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LMI Technologies Gocator 2300 Series User Manual

LMI Technologies Gocator 2300 Series User Manual

Line profile 3d smart sensors/laser profilers

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Gocator 2300 & 2880 Series

USER MANUAL

Firmware version: 4.3.x.xx

Document revision: D

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Page 1 Gocator 2300 & 2880 Series USER MANUAL Firmware version: 4.3.x.xx Document revision: D...
Page 2: Copyright
LMI Technologies, Inc. Trademarks and Restrictions Gocator™ is a registered trademark of LMI Technologies, Inc. Any other company or product names mentioned herein may be trademarks of their respective owners. Information contained within this manual is subject to change.
Page 3: Table Of Contents
Table of Contents Running a Dual-Sensor System Next Steps Theory of Operation Copyright 3D Acquisition Table of Contents Principle of 3D Acquisition Introduction Resolution and Accuracy Safety and Maintenance X Resolution Laser Safety Z Resolution Laser Classes Z Linearity Precautions and Responsibilities Profile Output Class 3B Responsibilities Coordinate Systems...
Page 4 Firmware Upgrade Spots and Dropouts Support Profile Mode Support Files Surface Mode Manual Access Height Map Color Scale Software Development Kit Region Definition Scan Setup and Alignment Intensity Output Scan Page Overview Models and Part Matching Scan Modes Model Page Overview Triggers Part Matching Trigger Examples...
Page 5 Circle Running the Emulator Dimension Adding a Scenario to the Emulator Groove Running a Scenario Intersect Removing a Scenario from the Emulator Line Using Replay Protection Panel Stopping and Restarting the Emulator Working with Jobs and Data Flush Creating, Saving, and Loading Jobs Position Playback and Measurement Simulation Strip...
Page 6 FixedLength SurfacePosition VariableLength SurfaceStud Rotational SurfaceVolume ProfileGeneration Output FixedLength Ethernet VariableLength Ascii Rotational PartDetection Modbus EdgeFiltering Digital0 and Digital1 PartMatching Analog Edge Serial BoundingBox Selcom Ellipse Ascii ToolOptions Transform MeasurementOptions Device Tools Part Models Profile Types Edge Points ProfileFeature Configuration ProfileLine Protocols ProfileRegion2d...
Page 7 Get Loaded Job Export Bitmap (Progressive) Get Alignment Reference Upgrade Commands Set Alignment Reference Start Upgrade Clear Alignment Start Upgrade Extended Get Timestamp Get Upgrade Status Get Encoder Get Upgrade Log Reset Encoder Results Start Data Results Scheduled Start Stamp Stop Video Get Auto Start Enabled...
Page 8 Registers Clear Alignment XML Settings File Data Commands CSV Converter Tool Result Troubleshooting Value Specifications Decision Gocator 2300 Series Health Commands Gocator 2320 Health Gocator 2330 Standard Result Format Gocator 2340 Custom Result Format Gocator 2342 Software Development Kit Gocator 2350...
Page 9 Master 100 Dimensions Master 400/800 Master 400/800 Electrical Specifications Master 400/800 Dimensions Master 1200/2400 Master 1200/2400 Electrical Specifications Master 1200/2400 Dimensions Accessories Return Policy Software Licenses Support Contact Gocator 2300 & 2880 Series...
Page 10: Introduction
Introduction The Gocator 2300 series of laser profiling sensors is 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. This documentation describes how to connect, configure, and use a Gocator. It also contains reference information on the device's protocols and job files.
Page 11: Safety And Maintenance
Safety and Maintenance The following sections describe the safe use and maintenance of Gocator sensors. Laser Safety Gocator sensors contain semiconductor lasers that emit visible or invisible light and are designated as Class 2M, Class 3R, or Class 3B, depending on the chosen laser option. See Laser Classes on the next page for more information on the laser classes used in Gocator sensors.
Page 12: Laser Classes
Laser Classes Class 2M laser components Class 2M laser components would not cause permanent damage to the eye under reasonably foreseeable conditions of operation, provided that exposure is terminated by the blink reflex (assumed to take 0.25 seconds). Because classification assumes the blink reflex, the wavelength of light must be in the visible range (400 nm to 700 nm).
Page 13: Class 3B Responsibilities
Class 3B Responsibilities LMI Technologies has filed reports with the FDA to assist customers in achieving certification of laser products. These reports 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.
Page 14: Nominal Ocular Hazard Distance (Nohd)
supplied with the sensor as an integrated mechanical shutter. Emission Indicator It is required that the controls that operate the sensors incorporate a visible or audible indicator when power is applied and the lasers are operating. If the distance between the sensor and controls is more than 2 meters, or mounting of sensors intervenes with observation of these indicators, then a second power-on indicator should be mounted at some readily-observable position.
Page 15: Systems Sold Or Used In The Usa
Model Constant includes a consideration of the fan angle for the individual models. Systems Sold or Used in the USA Systems that incorporate laser components or laser products manufactured by LMI Technologies require certification by the FDA. Customers are responsible for achieving and maintaining this certification.
Page 16: Environment And Lighting
10 V to avoid damage to the serial and encoder connections. See Gocator 2300 & 2880 I/O Connector on page 409 for a description of connector pins used with Gocator 2300 series sensors. Use a suitable power supply The +24 to +48 VDC power supply used with Gocator sensors should be an isolated supply with inrush current protection or be able to handle a high capacitive load.
Page 17: Sensor Maintenance
Turn off lasers when not in use LMI Technologies uses semiconductor lasers in 3D measurement sensors. To maximize the lifespan of the sensor, turn off the laser when not in use. Avoid excessive modifications to files stored on the sensor Settings for Gocator sensors are stored in flash memory inside the sensor.
Page 18: Getting Started
Getting Started The following sections provide system and hardware overviews, in addition to installation and setup procedures. System Overview Gocator sensors can be installed and used in a variety of scenarios. Sensors can be connected as standalone devices, dual-sensor systems, or multi-sensor systems. Standalone System Standalone systems are typically used when only a single Gocator sensor is required.
Page 19: Multi-Sensor System
A Master 400/800/1200/2400 must be used to connect two sensors in a dual-sensor system. Gocator Power and Ethernet to Master cordsets are used to connect sensors to the Master. Multi-Sensor System Master 400/800/1200/2400 networking hardware can be used to connect two or more sensors into a multi-sensor system.
Page 20 Getting Started • System Overview • 20 Gocator 2300 & 2880 Series...
Page 21: Hardware Overview
Hardware Overview The following sections describe Gocator and its associated hardware. Gocator 2300 & 2880 Sensor Gocator 2330 Item Description Camera Observes laser light reflected from target surfaces. Laser Emitter Emits structured light for laser profiling. I/O Connector Accepts input and output signals. Power / LAN Connector Accepts power and laser safety signals and connects to 1000 Mbit/s Ethernet network.
Page 22: Master 100
See Accessories on page 421 for cordset lengths and part numbers. Contact LMI for information on creating cordsets with customized lengths and connector orientations. Master 100 The Master 100 is used by the Gocator 2300 series for standalone system setup. Item Description Master Ethernet Port Connects to the RJ45 connector labeled Ethernet on the Power/LAN to Master cordset.
Page 23: Master 1200/2400
See Master 100 on page 413 for pinout details. Master 400/800 The Master 400 and the Master 800 allow you to connect more than two sensors. The Master 400 accepts four sensors, and the Master 800 accepts eight sensors. Item Description Sensor Ports Master connection for Gocator sensors (no specific order required).
Page 24: Calibration Targets
See Accessories on page 421 for disk part numbers. For wide, multi-sensor systems, bars are required to match the length of the system by following the guidelines illustrated below. (LMI Technologies does not manufacture or sell bars.) Getting Started • Hardware Overview • 24...
Page 25 See Aligning Sensors on page 94 for more information on alignment. Getting Started • Hardware Overview • 25 Gocator 2300 & 2880 Series...
Page 26: Installation
Installation The following sections provide grounding, mounting, and orientation information. Grounding - Gocator Gocators should be grounded to the earth/chassis through their housings and through the grounding shield 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.
Page 27: Grounding - Master 400/800/1200/2400
Install a 360-degree ground clamp. Grounding - Master 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 electrical continuity between the mounting frame and RJ45 connectors on the front. The frame or electrical cabinet that the Master is mounted to must be connected to earth ground.
Page 28: Orientations
The sensor must be heat sunk through the frame it is mounted to. When a sensor is properly heat sunk, the difference between ambient temperature and the temperature reported in the sensor's health channel is less than 15° C. Gocator sensors are high-accuracy devices. The temperature of all of its components must be in equilibrium.
Page 29 Single sensor on robot arm Dual-Sensor System Orientations: Side-by-side for wide-area measurement (Wide) Main must be on the left side (when looking into the connector) of the Buddy (Wide) Getting Started • Installation • 29 Gocator 2300 & 2880 Series...
Page 30 Above/below for two-sided measurement (Opposite) Main must be on the top with Buddy on the bottom (Opposite) Getting Started • Installation • 30 Gocator 2300 & 2880 Series...
Page 31: Rut-Scanning System Setup
Rut-Scanning System Setup The following sections describe how to set up a Gocator 2375 rut-scanning system. Layout The Gocator 2375 sensor is designed to cover a scan width of up to 4.2 m by using 8 sensors mounted in parallel. The diagram above shows the clearance distance and measurement range required in a typical setup.
Page 32: Software Configuration
To connect a Gocator 2375: Connect the Power and Ethernet to Master cordset to the Power/LAN connector on the sensor. Connect the RJ45 jack labeled Power to an unused port on the Master. Connect the RJ45 jack labeled Ethernet to an unused port on the Master. Repeat the steps above for each sensor.
Page 33: System Operation
System Operation An isolated layout should be used. Under this layout, each sensor can be independently controlled by the SDK. The following application notes explain how to operate a multi-sensor system using the SDK. APPNOTE_Gocator_4.x_Multi_Sensor_Guide.zip Explains how to use the SDK to create a multi-sensor system, and multiplex their timing. Gocator-2000-2300_appnote_multi-sensor-alignment-calibration.zip Explains how to use the SDK to perform alignment calibration of a multi-sensor system.
Page 34: Network Setup
Network Setup The following sections provide procedures for client PC and Gocator network setup. Client Setup 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 Gateway 0.0.0.0 All Gocator sensors are configured to 192.168.1.10 as the default IP address. For a dual-sensor system, the Main and Buddy sensors must be assigned unique addresses before they can be used on the same network.
Page 35 Change the client PC's network 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 Properties. c. On the Networking tab, click Internet Protocol Version 4 (TCP/IPv4), and then click Properties.
Page 36: Gocator Setup
Gocator Setup The Gocator is shipped with a default configuration that will produce laser profiles on most targets. The following sections walk you through the steps required to set up a standalone sensor system and a dual-sensor system for operations. After you have completed the setup, you can perform laser profiling to verify basic sensor operation.
Page 37: Running A Dual-Sensor System
The Snapshot button is used to trigger the capture of a single profile. Standalone Master 400/800/1200/2400 Move a target into the laser plane. If a target object is within the sensor's measurement range, the data viewer will display the shape of the target, and the sensor's range indicator will illuminate.
Page 38 Power up the Buddy sensor. The power LED (blue) of the Buddy sensor should turn on immediately. Enter the sensor's IP address 192.168.1.10 in a web browser. This will log into the Buddy sensor. Log in as Administrator with no password. Go to the Manage Page.
Page 39 Log in as Administrator with no password. The interface display language can be changed using the language option. After selecting the language, the browser will refresh and the web interface will display in the selected language. 10. Select the Manage page. 11.
Page 40: Next Steps
14. Ensure that Replay mode is off (the slider is set to the left). 15. Go to the the Scan page. 16. Press the Start or the Snapshot button on the Toolbarto start the sensors. The Start button is used to run sensors continuously, while the Snapshot button is used to trigger a single profile.
Page 41 Toolbar (page 48) Controls sensor operation, manages jobs, and replays recorded measurement data. • 41 Gocator 2300 & 2880 Series...
Page 42: Theory Of Operation
The following sections describe the theory of operation of Gocator sensors. 3D Acquisition Principle of 3D Acquisition The Gocator 2300 series sensors are line profiler sensors, meaning that they capture a single 3D profile for each camera exposure. The sensor projects a laser line onto the target. The...
Page 43: Resolution And Accuracy
Resolution and Accuracy X Resolution X resolution is the horizontal distance between each measurement point along the laser line. This specification is essentially based on the number of camera columns used to cover the field of view (FOV) at a particular measurement range .
Page 44: Z Linearity
Z Linearity Z Linearity is the difference between the actual distance to the target and the measured distance to the target, throughout the measurement range. Z Linearity is expressed in the Gocator data sheet as a percentage of the total measurement range.
Page 45: Profile Output
Profile Output Gocator measures the height of the object calculated from laser triangulation. The Gocator reports a series of ranges along the laser line, with each range representing the distance from the sensor's origin plane. Each range contains a height and a position in the sensor's field of view. Coordinate Systems Range data is reported in sensor or system coordinates depending on the alignment state.
Page 46: Uniform Spacing (Data Resampling)
For Wide and Opposite layouts, profiles and measurements from the Main and Buddy sensors are expressed in a unified coordinate system. Isolated layouts express results using a separate coordinate system for each sensor. Uniform Spacing (Data Resampling) Profile data produced in Profile mode is available in two formats: with and without uniform spacing. Uniform spacing is enabled in the Scan Mode panel, on the Scan page.
Page 47: Gocator Web Interface
Gocator Web Interface The following sections describe the Gocator web interface. User Interface Overview Gocator sensors are configured by connecting to a Main sensor with a web browser. The Gocator web interface is illustrated below. Element Description Manage page Contains settings for sensor system layout, network, motion and alignment, handling jobs, and sensor maintenance.
Page 48: Toolbar
Element Description Measure page Contains built-in measurement tools and their settings. See Measurement on page 133. Output page Contains settings for configuring output protocols used to communicate measurements to external devices. See Output on page 209. Dashboard page Provides monitoring of measurement statistics and sensor health. See Dashboard on page 220.
Page 49 Most of the settings that can be changed 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 designated as the default, it will be loaded automatically when the sensor is reset.
Page 50: Recording, Playback, And Measurement Simulation
To load (switch) jobs: Select an existing file name in the job drop-down list. The job is activated. If there are any unsaved changes in the current job, you will be asked whether you want to discard those changes. You can perform other job management tasks—such as downloading job files from a sensor to a computer, uploading job files to a sensor from a computer, and so on—in the Jobs panel in the Manage page.
Page 51 Playback controls when replay is on To replay data: Toggle Replay mode on by setting the slider to the right in the Toolbar. The slider's background turns blue and a Replay Mode Enabled message is displayed. Use the Replay slider or the Step Forward, Step Back, or Play buttons to review data. The Step Forward and Step Back buttons move and the current replay location backward and forward by a single frame, respectively.
Page 52: Downloading, Uploading, And Exporting Replay Data
Downloading, Uploading, and Exporting Replay Data Replay data (recorded scan data) can be downloaded from a Gocator to a client computer, or uploaded from a client computer to a Gocator. Data can also be exported from a Gocator to a client computer in order to process the data using third- party tools.
Page 53 In the Upload menu, choose one of the following: Upload: Unloads the current job and creates a new unsaved and untitled job from the content of the replay data file. Upload and merge: Uploads the replay data and merges the data's associated job with the current job.
Page 54: Log
The log, located at the bottom of the web interface, is a centralized location for all messages that the Gocator displays, including warnings and errors. A number indicates the number of unread messages: To use the log: Click on the Log open button at the bottom of the web interface.
Page 55: Data Viewer
Data Viewer The data viewer is displayed in both the Scan and the Measure pages, but displays different information depending on which page is active. When the Scan page is active, the data viewer displays sensor data and can be used to adjust regions of interest.
Page 56: System Management And Maintenance
System Management and Maintenance The following sections describe how to set up the sensor connections and networking, how to calibrate encoders and choose alignment reference, and how to perform maintenance tasks. Manage Page Overview Gocator's system and maintenance tasks are performed on the Manage page. Element Description Sensor System...
Page 57: Sensor System
Element Description of the manual, download the SDK, or save a support file. Also provides device information. See Support on page Sensor System The following sections describe the Sensor System category on the Manage page. This category lets you choose the layout standalone or dual-sensor systems, and provides other system settings. Dual-sensor layouts are only displayed when a Buddy sensor has been assigned.
Page 58: Dual-Sensor System Layout
Dual-Sensor System Layout Mounting orientations must be specified for a dual-sensor system. This information allows the alignment procedure to determine the correct system-wide coordinates for laser profiling and measurements. See Coordinate Systems on page 45 for more information on sensor and system coordinates.
Page 59: Buddy Assignment
Orientation Example Opposite Sensors are mounted in Top (Main) and Bottom (Buddy) positions for a larger combined measurement range and the ability to perform Top/Bottom differential measurements. To specify the layout: Go to the Manage page and click on the Sensor System category. Select an assigned Buddy sensor in the Visible Sensors list.
Page 60: Exposure Multiplexing
To assign a Buddy sensor: Go to the Manage page and click on the Sensor System category. Select a sensor in the Visible Sensors list. Click the Assign button. A sensor can only be assigned as a Buddy if its firmware and model number match the firmware and model number of the Main sensor.
Page 61: Over Temperature Protection
To enable/disable exposure multiplexing: Go to the Manage page and click on the Sensor System category. In the Layout section, check/uncheck the Exposure Multiplexing option. This option is only displayed if a buddy is assigned. Over Temperature Protection Sensors equipped with a 3B-N laser by default will turn off the laser if the temperature exceeds the safe operating range.
Page 62: Motion And Alignment
To configure the network settings: Go to the Manage page. In the Networking category, specify the Type, IP, Subnet Mask, and Gateway settings. The Gocator sensor can be configured to use DHCP or assigned a static IP address. Click on the Save button. You will be prompted to confirm your selection.
Page 63: Alignment Reference
Alignment Reference The Alignment Reference setting can have one of two values: Fixed or Dynamic. Setting Description Fixed A single, global alignment 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.
Page 64: Encoder Value And Frequency
Encoder resolution is expressed in millimeters per tick, where one tick corresponds to one of the four encoder quadrature signals (A+ / A- / B+ / B-). Encoders are normally specified in pulses per revolution, where each pulse is made up of the four quadrature signals (A+ / A- / B+ / B-).
Page 65 Element Description Name field Used to provide a job name when saving files. Displays the jobs that are currently saved in the sensor's flash storage . Jobs list Job Name Save button Saves current settings to the job using the name in the field.
Page 66: Security
To save a job: Go to the Manage page and click on the Jobs category. Provide a name in the Name field. To save an existing job under a different name, click on it in the Jobs list and then modify it in the Name field.
Page 67: Maintenance
The Administrator and Technician accounts can be assigned unique passwords. By default, passwords are blank (empty). To set or change the password for the Administrator account: Go to the Manage page and click on the Security category. In the Administrator section, enter the Administrator account password and password confirmation. Click Change Password.
Page 68: Sensor Backups And Factory Reset
Sensor Backups and Factory Reset You can create sensor backups, restore from a backup, and restore to factory defaults in the Maintenance category. Backup files contain all of the information stored on a sensor, including jobs and alignment. An Administrator should create a backup file in the unlikely event that a sensor fails and a replacement sensor is needed.
Page 69: Firmware Upgrade
To restore from a backup: Go to the Manage page and click on the Maintenance category. Click the Restore... button under Backup and Restore. When you are prompted, select a backup file to restore. The backup file is uploaded and then used to restore the sensor. Any files that were on the sensor before the restore operation will be lost.
Page 70: Support
If a new version of the firmware is available, follow the instructions to download it to the client computer. If the client computer is not connected to the Internet, firmware can be downloaded and transferred to the client computer by using another computer to download the firmware from LMI's website: http://www.lmi3D.com/support/downloads.
Page 71: Support Files
Support Files You can download a support file from a sensor and save it on your computer. You can then use the support file to create a scenario in the Gocator emulator (for more information on the emulator, see Gocator Emulator on page 223). LMI's support staff may also request a support file to help in troubleshooting.
Page 72: Software Development Kit
Software Development Kit You can download the Gocator SDK from within the Web interface. To download the SDK: Go to the Manage page and click on the Support category Next to Software Development Kit (SDK), click Download Choose the location for the SDK on the client computer. For more information on the SDK, see Software Development Kit on page 364.
Page 73: Scan Setup And Alignment
Scan Setup and Alignment The following sections describe the steps to configure Gocator sensors for laser profiling using the Scan page. Setup and alignment should be performed before adding and configuring measurements or outputs. Scan Page Overview The Scan page lets you configure sensors and perform alignment. Element Description Scan Mode panel...
Page 74: Scan Modes
Element Description Data Viewer Displays sensor data and adjusts regions of interest. Depending on the current operation Data mode, the data viewer can display video images , profile plots, or surface views . See Viewer on page 107. The following table provides quick references for specific goals that you can achieve from the panels in the Scan page.
Page 75: Triggers
Mode and Option Description Video images are processed internally to produce laser profiles and cross-sectional measurements. Surface Outputs 3D point clouds made up of many laser profiles combined together and performs surface measurements. The sensor uses various methods to generate a surface (see on page 100).
Page 76 Trigger Source Description Ignore Backward A scan is triggered only when the target object moves forward. If the target object moves backward, it must move forward by at least the distance of one encoder spacing to trigger the next scan. Bi-directional A scan is triggered when the target object moves forward or backward.
Page 77: Trigger Examples
Trigger Source Description When triggers are received at a frequency higher than the maximum frame rate, some triggers may not be accepted. The Trigger Drops Indicator in the Dashboard can be used to check for this condition. The external input can be used to enable or disable the encoder triggers. See Encoder Input on page 411 for more information on connecting the encoder to Gocator sensors.
Page 78: Trigger Settings
Example: 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 varies while the object is being measured. It is strongly recommended to use an encoder with transport-based systems due to the difficulty in maintaining constant transport velocity.
Page 79 After specifying a trigger source, the Trigger panel shows the parameters that can be configured. Parameter Trigger Source Description Time Encoder External Input Source Selects the trigger source ( , or Software Frame Rate Time Max Speed Controls the frame rate. Select from the drop- down to lock to the maximum frame rate.
Page 80: Sensor
Parameter Trigger Source Description Trigger Delay External Input Controls the amount of time or the distance the sensor waits before producing a frame after the external input is activated. This is used to compensate for the positional difference between the source of the external input trigger (e.g., photocells) and the sensor.
Page 81 To set the active area: Go to the Scan page. 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 available in the Measure panel. Expand the Sensor panel by clicking on the panel header or the button.
Page 82: Tracking Window
Tracking Window The Gocator can track a relatively flat object in real-time to achieve very high scan rates. This feature tracks the object height using a small window that moves dynamically to cover a larger measurement range. You can balance the gain in speed and the tracking ability by configuring the size of the tracking area.
Page 83: Transformations
Check the Tracking Window box. The panel below the checkbox expands and shows the settings for the window used to track the object height. Click the tracking window's Select button. Resize the tracking window shown in the 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.
Page 84: Exposure
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 available in the Measure panel. Expand the Sensor panel by clicking on the panel header. Click the button corresponding to the sensor you want to configure.
Page 85: Single Exposure
When the Gocator is in Multiple exposure mode, select which exposure to view using the drop-down box next to "View" in the data viewer. This drop-down is only visible in Video scan mode when the Multiple option is selected in the Exposure section in the Sensor panel. Single Exposure The sensor uses a fixed exposure in every scan.
Page 86: Dynamic Exposure
Edit the Exposure setting. You can automatically tune the exposure by pressing the Auto Set button, which causes the sensor to turn on and tune the exposure time. Run the sensor and check that laser profiling is satisfactory. If laser profiling is not satisfactory, adjust the exposure values manually. Switch to Video mode to use video to help tune the exposure;...
Page 87: Multiple Exposure
darkest target in the field of view and press the Auto Set Max button to set the maximum exposure. Run the sensor and check that laser profiling is satisfactory. If laser profiling is not satisfactory, adjust the exposure values manually. Switch to Video mode to use video to help tune the exposure;...
Page 88: Spacing
Exposure can be configured separately for each sensor. Click on the Exposure tab. Select Multiple from the Exposure Mode drop-down. Click the button to add an exposure step. Up to a maximum of five exposure settings can be added. To remove an exposure, select it in the exposure list and click the button.
Page 89: Spacing Interval
The Z sub-sampling setting is used to decrease the profile's Z resolution to increase speed. The Z setting works by reducing the number of image rows used for laser profiling. Sub-sampling values are expressed as fractions in the Web interface. For example, an X sub-sampling value of 1/2 indicates that every second camera column will be used for laser profiling.
Page 90: Material
Spacing is specified separately for each sensor. Click on the Spacing tab. Do one of the following: Choose Auto and move the slider to one of the following values: Speed: Uses the lowest X resolution within the active area as the spacing interval. This setting minimizes CPU usage and data output rate, but the profile has the lowest X resolution (i.e., least detail).
Page 91 When Materials is set to Custom, the following settings can be configured: Setting Description Spot Threshold The minimum increase in intensity level between neighbouring pixels for a pixel to be considered the start of a potential spot. This setting is important for filtering false profile spots generated by sunlight reflection. Spot Width Max The maximum number of pixels a spot is allowed to span.
Page 92: Alignment
Setting Description Uniform Spacing (Data Resampling) on page 46. Analog Analog camera gain can be used when the application is severely exposure limited, yet dynamic range is not a critical factor. Digital Digital camera gain can be used when the application is severely exposure limited, yet dynamic range is not a critical factor.
Page 93: Alignment Types
Alignment State State Explanation Sensor is not aligned. Profiles are reported in default sensor coordinates. None Transformations ( see on page 83 ) or encoder resolution (see on page 78) have been Manual manually edited. Auto Sensor is aligned using the alignment procedure (see on the next page). An indicator on the Alignment panel will display ALIGNED or UNALIGNED, depending on the Gocator's state.
Page 94: Aligning Sensors
Aligning Sensors Alignment can be used to compensate for mounting inaccuracies by aligning sensor data to a common reference surface (often a conveyor belt). To prepare for alignment: Choose an alignment reference in the Manage page if you have not already done so. See Alignment Reference on page 63 for more information.
Page 95 Place the target under the sensor Click the Align button. The sensors will start, and the alignment process will take place. Alignment is performed simultaneously for all sensors. If the sensors do not align, check and adjust the exposure settings (page 84).
Page 96: Clearing Alignment
Place the target under the sensor If the system uses an encoder and you want to calibrate it, check the Encoder Calibration checkbox. Click the Align button. The sensors will start and then wait for the calibration target to pass through the laser plane. Alignment is performed simultaneously for all sensors.
Page 97: Filters
To clear alignment: Go to the Scan page. 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 available in the Measure panel. Expand the Alignment panel by clicking on the panel header or the button.
Page 98: Median
To configure X or Y gap filling: Go to the Scan page. Choose Profile or Surface mode in the Scan Mode panel. If one of these modes is not selected, you will not be able to configure gap filling. Expand the Filters panel by clicking on the panel header or the button.
Page 99: Smoothing
If one of these modes is not selected, you will not be able to configure the median filter. Expand the Filters panel by clicking on the panel header or the button. Click on the Median tab. Enable the X or Y setting and select the maximum width value. Save the job in the Toolbar by clicking the Save button Check that the laser profiling is satisfactory.
Page 100: Master
Decimation Decimation reduces the number of data points along the X or Y axis by choosing data points at the end of a specified window around the data point. For example, by setting X to .2, points will be used every .2 millimeters.
Page 101 The following types correspond to the Type setting in the panel. When Type is set to Continuous, part detection is automatically enabled. When Type is set to anything else, part detection can be enabled and disabled in the Part Detection panel. See Part Detection on page 103 for descriptions of the settings that control detection logic.
Page 102 Variable Length: The sensor generates surfaces of variable length. Profiles collected while the external digital input is held high are combined to form a surface. If the value of the Max Length setting is reached while external input is still high, the next surface starts immediately with the next profile.
Page 103: Part Detection
(page 63) to 1, the encoder trigger spacing (page 75) to (number of encoder ticks per revolution) / (number of desired profiles per revolution), and Encoder Resolution in the Surface Generation panel to the number of encoder ticks per revolution. You can optionally enable part detection to process the surface after it has been generated, but the generation itself does not depend...
Page 104 The following settings can be tuned to improve the accuracy and reliability of part detection. Setting Description Height Threshold Determines the profile height threshold for part detection. The setting for Threshold Direction determines if parts should be detected above or below the threshold. Above is typically used to prevent the belt surface from being detected as a part when scanning objects on a conveyor.
Page 105 Setting Description than the gap interval, they will be merged into a single part. Gap Length Determines the minimum separation between objects on the Y axis. If parts are closer than the gap interval, they will be merged into a single part. Padding Width Determines the amount of extra data on the X axis from the surface surrounding the detected part that will be included.
Page 106: Edge Filtering
To set up part detection: 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 part detection. Expand the Part Detection panel by clicking on the panel header or the button.
Page 107: Data Viewer
Edge Filtering enabled (reflection noise eliminated or reduced) Edge Filtering enabled, Preserve Interior Feature enabled. To configure edge filtering: 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 part detection. Expand the Part Detection panel by clicking on the panel header or the button and enable part detection if necessary.
Page 108: Data Viewer Controls
Data Viewer Controls The data viewer is controlled by mouse clicks and by the buttons on the display toolbar. The mouse wheel can also be used for zooming in and out. Press 'F' when the cursor is in the data viewer to switch to full screen. Video Mode In Video scan mode, the data viewer displays a camera image.
Page 109 To select the exposure view of the display: Go to the Scan page and choose Video mode in the Scan Mode panel. Select the camera view in the data viewer. Select Main or Buddy from the first drop-down list next to View at the top of the data viewer. Select the exposure.
Page 110: Spots And Dropouts
Exposure Indication uses the following colors: Blue: Indicates background pixels ignored by the sensor. Red: Indicates saturated pixels. Correct tuning of exposure depends on the reflective properties of the target material and on the requirements of the application. Settings should be carefully evaluated for each application, but often a good starting point is to set the exposure so that there are 2 to 3 red pixels in the center of the laser line.
Page 111: Profile Mode
See Material on page 90 for more information on settings for different materials. Profile Mode When the Gocator is in Profile scan mode, the data viewer displays profile plots. Gocator Web Interface • Scan Setup and Alignment • 111 Gocator 2300 & 2880 Series...
Page 112 In a dual-sensor system, profiles from individual sensors or from a combined view. When in the Scan page, selecting a panel (e.g., Sensor or Alignment panel) automatically sets the display to the most appropriate display view. To manually select the display view in the Scan page: Go to the Scan page.
Page 113: Surface Mode
combined view of sensors that have been aligned to use a common coordinate system. Bottom: View from the bottom sensor 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 at the same time in the data viewer, using the coordinate systems of each sensor.
Page 114 2D viewer with height map overlay 2D viewer with grayscale overlay 2D viewer with intensity overlay Gocator Web Interface • Scan Setup and Alignment • 114 Gocator 2300 & 2880 Series...
Page 115: Height Map Color Scale
3D viewer with height map overlay 3D viewer with grayscale overlay 3D viewer with uniform overlay 3D viewer with uniform overlay Clicking on the 3D button toggles between the 2D and 3D viewer. See Data Viewer Controls on page 108 for explanations on the available controls.
Page 116: Region Definition
To change the scaling of the height map: Select Heightmap from the drop-down in the data viewer. Click the Scaling button. To automatically set the scale, choose Auto in the Range drop-down. To automatically set the scale based on a user-selected sub-region of the heightmap, choose Auto - Region in the Range drop-down and adjust the yellow region box in the data viewer to the desired location and size.
Page 117: Intensity Output
To set up a region of interest: Move the mouse cursor to the rectangle. The rectangle is automatically displayed when a setup or measurement requires an area to be specified. Drag the rectangle to move it, and use the handles on the rectangle's border to resize it. Intensity Output Gocator sensors can produce intensity images that measure the amount of light reflected by an object.
Page 118: Models And Part Matching
Models and Part Matching The following sections describe how to set up part matching using a model, a bounding box, or an ellipse. Model Page Overview The Model page lets you set up part matching. Gocator Web Interface • Models and Part Matching • 118 Gocator 2300 &...
Page 119: Part Matching
Element Description Part Matching Contains settings for configuring models and for part matching. panel Data Viewer Displays sensor data and lets you add and remove model edge points. Part Matching You can use Gocator to match parts to a previously saved model (see Using Edge Detection on page 120) or to the dimensions of a fitted bounding box or ellipse (see Using Bounding Box and Ellipse on page 129), regardless of the orientation of the part you are trying to match.
Page 120: Using Edge Detection
Using Edge Detection When using edge detection for part matching, the Gocator compares a model that you must create from a previous scan to a "target" (one of the parts you want to match to the model). In the data viewer, a model is represented as a yellow outline. The target is represented as a blue outline. If the part match quality above a minimum user-defined level, any measurements configured on the Measure page are applied.
Page 121 1. Scan a reference part (you can also use replay data that you have previously saved). 2. Create a model based on the scan (using either heightmap or intensity data). 3. Adjust the model (edge detection algorithm sensitivity and selective removal of edge points). 4.
Page 122 Setting Description Determines which algorithm the sensor will use to attempt a match. Set this to Match Algorithm Edge for edge detection. Image Type Determines what kind of data the Gocator will use to detect edges and therefore for part matching. Choose this setting based on the kinds of features that will be used for part matching: Heightmap : Surface elevation information of the scanned part will be used to...
Page 123: Creating A Model
page will be applied to parts if a part match is accepted, regardless of the part's orientation (a successfully matched part is rotated to match orientation of the model), returning a value and decision (as long as the part is in range, etc.). If a part match is rejected, measurements will return an Invalid value.
Page 124 Locate some previously recorded replay data and load it. See Recording, Playback, and Measurement Sim- ulation on page 50 and Downloading, Uploading, and Exporting Replay Data on page 52 for more inform- ation on replay data. Go to the Model page. Make sure the Enabled option is checked in the Part Matching panel.
Page 125: Modifying A Model's Edge Points
To rename a model: In the Models list, double-click on a model name. Type a new name in the model name field. Press Enter or click outside the model name field. Save the job by clicking the Save button To delete a model, click the button.
Page 126 Edge points along top of model removed. Part is accepted. (Min set to 85%.) Removing edge points does not cause the edge detection algorithm to run again. To change model senstivity: In the Models list, select the model you want to configure by clicking on its selection control. Click the Model Editing tab.
Page 127 To manually remove model edge points: In the Models list, select the model you want to configure by clicking on its selection control. In the Model Editing tab, click on the Edit button. On the toolbar above the data viewer, make sure the Select tool is active. Click in the data viewer and hold the mouse button while moving the pointer over the edge points you want to remove.
Page 128: Adjusting Target Sensitivity
Points within the circular Select tool are removed from the model. Removed edge points turn red in the data viewer. You can zoom in to see individual edge points by using the mouse wheel or by using the Zoom mode ( If you have removed too many edge points, use Ctrl + Click in the data viewer to add the edge points back.
Page 129: Setting The Match Acceptance Criteria
You can also set the sensitivity value manually in the provided text box. Setting the Match Acceptance Criteria In order for a part to match a model, the match quality must reach the minimum set in the Min field in Acceptance Criteria section of the Part Matching panel.
Page 130 In the data viewer, a bounding box or ellipse is displayed with a blue outline. If a part fits in the bounding box or ellipse, any measurements configured on the Measure page are applied. Blue bounding box around a part. (Yellow lines show currently selected dimension in Part Matching panel.) Typically, setting up a bounding box or an ellipse to perform part matching involves the following steps:...
Page 131: Configuring A Bounding Box Or An Ellipse131
Setting Description Corrects the orientation of the bounding box or ellipse to accurately match Z Angle typical orientation and simplify measurements. Acceptance Criteria Determines the minimum and maximum acceptable values of the selected dimension (Width and Length for bounding box, Major and Minor for ellipse) in Match Result Configuring a Bounding Box or an Ellipse To use a bounding box or an ellipse to match a part, you must set its dimensions, taking into account...
Page 132: Running Part Matching
page 37 for more information on running a system to scan a part. Locate some previously recorded replay data and load it. See Recording, Playback, and Measurement Sim- ulation on page 50 and Downloading, Uploading, and Exporting Replay Data on page 52 for more inform- ation on replay data.
Page 133: Measurement
Measurement The following sections describe the Gocator's tools and measurements. Measure Page Overview Measurement tools are added and configured using the Measure page. The content of the Tools panel in the Measure page 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.
Page 134: Data Viewer
Element Description Feature Area Configurable region of interest from which feature points are detected. These feature points are used to calculate the measurements. The number of feature areas displayed depends on which measurement tool is currently selected. Data Viewer Regions, such as active area or measurement regions, can be graphically set up using the data viewer. When the Measure page is active, the data viewer can be used to graphically configure measurement regions.
Page 135: Enabling And Disabling Measurements
Go to the Measure page by clicking on the Measure icon. In the Tools panel, select the tool you want to add from the drop-down list of tools. Click on the Add button in the Tools panel. The tool and its available measurements will be added to the tool list. The tool parameters will be listed in the configuration area below the tool list.
Page 136 To enable a measurement: Go to the Scan page by clicking on the Scan icon. 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. Go to the Measure page by clicking on the Measure icon.
Page 137: Editing A Tool Or Measurement Name
Editing a Tool or Measurement Name You can assign a name to each tool and measurement. This allows multiple instances of tools and measurements of the same type to be more easily distinguished in the Gocator web interface. The measurement name is also referenced by the Script tool. To edit a tool name: Go to the Scan page by clicking on the Scan icon.
Page 138: Common Measurement Settings
Click in the ID field. Enter a new ID number. The value must be unique among all measurements. Press the Tab or Enter key, or click outside the ID field. The measurement ID will be changed. Common Measurement Settings All tools provide region settings under the Parameter tab, and all measurements provide decision and filter settings under the Output tab.
Page 139: Regions
Regions Region parameters are used by many tools to limit the region in which a measurement will occur or to help in the identification of a feature (see on page 144), a fit line (see on page 146), or left or right side of the Panel measurements (Gap and Flush;...
Page 140 Value (14.786) within decision thresholds (Min: 14, Max: 15). Decision: Pass Value (1604.250) outside decision thresholds (Min: 1500, Max: 1600). Decision: Fail Along with measurement values, decisions can be sent to external programs and devices. In particular, decisions are often used with digital outputs to trigger an external event in response to a measurement. See Output on page 209 for more information on transmitting values and decisions.
Page 141: Filters
In the measurement list, select a measurement. To select a measurement, it must be enabled. See Enabling and Disabling Measurements on page 135 for instructions on how to enable a measurement. Click on the Output tab. For some measurements, only the Output tab is displayed. Enter values in the Min and Max fields.
Page 142: Measurement Anchoring
Go to the Measure page by clicking on the Measure icon. In the Tools panel, click on a tool in the tool list. In the measurement list, select a measurement. To select a measurement, it must be enabled. See Enabling and Disabling Measurements on page 135 for instructions on how to enable a measurement.
Page 143 To anchor a profile or surface tool to a measurement: Put a representative target object in the field of view. The target should be similar to the objects that will be measured later. In Profile mode a. Use the Start or Snapshot button to view live profile data to help position the target. In Surface mode a.
Page 144: Profile Measurement
Profile Measurement This section describes the profile measurement tools available in Gocator sensors that are equipped with these tools. The following tools are available when Uniform Spacing is disabled: Bridge Value Dimension Position Script For more information on the Uniform Spacing setting and resampled data, see Uniform Spacing (Data Resampling) on page 46.
Page 145 Point Type Examples Corner Finds a dominant corner in the region of interest, where corner is defined as a change in profile slope. Top Corner Finds the top-most corner in the region of interest, where corner is defined as a change in profile shape. Bottom Corner Finds the bottom-most corner in the region of interest, where corner is defined as a change in profile shape.
Page 146: Fit Lines
Point Type Examples Any Edge Finds a rising or falling edge in the region of interest. Median Determines the median location of points in the region of interest. Fit Lines Some measurements involve estimating lines in order to measure angles or intersection points. A fit line can be calculated using data from either one or two fit areas.
Page 147 Areas are positive in regions where the profile is above the X axis. In contrast, areas are negative in regions where the profile is below the X axis. Measurements Measurement Illustration Area Measures the cross-sectional area within a region that is above or below a fitted baseline.
Page 148 Measurement Illustration Centroid X Determines the X position of the centroid of the area. Centroid Z Determines the Z position of the centroid of the area. Parameters Parameter Description Type Object area type is for convex shapes above the baseline. Regions below the baseline are ignored. Clearance area type is for concave shapes below the baseline.
Page 149: Bounding Box
Bounding Box The Bounding Box tool provides measurements related to the smallest rectangle box that encapsulates the profile (for example, X position, Z position, width, etc.). The measurement value can be compared with minimum and maximum constraints to yield a decision. See Adding and Removing Tools on page 134 for instructions on how to add measurement tools.
Page 150: Bridge Value
Measurement Illustration Width Determines the width of the smallest rectangle box that encapsulates the profile. The width reports the dimension of the box in the direction of the minor axis. Height Determines the height (thickness) of the smallest rectangle box that encapsulates the profile. Global X Determines the X position of the center of the smallest rectangle that encapsulates the profile.
Page 151 Profile point heights in the white area are included in the calculation of the average. Profile point heights in the grey area are excluded. By adjusting the Window and Skip parameters, you can choose profile point heights to remove unwanted features. In road roughness applications, you could exclude road features, such as rocks, cracks, tining valleys, and so on, to get an accurate representation of the tire-to- road interface.
Page 152 Measurement Panel Measurements Measurement Illustration Bridge Value Determines the bridge value of the profile. Angle Determines the angle of the line fitted to the profile. When Normalize Tilt is unchecked, the measurement always returns 0. Parameters Parameter Description Window A percentage of the profile point heights in the Gocator Web Interface •...
Page 153: Circle
Parameter Description histogram, starting from the highest point, to include in the average. For example, a setting of 50% would include the highest 50% of the heights. The Skip parameter then determines the actual portion of the profile point heights used to calculate the average. The Window setting in effect sets the lower limit of the portion of profile points in the histogram to be used in the average.
Page 154: Dimension
Measurements Measurement Illustration Radius Measures the radius of the circle. Finds the circle center position in the X axis. Finds the circle center position in the Z axis. Parameters Parameter Description Decision See Decisions on page 139. Region See Regions on page 139. Output See Filters on page 141.
Page 155 The tool's measurements require two feature points. See Feature Points on page 144 for information on point types and how to configure them. Measurements Measurement Illustration Width Determines the difference along the X axis between two feature points. The difference can be calculated as an absolute or signed result.
Page 156: Groove
Measurement Illustration Center X Finds the average location of two features and measures the X axis position of the average location Center Z Finds the average location of two features and measures the Z axis position of the average location. Parameters Parameter Description...
Page 157 The Groove tool uses a complex feature-locating algorithm to find a groove and then return measurements. See "Groove Algorithm" in the Gocator Measurement Tool Technical Manual for a detailed explanation of the algorithm. The behavior of the algorithm can be adjusted by changing the parameters in the measurement panel.
Page 158 Measurement Illustration Depth Measures the depth of a groove as the maximum perpendicular distance from a line connecting the edge points of the groove. Measures the X position of the bottom of a groove. Measures the Z position of the bottom of a groove. Parameters Parameter Description...
Page 159 Parameter Description Location Specifies the location type to return Bottom - Groove bottom. For a U-shape and open-shape groove, the X position is at the (Groove X and centroid of the groove. For a V-shape groove, the X position is at the intersection of lines Groove Z fitted to the left and right sides of the groove.
Page 160: Intersect
Parameter Description Output See Filters on page 141. Intersect The Intersect tool determines intersect points and angles. The measurement value can be compared with minimum and maximum constraints to yield a decision. 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.
Page 161: Line
Measurements Measurement Illustration Finds the intersection between two fitted lines and measures the X axis position of the intersection point. Finds the intersection between two fitted lines and measures the Z axis position of the intersection point. Angle Finds the angle subtended by two fitted lines. Parameters Parameter Description...
Page 162 Measurements Measurement Illustration Std Dev Finds the best-fitted line and measures the standard deviation of the laser points from the best-fitted line. Min Error Finds the best-fitted line and measures the minimum error from the best-fitted line (the maximum excursion below the fitted line). Max Error Finds the best-fitted line and measures the maximum error from the best-fitted line (the maximum excursion...
Page 163: Panel
Parameter Description fitted line. (Percentile measurement only) Decision See Decisions on page 139. Region See Regions on page 139. Output See Filters on page 141. Panel This section describes the Panel tool's Gap and Flush measurements. The Gap measurement provides the distance between the edges of two surfaces. The measurement value can be compared with minimum and maximum constraints to yield a decision.
Page 164: Flush
Measurements Measurement Illustration Measures the distance between two surfaces. The surface edges can be curved or sharp. The Data Viewer displays the gap measurement in real time. It also displays the results from the intermediate steps in the algorihtm. Flush The Flush measurement provides the flushness between the edges of two surfaces.
Page 165 The Flush tool uses a complex feature-locating algorithm to find the flushness of the object it is being used on and then return measurements. The behavior of the algorithm can be adjusted by changing the parameters in the measurement panel. See "Gap and Flush Algorithm" in the Gocator Measurement Tool Technical Manual for a detailed explanation of the algorithm.
Page 166: Position
The Data Viewer displays the flush measurement in real time. It also displays the results from the intermediate steps in the algorithm. Position The Position tool finds the X or Z axis position of a feature point. The feature type must be specified and is one of the following: Max Z, Min Z, Max X, Min X, Corner, Average (the mean X and Z of the data points), Rising Edge, Falling Edge, Any Edge, Top Corner, Bottom Corner, Left Corner, Right Corner, or Median (median X and Z of the data points).
Page 167: Strip
Measurements Measurement Illustration Finds the position of a feature on the X axis. Finds the position of a feature on the Z axis. Parameters Parameter Description Feature Type Choose Max Z, Min Z, Max X, Min X, Corner, Average, Rising Edge, Falling Edge, Any Edge, Top Corner, Bottom Corner, Left Corner, Right Corner, or Median.
Page 168 The Strip tool uses a complex feature-locating algorithm to find a strip and then return measurements. See "Strip Algorithm" in the Gocator Measurement Tool Technical Manual for a detailed explanation of the algorithm. The behavior of the algorithm can be adjusted by changing the parameters in the measurement panel.
Page 169 Measurement Illustration Height Measures the height of a strip. Measures the X position of a strip. Measures the Z position of a strip. Parameters Parameter Description Base Type Affects detection of rising and falling edges. When Base Type is set to Flat, both strip (raised area) and base support regions are needed.
Page 170 Parameter Description Location Specifies the strip position from which the measurements are performed. Left - Left edge of the strip. (Strip Height, Strip X, and Strip Z Right - Right edge of the strip. measurements only) Center - Center of the strip. Left Edge Specifies the features that will be considered as the strip's left and right edges.
Page 171: Tilt
Parameter Description When occlusion and exposure causes data drops, users should use the gap filling function to fill the gaps. See Gap Filling on page 97 for information. Min Width Specifies the minimum width for a strip to be considered valid. Tilt Enabled Enables/disables tile correction.
Page 172: Surface Measurement
See Script Measurement on page 203 for more information on the script syntax. To create or edit a Script measurement: Add a new Script tool or select an existing Script measurement. Edit the script code. Add script outputs using the Add button. For each script output that is added, an index will be added to the Output drop-down and a unique ID will be generated.
Page 173: Measurement Tools
Multiple measurements can be performed on the entire surface or each discrete object, limited only by the available CPU resources. The frame of reference for the coordinate system of the detected object can be set to Sensor or Part in the Part Detection panel (see on page 103).
Page 174 2D View 3D View Measurement Panel Gocator Web Interface • Measurement • 174 Gocator 2300 & 2880 Series...
Page 175 Measurements Measurement Illustration Determines the X position of the center of the smallest rectangle that encapsulates the part. The value returned is relative to the part. Determines the Y position of the center of the smallest rectangle that encapsulates the part. The value returned is relative to the part.
Page 176: Countersunk Hole
Measurement Illustration Height Determines the height (thickness) of the smallest rectangle box that encapsulates the part. Z Angle Determines the rotation about the Z axis and the angle of the bounding box relative to the X axis. Global X Determines the X position of the center of the smallest rectangle that encapsulates the part.
Page 177 position (X, Y, and Z) of the center of the hole, outside radius of the hole, hole bevel angle, and the depth of the hole. The countersunk hole can be on a surface at an angle to the sensor. See Adding and Removing Tools on page 134 for instructions on how to add measurement tools. 2D View 3D View Gocator Web Interface •...
Page 178 Measurements Measurement Illustration Determines the X position of the center of the countersunk hole. Determines the Y position of the center of the countersunk hole. Determines the Z position of the center of the countersunk hole. Outer Radius Determines the outer radius of the countersunk hole. To convert the radius to a diameter, set the Scale setting in the Output panel (displayed after expanding the...
Page 179 Measurement Illustration Bevel Radius Determines the radius at a user-defined offset (Offset setting) relative to the surface that the countersunk hole is on. To convert the radius to a diameter, set the Scale setting in the Output panel (displayed after expanding the Filters section) to 2.
Page 180 Parameters Parameter Description Nominal Bevel Angle The expected bevel angle of the countersunk hole. Nominal Outer Radius The expected outer radius of the countersunk hole. Nominal Inner Radius The expected inner radius of the countersunk hole. Bevel Radius Offset The offset, relative to the surface that the countersunk hole is on, at which the bevel radius will be measured.
Page 181: Ellipse
Parameter Description and Y parameters. Partial Detection Enable if only part of the hole is within the measurement region. If disabled, the hole must be completely in the region of interest for results to be valid. Decision See Decisions on page 139. Region See Regions on page 139.
Page 182 Measurement Panel Measurements Measurement 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 the XY plane. Ratio Determines the minor/major axis ratio of an ellipse fitted to the part's area in the XY plane.
Page 183: Hole
Parameters Parameter Description Decision See Decisions on page 139. Region See Regions on page 139. Output See Filters on page 141. Hole The Hole tool locates a circular opening within a region of interest on the surface and returns its position and radius.
Page 184 Measurement Panel Gocator Web Interface • Measurement • 184 Gocator 2300 & 2880 Series...
Page 185 Measurements Measurement Illustration Determines the X position of the hole center. Determines the Y position of the hole center. Determines the Z position of the hole center. Radius Determines the radius of the hole. Parameters Parameter Description Nominal Radius Expected radius of the hole. Radius Tolerance The maximum variation from the nominal radius (+/- from the nominal radius).
Page 186: Measurement Region
Parameter Description the Z position of the hole. It is typically used in cases where the surface around the hole is not flat. When this option is set to Autoset, the algorithm automatically determines the reference region. When the option is not set to Autoset, the user manually specifies the reference region.
Page 187: Opening
Opening The Opening tool locates rounded, rectangular, and rounded corner openings. The opening can be on a surface at an angle to the sensor. See Adding and Removing Tools on page 134 for instructions on how to add measurement tools. The tool uses a complex feature- locating algorithm to find a hold and then return measurements.
Page 188 The algorithm can separate out 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, and radius. The orientation defines the rotation around the normal of the alignment plane.
Page 189 Gocator Web Interface • Measurement • 189 Gocator 2300 & 2880 Series...
Page 190 Measurement Panel Measurements Measurement Illustration Determines the X position of the opening's center. Determines the Y position of the opening's center. Determines the Z position of the opening's center. Width Determines the width of the opening. Length Determines the length of the opening. Gocator Web Interface •...
Page 191 Measurement Illustration Angle Determines the angle (rotation) around the normal of the alignment plane. Parameters Parameter Description Type Rounded Slot, Rectangle. Nominal Width Nominal width of the opening. Nominal length Nominal length of the opening. Nominal Angle Nominal angle of the opening. The default orientation is the length of the opening along the X axis.
Page 192 Parameter Description Width Tolerance The maximum variation from the nominal width (+/- from the nominal value). Length Tolerance The maximum variation from the nominal length (+/- from the nominal value). Angle Tolerance The maximum variation from the nominal orientation (+/- from the nominal value). Partial Detection Enable if only part of the opening is within the measurement region.
Page 193: Measurement Region
Parameter Description With one or more reference region, the algorithm calculates the Z positions as the average values of the data within the regions. When the user places the reference region manually, all of the data is used, whether the data is inside or outside the opening. The user should place the reference region carefully.
Page 194: Plane
Plane The Plane tool provides measurements that report angle X, angle Y, and offset Z of the surface with respect to the alignment target. The measurement value can be compared with minimum and maximum constraints to yield a decision. See Adding and Removing Tools on page 134 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.
Page 195 Measurement Panel Measurements Measurement Illustration Angle X Determines the X angle of the surface with respect to the alignment target. Angle Y Determines the Y angle of the surface with respect to the alignment target. Offset Z Determines the z offset of the surface with respect to the alignment target.
Page 196: Position
Position The Position tool reports the X, Y, or Z position of a part. The feature type must be specified and is one of the following: Average (the mean X, Y, and Z of the data points), Median (median X, Y, and Z of the data points), Centroid (the centroid of the data considered as a volume with respect to the z = 0 plane), Min X, Max X, Min Y, Max Y, Min Z, or Max Z.
Page 197: Stud
Measurements Measurement Illustration Determines the X position of the selected feature type. Determines the Y position of the selected feature type. Determines the Z position of the selected feature type. Parameters Parameter Description Feature Type One of the following: Average, Centroid, Min X, Max X, Min Y, Max Y, Min Z, Max Z, Median.
Page 198 The stud shape is defined by the tip height and base height. The base and tip heights specify where the shaft with the nominal radius begins and ends. 3D View 2D View Gocator Web Interface • Measurement • 198 Gocator 2300 & 2880 Series...
Page 199 Measurement Panel Gocator Web Interface • Measurement • 199 Gocator 2300 & 2880 Series...
Page 200 Measurements Measurement Illustration Tip 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 Determines the Y position of the stud base.
Page 201: Measurement Region
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. The measurement value can be compared with minimum and maximum constraints to yield a decision. See Adding and Removing Tools on page 134 for instructions on how to add measurement tools.
Page 202: Script
Measurements Measurement Illustration Volume Measures volume in XYZ space. Area Measures area in the XY plane. Thickness Measures thickness (height) of a part. Parameters Parameter Description Location One of the following: maximum height, minimum height, average height, median height, the height at (Thickness measurement only) the 2D centroid in the XY plane, or the height at the 3D centroid in XYZ space.
Page 203: Script Measurement
See Script Measurement below for more information on the script syntax. To create or edit a Script measurement: Add a new Script tool or select an existing Script measurement. Edit the script code. Add script outputs using the Add button. For each script output that is added, an index will be added to the Output drop-down and a unique ID will be generated.
Page 204: Built-In Functions
Supported Elements Elements Supported Control Operators if, while, do, for, switch and return. Data Types char, int, unsigned int, float, double, long long (64-bit integer). Arithmetic and Logical Standard C arithmetic operators, except ternary operator (i.e., "condition? trueValue: Operator falseValue"). Explicit casting (e.g., int a = (int) a_float) is not supported. Function Declarations Standard C function declarations with argument passed by values.
Page 205 Function Description int Measurement_NameExists(char* toolName, Determines if a measurement exist by name. char* measurementName) Parameter: toolName – Tool name measurementName – Measurement name Returns: 0 – measurement does not exist 1 – measurement exists int Measurement_Id (char* toolName, char* Gets the measurement ID by the measurement name. measurementName) Parameters: toolName –...
Page 206 Memory Functions Function Description void Memory_Set64s (int id, long long Stores a 64-bit signed integer in persistent memory. value) Parameters: id - ID of the value value - Value to store long long Memory_Get64s (int id) Loads a 64-bit signed integer from persistent memory. Parameters: id - ID of the value Returns:...
Page 207 Function Description Parameters: id – Value ID void Memory_ClearAll() Erases all values from persistent memory Stamp Functions Function Description long long Stamp_Frame() Gets the frame index of the current frame. long long Stamp_Time() Gets the time stamp of the current frame. long long Stamp_Encoder() Gets the encoder position of the current frame.
Page 208 else Output_Set(Volume, 0); Gocator Web Interface • Measurement • 208 Gocator 2300 & 2880 Series...
Page 209: Output
Output The following sections describe the Output page. Output Page Overview Output configuration tasks are performed using the Output page. Gocator sensors can transmit laser profiles and measurement results to various external devices using several output interface options. Up to two outputs can have scheduling enabled with ASCII as the Serial output protocol. When Selcom is the current Serial output protocol, only one other output can have scheduling enabled.
Page 210: Ethernet Output
Ethernet Output A sensor uses TCP messages (Gocator protocol) to receive commands from client computers, and to send video, laser profile, intensity, and measurement results to client computers. The sensor can also receive commands from and send measurement results to a PLC using ASCII, Modbus TCP, or EtherNet/IP protocol.
Page 211 To receive commands and send results using Modbus TCP messages: Go to the Output page. Click on Ethernet in the Output panel. Select Modbus as the protocol in the Protocol drop-down. Unlike the Gocator Protocol, you do not select which measurement items to output. The Ethernet panel will list the register addresses that are used for Modbus TCP communication.
Page 212 To receive commands and send results using EtherNet/IP messages: Go to the Output page. Click on Ethernet in the Output panel. Select EtherNet/IP in the Protocol option. Unlike using the Gocator Protocol, you don't select which measurement items to output. The Ethernet panel will list the register addresses that are used for EtherNet/IP messages communication.
Page 213: Digital Output
To receive commands and send results using ASCII messages: Go to the Output page. Click on Ethernet in the Output panel. Select ASCII as the protocol in the Protocol drop-down. Set the operation mode in the Operation drop-down. In asynchronous mode, the data results are transmitted when they are available. In polling mode, users send commands on the data channel to request the latest result.
Page 214 ejectors. A digital output can act as a measurement valid signal to allow external devices to synchronize to the timing at which measurement results are output. In this mode, the sensor outputs a digital pulse when a measurement result is ready. A digital output can also act as a strobe signal to allow external devices to synchronize to the timing at which the sensor exposes.
Page 215 Specify a pulse width using the slider. The pulse width is the duration of the digital output pulse, in microseconds. Specify whether the output is immediate or scheduled. Check the Scheduled option if the output needs to be scheduled. A scheduled output becomes active after a specified delay from the start of Gocator exposure. A scheduled output can be used to track the decisions for multiple objects as these objects travel from the sensor to the eject gates.
Page 216: Analog Output
Specify a Pulse Width. The pulse width determines the duration of the digital output pulse, in microseconds. Specify if the output is Immediate or Scheduled. A pulsed signal can become active immediately or scheduled. Continuous signal always becomes active immediately. Immediate output becomes active as soon as a scheduled digital output (see on page 314) is received.
Page 217 To output measurement value or decision: Go to the Output page. Click on Analog in the Output panel. Set Trigger Event to Measurement. Select the measurement that should be used for output. Only one measurement can be used for analog output. Measurements shown here correspond to measurements that have been programmed using the Measurements page.
Page 218: Serial Output
Specify if the output is immediate or scheduled. An analog output value becomes active immediately or scheduled. Immediate output becomes active as soon as a Scheduled Analog Output command (see on page 315) is received. Software scheduled command can schedule an analog value to output at a specified future time or encoder value, or changes its state immediately.
Page 219 format string. See Custom Result Format on page 363 for the supported format string syntax. Select the measurments to send. Select measurements by placing a check in the corresponding check box. Set the Special Characters. Select the delimiter, termination and invalid value characters. Special characters are used in commands and standard-format data results.
Page 220: Dashboard
Dashboard The following sections describe the Dashboard page. Dashboard Page Overview The Dashboard page summarizes sensor health information, and measurement statistics. Element Description System Displays sensor state and health information. See System Panel below. Measurements Displays measurement statistics. See Measurements on the next page. System Panel The following state and health information is available in the System panel on the Dashboard page: Dashboard General System Values...
Page 221: Measurements
Name Description CPU Usage Sensor CPU utilization (%). Encoder Value Current encoder value (ticks). Encoder Frequency Current encoder frequency (Hz). Memory Usage Sensor memory utilization (MB used / MB total available). Storage Usage Sensor flash storage utilization (MB used / MB total available). Temperature Sensor internal temperature (C).
Page 222 Dashboard Measurement Statistics Name Description Measurements The measurement ID and name. Value The most recent measurement value. Min/Max The minimum and maximum measurement values that have been observed. The average of all measurement results collected since the sensor was started. The standard deviation of all measurement results collected since the sensor was started.
Page 223: Gocator Emulator
Gocator Emulator The Gocator emulator is a stand-alone application that lets you run a "virtual" sensor. In a virtual sensor, you can test jobs, evaluate data, and even learn more about new features, rather than take 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.
Page 224: Downloading A Support File
For information on saving and loading jobs in the emulator, see Creating, Saving, and Loading Jobs on page 228 . For information on uploading and downloading jobs between the emulator and a computer, and performing other job file management tasks, see Downloading and Uploading Jobs on page 232. Downloading a Support File The emulator is provided with several virtual sensors preinstalled.
Page 225: Adding A Scenario To The Emulator
and clicking on the Product User Area link. To run the emulator, unzip the package and double-click on \Emulator\bin\win32\GoEmulator.exe. Emulator launch screen You can change the language of the emulator's interface from the launch screen. To change the language, choose a language option from the top drop-down: Selecting the emulator interface language Adding a Scenario to the Emulator To simulate a physical sensor using a support file downloaded from a sensor, you must add it as a...
Page 226: Running A Scenario
Click the Add button and choose a previously saved support file (.gs extension) in the Choose File to Upload dialog. (Optional) In Description, type a description. You can only add descriptions for user-added scenarios. Running a Scenario After you have added a virtual sensor by uploading a support file to the emulator, you can run it from the Available Scenarios list on the emulator launch screen.
Page 227: Removing A Scenario From The Emulator
Choose a model family in the Model drop-down. Choose Standalone or Buddy to limit the scenarios to single-sensor or dual-sensor scenarios, respect- ively. Select a scenario in the Available Scenarios list and click Start. Removing a Scenario from the Emulator You can easily remove a scenario from the emulator.
Page 228: Stopping And Restarting The Emulator
Replay Protection is on by default. Stopping and Restarting the Emulator To stop the emulator: Click Stop Emulation. Stopping the emulator returns you to the launch screen. To restart the emulator when it is running: Click Restart Emulation. Restarting the emulator restarts the currently running simulation. Working with Jobs and Data The following topics describe how to work with jobs and replay data (data recorded from a physical sensor) in the emulator.
Page 229: Playback And Measurement Simulation
To load (switch) jobs: Select an existing file name in the job drop-down list. The job is activated. If there are any unsaved changes in the current job, you will be asked whether you want to discard those changes. Playback and Measurement Simulation The emulator can replay scan data previously recorded by a physical sensor, and also simulate measurement tools on recorded data.
Page 230: Downloading, Uploading, And Exporting Replay Data
Toggle Replay mode on by setting the slider to the right in the Toolbar. The slider's background turns blue. To change the mode, Replay Protection must be unchecked. Go to the Measure page. Modify settings for existing measurements, add new measurement tools, or delete measurement tools as desired.
Page 231 Do one of the following: Click Discard to discard any unsaved changes. The Upload menu appears. Click Cancel to return to the main window to save your changes. In the Upload menu, choose one of the following: Upload: Unloads the current job and creates a new unsaved and untitled job from the content of the replay data file.
Page 232: Downloading And Uploading Jobs
see To replay data in Playback and Measurement Simulation on page 229. Optionally, convert exported data to another format using the CSV Converter Tool. For information on this tool, see CSV Converter Tool on page 380. Recorded intensity data can be exported to a bitmap (.BMP format). Acquire Intensity must be checked in the Scan Mode panel while data was being recorded in order to export intensity data.
Page 233 Element Description Name field Used to provide a job name when saving files. Displays the jobs that are currently saved in the emulator . Jobs list Job Name field. Changes to job files are not Save button Saves current settings to the job using the name in the persistent in the emulator.
Page 234: Scan, Model, And Measurement Settings
Scan, Model, and Measurement Settings The settings on the Scan page related to actual scanning will clear the buffer of any scan data that is uploaded 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 because the change would clear the buffer.
Page 235: Gocator Device Files
Gocator Device Files This section describes the user-accessible device files stored on a Gocator. Live Files Various "live" files stored on a Gocator sensor represent the sensor's active settings and transformations (represented together as "job" files), the active replay data (if any), and the sensor log. By changing the live job file, you can change how the sensor behaves.
Page 236: Log File
Log File The log file contains log messages generated by the sensor. The root element is Log. To access the log file, use the Read File command, passing "_live.log" to the command. The log file is read- only. Log Child Elements Element Type Description...
Page 237: Accessing Files And Components
Component Path Description Transform transform.xml Transformation values. Present only if Alignment Reference is set to Dynamic. models Part model <name>.mdl One or more part model files. Part models are created using and part matching Elements in the components contain three types of values: settings, constraints, and properties. Settings are input values that can be edited.
Page 238: Setup
Element Type Description ToolOptions ToolOptions Section List of available tool types and their information. See page 252 for details. Tools Collection Collection of sections. Each section is an instance of a tool and is named by the type of the tool it describes. For more information, see the sections for each tool under Tools on page 253.
Page 239: Filters
Element Type Description ProfileGeneration ProfileGeneration Section on page 248. Used by Gocator 1300 series sensors. PartDetection PartDetection Section on page 249. PartMatching Section PartMatching on page 251. Custom Custom Used by specialized sensors. Filters The Filters element contains settings related to post-processing profiles before they are output or used by measurement tools.
Page 240: Xmedian
XMedian XMedian Child Elements Element Type Description Enabled Bool Enables filtering. Window Window size (mm). Window.min Minimum window size (mm). Window.max Maximum window size (mm). YMedian YMedian Child Elements Element Type Description Enabled Bool Enables filtering. Window Window size (mm). Window.min Minimum window size (mm).
Page 241: Layout
Element Type Description 2 – Digital Input 3 – Software Source.options 32s (CSV) List of available source options. Units Sensor triggering units when source is not clock or encoder: 0 – Time 1 – Encoder FrameRate Frame rate for time trigger (Hz). FrameRate.min Minimum frame rate (Hz).
Page 242: Alignment
Element Type Description XSpacingCount Number of points along X when data is resampled. YSpacingCount Number of points along Y when data is resampled. TransformedDataRegion Region3D Transformed data region of the layout output. Orientation Sensor orientation: 0 – Wide 1 – Opposite 2 –...
Page 243: Disk
Element Type Description StationaryTarget Stationary alignment target: 0 – None 1 – Disk 2 – Bar 3 – Plate StationaryTarget.options 32s (CSV) List of available stationary alignment targets. MovingTarget Moving alignment target: 0 – None 1 – Disk 2 – Bar 3 –...
Page 244: Devices / Device
Devices / Device Devices / Device Child Elements Element Type Description @role Sensor role: 0 – Main 1 – Buddy DataSource Data source of device output (read-only): 0 – Top 1 – Bottom 2 – Top Left 3 – Top Right XSpacingCount Number of resampled points along X (read-only).
Page 245 Element Type Description ExposureSteps.countMax Maximum number of exposure steps. IntensityStepIndex Index of exposure step to use for intensity when using multiple exposures. XSubsampling Subsampling factor in X. XSubsampling.options 32u (CSV) List of available subsampling factors in X. ZSubsampling Subsampling factor in Z. ZSubsampling.options 32u (CSV) List of available subsampling factors in Z.
Page 246: Tracking
Tracking Tracking Child Elements Element Type Description Enabled Bool Enables tracking. Enabled.used Bool Whether or not this field is used. SearchThreshold Percentage of spots that must be found to remain in track. Height Tracking window height (mm). Height.min Minimum tracking window height (mm). Height.max Maximum tracking window height (mm).
Page 247: Surfacegeneration
Element Type Description CameraGainAnalog Analog camera gain factor. CameraGainAnalog.used Bool Determines if the setting’s value is currently used. CameraGainAnalog.value Value in use by the sensor, useful for determining value when used is false. CameraGainAnalog.min Minimum value. CameraGainAnalog.max Maximum value. CameraGainDigital Digital camera gain factor.
Page 248: Fixedlength
Element Type Description 3 – Rotational FixedLength Section FixedLength below. VariableLength Section VariableLength below. Rotational Section Rotational below. FixedLength FixedLength Child Elements Element Type Description StartTrigger Start trigger condition: 0 – Sequential 1 – Digital input Surface length (mm). Length Minimum surface length (mm).
Page 249: Fixedlength
Element Type Description 2 – Variable length 3 – Rotational FixedLength Section FixedLength below. VariableLength Section VariableLength below. Rotational Section Rotational below. FixedLength FixedLength Child Elements Element Type Description StartTrigger Start trigger condition: 0 – Sequential 1 – Digital input Profile length (mm).
Page 250 Element Type Description Threshold.min Minimum height threshold (mm). Threshold.max Maximum height threshold (mm). ThresholdDirection Threshold direction: 0 – Above 1 – Below MinArea Minimum area (mm MinArea.min Minimum value of minimum area. MinArea.max Maximum value of minimum area. MinArea.used Bool Whether or not this field is used.
Page 251: Edgefiltering
Element Type Description 2 – Part FrameOfReference.used Bool Whether or not this field is used. FrameOfReference.value Actual value. EdgeFiltering Section EdgeFiltering below. EdgeFiltering EdgeFiltering Child Elements Element Type Description @used Bool Whether or not this section is used. Enabled Bool Enables edge filtering.
Page 252: Boundingbox
BoundingBox BoundingBox Child Elements Element Type Description ZAngle Z rotation to apply to bounding box (degrees). Acceptance/Width/Min Minimum width (mm). Acceptance/Width/Max Maximum width (mm). Acceptance/Length/Min Minimum length (mm). Acceptance/Length/Max Maximum length (mm). Ellipse Ellipse Child Elements Element Type Description ZAngle Z rotation to apply to ellipse (degrees).
Page 253: Tools
Measurement Name Child Elements Element Type Description @displayName String Display name of the tool. @minCount Minimum number of instances in a tool. @maxCount Maximum number of instances in a tool. Tools The Tools element contains measurement tools. The following sections describe each tool and its available measurements.
Page 254: Profileregion2D
ProfileLine Child Elements Element Type Description RegionCount Count of the regions. Regions (Collection) The regions used to calculate a line. Contains one or two Region elements ProfileRegion2D of type ProfileRegion2d An element of type ProfileRegion2d defines a rectangular area of interest. ProfileRegion2d Child Elements Element Type...
Page 255: Surfaceregion2D
Element Type Description 6 – Z Min 7 – Z Max 8 – Median RegionEnabled Boolean Setting to enable/disable region: 0 – Disable 1 – Enable Region3D Region Element for feature detection volume. SurfaceRegion2d An element of type SurfaceRegion2d defines a rectangular area of interest on the X-Y plane. SurfaceRegion2d Child Elements Element Type...
Page 256: Profileboundingbox
Element Type Description Measurements\Area Area tool Area measurement. measurement Measurements\CentroidX Area tool CentroidX measurement. measurement Measurements\CentroidZ Area tool CentroidZ measurement. measurement Area Tool Measurement Element Type Description Measurement ID. Optional (measurement disabled if not set). Name String Measurement name. Enabled Boolean Measurement enable state: 0 –...
Page 257 Element Type Description Anchor\Z String (CSV) The Z measurements (IDs) used for anchoring. Anchor\Z.options String (CSV) The Z measurements (IDs) available for anchoring. RegionEnabled Bool Whether or not to use region. If region is disabled, all available data is used. ProfileRegion2d Region Measurement region.
Page 258: Profilebridgevalue
ProfileBridgeValue A ProfileBridgeValue element defines settings for a profile bridge value tool and one or more of its measurements. ProfileBridgeValue Child Elements Element Type Description Name String Tool name. Source Profile source. Anchor\X String (CSV) The X measurements (IDs) used for anchoring. Anchor\X.options String (CSV) The X measurements (IDs) available for anchoring.
Page 259: Profilecircle
Element Type Description 1 – Enable SmoothingEnabled Boolean Smoothing enable state: 0 – Disable 1 – Enable SmoothingWindow Smoothing window. Scale Output scaling factor. Offset Output offset factor. DecisionMin Minimum decision threshold. DecisionMax Maximum decision threshold. ProfileCircle A ProfileCircle element defines settings for a profile circle tool and one or more of its measurements. ProfileCircle Child Elements Element Type...
Page 260: Profiledimension
Element Type Description HoldEnabled Boolean Output hold enable state: 0 – Disable 1 – Enable SmoothingEnabled Boolean Smoothing enable state: 0 – Disable 1 – Enable SmoothingWindow Smoothing window. Scale Output scaling factor. Offset Output offset factor. DecisionMin Minimum decision threshold. DecisionMax Maximum decision threshold.
Page 261: Profilegroove
Element Type Description set). Name String Measurement name. Enabled Boolean Measurement enable state: 0 – Disable 1 – Enable HoldEnabled Boolean Output hold enable state: 0 – Disable 1 – Enable SmoothingEnabled Boolean Smoothing enable state: 0 – Disable 1 – Enable SmoothingWindow Smoothing window.
Page 262 Element Type Description MinDepth Minimum depth. MinWidth Minimum width. MaxWidth Maximum width. Region ProfileRegion2d Measurement region. Measurements\X Groove tool X measurement. measurement Measurements\Z Groove tool Z measurement. measurement Measurements\Width Groove tool Width measurement. measurement Measurements\Depth Groove tool Depth measurement. measurement Groove Tool Measurement Element Type...
Page 263: Profileintersect
Element Type Description (X and Z measurements only) 0 – Bottom 1 – Left corner 2 – Right corner ProfileIntersect A ProfileIntersect element defines settings for a profile intersect tool and one or more of its measurements. ProfileIntersect Child Elements Element Type Description Name...
Page 264: Profileline
Element Type Description 0 – Disable 1 – Enable SmoothingWindow Smoothing window. Scale Output scaling factor. Offset Output offset factor. DecisionMin Minimum decision threshold. DecisionMax Maximum decision threshold. Boolean Absolute Setting for selecting absolute or signed result: (Angle measurement only) 0 –...
Page 265: Profilepanel
Element Type Description HoldEnabled Boolean Output hold enable state: 0 – Disable 1 – Enable SmoothingEnabled Boolean Smoothing enable state: 0 – Disable 1 – Enable SmoothingWindow Smoothing window. Scale Output scaling factor. Offset Output offset factor. DecisionMin Minimum decision threshold. DecisionMax Maximum decision threshold.
Page 266 Element Type Description MaxVoidWidth Maximum void width. SurfaceWidth Surface width. SurfaceOffset Surface offset. NominalRadius Nominal radius. EdgeAngle Edge angle. Region ProfileRegion2d Edge region. Gap Measurement Element Type Description Measurement ID. Optional (measurement disabled if not set). Name String Measurement name. Enabled Boolean Measurement enable state:...
Page 267: Profileposition
Element Type Description 1 – Enable HoldEnabled Boolean Output hold enable state: 0 – Disable 1 – Enable SmoothingEnabled Boolean Smoothing enable state: 0 – Disable 1 – Enable SmoothingWindow Smoothing window. Scale Output scaling factor. Offset Output offset factor. DecisionMin Minimum decision threshold.
Page 268: Profilestrip
Element Type Description Enabled Boolean Measurement enable state: 0 – Disable 1 – Enable HoldEnabled Boolean Output hold enable state: 0 – Disable 1 – Enable SmoothingEnabled Boolean Smoothing enable state: 0 – Disable 1 – Enable SmoothingWindow Smoothing window. Scale Output scaling factor.
Page 269 Element Type Description 2 – Falling 4 – Data End 8 – Void TiltEnabled Boolean Setting for tilt compensation: 0 – Disabled 1 – Enabled SupportWidth Support width of edge (mm). TransitionWidth Transition width of edge (mm). MinWidth Minimum strip width (mm). MinHeight Minimum strip height (mm).
Page 270: Script
Element Type Description DecisionMin Minimum decision threshold. DecisionMax Maximum decision threshold. SelectType Method of selecting a groove when multiple grooves are found: 0 – Best 1 – Ordinal, from left 2 – Ordinal, from right SelectIndex Index when SelectType is set to 1 or 2. Location Setting for groove location to return from: (X, Z, and Height measurements...
Page 271 Element Type Description Anchor\Y.options String (CSV) The Y measurements (IDs) available for anchoring. Anchor\Z String (CSV) The Z measurements (IDs) used for anchoring. Anchor\Z.options String (CSV) The Z measurements (IDs) available for anchoring. ZRotationEnabled Boolean Setting to enable/disable rotation of bounding box RegionEnabled Boolean Setting to enable/disable region.
Page 272: Surfacecshole
Element Type Description SmoothingWindow Smoothing window. Scale Output scaling factor. Offset Output offset factor. DecisionMin Minimum decision threshold. DecisionMax Maximum decision threshold. SurfaceCsHole A SurfaceCsHole element defines settings for a surface countersunk hole tool and one or more of its measurements. SurfaceCsHole Child Elements Element Type...
Page 273 Element Type Description RefRegionCount Count of the reference regions which are to be used RefRegions (Collection) SurfaceRegion2D Reference regions. Contains 2 elements. AutoTiltEnabled Boolean Setting to enable/disable tilt correction: 0 – Disable 1 – Enable TiltXAngle Setting for manual tilt correction angle X. TiltYAngle Setting for manual tilt correction angle Y.
Page 274: Surfaceellipse
Element Type Description HoldEnabled Boolean Output hold enable state: 0 – Disable 1 – Enable SmoothingEnabled Boolean Smoothing enable state: 0 – Disable 1 – Enable SmoothingWindow Smoothing window. Scale Output scaling factor. Offset Output offset factor. DecisionMin Minimum decision threshold. DecisionMax Maximum decision threshold.
Page 275: Surfacehole
Element Type Description Name String Measurement name. Enabled Boolean Measurement enable state: 0 – Disable 1 – Enable HoldEnabled Boolean Output hold enable state: 0 – Disable 1 – Enable SmoothingEnabled Boolean Smoothing enable state: 0 – Disable 1 – Enable SmoothingWindow Smoothing window.
Page 276 Element Type Description 0 – Disable 1 – Enable DepthLimit The depth limit relative to the surface. Data below this limit is ignored. RegionEnabled Boolean Setting to enable/disable region: 0 – Disable 1 – Enable Region Region3D Measurement region. RefRegionsEnabled Boolean Setting to enable/disable reference regions: 0 –...
Page 277: Surfaceopening
Element Type Description SmoothingEnabled Boolean Smoothing enable state: 0 – Disable 1 – Enable SmoothingWindow Smoothing window. Scale Output scaling factor. Offset Output offset factor. DecisionMin Minimum decision threshold. DecisionMax Maximum decision threshold. SurfaceOpening A SurfaceOpening element defines settings for a surface opening tool and one or more of its measurements.
Page 278 Element Type Description 1 – Enable DepthLimit The depth limit relative to the surface. Data below this limit is ignored. RegionEnabled Boolean Setting to enable/disable region: 0 – Disable 1 – Enable Region Region3D Measurement region. RefRegionsEnabled Boolean Setting to enable/disable reference regions: 0 –...
Page 279: Surfaceplane
Element Type Description HoldEnabled Boolean Output hold enable state: 0 – Disable 1 – Enable SmoothingEnabled Boolean Smoothing enable state: 0 – Disable 1 – Enable SmoothingWindow Smoothing window. Scale Output scaling factor. Offset Output offset factor. DecisionMin Minimum decision threshold. DecisionMax Maximum decision threshold.
Page 280: Surfaceposition
Plane Tool Measurement Element Type Description id (attribute) Measurement ID. Optional (measurement disabled if not set). Name String Measurement name. Enabled Boolean Measurement enable state: 0 – Disable 1 – Enable HoldEnabled Boolean Output hold enable state: 0 – Disable 1 –...
Page 281: Surfacestud
Position Tool Measurement Element Type Description id (attribute) Measurement ID. Optional (measurement disabled if not set). Name String Measurement name. Enabled Boolean Measurement enable state: 0 – Disable 1 – Enable HoldEnabled Boolean Output hold enable state: 0 – Disable 1 –...
Page 282 Element Type Description RefRegionsEnabled Boolean Setting to enable/disable reference regions: 0 – Disable 1 – Enable RefRegionCount Count of the reference regions that are to be used. RefRegions (Collection) Reference regions. Contains two RefRegion elements of type SurfaceRegion2D AutoTiltEnabled Boolean Setting to enable/disable tilt correction: 0 –...
Page 283: Surfacevolume
Element Type Description 1 – Enable SmoothingWindow Smoothing window. Scale Output scaling factor. Offset Output offset factor. DecisionMin Minimum decision threshold. DecisionMax Maximum decision threshold. Radius offset of the stud. RadiusOffset (Radius measurement only) SurfaceVolume A SurfaceVolume element defines settings for a surface volume tool and one or more of its measurements.
Page 284: Output
Element Type Description HoldEnabled Boolean Output hold enable state: 0 – Disable 1 – Enable SmoothingEnabled Boolean Smoothing enable state: 0 – Disable 1 – Enable SmoothingWindow Smoothing window. Scale Output scaling factor. Offset Output offset factor. DecisionMin Minimum decision threshold. DecisionMax Maximum decision threshold.
Page 285 In the Ethernet element, the source identifiers used for video, range, profile, and surface output, as well as range, profile, and surface intensity outputs, correspond to the sensor that provides the data. For example, in the XML below, the options attribute of the Profiles element shows that only two sources are available (see the table below for the meanings of these values).
Page 286: Ascii
Element Type Description 0 – Top 1 – Bottom 2 – Top left 3 – Top right Profiles.options 32s (CSV) List of available profile sources (see above). Surfaces 32s (CSV) Selected surface sources: 0 – Top 1 – Bottom 2 – Top left 3 –...
Page 287: Eip
Element Type Description 1 – Polled ControlPort Control service port number. HealthPort Health service port number. DataPort Data service port number. Delimiter String Field delimiter. Terminator String Line terminator. InvalidValue String String for invalid output. CustomDataFormat String Custom data format. CustomFormatEnabled Bool Enables custom data format.
Page 288: Analog
Element Type Description 4 – Acquisition start 5 – Acquisition end SignalType Signal type: 0 – Pulse 1 – Continuous ScheduleEnabled Bool Enables scheduling. PulseWidth Pulse width (µs). PulseWidth.min Minimum pulse width (µs). PulseWidth.max Maximum pulse width (µs). PassMode Measurement pass condition: 0 –...
Page 289: Serial
Element Type Description CurrentMax Maximum current (mA). CurrentMax.min Minimum value of maximum current (mA). CurrentMax.max Maximum value of maximum current (mA). CurrentInvalidEnabled Bool Enables special current value for invalid measurement value. CurrentInvalid Current value for invalid measurement value (mA). CurrentInvalid.min Minimum value for invalid current (mA).
Page 290: Ascii
Element Type Description 0 – 12-bit 1 – 12-bit with search 2 – 14-bit 3 – 14-bit with search Format.options 32s (CSV) List of available formats. DataScaleMin Measurement value corresponding to minimum word value. DataScaleMax Measurement value corresponding to maximum word value. Ascii Ascii Child Elements Element...
Page 291: Device
<Y>0.0</Y> <Z>123.4966803469</Z> <XAngle>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>2.7078302556</XAngle> </Device> </Devices> </Transform> The Transform element contains the alignment record for both the Main and the Buddy sensor. Transform Child Elements Element Type Description @version Transform version (100). EncoderResolution Encoder Resolution (mm/tick).
Page 292: Part Models
Part Models Part models represent models created using the part matching feature. You can access a model in the active job using path notation. For example, to access a model called scan.mdl, use "_live.job/scan.mdl". You can access part models in user-created job files in non-volatile storage, for example, "productionRun01.job/model1.mdl".
Page 293: Configuration
Field Type Offset Description 1 – Bottom width Width of model space, in units of xScale length Length of model space, un units of yScale xScale X scale (nm) yScale Y scale (nm) xOffset X offset (µm) yOffset Y offset µm zAngle Z rotation (microdegrees) pointCount...
Page 294: Protocols
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 Gocator Modbus EtherNet/IP ASCII Protocols Available over Serial ASCII Gocator Protocol This section describes the TCP and UDP commands and data formats used by a client computer to...
Page 295: Data Types
For information on configuring the protocol using the Web interface, see Ethernet Output on page 210. For information on job file structures (for example, if you wish to create job files programmatically), see Job Files on page 236. Data Types The table below defines the data types and associated type identifiers used in this section.
Page 296: Discovery Commands
Label Value Description Invalid State -1000 Command is not valid in the current state. Item Not Found -999 A required item (e.g., file) was not found. Invalid Command -998 Command is not recognized. Invalid Parameter -997 One or more command parameters are incorrect. Not Supported -996 The operation is not supported.
Page 297: Set Address
Reply Field Type Offset Description length Reply length. type Reply type (0x1001). status Operation status. signature Message signature (0x0000504455494D4C) deviceId Serial number. dhcpEnabled 0 – Disabled 1 – Enabled reserved[4] byte Reserved. address[4] byte The IP address in left to right order. reserved[4] byte Reserved.
Page 298: Get Info
Reply Field Type Offset Description length Reply length. type Reply type (0x1002). status Operation status. For a list of status codes, see Commands page 295. signature Message signature (0x0000504455494D4C). deviceId Serial number. Get Info The Get Info command is used to retrieve sensor information. Command Field Type...
Page 299: Control Commands
Field Type Offset Description gatewayAddress[4] byte Gateway address. reserved[12] byte Reserved. controlPort Control channel port. upgradePort Upgrade channel port. healthPort Health channel port. dataPort Data channel port. webPort Web server port. propertyCount Number of sensor ID properties. properties List of sensor ID properties. Property [propertyCount] Property...
Page 300: Protocol Version
A continue reply message contains a block of data of variable size, as well as status and progress information. The series of continue messages is ended by either an error, or a continue message containing 0 bytes of data. Protocol Version The Protocol Version command returns the protocol version of the connected sensor.
Page 301: Set Address
Set Address The Set Address command modifies the network configuration of a Gocator sensor. On receiving the command, the Gocator will perform a reset. You should wait 30 seconds before re-connecting to the Gocator. Command Field Type Offset Description length Command size including this field, in bytes.
Page 302: Get States
Field Type Offset Description Reply identifier (0x4002). status Commands Reply status. For a list of status codes, see on page 295. localInfo Sensor Info for this device. Info remoteCount Number of discovered sensors. Sensor remoteInfo List of info for discovered sensors. [remoteCount] Info Sensor Info...
Page 303: Log In/Out
Field Type Offset Description count Number of state variables. sensorState Sensor state -1 – Conflict 0 – Ready 1 – Running Control Commands For more information on states, see on page 299. loginState Device login state 0 – No user 1 –...
Page 304: Change Password
Field Type Offset Description 1 – Administrator 2 – Technician password[64] char Password (required for log-in only). Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4003). status Reply status. For a list of status codes, see Commands on page 295.
Page 305: List Files
Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4005). status Reply status. For a list of status codes, see Commands on page 295. List Files The List Files command returns a list of the files in the sensor's file system. Command Field Type...
Page 306: Read File
Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x101B). status Reply status. For a list of status codes, see Commands on page 295. Read File Downloads a file from the connected sensor (a .job file, a component of a job file, or another type of file; for more information, see Job Files on page 236).
Page 307: Delete File
Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x1006). status Reply status. For a list of status codes, see Commands on page 295. Delete File The Delete File command removes a file from the connected sensor (a .job file, a component of a job file, or another type of file;...
Page 308: Get Loaded Job
Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x4101). fileName[64] char File name (null-terminated) of the job the sensor loads when it powers up. Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4101).
Page 309: Set Alignment Reference
Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4104). status Reply status. For a list of status codes, see Commands on page 295. reference Alignment reference 0 – Fixed 1 – Dynamic Set Alignment Reference The Set Alignment Reference command is used to set the sensor's alignment reference.
Page 310: Get Timestamp
Get Timestamp The Get Timestamp command retrieves the sensor's timestamp, in clock ticks. All devices in a system are synchronized with the system clock; this value can be used for diagnostic purposes, or used to synchronize the start time of the system. Command Field Type...
Page 311: Start
Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x101E). status Reply status. For a list of status codes, see Commands on page 295. Start The Start command starts the sensor system (system enters the Running state). For more information on states, see Control Commands on page 299.
Page 312: Stop
Stop The Stop command stops the sensor system (system enters the Ready state). For more information on states, see Control Commands on page 299. Command Field Type Type Description length Command size including this field, in bytes. Command identifier (0x1001). Reply Field Type...
Page 313: Start Alignment
Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x452B). status Reply status. For a list of status codes, see Commands on page 295. Start Alignment The Start Alignment command is used to start the alignment procedure on a sensor. Command Field Type...
Page 314: Software Trigger
Field Type Offset Description 295. opId Operation ID. Use this ID to correlate the command/reply on the Exposure Calibration Result Command channel with the correct message on the Data channel. A unique ID is returned each time the client uses this command. Software Trigger The Software Trigger command causes the sensor to take a snapshot while in software mode and in the Running state.
Page 315: Schedule Analog Output
Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4518). status Reply status. For a list of status codes, see Commands on page 295. Schedule Analog Output The Schedule Analog Output command schedules an analog output event. The analog output must be configured to accept software-scheduled commands and be in the Running state.
Page 316: Reset
Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x100E). status Reply status. For a list of status codes, see Commands on page 295. If a non-zero value is specified for timeout, the client must send another ping command before the timeout elapses;...
Page 317: Restore
Restore The Restore command uploads a backup file to the connected sensor and then restores all sensor files from the backup. The sensor must be reset or power-cycled before the restore operation can be completed. Command Field Type Offset Description length Command size including this field, in bytes.
Page 318: Get Recording Enabled
Get Recording Enabled The Get Recording Enabled command retrieves whether recording is enabled. Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x4517). Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4517).
Page 319: Get Playback Source
Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4513). status Reply status. For a list of status codes, see Commands on page 295. Get Playback Source The Get Playback Source command gets the data source for data playback. Command Field Type...
Page 320: Simulate
Simulate The Simulate command simulates the last frame if playback source is live, or the current frame if playback source is the replay buffer. Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x4522). source Source 0 –...
Page 321: Step Playback
Step Playback The Step Playback command advances playback by one frame. Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x4501). direction Define step direction 0 – Forward 1 – Reverse Reply Field Type Offset Description length...
Page 322: Clear Log
Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x4526). Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4526). status Commands Reply status. For a list of status codes, see on page 295.
Page 323: Acquire Unaligned
Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x4528). Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4528). status Commands Reply status. For a list of status codes, see on page 295.
Page 324: Detect Edges
Field Type Offset Description Reply identifier (0x4602). status Commands Reply status. For a list of status codes, see on page 295. Detect Edges The Detect Edges command detects and updates the edge points of a part model. Command Field Type Offset Description length...
Page 325: Read File (Progressive)
Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x4531). toolIndex Index of the tool instance the new measurement is added to. typeName[64] char Type name of the measurement (for example, X). name[64] char User-specified name of the measurement instance.
Page 326: Export Csv (Progressive)
Continue Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x5000). status Reply status. For a list of status codes, see Commands on page 295. progressTotal Progress indicating completion (100%). progress Current progress. size Size of the chunk in byes.
Page 327: Export Bitmap (Progressive)
All recorded range or profile data is exported to the CSV stream. Only the current surface scan, as determined by the playback position, is exported to the CSV stream. Export Bitmap (Progressive) The progressive Export Bitmap command exports replay data as a bitmap stream. This command returns an initial reply, followed by a series of "continue" replies if the initial reply's status field indicates success.
Page 328: Start Upgrade
After connecting to a Gocator device, you can use the Get Protocol Version command to retrieve the protocol version. Protocol version refers to the version of the Gocator Protocol supported by the connected sensor (the sensor to which a command connection is established), and consists of major and minor parts. The minor part is updated when backward-compatible additions are made to the Gocator Protocol.
Page 329: Get Upgrade Status
Get Upgrade Status The Get Upgrade Status command determines the progress of a firmware upgrade. Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x1) Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x1).
Page 330: Data Results
Data Results A client can receive data messages from a Gocator sensor by connecting to the Data TCP channel (port 3196). The Data channel and the Health channel (port 3194) can be connected at the same time. The sensor accepts multiple connections on each port. For more information on the Health channel, see Health Results on page 338.
Page 331: Video
Field Type Offset Description Bit 4: master digital input state Bit 8-9: inter-frame digital pulse trigger (Master digital input if master is connected, otherwise sensor digital input. Value is cleared after each frame and clamped at 3 if more than 3 pulses are received).
Page 332: Profile
Field Type Offset Description flippedY Indicates whether the video data must be flipped vertically to match up with profile data. pixels[H][W] (Variable) Image pixels. (Depends on pixelSize above.) flippedX 8u 26 Indicates whether the video data must be flipped horizontally to match up with profile data.
Page 333: Resampled Profile
Resampled Profile Field Type Offset Description size Count of bytes in message (including this field). control Bit 15: Last message flag. Bits 0-14: Message type identifier. For this message, set to 6. attributeSize Size of attributes, in bytes (min: 32, current: 32). count (C) Number of profile arrays.
Page 334: Surface
Field Type Offset Description exposure Exposure (ns). reserved[3] Reserved. points[C][W] Intensity arrays. Surface Field Type Offset Description size Count of bytes in message (including this field). control Bit 15: Last message flag. Bits 0-14: Message type identifier. For this message, set to 8. attributeSize Size of attributes, in bytes (min: 40, current: 40).
Page 335: Measurement
Field Type Offset Description width (W) Surface width (columns). xScale X scale (nm). yScale Y scale (nm). xOffset X offset (µm). yOffset Y offset (µm). source Source 0 – Top 1 – Bottom 2 – Top Left 3 – Top Right exposure Exposure (ns).
Page 336: Alignment Result
Alignment Result Field Type Offset Description size Count of bytes in message (including this field). control Bit 15: Last message flag. Bits 0-14: Message type identifier. For this message, set to 11. attributesSize Size of attributes, in bytes (min: 8, current: 8). opId Operation ID.
Page 337: Edge Match Result
Edge Match Result Field Type Offset Description size Count of bytes in message (including this field). control Bit 15: Last message flag. Bits 0-14: Message type identifier. For this message, set to 16. decision byte Overall match decision. xOffset Target x offset in model space (µm). yOffset Target y offset in model space (µm).
Page 338: Health Results
Field Type Offset Description minor Minor axis length (µm) minorDecision Minor axis decision. major Major axis length (µm) majorDecision Major axis decision. Health Results A client can receive health messages from a Gocator sensor by connecting to the Health TCP channel (port 3194).
Page 339 Indicator Format Field Type Offset Description Unique indicator identifier (see below). instance Indicator instance. value Value (identifier-specific meaning). The following health indicators are defined for Gocator sensor systems: Health Indicators Indicator Instance Value Encoder Value 1003 Current system encoder tick. Encoder Frequency 1005 Current system encoder frequency (ticks/s).
Page 340 Indicator Instance Value Analog Output Drops 2501 Output Index Number of dropped outputs. Digital Output Drops 2601 Output Index Number of dropped outputs. Serial Output Drops 2701 Output Index Number of dropped outputs. Sensor State 20000 Gocator sensor state. -1 – Conflict 0 –...
Page 341 Indicator Instance Value triggering-related drop indicators. Output Drops 21011 Number of dropped output data. The sum of all output drops (analog, digital, serial, host server, and ASCII server). Host Server Drops 21012 The number of bytes dropped by the host data server.
Page 342: Modbus Protocol
Modbus Protocol Modbus is designed to allow industrial equipment such as Programmable Logic Controllers (PLCs), sensors, and physical input/output devices to communicate over an Ethernet network. Modbus embeds a Modbus frame into a TCP frame in a simple manner. This is a connection-oriented transaction, and every query expects a response.
Page 343: Registers
Modbus Application Protocol Header Field Length (Bytes) Description Transaction ID Used for transaction pairing. The Modbus Client sets the value and the Server (Gocator) copies the value into its responses. Protocol ID Always set to 0. Length Byte count of the rest of the message, including the Unit identifier and data fields.
Page 344: Control Registers
The output registers report the sensor states, stamps, and measurement values and decisions. You can read multiple output registers using a single Read Holding Registers or a single Read Input Registers command. Likewise, you can control the state of the sensor using a single Write Multiple Register command.
Page 345: Output Registers
Value Name Description until the alignment process is complete. Align (moving target) Start alignment process and also calibrate encoder resolution. State register 301 will be set to 1 (busy) until the motion calibration process is complete. Clear Alignment Clear the alignment. Load Job Activate a job file.
Page 346: Measurement Registers
Stamp Register Map Register Name Type Description Address Buffer Advance If buffering is enabled this address must be read by the PLC Modbus client first to advance the buffer. After the buffer advance read operation, the Modbus client can read the updated Measurements &...
Page 347 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, a measurement with ID set to 4 can be read from registers 1012 (high word) and, 1013 (low word), and the decision at 1015.
Page 348: Ethernet/Ip Protocol
EtherNet/IP Protocol EtherNet/IP is an industrial protocol that allows bidirectional data transfer with PLCs. It encapsulates the object-oriented Common Industrial Protocol (CIP). This section describes the EtherNet/IP messages and data formats. EtherNet/IP communication enables the client to: Switch jobs. Align and run sensors. Receive sensor states, stamps, and measurement results.
Page 349: Basic Object
Basic Object Identity Object (Class 0x01) Attribute Name Type Value Description Access Vendor ID UINT 1256 ODVA-provided vendor ID Device Type UINT Device type Product Code UINT 2000 Product code Revision USINT Byte 0 - Major revision USINT Byte 1 - Minor revision Serial number UDINT 32-bit value Sensor serial number...
Page 350: Assembly Object (Class 0X04)
Attribute Name Type Value Description Access Interface UDINT 1000 Ethernet interface data rate (mbps) Speed Interface Flags UDINT See 5.4.3.2.1 of CIP Specification Volume 2: Bit 0: Link Status 0 – Inactive 1 - Active Bit 1: Duplex 0 – Half Duplex 1 –...
Page 351: Sensor State Assembly
Value Name Description Start Running Start the sensor. No action if the sensor is already started. Stationary Alignment Start the stationary alignment process. Byte 1 of the sensor state assembly will be set to 1 (busy) until the alignment process is complete, then back to zero.
Page 352: Sample State Assembly
Byte Name Type Description 0 - Not aligned 1 - Aligned The value is only valid when byte1 is set to 0. 3-10 Encoder Current encoder position 11-18 Time Current timestamp Current Job Number of characters in the current job filename. (e.g., 11 for Filename "current.job").
Page 353 Byte Name Type Description Buffer Counter Number of buffered messages currently in the queue. Buffer Overflow Buffer Overflow Indicator: 0 - No overflow 1 - Overflow 44 - 79 Reserved Reserved bytes. 80-83 Measurement 0 Measurement value in µm (0x80000000 if invalid).
Page 354: Ascii Protocol
ASCII Protocol This section describes the ASCII protocol. The ASCII protocol is available over either serial output or Ethernet output. Over serial output, communication is asynchronous (measurement results are automatically sent on the Data channel when the sensor is in the running state and results become available).
Page 355: Polling Operation Commands (Ethernet Only)
Serial Connection Settings for ASCII Parameter Value Start Bits Stop Bits Parity None Data Bits Baud Rate (b/s) 115200 Format ASCII Delimiter Up to 16 users can connect to the sensor for ASCII interfacing at a time. Any additional connections will remove the oldest connected user.
Page 356: Special Characters
The status can either be "OK" or "ERROR". The optional results can be relevant 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 termination characters are configured in the Special Character settings.
Page 357: Stop
Command: Start Reply: OK Command: Start,1000000 Reply: OK Command: Start Reply: ERROR, Could not start the sensor Stop The stop command stops the sensor system (causes it to enter the Ready state). This command is valid when the system is in the Ready or Running state. Formats Message Format...
Page 358: Stamp
Formats Message Format Command LoadJob,job file name If the job file name is not specified, the command returns the current job name. An error message is generated if no job is loaded. ".job" is appended if the filename does not have an extension. Reply OK or ERROR, <Error Message>...
Page 359: Moving Alignment
Message Format Reply If no arguments are specified OK or ERROR, <Error Message> Examples: Command: StationaryAlignment Reply: OK Command: StationaryAlignment Reply: ERROR,ALIGNMENT FAILED Moving Alignment The Moving Alignment command performs an alignment based on the settings in the sensor's live job file. A reply to the command is sent when the alignment has completed or failed. The command is timed out if there has been no progress after one minute.
Page 360: Result
Result The Result command retrieves measurement values and decisions. Formats Message Format Command Result,measurement ID,measurement ID... Reply If no arguments are specified, the custom format data string is used. OK, <custom data string> ERROR, <Error Message> If arguments are specified, OK, <data string in standard format>...
Page 361: Decision
Standard data string for measurements ID 0 and 1: Value,0,1 OK,M00,00,V151290,M01,01,V18520 Standard formatted measurement data with a non-existent measurement of ID 2: Value,2 ERROR,Specified measurement ID not found. Please verify your input Custom formatted data string (%time, %value[0]): Value OK, 1420266101, 151290 Decision The Decision command retrieves measurement decisions.
Page 362: Health Commands
Health Commands Optional parameters are shown in italic. The placeholder for data is surrounded by brackets (<>). In the examples, the delimiter is set to ','. Health The Health command retrieves health indicators. See Health Results on page 338 for details on health indicators.
Page 363: Custom Result Format
Field Shorthand Length Description DecisionStart Start of measurement decision. Decision Measurement decision, a bit mask where: Bit 0: 1 – Pass 0 – Fail Bits 1-7: 0 – Measurement value OK 1 – Invalid value 2 - Invalid anchor Custom Result Format In the custom format, you enter a format string with place holders to create a custom message.
Page 364: Software Development Kit
Software Development Kit The Gocator Software Development Kit (SDK) includes open-source software libraries and documentation that can be used to programmatically access and control Gocator sensors. The latest version of the SDK can be downloaded by going to http://lmi3d.com/support/downloads/, selecting a Gocator series, and clicking on the Product User Area link.
Page 365: Examples
Examples Examples showing how to perform various operations are provided, each one targeting a specific area. All of the examples can be found in GoSdkSamples.sln. To run the SDK samples, make sure GoSdk.dll and kApi.dll (or GoSdkd.dll and kApid.dll in debug configuration) are copied to the executable directory.
Page 366: Gosystem
GoSystem The GoSystem class is the top-level class in Gocator 4.x. Multiple sensors can be enabled and connected in one GoSystem. Only one GoSystem object is required for multi-sensor control. Refer to the How To Use The Open Source SDK To Fully Control A Gocator Multi-sensor System how-to guide http://lmi3d.com/sites/default/files/APPNOTE_Gocator_4.x_Multi_Sensor_Guide.zip for details on how to control and operate a multi-sensor system using the SDK.
Page 367: Value Types
Value Types GoSDK is built on a set of basic data structures, utilities, and functions, which are contained in the kApi library. The following basic value types are used by the kApi library. Value Data Types Type Description 8-bit unsigned integer k16u 16-bit unsigned integer k16s...
Page 368: Godataset Type
GoDataSet Type Data are passed to the data handler in a GoDataSet object. The GoDataSet object is a container that can contain any type of data, including scan data (profiles or surfaces), measurements, and results from various operations. Data inside the GoDataSet object are represented as messages. The following illustrates the content of a GoDataSet object of a profile mode setup with two measurements.
Page 369: Operation Workflow
You should check a decision against <=0 for failure or invalid measurement. Operation Workflow Applications created using the SDK typically use the following programming sequence: See Setup and Locations on page 364 for more information on the code samples referenced below. Sensors must be connected before the system can enable the data channel.
Page 370: Discover Sensors
return; When the program finishes, call GoDestroy(api) to destroy the API object. Discover Sensors Sensors are discovered when GoSystem is created, using GoSystem_Construct. You can use GoSystem_ SensorCount and GoSystem_SensorAt to iterate all the sensors that are on the network. GoSystem_SensorCount returns the number of sensors physically in the network.
Page 371 #include <GoSdk/GoSdk.h> void main() kIpAddress ipAddress; GoSystem system = kNULL; GoSensor sensor = kNULL; GoSetup setup = kNULL; //Construct the GoSdk library. GoSdk_Construct(&api); //Construct a Gocator system object. GoSystem_Construct(&system, kNULL); //Parse IP address into address data structure kIpAddress_Parse(&ipAddress, SENSOR_IP); //Obtain GoSensor object by sensor IP address GoSystem_FindSensorByIpAddress(system, &ipAddress, &sensor) //Connect sensor object and enable control channel GoSensor_Connect(sensor);...
Page 372: Limiting Flash Memory Write Operations
Limiting Flash Memory Write Operations Several operations and Gocator SDK functions write to the Gocator's flash memory. The lifetime of the flash memory is limited by the number of write cycles. Therefore it is important to avoid frequent write operation to the Gocator's flash memory when you design your system with the Gocator SDK. Power loss during flash memory write operation will also cause Gocators to enter rescue mode.
Page 373: Tools And Native Drivers
If a sensor's network address or administrator password is forgotten, the sensor can be discovered on the network and/or restored to factory defaults by using a special software tool called the Sensor Discovery tool. This software tool can be obtained from the downloads area of the LMI Technologies website: http://www.lmi3D.com.
Page 374 The Sensor Discovery tool uses UDP broadcast messages to reach sensors on different subnets. This enables the Sensor Discovery tool to locate and re-configure sensors even when the sensor IP address or subnet configuration is unknown. Tools and Native Drivers • Sensor Recovery Tool • 374 Gocator 2300 &...
Page 375: Gentl Driver
Gocator's Video, Profile (with Uniform Spacing disabled) and Surface modes in real-time. You can download the toolset package containing the driver from the LMI Technologies website at http://lmi3d.com/support/downloads/. Click on the link for your sensor, click on Product User Area, and log in.
Page 376: 16-Bit Rgb Image
Scan Mode panel on the Scan page and enable intensity output in the Ethernet panel if intensity data is required. Refer to the documentations in the GenTL\ directory for instructions on how to interface to various third party software. Gocator GenTL driver packs the part output, intensity and stamps (e.g., time stamp, encoder index, etc.) into either a 16-bit RGB image or a 16-bit grey scale image.
Page 377: 16-Bit Grey Scale Image
Channel Details pixel channel Data Results on page 330 for an explanation of the stamp information. The following table shows how the stamp information is packed into the blue channel. A stamp is a 64- bit value packed into four consecutive 16-bit blue pixels, with the first byte position storing the most significant ...
Page 378 Rows Details Y = Y offset + Py * Y resolution Z = Z offset + Pz * Z resolution Refer to the blue channel on how to retrieve the offset and resolution values. If Pz is 0 if the data is invalid. The Z offset is fixed to -32768 * Z Resolution. Z is zero if Pz is 32768. (max part height) ..
Page 379: Registers
Stamp Index Column Position Details 36..39 Y resolution (nm) 40..43 Z offset (nm) 44..47 Z resolution (nm) 48..51 Height map Width (in pixels) 52..55 Height map length (in pixels) 56..59 Specify if intensity is enabled or not Registers GenTL registers are multiple of 32 bits. The registers are used to control the operation of the GenTL driver, send commands to the sensors, or to report the current sensor information.
Page 380: Xml Settings File
Register Name Read/Write Length (bytes) Description Address Transformatio Return the sensor transformation X offset n X offset Transformatio Return the sensor transformation Z offset n Z offset Transformatio Return the sensor transformation angle n Angle Transformatio Return the sensor transformation orientation n Orientation Clearance Return the sensor clearance distance...
Page 381 HexSight HIG ODSCAD's OMC format You can get the tool package (14405-x.x.x.x_SOFTWARE_GO_Tools.zip) from the LMI Technologies website at http://lmi3d.com/support/downloads/. Click on the link for your sensor, click on Product User Area, and log in. For more information on exporting recorded data, see see Downloading, Uploading, and Exporting Replay Data on page 52.
Page 382: Troubleshooting
Troubleshooting Review the guidance in this chapter if you are experiencing difficulty with a Gocator sensor system. See Return Policy on page 423 for further assistance if the problem that you are experiencing is not described in this section. Mechanical/Environmental The sensor is warm.
Page 383 Verify that the measurement target is within the sensor's field of view and measurement range. See Spe- cifications on page 384 to review the measurement specifications for your sensor model. Check that the exposure time is set to a reasonable level.See Exposure on page 84 for more information on configuring exposure time.
Page 384: Specifications
Specifications The following sections describe the specifications of the Gocator and its associated hardware. Gocator 2300 & 2880 Series...
Page 385: Gocator 2300 Series
Gocator 2300 Series The Gocator 2300 series consists of the sensor models defined below. MODEL 2320 2330 2340 2342 2350 2370 2375 2380 Data Points / 1280 1280 1280 1280 1280 1280 1280 1280 Profile Linearity Z 0.01 0.01 0.01 0.01...
Page 386 Gasketed aluminum enclosure, IP67 Operating Temp. 0 to 50° C Storage Temp. -30 to 70° C Mechanical dimensions for each sensor model are illustrated on the following pages. Specifications • Gocator 2300 Series • 386 Gocator 2300 & 2880 Series...
Page 387: Gocator 2320
Gocator 2320 Field of View / Measurement Range Dimensions Specifications • Gocator 2300 Series • 387 Gocator 2300 & 2880 Series...
Page 388: Gocator 2330
Envelope Gocator 2330 Field of View / Measurement Range Specifications • Gocator 2300 Series • 388 Gocator 2300 & 2880 Series...
Page 389 Dimensions Envelope Specifications • Gocator 2300 Series • 389 Gocator 2300 & 2880 Series...
Page 390: Gocator 2340
Gocator 2340 Field of View / Measurement Range Dimensions Specifications • Gocator 2300 Series • 390 Gocator 2300 & 2880 Series...
Page 391: Gocator 2342
Envelope Gocator 2342 Field of View / Measurement Range Specifications • Gocator 2300 Series • 391 Gocator 2300 & 2880 Series...
Page 392 Dimensions Envelope Specifications • Gocator 2300 Series • 392 Gocator 2300 & 2880 Series...
Page 393: Gocator 2350
Gocator 2350 Field of View / Measurement Range Dimensions Specifications • Gocator 2300 Series • 393 Gocator 2300 & 2880 Series...
Page 394 Envelope Specifications • Gocator 2300 Series • 394 Gocator 2300 & 2880 Series...
Page 395: Gocator 2370
Gocator 2370 Field of View / Measurement Range Specifications • Gocator 2300 Series • 395 Gocator 2300 & 2880 Series...
Page 396 Dimensions Specifications • Gocator 2300 Series • 396 Gocator 2300 & 2880 Series...
Page 397 Envelope Specifications • Gocator 2300 Series • 397 Gocator 2300 & 2880 Series...
Page 398: Gocator 2375
Gocator 2375 Field of View / Measurement Range Dimensions Specifications • Gocator 2300 Series • 398 Gocator 2300 & 2880 Series...
Page 399 Envelope Specifications • Gocator 2300 Series • 399 Gocator 2300 & 2880 Series...
Page 400: Master
Gocator 2380 Field of View / Measurement Range Specifications • Gocator 2300 Series • 400 Gocator 2300 & 2880 Series...
Page 401 Dimensions Specifications • Gocator 2300 Series • 401 Gocator 2300 & 2880 Series...
Page 402 Envelope Specifications • Gocator 2300 Series • 402 Gocator 2300 & 2880 Series...
Page 403: Gocator 2880 Sensor
Gocator 2880 Sensor The Gocator 2880 is defined below. MODEL 2880 Data Points / Profile 1280 0.04 Linearity Z (+/- % of MR) Resolution Z (mm) 0.092 - 0.488 Resolution X (mm) 0.375 - 1.1 Clearance Distance (CD) (mm) Measurement Range (MR) (mm) Field of View (FOV) (mm) 390 - 1260...
Page 404: Gocator 2880
Mechanical dimensions for the sensor model are illustrated on the following pages. Gocator 2880 Field of View / Measurement Range Specifications • Gocator 2880 Sensor • 404 Gocator 2300 & 2880 Series...
Page 405 Dimensions Specifications • Gocator 2880 Sensor • 405 Gocator 2300 & 2880 Series...
Page 406 Envelope Specifications • Gocator 2880 Sensor • 406 Gocator 2300 & 2880 Series...
Page 407: Gocator Power/Lan Connector
Gocator Power/LAN Connector The Gocator Power/LAN connector is a 14 pin, M16 style connector that provides power input, laser safety input and Ethernet. This connector is rated IP67 only when a cable is connected or when a protective cap is used. This section defines the electrical specifications for Gocator Power/LAN Connector pins, organized by function.
Page 408: Power
Power Apply positive voltage to DC_24-48V. See Gocator 2300 Series on page 385 for the sensor's power requirement. Apply ground to GND_24-48VDC. Power requirements Function Pins DC_24-48V 24 V 48 V GND_24-48VDC Laser Safety Input The Safety_in+ signal should be connected to a voltage source in the range listed below. The Safety_in- signal should be connected to the ground/common of the source supplying the Safety_in+.
Page 409: Gocator 2300 & 2880 I/O Connector
Gocator 2300 & 2880 I/O Connector The Gocator 2300 & 2880 I/O connector is a 19 pin, M16 style connector that provides encoder, digital input, digital outputs, serial output, and analog output signals. This connector is rated IP67 only when a cable is connected or when a protective cap is used. This section defines the electrical specifications for Gocator I/O connector pins, organized by function.
Page 410: Inverting Outputs
Max Collector Max Collector–Emitter Function Pins Min Pulse Width Current Voltage Out_1 N, O 40 mA 70 V 20 us Out_2 S, T 40 mA 70 V 20 us The resistors shown above are calculated by R = (V+) / 2.5 mA. The size of the resistors is determined by power = (V+)^2 / R.
Page 411: Encoder Input
Active Low To assert the signal, the digital input voltage should be set to draw a current of 3 mA to 40 mA from Trigger_In+. The current that passes through Trigger_In+ is I = (Vin – 1.2 – Vdata) / 680. To reduce noise sensitivity, we recommend leaving a 20% margin for current variation (i.e., uses a digital input voltage that draws 4mA to 25mA). ...
Page 412: Serial Output
Serial Output Serial RS-485 output is connected to Serial_out as shown below. Function Pins Serial_out B, C Analog Output The Sensor I/O Connector defines one analog output interface: Analog_out. Function Pins Current Range Analog_out P, F 4 – 20 mA Current Mode Voltage Mode To configure for voltage output, connect a 500 Ohm ¼...
Page 413: Master 100
Master 100 The Master 100 accepts connections for power, safety, and encoder, and provides digital output. *Contact LMI for information regarding this type of power supply. Connect the Master Power port to the Gocator's Power/LAN connector using the Gocator Power/LAN to Master cordset.
Page 414: Master 100 Dimensions
Encoder/Output Port Pins Function Output_1+ (Digital Output 0) Output_1- (Digital Output 0) Encoder_Z+ Encoder_Z- Encoder_A+ Encoder_A- Encoder_B+ Encoder_B- Encoder_GND Encoder_5V Master 100 Dimensions Specifications • Master 100 • 414 Gocator 2300 & 2880 Series...
Page 415: Master 400/800
Master 400/800 The Master 400/800 provides sensor power and safety interlock, and broadcasts system-wide synchronization information (i.e., time, encoder count, encoder index, and digital I/O states) to all devices on a sensor network. Power and Safety (6 pin connector) Function +48VDC +48VDC GND(48VDC)
Page 416: Master 400/800 Electrical Specifications
Function Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved This connector does not need to be wired up for proper operation. Encoder (8 pin connector) Function Encoder_A+ Encoder_A- Encoder_B+ Encoder_B- Encoder_Z+ Encoder_Z- +5VDC Master 400/800 Electrical Specifications Electrical Specifications for Master 400/800 Master 400 / 800 Power Supply Voltage...
Page 417: Master 400/800 Dimensions
The +48VDC power supply must be isolated from AC ground. This means that AC ground and DC ground are not connected. The Power Draw specification is based on a Master with no sensors attached. Every sensor has its own power requirements which need to be considered when calculating total system power requirements.
Page 418: Master 1200/2400
Master 1200/2400 The Master 1200/2400 provides sensor power and safety interlock, and broadcasts system-wide synchronization information (i.e., time, encoder count, encoder index, and digital I/O states) to all devices on a sensor network. Power and Safety (6 pin connector) Function +48VDC +48VDC GND(48VDC)
Page 419: Master 1200/2400 Electrical Specifications
Function Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved This connector does not need to be wired up for proper operation. Encoder (8 pin connector) Function Encoder_A+ Encoder_A- Encoder_B+ Encoder_B- Encoder_Z+ Encoder_Z- +5VDC Master 1200/2400 Electrical Specifications Electrical Specifications for Master 1200/2400 Master 1200 / 2400 Power Supply Voltage +48VDC...
Page 420: Master 1200/2400 Dimensions
The Power Draw specification is based on a Master with no sensors attached. Every sensor has its own power requirements which need to be considered when calculating total system power requirements. Master 1200/2400 Dimensions The dimensions of Master 1200 and Master 2400 are the same. Specifications •...
Page 421: Accessories
Accessories Masters Description Part Number Master 100 - for single sensor (development only) 30705 Master 400 - for networking up to 4 sensors 30680 Master 800 - for networking up to 8 sensors 30681 Master 1200 - for networking up to 12 sensors 30649 Master 2400 - for networking up to 24 sensors 30650...
Page 422 Contact LMI for information on creating cordsets with custom length or connector orientation. The maximum cordset length is 60 m. Accessories • 422 Gocator 2300 & 2880 Series...
Page 423: Return Policy
For non-warranty repairs, a purchase order for the repair charges must accompany the returning sensor. LMI Technologies Inc. is not responsible for damages to a sensor that are the result of improper packaging or damage during transit by the courier.
Page 424: Software Licenses
Software Licenses Pico-C Website: http://code.google.com/p/picoc/ License: picoc is published under the "New BSD License". http://www.opensource.org/licenses/bsd-license.php Copyright (c) 2009-2011, Zik Saleeba All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
Page 425 BlowFish Website: http://www.chiark.greenend.org.uk/~sgtatham/putty/licence.html License: PuTTY is copyright 1997-2011 Simon Tatham. Portions copyright Robert de Bath, Joris van Rantwijk, Delian Delchev, Andreas Schultz, Jeroen Massar, Wez Furlong, Nicolas Barry, Justin Bradford, Ben Harris, Malcolm Smith, Ahmad Khalifa, Markus Kuhn, Colin Watson, and CORE SDI S.A. Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell...
Page 426 The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANT ABILITY,FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
Page 427 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 obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0 Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS-IS"...
Page 428 Licensed under the MIT License (http://www.opensource.org/licenses/mit-license.php) jQuery.scaling Website: http://eric.garside.name License: Scaling 1.0 - Scale any page element Copyright (c) 2009 Eric Garside Licensed under the MIT License (http://www.opensource.org/licenses/mit-license.php) jQuery.scrollFollow Website: http://kitchen.net-perspective.com/ License: Copyright (c) 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...
Page 429 EtherNet/IP Communication Stack Website: sourceforge.net/projects/opener License: SOFTWARE DISTRIBUTION LICENSE FOR THE ETHERNET/IP(TM) COMMUNICATION STACK (ADAPTED BSD STYLE LICENSE) Copyright (c) 2009, Rockwell Automation, Inc. ALL RIGHTS RESERVED. EtherNet/IP is a trademark of ODVA, Inc. Software Licenses • 429 Gocator 2300 & 2880 Series...
Page 430: Support
Support For assistance regarding a component or product, please contact LMI Technologies. World Email support@lmi3D.com http://www.lmi3D.com North America Phone +1 604 636 1011 +1 604 516 8368 Europe Phone +31 45 850 7000 +31 45 574 2500 For more information on safety and laser classifications, please contact: U.S.
Page 431: Contact
LMI (Shanghai) Trading Co., Ltd. Vancouver, Canada Berlin, Germany Shanghai, China +1 604 636 1011 +49 (0)3328 9360 0 +86 21 5441 0711 LMI Technologies has sales offices and distributors worldwide. All contact information is listed at lmi3D.com/contact/locations. Gocator 2300 & 2880 Series...

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