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3: Configuration and Basic Operation

laserBIRD ID

This setting indicates to the laserBIRD electronics, which of three frequencies
to use for modulating the laser beams. Adjusting this setting is only advised for

Dual Scanner Configurations.

Sensor Offsets

Default position outputs from the laserBIRD represent the X, Y, Z position of

the centroid of the sensor (located on front face -see Figures 3.1a,b) with
respect to the Scanner origin. The Sensor Offsets allow you to configure the

position outputs such that the Bird is reporting the position of a location that is
offset from the centroid of the sensor. See the

OFFSET

command for details.

Angle Align

The Angle Align settings allow you to mathematically align the sensor's

coordinate frame to the coordinate frame of the object being tracked. This is
beneficial if you find that, when mounted to the object you are tracking, the

angle outputs are not zero when in the normal 'resting' position.

Reference Frame

The default laserBIRD reference frame is defined by the Scanner's X,Y, and Z

axes (see Figure 3.1). This Reference Frame setting allows you to enter the
angles required to mathematically align the axes of the Scanner to those of a

new reference frame.

Prediction

Enables predicted outputs for those coordinates and angles selected by the user.

Prediction interval is also configurable from 0-50 milliseconds. This may be
beneficial for applications attempting to minimize lag (simulator, image

generation, etc) See the

CHANGE/EXAMINE PREDICTION

command

for details and suggestions.

Flip Sensor Axes

If enabled, this setting configures the default sensor coordinate axes such that
the +X axis exits out the back of the sensor housing (surface opposite

detectors). The +Y axis is also flipped 180 degrees from its historical setting.
See

Default Reference Frame

below for details.

Reset on CTS

If enabled, this setting allows the user to reset the laserBIRD by holding the
CTS line (RTS on HOST side) high. See the

RS232 Signal Description

for details.

Sleep on Reset

When enabled, this setting will cause the laserBIRD to enter SLEEP mode after
completing a reset or following power-up. Issue the RUN command to resume

normal operation. See the

SLEEP

command description in the RS232

Command Reference section for details.

AVG Filter

When setting is configured to ON, a 4 element averaging filter is applied to the
laserBIRD sensor data. Generally, this filter is always required in the system

unless your application can work with noisy outputs.

Tip:

easy alternative to
re-configuring the
'Angle Align' is to
issue the
'

BORESIGHT

command. See the
RS232 Command
Reference for
details.

Tip:

For

assistance with
determining the
Angle Align and
Reference Frame
settings for your
installation, see the
section titled

laserBIRD
Alignment
Procedure

Note:

When

disabled, the 'Flip
Sensor Axes'
setting permits
compatibility with
older definitions of
the Sensor
coordinate axes.