child Elements MeasurementOptions Element Type Description Measurement Names Collection A collection of measurement name elements An element for each measurement is present MeasurementOptions Child Elements Element Type Description displayName String Display name of the tool minCount 32u Minimum number of instances in a tool m...

Page 292: ...t Type Description Type 32s Determine how the feature is detected within the area 0 Max Z 1 Min Z 2 Max X 3 Min X 4 Corner 5 Average 6 Rising Edge 7 Falling Edge 8 Any Edge 9 Top Corner 10 Bottom Corner 11 Left Corner 12 Right Corner 13 Median RegionEnabled Bool Indicates whether feature detection applies to the defined Region or to the entire active area Region ProfileRegion2D Element for feature...

Page 293: ...angular area of interest in 3D Element Type Description X 64f Volume X position mm Y 64f Volume Y position mm Z 64f Volume Z position mm Width 64f Volume width mm Length 64f Volume length mm Height 64f Volume height mm Region3D Child Elements SurfaceFeature An element of type SurfaceFeature defines the settings for detecting a feature within an area of interest Element Type Description Type 32s Se...

Page 294: ...nchor X options String CSV The X measurements IDs available for anchoring Anchor Z String CSV The Z measurements IDs used for anchoring Anchor Z options String CSV The Z measurements IDs available for anchoring StreamOptions Collection A collection of StreamOption on page 291 elements Stream Step 32s The stream source step Possible values are 1 Video 2 Range 3 Surface 4 Section Stream Id 32u The s...

Page 295: ...n Measurement enable state 0 Disable 1 Enable HoldEnabled Boolean Output hold enable state 0 Disable 1 Enable SmoothingEnabled Boolean Smoothing enable state 0 Disable 1 Enable SmoothingWindow 32u Smoothing window Scale 64f Output scaling factor Offset 64f Output offset factor DecisionMin 64f Minimum decision threshold DecisionMax 64f Maximum decision threshold Area Tool Measurement ProfileBoundin...

Page 296: ...lable data is used Region ProfileRegion2d Measurement region Measurements X Bounding Box tool measurement X measurement Measurements Z Bounding Box tool measurement Z measurement Measurements Width Bounding Box tool measurement Width measurement Measurements Height Bounding Box tool measurement Height measurement Measurements GlobalX Bounding Box tool measurement GlobalX measurement Measurements G...

Page 297: ...used for anchoring Anchor X options String CSV The X measurements IDs available for anchoring Anchor Z String CSV The Z measurements IDs used for anchoring Anchor Z options String CSV The Z measurements IDs available for anchoring StreamOptions Collection A collection of StreamOption on page 291 elements Stream Step 32s The stream source step Possible values are 1 Video 2 Range 3 Surface 4 Section...

Page 298: ... Maximum differential limit max mm Measurements BridgeValue Bridge Value tool measurement Bridge Value measurement Measurements Angle Bridge Value tool measurement Angle measurement Element Type Description id 32s Measurement ID Optional measurement disabled if not set Name String Measurement name Enabled Boolean Measurement enable state 0 Disable 1 Enable HoldEnabled Boolean Output hold enable st...

Page 299: ...s are 1 Video 2 Range 3 Surface 4 Section Stream Id 32u The stream source ID RegionEnabled Bool Whether or not to use the region If the region is disabled all available data is used Region ProfileRegion2d Measurement region Measurements X Circle tool measurement X measurement Measurements Z Circle tool measurement Z measurement Measurements Radius Circle tool measurement Radius measurement Profile...

Page 300: ...anchoring Anchor Z String CSV The Z measurements IDs used for anchoring Anchor Z options String CSV The Z measurements IDs available for anchoring StreamOptions Collection A collection of StreamOption on page 291 elements Stream Step 32s The stream source step Possible values are 1 Video 2 Range 3 Surface 4 Section Stream Id 32u The stream source ID RefFeature ProfileFeature Reference measurement ...

Page 301: ...ting absolute or signed result 0 Signed 1 Absolute Dimension Tool Measurement ProfileGroove A ProfileGroove element defines settings for a profile groove tool and one or more of its measurements The profile groove tool is dynamic meaning that it can contain multiple measurements of the same type in the Measurements element Element Type Description Name String Tool name Source 32s Profile source An...

Page 302: ... Measurement region Measurements X Groove tool measurement X measurement Measurements Z Groove tool measurement Z measurement Measurements Width Groove tool measurement Width measurement Measurements Depth Groove tool measurement Depth measurement Element Type Description id 32s Measurement ID Optional measurement disabled if not set Name String Measurement name Enabled Boolean Measurement enable ...

Page 303: ...ement defines settings for a profile intersect tool and one or more of its measurements Element Type Description Name String Tool name Source 32s Profile source Anchor X String CSV The X measurements IDs used for anchoring Anchor X options String CSV The X measurements IDs available for anchoring Anchor Z String CSV The Z measurements IDs used for anchoring Anchor Z options String CSV The Z measur...

Page 304: ...tate 0 Disable 1 Enable SmoothingEnabled Boolean Smoothing enable state 0 Disable 1 Enable SmoothingWindow 32u Smoothing window Scale 64f Output scaling factor Offset 64f Output offset factor DecisionMin 64f Minimum decision threshold DecisionMax 64f Maximum decision threshold Absolute Angle measurement only Boolean Setting for selecting the angle range 0 A range of 90 to 90 degrees is used 1 A ra...

Page 305: ...e region If the region is disabled all available data is used Region ProfileRegion2d Measurement region Measurements StdDev Line tool measurement StdDev measurement Measurements MaxError Line tool measurement MaxError measurement Measurements MinError Line tool measurement MinError measurement Measurements Percentile Line tool measurement Percentile measurement Element Type Description id 32s Meas...

Page 306: ... The Z measurements IDs used for anchoring Anchor Z options String CSV The Z measurements IDs available for anchoring StreamOptions Collection A collection of StreamOption on page 291 elements Stream Step 32s The stream source step Possible values are 1 Video 2 Range 3 Surface 4 Section Stream Id 32u The stream source ID RefSide 32s Setting for reference side to use MaxGapWidth 64f Setting for max...

Page 307: ...String Measurement name Enabled Boolean Measurement enable state 0 Disable 1 Enable HoldEnabled Boolean Output hold enable state 0 Disable 1 Enable SmoothingEnabled Boolean Smoothing enable state 0 Disable 1 Enable SmoothingWindow 32u Smoothing window Scale 64f Output scaling factor Offset 64f Output offset factor DecisionMin 64f Minimum decision threshold DecisionMax 64f Maximum decision threshol...

Page 308: ...tion tool and one or more of its measurements Element Type Description Name String Tool name Source 32s Profile source Anchor X String CSV The X measurements IDs used for anchoring Anchor X options String CSV The X measurements IDs available for anchoring Anchor Z String CSV The Z measurements IDs used for anchoring Anchor Z options String CSV The Z measurements IDs available for anchoring StreamO...

Page 309: ...on Tool Measurement ProfileRoundCorner A ProfileRoundCorner element defines settings for a profile round corner tool and one or more of its measurements Element Type Description Name String Tool name Source 32s Profile source Anchor X String CSV The X measurements IDs used for anchoring Anchor X options String CSV The X measurements IDs available for anchoring Anchor Z String CSV The Z measurement...

Page 310: ...dWidth 64f Maximum void width SurfaceWidth 64f Surface width SurfaceOffset 64f Surface offset NominalRadius 64f Nominal radius EdgeAngle 64f Edge angle RegionEnabled Bool Whether or not to use the region If the region is disabled all available data is used Region ProfileRegion2d Edge region ProfilePanelEdge Element Type Description id attribute 32s Measurement ID Optional measurement disabled if n...

Page 311: ...l name Source 32s Profile source Anchor X String CSV The X measurements IDs used for anchoring Anchor X options String CSV The X measurements IDs available for anchoring Anchor Z String CSV The Z measurements IDs used for anchoring Anchor Z options String CSV The Z measurements IDs available for anchoring StreamOptions Collection A collection of StreamOption on page 291 elements Stream Step 32s Th...

Page 312: ...ments Z Strip tool measurement Z measurement Measurements Width Strip tool measurement Width measurement Measurements Height Strip tool measurement Width measurement Element Type Description id 32s Measurement ID Optional measurement disabled if not set Name String Measurement name Enabled Boolean Measurement enable state 0 Disable 1 Enable HoldEnabled Boolean Output hold enable state 0 Disable 1 ...

Page 313: ...cript Child Elements Element Type Description id 32s Measurement ID Optional measurement disabled if not set Name String Measurement name Output SurfaceBoundingBox A SurfaceBoundingBox element defines settings for a surface bounding box tool and one or more of its measurements Element Type Description Name String Tool name Source 32s Surface source Anchor X String CSV The X measurements IDs used f...

Page 314: ...on Region3D Measurement region Measurements X Bounding Box tool measurement X measurement Measurements Y Bounding Box tool measurement Y measurement Measurements Z Bounding Box tool measurement Z measurement Measurements Width Bounding Box tool measurement Width measurement Measurements Length BoundingBoxMeasure ment Length measurement Measurements Height Bounding Box tool measurement Height measu...

Page 315: ...ace countersunk hole tool and one or more of its measurements Element Type Description Name String Tool name Source 32s Surface source Anchor X String CSV The X measurements IDs used for anchoring Anchor X options String CSV The X measurements IDs available for anchoring Anchor Y String CSV The Y measurements IDs used for anchoring Anchor Y options String CSV The Y measurements IDs available for a...

Page 316: ...ence regions which are to be used RefRegions Collection Reference regions Contains 2 SurfaceRegion2D elements AutoTiltEnabled Boolean Setting to enable disable tilt correction 0 Disable 1 Enable TiltXAngle 64f Setting for manual tilt correction angle X TiltYAngle 64f Setting for manual tilt correction angle Y CurveFitEnabled Boolean Setting to enable disable curve fitting 0 Disable 1 Enable CurveO...

Page 317: ...h Countersunk Hole tool measurement CounterboreDepth measurement Element Type Description id attribute 32s Measurement ID Optional measurement disabled if not set Name String Measurement name Enabled Boolean Measurement enable state 0 Disable 1 Enable HoldEnabled Boolean Output hold enable state 0 Disable 1 Enable SmoothingEnabled Boolean Smoothing enable state 0 Disable 1 Enable SmoothingWindow 3...

Page 318: ...p Possible values are 1 Video 2 Range 3 Surface 4 Section Stream Id 32u The stream source ID Measurements CenterX Dimension tool measurement Center X measurement Measurements CenterY Dimension tool measurement Center Y measurement Measurements CenterZ Dimension tool measurement Center Z measurement Measurements Distance Dimension tool measurement Distance measurement Measurements PlaneDistance Dim...

Page 319: ...ce ellipse tool and one or more of its measurements Element Type Description Name String Tool name Source 32s Surface source Anchor X String CSV The X measurements IDs used for anchoring Anchor X options String CSV The X measurements IDs available for anchoring Anchor Y String CSV The Y measurements IDs used for anchoring Anchor Y options String CSV The Y measurements IDs available for anchoring A...

Page 320: ...easurements Ratio Ellipse tool measurement Ratio measurement Measurements ZAngle Ellipse tool measurement ZAngle measurement Element Type Description id 32s Measurement ID Optional measurement disabled if not set Name String Measurement name Enabled Boolean Measurement enable state 0 Disable 1 Enable HoldEnabled Boolean Output hold enable state 0 Disable 1 Enable SmoothingEnabled Boolean Smoothing...

Page 321: ...e for anchoring StreamOptions Collection A collection of StreamOption on page 291 elements Stream Step 32s The stream source step Possible values are 1 Video 2 Range 3 Surface 4 Section Stream Id 32u The stream source ID NominalRadius 64f Nominal radius mm RadiusTolerance 64f Radius tolerance mm PartialDetectionEnabled Boolean Setting to enable disable partial detection 0 Disable 1 Enable DepthLim...

Page 322: ...l measurement Z measurement Measurements Radius Hole tool measurement Radius measurement Element Type Description id 32s Measurement ID Optional measurement disabled if not set Name String Measurement name Enabled Boolean Measurement enable state 0 Disable 1 Enable HoldEnabled Boolean Output hold enable state 0 Disable 1 Enable SmoothingEnabled Boolean Smoothing enable state 0 Disable 1 Enable Smo...

Page 323: ...age 291 elements Stream Step 32s The stream source step Possible values are 1 Video 2 Range 3 Surface 4 Section Stream Id 32u The stream source ID Type 32s Type of the opening 0 Rounded 1 Slot NominalWidth 64f Nominal width mm NominalLength 64f Nominal length mm NominalAngle 64f Nominal angle degrees NominalRadius 64f Nominal radius mm WidthTolerance 64f Radius tolerance mm LengthTolerance 64f Len...

Page 324: ...X TiltYAngle 64f Setting for manual tilt correction angle Y Measurements X Opening tool measurement X measurement Measurements Y Opening tool measurement Y measurement Measurements Z Opening tool measurement Z measurement Measurements Width Opening tool measurement Width measurement Measurements Length Opening tool measurement Length measurement Measurements Angle Opening tool measurement Angle me...

Page 325: ... IDs used for anchoring Anchor Y options String CSV The Y measurements IDs available for anchoring Anchor Z String CSV The Z measurements IDs used for anchoring Anchor Z options String CSV The Z measurements IDs available for anchoring StreamOptions Collection A collection of StreamOption on page 291 elements Stream Step 32s The stream source step Possible values are 1 Video 2 Range 3 Surface 4 Se...

Page 326: ...thingEnabled Boolean Smoothing enable state 0 Disable 1 Enable SmoothingWindow 32u Smoothing window Scale 64f Output scaling factor Offset 64f Output offset factor DecisionMin 64f Minimum decision threshold DecisionMax 64f Maximum decision threshold Plane Tool Measurement SurfacePosition A SurfacePosition element defines settings for a surface position tool and one or more of its measurements Elem...

Page 327: ...urements Y Position tool measurement Y measurement Measurements Z Position tool measurement Z measurement Element Type Description id attribute 32s Measurement ID Optional measurement disabled if not set Name String Measurement name Enabled Boolean Measurement enable state 0 Disable 1 Enable HoldEnabled Boolean Output hold enable state 0 Disable 1 Enable SmoothingEnabled Boolean Smoothing enable s...

Page 328: ...Video 2 Range 3 Surface 4 Section Stream Id 32u The stream source ID StudRadius 64f Radius of stud mm StudHeight 64f Height of stud mm BaseHeight 64f Height of stud s base TipHeight 64f Height of stud s tip RegionEnabled Boolean Setting to enable disable region Region Region3D Measurement region RefRegionsEnabled Boolean Setting to enable disable reference regions 0 Disable 1 Enable RefRegionCount...

Page 329: ...t Name String Measurement name Enabled Boolean Measurement enable state 0 Disable 1 Enable HoldEnabled Boolean Output hold enable state 0 Disable 1 Enable SmoothingEnabled Boolean Smoothing enable state 0 Disable 1 Enable SmoothingWindow 32u Smoothing window Scale 64f Output scaling factor Offset 64f Output offset factor DecisionMin 64f Minimum decision threshold DecisionMax 64f Maximum decision t...

Page 330: ...291 elements Stream Step 32s The stream source step Possible values are 1 Video 2 Range 3 Surface 4 Section Stream Id 32u The stream source ID RegionEnabled Boolean Setting to enable disable region Region Region3D Measurement region Measurements Volume Volume tool measurement Volume measurement Measurements Area Volume tool measurement Area measurement Measurements Thickness Volume tool measuremen...

Page 331: ...in the following XML in the options attribute of the Measurements element 2 and 3 are the identifiers of measurements that are enabled and available for output The value of the Measurements element that is 2 means that only the measurement with id 2 Profile Dimension Width will be sent to output ProfileDimension Measurements Width id 2 Height id 3 Output Ethernet Measurements options 2 3 2 Measure...

Page 332: ...protocol is selected Ascii Section See Ascii on the next page EIP Section See EIP on page 334 Modbus Section See Modbus on page 334 Videos 32s CSV Selected video sources 0 Top 1 Bottom 2 Top left 3 Top right Videos options 32s CSV List of available video sources see above Ranges 32s CSV Selected range sources 0 Top 1 Bottom 2 Top left 3 Top right Ranges options 32s CSV List of available range sour...

Page 333: ...ileIntensities options 32s CSV List of available profile intensity sources see above SurfaceIntensities 32s CSV Selected surface intensity sources 0 Top 1 Bottom 2 Top left 3 Top right SurfaceIntensities options 32s CSV List of available surface intensity sources see above Measurements 32u CSV Selected measurement sources Measurements options 32u CSV List of available measurement sources Events 32...

Page 334: ...amp EIP Element Type Description BufferEnabled Bool Enables EtherNet IP output buffering EndianOutputType 32s Endian output type 0 Big endian 1 Little endian ImplicitOutputEnabled Bool Enables Implict I O Messaging ImplicitTriggerOverride 32s Override requested trigger type by client 0 No override 1 Cyclic 2 Change of State EIP Child Elements Modbus Element Type Description BufferEnabled Bool Enab...

Page 335: ...fined below DelayDomain 32s Output delay domain 0 Time µs 1 Encoder mm Inverted Bool Whether the sent bits are flipped Measurements 32u CSV Selected measurement sources Measurements options 32u CSV List of available measurement sources Analog The Analog element defines settings for analog output The range of valid measurement values DataScaleMin DataScaleMax is scaled linearly to the specified cur...

Page 336: ... current Delay 64f Output delay µs or mm depending on delay domain defined below DelayDomain 32s Output delay domain 0 Time µs 1 Encoder mm Measurement 32u Selected measurement source Measurement options 32u CSV List of available measurement sources The delay specifies the time or position at which the analog output activates Upon activation there is an additional delay before the analog output se...

Page 337: ...atMode 32u The formatting mode used if not a custom format 0 Standard 1 Standard with Stamp Ascii Child Elements Transform The transformation component contains information about the physical system setup that is used to l Transform data from sensor coordinate system to another coordinate system e g world l Define encoder resolution for encoder based triggering l Define the travel offset Y offset ...

Page 338: ...Angle Device Devices Transform The Transform element contains the alignment record for both the Main and the Buddy sensor Element Type Description version 32u Major transform version 100 versionMinor 32u Minor transform version 0 EncoderResolution 64f Encoder Resolution mm tick Speed 64f Travel Speed mm s Devices Collection Contains two Device elements Transform Child Elements Device A Device elem...

Page 339: ...e storage for example productionRun01 job model1 mdl You can only access part models in user created job files using path notation See the following sections for the elements contained in a model Part models contain the following subcomponents You can access the subcomponents using path notation for example productionRun01 job myModel mdl config xml Element Type Description Configuration config xm...

Page 340: ...33 Number of edge points points pointCount 32u 32u 37 Edge points collection Each point is a tuple of x and y values in units of xScale and yScale respectively Edge Points Data Configuration Delete this text and replace it with your own content Element Type Description version 32u Major version 1 versionMinor 32u Minor version 0 Edges Collection Collection of Edge items described below EdgeSensiti...

Page 341: ...Gocator Line Profile Sensors User Manual Gocator Device Files Job Files 341 Element Type Description 1 Intensity map ImageType options 32s CSV List of available image types ...

Page 342: ... re configure their network addresses l Configure Main and Buddy sensors l Send commands to run sensors provide software triggers read write files etc l Receive data health and diagnostic messages l Upgrade firmware The Gocator 4 x firmware uses mm mm2 mm3 and degrees as standard units In all protocols values are scaled by 1000 as values in the protocols are represented as integers This results in...

Page 343: ...2 bit signed integer 2147483648 0x80000000 32u 32 bit unsigned integer 4294967295 0xFFFFFFFF 64s 64 bit signed integer 9223372036854775808 0x8000000000000000 64u 64 bit unsigned integer 18446744073709551615 0xFFFFFFFFFFFFFFFF 64f 64 bit floating point 1 7976931348623157e 308 Point16s Two 16 bit signed integers Point64f Two 64 bit floating point values Point3d64f Three 64 bit floating point values ...

Page 344: ...68 1 10 Subnet Mask 255 255 255 0 Gateway 0 0 0 0 disabled Use the Get Address and Set Address commands to modify a sensor s network configuration These commands are UDP broadcast messages Destination Address Destination Port 255 255 255 255 3220 When a sensor accepts a discovery command it will send a UDP broadcast response Destination Address Destination Port 255 255 255 255 Port of command send...

Page 345: ...ght order reserved 4 byte 64 Reserved gateway 4 byte 68 The gateway address in left to right order reserved 4 byte 72 Reserved reserved 4 byte 76 Reserved Reply Set Address The Set Address command modifies the network configuration of a Gocator sensor On receiving the command the Gocator will perform a reset You should wait 30 seconds before re connecting to the Gocator Field Type Offset Descripti...

Page 346: ...Offset Description length 64s 0 Command length type 64s 8 Command type 0x5 signature 64s 16 Message signature 0x0000504455494D4C deviceId 64s 24 Serial number of the device whose address information is queried 0 selects all devices Command Field Type Offset Description length 64s 0 Reply length type 64s 8 Reply type 0x1005 status 64s 16 Operation status For a list of status codes see Commands on p...

Page 347: ...mmands for most operations over the Control TCP channel port 3190 The Control channel and the Upgrade channel port 3192 can be connected simultaneously For more information on Upgrade commands see Upgrade Commands on page 378 States A Gocator system can be in one of three states Conflict Ready or Running The client sends the Start and Stop control commands to change the system s current state to R...

Page 348: ... Version command returns the protocol version of the connected sensor Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4511 Command Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4511 status 32s 6 Reply status For a list of status codes see Commands on page 343 majorV...

Page 349: ... For a list of status codes see Commands on page 343 Reply Get System Info The Get System Info command reports information for sensors that are visible in the system Firmware version refers to the version of the Gocator s firmware installed on each individual sensor The client can upgrade the Gocator s firmware by sending the Start Upgrade command see on page 378 Firmware upgrade files are availab...

Page 350: ...r of the device address 4 byte 4 IP address most significant byte first modelName 32 char 8 Model name firmwareVersion 4 byte 40 Firmware version most significant byte first state 32s 44 Sensor state 1 Conflict 0 Ready 1 Running For more information on states see Control Commands on page 347 role 32s 48 Sensor role 0 Main 1 Buddy buddyId 32s 52 Serial number of paired device main or buddy 0 if unp...

Page 351: ...No user 1 Administrator 2 Technician alignmentReference 32s 22 Alignment reference 0 Fixed 1 Dynamic alignmentState 32s 26 Alignment state 0 Unaligned 1 Aligned recordingEnabled 32s 30 Whether or not recording is enabled 0 Disabled 1 Enabled playbackSource 32s 34 Playback source 0 Live data 1 Recorded data uptimeSec 32s 38 Uptime whole seconds component uptimeMicrosec 32s 42 Uptime remaining micro...

Page 352: ...ommands on page 343 Reply Change Password The Change Password command is used to change log in credentials for a user Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4004 user type 32s 6 Defines the user type 0 None log out 1 Administrator 2 Technician password 64 char 10 New password Command Field Type Offset Description length 3...

Page 353: ...ifier 0x101A extension 64 char 6 Specifies the extension used to filter the list of files does not include the If an empty string is used then no filtering is performed Command Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x101A status 32s 6 Reply status For a list of status codes see Commands on page 343 count 32u 10 Number of file ...

Page 354: ...ame field To read the configuration of the live configuration only pass _live job config xml in the name field Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x1007 name 64 char 6 Source file name Command Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x1007 status 32s ...

Page 355: ...moves a file from the connected sensor a job file a component of a job file or another type of file for more information see Job Files on page 270 Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x1008 name 64 char 6 Source file name Command Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4...

Page 356: ...ding this field in bytes id 16u 4 Reply identifier 0x1022 status 32s 6 Reply status spaceFree 64u 10 The free storage space in bytes Reply Get Default Job The Get Default Job command gets the name of the job the sensor loads when it powers up Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4100 Command Field Type Offset Descriptio...

Page 357: ...e and modified status of the currently loaded file Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4512 Command Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4512 status 32s 6 Reply status For a list of status codes see Commands on page 343 fileName 64 char 10 Name ...

Page 358: ...ield in bytes id 16u 4 Command identifier 0x4103 reference 32s 6 Alignment reference 0 Fixed 1 Dynamic Command Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4103 status 32s 6 Reply status For a list of status codes see Commands on page 343 Reply Clear Alignment The Clear Alignment command clears sensor alignment Field Type Offset De...

Page 359: ... Timestamp in clock ticks Reply Get Encoder This command retrieves the current system encoder value Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x101C Command Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x101C status 32s 6 Reply status For a list of status codes s...

Page 360: ...on length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x100D status 32s 6 Reply status For a list of status codes see Commands on page 343 Reply Scheduled Start The scheduled start command starts the sensor system system enters the Running state at target time or encoder value depending on the trigger mode For more information on states see Control Commands on page 347...

Page 361: ...mand returns whether the system automatically starts after booting Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x452C Command Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x452C status 32s 6 Reply status For a list of status codes see Commands on page 343 enable 8u...

Page 362: ...r 0x4600 status 32s 6 Reply status For a list of status codes see Commands on page 343 opId 32u 10 Operation ID Use this ID to correlate the command reply on the Command channel with the correct Alignment Result message on the Data channel A unique ID is returned each time the client uses this command Reply Start Exposure Auto set The Start Exposure Auto set command is used to start the exposure a...

Page 363: ...2s 6 Reply status For a list of status codes see Commands on page 343 Reply Schedule Digital Output The Schedule Digital Output command schedules a digital output event The digital output must be configured to accept software scheduled commands and be in the Running state For more information on setting up digital output see Digital Output on page 240 Field Type Offset Description length 32u 0 Com...

Page 364: ...t 64s 8 Specifies the time clock ticks or position encoder ticks of when the event should happen The target value is ignored if ScheduleEnabled is set to false Scheduled is unchecked in Analog in the Output panel The output will be triggered immediately value 32s 16 Output current micro amperes Command Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Rep...

Page 365: ...ed Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4300 Command Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4300 status 32s 6 Reply status For a list of status codes see Commands on page 343 Reply Backup The Backup command creates a backup of all files stored on t...

Page 366: ...s For a list of status codes see Commands on page 343 Reply Restore Factory The Restore Factory command restores the connected sensor to factory default settings The command erases the non volatile memory of the main device This command has no effect on connected Buddy sensors Note that the sensor must be reset or power cycled before the factory restore operation can be completed Field Type Offset...

Page 367: ...le 8u 10 0 disabled 1 enabled Reply Set Recording Enabled The Set Recording Enabled command enables recording for replay later Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4516 enable 8u 6 0 disabled 1 enabled Command Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0...

Page 368: ...ype Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4524 status 32s 6 Reply status For a list of status codes see Commands on page 343 source 32s 10 Source 0 Live 1 Replay buffer Reply Set Playback Source The Set Playback Source command sets the data source for data playback Field Type Offset Description length 32u 0 Command size including this ...

Page 369: ...tion mode sensor type etc does not support simulation A reply status of 992 means that the simulation buffer is empty Note that the buffer can be valid even if the simulation buffer is actually empty due to optimization choices This scenario means that the simulation buffer would be valid if data were recorded Seek Playback The Seek Playback command seeks to any position in the current playback da...

Page 370: ...ou can use the Copy File command to load a replay data set to _live rec Playback Position The Playback Position command retrieves the current playback position Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4502 Command Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0...

Page 371: ...t log to read End 32u 10 Last log to read Command Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x101F status 32s 6 Reply status length 32u 10 File length data length byte 14 XML Log File Reply Clear Log The Clear Log command clears the sensor s log Field Type Offset Description length 32u 0 Command size including this field in bytes ...

Page 372: ... Command identifier 0x4528 Command Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4528 status 32s 6 Reply status For a list of status codes see Commands on page 343 Reply The command returns after the scan has been captured and transmitted Acquire Unaligned The Acquire Unaligned command acquires a new scan without performing alignmen...

Page 373: ...y Detect Edges The Detect Edges command detects and updates the edge points of a part model Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4604 modelName 64 char 6 Name of the model without mdl extension sensitivity 16u 70 Sensitivity in thousandths Command Field Type Offset Description length 32u 0 Reply size including this fiel...

Page 374: ...ength 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4531 status 32s 6 Reply status For a list of status codes see Commands on page 343 Reply This command can only be used with dynamic tools tools with a dynamic list of measurements The maximum number of instances for a given measurement type can be found in the ToolOptions node For dynamic tools the maximum count is gr...

Page 375: ...14 Current progress size 32u 18 Size of the chunk in byes data size byte 22 Chunk data Continue Reply Export CSV Progressive The progressive Export CSV command exports replay data as a CSV stream This command returns an initial reply followed by a series of continue replies if the initial reply s status field indicates success The continue replies contain the actual data and have 0x5000 as their i...

Page 376: ...d exports replay data as a bitmap stream This command returns an initial reply followed by a series of continue replies if the initial reply s status field indicates success The continue replies contain the actual data and have 0x5000 as their identifier Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4508 type 32s 6 Data type 0 R...

Page 377: ...entifier 0x4537 Command Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4537 status 32s 6 Reply status valueLength 32u 10 The count of runtime variables Reply Set Runtime Variables The Set Runtime Variables command sets the runtime variables at the given index for the given length Field Type Offset Description length 32u 0 Command siz...

Page 378: ...el port 3192 The Control channel port 3190 and the Upgrade channel can be connected simultaneously For more information on Control commands see Control Commands on page 347 After connecting to a Gocator sensor you can use the Protocol Version command to retrieve the protocol version Protocol version refers to the version of the Gocator Protocol supported by the connected sensor the sensor to which...

Page 379: ...hether or not to skip validation 0 do not skip 1 skip length 64s 24 Length of the upgrade package bytes data length byte 32 Upgrade package data Command Field Type Offset Description length 64s 0 Reply size including this field in bytes id 64s 8 Reply identifier 0x0003 status 64s 16 Reply status For a list of status codes see Commands on page 343 Reply Get Upgrade Status The Get Upgrade Status com...

Page 380: ...e following sections describe the results data and health that Gocator sends Data Results A client can receive data messages from a Gocator sensor by connecting to the Data TCP channel port 3196 The Data channel and the Health channel port 3194 can be connected at the same time The sensor accepts multiple connections on each port For more information on the Health channel see Health Results on pag...

Page 381: ...e index counts up from zero timestamp 64u 8 Timestamp µs encoder 64s 16 Current encoder value ticks encoderAtZ 64s 24 Encoder value latched at z index mark ticks status 64u 32 Bit field containing various frame information Bit 0 sensor digital input state Bit 4 master digital input state Bit 8 9 inter frame digital pulse trigger Master digital input if master is connected otherwise sensor digital ...

Page 382: ... index exposure 32u 22 Exposure ns flippedX 8u 26 Indicates whether the video data must be flipped horizontally to match up with profile data flippedY 8u 27 Indicates whether the video data must be flipped vertically to match up with profile data pixels H W Variable 28 Image pixels Depends on pixelSize above Profile Field Type Offset Description size 32u 0 Count of bytes in message including this ...

Page 383: ... Description size 32u 0 Count of bytes in message including this field control 16u 4 Bit 15 Last message flag Bits 0 14 Message type identifier For this message set to 6 attributeSize 16u 6 Size of attributes in bytes min 32 current 32 count C 32u 8 Number of profile arrays width W 32u 12 Number of points per profile array xScale 32u 16 X scale nm zScale 32u 20 Z scale nm xOffset 32s 24 X offset µ...

Page 384: ...2s 20 X offset µm source 8u 24 Source 0 Top 1 Bottom 2 Top Left 3 Top Right exposure 32u 25 Exposure ns reserved 3 8u 29 Reserved points C W 8u 32 Intensity arrays Surface Field Type Offset Description size 32u 0 Count of bytes in message including this field control 16u 4 Bit 15 Last message flag Bits 0 14 Message type identifier For this message set to 8 attributeSize 16u 6 Size of attributes in...

Page 385: ... Size of attributes in bytes min 32 current 32 length L 32u 8 Surface length rows width W 32u 12 Surface width columns xScale 32u 16 X scale nm yScale 32u 20 Y scale nm xOffset 32s 24 X offset µm yOffset 32s 28 Y offset µm source 8u 32 Source 0 Top 1 Bottom 2 Top Left 3 Top Right exposure 32u 33 Exposure ns reserved 3 8u 37 intensities H W 8u 40 Surface intensities Surface Section Field Type Offse...

Page 386: ...6s 53 Profile ranges The pose field can be used to transform the section data into the surface frame of reference via a rotation and then a translation Surface Section Intensity Field Type Offset Description size 32u 0 Count of bytes in message including this field control 16u 4 Bit 15 Last message flag Bits 0 14 Message type identifier For this message set to 21 attributesSize 16u 6 Size of attri...

Page 387: ...ts in this message reserved 2 8u 10 Reserved id 16u 12 Measurement identifier measurements C Measurement 14 Array of measurements see below Field Type Offset Description value 32s 0 Measurement value decision 8u 4 Measurement decision bitmask Bit 0 1 Pass 0 Fail Bits 1 7 0 Measurement value OK 1 Invalid value 2 Invalid anchor reserved 3 8u 5 Reserved Measurement Operation Result Field Type Offset ...

Page 388: ... Field Type Offset Description size 32u 0 Count of bytes in message including this field control 16u 4 Bit 15 Last message flag Bits 0 14 Message type identifier For this message set to 12 attributesSize 16u 6 Size of attributes in bytes min 12 current 12 opId 32u 8 Operation ID status 32s 12 Operation status exposure 32s 16 Exposure result ns Edge Match Result Field Type Offset Description size 3...

Page 389: ...ier For this message set to 18 decision byte 6 Overall match decision xOffset 32s 7 Target x offset in model space µm yOffset 32s 11 Target y offset in model space µm zAngle 32s 15 Target z rotation in model space microdegrees minor 32s 19 Minor axis length µm minorDecision 8u 23 Minor axis decision major 32s 24 Major axis length µm majorDecision 8u 28 Major axis decision Health Results A client c...

Page 390: ... Message type identifier Always 0 count C 32u 6 Count of indicators in this message source 8u 10 Source 0 Main 1 Buddy reserved 3 8u 11 Reserved indicators C Indicator 14 Array of indicators see format below Health Result Header The health indicators block contains a 2 dimensional array of indicator data Each row in the array has the following format Field Type Offset Description id 32u 0 Unique i...

Page 391: ...f memory available bytes Storage Usage 2005 Amount of non volatile storage used bytes Storage Capacity 2006 Total amount of non volatile storage available bytes CPU Usage 2007 CPU usage percentage of maximum Net Out Capacity 2009 Total available outbound network throughput bytes s Net Out Link Status 2034 Current Ethernet link status Sync Source 2043 Gocator synchronization source 1 FireSync Maste...

Page 392: ...at 20020 Indicates whether laser overheat has occurred 0 Has not overheated 1 Has overheated Only available on certain 3B laser devices Laser Overheat Duration 20021 The length of time in which the laser overheating state occurred Only available on certain 3B laser devices Playback Position 20023 The current replay playback position Playback Count 20024 The number of frames present in the replay F...

Page 393: ... 22000 The number of dropped surfaces due to a lack of z encoder pulse during rotational part detection Value 30000 Measurement ID Measurement Value Pass 30001 Measurement ID Number of pass decision Fail 30002 Measurement ID Number of fail decision Max 30003 Measurement ID Maximum measurement value Min 30004 Measurement ID Minimum measurement value Average 30005 Measurement ID Average measurement ...

Page 394: ...Gocator Line Profile Sensors User Manual Protocols Gocator Protocol 394 When the sensor is accelerated the indicator s value is the sum of the values reported from the sensor and the accelerating PC ...

Page 395: ...fective units of mm 1000 mm2 1000 mm3 1000 and deg 1000 in the protocols If buffering is enabled with the Modbus protocol the PLC must read the Buffer Advance output register see on page 398 to advance the queue before reading the measurement results For information on configuring the protocol using the Web interface see Ethernet Output on page 236 Concepts A PLC sends a command to start each Goca...

Page 396: ...sor 6 Write Single Register 16 Send a command or parameter to the sensor 16 Write Multiple Registers 16 Send a command and parameters to the sensor Modbus Function Code The data payload contains the registers that can be accessed by Modbus TCP messages If a message accesses registers that are invalid a reply with an exception is returned Modbus Application Protocol Specification defines the except...

Page 397: ...or detailed descriptions Register Map Overview Control Registers Control registers are used to operate the sensor Register 0 stores the command to be executed Registers 1 to 21 contain parameters for the commands The Gocator executes a command when the value in Register 0 is changed To set the parameters before a command is executed you should set up the parameters and the command using a single M...

Page 398: ...bit data value State State registers report the current sensor state Register Address Name Type Description 300 Stopped Running Sensor State 0 Stopped 1 Running 301 Busy Busy State 0 Not busy 1 Busy Registers 302 to 363 below are only valid when the Busy State is not Busy 302 Alignment State Current Alignment State 0 Not aligned 1 Aligned 303 306 Encoder Value 64s Current Encoder value ticks 307 3...

Page 399: ... the Modbus client can read the updated Measurements Decisions in addresses 1000 1060 977 Buffer Counter Number of buffered messages currently in the queue 978 Buffer Overflow Buffer Overflow Indicator 0 No overflow 1 Overflow 979 Inputs Digital input state 980 zPosition High 64s Encoder value when the index is last triggered 981 zPosition 982 zPosition 983 zPosition Low 984 Exposure High 32u Lase...

Page 400: ...nd 1013 low word and the decision at 1015 In Profile mode the measurement results are updated after each profile is processed In Surface mode the measurement results are updated after each discrete part has been processed Register Address Name Type Description 1000 Measurement 0 High 32s Measurement value in µm 0x80000000 if invalid 1001 Measurement 0 Low 1002 Decision 0 16u Measurement decision A...

Page 401: ...ch have attributes that can be queried Gocator supports all required objects such as the Identity object TCP IP object and Ethernet Link object In addition assembly objects are used for sending sensor and sample data and receiving commands There are three assembly objects the command assembly 32 bytes the sensor state assembly 100 bytes and the sample state assembly object 380 bytes The data attri...

Page 402: ...ported See Volume 2 Chapter 5 3 of the CIP Specification for a complete listing of TCP IP object attributes Attribute Name Type Value Description Access 1 Status UDINT 0 TCP interface status Get 2 Configuration Capability UINT 0 Get 3 Configuration Control UINT 0 Product code Get 4 Physical Link Object Structure See description See 5 3 3 2 4 of CIP Specification Volume 2 Path size UINT Path Padded...

Page 403: ...sembly object instances are static Data in a data byte array in an assembly object are stored in the big endian format Command Assembly The command assembly object is used to start stop and align the sensor and also to switch jobs on the sensor Information Value Class 0x4 Instance 0x310 Attribute Number 3 Length 32 bytes Supported Service 0x10 SetAttributeSingle Command Assembly Attributes 1 and 2...

Page 404: ...ariable Configuration Assembly The runtime variable configuration assembly object contains the sensor s intended runtime variables Information Value Class 0x04 Instance 0x311 Attribute Number 3 Length 64 bytes Supported Service 0x10 SetAttributeSingle Runtime Variable Configuration Assembly Attribute Name Type Value Description Access 3 Command Byte Array See below Runtime variable configuration i...

Page 405: ...te 3 Byte Name Type 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 Bytes 2 to 43 below are only valid when there is no command in progress 2 Alignment state Alignment status 0 Not aligned 1 Aligned The value is only valid when byte1 is set to 0 3 10 Encoder 64s Current encoder position 11 18 Time 6...

Page 406: ...e information See below for more details Get Attribute 3 Byte Name Type Description 0 1 Inputs Digital input state 2 9 Z Index Position 64s Encoder position at time of last index pulse 10 13 Exposure 32u Laser exposure in µs 14 17 Temperature 32u Sensor temperature in degrees Celsius 100 centidegrees 18 25 Position 64s Encoder position 26 33 Time 64u Time 34 41 Frame Counter 64u Frame counter 42 B...

Page 407: ...e position of each pair within the state information The position of the first word can be calculated as 80 5 ID For example a measurement with ID set to 4 can be read from byte 100 high word to 103 low word and the decision at 104 In Profile mode the measurement results are updated after each profile is processed In Surface mode the measurement results are updated after each discrete part has bee...

Page 408: ...ary Alignment 4 Perform Moving Alignment 5 Clear alignment 6 Set Runtime Variables 1 31 Reserved except for configuring runtime variables For setting runtime variables bytes 4 through 20 are used to define the values of each of the four runtime variables in Little Endian format Implicit Messaging Command Assembly Information Implicit Messaging Output Assembly Information Value Class 0x04 Instance ...

Page 409: ...der position at time of last index pulse 12 15 Exposure 32u Laser exposure in µs 16 19 Temperature 32u Sensor temperature in degrees celsius 100 centidegrees 20 27 Encoder Position 64s Encoder position 28 35 Time 64u Time 36 43 Scan Count 64u Represents the number of scans 44 55 Reserved 56 Decision 0 8u Measurement decision is a bit mask where Bit 0 1 Pass 0 Fail Bits 1 7 0 Measurement value OK 1...

Page 410: ...r is user configurable To use the ASCII protocol it must be enabled and configured in the active job The Gocator 4 x firmware uses mm mm2 mm3 and degrees as standard units In all protocols values are scaled by 1000 as values in the protocols are represented as integers This results in effective units of mm 1000 mm2 1000 mm3 1000 and deg 1000 in the protocols For information on configuring the prot...

Page 411: ...e asynchronously or by polling Under asynchronous operation measurement results are automatically sent on the Data channel when the sensor is in the running state and results become available The result is sent on all connected data channels Under polling operation a client can l Switch to a different job l Align run and trigger sensors l Receive sensor states health indicators stamps and measurem...

Page 412: ...ers Special Character Explanation Delimiter Separates input arguments in commands and replies or data items in results Default value is Terminator Terminates both commands and result output Default value is r n Invalid Represents invalid measurement results Default value is INVALID Special Characters The values of the special characters are defined in the Special Character settings In addition to ...

Page 413: ... valid when the system is in the Ready or Running state Message Format Command Stop Reply OK or ERROR Error Message Formats Examples Command Stop Reply OK Trigger The Trigger command triggers a single frame capture This command is only valid if the sensor is configured in the Software trigger mode and the sensor is in the Running state If a start target is specified the sensor starts at the target...

Page 414: ...nd LoadJob test job Reply OK test job loaded successfully Command LoadJob Reply OK test job Command LoadJob wrongname job Reply ERROR failed to load wrongname job Stamp The Stamp command retrieves the current time encoder and or the last frame count Message Format Command Stamp time encoder frame If no parameters are given time encoder and frame will be returned There could be more than one select...

Page 415: ...lignment Reply ERROR ALIGNMENT FAILED Moving Alignment The Moving Alignment command performs an alignment based on the settings in the sensor s live job file A reply to the command is sent when the alignment has completed or failed The command is timed out if there has been no progress after one minute Message Format Command MovingAlignment Reply If no arguments are specified OK or ERROR Error Mes...

Page 416: ...ing ERROR Error Message If arguments are specified OK data string in standard format ERROR Error Message Formats Examples Standard data string for measurements ID 0 and 1 Result 0 1 OK M00 00 V151290 D0 M01 01 V18520 D0 Standard formatted measurement data with a non existent measurement of ID 2 Result 2 ERROR Specified measurement ID not found Please verify your input Custom formatted data string ...

Page 417: ...asurement ID not found Please verify your input Custom formatted data string time value 0 Value OK 1420266101 151290 Decision The Decision command retrieves measurement decisions Message Format Command Decision measurement ID measurement ID Reply If no arguments are specified the custom format data string is used OK custom data string ERROR Error Message If arguments are specified OK data string i...

Page 418: ...tor can be specified Note that the health indicator instance is optionally attached to the indicator ID with a If the health indicator instance field is used the delimiter cannot be set to Reply OK health indicator of first ID health indicator of second ID ERROR Error Message Formats Examples health 2002 2017 OK 46 1674 Health ERROR Insufficient parameters Standard Result Format Gocator can send m...

Page 419: ... 0 Fail Bits 1 7 0 Measurement value OK 1 Invalid value 2 Invalid anchor Custom Result Format In the custom format you enter a format string with place holders to create a custom message The default format string is time value 0 decision 0 Format Value Explanation time Timestamp encoder Encoder position frame Frame number value Measurement ID Measurement value of the specified measurement ID The I...

Page 420: ...Gocator Line Profile Sensors User Manual Protocols ASCII Protocol 420 Format Value Explanation Bits 1 7 0 Measurement value OK 1 Invalid value 2 Invalid anchor ...

Page 421: ...d decisions can be transmitted to an RS 485 receiver but job handling and control operations must be performed through the Gocator s web interface or through communications on the Ethernet output Connection Settings The Selcom protocol uses the following connection settings Parameter Value Data Bits 16 Baud Rate b s 96000 512000 1024000 Format Binary Serial Connection Settings Message Format The d...

Page 422: ...Profile Sensors User Manual Protocols Selcom Protocol 422 12 bit data format SLS mode SLS in Gocator web interface 12 bit data format with Search Track bit 14 bit data format 14 bit data format with Search Track bit ...

Page 423: ...Gocator Line Profile Sensors User Manual Development Kits 423 Development Kits Gocator includes two development kits l Software Development Kit SDK l Gocator Development Kit GDK ...

Page 424: ...or example an application compiled using SDK version 3 x being used with a Gocator running firmware 4 x you must rewrite the application with the SDK version corresponding to the sensor firmware in use The Gocator API included in the SDK is a C language library that provides support for the commands and data formats used with Gocator sensors The API is written in standard C to allow the code to be...

Page 425: ...y for example include GoSdk GoSdk h The SDK header files also reference files from the kApi directory The include path must be set up for both the GoSdk and the kApi directories For example the sample projects set the include path to GO_SDK_4 Gocator GoSdk and GO_SDK_4 Platform kApi Class Hierarchy This section describes the class hierarchy of the Gocator 4 x SDK GoSystem The GoSystem class is the...

Page 426: ...or configuration GoTools The GoTools class is the base class of the measurement tools The class provides functions for getting and setting names retrieving measurement counts etc GoTransform The GoTransform class represents a sensor transformation and provides functions to get and set transformation information as well as encoder related information GoOutput The GoOutput class represents output co...

Page 427: ...esults GoMeasurementMsg Represents a message containing a set of GoMeasurementData objects GoProfileIntensityMsg Represents a data message containing a set of profile intensity arrays GoProfileMsg Represents a data message containing a set of profile arrays GoRangeIntensityMsg Represents a data message containing a set of range intensity data GoRangeMsg Represents a data message containing a set o...

Page 428: ...be destroyed by using the GoDestroy function Measurement Values and Decisions Measurement values and decisions are 32 bit signed values k32s See Value Types on page 426 for more information on value types The following table lists the decisions that can be returned Decision Description 1 The measurement value is between the maximum and minimum decision values This is a pass decision 0 The measurem...

Page 429: ...on for example GoSensor_Connect For property access functions the convention is Go Object _ Property Name for reading the property and Go Object _Set Property Name for writing it for example GoMeasurement_ DecisionMax and GoMeasurement_SetDecisionMax respectively Initialize GoSdk API Object Before the SDK can be used the GoSdk API object must be initialized by calling GoSdk_Construct api kAssembly...

Page 430: ...ct for example setting scan mode exposure exposure mode active area speed alignment filtering subsampling etc Surface generation is configured through the GoSurfaceGeneration object and part detection settings are configured through the GoPartDetection object See Class Hierarchy on page 425 for information on the different objects used for configuring a sensor Sensors must be connected before they...

Page 431: ...ata system kTRUE Optional Setup callback function to receive data asynchronously GoSystem_SetDataHandler system onData contextPointer Retrieve setup handle setup GoSensor_Setup sensor Reconfigure system to use time based triggering GoSetup_SetTriggerSource setup GO_TRIGGER_TIME Send the system a Start command GoSystem_Start system Data will now be streaming into the application Data can be receive...

Page 432: ...lt job file to be loaded on boot GoSensor_UploadFile Uploads a file to the connected sensor GoSensor_Upgrade Upgrades sensor firmware GoSystem_StartAlignment When alignment is performed with alignment reference set to fixed flash memory is written immediately after alignment GoSensor_ SetAlignmentReference is used to configure alignment reference GoSensor_SetAddress Configures a sensor s network a...

Page 433: ...manual 15201 4 x x xxx_MANUAL_ Technical_Gocator Measurement Tool pdf by going to http lmi3d com support downloads selecting a Gocator series and clicking on the Product User Area link You can download the GDK from the same location Benefits When you use the GDK to create custom measurement tools you have complete control over how and where your custom measurement tools are used which protects you...

Page 434: ...ase contact LMI Typical Workflow The following is the typical workflow for creating and deploying custom measurement tools l Develop and build measurement tools using the GDK project files and libraries in Microsoft Visual Stu dio targeting Win32 l Debug the measurement tools using the emulator on a PC l Build the measurement tools into a custom firmware binary l Upload the custom firmware to a se...

Page 435: ...he downloads area of the LMI Technologies website http www lmi3D com After downloading the tool package 14405 x x x x_SOFTWARE_GO_Tools zip unzip the file and run the Sensor Discovery Tool bin win32 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 To change the network address of a sensor 2 Select the Cu...

Page 436: ...vers Sensor Recovery Tool 436 The Sensor Discovery tool uses UDP broadcast messages to reach sensors on different subnets This enables the Sensor Discovery tool to locate and re configure sensors even when the sensor IP address or subnet configuration is unknown ...

Page 437: ...ftware can access the GenTL driver For instructions see To configure system variables to use the driver in Windows 7 below You can download the toolset package containing the driver from the LMI Technologies website at http lmi3d com support downloads Click the link for your product click the Product User Area link at the top of the page and log in The tool package is called 14405 x x x x_SOFTWARE...

Page 438: ...Gocator Line Profile Sensors User Manual Tools and Native Drivers GenTL Driver 438 3 Click Advanced System Settings 4 In the System Properties dialog on the Advanced tab click Environment Variables ...

Page 439: ...Gocator Line Profile Sensors User Manual Tools and Native Drivers GenTL Driver 439 5 In the Environment Variables dialog under the System variables list click New ...

Page 440: ...iver 440 6 In the New System Variable dialog enter the following information depending on your system Variable name Variable value 32 bit system GENICAM_GENTL32_PATH The full path to the GenTL x86 folder 64 bit system GENICAM_GENTL64_PATH The full path to the GenTL x64 folder ...

Page 441: ...each red pixel presents a 3D point in the real world coordinates The following formula can be used to calculate the real world coordinates X Y Z from pixel coordinates Px Py Pz 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 The Z offset is fixed to 32768...

Page 442: ... X offset nm 7 28 31 X resolution nm 8 32 35 Y offset nm 9 36 39 Y resolution nm 10 40 43 Z offset nm 11 44 47 Z resolution nm 12 48 51 Height map Width in pixels 13 52 55 Height map length in pixels 14 56 59 Specify if the intensity is enabled Stamp Information from GenTL driver 16 bit Grey Scale Image When the 16 bit grey scale format is used the height map intensity and stamps are stored sequen...

Page 443: ...nsity value is 0 if the intensity image is not available Gocator outputs 8 bit intensity values The values stored in the 16 bit Grey scale image is multiplied by 256 To obtain the original values divide the intensity values by 256 Refer to the stamps on how to retrieve the offset and resolution values The last row of the 16 bit grey scale image Stamp information Stamps are 64 bit auxiliary informa...

Page 444: ... part height map is truncated if it is longer than the specified length 292 ResampleMode RO 4 Enable the resampling logic in the GenTL driver 0 Disable resampling 1 Enable resampling When resampling is enabled the GenTL driver will resample the height map so that the pixel spacing is the same in the X and Y axis 296 EncoderValue0 RO 4 Report the current encoder value least significant 32 bit The c...

Page 445: ...isable or enable resampling mode 0 Disable 1 Enable When resampling mode is enabled the GenTL driver will resample the height map so that the pixel spacing is the same in the X and Y axis The default value is 1 DataFormat 32u Settings to choose 16 bit RGB or 16 bit grey scale image output 0 16 bit RGB Image 1 16 bit grey scale Image The default value is 0 Interfacing with Halcon Halcon is a compre...

Page 446: ...o connect the sensor to the PC For more information see Installation on page 27 and Network Setup on page 34 2 Click the Scan page icon 3 On the Scan page click the Surface icon to switch to Surface mode 4 Optional If you need intensity data check the Acquire Intensity option 5 Configure the sensor to produce the desired surface data For more information on configuring Gocator sensors see Scan Set...

Page 447: ...ition 11 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 Discovery messages can be blocked by a PC s firewall You should therefore turn off the firewall and try again if the Gocator sensor can t be detected 12 Switch to the Co...

Page 448: ... and Native Drivers GenTL Driver 448 13 In the Connection tab set Color Space to RGB and Bit Depth to 16 14 In the Gocator web interface click the Snapshot button to trigger the output of a surface The output displays in the Halcon Graphics Window ...

Page 449: ...ctory The Go2GenTL xml file for Gocator 4 x has more fields than the Gocator 3 x version Make sure you are using the correct version The following section describes each of these procedures Procedures Description Go2GenTL_ ParseData The GenTL driver packs the height map intensity and stamp information into a 16 bit RGB image The function is used to extract data from the RGB image For details on ho...

Page 450: ...by the user HasIntensity Specifies if the intensity image is available The intensity image is available if Acquire Intensity is enabled in the Gocator web interface Each output is returned as decimal value Example Go2GenTL_ParseData Image HeightMap Intensity frameCount timestamp encoderPosition encoderIndex inputs xOffset xResolution yOffset yResolution zOffset zResolution width height hasIntensit...

Page 451: ...nificant 32 bit value Parameters Input AcqHandle Acquisition handle created by open_framegrabber Parameters Output EncoderValue The current encoder value Example Go2GenTL_Encoder AcqHandle EncoderValue Go2GenTL_ ImageSize Returns the size of the image returned by the GenTL driver Parameters Input AcqHandle Acquisition handle created by open_framegrabber Parameters Output Width The width of the ima...

Page 452: ...eters on the scanner Can be used to set scanner specific settings For a complete list of settings that can be changed see the SDK interface files In the generic form set_framegrabber_param AcqHandle Name Value Parameters Input AcqHandle Acquisition handle created by open_framegrabber Name The name of the parameter to set on the scanner Value The parameter value to set on the scanner Examples To se...

Page 453: ...ode 1 In Halcon in the Assistants menu click Open New Image Acquisition 2 In the dialog that opens in the Code Generation tab set Acquisition Mode to Asynchronous Acquisition 3 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 fu...

Page 454: ...amegrabber GenICamTL 0 0 0 0 0 0 progressive 16 rgb 1 false default 192 168 1 10 0 1 AcqHandle grab_image_start AcqHandle 1 while true try grab_image_async Image AcqHandle 1 catch Exception continue endtry Go2GenTL_ParseData Image HeightMap Intensity frameCount timestamp encoderPosition encoderIndex inputs xOffset xResolution yOffset yResolution zOffset zResolution width height hasIntensity Image ...

Page 455: ...d in the GenTL Driver section see on page 437 You can load the exported data into image processing software to provide simulation data for developing applications using the GenTL driver To convert exported CSV into different formats 1 Select the CSV file to convert 2 If intensity information is required check the Intensity box and select the intensity bitmap Intensity information is only used when...

Page 456: ...See Sensor Recovery Tool on page 435 for more information When attempting to log in the password is not accepted l See Sensor Recovery Tool on page 435 for steps to reset the password Laser Profiling When the Start button or the Snapshot button is pressed the sensor does not emit laser light l Ensure that the sticker covering the laser emitter window normally affixed to new sensors has been remove...

Page 457: ...formation on configuring exposure time Performance The sensor CPU level is near 100 l Consider reducing the speed If you are using a time or encoder trigger source see Triggers on page 84 for information on reducing the speed If you are using an external input or software trigger consider reducing the rate at which you apply triggers l Consider reducing the laser profile resolution See Spacing on ...

Page 458: ...ity Z of MR 0 01 0 01 0 01 0 01 0 01 0 04 0 05 0 04 Resolution Z mm 0 0018 0 0030 0 006 0 014 0 013 0 037 0 015 0 040 0 019 0 060 0 055 0 200 0 154 0 56 0 092 0 488 Resolution X mm Profile Data Interval 2100 series n a 0 088 0 150 0 19 0 34 n a 0 3 0 6 0 55 1 10 n a 0 75 2 20 2300 series 0 014 0 021 0 044 0 075 0 095 0 170 0 095 0 170 0 150 0 300 0 275 0 550 0 27 0 80 0 375 1 100 Repeatability Z µ...

Page 459: ...s can be customized Contact LMI for more details Gocator 2300 series sensors provide 1280 data points per profile Gocator 2100 series sensors provide 640 data points per profile Specifications stated are based on standard laser classes Linearity Z Resolution Z and Repeatability Z may vary for other laser classes All specification measurements are performed on LMI s standard calibration target a di...

Page 460: ...Inputs Differential Encoder Laser Safety Enable Trigger Outputs 2x Digital output RS 485 Serial 115 kBaud 1x Analog Output 4 20 mA Housing Gasketed aluminum enclosure IP67 Operating Temp 0 to 50 C Storage Temp 30 to 70 C Mechanical dimensions CD FOV MR and the envelope for each sensor model are illustrated on the following pages In the following drawings the physical height dimensions of measureme...

Page 461: ...Gocator Line Profile Sensors User Manual Specifications Sensors 461 Gocator 2320 Field of View Measurement Range Coordinate System Orientation ...

Page 462: ...Gocator Line Profile Sensors User Manual Specifications Sensors 462 Dimensions Envelope ...

Page 463: ...Gocator Line Profile Sensors User Manual Specifications Sensors 463 Gocator 2130 and 2330 Field of View Measurement Range Coordinate System Orientation Dimensions ...

Page 464: ...Gocator Line Profile Sensors User Manual Specifications Sensors 464 Envelope ...

Page 465: ...Gocator Line Profile Sensors User Manual Specifications Sensors 465 Gocator 2140 and 2340 Field of View Measurement Range Coordinate System Orientation ...

Page 466: ...Gocator Line Profile Sensors User Manual Specifications Sensors 466 Dimensions Envelope ...

Page 467: ...Gocator Line Profile Sensors User Manual Specifications Sensors 467 Gocator 2342 Field of View Measurement Range Coordinate System Orientation ...

Page 468: ...Gocator Line Profile Sensors User Manual Specifications Sensors 468 Dimensions Envelope ...

Page 469: ...Gocator Line Profile Sensors User Manual Specifications Sensors 469 Gocator 2150 and 2350 Field of View Measurement Range Coordinate System Orientation ...

Page 470: ...Gocator Line Profile Sensors User Manual Specifications Sensors 470 Dimensions ...

Page 471: ...Gocator Line Profile Sensors User Manual Specifications Sensors 471 Envelope ...

Page 472: ...Gocator Line Profile Sensors User Manual Specifications Sensors 472 Gocator 2170 and 2370 Field of View Measurement Range Coordinate System Orientation ...

Page 473: ...Gocator Line Profile Sensors User Manual Specifications Sensors 473 Dimensions ...

Page 474: ...Gocator Line Profile Sensors User Manual Specifications Sensors 474 Envelope ...

Page 475: ...Gocator Line Profile Sensors User Manual Specifications Sensors 475 Gocator 2375 Field of View Measurement Range Coordinate System Orientation ...

Page 476: ...Gocator Line Profile Sensors User Manual Specifications Sensors 476 Dimensions ...

Page 477: ...Gocator Line Profile Sensors User Manual Specifications Sensors 477 Envelope ...

Page 478: ...Gocator Line Profile Sensors User Manual Specifications Sensors 478 Gocator 2180 and 2380 Field of View Measurement Range Coordinate System Orientation ...

Page 479: ...Gocator Line Profile Sensors User Manual Specifications Sensors 479 Dimensions ...

Page 480: ...Gocator Line Profile Sensors User Manual Specifications Sensors 480 Envelope ...

Page 481: ...Distance CD mm 19 60 Measurement Range MR mm 6 25 Field of View FOV mm 9 6 10 6 27 32 Recommended Laser Class 3R blue 405 nm 3R blue 405 nm Other Laser Classes 2M blue 405 nm 2M blue 405 nm Dimensions mm 44x90x145 44x90x145 Weight kg 0 88 0 88 The following diagram illustrates some of the terms used in the table above Optical models laser classes and packages can be customized Contact LMI for more...

Page 482: ... at the middle of the measurement range It is the 95 confidence variation of the average height over 4096 frames Height values are averaged over the full FOV See Resolution and Accuracy on page 43 for more information ALL 2400 SERIES MODELS Scan Rate 200 Hz expanded full window 400 Hz G23xx equivalent full window up to 5 kHz Interface Gigabit Ethernet Inputs Differential Encoder Laser Safety Enabl...

Page 483: ...Gocator Line Profile Sensors User Manual Specifications Sensors 483 Gocator 2410 Field of View Measurement Range Coordinate System Orientation ...

Page 484: ...Gocator Line Profile Sensors User Manual Specifications Sensors 484 Dimensions ...

Page 485: ...Gocator Line Profile Sensors User Manual Specifications Sensors 485 Envelope ...

Page 486: ...Gocator Line Profile Sensors User Manual Specifications Sensors 486 Gocator 2420 Field of View Measurement Range Coordinate System Orientation ...

Page 487: ...Gocator Line Profile Sensors User Manual Specifications Sensors 487 Dimensions ...

Page 488: ...Gocator Line Profile Sensors User Manual Specifications Sensors 488 Envelope ...

Page 489: ...z Interface Gigabit Ethernet Inputs Differential Encoder Laser Safety Enable Trigger Outputs 2x Digital output RS 485 Serial 115 kBaud 1x Analog Output 4 20 mA Input Voltage Power 24 to 48 VDC 13 Watts RIPPLE 10 Housing Gasketed aluminum enclosure IP67 Operating Temp 0 to 50 C Storage Temp 30 to 70 C Optical models laser classes and packages can be customized Contact LMI for more details Specifica...

Page 490: ...Gocator Line Profile Sensors User Manual Specifications Sensors 490 Gocator 2880 Field of View Measurement Range Coordinate System Orientation ...

Page 491: ...Gocator Line Profile Sensors User Manual Specifications Sensors 491 Dimensions ...

Page 492: ...Gocator Line Profile Sensors User Manual Specifications Sensors 492 Envelope ...

Page 493: ...tor Power LAN Connector pins organized by function Function Pin Lead Color on Cordset GND_24 48V L White Orange Black View Looking into the connector on the sensor GND_24 48V L Orange Black DC_24 48V A White Green Black DC_24 48V A Green Black Safety G White Blue Black Safety J Blue Black Sync E White Brown Black Sync C Brown Black Ethernet MX1 M White Orange Ethernet MX1 N Orange Ethernet MX2 O W...

Page 494: ...24 48VDC L 0 V 0 V Power requirements Laser Safety Input The Safety_in signal should be connected to a voltage source in the range listed below The Safety_in signal should be connected to the ground common of the source supplying the Safety_in Function Pins Min Max Safety_in J 24 V 48 V Safety_in G 0 V 0 V Laser safety requirements Confirm the wiring of Safety_in before starting the sensor Wiring ...

Page 495: ...Digital Output 1 S Tan Out_2 Digital Output 1 T Orange Encoder_A M White Brown Black Encoder_A U Brown Black Encoder_B I Black Encoder_B K Violet Encoder_Z A White Green Black Encoder_Z L Green Black Serial_out B White Serial_out C Brown Reserved E Blue Black Reserved G White Blue Black Analog_out P Green Analog_out F Yellow Maroon White Reserved R Maroon Gocator I O Connector Pins Grounding Shiel...

Page 496: ...utputs To invert an output connect a resistor between ground and Out_1 or Out_2 and connect Out_1 or Out_2 to the supply voltage Take the output at Out_1 or Out_2 For resistor selection see above Digital Input Every Gocator sensor has a single optically isolated input To use this input without an external resistor supply 3 3 24 V to the positive pin and GND to the negative Active High If the suppl...

Page 497: ...ncoder input is provided by an external encoder and consists of three RS 485 signals These signals are connected to Encoder_A Encoder_B and Encoder_Z Function Pins Common Mode Voltage Differential Threshold Voltage Max Data Rate Min Max Min Typ Max 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 Ecnoder_Z A L 7 V 12 V 200 mV 125 mV 50 mV 1 MHz Goca...

Page 498: ...ines one analog output interface Analog_out Function Pins Current Range Analog_out P F 4 20 mA Current Mode Voltage Mode To configure for voltage output connect a 500 Ohm 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 Master Hubs The following sections provide the specific...

Page 499: ...nnected 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 encoder and digital output wire the Master s Gocator Sensor I O port to the Gocator IO connector using the Gocator I O cordset Gocator I O Pin Master Pin Conductor Color Encoder_A 1 White Brown Blac...

Page 500: ...ecifications Master Hubs 500 Function Pin Output_1 Digital Output 0 1 Output_1 Digital Output 0 2 Encoder_Z 3 Encoder_Z 4 Encoder_A 5 Encoder_A 6 Encoder_B 7 Encoder_B 8 Encoder_GND 9 Encoder_5V 10 Encoder Output Port Pins Master 100 Dimensions ...

Page 501: ... to all devices on a sensor network Function Pin 48VDC 1 48VDC 2 GND 48VDC 3 GND 48VDC 4 Safety Control 5 Safety Control 6 Power and Safety 6 pin connector The 48VDC power supply must be isolated from AC ground This means that AC ground and DC ground are not connected The Safety Control requires a voltage differential of 12 VDC to 48 VDC across the pin to enable the laser Function Pin Input 1 1 In...

Page 502: ...oder_A 1 Encoder_A 2 Encoder_B 3 Encoder_B 4 Encoder_Z 5 Encoder_Z 6 GND 7 5VDC 8 Encoder 8 pin connector Master 400 800 Electrical Specifications Specification Value Power Supply Voltage 48 VDC Power Supply current Max 10 A Power Draw Min 5 76 W Safety Voltage 12 VDC to 48 VDC Encoder signal voltage range Differential 12 VDC Digital input voltage range Logical LOW 0 VDC to 0 1 VDC Logical HIGH 11...

Page 503: ... means that AC ground and DC ground are not connected The Power Draw specification is based on a Master with no sensors attached Every sensor has its own power requirements which need to be considered when calculating total system power requirements Master 400 800 Dimensions The dimensions of Master 400 and Master 800 are the same ...

Page 504: ...nction Pin 24 48VDC 1 24 48VDC 2 GND 48VDC 3 GND 48VDC 4 Safety Control 5 Safety Control 6 Power and Safety 6 pin connector The 24 48VDC power supply must be isolated from AC ground This means that AC ground and DC ground are not connected The Safety Control requires a voltage differential of 12 VDC to 48 VDC across the pin to enable the laser Function Pin Input 1 Pin 1 1 Input 1 Pin 2 2 Reserved ...

Page 505: ...10 Electrical Specifications Specification Value Power Supply Voltage 48 VDC Power Supply current Max 10 A Power Draw Min 1 68 W Safety Voltage 12 VDC to 48 VDC Encoder signal voltage range Differential 5 VDC 12 VDC SE 5 VDC 12 VCD Digital input voltage range Logical LOW 0 VDC to 0 1 VDC Logical HIGH 11 VDC to 22 5 VDC Electrical Specifications When using a Master hub the chassis must be well grou...

Page 506: ...Gocator Line Profile Sensors User Manual Specifications Master Hubs 506 Master 810 Dimensions ...

Page 507: ...es to all devices on a sensor network Function Pin 48VDC 1 48VDC 2 GND 48VDC 3 GND 48VDC 4 Safety Control 5 Safety Control 6 Power and Safety 6 pin connector The 48VDC power supply must be isolated from AC ground This means that AC ground and DC ground are not connected The Safety Control requires a voltage differential of 12 VDC to 48 VDC across the pin to enable the laser Function Pin Input 1 1 ...

Page 508: ...ly Voltage 48 VDC Power Supply current Max 10 A Power Draw Min 5 76 W Safety Voltage 12 VDC to 48 VDC Encoder signal voltage range Differential 12 VDC Digital input voltage range Logical LOW 0 VDC to 0 1 VDC Logical HIGH 3 5 VDC to 6 5 VDC Electrical Specifications When using a Master hub the chassis must be well grounded The 48VDC power supply must be isolated from AC ground This means that AC gr...

Page 509: ...Gocator Line Profile Sensors User Manual Specifications Master Hubs 509 Master 1200 2400 Dimensions The dimensions of Master 1200 and Master 2400 are the same ...

Page 510: ...unction Pin 24 48VDC 1 24 48VDC 2 GND 48VDC 3 GND 48VDC 4 Safety Control 5 Safety Control 6 Power and Safety 6 pin connector The 24 48VDC power supply must be isolated from AC ground This means that AC ground and DC ground are not connected The Safety Control requires a voltage differential of 12 VDC to 48 VDC across the pin to enable the laser Function Pin Input 1 Pin 1 1 Input 1 Pin 2 2 Reserved...

Page 511: ...410 Electrical Specifications Specification Value Power Supply Voltage 48 VDC Power Supply current Max 10 A Power Draw Min 4 8 W Safety Voltage 12 VDC to 48 VDC Encoder signal voltage range Differential 5 VDC 12 VDC SE 5 VDC 12 VCD Digital input voltage range Logical LOW 0 VDC to 0 1 VDC Logical HIGH 11 VDC to 22 5 VDC Electrical Specifications When using a Master hub the chassis must be well grou...

Page 512: ...Gocator Line Profile Sensors User Manual Specifications Master Hubs 512 Master 2410 Dimensions ...

Page 513: ...ordset 1x open wire end 1x RJ45 end 30859 10m Power and Ethernet cordset 1x open wire end 1x RJ45 end 30860 15m Power and Ethernet cordset 1x open wire end 1x RJ45 end 30861 15m 20m Power and Ethernet cordset 1x open wire end 1x RJ45 end 30861 20m 25m Power and Ethernet cordset 1x open wire end 1x RJ45 end 30861 25m 2m Power and Ethernet to Master cordset 2x RJ45 ends 30858 2m 5m Power and Etherne...

Page 514: ...Gocator Line Profile Sensors User Manual Accessories 514 Contact LMI for information on creating cordsets with custom length or connector orientation The maximum cordset length is 60 m ...

Page 515: ...number is clearly written on the outside of the package Inside the return shipment include the address you wish the shipment returned to the name email and telephone number of a technical contact should we need to discuss this repair and details of the nature of the malfunction For non warranty repairs a purchase order for the repair charges must accompany the returning sensor LMI Technologies Inc...

Page 516: ...nor the names of its contributors may be used 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 IMPLIED WARRANTIES INCLUDING BUT NOT LIMITED TO THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED IN NO EVENT SHALL T...

Page 517: ...otice and this permission notice shall be included in all copies or substantial portions of the Software THE SOFTWARE IS PROVIDED AS IS WITHOUT WARRANTY OF ANY KIND EXPRESS OR IMPLIED INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT IN NO EVENT SHALL SIMON TATHAM BE LIABLE FOR ANY CLAIM DAMAGES OR OTHER LIABILITY WHETHER IN AN ACTI...

Page 518: ...y 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 shal...

Page 519: ...ress or implied See the License for the specific language governing permissions and limitations under the License jQuery CopyEvents Website http brandonaaron net License Copyright c 2006 Brandon Aaron Licensed under the MIT License http www opensource org licenses mit license php jQuery history License jQuery history plugin Copyright c 2006 Taku Sano Mikage Sawatari Licensed under the MIT License ...

Page 520: ...Licensed under the MIT License http www opensource org licenses mit license php Flex SDK Website http opensource adobe com wiki display flexsdk Flex SDK License Copyright c 2010 Adobe Systems Incorporated The contents of this file are subject to the Mozilla Public License Version 1 1 the License you may not use this file except in compliance with the License You may obtain a copy of the License at...

Page 521: ...t IP Communication Stack Website sourceforge net projects opener License SOFTWARE DISTRIBUTION LICENSE FOR THE ETHERNET IP TM COMMUNICATION STACK ADAPTED BSD STYLE LICENSE Copyright c 2009 Rockwell Automation Inc ALL RIGHTS RESERVED EtherNet IP is a trademark of ODVA Inc ...

Page 522: ...ica 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 S Food and Drug Administration Center for Devices and Radiological Health WO66 G609 10903 New Hampshire Avenue Silver Spring MD 20993 0002 USA Gocator Line Profile Sensors User Manual 522 ...

Page 523: ...6 1011 LMI Technologies GmbH Berlin Germany 49 0 3328 9360 0 LMI Shanghai Trading Co Ltd Shanghai China 86 21 5441 0711 LMI Technologies has sales offices and distributors worldwide All contact information is listed at lmi3D com contact locations Gocator Line Profile Sensors User Manual 523 ...

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