LMI Gocator 2000 Family User Manual Download Page 24

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Getting Started • 24

Gocator 2000 Family

Installation Orientations

The examples below illustrate a few of the potential uses and orientations.

For more information on orientations, refer to the Dual Sensor Layout section (page 57).

Single Sensor Orientations:

Single sensor above conveyor

Single sensor on robot arm

Summary of Contents for Gocator 2000 Family

Page 1: ...User s Manual Gocator 2000 Family Version 2 2 1 0 Revision A...

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

Page 3: ...ing a web browser and can be connected to a variety of input and output devices This guide describes the installation and use of Gocator sensors Notational Conventions This guide uses the following no...

Page 4: ...e 32 Next Steps 33 Setup 34 Setup Page 35 Saving and Loading Settings 36 Recording and Playback 38 Table of Contents Coordinate Systems 40 Metrics Panel 41 Operation Modes and Data Viewers 42 Profile...

Page 5: ...iscovery Commands 136 Get Address 136 Set Address 137 Upgrade Commands 138 Get Protocol Version 138 Start Upgrade 138 Get Upgrade Status 138 Get Upgrade Log 139 Control Commands 140 Get Protocol Versi...

Page 6: ...173 Gocator I O Connector 175 Grounding Shield 175 Power 175 Laser Safety Input 176 Digital Outputs 177 Digital Inputs 178 Encoder Input 178 Serial Output 179 Analog Output 179 Master 200 180 Master 4...

Page 7: ...As such these sensors do not fully comply with the standards relating to laser products specified in IEC 60825 1 and FDA CFR Title 21 Part 1040 Use of controls or adjustments or performance of proced...

Page 8: ...3R laser components Class 3R laser products emit radiation where direct intrabeam viewing is potentially hazardous but the risk is lower with 3R lasers than for 3B lasers Fewer manufacturing requireme...

Page 9: ...rts can be referenced by an accession number provided upon request Detailed descriptions of the safety items that must be added to the system design are listed below Remote Interlock A remote interloc...

Page 10: ...CT INVISIBLE AND OR VISIBLE LASER RADIATION AVOID DIRECT EXPOSURE TO BEAM DANGER FDA warning sign example IEC 60825 1 2007 CAUTION AVOID EXPOSURE TO THE BEAM CLASS 3B LASER LIGHT IEC warning sign exam...

Page 11: ...r ground This voltage potential can be determined by measuring the voltage between Analog_out and system ground The maximum permissible voltage potential is 12 V but should be kept below 10 V to avoid...

Page 12: ...re within specifications Gocator sensors are suitable for operation between 0 50 C and 25 85 relative humidity non condensing Measurement error due to temperature is limited to 0 015 of full scale per...

Page 13: ...0 800 1200 or 2400 for multi sensor operation Standalone System Standalone systems are typically used when only a single Gocator sensor is required The sensor can be connected to a computer s Ethernet...

Page 14: ...2 sensors in a Dual Sensor Buddy system Gocator I O cordsets are used to connect sensors to the Master 200 The Master 200 provides a single point of connection for system I O and power The Master 200...

Page 15: ...er safety encoder and digital inputs A Master 400 800 1200 2400 can be used to ensure that the scan timing is precisely synchronized across sensors and client computers typically communicate via an Et...

Page 16: ...ial Number Unique sensor serial number Sensor Models and Options The table below summarizes the sensor models in the Gocator 2000 Family Refer to the Specifications section page 162 or detailed model...

Page 17: ...or Sensor 1 Main Laser Safety Switch Toggles laser safety signal provided to the sensors O laser off I laser on Power Switch Toggles sensor power Input Output Accepts digital input and provides digita...

Page 18: ...OWER AND SAFETY ENCODER INPUT SENSOR PORTS 1 4 LED INDICATORS Item Description Sensor Ports Master connection for Gocators no specific order required Ground Connection Earth ground connection point La...

Page 19: ...S 1 12 LED INDICATORS MASTER 1200 FRONT MASTER 2400 FRONT MASTER 1200 2400 REAR Item Description Sensor Ports Master connection for Gocators no specific order required Ground Connection Earth ground c...

Page 20: ...485 serial connection and an analog output The Gocator Master Cordset provides electrical connection between the sensor and a Master 400 800 1200 2400 M12 ETHERNET CONNECTOR 4 PIN D CODE MALE RJ45 8...

Page 21: ...r calibration disk part numbers 375mm DIAMETER DISK 100mm DIAMETER DISK 40mm DIAMETER DISK 250mm DIAMETER DISK For wide multi sensor systems calibration bars are required to match the length of the sy...

Page 22: ...ster 400 800 1200 2400 The mounting brackets of all Masters have been designed to provide adequate grounding through the use of star washers Always check grounding with a multi meter by ensuring elect...

Page 23: ...Getting Started 23 Gocator 2000 Family Sensors should not be installed near surfaces that might create unanticipated laser reflections...

Page 24: ...ientations The examples below illustrate a few of the potential uses and orientations For more information on orientations refer to the Dual Sensor Layout section page 57 Single Sensor Orientations Si...

Page 25: ...n Buddy Main must be on the left side when looking into the connector of the Buddy Wide Offset for before after measurement Staggered Main Buddy Main must be before Buddy in the axis of motion Stagger...

Page 26: ...e For configuring profile measurements 4 Output Page For configuring measurement result outputs to external devices 5 Dashboard Page For viewing performance statistics and results 6 Metrics Panel Summ...

Page 27: ...ge 30 to assign each sensor a unique address To connect to a sensor for the first time 1 Connect cables and apply power Sensor cabling is illustrated in the System Overview section page 13 GOCATOR I O...

Page 28: ...ck Apply 3 Enter the sensor address in a web browser Firefox 3 5 Chrome 4 0 and Internet Explorer 8 0 are supported IMPORTANT The Adobe Flash browser plug in version 10 0 must be installed http 192 16...

Page 29: ...at the Laser Safety Switch is enabled or the Laser Safety input is high 5 Select the Setup Page 6 Press the Start Button to start the sensor The Start Button is used to run sensors continuously while...

Page 30: ...nfirm your selection 3 Reset or power cycle the sensor After changing network configuration the sensor must be reset or power cycled before the change will take effect The Reset Sensor Button in the M...

Page 31: ...time to avoid an address conflict and use the steps in the previous section to assign each sensor a unique address To assign a Buddy sensor 1 Log in to the Main Sensor 2 Go to Connection Page Buddy Pa...

Page 32: ...visit the LMI website and then download the latest firmware To update firmware using a PC other than the host PC If the client computer is not connected to the Internet firmware can be downloaded and...

Page 33: ...ct the Main and Buddy sensor one at a time and refer to the section on Updating Firmware page 32 for the correct upgrading procedure Next Steps After completing the steps in this chapter the next task...

Page 34: ...er page 46 2 Ensure that camera exposure times are appropriate for laser profiling Exposure page 50 3 Find the right balance between profile quality speed and CPU utilization Active Area page 49 Expos...

Page 35: ...settings for speed and encoder period 3 Sensor Panel Used to specify settings for an individual sensor such as active area or exposure Buddy sensor panel is only available when Buddy sensor is assign...

Page 36: ...s reset Profile Templates Profile templates described in the Measurement section page 62 later in this guide are temporary until saved Each sensor can have multiple profile template files If there is...

Page 37: ...le name in the File Name drop list 2 Click the Load button The files are loaded from flash memory Any unsaved changes to current settings will be overwritten when the files are loaded To delete a pair...

Page 38: ...or will store the most recent data as it runs Remember to disable recording if you no longer wish to record live data press the Record Button again to disable 3 Press the Snapshot Button or Start Butt...

Page 39: ...Replay 2 Press the Download Button 3 Select the directory and file name to store on the local computer To upload Replay Data 1 Toggle the Data Source to Replay 2 Press the Upload Button 3 Select the...

Page 40: ...justments to X Z and Tilt rotation in the X Z plane required to align the data from each sensor System coordinates are aligned such that the system x axis is parallel to the calibration target surface...

Page 41: ...panel at the top of the interface displays how much of the CPU is being utilized A warning will show up if the sensor drops profiles because CPU is over utilized The Speed bar in the metrics panel at...

Page 42: ...In Profile Mode video images are processed internally by the sensor to produce laser profiles and measurements The Data Viewer is often used to specify regions of interest When a setup or measurement...

Page 43: ...elected When the layout panel is selected the combined profile is displayed Main sensor s profile Buddy sensor s profile Main sensor s profile with multiple exposure enabled Combined profile layout If...

Page 44: ...d the X values can be reconstructed through the array index at the receiving end the client Re sampling reduces the complexity for downstream algorithms to process the profile data from the Gocator bu...

Page 45: ...ollowing options are available Option Description Standalone Standalone sensor no Master Master 200 1 or 2 sensors connected to a Master 200 Master 400 800 1200 2400 These models are provided to Gocat...

Page 46: ...ce of one encoder spacing to trigger a scan Refer to the Encoder Input section page 178 for more information on connecting the encoder to Gocator External Input A digital input can provide triggers in...

Page 47: ...mple Time Conveyor Time triggering can be used instead of encoder triggering to perform profile measurements at a fixed frequency Measurement spacing will be non uniform if the speed of the conveyor v...

Page 48: ...imum frame rate Spacing When Encoder trigger source is selected the Spacing setting not shown above is used to specify the distance between triggers mm Resolution When Encoder trigger source is select...

Page 49: ...ated state reference to calibration state section and using None layout or a single sensor system Z X FIELD OF VIEW ACTIVE AREA To set the active area 1 Navigate to the Sensor Panel Active area is spe...

Page 50: ...ck the arrow to expand the Sensor Panel if it is collapsed Use source option to select main or buddy sensor 3 Select single 4 Press the Exposure Auto Set Button The sensor s will turn on and automatic...

Page 51: ...seconds Edit by entering the value directly or by moving the slider The laser line should be clearly visible along the entire length of the viewer If it is too dim increase the exposure value if it is...

Page 52: ...ut or encoder trigger To enable multiple exposure 1 Select Profile Mode 2 Navigate to the Sensor Panel for the Main or Buddy sensor Click the arrow to expand the Sensor Panel if it is collapsed Use so...

Page 53: ...he to expand the Sensor Panel if it is collapsed Use source option to select main or buddy sensor 3 Select Dynamic 4 Set the minimum and maximum exposure To use the auto set function to automatically...

Page 54: ...that laser profiling is satisfactory After adjusting the resolution confirm that laser profiling characteristics are satisfactory The Z Resolution setting can be used to decrease image profile resolu...

Page 55: ...tering to expand the panel 3 Select the window value The window value represents the number of neighbor samples across the laser line used for smoothing and includes the current pixel 4 Check that the...

Page 56: ...n the main sensor should be left at zero Z Offset Specifies the shift along the Z axis A positive value shifts profile up Angle Specifies the rotation around the Z axis Positive value rotates the prof...

Page 57: ...Wide Sensors are mounted in Left Main or Right Buddy positions for a larger combined field of view Staggered Sensors are mounted in Before Main or After Buddy positions along a conveyor belt for measu...

Page 58: ...ion field or encoder resolution Auto Sensor is calibrated using either alignment or travel calibration An indicator within the Calibration panel will display CALIBRATED in green if calibrated or NOT C...

Page 59: ...to remove the existing calibration 5 Select a calibration target Select None to use the conveyor surface or other flat surface as the calibration reference or Bar to use a custom calibration bar If u...

Page 60: ...ation Button to remove the existing calibration 5 Select a calibration target Select one of the Disk options to use a standard disk target or Bar to use a custom made calibration bar If using a calibr...

Page 61: ...ion To clear calibration 1 Navigate to the Calibration Panel on the Setup page 2 Click the Calibration or Clear Calibration Button If Clear Calibration button is press calibration will be erased and s...

Page 62: ...thresholds to yield decisions Measurement Examples Width Measures the difference in the x axis position of two feature points Refer to the Width section page 77 Width Height Measures the difference i...

Page 63: ...nts within one or two areas and measures the angle between the fitted line and the x axis Refer to the Angle X section page 84 Angle X Intersect X Finds the intersection between two fitted lines and m...

Page 64: ...Box Area Measures the cross sectional area within a region Refer to the Box Area section page 89 Box Area Difference Area Measures the difference in cross sectional area between live profile and the...

Page 65: ...Panel Use the Tools Panel to add new measurements or to configure fixturing 2 Measurement Panel For each measurement that is added a configuration panel will appear below the Measurements Panel Use t...

Page 66: ...be added to the bottom of the stack To remove an existing measurement 1 Select the desired measurement Click on the name of the measurement to select it 2 Click the Remove Button The measurement will...

Page 67: ...e This allows multiple measurements of the same type to be distinguished in Gocator s user interface To edit a measurement s name 1 Double click on the measurement s name 2 Enter a new name 3 Press th...

Page 68: ...asurement in the Gocator protocol The value must be unique amongst all measurements To edit a measurement ID 1 Double click on the measurement ID 2 Enter a new number 3 Press the Tab Key The name chan...

Page 69: ...The profile source determines the data that will be used for the measurement The following options are available Profile Source Description Main Profile data is provided by the Main sensor This is th...

Page 70: ...ith the minimum Z value within the region of interest Bottom Left Finds the point with the minimum X value within the region of interest Left Right Finds the point with the maximum X value within the...

Page 71: ...on interest where corner is defined as a change in profile shape Left Corner Right Corner Finds the right corner within the region interest where corner is defined as a change in profile shape Right C...

Page 72: ...order to measure angles or intersection points A fit line can be determined from data in either one or two fit areas Refer to the following diagrams AREA A LINE AREA A LINE AREA B A line can be defin...

Page 73: ...an the template The illustrations below indicate the region where the results are positive or negative and Signed Absolute Main sensor in opposite orientation or either sensor in other orientations To...

Page 74: ...se the decision state is fail value displayed in red Value 50 380 is within decision thresholds Min 45 Max 52 Decision Pass Value 51 216 is outside decision thresholds Min 45 Max 50 Decision Fail Alon...

Page 75: ...2 Position a representative target object within the field of view The target should be similar to the objects that will later be measured The Start or Snapshot buttons can be used to view live profi...

Page 76: ...pecified relative to the template anchor point When running the sensor the measurement regions are applied relative to the live profile s anchor point shown in white in the right most image As the liv...

Page 77: ...the feature point areas A Width measurement requires two feature points 3 Specify the types of feature points to be detected Refer to the Feature Points section page 70 in this chapter for informatio...

Page 78: ...ature point areas A Height measurement requires two feature points 3 Specify the types of feature points to be detected Refer to the Feature Points section page 70 in this chapter for information on p...

Page 79: ...rement 1 Add a new Distance measurement or select an existing Distance measurement 2 Adjust the feature point areas A Distance measurement requires two feature points 3 Specify the types of feature po...

Page 80: ...ent 1 Add a new Position X measurement or select an existing Position X measurement 2 Adjust the feature point area A Position X measurement requires one feature point 3 Specify the type of feature to...

Page 81: ...urement 1 Add a new Position Z measurement or select an existing Position Z measurement 2 Adjust the feature point area A Position Z measurement requires one feature point 3 Specify the type of featur...

Page 82: ...r edit a Center X measurement 1 Add a new Center X measurement or select an existing Center X measurement 2 Adjust the feature point areas A Center X measurement requires two feature points 3 Specify...

Page 83: ...te or edit a Center Z measurement 1 Add a new Center Z measurement or select an existing Center Z measurement 2 Adjust the feature point areas A Center Z measurement requires two feature points 3 Spec...

Page 84: ...d maximum constraints to yield a decision To create or edit an Angle X measurement 1 Add a new Angle X measurement or select an existing Angle X measurement 2 Adjust the fit line area s An Angle X mea...

Page 85: ...mpared with minimum and maximum constraints to yield a decision To create or edit an Intersect X measurement 1 Add a new Intersect X measurement or select an existing Intersect X measurement 2 Adjust...

Page 86: ...mpared with minimum and maximum constraints to yield a decision To create or edit an Intersect Z measurement 1 Add a new Intersect Z measurement or select an existing Intersect Z measurement 2 Adjust...

Page 87: ...straints to yield a decision To create or edit an Intersect Angle measurement 1 Add a new Intersect Angle measurement or select an existing Intersect Angle measurement 2 Adjust the fit line areas An I...

Page 88: ...easurement 1 Add a new Intersect Area measurement or select an existing Intersect Area measurement 2 Adjust the measurement region The measurement region defines the zone in which cross sectional area...

Page 89: ...eld a decision To create or edit a Box Area measurement 1 Add a new Box Area measurement or select an existing Box Area measurement 2 Adjust the measurement region The measurement region defines the z...

Page 90: ...rement or select an existing Difference Area measurement 2 Adjust the measurement region The measurement region defines the zone in which cross sectional area will be determined 3 Provide minimum and...

Page 91: ...urement or select an existing Difference Peak measurement 2 Adjust the measurement region The measurement region defines the zone in which cross sectional area will be determined 3 Provide minimum and...

Page 92: ...ill be shown as a 0 with a red border in the Data Viewer when you run the sensor Outputs from multiple measurement tools can be used as inputs to the script A typical script would take results from ot...

Page 93: ...t and passed to the Gocator output Parameters value Value output by the script decision Decision value output by the script Can only be 0 or 1 Return 0 if not successful 1 successful Example Manhattan...

Page 94: ...select the data sources that will be transmitted via Ethernet 2 Digital Output 1 Panel Use the Digital Output 1 Panel to select the data sources that will be combined to produce a digital output puls...

Page 95: ...file value or decision items to send To select an item for transmission place a check in the corresponding check box Measurements shown here correspond to measurements that have been programmed using...

Page 96: ...o output measurement decisions 1 Navigate to the Digital Output 0 or Digital 1 Panel Select Measurement as Event 2 Specify when to send a digital pulse 3 Select assert mode and decision sources that s...

Page 97: ...the Digital Output 0 or Digital 1 Panel Select Measurement as Event Select Always in Assert On 2 Specify a pulse width The pulse width determines the duration of the digital output pulse in microseco...

Page 98: ...e or decision source that should be used for output Only one value or decision can be used for analog output Measurements shown here correspond to measurements that have been programmed using the Meas...

Page 99: ...messages The unit of the delay is configured in the trigger panel Refer to Trigger section page 46 for details Refer to the Specifications section page 162 in this guide for information on wiring ana...

Page 100: ...the Serial Panel 2 Select the measurement value and decision items to send To select an item for transmission place a check in the corresponding check box Measurements shown here correspond to measure...

Page 101: ...t system state Ready or Running Speed Current laser camera speed Hz Firmware Version Gocator firmware version Interface Version Gocator interface version Up Time Length of time since the sensor was po...

Page 102: ...e scheduled to Max Processing Latency Latency Maximum delay from camera exposure to when results can be scheduled to Rich I O Reset on start Valid Point Count Count of valid spots detected in the last...

Page 103: ...in Sensor Panel to configure main sensor network settings 2 Available Sensor Panel Use the Available Sensor Panel to assign or unassign Buddy sensors 3 Security Panel Use the Security Panel to change...

Page 104: ...account 1 Log in to the sensor as the Administrator using the current password 2 Navigate to the Security Panel on the Connection Page 3 Enter the new Administrator account password and password conf...

Page 105: ...File types File Type Description Configuration Contains the settings specified in the Setup Measurement and Output Pages Profile Template Contains profile template data used for profile fixturing Exam...

Page 106: ...kup The backup will be saved to the specified location on the client computer Backups are saved as a single archive that contains all of the files from the sensor To restore from a backup 1 Click the...

Page 107: ...ol bin win32 kDiscovery exe Any sensors that are discovered on the network will be displayed in the Devices List To change the network address of a sensor 1 Select the sensor serial number in the Devi...

Page 108: ...nabled sensors will power up in a Running State The Laser will turn on automatically and any programmed measurements will be performed This setting is necessary when the sensor will be used without a...

Page 109: ...ors provide software triggers read write files etc Receive data health and diagnostic messages Upgrade firmware The Concepts section in this chapter defines network connection types Discovery Control...

Page 110: ...l number of the sensor in order to locate it on an IP network Command Channels A client can send commands and receive responses over the Control and Upgrade TCP channels Command Channels Channel Port...

Page 111: ...hree states Conflict Ready or Running The Start and Stop commands are sent by the client to change the current state The sensor can be configured to boot in either the Ready or Running state In the Re...

Page 112: ...ted type identifiers used throughout this document All values are transmitted in little endian format least significant byte first unless stated otherwise Data Types Type Id Description 8u 1 8 bit uns...

Page 113: ...to the size of the entire message including the length field itself For example the value of the length field for a command that consists of only the header no additional fields would be 16 Result For...

Page 114: ...y an accompanying descriptor The first length field that contains a zero determines the dimensionality of the block For example the length 2 field will contain zero for a 2 dimensional block Items in...

Page 115: ...meRateMax 280 4711 FrameRateMax FrameRateMin 0 0342 FrameRateMin EncoderPeriodMax 1000000 EncoderPeriodMax EncoderPeriodMin 1 EncoderPeriodMin TriggerDelayMax 2147483647 TriggerDelayMax TriggerDelayMi...

Page 116: ...ExposureTrainingEnabled 0 ExposureTrainingEnabled ActiveAreaHeight 210 ActiveAreaHeight ActiveAreaZ 105 ActiveAreaZ ActiveAreaWidth 250 ActiveAreaWidth ActiveAreaX 125 ActiveAreaX XResolution 1 XReso...

Page 117: ...625 X Area Feature Feature Type 0 Type Area Height 26 25 Height Z 39 375 Z Width 31 25 Width X 15 625 X Area Feature Height Distance id 3 Name Distance 3 Name Source 0 Source SourceOptions 0 SourceOpt...

Page 118: ...ure Type 0 Type Area Height 26 25 Height Z 39 375 Z Width 31 25 Width X 15 625 X Area Feature CenterZ IntersectAngle id 6 Name Intersect Angle 6 Name Source 0 Source SourceOptions 0 SourceOptions Deci...

Page 119: ...5 Width X 98 9583333333 X Area Line Area Height 26 25 Height Z 13 125 Z Width 31 25 Width X 15 625 X Area Line IntersectArea IntersectX id 10 Name Intersect X 10 Name Source 0 Source SourceOptions 0 S...

Page 120: ...15 625 X Area Feature PositionZ Script id 14 Name Script 14 Name Code char name quot Width quot x0A signed long long result 1 x0A if exists name x0A x0A result value name x0A x0A output result 1 Code...

Page 121: ...lseWidthMax 100000 PulseWidthMax PulseWidthMin 10 PulseWidthMin PulseWidth 100 PulseWidth PassMode 0 PassMode DecisionOptions 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 DecisionOptions Decision 1 Decision...

Page 122: ...ased triggering FullFrameRateEnable 32u Setting to enable or disable full frame rate operation 0 Use FrameRate setting 1 Ignore FrameRate setting run at full frame EncoderPeriod 64f Setting for encode...

Page 123: ...r of holes on the calibration bar Bar HoleDistance 64f Setting for distance between calibration bar holes mm Bar HoleDiameter 64f Setting for diameter of calibration bar holes mm Sensors Sensor Each S...

Page 124: ...e g 1 2 ZResolutionOptions String Constraint for z resolution options comma delimited list e g 1 2 CameraX 32u Property for x position of image ROI pixels CameraY 32u Property for y position of image...

Page 125: ...ier that must be unique among all measurements in the configuration file e g Width id 1001 Most profile measurement elements contain one or more Area Feature Line sub elements These common structures...

Page 126: ...r 10 Bottom Corner 11 Left Corner 12 Right Corner Area Area Area element used for anchoring Measurements Width A Width element defines settings for a profile width measurement Width Child Elements Ele...

Page 127: ...Feature Elements for feature detection SourceOptions String Constraint for eligible profile sources comma delimited list Measurements PositionX A PositionX element defines settings for a profile x po...

Page 128: ...ure 2 Feature Elements for feature detection SourceOptions String Constraint for eligible profile sources comma delimited list Measurements AngleX An AngleX element defines settings for a profile angl...

Page 129: ...cision threshold maximum degrees Line 2 Line Elements for fit lines SourceOptions String Constraint for eligible profile sources comma delimited list Measurements IntersectArea An IntersectArea elemen...

Page 130: ...lt Source 32s Setting for profile source Area Area Element for measurement area Difference Peak A difference peak element defines settings for difference peak measurement Difference Area Child Element...

Page 131: ...a delimited list Value String Setting for selected value sources comma delimited list Decision String Setting for selected decision sources comma delimited list VideoOptions String Constraint for elig...

Page 132: ...mode When unscheduled output updates immediately When scheduled output updates according to a target value in software command or a delay 0 Not scheduled 1 Scheduled Delay 64f Setting for output delay...

Page 133: ...uled output mode When unscheduled output updates immediately When scheduled output updates according to a target value in software command or a delay 0 Not scheduled 1 Scheduled Delay 64f Setting for...

Page 134: ...ween main and buddy sensor used for staggered orientation User can use Read and Write File command to modify the calibration file Calibration Example xml version 1 0 SysCal version 1 YDomain 0 YDomain...

Page 135: ...oder Resolution mm tick Entries An Entry element defines the transformation for a sensor There is one entry element per sensor identified by a unique id attribute 0 for main and 1 for buddy Entry id 0...

Page 136: ...ce identifier serial number or zero to discover unknown devices Reply Field Type Description length 64s Reply size in bytes id 64s Reply identifier 0x1001 status 64s Reply status signature 64s Magic n...

Page 137: ...s Magic number 0x0000504455494D4C deviceId 64s Device identifier serial number useDhcp 64s 1 if network interface uses DHCP 0 otherwise reserved 4 byte Reserved Set to 0 address 4 byte IP address rese...

Page 138: ...de for the main sensor and any Buddy sensors All sensors will automatically reset 3 seconds after upgrade process is complete Command Field Type Description length 64s Command size in bytes id 64s Com...

Page 139: ...tage is Upgrade in Progress Get Upgrade Log The Get Upgrade Log command can retrieve an upgrade log in the event of upgrade problems Command Field Type Description length 64s Command size in bytes id...

Page 140: ...Info command reports information for sensors that are visible in the system Command Field Type Description length 64s Command size in bytes id 64s Command identifier 0x4002 Reply Field Type Descripti...

Page 141: ...Name 32 char Sensor model name firmwareVersion 64s Buddy firmware version SensorInfo Field Type Description deviceId 64s Sensor device id state 64s Sensor state 0 Paired not set for main sensor 1 Avai...

Page 142: ...mand Field Type Description length 64s Command size in bytes id 64s Command identifier 0x4005 action 64s Action to take 0 Unassign Buddy 1 Assign Buddy count 64s Count of sensors affected by action mu...

Page 143: ...64 char Destination file name null terminated Reply Field Type Description length 64s Reply size in bytes id 64s Reply identifier status 64s Reply status Read File Downloads a file from the connected...

Page 144: ...fileSize byte File content Reply Field Type Description length 64s Reply size in bytes id 64s Reply identifier status 64s Reply status Get Default File The Get Default File command gets the name of a...

Page 145: ...e name and modified status for a file type Command Field Type Description length 64s Command size in bytes id 64s Command identifier 0x4512 extension 64 char Extension for the file type cfg Configurat...

Page 146: ...clock this value can be used for diagnostic purposes or used to synchronize the start time of the system Command Field Type Description length 64s Command size in bytes id 64s Command identifier 0x10...

Page 147: ...elay to the time and or encoder tick returned by Get Time and Get Encoder command The delay should be set such that it covers the command response time of the Scheduled start command Command Field Typ...

Page 148: ...mmand size in bytes id 64s Command identifier 0x4518 index 64s Index of the output starts from 0 target 64s Specifies the time us or position encoder ticks of when the event should happen value 64s 0...

Page 149: ...to 0 Reply Field Type Description length 64s Reply size in bytes id 64s Reply identifier status 64s Reply status Reset The Reset command reboots the main sensor and any Buddy sensors All sensors will...

Page 150: ...Size of backup file in bytes file fileSize byte Backup file content Reply Field Type Description length 64s Reply size in bytes id 64s Reply identifier status 64s Reply status Restore Factory The Res...

Page 151: ...on type 0 None 1 Master 100 2 Master 200 3 Master 400 4 Master 800 5 Master 1200 6 Master 2400 Reply Field Type Description length 64s Reply size in bytes id 64s Reply identifier status 64s Reply stat...

Page 152: ...seconds encoder 64s Encoder value encoder ticks frameCount 64s Frame count digitalInputs 64s Digital input states encoderIndex 64s Encoder value when the last index is triggered reserved 64s Reserved...

Page 153: ...NULL point Dimensions and data type given by block descriptor Alignment Calibration Alignment Calibration Attributes Field Type Description dataType 64s Data type 0x04 reserved N 64s A variable numbe...

Page 154: ...osition Z m 0x10 Intersect X m 0x11 Intersect Z m 0x12 Intersect Angle millidegrees 0x13 Angle X millidegrees 0x20 Intersect Area 0 001 mm2 0x21 Box Area 0 001 mm2 0x23 Difference Area 0x24 Difference...

Page 155: ...defined for Gocator sensor systems Health Indicators Indicator Id Instance Value Encoder Value 1003 Current system encoder tick Encoder Index 1004 Current system encoder index Encoder Frequency 1005 C...

Page 156: ...scheduled to Rich I O Max Processing Latency 20008 Maximum delay from camera exposure to when results can be scheduled to Rich I O Reset on start Max Spot Count 20009 Maximum number of spots that can...

Page 157: ...S 485 receiver configuration and control operations must be performed through the Gocator s user interface or Ethernet Protocol Refer to the Specifications section page 162 in this guide for cable pin...

Page 158: ...lue that represents the unique identifier of the measurement ValueStart V 1 Start of measurement value This field and the following Value field are optional they will only be present if the measuremen...

Page 159: ...re built DLL is provided to support 32 bit Windows XP SP3 and 32 bit Windows 7 Projects and makefiles are included to support other editions of Windows and Linux Example Configuring and starting a sen...

Page 160: ...for steps to reset the password Laser Profiling When the Start Button or the Snapshot Button is pressed the sensor does not emit laser light Ensure that the sticker covering the laser emitter window...

Page 161: ...r information on reducing the speed If you are using an external input or software trigger consider reducing the rate at which you apply triggers Consider reducing the laser profile resolution Refer t...

Page 162: ...0 500 800 Field of View mm 19 26 47 85 96 194 158 365 308 687 390 1260 Interface 100 Mbaud Ethernet Inputs Differential Encoder Laser Safety Enable Trigger Outputs 2x Digital Output RS 485 Serial 115...

Page 163: ...Specifications 163 Gocator 2000 Family Gocator 2020 Field of View Measurement Range 0 12 7 12 7 0 8 3 8 3 0 12 6 12 6 61 52 6 Dimensions 65 15 61 142 62 82 4XM5X0 8 10 MOUNTING HOLES 130 53 27 5 20 45...

Page 164: ...Specifications 164 Gocator 2000 Family Envelope 61 25 40 5 4 15 82 9 95 7...

Page 165: ...Specifications 165 Gocator 2000 Family Gocator 2030 Field of View Measurement Range 130 33 0 44 5 44 5 0 24 5 24 5 0 40 40 Dimensions 15 33 65 61 5 75 142 130 53 4X M5X0 8 10 MOUNTING HOLES 20 45 27...

Page 166: ...Specifications 166 Gocator 2000 Family Envelope 33 90 80 2 9 84 3 99 7 10 6...

Page 167: ...Specifications 167 Gocator 2000 Family Gocator 2040 Field of View Measurement Range 295 33 0 105 105 0 50 5 50 5 0 105 105 Dimensions 15 33 65 61 5 75 197 185 53 4X M5X0 8 10 MOUNTING HOLES 20 45 27...

Page 168: ...Specifications 168 Gocator 2000 Family Envelope 190 210 33 141 3 155 7 4 11...

Page 169: ...Specifications 169 Gocator 2000 Family Gocator 2050 Field of View Measurement Range 500 33 0 182 5 182 5 0 79 79 0 200 200 Dimensions 15 33 65 61 5 75 272 260 53 4X M5X0 8 10 MOUNTING HOLES 20 45 27...

Page 170: ...Specifications 170 Gocator 2000 Family Envelope 33 300 400 214 9 229 2 10 3 3 2...

Page 171: ...Specifications 171 Gocator 2000 Family Gocator 2070 Field of View Measurement Range 650 33 0 343 5 343 5 0 154 154 0 250 250 Dimensions 15 33 65 61 5 75 272 260 53 4X M5X0 8 10 MOUNTING HOLES 20 45 27...

Page 172: ...Specifications 172 Gocator 2000 Family Envelope 33 400 500 216 2 230 6 3 9 11...

Page 173: ...ecifications 173 Gocator 2000 Family Gocator 2080 Field of View Measurement Range 750 33 0 654 5 654 5 0 201 5 201 5 0 400 400 Dimensions 15 33 65 61 5 75 272 260 53 4X M5X0 8 10 MOUNTING HOLES 20 45...

Page 174: ...Specifications 174 Gocator 2000 Family Envelope 33 350 800 A 3 7 10 8 215 8 230 3 DETAIL A SCALE 1 2...

Page 175: ..._in G Trigger_in H Encoder_B I Encoder_B K GND_0V L Encoder_A M Out_1 Digital Output 0 N Out_1 Digital Output 0 O Analog_out1 P Unused R Out_2 Digital Output 1 S Out_2 Digital Output 1 T Encoder_A U G...

Page 176: ...y_in signal should be connected to a voltage source in the range listed below The Safety_in signal should be connected to the ground common of the source supplying the Safety_in Laser safety requireme...

Page 177: ...ent Max Collector Emitter Voltage Min Pulse Width Out_1 N O 50 mA 80 V 20 us Out_2 S T 50 mA 80 V 20 us C I K T U L B M A N P R S H G F O E D Out_1 Out_1 Out_2 Out_2 Out1 V USER_GND Out2 USER_GND V R...

Page 178: ...Voltage Max Voltage Min Current Max Current Min Pulse Width Trigger_in D 2 5 V 12 V 3 mA 50 mA 20 us Encoder Input Encoder input is provided by an external encoder and consists of 2 RS 485 signals The...

Page 179: ...or defines one analog output interfaces Analog_out1 Function Pins Current Range Analog_out1 P F 4 20 mA C I K T U L B M A N P R S H G F O E D Analog_out1 Analog_out ANALOG ANALOG ANALOG Current Mode C...

Page 180: ...er Port 1 2 Note that when two sensors are used the Sensor 1 and Sensor 2 connections are slightly different defined below Specifications for the Master 200 input output analog serial encoder power us...

Page 181: ...put_2 Digital Output 1 6 Analog 7 Unused 8 Analog 9 Serial 10 Serial 11 Power and Safety Pins Function Pin DC_ 24 to 48V 1 GND_0VDC 2 Safety 3 Safety 4 Encoder Port 1 Only Pins Function Pin Encoder_A...

Page 182: ...GND 48VDC 3 GND 48VDC 4 Safety Control 5 Safety Control 6 The 48VDC power supply must be isolated from AC ground This means that AC ground and DC ground are not connected The Safety Control requires...

Page 183: ...w Min 15W Safety Voltage 12 to 48VDC Encoder signal voltage range RS485 Differential Digital input voltage range Logical LOW 0 VDC to 0 1VDC Logical HIGH 11 VDC to 22 5VDC The 48VDC power supply must...

Page 184: ...6 pin connector Function Pin 48VDC 1 48VDC 2 GND 48VDC 3 GND 48VDC 4 Safety Control 5 Safety Control 6 The 48VDC power supply must be isolated from AC ground This means that AC ground and DC ground ar...

Page 185: ...Draw Min 15W Safety Voltage 12 to 48VDC Encoder signal voltage range RS485 Differential Digital input voltage range Logical LOW 0 VDC to 0 1VDC Logical HIGH 3 5 VDC to 6 5VDC The 48VDC power supply m...

Page 186: ...2070 2M 00 with Class 3R laser 2070 3R 312070 3R 00 with Class 3B laser 2070 3B 312070 3B 00 Gocator 2080 with Class 2M laser 2080 2M 312080 2M 00 with Class 3R laser 2080 3R 312080 3R 00 with Class 3...

Page 187: ...Parts and Accessories 187 Gocator 2000 Family Accessories Description Part Number Calibration Disk 40mm 30727 Calibration Disk 100mm 30728 Calibration Disk 250mm 30729 Calibration Disk 375mm 30730...

Page 188: ...duct for repair warranty or non warranty a Return Material Authorization RMA number must be obtained from LMI Please call LMI to obtain this RMA number Carefully package the sensor in its original shi...

Page 189: ...e used to endorse or promote products derived from this software without specific prior written permission THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS AS IS AND ANY EXPRESS OR...

Page 190: ...R OTHER DEALINGS IN THE SOFTWARE CodeMirror Website http codemirror net License Copyright C 2011 by Marijn Haverbeke marijnh gmail com Permission is hereby granted free of charge to any person obtaini...

Page 191: ...icense Copyright 2006 The Closure Library Authors All Rights Reserved Licensed under the Apache License Version 2 0 the License you may not use this file except in compliance with the License You may...

Page 192: ...2008 Net Perspective Licensed under the MIT License http www opensource org licenses mit license php Flex SDK Website http opensource adobe com wiki display flexsdk Flex SDK License Copyright c 2010 A...

Page 193: ...http www lmi3D com North America Phone 1 604 636 1011 Fax 1 604 516 8368 Europe Phone 31 45 850 7000 Fax 31 45 574 2500 For more information on safety and laser classifications please contact U S Foo...

Page 194: ...1673 Cliveden Avenue Delta BC V3M 6V5 Canada Phone 1 604 636 1011 Fax 1 604 516 8368 LMI Technologies BV Valkenburgerweg 223 NL 6419AT Heerlen The Netherlands Phone 31 45 850 7000 Fax 31 45 574 2500...

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