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Gocator 3100 Series

1. UP 1 3 Y 9 11 C2 wi Master 9 S SPINS 0 9 9o 9 uut TT TT TT TP T MASTER 1200 FRONT mer 1200 mom EE USE E Ed CO S a Doan I a er a 7 SENSOR PORTS 13 24 2400 ONLY SENSOR PORTS 1 12 LED INDICATORS st BL 3 gt ID 7 ate 11 ae 16 47 Te 19 a 23 a C2 imi te Master mir FO AA F3 T mum Titi CRA W 2400 CEPTS lear ar ap an A A Ababa md C2 dl WARNING FOR SENSOR POWER Ol ME E id WARKING FON SENSOR POWER ONLY 2 C y QLRRSO On C2 DOO DOO MASTER 1200 2400 REAR o SESTO o 9 TP Samm E s e o POWER AND SAFETY ENCODER INPUT Item Description Sensor Ports Master connection for Gocator sensors no specific order required Ground Connection Earth ground connection point Laser Safety Laser safety connection Encoder Accepts encoder signal Input Accepts digital input See Master 1200 2400 page 250 for pinout details Gocator 3110 Series Getting Started Hardware Overview 15 Installation The following sections provide grounding mounting and orientation informati
2. Gocator 3110 Series Specifications Master 400 800 249 Master 1200 2400 The Master 1200 2400 provides sensor power and safety interlock and broadcasts system wide synchronization information i e time encoder count encoder index and digital I O states to all devices on a sensor network SENSOR PORTS 1 12 LED INDICATORS MASTER 1200 FRONT e Master NND rior rg gt c W io AAA ING FOR SENSOR onn ONN SENSOR PORTS 13 24 2400 ONLY SENSOR PORTS 1 12 LED INDICATORS p N i fma Mi Master BEEN EST YTPT T T3 CST TGTGT 3 ui E ELILILALALI USE 2L IL ALES VA FOR SENSOR POWEI MASTER 2400 FRONT OT 3600950 50006 T d OLED OED i ooo ooo OOOOOCS S 00 2400 EROS ne s a LE MASTER 1200 2400 REAR O 0000 0000 GROUND CONNECTION i POWER AND SAFETY ENCODER INPUT Power and Safety 6 pin connector Function Pin 48VDC 1 48VDC 2 GND 48VDC 3 GND 48VDC 4 Safety Control 5 Safety Control 6 D The 48VDC power supply must be isolated from AC ground This means that AC ground and DC ground are not connected D The Safety Control requires a voltage differential 12VDC to 48VDC across the pin to en
3. 120 SUITACESILIO sorrento 156 B iltin FUNCIONS asse oonsiide realista 120 BU aCe V OWING 2st uda estis dus ict 157 enis em 125 tjs M 158 Gocator 3110 Series 4 zu p AE 159 2c METTRE 160 DigitalO and Digitall 160 ANdO soil iii 161 SCHal ossessionato 162 SCICONI NENNEN reer 162 ASCIl scudiero elit 162 Transformation File ass esscssessonsizinatoa 163 T O conse ceaed eeu eolie 164 DOCS P 164 dioc qd 165 Gocator Protocol 165 EE i EESE EEE ela liana 165 MOES C E 165 SUQEBS ilo MEA LL E 165 De e eee eee eee een ees 166 Status COdES MMEMMREENTC 166 Discovery CommandS alice sala 166 Get Address Leocccecozceneicsscretibebebbes 167 Set AOUFBSS ozrresradensuskate kiha ranner 168 Control COMMOANGS coil errate 169 Protocol Version c ca 169 OBUAGOIBSS elicoidale 169 Set Address sruucssento siii 170 Get System Info Les esc cm cocco EESU Ede 170 E eS 171 Log IN OUT PT kini 172 Change Password 222evccuekecevedcediedaew 173 List Files osceni tannini nono 173 COPY FII 174 Red i e RR O I TO E 174 Write FIG surprise 175 Delete File 0 ee eee 175 Get Default Job ioo er 175 Set Default Job 2c ccsseaceseescewevetenesecce 176 Get Loaded Job 2 222 oil ila 176 Set Alignment Reference IZ Get Alignment Reference
4. 177 Clear Alignment LLLuu 177 Get Timestamp slice 178 GECERCOUSF auricolari 178 Reset ENCOUGT uclctncdedectemeseducucsoscc 178 Gocator 3110 Series voco eae EE 179 OD 179 Start AHIgn eE soe coeno DE OLD ai 179 Start Exposure Auto set lille 180 Software Trigger 180 Schedule Digital Output 181 Schedule Analog Output 181 ul 182 Mc RC Pn 183 sce odo eee 183 POS OG joie cee E ENERO 183 Restore Facto ous e ose e DEAL Lc eate Eus 184 Set Recording Enabled 184 Get Recording Enabled 185 Clear Replay Dal aco te te 185 Set Playback Source 185 Get Playback Source 186 SIMO uoce ete e eee Edel E 186 Seek Playback lt cccicicerchdvesceeersscecus 187 Step Playback Pau 187 Playback POSITION aia nemo user E Rri mes 188 Clear Measurement Stats 188 Simulate Unaligned sis cossccceSbresfzwes 188 ACGUI C RECTE 189 Acquire Unaligned 189 Read File Progressive 190 Export CSV Progressive 190 Export Bitmap Progressive 191 Upgrade Commiarids iii sueco te 191 Get Protocol Version iii 192 SIort Uperae cchiu 192 Get Upgrade Status cf cccecues ese eee we wens 192 Get Upgrade Log
5. 3 Login as Administrator with no password The interface display language can be changed using the language option After selecting the language the browser will refresh and the web interface will display in the selected language Gocator 2340 Error An E em D Li Li Administrator Language 4 Goto the Manage page 2232 Mi wa cz amp Manage Scan Measure Output Dashboard Gocator 3110 Series Getting Started Network Setup 21 5 Ensure that Replay mode is off the slider is set to Replay the left off Snapshot e Replay NP gt Nes 7a Start 6 Ensure that the LED Safety Switch is enabled or the POWER SAFETY ENCODER LED Safety input is high Omen O E e Go to the Scan page a Press the Start button or the Snapshot on the Master 400 800 1200 2400 Toolbar to start the sensor Safety in The Start button is used to run sensors continuously 5V 48VDC Safety in whereas the Snapshot button is used to trigger a single P capture Standalone 9 Move a target into the LED light pattern If a target object is within the sensor s measurement Bu siro mn F7o3 5 range the data viewer will display the shape of the target and the sensor s range indicator will illuminate If you cannot see the laser or if
6. 193 Data RESUS erts ocuecez ie hatte 193 SG M 194 iro T 195 SH ide pan eteec essere cs eateetecewceeene 195 Surface Intensity colccccecceescetcesdadeies 196 Measurement Sio ecossase esr i Rep sce sms 197 Alignment Result iaces mue 197 Exposure Calibration Result 197 Health Results lt ccecaccnseedcusaebusacumene ss 198 5 Modbus TCP Protocol 202 Delala e r cee cee ee eee tee ees 202 SG PRE ERRO 202 Diii cic MEME 203 Control Registers 204 Output RegBISEBIS lite 205 sc mL 205 SG eee se ENEA 205 Measurement Registers 5 liscia 206 EtherNeUIP Protocol cc2cc4 snccccccsccensccuancen 207 rs 61 MRM oe ee 207 Basic Object E 207 Identity Object Class 0X01 207 TCP IP Object Class XF5 1 il ecce 208 Ethernet Link Object Class OxF6 208 Assembly Object Class Ox04 209 Command Assembly 209 Sensor State Assembly 210 Sample State Assembly 210 ASCILAFOLOCO olii 213 Ethernet Communication 213 Asynchronous and Polling Operation 213 Serial Communication 213 Command and Reply Format 214 Special Characters cielo 214 Standard Result Format 215 Custom Result Format 215 Control Commands el
7. Sensor flash storage utilization MB used MB total available Sensor internal temperature C Network output utilization MB sec Internal sensor temperature Last delay from camera exposure to when results can be scheduled to Peak latency delay from camera exposure to when results can be scheduled to Rich I O Reset on start Description Number of scans performed since sensor state last changed to Running Count of camera frames dropped due to excessive trigger speed Count of analog output drops because last output has not been completed Count of digital output drops because last output has not been completed Count of serial output drops because last output has not been completed Count of frame drops due to excessive CPU utilization Count of frame drops due to slow Ethernet link Count of high states on digital outputs Count of low states on digital outputs Count of valid ranges Count of invalid ranges Count of invalid anchors Count of valid spots detected in the last frame Maximum number of spots detected since sensor was started Count of camera frame where laser has lost tracked Only applicable when tracking window is enabled Measurements Measurement statistics are displayed for each measurement that has been configured on the Measure page Use the Reset button to reset the statistics The following information is available for each measurement Gocator 3110 Series Gocator Web Interface
8. 5 Specify a Pulse Width The pulse width determines the duration of the digital output pulse in microseconds 6 Specify if the output is Immediate or Scheduled A pulsed signal can become active immediately or scheduled Continuous signal always becomes active immediately Immediate output becomes active as soon as a scheduled digital output see page 181 is received Scheduled output becomes active at a specific target time or position given by the Scheduled Digital Output command Commands that schedule event in the past will be ignored An encoder value is in the future if the value will be reached by moving in the forward direction the direction that encoder calibration was performed in To output an exposure signal 1 Goto the Output page 2 Click on Digital 1 or Digital 2 in the Output panel 3 Set Trigger Event to Exposure 4 Set the Pulse Width option The pulse width determines the duration of the digital output pulse in microseconds Analog Output Gocator sensors can convert a measurement result or software request to an analog output Each sensor supports one analog output channel For information on wiring analog output to an external device see Analog Output page 244 Gocator 3110 Series Gocator Web Interface Output 132 E Output Ethernet Trigger Event Measurement Protocol and measurement selection Digital 1 Configuration Ul Trigger condition and pulse width ca Analog Current Digit
9. Over exposure Light pattern saturated in the center Increase the exposure value When the Gocator is in Multiple exposure mode select which exposure to view using the second drop down box next to View in the data viewer This drop down is only visible in Video scan mode when the Multiple option is selected in the Exposure section in the Sensor panel View Video Front Camera Exposure 1 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 parts Gocator 3110 Series Gocator Web Interface Scan Setup and Alignment 61 Reduce Occlusion Active Area sitke Spacing Exposure Mode Single Auto Set u 2446 721 us Use Auto Set to estimate the optimal exposure To enable single exposure 1 Place a representative target in view of the sensor The target surface should be similar to the material that will normally be measured Go to the Scan page Expand the Sensor panel by clicking on the panel header Click on the Exposure tab Select Single from the Exposure Mode drop down Edit the Exposure setting You can automatically tune the exposure by pressing the Auto Set button which causes the sensor to turn on and tune the exposure time Run the sensor and check that 3D data acquisition is satisfactory If not satisfactory adjust the exposure values manually Switch to Video mode
10. To remove an exposure select it in the exposure list and click the button Set the exposure level for each exposure to make the Gocator s camera less or more sensitive as required If Acquire Intensity is enabled select the exposure step that is used to capture the intensity output If Acquire Intensity is enabled select the exposure step that is used to capture the intensity output Run the sensor and check that 3D data acquisition is satisfactory If not satisfactory adjust the exposure values manually Switch to Video mode to use video to help tune the exposure see Exposure page 61 for details Spacing Interval Spacing interval is the spacing between data points in a resampled data see Resampling page 31 for details A larger interval creates profiles with lower X resolution but reduces CPU usage and potentially increases the maximum frame rate A larger interval also reduces the data output rate By default the Gocator outputs data at the medium resolution Reduce Occlusion Active Area Spacing Interval yp M X n lur To configure the spacing interval 1 Go to the Scan page Choose Surface mode in the Scan Mode panel If this mode is not selected you will not be able to configure the spacing interval Expand the Sensor panel by clicking on the panel header or the button Gocator 3110 Series Gocator Web Interface Scan Setup and Alignment 64 4 Click on the Spacing tab
11. unsigned int Stamp Inputs Math Functions Function float sqrt float x float sin float x float cos float x float tan float x float asin float x float acos float x float atan float x float pow float x float y float fabs float x Example Description Loads a 64 bit double from persistent memory All persistent memory values are set to 0 when the sensor starts Parameters id ID of the value Returns value Value stored in persistent memory Tests for the existence of a value by ID Parameters id Value ID Returns 0 value does not exist 1 value exists Erases a value associated with an ID Parameters id Value ID Erases all values from persistent memory Description Gets the frame index of the current frame Gets the time stamp of the current frame Gets the encoder position of the current frame Gets the encoder index position of the current frame Gets the digital input state of the current frame Description Calculates square root of x Calculates sin x x in radians Calculates cos x x in radians Calculates tan x x in radians Calculates asin x x in radians Calculates acos x x in radians Calculates atan x x in radians Calculates the exponential value x is the base y is the exponent Calculates the absolute value of x The following example shows how to create a custom measurement that is based on the values from other measurements The ex
12. 0 if measurement decision is false 1 If measurement decision is true Determines if a measurement exist by name Parameter toolName Tool name measurementName Measurement name Returns 0 measurement does not exist 1 measurement exists Gets the measurement ID by the measurement name measurementNam e Parameters toolName Tool name measurementName Measurement name Returns 1 measurement does not exist Other value Measurement ID 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 Gocator 3110 Series Gocator Web Interface Measurements 121 Function void Output SetAt unsigned int index double value int decision void Output Setld int id double value int decision Memory Functions Function void Memory Set64s int id long long value long long Memory Get64s int id void Memory Set64u int id unsigned long long value unsigned long long Memory Get64u int id void Memory Set64f int id double value Gocator 3110 Series Description 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 decision decision value output by the script Can only be O or 1 Sets the output value and deci
13. Buffering is needed for example in Surface mode if multiple objects are detected within a time frame shorter than the polling rate of the PLC If buffering is enabled with the EtherNet IP protocol the buffer is automatically advanced when the Sample State Assembly Object see page 210 is read Gocator 3110 Series Gocator Web Interface e Output e 128 c Output Ethernet Protocol Protocol and measurement selectio ii ii uy Digital 1 Trigger condit Digital 2 Trigger condit Analog Trigger condit Serial ion and pulse width ion and pulse width ion and current scaling Protocol and measurement selection Configuration Operation Data Format ASCII Asynchronous Standard 96time 96value id decisions id areis Ports Command Delimeter Delimeter Termination Invalid Value r n INVALID To receive commands and send results using ASCII messages 1 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 Data Send Name Id Measurements mm Surface Bounding Box X 0 Surface Ellipse Major 2 Surface Hole Radius 10 m Surface Opening Length 11 Surface Plane X Angle 5 fa Surface Position X 6 Surface Stud Radius 13 Surface Volume Volume 8 m Script Output 0 9 In asynchronous mode the data results are transmitted when t
14. Dashboard 137 Dashboard Measurement Statistics Name Measurements Value Min Max AVg Std Pass Fail Invalid Gocator 3110 Series Description The measurement ID and name The most recent measurement value The minimum and maximum measurement values that have been observed The average of all measurement results collected since the sensor was started The standard deviation of all measurement results collected since the sensor was started The counts of pass or fail decisions that have been generated The count of frames that no feature points could be extracted from the live profile Gocator Web Interface e Dashboard 138 Gocator Device Files This section describes the device files found on a Gocator Job Files Job files contain settings that control system behavior when a sensor is running Jobs are saved in XML format Elements contain three types of values settings constraints and properties Settings are input values that can be edited Constraints are read only limits that define the valid values for settings Properties are read only values that provide supplemental information related to sensor setup When a job file is received from a sensor it will contain settings constraints and properties When a job file is sent to a sensor any constraints or properties in the file will be ignored Changing the value of a setting can affect multiple constraints and properties After you upload
15. Gocator 3100 Series USER MANUAL Document revision B Copyright Copyright 2014 by LMI Technologies Inc All rights reserved Proprietary This document submitted in confidence contains proprietary information which shall not be reproduced or transferred to other documents or disclosed to others or used for manufacturing or any other purpose without prior written permission of 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 Trademarks and Restrictions Gocator is a registered trademark of LMI Technologies Inc Any other company or product names mentioned herein may be trademarks of their respective owners Information contained within this manual is subject to change This product is designated for use solely as a component and as such it does not comply with the standards relating to laser products specified in U S FDA CFR Title 21 Part 1040 Contact Information For more information please contact LMI Technologies LMI Technologies Inc 1673 Cliveden Ave Delta BC V3M 6V5 Canada Telephone 1 604 636 1011 Facsimile 1 604 516 8368 www lImi3D com Gocator 3110 Series Table of Contents Copyright eeeseeeee ee eee 2 Table of Contents 3 Introduction 2 3 cs cisct
16. Reply size including this field in bytes length id status 16u 32s 4 6 Reply identifier 0x4301 Reply status Set Recording Enabled The Set Recording Enabled command enables recording for replay later Command Field length id enable Gocator 3110 Series Type 32U 16u 8u Offset 0 4 6 Description Command size including this field in bytes Command identifier 0x4516 0 disabled 1 enabled Protocols Gocator Protocol 184 Field Type Offset length 32U 0 id 16u 4 status 228 6 Description Reply size including this field in bytes Reply identifier 0x4516 Reply status Get Recording Enabled The Get Recording Enabled command retrieves whether recording is enabled Command Field Type Offset length 32u 0 id 16u 4 Reply Field Type Offset length 32u 0 id 16u 4 status 328 6 enable 8u 10 Description Command size including this field in bytes Command identifier 0x451 7 Description Reply size including this field in bytes Reply identifier 0x4517 Reply status 0 disabled 1 enabled Clear Replay Data The Clear Replay Data command clears the sensors replay data Command Field Type Offset length 32u 0 id 16u 4 Reply Field Type Offset length 32u 0 id 16u 4 status 228 6 Description Command size including this field in bytes Command identifier 0x4513 Description Reply size including this field in bytes Reply identifi
17. Sensors should be connected to earth ground All sensors should be connected to earth ground through their housing All sensors should be mounted on an earth grounded frame using electrically conductive hardware to ensure the housing of the sensor is connected to earth ground Use a multi meter to check the continuity between the sensor connector and earth ground to ensure a proper connection Minimize voltage potential between system ground and sensor ground Care should be taken to minimize the voltage potential between system ground ground reference for I O signals and sensor ground This voltage potential can be determined by measuring the voltage between Analog out and system ground The maximum permissible voltage potential is 12 V but should be kept below 10 V to avoid damage to the serial and encoder connections See Gocator 3100 I O Connector page 241 for a description of connector pins Use a suitable power supply The 24 to 48 VDC power supply used with Gocator sensors should be an isolated supply with inrush current protection or be able to handle a high capacitive load Use care when handling powered devices Wires connecting to the sensor should not be handled while the sensor is powered Doing so may cause electrical shock to the user or damage to the equipment 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 adv
18. id status 16u 32s 4 6 Reply identifier 0x4501 Reply status When the system is running in the Replay mode this command advances replay data playback D by one frame This command returns error if no live playback data set is loaded You can use the Copy File command to load a replay data set to live Playback Position The Playback Position command retrieves the current playback position Command Field length id Reply Field Type 32U Offset Description Command size including this field in bytes Command identifier 0x4502 Description length id status Frame Index Frame Count 10 14 Reply size including this field in bytes Reply identifier 0x4502 Reply status Current frame index starts from 0 Total number of available frames objects Clear Measurement Stats The Clear Measurement Stats command clears the sensor s measurement statistics Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4526 Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4526 status 32s 6 Reply status Simulate Unaligned The Simulate Unaligned command simulates data before alignment transformation Gocator 3110 Series Protocols Gocator Protocol 188 Command Field length Reply Field length status
19. page 80 Gocator 3110 Series 33 Element Description 4 Output page Contains settings for configuring output protocols used to communicate measurements to external devices See Output page 125 5 Dashboard page Provides monitoring of measurement statistics and sensor health See Dashboard page 136 6 CPU Load and Speed Provides important sensor performance metrics See Metrics Area page 40 7 Help Provides links to online help resources including user manual firmware updates and SDK 8 Toolbar Controls sensor operation manages jobs and replays recorded measurement data See Toolbar below 9 Configuration area Provides controls to configure scan and measurement tool settings 10 Data viewer Displays sensor data tool setup controls and measurements See Data Viewer on page 72 for its use when the Scan page is active and on page 81 for its use when the Measure page is active 11 Log Displays messages from the sensor errors warnings and other information See Log page 39 Common Elements The toolbar is used for performing common operations This section explains how to use the toolbar to manage jobs and to operate the sensor 4 Ss new I Replay NP Ces gt 3 Element Description 1 Job controls For saving and loading different jobs 2 Recorded data controls For downloading uploading and exporting recorded data 3 Sensor operation replay control Use the sensor operation controls t
20. ERROR Error Message If arguments are specified only the selected stamps will be returned Examples otamp OK Time 9226989840 Encoder 0 Frame 6 Stamp frame OK 6 OK test job LoadConfig wrongname job 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 Formats Message Format Command StationaryAlignment Reply If no arguments are specified OK or ERROR lt Error Message gt Examples StationaryAlignment OK StationaryAlignment ERROR ALIGNMENT FAILED Gocator 3110 Series Protocols e ASCII Protocol 218 Clear Alignment The Clear Alignment command clears the alignment record generated by the alignment process Formats Message Format Command ClearAlignment Reply OK or ERROR lt Error Message gt Examples ClearAlignment Data Commands O Optional parameters are shown in italic The placeholder for data is surrounded by brackets lt gt In the examples the delimiter is set to The Get Result command retrieves measurement values and decisions Formats Message Format Command Result measurement ID measurement ID Reply If no arguments are specified the custom format data string is used OK custom data string ERROR Error Message If arguments ar
21. Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x1013 status 32s 6 Reply status length 32u 10 Data length data length byte 14 Data content Restore The Restore command uploads a backup file to the connected sensor and then restores all sensor files from the backup The sensor must be reset or power cycled before the restore operation can be completed Gocator 3110 Series Protocols Gocator Protocol 183 Command Field length id length data length Reply Field length id status Type 32U 16u 32U byte Type 32U 16u 32s Description Command size including this field in bytes Command identifier 0x1014 Data length Data content Description Reply size including this field in bytes Reply identifier 0x1014 Reply status Restore Factory The Restore Factory command restores the connected sensor to factory default settings This command has no effect on connected Buddy sensors Note that the sensor must be reset or power cycled before the factory restore operation can be completed Command Field length id resetAddress Reply Field Type 32U 16u 8u Type 32u Offset 0 4 6 Offset 0 Description Command size including this field in bytes Command identifier 0x4301 Specifies whether IP address should be restored to default 0 Do not reset IP 1 Reset IP Description
22. Gocator 3110 Series Gocator Web Interface Output 130 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 The signal type specifies whether the digital output is a continuous signal or a pulsed signal If Signal is set to Continuous the signal state is maintained until the next transition occurs If Signal is set to is Pulsed you must specify the pulse width and how it is scheduled Specify a pulse width using the slider The pulse width is the duration of the digital output pulse in microseconds Specify whether the output is immediate or scheduled Check the Scheduled option if the output needs to be scheduled A scheduled output becomes active after a specified delay from the start of Gocator exposure A scheduled output can be used to track the decisions for multiple objects as these objects travel from the sensor to the eject gates The Delay setting specifies the distance from the sensor to the eject gates An immediate output becomes active as soon as measurement results are available The output activates after the sensor finishes processing the data As a result the time between the start of sensor exposure and output activates can vary and is dependent on the processing latency The latency is reported in the dashb
23. The Get System Info command reports information for sensors that are visible in the system Firmware version refers to the version of the Gocator s firmware installed on each individual sensor The client can upgrade the Gocator s firmware by sending the Start Upgrade command see page 192 Firmware upgrade files are available from the downloads section under the support tab on the LMI web site See Firmware Upgrade page 50 for more information on obtaining the latest firmware 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 In this case the sensors will fall back to the factory default IP address To avoid IP address conflicts in a multi sensor system connect to one sensor at a time and re attempt the firmware upgrade Gocator 3110 Series Protocols Gocator Protocol 170 Command Field length id Reply Field length id status locallnfo remoteCount remotelnfo remoteCount Sensorlnfto Field deviceld address 4 modelName 32 firmwareVersion 4 state role Type 32U 16U Type 32U 16u 32s Sensor Info 32u Sensor Info Type 32u byte char byte 32s 32s Offset 66 70 Offset 48 Description Command size including this field in bytes Command identifier 0x4002 Description Reply size including this field in bytes R
24. Y scale nm Z scale nm X offset um Y offset um Z offset um Source O Top 1 Bottom 2 Top Left 3 Top Right Exposure ns Reserved Surface ranges Description Count of bytes in message including this field Bit 15 Last message flag Bits 0 14 Message type identifier Size of attributes in bytes min 32 current 32 Surface length rows Surface width columns X scale nm Y scale nm X offset um Y offset um Source 0 Top 1 Bottom 2 Top Left 3 Top Right Exposure ns Surface intensities Protocols Gocator Protocol 196 Measurement Field size control count C reserved 2 id measurements C Measurement Field value decision reserved 3 Type 16u Measurement Type 32s 8S 8u Offset 10 12 16 Offset 5 Description Count of bytes in message including this field Bit 15 Last message flag Bits 0 14 Message type identifier Count of measurements in this message Reserved Measurement identifier Array of measurements see below Description Measurement value Measurement decision 1 Pass 0 Fail 1 Invalid Value 2 Invalid Anchor Reserved Alignment Result Field size control attributesSize opld status Type 32U 0 16u 4 16u 6 32u 8 32s 12 Offset Description Count of bytes in message including this field Bit 15 Last message flag B
25. Z Angle Determines the rotation about the Z axis and the angle of the bounding box relative to the X axis Gocator 3110 Series Illustration AG j Width M X S Z Angle A Gocator Web Interface Measurement 93 Measurement Global X Determines the X position of the center of the smallest rectangle that encapsulates the part The value returned is relative to the global sensor coordinates Global Y Determines the Y position of the center of the smallest rectangle that encapsulates the part The value returned is relative to the global sensor coordinates Parameters Parameter Rotation Decision Region Output Ellipse NG Description A bounding box can be vertical or rotated A vertical bounding box provides the absolute position from which the part s Position centroid measurements are referenced Check the Rotation checkbox to select rotated bounding box See Decisions page 86 See Regions page 85 See Filters page 88 The Ellipse tool provides measurements for the major and minor axis lengths of an ellipse fitted to the part s shape in the XY plane and also for the ratio of the major and minor axis lengths and for the orientation angle of the ellipse The measurement value can be compared with minimum and maximum constraints to yield a decision See Adding and Removing Tools page 81 for instructions on adding measurements Gocator 3110 Series Gocator Web Interface M
26. for measurement Gocator 3110 Series Gocator Web Interface e Scan Setup and Alignment 52 The top right of the Trigger panel displays the maximum speed at which an object could be captured at calculated based on the exposure values active area and the number of projection patterns required The light and camera inside a sensor can be triggered by one of the following sources Trigger Source Description Time Sensors have an internal clock that can be used to generate fixed frequency triggers The external input can be used to enable or disable the time triggers Encoder An encoder can be connected to provide triggers in response to motion Three encoder triggering behaviors are supported 1 Ignore 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 plus one encoder spacing to trigger the next scan Encoder Spacin pp e a o Position A B C o gt Track Backward N Trigger Point 2 Track Backward A scan is triggered only when the target object moves forward If the target object moves backward it must move forward by at least the distance of one encoder spacing to trigger the next scan Encoder Spacin pp a o Position A B C Ignore Backward N Trigger Point Gocator 3110 Seri
27. modified D Gocator 3110 Series Gocator Web Interface User Interface Overview 36 Replay Mode Enabled Data displayed is simulated from a recording Press Play to hegin simulation Replay Step on forward Step back Play Recording and playback controls when replay is on To replay recorded data 1 Toggle Replay mode on by setting the slider to the right in the Toolbar The slider s background will turn blue and a Replay Mode Enabled message will be displayed 2 Use the Replay slider or the Step Forward Step Back or Play buttons to review data The Step Forward and Step Back buttons move and the current replay location backward and forward by a single frame respectively The Play button advances the replay location continuously animating the playback The Stop button replaces the Play button while playing can be used to pause the replay at a particular location The Replay slider or Replay Position box can be used to go to a specific replay frame To simulate measurements on recorded data 1 Toggle Replay mode on by setting the slider to the right in the Toolbar The slider s background will turn blue and a Replay Mode Enabled message will be displayed 2 Goto the Measure page Modify settings for existing measurements add new measurement tools or delete measurement tools as desired 3 Use the Replay Slider Step Forward Step Back or Play button to simulate measurements Step or play through recorded d
28. 0 Gocator Web Interface e Measurement e 119 See Script Measurement below for more information on the script syntax To create or edita Script measurement 1 Add a new Script tool or select an existing Script measurement 2 Edit the script code 3 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 To remove a script output click on the button next to it 4 Click the Save button to save the script code If there is a mistake in the script syntax the result will be shown as a Invalid with a red border in the data viewer when you run the sensor Outputs from multiple measurement tools can be used as inputs to the script A typical script would take results from other measurement tools using the value and decision function and output the result using the output function Stamp information such as time and encoder stamps are available in the script whereas the actual profile data is not The script engine is not powerful enough to process the profile data itself Only one script can be created Script Measurement A Script measurement can be used to program a custom measurement using a simplified C based syntax Similar to other measurement tools a script measurement can produce multiple measurement values and decisions for the output The following elements of the C language are supported Supported Eleme
29. 1 mm Gocator 3110 Series Gocator Web Interface Scan Setup and Alignment e 71 To configure edge filtering 1 Go to the Scan page and choose Surface in the Scan Mode panel If this mode is not selected you will not be able to configure part detection 2 Expand the Part Detection panel by clicking on the panel header or the button and enable part detection if necessary 3 Check the Edge Filtering checkbox to enable edge filtering 4 Configure the Width and Length settings The Width and Length settings represent the size of the filter on the X axis and the Y axis respectively 5 Set the Preserve Interior Feature setting if necessary The Preserve Interior Feature setting limits filtering to the outside edges of the target The data viewer can display images in a 2D view and height map resampled point cloud or intensity in 2D or 3D views The data viewer changes depending on the current operation mode and the panel that has been selected Use the drop down list at the top left corner to select the data source to view The available data sources depend on the operation mode settings The data viewer is controlled by mouse clicks and by the buttons on the display toolbar The mouse wheel can be also be used for zooming in and out Press F when the cursor is in the data viewer to switch to full screen Gocator 3110 Series Gocator Web Interface Scan Setup and Alignment 72 Zoom in out Pan Scaling Setting Toggl
30. 1 Select the CSV file to convert 2 If intensity information is required check the Intensity box and select the intensity bitmap Intensity information is only used when converting to ASCII or GenTL format If intensity is not selected the ASCII format will only contain the point coordinates XYZ 3 Select the output format The converted file will reside in the same directory as the CSV file It will also have the same name but with a different file extension The converted file name is displayed in the Output File field 4 Press the Convert button Gocator 3110 Series Tools and Native Drivers e CSV Converter Toole 232 Troubleshooting Review the guidance in this chapter if you are experiencing difficulty with a Gocator sensor system See Warranty and Return Policy page 254 for further assistance if the problem that you are experiencing is not described in this section Mechanical Environmental The sensor is warm e Itis normal for a sensor to be warm when powered on A Gocator sensor is typically 15 C warmer than the ambient temperature Connection When attempting to connect to the sensor with a web browser the sensor is not found page does not load e Verify that the sensor is powered on and connected to the client computer network The Power Indicator LED should illuminate when the sensor is powered e Checkthat the client computer s network settings are properly configured e Ensure that the latest version o
31. 3D data acquisition 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 4 PU m O Xx ue amp e amp W Speed 0 Hz Manage Scan Measure Output Dashboard a Dir M B Job1 default M m t 4 T Replay NP o NT gt e i Aa Surface View Surface Heightmap Top LIA mo Element 1 Scan Mode panel 2 Trigger panel 3 Sensor panel 4 Alignment panel 5 Part Detection panel 6 Data Viewer Gocator 3110 Series Option a Acquire Intensity Trigger Max Frame Rate Sensor 3 Alignment ALIGNED 4 Part Detection Description Contains settings for the current scan mode Video or Surface and other options See Scan Modes next page Contains trigger source and trigger related settings See Triggers next page Contains settings for an individual sensor such as active area or exposure See Sensor page 57 Used to perform alignment See Alignment page 65 Used to set the part detection logic for sorting profiles into discrete objects See Part Detection page 68 Displays sensor data and adjust regions of interest Depending on the current operation mode the data viewer can display video images or surface views See Data Viewer page 72 Gocator Web Interf
32. 40 mA 70V 20 us Out_1 V EN USER GND 2 Vt Out2 i Out_2 A Out 2 i Out_1 i Out1 The resistors shown above are calculated by R V 2 5MA The size of the resistors is determined by power V 2 R To invert an output connect a resistor between ground and Out_1 or Out_2 and connect Out_1 or Out_2 to the supply voltage Take the output at Out_1 or Out_2 The resistor selection is the same as what is shown above Out_1 Out1 R d USER_GND Digital Inputs Every Gocator sensor has a single optically isolated input To use this input without an external resistor supply 3 3 24 V to Pin 1 and GND to Pin 2 Gocator 3110 Series Specifications Gocator 3100 I O Connector 242 16 Trigger in 3 3V to 24V Digital Input Vdata USER GND Active High If the supplied voltage is greater than 24 V connect an external resistor in series to Pin 1 The resistor value should be R Vin 1 2V 10mA 680 Digital Input Vdata 3 3V to 24V VIN Active Low To assert the signal the digital input voltage should be set to draw a current of 3 mA to 40 mA from Trigger In The current that passes through Trigger In is Vin 1 2 Vdata 680 To reduce noise sensitivity we recommend leaving a 2096 margin for current variation i e uses a digital input voltage that draws 4 MA to 25 MA Function Pins Min Voltage Max Voltage Min Current Max Current
33. ANY WAY OUT OF THE USE OF THIS SOFTWARE EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE Gocator 3110 Series 255 BlowFish Website http www chiark greenend org uk sgtathamyputty 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 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 FORA PARTICULAR PURPOSE AND NONINFRINGEMENT IN NO EVENT SHALL SIMON TATHAM BE LIABLE FOR ANY CLAIM DAMAGES OR OTHER LIABILITY WHETHER IN AN ACTION OF CONTRACT TORT OR OTHERWISE ARISING FROM OUT OF ORIN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER D
34. Digital input states X offset nm X resolution nm Y offset nm Y resolution nm Z offset nm Z resolution nm Height map Width in pixels Height map length in pixels Specify if intensity is enabled or not Tools and Native Drivers GenTL Driver 229 GenTL registers are multiple of 32 bits The registers are used to control the operation of the GenTL driver send commands to the sensors or to report the current sensor information Register Map Overview Register Address 260 264 292 296 300 304 320 324 328 332 336 WidthReg HeightReg ResampleMode EncoderValueO EncoderValue1 Job File Transformatio n X offset Transformatio n Z offset Transformatio n Angle Transformatio n Orientation Clearance distance Gocator 3110 Series Read Write RO RW RO RO RO RO RO Length bytes 4 16 Description Specify the width of the returned images The part height map is truncated if it is wider than the specified width Specify the height of the returned images i e length of the part The part height map is truncated if it is longer than the specified length Enable the resampling logic in the GenTL driver 0 Disable resampling 1 Enable resampling When resampling is enabled the GenTL driver will resample the height map so that the pixel spacing is the same in the X and Y axis Report the current encoder value least signi
35. FixedLength Child Elements Element Type StartTrigger 32s Length 64f Length min 64f Length max 64f VariableLength VariableLength Child Elements Element Type MaxLength 64f MaxLength min 64f MaxLength max 64f Rotational Rotational Child Elements Element Type Circumference 64f Circumference min 64f Circumference max 64f PartDetection PartDetection Child Elements Element Type Enabled used Bool Threshold 64f Threshold min 64f Threshold max 64f ThresholdDirection 64f GapWidth 64f GapWidth min 64f GapWidth max 64f Gocator 3110 Series Description Start trigger condition 0 Sequential 1 Digital input Surface length mm Minimum surface length mm Maximum surface length mm Description Maximum surface length mm Minimum value for maximum surface length mm Maximum value for maximum surface length mm Description Circumference mm Minimum circumference mm Maximum circumference mm Description Whether or not this field is used Height threshold mm Minimum height threshold mm Maximum height threshold mm Threshold direction 0 Above 1 Below Gap width mm Minimum gap width mm Maximum gap width mm Gocator Device Files Job Files e 144 Element Type GapLength 64f GapLength min 64f GapLength max 64f PaddingWidth 64f PaddingWidth min 64f PaddingWidth max 64f PaddingLength 64f PaddingLength min 64f PaddingLength max 64f MaxLength 64f M
36. Interface Measurement 86 a c m Ps Filters Decision Min 3 mm Max 2 mm Anchoring Source Top fa Region e 1604 250 Id A Filters Decision Min 1500 mm 80 70 80 50 40 30 2D 10 0 10 20 30 40 50 60 70 80 Max 1600 ue mm Value 1604 250 outside decision thresholds Min 1500 Max 1600 Decision Fail Along with measurement values decisions can be sent to external programs and devices In particular decisions are often used with digital outputs to trigger an external event in response to a measurement See Output page 125 for more information on transmitting values and decisions To configure decisions 1 Go to the Scan page by clicking on the Scan icon 2 Choose Surface mode in the Scan Mode panel If this mode is not selected tools will not be available in the Measure panel Gocator 3110 Series Gocator Web Interface Measurement 87 3 Goto the Measure page by clicking on the Measure icon 4 In the Tools panel click on a tool in the tool list 5 n the measurement list select a measurement To select a measurement it must be enabled See Enabling and Disabling Measurements page 82 for instructions on how to enable a measurement 6 Click on the Output tab For some measurements only the Output tab is displayed 7 Enter values in the Min and Max fields Filters Filters can be applied to measurement values before they are output from the
37. OK custom data string ERROR Error Message If arguments are specified Gocator 3110 Series Protocols e ASCII Protocol e 220 Message Format OK data string in standard format except that the values are not sent ERROR Error Message Examples Standard data string for measurements ID 0 and 1 Decision 0 1 OR MOO 00 DO MOL OI DO 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 96time 9odecision 0 Decision OK 1420266101 0 Health Commands Optional parameters are shown in italic The placeholder for data is surrounded by brackets lt gt In the examples the delimiter is set to The Get Health command retrieves health indicators See Health Results page 198 for details on health indicators Formats Message Format Command Health health indicator ID health indicator instance More than one health indicator can be specified Note that the health indicator instance is optionally attached to the indicator ID with a If the health indicator instance field is used the delimiter cannot be set to Reply OK health indicator of first ID health indicator of second ID ERROR Error Message Examples health 2002 2017 OR 46 1674 Health ERROR Insufficient parameters Gocator 3110 Series Protocols e ASCII Protocol 221 Software Developme
38. Speed 31 Speed Hz Acquire Intensity and Field of View X x Y x MR Resolution mm Reduce Occlusion options disabled 90x160x100 0 5 1 2 90x160x100 0 2 0 8 90x160x100 0 1 0 2 35x35x100 0 5 15 35x35x100 0 2 2 7 35x35x100 0 1 1 9 35x35x35 0 5 9 35x35x35 0 2 6 8 35x35x35 0 1 4 0 Gocator 3110 Series Theory of Operation Acquisition Speed 32 Gocator Web Interface The following sections describe the Gocator web interface User Interface Overview Gocator sensors are configured by connecting to a Main sensor with a web browser The Gocator web interface is illustrated below 1 2 3 4 5 6 7 x rey 2 P CPU 0 A 2 Manage BET M Measure Output Dashboard x WM 8 Job1 default gl ttm Replay 7mm gt M ji M Surface Scan Mode View Surface Heightmap Top TE T y Pe z 77 m m o 10 Valan Surfaco Video 2ufiace Option MA Acquire Intensity Max Frame Rate Sensor Alignment uno T6 Part Detection 11 Element Description 1 Manage page Contains settings for sensor system layout network motion and alignment handling jobs and sensor maintenance See System Management and Maintenance page 41 2 Scan page Contains settings for scan mode trigger source detailed sensor configuration and performing alignment See Scan Setup and Alignment page 51 3 Measure page Contains built in measurement tools and their settings See Measurement
39. State 1000 Command is not valid in the current state Item Not Found 999 A required item e g file was not found Invalid Command 998 Command is not recognized Invalid Parameter 997 One or more command parameters are incorrect Not Supported 996 The operation is not supported Discovery Commands Sensors ship with the following default network configuration Gocator 3110 Series Protocols Gocator Protocol 166 Setting Default DHCP 0 disabled IP Address 192 168 1 10 Subnet Mask 255 255 255 0 Gateway 0 0 0 0 disabled The Get Address and Set Address discovery commands can be used to modify a sensor s network configuration Discovery commands are UDP broadcast messages Destination Address Destination Port 292 239 255 255 3220 When a sensor accepts a discovery command it will send a UDP broadcast response Destination Address Destination Port 255 255 255 255 Port of command sender The use of UDP broadcasts for discovery enables a client computer to locate a sensor when the senor and client are configured for different subnets All you need to know is the serial number of the sensor in order to locate it on an IP network The Get Address command is used to discover Gocator sensors across subnets Command Field Type Offset Description length 64u 0 Command length type 64s 8 Command type 0x1 signature 64u 16 Message signature 0x0000504455494DAC deviceld 64u 24 Serial number of the device whose a
40. String CSV String CSV String CSV Boolean 32s Region3D PlaneMeasurement PlaneMeasurement PlaneMeasurement Type 32s String Boolean Boolean Boolean Description Setting for measurement name Setting for profile source The X measurements IDs used for anchoring The X measurements IDs available for anchoring The Y measurements IDs used for anchoring The Y measurements IDs available for anchoring The Z measurements IDs used for anchoring The Z measurements IDs available for anchoring Setting to enable disable regions 0 Disable 1 Enable Count of the regions Measurement region Contains 1 or 2 Region3D elements XAngle measurement YAngle measurement ZOffset measurement Description Measurement ID Optional measurement disabled if not set Measurement name Measurement enable state 0 Disable 1 Enable Output hold enable state 0 Disable 1 Enable Smoothing enable state 0 Disable Gocator Device Files Job Files 154 Element Type Description 1 Enable SmoothingWindow 32s Smoothing window Scale 64f Output scaling factor Offset 64f Output offset factor DecisionMin 64f Minimum decision threshold DecisionMax 64f Maximum decision threshold SurfacePosition A SurfacePosition element defines settings for a surface position tool and one or more of its measurements SurfacePosition Child Elements Element Type Description Name String Setting for measur
41. The following types are used by the various measurement tools Region3D A Region3D element defines a rectangular area of interest in 3D Region3D Child Elements Element Type Description X 64f Setting for volume x position mm Y 64f Setting for volume y position mm Z 64f Setting for volume z position mm Width 64f Setting for volume width mm Length 64f Setting for volume length mm Height 64f Setting for volume height mm SurfaceRegion2D A SurfaceRegion2D element defines a rectangular area of interest on the X Y plane SurfaceRegion2D Child Elements Element Type Description X 64f Setting for area x position Mm Y 64f Setting for area y position Mm Width 64f Setting for region width mm Height 64f Setting for region height mm SurfaceFeature A SurfaceFeature element defines the settings for detecting a feature within an area of interest SurfaceFeature Child Elements Element Type Description Type 32s Setting to determine how the feature is detected within the area 0 Centroid 2d 1 Centroid 3d 2 X Min 3 X Max 4 Y Min 5 Y Max 6 ZMin 7 Z Max RegionEnabled 32 Setting to enable disable region 0 Disable 1 Enable Region Region3D Element for feature detection volume Gocator 3110 Series Gocator Device Files Job Files e 147 Script A Script element defines settings for a script measurement Script Child Elements Element Name Code Measurements Output Output Elemen
42. Tracking Custom XSpacingCount YSpacingCount Tracking Tracking Child Elements Element Enabled SearchThreshold Height Height min Height max SurfaceGeneration Type 32U 32u CSV 32U 32u CSV 64f 64f 64f Bool 32s Bool Section Custom 32U 32U Type Bool 64f 64f 64f 64f SurfaceGeneration Child Elements Element Type FixedLength VariableLength Rotational Gocator 3110 Series Type 32s Section Section Section Description exposures Subsampling factor in X List of available subsampling factors in X Subsampling factor in Z List of available subsampling factors in Z Uniform spacing interval mm Minimum spacing interval mm Maximum spacing interval mm Whether or not field is used Spacing interval type 0 Maximum resolution 1 Balanced 2 Maximum speed Whether or not field is used Described below Used by specialized sensors Number of points along X when data is resampled Number of points along Y when data is resampled Description Enables tracking Percentage of spots that must be found to remain in track Tracking window height mm Minimum tracking window height mm Maximum tracking window height mm Description Surface generation type 0 Continuous 1 Fixed length 2 Variable length 3 Rotation Described below Described below Described below Gocator Device Files Job Files 143 FixedLength
43. a 3D heightmap is not displayed in the Data Viewer see Troubleshooting page 233 10 Press the Stop button The LED light projection should turn off Replay AB or a ASA Stop All sensors are shipped with a default IP address of 192 168 1 10 Ethernet networks require a unique IP address for each device so you must set up a unique address for each sensor For each additional sensor follow the steps below Gocator 3110 Series Getting Started Network Setup 22 To configure a multi sensor system 1 Turn off the sensor and unplug the Ethernet network connection of any configured sensors GOCATOR I O CORDSE C GOCATOR POWER LAN CORDSET 2 Power up the new sensor The power LED blue of the new sensor should turn on immediately POWER INDICATOR 3 Enter the new sensor s default IP address 192 168 1 10 in a web browser gt Q z hiip 192 168 1 10 gt Gocator 3110 Series Getting Started e Network Setup 23 Log in as Administrator with no password The interface display language can be changed using the language option After selecting the language the browser will refresh and the web interface will display in the selected language Go to the Manage page X Modify the IP address in the Networking category and click the Save button Type You should increment the last octet of the IP address for d each additional sensor you need to use For example
44. a job file you can download the job file again to access the updated values of the constraints and properties All Gocator sensors share a common job file XML structure When editing the job file manually you should only edit the elements that are applicable and leave the other elements in the structure The following sections correspond to the XML structure used in job files Configuration Configuration Child Elements Element Type Description version 32u Configuration version 100 Setup Section See Setup below for a description of the Setup elements Tools Collection Collection of sections Each section is an instance of a tool and is named by the type of the tool it describes See the topics for each tool for more information Tools options String CSV List of available tool types Output Section See Output page 158 for a description of the Outputs elements The Setup element contains settings related to system and sensor setup Gocator 3110 Series 139 Setup Child Elements Element AutoStartEnabled TemperatureSafetyEnabled TemperatureSafetyEnabled used OcclusionReductionEnabled UniformSpacingEnabled UniformSpacingEnabled use d IntensityEnabled Trigger Layout Alignment Devices SurfaceGeneration PartDetection Custom Layout Layout Child Elements Element DataSource TransformedDataRegion Orientation MultiplexBuddyEnabled MultiplexSingleEnabled MultiplexSingleDelay
45. address settings Version 4 0 9 107 Serial 14370 3 Motion and Alignment Master MA Autostart Encoder resolution and travel speed Jobs Visible Sensors 4 Download upload and set default Serial Version 5 Security Admin and Technician passwords 6 Maintenance Upgrade backup restore reset Element Description 1 Sensor System Contains settings for configuring sensor system and boot up See Sensor System next page 2 Networking Contains settings for configuring the network See Networking next page 3 Motion and Alignment Contains settings to configure the encoder See Motion and Alignment page 43 4 Jobs Lets you manage jobs stored on the sensor See Jobs page 44 5 Security Lets you change passwords See Security page 46 6 Maintenance Lets you upgrade firmware create restore backups and reset sensors See Maintenance page 48 Gocator 3110 Series Gocator Web Interface e System Management and Maintenance 41 Sensor System The following sections describe the Sensor System category on the Manage page This category lets you choose the layout standalone or dual sensor systems and provides other system settings e Manage Sensor System Sensor Layout and Buddy assignment cu Status Model 3110 IP address settings Version 4 0 9 106 Serial 14370 Motion and Alignment Master BB Autostart Encoder resolution and travel speed Jobs Visible Sensors 3 Download upload and set default Serial Model Version State Se
46. available for anchoring Gocator Device Files Job Files 157 Element Anchor Y Anchor Y options Anchor Z Anchor Z options RegionEnabled Region Measurements Volume Measurements Area Measurements Thickness VolumeMeasurement Element id attribute Name Enabled HoldEnabled SmoothingEnabled SmoothingWindow Scale Offset DecisionMin DecisionMax Location Thickness measurement only Type String CSV String CSV String CSV String CSV Boolean Region3D VolumeMeasurement VolumeMeasurement VolumeMeasurement Type 32s String Boolean Boolean Boolean 32s 64f 64f 64f 64f 32s Description The Y measurements IDs used for anchoring The Y measurements IDs available for anchoring The Z measurements IDs used for anchoring The Z measurements IDs available for anchoring Setting to enable disable region Measurement region Volume measurement Area measurement Thickness measurement Description Measurement ID Optional measurement disabled if not set Measurement name Measurement enable state 0 Disable 1 Enable Output hold enable state 0 Disable 1 Enable Smoothing enable state 0 Disable 1 Enable Smoothing window Output scaling factor Output offset factor Minimum decision threshold Maximum decision threshold Measurement type 0 Maximum 1 Minimum 2 2D Centroid 3 3D Centroid 4 Average 5 Median The Outpu
47. be listed in the configuration area below the tool list To remove a tool 1 Go to the Scan page by clicking on the Scan icon Choose Surface 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 tool list click on the x button of the tool you want to delete The tool will be removed from the tool list Enabling and Disabling Measurements All of the measurements available in a tool are listed in the measurement list in the Tools panel after a tool has been added To configure a measurement you must enable it Gocator 3110 Series Gocator Web Interface Measurement 82 Surface Bounding Box F _ Source Top Rotation m Region Filters Decision Min Max To enable a measurement 1 Go to the Scan page by clicking on the Scan icon 2 Choose Surface mode in the Scan Mode panel If this mode is not selected tools will not be available in the Measure panel 3 Goto the Measure page by clicking on the Measure icon 4 Inthe measurements list check the box of the measurement you want to enable The measurement will be enabled and selected The Output tab which contains output settings will be displayed below the measurements list For some measurements a Parameters tab which contains measurement specific parameters will also be displayed To disable a measurement 1 Go to the
48. data 1 Recorded data Uptime whole seconds component Uptime remaining microseconds component Playback position Playback frame count The Log In Out command is used to log in or out of a sensor Command Field length Type 32U Offset Description Command size including this field in bytes id userType password 64 Gocator 3110 Series 16u 325 char Command identifier 0x4003 Defines the user type 0 None log out 1 Administrator 2 Technician Password required for log in only Protocols Gocator Protocol 172 Reply Field length id status Type 32U 16u 228 Offset 0 4 6 Description Reply size including this field in bytes Reply identifier 0x4003 Reply status Change Password The Change Password command is used to change log in credentials for a user Command Field length id user type password 64 Reply Field length id status Type 32U 16u 32s char Type 32U 16u 32s Offset 10 Offset 0 4 6 Description Command size including this field in bytes Command identifier 0x4004 Defines the user type 0 None log out 1 Administrator 2 Technician New password Description Reply size including this field in bytes Reply identifier 0x4004 Reply status List Files The List Files command returns a list of the files in the sensor s file system Command Field length id extension
49. ey Filters Decision Min 6540 mire Max 6560 mme Measurement Panel Measurements Measurement Illustration Volume Measures volume in XYZ space Area Measures area in the XY plane Gocator 3110 Series Gocator Web Interface Measurements 118 Measurement Thickness Measures thickness height of a part Parameters Parameter Location Thickness measurement only Decision Region Output Script Illustration Height Description One of the following maximum height minimum height average height median height the height at the 2D centroid in the XY plane or the height at the 3D centroid in XYZ space See Decisions page 86 See Regions page 85 See Filters page 88 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 Adding and Removing Tools page 81 for instructions on adding measurements 9 967 13 105 16 243 19 381 22 519 25 657 ERI 80 70 80 50 40 30 2D 10 0 10 20 30 40 50 60 70 80 Xmm Gocator 3110 Series Code HHI double VolumeArea Measurement Value 4 if Measurement Valid 4 Output Set VolumeArea 10000 1 else Output SetAr 0 0 Press save button or Ctrl 5 to apply change ES Press Esc to exit full screen Output Add Output 0 1604 250 Id
50. field in bytes id 16u 4 Command identifier 0x4100 Gocator 3110 Series Protocols Gocator Protocol 175 Reply Field length id status name 64 Type 32U 16u 32s char Offset 0 4 6 10 Description Reply size including this field in bytes Reply identifier 0x4100 Reply status File name null terminated Set Default Job The Set Default Job command sets the name of a default job file that will be loaded at boot time Command Field length id fileName 64 Reply Field length id status Type 32U 16u char Type 32U 16u 228 Offset 0 4 6 Offset 0 4 6 Description Command size including this field in bytes Command identifier 0x4101 File name null terminated Description Reply size including this field in bytes Reply identifier 0x4101 Reply status Get Loaded Job The Get Loaded Job command returns the currently loaded i e live file name and modified status for a file type Command Field length id Reply Field length id status fileName 64 changed Gocator 3110 Series Offset Description Command size including this field in bytes Command identifier 0x4512 Description Reply size including this field in bytes Reply identifier 0x4512 Reply status Name of the currently loaded file Whether or not the currently loaded file has been changed 1 yes 0 no Protocols Gocator Protocol 176 Set A
51. if the IP address of the first sensor you configured is 192 168 1 10 use 192 168 1 11 for the second sensor use 192 168 1 12 for the third etc When you click the Save button you will be prompted to confirm your selection Subnet Mask Gateway Power cycle or reset the sensor After changing a sensor s network configuration the sensor must be reset or power cycled before the change will take effect Gocator 3110 Series A Gocator 2340 um n A Administrator Login Language English Mo own 4 Scan Measure Output Dashboard Manual 192 168 1 11 255 255 255 0 0 0 0 0 Save POWER LAN CORDSET Getting Started e Network Setup 24 8 Repeat these steps for each additional sensor Next Steps After you complete the steps in this section the Gocator measurement system is ready to be configured for an application using the software interface The interface is explained in the following sections System Management and Maintenance page 41 Contains settings for sensor system layout network motion and alignment handling jobs and sensor maintenance Scan Setup and Alignment page 51 Contains settings for scan mode trigger source detailed sensor configuration and performing alignment Measurement page 80 Contains built in measurement tools and their settings Output page 125 Contains settings for configuring output protocols used to communicate m
52. measurements is true 1 AND of measurements is false 2 Always assert Delay 64f Output delay us or mm depending on delay domain defined below DelayDomain 32s Output delay domain 0 Time us Gocator 3110 Series Gocator Device Files Job Files e 160 Element Type Description 1 Encoder mm Measurements 32u CSV Selected measurement sources Measurements options 32u CSV List of available measurement sources Analog The Analog element defines settings for Analog output The range of valid measurement values DataScaleMin DataScaleMax is scaled linearly to the specified current range CurrentMin CurrentMax Only one Value or Decision source can be selected at a time Analog Child Elements Element Type Description Event 32s Triggering event 0 None disabled 1 Measurements 2 Software ScheduleEnabled Bool Enables scheduling CurrentMin 64f Minimum current mA CurrentMin min 64f Minimum value of minimum current MA CurrentMin max 64f Maximum value of minimum current mA CurrentMax 64f Maximum current mA CurrentMax min 64f Minimum value of maximum current MA CurrentMax max 64f Maximum value of maximum current MA CurrentinvalidEnabled Bool Enables special current value for invalid measurement value Currentinvalid 64f Current value for invalid measurement value MA Currentinvalid min 64f Minimum value for invalid current mA Currentinvalid max 64f Maximum value for invalid current mA D
53. string See Custom Result Format page 215 for the supported format string syntax 5 Select the measurments to send Select measurements by placing a check in the corresponding check box 6 Set the Special Characters Select the delimiter termination and invalid value characters Special characters are used in commands and standard format data results Gocator 3110 Series Gocator Web Interface Output 135 Dashboard The following sections describe the Dashboard page Dashboard Page Overview The Dashboard page summarizes sensor health information and measurement statistics x n om 5M g Manage Scan Measure new Name General Sensor State Application Version Master Connection Main Master Connection Buddy Uptime CPU Usage Current Speed Encoder Value Encoder Frequency Memory Usage Storage Usage Ethernet Traffic Internal Temperature Processing Latency Processing Latency Peak History Scan Count Trigger Drop lt Element 1 System 2 Measurements Speed O Hz Output Bern is a stamo gt replay SPI Aeg A A Measurements i Max Std Surface Bounding Box X 8 000 8 000 0 000 Ready Surface Ellipse Major 62 159 62 159 0 000 4 0 9 94 Surface Plane X Angle 3 418 0 571 1 006 Disconnected Surface Position X 2 000 0 202 1 105 N A Surface Volume Volume 1005 0 000 4701 0D 1H 54M 19S Script Output 0 0 000 0 000 0 000 0 Surface Hole Radius 0 000 0 000 0 000 Surface Open
54. time stamp encoder index etc into either a 16 bit RGB image or a 16 bit grey scale image You can select the format in the Go2GenTL xml setting file The width and height of the 16 bit RGB or grey scale image is calculated from the maximum number of columns and rows required to support the sensor s FOV and the maximum part length 16 bit RGB Image When the 16 bit RGB format is used the height map intensity and stamps are stored in the red green and blue channel respectively Channel Details Red Height map information The width and height of the image represent the dimensions in the X and Y axis Together with the pixel value each red pixel presents a 3D point in the real world coordinates The following formula can be used to calculate the real world coordinates X Y Z from pixel coordinates Px Py Pz X X offset Px X resolution Y Y offset Py Y resolution Z Z offset Pz Z resolution Refer to the blue channel on how to retrieve the offset and resolution values If Pz is O if the data is invalid The Z offset is fixed to 32768 Z resolution Z is zero if Pz is 32768 Green Intensity information Same as the red channel the width and height of the image represent the dimension in the X and the Y axis Together with the pixel value each blue pixel represents an intensity value in the real world coordinates The following formula can be used to calculate the real world coordinates X Y Z from pixe
55. to use video to help tune the exposure see Exposure previous page for details Gocator 3110 Series Gocator Web Interface e Scan Setup and Alignment 62 Multiple Exposure The sensor combines data from multiple exposures to create a single 3D point cloud Multiple exposures can be used to increase the ability to detect light and dark materials that are in the field of view simultaneously Up to three exposures can be defined with each set to a different exposure level For each exposure the sensor will perform a complete scan at the current frame rate making the effective frame rate slower For example if two exposures are selected then the speed will be half of the single exposure frame rate The sensor will perform a complete multi exposure scan for each external input The resulting 3D point cloud is a composite created by combing data collected with different exposures Active Area Bisa Spacing Exposure Mode Multiple Exposure 1 Auto Set D 17 pis Use Auto Set to estimate the optimal exposure Intensity Exposure 1 To enable multiple exposure 1 Go to the Scan page 2 Expand the Sensor panel by clicking on the panel header or the button 3 Click on the Exposure tab 4 Select Multiple from the Exposure Mode drop down 5 Click the button to add an exposure step Up to a maximum of three exposure settings can be added Gocator 3110 Series Gocator Web Interface e Scan Setup and Alignment 63
56. valid 6 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 7 Specify if the output is immediate or scheduled An analog output can become active immediately or scheduled Check the Scheduled option if the Gocator 3110 Series Gocator Web Interface Output 133 output needs to be scheduled A scheduled output becomes active after a specified delay from the start of Gocator exposure A scheduled output can be used to track the decisions for multiple objects as these objects travel from the sensor to the eject gates The delay specifies the distance from the sensor to the eject gates An Immediate output becomes active as soon as the measurement results are available The output activates after the Gocator finishes processing the data As a result the time between the start of Gocator exposure and output activates depends on the processing latency The latency is reported in the dashboard and in the health messages 8 Specify a delay The delay specifies the time or spatial location between the start of Gocator exposure and the output becomes active The delay should be larger than the time needed to process the data inside the Gocator
57. when source is not clock or encoder 0 Time 1 Encoder FrameRate 64f Frame rate for time trigger Hz FrameRate min 64f Minimum frame rate Hz FrameRate max 64f Maximum frame rate Hz FrameRate maxSource 32s Source of maximum frame rate limit 0 Imager 1 Surface generation MaxFrameRateEnabled Bool Enables maximum frame rate ignores FrameRate EncoderSpacing 64f Encoder spacing for encoder trigger mm EncoderSpacing min 64f Minimum encoder spacing mm EncoderSpacing max 64f Maximum encoder spacing mm EncoderSpacing minSource 32s Source of minimum encoder spacing 0 Resolution 1 Surface generation EncoderTriggerMode 32s Encoder triggering mode 0 Tracking backward 1 Bidirectional 2 Ignore backward Delay 64f Trigger delay us or mm Delay min 64f Minimum trigger delay us or mm Delay max 64f Maximum trigger delay us or mm GateEnabled Bool Enables digital input gating GateEnabled used Bool True if this parameter can be configured GateEnabled value Bool Actual value if the parameter cannot be configured The Tools element contains measurement tools The following sections describe each tool and its available measurements Tools Child Elements Element Type Description options String CSV A list of the tools available in the currently selected scan mode lt ToolType gt Section An element for each added tool Gocator 3110 Series Gocator Device Files Job Files 146 Surface Types
58. 0 3 ID For example a measurement with ID set to 4 can be read from registers 1012 high word and 1013 low word and the decision at 1015 In Surface mode the measurement results are updated after each discrete part has been processed Measurement Register Map Register Address Name 1000 1001 1002 1003 1004 1005 Measurement ID O Value Measurement ID O Decision Measurement ID 1 Value Measurement ID 1 Decision Gocator 3110 Series Data Size bits Description 32 Measurement ID 0 Value 8 Measurement ID 0 Decision 32 Measurement ID 1 Value 8 Measurement ID 1 Decision Protocols e Modbus TCP Protocol 206 EtherNet IP Protocol EtherNet IP is an industrial protocol that allows bidirectional data transfer with PLCs It encapsulates the object oriented Common Industrial Protocol CIP This section describes the EtherNet IP messages and data formats EtherNet IP communication enables the client to e Switch to a different active job e Align and run sensors e Receive sensor states stamps and measurement results EtherNet IP is enabled in the Output panel For more information see Ethernet Output page 1296 To EtherNet IP enabled devices on the network the sensor information is seen as a collection of objects which have attributes that can be queried For example an assembly object is a type of object with a data attribute that can be accessed with the GetAttribute and SetAttribute commands The
59. 00 el Active Area Exposure spacing 30 000 Lm Select ie 50 000 77 Value Max X Field of View 100 LIGUE mm Y Field of View 170 IRUS mm Measurement Range IC mm X Start 50 i mm Y Start Start Transformation Gocator 3110 Series Gocator Web Interface Scan Setup and Alignment 58 To setthe active area 1 Go to the Scan page Choose Surface mode in the Scan Mode panel If this mode is not selected you will not be able to configure the active area Expand the Sensor panel by clicking on the panel header or the button Click on the Active Area tab Click the Select button Click the Acquire button to see a scan while setting the active area Set the active area Enter the active area values in the edit boxes or adjust the active area graphically in the data viewer The 2D view allows you to adjust the sizes and positions in the X axis and Z axis The 3D view allows you to adjust the sizes and positions in the X axis Y axis and Z axis See Regions page 85 for more information Click the Save button in the Sensor panel Click the Cancel button to cancel setting the active area Save the job in the Toolbar by clicking the Save button B 3D acquisition devices are usually more accurate at the near end of their measurement range If your application requires a measurement range that is small compared to the maximum measurement range of the sensor mount the sen
60. 10 Series Gocator Web Interface Scan Setup and Alignment 78 e Toautomatically set the scale based on a user selected sub region of the heightmap choose Auto Region in the Range drop down and adjust the yellow region box in the data viewer to the desired location and size e To manually set the scale choose the Manual in the Range drop down and enter the minimum and maximum height to which the colors will be mapped Gocator sensors can produce intensity images that measure the amount of light reflected by an object An 8 bit intensity value is output for each point in the 3D point cloud Intensity output is enabled by checking the Acquire Intensity checkbox in the Scan Mode panel Surface View Surface Intensity COLO IE UIT n Gocator 3110 Series Gocator Web Interface Scan Setup and Alignment 79 Measurement The following sections describe the Gocator s tools and measurements Measure Page Overview Measurement tools are added and configured using the Measure page The content of the Tools panel in the Measure page depends on the current scan mode In Surface mode the Measure page displays tools for surface measurement In Video mode tools are not accessible is CPU 0 2 X i c B Mi Speed 0 Hz Manage Scan Output Dashboard Job1 default M m t c Replay m lo i dI y gt o AN x y VL Surface Surface Volume Area Tools Miew Surface Heightmap Top 3D F 0 S
61. 29 status 32s 6 Reply status progressTotal 32u 10 Progress indicating completion 100 progress 32u 14 Current progress The progressive Export CSV command exports replay data as a CSV stream Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4507 Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4507 status 32s 6 Reply status progressTotal 32u 10 Progress indicating completion 100 progress 32u 14 Current progress Only the current surface scan is exported determined by the playback position Q The reply may be followed by a series of continue replies See the section on progressive reply Gocator 3110 Series Protocols Gocator Protocol 190 The progressive Export Bitmap command exports replay data as a bitmap stream Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4508 type 32s 6 Data type 0 Range or video 1 Intensity source 32s 10 Data source to export Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4508 status 32s 6 Reply status progressTotal 32u 10 Progress indicating completion 100 progress 32u 14 Current progress D The reply may be followed by a series of continue replies See t
62. 5 Select a spacing interval level Speed Use the lowest X resolution within the active area as the spacing interval This setting minimizes CPU usage and data output rate but the profile has the lowest X resolution i e least detail Balanced Use the X resolution at the middle of the active area as the spacing interval This setting balances CPU load data output rate and X resolution Resolution Use the highest X resolution within the active area as the spacing interval This setting maximizes resolution but has higher CPU load and has the highest data output rate i e greatest detail 6 Save the job in the Toolbar by clicking the Save button B Alignment 0 2000 0 0 00 Gocator sensors are pre calibrated and ready to deliver 3D data in engineering units mm out of the box However alignment procedures are required to compensate for sensor mounting inaccuracies Alignment is performed using the Alignment panel on the Scan page Once alignment has been completed the derived transformation values will be displayed under Transformations in the Sensor panel see Transformations page 59 for details A Gocator can be in one of three alignment states None Manual or Auto Alignment State State None Manual Auto Explanation Sensor is not aligned 3D point clouds are reported in default sensor coordinates Transformations see page 59 have been manually edited Sensor is aligned using the alignment procedure se
63. 64 Reply Field length Status Gocator 3110 Series Type 32u 16u char Type 32u 16u 32s Offset Offset Description Command size including this field in bytes Command identifier 0x101A 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 Description Reply size including this field in bytes Reply identifier 0x101A Reply status Protocols Gocator Protocol 173 Field Type Offset Description count 32u 10 Number of file names fileNames count 64 char 14 File names The Copy File command copies a file from a source to a destination within the connected sensor Copy a saved configuration to live job to make the configuration live Command Field Type Offset Description length 64s 0 Command size in bytes id 64s 4 Command identifier 0x101B source 64 char 6 Source file name destination 64 char 70 Destination file name Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x101B status 32s 6 Reply status Read File Downloads a file from the connected sensor Read the file _live job and _live prof to download the live configuration and template Command Field Type Offset Description length 32u 0 Command size in bytes id 16u 4 Command identifier 0x1007 name 64 char 6 Source file name Reply Field Typ
64. 81 Dal aust eesbennleueerenenteceeesessenes 141 Enabling and Disabling Measurements 82 y qe E P R 142 Editing a Tool or Measurement Name 84 Devices 7 DEVICE Loco nba n aor imis 142 Changing a Measurement ID 85 MACHAN PORTO 143 Common Measurement Settings 85 SuttaceGeneratlOfl usce cssozccdcuee ane 143 REBIONS ME 85 FIixedLength Lo 144 Decision cassia NE ERR 86 VariableLength so eode mE ELT 144 IU cS eee eee eee 88 Rotational Lusese coq ueneno duse ness 144 Measurement Anchoring 89 PartDereelioHi RPRNERC CEU T ETOTEEUETT 144 Surface Measurement 91 Edeerllterilg arccclccssiesescinsstons 145 Measurement Tools 91 i o E 145 Bounding BOX rile coy ESL er 91 jos AMEND oe e eee 146 zT CCP 94 SulTace Types ese ei tieenvecn EE 147 HOC cacatua iis eterea 97 ppp 147 Measurement Region 101 SurfaceRegion2D Lurisia 147 ODENIN o200seenn ee ese LU EE 102 S rfaceFeature Liscia 147 Measurement Region 108 SONDE MT T 148 Plane Gain sli iaia 109 SurfaceBoundingBOX ussacessotairsess 148 POSITION Le ecce Se FREE POSE 111 SutTateElllDSe eoe ccop tenis DE Ehe 149 AU TT 113 SUPTOCCMOLS orsono 150 Measurement Region Kiz SUIMACCOP ENING cirio 152 us lt RR CE FP E 117 SurfacePlane ncccccarteietuvliccecewmenen 154 O ae E S 119 S rmacePOSItIOM uuscesoausironsbresienzs 155 Script Measurement
65. 9 14 17 18 25 26 33 34 41 42 43 44 79 80 83 84 85 88 89 375 378 3 9 Name Inputs Z Index Position Temperature Position Time Frame Counter Buffer Counter Buffer Overflow Reserved Measurement O Decision 0 Measurement 1 Decision 1 Measurement 59 Decision 59 Value 0x04 0x321 3 380 bytes OxOE Get Single Attribute Description Access Sample state information See below for more Get details Description Digital input state Encoder position at time of last index pulse 64 bit signed integer Sensor temperature in degrees Celsius 1000 Encoder position 64 bit signed integer Time 64 bit unsigned integer Frame counter 64 bit unsigned integer Number of buffered messages currently in the queue Buffer Overflow Indicator 0 No overflow 1 Overflow Reserved bytes Measurement ID 0 Value Measurement ID 0 Decision Measurement ID 1 Value Measurement ID 1 Decision Measurement ID 59 Value Measurement ID 59 Decision Measurement results are reported in pairs of values and decisions Measurement values are 32 bits wide and decisions are 8 bits wide The measurement ID defines the byte position of each pair within the state information The position of the first word can be calculated as 80 5 ID For example a measurement with ID set to 4 can be read from byte 100 high word to 103 low word and the decision at 104 Gocator 3110 Series Protocols EtherNet IP Proto
66. 9090000000000000009po00060000900999O0009pOO9 SoOo9oogogoooooooooooooooooooOO Master 1200 Gocator 3110 Series Specifications Master 1200 2400 252 Parts and Accessories Gocator 3100 Sensors Description Part Number Gocator 3110 No tools 313110A LED B 00 Gocator 3110 Measurement tools 313110A LED B 01 Masters Description Part Number Master 100 for single sensor development only 30705 Master 400 for networking up to 4 sensors 30680 Master 800 for networking up to 8 sensors 30681 Master 1200 for networking up to 12 sensors 30649 Master 2400 for networking up to 24 sensors 30650 Cordsets Description Part Number 5m shielded Gocator I O cordset open wire end 30862 10m shielded Gocator I O cordset open wire end 30863 5m shielded Gocator Power and Ethernet cordset 1x open wire end 1x RJ45 end 30859 10m shielded Gocator Power and Ethernet cordset 1x open wire end 1x RJ45 end 30860 5m shielded Gocator Power and Ethernet cordset to Master 2x RJ45 end 30856 10m shielded Gocator Power and Ethernet cordset to Master 2x RJ45 end 30857 Contact LMI for information on creating cordsets with custom length or connector orientation The maximum cordset length is 60 m Gocator 3110 Series 253 Warranty and Return Policy Warranty Policy The sensor is warranted for two years from the date of purchase from LMI Technologies Inc Products that are found to be non conforming during their warranty period are t
67. Configuration UINT 0 Get Capability 3 Configuration UINT 0 Product Code Get Control 4 Physical Link Structure See See 5 3 3 2 4 of CIP Specification Volume 2 Get Object description Path size UINT Path Padded EPATH 5 Interface Structure See See 5 3 3 2 5 of CIP Specification Volume 2 Get Configuration description IP Address UDINT Network Mask UDINT Gateway Address UDINT 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 Value Description Access 1 Interface UDINT 1000 Ethernet interface data rate Mbps Get Speed 2 Interface Flags UDINT See 5 4 3 2 1 of CIP Specification Volume 2 Get Bit 0 Link Status 0 Inactive 1 Active Bit 1 Duplex 0 Half Duplex 1 Full Duplex 3 Physical Array of MAC Address for example 00 16 20 00 2E 42 Get Address 6 USINTs Gocator 3110 Series Protocols EtherNet IP Protocol 208 Assembly Object Class 0x04 The Gocator Ethernet IP object model includes the following assembly objects Command Sensor State and Sample State All assembly object instances are static Data in a data byte array in an assembly object are stored in the big endian format The command assembly object is used to start stop and a
68. D either express or implied See the License for the specific language governing permissions and limitations under the License jQuery CopyEvents Website http brandonaaron net License Copyright c 2006 Brandon Aaron Licensed under the MIT License http www opensource org licenses mit license php jQuery history License jQuery history plugin Copyright c 2006 Taku Sano Mikage Sawatari Licensed under the MIT License http www opensource org licenses mit license php Modified by Lincoln Cooper to add Safari support and only call the callback once during initialization for msie when no initial hash supplied API rewrite by Lauris Bukis Haberkorns jQuery mouseWheel Website http brandonaaron net License Copyright c 2010 Brandon Aaron Gocator 3110 Series Software Licenses 258 Licensed under the MIT License http www opensource org licenses mit license php jQuery scaling Website http eric garside name License Scaling 1 0 Scale any page element Copyright c 2009 Eric Garside Licensed under the MIT License http www opensource org licenses mit license php jQuery scrollFollow Website http kitchen net perspective com License Copyright c 2008 Net Perspective Licensed under the MIT License http www opensource org licenses mit license php Flex SDK Website http opensource adobe com wiki display flexsdk Flex SDK License Copyright c 2010 Ado
69. EALINGS IN THE SOFTWARE CodeMirror Website http codemirror net License Copyright C 2011 by Marijn Haverbeke lt marijnh gmail com gt 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 copies of the Software and to permit persons to whom the Software is furnished to do so subject to the following conditions Gocator 3110 Series Software Licenses 256 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 FORA PARTICULAR PURPOSE AND NONINFRINGEMENT IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM DAMAGES OR OTHER LIABILITY WHETHER IN AN ACTION OF CONTRACT TORT OR OTHERWISE ARISING FROM OUT OF ORIN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE jQuery Website http jquery com License Copyright c 2011 John Resig http jquery com Permission is hereby granted free of charge to any person obtaining a copy of this software and associated documentation files the Software t
70. Gocator sensors Filter Description Scale and Offset The Scale and Offset settings are applied to the 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 For example to convert the measurement value from millimeters to thousands of an inch set Scale to 39 37 Hold Last Valid Holds the last valid value when the measurement is invalid Measurement is invalid if there is no valid value Smoothing Applies moving window averaging to reduce random noise in a measurement output The averaging window is configured in number of frames If Hold Last Valid is enabled smoothing uses the output of the Hold Last Valid filter Filters Scale 1 Offset 0 Hold Last Valid A smoothing SZ 1 Samples To configure the filters 1 Go to the Scan page by clicking on the Scan icon Gocator 3110 Series Gocator Web Interface Measurement 88 2 Choose Surface mode in the Scan Mode panel If this mode is not selected tools will not be available in the Measure panel 3 Goto the Measure page by clicking on the Measure icon 4 In the Tools panel click on a tool in the tool list 5 In the measurement list select a measurement To select a measurement it must be enabled See Enabling and Disabling Measurements page 82 for instructions on how to enable a measurement 6 Click on the Output tab For some measurements on
71. Gocator uses assembly objects to take commands and provide sensor state and measurement values 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 In EtherNet IP terminology the PLC is a scanner and the Gocator is an adapter The Gocator supports unconnected or connected explicit messaging with TCP Implicit YO messaging is not supported The default EtherNet IP ports are used Port 44818 is used for TCP connections and UDP queries e g list Identity requests Port 2222 for UDP I O Messaging is not supported Basic Object Attribute Name Type Value Description Access 1 Vendor ID UINT 1256 ODVA Provided Vendor ID Get 2 Device Type UINT 43 Device Type Get 3 Product Code UINT 2000 Product Code Get 4 Revision USINT x x Byte 0 Major Revision Get USINT Byte 1 Minor Revision 6 Serial number UDINT 32 bit value Sensor serial number Get 7 Product Name SHORT Gocator Gocator Product Name Get STRING 32 Gocator 3110 Series Protocols EtherNet IP Protocol 207 TCP IP Object Class 0xF5 The TCP IP Object contains read only network configuration attributes such as IP Address TCP IP configuration via Ethernet IP is not supported See Volume 2 Chapter 5 3 of the CIP Specification fora complete listing of TCP IP object attributes Attribut DE me Type Value Description Access 1 Status UDINT 0 TCP interface status Get 2
72. IP Address 192 168 1 5 and Subnet Mask 255 255 255 0 then click Apply eoo Network Le shown Location Automatic E Ethernet Go Self Assigned IP Status AirPort Z e Connected T Parallel dapter 4 3 z e Connected M gt Configure Parallel dapter IP Address e Connected S Subnet Mask e Bluetooth Not Connected Router DNS Server Search Domains d M id Click the lock to prevent further changes Connected Ethernet has a self assigned IP address and may not be able to connect Manually s 192 168 1 5 255 255 255 0 Advanced O i Assist me Revert Apply See Troubleshooting page 233 if you experience any problems while attempting to establish a connection to the sensor Gocator 3110 Series Getting Started Network Setup 20 Gocator Setup The Gocator is shipped with a default job that will produce 3D data on most targets The following sections walk you through the steps required to set up a standalone sensor system and a multi sensor system for operations After you have completed the setup 3D data can be acquired to verify basic sensor operation To configure a standalone sensor system 1 Power up the sensor The power indicator blue should turn on immediately POWER INDICATOR 2 Enter the sensor s IP address 192 168 1 10 in a web browser 9 S st hitip 192 168 1 10 db
73. It should be set to a value that is larger than the processing latency reported in the dashboard and in the health messages The unit of the delay is configured in the trigger panel See Triggers page 52 for details The analog output takes about 75 us to reach 9096 of the target value for a maximum change then another 40 us to settle completely D To respond to software scheduled commands 1 Go to the Output page 2 Click on Analog in the Output panel 3 Set Trigger Event to Software 4 Specify if the output is immediate or scheduled An analog output value becomes active immediately or scheduled Immediate output becomes active as soon as a Scheduled Analog Output command see page 181 is received Software scheduled command can schedule an analog value to output at a specified future time or encoder value or changes its state immediately The Delay setting in the panel is ignored Commands that schedule event in the past will be ignored An encoder value is in future if the value will be reached by moving in the forward direction the direction that encoder calibration was performed in Serial Output The Gocator s web interface can be used to select measurements to be transmitted via RS 485 serial output Each sensor has one serial output channel The ASCII protocol outputs data asynchronously using a single serial port See ASCI Protocol page 213 for the ASCII Protocol parameters and data formats See Serial Communicat
74. Min Pulse Width Trigger in l5 33V 24 V 3mA 40 mA 20 US Serial Output Serial RS 485 output is connected to Serial out as shown below Function Pins Serial out 13 14 Gocator 3110 Series Specifications Gocator 3100 I O Connector 243 SERIAL OUTPUT Serial out SERIAL Serial out SERIAL Analog Output The Sensor I O Connector defines one analog output interface Analog out Function Pins Current Range Analog out 17 18 4 20 mA ANALOG_OUTPUT ANALOG_OUTPUT Analog_out1 Analog_out1 ANALOG ANALOG Analog_out ANALOG Analog_out ANALOG Current Mode Voltage Mode To configure for voltage output connect a 500 Ohm Watt resistor between Analog_out and Analog_ out1 and measure the voltage across the resistor To reduce the noise in the output we recommend using a RC filter as shown below ANALOG OUTPUT 10K Analog out ANN ANALOG 500 15n7 Analog out ANALOG Gocator 3110 Series Specifications Gocator 3100 I O Connector 244 Master 100 The Master 100 accepts connections for power safety and encoder and provides digital output Master Master Ethernet Port _ ETHERNET W 1 0X0 SIT Master Host Port Encoder Output Port Contact LMI for information regarding this type of power supply Connect the Master Power port to the Gocator s Power LAN connector usi
75. MultiplexSinglePeriod XSpacingCount YSpacingCount Gocator 3110 Series Type Bool Bool Bool Bool Bool Bool Bool Section Section Section Collection Section Section Custom Type 32s Region3D 325 Bool Bool 32u 32u 32u 32u Description Enables automatically data capture after boot up Enables laser temperature safety control Whether or not this property is used Enables occlusion reduction Enables uniform spacing Whether or not property is used Enables intensity data collection See Triggers page 145 See Layout below See Alignment next page A collection of two Device sections with roles main and buddy See SurfaceGeneration page 143 See PartDetection page 144 Used by specialized sensors Description Data source of the layout output read only 0 Top 1 Bottom 2 Top left 3 Top right Transformed data region of the layout output Sensor orientation 0 Wide 1 Opposite 2 Reverse Enables multiplexing for buddies Enables multiplexing for a single sensor configuration Delay in us Currently gets rounded up when read by the sensor Period in us Currently gets rounded up when read by the sensor Number of points along X when data is resampled Number of points along Y when data is resampled Gocator Device Files Job Files e 140 Alignment The Alignment element contains settings related to alignment and encoercalibration Alig
76. N If a command has more than one parameter each parameter is separated by the delimiter Similarly the reply has the following format STATUS DELIMITER OPTIONAL RESULTS DELIMITER The status can either be OK or ERROR The optional results can be relevant data for the command if successful or a text based error message if the operation failed If there is more than one data item each item is separated by the delimiter The delimiter and termination characters are configured in the Special Character settings The ASCII Protocol has three special characters Special Characters Special Character Explanation Delimiter Separates input arguments in commands and replies or data items in results Default value is 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 Format values for Special Characters Format Value Explanation t Tab n New line r Carriage return Percentage symbol Gocator 3110 Series Protocols ASCII Protocol 214 Measurement results can either be sent in the standard format or in a custom format In the standard format you select in the web interface which measurement values and decisions to
77. O Registers for Modbus commands See Control Registers below for detailed descriptions 300 371 Sensor States RO Report sensor states See State next page for detailed descriptions 900 999 Stamps RO Return stamps associated with each surface See State next page for detailed descriptions 1000 1060 Measurements amp RO 20 measurement and decision pairs See Decisions Measurement Registers page 206 for detailed descriptions Control registers are used to operate the sensor Register O stores the command to be executed Registers 1 to 21 contain parameters for the commands The Gocator executes a command when the value in Register 0 is changed To set the parameters before a command is executed you should set up the parameters and the command using a single Multiple Write register command Control Register Map Register iui Name Read Write Description Address 0 Command Register WO Command register See the Command Register Values table below for more information 1 21 Job Filename WO Null terminated filename Each 16 bit register holds a single character Only used for Load Job Command Specifies the complete filename including the file extension job The values used for the Command Register are described below Command Register Values Value Name Description 0 Stop running Stop the sensor No effect if sensor is already stopped 1 Start Running Start the sensor No effect if sensor is already started 2 Ali
78. ONNECTOR INDICATORS Item Description Camera Observes light reflected from target surfaces Light Emitter Emits structured light for 3D data acquisition I O Connector Accepts input output signals Power LAN Connector Connects to 1000 Mbit s Ethernet network Power Indicator Illuminates when power is applied blue Safety Indicator IIluminates when laser safety input is active amber Serial Number Unique sensor serial number Gocator 3100 Cordsets Gocator 3100 sensors use two types of cordsets The Power amp Ethernet cordset provides power and safety interlock to the sensor It is also used for sensor communication via 1000 Mbit s Ethernet with a standard RJ45 connector The Master version of the Power amp Ethernet cordset provides direct connection between the sensor and a Master 400 800 1200 2400 The Gocator 3100 I O cordset provides digital I O connections an encoder interface RS 485 serial connection and an analog output If you use a Master 100 with a Gocator 3100 series sensor you must use the latest version of the D Master 100 with a metal shielded Master Power Port and a Power amp Ethernet cordset with a metal shielded Power Sync RJ45 plug Gocator 3110 Series Getting Started e Hardware Overview 12 CORDSET GOCATOR 1 0 Xm M16 I O CONNECTOR 19 PIN MALE CORDSET POWER amp ETHERNET Xm CORDSET GOCATOR POWER amp ETHERNET TO MASTER Xm A PIGTAILED LEADS RJ45 8 PIN JACK
79. Orientation gt lt Device gt lt Device id 1 gt lt X gt 0 lt X gt AI lt Z gt 123 4966803469 lt Z gt lt XAngle gt 5 7478302588 lt XAngle gt lt YAngle gt 3 7078302555 lt XAngle gt ZAngle 2 7078302556 XAngle lt Orientation gt 0 lt Orientation gt lt Device gt lt Devices gt lt Transform gt Gocator 3110 Series Gocator Device Files Transformation File 163 Transform The Transform element contains the alignment record for the sensor The version attribute defines the version of the record format Traneform version 100 gt Transform Child Elements Element Type Description EncoderResolution 64f Encoder Resolution mm tick Speed 64f Travel Speed mm s Devices Collection Contains two Device elements A Device element defines the transformation for a sensor There is one entry element per sensor identified by a unique role attribute 0 for main and 1 for buddy Device role 0 gt Entry Child Elements Element Type Description X 64f Translation in the X axis mm Y 64f Translation in the Y axis mm Z 64f Translation in the Z axis mm XAngle 64f Rotation about Y axis degrees YAngle 64f Rotation about X axis degrees ZAngle 64f Rotation about Z axis degrees The rotation counter clockwise in the X Z plane is performed before the translation If a right handed system is wanted instead of the normal orientation then Orientation can be set to 1 to flip the coordinat
80. Scan page by clicking on the Scan icon Gocator 3110 Series Gocator Web Interface Measurement 83 2 Choose Surface mode in the Scan Mode panel 3 Goto the Measure page by clicking on the Measure icon 4 In the measurement list uncheck the box of the measurement you want to disable The measurement will be disabled and the Output tab and the Parameters tab if it was available will be hidden Editing a Tool or Measurement Name You can assign a name to each tool and measurement This allows multiple instances of tools and measurements of the same type to be more easily distinguished in the Gocator web interface The measurement name is also referenced by the Script tool To edit a tool name 1 Go to the Scan page by clicking on the Scan icon 2 Choose Surface mode in the Scan Mode panel If this mode is not selected tools will not be available in the Measure panel 3 Goto the Measure page by clicking on the Measure icon 4 In the tool list double click on the tool name you want to change 5 Type a new name in the ID field 6 Press the Tab or Enter key or click outside the name edit field The name will be changed TO change a measurement name 1 Go to the Scan page by clicking on the Scan icon 2 Choose Surface mode in the Scan Mode panel If this mode is not selected tools will not be available in the Measure panel 3 Goto the Measure page by clicking on the Measure icon 4 In the measurement list dou
81. Source Anchor x Anchor X options Gocator 3110 Series Type String 32s String CSV String CSV Description Setting for measurement name Setting for profile source The X measurements IDs used for anchoring The X measurements IDs available for anchoring Gocator Device Files Job Files e 150 Element Anchor Y Anchor Y options Anchor Z Anchor Z options NominalRadius RadiusTolerance PartialDetectionEnabled RegionEnabled Region RefRegionsEnabled RefRegionCount RefRegions AutoTiltEnabled TiltXAngle TiltYAngle Measurements WX Measurements Y Measurements Z Measurements Radius HoleMeasurement Element id attribute Name Enabled HoldEnabled Gocator 3110 Series Type String CSV String CSV String CSV String CSV 64f 64f Boolean Boolean Region3D Boolean 32s Collection Boolean 64f 64f HoleMeasurement HoleMeasurement HoleMeasurement HoleMeasurement Type 32s String Boolean Boolean Description The Y measurements IDs used for anchoring The Y measurements IDs available for anchoring The Z measurements IDs used for anchoring The Z measurements IDs available for anchoring Nominal radius mm Radius tolerance mm Setting to enable disable partial detection 0 Disable 1 Enable Setting to enable disable region 0 Disable 1 Enable Measurement region Setting to enable disable reference regions 0 Disa
82. Speed from the drop Gocator 3110 Series Gocator Web Interface Scan Setup and Alignment 56 Parameter Trigger Source Gate on External Input Time Encoder Units External Input Software Trigger Delay External Input To configure the trigger source 1 Go to the Scan page Description down to lock to the maximum frame rate Fractional values are supported For example 0 1 can be entered to run at 1 frame every 10 seconds External input can be used to enable or disable 3D data acquisition in a sensor When this option is enabled the sensor will respond to time or encoder triggers only when the external input is asserted See Digital Inputs page 242 for more information on connecting external input to Gocator Specifies whether the trigger delay output delay and output scheduled command operate in the time domain The unit is implicitly set to microseconds with Time trigger source Controls the amount of time or the distance the sensor waits before producing a frame after the external input is activated This is used to compensate for the positional difference between the source of the external input trigger e g photocells and the sensor Trigger delay is only supported in single exposure mode for details see Exposure page 61 2 Expand the Trigger panel by clicking on the panel header 3 Select the trigger source from the drop down 4 Configure the settings See the trigger parameters above for
83. Type 16u Type 16u 32s Offset Description Command size including this field in bytes Command identifier 0x4524 Description Reply size including this field in bytes Reply identifier 0x452A Reply status Acquire IO I E The Acquire command acquires a new scan Command Field length id Reply Field length id status Type 32u 16u Type 32u 16u 32s Offset 0 A Offset 0 4 6 Description Command size including this field in bytes Command identifier 0x4528 Description Reply size including this field in bytes Reply identifier 0x4528 Reply status Acquire Unaligned The Acquire Unaligned command acquires a new scan without performing alignment transformation Command Field length id Reply Field length id status Gocator 3110 Series Type 32u 16u Offset Description Command size including this field in bytes Command identifier 0x4527 Description Reply size including this field in bytes Reply identifier 0x4527 Reply status Protocols Gocator Protocol 189 The progressive Read File command reads the content of a file as a stream Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4529 name 64 char 6 Source file name Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x45
84. U S Da x 7 7 SC x 51 000 M XK e 22 92 V 2D View 3D View Anchoring Source Top Feature Max Z ae Filters Decision Min 5 mm Max 6 mm Measurement Panel Gocator 3110 Series Gocator Web Interface Measurement e 112 Measurements Measurement X Determines the X position of the selected feature type Y Determines the Y position of the selected feature type Z Determines the Z position of the selected feature type Parameters Parameter Feature Type Decision Region Output Stud The Stud tool measures the location and radius of a stud The tool uses a complex feature locating algorithm to find a hold and then return measurements See Stud Algorithm in the Gocator Measurement Tool Technical Manual for a detailed explanation of the algorithm The behavior of the algorithm can be adjusted by changing the parameters in the measurement panel The measurement value can be compared with minimum and maximum constraints to yield a decision See Adding and Removing Tools page 81 for instructions on adding measurements The location of the stud is defined at either the stud tip or the stud base The tip is the intersection of the stud axis and the top of the stud the base is the intersection of the stud Gocator 3110 Series Illustration X Y orZ a Description Choose Centroid 2D Centroid 3D Min X Max X Min Y Max Y Min Z or Max Z S
85. U TES 245 Master 100 Dimensions 246 Master400 300 suisse pioli 247 Master 400 800 Electrical Specifications 248 Master 400 800 Dimensions 249 Master 1200 2400 2 iii 250 Master 1200 2400 Electrical Specifications 251 Master 1200 2400 Dimensions 252 Parts and Accessories 253 Warranty and Return Policy 254 Software Licenses 255 SUDDOVE M 261 CONG ACG M LR 262 6 Introduction The Gocator 3000 family of snapshot LED projection sensors is designed for 3D measurement and control applications Gocator sensors are configured using a web browser and can be connected to a variety of input and output devices This documentation describes how to connect configure and use a Gocator It also contains reference information on the device s protocols and job files Notational Conventions This guide uses the following notational conventions N Follow these safety guidelines to avoid potential injury or property damage Consider this information in order to make best use of the product NI Gocator 3110 Series Safety and Maintenance The following sections describe the safe use and maintenance of Gocator sensors Electrical Safety Failure to follow the guidelines described in this section may result in electrical shock or N equipment damage
86. a to CSV you can use the Gocator CSV Converter Tool to convert the exported part data into different formats including ASCII XYZI 16 bit BMP 16 bit PNG and GenTL formats You can get the tool package 14453 x x x x SOFTWARE GO INTEGRATION TOOLS zip from the download area on LMI s website at http Imi3d com support downloads See see Downloading Exporting and Uploading Recorded Data page 38 for more information on exporting recorded data After downloading the tool package unzip the file and run the Gocator CSV Converter tool bin win32 kCsvConverter exe Gocator CSV Converter Tool Setup CSV C chiho Tools playground CsvToAscii data replay_part csv Intensity Browse Output Format ASCII txt Y Convert File C chiho Tools playground CsvToAsci data eplay_part txt Select input CSV and intensity files and then press the Convert button Close D The software tool supports data exported from Profile or Surface mode Data exported from Raw mode is not supported The GenTL format is a 48 bit RGB or grey scale PNG Height map intensity and stamp information are stored as defined in the GenTL Driver section see page 226 You can load the exported data into image processing software to provide simulation data for developing applications using the GenTL driver Gocator 3110 Series Tools and Native Drivers CSV Converter Toole 231 To convert exported CSV into different formats
87. able the laser Digital Input 16 pin connector Function Pin Input 1 1 Input 1 GND 2 Reserved 3 Gocator 3110 Series Specifications Master 1200 2400 250 Function Pin Reserved Reserved Reserved Reserved Reserved o oOo N OA Ut A Reserved Reserved 10 Reserved 11 Reserved 12 This connector does not need to be wired up for proper operation Encoder 8 pin connector Function Pin Encoder A 1 Encoder A Encoder B Encoder B Encoder Z Encoder Z GND o NQ uU A W N 5VDC Master 1200 2400 Electrical Specifications Electrical Specifications for Master 1200 2400 Master 1200 2400 Power Supply Voltage 48VDC Power Supply current Max 10A Power Draw Min 15W Safety Voltage 12 to 48VDC Encoder signal voltage range RS485 Differential Digital input voltage range Logical LOW O VDC to 0 1VDC Logical HIGH 3 5 VDC to 6 5VDC N When using a Master 1200 2400 its chassis must be well grounded Gocator 3110 Series Specifications Master 1200 2400 251 D The 48VDC power supply must be isolated from AC ground This means that AC ground and DC ground are not connected The Power Draw specification is based on a Master with no sensors attached Every sensor has its own power requirements which need to be considered when calculating total system power requirements Master 1200 2400 Dimensions The dimensions of Master 1200 and Master 2400 are the same OOO080
88. ace Scan Setup and Alignment 51 The following table provides quick references for specific goals that you can achieve from the panels in the Scan page Reference Goal Select a trigger source that is appropriate for the application Triggers below Ensure that camera exposure is appropriate for 3D data acquisition Exposure page 61 Active Area page 58 Exposure page 61 Gocator Device Files page 139 Find the right balance between data quality speed and CPU utilization Calibrate the system so that 3D data can be aligned to a reference plane Set up the part detection logic to create discrete objects from surfaces Part Detection page 68 The Gocator web interface supports two scan modes Video and Surface The scan mode can be selected in the Scan Mode panel Option Acquire Intensity Mode and Option Description Video Outputs video images from the Gocator This mode is useful for configuring exposure time and troubleshooting stray light or ambient light problems Acquire Intensity When this option is enabled an intensity value will be produced for each point in the 3D point cloud Atrigger is an event that causes a sensor to take a single 3D snapshot Triggers are configured in the Trigger panel When a trigger is processed the LED light pattern is strobed and the cameras expose to produce images The resulting images are processed inside the sensor to yield a 3D point cloud which can then be used
89. al 2 ii Trigger condition and pulse width Data Scale Analog 0 10000 Trigger condition and current scaling Current Range Serial e 0 20 mA Protocol and measurement selection a Invalid ll O mA m scheduled To output measurement value or decision 1 Goto the Output page 2 Click on Analog in the Output panel 3 Set Trigger Event to Measurement 4 Select the measurement that should be used for output Data Send lt DI m ui 0000 Name Id None Surface Bounding Box X 0 Surface Ellipse Major 2 Surface Hole Radius 10 Surface Opening Length 11 un Surface Plane X Angle Surface Position X UJ Surface Stud Radius Surface Volume Volume W co e Script Output 0 Only one measurement can be used for analog output Measurements shown here correspond to measurements that have been programmed using the Measurements page 5 Specify Data Scale values The values specified here determine how measurement values are scaled to the minimum and maximum current output The Data Scale values are specified in um for dimensional measurement 0 001 mm2 for area mm3 for volume and 0 001 degree for angle results The values specified here determine the minimum and maximum current values in milliamperes The invalid current value 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
90. alignment An Administrator should create a backup file in the unlikely event that a sensor fails and a replacement sensor is needed If this happens the new sensor can be restored with the backup file Gocator 3110 Series Gocator Web Interface e System Management and Maintenance 48 Backup and Restore Backup and restore all saved jobs and recorded data Restore Backup To create a backup 1 Goto the Manage page and click on the Maintenance category 2 Click the Backup button under Backup and Restore 3 When you are prompted save the backup Backups are saved as a single archive that contains all of the files from the sensor Factory Restore Restore sensor to factory settings This will erase all saved jobs and settings Factory Restore To restore from a backup 1 Go to the Manage page and click on the Maintenance category 2 Click the Restore button under Backup and Restore 3 When you are prompted select a backup file to restore The backup file is uploaded and then used to restore the sensor Any files that were on the sensor before the restore operation will be lost To restore a sensor to its factory default settings 1 Go to the Manage page and click on Maintenance 2 Consider making a backup Before proceeding you should perform a backup Restoring to factory defaults cannot be undone 3 Click the Factory Restore button under Factory Restore You will be prompted wheth
91. ample calculates the 3 Dimensional Euclidean distance between the center Gocator 3110 Series Gocator Web Interface Measurement 123 of a hole and the center of the base of a nearby stud then checks decision limits on this metric before sending the output Calculate the 3 Dimensional Euclidean distance between two points in 3D space Retrieve 3D coordinate from Hole X Y and Z tools assumes these tools have been configured as ID 0 ID 1 and ID 2 respectively double HoleX Measurement Value 0 double HoleY Measurement Value l double Hole Measurement V alue 2 Retrieve 3D coordinate from StudBase X Y and Z tools assumes these tools have been configured as ID 3 ID 4 and ID 5 respectively double StudX Measurement Value 3 double Study Measurement Value 4 double otuda Measurement Value oa Calculate distance between points in 3D space double Distance sqrt HoleX StudX HoleX StudX HoleY StudY HoleY Study HoLex Studz Holez SrtudZz Min and Max Decision Limits Note that measurement values are in the unit of thousands of a millimeter in the script In this example the distance is considered good if it s between 17 9 mm and 18 1 mm double MinDecisionLimit 17 900 double MaxDecisionLimit 18 100 if Distance gt MinDecisionLimit amp amp Distance lt MaxDecisionLimit Output Set Distance 1 else Output S
92. and length Command type 0x2 Message signature 0x0000504455494DAC Serial number of the device whose address information is queried O selects all devices 0 Disabled 1 Enabled Reserved The IP address in left to right order Reserved The subnet mask in left to right order Reserved The gateway address in left to right order Reserved Reserved Description Reply length Reply type 0x1002 Operation status Message signature 0x0000504455494DAC Serial number Protocols Gocator Protocol 168 Control Commands A client can send commands and receive responses over the Control and Upgrade TCP channels Command Channels Channel Port Description Control 3190 Sensor accepts commands for most operations Upgrade 2192 Sensor accepts commands for firmware upgrades The Control and Upgrade channels can be connected simultaneously but the sensor will accept only a single connection on each port If an additional connection is attempted on a port that is already connected the previous connection will be closed and the new connection will be accepted Protocol Version The Protocol Version command reports the Control protocol version of the connected sensor Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4511 Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Rep
93. and will move with the target s position under the sensor as long as the anchor measurement produces a valid measurement value If the anchor measurement is invalid for example if there is no target under the sensor the anchored tool will not show the measurement regions at all and an Invalid Anchor message will be displayed in the tool panel Gocator 3110 Series Gocator Web Interface Measurement 90 To remove an anchor from a tool 1 Click on the anchored tool s Anchoring tab Select Disabled in the X Y or Z drop down Surface Measurement Surface measurement involves capturing 3D point cloud data optionally identifying discrete objects and measuring properties of the surface or the objects such as the volume of the object or the height at a certain position of the object All volumetric tools have the ability to operate either on the entire surface or the full object or within a region of interest at a certain position in relation to the surface or an object Multiple measurements can be performed on the entire surface or each discrete object limited only by the available CPU resources Bounding Box The Bounding Box tool provides measurements related to the smallest rectangle box that encapsulates the part X position Y position width and length The measurement value can be compared with minimum and maximum constraints to yield a decision See Adding and Removing Tools page 81 for instructions on adding meas
94. arameters are shown in italic The placeholder for data is surrounded by brackets lt gt In the examples the delimiter is set to The Start command starts the sensor system causes it to enter the Running state This command is only valid when the system is in the Ready state If a start target is specified the sensor starts at the target time or encoder depending on the trigger mode Formats Message Format Command Start start target The start target optional is the time or encoder position at which the sensor will be started The time and encoder target value should be set by adding a delay to the time or encoder position returned by the Stamp command The delay should be set such that it covers the command response time of the Start command Reply OK or ERROR Error Message Examples Start OK Start 1000000 Ok Start ERROR Could not start the sensor 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 lt Error Message gt Examples Gocator 3110 Series Protocols e ASCII Protocol 216 The Trigger command triggers a single frame capture This command is only valid if the sensor is configured in the Software trigger mode and the sensor is in the Running state If a start target is specified the sensor starts at the target time or encoder depen
95. are typically used when only a single Gocator sensor is required The sensor can be connected to a computer s Ethernet port for setup and can also be connected to devices such as encoders photocells or PLCs POWER 24 48VDC 13W LASER SAFETY 24 48VDC TO ENABLE WIRE RICH I O AS REQUIRED BY APPLICATION IN ENCODER TRIGGER OUT SERIAL ANALOG DIGITAL AT D T Zz i ARTI FU UE pe ela aS Cr rp OE a Fh a r Te d Ug a qr ar t3 IL I Gocator 3110 Series 10 Multi Sensor System Master 400 800 1200 2400 networking hardware can be used to connect two or more sensors into a multi sensor system Gocator Master cordsets are used to connect the sensors to a Master The Master provides a single point of connection for power safety encoder and digital inputs A Master 400 800 1 200 2400 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 GOCATOR POWER SAFETY TRIGGER INPUTS ENCODER USER PC e GIGABIT ETHERNET SWITCH GOCATOR POWER AND ETHERNET J TO MASTER CORDSET Gocator 3110 Series Getting Started System Overview 11 Hardware Overview The following sections describe Gocator and its associated hardware Gocator 3110 Sensor EMITTER 1 0 CONNECTOR SERIAL NUMBI POWER AND LIGH POWER LAN C
96. asks that can be accomplished with the Gocator s web interface creating jobs performing alignment sending data and health information and software triggering etc can be accomplished programmatically by sending Gocator protocol control commands Output Ul Digital 1 Trigger condition and pulse width Ul Digital 2 Trigger condition and pulse width J Analog Trigger condition and current scaling uy Serial Protocol and measurement selection Ethernet Protocol Modbus Protocol and measurement selectio Configuration MI Buffering The Modbus TCP Protocol can be used to operate a sensor from a PLC Modbus TCP only supports a subset of the tasks that can be accomplished in the web interface Start Stop Align and Switch Job and only measurement results can be transmitted to the PLC Buffering should be enabled when part detection is used and if multiple objects may be detected within a time frame shorter than the polling rate of the PLC If buffering is enabled the PLC must read the Advance register to advance the queue before reading the measurement results Map Name Control Command Arguments State Running Command in Progress Calibration State Encoder Position Time Configuration Name Length Configuration Name Stamp Inputs Z Encoder Exposure Temperature lt To receive commands and send results using Modbus TCP messages 1 Goto the Output page 2 Click on Ethernet
97. ata to execute the measurement tools on the recording Individual measurement values can be viewed directly in the data viewer Statistics on the measurements that have been simulated can be viewed in the Dashboard page see Dashboard page 136 To clear recorded data 1 Stop the sensor if it is running by clicking on the Stop button 2 Click on the Clear Replay Data button Il Gocator 3110 Series Gocator Web Interface User Interface Overview 37 Downloading Exporting and Uploading Recorded Data Recorded data can be downloaded or exported to the client computer or uploaded to the Gocator Export is often used for processing the recorded data using third party tools Recorded data can also be downloaded in a binary format which is used to back up the data for reviewing in the future Recorded data is not saved or loaded when you save or activate jobs in the toolbar Replay Mode Enabled Export Data displayed is simulated from a recording Press Play to begin simulation xiftzm Download Clear replay Replay Upload on To download recorded data 1 Toggle Replay mode on by setting the slider to the right in the Toolbar The slider s background will turn blue and a Replay Mode Enabled message will be displayed 2 Click the Download button To upload recorded data 1 Toggle Replay mode on by setting the slider to the left in the Toolbar The slider s background will turn blue and a Replay Mode E
98. ataScaleMin 64f Measurement value corresponding to minimum current DataScaleMax 64f Measurement value corresponding to maximum current Delay 64f Output delay us or mm depending on delay domain defined below DelayDomain 32s Output delay domain 0 Time us 1 Encoder mm Measurement 32U Selected measurement source Measurement options 32u CSV List of available measurement sources D The delay specifies the time or position at which the analog output activates Upon activation there is an additional delay before the analog output settles at the correct value Gocator 3110 Series Gocator Device Files Job Files 161 Serial The Serial element defines settings for Serial output Serial Child Elements Element Type Description Protocol 32s Serial protocol 0 ASCII 1 Selcom Protocol options 32s CSV List of available protocols Measurements 32u CSV Selected measurement sources Measurements options 32u CSV List of available measurement sources Selcom Selcom Child Elements Element Type Description Rate 32u Output bit rate Rate options 32u CSV List of available rates Format 32S Output format 0 12 bit 1 12 bit with search 2 14 bit 3 14 bit with search Format options 32s CSV List of available formats DataScaleMin 64f Measurement value corresponding to minimum word value DataScaleMax 64f Measurement value corresponding to maximum word value ASCII ASCII Child Elements Element Type Description D
99. axLength min 64f MaxLength max 64f FrameOfReference 32s EdgeFiltering Section MinArea 64f MinArea min 64f MinArea max 64f EdgeFiltering EdgeFiltering Child Elements Element Type Enabled Bool PreservelnteriorEnabled Bool ElementWidth 64f ElementWidth min 64f ElementWidth max 64f ElementLength 64f ElementLength min 64f ElementLength max 64f Triggers Description Gap length mm Minimum gap length mm Maximum gap length mm Padding width mm Minimum padding width mm Maximum padding width mm Padding length mm Minimum padding length mm Maximum padding length mm Max length mm Minimum value of max length mm Maximum value of max length mm Part frame of reference 0 Sensor 1 Scan 2 Part See EdgeFiltering below Minimum area Mm2 Minimum value of minimum area Maximum value of minimum area Description Enables edge filtering Enables preservation of interior Element width mm Minimum element width mm Maximum element width mm Element length mm Minimum element length mm Maximum element length mm The Triggers element contains settings related trigger source speed and encoder resolution Gocator 3110 Series Gocator Device Files Job Files e 145 Triggers Child Elements Element Type Description Source 32s Trigger source 0 Time 3 Software Source options 32s CSV List of available source options Units 32s Sensor triggering units
100. be Systems Incorporated The contents of this file are subject to the Mozilla Public License Version 1 1 the License you may not use this file except in compliance with the License You may obtain a copy of the License at http www mozilla org MPL Software distributed under the License is distributed on an AS IS basis WITHOUT WARRANTY OF ANY KIND either express or implied See the License for the specific language governing rights and limitations under the License Gocator 3110 Series Software Licenses 259 EtherNet IP Communication Stack Website sourceforge net projects opener License SOFIWARE DISTRIBUTION LICENSE FOR THE ETHERNET IP TM COMMUNICATION STACK ADAPTED BSD STYLE LICENSE Copyright c 2009 Rockwell Automation Inc ALL RIGHTS RESERVED EtherNet IP is a trademark of ODVA Inc Gocator 3110 Series Software Licenses e 260 Support For assistance regarding a component or product please contact LMI Technologies World Email support lmi3D com Web http www lmi3D com North America Phone 1 604 636 1011 Fax 1 604 516 8368 Europe Phone 31 45 850 7000 Fax 31 45 574 2500 For more information on safety and laser classifications please contact U S Food and Drug Administration Center for Devices and Radiological Health WO66 G609 10903 New Hampshire Avenue Silver Spring MD 20995 0002 USA 261 Gocator 3110 Series Contact North America LMI Technolog
101. ble 1 Enable Count of the reference regions Reference regions Contains 1 or 2 SurfaceRegion2D elements Setting to enable disable tilt correction 0 Disable 1 Enable Setting for manual tilt correction angle X Setting for manual tilt correction angle Y X measurement Y measurement Z measurement Radius measurement Description Measurement ID Optional measurement disabled if not set Measurement name Measurement enable state 0 Disable 1 Enable Output hold enable state 0 Disable Gocator Device Files Job Files 151 Element SmoothingEnabled SmoothingWindow Scale Offset DecisionMin DecisionMax SurfaceOpening Type Boolean 32s 64f 64f 64f 64f Description 1 Enable Smoothing enable state 0 Disable 1 Enable Smoothing window Output scaling factor Output offset factor Minimum decision threshold Maximum decision threshold A SurfaceOpening element defines settings for a surface opening tool and one or more of its measurements SurfaceOpening Child Elements Element Name Source Anchor X Anchor X options Anchor Y Anchor Y options Anchor Z Anchor Z options Type NominalWidth NominalLength NominalAngle NominalRadius WidthTolerance LengthTolerance AngleTolerance PartialDetectionEnabled RegionEnabled Gocator 3110 Series Type String 32s String CSV String CSV String CSV String CSV String CSV String CSV 32s 64f 64
102. ble click on the measurement name you want to change 5 Type a new name in the ID field 6 Press the Tab or Enter key or Click outside of the name edit field The name change will be changed Gocator 3110 Series Gocator Web Interface Measurement 84 Changing a Measurement ID The measurement ID is used to uniquely identify a measurement in the Gocator protocol or in the SDK The value must be unique among all measurements To edit a measurement ID 1 Go to the Scan page by clicking on the Scan icon 2 Choose Surface mode in the Scan Mode panel If this mode is not selected tools will not be available in the Measure panel 3 Goto the Measure page by clicking on the Measure icon 4 n the measurement list select a measurement To select a measurement it must be enabled See Enabling and Disabling Measurements page 82 for instructions on how to enable a measurement 5 Click in the ID field 6 Enter a new ID number The value must be unique among all measurements 7 Press the Tab or Enter key or click outside the ID field The measurement ID will be changed All tools provide region settings under the Parameter tab and all measurements provide decision and filter settings under the Output tab Many tools and measurements also have tool and measurement specific parameters See the individual measurement tools for details Regions The Region parameter is used by tools to limit the region in which a measu
103. button I7 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 see To replay recorded data in Recording Playback and Measurement Simulation on page 36 for more information on playback The log located at the bottom of the web interface is a centralized location for all messages that the Gocator displays including warnings and errors Clear Log WAIS Errors Warnings Information 7 8 2014 2 22 57 PM Error message 7 8 2014 2 23 23 PM Warning message 7 8 2014 2 23 40 PM Infomation message To use the log 1 Click on the Log open button at the bottom of the web interface 2 Click on the appropriate tab for the information you need Gocator 3110 Series Gocator Web Interface User Interface Overview 39 The Metrics area displays two important sensor performance metrics CPU load and speed current frame rate The CPU bar in the Metrics panel at the top of the interface displays how much of the CPU is being utilized CPU 100 A CPU Warning x E WE p Speed 199 Hz Processing drops detected CPU at 100 CPU warning message The Speed bar displays the frame rate of the sensor A warning symbol will appear next to it if triggers external input or encoder are dropped because the external rate exceeds the maximum frame rate In both cases a warning message will be t
104. cator Web Interface Measurement 109 Gocator 3110 Series 2D View Source Il Regions 50 000 301000 101000 1 000 30 000 X x 30 000 08 Lc in A 10 000 yum 50 0065 ao en 10 000 Y 3D View ee Anchoring Top iii 5 Filters Decision Min Max D O un 38 mm 0 mm Measurement Panel Gocator Web Interface Measurement e 110 Measurements Measurement Angle X Determines the X angle of the surface with respect to the alignment target Angle Y Determines the Y angle of the surface with respect to the alignment target Offset Z Determines the z offset of the surface with respect to the alignment target Parameters Parameter Decision Region Output Position Illustration X Y orZ Z Angle Z Angle X X Angle Y Y Description See Decisions page 86 See Regions page 85 See Filters page 88 The Position tool reports the X Y or Z position of a part The feature type must be specified and is one of the following Centroid 2D Centroid 3D Min X Max X Min Y Max Y Min Z or Max Z The measurement value can be compared with minimum and maximum constraints to yield a decision See Adding and Removing Tools page 81 for instructions on adding measurements Gocator 3110 Series Gocator Web Interface Measurement e 111 p 35 000 74 2 gt AL 7 X X I XL v VA SC p d
105. ce 47 3 Click Change Password The new password will be required the next time that a technician logs in to the sensor If the administrator or technician password is misplaced the sensor can be recovered using a special software tool See Sensor Recovery Tool page 224 for more information Maintenance The Maintenance category in the Manage page is used to do the following e Upgrade the firmware and check for firmware updates e back up and restore all saved jobs and recorded data e restore the sensor to factory defaults e reset the sensor Manage Sensor System Firmware Layout and Buddy assignment Upgrade firmware and check for latest release Networking IP address settings Current Version 4 0 9 84 Motion and Alignment Upgrade Check Updates Encoder resolution and travel speed Jobs Download upload and set default Backup and Restore Security ti Admin and Technician passwords Backup and restore all saved jobs and recorded data Maintenance Restore Backup Upgrade backup restore reset Factory Restore Restore sensor to factory settings This will erase all saved jobs and settings Factory Restore Reset Reset the sensor Interface will reload in 30 seconds 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
106. col 211 In Surface mode the measurement results are updated after each discrete part has been processed If buffering is enabled in the Ethernet Output panel reading the Extended Sample State Assembly Object automatically advances the buffer See See Fthernet Output page 126 for information on the Output panel Gocator 3110 Series Protocols EtherNet IP Protocol 212 ASCII Protocol This section describes the ASCII protocol available over the Ethernet and serial outputs The protocol communicates using ASCII strings The output result format from the sensor is user configurable Ethernet Communication Gocator s Ethernet communication is bidirectional Measurement results are sent on the Ethernet output in one of two modes Polling or Asynchronous The ASCII protocol over Ethernet enables the client to e Switch to a different job e Align run and trigger sensors e Receive sensor states health indicators stamps and measurement results As with the Gocator Protocol see page 165 there are separate channels for Control Data and Health messages The Control channel is used for commands The Data channel is used to receive and poll for measurement results The Health channel is used to receive health indicators The port number used for each channel is configurable Each port can accept multiple connections up to a total of 16 connections for all ports Channels can share the same port or operate on individual ports The de
107. coordinate triplet In Surface mode the random 3D point cloud is resampled to an even grid in the X Y plane The resampling divides the X Y plane into fixed size square bins 3D points are projected along the Z axis perpendicular to the X Y plane and points that fall into the same bin will be combined into a single Z value The size of the resampling bins can be set with the X Spacing Interval setting for details see page 64 The X Y resampling plane is established through the Gocator s built in alignment routine That is the resampling plane is set to match the plane described by the calibration plate see System Coordinates previous page Uneven spacing Evenepscns o o gt o a gt 9 e L l ll LL Lb Ll X mm X mm In the Ethernet data channel only the Z values are reported and the X and Y positions can be reconstructed through the 2D array index at the receiving end the client Resampling reduces the complexity for the algorithms in the Gocator s built in measurement tools allowing them to run on the embedded processors All built in measurement tools in the Gocator operate on resampled data in Surface mode Acquisition Speed The following table provides estimates of the acquisition speed under different field of view resolution intensity and occlusion reduction settings The exposure was set to 2 milliseconds with no measurement tools instantiated Gocator 3110 Series Theory of Operation Acquisition
108. csecdtcdisteccschedectueatcas 7 Safety and Maintenance 8 Electrical Bal GB saucucrezinieisisinontosslossa siii 8 Environment and Lighting 00 8 sensor Maintenance selletta 9 Getting Started LLLLuuu 10 system OVeLVIBW cu ucro osse duh nolan 10 Standalone System Loscesuerebecr cen Ee ERES 10 Multi Sensor System eee eee 11 Hardware Overview eeeeeeeel 12 Gocator 3110 Sensor oliena 12 Gocdtror 3100 COL USBLS 2 cascccccsvesewscenseue 12 Master TOU esiprslleatde ledono icons T3 Master 400 300 RO se RITU ES 14 Master 1200 2400 Lue 14 INSCOMOtion pesano eresse 16 Grounding GODHEOI 2 2622 te2ccenicecaaudd 16 Recommended Grounding Practices Cordsets 16 Grounding Master 400 800 1200 2400 17 lesu sfrenata T4 Network Setup P T 19 CCM SEUD oii te ese tele ile 19 GOCd Ol SETUD 42 2ccccecacenaewausceneewcetewed 21 Running a Standalone Sensor System 21 Running a Multi Sensor System 22 NEXESUSDS aotlonssutesseniuD idem iudice ES 25 Theory of Operation 26 2 BG m 26 Principle of 3D Acquisitlofl 22x22 corel 26 Stereo Correlation vs Independent Iu uui sassone nella 28 LBID ESU MM rai 29 Coordinate SUSEBITIS aues ocu ille 29 Sensor Coordinates su iii ee dp bete 30 System Coordinates ceesccsiecsasewccdenss 30 Resampling riuni
109. curity Admin and Technician passwords Maintenance Upgrade backup restore reset With the Autostart setting enabled laser ranging profiling and measurement functions will begin automatically when the sensor is powered on Autostart must be enabled if the sensor will be used without being connected to a computer Sensor Status Model 3110 Version 4 0 9 107 Serial 14370 Master BA Autostart To enable disable Autostart 1 Go to the Manage page and click on the Sensor System category 2 Check uncheck the Autostart option in the Main section 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 Gocator 3110 Series Gocator Web Interface System Management and Maintenance 42 Manage oo Sensor System Alignment Layout and Buddy assignment Networking IP address settings Encoder Motion and Alignment Encoder resolution and travel Resolution speed Encoder Value Jobs Download upload and set default Encoder Frequency Security Admin and Technician passwords Speed Maintenance Travel Speed Upgrade backup restore reset To configure the network settings 1 Goto the Manage page Alignment Reference Dynamic H 1 mmyitick 2 N 100 mm s 2 In the Networking category specify the Type IP Subnet Mask and Gateway settings The G
110. d 10 Reserved 11 Reserved 12 Reserved 13 Reserved 14 Reserved 15 Reserved 16 This connector does not need to be wired up for proper operation Encoder 8 pin connector Function Pin Encoder A 1 Encoder A Encoder B Encoder B Encoder Z 4 Encoder Z GND o N DD uU A W N 5VDC Master 400 800 Electrical Specifications Electrical Specifications for Master 400 800 Master 400 800 Power Supply Voltage 48VDC Power Supply current Max 10A Power Draw Min 15W Safety Voltage 12 to 48VDC Encoder signal voltage range RS485 Differential Digital input voltage range Logical LOW O VDC to 0 1VDC Logical HIGH 11 VDC to 22 5VDC Gocator 3110 Series Specifications Master 400 800 248 N When using a Master 400 800 its chassis must be well grounded D The 48VDC power supply must be isolated from AC ground This means that AC ground and DC ground are not connected The Power Draw specification is based on a Master with no sensors attached Every sensor has its own power requirements which need to be considered when calculating total system power requirements Master 400 800 Dimensions The dimensions of Master 400 and Master 800 are the same 483 9 eZ 44 31 la 2 gig CoS x none amu penn poA iok PORRO O g 0090000000909000808909809000000000089000000000 o 0 o 99 289 7
111. d rectangle when the radius is less than of the width Radius 1 2 width Radius width Radius gt width Width Width Length a Length ra Width ra gt Length Width Tolerance The maximum variation from the nominal width from the nominal value Length Tolerance The maximum variation from the nominal length from the nominal value Orientation Tolerance The maximum variation from the nominal orientation from the nominal value Reference Regions The algorithm uses reference regions to calculate the Z position of the hole Reference regions are relative to the center location of the feature This option is typically used in cases where the surface around the opening is not flat Same Z level Reference Region Detected Opening Same Z level When the Reference Regions setting is disabled the tool measures the hole s Z position using the all data in the measurement region except for a bounding rectangular region around the opening Gocator 3110 Series Gocator Web Interface Measurement 107 Parameter Description Data used to calculate Z position orange Opening Data NOT used for Z calculation blue or black regions With one or more reference region the algorithm calculates the Z positions as the average values of the data within the regions When the user places the reference region manually all of the data is
112. ddress information is queried O selects all devices Reply Field Type Offset Description length 64u 0 Reply length type 64s 8 Reply type 0x1001 status 64s 16 Operation status signature 64u 24 Message signature 0x0000504455494DAC deviceld 64u 22 Serial number dhcpEnabled 64u 40 0 Disabled 1 Enabled reserved 4 byte 48 Reserved Gocator 3110 Series Protocols Gocator Protocole 167 Field address 4 reserved 4 subnetMask 8 reserved 4 gateway 8 reserved 4 reserved 4 Type byte byte byte byte byte byte byte Offset 52 56 60 64 68 72 76 Description The IP address in left to right order Reserved The subnet mask in left to right order Reserved The gateway address in left to right order Reserved Reserved The Set Address command modifies the network configuration of a Gocator sensor On receiving the command the Gocator will perform a reset You should wait 30 seconds before re connecting to the Gocator Command Field length type signature deviceld dhcpEnabled reserved 4 address 4 reserved 4 subnetMask 8 reserved 4 gateway 8 reserved 4 reserved 4 Reply Field length type status signature deviceld Gocator 3110 Series Type 64u 64s 64u 64u 64u byte byte byte byte byte byte byte byte Type 64u 64s 64s 64u 64u Offset 0 8 16 24 40 48 52 56 60 64 68 72 76 Offset 16 24 22 Description Comm
113. ded in addition to the indicators defined above Gocator 3110 Series Protocols Gocator Protocol 201 Modbus TCP Protocol Modbus TCP is designed to allow industrial equipment such as Programmable Logic Controllers PLC sensors and physical input output devices to communicate over an Ethernet network Modbus TCP embeds a Modbus frame into a TCP frame in a simple manner This is a connection oriented transaction and every query expects a response This section describes the Modbus TCP commands and data formats Modbus TCP communication enables the client to e Switch to a different active job e Align and run sensors e Receive sensor states stamps and measurement results Modbus TCP is enabled in the Output panel For more information see Ethernet Output page 1296 If buffering is enabled with the Modbus protocol the PLC must read the Buffer Advance output register see page 205 to advance the queue before reading the measurement results A PLC sends a command to start each Gocator The PLC then periodically queries each Gocator for its latest measurement results In Modbus terminology the PLC is a Modbus Client Each Gocator is a Modbus Server which serves the results to the PLC The Modbus TCP protocol uses TCP for connection and messaging The PLC makes a TCP connection to the Gocator on port 502 Control and data messages are communicated on this TCP connection Up to eight clients can be connected to the Gocator s
114. defines the electrical specifications for Gocator 3100 I O Connector pins organized by function Gocator I O Connector Pins Function Pin Lead Color on Cordset Trigger_in Trigger_in Out_1 Digital Output 0 Out_1 Digital Output 0 Out_2 Digital Output 1 Out_2 Digital Output 1 Encoder_A Encoder_A Encoder_B Encoder B Encoder_Z Encoder Z Serial out Serial out Reserved Reserved Analog out Analog out Reserved 19 Grey Pink Red Blue Tan Orange White Brown amp Black Brown Black Black Violet White Green amp Black Green Black White Brown Blue Black White Blue amp Black Green Yellow amp Maroon White Maroon View Looking into the connector on the sensor Grounding Shield The grounding shield should be mounted to the earth ground Gocator 3110 Series Specifications Gocator 3100 I O Connector 241 Digital Outputs Each Gocator sensor has two optically isolated outputs Both outputs are open collector and open emitter this allows a variety of power sources to be connected and a variety of signal configurations Out 1 Collector Pin 6 and Emitter Pin 4 and Out 2 Collector Pin 5 and Emitter Pin 8 are independent and therefore V and GND are not required to be the same Max Collector Max Collector Emitter Function Pins Min Pulse Width Current Voltage Out 1 3 4 40 mA 70V 20 us Out 2 56
115. ding on the unit setting in the Trigger panel see page 52 Formats Message Format Command Trigger start target The start target optional is the time or encoder position at which the sensor will be started The time and encoder target value should be set by adding a delay to the time or encoder position returned by the Stamp command The delay should be set such that it covers the command response time of the Start command Reply OK or ERROR Error Message Examples Trigger OK Trigger 1000000 OK The Load Job command switches the active sensor configuration Formats Message Format Command LoadJob job file name If the job file name is not specified the command returns the current job name An error message is generated if there is no job loaded job is appended if the filename does not have an extension Reply OK or ERROR Error Message Examples LoadJob test job OK test job loaded successfully LoadJob OK test job LoadJob wrongname job ERROR failed to load wrongname job Gocator 3110 Series Protocols e ASCII Protocol 217 OK 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
116. e 3D Mesh Surface EAM Wigw Surface Heightmap Top 1 1 Aspect Ratio Ma SAL ALE dU zl 1 SOR Re set 700 m 45 7964 45 5a La ALE Es In Video scan mode the data viewer displays a camera image from either of the two cameras in the sensor Exposure View Exposure can be set to Dynamic or Multiple Different exposures can be displayed in the data viewer if more than one exposure has been set For details on setting exposure in the Exposure tab in the Sensor panel see page 61 If the Multiple option is selected in the Exposure tab and multiple exposures have been set a drop down is displayed at the top of the data viewer This drop down lists the exposures that have been added Choosing an exposure changes the view of the data viewer to that exposure If the Single option is selected in the Exposure tab the exposure drop down will not be shown and only one exposure will be displayed Gocator 3110 Series Gocator Web Interface Scan Setup and Alignment 73 View Video F i E Gi 700 200 900 1000 1100 pixels To select the exposure view of the display 1 Go to the Scan page and choose Video mode in the Scan Mode panel 2 Select the camera view in the data viewer Select Front Camera or Back Camera from the first drop down list next to View at the top of the data viewer 3 Select the exposure Select the exposure from the second drop down list next to View at the top of th
117. e Offset Description length 32u 0 Reply size in bytes id 16u 4 Reply identifier 0x1007 status 32s 6 Reply status length 32u 10 File length data length byte 14 File contents Gocator 3110 Series Protocols Gocator Protocol 174 The Write File command uploads a file to the connected sensor Write to live job to write the make the job file live Except for writing to the live files the file is permanently stored on the sensor Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x1006 name 64 char 6 Source file name length 32u 70 File length data length byte 74 File contents Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x1006 status 32s 6 Reply status Delete File The Delete File command removes a file from the connected sensor Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x1008 name 64 char 6 Source file name Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x1008 status 32s 6 Reply status Get Default Job The Get Default Job command gets the name of a default job file that will be loaded at boot time Command Field Type Offset Description length 32u 0 Command size including this
118. e X measurements IDs available for anchoring The Y measurements IDs used for anchoring The Y measurements IDs available for anchoring The Z measurements IDs used for anchoring Gocator Device Files Job Files e 149 Element Anchor WVZ options RegionEnabled Region Measurements Major Measurements Minor Measurements Ratio Measurements ZAngle EllipseMeasurement Element id attribute Name Enabled HoldEnabled SmoothingEnabled SmoothingWindow Scale Offset DecisionMin DecisionMax SurfaceHole Type String CSV Boolean Region3D EllipseMeasurement EllipseMeasurement EllipseMeasurement EllipseMeasurement Type 32s String Boolean Boolean Boolean 32s 64f 64f 64f 64f Description The Z measurements IDs available for anchoring Setting to enable disable region Measurement region Major measurement Minor measurement Ratio measurement ZAngle measurement Description Measurement ID Optional measurement disabled if not set Measurement name Measurement enable state 0 Disable 1 Enable Output hold enable state 0 Disable 1 Enable Smoothing enable state 0 Disable 1 Enable Smoothing window Output scaling factor Output offset factor Minimum decision threshold Maximum decision threshold A SurfaceHole element defines settings for a surface hole tool and one or more of its measurements SurfaceHole Child Elements Element Name
119. e data viewer This drop down is only be visible if the Multiple option has been selected To display a color exposure overlay on the video image to help set the correct exposure check Exposure Indication at the top of the data viewer Gocator 3110 Series Gocator Web Interface Scan Setup and Alignment 74 Configure Exposure PA Video View Video Top Front Camera Exposure s AE P SIE ic eg T a E E 400 500 ano r zoa w0 1000 7100 1200 X pixels Exposure Indication uses the following colors Blue Indicates background pixels ignored by the sensor Red Indicates saturated pixels Correct tuning of exposure depends on the reflective properties of the target material and on the requirements of the application Settings should be carefully evaluated for each application The Gocator 3100 cannot generate 3D points in over saturated areas indicated with red or in under exposed areas indicated with blue If it s not possible to set a single exposure to capture the entire object target without red areas appearing in the image the Multiple exposure feature should be enabled Use the drop down selection box to view each exposure and tune one high exposure for dark areas on the target and one low exposure for bright areas on the target Note that multiple exposures reduce the maximum speed the sensor can run at When the Gocator is in Surface scan mode the data viewer can display height maps and
120. e flag Bits 0 14 Message type identifier Size of attributes in bytes min 20 current 20 Image height in pixels Image width in pixels Pixel size in bytes Pixel format 1 8 bit greyscale 2 8 bit color filter 3 8 bits per channel color B G R X Color filter array alignment 0 None 1 Bayer BG GR 2 Bayer GB RG 3 Bayer RG GB 4 Bayer GR BG Source 0 Top 1 Bottom 2 Top Left 3 Top Right Camera index Exposure index Exposure ns Reserved Image pixels Depends on pixelSize above Field Type size 32U control 16u attributeSize 16u length L 32U length W 32U Gocator 3110 Series Offset 0 4 Description Count of bytes in message including this field Bit 15 Last message flag Bits 0 14 Message type identifier Size of attributes in bytes min 40 current 40 Surface length rows Surface width columns Protocols Gocator Protocol 195 Field xScale yScale zScale xOffset yOffset zOffset source exposure reserved 3 ranges L W Field size control attributeSize length L width W xScale yScale xOffset yOffset source exposure reserved 3 intensities H W Gocator 3110 Series Type 32U 32U 32U 32s 32s 32s 8u 32u 8u 16s Type 32u 16u 16u 32u 32u 32u 32u 32s 32s 8u 32u 8u 8u Offset 16 20 24 28 32 36 40 41 45 48 Offset 33 37 40 Description X scale nm
121. e next page An indicator on the Alignment panel will display ALIGNED or UNALIGNED depending on the Gocator s state Gocator sensors support two types of alignment which are related to whether the target is stationary or moving Type Stationary Moving Gocator 3110 Series Description Stationary is used when the sensor mounting is constant over time and between scans e g when the sensor is mounted in a permanent position over a conveyor belt Moving is used when the sensor s position relative to the object scanned is always changing e g when the sensor is mounted on a robot arm moving to different scanning locations Gocator Web Interface Scan Setup and Alignment 65 Alignment can be used to compensate for mounting inaccuracies by aligning sensor data to a common reference surface UNALIGNED SI Type Stationary Target Flat Surface To prepare for alignment 1 Choose an alignment reference in the Manage page if you have not already done so See Alignment Reference page 44 for more information Go to the Scan page Choose Surface mode in the Scan Mode panel If this mode is not selected the Alignment panel will not be displayed Expand the Alignment panel by clicking on the panel header or the button Ensure that all sensors have a clear view of the target surface Remove any irregular objects from the sensor s field of view that might interfere with alignment To perform alignm
122. e specified OK data string in standard format ERROR Error Message Examples Standard data string for measurements ID 0 and 1 Result 0 1 OR M00 00 VIOLAO0 D0 MDI40I VEb9520510 Standard formatted measurement data with a non existent measurement of ID 2 Result 2 ERROR Specified measurement ID not found Please verify your input Custom formatted data string 96time value 0 decision 0 Gocator 3110 Series Protocols e ASCII Protocol 219 Result OR 14202600101 ISLZ90 0 The Get Value command retrieves measurement values 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 Examples Standard data string for measurements ID 0 and 1 Value 0 1 QK MOO00 V151290 MOL OUI Vio5z0 Standard formatted measurement data with a non existent measurement of ID 2 Value 2 ERROR Specified measurement ID not found Please verify your input Custom formatted data string 96time value 0 Value OR 1420266101 151290 The Get Decision command retrieves measurement decisions Formats Message Format Command Decision measurement ID measurement ID Reply If no arguments are specified the custom format data string is used
123. e system Gocator 3110 Series Gocator Device Files Transformation File 164 Protocols The following sections describe the protocols that Gocator sensors support Gocator Protocol This section describes TCP and UDP commands and data formats used by a client computer to communicate with Gocator sensors Network communication enables the client to e Send commands to run sensors provide software triggers read write files etc e Receive data health and diagnostic messages e Upgrade firmware The Concepts section defines network connection types Discovery Control Upgrade Data and Health common data types and other terminologies Subsequent sections provide details about network commands and data formats The Gocator SDK provides open source C language libraries that implement the network commands and data formats defined in this section See Software Development Kit page 222 for more information A Gocator system can operate in the following modes System Modes Mode Description Video Sends raw video Surface Performs part detection and measurements default mode A Gocator system can be in one of three states Conflict Ready or Running The Start and Stop commands are sent by the client to change the current state The sensor can be configured to boot in either the Ready or Running state In the Ready state a sensor can be configured In the Running state a sensor will respond to input signals perform m
124. easurement 94 3D View 2D View Anchoring source Top a FA Region Major 68 722 Id 2 Filters Decision Min 68 mm Max 69 mm Measurement Panel Gocator 3110 Series Gocator Web Interface Measurement 95 Measurements Measurement Illustration Major Determines the major axis length of an ellipse fitted to the part s area in the XY plane 7 ELLIPSE MAJOR BU Minor Determines the minor axis length of an ellipse fitted to the part s area in the XY plane ELLIPSE MINOR Ratio Determines the minor major axis ratio of an ellipse fitted to the part s area in the XY plane RATIO 1 RATIO 0 5 RATIO 0 1 Z Angle Determines the orientation angle of an ellipse fitted to the part s area in the XY plane ELLIPSE ANGLE Parameters Parameter Description Decision See Decisions page 86 Region See Regions page 85 Output See Filters page 88 Gocator 3110 Series Gocator Web Interface Measurement 96 Hole The Hole tool locates a circular opening within a region of interest on the surface and returns its position and radius The hole can be on a surface at an angle to the sensor The tool uses a complex feature locating algorithm to find a hold and then return measurements See Hole Algorithm in the Gocator Measurement Tool Technical Manual for a detailed explanation of the algorithm The behavior of the algorithm can be adjusted by changing
125. easurements drive its outputs and send data messages to the client Disconnecting to command channel will change the sensor from the Running state to the Ready state Gocator 3110 Series 165 The table below defines the data types and associated type identifiers used throughout this document All values are transmitted in little endian format least significant byte first unless stated otherwise Data Types Type Description Null Value char Character 8 bit ASCII encoding byte Byte 8u 8 bit unsigned integer 8s 8 bit signed integer 16s 16 bit signed integer 32768 0x8000 16u 16 bit unsigned integer 65535 OxFFFF 32s 32 bit signed integer 2147483648 0x80000000 32U 32 bit unsigned integer 4294967295 OxFFFFFFFF 64s 64 bit signed integer 9223372036854775808 0x8000000000000000 64u 64 bit unsigned integer 18446744073709551615 OxFFFFFFFFFFFFFFFF 64f 64 bit floating point 1 7976931348623157e 308 Point16s Two 16 bit signed integers D IP addresses are an exception to the little endian rule The bytes in the address a b c d will always be transmitted in the order a b c d big endian Each reply on Discovery page 166 Control page 169 and Upgrade page 191 channels contains a status field containing a status code indicating the result of the command The following status codes are defined Status Codes Label Value Description OK 1 Command succeeded Failed 0 Command failed Invalid
126. easurements to external devices Dashboard page 136 Provides monitoring of measurement statistics and sensor health Toolbar page 34 Controls sensor operation manages jobs and replays recorded measurement data Gocator 3110 Series Getting Started Next Steps 25 Theory of Operation The following sections describe the theory of operation of Gocator sensors 3D Acquisition Principle of 3D Acquisition The Gocator 3100 is called a 3D snapshot sensor meaning that it captures an entire surface in 3D in a single snapshot The sensor projects several structured light patterns in a rapid sequence onto the target The reflection of the pattern off the target is captured by two cameras The target must remain stationary during the camera exposure of the light patterns The required exposure time depends on the shape color and reflectiveness of the target but is often shorter than 1 second A Structured Light Modulator SLM produces a sequence of high resolution high contrast light patterns using a blue LED Two cameras capture the reflected light pattern from different viewing angles The sensor can then use either stereo correlation or independent triangulation to generate 3D points from the light pattern Gocator sensors are always pre calibrated to deliver 3D data in engineering units throughout the specified measurement range MEASUREMENT OBJECT RANGE om om sla mom om om m xm DD m m m mz o mom o
127. ee Decisions page 86 See Regions page 85 See Filters page 88 Sensor Stud Bottom Coordinate system based on alignment plane Gocator Web Interface Measurement e 113 axis and the surrounding plane The stud shape is defined by the tip height and A base height The base and tip heights specify Tip eon where the shaft with the nominal radius begins and ends june sci Stud Height Base z Y 3D View 2D View Gocator 3110 Series Gocator Web Interface Measurement e 114 C C O O O O Radius Gocator 3110 Series Gocator Web Interface Measurement 115 Measurements Measurement Tip X Determines the X position of the stud tip Tip Y Measurement Panel Illustration Determines the Y position of the stud tip Tip Z Determines the Z position of the stud tip Base X Determines the X position of the stud base Base Y Determines the Y position of the stud base Base Z Determines the Z position of the stud base Radius Determines the radius of the stud Parameters Parameter Nominal Stud Radius Nominal Stud Length Base Height Tip Height Radius Offset Radius measurement only Reference Regions Gocator 3110 Series Description Expected radius of the stud Expected length of the stud The height above the base surface that will be ignored when the truncated cone is fit to the stud data The height from the t
128. eed Hz The sensor s maximum speed Number of found spots in the last profile Maximum number of spots that can be found Number of surfaces detected from a top device Protocols Gocator Protocol 199 Indicator Laser Overheat Laser Overheat Duration Playback Position Playback Count FireSync Version Processing Drops Last IO Latency Max IO Latency Ethernet Output Ethernet Rate Ethernet Drops Digital Output Pass Digital Output Fail Trigger Drops Output Drops Host Server Drops ASCII Server Drops Range Valid Count Range Invalid Count Anchor Invalid Count Z Index Drop Count Gocator 3110 Series 20020 20021 20023 20024 20600 21000 21001 21002 21003 21004 21005 21006 21007 21010 21011 21012 21013 21100 21101 21200 22000 Instance Output Index Output Index Value Indicates whether laser overheat has occurred 0 Has not overheated 1 Has overheated Only available on certain 3B laser devices The length of time in which the laser overheating state occurred Only available on certain 3B laser devices The current replay playback position The number of frames present in the replay The FireSync version used by the Gocator build Number of dropped frames The sum of various processing drop related indicators Last delay from camera exposure to when rich IO scheduling occurs Valid only if rich IO is enabled Maximum delay from camera ex
129. elimiter String Field delimiter Terminator String Line terminator InvalidValue String String for invalid output CustomDataFormat String Custom data format CustomFormatEnabled Bool Enables custom data format Gocator 3110 Series Gocator Device Files Job Files 162 Transformation File The transformation file contains information about the physical system setup that is used to e Transform data from sensor coordinate system to another coordinate system e g world e Define encoder resolution for encoder based triggering e Define the travel offset Y offset between sensors for staggered operation The transformation file exists as a separate file when Alignment Reference page 44 is set to Fixed When Alignment Reference is set to Dynamic transformation information is included in each job file see page 139 under the Transform element Use the Read File and Write File commands to modify the transformation file See the following sections for the elements contained in the transformation file Alignment Example lt xml version 1 0 encoding UTF 8 gt lt Transform version 100 gt lt EncoderResolution gt 1 lt EncoderResolution gt lt Speed gt 100 lt Speed gt lt Devices gt lt Device role 0 gt X 2 3650924829 X eY2D De v lt Z gt 123 4966803469 lt Z gt lt XAngle gt 5 7478302588 lt XAngle gt lt YAngle gt 3 7078302555 lt XAngle gt lt ZAngle gt 2 7078302556 lt XAngle gt lt Orientation gt 0 lt
130. ely D The Ping command can be used to test the control connection This command has no effect on sensors Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x100E timeout 64u 6 Timeout value microseconds Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x100E status 325 6 Reply status If a non zero value is specified for timeout the client must send another ping command before the timeout elapses otherwise the server would close the connection The timer is reset and updated with every command Gocator 3110 Series Protocols Gocator Protocol 182 The Reset command reboots the Main sensor and any Buddy sensors All sensors will automatically reset 3 seconds after the reply to this command is transmitted Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4300 Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4300 status 32s 6 Reply status The Backup command creates a backup of all files stored on the connected sensor and downloads the backup to the client Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x1013 Reply
131. ement name Source 32s Setting for 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 Anchor Y String CSV The Ymeasurements IDs used for anchoring Anchor Y options String CSV The Y measurements IDs available for anchoring Anchor MZ String CSV The Z measurements IDs used for anchoring Anchor WVZ options String CSV The Z measurements IDs available for anchoring Feature SurfaceFeature Measurement feature Measurements WX PositionMeasurement X measurement Measurements Y PositionMeasurement Y measurement Measurements VZ PositionMeasurement Zmeasurement PositionMeasurement Element Type Description id attribute 32s 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 0 Disable Gocator 3110 Series Gocator Device Files Job Files e 155 Element SmoothingWindow Scale Offset DecisionMin DecisionMax SurfaceStud Type 32s 64f 64f 64f 64f Description 1 Enable Smoothing window Output scaling factor Output offset factor Minimum decision threshold Maximum decision threshold A SurfaceStud element defines settings for a surface stud tool and one or more of its measurements Sur
132. emporarily displayed in the lower right corner of the web interface Click on the warning symbol 4 to redisplay the warning message Open the log for details on the warning See Log previous page for more information The data viewer is displayed in both the Scan and the Measure pages but displays different information depending on which page is active When the Scan page is active the data viewer displays sensor data and can be used to adjust regions of interest Depending on the selected operation mode page 52 the data viewer can display video images 3D profiles or 3D surfaces For details see Data Viewer page 72 When the Measure page is active the data viewer displays sensor data onto which representations of measurement tools and their measurements are superimposed For details see Data Viewer page 81 Gocator 3110 Series Gocator Web Interface User Interface Overview 40 System Management and Maintenance The following sections describe how to set up the sensor connections and networking how to calibrate encoders and choose alignment reference and how to perform maintenance tasks Manage Page Overview Gocator s system and maintenance tasks are performed on the Manage page 4 3 0 C L8 li wu un Q co Wi Speed HZ Manage Scan Measure Output Dashboard Job 2 default AE ttm i Replay V jew y gt 1 Sensor System Sensor Layout and Buddy assignment 2 Networking Status Model 3110 IP
133. ence 1 Goto the Manage page and click on the Motion and Alignment category 2 In the Alignment section choose Fixed or Dynamic in the Alignment Reference drop down The Jobs category on the Manage page lets you manage the jobs stored on the sensor Gocator 3110 Series Gocator Web Interface System Management and Maintenance 44 Manage Networking IP address settings Element Sensor System Layout and Buddy assignment Security Admin and Technician passwords Maintenance Upgrade backup restore reset Jobs List Job1 loaded default Download Job2 Upload Motion and Alignment Encoder resolution and travel speed Jobs Download upload and set default on Delete Job Name Save Description Name field Used to provide a job name when saving files Jobs list Save button Load button Delete button Set as Default button Download button Upload button Displays the jobs that are currently saved in the sensor s flash storage Saves current settings to the job using the name in the Job Name field Loads the job that is selected in the file list Deletes the job that is selected in the jobs list Sets the selected job as the default to be loaded at boot time When the default job is selected this button is used to clear the default Downloads the selected jobs to the client computer Uploads a job from the client computer Jobs ca
134. encoder count encoder index and digital I O states to all devices on a sensor network SENSOR PORTS 1 4 f i Master N LED INDICATORS O 400 3 2 PRESSE PUFF AES MASTER 400 FRONT C Li wamom POR sneon PORE CR O SENSOR PORTS 5 8 SENSOR PORTS 1 4 LED INDICATORS C N C UT 1 a 3 4 D 8 T 8 O SEN WARMING FOR SENSOR POWER ONLY WARNING FOR SENSOR POWER OMLYT O MASTER 800 FRONT MASTER 400 800 REAR i i m iut m Too mm TEM O SX I POWER AND SAFETY ENCODER O TN INPUT Power and Safety 6 pin connector Function Pin 48VDC 1 48VDC GND 48VDC GND 48VDC Safety Control Oo MW A Uu N Safety Control The 48VDC power supply must be isolated from AC ground This means that AC ground and DC ground are not connected The Safety Control requires a voltage differential 12VDC to 48VDC across the pin to enable the laser Digital Input 16 pin connector Function Pin Input 1 1 Input 1 GND 2 Reserved 3 Gocator 3110 Series Specifications Master 400 800 247 Function Pin Reserved 4 Reserved 5 Reserved 6 Reserved 7 Reserved 8 Reserved 9 Reserve
135. ent for stationary targets 1 In the Alignment panel select Stationary as the Type Clear the previous alignment if present Press the Clear Alignment button to remove an existing alignment Select an alignment Target e Select Flat Surface to use the conveyor surface or other flat surface as the alignment reference e Select Plate to use a custom calibration plate If using a calibration plate specify the bar dimensions and reference hole layout See System Coordinates page 30 for more information on plates Configure the characteristics of the target Gocator 3110 Series Gocator Web Interface Scan Setup and Alignment 66 UNALIGNED Stationary Plate 0 mm Hole Count 1 Reference Hole Diameter 5 mm Secondary Hole Diameter 5 mm Align Clear Alignment 4 Place the target under the sensor 5 Click the Align button The sensors will start and the alignment process will take place Alignment is performed simultaneously for all sensors If the sensors do not align check and adjust the exposure settings page 61 D Alignment uses the exposure defined for single exposure mode regardless of the current exposure mode 6 Check the alignment results under Transformation in the Active Area tab in the Sensor panel Transformation X Offset 0 816 mm Z Offset 11 702 mm Angle 3 986 Clearing Alignment Alignment can be cleared to revert the sensor to sensor coo
136. ents WMBaseY Measurements MBaseZ Measurements WTipX Measurements TipY Measurements TipZ Measurements Radius StudMeasurement Element id attribute Name Enabled HoldEnabled SmoothingEnabled SmoothingWindow Scale Offset DecisionMin DecisionMax RadiusOffset Radius measurement only SurfaceVolume Type StudMeasurement StudMeasurement StudMeasurement StudMeasurement StudMeasurement StudMeasurement Type 325 String Boolean Boolean Boolean 32s 64f 64f 64f 64f 64f Description BaseY measurement BaseZ measurement TipX measurement TipY measurement TipZ measurement Radius measurement Description Measurement ID Optional measurement disabled if not set Measurement name Measurement enable state 0 Disable 1 Enable Output hold enable state 0 Disable 1 Enable Smoothing enable state 0 Disable 1 Enable Smoothing window Output scaling factor Output offset factor Minimum decision threshold Maximum decision threshold Radius offset of the stud A SurfaceVolume element defines settings for a surface volume tool and one or more of its measurements Surface Volume Child Elements Element Name Source Anchor x Anchor X options Gocator 3110 Series Type String 32s String CSV String CSV Description Setting for measurement name Setting for profile source The X measurements IDs used for anchoring The X measurements IDs
137. eply identifier 0x4002 Reply status Info for this device Number of discovered sensors List of info for discovered sensors Description Serial number of the device IP address most significant byte first Model name Firmware version most significant byte first Sensor state 1 Conflict 0 Ready 1 Running Sensor role 0 Main The Get System Info command a list of useful system states Command Field length id Reply Field length id Gocator 3110 Series Type 32U 16u Type 32U 16u Offset Offset Description Command size including this field in bytes Command identifier 0x4525 Description Reply size including this field in bytes Reply identifier 0x4525 Protocols e Gocator Protocol e 171 Field Offset Description status count sensorState loginState alignmentReference alignmentState recordingEnabled playbackSource uptimeSec uptimeMicrosec playbackPos playbackCount Type 32s 32U 32s 32s 32s 32s 32s 32s 32U 32U 32U 32U 6 10 22 26 30 34 38 42 46 50 Reply status Number of state variables Sensor state 1 Conflict 0 Ready 1 Running Device login state 0 No user 1 Administrator 2 Technician Alignment reference 0 Fixed 1 Dynamic Alignment state 0 Unaligned 1 Aligned Whether or not recording is enabled 0 Disabled 1 Enabled Playback source 0 Live
138. er 0x4513 Reply status Set Playback Source The Set Playback Source command sets the data source for data acquisition Gocator 3110 Series Protocols Gocator Protocol 185 Command Field length id source Reply Field length id status Type 32U 16u 32s Type 32U 16u 32s Offset Offset 0 4 6 Description Command size including this field in bytes Command identifier 0x4523 Source 0 Live 1 Replay buffer Description Reply size including this field in bytes Reply identifier 0x4523 Reply status Get Playback Source The Get Playback Source command gets the data source for data acquisition Command Field length id Reply Field length id status source Type 32u 16u Type 32u 16u 325 32s Offset Description Command size including this field in bytes Command identifier 0x4524 Description Reply size including this field in bytes Reply identifier 0x4524 Reply status Source 0 Live 1 Replay buffer The Simulate command simulates the last frame if playback source is live or the current frame if playback source is the replay buffer Command Field length id source Gocator 3110 Series Type 32U 16u 32s Offset 0 4 6 Description Command size including this field in bytes Command identifier 0x4522 Source 0 Live 1 Replay buffer Protocols Gocator Protocol 186 Reply Field Type Offset Descr
139. er you want to proceed Gocator 3110 Series Gocator Web Interface System Management and Maintenance 49 LMI recommends routinely updating firmware to ensure that Gocator sensors always have the latest features and fixes Firmware Upgrade firmware and check for latest release Current Version 4 0 9 84 Upgrade Check Updates To download the latest firmware 1 Goto the Manage page and click on the Maintenance category 2 Click the Check Updates button in the Firmware section 3 Download the latest firmware 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 1 Goto the Manage page and click on the Maintenance category 2 Click the Upgrade button in the Firmware section 3 Provide the location of the firmware file in the File dialog 4 Wait for the upgrade to complete After the firmware upgrade is complete the sensor will self reset If a buddy has been assigned it will be upgraded and reset automatically Gocator 3110 Series Gocator Web Interface System Management and Maintenance 50 Scan Setup and Alignment The following sections describe the steps to configure Gocator sensors for
140. erNet IP buffering Enables Modbus buffering Selected video sources 0 Top List of available video sources see above Selected surface sources 0 Top List of available surface sources see above Selected surface intensity sources 0 Top List of available surface intensity sources see above Selected measurement sources List of available measurement sources Gocator Device Files Job Files e 159 ASCII ASCII Child Elements Element Type Description Operation 32s Operation mode 0 Asynchronous 1 Polled ControlPort 32u Control service port number HealthPort 32u Health service port number DataPort 32u Data service port number Delimiter String Field delimiter Terminator String Line terminator InvalidValue String String for invalid output CustomDataFormat String Custom data format CustomFormatEnabled Bool Enables custom data format Digital0 and Digital1 The DigitalO and Digital elements defines settings for the Gocator s two digital outputs Digital0 and Digital Child Elements Element Type Description Event 325 Triggering event 0 None disabled 1 Measurements 2 Software 3 Alignment state 3 Alignment state SignalType 32s Signal type 0 Pulse 1 Continuous ScheduleEnabled Bool Enables scheduling PulseWidth 64f Pulse width us PulseWidth min 64f Minimum pulse width us PulseWidth max 64f Maximum pulse width us PassMode 32s Measurement pass condition 0 AND of
141. erse effects on measurement Do not operate this device near windows or lighting fixtures that could influence measurement If the unit must be installed in an environment with high ambient light levels a lighting shield or similar device may need to be installed to prevent light from affecting measurement Avoid installing sensors in hazardous environments To ensure reliable operation and to prevent damage to Gocator sensors avoid installing the sensor in locations Gocator 3110 Series 8 e that are humid dusty or poorly ventilated e with a high temperature such as places exposed to direct sunlight e where there are flammable or corrosive gases e where the unit may be directly subjected to harsh vibration or impact e where water oil or chemicals may splash onto the unit e where static electricity is easily generated Ensure that ambient conditions are within specifications Gocator sensors are suitable for operation between 0 50 C and 25 85 relative humidity non condensing The Master 400 800 1200 2400 is similarly rated for operation between 0 50 C The storage temperature is 30 70 C 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 and the temperature of all of its components must therefore be in equi
142. es Gocator Web Interface Scan Setup and Alignment 53 Trigger Source External Input Software Description 3 Bi directional A scan is triggered when the target object moves forward or backward Encoder Spacing 4e rp Position A B C Bi directional UN Trigger Point 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 A digital input can provide triggers in response to external events e g photocell 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 page can be used to check for this condition A network command can be used to send a software trigger See Protocols page 165 for more information Depending on the setup and measurement tools used the CPU utilization may exceed 10096 which reduces the overall acquisition speed If the Clear Calibration button is pressed the calibration will be erased and the sensor will revert to using sensor coordinates See Acquisition Speed page 31 for the estimated acquisition speeds under different settings For examples of typical real world scenarios see next
143. es the target state 0 Set to low continuous 1 Set to high continuous Ignored if output type is pulsed Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4518 status 32s 6 Reply status The Schedule Analog Output command schedules an analog output event The analog output must be configured to accept software scheduled commands and be in the Running state See Analog Output page 132 for information on setting up the analog output Command Field Type Offset Description length 32u 0 Command size including this field in bytes Gocator 3110 Series Protocols Gocator Protocol 181 Field Type Offset Description id 16u 4 Command identifier 0x4519 index 16u 6 Index of the output Must be 0 target 64s 8 Specifies the time clock ticks or position encoder ticks of when the event should happen The target value is ignored if the Signal setting in Analog in the Output panel is not set to Scheduled The output will be triggered immediately See Analog Output page 132 for information on setting the Signal type value 32s 16 Output current micro amperes Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4519 status 32s 6 Reply status The analog output takes about 75 us to reach 9096 of the target value for a maximum change then roughly another 40 us to settle complet
144. escription Command size including this field in bytes Command identifier 0x100D Reserved field set to 0 Description Reply size including this field in bytes Reply identifier 0x100D Reply status The Stop command stops the sensor system system enters the Ready state Command Field length Status Type 32U 16u Type 32U 16u 32s Type 0 4 Offset 0 4 6 Description Command size including this field in bytes Command identifier 0x1001 Description Reply size including this field in bytes Reply identifier 0x1001 Reply status Start Alignment The Start Alignment command is used to start the alignment procedure on a sensor Gocator 3110 Series Protocols Gocator Protocol 179 Command Field length id Reply Field length id status opld Type 32u 16u Type 32u 16u 32s 32s Offset 10 Description Command size including this field in bytes Command identifier 0x4600 Description Reply size including this field in bytes Reply identifier 0x4600 Reply status Operation ID Start Exposure Auto set The Start Exposure Auto set command is used to start the exposure auto set procedure on a sensor Command Field length id role Reply Field length id status opld Type 32U 16u 32s Type 32U 16u 32s 32s Offset 0 4 6 Offset 10 Description Command size including this field in bytes Command identi
145. et Distance 0 Gocator 3110 Series Gocator Web Interface Measurement 124 Output The following sections describe the Output page Output Page Overview Output configuration tasks are performed using the Output page Gocator sensors can transmit 3D point cloud 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 N d CPU 0 i X M uw Ls A Speed O Hz Manage Scan Measure 5 77 24 Dashboard Job6 default E Str m Replay om T m n ce ALA GF 1 Ethernet Protocol Gocator Ethernet protocol and measurement 2 Ul Digital 1 Information Data Trigger condition and pulse width The Gocator Protocol uses TCP messages to command the Send Name Id 3 Mi Digital 2 sensor and to transmit data and measurement results to a Profiles ii Trigger condition and pulse width client computer The user selects which measurements and Top pom what type of scan data to send Video 3D Intensity 3D data 4 NJ can be in the form of Ranges Profiles or Surfaces depending Profile Intensities Trigger condition and current scaling G on Gocator series mm Top 5 Serial M t Serial protocol and measurements se All of the tasks that can be accomplished via the Gocator s ees web
146. et Address button To restore a sensor to factory defaults 1 Select the sensor serial number in the Devices list Gocator 3110 Series 224 2 Press the Factory Restore button Confirm when prompted The Sensor Discovery tool uses UDP broadcast messages to reach sensors on different R subnets This enables the Sensor Discovery tool to locate and re configure sensors even when the sensor IP address or subnet configuration is unknown Gocator 3110 Series Tools and Native Drivers Sensor Recovery Tool 225 GenTL Driver GenTL is an industry standard method of controlling and acquiring data from an imaging device Gocator provides a GenTL driver that allows GenTL compliant third party software e g Halcon and Common Vision Blox to acquire and process 3D point clouds and intensity generated from the Gocator s Profile with Uniform Spacing disabled and Surface modes in real time You can get the tool package containing the driver from the downloads area on the LMI Technologies website at http Imi3d com support downloads After downloading the tool package 14453 x x x x SOFTWARE GO INTEGRATION TOOLS zip unzip the file The driver is found under the GenTL x86 directory To install the driver in Windows 7 1 Open the Control panel 2 Select System and Security and then click System 3 Click Advanced System Settings The Advanced System Settings link is typically in the left column of the window 4 For 32 bit s
147. f 64f 64f 64f 64f 64f Boolean Boolean Description Setting for measurement name Setting for profile source The X measurements IDs used for anchoring The X measurements IDs available for anchoring The Y measurements IDs used for anchoring The Y measurements IDs available for anchoring The Z measurements IDs used for anchoring The Z measurements IDs available for anchoring Type of the opening 0 Rounded 1 Slot Nominal width mm Nominal length mm Nominal angle degrees Nominal radius mm Radius tolerance mm Length tolerance mm Angle tolerance degrees Setting to enable disable partial detection 0 Disable 1 Enable Setting to enable disable region Gocator Device Files Job Files e 152 Element Region RefRegionsEnabled RefRegionCount RefRegions AutoTiltEnabled TiltXAngle TiltYAngle Measurements WX Measurements Y Measurements Z Measurements Width Measurements Length Measurements Angle OpeningMeasurement Element id attribute Name Enabled HoldEnabled SmoothingEnabled SmoothingWindow Scale Gocator 3110 Series Type Region3D Boolean 32s Collection Boolean 64f 64f OpeningMeasurement OpeningMeasurement OpeningMeasurement OpeningMeasurement OpeningMeasurement OpeningMeasurement Type 32s String Boolean Boolean Boolean 32s 64f Description 0 Disable 1 Enable Measurement region Settin
148. f Flash is loaded on the client computer e Use the LMI Discovery tool to verify that the sensor has the correct network settings See Sensor Recovery Tool page 224 for more information When attempting to log in the password is not accepted e See Sensor Recovery Tool page 224 for steps to reset the password 3D Data Acquisition When the Start button or the Snapshot button is pressed the sensor does not emit light e The safety input signal may not be correctly applied See Specifications page 235 for more information e The exposure setting may be too low See Exposure page 61 for more information on configuring exposure time e Use the Snapshot button instead of the Start button to capture 3D point cloud data If the LED light flashes when you use the Snapshot button but not when you use the Start button then the problem could be related to triggering See Triggers page 52 for information on configuring the trigger source Performance The sensor CPU level is near 10096 e Consider reducing the speed If you are using a time trigger source see Triggers page 52 for information on reducing the speed If you are using an external input or software trigger consider reducing the rate at which you apply triggers Gocator 3110 Series 233 e Consider reducing the resolution e Review the measurements that you have programmed and eliminate any unnecessary measurements Gocator 3110 Series Troubleshooting 234 Specif
149. faceStud Child Elements Element Name Source Anchor X Anchor X options Anchor Y Anchor Y options Anchor Z Anchor Z options StudRadius StudHeight BaseHeight TipHeight RegionEnabled Region RefRegionsEnabled RefRegionCount RefRegions AutoTiltEnabled TiltXAngle TiltYAngle Measurements Basex Gocator 3110 Series Type String 32s String CSV String CSV String CSV String CSV String CSV String CSV 64f 64f 64f 64f Boolean Region3D Boolean 32s Collection Boolean 64f 64f StudMeasurement Description Setting for measurement name Setting for profile source The X measurements IDs used for anchoring The X measurements IDs available for anchoring The Y measurements IDs used for anchoring The Y measurements IDs available for anchoring The Z measurements IDs used for anchoring The Z measurements IDs available for anchoring Radius of stud mm Height of stud mm Height of stud s base Height of stud s tip Setting to enable disable region Measurement region Setting to enable disable reference regions 0 Disable 1 Enable Count of the reference regions Reference regions Contains 1 or 2 SurfaceRegion2D elements Setting to enable disable tilt correction 0 Disable 1 Enable Setting for manual tilt correction angle X Setting for manual tilt correction angle Y BaseX measurement Gocator Device Files Job Files e 156 Element Measurem
150. fault port number is 8190 for all channels The following port numbers are reserved for Gocator internal use 80 843 2000 2100 2500 2600 3100 3250 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 The result is sent on all connected data channels Under polling operation when the sensor receives a Get Result command it will send the latest measurement results on the same data channel that the request is received Gocator s serial communication is unidirectional output only Measurement results are sent on the Serial output in Asynchronous mode While measurement values and decisions can be transmitted to an RS 485 receiver job handling and control operations must be performed through the Gocator s web interface or through communications on the Ethernet output See Serial Output page 243 for cable pinout information Gocator serial communication uses the following connection settings Gocator 3110 Series Protocols e ASCII Protocol 213 Serial Connection Settings Parameter Value Start Bits 1 Stop Bits 1 Parity None Data Bits 8 Baud Rate b s 115200 Format ASCII Commands are sent from the client to the Gocator Command strings are not case sensitive The command format is COMMAND DELIMITER PARAMETER TERMINATIO
151. ficant 32 bit The current encoder value is latched from the sensor when this register is read Report the current encoder value most significant 32 bit The encoder value is latched when EncoderValueO register is read User should read EncoderValueO before reading EncoderValue1 Read the name of sensor live job file or switch write the sensor job file The job name is NULL terminated and includes the extension job Writing to this register causes the sensor to switch to the specified job Return the sensor transformation X offset Return the sensor transformation Z offset Return the sensor transformation angle Return the sensor transformation orientation Return the sensor clearance distance Tools and Native Drivers GenTL Driver 230 XML Settings File The settings file Go2GenTL xml resides in the same directory as the Gocator GenTL driver Users can set the resample mode and output format by changing the setting in this file Element Type Description ResampleMode 32u Settings to disable or enable resampling mode 0 Disable 1 Enable When resampling mode is enabled the GenTL driver will resample the height map so that the pixel spacing is the same in the X and Y axis The default value is 1 DataFormat 32u Settings to choose 16 bit RGB or 16 bit grey scale image output 0 16 bit RGB Image 1 16 bit grey scale Image The default value is 0 CSV Converter Tool After you have exported recorded dat
152. fier 0x4601 Role of sensors to auto set 0 Main 1 Buddy Description Reply size including this field in bytes Reply identifier 0x4601 Reply status Operation ID Software Trigger The Software Trigger command causes the sensor to take a snapshot while in software mode and in the Running state Command Field length id Gocator 3110 Series Type 32U 16u Offset 0 4 Description Command size including this field in bytes Command identifier 0x4510 Protocols Gocator Protocol 180 Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4510 status 32s 6 Reply status The Schedule Digital Output command schedules a digital output event The digital output must be configured to accept software scheduled commands and be in the Running state See Digital Output page 130 for information on setting up the digital output Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4518 index 16u 6 Index of the output starts from 0 target 64s 8 Specifies the time clock ticks or position um of when the event should happen The target value is ignored if the Signal setting in Digital in the Output panel is not set to Scheduled The output will be triggered immediately See Digital Output page 130 for information on setting Signal value 8u 16 Specifi
153. from the left drop down list Regions such as an active area or a measurement region can be graphically set up using the data viewer in the 2D or in the 3D view When the Scan page is active the data viewer can be used to graphically configure the active area The Active Area setting can also be configured manually by entering values into its fields and is found in the Sensor panel see page 57 Gocator 3110 Series Gocator Web Interface Scan Setup and Alignment 77 50 000 30 0087 10 0007 30 009 e an nz 85 000 i rs a 7 aaa 5 A7 000 B 166m T LL To setup a region of interest 1 Move the mouse cursor to the rectangle In the 3D viewer you must first select which side of the 3D rectangle to adjust by clicking on it The rectangle is automatically displayed when a setup or measurement requires an area to be specified 2 Drag the rectangle to move it and use the handles on the rectangle s border to resize it Height maps are displayed in pseudo color The height axis Z is color coded The scaling of the height map can be adjusted Configure Range Auto Min mm Max mm Surface View Surface Heightmap Top 43D mo CREA pra To change the scaling of the height map 1 Select Heightmap from the drop down in the data viewer 2 Click the Scaling button e To automatically set the scale choose Auto in the Range drop down Gocator 31
154. g to enable disable reference regions 0 Disable 1 Enable Count of the reference regions Reference regions Contains 1 or 2 SurfaceRegion2D elements Setting to enable disable tilt correction 0 Disable 1 Enable Setting for manual tilt correction angle X Setting for manual tilt correction angle Y X measurement Y measurement Z measurement Width measurement Length measurement Angle measurement Description Measurement ID Optional measurement disabled if not set Measurement name Measurement enable state 0 Disable 1 Enable Output hold enable state 0 Disable 1 Enable Smoothing enable state 0 Disable 1 Enable Smoothing window Output scaling factor Gocator Device Files Job Files e 153 Element Offset DecisionMin DecisionMax SurfacePlane Type 64f 64f 64f Description Output offset factor Minimum decision threshold Maximum decision threshold A SurfacePlane element defines settings for a surface plane tool and one or more of its measurements SurfacePlane Child Elements Element Name Source Anchor X Anchor X options Anchor Y Anchor Y options Anchor Z Anchor Z options RegionsEnabled RegionCount Regions Measurements XAngle Measurements YAngle Measurements ZOffset PlaneMeasurement Element id attribute Name Enabled HoldEnabled SmoothingEnabled Gocator 3110 Series Type String 32s String CSV String CSV String CSV
155. gn stationary target Start the alignment process State register 301 will be set to 1 busy Gocator 3110 Series Protocols e Modbus TCP Protocol 204 Value Name Align moving target Clear Alignment Load Job Description until the alignment process is complete Start alignment process and also calibrate encoder resolution State register 301 will be set to 1 busy until the motion calibration process is complete Clear the alignment Activate a job file Registers 1 21 specify the filename Output registers are used to output states stamps and measurement results Each register address holds a 16 bit data value State State registers report the current sensor state State Register Map Register Name Address 300 Stopped Running 301 302 303 306 307 310 311 312 371 Stamp Busy Calibration State Encoder Value Time Job File Length Live Job Name Data Size bit 16 16 16 64 64 16 16 bits for each character Description Sensor State 0 Stopped 1 Running Busy State 0 Not busy 1 Busy Registers 302 to 363 below are only valid when the Busy State is not Busy Current Alignment State 0 Not aligned 1 Aligned Current Encoder value ticks Current time us Number of characters in the current job file name Current Job Name Name of currently loaded job file Does not include the extension Each 16 bit register contains a sing
156. he section on progressive reply Upgrade Commands A client can send commands and receive responses over the Control and Upgrade TCP channels Command Channels Channel Port Control 3190 Upgrade 3192 Description Sensor accepts commands for most operations Sensor accepts commands for firmware upgrades The Control and Upgrade channels can be connected simultaneously but the sensor will accept only a single connection on each port If an additional connection is attempted on a port that is already connected the previous connection will be closed and the new connection will be accepted After connecting to a Gocator device you can use the Get Protocol Version command to retrieve the protocol version Protocol version refers to the version of the Gocator Protocol supported by the connected sensor the sensor to which a command connection is established and consists of major and minor parts The minor part is updated when backward compatible additions are made to the Gocator Protocol The major part will be updated in the event that breaking changes are made to the Gocator Protocol Gocator 3110 Series Protocols Gocator Protocol 191 Get Protocol Version The Get Protocol Version command reports the Upgrade protocol version of the connected sensor Command Field Type Description length 64s Command size in bytes id 64s Command identifier 0x0100 Reply Field Type Description length 64s Reply size in byte
157. hey are available In polling mode users send commands on the data channel to request the latest result See Asynchronous and Polling Operation page 213 for an explanation of the operation modes Select the data format from the Data Format drop down Select Standard to use the default result format of the ASCII protocol Select the measurement to send by placing a check in the corresponding checkbox See Standard Result Format page 215 for an explanation of the standard result mode Select Custom to enable the custom format editor and then use the replacement patterns listed in Replacement Patterns to create a custom format in the editor Set the special characters in the Special Characters tab Set the command delimiter delimiter termination and invalid value characters Special characters are used in commands and standard format data results Set the TCP ports in the Ports tab Select the TCP ports for the control data and health channels If the port numbers of two channels are the same the messages for both channels are transmitted on the same port Gocator 3110 Series Gocator Web Interface Output 129 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 A digital output can act as a measurement valid signal to allow external devices
158. his bit will be set in each message Field size control count C size source reserved stamps C Stamp Field framelndex timestamp encoder encoderAtZ status reserved 2 Gocator 3110 Series Type 32U 16u 32U 16u 8u 8u Stamp Type 64u 64u 64s 64s 64u 64u Offset 32 Description Count of bytes in message including this field Bit 15 Last message flag Bits 0 14 Message type identifier Count of stamps in this message Stamp size in bytes min 56 current 56 Source 0 Main Reserved Array of stamps see below Description Frame index counts up from zero Timestamp ns Current encoder value ticks Encoder value latched at z index mark ticks Bit field containing various frame information Bit 0 sensor digital input state Bit 4 master digital input state Bit 8 9 inter frame digital pulse trigger Master digital input if master is connected otherwise sensor digital input Value is cleared after each frame and clamped at 3 if more than 3 pulses are received Reserved Protocols Gocator Protocol 194 Field Type size 32U control 16u attributesSize 16u height H 32U width W 32u pixelSize 8u pixelFormat gu colorFilter 8u source 8u cameralndex 8u exposurelndex 8u exposure 32U reserved 2 8u pixels H W Variable Offset 0 4 20 21 22 26 28 Description Count of bytes in message including this field Bit 15 Last messag
159. ht map Width in pixels 13 92 99 Height map length in pixels 14 56 59 Specify if the intensity is enabled 16 bit Grey Scale Image When the 16 bit grey scale format is used the height map intensity and stamps are stored sequentially in the grey scale image The last row of the image contains the stamp information Rows Details 0 max part height 1 Height map information The width and height of the image represent the dimensions in the X and Y axis Together with the pixel value each pixel presents a 3D point in the real world coordinates The following formula can be used to calculate the real world coordinates X Y Z from pixel coordinates Px Py Pz X X offset Px X resolution Y Y offset Py Y resolution Z Z offset Pz Z resolution Refer to the blue channel on how to retrieve the offset and resolution values If Pz is 0 if the data is invalid The Z offset is fixed to 32768 Z Resolution Z is zero if Pz is 32768 max part height 2 max Intensity information The width and height of the image represent the dimension in Gocator 3110 Series Tools and Native Drivers e GenTL Driver 228 Rows part height If intensity is enabled The last row of the 16 bit grey scale image Details the X and the Y axis Together with the pixel value each blue pixel represents an intensity value in the real world coordinates The following formula can be used to calculate the real world coordinate
160. ications The following sections describe the specifications of the Gocator and its associated hardware Gocator 3100 Series The Gocator 3100 series consists of the sensor models defined below MODEL 3110 Clearance Distance CD mm 150 Measurement Range MR 100 mm Near Field of View mm 60x 105 Far Field of View mm 90 x160 Linearity Z 96 of MR 0 005 Resolution Z mm 0 035 0 108 Resolution XY mm 0 090 x 0 100 0 150 x 0 160 Light Source Blue LED 465 nm Dimensions mm 49 x 74 4 x 276 Weight kg 1 35 Linearity Z values and Resolution Z are typical values Field of view and resolution XY are specified as X x Y ALL 3100 SERIES MODELS Scan Rate Up to5 Hz Interface Gigabit Ethernet Inputs Differential Encoder Light Safety Enable Trigger Outputs 2x Digital output RS 485 Serial 115 kBaud Analog Output 4 20 mA Gocator 3110 Series 235 ALL 3100 SERIES MODELS Input Voltage Power Housing Operating Temp Storage Temp Vibration Resistance Shock Resistance 24 to 48 VDC 25 Watts Ripple 10 Gasketed aluminum enclosure IP67 0 to 50 C 30 to 70 C 10 to 55 Hz 1 5 mm double amplitude in X Y and Z directions 2 hours per direction 15 g half sine wave 11 ms positive and negative for X Y and Z directions NOTE Differential Encoder requires the use of Master 400 800 1200 2400 Specifications stated are based on preliminary data final specifications may var
161. ies Inc 1673 Cliveden Avenue Delta BC V3M 6V5 Canada Phone 1 604 636 1011 Fax 1 604 516 8368 Gocator 3110 Series Europe LMI Technologies BV Valkenburgerweg 223 NL 6419AT Heerlen The Netherlands Phone 31 45 850 7000 Fax 31 45 574 2500 262
162. imultaneously A connection will be closed after 10 minutes of inactivity Messages All Modbus TCP messages consist of an MBAP header Modbus Application Protocol a function code and a data payload Transaction Protocol Unit Func Identifier Identifier EOD ID Code iu ayas m gt d gt MBAP Header MBAP Data The MBAP header contains the following fields Modbus Application Protocol Header Field Length Bytes Description Transaction ID 2 Used for transaction pairing The Modbus Client sets the value and Gocator 3110 Series Protocols e Modbus TCP Protocol 202 Field Length Bytes Description the Server Gocator copies the value into its responses Protocol ID 1 Always set to 0 Length 1 Byte count of the rest of the message including the Unit identifier and data fields Unit ID 1 Used for intra system routing purpose The Modbus Client sets the value and the Server Gocator copies the value into its responses Modbus Application Protocol Specification describes the standard function codes in detail Gocator supports the following function codes Modbus Function Code Function Code Name Data Size bits Description 3 Read Holding 16 Read multiple data values from the sensor Registers 4 Read Input Registers 16 Read multiple data values from the sensor 6 Write Single Register 16 Send a command or parameter to the sensor 16 Write Multiple 16 Send a command and parameters to the sensor Regi
163. in the Output panel 3 Select Modbus as the protocol in the Protocol drop down Register Type 8 bit Var 8 bit 8 bit 8 bit 32 bit 32 bit 8 bit Var 8 bit 32 bit 16 bit 16 bit W gt 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 The Modbus TCP protocol can be used to operate a sensor Modbus TCP only supports a subset of the tasks that can be performed in the web interface A sensor can only process Modbus TCP commands when Modbus is selected in the Protocol drop down 4 Check the Buffering checkbox if needed Buffering is needed for example in Surface mode if multiple objects are detected within a time frame shorter than the polling rate of the PLC If buffering is enabled with the Modbus protocol the PLC must read the Advance register to advance the queue before reading the measurement results Gocator 3110 Series Gocator Web Interface Output 127 E To receive commands and send results using EtherNet IP messages 1 Goto the Output page 2 Click on Ethernet in the Output panel 3 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 The EtherNet IP protocol can be used to o
164. ing Length 0 000 0 000 0 000 0 Surface Stud Radius 0 000 0 000 0 000 0 Hz 297 69 512 00 ME 23 31 39 88 MB 0 00 119 21 MB s 45 C ei ioe ci m ue oco e 0 us Ops Description Displays sensor state and health information See System Panel below Displays measurement statistics See Measurements next page System Panel The following state and health information is available in the System panel on the Dashboard page Dashboard General System Values Name Sensor State Application Version Master Connection Uptime Gocator 3110 Series Description Current sensor state Ready or Running Gocator firmware version Whether Master is connected Length of time since the sensor was power cycled or reset Gocator Web Interface e Dashboard 136 Name CPU Usage Encoder Value Encoder Frequency Memory Usage Storage Usage Temperature Ethernet Traffic Internal Temperature Processing Latency Processing Latency Peak Dashboard History Values Name Scan Count Trigger Drop Analog Output Drop Digital Output Drop Serial Output Drop Processing Drop Ethernet Drop Digital Output High Count Digital Output Low Count Range Valid Count Range Invalid Count Anchor Invalid Count Valid Spot Count Max Spot Count Camera Search Count Description Sensor CPU utilization 96 Current encoder value ticks Current encoder frequency Hz Sensor memory utilization MB used MB total available
165. ing electrical continuity between the mounting frame and RJ45 connectors on the front The frame or electrical cabinet that the Master is mounted to must be connected to earth ground D Sensors should be mounted using four M5 x 0 8 pitch screws of suitable length The recommended thread engagement into the housing is 8 10 mm Proper care should be taken in order to ensure that the internal threads are not damaged from cross threading or improper insertion of screws Sensors should not be installed near objects that might occlude a camera s view of the laser Gocator 3110 Series Getting Started Installation 17 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 When the sensor is powered up a warm up time of at least one hour is required to reach a consistent spread of temperature within the sensor Gocator 3110 Series Getting Started Installation 18 Network Setup The following sections provide procedures for client PC and Gocator network setup Client Setup Sensors are shipped with the following default network configuration Setting Default DHCP Disabled IP Address 192 168 1 10 S
166. intensity images You can select the data to display from the View drop down Gocator 3110 Series Gocator Web Interface e Scan Setup and Alignment 75 Clicking on the 3D button displays Surface data in the 3D viewer The 3D model is overlaid with the information that corresponds to the selected View option View St RE Ee qal a 358 Surface Uniform Surface Intensi View Option Information Surface Heightmap In 2D view displays the pseudo color height map In 3D view overlays the 2D pseudo color height map on the 3D model Surface Uniform Overlays a uniform shaded surface on the 3D model Only available in 3D view Surface Intensity In 2D view displays the intensity In 3D view overlays the intensity map on the 3D model Acquire Intensity must be checked in the Scan Mode panel 4 002 6 172 8 343 10 514 12 684 14 854 17 025 2D viewer for height map 2D viewer for intensity Gocator 3110 Series Gocator Web Interface e Scan Setup and Alignment 76 3D viewer with height map overlay 3D viewer with intensity overlay 3D viewer with uniform overlay Clicking on the 3D button toggles between the 2D and 3D viewer See Data Viewer Controls page 72 for explanations on the available controls To manually select the display type and the display view in the Scan page 1 Go to the Scan page 2 Select the View options in the data viewer Profile Heightmap Uniform or Intensity can be selected
167. interface can be accomplished programmatically by Wi Profile Dimension Width 0 sending and receiving Gocator Protocol control commands A Category Description 1 Ethernet Used to select the data sources that will transmit data via Ethernet See Ethernet Output next page 2 Digital Output 1 Used to select the data sources that will be combined to produce a digital output pulse on Output 1 See Digital Output page 130 3 Digital Output 2 Used to select the data sources that will be combined to produce a digital output pulse on Output 2 See Digital Output page 130 4 Analog Panel Used to convert a measurement value or decision into an analog output signal See Gocator 3110 Series Gocator Web Interface e Output 125 Category Description Analog Output page 132 5 Serial Panel Used to select the measurements that will be transmitted via RS 485 serial output See Serial Output page 134 Ethernet Output A sensor uses TCP messages Gocator protocol to receive commands from client computers and to send video 3D point clouds 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 See Protocols page 165 for the specification of these protocols The specific protocols used with Ethernet output are selected and configured within the panel f Output Ethernet Protocol Protocol and measure
168. ion page 213 for serial connection parameters and data formats For information on wiring serial output to an external device see Serial Output page 243 Gocator 3110 Series Gocator Web Interface Output e 134 f Output Ethernet Protocol ASCII Protocol and measurement selection Ul Digital 1 Configuration Trigger condition and pulse width sa Data Format Standard Ul Digital 2 Trigger condition and pulse width time 96value id decisions id J Analog Trigger condition and current scaling Serial Protocol and measurement selectio Special Characters Command Delimeter Delimeter Termination 96r96n Invalid Value INVALID To exchange results using ASCII messages 1 Goto the Output page 2 Click on Serial in the Output panel 3 Select ASCII in the Protocol option 4 Select the Data Format Data Send Name Id Measurements Surface Bounding Box X 0 Surface Ellipse Major 2 m Surface Hole Radius 10 Surface Opening Length 11 Surface Plane X Angle 5 W Surface Stud Radius Surface Volume Volume O co Me Script Output 0 Select Standard to use the default result format of the ASCII protocol Select value and decision to send by placing a check in the corresponding check box See Standard Result Format page 215 for an explanation of the standard result mode Select Custom to customize the output result A data format box will appear in which you can type the format
169. iption length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4522 status 32s 6 Reply status bufferValid 8u 10 Whether or not the buffer is valid A reply status of 996 means that the current configSuration mode sensor type etc does not support simulation A reply status of 992 means that the simulation buffer is empty Note that the buffer can be valid even if the simulation buffer is actually empty due to optimization choices This scenario means that the simulation buffer would be valid if data were recorded Seek Playback The Seek Playback command seeks to any position in the current playback dataset The frame is then sent Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4503 frame 32u 6 Frame index Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4503 status 32 6 Reply status Step Playback The Step Playback command advances playback by one frame Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4501 direction 32s 6 Define step direction 0 Forward 1 Reverse Gocator 3110 Series Protocols Gocator Protocol 187 Reply Field Offset Description length Type 32u 0 Reply size including this field in bytes
170. ise exeun bite 216 so ATT ee seoee seen 216 0 216 TN 217 Load JOD MERERI 217 A ar E AREE ER 218 Stationary Alignment i2 escis esee reres 218 Clear Alignment LLuuu 219 Data omma idiota 219 CIL W 219 GetValue uoniscccioilLu dime nadutur ice des 220 Get DECISION CL 220 Health Commands 22 Get Health risse lia eee 22 Software Development Kit 222 Gocator 3110 Series Tools and Native Drivers 224 Sensor Recovery Tool 20 cceccecseseucetuuscszess 224 GENTE Driver ocstossani cesses DIG UE nies 226 16 bit RGB Image 227 16 bit Grey Scale Image 228 ic SM 230 XML Settings File n2ccccnse Ehe poe ione lobi 231 CSV Converter TOO Leosats hice ceste eee dose 231 Troubleshooting 233 Specifications 0 00000000000000 235 GOcator 3 OU Series Zo cocus didund aet mu uta u iui 235 GO oriented 237 Gocator 3100 Power LAN Connector 239 Grounding Shield 22 22 eershbcm De REL RDETRE 239 POWER ucc Ui LUE ILE LM MM LUC RE 239 Satety IDE eil 240 Gocator 3100 l O Connector i iii 241 Grounding Shield slssisla cece cdccecouss 241 bien rr 242 inverting OUTPUTS oc suus etdaadin ncc ee 242 PISCINIU cc 242 Serial QUEDUE 2 ucciso binh teni ERE PERLES 243 PIANOS OUTPUT Si iatale 244 Master TO
171. its 0 14 Message type identifier Size of attributes in bytes min 8 current 8 Operation ID Operation status Exposure Calibration Result Field size control attributesSize opld status exposure Gocator 3110 Series Type 32U 0 16u 4 16u 6 32u 8 32s 12 32s 16 Offset Description Count of bytes in message including this field Bit 15 Last message flag Bits 0 14 Message type identifier Size of attributes in bytes min 12 current 12 Operation ID Operation status Exposure result ns Protocols Gocator Protocol e 197 Health Results A client can receive data messages from a Gocator sensor by connecting to the Data or Health TCP channels Result Channels Channel Port Description Data 3196 Sensor sends data messages Health 3194 Sensor sends health messages The ports above can be connected simultaneously and the sensor will also accept multiple connections on each port Messages that are received on the Data and Health channels use a common structure called Gocator Data Protocol GDP Each GDP message consists of a 6 byte header 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 32u 0 Count of bytes in message including this field control 16u 4 Bit 15 Last message flag Bits 0 14 Message type identifier GDP messages are always sent in g
172. ive target object in the field of view The target should be similar to the objects that will be measured later a Startthe sensor scan the target and then stop the sensor 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 Go to the Scan page and choose Surface 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 and adjust the settings of the tool and measurements you want to use as anchor Adjust the anchor tool s measurement region and choose a feature type if applicable You can adjust the measurement region graphically in the data viewer or manually by expanding the Regions area The position and size of the anchor tool s measurement regions define the zone within which movement will be tracked Add the tool that will be anchored Any tool can be anchored Adjust the tool and measurement settings as well as the measurement regions Click on the tool s Anchoring tab Choose an anchor from the X Y or Z drop down box When you choose an anchor a white bulls eye indicator shows the position of the anchor in the data viewer If the sensor is running the anchored tool s measurement regions are shown in white to indicate the regions are locked to the anchor The measurement regions of anchored tools cannot be adjusted The anchored tool s measurement regions are now tracked
173. l coordinates Px Py Pz X X offset Px X resolution Y Y offset Py Y resolution Z 16 bit intensity value The intensity value is O if the intensity image is not available Gocator outputs 8 bit intensity values The values stored in the 16 bit RGB image is multiplied by 256 To obtain the original values divide the intensity values by 256 Refer to the blue channel on how to retrieve the offset and resolution values Blue Stamp information Stamps are 64 bit auxiliary information related to the height map and intensity content The next table explains how the stamps are packed into the blue pixel channel See Data Results page 193 for an explanation of the stamp information Gocator 3110 Series Tools and Native Drivers GenTL Driver 227 The following table shows how the stamp information is packed into the blue channel A stamp is a 64 bit value packed into four consecutive 16 bit blue pixels with the first byte position storing the most significant byte Stamp Information from GenTL driver Stamp Index Blue Pixel Position Details 0 0 3 Version 1 4 7 Frame Count 2 8 11 Timestamp us 3 12 15 Encoder value ticks 4 16 19 Encoder index ticks This is the encoder value when the last index is triggered 5 20 23 Digital input states 6 24 27 X offset nm 7 28 31 X resolution nm 8 32 35 Y offset nm 9 36 39 Y resolution nm 10 40 43 Z offset nm 11 44 47 Z resolution nm la 48 51 Heig
174. le character Stamps contain trigger timing information used for synchronizing a PLC s actions A PLC can also use this information to match up data from multiple Gocator sensors In Surface mode the stamps are updated after each surface has been processed Gocator 3110 Series Protocols e Modbus TCP Protocol 205 Stamp Register Map Register Address 976 977 978 979 980 983 984 985 986 987 988 991 992 995 996 999 Name Data Size bit Buffer Advance 16 Buffer Counter 16 Buffer Overflow 16 Inputs 8 Encoder Index 64 Exposure 32 Temperature 32 Encoder Value 64 Timestamp 64 Frame Counter 64 Measurement Registers Description If buffering is enabled this address must be read by the PLC Modbus client first to advance the buffer After the buffer advance read operation the Modbus client can read the updated Measurements amp Decisions in addresses 1000 1060 Number of buffered messages currently in the queue Buffer Overflow Indicator 0 No overflow 1 Overflow Digital input state Encoder value when the index is last triggered Exposure us Sensor temperature mC Encoder value ticks Time us Frame counter Measurement results are reported in pairs of values and decisions Measurement values are 32 bits wide and decisions are 8 bits wide The measurement ID defines the register address of each pair The register address of the first word can be calculated as 100
175. librium When the sensor is powered up a warm up time of at least one hour is required to reach a consistent spread of temperature in the sensor Sensor Maintenance Keep sensor windows clean Gocator sensors are high precision optical instruments To ensure the highest accuracy is achieved in all measurements the windows on the front of the sensor should be kept clean and clear of debris Use care when cleaning sensor windows Use dry clean air to remove dust or other dirt particles If dirt remains clean the windows carefully with a soft lint free cloth and non streaking glass cleaner or isopropyl alcohol Ensure that no residue is left on the windows after cleaning 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 Gocator 3110 Series Safety and Maintenance Sensor Maintenance 9 Getting Started The following sections provide system and hardware overviews in addition to installation and setup procedures System Overview Gocator sensors can be installed and used in scenarios where the target to be scanned is static in position relative to the sensor for the short duration of camera exposure Sensors can be connected as standalone devices or in a multi sensor system Standalone System Standalone systems
176. lign the sensor and also to switch jobs on the Sensor Command Assembly Information Value Class 0x4 Instance 0x310 Number of Attributes 3 Length 32 bytes Supported Service 0x10 Write Single Attribute Attributes 1 and 2 are not implemented as they are not required for the static assembly object Attribute 3 Attribute Name Type Value Description Access 3 Command Byte See Below Commands parameters Get Set Array Byte 0 Command See table below for specification of the values Byte 1 31 Used for Load Job command Command Detinitions Value Name Description 0 Stop running Stop the sensor No action if the sensor is already stopped 1 Start Running Start the sensor No action if the sensor is already started 2 Align Start the alignment process Byte 1 of the Sensor State Assembly will be set to 1 busy until the alignment process is complete then back to zero 4 Clear Alignment Clear the alignment 5 Load Job Load a job file Bytes 1 31 for the filename one ASCII character per byte File name must be NULL terminated The extension job should be included Gocator 3110 Series Protocols EtherNet IP Protocol 209 Sensor State Assembly The sensor state assembly object contains the sensor s states such as the current sensor temperature frame count and encoder values Sensor State Assembly Information Value Class 0x4 Instance 0x320 Number of Attributes 3 Length 100 bytes Supported Service O
177. lignment Reference The Set Alignment Reference command is used to set the sensor s alignment reference Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4103 reference 32s 6 Alignment reference 0 Fixed 1 Dynamic Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4103 status 32s 6 Reply status Get Alignment Reference The Get Alignment Reference command is used to get the sensor s alignment reference Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4104 Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4104 status 325 6 Reply status reference 32s 10 Alignment reference 0 Fixed 1 Dynamic Clear Alignment The Clear Alignment command clears sensor alignment Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x4102 Gocator 3110 Series Protocols Gocator Protocol 177 Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x4102 status 32s 6 Reply status The Get Timestamp command retrieves the sensor s timestamp in clock ticks All devices in a system are synchr
178. lters Decision Min 50 mm Max 60 mm Measurement Panel Measurements Measurement Illustration X Determines the X position of the opening s center X Y orZ Y Determines the Y position of the opening s center Z Determines the Z position of the opening s center Width Determines the width of the opening lt H Width Gocator 3110 Series Gocator Web Interface Measurement 105 Measurement Illustration Length Determines the length of the opening Length Angle Determines the angle rotation around the normal of the alignment plane Angle Parameters Parameter Description Type Rounded Slot Rectangle Nominal Width Nominal width of the opening Nominal length Nominal length of the opening Nominal Angle Nominal angle of the opening The default orientation is the length of the opening along the X axis Orientation 0 degrees Orientation 90 degrees Y Y A A X X Be The diagram above illustrates the case where the surface is not tilted When the surface is tilted the orientation is defined with respect to the normal of the surface not with respect to the X Y plane Nominal Radius Nominal radius of the opening ends If the opening type is set to rectangular the radius setting is disabled The opening has an oval shape if the radius is equal to Gocator 3110 Series Gocator Web Interface Measurement 106 Parameter Description of the width The opening is a rounde
179. lue Black Sync 5 White Brown amp Black Sync 6 Brown Black mE Uno VESTA FRA View Looking into the connector on the sensor Ethernet MX1 8 Orange Ethernet MX2 9 White Green Ethernet MX2 10 Green Ethernet MX3 11 White Blue Ethernet MX3 12 Blue Ethernet MX4 13 White Brown Ethernet MX4 14 Brown Two wires are connected to the ground and power pins Grounding Shield The grounding shield should be mounted to the earth ground Positive voltage is applied to DC 24 48V See Gocator 3100 Series page 235 for the sensor s power requirement Ground is applied to GND 24 A8VDC Power requirements Function Pins Min Max DC 24 48V 2 24V 48 V GND 24 48VDC 1 OV OV Gocator 3110 Series Specifications Gocator 3100 Power LAN Connector 239 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 Safety requirements Function Pins Min Max Safety in 4 24 V 48 V Safety in 3 OV OV A Confirm the wiring of Safety_in before starting the sensor Wiring DC_24 48V into Safety_in may damage the sensor Gocator 3110 Series Specifications e Gocator 3100 Power LAN Connector 240 Gocator 3100 I O Connector The Gocator 3100 I O connector is a 19 pin M16 style connector that provides encoder digital input digital outputs serial output and analog output signals This section
180. ly identifier 0x4511 status 32s 6 Reply status majorVersion 8u 10 Major version minorVersion gu 11 Minor version Get Address The Get Address command is used to discover Gocator sensors across subnets Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x3012 Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x3012 status 32s 6 Reply status Gocator 3110 Series Protocols Gocator Protocol 169 Field Type Offset Description dhcpEnabled 8u 10 0 DHCP not used 1 DHCP used address 4 byte 14 IP address most significant byte first subnetMask 4 byte 15 Subnet mask gateway 4 byte 19 Gateway address The Set Address command modifies the network configuration of a Gocator sensor On receiving the command the Gocator will perform a reset You should wait 30 seconds before re connecting to the Gocator Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x3013 dhcpEnabled 8u 6 0 DHCP not used 1 DHCP used address 4 byte 7 IP address most significant byte first subnetMask 4 byte 11 Subnet mask gateway 4 byte 15 Gateway address Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x3013 status 32s 8 Reply status
181. ly the Output tab is displayed 7 Expand the Filters panel by clicking on the panel header or the button 8 Configure the filters Refer to the table above for a list of the filters Measurement Anchoring Measurement anchoring is used to track the movement of parts within the field of view of the sensor compensating for variations in the height and position of parts The movement is calculated as an offset from the position of a measured feature where the offset is then used to correct the positions of measurement regions of other measurement tools This ensures that the regions used to measure features are correctly positioned for every part Parameter Bes X Y T 5 Surface Position Z Area 1604 250 Id 4 Filters Decision Min 1600 mme Max 1640 moe Gocator 3110 Series Gocator Web Interface Measurement 89 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 Y or Z measurement can be used as an anchor for a tool Several anchors can be created to run in parallel For example you could anchor some measurements relative to the left edge of a target at the same time as some other measurements are anchored relative to the right edge of a target To anchor a surface tool to a measurement 1 Put a representat
182. ly through the web interface as described under To activate an existing job in Saving and Loading Settings on page 34 Switching active jobs can also be done programmatically using the supported industrial protocols Modbus EtherNet IP and ASCII the Gocator s native Ethernet protocol and through the SDK Recording Playback and Measurement Simulation Gocator sensors can record and replay data and can also simulate measurement tools on recorded data This feature is most often used for troubleshooting and fine tuning measurements but can also be helpful during setup Recording and playback are controlled by using the toolbar controls Replay off Snapshot Record Start Recording and playback controls when replay is off To record live data 1 Toggle Replay mode off by setting the slider to the left in the Toolbar 2 Press the Record button to enable recording When replay is off and recording is enabled the sensor will store the most recent data as it runs Remember to disable recording if you no longer wish to record live data press the Record button again to disable recording 3 Press the Snapshot button or Start button The Snapshot records a single frame The Start button will run the sensor continuously and all frames will be recorded up to available memory When the memory limit is reached the oldest data will be discarded Newly recorded data is appended to existing replay data unless the sensor job has been
183. m m oan oa om u OBJECT DISTANCE CLEARANCE DISTANCE CAMERA STRUCTURED LIGHT MODULE CAMERA These are the steps of the acquisition of a 3D point cloud Gocator 3110 Series 26 Front camera Step 2 Reflected light captured by two cameras Back camera LI LI 3D point cloud Step 3 Use stereo correlation or independent triangulation to generate 3D point cloud Gocator 3110 Series Theory of Operation 3D Acquisition 27 Stereo Correlation vs Independent Triangulation Stereo correlation means that the sensor locates the same point on the physical target in the two images captured at different viewing angles Since the exact distance between the two cameras and the viewing angles are known the distance to the point can be calculated In order for stereo correlation to work and produce a 3D data point the point on the target must be visible in both cameras Stereo acquisition may produce more stable measurements on targets with a simple shape but will suffer from occlusions on targets with complicated shape and protruding features Independent triangulation means that each camera independently triangulates off the LED light pattern based on the calibration process that takes place when the sensor is manufactured Since the Gocator 3100 sensor has two cameras a point on the physical target only needs to be visible to one of the cameras in order to generate a 3D point Independent triangulation may im
184. ment a Gocator Ul Digital 1 Trigger condition and pulse width Information Data Digital 2 The Gocator Protocol uses TCP messages to command the Send Name Id Lil Trigger condition and pulse width sensor and to transmit data and measurement results to a Surfaces i client computer The user selects which measurements and To NJ Analog what type of scan data to send Video 3D Intensity 3D data p Trigger condition and current scaling can be in the form of Ranges Profiles or Surfaces depending Surface Intensities Serial on Gocator series _ Top Protocol and measurement selection All of the tasks that can be accomplished via the Gocator s web interface can be accomplished programmatically by Will Surface Bounding Box X 0 sending and receiving Gocator Protocol control commands Surface Ellipse Major 2 Surface Hole Radius 10 Surface Opening Length 11 Surface Plane X Angle 5 Surface Position X 6 m Surface Stud Radius 13 m Surface Volume Volume 8 Script Output 0 9 To receive commands and send results using Gocator Protocol messages 1 Goto the Output page 2 Click on the Ethernet category in the Output panel 3 Select Gocator as the protocol in the Protocol drop down 4 Check the video data intensity or measurement items to send D Measurements shown here correspond to measurements that have been added using the Measure page see page 80 Gocator 3110 Series Gocator Web Interface Output 126 All of the t
185. minal surface plane When the Reference Regions option is disabled the tool measures the hole s Z position using all the data in the measurement region except for a bounding rectangular region around the hole Tilt Correction Tilt of the target with respect to the alignment plane When this option is set to Autoset the tool automatically detects the tilt Otherwise the user must enter the angles manually Autoset requires the measurement region to cover more areas on the surface plane than other planes The results from the Plane X and Y tool can be used for angles X and Y parameters Partial Detection Enable if only part of the hole is within the measurement region If disabled the hole must be completely in the region of interest for results to be valid Gocator 3110 Series Gocator Web Interface Measurement e 100 Description Parameter Decision See Decisions page 86 Region See Regions page 85 Output See Filters page 88 Measurement Region The center of the hole must be inside the measurement region even if the Partial Detection option is enabled Measurement Region Measurement Region Hole Hole Gocator 3110 Series Gocator Web Interface Measurements 101 Opening The Opening tool locates rounded rectangular and rounded corner openings The opening can beon a surface at an angle to the sensor The tool uses a complex feature locating algorithm to find a hold and then return measurements See Ope
186. more information 5 Save the job in the Toolbar by clicking the Save button E The following sections describe the settings that are configured in the Sensor panel on the Scan page When this option is enabled default each camera independently triangulates off the LED light pattern which may improve performance on targets with complicated shapes that can cause occlusions When this option is disabled 3D data is acquired through stereo correlation between the two cameras meaning that a point on the target must be visible in both cameras to produce a 3D data point Stereo acquisition may produce more stable measurements on simple targets without occlusions Gocator 3110 Series Gocator Web Interface Scan Setup and Alignment 57 Sensor Reduce Occlusion mi To enable or disable the reduce occlusion option 1 Go to the Scan page 2 Choose Surface mode in the Scan Mode panel If this mode is not selected the Sensor panel will not be displayed 3 Expand the Sensor panel by clicking on the panel header 4 Checkor uncheck the Reduce Occlusion checkbox 5 Save the job in the Toolbar by clicking the Save button B Active area refers to the region within the sensor s maximum field of view that is used for 3D 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 Reduce Occlusion 50 000 20 000 10 0
187. more information 5 Set the parameter values See the table above for more information 6 Save the job in the Toolbar by clicking the Save button 7 Check that the transformation settings are applied correctly after 3D acquisition is restarted Gocator 3110 Series Gocator Web Interface Scan Setup and Alignment 60 Exposure determines the duration of camera and light on time Longer exposures can be helpful to detect light patterns on dark or distant surfaces but increasing exposure time decreases the maximum speed Different target surfaces may require different exposures for optimal results Gocator sensors provide two exposure modes for the flexibility needed to scan different types of target surfaces Exposure Mode Description Single Uses a single exposure for all objects Used when the surface is uniform and is the same for all targets Multiple Uses multiple exposures to create a single profile Used when the target surface has a varying reflectance within a single profile e g white and black Video mode lets you see how the reflected light pattern appears on the camera and identify any stray light or ambient light problems When exposure is tuned correctly the light pattern should be clearly visible along the entire length of the viewer If it is too dim increase the exposure value if it is too bright decrease exposure value Under exposure Light pattern is not fully detected Increase the exposure value
188. ms Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x2 Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x2 status 32s 6 Reply status length 32u 10 Length of the log bytes log length char 14 Log content Data Results A client can receive data messages from a Gocator sensor by connecting to the Data or Health TCP channels Result Channels Channel Port Description Data 3196 Sensor sends data messages Health 3194 Sensor sends health messages The ports above can be connected simultaneously and the sensor will also accept multiple connections on each port Gocator 3110 Series Protocols Gocator Protocol 193 Messages that are received on the Data and Health channels use a common structure called Gocator Data Protocol GDP Each GDP message consists of a 6 byte header followed by a variable length message specific content section The structure of the GDP message is defined below Gocator Data Protocol Field size control Type 32U 16u Offset 0 4 Description Count of bytes in message including this field Bit 15 Last message flag Bits 0 14 Message type identifier GDP messages are always sent in groups The last message flag in the control field is used to indicate the final message within a group If there is only one message per group t
189. n be loaded and set as default independently For example Job1 could be loaded while Job2 is set as the default Default jobs load automatically when a sensor is power cycled or reset Jobs List Job loaded Job default Unsaved jobs are indicated by unsaved Gocator 3110 Series Gocator Web Interface System Management and Maintenance 45 Jobs List Job1 Job2 loaded default unsaved To download load or delete a job or to set one as a default or clear a default 1 Go to the Manage page and click on the Jobs category 2 Select a job in the Jobs list 3 Click on the appropriate button for the operation To save a job 1 Go to the Manage page and click on the Jobs category 2 Provide a name in the Job Name field To save an existing job under a different name click on it in the Jobs list and then modify it in the Job Name field 3 Click on the Save button or press Enter Saving a job automatically sets it as the default that is the job loaded when then sensor is restarted Gocator sensors can be secured with passwords to prevent unauthorized access Each sensor has two accounts Administrator and Technician Gocator 3110 Series Gocator Web Interface System Management and Maintenance 46 c Manage Motion and Alignment Encoder resolution and travel speed Jobs Technician Download upload and set default Maintenance Upgrade backup restore reset Gocator Account Types Accoun
190. n of travel Y axis or by gated external input Gap in Y direction Direction of travel 4 9 Gap in X direction The following settings can be tuned to improve the accuracy and reliability of part detection Gocator 3110 Series Gocator Web Interface e Scan Setup and Alignment 68 Setting Height Threshold Threshold Direction Gap Width Gap Length Padding Width Padding Length Gocator 3110 Series Part Detection Enabled Height Threshold Threshold Direction Above Gap Width Gap Length Padding Width Padding Length Min Area Max Part Length Frame Of Reference Sensor MI Edge Filtering Description Determines the profile height threshold for part detection The setting for Threshold Direction determines if parts should be detected above or below the threshold Above is typically used to prevent the belt surface from being detected as a part when scanning objects on a conveyor In an Opposite layout the threshold is applied to the difference between the top and the bottom profile A target thinner than the threshold value is ignored including places where only one of either top or bottom is detected To separate parts by gated external input set the Height Threshold to the active area Z offset i e minimum Z position of the current active area set Source to Time or Encoder and check the Gate Using External Input checkbox in
191. nabled message will be displayed 2 Click the Upload button 3 Select the directory and the file name to upload from the client computer and click on OK Recorded data can be exported using the CSV format Job1 default E S240 E Range data as CSV To export recorded data to CSV 1 Toggle Replay mode on by setting the slider to the right in the Toolbar The slider s background will turn blue and a Replay Mode Enabled message will be displayed Gocator 3110 Series Gocator Web Interface User Interface Overview 38 2 Click the Export button and select Export Range Data as CSV Only data at the current replay location is exported Use the playback control buttons to move to a different replay location see To replay recorded data in Recording Playback and Measurement Simulation on page 36 for more information on playback 3 Optionally convert exported data to another format using the CSV Converter Tool on page 231 Recorded intensity data can be exported to a bitmap BMP format Acquire Intensity must be checked in the Scan Mode panel while data was being recorded in order to export intensity data Job1 default E teme E Range data as CSV 4 intensity data as BMP To export recorded intensity data to BMP 1 Toggle Replay mode on by setting the slider to the right in the Toolbar The slider s background will turn blue and a Replay Mode Enabled message will be displayed 2 Click the Export
192. ng the Gocator Power LAN to Master cordset Connect power RJ45 end of the cordset to the Master Power port The Ethernet RJ45 end of the cordset can be connected directly to the Ethernet switch or connect to the Master Ethernet port If the Master Ethernet port is used connect the Master Host port to the Ethernet switch with a CAT5e Ethernet cable To use encoder and digital output wire the Master s Gocator Sensor I O port to the Gocator IO connector using the Gocator I O cordset Sensor l O Port Pins Gocator I O Pin Master Pin Conductor Color Encoder A 1 White Brown amp Black Encoder A 2 Brown Black Encoder Z 3 White Green amp Black Encoder Z 4 Green Black Trigger in 5 Grey Trigger in 6 Pink Out 1 7 Blue Out 14 8 Red Encoder B 14 Black Encoder B 12 Violet The rest of the wires in the Gocator I O cordset are not used Gocator 3110 Series Specifications Master 100 245 Encoder Output Port Pins Function Pin Output_1 Digital Output 0 Output_1 Digital Output 0 Encoder_Z Encoder Z Encoder A Encoder A Encoder B Encoder B oO oOo N DL WH As W N Encoder_GND e Encoder 5V Master 100 Dimensions C pa C pa C pa q q pa C pa C pa C pa q M Gocator 3110 Series Specifications Master 100 246 Master 400 800 The Master 400 800 provides sensor power and safety interlock and broadcasts system wide synchronization information i e time
193. ning Algorithm in the Gocator Measurement Tool Technical Manual for a detailed explanation of the algorithm The behavior of the algorithm can be adjusted by changing the parameters in the measurement panel The measurement value can be compared with minimum and maximum constraints to yield a decision See Adding and Removing Tools page 81 for instructions on adding measurements You can select the measurement region in which the opening is expected to appear The algorithm can separate out background information that appears inside the opening It can also detect a slot that only partially appears in the data The shape of the opening is defined by its type and its nominal width length and radius The orientation defines the rotation around the normal of the alignment plane Gocator 3110 Series UN Rounded Slot Rounded Corner Slot Rectangular Slot A Rounded Slot Rectangle Opening Opening Width Opening Orientation Opening Width Opening orientation Opening Length Gocator Web Interface Measurement 102 3D View 2D View Gocator 3110 Series Gocator Web Interface Measurement 103 Length Angle Gocator 3110 Series Gocator Web Interface Measurement 104 Parameter Bs Anchoring MI Reference Region Auto Set Tilt Correction Auto Set o O 7 o 0 Length 51 306 Angle g Id 11 Fi
194. nment Child Elements Element InputTriggerEnabled Enables digital input triggered alignment operation Type Type options StationaryTarget StationaryTarget options MovingTarget MovingTarget options EncoderCalibrateEnabled Disk Bar Plate Disk Disk Child Elements Element Diameter Disk diameter mm Height Bar Bar Child Elements Element Width Height Gocator 3110 Series Type Bool 32s 32s CSV 32s 32s CSV 32s 32s CSV Bool Section Section Section Type 64f 64f Type 64f 64f Description Type of alignment operation 0 Stationary 1 Moving List of available alignment types Stationary alignment target 0 None 1 Disk 2 Bar 3 Plate List of available stationary alignment targets Moving alignment target 0 None 1 Disk 2 Bar 3 Plate List of available moving alignment targets Enables encoder resolution calibration See Disk below See Bar below See Plate next page Description Disk height mm Description Bar width mm Bar height mm Gocator Device Files Job Files 141 Element HoleCount HoleDistance HoleDiameter Plate Plate Child Elements Element Height HoleCount RefHoleDiameter SecHoleDiameter Devices Device Type 32U 64f 64f Type 64f 32U 64f 64f Devices Device Child Elements Element role DataSource ActiveArea TransformedDataRegion Fr
195. nt Global Y measurement X measurement Y measurement Z measurement Gocator Device Files Job Files 148 Element MeasurementsWidth Measurements Height MeasurementsVZAngle BoundingBoxMeasurement Element id attribute Name Enabled HoldEnabled SmoothingEnabled SmoothingWindow Scale Offset DecisionMin DecisionMax SurfaceEllipse Type BoundingBoxMeasure ment BoundingBoxMeasure ment BoundingBoxMeasure ment Type 32s String Boolean Boolean Boolean 32S 64f 64f 64f 64f Description Width measurement Height measurement ZAngle measurement Description Measurement ID Optional measurement disabled if not set Measurement name Measurement enable state 0 Disable 1 Enable Output hold enable state 0 Disable 1 Enable Smoothing enable state 0 Disable 1 Enable Smoothing window Output scaling factor Output offset factor Minimum decision threshold Maximum decision threshold A SurfaceEllipse element defines settings for a surface ellipse tool and one or more of its measurements SurfaceEllipse Child Elements Element Name Source Anchor WX Anchor X options Anchor Y Anchor Y options Anchor Z Gocator 3110 Series Type String 325 String CSV String CSV String CSV String CSV String CSV Description Setting for measurement name Setting for profile source The X measurements IDs used for anchoring Th
196. nt Kit The Gocator Software Development Kit SDK includes open source software libraries and documentation that can be used to programmatically access and control Gocator sensors The latest version of the SDK can be downloaded from the downloads section under the support tab on the LMI Technologies website http www lmi3D com The Gocator API included in the SDK is a C language library that provides support for the commands and data formats used with Gocator sensors A pre built DLL is provided to support 32 bit Windows XP SP3 and 32 bit Windows 7 Pre built static and dynamic DLLs are provided to support 64 bit Windows 7 Projects and makefiles are included to support other editions of Windows and Linux Example Configuring and starting a sensor with the Gocator API include lt GoSdk GoSdk h gt void main kIpAddress ipAddress GoSystem system kNULL GoSensor sensor KNULL GoSetup setup kNULL Construct the GoSdk library GoSdk Construct amp api Construct a Gocator system object GoSystem Construct amp system kNULL Parse IP address into address data structure kIpAddress Parse amp ipAddress SENSOR IP Obtain GoSensor object by sensor IP address GoSystem FindSensorByIpAddress system amp ipAddress amp sensor Connect sensor object GoObensor Connect sensor Retrieve setup handle setup GoSensor Setup sensor Reconfigure system to use time based triggering GoSet
197. nt States iii 65 Alignment TYPES 22 cemeterio 65 Aligning Sensors ccicceeveadidcassedec cane 66 3 Clearing Alignment 67 Output Page Overview ou sedes edades 125 Part Detection LLil illl Llllln 68 Eteriet Ut scsi leali 126 Edge Filtering ccc eestuccecedeavsegadasesces 70 Di ital OUDOT esserle mb Ei 130 Data Viewer lll lll ee eee 72 Analog Output colorare ena vite emer 132 Data Viewer Controls 72 Serial QUtPU ERROR 134 Video Mode Leceees 29 DOSHDOSEE psicanalisi accendo 136 EXDOSUFe VIEW 2 5 02 osse QUR EE EE qe Dashboard Page Overview 136 Surface Mode _ 75 System Panel occiccecentevadeoutsceccmeceads 136 Region Definition 2 ccuuxietahetecebdaeue cau 27 WMEASUPEIMENIS RR AAA 137 Height Map Color Scale 78 Gocator Device Files 139 Intensity OUTPUT 324 2 coac cc ouwadecen ceases 79 WOO HIG sooo eee a tee eeene ee eseue 139 Measurement eee ee eee eee eee 80 Configuration uro oL Scu serate 139 Measure Page Overview cooslelelseci wstewss 80 v1 CC 139 Data Viewer 2 cllc el erre 81 ED 140 olonese ste emit dried derit S uer 81 ADU D Em 141 Measurement Tool Management 81 DIS EHRH 141 Adding and Removing Tools
198. nts Elements Supported Control Operators if while do for switch and return Data Types char int unsigned int float double long long 64 bit integer Arithmetic and Logical Standard C arithmetic operators except ternary operator i e condition trueValue Operator falseValue Explicit casting e g int a int a_float is not supported Function Declarations Standard C function declarations with argument passed by values Pointers are not supported Measurement Functions Function Description int Measurement Exists int id Tests for the existence of a measurement by ID Parameters id Measurement ID Gocator 3110 Series Gocator Web Interface Measurement 120 Function int Measurement Valid int id double Measurement Value int id int Measurement Decision int id int Measurement NameExists char toolName char measurementName int Measurement Id char toolName char Description Returns O measurement does not exist 1 measurement exists Determines if a measurement value is valid by its ID Parameters id Measurement ID Returns 0 Measurement is invalid 1 Measurement is valid Gets the value of a measurement by its ID Parameters id Measurement ID Returns Value of the measurement 0 if measurement does not exist 1 if measurement exists Gets the decision of a measurement by its ID Parameters ID Measurement ID Returns Decision of the measurement
199. o be returned to LMI Technologies Inc The shipper is responsible for covering all duties and freight for returning the sensor to LMI It is at LMI s discretion to repair or replace sensors that are returned for warranty work LMI Technologies Inc warranty covers parts labor and return shipping charges If the warranty stickers on the sensors are removed or appear to be tampered with LMI will void the warranty of the sensor Return Policy Before returning the product for repair warranty or non warranty a Return Material Authorization RMA number must be obtained from LMI Please call LMI to obtain this R MA number 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 For non warranty repairs a purchase order for the repair charges must accompany the returning sensor LMI Technologies Inc is not responsible for damages to a sensor that are the result of improper packaging or damage during transit by the courier Gocator 3110 Series 254 Software Licenses Pico C Website http code google com p picoc License picoc is publi
200. o deal in the Software without restriction including without limitation the rights to use copy modify merge publish distribute sublicense and or sell 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 IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM DAMAGES OR OTHER LIABILITY WHETHER IN AN ACTION OF CONTRACT TORT OR OTHERWISE ARISING FROM OUT OF ORIN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE Closure Library Website http code google com closure library index html License Gocator 3110 Series Software Licenses 257 Copyright 2006 The Closure Library Authors All Rights Reserved Licensed under the Apache License Version 2 0 the License you may not use this file except in compliance with the License You may obtain a copy of the License at http www apache org licenses LI CENSE 2 0 Unless required by applicable law or agreed to in writing software distributed under the License is distributed on an AS IS BASIS WITHOUT WARRANTIES OR CONDITIONS OF ANY KIN
201. o start sensors enable recording and control recorded data 4 Replay switch Toggles the sensor data source between live and replay Saving and Loading Settings When you change sensor settings using the Gocator web interface some changes are saved automatically while other changes are temporary until you save them manually The following table lists the types of information that can be saved in a sensor Gocator 3110 Series Gocator Web Interface User Interface Overview 34 Setting Type Behavior Network Address Network address changes are saved when you dick the Save button in Networking on the Manage page The sensor must be reset before changes take effect Job Most of the settings that can be changed in the Gocator s web interface such as the ones in the Manage Measure and Output pages are temporary until saved in a job file Each sensor can have multiple job files If there is a job file that is designated as the default it will be loaded automatically when the sensor is reset Alignment Alignment can either be fixed or dynamic as controlled by the Alignment Reference setting in Motion and Alignment in the Manage page Alignment is saved automatically at the end of the alignment procedure when Alignment Reference is set to Fixed When Alignment Reference is set to Dynamic however you must manually save the job to save alignment The job drop down list shows the list of jobs stored in the sensor The job that is currently ac
202. oard and in the health messages Specify a delay The delay specifies the time or spatial location between the start of sensor exposure and when the output becomes active The delay should be larger than the time needed to process the data inside the sensor It should be set to a value that is larger than the processing latency reported in the dashboard or in the health messages The unit of the delay is configured with the Delay Domain setting To output a measurement valid signal 1 Go to the Output page Click on Digital 1 or Digital 2 in the Output panel Set Trigger Event to Measurement In Configuration set Assert On to Always Select the measurements The output activates when the selected decisions produce results The output activates only once for each frame even if multiple decision sources are selected Specify a pulse width using the slider The pulse width determines the duration of the digital output pulse in microseconds Gocator 3110 Series Gocator Web Interface Output 131 To respond to software scheduled commands 1 Goto the Output page 2 Click on Digital 1 or Digital 2 in the Output panel 3 Set Trigger Event to Software 4 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 If the signal is pulsed user specifies the pulse width and the delay
203. ocator sensor can be configured to use DHCP or assigned a Static IP address 3 Click on the Save button You will be prompted to confirm your selection Motion and Alignment The Motion and Alignment category on the Manage page lets you configure alignment reference encoder resolution and travel speed Gocator 3110 Series Gocator Web Interface System Management and Maintenance 43 G Manage lt s Sensor System Alignment Layout and Buddy assignment Networking IP address settings Encoder Motion and Alignment e E OaE a Ree Resolution Jobs Encoder Value Download upload and set default Encoder Frequency ti Security Admin and Technician passwords Speed Maintenance Upgrade backup restore reset Travel Speed Alignment Reference 1 mm tick 100 mm s The Alignment Reference setting can have one of two values Fixed or Dynamic Alignment Alignment Reference Setting Description ai be Fixed A single global alignment is used for all jobs This is typically used when the sensor mounting is constant over time and between scans for example when the sensor is mounted in a permanent position over a conveyor belt Dynamic A separate alignment is used for each job This is typically used when the sensor s position relative to the object scanned is always changing e g when the sensor is mounted on a robot arm moving to different scanning locations To configure alignment refer
204. on Grounding Gocator Gocators should be grounded to the earth chassis through their housings and through the grounding shield of the Power I O cordset Gocator sensors have been designed to provide adequate grounding through the use of M5 x 0 8 pitch mounting screws Always check grounding with a multi meter to ensure electrical continuity between the mounting frame and the Gocator s connectors D The frame or electrical cabinet that the Gocator is mounted to must be connected to earth ground Recommended Grounding Practices Cordsets If you need to minimize interference with other equipment you can ground the Power amp Ethernet or the Power amp 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 CORDSET POWER amp ETHERNET Xm CORDSET GOCATOR POWER amp ETHERNET TO MASTER Xm Attach the 360 degree clamp before the split Gocator 3110 Series Getting Started Installation 16 To terminate the cordset s shield 1 Expose the cordset s braided shield by cutting the plastic jacket before the point where the cordset splits 2 Install a 360 degree ground clamp Grounding Master 400 800 1200 2400 The mounting brackets of all Masters have been designed to provide adequate grounding through the use of star washers Always check grounding with a multi meter by ensur
205. one 31 Acquisition Speed secc iui stu Ee Es eU E 31 Gocator Web Interface 33 Gocator 3110 Series User Interface Overview 2222222 ccecee sense 33 Common ELEMENTS Lus ec dete csscatese de botes 34 joo MPPE 34 Saving and Loading Settings 34 Managing Multiple Settings 35 Recording Playback and Measurement signi S 36 Downloading Exporting and Uploading Recorded Data a i cu eee kendeeeddeweced 38 Po MITTERET 39 MECS cq 40 Rc Wee 40 System Management and Maintenance 41 Vianage Page QVEIVIGW xL eoswedotessesen used 41 Sensor SYSTE RCM 42 Sensor Autostart 42 MOTION oe eke e ERES 42 Motion and Alignment 43 Alignment Reference 2 22 22 44 JCPS alati iaia nei 44 51 1115 RR RE OI 46 MAENAN E uil rnane 48 Sensor Backups and Factory Reset 48 Firmware Upgrade cicer 50 Scan Setup and Alignment ssaa 51 Scan Page Overview ccnl 51 Scan WOGGS ELTE 52 ssp PH SZ Trigger Examples He 55 THIS Ser SOLEIFIBS annata 56 saco Mem SI Reduce OCCIUSIOB iii 57 Active Afed MERECE 58 Transtormations 2 2 cocuierre bu Dsedomes 59 EXPOSTO aloe orione 61 Single EXDOSUTB sccucconccidcsecceanecoues 61 M uluple EXDOSHIG scissa nie ssidanto 63 SUGGS E 64 Spacing Interval abeciccve ec taeda Rhe 64 nui nNnN 65 Alignme
206. onized with the system clock this value can be used for diagnostic purposes or used to synchronize the start time of the system Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x1004 Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x100A status 325 6 Reply status timestamp 64u Timestamp in clock ticks Get Encoder This command retrieves the current system encoder value Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier 0x100C Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x100C Status 32s 6 Reply status encoder 64s 10 Current encoder position in ticks Reset Encoder The Reset Encoder command is used to reset the current encoder value Gocator 3110 Series Protocols Gocator Protocol 178 Type 32u 16u Offset Description Command size including this field in bytes Command identifier Ox101E Description Reply size including this field in bytes Reply identifier 0x101E Reply status The Start command starts the sensor system system enters the Running state Command Field length id reserved Type 32U 16u 64s Type 32U 16u 32s Offset 0 4 Offset 0 4 6 D
207. ontCamera BackCamera ExposureMode ExposureMode options Exposure Exposure min Exposure max DynamicExposureMin DynamicExposureMax ExposureSteps ExposureSteps countMin ExposureSteps countMax IntensityStepIndex Gocator 3110 Series Type 325 32s Region3D Region3D Window Window 32s 32s CSV 64f 64f 64f 64f 64f 64f CSV 32U 32U 32U Description Number of holes Distance between holes mm Diameter of holes mm Description Plate height mm Number of holes Diameter of reference hole mm Diameter of secondary hole s mm Description Sensor role 0 Main Data source of device output read only 0 Top Active area Active area after transformation read only Front camera window read only Back camera window read only Exposure mode 0 Single exposure 1 Multiple exposures List of available exposure modes Single exposure us Minimum exposure us Maximum exposure ps Dynamic exposure range minimum ps Dynamic exposure range maximum ps Mutiple exposure list Lis Minimum number of exposure steps Maximum number of exposure steps Index of exposure step to use for intensity when using multiple Gocator Device Files Job Files 142 Element XSubsampling XSubsampling options ZSubsampling ZSubsampling options SpacinglInterval SpacingInterval min SpacingInterval max SpacingInterval used SpacingIntervalType SpacingIntervalType used
208. op M16 CONNECTOR M16 CONNECTOR 14 PIN FEMALE 14 PIN FEMALE The maximum cordset length is 60 m See Gocator 3100 I O Connector page 241 and See Gocator 3100 Power LAN Connector page 239 for pinout details See Parts and Accessories page 253 for cordset lengths and part numbers Contact LMI for information on creating cordsets with customized lengths and connector orientations Master 100 The Master 100 is used by the Gocator 3100 series for standalone system setup Item Master Ethernet Port Master Power Port Sensor I O Port Master Host Port Power Power Switch Laser Safety Switch Gocator 3110 Series Master Master Ethernet Port ETHERNET VY al 0X0 zu m Master Host Port J Pin 1 Encoder Output Port Description Connects to the RJ45 connector labeled Ethernet on the Power LAN to Master cordset Connects to the RJ45 connector labeled Power Sync on the Power LAN to Master cordset Provides power and laser safety to the Gocator Connects to the Gocator I O cordset Connects to the host PC s Ethernet port Accepts power 48 V Toggles sensor power Toggles laser safety signal provided to the sensors O laser off l laser on Getting Started Hardware Overview 13 Item Description Trigger Signals a digital input trigger to the Gocator Encoder Accepts encoder A B and Z signals Digital Output Provides digital output See Master 100 page 245 for pinout details Ma
209. op of the surface that will be ignored when the truncated cone is fit to the stud data The distance from the tip of the stud from which the radius is measured The algorithm uses reference regions to calculate the base plane of the stud Gocator Web Interface e Measurement 116 Parameter Description Reference regions are relative to the base of the stud Tilt Correction Tilt of the target with respect to the alignment plane Set to Auto Set to have the tool automatically detect the tilt or enter the angles manually Auto Set requires the measurement region to cover more areas on the surface plane than other planes The results from the Plane X and Y tool can be used for angles X and Y parameters Decision See Decisions page 86 Region See Regions page 85 Output See Filters page 88 Measurement Region The tip and the side of the stud must be within the measurement region Volume The Volume tool determines the volume area and thickness of a part The measurement value can be compared with minimum and maximum constraints to yield a decision See Adding and Removing Tools page 81 for instructions on adding measurements 2D View 3D View Gocator 3110 Series Gocator Web Interface Measurement e 117 mEesME Anchoring Source Top Region wy x 14 196 mm Y 6 121 mm z 21 471 mm Width 11 847 mm Length 20 693 mm Height 14 326 mm id 8
210. page For information on the settings used with each trigger source see page 56 Gocator 3110 Series Gocator Web Interface Scan Setup and Alignment 54 Example External Input Conveyor External input triggering can be used to produce a snapshot for 3D measurement For example a photocell can be connected as an external input to generate a trigger pulse when a target object has moved into position An external input can also be used to gate the trigger signals when time or encoder triggering is used For example a photocell could generate a series of trigger pulses as long as there is a target in position Example Software Trigger Robot Arm Software triggering can be used to produce a snapshot for 3D measurement A software trigger can be used in systems that use external software to control the activities of system components Gocator 3110 Series Gocator Web Interface Scan Setup and Alignment 55 Trigger Settings The trigger source is selected using the Trigger panel in the Scan page Frame Rate its us Time Max Speed Hz ina DER Bl Gate on External Input T 0 us ps Time Bl Gate on External Input After specifying a trigger source the Trigger panel shows the parameters that can be configured Parameter Trigger Source Description Source All Selects the trigger source Time External Input or Software Frame Rate Time Controls the frame rate Select Max
211. perate a sensor EtherNet IP only supports a subset of the tasks that can be accomplished in the web interface A sensor can only process EtherNet IP commands when the EtherNet IP is selected in the Protocol option 4 Checkthe Buffering checkbox if needed Output Ethernet Protocol EtherNet IP Protocol and measurement selectio Digital 1 Configuration Map ui Trigger condition and pulse width BB Buffering Nas Register Type Ul x d d pul dth The EtherNet IP Explicit Messaging over TCP Protocol can be Command m used to operate a sensor from a PLC Ladder logic must be Command 0 8 bit J Analog created on the PLC to actively poll for measurement results Arguments 1 TE Trigger condition and current scaling from the sensor EtherNet IP only supports a subset of the ES tasks that can be accomplished in the web interface Start State cy ui land Stop Align and Switch Job and only measurement results Running 0 8 bit rotocol and measurement selection Can be transmitted to the PLC EIP Command in Progress 1 8 bit Buffering should be enabled when part detection is used and Calibration State 2 8 bit if multiple objects may be detected within a time frame Encoder Position 3 64 bit shorter than the polling rate of the PLC Time 11 64 bit Configuration Name Length 19 8 bit Configuration Name 20 var Stamp Inputs 0 16 bit Z Encoder 2 64 bit Exposure 10 32 bit Temperature 14 32 bit E ED at
212. posure to when rich IO scheduling occurs Valid only if rich IO is enabled Reset on start Number of bytes transmitted The average number of bytes per second being transmitted Number of dropped Ethernet packets Number of pass digital output pulse Number of fail digital output pulse Number of dropped triggers The sum of various triggering related drop indicators Number of dropped output data The sum of all output drops analog digital serial host server and ASCII server The number of bytes dropped by the host data server Not currently emitted The number of bytes dropped by the ASCII Ethernet data server Not currently emitted Number of valid ranges Number of invalid ranges Number of frames with anchoring invalid The number of dropped surfaces due to a lack of z encoder pulse during rotational part detection Protocols Gocator Protocol 200 Indicator Value Pass Fail Max Min Average Std Dev Invalid Count Id 30000 30001 30002 30003 30004 30005 30006 30007 Instance Measurement ID Measurement ID Measurement ID Measurement ID Measurement ID Measurement ID Measurement ID Measurement ID Value Measurement Value Number of pass decision Number of fail decision Maximum measurement value Minimum measurement value Average measurement value Measurement value standard deviation Number of invalid values Additional undocumented indicator values may be inclu
213. prove performance on targets with complicated shapes that can cause occlusion but relies on the sensor s internal components being fully stable The Reduce Occlusion setting determines whether 3D data is acquired by using stereo correlation or independent triangulation See Scan Modes page 52 for more details Gocator 3110 Series Theory of Operation 3D Acquisition 28 3D Data Output Gocator measures the shape of the object calculated from either dual triangulation or stereo correlation The Gocator reports a series of 3D coordinates from the surface of the target in the sensor s field of view Coordinate Systems Gocator 3100 sensors use Cartesian left hand notation for defining 3D coordinates Angle Yak The Z axis represents the sensor s measurement range MR where the values increase toward the sensor The X axis and Y axis represent the sensor s field of view FOV X offset Y offset and Z offset define the translations from the origin Rotations are specified based on rotating the target around the X axis Angle X followed by rotating around the Y axis Angle Y followed by rotating around the Z axis 3D point cloud data is reported in sensor coordinates or system coordinates depending on the alignment state of the sensor These coordinate systems are described below Gocator 3110 Series Theory of Operation 3D Data Output 29 Sensor Coordinates Before alignment the origin of the sensor is at the cen
214. rdinates ALIGNED Stationary Flat Surface Clear Alignment Gocator 3110 Series Gocator Web Interface Scan Setup and Alignment 67 To clear alignment 1 Go to the Scan page 2 Choose Surface mode in the Scan Mode panel If this mode is not selected the Alignment panel will not be displayed 3 Expand the Alignment panel by clicking on the panel header or the button 4 Click the Clear Alignment button The alignment will be erased and sensors will revert to using sensor coordinates Part Detection In Surface mode the Gocator sensor can analyze the 3D point cloud created from profiles to identify discrete objects Surface measurements can then be performed on each discrete object Part detection is configured using the Part Detection panel on the Scan page Part detection must be manually enabled when Type is set to Fixed Length Variable Length or Rotational in the Surface Generation panel When Type is set to Continuous part detection is automatically enabled Part detection can be performed when Source in the Trigger panel is set to Time or Encoder To use the Time trigger source the travel soeed must be calibrated To use the Encoder trigger source the encoder resolution must be calibrated See Aligning Sensors page 66 for more information Multiple parts can pass through the laser at the same time and will be individually tracked Parts can be separated along the laser line X axis in the directio
215. rement will occur See the individual tools for details on the best way to use this parameter with each tool The parameter can be configured graphically using the mouse in the data viewer when the Measure page is active Some measurements use more than one region Gocator 3110 Series Gocator Web Interface Measurement 85 Region 3 A 54 122 mm i 36 593 mm Width 109 67 mm Height 109 67 mm This parameter is also referred to as a measurement region To configure regions 1 Go to the Scan page by clicking on the Scan icon 2 Choose Surface mode in the Scan Mode panel If this mode is not selected tools will not be available in the Measure panel 3 Goto the Measure page by clicking on the Measure icon 4 n the Tools panel click on a tool in the tool list 5 Expand the region area by clicking on the expand button Some region settings are found within other settings in this area 6 Configure the region using the fields You can also configure the region graphically using the mouse in the data viewer Decisions Results from a measurement can be compared against minimum and maximum thresholds to generate pass fail decisions The decision state is pass if a measurement value is between the minimum and maximum threshold In the user interface these values are displayed in green Otherwise the decision state is fail In the user interface these values are displayed in red Gocator 3110 Series Gocator Web
216. roups The last message flag in the control field is used to indicate the final message within a group If there is only one message per group this bit will be set in each message A Health Result contains a single data block for health indicators Each indicator reports the current status of some aspect of the sensor system such as CPU usage or network throughput Health Result Header Field Type Offset Description size 32u 0 Count of bytes in message including this field control 16u 4 Bit 15 Last message flag Bits 0 14 Message type identifier count C 32U 6 Count of indicators in this message source 8u 10 Source 0 Main 1 Buddy reserved 3 8u 13 Reserved indicators C Indicator 16 Array of indicators see format below The health 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 id 64s 0 Unique indicator identifier see below instance 64s 4 Indicator instance value 64s 8 Value identifier specific meaning Gocator 3110 Series Protocols Gocator Protocol 198 The following health indicators are defined for Gocator sensor systems Health Indicators Indicator Encoder Value Encoder Frequency App Version Uptime Internal Temperature Projector Temperature Control Temperature Memory Usage Memory Capacity Storage Usage Storage Capacity CPU Usage Net Out Capacity Net Out Link Sta
217. s id 64s Reply identifier status 64s Reply status majorVersion 64s Major version minorVersion 64s Minor version Start Upgrade The Start Upgrade command begins a firmware upgrade for the Main sensor All sensors will automatically reset 3 seconds after the upgrade process is complete Command Field Type Offset Description length 64s 0 Command size in bytes id 64s 4 Command identifier 0x0000 skipValidation byte 6 Whether or not to skip validation 0 do not skip 1 skip length 32u 7 Length of the upgrade package bytes data length byte 11 Upgrade package data Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x0000 status 32s 6 Reply status Get Upgrade Status The Get Upgrade Status command determines the progress of a firmware upgrade Command Field Type Offset Description length 32u 0 Command size including this field in bytes id 16u 4 Command identifier Ox1 Gocator 3110 Series Protocols Gocator Protocol 192 Reply Field Type Offset Description length 32u 0 Reply size including this field in bytes id 16u 4 Reply identifier 0x1 status 32 6 Reply status state 32s 10 Upgrade state 1 Failed 0 Completed 1 Running 2 Completed but should run again progress 32u 14 Upgrade progress valid when in the Running state The Get Upgrade Log command can retrieve an upgrade log in the event of upgrade proble
218. s X Y Z from pixel coordinates Px Py Pz The following formula assumes Py is relative to the first row of the intensity information not the first row of the whole 16 bit grey scale image X X offset Px X resolution Y Y offset Py Y resolution Z 16 bit intensity value This intensity value is O if the intensity image is not available Gocator outputs 8 bit intensity values The values stored in the 16 bit Grey scale image is multiplied by 256 To obtain the original values divide the intensity values by 256 Refer to the stamps on how to retrieve the offset and resolution values Stamp information Stamps are 64 bit auxiliary information related to the height map and intensity content The next table explains how the stamps are packed into the blue pixel channel See Data Results page 193 for an explanation of the stamp information The following table shows how the stamp information is packed into the last row A stamp is a 64 bit value packed into four consecutive 16 bit pixels with the first byte position storing the most significant byte Stamp Information from GenTL driver Stamp Index 0 1 A W N Oo O N OA Ui Gocator 3110 Series Column Position Details 0 3 Version 4 7 Frame Count 9411 1213 16 19 20 23 24 27 28 31 92 35 36 39 40 43 44 47 48 51 DA 56 59 Timestamp us Encoder value ticks Encoder index ticks This is the encoder value when the last index is triggered
219. s mm rr m 1 80 70 60 50 40 30 2D pus Surface Bounding Box 13 906 Surface Ellipse 16 243 19 381 22 519 Anchoring 25 657 Source Top ERG FA Region 1604 250 Id x Qu pui Filters Decision on 1600 mme oS i Max 1605 mme X mm Element 1 Tools panel 2 Data Viewer 3 Feature Area Gocator 3110 Series Description Used to add manage and configure tools and measurements see next page and to choose anchors see page 89 Displays surface data sets up tools and displays result calipers related to the selected measurement Parts are displayed using a height map which is a top down view of the XY plane where color represents height See Data Viewer next page Configurable region of interest from which feature points are detected These feature points are used to calculate the measurements The number of feature areas displayed depends on which measurement tool is currently selected Gocator Web Interface Measurement 80 Regions such as active area or measurement regions can be graphically set up using the data viewer in the 2D or in the 3D view When the Measure page is active the data viewer can be used to graphically configure measurement regions Measurement regions can also be configured manually in measurements by entering values into the provided fields see page 85 For instructions on how to set up measurement regions graphicall
220. send For each measurement the following message is transmitted M t i V V D d CR n n n 1 Field Shorthand Length Description MeasurementStart M 1 Start of measurement frame Type t n Hexadecimal value that identifies the type of measurement The measurement type is the same as defined elsewhere see page 193 Id n Decimal value that represents the unique identifier of the measurement ValueStart V 1 Start of measurement value This field and the following Value field are optional they will only be present if the measurement value has been selected for transmission Value A n Measurement value in decimal The unit of the value is measurement specific DecisionStart D 1 Start of measurement decision This field and the following Decision field are optional they will only be present if the measurement decision has been selected for transmission Decision d 1 Measurement decision 0 Fail 1 Pass 1 Invalid In the custom format you enter a format string with place holders to create a custom message The default format string is time value 0 decision 0 Result Placeholders Format Value Explanation time Timestamp encoder Encoder position frame Frame number value Measurement ID Measurement value of the specified measurement ID decision Measurement ID Measurement decision of the specified measurement ID Gocator 3110 Series Protocols e ASCII Protocol 215 Control Commands Optional p
221. shed under the New BSD License http www opensource org licenses bsd license php Copyright c 2009 201 1 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 Redistributions in binary form must reproduce the above copyright notice this list of conditions and the following disclaimer in the documentation and or other materials provided with the distribution Neither the name of the Zik Saleeba nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS AS IS AND ANY EXPRESS OR IMPLIED WARRANTIES INCLUDING BUT NOT LIMITED TO THEIMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT INDIRECT INCIDENTAL SPECIAL EXEMPLARY OR CONSEQUENTIAL DAMAGES INCLUDING BUT NOT LIMITED TO PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES LOSS OF USE DATA OR PROFITS OR BUSINESS INTERRUPTION HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY WHETHER IN CONTRACT STRICT LIABILITY OR TORT INCLUDING NEGLIGENCE OR OTHERWISE ARISING IN
222. sion at the specified output index To output an invalid value the constant INVALID VALUE can be used e g Output SetAt 0 INVALID VALUE 0 Parameters index Script output index value value output by the script decision decision value output by the script Can only beO or 1 Sets the output value and decision at the specified script output ID To output an invalid value the constant INVALID VALUE can be used e g Output Setld 0 INVALID VALUE 0 Parameters id Script output ID Description Stores a 64 bit signed integer in persistent memory Parameters id ID of the value value Value to store Loads a 64 bit signed integer from persistent memory Parameters id ID of the value Returns value Value stored in persistent memory Stores a 64 bit unsigned integer in the persistent memory Parameters id ID of the value value Value to store Loads a 64 bit unsigned integer from persistent memory Parameters id ID of the value Returns value Value stored in persistent memory Stores a 64 bit double into persistent memory Parameters id ID of the value value Value to store Gocator Web Interface Measurements 122 Function double Memory Get64f int id int Memory Exists int id void Memory Clear int id void Memory ClearAII Stamp Functions Function long long Stamp Frame long long Stamp Time long long Stamp Encoder long long Stamp Encoder Z
223. sor so that the active area can be defined at the near end of the measurement range Transformations The transformation settings are used to control how 3D data are converted from sensor coordinates to system coordinates Gocator 3110 Series Gocator Web Interface Scan Setup and Alignment 59 Parameter X Offset Y Offset Z Offset Angle X Angle Y Angle Z Transformation x Offset 0 046 mm Y Offset 0 202 mm zZ Offset 19 171 mm Angle X 0 603 Angle Y 0 137 Angle Z 0 001 Description Specifies the shift along the X axis With Normal orientation a positive value shifts the data to the right With Reverse orientation a positive value shifts the profile to the left Specifies the shift along the Y axis Specifies the shift along the Z axis A positive value shifts the data toward the sensor Specifies the tilt around the X axis Specifies the tilt around the Y axis Specifies the tilt around the Z axis When applying the transformations Angle is applied before the offsets the object is first rotated around X then Y and then Z To configure transformation settings 1 Go to the Scan page 2 Choose Surface mode in the Scan Mode panel If this mode is not selected you will not be able to configure the transformations 3 Expand the Sensor panel by clicking on the panel header 4 Expand the Transformations area by clicking on the expand button See the table above for
224. ster 400 800 The Master 400 and the Master 800 allow you to connect more than two sensors The Master 400 accepts four sensors and the Master 800 accepts eight sensors SENSOR PORTS 1 4 LED INDICATORS MASTER 400 FRONT a Master 1234 P q p WM 100 5 2 GA SENSOR PORTS 5 8 SENSOR PORTS 1 4 LED INDICATORS N C2 N C Master Sul WI soo to MASTER 800 FRONT O T JARNING FOR SENSOR POWER ONLY WARNING FOR SENSOR POWER ONLYI O Ey gio MASTER 400 800 REAR O POWER AND SAFETY ENCODER INPUT Item Description Sensor Ports Master connection for Gocator sensors no specific order required Ground Connection Earth ground connection point Laser Safety Laser safety connection Encoder Accepts encoder signal Input Accepts digital input See Master 400 800 page 247 for pinout details Master 1200 2400 The Master 1200 and the Master 2400 allow you to connect more than two sensors The Master 1200 accepts twelve sensors and the Master 2400 accepts twenty four sensors Gocator 3110 Series Getting Started Hardware Overview 14 SENSOR PORTS 1 12 LED INDICATORS
225. sters The data payload contains the registers that can be accessed by Modbus TCP messages If a message accesses registers that are invalid a reply with an exception is returned Modbus Application Protocol Specification defines the exceptions and describes the data payload format for each function code The Gocator data includes 16 bit 32 bit and 64 bit data All data are sent in big endian format with the 32 bit and 64 bit data spread out into two and four consecutive registers 32 bit Data Format Register Name Bit Position 0 32 bit Word 1 31 16 1 32 bit Word 0 130 64 bit Data Format Register Name Bit Position 0 64 bit Word 3 63 48 1 64 bit Word 2 47 32 2 64 bit Word 1 31 16 3 64 bit Word 0 15 20 Modbus registers are 16 bits wide and are either control registers or output registers Gocator 3110 Series Protocols e Modbus TCP Protocol 203 Control registers are used to control the sensor states e g start stop or calibrate a sensor 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 Control registers are write only and output registers are read only Register Map Overview Register Address Name Read Write Description 0122 Control Registers W
226. t id attribute Name SurfaceBoundingBox Type String String Collection Type 32s String Description Setting for measurement name Script code Dynamic list of Output elements Description Output ID Optional output disabled if set to 1 Output name A SurfaceBoundingBox element defines settings for a surface bounding box tool and one or more of its measurements SurfaceBoundingBox Child Elements Element Name Source Anchor X Anchor X options Anchor Y Anchor Y options Anchor Z Anchor Z options ZRotationEnabled RegionEnabled Region Measurements GlobalX Measurements GlobalY Measurements X Measurements Y Measurements Z Gocator 3110 Series Type String 32s String CSV String CSV String CSV String CSV String CSV String CSV Boolean Boolean Region3D BoundingBoxMeasure ment BoundingBoxMeasure ment BoundingBoxMeasure ment BoundingBoxMeasure ment BoundingBoxMeasure ment Description Setting for measurement name Setting for profile source The X measurements IDs used for anchoring The X measurements IDs available for anchoring The Y measurements IDs used for anchoring The Y measurements IDs available for anchoring The Z measurements IDs used for anchoring The Z measurements IDs available for anchoring Setting to enable disable rotation of bounding box Setting to enable disable region Measurement region Global X measureme
227. t 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 Dashboard page and to start or stop the sensor The Administrator and Technician accounts can be assigned unique passwords By default passwords are blank empty To setor change the password for the Administrator account 1 Go to the Manage page and click on the Security category 2 In the Administrator section enter the Administrator account password and password confirmation 3 Click Change Password The new password will be required the next time that an administrator logs in to the sensor To setor change the password for the Technician account 1 Go to the Manage page and click on the Security category 2 In the Technician section enter the Technician account password and password confirmation Gocator 3110 Series lt Sensor System Administrator Layout and Buddy assignment Password Networking IP address settings Confirm Password Change Password Password Security Admin and Technician passwords Confirm Password Change Password Gocator Web Interface System Management and Maintenan
228. t element contains the following sub elements Ethernet Serial Analog Digital0 and Digital1 Each of these sub elements defines the output settings for a different type of Gocator output Gocator 3110 Series Gocator Device Files Job Files e 158 For all sub elements the source identifiers used for measurement outputs correspond to the measurement identifiers defined in each tool s Measurements element For example in the following XAML in the options attribute of the Measurements element 2 and 3 are the identifiers of measurements that are enabled and available for output The value of the Measurements element that is 2 means that only the measurement with id 2 Hole X will be sent to output lt SurfaceHole gt lt Measurements gt X idz 2 Y 1d 3 gt Output Ethernet Measurements options 2 3 gt 2 lt Measurements gt Ethernet The Ethernet element defines settings for Ethernet output Ethernet Child Elements Element Protocol Ascii EIPBufferEnabled ModbusBufferEnabled Videos Videos options Surfaces Surfaces options Surfacelntensities Surfacelntensities options Measurements Measurements options Gocator 3110 Series Type 32s Section Bool Bool 32s CSV 32s CSV 32s CSV 32s CSV 32s CSV 32s CSV 32u CSV 32u CSV Description Ethernet protocol 0 Gocator 1 Modbus 2 EtherNet IP 3 ASCII See ASCII page 162 Enables Eth
229. ter of the sensor s measurement range MR and field of view FOV System Coordinates Alignment can be used to establish a transformed coordinate system according to the user s needs Alignment determines the adjustments to X Y and Z as well as rotation angle around each axis Transformed coordinate systems can be associated with specific sensor jobs For details see page 65 Target Alignment Explanation Flat surface Z offset System coordinates are aligned such that the system Z axis is Angle X perpendicular to the alignment plate surface The system Z origin is Angle Y set to the base of the alignment plate using the Z Offset parameter Plate single reference X offset The center of the hole defines the location of the X Y and Z origins hole Y offset The orientation of the surface determines Angle X and Y Z offset Angle X Angle Y Plate with two X offset The sizes of the primary and the secondary holes must be different reference holes Y offset The center of the primary hole defines the location of the X Y and Z Z offset origins The orientation of the surface determines Angle X and Y The Angle X direction of the primary and secondary holes determines Angle Z Angle Y Angle Z Gocator 3110 Series Theory of Operation 3D Data Output 30 Target Alignment Explanation Ce Resampling The internal acquisition engine in the Gocator produces a random 3D point cloud where each individual point is an X Y Z
230. the Trigger panel page 52 Determines if parts should be detected above or below the height threshold Determines the minimum separation between objects on the X axis If parts are closer than the gap interval they will be merged into a single part 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 Determines the amount of extra data on the X axis from the surface surrounding the detected part that will be included This is mostly useful when processing part data with third party software such as HexSight Halcon etc Determines the amount of extra data on the Y axis from the surface surrounding the detected part that will be included This is mostly useful when processing part data with third party software such as HexSight Halcon etc Gocator Web Interface Scan Setup and Alignment 69 Setting Min Area Max Part Length Frame of Reference Edge Filtering To setup part detection Description Determines the minimum area for a detected part Set this value to a reasonable minimum in order to filter out small objects or noise Determines the maximum length of the part object When the object exceeds the maximum length it is automatically separated into two parts This is useful to break a long object into multiple sections and perform measurements on each section Determines the coordinate reference for part measuremen
231. the parameters in the measurement panel The measurement value can be compared with minimum and maximum constraints to yield a decision See Adding and Removing Tools page 81 for instructions on adding measurements 2D View Gocator 3110 Series Sensor 3D View Gocator Web Interface Measurement 97 Measurement Panel Gocator 3110 Series Gocator Web Interface Measurement 98 Measurements Measurement Illustration X Determines the X position of the hole center Y Determines the Y position of the hole center Z Determines the Z position of the hole center Radius Determines the radius of the hole Parameters Parameter Description Nominal Radius Expected radius of the hole Radius Tolerance The maximum variation from the nominal radius from the nominal radius Reference Regions The algorithm uses the Reference Regions option to calculate the Z position of the hole It is typically used in cases where the surface around the hole is not flat Gocator 3110 Series Gocator Web Interface Measurement 99 Parameter Description Same Z level Reference Regic Detected Hole Same Z level When this option is set to Autoset the algorithm automatically determines the reference region When the option is not set to Autoset the user manually specifies the reference region The location of the reference region is relative to the detected center of the hole and positioned on the no
232. tive is listed at the top The job name will be marked with unsaved to indicate any unsaved changes new Rini Job drop down Save To save a job 1 Select a job in the job drop down list e fyou are creating a new job choose New in the job drop down list and enter a name for the job e fyouare saving changes to an existing job choose the job in the job drop down list 2 Press the Enter key or click the Save button B The job will be saved to sensor storage using the name you provided Saving a job automatically sets it as the default that is the job loaded when then sensor is restarted To activate an existing job 1 Select an existing file name in the job drop down list The job will be activated from sensor storage If there are any unsaved changes to the current job you will be asked whether you want to discard those changes Detailed management of jobs is handled in the Jobs panel in the Manage page See Jobs page 44 for more information Managing Multiple Settings A Gocator can store several hundred jobs Being able to switch between different jobs is useful when a Gocator is used with different constraints during separate production runs for example width decision Gocator 3110 Series Gocator Web Interface User Interface Overview 35 constraints might be loose during one production run and tight during another depending on the desired grade of the part Switching active jobs can be done manual
233. to synchronize to the timing at which measurement results are output In this mode the sensor outputs a digital pulse when a measurement result is ready A digital output can also act as a strobe signal to allow external devices to synchronize to the timing at which the sensor exposes In this mode the sensor outputs a digital pulse when the sensor exposes Each sensor supports two digital output channels See Digital Outputs page 242 for information on wiring digital outputs to external devices Trigger conditions and pulse width are then configured within the panel Output Ethernet Trigger Event Protocol and measurement selection Digital 1 Measurement Configuration Trigger condition and pulse width Assert On Pass Ul Digital 2 Trigger condition and pulse width Signal Pulsed TI 100 ps NJ Analog Trigger condition and current scaling MI scheduled Serial Protocol and measurement selection To output measurement decisions 1 Go to the Output page 2 Click on Digital 1 or Digital 2 in the Output panel 3 Set Trigger Event to Measurement Data Send Name Id Decisions Surface Bounding Box X 0 Surface Ellipse Major 2 Surface Hole Radius 10 m Surface Opening Length 11 Surface Plane X Angle 5 Surface Stud Radius 13 m Surface Volume Volume 8 m Script Output 0 9 4 In Configuration set Assert On and select the measurements that should be combined to determine the output
234. ts When set to Sensor all measurement values are relative to the sensor s Field of View in X and relative to the encoder zero position in Y When set to Part all measurements except Bounding Box X and Y are relative to the center of the bounding box of the part For Bounding Box X and Y the measurement values are always in the Sensor Frame of Reference See Edge Filtering below 1 Go to the Scan page and choose Surface in the Scan Mode panel If this mode is not selected you will not be able to configure part detection 2 Expand the Part Detection panel by clicking on the panel header or the button 3 Adjust the settings See the part detection parameters above for more information Part scans sometimes contain noise around the edges of the target This noise is usually caused by the sensors light being reflected off almost vertical sides rounded corners etc Edge filtering helps reduce edge noise in order to produce more accurate and repeatable volume and area measurements as well as to improve positioning of relative measurement regions Optionally the Preserve Interior Feature setting can be used to limit filtering to the outside edges of the target Gocator 3110 Series Gocator Web Interface Scan Setup and Alignment 70 Edge Filtering disabled scan shows reflection noise Edge Filtering enabled Preserve Interior Feature enabled fa Edge Filtering Preserve Interior Feature Width 1 mm Length
235. tus Digital Inputs Event Count Camera Trigger Drops Analog Output Drops Digital Output Drops Serial Output Drops Sensor State Current Sensor Speed Maximum Speed Spot Count Max Spot Count Scan Count Gocator 3110 Series 1003 1005 2000 2017 2002 2404 2028 2003 2004 2005 2006 2007 2009 2034 2024 2102 2201 2501 2601 2 01 20000 20001 20002 20003 20004 20005 Instance Output Index Output Index Output Index Value Current system encoder tick Current system encoder frequency ticks s Firmware application version Time elapsed since node boot up or reset seconds Internal temperature millidegrees Celsius Projector module temperature millidegrees Celsius Only available on projector based devices Control module temperature millidegrees Celsius Available only on 3B class devices Amount of memory currently used bytes Total amount of memory available bytes Amount of non volatile storage used bytes Total amount of non volatile storage available bytes CPU usage percentage of maximum Total available outbound network throughput bytes s Current Ethernet link status Current digital input status one bit per input Total number of events triggered Number of dropped triggers Number of dropped outputs Number of dropped outputs Number of dropped outputs Gocator sensor state 1 Conflict 0 Ready 1 Running Current sensor sp
236. ubnet Mask 255 255 255 0 Gateway 0 0 0 0 To connect to a sensor for the first time 1 Connect cables and apply power Sensor cabling is illustrated in System Overview on page 10 2 Change the client PC s network settings Windows 7 a Open the Control Panel and select Network and Sharing Center then click Change Adapter Settings b Right click the desired network connection and then click Properties c Onthe Networking tab click Internet Protocol Version 4 TCP IPv4 and then click Properties d Selectthe Use the following IP address option e Enter IP Address 192 168 1 5 and Subnet Mask 255 255 255 0 then click OK Gocator 3110 Series AS REQUIRED BY APPLICATION IN ENCODER TRIGGER POWER 24 48VDC 13W LASER SAFETY 24 48VDC TO ENABLE WIRE RICH I O cere You can get IP settings assigned automatically if your network supports this capability Otherwise you need to ask your network administrator for the appropriate IP settings 5 Obtain an IP address automatically Use the following IP address IP address 192 168 1 5 Subnet mask 255 255 255 0 Default gateway tain DNS server address automatically Q Use the following DNS server addresses Preferred DNS server Alternate DNS server Getting Started e Network Setup 19 Mac OS Xv10 6 a A Open the Network Pane in System Preferences and select Ethernet Set Configure to Manually Enter
237. up SetTriggerSource setup GO TRIGGER TIME Send the system a Start command GoSystem Start system Gocator 3110 Series 222 Free the system object GoDestroy system For more information about programming with the Gocator SDK refer to the documentation and sample programs included in the Gocator SDK Gocator 3110 Series Software Development Kit 223 Tools and Native Drivers The following sections describe the tools and native drivers you can use with a Gocator Sensor Recovery Tool If a sensor s network address or administrator password is forgotten the sensor can be discovered on the network and or restored to factory defaults by using a special software tool called the Sensor Discovery tool This software tool can be obtained from the downloads area of the LMI Technologies website http www lmi3D com After downloading the tool package 14405 x x x x SOFTWARE GO TOOLS zip unzip the file and run the Sensor Discovery Tool bin win32 kDiscovery exe E33 Sensor Discovery Tool Configuration O Default 9 Custom Address 192 168 62 Mask 255 255 0 0 Gateway 0 0 0 0 use DHCP Set Address Any sensors that are discovered on the network will be displayed in the Devices list To change the network address of a sensor 1 To change the network address of a sensor 2 Select the Custom option 3 Enter the new network address information 4 Press the S
238. urements A bounding box can be vertical or rotated A vertical bounding box provides the absolute position from which the Position centroids tools are referenced Gocator 3110 Series Gocator Web Interface Measurement 91 25 680 25 680 26 912 28 1444 28 144 29 376 29 376 30 608 30 808 SEI 31 840 22 072 B so 2D View 3D View Source Top Rotation m FFA Region gt iDgaapogozoOcdnD Id 0 Filters Decision Min 0 mm Max D mm Measurement Panel Gocator 3110 Series Gocator Web Interface Measurement 92 Measurements Measurement X Determines the X position of the center of the smallest rectangle that encapsulates the part The value returned is relative to the part Y Determines the Y position of the center of the smallest rectangle that encapsulates the part The value returned is relative to the part Width Determines the width of the smallest rectangle box that encapsulates the part The width reports the dimension of the box in the direction of the minor axis When rotation is enabled the bounding box is rotated by the angle of an ellipse fitted to the part data Length Determines the height thickness of the smallest rectangle box that encapsulates the part The length reports the dimension of the box in the direction of the major axis When rotation is enabled the bounding box is rotated by the angle of an ellipse fitted to the part data
239. used whether the data is inside or outside the opening The user should place the reference region carefully Tilt Correction Tilt of the target with respect to the alignment plane Set to Auto Set to have the tool automatically detect the target s tilt or enter the angles manually Auto Set requires the measurement region to cover more areas on the surface plane than other planes The results from the Plane X and Y tool can be used for angles X and Y parameters Decision See Decisions page 86 Region See Regions page 85 Output See Filters page 88 Measurement Region The center and the two sides and ends of the opening must be within the measurement region even if Partial Detection is enabled Gocator 3110 Series Gocator Web Interface Measurement 108 Measurement Region A Center O Opening gt Plane Measurement Region A Opening The Plane tool provides measurements that report angle X angle Y and offset Z of the surface with respect to the alignment target The measurement value can be compared with minimum and maximum constraints to yield a decision See Adding and Removing Tools page 81 for instructions on adding measurements The Z offset reported is the Z position at zero position on the X axis and the Y axis The results of the Plane Angle X and Plane Angle Y measurements can be used to customize the tilt angle in the Hole Opening and Stud tools Gocator 3110 Series Go
240. xOE Get Single Attribute Attributes 1 and 2 are not implemented as they are not required for the static assembly object Attribute 3 Attribute Name Type Value Description Access 3 Command Byte Sensor state information See below for more Get Array details Sensor State Information Byte Name Description 0 Sensor s Sensor state state 0 Ready 1 Running 1 Command Command busy status in progress 0 Not busy 1 Busy performing the last command 2 Calibration Calibration status state 0 Not calibrated 1 Calibrated The value is only valid when the command in progress is set to O 3 10 Encoder Current encoder position 64 bit signed integer 11 18 Time Current time 64 bit unsigned integer 19 Current Job Number of characters in the current job filename e g 8 for myjob Filename The length does NOT include the job extension Length 20 43 Current Job Name of currently loaded job file Does not include the job extension Filename Each byte contains a single character valid when byte 1 0 44 99 Reserved Reserved bytes Sample State Assembly The sample state object contains measurements and their associated stamp information Gocator 3110 Series Protocols EtherNet IP Protocol 210 Sample State Assembly Information Class Instance Number of Attributes Length Supported Service Attribute 3 Attribute Name 3 Type Value Command Byte Array Sample State Information Byte 0 1 2
241. y The following diagram indicates the names corresponding to various measurements in the subsequent sections Clearance Distance CD Measurement Range MR Near Field of View Y Near Field of View X L Far Field d of View Y Far Field cui of View X Mechanical dimensions for each sensor model are illustrated on the following pages Gocator 3110 Series Specifications Gocator 3100 Series 236 Gocator 3110 Field of View Measurement Range Gocator 3110 Series Specifications Gocator 3110 237 Dimensions MOUNTING HOLES MS5X0 6 4H V 10 Envelope is 302 8 63 0 a m 46 9 i 312 3 60 1000 ES LU e 7 ET N K Y 3 cc DE de 160 0 ai N v MX Ee I cali E m E Pd ai A Gocator 3110 Series Specifications Gocator 3110 238 Gocator 3100 Power LAN Connector The Gocator 3100 Power LAN connector is a 14 pin M16 style connector that provides power input safety input and Ethernet This section defines the electrical specifications for Gocator 3100 Power LAN Connector pins organized by function Gocator Power LAN Connector Pins Lead Color on Function Pin Cardset GND 24 48V 1 White Orange amp Black GND 24 48V 1 Orange Black DC 24 48V 2 White Green amp Black DC_24 48V 2 Green Black Safety 3 White Blue amp Black Safety 4 B
242. y see page 77 Tools Panel The Tools panel lets you add configure and manage tools Tools contain related measurements For example the Position tool provides X Y and Z position measurements Some settings apply to tools and therefore to all measurements whereas some settings apply to specific measurements See Surface Measurement page 91 for information on the measurement tools and their settings Tool names in the user interface include the scan mode but not in the manual So for example you will see Surface Bounding Box in the user interface but simply Bounding Box in the manual Adding and Removing Tools Adding a tool adds all of the tool s measurements to the Tools panel which can then be enabled and configured selectively surface Bounding Box Surface Ellipse Surface Hole Surface Opening Surface Plane Surface Position Surface Stud Surface Volume Script To add a tool 1 Go to the Scan page by clicking on the Scan icon 2 Choose Surface mode in the Scan Mode panel If this mode is not selected tools will not be available in the Measure panel 3 Goto the Measure page by clicking on the Measure icon Gocator 3110 Series Gocator Web Interface Measurement 81 In the Tools panel select the tool you want to add from the drop down list of tools Click on the Add button in the Tools panel The tool and its available measurements will be added to the tool list The tool parameters will
243. ystems click New to create a system environment variable GENICAM GENTL32 PATH and point it to the GenTL x86 directory If the system environment variable already exists click Edit 5 For 64 bit systems click New to create a system environment variable GENICAM GENTL64 PATH and point it to the GenTL x64 directory If the system environment variable already exists click Edit Environment Variables User variables for ong Variable Value MOZ PLUGIM P C Program Files Foxit Software Foxit R TEMP SMoUSERPROFILE AppData Local Temp TMP USERPROFILE AppData Local Temp System variables Variable Value GENICAM_CACHE_V2_1 C ProgramData GenICam ml cad __ C G02_Integration GenTLx86 GEMICAM LOG CONFIG C Program Files GenICam_v2_1Vo 7 Edit System Variable 4 t Variable name GENICAM_GENTL32_PATH Variable value SOFTWARE Go2 Tools GenTL x86 x jJ cae Gocator 3110 Series Tools and Native Drivers GenTL Driver 226 To work with the Gocator GenTL driver the Gocator must operate in Surface mode with its part output enabled in the Ethernet Output Panel Check Acquire Intensity and enable intensity output in the Ethernet panel in the Output page if intensity data is required Refer to the documentations in the GenTL directory for instructions on how to interface to various third party software Gocator GenTL driver packs the part output intensity and stamps e g

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