Riegl LMS-Q280i Technical Documentation And User'S Instructions Download

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C O N T E N S

GENERAL ................................................................................................

... 1

1.1

System Configuration................................................................

.............. 1

1.1.1

Rangefinder System ................................................................

............ 1

1.1.2

Scanner Mechanism................................................................

............ 2

1.1.3

True Color Channel (optional) ................................

............................. 3

1.1.4

Interfaces................................................................

............................. 4

DESIGN OF LASER SCANNER LMS-Q280I ................................

.............. 5

2.1

Mechanical Design................................................................

................... 5

2.2

Mechanical Drawings ................................................................

.............. 6

SAFETY INSTRUCTIONS ................................................................

........... 9

3.1

General Safety................................................................

.......................... 9

3.2

Electromagnetic Compatibility

............................................................. 11

3.3

Laser Safety

............................................................................................ 14

OPERATING INSTRUCTIONS

.................................................................. 15

4.1

Preparing the Power Supply

................................................................. 15

4.1.1

Fuses

................................................................................................. 16

4.2

Connectors and Pin Assignments

........................................................ 17

4.2.1

Plug for Power Supply

....................................................................... 18

4.2.2

Plug for Serial Interface (RS232)

....................................................... 19

4.2.3

Plug for Parallel Interface

.................................................................. 20

4.2.4

Plug for Ethernet Interface

................................................................. 21

4.3

Cables

..................................................................................................... 22

4.3.1

Power Supply Cable

.......................................................................... 22

4.3.2

Parallel Data Cable

............................................................................ 23

4.3.3

Serial Data Cable

.............................................................................. 24

4.3.4

LAN-TCP/IP Data Cable

.................................................................... 25

4.4

Mounting the LMS-Q280i

....................................................................... 26

4.5

Instrument Cooling

................................................................................ 27

4.6

General System Set Up and Cabling

.................................................... 27

4.7

Laser Setup and Test Procedure

.......................................................... 29

SPECIFICATIONS

..................................................................................... 30

5.1

Technical data

........................................................................................ 30

5.2

Definition of axes

................................................................................... 32

5.3

LMS-Q280i Timing Characteristic

......................................................... 34

5.4

External Synchronization and Internal Reference Timer

.................... 35

DATA COMMUNICATION AND INTERFACES

........................................ 36

6.1

Programming Mode / Measurement Mode for Serial Interface

................. 36

6.2

Data Format for Serial Interface

............................................................ 37

6.2.1

Data Format for Serial Interface in Programming Mode

.................... 37

6.2.2

Data Format for Serial Interface in Measurement Mode

.................... 38

6.3

Parameters and Controlling Commands

............................................. 41

6.3.1

Parameter Data Types in Programming Mode

.................................. 41

6.3.2

Several Basic Commands

................................................................. 42

Summary of Contents for LMS-Q280i

Page 1: ...7 2004 V5 64 c 2004 RIEGL Austria All rights reserved This manual has been compiled with care However should you discover any error we would be grateful if you would let us know RIEGL Laser Measurement Systems GmbH A 3580 Horn Riedenburgstrasse 48 AUSTRIA Tel 43 2982 4211 Fax 43 2982 4210 e mail office riegl co at www riegl com ...

Page 2: ...with non cooperative targets natural reflecting targets like trees stones etc as well as with cooperative targets reflecting targets The following reflecting target materials can be used o Reflecting paint o Reflecting foil Due to the high power level of the laser transmitter high quality glass retro reflectors must not be used as a target Using such retro reflectors can permanently damage the ins...

Page 3: ...Cables 22 4 3 1 Power Supply Cable 22 4 3 2 Parallel Data Cable 23 4 3 3 Serial Data Cable 24 4 3 4 LAN TCP IP Data Cable 25 4 4 Mounting the LMS Q280i 26 4 5 Instrument Cooling 27 4 6 General System Set Up and Cabling 27 4 7 Laser Setup and Test Procedure 29 5 SPECIFICATIONS 30 5 1 Technical data 30 5 2 Definition of axes 32 5 3 LMS Q280i Timing Characteristic 34 5 4 External Synchronization and ...

Page 4: ...ommands 54 6 3 7 Control Commands in Measurement Mode 55 6 3 8 Additional Low Level Commands 56 6 4 ECP Data Output 59 6 4 1 Reading Data via ECP 59 6 4 2 Configuring the ECP Data Output 70 6 5 LAN interface 72 6 5 1 Overview 72 6 5 2 Activation 72 6 5 3 Configuring the LAN Interface 73 6 6 Errors and Error Handling 75 6 7 Status and Error Messages 77 ...

Page 5: ...wo subsystems an accurate laser rangefinder electronics and a line scanning mechanism installed in a rugged housing 1 1 1 Rangefinder System The rangefinder system is based upon the principle of time of flight measurement of short infrared laser pulses A laser source emits infrared light pulses which are collimated by a transmitter lens system Via the receiver lens part of the echo signal reflecte...

Page 6: ... of a number of pixels single laser measurements The angular deflection of the laser beam is realized by a rotating polygon mirror wheel The polygon mirror is composed of flat reflective surfaces arranged around the wheel perimeter The wheel rotates continuously at a fixed speed to provide repetitive unidirectional scans Scanned laser beam Rotating polygonal mirror Transmitter Receiver Fig 2 Princ...

Page 7: ...ease refer to chapter 5 3 LMS Q280i Timing characteristic 1 1 3 True Color Channel optional Beside the laser transmitter and the laser receiver the LMS Q280i has optionally an integrated true color channel which provides the color of the target s surface as an additional information to each laser measurement Color data are included in the binary data stream of the LMS Q280i allowing straightforwar...

Page 8: ...upply voltage range 18V DC to 32V DC Current consumption scanning operation typically 3A at 24V DC 1 1 4 2 Data Interfaces LAN Interface Ethernet Network interface using the TCP IP protocol RS232 serial interface Bi directional interface for scanner configuration Parallel interface ECP compatible Uni directional interface provides the scan data The pin assignment of the interface connectors can be...

Page 9: ...reads for the installation of an inertial measurement unit or other additional equipment This mounting threads are firmly connected to the internal frame structure Additionally the top plate is equipped with a heat sink profile For adequate heat dissipation the rear plate For additional information about heat dissipation please refer to chapter is equipped with a heat sink profile On this side of ...

Page 10: ...and User Instructions Laser Mirror Scanner LMS Q280i 2 2 Mechanical Drawings 24 5 262 505 75 156 95 5 560 132 200 135 6xM6 mounting threads depth 10 mm scan window center of laser beam output Fig 3 Bottom view of LMS Q280i base plate side ...

Page 11: ...Page 7 of 79 Technical Documentation and User Instructions Laser Mirror Scanner LMS Q280i 78 186 408 100 6xM6 mounting threads depth 10 mm heat sink profile Fig 4 Top view of LMS Q280i top plate side ...

Page 12: ... Laser Mirror Scanner LMS Q280i www riegl com 108 8 213 200 217 22 5 22 5 scanned laser beam up to 30 desiccant cartridge fitting for purging 200 17 91 2 13 Fig 5 Front view of LMS Q280i front plate side 213 200 217 Fig 6 Rear view of LMS Q280i rear plate side ...

Page 13: ...se it comprises sensitive optical electrical and mechanical components Thus the LMS Q280i requires appropriate handling Unnecessary exposure of the internal optical and electronic parts to direct sunlight via the front window should be avoided Altitude The unit is specified for an altitude up to 2000m operation or storage Relative Humidity The unit is specified for a relative humidity of 80 at or ...

Page 14: ... 24 V DC The instrument must never be connected to 110 or 230 VAC Opening the instrument is unacceptable due to the danger presented by the high voltages and must therefore be avoided at all costs The negative pole of the external line voltage is directly connected to the instrument s housing This should be remembered when connecting it to other instruments ANY USE OF THE LMS Q280i IN CONTRADICTIO...

Page 15: ...ner parameter settings The tests have been performed using original RIEGL data and power supply cables powered with 24 V DC provided by an PbGel Powerpack To maintain emission requirements when connecting to the I O interface of the LMS Q280i use only a high quality shielded data interface cable The cable shield must have low impedance connections to both connector housings Any changes or modifica...

Page 16: ...hniques Surge immunity test IEC 61000 4 5 1995 A1 2001 Performance Criterion C EN 61000 4 6 A1 2002 Electromagnetic compatibility EMC Part 4 6 Testing and measurement techniques Immunity to conducted disturbances induced by radio frequency fields IEC 61000 4 6 1996 A1 2000 Performance Criterion A EN 61000 4 8 A1 2002 Electromagnetic Compatibility EMC Part 4 8 Testing and Measurement Techniques Pow...

Page 17: ... or performance which requires operator intervention or system reset occurs loss or heavy degradation of functionalities during testing with self recovering after finishing the test a system reset may occur loss or heavy degradation of functionalities which require simple user intervention e g replacement of a fuse switching the device Off and On restoration of settings ...

Page 18: ...It is affixed two times near the front pane on the LMS Q280i CAUTION The invisible laser radiation inside Aligning the infrared laser instrument with the lenses of CCD cameras or infrared night vision devices can result in damage to them and is therefore not permitted Note The laser beam exits the instrument via the front window as indicated in the mechanical drawings IMPORTANT NOTE This classific...

Page 19: ...ltage specified in chapter 5 Specifications The negative pole of the supply voltage has to be grounded The LMS Q280i is protected by 3 fuses located on the rear plate of the instrument one for the range finder part electronics one for the scanning mechanism and one for the laser transmitter for fuse types and ratings see chapter 4 1 1 The current drain capacity of the power supply must be at least...

Page 20: ...Fuse Holders LMS Q280i The fuse holders can be opened and closed by means of a coin used like a screw driver Note Replace a blown fuse only with specified type and rated fuse fuse holder for scanning mechanism 2 0 A quick acting according to IEC60127 and EN60127 fuse holder for laser module 1 25 A quick acting according to IEC60127 and EN60127 fuse holder for rangefinder electronics 1 0 A quick ac...

Page 21: ... 2 Connectors and Pin Assignments The connectors for power supply and data interface are located at the rear side of the LMS Q280i Fig 8 Connectors for power supply and data interfaces serial interface parallel ECP interface power control lines test plug for service purposes only LAN interface ...

Page 22: ...B not used for LMS Q280i C GNDin yellow green Power Supply Ground D not used for LMS Q280i E Trigger yellow Input for external SYNC signal F Marker green TTL output factory internal usage G UB 18 32 VDC black 2 Power Supply H GNDout white J GNDin black 3 Power Supply Ground K UB 18 32 VDC black 1 Power Supply Any use of these pins for whatever connections can damage the data output and is therefor...

Page 23: ...te 1 must not be connected 2 RxD RS232 data input 3 TxD RS232 data output 4 must not be connected 5 GND Signal GND 6 must not be connected 7 must not be connected 8 must not be connected 9 must not be connected Any use of these pins for whatever connections can damage the data output and is therefore strictly prohibited The serial data interface is used for configuration of the scanner ...

Page 24: ...5 RD Data 4 Data 4 6 RD Data 5 Data 5 7 RD Data 6 Data 6 8 RD Data 7 Data 7 9 RD Data 8 MSB Data 8 10 RD PeriphClk nAck 11 12 13 14 PC HostAck nAutoFd 15 16 PC Direction nInit 17 18 Signal GND 19 Signal GND 20 Signal GND 21 Signal GND 22 Signal GND 23 Signal GND 24 Signal GND 25 Signal GND PC Personal Computer RD Riegl Device Levels are TTL levels For detailed information about the parallel data i...

Page 25: ...uctions Laser Mirror Scanner LMS Q280i 4 2 4 Plug for Ethernet Interface Manufacturer Lumberg Inc Type Micro M12 Female S3426 Receptable Number of Pins 8 For detailed information about the Ethernet data interface please refer to chapter 6 5 LAN interface ...

Page 26: ...y Cable The length of the cable is approx 6m Attention Use this power supply cable for scanner type LMS Q280i only Attention Use this power supply cable for scanner type LMS Q280i only 10 pole plug female series 851 200mm shielded cable 20 cm banana plugs Trigger yellow Laser safety lock GND out brown white GND input black 3 yellow green Ub black 1 2 Fig 9 Power supply cable ...

Page 27: ...munity to ensure highest possible data transfer rates The cable has to meet the requirements of IEEE Std 1284 1994 The end of the parallel cable is equipped with 25 pole Sub D connectors enabling to connect the LMS Q280i directly to the LPT printer port of a personal computer The length of the parallel cable is approx 6 m Fig 10 Parallel data cable 25 pole Sub D connector female 25 pole Sub D conn...

Page 28: ...Documentation and User Instructions Laser Mirror Scanner LMS Q280i 4 3 3 Serial Data Cable Cable configuration The cable length is approx 3m Fig 11 Serial data cable 9 pole Sub D connector female 9 pole Sub D connector female ...

Page 29: ...s the LMS Q280i can be connected to an Ethernet hub or to a PC Laptop Ethernet connector Attention Use this cross over cable for direct connection between LMS Zxx and PC TCP IP cable M12 M12 length 3 m TCP IP cable M12 RJ45 length 0 3 m typically to Ethernet Hub TCP IP cable M12 RJ45 cross over length 0 3 m typically to PC Laptop Fig 12 Ethernet interface cable ...

Page 30: ...s are intended to be used for mounting the laser scanner to a shock proof support plate For installation of an inertial measurement unit the LMS Q280i provides additionally 6 pcs steel inserts with M6 threads in the heat sink profile of the top plate which are firmly connected to the internal frame structure The position of these mounting threads can be found in the drawing below Fig 13 Position o...

Page 31: ...ceed 40 C 4 6 General System Set Up and Cabling Provide a suitable power supply for the laser scanner please refer to chapter 4 1 Preparing the Power Supply Mount the laser scanner LMS Q280i by means of the mounting threads Connect the LAN TCP IP interface or alternatively the parallel and the serial interface of the instrument to a personal computer or equivalent data acquisition unit using the L...

Page 32: ...Page 28 of 79 Technical Documentation and User Instructions Laser Mirror Scanner LMS Q280i Fig 14 Cabling of laser scanner LMS Q280i ...

Page 33: ...ower up a laser setup and test procedure typically lasting 20 seconds the effective time depends on instrument s and ambient temperature is executed A beep sequence indicates that the setup procedure is in progress If the laser setup and test procedure is passed the laser is ready for measurement otherwise an error message is sent ...

Page 34: ...or natural targets ρ 20 for natural targets ρ 80 Maximum range 2000 m Minimum range 30 m Measurement accuracy 2 typ 20 mm 1σ standard deviation Measurement resolution 5 mm Target detection modes First target last target up to 4 echoes or alternating Laser pulse repetition rate PRR 3 24 000 Hz Laser wavelength near infrared Laser beam divergence 4 0 5 mrad Eye safety class according to IEC60825 1 2...

Page 35: ... twisted pair LAN 10 100 MBit industrial connector Serial Interface for configuration industrial Sub connector Parallel ECP interface for data output industrial Sub D connector Power supply 10 pin MIL connector Additional control lines Laser safety lock line TTL input for synchronization TTL output optionally Optional True Color Channel Provides the color of target surface as an additional informa...

Page 36: ... User Instructions Laser Mirror Scanner LMS Q280i 5 2 Definition of axes The following drawing shows the definition of the coordinate system of the LMS Q280i X axis Y axis Z axis Z axis Y axis X axis 108 8 108 2 156 Fig 15 Definition of axes 1 ...

Page 37: ...2 108 2 252 50 3 108 2 30 50 4 108 2 30 50 5 108 2 78 50 6 108 2 78 50 Coordinates of mounting points for IMU Z X Y Y X Z ϕ 0 ϑ www riegl com 108 8 Y axis X axis Z axis origin of scanner s local coordinate system 78 186 408 6xM6 mounting threads depth 10 mm 1 2 3 4 5 6 Z axis Y axis X axis 100 Fig 16 Definition of axes 2 ...

Page 38: ... two beams and no measurement is possible The utilization of 45 out of 90 results in a duty factor of 50 percent That is the reason for gap times between two consecutive scan lines Fig 16 shows the timing situation for the LMS Q280i t t scan1 Gap 1 second scan2 scan N Laser Pulses t Line Scan Angle t laser 1 PRR Pulse repetition rate tscan tgap Magnified view t 1second Scanning rate Line Scan angl...

Page 39: ... Additionally a LaserShotTimeStamp can be added to each measurement if more detailed timing information is needed see chapters 6 4 2 Fn command 6 4 1 3 and 6 4 1 4 Additionally the instrument provides an input for an external SYNC pulse The external SYNC pulse synchronizes the internal timer to an external event e g 1pps GPS pulse The rising edge of the external pulse resets the internal timer and...

Page 40: ...onfiguration port and the data structures for ECP parallel interface are used for the data port With Ethernet TCPIP interface some specific commands for TCPIP configuration e g IP address have to be previously set using the serial RS232 interface 6 1 Programming Mode Measurement Mode for Serial Interface The instrument provides a programming mode to set and display measurement and control paramete...

Page 41: ...or restarts the programming mode and additionally clears the receive buffer so when e g sending a P after an incorrect command string part the incorrect characters already sent are cleared when the last command could not be interpreted because the parameter value is out of range and or an array index specified is out of range when the last command could not be interpreted because an unknown comman...

Page 42: ...ntifier Block identifiers are always lower case letters where data messages and status information are always upper case letters The following block identifiers are used r Range a Signal intensity Amplitude b Line scan angle q Measurement quality t SensorTimeStamp SYNC Timer cr True color data red part cg True color data green part cb True color data blue part m Message status information The leng...

Page 43: ...in F parameter Line angle 4 byte if corresponding bit is set in F parameter Quality 1 byte if corresponding bit is set in F parameter SensorTimeStamp 4 byte if corresponding bit is set in F parameter True color data 6 byte if corresponding bit is set in F parameter 3 bytes Distance order D1 D2 D3 Distance mm D1 and 7Fhex 128 128 D2 and 7Fhex 128 D3 and 7Fhex 1 byte Amplitude A1 Amplitude 0 255 A1 ...

Page 44: ...n programming mode is not effected Status and error messages are always given in ASCII mode regardless of the setting of RM A correct data reception procedure therefore should read data and wait for a byte with the MSB set to 1 then read a number of bytes according to the setting of the F command to read all data of 1 measurement This method would automatically ignore all possible ASCII codes stat...

Page 45: ...hen the value to be set must follow Command Reply Type Meaning T 3 T3 Byte Setting measurement time O 1000 O 1000 Integer Setting range offset 1 m W W CommandSaving parameters To get inquire the value of a parameter a point is set before the parameter name Command Reply Meaning T T3 Ask for current measurement time O O0 Ask for current offset ABC ABC Don t know command ABC SN SN9991100 Ask for str...

Page 46: ...ot reset it still is power supplied therefore this is not complete identical to switching off and on 6 3 2 3 Setting Parameters to Default Values Command Reply Meaning DEFAULT Cr DEFAULT This command sets several parameters to an initial default value The following parameters are set to the listed default status Default setting Meaning T0 Measurement time T0 U0 Range unit meter A2 Trigger mode fre...

Page 47: ...see example Display all available help groups Each available command belongs at least to one group HELP n Getting help for specific helpgroup n A restriction of the command list by HELPFOR str operates additionally Example for Help Command Reply HELPFOR O HELPFOR O HELP O User offset Acc RW Integer 32767 32767 Save W HELP HELPFOR C HELPFOR C HELP CB Communication Baudrate Acc RW Byte 0 9 Save W CP...

Page 48: ...Save W means that the parameter setting can be saved with command W Save W means that the parameter setting can be saved with command W service level only and Save No means that nothing is saved Example for Help groups Command Reply helpgroups 0 Basic 1 Info 2 Communication 3 Measurement 4 Laser 5 Scanner Basic 6 Scanner Extended 7 Optic 8 Angular Basic 9 Adjustment 10 Streams HELPGROUPS help 1 TI...

Page 49: ...plied hhhh hours mm minutes ss seconds OPTIME 1 Cr OPTIME 1 hhhh mm ss Total laser operating time laser on format like OPTIME 0 OPTIME 2 Cr OPTIME 2 hhhh mm ss Total scan operating time scanner in motion format like OPTIME 0 OPSECS 0 Cr OPSECS 0 n Total operating time of scanner in seconds 0 n 2147483647 OPSECS 1 Cr OPSECS 1 n Total laser operating time in seconds 0 n 2147483647 OPSECS 2 Cr OPSECS...

Page 50: ...sults only Therefore e g errors are still reported on the serial output even when the corresponding data output bit 0 in RO is cleared Similarly the serial programming mode is not effected by the setting for the serial data output in RO 6 3 3 2 Selective Measurement of Strong Reflector Targets Setting an Amplitude Window Command Reply Range Meaning ALn Cr ALn 0 n 255 Setting the minimum value of s...

Page 51: ...ATING measurement mode enables automatic switching between first and last target When scanning the mode first target last target is alternated with every laser shot in a scan line Each line starts with first target mode When using the LMS Q280i under environmental conditions providing electrical electrostatic and or electromagnetic disturbances only the program FIRST TARGET has to be used in the i...

Page 52: ...ty Space Note that it is necessary to save parameters permanently by command W and to reset the instrument to activate new values of CB or CP When using the LMS Q280i under environmental conditions providing electrical electrostatic and or electromagnetic disturbances data commu nication with high baud rates may result in communication errors In this case set the baud rate to a lower value 6 3 4 2...

Page 53: ...t bit 5 Enable quality data block bit 6 Enable SYNCTimer data block bit 7 Enable True color data block Example F5 sets output of range and amplitude value The setting of the F Parameter also effects the data structure of the ECP port data see chapter 6 4 2 6 3 4 5 Coding Mode of the Serial Result Data Output Command Reply Range Meaning RMn Cr RMn 0 n 1 Result coding mode Coding the measurement res...

Page 54: ..._DELTA_L n Cr 200 n 4000 Setting the Scan angle increment between two consecutive laser shots in units of 0 0001 degree Note Values are truncated according to the resolution of the internal angle encoders e g for a resolution of 2 5 mdeg the value is truncated to a multiple of 2 5 mdeg e g a setting of 187 results in an effective angle increment of 175 according to 7x2 5 mdeg SC_WRITE Cr Activate ...

Page 55: ...r to the begin of scan line RF_START_L223000 Cr start of scan line at angle 22 5000 degree 22 3 2 x 0 1 pre shots note for calculation of the beam angle an offset of 45 degree 50 gon is added see chapter 6 4 1 1 3 PolarAngleID SC_WRITE Cr set the parameters and derived scan speed SC_SCAN Cr now start the new scan W Cr save permanently if desired otherwise omit this command Q Cr quit programming mo...

Page 56: ...US_LIST Cr Reading and interpreting bits of SC_STATUS displaying a list of message lines for each bit set in SC_STATUS each message line starting with SC_STATUS 0 is displayed as line MOTION_OK Example Command Reply SC_STATUS_LIST MOTION_OK SC_SATUS_LIST SC_ERROR Cr Reading this value is necessary to get additional error information for the error mERROR SCAN_COMMUNICATION The bits of returned valu...

Page 57: ...the scanning module EALDESC 0 Cr Getting the total angle range of a full circle EALDESC 1 Cr Getting the number of encoder lines of a full circle EALDESC 2 Cr If 0 angle is scaled in gon angle resolution of scan angle 400 EALDESC 1 If 1 angle is scaled in degree angle resolution of scan angle 360 EALDESC 1 EAL Cr Get the current angle in units of 0 0001 degree ...

Page 58: ... supply cable can not be taken into account TEMP Cr Getting Temperature within instrument in units of degree Celsius Note that the temperature within in the instrument usually is some degrees higher than ambient temperature 6 3 6 3 Error Handling Command Meaning ERR Cr Get a list of errors Each error detected is listed in a line where each line starts with and is followed by an error message The l...

Page 59: ...From measurement mode start programming mode In programming mode P restarts the program mode therefore clears all characters already sent since the last carriage return clears the input buffer N 0Ehex Switch on the laser laser on only when additionally hardware laser lock is in status on and wheel in rotation see chapter 6 3 3 3 F 06hex Switch off the laser ...

Page 60: ...y adjustments Needs Super User Password SCAN Cr Start the scanning mode in range finder module Note that the scanner scanning movement must be started separately by command SC_SCAN With parameter AUTOSCAN 1 commands SCAN and SC_SCAN are executed automatically Needs Super User Password NOSCAN Cr Stop the scanning mode in range finder module Note that the scanner scanning movement must be stopped se...

Page 61: ...0 T7 1 53 sec 20000 In scanning mode the measurement time setting is ignored Each measurement is a single shot measurement T0 at a certain angle The command is used for debug purposes in mode NOSCAN only Un Cr 0 n 2 don t care Selection of range measurement unit n 0 unit meter n 1 unit feet n 2 unit yards The conversion factors are 1 meter 3 28084 feet 1 meter 1 0936 yards For scanning Note that u...

Page 62: ...the percentage of emitted laser shots resulting in an detectable echo signal Measurement results with quality values less than MQ indicate no target For single shot measurements the quality can only be 0 no echo detected or 100 echo detected According to the average rate of the selected measurement time the minimum number of pulses necessary for a valid measurement result MQN is calculated interna...

Page 63: ...quisition system RiPORT is a driver to be installed on the following platforms WINDOWS NT WINDOWS 2000 or WINDOWS XP Please follow the installation instruction provided with the RiPORT driver Reading data from the ECP port via RiPORT can be seen like reading data from a file Examples written in C show how to use functions RiPortOpen RiPortRead RiPortClose For operating systems Windows 98 and WINDO...

Page 64: ...4 1 1 1 Header Preamble Block HeaderSize 32 DataSetLen 16 ProtocolId 8 HeaderID 8 Element name size Meaning Value HeaderSize unsigned 32 bit is the size of the header in bytes including the bytes of HeaderSize Therefore data starts HeaderSize bytes after the first byte lowest byte of HeaderSize of the header specific DataSetLen unsigned 16 bit Length of Dataset in Bytes not including optional Sync...

Page 65: ...noring unknown fields The n th measurement thus has an offset of specific MeasOffset n MeasSize MeasCount unsigned 16 bit Number of measurement per Data set line Scan specific LeadInIDMain unsigned 8 bit LeadIn Record ID Main if Main and Sub are zero this record is not present in the Data record 0 LeadInIDSub unsigned 16 bit LeadIn Record ID Sub 0 MeasIDMain unsigned 8 bit Meas Record ID Main 129 ...

Page 66: ... on the PolarAngle value supplied by the scanner For PolarAngleID 64 codes mirror type 1 NumberOfFacets PolarAngleID 64 BeamPolarAngle gon 50 0 PolarAngle mod 400 AngleUnit NumberOfFacets AngleUnit For AngleUnit 0 000111111 BeamPolarAngle degree 45 0 PolarAngle mod 900000 0 0001 mod means modulo function 68 number of facets 4 HWRes unsigned 8 bit Setting of parameter HWRes defining the hardware re...

Page 67: ...2 Structure of Data in a Line Consecutive data lines have the following structure Synchronization sequence identical to DataSetLen in header Data point 1 Data point 2 Data point M Trailer Synchronization sequence identical to DataSetLen in header Data point 1 The Synchronization sequence is formed by 2 bytes representing the number of bytes in one line This value is identical to the value of DataS...

Page 68: ...167 77215 seconds The timer can be reset by the rising edge of an external pulse supplied via input TRIG see chapter 5 4 for synchronization to external events e g GPS TrueColorRed unsigned int 16 bit R1 R2 True color data red part 0 65535 R1 256 R2 TrueColorGreen unsigned int 16 bit G1 G2 True color data green part 0 65535 G1 256 G2 TrueColorBlue unsigned int 16 bit B1 B2 True color data blue par...

Page 69: ...le 50 0 450319 mod 900000 0 000111111 100 0353 gon 90 0319 degree TimeStamp2 54B114hex 5550356 x TimerUnit 55 50356 sec shot 2 is 70 microseconds after shot 1 TrueColorRed2 0019hex 25 TrueColorGreen2 0023hex 35 TrueColorBlue2 000Ehex 14 Trailer 00 45 00 03 00 00 0C B1 54 see next chapter ScanStatus 0 ECPLineCounter 0045hex 69 Sync Counter 000003hex 3 3 trigger pulses resetting the Sync timer have ...

Page 70: ... Sync Counter unsigned 24 bit S1 S2 S3 Sync Counter S1 256 S2 65536 S3 The Sync counter counts external SYNC pulses positive edge detected on input TRIG Each pulse on the input also resets the internal timer LineTimeStamp and LaserShotTimeStamp The input is typically used for GPS reference pulses typically each second LineTimeStamp unsigned 24 bit T1 T2 T3 Line Time stamp Parameter TimerUnit T1 25...

Page 71: ...ral measurement situations where no distance measurement data is available Measurement situation Range Amplitude No target available or badly reflecting target 0 0 Underflow Distance value less than 0 including offsets 0 0 Note that errors and status message like programming mode of serial interface are not reported on the ECP data output ...

Page 72: ...ead is always last data On the other hand if reading is interrupted for a longer time e g because the data receiving unit is not interested on new data this buffer will fill up When full each new data line then overwrites the oldest of the N blocks already filled Examples Blocks to be hold 1 that means that 2 blocks are reserved Start reading of a block and interrupting the reading for even a long...

Page 73: ... nInit line controls direction of the data transfer Since the only used direction is from the instrument to the computer this line may be ignored on non personal computer based implementations The data lines 2 9 must be input only on the computer in this case and nInit is held low permanently The instrument prepares for data transmission by placing data on the bus After TD the instrument then sets...

Page 74: ...t is necessary 1 XOSn Cr XOSn 0 n 6 Setting the unit for range data n 0 1 mm n 1 2 mm n 2 4 mm n 3 8 mm n 4 16 mm n 5 32 mm n 6 64 mm The unit and resolution of range data on the serial output is not effected For Q280i XOS is set to n 0 and there is no need to change it XS Cr Query the ECP buffer size in words for Q280i typically XS 262143 XNn Cr XNn 0 n 65535 Set and query the ECPLineCounter sent...

Page 75: ...e value have the following meaning bit 0 Enable range data output bit 2 Enable amplitude data output bit 3 Enable angle data output bit 5 Enable quality data block bit 6 Enable SYNCTimer data block bit 7 Enable True color data block Example F5 sets output of range and amplitude value Note The setting of the F Parameter also effects the data structure of the serial port data output used for debug p...

Page 76: ...6 4 1 is fully applicable to for this port Port 20001 does not accept any incoming data Port 20002 re routes the RS232 interface Thus it provides the full functionality of the RS232 interface to the client 6 5 2 Activation At startup of the instrument the local interfaces are active messages sent via RS232 Depending on the setting of parameter IP_MODE the LAN interface remains deactivated IP_MODE0...

Page 77: ...Range Meaning IP_ADDRn CR 000 000 000 000 n 255 255 255 255 Setting the IP address default 192 0 168 234 IP_MODEn CR 0 n 1 Setting the activation mode of the LAN interface n 0 LAN interface is off local interfaces ECP RS232 are active n 1 LAN interface is preferred IP_APPLY CR Activates all IP xxxx settings and resets the LAN interface ...

Page 78: ...n 0 no timeout connection remains unlimited time 1 n 29 behaves like n 30 30 n 3600 timer activated Needs Super User Password IP_TRANS_RETRIESn CR 3 n 30000 Maximum number of re transmissions of a TCP IP segment if this number is exceeded the instrument closes the connection Needs Super User Password IP_LANLINK_TIMEOUTn CR 2000 n 65535 Timeout for detection of a link on the LAN interface unit ms N...

Page 79: ...ted user intervention like a standard error locks the measurement programming mode is available and error messages start with ERROR These types of error need a user intervention e g with a high temperature error the instrument must be cooled down or with a low voltage error the power supply voltage must be increased perhaps battery changed Warnings are reported but measurement can be or is continu...

Page 80: ...E 0 returns the error type of the first or only one error pending Type severity Error 1 Standard error 2 Standard error with requested user intervention 3 Fatal error ERRNUM n Cr Reading the error code number see table of error messages following column Err No of occurred error number n starting count of n with 0 ERRSEV Cr Reading the severity of the most severe error occured ERRMSG n cr Reading t...

Page 81: ...LASHR_BAD_USER_ID 25 User parameter data is not fitting to current software version Some parameter settings may be wrong Check all user parameters reset them and save them again with command W mFATAL FLASHW_FILE_TOO_LONG mFATAL FLASHR_BAD_TYPE 26 27 Could not save parameters permanently mWRNG RS232_OVERFLOW mWRNG RS232_OVERRUN 41 42 Serial interface error some characters are lost in receiving Poss...

Page 82: ...nly Internal hardware fault Laser Pulse rate out of range mFATAL ECP_OVERFLOW 79 Error on internal ECP data port ECP port fifo overflows mWRNG ECP_PORT_OPEN 82 Several parameters e g the number of measurements per line RF_NUMBER_L are displayed in the ECP port Data Header When changing such parameters the parallel ECP port must be closed the parameters changed and programming mode left and the dat...

Page 83: ...0 Internal heater module error mFATAL HTR_HW_FAILED 101 Internal heater module error mFATAL LASER_MODULE_DEFECT 102 Internal laser module failed mFATAL LASER_MODULE_NOT_READY 103 Internal laser module did not get ready mFATAL NO_LASER_REF 104 Internal laser module failed mFATAL PRR_OUT_OF_RANGE 105 Internal laser module unexpected PRR ...

Page 84: ...that a scan is in progress mSCANNER_READY Scanner is set single triggered scan mode and ready to be triggered mWAIT_LASER Solid state laser setup and test procedure is started This procedure is executed at instrument power up and after standby mLASER_READY Solid state laser setup and test procedure is successfully finished mUNDERFLW Range measurement result 0 including offsets usually relevant in ...

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