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LMI Technologies Gocator 2130 User Manual Download Page 444

Gocator Line Profile Sensors: User Manual

445

Protocols

Gocator supports protocols for communicating with sensors over Ethernet (TCP/IP) and serial output.
For a protocol to output data, it must be enabled and configured in the active job.

Protocols Available over Ethernet

l

Gocator

l

Modbus

l

EtherNet/IP

l

ASCII

Protocols Available over Serial

l

ASCII

l

Selcom

Gocator Protocol

This section describes the TCP and UDP commands and data formats used by a client computer to
communicate with Gocator sensors using the Gocator protocol. It also describes the connection types
(Discovery, Control, Upgrade, Data, and Health), and data types. The protocol enables the client to:

l

Discover Main and Buddy sensors on an IP network and 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, mm

2

, mm

3

, 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, mm

2

/1000, mm

3

/1000, and deg/1000 in the protocols.

To use the Gocator protocol, it must be enabled and configured in the active job.

Gocator sensors send UDP broadcasts over the network over the Internal Discovery channel
(port 2016) at regular intervals during operation to perform peer discovery.

The Gocator SDK provides open source C language libraries that implement the network
commands and data formats defined in this section. For more information, see

GoSDK

on page

534.

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

Ethernet Output

on page 319.

Summary of Contents for Gocator 2130

Page 1: ...USER MANUAL Gocator Line Profile Sensors Gocator 2100 2300 2400 Series Gocator 2880 Firmware version 4 7 x xx Document revision D...

Page 2: ...duced to any electronic medium 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...

Page 3: ...r 810 or 2410 35 Configuring Master 810 36 Setting the Divider 37 Encoder Quadrature Frequency 37 Setting the Debounce Period 38 Rut Scanning System Setup 38 Layout 38 System Setup 39 Software Configu...

Page 4: ...opment Kit 102 Scan Setup and Alignment 103 Scan Page Overview 103 Scan Modes 104 Triggers 105 Trigger Examples 109 Trigger Settings 110 Maximum Input Trigger Rate 112 Maximum Encoder Rate 112 Sensor...

Page 5: ...a Tool 201 Removing a Tool 201 Reordering Tools 202 Profile Measurement 202 Area 202 Measurements Features and Settings 204 Bounding Box 206 Measurements Features and Settings 207 Bridge Value 209 Und...

Page 6: ...a 340 Creating Saving and Loading Jobs 340 Playback and Measurement Simulation 341 Downloading Uploading and Exporting Replay Data 342 Downloading and Uploading Jobs 345 Scan Model and Measurement Set...

Page 7: ...ProfileBoundingBox 388 ProfileBridgeValue 389 ProfileCircle 391 ProfileDimension 392 ProfileGroove 394 ProfileIntersect 396 ProfileLine 397 ProfilePanel 399 ProfilePosition 402 ProfileRoundCorner 403...

Page 8: ...tware Trigger 471 Schedule Digital Output 471 Schedule Analog Output 472 Ping 472 Reset 473 Backup 473 Restore 474 Restore Factory 474 Get Recording Enabled 475 Set Recording Enabled 475 Clear Replay...

Page 9: ...it Messaging Output Assembly 519 ASCII Protocol 521 Connection Settings 521 Ethernet Communication 521 Serial Communication 522 Polling Operation Commands Ethernet Only 522 Command and Reply Format 52...

Page 10: ...5 Part Matching 556 Accessing Sensor Local Storage 556 Print Output 556 Tools and Native Drivers 557 Sensor Discovery Tool 557 GenTL Driver 558 16 bit RGB Image 562 16 bit Grey Scale Image 563 Registe...

Page 11: ...cal Specifications 628 Master 400 800 Dimensions 630 Master 810 2410 631 Electrical Specifications 633 Encoder 634 Input 636 Master 810 Dimensions 638 Master 2410 Dimensions 639 Master 1200 2400 640 M...

Page 12: ...ocator sensors are only supported by firmware version 4 3 or later These sensors are compatible with SDK applications built with version 4 x of the SDK The sensors are also compatible with jobs create...

Page 13: ...laser profile sensors are designed for 3D measurement and control applications Gocator sensors are configured using a web browser and can be connected to a variety of input and output devices Gocator...

Page 14: ...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...

Page 15: ...s than 10 seconds at a minimum distance of 13 cm There is a risk of fire if the beam encounters flammable materials The laser area must be clearly identified Use a key switch or other mechanism to pre...

Page 16: ...ded to the system design are listed below Remote Interlock A remote interlock connection must be present in Class 3B laser systems This permits remote switches to be attached in serial with the keyloc...

Page 17: ...ngerous if the operator is closer to the source than the NOHD The following table shows example calculations of the NOHD values for each Gocator model and laser class assuming continuous operation of...

Page 18: ...tration and Enforcement of the Radiation Control for Health and Safety Act of 1968 HHS Publication FDA 88 8035 This publication containing the full details of laser safety requirements can be obtained...

Page 19: ...the windows after cleaning Turn off lasers when not in use LMI Technologies uses semiconductor lasers in Gocator sensors To maximize the lifespan of the sensor turn off the laser when not in use Avoid...

Page 20: ...degree C The storage temperature is 30 70 C The Master network controllers are similarly rated for operation between 0 50 C The sensor must be heat sunk through the frame it is mounted to When a sens...

Page 21: ...Gocator Line Profile Sensors User Manual 21 Getting Started The following sections provide system and hardware overviews in addition to installation and setup procedures...

Page 22: ...inates 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 Cordse...

Page 23: ...em Description Master Ethernet Port Connects to the RJ45 connector labeled Ethernet on the Power LAN to Master cordset Master Power Port Connects to the RJ45 connector labeled Power Sync on the Power...

Page 24: ...out details Master 400 800 1200 2400 The Master 400 800 1200 and 2400 network controllers let you connect more than two sensors l Master 400 accepts four sensors l Master 800 accepts eight sensors l M...

Page 25: ...ge 627 For pinout details for Master 1200 or 2400 see Master 1200 2400 on page 640 Master 810 2410 The Master 810 and 2410 network controllers let you connect multiple sensors to create a multi sensor...

Page 26: ...ired Power and Safety Power and laser safety connection Encoder Accepts encoder signal Input Accepts digital input DIP Switches Configures the Master for example allowing the device to work with faste...

Page 27: ...s bars are required to match the length of the system by following the guidelines illustrated below LMI Technologies does not manufacture or sell bars See Aligning Sensors on page 126 for more informa...

Page 28: ...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 M...

Page 29: ...dsets 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...

Page 30: ...sensors in Specifications on page 583 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 damage...

Page 31: ...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 co...

Page 32: ...Sensors User Manual Getting Started 32 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 connec...

Page 33: ...ld of the Power I O cordset Gocator sensors have been designed to provide adequate grounding through the use of M5 x 0 8 pitch mounting screws Always check grounding with a multi meter to ensure elect...

Page 34: ...Always check grounding with a multi meter by ensuring electrical continuity between the mounting frame and RJ45 connectors on the front When using the rack mount brackets you must connect the frame or...

Page 35: ...g a ground cable to one of the holes indicated below The holes accept M4x5 screws Installing DIN Rail Clips Master 810 or 2410 You can mount the Master 810 and 2410 using the included DIN rail mountin...

Page 36: ...Master 810 for horizontal mounting Ensure that there is enough clearance around the Master for cabling Configuring Master 810 If you are using Master 810 with an encoder that runs at a quadrature fre...

Page 37: ...Quadrature Frequency Divider In the formula use the quadrature frequency of the encoder for more information see Encoder Quadrature Frequency below and a divider from the following table so that the...

Page 38: ...to quadrature frequency by multiplying the signal frequency by 4 Setting the Debounce Period If the quadrature frequency of the encoder you are using is greater than 3 MHz you must set the debounce p...

Page 39: ...n_Estimator xlsx to calculate the X and Z resolution of the sensors with different combinations of clearance distance and measurement range System Setup A typical Gocator 2375 system is set up as a mu...

Page 40: ...r sensor in the network with the IP address 192 168 1 10 2 Upgrade the firmware a Follow the steps in Firmware Upgrade on page 99 3 Set up profiling parameters a Follow the steps in Scan Setup and Ali...

Page 41: ...e the client s network card is properly configured Sensors are shipped with the following default network configuration Setting Default DHCP Disabled IP Address 192 168 1 10 Subnet Mask 255 255 255 0...

Page 42: ...twork settings Windows 7 a Open the Control Panel select Network and Sharing Center and then click Change Adapter Settings b Right click the network connection you want to modify and then click Proper...

Page 43: ...he 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 Troubleshooting on page 581 if y...

Page 44: ...r 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 a password has been set you will be prompted to provide it and then log i...

Page 45: ...sensors are shipped with a 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 sen...

Page 46: ...net connection and power cycle the sensors After changing network configuration the sensors must be reset or power cycled before the change will take effect 7 Enter the sensor s IP address 192 168 1 1...

Page 47: ...that Replay mode is off the slider is set to the left 13 Go to the the Scan page 14 Press the Start or the Snapshot button on the Toolbarto start the sensors The Start button is used to run sensors c...

Page 48: ...or maintenance Scan Setup and Alignment page 103 Contains settings for scan mode trigger source detailed sensor configuration and performing alignment Models page 159 Contains settings for creating pa...

Page 49: ...le sensors project a laser line onto the target 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...

Page 50: ...nd 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 b...

Page 51: ...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 t...

Page 52: ...th 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...

Page 53: ...Gocator Line Profile Sensors User Manual How Gocator Works 53 Z linearity is expressed in the Gocator data sheet as a percentage of the total measurement range...

Page 54: ...sors whereas system coordinates are used for aligned sensors Part data can optionally be reported using a coordinate system relative to the part itself These systems are described below Sensor Coordin...

Page 55: ...ors adjusts the coordinate system in relation to sensor coordinates using transformations offsets along the axes and rotations around the axes Alignment is used with a single sensor to compensate for...

Page 56: ...staggered layout in multi sensor systems This is especially useful in side by side mounting scenarios as it provides full coverage for models such as Gocator 2410 and Gocator 2420 As with sensor coord...

Page 57: ...ned around the X and the Z axis which compensates for the angle in height measurements These are sometimes called pitch correction and yaw correction respectively Rotation around the X axis often used...

Page 58: ...coordinate system that places the X and Y origins at the center of the part The Z origin is at the surface surrounding the alignment target The Frame of Reference setting in the Part Detection panel o...

Page 59: ...s frees up processing resources in the Gocator but usually requires more complicated processing on the client side Ranges in this case are reported in X Z coordinate pairs Most built in measurement to...

Page 60: ...profile sensors create a single profile with each exposure These sensors can combine a series of profiles gathered as a target moves under the sensor to generate a height map or surface of the entire...

Page 61: ...axis You can use most of Gocator s profile measurement tools on a section letting you perform measurements that are not possible with surface measurement tools For more information on sections see Se...

Page 62: ...e information see GDK on page 544 A part s position can vary on a transport system To compensate for this variation Gocator can anchor a measurement to the positional measurement X Y or Z or Z angle o...

Page 63: ...tput tracking Production lines can place an ejection or sorting mechanism at different distances from where the sensor scans the target For this reason Gocator lets you schedule a delayed decision ove...

Page 64: ...up and running If you continue to have issues try using a different browser or contact LMI LMI is currently working to move the Gocator web interface off Adobe Flash to a WebGL based interface in an u...

Page 65: ...must perform this step each time you launch the Gocator interface in Google Chrome Internet Explorer Use the following steps to unblock Flash in Internet Explorer 11 To unblock Flash in Internet Expl...

Page 66: ...ve Flash Object in the list you may need to choose All add ons in the Show drop down 3 In the dialog click Enable Firefox Use the following steps to unblock Flash in Firefox To unblock Flash in Firefo...

Page 67: ...ck the Plugins category to the left and choose Always Activate next to Shockwave Flash Microsoft Edge Use the following steps to unblock Flash in Microsoft Edge To unblock Flash in Microsoft Edge 1 In...

Page 68: ...Gocator Line Profile Sensors User Manual Gocator Web Interface 68 2 In the Settings drop down scroll down and click View advanced settings 3 Under Advanced settings set Use Adobe Flash Player to On...

Page 69: ...Line Profile Sensors User Manual Gocator Web Interface 69 User Interface Overview Gocator sensors are configured by connecting to the Main sensor with a web browser The Gocator web interface is shown...

Page 70: ...mportant sensor performance metrics See Metrics Area on page 78 8 Toolbar Controls sensor operation manages jobs and filters and replays recorded measurement data See Toolbar below 9 Configuration are...

Page 71: ...d in the Gocator s web interface such as the ones in the Manage Measure and Output pages are temporary until saved in a job file Each sensor can have multiple job files If there is a job file that is...

Page 72: ...Simulation Gocator sensors can record and replay recorded scan data and also simulate measurement tools on recorded data This feature is most often used for troubleshooting and fine tuning measuremen...

Page 73: ...s to review data The Step Forward and Step Back buttons move and the current replay location backward and forward by a single frame respectively The Play button advances the replay location continuous...

Page 74: ...ing But replay data can contain thousands of frames which makes finding a specific frame to troubleshoot difficult Recording filtering lets you choose which frames Gocator records based on one or more...

Page 75: ...page 4 Configure the conditions that will cause Gocator to record a frame For information on the available settings see Conditions on the previous page 5 Click the x button or outside of the Recordin...

Page 76: ...ll other settings of the current job are preserved including any measurements or models If you have unsaved changes in the current job the firmware asks whether you want to discard the changes 3 Do on...

Page 77: ...e decision values in the exported data depend on the current state of the job not the state during recording For example if you record data when a measurment returns a pass decision change the measure...

Page 78: ...symbol will appear next to it if triggers external input or encoder are dropped because the external rate exceeds the maximum frame rate Open the log for details on the warning For more information o...

Page 79: ...ar displays useful frame information both when the sensor is running and when viewing recorded data This information is especially useful when you have enabled recording filtering If you look at a rec...

Page 80: ...e page you were working in displaying the page using the language you chose The sensor state is preserved Quick Edit Mode When working with a very large number of measurement tools for example a few d...

Page 81: ...tains sensor information buddy assignment and the autostart setting See Sensor System on the next page 2 Layout Contains settings for configuring dual and multi sensor system layouts 3 Networking Cont...

Page 82: ...y measurements you configure work on the combined data Although some Gocator models have much wider fields of view the trade off is that their resolution is much lower finer features on targets are be...

Page 83: ...ss When a sensor is acting as a Buddy it is not discoverable and its web interface is not accessible A sensor can only be assigned as a Buddy if its firmware and model number match the firmware and mo...

Page 84: ...e To enable disable overheat temperature protection 1 Check uncheck the Over Temperature Protection option 2 Save the job file Sensor Autostart With the Autostart setting enabled laser ranging profili...

Page 85: ...multi sensor layouts with sensors angled around the Y axis to get side data you must uncheck Uniform Spacing before scanning The Y offset X angle and Z angle transformations cannot be non zero when Un...

Page 86: ...usions 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...

Page 87: ...ype Example Grid For systems composed of three or more sensors Sensors can be mounted in a 2 dimensional grid using the settings in the Layout Grid area below Side by side and top bottom configuration...

Page 88: ...l and Multi sensor Systems on page 82 To specify a dual sensor layout 1 Go to the Manage page and click on the Layout category 2 Under Layout Types choose a layout by clicking one of the layout button...

Page 89: ...nterface 89 The Main sensor is automatically assigned to the first cell You can however assign the Main sensor to any cell 3 Choose a sensor from the drop down in each cell you want to populate The fo...

Page 90: ...two sensors on the bottom See the table above for more information on layouts 4 Optional For each sensor mounted in a reversed orientation in relation to the Main sensor rotated 180 degrees around th...

Page 91: ...from one sensor can detect the laser from the other sensor the Device Exposure Multiplexing option can be used to eliminate laser interference This setting creates a time offset for laser exposures an...

Page 92: ...figured 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 Gatew...

Page 93: ...is used for all jobs This is typically used when the sensor mounting is constant over time and between scans for example when the sensor is mounted in a permanent position over a conveyor belt Dynami...

Page 94: ...nfigure encoder resolution 1 Go to the Manage page and click on the Motion and Alignment category 2 In the Encoder section enter a value in the Resolution field Encoder Value and Frequency The encoder...

Page 95: ...e Name field Load button Loads the job that is selected in the job list Reloading the current job discards any unsaved changes Delete button Deletes the job that is selected in the job list Set as Def...

Page 96: ...b automatically sets it as the default that is the job loaded when then sensor is restarted 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 c...

Page 97: ...or section enter the Administrator account password and password confirmation 3 Click Change Password The new password will be required the next time that an administrator logs in to the sensor To set...

Page 98: ...ncluding jobs and alignment An Administrator should create a backup file in the unlikely event that a sensor fails and a replacement sensor is needed If this happens the new sensor can be restored wit...

Page 99: ...backup Before proceeding you should perform a backup Restoring to factory defaults cannot be undone 3 Click the Factory Restore button under Factory Restore You will be prompted whether you want to p...

Page 100: ...downloads To upgrade the firmware 1 Go to the Manage page and click on the Maintenance category 2 Click the Upgrade button in the Firmware section 3 Locate the firmware file in the File dialog and th...

Page 101: ...t file in the emulator the filename you provide here is displayed in the emulator s scenario list Support files end with the gs extension but you do not need to type the extension in Filename 3 Option...

Page 102: ...ersion of the manual to the client computer Software Development Kit You can download the Gocator SDK from within the Web interface To download the SDK 1 Go to the Manage page and click on the Support...

Page 103: ...nd trigger related settings See Triggers on page 105 3 Sensor panel Contains settings for an individual sensor such as active area or exposure See Sensor on page 112 4 Alignment panel Used to perform...

Page 104: ...detection logic to create discrete objects from scan data Part Detection page 137 Specify smoothing gap filling and resampling parameters to remove effects of occlusions Filters page 130 Scan Modes T...

Page 105: ...imited set of built in measurement tools are able to perform measurements on the resulting data If more complex measurements are required data can be processed using an SDK based application instead A...

Page 106: ...s User Manual Gocator Web Interface 106 Trigger Source Description Time Sensors have an internal clock that can be used to generate fixed frequency triggers The external input can be used to enable or...

Page 107: ...rget object moves forward If the target object moves backward it must move forward by at least the distance that the target travelled backward this distance backward is tracked plus one encoder spacin...

Page 108: ...ell The external input triggers on the rising edge of the signal When triggers are received at a frequency higher than the maximum frame rate some triggers may not be accepted The Trigger Drops Indica...

Page 109: ...pacing will be non uniform if the speed of the conveyor varies while the object is being measured It is strongly recommended to use an encoder with transport based systems due to the difficulty in mai...

Page 110: ...the Trigger panel shows the parameters that can be configured Parameter Trigger Source Description Source All Selects the trigger source Time Encoder External Input or Software Frame Rate Time Control...

Page 111: ...following Auto The distance is automatically set by multiplying the value in Spacing by 3 Custom Set the distance in millimeters Various functions in the sensor depend on this value to explicitly det...

Page 112: ...t be adjusted as follows Maximum Speed Vin Maximum Duty Cycle 32 kHz 3 3 V 88 32 kHz 5 V 56 32 kHz 7 V 44 32 kHz 10 V 34 At 50 duty cycle the maximum trigger rates are as follows Vin Maximum Speed 3 3...

Page 113: ...page 2 Choose Profile or Surface mode in the Scan Mode panel depending on the type of measurement whose decision you need to configure If one of these modes is not selected tools will not be availabl...

Page 114: ...results in a faster scan rate The reduced area moves to track the laser line within the area defined in the Active Area tab A tracking window is typically used in road or web scanning applications wh...

Page 115: ...data viewer Only the height of the window is required You can move the position of the tracking window to cover a live profile to help adjust the window height 8 Edit the Search Threshold setting The...

Page 116: ...Setting Angle X or Angle Z and to a lesser extent Y Offset to a non zero value increases CPU usage when scanning which reduces the maximum scan speed Artifacts may appear in scan data when Angle Z or...

Page 117: ...s the exposure after each frame Used when the target surface varies between scans Multiple Uses multiple exposures to create a single profile Used when the target surface has a varying reflectance wit...

Page 118: ...Exposure is configured separately for each sensor 5 Click the Exposure tab 6 Select Single from the Exposure Mode drop down 7 Edit the exposure setting by using the slider or by manually entering a v...

Page 119: ...maximum exposure The auto set function can be used to automatically set the exposure First place the brightest target in the field of view and press the Auto Set Min button to set the minimum exposur...

Page 120: ...ommended to use a larger exposure for higher numbered steps If you have enabled intensity in the Scan Mode tab you can use the Intensity setting to choose which of the exposures Gocator uses for acqui...

Page 121: ...educing 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 u...

Page 122: ...ata see Spacing Data Resampling on page 59 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...

Page 123: ...ing interval level 8 Save the job in the Toolbar by clicking the Save button Advanced The Advanced tab contains settings to configure material characteristics camera gain and dynamic exposure To confi...

Page 124: ...ghbouring pixels for a pixel to be considered the start of a potential spot This setting is important for filtering false spots generated by sunlight reflection Spot Width Max The maximum number of pi...

Page 125: ...ow the Threshold value typically should be kept as low as possible so this slow search is not used These settings let you set tune how dynamic exposure settles on an exposure for a scan For more infor...

Page 126: ...motion Stationary Calibrates Tilt Yes Yes Calibrates Z axis Offset Yes Yes Calibrates X axis Offset Yes Yes Calibration bar required Calibrates Encoder Yes No Calibrates Travel Speed Yes No See Coord...

Page 127: ...have a clear view of the target surface Remove any irregular objects from the sensor s field of view that might interfere with alignment If using a bar for a dual or multi sensor system ensure that t...

Page 128: ...the alignment target surface The base of the alignment target or target surface provides the origin for the system Z axis To perform moving alignment 1 Do one of the following if you have not already...

Page 129: ...cing unchecked set the Degrees of Freedom setting to X Z Y Angle which prevents these transformations from being non zero On sensors aligned using Z angle or X angle and to a lesser extent Y offset CP...

Page 130: ...in the Scan Mode panel depending on the type of measurement whose decision you need to configure If one of these modes is not selected tools will not be available in the Measure panel 3 Expand the Ali...

Page 131: ...lling in the gaps within the same profile Y gap filling works by filling in gaps in the direction of travel at each X location If both X and Y gap filling are enabled missing data is filled along the...

Page 132: ...on the Median tab 5 Enable the X or Y setting and select the maximum width value 6 Save the job in the Toolbar by clicking the Save button 7 Check that the laser profiling is satisfactory Smoothing Sm...

Page 133: ...job in the Toolbar by clicking the Save button 7 Check that the laser profiling is satisfactory Decimation Decimation reduces the number of data points along the X or Y axis by choosing data points a...

Page 134: ...is configured in the Surface Generation panel on the Scan page The types in the table below correspond to the Type setting in the panel When Type is set to Continuous part detection is automatically...

Page 135: ...n is calibrated that is encoder resolution for encoder triggers or travel speed time triggers Two types of start triggers are available o Sequential Continuously generates back to back fixed length su...

Page 136: ...iggers For more information on connecting external input to a Gocator sensor see Digital Input on page 621 You can optionally enable part detection to process the surface after it has been generated b...

Page 137: ...nabled in the Part Detection panel To configure surface generation 1 Go to the Scan page and choose Surface in the Scan Mode panel If this mode is not selected you will not be able to configure surfac...

Page 138: ...ong the laser line X axis in the direction of travel Y axis or by gated external input The following settings can be tuned to improve the accuracy and reliability of part detection Setting Description...

Page 139: ...sor are missing due to occlusions drop outs and so on When the option is enabled data points are included even if data points from the other sensor are missing The following image shows surface data f...

Page 140: ...seful when processing part data with third party software such as HexSight Halcon etc Padding Length Determines the amount of extra data on the Y axis from the surface surrounding the detected part th...

Page 141: ...r zero position These values can be used to locate Part frame of reference measurements in a world space Part When Frame of Reference is set to Part all measurements except Bounding Box X and Y are re...

Page 142: ...t In cases of backtracking the number decreases Total Parts Accepted The number of parts that meet the part detection criteria Due to Max Part Length The number of parts accepted because they have rea...

Page 143: ...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 Preser...

Page 144: ...ings 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 set...

Page 145: ...d in Surface mode see Surface Mode on page 152 When the sensor is in Profile mode or in Surface mode when a section is displayed a safety goggle mode button is available in the data viewer Enabling th...

Page 146: ...lso when multiple exposures have been defined you can use the Multiple Exposures button to toggle between showing a single color profile made up of data from all exposures and a profile in which the s...

Page 147: ...he data viewer to display exposure spot and dropout information that can be useful in properly setting up the system for scanning Exposure Information In Video mode you can display exposure related in...

Page 148: ...and choose Video mode in the Scan 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 e...

Page 149: ...n 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...

Page 150: ...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 Advanced on page 123 P...

Page 151: ...individual sensors or from a combined view can be displayed Similarly in a multi sensor system profiles from individual sensors or from combined views can be displayed When in the Scan page selecting...

Page 152: ...ayed at the same time in the data viewer using the coordinate systems of each sensor In the Measure page the view of the display is set to the profile source of the selected measurement tool Surface M...

Page 153: ...nsity In 3D view overlays the intensity map on the 3D model Acquire Intensity must be checked in the Scan Mode panel for this button to be visible 2D viewer with height map overlay 2D viewer with gray...

Page 154: ...e model Rendering Mode Description Point Cloud default Renders 3D models using point clouds Useful in scan data that contains noise around edges and shows hidden structure Mesh Renders 3D models using...

Page 155: ...hange the scaling of the height map 1 Select Heightmap from the View drop down in the data viewer 2 Click the Scaling button l To automatically set the scale choose Auto in the Range drop down l To au...

Page 156: ...ction 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 f...

Page 157: ...or in an opposite layout dual sensor system Left View from the left sensor in a dual sensor system Right View from the right sensor in a dual sensor system Left Right Views from both sensors displayed...

Page 158: ...dles 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...

Page 159: ...Web Interface 159 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 Mode...

Page 160: ...del see Using Bounding Box and Ellipse on page 170 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 p...

Page 161: ...dge 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 referen...

Page 162: ...ntensity 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 targ...

Page 163: ...gher 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 l...

Page 164: ...never 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 pag...

Page 165: ...mparing 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 mo...

Page 166: ...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 Sensi...

Page 167: ...un 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...

Page 168: ...t 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 ac...

Page 169: ...he 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 w...

Page 170: ...ed 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 rega...

Page 171: ...g 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 Se...

Page 172: ...eria 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 Ellip...

Page 173: ...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 va...

Page 174: ...t 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...

Page 175: ...Gocator Line Profile Sensors User Manual Gocator Web Interface 175 Part in data viewer 3D view Section defined on top of part 2D view...

Page 176: ...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...

Page 177: ...add to a surface are directional and their start and end points are defined using X and Y coordinates The start point always corresponds to the leftmost point on the extracted profile whereas the end...

Page 178: ...or vertical For example to create a 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 T...

Page 179: ...rt matching to correct their rotation if the entire part is visible in the scan Parts will then be consistently oriented and sections will fall on the same area on each part You can also use anchoring...

Page 180: ...ge depends on the current scan mode In Profile mode the Measure page displays tools for profile measurement In Surface mode the Measure page displays tools for surface measurement If you have defined...

Page 181: ...ta Viewer Controls on page 144 For instructions on how to set up measurement regions graphically Region Definition on page 157 Tools Panel The Tools panel lets you add configure and manage measurement...

Page 182: ...in Source For more information on sources see Source below 7 Optional If the measurement is a profile measurement running on a section and you have created more than one section choose the section th...

Page 183: ...in and Buddy sensor In a multi sensor system refers to the combined data from all sensors in the top and bottom row of the layout grid To select the source 1 Go to the Measure page by clicking on the...

Page 184: ...n settings under the upper Parameters tab This region applies to all of a tool s measurements Region settings are often found within expandable feature sections in the tool s panel In 2D mode the tool...

Page 185: ...er accommodate features that are on an angle on a target By rotating the measurement region data not related to the feature can often be excluded improving accuracy of measurements To rotate measureme...

Page 186: ...by changing the region s values in the Region setting Feature Points Dimensional and positional measurements detect feature points found within the defined measurement region and then compare measure...

Page 187: ...rest Max X Finds the point with the maximum X value in the region of interest Average Determines the average location of points in the region of interest Corner Finds a dominant corner in the region o...

Page 188: ...ge in profile shape Rising Edge Finds a rising edge in the region of interest moving from left to right Falling Edge Finds a falling edge in the region of interest moving from left to right Any Edge F...

Page 189: ...owing kinds of geometric features Points A 2D or 3D point Can be used for point to point or point to line measurements Lines A straight line that is infinitely long Useful for locating the orientation...

Page 190: ...tools do not currently take geometric features as input Decisions Results from a measurement can be compared against minimum and maximum thresholds to generate pass fail decisions The decision state...

Page 191: ...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 t...

Page 192: ...preceding frames specified in Samples Use this to reduce the impact of random noise on a measurement s output If Hold Last Valid is enabled the smoothing filter uses the last valid measurement value u...

Page 193: ...es basically horizontally and vertically l around the Z axis orientation angle When the position and angle variation between parts is minor for example when scanning electronic parts in trays you can...

Page 194: ...l Gocator Web Interface 194 In the following scan the part has shifted but the measurement regions remain where they were originally configured in relation to the sensor or system coordinate system so...

Page 195: ...urface Hole tool placed over the hole to the lower left Gocator compensates for the shift mostly along the Y axis in this case and returns a correct measurement despite the shift You can combine the p...

Page 196: ...ments of another tool relative to the right edge of a target You can combine positional anchors X Y or Z with angle anchors Z Angle for optimum measurement placement To anchor a profile or surface too...

Page 197: ...l can be anchored 5 Adjust the tool and measurement settings as well as the measurement regions on a scan of the representative target 6 Click on the tool s Anchoring tab 7 Choose an anchor from one o...

Page 198: ...enable 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 If one of these modes is not selected tools will not be available in the...

Page 199: ...e Scan page by clicking on the Scan icon 2 Choose Profile or Surface mode in the Scan Mode panel If one of these modes is not selected tools will not be available in the Measure panel 3 Go to the Meas...

Page 200: ...in and Max values To duplicate a tool 1 Go to the Scan page by clicking on the Scan icon 2 Choose Profile or Surface mode in the Scan Mode panel If one of these modes is not selected tools will not be...

Page 201: ...ile measurement tools available 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 Unifo...

Page 202: ...e 202 See Adding and Configuring a Measurement Tool on page 182 for instructions on how to add measurement tools Areas are positive in regions where the profile is above the X axis In contrast areas a...

Page 203: ...ustration Area Measures the cross sectional area within a region that is above or below a fitted baseline Centroid X Determines the X position of the centroid of the area Centroid Z Determines the Z p...

Page 204: ...rea 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 189 for more information on fit lines When this para...

Page 205: ...r compares the measurement value with the values in Min and Max to yield a decision For more information on decisions see Decisions on page 191 See Adding and Configuring a Measurement Tool on page 18...

Page 206: ...f the bounding box that contains the profile The value returned is relative to the profile Z Determines the Z position of the center of the bounding box that contains the profile The value returned is...

Page 207: ...axis is 0 degrees Angles of sections pointing to the bottom of the data viewer are positive Angles of sections pointing to the top of the data viewer are negative The Global X Global Y and Global Ang...

Page 208: ...ed before using it as an anchor For more information on anchoring see Measurement Anchoring on page 194 Bridge Value The Bridge Value tool calculates the bridge value and angle of a scanned surface A...

Page 209: ...luded for calculating the bridge value where Window is roughly 85 and Skip is roughly 15 of the histogram Profile point heights in the white area are included in the calculation of the average Profile...

Page 210: ...rface 210 Measurements and Settings 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...

Page 211: ...ion of sensors that provides data for the tool s measurements For more information see Source on page 183 Stream The data that the tool will apply measurements to In Surface mode this setting is only...

Page 212: ...togram of the transformed data Useful for surfaces that are tilted Region The region to which the tool s measurements will apply For more information see Regions on page 184 Filters The filters that a...

Page 213: ...switch to search mode For example the Window measurement should correspond to the height of the area resulting from excluding highs and lows from the profile with the Window and Skip settings If the W...

Page 214: ...ata for the tool s measurements For more information see Source on page 183 Stream The data that the tool will apply measurements to In Surface mode this setting is only displayed when a section is de...

Page 215: ...rement Anchoring on page 194 Dimension The Dimension tool provides Width Height Distance Center X and Center Z measurements The DimensionPositionScript tool can be used whether Uniform Spacing is enab...

Page 216: ...can be expressed as an absolute or signed result The difference is calculated by Height Feature 2 Z position Feature 1 Z position Distance Determines the direct Euclidean distance between two feature...

Page 217: ...and button and enter the values in the fields For more information on regions see Regions on page 184 Absolute Width and Height measurements only Determines if the result will be expressed as an absol...

Page 218: ...or 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 The Groove tool lets...

Page 219: ...anual Gocator Web Interface 219 Measurement Illustration Width Measures the width of a groove Depth Measures the depth of a groove as the maximum perpendicular distance from a line connecting the edge...

Page 220: ...the tool s measurements For more information see Source on page 183 Stream The data that the tool will apply measurements to In Surface mode this setting is only displayed when a section is defined on...

Page 221: ...t Groove s left corner Right Groove s right corner Select Type Specifies how a groove is selected when there are multiple grooves within the measurement area Maximum Depth Groove with maximum depth In...

Page 222: ...e Decisions on page 191 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...

Page 223: ...ta that the tool will apply measurements to In Surface mode this setting is only displayed when a section is defined on the surface data For more information on sections see Sections on page 174 Refer...

Page 224: ...and Min settings define the range that determines whether the measurement tool sends a pass or fail decision to the output For more information see Decisions on page 191 Anchor Description X or Z Lets...

Page 225: ...s and Settings Measurement Illustration Standard Deviation 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 mea...

Page 226: ...and the Z axis Angle Finds the best fitted line and returns the angle relative to the X axis Min Error X Min Error Z Finds the best fitted line and returns the X or Z position of the minimum error fr...

Page 227: ...line l 2 Regions Data from two fitting regions you define is used to fit the line When Fitting Regions is disabled to fit the line Gocator uses the measurement region if Region is enabled or the enti...

Page 228: ...ore information on decisions see Decisions on page 191 See Adding and Configuring a Measurement Tool on page 182 for instructions on how to add measurement tools The Panel tool uses a complex feature...

Page 229: ...p Left Gap X Returns the X position of the edge feature on the left side used to measure the gap Left Gap Z Returns the Z position of the edge feature on the left side used to measure the gap Left Flu...

Page 230: ...Sections on page 174 Reference SideDirection Defines the side used to calculate the measurement axis see below rounded corner Max Gap Width The maximum width of the gap Allows the tool to filter gaps...

Page 231: ...ngent 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...

Page 232: ...ions on how to add measurement tools Measurements Features and Settings Measurement Illustration X Finds the position of a feature on the X axis Z Finds the position of a feature on the Z axis Measure...

Page 233: ...feature adjust it graphically in the data viewer or expand the feature using the expand button and enter the values in the fields For more information on regions see Regions on page 184 Filters The fi...

Page 234: ...ons on page 191 See Adding and Configuring a Measurement Tool on page 182 for instructions on how to add measurement tools The Round Corner tool uses a complex feature locating algorithm to find the e...

Page 235: ...he measurement see Reference Side below Angle Measures the angle of the line fitted to the surface next to the corner see Reference Side below with respect to the x axis Left edge angles are from 90 t...

Page 236: ...es the minimum depth before an opening could be considered to have a potential edge The depth is the perpendicular distance from the fitted surface line Surface Width The width of the surface area in...

Page 237: ...more information on anchoring see Measurement Anchoring on page 194 Strip The Strip tool measures the width of a strip Gocator compares the measurement value with the values in Min and Max to yield a...

Page 238: ...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...

Page 239: ...ns are needed When set to None only a point that deviates from a smooth strip support region is needed to find a rising or falling edge Left Edge Right Edge Specifies the features that will be conside...

Page 240: ...fies the nominal width needed to make the transition from the base to the strip See Strip Step Edge Definitions in the Gocator Measurement Tool Technical Manual on how this parameter is used by differ...

Page 241: ...efore they are output For more information see Filters on page 192 Decision The Max and Min settings define the range that determines whether the measurement tool sends a pass or fail decision to the...

Page 242: ...ofile Sensors User Manual Gocator Web Interface 242 See Adding and Configuring a Measurement Tool on page 182 for instructions on how to add measurement tools See Scripts on page 313 for more informat...

Page 243: ...the result using the output function Stamp information such as time and encoder stamps are available in the script whereas the actual profile3D point cloud data is not The script engine is not powerf...

Page 244: ...specific locations on the objects need to be inspected Bounding Box The Bounding Box tool provides measurements related to the smallest box that contains the part for example X position Y position wi...

Page 245: ...and Settings Measurement Illustration X Determines the X position of the center of the bounding box that contains the part The value returned is relative to the part Y Determines the Y position of the...

Page 246: ...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 lengt...

Page 247: ...xtracted 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 b...

Page 248: ...nformation see Decisions on page 191 Anchor Description X Y or Z Lets you choose the X Y or Z measurement of another tool to use as a positional anchor for this tool Z angle Lets you choose the Z Angl...

Page 249: ...terface 249 hole conforming reasonably well to the defined parameters is present and that it is on a sufficiently uniform background See Adding and Configuring a Measurement Tool on page 182 for instr...

Page 250: ...Gocator Line Profile Sensors User Manual Gocator Web Interface 250...

Page 251: ...Panel Measurements Features and Settings Measurement Illustration X Determines the X position of the center of the countersunk hole Y Determines the Y position of the center of the countersunk hole Z...

Page 252: ...ole 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 Outpu...

Page 253: ...ines 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...

Page 254: ...axis Counterbore Depth Determines the depth of a counterbore Axis Tilt Measures the tilt of the axis of the hole relative to the surface surrounding the hole This measurement is not supported when Sha...

Page 255: ...set The offset relative to the surface that the countersunk hole is on at which the bevel radius will be measured Partial Detection Enable if only part of the hole is within the measurement region If...

Page 256: ...gion around the hole Tilt Correction Tilt of the target with respect to the alignment plane Autoset The tool automatically detects the tilt The measurement region to cover more areas on the surface pl...

Page 257: ...o be properly configured before using it as an anchor For more information on anchoring see Measurement Anchoring on page 194 Dimension The Dimension tool returns various dimensional measurements of a...

Page 258: ...Gocator Line Profile Sensors User Manual Gocator Web Interface 258 Measurement Panel Measurement Illustration Width Determines the distance between the selected features along the X axis Measurements...

Page 259: ...59 Measurement Illustration Length Determines the distance between the selected features along the Y axis Height Determines the distance between the selected features along the Z axis Distance Determi...

Page 260: ...tion of the center point between the selected features Parameter Description Source The sensor or combination of sensors that provides data for the tool s measurements For more information see Source...

Page 261: ...in the scan data using either height map or intensity data The tool s settings help fit the line when multiple potential edges are in the region of interest After the tool locates an edge the positio...

Page 262: ...Gocator Line Profile Sensors User Manual Gocator Web Interface 262 2D View 3D View...

Page 263: ...Gocator Line Profile Sensors User Manual Gocator Web Interface 263 Measurement Panel...

Page 264: ...Manual Gocator Web Interface 264 Paths and Path Profiles To fit an edge line to the scan data the Surface Edge tool overlays evenly spaced parallel paths light blue lines in the interface see below i...

Page 265: ...ach path profile that matches the settings the tool places an edge point between the upper and lower area light blue diamonds in the interface The tool then fits a line to those edge points yellow lin...

Page 266: ...on page 194 Step Height Returns the height of the step calculated by averaging the step heights of all of the path profiles When Use Intensity is enabled the value returned is the difference in intens...

Page 267: ...ormation see Scan Modes on page 104 Uses intensity data rather than height data to find an edge Useful when color differences on a flat area of a target which would not be detected using height map da...

Page 268: ...w Using multiple regions allows you to fit a line to an edge that is not straight along its entire length or that is not continuous Region n The region or regions the tool uses to fit a line For more...

Page 269: ...ns for the Z Angle measurement You must enable Fixed Angle to set this value Path Spacing Sets the spacing between paths in the measurement region used to extract the profiles that determine the edge...

Page 270: ...An edge point is placed on each chosen step Steps must pass the criteria of the tool s Step Threshold and Step Direction settings Best Selects the greatest step on each path profile First Selects the...

Page 271: ...to exclude height differences caused by noise When used in conjunction with Relative Threshold Absolute Threshold is typically set to a small value greater than the general surface roughness In the im...

Page 272: ...n this option is enabled the Relative Threshold field is displayed Relative Threshold The value for the relative threshold The tool calculates a relative threshold by scaling the greatest height or in...

Page 273: ...to the path use Path Width see above Step Width The distance along a path profile separating the points used to find steps on a path profile The setting is useful when you must detect a slope as an e...

Page 274: ...ing on a flat background The background is not visible in the part so the tool assumes that any null region are at the background level To find edges along a region of null points you must use either...

Page 275: ...perly configured before using it as an anchor For more information on anchoring see Measurement Anchoring on page 194 Ellipse The Ellipse tool provides measurements for the major and minor axis length...

Page 276: ...urement Illustration Major Determines the major axis length of an ellipse fitted to the part s area in the XY plane Minor Determines the minor axis length of an ellipse fitted to the part s area in th...

Page 277: ...page 183 Asymmetry Detection Resolves the orientation of an object over 360 degrees The possible values are 0 None 1 Along Major Axis 2 Along Minor Axis Region The region to which the tool s measurem...

Page 278: ...nably well to the defined parameters is present and that it is on a sufficiently uniform background See Adding and Configuring a Measurement Tool on page 182 for instructions on how to add measurement...

Page 279: ...Gocator Line Profile Sensors User Manual Gocator Web Interface 279 Measurement Panel...

Page 280: ...pe Description Center Point The center point of the hole The Z position of the center point is at the Z position of the surrounding surface Features For more information on geometric features see Geom...

Page 281: ...84 Reference Region The tool uses the reference regions 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 A...

Page 282: ...s of this tool For more information see Plane Filters The filters that are applied to measurement values before they are output For more information see Filters on page 192 Decision The Max and Min se...

Page 283: ...d Configuring a Measurement Tool on page 182 for instructions on how to add measurement tools The tool uses a complex feature locating algorithm to find a hold and then return measurements See Opening...

Page 284: ...background information that appears inside the opening It can also detect a slot that only partially appears in the data The shape of the opening is defined by its type and its nominal width length a...

Page 285: ...Gocator Line Profile Sensors User Manual Gocator Web Interface 285...

Page 286: ...Panel Measurements Features and Settings 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 o...

Page 287: ...he opening The Z position of the center point is at the Z position of the surrounding surface Features For more information on geometric features see Geometric Features on page 190 Parameter Descripti...

Page 288: ...the radius is equal to of the width The opening is a rounded rectangle when the radius is less than of the width Width Tolerance The maximum variation from the nominal width from the nominal value Len...

Page 289: ...ment region except for a bounding rectangular region around the opening With one or more reference regions the algorithm calculates the Z positions as the average values of the data within the regions...

Page 290: ...ion see Decisions on page 191 Anchor Description X Y or Z Lets you choose the X Y or Z measurement of another tool to use as a positional anchor for this tool Anchoring A measurement must be enabled i...

Page 291: ...t Tool on page 182 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 Angle X and Angle Y measure...

Page 292: ...Gocator Line Profile Sensors User Manual Gocator Web Interface 292 Measurement Panel...

Page 293: ...urface from the detected plane within the specified region or regions Min Error Measures the minimum error from the detected plane the maximum distance below the plane perpendicular to the plane withi...

Page 294: ...Anchor Description X Y or Z Lets you choose the X Y or Z measurement of another tool to use as a positional anchor for this tool Anchoring A measurement must be enabled in the other tool for it to be...

Page 295: ...w 3D View Measurement Panel Measurements Features and Settingss Measurement Illustration X Determines the X position of the selected feature type Y Determines the Y position of the selected feature ty...

Page 296: ...s For more information on regions see Regions on page 184 Filters The filters that are applied to measurement values before they are output For more information see Filters on page 192 Decision The Ma...

Page 297: ...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 measure...

Page 298: ...Gocator Line Profile Sensors User Manual Gocator Web Interface 298 2D View 3D View...

Page 299: ...ip X Determines the X position of the stud tip Tip Y Determines the Y position of the stud tip Tip Z Determines the Z position of the stud tip Base X Determines the X position of the stud base Base Y...

Page 300: ...tud Tilt Correction Tilt of the target with respect to the alignment plane Autoset The tool automatically detects the tilt The measurement region to cover more areas on the surface plane than other pl...

Page 301: ...ement Anchoring on page 194 Measurement Region The tip and the side of the stud must be within the measurement region Volume The Volume tool determines the volume area and thickness of a part Gocator...

Page 302: ...ch the tool s measurements will apply For more information see Regions on page 184 Location Thickness measurement only One of the following l Max l Min l Average l Median l 2D Centroid height of the c...

Page 303: ...anchor For more information on anchoring see Measurement Anchoring on page 194 Script A Script measurement can be used to program a custom measurement using a simplified C based syntax A script measu...

Page 304: ...owing sections describe Gocator s Feature tools Feature tools produce measurements based on more complex geometry letting you implement applications more quickly by reducing dependence on writing scri...

Page 305: ...Gocator Line Profile Sensors User Manual Gocator Web Interface 305 2D View 3D View...

Page 306: ...e same Y position Point plane The difference on the X axis between a point and a point on the plane with the same Y and Z coordinates as the first point or the intersection of the plane and a line fro...

Page 307: ...he plane Plane Distance Point point The distance between two point geometric features For profile data the points are projected onto the XZ plane always the same as the Distance measurement For surfac...

Page 308: ...dge or Surface Ellipse The Feature Intersect tool saves you from having to write complicated calculations in script tools to find intersect point between lines Previously calculating the intercept poi...

Page 309: ...Gocator Line Profile Sensors User Manual Gocator Web Interface 309 2D View 3D View...

Page 310: ...Plane The X position of the intersect point between the line and the plane Y Line Line The Y position of the intersect point between the lines Line Plane The Y position of the intersect point between...

Page 311: ...o edge lines Features Parameter Description Stream The data that the tool will apply measurements to In Surface mode this setting is only displayed when a section is defined on the surface data If you...

Page 312: ...ypes char int unsigned int float double long long 64 bit integer Arithmetic and Logical Operator Standard C arithmetic operators except ternary operator i e condition trueValue falseValue Explicit cas...

Page 313: ...ame Gets the measurement ID by the measurement name Parameters toolName Tool name measurementName Measurement name Returns 1 measurement does not exist Other value Measurement ID Function Description...

Page 314: ...re 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 persistent memory void Memory_Set64u int id unsigned...

Page 315: ...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 Var...

Page 316: ...s the exponent float fabs float x Calculates the absolute value of x Example Accumulated Volume The following example shows how to create a custom measurement that is based on the values from other me...

Page 317: ...e 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 dat...

Page 318: ...ds 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...

Page 319: ...r 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 M...

Page 320: ...ring 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 Eth...

Page 321: ...nt to send by placing a check in the corresponding checkbox See Standard Result Format on page 530 for an explanation of the standard result mode Standard with Stamp Select the measurement to send by...

Page 322: ...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 618...

Page 323: ...posure 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 and a del...

Page 324: ...specific target time or position given by the Scheduled Digital Output command Commands that schedule an event in the past will be ignored An encoder value is in the future if the value will be reache...

Page 325: ...Measurements page 5 Specify Data Scale values The values specified here determine how measurement values are scaled to the minimum and maximum current output The Data Scale values are specified in mi...

Page 326: ...40 us to settle completely To respond to software scheduled commands 1 Go to the Output page 2 Click on Analog in the Output panel 3 Set Trigger Event to Software 4 Specify if the output is immediate...

Page 327: ...ding check box See Standard Result Format on page 530 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 th...

Page 328: ...com Protocol on page 532 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...

Page 329: ...w 2 Tool Stats Displays measurement and tool performance statistics See Statistics on page 332 State and Health Information The following state and health information is available in the System panel...

Page 330: ...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 compl...

Page 331: ...ment value Min The minimum measurement value that has been observed Max The maximum measurement value that has been observed Avg The average of all measurement values collected since the sensor was st...

Page 332: ...last execution time of the tool Min ms The minimum execution time of the tool Max ms The maximum execution time of the tool Avg ms The average execution time of the tool Avg The average percentage the...

Page 333: ...e a physical device off the production line to do this You can also use a virtual sensor to familiarize yourself with the overall interface if you are new to Gocator Emulator showing a part in recorde...

Page 334: ...ver complete For information on saving and loading jobs in the emulator see Creating Saving and Loading Jobs on page 340 For information on uploading and downloading jobs between the emulator and a co...

Page 335: ...ulator s scenario list 4 Click Download and then when prompted click Save Downloading a support file stops the sensor Running the Emulator The emulator is contained in the Gocator tools package 14405...

Page 336: ...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 Option...

Page 337: ...or Buddy to limit the scenarios to single sensor or dual multi sensor scenarios respectively 2 Select a scenario in the Available Scenarios list and click Start Removing a Scenario from the Emulator...

Page 338: ...ng 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 e...

Page 339: ...nt they are lost when you close or restart the emulator To keep jobs permanently you must first save the job in the emulator and then download the job file to a client computer See below for more info...

Page 340: ...easurement tools on recorded data This feature is most often used for troubleshooting and fine tuning measurements but can also be helpful during setup Playback is controlled using the toolbar control...

Page 341: ...to simulate measurements Step or play through recorded data to execute the measurement tools on the recording Individual measurement values can be viewed directly in the data viewer Statistics on the...

Page 342: ...ing any measurements or models If you have unsaved changes in the current job the firmware asks whether you want to discard the changes 3 Do one of the following l Click Discard to discard any unsaved...

Page 343: ...decision values in the exported data depend on the current state of the job not the state during recording For example if you record data when a measurment returns a pass decision change the measureme...

Page 344: ...r 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 file and then dow...

Page 345: ...oaded from a client computer or is part of a support file used to create a virtual sensor If Replay Protection is checked the emulator will indicate in the log that the setting can t be changed becaus...

Page 346: ...ows connections to emulated sensors on localhost 127 0 0 1 You can also allow connections to emulated sensors on your computer s network card for more information see Remote Operation below Remote Ope...

Page 347: ...ulator application starts The emulator does not check that the IP address is valid 4 From the emulator launch page start a scenario For more information see Running a Scenario on page 337 5 Provide th...

Page 348: ...se found on an unaccelerated sensor and are fully supported The Gocator Accelerator does not currently support digital analog or serial output The firmware version of the sensor you want to accelerate...

Page 349: ...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 mo...

Page 350: ...etworks make sure Public and Private are checked and then click Allow Access 4 In the Sensors list click the sensor you want to accelerate If you do not see the sensor you may need to wait a few secon...

Page 351: ...thout manually specifying ports 8 Click Start The sensor system is now accelerated An icon appears next to the accelerated sensor in the Sensors list to indicate this 9 To open the accelerated sensor...

Page 352: ...celeration can be fully integrated into an SDK application Users simply need to instantiate the GoAccelerator object and connect it to a sensor object GoAccelerator accelerator kNULL obtain GoSensor o...

Page 353: ...Gocator Line Profile Sensors User Manual Gocator Accelerator 354 After the SDK application can control an accelerated sensor in the same way as an unaccelerated sensor...

Page 354: ...ration 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 jo...

Page 355: ...rgument 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 File Structu...

Page 356: ...rs 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 j...

Page 357: ...page 434 Setup The Setup element contains settings related to system and sensor setup Element Type Description TemperatureSafetyEnabled Bool Enables laser temperature safety control TemperatureSafetyE...

Page 358: ...e Devices Device on page 366 SurfaceGeneration Section See SurfaceGeneration on page 371 SurfaceSections Section See SurfaceSections on page 373 ProfileGeneration Section See ProfileGeneration on page...

Page 359: ...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 Elem...

Page 360: ...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 Description used Bool Whether or not...

Page 361: ...xFrameRateEnabled Bool Enables maximum frame rate ignores FrameRate EncoderSpacing 64f Encoder spacing for encoder trigger mm EncoderSpacing min 64f Minimum encoder spacing mm EncoderSpacing max 64f M...

Page 362: ...de used Bool Whether or not this feature can be configured LaserSleepMode Enabled Bool Enables or disables the feature LaserSleepMode IdleTime 64u Idle time before laser is turned off s LaserSleepMode...

Page 363: ...64f Y extent mm Height 64f Z extent mm ZAngle 64f Z Angle start degrees ZAngle used Bool Whether or not this property is used Region3D Child Elements Element Type Description ColumnCount 32u Column c...

Page 364: ...diameter mm Height 64f Disk height mm Disk Child Elements Bar Element Type Description Width 64f Bar width mm Height 64f Bar height mm HoleCount 32u Number of holes HoleCount value 32u Actual number o...

Page 365: ...ount 32u Number of resampled points along Y read only ActiveArea Region3D Active area Contains min and max attributes for each element TransformedDataRegion Region3D Active area after transformation r...

Page 366: ...re steps IntensitySource 32s Intensity source 0 Both cameras 1 Front camera 2 Back camera IntensitySource options 32s CSV List of available intensity sources IntensityMode 32s Intensity Mode 0 Auto 1...

Page 367: ...ight 32u Y extent pixels Window Child Elements Element Type Description Grid Grid Layout grid information MultiplexingBank 32u Multiplexing bank ID MultiplexingBank used 32u Whether or not this field...

Page 368: ...sed is false Type options 32u CSV List of available material types SpotThreshold 32s Spot detection threshold SpotThreshold used Bool Determines if the setting s value is currently used SpotThreshold...

Page 369: ...mum value CameraGainDigital max 64f Maximum value DynamicSensitivity 64f Dynamic exposure control sensitivity factor This can be used to scale the control setpoint DynamicSensitivity used Bool Determi...

Page 370: ...ermining value when used is false Element Type Description MinimumSegmentSize 32u Smallest continuous segment considered in continuity sorting SearchWindow X 32u X component of continuity sorting sear...

Page 371: ...igger condition 0 Sequential 1 Digital input Length 64f Surface length mm Length min 64f Minimum surface length mm Length max 64f Maximum surface length mm FixedLength Child Elements VariableLength El...

Page 372: ...e surface section CustomSpacingIntervalEnabl ed Bool Indicates whether a user specified custom spacing interval is to be used for the resulting section SpacingInterval 64f The user specified spacing i...

Page 373: ...ements Rotational Element Type Description Circumference 64f Circumference mm Circumference min 64f Minimum circumference mm Circumference max 64f Maximum circumference mm Rotational Child Elements Pa...

Page 374: ...gth mm MinLength max 64f Maximum value of minimum length mm MinLength used Bool Whether or not this field is used MaxLength 64f Maximum length mm MaxLength min 64f Minimum value of maximum length mm M...

Page 375: ...part matching Element Type Description Enabled Bool Enables part matching Enabled used Bool Whether or not this field is used MatchAlgo 32s Match algorithm 0 Edge points 1 Bounding Box 2 Ellipse Edge...

Page 376: ...field is deprecated Y 64f Y value Y deprecated Bool Whether this Y field is deprecated Width 64f Width value Width deprecated Bool Whether this width field is deprecated Length 64f Length value Lengt...

Page 377: ...ength deprecated Bool Whether this length field is deprecated Replay Contains settings related to recording filtering RecordingFiltering Element Type Description ConditionCombineType 32s 0 Any If any...

Page 378: ...ition is enabled Result 32s The measurement decision criteria for the selected ID to be included in the filter Possible values are 0 Pass 1 Fail 2 Valid 3 Invalid Ids 32s The ID of the measurement to...

Page 379: ...Right Capability 32s The capability of the data stream source Possible values are 0 Full 1 Diagnostic only 2 Virtual Region Region3d The region of the given stream source AdditionalRegions Collection...

Page 380: ...asurement is present MeasurementOptions Child Elements Element Type Description displayName String Display name of the tool minCount 32u Minimum number of instances in a tool maxCount 32u Maximum numb...

Page 381: ...Element Type Description options String CSV A list of the tools available in the currently selected scan mode ToolType Section An element for each added tool Tools Child Elements Profile Types The fo...

Page 382: ...gion2d An element of type ProfileRegion2d defines a rectangular area of interest Element Type Description X 64f Setting for profile region X position mm Z 64f Setting for profile region Z position mm...

Page 383: ...tion X 64f Setting for surface region X position mm Y 64f Setting for surface region Y position mm Width 64f Setting for region width mm Length 64f Setting for region length mm SurfaceRegion2d Child E...

Page 384: ...t Type Description Bool Boolean value of parameter GDK Parameter Bool Type Element Type Description 32s Integer value of parameter of integer type GDK Parameter Int Type Element Type Description 64f F...

Page 385: ...ines settings for a profile area tool and one or more of its measurements Element Type Description Name String Tool name Features Collection Collection of geometric feature outputs available in the to...

Page 386: ...asurements Area Area tool measurement Area measurement Measurements CentroidX Area tool measurement CentroidX measurement Measurements CentroidZ Area tool measurement CentroidZ measurement Features Ce...

Page 387: ...asurements IDs used for anchoring Anchor Z options String CSV The Z measurements IDs available for anchoring StreamOptions Collection A collection of StreamOptions on page 382 elements Stream Step 32s...

Page 388: ...isable 1 Enable SmoothingEnabled Boolean Smoothing enable state 0 Disable 1 Enable PreserveInvalidsEnabled Boolean Preserve invalid measurements enable state 0 Disable 1 Enable SmoothingWindow 32u Smo...

Page 389: ...g from the highest points to include in the bridge value calculation WindowSkip 64f A percentage of the profile point heights when ordered from lowest to highest in a histogram starting from the highe...

Page 390: ...fileCircle element defines settings for a profile circle tool and one or more of its measurements Element Type Description Name String Tool name Features Collection Collection of geometric feature out...

Page 391: ...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 ena...

Page 392: ...ge 3 Surface 4 Section Stream Id 32u The stream source ID RefFeature ProfileFeature Reference measurement region Feature ProfileFeature Measurement region Measurements Width Dimension tool measurement...

Page 393: ...r 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 Ty...

Page 394: ...t Measurements Width Groove tool measurement Width measurement Measurements Depth Groove tool measurement Depth measurement Element Type Description id 32s Measurement ID Optional measurement disabled...

Page 395: ...nt Type Description Name String Tool name Features Collection Collection of geometric feature outputs available in the tool See ProfileIntersect above Source 32s Profile source Anchor X String CSV The...

Page 396: ...asurement 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 E...

Page 397: ...rce ID RegionEnabled Bool Whether or not to use the region If the region is disabled all available data is used Region ProfileRegion2d Measurement region FittingRegions ProfileLine ProfileLine describ...

Page 398: ...1 Enable HoldEnabled Boolean Output hold enable state 0 Disable 1 Enable SmoothingEnabled Boolean Smoothing enable state 0 Disable 1 Enable PreserveInvalidsEnabled Boolean Preserve invalid measurement...

Page 399: ...eft edge configuration RightEdge ProfilePanelEdge Element for right edge configuration Measurements Gap Gap Flush measurement Gap measurement Measurements Flush Gap Flush measurement Flush measurement...

Page 400: ...Edge 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 Boolea...

Page 401: ...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 anchori...

Page 402: ...sionMax 64f Maximum decision threshold ProfileRoundCorner A ProfileRoundCorner element defines settings for a profile round corner tool and one or more of its measurements Element Type Description Nam...

Page 403: ...MinDepth 64f Minimum depth MaxVoidWidth 64f Maximum void width SurfaceWidth 64f Surface width SurfaceOffset 64f Surface offset NominalRadius 64f Nominal radius EdgeAngle 64f Edge angle RegionEnabled B...

Page 404: ...e same type in the Measurements element Element Type Description Name String Tool name Features Collection Not used Source 32s Profile source Anchor X String CSV The X measurements IDs used for anchor...

Page 405: ...strip height mm MaxVoidWidth 64f Void max mm Region ProfileRegion2d Region containing the strip Measurements X Strip tool measurement X measurement Measurements Z Strip tool measurement Z measurement...

Page 406: ...al from left 2 Ordinal from right SelectIndex 32s Index when SelectType is set to 1 or 2 Location X Z and Height measurements only 32s Setting for groove location to return from 0 Left 1 Right 2 Cente...

Page 407: ...le options String CSV The Z measurements IDs available for anchoring StreamOptions Collection A collection of StreamOptions on page 382 elements Stream Step 32s The stream source step Possible values...

Page 408: ...cription 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 ho...

Page 409: ...The Z Angle measurements IDs used for anchoring Anchor ZAngle options String CSV The Z measurements IDs available for anchoring StreamOptions Collection A collection of StreamOptions on page 382 elem...

Page 410: ...it Measurements X Countersunk Hole tool measurement X measurement Measurements Y Countersunk Hole tool measurement Y measurement Measurements Z Countersunk Hole tool measurement Z measurement Measurem...

Page 411: ...ow 32u Smoothing window Scale 64f Output scaling factor Offset 64f Output offset factor DecisionMin 64f Minimum decision threshold DecisionMax 64f Maximum decision threshold Countersunk Hole Tool Meas...

Page 412: ...surements CenterY Dimension tool measurement Center Y measurement Measurements CenterZ Dimension tool measurement Center Z measurement Measurements Distance Dimension tool measurement Distance measure...

Page 413: ...pe name of the tool version String Version string for custom tool Name String Tool name Source 32s Surface source Anchor X String CSV The X measurements IDs used for anchoring Anchor X options String...

Page 414: ...ers EdgeDirection GdkParamInt Edge direction type Is either 0 Rising 1 Falling 2 Rising or Falling Parameters EdgeThreshold GdkParamFloat Edge threshold value Parameters EdgeThreshold uni ts String Un...

Page 415: ...urement Measurements Measurement type Z Edge Measurement Base Z measurement Measurements Measurement type ZAngle Edge Measurement Base ZAngle measurement Measurements Measurement type Height Edge Meas...

Page 416: ...V The Y measurements 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 St...

Page 417: ...ature 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 Boole...

Page 418: ...The Z Angle measurements IDs used for anchoring Anchor ZAngle options String CSV The Z measurements IDs available for anchoring StreamOptions Collection A collection of StreamOptions on page 382 elem...

Page 419: ...tool measurement X measurement Measurements Y Hole tool measurement Y measurement Measurements Z Hole tool measurement Z measurement Measurements Radius Hole tool measurement Radius measurement Featu...

Page 420: ...Y String CSV The Y measurements 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...

Page 421: ...tab 0 Disable 1 Enable RefRegionCount 32s Count of the reference regions that are to be used Advanced tab RefRegions Collection Reference regions Contains two RefRegion elements of type SurfaceRegion2...

Page 422: ...ision threshold Opening Tool Measurement SurfacePlane A SurfacePlane element defines settings for a surface plane tool and one or more of its measurements Element Type Description Name String Tool nam...

Page 423: ...le Plane tool measurement YAngle measurement Measurements ZOffset Plane tool measurement ZOffset measurement Measurements StdDev Plane tool measurement Standard deviation measurement Measurements MinE...

Page 424: ...Description Name String Tool name Features Collection Collection of geometric feature outputs available in the tool See SurfacePosition above Source 32s Surface source Anchor X String CSV The X measu...

Page 425: ...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 Smooth...

Page 426: ...choring Anchor ZAngle options String CSV The Z measurements IDs available for anchoring StreamOptions Collection A collection of StreamOptions on page 382 elements Stream Step 32s The stream source st...

Page 427: ...ment TipZ measurement Measurements Radius Stud tool measurement Radius measurement Features TipPoint GeometricFeature TipPoint PointFeature Features BasePoint GeometricFeature BasePoint PointFeature E...

Page 428: ...Name String Tool name Features Collection Not used 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...

Page 429: ...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 e...

Page 430: ...ts IDs available for anchoring Parameters RefPoint GdkParamGeometricFeature Reference point feature Parameters Feature GdkParamGeometricFeature Reference feature Measurements Measurement type Width Di...

Page 431: ...feature intersection tool and one or more of its measurements Element Type Description type String Type name of the tool version String Version string for custom tool Name String Tool name Source 32s...

Page 432: ...t hold enable state 0 Disable 1 Enable SmoothingEnabled Boolean Smoothing enable state 0 Disable 1 Enable PreserveInvalidsEnabled Boolean Preserve invalid measurements enable state 0 Disable 1 Enable...

Page 433: ...put settings for a different type of Gocator output For all sub elements the source identifiers used for measurement outputs correspond to the measurement identifiers defined in each tool s Measuremen...

Page 434: ...meout seconds Used when TimeoutEnabled is true and the Gocator protocol is selected Ascii Section See Ascii on page 437 EIP Section See EIP on page 437 Modbus Section See Modbus on page 437 Videos 32s...

Page 435: ...1 Bottom 2 Top left 3 Top right ProfileIntensities options 32s CSV List of available profile intensity sources see above SurfaceIntensities 32s CSV Selected surface intensity sources SurfaceIntensitie...

Page 436: ...String for invalid output CustomDataFormat String Custom data format CustomFormatEnabled Bool Enables custom data format StandardFormatMode 32u The formatting mode used if not a custom format 0 Standa...

Page 437: ...se width s PassMode 32s Measurement pass condition 0 AND of measurements is true 1 AND of measurements is false 2 Always assert Delay 64f Output delay s or mm depending on delay domain defined below D...

Page 438: ...id max 64f Maximum value for invalid current mA DataScaleMax 64f Measurement value corresponding to maximum current DataScaleMin 64f Measurement value corresponding to minimum current Delay 64f Output...

Page 439: ...i Element Type Description Delimiter String Field delimiter Terminator String Line terminator InvalidValue String String for invalid output CustomDataFormat String Custom data format CustomFormatEnabl...

Page 440: ...ngle 5 7478302588 XAngle YAngle 3 7078302555 XAngle ZAngle 2 7078302556 XAngle Device Device id 1 X 0 X Y 0 0 Y Z 123 4966803469 Z XAngle 5 7478302588 XAngle YAngle 3 7078302555 XAngle ZAngle 2 707830...

Page 441: ...user created job files in non volatile storage for example productionRun01 job model1 mdl You can only access part models in user created job files using path notation See the following sections for...

Page 442: ...er 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...

Page 443: ...Gocator Line Profile Sensors User Manual Gocator Device Files 444 Element Type Description 1 Intensity map ImageType options 32s CSV List of available image types...

Page 444: ...onfigure 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...

Page 445: ...nsigned integer 4294967295 0xFFFFFFFF 64s 64 bit signed integer 9223372036854775808 0x8000000000000000 64u 64 bit unsigned integer 18446744073709551615 0xFFFFFFFFFFFFFFFF 64f 64 bit floating point 1 7...

Page 446: ...ubnet 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...

Page 447: ...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...

Page 448: ...scription 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...

Page 449: ...r 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 Comm...

Page 450: ...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...

Page 451: ...entifier 0x3013 status 32s 6 Reply status For a list of status codes see Commands on page 446 Reply Get System Info V2 The Get System Info command reports information about the local node remote nodes...

Page 452: ...fo structure Current 60 remoteInfo remoteCount Remote Info List of info for discovered sensors buddyInfoCount 32u Number of buddies assigned can be 0 buddyInfoSize 16u Size of buddyInfo structure Curr...

Page 453: ...32s 48 Sensor role 0 Main 1 Buddy mainId 32u 52 Serial number of the main device or zero buddyableStatus 32s 56 Whether or not the device can be buddied 1 Can be buddied Errors 0 Unbuddiable General...

Page 454: ...ensor is reset or power cycled In this case the sensors will fall back to the factory default IP address To avoid IP address conflicts in a multi sensor system connect to one sensor at a time and re a...

Page 455: ...0x4525 Command Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4525 status 32s 6 Reply status For a list of status codes see Commands on...

Page 456: ...cription length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4003 userType 32s 6 Defines the user type 0 None log out 1 Administrator 2 Technician password 64 char 10...

Page 457: ...d of these collections For example the system starts with 2 devices A B A new list A B C is sent The configuration for A and B are preserved and a new record is created for C If now the system changes...

Page 458: ...e it s the index of buddies not all devices including the main Command Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4013 status 32s...

Page 459: ...ource to a destination within the connected sensor a job file a component of a job file or another type of file for more information see Job File Structure on page 356 To make a job active to load it...

Page 460: ...10 File length data length byte 14 File contents Reply Write File The Write File command uploads a file to the connected sensor a job file a component of a job file or another type of file for more in...

Page 461: ...atus 32s 6 Reply status For a list of status codes see Commands on page 446 Reply User Storage Used The User Storage Used command returns the amount of user storage that is used Field Type Offset Desc...

Page 462: ...00 status 32s 6 Reply status For a list of status codes see Commands on page 446 name 64 char 10 The file name null terminated of the job the sensor loads when it powers up Reply Set Default Job The S...

Page 463: ...Alignment Reference command is used to get the sensor s alignment reference Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4104 Com...

Page 464: ...atus 32s 6 Reply status For a list of status codes see Commands on page 446 Reply Get Timestamp The Get Timestamp command retrieves the sensor s timestamp in clock ticks All devices in a system are sy...

Page 465: ...to a sensor When the encoder is connected to the master the value cannot be reset via this command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Comman...

Page 466: ...the trigger type Command Field Type Offset Description length 32u 0 Reply size in bytes id 16u 4 Reply identifier 0x100F status 32s 6 Reply status For a list of status codes see Commands on page 446 R...

Page 467: ...lly starts after booting enters Running state for more information on states see Control Commands on page 450 Field Type Offset Description length 32u 0 Command size including this field in bytes id 1...

Page 468: ...t Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4538 status 32s 6 Reply status For a list of status codes see Commands on page 446 Reply Get Quick Edit...

Page 469: ...his field in bytes id 16u 4 Command identifier 0x4600 Command Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4600 status 32s 6 Reply st...

Page 470: ...ier 0x4510 Command Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4510 status 32s 6 Reply status For a list of status codes see Command...

Page 471: ...d 16u 4 Command identifier 0x4519 index 16u 6 Index of the output Must be 0 target 64s 8 Specifies the time clock ticks or position encoder ticks of when the event should happen The target value is ig...

Page 472: ...imer is reset and updated with every command Reset The Reset command reboots the Main sensor and any Buddy sensors All sensors will automatically reset 3 seconds after the reply to this command is tra...

Page 473: ...including this field in bytes id 16u 4 Command identifier 0x1014 length 32u 6 Data length data length byte 10 Data content Command Field Type Offset Description length 32u 0 Reply size including this...

Page 474: ...is field in bytes id 16u 4 Command identifier 0x4517 Command Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4517 status 32s 6 Reply sta...

Page 475: ...back Source command gets the data source for data playback Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4524 Command Field Type O...

Page 476: ...s 6 Reply status For a list of status codes see Commands on page 446 bufferValid 8u 10 Whether or not the buffer is valid Reply A reply status of 996 means that the current configuration mode sensor t...

Page 477: ...us codes see Commands on page 446 Reply When the system is running in the Replay mode this command advances replay data playback by one frame This command returns an error if no live playback data set...

Page 478: ...Log The Read Live Log command returns an XML file containing the log messages between the passed start and end indexes Field Type Offset Description length 32u 0 Command size including this field in b...

Page 479: ...u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x452A status 32s 6 Reply status For a list of status codes see Commands on page 446 Reply Acquire The Acquire command acquires a...

Page 480: ...imulation scan Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4602 modelName 64 char 6 Name of the new model without mdl extension...

Page 481: ...n length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4530 status 32s 6 Reply status For a list of status codes see Commands on page 446 Reply Add Measurement The Add Mea...

Page 482: ...le name Command Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4529 status 32s 6 Reply status For a list of status codes see Commands o...

Page 483: ...446 progressTotal 32u 10 Progress indicating completion 100 progress 32u 14 Current progress size 32u 18 Size of the chunk in byes data size byte 22 Chunk data Continue Reply All recorded range or pr...

Page 484: ...etion 100 progress 32u 14 Current progress size 32u 18 Size of the chunk in byes data size byte 22 Chunk data Continue Reply Get Runtime Variable Count The Get Runtime Variable Count command gets the...

Page 485: ...fset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4535 status 32s 6 Reply status index 32u 10 The starting index of the variables being returned length...

Page 486: ...t Upgrade Extended command begins a firmware upgrade for the sensors in a system All sensors automatically reset 3 seconds after the upgrade process is complete Field Type Offset Description length 64...

Page 487: ...escription length 64s 0 Reply size including this field in bytes id 64s 8 Reply identifier 0x2 status 64s 16 Reply status For a list of status codes see Commands on page 446 length 64s 24 Length of th...

Page 488: ...0 14 Message type identifier For this message set to 1 count C 32u 6 Count of stamps in this message size 16u 10 Stamp size in bytes min 56 current 56 source 8u 12 Source 0 Main 1 Buddy reserved 8u 1...

Page 489: ...its per channel color B G R X colorFilter 8u 18 Color filter array alignment 0 None 1 Bayer BG GR 2 Bayer GB RG 3 Bayer RG GB 4 Bayer GR BG source 8u 19 Source 0 Top 1 Bottom 2 Top Left 3 Top Right ca...

Page 490: ...op Right exposure 32u 33 Exposure ns cameraIndex 8u 37 Camera index reserved 2 8u 38 Reserved ranges C W Point16s 40 Profile ranges Resampled Profile Field Type Offset Description size 32u 0 Count of...

Page 491: ...ributesSize 16u 6 Size of attributes in bytes min 24 current 24 count C 32u 8 Number of profile intensity arrays width W 32u 12 Number of points per profile intensity array xScale 32u 16 X scale nm xO...

Page 492: ...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 bytes min 40 current 48 length L 32u 8 Surface l...

Page 493: ...12 Surface width columns xScale 32u 16 X scale nm yScale 32u 20 Y scale nm xOffset 32s 24 X offset m yOffset 32s 28 Y offset m source 8u 32 Source 0 Top 1 Bottom 2 Top Left 3 Top Right exposure 32u 33...

Page 494: ...face 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...

Page 495: ...e 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 Offse...

Page 496: ...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 8 current 8 opId 32u 8 Operation ID status 32s 12 Operatio...

Page 497: ...e 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 18 decision 8u 6 Overall...

Page 498: ...64s 8 X Coordinate of Point Scaled by 10 6 Point y 64s 16 Y Coordinate of Point Scaled by 10 6 Point z 64s 24 Z Coordinate of Point Scaled by 10 6 Direction x 64s 32 X Component of Direction Vector S...

Page 499: ...ype 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 He...

Page 500: ...vailable 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 Ne...

Page 501: ...r 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 occ...

Page 502: ...ranges Range Invalid Count 21101 Number of invalid ranges Anchor Invalid Count 21200 Number of frames with anchoring invalid First Log Id 21301 ID of the first available log entry Last Log Id 21300 I...

Page 503: ...eaching the length limit Part Min Area Drops 22008 Number of parts dropped due to being smaller than the minimum area Part Backtrack Drops 22009 Number of parts dropped due to backtracking Parts Curre...

Page 504: ...s 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 State on page 508 to advance the...

Page 505: ...te 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...

Page 506: ...RO 20 measurement and decision pairs See Measurement Registers on page 510 for detailed descriptions Register Map Overview Control Registers Control registers are used to operate the sensor Register 0...

Page 507: ...er 16 bit register including the null terminator character 6 Set Runtime Variables Sets the runtime variables Set registers 1 through 8 to the values of all four 32 bit runtime variables Command Regis...

Page 508: ...sensors In Profile mode the stamps are updated after each profile is processed In Surface mode the stamps are updated after each surface has been processed Register Address Name Type Description 960...

Page 509: ...nt values are 32 bits wide and decisions are 8 bits wide The measurement ID defines the register address of each pair The register address of the first word can be calculated as 1000 3 ID For example...

Page 510: ...ster Address Name Type Description 1 Invalid value 2 Invalid anchor 1003 Measurement 1 High 1004 Measurement 1 Low 1005 Decision 1 1006 Measurement 2 High 1007 Measurement 2 Low 1008 Decision 2 1057 M...

Page 511: ...d 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 comman...

Page 512: ...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...

Page 513: ...nsor state and sample state implicit messaging command and implicit messaging output All assembly object instances are static Data in a data byte array in an assembly object are stored in the big endi...

Page 514: ...ull terminated and end with job Command Definitions Runtime Variable Configuration Assembly The runtime variable configuration assembly object contains the sensor s intended runtime variables Informat...

Page 515: ...scription 0 Sensor State Sensor state 0 Stopped 1 Running 1 EtherNet IP Command in Progress Command busy status 0 Not busy 1 Busy performing the last command Bytes 2 and 19 83 below are only valid whe...

Page 516: ...for more details Get Attribute 3 Byte Name Type Description 0 1 Inputs 16u Digital input state 2 9 Z Index Position 64u Encoder position at time of last index pulse 10 13 Exposure 32u Laser exposure i...

Page 517: ...ach 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...

Page 518: ...ent 4 Perform moving alignment 5 Clear alignment 6 Set runtime variables 7 Load job file 1 31 Reserved except for configuring runtime variables and loading job file If you are setting the runtime vari...

Page 519: ...gital input state 4 11 Z Index Position 64u Encoder position at time of last index pulse 12 15 Exposure 32u Laser exposure in s 16 19 Temperature 32u Sensor temperature in degrees celsius 100 centideg...

Page 520: ...ion Commands Ethernet Only on the next page The protocol communicates using ASCII strings The output result format from the sensor is user configurable To use the ASCII protocol it must be enabled and...

Page 521: ...CR Serial Connection Settings for ASCII Up to 16 users can connect to the sensor for ASCII interfacing at a time Any additional connections will remove the oldest connected user Polling Operation Com...

Page 522: ...levant data for the command if successful or a text based error message if the operation failed If there is more than one data item each item is separated by the delimiter The delimiter and terminatio...

Page 523: ...encoder target value should be set by adding a delay to the time or encoder position returned by the Stamp command The delay should be set such that it covers the command response time of the Start co...

Page 524: ...age Formats Examples Command 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 S...

Page 525: ...pleted 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 Message Formats Ex...

Page 526: ...ts Examples Command setvars 0 4 1 2 3 4 Reply OK Get Runtime Variables The Get Runtime Variables command gets the runtime variables using the specified index and length Message Format Command setvars...

Page 527: ...ted 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 time value 0 decision 0 Result OK 1...

Page 528: ...f 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 in standard format except that the values are not...

Page 529: ...or Message Formats Examples health 2002 2017 OK 46 1674 Health ERROR Insufficient parameters Standard Result Format Gocator can send measurement results either in the standard format or in a custom fo...

Page 530: ...g 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 ID must corr...

Page 531: ...ns 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 Se...

Page 532: ...r Line Profile Sensors User Manual Protocols 533 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 Tra...

Page 533: ...with version 4 0 of the SDK which uses protocol version 4 0 will be compatible with a Gocator running firmware version 4 1 which uses protocol version 4 1 However any new features in firmware version...

Page 534: ...le code including C examples is now located in the Tools package which can be downloaded by going to go to http lmi3d com support choose your product from the Product Downloads section and download it...

Page 535: ...created by the user or passed via callbacks should be destroyed by using the GoDestroy function GoSensor GoSensor represents a physical sensor If the physical sensor is the Main sensor in a dual senso...

Page 536: ...are available to configure these outputs Data Types The following sections describe the types used by the SDK and the kApi library Value Types GoSDK is built on a set of basic data structures utilitie...

Page 537: ...ontaining a set of resampled profile arrays GoSectionMsg Represents a data message containing a set of section arrays GoSectionIntensityMsg Represents a data message containing a set of profile intens...

Page 538: ...lue is between the maximum and minimum decision values This is a pass decision 0 The measurement value is outside the maximum and minimum This is a fail decision 1 The measurement is invalid for examp...

Page 539: ...y 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_SetDecis...

Page 540: ...tup object 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 d...

Page 541: ...EnableData system kTRUE Optional Setup callback function to receive data asynchronously GoSystem_SetDataHandler system onData contextPointer Retrieve setup handle setup GoSensor_Setup sensor Reconfigu...

Page 542: ...name GoSensor_DeleteFile Deletes a file in the connected sensor GoSensor_SetDefaultJob Sets a default job file to be loaded on boot GoSensor_UploadFile Uploads a file to the connected sensor GoSensor...

Page 543: ...horing The GDK supports all data types profile and surface and tools created with the GDK use the same data visualization as native tools Benefits When you use the GDK to create custom measurement too...

Page 544: ...ad it from the Download Center selecting a Gocator series and clicking on the Product User Area link After downloading the package extract the package to a directory You can access full installation a...

Page 545: ...sensors l C64x for Gocator 1300 2300A 2300B 3210 and 3506 series sensors The Win32 target supports Debug and Release builds The Arm7 and C64x targets Gocator sensors only the support Release builds To...

Page 546: ...TypeName toolInfo TEST_PROFILE_SELECT_TOOL_NAME kCheck GdkToolInfo_SetLabel toolInfo TEST_PROFILE_SELECT_TOOL_LABEL kCheck GdkToolInfo_SetSourceType toolInfo GDK_DATA_TYPE_UNIFORM_PROFILE The function...

Page 547: ...tool has one set of tool parameters and each measurement in a tool has one set of measurement parameters The following table lists the functions that provide advanced or interactive control for setti...

Page 548: ...scriptions of these functions see the GDK class reference documentation see Installation and Class Reference on page 545 for information on installing the documentation Graphics Visualization The GdkG...

Page 549: ...c_ AddLineSet 4 Output using GdkToolOutput_SetRendering The following illustrates the process kTest GdkGraphic_Construct graphic kObject_Alloc tool kTest GdkGraphicPointSet_Construct pointSet 4 0 kMAR...

Page 550: ...To debug your tools in the emulator 1 Compile your code using the Win32 target Debug or Release 2 In the output directory rename the DLL with the same name as your project to GdkApp dll For example i...

Page 551: ...ips The following sections provide useful information for creating custom measurement tools Backward Compatibility with Older Versions of Tools When loading a recording or job file that contains a cus...

Page 552: ...GdkFx kStatus GdkExampleTool_VDescribe GdkToolInfo info kCheck GdkToolInfo_SetLabel info Example kCheck GdkToolInfo_SetSourceType info GDK_DATA_TYPE_UNIFORM_PROFILE kCheck GdkToolInfo_AddSourceOption...

Page 553: ...s describe common programming operations Input Data Objects The VProcess function receives a GdkToolInput object as input This object is a container where the information and actual data of the receiv...

Page 554: ...function GdkDataInfo info GdkSensorInfo_DataSource GdkTool_SensorInfo tool GDK_DATA_SOURCE_ TOP Computing Region Based on the Offset from an Anchor Source Just like built in measurement tools custom t...

Page 555: ...could use the following include kApi Io kFile h ToolFx kStatus TestTool_VStart TestTool tool kFile_Save test txt stringBuf kSize 1024 kFile_Load test txt stringBuf bufLen kNULL Print Output In the em...

Page 556: ...4405 x x x x_SOFTWARE_GO_Tools zip unzip the file and run the Sensor Discovery Tool Discovery kDiscovery exe Any sensors that are discovered on the network will be displayed in the Devices list To cha...

Page 557: ...gure a system variable so the software can access the GenTL driver For instructions see To configure system variables to use the driver in Windows 7 below To get the toolset package containing the dri...

Page 558: ...Gocator Line Profile Sensors User Manual Tools and Native Drivers 559 3 Click Advanced System Settings 4 In the System Properties dialog on the Advanced tab click Environment Variables...

Page 559: ...Gocator Line Profile Sensors User Manual Tools and Native Drivers 560 5 In the Environment Variables dialog under the System variables list click New...

Page 560: ...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 b...

Page 561: ...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...

Page 562: ...t 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...

Page 563: ...alue 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...

Page 564: ...ight 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 enable...

Page 565: ...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 i...

Page 566: ...t the sensor to the PC For more information see Installation on page 30 and Network Setup on page 41 2 Click the Scan page icon 3 On the Scan page click the Surface icon to switch to Surface mode 4 Op...

Page 567: ...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 ava...

Page 568: ...Tools and Native Drivers 569 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 outpu...

Page 569: ...he 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 Descri...

Page 570: ...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 E...

Page 571: ...32 bit value Parameters Input AcqHandle Acquisition handle created by open_framegrabber Parameters Output EncoderValue The current encoder value Example Go2GenTL_Encoder AcqHandle EncoderValue Go2Gen...

Page 572: ...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...

Page 573: ...ts you insert acquisition code into your code in the IDE To generate acquisition code 1 In Halcon in the Assistants menu click Open New Image Acquisition 2 In the dialog that opens in the Code Generat...

Page 574: ...bit RGB gray if the format is 16 bit mono open_framegrabber 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_...

Page 575: ...6 bit BMP Heightmap with 16bit height values in a 5 5 5 RGB image Not intended for visualization 16 bit TIFF Heightmap as grayscale image 16 bit PNG Heightmap as grayscale image GenTL RGB For more inf...

Page 576: ...nTL format If intensity is not selected the ASCII format will only contain the point coordinates XYZ 3 If a dual sensor system was used choose the source sensor next to Image 4 Select the output forma...

Page 577: ...ust first configure the Gocator sensor To configure a sensor 1 In the Gocator web interface go to the Output tab 2 In the Ethernet category set Protocol to Gocator 3 In the Data area of the panel make...

Page 578: ...connection and scan issues 6 Hide command bar Toggles display of the command bar at the top of the tool 7 Use accelerator Attempts to accelerate the sensor chosen in the sensor selector drop down In o...

Page 579: ...wish to work with is configured properly See Configuring Gocator to Work with the Transfer Tool on page 578 2 Optional Modify the timeout or check the Use accelerator option See the table above for mo...

Page 580: ...ation When attempting to log in the password is not accepted l See Sensor Discovery Tool on page 557 for steps to reset the password Laser Profiling When the Start button or the Snapshot button is pre...

Page 581: ...ducing the speed If you are using a time or encoder trigger source see Triggers on page 105 for information on reducing the speed If you are using an external input or software trigger consider reduci...

Page 582: ...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 Interv...

Page 583: ...ses and packages 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 Specifi...

Page 584: ...s 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...

Page 585: ...Gocator Line Profile Sensors User Manual Specifications 586 Gocator 2320 Field of View Measurement Range Coordinate System Orientation...

Page 586: ...Gocator Line Profile Sensors User Manual Specifications 587 Dimensions Envelope...

Page 587: ...Gocator Line Profile Sensors User Manual Specifications 588 Gocator 2130 and 2330 Field of View Measurement Range Coordinate System Orientation Dimensions...

Page 588: ...Gocator Line Profile Sensors User Manual Specifications 589 Envelope...

Page 589: ...Gocator Line Profile Sensors User Manual Specifications 590 Gocator 2140 and 2340 Field of View Measurement Range Coordinate System Orientation...

Page 590: ...Gocator Line Profile Sensors User Manual Specifications 591 Dimensions Envelope...

Page 591: ...Gocator Line Profile Sensors User Manual Specifications 592 Gocator 2342 Field of View Measurement Range Coordinate System Orientation...

Page 592: ...Gocator Line Profile Sensors User Manual Specifications 593 Dimensions Envelope...

Page 593: ...Gocator Line Profile Sensors User Manual Specifications 594 Gocator 2150 and 2350 Field of View Measurement Range Coordinate System Orientation...

Page 594: ...Gocator Line Profile Sensors User Manual Specifications 595 Dimensions...

Page 595: ...Gocator Line Profile Sensors User Manual Specifications 596 Envelope...

Page 596: ...Gocator Line Profile Sensors User Manual Specifications 597 Gocator 2170 and 2370 Field of View Measurement Range Coordinate System Orientation...

Page 597: ...Gocator Line Profile Sensors User Manual Specifications 598 Dimensions...

Page 598: ...Gocator Line Profile Sensors User Manual Specifications 599 Envelope...

Page 599: ...Gocator Line Profile Sensors User Manual Specifications 600 Gocator 2375 Field of View Measurement Range Coordinate System Orientation...

Page 600: ...Gocator Line Profile Sensors User Manual Specifications 601 Dimensions...

Page 601: ...Gocator Line Profile Sensors User Manual Specifications 602 Envelope...

Page 602: ...Gocator Line Profile Sensors User Manual Specifications 603 Gocator 2180 and 2380 Field of View Measurement Range Coordinate System Orientation...

Page 603: ...Gocator Line Profile Sensors User Manual Specifications 604 Dimensions...

Page 604: ...Gocator Line Profile Sensors User Manual Specifications 605 Envelope...

Page 605: ...nce CD mm 19 60 Measurement Range MR mm 6 25 Field of View FOV mm 10 10 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 44x9...

Page 606: ...he 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 51 for more...

Page 607: ...Gocator Line Profile Sensors User Manual Specifications 608 Gocator 2410 Field of View Measurement Range Coordinate System Orientation...

Page 608: ...Gocator Line Profile Sensors User Manual Specifications 609 Dimensions...

Page 609: ...Gocator Line Profile Sensors User Manual Specifications 610 Envelope...

Page 610: ...Gocator Line Profile Sensors User Manual Specifications 611 Gocator 2420 Field of View Measurement Range Coordinate System Orientation...

Page 611: ...Gocator Line Profile Sensors User Manual Specifications 612 Dimensions...

Page 612: ...Gocator Line Profile Sensors User Manual Specifications 613 Envelope...

Page 613: ...ce 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...

Page 614: ...Gocator Line Profile Sensors User Manual Specifications 615 Gocator 2880 Field of View Measurement Range Coordinate System Orientation...

Page 615: ...Gocator Line Profile Sensors User Manual Specifications 616 Dimensions...

Page 616: ...Gocator Line Profile Sensors User Manual Specifications 617 Envelope...

Page 617: ...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 Gr...

Page 618: ...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 t...

Page 619: ...tput 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...

Page 620: ...nvert 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 E...

Page 621: ...t 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 Volt...

Page 622: ...n below Function Pins Serial_out B C Selcom Serial Output Serial RS 485 output is connected to Serial_out and Serial_out2 as shown below Function Pins Serial_out data B C Serial_out2 clock E G Analog...

Page 623: ...624 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...

Page 624: ...to Master cordset Connect power RJ45 end of the cordset to the Master Power port The Ethernet RJ45 end of the cordset can be connected directly to the Ethernet switch or connect to the Master Ethernet...

Page 625: ...of the wires in the Gocator I O cordset are not used 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 Encode...

Page 626: ...er 400 800 1200 2400 are not compatible with the connectors on Master 810 2410 For this reason if you are switching models in your network you must rewire the connections to the Master Function Pin 48...

Page 627: ...Reserved 13 Reserved 14 Reserved 15 Reserved 16 Input 16 pin connector The Input connector does not need to be wired up for proper operation Function Pin Encoder_A 1 Encoder_A 2 Encoder_B 3 Encoder_B...

Page 628: ...e Logical LOW 0 to 0 1 VDC Logical HIGH 3 3 to 24 VDC When using a Master hub the chassis must be well grounded The power supply must be isolated from AC ground This means that AC ground and DC ground...

Page 629: ...Gocator Line Profile Sensors User Manual Specifications 630 Master 400 800 Dimensions The dimensions of Master 400 and Master 800 are the same...

Page 630: ...810 or 2410 on page 35 The units are provided with removable adapters for 1U rack mounting the mounting holes for this option are compatible with older Master models 400 800 1200 2400 The Phoenix conn...

Page 631: ...rol 6 Power and Safety 6 pin connector The 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...

Page 632: ..._Pin_2 5 Encoder_B_Pin_3 6 Encoder_Z_Pin_1 7 Encoder_Z_Pin_2 8 Encoder_Z_Pin_3 9 GND output for powering external devices 10 5VDC output for powering external devices 11 Encoder 11 pin connector For E...

Page 633: ...C ground are not connected 24 VDC power supply is only supported if all connected sensors support an input voltage of 24 VDC The Power Draw specification is based on a Master with no sensors attached...

Page 634: ...Gocator Line Profile Sensors User Manual Specifications 635 To determine how to wire a Master to an encoder see the illustrations below Single Ended 5 VDC Single Ended 12 VDC...

Page 635: ...s User Manual Specifications 636 Differential 5 VDC Differential 12 VDC Input Master 810 and 2410 support the following types of input Differential Single Ended High and Single Ended Low Currently Goc...

Page 636: ...e ranges see the table below Differential Single Ended Active High Single Ended Active Low Input Status Min VDC Max VDC Single ended Active High Off 0 0 8 On 3 3 24 Single ended Active Low Off V DD 0...

Page 637: ...Dimensions With 1U rack mount brackets With DIN rail mount clips For information on installing DIN rail clips see Installing DIN Rail Clips Master 810 or 2410 on page 35 The CAD model of the DIN rail...

Page 638: ...Dimensions With 1U rack mount brackets With DIN rail mount clips For information on installing DIN rail clips see Installing DIN Rail Clips Master 810 or 2410 on page 35 The CAD model of the DIN rail...

Page 639: ...ter 400 800 1200 2400 are not compatible with the connectors on Master 810 2410 For this reason if you are switching models in your network you must rewire the connections to the Master Function Pin 4...

Page 640: ...on Pin Encoder_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 1200 2400 Electrical Specifications Specification Value Power Supply Voltage...

Page 641: ...AC ground and DC ground are not connected The Power Draw specification is based on a Master with no sensors attached Every sensor has its own power requirements that need to be considered when calcul...

Page 642: ...61 5m 10m Power and Ethernet cordset 1x open wire end 1x RJ45 end 30861 10m 15m Power and Ethernet cordset 1x open wire end 1x RJ45 end 30861 15m 20m Power and Ethernet cordset 1x open wire end 1x RJ4...

Page 643: ...d Ethernet cordset 90 deg 1x open wire end 1x RJ45 end 30880 20m 25m Power and Ethernet cordset 90 deg 1x open wire end 1x RJ45 end 30880 25m 2m Power and Ethernet to Master cordset 90 deg 2x RJ45 end...

Page 644: ...ted LMI location Please ensure that the RMA 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...

Page 645: ...ibution Neither the name of the Zik Saleeba nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission THIS SOFTW...

Page 646: ...tice 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...

Page 647: ...d 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...

Page 648: ...ssions 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 lice...

Page 649: ...censes 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...

Page 650: ...ses 651 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...

Page 651: ...nformation below Response times for phone or email support requests are longer than requests submitted through the Help Desk North America Phone 1 604 636 1011 Fax 1 604 516 8368 Email support lmi3d c...

Page 652: ...ologies Head Office Burnaby Canada 1 604 636 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 an...

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