Download Print this page

LMI Gocator 1300 Series User Manual

Point profile sensors

Hide thumbs Also See for Gocator 1300 Series:

Manual (209 pages)

Table Of Contents

Table of Contents

Advertisement

Quick Links

Download this manual

Gocator Point Profile Sensors

Gocator 1300 Series

USER MANUAL

Firmware version: 5.2.x.xx

Document revision: B

Table of Contents

Advertisement

Table of Contents

Need help?

Need help?

Do you have a question about the Gocator 1300 Series and is the answer not in the manual?

Questions and answers

Summary of Contents for LMI Gocator 1300 Series

Page 1 Gocator Point Profile Sensors Gocator 1300 Series USER MANUAL Firmware version: 5.2.x.xx Document revision: B...
Page 2: Copyright
LMI Technologies Inc. No part of this publication may be copied, photocopied, reproduced, transmitted, transcribed, or reduced to any electronic medium or machine readable form without prior written consent of LMI Technologies, Inc.
Page 3: Table Of Contents
Table of Contents Setting the Divider Encoder Quadrature Frequency Setting the Debounce Period Copyright Network Setup Table of Contents Client Setup Introduction Gocator Setup Gocator Overview Running a Standalone Sensor System Safety and Maintenance Running a Dual-Sensor System Laser Safety Next Steps Laser Classes How Gocator Works...
Page 4 Quick Edit Mode Alignment Interface Language Alignment Types Management and Maintenance Aligning Sensors Manage Page Overview Encoder Calibration Sensor System Clearing Alignment Dual- and Multi-sensor Systems Filters Buddy Assignment Median Over Temperature Protection Smoothing Sensor Autostart Decimation Layout Slope Networking Profile Generation Motion and Alignment Part Detection...
Page 5 Measurements and Settings Output Page Overview Thickness Ethernet Output Measurements and Settings Digital Output Script Analog Output Profile Measurement Serial Output Area Dashboard Measurements, Features, and Settings Dashboard Page Overview Bounding Box State and Health Information Measurements, Features, and Settings Statistics Circle Measurements...
Page 6 Job File Structure RecordingFiltering Job File Components Conditions/AnyMeasurement Accessing Files and Components Conditions/AnyData Configuration Conditions/Measurement Setup Streams/Stream (Read-only) BackgroundSuppression ToolOptions Filters MeasurementOptions XSmoothing FeatureOptions YSmoothing StreamOptions XGapFilling Tools YGapFilling Profile Types XMedian ProfileFeature YMedian ProfileLine XDecimation ProfileRegion2d YDecimation Geometric Feature Types XSlope Parameter Types YSlope...
Page 7 Selcom Stop Ascii Get Auto Start Enabled Transform Set Auto Start Enabled Device Get Voltage Settings Protocols Set Voltage Settings Gocator Protocol Get Quick Edit Enabled Data Types Set Quick Edit Enabled Commands Start Alignment Discovery Commands Start Exposure Auto-set Get Address Software Trigger Set Address...
Page 8 Set Runtime Variables Assembly Get Runtime Variables Sensor State Assembly Upgrade Commands Sample State Assembly Start Upgrade Implicit Messaging Start Upgrade Extended Assembly Object (Class 0x04) Get Upgrade Status Implicit Messaging Command Assembly 389 Get Upgrade Log Implicit Messaging Output Assembly Results ASCII Protocol Data Results Connection Settings...
Page 9 RawProfile Enable Data Channels Troubleshooting Perform Operations Specifications Limiting Flash Memory Write Operations Sensors Gocator 1300 Series Benefits Gocator 1320 (Side Mount Package) Supported Sensors Gocator 1320 (Top Mount Package) Typical Workflow Gocator 1340 (Side Mount Package) Installation and Class Reference...
Page 10 Inverting Outputs Digital Input Encoder Input Serial Output Selcom Serial Output Analog Output Master Network Controllers Master 100 Master 100 Dimensions Master 400/800 Master 400/800 Electrical Specifications Master 400/800 Dimensions Master 810/2410 Electrical Specifications Encoder Input Master 810 Dimensions Master 2410 Dimensions Master 1200/2400 Master 1200/2400 Electrical Specifications 486 Master 1200/2400 Dimensions...
Page 11: Introduction
Gocator. Finally, the documentation describes the Gocator emulator and accelerator applications. The documentation applies to the following: Gocator 1300 series Notational Conventions This documentation uses the following notational conventions: Follow these safety guidelines to avoid potential injury or property damage.
Page 12: Gocator Overview
Gocator Overview Gocator laser displacement sensors are designed for 3D measurement and control applications. Gocator sensors are configured using a web browser and can be connected to a variety of input and output devices. Gocator sensors can also be configured using the provided development kits. Gocator Point Profile Sensors: User Manual...
Page 13: 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 2, 2M, Class 3R, or Class 3B, depending on the chosen laser option. For more information on the laser classes used in Gocator sensors, Laser Classes on the next page.
Page 14: Laser Classes
Laser Classes Class 2 laser components Class 2 laser components are considered to be safe, provided that: The user’s blink reflex can terminate exposure (in under 0.25 seconds). Users do not need to look repeatedly at the beam or reflected light. Exposure is only accidental.
Page 15: Precautions And Responsibilities
*LMI Class 3B laser components do not incorporate these laser safety items. These items must be added and completed by customers in their system design. For more information, see Class 3B Responsibilities below. Class 3B Responsibilities LMI Technologies has filed reports with the FDA to assist customers in achieving certification of laser products.
Page 16: Nominal Ocular Hazard Distance (Nohd)
For this reason, no NOHD is applicable. 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 17: Electrical Safety
Turn off lasers when not in use LMI Technologies uses semiconductor lasers in Gocator sensors. To maximize the lifespan of the sensor, turn off the laser when not in use. Safety and Maintenance • 17...
Page 18: Environment And Lighting
Avoid excessive modifications to files stored on the sensor Settings for Gocator sensors are stored in flash memory inside the sensor. Flash memory has an expected lifetime of 100,000 writes. To maximize lifetime, avoid frequent or unnecessary file save operations. Environment and Lighting Avoid strong ambient light sources The imager used in this product is highly sensitive to ambient light hence stray light may have adverse...
Page 19: Getting Started
Getting Started The following sections provide system and hardware overviews, in addition to installation and setup procedures. Gocator Point Profile Sensors: User Manual...
Page 20: Hardware Overview
Hardware Overview The following sections describe Gocator and its associated hardware. Side Mount Package Item Description Camera Observes laser light reflected from target surfaces. Laser Emitter Emits structured light for laser ranging. 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 21: Gocator Cordsets
The Gocator I/O cordset provides power and laser safety interlock to sensors. It also provides digital I/O connections, an encoder interface, RS-485 serial connection, and an analog output. See Accessories on page 488 for cordset lengths and part numbers. Contact LMI for information on creating cordsets with customized lengths and connector orientations.
Page 22: Master 100
Master 100 Item Description Master Ethernet Port Connects to the RJ45 connector labeled Ethernet on the Power/LAN to Master cordset. Master Power Port Connects to the RJ45 connector labeled Power/Sync on the Power/LAN to Master cordset. Provides power and laser safety to the Gocator. Sensor I/O Port Connects to the Gocator I/O cordset.
Page 23 Master 400 and 800 Master 1200 and 2400 Item Description Sensor Ports Master connection for Gocator sensors (no specific order required). Getting Started • 23 Gocator Point Profile Sensors: User Manual...
Page 24: Master 810 / 2410
Item Description Ground Connection Earth ground connection point. Power and Safety Power and safety connections. Safety input must be high in order to scan with laser- based Gocators. Encoder Accepts encoder signal. Input Accepts digital input. For pinout details for Master 400 or 800, see Master 400/800 on page 472. For pinout details for Master 1200 or 2400, see Master 1200/2400 on page 485.
Page 25: Alignment Targets
Master 2410 Item Description Sensor Ports Master connection for Gocator sensors (no specific order required). Power and Safety Power and safety connections. Safety input must be high in order to scan with laser- based Gocators. Encoder Accepts encoder signal. Input Accepts digital input.
Page 26 For multi-sensor systems in a ring layout, use a polygon-shaped alignment target. The number of corners in the target should correspond with the number of sensors in the system. Sensors should be positioned so that each sensor can scan a corner and surrounding surface. Getting Started •...
Page 27: System Overview
For more information on alignment, see Aligning Sensors on page 102. 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 is required. The device can be connected to a computer's Ethernet port for setup and can also be connected to devices such as encoders, photocells, or PLCs.
Page 28: Dual-Sensor System
Dual-Sensor System In a dual-sensor system, two Gocator sensors work together to perform ranging and output the combined results. The controlling sensor is referred to as the Main sensor, and the other sensor is referred to as the Buddy sensor. Gocator's software recognizes three installation orientations: Opposite, Wide, and Reverse.
Page 29 provides a single point of connection for power, safety, encoder, and digital inputs. A Master 400/800/810/1200/2400/2410 can be used to ensure that the scan timing is precisely synchronized across sensors. Sensors and client computers communicate via an Ethernet switch (1 Gigabit/s recommended).
Page 30: Installation
Installation The following sections provide grounding, mounting, and orientation information. Mounting: Side Mount Package Single point sensors are often mounted with the triangulation base perpendicular to the travel direction to avoid occlusions. Sensors should be mounted using M6 x 1.0 pitch screws of suitable length. The recommended thread engagement into the housing is 8-10 mm.
Page 31: Mounting - Top Mount Package
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 32: Orientations
Sensors should not be installed near surfaces that might create unanticipated laser reflections. 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°...
Page 33 Standalone Orientations Single sensor above conveyor Single sensor on robot arm Getting Started • 33 Gocator Point Profile Sensors: User Manual...
Page 34: Grounding
Dual-Sensor System Orientations: Main must be on the left side (when looking into the connector) of the Buddy (Wide) Side-by-side for wide-area measurement (Wide) Above/below for two-sided measurement (Opposite) Main must be on the top with Buddy at the bottom (Opposite) Grounding Components of a Gocator system should be properly grounded.
Page 35: Recommended Practices For Cordsets
Recommended Practices for Cordsets If you need to minimize interference with other equipment, you can ground the Power & Ethernet or the Power & Ethernet to Master cordset (depending on which cordset you are using) by terminating the shield of the cordset before the split. The most effective grounding method is to use a 360-degree clamp.
Page 36: Grounding When Using A Din Rail (Master 810/2410)
The holes accept M4x5 screws. You can use any of the ground holes shown below. However, LMI recommends using the holes indicated on the housing by a ground symbol.
Page 37: Installing Din Rail Clips: Master 810 Or 2410
Installing DIN Rail Clips: Master 810 or 2410 You can mount the Master 810 and 2410 using the included DIN rail mounting clips with M4x8 flat socket cap screws. The following DIN rail clips (DINM12-RC) are included: Older revisions of Master 810 and 2410 network controllers use a different configuration for the DIN rail clip holes.
Page 38: Configuring Master 810
Current revision Older revision Attach the two DIN rail mount clips to the back of the Master using two M4x8 flat socket cap screws for each one. The following illustration shows the installation of clips on a Master 810 (current revision) for horizontal mounting: Ensure that there is enough clearance around the Master for cabling.
Page 39: Setting The Divider
Switches 5 to 8 are reserved for future use. This section describes how to set the DIP switches on Master 810 to do the following: Set the divider so that the quadrature frequency of the connected encoder is compatible with the Master.
Page 40: Setting The Debounce Period
You must use a quadrature frequency when determining which divider to use (see Setting the Divider on the previous page). Consult the datasheet of the encoder you are using to determine its quadrature frequency. Some encoders may be specified in terms of encoder signal frequency (or period). In this case, convert the signal frequency to quadrature frequency by multiplying the signal frequency by 4.
Page 41: Network Setup
Network Setup The following sections provide procedures for client PC and Gocator network setup. DHCP is not recommended for Gocator sensors. If you choose to use DHCP, the DHCP server should try to preserve IP addresses. Ideally, you should use static IP address assignment (by MAC address) to do this.
Page 42 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 43: Gocator Setup
Gocator Setup The Gocator is shipped with a default configuration that will produce laser ranges for most targets. The following sections describe how to set up a standalone sensor system and a dual-sensor system for operations. After you have completed the setup, you can perform laser ranging to verify basic sensor operation.
Page 44: Running A Dual-Sensor System
Move a target into the laser plane. If a target object is within the sensor's measurement range, the data viewer will display scan data, and the sensor's range indicator will illuminate. If no scan data is displayed in the data viewer, see Troubleshooting on page 437.
Page 45 The Gocator interface loads. Go to the Manage Page. Modify the IP address to 192.168.1.11 in the Networking category and click the Save button. When you click the Save button, you will be prompted to confirm your selection. Turn off the sensors, re-connect the Main sensor's Ethernet connection and power-cycle the sensors.
Page 46: Next Steps
page 82 to upgrade the sensors. 11. Ensure that the Laser Safety Switch is enabled or the Laser Safety input is high. Master 400/800/1200/2400 Master 810/2410 12. Ensure that Replay mode is off (the slider is set to the left). 13.
Page 47 Contains settings for sensor system layout, network, motion and alignment, handling jobs, and sensor maintenance. Scan Setup and Alignment (page 86) Contains settings for scan mode, trigger source, detailed sensor configuration, and performing alignment. Measurement and Processing (page 122) Contains built-in measurement tools and their settings. Output (page 209) Contains settings for configuring output protocols used to communicate measurements to external devices.
Page 48: How Gocator Works
How Gocator Works The following sections provide an overview of how Gocator acquires and produces data, detects and measures parts, and controls devices such as PLCs. Some of these concepts are important for understanding how you should mount sensors and configure settings such as active area. You can use the Gocator Accelerator to speed up processing of data.
Page 49: Clearance Distance And Measurement Range
laser light falls on the camera at different positions, depending on the distance of the target from the sensor. The sensor’s laser emitter, its camera, and the target form a triangle. Gocator uses the known distance between the laser emitter and the camera, and two known angles—one of which depends on the position of the laser light on the camera—to calculate the distance from the sensor to the target.
Page 50: Z Linearity
Z resolution is better closer to the sensor. This is reflected in the Gocator data sheet as the two numbers quoted for Z resolution. 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.
Page 51: Range Output
Range Output Gocator measures the height of the object calculated from laser triangulation. The measurement is referred to as a range and is reported as the distance from the sensor origin. Coordinate Systems Range data is reported in one of three coordinate systems, which generally depends on the alignment state of the sensor.
Page 52 Additionally, in multi-sensor systems, alignment sets a common coordinate system. That is, scan data and measurements from the sensors are expressed in a unified coordinate system. Y angle is positive when rotating from positive X to positive Z axis. X angle is positive when rotating from positive Y to positive Z. Z angle is positive when rotating from positive X to positive Y.
Page 53: Data Generation And Processing
Part detection Profile Generation Gocator 1300 series, which are displacement sensors and only return a single range value, can combine a series of range values gathered as a target moves under the sensor to generate a profile. You can then use all the standard...
Page 54: Measurement
For more information on part detection, see Part Detection on page 114. Measurement After Gocator scans a target and, optionally, further processes the data, the sensor is ready to take measurements on the scan data. Gocator provides several measurement tools, each of which provides a set of individual measurements, giving you dozens of measurements ideal for a wide variety of applications to choose from.
Page 55: Gocator Web Interface
Gocator Web Interface The following sections describe the Gocator web interface. Browser Compatibility LMI recommends Chrome, Firefox, or Edge for use with the Gocator web interface. Internet Explorer 11 is supported with limitations; for more information, see below. Internet Explorer 11 Issues If you use Gocator with large datasets on Internet Explorer 11, you may encounter the following issues.
Page 56: User Interface Overview
In the dialog, check both "Enable 64-bit processes for Enhanced Protected Mode" and "Enable Enhanced Protected Mode". Click OK and then restart your computer for the changes to take effect. User Interface Overview Gocator sensors are configured by connecting to the IP address of a sensor with a web browser. The Gocator web interface is shown below.
Page 57 Element Description Manage page Contains settings for sensor system layout, network, motion and alignment, handling jobs, and sensor maintenance. See Management and Maintenance on page 69. Scan page Contains settings for scan mode, trigger source, detailed sensor configuration, and performing alignment. See Scan Setup and Alignment on page 86.
Page 58: Toolbar
Element Description Data viewer Displays sensor data, tool setup controls, and measurements. See Data Viewer on page 116 for its use when the Scan page is active and on page 122 for its use when the Measure page is active. Status bar Displays log messages...
Page 59: Recording, Playback, And Measurement Simulation
Setting Type Behavior Motion and Alignment Manage setting in in the page. Alignment is saved automatically at the end of the alignment procedure when Alignment Reference Fixed Alignment Reference is set to . When is set to Dynamic , however, you must manually save the job to save alignment. Network Address Network address changes are saved when you click the Save...
Page 60 Recording and playback controls when replay is off To record live data: Toggle Replay mode off by setting the slider to the left in the Toolbar. Replay mode disables measurements. (Optional) Configure recording filtering. For more information on recording filtering, see Recording Filtering on the next page. Click the Record button to enable recording.
Page 61: Recording Filtering
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 the current replay location forward and backward by a single frame, respectively.
Page 62 How Gocator treats conditions Setting Description Any Condition Gocator records a frame when any condition is true. All Conditions Gocator only records a frame if all conditions are true. Conditions Setting Description Any Measurement Gocator records a frame when measurement is in the state you select. The following states are supported: pass fail or invalid...
Page 63: Downloading, Uploading, And Exporting Replay Data
Click the "x" button or outside of the Recording Filtering dialog to close the dialog. The recording filter icon turns green to show that recording filters have been set. When you run the sensor, Gocator only records the frames that satisfy the conditions you have set. 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.
Page 64 Do one of the following: Click Discard to discard any unsaved changes. Click Cancel to return to the main window to save your changes. If you clicked Discard, navigate to the replay data to upload from the client computer and click OK. The replay data is loaded, and a new unsaved, untitled job is created.
Page 65: Metrics Area
To export recorded intensity data to the BMP format: Switch to Replay mode and click the Export button and select Intensity data as BMP. Only the intensity data in the current replay location is exported. Use the playback control buttons to move to a different replay location; for information on playback, see To replay data in Recording, Playback, and Measurement Simulation on page 59.
Page 66: 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 the active area and other settings.
Page 67: Frame Information
Frame Information The area to the right of the status bar displays useful frame information, both when the sensor is running and when viewing recorded data. This information is especially useful when you have enabled recording filtering. If you look at a recording playback, when you have enabled recording filtering, some frames can be excluded, resulting in variable "gaps"...
Page 68 To change the language: Click the language button at the bottom of the web interface. Choose a language from the list. The interface reloads on the page you were working in, displaying the page using the language you chose. The sensor state is preserved. Gocator Web Interface •...
Page 69: Management And Maintenance
Management and Maintenance The following sections describe how to set up the sensor connections and networking, how to calibrate encoders and choose the 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 70: Sensor System
Sensor System The following sections describe the Sensor System category on the Manage page. This category provides sensor information and the autostart setting. It also lets you choose which sensors to add to a dual-sensor system. Dual- and Multi-sensor Systems Gocator supports dual-sensor systems.
Page 71: Over Temperature Protection
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. To assign a Buddy sensor: Go to the Manage page and click on the Sensor System category. In the Visible Sensors list, click the "plus" icon next to the sensor you want to add as a Buddy.
Page 72: Sensor Autostart
Save the job file. Sensor Autostart With the Autostart setting enabled, scanning and measurements begin automatically when the sensor is powered on. Autostart must be enabled if the sensor will be used without being connected to a computer. To enable/disable Autostart: Go to the Manage page and click on the Sensor System category.
Page 73 Supported Layouts Layout Type Example Normal The sensor operates as an isolated device. Reverse The sensor operates as an isolated device, but in a reverse orientation. You can use this layout to change the handedness of the data. Wide Sensors are mounted in Left (Main) and Right (Buddy) positions.
Page 74 Layout Type Example Opposite Sensors are mounted in Top (Main) and Bottom (Buddy) positions for measuring thickness . To specify a standalone layout: Go to the Manage page and click on the Layout category. Under Layout Types, choose Normal or Reverse layout by clicking one of the layout buttons. See the table above for information on layouts.
Page 75: Networking
See the table above for information on layouts. Before you can select a multi-sensor layout, you must assign two or more additional sensors as Buddy sensors. For more information, see Dual- and Multi-sensor Systems on page 70. Networking The Networking category on the Manage page provides network settings. Settings must be configured to match the network to which the Gocator sensors are connected.
Page 76: Motion And Alignment
Motion and Alignment The Motion and Alignment category on the Manage page lets you configure alignment reference, encoder resolution, and travel speed, and confirm that encoder signals are being received by the sensor. Alignment Reference The Alignment Reference setting can have one of two values: Fixed or Dynamic. Setting Description Fixed...
Page 77: Encoder Resolution
Encoder Resolution You can manually enter the encoder resolution in the Resolution setting , or it can be automatically set by performing an alignment with Type set to Moving. Establishing the correct encoder resolution is required for correct scaling of the scan of the target object in the direction of travel. Encoder resolution is expressed in millimeters per tick, where one tick corresponds to one of the four encoder quadrature signals (A+ / A- / B+ / B-).
Page 78: Jobs
Travel speed can also be set automatically by performing an alignment with Type set to Moving (see Aligning Sensors on page 102). Jobs The Jobs category on the Manage page lets you manage the jobs stored on a sensor. Element Description Name field Used to provide a job name when saving files.
Page 79: Security
Unsaved jobs are indicated by "[unsaved]". 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 80: Maintenance
Gocator Account Types Account Description Administrator The Administrator account has privileges to use the toolbar (loading and saving jobs, recording and viewing replay data), to view all pages and edit all settings, and to perform setup procedures such as sensor alignment. Technician The Technician account has privileges to use the toolbar (loading and saving jobs, recording and viewing replay data), to view the...
Page 81: 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 82: Firmware Upgrade
You will be prompted whether you want to proceed. Firmware Upgrade LMI recommends routinely updating firmware to ensure that Gocator sensors always have the latest features and fixes. In order for the Main and Buddy sensors to work together, they must be use the same firmware version. ...
Page 83: 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. To upgrade the firmware: Go to the Manage page and click on the Maintenance category.
Page 84: 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 225). LMI's support staff may also request a support file to help in troubleshooting.
Page 85: Manual Access
When you create a scenario from a support file in the emulator, the description is displayed below the emulator's scenario list. Click Download, and then when prompted, click Save. Downloading a support file stops the sensor. Manual Access You can access the Gocator manuals from within the Web interface. You may need to configure your browser to allow pop-ups to open or download the manual.
Page 86: Scan Setup And Alignment
Scan Setup and Alignment The following sections describe the steps to configure Gocator sensors for laser ranging 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 87: Scan Modes
Goal Reference Select a trigger source that is appropriate for the application. Triggers (page 87) Ensure that camera exposure is appropriate for scan data acquisition. Exposure (page 97) Find the right balance between data quality, speed, and CPU utilization. Active Area (page 94) Exposure (page 97) Job File Structure (page 247) Align scan data to a common reference and so that values can be correctly scaled...
Page 88 then be used for measurement. The sensor can be triggered by one of the sources described in the table below. If the sensor is connected to a Master 400 or higher, encoder and digital (external) input signals over the IO cordset are ignored. The sensor instead receives these signals from the Master; for encoder and digital input pinouts on Masters, see the section corresponding to your Master in Master Network Controllers on page 470.
Page 89 Trigger Source Description Encoder An encoder can be connected to provide triggers in response to motion. Three encoder triggering behaviors are supported. These behaviors are set using the Behavior setting. Track Backward A scan is triggered when the target object moves forward. If the target object moves backward, it must move forward by at least the distance that the target travelled backward (this distance backward is "tracked"), plus one encoder spacing, to trigger the next scan.
Page 90 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. For information on the maximum encoder rate, see Maximum Encoder Rate on page 94.
Page 91: Trigger Examples
Trigger Examples Example: Encoder + Conveyor Encoder triggering is used to perform range measurements at a uniform spacing. The speed of the conveyor can vary while the object is being measured; an encoder ensures that the measurement spacing is consistent, independent of conveyor speed.
Page 92: Trigger Settings
After specifying a trigger source, the Trigger panel shows the parameters that can be configured. Gocator 1300 series sensors are limited to sending data at 10 kHz over the analog output channel. Therefore, if you configure a sensor so that it runs at a speed higher than 10 kHz in the Trigger panel on the Scan page, and configure a measurement to be sent on the analog channel under Analog on the Output page, you will get analog data drops.
Page 93 Parameter Trigger Source Description Time Encoder External Input Source Selects the trigger source ( , or Software Max Speed Frame Rate Time Controls the frame rate. Select from the drop- down to lock to the maximum frame rate. Fractional values are supported.
Page 94: Maximum Input Trigger Rate
To configure the trigger source: Go to the Scan page. Expand the Trigger panel by clicking on the panel header. Select the trigger source from the drop-down. Configure the settings. See the trigger parameters above for more information. Save the job in the Toolbar by clicking the Save button Maximum Input Trigger Rate The maximum external input trigger rate in a system including Master 400 or higher is 20 kHz.
Page 95 Active area refers to the region within the sensor's maximum field of view that is used for data acquisition. By default, the active area covers the sensor's entire field of view. By reducing the active area, the sensor can operate at higher speeds. You can also reduce the active area to exclude areas that are affected by ambient light.
Page 96: Transformations
Choose a mode other than Video mode. Expand the Sensor panel by clicking on the panel header or the button. Click the button corresponding to the sensor you want to configure. The button is labeled Top, Bottom, Top-Left, or Top-Right, depending on the system. Active area is specified separately for each sensor.
Page 97: Exposure
Click the button corresponding to the sensor you want to configure. The button is labeled Top, Bottom, Top-Left, or Top-Right, depending on the system. Transformations can be configured separately for each sensor. Expand the Transformations area by clicking on the expand button See the table above for more information.
Page 98: Single Exposure
Single Exposure The sensor uses a fixed exposure in every scan. Single exposure is used when the target surface is uniform and is the same for all targets. To enable single exposure: Place a representative target in view of the sensor. The target surface should be similar to the material that will normally be measured.
Page 99: Advanced
To enable dynamic exposure: Go to the Scan page. Expand the Sensor panel by clicking on the panel header or the button. Click the button corresponding to the sensor you want to configure. The button is labeled Top, Bottom, Top-Left, or Top-Right, depending on the system. Exposure is configured separately for each sensor.
Page 100 To configure advanced settings: Go to the Scan page. Switch to Video mode. Using Video mode while configuring the settings lets you evaluate their impact. Expand the Sensor panel by clicking on the panel header or the button. If you are configuring a dual- or multi-sensor system, click the button corresponding to the sensor you want to configure.
Page 101: Material
Material Data acquisition can be configured to suit different types of target materials. For many targets, changing the setting is not necessary, but it can make a great difference with others. You can select preset material types in the Materials setting under the Advanced tab. The Diffuse material option is suitable for most materials.
Page 102: Alignment
Setting Description value, the lower the exposure Gocator will settle on. The trade-off is between the number of underexposed spots and the possibility of over-exposing. Threshold is the minimum number of spots for dynamic exposure to consider the profile point that make up the spot valid. If the number of spots is below this threshold, the algorithm will walk over the allowed exposure range slowly to find the Threshold correct exposure.
Page 103 To prepare for alignment: Choose an alignment reference in the Manage page if you have not already done so. For more information, see Alignment Reference on page 76. Go to the Scan page. Choose a mode other than Video mode in the Scan Mode panel. Expand the Alignment panel by clicking on the panel header or the button.
Page 104 Angle. This setting aligns X and Z offsets, as well as rotation around the Y axis. Height: The thickness of the bar in the Z direction. The alignment is performed to determine the average Z height of the bar's top surface. This height value is used to offset the coordinate system so that the bottom of the calibration bar becomes the Z origin.
Page 105: Encoder Calibration
The Y offset, X angle, and Z angle transformations cannot be non-zero when Uniform Spacing is unchecked. Therefore, when aligning a sensor using a bar alignment target with Uniform Spacing unchecked, set the Degrees of Freedom setting to X, Z, Y Angle, which prevents these transformations from being non- zero.
Page 106: Clearing Alignment
See Coordinate Systems on page 51 for definitions of coordinate axes. See Alignment Targets on page 25 for descriptions of calibration disks and bars. See Aligning Sensors on page 102 for the procedure to perform alignment. After alignment, the coordinate system for laser ranges will change from sensor coordinates to system coordinates. Clearing Alignment Alignment can be cleared to revert the sensor to sensor coordinates.
Page 107: Median
Filter Description Decimation Reduces the number of data points. Slope Useful for measuring high-frequency height changes when they are surrounded by lower frequency changes on the surface. Filters are applied in the order displayed in the table above. The filters are configured in the Filters panel on the Scan page.
Page 108: Decimation
In Profile mode, gap filling is limited to the X axis. In Range mode, the filter is limited to the Y axis (direction of travel). Missing data points will not be filled with the mean value calculated from data points in the neighbourhood.
Page 109: Slope
To configure X or Y decimation: Go to the Scan page. Choose Range mode in the Scan Mode panel. If this mode is not selected, you will not be able to configure the decimation filter. Expand the Filters panel by clicking on the panel header or the button.
Page 110: Profile Generation
In the top profile (no filter applied), the second feature would be missed by a Position Z measurement, because the feature has moved beyond the region of interest defined for the measurement. When the filter is applied, the profile around the features is "evened out"—even though the overall height is greater than the features that must be detected—and the more abrupt changes of the features are emphasized.
Page 111 The types in the table below correspond to the Type setting in the panel. When Type is set to Continuous, part detection is automatically enabled. When Type is set to any of the other settings, part detection can be enabled and disabled in the Part Detection panel.
Page 112 you should ensure that motion is calibrated (that is, encoder resolution for encoder triggers or travel speed time triggers). Two types of start triggers are available: Sequential: Continuously generates back-to-back fixed length profiles. External Input: A pulse on the digital input triggers the generation of a single profile of fixed length.
Page 113 page 466. You can optionally enable part detection to process the profile after it has been generated, but the generation itself does not depend on the detection logic. To do this, check Enabled in the Part Detection panel. Rotational: The sensor reorders ranges within a profile to be aligned with the encoder’s index pulse so that the system knows when a full...
Page 114: Part Detection
detection to process the profile after it has been generated, but the generation itself does not depend on the detection logic. To do this, check Enabled in the Part Detection panel. To configure profile generation: Go to the Scan page and choose Profile in the Scan Mode panel. If this mode is not selected, you will not be able to configure surface generation.
Page 115 Setting Description used to prevent the belt surface from being detected as a part when scanning objects on a conveyor. Threshold Direction Determines if parts should be detected above or below the height threshold. 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.
Page 116: Data Viewer
Data Viewer The data viewer can display video images, ranges, profiles, and intensity images. It is also used to configure the active area (Active Area on page 94) and measurement tools (see Measurement and Processing on page 122). The data viewer changes depending on the current operation mode and the panel that has been selected.
Page 117: Video Mode
Video Mode In Video mode, the data viewer displays images directly from the sensor's camera or cameras. In a dual- sensor system, camera images from either sensor can be displayed. In this mode, you can configure the data viewer to display exposure, spot, and dropout information that can be useful in properly setting up the system for scanning.
Page 118: Range Mode
Range Mode When the Gocator is in Range scan mode, the data viewer displays range, intensity, and measurement information as numerical values and bars. Color is used to indicate pass / fail in the case of measurement decisions. The Range value indicates where along the measurement range that the target falls. The bars indicate how close the target is to the near end (more bars, farther to the right) or the far end (fewer bars, farther to the left) of the measurement range.
Page 119: Profile Mode
To manually select the display view in the Scan page: Go to the Scan page and choose Range mode in the Scan Mode panel. Select the view in the data viewer. When the Measure page is active, the view of the display is set to the range source of the selected measurement tool (Measurement and Processing on page 122).
Page 120: Region Definition
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. Choose Profile mode in the Scan Mode panel. Select the view.
Page 121: 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 data that measure the amount of light reflected by an object.
Page 122: Measurement And Processing
Measurement and Processing The following sections describe Gocator's measurement and processing tools. Measure Page Overview Measurement tools are added and configured in the Measure page. The content of the Tools panel in the Measure page depends on the current scan mode. In Range mode, the Measure page displays tools for range measurement.In Profile mode, the Measure page displays tools for profile measurement.
Page 123 For instructions on how to set up measurement regions graphically, see Region Definition on page 120. Gocator Web Interface • 123 Gocator Point Profile Sensors: User Manual...
Page 124: Tools Panel
Tools Panel The Tools panel lets you add, configure, and manage measurement tools. Tools contain related measurements. Some settings apply to tools, and therefore to all measurements; these settings are found in the Parameters tab below the list of tools. Other settings apply to specific measurements, and are found in a Parameters tab below the list of measurements;...
Page 125: Source
(Optional) Set up anchoring. For more information on anchoring, see Measurement Anchoring on page 133. Source For dual-sensor systems, you must specify which sensor, or combination of sensors, provides data for a measurement tool. The Source setting applies to all of a tool's measurements. Depending on the layout you have selected, the Source drop-down will display one of the following (or a combination).
Page 126 Region settings are often found within expandable feature sections in the tool's panel. To configure regions: Go to the Measure page by clicking on the Measure icon. scan mode must be set to the type of measurement you need to configure. Otherwise, the wrong tools, or no tools, will be listed on the Measure page.
Page 127 Expand the Region setting and then set a value in Z Angle. The region rotates clockwise around the Z axis relative to the X axis. Gocator Web Interface • 127 Gocator Point Profile Sensors: User Manual...
Page 128: Feature Points
Once the region has been rotated, you cannot modify it in the data viewer using the mouse. You can however modify its dimensions and its location manually by changing the region's values in the Region setting. Feature Points Dimensional and positional measurements detect feature points found within the defined measurement region and then compare measurement values taken at the selected point with minimum and maximum...
Page 129 Point Type Examples Min X Finds the point with the minimum X value in the region of interest. Max X Finds the point with the maximum X value in the region of interest. Average Determines the average location of points in the region of interest.
Page 130: Geometric Features
Point Type Examples Right Corner Finds the right-most corner in the region of interest, where corner is defined as a change in profile shape. Rising Edge Finds a rising edge in the region of interest (moving from left to right). Falling Edge Finds a falling edge in the region of interest (moving from left to right).
Page 131: Fit Lines
The following tables list the tools that can generate geometric features. (Tools that can't generate geometric features are excluded.) Geometric features generated by Profile tools Tool Point Line Area Bounding Box Circle Intersect Line Position Feature Intersect tool can also produce an intersect point. Script tools do not currently take geometric features as input.
Page 132 Value (5.736) within decision thresholds (Min: 5, Max: 6). Decision: Pass Value (-13.880) outside decision thresholds (Min: -13, Max: -12). 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 133: Filters
Filters Filters can be applied to measurement values before they are output from the Gocator sensors. All measurements provide filter settings under the Output tab. The following settings are available. Filter Description Scale and Offset The Scale and Offset settings are applied to a measurement value according to the following formula: Scale * Value + Offset Scale and Offset can be used to transform the output without the need to write a script.
Page 134: Measurement Anchoring
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. Click on the Output tab.
Page 135 Anchoring is not required in order to use measurement tools. This is an optional feature that helps make measurements more robust when the position and the height of the target varies from target to target. Any X or Z measurement can be used as an anchor for a tool. Several anchors can be created to run in parallel.
Page 136: Enabling And Disabling Measurements
On the Measure page, add a suitable tool to act as an anchor. A suitable tool is one that returns an X, Y, or Z position as a measurement value. Adjust the anchoring tool's settings and measurement region. You can adjust the measurement region graphically in the data viewer or manually by expanding the Regions area.
Page 137: Editing Tool, Input, Or Output Names
To enable a measurement: Go to the Scan page by clicking on the Scan icon. Choose Range mode in the Scan Mode panel. If this mode is not selected, tools will not be available in the Measure panel. Go to the Measure page by clicking on the Measure icon. In the measurements list, check the box of the measurement you want to enable.
Page 138: Changing A Measurement Id
easily distinguished in the Gocator web interface. The measurement name is also referenced by the Script tool. To change a tool or measurement name: Go to the Scan page by clicking on the Scan icon. Choose Range mode in the Scan Mode panel. If this mode is not selected, tools will not be available in the Measure panel.
Page 139: Removing A Tool
To duplicate a tool: Go to the Scan page by clicking on the Scan icon. Choose Range or Profile 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 140: Range Measurement
Range Measurement This section describes the range measurement tools available in the Gocator sensors. Gocator Web Interface • 140 Gocator Point Profile Sensors: User Manual...
Page 141: Position
Position The Position tool finds the Z axis position of the laser range. For information on adding, managing, and removing tools and measurements, as well as detailed descriptions of settings common to most tools, see Tools Panel on page 124. Measurements and Settings Measurements Measurement...
Page 142: Thickness
Thickness The Thickness tool determines the difference along the Z axis between two laser ranges. The difference can be expressed as an absolute or signed result. The difference is calculated by: Thickness = Range - Range Main Buddy For information on adding, managing, and removing tools and measurements, as well as detailed descriptions of settings common to most tools, see Tools Panel on page 124.
Page 143 Parameter Description Filters The filters that are applied to measurement values before they are output. For more information, see Filters on page 132. Decision The Max and Min settings define the range that determines whether the measurement tool sends a pass or fail decision to the output.
Page 144: Script
Script A Script measurement can be used to program a custom measurement using a simplified C-based syntax. A script measurement can produce multiple measurement values and decisions for the output. See Scripts 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.
Page 145: Profile Measurement
Profile Measurement This section describes the profile measurement tools available in Gocator sensors. The Profile Advanced Height tool is not supported on Gocator 1300 sensors. It will however appear in emulator scenarios created from Gocator 1300 sensors. Gocator Web Interface • 145 Gocator Point Profile Sensors: User Manual...
Page 146: Area
Area The Area tool determines the cross-sectional area within a region. 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. For information on adding, managing, and removing tools and measurements, as well as detailed descriptions of settings common to most tools, see Tools Panel on page 124.
Page 147: Measurements, Features, And Settings
Measurements, Features, and Settings Measurements Measurement Illustration Area Measures the cross-sectional area within a region that is above or below a fitted baseline. Centroid X Determines the X position of the centroid of the area. Centroid Z Determines the Z position of the centroid of the area. Features Type Description...
Page 148 Parameters Parameter Description Source The sensor, or combination of sensors, that provides data for the tool's measurements. For more information, see Source on page 125. 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 box that contains the profile (for example, X position, Z position, width, etc.). The bounding box provides the absolute position from which the Position centroids tools are referenced. When you use measurement tools on parts, the coordinates returned are relative to the part.
Page 150: Measurements, Features, And Settings
Measurements, Features, and Settings Measurements Measurement Illustration Determines the X position of the center of the bounding box that contains the profile. The value returned is relative to the profile. Determines the Z position of the center of the bounding box that contains the profile.
Page 151 Parameters Parameter Description Source The sensor, or combination of sensors, that provides data for the tool's measurements. For more information, see Source on page 125. Region The region to which the tool's measurements will apply. For more information, see Regions on page 125. Filters The filters that are applied to measurement values before they are output.
Page 152: Circle
Circle The Circle tool provides measurements that find the best-fitted circle to a profile and measure various characteristics of the circle. The tool may be unable to fit a circle to the profile when attempting the fit on a small number of relatively collinear data points.
Page 153 Measurement Illustration Standard Deviation Returns the standard deviation of the data points with respect to the fitted circle. Min Error Max Error The minimum and maximum error among the data points with respect to the fitted circle. Min Error X Min Error Z The X and Z position of the minimum error.
Page 154 For more information on anchoring, see Measurement Anchoring on page 133. Gocator Web Interface • 154 Gocator Point Profile Sensors: User Manual...
Page 155: Closed Area
Closed Area The Closed Area tool determines the cross-sectional area within a region using point cloud data from a dual- or multi-sensor system. The tool is intended for use with roughly circular shaped profiles, or profiles that do not contain excessive concavity.
Page 156 Parameters Parameter Description Source The sensor, or combination of sensors, that provides data for the tool's measurements. For more information, see Source on page 125. For this tool, you should set this parameter to Top and Bottom. Use Region Indicates whether the tool uses a user-defined region. If this option is not checked, the tool uses data from the entire active area.
Page 157 Parameter Description Sample Spacing The angle interval around the center of the profile the tool uses to calculate area. Enabling this setting and setting a value can increase the tool's performance. In the following image, the spacing is set to 1 degree. The polygon calculated from the profile points, which is then used to calculate the area, is simplified, increasing performance but reducing accuracy.
Page 158 Anchoring Anchor Description X or Z Lets you choose the X or Z measurement of another tool to use as a positional anchor for this tool. A measurement must be enabled in the other tool for it to be available as an anchor. The anchor measurement should also be properly configured before using it as an anchor.
Page 159: Dimension
Dimension The Dimension tool provides Width, Height, Distance, Center X, and Center Z measurements. For information on adding, managing, and removing tools and measurements, as well as detailed descriptions of settings common to most tools, see Tools Panel on page 124. Measurements and Settings Measurements Measurement...
Page 160 Measurement Illustration Distance Determines the direct, Euclidean distance between two feature points. 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.
Page 161 Parameter Description Feature 1 The Feature 1 and Feature 2 settings represent the two features the tool uses to perform measurements. For each, Feature 2 one of the following: Max Z Min Z Max X Min X Corner Average Rising Edge Falling Edge Any Edge Top Corner...
Page 162: Groove
Groove The Groove tool provides measurements of V-shape, U-shape, or open-shape grooves. 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.
Page 163: Measurements, Features, And Settings
Measurements, Features, and Settings Measurements Measurement Illustration Width Measures the width of a groove. Depth Measures the depth of a groove as the maximum perpendicular distance from a line connecting the edge points of the groove. Gocator Web Interface • 163 Gocator Point Profile Sensors: User Manual...
Page 164 Measurement Illustration Measures the X position of the bottom of a groove. Measures the Z position of the bottom of a groove. Parameters Parameter Description Source The sensor, or combination of sensors, that provides data for the tool's measurements. For more information, see Source on page 125.
Page 165 Parameter Description Min Width Minimum width for a groove to be considered valid. The width is the distance between the groove corners. Max Width Maximum width of a groove to be considered valid. If set to 0, the maximum is set to the width of the measurement area.
Page 166 For more information on anchoring, see Measurement Anchoring on page 133. Gocator Web Interface • 166 Gocator Point Profile Sensors: User Manual...
Page 167: Intersect
Intersect The Intersect tool determines intersect points and angles. 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. For information on adding, managing, and removing tools and measurements, as well as detailed descriptions of settings common to most tools, see Tools Panel on page 124.
Page 168 Measurement Illustration Angle Finds the angle subtended by two fitted lines. Features Type Description Intersect Point The point of intersection. Line The intersect line. Base Line The base line. For more information on geometric features, see Geometric Features on page 129. Parameters Parameter Description...
Page 169 Parameter Description Angle Range Determines the angle range. The options are: (Angle measurement only) -90 – 90 0 – 180 Filters The filters that are applied to measurement values before they are output. For more information, see Filters on page 132.
Page 170: Line
Line The Line tool fits a line to the profile and measures the deviations from the best-fitted line. Gocator compares the measurement value with the values in Min and Max to yield a decision. For more information on decisions, see Decisions on page 130. For information on adding, managing, and removing tools and measurements, as well as detailed descriptions of settings common to most tools, see Tools Panel on page 124.
Page 171: Measurements, Features, And Settings
Measurements, Features, and Settings Measurements Measurement Illustration Standard Deviation Finds the best-fitted line and measures the standard deviation of the data points from the line. Min Error Finds the best-fitted line and measures the minimum error from the line (the maximum distance below the line). Max Error Finds the best-fitted line and measures the maximum error from the line (the maximum distance above the line).
Page 172 Measurement Illustration Max Error X Max Error Z Finds the best-fitted line and returns the X or Z position of the maximum error from the line (the maximum distance above the line). Features Type Description Line The fitted line. Error Min Point The point of minimum error.
Page 173 Parameter Description Percent The specified percentage of points around the best-fitted line. (Percentile measurement only) Filters The filters that are applied to measurement values before they are output. For more information, see Filters on page 132. Decision The Max and Min settings define the range that determines whether the measurement tool sends a pass or fail decision to the output.
Page 174: Panel
Panel The Panel tool provides Gap and Flush measurements. The Panel tool uses a complex feature-locating algorithm to find the gap or calculate flushness and return measurements. The behavior of the algorithm can be adjusted by changing the parameters in the measurement panel.
Page 175 Measurements Measurement Illustration Measures the distance between two surfaces. The surface edges can be curved or sharp. Flush Measures the flushness between two surfaces. The surface edges can be curved or sharp. Left Gap X Returns the X position of the edge feature on the left side used to measure the gap.
Page 176 Measurement Illustration Right Gap X Returns the X position of the edge feature on the right side used to measure the gap. Right Gap Z Returns the Z position of the edge feature on the right side used to measure the gap. Right Flush X Returns the X position of the feature on the right side used to measure flushness.
Page 177 Left/Right SideEdge Parameters Parameter Description Max Void Width The maximum allowed width of missing data caused by occlusion or data dropout. Min Depth Defines the minimum depth before an opening could be considered to have a potential edge. The depth is the perpendicular distance from the fitted surface line. Surface Width The width of the surface area in which data is used to form the fitted surface line.
Page 178: Position
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 179 Parameter Description Feature The feature the tool uses for its measurements. One of the following: Max Z Min Z Max X Min X Corner Average Rising Edge Falling Edge Any Edge Top Corner Bottom Corner Left Corner Right Corner Median To set the region of a feature, adjust it graphically in the data viewer, or expand the feature using the expand button (...
Page 180: Round Corner
Round Corner The Round Corner tool measures corners with a radius, returning the position of the edge of the corner and the angle of adjacent surface with respect to the X axis. For information on adding, managing, and removing tools and measurements, as well as detailed descriptions of settings common to most tools, see Tools Panel on page 124.
Page 181 Measurements Measurement Illustration Measures the X position of the location where the tangent touches the edge, or intersect of the tangent and the line fitted to the surface used by the measurement (see Reference Side, below). Measures the Z position of the location where the tangent touches the edge, or intersect of the tangent and the line fitted to the surface used by the measurement (see Reference Side, below).
Page 182 Parameters Parameter Description Source The sensor, or combination of sensors, that provides data for the tool's measurements. For more information, see Source on page 125. Reference Direction Defines the side used to calculate the rounded corner. Max Gap Width The maximum width of the gap. Allows the tool to filter gaps greater than the expected width.
Page 183 A measurement must be enabled in the other tool for it to be available as an anchor. The anchor measurement should also be properly configured before using it as an anchor. For more information on anchoring, see Measurement Anchoring on page 133. Gocator Web Interface •...
Page 184: Strip
Strip The Strip tool measures the width of a strip. 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.
Page 185 Measurements Measurement Illustration Width Measures the width of a strip. Height Measures the height of a strip. Measures the X position of a strip. Measures the Z position of a strip. Parameters Parameter Description Source The sensor, or combination of sensors, that provides data for the tool's measurements. For more information, see Source on page 125.
Page 186 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. When set to None, only a point that deviates from a smooth strip support region is needed to find a rising or falling edge.
Page 187 Parameter Description Transition Width Specifies the nominal width needed to make the transition from the base to the strip. See "Strip Step Edge Definitions" in the Gocator Measurement Tool Technical Manual on how this parameter is used by different base types. Min Width Specifies the minimum width for a strip to be considered valid.
Page 188 Anchoring Anchor Description X or Z Lets you choose the X or Z measurement of another tool to use as a positional anchor for this tool. A measurement must be enabled in the other tool for it to be available as an anchor. The anchor measurement should also be properly configured before using it as an anchor.
Page 189: Script
Script A Script measurement can be used to program a custom measurement using a simplified C-based syntax. A script measurement can produce multiple measurement values and decisions for the output. Gocator Web Interface • 189 Gocator Point Profile Sensors: User Manual...
Page 190 See Scripts 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 191: Feature Measurement
Feature Measurement The following sections describe Gocator's Feature tools. Feature tools produce measurements based on more complex geometry, letting you implement applications more quickly by reducing dependence on writing scripts to accomplish these kinds of measurements. Feature tools take geometric features generated by other tools as input and perform measurements on those features.
Page 192: Create
Create The Feature Create tool lets you generate geometric features from other geometric features. For example, you can create a line from two points, or create a plane from a point and a line. The tool can generate points, lines, circles, or planes. You can also extract measurement values from the geometric features generated by other tools;...
Page 193: Line From Two Points
Measurement Panel The following sections describe the output types available in the Output drop-down, the inputs required by each output, and the resulting output. Line from Two Points The Line from two points type of output takes two point geometric features as input. The resulting output is a line geometric feature connecting the two points.
Page 194: Perpendicular Or Parallel Line From Point And Line
A line between the center point of a hole and the corner of the chip. (The corner is the intersect point resulting from the Feature Intersect tool, taking the left vertical and lower horizontal line edges of the chip as input.) The X, Y, and Z measurements return the midpoint of the line.
Page 195: Circle From Points
In the following, the tool generates a roughly horizontal line (yellow) parallel to the input line (cyan line along the bottom edge of the large integrated circuit), passing through the input point (cyan dot at the center of the hole). Circle from Points The Circle from points output type takes three point geometric features and fits a circle to those points.
Page 196: Line From Two Planes
Circle generated from the center points of the two holes and the corner of the chip (cyan points). (The corner is the intersect point resulting from the Feature Intersect tool, taking the left vertical and lower horizontal line edges of the chip as input.) Line from Two Planes The Line from two planes output type takes two plane geometric features as input and creates a line at their intersection.
Page 197: Point From Three Planes
Point from Three Planes The Point from three planes output type takes three plane geometric features as input and creates a point at their intersection. The X, Y, and Z measurements return the position of the intersect point. The X, Y, and Z Angle measurements return 0.000 values.
Page 198 Positional measurements of a point For line output, the X, Y, and Z measurements return the midpoint of the line. The Z Angle measurement returns the angle of the line around the Z axis. The X angle is always 0.000, and the Y angle is always 180.000.
Page 199 Measurements Measurement X, Y, Z The X, Y, and Z positions of some aspect of the geometric feature. For more information, see the sections above. X Angle, Y Angle, Z Angle The X, Y, and Z angles of some aspect of the geometric feature. For more information, see the sections above. Note that even when enabled on the Features tab, not all features are generated.
Page 200: Dimension
Dimension The Feature Dimension tool provides dimensional measurements from a point geometric feature to a reference point or line geometric feature. Gocator compares the measurement value with the values in Min and Max to yield a decision. For more information on decisions, see Decisions on page 130. See Adding and Configuring a Measurement Tool on page 124 for instructions on how to add measurement tools.
Page 201 Measurement Height Point-point: The difference on the Z axis between the points. Point-line: The difference on the Z axis between the point and, for profiles, a point on the line at the same X position as the first point. Distance Point-point: The direct, Euclidean distance between two point geometric features.
Page 202: Intersect
Intersect The Feature Intersect tool returns the intersection of a line geometric features and a reference line or plane geometric feature. For line-line intersections, the lines are projected onto the Y = 0 plane for features extracted from a profile. The angle measurement between the two lines is also returned The Feature Intersect tool saves you from having to write complicated calculations in script tools to find...
Page 203 Measurement Line-Line: The Y position of the intersect point between the lines. Line-Plane: The Y position of the intersect point between the line and the plane. Line-Line: The Z position of the intersect point between the lines. Line-Plane: The Z position of the intersect point between the line and the plane. Angle Line-Line: The angle between the lines, as measured from the line selected in Reference Feature to the line selected in Line.
Page 204: Robot Pose
Robot Pose This tool is not supported on A and B revision Gocator 2100 and 2300 sensors. It will however appear in emulator scenarios created using these sensors. Gocator single point profilers do not support the Feature Robot Pose tool. Scripts Scripts use outputs from other measurement tools to produce custom measurements.
Page 205 Function Description int Measurement_Valid(int id) Determines if a measurement value is valid by its ID. Parameters: id - Measurement ID Returns 0 - Measurement is invalid 1 - Measurement is valid double Measurement_Value (int id) Gets the value of a measurement by its ID. Parameters: id - Measurement ID Returns:...
Page 206 Output Functions Function Description void Output_Set (double value, int Sets the output value and decision on Output index 0. Only the last decision) output value / decision in a script run is kept and passed to the Gocator output. To output an invalid value, the constant INVALID_VALUE can be used (e.g., Output_SetAt(0, INVALID_VALUE, 0)) Parameters: value - value output by the script...
Page 207 Function Description Returns: value - Value stored in persistent memory void Memory_Set64f (int id, double value) Stores a 64-bit double into persistent memory. Parameters: id - ID of the value value - Value to store double Memory_Get64f (int id) Loads a 64-bit double from persistent memory. All persistent memory values are set to 0 when the sensor starts.
Page 208 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. long long Stamp_EncoderZ() Gets the encoder index position of the current frame.
Page 209 Memory_Set64s(0, length); if (length > 10000) Output_Set(length, 1); else Output_Set(length, 0); Gocator Web Interface • 209 Gocator Point Profile Sensors: User Manual...
Page 210: 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 data 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 211: Ethernet Output
Ethernet Output A sensor uses TCP messages (Gocator protocol) to receive commands from client computers, and to send video, laser range, 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 212 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 213 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 214 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 215: Digital Output
Digital Output Gocator sensors can convert measurement decisions or software commands to digital output pulses, which can then be used to output to a PLC or to control external devices, such as indicator lights or air ejectors. Digital outputs cannot be used when taking scans using the Snapshot button, which takes a single scan and is typically used to test measurement tool settings.
Page 216 If multiple measurement decisions are selected and Assert On is set to Pass, the output is activated when all selected measurements pass. If Assert On is set to Fail, the output is activated when any one of the selected measurements fails. Set the Signal option.
Page 217 To respond to software scheduled commands: Go to the Output page. Click Digital 1 or Digital 2 in the Output panel. Set Trigger Event to Software. Specify a Signal type. The signal type specifies whether the digital output is a continuous signal or a pulsed signal. If the signal is continuous, its state is maintained until the next transition occurs.
Page 218: Analog Output
Gocator 1300 series sensors are limited to sending data at 10 kHz over the analog output channel. Therefore, if you configure a sensor so that it runs at a speed higher than 10 kHz in the Trigger panel on the Scan page, and configure a measurement to be sent on the analog channel under Analog on the Output page, you will get analog data drops.
Page 219: Serial Output
Specify Current Range and Invalid current values. The values specified here determine the minimum and maximum current values in milliamperes. If Invalid is checked, the current value specified with the slider is used when a measurement value is not valid. If Invalid is not checked, the output holds the last value when a measurement value is not valid. Specify if the output is immediate or scheduled.
Page 220 The ASCII protocol outputs data asynchronously using a single serial port. For information on the ASCII Protocol parameters and data formats, see ASCII Protocol on page 391. The Selcom Serial Protocol outputs synchronized serial data using two serial ports. For information on the Selcom serial protocol and data formats, see Selcom Protocol on page 403.
Page 221 To configure Selcom output: Go to the Output page. Click on Serial in the Output panel. Select Selcom in the Protocol option. Select the measurements to send. To select an item for transmission, place a check in the corresponding check box. Measurements shown here correspond to measurements that have been programmed using the Measurements page.
Page 222: Dashboard
Dashboard The following sections describe the Dashboard page. Dashboard Page Overview The Dashboard page summarizes sensor health information and provides measurement statistics. It also provides tool performance statistics. Use this information to troubleshoot your system. Element Description System Displays sensor state and health information. See State and Health Information below.
Page 223: Statistics
Name Description 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). Ethernet Link Speed Speed of the Ethernet link (Mbps). Ethernet Traffic Network output utilization (MB/sec).
Page 224: Measurements
Measurements The Measurements tab displays statistics for each measurement enabled in the Measure page, grouped by the tool that contains the measurement. For each measurement, Gocator displays the following information: Measurement Statistics Name Description The measurement ID as set in the measurement's ID field on the Measure page Value The most recent measurement value.
Page 225 Name Description Min (ms) The minimum execution time of the tool. Max (ms) The maximum execution time of the tool. Avg (ms) The average execution time of the tool. Avg (%) The average percentage the CPU the tool uses. Tools are sorted by the Avg (%) column in descending order. Gocator Web Interface •...
Page 226: Gocator Emulator
Gocator Emulator The Gocator emulator is a stand-alone application that lets you run a "virtual" sensor, encapsulated in a "scenario." When running a scenario, 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 scenario to familiarize yourself with the overall interface if you are new to Gocator.
Page 227: Limitations
Limitations In most ways, a scenario behaves like a real sensor, especially when visualizing data, setting up models and part matching, and adding and configuring measurement tools. The following are some of the limitations: Changes to job files in the emulator are not persistent (they are lost when you close or restart the emulator).
Page 228: Running The Emulator
When you create a scenario from a support file in the emulator, the filename you provide here is displayed in the emulator's scenario list. Support files end with the .gs extension, but you do not need to type the extension in Filename. (Optional) In Description, type a description of the support file.
Page 229: Adding A Scenario To The Emulator
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 scenario in the emulator.
Page 230: Running A Scenario
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. You can also run any of the scenarios included in the installation.
Page 231: Using Replay Protection
Click the button next to the scenario you want to remove. The scenario is removed from the emulator. Using Replay Protection Making changes to certain settings on the Scan page causes the emulator to flush replay data. The Replay Protection option protects replay data by preventing changes to settings that affect replay data.
Page 232: Running The Emulator In Default Browser
Running the Emulator in Default Browser When you use the /browser command line parameter, the emulator application launches normally but also launches in your default browser. This provides additional flexibility when using the emulator. For example, you can resize the emulator running in a browser window. To run the emulator in your default browser: In Windows Explorer (Windows 7) or File Explorer (Windows 8 or 10), browse to the location of the emulator.
Page 233: Playback And Measurement Simulation
To create a job: Choose [New] in the job drop-down list and type a name for the job. Click the Save button or press Enter to save the job. The job is saved to the emulator using the name you provided. To save a job: Click the Save button The job is saved to the emulator.
Page 234: Downloading, Uploading, And Exporting Replay Data
To 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, you must uncheck Replay Protection. Use the Replay slider or the Step Forward, Step Back, or Play buttons to review data. The Step Forward and Step Back buttons move the current replay location forward and backward by a single frame, respectively.
Page 235 Replay data is not loaded or saved when you load or save jobs. To download replay data: Click the Download button In the File Download dialog, click Save. In the Save As... dialog, choose a location, optionally change the name, and click Save. To upload replay data: Click the Upload button The Upload menu appears.
Page 236 Replay data can be exported using the CSV format. If you have enabled Acquire Intensity in the Scan Mode panel on the Scan page, the exported CSV file includes intensity data. To export replay data in the CSV format: In the Scan Mode panel, switch to Range or Profile. Switch to Replay mode.
Page 237: Downloading And Uploading Jobs
To export video data to a BMP file: In the Scan Mode panel, switch to Video mode. Use the playback control buttons to move to a different replay location; for information on playback, see To replay data in Playback and Measurement Simulation on page 232. Switch to Replay mode.
Page 238: Scan, Model, And Measurement Settings
Unsaved jobs are indicated by "[unsaved]". Changes to job files in the emulator are not persistent (they are lost when you close or restart the emulator). However, you can keep modified jobs by first saving them and then downloading them to a client computer. To save a job: Go to the Manage page and click on the Jobs category.
Page 239: Protocol Output
For example, when you reduce the active area, in the Active Area tab on the Sensor panel, the maximum frame rate displayed on the Trigger panel is updated to reflect the increased speed that would be available in a physical Gocator sensor. (See Active Area on page 94 for more information on active area.) Similarly, you can adjust exposure on the Exposure tab on the Sensor panel to see how this affects the maximum frame rate.
Page 240 In the command prompt, type GoEmulator.exe /ip, followed by a valid IPV4 address on your network. The emulator application starts. The emulator does not check that the IP address is valid. From the emulator launch page, start a scenario. For more information, see Running a Scenario on page 229. Provide the IP address you used with the /ip parameter, followed by port number 3191, to users who want to connect to the emulated sensor, for example: 192.168.1.42:3191...
Page 241: Gocator Accelerator
You can implement acceleration capabilities in client applications that you create using the Gocator SDK. LMI also provides a standalone utility (GoAccelerator.exe) that you can use to accelerate systems. web interface on an accelerated sensor is identical to the interface on an unaccelerated sensor. The...
Page 242: System Requirements And Recommendations
which indicators in the Dashboard that acceleration affects, see State and Health Information on page 221. For information on which indicators available through the Gocator protocol acceleration affects, see Health Results on page 369. Once a system is accelerated, an SDK application can interface to the accelerator application the same way as is possible with a physical sensor, although the IP of the accelerating PC must be used for the connection.
Page 243: Installation
Installation To get the necessary packages, go to http://lmi3d.com/support, choose your product from the Product Downloads section, and download it from the Download Center. For the GoAccelerator utility, download the 14405-X.X.X.X_SOFTWARE_GO_Tools.zip package. For the SDK libraries and DLL for integrating acceleration into a client application, download the 14400-X.X.X.X_SOFTWARE_GO_SDK.zip.
Page 244 (Optional) Set Web Port to a port for use with the accelerated sensor's URL. If port 8080 is already in use, set Web Port to an unused port. (Optional) If you are accelerating multiple systems, click on another sensor in the Sensors list, and repeat the steps above.
Page 245: Dashboard And Health Indicators
To open the accelerated sensor's web interface, in the Gocator Accelerator application, click the link next to URL. When a sensor is accelerated, a "rocket" icon appears in the metrics area. If you restart an accelerated sensor, the sensor will continue to be accelerated when it restarts. To stop an accelerated sensor in the Gocator Accelerator application: Select the sensor in the Sensors list.
Page 246: Sdk Application Integration
For information on which indicators accessed through the Gocator protocol are affected, see Health Results on page 369. SDK Application Integration Gocator acceleration can be fully integrated into an SDK application. Users simply need to instantiate the GoAccelerator object and connect it to a sensor object. GoAccelerator accelerator = kNULL;...
Page 247: 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 248: Job File Structure
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 @idStart Identifier of the first log. @idEnd Identifier of the final log. List of (Info | Warning | List An ordered list of log entries.
Page 249: Accessing Files And Components
Component Path Description information, see Configuration below. Transform transform.xml Alignment Reference Transformation values. Present only if is set to Transform Dynamic. For more information, see on page 313. Elements in the components contain three types of values: settings, constraints, and properties. Settings are input values that can be edited.
Page 250: Setup
Element Type Description @versionMinor Configuration minor version (9). Setup Setup Section For a description of the Setup elements, see below. Replay Section Replay Contains settings related to recording filtering (see on page 271). Streams Section Streams/Stream Read-only collection of available data streams (see (Read-only) on page 272).
Page 251: Backgroundsuppression
Element Type Description IntensityEnabled Bool Enables intensity data collection. IntensityEnabled.used Bool Whether or not property is used. IntensityEnabled.value Bool Actual value used if not configurable. FlickerFreeModeEnabled Bool Enables flicker-free operation. FlickerFreeModeEnabled.use Bool Whether flicker-free operation can be used on this sensor. ExternalInputZPulseEnabled Bool Enables the External Input based encoder Z Pulse feature.
Page 252: Xsmoothing
XSmoothing XSmoothing Child Elements Element Type Description @used Bool Whether or not this field is used Enabled Bool Enables filtering. Window Window size (mm). Window.min Minimum window size (mm). Window.max Maximum window size (mm). YSmoothing YSmoothing Child Elements Element Type Description @used Bool...
Page 253: Xmedian
XMedian XMedian Child Elements Element Type Description @used Bool Whether or not this field is used 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 @used Bool...
Page 254: Yslope
The Trigger element contains settings related to trigger source, speed, and encoder resolution. Gocator 1300 series sensors are limited to sending data at 10 kHz over the analog output channel. Therefore, if you configure a sensor so that it runs at a speed higher than 10 kHz, and configure a measurement to be sent on the analog channel, you will get analog data drops.
Page 255 Element Type Description ExternalInputIndex.options 32s (CSV) List of available external input indices. ExternalInputIndex.used Bool Whether the external input index used. 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 256: Layout
Element Type Description ReversalDistanceAutoEnabled Bool Whether or not to use auto-calculated value. ReversalDistanceAutoEnabled.u Bool Whether or not this parameter can be configured. ReversalDistance Encoder reversal threshold (for jitter handling) ReversalDistance.used Bool Whether or not this parameter is used. ReversalDistance.value Actual value. LaserSleepMode.used Bool Whether or not this feature can be configured.
Page 257: Alignment
Region3D Child Elements Element Type Description X start (mm). Y start (mm). Z start (mm). Width X extent (mm). Length Y extent (mm). Height Z extent (mm). ZAngle Z Angle start (degrees). ZAngle.used Bool Whether or not this property is used. Grid Elements Element Type...
Page 258: Disk
Element Type Description EncoderCalibrateEnabled Bool Enables encoder resolution calibration. Disk Disk Section below. Section below. Plate Plate Section below. Polygon Section Polygon on the next page. Disk Disk Child Elements Element Type Description Diameter Disk diameter (mm). Height Disk height (mm). Bar Child Elements Element Type...
Page 259: Polygon
Polygon Polygon Child Elements Element Type Description Corners List Contains a list of Corners (described below). Corners.minCount Minimum number of corners. Polygon/Corner Corner Child Elements Element Type Description X Position Y Position Devices List of 32u List of devices this corner is assigned to. Devices.options List of 32u List of valid options for this field.
Page 260 Element Type Description 0 – Default 100 – Nine Lines PatternSequenceType.optio List of available pattern sequence types. PatternSequenceType.used Bool Whether or not this field is used. PatternSequenceCount Number of frames in the active sequence (read-only). ExposureMode Exposure mode: 0 – Single exposure 2 –...
Page 261 Element Type Description 0 – Maximum resolution 1 – Balanced 2 – Maximum speed 3 – Custom SpacingIntervalType.used Bool Whether or not this field is used. Tracking Child Elements Tracking Section on the next page. Material Section Material Child Elements on the next page.
Page 262 Element Type Description Device row position in grid layout. Row.value Value in use by the sensor, useful for determining value when used is false. Column Device column position in grid layout. Column.value Value in use by the sensor, useful for determining value when used is false.
Page 263 Element Type Description SpotWidthMax.min Minimum allowed spot detection maximum value. SpotWidthMax.max Maximum allowed spot detection maximum value. SpotSelectionType Spot selection type 0 – Best. Picks the strongest spot in a given column. 1 – Top. Picks the spot which is most Top/Left on the imager 2 –...
Page 264 Element Type Description used is false. DynamicThreshold.min Minimum value. DynamicThreshold.max Maximum value. SensitivityCompensationEnabled Bool Sensitivity compensation toggle. Used in determining analog and digital gain, along with exposure scale. SensitivityCompensationEnabled.used Bool Determines if the setting’s value is currently used. SensitivityCompensationEnabled.value Bool Value in use by the sensor, useful for determining value when used is false.
Page 265: Surfacegeneration
Element Type Description FrontCameraExposure The exposure value to use for the front camera FrontCameraExposure.min The minimum exposure value possible for front camera FrontCameraExposure.max The maximum exposure value possible for back camera BackCameraExposure The exposure value to use for the front camera BackCameraExposure.min The minimum exposure value possible for front camera BackCameraExposure.max...
Page 266: Surfacesections
FixedLength FixedLength Child Elements Element Type Description StartTrigger Start trigger condition: 0 – Sequential 1 – Digital input ExternalInputIndex Index of external input when trigger source is set to 1 – Digital Input and connected to a Master. 0 – first digital input 1 –...
Page 267: Profilegeneration
Element Type Description @yMin The minimum valid Y value to be used for section definition. @yMax The maximum valid Y value to be used for section definition. Section Collection A series of Section elements. Section Child Elements Element Type Description The ID assigned to the surface section.
Page 268: Partdetection
Element Type Description ExternalInputIndex Index of external input when trigger source is set to 1 – Digital Input and connected to a Master. 0 – first digital input 1 – second digital input 2 – third digital input 3 – fourth digital input ExternalInputIndex.options 32s (CSV) List of available external input indices.
Page 269 Element Type Description GapWidth.min Minimum gap width (mm). GapWidth.max Maximum gap width (mm). GapWidth.used Bool Whether or not this field is used. GapLength Gap length (mm). GapLength.min Minimum gap length (mm). GapLength.max Maximum gap length (mm). GapLength.used Bool Whether or not this field is used. PaddingWidth Padding width (mm).
Page 270: Edgefiltering
Element Type Description IncludeSinglePointsEnabled. Bool Whether or nto this field is available to be modified used EdgeFiltering EdgeFiltering Section below. (Not used by G1 sensors.) EdgeFiltering EdgeFiltering Child Elements Element Type Description @used Bool Whether or not this section is used. Enabled Bool Enables edge filtering.
Page 271: Boundingbox
BoundingBox BoundingBox Child Elements Element Type Description ZAngle Z rotation to apply to bounding box (degrees). AsymmetryDetectionType Determine whether to use asymmetry detection and, if enabled, which dimension is the basis of detection. The possible values are: 0 – None 1 –...
Page 272: Replay
Element Type Description Acceptance/Major/Max Maximum major length (mm). Acceptance/Major/Tolerance Major acceptance tolerance value Acceptance/Major/Tolerance.dep Bool Whether this tolerance field is deprecated recated Acceptance/Minor/Min Minimum minor length (mm). Acceptance/Minor/Max Maximum minor length (mm). Acceptance/Minor/Tolerance Minor acceptance tolerance value Acceptance/Minor/Tolerance.dep Bool Whether this tolerance field is deprecated recated X value X.deprecated...
Page 273: Conditions/Anydata
Element Type Description 2 – Valid 3 – Invalid Conditions/AnyData Conditions/AnyData Elements Element Type Description Enabled Bool Indicates whether the condition is enabled. RangeCountCase The case under which to record data: 0 – Range count at or above threshold of valid data points. 1 –...
Page 274: Tooloptions
Element Type Description 10 - Diagnostic DataType The stream data type 0 – None 4 – Uniform Profile 16 – Uniform Surface ColorEncoding The color encoding type. Only appears for Video stream steps (1). 0 – None 1 – Bayer BGGR 2 –...
Page 275: Measurementoptions
Tool Name Child Elements Element Type Description @displayName String Display name of the tool. @isCustom Bool Reserved for future use. @format Format type of the tool: 0 – Standard built-in tool 1 – GDK user-defined tool 2 – Internal GDK tool MeasurementOptions Collection MeasurementOptions...
Page 276: Streamoptions
StreamOptions StreamOptions Child Elements Element Type Description @step The data step of the stream being described. Possible values are: 1 – Video 2 – Range 3 – Surface 4 – Section @ids A list representing the available IDs associated with the given step.
Page 277: Profileline
Element Type Description 13 – Median RegionEnabled Bool Indicates whether feature detection applies to the defined Region or to the entire active area. Region ProfileRegion2D Element for feature detection area. ProfileLine An element of type ProfileLine defines measurement areas used to calculate a line. ProfileLine Child Elements Element Type...
Page 278 GDK Parameter Child Elements Element Type Description @label String Parameter label. @type String Type of parameter. It is one of the following (see tables below for elements found in each type): - Bool - Int - Float - ProfileRegion - SurfaceRegion2d - SurfaceRegion3d - GeometricFeature @options...
Page 279: Rangeposition
Element Type Description Y value of region. Width Width value of region. Length Length value of region. GDK Parameter Surface Region 3D Type Element Type Description X value of region. Y value of region. Z value of region. Width Width value of region. Length Length value of region.
Page 280: Rangethickness
Position Tool Measurement Element Type Description 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 – Enable SmoothingEnabled Boolean Smoothing enable state:...
Page 281 Element Type Description 1 – GDK user-defined tool 2 – Internal GDK tool The tool's ID. Name String Tool name. Features Collection Not used. Source Range source. Anchor\Z String (CSV) The Z measurements (IDs) used for anchoring. Anchor\Z.options String (CSV) The Z measurements (IDs) available for anchoring.
Page 282: Profilearea
ProfileArea A ProfileArea element defines settings for a profile area tool and one or more of its measurements. ProfileArea Child Elements Element Type Description @isCustom Bool Reserved for future use. @format Format type of the tool: 0 – Standard built-in tool 1 –...
Page 283: Profileboundingbox
Element Type Description measurement Measurements\CentroidX Area tool CentroidX measurement. measurement Measurements\CentroidZ Area tool CentroidZ measurement. measurement Features\CenterPoint GeometricFeature CenterPoint PointFeature. 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 284 Element Type Description 1 – GDK user-defined tool 2 – Internal GDK tool The tool's ID. Name String Tool name. Features Collection Collection of geometric feature outputs available in the tool. ProfileBoundingBox on the previous page. Source Profile source. Anchor\X String (CSV) The X measurements (IDs) used for anchoring.
Page 285: Profilecircle
Bounding Box Tool Measurement Element Type Description 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 – Enable SmoothingEnabled Boolean Smoothing enable state:...
Page 286 Element Type Description Anchor\X.options String (CSV) The X measurements (IDs) available for anchoring. Anchor\Z String (CSV) The Z measurements (IDs) used for anchoring. Anchor\Z.options String (CSV) The Z measurements (IDs) available for anchoring. StreamOptions Collection A collection of StreamOptions elements. Stream\Step The stream source step.
Page 287: Profiledimension
Element Type Description 1 – Enable SmoothingEnabled Boolean Smoothing enable state: 0 – Disable 1 – Enable PreserveInvalidsEnabled Boolean Preserve invalid measurements enable state 0 – Disable 1 – Enable SmoothingWindow Smoothing window. Scale Output scaling factor. Offset Output offset factor. DecisionMin Minimum decision threshold.
Page 288 Element Type Description Stream\Id The stream source ID. ProfileFeature RefFeature Reference measurement region. Feature ProfileFeature Measurement region. Measurements\Width Dimension tool Width measurement. measurement Measurements\Height Dimension tool Height measurement. measurement Measurements\Distance Dimension tool Distance measurement. measurement Measurements\CenterX Dimension tool CenterX measurement. measurement Measurements\CenterZ Dimension tool...
Page 289: Profilegroove
ProfileGroove A ProfileGroove element defines settings for a profile groove tool and one or more of its measurements. The profile groove tool is dynamic, meaning that it can contain multiple measurements of the same type in the Measurements element. ProfileGroove Child Elements Element Type Description...
Page 290 Element Type Description 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 Description Measurement ID. Optional (measurement disabled if not set). Name String Measurement name. Enabled Boolean Measurement enable state: 0 –...
Page 291: Profileintersect
ProfileIntersect A ProfileIntersect element defines settings for a profile intersect tool and one or more of its measurements. ProfileIntersect Child Elements Element Type Description @isCustom Bool Reserved for future use. @format Format type of the tool: 0 – Standard built-in tool 1 –...
Page 292: Profileline
Element Type Description Features\Line GeometricFeature Line LineFeature. Features\BaseLine GeometricFeature BaseLine LineFeature. Intersect Tool Measurement Element Type Description 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:...
Page 293 Element Type Description The tool's ID. Name String Tool name. Features Collection Collection of geometric feature outputs available in the tool. ProfileLine on the previous page. 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 294: Profilepanel
Element Type Description measurement Measurements\MaxErrorZ Line tool Maximum Error in Z measurement. measurement Features\Line Line LineFeature. GeometricFeature Features\ErrorMinPoint GeometricFeature ErrorMinPoint PointFeature. Features\ErrorMaxPoint GeometricFeature ErrorMaxPoint PointFeature. Line Tool Measurement Element Type Description Measurement ID. Optional (measurement disabled if not set). Name String Measurement name.
Page 295 Element Type Description 0 – Standard built-in tool 1 – GDK user-defined tool 2 – Internal GDK tool The tool's ID. Name String Tool name. Features Collection Not used. 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 296 Element Type Description measurement Measurements\RightGapZ Gap/Flush Right Gap Z measurement. measurement Measurements\RightFlushX Gap/Flush Right Flush X measurement. measurement Measurements\RightFlushZ Gap/Flush Right Flush Z measurement. measurement Measurements\RightSurfaceAn Gap/Flush Right Surface Angle measurement. measurement ProfilePanelEdge Element Type Description EdgeType Edge type: 0 – Tangent 1 –...
Page 297: Profileposition
Element Type Description PreserveInvalidsEnabled Boolean Preserve invalid measurements 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. Axis Measurement axis: (Gap measurement only) 0 –...
Page 298: Profileroundcorner
Element Type Description 1 – Video 2 – Range 3 – Surface 4 – Section Stream\Id The stream source ID. ProfileFeature Feature Element for feature detection. Measurements\X Position tool X measurement. measurement Measurements\Z Position tool Z measurement. measurement Features\Point GeometricFeature Point PointFeature Position Tool Measurement Element...
Page 299 ProfileRoundCorner Child Elements Element Type Description @isCustom Bool Reserved for future use. @format Format type of the tool: 0 – Standard built-in tool 1 – GDK user-defined tool 2 – Internal GDK tool The tool's ID. Name String Tool name. Features Collection Not used.
Page 300: Profilestrip
Element Type Description 1 – Corner MinDepth Minimum depth. MaxVoidWidth Maximum void width. SurfaceWidth Surface width. SurfaceOffset Surface offset. NominalRadius Nominal radius. EdgeAngle Edge angle. RegionEnabled Bool Whether or not to use the region. If the region is disabled, all available data is used. Region ProfileRegion2d Edge region.
Page 301 ProfileStrip Child Elements Element Type Description @isCustom Bool Reserved for future use. @format Format type of the tool: 0 – Standard built-in tool 1 – GDK user-defined tool 2 – Internal GDK tool The tool's ID. Name String Tool name. Features Collection Not used.
Page 302 Element Type Description 1 – Enabled SupportWidth Support width of edge (mm). TransitionWidth Transition width of edge (mm). MinWidth Minimum strip width (mm). MinHeight Minimum strip height (mm). MaxVoidWidth Void max (mm). ProfileRegion2d Region Region containing the strip. Measurements\X Strip tool X measurement.
Page 303: Script
Element Type Description 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 0 –...
Page 304 Element Type Description 0 – Standard built-in tool 1 – GDK user-defined tool 2 – Internal GDK tool The tool's ID. @type String Type name of the tool. @version String Version string for custom tool. Name String Tool name. Source Surface source.
Page 305: Tool (Type Featureintersect)
SmoothingEnabled Boolean Smoothing enable state: 0 – Disable 1 – Enable PreserveInvalidsEnabled Boolean Preserve invalid measurements 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 306 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. Parameters\Line Line feature input. GdkParamGeometricFeature Parameters\RefLine GdkParamGeometricFeature Reference line feature input. Measurements\Measurement Intersect Measurement X measurement. @type=\X Measurements\Measurement Intersect Measurement Y measurement.
Page 307: Custom
Custom A Custom element defines settings for a user-created GDK-based tool and one or more of its measurements. Custom Child Elements Element Type Description @type String Type name of the tool. @version String Version string for custom tool. Name String Tool name.
Page 308: Ethernet
Ethernet The Ethernet element defines settings for Ethernet output. 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 Ranges element shows that only two sources are available (see the table below for the meanings of these values).
Page 309 Element Type Description Videos.options 32s (CSV) List of available video sources (see above). Ranges 32s (CSV) Selected range sources: 0 – Top 1 – Bottom 2 – Top left 3 – Top right Ranges.options 32s (CSV) List of available range sources (see above). Profiles 32s (CSV) Selected profile sources:...
Page 310: Ascii
Element Type Description SurfaceSectionIntensities.opti 32s (CSV) List of available surface section intensity sources. Tracheids 32s (CSV) Selected tracheid sources. Tracheids.options 32s (CSV) List of available tracheid sources. Measurements 32u (CSV) Selected measurement sources. Measurements.options 32u (CSV) List of available measurement sources. Events 32u (CSV) Selected events...
Page 311: Modbus
BufferEnabled Bool Enables Modbus output buffering. Profinet PROFINET is not supported on Gocator point profile sensors (Gocator 1300 series). Digital0 and Digital1 The Digital0 and Digital1 elements define settings for the Gocator's two digital outputs. Digital0 and Digital1 Child Elements Element...
Page 312: Analog
Only one Value or Decision source can be selected at a time. Gocator 1300 series sensors are limited to sending data at 10 kHz over the analog output channel. Therefore, if you configure a sensor so that it runs at a speed higher than 10 kHz, and configure a measurement to be sent on the analog channel, you will get analog data drops.
Page 313: Serial
Element Type Description CurrentInvalid.max Maximum value for invalid current (mA). DataScaleMax Measurement value corresponding to maximum current. DataScaleMin Measurement value corresponding to minimum current. Delay Output delay (µs or mm, depending on delay domain defined below). DelayDomain Output delay domain: 0 –...
Page 314: Ascii
Element Type Description Format.options 32s (CSV) List of available formats. DataScaleMin Measurement value corresponding to minimum word value. DataScaleMax Measurement value corresponding to maximum word value. Delay Output delay in µs. Ascii Ascii Child Elements Element Type Description Rate Output bit rate. Rate.options 32u (CSV) List of available rates.
Page 315: Device
<Device role="0"> <X>-2.3650924829</X> <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 Major transform version (100).
Page 316 The rotation (counter-clockwise in the X-Z plane) is performed before the translation. Gocator Device Files • 315 Gocator Point Profile Sensors: User Manual...
Page 317: 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. If you switch jobs or make changes to a job using the SDK or a protocol (from a PLC), the switch or changes are not automatically displayed in the web interface: you must refresh the browser to see these.
Page 318: 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 File Structure on page 247. Data Types The table below defines the data types and associated type identifiers used in this section.
Page 319: Discovery Commands
Status Codes Label Value Description Command succeeded. Failed Command failed. 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.
Page 320 Field Type Offset Description signature Message signature (0x0000504455494D4C) deviceId Serial number of the device whose address information is queried. 0 selects all devices. Reply Field Type Offset Description length Reply length. type Reply type (0x1001). status Operation status. signature Message signature (0x0000504455494D4C) deviceId Serial number.
Page 321: Get Info
Field Type Offset Description gateway[4] byte The gateway address in left to right order. reserved[4] byte Reserved. reserved[4] byte Reserved. Reply Field Type Offset Description length Reply length. type Reply type (0x1002). Commands status Operation status. For a list of status codes, see page 317.
Page 322: Control Commands
Field Type Offset Description addressVersion byte IP address version (always 4). address[4] byte IP address. reserved[12] byte Reserved. prefixLength Subnet prefix length (in number of bits). gatewayVersion byte Gateway address version (always 4). gatewayAddress[4] byte Gateway address. reserved[12] byte Reserved. controlPort Control channel port.
Page 323: Protocol Version
Progressive Reply Some commands send replies progressively, as multiple messages. This allows the sensor to stream data without buffering it first, and allows the client to obtain progress information on the stream. A progressive reply begins with an initial, standard reply message. If the status field of the reply indicates success, the reply is followed by a series of “continue”...
Page 324: Set Address
358). Firmware upgrade files are available from the downloads section under the support tab on the LMI web site. For more information on getting the latest firmware, see Firmware Upgrade on page Every Gocator sensor contains factory backup firmware. If a firmware upgrade command fails (e.g., power is interrupted), the factory backup firmware will be loaded when the sensor is reset or power cycled.
Page 325 Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x4010) Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4010). status Commands Reply status. For a list of status codes, see on page 317.
Page 326 Field Type Offset Description address[4] byte IP address (most significant byte first). modelName[32] char Model name. firmwareVersion[4] byte Firmware version (most significant byte first). state Sensor state -1 – Conflict 0 – Ready 1 – Running Control Commands For more information on states, see on page 321.
Page 327: Get System Info
358). Firmware upgrade files are available from the downloads section under the support tab on the LMI web site. For more information on getting the latest firmware, see Firmware Upgrade on page Every Gocator sensor contains factory backup firmware. If a firmware upgrade command fails (e.g., power is interrupted), the factory backup firmware will be loaded when the sensor is reset or power cycled.
Page 328: Get States
Field Type Offset Description For more information on states, see Control Commands on page 321. role Sensor role 0 – Main 1 – Buddy buddyId Serial number of paired device (main or buddy). 0 if unpaired. Get States The Get States command returns various system states. Command Field Type...
Page 329: Log In/Out
Field Type Offset Description 0 – Disabled 1 – Enabled playbackSource Playback source 0 – Live data 1 – Recorded data uptimeSec Uptime (whole seconds component) uptimeMicrosec Uptime (remaining microseconds component) playbackPos Playback position playbackCount Playback frame count autoStartEnabled Auto-start enable (boolean) Log In/Out The Log In/Out command is used to log in or out of a sensor.
Page 330: Assign Buddies
Field Type Offset Description 0 – None (log out) 1 – Administrator 2 – Technician password[64] char New password. Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4004). Commands status Reply status. For a list of status codes, see on page 317.
Page 331: Remove Buddies
Remove Buddies The Remove Buddies command is used to remove one or more buddies using 0-based buddy indices. Use this command to remove a buddy devices along with its associated configuration resources. If the system starts with 3 devices: [A, B, C], and this command is called to remove B, the configuration items for A and C remain unchanged.
Page 332: Copy File
Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x101A). extension[64] char Specifies the extension used to filter the list of files (does not include the "."). If an empty string is used, then no filtering is performed.
Page 333: Write File
To download the live configuration, pass "_live.job" in the name field. To read the configuration of the live configuration only, pass "_live.job/config.xml" in the name field. Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x1007). name[64] char Source file name.
Page 334: Delete File
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; for more information, see Job File Structure on page 247). Command Field Type Offset Description length...
Page 335: Get Default Job
Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x1022). status Reply status. spaceFree The free storage space in bytes. Get Default Job The Get Default Job command gets the name of the job the sensor loads when it powers up. Command Field Type...
Page 336: Get Alignment Reference
Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x4512). Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4512). status Commands Reply status. For a list of status codes, see on page 317.
Page 337: Clear Alignment
Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4103). status Reply status. For a list of status codes, see Commands on page 317. Clear Alignment The Clear Alignment command clears sensor alignment. Command Field Type Offset...
Page 338: Reset Encoder
Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x101C). Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x101C). status Commands Reply status. For a list of status codes, see on page 317.
Page 339: Scheduled Start
Field Type Offset Description Reply identifier (0x100D). status Commands Reply status. For a list of status codes, see on page 317. Scheduled Start The scheduled start command starts the sensor system (system enters the Running state) at target time or encoder value (depending on the trigger mode). For more information on states, see Control Commands on page 321.
Page 340: Set Auto Start Enabled
Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x452C). Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x452C). status Commands Reply status. For a list of status codes, see on page 317.
Page 341: Set Voltage Settings
Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4539). Voltage 0: 48 Volts; 1: 24 Volts. Cable Length 0 – 100: Meters Set Voltage Settings The Set Voltage Settings command sets the sensor’s voltage and cable length settings. Command Field Type...
Page 342: Start Alignment
Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x4540). enable 0: disabled; 1: enabled. Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4540). status Commands Reply status. For a list of status codes, see on page 317.
Page 343: Software Trigger
Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4601). status Reply status. For a list of status codes, see Commands on page 317. opId Operation ID. Use this ID to correlate the command/reply on the Command channel with the correct Exposure Calibration Result message on the Data channel.
Page 344: Schedule Analog Output
Field Type Offset Description 1 – Set to high (continuous) Ignored if output type is pulsed. 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 317.
Page 345: Reset
Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x100E). timeout Timeout value (microseconds). Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x100E). Commands status Reply status. For a list of status codes, see on page 317.
Page 346: Restore
Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x1013). status Reply status. For a list of status codes, see Commands on page 317. length Data length. data[length] byte Data content. Restore The Restore command uploads a backup file to the connected sensor and then restores all sensor files from the backup.
Page 347: Get Recording Enabled
Field Type Offset Description resetIp Specifies whether IP address should be restored to default: 0 – Do not reset IP 1 – Reset IP Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4301). Commands status Reply status.
Page 348: Clear Replay Data
Clear Replay Data The Clear Replay Data command clears the sensors replay data.. Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x4513). Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4513).
Page 349: Simulate
Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4523). status Reply status. For a list of status codes, see Commands on page 317. Simulate The Simulate command simulates the last frame if playback source is live, or the current frame if playback source is the replay buffer.
Page 350: Step Playback
Field Type Offset Description Reply identifier (0x4503). status Commands Reply status. For a list of status codes, see on page 317. 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).
Page 351: Clear Measurement Stats
Clear Measurement Stats The Clear Measurement Stats command clears the sensor's measurement statistics. 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).
Page 352: Simulate Unaligned
Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x101D). status Reply status. For a list of status codes, see Commands on page 317. Simulate Unaligned The Simulate Unaligned command simulates data before alignment transformation. Command Field Type...
Page 353: Create Model
Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x4527). Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4527). status Commands Reply status. For a list of status codes, see on page 317.
Page 354: Add Tool
Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4604). status Reply status. For a list of status codes, see Commands on page 317. Add Tool The Add Tool command adds a tool to the live job. Command Field Type...
Page 355: Read File (Progressive)
This command can only be used with dynamic tools (tools with a dynamic list of measurements). The maximum number of instances for a given measurement type can be found in the ToolOptions node. For dynamic tools, the maximum count is greater than one, while for static tools it is one.
Page 356: Export Bitmap (Progressive)
Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x4507). Initial Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4507). status Commands Reply status. For a list of status codes, see on page 317.
Page 357: Get Flag
Initial Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4508). status Reply status. For a list of status codes, see Commands on page 317. progressTotal Progress indicating completion (100%). progress Current progress. Continue Reply Field Type Offset...
Page 358 Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x4534). Variablename[256] Char A string representing the flag name whose value is to be retrieved. valueLength The length of the flag's value string. value[valueLength] Char The string representing the flag's value.
Page 359 Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x4536). status Reply status. Get Runtime Variables The Get Runtime Variables command gets the runtime variables for the given index and length. Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x4535).
Page 360 Command Field Type Offset Description length Command size including this field, in bytes. Command identifier (0x0000). length Length of the upgrade package (bytes). data[length] byte Upgrade package data. Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x0000).
Page 361 Reply Field Type Offset Description length Reply size including this field, in bytes. Reply identifier (0x1). status Reply status. For a list of status codes, see Commands on page 317. state Upgrade state: -1 – Failed 0 – Completed 1 – Running 2 –...
Page 362 followed by a variable-length, message-specific content section. The structure of the GDP message is defined below. Gocator Data Protocol 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. (See individual data result sections.) GDP messages are always sent in groups.
Page 363 Video 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 2. attributesSize Size of attributes, in bytes (min: 20, current: 20). height (H) Image height, in pixels.
Page 364 Range 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 3. attributeSize Size of attributes, in bytes (min: 20, current: 20). count (C) Number of profile arrays.
Page 365 Field Type Offset Description streamStep Data stream step number. For range, values are: 1 – range stream step 8 – tool data stream step streamStepId Data stream step identifier within the stream step. range[C] Range intensity values. Profile Point Cloud Field Type Offset...
Page 366 Field Type Offset Description attributesSize Size of attributes, in bytes (min: 24, current: 24). count (C) Number of profile intensity arrays. width (W) Number of points per profile intensity array. xScale X scale (nm). xOffset X offset (µm). source Source 0 –...
Page 367 Field Type Offset Description Bits 1-7: 0 – Measurement value OK 1 – Invalid value 2 – Invalid anchor reserved[3] Reserved. 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.
Page 368 Field Type Offset Description Operation ID. opId status Operation status. exposure Exposure result (ns). Event 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 22. attributesSize Size of attributes, in bytes (min: 8, current: 8).
Page 369 Field Type Offset Description Direction.x X Component of Direction Vector (Scaled by 10^6) Direction.y Y Component of Direction Vector (Scaled by 10^6) Direction.z Z Component of Direction Vector (Scaled by 10^6) Feature Plane Field Type Offset Description size Count of bytes in message (including this field). control Bit 15: Last message flag.
Page 370 Field Type Offset Description streamStep Data stream step. streamStepId Data stream step ID. userType User-define data type ID isObject 0 – Content is raw byte buffer 1 – Content is an kObject contentLength Length of content array, in bytes Content[contentLength] byte Content array.
Page 371 The indicators block contains a 2-dimensional array of indicator data. Each row in the array has the following format: Indicator Format Field Type Offset Description Unique indicator identifier (see Indicator identifiers below table below). instance Indicator instance. value Value (identifier-specific meaning). The following health indicators are defined for Gocator sensor systems.
Page 372 Indicator Instance Value 1 - aligned CPU Usage 2007 CPU usage (percentage of maximum). Net Out Capacity 2009 Total available outbound network throughput (bytes/s). Net Out Link Status 2034 Current Ethernet link status. Sync Source* 2043 Gocator synchronization source. 1 - FireSync Master device 2 - Sensor Digital Inputs* 2024...
Page 373 Indicator Instance Value Cast Start State* 20007 The state of the second digital input. (NOTE: Only available on XLine capable licensed devices) Point Count 20015 Number of points found in last resampled Profile/Surface. Max Point Count 20016 Maximum number of points that can be found. Laser Overheat* 20020 Indicates whether laser overheat has occurred.
Page 374 Indicator Instance Value First Log Id 21301 ID of the first available log entry. Last Log Id 21300 ID of the last available log entry. It is inclusive: for example, if first = 3 and last = 5, the available log IDs are 3, 4, 5.
Page 375 Indicator Instance Value Overflow conditions include: -Value exceeds bit representation available for given protocol -Analog output (mA) falls outside of acceptable range (0-20 mA) When a measurement value overflow occurs, the value is set to the null value appropriate for the given protocol's measurement value output type.
Page 376: 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 377: 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 378: 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 379: Output Registers
Command Register Values Value Name Description Stop Running Stops the sensor. No effect if sensor is already stopped. Start Running Starts the sensor. No effect if sensor is already started. Align (stationary target) Starts the stationary alignment process. State register 301 will be set to 1 (busy).
Page 380: Stamp
Register Name Type Description Address 307 – 310 Time Current time (µs). Job File Name Length Number of characters in the current job file name. (Valid when register 301 = 0.) 312 – 371 Live Job Name Name of currently loaded job file. Does not include the extension.
Page 381: Measurement Registers
Register Name Type Description Address Exposure Low Temperature High Sensor temperature in degrees Celcius * 100 (centidegrees). Temperature Low Position High Encoder position Position Position Position Low Time Low Timestamp (µs). Time Time Time Low Frame Index High Frame counter. Each new sample is assigned a frame number.
Page 382 Register Address Name Type Description 0 - Measurement value OK 1 - Invalid value 2 - Invalid anchor 1003 Measurement 1 High Measurement 1 Low 1004 1005 Decision 1 1006 Measurement 2 High Measurement 2 Low 1007 1008 Decision 2 1996 Measurement 332 High Measurement 332 Low...
Page 383: 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). EtherNet/IP communication enables the client to: Switch jobs. Align and run sensors. Receive sensor states, stamps, and measurement results. Set and retrieve runtime variables.
Page 384: Identity Object (Class 0X01)
and the sample state assembly object (380 bytes). The data attribute (0x03) of the assembly objects is a byte array containing information about the sensor. The data attribute can be accessed with the Get Attribute and Set Attribute commands. The PLC sends a command to start a Gocator. The PLC then periodically queries the attributes of the assembly objects for its latest measurement results.
Page 385: Ethernet Link Object (Class 0Xf6)
Attribute Name Type Value Description Access Name server (UDINT) Secondary name (UDINT) Domain name (UDINT) Ethernet Link Object (Class 0xF6) The Ethernet Link Object contains read-only attributes such as MAC Address (Attribute 3). See Volume 2, Chapter 5-4 of the CIP Specification for a complete listing of Ethernet Link object attributes. Attribute Name Type...
Page 386: Runtime Variable Configuration
Attribute 3 Attribute Name Type Value Description Access Command Byte See Below Command parameters Get, Set Array Byte 0 - Command. See table below for specification of the values. Command Definitions Value Name Description Stop running Stop the sensor. No action if the sensor is already stopped Start Running Start the sensor.
Page 387: Sensor State Assembly
Byte Name Type Description Runtime Stores the intended value of the Runtime Variable at index 1. Variable 1 8-11 Runtime Stores the intended value of the Runtime Variable at index 2. Variable 2 12-15 Runtime Stores the intended value of the Runtime Variable at index 3. Variable 3 16-63 Reserved...
Page 388: Sample State Assembly
Byte Name Type Description 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"). The length includes the .job extension. Valid Length when byte 1 = 0. 20-83 Current Job Name of currently loaded job, including the ".job"...
Page 389: Implicit Messaging
Byte Name Type Description the queue. Buffer Overflowing Buffer overflow indicator: 0 - No overflow 1 - Overflow 44 - 79 Reserved Reserved bytes. 80-83 Measurement 0 Measurement value in µm (0x80000000 if invalid). Decision 0 Measurement decision. A bit mask, where: Bit 0: 1 - Pass 0 - Fail...
Page 390: Assembly Object (Class 0X04)
delivery is not guaranteed. For this reason, implicit messaging is only suitable for applications where occasional data loss is acceptable. For detailed information on setting up implicit messaging using Allen-Bradley PLCs, see http://lmi3d.com/sites/default/files/APPNOTE_Implicit_Messaging_with_Allen-Bradley_PLCs.pdf. The following sections describe the implicit messaging assemblies. Assembly Object (Class 0x04) For implicit messaging, the Gocator Ethernet/IP object model includes the following assemblies: implicit messaging command and implicit messaging output.
Page 391: Implicit Messaging Output Assembly
Byte Name Type Description 6. Set runtime variables 7. Load job file 1-31 Reserved (except for If you are setting the runtime variables, use configuring runtime bytes 4-19 to define the values of each of the variables and loading job four runtime variables in little endian format.
Page 392: Ascii Protocol
Byte Name Type Description 12-15 Exposure Exposure in µs. 16-19 Temperature Sensor temperature in degrees celsius * 100 (centidegrees) 20-27 Encoder Position Encoder position 28-35 Time Time 36-43 Scan Count Represents the number of scans 44-55 Reserved Decision 0 Measurement decision is a bit mask where: Bit 0: 1 –...
Page 393: Connection Settings
The protocol communicates using ASCII strings. The output result format from the sensor is user- configurable. To use the ASCII protocol, it must be enabled and configured in the active job. The Gocator 4.x firmware uses mm, mm , mm , and degrees as standard units.
Page 394: Polling Operation Commands (Ethernet Only)
Up to 16 users can connect to the sensor for ASCII interfacing at a time. Any additional connections will remove the oldest connected user. Polling Operation Commands (Ethernet Only) On the Ethernet output, the Data channel can operate asynchronously or by polling. Under asynchronous operation, measurement results are automatically sent on the Data channel when the sensor is in the running state and results become available.
Page 395: Command Channel
Special Character Explanation ",". Terminator Terminates both commands and result output. Default value is "%r%n". Invalid Represents invalid measurement results. Default value is "INVALID" The values of the special characters are defined in the Special Character settings. In addition to normal ASCII characters, the special characters can also contain the following format values.
Page 396: Stop
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 Command Stop Reply OK or ERROR, <Error Message> Examples: Command: Stop Reply: OK...
Page 397: Stamp
Stamp The Stamp command retrieves the current time, encoder, and/or the last frame count. Formats Message Format Command Stamp,time,encoder,frame If no parameters are given, time, encoder, and frame will be returned. There could be more than one selection. Reply If no arguments are specified: OK, time, <time value>, encoder, <encoder position>, frame, <frame count>...
Page 398: Stationary Alignment
Reply: OK Command: MovingAlignment Reply: ERROR, ALIGNMENT FAILED Stationary Alignment The Stationary 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 399: Data Channel
Examples: Command: getvars,0,4 Reply: OK,1,2,3,4 Data Channel The following sections list the actions available on the data channel. Optional parameters are shown in italic. The placeholder for data is surrounded by brackets (<>). In the examples, the delimiter is set to ','. Result The Result command retrieves measurement values and decisions.
Page 400: Decision
Formats Message Format Command Value,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, except that the decisions are not sent> ERROR, <Error Message>...
Page 401: Health Channel
OK,M00,00,D0,M01,01,D0 Standard formatted measurement data with a non-existent measurement of ID 2: Decision,2 ERROR,Specified measurement ID not found. Please verify your input Custom formatted data string (%time, %decision[0]): Decision OK,1420266101, 0 Health Channel The following sections list the actions available on the health channel. Optional parameters are shown in italic.
Page 402: Custom Result Format
Field Shorthand Length Description MeasurementStart Start of measurement frame. Type Hexadecimal value that identifies the type of measurement. The measurement type is the same as Data Results defined elsewhere (see on page 360). Decimal value that represents the unique identifier of the measurement.
Page 403 Format Value Explanation 0 – Fail Bits 1-7: 0 – Measurement value OK 1 – Invalid value 2 - Invalid anchor C language printf-style formatting is also supported: for example, %sprintf[%09d, %value[0]]. This allows fixed length formatting for easier input parsing in PLC and robot controller logic. Protocols •...
Page 404: Selcom Protocol
Selcom Protocol This section describes the Selcom serial protocol settings and message formats supported by Gocator sensors. To use the Selcom protocol, it must be enabled and configured in the active job. For information on configuring the protocol using the Web interface, see Serial Output on page 218. Units for data scales use the standard units (mm, mm , mm , and degrees).
Page 405 12-bit data format (SLS mode; "SLS" in Gocator web interface) 12-bit data format with Search/Track bit 14-bit data format 14-bit data format with Search/Track bit Protocols • 404 Gocator Point Profile Sensors: User Manual...
Page 406: Development Kits
Development Kits These sections describe the following development kits: Software Development Kit (GoSDK) Gocator Development Kit (GDK) GoSDK The Gocator Software Development Kit (GoSDK) includes open-source software libraries and documentation that can be used to programmatically access and control Gocator sensors. To get the latest version of the Gocator SDK package, go to http://lmi3d.com/support, choose your product from the Product Downloads section, and download it from the Download Center.
Page 407: Setup And Locations
For Windows users, code examples for C, C#, and VB.NET are provided in the SDK package. For more information about programming with the Gocator SDK, refer to the class reference and sample programs included in the Gocator SDK. Setup and Locations Class Reference The full GoSDK class reference is found by accessing the following file: 14400-4.x.x.xx_SOFTWARE_GO_SDK\GO_SDK\doc\GoSdk\Gocator_1x00\GoSdk.html...
Page 408: 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 409: Gotools
GoTools The GoTools class is the base class of the measurement tools. The class provides functions for getting and setting names, retrieving measurement counts, etc. GoTransform The GoTransform class represents a sensor transformation and provides functions to get and set transformation information, as well as encoder-related information.
Page 410: Godataset Type
Data Type Description GoBoundingBoxMatchMsg Represents a message containing bounding box based part matching results. GoDataSet Type GoDataMsg Represents a base message sourced from the data channel. See below for more information. GoEdgeMatchMsg Represents a message containing edge based part matching results. GoEllipseMatchMsg Represents a message containing ellipse based part matching results.
Page 411: Measurement Values And Decisions
After receiving the GoDataSet object, you should call GoDestroy to dispose the GoDataSet object. You do not need to dispose objects within the GoDataSet object individually. All objects that are explicitly created by the user or passed via callbacks should be destroyed by using the GoDestroy function.
Page 412: Operation Workflow
The batching size is dynamically adjusted to ensure the sensor’s CPU keeps up with the messages delivered with the shortest latency. Operation Workflow Applications created using the SDK typically use the following programming sequence See Setup and Locations on page 406 for more information on the code samples referenced below.
Page 413: Initialize Gosdk Api Object
All GoSDK data functions are named Go<Object>_<Function>, for example, GoSensor_Connect. For property access functions, the convention is Go<Object>_<Property Name> for reading the property and Go<Object>_Set<Property Name> for writing it, for example, GoMeasurement_ DecisionMax and GoMeasurement_SetDecisionMax, respectively. Initialize GoSdk API Object Before the SDK can be used, the GoSdk API object must be initialized by calling GoSdk_Construct(api): kAssembly api = kNULL;...
Page 414: Perform Operations
Perform Operations Operations are started by calling GoSystem_Start, GoSystem_StartAlignment, and GoSystem_ StartExposureAutoSet. Refer to the StationaryAlignment and MovingAlignment examples for details on how to perform alignment operations. Refer to the ReceiveRange, ReceiveProfile, and ReceiveWholePart examples for details on how to acquire data. Example: Configuring and starting a sensor with the Gocator API #include <GoSdk/GoSdk.h>...
Page 415: Limiting Flash Memory Write Operations
GoSystem_Start(system); //Data will now be streaming into the application //Data can be received and processed asynchronously if a callback function has been //set (recommended) //Data can also be received and processed synchronously with the blocking call //GoSystem_ReceiveData(system, &dataset, RECEIVE_TIMEOUT) //Send the system a "Stop" command. GoSystem_Stop(system);...
Page 416 System created using the SDK should be designed in a way that parameters are set up to be appropriate for various application scenarios. Parameter changes not listed above will not invoke flash memory write operations when the changes are not saved to a file using the GoSensor_CopyFile function. Fixed alignment should be used as a means to attach previously conducted alignment results to a job file, eliminating the need to perform a new alignment.
Page 417: Gdk
You can also easily troubleshoot and modify your tools on-site, letting you respond quickly to your customers' urgent issues. Supported Sensors The GDK is available for free for the following Gocator sensors: Gocator 1300 series Gocator 2100 series Gocator 2300 series Gocator 2400 series...
Page 418: Installation And Class Reference
The GDK requires Microsoft Visual Studio 2017, as well as various other tools provided in the Gocator GDK Prerequisites package (14525_3.0.0.0_SOFTWARE_GDK_Prerequisites.zip), which is available in LMI's Downloads Center (see above for download location). Getting Started with the Example Code The best way to get started is with the GDK sample code. You can find the sample projects under Gocator\GDKSampleApp.
Page 419: Tool Registration
The Win32 target supports Debug and Release builds. The Arm7 and C64x targets (Gocator sensors) only the support Release builds. Tool Registration For a tool to be available to a user in the Gocator web interface, you must add it to the project assembly in Asm.c.
Page 420: Entry Functions
GdkParamsInfo params; GdkParamInfo paramInfo; kCheck(GdkToolInfo_SetTypeName(toolInfo, TEST_PROFILE_SELECT_TOOL_NAME)); kCheck(GdkToolInfo_SetLabel(toolInfo, TEST_PROFILE_SELECT_TOOL_LABEL)); kCheck(GdkToolInfo_SetSourceType(toolInfo, GDK_DATA_TYPE_UNIFORM_PROFILE)); The function <Tool Name>_VDescribe describes the tool and its basic configuration. This function is called during sensor start-up. For more information on entry functions, see Entry Functions below. Make sure the VDescribe function for each tool is properly formed. Significant issues with this function (for example, overwriting memory) could prevent the sensor from starting.
Page 421: Graphics Visualization
A tool can contain multiple measurements. In the image above, the Groove tool contains four measurements: X, Z, Width, and Depth. Each tool has one set of tool parameters and each measurement in a tool has one set of measurement parameters. The following table lists the functions that provide advanced or interactive control for setting up tool and measurement parameters: Function Description...
Page 422 Point graphics • 421 Gocator Point Profile Sensors: User Manual...
Page 423 Line graphics To create graphics: Use GdkGraphic_Construct to create a graphic object. Use GdkGraphicPointSet_Construct to create points or GdkGraphicLineSet_Construct to create lines. Add the points and lines to the graphic object using GdkGraphic_AddPointSet and GdkGraphic_ AddLineSet. Output using GdkToolOutput_SetRendering. The following illustrates the process: kTest(GdkGraphic_Construct(&graphic, kObject_Alloc(tool)));...
Page 424: Debugging Your Tools
Debugging Your Tools We highly recommend using the emulator to debug tools you create with the GDK. By using a Gocator support file and previously recorded scan data, downloaded from a physical sensor, you can completely simulate standalone and multi-sensor configurations on a PC to test your tools. To debug your tools in the emulator: Compile your code using the Win32 target (Debug or Release).
Page 425: Debugging Entry Functions
kFramework.exe is only loaded after a user selects a scenario and starts the emulator session. Debugging Entry Functions VStart, VProcess, and VStop are called whenever a data record is played back in the emulator (that is, when a user clicks on the Next button or types the frame number in the frame field) with at least one tool instance.
Page 426 measurements—are captured by GDKToolVersionInfo objects. By default, a tool has just one version (GdkToolInfo_FirstVersion), but more versions may be added using GdkToolInfo_AddVersion. Whenever the interface of a tool has changed, a new version can be registered so that the new interface can be correctly parsed by the framework. When the configuration of a tool instance is saved, the version used at the time is also saved.
Page 427: Version
Adding a new measurement does not require special handling. The new measurement is just not instantiated in a previous configuration. Version You can define the version number of your tools in Asm.x.h. #define TOOL_VERSION kVersion_Stringify_(1, 0, 0, 23) The version is displayed on the Manage page, in the Support category. Common Programming Operations The following sections describe common programming operations.
Page 428: Setup And Region Info During Tool Initialization
k64f height = rangeSrc[index] * scale->z + offset->z; Extracting height information from profiles and surfaces. The TestProfileSelect and TestSurfaceSelect examples show how to perform these operations. Setup and Region Info during Tool Initialization Memory allocation is often done in the VInit or VStart function. To retrieve sensor and data information such as active area settings and data scale outside of VProcess, you can use the following function: GdkDataInfo info = GdkSensorInfo_DataSource(GdkTool_SensorInfo(tool), GDK_DATA_SOURCE_...
Page 429: Print Output
#include <kApi/Io/kFile.h> … ToolFx(kStatus) TestTool_VStart(TestTool tool) … kFile_Save("test.txt", stringBuf, (kSize) 1024); kFile_Load("test.txt", stringBuf, &bufLen, kNULL); Print Output In the emulator, you can send output to Visual Studio or to programs such as DebugView by using the OutputDebugString function. GtsFx(kStatus) TestTool_Trace(const kChar* format, ...) kStatus status = kOK;...
Page 430: Sensor Discovery Tool
Sensor Discovery software tool. This tool can be obtained from the downloads area of the LMI Technologies website: http://www.lmi3D.com. After downloading the tool package [14405-x.x.x.x_SOFTWARE_GO_Tools.zip], unzip the file and run the Sensor Discovery Tool [>Discovery>kDiscovery.exe].
Page 431: Csv Converter Tool
Not intended for use with this sensor family. GenTL Mono Not intended for use with this sensor family. Raw CSV LMI Gocator CSV format for a single frame. HexSight HIG LMI HexSight heightmap. STL ASCII Mesh in standard STL text format (can become very large).
Page 432: Csv File Format
Format Description format. ODSCAD OMC GFM ODSCAD heightmap. MountainsMap SUR DigitalSurf MountainsMap heightmap. 24-bit Spectrum Color spectrum bitmap for visualization of heightmap. Does not contain height values. With some formats, one or more of the following options are available: Output options Option Description Scale Z...
Page 433: Info
Each section usually contains one or more subsections. Each subsection has a header row containing a list of field names, followed by one or more rows of data. There is usually no empty line between the subsections. Other structures within sections are possible. Example: Info CSV Version,Sensor Count,Trigger Mode,...
Page 434: Deviceinfo
Field Description ZResolution System Z resolution (mm). Yspeed Y Speed (mm/s). Layout Sensor orientation: 0 – Normal (single-sensor system) / Wide (dual-sensor system) 1 – Opposite 2 – Reverse 3 – Grid DeviceInfo This section contains information about each device in the system. There is one header row, and one value row per device.
Page 435: Ranges
sections within, separated by spaces (but not the “End” keyword). Example: RecordingFilter Section1 Param 1, Section1 Param2 value, value Section2 Param 1 value Section3 Param1, Section3 Param2 value Each section will be described by a separate table below. They appear in the same order as documented. RecordingFilter Fields Field Description...
Page 436: Profile
Attribute Section Fields Field Description Frame Count Total number of frames X Offset X offset (mm) Y Offset Y offset (mm) Z Offset Z offset (mm) The data section has one or more rows of data per frame (for example, range and intensity). Data Section Fields Field Description...
Page 437: Rawprofile
Field Description Time Stamp time Encoder Stamp encoder Z Encoder Stamp encoder Z Inputs Stamp inputs Exposure Stamp exposure (µs) Y value (mm) Axis Axis: Z (range) or I (Intensity) (x values) Each column in header is a resampled X position Each column in data is the range (mm) or intensity (count) RawProfile This section describes point cloud profile data (or unresampled / raw data), which is produced when the...
Page 438: Troubleshooting
Check that the client computer's network settings are properly configured. Use the LMI Sensor Recovery tool to verify that the sensor has the correct network settings. See Sensor Dis- covery Tool on page 429 for more information.
Page 439: Sensors
The following sections describe the specifications of Gocator sensors and connectors, as well as Master hubs. Sensors The following sections provide the specifications of Gocator sensors. Gocator 1300 Series The Gocator 1300 series consists of the following models: MODEL 1320 1340 1350...
Page 440 Optical models, laser classes, and packages can be customized. Contact LMI for more details. Specifications stated are based on standard laser classes. Linearity Z and Resolution Z may vary for other laser classes. All specification measurements are performed on LMI’s standard calibration target (a diffuse, painted white surface).
Page 441 Gocator 1320 (Side Mount Package) Measurement Range Dimensions Envelope Specifications • 440 Gocator Point Profile Sensors: User Manual...
Page 442: Gocator 1320 (Top Mount Package)
Gocator 1320 (Top Mount Package) Field of View / Measurement Range Dimensions Specifications • 441 Gocator Point Profile Sensors: User Manual...
Page 443: Gocator 1340 (Side Mount Package)
Envelope Gocator 1340 (Side Mount Package) Measurement Range Specifications • 442 Gocator Point Profile Sensors: User Manual...
Page 444 Dimensions Specifications • 443 Gocator Point Profile Sensors: User Manual...
Page 445 Envelope Specifications • 444 Gocator Point Profile Sensors: User Manual...
Page 446: Gocator 1350 (Side Mount Package)
Gocator 1350 (Side Mount Package) Measurement Range Specifications • 445 Gocator Point Profile Sensors: User Manual...
Page 447 Dimensions Specifications • 446 Gocator Point Profile Sensors: User Manual...
Page 448 Envelope Specifications • 447 Gocator Point Profile Sensors: User Manual...
Page 449: Gocator 1350 (Top Mount Package)
Gocator 1350 (Top Mount Package) Measurement Range Specifications • 448 Gocator Point Profile Sensors: User Manual...
Page 450 Dimensions Specifications • 449 Gocator Point Profile Sensors: User Manual...
Page 451 Envelope Specifications • 450 Gocator Point Profile Sensors: User Manual...
Page 452: Gocator 1365 (Side Mount Package)
Gocator 1365 (Side Mount Package) Measurement Range Specifications • 451 Gocator Point Profile Sensors: User Manual...
Page 453 Dimensions Specifications • 452 Gocator Point Profile Sensors: User Manual...
Page 454 Envelope Specifications • 453 Gocator Point Profile Sensors: User Manual...
Page 455: Gocator 1370 (Side Mount Package)
Gocator 1370 (Side Mount Package) Measurement Range Specifications • 454 Gocator Point Profile Sensors: User Manual...
Page 456 Dimensions Specifications • 455 Gocator Point Profile Sensors: User Manual...
Page 457 Envelope Specifications • 456 Gocator Point Profile Sensors: User Manual...
Page 458: Gocator 1380 (Side Mount Package)
Gocator 1380 (Side Mount Package) Measurement Range Specifications • 457 Gocator Point Profile Sensors: User Manual...
Page 459 Dimensions Specifications • 458 Gocator Point Profile Sensors: User Manual...
Page 460 Envelope Specifications • 459 Gocator Point Profile Sensors: User Manual...
Page 461: Gocator 1390 (Side Mount Package)
Gocator 1390 (Side Mount Package) Measurement Range Specifications • 460 Gocator Point Profile Sensors: User Manual...
Page 462 Dimensions Specifications • 461 Gocator Point Profile Sensors: User Manual...
Page 463 Envelope Specifications • 462 Gocator Point Profile Sensors: User Manual...
Page 464: Sensor Connectors
Sensor Connectors The following sections provide the specifications of the connectors on Gocator sensors. 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 465: Power
Power Apply positive voltage to DC_24-48V. See Gocator 1300 Series on page 438 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 466: Gocator I/O Connector
Gocator I/O Connector The Gocator 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 467: Inverting Outputs
Digital outputs cannot be used when taking scans using the Snapshot button, which takes a single scan and is typically used to test measurement tool settings. Digital outputs can only be used when a sensor is running, taking a continuous series of scans. Out_1 (Collector –...
Page 468: Encoder Input
Active High If the supplied voltage is greater than 24 V, connect an external resistor in series to the positive. The resistor value should be R = [(Vin-1.2V)/10mA]-680. Active Low To assert the signal, the digital input voltage should be set to draw a current of 3 mA to 40 mA from the positive pin.
Page 469: Serial Output
four quadrature signals (A+ / A- / B+ / B-). Because Gocator reads each of the four quadrature signals, you should choose an encoder accordingly, given the resolution required for your application. Serial Output Serial RS-485 output is connected to Serial_out as shown below. Function Pins Serial_out...
Page 470 Current Mode Voltage Mode To configure for voltage output, connect a 500 Ohm ¼ Watt resistor between Analog_out+ and Analog_ out- and measure the voltage across the resistor. To reduce the noise in the output, we recommend using an RC filter as shown below. Specifications •...
Page 471: Master Network Controllers
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 472: Master 100 Dimensions
The rest of the wires in the Gocator I/O cordset are not used. 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 • 471 Gocator Point Profile Sensors: User Manual...
Page 473: Master 400/800
Master 400/800 Master network controllers provide sensor power and safety interlock, and broadcast system-wide synchronization information (i.e., time, encoder count, encoder index, and digital I/O states) to all devices on a sensor network. The Phoenix connectors on Master 400/800/1200/2400 are not compatible with the connectors on Master 810/2410.
Page 474: Master 400/800 Electrical Specifications
Input (16 pin connector) Function Input 1 Input 1 GND Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved The Input connector does not need to be wired up for proper operation. Encoder (8 pin connector) Function Encoder_A+ Encoder_A-...
Page 475 Specification Value Power Draw (Min.) 5.76 W Safety Input Voltage Range +24 VDC to +48 VDC Encoder Signal Voltage Differential (5 VDC) Digital Input Voltage Range Logical LOW: 0 to +0.1 VDC Logical HIGH: +3.3 to +24 VDC When using a Master hub, the chassis must be well grounded. The power supply must be isolated from AC ground.
Page 476: Master 400/800 Dimensions
Master 400/800 Dimensions The dimensions of Master 400 and Master 800 are the same. Specifications • 475 Gocator Point Profile Sensors: User Manual...
Page 477: Master 810/2410
Master 810/2410 Master network controllers provide sensor power and safety interlock, and broadcast system-wide synchronization information (i.e., time, encoder count, encoder index, and digital I/O states) to all devices on a sensor network. Master 810 and 2410 can be mounted to DIN rails using the provided adapters (for more information, see Installing DIN Rail Clips: Master 810 or 2410 on page 37).
Page 478 For information on configuring the DIP switches, see Configuring Master 810 on page 38. Power and Safety (6 pin connector) Function Power In+ Power In+ Power In- Power In- Safety Control+ Safety Control– The power supply must be isolated from AC ground. This means that AC ground and DC ground are not connected.
Page 479: Electrical Specifications
Function Reserved Reserved Reserved GND (output for powering other devices) +5VDC (output for powering other devices) 10 The Input connector does not need to be wired up for proper operation. For Input connection wiring options, see Input on page 481. Encoder (11 pin connector) Function Encoder_A_Pin_1...
Page 480: Encoder
Specification Value Single-Ended (5 VDC, 12 VDC) Encoder For more information, see below. Digital Input Voltage Range Single-Ended Active LOW: 0 to +0.8 VDC Single-Ended Active HIGH: +3.3 to +24 VDC Differential LOW: 0.8 to -24 VDC Differential HIGH: +3.3 to +24 VDC For more information, see Input on page 481.
Page 481 To determine how to wire a Master to an encoder, see the illustrations below. Single-Ended 5 VDC Single-Ended 12 VDC Specifications • 480 Gocator Point Profile Sensors: User Manual...
Page 482: Input
Differential 5 VDC Differential 12 VDC Input Master 810 and 2410 support the following types of input: Differential, Single-Ended High, and Single- Ended Low. Currently, Gocator only supports Input 0. Specifications • 481 Gocator Point Profile Sensors: User Manual...
Page 483 For digital input voltage ranges, see the table below. Differential Single-Ended Active High Single-Ended Active Low Digital Input Voltage Ranges Input Status Min (VDC) Max (VDC) Single-ended Active High +0.8 +3.3 Single-ended Active Low - 0.8) - 3.3) Differential +0.8 +3.3 Specifications •...
Page 484: Master 810 Dimensions
Master 810 Dimensions With 1U rack mount brackets: With DIN rail mount clips: Older revisions of Master 810 and 2410 network controllers use a different configuration for the DIN rail clip holes. For information on installing DIN rail clips, see Installing DIN Rail Clips: Master 810 or 2410 on page 37. The CAD model of the DIN rail clip is available at https://www.winford.com/products/cad/dinm12-rc.igs.
Page 485: Master 2410 Dimensions
Master 2410 Dimensions With 1U rack mount brackets: With DIN rail mount clips: Older revisions of Master 810 and 2410 network controllers use a different configuration for the DIN rail clip holes. For information on installing DIN rail clips, see Installing DIN Rail Clips: Master 810 or 2410 on page 37. The CAD model of the DIN rail clip is available at https://www.winford.com/products/cad/dinm12-rc.igs.
Page 486: Master 1200/2400
Master 1200/2400 Master network controllers provide sensor power and safety interlock, and broadcast system-wide synchronization information (i.e., time, encoder count, encoder index, and digital I/O states) to all devices on a sensor network. The Phoenix connectors on Master 400/800/1200/2400 are not compatible with the connectors on Master 810/2410.
Page 487: Master 1200/2400 Electrical Specifications
Input (12 pin connector) Function Input 1 Input 1 GND Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved The Input 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+...
Page 488: Master 1200/2400 Dimensions
The 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 that need to be considered when calculating total system power requirements..
Page 489: Accessories
Accessories Masters Description Part Number Master 100 - for single sensor (development only) 30705 Master 810 - for networking up to 8 sensors 301114 Master 2410 - for networking up to 24 sensors 301115 Cordsets Description Part Number 1.2m I/O cordset, open wire end 30864-1.2m 2m I/O cordset, open wire end 30864-2m...
Page 490 30877-20m 25m Power and Ethernet to Master cordset, 90-deg, 2x RJ45 ends 30877-25m Contact LMI for information on creating cordsets with custom length or connector orientation. The maximum cordset length is 60 m. Accessories • 489 Gocator Point Profile Sensors: User Manual...
Page 491: Return Policy
Carefully package the sensor in its original shipping materials (or equivalent) and ship the sensor prepaid to your designated LMI location. Please ensure that the RMA number is clearly written on the outside of the package. Inside the return shipment, include the address you wish the shipment returned to, the name, email and telephone number of a technical contact (should we need to discuss this repair), and details of the nature of the malfunction.
Page 492: 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 493 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 494 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 495 copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: 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 MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
Page 496 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) EtherNet/IP Communication Stack Website: sourceforge.net/projects/opener...
Page 497: Support
For help with a component or product, please submit an online support ticket using LMI's Help Desk http://support.lmi3d.com/newticket.php. If you are unable to use the Help Desk or prefer to contact LMI by phone or email, use the contact information below. Response times for phone or email support requests are longer than requests submitted through the Help Desk.
Page 498: Contact
LMI (Shanghai) Trading Co., Ltd. Burnaby, 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 Point Profile Sensors: User Manual...